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import * as Quaternion$WsteinRegripCore from "./Quaternion.res.mjs";
import * as CubeSymmetry$WsteinRegripCore from "./CubeSymmetry.res.mjs";
import * as MagneticDetent$WsteinRegripCore from "./MagneticDetent.res.mjs";
let defaults_radiusDeg = MagneticDetent$WsteinRegripCore.defaults.radiusDeg;
let defaults_snapDeg = MagneticDetent$WsteinRegripCore.defaults.snapDeg;
let defaults_velocityMax = MagneticDetent$WsteinRegripCore.defaults.velocityMax;
let defaults = {
radiusDeg: defaults_radiusDeg,
snapDeg: defaults_snapDeg,
hysteresisDeg: 5,
velocityMax: defaults_velocityMax,
driftDegPerSec: 2
};
let initial = {
lockedPose: undefined,
driftOffset: Quaternion$WsteinRegripCore.identity
};
function reset(param) {
return initial;
}
function lockedPose(state) {
return state.lockedPose;
}
function detentConfig(config) {
return {
radiusDeg: config.radiusDeg,
snapDeg: config.snapDeg,
velocityMax: config.velocityMax
};
}
function stepSample(state, raw, velocityOpt, dtSecondsOpt, configOpt) {
let velocity = velocityOpt !== undefined ? velocityOpt : 0;
let dtSeconds = dtSecondsOpt !== undefined ? dtSecondsOpt : 0;
let config = configOpt !== undefined ? configOpt : defaults;
let corrected = Quaternion$WsteinRegripCore.multiply(state.driftOffset, raw);
let target = CubeSymmetry$WsteinRegripCore.nearest(corrected, state.lockedPose, Quaternion$WsteinRegripCore.degreesToRadians(config.hysteresisDeg));
let velocityGate = 1 - Math.min(1, Math.abs(velocity) / config.velocityMax);
let maximumStep = Quaternion$WsteinRegripCore.degreesToRadians(config.driftDegPerSec) * dtSeconds * velocityGate;
let driftOffset;
if (maximumStep > 0) {
let difference = Quaternion$WsteinRegripCore.multiply(target, Quaternion$WsteinRegripCore.conjugate(corrected));
let differenceAngle = Quaternion$WsteinRegripCore.angle(corrected, target);
if (differenceAngle > 0) {
let fraction = Math.min(1, maximumStep / differenceAngle);
driftOffset = Quaternion$WsteinRegripCore.multiply(Quaternion$WsteinRegripCore.slerp(Quaternion$WsteinRegripCore.identity, difference, fraction), state.driftOffset);
} else {
driftOffset = state.driftOffset;
}
} else {
driftOffset = state.driftOffset;
}
let adjusted = Quaternion$WsteinRegripCore.multiply(driftOffset, raw);
return [
{
lockedPose: target,
driftOffset: driftOffset
},
{
driftCorrected: adjusted,
stabilized: MagneticDetent$WsteinRegripCore.apply(adjusted, target, velocity, detentConfig(config))
}
];
}
function step(state, raw, velocityOpt, dtSecondsOpt, configOpt) {
let velocity = velocityOpt !== undefined ? velocityOpt : 0;
let dtSeconds = dtSecondsOpt !== undefined ? dtSecondsOpt : 0;
let config = configOpt !== undefined ? configOpt : defaults;
let match = stepSample(state, raw, velocity, dtSeconds, config);
return [
match[0],
match[1].stabilized
];
}
export {
defaults,
initial,
reset,
lockedPose,
stepSample,
step,
}
/* CubeSymmetry-WsteinRegripCore Not a pure module */
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