@openglobus/og 0.17.2 → 0.18.1

package/lib/js/math/Quat.js

@@ -0,0 +1,783 @@
+import * as math from "../math";
+import { Vec3 } from "./Vec3";
+import { Mat4 } from "./Mat4";
+import { Mat3 } from "./Mat3";
+/**
+ * A set of 4-dimensional coordinates used to represent rotation in 3-dimensional space.
+ * @constructor
+ * @param {Number} [x=0.0] The X component.
+ * @param {Number} [y=0.0] The Y component.
+ * @param {Number} [z=0.0] The Z component.
+ * @param {Number} [w=0.0] The W component.
+ */
+export class Quat {
+    constructor(x = 0.0, y = 0.0, z = 0.0, w = 0.0) {
+        this.x = x;
+        this.y = y;
+        this.z = z;
+        this.w = w;
+    }
+    /**
+     * Identity Quat.
+     * @const
+     * @type {Quat}
+     */
+    static get IDENTITY() {
+        return new Quat(0.0, 0.0, 0.0, 1.0);
+    }
+    /**
+     * Returns a Quat represents rotation around X axis.
+     * @static
+     * @param {number} a - The angle in radians to rotate around the axis.
+     * @returns {Quat} -
+     */
+    static xRotation(a) {
+        a *= 0.5;
+        return new Quat(Math.sin(a), 0.0, 0.0, Math.cos(a));
+    }
+    /**
+     * Returns a Quat represents rotation around Y axis.
+     * @static
+     * @param {number} a - The angle in radians to rotate around the axis.
+     * @returns {Quat} -
+     */
+    static yRotation(a) {
+        a *= 0.5;
+        return new Quat(0.0, Math.sin(a), 0.0, Math.cos(a));
+    }
+    /**
+     * Returns a Quat represents rotation around Z axis.
+     * @static
+     * @param {number} a - The angle in radians to rotate around the axis.
+     * @returns {Quat} -
+     */
+    static zRotation(a) {
+        a *= 0.5;
+        return new Quat(0.0, 0.0, Math.sin(a), Math.cos(a));
+    }
+    /**
+     * Computes a Quat representing a rotation around an axis.
+     * @static
+     * @param {Vec3} axis - The axis of rotation.
+     * @param {number} [angle=0.0] The angle in radians to rotate around the axis.
+     * @returns {Quat} -
+     */
+    static axisAngleToQuat(axis, angle = 0) {
+        let v = axis.getNormal();
+        let half_angle = angle * 0.5;
+        let sin_a = Math.sin(half_angle);
+        return new Quat(v.x * sin_a, v.y * sin_a, v.z * sin_a, Math.cos(half_angle));
+    }
+    /**
+     * Computes a rotation from the given heading and up vector.
+     * @static
+     * @param {Vec3} forward - Heading target coordinates.
+     * @param {Vec3} up - Up vector.
+     * @returns {Quat} -
+     */
+    static getLookRotation(forward, up) {
+        let f = forward.getNormal().negate();
+        let s = up.cross(f).normalize();
+        let u = f.cross(s);
+        let z = 1.0 + s.x + u.y + f.z;
+        if (z > 0.000001) {
+            let fd = 1.0 / (2.0 * Math.sqrt(z));
+            return new Quat((f.y - u.z) * fd, (s.z - f.x) * fd, (u.x - s.y) * fd, 0.25 / fd);
+        }
+        if (s.x > u.y && s.x > f.z) {
+            let fd = 1.0 / (2.0 * Math.sqrt(1.0 + s.x - u.y - f.z));
+            return new Quat(0.25 / fd, (u.x + s.y) * fd, (s.z + f.x) * fd, (f.y - u.z) * fd);
+        }
+        if (u.y > f.z) {
+            let fd = 1.0 / (2.0 * Math.sqrt(1.0 + u.y - s.x - f.z));
+            return new Quat((u.x + s.y) * fd, 0.25 / fd, (f.y + u.z) * fd, (s.z - f.x) * fd);
+        }
+        let fd = 1.0 / (2.0 * Math.sqrt(1.0 + f.z - s.x - u.y));
+        return new Quat((s.z + f.x) * fd, (f.y + u.z) * fd, 0.25 / fd, (u.x - s.y) * fd);
+    }
+    /**
+     * Computes a Quat from source point heading to the destination point.
+     * @static
+     * @param {Vec3} sourcePoint - Source coordinate.
+     * @param {Vec3} destPoint - Destination coordinate.
+     * @returns {Quat} -
+     */
+    static getLookAtSourceDest(sourcePoint, destPoint) {
+        let forwardVector = destPoint.subA(sourcePoint).normalize();
+        let dot = Vec3.FORWARD.dot(forwardVector);
+        if (Math.abs(dot - -1.0) < 0.000001) {
+            return Quat.axisAngleToQuat(Vec3.UP, Math.PI);
+        }
+        if (Math.abs(dot - 1.0) < 0.000001) {
+            return new Quat(0.0, 0.0, 0.0, 1.0);
+        }
+        let rotAngle = Math.acos(dot);
+        let rotAxis = Vec3.FORWARD.cross(forwardVector).normalize();
+        return Quat.axisAngleToQuat(rotAxis, rotAngle);
+    }
+    /**
+     * Compute rotation between two vectors.
+     * @static
+     * @param {Vec3} u - First vector.
+     * @param {Vec3} v - Second vector.
+     * @returns {Quat} -
+     */
+    static getRotationBetweenVectors(u, v) {
+        let w = u.cross(v);
+        let q = new Quat(w.x, w.y, w.z, 1.0 + u.dot(v));
+        return q.normalize();
+    }
+    /**
+     * Compute rotation between two vectors.
+     * @static
+     * @param {Vec3} u - First vector.
+     * @param {Vec3} v - Second vector.
+     * @param {Quat} res
+     * @returns {Quat} -
+     */
+    static getRotationBetweenVectorsRes(u, v, res) {
+        let w = u.cross(v);
+        res.set(w.x, w.y, w.z, 1.0 + u.dot(v));
+        return res.normalize();
+    }
+    /**
+     * Compute rotation between two vectors with around vector up
+     * for exactly opposite vectors. If vectors exactly in the same
+     * direction as returns identity Quat.
+     * @static
+     * @param {Vec3} source - First vector.
+     * @param {Vec3} dest - Second vector.
+     * @param {Vec3} up - Up vector.
+     * @returns {Quat} -
+     */
+    static getRotationBetweenVectorsUp(source, dest, up) {
+        let dot = source.dot(dest);
+        if (Math.abs(dot + 1.0) < 0.000001) {
+            // vector source and dest point exactly in the opposite direction,
+            // so it is a 180 degrees turn around the up-axis
+            return Quat.axisAngleToQuat(up, Math.PI);
+        }
+        if (Math.abs(dot - 1.0) < 0.000001) {
+            // vector source and dest point exactly in the same direction,
+            // so we return the identity Quat
+            return new Quat(0, 0, 0, 1);
+        }
+        let rotAngle = Math.acos(dot);
+        let rotAxis = source.cross(dest).normalize();
+        return Quat.axisAngleToQuat(rotAxis, rotAngle);
+    }
+    /**
+     * Returns true if the components are zero.
+     * @public
+     * @returns {boolean} -
+     */
+    isZero() {
+        return this.x === 0.0 && this.y === 0.0 && this.z === 0.0 && this.w === 0.0;
+    }
+    /**
+     * Clear Quat. Sets zeroes.
+     * @public
+     * @returns {Quat} -
+     */
+    clear() {
+        this.x = this.y = this.z = this.w = 0;
+        return this;
+    }
+    /**
+     * Sets Quat values.
+     * @public
+     * @param {Number} [x=0.0] The X component.
+     * @param {Number} [y=0.0] The Y component.
+     * @param {Number} [z=0.0] The Z component.
+     * @param {Number} [w=0.0] The W component.
+     * @returns {Quat} -
+     */
+    set(x, y, z, w) {
+        this.x = x;
+        this.y = y;
+        this.z = z;
+        this.w = w;
+        return this;
+    }
+    /**
+     * Copy Quat values.
+     * @public
+     * @param {Quat} q - Copy Quat.
+     * @returns {Quat} -
+     */
+    copy(q) {
+        this.x = q.x;
+        this.y = q.y;
+        this.z = q.z;
+        this.w = q.w;
+        return this;
+    }
+    /**
+     * Set current Quat instance to identity Quat.
+     * @public
+     * @returns {Quat} -
+     */
+    setIdentity() {
+        this.x = 0.0;
+        this.y = 0.0;
+        this.z = 0.0;
+        this.w = 1.0;
+        return this;
+    }
+    /**
+     * Duplicates a Quat instance.
+     * @public
+     * @returns {Quat} -
+     */
+    clone() {
+        return new Quat(this.x, this.y, this.z, this.w);
+    }
+    /**
+     * Computes the componentwise sum of two Quats.
+     * @public
+     * @param {Quat} q - Quat to add.
+     * @returns {Quat} -
+     */
+    add(q) {
+        return new Quat(this.x + q.x, this.y + q.y, this.z + q.z, this.w + q.w);
+    }
+    /**
+     * Computes the componentwise difference of two Quats.
+     * @public
+     * @param {Quat} q - Quat to subtract.
+     * @returns {Quat} -
+     */
+    sub(q) {
+        return new Quat(this.x - q.x, this.y - q.y, this.z - q.z, this.w - q.w);
+    }
+    /**
+     * Multiplies the provided Quat componentwise by the provided scalar.
+     * @public
+     * @param {Number} scale - The scalar to multiply with.
+     * @returns {Quat} -
+     */
+    scaleTo(scale) {
+        return new Quat(this.x * scale, this.y * scale, this.z * scale, this.w * scale);
+    }
+    /**
+     * Multiplies the provided Quat componentwise.
+     * @public
+     * @param {Number} scale - The scalar to multiply with.
+     * @returns {Quat} -
+     */
+    scale(scale) {
+        this.x *= scale;
+        this.y *= scale;
+        this.z *= scale;
+        this.w *= scale;
+        return this;
+    }
+    /**
+     * Converts Quat values to array.
+     * @public
+     * @returns {Array.<number>} - (exactly 4 entries)
+     */
+    toVec() {
+        return [this.x, this.y, this.z, this.w];
+    }
+    /**
+     * Sets current quaternion by spherical coordinates.
+     * @public
+     * @param {number} lat - Latitude.
+     * @param {number} lon - Longitude.
+     * @param {number} angle - Angle in radians.
+     * @returns {Quat} -
+     */
+    setFromSphericalCoords(lat, lon, angle) {
+        let sin_a = Math.sin(angle / 2);
+        let cos_a = Math.cos(angle / 2);
+        let sin_lat = Math.sin(lat);
+        let cos_lat = Math.cos(lat);
+        let sin_long = Math.sin(lon);
+        let cos_long = Math.cos(lon);
+        this.x = sin_a * cos_lat * sin_long;
+        this.y = sin_a * sin_lat;
+        this.z = sin_a * sin_lat * cos_long;
+        this.w = cos_a;
+        return this;
+    }
+    /**
+     * Sets rotation with the given heading and up vectors.
+     * @static
+     * @param {Vec3} forward - Heading target coordinates.
+     * @param {Vec3} up - Up vector.
+     * @returns {Quat} -
+     */
+    setLookRotation(forward, up) {
+        let f = forward.getNormal().negate();
+        let s = up.cross(f).normalize();
+        let u = f.cross(s);
+        let z = 1.0 + s.x + u.y + f.z;
+        if (z > 0.000001) {
+            let fd = 1.0 / (2.0 * Math.sqrt(z));
+            this.x = (f.y - u.z) * fd;
+            this.y = (s.z - f.x) * fd;
+            this.z = (u.x - s.y) * fd;
+            this.w = 0.25 / fd;
+        }
+        else if (s.x > u.y && s.x > f.z) {
+            let fd = 1.0 / (2.0 * Math.sqrt(1.0 + s.x - u.y - f.z));
+            this.x = 0.25 / fd;
+            this.y = (u.x + s.y) * fd;
+            this.z = (s.z + f.x) * fd;
+            this.w = (f.y - u.z) * fd;
+        }
+        else if (u.y > f.z) {
+            let fd = 1.0 / (2.0 * Math.sqrt(1.0 + u.y - s.x - f.z));
+            this.x = (u.x + s.y) * fd;
+            this.y = 0.25 / fd;
+            this.z = (f.y + u.z) * fd;
+            this.w = (s.z - f.x) * fd;
+        }
+        else {
+            let fd = 1.0 / (2.0 * Math.sqrt(1.0 + f.z - s.x - u.y));
+            this.x = (s.z + f.x) * fd;
+            this.y = (f.y + u.z) * fd;
+            this.z = 0.25 / fd;
+            this.w = (u.x - s.y) * fd;
+        }
+        return this;
+    }
+    /**
+     * Gets spherical coordinates.
+     * @public
+     * @returns {Object} Returns object with latitude, longitude and alpha.
+     */
+    toSphericalCoords() {
+        let cos_a = this.w;
+        let sin_a = Math.sqrt(1.0 - cos_a * cos_a);
+        // var angle = Math.acos(cos_a) * 2;
+        if (Math.abs(sin_a) < 0.0005) {
+            sin_a = 1;
+        }
+        let tx = this.x / sin_a;
+        let ty = this.y / sin_a;
+        let tz = this.z / sin_a;
+        let lon, lat = -Math.asin(ty);
+        if (tx * tx + tz * tz < 0.0005) {
+            lon = 0;
+        }
+        else {
+            lon = Math.atan2(tx, tz);
+        }
+        if (lon < 0) {
+            lon += 360.0;
+        }
+        return {
+            lat: lat,
+            lon: lon,
+            alpha: Math.acos(cos_a)
+        };
+    }
+    /**
+     * Sets current Quat representing a rotation around an axis.
+     * @public
+     * @param {Vec3} axis - The axis of rotation.
+     * @param {number} angle The angle in radians to rotate around the axis.
+     * @returns {Quat} -
+     */
+    setFromAxisAngle(axis, angle) {
+        let v = axis.getNormal();
+        let half_angle = angle * 0.5;
+        let sin_a = Math.sin(half_angle);
+        this.set(v.x * sin_a, v.y * sin_a, v.z * sin_a, Math.cos(half_angle));
+        return this;
+    }
+    /**
+     * Returns axis and angle of the current Quat.
+     * @public
+     * @returns {Object} -
+     */
+    getAxisAngle() {
+        let x = this.x, y = this.y, z = this.z, w = this.w;
+        let vl = Math.sqrt(x * x + y * y + z * z);
+        let axis, angle;
+        if (vl > 0.0000001) {
+            let ivl = 1.0 / vl;
+            axis = new Vec3(x * ivl, y * ivl, z * ivl);
+            if (w < 0) {
+                angle = 2.0 * Math.atan2(-vl, -w); // -PI,0
+            }
+            else {
+                angle = 2.0 * Math.atan2(vl, w); // 0,PI
+            }
+        }
+        else {
+            axis = new Vec3(0, 0, 0);
+            angle = 0;
+        }
+        return {
+            axis: axis,
+            angle: angle
+        };
+    }
+    /**
+     * Sets current Quat by Euler's angles.
+     * @public
+     * @param {number} pitch - Pitch angle in degrees.
+     * @param {number} yaw - Yaw angle in degrees.
+     * @param {number} roll - Roll angle in degrees.
+     * @returns {Quat} -
+     */
+    setFromEulerAngles(pitch, yaw, roll) {
+        let ex = pitch * math.RADIANS_HALF, ey = yaw * math.RADIANS_HALF, ez = roll * math.RADIANS_HALF;
+        let cr = Math.cos(ex), cp = Math.cos(ey), cy = Math.cos(ez);
+        let sr = Math.sin(ex), sp = Math.sin(ey), sy = Math.sin(ez);
+        let cpcy = cp * cy, spsy = sp * sy;
+        this.w = cr * cpcy + sr * spsy;
+        this.x = sr * cpcy - cr * spsy;
+        this.y = cr * sp * cy + sr * cp * sy;
+        this.z = cr * cp * sy - sr * sp * cy;
+        return this.normalize();
+    }
+    /**
+     * Returns Euler's angles of the current Quat.
+     * @public
+     * @returns {Object} -
+     */
+    getEulerAngles() {
+        let x = this.x, y = this.y, z = this.z, w = this.w;
+        let sqy = y * y;
+        let roll = Math.atan2(2.0 * (w * x + y * z), 1.0 - 2.0 * (x * x + sqy));
+        let a = w * y - z * x;
+        if (a < -1.0) {
+            a = -1.0;
+        }
+        else if (a > 1.0) {
+            a = 1.0;
+        }
+        let pitch = Math.asin(2.0 * a);
+        let yaw = Math.atan2(2.0 * (w * z + x * y), 1.0 - 2.0 * (sqy + z * z));
+        return {
+            roll,
+            pitch,
+            yaw
+        };
+    }
+    /**
+     * Computes a Quat from the provided 4x4 matrix instance.
+     * @public
+     * @param {Mat4} mx - The rotation matrix.
+     * @returns {Quat} -
+     */
+    setFromMatrix4(mx) {
+        let tr, s, q = [];
+        let i, j, k;
+        let m = mx._m;
+        let nxt = [1, 2, 0];
+        tr = m[0] + m[5] + m[10];
+        if (tr > 0.0) {
+            s = Math.sqrt(tr + 1.0);
+            this.w = s / 2.0;
+            s = 0.5 / s;
+            this.x = (m[6] - m[9]) * s;
+            this.y = (m[8] - m[2]) * s;
+            this.z = (m[1] - m[4]) * s;
+        }
+        else {
+            i = 0;
+            if (m[5] > m[0])
+                i = 1;
+            if (m[10] > m[i * 5])
+                i = 2;
+            j = nxt[i];
+            k = nxt[j];
+            s = Math.sqrt(m[i * 5] - (m[j * 5] + m[k * 5]) + 1.0);
+            q[i] = s * 0.5;
+            if (s !== 0.0)
+                s = 0.5 / s;
+            q[3] = (m[j * 4 + k] - m[k * 4 + j]) * s;
+            q[j] = (m[i * 4 + j] + m[j * 4 + i]) * s;
+            q[k] = (m[i * 4 + k] + m[k * 4 + i]) * s;
+            this.x = q[0];
+            this.y = q[1];
+            this.z = q[2];
+            this.w = q[3];
+        }
+        return this;
+    }
+    /**
+     * Converts current Quat to the rotation 4x4 matrix.
+     * @public
+     * @params {Mat4} [out] - Output matrix
+     * @returns {Mat4} -
+     */
+    getMat4(out = new Mat4()) {
+        let xs = this.x + this.x;
+        let ys = this.y + this.y;
+        let zs = this.z + this.z;
+        let wx = this.w * xs;
+        let wy = this.w * ys;
+        let wz = this.w * zs;
+        let xx = this.x * xs;
+        let xy = this.x * ys;
+        let xz = this.x * zs;
+        let yy = this.y * ys;
+        let yz = this.y * zs;
+        let zz = this.z * zs;
+        return out.set([
+            1 - (yy + zz), xy - wz, xz + wy, 0,
+            xy + wz, 1 - (xx + zz), yz - wx, 0,
+            xz - wy, yz + wx, 1 - (xx + yy), 0,
+            0, 0, 0, 1
+        ]);
+    }
+    /**
+     * Converts current Quat to the rotation 3x3 matrix.
+     * @public
+     * @returns {Mat3} -
+     * @todo NOT TESTED
+     */
+    getMat3() {
+        let m = new Mat3();
+        let mx = m._m;
+        let c = this.x, d = this.y, e = this.z, g = this.w, f = c + c, h = d + d, i = e + e, j = c * f, k = c * h;
+        c = c * i;
+        let l = d * h;
+        d = d * i;
+        e = e * i;
+        f = g * f;
+        h = g * h;
+        g = g * i;
+        mx[0] = 1 - (l + e);
+        mx[1] = k - g;
+        mx[2] = c + h;
+        mx[3] = k + g;
+        mx[4] = 1 - (j + e);
+        mx[5] = d - f;
+        mx[6] = c - h;
+        mx[7] = d + f;
+        mx[8] = 1 - (j + l);
+        return m;
+    }
+    /**
+     * Returns quaternion and vector production.
+     * @public
+     * @param {Vec3} v - 3d Vector.
+     * @returns {Vec3} -
+     */
+    mulVec3(v) {
+        // t = 2 * cross(q.xyz, v)
+        // v' = v + q.w * t + cross(q.xyz, t)
+        let d = v.x, e = v.y, g = v.z;
+        let b = this.x, f = this.y, h = this.z, a = this.w;
+        let i = a * d + f * g - h * e, j = a * e + h * d - b * g, k = a * g + b * e - f * d;
+        d = -b * d - f * e - h * g;
+        return new Vec3(i * a + d * -b + j * -h - k * -f, j * a + d * -f + k * -b - i * -h, k * a + d * -h + i * -f - j * -b);
+    }
+    /**
+     * Computes the product of two Quats.
+     * @public
+     * @param {Quat} q - Quat to multiply.
+     * @returns {Quat} -
+     */
+    mul(q) {
+        let d = this.x, e = this.y, g = this.z, a = this.w;
+        let f = q.x, h = q.y, i = q.z, b = q.w;
+        return new Quat(d * b + a * f + e * i - g * h, e * b + a * h + g * f - d * i, g * b + a * i + d * h - e * f, a * b - d * f - e * h - g * i);
+    }
+    /**
+     * Computes the product of two Quats.
+     * @public
+     * @param {Quat} q - Quat to multiply.
+     * @returns {Quat} -
+     */
+    mulA(q) {
+        let d = this.x, e = this.y, g = this.z, a = this.w;
+        let f = q.x, h = q.y, i = q.z, b = q.w;
+        this.x = d * b + a * f + e * i - g * h;
+        this.y = e * b + a * h + g * f - d * i;
+        this.z = g * b + a * i + d * h - e * f;
+        this.w = a * b - d * f - e * h - g * i;
+        return this;
+    }
+    /**
+     * Gets the conjugate of the Quat.
+     * @public
+     * @returns {Quat} -
+     */
+    conjugate() {
+        return new Quat(-this.x, -this.y, -this.z, this.w);
+    }
+    /**
+     * Computes the inverse of the Quat.
+     * @public
+     * @returns {Quat} -
+     */
+    inverse() {
+        let n = 1.0 / this.magnitude2();
+        return new Quat(-this.x * n, -this.y * n, -this.z * n, this.w * n);
+    }
+    /**
+     * Computes a magnitude of the Quat.
+     * @public
+     * @returns {number} -
+     */
+    magnitude() {
+        let b = this.x, c = this.y, d = this.z, a = this.w;
+        return Math.sqrt(b * b + c * c + d * d + a * a);
+    }
+    /**
+     * Computes a squared magnitude of the Quat.
+     * @public
+     * @returns {number} -
+     */
+    magnitude2() {
+        let b = this.x, c = this.y, d = this.z, a = this.w;
+        return b * b + c * c + d * d + a * a;
+    }
+    /**
+     * Computes the dot (scalar) product of two Quats.
+     * @public
+     * @param {Quat} q - Second quaternion.
+     * @returns {number} -
+     */
+    dot(q) {
+        return this.x * q.x + this.y * q.y + this.z * q.z;
+    }
+    /**
+     * Current Quat normalization.
+     * @public
+     * @returns {Quat} -
+     */
+    normalize() {
+        let c = this.x, d = this.y, e = this.z, g = this.w, f = Math.sqrt(c * c + d * d + e * e + g * g);
+        if (f === 0.0) {
+            this.x = 0;
+            this.y = 0;
+            this.z = 0;
+            this.w = 0;
+            return this;
+        }
+        f = 1 / f;
+        this.x = c * f;
+        this.y = d * f;
+        this.z = e * f;
+        this.w = g * f;
+        return this;
+    }
+    /**
+     * Compares two Quats.
+     * @public
+     * @param {Quat} q - Second quaternion.
+     * @returns {Boolean} -
+     */
+    isEqual(q) {
+        let matching = this.dot(q);
+        if (Math.abs(matching - 1.0) < 0.001) {
+            return true;
+        }
+        return false;
+    }
+    /**
+     * Performs a spherical linear interpolation between two Quats.
+     * @public
+     * @param {Quat} b - The end rotation Quat.
+     * @param {number} t - interpolation amount between the two Quats.
+     * @returns {Quat} -
+     */
+    slerp(b, t) {
+        let ax = this.x, ay = this.y, az = this.z, aw = this.w, bx = b.x, by = b.y, bz = b.z, bw = b.w;
+        let omega, cosom, sinom, scale0, scale1;
+        cosom = ax * bx + ay * by + az * bz + aw * bw;
+        if (cosom < 0.0) {
+            cosom = -cosom;
+            bx = -bx;
+            by = -by;
+            bz = -bz;
+            bw = -bw;
+        }
+        if (1.0 - cosom > 0.000001) {
+            omega = Math.acos(cosom);
+            sinom = Math.sin(omega);
+            scale0 = Math.sin((1.0 - t) * omega) / sinom;
+            scale1 = Math.sin(t * omega) / sinom;
+        }
+        else {
+            scale0 = 1.0 - t;
+            scale1 = t;
+        }
+        return new Quat(scale0 * ax + scale1 * bx, scale0 * ay + scale1 * by, scale0 * az + scale1 * bz, scale0 * aw + scale1 * bw);
+    }
+    /**
+     * Returns a roll angle in radians.
+     * @public
+     * @param {Boolean} [reprojectAxis] -
+     * @returns {Number} -
+     */
+    getRoll(reprojectAxis = false) {
+        let x = this.x, y = this.y, z = this.z, w = this.w;
+        if (reprojectAxis) {
+            let fTy = 2.0 * y;
+            let fTz = 2.0 * z;
+            let fTwz = fTz * w;
+            let fTxy = fTy * x;
+            let fTyy = fTy * y;
+            let fTzz = fTz * z;
+            return Math.atan2(fTxy + fTwz, 1.0 - (fTyy + fTzz));
+        }
+        else {
+            return Math.atan2(2 * (x * y + w * z), w * w + x * x - y * y - z * z);
+        }
+    }
+    /**
+     * Returns a pitch angle in radians.
+     * @public
+     * @param {Boolean} [reprojectAxis] -
+     * @returns {number} -
+     */
+    getPitch(reprojectAxis = false) {
+        let x = this.x, y = this.y, z = this.z, w = this.w;
+        if (reprojectAxis) {
+            let fTx = 2.0 * x;
+            let fTz = 2.0 * z;
+            let fTwx = fTx * w;
+            let fTxx = fTx * x;
+            let fTyz = fTz * y;
+            let fTzz = fTz * z;
+            return Math.atan2(fTyz + fTwx, 1.0 - (fTxx + fTzz));
+        }
+        else {
+            return Math.atan2(2 * (y * z + w * x), w * w - x * x - y * y + z * z);
+        }
+    }
+    /**
+     * Returns a yaw angle in radians.
+     * @public
+     * @param {Boolean} [reprojectAxis] -
+     * @returns {number} -
+     */
+    getYaw(reprojectAxis = false) {
+        let x = this.x, y = this.y, z = this.z, w = this.w;
+        if (reprojectAxis) {
+            let fTx = 2.0 * x;
+            let fTy = 2.0 * y;
+            let fTz = 2.0 * z;
+            let fTwy = fTy * w;
+            let fTxx = fTx * x;
+            let fTxz = fTz * x;
+            let fTyy = fTy * y;
+            return Math.atan2(fTxz + fTwy, 1.0 - (fTxx + fTyy));
+        }
+        else {
+            return Math.asin(-2 * (x * z - w * y));
+        }
+    }
+}
+/**
+ * Creates Quat instance.
+ * @function
+ * @param {Number} [x=0.0] The X component.
+ * @param {Number} [y=0.0] The Y component.
+ * @param {Number} [z=0.0] The Z component.
+ * @param {Number} [w=0.0] The W component.
+ * @returns {Quat} -
+ */
+export function quat(x = 0, y = 0, z = 0, w = 0) {
+    return new Quat(x, y, z, w);
+}