add tests, allow non-normalization behavior

package.json

@@ -1,6 +1,6 @@
 {
   "name": "@viamrobotics/three",
-  "version": "0.0.7",
+  "version": "0.0.8",
   "license": "Apache-2.0",
   "type": "module",
   "files": [

src/orientation-vector.ts

@@ -41,8 +41,15 @@ export class OrientationVector {
 
   #onChangeCallback: (() => void) | undefined;
 
+  autoNormalize = true;
+
   constructor(x = 0, y = 0, z = 1, th = 0) {
-    this.#vec.set(x, y, z).normalize();
+    this.#vec.set(x, y, z);
+
+    if (this.autoNormalize) {
+      this.#vec.normalize();
+    }
+
     this.#th = th;
   }
 
@@ -59,7 +66,12 @@ export class OrientationVector {
   }
 
   set x(value: number) {
-    this.#vec.setX(value).normalize();
+    this.#vec.setX(value);
+
+    if (this.autoNormalize) {
+      this.#vec.normalize();
+    }
+
     this.#onChangeCallback?.();
   }
 
@@ -72,7 +84,12 @@ export class OrientationVector {
   }
 
   set y(value: number) {
-    this.#vec.setY(value).normalize();
+    this.#vec.setY(value);
+
+    if (this.autoNormalize) {
+      this.#vec.normalize();
+    }
+
     this.#onChangeCallback?.();
   }
 
@@ -85,7 +102,12 @@ export class OrientationVector {
   }
 
   set z(value: number) {
-    this.#vec.setY(value).normalize();
+    this.#vec.setY(value);
+
+    if (this.autoNormalize) {
+      this.#vec.normalize();
+    }
+
     this.#onChangeCallback?.();
   }
 
@@ -122,7 +144,12 @@ export class OrientationVector {
    * Sets the value of this orientation vector.
    */
   set(x = 0, y = 0, z = 0, th = 0): this {
-    this.#vec.set(x, y, z).normalize();
+    this.#vec.set(x, y, z);
+
+    if (this.autoNormalize) {
+      this.#vec.normalize();
+    }
+
     this.th = th;
 
     this.#onChangeCallback?.();
@@ -143,11 +170,24 @@ export class OrientationVector {
     return this.#vec.length();
   }
 
+  /**
+   * Normalizes the vector component.
+   */
+  normalize() {
+    this.#vec.normalize();
+    return this;
+  }
+
   /**
    * Copies value of ov to this orientation vector.
    */
   copy(ov: OrientationVector): this {
-    this.#vec.set(ov.x, ov.y, ov.z).normalize();
+    this.#vec.set(ov.x, ov.y, ov.z);
+
+    if (this.autoNormalize) {
+      this.#vec.normalize();
+    }
+
     this.th = ov.th;
 
     this.#onChangeCallback?.();

test/viam-object3d.spec.ts

@@ -0,0 +1,19 @@
+import { describe, it } from 'vitest';
+import { ViamObject3D } from '../src/object-3d';
+import { expect } from 'vitest';
+
+describe('ViamObject3D', () => {
+  const object3D = new ViamObject3D();
+
+  it('Updates the rotation when when an orientation vector is modified', () => {
+    object3D.orientationVector.th = Math.PI;
+    expect(object3D.rotation.z).toBeCloseTo(Math.PI);
+    expect(object3D.orientationVector.th).toBeCloseTo(Math.PI);
+  });
+
+  it('Updates the orientation vector when rotation is modified', () => {
+    object3D.rotation.z = Math.PI;
+    expect(object3D.orientationVector.th).toBeCloseTo(Math.PI);
+    expect(object3D.rotation.z).toBeCloseTo(Math.PI);
+  });
+});