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Clean up complex and quaternion
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@yzrmn
yzrmn committed May 13, 2024
1 parent c4a552d commit 17b833e
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Showing 2 changed files with 71 additions and 48 deletions.
8 changes: 4 additions & 4 deletions packages/redgeometry/src/primitives/complex.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -56,8 +56,8 @@ export class Complex {
}

public inverse(): Complex {
const d = this.lenSq();
return new Complex(this.a / d, -this.b / d);
const div = this.lenSq();
return new Complex(this.a / div, -this.b / div);
}

public isIdentity(): boolean {
Expand Down Expand Up @@ -125,7 +125,7 @@ export class Complex {
}

public unit(): Complex {
const d = this.len();
return new Complex(this.a / d, this.b / d);
const div = this.len();
return new Complex(this.a / div, this.b / div);
}
}
111 changes: 67 additions & 44 deletions packages/redgeometry/src/primitives/quaternion.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -70,21 +70,21 @@ export class Quaternion {
}

public static fromRotationEuler(angleX: number, angleY: number, angleZ: number, order: RotationOrder): Quaternion {
const sinx = Math.sin(0.5 * angleX);
const cosx = Math.cos(0.5 * angleX);
const siny = Math.sin(0.5 * angleY);
const cosy = Math.cos(0.5 * angleY);
const sinz = Math.sin(0.5 * angleZ);
const cosz = Math.cos(0.5 * angleZ);

const a1 = cosx * cosy * cosz;
const a2 = sinx * siny * sinz;
const b1 = sinx * cosy * cosz;
const b2 = cosx * siny * sinz;
const c1 = cosx * siny * cosz;
const c2 = sinx * cosy * sinz;
const d1 = cosx * cosy * sinz;
const d2 = sinx * siny * cosz;
const sinX = Math.sin(0.5 * angleX);
const cosX = Math.cos(0.5 * angleX);
const sinY = Math.sin(0.5 * angleY);
const cosY = Math.cos(0.5 * angleY);
const sinZ = Math.sin(0.5 * angleZ);
const cosZ = Math.cos(0.5 * angleZ);

const a1 = cosX * cosY * cosZ;
const a2 = sinX * sinY * sinZ;
const b1 = sinX * cosY * cosZ;
const b2 = cosX * sinY * sinZ;
const c1 = cosX * sinY * cosZ;
const c2 = sinX * cosY * sinZ;
const d1 = cosX * cosY * sinZ;
const d2 = sinX * sinY * cosZ;

switch (order) {
case RotationOrder.XYZ: {
Expand Down Expand Up @@ -166,6 +166,13 @@ export class Quaternion {
}
}

/**
* Returns a quaternion with values following the `XYZW` notation.
*/
public static fromXYZW(x: number, y: number, z: number, w: number): Quaternion {
return new Quaternion(w, x, y, z);
}

public add(q: Quaternion): Quaternion {
return new Quaternion(this.a + q.a, this.b + q.b, this.c + q.c, this.d + q.d);
}
Expand Down Expand Up @@ -199,22 +206,38 @@ export class Quaternion {
return this.a === q.a && this.b === q.b && this.c === q.c && this.d === q.d;
}

/**
* Returns the euler angles of the quaternion in `XYZ` order.
*/
public getEulerAngles(): { x: number; y: number; z: number } {
const qa = this.a;
const qb = this.b;
const qc = this.c;
const qd = this.d;
const a = this.a;
const b = this.b;
const c = this.c;
const d = this.d;

const aa = a * a;
const bb = b * b;
const cc = c * c;
const dd = d * d;

const ab = a * b;
const cd = c * d;
const x = Math.atan2(ab + ab + cd + cd, aa - bb - cc + dd);

const ad = a * d;
const bc = b * c;
const z = Math.atan2(ad + ad + bc + bc, aa + bb - cc - dd);

const x = Math.atan2(2 * (qa * qb + qc * qd), qa * qa - qb * qb - qc * qc + qd * qd);
const y = Math.asin(2 * (qa * qc - qb * qd));
const z = Math.atan2(2 * (qa * qd + qb * qc), qa * qa + qb * qb - qc * qc - qd * qd);
const ac = a * c;
const bd = b * d;
const y = Math.asin(ac + ac - bd - bd);

return { x, y, z };
}

public inverse(): Quaternion {
const d = this.lenSq();
return new Quaternion(this.a / d, -this.b / d, -this.c / d, -this.d / d);
const div = this.lenSq();
return new Quaternion(this.a / div, -this.b / div, -this.c / div, -this.d / div);
}

public isIdentity(): boolean {
Expand Down Expand Up @@ -288,9 +311,9 @@ export class Quaternion {
);
}

public rotateX(angleX: number): void {
const sin = Math.sin(0.5 * angleX);
const cos = Math.cos(0.5 * angleX);
public rotateX(angle: number): void {
const sin = Math.sin(0.5 * angle);
const cos = Math.cos(0.5 * angle);
const a = this.a;
const b = this.b;
const c = this.c;
Expand All @@ -306,9 +329,9 @@ export class Quaternion {
this.d = cos * d + sin * c;
}

public rotateXPre(angleX: number): void {
const sin = Math.sin(0.5 * angleX);
const cos = Math.cos(0.5 * angleX);
public rotateXPre(angle: number): void {
const sin = Math.sin(0.5 * angle);
const cos = Math.cos(0.5 * angle);
const a = this.a;
const b = this.b;
const c = this.c;
Expand All @@ -324,9 +347,9 @@ export class Quaternion {
this.d = d * cos - c * sin;
}

public rotateY(angleY: number): void {
const sin = Math.sin(0.5 * angleY);
const cos = Math.cos(0.5 * angleY);
public rotateY(angle: number): void {
const sin = Math.sin(0.5 * angle);
const cos = Math.cos(0.5 * angle);
const a = this.a;
const b = this.b;
const c = this.c;
Expand All @@ -342,9 +365,9 @@ export class Quaternion {
this.d = cos * d - sin * b;
}

public rotateYPre(angleY: number): void {
const sin = Math.sin(0.5 * angleY);
const cos = Math.cos(0.5 * angleY);
public rotateYPre(angle: number): void {
const sin = Math.sin(0.5 * angle);
const cos = Math.cos(0.5 * angle);
const a = this.a;
const b = this.b;
const c = this.c;
Expand All @@ -360,9 +383,9 @@ export class Quaternion {
this.d = d * cos + b * sin;
}

public rotateZ(angleZ: number): void {
const sin = Math.sin(0.5 * angleZ);
const cos = Math.cos(0.5 * angleZ);
public rotateZ(angle: number): void {
const sin = Math.sin(0.5 * angle);
const cos = Math.cos(0.5 * angle);
const a = this.a;
const b = this.b;
const c = this.c;
Expand All @@ -378,9 +401,9 @@ export class Quaternion {
this.d = cos * d + sin * a;
}

public rotateZPre(angleZ: number): void {
const sin = Math.sin(0.5 * angleZ);
const cos = Math.cos(0.5 * angleZ);
public rotateZPre(angle: number): void {
const sin = Math.sin(0.5 * angle);
const cos = Math.cos(0.5 * angle);
const a = this.a;
const b = this.b;
const c = this.c;
Expand Down Expand Up @@ -409,7 +432,7 @@ export class Quaternion {
}

public unit(): Quaternion {
const d = this.len();
return new Quaternion(this.a / d, this.b / d, this.c / d, this.d / d);
const div = this.len();
return new Quaternion(this.a / div, this.b / div, this.c / div, this.d / div);
}
}

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