refactor(Vector3): Refactor Vector3 to typescript module, add interface to represent structure and type methods.

Signed-off-by: Drew Hoener <[email protected]>

Author: drewhoener

src/math/Vector3.ts

@@ -3,64 +3,81 @@
  * @author David Gossow - [email protected]
  */
 
-import Quaternion from './Quaternion.js';
+import { type IQuaternion } from './Quaternion.js';
+import { type PartialNullable } from '../types/interface-types.js';
+
+export interface IVector3 {
+  /**
+   * The x value.
+   */
+  x: number;
+  /**
+   * The y value.
+   */
+  y: number;
+  /**
+   * The z value.
+   */
+  z: number;
+}
 
 /**
  * A 3D vector.
  */
-export default class Vector3 {
-  /**
-   * @param {Object} [options]
-   * @param {number} [options.x=0] - The x value.
-   * @param {number} [options.y=0] - The y value.
-   * @param {number} [options.z=0] - The z value.
-   */
-  constructor(options) {
-    options = options || {};
-    this.x = options.x || 0;
-    this.y = options.y || 0;
-    this.z = options.z || 0;
+export default class Vector3 implements IVector3 {
+  x: number;
+  y: number;
+  z: number;
+
+  constructor(options?: PartialNullable<IVector3> | null) {
+    this.x = options?.x ?? 0;
+    this.y = options?.y ?? 0;
+    this.z = options?.z ?? 0;
   }
+
   /**
    * Set the values of this vector to the sum of itself and the given vector.
    *
    * @param {Vector3} v - The vector to add with.
    */
-  add(v) {
+  add(v: IVector3): void {
     this.x += v.x;
     this.y += v.y;
     this.z += v.z;
   }
+
   /**
    * Set the values of this vector to the difference of itself and the given vector.
    *
    * @param {Vector3} v - The vector to subtract with.
    */
-  subtract(v) {
+  subtract(v: IVector3): void {
     this.x -= v.x;
     this.y -= v.y;
     this.z -= v.z;
   }
+
   /**
    * Multiply the given Quaternion with this vector.
    *
    * @param {Quaternion} q - The quaternion to multiply with.
    */
-  multiplyQuaternion(q) {
-    var ix = q.w * this.x + q.y * this.z - q.z * this.y;
-    var iy = q.w * this.y + q.z * this.x - q.x * this.z;
-    var iz = q.w * this.z + q.x * this.y - q.y * this.x;
-    var iw = -q.x * this.x - q.y * this.y - q.z * this.z;
+  multiplyQuaternion(q: IQuaternion) {
+    const ix = q.w * this.x + q.y * this.z - q.z * this.y;
+    const iy = q.w * this.y + q.z * this.x - q.x * this.z;
+    const iz = q.w * this.z + q.x * this.y - q.y * this.x;
+    const iw = -q.x * this.x - q.y * this.y - q.z * this.z;
     this.x = ix * q.w + iw * -q.x + iy * -q.z - iz * -q.y;
     this.y = iy * q.w + iw * -q.y + iz * -q.x - ix * -q.z;
     this.z = iz * q.w + iw * -q.z + ix * -q.y - iy * -q.x;
   }
+
   /**
    * Clone a copy of this vector.
    *
    * @returns {Vector3} The cloned vector.
    */
-  clone() {
+  clone(): Vector3 {
     return new Vector3(this);
   }
 }

src/math/index.ts

@@ -1,4 +1,4 @@
 export { default as Pose } from './Pose.js';
 export { default as Quaternion } from './Quaternion.js';
 export { default as Transform } from './Transform.js';
-export { default as Vector3 } from './Vector3.js';
+export { default as Vector3, type IVector3 } from './Vector3.js';