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

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

Author: drewhoener

src/math/Quaternion.ts

@@ -2,46 +2,69 @@
  * @fileOverview
  * @author David Gossow - [email protected]
  */
+import { type PartialNullable } from '../types/interface-types.js';
+
+export interface IQuaternion {
+  /**
+   * The x value.
+   */
+  x: number;
+
+  /**
+   * The y value.
+   */
+  y: number;
+
+  /**
+   * The z value.
+   */
+  z: number;
+
+  /**
+   * The w value.
+   */
+  w: number;
+}
 
 /**
  * A Quaternion.
  */
-export default class Quaternion {
-  /**
-   * @param {Object} [options]
-   * @param {number|null} [options.x=0] - The x value.
-   * @param {number|null} [options.y=0] - The y value.
-   * @param {number|null} [options.z=0] - The z value.
-   * @param {number|null} [options.w=1] - The w value.
-   */
-  constructor(options) {
-    options = options || {};
-    this.x = options.x || 0;
-    this.y = options.y || 0;
-    this.z = options.z || 0;
-    this.w = typeof options.w === 'number' ? options.w : 1;
+export default class Quaternion implements IQuaternion {
+  x: number;
+  y: number;
+  z: number;
+  w: number;
+
+  constructor(options?: PartialNullable<IQuaternion> | null) {
+    this.x = options?.x ?? 0;
+    this.y = options?.y ?? 0;
+    this.z = options?.z ?? 0;
+    this.w = typeof options?.w === 'number' ? options.w : 1;
   }
+
   /**
    * Perform a conjugation on this quaternion.
    */
-  conjugate() {
+  conjugate(): void {
     this.x *= -1;
     this.y *= -1;
     this.z *= -1;
   }
+
   /**
    * Return the norm of this quaternion.
    */
-  norm() {
+  norm(): number {
     return Math.sqrt(
       this.x * this.x + this.y * this.y + this.z * this.z + this.w * this.w
     );
   }
+
   /**
    * Perform a normalization on this quaternion.
    */
-  normalize() {
-    var l = Math.sqrt(
+  normalize(): void {
+    let l = Math.sqrt(
       this.x * this.x + this.y * this.y + this.z * this.z + this.w * this.w
     );
     if (l === 0) {
@@ -67,24 +90,25 @@ export default class Quaternion {
   /**
    * Set the values of this quaternion to the product of itself and the given quaternion.
    *
-   * @param {Quaternion} q - The quaternion to multiply with.
+   * @param {IQuaternion} q - The quaternion to multiply with.
    */
-  multiply(q) {
-    var newX = this.x * q.w + this.y * q.z - this.z * q.y + this.w * q.x;
-    var newY = -this.x * q.z + this.y * q.w + this.z * q.x + this.w * q.y;
-    var newZ = this.x * q.y - this.y * q.x + this.z * q.w + this.w * q.z;
-    var newW = -this.x * q.x - this.y * q.y - this.z * q.z + this.w * q.w;
+  multiply(q: IQuaternion): void {
+    const newX = this.x * q.w + this.y * q.z - this.z * q.y + this.w * q.x;
+    const newY = -this.x * q.z + this.y * q.w + this.z * q.x + this.w * q.y;
+    const newZ = this.x * q.y - this.y * q.x + this.z * q.w + this.w * q.z;
+    const newW = -this.x * q.x - this.y * q.y - this.z * q.z + this.w * q.w;
     this.x = newX;
     this.y = newY;
     this.z = newZ;
     this.w = newW;
   }
+
   /**
    * Clone a copy of this quaternion.
    *
    * @returns {Quaternion} The cloned quaternion.
    */
-  clone() {
+  clone(): Quaternion {
     return new Quaternion(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 Quaternion, type IQuaternion } from './Quaternion.js';
 export { default as Transform } from './Transform.js';
 export { default as Vector3, type IVector3 } from './Vector3.js';