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+/**
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+ * Copyright (c) 2023 mol* contributors, licensed under MIT, See LICENSE file for more info.
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+ *
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+ * @author Alexander Rose <alexander.rose@weirdbyte.de>
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+ *
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+ * This code has been modified from https://github.com/mrdoob/three.js/,
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+ * copyright (c) 2010-2023 three.js authors. MIT License
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+ */
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+
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+import { Mat4 } from './mat4';
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+import { assertUnreachable, NumberArray } from '../../../mol-util/type-helpers';
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+import { Quat } from './quat';
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+import { Vec3 } from './vec3';
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+import { clamp } from '../../interpolate';
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+
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+interface Euler extends Array<number> { [d: number]: number, '@type': 'euler', length: 3 }
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+
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+function Euler() {
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+ return Euler.zero();
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+}
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+
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+namespace Euler {
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+ export type Order = 'XYZ' | 'YXZ' | 'ZXY' | 'ZYX' | 'YZX' | 'XZY'
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+
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+ export function zero(): Euler {
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+ // force double backing array by 0.1.
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+ const ret = [0.1, 0, 0];
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+ ret[0] = 0.0;
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+ return ret as any;
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+ }
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+
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+ export function create(x: number, y: number, z: number): Euler {
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+ const out = zero();
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+ out[0] = x;
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+ out[1] = y;
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+ out[2] = z;
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+ return out;
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+ }
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+
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+ export function set(out: Euler, x: number, y: number, z: number) {
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+ out[0] = x;
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+ out[0] = y;
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+ out[0] = z;
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+ return out;
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+ }
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+
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+ export function clone(a: Euler): Euler {
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+ const out = zero();
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+ out[0] = a[0];
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+ out[1] = a[1];
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+ out[2] = a[2];
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+ return out;
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+ }
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+
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+ export function copy(out: Euler, a: Euler) {
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+ out[0] = a[0];
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+ out[1] = a[1];
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+ out[2] = a[2];
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+ return out;
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+ }
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+
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+ /**
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+ * Assumes the upper 3x3 of m is a pure rotation matrix (i.e, unscaled)
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+ */
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+ export function fromMat4(out: Euler, m: Mat4, order: Order): Euler {
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+ const m11 = m[0], m12 = m[4], m13 = m[8];
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+ const m21 = m[1], m22 = m[5], m23 = m[9];
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+ const m31 = m[2], m32 = m[6], m33 = m[10];
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+
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+ switch (order) {
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+ case 'XYZ':
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+ out[1] = Math.asin(clamp(m13, -1, 1));
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+ if (Math.abs(m13) < 0.9999999) {
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+ out[0] = Math.atan2(-m23, m33);
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+ out[2] = Math.atan2(-m12, m11);
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+ } else {
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+ out[0] = Math.atan2(m32, m22);
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+ out[2] = 0;
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+ }
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+ break;
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+ case 'YXZ':
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+ out[0] = Math.asin(-clamp(m23, -1, 1));
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+ if (Math.abs(m23) < 0.9999999) {
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+ out[1] = Math.atan2(m13, m33);
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+ out[2] = Math.atan2(m21, m22);
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+ } else {
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+ out[1] = Math.atan2(-m31, m11);
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+ out[2] = 0;
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+ }
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+ break;
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+ case 'ZXY':
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+ out[0] = Math.asin(clamp(m32, -1, 1));
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+ if (Math.abs(m32) < 0.9999999) {
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+ out[1] = Math.atan2(-m31, m33);
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+ out[2] = Math.atan2(-m12, m22);
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+ } else {
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+ out[1] = 0;
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+ out[2] = Math.atan2(m21, m11);
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+ }
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+ break;
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+ case 'ZYX':
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+ out[1] = Math.asin(-clamp(m31, -1, 1));
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+ if (Math.abs(m31) < 0.9999999) {
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+ out[0] = Math.atan2(m32, m33);
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+ out[2] = Math.atan2(m21, m11);
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+ } else {
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+ out[0] = 0;
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+ out[2] = Math.atan2(-m12, m22);
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+ }
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+ break;
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+ case 'YZX':
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+ out[2] = Math.asin(clamp(m21, -1, 1));
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+ if (Math.abs(m21) < 0.9999999) {
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+ out[0] = Math.atan2(-m23, m22);
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+ out[1] = Math.atan2(-m31, m11);
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+ } else {
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+ out[0] = 0;
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+ out[1] = Math.atan2(m13, m33);
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+ }
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+ break;
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+ case 'XZY':
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+ out[2] = Math.asin(-clamp(m12, -1, 1));
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+ if (Math.abs(m12) < 0.9999999) {
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+ out[0] = Math.atan2(m32, m22);
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+ out[1] = Math.atan2(m13, m11);
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+ } else {
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+ out[0] = Math.atan2(-m23, m33);
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+ out[1] = 0;
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+ }
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+ break;
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+ default:
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+ assertUnreachable(order);
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+ }
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+
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+ return out;
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+ }
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+
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+ const _mat4 = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0] as Mat4;
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+ export function fromQuat(out: Euler, q: Quat, order: Order) {
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+ Mat4.fromQuat(_mat4, q);
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+ return fromMat4(out, _mat4, order);
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+ }
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+
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+ export function fromVec3(out: Euler, v: Vec3) {
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+ return set(out, v[0], v[1], v[2]);
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+ }
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+
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+ export function exactEquals(a: Euler, b: Euler) {
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+ return a[0] === b[0] && a[1] === b[1] && a[2] === b[2];
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+ }
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+
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+ export function fromArray(e: Euler, array: ArrayLike<number>, offset: number) {
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+ e[0] = array[offset + 0];
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+ e[1] = array[offset + 1];
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+ e[2] = array[offset + 2];
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+ return e;
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+ }
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+
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+ export function toArray<T extends NumberArray>(e: Euler, out: T, offset: number) {
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+ out[offset + 0] = e[0];
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+ out[offset + 1] = e[1];
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+ out[offset + 2] = e[2];
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+ return out;
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+ }
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+}
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+
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+export { Euler };
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