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import { Matrix3 } from "./Matrix3";
import type { Vector3 } from "./Vector3";
class Quaternion {
x: number;
y: number;
z: number;
w: number;
constructor(x: number = 0, y: number = 0, z: number = 0, w: number = 1) {
this.x = x;
this.y = y;
this.z = z;
this.w = w;
}
set(x: number, y: number, z: number, w: number): Quaternion {
this.x = x;
this.y = y;
this.z = z;
this.w = w;
return this;
}
flat(): number[] {
return [this.x, this.y, this.z, this.w];
}
clone(): Quaternion {
return new Quaternion(this.x, this.y, this.z, this.w);
}
toRotationMatrix(): Matrix3 {
const xx = this.x * this.x;
const xy = this.x * this.y;
const xz = this.x * this.z;
const xw = this.x * this.w;
const yy = this.y * this.y;
const yz = this.y * this.z;
const yw = this.y * this.w;
const zz = this.z * this.z;
const zw = this.z * this.w;
const m = new Matrix3();
// prettier-ignore
m.set(
1 - 2 * (yy + zz), 2 * (xy - zw), 2 * (xz + yw),
2 * (xy + zw), 1 - 2 * (xx + zz), 2 * (yz - xw),
2 * (xz - yw), 2 * (yz + xw), 1 - 2 * (xx + yy)
)
return m;
}
static FromEuler(m: Vector3) {
const cy = Math.cos(m.y / 2);
const sy = Math.sin(m.y / 2);
const cp = Math.cos(m.x / 2);
const sp = Math.sin(m.x / 2);
const cr = Math.cos(m.z / 2);
const sr = Math.sin(m.z / 2);
const w = cy * cp * cr + sy * sp * sr;
const x = cy * cp * sr - sy * sp * cr;
const y = sy * cp * sr + cy * sp * cr;
const z = sy * cp * cr - cy * sp * sr;
return new Quaternion(x, y, z, w);
}
}
export { Quaternion };
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