@xtor/cga.js/old-src/math/Euler.js

Xtor Compute Geometry Algorithm Libary 计算几何算法库

import { quat } from "./Quaternion.js";
import { v3 } from "./Vector3.js";
import { m4 } from "./Matrix4.js";
import { clamp } from "./Math.js";

var _matrix = m4();
var _quaternion = quat();

const RotationOrders = ["XYZ", "YZX", "ZXY", "XZY", "YXZ", "ZYX"];
const DefaultOrder = "XYZ";
export class Euler {
  constructor(x, y, z, order) {
    this._x = x || 0;
    this._y = y || 0;
    this._z = z || 0;
    this._order = order || Euler.DefaultOrder;
    this.isEuler = true;
  }

  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 order() {
    return this._order;
  }

  set order(value) {
    this._order = value;
    this._onChangeCallback();
  }

  set(x, y, z, order) {
    this._x = x;
    this._y = y;
    this._z = z;
    this._order = order || this._order;

    this._onChangeCallback();

    return this;
  }

  clone() {
    return new this.constructor(this._x, this._y, this._z, this._order);
  }

  copy(euler) {
    this._x = euler._x;
    this._y = euler._y;
    this._z = euler._z;
    this._order = euler._order;

    this._onChangeCallback();

    return this;
  }

  setFromRotationMatrix(m, order, update) {
    // assumes the upper 3x3 of m is a pure rotation matrix (i.e, unscaled)

    var te = m.elements;
    var m11 = te[0],
      m12 = te[4],
      m13 = te[8];
    var m21 = te[1],
      m22 = te[5],
      m23 = te[9];
    var m31 = te[2],
      m32 = te[6],
      m33 = te[10];

    order = order || this._order;

    if (order === "XYZ")
    {
      this._y = Math.asin(clamp(m13, -1, 1));

      if (Math.abs(m13) < 0.9999999)
      {
        this._x = Math.atan2(-m23, m33);
        this._z = Math.atan2(-m12, m11);
      } else
      {
        this._x = Math.atan2(m32, m22);
        this._z = 0;
      }
    } else if (order === "YXZ")
    {
      this._x = Math.asin(-clamp(m23, -1, 1));

      if (Math.abs(m23) < 0.9999999)
      {
        this._y = Math.atan2(m13, m33);
        this._z = Math.atan2(m21, m22);
      } else
      {
        this._y = Math.atan2(-m31, m11);
        this._z = 0;
      }
    } else if (order === "ZXY")
    {
      this._x = Math.asin(clamp(m32, -1, 1));

      if (Math.abs(m32) < 0.9999999)
      {
        this._y = Math.atan2(-m31, m33);
        this._z = Math.atan2(-m12, m22);
      } else
      {
        this._y = 0;
        this._z = Math.atan2(m21, m11);
      }
    } else if (order === "ZYX")
    {
      this._y = Math.asin(-clamp(m31, -1, 1));

      if (Math.abs(m31) < 0.9999999)
      {
        this._x = Math.atan2(m32, m33);
        this._z = Math.atan2(m21, m11);
      } else
      {
        this._x = 0;
        this._z = Math.atan2(-m12, m22);
      }
    } else if (order === "YZX")
    {
      this._z = Math.asin(clamp(m21, -1, 1));

      if (Math.abs(m21) < 0.9999999)
      {
        this._x = Math.atan2(-m23, m22);
        this._y = Math.atan2(-m31, m11);
      } else
      {
        this._x = 0;
        this._y = Math.atan2(m13, m33);
      }
    } else if (order === "XZY")
    {
      this._z = Math.asin(-clamp(m12, -1, 1));

      if (Math.abs(m12) < 0.9999999)
      {
        this._x = Math.atan2(m32, m22);
        this._y = Math.atan2(m13, m11);
      } else
      {
        this._x = Math.atan2(-m23, m33);
        this._y = 0;
      }
    } else
    {
      console.warn(
        "Euler: .setFromRotationMatrix() given unsupported order: " + order
      );
    }

    this._order = order;

    if (update !== false) this._onChangeCallback();

    return this;
  }

  setFromQuaternion(q, order, update) {
    _matrix.makeRotationFromQuaternion(q);

    return this.setFromRotationMatrix(_matrix, order, update);
  }

  setFromVector3(v, order) {
    return this.set(v.x, v.y, v.z, order || this._order);
  }

  reorder(newOrder) {
    // WARNING: this discards revolution information -bhouston

    _quaternion.setFromEuler(this);

    return this.setFromQuaternion(_quaternion, newOrder);
  }

  equals(euler) {
    return (
      euler._x === this._x &&
      euler._y === this._y &&
      euler._z === this._z &&
      euler._order === this._order
    );
  }

  fromArray(array) {
    this._x = array[0];
    this._y = array[1];
    this._z = array[2];
    if (array[3] !== undefined) this._order = array[3];

    this._onChangeCallback();

    return this;
  }

  toArray(array, offset) {
    if (array === undefined) array = [];
    if (offset === undefined) offset = 0;

    array[offset] = this._x;
    array[offset + 1] = this._y;
    array[offset + 2] = this._z;
    array[offset + 3] = this._order;

    return array;
  }

  toVector3(optionalResult) {
    if (optionalResult)
    {
      return optionalResult.set(this._x, this._y, this._z);
    } else
    {
      return v3(this._x, this._y, this._z);
    }
  }

  _onChange(callback) {
    this._onChangeCallback = callback;

    return this;
  }

  _onChangeCallback() { }
}
export function euler(x, y, z) {
  return Euler(x, y, z);
}