@multiplekex/shallot 0.1.3 → 0.1.4

package/package.json

@@ -1,6 +1,6 @@
 {
     "name": "@multiplekex/shallot",
-    "version": "0.1.3",
+    "version": "0.1.4",
     "type": "module",
     "main": "./src/index.ts",
     "types": "./src/index.ts",

package/src/core/math.ts

@@ -1,9 +1,6 @@
 const DEG_TO_RAD = Math.PI / 180;
 const RAD_TO_DEG = 180 / Math.PI;
 
-const _quat = { x: 0, y: 0, z: 0, w: 1 };
-const _euler = { x: 0, y: 0, z: 0 };
-
 export function clamp(value: number, min: number, max: number): number {
     return value < min ? min : value > max ? max : value;
 }
@@ -46,11 +43,12 @@ export function slerp(
         s1 = sinTheta / sinTheta0;
     }
 
-    _quat.x = s0 * fromX + s1 * toX;
-    _quat.y = s0 * fromY + s1 * toY;
-    _quat.z = s0 * fromZ + s1 * toZ;
-    _quat.w = s0 * fromW + s1 * toW;
-    return _quat;
+    return {
+        x: s0 * fromX + s1 * toX,
+        y: s0 * fromY + s1 * toY,
+        z: s0 * fromZ + s1 * toZ,
+        w: s0 * fromW + s1 * toW,
+    };
 }
 
 export function rotateQuaternion(
@@ -77,11 +75,12 @@ export function rotateQuaternion(
     const bz = cx * cy * sz + sx * sy * cz;
     const bw = cx * cy * cz - sx * sy * sz;
 
-    _quat.x = qw * bx + qx * bw + qy * bz - qz * by;
-    _quat.y = qw * by - qx * bz + qy * bw + qz * bx;
-    _quat.z = qw * bz + qx * by - qy * bx + qz * bw;
-    _quat.w = qw * bw - qx * bx - qy * by - qz * bz;
-    return _quat;
+    return {
+        x: qw * bx + qx * bw + qy * bz - qz * by,
+        y: qw * by - qx * bz + qy * bw + qz * bx,
+        z: qw * bz + qx * by - qy * bx + qz * bw,
+        w: qw * bw - qx * bx - qy * by - qz * bz,
+    };
 }
 
 export function eulerToQuaternion(
@@ -99,11 +98,12 @@ export function eulerToQuaternion(
     const cz = Math.cos(hz),
         sz = Math.sin(hz);
 
-    _quat.x = sx * cy * cz + cx * sy * sz;
-    _quat.y = cx * sy * cz - sx * cy * sz;
-    _quat.z = cx * cy * sz + sx * sy * cz;
-    _quat.w = cx * cy * cz - sx * sy * sz;
-    return _quat;
+    return {
+        x: sx * cy * cz + cx * sy * sz,
+        y: cx * sy * cz - sx * cy * sz,
+        z: cx * cy * sz + sx * sy * cz,
+        w: cx * cy * cz - sx * sy * sz,
+    };
 }
 
 export function quaternionToEuler(
@@ -129,14 +129,18 @@ export function quaternionToEuler(
     const ey = Math.asin(m13 < -1 ? -1 : m13 > 1 ? 1 : m13);
 
     if (m13 > -0.9999999 && m13 < 0.9999999) {
-        _euler.x = Math.atan2(wx - yz, 1 - (xx + yy)) * RAD_TO_DEG;
-        _euler.z = Math.atan2(wz - xy, 1 - (yy + zz)) * RAD_TO_DEG;
+        return {
+            x: Math.atan2(wx - yz, 1 - (xx + yy)) * RAD_TO_DEG,
+            y: ey * RAD_TO_DEG,
+            z: Math.atan2(wz - xy, 1 - (yy + zz)) * RAD_TO_DEG,
+        };
     } else {
-        _euler.x = Math.atan2(yz + wx, 1 - (xx + zz)) * RAD_TO_DEG;
-        _euler.z = 0;
+        return {
+            x: Math.atan2(yz + wx, 1 - (xx + zz)) * RAD_TO_DEG,
+            y: ey * RAD_TO_DEG,
+            z: 0,
+        };
     }
-    _euler.y = ey * RAD_TO_DEG;
-    return _euler;
 }
 
 export function lookAt(
@@ -150,59 +154,82 @@ export function lookAt(
     upY = 1,
     upZ = 0
 ): { x: number; y: number; z: number; w: number } {
-    let fwdX = targetX - eyeX;
-    let fwdY = targetY - eyeY;
-    let fwdZ = targetZ - eyeZ;
-    const fwdLenSq = fwdX * fwdX + fwdY * fwdY + fwdZ * fwdZ;
-    if (fwdLenSq > 0) {
-        const invLen = 1 / Math.sqrt(fwdLenSq);
-        fwdX *= invLen;
-        fwdY *= invLen;
-        fwdZ *= invLen;
+    let zx = eyeX - targetX;
+    let zy = eyeY - targetY;
+    let zz = eyeZ - targetZ;
+    let zLen = Math.sqrt(zx * zx + zy * zy + zz * zz);
+
+    if (zLen === 0) {
+        zz = 1;
+    } else {
+        zLen = 1 / zLen;
+        zx *= zLen;
+        zy *= zLen;
+        zz *= zLen;
     }
 
-    let rightX = upY * fwdZ - upZ * fwdY;
-    let rightY = upZ * fwdX - upX * fwdZ;
-    let rightZ = upX * fwdY - upY * fwdX;
-    const rightLenSq = rightX * rightX + rightY * rightY + rightZ * rightZ;
-    if (rightLenSq > 0) {
-        const invLen = 1 / Math.sqrt(rightLenSq);
-        rightX *= invLen;
-        rightY *= invLen;
-        rightZ *= invLen;
+    let xx = upY * zz - upZ * zy;
+    let xy = upZ * zx - upX * zz;
+    let xz = upX * zy - upY * zx;
+    let xLen = Math.sqrt(xx * xx + xy * xy + xz * xz);
+
+    if (xLen === 0) {
+        if (upZ !== 0) {
+            upX += 1e-4 * upX;
+            upY += 1e-4 * upY;
+            upZ += 1e-4 * upZ;
+        } else if (upY !== 0) {
+            upX += 1e-4 * upX;
+            upY += 1e-4 * upY;
+            upZ += 1e-4 * upZ;
+        } else {
+            upX += 1e-4 * upX;
+            upY += 1e-4 * upY;
+            upZ += 1e-4 * upZ;
+        }
+        xx = upY * zz - upZ * zy;
+        xy = upZ * zx - upX * zz;
+        xz = upX * zy - upY * zx;
+        xLen = Math.sqrt(xx * xx + xy * xy + xz * xz);
     }
 
-    const newUpX = fwdY * rightZ - fwdZ * rightY;
-    const newUpY = fwdZ * rightX - fwdX * rightZ;
-    const newUpZ = fwdX * rightY - fwdY * rightX;
+    xLen = 1 / xLen;
+    xx *= xLen;
+    xy *= xLen;
+    xz *= xLen;
+
+    const yx = zy * xz - zz * xy;
+    const yy = zz * xx - zx * xz;
+    const yz = zx * xy - zy * xx;
 
-    const trace = rightX + newUpY + fwdZ;
+    const trace = xx + yy + zz;
+    let qw: number, qx: number, qy: number, qz: number;
 
     if (trace > 0) {
         const s = 0.5 / Math.sqrt(trace + 1);
-        _quat.w = 0.25 / s;
-        _quat.x = (newUpZ - fwdY) * s;
-        _quat.y = (fwdX - rightZ) * s;
-        _quat.z = (rightY - newUpX) * s;
-    } else if (rightX > newUpY && rightX > fwdZ) {
-        const s = 2 * Math.sqrt(1 + rightX - newUpY - fwdZ);
-        _quat.w = (newUpZ - fwdY) / s;
-        _quat.x = 0.25 * s;
-        _quat.y = (newUpX + rightY) / s;
-        _quat.z = (fwdX + rightZ) / s;
-    } else if (newUpY > fwdZ) {
-        const s = 2 * Math.sqrt(1 + newUpY - rightX - fwdZ);
-        _quat.w = (fwdX - rightZ) / s;
-        _quat.x = (newUpX + rightY) / s;
-        _quat.y = 0.25 * s;
-        _quat.z = (fwdY + newUpZ) / s;
+        qw = 0.25 / s;
+        qx = (yz - zy) * s;
+        qy = (zx - xz) * s;
+        qz = (xy - yx) * s;
+    } else if (xx > yy && xx > zz) {
+        const s = 2 * Math.sqrt(1 + xx - yy - zz);
+        qw = (yz - zy) / s;
+        qx = 0.25 * s;
+        qy = (yx + xy) / s;
+        qz = (zx + xz) / s;
+    } else if (yy > zz) {
+        const s = 2 * Math.sqrt(1 + yy - xx - zz);
+        qw = (zx - xz) / s;
+        qx = (yx + xy) / s;
+        qy = 0.25 * s;
+        qz = (yz + zy) / s;
     } else {
-        const s = 2 * Math.sqrt(1 + fwdZ - rightX - newUpY);
-        _quat.w = (rightY - newUpX) / s;
-        _quat.x = (fwdX + rightZ) / s;
-        _quat.y = (fwdY + newUpZ) / s;
-        _quat.z = 0.25 * s;
+        const s = 2 * Math.sqrt(1 + zz - xx - yy);
+        qw = (xy - yx) / s;
+        qx = (zx + xz) / s;
+        qy = (yz + zy) / s;
+        qz = 0.25 * s;
     }
 
-    return _quat;
+    return { x: qx, y: qy, z: qz, w: qw };
 }