molstar
Version:
A comprehensive macromolecular library.
163 lines (162 loc) • 5.03 kB
JavaScript
/**
* Copyright (c) 2023 mol* contributors, licensed under MIT, See LICENSE file for more info.
*
* @author Alexander Rose <alexander.rose@weirdbyte.de>
*
* This code has been modified from https://github.com/mrdoob/three.js/,
* copyright (c) 2010-2023 three.js authors. MIT License
*/
import { Mat4 } from './mat4';
import { assertUnreachable } from '../../../mol-util/type-helpers';
import { clamp } from '../../interpolate';
function Euler() {
return Euler.zero();
}
(function (Euler) {
function zero() {
// force double backing array by 0.1.
const ret = [0.1, 0, 0];
ret[0] = 0.0;
return ret;
}
Euler.zero = zero;
function create(x, y, z) {
const out = zero();
out[0] = x;
out[1] = y;
out[2] = z;
return out;
}
Euler.create = create;
function set(out, x, y, z) {
out[0] = x;
out[0] = y;
out[0] = z;
return out;
}
Euler.set = set;
function clone(a) {
const out = zero();
out[0] = a[0];
out[1] = a[1];
out[2] = a[2];
return out;
}
Euler.clone = clone;
function copy(out, a) {
out[0] = a[0];
out[1] = a[1];
out[2] = a[2];
return out;
}
Euler.copy = copy;
/**
* Assumes the upper 3x3 of m is a pure rotation matrix (i.e, unscaled)
*/
function fromMat4(out, m, order) {
const m11 = m[0], m12 = m[4], m13 = m[8];
const m21 = m[1], m22 = m[5], m23 = m[9];
const m31 = m[2], m32 = m[6], m33 = m[10];
switch (order) {
case 'XYZ':
out[1] = Math.asin(clamp(m13, -1, 1));
if (Math.abs(m13) < 0.9999999) {
out[0] = Math.atan2(-m23, m33);
out[2] = Math.atan2(-m12, m11);
}
else {
out[0] = Math.atan2(m32, m22);
out[2] = 0;
}
break;
case 'YXZ':
out[0] = Math.asin(-clamp(m23, -1, 1));
if (Math.abs(m23) < 0.9999999) {
out[1] = Math.atan2(m13, m33);
out[2] = Math.atan2(m21, m22);
}
else {
out[1] = Math.atan2(-m31, m11);
out[2] = 0;
}
break;
case 'ZXY':
out[0] = Math.asin(clamp(m32, -1, 1));
if (Math.abs(m32) < 0.9999999) {
out[1] = Math.atan2(-m31, m33);
out[2] = Math.atan2(-m12, m22);
}
else {
out[1] = 0;
out[2] = Math.atan2(m21, m11);
}
break;
case 'ZYX':
out[1] = Math.asin(-clamp(m31, -1, 1));
if (Math.abs(m31) < 0.9999999) {
out[0] = Math.atan2(m32, m33);
out[2] = Math.atan2(m21, m11);
}
else {
out[0] = 0;
out[2] = Math.atan2(-m12, m22);
}
break;
case 'YZX':
out[2] = Math.asin(clamp(m21, -1, 1));
if (Math.abs(m21) < 0.9999999) {
out[0] = Math.atan2(-m23, m22);
out[1] = Math.atan2(-m31, m11);
}
else {
out[0] = 0;
out[1] = Math.atan2(m13, m33);
}
break;
case 'XZY':
out[2] = Math.asin(-clamp(m12, -1, 1));
if (Math.abs(m12) < 0.9999999) {
out[0] = Math.atan2(m32, m22);
out[1] = Math.atan2(m13, m11);
}
else {
out[0] = Math.atan2(-m23, m33);
out[1] = 0;
}
break;
default:
assertUnreachable(order);
}
return out;
}
Euler.fromMat4 = fromMat4;
const _mat4 = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0];
function fromQuat(out, q, order) {
Mat4.fromQuat(_mat4, q);
return fromMat4(out, _mat4, order);
}
Euler.fromQuat = fromQuat;
function fromVec3(out, v) {
return set(out, v[0], v[1], v[2]);
}
Euler.fromVec3 = fromVec3;
function exactEquals(a, b) {
return a[0] === b[0] && a[1] === b[1] && a[2] === b[2];
}
Euler.exactEquals = exactEquals;
function fromArray(e, array, offset) {
e[0] = array[offset + 0];
e[1] = array[offset + 1];
e[2] = array[offset + 2];
return e;
}
Euler.fromArray = fromArray;
function toArray(e, out, offset) {
out[offset + 0] = e[0];
out[offset + 1] = e[1];
out[offset + 2] = e[2];
return out;
}
Euler.toArray = toArray;
})(Euler || (Euler = {}));
export { Euler };