poly-extrude 0.5.0 → 0.7.0

package/src/math/Quaternion.js

@@ -0,0 +1,688 @@
+// code copy from https://github.com/mrdoob/three.js/blob/dev/src/math/Quaternion.js
+
+// import { clamp } from './MathUtils.js';
+
+class Quaternion {
+
+    constructor(x = 0, y = 0, z = 0, w = 1) {
+
+        this.isQuaternion = true;
+
+        this._x = x;
+        this._y = y;
+        this._z = z;
+        this._w = w;
+
+    }
+
+    static slerpFlat(dst, dstOffset, src0, srcOffset0, src1, srcOffset1, t) {
+
+        // fuzz-free, array-based Quaternion SLERP operation
+
+        let x0 = src0[srcOffset0 + 0],
+            y0 = src0[srcOffset0 + 1],
+            z0 = src0[srcOffset0 + 2],
+            w0 = src0[srcOffset0 + 3];
+
+        const x1 = src1[srcOffset1 + 0],
+            y1 = src1[srcOffset1 + 1],
+            z1 = src1[srcOffset1 + 2],
+            w1 = src1[srcOffset1 + 3];
+
+        if (t === 0) {
+
+            dst[dstOffset + 0] = x0;
+            dst[dstOffset + 1] = y0;
+            dst[dstOffset + 2] = z0;
+            dst[dstOffset + 3] = w0;
+            return;
+
+        }
+
+        if (t === 1) {
+
+            dst[dstOffset + 0] = x1;
+            dst[dstOffset + 1] = y1;
+            dst[dstOffset + 2] = z1;
+            dst[dstOffset + 3] = w1;
+            return;
+
+        }
+
+        if (w0 !== w1 || x0 !== x1 || y0 !== y1 || z0 !== z1) {
+
+            let s = 1 - t;
+            const cos = x0 * x1 + y0 * y1 + z0 * z1 + w0 * w1,
+                dir = (cos >= 0 ? 1 : -1),
+                sqrSin = 1 - cos * cos;
+
+            // Skip the Slerp for tiny steps to avoid numeric problems:
+            if (sqrSin > Number.EPSILON) {
+
+                const sin = Math.sqrt(sqrSin),
+                    len = Math.atan2(sin, cos * dir);
+
+                s = Math.sin(s * len) / sin;
+                t = Math.sin(t * len) / sin;
+
+            }
+
+            const tDir = t * dir;
+
+            x0 = x0 * s + x1 * tDir;
+            y0 = y0 * s + y1 * tDir;
+            z0 = z0 * s + z1 * tDir;
+            w0 = w0 * s + w1 * tDir;
+
+            // Normalize in case we just did a lerp:
+            if (s === 1 - t) {
+
+                const f = 1 / Math.sqrt(x0 * x0 + y0 * y0 + z0 * z0 + w0 * w0);
+
+                x0 *= f;
+                y0 *= f;
+                z0 *= f;
+                w0 *= f;
+
+            }
+
+        }
+
+        dst[dstOffset] = x0;
+        dst[dstOffset + 1] = y0;
+        dst[dstOffset + 2] = z0;
+        dst[dstOffset + 3] = w0;
+
+    }
+
+    static multiplyQuaternionsFlat(dst, dstOffset, src0, srcOffset0, src1, srcOffset1) {
+
+        const x0 = src0[srcOffset0];
+        const y0 = src0[srcOffset0 + 1];
+        const z0 = src0[srcOffset0 + 2];
+        const w0 = src0[srcOffset0 + 3];
+
+        const x1 = src1[srcOffset1];
+        const y1 = src1[srcOffset1 + 1];
+        const z1 = src1[srcOffset1 + 2];
+        const w1 = src1[srcOffset1 + 3];
+
+        dst[dstOffset] = x0 * w1 + w0 * x1 + y0 * z1 - z0 * y1;
+        dst[dstOffset + 1] = y0 * w1 + w0 * y1 + z0 * x1 - x0 * z1;
+        dst[dstOffset + 2] = z0 * w1 + w0 * z1 + x0 * y1 - y0 * x1;
+        dst[dstOffset + 3] = w0 * w1 - x0 * x1 - y0 * y1 - z0 * z1;
+
+        return dst;
+
+    }
+
+    get x() {
+
+        return this._x;
+
+    }
+
+    set x(value) {
+
+        this._x = value;
+        this._onChangeCallback();
+
+    }
+
+    get y() {
+
+        return this._y;
+
+    }
+
+    set y(value) {
+
+        this._y = value;
+        this._onChangeCallback();
+
+    }
+
+    get z() {
+
+        return this._z;
+
+    }
+
+    set z(value) {
+
+        this._z = value;
+        this._onChangeCallback();
+
+    }
+
+    get w() {
+
+        return this._w;
+
+    }
+
+    set w(value) {
+
+        this._w = value;
+        this._onChangeCallback();
+
+    }
+
+    set(x, y, z, w) {
+
+        this._x = x;
+        this._y = y;
+        this._z = z;
+        this._w = w;
+
+        this._onChangeCallback();
+
+        return this;
+
+    }
+
+    clone() {
+
+        return new this.constructor(this._x, this._y, this._z, this._w);
+
+    }
+
+    copy(quaternion) {
+
+        this._x = quaternion.x;
+        this._y = quaternion.y;
+        this._z = quaternion.z;
+        this._w = quaternion.w;
+
+        this._onChangeCallback();
+
+        return this;
+
+    }
+
+    setFromEuler(euler, update = true) {
+
+        const x = euler._x, y = euler._y, z = euler._z, order = euler._order;
+
+        // http://www.mathworks.com/matlabcentral/fileexchange/
+        // 20696-function-to-convert-between-dcm-euler-angles-quaternions-and-euler-vectors/
+        // content/SpinCalc.m
+
+        const cos = Math.cos;
+        const sin = Math.sin;
+
+        const c1 = cos(x / 2);
+        const c2 = cos(y / 2);
+        const c3 = cos(z / 2);
+
+        const s1 = sin(x / 2);
+        const s2 = sin(y / 2);
+        const s3 = sin(z / 2);
+
+        switch (order) {
+
+            case 'XYZ':
+                this._x = s1 * c2 * c3 + c1 * s2 * s3;
+                this._y = c1 * s2 * c3 - s1 * c2 * s3;
+                this._z = c1 * c2 * s3 + s1 * s2 * c3;
+                this._w = c1 * c2 * c3 - s1 * s2 * s3;
+                break;
+
+            case 'YXZ':
+                this._x = s1 * c2 * c3 + c1 * s2 * s3;
+                this._y = c1 * s2 * c3 - s1 * c2 * s3;
+                this._z = c1 * c2 * s3 - s1 * s2 * c3;
+                this._w = c1 * c2 * c3 + s1 * s2 * s3;
+                break;
+
+            case 'ZXY':
+                this._x = s1 * c2 * c3 - c1 * s2 * s3;
+                this._y = c1 * s2 * c3 + s1 * c2 * s3;
+                this._z = c1 * c2 * s3 + s1 * s2 * c3;
+                this._w = c1 * c2 * c3 - s1 * s2 * s3;
+                break;
+
+            case 'ZYX':
+                this._x = s1 * c2 * c3 - c1 * s2 * s3;
+                this._y = c1 * s2 * c3 + s1 * c2 * s3;
+                this._z = c1 * c2 * s3 - s1 * s2 * c3;
+                this._w = c1 * c2 * c3 + s1 * s2 * s3;
+                break;
+
+            case 'YZX':
+                this._x = s1 * c2 * c3 + c1 * s2 * s3;
+                this._y = c1 * s2 * c3 + s1 * c2 * s3;
+                this._z = c1 * c2 * s3 - s1 * s2 * c3;
+                this._w = c1 * c2 * c3 - s1 * s2 * s3;
+                break;
+
+            case 'XZY':
+                this._x = s1 * c2 * c3 - c1 * s2 * s3;
+                this._y = c1 * s2 * c3 - s1 * c2 * s3;
+                this._z = c1 * c2 * s3 + s1 * s2 * c3;
+                this._w = c1 * c2 * c3 + s1 * s2 * s3;
+                break;
+
+            default:
+                console.warn('THREE.Quaternion: .setFromEuler() encountered an unknown order: ' + order);
+
+        }
+
+        if (update === true) this._onChangeCallback();
+
+        return this;
+
+    }
+
+    setFromAxisAngle(axis, angle) {
+
+        // http://www.euclideanspace.com/maths/geometry/rotations/conversions/angleToQuaternion/index.htm
+
+        // assumes axis is normalized
+
+        const halfAngle = angle / 2, s = Math.sin(halfAngle);
+
+        this._x = axis.x * s;
+        this._y = axis.y * s;
+        this._z = axis.z * s;
+        this._w = Math.cos(halfAngle);
+
+        this._onChangeCallback();
+
+        return this;
+
+    }
+
+    setFromRotationMatrix(m) {
+
+        // http://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToQuaternion/index.htm
+
+        // assumes the upper 3x3 of m is a pure rotation matrix (i.e, unscaled)
+
+        const te = m.elements,
+
+            m11 = te[0], m12 = te[4], m13 = te[8],
+            m21 = te[1], m22 = te[5], m23 = te[9],
+            m31 = te[2], m32 = te[6], m33 = te[10],
+
+            trace = m11 + m22 + m33;
+
+        if (trace > 0) {
+
+            const s = 0.5 / Math.sqrt(trace + 1.0);
+
+            this._w = 0.25 / s;
+            this._x = (m32 - m23) * s;
+            this._y = (m13 - m31) * s;
+            this._z = (m21 - m12) * s;
+
+        } else if (m11 > m22 && m11 > m33) {
+
+            const s = 2.0 * Math.sqrt(1.0 + m11 - m22 - m33);
+
+            this._w = (m32 - m23) / s;
+            this._x = 0.25 * s;
+            this._y = (m12 + m21) / s;
+            this._z = (m13 + m31) / s;
+
+        } else if (m22 > m33) {
+
+            const s = 2.0 * Math.sqrt(1.0 + m22 - m11 - m33);
+
+            this._w = (m13 - m31) / s;
+            this._x = (m12 + m21) / s;
+            this._y = 0.25 * s;
+            this._z = (m23 + m32) / s;
+
+        } else {
+
+            const s = 2.0 * Math.sqrt(1.0 + m33 - m11 - m22);
+
+            this._w = (m21 - m12) / s;
+            this._x = (m13 + m31) / s;
+            this._y = (m23 + m32) / s;
+            this._z = 0.25 * s;
+
+        }
+
+        this._onChangeCallback();
+
+        return this;
+
+    }
+
+    setFromUnitVectors(vFrom, vTo) {
+
+        // assumes direction vectors vFrom and vTo are normalized
+
+        let r = vFrom.dot(vTo) + 1;
+
+        if (r < Number.EPSILON) {
+
+            // vFrom and vTo point in opposite directions
+
+            r = 0;
+
+            if (Math.abs(vFrom.x) > Math.abs(vFrom.z)) {
+
+                this._x = -vFrom.y;
+                this._y = vFrom.x;
+                this._z = 0;
+                this._w = r;
+
+            } else {
+
+                this._x = 0;
+                this._y = -vFrom.z;
+                this._z = vFrom.y;
+                this._w = r;
+
+            }
+
+        } else {
+
+            // crossVectors( vFrom, vTo ); // inlined to avoid cyclic dependency on Vector3
+
+            this._x = vFrom.y * vTo.z - vFrom.z * vTo.y;
+            this._y = vFrom.z * vTo.x - vFrom.x * vTo.z;
+            this._z = vFrom.x * vTo.y - vFrom.y * vTo.x;
+            this._w = r;
+
+        }
+
+        return this.normalize();
+
+    }
+
+    // angleTo(q) {
+
+    //     return 2 * Math.acos(Math.abs(clamp(this.dot(q), -1, 1)));
+
+    // }
+
+    rotateTowards(q, step) {
+
+        const angle = this.angleTo(q);
+
+        if (angle === 0) return this;
+
+        const t = Math.min(1, step / angle);
+
+        this.slerp(q, t);
+
+        return this;
+
+    }
+
+    identity() {
+
+        return this.set(0, 0, 0, 1);
+
+    }
+
+    invert() {
+
+        // quaternion is assumed to have unit length
+
+        return this.conjugate();
+
+    }
+
+    conjugate() {
+
+        this._x *= -1;
+        this._y *= -1;
+        this._z *= -1;
+
+        this._onChangeCallback();
+
+        return this;
+
+    }
+
+    dot(v) {
+
+        return this._x * v._x + this._y * v._y + this._z * v._z + this._w * v._w;
+
+    }
+
+    lengthSq() {
+
+        return this._x * this._x + this._y * this._y + this._z * this._z + this._w * this._w;
+
+    }
+
+    length() {
+
+        return Math.sqrt(this._x * this._x + this._y * this._y + this._z * this._z + this._w * this._w);
+
+    }
+
+    normalize() {
+
+        let l = this.length();
+
+        if (l === 0) {
+
+            this._x = 0;
+            this._y = 0;
+            this._z = 0;
+            this._w = 1;
+
+        } else {
+
+            l = 1 / l;
+
+            this._x = this._x * l;
+            this._y = this._y * l;
+            this._z = this._z * l;
+            this._w = this._w * l;
+
+        }
+
+        this._onChangeCallback();
+
+        return this;
+
+    }
+
+    multiply(q) {
+
+        return this.multiplyQuaternions(this, q);
+
+    }
+
+    premultiply(q) {
+
+        return this.multiplyQuaternions(q, this);
+
+    }
+
+    multiplyQuaternions(a, b) {
+
+        // from http://www.euclideanspace.com/maths/algebra/realNormedAlgebra/quaternions/code/index.htm
+
+        const qax = a._x, qay = a._y, qaz = a._z, qaw = a._w;
+        const qbx = b._x, qby = b._y, qbz = b._z, qbw = b._w;
+
+        this._x = qax * qbw + qaw * qbx + qay * qbz - qaz * qby;
+        this._y = qay * qbw + qaw * qby + qaz * qbx - qax * qbz;
+        this._z = qaz * qbw + qaw * qbz + qax * qby - qay * qbx;
+        this._w = qaw * qbw - qax * qbx - qay * qby - qaz * qbz;
+
+        this._onChangeCallback();
+
+        return this;
+
+    }
+
+    slerp(qb, t) {
+
+        if (t === 0) return this;
+        if (t === 1) return this.copy(qb);
+
+        const x = this._x, y = this._y, z = this._z, w = this._w;
+
+        // http://www.euclideanspace.com/maths/algebra/realNormedAlgebra/quaternions/slerp/
+
+        let cosHalfTheta = w * qb._w + x * qb._x + y * qb._y + z * qb._z;
+
+        if (cosHalfTheta < 0) {
+
+            this._w = -qb._w;
+            this._x = -qb._x;
+            this._y = -qb._y;
+            this._z = -qb._z;
+
+            cosHalfTheta = -cosHalfTheta;
+
+        } else {
+
+            this.copy(qb);
+
+        }
+
+        if (cosHalfTheta >= 1.0) {
+
+            this._w = w;
+            this._x = x;
+            this._y = y;
+            this._z = z;
+
+            return this;
+
+        }
+
+        const sqrSinHalfTheta = 1.0 - cosHalfTheta * cosHalfTheta;
+
+        if (sqrSinHalfTheta <= Number.EPSILON) {
+
+            const s = 1 - t;
+            this._w = s * w + t * this._w;
+            this._x = s * x + t * this._x;
+            this._y = s * y + t * this._y;
+            this._z = s * z + t * this._z;
+
+            this.normalize(); // normalize calls _onChangeCallback()
+
+            return this;
+
+        }
+
+        const sinHalfTheta = Math.sqrt(sqrSinHalfTheta);
+        const halfTheta = Math.atan2(sinHalfTheta, cosHalfTheta);
+        const ratioA = Math.sin((1 - t) * halfTheta) / sinHalfTheta,
+            ratioB = Math.sin(t * halfTheta) / sinHalfTheta;
+
+        this._w = (w * ratioA + this._w * ratioB);
+        this._x = (x * ratioA + this._x * ratioB);
+        this._y = (y * ratioA + this._y * ratioB);
+        this._z = (z * ratioA + this._z * ratioB);
+
+        this._onChangeCallback();
+
+        return this;
+
+    }
+
+    slerpQuaternions(qa, qb, t) {
+
+        return this.copy(qa).slerp(qb, t);
+
+    }
+
+    random() {
+
+        // sets this quaternion to a uniform random unit quaternnion
+
+        // Ken Shoemake
+        // Uniform random rotations
+        // D. Kirk, editor, Graphics Gems III, pages 124-132. Academic Press, New York, 1992.
+
+        const theta1 = 2 * Math.PI * Math.random();
+        const theta2 = 2 * Math.PI * Math.random();
+
+        const x0 = Math.random();
+        const r1 = Math.sqrt(1 - x0);
+        const r2 = Math.sqrt(x0);
+
+        return this.set(
+            r1 * Math.sin(theta1),
+            r1 * Math.cos(theta1),
+            r2 * Math.sin(theta2),
+            r2 * Math.cos(theta2)
+        );
+
+    }
+
+    equals(quaternion) {
+
+        return (quaternion._x === this._x) && (quaternion._y === this._y) && (quaternion._z === this._z) && (quaternion._w === this._w);
+
+    }
+
+    fromArray(array, offset = 0) {
+
+        this._x = array[offset];
+        this._y = array[offset + 1];
+        this._z = array[offset + 2];
+        this._w = array[offset + 3];
+
+        this._onChangeCallback();
+
+        return this;
+
+    }
+
+    toArray(array = [], offset = 0) {
+
+        array[offset] = this._x;
+        array[offset + 1] = this._y;
+        array[offset + 2] = this._z;
+        array[offset + 3] = this._w;
+
+        return array;
+
+    }
+
+    fromBufferAttribute(attribute, index) {
+
+        this._x = attribute.getX(index);
+        this._y = attribute.getY(index);
+        this._z = attribute.getZ(index);
+        this._w = attribute.getW(index);
+
+        this._onChangeCallback();
+
+        return this;
+
+    }
+
+    toJSON() {
+
+        return this.toArray();
+
+    }
+
+    _onChange(callback) {
+
+        this._onChangeCallback = callback;
+
+        return this;
+
+    }
+
+    _onChangeCallback() { }
+
+    * [Symbol.iterator]() {
+
+        yield this._x;
+        yield this._y;
+        yield this._z;
+        yield this._w;
+
+    }
+
+}
+
+export { Quaternion };