@vived/core 1.4.2 → 1.4.4

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

@@ -1 +1 @@
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{ Angle } from \"./Angle\";\r\nimport { Quaternion } from \"./Quaternion\";\r\nimport { Vector3 } from \"./Vector3\";\r\n\r\nexport type MatrixArray = [\r\n  number,\r\n  number,\r\n  number,\r\n  number,\r\n  number,\r\n  number,\r\n  number,\r\n  number,\r\n  number,\r\n  number,\r\n  number,\r\n  number,\r\n  number,\r\n  number,\r\n  number,\r\n  number\r\n];\r\n\r\nexport class Matrix {\r\n  /**\r\n   * Consructs an identity matrix\r\n   * @returns An identity matrix\r\n   */\r\n  public static Identity(): Matrix {\r\n    return new Matrix([1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1]);\r\n  }\r\n\r\n  /**\r\n   * Constructs an matrix of zeros\r\n   * @returns A matrix of zeros\r\n   */\r\n  public static Zero(): Matrix {\r\n    return new Matrix([0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]);\r\n  }\r\n\r\n  /**\r\n   * Compares two matricies\r\n   * @param a Matrix A\r\n   * @param b Matrix B\r\n   * @returns True if all the elements in matrix A are equal to all the elements of matrix B\r\n   */\r\n  public static Equal(a: Matrix, b: Matrix): boolean {\r\n    let areEqual = true;\r\n    for (let i = 0; i < 16; i++) {\r\n      if (a._m[i] !== b._m[i]) {\r\n        areEqual = false;\r\n        break;\r\n      }\r\n    }\r\n    return areEqual;\r\n  }\r\n\r\n  /**\r\n   * Checks to see if Matrix A is close to Matrix B by comparing elements\r\n   * @param a Matrix A\r\n   * @param b Matrix B\r\n   * @param threshold \"Close\" thershold. Defaults to 0.001\r\n   * @returns True if all the difference between the elements in each array is less than the threshold\r\n   */\r\n  public static Close(a: Matrix, b: Matrix, threshold = 0.001): boolean {\r\n    let areClose = true;\r\n    for (let i = 0; i < 16; i++) {\r\n      let diff = a._m[i] - b._m[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 Matrix A and B (AxB)\r\n   * @param a Matrix A\r\n   * @param b Matrix B\r\n   * @returns The result of AxB\r\n   */\r\n  public static Multiply(a: Matrix, b: Matrix): Matrix {\r\n    const aMatrix = a._m;\r\n    const bMatrix = b._m;\r\n    const tm0 = bMatrix[0];\r\n    const tm1 = bMatrix[1];\r\n    const tm2 = bMatrix[2];\r\n    const tm3 = bMatrix[3];\r\n    const tm4 = bMatrix[4];\r\n    const tm5 = bMatrix[5];\r\n    const tm6 = bMatrix[6];\r\n    const tm7 = bMatrix[7];\r\n    const tm8 = bMatrix[8];\r\n    const tm9 = bMatrix[9];\r\n    const tm10 = bMatrix[10];\r\n    const tm11 = bMatrix[11];\r\n    const tm12 = bMatrix[12];\r\n    const tm13 = bMatrix[13];\r\n    const tm14 = bMatrix[14];\r\n    const tm15 = bMatrix[15];\r\n\r\n    const om0 = aMatrix[0];\r\n    const om1 = aMatrix[1];\r\n    const om2 = aMatrix[2];\r\n    const om3 = aMatrix[3];\r\n    const om4 = aMatrix[4];\r\n    const om5 = aMatrix[5];\r\n    const om6 = aMatrix[6];\r\n    const om7 = aMatrix[7];\r\n    const om8 = aMatrix[8];\r\n    const om9 = aMatrix[9];\r\n    const om10 = aMatrix[10];\r\n    const om11 = aMatrix[11];\r\n    const om12 = aMatrix[12];\r\n    const om13 = aMatrix[13];\r\n    const om14 = aMatrix[14];\r\n    const om15 = aMatrix[15];\r\n\r\n    const result1 = tm0 * om0 + tm1 * om4 + tm2 * om8 + tm3 * om12;\r\n    const result2 = tm0 * om1 + tm1 * om5 + tm2 * om9 + tm3 * om13;\r\n    const result3 = tm0 * om2 + tm1 * om6 + tm2 * om10 + tm3 * om14;\r\n    const result4 = tm0 * om3 + tm1 * om7 + tm2 * om11 + tm3 * om15;\r\n\r\n    const result5 = tm4 * om0 + tm5 * om4 + tm6 * om8 + tm7 * om12;\r\n    const result6 = tm4 * om1 + tm5 * om5 + tm6 * om9 + tm7 * om13;\r\n    const result7 = tm4 * om2 + tm5 * om6 + tm6 * om10 + tm7 * om14;\r\n    const result8 = tm4 * om3 + tm5 * om7 + tm6 * om11 + tm7 * om15;\r\n\r\n    const result9 = tm8 * om0 + tm9 * om4 + tm10 * om8 + tm11 * om12;\r\n    const result10 = tm8 * om1 + tm9 * om5 + tm10 * om9 + tm11 * om13;\r\n    const result11 = tm8 * om2 + tm9 * om6 + tm10 * om10 + tm11 * om14;\r\n    const result12 = tm8 * om3 + tm9 * om7 + tm10 * om11 + tm11 * om15;\r\n\r\n    const result13 = tm12 * om0 + tm13 * om4 + tm14 * om8 + tm15 * om12;\r\n    const result14 = tm12 * om1 + tm13 * om5 + tm14 * om9 + tm15 * om13;\r\n    const result15 = tm12 * om2 + tm13 * om6 + tm14 * om10 + tm15 * om14;\r\n    const result16 = tm12 * om3 + tm13 * om7 + tm14 * om11 + tm15 * om15;\r\n    return new Matrix([\r\n      result1,\r\n      result2,\r\n      result3,\r\n      result4,\r\n\r\n      result5,\r\n      result6,\r\n      result7,\r\n      result8,\r\n\r\n      result9,\r\n      result10,\r\n      result11,\r\n      result12,\r\n\r\n      result13,\r\n      result14,\r\n      result15,\r\n      result16,\r\n    ]);\r\n  }\r\n\r\n  /**\r\n   * Composes a matrix from a scale vector, rotation quaterion, and translation vector\r\n   * @param scale The scale of the transformation matrix\r\n   * @param rotation The rotation of the transformation matrix\r\n   * @param translation The translation of the transformation matrix\r\n   * @returns The composed matrix\r\n   */\r\n  public static Compose(\r\n    scale: Vector3,\r\n    rotation: Quaternion,\r\n    translation: Vector3\r\n  ): Matrix {\r\n    const final: MatrixArray = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0];\r\n\r\n    const rotX = rotation.x;\r\n    const rotY = rotation.y;\r\n    const rotZ = rotation.z;\r\n    const rotW = rotation.w;\r\n\r\n    const x2 = rotX + rotX;\r\n    const y2 = rotY + rotY;\r\n    const z2 = rotZ + rotZ;\r\n    const xx = rotX * x2;\r\n    const xy = rotX * y2;\r\n    const xz = rotX * z2;\r\n    const yy = rotY * y2;\r\n    const yz = rotY * z2;\r\n    const zz = rotZ * z2;\r\n    const wx = rotW * x2;\r\n    const wy = rotW * y2;\r\n    const wz = rotW * z2;\r\n\r\n    const scaleX = scale.x;\r\n    const scaleY = scale.y;\r\n    const scaleZ = scale.z;\r\n\r\n    final[0] = (1 - (yy + zz)) * scaleX;\r\n    final[1] = (xy + wz) * scaleX;\r\n    final[2] = (xz - wy) * scaleX;\r\n    final[3] = 0;\r\n\r\n    final[4] = (xy - wz) * scaleY;\r\n    final[5] = (1 - (xx + zz)) * scaleY;\r\n    final[6] = (yz + wx) * scaleY;\r\n    final[7] = 0;\r\n\r\n    final[8] = (xz + wy) * scaleZ;\r\n    final[9] = (yz - wx) * scaleZ;\r\n    final[10] = (1 - (xx + yy)) * scaleZ;\r\n    final[11] = 0;\r\n\r\n    final[12] = translation.x;\r\n    final[13] = translation.y;\r\n    final[14] = translation.z;\r\n    final[15] = 1;\r\n\r\n    return new Matrix(final);\r\n  }\r\n\r\n  /**\r\n   * Inverts a matrix into a new matrix.\r\n   * @param matrix The matrix to invert\r\n   * @returns The inverted matrix unless the matrix cannot be inverted, then the identity is returned\r\n   */\r\n  public static Invert(matrix: Matrix): Matrix {\r\n    const m = matrix._m;\r\n    const m00 = m[0];\r\n    const m01 = m[1];\r\n    const m02 = m[2];\r\n    const m03 = m[3];\r\n    const m10 = m[4];\r\n    const m11 = m[5];\r\n    const m12 = m[6];\r\n    const m13 = m[7];\r\n    const m20 = m[8];\r\n    const m21 = m[9];\r\n    const m22 = m[10];\r\n    const m23 = m[11];\r\n    const m30 = m[12];\r\n    const m31 = m[13];\r\n    const m32 = m[14];\r\n    const m33 = m[15];\r\n\r\n    const det_12_33 = m12 * m33 - m32 * m13;\r\n    const det_11_33 = m11 * m33 - m31 * m13;\r\n    const det_11_32 = m11 * m32 - m31 * m12;\r\n    const det_10_33 = m10 * m33 - m30 * m13;\r\n    const det_10_32 = m10 * m32 - m30 * m12;\r\n    const det_10_31 = m10 * m31 - m30 * m11;\r\n    const det_12_23 = m12 * m23 - m22 * m13;\r\n    const det_11_23 = m11 * m23 - m21 * m13;\r\n    const det_11_22 = m11 * m22 - m21 * m12;\r\n    const det_10_23 = m10 * m23 - m20 * m13;\r\n    const det_10_22 = m10 * m22 - m20 * m12;\r\n    const det_10_21 = m10 * m21 - m20 * m11;\r\n\r\n    const det_22_33 = m22 * m33 - m32 * m23;\r\n    const det_21_33 = m21 * m33 - m31 * m23;\r\n    const det_21_32 = m21 * m32 - m31 * m22;\r\n    const det_20_33 = m20 * m33 - m30 * m23;\r\n    const det_20_32 = m20 * m32 - m22 * m30;\r\n    const det_20_31 = m20 * m31 - m30 * m21;\r\n\r\n    const cofact_00 = +(m11 * det_22_33 - m12 * det_21_33 + m13 * det_21_32);\r\n    const cofact_01 = -(m10 * det_22_33 - m12 * det_20_33 + m13 * det_20_32);\r\n    const cofact_02 = +(m10 * det_21_33 - m11 * det_20_33 + m13 * det_20_31);\r\n    const cofact_03 = -(m10 * det_21_32 - m11 * det_20_32 + m12 * det_20_31);\r\n\r\n    const det =\r\n      m00 * cofact_00 + m01 * cofact_01 + m02 * cofact_02 + m03 * cofact_03;\r\n    if (det === 0) return Matrix.Identity();\r\n\r\n    const detInv = 1 / det;\r\n\r\n    const cofact_10 = -(m01 * det_22_33 - m02 * det_21_33 + m03 * det_21_32);\r\n    const cofact_11 = +(m00 * det_22_33 - m02 * det_20_33 + m03 * det_20_32);\r\n    const cofact_12 = -(m00 * det_21_33 - m01 * det_20_33 + m03 * det_20_31);\r\n    const cofact_13 = +(m00 * det_21_32 - m01 * det_20_32 + m02 * det_20_31);\r\n\r\n    const cofact_20 = +(m01 * det_12_33 - m02 * det_11_33 + m03 * det_11_32);\r\n    const cofact_21 = -(m00 * det_12_33 - m02 * det_10_33 + m03 * det_10_32);\r\n    const cofact_22 = +(m00 * det_11_33 - m01 * det_10_33 + m03 * det_10_31);\r\n    const cofact_23 = -(m00 * det_11_32 - m01 * det_10_32 + m02 * det_10_31);\r\n\r\n    const cofact_30 = -(m01 * det_12_23 - m02 * det_11_23 + m03 * det_11_22);\r\n    const cofact_31 = +(m00 * det_12_23 - m02 * det_10_23 + m03 * det_10_22);\r\n    const cofact_32 = -(m00 * det_11_23 - m01 * det_10_23 + m03 * det_10_21);\r\n    const cofact_33 = +(m00 * det_11_22 - m01 * det_10_22 + m02 * det_10_21);\r\n\r\n    return new Matrix([\r\n      cofact_00 * detInv,\r\n      cofact_10 * detInv,\r\n      cofact_20 * detInv,\r\n      cofact_30 * detInv,\r\n      cofact_01 * detInv,\r\n      cofact_11 * detInv,\r\n      cofact_21 * detInv,\r\n      cofact_31 * detInv,\r\n      cofact_02 * detInv,\r\n      cofact_12 * detInv,\r\n      cofact_22 * detInv,\r\n      cofact_32 * detInv,\r\n      cofact_03 * detInv,\r\n      cofact_13 * detInv,\r\n      cofact_23 * detInv,\r\n      cofact_33 * detInv,\r\n    ]);\r\n  }\r\n\r\n  /**\r\n   * Creates a rotation matrix for a given axes and angle\r\n   * @param axis The axes of rotation\r\n   * @param angle The angle of rotation\r\n   * @returns A new rotation matrix\r\n   */\r\n  public static FromRotationAxisAngle(axis: Vector3, angle: Angle): Matrix {\r\n    const sin = Math.sin(-angle.radians);\r\n    const cosin = Math.cos(-angle.radians);\r\n    const c1 = 1 - cosin;\r\n\r\n    const unit = axis.unit;\r\n    const m: MatrixArray = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0];\r\n    m[0] = unit.x * unit.x * c1 + cosin;\r\n    m[1] = unit.x * unit.y * c1 - unit.z * sin;\r\n    m[2] = unit.x * unit.z * c1 + unit.y * sin;\r\n    m[3] = 0.0;\r\n\r\n    m[4] = unit.y * unit.x * c1 + unit.z * sin;\r\n    m[5] = unit.y * unit.y * c1 + cosin;\r\n    m[6] = unit.y * unit.z * c1 - unit.x * sin;\r\n    m[7] = 0.0;\r\n\r\n    m[8] = unit.z * unit.x * c1 - unit.y * sin;\r\n    m[9] = unit.z * unit.y * c1 + unit.x * sin;\r\n    m[10] = unit.z * unit.z * c1 + cosin;\r\n    m[11] = 0.0;\r\n\r\n    m[12] = 0.0;\r\n    m[13] = 0.0;\r\n    m[14] = 0.0;\r\n    m[15] = 1.0;\r\n\r\n    return new Matrix(m);\r\n  }\r\n\r\n  /**\r\n   * Make a new transformation matrix that has the same scale and rotation as the original but the translation is set\r\n   * @param original The original matrix\r\n   * @param translation The new translation value\r\n   * @returns A new matrix that is the same as the original but the translation has been changed\r\n   */\r\n  public static SetMatrixTranslation(\r\n    original: Matrix,\r\n    translation: Vector3\r\n  ): Matrix {\r\n    const values: MatrixArray = original.m;\r\n    values[12] = translation.x;\r\n    values[13] = translation.y;\r\n    values[14] = translation.z;\r\n\r\n    return new Matrix(values);\r\n  }\r\n\r\n  /**\r\n   * Make a new transformation matrix that has the same scale and translation as the original but the rotation is set\r\n   * @param original The original matrix\r\n   * @param rotation The new rotation value\r\n   * @returns A new matrix that is the same as the original but the rotation has been changed\r\n   */\r\n  public static SetMatrixRotation(\r\n    original: Matrix,\r\n    rotation: Quaternion\r\n  ): Matrix {\r\n    const scale = original.scale;\r\n    const translation = original.translation;\r\n\r\n    return Matrix.Compose(scale, rotation, translation);\r\n  }\r\n\r\n  /**\r\n   * Make a new transformation matrix that has the same rotation and translation as the original but the scale is set\r\n   * @param original The original matrix\r\n   * @param scale The new scale value\r\n   * @returns A new matrix that is the same as the original but the scale has been changed\r\n   */\r\n  public static SetMatrixScale(\r\n    original: Matrix,\r\n    scale: Vector3\r\n  ): Matrix {\r\n    const rotation = original.rotation;\r\n    const translation = original.translation;\r\n\r\n    return Matrix.Compose(scale, rotation, translation);\r\n  }\r\n\r\n  public static FromFloat32Array(array: Float32Array): Matrix {\r\n    if (array.length !== 16) {\r\n      console.error(\"[matrixFrom32] Array does not have a length of 16\");\r\n      return Matrix.Identity();\r\n    }\r\n\r\n    const matrixArray: MatrixArray = [\r\n      array[0],\r\n      array[1],\r\n      array[2],\r\n      array[3],\r\n      array[4],\r\n      array[5],\r\n      array[6],\r\n      array[7],\r\n      array[8],\r\n      array[9],\r\n      array[10],\r\n      array[11],\r\n      array[12],\r\n      array[13],\r\n      array[14],\r\n      array[15]\r\n    ]\r\n\r\n    return new Matrix(matrixArray);\r\n  }\r\n\r\n  public static FlipTransformMatrixHand(matrix: Matrix): Matrix {\r\n    const m = matrix.m;\r\n    m[2] *= -1;\r\n    m[6] *= -1;\r\n    m[8] *= -1;\r\n    m[9] *= -1;\r\n    m[14] *= -1;\r\n\r\n    return new Matrix(m);\r\n  }\r\n\r\n  public static FlipProjectionMatrixHand(matrix: Matrix): Matrix {\r\n    const m = matrix.m;\r\n    m[8] *= -1;\r\n    m[9] *= -1;\r\n    m[10] *= -1;\r\n    m[11] *= -1;\r\n\r\n    return new Matrix(m);\r\n  }\r\n\r\n  /**\r\n   * Returns the determinate of the matrix\r\n   */\r\n  public get determinate(): number {\r\n    const m = this._m;\r\n    const m00 = m[0];\r\n    const m01 = m[1];\r\n    const m02 = m[2];\r\n    const m03 = m[3];\r\n    const m10 = m[4];\r\n    const m11 = m[5];\r\n    const m12 = m[6];\r\n    const m13 = m[7];\r\n    const m20 = m[8];\r\n    const m21 = m[9];\r\n    const m22 = m[10];\r\n    const m23 = m[11];\r\n    const m30 = m[12];\r\n    const m31 = m[13];\r\n    const m32 = m[14];\r\n    const m33 = m[15];\r\n\r\n    const det_22_33 = m22 * m33 - m32 * m23;\r\n    const det_21_33 = m21 * m33 - m31 * m23;\r\n    const det_21_32 = m21 * m32 - m31 * m22;\r\n    const det_20_33 = m20 * m33 - m30 * m23;\r\n    const det_20_32 = m20 * m32 - m22 * m30;\r\n    const det_20_31 = m20 * m31 - m30 * m21;\r\n    const cofact_00 = +(m11 * det_22_33 - m12 * det_21_33 + m13 * det_21_32);\r\n    const cofact_01 = -(m10 * det_22_33 - m12 * det_20_33 + m13 * det_20_32);\r\n    const cofact_02 = +(m10 * det_21_33 - m11 * det_20_33 + m13 * det_20_31);\r\n    const cofact_03 = -(m10 * det_21_32 - m11 * det_20_32 + m12 * det_20_31);\r\n    return (\r\n      m00 * cofact_00 + m01 * cofact_01 + m02 * cofact_02 + m03 * cofact_03\r\n    );\r\n  }\r\n\r\n  /**\r\n   * Returns the translation component of the transformation matrix as a Vector\r\n   */\r\n  get translation(): Vector3 {\r\n    return new Vector3(this._m[12], this._m[13], this._m[14]);\r\n  }\r\n\r\n  /**\r\n   * Returns the scale of the transformation matrix as a vector\r\n   */\r\n  get scale(): Vector3 {\r\n    const x = Math.sqrt(\r\n      this._m[0] * this._m[0] +\r\n      this._m[1] * this._m[1] +\r\n      this._m[2] * this._m[2]\r\n    );\r\n    let y = Math.sqrt(\r\n      this._m[4] * this._m[4] +\r\n      this._m[5] * this._m[5] +\r\n      this._m[6] * this._m[6]\r\n    );\r\n    const z = Math.sqrt(\r\n      this._m[8] * this._m[8] +\r\n      this._m[9] * this._m[9] +\r\n      this._m[10] * this._m[10]\r\n    );\r\n\r\n    if (this.determinate <= 0) {\r\n      y = -y;\r\n    }\r\n\r\n    return new Vector3(x, y, z);\r\n  }\r\n\r\n  /**\r\n   * Returns the rotation components of the transformation matrix as a Quaternion\r\n   */\r\n  get rotation(): Quaternion {\r\n    return Quaternion.FromRotationMatrix(this.rotationMatrix);\r\n  }\r\n\r\n  /**\r\n   * Returns just the rotation matrix of the transformation matrix\r\n   */\r\n  get rotationMatrix(): Matrix {\r\n    const scale = this.scale;\r\n    const sx = 1 / scale.x;\r\n    const sy = 1 / scale.y;\r\n    const sz = 1 / scale.z;\r\n\r\n    const rMatrixValues: MatrixArray = [\r\n      this._m[0] * sx,\r\n      this._m[1] * sx,\r\n      this._m[2] * sx,\r\n      0.0,\r\n      this._m[4] * sy,\r\n      this._m[5] * sy,\r\n      this._m[6] * sy,\r\n      0.0,\r\n      this._m[8] * sz,\r\n      this._m[9] * sz,\r\n      this._m[10] * sz,\r\n      0.0,\r\n      0.0,\r\n      0.0,\r\n      0.0,\r\n      1.0,\r\n    ];\r\n\r\n    return new Matrix(rMatrixValues);\r\n  }\r\n\r\n  // Row, column\r\n  private readonly _m: MatrixArray;\r\n  get m(): MatrixArray {\r\n    return [...this._m];\r\n  }\r\n\r\n  constructor(m: MatrixArray) {\r\n    this._m = m;\r\n  }\r\n}\r\n"]}
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{ Angle } from \"./Angle\";\r\nimport { Quaternion } from \"./Quaternion\";\r\nimport { Vector3 } from \"./Vector3\";\r\n\r\nexport type MatrixArray = [\r\n  number,\r\n  number,\r\n  number,\r\n  number,\r\n  number,\r\n  number,\r\n  number,\r\n  number,\r\n  number,\r\n  number,\r\n  number,\r\n  number,\r\n  number,\r\n  number,\r\n  number,\r\n  number,\r\n];\r\n\r\nexport class Matrix {\r\n  /**\r\n   * Constructs an identity matrix\r\n   * @returns An identity matrix\r\n   */\r\n  public static Identity(): Matrix {\r\n    return new Matrix([1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1]);\r\n  }\r\n\r\n  /**\r\n   * Constructs a matrix of zeros\r\n   * @returns A matrix of zeros\r\n   */\r\n  public static Zero(): Matrix {\r\n    return new Matrix([0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]);\r\n  }\r\n\r\n  /**\r\n   * Compares two matrices\r\n   * @param a Matrix A\r\n   * @param b Matrix B\r\n   * @returns True if all the elements in matrix A are equal to all the elements of matrix B\r\n   */\r\n  public static Equal(a: Matrix, b: Matrix): boolean {\r\n    let areEqual = true;\r\n    for (let i = 0; i < 16; i++) {\r\n      if (a._m[i] !== b._m[i]) {\r\n        areEqual = false;\r\n        break;\r\n      }\r\n    }\r\n    return areEqual;\r\n  }\r\n\r\n  /**\r\n   * Checks to see if Matrix A is close to Matrix B by comparing elements\r\n   * @param a Matrix A\r\n   * @param b Matrix B\r\n   * @param threshold \"Close\" threshold. Defaults to 0.001\r\n   * @returns True if all the difference between the elements in each array is less than the threshold\r\n   */\r\n  public static Close(a: Matrix, b: Matrix, threshold = 0.001): boolean {\r\n    let areClose = true;\r\n    for (let i = 0; i < 16; i++) {\r\n      let diff = a._m[i] - b._m[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 Matrix A and B (AxB)\r\n   * @param a Matrix A\r\n   * @param b Matrix B\r\n   * @returns The result of AxB\r\n   */\r\n  public static Multiply(a: Matrix, b: Matrix): Matrix {\r\n    const aMatrix = a._m;\r\n    const bMatrix = b._m;\r\n    const tm0 = bMatrix[0];\r\n    const tm1 = bMatrix[1];\r\n    const tm2 = bMatrix[2];\r\n    const tm3 = bMatrix[3];\r\n    const tm4 = bMatrix[4];\r\n    const tm5 = bMatrix[5];\r\n    const tm6 = bMatrix[6];\r\n    const tm7 = bMatrix[7];\r\n    const tm8 = bMatrix[8];\r\n    const tm9 = bMatrix[9];\r\n    const tm10 = bMatrix[10];\r\n    const tm11 = bMatrix[11];\r\n    const tm12 = bMatrix[12];\r\n    const tm13 = bMatrix[13];\r\n    const tm14 = bMatrix[14];\r\n    const tm15 = bMatrix[15];\r\n\r\n    const om0 = aMatrix[0];\r\n    const om1 = aMatrix[1];\r\n    const om2 = aMatrix[2];\r\n    const om3 = aMatrix[3];\r\n    const om4 = aMatrix[4];\r\n    const om5 = aMatrix[5];\r\n    const om6 = aMatrix[6];\r\n    const om7 = aMatrix[7];\r\n    const om8 = aMatrix[8];\r\n    const om9 = aMatrix[9];\r\n    const om10 = aMatrix[10];\r\n    const om11 = aMatrix[11];\r\n    const om12 = aMatrix[12];\r\n    const om13 = aMatrix[13];\r\n    const om14 = aMatrix[14];\r\n    const om15 = aMatrix[15];\r\n\r\n    const result1 = tm0 * om0 + tm1 * om4 + tm2 * om8 + tm3 * om12;\r\n    const result2 = tm0 * om1 + tm1 * om5 + tm2 * om9 + tm3 * om13;\r\n    const result3 = tm0 * om2 + tm1 * om6 + tm2 * om10 + tm3 * om14;\r\n    const result4 = tm0 * om3 + tm1 * om7 + tm2 * om11 + tm3 * om15;\r\n\r\n    const result5 = tm4 * om0 + tm5 * om4 + tm6 * om8 + tm7 * om12;\r\n    const result6 = tm4 * om1 + tm5 * om5 + tm6 * om9 + tm7 * om13;\r\n    const result7 = tm4 * om2 + tm5 * om6 + tm6 * om10 + tm7 * om14;\r\n    const result8 = tm4 * om3 + tm5 * om7 + tm6 * om11 + tm7 * om15;\r\n\r\n    const result9 = tm8 * om0 + tm9 * om4 + tm10 * om8 + tm11 * om12;\r\n    const result10 = tm8 * om1 + tm9 * om5 + tm10 * om9 + tm11 * om13;\r\n    const result11 = tm8 * om2 + tm9 * om6 + tm10 * om10 + tm11 * om14;\r\n    const result12 = tm8 * om3 + tm9 * om7 + tm10 * om11 + tm11 * om15;\r\n\r\n    const result13 = tm12 * om0 + tm13 * om4 + tm14 * om8 + tm15 * om12;\r\n    const result14 = tm12 * om1 + tm13 * om5 + tm14 * om9 + tm15 * om13;\r\n    const result15 = tm12 * om2 + tm13 * om6 + tm14 * om10 + tm15 * om14;\r\n    const result16 = tm12 * om3 + tm13 * om7 + tm14 * om11 + tm15 * om15;\r\n    return new Matrix([\r\n      result1,\r\n      result2,\r\n      result3,\r\n      result4,\r\n\r\n      result5,\r\n      result6,\r\n      result7,\r\n      result8,\r\n\r\n      result9,\r\n      result10,\r\n      result11,\r\n      result12,\r\n\r\n      result13,\r\n      result14,\r\n      result15,\r\n      result16,\r\n    ]);\r\n  }\r\n\r\n  /**\r\n   * Composes a matrix from a scale vector, rotation quaternion, and translation vector\r\n   * @param scale The scale of the transformation matrix\r\n   * @param rotation The rotation of the transformation matrix\r\n   * @param translation The translation of the transformation matrix\r\n   * @returns The composed matrix\r\n   */\r\n  public static Compose(\r\n    scale: Vector3,\r\n    rotation: Quaternion,\r\n    translation: Vector3\r\n  ): Matrix {\r\n    const final: MatrixArray = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0];\r\n\r\n    const rotX = rotation.x;\r\n    const rotY = rotation.y;\r\n    const rotZ = rotation.z;\r\n    const rotW = rotation.w;\r\n\r\n    const x2 = rotX + rotX;\r\n    const y2 = rotY + rotY;\r\n    const z2 = rotZ + rotZ;\r\n    const xx = rotX * x2;\r\n    const xy = rotX * y2;\r\n    const xz = rotX * z2;\r\n    const yy = rotY * y2;\r\n    const yz = rotY * z2;\r\n    const zz = rotZ * z2;\r\n    const wx = rotW * x2;\r\n    const wy = rotW * y2;\r\n    const wz = rotW * z2;\r\n\r\n    const scaleX = scale.x;\r\n    const scaleY = scale.y;\r\n    const scaleZ = scale.z;\r\n\r\n    final[0] = (1 - (yy + zz)) * scaleX;\r\n    final[1] = (xy + wz) * scaleX;\r\n    final[2] = (xz - wy) * scaleX;\r\n    final[3] = 0;\r\n\r\n    final[4] = (xy - wz) * scaleY;\r\n    final[5] = (1 - (xx + zz)) * scaleY;\r\n    final[6] = (yz + wx) * scaleY;\r\n    final[7] = 0;\r\n\r\n    final[8] = (xz + wy) * scaleZ;\r\n    final[9] = (yz - wx) * scaleZ;\r\n    final[10] = (1 - (xx + yy)) * scaleZ;\r\n    final[11] = 0;\r\n\r\n    final[12] = translation.x;\r\n    final[13] = translation.y;\r\n    final[14] = translation.z;\r\n    final[15] = 1;\r\n\r\n    return new Matrix(final);\r\n  }\r\n\r\n  /**\r\n   * Inverts a matrix into a new matrix.\r\n   * @param matrix The matrix to invert\r\n   * @returns The inverted matrix unless the matrix cannot be inverted, then the identity is returned\r\n   */\r\n  public static Invert(matrix: Matrix): Matrix {\r\n    const m = matrix._m;\r\n    const m00 = m[0];\r\n    const m01 = m[1];\r\n    const m02 = m[2];\r\n    const m03 = m[3];\r\n    const m10 = m[4];\r\n    const m11 = m[5];\r\n    const m12 = m[6];\r\n    const m13 = m[7];\r\n    const m20 = m[8];\r\n    const m21 = m[9];\r\n    const m22 = m[10];\r\n    const m23 = m[11];\r\n    const m30 = m[12];\r\n    const m31 = m[13];\r\n    const m32 = m[14];\r\n    const m33 = m[15];\r\n\r\n    const det_12_33 = m12 * m33 - m32 * m13;\r\n    const det_11_33 = m11 * m33 - m31 * m13;\r\n    const det_11_32 = m11 * m32 - m31 * m12;\r\n    const det_10_33 = m10 * m33 - m30 * m13;\r\n    const det_10_32 = m10 * m32 - m30 * m12;\r\n    const det_10_31 = m10 * m31 - m30 * m11;\r\n    const det_12_23 = m12 * m23 - m22 * m13;\r\n    const det_11_23 = m11 * m23 - m21 * m13;\r\n    const det_11_22 = m11 * m22 - m21 * m12;\r\n    const det_10_23 = m10 * m23 - m20 * m13;\r\n    const det_10_22 = m10 * m22 - m20 * m12;\r\n    const det_10_21 = m10 * m21 - m20 * m11;\r\n\r\n    const det_22_33 = m22 * m33 - m32 * m23;\r\n    const det_21_33 = m21 * m33 - m31 * m23;\r\n    const det_21_32 = m21 * m32 - m31 * m22;\r\n    const det_20_33 = m20 * m33 - m30 * m23;\r\n    const det_20_32 = m20 * m32 - m22 * m30;\r\n    const det_20_31 = m20 * m31 - m30 * m21;\r\n\r\n    const cofact_00 = +(m11 * det_22_33 - m12 * det_21_33 + m13 * det_21_32);\r\n    const cofact_01 = -(m10 * det_22_33 - m12 * det_20_33 + m13 * det_20_32);\r\n    const cofact_02 = +(m10 * det_21_33 - m11 * det_20_33 + m13 * det_20_31);\r\n    const cofact_03 = -(m10 * det_21_32 - m11 * det_20_32 + m12 * det_20_31);\r\n\r\n    const det =\r\n      m00 * cofact_00 + m01 * cofact_01 + m02 * cofact_02 + m03 * cofact_03;\r\n    if (det === 0) return Matrix.Identity();\r\n\r\n    const detInv = 1 / det;\r\n\r\n    const cofact_10 = -(m01 * det_22_33 - m02 * det_21_33 + m03 * det_21_32);\r\n    const cofact_11 = +(m00 * det_22_33 - m02 * det_20_33 + m03 * det_20_32);\r\n    const cofact_12 = -(m00 * det_21_33 - m01 * det_20_33 + m03 * det_20_31);\r\n    const cofact_13 = +(m00 * det_21_32 - m01 * det_20_32 + m02 * det_20_31);\r\n\r\n    const cofact_20 = +(m01 * det_12_33 - m02 * det_11_33 + m03 * det_11_32);\r\n    const cofact_21 = -(m00 * det_12_33 - m02 * det_10_33 + m03 * det_10_32);\r\n    const cofact_22 = +(m00 * det_11_33 - m01 * det_10_33 + m03 * det_10_31);\r\n    const cofact_23 = -(m00 * det_11_32 - m01 * det_10_32 + m02 * det_10_31);\r\n\r\n    const cofact_30 = -(m01 * det_12_23 - m02 * det_11_23 + m03 * det_11_22);\r\n    const cofact_31 = +(m00 * det_12_23 - m02 * det_10_23 + m03 * det_10_22);\r\n    const cofact_32 = -(m00 * det_11_23 - m01 * det_10_23 + m03 * det_10_21);\r\n    const cofact_33 = +(m00 * det_11_22 - m01 * det_10_22 + m02 * det_10_21);\r\n\r\n    return new Matrix([\r\n      cofact_00 * detInv,\r\n      cofact_10 * detInv,\r\n      cofact_20 * detInv,\r\n      cofact_30 * detInv,\r\n      cofact_01 * detInv,\r\n      cofact_11 * detInv,\r\n      cofact_21 * detInv,\r\n      cofact_31 * detInv,\r\n      cofact_02 * detInv,\r\n      cofact_12 * detInv,\r\n      cofact_22 * detInv,\r\n      cofact_32 * detInv,\r\n      cofact_03 * detInv,\r\n      cofact_13 * detInv,\r\n      cofact_23 * detInv,\r\n      cofact_33 * detInv,\r\n    ]);\r\n  }\r\n\r\n  /**\r\n   * Creates a rotation matrix for a given axes and angle\r\n   * @param axis The axes of rotation\r\n   * @param angle The angle of rotation\r\n   * @returns A new rotation matrix\r\n   */\r\n  public static FromRotationAxisAngle(axis: Vector3, angle: Angle): Matrix {\r\n    const sin = Math.sin(-angle.radians);\r\n    const cosin = Math.cos(-angle.radians);\r\n    const c1 = 1 - cosin;\r\n\r\n    const unit = axis.unit;\r\n    const m: MatrixArray = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0];\r\n    m[0] = unit.x * unit.x * c1 + cosin;\r\n    m[1] = unit.x * unit.y * c1 - unit.z * sin;\r\n    m[2] = unit.x * unit.z * c1 + unit.y * sin;\r\n    m[3] = 0.0;\r\n\r\n    m[4] = unit.y * unit.x * c1 + unit.z * sin;\r\n    m[5] = unit.y * unit.y * c1 + cosin;\r\n    m[6] = unit.y * unit.z * c1 - unit.x * sin;\r\n    m[7] = 0.0;\r\n\r\n    m[8] = unit.z * unit.x * c1 - unit.y * sin;\r\n    m[9] = unit.z * unit.y * c1 + unit.x * sin;\r\n    m[10] = unit.z * unit.z * c1 + cosin;\r\n    m[11] = 0.0;\r\n\r\n    m[12] = 0.0;\r\n    m[13] = 0.0;\r\n    m[14] = 0.0;\r\n    m[15] = 1.0;\r\n\r\n    return new Matrix(m);\r\n  }\r\n\r\n  /**\r\n   * Make a new transformation matrix that has the same scale and rotation as the original but the translation is set\r\n   * @param original The original matrix\r\n   * @param translation The new translation value\r\n   * @returns A new matrix that is the same as the original but the translation has been changed\r\n   */\r\n  public static SetMatrixTranslation(\r\n    original: Matrix,\r\n    translation: Vector3\r\n  ): Matrix {\r\n    const values: MatrixArray = original.m;\r\n    values[12] = translation.x;\r\n    values[13] = translation.y;\r\n    values[14] = translation.z;\r\n\r\n    return new Matrix(values);\r\n  }\r\n\r\n  /**\r\n   * Make a new transformation matrix that has the same scale and translation as the original but the rotation is set\r\n   * @param original The original matrix\r\n   * @param rotation The new rotation value\r\n   * @returns A new matrix that is the same as the original but the rotation has been changed\r\n   */\r\n  public static SetMatrixRotation(\r\n    original: Matrix,\r\n    rotation: Quaternion\r\n  ): Matrix {\r\n    const scale = original.scale;\r\n    const translation = original.translation;\r\n\r\n    return Matrix.Compose(scale, rotation, translation);\r\n  }\r\n\r\n  /**\r\n   * Make a new transformation matrix that has the same rotation and translation as the original but the scale is set\r\n   * @param original The original matrix\r\n   * @param scale The new scale value\r\n   * @returns A new matrix that is the same as the original but the scale has been changed\r\n   */\r\n  public static SetMatrixScale(original: Matrix, scale: Vector3): Matrix {\r\n    const rotation = original.rotation;\r\n    const translation = original.translation;\r\n\r\n    return Matrix.Compose(scale, rotation, translation);\r\n  }\r\n\r\n  public static FromFloat32Array(array: Float32Array): Matrix {\r\n    if (array.length !== 16) {\r\n      console.error(\"[matrixFrom32] Array does not have a length of 16\");\r\n      return Matrix.Identity();\r\n    }\r\n\r\n    const matrixArray: MatrixArray = [\r\n      array[0],\r\n      array[1],\r\n      array[2],\r\n      array[3],\r\n      array[4],\r\n      array[5],\r\n      array[6],\r\n      array[7],\r\n      array[8],\r\n      array[9],\r\n      array[10],\r\n      array[11],\r\n      array[12],\r\n      array[13],\r\n      array[14],\r\n      array[15],\r\n    ];\r\n\r\n    return new Matrix(matrixArray);\r\n  }\r\n\r\n  public static FlipTransformMatrixHand(matrix: Matrix): Matrix {\r\n    const m = matrix.m;\r\n    m[2] *= -1;\r\n    m[6] *= -1;\r\n    m[8] *= -1;\r\n    m[9] *= -1;\r\n    m[14] *= -1;\r\n\r\n    return new Matrix(m);\r\n  }\r\n\r\n  public static FlipProjectionMatrixHand(matrix: Matrix): Matrix {\r\n    const m = matrix.m;\r\n    m[8] *= -1;\r\n    m[9] *= -1;\r\n    m[10] *= -1;\r\n    m[11] *= -1;\r\n\r\n    return new Matrix(m);\r\n  }\r\n\r\n  /**\r\n   * Returns the determinate of the matrix\r\n   */\r\n  public get determinate(): number {\r\n    const m = this._m;\r\n    const m00 = m[0];\r\n    const m01 = m[1];\r\n    const m02 = m[2];\r\n    const m03 = m[3];\r\n    const m10 = m[4];\r\n    const m11 = m[5];\r\n    const m12 = m[6];\r\n    const m13 = m[7];\r\n    const m20 = m[8];\r\n    const m21 = m[9];\r\n    const m22 = m[10];\r\n    const m23 = m[11];\r\n    const m30 = m[12];\r\n    const m31 = m[13];\r\n    const m32 = m[14];\r\n    const m33 = m[15];\r\n\r\n    const det_22_33 = m22 * m33 - m32 * m23;\r\n    const det_21_33 = m21 * m33 - m31 * m23;\r\n    const det_21_32 = m21 * m32 - m31 * m22;\r\n    const det_20_33 = m20 * m33 - m30 * m23;\r\n    const det_20_32 = m20 * m32 - m22 * m30;\r\n    const det_20_31 = m20 * m31 - m30 * m21;\r\n    const cofact_00 = +(m11 * det_22_33 - m12 * det_21_33 + m13 * det_21_32);\r\n    const cofact_01 = -(m10 * det_22_33 - m12 * det_20_33 + m13 * det_20_32);\r\n    const cofact_02 = +(m10 * det_21_33 - m11 * det_20_33 + m13 * det_20_31);\r\n    const cofact_03 = -(m10 * det_21_32 - m11 * det_20_32 + m12 * det_20_31);\r\n    return (\r\n      m00 * cofact_00 + m01 * cofact_01 + m02 * cofact_02 + m03 * cofact_03\r\n    );\r\n  }\r\n\r\n  /**\r\n   * Returns the translation component of the transformation matrix as a Vector\r\n   */\r\n  get translation(): Vector3 {\r\n    return new Vector3(this._m[12], this._m[13], this._m[14]);\r\n  }\r\n\r\n  /**\r\n   * Returns the scale of the transformation matrix as a vector\r\n   */\r\n  get scale(): Vector3 {\r\n    const x = Math.sqrt(\r\n      this._m[0] * this._m[0] +\r\n        this._m[1] * this._m[1] +\r\n        this._m[2] * this._m[2]\r\n    );\r\n    let y = Math.sqrt(\r\n      this._m[4] * this._m[4] +\r\n        this._m[5] * this._m[5] +\r\n        this._m[6] * this._m[6]\r\n    );\r\n    const z = Math.sqrt(\r\n      this._m[8] * this._m[8] +\r\n        this._m[9] * this._m[9] +\r\n        this._m[10] * this._m[10]\r\n    );\r\n\r\n    if (this.determinate <= 0) {\r\n      y = -y;\r\n    }\r\n\r\n    return new Vector3(x, y, z);\r\n  }\r\n\r\n  /**\r\n   * Returns the rotation components of the transformation matrix as a Quaternion\r\n   */\r\n  get rotation(): Quaternion {\r\n    return Quaternion.FromRotationMatrix(this.rotationMatrix);\r\n  }\r\n\r\n  /**\r\n   * Returns just the rotation matrix of the transformation matrix\r\n   */\r\n  get rotationMatrix(): Matrix {\r\n    const scale = this.scale;\r\n    const sx = 1 / scale.x;\r\n    const sy = 1 / scale.y;\r\n    const sz = 1 / scale.z;\r\n\r\n    const rMatrixValues: MatrixArray = [\r\n      this._m[0] * sx,\r\n      this._m[1] * sx,\r\n      this._m[2] * sx,\r\n      0.0,\r\n      this._m[4] * sy,\r\n      this._m[5] * sy,\r\n      this._m[6] * sy,\r\n      0.0,\r\n      this._m[8] * sz,\r\n      this._m[9] * sz,\r\n      this._m[10] * sz,\r\n      0.0,\r\n      0.0,\r\n      0.0,\r\n      0.0,\r\n      1.0,\r\n    ];\r\n\r\n    return new Matrix(rMatrixValues);\r\n  }\r\n\r\n  // Row, column\r\n  private readonly _m: MatrixArray;\r\n  get m(): MatrixArray {\r\n    return [...this._m];\r\n  }\r\n\r\n  constructor(m: MatrixArray) {\r\n    this._m = m;\r\n  }\r\n}\r\n"]}

package/dist/esm/ValueObjects/Quaternion.js

@@ -18,10 +18,10 @@ export class Quaternion {
     }
     /**
      * Checks two quaternions to see if they are close
-     * @param a Quaterion A
-     * @param b Quaterion B
+     * @param a Quaternion A
+     * @param b Quaternion B
      * @param threshold "Close" threshold. Defaults to 0.001
-     * @returns True if each of Quaterion's components are within the threshold of each other
+     * @returns True if each of Quaternion's components are within the threshold of each other
      */
     static Close(a, b, threshold = 0.001) {
         const aArray = a.toArray();
@@ -41,7 +41,7 @@ export class Quaternion {
     }
     /**
      * Multiplies A*B
-     * @param a Quaterion A
+     * @param a Quaternion A
      * @param b Quaternion B
      * @returns The result of A*B
      */
@@ -53,15 +53,15 @@ export class Quaternion {
         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
+     * Creates a new Quaternion from an array of values
+     * @param values The four values of the Quaternion: [x,y,z,w]
+     * @returns A Quaternion
      */
     static FromArray(values) {
         return new Quaternion(values[0], values[1], values[2], values[3]);
     }
     /**
-     * Creates a Quaterion from a Data Transfer Object
+     * Creates a Quaternion from a Data Transfer Object
      * @param dto The Data Transfer Object
      * @returns The Quaternion
      */
@@ -76,10 +76,10 @@ export class Quaternion {
         return new Quaternion(0, 0, 0, 1);
     }
     /**
-     * Creates an quaterion about an axis for a given angle
+     * Creates a quaternion about an axis for a given angle
      * @param axis The rotation axis
      * @param angle The rotation angle
-     * @returns The resulting Quaterion
+     * @returns The resulting Quaternion
      */
     static FromAngleAxis(axis, angle) {
         const sin = Math.sin(angle.radians / 2);
@@ -112,11 +112,11 @@ export class Quaternion {
         return Quaternion.FromYawPitchRoll(yaw, pitch, roll);
     }
     /**
-     * Froms up a Quaternion from the Yaw-Pitch-Roll (Tait-Bryan) convetion
+     * Forms a Quaternion from the Yaw-Pitch-Roll (Tait-Bryan) convention
      * @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
+     * @returns the resulting quaternion
      */
     static FromYawPitchRoll(yaw, pitch, roll) {
         const halfRoll = roll.radians * 0.5;
@@ -139,7 +139,7 @@ export class Quaternion {
      * @param x Rotation about the x axis
      * @param y Rotation about the y axis
      * @param z Rotation about the z axis
-     * @returns The Quaterion
+     * @returns The Quaternion
      */
     static FromEuler(x, y, z) {
         return this.FromYawPitchRoll(y, x, z);
@@ -166,9 +166,9 @@ export class Quaternion {
     /**
      * 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
+     * @param final The final quaternion
+     * @param percent The percent along the slerp. 0 will return the initial quaternion and 1 will return the final quaternion
+     * @returns The interpolated quaternion
      */
     static Slerp(initial, final, percent) {
         let A;
@@ -201,7 +201,7 @@ export class Quaternion {
     /**
      * Calculates a Quaternion from a rotation matrix
      * @param rotationMatrix A normalized, non-scaled rotation matrix
-     * @returns The Quaterion
+     * @returns The Quaternion
      */
     static FromRotationMatrix(rotationMatrix) {
         const m = rotationMatrix.m;

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

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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"]}
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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 Quaternion A\r\n   * @param b Quaternion B\r\n   * @param threshold \"Close\" threshold. Defaults to 0.001\r\n   * @returns True if each of Quaternion'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 Quaternion 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 Quaternion from an array of values\r\n   * @param values The four values of the Quaternion: [x,y,z,w]\r\n   * @returns A Quaternion\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 Quaternion 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 a quaternion 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 Quaternion\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   * Forms a Quaternion from the Yaw-Pitch-Roll (Tait-Bryan) convention\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 quaternion\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 Quaternion\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 quaternion\r\n   * @param percent The percent along the slerp. 0 will return the initial quaternion and 1 will return the final quaternion\r\n   * @returns The interpolated quaternion\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 Quaternion\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"]}

package/dist/esm/ValueObjects/Vector2.js

@@ -56,17 +56,24 @@ export class Vector2 {
     /**
      * Get the magnitude (length) of the vector
      */
-    get magnitued() {
+    get magnitude() {
         const xSqr = this.x * this.x;
         const ySqr = this.y * this.y;
         const magnitude = Math.sqrt(xSqr + ySqr);
         return magnitude;
     }
+    /**
+     * @deprecated Use magnitude instead - this property is kept for backward compatibility
+     * Get the magnitude (length) of the vector
+     */
+    get magnitued() {
+        return this.magnitude;
+    }
     /**
      * Get the unit vector
      */
     get unit() {
-        const mag = this.magnitued;
+        const mag = this.magnitude;
         if (mag === 0) {
             return Vector2.Zero();
         }
@@ -75,14 +82,14 @@ export class Vector2 {
         return new Vector2(unitX, unitY);
     }
     /**
-     * Returns the angle of the direction of this angle in degrees.
+     * Returns the angle of the direction of this vector in degrees.
      * A right vector [1,0] will return 0, a left vector [-1,0] will return 180, an up vector [0,1] will return 90 and a down vector [0,-1] will return -90
      */
     get theta() {
         return (Math.atan2(this.y, this.x) * 180) / Math.PI;
     }
     /**
-     * Retuns the vector as an array of numbers [x,y]
+     * Returns the vector as an array of numbers [x,y]
      */
     get array() {
         return [this.x, this.y];
@@ -107,7 +114,7 @@ export class Vector2 {
  */
 Vector2.Close = (a, b, threshold = 0.01) => {
     const diff = Vector2.Subtract(a, b);
-    const diffMag = diff.magnitued;
+    const diffMag = diff.magnitude;
     if (diffMag < threshold)
         return true;
     else
@@ -136,7 +143,7 @@ Vector2.Scale = (vector, scale) => {
     return new Vector2(x, y);
 };
 /**
- * Creates a new vector of a given lenght and a unit that is equal to the original vector
+ * Creates a new vector of a given length and a unit that is equal to the original vector
  * @param vector The original vector. This determines the unit of the final vector
  * @param length The desired length of the final vector
  * @returns The final vector
@@ -164,8 +171,8 @@ Vector2.Dot = (a, b) => {
  */
 Vector2.AngleBetween = (a, b) => {
     const dot = Vector2.Dot(a, b);
-    const magnitues = a.magnitued * b.magnitued;
-    const angRadians = Math.acos(dot / magnitues);
+    const magnitudes = a.magnitude * b.magnitude;
+    const angRadians = Math.acos(dot / magnitudes);
     return Angle.FromRadians(angRadians);
 };
 /**

package/dist/esm/ValueObjects/Vector2.js.map

@@ -1 +1 @@
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y: number }): Vector2 {\r\n    return new Vector2(dto.x, dto.y);\r\n  }\r\n\r\n  /**\r\n   * Adds Vector B to Vector A\r\n   * @param a Vector A\r\n   * @param b Vector B\r\n   * @returns A + B\r\n   */\r\n  public static Add(a: Vector2, b: Vector2): Vector2 {\r\n    return new Vector2(a.x + b.x, a.y + b.y);\r\n  }\r\n\r\n  /**\r\n   * Subtracts Vector B from Vector A\r\n   * @param a Vector A\r\n   * @param b Vector B\r\n   * @returns A - B\r\n   */\r\n  public static Subtract(a: Vector2, b: Vector2): Vector2 {\r\n    return new Vector2(a.x - b.x, a.y - b.y);\r\n  }\r\n\r\n  /**\r\n   * Checks to see if Vector A is close to Vector B\r\n   * @param a Vector A\r\n   * @param b Vector B\r\n   * @param threshold Tolerance to define \"close\". Defaults to 0.01\r\n   * @returns True if A and B are close enough\r\n   */\r\n  public static Close = (\r\n    a: Vector2,\r\n    b: Vector2,\r\n    threshold: number = 0.01\r\n  ): boolean => {\r\n    const diff = Vector2.Subtract(a, b);\r\n    const diffMag = diff.magnitued;\r\n\r\n    if (diffMag < threshold) return true;\r\n    else return false;\r\n  };\r\n\r\n  /**\r\n   * Rotates a vector by an angle\r\n   * @param vec The original vector\r\n   * @param angle The angle\r\n   * @returns A new Vector that has been rotated from the original by an angle\r\n   */\r\n  public static Rotate = (vec: Vector2, angle: Angle): Vector2 => {\r\n    const x = vec.x * Math.cos(angle.radians) - vec.y * Math.sin(angle.radians);\r\n    const y = vec.x * Math.sin(angle.radians) + vec.y * Math.cos(angle.radians);\r\n    return new Vector2(x, y);\r\n  };\r\n\r\n  /**\r\n   * Scales a vector uniformly\r\n   * @param vector The original vector\r\n   * @param scale Scale factor\r\n   * @returns A new, scaled vector\r\n   */\r\n  public static Scale = (vector: Vector2, scale: number): Vector2 => {\r\n    const x = scale * vector.x;\r\n    const y = scale * vector.y;\r\n    return new Vector2(x, y);\r\n  };\r\n\r\n  /**\r\n   * Creates a new vector of a given lenght and a unit that is equal to the original vector\r\n   * @param vector The original vector. This determines the unit of the final vector\r\n   * @param length The desired length of the final vector\r\n   * @returns The final vector\r\n   */\r\n  public static NewVectorOfLength = (\r\n    vector: Vector2,\r\n    length: number\r\n  ): Vector2 => {\r\n    const unit = vector.unit;\r\n    const x = length * unit.x;\r\n    const y = length * unit.y;\r\n    return new Vector2(x, y);\r\n  };\r\n\r\n  /**\r\n   * Calculate the dot product between Vectors A and B\r\n   * @param a Vector A\r\n   * @param b Vector B\r\n   * @returns The Dot product between A and B\r\n   */\r\n  public static Dot = (a: Vector2, b: Vector2): number => {\r\n    return a.x * b.x + a.y * b.y;\r\n  };\r\n\r\n  /**\r\n   * Calculates the dot product between Vectors A and B\r\n   * @param a Vector A\r\n   * @param b Vector B\r\n   * @returns A . B\r\n   */\r\n  public static AngleBetween = (a: Vector2, b: Vector2): Angle => {\r\n    const dot = Vector2.Dot(a, b);\r\n    const magnitues = a.magnitued * b.magnitued;\r\n\r\n    const angRadians = Math.acos(dot / magnitues);\r\n\r\n    return Angle.FromRadians(angRadians);\r\n  };\r\n\r\n  /**\r\n   * Calculates the Cross product between Vectors A and B\r\n   * @param a Vector A\r\n   * @param b Vector B\r\n   * @returns A X B\r\n   */\r\n  public static Cross = (a: Vector2, b: Vector2): number => {\r\n    return a.x * b.y - a.y * b.x;\r\n  };\r\n\r\n  readonly x: number;\r\n  readonly y: number;\r\n\r\n  /**\r\n   * Get the magnitude (length) of the vector\r\n   */\r\n  get magnitued(): number {\r\n    const xSqr = this.x * this.x;\r\n    const ySqr = this.y * this.y;\r\n\r\n    const magnitude = Math.sqrt(xSqr + ySqr);\r\n    return magnitude;\r\n  }\r\n\r\n  /**\r\n   * Get the unit vector\r\n   */\r\n  get unit(): Vector2 {\r\n    const mag = this.magnitued;\r\n    if (mag === 0) {\r\n      return Vector2.Zero();\r\n    }\r\n\r\n    const unitX = this.x / mag;\r\n    const unitY = this.y / mag;\r\n    return new Vector2(unitX, unitY);\r\n  }\r\n\r\n  /**\r\n   * Returns the angle of the direction of this angle in degrees.\r\n   * A right vector [1,0] will return 0, a left vector [-1,0] will return 180, an up vector [0,1] will return 90 and a down vector [0,-1] will return -90\r\n   */\r\n  get theta(): number {\r\n    return (Math.atan2(this.y, this.x) * 180) / Math.PI;\r\n  }\r\n\r\n  /**\r\n   * Retuns the vector as an array of numbers [x,y]\r\n   */\r\n  get array(): [number, number] {\r\n    return [this.x, this.y];\r\n  }\r\n\r\n  /**\r\n   * Get the vector as a Data Transfer Object\r\n   */\r\n  get dto(): { x: number; y: number } {\r\n    return { x: this.x, y: this.y };\r\n  }\r\n\r\n  constructor(x: number, y: number) {\r\n    this.x = x;\r\n    this.y = y;\r\n  }\r\n}\r\n"]}
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y: number }): Vector2 {\r\n    return new Vector2(dto.x, dto.y);\r\n  }\r\n\r\n  /**\r\n   * Adds Vector B to Vector A\r\n   * @param a Vector A\r\n   * @param b Vector B\r\n   * @returns A + B\r\n   */\r\n  public static Add(a: Vector2, b: Vector2): Vector2 {\r\n    return new Vector2(a.x + b.x, a.y + b.y);\r\n  }\r\n\r\n  /**\r\n   * Subtracts Vector B from Vector A\r\n   * @param a Vector A\r\n   * @param b Vector B\r\n   * @returns A - B\r\n   */\r\n  public static Subtract(a: Vector2, b: Vector2): Vector2 {\r\n    return new Vector2(a.x - b.x, a.y - b.y);\r\n  }\r\n\r\n  /**\r\n   * Checks to see if Vector A is close to Vector B\r\n   * @param a Vector A\r\n   * @param b Vector B\r\n   * @param threshold Tolerance to define \"close\". Defaults to 0.01\r\n   * @returns True if A and B are close enough\r\n   */\r\n  public static Close = (\r\n    a: Vector2,\r\n    b: Vector2,\r\n    threshold: number = 0.01\r\n  ): boolean => {\r\n    const diff = Vector2.Subtract(a, b);\r\n    const diffMag = diff.magnitude;\r\n\r\n    if (diffMag < threshold) return true;\r\n    else return false;\r\n  };\r\n\r\n  /**\r\n   * Rotates a vector by an angle\r\n   * @param vec The original vector\r\n   * @param angle The angle\r\n   * @returns A new Vector that has been rotated from the original by an angle\r\n   */\r\n  public static Rotate = (vec: Vector2, angle: Angle): Vector2 => {\r\n    const x = vec.x * Math.cos(angle.radians) - vec.y * Math.sin(angle.radians);\r\n    const y = vec.x * Math.sin(angle.radians) + vec.y * Math.cos(angle.radians);\r\n    return new Vector2(x, y);\r\n  };\r\n\r\n  /**\r\n   * Scales a vector uniformly\r\n   * @param vector The original vector\r\n   * @param scale Scale factor\r\n   * @returns A new, scaled vector\r\n   */\r\n  public static Scale = (vector: Vector2, scale: number): Vector2 => {\r\n    const x = scale * vector.x;\r\n    const y = scale * vector.y;\r\n    return new Vector2(x, y);\r\n  };\r\n\r\n  /**\r\n   * Creates a new vector of a given length and a unit that is equal to the original vector\r\n   * @param vector The original vector. This determines the unit of the final vector\r\n   * @param length The desired length of the final vector\r\n   * @returns The final vector\r\n   */\r\n  public static NewVectorOfLength = (\r\n    vector: Vector2,\r\n    length: number\r\n  ): Vector2 => {\r\n    const unit = vector.unit;\r\n    const x = length * unit.x;\r\n    const y = length * unit.y;\r\n    return new Vector2(x, y);\r\n  };\r\n\r\n  /**\r\n   * Calculate the dot product between Vectors A and B\r\n   * @param a Vector A\r\n   * @param b Vector B\r\n   * @returns The Dot product between A and B\r\n   */\r\n  public static Dot = (a: Vector2, b: Vector2): number => {\r\n    return a.x * b.x + a.y * b.y;\r\n  };\r\n\r\n  /**\r\n   * Calculates the dot product between Vectors A and B\r\n   * @param a Vector A\r\n   * @param b Vector B\r\n   * @returns A . B\r\n   */\r\n  public static AngleBetween = (a: Vector2, b: Vector2): Angle => {\r\n    const dot = Vector2.Dot(a, b);\r\n    const magnitudes = a.magnitude * b.magnitude;\r\n\r\n    const angRadians = Math.acos(dot / magnitudes);\r\n\r\n    return Angle.FromRadians(angRadians);\r\n  };\r\n\r\n  /**\r\n   * Calculates the Cross product between Vectors A and B\r\n   * @param a Vector A\r\n   * @param b Vector B\r\n   * @returns A X B\r\n   */\r\n  public static Cross = (a: Vector2, b: Vector2): number => {\r\n    return a.x * b.y - a.y * b.x;\r\n  };\r\n\r\n  readonly x: number;\r\n  readonly y: number;\r\n\r\n  /**\r\n   * Get the magnitude (length) of the vector\r\n   */\r\n  get magnitude(): number {\r\n    const xSqr = this.x * this.x;\r\n    const ySqr = this.y * this.y;\r\n\r\n    const magnitude = Math.sqrt(xSqr + ySqr);\r\n    return magnitude;\r\n  }\r\n  \r\n  /**\r\n   * @deprecated Use magnitude instead - this property is kept for backward compatibility\r\n   * Get the magnitude (length) of the vector\r\n   */\r\n  get magnitued(): number {\r\n    return this.magnitude;\r\n  }\r\n\r\n  /**\r\n   * Get the unit vector\r\n   */\r\n  get unit(): Vector2 {\r\n    const mag = this.magnitude;\r\n    if (mag === 0) {\r\n      return Vector2.Zero();\r\n    }\r\n\r\n    const unitX = this.x / mag;\r\n    const unitY = this.y / mag;\r\n    return new Vector2(unitX, unitY);\r\n  }\r\n\r\n  /**\r\n   * Returns the angle of the direction of this vector in degrees.\r\n   * A right vector [1,0] will return 0, a left vector [-1,0] will return 180, an up vector [0,1] will return 90 and a down vector [0,-1] will return -90\r\n   */\r\n  get theta(): number {\r\n    return (Math.atan2(this.y, this.x) * 180) / Math.PI;\r\n  }\r\n\r\n  /**\r\n   * Returns the vector as an array of numbers [x,y]\r\n   */\r\n  get array(): [number, number] {\r\n    return [this.x, this.y];\r\n  }\r\n\r\n  /**\r\n   * Get the vector as a Data Transfer Object\r\n   */\r\n  get dto(): { x: number; y: number } {\r\n    return { x: this.x, y: this.y };\r\n  }\r\n\r\n  constructor(x: number, y: number) {\r\n    this.x = x;\r\n    this.y = y;\r\n  }\r\n}\r\n"]}

package/dist/esm/index.js

@@ -1,5 +1,6 @@
 export * from "./AppObject";
 export * from "./Entities";
+export * from "./ExampleFeature";
 export * from "./Types";
 export * from "./Utilities";
 export * from "./ValueObjects";

package/dist/esm/index.js.map

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package/dist/types/AppObject/AppObject.d.ts

@@ -1,15 +1,57 @@
 import { ObservableEntity } from "../Entities";
 import { AppObjectComponent } from "./AppObjectComponent";
 import { AppObjectRepo } from "./AppObjectRepo";
+/**
+ * AppObject is the central class in the VIVED application architecture.
+ * It serves as a container for components that implement the application's functionality.
+ * Each AppObject is identified by a unique ID and registered with an AppObjectRepo.
+ *
+ * AppObjects are observable entities that notify observers when their components change.
+ * This enables reactive programming patterns throughout the application.
+ */
 export declare abstract class AppObject extends ObservableEntity {
+    /** Unique identifier for this AppObject */
     abstract readonly id: string;
+    /** Repository that manages this AppObject */
     abstract readonly appObjectRepo: AppObjectRepo;
+    /**
+     * Checks if this AppObject has a component of the specified type
+     * @param type The component type identifier
+     * @returns True if the component exists, false otherwise
+     */
     abstract hasComponent(type: string): boolean;
+    /**
+     * Adds a component to this AppObject
+     * If a component of the same type already exists, it will be replaced
+     * @param component The component to add
+     */
     abstract addComponent(component: AppObjectComponent): void;
+    /**
+     * Retrieves a component by type
+     * @param type The component type identifier
+     * @returns The component cast to type T, or undefined if not found
+     */
     abstract getComponent<T extends AppObjectComponent>(type: string): T | undefined;
+    /**
+     * Removes a component by type
+     * @param type The component type identifier
+     */
     abstract removeComponent(type: string): void;
+    /**
+     * Gets all components attached to this AppObject
+     * @returns Array of all components
+     */
     abstract allComponents(): AppObjectComponent[];
+    /**
+     * Cleans up resources and removes this AppObject from its repository
+     */
     abstract dispose(): void;
 }
+/**
+ * Factory function to create a new AppObject
+ * @param id Unique identifier for the new AppObject
+ * @param repo Repository to register the AppObject with
+ * @returns A new AppObject instance
+ */
 export declare function makeAppObject(id: string, repo: AppObjectRepo): AppObject;
 //# sourceMappingURL=AppObject.d.ts.map

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