dual-quat-to-mat4 - npm Package Compare versions

Comparing version 1.0.0 to 1.0.1

package.json

 {
   "name": "dual-quat-to-mat4",
-  "version": "1.0.0",
+  "version": "1.0.1",
   "description": "Convert a dual quaternion into a 4x4 matrix",
@@ -5,0 +5,0 @@ "main": "src/dual-quat-to-mat4",

README.md

@@ -30,6 +30,6 @@ dual-quat-to-mat4 [![npm version](https://badge.fury.io/js/dual-quat-to-mat4.svg)](http://badge.fury.io/js/dual-quat-to-mat4) [![Build Status](https://travis-ci.org/chinedufn/dual-quat-to-mat4.svg?branch=master)](https://travis-ci.org/chinedufn/dual-quat-to-mat4)
 var dualQuatToMat4 = require('dual-quat-to-mat4')
+var matrix = []
+var dualQuat = dualQuatToMat4(matrix, [0, 0, 0, 1, 0, 0, 0, 0])
 
-var dualQuat = dualQuatToMat4([0, 0, 0, 1, 0, 0, 0, 0])
-
-console.log(dualQuat)
+console.log(matrix)
 // [1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1]
@@ -40,8 +40,16 @@ ```
 
-### `dualQuatToMat4(matrix)` -> `Array[16]`
+### `dualQuatToMat4(out, dualQuat)` -> `Array[16]`
 
-#### dual quaternion
+#### out
 
-*Requred*
+*Required*
 
+Type: `Array[*]`
+
+An allocated array that will get elements [0] through [15] set as your output matrix
+
+#### dualQuat
+
+*Required*
+
 Type: `Array[8]`
@@ -48,0 +56,0 @@

src/dual-quat-to-mat4.js

@@ -5,23 +5,23 @@ module.exports = convertDualQuatToMatrix
 //  recommended reading: https://www.cs.utah.edu/~ladislav/kavan07skinning/kavan07skinning.pdf
-function convertDualQuatToMatrix (dq) {
+function convertDualQuatToMatrix (out, dq) {
   // dq[0] dq[1] dq[2] dq[3] are our rotation quaternion elements
-  // dq[4] dq[5] dq[6] dq[7] are our translation quaternion elements (the dual quaternions imaginary component)
-  return [
-    1.0 - (2.0 * dq[1] * dq[1]) - (2.0 * dq[2] * dq[2]),
-    (2.0 * dq[0] * dq[1]) + (2.0 * dq[3] * dq[2]),
-    (2.0 * dq[0] * dq[2]) - (2.0 * dq[3] * dq[1]),
-    0,
-    (2.0 * dq[0] * dq[1]) - (2.0 * dq[3] * dq[2]),
-    1.0 - (2.0 * dq[0] * dq[0]) - (2.0 * dq[2] * dq[2]),
-    (2.0 * dq[1] * dq[2]) + (2.0 * dq[3] * dq[0]),
-    0,
-    (2.0 * dq[0] * dq[2]) + (2.0 * dq[3] * dq[1]),
-    (2.0 * dq[1] * dq[2]) - (2.0 * dq[3] * dq[0]),
-    1.0 - (2.0 * dq[0] * dq[0]) - (2.0 * dq[1] * dq[1]),
-    0,
-    2.0 * (-dq[7] * dq[0] + dq[4] * dq[3] - dq[5] * dq[2] + dq[6] * dq[1]),
-    2.0 * (-dq[7] * dq[1] + dq[4] * dq[2] + dq[5] * dq[3] - dq[6] * dq[0]),
-    2.0 * (-dq[7] * dq[2] - dq[4] * dq[1] + dq[5] * dq[0] + dq[6] * dq[3]),
-    1
-  ]
+  // dq[4] dq[5] dq[6] dq[7] are our translation quaternion elements (the dual quaternion's imaginary component)
+  out[0] = 1.0 - (2.0 * dq[1] * dq[1]) - (2.0 * dq[2] * dq[2])
+  out[1] = (2.0 * dq[0] * dq[1]) + (2.0 * dq[3] * dq[2])
+  out[2] = (2.0 * dq[0] * dq[2]) - (2.0 * dq[3] * dq[1])
+  out[3] = 0
+  out[4] = (2.0 * dq[0] * dq[1]) - (2.0 * dq[3] * dq[2])
+  out[5] = 1.0 - (2.0 * dq[0] * dq[0]) - (2.0 * dq[2] * dq[2])
+  out[6] = (2.0 * dq[1] * dq[2]) + (2.0 * dq[3] * dq[0])
+  out[7] = 0
+  out[8] = (2.0 * dq[0] * dq[2]) + (2.0 * dq[3] * dq[1])
+  out[9] = (2.0 * dq[1] * dq[2]) - (2.0 * dq[3] * dq[0])
+  out[10] = 1.0 - (2.0 * dq[0] * dq[0]) - (2.0 * dq[1] * dq[1])
+  out[11] = 0
+  out[12] = 2.0 * (-dq[7] * dq[0] + dq[4] * dq[3] - dq[5] * dq[2] + dq[6] * dq[1])
+  out[13] = 2.0 * (-dq[7] * dq[1] + dq[4] * dq[2] + dq[5] * dq[3] - dq[6] * dq[0])
+  out[14] = 2.0 * (-dq[7] * dq[2] - dq[4] * dq[1] + dq[5] * dq[0] + dq[6] * dq[3])
+  out[15] = 1
+
+  return out
 }

test/dual-quat-to-mat4.js

@@ -10,6 +10,9 @@ var test = require('tape')
   var expectedOriginalDualQuat = [0, 0, 0, 1, 0, 0, 0, 0]
-
+  var expectedDualQuatOut = [1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1]
+  var out = []
   var convertedMatrix = dualQuatToMat4(
+    out,
     expectedOriginalDualQuat
   )
+  t.deepEqual(out, expectedDualQuatOut)
   var convertedDualQuat = mat4ToDualQuat(convertedMatrix)
@@ -26,4 +29,5 @@
   var expectedOriginalDualQuat = [-0.27447058422968623, -0.016130971701251967, 0.05674661681750636, 0.9597840903036474, -0.0017457254491423332, -0.12487046113525742, -0.011375334994009861, -0.0019253500880238306]
-
+  var out = []
   var convertedMatrix = dualQuatToMat4(
+    out,
     expectedOriginalDualQuat
@@ -30,0 +34,0 @@ )

New alerts

New author

Supply chain risk

A new npm collaborator published a version of the package for the first time. New collaborators are usually benign additions to a project, but do indicate a change to the security surface area of a package.

Found 1 instance in 1 package

Improved metrics

Total package byte prevSize

5973

increased by7.29%

Lines of code

61

increased by8.93%

Number of lines in readme file

69

increased by13.11%

Worsened metrics

Number of package files

5

decreased by-16.67%

Number of medium supply chain risk alerts

1

increased byInfinity%

No dependency changes