146 lines
4.0 KiB
TypeScript
146 lines
4.0 KiB
TypeScript
import { quat } from '../tsm/quat';
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import { XMLNode } from 'xmlbuilder';
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export class Quaternion extends quat
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{
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static getIdentity(): Quaternion
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{
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const q = new Quaternion();
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q.setIdentity();
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return q;
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}
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static getXML(doc: XMLNode, v?: Quaternion)
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{
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if (v === undefined)
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{
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v = Quaternion.getIdentity();
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}
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doc.ele('X', v.x);
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doc.ele('Y', v.y);
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doc.ele('Z', v.z);
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doc.ele('W', v.w);
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}
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static fromXMLJS(obj: any, param: string): Quaternion | false
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{
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if (!obj[param])
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{
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return false;
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}
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let value = obj[param];
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if (Array.isArray(value) && value.length > 0)
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{
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value = value[0];
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}
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if (typeof value === 'object')
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{
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if (value['X'] !== undefined && value['Y'] !== undefined && value['Z'] !== undefined && value['W'] !== undefined)
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{
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let x = value['X'];
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let y = value['Y'];
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let z = value['Z'];
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let w = value['W'];
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if (Array.isArray(x) && x.length > 0)
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{
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x = x[0];
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}
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if (Array.isArray(y) && y.length > 0)
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{
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y = y[0];
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}
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if (Array.isArray(z) && z.length > 0)
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{
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z = z[0];
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}
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if (Array.isArray(w) && w.length > 0)
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{
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w = w[0];
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}
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return new Quaternion([x, y, z, w]);
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}
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return false;
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}
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return false;
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}
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constructor(buf?: Buffer | number[] | Quaternion | quat, pos?: number)
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{
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if (buf instanceof quat)
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{
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super();
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this.x = buf.x;
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this.y = buf.y;
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this.z = buf.z;
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this.w = buf.z;
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}
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else if (buf instanceof Quaternion)
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{
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super();
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this.x = buf.x;
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this.y = buf.y;
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this.z = buf.z;
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this.w = buf.w;
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}
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else
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{
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if (buf !== undefined && pos !== undefined && buf instanceof Buffer)
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{
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const x = buf.readFloatLE(pos);
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const y = buf.readFloatLE(pos + 4);
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const z = buf.readFloatLE(pos + 8);
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const xyzsum = 1.0 - x * x - y * y - z * z;
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const w = (xyzsum > 0.0) ? Math.sqrt(xyzsum) : 0;
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super([x, y, z, w]);
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}
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else if (buf !== undefined && Array.isArray(buf))
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{
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super(buf);
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}
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else
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{
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super();
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}
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}
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}
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writeToBuffer(buf: Buffer, pos: number)
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{
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const q: quat = this.normalize();
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buf.writeFloatLE(q.x, pos);
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buf.writeFloatLE(q.y, pos + 4);
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buf.writeFloatLE(q.z, pos + 8);
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}
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toString(): string
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{
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return '<' + this.x + ', ' + this.y + ', ' + this.z + ', ' + this.w + '>';
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}
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getBuffer(): Buffer
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{
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const j = Buffer.allocUnsafe(12);
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this.writeToBuffer(j, 0);
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return j;
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}
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compareApprox(rot: Quaternion): boolean
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{
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return this.angleBetween(rot) < 0.0001 || rot.equals(this, 0.0001);
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}
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angleBetween(b: Quaternion): number
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{
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const a = this;
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const aa = (a.x * a.x + a.y * a.y + a.z * a.z + a.w * a.w);
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const bb = (b.x * b.x + b.y * b.y + b.z * b.z + b.w * b.w);
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const aa_bb = aa * bb;
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if (aa_bb === 0)
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{
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return 0.0;
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}
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const ab = (a.x * b.x + a.y * b.y + a.z * b.z + a.w * b.w);
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const quotient = (ab * ab) / aa_bb;
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if (quotient >= 1.0)
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{
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return 0.0;
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}
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return Math.acos(2 * quotient - 1);
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}
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}
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