@vived/core 1.3.0 → 1.4.1

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

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

@@ -1,65 +0,0 @@
-"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

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

@@ -1,101 +0,0 @@
-"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?.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 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?.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 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

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M,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/cjs/ValueObjects/Quaternion.js

@@ -1,290 +0,0 @@
-"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

@@ -1 +0,0 @@
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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"]}