@woosh/meep-engine 2.131.17 → 2.131.19

package/editor/ecs/component/editors/geom/QuaternionEditor.js

@@ -1,8 +1,8 @@
-import { TypeEditor } from "../../TypeEditor.js";
 import Vector3 from "../../../../../src/core/geom/Vector3.js";
-import { makeV3_editor } from "../common/makeV3_editor.js";
 import { DEG_TO_RAD } from "../../../../../src/core/math/DEG_TO_RAD.js";
 import { RAD_TO_DEG } from "../../../../../src/core/math/RAD_TO_DEG.js";
+import { TypeEditor } from "../../TypeEditor.js";
+import { makeV3_editor } from "../common/makeV3_editor.js";
 
 export class QuaternionEditor extends TypeEditor {
     build(parent, field, registry) {
@@ -22,7 +22,7 @@ export class QuaternionEditor extends TypeEditor {
 
             lock = true;
 
-            q.__setFromEuler(
+            q.fromEulerAnglesXYZ(
                 euler.x * DEG_TO_RAD,
                 euler.y * DEG_TO_RAD,
                 euler.z * DEG_TO_RAD

package/editor/tools/TransformTool.js

@@ -103,7 +103,7 @@ class TransformContainer {
             allowWriteToSurrogate = false;
 
             try {
-                transform.rotation.__setFromEuler(surrogate.rotation.x, surrogate.rotation.y, surrogate.rotation.z, 'XYZ');
+                transform.rotation.fromEulerAnglesXYZ(surrogate.rotation.x, surrogate.rotation.y, surrogate.rotation.z);
             } catch (e) {
                 console.error(e);
             }
@@ -131,7 +131,13 @@ class TransformContainer {
 
         //set surrogate transform to match component
         surrogate.position.copy(transform.position);
-        transform.rotation.__setFromEuler(surrogate.rotation.x, surrogate.rotation.y, surrogate.rotation.z, surrogate.rotation.order);
+
+        if (surrogate.rotation.order === "XYZ") {
+            transform.rotation.fromEulerAnglesXYZ(surrogate.rotation.x, surrogate.rotation.y, surrogate.rotation.z);
+        } else {
+            throw new Error("Unsupported rotation order");
+        }
+
         surrogate.quaternion.copy(transform.rotation);
         surrogate.scale.copy(transform.scale);
 
@@ -160,7 +166,12 @@ class TransformContainer {
                 if (allowWriteToSurrogate) {
                     const rotation = transform.rotation;
 
-                    rotation.__setFromEuler(surrogate.rotation.x, surrogate.rotation.y, surrogate.rotation.z, surrogate.rotation.order);
+                    if (surrogate.rotation.order === "XYZ") {
+                        rotation.fromEulerAnglesXYZ(surrogate.rotation.x, surrogate.rotation.y, surrogate.rotation.z);
+                    } else {
+                        throw new Error("Unsupported rotation order");
+                    }
+
 
                     surrogate.quaternion.set(rotation.x, rotation.y, rotation.z, rotation.w);
                 }

package/package.json

@@ -5,7 +5,7 @@
   "description": "Pure JavaScript game engine. Fully featured and production ready.",
   "type": "module",
   "author": "Alexander Goldring",
-  "version": "2.131.17",
+  "version": "2.131.19",
   "main": "build/meep.module.js",
   "module": "build/meep.module.js",
   "exports": {

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

@@ -71,7 +71,7 @@ export class Quaternion implements Iterable<number> {
      */
     w: number;
     /**
-     * Fired when value of the quaternion changes
+     * Fires when the value of the quaternion changes
      * Signature of the signal data is as follows:
      *      (new_x, new_y, new_z, new_w, old_x, old_y, old_z, old_w)
      * @readonly
@@ -122,6 +122,9 @@ export class Quaternion implements Iterable<number> {
      * Orient quaternion on a `forward` vector, with the spin matching `up` vector
      * Useful for `lookAt` operations, such as for camera or inverse kinematics.
      * Normalizes input, meaning input does not have to be normalized.
+     *
+     * NOTE: `forward` and `up` vectors being the same is allowed, but you will likely get unexpected rotation along the look axis, so prefer not to do it.
+     *
      * @param {number} fx forward vector
      * @param {number} fy forward vector
      * @param {number} fz forward vector
@@ -151,10 +154,20 @@ export class Quaternion implements Iterable<number> {
      */
     copyInverse(other: Quaternion): this;
     /**
-     * Calculates the inverse
+     * Calculates the inverse.
+     * Correctly handles unnormalized quaternions.
+     *
+     * If your quaternion is normalized, you can use {@link conjugate} instead for speed.
      * @returns {this}
+     * @see conjugate
      */
     invert(): this;
+    /**
+     * NOTE: this is the same as {@link invert} if the quaternion is normalized.
+     * @returns {this}
+     * @see invert
+     */
+    conjugate(): this;
     /**
      * Returns angle between this orientation and another
      * @param {Quaternion} other
@@ -256,17 +269,14 @@ export class Quaternion implements Iterable<number> {
      */
     lookAt(source: Vector3, target: Vector3, up?: Vector3): void;
     /**
-     * @deprecated use {@link random} instead
-     * @param {function():number} random
-     */
-    setRandom(random: () => number): void;
-    /**
+     * @deprecated use {@link fromEulerAnglesXYZ} or others specifically.
      *
      * @param {number} x
      * @param {number} y
      * @param {number} z
      * @param {String} [order='XYZ'] a combination of capital letters X,Y,Z. Examples: XYZ, YXZ
      * @returns {this}
+     *
      * @see fromEulerAnglesXYZ
      * @see fromEulerAnglesYXZ
      * @see fromEulerAnglesZXY
@@ -291,6 +301,21 @@ export class Quaternion implements Iterable<number> {
      * @param {Vector3} result
      */
     toEulerAnglesZYX(result: Vector3): void;
+    /**
+     * Set rotation from Euler angles in degrees.
+     *
+     * Order is explicitly XYZ.
+     *
+     * Utility shortcut, same as `fromEulerAnglesXYZ(x * π / 180, y * π / 180, z * π / 180)`
+     *
+     * @param {number} [x] angle in degrees
+     * @param {number} [y] angle in degrees
+     * @param {number} [z] angle in degrees
+     * @returns {this}
+     *
+     * @see fromEulerAnglesXYZ
+     */
+    fromDegrees(x?: number, y?: number, z?: number): this;
     /**
      * XYZ order
      * @source: https://stackoverflow.com/questions/12088610/conversion-between-euler-quaternion-like-in-unity3d-engine
@@ -445,11 +470,6 @@ export class Quaternion implements Iterable<number> {
      * @returns {this}
      */
     set(x: number, y: number, z: number, w: number): this;
-    /**
-     *
-     * @returns {this}
-     */
-    conjugate(): this;
     toJSON(): {
         x: number;
         y: number;
@@ -488,14 +508,14 @@ export class Quaternion implements Iterable<number> {
      * @param {number} [offset]
      * @returns {this}
      */
-    readFromArray(array: number[], offset?: number): this;
+    fromArray(array: number[], offset?: number): this;
     /**
      *
      * @param {number[]} [array]
      * @param {number} [offset]
      * @returns {number[]}
      */
-    writeToArray(array?: number[], offset?: number): number[];
+    toArray(array?: number[], offset?: number): number[];
     /**
      * Strict equality check
      * @param {Quaternion} other
@@ -525,15 +545,28 @@ export class Quaternion implements Iterable<number> {
      * @return {boolean}
      */
     _roughlyEquals(x: number, y: number, z: number, w: number, tolerance?: number): boolean;
+    /**
+     * @deprecated use {@link random} instead
+     * @param {function():number} random
+     */
+    setRandom(random: () => number): void;
     /**
      * Randomly orient current quaternion
-     * @param {function():number} [random] Defaults to {@link Math.random}
-     * @return {Quaternion}
+     * @param {function():number} [random=Math.random] Random number generator function.
      */
-    random(random?: () => number): Quaternion;
+    random(random?: () => number): this;
     toString(): string;
-    fromArray: (array: number[], offset?: number) => this;
-    toArray: (array?: number[], offset?: number) => number[];
+    /**
+     * @deprecated use `fromArray`
+     */
+    readFromArray: (array: number[], offset?: number) => this;
+    /**
+     * @deprecated use `toArray`
+     */
+    writeToArray: (array?: number[], offset?: number) => number[];
+    /**
+     * @deprecated use `toArray`
+     */
     asArray: (array?: number[], offset?: number) => number[];
     fromEulerAngles: (x: number, y: number, z: 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":"AAqBA;;;;;;;;;;;GAWG;AACH,4CALwB,MAAM;IA+S1B;;;;;OAKG;IACH,2BAJW,OAAO,SACP,MAAM,GACJ,UAAU,CAQtB;IAurCD;;;;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;IAxiDD;;;;;;;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,OAAO,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAEnD;IAqCjC;;;OAGG;IACH,mBAEC;IAtCD;;;OAGG;IACH,gBAEC;IAkCD;;;OAGG;IACH,mBAEC;IAtCD;;;OAGG;IACH,gBAEC;IAkCD;;;OAGG;IACH,mBAEC;IAtCD;;;OAGG;IACH,gBAEC;IAkCD;;;OAGG;IACH,mBAEC;IAtCD;;;OAGG;IACH,gBAEC;IAgDD;;;;;;;;;;;;;;OAcG;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;;;;;;;OAOG;IACH,UAHa,IAAI,CAwBhB;IAED;;;;OAIG;IACH,aAHa,IAAI,CAKhB;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;IAGD;;;;;;;;;;;;;;;OAeG;IACH,kBAbW,MAAM,KACN,MAAM,KACN,MAAM,mBAEJ,IAAI,CA+ChB;IAED;;;;OAIG;IACH,yBAFW,OAAO,QA4BjB;IAED;;;OAGG;IACH,yBAFW,OAAO,QA2BjB;IAED;;;OAGG;IACH,yBAFW,OAAO,QA0BjB;IAED;;;;;;;;;;;;;OAaG;IACH,gBAPW,MAAM,MACN,MAAM,MACN,MAAM,GACJ,IAAI,CAUhB;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,sCAFa,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;;;;;MAOC;IAED;;;;OAIG;IACH,oBAFY,IAAI,CAIf;IAED;;;OAGG;IACH,2CAKC;IAED;;;OAGG;IACH,6CAOC;IAED;;;OAGG;IACH,kDAKC;IAED;;;OAGG;IACH,oDAOC;IAED;;;;;OAKG;IACH,iBAJW,MAAM,EAAE,WACR,MAAM,GACJ,IAAI,CAYhB;IAED;;;;;OAKG;IACH,gBAJW,MAAM,EAAE,WACR,MAAM,GACJ,MAAM,EAAE,CAYpB;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;;;OAGG;IACH,wBAFsB,MAAM,QAI3B;IAED;;;OAGG;IACH,sBAFsB,MAAM,QAuB3B;IAED,mBAEC;IAiEL;;OAEG;IACH,uBApMe,MAAM,EAAE,WACR,MAAM,KACJ,IAAI,CAkMa;IAElC;;OAEG;IACH,uBAvLe,MAAM,EAAE,WACR,MAAM,KACJ,MAAM,EAAE,CAqLQ;IAEjC;;OAEG;IACH,kBA5Le,MAAM,EAAE,WACR,MAAM,KACJ,MAAM,EAAE,CA0LG;IAC5B,qBA3zBe,MAAM,KACN,MAAM,KACN,MAAM,KACJ,IAAI,CAwzBe;IAQpC;;;;OAIG;IACH,uBAFU,OAAO,CAEgB;IAv9C7B;;;OAGG;IACH,qBAFa,UAAU,MAAM,CAAC,CAS7B;CA+6CJ;;kBAoBS,UAAU;kBAaV,MAAM;;;mBA3mDG,4BAA4B;oBAW3B,cAAc"}

package/src/core/geom/Quaternion.js

@@ -2,6 +2,7 @@ import { assert } from "../assert.js";
 import Signal from "../events/signal/Signal.js";
 import { clamp } from "../math/clamp.js";
 import { clamp01 } from "../math/clamp01.js";
+import { DEG_TO_RAD } from "../math/DEG_TO_RAD.js";
 import { EPSILON } from "../math/EPSILON.js";
 import { epsilonEquals } from "../math/epsilonEquals.js";
 import { lerp } from "../math/lerp.js";
@@ -67,7 +68,7 @@ export class Quaternion {
         this.w = w;
 
         /**
-         * Fired when value of the quaternion changes
+         * Fires when the value of the quaternion changes
          * Signature of the signal data is as follows:
          *      (new_x, new_y, new_z, new_w, old_x, old_y, old_z, old_w)
          * @readonly
@@ -160,6 +161,9 @@ 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.
      * Normalizes input, meaning input does not have to be normalized.
+     *
+     * NOTE: `forward` and `up` vectors being the same is allowed, but you will likely get unexpected rotation along the look axis, so prefer not to do it.
+     *
      * @param {number} fx forward vector
      * @param {number} fy forward vector
      * @param {number} fz forward vector
@@ -260,8 +264,12 @@ export class Quaternion {
     }
 
     /**
-     * Calculates the inverse
+     * Calculates the inverse.
+     * Correctly handles unnormalized quaternions.
+     *
+     * If your quaternion is normalized, you can use {@link conjugate} instead for speed.
      * @returns {this}
+     * @see conjugate
      */
     invert() {
         const x = this.x;
@@ -269,14 +277,14 @@ export class Quaternion {
         const z = this.z;
         const w = this.w;
 
-        const length_sqr = x * x + y * y + z * z + w * w;
+        const dot_product = x * x + y * y + z * z + w * w;
 
-        if (length_sqr === 0) {
+        if (dot_product === 0) {
             // 0 magnitude, avoid division by 0 and set identity (arbitrage)
             return this.set(0, 0, 0, 1);
         }
 
-        const invDot = 1.0 / length_sqr;
+        const invDot = 1.0 / dot_product;
 
         const _x = -x * invDot;
         const _y = -y * invDot;
@@ -286,6 +294,15 @@ export class Quaternion {
         return this.set(_x, _y, _z, _w);
     }
 
+    /**
+     * NOTE: this is the same as {@link invert} if the quaternion is normalized.
+     * @returns {this}
+     * @see invert
+     */
+    conjugate() {
+        return this.set(-this.x, -this.y, -this.z, this.w);
+    }
+
     /**
      * Returns angle between this orientation and another
      * @param {Quaternion} other
@@ -602,21 +619,16 @@ export class Quaternion {
         this.lookRotation(forward, up);
     }
 
-    /**
-     * @deprecated use {@link random} instead
-     * @param {function():number} random
-     */
-    setRandom(random) {
-        throw new Error("use .random() instead");
-    }
 
     /**
+     * @deprecated use {@link fromEulerAnglesXYZ} or others specifically.
      *
      * @param {number} x
      * @param {number} y
      * @param {number} z
      * @param {String} [order='XYZ'] a combination of capital letters X,Y,Z. Examples: XYZ, YXZ
      * @returns {this}
+     *
      * @see fromEulerAnglesXYZ
      * @see fromEulerAnglesYXZ
      * @see fromEulerAnglesZXY
@@ -758,6 +770,28 @@ export class Quaternion {
         result.set(psi, theta, phi);
     }
 
+    /**
+     * Set rotation from Euler angles in degrees.
+     *
+     * Order is explicitly XYZ.
+     *
+     * Utility shortcut, same as `fromEulerAnglesXYZ(x * π / 180, y * π / 180, z * π / 180)`
+     *
+     * @param {number} [x] angle in degrees
+     * @param {number} [y] angle in degrees
+     * @param {number} [z] angle in degrees
+     * @returns {this}
+     *
+     * @see fromEulerAnglesXYZ
+     */
+    fromDegrees(x = 0, y = 0, z = 0) {
+        return this.fromEulerAnglesXYZ(
+            x * DEG_TO_RAD,
+            y * DEG_TO_RAD,
+            z * DEG_TO_RAD
+        );
+    }
+
 
     /**
      * XYZ order
@@ -1316,14 +1350,6 @@ export class Quaternion {
         return this;
     }
 
-    /**
-     *
-     * @returns {this}
-     */
-    conjugate() {
-        return this.set(-this.x, -this.y, -this.z, this.w);
-    }
-
     toJSON() {
         return {
             x: this.x,
@@ -1396,7 +1422,10 @@ export class Quaternion {
      * @param {number} [offset]
      * @returns {this}
      */
-    readFromArray(array, offset = 0) {
+    fromArray(array, offset = 0) {
+        assert.defined(array, "array");
+        assert.isNonNegativeInteger(offset, "offset");
+
         return this.set(
             array[offset],
             array[offset + 1],
@@ -1411,7 +1440,10 @@ export class Quaternion {
      * @param {number} [offset]
      * @returns {number[]}
      */
-    writeToArray(array = [], offset = 0) {
+    toArray(array = [], offset = 0) {
+        assert.defined(array, 'array');
+        assert.isNonNegativeInteger(offset, "offset");
+
         array[offset] = this.x;
         array[offset + 1] = this.y;
         array[offset + 2] = this.z;
@@ -1477,10 +1509,17 @@ export class Quaternion {
             && epsilonEquals(this.w, w, tolerance);
     }
 
+    /**
+     * @deprecated use {@link random} instead
+     * @param {function():number} random
+     */
+    setRandom(random) {
+        throw new Error("use .random() instead");
+    }
+
     /**
      * Randomly orient current quaternion
-     * @param {function():number} [random] Defaults to {@link Math.random}
-     * @return {Quaternion}
+     * @param {function():number} [random=Math.random] Random number generator function.
      */
     random(random = Math.random) {
         assert.isFunction(random, 'random');
@@ -1572,9 +1611,20 @@ export class Quaternion {
     }
 }
 
-Quaternion.prototype.fromArray = Quaternion.prototype.readFromArray;
-Quaternion.prototype.toArray = Quaternion.prototype.writeToArray;
-Quaternion.prototype.asArray = Quaternion.prototype.writeToArray;
+/**
+ * @deprecated use `fromArray`
+ */
+Quaternion.prototype.readFromArray = Quaternion.prototype.fromArray;
+
+/**
+ * @deprecated use `toArray`
+ */
+Quaternion.prototype.writeToArray = Quaternion.prototype.toArray;
+
+/**
+ * @deprecated use `toArray`
+ */
+Quaternion.prototype.asArray = Quaternion.prototype.toArray;
 Quaternion.prototype.fromEulerAngles = Quaternion.prototype.fromEulerAnglesXYZ;
 
 /**

package/src/core/geom/Vector3.d.ts

@@ -517,6 +517,9 @@ export class Vector3 implements Iterable<number> {
     _projectVectors(x0: number, y0: number, z0: number, x1: number, y1: number, z1: number): this;
     /**
      * Convert spherical coordinates to cartesian
+     *
+     * We assume Y-up coordinate system.
+     *
      * @param {number} radius
      * @param {number} phi Also known as Azimuth
      * @param {number} theta Also known as Elevation

package/src/core/geom/Vector3.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"Vector3.d.ts","sourceRoot":"","sources":["../../../../src/core/geom/Vector3.js"],"names":[],"mappings":"AAeA;;;;;;;;;;;;;;GAcG;AACH,yCALwB,MAAM;IA0hC1B;;;;;OAKG;IACH,cAJW,OAAO,UAAQ,KACf,OAAO,UAAQ,GACb,MAAM,CAIlB;IAED;;;;;OAKG;IACH,mBAJW,OAAO,KACP,OAAO,GACL,MAAM,CAIlB;IAED;;;;;OAKG;IACH,wBAJW,MAAM,EAAE,WACR,MAAM,GACJ,OAAO,CAQnB;IAED;;;;OAIG;IACH,yBAHW,MAAM,GACJ,OAAO,CAInB;IA7jCD;;;;;OAKG;IACH,gBAJW,MAAM,MACN,MAAM,MACN,MAAM,EAuChB;IA3BG;;;;OAIG;IACH,YAFU,MAAM,CAEN;IAEV;;;;OAIG;IACH,YAFU,MAAM,CAEN;IAEV;;;;OAIG;IACH,YAFU,MAAM,CAEN;IAEV;;;;OAIG;IACH,oBAFU,OAAO,MAAM,EAAC,MAAM,EAAC,MAAM,EAAC,MAAM,EAAC,MAAM,EAAC,MAAM,CAAC,CAE9B;IA2BjC;;;OAGG;IACH,mBAEC;IA9BD;;;OAGG;IACH,gBAEC;IA0BD;;;OAGG;IACH,mBAEC;IA9BD;;;OAGG;IACH,gBAEC;IA0BD;;;OAGG;IACH,mBAEC;IA9BD;;;OAGG;IACH,gBAEC;IAsCD;;;;;OAKG;IACH,iBAJW,MAAM,EAAE,GAAC,YAAY,WACrB,MAAM,GACJ,IAAI,CAQhB;IAED;;;;OAIG;IACH,gBAJW,MAAM,EAAE,GAAC,YAAY,iBAAU,WAC/B,MAAM,GACJ,MAAM,EAAE,CAQpB;IAED;;;;;;OAMG;IACH,OALW,MAAM,KACN,MAAM,KACN,MAAM,GACJ,IAAI,CAgChB;IAED;;;;OAIG;IACH,aAHW,MAAM,GACJ,IAAI,CAIhB;IAED;;;;OAIG;IACH,QAHW,MAAM,GACJ,IAAI,CAIhB;IAED;;;;OAIG;IACH,QAHW,MAAM,GACJ,IAAI,CAIhB;IAED;;;;OAIG;IACH,QAHW,MAAM,GACJ,IAAI,CAIhB;IAED;;;;;OAKG;IACH,SAJW,MAAM,KACN,MAAM,GACJ,IAAI,CAIhB;IAED;;;;;OAKG;IACH,SAJW,MAAM,KACN,MAAM,GACJ,IAAI,CAIhB;IAED;;;;;OAKG;IACH,SAJW,MAAM,KACN,MAAM,GACJ,IAAI,CAIhB;IAED;;;;;OAKG;IACH,cAJW,OAAO,KACP,OAAO,GACL,IAAI,CAQhB;IAED;;;;OAIG;IACH,WAHW,OAAO,GACL,IAAI,CAIhB;IAED;;;;;;OAMG;IACH,QALW,MAAM,KACN,MAAM,KACN,MAAM,GACJ,IAAI,CAIhB;IAGD;;;;;OAKG;IACH,cAJW,OAAO,KACP,OAAO,GACL,IAAI,CAQhB;IAED;;;;OAIG;IACH,WAHW,OAAO,GACL,IAAI,CAIhB;IAED;;;;;;OAMG;IACH,QALW,MAAM,KACN,MAAM,KACN,MAAM,GACJ,IAAI,CAQhB;IAED;;;;;;OAMG;IACH,aALW,MAAM,KACN,MAAM,KACN,MAAM,GACJ,IAAI,CAIhB;IAED;;;;OAIG;IACH,gBAHW,OAAO,GACL,IAAI,CAIhB;IAED;;;;;OAKG;IACH,mBAJW,OAAO,KACP,OAAO,GACL,IAAI,CAQhB;IAED;;;;;;OAMG;IACH,WALW,MAAM,KACN,MAAM,KACN,MAAM,GACJ,IAAI,CAQhB;IAED;;;;OAIG;IACH,cAHW,OAAO,GACL,IAAI,CAIhB;IAED;;;;;;OAMG;IACH,iBAJW,OAAO,KACP,OAAO,GACN,OAAO,CAQlB;IAED;;;;OAIG;IACH,eAHW,MAAM,GACJ,IAAI,CAIhB;IAED;;;;OAIG;IACH,eAHW,MAAM,GACJ,IAAI,CAIhB;IAED;;;OAGG;IACH,SAFa,OAAO,CAInB;IAED;;;;OAIG;IACH,oBAHW,MAAM,GACJ,IAAI,CAOhB;IAED;;;OAGG;IACH,UAFa,OAAO,CAOnB;IAED;;;;OAIG;IACH,aAHW,OAAO,GACL,IAAI,CAIhB;IAED;;;;;OAKG;IACH,oBAJW,OAAO,UACP,OAAO,GACL,IAAI,CAWhB;IAED;;;;;;;;;OASG;IACH,kBARW,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,GACJ,IAAI,CAQhB;IAED;;;OAGG;IACH,OAFa,IAAI,CAQhB;IAED;;;;OAIG;IACH,OAHW,OAAO,GACL,MAAM,CAIlB;IAED;;;OAGG;IACH,UAFa,MAAM,CAIlB;IAED;;;;OAIG;IACH,aAFa,MAAM,CAIlB;IAED;;;OAGG;IACH,aAFa,IAAI,CAahB;IAED;;;OAGG;IACH,6BAHW,MAAM,GACL,OAAO,CAMlB;IAED;;;;OAIG;IACH,YAHW,OAAO,GAAC;QAAC,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAA;KAAC,GAClC,IAAI,CAIhB;IAGD;;;OAGG;IACH,UAFa,IAAI,CAQhB;IAED;;;;OAIG;IACH,kBAHW,OAAO,GACL,MAAM,CAIlB;IAED;;;;;;OAMG;IACH,eALW,MAAM,KACN,MAAM,KACN,MAAM,GACL,MAAM,CAOjB;IAED;;;;OAIG;IACH,qBAHW,OAAO,GACL,MAAM,CAMlB;IAED;;;;;;OAMG;IACH,kBALW,MAAM,KACN,MAAM,KACN,MAAM,GACL,MAAM,CAQjB;IAED;;;;OAIG;IACH,eAHW,OAAO,GACL,MAAM,CAOlB;IAED;;;;OAIG;IACH,gCAFa,IAAI,CA4BhB;IAED;;;;OAIG;IACH,QAFa,IAAI,CAQhB;IAED;;;;;OAKG;IACH,YAJW,OAAO,YACP,MAAM,GACJ,IAAI,CAIhB;IAED;;;;;;OAMG;IACH,eALW,OAAO,KACP,OAAO,YACP,MAAM,GACJ,IAAI,CAMhB;IAED;;;;;OAKG;IACH,aAJW,OAAO,YACP,MAAM,GACL,IAAI,CAIf;IAED;;;;;;OAMG;IACH,gBALW,OAAO,KACP,OAAO,YACP,MAAM,GACJ,IAAI,CAKhB;IAGD;;;;OAIG;IACH,iBAHW,UAAU,MAAM,CAAC,GAAC,MAAM,EAAE,GAAC,YAAY,GACrC,IAAI,CAchB;IAED;;;;;OAKG;IACH,0BAHW,UAAU,MAAM,CAAC,GAAC,MAAM,EAAE,GAAC,YAAY,GACrC,IAAI,CAoBhB;IAED;;;;OAIG;IACH,kBAHW,MAAM,EAAE,GAAC,YAAY,GACnB,IAAI,CAYhB;IAGD;;;;OAIG;IACH,+BAHW,UAAU,MAAM,CAAC,GAAC,MAAM,EAAE,GAAC,YAAY,GACrC,IAAI,CAShB;IAED;;;;OAIG;IACH,cAHW,OAAO,GACL,OAAO,CAInB;IAED;;;;;;OAMG;IACH,WALW,MAAM,KACN,MAAM,KACN,MAAM,GACL,OAAO,CAIlB;IAED;;;;;OAKG;IACH,qBAJW,OAAO,cACP,MAAM,GACL,OAAO,CAIlB;IAED;;;;;;;OAOG;IACH,kBANW,MAAM,KACN,MAAM,KACN,MAAM,cACN,MAAM,GACL,OAAO,CAMlB;IAED;;;OAGG;IACH,SAFa,IAAI,CAQhB;IAED;;;OAGG;IACH,SAFa,IAAI,CAQhB;IAED;;;OAGG;IACH,QAFa,IAAI,CAQhB;IAED;;;;OAIG;IACH,0BAHW,OAAO,GACL,IAAI,CAYhB;IAED;;;;;;;;;OASG;IACH,oBARW,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,GACJ,IAAI,CAkBhB;IAED;;;;;;OAMG;IACH,+BALW,MAAM,OACN,MAAM,SACN,MAAM,GACJ,IAAI,CAuBhB;IAED;;;;;OAKG;IACH,6CAFa,OAAO,CASnB;IAED;;;;MAMC;IAED;;;OAGG;IACH,eAFW;QAAC,CAAC,EAAC,MAAM,CAAC;QAAC,CAAC,EAAC,MAAM,CAAC;QAAC,CAAC,EAAC,MAAM,CAAA;KAAC,GAAC,MAAM,QAS/C;IAED,mBAEC;IAED;;;;OAIG;IACH,2CAIC;IAED;;;;OAIG;IACH,6CAMC;IAED;;;;OAIG;IACH,kDAIC;IAED;;;;OAIG;IACH,oDAMC;IAED,eAMC;IAgDL,2BAtfe,OAAO,KACL,MAAM,CAqfY;IAEnC,gBAxkBiB,MAAM,CAwkBG;IAC1B;;;OAGG;IACH,gCA99Be,MAAM,EAAE,GAAC,YAAY,WACrB,MAAM,KACJ,IAAI,CA49BU;IAC/B;;;OAGG;IACH,gCAt9Be,MAAM,EAAE,GAAC,YAAY,iBAAU,WAC/B,MAAM,KACJ,MAAM,EAAE,CAo9BK;IAC9B;;;OAGG;IACH,2BA39Be,MAAM,EAAE,GAAC,YAAY,iBAAU,WAC/B,MAAM,KACJ,MAAM,EAAE,CAy9BA;IA2DzB;;;OAGG;IACH,oBAFU,OAAO,CAEU;IArjCvB;;;OAGG;IACH,qBAFY,UAAU,MAAM,CAAC,CAQ5B;CAu9BJ;;cA0BS,OAAO;aAOP,OAAO;mBAOP,OAAO;YAMP,OAAO;cAMP,OAAO;cAMP,OAAO;eAMP,OAAO;iBAMP,OAAO;cAMP,OAAO;kBAYP,MAAM;;;mBAprCG,4BAA4B"}
+{"version":3,"file":"Vector3.d.ts","sourceRoot":"","sources":["../../../../src/core/geom/Vector3.js"],"names":[],"mappings":"AAeA;;;;;;;;;;;;;;GAcG;AACH,yCALwB,MAAM;IAoiC1B;;;;;OAKG;IACH,cAJW,OAAO,UAAQ,KACf,OAAO,UAAQ,GACb,MAAM,CAIlB;IAED;;;;;OAKG;IACH,mBAJW,OAAO,KACP,OAAO,GACL,MAAM,CAIlB;IAED;;;;;OAKG;IACH,wBAJW,MAAM,EAAE,WACR,MAAM,GACJ,OAAO,CAQnB;IAED;;;;OAIG;IACH,yBAHW,MAAM,GACJ,OAAO,CAInB;IAvkCD;;;;;OAKG;IACH,gBAJW,MAAM,MACN,MAAM,MACN,MAAM,EAuChB;IA3BG;;;;OAIG;IACH,YAFU,MAAM,CAEN;IAEV;;;;OAIG;IACH,YAFU,MAAM,CAEN;IAEV;;;;OAIG;IACH,YAFU,MAAM,CAEN;IAEV;;;;OAIG;IACH,oBAFU,OAAO,MAAM,EAAC,MAAM,EAAC,MAAM,EAAC,MAAM,EAAC,MAAM,EAAC,MAAM,CAAC,CAE9B;IA2BjC;;;OAGG;IACH,mBAEC;IA9BD;;;OAGG;IACH,gBAEC;IA0BD;;;OAGG;IACH,mBAEC;IA9BD;;;OAGG;IACH,gBAEC;IA0BD;;;OAGG;IACH,mBAEC;IA9BD;;;OAGG;IACH,gBAEC;IAsCD;;;;;OAKG;IACH,iBAJW,MAAM,EAAE,GAAC,YAAY,WACrB,MAAM,GACJ,IAAI,CAWhB;IAED;;;;OAIG;IACH,gBAJW,MAAM,EAAE,GAAC,YAAY,iBAAU,WAC/B,MAAM,GACJ,MAAM,EAAE,CAUpB;IAED;;;;;;OAMG;IACH,OALW,MAAM,KACN,MAAM,KACN,MAAM,GACJ,IAAI,CAgChB;IAED;;;;OAIG;IACH,aAHW,MAAM,GACJ,IAAI,CAIhB;IAED;;;;OAIG;IACH,QAHW,MAAM,GACJ,IAAI,CAIhB;IAED;;;;OAIG;IACH,QAHW,MAAM,GACJ,IAAI,CAIhB;IAED;;;;OAIG;IACH,QAHW,MAAM,GACJ,IAAI,CAIhB;IAED;;;;;OAKG;IACH,SAJW,MAAM,KACN,MAAM,GACJ,IAAI,CAIhB;IAED;;;;;OAKG;IACH,SAJW,MAAM,KACN,MAAM,GACJ,IAAI,CAIhB;IAED;;;;;OAKG;IACH,SAJW,MAAM,KACN,MAAM,GACJ,IAAI,CAIhB;IAED;;;;;OAKG;IACH,cAJW,OAAO,KACP,OAAO,GACL,IAAI,CAQhB;IAED;;;;OAIG;IACH,WAHW,OAAO,GACL,IAAI,CAIhB;IAED;;;;;;OAMG;IACH,QALW,MAAM,KACN,MAAM,KACN,MAAM,GACJ,IAAI,CAIhB;IAGD;;;;;OAKG;IACH,cAJW,OAAO,KACP,OAAO,GACL,IAAI,CAQhB;IAED;;;;OAIG;IACH,WAHW,OAAO,GACL,IAAI,CAIhB;IAED;;;;;;OAMG;IACH,QALW,MAAM,KACN,MAAM,KACN,MAAM,GACJ,IAAI,CAQhB;IAED;;;;;;OAMG;IACH,aALW,MAAM,KACN,MAAM,KACN,MAAM,GACJ,IAAI,CAIhB;IAED;;;;OAIG;IACH,gBAHW,OAAO,GACL,IAAI,CAIhB;IAED;;;;;OAKG;IACH,mBAJW,OAAO,KACP,OAAO,GACL,IAAI,CAQhB;IAED;;;;;;OAMG;IACH,WALW,MAAM,KACN,MAAM,KACN,MAAM,GACJ,IAAI,CAQhB;IAED;;;;OAIG;IACH,cAHW,OAAO,GACL,IAAI,CAIhB;IAED;;;;;;OAMG;IACH,iBAJW,OAAO,KACP,OAAO,GACN,OAAO,CAQlB;IAED;;;;OAIG;IACH,eAHW,MAAM,GACJ,IAAI,CAIhB;IAED;;;;OAIG;IACH,eAHW,MAAM,GACJ,IAAI,CAIhB;IAED;;;OAGG;IACH,SAFa,OAAO,CAInB;IAED;;;;OAIG;IACH,oBAHW,MAAM,GACJ,IAAI,CAOhB;IAED;;;OAGG;IACH,UAFa,OAAO,CAOnB;IAED;;;;OAIG;IACH,aAHW,OAAO,GACL,IAAI,CAIhB;IAED;;;;;OAKG;IACH,oBAJW,OAAO,UACP,OAAO,GACL,IAAI,CAWhB;IAED;;;;;;;;;OASG;IACH,kBARW,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,GACJ,IAAI,CAQhB;IAED;;;OAGG;IACH,OAFa,IAAI,CAQhB;IAED;;;;OAIG;IACH,OAHW,OAAO,GACL,MAAM,CAIlB;IAED;;;OAGG;IACH,UAFa,MAAM,CAIlB;IAED;;;;OAIG;IACH,aAFa,MAAM,CAIlB;IAED;;;OAGG;IACH,aAFa,IAAI,CAahB;IAED;;;OAGG;IACH,6BAHW,MAAM,GACL,OAAO,CAMlB;IAED;;;;OAIG;IACH,YAHW,OAAO,GAAC;QAAC,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAC;QAAA,CAAC,EAAC,MAAM,CAAA;KAAC,GAClC,IAAI,CAIhB;IAGD;;;OAGG;IACH,UAFa,IAAI,CAQhB;IAED;;;;OAIG;IACH,kBAHW,OAAO,GACL,MAAM,CAIlB;IAED;;;;;;OAMG;IACH,eALW,MAAM,KACN,MAAM,KACN,MAAM,GACL,MAAM,CAOjB;IAED;;;;OAIG;IACH,qBAHW,OAAO,GACL,MAAM,CAMlB;IAED;;;;;;OAMG;IACH,kBALW,MAAM,KACN,MAAM,KACN,MAAM,GACL,MAAM,CAQjB;IAED;;;;OAIG;IACH,eAHW,OAAO,GACL,MAAM,CAOlB;IAED;;;;OAIG;IACH,gCAFa,IAAI,CA8BhB;IAED;;;;OAIG;IACH,QAFa,IAAI,CAQhB;IAED;;;;;OAKG;IACH,YAJW,OAAO,YACP,MAAM,GACJ,IAAI,CAIhB;IAED;;;;;;OAMG;IACH,eALW,OAAO,KACP,OAAO,YACP,MAAM,GACJ,IAAI,CAMhB;IAED;;;;;OAKG;IACH,aAJW,OAAO,YACP,MAAM,GACL,IAAI,CAIf;IAED;;;;;;OAMG;IACH,gBALW,OAAO,KACP,OAAO,YACP,MAAM,GACJ,IAAI,CAKhB;IAGD;;;;OAIG;IACH,iBAHW,UAAU,MAAM,CAAC,GAAC,MAAM,EAAE,GAAC,YAAY,GACrC,IAAI,CAchB;IAED;;;;;OAKG;IACH,0BAHW,UAAU,MAAM,CAAC,GAAC,MAAM,EAAE,GAAC,YAAY,GACrC,IAAI,CAoBhB;IAED;;;;OAIG;IACH,kBAHW,MAAM,EAAE,GAAC,YAAY,GACnB,IAAI,CAYhB;IAGD;;;;OAIG;IACH,+BAHW,UAAU,MAAM,CAAC,GAAC,MAAM,EAAE,GAAC,YAAY,GACrC,IAAI,CAShB;IAED;;;;OAIG;IACH,cAHW,OAAO,GACL,OAAO,CAInB;IAED;;;;;;OAMG;IACH,WALW,MAAM,KACN,MAAM,KACN,MAAM,GACL,OAAO,CAIlB;IAED;;;;;OAKG;IACH,qBAJW,OAAO,cACP,MAAM,GACL,OAAO,CAIlB;IAED;;;;;;;OAOG;IACH,kBANW,MAAM,KACN,MAAM,KACN,MAAM,cACN,MAAM,GACL,OAAO,CAMlB;IAED;;;OAGG;IACH,SAFa,IAAI,CAQhB;IAED;;;OAGG;IACH,SAFa,IAAI,CAQhB;IAED;;;OAGG;IACH,QAFa,IAAI,CAQhB;IAED;;;;OAIG;IACH,0BAHW,OAAO,GACL,IAAI,CAYhB;IAED;;;;;;;;;OASG;IACH,oBARW,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,GACJ,IAAI,CAkBhB;IAED;;;;;;;;;OASG;IACH,+BALW,MAAM,OACN,MAAM,SACN,MAAM,GACJ,IAAI,CAuBhB;IAED;;;;;OAKG;IACH,6CAFa,OAAO,CASnB;IAED;;;;MAMC;IAED;;;OAGG;IACH,eAFW;QAAC,CAAC,EAAC,MAAM,CAAC;QAAC,CAAC,EAAC,MAAM,CAAC;QAAC,CAAC,EAAC,MAAM,CAAA;KAAC,GAAC,MAAM,QAS/C;IAED,mBAEC;IAED;;;;OAIG;IACH,2CAIC;IAED;;;;OAIG;IACH,6CAMC;IAED;;;;OAIG;IACH,kDAIC;IAED;;;;OAIG;IACH,oDAMC;IAED,eAMC;IAgDL,2BA3fe,OAAO,KACL,MAAM,CA0fY;IAEnC,gBA7kBiB,MAAM,CA6kBG;IAC1B;;;OAGG;IACH,gCAx+Be,MAAM,EAAE,GAAC,YAAY,WACrB,MAAM,KACJ,IAAI,CAs+BU;IAC/B;;;OAGG;IACH,gCA79Be,MAAM,EAAE,GAAC,YAAY,iBAAU,WAC/B,MAAM,KACJ,MAAM,EAAE,CA29BK;IAC9B;;;OAGG;IACH,2BAl+Be,MAAM,EAAE,GAAC,YAAY,iBAAU,WAC/B,MAAM,KACJ,MAAM,EAAE,CAg+BA;IA2DzB;;;OAGG;IACH,oBAFU,OAAO,CAEU;IA/jCvB;;;OAGG;IACH,qBAFY,UAAU,MAAM,CAAC,CAQ5B;CAi+BJ;;cA0BS,OAAO;aAOP,OAAO;mBAOP,OAAO;YAMP,OAAO;cAMP,OAAO;cAMP,OAAO;eAMP,OAAO;iBAMP,OAAO;cAMP,OAAO;kBAYP,MAAM;;;mBA9rCG,4BAA4B"}

package/src/core/geom/Vector3.js

@@ -39,11 +39,11 @@ export class Vector3 {
         assert.isNumber(x, 'x');
         assert.notNaN(x, 'x');
 
-        assert.isNumber(y, 'x');
-        assert.notNaN(y, 'x');
+        assert.isNumber(y, 'y');
+        assert.notNaN(y, 'y');
 
-        assert.isNumber(z, 'x');
-        assert.notNaN(z, 'x');
+        assert.isNumber(z, 'z');
+        assert.notNaN(z, 'z');
 
         /**
          * Do not assign directly, use {@link set} method instead
@@ -141,6 +141,9 @@ export class Vector3 {
      * @returns {this}
      */
     fromArray(array, offset = 0) {
+        assert.defined(array, "array");
+        assert.isNonNegativeInteger(offset, "offset");
+
         return this.set(
             array[offset],
             array[offset + 1],
@@ -154,6 +157,8 @@ export class Vector3 {
      * @returns {number[]}
      */
     toArray(array = [], offset = 0) {
+        assert.isNonNegativeInteger(offset, "offset");
+
         array[offset] = this.x;
         array[offset + 1] = this.y;
         array[offset + 2] = this.z;
@@ -659,6 +664,8 @@ export class Vector3 {
      * @returns {this}
      */
     applyQuaternion(q) {
+        // NOTE: the logic is inlines for speed
+
         //transform point into quaternion
 
         const x = this.x;
@@ -936,9 +943,9 @@ export class Vector3 {
 
         const d = v3_dot(x0, y0, z0, x1, y1, z1);
 
-        const mag2 = (x1 * x1 + y1 * y1 + z1 * z1);
+        const length_sqr = (x1 * x1 + y1 * y1 + z1 * z1);
 
-        const m = d / mag2;
+        const m = d / length_sqr;
 
         const x = x1 * m;
         const y = y1 * m;
@@ -949,6 +956,9 @@ export class Vector3 {
 
     /**
      * Convert spherical coordinates to cartesian
+     *
+     * We assume Y-up coordinate system.
+     *
      * @param {number} radius
      * @param {number} phi Also known as Azimuth
      * @param {number} theta Also known as Elevation

package/src/core/math/spline/spline3_hermite.d.ts

@@ -1,5 +1,5 @@
 /**
- * Perform cubic hermite interpolation
+ * Perform cubic Hermite interpolation
  * @see https://en.wikipedia.org/wiki/Cubic_Hermite_spline
  * @param {number} t normalized interpolation position in interval [0,1]
  * @param {number} p0 first value

package/src/core/math/spline/spline3_hermite.js

@@ -1,5 +1,5 @@
 /**
- * Perform cubic hermite interpolation
+ * Perform cubic Hermite interpolation
  * @see https://en.wikipedia.org/wiki/Cubic_Hermite_spline
  * @param {number} t normalized interpolation position in interval [0,1]
  * @param {number} p0 first value

package/src/core/math/spline/spline3_hermite_bounds.d.ts

@@ -1,5 +1,5 @@
 /**
- * Compute `y0,y1` bounds of a cubic hermite spline.
+ * Compute `y0,y1` bounds of a cubic Hermite spline.
  * Lower bound will be written into result[offset], upper bounds will be written into result[offset+result_stride]
  *
  * @param {number[]|Float32Array} result output will be written here, only y0 and y1

package/src/core/math/spline/spline3_hermite_bounds.js

@@ -4,7 +4,7 @@ import { min2 } from "../min2.js";
 import { spline3_hermite } from "./spline3_hermite.js";
 
 /**
- * Compute `y0,y1` bounds of a cubic hermite spline.
+ * Compute `y0,y1` bounds of a cubic Hermite spline.
  * Lower bound will be written into result[offset], upper bounds will be written into result[offset+result_stride]
  *
  * @param {number[]|Float32Array} result output will be written here, only y0 and y1
@@ -26,7 +26,7 @@ export function spline3_hermite_bounds(
 
     /*
      Solution is based on https://stackoverflow.com/questions/24809978/calculating-the-bounding-box-of-cubic-bezier-curve
-     Differentiation of hermite polynomial is done in WolframAlpha:
+     Differentiation of Hermite polynomial is done in WolframAlpha:
      0 = 3 t^2 (m0 + m1 + 2 p0 - 2 p1) - 2 t (2 m0 + m1 + 3 p0 - 3 p1) + m0
     */
 

package/src/core/math/spline/spline3_hermite_derivative.d.ts

@@ -1,12 +1,14 @@
 /**
- * Returns the first-order partial derivative of a hermite curve with control points p0, m0, p1, m1 at the parameter t in [0,1].
+ * Returns the first-order partial derivative of a Hermite curve with control points p0, m0, p1, m1 at the parameter t in [0,1].
  *
- * @param {number} t
- * @param {number} p0
- * @param {number} p1
- * @param {number} m0
- * @param {number} m1
+ * @param {number} t normalized interpolation position in interval [0,1]
+ * @param {number} p0 first value
+ * @param {number} p1 second value
+ * @param {number} m0 first tangent
+ * @param {number} m1 second tangent
  * @returns {number}
+ *
+ * @see spline3_hermite_integral
  */
 export function spline3_hermite_derivative(t: number, p0: number, p1: number, m0: number, m1: number): number;
 //# sourceMappingURL=spline3_hermite_derivative.d.ts.map

package/src/core/math/spline/spline3_hermite_derivative.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"spline3_hermite_derivative.d.ts","sourceRoot":"","sources":["../../../../../src/core/math/spline/spline3_hermite_derivative.js"],"names":[],"mappings":"AAAA;;;;;;;;;GASG;AACH,8CAPW,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,GACJ,MAAM,CAclB"}
+{"version":3,"file":"spline3_hermite_derivative.d.ts","sourceRoot":"","sources":["../../../../../src/core/math/spline/spline3_hermite_derivative.js"],"names":[],"mappings":"AAAA;;;;;;;;;;;GAWG;AACH,8CATW,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,GACJ,MAAM,CAgBlB"}

package/src/core/math/spline/spline3_hermite_derivative.js

@@ -1,12 +1,14 @@
 /**
- * Returns the first-order partial derivative of a hermite curve with control points p0, m0, p1, m1 at the parameter t in [0,1].
+ * Returns the first-order partial derivative of a Hermite curve with control points p0, m0, p1, m1 at the parameter t in [0,1].
  *
- * @param {number} t
- * @param {number} p0
- * @param {number} p1
- * @param {number} m0
- * @param {number} m1
+ * @param {number} t normalized interpolation position in interval [0,1]
+ * @param {number} p0 first value
+ * @param {number} p1 second value
+ * @param {number} m0 first tangent
+ * @param {number} m1 second tangent
  * @returns {number}
+ *
+ * @see spline3_hermite_integral
  */
 export function spline3_hermite_derivative(t, p0, p1, m0, m1) {
 
@@ -20,4 +22,5 @@ export function spline3_hermite_derivative(t, p0, p1, m0, m1) {
 
     return dcx1 * p0 + dcx2 * p1 + dcv1 * m0 + dcv2 * m1
 
-}
+}
+

package/src/core/math/spline/spline3_hermite_integral.d.ts

@@ -0,0 +1,14 @@
+/**
+ * Calculates the integral (area under the curve) of a cubic hermite spline from 0 to t.
+ *
+ * @param {number} t normalized interpolation position in interval [0,1]
+ * @param {number} p0 first value
+ * @param {number} p1 second value
+ * @param {number} m0 first tangent
+ * @param {number} m1 second tangent
+ * @returns {number} The definite integral from 0 to t
+ *
+ * @see spline3_hermite_derivative
+ */
+export function spline3_hermite_integral(t: number, p0: number, p1: number, m0: number, m1: number): number;
+//# sourceMappingURL=spline3_hermite_integral.d.ts.map

package/src/core/math/spline/spline3_hermite_integral.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"spline3_hermite_integral.d.ts","sourceRoot":"","sources":["../../../../../src/core/math/spline/spline3_hermite_integral.js"],"names":[],"mappings":"AAAA;;;;;;;;;;;GAWG;AACH,4CATW,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,MACN,MAAM,GACJ,MAAM,CA0BlB"}