@vived/core 1.0.0 → 1.1.0

package/dist/cjs/ValueObjects/ParametricPlane.js

@@ -0,0 +1,65 @@
+"use strict";
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.ParametricPlane = void 0;
+const ParametricLine_1 = require("./ParametricLine");
+const Vector3_1 = require("../ValueObjects/Vector3");
+class ParametricPlane {
+    static FromPointNormal(point, normal) {
+        return new ParametricPlane(point, normal);
+    }
+    static FromThreePoints(A, B, C) {
+        const point = A;
+        const AB = Vector3_1.Vector3.Subtract(B, A);
+        const AC = Vector3_1.Vector3.Subtract(C, A);
+        const normal = Vector3_1.Vector3.Cross(AB, AC);
+        return new ParametricPlane(point, normal);
+    }
+    static XY() {
+        const p = Vector3_1.Vector3.Zero();
+        const n = new Vector3_1.Vector3(0, 0, 1);
+        return new ParametricPlane(p, n);
+    }
+    static ZX() {
+        const p = Vector3_1.Vector3.Zero();
+        const n = new Vector3_1.Vector3(0, 1, 0);
+        return new ParametricPlane(p, n);
+    }
+    static YZ() {
+        const p = Vector3_1.Vector3.Zero();
+        const n = new Vector3_1.Vector3(1, 0, 0);
+        return new ParametricPlane(p, n);
+    }
+    GetParameters() {
+        const a = this.normal.x;
+        const b = this.normal.y;
+        const c = this.normal.z;
+        let d = Vector3_1.Vector3.Dot(this.point, this.normal);
+        if (d !== 0) {
+            d *= -1;
+        }
+        return {
+            a,
+            b,
+            c,
+            d,
+        };
+    }
+    intersectLine(line) {
+        const { x0, y0, z0, a, b, c } = line;
+        const { a: A, b: B, c: C, d: D } = this.GetParameters();
+        const tNumerator = -(A * x0 + B * y0 + C * z0 + D);
+        const tDenominator = A * a + B * b + C * c;
+        if (tDenominator === 0) {
+            return undefined;
+        }
+        const t = tNumerator / tDenominator;
+        const intersect = ParametricLine_1.ParametricLine.GetPointAtDistance(line, t);
+        return intersect;
+    }
+    constructor(point, normal) {
+        this.point = point;
+        this.normal = normal;
+    }
+}
+exports.ParametricPlane = ParametricPlane;
+//# sourceMappingURL=ParametricPlane.js.map

package/dist/cjs/ValueObjects/ParametricPlane.js.map

@@ -0,0 +1 @@
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package/dist/cjs/ValueObjects/ParametricPlane.test.js

@@ -0,0 +1,101 @@
+"use strict";
+Object.defineProperty(exports, "__esModule", { value: true });
+const ParametricLine_1 = require("./ParametricLine");
+const ParametricPlane_1 = require("./ParametricPlane");
+const ValueObjects_1 = require("../ValueObjects");
+test("Setting from point and normal", () => {
+    const point = new ValueObjects_1.Vector3(1, 2, 3);
+    const normal = new ValueObjects_1.Vector3(4, 5, 6);
+    const plane = ParametricPlane_1.ParametricPlane.FromPointNormal(point, normal);
+    const parameters = plane.GetParameters();
+    const dot = ValueObjects_1.Vector3.Dot(point, normal);
+    expect(parameters.a).toEqual(normal.x);
+    expect(parameters.b).toEqual(normal.y);
+    expect(parameters.c).toEqual(normal.z);
+    expect(parameters.d).toEqual(-dot);
+});
+test("From three points", () => {
+    // From https://keisan.casio.com/exec/system/1223596129
+    const A = new ValueObjects_1.Vector3(1, 2, -2);
+    const B = new ValueObjects_1.Vector3(3, -2, 1);
+    const C = new ValueObjects_1.Vector3(5, 1, -4);
+    const plane = ParametricPlane_1.ParametricPlane.FromThreePoints(A, B, C);
+    const parameters = plane.GetParameters();
+    expect(parameters.a).toEqual(11);
+    expect(parameters.b).toEqual(16);
+    expect(parameters.c).toEqual(14);
+    expect(parameters.d).toEqual(-15);
+});
+test("Intersection", () => {
+    const point = new ValueObjects_1.Vector3(1, 1, 1);
+    const dir = new ValueObjects_1.Vector3(1, 0, 0);
+    const line = ParametricLine_1.ParametricLine.FromPointDirection(point, dir);
+    const plane1 = new ValueObjects_1.Vector3(-1, 0, 0);
+    const plane2 = new ValueObjects_1.Vector3(-1, 1, 0);
+    const plane3 = new ValueObjects_1.Vector3(-1, 0, 1);
+    const plane = ParametricPlane_1.ParametricPlane.FromThreePoints(plane1, plane2, plane3);
+    const intersect = plane.intersectLine(line);
+    expect(intersect === null || intersect === void 0 ? void 0 : intersect.x).toBeCloseTo(-1);
+    expect(intersect === null || intersect === void 0 ? void 0 : intersect.y).toBeCloseTo(1);
+    expect(intersect === null || intersect === void 0 ? void 0 : intersect.z).toBeCloseTo(1);
+});
+test("Intersection", () => {
+    // From http://www.ambrsoft.com/TrigoCalc/Plan3D/PlaneLineIntersection_.htm
+    const line1 = new ValueObjects_1.Vector3(4, 1, 1);
+    const line2 = new ValueObjects_1.Vector3(8, -2, -2);
+    const line = ParametricLine_1.ParametricLine.FromTwoPoint(line1, line2);
+    const plane1 = new ValueObjects_1.Vector3(-1, 2, 4);
+    const plane2 = new ValueObjects_1.Vector3(2, 1, 3);
+    const plane3 = new ValueObjects_1.Vector3(1, 3, 2);
+    const plane = ParametricPlane_1.ParametricPlane.FromThreePoints(plane1, plane2, plane3);
+    const intersect = plane.intersectLine(line);
+    expect(intersect === null || intersect === void 0 ? void 0 : intersect.x).toBeCloseTo(2.93);
+    expect(intersect === null || intersect === void 0 ? void 0 : intersect.y).toBeCloseTo(1.8);
+    expect(intersect === null || intersect === void 0 ? void 0 : intersect.z).toBeCloseTo(1.8);
+});
+test("If parallel, intersect should come back undefined", () => {
+    const line1 = new ValueObjects_1.Vector3(0, 1, 0);
+    const line2 = new ValueObjects_1.Vector3(0, -1, 0);
+    const line = ParametricLine_1.ParametricLine.FromTwoPoint(line1, line2); // Vertical line going through the origin
+    const plane1 = new ValueObjects_1.Vector3(0, 0, 0);
+    const plane2 = new ValueObjects_1.Vector3(0, 1, 0);
+    const plane3 = new ValueObjects_1.Vector3(0, 0, 1);
+    const plane = ParametricPlane_1.ParametricPlane.FromThreePoints(plane1, plane2, plane3); // y-z plane
+    const intersect = plane.intersectLine(line);
+    expect(intersect).toBeUndefined();
+});
+test("XY Plane", () => {
+    const plane = ParametricPlane_1.ParametricPlane.XY();
+    expect(plane.GetParameters()).toEqual({
+        a: 0,
+        b: 0,
+        c: 1,
+        d: 0,
+    });
+});
+test("ZX Plane", () => {
+    const plane = ParametricPlane_1.ParametricPlane.ZX();
+    expect(plane.GetParameters()).toEqual({
+        a: 0,
+        b: 1,
+        c: 0,
+        d: 0,
+    });
+});
+test("YZ Plane", () => {
+    const plane = ParametricPlane_1.ParametricPlane.YZ();
+    expect(plane.GetParameters()).toEqual({
+        a: 1,
+        b: 0,
+        c: 0,
+        d: 0,
+    });
+});
+test("Check for equality", () => {
+    const point = new ValueObjects_1.Vector3(1, 2, 3);
+    const normal = new ValueObjects_1.Vector3(4, 5, 6);
+    const plane1 = ParametricPlane_1.ParametricPlane.FromPointNormal(point, normal);
+    const plane2 = ParametricPlane_1.ParametricPlane.FromPointNormal(point, normal);
+    expect(plane1).toEqual(plane2);
+});
+//# sourceMappingURL=ParametricPlane.test.js.map

package/dist/cjs/ValueObjects/ParametricPlane.test.js.map

@@ -0,0 +1 @@
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package/dist/cjs/ValueObjects/Quaternion.js

@@ -0,0 +1,290 @@
+"use strict";
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.Quaternion = void 0;
+const Angle_1 = require("./Angle");
+const Matrix_1 = require("./Matrix");
+const Vector3_1 = require("./Vector3");
+class Quaternion {
+    /**
+     * Checks to see if two Quaternions are equal
+     * @param a Quaternion A
+     * @param b Quaternion B
+     * @returns True if they are equal, otherwise false
+     */
+    static Equal(a, b) {
+        if (a.x === b.x && a.y === b.y && a.z === b.z && a.w === b.w) {
+            return true;
+        }
+        else {
+            return false;
+        }
+    }
+    /**
+     * Checks two quaternions to see if they are close
+     * @param a Quaterion A
+     * @param b Quaterion B
+     * @param threshold "Close" threshold. Defaults to 0.001
+     * @returns True if each of Quaterion's components are within the threshold of each other
+     */
+    static Close(a, b, threshold = 0.001) {
+        const aArray = a.toArray();
+        const bArray = b.toArray();
+        let areClose = true;
+        for (let i = 0; i < 4; i++) {
+            let diff = aArray[i] - bArray[i];
+            if (diff < 0) {
+                diff = -diff;
+            }
+            if (diff > threshold) {
+                areClose = false;
+                break;
+            }
+        }
+        return areClose;
+    }
+    /**
+     * Multiplies A*B
+     * @param a Quaterion A
+     * @param b Quaternion B
+     * @returns The result of A*B
+     */
+    static Multiply(a, b) {
+        const x = a.x * b.w + a.y * b.z - a.z * b.y + a.w * b.x;
+        const y = -a.x * b.z + a.y * b.w + a.z * b.x + a.w * b.y;
+        const z = a.x * b.y - a.y * b.x + a.z * b.w + a.w * b.z;
+        const w = -a.x * b.x - a.y * b.y - a.z * b.z + a.w * b.w;
+        return Quaternion.FromArray([x, y, z, w]);
+    }
+    /**
+     * Creates a new Quaterion from an array of values
+     * @param values The four values of the Quaterion: [x,y,z,w]
+     * @returns A Quaterion
+     */
+    static FromArray(values) {
+        return new Quaternion(values[0], values[1], values[2], values[3]);
+    }
+    /**
+     * Creates a Quaterion from a Data Transfer Object
+     * @param dto The Data Transfer Object
+     * @returns The Quaternion
+     */
+    static FromDTO(dto) {
+        return new Quaternion(dto.x, dto.y, dto.z, dto.w);
+    }
+    /**
+     * Creates an Identity Quaternion
+     * @returns An Identity Quaternion
+     */
+    static Identity() {
+        return new Quaternion(0, 0, 0, 1);
+    }
+    /**
+     * Creates an quaterion about an axis for a given angle
+     * @param axis The rotation axis
+     * @param angle The rotation angle
+     * @returns The resulting Quaterion
+     */
+    static FromAngleAxis(axis, angle) {
+        const sin = Math.sin(angle.radians / 2);
+        const axisUnit = axis.unit;
+        const w = Math.cos(angle.radians / 2);
+        const x = axisUnit.x * sin;
+        const y = axisUnit.y * sin;
+        const z = axisUnit.z * sin;
+        return new Quaternion(x, y, z, w);
+    }
+    static FromDirectionVector(direction) {
+        if (direction.magnitude === 0) {
+            return Quaternion.Identity();
+        }
+        const dirUnit = direction.unit;
+        if (dirUnit.x === 0 && dirUnit.z === 0) {
+            if (dirUnit.y > 0) {
+                return Quaternion.FromYawPitchRoll(Angle_1.Angle.FromDegrees(0), Angle_1.Angle.FromDegrees(-90), Angle_1.Angle.FromDegrees(0));
+            }
+            else {
+                return Quaternion.FromYawPitchRoll(Angle_1.Angle.FromDegrees(0), Angle_1.Angle.FromDegrees(90), Angle_1.Angle.FromDegrees(0));
+            }
+        }
+        const yawRadians = -Math.atan2(dirUnit.z, dirUnit.x) + Math.PI / 2;
+        const len = Math.sqrt(dirUnit.x * dirUnit.x + dirUnit.z * dirUnit.z);
+        const pitchRadians = -Math.atan2(dirUnit.y, len);
+        const yaw = Angle_1.Angle.FromRadians(yawRadians);
+        const pitch = Angle_1.Angle.FromRadians(pitchRadians);
+        const roll = Angle_1.Angle.FromRadians(0);
+        return Quaternion.FromYawPitchRoll(yaw, pitch, roll);
+    }
+    /**
+     * Froms up a Quaternion from the Yaw-Pitch-Roll (Tait-Bryan) convetion
+     * @param yaw defines the rotation around the y axis
+     * @param pitch defines the rotation around the x axis
+     * @param roll defines the rotation around the z axis
+     * @returns the resulting quaterion
+     */
+    static FromYawPitchRoll(yaw, pitch, roll) {
+        const halfRoll = roll.radians * 0.5;
+        const halfPitch = pitch.radians * 0.5;
+        const halfYaw = yaw.radians * 0.5;
+        const sinRoll = Math.sin(halfRoll);
+        const cosRoll = Math.cos(halfRoll);
+        const sinPitch = Math.sin(halfPitch);
+        const cosPitch = Math.cos(halfPitch);
+        const sinYaw = Math.sin(halfYaw);
+        const cosYaw = Math.cos(halfYaw);
+        const x = cosYaw * sinPitch * cosRoll + sinYaw * cosPitch * sinRoll;
+        const y = sinYaw * cosPitch * cosRoll - cosYaw * sinPitch * sinRoll;
+        const z = cosYaw * cosPitch * sinRoll - sinYaw * sinPitch * cosRoll;
+        const w = cosYaw * cosPitch * cosRoll + sinYaw * sinPitch * sinRoll;
+        return new Quaternion(x, y, z, w);
+    }
+    /**
+     * Creates a Quaternion from three euler angles.
+     * @param x Rotation about the x axis
+     * @param y Rotation about the y axis
+     * @param z Rotation about the z axis
+     * @returns The Quaterion
+     */
+    static FromEuler(x, y, z) {
+        return this.FromYawPitchRoll(y, x, z);
+    }
+    /**
+     * Returns a new Quaternion that is an invert of A
+     * @param a The quaternion to invert
+     * @returns The inverted Quaternion
+     */
+    static Inverse(a) {
+        return new Quaternion(-a.x, -a.y, -a.z, a.w);
+    }
+    static AngleBetween(a, b) {
+        const aInv = this.Inverse(a);
+        const diffQ = this.Multiply(aInv, b);
+        const angDeg = diffQ.angle.degrees;
+        if (angDeg > 180) {
+            return Angle_1.Angle.FromDegrees(360 - angDeg);
+        }
+        else {
+            return diffQ.angle;
+        }
+    }
+    /**
+     * Spherically interpolates between two quaternions
+     * @param initial The initial quaternion
+     * @param final The final quaterion
+     * @param percent The percent along the slerp. 0 will return the initial quaterion and 1 will return the final quaterion
+     * @returns The interpolated quaterion
+     */
+    static Slerp(initial, final, percent) {
+        let A;
+        let B;
+        let C = initial.x * final.x +
+            initial.y * final.y +
+            initial.z * final.z +
+            initial.w * final.w;
+        let flip = false;
+        if (C < 0) {
+            flip = true;
+            C = -C;
+        }
+        if (C > 0.999999) {
+            B = 1 - percent;
+            A = flip ? -percent : percent;
+        }
+        else {
+            const D = Math.acos(C);
+            const E = 1.0 / Math.sin(D);
+            B = Math.sin((1.0 - percent) * D) * E;
+            A = flip ? -Math.sin(percent * D) * E : Math.sin(percent * D) * E;
+        }
+        const x = B * initial.x + A * final.x;
+        const y = B * initial.y + A * final.y;
+        const z = B * initial.z + A * final.z;
+        const w = B * initial.w + A * final.w;
+        return new Quaternion(x, y, z, w);
+    }
+    /**
+     * Calculates a Quaternion from a rotation matrix
+     * @param rotationMatrix A normalized, non-scaled rotation matrix
+     * @returns The Quaterion
+     */
+    static FromRotationMatrix(rotationMatrix) {
+        const m = rotationMatrix.m;
+        const m11 = m[0];
+        const m12 = m[4];
+        const m13 = m[8];
+        const m21 = m[1];
+        const m22 = m[5];
+        const m23 = m[9];
+        const m31 = m[2];
+        const m32 = m[6];
+        const m33 = m[10];
+        const trace = m11 + m22 + m33;
+        let s;
+        let x = 0;
+        let y = 0;
+        let z = 0;
+        let w = 0;
+        if (trace > 0) {
+            s = 0.5 / Math.sqrt(trace + 1.0);
+            w = 0.25 / s;
+            x = (m32 - m23) * s;
+            y = (m13 - m31) * s;
+            z = (m21 - m12) * s;
+        }
+        else if (m11 > m22 && m11 > m33) {
+            s = 2.0 * Math.sqrt(1.0 + m11 - m22 - m33);
+            w = (m32 - m23) / s;
+            x = 0.25 * s;
+            y = (m12 + m21) / s;
+            z = (m13 + m31) / s;
+        }
+        else if (m22 > m33) {
+            s = 2.0 * Math.sqrt(1.0 + m22 - m11 - m33);
+            w = (m13 - m31) / s;
+            x = (m12 + m21) / s;
+            y = 0.25 * s;
+            z = (m23 + m32) / s;
+        }
+        else {
+            s = 2.0 * Math.sqrt(1.0 + m33 - m11 - m22);
+            w = (m21 - m12) / s;
+            x = (m13 + m31) / s;
+            y = (m23 + m32) / s;
+            z = 0.25 * s;
+        }
+        return new Quaternion(x, y, z, w);
+    }
+    static ToRotationMatrix(quat) {
+        return Matrix_1.Matrix.Compose(Vector3_1.Vector3.One(), quat, Vector3_1.Vector3.Zero());
+    }
+    /**
+     * Copy the quaternion to an array
+     * @returns an array populated with 4 elements from the quaternion coordinates
+     */
+    toArray() {
+        return [this.x, this.y, this.z, this.w];
+    }
+    get angle() {
+        const angle = 2 * Math.acos(this.w);
+        return Angle_1.Angle.FromRadians(angle);
+    }
+    get axis() {
+        const x = this.x / Math.sqrt(1 - this.w * this.w);
+        const y = this.y / Math.sqrt(1 - this.w * this.w);
+        const z = this.z / Math.sqrt(1 - this.w * this.w);
+        return new Vector3_1.Vector3(x, y, z);
+    }
+    /**
+     * Get the quaternion as a Data Transfer Object
+     */
+    get dto() {
+        return { x: this.x, y: this.y, z: this.z, w: this.w };
+    }
+    constructor(x, y, z, w) {
+        this.x = x;
+        this.y = y;
+        this.z = z;
+        this.w = w;
+    }
+}
+exports.Quaternion = Quaternion;
+//# sourceMappingURL=Quaternion.js.map

package/dist/cjs/ValueObjects/Quaternion.js.map

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