@math.gl/core 4.0.0 → 4.1.0-alpha.1

package/dist/classes/euler.js

@@ -1,557 +1,488 @@
+// math.gl
+// SPDX-License-Identifier: MIT
+// Copyright (c) vis.gl contributors
+// Copyright (c) 2017 Uber Technologies, Inc.
 import { MathArray } from "./base/math-array.js";
 import { Quaternion } from "./quaternion.js";
 import { clamp } from "../lib/common.js";
 import { checkNumber } from "../lib/validators.js";
+// Internal constants
 const ERR_UNKNOWN_ORDER = 'Unknown Euler angle order';
 const ALMOST_ONE = 0.99999;
 var RotationOrder;
-
 (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["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 class Euler extends MathArray {
-  static get ZYX() {
-    return RotationOrder.ZYX;
-  }
-
-  static get YXZ() {
-    return RotationOrder.YXZ;
-  }
-
-  static get XZY() {
-    return RotationOrder.XZY;
-  }
-
-  static get ZXY() {
-    return RotationOrder.ZXY;
-  }
-
-  static get YZX() {
-    return RotationOrder.YZX;
-  }
-
-  static get XYZ() {
-    return RotationOrder.XYZ;
-  }
-
-  static get RollPitchYaw() {
-    return RotationOrder.ZYX;
-  }
-
-  static get DefaultOrder() {
-    return RotationOrder.ZYX;
-  }
-
-  static get RotationOrders() {
-    return RotationOrder;
-  }
-
-  static rotationOrder(order) {
-    return RotationOrder[order];
-  }
-
-  get ELEMENTS() {
-    return 4;
-  }
-
-  constructor(x = 0, y = 0, z = 0, order = Euler.DefaultOrder) {
-    super(-0, -0, -0, -0);
-
-    if (arguments.length > 0 && Array.isArray(arguments[0])) {
-      this.fromVector3(...arguments);
-    } else {
-      this.set(x, y, z, order);
-    }
-  }
-
-  fromQuaternion(quaternion) {
-    const [x, y, z, w] = quaternion;
-    const ysqr = y * y;
-    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 this.set(roll, pitch, yaw, Euler.RollPitchYaw);
-  }
-
-  fromObject(object) {
-    throw new Error('not implemented');
-  }
-
-  copy(array) {
-    this[0] = array[0];
-    this[1] = array[1];
-    this[2] = array[2];
-    this[3] = Number.isFinite(array[3]) || this.order;
-    return this.check();
-  }
-
-  set(x = 0, y = 0, z = 0, order) {
-    this[0] = x;
-    this[1] = y;
-    this[2] = z;
-    this[3] = Number.isFinite(order) ? order : this[3];
-    return this.check();
-  }
-
-  validate() {
-    return validateOrder(this[3]) && Number.isFinite(this[0]) && Number.isFinite(this[1]) && Number.isFinite(this[2]);
-  }
-
-  toArray(array = [], offset = 0) {
-    array[offset] = this[0];
-    array[offset + 1] = this[1];
-    array[offset + 2] = this[2];
-    return array;
-  }
-
-  toArray4(array = [], offset = 0) {
-    array[offset] = this[0];
-    array[offset + 1] = this[1];
-    array[offset + 2] = this[2];
-    array[offset + 3] = this[3];
-    return array;
-  }
-
-  toVector3(result = [-0, -0, -0]) {
-    result[0] = this[0];
-    result[1] = this[1];
-    result[2] = this[2];
-    return result;
-  }
-
-  get x() {
-    return this[0];
-  }
-
-  set x(value) {
-    this[0] = checkNumber(value);
-  }
-
-  get y() {
-    return this[1];
-  }
-
-  set y(value) {
-    this[1] = checkNumber(value);
-  }
-
-  get z() {
-    return this[2];
-  }
-
-  set z(value) {
-    this[2] = checkNumber(value);
-  }
-
-  get alpha() {
-    return this[0];
-  }
-
-  set alpha(value) {
-    this[0] = checkNumber(value);
-  }
-
-  get beta() {
-    return this[1];
-  }
-
-  set beta(value) {
-    this[1] = checkNumber(value);
-  }
-
-  get gamma() {
-    return this[2];
-  }
-
-  set gamma(value) {
-    this[2] = checkNumber(value);
-  }
-
-  get phi() {
-    return this[0];
-  }
-
-  set phi(value) {
-    this[0] = checkNumber(value);
-  }
-
-  get theta() {
-    return this[1];
-  }
-
-  set theta(value) {
-    this[1] = checkNumber(value);
-  }
-
-  get psi() {
-    return this[2];
-  }
-
-  set psi(value) {
-    this[2] = checkNumber(value);
-  }
-
-  get roll() {
-    return this[0];
-  }
-
-  set roll(value) {
-    this[0] = checkNumber(value);
-  }
-
-  get pitch() {
-    return this[1];
-  }
-
-  set pitch(value) {
-    this[1] = checkNumber(value);
-  }
-
-  get yaw() {
-    return this[2];
-  }
-
-  set yaw(value) {
-    this[2] = checkNumber(value);
-  }
-
-  get order() {
-    return this[3];
-  }
-
-  set order(value) {
-    this[3] = checkOrder(value);
-  }
-
-  fromVector3(v, order) {
-    return this.set(v[0], v[1], v[2], Number.isFinite(order) ? order : this[3]);
-  }
-
-  fromArray(array, offset = 0) {
-    this[0] = array[0 + offset];
-    this[1] = array[1 + offset];
-    this[2] = array[2 + offset];
-
-    if (array[3] !== undefined) {
-      this[3] = array[3];
-    }
-
-    return this.check();
-  }
-
-  fromRollPitchYaw(roll, pitch, yaw) {
-    return this.set(roll, pitch, yaw, RotationOrder.ZYX);
-  }
-
-  fromRotationMatrix(m, order = Euler.DefaultOrder) {
-    this._fromRotationMatrix(m, order);
-
-    return this.check();
-  }
-
-  getRotationMatrix(m) {
-    return this._getRotationMatrix(m);
-  }
-
-  getQuaternion() {
-    const q = new Quaternion();
-
-    switch (this[3]) {
-      case RotationOrder.XYZ:
-        return q.rotateX(this[0]).rotateY(this[1]).rotateZ(this[2]);
-
-      case RotationOrder.YXZ:
-        return q.rotateY(this[0]).rotateX(this[1]).rotateZ(this[2]);
-
-      case RotationOrder.ZXY:
-        return q.rotateZ(this[0]).rotateX(this[1]).rotateY(this[2]);
-
-      case RotationOrder.ZYX:
-        return q.rotateZ(this[0]).rotateY(this[1]).rotateX(this[2]);
-
-      case RotationOrder.YZX:
-        return q.rotateY(this[0]).rotateZ(this[1]).rotateX(this[2]);
-
-      case RotationOrder.XZY:
-        return q.rotateX(this[0]).rotateZ(this[1]).rotateY(this[2]);
-
-      default:
-        throw new Error(ERR_UNKNOWN_ORDER);
+    // Constants
+    static get ZYX() {
+        return RotationOrder.ZYX;
     }
-  }
-
-  _fromRotationMatrix(m, order = Euler.DefaultOrder) {
-    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) {
-      case Euler.XYZ:
-        this[1] = Math.asin(clamp(m13, -1, 1));
-
-        if (Math.abs(m13) < ALMOST_ONE) {
-          this[0] = Math.atan2(-m23, m33);
-          this[2] = Math.atan2(-m12, m11);
-        } else {
-          this[0] = Math.atan2(m32, m22);
-          this[2] = 0;
-        }
-
-        break;
-
-      case Euler.YXZ:
-        this[0] = Math.asin(-clamp(m23, -1, 1));
-
-        if (Math.abs(m23) < ALMOST_ONE) {
-          this[1] = Math.atan2(m13, m33);
-          this[2] = Math.atan2(m21, m22);
-        } else {
-          this[1] = Math.atan2(-m31, m11);
-          this[2] = 0;
-        }
-
-        break;
-
-      case Euler.ZXY:
-        this[0] = Math.asin(clamp(m32, -1, 1));
-
-        if (Math.abs(m32) < ALMOST_ONE) {
-          this[1] = Math.atan2(-m31, m33);
-          this[2] = Math.atan2(-m12, m22);
-        } else {
-          this[1] = 0;
-          this[2] = Math.atan2(m21, m11);
-        }
-
-        break;
-
-      case Euler.ZYX:
-        this[1] = Math.asin(-clamp(m31, -1, 1));
-
-        if (Math.abs(m31) < ALMOST_ONE) {
-          this[0] = Math.atan2(m32, m33);
-          this[2] = Math.atan2(m21, m11);
-        } else {
-          this[0] = 0;
-          this[2] = Math.atan2(-m12, m22);
-        }
-
-        break;
-
-      case Euler.YZX:
-        this[2] = Math.asin(clamp(m21, -1, 1));
-
-        if (Math.abs(m21) < ALMOST_ONE) {
-          this[0] = Math.atan2(-m23, m22);
-          this[1] = Math.atan2(-m31, m11);
-        } else {
-          this[0] = 0;
-          this[1] = Math.atan2(m13, m33);
-        }
-
-        break;
-
-      case Euler.XZY:
-        this[2] = Math.asin(-clamp(m12, -1, 1));
-
-        if (Math.abs(m12) < ALMOST_ONE) {
-          this[0] = Math.atan2(m32, m22);
-          this[1] = Math.atan2(m13, m11);
-        } else {
-          this[0] = Math.atan2(-m23, m33);
-          this[1] = 0;
-        }
-
-        break;
-
-      default:
-        throw new Error(ERR_UNKNOWN_ORDER);
+    static get YXZ() {
+        return RotationOrder.YXZ;
+    }
+    static get XZY() {
+        return RotationOrder.XZY;
+    }
+    static get ZXY() {
+        return RotationOrder.ZXY;
+    }
+    static get YZX() {
+        return RotationOrder.YZX;
+    }
+    static get XYZ() {
+        return RotationOrder.XYZ;
+    }
+    static get RollPitchYaw() {
+        return RotationOrder.ZYX;
+    }
+    static get DefaultOrder() {
+        return RotationOrder.ZYX;
+    }
+    static get RotationOrders() {
+        return RotationOrder;
+    }
+    static rotationOrder(order) {
+        return RotationOrder[order];
     }
-
-    this[3] = order;
-    return this;
-  }
-
-  _getRotationMatrix(result) {
-    const te = result || [-0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0];
-    const x = this.x,
-          y = this.y,
-          z = this.z;
-    const a = Math.cos(x);
-    const c = Math.cos(y);
-    const e = Math.cos(z);
-    const b = Math.sin(x);
-    const d = Math.sin(y);
-    const f = Math.sin(z);
-
-    switch (this[3]) {
-      case Euler.XYZ:
-        {
-          const ae = a * e,
-                af = a * f,
-                be = b * e,
-                bf = b * f;
-          te[0] = c * e;
-          te[4] = -c * f;
-          te[8] = d;
-          te[1] = af + be * d;
-          te[5] = ae - bf * d;
-          te[9] = -b * c;
-          te[2] = bf - ae * d;
-          te[6] = be + af * d;
-          te[10] = a * c;
-          break;
+    get ELEMENTS() {
+        return 4;
+    }
+    /**
+     * @class
+     * @param {Number | Number[]} x
+     * @param {Number=} [y]
+     * @param {Number=} [z]
+     * @param {Number=} [order]
+     */
+    constructor(x = 0, y = 0, z = 0, order = Euler.DefaultOrder) {
+        // PERF NOTE: initialize elements as double precision numbers
+        super(-0, -0, -0, -0);
+        // eslint-disable-next-line prefer-rest-params
+        if (arguments.length > 0 && Array.isArray(arguments[0])) {
+            // eslint-disable-next-line prefer-rest-params
+            // @ts-expect-error
+            this.fromVector3(...arguments);
         }
-
-      case Euler.YXZ:
-        {
-          const ce = c * e,
-                cf = c * f,
-                de = d * e,
-                df = d * f;
-          te[0] = ce + df * b;
-          te[4] = de * b - cf;
-          te[8] = a * d;
-          te[1] = a * f;
-          te[5] = a * e;
-          te[9] = -b;
-          te[2] = cf * b - de;
-          te[6] = df + ce * b;
-          te[10] = a * c;
-          break;
+        else {
+            this.set(x, y, z, order);
         }
-
-      case Euler.ZXY:
-        {
-          const ce = c * e,
-                cf = c * f,
-                de = d * e,
-                df = d * f;
-          te[0] = ce - df * b;
-          te[4] = -a * f;
-          te[8] = de + cf * b;
-          te[1] = cf + de * b;
-          te[5] = a * e;
-          te[9] = df - ce * b;
-          te[2] = -a * d;
-          te[6] = b;
-          te[10] = a * c;
-          break;
+    }
+    fromQuaternion(quaternion) {
+        const [x, y, z, w] = quaternion;
+        const ysqr = y * y;
+        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 this.set(roll, pitch, yaw, Euler.RollPitchYaw);
+    }
+    // eslint-disable-next-line @typescript-eslint/no-unused-vars
+    fromObject(object) {
+        throw new Error('not implemented');
+        //  return this.set(object.x, object.y, object.z, object.order);
+    }
+    // fromQuaternion(q, order) {
+    //   this._fromRotationMat[-0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0];
+    //   return this.check();
+    // }
+    // If copied array does contain fourth element, preserves currently set order
+    copy(array) {
+        this[0] = array[0];
+        this[1] = array[1];
+        this[2] = array[2];
+        // @ts-expect-error
+        this[3] = Number.isFinite(array[3]) || this.order;
+        return this.check();
+    }
+    // Sets the three angles, and optionally sets the rotation order
+    // If order is not specified, preserves currently set order
+    set(x = 0, y = 0, z = 0, order) {
+        this[0] = x;
+        this[1] = y;
+        this[2] = z;
+        this[3] = Number.isFinite(order) ? order : this[3];
+        return this.check();
+    }
+    validate() {
+        return (validateOrder(this[3]) &&
+            Number.isFinite(this[0]) &&
+            Number.isFinite(this[1]) &&
+            Number.isFinite(this[2]));
+    }
+    // Does not copy the orientation element
+    toArray(array = [], offset = 0) {
+        array[offset] = this[0];
+        array[offset + 1] = this[1];
+        array[offset + 2] = this[2];
+        return array;
+    }
+    // Copies the orientation element
+    toArray4(array = [], offset = 0) {
+        array[offset] = this[0];
+        array[offset + 1] = this[1];
+        array[offset + 2] = this[2];
+        array[offset + 3] = this[3];
+        return array;
+    }
+    toVector3(result = [-0, -0, -0]) {
+        result[0] = this[0];
+        result[1] = this[1];
+        result[2] = this[2];
+        return result;
+    }
+    /* eslint-disable no-multi-spaces, brace-style, no-return-assign */
+    // x, y, z angle notation (note: only corresponds to axis in XYZ orientation)
+    get x() {
+        return this[0];
+    }
+    set x(value) {
+        this[0] = checkNumber(value);
+    }
+    get y() {
+        return this[1];
+    }
+    set y(value) {
+        this[1] = checkNumber(value);
+    }
+    get z() {
+        return this[2];
+    }
+    set z(value) {
+        this[2] = checkNumber(value);
+    }
+    // alpha, beta, gamma angle notation
+    get alpha() {
+        return this[0];
+    }
+    set alpha(value) {
+        this[0] = checkNumber(value);
+    }
+    get beta() {
+        return this[1];
+    }
+    set beta(value) {
+        this[1] = checkNumber(value);
+    }
+    get gamma() {
+        return this[2];
+    }
+    set gamma(value) {
+        this[2] = checkNumber(value);
+    }
+    // phi, theta, psi angle notation
+    get phi() {
+        return this[0];
+    }
+    set phi(value) {
+        this[0] = checkNumber(value);
+    }
+    get theta() {
+        return this[1];
+    }
+    set theta(value) {
+        this[1] = checkNumber(value);
+    }
+    get psi() {
+        return this[2];
+    }
+    set psi(value) {
+        this[2] = checkNumber(value);
+    }
+    // roll, pitch, yaw angle notation
+    get roll() {
+        return this[0];
+    }
+    set roll(value) {
+        this[0] = checkNumber(value);
+    }
+    get pitch() {
+        return this[1];
+    }
+    set pitch(value) {
+        this[1] = checkNumber(value);
+    }
+    get yaw() {
+        return this[2];
+    }
+    set yaw(value) {
+        this[2] = checkNumber(value);
+    }
+    // rotation order, in all three angle notations
+    get order() {
+        return this[3];
+    }
+    set order(value) {
+        this[3] = checkOrder(value);
+    }
+    // Constructors
+    fromVector3(v, order) {
+        return this.set(v[0], v[1], v[2], Number.isFinite(order) ? order : this[3]);
+    }
+    // TODO - with and without 4th element
+    fromArray(array, offset = 0) {
+        this[0] = array[0 + offset];
+        this[1] = array[1 + offset];
+        this[2] = array[2 + offset];
+        if (array[3] !== undefined) {
+            this[3] = array[3];
         }
-
-      case Euler.ZYX:
-        {
-          const ae = a * e,
-                af = a * f,
-                be = b * e,
-                bf = b * f;
-          te[0] = c * e;
-          te[4] = be * d - af;
-          te[8] = ae * d + bf;
-          te[1] = c * f;
-          te[5] = bf * d + ae;
-          te[9] = af * d - be;
-          te[2] = -d;
-          te[6] = b * c;
-          te[10] = a * c;
-          break;
+        return this.check();
+    }
+    // Common ZYX rotation order
+    fromRollPitchYaw(roll, pitch, yaw) {
+        return this.set(roll, pitch, yaw, RotationOrder.ZYX);
+    }
+    fromRotationMatrix(m, order = Euler.DefaultOrder) {
+        this._fromRotationMatrix(m, order);
+        return this.check();
+    }
+    // ACCESSORS
+    getRotationMatrix(m) {
+        return this._getRotationMatrix(m);
+    }
+    // TODO - move to Quaternion
+    getQuaternion() {
+        const q = new Quaternion();
+        switch (this[3]) {
+            case RotationOrder.XYZ:
+                return q.rotateX(this[0]).rotateY(this[1]).rotateZ(this[2]);
+            case RotationOrder.YXZ:
+                return q.rotateY(this[0]).rotateX(this[1]).rotateZ(this[2]);
+            case RotationOrder.ZXY:
+                return q.rotateZ(this[0]).rotateX(this[1]).rotateY(this[2]);
+            case RotationOrder.ZYX:
+                return q.rotateZ(this[0]).rotateY(this[1]).rotateX(this[2]);
+            case RotationOrder.YZX:
+                return q.rotateY(this[0]).rotateZ(this[1]).rotateX(this[2]);
+            case RotationOrder.XZY:
+                return q.rotateX(this[0]).rotateZ(this[1]).rotateY(this[2]);
+            default:
+                throw new Error(ERR_UNKNOWN_ORDER);
         }
-
-      case Euler.YZX:
-        {
-          const ac = a * c,
-                ad = a * d,
-                bc = b * c,
-                bd = b * d;
-          te[0] = c * e;
-          te[4] = bd - ac * f;
-          te[8] = bc * f + ad;
-          te[1] = f;
-          te[5] = a * e;
-          te[9] = -b * e;
-          te[2] = -d * e;
-          te[6] = ad * f + bc;
-          te[10] = ac - bd * f;
-          break;
+    }
+    // INTERNAL METHODS
+    // Conversion from Euler to rotation matrix and from matrix to Euler
+    // Adapted from three.js under MIT license
+    // // WARNING: this discards revolution information -bhouston
+    // reorder(newOrder) {
+    //   const q = new Quaternion().setFromEuler(this);
+    //   return this.setFromQuaternion(q, newOrder);
+    /* eslint-disable complexity, max-statements, one-var */
+    _fromRotationMatrix(m, order = Euler.DefaultOrder) {
+        // assumes the upper 3x3 of m is a pure rotation matrix (i.e, unscaled)
+        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) {
+            case Euler.XYZ:
+                this[1] = Math.asin(clamp(m13, -1, 1));
+                if (Math.abs(m13) < ALMOST_ONE) {
+                    this[0] = Math.atan2(-m23, m33);
+                    this[2] = Math.atan2(-m12, m11);
+                }
+                else {
+                    this[0] = Math.atan2(m32, m22);
+                    this[2] = 0;
+                }
+                break;
+            case Euler.YXZ:
+                this[0] = Math.asin(-clamp(m23, -1, 1));
+                if (Math.abs(m23) < ALMOST_ONE) {
+                    this[1] = Math.atan2(m13, m33);
+                    this[2] = Math.atan2(m21, m22);
+                }
+                else {
+                    this[1] = Math.atan2(-m31, m11);
+                    this[2] = 0;
+                }
+                break;
+            case Euler.ZXY:
+                this[0] = Math.asin(clamp(m32, -1, 1));
+                if (Math.abs(m32) < ALMOST_ONE) {
+                    this[1] = Math.atan2(-m31, m33);
+                    this[2] = Math.atan2(-m12, m22);
+                }
+                else {
+                    this[1] = 0;
+                    this[2] = Math.atan2(m21, m11);
+                }
+                break;
+            case Euler.ZYX:
+                this[1] = Math.asin(-clamp(m31, -1, 1));
+                if (Math.abs(m31) < ALMOST_ONE) {
+                    this[0] = Math.atan2(m32, m33);
+                    this[2] = Math.atan2(m21, m11);
+                }
+                else {
+                    this[0] = 0;
+                    this[2] = Math.atan2(-m12, m22);
+                }
+                break;
+            case Euler.YZX:
+                this[2] = Math.asin(clamp(m21, -1, 1));
+                if (Math.abs(m21) < ALMOST_ONE) {
+                    this[0] = Math.atan2(-m23, m22);
+                    this[1] = Math.atan2(-m31, m11);
+                }
+                else {
+                    this[0] = 0;
+                    this[1] = Math.atan2(m13, m33);
+                }
+                break;
+            case Euler.XZY:
+                this[2] = Math.asin(-clamp(m12, -1, 1));
+                if (Math.abs(m12) < ALMOST_ONE) {
+                    this[0] = Math.atan2(m32, m22);
+                    this[1] = Math.atan2(m13, m11);
+                }
+                else {
+                    this[0] = Math.atan2(-m23, m33);
+                    this[1] = 0;
+                }
+                break;
+            default:
+                throw new Error(ERR_UNKNOWN_ORDER);
         }
-
-      case Euler.XZY:
-        {
-          const ac = a * c,
-                ad = a * d,
-                bc = b * c,
-                bd = b * d;
-          te[0] = c * e;
-          te[4] = -f;
-          te[8] = d * e;
-          te[1] = ac * f + bd;
-          te[5] = a * e;
-          te[9] = ad * f - bc;
-          te[2] = bc * f - ad;
-          te[6] = b * e;
-          te[10] = bd * f + ac;
-          break;
+        this[3] = order;
+        return this;
+    }
+    _getRotationMatrix(result) {
+        const te = result || [-0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0];
+        const x = this.x, y = this.y, z = this.z;
+        const a = Math.cos(x);
+        const c = Math.cos(y);
+        const e = Math.cos(z);
+        const b = Math.sin(x);
+        const d = Math.sin(y);
+        const f = Math.sin(z);
+        switch (this[3]) {
+            case Euler.XYZ: {
+                const ae = a * e, af = a * f, be = b * e, bf = b * f;
+                te[0] = c * e;
+                te[4] = -c * f;
+                te[8] = d;
+                te[1] = af + be * d;
+                te[5] = ae - bf * d;
+                te[9] = -b * c;
+                te[2] = bf - ae * d;
+                te[6] = be + af * d;
+                te[10] = a * c;
+                break;
+            }
+            case Euler.YXZ: {
+                const ce = c * e, cf = c * f, de = d * e, df = d * f;
+                te[0] = ce + df * b;
+                te[4] = de * b - cf;
+                te[8] = a * d;
+                te[1] = a * f;
+                te[5] = a * e;
+                te[9] = -b;
+                te[2] = cf * b - de;
+                te[6] = df + ce * b;
+                te[10] = a * c;
+                break;
+            }
+            case Euler.ZXY: {
+                const ce = c * e, cf = c * f, de = d * e, df = d * f;
+                te[0] = ce - df * b;
+                te[4] = -a * f;
+                te[8] = de + cf * b;
+                te[1] = cf + de * b;
+                te[5] = a * e;
+                te[9] = df - ce * b;
+                te[2] = -a * d;
+                te[6] = b;
+                te[10] = a * c;
+                break;
+            }
+            case Euler.ZYX: {
+                const ae = a * e, af = a * f, be = b * e, bf = b * f;
+                te[0] = c * e;
+                te[4] = be * d - af;
+                te[8] = ae * d + bf;
+                te[1] = c * f;
+                te[5] = bf * d + ae;
+                te[9] = af * d - be;
+                te[2] = -d;
+                te[6] = b * c;
+                te[10] = a * c;
+                break;
+            }
+            case Euler.YZX: {
+                const ac = a * c, ad = a * d, bc = b * c, bd = b * d;
+                te[0] = c * e;
+                te[4] = bd - ac * f;
+                te[8] = bc * f + ad;
+                te[1] = f;
+                te[5] = a * e;
+                te[9] = -b * e;
+                te[2] = -d * e;
+                te[6] = ad * f + bc;
+                te[10] = ac - bd * f;
+                break;
+            }
+            case Euler.XZY: {
+                const ac = a * c, ad = a * d, bc = b * c, bd = b * d;
+                te[0] = c * e;
+                te[4] = -f;
+                te[8] = d * e;
+                te[1] = ac * f + bd;
+                te[5] = a * e;
+                te[9] = ad * f - bc;
+                te[2] = bc * f - ad;
+                te[6] = b * e;
+                te[10] = bd * f + ac;
+                break;
+            }
+            default:
+                throw new Error(ERR_UNKNOWN_ORDER);
         }
-
-      default:
-        throw new Error(ERR_UNKNOWN_ORDER);
+        // last column
+        te[3] = 0;
+        te[7] = 0;
+        te[11] = 0;
+        // bottom row
+        te[12] = 0;
+        te[13] = 0;
+        te[14] = 0;
+        te[15] = 1;
+        return te;
+    }
+    toQuaternion() {
+        // Abbreviations for the various angular functions
+        const cy = Math.cos(this.yaw * 0.5);
+        const sy = Math.sin(this.yaw * 0.5);
+        const cr = Math.cos(this.roll * 0.5);
+        const sr = Math.sin(this.roll * 0.5);
+        const cp = Math.cos(this.pitch * 0.5);
+        const sp = Math.sin(this.pitch * 0.5);
+        const w = cy * cr * cp + sy * sr * sp;
+        const x = cy * sr * cp - sy * cr * sp;
+        const y = cy * cr * sp + sy * sr * cp;
+        const z = sy * cr * cp - cy * sr * sp;
+        return new Quaternion(x, y, z, w);
     }
-
-    te[3] = 0;
-    te[7] = 0;
-    te[11] = 0;
-    te[12] = 0;
-    te[13] = 0;
-    te[14] = 0;
-    te[15] = 1;
-    return te;
-  }
-
-  toQuaternion() {
-    const cy = Math.cos(this.yaw * 0.5);
-    const sy = Math.sin(this.yaw * 0.5);
-    const cr = Math.cos(this.roll * 0.5);
-    const sr = Math.sin(this.roll * 0.5);
-    const cp = Math.cos(this.pitch * 0.5);
-    const sp = Math.sin(this.pitch * 0.5);
-    const w = cy * cr * cp + sy * sr * sp;
-    const x = cy * sr * cp - sy * cr * sp;
-    const y = cy * cr * sp + sy * sr * cp;
-    const z = sy * cr * cp - cy * sr * sp;
-    return new Quaternion(x, y, z, w);
-  }
-
 }
-
+// HELPER FUNCTIONS
 function validateOrder(value) {
-  return value >= 0 && value < 6;
+    return value >= 0 && value < 6;
 }
-
 function checkOrder(value) {
-  if (value < 0 && value >= 6) {
-    throw new Error(ERR_UNKNOWN_ORDER);
-  }
-
-  return value;
+    if (value < 0 && value >= 6) {
+        throw new Error(ERR_UNKNOWN_ORDER);
+    }
+    return value;
 }
-//# sourceMappingURL=euler.js.map