@plastic-software/three 0.167.3 → 0.174.0

package/src/math/Quaternion.js

@@ -1,9 +1,39 @@
-import * as MathUtils from './MathUtils.js';
-
+import { clamp } from './MathUtils.js';
+
+/**
+ * Class for representing a Quaternion. Quaternions are used in three.js to represent rotations.
+ *
+ * Iterating through a vector instance will yield its components `(x, y, z, w)` in
+ * the corresponding order.
+ *
+ * Note that three.js expects Quaternions to be normalized.
+ * ```js
+ * const quaternion = new THREE.Quaternion();
+ * quaternion.setFromAxisAngle( new THREE.Vector3( 0, 1, 0 ), Math.PI / 2 );
+ *
+ * const vector = new THREE.Vector3( 1, 0, 0 );
+ * vector.applyQuaternion( quaternion );
+ * ```
+ */
 class Quaternion {
 
+	/**
+	 * Constructs a new quaternion.
+	 *
+	 * @param {number} [x=0] - The x value of this quaternion.
+	 * @param {number} [y=0] - The y value of this quaternion.
+	 * @param {number} [z=0] - The z value of this quaternion.
+	 * @param {number} [w=1] - The w value of this quaternion.
+	 */
 	constructor( x = 0, y = 0, z = 0, w = 1 ) {
 
+		/**
+		 * This flag can be used for type testing.
+		 *
+		 * @type {boolean}
+		 * @readonly
+		 * @default true
+		 */
 		this.isQuaternion = true;
 
 		this._x = x;
@@ -13,6 +43,19 @@ class Quaternion {
 
 	}
 
+	/**
+	 * Interpolates between two quaternions via SLERP. This implementation assumes the
+	 * quaternion data are managed  in flat arrays.
+	 *
+	 * @param {Array<number>} dst - The destination array.
+	 * @param {number} dstOffset - An offset into the destination array.
+	 * @param {Array<number>} src0 - The source array of the first quaternion.
+	 * @param {number} srcOffset0 - An offset into the first source array.
+	 * @param {Array<number>} src1 -  The source array of the second quaternion.
+	 * @param {number} srcOffset1 - An offset into the second source array.
+	 * @param {number} t - The interpolation factor in the range `[0,1]`.
+	 * @see {@link Quaternion#slerp}
+	 */
 	static slerpFlat( dst, dstOffset, src0, srcOffset0, src1, srcOffset1, t ) {
 
 		// fuzz-free, array-based Quaternion SLERP operation
@@ -93,6 +136,19 @@ class Quaternion {
 
 	}
 
+	/**
+	 * Multiplies two quaternions. This implementation assumes the quaternion data are managed
+	 * in flat arrays.
+	 *
+	 * @param {Array<number>} dst - The destination array.
+	 * @param {number} dstOffset - An offset into the destination array.
+	 * @param {Array<number>} src0 - The source array of the first quaternion.
+	 * @param {number} srcOffset0 - An offset into the first source array.
+	 * @param {Array<number>} src1 -  The source array of the second quaternion.
+	 * @param {number} srcOffset1 - An offset into the second source array.
+	 * @return {Array<number>} The destination array.
+	 * @see {@link Quaternion#multiplyQuaternions}.
+	 */
 	static multiplyQuaternionsFlat( dst, dstOffset, src0, srcOffset0, src1, srcOffset1 ) {
 
 		const x0 = src0[ srcOffset0 ];
@@ -114,6 +170,12 @@ class Quaternion {
 
 	}
 
+	/**
+	 * The x value of this quaternion.
+	 *
+	 * @type {number}
+	 * @default 0
+	 */
 	get x() {
 
 		return this._x;
@@ -127,6 +189,12 @@ class Quaternion {
 
 	}
 
+	/**
+	 * The y value of this quaternion.
+	 *
+	 * @type {number}
+	 * @default 0
+	 */
 	get y() {
 
 		return this._y;
@@ -140,6 +208,12 @@ class Quaternion {
 
 	}
 
+	/**
+	 * The z value of this quaternion.
+	 *
+	 * @type {number}
+	 * @default 0
+	 */
 	get z() {
 
 		return this._z;
@@ -153,6 +227,12 @@ class Quaternion {
 
 	}
 
+	/**
+	 * The w value of this quaternion.
+	 *
+	 * @type {number}
+	 * @default 1
+	 */
 	get w() {
 
 		return this._w;
@@ -166,6 +246,15 @@ class Quaternion {
 
 	}
 
+	/**
+	 * Sets the quaternion components.
+	 *
+	 * @param {number} x - The x value of this quaternion.
+	 * @param {number} y - The y value of this quaternion.
+	 * @param {number} z - The z value of this quaternion.
+	 * @param {number} w - The w value of this quaternion.
+	 * @return {Quaternion} A reference to this quaternion.
+	 */
 	set( x, y, z, w ) {
 
 		this._x = x;
@@ -179,12 +268,23 @@ class Quaternion {
 
 	}
 
+	/**
+	 * Returns a new quaternion with copied values from this instance.
+	 *
+	 * @return {Quaternion} A clone of this instance.
+	 */
 	clone() {
 
 		return new this.constructor( this._x, this._y, this._z, this._w );
 
 	}
 
+	/**
+	 * Copies the values of the given quaternion to this instance.
+	 *
+	 * @param {Quaternion} quaternion - The quaternion to copy.
+	 * @return {Quaternion} A reference to this quaternion.
+	 */
 	copy( quaternion ) {
 
 		this._x = quaternion.x;
@@ -198,6 +298,14 @@ class Quaternion {
 
 	}
 
+	/**
+	 * Sets this quaternion from the rotation specified by the given
+	 * Euler angles.
+	 *
+	 * @param {Euler} euler - The Euler angles.
+	 * @param {boolean} [update=true] - Whether the internal `onChange` callback should be executed or not.
+	 * @return {Quaternion} A reference to this quaternion.
+	 */
 	setFromEuler( euler, update = true ) {
 
 		const x = euler._x, y = euler._y, z = euler._z, order = euler._order;
@@ -272,12 +380,17 @@ class Quaternion {
 
 	}
 
+	/**
+	 * Sets this quaternion from the given axis and angle.
+	 *
+	 * @param {Vector3} axis - The normalized axis.
+	 * @param {number} angle - The angle in radians.
+	 * @return {Quaternion} A reference to this quaternion.
+	 */
 	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;
@@ -291,6 +404,12 @@ class Quaternion {
 
 	}
 
+	/**
+	 * Sets this quaternion from the given rotation matrix.
+	 *
+	 * @param {Matrix4} m - A 4x4 matrix of which the upper 3x3 of matrix is a pure rotation matrix (i.e. unscaled).
+	 * @return {Quaternion} A reference to this quaternion.
+	 */
 	setFromRotationMatrix( m ) {
 
 		// http://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToQuaternion/index.htm
@@ -349,6 +468,14 @@ class Quaternion {
 
 	}
 
+	/**
+	 * Sets this quaternion to the rotation required to rotate the direction vector
+	 * `vFrom` to the direction vector `vTo`.
+	 *
+	 * @param {Vector3} vFrom - The first (normalized) direction vector.
+	 * @param {Vector3} vTo - The second (normalized) direction vector.
+	 * @return {Quaternion} A reference to this quaternion.
+	 */
 	setFromUnitVectors( vFrom, vTo ) {
 
 		// assumes direction vectors vFrom and vTo are normalized
@@ -392,12 +519,26 @@ class Quaternion {
 
 	}
 
+	/**
+	 * Returns the angle between this quaternion and the given one in radians.
+	 *
+	 * @param {Quaternion} q - The quaternion to compute the angle with.
+	 * @return {number} The angle in radians.
+	 */
 	angleTo( q ) {
 
-		return 2 * Math.acos( Math.abs( MathUtils.clamp( this.dot( q ), - 1, 1 ) ) );
+		return 2 * Math.acos( Math.abs( clamp( this.dot( q ), - 1, 1 ) ) );
 
 	}
 
+	/**
+	 * Rotates this quaternion by a given angular step to the given quaternion.
+	 * The method ensures that the final quaternion will not overshoot `q`.
+	 *
+	 * @param {Quaternion} q - The target quaternion.
+	 * @param {number} step - The angular step in radians.
+	 * @return {Quaternion} A reference to this quaternion.
+	 */
 	rotateTowards( q, step ) {
 
 		const angle = this.angleTo( q );
@@ -412,20 +553,37 @@ class Quaternion {
 
 	}
 
+	/**
+	 * Sets this quaternion to the identity quaternion; that is, to the
+	 * quaternion that represents "no rotation".
+	 *
+	 * @return {Quaternion} A reference to this quaternion.
+	 */
 	identity() {
 
 		return this.set( 0, 0, 0, 1 );
 
 	}
 
+	/**
+	 * Inverts this quaternion via {@link Quaternion#conjugate}. The
+	 * quaternion is assumed to have unit length.
+	 *
+	 * @return {Quaternion} A reference to this quaternion.
+	 */
 	invert() {
 
-		// quaternion is assumed to have unit length
-
 		return this.conjugate();
 
 	}
 
+	/**
+	 * Returns the rotational conjugate of this quaternion. The conjugate of a
+	 * quaternion represents the same rotation in the opposite direction about
+	 * the rotational axis.
+	 *
+	 * @return {Quaternion} A reference to this quaternion.
+	 */
 	conjugate() {
 
 		this._x *= - 1;
@@ -438,24 +596,50 @@ class Quaternion {
 
 	}
 
+	/**
+	 * Calculates the dot product of this quaternion and the given one.
+	 *
+	 * @param {Quaternion} v - The quaternion to compute the dot product with.
+	 * @return {number} The result of the dot product.
+	 */
 	dot( v ) {
 
 		return this._x * v._x + this._y * v._y + this._z * v._z + this._w * v._w;
 
 	}
 
+	/**
+	 * Computes the squared Euclidean length (straight-line length) of this quaternion,
+	 * considered as a 4 dimensional vector. This can be useful if you are comparing the
+	 * lengths of two quaternions, as this is a slightly more efficient calculation than
+	 * {@link Quaternion#length}.
+	 *
+	 * @return {number} The squared Euclidean length.
+	 */
 	lengthSq() {
 
 		return this._x * this._x + this._y * this._y + this._z * this._z + this._w * this._w;
 
 	}
 
+	/**
+	 * Computes the Euclidean length (straight-line length) of this quaternion,
+	 * considered as a 4 dimensional vector.
+	 *
+	 * @return {number} The Euclidean length.
+	 */
 	length() {
 
 		return Math.sqrt( this._x * this._x + this._y * this._y + this._z * this._z + this._w * this._w );
 
 	}
 
+	/**
+	 * Normalizes this quaternion - that is, calculated the quaternion that performs
+	 * the same rotation as this one, but has a length equal to `1`.
+	 *
+	 * @return {Quaternion} A reference to this quaternion.
+	 */
 	normalize() {
 
 		let l = this.length();
@@ -484,18 +668,37 @@ class Quaternion {
 
 	}
 
+	/**
+	 * Multiplies this quaternion by the given one.
+	 *
+	 * @param {Quaternion} q - The quaternion.
+	 * @return {Quaternion} A reference to this quaternion.
+	 */
 	multiply( q ) {
 
 		return this.multiplyQuaternions( this, q );
 
 	}
 
+	/**
+	 * Pre-multiplies this quaternion by the given one.
+	 *
+	 * @param {Quaternion} q - The quaternion.
+	 * @return {Quaternion} A reference to this quaternion.
+	 */
 	premultiply( q ) {
 
 		return this.multiplyQuaternions( q, this );
 
 	}
 
+	/**
+	 * Multiplies the given quaternions and stores the result in this instance.
+	 *
+	 * @param {Quaternion} a - The first quaternion.
+	 * @param {Quaternion} b - The second quaternion.
+	 * @return {Quaternion} A reference to this quaternion.
+	 */
 	multiplyQuaternions( a, b ) {
 
 		// from http://www.euclideanspace.com/maths/algebra/realNormedAlgebra/quaternions/code/index.htm
@@ -514,6 +717,13 @@ class Quaternion {
 
 	}
 
+	/**
+	 * Performs a spherical linear interpolation between quaternions.
+	 *
+	 * @param {Quaternion} qb - The target quaternion.
+	 * @param {number} t - The interpolation factor in the closed interval `[0, 1]`.
+	 * @return {Quaternion} A reference to this quaternion.
+	 */
 	slerp( qb, t ) {
 
 		if ( t === 0 ) return this;
@@ -583,16 +793,28 @@ class Quaternion {
 
 	}
 
+	/**
+	 * Performs a spherical linear interpolation between the given quaternions
+	 * and stores the result in this quaternion.
+	 *
+	 * @param {Quaternion} qa - The source quaternion.
+	 * @param {Quaternion} qb - The target quaternion.
+	 * @param {number} t - The interpolation factor in the closed interval `[0, 1]`.
+	 * @return {Quaternion} A reference to this quaternion.
+	 */
 	slerpQuaternions( qa, qb, t ) {
 
 		return this.copy( qa ).slerp( qb, t );
 
 	}
 
+	/**
+	 * Sets this quaternion to a uniformly random, normalized quaternion.
+	 *
+	 * @return {Quaternion} A reference to this quaternion.
+	 */
 	random() {
 
-		// sets this quaternion to a uniform random unit quaternnion
-
 		// Ken Shoemake
 		// Uniform random rotations
 		// D. Kirk, editor, Graphics Gems III, pages 124-132. Academic Press, New York, 1992.
@@ -613,12 +835,25 @@ class Quaternion {
 
 	}
 
+	/**
+	 * Returns `true` if this quaternion is equal with the given one.
+	 *
+	 * @param {Quaternion} quaternion - The quaternion to test for equality.
+	 * @return {boolean} Whether this quaternion is equal with the given one.
+	 */
 	equals( quaternion ) {
 
 		return ( quaternion._x === this._x ) && ( quaternion._y === this._y ) && ( quaternion._z === this._z ) && ( quaternion._w === this._w );
 
 	}
 
+	/**
+	 * Sets this quaternion's components from the given array.
+	 *
+	 * @param {Array<number>} array - An array holding the quaternion component values.
+	 * @param {number} [offset=0] - The offset into the array.
+	 * @return {Quaternion} A reference to this quaternion.
+	 */
 	fromArray( array, offset = 0 ) {
 
 		this._x = array[ offset ];
@@ -632,6 +867,14 @@ class Quaternion {
 
 	}
 
+	/**
+	 * Writes the components of this quaternion to the given array. If no array is provided,
+	 * the method returns a new instance.
+	 *
+	 * @param {Array<number>} [array=[]] - The target array holding the quaternion components.
+	 * @param {number} [offset=0] - Index of the first element in the array.
+	 * @return {Array<number>} The quaternion components.
+	 */
 	toArray( array = [], offset = 0 ) {
 
 		array[ offset ] = this._x;
@@ -643,6 +886,13 @@ class Quaternion {
 
 	}
 
+	/**
+	 * Sets the components of this quaternion from the given buffer attribute.
+	 *
+	 * @param {BufferAttribute} attribute - The buffer attribute holding quaternion data.
+	 * @param {number} index - The index into the attribute.
+	 * @return {Quaternion} A reference to this quaternion.
+	 */
 	fromBufferAttribute( attribute, index ) {
 
 		this._x = attribute.getX( index );
@@ -656,6 +906,12 @@ class Quaternion {
 
 	}
 
+	/**
+	 * This methods defines the serialization result of this class. Returns the
+	 * numerical elements of this quaternion in an array of format `[x, y, z, w]`.
+	 *
+	 * @return {Array<number>} The serialized quaternion.
+	 */
 	toJSON() {
 
 		return this.toArray();