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three.js

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提交 eeae90e1 编写于 作者: M Mr.doob
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Quaternion: Removed bi-directionality.

上级 d91bfaad
隐藏空白更改
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Showing with 129 addition and 238 deletion
src/core/Object3D.js
浏览文件 @ eeae90e1
......@@ -32,24 +32,18 @@ function Object3D() {
this.up = Object3D.DefaultUp.clone();
var position = new Vector3();
var rotation = new Euler();
var quaternion = new Quaternion();
var scale = new Vector3( 1, 1, 1 );
function onRotationChange() {
quaternion.setFromEuler( rotation, false );
}
var rotation = new Euler();
function onQuaternionChange() {
function onRotationChange() {
rotation.setFromQuaternion( quaternion, undefined, false );
quaternion.setFromEuler( rotation );
}
rotation.onChange( onRotationChange );
quaternion.onChange( onQuaternionChange );
Object.defineProperties( this, {
position: {
......@@ -123,7 +117,7 @@ Object.assign( Object3D.prototype, EventDispatcher.prototype, {
setRotationFromEuler: function ( euler ) {
this.quaternion.setFromEuler( euler, true );
this.quaternion.setFromEuler( euler );
},
......
src/math/Euler.js
浏览文件 @ eeae90e1
import { Quaternion } from './Quaternion';
import { Vector3 } from './Vector3';
import { Matrix4 } from './Matrix4';
import { _Math } from './Math';
/**
* @author mrdoob / http://mrdoob.com/
* @author WestLangley / http://github.com/WestLangley
* @author bhouston / http://clara.io
*/
import { Quaternion } from './Quaternion';
import { Vector3 } from './Vector3';
import { Matrix4 } from './Matrix4';
import { _Math } from './Math';
function Euler( x, y, z, order ) {
this._x = x || 0;
......@@ -24,7 +24,7 @@ Euler.DefaultOrder = 'XYZ';
Object.defineProperties( Euler.prototype, {
"x" : {
x: {
get: function () {
......@@ -41,7 +41,7 @@ Object.defineProperties( Euler.prototype, {
},
"y" : {
y: {
get: function () {
......@@ -58,7 +58,7 @@ Object.defineProperties( Euler.prototype, {
},
"z" : {
z: {
get: function () {
......@@ -75,7 +75,7 @@ Object.defineProperties( Euler.prototype, {
},
"order" : {
order: {
get: function () {
......@@ -92,7 +92,7 @@ Object.defineProperties( Euler.prototype, {
}
});
} );
Object.assign( Euler.prototype, {
......
src/math/Quaternion.js
浏览文件 @ eeae90e1
import { Vector3 } from './Vector3';
/**
* @author mikael emtinger / http://gomo.se/
* @author alteredq / http://alteredqualia.com/
......@@ -7,25 +5,26 @@ import { Vector3 } from './Vector3';
* @author bhouston / http://clara.io
*/
import { Vector3 } from './Vector3';
function Quaternion( x, y, z, w ) {
this._x = x || 0;
this._y = y || 0;
this._z = z || 0;
this._w = ( w !== undefined ) ? w : 1;
this.x = x || 0;
this.y = y || 0;
this.z = z || 0;
this.w = ( w !== undefined ) ? w : 1;
}
Object.assign( Quaternion, {
slerp: function( qa, qb, qm, t ) {
slerp: function ( qa, qb, qm, t ) {
return qm.copy( qa ).slerp( qb, t );
},
slerpFlat: function(
dst, dstOffset, src0, srcOffset0, src1, srcOffset1, t ) {
slerpFlat: function ( dst, dstOffset, src0, srcOffset0, src1, srcOffset1, t ) {
// fuzz-free, array-based Quaternion SLERP operation
......@@ -89,88 +88,14 @@ Object.assign( Quaternion, {
} );
Object.defineProperties( Quaternion.prototype, {
"x" : {
get: function () {
return this._x;
},
set: function ( value ) {
this._x = value;
this.onChangeCallback();
}
},
"y" : {
get: function () {
return this._y;
},
set: function ( value ) {
this._y = value;
this.onChangeCallback();
}
},
"z" : {
get: function () {
return this._z;
},
set: function ( value ) {
this._z = value;
this.onChangeCallback();
}
},
"w" : {
get: function () {
return this._w;
},
set: function ( value ) {
this._w = value;
this.onChangeCallback();
}
}
});
Object.assign( Quaternion.prototype, {
set: function ( x, y, z, w ) {
this._x = x;
this._y = y;
this._z = z;
this._w = w;
this.onChangeCallback();
this.x = x;
this.y = y;
this.z = z;
this.w = w;
return this;
......@@ -178,24 +103,22 @@ Object.assign( Quaternion.prototype, {
clone: function () {
return new this.constructor( this._x, this._y, this._z, this._w );
return new this.constructor( this.x, this.y, this.z, this.w );
},
copy: function ( quaternion ) {
this._x = quaternion.x;
this._y = quaternion.y;
this._z = quaternion.z;
this._w = quaternion.w;
this.onChangeCallback();
this.x = quaternion.x;
this.y = quaternion.y;
this.z = quaternion.z;
this.w = quaternion.w;
return this;
},
setFromEuler: function ( euler, update ) {
setFromEuler: function ( euler ) {
if ( ( euler && euler.isEuler ) === false ) {
......@@ -203,7 +126,7 @@ Object.assign( Quaternion.prototype, {
}
var x = euler._x, y = euler._y, z = euler._z, order = euler.order;
var x = euler.x, y = euler.y, z = euler.z, order = euler.order;
// http://www.mathworks.com/matlabcentral/fileexchange/
// 20696-function-to-convert-between-dcm-euler-angles-quaternions-and-euler-vectors/
......@@ -222,50 +145,48 @@ Object.assign( Quaternion.prototype, {
if ( order === 'XYZ' ) {
this._x = s1 * c2 * c3 + c1 * s2 * s3;
this._y = c1 * s2 * c3 - s1 * c2 * s3;
this._z = c1 * c2 * s3 + s1 * s2 * c3;
this._w = c1 * c2 * c3 - s1 * s2 * s3;
this.x = s1 * c2 * c3 + c1 * s2 * s3;
this.y = c1 * s2 * c3 - s1 * c2 * s3;
this.z = c1 * c2 * s3 + s1 * s2 * c3;
this.w = c1 * c2 * c3 - s1 * s2 * s3;
} else if ( order === 'YXZ' ) {
this._x = s1 * c2 * c3 + c1 * s2 * s3;
this._y = c1 * s2 * c3 - s1 * c2 * s3;
this._z = c1 * c2 * s3 - s1 * s2 * c3;
this._w = c1 * c2 * c3 + s1 * s2 * s3;
this.x = s1 * c2 * c3 + c1 * s2 * s3;
this.y = c1 * s2 * c3 - s1 * c2 * s3;
this.z = c1 * c2 * s3 - s1 * s2 * c3;
this.w = c1 * c2 * c3 + s1 * s2 * s3;
} else if ( order === 'ZXY' ) {
this._x = s1 * c2 * c3 - c1 * s2 * s3;
this._y = c1 * s2 * c3 + s1 * c2 * s3;
this._z = c1 * c2 * s3 + s1 * s2 * c3;
this._w = c1 * c2 * c3 - s1 * s2 * s3;
this.x = s1 * c2 * c3 - c1 * s2 * s3;
this.y = c1 * s2 * c3 + s1 * c2 * s3;
this.z = c1 * c2 * s3 + s1 * s2 * c3;
this.w = c1 * c2 * c3 - s1 * s2 * s3;
} else if ( order === 'ZYX' ) {
this._x = s1 * c2 * c3 - c1 * s2 * s3;
this._y = c1 * s2 * c3 + s1 * c2 * s3;
this._z = c1 * c2 * s3 - s1 * s2 * c3;
this._w = c1 * c2 * c3 + s1 * s2 * s3;
this.x = s1 * c2 * c3 - c1 * s2 * s3;
this.y = c1 * s2 * c3 + s1 * c2 * s3;
this.z = c1 * c2 * s3 - s1 * s2 * c3;
this.w = c1 * c2 * c3 + s1 * s2 * s3;
} else if ( order === 'YZX' ) {
this._x = s1 * c2 * c3 + c1 * s2 * s3;
this._y = c1 * s2 * c3 + s1 * c2 * s3;
this._z = c1 * c2 * s3 - s1 * s2 * c3;
this._w = c1 * c2 * c3 - s1 * s2 * s3;
this.x = s1 * c2 * c3 + c1 * s2 * s3;
this.y = c1 * s2 * c3 + s1 * c2 * s3;
this.z = c1 * c2 * s3 - s1 * s2 * c3;
this.w = c1 * c2 * c3 - s1 * s2 * s3;
} else if ( order === 'XZY' ) {
this._x = s1 * c2 * c3 - c1 * s2 * s3;
this._y = c1 * s2 * c3 - s1 * c2 * s3;
this._z = c1 * c2 * s3 + s1 * s2 * c3;
this._w = c1 * c2 * c3 + s1 * s2 * s3;
this.x = s1 * c2 * c3 - c1 * s2 * s3;
this.y = c1 * s2 * c3 - s1 * c2 * s3;
this.z = c1 * c2 * s3 + s1 * s2 * c3;
this.w = c1 * c2 * c3 + s1 * s2 * s3;
}
if ( update !== false ) this.onChangeCallback();
return this;
},
......@@ -278,12 +199,10 @@ Object.assign( Quaternion.prototype, {
var halfAngle = angle / 2, s = Math.sin( halfAngle );
this._x = axis.x * s;
this._y = axis.y * s;
this._z = axis.z * s;
this._w = Math.cos( halfAngle );
this.onChangeCallback();
this.x = axis.x * s;
this.y = axis.y * s;
this.z = axis.z * s;
this.w = Math.cos( halfAngle );
return this;
......@@ -308,42 +227,40 @@ Object.assign( Quaternion.prototype, {
s = 0.5 / Math.sqrt( trace + 1.0 );
this._w = 0.25 / s;
this._x = ( m32 - m23 ) * s;
this._y = ( m13 - m31 ) * s;
this._z = ( m21 - m12 ) * s;
this.w = 0.25 / s;
this.x = ( m32 - m23 ) * s;
this.y = ( m13 - m31 ) * s;
this.z = ( m21 - m12 ) * s;
} else if ( m11 > m22 && m11 > m33 ) {
s = 2.0 * Math.sqrt( 1.0 + m11 - m22 - m33 );
this._w = ( m32 - m23 ) / s;
this._x = 0.25 * s;
this._y = ( m12 + m21 ) / s;
this._z = ( m13 + m31 ) / s;
this.w = ( m32 - m23 ) / s;
this.x = 0.25 * s;
this.y = ( m12 + m21 ) / s;
this.z = ( m13 + m31 ) / s;
} else if ( m22 > m33 ) {
s = 2.0 * Math.sqrt( 1.0 + m22 - m11 - m33 );
this._w = ( m13 - m31 ) / s;
this._x = ( m12 + m21 ) / s;
this._y = 0.25 * s;
this._z = ( m23 + m32 ) / s;
this.w = ( m13 - m31 ) / s;
this.x = ( m12 + m21 ) / s;
this.y = 0.25 * s;
this.z = ( m23 + m32 ) / s;
} else {
s = 2.0 * Math.sqrt( 1.0 + m33 - m11 - m22 );
this._w = ( m21 - m12 ) / s;
this._x = ( m13 + m31 ) / s;
this._y = ( m23 + m32 ) / s;
this._z = 0.25 * s;
this.w = ( m21 - m12 ) / s;
this.x = ( m13 + m31 ) / s;
this.y = ( m23 + m32 ) / s;
this.z = 0.25 * s;
}
this.onChangeCallback();
return this;
},
......@@ -385,10 +302,10 @@ Object.assign( Quaternion.prototype, {
}
this._x = v1.x;
this._y = v1.y;
this._z = v1.z;
this._w = r;
this.x = v1.x;
this.y = v1.y;
this.z = v1.z;
this.w = r;
return this.normalize();
......@@ -404,11 +321,9 @@ Object.assign( Quaternion.prototype, {
conjugate: function () {
this._x *= - 1;
this._y *= - 1;
this._z *= - 1;
this.onChangeCallback();
this.x *= - 1;
this.y *= - 1;
this.z *= - 1;
return this;
......@@ -416,19 +331,19 @@ Object.assign( Quaternion.prototype, {
dot: function ( v ) {
return this._x * v._x + this._y * v._y + this._z * v._z + this._w * v._w;
return this.x * v.x + this.y * v.y + this.z * v.z + this.w * v.w;
},
lengthSq: function () {
return this._x * this._x + this._y * this._y + this._z * this._z + this._w * this._w;
return this.x * this.x + this.y * this.y + this.z * this.z + this.w * this.w;
},
length: function () {
return Math.sqrt( this._x * this._x + this._y * this._y + this._z * this._z + this._w * this._w );
return Math.sqrt( this.x * this.x + this.y * this.y + this.z * this.z + this.w * this.w );
},
......@@ -438,24 +353,22 @@ Object.assign( Quaternion.prototype, {
if ( l === 0 ) {
this._x = 0;
this._y = 0;
this._z = 0;
this._w = 1;
this.x = 0;
this.y = 0;
this.z = 0;
this.w = 1;
} else {
l = 1 / l;
this._x = this._x * l;
this._y = this._y * l;
this._z = this._z * l;
this._w = this._w * l;
this.x = this.x * l;
this.y = this.y * l;
this.z = this.z * l;
this.w = this.w * l;
}
this.onChangeCallback();
return this;
},
......@@ -483,15 +396,13 @@ Object.assign( Quaternion.prototype, {
// from http://www.euclideanspace.com/maths/algebra/realNormedAlgebra/quaternions/code/index.htm
var qax = a._x, qay = a._y, qaz = a._z, qaw = a._w;
var qbx = b._x, qby = b._y, qbz = b._z, qbw = b._w;
var qax = a.x, qay = a.y, qaz = a.z, qaw = a.w;
var qbx = b.x, qby = b.y, qbz = b.z, qbw = b.w;
this._x = qax * qbw + qaw * qbx + qay * qbz - qaz * qby;
this._y = qay * qbw + qaw * qby + qaz * qbx - qax * qbz;
this._z = qaz * qbw + qaw * qbz + qax * qby - qay * qbx;
this._w = qaw * qbw - qax * qbx - qay * qby - qaz * qbz;
this.onChangeCallback();
this.x = qax * qbw + qaw * qbx + qay * qbz - qaz * qby;
this.y = qay * qbw + qaw * qby + qaz * qbx - qax * qbz;
this.z = qaz * qbw + qaw * qbz + qax * qby - qay * qbx;
this.w = qaw * qbw - qax * qbx - qay * qby - qaz * qbz;
return this;
......@@ -502,18 +413,18 @@ Object.assign( Quaternion.prototype, {
if ( t === 0 ) return this;
if ( t === 1 ) return this.copy( qb );
var x = this._x, y = this._y, z = this._z, w = this._w;
var x = this.x, y = this.y, z = this.z, w = this.w;
// http://www.euclideanspace.com/maths/algebra/realNormedAlgebra/quaternions/slerp/
var cosHalfTheta = w * qb._w + x * qb._x + y * qb._y + z * qb._z;
var cosHalfTheta = w * qb.w + x * qb.x + y * qb.y + z * qb.z;
if ( cosHalfTheta < 0 ) {
this._w = - qb._w;
this._x = - qb._x;
this._y = - qb._y;
this._z = - qb._z;
this.w = - qb.w;
this.x = - qb.x;
this.y = - qb.y;
this.z = - qb.z;
cosHalfTheta = - cosHalfTheta;
......@@ -525,10 +436,10 @@ Object.assign( Quaternion.prototype, {
if ( cosHalfTheta >= 1.0 ) {
this._w = w;
this._x = x;
this._y = y;
this._z = z;
this.w = w;
this.x = x;
this.y = y;
this.z = z;
return this;
......@@ -538,10 +449,10 @@ Object.assign( Quaternion.prototype, {
if ( Math.abs( sinHalfTheta ) < 0.001 ) {
this._w = 0.5 * ( w + this._w );
this._x = 0.5 * ( x + this._x );
this._y = 0.5 * ( y + this._y );
this._z = 0.5 * ( z + this._z );
this.w = 0.5 * ( w + this.w );
this.x = 0.5 * ( x + this.x );
this.y = 0.5 * ( y + this.y );
this.z = 0.5 * ( z + this.z );
return this;
......@@ -551,12 +462,10 @@ Object.assign( Quaternion.prototype, {
var ratioA = Math.sin( ( 1 - t ) * halfTheta ) / sinHalfTheta,
ratioB = Math.sin( t * halfTheta ) / sinHalfTheta;
this._w = ( w * ratioA + this._w * ratioB );
this._x = ( x * ratioA + this._x * ratioB );
this._y = ( y * ratioA + this._y * ratioB );
this._z = ( z * ratioA + this._z * ratioB );
this.onChangeCallback();
this.w = ( w * ratioA + this.w * ratioB );
this.x = ( x * ratioA + this.x * ratioB );
this.y = ( y * ratioA + this.y * ratioB );
this.z = ( z * ratioA + this.z * ratioB );
return this;
......@@ -564,7 +473,7 @@ Object.assign( Quaternion.prototype, {
equals: function ( quaternion ) {
return ( quaternion._x === this._x ) && ( quaternion._y === this._y ) && ( quaternion._z === this._z ) && ( quaternion._w === this._w );
return ( quaternion.x === this.x ) && ( quaternion.y === this.y ) && ( quaternion.z === this.z ) && ( quaternion.w === this.w );
},
......@@ -572,12 +481,10 @@ Object.assign( Quaternion.prototype, {
if ( offset === undefined ) offset = 0;
this._x = array[ offset ];
this._y = array[ offset + 1 ];
this._z = array[ offset + 2 ];
this._w = array[ offset + 3 ];
this.onChangeCallback();
this.x = array[ offset ];
this.y = array[ offset + 1 ];
this.z = array[ offset + 2 ];
this.w = array[ offset + 3 ];
return this;
......@@ -588,24 +495,14 @@ Object.assign( Quaternion.prototype, {
if ( array === undefined ) array = [];
if ( offset === undefined ) offset = 0;
array[ offset ] = this._x;
array[ offset + 1 ] = this._y;
array[ offset + 2 ] = this._z;
array[ offset + 3 ] = this._w;
array[ offset ] = this.x;
array[ offset + 1 ] = this.y;
array[ offset + 2 ] = this.z;
array[ offset + 3 ] = this.w;
return array;
},
onChange: function ( callback ) {
this.onChangeCallback = callback;
return this;
},
onChangeCallback: function () {}
}
} );
......
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