@vived/core 1.2.2 → 1.2.4

package/dist/esm/ValueObjects/ParametricLine.test.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"ParametricLine.test.js","sourceRoot":"","sources":["../../../src/ValueObjects/ParametricLine.test.ts"],"names":[],"mappings":"AAAA,OAAO,EAAE,OAAO,EAAE,MAAM,GAAG,CAAC;AAC5B,OAAO,EAAkB,cAAc,EAAE,MAAM,kBAAkB,CAAC;AAElE,IAAI,CAAC,oCAAoC,EAAE,GAAG,EAAE;IAC9C,MAAM,eAAe,GAAmB;QACtC,EAAE,EAAE,CAAC;QACL,EAAE,EAAE,CAAC;QACL,EAAE,EAAE,CAAC;QACL,CAAC,EAAE,CAAC;QACJ,CAAC,EAAE,CAAC;QACJ,CAAC,EAAE,CAAC;KACL,CAAC;IACF,MAAM,IAAI,GAAG,IAAI,cAAc,CAAC,eAAe,CAAC,CAAC;IAEjD,MAAM,OAAO,GAAG,IAAI,OAAO,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC,IAAI,CAAC;IAE1C,MAAM,CAAC,IAAI,CAAC,EAAE,CAAC,CAAC,OAAO,CAAC,eAAe,CAAC,EAAE,CAAC,CAAC;IAC5C,MAAM,CAAC,IAAI,CAAC,EAAE,CAAC,CAAC,OAAO,CAAC,eAAe,CAAC,EAAE,CAAC,CAAC;IAC5C,MAAM,CAAC,IAAI,CAAC,EAAE,CAAC,CAAC,OAAO,CAAC,eAAe,CAAC,EAAE,CAAC,CAAC;IAC5C,MAAM,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC,WAAW,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;IACtC,MAAM,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC,WAAW,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;IACtC,MAAM,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC,WAAW,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;AACxC,CAAC,CAAC,CAAC;AAEH,IAAI,CAAC,+BAA+B,EAAE,GAAG,EAAE;IACzC,MAAM,KAAK,GAAG,IAAI,OAAO,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;IACnC,MAAM,GAAG,GAAG,IAAI,OAAO,CAAC,EAAE,EAAE,EAAE,EAAE,EAAE,CAAC,CAAC,IAAI,CAAC;IAEzC,MAAM,IAAI,GAAG,cAAc,CAAC,kBAAkB,CAAC,KAAK,EAAE,GAAG,CAAC,CAAC;IAE3D,MAAM,CAAC,IAAI,CAAC,EAAE,CAAC,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;IAC3B,MAAM,CAAC,IAAI,CAAC,EAAE,CAAC,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;IAC3B,MAAM,CAAC,IAAI,CAAC,EAAE,CAAC,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;IAC3B,MAAM,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC,WAAW,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC;IAClC,MAAM,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC,WAAW,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC;IAClC,MAAM,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC,WAAW,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC;AACpC,CAAC,CAAC,CAAC;AAEH,IAAI,CAAC,iBAAiB,EAAE,GAAG,EAAE;IAC3B,MAAM,EAAE,GAAG,IAAI,OAAO,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;IAChC,MAAM,EAAE,GAAG,IAAI,OAAO,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;IAEhC,MAAM,IAAI,GAAG,cAAc,CAAC,YAAY,CAAC,EAAE,EAAE,EAAE,CAAC,CAAC;IAEjD,MAAM,GAAG,GAAG,OAAO,CAAC,QAAQ,CAAC,EAAE,EAAE,EAAE,CAAC,CAAC,IAAI,CAAC;IAE1C,MAAM,CAAC,IAAI,CAAC,EAAE,CAAC,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;IAC3B,MAAM,CAAC,IAAI,CAAC,EAAE,CAAC,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;IAC3B,MAAM,CAAC,IAAI,CAAC,EAAE,CAAC,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC;IAC3B,MAAM,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC,OAAO,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC;IAC9B,MAAM,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC,OAAO,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC;IAC9B,MAAM,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC,OAAO,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC;AAChC,CAAC,CAAC,CAAC;AAEH,IAAI,CAAC,WAAW,EAAE,GAAG,EAAE;IACrB,MAAM,EAAE,GAAG,IAAI,OAAO,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;IAChC,MAAM,EAAE,GAAG,IAAI,OAAO,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;IAEhC,IAAI,GAAG,GAAG,OAAO,CAAC,QAAQ,CAAC,EAAE,EAAE,EAAE,CAAC,CAAC,IAAI,CAAC;IAExC,MAAM,QAAQ,GAAG,EAAE,CAAC;IACpB,GAAG,GAAG,OAAO,CAAC,iBAAiB,CAAC,GAAG,EAAE,QAAQ,CAAC,CAAC;IAC/C,MAAM,aAAa,GAAG,OAAO,CAAC,GAAG,CAAC,EAAE,EAAE,GAAG,CAAC,CAAC;IAE3C,MAAM,IAAI,GAAG,cAAc,CAAC,YAAY,CAAC,EAAE,EAAE,EAAE,CAAC,CAAC;IACjD,MAAM,KAAK,GAAG,cAAc,CAAC,kBAAkB,CAAC,IAAI,EAAE,QAAQ,CAAC,CAAC;IAChE,MAAM,CAAC,KAAK,CAAC,KAAK,CAAC,CAAC,OAAO,CAAC,aAAa,CAAC,KAAK,CAAC,CAAC;AACnD,CAAC,CAAC,CAAC;AAEH,IAAI,CAAC,yBAAyB,EAAE,GAAG,EAAE;IACnC,MAAM,IAAI,GAAG,cAAc,CAAC,OAAO,EAAE,CAAC;IACtC,MAAM,KAAK,GAAG,cAAc,CAAC,kBAAkB,CAAC,IAAI,EAAE,EAAE,CAAC,CAAC;IAC1D,MAAM,CAAC,KAAK,CAAC,KAAK,CAAC,CAAC,OAAO,CAAC,CAAC,CAAC,EAAE,CAAC,EAAE,EAAE,CAAC,CAAC,CAAC;AAC1C,CAAC,CAAC,CAAC;AAEH,IAAI,CAAC,2BAA2B,EAAE,GAAG,EAAE;IACrC,MAAM,IAAI,GAAG,cAAc,CAAC,QAAQ,EAAE,CAAC;IACvC,MAAM,KAAK,GAAG,cAAc,CAAC,kBAAkB,CAAC,IAAI,EAAE,EAAE,CAAC,CAAC;IAC1D,MAAM,CAAC,KAAK,CAAC,KAAK,CAAC,CAAC,OAAO,CAAC,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;AAC3C,CAAC,CAAC,CAAC;AAEH,IAAI,CAAC,oBAAoB,EAAE,GAAG,EAAE;IAC9B,MAAM,IAAI,GAAG,cAAc,CAAC,EAAE,EAAE,CAAC;IACjC,MAAM,KAAK,GAAG,cAAc,CAAC,kBAAkB,CAAC,IAAI,EAAE,EAAE,CAAC,CAAC;IAC1D,MAAM,CAAC,KAAK,CAAC,KAAK,CAAC,CAAC,OAAO,CAAC,CAAC,CAAC,EAAE,EAAE,EAAE,CAAC,CAAC,CAAC,CAAC;AAC1C,CAAC,CAAC,CAAC;AAEH,IAAI,CAAC,sBAAsB,EAAE,GAAG,EAAE;IAChC,MAAM,IAAI,GAAG,cAAc,CAAC,IAAI,EAAE,CAAC;IACnC,MAAM,KAAK,GAAG,cAAc,CAAC,kBAAkB,CAAC,IAAI,EAAE,EAAE,CAAC,CAAC;IAC1D,MAAM,CAAC,KAAK,CAAC,KAAK,CAAC,CAAC,OAAO,CAAC,CAAC,CAAC,EAAE,CAAC,EAAE,EAAE,CAAC,CAAC,CAAC,CAAC;AAC3C,CAAC,CAAC,CAAC;AAEH,IAAI,CAAC,sBAAsB,EAAE,GAAG,EAAE;IAChC,MAAM,IAAI,GAAG,cAAc,CAAC,IAAI,EAAE,CAAC;IACnC,MAAM,KAAK,GAAG,cAAc,CAAC,kBAAkB,CAAC,IAAI,EAAE,EAAE,CAAC,CAAC;IAC1D,MAAM,CAAC,KAAK,CAAC,KAAK,CAAC,CAAC,OAAO,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC;AAC3C,CAAC,CAAC,CAAC;AAEH,IAAI,CAAC,uBAAuB,EAAE,GAAG,EAAE;IACjC,MAAM,IAAI,GAAG,cAAc,CAAC,KAAK,EAAE,CAAC;IACpC,MAAM,KAAK,GAAG,cAAc,CAAC,kBAAkB,CAAC,IAAI,EAAE,EAAE,CAAC,CAAC;IAC1D,MAAM,CAAC,KAAK,CAAC,KAAK,CAAC,CAAC,OAAO,CAAC,CAAC,EAAE,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC;AAC1C,CAAC,CAAC,CAAC;AAEH,IAAI,CAAC,oBAAoB,EAAE,GAAG,EAAE;IAC9B,MAAM,eAAe,GAAmB;QACtC,EAAE,EAAE,CAAC;QACL,EAAE,EAAE,CAAC;QACL,EAAE,EAAE,CAAC;QACL,CAAC,EAAE,CAAC;QACJ,CAAC,EAAE,CAAC;QACJ,CAAC,EAAE,CAAC;KACL,CAAC;IACF,MAAM,KAAK,GAAG,IAAI,cAAc,CAAC,eAAe,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{ Vector3 } from \".\";\r\nimport { LineParameters, ParametricLine } from \"./ParametricLine\";\r\n\r\ntest(\"Setting and getting the parameters\", () => {\r\n  const inputParameters: LineParameters = {\r\n    x0: 1,\r\n    y0: 2,\r\n    z0: 3,\r\n    a: 4,\r\n    b: 5,\r\n    c: 6,\r\n  };\r\n  const line = new ParametricLine(inputParameters);\r\n\r\n  const dirUnit = new Vector3(4, 5, 6).unit;\r\n\r\n  expect(line.x0).toEqual(inputParameters.x0);\r\n  expect(line.y0).toEqual(inputParameters.y0);\r\n  expect(line.z0).toEqual(inputParameters.z0);\r\n  expect(line.a).toBeCloseTo(dirUnit.x);\r\n  expect(line.b).toBeCloseTo(dirUnit.y);\r\n  expect(line.c).toBeCloseTo(dirUnit.z);\r\n});\r\n\r\ntest(\"Line from point and direction\", () => {\r\n  const point = new Vector3(1, 2, 3);\r\n  const dir = new Vector3(10, 20, 30).unit;\r\n\r\n  const line = ParametricLine.FromPointDirection(point, dir);\r\n\r\n  expect(line.x0).toEqual(1);\r\n  expect(line.y0).toEqual(2);\r\n  expect(line.z0).toEqual(3);\r\n  expect(line.a).toBeCloseTo(dir.x);\r\n  expect(line.b).toBeCloseTo(dir.y);\r\n  expect(line.c).toBeCloseTo(dir.z);\r\n});\r\n\r\ntest(\"From two points\", () => {\r\n  const p1 = new Vector3(1, 2, 3);\r\n  const p2 = new Vector3(4, 5, 6);\r\n\r\n  const line = ParametricLine.FromTwoPoint(p1, p2);\r\n\r\n  const dir = Vector3.Subtract(p2, p1).unit;\r\n\r\n  expect(line.x0).toEqual(1);\r\n  expect(line.y0).toEqual(2);\r\n  expect(line.z0).toEqual(3);\r\n  expect(line.a).toEqual(dir.x);\r\n  expect(line.b).toEqual(dir.y);\r\n  expect(line.c).toEqual(dir.z);\r\n});\r\n\r\ntest(\"Get point\", () => {\r\n  const p1 = new Vector3(1, 2, 3);\r\n  const p2 = new Vector3(4, 5, 6);\r\n\r\n  let dir = Vector3.Subtract(p2, p1).unit;\r\n\r\n  const distance = 11;\r\n  dir = Vector3.NewVectorOfLength(dir, distance);\r\n  const expectedPoint = Vector3.Add(p1, dir);\r\n\r\n  const line = ParametricLine.FromTwoPoint(p1, p2);\r\n  const point = ParametricLine.GetPointAtDistance(line, distance);\r\n  expect(point.array).toEqual(expectedPoint.array);\r\n});\r\n\r\ntest(\"Get point along forward\", () => {\r\n  const line = ParametricLine.Forward();\r\n  const point = ParametricLine.GetPointAtDistance(line, 11);\r\n  expect(point.array).toEqual([0, 0, 11]);\r\n});\r\n\r\ntest(\"Get point along backwards\", () => {\r\n  const line = ParametricLine.Backward();\r\n  const point = ParametricLine.GetPointAtDistance(line, 11);\r\n  expect(point.array).toEqual([0, 0, -11]);\r\n});\r\n\r\ntest(\"Get point along up\", () => {\r\n  const line = ParametricLine.Up();\r\n  const point = ParametricLine.GetPointAtDistance(line, 11);\r\n  expect(point.array).toEqual([0, 11, 0]);\r\n});\r\n\r\ntest(\"Get point along down\", () => {\r\n  const line = ParametricLine.Down();\r\n  const point = ParametricLine.GetPointAtDistance(line, 11);\r\n  expect(point.array).toEqual([0, -11, 0]);\r\n});\r\n\r\ntest(\"Get point along left\", () => {\r\n  const line = ParametricLine.Left();\r\n  const point = ParametricLine.GetPointAtDistance(line, 11);\r\n  expect(point.array).toEqual([-11, 0, 0]);\r\n});\r\n\r\ntest(\"Get point along right\", () => {\r\n  const line = ParametricLine.Right();\r\n  const point = ParametricLine.GetPointAtDistance(line, 11);\r\n  expect(point.array).toEqual([11, 0, 0]);\r\n});\r\n\r\ntest(\"Check for equality\", () => {\r\n  const inputParameters: LineParameters = {\r\n    x0: 1,\r\n    y0: 2,\r\n    z0: 3,\r\n    a: 4,\r\n    b: 5,\r\n    c: 6,\r\n  };\r\n  const line1 = new ParametricLine(inputParameters);\r\n  const line2 = new ParametricLine(inputParameters);\r\n\r\n  expect(line1).toEqual(line2);\r\n});\r\n\r\ntest(\"Geting the origin\", () => {\r\n  const origin = new Vector3(1, 2, 3);\r\n  const direction = new Vector3(4, 5, 6).unit;\r\n  const line = ParametricLine.FromPointDirection(origin, direction);\r\n\r\n  expect(line.origin).toEqual(origin);\r\n});\r\n\r\ntest(\"Getting the direction\", () => {\r\n  const origin = new Vector3(1, 2, 3);\r\n  const direction = new Vector3(4, 5, 6).unit;\r\n  const line = ParametricLine.FromPointDirection(origin, direction);\r\n\r\n  expect(Vector3.Close(line.direction, direction)).toEqual(true);\r\n});\r\n\r\ntest(\"Ensures the direction is unit\", () => {\r\n  const origin = new Vector3(1, 2, 3);\r\n  const direction = new Vector3(4, 5, 6);\r\n  const line = ParametricLine.FromPointDirection(origin, direction);\r\n\r\n  expect(line.direction).toEqual(direction.unit);\r\n});\r\n\r\ntest(\"Get distance to point\", () => {\r\n  const origin = new Vector3(1, 2, 3);\r\n  const direction = new Vector3(4, 5, 6);\r\n  const line = ParametricLine.FromPointDirection(origin, direction);\r\n\r\n  const point = new Vector3(10, 20, 30);\r\n\r\n  const expected = Vector3.Subtract(point, origin).magnitude;\r\n\r\n  expect(ParametricLine.GetDistanceToPoint(line, point)).toEqual(expected);\r\n});\r\n"]}

package/dist/esm/ValueObjects/ParametricPlane.js

@@ -0,0 +1,61 @@
+import { ParametricLine } from "./ParametricLine";
+import { Vector3 } from "../ValueObjects/Vector3";
+export class ParametricPlane {
+    static FromPointNormal(point, normal) {
+        return new ParametricPlane(point, normal);
+    }
+    static FromThreePoints(A, B, C) {
+        const point = A;
+        const AB = Vector3.Subtract(B, A);
+        const AC = Vector3.Subtract(C, A);
+        const normal = Vector3.Cross(AB, AC);
+        return new ParametricPlane(point, normal);
+    }
+    static XY() {
+        const p = Vector3.Zero();
+        const n = new Vector3(0, 0, 1);
+        return new ParametricPlane(p, n);
+    }
+    static ZX() {
+        const p = Vector3.Zero();
+        const n = new Vector3(0, 1, 0);
+        return new ParametricPlane(p, n);
+    }
+    static YZ() {
+        const p = Vector3.Zero();
+        const n = new 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.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.GetPointAtDistance(line, t);
+        return intersect;
+    }
+    constructor(point, normal) {
+        this.point = point;
+        this.normal = normal;
+    }
+}
+//# sourceMappingURL=ParametricPlane.js.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"ParametricPlane.js","sourceRoot":"","sources":["../../../src/ValueObjects/ParametricPlane.ts"],"names":[],"mappings":"AAAA,OAAO,EAAE,cAAc,EAAE,MAAM,kBAAkB,CAAC;AAClD,OAAO,EAAE,OAAO,EAAE,MAAM,yBAAyB,CAAC;AAWlD,MAAM,OAAO,eAAe;IAC1B,MAAM,CAAC,eAAe,CAAC,KAAc,EAAE,MAAe;QACpD,OAAO,IAAI,eAAe,CAAC,KAAK,EAAE,MAAM,CAAC,CAAC;IAC5C,CAAC;IAED,MAAM,CAAC,eAAe,CAAC,CAAU,EAAE,CAAU,EAAE,CAAU;QACvD,MAAM,KAAK,GAAG,CAAC,CAAC;QAChB,MAAM,EAAE,GAAG,OAAO,CAAC,QAAQ,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC;QAClC,MAAM,EAAE,GAAG,OAAO,CAAC,QAAQ,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC;QAClC,MAAM,MAAM,GAAG,OAAO,CAAC,KAAK,CAAC,EAAE,EAAE,EAAE,CAAC,CAAC;QAErC,OAAO,IAAI,eAAe,CAAC,KAAK,EAAE,MAAM,CAAC,CAAC;IAC5C,CAAC;IAED,MAAM,CAAC,EAAE;QACP,MAAM,CAAC,GAAG,OAAO,CAAC,IAAI,EAAE,CAAC;QACzB,MAAM,CAAC,GAAG,IAAI,OAAO,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;QAC/B,OAAO,IAAI,eAAe,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC;IACnC,CAAC;IAED,MAAM,CAAC,EAAE;QACP,MAAM,CAAC,GAAG,OAAO,CAAC,IAAI,EAAE,CAAC;QACzB,MAAM,CAAC,GAAG,IAAI,OAAO,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;QAC/B,OAAO,IAAI,eAAe,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC;IACnC,CAAC;IAED,MAAM,CAAC,EAAE;QACP,MAAM,CAAC,GAAG,OAAO,CAAC,IAAI,EAAE,CAAC;QACzB,MAAM,CAAC,GAAG,IAAI,OAAO,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;QAC/B,OAAO,IAAI,eAAe,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC;IACnC,CAAC;IAED,aAAa;QACX,MAAM,CAAC,GAAG,IAAI,CAAC,MAAM,CAAC,CAAC,CAAC;QACxB,MAAM,CAAC,GAAG,IAAI,CAAC,MAAM,CAAC,CAAC,CAAC;QACxB,MAAM,CAAC,GAAG,IAAI,CAAC,MAAM,CAAC,CAAC,CAAC;QACxB,IAAI,CAAC,GAAG,OAAO,CAAC,GAAG,CAAC,IAAI,CAAC,KAAK,EAAE,IAAI,CAAC,MAAM,CAAC,CAAC;QAE7C,IAAI,CAAC,KAAK,CAAC,EAAE,CAAC;YACZ,CAAC,IAAI,CAAC,CAAC,CAAC;QACV,CAAC;QAED,OAAO;YACL,CAAC;YACD,CAAC;YACD,CAAC;YACD,CAAC;SACF,CAAC;IACJ,CAAC;IAEM,aAAa,CAAC,IAAoB;QACvC,MAAM,EAAE,EAAE,EAAE,EAAE,EAAE,EAAE,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,GAAG,IAAI,CAAC;QACrC,MAAM,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,GAAG,IAAI,CAAC,aAAa,EAAE,CAAC;QAExD,MAAM,UAAU,GAAG,CAAC,CAAC,CAAC,GAAG,EAAE,GAAG,CAAC,GAAG,EAAE,GAAG,CAAC,GAAG,EAAE,GAAG,CAAC,CAAC,CAAC;QACnD,MAAM,YAAY,GAAG,CAAC,GAAG,CAAC,GAAG,CAAC,GAAG,CAAC,GAAG,CAAC,GAAG,CAAC,CAAC;QAE3C,IAAI,YAAY,KAAK,CAAC,EAAE,CAAC;YACvB,OAAO,SAAS,CAAC;QACnB,CAAC;QAED,MAAM,CAAC,GAAG,UAAU,GAAG,YAAY,CAAC;QAEpC,MAAM,SAAS,GAAG,cAAc,CAAC,kBAAkB,CAAC,IAAI,EAAE,CAAC,CAAC,CAAC;QAE7D,OAAO,SAAS,CAAC;IACnB,CAAC;IAED,YAAoB,KAAc,EAAU,MAAe;QAAvC,UAAK,GAAL,KAAK,CAAS;QAAU,WAAM,GAAN,MAAM,CAAS;IAAG,CAAC;CAChE","sourcesContent":["import { ParametricLine } from \"./ParametricLine\";\r\nimport { Vector3 } from \"../ValueObjects/Vector3\";\r\n\r\n// Plane equation: a*x + b*y + c*x + d = 0;\r\n\r\nexport interface PlaneParameters {\r\n  a: number;\r\n  b: number;\r\n  c: number;\r\n  d: number;\r\n}\r\n\r\nexport class ParametricPlane {\r\n  static FromPointNormal(point: Vector3, normal: Vector3): ParametricPlane {\r\n    return new ParametricPlane(point, normal);\r\n  }\r\n\r\n  static FromThreePoints(A: Vector3, B: Vector3, C: Vector3): ParametricPlane {\r\n    const point = A;\r\n    const AB = Vector3.Subtract(B, A);\r\n    const AC = Vector3.Subtract(C, A);\r\n    const normal = Vector3.Cross(AB, AC);\r\n\r\n    return new ParametricPlane(point, normal);\r\n  }\r\n\r\n  static XY(): ParametricPlane {\r\n    const p = Vector3.Zero();\r\n    const n = new Vector3(0, 0, 1);\r\n    return new ParametricPlane(p, n);\r\n  }\r\n\r\n  static ZX(): ParametricPlane {\r\n    const p = Vector3.Zero();\r\n    const n = new Vector3(0, 1, 0);\r\n    return new ParametricPlane(p, n);\r\n  }\r\n\r\n  static YZ(): ParametricPlane {\r\n    const p = Vector3.Zero();\r\n    const n = new Vector3(1, 0, 0);\r\n    return new ParametricPlane(p, n);\r\n  }\r\n\r\n  GetParameters(): PlaneParameters {\r\n    const a = this.normal.x;\r\n    const b = this.normal.y;\r\n    const c = this.normal.z;\r\n    let d = Vector3.Dot(this.point, this.normal);\r\n\r\n    if (d !== 0) {\r\n      d *= -1;\r\n    }\r\n\r\n    return {\r\n      a,\r\n      b,\r\n      c,\r\n      d,\r\n    };\r\n  }\r\n\r\n  public intersectLine(line: ParametricLine): Vector3 | undefined {\r\n    const { x0, y0, z0, a, b, c } = line;\r\n    const { a: A, b: B, c: C, d: D } = this.GetParameters();\r\n\r\n    const tNumerator = -(A * x0 + B * y0 + C * z0 + D);\r\n    const tDenominator = A * a + B * b + C * c;\r\n\r\n    if (tDenominator === 0) {\r\n      return undefined;\r\n    }\r\n\r\n    const t = tNumerator / tDenominator;\r\n\r\n    const intersect = ParametricLine.GetPointAtDistance(line, t);\r\n\r\n    return intersect;\r\n  }\r\n\r\n  constructor(private point: Vector3, private normal: Vector3) {}\r\n}\r\n"]}

package/dist/esm/ValueObjects/ParametricPlane.test.js

@@ -0,0 +1,99 @@
+import { ParametricLine } from "./ParametricLine";
+import { ParametricPlane } from "./ParametricPlane";
+import { Vector3 } from "../ValueObjects";
+test("Setting from point and normal", () => {
+    const point = new Vector3(1, 2, 3);
+    const normal = new Vector3(4, 5, 6);
+    const plane = ParametricPlane.FromPointNormal(point, normal);
+    const parameters = plane.GetParameters();
+    const dot = 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 Vector3(1, 2, -2);
+    const B = new Vector3(3, -2, 1);
+    const C = new Vector3(5, 1, -4);
+    const plane = 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 Vector3(1, 1, 1);
+    const dir = new Vector3(1, 0, 0);
+    const line = ParametricLine.FromPointDirection(point, dir);
+    const plane1 = new Vector3(-1, 0, 0);
+    const plane2 = new Vector3(-1, 1, 0);
+    const plane3 = new Vector3(-1, 0, 1);
+    const plane = ParametricPlane.FromThreePoints(plane1, plane2, plane3);
+    const intersect = plane.intersectLine(line);
+    expect(intersect?.x).toBeCloseTo(-1);
+    expect(intersect?.y).toBeCloseTo(1);
+    expect(intersect?.z).toBeCloseTo(1);
+});
+test("Intersection", () => {
+    // From http://www.ambrsoft.com/TrigoCalc/Plan3D/PlaneLineIntersection_.htm
+    const line1 = new Vector3(4, 1, 1);
+    const line2 = new Vector3(8, -2, -2);
+    const line = ParametricLine.FromTwoPoint(line1, line2);
+    const plane1 = new Vector3(-1, 2, 4);
+    const plane2 = new Vector3(2, 1, 3);
+    const plane3 = new Vector3(1, 3, 2);
+    const plane = ParametricPlane.FromThreePoints(plane1, plane2, plane3);
+    const intersect = plane.intersectLine(line);
+    expect(intersect?.x).toBeCloseTo(2.93);
+    expect(intersect?.y).toBeCloseTo(1.8);
+    expect(intersect?.z).toBeCloseTo(1.8);
+});
+test("If parallel, intersect should come back undefined", () => {
+    const line1 = new Vector3(0, 1, 0);
+    const line2 = new Vector3(0, -1, 0);
+    const line = ParametricLine.FromTwoPoint(line1, line2); // Vertical line going through the origin
+    const plane1 = new Vector3(0, 0, 0);
+    const plane2 = new Vector3(0, 1, 0);
+    const plane3 = new Vector3(0, 0, 1);
+    const plane = ParametricPlane.FromThreePoints(plane1, plane2, plane3); // y-z plane
+    const intersect = plane.intersectLine(line);
+    expect(intersect).toBeUndefined();
+});
+test("XY Plane", () => {
+    const plane = ParametricPlane.XY();
+    expect(plane.GetParameters()).toEqual({
+        a: 0,
+        b: 0,
+        c: 1,
+        d: 0,
+    });
+});
+test("ZX Plane", () => {
+    const plane = ParametricPlane.ZX();
+    expect(plane.GetParameters()).toEqual({
+        a: 0,
+        b: 1,
+        c: 0,
+        d: 0,
+    });
+});
+test("YZ Plane", () => {
+    const plane = ParametricPlane.YZ();
+    expect(plane.GetParameters()).toEqual({
+        a: 1,
+        b: 0,
+        c: 0,
+        d: 0,
+    });
+});
+test("Check for equality", () => {
+    const point = new Vector3(1, 2, 3);
+    const normal = new Vector3(4, 5, 6);
+    const plane1 = ParametricPlane.FromPointNormal(point, normal);
+    const plane2 = ParametricPlane.FromPointNormal(point, normal);
+    expect(plane1).toEqual(plane2);
+});
+//# sourceMappingURL=ParametricPlane.test.js.map

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

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C9D,MAAM,MAAM,GAAG,eAAe,CAAC,eAAe,CAAC,KAAK,EAAE,MAAM,CAAC,CAAC;IAE9D,MAAM,CAAC,MAAM,CAAC,CAAC,OAAO,CAAC,MAAM,CAAC,CAAC;AACjC,CAAC,CAAC,CAAC","sourcesContent":["import { ParametricLine } from \"./ParametricLine\";\r\nimport { ParametricPlane } from \"./ParametricPlane\";\r\nimport { Vector3 } from \"../ValueObjects\";\r\n\r\ntest(\"Setting from point and normal\", () => {\r\n  const point = new Vector3(1, 2, 3);\r\n  const normal = new Vector3(4, 5, 6);\r\n  const plane = ParametricPlane.FromPointNormal(point, normal);\r\n\r\n  const parameters = plane.GetParameters();\r\n\r\n  const dot = Vector3.Dot(point, normal);\r\n  expect(parameters.a).toEqual(normal.x);\r\n  expect(parameters.b).toEqual(normal.y);\r\n  expect(parameters.c).toEqual(normal.z);\r\n  expect(parameters.d).toEqual(-dot);\r\n});\r\n\r\ntest(\"From three points\", () => {\r\n  // From https://keisan.casio.com/exec/system/1223596129\r\n  const A = new Vector3(1, 2, -2);\r\n  const B = new Vector3(3, -2, 1);\r\n  const C = new Vector3(5, 1, -4);\r\n\r\n  const plane = ParametricPlane.FromThreePoints(A, B, C);\r\n  const parameters = plane.GetParameters();\r\n\r\n  expect(parameters.a).toEqual(11);\r\n  expect(parameters.b).toEqual(16);\r\n  expect(parameters.c).toEqual(14);\r\n  expect(parameters.d).toEqual(-15);\r\n});\r\n\r\ntest(\"Intersection\", () => {\r\n  const point = new Vector3(1, 1, 1);\r\n  const dir = new Vector3(1, 0, 0);\r\n  const line = ParametricLine.FromPointDirection(point, dir);\r\n\r\n  const plane1 = new Vector3(-1, 0, 0);\r\n  const plane2 = new Vector3(-1, 1, 0);\r\n  const plane3 = new Vector3(-1, 0, 1);\r\n  const plane = ParametricPlane.FromThreePoints(plane1, plane2, plane3);\r\n\r\n  const intersect = plane.intersectLine(line);\r\n\r\n  expect(intersect?.x).toBeCloseTo(-1);\r\n  expect(intersect?.y).toBeCloseTo(1);\r\n  expect(intersect?.z).toBeCloseTo(1);\r\n});\r\n\r\ntest(\"Intersection\", () => {\r\n  // From http://www.ambrsoft.com/TrigoCalc/Plan3D/PlaneLineIntersection_.htm\r\n\r\n  const line1 = new Vector3(4, 1, 1);\r\n  const line2 = new Vector3(8, -2, -2);\r\n  const line = ParametricLine.FromTwoPoint(line1, line2);\r\n\r\n  const plane1 = new Vector3(-1, 2, 4);\r\n  const plane2 = new Vector3(2, 1, 3);\r\n  const plane3 = new Vector3(1, 3, 2);\r\n  const plane = ParametricPlane.FromThreePoints(plane1, plane2, plane3);\r\n\r\n  const intersect = plane.intersectLine(line);\r\n\r\n  expect(intersect?.x).toBeCloseTo(2.93);\r\n  expect(intersect?.y).toBeCloseTo(1.8);\r\n  expect(intersect?.z).toBeCloseTo(1.8);\r\n});\r\n\r\ntest(\"If parallel, intersect should come back undefined\", () => {\r\n  const line1 = new Vector3(0, 1, 0);\r\n  const line2 = new Vector3(0, -1, 0);\r\n  const line = ParametricLine.FromTwoPoint(line1, line2); // Vertical line going through the origin\r\n\r\n  const plane1 = new Vector3(0, 0, 0);\r\n  const plane2 = new Vector3(0, 1, 0);\r\n  const plane3 = new Vector3(0, 0, 1);\r\n  const plane = ParametricPlane.FromThreePoints(plane1, plane2, plane3); // y-z plane\r\n\r\n  const intersect = plane.intersectLine(line);\r\n\r\n  expect(intersect).toBeUndefined();\r\n});\r\n\r\ntest(\"XY Plane\", () => {\r\n  const plane = ParametricPlane.XY();\r\n  expect(plane.GetParameters()).toEqual({\r\n    a: 0,\r\n    b: 0,\r\n    c: 1,\r\n    d: 0,\r\n  });\r\n});\r\n\r\ntest(\"ZX Plane\", () => {\r\n  const plane = ParametricPlane.ZX();\r\n  expect(plane.GetParameters()).toEqual({\r\n    a: 0,\r\n    b: 1,\r\n    c: 0,\r\n    d: 0,\r\n  });\r\n});\r\n\r\ntest(\"YZ Plane\", () => {\r\n  const plane = ParametricPlane.YZ();\r\n  expect(plane.GetParameters()).toEqual({\r\n    a: 1,\r\n    b: 0,\r\n    c: 0,\r\n    d: 0,\r\n  });\r\n});\r\n\r\ntest(\"Check for equality\", () => {\r\n  const point = new Vector3(1, 2, 3);\r\n  const normal = new Vector3(4, 5, 6);\r\n  const plane1 = ParametricPlane.FromPointNormal(point, normal);\r\n  const plane2 = ParametricPlane.FromPointNormal(point, normal);\r\n\r\n  expect(plane1).toEqual(plane2);\r\n});\r\n"]}

package/dist/esm/ValueObjects/Quaternion.js

@@ -0,0 +1,286 @@
+import { Angle } from "./Angle";
+import { Matrix } from "./Matrix";
+import { Vector3 } from "./Vector3";
+export 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.FromDegrees(0), Angle.FromDegrees(-90), Angle.FromDegrees(0));
+            }
+            else {
+                return Quaternion.FromYawPitchRoll(Angle.FromDegrees(0), Angle.FromDegrees(90), 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.FromRadians(yawRadians);
+        const pitch = Angle.FromRadians(pitchRadians);
+        const roll = 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.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.Compose(Vector3.One(), quat, 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.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(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;
+    }
+}
+//# sourceMappingURL=Quaternion.js.map

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

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