Quaternion

src/math/Quaternion.js

@@ -1,23 +1,23 @@
 import { MathUtils } from './MathUtils.js';
 
-function Quaternion( x = 0, y = 0, z = 0, w = 1 ) {
+class Quaternion {
 
-	this._x = x;
-	this._y = y;
-	this._z = z;
-	this._w = w;
+	constructor( x = 0, y = 0, z = 0, w = 1 ) {
 
-}
+		this._x = x;
+		this._y = y;
+		this._z = z;
+		this._w = w;
 
-Object.assign( Quaternion, {
+	}
 
-	slerp: function ( qa, qb, qm, t ) {
+	static slerp( qa, qb, qm, t ) {
 
 		return qm.copy( qa ).slerp( qb, t );
 
-	},
+	}
 
-	slerpFlat: function ( dst, dstOffset, src0, srcOffset0, src1, srcOffset1, t ) {
+	static slerpFlat( dst, dstOffset, src0, srcOffset0, src1, srcOffset1, t ) {
 
 		// fuzz-free, array-based Quaternion SLERP operation
 
@@ -75,9 +75,9 @@ Object.assign( Quaternion, {
 		dst[ dstOffset + 2 ] = z0;
 		dst[ dstOffset + 3 ] = w0;
 
-	},
+	}
 
-	multiplyQuaternionsFlat: function ( dst, dstOffset, src0, srcOffset0, src1, srcOffset1 ) {
+	static multiplyQuaternionsFlat( dst, dstOffset, src0, srcOffset0, src1, srcOffset1 ) {
 
 		const x0 = src0[ srcOffset0 ];
 		const y0 = src0[ srcOffset0 + 1 ];
@@ -98,85 +98,65 @@ Object.assign( Quaternion, {
 
 	}
 
-} );
-
-Object.defineProperties( Quaternion.prototype, {
-
-	x: {
-
-		get: function () {
-
-			return this._x;
-
-		},
-
-		set: function ( value ) {
-
-			this._x = value;
-			this._onChangeCallback();
-
-		}
-
-	},
-
-	y: {
+	get x() {
 
-		get: function () {
+		return this._x;
 
-			return this._y;
+	}
 
-		},
+	set x( value ) {
 
-		set: function ( value ) {
+		this._x = value;
+		this._onChangeCallback();
 
-			this._y = value;
-			this._onChangeCallback();
+	}
 
-		}
+	get y() {
 
-	},
+		return this._y;
 
-	z: {
+	}
 
-		get: function () {
+	set y( value ) {
 
-			return this._z;
+		this._y = value;
+		this._onChangeCallback();
 
-		},
+	}
 
-		set: function ( value ) {
+	get z() {
 
-			this._z = value;
-			this._onChangeCallback();
+		return this._z;
 
-		}
+	}
 
-	},
+	set z( value ) {
 
-	w: {
+		this._z = value;
+		this._onChangeCallback();
 
-		get: function () {
+	}
 
-			return this._w;
+	get w() {
 
-		},
+		return this._w;
 
-		set: function ( value ) {
+	}
 
-			this._w = value;
-			this._onChangeCallback();
+	set w( value ) {
 
-		}
+		this._w = value;
+		this._onChangeCallback();
 
 	}
 
-} );
+	get isQuaternion() {
 
-Object.assign( Quaternion.prototype, {
+		return true;
 
-	isQuaternion: true,
+	}
 
-	set: function ( x, y, z, w ) {
+	set( x, y, z, w ) {
 
 		this._x = x;
 		this._y = y;
@@ -187,15 +167,15 @@ Object.assign( Quaternion.prototype, {
 
 		return this;
 
-	},
+	}
 
-	clone: function () {
+	clone() {
 
 		return new this.constructor( this._x, this._y, this._z, this._w );
 
-	},
+	}
 
-	copy: function ( quaternion ) {
+	copy( quaternion ) {
 
 		this._x = quaternion.x;
 		this._y = quaternion.y;
@@ -206,9 +186,9 @@ Object.assign( Quaternion.prototype, {
 
 		return this;
 
-	},
+	}
 
-	setFromEuler: function ( euler, update ) {
+	setFromEuler( euler, update ) {
 
 		if ( ! ( euler && euler.isEuler ) ) {
 
@@ -286,9 +266,9 @@ Object.assign( Quaternion.prototype, {
 
 		return this;
 
-	},
+	}
 
-	setFromAxisAngle: function ( axis, angle ) {
+	setFromAxisAngle( axis, angle ) {
 
 		// http://www.euclideanspace.com/maths/geometry/rotations/conversions/angleToQuaternion/index.htm
 
@@ -305,9 +285,9 @@ Object.assign( Quaternion.prototype, {
 
 		return this;
 
-	},
+	}
 
-	setFromRotationMatrix: function ( m ) {
+	setFromRotationMatrix( m ) {
 
 		// http://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToQuaternion/index.htm
 
@@ -363,9 +343,9 @@ Object.assign( Quaternion.prototype, {
 
 		return this;
 
-	},
+	}
 
-	setFromUnitVectors: function ( vFrom, vTo ) {
+	setFromUnitVectors( vFrom, vTo ) {
 
 		// assumes direction vectors vFrom and vTo are normalized
 
@@ -406,15 +386,15 @@ Object.assign( Quaternion.prototype, {
 
 		return this.normalize();
 
-	},
+	}
 
-	angleTo: function ( q ) {
+	angleTo( q ) {
 
 		return 2 * Math.acos( Math.abs( MathUtils.clamp( this.dot( q ), - 1, 1 ) ) );
 
-	},
+	}
 
-	rotateTowards: function ( q, step ) {
+	rotateTowards( q, step ) {
 
 		const angle = this.angleTo( q );
 
@@ -426,23 +406,23 @@ Object.assign( Quaternion.prototype, {
 
 		return this;
 
-	},
+	}
 
-	identity: function () {
+	identity() {
 
 		return this.set( 0, 0, 0, 1 );
 
-	},
+	}
 
-	inverse: function () {
+	inverse() {
 
 		// quaternion is assumed to have unit length
 
 		return this.conjugate();
 
-	},
+	}
 
-	conjugate: function () {
+	conjugate() {
 
 		this._x *= - 1;
 		this._y *= - 1;
@@ -452,27 +432,27 @@ Object.assign( Quaternion.prototype, {
 
 		return this;
 
-	},
+	}
 
-	dot: function ( v ) {
+	dot( v ) {
 
 		return this._x * v._x + this._y * v._y + this._z * v._z + this._w * v._w;
 
-	},
+	}
 
-	lengthSq: function () {
+	lengthSq() {
 
 		return this._x * this._x + this._y * this._y + this._z * this._z + this._w * this._w;
 
-	},
+	}
 
-	length: function () {
+	length() {
 
 		return Math.sqrt( this._x * this._x + this._y * this._y + this._z * this._z + this._w * this._w );
 
-	},
+	}
 
-	normalize: function () {
+	normalize() {
 
 		let l = this.length();
 
@@ -498,9 +478,9 @@ Object.assign( Quaternion.prototype, {
 
 		return this;
 
-	},
+	}
 
-	multiply: function ( q, p ) {
+	multiply( q, p ) {
 
 		if ( p !== undefined ) {
 
@@ -511,15 +491,15 @@ Object.assign( Quaternion.prototype, {
 
 		return this.multiplyQuaternions( this, q );
 
-	},
+	}
 
-	premultiply: function ( q ) {
+	premultiply( q ) {
 
 		return this.multiplyQuaternions( q, this );
 
-	},
+	}
 
-	multiplyQuaternions: function ( a, b ) {
+	multiplyQuaternions( a, b ) {
 
 		// from http://www.euclideanspace.com/maths/algebra/realNormedAlgebra/quaternions/code/index.htm
 
@@ -535,9 +515,9 @@ Object.assign( Quaternion.prototype, {
 
 		return this;
 
-	},
+	}
 
-	slerp: function ( qb, t ) {
+	slerp( qb, t ) {
 
 		if ( t === 0 ) return this;
 		if ( t === 1 ) return this.copy( qb );
@@ -605,15 +585,15 @@ Object.assign( Quaternion.prototype, {
 
 		return this;
 
-	},
+	}
 
-	equals: function ( quaternion ) {
+	equals( quaternion ) {
 
 		return ( quaternion._x === this._x ) && ( quaternion._y === this._y ) && ( quaternion._z === this._z ) && ( quaternion._w === this._w );
 
-	},
+	}
 
-	fromArray: function ( array, offset ) {
+	fromArray( array, offset ) {
 
 		if ( offset === undefined ) offset = 0;
 
@@ -626,9 +606,9 @@ Object.assign( Quaternion.prototype, {
 
 		return this;
 
-	},
+	}
 
-	toArray: function ( array, offset ) {
+	toArray( array, offset ) {
 
 		if ( array === undefined ) array = [];
 		if ( offset === undefined ) offset = 0;
@@ -640,9 +620,9 @@ Object.assign( Quaternion.prototype, {
 
 		return array;
 
-	},
+	}
 
-	fromBufferAttribute: function ( attribute, index ) {
+	fromBufferAttribute( attribute, index ) {
 
 		this._x = attribute.getX( index );
 		this._y = attribute.getY( index );
@@ -651,19 +631,19 @@ Object.assign( Quaternion.prototype, {
 
 		return this;
 
-	},
+	}
 
-	_onChange: function ( callback ) {
+	_onChange( callback ) {
 
 		this._onChangeCallback = callback;
 
 		return this;
 
-	},
+	}
 
-	_onChangeCallback: function () {}
+	_onChangeCallback() {}
 
-} );
+}
 
 
 export { Quaternion };