@openhps/core/dist/esm5/utils/math/Quaternion.js

Open Hybrid Positioning System - Core component

var Quaternion_1;
import { __decorate, __metadata } from "tslib";
import { SerializableObject, SerializableMember, NumberType } from '../../data/decorators';
import * as THREE from './_internal';
import { Euler } from './Euler';
import { Matrix4 } from './Matrix4';
import { AxisAngle } from './AxisAngle';
import { Vector3 } from './Vector3';
/**
 * Serializable THREE.js Quaternion
 */
let Quaternion = Quaternion_1 = class Quaternion extends THREE.Quaternion {
  /**
   * Convert a threejs quaternion to serializable quaternion
   * @param {THREE.Quaternion} threeQuaternion ThreeJS created quaternion
   * @returns {Quaternion} Serializable quaternion
   */
  static fromThreeJS(threeQuaternion) {
    const quaternion = new this();
    quaternion.x = threeQuaternion.x;
    quaternion.y = threeQuaternion.y;
    quaternion.z = threeQuaternion.z;
    quaternion.w = threeQuaternion.w;
    return quaternion;
  }
  static fromEuler(euler) {
    const quaternion = new this();
    if (euler instanceof Euler) {
      quaternion.setFromEuler(euler);
    } else if (euler instanceof Vector3) {
      quaternion.setFromEuler(new Euler(euler.x, euler.y, euler.z));
    } else if (euler instanceof Array) {
      quaternion.setFromEuler(new Euler(euler[0], euler[1], euler[2]));
    } else if (euler['yaw'] === undefined) {
      quaternion.setFromEuler(new Euler(euler.x, euler.y, euler.z, euler.order, euler.unit));
    } else {
      quaternion.setFromEuler(new Euler(euler.roll, euler.pitch, euler.yaw, 'ZYX', euler.unit));
    }
    return quaternion;
  }
  static fromAxisAngle(axis) {
    const quaternion = new this();
    if (axis instanceof AxisAngle) {
      quaternion.setFromAxisAngle(new Vector3(axis.x, axis.y, axis.z), axis.angle);
    } else if (axis instanceof Array) {
      const axisAngle = new AxisAngle(axis[0], axis[1], axis[2], axis.length === 4 ? axis[3] : null);
      quaternion.setFromAxisAngle(axisAngle, axisAngle.angle);
    } else {
      const axisAngle = new AxisAngle(axis.x, axis.y, axis.z, axis.angle ? axis.angle : null, axis.unit);
      quaternion.setFromAxisAngle(axisAngle, axisAngle.angle);
    }
    return quaternion;
  }
  /**
   * Convert rotation matrix to quaternion
   * @param {Quaternion} this This type
   * @param {Matrix4} matrix Rotation matrix
   * @returns {Quaternion} Serializable quaternion
   */
  static fromRotationMatrix(matrix) {
    const quaternion = new this();
    quaternion.setFromRotationMatrix(matrix);
    return quaternion;
  }
  /**
   * Convert the quaternion to euler angles
   * @param {EulerOrder} order Euler order
   * @returns {Euler} Converted euler
   */
  toEuler(order) {
    return Euler.fromQuaternion(this, order);
  }
  /**
   * Convert the quaternion to axis angles
   * @returns {AxisAngle} Converted axis angle
   */
  toAxisAngle() {
    return AxisAngle.fromQuaternion(this);
  }
  /**
   * Convert quaternion to rotation matrix
   * @returns {Matrix4} Rotation matrix
   */
  toRotationMatrix() {
    return Matrix4.rotationFromQuaternion(this);
  }
  clone() {
    return new this.constructor().copy(this);
  }
};
__decorate([SerializableMember({
  numberType: NumberType.DECIMAL
}), __metadata("design:type", Number)], Quaternion.prototype, "x", void 0);
__decorate([SerializableMember({
  numberType: NumberType.DECIMAL
}), __metadata("design:type", Number)], Quaternion.prototype, "y", void 0);
__decorate([SerializableMember({
  numberType: NumberType.DECIMAL
}), __metadata("design:type", Number)], Quaternion.prototype, "z", void 0);
__decorate([SerializableMember({
  numberType: NumberType.DECIMAL
}), __metadata("design:type", Number)], Quaternion.prototype, "w", void 0);
Quaternion = Quaternion_1 = __decorate([SerializableObject()], Quaternion);
export { Quaternion };