From a83523964456f93942856dad3461245129a01d50 Mon Sep 17 00:00:00 2001
From: Micheal Parks <micheal.parks@outlook.com>
Date: Wed, 6 Mar 2024 14:26:41 -0500
Subject: [PATCH] fix change callbacks

---
 package.json     |  2 +-
 src/object-3d.ts | 32 +++++++++++++++++++++-----------
 2 files changed, 22 insertions(+), 12 deletions(-)

diff --git a/package.json b/package.json
index 80b1ec8..65438d4 100644
--- a/package.json
+++ b/package.json
@@ -1,6 +1,6 @@
 {
   "name": "@viamrobotics/three",
-  "version": "0.0.8",
+  "version": "0.0.9",
   "license": "Apache-2.0",
   "type": "module",
   "files": [
diff --git a/src/object-3d.ts b/src/object-3d.ts
index c6193d7..dad9b18 100644
--- a/src/object-3d.ts
+++ b/src/object-3d.ts
@@ -19,30 +19,40 @@ export class ViamObject3D extends Object3D {
     super();
 
     const ov = new OrientationVector();
-    const ovChangeCallback = () => ov.setFromQuaternion(this.quaternion, false);
+
+    const ovChangeCallback = () => {
+      ov.setFromQuaternion(this.quaternion, false);
+    };
+
+    const onChange = () => {
+      this.quaternion._onChangeCallback = noop;
+      this.rotation._onChangeCallback = noop;
+
+      ov.toQuaternion(this.quaternion);
+      ov.toEuler(this.rotation);
+
+      this.quaternion._onChangeCallback = quatChangeCallback;
+      this.rotation._onChangeCallback = eulerChangeCallback;
+    };
+
     const eulerOldChangeCallback = this.rotation._onChangeCallback;
     const quatOldChangeCallback = this.quaternion._onChangeCallback;
 
     const quatChangeCallback = () => {
+      ov._onChange(noop);
       quatOldChangeCallback();
       ovChangeCallback();
+      ov._onChange(onChange);
     };
 
     const eulerChangeCallback = () => {
+      ov._onChange(noop);
       eulerOldChangeCallback();
       ovChangeCallback();
+      ov._onChange(onChange);
     };
 
-    ov._onChange(() => {
-      this.quaternion._onChangeCallback = noop;
-      this.rotation._onChangeCallback = noop;
-
-      ov.toQuaternion(this.quaternion);
-      ov.toEuler(this.rotation);
-
-      this.quaternion._onChangeCallback = quatChangeCallback;
-      this.rotation._onChangeCallback = eulerChangeCallback;
-    });
+    ov._onChange(onChange);
 
     this.quaternion._onChange(quatChangeCallback);
     this.rotation._onChange(eulerChangeCallback);