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

package/dist/index.d.ts

@@ -17,6 +17,7 @@ export type { Matrix4Like } from "./classes/matrix4.js";
 export { SphericalCoordinates } from "./classes/spherical-coordinates.js";
 export { Pose } from "./classes/pose.js";
 export { Euler } from "./classes/euler.js";
+export type { EulerRotationOrder } from "./classes/euler.js";
 export * as _MathUtils from "./lib/math-utils.js";
 export { assert } from "./lib/assert.js";
 export { config, configure, safeMod, normalizeAngle, formatValue, isArray, clone, equals, exactEquals, toRadians, toDegrees, radians, degrees, sin, cos, tan, asin, acos, atan, clamp, lerp, withEpsilon } from "./lib/common.js";

package/dist/index.d.ts.map

@@ -1 +1 @@
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package/dist/index.js.map

@@ -1 +1 @@
-{"version":3,"file":"index.js","sourceRoot":"","sources":["../src/index.ts"],"names":[],"mappings":"AAAA,UAAU;AACV,+BAA+B;AAC/B,oCAAoC;AAoBpC,UAAU;AACV,OAAO,EAAC,SAAS,IAAI,UAAU,EAAC,qCAAkC;AAClE,OAAO,EAAC,MAAM,IAAI,OAAO,EAAC,iCAA8B;AACxD,OAAO,EAAC,MAAM,IAAI,OAAO,EAAC,iCAA8B;AACxD,OAAO,EAAC,OAAO,EAAC,6BAA0B;AAC1C,OAAO,EAAC,OAAO,EAAC,6BAA0B;AAC1C,OAAO,EAAC,OAAO,EAAC,6BAA0B;AAC1C,OAAO,EAAC,OAAO,EAAC,6BAA0B;AAC1C,OAAO,EAAC,OAAO,EAAC,6BAA0B;AAC1C,OAAO,EAAC,UAAU,EAAC,gCAA6B;AAQhD,eAAe;AACf,OAAO,EAAC,oBAAoB,EAAC,2CAAwC;AACrE,OAAO,EAAC,IAAI,EAAC,0BAAuB;AACpC,OAAO,EAAC,KAAK,EAAC,2BAAwB;AAEtC,OAAO,KAAK,UAAU,4BAAyB;AAE/C,MAAM;AACN,OAAO,EAAC,MAAM,EAAC,wBAAqB;AAEpC,OAAO;AACL,iCAAiC;AACjC,MAAM,EACN,SAAS,EACT,OAAO,EACP,cAAc,EACd,WAAW,EACX,OAAO,EACP,KAAK,EACL,MAAM,EACN,WAAW,EACX,SAAS,EACT,SAAS;AACT,iCAAiC;AACjC,OAAO,EACP,OAAO,EACP,GAAG,EACH,GAAG,EACH,GAAG,EACH,IAAI,EACJ,IAAI,EACJ,IAAI,EACJ,KAAK,EACL,IAAI,EACJ,WAAW,EACZ,wBAAqB;AAEtB,aAAa;AACb,OAAO,EAAC,oBAAoB,IAAI,qBAAqB,EAAC,2CAAwC;AAC9F,OAAO,EAAC,IAAI,IAAI,KAAK,EAAC,0BAAuB;AAC7C,OAAO,EAAC,KAAK,IAAI,MAAM,EAAC,2BAAwB;AAEhD,8BAA8B;AAC9B,OAAO,KAAK,IAAI,4BAAyB;AACzC,8BAA8B;AAC9B,OAAO,KAAK,IAAI,4BAAyB;AACzC,kCAAkC;AAClC,OAAO,KAAK,IAAI,4BAAyB;AACzC,4BAA4B;AAC5B,OAAO,KAAK,IAAI,4BAAyB;AACzC,8BAA8B;AAC9B,OAAO,KAAK,IAAI,4BAAyB;AACzC,8BAA8B;AAC9B,OAAO,KAAK,IAAI,4BAAyB"}
+{"version":3,"file":"index.js","sourceRoot":"","sources":["../src/index.ts"],"names":[],"mappings":"AAAA,UAAU;AACV,+BAA+B;AAC/B,oCAAoC;AAoBpC,UAAU;AACV,OAAO,EAAC,SAAS,IAAI,UAAU,EAAC,qCAAkC;AAClE,OAAO,EAAC,MAAM,IAAI,OAAO,EAAC,iCAA8B;AACxD,OAAO,EAAC,MAAM,IAAI,OAAO,EAAC,iCAA8B;AACxD,OAAO,EAAC,OAAO,EAAC,6BAA0B;AAC1C,OAAO,EAAC,OAAO,EAAC,6BAA0B;AAC1C,OAAO,EAAC,OAAO,EAAC,6BAA0B;AAC1C,OAAO,EAAC,OAAO,EAAC,6BAA0B;AAC1C,OAAO,EAAC,OAAO,EAAC,6BAA0B;AAC1C,OAAO,EAAC,UAAU,EAAC,gCAA6B;AAQhD,eAAe;AACf,OAAO,EAAC,oBAAoB,EAAC,2CAAwC;AACrE,OAAO,EAAC,IAAI,EAAC,0BAAuB;AACpC,OAAO,EAAC,KAAK,EAAC,2BAAwB;AAGtC,OAAO,KAAK,UAAU,4BAAyB;AAE/C,MAAM;AACN,OAAO,EAAC,MAAM,EAAC,wBAAqB;AAEpC,OAAO;AACL,iCAAiC;AACjC,MAAM,EACN,SAAS,EACT,OAAO,EACP,cAAc,EACd,WAAW,EACX,OAAO,EACP,KAAK,EACL,MAAM,EACN,WAAW,EACX,SAAS,EACT,SAAS;AACT,iCAAiC;AACjC,OAAO,EACP,OAAO,EACP,GAAG,EACH,GAAG,EACH,GAAG,EACH,IAAI,EACJ,IAAI,EACJ,IAAI,EACJ,KAAK,EACL,IAAI,EACJ,WAAW,EACZ,wBAAqB;AAEtB,aAAa;AACb,OAAO,EAAC,oBAAoB,IAAI,qBAAqB,EAAC,2CAAwC;AAC9F,OAAO,EAAC,IAAI,IAAI,KAAK,EAAC,0BAAuB;AAC7C,OAAO,EAAC,KAAK,IAAI,MAAM,EAAC,2BAAwB;AAEhD,8BAA8B;AAC9B,OAAO,KAAK,IAAI,4BAAyB;AACzC,8BAA8B;AAC9B,OAAO,KAAK,IAAI,4BAAyB;AACzC,kCAAkC;AAClC,OAAO,KAAK,IAAI,4BAAyB;AACzC,4BAA4B;AAC5B,OAAO,KAAK,IAAI,4BAAyB;AACzC,8BAA8B;AAC9B,OAAO,KAAK,IAAI,4BAAyB;AACzC,8BAA8B;AAC9B,OAAO,KAAK,IAAI,4BAAyB"}

package/package.json

@@ -6,7 +6,7 @@
   "publishConfig": {
     "access": "public"
   },
-  "version": "4.2.0-alpha.5",
+  "version": "5.0.0-alpha.1",
   "keywords": [
     "webgl",
     "javascript",
@@ -45,7 +45,7 @@
     "./src/lib/common.js"
   ],
   "dependencies": {
-    "@math.gl/types": "4.2.0-alpha.5"
+    "@math.gl/types": "5.0.0-alpha.1"
   },
-  "gitHead": "9c13785761867748e2edb167b5f2749dce803039"
+  "gitHead": "0c9bf3e5da10ce0fdafe84f3a8520c5ed9c15211"
 }

package/src/classes/euler.ts

@@ -14,8 +14,10 @@ import {checkNumber} from '../lib/validators';
 const ERR_UNKNOWN_ORDER = 'Unknown Euler angle order';
 const ALMOST_ONE = 0.99999;
 
-// eslint-disable-next-line no-shadow
-enum RotationOrder {
+/** Order in which Euler rotations are applied. */
+export type EulerRotationOrder = 'zyx' | 'yxz' | 'xzy' | 'zxy' | 'yzx' | 'xyz';
+
+enum RotationOrderIndex {
   ZYX = 0,
   YXZ = 1,
   XZY = 2,
@@ -24,37 +26,65 @@ enum RotationOrder {
   XYZ = 5
 }
 
+const ROTATION_ORDER_INDICES: Record<EulerRotationOrder, RotationOrderIndex> = {
+  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'
+} as const;
+
 export class Euler extends MathArray {
   // Constants
-  static get ZYX(): RotationOrder {
-    return RotationOrder.ZYX;
+  /** @deprecated Pass the string `'zyx'` directly. */
+  static get ZYX(): EulerRotationOrder {
+    return 'zyx';
   }
-  static get YXZ(): RotationOrder {
-    return RotationOrder.YXZ;
+  /** @deprecated Pass the string `'yxz'` directly. */
+  static get YXZ(): EulerRotationOrder {
+    return 'yxz';
   }
-  static get XZY(): RotationOrder {
-    return RotationOrder.XZY;
+  /** @deprecated Pass the string `'xzy'` directly. */
+  static get XZY(): EulerRotationOrder {
+    return 'xzy';
   }
-  static get ZXY(): RotationOrder {
-    return RotationOrder.ZXY;
+  /** @deprecated Pass the string `'zxy'` directly. */
+  static get ZXY(): EulerRotationOrder {
+    return 'zxy';
   }
-  static get YZX(): RotationOrder {
-    return RotationOrder.YZX;
+  /** @deprecated Pass the string `'yzx'` directly. */
+  static get YZX(): EulerRotationOrder {
+    return 'yzx';
   }
-  static get XYZ(): RotationOrder {
-    return RotationOrder.XYZ;
+  /** @deprecated Pass the string `'xyz'` directly. */
+  static get XYZ(): EulerRotationOrder {
+    return 'xyz';
   }
-  static get RollPitchYaw(): RotationOrder {
-    return RotationOrder.ZYX;
+  /** @deprecated Pass the string `'zyx'` directly. */
+  static get RollPitchYaw(): EulerRotationOrder {
+    return 'zyx';
   }
-  static get DefaultOrder(): RotationOrder {
-    return RotationOrder.ZYX;
+  /** @deprecated Pass the string `'zyx'` directly. */
+  static get DefaultOrder(): EulerRotationOrder {
+    return 'zyx';
   }
-  static get RotationOrders(): typeof RotationOrder {
-    return RotationOrder;
+  /** @deprecated Pass an {@link EulerRotationOrder} string directly. */
+  static get RotationOrders(): typeof ROTATION_ORDERS {
+    return ROTATION_ORDERS;
   }
-  static rotationOrder(order: RotationOrder): string {
-    return RotationOrder[order];
+  /** @deprecated Euler rotation orders are already represented as strings. */
+  static rotationOrder(order: EulerRotationOrder): EulerRotationOrder {
+    return order;
   }
   get ELEMENTS(): number {
     return 4;
@@ -67,7 +97,7 @@ 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: EulerRotationOrder = 'zyx') {
     // PERF NOTE: initialize elements as double precision numbers
     super(-0, -0, -0, -0);
     // eslint-disable-next-line prefer-rest-params
@@ -93,7 +123,7 @@ 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
@@ -111,18 +141,19 @@ 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
   // If order is not specified, preserves currently set order
-  set(x = 0, y = 0, z = 0, order: RotationOrder): this {
+  set(x = 0, y = 0, z = 0, order: EulerRotationOrder): this {
     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();
   }
 
@@ -248,16 +279,16 @@ export class Euler extends MathArray {
   }
 
   // rotation order, in all three angle notations
-  get order(): RotationOrder {
-    return this[3];
+  get order(): EulerRotationOrder {
+    return getOrder(this[3]);
   }
-  set order(value: RotationOrder) {
+  set order(value: EulerRotationOrder) {
     this[3] = checkOrder(value);
   }
 
   // Constructors
-  fromVector3(v: Readonly<NumericArray>, order: RotationOrder): this {
-    return this.set(v[0], v[1], v[2], Number.isFinite(order) ? order : this[3]);
+  fromVector3(v: Readonly<NumericArray>, order: EulerRotationOrder = this.order): this {
+    return this.set(v[0], v[1], v[2], order);
   }
 
   // TODO - with and without 4th element
@@ -273,10 +304,10 @@ export class Euler extends MathArray {
 
   // Common ZYX rotation order
   fromRollPitchYaw(roll: number, pitch: number, yaw: number): this {
-    return this.set(roll, pitch, yaw, RotationOrder.ZYX);
+    return this.set(roll, pitch, yaw, 'zyx');
   }
 
-  fromRotationMatrix(m: Readonly<NumericArray>, order: RotationOrder = Euler.DefaultOrder): this {
+  fromRotationMatrix(m: Readonly<NumericArray>, order: EulerRotationOrder = 'zyx'): this {
     this._fromRotationMatrix(m, order);
     return this.check();
   }
@@ -291,17 +322,17 @@ export class Euler extends MathArray {
   getQuaternion(): Quaternion {
     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);
@@ -316,7 +347,7 @@ 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: Readonly<NumericArray>, order = Euler.DefaultOrder): this {
+  _fromRotationMatrix(m: Readonly<NumericArray>, order: EulerRotationOrder = 'zyx'): this {
     // assumes the upper 3x3 of m is a pure rotation matrix (i.e, unscaled)
     const m11 = m[0],
       m12 = m[4],
@@ -327,9 +358,9 @@ export class Euler extends MathArray {
     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);
@@ -339,7 +370,7 @@ 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);
@@ -349,7 +380,7 @@ 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);
@@ -359,7 +390,7 @@ 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);
@@ -369,7 +400,7 @@ 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);
@@ -379,7 +410,7 @@ 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);
@@ -392,7 +423,7 @@ export class Euler extends MathArray {
       default:
         throw new Error(ERR_UNKNOWN_ORDER);
     }
-    this[3] = order;
+    this[3] = orderIndex;
     return this;
   }
 
@@ -408,7 +439,7 @@ 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,
@@ -424,7 +455,7 @@ 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,
@@ -440,7 +471,7 @@ 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,
@@ -456,7 +487,7 @@ 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,
@@ -472,7 +503,7 @@ 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,
@@ -488,7 +519,7 @@ 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,
@@ -541,9 +572,29 @@ function validateOrder(value: number): boolean {
   return value >= 0 && value < 6;
 }
 
-function checkOrder(value: number) {
-  if (value < 0 && value >= 6) {
+function checkOrder(value: EulerRotationOrder): RotationOrderIndex {
+  const order = ROTATION_ORDER_INDICES[value];
+  if (order === undefined) {
     throw new Error(ERR_UNKNOWN_ORDER);
   }
-  return value;
+  return order;
+}
+
+function getOrder(value: number): EulerRotationOrder {
+  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);
+  }
 }

package/src/classes/pose.ts

@@ -39,10 +39,9 @@ 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');
     }
   }
 

package/src/index.ts

@@ -41,6 +41,7 @@ export type {Matrix4Like} from './classes/matrix4';
 export {SphericalCoordinates} from './classes/spherical-coordinates';
 export {Pose} from './classes/pose';
 export {Euler} from './classes/euler';
+export type {EulerRotationOrder} from './classes/euler';
 
 export * as _MathUtils from './lib/math-utils';