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Add convenience methods to quaternion and matrix4 #54

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e843997
feat: add fromEuler method for a quaternion
GuoBinyong Feb 24, 2024
f8380c8
feat: add fromMatrix3 method for a matrix4
GuoBinyong Feb 24, 2024
3817176
getQuaternion
GuoBinyong Feb 24, 2024
c38a4c0
Merge branch 'master' into method
ibgreen Apr 24, 2025
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18 changes: 1 addition & 17 deletions modules/core/src/classes/euler.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -289,23 +289,7 @@

// TODO - move to Quaternion
getQuaternion(): Quaternion {
const q = new Quaternion();
switch (this[3]) {
case RotationOrder.XYZ:
return q.rotateX(this[0]).rotateY(this[1]).rotateZ(this[2]);
case RotationOrder.YXZ:
return q.rotateY(this[0]).rotateX(this[1]).rotateZ(this[2]);
case RotationOrder.ZXY:
return q.rotateZ(this[0]).rotateX(this[1]).rotateY(this[2]);
case RotationOrder.ZYX:
return q.rotateZ(this[0]).rotateY(this[1]).rotateX(this[2]);
case RotationOrder.YZX:
return q.rotateY(this[0]).rotateZ(this[1]).rotateX(this[2]);
case RotationOrder.XZY:
return q.rotateX(this[0]).rotateZ(this[1]).rotateY(this[2]);
default:
throw new Error(ERR_UNKNOWN_ORDER);
}
return new Quaternion().fromEuler(this);
}

// INTERNAL METHODS
Expand Down Expand Up @@ -408,7 +392,7 @@
const d = Math.sin(y);
const f = Math.sin(z);
switch (this[3]) {
case Euler.XYZ: {

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The case statement does not have a shared enum type with the switch predicate
const ae = a * e,
af = a * f,
be = b * e,
Expand All @@ -424,7 +408,7 @@
te[10] = a * c;
break;
}
case Euler.YXZ: {

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The case statement does not have a shared enum type with the switch predicate
const ce = c * e,
cf = c * f,
de = d * e,
Expand All @@ -440,7 +424,7 @@
te[10] = a * c;
break;
}
case Euler.ZXY: {

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The case statement does not have a shared enum type with the switch predicate
const ce = c * e,
cf = c * f,
de = d * e,
Expand All @@ -456,7 +440,7 @@
te[10] = a * c;
break;
}
case Euler.ZYX: {

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The case statement does not have a shared enum type with the switch predicate
const ae = a * e,
af = a * f,
be = b * e,
Expand All @@ -472,7 +456,7 @@
te[10] = a * c;
break;
}
case Euler.YZX: {

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The case statement does not have a shared enum type with the switch predicate
const ac = a * c,
ad = a * d,
bc = b * c,
Expand All @@ -488,7 +472,7 @@
te[10] = ac - bd * f;
break;
}
case Euler.XZY: {

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The case statement does not have a shared enum type with the switch predicate
const ac = a * c,
ad = a * d,
bc = b * c,
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28 changes: 28 additions & 0 deletions modules/core/src/classes/matrix4.ts
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Expand Up @@ -226,7 +226,7 @@
* @returns self
*/
// eslint-disable-next-line @typescript-eslint/no-unused-vars
fromObject(object: {[key: string]: any}): this {

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Unexpected any. Specify a different type
return this.check();
}

Expand All @@ -240,6 +240,34 @@
return this.check();
}

/**
* Calculates a 4x4 matrix from the given matrix3
* @param matrix3
* @returns self
*/
fromMatrix3(matrix3: Readonly<NumericArray>): this {
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@ibgreen ibgreen Apr 24, 2025

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This is fine, though it does add a little to the size of the Matrix4 class for every user.

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@ibgreen ibgreen Apr 24, 2025

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As you can see in the CI log, you need to run yarn lint fix

You are welcome to join our OpenJS slack channel, see https://openvisualization.org for the link

this[0] = matrix3[0];
this[1] = matrix3[1];
this[2] = matrix3[2];
this[3] = 0;

this[4] = matrix3[3];
this[5] = matrix3[4];
this[6] = matrix3[5];
this[7] = 0;

this[8] = matrix3[6];
this[9] = matrix3[7];
this[10] = matrix3[8];
this[11] = 0;

this[12] = 0;
this[13] = 0;
this[14] = 0;
this[15] = 1;
return this.check();
}

/**
* Generates a frustum matrix with the given bounds
* @param view.left - Left bound of the frustum
Expand Down
34 changes: 30 additions & 4 deletions modules/core/src/classes/quaternion.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -31,6 +31,7 @@ import {
} from '../gl-matrix/quat';
// @ts-ignore gl-matrix types...
import {transformQuat as vec4_transformQuat} from '../gl-matrix/vec4';
import { Euler } from './euler';

const IDENTITY_QUATERNION = [0, 0, 0, 1] as const;

Expand Down Expand Up @@ -82,6 +83,31 @@ export class Quaternion extends MathArray {
return this.check();
}

/**
* Creates a quaternion from the given Euler.
* @param euler
* @returns
*/
fromEuler(euler: Euler): this {
this.identity();
switch (euler.order) {
case Euler.XYZ:
return this.rotateX(euler[0]).rotateY(euler[1]).rotateZ(euler[2]);
case Euler.YXZ:
return this.rotateY(euler[0]).rotateX(euler[1]).rotateZ(euler[2]);
case Euler.ZXY:
return this.rotateZ(euler[0]).rotateX(euler[1]).rotateY(euler[2]);
case Euler.ZYX:
return this.rotateZ(euler[0]).rotateY(euler[1]).rotateX(euler[2]);
case Euler.YZX:
return this.rotateY(euler[0]).rotateZ(euler[1]).rotateX(euler[2]);
case Euler.XZY:
return this.rotateX(euler[0]).rotateZ(euler[1]).rotateY(euler[2]);
default:
throw new Error('Unknown Euler angle order');
}
}

fromAxisRotation(axis: Readonly<NumericArray>, rad: number): this {
quat_setAxisAngle(this, axis, rad);
return this.check();
Expand Down Expand Up @@ -283,10 +309,10 @@ export class Quaternion extends MathArray {
arg0:
| Readonly<NumericArray>
| {
start: Readonly<NumericArray>;
target: Readonly<NumericArray>;
ratio: number;
},
start: Readonly<NumericArray>;
target: Readonly<NumericArray>;
ratio: number;
},
arg1?: Readonly<NumericArray> | number,
arg2?: number
): this {
Expand Down
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