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Euler

class Euler extends MathArray extends Array

A class to handle Euler rotation. More information on rotation using a Euler vector can be found here. Generally speaking the three components of the Euler object represents the roll, pitch and yaw angles and the rotation is applied according to a specific rotation order.

Usage​

import {Euler} from '@math.gl/core';

Rotation order is represented by the EulerRotationOrder type. Its valid values are 'xyz', 'xzy', 'yxz', 'yzx', 'zxy', and 'zyx'. The default is 'zyx'.

Members​

x, y z​

x, y, z angle notation (note: only corresponds to axis in XYZ orientation)

roll, pitch, yaw​

roll, pitch, yaw angle notation

alpha, beta, gamma​

alpha, beta, gamma angle notation

phi, theta, psi​

phi, theta, psi angle notation

order​

rotation order in all notations

Methods​

constructor​

(x = 0, y = 0, z = 0, order = 'zyx')

  • Number|Number[], Number, Number, EulerRotationOrder

fromRollPitchYaw​

Common ZYX rotation order

euler.fromRollPitchYaw(roll, pitch, yaw)

fromRotationMatrix​

euler.fromRotationMatrix(m, order = euler.order)

fromQuaternion​

euler.fromQuaternion(q, order = euler.order)

Sets this Euler instance from q using the requested rotation order. All six rotation orders are supported.

copy​

If copied array does contain fourth element, preserves currently set order.

euler.copy(array)

set​

Sets the three angles, and optionally sets the rotation order. If order is not specified, preserves currently set order.

euler.set(x = 0, y = 0, z = 0, order)

toArray​

Does not copy the orientation element

euler.toArray(array = [], offset = 0)

toArray4​

Copies the orientation element

euler.toArray4(array = [], offset = 0)

toVector3​

euler.toVector3(optionalResult)

fromVector3​

euler.fromVector3(v, order)

fromArray​

euler.fromArray(array, offset = 0)

getRotationMatrix​

euler.getRotationMatrix(result = number[16])

Returns result, updated with the 4x4 rotation matrix corresponding to these Euler angles. A plain array is created when result is omitted.

To create a quaternion from Euler angles, use the destination-owned conversion:

new Quaternion().fromEuler(euler)

Remarks​

  • Attribution: inspired by THREE.js THREE.Euler class