@needle-tools/three 0.154.2 → 0.160.2

package/src/math/Quaternion.js

@@ -1,684 +1,685 @@
-import * as MathUtils from './MathUtils.js';
-
-class Quaternion {
-
-	constructor( x = 0, y = 0, z = 0, w = 1 ) {
-
-		this.isQuaternion = true;
-
-		this._x = x;
-		this._y = y;
-		this._z = z;
-		this._w = w;
-
-	}
-
-	static slerpFlat( dst, dstOffset, src0, srcOffset0, src1, srcOffset1, t ) {
-
-		// fuzz-free, array-based Quaternion SLERP operation
-
-		let x0 = src0[ srcOffset0 + 0 ],
-			y0 = src0[ srcOffset0 + 1 ],
-			z0 = src0[ srcOffset0 + 2 ],
-			w0 = src0[ srcOffset0 + 3 ];
-
-		const x1 = src1[ srcOffset1 + 0 ],
-			y1 = src1[ srcOffset1 + 1 ],
-			z1 = src1[ srcOffset1 + 2 ],
-			w1 = src1[ srcOffset1 + 3 ];
-
-		if ( t === 0 ) {
-
-			dst[ dstOffset + 0 ] = x0;
-			dst[ dstOffset + 1 ] = y0;
-			dst[ dstOffset + 2 ] = z0;
-			dst[ dstOffset + 3 ] = w0;
-			return;
-
-		}
-
-		if ( t === 1 ) {
-
-			dst[ dstOffset + 0 ] = x1;
-			dst[ dstOffset + 1 ] = y1;
-			dst[ dstOffset + 2 ] = z1;
-			dst[ dstOffset + 3 ] = w1;
-			return;
-
-		}
-
-		if ( w0 !== w1 || x0 !== x1 || y0 !== y1 || z0 !== z1 ) {
-
-			let s = 1 - t;
-			const cos = x0 * x1 + y0 * y1 + z0 * z1 + w0 * w1,
-				dir = ( cos >= 0 ? 1 : - 1 ),
-				sqrSin = 1 - cos * cos;
-
-			// Skip the Slerp for tiny steps to avoid numeric problems:
-			if ( sqrSin > Number.EPSILON ) {
-
-				const sin = Math.sqrt( sqrSin ),
-					len = Math.atan2( sin, cos * dir );
-
-				s = Math.sin( s * len ) / sin;
-				t = Math.sin( t * len ) / sin;
-
-			}
-
-			const tDir = t * dir;
-
-			x0 = x0 * s + x1 * tDir;
-			y0 = y0 * s + y1 * tDir;
-			z0 = z0 * s + z1 * tDir;
-			w0 = w0 * s + w1 * tDir;
-
-			// Normalize in case we just did a lerp:
-			if ( s === 1 - t ) {
-
-				const f = 1 / Math.sqrt( x0 * x0 + y0 * y0 + z0 * z0 + w0 * w0 );
-
-				x0 *= f;
-				y0 *= f;
-				z0 *= f;
-				w0 *= f;
-
-			}
-
-		}
-
-		dst[ dstOffset ] = x0;
-		dst[ dstOffset + 1 ] = y0;
-		dst[ dstOffset + 2 ] = z0;
-		dst[ dstOffset + 3 ] = w0;
-
-	}
-
-	static multiplyQuaternionsFlat( dst, dstOffset, src0, srcOffset0, src1, srcOffset1 ) {
-
-		const x0 = src0[ srcOffset0 ];
-		const y0 = src0[ srcOffset0 + 1 ];
-		const z0 = src0[ srcOffset0 + 2 ];
-		const w0 = src0[ srcOffset0 + 3 ];
-
-		const x1 = src1[ srcOffset1 ];
-		const y1 = src1[ srcOffset1 + 1 ];
-		const z1 = src1[ srcOffset1 + 2 ];
-		const w1 = src1[ srcOffset1 + 3 ];
-
-		dst[ dstOffset ] = x0 * w1 + w0 * x1 + y0 * z1 - z0 * y1;
-		dst[ dstOffset + 1 ] = y0 * w1 + w0 * y1 + z0 * x1 - x0 * z1;
-		dst[ dstOffset + 2 ] = z0 * w1 + w0 * z1 + x0 * y1 - y0 * x1;
-		dst[ dstOffset + 3 ] = w0 * w1 - x0 * x1 - y0 * y1 - z0 * z1;
-
-		return dst;
-
-	}
-
-	get x() {
-
-		return this._x;
-
-	}
-
-	set x( value ) {
-
-		this._x = value;
-		this._onChangeCallback();
-
-	}
-
-	get y() {
-
-		return this._y;
-
-	}
-
-	set y( value ) {
-
-		this._y = value;
-		this._onChangeCallback();
-
-	}
-
-	get z() {
-
-		return this._z;
-
-	}
-
-	set z( value ) {
-
-		this._z = value;
-		this._onChangeCallback();
-
-	}
-
-	get w() {
-
-		return this._w;
-
-	}
-
-	set w( value ) {
-
-		this._w = value;
-		this._onChangeCallback();
-
-	}
-
-	set( x, y, z, w ) {
-
-		this._x = x;
-		this._y = y;
-		this._z = z;
-		this._w = w;
-
-		this._onChangeCallback();
-
-		return this;
-
-	}
-
-	clone() {
-
-		return new this.constructor( this._x, this._y, this._z, this._w );
-
-	}
-
-	copy( quaternion ) {
-
-		this._x = quaternion.x;
-		this._y = quaternion.y;
-		this._z = quaternion.z;
-		this._w = quaternion.w;
-
-		this._onChangeCallback();
-
-		return this;
-
-	}
-
-	setFromEuler( euler, update ) {
-
-		const x = euler._x, y = euler._y, z = euler._z, order = euler._order;
-
-		// http://www.mathworks.com/matlabcentral/fileexchange/
-		// 	20696-function-to-convert-between-dcm-euler-angles-quaternions-and-euler-vectors/
-		//	content/SpinCalc.m
-
-		const cos = Math.cos;
-		const sin = Math.sin;
-
-		const c1 = cos( x / 2 );
-		const c2 = cos( y / 2 );
-		const c3 = cos( z / 2 );
-
-		const s1 = sin( x / 2 );
-		const s2 = sin( y / 2 );
-		const s3 = sin( z / 2 );
-
-		switch ( order ) {
-
-			case 'XYZ':
-				this._x = s1 * c2 * c3 + c1 * s2 * s3;
-				this._y = c1 * s2 * c3 - s1 * c2 * s3;
-				this._z = c1 * c2 * s3 + s1 * s2 * c3;
-				this._w = c1 * c2 * c3 - s1 * s2 * s3;
-				break;
-
-			case 'YXZ':
-				this._x = s1 * c2 * c3 + c1 * s2 * s3;
-				this._y = c1 * s2 * c3 - s1 * c2 * s3;
-				this._z = c1 * c2 * s3 - s1 * s2 * c3;
-				this._w = c1 * c2 * c3 + s1 * s2 * s3;
-				break;
-
-			case 'ZXY':
-				this._x = s1 * c2 * c3 - c1 * s2 * s3;
-				this._y = c1 * s2 * c3 + s1 * c2 * s3;
-				this._z = c1 * c2 * s3 + s1 * s2 * c3;
-				this._w = c1 * c2 * c3 - s1 * s2 * s3;
-				break;
-
-			case 'ZYX':
-				this._x = s1 * c2 * c3 - c1 * s2 * s3;
-				this._y = c1 * s2 * c3 + s1 * c2 * s3;
-				this._z = c1 * c2 * s3 - s1 * s2 * c3;
-				this._w = c1 * c2 * c3 + s1 * s2 * s3;
-				break;
-
-			case 'YZX':
-				this._x = s1 * c2 * c3 + c1 * s2 * s3;
-				this._y = c1 * s2 * c3 + s1 * c2 * s3;
-				this._z = c1 * c2 * s3 - s1 * s2 * c3;
-				this._w = c1 * c2 * c3 - s1 * s2 * s3;
-				break;
-
-			case 'XZY':
-				this._x = s1 * c2 * c3 - c1 * s2 * s3;
-				this._y = c1 * s2 * c3 - s1 * c2 * s3;
-				this._z = c1 * c2 * s3 + s1 * s2 * c3;
-				this._w = c1 * c2 * c3 + s1 * s2 * s3;
-				break;
-
-			default:
-				console.warn( 'THREE.Quaternion: .setFromEuler() encountered an unknown order: ' + order );
-
-		}
-
-		if ( update !== false ) this._onChangeCallback();
-
-		return this;
-
-	}
-
-	setFromAxisAngle( axis, angle ) {
-
-		// http://www.euclideanspace.com/maths/geometry/rotations/conversions/angleToQuaternion/index.htm
-
-		// assumes axis is normalized
-
-		const halfAngle = angle / 2, s = Math.sin( halfAngle );
-
-		this._x = axis.x * s;
-		this._y = axis.y * s;
-		this._z = axis.z * s;
-		this._w = Math.cos( halfAngle );
-
-		this._onChangeCallback();
-
-		return this;
-
-	}
-
-	setFromRotationMatrix( m ) {
-
-		// http://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToQuaternion/index.htm
-
-		// assumes the upper 3x3 of m is a pure rotation matrix (i.e, unscaled)
-
-		const te = m.elements,
-
-			m11 = te[ 0 ], m12 = te[ 4 ], m13 = te[ 8 ],
-			m21 = te[ 1 ], m22 = te[ 5 ], m23 = te[ 9 ],
-			m31 = te[ 2 ], m32 = te[ 6 ], m33 = te[ 10 ],
-
-			trace = m11 + m22 + m33;
-
-		if ( trace > 0 ) {
-
-			const s = 0.5 / Math.sqrt( trace + 1.0 );
-
-			this._w = 0.25 / s;
-			this._x = ( m32 - m23 ) * s;
-			this._y = ( m13 - m31 ) * s;
-			this._z = ( m21 - m12 ) * s;
-
-		} else if ( m11 > m22 && m11 > m33 ) {
-
-			const s = 2.0 * Math.sqrt( 1.0 + m11 - m22 - m33 );
-
-			this._w = ( m32 - m23 ) / s;
-			this._x = 0.25 * s;
-			this._y = ( m12 + m21 ) / s;
-			this._z = ( m13 + m31 ) / s;
-
-		} else if ( m22 > m33 ) {
-
-			const s = 2.0 * Math.sqrt( 1.0 + m22 - m11 - m33 );
-
-			this._w = ( m13 - m31 ) / s;
-			this._x = ( m12 + m21 ) / s;
-			this._y = 0.25 * s;
-			this._z = ( m23 + m32 ) / s;
-
-		} else {
-
-			const s = 2.0 * Math.sqrt( 1.0 + m33 - m11 - m22 );
-
-			this._w = ( m21 - m12 ) / s;
-			this._x = ( m13 + m31 ) / s;
-			this._y = ( m23 + m32 ) / s;
-			this._z = 0.25 * s;
-
-		}
-
-		this._onChangeCallback();
-
-		return this;
-
-	}
-
-	setFromUnitVectors( vFrom, vTo ) {
-
-		// assumes direction vectors vFrom and vTo are normalized
-
-		let r = vFrom.dot( vTo ) + 1;
-
-		if ( r < Number.EPSILON ) {
-
-			// vFrom and vTo point in opposite directions
-
-			r = 0;
-
-			if ( Math.abs( vFrom.x ) > Math.abs( vFrom.z ) ) {
-
-				this._x = - vFrom.y;
-				this._y = vFrom.x;
-				this._z = 0;
-				this._w = r;
-
-			} else {
-
-				this._x = 0;
-				this._y = - vFrom.z;
-				this._z = vFrom.y;
-				this._w = r;
-
-			}
-
-		} else {
-
-			// crossVectors( vFrom, vTo ); // inlined to avoid cyclic dependency on Vector3
-
-			this._x = vFrom.y * vTo.z - vFrom.z * vTo.y;
-			this._y = vFrom.z * vTo.x - vFrom.x * vTo.z;
-			this._z = vFrom.x * vTo.y - vFrom.y * vTo.x;
-			this._w = r;
-
-		}
-
-		return this.normalize();
-
-	}
-
-	angleTo( q ) {
-
-		return 2 * Math.acos( Math.abs( MathUtils.clamp( this.dot( q ), - 1, 1 ) ) );
-
-	}
-
-	rotateTowards( q, step ) {
-
-		const angle = this.angleTo( q );
-
-		if ( angle === 0 ) return this;
-
-		const t = Math.min( 1, step / angle );
-
-		this.slerp( q, t );
-
-		return this;
-
-	}
-
-	identity() {
-
-		return this.set( 0, 0, 0, 1 );
-
-	}
-
-	invert() {
-
-		// quaternion is assumed to have unit length
-
-		return this.conjugate();
-
-	}
-
-	conjugate() {
-
-		this._x *= - 1;
-		this._y *= - 1;
-		this._z *= - 1;
-
-		this._onChangeCallback();
-
-		return this;
-
-	}
-
-	dot( v ) {
-
-		return this._x * v._x + this._y * v._y + this._z * v._z + this._w * v._w;
-
-	}
-
-	lengthSq() {
-
-		return this._x * this._x + this._y * this._y + this._z * this._z + this._w * this._w;
-
-	}
-
-	length() {
-
-		return Math.sqrt( this._x * this._x + this._y * this._y + this._z * this._z + this._w * this._w );
-
-	}
-
-	normalize() {
-
-		let l = this.length();
-
-		if ( l === 0 ) {
-
-			this._x = 0;
-			this._y = 0;
-			this._z = 0;
-			this._w = 1;
-
-		} else {
-
-			l = 1 / l;
-
-			this._x = this._x * l;
-			this._y = this._y * l;
-			this._z = this._z * l;
-			this._w = this._w * l;
-
-		}
-
-		this._onChangeCallback();
-
-		return this;
-
-	}
-
-	multiply( q ) {
-
-		return this.multiplyQuaternions( this, q );
-
-	}
-
-	premultiply( q ) {
-
-		return this.multiplyQuaternions( q, this );
-
-	}
-
-	multiplyQuaternions( a, b ) {
-
-		// from http://www.euclideanspace.com/maths/algebra/realNormedAlgebra/quaternions/code/index.htm
-
-		const qax = a._x, qay = a._y, qaz = a._z, qaw = a._w;
-		const qbx = b._x, qby = b._y, qbz = b._z, qbw = b._w;
-
-		this._x = qax * qbw + qaw * qbx + qay * qbz - qaz * qby;
-		this._y = qay * qbw + qaw * qby + qaz * qbx - qax * qbz;
-		this._z = qaz * qbw + qaw * qbz + qax * qby - qay * qbx;
-		this._w = qaw * qbw - qax * qbx - qay * qby - qaz * qbz;
-
-		this._onChangeCallback();
-
-		return this;
-
-	}
-
-	slerp( qb, t ) {
-
-		if ( t === 0 ) return this;
-		if ( t === 1 ) return this.copy( qb );
-
-		const x = this._x, y = this._y, z = this._z, w = this._w;
-
-		// http://www.euclideanspace.com/maths/algebra/realNormedAlgebra/quaternions/slerp/
-
-		let cosHalfTheta = w * qb._w + x * qb._x + y * qb._y + z * qb._z;
-
-		if ( cosHalfTheta < 0 ) {
-
-			this._w = - qb._w;
-			this._x = - qb._x;
-			this._y = - qb._y;
-			this._z = - qb._z;
-
-			cosHalfTheta = - cosHalfTheta;
-
-		} else {
-
-			this.copy( qb );
-
-		}
-
-		if ( cosHalfTheta >= 1.0 ) {
-
-			this._w = w;
-			this._x = x;
-			this._y = y;
-			this._z = z;
-
-			return this;
-
-		}
-
-		const sqrSinHalfTheta = 1.0 - cosHalfTheta * cosHalfTheta;
-
-		if ( sqrSinHalfTheta <= Number.EPSILON ) {
-
-			const s = 1 - t;
-			this._w = s * w + t * this._w;
-			this._x = s * x + t * this._x;
-			this._y = s * y + t * this._y;
-			this._z = s * z + t * this._z;
-
-			this.normalize();
-			this._onChangeCallback();
-
-			return this;
-
-		}
-
-		const sinHalfTheta = Math.sqrt( sqrSinHalfTheta );
-		const halfTheta = Math.atan2( sinHalfTheta, cosHalfTheta );
-		const ratioA = Math.sin( ( 1 - t ) * halfTheta ) / sinHalfTheta,
-			ratioB = Math.sin( t * halfTheta ) / sinHalfTheta;
-
-		this._w = ( w * ratioA + this._w * ratioB );
-		this._x = ( x * ratioA + this._x * ratioB );
-		this._y = ( y * ratioA + this._y * ratioB );
-		this._z = ( z * ratioA + this._z * ratioB );
-
-		this._onChangeCallback();
-
-		return this;
-
-	}
-
-	slerpQuaternions( qa, qb, t ) {
-
-		return this.copy( qa ).slerp( qb, t );
-
-	}
-
-	random() {
-
-		// Derived from http://planning.cs.uiuc.edu/node198.html
-		// Note, this source uses w, x, y, z ordering,
-		// so we swap the order below.
-
-		const u1 = Math.random();
-		const sqrt1u1 = Math.sqrt( 1 - u1 );
-		const sqrtu1 = Math.sqrt( u1 );
-
-		const u2 = 2 * Math.PI * Math.random();
-
-		const u3 = 2 * Math.PI * Math.random();
-
-		return this.set(
-			sqrt1u1 * Math.cos( u2 ),
-			sqrtu1 * Math.sin( u3 ),
-			sqrtu1 * Math.cos( u3 ),
-			sqrt1u1 * Math.sin( u2 ),
-		);
-
-	}
-
-	equals( quaternion ) {
-
-		return ( quaternion._x === this._x ) && ( quaternion._y === this._y ) && ( quaternion._z === this._z ) && ( quaternion._w === this._w );
-
-	}
-
-	fromArray( array, offset = 0 ) {
-
-		this._x = array[ offset ];
-		this._y = array[ offset + 1 ];
-		this._z = array[ offset + 2 ];
-		this._w = array[ offset + 3 ];
-
-		this._onChangeCallback();
-
-		return this;
-
-	}
-
-	toArray( array = [], offset = 0 ) {
-
-		array[ offset ] = this._x;
-		array[ offset + 1 ] = this._y;
-		array[ offset + 2 ] = this._z;
-		array[ offset + 3 ] = this._w;
-
-		return array;
-
-	}
-
-	fromBufferAttribute( attribute, index ) {
-
-		this._x = attribute.getX( index );
-		this._y = attribute.getY( index );
-		this._z = attribute.getZ( index );
-		this._w = attribute.getW( index );
-
-		return this;
-
-	}
-
-	toJSON() {
-
-		return this.toArray();
-
-	}
-
-	_onChange( callback ) {
-
-		this._onChangeCallback = callback;
-
-		return this;
-
-	}
-
-	_onChangeCallback() {}
-
-	*[ Symbol.iterator ]() {
-
-		yield this._x;
-		yield this._y;
-		yield this._z;
-		yield this._w;
-
-	}
-
-}
-
-export { Quaternion };
+import * as MathUtils from './MathUtils.js';
+
+class Quaternion {
+
+	constructor( x = 0, y = 0, z = 0, w = 1 ) {
+
+		this.isQuaternion = true;
+
+		this._x = x;
+		this._y = y;
+		this._z = z;
+		this._w = w;
+
+	}
+
+	static slerpFlat( dst, dstOffset, src0, srcOffset0, src1, srcOffset1, t ) {
+
+		// fuzz-free, array-based Quaternion SLERP operation
+
+		let x0 = src0[ srcOffset0 + 0 ],
+			y0 = src0[ srcOffset0 + 1 ],
+			z0 = src0[ srcOffset0 + 2 ],
+			w0 = src0[ srcOffset0 + 3 ];
+
+		const x1 = src1[ srcOffset1 + 0 ],
+			y1 = src1[ srcOffset1 + 1 ],
+			z1 = src1[ srcOffset1 + 2 ],
+			w1 = src1[ srcOffset1 + 3 ];
+
+		if ( t === 0 ) {
+
+			dst[ dstOffset + 0 ] = x0;
+			dst[ dstOffset + 1 ] = y0;
+			dst[ dstOffset + 2 ] = z0;
+			dst[ dstOffset + 3 ] = w0;
+			return;
+
+		}
+
+		if ( t === 1 ) {
+
+			dst[ dstOffset + 0 ] = x1;
+			dst[ dstOffset + 1 ] = y1;
+			dst[ dstOffset + 2 ] = z1;
+			dst[ dstOffset + 3 ] = w1;
+			return;
+
+		}
+
+		if ( w0 !== w1 || x0 !== x1 || y0 !== y1 || z0 !== z1 ) {
+
+			let s = 1 - t;
+			const cos = x0 * x1 + y0 * y1 + z0 * z1 + w0 * w1,
+				dir = ( cos >= 0 ? 1 : - 1 ),
+				sqrSin = 1 - cos * cos;
+
+			// Skip the Slerp for tiny steps to avoid numeric problems:
+			if ( sqrSin > Number.EPSILON ) {
+
+				const sin = Math.sqrt( sqrSin ),
+					len = Math.atan2( sin, cos * dir );
+
+				s = Math.sin( s * len ) / sin;
+				t = Math.sin( t * len ) / sin;
+
+			}
+
+			const tDir = t * dir;
+
+			x0 = x0 * s + x1 * tDir;
+			y0 = y0 * s + y1 * tDir;
+			z0 = z0 * s + z1 * tDir;
+			w0 = w0 * s + w1 * tDir;
+
+			// Normalize in case we just did a lerp:
+			if ( s === 1 - t ) {
+
+				const f = 1 / Math.sqrt( x0 * x0 + y0 * y0 + z0 * z0 + w0 * w0 );
+
+				x0 *= f;
+				y0 *= f;
+				z0 *= f;
+				w0 *= f;
+
+			}
+
+		}
+
+		dst[ dstOffset ] = x0;
+		dst[ dstOffset + 1 ] = y0;
+		dst[ dstOffset + 2 ] = z0;
+		dst[ dstOffset + 3 ] = w0;
+
+	}
+
+	static multiplyQuaternionsFlat( dst, dstOffset, src0, srcOffset0, src1, srcOffset1 ) {
+
+		const x0 = src0[ srcOffset0 ];
+		const y0 = src0[ srcOffset0 + 1 ];
+		const z0 = src0[ srcOffset0 + 2 ];
+		const w0 = src0[ srcOffset0 + 3 ];
+
+		const x1 = src1[ srcOffset1 ];
+		const y1 = src1[ srcOffset1 + 1 ];
+		const z1 = src1[ srcOffset1 + 2 ];
+		const w1 = src1[ srcOffset1 + 3 ];
+
+		dst[ dstOffset ] = x0 * w1 + w0 * x1 + y0 * z1 - z0 * y1;
+		dst[ dstOffset + 1 ] = y0 * w1 + w0 * y1 + z0 * x1 - x0 * z1;
+		dst[ dstOffset + 2 ] = z0 * w1 + w0 * z1 + x0 * y1 - y0 * x1;
+		dst[ dstOffset + 3 ] = w0 * w1 - x0 * x1 - y0 * y1 - z0 * z1;
+
+		return dst;
+
+	}
+
+	get x() {
+
+		return this._x;
+
+	}
+
+	set x( value ) {
+
+		this._x = value;
+		this._onChangeCallback();
+
+	}
+
+	get y() {
+
+		return this._y;
+
+	}
+
+	set y( value ) {
+
+		this._y = value;
+		this._onChangeCallback();
+
+	}
+
+	get z() {
+
+		return this._z;
+
+	}
+
+	set z( value ) {
+
+		this._z = value;
+		this._onChangeCallback();
+
+	}
+
+	get w() {
+
+		return this._w;
+
+	}
+
+	set w( value ) {
+
+		this._w = value;
+		this._onChangeCallback();
+
+	}
+
+	set( x, y, z, w ) {
+
+		this._x = x;
+		this._y = y;
+		this._z = z;
+		this._w = w;
+
+		this._onChangeCallback();
+
+		return this;
+
+	}
+
+	clone() {
+
+		return new this.constructor( this._x, this._y, this._z, this._w );
+
+	}
+
+	copy( quaternion ) {
+
+		this._x = quaternion.x;
+		this._y = quaternion.y;
+		this._z = quaternion.z;
+		this._w = quaternion.w;
+
+		this._onChangeCallback();
+
+		return this;
+
+	}
+
+	setFromEuler( euler, update = true ) {
+
+		const x = euler._x, y = euler._y, z = euler._z, order = euler._order;
+
+		// http://www.mathworks.com/matlabcentral/fileexchange/
+		// 	20696-function-to-convert-between-dcm-euler-angles-quaternions-and-euler-vectors/
+		//	content/SpinCalc.m
+
+		const cos = Math.cos;
+		const sin = Math.sin;
+
+		const c1 = cos( x / 2 );
+		const c2 = cos( y / 2 );
+		const c3 = cos( z / 2 );
+
+		const s1 = sin( x / 2 );
+		const s2 = sin( y / 2 );
+		const s3 = sin( z / 2 );
+
+		switch ( order ) {
+
+			case 'XYZ':
+				this._x = s1 * c2 * c3 + c1 * s2 * s3;
+				this._y = c1 * s2 * c3 - s1 * c2 * s3;
+				this._z = c1 * c2 * s3 + s1 * s2 * c3;
+				this._w = c1 * c2 * c3 - s1 * s2 * s3;
+				break;
+
+			case 'YXZ':
+				this._x = s1 * c2 * c3 + c1 * s2 * s3;
+				this._y = c1 * s2 * c3 - s1 * c2 * s3;
+				this._z = c1 * c2 * s3 - s1 * s2 * c3;
+				this._w = c1 * c2 * c3 + s1 * s2 * s3;
+				break;
+
+			case 'ZXY':
+				this._x = s1 * c2 * c3 - c1 * s2 * s3;
+				this._y = c1 * s2 * c3 + s1 * c2 * s3;
+				this._z = c1 * c2 * s3 + s1 * s2 * c3;
+				this._w = c1 * c2 * c3 - s1 * s2 * s3;
+				break;
+
+			case 'ZYX':
+				this._x = s1 * c2 * c3 - c1 * s2 * s3;
+				this._y = c1 * s2 * c3 + s1 * c2 * s3;
+				this._z = c1 * c2 * s3 - s1 * s2 * c3;
+				this._w = c1 * c2 * c3 + s1 * s2 * s3;
+				break;
+
+			case 'YZX':
+				this._x = s1 * c2 * c3 + c1 * s2 * s3;
+				this._y = c1 * s2 * c3 + s1 * c2 * s3;
+				this._z = c1 * c2 * s3 - s1 * s2 * c3;
+				this._w = c1 * c2 * c3 - s1 * s2 * s3;
+				break;
+
+			case 'XZY':
+				this._x = s1 * c2 * c3 - c1 * s2 * s3;
+				this._y = c1 * s2 * c3 - s1 * c2 * s3;
+				this._z = c1 * c2 * s3 + s1 * s2 * c3;
+				this._w = c1 * c2 * c3 + s1 * s2 * s3;
+				break;
+
+			default:
+				console.warn( 'THREE.Quaternion: .setFromEuler() encountered an unknown order: ' + order );
+
+		}
+
+		if ( update === true ) this._onChangeCallback();
+
+		return this;
+
+	}
+
+	setFromAxisAngle( axis, angle ) {
+
+		// http://www.euclideanspace.com/maths/geometry/rotations/conversions/angleToQuaternion/index.htm
+
+		// assumes axis is normalized
+
+		const halfAngle = angle / 2, s = Math.sin( halfAngle );
+
+		this._x = axis.x * s;
+		this._y = axis.y * s;
+		this._z = axis.z * s;
+		this._w = Math.cos( halfAngle );
+
+		this._onChangeCallback();
+
+		return this;
+
+	}
+
+	setFromRotationMatrix( m ) {
+
+		// http://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToQuaternion/index.htm
+
+		// assumes the upper 3x3 of m is a pure rotation matrix (i.e, unscaled)
+
+		const te = m.elements,
+
+			m11 = te[ 0 ], m12 = te[ 4 ], m13 = te[ 8 ],
+			m21 = te[ 1 ], m22 = te[ 5 ], m23 = te[ 9 ],
+			m31 = te[ 2 ], m32 = te[ 6 ], m33 = te[ 10 ],
+
+			trace = m11 + m22 + m33;
+
+		if ( trace > 0 ) {
+
+			const s = 0.5 / Math.sqrt( trace + 1.0 );
+
+			this._w = 0.25 / s;
+			this._x = ( m32 - m23 ) * s;
+			this._y = ( m13 - m31 ) * s;
+			this._z = ( m21 - m12 ) * s;
+
+		} else if ( m11 > m22 && m11 > m33 ) {
+
+			const s = 2.0 * Math.sqrt( 1.0 + m11 - m22 - m33 );
+
+			this._w = ( m32 - m23 ) / s;
+			this._x = 0.25 * s;
+			this._y = ( m12 + m21 ) / s;
+			this._z = ( m13 + m31 ) / s;
+
+		} else if ( m22 > m33 ) {
+
+			const s = 2.0 * Math.sqrt( 1.0 + m22 - m11 - m33 );
+
+			this._w = ( m13 - m31 ) / s;
+			this._x = ( m12 + m21 ) / s;
+			this._y = 0.25 * s;
+			this._z = ( m23 + m32 ) / s;
+
+		} else {
+
+			const s = 2.0 * Math.sqrt( 1.0 + m33 - m11 - m22 );
+
+			this._w = ( m21 - m12 ) / s;
+			this._x = ( m13 + m31 ) / s;
+			this._y = ( m23 + m32 ) / s;
+			this._z = 0.25 * s;
+
+		}
+
+		this._onChangeCallback();
+
+		return this;
+
+	}
+
+	setFromUnitVectors( vFrom, vTo ) {
+
+		// assumes direction vectors vFrom and vTo are normalized
+
+		let r = vFrom.dot( vTo ) + 1;
+
+		if ( r < Number.EPSILON ) {
+
+			// vFrom and vTo point in opposite directions
+
+			r = 0;
+
+			if ( Math.abs( vFrom.x ) > Math.abs( vFrom.z ) ) {
+
+				this._x = - vFrom.y;
+				this._y = vFrom.x;
+				this._z = 0;
+				this._w = r;
+
+			} else {
+
+				this._x = 0;
+				this._y = - vFrom.z;
+				this._z = vFrom.y;
+				this._w = r;
+
+			}
+
+		} else {
+
+			// crossVectors( vFrom, vTo ); // inlined to avoid cyclic dependency on Vector3
+
+			this._x = vFrom.y * vTo.z - vFrom.z * vTo.y;
+			this._y = vFrom.z * vTo.x - vFrom.x * vTo.z;
+			this._z = vFrom.x * vTo.y - vFrom.y * vTo.x;
+			this._w = r;
+
+		}
+
+		return this.normalize();
+
+	}
+
+	angleTo( q ) {
+
+		return 2 * Math.acos( Math.abs( MathUtils.clamp( this.dot( q ), - 1, 1 ) ) );
+
+	}
+
+	rotateTowards( q, step ) {
+
+		const angle = this.angleTo( q );
+
+		if ( angle === 0 ) return this;
+
+		const t = Math.min( 1, step / angle );
+
+		this.slerp( q, t );
+
+		return this;
+
+	}
+
+	identity() {
+
+		return this.set( 0, 0, 0, 1 );
+
+	}
+
+	invert() {
+
+		// quaternion is assumed to have unit length
+
+		return this.conjugate();
+
+	}
+
+	conjugate() {
+
+		this._x *= - 1;
+		this._y *= - 1;
+		this._z *= - 1;
+
+		this._onChangeCallback();
+
+		return this;
+
+	}
+
+	dot( v ) {
+
+		return this._x * v._x + this._y * v._y + this._z * v._z + this._w * v._w;
+
+	}
+
+	lengthSq() {
+
+		return this._x * this._x + this._y * this._y + this._z * this._z + this._w * this._w;
+
+	}
+
+	length() {
+
+		return Math.sqrt( this._x * this._x + this._y * this._y + this._z * this._z + this._w * this._w );
+
+	}
+
+	normalize() {
+
+		let l = this.length();
+
+		if ( l === 0 ) {
+
+			this._x = 0;
+			this._y = 0;
+			this._z = 0;
+			this._w = 1;
+
+		} else {
+
+			l = 1 / l;
+
+			this._x = this._x * l;
+			this._y = this._y * l;
+			this._z = this._z * l;
+			this._w = this._w * l;
+
+		}
+
+		this._onChangeCallback();
+
+		return this;
+
+	}
+
+	multiply( q ) {
+
+		return this.multiplyQuaternions( this, q );
+
+	}
+
+	premultiply( q ) {
+
+		return this.multiplyQuaternions( q, this );
+
+	}
+
+	multiplyQuaternions( a, b ) {
+
+		// from http://www.euclideanspace.com/maths/algebra/realNormedAlgebra/quaternions/code/index.htm
+
+		const qax = a._x, qay = a._y, qaz = a._z, qaw = a._w;
+		const qbx = b._x, qby = b._y, qbz = b._z, qbw = b._w;
+
+		this._x = qax * qbw + qaw * qbx + qay * qbz - qaz * qby;
+		this._y = qay * qbw + qaw * qby + qaz * qbx - qax * qbz;
+		this._z = qaz * qbw + qaw * qbz + qax * qby - qay * qbx;
+		this._w = qaw * qbw - qax * qbx - qay * qby - qaz * qbz;
+
+		this._onChangeCallback();
+
+		return this;
+
+	}
+
+	slerp( qb, t ) {
+
+		if ( t === 0 ) return this;
+		if ( t === 1 ) return this.copy( qb );
+
+		const x = this._x, y = this._y, z = this._z, w = this._w;
+
+		// http://www.euclideanspace.com/maths/algebra/realNormedAlgebra/quaternions/slerp/
+
+		let cosHalfTheta = w * qb._w + x * qb._x + y * qb._y + z * qb._z;
+
+		if ( cosHalfTheta < 0 ) {
+
+			this._w = - qb._w;
+			this._x = - qb._x;
+			this._y = - qb._y;
+			this._z = - qb._z;
+
+			cosHalfTheta = - cosHalfTheta;
+
+		} else {
+
+			this.copy( qb );
+
+		}
+
+		if ( cosHalfTheta >= 1.0 ) {
+
+			this._w = w;
+			this._x = x;
+			this._y = y;
+			this._z = z;
+
+			return this;
+
+		}
+
+		const sqrSinHalfTheta = 1.0 - cosHalfTheta * cosHalfTheta;
+
+		if ( sqrSinHalfTheta <= Number.EPSILON ) {
+
+			const s = 1 - t;
+			this._w = s * w + t * this._w;
+			this._x = s * x + t * this._x;
+			this._y = s * y + t * this._y;
+			this._z = s * z + t * this._z;
+
+			this.normalize(); // normalize calls _onChangeCallback()
+
+			return this;
+
+		}
+
+		const sinHalfTheta = Math.sqrt( sqrSinHalfTheta );
+		const halfTheta = Math.atan2( sinHalfTheta, cosHalfTheta );
+		const ratioA = Math.sin( ( 1 - t ) * halfTheta ) / sinHalfTheta,
+			ratioB = Math.sin( t * halfTheta ) / sinHalfTheta;
+
+		this._w = ( w * ratioA + this._w * ratioB );
+		this._x = ( x * ratioA + this._x * ratioB );
+		this._y = ( y * ratioA + this._y * ratioB );
+		this._z = ( z * ratioA + this._z * ratioB );
+
+		this._onChangeCallback();
+
+		return this;
+
+	}
+
+	slerpQuaternions( qa, qb, t ) {
+
+		return this.copy( qa ).slerp( qb, t );
+
+	}
+
+	random() {
+
+		// Derived from http://planning.cs.uiuc.edu/node198.html
+		// Note, this source uses w, x, y, z ordering,
+		// so we swap the order below.
+
+		const u1 = Math.random();
+		const sqrt1u1 = Math.sqrt( 1 - u1 );
+		const sqrtu1 = Math.sqrt( u1 );
+
+		const u2 = 2 * Math.PI * Math.random();
+
+		const u3 = 2 * Math.PI * Math.random();
+
+		return this.set(
+			sqrt1u1 * Math.cos( u2 ),
+			sqrtu1 * Math.sin( u3 ),
+			sqrtu1 * Math.cos( u3 ),
+			sqrt1u1 * Math.sin( u2 ),
+		);
+
+	}
+
+	equals( quaternion ) {
+
+		return ( quaternion._x === this._x ) && ( quaternion._y === this._y ) && ( quaternion._z === this._z ) && ( quaternion._w === this._w );
+
+	}
+
+	fromArray( array, offset = 0 ) {
+
+		this._x = array[ offset ];
+		this._y = array[ offset + 1 ];
+		this._z = array[ offset + 2 ];
+		this._w = array[ offset + 3 ];
+
+		this._onChangeCallback();
+
+		return this;
+
+	}
+
+	toArray( array = [], offset = 0 ) {
+
+		array[ offset ] = this._x;
+		array[ offset + 1 ] = this._y;
+		array[ offset + 2 ] = this._z;
+		array[ offset + 3 ] = this._w;
+
+		return array;
+
+	}
+
+	fromBufferAttribute( attribute, index ) {
+
+		this._x = attribute.getX( index );
+		this._y = attribute.getY( index );
+		this._z = attribute.getZ( index );
+		this._w = attribute.getW( index );
+
+		this._onChangeCallback();
+
+		return this;
+
+	}
+
+	toJSON() {
+
+		return this.toArray();
+
+	}
+
+	_onChange( callback ) {
+
+		this._onChangeCallback = callback;
+
+		return this;
+
+	}
+
+	_onChangeCallback() {}
+
+	*[ Symbol.iterator ]() {
+
+		yield this._x;
+		yield this._y;
+		yield this._z;
+		yield this._w;
+
+	}
+
+}
+
+export { Quaternion };