@math.gl/core 4.0.0-alpha.1 → 4.0.0-alpha.2

package/dist/classes/pose.js.map

@@ -1 +1 @@
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Copyright (c) 2017 Uber Technologies, Inc.\n// MIT License\nimport Matrix4 from './matrix4';\nimport Vector3 from './vector3';\nimport Euler from './euler';\nimport {NumericArray} from '@math.gl/types';\n\ntype PoseOptions = {\n  position?: Readonly<NumericArray>;\n  orientation?: Readonly<NumericArray>;\n  x?: number;\n  y?: number;\n  z?: number;\n  roll?: number;\n  pitch?: number;\n  yaw?: number;\n};\n\nexport default class Pose {\n  readonly position: Vector3;\n  readonly orientation: Euler;\n\n  constructor({\n    x = 0,\n    y = 0,\n    z = 0,\n    roll = 0,\n    pitch = 0,\n    yaw = 0,\n    position,\n    orientation\n  }: PoseOptions = {}) {\n    if (Array.isArray(position) && position.length === 3) {\n      this.position = new Vector3(position);\n    } else {\n      this.position = new Vector3(x, y, z);\n    }\n    if (Array.isArray(orientation) && orientation.length === 4) {\n      // @ts-expect-error\n      this.orientation = new Euler(orientation, orientation[3]);\n    } else {\n      this.orientation = new Euler(roll, pitch, yaw, Euler.RollPitchYaw);\n    }\n  }\n\n  get x(): number {\n    return this.position.x;\n  }\n\n  set x(value: number) {\n    this.position.x = value;\n  }\n\n  get y(): number {\n    return this.position.y;\n  }\n\n  set y(value: number) {\n    this.position.y = value;\n  }\n\n  get z(): number {\n    return this.position.z;\n  }\n\n  set z(value: number) {\n    this.position.z = value;\n  }\n\n  get roll(): number {\n    return this.orientation.roll;\n  }\n\n  set roll(value: number) {\n    this.orientation.roll = value;\n  }\n\n  get pitch(): number {\n    return this.orientation.pitch;\n  }\n  set pitch(value: number) {\n    this.orientation.pitch = value;\n  }\n\n  get yaw(): number {\n    return this.orientation.yaw;\n  }\n\n  set yaw(value: number) {\n    this.orientation.yaw = value;\n  }\n\n  getPosition(): Vector3 {\n    return this.position;\n  }\n\n  getOrientation(): Euler {\n    return this.orientation;\n  }\n\n  equals(pose: Pose): boolean {\n    if (!pose) {\n      return false;\n    }\n    return this.position.equals(pose.position) && this.orientation.equals(pose.orientation);\n  }\n\n  exactEquals(pose: Pose): boolean {\n    if (!pose) {\n      return false;\n    }\n    return (\n      this.position.exactEquals(pose.position) && this.orientation.exactEquals(pose.orientation)\n    );\n  }\n\n  getTransformationMatrix(): Matrix4 {\n    // setup pre computations for the sin/cos of the angles\n    const sr = Math.sin(this.roll);\n    const sp = Math.sin(this.pitch);\n    const sw = Math.sin(this.yaw);\n    const cr = Math.cos(this.roll);\n    const cp = Math.cos(this.pitch);\n    const cw = Math.cos(this.yaw);\n\n    // Create matrix\n    return new Matrix4().setRowMajor(\n      cw * cp, // 0,0\n      -sw * cr + cw * sp * sr, // 0,1\n      sw * sr + cw * sp * cr, // 0,2\n      this.x, // 0,3\n      sw * cp, // 1,0\n      cw * cr + sw * sp * sr, // 1,1\n      -cw * sr + sw * sp * cr, // 1,2\n      this.y, // 1,3\n      -sp, // 2,0\n      cp * sr, // 2,1\n      cp * cr, // 2,2\n      this.z, // 2,3\n      0,\n      0,\n      0,\n      1\n    );\n  }\n\n  getTransformationMatrixFromPose(pose: Pose): Matrix4 {\n    return new Matrix4()\n      .multiplyRight(this.getTransformationMatrix())\n      .multiplyRight(pose.getTransformationMatrix().invert());\n  }\n\n  getTransformationMatrixToPose(pose: Pose): Matrix4 {\n    return new Matrix4()\n      .multiplyRight(pose.getTransformationMatrix())\n      .multiplyRight(this.getTransformationMatrix().invert());\n  }\n}\n"],"file":"pose.js"}
+{"version":3,"sources":["../../src/classes/pose.ts"],"names":["Matrix4","Vector3","Euler","Pose","constructor","x","y","z","roll","pitch","yaw","position","orientation","Array","isArray","length","RollPitchYaw","value","getPosition","getOrientation","equals","pose","exactEquals","getTransformationMatrix","sr","Math","sin","sp","sw","cr","cos","cp","cw","setRowMajor","getTransformationMatrixFromPose","multiplyRight","invert","getTransformationMatrixToPose"],"mappings":";SAEQA,O;SACAC,O;SACAC,K;AAcR,OAAO,MAAMC,IAAN,CAAW;AAIhBC,EAAAA,WAAW,CAAC;AACVC,IAAAA,CAAC,GAAG,CADM;AAEVC,IAAAA,CAAC,GAAG,CAFM;AAGVC,IAAAA,CAAC,GAAG,CAHM;AAIVC,IAAAA,IAAI,GAAG,CAJG;AAKVC,IAAAA,KAAK,GAAG,CALE;AAMVC,IAAAA,GAAG,GAAG,CANI;AAOVC,IAAAA,QAPU;AAQVC,IAAAA;AARU,MASK,EATN,EASU;AAAA;;AAAA;;AACnB,QAAIC,KAAK,CAACC,OAAN,CAAcH,QAAd,KAA2BA,QAAQ,CAACI,MAAT,KAAoB,CAAnD,EAAsD;AACpD,WAAKJ,QAAL,GAAgB,IAAIV,OAAJ,CAAYU,QAAZ,CAAhB;AACD,KAFD,MAEO;AACL,WAAKA,QAAL,GAAgB,IAAIV,OAAJ,CAAYI,CAAZ,EAAeC,CAAf,EAAkBC,CAAlB,CAAhB;AACD;;AACD,QAAIM,KAAK,CAACC,OAAN,CAAcF,WAAd,KAA8BA,WAAW,CAACG,MAAZ,KAAuB,CAAzD,EAA4D;AAE1D,WAAKH,WAAL,GAAmB,IAAIV,KAAJ,CAAUU,WAAV,EAAuBA,WAAW,CAAC,CAAD,CAAlC,CAAnB;AACD,KAHD,MAGO;AACL,WAAKA,WAAL,GAAmB,IAAIV,KAAJ,CAAUM,IAAV,EAAgBC,KAAhB,EAAuBC,GAAvB,EAA4BR,KAAK,CAACc,YAAlC,CAAnB;AACD;AACF;;AAEI,MAADX,CAAC,GAAW;AACd,WAAO,KAAKM,QAAL,CAAcN,CAArB;AACD;;AAEI,MAADA,CAAC,CAACY,KAAD,EAAgB;AACnB,SAAKN,QAAL,CAAcN,CAAd,GAAkBY,KAAlB;AACD;;AAEI,MAADX,CAAC,GAAW;AACd,WAAO,KAAKK,QAAL,CAAcL,CAArB;AACD;;AAEI,MAADA,CAAC,CAACW,KAAD,EAAgB;AACnB,SAAKN,QAAL,CAAcL,CAAd,GAAkBW,KAAlB;AACD;;AAEI,MAADV,CAAC,GAAW;AACd,WAAO,KAAKI,QAAL,CAAcJ,CAArB;AACD;;AAEI,MAADA,CAAC,CAACU,KAAD,EAAgB;AACnB,SAAKN,QAAL,CAAcJ,CAAd,GAAkBU,KAAlB;AACD;;AAEO,MAAJT,IAAI,GAAW;AACjB,WAAO,KAAKI,WAAL,CAAiBJ,IAAxB;AACD;;AAEO,MAAJA,IAAI,CAACS,KAAD,EAAgB;AACtB,SAAKL,WAAL,CAAiBJ,IAAjB,GAAwBS,KAAxB;AACD;;AAEQ,MAALR,KAAK,GAAW;AAClB,WAAO,KAAKG,WAAL,CAAiBH,KAAxB;AACD;;AACQ,MAALA,KAAK,CAACQ,KAAD,EAAgB;AACvB,SAAKL,WAAL,CAAiBH,KAAjB,GAAyBQ,KAAzB;AACD;;AAEM,MAAHP,GAAG,GAAW;AAChB,WAAO,KAAKE,WAAL,CAAiBF,GAAxB;AACD;;AAEM,MAAHA,GAAG,CAACO,KAAD,EAAgB;AACrB,SAAKL,WAAL,CAAiBF,GAAjB,GAAuBO,KAAvB;AACD;;AAEDC,EAAAA,WAAW,GAAY;AACrB,WAAO,KAAKP,QAAZ;AACD;;AAEDQ,EAAAA,cAAc,GAAU;AACtB,WAAO,KAAKP,WAAZ;AACD;;AAEDQ,EAAAA,MAAM,CAACC,IAAD,EAAsB;AAC1B,QAAI,CAACA,IAAL,EAAW;AACT,aAAO,KAAP;AACD;;AACD,WAAO,KAAKV,QAAL,CAAcS,MAAd,CAAqBC,IAAI,CAACV,QAA1B,KAAuC,KAAKC,WAAL,CAAiBQ,MAAjB,CAAwBC,IAAI,CAACT,WAA7B,CAA9C;AACD;;AAEDU,EAAAA,WAAW,CAACD,IAAD,EAAsB;AAC/B,QAAI,CAACA,IAAL,EAAW;AACT,aAAO,KAAP;AACD;;AACD,WACE,KAAKV,QAAL,CAAcW,WAAd,CAA0BD,IAAI,CAACV,QAA/B,KAA4C,KAAKC,WAAL,CAAiBU,WAAjB,CAA6BD,IAAI,CAACT,WAAlC,CAD9C;AAGD;;AAEDW,EAAAA,uBAAuB,GAAY;AAEjC,UAAMC,EAAE,GAAGC,IAAI,CAACC,GAAL,CAAS,KAAKlB,IAAd,CAAX;AACA,UAAMmB,EAAE,GAAGF,IAAI,CAACC,GAAL,CAAS,KAAKjB,KAAd,CAAX;AACA,UAAMmB,EAAE,GAAGH,IAAI,CAACC,GAAL,CAAS,KAAKhB,GAAd,CAAX;AACA,UAAMmB,EAAE,GAAGJ,IAAI,CAACK,GAAL,CAAS,KAAKtB,IAAd,CAAX;AACA,UAAMuB,EAAE,GAAGN,IAAI,CAACK,GAAL,CAAS,KAAKrB,KAAd,CAAX;AACA,UAAMuB,EAAE,GAAGP,IAAI,CAACK,GAAL,CAAS,KAAKpB,GAAd,CAAX;AAGA,WAAO,IAAIV,OAAJ,GAAciC,WAAd,CACLD,EAAE,GAAGD,EADA,EAEL,CAACH,EAAD,GAAMC,EAAN,GAAWG,EAAE,GAAGL,EAAL,GAAUH,EAFhB,EAGLI,EAAE,GAAGJ,EAAL,GAAUQ,EAAE,GAAGL,EAAL,GAAUE,EAHf,EAIL,KAAKxB,CAJA,EAKLuB,EAAE,GAAGG,EALA,EAMLC,EAAE,GAAGH,EAAL,GAAUD,EAAE,GAAGD,EAAL,GAAUH,EANf,EAOL,CAACQ,EAAD,GAAMR,EAAN,GAAWI,EAAE,GAAGD,EAAL,GAAUE,EAPhB,EAQL,KAAKvB,CARA,EASL,CAACqB,EATI,EAULI,EAAE,GAAGP,EAVA,EAWLO,EAAE,GAAGF,EAXA,EAYL,KAAKtB,CAZA,EAaL,CAbK,EAcL,CAdK,EAeL,CAfK,EAgBL,CAhBK,CAAP;AAkBD;;AAED2B,EAAAA,+BAA+B,CAACb,IAAD,EAAsB;AACnD,WAAO,IAAIrB,OAAJ,GACJmC,aADI,CACU,KAAKZ,uBAAL,EADV,EAEJY,aAFI,CAEUd,IAAI,CAACE,uBAAL,GAA+Ba,MAA/B,EAFV,CAAP;AAGD;;AAEDC,EAAAA,6BAA6B,CAAChB,IAAD,EAAsB;AACjD,WAAO,IAAIrB,OAAJ,GACJmC,aADI,CACUd,IAAI,CAACE,uBAAL,EADV,EAEJY,aAFI,CAEU,KAAKZ,uBAAL,GAA+Ba,MAA/B,EAFV,CAAP;AAGD;;AA1Ie","sourcesContent":["// Copyright (c) 2017 Uber Technologies, Inc.\n// MIT License\nimport {Matrix4} from './matrix4';\nimport {Vector3} from './vector3';\nimport {Euler} from './euler';\nimport {NumericArray} from '@math.gl/types';\n\ntype PoseOptions = {\n  position?: Readonly<NumericArray>;\n  orientation?: Readonly<NumericArray>;\n  x?: number;\n  y?: number;\n  z?: number;\n  roll?: number;\n  pitch?: number;\n  yaw?: number;\n};\n\nexport class Pose {\n  readonly position: Vector3;\n  readonly orientation: Euler;\n\n  constructor({\n    x = 0,\n    y = 0,\n    z = 0,\n    roll = 0,\n    pitch = 0,\n    yaw = 0,\n    position,\n    orientation\n  }: PoseOptions = {}) {\n    if (Array.isArray(position) && position.length === 3) {\n      this.position = new Vector3(position);\n    } else {\n      this.position = new Vector3(x, y, z);\n    }\n    if (Array.isArray(orientation) && orientation.length === 4) {\n      // @ts-expect-error\n      this.orientation = new Euler(orientation, orientation[3]);\n    } else {\n      this.orientation = new Euler(roll, pitch, yaw, Euler.RollPitchYaw);\n    }\n  }\n\n  get x(): number {\n    return this.position.x;\n  }\n\n  set x(value: number) {\n    this.position.x = value;\n  }\n\n  get y(): number {\n    return this.position.y;\n  }\n\n  set y(value: number) {\n    this.position.y = value;\n  }\n\n  get z(): number {\n    return this.position.z;\n  }\n\n  set z(value: number) {\n    this.position.z = value;\n  }\n\n  get roll(): number {\n    return this.orientation.roll;\n  }\n\n  set roll(value: number) {\n    this.orientation.roll = value;\n  }\n\n  get pitch(): number {\n    return this.orientation.pitch;\n  }\n  set pitch(value: number) {\n    this.orientation.pitch = value;\n  }\n\n  get yaw(): number {\n    return this.orientation.yaw;\n  }\n\n  set yaw(value: number) {\n    this.orientation.yaw = value;\n  }\n\n  getPosition(): Vector3 {\n    return this.position;\n  }\n\n  getOrientation(): Euler {\n    return this.orientation;\n  }\n\n  equals(pose: Pose): boolean {\n    if (!pose) {\n      return false;\n    }\n    return this.position.equals(pose.position) && this.orientation.equals(pose.orientation);\n  }\n\n  exactEquals(pose: Pose): boolean {\n    if (!pose) {\n      return false;\n    }\n    return (\n      this.position.exactEquals(pose.position) && this.orientation.exactEquals(pose.orientation)\n    );\n  }\n\n  getTransformationMatrix(): Matrix4 {\n    // setup pre computations for the sin/cos of the angles\n    const sr = Math.sin(this.roll);\n    const sp = Math.sin(this.pitch);\n    const sw = Math.sin(this.yaw);\n    const cr = Math.cos(this.roll);\n    const cp = Math.cos(this.pitch);\n    const cw = Math.cos(this.yaw);\n\n    // Create matrix\n    return new Matrix4().setRowMajor(\n      cw * cp, // 0,0\n      -sw * cr + cw * sp * sr, // 0,1\n      sw * sr + cw * sp * cr, // 0,2\n      this.x, // 0,3\n      sw * cp, // 1,0\n      cw * cr + sw * sp * sr, // 1,1\n      -cw * sr + sw * sp * cr, // 1,2\n      this.y, // 1,3\n      -sp, // 2,0\n      cp * sr, // 2,1\n      cp * cr, // 2,2\n      this.z, // 2,3\n      0,\n      0,\n      0,\n      1\n    );\n  }\n\n  getTransformationMatrixFromPose(pose: Pose): Matrix4 {\n    return new Matrix4()\n      .multiplyRight(this.getTransformationMatrix())\n      .multiplyRight(pose.getTransformationMatrix().invert());\n  }\n\n  getTransformationMatrixToPose(pose: Pose): Matrix4 {\n    return new Matrix4()\n      .multiplyRight(pose.getTransformationMatrix())\n      .multiplyRight(this.getTransformationMatrix().invert());\n  }\n}\n"],"file":"pose.js"}

package/dist/classes/quaternion.d.ts

@@ -1,6 +1,6 @@
 import { NumericArray } from '@math.gl/types';
-import MathArray from './base/math-array';
-export default class Quaternion extends MathArray {
+import { MathArray } from './base/math-array';
+export declare class Quaternion extends MathArray {
     constructor(x?: number | Readonly<NumericArray>, y?: number, z?: number, w?: number);
     copy(array: Readonly<NumericArray>): this;
     set(x: number, y: number, z: number, w: number): this;

package/dist/classes/quaternion.d.ts.map

@@ -1 +1 @@
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package/dist/classes/quaternion.js

@@ -1,10 +1,10 @@
-import MathArray from "./base/math-array.js";
+import { MathArray } from "./base/math-array.js";
 import { checkNumber, checkVector } from "../lib/validators.js";
-import Vector4 from "./vector4.js";
-import * as quat from 'gl-matrix/quat';
-import * as vec4 from 'gl-matrix/vec4';
+import { Vector4 } from "./vector4.js";
+import { fromMat3 as quat_fromMat3, setAxisAngle as quat_setAxisAngle, identity as quat_identity, length as quat_length, squaredLength as quat_squaredLength, dot as quat_dot, rotationTo as quat_rotationTo, add as quat_add, calculateW as quat_calculateW, conjugate as quat_conjugate, invert as quat_invert, lerp as quat_lerp, multiply as quat_multiply, rotateX as quat_rotateX, rotateY as quat_rotateY, rotateZ as quat_rotateZ, scale as quat_scale, slerp as quat_slerp } from "../gl-matrix/quat.js";
+import { transformQuat as vec4_transformQuat } from "../gl-matrix/vec4.js";
 const IDENTITY_QUATERNION = [0, 0, 0, 1];
-export default class Quaternion extends MathArray {
+export class Quaternion extends MathArray {
   constructor(x = 0, y = 0, z = 0, w = 1) {
     super(-0, -0, -0, -0);
 
@@ -40,17 +40,17 @@ export default class Quaternion extends MathArray {
   }
 
   fromMatrix3(m) {
-    quat.fromMat3(this, m);
+    quat_fromMat3(this, m);
     return this.check();
   }
 
   fromAxisRotation(axis, rad) {
-    quat.setAxisAngle(this, axis, rad);
+    quat_setAxisAngle(this, axis, rad);
     return this.check();
   }
 
   identity() {
-    quat.identity(this);
+    quat_identity(this);
     return this.check();
   }
 
@@ -95,39 +95,39 @@ export default class Quaternion extends MathArray {
   }
 
   len() {
-    return quat.length(this);
+    return quat_length(this);
   }
 
   lengthSquared() {
-    return quat.squaredLength(this);
+    return quat_squaredLength(this);
   }
 
   dot(a) {
-    return quat.dot(this, a);
+    return quat_dot(this, a);
   }
 
   rotationTo(vectorA, vectorB) {
-    quat.rotationTo(this, vectorA, vectorB);
+    quat_rotationTo(this, vectorA, vectorB);
     return this.check();
   }
 
   add(a) {
-    quat.add(this, this, a);
+    quat_add(this, this, a);
     return this.check();
   }
 
   calculateW() {
-    quat.calculateW(this, this);
+    quat_calculateW(this, this);
     return this.check();
   }
 
   conjugate() {
-    quat.conjugate(this, this);
+    quat_conjugate(this, this);
     return this.check();
   }
 
   invert() {
-    quat.invert(this, this);
+    quat_invert(this, this);
     return this.check();
   }
 
@@ -136,17 +136,17 @@ export default class Quaternion extends MathArray {
       return this.lerp(this, a, b);
     }
 
-    quat.lerp(this, a, b, t);
+    quat_lerp(this, a, b, t);
     return this.check();
   }
 
   multiplyRight(a) {
-    quat.multiply(this, this, a);
+    quat_multiply(this, this, a);
     return this.check();
   }
 
   multiplyLeft(a) {
-    quat.multiply(this, a, this);
+    quat_multiply(this, a, this);
     return this.check();
   }
 
@@ -166,22 +166,22 @@ export default class Quaternion extends MathArray {
   }
 
   rotateX(rad) {
-    quat.rotateX(this, this, rad);
+    quat_rotateX(this, this, rad);
     return this.check();
   }
 
   rotateY(rad) {
-    quat.rotateY(this, this, rad);
+    quat_rotateY(this, this, rad);
     return this.check();
   }
 
   rotateZ(rad) {
-    quat.rotateZ(this, this, rad);
+    quat_rotateZ(this, this, rad);
     return this.check();
   }
 
   scale(b) {
-    quat.scale(this, this, b);
+    quat_scale(this, this, b);
     return this.check();
   }
 
@@ -211,12 +211,12 @@ export default class Quaternion extends MathArray {
         ratio = arg2;
     }
 
-    quat.slerp(this, start, target, ratio);
+    quat_slerp(this, start, target, ratio);
     return this.check();
   }
 
   transformVector4(vector, result = new Vector4()) {
-    vec4.transformQuat(result, vector, this);
+    vec4_transformQuat(result, vector, this);
     return checkVector(result, 4);
   }
 

package/dist/classes/quaternion.js.map

@@ -1 +1 @@
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this[3] = array[3];\n    return this.check();\n  }\n\n  set(x: number, y: number, z: number, w: number): this {\n    this[0] = x;\n    this[1] = y;\n    this[2] = z;\n    this[3] = w;\n    return this.check();\n  }\n\n  fromObject(object: {x: number; y: number; z: number; w: number}): this {\n    this[0] = object.x;\n    this[1] = object.y;\n    this[2] = object.z;\n    this[3] = object.w;\n    return this.check();\n  }\n\n  /**\n   * Creates a quaternion from the given 3x3 rotation matrix.\n   * NOTE: The resultant quaternion is not normalized, so you should\n   * be sure to renormalize the quaternion yourself where necessary.\n   * @param m\n   * @returns\n   */\n  fromMatrix3(m: Readonly<NumericArray>): this {\n    quat.fromMat3(this, m);\n    return this.check();\n  }\n\n  fromAxisRotation(axis: Readonly<NumericArray>, rad: number): this {\n    quat.setAxisAngle(this, axis, rad);\n    return this.check();\n  }\n\n  /** Set a quat to the identity quaternion */\n  identity(): this 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}\n\n  // Getters/setters\n  get ELEMENTS(): number {\n    return 4;\n  }\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\n  get w(): number {\n    return this[3];\n  }\n  set w(value: number) {\n    this[3] = checkNumber(value);\n  }\n\n  // Calculates the length of a quat\n  len(): number {\n    return quat_length(this);\n  }\n\n  // Calculates the squared length of a quat\n  lengthSquared(): number {\n    return quat_squaredLength(this);\n  }\n\n  // Calculates the dot product of two quat's\n  // @return {Number}\n  dot(a: Readonly<NumericArray>): number {\n    return quat_dot(this, a);\n  }\n\n  // Gets the rotation axis and angle for a given quaternion.\n  // If a quaternion is created with setAxisAngle, this method will\n  // return the same values as providied in the original parameter\n  // list OR functionally equivalent values.\n  // Example: The quaternion formed by axis [0, 0, 1] and angle -90\n  // is the same as the quaternion formed by [0, 0, 1] and 270.\n  // This method favors the latter.\n  // @return {{[x,y,z], Number}}\n  // getAxisAngle() {\n  //   const axis = [];\n  // //   const angle = quat_getAxisAngle(axis, this);\n  //   return {axis, angle};\n  // }\n  // MODIFIERS\n  // Sets a quaternion to represent the shortest rotation from one vector\n  // to another. Both vectors are assumed to be unit length.\n  rotationTo(vectorA: NumericArray, vectorB: NumericArray): this {\n    quat_rotationTo(this, vectorA, vectorB);\n    return this.check();\n  }\n\n  // Sets the specified quaternion with values corresponding to the given axes.\n  // Each axis is a vec3 and is expected to be unit length and perpendicular\n  // to all other specified axes.\n  // setAxes() {\n  //   Number\n  // }\n  // Performs a spherical linear interpolation with two control points\n  // sqlerp() {\n  //   Number;\n  // }\n  // Adds two quat's\n  override add(a: Readonly<NumericArray>): this {\n    quat_add(this, this, a);\n    return this.check();\n  }\n\n  // Calculates the W component of a quat from the X, Y, and Z components.\n  // Any existing W component will be ignored.\n  calculateW(): this {\n    quat_calculateW(this, this);\n    return this.check();\n  }\n\n  // Calculates the conjugate of a quat If the quaternion is normalized,\n  // this function is faster than quat_invert and produces the same result.\n  conjugate(): this {\n    quat_conjugate(this, this);\n    return this.check();\n  }\n\n  // Calculates the inverse of a quat\n  invert(): this {\n    quat_invert(this, this);\n    return this.check();\n  }\n\n  // Performs a linear interpolation between two quat's\n  override lerp(a: Readonly<NumericArray>, b: Readonly<NumericArray> | number, t?: number): this {\n    if (t === undefined) {\n      return this.lerp(this, a, b as number);\n    }\n    quat_lerp(this, a, b as NumericArray, t);\n    return this.check();\n  }\n\n  // Multiplies two quat's\n  multiplyRight(a: Readonly<NumericArray>): this {\n    quat_multiply(this, this, a);\n    return this.check();\n  }\n\n  multiplyLeft(a: Readonly<NumericArray>): this {\n    quat_multiply(this, a, this);\n    return this.check();\n  }\n\n  // Normalize a quat\n  normalize(): this {\n    // Handle 0 case\n    const length = this.len();\n    const l = length > 0 ? 1 / length : 0;\n    this[0] = this[0] * l;\n    this[1] = this[1] * l;\n    this[2] = this[2] * l;\n    this[3] = this[3] * l;\n    // Set to [0, 0, 0, 1] if length is 0\n    if (length === 0) {\n      this[3] = 1;\n    }\n    return this.check();\n  }\n\n  // Rotates a quaternion by the given angle about the X axis\n  rotateX(rad: number): this {\n    quat_rotateX(this, this, rad);\n    return this.check();\n  }\n\n  // Rotates a quaternion by the given angle about the Y axis\n  rotateY(rad: number): this {\n    quat_rotateY(this, this, rad);\n    return this.check();\n  }\n\n  // Rotates a quaternion by the given angle about the Z axis\n  rotateZ(rad: number): this {\n    quat_rotateZ(this, this, rad);\n    return this.check();\n  }\n\n  // Scales a quat by a scalar number\n  override scale(b: number): this {\n    quat_scale(this, this, b);\n    return this.check();\n  }\n\n  slerp(target: Readonly<NumericArray>, ratio: number): this;\n  slerp(start: Readonly<NumericArray>, target: Readonly<NumericArray>, ratio: number): this;\n  slerp(params: {\n    start: Readonly<NumericArray>;\n    target: Readonly<NumericArray>;\n    ratio: number;\n  }): this;\n\n  // Performs a spherical linear interpolation between two quat\n  slerp(\n    arg0:\n      | Readonly<NumericArray>\n      | {\n          start: Readonly<NumericArray>;\n          target: Readonly<NumericArray>;\n          ratio: number;\n        },\n    arg1?: Readonly<NumericArray> | number,\n    arg2?: number\n  ): this {\n    let start: Readonly<NumericArray>;\n    let target: Readonly<NumericArray>;\n    let ratio: number;\n    // eslint-disable-next-line prefer-rest-params\n    switch (arguments.length) {\n      case 1: // Deprecated signature ({start, target, ratio})\n        // eslint-disable-next-line prefer-rest-params\n        ({\n          start = IDENTITY_QUATERNION,\n          target,\n          ratio\n        } = arg0 as {\n          start: Readonly<NumericArray>;\n          target: Readonly<NumericArray>;\n          ratio: number;\n        });\n        break;\n      case 2: // THREE.js compatibility signature (target, ration)\n        start = this; // eslint-disable-line\n        target = arg0 as Readonly<NumericArray>;\n        ratio = arg1 as number;\n        break;\n      default:\n        // Default signature: (start, target, ratio)\n        start = arg0 as Readonly<NumericArray>;\n        target = arg1 as Readonly<NumericArray>;\n        ratio = arg2;\n    }\n    quat_slerp(this, start, target, ratio);\n    return this.check();\n  }\n\n  transformVector4(\n    vector: Readonly<NumericArray>,\n    result: NumericArray = new Vector4()\n  ): NumericArray {\n    vec4_transformQuat(result, vector, this);\n    return checkVector(result, 4);\n  }\n\n  // THREE.js Math API compatibility\n  lengthSq(): number {\n    return this.lengthSquared();\n  }\n\n  setFromAxisAngle(axis: Readonly<NumericArray>, rad: number): this {\n    return this.setAxisAngle(axis, rad);\n  }\n\n  premultiply(a: Readonly<NumericArray>): this {\n    return this.multiplyLeft(a);\n  }\n\n  multiply(a: Readonly<NumericArray>): this {\n    return this.multiplyRight(a);\n  }\n}\n"],"file":"quaternion.js"}

package/dist/classes/spherical-coordinates.d.ts

@@ -1,6 +1,6 @@
 import { NumericArray } from '@math.gl/types';
-import Vector3 from './vector3';
-type SphericalCoordinatesOptions = {
+import { Vector3 } from './vector3';
+declare type SphericalCoordinatesOptions = {
     phi?: number;
     theta?: number;
     radius?: number;
@@ -9,7 +9,7 @@ type SphericalCoordinatesOptions = {
     altitude?: number;
     radiusScale?: number;
 };
-type FormatOptions = {
+declare type FormatOptions = {
     printTypes?: boolean;
 };
 /**
@@ -17,7 +17,7 @@ type FormatOptions = {
  * The equator starts at positive z.
  * @link https://en.wikipedia.org/wiki/Spherical_coordinate_system
  */
-export default class SphericalCoordinates {
+export declare class SphericalCoordinates {
     phi: number;
     theta: number;
     radius: number;

package/dist/classes/spherical-coordinates.d.ts.map

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package/dist/classes/spherical-coordinates.js

@@ -1,11 +1,11 @@
 import _defineProperty from "@babel/runtime/helpers/esm/defineProperty";
-import Vector3 from "./vector3.js";
+import { Vector3 } from "./vector3.js";
 import { formatValue, equals, config } from "../lib/common.js";
 import { degrees, radians, clamp } from "../lib/common.js";
-import * as vec3 from 'gl-matrix/vec3';
+import * as vec3 from "../gl-matrix/vec3.js";
 const EPSILON = 0.000001;
 const EARTH_RADIUS_METERS = 6371000;
-export default class SphericalCoordinates {
+export class SphericalCoordinates {
   constructor({
     phi = 0,
     theta = 0,

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Copyright (c) 2017 Uber Technologies, Inc.\n// MIT License\n// Adaptation of THREE.js Spherical class, under MIT license\nimport {NumericArray} from '@math.gl/types';\nimport {Vector3} from './vector3';\nimport {formatValue, equals, config} from '../lib/common';\nimport {degrees, radians, clamp} from '../lib/common';\n// @ts-ignore gl-matrix types...\nimport * as vec3 from '../gl-matrix/vec3';\n\ntype SphericalCoordinatesOptions = {\n  phi?: number;\n  theta?: number;\n  radius?: number;\n  bearing?: number;\n  pitch?: number;\n  altitude?: number;\n  radiusScale?: number;\n};\n\ntype FormatOptions = {\n  printTypes?: boolean;\n};\n\n// TODO - import epsilon\nconst EPSILON = 0.000001;\nconst EARTH_RADIUS_METERS = 6371000;\n\n/**\n * The poles (phi) are at the positive and negative y axis.\n * The equator starts at positive z.\n * @link https://en.wikipedia.org/wiki/Spherical_coordinate_system\n */\nexport class SphericalCoordinates {\n  phi: number;\n  theta: number;\n  radius: number;\n  radiusScale: number;\n  // bearing: number;\n  // pitch: number;\n  // altitude: number;\n\n  // lnglatZ coordinates\n  // longitude: number;\n  // latitude: number;\n  // lng: number;\n  // lat: number;\n  // z: number;\n\n  /**\n   * Creates a new SphericalCoordinates object\n   * @param options\n   * @param [options.phi] =0 - rotation around X (latitude)\n   * @param [options.theta] =0 - rotation around Y (longitude)\n   * @param [options.radius] =1 - Distance from center\n   * @param [options.bearing]\n   * @param [options.pitch]\n   * @param [options.altitude]\n   * @param [options.radiusScale] =1\n   */\n  // eslint-disable-next-line complexity\n  constructor({\n    phi = 0,\n    theta = 0,\n    radius = 1,\n    bearing,\n    pitch,\n    altitude,\n    radiusScale = EARTH_RADIUS_METERS\n  }: SphericalCoordinatesOptions = {}) {\n    this.phi = phi;\n    this.theta = theta;\n    // TODO - silently accepts illegal 0\n    this.radius = radius || altitude || 1; // radial distance from center\n    this.radiusScale = radiusScale || 1; // Used by lngLatZ\n    if (bearing !== undefined) {\n      this.bearing = bearing; // up / down towards top and bottom pole\n    }\n    if (pitch !== undefined) {\n      this.pitch = pitch; // around the equator of the sphere\n    }\n    this.check();\n  }\n\n  toString(): string {\n    return this.formatString(config);\n  }\n\n  formatString({printTypes = false}: FormatOptions): string {\n    const f = formatValue;\n    return `${printTypes ? 'Spherical' : ''}\\\n[rho:${f(this.radius)},theta:${f(this.theta)},phi:${f(this.phi)}]`;\n  }\n\n  equals(other: SphericalCoordinates): boolean {\n    return (\n      equals(this.radius, other.radius) &&\n      equals(this.theta, other.theta) &&\n      equals(this.phi, other.phi)\n    );\n  }\n\n  exactEquals(other: SphericalCoordinates): boolean {\n    return this.radius === other.radius && this.theta === other.theta && this.phi === other.phi;\n  }\n\n  /* eslint-disable brace-style */\n  // Cartographic (bearing 0 north, pitch 0 look from above)\n  get bearing(): number {\n    return 180 - degrees(this.phi);\n  }\n\n  set bearing(v: number) {\n    this.phi = Math.PI - radians(v);\n  }\n\n  get pitch(): number {\n    return degrees(this.theta);\n  }\n\n  set pitch(v: number) {\n    this.theta = radians(v);\n  }\n\n  // get pitch() { return 90 - degrees(this.phi); }\n  // set pitch(v) { this.phi = radians(v) + Math.PI / 2; }\n  // get altitude() { return this.radius - 1; } // relative altitude\n  // lnglatZ coordinates\n  get longitude(): number {\n    return degrees(this.phi);\n  }\n\n  get latitude(): number {\n    return degrees(this.theta);\n  }\n\n  get lng(): number {\n    return degrees(this.phi);\n  }\n\n  get lat(): number {\n    return degrees(this.theta);\n  }\n\n  get z(): number {\n    return (this.radius - 1) * this.radiusScale;\n  }\n\n  /* eslint-enable brace-style */\n  set(radius: number, phi: number, theta: number): this {\n    this.radius = radius;\n    this.phi = phi;\n    this.theta = theta;\n    return this.check();\n  }\n\n  clone(): SphericalCoordinates {\n    return new SphericalCoordinates().copy(this);\n  }\n\n  copy(other: SphericalCoordinates): this {\n    this.radius = other.radius;\n    this.phi = other.phi;\n    this.theta = other.theta;\n    return this.check();\n  }\n\n  fromLngLatZ([lng, lat, z]: [number, number, number]): this {\n    this.radius = 1 + z / this.radiusScale;\n    this.phi = radians(lat);\n    this.theta = radians(lng);\n    return this.check();\n  }\n\n  fromVector3(v: Readonly<NumericArray>): this {\n    this.radius = vec3.length(v);\n    if (this.radius > 0) {\n      this.theta = Math.atan2(v[0], v[1]); // equator angle around y-up axis\n      this.phi = Math.acos(clamp(v[2] / this.radius, -1, 1)); // polar angle\n    }\n    return this.check();\n  }\n\n  toVector3(): Vector3 {\n    return new Vector3(0, 0, this.radius)\n      .rotateX({radians: this.theta})\n      .rotateZ({radians: this.phi});\n  }\n\n  // restrict phi to be betwee EPS and PI-EPS\n  makeSafe(): this {\n    this.phi = Math.max(EPSILON, Math.min(Math.PI - EPSILON, this.phi));\n    return this;\n  }\n\n  check(): this {\n    // this.makeSafe();\n    if (!Number.isFinite(this.phi) || !Number.isFinite(this.theta) || !(this.radius > 0)) {\n      throw new Error('SphericalCoordinates: some fields set to invalid numbers');\n    }\n    return this;\n  }\n}\n"],"file":"spherical-coordinates.js"}

package/dist/classes/vector2.d.ts

@@ -1,10 +1,10 @@
-import Vector from './base/vector';
+import { Vector } from './base/vector';
 import { NumericArray } from '@math.gl/types';
 /**
  * Two-element vector class.
  * Subclass of Array<number>
  */
-export default class Vector2 extends Vector {
+export declare class Vector2 extends Vector {
     constructor(x?: number | Readonly<NumericArray>, y?: number);
     set(x: number, y: number): this;
     copy(array: Readonly<NumericArray>): this;

package/dist/classes/vector2.d.ts.map

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package/dist/classes/vector2.js

@@ -1,9 +1,9 @@
-import Vector from "./base/vector.js";
+import { Vector } from "./base/vector.js";
 import { config, isArray } from "../lib/common.js";
 import { checkNumber } from "../lib/validators.js";
-import * as vec2 from 'gl-matrix/vec2';
+import { transformMat4 as vec2_transformMat4, transformMat3 as vec2_transformMat3, transformMat2d as vec2_transformMat2d, transformMat2 as vec2_transformMat2 } from "../gl-matrix/vec2.js";
 import { vec2_transformMat4AsVector } from "../lib/gl-matrix-extras.js";
-export default class Vector2 extends Vector {
+export class Vector2 extends Vector {
   constructor(x = 0, y = 0) {
     super(2);
 
@@ -66,7 +66,7 @@ export default class Vector2 extends Vector {
   }
 
   transformAsPoint(matrix4) {
-    vec2.transformMat4(this, this, matrix4);
+    vec2_transformMat4(this, this, matrix4);
     return this.check();
   }
 
@@ -76,17 +76,17 @@ export default class Vector2 extends Vector {
   }
 
   transformByMatrix3(matrix3) {
-    vec2.transformMat3(this, this, matrix3);
+    vec2_transformMat3(this, this, matrix3);
     return this.check();
   }
 
   transformByMatrix2x3(matrix2x3) {
-    vec2.transformMat2d(this, this, matrix2x3);
+    vec2_transformMat2d(this, this, matrix2x3);
     return this.check();
   }
 
   transformByMatrix2(matrix2) {
-    vec2.transformMat2(this, this, matrix2);
+    vec2_transformMat2(this, this, matrix2);
     return this.check();
   }
 

package/dist/classes/vector2.js.map

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// -0, -0);\n    if (isArray(x) && arguments.length === 1) {\n      this.copy(x as Readonly<NumericArray>);\n    } else {\n      if (config.debug) {\n        checkNumber(x);\n        checkNumber(y);\n      }\n      this[0] = x as number;\n      this[1] = y;\n    }\n  }\n\n  set(x: number, y: number): this {\n    this[0] = x;\n    this[1] = y;\n    return this.check();\n  }\n\n  copy(array: Readonly<NumericArray>): this {\n    this[0] = array[0];\n    this[1] = array[1];\n    return this.check();\n  }\n\n  fromObject(object: {x: number; y: number}): this {\n    if (config.debug) {\n      checkNumber(object.x);\n      checkNumber(object.y);\n    }\n    this[0] = object.x;\n    this[1] = object.y;\n    return this.check();\n  }\n\n  toObject(object: {x?: number; y?: number}): {x: number; y: number} {\n    object.x = this[0];\n    object.y = this[1];\n    return object as {x: number; y: number};\n  }\n\n  // Getters/setters\n\n  get ELEMENTS(): number {\n    return 2;\n  }\n\n  /**\n   * Returns angle from x axis\n   * @returns\n   */\n  horizontalAngle(): number {\n    return Math.atan2(this.y, this.x);\n  }\n\n  /**\n   * Returns angle from y axis\n   * @returns\n   */\n  verticalAngle(): number {\n    return Math.atan2(this.x, this.y);\n  }\n\n  // Transforms\n\n  /**\n   * Transforms as point\n   * @param matrix4\n   * @returns\n   */\n  transform(matrix4: Readonly<NumericArray>): this {\n    return this.transformAsPoint(matrix4);\n  }\n\n  /**\n   * transforms as point (4th component is implicitly 1)\n   * @param matrix4\n   * @returns\n   */\n  transformAsPoint(matrix4: Readonly<NumericArray>): this {\n    vec2.transformMat4(this, this, matrix4);\n    return this.check();\n  }\n\n  /**\n   * transforms as vector (4th component is implicitly 0, ignores translation. slightly faster)\n   * @param matrix4\n   * @returns\n   */\n  transformAsVector(matrix4: Readonly<NumericArray>): this {\n    vec2_transformMat4AsVector(this, this, matrix4);\n    return this.check();\n  }\n\n  transformByMatrix3(matrix3: Readonly<NumericArray>): this {\n    vec2.transformMat3(this, this, matrix3);\n    return this.check();\n  }\n\n  transformByMatrix2x3(matrix2x3: Readonly<NumericArray>): this {\n    vec2.transformMat2d(this, this, matrix2x3);\n    return this.check();\n  }\n\n  transformByMatrix2(matrix2: Readonly<NumericArray>): this {\n    vec2.transformMat2(this, this, matrix2);\n    return this.check();\n  }\n}\n"],"file":"vector2.js"}
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package/dist/classes/vector3.d.ts

@@ -1,10 +1,10 @@
 import { NumericArray } from '@math.gl/types';
-import Vector from './base/vector';
+import { Vector } from './base/vector';
 /**
  * Three-element vector class.
  * Subclass of Array<number>
  */
-export default class Vector3 extends Vector {
+export declare class Vector3 extends Vector {
     static get ZERO(): Vector3;
     /**
      * @class

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+{"version":3,"file":"vector3.d.ts","sourceRoot":"","sources":["../../src/classes/vector3.ts"],"names":[],"mappings":"AAEA,OAAO,EAAC,YAAY,EAAC,MAAM,gBAAgB,CAAC;AAC5C,OAAO,EAAC,MAAM,EAAC,MAAM,eAAe,CAAC;AAqBrC;;;GAGG;AACH,qBAAa,OAAQ,SAAQ,MAAM;IACjC,MAAM,KAAK,IAAI,IAAI,OAAO,CAMzB;IAED;;;;;OAKG;gBACS,CAAC,GAAE,MAAM,GAAG,QAAQ,CAAC,YAAY,CAAK,EAAE,CAAC,GAAE,MAAU,EAAE,CAAC,GAAE,MAAU;IAmBhF,GAAG,CAAC,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,GAAG,IAAI;IAO1C,IAAI,CAAC,KAAK,EAAE,QAAQ,CAAC,YAAY,CAAC,GAAG,IAAI;IAOzC,UAAU,CAAC,MAAM,EAAE;QAAC,CAAC,EAAE,MAAM,CAAC;QAAC,CAAC,EAAE,MAAM,CAAC;QAAC,CAAC,EAAE,MAAM,CAAA;KAAC,GAAG,IAAI;IAYlD,QAAQ,CAAC,MAAM,EAAE;QAAC,CAAC,CAAC,EAAE,MAAM,CAAC;QAAC,CAAC,CAAC,EAAE,MAAM,CAAC;QAAC,CAAC,CAAC,EAAE,MAAM,CAAA;KAAC,GAAG;QAC/D,CAAC,EAAE,MAAM,CAAC;QACV,CAAC,EAAE,MAAM,CAAC;QACV,CAAC,EAAE,MAAM,CAAC;KACX;IASD,IAAI,QAAQ,IAAI,MAAM,CAErB;IACD,IAAI,CAAC,IAAI,MAAM,CAEd;IACD,IAAI,CAAC,CAAC,KAAK,EAAE,MAAM,EAElB;IAID,KAAK,CAAC,MAAM,EAAE,QAAQ,CAAC,YAAY,CAAC,GAAG,MAAM;IAM7C,KAAK,CAAC,MAAM,EAAE,QAAQ,CAAC,YAAY,CAAC,GAAG,IAAI;IAK3C,OAAO,CAAC,EAAC,OAAO,EAAE,MAAe,EAAC,EAAE;QAAC,OAAO,EAAE,MAAM,CAAC;QAAC,MAAM,CAAC,EAAE,QAAQ,CAAC,YAAY,CAAC,CAAA;KAAC,GAAG,IAAI;IAK7F,OAAO,CAAC,EAAC,OAAO,EAAE,MAAe,EAAC,EAAE;QAAC,OAAO,EAAE,MAAM,CAAC;QAAC,MAAM,CAAC,EAAE,QAAQ,CAAC,YAAY,CAAC,CAAA;KAAC,GAAG,IAAI;IAK7F,OAAO,CAAC,EAAC,OAAO,EAAE,MAAe,EAAC,EAAE;QAAC,OAAO,EAAE,MAAM,CAAC;QAAC,MAAM,CAAC,EAAE,QAAQ,CAAC,YAAY,CAAC,CAAA;KAAC,GAAG,IAAI;IAQ7F,SAAS,CAAC,OAAO,EAAE,QAAQ,CAAC,YAAY,CAAC,GAAG,IAAI;IAKhD,gBAAgB,CAAC,OAAO,EAAE,QAAQ,CAAC,YAAY,CAAC,GAAG,IAAI;IAMvD,iBAAiB,CAAC,OAAO,EAAE,QAAQ,CAAC,YAAY,CAAC,GAAG,IAAI;IAKxD,kBAAkB,CAAC,OAAO,EAAE,QAAQ,CAAC,YAAY,CAAC,GAAG,IAAI;IAKzD,kBAAkB,CAAC,OAAO,EAAE,QAAQ,CAAC,YAAY,CAAC,GAAG,IAAI;IAKzD,qBAAqB,CAAC,UAAU,EAAE,QAAQ,CAAC,YAAY,CAAC,GAAG,IAAI;CAIhE"}

package/dist/classes/vector3.js

@@ -1,11 +1,11 @@
-import Vector from "./base/vector.js";
+import { Vector } from "./base/vector.js";
 import { config, isArray } from "../lib/common.js";
 import { checkNumber } from "../lib/validators.js";
-import * as vec3 from 'gl-matrix/vec3';
+import { angle as vec3_angle, cross as vec3_cross, rotateX as vec3_rotateX, rotateY as vec3_rotateY, rotateZ as vec3_rotateZ, transformMat4 as vec3_transformMat4, transformMat3 as vec3_transformMat3, transformQuat as vec3_transformQuat } from "../gl-matrix/vec3.js";
 import { vec3_transformMat2, vec3_transformMat4AsVector } from "../lib/gl-matrix-extras.js";
 const ORIGIN = [0, 0, 0];
 let ZERO;
-export default class Vector3 extends Vector {
+export class Vector3 extends Vector {
   static get ZERO() {
     if (!ZERO) {
       ZERO = new Vector3(0, 0, 0);
@@ -80,11 +80,11 @@ export default class Vector3 extends Vector {
   }
 
   angle(vector) {
-    return vec3.angle(this, vector);
+    return vec3_angle(this, vector);
   }
 
   cross(vector) {
-    vec3.cross(this, this, vector);
+    vec3_cross(this, this, vector);
     return this.check();
   }
 
@@ -92,7 +92,7 @@ export default class Vector3 extends Vector {
     radians,
     origin = ORIGIN
   }) {
-    vec3.rotateX(this, this, origin, radians);
+    vec3_rotateX(this, this, origin, radians);
     return this.check();
   }
 
@@ -100,7 +100,7 @@ export default class Vector3 extends Vector {
     radians,
     origin = ORIGIN
   }) {
-    vec3.rotateY(this, this, origin, radians);
+    vec3_rotateY(this, this, origin, radians);
     return this.check();
   }
 
@@ -108,7 +108,7 @@ export default class Vector3 extends Vector {
     radians,
     origin = ORIGIN
   }) {
-    vec3.rotateZ(this, this, origin, radians);
+    vec3_rotateZ(this, this, origin, radians);
     return this.check();
   }
 
@@ -117,7 +117,7 @@ export default class Vector3 extends Vector {
   }
 
   transformAsPoint(matrix4) {
-    vec3.transformMat4(this, this, matrix4);
+    vec3_transformMat4(this, this, matrix4);
     return this.check();
   }
 
@@ -127,7 +127,7 @@ export default class Vector3 extends Vector {
   }
 
   transformByMatrix3(matrix3) {
-    vec3.transformMat3(this, this, matrix3);
+    vec3_transformMat3(this, this, matrix3);
     return this.check();
   }
 
@@ -137,7 +137,7 @@ export default class Vector3 extends Vector {
   }
 
   transformByQuaternion(quaternion) {
-    vec3.transformQuat(this, this, quaternion);
+    vec3_transformQuat(this, this, quaternion);
     return this.check();
   }