quaternion/dist/quaternion.min.js

A rotation library using quaternions

/*
Quaternion.js v2.0.2 12/1/2024
https://raw.org/book/algebra/quaternions/

Copyright (c) 2024, Robert Eisele (https://raw.org/)
Licensed under the MIT license.
*/
'use strict';(function(C){function m(a,b,c,e){const d=Object.create(n.prototype);d.w=a;d.x=b;d.y=c;d.z=e;return d}function u(a,b,c,e){const d=Object.create(n.prototype),f=1/Math.sqrt(a*a+b*b+c*c+e*e);d.w=a*f;d.x=b*f;d.y=c*f;d.z=e*f;return d}function z(a,b){const c=Math.abs(a),e=Math.abs(b);if(0===a)return Math.log(e);if(0===b)return Math.log(c);if(3E3>c&&3E3>e)return.5*Math.log(a*a+b*b);a/=2;b/=2;return.5*Math.log(a*a+b*b)+Math.LN2}function t(a,b,c,e,d){if(void 0!==d)a.w=b,a.x=c,a.y=e,a.z=d;else{if("object"===
typeof b&&void 0===e){if("w"in b||"x"in b||"y"in b||"z"in b){a.w=b.w||0;a.x=b.x||0;a.y=b.y||0;a.z=b.z||0;return}if("re"in b&&"im"in b){a.w=b.re;a.x=b.im;a.y=0;a.z=0;return}if(4===b.length){a.w=b[0];a.x=b[1];a.y=b[2];a.z=b[3];return}if(3===b.length){a.w=0;a.x=b[0];a.y=b[1];a.z=b[2];return}throw Error("Invalid object");}if("string"===typeof b&&void 0===e){b=b.match(/\d+\.?\d*e[+-]?\d+|\d+\.?\d*|\.\d+|./g);var f=1;c=0;e={i:"x",j:"y",k:"z"};if(null===b)throw Error("Parse error");a.w=a.x=a.y=a.z=0;for(d=
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c){let e="";if(0!==a){""!==c?e+=0>a?" - ":" + ":0>a&&(e+="-");a=Math.abs(a);if(1!==a||""===b)e+=a;e+=b}return e}function n(a,b,c,e){if(this instanceof n)t(this,a,b,c,e);else{const d=Object.create(n.prototype);t(d,a,b,c,e);return d}}const k=Object.create(n.prototype);n.prototype={w:1,x:0,y:0,z:0,add:function(a,b,c,e){t(k,a,b,c,e);return m(this.w+k.w,this.x+k.x,this.y+k.y,this.z+k.z)},sub:function(a,b,c,e){t(k,a,b,c,e);return m(this.w-k.w,this.x-k.x,this.y-k.y,this.z-k.z)},neg:function(){return m(-this.w,
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this.z)},rotateVector:function(a){const b=this.w,c=this.x,e=this.y,d=this.z,f=a[0],g=a[1];a=a[2];let h=e*a-d*g,l=d*f-c*a,p=c*g-e*f;h+=h;l+=l;p+=p;return[f+b*h+e*p-d*l,g+b*l+d*h-c*p,a+b*p+c*l-e*h]},slerp:function(a,b,c,e){t(k,a,b,c,e);let d=this.w,f=this.x,g=this.y,h=this.z,l=k.w,p=k.x,r=k.y,v=k.z,x=d*l+f*p+g*r+h*v;0>x&&(d=-d,f=-f,g=-g,h=-h,x=-x);if(x>=1-1E-16)return function(q){return u(d+q*(l-d),f+q*(p-f),g+q*(r-g),h+q*(v-h))};let A=Math.acos(x),B=Math.sin(A);return function(q){var w=A*q;q=Math.sin(w);
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n.ONE:1E-16>=1+g?Math.abs(c)>Math.abs(a)?u(0,-e,c,0):u(0,0,-a,e):u(1+g,e*b-a*f,a*d-c*b,c*f-e*d)};n.random=function(){var a=Math.random();const b=Math.random(),c=Math.random(),e=Math.sqrt(1-a);a=Math.sqrt(a);return m(a*Math.cos(2*Math.PI*c),e*Math.sin(2*Math.PI*b),e*Math.cos(2*Math.PI*b),a*Math.sin(2*Math.PI*c))};n.fromEulerLogical=function(a,b,c,e){return n.fromEuler(c,b,a,void 0!==e?e[2]+e[1]+e[0]:e)};n.fromEuler=function(a,b,c,e){var d=.5*a,f=.5*b,g=.5*c;c=Math.cos(d);b=Math.cos(f);a=Math.cos(g);
d=Math.sin(d);f=Math.sin(f);g=Math.sin(g);return void 0===e||"ZXY"===e?m(c*b*a-d*f*g,f*c*a-d*g*b,d*f*a+g*c*b,d*b*a+f*g*c):"XYZ"===e||"RPY"===e?m(c*b*a-d*f*g,d*b*a+f*g*c,f*c*a-d*g*b,d*f*a+g*c*b):"YXZ"===e?m(d*f*g+c*b*a,d*g*b+f*c*a,d*b*a-f*g*c,g*c*b-d*f*a):"ZYX"===e||"YPR"===e?m(d*f*g+c*b*a,g*c*b-d*f*a,d*g*b+f*c*a,d*b*a-f*g*c):"YZX"===e?m(c*b*a-d*f*g,d*f*a+g*c*b,d*b*a+f*g*c,f*c*a-d*g*b):"XZY"===e?m(d*f*g+c*b*a,d*b*a-f*g*c,g*c*b-d*f*a,d*g*b+f*c*a):"ZYZ"===e?m(c*b*a-d*g*b,f*g*c-d*f*a,d*f*g+f*c*a,d*b*
a+g*c*b):"ZXZ"===e?m(c*b*a-d*g*b,d*f*g+f*c*a,d*f*a-f*g*c,d*b*a+g*c*b):"YXY"===e?m(c*b*a-d*g*b,d*f*g+f*c*a,d*b*a+g*c*b,f*g*c-d*f*a):"YZY"===e?m(c*b*a-d*g*b,d*f*a-f*g*c,d*b*a+g*c*b,d*f*g+f*c*a):"XYX"===e?m(c*b*a-d*g*b,d*b*a+g*c*b,d*f*g+f*c*a,d*f*a-f*g*c):"XZX"===e?m(c*b*a-d*g*b,d*b*a+g*c*b,f*g*c-d*f*a,d*f*g+f*c*a):null};n.fromMatrix=function(a){let b,c,e,d,f,g,h,l;9===a.length?(b=a[0],c=a[1],e=a[2],d=a[3],f=a[4],g=a[5],h=a[6],l=a[7],a=a[8]):(b=a[0][0],c=a[0][1],e=a[0][2],d=a[1][0],f=a[1][1],g=a[1][2],
h=a[2][0],l=a[2][1],a=a[2][2]);const p=b+f+a;return 0<p?u(p+1,l-g,e-h,d-c):b>f&&b>a?u(l-g,1+b-f-a,c+d,e+h):f>a?u(e-h,c+d,1+f-b-a,g+l):u(d-c,e+h,g+l,1+a-b-f)};"function"===typeof define&&define.amd?define([],function(){return n}):"object"===typeof exports?(Object.defineProperty(n,"__esModule",{value:!0}),n["default"]=n,n.Quaternion=n,module.exports=n):C.Quaternion=n})(this);