@math.gl/core 4.2.0-alpha.5 → 5.0.0-alpha.1

package/dist/classes/euler.d.ts

@@ -1,25 +1,37 @@
 import { MathArray } from "./base/math-array.js";
 import { Quaternion } from "./quaternion.js";
 import { NumericArray } from '@math.gl/types';
-declare enum RotationOrder {
-    ZYX = 0,
-    YXZ = 1,
-    XZY = 2,
-    ZXY = 3,
-    YZX = 4,
-    XYZ = 5
-}
+/** Order in which Euler rotations are applied. */
+export type EulerRotationOrder = 'zyx' | 'yxz' | 'xzy' | 'zxy' | 'yzx' | 'xyz';
+declare const ROTATION_ORDERS: {
+    readonly ZYX: "zyx";
+    readonly YXZ: "yxz";
+    readonly XZY: "xzy";
+    readonly ZXY: "zxy";
+    readonly YZX: "yzx";
+    readonly XYZ: "xyz";
+};
 export declare class Euler extends MathArray {
-    static get ZYX(): RotationOrder;
-    static get YXZ(): RotationOrder;
-    static get XZY(): RotationOrder;
-    static get ZXY(): RotationOrder;
-    static get YZX(): RotationOrder;
-    static get XYZ(): RotationOrder;
-    static get RollPitchYaw(): RotationOrder;
-    static get DefaultOrder(): RotationOrder;
-    static get RotationOrders(): typeof RotationOrder;
-    static rotationOrder(order: RotationOrder): string;
+    /** @deprecated Pass the string `'zyx'` directly. */
+    static get ZYX(): EulerRotationOrder;
+    /** @deprecated Pass the string `'yxz'` directly. */
+    static get YXZ(): EulerRotationOrder;
+    /** @deprecated Pass the string `'xzy'` directly. */
+    static get XZY(): EulerRotationOrder;
+    /** @deprecated Pass the string `'zxy'` directly. */
+    static get ZXY(): EulerRotationOrder;
+    /** @deprecated Pass the string `'yzx'` directly. */
+    static get YZX(): EulerRotationOrder;
+    /** @deprecated Pass the string `'xyz'` directly. */
+    static get XYZ(): EulerRotationOrder;
+    /** @deprecated Pass the string `'zyx'` directly. */
+    static get RollPitchYaw(): EulerRotationOrder;
+    /** @deprecated Pass the string `'zyx'` directly. */
+    static get DefaultOrder(): EulerRotationOrder;
+    /** @deprecated Pass an {@link EulerRotationOrder} string directly. */
+    static get RotationOrders(): typeof ROTATION_ORDERS;
+    /** @deprecated Euler rotation orders are already represented as strings. */
+    static rotationOrder(order: EulerRotationOrder): EulerRotationOrder;
     get ELEMENTS(): number;
     /**
      * @class
@@ -28,11 +40,11 @@ export declare class Euler extends MathArray {
      * @param {Number=} [z]
      * @param {Number=} [order]
      */
-    constructor(x?: number, y?: number, z?: number, order?: RotationOrder);
+    constructor(x?: number, y?: number, z?: number, order?: EulerRotationOrder);
     fromQuaternion(quaternion: Readonly<NumericArray>): this;
     fromObject(object: Record<string, unknown>): this;
     copy(array: Readonly<NumericArray>): this;
-    set(x: number, y: number, z: number, order: RotationOrder): this;
+    set(x: number, y: number, z: number, order: EulerRotationOrder): this;
     validate(): boolean;
     toArray(array?: NumericArray, offset?: number): NumericArray;
     toArray4(array?: NumericArray, offset?: number): NumericArray;
@@ -61,15 +73,15 @@ export declare class Euler extends MathArray {
     set pitch(value: number);
     get yaw(): number;
     set yaw(value: number);
-    get order(): RotationOrder;
-    set order(value: RotationOrder);
-    fromVector3(v: Readonly<NumericArray>, order: RotationOrder): this;
+    get order(): EulerRotationOrder;
+    set order(value: EulerRotationOrder);
+    fromVector3(v: Readonly<NumericArray>, order?: EulerRotationOrder): this;
     fromArray(array: Readonly<NumericArray>, offset?: number): this;
     fromRollPitchYaw(roll: number, pitch: number, yaw: number): this;
-    fromRotationMatrix(m: Readonly<NumericArray>, order?: RotationOrder): this;
+    fromRotationMatrix(m: Readonly<NumericArray>, order?: EulerRotationOrder): this;
     getRotationMatrix(m: NumericArray): NumericArray;
     getQuaternion(): Quaternion;
-    _fromRotationMatrix(m: Readonly<NumericArray>, order?: RotationOrder): this;
+    _fromRotationMatrix(m: Readonly<NumericArray>, order?: EulerRotationOrder): this;
     _getRotationMatrix(result: NumericArray): NumericArray;
     toQuaternion(): Quaternion;
 }

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

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package/dist/classes/euler.js

@@ -9,47 +9,72 @@ import { checkNumber } from "../lib/validators.js";
 // Internal constants
 const ERR_UNKNOWN_ORDER = 'Unknown Euler angle order';
 const ALMOST_ONE = 0.99999;
-// eslint-disable-next-line no-shadow
-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 = {}));
+var RotationOrderIndex;
+(function (RotationOrderIndex) {
+    RotationOrderIndex[RotationOrderIndex["ZYX"] = 0] = "ZYX";
+    RotationOrderIndex[RotationOrderIndex["YXZ"] = 1] = "YXZ";
+    RotationOrderIndex[RotationOrderIndex["XZY"] = 2] = "XZY";
+    RotationOrderIndex[RotationOrderIndex["ZXY"] = 3] = "ZXY";
+    RotationOrderIndex[RotationOrderIndex["YZX"] = 4] = "YZX";
+    RotationOrderIndex[RotationOrderIndex["XYZ"] = 5] = "XYZ";
+})(RotationOrderIndex || (RotationOrderIndex = {}));
+const ROTATION_ORDER_INDICES = {
+    zyx: RotationOrderIndex.ZYX,
+    yxz: RotationOrderIndex.YXZ,
+    xzy: RotationOrderIndex.XZY,
+    zxy: RotationOrderIndex.ZXY,
+    yzx: RotationOrderIndex.YZX,
+    xyz: RotationOrderIndex.XYZ
+};
+const ROTATION_ORDERS = {
+    ZYX: 'zyx',
+    YXZ: 'yxz',
+    XZY: 'xzy',
+    ZXY: 'zxy',
+    YZX: 'yzx',
+    XYZ: 'xyz'
+};
 export class Euler extends MathArray {
     // Constants
+    /** @deprecated Pass the string `'zyx'` directly. */
     static get ZYX() {
-        return RotationOrder.ZYX;
+        return 'zyx';
     }
+    /** @deprecated Pass the string `'yxz'` directly. */
     static get YXZ() {
-        return RotationOrder.YXZ;
+        return 'yxz';
     }
+    /** @deprecated Pass the string `'xzy'` directly. */
     static get XZY() {
-        return RotationOrder.XZY;
+        return 'xzy';
     }
+    /** @deprecated Pass the string `'zxy'` directly. */
     static get ZXY() {
-        return RotationOrder.ZXY;
+        return 'zxy';
     }
+    /** @deprecated Pass the string `'yzx'` directly. */
     static get YZX() {
-        return RotationOrder.YZX;
+        return 'yzx';
     }
+    /** @deprecated Pass the string `'xyz'` directly. */
     static get XYZ() {
-        return RotationOrder.XYZ;
+        return 'xyz';
     }
+    /** @deprecated Pass the string `'zyx'` directly. */
     static get RollPitchYaw() {
-        return RotationOrder.ZYX;
+        return 'zyx';
     }
+    /** @deprecated Pass the string `'zyx'` directly. */
     static get DefaultOrder() {
-        return RotationOrder.ZYX;
+        return 'zyx';
     }
+    /** @deprecated Pass an {@link EulerRotationOrder} string directly. */
     static get RotationOrders() {
-        return RotationOrder;
+        return ROTATION_ORDERS;
     }
+    /** @deprecated Euler rotation orders are already represented as strings. */
     static rotationOrder(order) {
-        return RotationOrder[order];
+        return order;
     }
     get ELEMENTS() {
         return 4;
@@ -61,7 +86,7 @@ export class Euler extends MathArray {
      * @param {Number=} [z]
      * @param {Number=} [order]
      */
-    constructor(x = 0, y = 0, z = 0, order = Euler.DefaultOrder) {
+    constructor(x = 0, y = 0, z = 0, order = 'zyx') {
         // PERF NOTE: initialize elements as double precision numbers
         super(-0, -0, -0, -0);
         // eslint-disable-next-line prefer-rest-params
@@ -87,7 +112,7 @@ export class Euler extends MathArray {
         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);
+        return this.set(roll, pitch, yaw, 'zyx');
     }
     // eslint-disable-next-line @typescript-eslint/no-unused-vars
     fromObject(object) {
@@ -103,8 +128,9 @@ export class Euler extends MathArray {
         this[0] = array[0];
         this[1] = array[1];
         this[2] = array[2];
-        // @ts-expect-error
-        this[3] = Number.isFinite(array[3]) || this.order;
+        if (Number.isFinite(array[3]) && validateOrder(array[3])) {
+            this[3] = array[3];
+        }
         return this.check();
     }
     // Sets the three angles, and optionally sets the rotation order
@@ -113,7 +139,7 @@ export class Euler extends MathArray {
         this[0] = x;
         this[1] = y;
         this[2] = z;
-        this[3] = Number.isFinite(order) ? order : this[3];
+        this[3] = order ? checkOrder(order) : this[3];
         return this.check();
     }
     validate() {
@@ -222,14 +248,14 @@ export class Euler extends MathArray {
     }
     // rotation order, in all three angle notations
     get order() {
-        return this[3];
+        return getOrder(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]);
+    fromVector3(v, order = this.order) {
+        return this.set(v[0], v[1], v[2], order);
     }
     // TODO - with and without 4th element
     fromArray(array, offset = 0) {
@@ -243,9 +269,9 @@ export class Euler extends MathArray {
     }
     // Common ZYX rotation order
     fromRollPitchYaw(roll, pitch, yaw) {
-        return this.set(roll, pitch, yaw, RotationOrder.ZYX);
+        return this.set(roll, pitch, yaw, 'zyx');
     }
-    fromRotationMatrix(m, order = Euler.DefaultOrder) {
+    fromRotationMatrix(m, order = 'zyx') {
         this._fromRotationMatrix(m, order);
         return this.check();
     }
@@ -257,17 +283,17 @@ export class Euler extends MathArray {
     getQuaternion() {
         const q = new Quaternion();
         switch (this[3]) {
-            case RotationOrder.XYZ:
+            case RotationOrderIndex.XYZ:
                 return q.rotateX(this[0]).rotateY(this[1]).rotateZ(this[2]);
-            case RotationOrder.YXZ:
+            case RotationOrderIndex.YXZ:
                 return q.rotateY(this[1]).rotateX(this[0]).rotateZ(this[2]);
-            case RotationOrder.ZXY:
+            case RotationOrderIndex.ZXY:
                 return q.rotateZ(this[2]).rotateX(this[0]).rotateY(this[1]);
-            case RotationOrder.ZYX:
+            case RotationOrderIndex.ZYX:
                 return q.rotateZ(this[2]).rotateY(this[1]).rotateX(this[0]);
-            case RotationOrder.YZX:
+            case RotationOrderIndex.YZX:
                 return q.rotateY(this[1]).rotateZ(this[2]).rotateX(this[0]);
-            case RotationOrder.XZY:
+            case RotationOrderIndex.XZY:
                 return q.rotateX(this[0]).rotateZ(this[2]).rotateY(this[1]);
             default:
                 throw new Error(ERR_UNKNOWN_ORDER);
@@ -281,14 +307,14 @@ export class Euler extends MathArray {
     //   const q = new Quaternion().setFromEuler(this);
     //   return this.setFromQuaternion(q, newOrder);
     /* eslint-disable complexity, max-statements, one-var */
-    _fromRotationMatrix(m, order = Euler.DefaultOrder) {
+    _fromRotationMatrix(m, order = 'zyx') {
         // 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:
+        const orderIndex = order ? checkOrder(order) : this[3];
+        switch (orderIndex) {
+            case RotationOrderIndex.XYZ:
                 this[1] = Math.asin(clamp(m13, -1, 1));
                 if (Math.abs(m13) < ALMOST_ONE) {
                     this[0] = Math.atan2(-m23, m33);
@@ -299,7 +325,7 @@ export class Euler extends MathArray {
                     this[2] = 0;
                 }
                 break;
-            case Euler.YXZ:
+            case RotationOrderIndex.YXZ:
                 this[0] = Math.asin(-clamp(m23, -1, 1));
                 if (Math.abs(m23) < ALMOST_ONE) {
                     this[1] = Math.atan2(m13, m33);
@@ -310,7 +336,7 @@ export class Euler extends MathArray {
                     this[2] = 0;
                 }
                 break;
-            case Euler.ZXY:
+            case RotationOrderIndex.ZXY:
                 this[0] = Math.asin(clamp(m32, -1, 1));
                 if (Math.abs(m32) < ALMOST_ONE) {
                     this[1] = Math.atan2(-m31, m33);
@@ -321,7 +347,7 @@ export class Euler extends MathArray {
                     this[2] = Math.atan2(m21, m11);
                 }
                 break;
-            case Euler.ZYX:
+            case RotationOrderIndex.ZYX:
                 this[1] = Math.asin(-clamp(m31, -1, 1));
                 if (Math.abs(m31) < ALMOST_ONE) {
                     this[0] = Math.atan2(m32, m33);
@@ -332,7 +358,7 @@ export class Euler extends MathArray {
                     this[2] = Math.atan2(-m12, m22);
                 }
                 break;
-            case Euler.YZX:
+            case RotationOrderIndex.YZX:
                 this[2] = Math.asin(clamp(m21, -1, 1));
                 if (Math.abs(m21) < ALMOST_ONE) {
                     this[0] = Math.atan2(-m23, m22);
@@ -343,7 +369,7 @@ export class Euler extends MathArray {
                     this[1] = Math.atan2(m13, m33);
                 }
                 break;
-            case Euler.XZY:
+            case RotationOrderIndex.XZY:
                 this[2] = Math.asin(-clamp(m12, -1, 1));
                 if (Math.abs(m12) < ALMOST_ONE) {
                     this[0] = Math.atan2(m32, m22);
@@ -357,7 +383,7 @@ export class Euler extends MathArray {
             default:
                 throw new Error(ERR_UNKNOWN_ORDER);
         }
-        this[3] = order;
+        this[3] = orderIndex;
         return this;
     }
     _getRotationMatrix(result) {
@@ -370,7 +396,7 @@ export class Euler extends MathArray {
         const d = Math.sin(y);
         const f = Math.sin(z);
         switch (this[3]) {
-            case Euler.XYZ: {
+            case RotationOrderIndex.XYZ: {
                 const ae = a * e, af = a * f, be = b * e, bf = b * f;
                 te[0] = c * e;
                 te[4] = -c * f;
@@ -383,7 +409,7 @@ export class Euler extends MathArray {
                 te[10] = a * c;
                 break;
             }
-            case Euler.YXZ: {
+            case RotationOrderIndex.YXZ: {
                 const ce = c * e, cf = c * f, de = d * e, df = d * f;
                 te[0] = ce + df * b;
                 te[4] = de * b - cf;
@@ -396,7 +422,7 @@ export class Euler extends MathArray {
                 te[10] = a * c;
                 break;
             }
-            case Euler.ZXY: {
+            case RotationOrderIndex.ZXY: {
                 const ce = c * e, cf = c * f, de = d * e, df = d * f;
                 te[0] = ce - df * b;
                 te[4] = -a * f;
@@ -409,7 +435,7 @@ export class Euler extends MathArray {
                 te[10] = a * c;
                 break;
             }
-            case Euler.ZYX: {
+            case RotationOrderIndex.ZYX: {
                 const ae = a * e, af = a * f, be = b * e, bf = b * f;
                 te[0] = c * e;
                 te[4] = be * d - af;
@@ -422,7 +448,7 @@ export class Euler extends MathArray {
                 te[10] = a * c;
                 break;
             }
-            case Euler.YZX: {
+            case RotationOrderIndex.YZX: {
                 const ac = a * c, ad = a * d, bc = b * c, bd = b * d;
                 te[0] = c * e;
                 te[4] = bd - ac * f;
@@ -435,7 +461,7 @@ export class Euler extends MathArray {
                 te[10] = ac - bd * f;
                 break;
             }
-            case Euler.XZY: {
+            case RotationOrderIndex.XZY: {
                 const ac = a * c, ad = a * d, bc = b * c, bd = b * d;
                 te[0] = c * e;
                 te[4] = -f;
@@ -482,9 +508,28 @@ function validateOrder(value) {
     return value >= 0 && value < 6;
 }
 function checkOrder(value) {
-    if (value < 0 && value >= 6) {
+    const order = ROTATION_ORDER_INDICES[value];
+    if (order === undefined) {
         throw new Error(ERR_UNKNOWN_ORDER);
     }
-    return value;
+    return order;
+}
+function getOrder(value) {
+    switch (value) {
+        case RotationOrderIndex.ZYX:
+            return 'zyx';
+        case RotationOrderIndex.YXZ:
+            return 'yxz';
+        case RotationOrderIndex.XZY:
+            return 'xzy';
+        case RotationOrderIndex.ZXY:
+            return 'zxy';
+        case RotationOrderIndex.YZX:
+            return 'yzx';
+        case RotationOrderIndex.XYZ:
+            return 'xyz';
+        default:
+            throw new Error(ERR_UNKNOWN_ORDER);
+    }
 }
 //# sourceMappingURL=euler.js.map

package/dist/classes/euler.js.map

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

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

@@ -14,11 +14,10 @@ export class Pose {
             this.position = new Vector3(x, y, z);
         }
         if (Array.isArray(orientation) && orientation.length === 4) {
-            // @ts-expect-error
-            this.orientation = new Euler(orientation, orientation[3]);
+            this.orientation = new Euler().fromArray(orientation);
         }
         else {
-            this.orientation = new Euler(roll, pitch, yaw, Euler.RollPitchYaw);
+            this.orientation = new Euler(roll, pitch, yaw, 'zyx');
         }
     }
     get x() {

package/dist/classes/pose.js.map

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