quaternion.min.js

/*
Quaternion.js v1.1.0 22/02/2016

Copyright (c) 2016, Robert Eisele (robert@xarg.org)
Dual licensed under the MIT or GPL Version 2 licenses.
*/
(function(w){function u(a,b){var c=Math.abs(a),e=Math.abs(b);return 0===a?Math.log(e):0===b?Math.log(c):3E3>c&&3E3>e?.5*Math.log(a*a+b*b):Math.log(a/Math.cos(Math.atan2(b,a)))}function q(a,b,c,e,d){if(void 0!==d)a.w=b,a.x=c,a.y=e,a.z=d;else{if("object"===typeof b&&void 0===e){if("w"in b||"x"in b||"y"in b||"z"in b){a.w=b.w||0;a.x=b.x||0;a.y=b.y||0;a.z=b.z||0;return}if("re"in b&&"im"in b){a.w=b.re;a.x=b.im;a.y=0;a.z=0;return}if(4===b.length){a.w=b[0];a.x=b[1];a.y=b[2];a.z=b[3];return}if(3===b.length){a.w=
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e=a[1],d=a[2],f=b[0],g=b[1],k=b[2],n=c*f+e*g+d*k,l=e*k-d*g;d=d*f-c*k;c=c*g-e*f;return(new h(n+Math.sqrt(n*n+l*l+d*d+c*c),l,d,c)).normalize()};h.fromEuler=function(a,b,c,e){var d=.5*b,f=.5*c,g=.5*a;a=Math.cos(d);c=Math.cos(f);b=Math.cos(g);d=Math.sin(d);f=Math.sin(f);g=Math.sin(g);return void 0===e||"ZXY"===e?new h(a*c*b-d*f*g,d*c*b-a*f*g,a*f*b+d*c*g,a*c*g+d*f*b):"XYZ"===e?new h(a*c*b-d*f*g,d*c*b+a*f*g,a*f*b-d*c*g,a*c*g+d*f*b):"YXZ"===e?new h(a*c*b+d*f*g,d*c*b+a*f*g,a*f*b-d*c*g,a*c*g-d*f*b):"ZYX"===
e?new h(a*c*b+d*f*g,d*c*b-a*f*g,a*f*b+d*c*g,a*c*g-d*f*b):"YZX"===e?new h(a*c*b-d*f*g,d*c*b+a*f*g,a*f*b+d*c*g,a*c*g-d*f*b):"XZY"===e?new h(a*c*b+d*f*g,d*c*b-a*f*g,a*f*b-d*c*g,a*c*g+d*f*b):null};"function"===typeof define&&define.amd?define([],function(){return h}):"object"===typeof exports?(Object.defineProperty(exports,"__esModule",{value:!0}),h["default"]=h,h.Quaternion=h,module.exports=h):w.Quaternion=h})(this);