@woosh/meep-engine 2.92.23 → 2.92.24

package/src/core/geom/Quaternion.js

@@ -21,6 +21,9 @@ const forward = new Vector3();
 const up = new Vector3();
 const right = new Vector3();
 
+const sin = Math.sin;
+const cos = Math.cos;
+
 class Quaternion {
     /**
      *
@@ -56,6 +59,8 @@ class Quaternion {
         this.onChanged = new Signal();
     }
 
+    // Making Quaternion comply to array interface
+
     get 0() {
         return this.x;
     }
@@ -88,6 +93,19 @@ class Quaternion {
         this.w = v;
     }
 
+    /**
+     * Making quaternion iterable
+     */
+    * [Symbol.iterator]() {
+
+        yield this.x;
+        yield this.y;
+        yield this.z;
+        yield this.w;
+
+    }
+
+
     /**
      *
      * @param {number} fx forward vector
@@ -128,58 +146,22 @@ class Quaternion {
 
         // construct partial transform matrix
         const m00 = right.x;
-        const m01 = right.y;
-        const m02 = right.z;
-        const m10 = up.x;
-        const m11 = up.y;
-        const m12 = up.z;
-        const m20 = forward.x;
-        const m21 = forward.y;
-        const m22 = forward.z;
-
-
-        const num8 = (m00 + m11) + m22;
-
-        let _x, _y, _z, _w;
-
-        if (num8 > 0) {
-            let num = Math.sqrt(num8 + 1);
-            _w = num * 0.5;
-            num = 0.5 / num;
-            _x = (m12 - m21) * num;
-            _y = (m20 - m02) * num;
-            _z = (m01 - m10) * num;
-        } else if ((m00 >= m11) && (m00 >= m22)) {
-
-            const num7 = Math.sqrt(((1 + m00) - m11) - m22);
-            const num4 = 0.5 / num7;
-
-            _x = 0.5 * num7;
-            _y = (m01 + m10) * num4;
-            _z = (m02 + m20) * num4;
-            _w = (m12 - m21) * num4;
-
-        } else if (m11 > m22) {
+        const m10 = right.y;
+        const m20 = right.z;
 
-            const num6 = Math.sqrt(((1 + m11) - m00) - m22);
-            const num3 = 0.5 / num6;
-
-            _x = (m10 + m01) * num3;
-            _y = 0.5 * num6;
-            _z = (m21 + m12) * num3;
-            _w = (m20 - m02) * num3;
-        } else {
-
-            const num5 = Math.sqrt(((1 + m22) - m00) - m11);
-            const num2 = 0.5 / num5;
+        const m01 = up.x;
+        const m11 = up.y;
+        const m21 = up.z;
 
-            _x = (m20 + m02) * num2;
-            _y = (m21 + m12) * num2;
-            _z = 0.5 * num5;
-            _w = (m01 - m10) * num2;
-        }
+        const m02 = forward.x;
+        const m12 = forward.y;
+        const m22 = forward.z;
 
-        this.set(_x, _y, _z, _w);
+        this.__setFromRotationMatrix(
+            m00, m01, m02,
+            m10, m11, m12,
+            m20, m21, m22
+        );
     }
 
     /**
@@ -187,13 +169,24 @@ class Quaternion {
      * @param {Vector3} vForward
      * @param {Vector3} [vUp=Vector3.up]
      *
-     * @source http://answers.unity3d.com/questions/467614/what-is-the-source-code-of-quaternionlookrotation.html
      */
     lookRotation(vForward, vUp = Vector3.up) {
 
         this._lookRotation(vForward.x, vForward.y, vForward.z, vUp.x, vUp.y, vUp.z);
     }
 
+    /**
+     *
+     * @param {Quaternion} other
+     * @return {number}
+     */
+    dot(other) {
+        return this.x * other.x
+            + this.y * other.y
+            + this.z * other.z
+            + this.w * other.w
+            ;
+    }
 
     /**
      *
@@ -213,14 +206,14 @@ class Quaternion {
         const z = this.z;
         const w = this.w;
 
-        const dot = x * x + y * y + z * z + w * w;
+        const length_sqr = x * x + y * y + z * z + w * w;
 
-        if (dot === 0) {
+        if (length_sqr === 0) {
             this.set(0, 0, 0, 0);
             return;
         }
 
-        const invDot = 1.0 / dot;
+        const invDot = 1.0 / length_sqr;
 
         const _x = -x * invDot;
         const _y = -y * invDot;
@@ -274,8 +267,8 @@ class Quaternion {
     _fromAxisAngle(ax, ay, az, angle) {
         const halfAngle = angle * 0.5;
 
-        const sinA2 = Math.sin(halfAngle);
-        const cosA2 = Math.cos(halfAngle);
+        const sinA2 = sin(halfAngle);
+        const cosA2 = cos(halfAngle);
 
         const qx = ax * sinA2;
         const qy = ay * sinA2;
@@ -357,7 +350,7 @@ class Quaternion {
     toAxisAngle(axis) {
         const rad = Math.acos(this.w) * 2.0;
 
-        const s = Math.sin(rad * 0.5);
+        const s = sin(rad * 0.5);
 
         if (Math.abs(s) > EPSILON) {
             axis.set(
@@ -400,7 +393,6 @@ class Quaternion {
     }
 
     /**
-     * @see http://www.euclideanspace.com/maths/algebra/realNormedAlgebra/quaternions/code/index.htm
      * @param {Quaternion} other
      */
     multiply(other) {
@@ -440,6 +432,8 @@ class Quaternion {
      */
     _multiplyQuaternions(ax, ay, az, aw, bx, by, bz, bw) {
 
+        // see http://www.euclideanspace.com/maths/algebra/realNormedAlgebra/quaternions/code/index.htm
+
         const x = ax * bw + aw * bx + ay * bz - az * by;
         const y = ay * bw + aw * by + az * bx - ax * bz;
         const z = az * bw + aw * bz + ax * by - ay * bx;
@@ -529,7 +523,7 @@ class Quaternion {
      * @param {number} x
      * @param {number} y
      * @param {number} z
-     * @param {String} order a combination of capital letters X,Y,Z. Examples: XYZ, YXZ
+     * @param {String} [order] a combination of capital letters X,Y,Z. Examples: XYZ, YXZ
      * @returns {Quaternion}
      */
     __setFromEuler(x, y, z, order = 'XYZ') {
@@ -560,6 +554,8 @@ class Quaternion {
 
             this.fromEulerAnglesXZY(x, y, z);
 
+        } else {
+            throw new Error(`Invalid order '${order}', bust be 3 capital letters consisting of X,Y and Z`);
         }
 
         return this;
@@ -684,9 +680,6 @@ class Quaternion {
         const half_y = y * 0.5;
         const half_z = z * 0.5;
 
-        const sin = Math.sin;
-        const cos = Math.cos;
-
         const s1 = sin(half_x);
         const s2 = sin(half_y);
         const s3 = sin(half_z);
@@ -717,9 +710,6 @@ class Quaternion {
         const scaled_y = y * 0.5;
         const scaled_z = z * 0.5;
 
-        const sin = Math.sin;
-        const cos = Math.cos;
-
         const s1 = sin(scaled_x);
         const s2 = sin(scaled_y);
         const s3 = sin(scaled_z);
@@ -750,9 +740,6 @@ class Quaternion {
         const scaled_y = y * 0.5;
         const scaled_z = z * 0.5;
 
-        const sin = Math.sin;
-        const cos = Math.cos;
-
         const s1 = sin(scaled_x);
         const s2 = sin(scaled_y);
         const s3 = sin(scaled_z);
@@ -783,9 +770,6 @@ class Quaternion {
         const scaled_y = y * 0.5;
         const scaled_z = z * 0.5;
 
-        const sin = Math.sin;
-        const cos = Math.cos;
-
         const s1 = sin(scaled_x);
         const s2 = sin(scaled_y);
         const s3 = sin(scaled_z);
@@ -816,9 +800,6 @@ class Quaternion {
         const scaled_y = y * 0.5;
         const scaled_z = z * 0.5;
 
-        const sin = Math.sin;
-        const cos = Math.cos;
-
         const s1 = sin(scaled_x);
         const s2 = sin(scaled_y);
         const s3 = sin(scaled_z);
@@ -849,9 +830,6 @@ class Quaternion {
         const scaled_y = y * 0.5;
         const scaled_z = z * 0.5;
 
-        const sin = Math.sin;
-        const cos = Math.cos;
-
         const s1 = sin(scaled_x);
         const s2 = sin(scaled_y);
         const s3 = sin(scaled_z);
@@ -1036,7 +1014,7 @@ class Quaternion {
     }
 
     /**
-     *
+     * @deprecated
      * @param {Matrix4} m
      */
     setFromRotationMatrix(m) {
@@ -1210,9 +1188,9 @@ class Quaternion {
         if ((1.0 - cosom) > EPSILON) {
             // standard case (slerp)
             omega = Math.acos(cosom);
-            sinom = Math.sin(omega);
-            scale0 = Math.sin((1.0 - t) * omega) / sinom;
-            scale1 = Math.sin(t * omega) / sinom;
+            sinom = sin(omega);
+            scale0 = sin((1.0 - t) * omega) / sinom;
+            scale1 = sin(t * omega) / sinom;
         } else {
             // "from" and "to" quaternions are very close
             //  ... so we can do a linear interpolation
@@ -1477,15 +1455,6 @@ class Quaternion {
             && epsilonEquals(this.w, w, tolerance);
     }
 
-    * [Symbol.iterator]() {
-
-        yield this.x;
-        yield this.y;
-        yield this.z;
-        yield this.w;
-
-    }
-
     /**
      * Based on http://planning.cs.uiuc.edu/node198.html
      * @param {function():number} [random]
@@ -1502,10 +1471,10 @@ class Quaternion {
         const u3 = 2 * Math.PI * random();
 
         return this.set(
-            sqrt1u1 * Math.cos(u2),
-            sqrtu1 * Math.sin(u3),
-            sqrtu1 * Math.cos(u3),
-            sqrt1u1 * Math.sin(u2),
+            sqrt1u1 * cos(u2),
+            sqrtu1 * sin(u3),
+            sqrtu1 * cos(u3),
+            sqrt1u1 * sin(u2),
         );
     }
 
@@ -1554,6 +1523,7 @@ class Quaternion {
         const angle = from.angleTo(to);
 
         if (angle === 0) {
+            // we're already where we need tobe. Also - avoid division by 0
             result.copy(to);
         } else {
             // clamp to 1, to make sure we don't overshoot
@@ -1584,10 +1554,4 @@ const axis = new Vector3();
 
 const tempvec3 = new Vector3();
 
-/**
- * Used in UINT32 packing
- * @type {number}
- */
-const K_CONST = 0.70710678118; // 1/sqrt(2)
-
 export default Quaternion;

package/src/engine/animation/curve/AnimationCurve.spec.js

@@ -119,9 +119,10 @@ test("extreme tangent interpolation", () => {
     const curve = new AnimationCurve();
 
     curve.add(Keyframe.from(0, 1, 0, -1));
-    curve.add(Keyframe.from(1, 2, 1, 0));
+    curve.add(Keyframe.from(1, 2, -1, 0));
 
-    expect(curve.evaluate(0.5)).toBe(0.5);
+    expect(curve.evaluate(0.1)).toBeLessThan(1);
+    expect(curve.evaluate(0.9)).toBeGreaterThan(2);
 
 });