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export class Quaternion {
constructor(x = 0, y = 0, z = 0, w = 1) {
this.x = x;
this.y = y;
this.z = z;
this.w = w;
}
static fromEuler(x, y, z) {
const cx = Math.cos(x * 0.5);
const cy = Math.cos(y * 0.5);
const cz = Math.cos(z * 0.5);
const sx = Math.sin(x * 0.5);
const sy = Math.sin(y * 0.5);
const sz = Math.sin(z * 0.5);
return new Quaternion(
sx * cy * cz + cx * sy * sz,
cx * sy * cz - sx * cy * sz,
cx * cy * sz + sx * sy * cz,
cx * cy * cz - sx * sy * sz
);
}
static multiply(a, b) {
return new Quaternion(
a.w * b.x + a.x * b.w + a.y * b.z - a.z * b.y,
a.w * b.y - a.x * b.z + a.y * b.w + a.z * b.x,
a.w * b.z + a.x * b.y - a.y * b.x + a.z * b.w,
a.w * b.w - a.x * b.x - a.y * b.y - a.z * b.z
);
}
normalize() {
const len = Math.sqrt(
this.x * this.x +
this.y * this.y +
this.z * this.z +
this.w * this.w
);
if (len === 0) return this;
const invLen = 1 / len;
return new Quaternion(
this.x * invLen,
this.y * invLen,
this.z * invLen,
this.w * invLen
);
}
clone() {
return new Quaternion(this.x, this.y, this.z, this.w);
}
}
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