@woosh/meep-engine 2.126.56 → 2.126.57

package/package.json

@@ -5,7 +5,7 @@
   "description": "Pure JavaScript game engine. Fully featured and production ready.",
   "type": "module",
   "author": "Alexander Goldring",
-  "version": "2.126.56",
+  "version": "2.126.57",
   "main": "build/meep.module.js",
   "module": "build/meep.module.js",
   "exports": {

package/src/core/geom/3d/mat4/apply_mat4_transform_to_v3_array.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"apply_mat4_transform_to_v3_array.d.ts","sourceRoot":"","sources":["../../../../../../src/core/geom/3d/mat4/apply_mat4_transform_to_v3_array.js"],"names":[],"mappings":"AAAA;;;;;;;;;GASG;AACH,yDAPW,MAAM,EAAE,GAAC,YAAY,GAAC,YAAY,iBAClC,MAAM,eACN,MAAM,EAAE,GAAC,YAAY,GAAC,YAAY,sBAClC,MAAM,gBACN,MAAM,QACN,MAAK,MAAM,EAAE,GAAC,YAAY,QA8CpC"}
+{"version":3,"file":"apply_mat4_transform_to_v3_array.d.ts","sourceRoot":"","sources":["../../../../../../src/core/geom/3d/mat4/apply_mat4_transform_to_v3_array.js"],"names":[],"mappings":"AAEA;;;;;;;;;GASG;AACH,yDAPW,MAAM,EAAE,GAAC,YAAY,GAAC,YAAY,iBAClC,MAAM,eACN,MAAM,EAAE,GAAC,YAAY,GAAC,YAAY,sBAClC,MAAM,gBACN,MAAM,QACN,MAAK,MAAM,EAAE,GAAC,YAAY,QAkBpC"}

package/src/core/geom/3d/mat4/apply_mat4_transform_to_v3_array.js

@@ -1,3 +1,5 @@
+import { v3_matrix4_multiply } from "../../vec3/v3_matrix4_multiply.js";
+
 /**
  * Matrix-transform an array of 3d points
  * Code is inlined for speed
@@ -14,41 +16,13 @@ export function apply_mat4_transform_to_v3_array(
     vertex_count, mat4
 ) {
 
-    const a0 = mat4[0];
-    const a1 = mat4[1];
-    const a2 = mat4[2];
-
-    const b0 = mat4[4];
-    const b1 = mat4[5];
-    const b2 = mat4[6];
-
-    const c0 = mat4[8];
-    const c1 = mat4[9];
-    const c2 = mat4[10];
-
-    const d0 = mat4[12];
-    const d1 = mat4[13];
-    const d2 = mat4[14];
-
     for (let i = 0; i < vertex_count; i++) {
         const i3 = i * 3;
 
         const source_vertex_address = source_offset + i3;
-
-        const _x = source[source_vertex_address];
-        const _y = source[source_vertex_address + 1];
-        const _z = source[source_vertex_address + 2];
-
-        const x = a0 * _x + b0 * _y + c0 * _z + d0;
-        const y = a1 * _x + b1 * _y + c1 * _z + d1;
-        const z = a2 * _x + b2 * _y + c2 * _z + d2;
-
         const destination_vertex_address = destination_offset + i3;
 
-        destination[destination_vertex_address] = x;
-        destination[destination_vertex_address + 1] = y;
-        destination[destination_vertex_address + 2] = z;
-
+        v3_matrix4_multiply(destination,destination_vertex_address, source,source_vertex_address, mat4);
 
     }
 

package/src/core/geom/Quaternion.d.ts

@@ -3,7 +3,7 @@
  * Represents rotation in 3d space
  *
  * Iterating through a Quaternion instance will yield its components `(x, y, z, w)` in the corresponding order.
- *
+ * Note that a quaternion must be {@link normalize}d to properly represent rotation. Check documentation of individual operations when in doubt.
  * @see https://en.wikipedia.org/wiki/Quaternion
  * @implements Iterable<number>
  *
@@ -120,7 +120,8 @@ export class Quaternion implements Iterable<number> {
     get 3(): number;
     /**
      * Orient quaternion on a `forward` vector, with the spin matching `up` vector
-     * Useful for `lookAt` operations, such as for camera or inverse kinematics
+     * Useful for `lookAt` operations, such as for camera or inverse kinematics.
+     * Normalizes input, meaning input does not have to be normalized.
      * @param {number} fx forward vector
      * @param {number} fy forward vector
      * @param {number} fz forward vector
@@ -131,11 +132,12 @@ export class Quaternion implements Iterable<number> {
      */
     _lookRotation(fx: number, fy: number, fz: number, ux: number, uy: number, uz: number): this;
     /**
-     * Orient quaternion to align with the `forward` drection.
-     * @param {Vector3} forward
-     * @param {Vector3} [up=Vector3.up]
+     * Orient quaternion to align with the `forward` direction.
+     * @param {Vector3} forward Does not need to be normalized.
+     * @param {Vector3} [up=Vector3.up] Does not need to be normalized.
+     * @returns {this}
      */
-    lookRotation(forward: Vector3, up?: Vector3): void;
+    lookRotation(forward: Vector3, up?: Vector3): this;
     /**
      * Vector dot product in 4 dimensions
      * @param {Quaternion} other
@@ -145,8 +147,9 @@ export class Quaternion implements Iterable<number> {
     /**
      * Makes this quaternion into an inverse of the other
      * @param {Quaternion} other
+     * @returns {this}
      */
-    copyInverse(other: Quaternion): void;
+    copyInverse(other: Quaternion): this;
     /**
      * Calculates the inverse
      * @returns {this}
@@ -162,16 +165,18 @@ export class Quaternion implements Iterable<number> {
      * Set quaternion from axis + angle definition
      * @param {Vector3} axis
      * @param {number} angle
+     * @returns {this}
      */
-    fromAxisAngle(axis: Vector3, angle: number): void;
+    fromAxisAngle(axis: Vector3, angle: number): this;
     /**
      *
      * @param {number} axis_x
      * @param {number} axis_y
      * @param {number} axis_z
      * @param {number} angle
+     * @returns {this}
      */
-    _fromAxisAngle(axis_x: number, axis_y: number, axis_z: number, angle: number): void;
+    _fromAxisAngle(axis_x: number, axis_y: number, axis_z: number, angle: number): this;
     /**
      * Given a direction axis, compute rotation quaternions from current rotation to that axis as swing and twist. Swing moves to a given orientation while without "twisting",
      * `twist` just the twist around the given axis, no change in orientation.
@@ -189,11 +194,11 @@ export class Quaternion implements Iterable<number> {
      */
     computeTwistAngle(axis: Vector3): number;
     /**
-     *
-     * @param {Vector3} axis
+     * Decompose quaternion to the axis of rotation and angle around this axis.
+     * @param {Vector3} out_axis axis will be written here
      * @returns {number} angle in radians
      */
-    toAxisAngle(axis: Vector3): number;
+    toAxisAngle(out_axis: Vector3): number;
     /**
      *
      * @returns {this}
@@ -261,9 +266,15 @@ export class Quaternion implements Iterable<number> {
      * @param {number} y
      * @param {number} z
      * @param {String} [order='XYZ'] a combination of capital letters X,Y,Z. Examples: XYZ, YXZ
-     * @returns {Quaternion}
+     * @returns {this}
+     * @see fromEulerAnglesXYZ
+     * @see fromEulerAnglesYXZ
+     * @see fromEulerAnglesZXY
+     * @see fromEulerAnglesZYX
+     * @see fromEulerAnglesYZX
+     * @see fromEulerAnglesXZY
      */
-    __setFromEuler(x: number, y: number, z: number, order?: string): Quaternion;
+    __setFromEuler(x: number, y: number, z: number, order?: string): this;
     /**
      * @see https://localcoder.org/euler-angle-to-quaternion-then-quaternion-to-euler-angle
      * @see https://discourse.mcneel.com/t/what-is-the-right-method-to-convert-quaternion-to-plane-using-rhinocommon/92411/21?page=2
@@ -349,18 +360,18 @@ export class Quaternion implements Iterable<number> {
     /**
      * NOTE: Vectors need to be normalized
      *
-     * @param {Vector3} from
-     * @param {Vector3} to
+     * @param {Vector3} from Must be normalized
+     * @param {Vector3} to Must be normalized
      * @returns {this}
      */
     fromUnitVectors(from: Vector3, to: Vector3): this;
     /**
-     * @param {number[]} m4x4
+     * @param {number[]|Float32Array} m4x4
      * @returns {this}
      */
-    setFromRotationMatrix(m4x4: number[]): this;
+    setFromRotationMatrix(m4x4: number[] | Float32Array): this;
     /**
-     * This algorithm comes from  "Quaternion Calculus and Fast Animation",
+     * This algorithm comes from "Quaternion Calculus and Fast Animation",
      * Ken Shoemake, 1987 SIGGRAPH course notes
      * @see https://gitlab.com/libeigen/eigen/-/blob/master/Eigen/src/Geometry/Quaternion.h#L813
      * @param {number} m11
@@ -395,7 +406,7 @@ export class Quaternion implements Iterable<number> {
      * Spherical linear interpolation
      * @param {Quaternion} from
      * @param {Quaternion} to
-     * @param {number} t coefficient, how much between the input quats?
+     * @param {number} t coefficient, how much between the input quaternions? Must be a value between 0 and 1
      * @returns {this}
      */
     slerpQuaternions(from: Quaternion, to: Quaternion, t: number): this;

package/src/core/geom/Quaternion.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"Quaternion.d.ts","sourceRoot":"","sources":["../../../../src/core/geom/Quaternion.js"],"names":[],"mappings":"AAoBA;;;;;;;;;;;GAWG;AACH,mCALe,QAAQ,CAAC,MAAM;IA+R1B;;;;;OAKG;IACH,2BAJW,OAAO,SACP,MAAM,GACJ,UAAU,CAQtB;IAiqCD;;;;OAIG;IACH,kCAFa,UAAU,CAQtB;IAED;;;;;;;OAOG;IACH,0BALW,MAAM,KACN,MAAM,KACN,MAAM,GACJ,UAAU,CAQtB;IAED;;;;;;OAMG;IACH,6BALW,UAAU,QACV,UAAU,MACV,UAAU,aACV,MAAM,QA0BhB;IAlgDD;;;;;;;OAOG;IACH,gBANW,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,EAsChB;IA7BG;;;OAGG;IACH,GAFU,MAAM,CAEN;IACV;;;OAGG;IACH,GAFU,MAAM,CAEN;IACV;;;OAGG;IACH,GAFU,MAAM,CAEN;IACV;;;OAGG;IACH,GAFU,MAAM,CAEN;IAEV;;;;;;OAMG;IACH,oBAFU,MAAM,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAEnD;IAqCjC;;;OAGG;IACH,SAFW,MAAM,EAIhB;IAtCD;;;OAGG;IACH,SAFY,MAAM,CAIjB;IAkCD;;;OAGG;IACH,SAFW,MAAM,EAIhB;IAtCD;;;OAGG;IACH,SAFY,MAAM,CAIjB;IAkCD;;;OAGG;IACH,SAFW,MAAM,EAIhB;IAtCD;;;OAGG;IACH,SAFY,MAAM,CAIjB;IAkCD;;;OAGG;IACH,SAFW,MAAM,EAIhB;IAtCD;;;OAGG;IACH,SAFY,MAAM,CAIjB;IAgDD;;;;;;;;;;;OAWG;IACH,kBARW,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,GACJ,IAAI,CAqDhB;IAED;;;;;OAKG;IACH,sBAJW,OAAO,OACP,OAAO,GACL,IAAI,CAShB;IAED;;;;OAIG;IACH,WAHW,UAAU,GACT,MAAM,CAQjB;IAED;;;;OAIG;IACH,mBAHW,UAAU,GACR,IAAI,CAKhB;IAED;;;OAGG;IACH,UAFa,IAAI,CAuBhB;IAED;;;;OAIG;IACH,eAHW,UAAU,GACT,MAAM,CAoBjB;IAiBD;;;;;OAKG;IACH,oBAJW,OAAO,SACP,MAAM,GACJ,IAAI,CAQhB;IAED;;;;;;;OAOG;IACH,uBANW,MAAM,UACN,MAAM,UACN,MAAM,SACN,MAAM,GACJ,IAAI,CAkChB;IAED;;;;;;;;OAQG;IACH,2BANW,OAAO,SACP,UAAU,SACV,UAAU,GACR,IAAI,CAyChB;IAED;;;;OAIG;IACH,wBAHW,OAAO,GACL,MAAM,CAYlB;IAED;;;;OAIG;IACH,sBAHW,OAAO,GACL,MAAM,CAmBlB;IAED;;;OAGG;IACH,aAFa,IAAI,CAehB;IAED;;;;OAIG;IACH,oBAHW,MAAM,GACL,IAAI,CASf;IAED;;;OAGG;IACH,gBAHW,UAAU,GACR,IAAI,CAIhB;IAED;;;;;OAKG;IACH,2BAJW,UAAU,UACV,UAAU,GACR,IAAI,CAchB;IAED;;;;;;;;;;;OAWG;IACH,yBAVW,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,GACJ,IAAI,CAehB;IAED;;;OAGG;IACH,UAFY,MAAM,CASjB;IAED;;;;;OAKG;IACH,qBAJW,UAAU,aACV,MAAM,GACJ,IAAI,CAMhB;IAED;;;;;;OAMG;IACH,eALW,OAAO,UACP,OAAO,OACP,OAAO,QAWjB;IAED;;;OAGG;IACH,kBAFW,MAAW,MAAM,QAI3B;IAED;;;;;;;;;;;;;OAaG;IACH,kBAZW,MAAM,KACN,MAAM,KACN,MAAM,mBAEJ,IAAI,CA8ChB;IAED;;;;OAIG;IACH,yBAFW,OAAO,QA4BjB;IAED;;;OAGG;IACH,yBAFW,OAAO,QA2BjB;IAED;;;OAGG;IACH,yBAFW,OAAO,QA0BjB;IAGD;;;;;;;;;OASG;IACH,sBALW,MAAM,KACN,MAAM,KACN,MAAM,GACJ,IAAI,CAqBhB;IAED;;;;;;;;;OASG;IACH,sBALW,MAAM,KACN,MAAM,KACN,MAAM,GACJ,IAAI,CAqBhB;IAED;;;;;;;;;OASG;IACH,sBALW,MAAM,KACN,MAAM,KACN,MAAM,GACJ,IAAI,CAqBhB;IAED;;;;;;;;;OASG;IACH,sBALW,MAAM,KACN,MAAM,KACN,MAAM,GACJ,IAAI,CAqBhB;IAED;;;;;;;;;OASG;IACH,sBALW,MAAM,KACN,MAAM,KACN,MAAM,GACJ,IAAI,CAqBhB;IAED;;;;;;;;;OASG;IACH,sBALW,MAAM,KACN,MAAM,KACN,MAAM,GACJ,IAAI,CAqBhB;IAED;;;;;;OAMG;IACH,sBAJW,OAAO,MACP,OAAO,GACL,IAAI,CAkEhB;IAED;;;OAGG;IACH,4BAHW,MAAM,EAAE,GAAC,YAAY,GACnB,IAAI,CAYhB;IAED;;;;;;;;;;;;;;OAcG;IACH,6BAXW,MAAM,OACN,MAAM,OACN,MAAM,OACN,MAAM,OACN,MAAM,OACN,MAAM,OACN,MAAM,OACN,MAAM,OACN,MAAM,GACJ,IAAI,CA4EhB;IAED;;;;;OAKG;IACH,YAJW,UAAU,KACV,MAAM,GACJ,IAAI,CAMhB;IAED;;;;;;;OAOG;IACH,uBALW,UAAU,UACV,UAAU,KACV,MAAM,GACJ,IAAI,CAgBhB;IAED;;;;;;OAMG;IACH,uBALW,UAAU,MACV,UAAU,KACV,MAAM,GACJ,IAAI,CA4DhB;IAGD;;;;;OAKG;IACH,aAJW,UAAU,KACV,MAAM,GACJ,IAAI,CAIhB;IAED;;;;;OAKG;IACH,gCAHW,GAAC,GACC,IAAI,CAUhB;IAED;;;;OAIG;IACH,YAHW,UAAU,GACR,IAAI,CAIhB;IAED;;;OAGG;IACH,SAFa,UAAU,CAQtB;IAED;;;;;;;;OAQG;IACH,OANW,MAAM,KACN,MAAM,KACN,MAAM,KACN,MAAM,GACJ,IAAI,CA+BhB;IAED;;;OAGG;IACH,aAFa,IAAI,CAIhB;IAED;;;;;MAOC;IAED;;;;OAIG;IACH,oBAFY,IAAI,CAIf;IAED;;;OAGG;IACH,uBAFW,YAAY,QAOtB;IAED;;;OAGG;IACH,yBAFW,YAAY,QAStB;IAED;;;OAGG;IACH,8BAFW,YAAY,QAOtB;IAED;;;OAGG;IACH,gCAFW,YAAY,QAStB;IAED;;;;;OAKG;IACH,qBAJW,MAAM,EAAE,WACR,MAAM,GACJ,IAAI,CAShB;IAED;;;;;OAKG;IACH,qBAJW,MAAM,EAAE,WACR,MAAM,GACJ,MAAM,EAAE,CASpB;IAED;;;;;OAKG;IACH,cAJW,UAAU,GACR,OAAO,CASnB;IAED;;;OAGG;IACH,QAFa,MAAM,CAQlB;IAED;;;;;OAKG;IACH,qBAJW,UAAU,cACV,MAAM,GACL,OAAO,CAOlB;IAED;;;;;;;;OAQG;IACH,kBAPW,MAAM,KACN,MAAM,KACN,MAAM,KACN,MAAM,cACN,MAAM,GACL,OAAO,CASlB;IAED;;;;OAIG;IACH,gBAHW,MAAW,MAAM,GAChB,UAAU,CAuBrB;IAED,mBAEC;IAiEL,mBApLe,MAAM,EAAE,WACR,MAAM,gBAmLS;IAC9B,kBAtKe,MAAM,EAAE,WACR,MAAM,KACJ,MAAM,EAAE,CAoKG;IAC5B,kBAvKe,MAAM,EAAE,WACR,MAAM,KACJ,MAAM,EAAE,CAqKG;IAC5B,qBA3yBe,MAAM,KACN,MAAM,KACN,MAAM,gBAyyBe;IAQpC;;;;OAIG;IACH,uBAFU,OAAO,CAEgB;IAt6C7B;;;OAGG;IACH,qBAFa,SAAS,CAAC,MAAM,CAAC,CAS7B;CAy4CJ;;kBASS,UAAU;kBAaV,MAAM;;;mBAzjDG,4BAA4B;oBAU3B,cAAc"}

package/src/core/geom/Quaternion.js

@@ -23,7 +23,7 @@ const cos = Math.cos;
  * Represents rotation in 3d space
  *
  * Iterating through a Quaternion instance will yield its components `(x, y, z, w)` in the corresponding order.
- *
+ * Note that a quaternion must be {@link normalize}d to properly represent rotation. Check documentation of individual operations when in doubt.
  * @see https://en.wikipedia.org/wiki/Quaternion
  * @implements Iterable<number>
  *
@@ -158,7 +158,8 @@ export class Quaternion {
 
     /**
      * Orient quaternion on a `forward` vector, with the spin matching `up` vector
-     * Useful for `lookAt` operations, such as for camera or inverse kinematics
+     * Useful for `lookAt` operations, such as for camera or inverse kinematics.
+     * Normalizes input, meaning input does not have to be normalized.
      * @param {number} fx forward vector
      * @param {number} fy forward vector
      * @param {number} fz forward vector
@@ -221,13 +222,14 @@ export class Quaternion {
     }
 
     /**
-     * Orient quaternion to align with the `forward` drection.
-     * @param {Vector3} forward
-     * @param {Vector3} [up=Vector3.up]
+     * Orient quaternion to align with the `forward` direction.
+     * @param {Vector3} forward Does not need to be normalized.
+     * @param {Vector3} [up=Vector3.up] Does not need to be normalized.
+     * @returns {this}
      */
     lookRotation(forward, up = Vector3.up) {
 
-        this._lookRotation(
+        return this._lookRotation(
             forward.x, forward.y, forward.z,
             up.x, up.y, up.z
         );
@@ -250,10 +252,11 @@ export class Quaternion {
     /**
      * Makes this quaternion into an inverse of the other
      * @param {Quaternion} other
+     * @returns {this}
      */
     copyInverse(other) {
         this.copy(other);
-        this.invert();
+        return this.invert();
     }
 
     /**
@@ -327,11 +330,14 @@ export class Quaternion {
      * Set quaternion from axis + angle definition
      * @param {Vector3} axis
      * @param {number} angle
+     * @returns {this}
      */
     fromAxisAngle(axis, angle) {
         assert.defined(axis, 'axis');
+        assert.isObject(axis, 'axis');
+        assert.isNumber(angle, 'angle');
 
-        this._fromAxisAngle(axis.x, axis.y, axis.z, angle);
+        return this._fromAxisAngle(axis.x, axis.y, axis.z, angle);
     }
 
     /**
@@ -340,6 +346,7 @@ export class Quaternion {
      * @param {number} axis_y
      * @param {number} axis_z
      * @param {number} angle
+     * @returns {this}
      */
     _fromAxisAngle(axis_x, axis_y, axis_z, angle) {
         assert.isNumber(axis_x, 'axis_x');
@@ -372,7 +379,7 @@ export class Quaternion {
         const z = qz * m;
         const w = qw * m;
 
-        this.set(x, y, z, w);
+        return this.set(x, y, z, w);
     }
 
     /**
@@ -442,25 +449,26 @@ export class Quaternion {
     }
 
     /**
-     *
-     * @param {Vector3} axis
+     * Decompose quaternion to the axis of rotation and angle around this axis.
+     * @param {Vector3} out_axis axis will be written here
      * @returns {number} angle in radians
      */
-    toAxisAngle(axis) {
+    toAxisAngle(out_axis) {
         const rad = Math.acos(this.w) * 2.0;
 
         const s = sin(rad * 0.5);
 
         if (Math.abs(s) > EPSILON) {
-            axis.set(
+            out_axis.set(
                 this.x / s,
                 this.y / s,
                 this.z / s
             );
         } else {
             // If s is zero, return any axis (no rotation - axis does not matter)
-            axis.set(1, 0, 0);
+            out_axis.set(1, 0, 0);
         }
+
         return rad;
     }
 
@@ -608,7 +616,13 @@ export class Quaternion {
      * @param {number} y
      * @param {number} z
      * @param {String} [order='XYZ'] a combination of capital letters X,Y,Z. Examples: XYZ, YXZ
-     * @returns {Quaternion}
+     * @returns {this}
+     * @see fromEulerAnglesXYZ
+     * @see fromEulerAnglesYXZ
+     * @see fromEulerAnglesZXY
+     * @see fromEulerAnglesZYX
+     * @see fromEulerAnglesYZX
+     * @see fromEulerAnglesXZY
      */
     __setFromEuler(
         x,
@@ -934,12 +948,12 @@ export class Quaternion {
     /**
      * NOTE: Vectors need to be normalized
      *
-     * @param {Vector3} from
-     * @param {Vector3} to
+     * @param {Vector3} from Must be normalized
+     * @param {Vector3} to Must be normalized
      * @returns {this}
      */
     fromUnitVectors(from, to) {
-        // Based on blog post: http://lolengine.net/blog/2013/09/18/beautiful-maths-quaternion-from-vectors
+        // Based on this blog post: http://lolengine.net/blog/2013/09/18/beautiful-maths-quaternion-from-vectors
 
         assert.ok(from.isNormalized(), `from vector is not normalized, length = ${from.length()}`);
         assert.ok(to.isNormalized(), `to vector is not normalized, length = ${to.length()}`);
@@ -1005,7 +1019,7 @@ export class Quaternion {
     }
 
     /**
-     * @param {number[]} m4x4
+     * @param {number[]|Float32Array} m4x4
      * @returns {this}
      */
     setFromRotationMatrix(m4x4) {
@@ -1021,7 +1035,7 @@ export class Quaternion {
     }
 
     /**
-     * This algorithm comes from  "Quaternion Calculus and Fast Animation",
+     * This algorithm comes from "Quaternion Calculus and Fast Animation",
      * Ken Shoemake, 1987 SIGGRAPH course notes
      * @see https://gitlab.com/libeigen/eigen/-/blob/master/Eigen/src/Geometry/Quaternion.h#L813
      * @param {number} m11
@@ -1151,7 +1165,7 @@ export class Quaternion {
      * Spherical linear interpolation
      * @param {Quaternion} from
      * @param {Quaternion} to
-     * @param {number} t coefficient, how much between the input quats?
+     * @param {number} t coefficient, how much between the input quaternions? Must be a value between 0 and 1
      * @returns {this}
      */
     slerpQuaternions(from, to, t) {