npm - @vived/core - Versions diffs - 1.4.2 → 1.4.4 - Mend

@vived/core 1.4.2 → 1.4.4

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Files changed (528) hide show

package/dist/cjs/ExampleFeature/index.js ADDED Viewed

@@ -0,0 +1,24 @@
+"use strict";
+var __createBinding = (this && this.__createBinding) || (Object.create ? (function(o, m, k, k2) {
+    if (k2 === undefined) k2 = k;
+    var desc = Object.getOwnPropertyDescriptor(m, k);
+    if (!desc || ("get" in desc ? !m.__esModule : desc.writable || desc.configurable)) {
+      desc = { enumerable: true, get: function() { return m[k]; } };
+    }
+    Object.defineProperty(o, k2, desc);
+}) : (function(o, m, k, k2) {
+    if (k2 === undefined) k2 = k;
+    o[k2] = m[k];
+}));
+var __exportStar = (this && this.__exportStar) || function(m, exports) {
+    for (var p in m) if (p !== "default" && !Object.prototype.hasOwnProperty.call(exports, p)) __createBinding(exports, m, p);
+};
+Object.defineProperty(exports, "__esModule", { value: true });
+__exportStar(require("./Adapters"), exports);
+__exportStar(require("./Controllers"), exports);
+__exportStar(require("./Entities"), exports);
+__exportStar(require("./Factory"), exports);
+__exportStar(require("./Mocks"), exports);
+__exportStar(require("./PMs"), exports);
+__exportStar(require("./UCs"), exports);
+//# sourceMappingURL=index.js.map

package/dist/cjs/ExampleFeature/index.js.map ADDED Viewed

@@ -0,0 +1 @@

+ {"version":3,"file":"index.js","sourceRoot":"","sources":["../../../src/ExampleFeature/index.ts"],"names":[],"mappings":";;;;;;;;;;;;;;;;AAAA,6CAA2B;AAC3B,gDAA8B;AAC9B,6CAA2B;AAC3B,4CAA0B;AAC1B,0CAAwB;AACxB,wCAAsB;AACtB,wCAAsB","sourcesContent":["export * from \"./Adapters\";\r\nexport * from \"./Controllers\";\r\nexport * from \"./Entities\";\r\nexport * from \"./Factory\";\r\nexport * from \"./Mocks\";\r\nexport * from \"./PMs\";\r\nexport * from \"./UCs\";"]}

package/dist/cjs/Types/PmAdapter.js.map CHANGED Viewed

	@@ -1 +1 @@
1	- {"version":3,"file":"PmAdapter.js","sourceRoot":"","sources":["../../../src/Types/PmAdapter.ts"],"names":[],"mappings":"","sourcesContent":["import { AppObjectRepo } from \"../AppObject\";\r\n\r\nexport interface PmAdapter<VM> {\r\n defaultVM: VM;\r\n subscribe(\r\n id: string,\r\n appObjects: AppObjectRepo,\r\n setVM: (vm: VM) => void\r\n ): void;\r\n unsubscribe(\r\n id: string,\r\n appObjects: AppObjectRepo,\r\n setVM: (vm: VM) => void\r\n ): void;\r\n}\r\n"]}
1	+ {"version":3,"file":"PmAdapter.js","sourceRoot":"","sources":["../../../src/Types/PmAdapter.ts"],"names":[],"mappings":"","sourcesContent":["import { AppObjectRepo } from \"../AppObject\";\r\n\r\n/*\r\n PmAdapter interface defines a bridge between UI components and AppObjectPM (Presentation Manager) components.\r\n * It allows UI frameworks (like React, Vue, Angular, etc.) to subscribe to view model updates from specific AppObjects.\r\n * \r\n * This adapter is used for AppObject-specific subscriptions, where each UI component subscribes to\r\n * a particular AppObject's presentation manager, identified by its ID.\r\n * \r\n * Usage example with React:\r\n * ```typescript\r\n * // Define an adapter for a specific view model type\r\n * class MyComponentAdapter implements PmAdapter<MyViewModel> {\r\n * // Default view model when no data is available\r\n * defaultVM: MyViewModel = { value: 0, label: \"\" };\r\n * \r\n * // Subscribe to updates from a specific AppObject's presentation manager\r\n * subscribe(id: string, appObjects: AppObjectRepo, setVM: (vm: MyViewModel) => void): void {\r\n * const appObject = appObjects.get(id);\r\n * if (!appObject) return;\r\n * \r\n * const pm = appObject.getComponent<MyPM>(\"MyPresentationManager\");\r\n * if (pm) {\r\n * pm.addView(setVM);\r\n * // Initial update with current view model if available\r\n * if (pm.lastVM) setVM(pm.lastVM);\r\n * }\r\n * }\r\n * \r\n * // Unsubscribe when component unmounts\r\n * unsubscribe(id: string, appObjects: AppObjectRepo, setVM: (vm: MyViewModel) => void): void {\r\n * const appObject = appObjects.get(id);\r\n * if (!appObject) return;\r\n * \r\n * const pm = appObject.getComponent<MyPM>(\"MyPresentationManager\");\r\n * if (pm) {\r\n * pm.removeView(setVM);\r\n * }\r\n * }\r\n * }\r\n * ```\r\n * \r\n * @typeparam VM The view model type provided by this adapter\r\n /\r\nexport interface PmAdapter<VM> {\r\n /\r\n Default view model to use when no data is available\r\n * This prevents null/undefined handling in UI components\r\n /\r\n defaultVM: VM;\r\n \r\n /\r\n Subscribe to view model updates from an AppObject's presentation manager\r\n * \r\n * @param id The ID of the AppObject to subscribe to\r\n * @param appObjects The repository containing the AppObjects\r\n * @param setVM Callback function that updates the UI with new view models\r\n /\r\n subscribe(\r\n id: string,\r\n appObjects: AppObjectRepo,\r\n setVM: (vm: VM) => void\r\n ): void;\r\n \r\n /\r\n Unsubscribe from view model updates when a component is being unmounted or no longer needs updates\r\n * \r\n * @param id The ID of the AppObject to unsubscribe from\r\n * @param appObjects The repository containing the AppObjects\r\n * @param setVM The same callback function that was provided to subscribe\r\n */\r\n unsubscribe(\r\n id: string,\r\n appObjects: AppObjectRepo,\r\n setVM: (vm: VM) => void\r\n ): void;\r\n}\r\n"]}

package/dist/cjs/Types/SingletonPmAdapter.js.map CHANGED Viewed

	@@ -1 +1 @@
1	- {"version":3,"file":"SingletonPmAdapter.js","sourceRoot":"","sources":["../../../src/Types/SingletonPmAdapter.ts"],"names":[],"mappings":"","sourcesContent":["import { AppObjectRepo } from \"../AppObject\";\r\n\r\nexport interface SingletonPmAdapter<VM> {\r\n defaultVM: VM;\r\n subscribe(appObjects: AppObjectRepo, setVM: (vm: VM) => void): void;\r\n unsubscribe(appObjects: AppObjectRepo, setVM: (vm: VM) => void): void;\r\n}\r\n"]}
1	+ {"version":3,"file":"SingletonPmAdapter.js","sourceRoot":"","sources":["../../../src/Types/SingletonPmAdapter.ts"],"names":[],"mappings":"","sourcesContent":["import { AppObjectRepo } from \"../AppObject\";\r\n\r\n/*\r\n SingletonPmAdapter interface defines a bridge between UI components and singleton presentation managers.\r\n * It's similar to PmAdapter but designed for components that subscribe to a singleton PM \r\n * (a PM that exists only once in the application).\r\n * \r\n * This adapter simplifies the subscription process when there's only one instance of a specific\r\n * presentation manager type in the entire application, eliminating the need to specify an AppObject ID.\r\n * \r\n * Usage example with React:\r\n * ```typescript\r\n * // Define an adapter for a singleton presentation manager\r\n * class GlobalSettingsPMAdapter implements SingletonPmAdapter<SettingsViewModel> {\r\n * // Default view model when no data is available\r\n * defaultVM: SettingsViewModel = { theme: \"light\", fontSize: \"medium\" };\r\n * \r\n * // Subscribe to updates from the singleton presentation manager\r\n * subscribe(appObjects: AppObjectRepo, setVM: (vm: SettingsViewModel) => void): void {\r\n * // Get the singleton PM\r\n * const settingsPM = appObjects.getSingleton<SettingsPM>(\"SettingsPM\");\r\n * if (settingsPM) {\r\n * // Register the update callback\r\n * settingsPM.addView(setVM);\r\n * // Initial update with current view model if available\r\n * if (settingsPM.lastVM) setVM(settingsPM.lastVM);\r\n * }\r\n * }\r\n * \r\n * // Unsubscribe when component unmounts\r\n * unsubscribe(appObjects: AppObjectRepo, setVM: (vm: SettingsViewModel) => void): void {\r\n * const settingsPM = appObjects.getSingleton<SettingsPM>(\"SettingsPM\");\r\n * if (settingsPM) {\r\n * settingsPM.removeView(setVM);\r\n * }\r\n * }\r\n * }\r\n * ```\r\n * \r\n * @typeparam VM The view model type provided by this adapter\r\n /\r\nexport interface SingletonPmAdapter<VM> {\r\n /\r\n Default view model to use when no data is available\r\n * This prevents null/undefined handling in UI components\r\n /\r\n defaultVM: VM;\r\n \r\n /\r\n Subscribe to view model updates from a singleton presentation manager\r\n * \r\n * @param appObjects The repository containing the AppObjects\r\n * @param setVM Callback function that updates the UI with new view models\r\n /\r\n subscribe(appObjects: AppObjectRepo, setVM: (vm: VM) => void): void;\r\n \r\n /\r\n Unsubscribe from view model updates when a component is being unmounted or no longer needs updates\r\n * \r\n * @param appObjects The repository containing the AppObjects\r\n * @param setVM The same callback function that was provided to subscribe\r\n */\r\n unsubscribe(appObjects: AppObjectRepo, setVM: (vm: VM) => void): void;\r\n}\r\n"]}

package/dist/cjs/ValueObjects/Angle.js CHANGED Viewed

@@ -23,7 +23,7 @@ class Angle {
      * @param a Angle A
      * @param b Angle B
      * @param tolerance Tolerance for "Close" in degrees. Defaults to 0.001;
-     * @returns True if the difference between A and B (in degress) is less than the tolerance
+     * @returns True if the difference between A and B (in degrees) is less than the tolerance
      */
     static Close(a, b, tolerance = 0.001) {
         let diff = a.degrees - b.degrees;

package/dist/cjs/ValueObjects/Angle.js.map CHANGED Viewed

	@@ -1 +1 @@
1	- {"version":3,"file":"Angle.js","sourceRoot":"","sources":["../../../src/ValueObjects/Angle.ts"],"names":[],"mappings":";;;AAAA,MAAa,KAAK;IAChB;;;;OAIG;IACI,MAAM,CAAC,WAAW,CAAC,OAAe;QACvC,OAAO,IAAI,KAAK,CAAC,OAAO,CAAC,CAAC;IAC5B,CAAC;IAED;;;;OAIG;IACI,MAAM,CAAC,WAAW,CAAC,OAAe;QACvC,OAAO,IAAI,KAAK,CAAC,CAAC,OAAO,GAAG,GAAG,CAAC,GAAG,IAAI,CAAC,EAAE,CAAC,CAAC;IAC9C,CAAC;IAED;;;;;;OAMG;IACI,MAAM,CAAC,KAAK,CAAC,CAAQ,EAAE,CAAQ,EAAE,YAAoB,KAAK;QAC/D,IAAI,IAAI,GAAG,CAAC,CAAC,OAAO,GAAG,CAAC,CAAC,OAAO,CAAC;QACjC,IAAI,IAAI,GAAG,CAAC,EAAE,CAAC;YACb,IAAI,GAAG,CAAC,IAAI,CAAC;QACf,CAAC;QACD,OAAO,IAAI,GAAG,SAAS,CAAC;IAC1B,CAAC;IAGD,IAAW,OAAO;QAChB,OAAO,IAAI,CAAC,QAAQ,CAAC;IACvB,CAAC;IAED,IAAW,OAAO;QAChB,OAAO,CAAC,IAAI,CAAC,QAAQ,GAAG,IAAI,CAAC,EAAE,CAAC,GAAG,GAAG,CAAC;IACzC,CAAC;IAED,YAAoB,OAAe;QAT3B,aAAQ,GAAG,CAAC,CAAC;QAUnB,IAAI,CAAC,QAAQ,GAAG,OAAO,CAAC;IAC1B,CAAC;CACF;AA9CD,sBA8CC","sourcesContent":["export class Angle {\r\n /*\r\n Creates an angle from degrees\r\n * @param degrees Angle in degrees\r\n * @returns The angle\r\n /\r\n public static FromDegrees(degrees: number): Angle {\r\n return new Angle(degrees);\r\n }\r\n\r\n /\r\n Creates an angle from radians\r\n * @param radians Angle in radians\r\n * @returns The angle\r\n /\r\n public static FromRadians(radians: number): Angle {\r\n return new Angle((radians 180) / Math.PI);\r\n }\r\n\r\n /*\r\n Check to see if two angles are close\r\n * @param a Angle A\r\n * @param b Angle B\r\n * @param tolerance Tolerance for \"Close\" in degrees. Defaults to 0.001;\r\n * @returns True if the difference between A and B (in ~~degress~~) is less than the tolerance\r\n /\r\n public static Close(a: Angle, b: Angle, tolerance: number = 0.001): boolean {\r\n let diff = a.degrees - b.degrees;\r\n if (diff < 0) {\r\n diff = -diff;\r\n }\r\n return diff < tolerance;\r\n }\r\n\r\n private _degrees = 0;\r\n public get degrees() {\r\n return this._degrees;\r\n }\r\n\r\n public get radians() {\r\n return (this._degrees Math.PI) / 180;\r\n }\r\n\r\n private constructor(degrees: number) {\r\n this._degrees = degrees;\r\n }\r\n}\r\n"]}
1	+ {"version":3,"file":"Angle.js","sourceRoot":"","sources":["../../../src/ValueObjects/Angle.ts"],"names":[],"mappings":";;;AAAA,MAAa,KAAK;IAChB;;;;OAIG;IACI,MAAM,CAAC,WAAW,CAAC,OAAe;QACvC,OAAO,IAAI,KAAK,CAAC,OAAO,CAAC,CAAC;IAC5B,CAAC;IAED;;;;OAIG;IACI,MAAM,CAAC,WAAW,CAAC,OAAe;QACvC,OAAO,IAAI,KAAK,CAAC,CAAC,OAAO,GAAG,GAAG,CAAC,GAAG,IAAI,CAAC,EAAE,CAAC,CAAC;IAC9C,CAAC;IAED;;;;;;OAMG;IACI,MAAM,CAAC,KAAK,CAAC,CAAQ,EAAE,CAAQ,EAAE,YAAoB,KAAK;QAC/D,IAAI,IAAI,GAAG,CAAC,CAAC,OAAO,GAAG,CAAC,CAAC,OAAO,CAAC;QACjC,IAAI,IAAI,GAAG,CAAC,EAAE,CAAC;YACb,IAAI,GAAG,CAAC,IAAI,CAAC;QACf,CAAC;QACD,OAAO,IAAI,GAAG,SAAS,CAAC;IAC1B,CAAC;IAGD,IAAW,OAAO;QAChB,OAAO,IAAI,CAAC,QAAQ,CAAC;IACvB,CAAC;IAED,IAAW,OAAO;QAChB,OAAO,CAAC,IAAI,CAAC,QAAQ,GAAG,IAAI,CAAC,EAAE,CAAC,GAAG,GAAG,CAAC;IACzC,CAAC;IAED,YAAoB,OAAe;QAT3B,aAAQ,GAAG,CAAC,CAAC;QAUnB,IAAI,CAAC,QAAQ,GAAG,OAAO,CAAC;IAC1B,CAAC;CACF;AA9CD,sBA8CC","sourcesContent":["export class Angle {\r\n /*\r\n Creates an angle from degrees\r\n * @param degrees Angle in degrees\r\n * @returns The angle\r\n /\r\n public static FromDegrees(degrees: number): Angle {\r\n return new Angle(degrees);\r\n }\r\n\r\n /\r\n Creates an angle from radians\r\n * @param radians Angle in radians\r\n * @returns The angle\r\n /\r\n public static FromRadians(radians: number): Angle {\r\n return new Angle((radians 180) / Math.PI);\r\n }\r\n\r\n /*\r\n Check to see if two angles are close\r\n * @param a Angle A\r\n * @param b Angle B\r\n * @param tolerance Tolerance for \"Close\" in degrees. Defaults to 0.001;\r\n * @returns True if the difference between A and B (in degrees) is less than the tolerance\r\n /\r\n public static Close(a: Angle, b: Angle, tolerance: number = 0.001): boolean {\r\n let diff = a.degrees - b.degrees;\r\n if (diff < 0) {\r\n diff = -diff;\r\n }\r\n return diff < tolerance;\r\n }\r\n\r\n private _degrees = 0;\r\n public get degrees() {\r\n return this._degrees;\r\n }\r\n\r\n public get radians() {\r\n return (this._degrees Math.PI) / 180;\r\n }\r\n\r\n private constructor(degrees: number) {\r\n this._degrees = degrees;\r\n }\r\n}\r\n"]}

package/dist/cjs/ValueObjects/LineSegment2D.js CHANGED Viewed

@@ -25,14 +25,14 @@ class LineSegment2D {
         }
         const tNumerator = (x1 - x3) * (y3 - y4) - (y1 - y3) * (x3 - x4);
         const t = tNumerator / denominator;
-        const tTolearnce = tolerance / a.length;
-        if (t < -tTolearnce || t > 1 + tTolearnce) {
+        const tTolerance = tolerance / a.length;
+        if (t < -tTolerance || t > 1 + tTolerance) {
             return undefined;
         }
         const uNumerator = (x2 - x1) * (y1 - y3) - (y2 - y1) * (x1 - x3);
         const u = uNumerator / denominator;
-        const uTolearnce = tolerance / b.length;
-        if (u < -uTolearnce || u > 1 + uTolearnce)
+        const uTolerance = tolerance / b.length;
+        if (u < -uTolerance || u > 1 + uTolerance)
             return undefined;
         const px = x1 + t * (x2 - x1);
         const py = y1 + t * (y2 - y1);
@@ -52,13 +52,13 @@ class LineSegment2D {
             return line.end;
         }
         else {
-            const length = t * direction.magnitued;
+            const length = t * direction.magnitude;
             direction = Vector2_1.Vector2.NewVectorOfLength(direction, length);
             return Vector2_1.Vector2.Add(line.start, direction);
         }
     }
     get length() {
-        return Vector2_1.Vector2.Subtract(this.start, this.end).magnitued;
+        return Vector2_1.Vector2.Subtract(this.start, this.end).magnitude;
     }
     get direction() {
         return Vector2_1.Vector2.Subtract(this.end, this.start).unit;

package/dist/cjs/ValueObjects/LineSegment2D.js.map CHANGED Viewed

	@@ -1 +1 @@
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x2) * (y3 - y4) - (y1 - y2) * (x3 - x4);\r\n if (denominator === 0) {\r\n return undefined;\r\n }\r\n\r\n const tNumerator = (x1 - x3) * (y3 - y4) - (y1 - y3) * (x3 - x4);\r\n const t = tNumerator / denominator;\r\n\r\n const ~~tTolearnce~~ = tolerance / a.length;\r\n if (t < -~~tTolearnce~~ \|\| t > 1 + ~~tTolearnce~~) {\r\n return undefined;\r\n }\r\n\r\n const uNumerator = (x2 - x1) * (y1 - y3) - (y2 - y1) * (x1 - x3);\r\n const u = uNumerator / denominator;\r\n\r\n const ~~uTolearnce~~ = tolerance / b.length;\r\n if (u < -~~uTolearnce~~ \|\| u > 1 + ~~uTolearnce~~) return undefined;\r\n\r\n const px = x1 + t * (x2 - x1);\r\n const py = y1 + t * (y2 - y1);\r\n\r\n return new Vector2(px, py);\r\n }\r\n\r\n public static ClosestPointOnLine(\r\n line: LineSegment2D,\r\n point: Vector2\r\n ): Vector2 {\r\n // see https://monkeyproofsolutions.nl/wordpress/how-to-calculate-the-shortest-distance-between-a-point-and-a-line/\r\n let direction = Vector2.Subtract(line.end, line.start);\r\n const pointToStart = Vector2.Subtract(point, line.start);\r\n const tNumerator = Vector2.Dot(direction, pointToStart);\r\n const tDenominator = Vector2.Dot(direction, direction);\r\n const t = tNumerator / tDenominator;\r\n\r\n if (t < 0) {\r\n return line.start;\r\n } else if (t > 1) {\r\n return line.end;\r\n } else {\r\n const length = t * direction.~~magnitued~~;\r\n direction = Vector2.NewVectorOfLength(direction, length);\r\n return Vector2.Add(line.start, direction);\r\n }\r\n }\r\n\r\n readonly start: Vector2;\r\n readonly end: Vector2;\r\n\r\n public get length(): number {\r\n return Vector2.Subtract(this.start, this.end).~~magnitued~~;\r\n }\r\n\r\n public get direction(): Vector2 {\r\n return Vector2.Subtract(this.end, this.start).unit;\r\n }\r\n\r\n constructor(start: Vector2, end: Vector2) {\r\n this.start = start;\r\n this.end = end;\r\n }\r\n}\r\n"]}
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x2) * (y3 - y4) - (y1 - y2) * (x3 - x4);\r\n if (denominator === 0) {\r\n return undefined;\r\n }\r\n\r\n const tNumerator = (x1 - x3) * (y3 - y4) - (y1 - y3) * (x3 - x4);\r\n const t = tNumerator / denominator;\r\n\r\n const tTolerance = tolerance / a.length;\r\n if (t < -tTolerance \|\| t > 1 + tTolerance) {\r\n return undefined;\r\n }\r\n\r\n const uNumerator = (x2 - x1) * (y1 - y3) - (y2 - y1) * (x1 - x3);\r\n const u = uNumerator / denominator;\r\n\r\n const uTolerance = tolerance / b.length;\r\n if (u < -uTolerance \|\| u > 1 + uTolerance) return undefined;\r\n\r\n const px = x1 + t * (x2 - x1);\r\n const py = y1 + t * (y2 - y1);\r\n\r\n return new Vector2(px, py);\r\n }\r\n\r\n public static ClosestPointOnLine(\r\n line: LineSegment2D,\r\n point: Vector2\r\n ): Vector2 {\r\n // see https://monkeyproofsolutions.nl/wordpress/how-to-calculate-the-shortest-distance-between-a-point-and-a-line/\r\n let direction = Vector2.Subtract(line.end, line.start);\r\n const pointToStart = Vector2.Subtract(point, line.start);\r\n const tNumerator = Vector2.Dot(direction, pointToStart);\r\n const tDenominator = Vector2.Dot(direction, direction);\r\n const t = tNumerator / tDenominator;\r\n\r\n if (t < 0) {\r\n return line.start;\r\n } else if (t > 1) {\r\n return line.end;\r\n } else {\r\n const length = t * direction.magnitude;\r\n direction = Vector2.NewVectorOfLength(direction, length);\r\n return Vector2.Add(line.start, direction);\r\n }\r\n }\r\n\r\n readonly start: Vector2;\r\n readonly end: Vector2;\r\n\r\n public get length(): number {\r\n return Vector2.Subtract(this.start, this.end).magnitude;\r\n }\r\n\r\n public get direction(): Vector2 {\r\n return Vector2.Subtract(this.end, this.start).unit;\r\n }\r\n\r\n constructor(start: Vector2, end: Vector2) {\r\n this.start = start;\r\n this.end = end;\r\n }\r\n}\r\n"]}

package/dist/cjs/ValueObjects/Matrix.js CHANGED Viewed

@@ -5,21 +5,21 @@ const Quaternion_1 = require("./Quaternion");
 const Vector3_1 = require("./Vector3");
 class Matrix {
     /**
-     * Consructs an identity matrix
+     * Constructs an identity matrix
      * @returns An identity matrix
      */
     static Identity() {
         return new Matrix([1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1]);
     }
     /**
-     * Constructs an matrix of zeros
+     * Constructs a matrix of zeros
      * @returns A matrix of zeros
      */
     static Zero() {
         return new Matrix([0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]);
     }
     /**
-     * Compares two matricies
+     * Compares two matrices
      * @param a Matrix A
      * @param b Matrix B
      * @returns True if all the elements in matrix A are equal to all the elements of matrix B
@@ -38,7 +38,7 @@ class Matrix {
      * Checks to see if Matrix A is close to Matrix B by comparing elements
      * @param a Matrix A
      * @param b Matrix B
-     * @param threshold "Close" thershold. Defaults to 0.001
+     * @param threshold "Close" threshold. Defaults to 0.001
      * @returns True if all the difference between the elements in each array is less than the threshold
      */
     static Close(a, b, threshold = 0.001) {
@@ -132,7 +132,7 @@ class Matrix {
         ]);
     }
     /**
-     * Composes a matrix from a scale vector, rotation quaterion, and translation vector
+     * Composes a matrix from a scale vector, rotation quaternion, and translation vector
      * @param scale The scale of the transformation matrix
      * @param rotation The rotation of the transformation matrix
      * @param translation The translation of the transformation matrix
@@ -343,7 +343,7 @@ class Matrix {
             array[12],
             array[13],
             array[14],
-            array[15]
+            array[15],
         ];
         return new Matrix(matrixArray);
     }

package/dist/cjs/ValueObjects/Matrix.js.map CHANGED Viewed

	@@ -1 +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"]}
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 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/cjs/ValueObjects/Quaternion.js CHANGED Viewed

@@ -21,10 +21,10 @@ 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();
@@ -44,7 +44,7 @@ class Quaternion {
     }
     /**
      * Multiplies A*B
-     * @param a Quaterion A
+     * @param a Quaternion A
      * @param b Quaternion B
      * @returns The result of A*B
      */
@@ -56,15 +56,15 @@ 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
      */
@@ -79,10 +79,10 @@ 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);
@@ -115,11 +115,11 @@ 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;
@@ -142,7 +142,7 @@ 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);
@@ -169,9 +169,9 @@ 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;
@@ -204,7 +204,7 @@ 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/cjs/ValueObjects/Quaternion.js.map CHANGED Viewed

	@@ -1 +1 @@
1	- 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{ Angle } from \"./Angle\";\r\nimport { Matrix } from \"./Matrix\";\r\nimport { Vector3 } from \"./Vector3\";\r\n\r\nexport interface QuaternionDTO {\r\n x: number;\r\n y: number;\r\n z: number;\r\n w: number;\r\n}\r\n\r\nexport class Quaternion {\r\n /*\r\n Checks to see if two Quaternions are equal\r\n * @param a Quaternion A\r\n * @param b Quaternion B\r\n * @returns True if they are equal, otherwise false\r\n /\r\n public static Equal(a: Quaternion, b: Quaternion): boolean {\r\n if (a.x === b.x && a.y === b.y && a.z === b.z && a.w === b.w) {\r\n return true;\r\n } else {\r\n return false;\r\n }\r\n }\r\n\r\n /\r\n Checks two quaternions to see if they are close\r\n * @param a Quaterion A\r\n * @param b Quaterion B\r\n * @param threshold \"Close\" threshold. Defaults to 0.001\r\n * @returns True if each of Quaterion's components are within the threshold of each other\r\n /\r\n public static Close(\r\n a: Quaternion,\r\n b: Quaternion,\r\n threshold = 0.001\r\n ): boolean {\r\n const aArray = a.toArray();\r\n const bArray = b.toArray();\r\n\r\n let areClose = true;\r\n for (let i = 0; i < 4; i++) {\r\n let diff = aArray[i] - bArray[i];\r\n if (diff < 0) {\r\n diff = -diff;\r\n }\r\n if (diff > threshold) {\r\n areClose = false;\r\n break;\r\n }\r\n }\r\n return areClose;\r\n }\r\n\r\n /\r\n Multiplies AB\r\n @param a Quaterion A\r\n * @param b Quaternion B\r\n * @returns The result of AB\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 AB\r\n @param a Quaternion A\r\n * @param b Quaternion B\r\n * @returns The result of AB\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"]}