webruby 0.2.7 → 0.9.1
This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
- checksums.yaml +4 -4
- data/lib/webruby/environment.rb +24 -8
- data/lib/webruby/rake/files.rake +6 -22
- data/lib/webruby/rake/general.rake +1 -1
- data/lib/webruby/rake/mruby.rake +1 -0
- data/lib/webruby/utility.rb +14 -0
- data/modules/mruby/AUTHORS +14 -0
- data/modules/mruby/CONTRIBUTING.md +7 -4
- data/modules/mruby/INSTALL +28 -11
- data/modules/mruby/MITL +13 -13
- data/modules/mruby/Makefile +4 -5
- data/modules/mruby/README.md +54 -49
- data/modules/mruby/Rakefile +36 -6
- data/modules/mruby/benchmark/ao-render.rb +1 -2
- data/modules/mruby/benchmark/bm_app_lc_fizzbuzz.rb +52 -0
- data/modules/mruby/benchmark/fib39.rb +0 -0
- data/modules/mruby/bintest/mrbc.rb +12 -0
- data/modules/mruby/build_config.rb +32 -2
- data/modules/mruby/doc/api/README.md +30 -0
- data/modules/mruby/doc/api/mruby.h.md +69 -0
- data/modules/mruby/doc/compile/README.md +208 -99
- data/modules/mruby/doc/debugger/README.md +370 -0
- data/modules/mruby/doc/language/Core.md +1590 -0
- data/modules/mruby/doc/language/README.md +9 -0
- data/modules/mruby/doc/language/generator.rb +15 -0
- data/modules/mruby/doc/language/mrbdoc/lib/mrbdoc_analyze.rb +231 -0
- data/modules/mruby/doc/language/mrbdoc/lib/mrbdoc_docu.rb +118 -0
- data/modules/mruby/doc/language/mrbdoc/mrbdoc.rb +38 -0
- data/modules/mruby/doc/mrbconf/README.md +160 -0
- data/modules/mruby/doc/mrbgems/README.md +136 -66
- data/modules/mruby/examples/mrbgems/c_and_ruby_extension_example/mrbgem.rake +1 -1
- data/modules/mruby/examples/mrbgems/c_and_ruby_extension_example/src/example.c +1 -1
- data/modules/mruby/examples/mrbgems/c_extension_example/mrbgem.rake +1 -1
- data/modules/mruby/examples/mrbgems/c_extension_example/src/example.c +1 -1
- data/modules/mruby/examples/mrbgems/ruby_extension_example/mrbgem.rake +1 -1
- data/modules/mruby/examples/targets/{ArduinoDue.rb → build_config_ArduinoDue.rb} +32 -6
- data/modules/mruby/examples/targets/build_config_IntelGalileo.rb +106 -0
- data/modules/mruby/examples/targets/{chipKitMax32.rb → build_config_chipKITMax32.rb} +26 -7
- data/modules/mruby/include/mrbconf.h +25 -1
- data/modules/mruby/include/mruby/array.h +32 -22
- data/modules/mruby/include/mruby/boxing_nan.h +94 -0
- data/modules/mruby/include/mruby/boxing_no.h +49 -0
- data/modules/mruby/include/mruby/boxing_word.h +119 -0
- data/modules/mruby/include/mruby/class.h +15 -13
- data/modules/mruby/include/mruby/compile.h +43 -36
- data/modules/mruby/include/mruby/data.h +13 -5
- data/modules/mruby/include/mruby/debug.h +9 -9
- data/modules/mruby/include/mruby/dump.h +32 -23
- data/modules/mruby/include/mruby/error.h +36 -0
- data/modules/mruby/include/mruby/gc.h +11 -6
- data/modules/mruby/include/mruby/hash.h +12 -12
- data/modules/mruby/include/mruby/irep.h +9 -3
- data/modules/mruby/include/mruby/khash.h +58 -41
- data/modules/mruby/include/mruby/numeric.h +38 -4
- data/modules/mruby/include/mruby/object.h +55 -0
- data/modules/mruby/include/mruby/opcode.h +160 -0
- data/modules/mruby/include/mruby/proc.h +19 -5
- data/modules/mruby/include/mruby/range.h +4 -3
- data/modules/mruby/include/mruby/re.h +20 -0
- data/modules/mruby/include/mruby/string.h +86 -47
- data/modules/mruby/include/mruby/value.h +100 -374
- data/modules/mruby/include/mruby/variable.h +34 -32
- data/modules/mruby/include/mruby/version.h +40 -0
- data/modules/mruby/include/mruby.h +211 -139
- data/modules/mruby/minirake +16 -9
- data/modules/mruby/mrbgems/default.gembox +12 -0
- data/modules/mruby/mrbgems/full-core.gembox +3 -3
- data/modules/mruby/mrbgems/mruby-array-ext/mrbgem.rake +1 -0
- data/modules/mruby/mrbgems/mruby-array-ext/mrblib/array.rb +488 -8
- data/modules/mruby/mrbgems/mruby-array-ext/src/array.c +57 -31
- data/modules/mruby/mrbgems/mruby-array-ext/test/array.rb +231 -45
- data/modules/mruby/mrbgems/mruby-bin-debugger/bintest/mrdb.rb +286 -0
- data/modules/mruby/mrbgems/mruby-bin-debugger/bintest/print.rb +701 -0
- data/modules/mruby/mrbgems/mruby-bin-debugger/mrbgem.rake +9 -0
- data/modules/mruby/mrbgems/mruby-bin-debugger/tools/mrdb/apibreak.c +516 -0
- data/modules/mruby/mrbgems/mruby-bin-debugger/tools/mrdb/apibreak.h +26 -0
- data/modules/mruby/mrbgems/mruby-bin-debugger/tools/mrdb/apilist.c +235 -0
- data/modules/mruby/mrbgems/mruby-bin-debugger/tools/mrdb/apilist.h +14 -0
- data/modules/mruby/mrbgems/mruby-bin-debugger/tools/mrdb/apiprint.c +78 -0
- data/modules/mruby/mrbgems/mruby-bin-debugger/tools/mrdb/apiprint.h +13 -0
- data/modules/mruby/mrbgems/mruby-bin-debugger/tools/mrdb/cmdbreak.c +428 -0
- data/modules/mruby/mrbgems/mruby-bin-debugger/tools/mrdb/cmdmisc.c +501 -0
- data/modules/mruby/mrbgems/mruby-bin-debugger/tools/mrdb/cmdprint.c +58 -0
- data/modules/mruby/mrbgems/mruby-bin-debugger/tools/mrdb/cmdrun.c +54 -0
- data/modules/mruby/mrbgems/mruby-bin-debugger/tools/mrdb/mrdb.c +746 -0
- data/modules/mruby/mrbgems/mruby-bin-debugger/tools/mrdb/mrdb.h +163 -0
- data/modules/mruby/mrbgems/mruby-bin-debugger/tools/mrdb/mrdbconf.h +16 -0
- data/modules/mruby/mrbgems/mruby-bin-debugger/tools/mrdb/mrdberror.h +20 -0
- data/modules/mruby/mrbgems/mruby-bin-mirb/bintest/mirb.rb +12 -0
- data/modules/mruby/mrbgems/mruby-bin-mirb/mrbgem.rake +14 -1
- data/modules/mruby/mrbgems/mruby-bin-mirb/tools/mirb/mirb.c +154 -72
- data/modules/mruby/mrbgems/mruby-bin-mruby/bintest/mruby.rb +46 -0
- data/modules/mruby/mrbgems/mruby-bin-mruby/mrbgem.rake +1 -0
- data/modules/mruby/mrbgems/mruby-bin-mruby/tools/mruby/mruby.c +37 -28
- data/modules/mruby/mrbgems/mruby-bin-mruby-config/mrbgem.rake +30 -0
- data/modules/mruby/mrbgems/mruby-bin-mruby-config/mruby-config +16 -0
- data/modules/mruby/mrbgems/mruby-bin-mruby-config/mruby-config.bat +30 -0
- data/modules/mruby/mrbgems/mruby-bin-strip/bintest/mruby-strip.rb +73 -0
- data/modules/mruby/mrbgems/mruby-bin-strip/mrbgem.rake +6 -0
- data/modules/mruby/mrbgems/mruby-bin-strip/tools/mruby-strip/mruby-strip.c +155 -0
- data/modules/mruby/mrbgems/mruby-enum-ext/mrbgem.rake +1 -0
- data/modules/mruby/mrbgems/mruby-enum-ext/mrblib/enum.rb +555 -21
- data/modules/mruby/mrbgems/mruby-enum-ext/test/enum.rb +119 -0
- data/modules/mruby/mrbgems/mruby-enum-lazy/mrbgem.rake +7 -0
- data/modules/mruby/mrbgems/mruby-enum-lazy/mrblib/lazy.rb +150 -0
- data/modules/mruby/mrbgems/mruby-enum-lazy/test/lazy.rb +47 -0
- data/modules/mruby/mrbgems/mruby-enumerator/mrbgem.rake +7 -0
- data/modules/mruby/mrbgems/mruby-enumerator/mrblib/enumerator.rb +636 -0
- data/modules/mruby/mrbgems/mruby-enumerator/test/enumerator.rb +537 -0
- data/modules/mruby/mrbgems/mruby-eval/mrbgem.rake +1 -0
- data/modules/mruby/mrbgems/mruby-eval/src/eval.c +243 -4
- data/modules/mruby/mrbgems/mruby-eval/test/eval.rb +80 -0
- data/modules/mruby/mrbgems/mruby-exit/mrbgem.rake +1 -0
- data/modules/mruby/mrbgems/mruby-exit/src/mruby-exit.c +1 -1
- data/modules/mruby/mrbgems/mruby-fiber/mrbgem.rake +1 -0
- data/modules/mruby/mrbgems/mruby-fiber/src/fiber.c +157 -51
- data/modules/mruby/mrbgems/mruby-fiber/test/fiber.rb +179 -35
- data/modules/mruby/mrbgems/mruby-hash-ext/mrbgem.rake +3 -0
- data/modules/mruby/mrbgems/mruby-hash-ext/mrblib/hash.rb +241 -1
- data/modules/mruby/mrbgems/mruby-hash-ext/src/hash-ext.c +11 -19
- data/modules/mruby/mrbgems/mruby-hash-ext/test/hash.rb +138 -1
- data/modules/mruby/mrbgems/mruby-kernel-ext/mrbgem.rake +5 -0
- data/modules/mruby/mrbgems/mruby-kernel-ext/src/kernel.c +183 -0
- data/modules/mruby/mrbgems/mruby-kernel-ext/test/kernel.rb +53 -0
- data/modules/mruby/mrbgems/mruby-math/mrbgem.rake +1 -0
- data/modules/mruby/mrbgems/mruby-math/src/math.c +107 -14
- data/modules/mruby/mrbgems/mruby-math/test/math.rb +16 -0
- data/modules/mruby/mrbgems/mruby-numeric-ext/mrbgem.rake +1 -0
- data/modules/mruby/mrbgems/mruby-numeric-ext/mrblib/numeric_ext.rb +5 -0
- data/modules/mruby/mrbgems/mruby-numeric-ext/test/numeric.rb +9 -1
- data/modules/mruby/mrbgems/mruby-object-ext/mrbgem.rake +1 -0
- data/modules/mruby/mrbgems/mruby-object-ext/mrblib/object.rb +19 -0
- data/modules/mruby/mrbgems/mruby-object-ext/src/object.c +5 -8
- data/modules/mruby/mrbgems/mruby-object-ext/test/object.rb +16 -0
- data/modules/mruby/mrbgems/mruby-objectspace/mrbgem.rake +1 -0
- data/modules/mruby/mrbgems/mruby-objectspace/src/mruby_objectspace.c +121 -53
- data/modules/mruby/mrbgems/mruby-objectspace/test/objectspace.rb +27 -4
- data/modules/mruby/mrbgems/mruby-print/mrbgem.rake +1 -0
- data/modules/mruby/mrbgems/mruby-print/src/print.c +3 -5
- data/modules/mruby/mrbgems/mruby-proc-ext/mrbgem.rake +1 -0
- data/modules/mruby/mrbgems/mruby-proc-ext/src/proc.c +89 -19
- data/modules/mruby/mrbgems/mruby-proc-ext/test/proc.c +56 -0
- data/modules/mruby/mrbgems/mruby-proc-ext/test/proc.rb +47 -0
- data/modules/mruby/mrbgems/mruby-random/mrbgem.rake +1 -0
- data/modules/mruby/mrbgems/mruby-random/src/mt19937ar.c +30 -25
- data/modules/mruby/mrbgems/mruby-random/src/mt19937ar.h +6 -3
- data/modules/mruby/mrbgems/mruby-random/src/random.c +157 -137
- data/modules/mruby/mrbgems/mruby-random/src/random.h +3 -3
- data/modules/mruby/mrbgems/mruby-random/test/random.rb +9 -9
- data/modules/mruby/mrbgems/mruby-range-ext/mrbgem.rake +1 -0
- data/modules/mruby/mrbgems/mruby-range-ext/src/range.c +57 -3
- data/modules/mruby/mrbgems/mruby-range-ext/test/range.rb +9 -0
- data/modules/mruby/mrbgems/mruby-sprintf/mrbgem.rake +1 -0
- data/modules/mruby/mrbgems/mruby-sprintf/mrblib/string.rb +9 -0
- data/modules/mruby/mrbgems/mruby-sprintf/src/sprintf.c +29 -23
- data/modules/mruby/mrbgems/mruby-sprintf/test/sprintf.rb +7 -2
- data/modules/mruby/mrbgems/mruby-string-ext/mrbgem.rake +1 -0
- data/modules/mruby/mrbgems/mruby-string-ext/mrblib/string.rb +250 -11
- data/modules/mruby/mrbgems/mruby-string-ext/src/string.c +220 -5
- data/modules/mruby/mrbgems/mruby-string-ext/test/string.rb +326 -4
- data/modules/mruby/mrbgems/mruby-string-utf8/mrbgem.rake +2 -0
- data/modules/mruby/mrbgems/mruby-string-utf8/src/string.c +486 -52
- data/modules/mruby/mrbgems/mruby-string-utf8/test/string.rb +97 -14
- data/modules/mruby/mrbgems/mruby-struct/mrbgem.rake +1 -0
- data/modules/mruby/mrbgems/mruby-struct/mrblib/struct.rb +31 -0
- data/modules/mruby/mrbgems/mruby-struct/src/struct.c +178 -196
- data/modules/mruby/mrbgems/mruby-struct/test/struct.rb +115 -61
- data/modules/mruby/mrbgems/mruby-symbol-ext/mrbgem.rake +1 -0
- data/modules/mruby/mrbgems/mruby-symbol-ext/mrblib/symbol.rb +22 -17
- data/modules/mruby/mrbgems/mruby-symbol-ext/src/symbol.c +20 -11
- data/modules/mruby/mrbgems/mruby-symbol-ext/test/symbol.rb +14 -0
- data/modules/mruby/mrbgems/mruby-time/mrbgem.rake +1 -0
- data/modules/mruby/mrbgems/mruby-time/mrblib/time.rb +9 -0
- data/modules/mruby/mrbgems/mruby-time/src/time.c +98 -37
- data/modules/mruby/mrbgems/mruby-time/test/time.rb +152 -148
- data/modules/mruby/mrbgems/mruby-toplevel-ext/mrbgem.rake +1 -0
- data/modules/mruby/mrbgems/mruby-toplevel-ext/test/toplevel.rb +1 -1
- data/modules/mruby/mrblib/array.rb +110 -4
- data/modules/mruby/mrblib/class.rb +1 -22
- data/modules/mruby/mrblib/compar.rb +10 -30
- data/modules/mruby/mrblib/enum.rb +64 -52
- data/modules/mruby/mrblib/error.rb +9 -4
- data/modules/mruby/mrblib/hash.rb +164 -23
- data/modules/mruby/mrblib/kernel.rb +26 -22
- data/modules/mruby/mrblib/mrblib.rake +4 -4
- data/modules/mruby/mrblib/numeric.rb +22 -9
- data/modules/mruby/mrblib/range.rb +24 -2
- data/modules/mruby/mrblib/string.rb +15 -3
- data/modules/mruby/src/array.c +279 -339
- data/modules/mruby/src/backtrace.c +68 -16
- data/modules/mruby/src/class.c +539 -379
- data/modules/mruby/src/codegen.c +424 -207
- data/modules/mruby/src/compar.c +1 -1
- data/modules/mruby/src/crc.c +7 -6
- data/modules/mruby/src/debug.c +37 -36
- data/modules/mruby/src/dump.c +463 -213
- data/modules/mruby/src/enum.c +1 -1
- data/modules/mruby/src/error.c +91 -92
- data/modules/mruby/src/error.h +3 -19
- data/modules/mruby/src/etc.c +85 -82
- data/modules/mruby/src/gc.c +134 -108
- data/modules/mruby/src/hash.c +161 -565
- data/modules/mruby/src/init.c +2 -13
- data/modules/mruby/src/kernel.c +217 -251
- data/modules/mruby/src/load.c +280 -283
- data/modules/mruby/src/mrb_throw.h +41 -0
- data/modules/mruby/src/mruby_core.rake +57 -7
- data/modules/mruby/src/node.h +104 -104
- data/modules/mruby/src/numeric.c +221 -208
- data/modules/mruby/src/object.c +41 -42
- data/modules/mruby/src/opcode.h +2 -160
- data/modules/mruby/src/parse.y +3430 -3223
- data/modules/mruby/src/pool.c +13 -9
- data/modules/mruby/src/print.c +20 -17
- data/modules/mruby/src/proc.c +77 -21
- data/modules/mruby/src/range.c +55 -45
- data/modules/mruby/src/state.c +95 -31
- data/modules/mruby/src/string.c +462 -468
- data/modules/mruby/src/symbol.c +95 -85
- data/modules/mruby/src/variable.c +104 -74
- data/modules/mruby/src/version.c +13 -0
- data/modules/mruby/src/vm.c +528 -296
- data/modules/mruby/tasks/libmruby.rake +9 -5
- data/modules/mruby/tasks/mrbgem_spec.rake +130 -26
- data/modules/mruby/tasks/mrbgems.rake +21 -11
- data/modules/mruby/tasks/mrbgems_test.rake +46 -40
- data/modules/mruby/tasks/mruby_build.rake +54 -12
- data/modules/mruby/tasks/mruby_build_commands.rake +34 -5
- data/modules/mruby/tasks/mruby_build_gem.rake +25 -3
- data/modules/mruby/tasks/ruby_ext.rake +11 -2
- data/modules/mruby/tasks/toolchains/clang.rake +2 -1
- data/modules/mruby/tasks/toolchains/gcc.rake +26 -3
- data/modules/mruby/tasks/toolchains/visualcpp.rake +17 -8
- data/modules/mruby/test/assert.rb +30 -8
- data/modules/mruby/test/bintest.rb +10 -0
- data/modules/mruby/test/driver.c +74 -24
- data/modules/mruby/test/init_mrbtest.c +21 -2
- data/modules/mruby/test/mrbtest.rake +27 -5
- data/modules/mruby/test/t/argumenterror.rb +0 -5
- data/modules/mruby/test/t/array.rb +23 -7
- data/modules/mruby/test/t/bs_block.rb +32 -0
- data/modules/mruby/test/t/class.rb +29 -5
- data/modules/mruby/test/t/comparable.rb +20 -12
- data/modules/mruby/test/t/enumerable.rb +33 -7
- data/modules/mruby/test/t/exception.rb +63 -38
- data/modules/mruby/test/t/false.rb +2 -4
- data/modules/mruby/test/t/float.rb +39 -4
- data/modules/mruby/test/t/hash.rb +40 -6
- data/modules/mruby/test/t/indexerror.rb +0 -4
- data/modules/mruby/test/t/integer.rb +41 -5
- data/modules/mruby/test/t/kernel.rb +90 -3
- data/modules/mruby/test/t/localjumperror.rb +4 -4
- data/modules/mruby/test/t/methods.rb +1 -1
- data/modules/mruby/test/t/module.rb +43 -13
- data/modules/mruby/test/t/nameerror.rb +0 -4
- data/modules/mruby/test/t/nil.rb +5 -0
- data/modules/mruby/test/t/nomethoderror.rb +11 -2
- data/modules/mruby/test/t/numeric.rb +18 -4
- data/modules/mruby/test/t/proc.rb +59 -6
- data/modules/mruby/test/t/range.rb +15 -5
- data/modules/mruby/test/t/rangeerror.rb +0 -4
- data/modules/mruby/test/t/standarderror.rb +0 -4
- data/modules/mruby/test/t/string.rb +56 -12
- data/modules/mruby/test/t/superclass.rb +46 -0
- data/modules/mruby/test/t/symbol.rb +0 -4
- data/modules/mruby/test/t/syntax.rb +134 -1
- data/modules/mruby/test/t/true.rb +2 -4
- data/modules/mruby/test/t/typeerror.rb +0 -5
- data/modules/mruby/test/t/unicode.rb +35 -0
- data/modules/mruby/tools/mrbc/mrbc.c +9 -12
- data/modules/mruby/travis_config.rb +22 -2
- metadata +98 -1299
- data/modules/emscripten/AUTHORS +0 -117
- data/modules/emscripten/CONTRIBUTING.markdown +0 -5
- data/modules/emscripten/ChangeLog +0 -468
- data/modules/emscripten/LICENSE +0 -94
- data/modules/emscripten/README.markdown +0 -14
- data/modules/emscripten/cmake/Modules/FindOpenAL.cmake +0 -26
- data/modules/emscripten/cmake/Platform/Emscripten.cmake +0 -228
- data/modules/emscripten/em++ +0 -12
- data/modules/emscripten/em++.bat +0 -2
- data/modules/emscripten/em-config +0 -24
- data/modules/emscripten/em-config.bat +0 -2
- data/modules/emscripten/emar +0 -24
- data/modules/emscripten/emar.bat +0 -2
- data/modules/emscripten/emcc +0 -2069
- data/modules/emscripten/emcc.bat +0 -2
- data/modules/emscripten/emcc.py +0 -5
- data/modules/emscripten/emconfigure +0 -27
- data/modules/emscripten/emconfigure.bat +0 -2
- data/modules/emscripten/emlink.py +0 -33
- data/modules/emscripten/emmake +0 -29
- data/modules/emscripten/emmake.bat +0 -2
- data/modules/emscripten/emranlib +0 -9
- data/modules/emscripten/emranlib.bat +0 -2
- data/modules/emscripten/emrun +0 -1087
- data/modules/emscripten/emrun.bat +0 -2
- data/modules/emscripten/emscons +0 -20
- data/modules/emscripten/emscripten.py +0 -1347
- data/modules/emscripten/package.json +0 -7
- data/modules/emscripten/patches/README +0 -4
- data/modules/emscripten/patches/series +0 -2
- data/modules/emscripten/scons-tools/closure.py +0 -28
- data/modules/emscripten/scons-tools/emscripten.py +0 -364
- data/modules/emscripten/scons-tools/llvm.py +0 -34
- data/modules/emscripten/src/analyzer.js +0 -1781
- data/modules/emscripten/src/closure-externs.js +0 -110
- data/modules/emscripten/src/compiler.html +0 -48
- data/modules/emscripten/src/compiler.js +0 -331
- data/modules/emscripten/src/compiler_phase.html +0 -33
- data/modules/emscripten/src/corruptionCheck.js +0 -98
- data/modules/emscripten/src/determinstic.js +0 -20
- data/modules/emscripten/src/embind/embind.js +0 -1677
- data/modules/emscripten/src/embind/emval.js +0 -284
- data/modules/emscripten/src/emrun_postjs.js +0 -20
- data/modules/emscripten/src/emrun_prejs.js +0 -5
- data/modules/emscripten/src/emscripten-source-map.min.js +0 -31
- data/modules/emscripten/src/experimental/allow_loopvars_from_memsetcpy_inasm.diff +0 -97
- data/modules/emscripten/src/experimental/batching.diff +0 -44
- data/modules/emscripten/src/experimental/functypeopt.diff +0 -113
- data/modules/emscripten/src/experimental/multiple_heaps.diff +0 -175
- data/modules/emscripten/src/experimental/noncallgraphprofiling.diff +0 -197
- data/modules/emscripten/src/experimental/optimize_memcpy_for_ta1.diff +0 -124
- data/modules/emscripten/src/experimental/remove__label__s.diff +0 -140
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/**
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268
|
-
* Caclulates the length of a vec3
|
269
|
-
*
|
270
|
-
* @param {vec3} vec vec3 to calculate length of
|
271
|
-
*
|
272
|
-
* @returns {number} Length of vec
|
273
|
-
*/
|
274
|
-
vec3.length = function (vec) {
|
275
|
-
var x = vec[0], y = vec[1], z = vec[2];
|
276
|
-
return Math.sqrt(x * x + y * y + z * z);
|
277
|
-
};
|
278
|
-
|
279
|
-
/**
|
280
|
-
* Caclulates the dot product of two vec3s
|
281
|
-
*
|
282
|
-
* @param {vec3} vec First operand
|
283
|
-
* @param {vec3} vec2 Second operand
|
284
|
-
*
|
285
|
-
* @returns {number} Dot product of vec and vec2
|
286
|
-
*/
|
287
|
-
vec3.dot = function (vec, vec2) {
|
288
|
-
return vec[0] * vec2[0] + vec[1] * vec2[1] + vec[2] * vec2[2];
|
289
|
-
};
|
290
|
-
|
291
|
-
/**
|
292
|
-
* Generates a unit vector pointing from one vector to another
|
293
|
-
*
|
294
|
-
* @param {vec3} vec Origin vec3
|
295
|
-
* @param {vec3} vec2 vec3 to point to
|
296
|
-
* @param {vec3} [dest] vec3 receiving operation result. If not specified result is written to vec
|
297
|
-
*
|
298
|
-
* @returns {vec3} dest if specified, vec otherwise
|
299
|
-
*/
|
300
|
-
vec3.direction = function (vec, vec2, dest) {
|
301
|
-
if (!dest) { dest = vec; }
|
302
|
-
|
303
|
-
var x = vec[0] - vec2[0],
|
304
|
-
y = vec[1] - vec2[1],
|
305
|
-
z = vec[2] - vec2[2],
|
306
|
-
len = Math.sqrt(x * x + y * y + z * z);
|
307
|
-
|
308
|
-
if (!len) {
|
309
|
-
dest[0] = 0;
|
310
|
-
dest[1] = 0;
|
311
|
-
dest[2] = 0;
|
312
|
-
return dest;
|
313
|
-
}
|
314
|
-
|
315
|
-
len = 1 / len;
|
316
|
-
dest[0] = x * len;
|
317
|
-
dest[1] = y * len;
|
318
|
-
dest[2] = z * len;
|
319
|
-
return dest;
|
320
|
-
};
|
321
|
-
|
322
|
-
/**
|
323
|
-
* Performs a linear interpolation between two vec3
|
324
|
-
*
|
325
|
-
* @param {vec3} vec First vector
|
326
|
-
* @param {vec3} vec2 Second vector
|
327
|
-
* @param {number} lerp Interpolation amount between the two inputs
|
328
|
-
* @param {vec3} [dest] vec3 receiving operation result. If not specified result is written to vec
|
329
|
-
*
|
330
|
-
* @returns {vec3} dest if specified, vec otherwise
|
331
|
-
*/
|
332
|
-
vec3.lerp = function (vec, vec2, lerp, dest) {
|
333
|
-
if (!dest) { dest = vec; }
|
334
|
-
|
335
|
-
dest[0] = vec[0] + lerp * (vec2[0] - vec[0]);
|
336
|
-
dest[1] = vec[1] + lerp * (vec2[1] - vec[1]);
|
337
|
-
dest[2] = vec[2] + lerp * (vec2[2] - vec[2]);
|
338
|
-
|
339
|
-
return dest;
|
340
|
-
};
|
341
|
-
|
342
|
-
/**
|
343
|
-
* Calculates the euclidian distance between two vec3
|
344
|
-
*
|
345
|
-
* Params:
|
346
|
-
* @param {vec3} vec First vector
|
347
|
-
* @param {vec3} vec2 Second vector
|
348
|
-
*
|
349
|
-
* @returns {number} Distance between vec and vec2
|
350
|
-
*/
|
351
|
-
vec3.dist = function (vec, vec2) {
|
352
|
-
var x = vec2[0] - vec[0],
|
353
|
-
y = vec2[1] - vec[1],
|
354
|
-
z = vec2[2] - vec[2];
|
355
|
-
|
356
|
-
return Math.sqrt(x*x + y*y + z*z);
|
357
|
-
};
|
358
|
-
|
359
|
-
/**
|
360
|
-
* Projects the specified vec3 from screen space into object space
|
361
|
-
* Based on the <a href="http://webcvs.freedesktop.org/mesa/Mesa/src/glu/mesa/project.c?revision=1.4&view=markup">Mesa gluUnProject implementation</a>
|
362
|
-
*
|
363
|
-
* @param {vec3} vec Screen-space vector to project
|
364
|
-
* @param {mat4} view View matrix
|
365
|
-
* @param {mat4} proj Projection matrix
|
366
|
-
* @param {vec4} viewport Viewport as given to gl.viewport [x, y, width, height]
|
367
|
-
* @param {vec3} [dest] vec3 receiving unprojected result. If not specified result is written to vec
|
368
|
-
*
|
369
|
-
* @returns {vec3} dest if specified, vec otherwise
|
370
|
-
*/
|
371
|
-
vec3.unproject = function (vec, view, proj, viewport, dest) {
|
372
|
-
if (!dest) { dest = vec; }
|
373
|
-
|
374
|
-
var m = mat4.create();
|
375
|
-
var v = new MatrixArray(4);
|
376
|
-
|
377
|
-
v[0] = (vec[0] - viewport[0]) * 2.0 / viewport[2] - 1.0;
|
378
|
-
v[1] = (vec[1] - viewport[1]) * 2.0 / viewport[3] - 1.0;
|
379
|
-
v[2] = 2.0 * vec[2] - 1.0;
|
380
|
-
v[3] = 1.0;
|
381
|
-
|
382
|
-
mat4.multiply(proj, view, m);
|
383
|
-
if(!mat4.inverse(m)) { return null; }
|
384
|
-
|
385
|
-
mat4.multiplyVec4(m, v);
|
386
|
-
if(v[3] === 0.0) { return null; }
|
387
|
-
|
388
|
-
dest[0] = v[0] / v[3];
|
389
|
-
dest[1] = v[1] / v[3];
|
390
|
-
dest[2] = v[2] / v[3];
|
391
|
-
|
392
|
-
return dest;
|
393
|
-
};
|
394
|
-
|
395
|
-
/**
|
396
|
-
* Returns a string representation of a vector
|
397
|
-
*
|
398
|
-
* @param {vec3} vec Vector to represent as a string
|
399
|
-
*
|
400
|
-
* @returns {string} String representation of vec
|
401
|
-
*/
|
402
|
-
vec3.str = function (vec) {
|
403
|
-
return '[' + vec[0] + ', ' + vec[1] + ', ' + vec[2] + ']';
|
404
|
-
};
|
405
|
-
|
406
|
-
/*
|
407
|
-
* mat3
|
408
|
-
*/
|
409
|
-
|
410
|
-
/**
|
411
|
-
* Creates a new instance of a mat3 using the default array type
|
412
|
-
* Any javascript array-like object containing at least 9 numeric elements can serve as a mat3
|
413
|
-
*
|
414
|
-
* @param {mat3} [mat] mat3 containing values to initialize with
|
415
|
-
*
|
416
|
-
* @returns {mat3} New mat3
|
417
|
-
*/
|
418
|
-
mat3.create = function (mat) {
|
419
|
-
var dest = new MatrixArray(9);
|
420
|
-
|
421
|
-
if (mat) {
|
422
|
-
dest[0] = mat[0];
|
423
|
-
dest[1] = mat[1];
|
424
|
-
dest[2] = mat[2];
|
425
|
-
dest[3] = mat[3];
|
426
|
-
dest[4] = mat[4];
|
427
|
-
dest[5] = mat[5];
|
428
|
-
dest[6] = mat[6];
|
429
|
-
dest[7] = mat[7];
|
430
|
-
dest[8] = mat[8];
|
431
|
-
}
|
432
|
-
|
433
|
-
return dest;
|
434
|
-
};
|
435
|
-
|
436
|
-
/**
|
437
|
-
* Copies the values of one mat3 to another
|
438
|
-
*
|
439
|
-
* @param {mat3} mat mat3 containing values to copy
|
440
|
-
* @param {mat3} dest mat3 receiving copied values
|
441
|
-
*
|
442
|
-
* @returns {mat3} dest
|
443
|
-
*/
|
444
|
-
mat3.set = function (mat, dest) {
|
445
|
-
dest[0] = mat[0];
|
446
|
-
dest[1] = mat[1];
|
447
|
-
dest[2] = mat[2];
|
448
|
-
dest[3] = mat[3];
|
449
|
-
dest[4] = mat[4];
|
450
|
-
dest[5] = mat[5];
|
451
|
-
dest[6] = mat[6];
|
452
|
-
dest[7] = mat[7];
|
453
|
-
dest[8] = mat[8];
|
454
|
-
return dest;
|
455
|
-
};
|
456
|
-
|
457
|
-
/**
|
458
|
-
* Sets a mat3 to an identity matrix
|
459
|
-
*
|
460
|
-
* @param {mat3} dest mat3 to set
|
461
|
-
*
|
462
|
-
* @returns dest if specified, otherwise a new mat3
|
463
|
-
*/
|
464
|
-
mat3.identity = function (dest) {
|
465
|
-
if (!dest) { dest = mat3.create(); }
|
466
|
-
dest[0] = 1;
|
467
|
-
dest[1] = 0;
|
468
|
-
dest[2] = 0;
|
469
|
-
dest[3] = 0;
|
470
|
-
dest[4] = 1;
|
471
|
-
dest[5] = 0;
|
472
|
-
dest[6] = 0;
|
473
|
-
dest[7] = 0;
|
474
|
-
dest[8] = 1;
|
475
|
-
return dest;
|
476
|
-
};
|
477
|
-
|
478
|
-
/**
|
479
|
-
* Transposes a mat3 (flips the values over the diagonal)
|
480
|
-
*
|
481
|
-
* Params:
|
482
|
-
* @param {mat3} mat mat3 to transpose
|
483
|
-
* @param {mat3} [dest] mat3 receiving transposed values. If not specified result is written to mat
|
484
|
-
*
|
485
|
-
* @returns {mat3} dest is specified, mat otherwise
|
486
|
-
*/
|
487
|
-
mat3.transpose = function (mat, dest) {
|
488
|
-
// If we are transposing ourselves we can skip a few steps but have to cache some values
|
489
|
-
if (!dest || mat === dest) {
|
490
|
-
var a01 = mat[1], a02 = mat[2],
|
491
|
-
a12 = mat[5];
|
492
|
-
|
493
|
-
mat[1] = mat[3];
|
494
|
-
mat[2] = mat[6];
|
495
|
-
mat[3] = a01;
|
496
|
-
mat[5] = mat[7];
|
497
|
-
mat[6] = a02;
|
498
|
-
mat[7] = a12;
|
499
|
-
return mat;
|
500
|
-
}
|
501
|
-
|
502
|
-
dest[0] = mat[0];
|
503
|
-
dest[1] = mat[3];
|
504
|
-
dest[2] = mat[6];
|
505
|
-
dest[3] = mat[1];
|
506
|
-
dest[4] = mat[4];
|
507
|
-
dest[5] = mat[7];
|
508
|
-
dest[6] = mat[2];
|
509
|
-
dest[7] = mat[5];
|
510
|
-
dest[8] = mat[8];
|
511
|
-
return dest;
|
512
|
-
};
|
513
|
-
|
514
|
-
/**
|
515
|
-
* Copies the elements of a mat3 into the upper 3x3 elements of a mat4
|
516
|
-
*
|
517
|
-
* @param {mat3} mat mat3 containing values to copy
|
518
|
-
* @param {mat4} [dest] mat4 receiving copied values
|
519
|
-
*
|
520
|
-
* @returns {mat4} dest if specified, a new mat4 otherwise
|
521
|
-
*/
|
522
|
-
mat3.toMat4 = function (mat, dest) {
|
523
|
-
if (!dest) { dest = mat4.create(); }
|
524
|
-
|
525
|
-
dest[15] = 1;
|
526
|
-
dest[14] = 0;
|
527
|
-
dest[13] = 0;
|
528
|
-
dest[12] = 0;
|
529
|
-
|
530
|
-
dest[11] = 0;
|
531
|
-
dest[10] = mat[8];
|
532
|
-
dest[9] = mat[7];
|
533
|
-
dest[8] = mat[6];
|
534
|
-
|
535
|
-
dest[7] = 0;
|
536
|
-
dest[6] = mat[5];
|
537
|
-
dest[5] = mat[4];
|
538
|
-
dest[4] = mat[3];
|
539
|
-
|
540
|
-
dest[3] = 0;
|
541
|
-
dest[2] = mat[2];
|
542
|
-
dest[1] = mat[1];
|
543
|
-
dest[0] = mat[0];
|
544
|
-
|
545
|
-
return dest;
|
546
|
-
};
|
547
|
-
|
548
|
-
/**
|
549
|
-
* Returns a string representation of a mat3
|
550
|
-
*
|
551
|
-
* @param {mat3} mat mat3 to represent as a string
|
552
|
-
*
|
553
|
-
* @param {string} String representation of mat
|
554
|
-
*/
|
555
|
-
mat3.str = function (mat) {
|
556
|
-
return '[' + mat[0] + ', ' + mat[1] + ', ' + mat[2] +
|
557
|
-
', ' + mat[3] + ', ' + mat[4] + ', ' + mat[5] +
|
558
|
-
', ' + mat[6] + ', ' + mat[7] + ', ' + mat[8] + ']';
|
559
|
-
};
|
560
|
-
|
561
|
-
/*
|
562
|
-
* mat4
|
563
|
-
*/
|
564
|
-
|
565
|
-
/**
|
566
|
-
* Creates a new instance of a mat4 using the default array type
|
567
|
-
* Any javascript array-like object containing at least 16 numeric elements can serve as a mat4
|
568
|
-
*
|
569
|
-
* @param {mat4} [mat] mat4 containing values to initialize with
|
570
|
-
*
|
571
|
-
* @returns {mat4} New mat4
|
572
|
-
*/
|
573
|
-
mat4.create = function (mat) {
|
574
|
-
var dest = new MatrixArray(16);
|
575
|
-
|
576
|
-
if (mat) {
|
577
|
-
dest[0] = mat[0];
|
578
|
-
dest[1] = mat[1];
|
579
|
-
dest[2] = mat[2];
|
580
|
-
dest[3] = mat[3];
|
581
|
-
dest[4] = mat[4];
|
582
|
-
dest[5] = mat[5];
|
583
|
-
dest[6] = mat[6];
|
584
|
-
dest[7] = mat[7];
|
585
|
-
dest[8] = mat[8];
|
586
|
-
dest[9] = mat[9];
|
587
|
-
dest[10] = mat[10];
|
588
|
-
dest[11] = mat[11];
|
589
|
-
dest[12] = mat[12];
|
590
|
-
dest[13] = mat[13];
|
591
|
-
dest[14] = mat[14];
|
592
|
-
dest[15] = mat[15];
|
593
|
-
}
|
594
|
-
|
595
|
-
return dest;
|
596
|
-
};
|
597
|
-
|
598
|
-
/**
|
599
|
-
* Copies the values of one mat4 to another
|
600
|
-
*
|
601
|
-
* @param {mat4} mat mat4 containing values to copy
|
602
|
-
* @param {mat4} dest mat4 receiving copied values
|
603
|
-
*
|
604
|
-
* @returns {mat4} dest
|
605
|
-
*/
|
606
|
-
mat4.set = function (mat, dest) {
|
607
|
-
dest[0] = mat[0];
|
608
|
-
dest[1] = mat[1];
|
609
|
-
dest[2] = mat[2];
|
610
|
-
dest[3] = mat[3];
|
611
|
-
dest[4] = mat[4];
|
612
|
-
dest[5] = mat[5];
|
613
|
-
dest[6] = mat[6];
|
614
|
-
dest[7] = mat[7];
|
615
|
-
dest[8] = mat[8];
|
616
|
-
dest[9] = mat[9];
|
617
|
-
dest[10] = mat[10];
|
618
|
-
dest[11] = mat[11];
|
619
|
-
dest[12] = mat[12];
|
620
|
-
dest[13] = mat[13];
|
621
|
-
dest[14] = mat[14];
|
622
|
-
dest[15] = mat[15];
|
623
|
-
return dest;
|
624
|
-
};
|
625
|
-
|
626
|
-
/**
|
627
|
-
* Sets a mat4 to an identity matrix
|
628
|
-
*
|
629
|
-
* @param {mat4} dest mat4 to set
|
630
|
-
*
|
631
|
-
* @returns {mat4} dest
|
632
|
-
*/
|
633
|
-
mat4.identity = function (dest) {
|
634
|
-
if (!dest) { dest = mat4.create(); }
|
635
|
-
dest[0] = 1;
|
636
|
-
dest[1] = 0;
|
637
|
-
dest[2] = 0;
|
638
|
-
dest[3] = 0;
|
639
|
-
dest[4] = 0;
|
640
|
-
dest[5] = 1;
|
641
|
-
dest[6] = 0;
|
642
|
-
dest[7] = 0;
|
643
|
-
dest[8] = 0;
|
644
|
-
dest[9] = 0;
|
645
|
-
dest[10] = 1;
|
646
|
-
dest[11] = 0;
|
647
|
-
dest[12] = 0;
|
648
|
-
dest[13] = 0;
|
649
|
-
dest[14] = 0;
|
650
|
-
dest[15] = 1;
|
651
|
-
return dest;
|
652
|
-
};
|
653
|
-
|
654
|
-
/**
|
655
|
-
* Transposes a mat4 (flips the values over the diagonal)
|
656
|
-
*
|
657
|
-
* @param {mat4} mat mat4 to transpose
|
658
|
-
* @param {mat4} [dest] mat4 receiving transposed values. If not specified result is written to mat
|
659
|
-
*
|
660
|
-
* @param {mat4} dest is specified, mat otherwise
|
661
|
-
*/
|
662
|
-
mat4.transpose = function (mat, dest) {
|
663
|
-
// If we are transposing ourselves we can skip a few steps but have to cache some values
|
664
|
-
if (!dest || mat === dest) {
|
665
|
-
var a01 = mat[1], a02 = mat[2], a03 = mat[3],
|
666
|
-
a12 = mat[6], a13 = mat[7],
|
667
|
-
a23 = mat[11];
|
668
|
-
|
669
|
-
mat[1] = mat[4];
|
670
|
-
mat[2] = mat[8];
|
671
|
-
mat[3] = mat[12];
|
672
|
-
mat[4] = a01;
|
673
|
-
mat[6] = mat[9];
|
674
|
-
mat[7] = mat[13];
|
675
|
-
mat[8] = a02;
|
676
|
-
mat[9] = a12;
|
677
|
-
mat[11] = mat[14];
|
678
|
-
mat[12] = a03;
|
679
|
-
mat[13] = a13;
|
680
|
-
mat[14] = a23;
|
681
|
-
return mat;
|
682
|
-
}
|
683
|
-
|
684
|
-
dest[0] = mat[0];
|
685
|
-
dest[1] = mat[4];
|
686
|
-
dest[2] = mat[8];
|
687
|
-
dest[3] = mat[12];
|
688
|
-
dest[4] = mat[1];
|
689
|
-
dest[5] = mat[5];
|
690
|
-
dest[6] = mat[9];
|
691
|
-
dest[7] = mat[13];
|
692
|
-
dest[8] = mat[2];
|
693
|
-
dest[9] = mat[6];
|
694
|
-
dest[10] = mat[10];
|
695
|
-
dest[11] = mat[14];
|
696
|
-
dest[12] = mat[3];
|
697
|
-
dest[13] = mat[7];
|
698
|
-
dest[14] = mat[11];
|
699
|
-
dest[15] = mat[15];
|
700
|
-
return dest;
|
701
|
-
};
|
702
|
-
|
703
|
-
/**
|
704
|
-
* Calculates the determinant of a mat4
|
705
|
-
*
|
706
|
-
* @param {mat4} mat mat4 to calculate determinant of
|
707
|
-
*
|
708
|
-
* @returns {number} determinant of mat
|
709
|
-
*/
|
710
|
-
mat4.determinant = function (mat) {
|
711
|
-
// Cache the matrix values (makes for huge speed increases!)
|
712
|
-
var a00 = mat[0], a01 = mat[1], a02 = mat[2], a03 = mat[3],
|
713
|
-
a10 = mat[4], a11 = mat[5], a12 = mat[6], a13 = mat[7],
|
714
|
-
a20 = mat[8], a21 = mat[9], a22 = mat[10], a23 = mat[11],
|
715
|
-
a30 = mat[12], a31 = mat[13], a32 = mat[14], a33 = mat[15];
|
716
|
-
|
717
|
-
return (a30 * a21 * a12 * a03 - a20 * a31 * a12 * a03 - a30 * a11 * a22 * a03 + a10 * a31 * a22 * a03 +
|
718
|
-
a20 * a11 * a32 * a03 - a10 * a21 * a32 * a03 - a30 * a21 * a02 * a13 + a20 * a31 * a02 * a13 +
|
719
|
-
a30 * a01 * a22 * a13 - a00 * a31 * a22 * a13 - a20 * a01 * a32 * a13 + a00 * a21 * a32 * a13 +
|
720
|
-
a30 * a11 * a02 * a23 - a10 * a31 * a02 * a23 - a30 * a01 * a12 * a23 + a00 * a31 * a12 * a23 +
|
721
|
-
a10 * a01 * a32 * a23 - a00 * a11 * a32 * a23 - a20 * a11 * a02 * a33 + a10 * a21 * a02 * a33 +
|
722
|
-
a20 * a01 * a12 * a33 - a00 * a21 * a12 * a33 - a10 * a01 * a22 * a33 + a00 * a11 * a22 * a33);
|
723
|
-
};
|
724
|
-
|
725
|
-
/**
|
726
|
-
* Calculates the inverse matrix of a mat4
|
727
|
-
*
|
728
|
-
* @param {mat4} mat mat4 to calculate inverse of
|
729
|
-
* @param {mat4} [dest] mat4 receiving inverse matrix. If not specified result is written to mat
|
730
|
-
*
|
731
|
-
* @param {mat4} dest is specified, mat otherwise, null if matrix cannot be inverted
|
732
|
-
*/
|
733
|
-
mat4.inverse = function (mat, dest) {
|
734
|
-
if (!dest) { dest = mat; }
|
735
|
-
|
736
|
-
// Cache the matrix values (makes for huge speed increases!)
|
737
|
-
var a00 = mat[0], a01 = mat[1], a02 = mat[2], a03 = mat[3],
|
738
|
-
a10 = mat[4], a11 = mat[5], a12 = mat[6], a13 = mat[7],
|
739
|
-
a20 = mat[8], a21 = mat[9], a22 = mat[10], a23 = mat[11],
|
740
|
-
a30 = mat[12], a31 = mat[13], a32 = mat[14], a33 = mat[15],
|
741
|
-
|
742
|
-
b00 = a00 * a11 - a01 * a10,
|
743
|
-
b01 = a00 * a12 - a02 * a10,
|
744
|
-
b02 = a00 * a13 - a03 * a10,
|
745
|
-
b03 = a01 * a12 - a02 * a11,
|
746
|
-
b04 = a01 * a13 - a03 * a11,
|
747
|
-
b05 = a02 * a13 - a03 * a12,
|
748
|
-
b06 = a20 * a31 - a21 * a30,
|
749
|
-
b07 = a20 * a32 - a22 * a30,
|
750
|
-
b08 = a20 * a33 - a23 * a30,
|
751
|
-
b09 = a21 * a32 - a22 * a31,
|
752
|
-
b10 = a21 * a33 - a23 * a31,
|
753
|
-
b11 = a22 * a33 - a23 * a32,
|
754
|
-
|
755
|
-
d = (b00 * b11 - b01 * b10 + b02 * b09 + b03 * b08 - b04 * b07 + b05 * b06),
|
756
|
-
invDet;
|
757
|
-
|
758
|
-
// Calculate the determinant
|
759
|
-
if (!d) { return null; }
|
760
|
-
invDet = 1 / d;
|
761
|
-
|
762
|
-
dest[0] = (a11 * b11 - a12 * b10 + a13 * b09) * invDet;
|
763
|
-
dest[1] = (-a01 * b11 + a02 * b10 - a03 * b09) * invDet;
|
764
|
-
dest[2] = (a31 * b05 - a32 * b04 + a33 * b03) * invDet;
|
765
|
-
dest[3] = (-a21 * b05 + a22 * b04 - a23 * b03) * invDet;
|
766
|
-
dest[4] = (-a10 * b11 + a12 * b08 - a13 * b07) * invDet;
|
767
|
-
dest[5] = (a00 * b11 - a02 * b08 + a03 * b07) * invDet;
|
768
|
-
dest[6] = (-a30 * b05 + a32 * b02 - a33 * b01) * invDet;
|
769
|
-
dest[7] = (a20 * b05 - a22 * b02 + a23 * b01) * invDet;
|
770
|
-
dest[8] = (a10 * b10 - a11 * b08 + a13 * b06) * invDet;
|
771
|
-
dest[9] = (-a00 * b10 + a01 * b08 - a03 * b06) * invDet;
|
772
|
-
dest[10] = (a30 * b04 - a31 * b02 + a33 * b00) * invDet;
|
773
|
-
dest[11] = (-a20 * b04 + a21 * b02 - a23 * b00) * invDet;
|
774
|
-
dest[12] = (-a10 * b09 + a11 * b07 - a12 * b06) * invDet;
|
775
|
-
dest[13] = (a00 * b09 - a01 * b07 + a02 * b06) * invDet;
|
776
|
-
dest[14] = (-a30 * b03 + a31 * b01 - a32 * b00) * invDet;
|
777
|
-
dest[15] = (a20 * b03 - a21 * b01 + a22 * b00) * invDet;
|
778
|
-
|
779
|
-
return dest;
|
780
|
-
};
|
781
|
-
|
782
|
-
/**
|
783
|
-
* Copies the upper 3x3 elements of a mat4 into another mat4
|
784
|
-
*
|
785
|
-
* @param {mat4} mat mat4 containing values to copy
|
786
|
-
* @param {mat4} [dest] mat4 receiving copied values
|
787
|
-
*
|
788
|
-
* @returns {mat4} dest is specified, a new mat4 otherwise
|
789
|
-
*/
|
790
|
-
mat4.toRotationMat = function (mat, dest) {
|
791
|
-
if (!dest) { dest = mat4.create(); }
|
792
|
-
|
793
|
-
dest[0] = mat[0];
|
794
|
-
dest[1] = mat[1];
|
795
|
-
dest[2] = mat[2];
|
796
|
-
dest[3] = mat[3];
|
797
|
-
dest[4] = mat[4];
|
798
|
-
dest[5] = mat[5];
|
799
|
-
dest[6] = mat[6];
|
800
|
-
dest[7] = mat[7];
|
801
|
-
dest[8] = mat[8];
|
802
|
-
dest[9] = mat[9];
|
803
|
-
dest[10] = mat[10];
|
804
|
-
dest[11] = mat[11];
|
805
|
-
dest[12] = 0;
|
806
|
-
dest[13] = 0;
|
807
|
-
dest[14] = 0;
|
808
|
-
dest[15] = 1;
|
809
|
-
|
810
|
-
return dest;
|
811
|
-
};
|
812
|
-
|
813
|
-
/**
|
814
|
-
* Copies the upper 3x3 elements of a mat4 into a mat3
|
815
|
-
*
|
816
|
-
* @param {mat4} mat mat4 containing values to copy
|
817
|
-
* @param {mat3} [dest] mat3 receiving copied values
|
818
|
-
*
|
819
|
-
* @returns {mat3} dest is specified, a new mat3 otherwise
|
820
|
-
*/
|
821
|
-
mat4.toMat3 = function (mat, dest) {
|
822
|
-
if (!dest) { dest = mat3.create(); }
|
823
|
-
|
824
|
-
dest[0] = mat[0];
|
825
|
-
dest[1] = mat[1];
|
826
|
-
dest[2] = mat[2];
|
827
|
-
dest[3] = mat[4];
|
828
|
-
dest[4] = mat[5];
|
829
|
-
dest[5] = mat[6];
|
830
|
-
dest[6] = mat[8];
|
831
|
-
dest[7] = mat[9];
|
832
|
-
dest[8] = mat[10];
|
833
|
-
|
834
|
-
return dest;
|
835
|
-
};
|
836
|
-
|
837
|
-
/**
|
838
|
-
* Calculates the inverse of the upper 3x3 elements of a mat4 and copies the result into a mat3
|
839
|
-
* The resulting matrix is useful for calculating transformed normals
|
840
|
-
*
|
841
|
-
* Params:
|
842
|
-
* @param {mat4} mat mat4 containing values to invert and copy
|
843
|
-
* @param {mat3} [dest] mat3 receiving values
|
844
|
-
*
|
845
|
-
* @returns {mat3} dest is specified, a new mat3 otherwise, null if the matrix cannot be inverted
|
846
|
-
*/
|
847
|
-
mat4.toInverseMat3 = function (mat, dest) {
|
848
|
-
// Cache the matrix values (makes for huge speed increases!)
|
849
|
-
var a00 = mat[0], a01 = mat[1], a02 = mat[2],
|
850
|
-
a10 = mat[4], a11 = mat[5], a12 = mat[6],
|
851
|
-
a20 = mat[8], a21 = mat[9], a22 = mat[10],
|
852
|
-
|
853
|
-
b01 = a22 * a11 - a12 * a21,
|
854
|
-
b11 = -a22 * a10 + a12 * a20,
|
855
|
-
b21 = a21 * a10 - a11 * a20,
|
856
|
-
|
857
|
-
d = a00 * b01 + a01 * b11 + a02 * b21,
|
858
|
-
id;
|
859
|
-
|
860
|
-
if (!d) { return null; }
|
861
|
-
id = 1 / d;
|
862
|
-
|
863
|
-
if (!dest) { dest = mat3.create(); }
|
864
|
-
|
865
|
-
dest[0] = b01 * id;
|
866
|
-
dest[1] = (-a22 * a01 + a02 * a21) * id;
|
867
|
-
dest[2] = (a12 * a01 - a02 * a11) * id;
|
868
|
-
dest[3] = b11 * id;
|
869
|
-
dest[4] = (a22 * a00 - a02 * a20) * id;
|
870
|
-
dest[5] = (-a12 * a00 + a02 * a10) * id;
|
871
|
-
dest[6] = b21 * id;
|
872
|
-
dest[7] = (-a21 * a00 + a01 * a20) * id;
|
873
|
-
dest[8] = (a11 * a00 - a01 * a10) * id;
|
874
|
-
|
875
|
-
return dest;
|
876
|
-
};
|
877
|
-
|
878
|
-
/**
|
879
|
-
* Performs a matrix multiplication
|
880
|
-
*
|
881
|
-
* @param {mat4} mat First operand
|
882
|
-
* @param {mat4} mat2 Second operand
|
883
|
-
* @param {mat4} [dest] mat4 receiving operation result. If not specified result is written to mat
|
884
|
-
*
|
885
|
-
* @returns {mat4} dest if specified, mat otherwise
|
886
|
-
*/
|
887
|
-
mat4.multiply = function (mat, mat2, dest) {
|
888
|
-
if (!dest) { dest = mat; }
|
889
|
-
|
890
|
-
// Cache the matrix values (makes for huge speed increases!)
|
891
|
-
var a00 = mat[0], a01 = mat[1], a02 = mat[2], a03 = mat[3],
|
892
|
-
a10 = mat[4], a11 = mat[5], a12 = mat[6], a13 = mat[7],
|
893
|
-
a20 = mat[8], a21 = mat[9], a22 = mat[10], a23 = mat[11],
|
894
|
-
a30 = mat[12], a31 = mat[13], a32 = mat[14], a33 = mat[15],
|
895
|
-
|
896
|
-
b00 = mat2[0], b01 = mat2[1], b02 = mat2[2], b03 = mat2[3],
|
897
|
-
b10 = mat2[4], b11 = mat2[5], b12 = mat2[6], b13 = mat2[7],
|
898
|
-
b20 = mat2[8], b21 = mat2[9], b22 = mat2[10], b23 = mat2[11],
|
899
|
-
b30 = mat2[12], b31 = mat2[13], b32 = mat2[14], b33 = mat2[15];
|
900
|
-
|
901
|
-
dest[0] = b00 * a00 + b01 * a10 + b02 * a20 + b03 * a30;
|
902
|
-
dest[1] = b00 * a01 + b01 * a11 + b02 * a21 + b03 * a31;
|
903
|
-
dest[2] = b00 * a02 + b01 * a12 + b02 * a22 + b03 * a32;
|
904
|
-
dest[3] = b00 * a03 + b01 * a13 + b02 * a23 + b03 * a33;
|
905
|
-
dest[4] = b10 * a00 + b11 * a10 + b12 * a20 + b13 * a30;
|
906
|
-
dest[5] = b10 * a01 + b11 * a11 + b12 * a21 + b13 * a31;
|
907
|
-
dest[6] = b10 * a02 + b11 * a12 + b12 * a22 + b13 * a32;
|
908
|
-
dest[7] = b10 * a03 + b11 * a13 + b12 * a23 + b13 * a33;
|
909
|
-
dest[8] = b20 * a00 + b21 * a10 + b22 * a20 + b23 * a30;
|
910
|
-
dest[9] = b20 * a01 + b21 * a11 + b22 * a21 + b23 * a31;
|
911
|
-
dest[10] = b20 * a02 + b21 * a12 + b22 * a22 + b23 * a32;
|
912
|
-
dest[11] = b20 * a03 + b21 * a13 + b22 * a23 + b23 * a33;
|
913
|
-
dest[12] = b30 * a00 + b31 * a10 + b32 * a20 + b33 * a30;
|
914
|
-
dest[13] = b30 * a01 + b31 * a11 + b32 * a21 + b33 * a31;
|
915
|
-
dest[14] = b30 * a02 + b31 * a12 + b32 * a22 + b33 * a32;
|
916
|
-
dest[15] = b30 * a03 + b31 * a13 + b32 * a23 + b33 * a33;
|
917
|
-
|
918
|
-
return dest;
|
919
|
-
};
|
920
|
-
|
921
|
-
/**
|
922
|
-
* Transforms a vec3 with the given matrix
|
923
|
-
* 4th vector component is implicitly '1'
|
924
|
-
*
|
925
|
-
* @param {mat4} mat mat4 to transform the vector with
|
926
|
-
* @param {vec3} vec vec3 to transform
|
927
|
-
* @param {vec3} [dest] vec3 receiving operation result. If not specified result is written to vec
|
928
|
-
*
|
929
|
-
* @returns {vec3} dest if specified, vec otherwise
|
930
|
-
*/
|
931
|
-
mat4.multiplyVec3 = function (mat, vec, dest) {
|
932
|
-
if (!dest) { dest = vec; }
|
933
|
-
|
934
|
-
var x = vec[0], y = vec[1], z = vec[2];
|
935
|
-
|
936
|
-
dest[0] = mat[0] * x + mat[4] * y + mat[8] * z + mat[12];
|
937
|
-
dest[1] = mat[1] * x + mat[5] * y + mat[9] * z + mat[13];
|
938
|
-
dest[2] = mat[2] * x + mat[6] * y + mat[10] * z + mat[14];
|
939
|
-
|
940
|
-
return dest;
|
941
|
-
};
|
942
|
-
|
943
|
-
/**
|
944
|
-
* Transforms a vec4 with the given matrix
|
945
|
-
*
|
946
|
-
* @param {mat4} mat mat4 to transform the vector with
|
947
|
-
* @param {vec4} vec vec4 to transform
|
948
|
-
* @param {vec4} [dest] vec4 receiving operation result. If not specified result is written to vec
|
949
|
-
*
|
950
|
-
* @returns {vec4} dest if specified, vec otherwise
|
951
|
-
*/
|
952
|
-
mat4.multiplyVec4 = function (mat, vec, dest) {
|
953
|
-
if (!dest) { dest = vec; }
|
954
|
-
|
955
|
-
var x = vec[0], y = vec[1], z = vec[2], w = vec[3];
|
956
|
-
|
957
|
-
dest[0] = mat[0] * x + mat[4] * y + mat[8] * z + mat[12] * w;
|
958
|
-
dest[1] = mat[1] * x + mat[5] * y + mat[9] * z + mat[13] * w;
|
959
|
-
dest[2] = mat[2] * x + mat[6] * y + mat[10] * z + mat[14] * w;
|
960
|
-
dest[3] = mat[3] * x + mat[7] * y + mat[11] * z + mat[15] * w;
|
961
|
-
|
962
|
-
return dest;
|
963
|
-
};
|
964
|
-
|
965
|
-
/**
|
966
|
-
* Translates a matrix by the given vector
|
967
|
-
*
|
968
|
-
* @param {mat4} mat mat4 to translate
|
969
|
-
* @param {vec3} vec vec3 specifying the translation
|
970
|
-
* @param {mat4} [dest] mat4 receiving operation result. If not specified result is written to mat
|
971
|
-
*
|
972
|
-
* @returns {mat4} dest if specified, mat otherwise
|
973
|
-
*/
|
974
|
-
mat4.translate = function (mat, vec, dest) {
|
975
|
-
var x = vec[0], y = vec[1], z = vec[2],
|
976
|
-
a00, a01, a02, a03,
|
977
|
-
a10, a11, a12, a13,
|
978
|
-
a20, a21, a22, a23;
|
979
|
-
|
980
|
-
if (!dest || mat === dest) {
|
981
|
-
mat[12] = mat[0] * x + mat[4] * y + mat[8] * z + mat[12];
|
982
|
-
mat[13] = mat[1] * x + mat[5] * y + mat[9] * z + mat[13];
|
983
|
-
mat[14] = mat[2] * x + mat[6] * y + mat[10] * z + mat[14];
|
984
|
-
mat[15] = mat[3] * x + mat[7] * y + mat[11] * z + mat[15];
|
985
|
-
return mat;
|
986
|
-
}
|
987
|
-
|
988
|
-
a00 = mat[0]; a01 = mat[1]; a02 = mat[2]; a03 = mat[3];
|
989
|
-
a10 = mat[4]; a11 = mat[5]; a12 = mat[6]; a13 = mat[7];
|
990
|
-
a20 = mat[8]; a21 = mat[9]; a22 = mat[10]; a23 = mat[11];
|
991
|
-
|
992
|
-
dest[0] = a00; dest[1] = a01; dest[2] = a02; dest[3] = a03;
|
993
|
-
dest[4] = a10; dest[5] = a11; dest[6] = a12; dest[7] = a13;
|
994
|
-
dest[8] = a20; dest[9] = a21; dest[10] = a22; dest[11] = a23;
|
995
|
-
|
996
|
-
dest[12] = a00 * x + a10 * y + a20 * z + mat[12];
|
997
|
-
dest[13] = a01 * x + a11 * y + a21 * z + mat[13];
|
998
|
-
dest[14] = a02 * x + a12 * y + a22 * z + mat[14];
|
999
|
-
dest[15] = a03 * x + a13 * y + a23 * z + mat[15];
|
1000
|
-
return dest;
|
1001
|
-
};
|
1002
|
-
|
1003
|
-
/**
|
1004
|
-
* Scales a matrix by the given vector
|
1005
|
-
*
|
1006
|
-
* @param {mat4} mat mat4 to scale
|
1007
|
-
* @param {vec3} vec vec3 specifying the scale for each axis
|
1008
|
-
* @param {mat4} [dest] mat4 receiving operation result. If not specified result is written to mat
|
1009
|
-
*
|
1010
|
-
* @param {mat4} dest if specified, mat otherwise
|
1011
|
-
*/
|
1012
|
-
mat4.scale = function (mat, vec, dest) {
|
1013
|
-
var x = vec[0], y = vec[1], z = vec[2];
|
1014
|
-
|
1015
|
-
if (!dest || mat === dest) {
|
1016
|
-
mat[0] *= x;
|
1017
|
-
mat[1] *= x;
|
1018
|
-
mat[2] *= x;
|
1019
|
-
mat[3] *= x;
|
1020
|
-
mat[4] *= y;
|
1021
|
-
mat[5] *= y;
|
1022
|
-
mat[6] *= y;
|
1023
|
-
mat[7] *= y;
|
1024
|
-
mat[8] *= z;
|
1025
|
-
mat[9] *= z;
|
1026
|
-
mat[10] *= z;
|
1027
|
-
mat[11] *= z;
|
1028
|
-
return mat;
|
1029
|
-
}
|
1030
|
-
|
1031
|
-
dest[0] = mat[0] * x;
|
1032
|
-
dest[1] = mat[1] * x;
|
1033
|
-
dest[2] = mat[2] * x;
|
1034
|
-
dest[3] = mat[3] * x;
|
1035
|
-
dest[4] = mat[4] * y;
|
1036
|
-
dest[5] = mat[5] * y;
|
1037
|
-
dest[6] = mat[6] * y;
|
1038
|
-
dest[7] = mat[7] * y;
|
1039
|
-
dest[8] = mat[8] * z;
|
1040
|
-
dest[9] = mat[9] * z;
|
1041
|
-
dest[10] = mat[10] * z;
|
1042
|
-
dest[11] = mat[11] * z;
|
1043
|
-
dest[12] = mat[12];
|
1044
|
-
dest[13] = mat[13];
|
1045
|
-
dest[14] = mat[14];
|
1046
|
-
dest[15] = mat[15];
|
1047
|
-
return dest;
|
1048
|
-
};
|
1049
|
-
|
1050
|
-
/**
|
1051
|
-
* Rotates a matrix by the given angle around the specified axis
|
1052
|
-
* If rotating around a primary axis (X,Y,Z) one of the specialized rotation functions should be used instead for performance
|
1053
|
-
*
|
1054
|
-
* @param {mat4} mat mat4 to rotate
|
1055
|
-
* @param {number} angle Angle (in radians) to rotate
|
1056
|
-
* @param {vec3} axis vec3 representing the axis to rotate around
|
1057
|
-
* @param {mat4} [dest] mat4 receiving operation result. If not specified result is written to mat
|
1058
|
-
*
|
1059
|
-
* @returns {mat4} dest if specified, mat otherwise
|
1060
|
-
*/
|
1061
|
-
mat4.rotate = function (mat, angle, axis, dest) {
|
1062
|
-
var x = axis[0], y = axis[1], z = axis[2],
|
1063
|
-
len = Math.sqrt(x * x + y * y + z * z),
|
1064
|
-
s, c, t,
|
1065
|
-
a00, a01, a02, a03,
|
1066
|
-
a10, a11, a12, a13,
|
1067
|
-
a20, a21, a22, a23,
|
1068
|
-
b00, b01, b02,
|
1069
|
-
b10, b11, b12,
|
1070
|
-
b20, b21, b22;
|
1071
|
-
|
1072
|
-
if (!len) { return null; }
|
1073
|
-
if (len !== 1) {
|
1074
|
-
len = 1 / len;
|
1075
|
-
x *= len;
|
1076
|
-
y *= len;
|
1077
|
-
z *= len;
|
1078
|
-
}
|
1079
|
-
|
1080
|
-
s = Math.sin(angle);
|
1081
|
-
c = Math.cos(angle);
|
1082
|
-
t = 1 - c;
|
1083
|
-
|
1084
|
-
a00 = mat[0]; a01 = mat[1]; a02 = mat[2]; a03 = mat[3];
|
1085
|
-
a10 = mat[4]; a11 = mat[5]; a12 = mat[6]; a13 = mat[7];
|
1086
|
-
a20 = mat[8]; a21 = mat[9]; a22 = mat[10]; a23 = mat[11];
|
1087
|
-
|
1088
|
-
// Construct the elements of the rotation matrix
|
1089
|
-
b00 = x * x * t + c; b01 = y * x * t + z * s; b02 = z * x * t - y * s;
|
1090
|
-
b10 = x * y * t - z * s; b11 = y * y * t + c; b12 = z * y * t + x * s;
|
1091
|
-
b20 = x * z * t + y * s; b21 = y * z * t - x * s; b22 = z * z * t + c;
|
1092
|
-
|
1093
|
-
if (!dest) {
|
1094
|
-
dest = mat;
|
1095
|
-
} else if (mat !== dest) { // If the source and destination differ, copy the unchanged last row
|
1096
|
-
dest[12] = mat[12];
|
1097
|
-
dest[13] = mat[13];
|
1098
|
-
dest[14] = mat[14];
|
1099
|
-
dest[15] = mat[15];
|
1100
|
-
}
|
1101
|
-
|
1102
|
-
// Perform rotation-specific matrix multiplication
|
1103
|
-
dest[0] = a00 * b00 + a10 * b01 + a20 * b02;
|
1104
|
-
dest[1] = a01 * b00 + a11 * b01 + a21 * b02;
|
1105
|
-
dest[2] = a02 * b00 + a12 * b01 + a22 * b02;
|
1106
|
-
dest[3] = a03 * b00 + a13 * b01 + a23 * b02;
|
1107
|
-
|
1108
|
-
dest[4] = a00 * b10 + a10 * b11 + a20 * b12;
|
1109
|
-
dest[5] = a01 * b10 + a11 * b11 + a21 * b12;
|
1110
|
-
dest[6] = a02 * b10 + a12 * b11 + a22 * b12;
|
1111
|
-
dest[7] = a03 * b10 + a13 * b11 + a23 * b12;
|
1112
|
-
|
1113
|
-
dest[8] = a00 * b20 + a10 * b21 + a20 * b22;
|
1114
|
-
dest[9] = a01 * b20 + a11 * b21 + a21 * b22;
|
1115
|
-
dest[10] = a02 * b20 + a12 * b21 + a22 * b22;
|
1116
|
-
dest[11] = a03 * b20 + a13 * b21 + a23 * b22;
|
1117
|
-
return dest;
|
1118
|
-
};
|
1119
|
-
|
1120
|
-
/**
|
1121
|
-
* Rotates a matrix by the given angle around the X axis
|
1122
|
-
*
|
1123
|
-
* @param {mat4} mat mat4 to rotate
|
1124
|
-
* @param {number} angle Angle (in radians) to rotate
|
1125
|
-
* @param {mat4} [dest] mat4 receiving operation result. If not specified result is written to mat
|
1126
|
-
*
|
1127
|
-
* @returns {mat4} dest if specified, mat otherwise
|
1128
|
-
*/
|
1129
|
-
mat4.rotateX = function (mat, angle, dest) {
|
1130
|
-
var s = Math.sin(angle),
|
1131
|
-
c = Math.cos(angle),
|
1132
|
-
a10 = mat[4],
|
1133
|
-
a11 = mat[5],
|
1134
|
-
a12 = mat[6],
|
1135
|
-
a13 = mat[7],
|
1136
|
-
a20 = mat[8],
|
1137
|
-
a21 = mat[9],
|
1138
|
-
a22 = mat[10],
|
1139
|
-
a23 = mat[11];
|
1140
|
-
|
1141
|
-
if (!dest) {
|
1142
|
-
dest = mat;
|
1143
|
-
} else if (mat !== dest) { // If the source and destination differ, copy the unchanged rows
|
1144
|
-
dest[0] = mat[0];
|
1145
|
-
dest[1] = mat[1];
|
1146
|
-
dest[2] = mat[2];
|
1147
|
-
dest[3] = mat[3];
|
1148
|
-
|
1149
|
-
dest[12] = mat[12];
|
1150
|
-
dest[13] = mat[13];
|
1151
|
-
dest[14] = mat[14];
|
1152
|
-
dest[15] = mat[15];
|
1153
|
-
}
|
1154
|
-
|
1155
|
-
// Perform axis-specific matrix multiplication
|
1156
|
-
dest[4] = a10 * c + a20 * s;
|
1157
|
-
dest[5] = a11 * c + a21 * s;
|
1158
|
-
dest[6] = a12 * c + a22 * s;
|
1159
|
-
dest[7] = a13 * c + a23 * s;
|
1160
|
-
|
1161
|
-
dest[8] = a10 * -s + a20 * c;
|
1162
|
-
dest[9] = a11 * -s + a21 * c;
|
1163
|
-
dest[10] = a12 * -s + a22 * c;
|
1164
|
-
dest[11] = a13 * -s + a23 * c;
|
1165
|
-
return dest;
|
1166
|
-
};
|
1167
|
-
|
1168
|
-
/**
|
1169
|
-
* Rotates a matrix by the given angle around the Y axis
|
1170
|
-
*
|
1171
|
-
* @param {mat4} mat mat4 to rotate
|
1172
|
-
* @param {number} angle Angle (in radians) to rotate
|
1173
|
-
* @param {mat4} [dest] mat4 receiving operation result. If not specified result is written to mat
|
1174
|
-
*
|
1175
|
-
* @returns {mat4} dest if specified, mat otherwise
|
1176
|
-
*/
|
1177
|
-
mat4.rotateY = function (mat, angle, dest) {
|
1178
|
-
var s = Math.sin(angle),
|
1179
|
-
c = Math.cos(angle),
|
1180
|
-
a00 = mat[0],
|
1181
|
-
a01 = mat[1],
|
1182
|
-
a02 = mat[2],
|
1183
|
-
a03 = mat[3],
|
1184
|
-
a20 = mat[8],
|
1185
|
-
a21 = mat[9],
|
1186
|
-
a22 = mat[10],
|
1187
|
-
a23 = mat[11];
|
1188
|
-
|
1189
|
-
if (!dest) {
|
1190
|
-
dest = mat;
|
1191
|
-
} else if (mat !== dest) { // If the source and destination differ, copy the unchanged rows
|
1192
|
-
dest[4] = mat[4];
|
1193
|
-
dest[5] = mat[5];
|
1194
|
-
dest[6] = mat[6];
|
1195
|
-
dest[7] = mat[7];
|
1196
|
-
|
1197
|
-
dest[12] = mat[12];
|
1198
|
-
dest[13] = mat[13];
|
1199
|
-
dest[14] = mat[14];
|
1200
|
-
dest[15] = mat[15];
|
1201
|
-
}
|
1202
|
-
|
1203
|
-
// Perform axis-specific matrix multiplication
|
1204
|
-
dest[0] = a00 * c + a20 * -s;
|
1205
|
-
dest[1] = a01 * c + a21 * -s;
|
1206
|
-
dest[2] = a02 * c + a22 * -s;
|
1207
|
-
dest[3] = a03 * c + a23 * -s;
|
1208
|
-
|
1209
|
-
dest[8] = a00 * s + a20 * c;
|
1210
|
-
dest[9] = a01 * s + a21 * c;
|
1211
|
-
dest[10] = a02 * s + a22 * c;
|
1212
|
-
dest[11] = a03 * s + a23 * c;
|
1213
|
-
return dest;
|
1214
|
-
};
|
1215
|
-
|
1216
|
-
/**
|
1217
|
-
* Rotates a matrix by the given angle around the Z axis
|
1218
|
-
*
|
1219
|
-
* @param {mat4} mat mat4 to rotate
|
1220
|
-
* @param {number} angle Angle (in radians) to rotate
|
1221
|
-
* @param {mat4} [dest] mat4 receiving operation result. If not specified result is written to mat
|
1222
|
-
*
|
1223
|
-
* @returns {mat4} dest if specified, mat otherwise
|
1224
|
-
*/
|
1225
|
-
mat4.rotateZ = function (mat, angle, dest) {
|
1226
|
-
var s = Math.sin(angle),
|
1227
|
-
c = Math.cos(angle),
|
1228
|
-
a00 = mat[0],
|
1229
|
-
a01 = mat[1],
|
1230
|
-
a02 = mat[2],
|
1231
|
-
a03 = mat[3],
|
1232
|
-
a10 = mat[4],
|
1233
|
-
a11 = mat[5],
|
1234
|
-
a12 = mat[6],
|
1235
|
-
a13 = mat[7];
|
1236
|
-
|
1237
|
-
if (!dest) {
|
1238
|
-
dest = mat;
|
1239
|
-
} else if (mat !== dest) { // If the source and destination differ, copy the unchanged last row
|
1240
|
-
dest[8] = mat[8];
|
1241
|
-
dest[9] = mat[9];
|
1242
|
-
dest[10] = mat[10];
|
1243
|
-
dest[11] = mat[11];
|
1244
|
-
|
1245
|
-
dest[12] = mat[12];
|
1246
|
-
dest[13] = mat[13];
|
1247
|
-
dest[14] = mat[14];
|
1248
|
-
dest[15] = mat[15];
|
1249
|
-
}
|
1250
|
-
|
1251
|
-
// Perform axis-specific matrix multiplication
|
1252
|
-
dest[0] = a00 * c + a10 * s;
|
1253
|
-
dest[1] = a01 * c + a11 * s;
|
1254
|
-
dest[2] = a02 * c + a12 * s;
|
1255
|
-
dest[3] = a03 * c + a13 * s;
|
1256
|
-
|
1257
|
-
dest[4] = a00 * -s + a10 * c;
|
1258
|
-
dest[5] = a01 * -s + a11 * c;
|
1259
|
-
dest[6] = a02 * -s + a12 * c;
|
1260
|
-
dest[7] = a03 * -s + a13 * c;
|
1261
|
-
|
1262
|
-
return dest;
|
1263
|
-
};
|
1264
|
-
|
1265
|
-
/**
|
1266
|
-
* Generates a frustum matrix with the given bounds
|
1267
|
-
*
|
1268
|
-
* @param {number} left Left bound of the frustum
|
1269
|
-
* @param {number} right Right bound of the frustum
|
1270
|
-
* @param {number} bottom Bottom bound of the frustum
|
1271
|
-
* @param {number} top Top bound of the frustum
|
1272
|
-
* @param {number} near Near bound of the frustum
|
1273
|
-
* @param {number} far Far bound of the frustum
|
1274
|
-
* @param {mat4} [dest] mat4 frustum matrix will be written into
|
1275
|
-
*
|
1276
|
-
* @returns {mat4} dest if specified, a new mat4 otherwise
|
1277
|
-
*/
|
1278
|
-
mat4.frustum = function (left, right, bottom, top, near, far, dest) {
|
1279
|
-
if (!dest) { dest = mat4.create(); }
|
1280
|
-
var rl = (right - left),
|
1281
|
-
tb = (top - bottom),
|
1282
|
-
fn = (far - near);
|
1283
|
-
dest[0] = (near * 2) / rl;
|
1284
|
-
dest[1] = 0;
|
1285
|
-
dest[2] = 0;
|
1286
|
-
dest[3] = 0;
|
1287
|
-
dest[4] = 0;
|
1288
|
-
dest[5] = (near * 2) / tb;
|
1289
|
-
dest[6] = 0;
|
1290
|
-
dest[7] = 0;
|
1291
|
-
dest[8] = (right + left) / rl;
|
1292
|
-
dest[9] = (top + bottom) / tb;
|
1293
|
-
dest[10] = -(far + near) / fn;
|
1294
|
-
dest[11] = -1;
|
1295
|
-
dest[12] = 0;
|
1296
|
-
dest[13] = 0;
|
1297
|
-
dest[14] = -(far * near * 2) / fn;
|
1298
|
-
dest[15] = 0;
|
1299
|
-
return dest;
|
1300
|
-
};
|
1301
|
-
|
1302
|
-
/**
|
1303
|
-
* Generates a perspective projection matrix with the given bounds
|
1304
|
-
*
|
1305
|
-
* @param {number} fovy Vertical field of view
|
1306
|
-
* @param {number} aspect Aspect ratio. typically viewport width/height
|
1307
|
-
* @param {number} near Near bound of the frustum
|
1308
|
-
* @param {number} far Far bound of the frustum
|
1309
|
-
* @param {mat4} [dest] mat4 frustum matrix will be written into
|
1310
|
-
*
|
1311
|
-
* @returns {mat4} dest if specified, a new mat4 otherwise
|
1312
|
-
*/
|
1313
|
-
mat4.perspective = function (fovy, aspect, near, far, dest) {
|
1314
|
-
var top = near * Math.tan(fovy * Math.PI / 360.0),
|
1315
|
-
right = top * aspect;
|
1316
|
-
return mat4.frustum(-right, right, -top, top, near, far, dest);
|
1317
|
-
};
|
1318
|
-
|
1319
|
-
/**
|
1320
|
-
* Generates a orthogonal projection matrix with the given bounds
|
1321
|
-
*
|
1322
|
-
* @param {number} left Left bound of the frustum
|
1323
|
-
* @param {number} right Right bound of the frustum
|
1324
|
-
* @param {number} bottom Bottom bound of the frustum
|
1325
|
-
* @param {number} top Top bound of the frustum
|
1326
|
-
* @param {number} near Near bound of the frustum
|
1327
|
-
* @param {number} far Far bound of the frustum
|
1328
|
-
* @param {mat4} [dest] mat4 frustum matrix will be written into
|
1329
|
-
*
|
1330
|
-
* @returns {mat4} dest if specified, a new mat4 otherwise
|
1331
|
-
*/
|
1332
|
-
mat4.ortho = function (left, right, bottom, top, near, far, dest) {
|
1333
|
-
if (!dest) { dest = mat4.create(); }
|
1334
|
-
var rl = (right - left),
|
1335
|
-
tb = (top - bottom),
|
1336
|
-
fn = (far - near);
|
1337
|
-
dest[0] = 2 / rl;
|
1338
|
-
dest[1] = 0;
|
1339
|
-
dest[2] = 0;
|
1340
|
-
dest[3] = 0;
|
1341
|
-
dest[4] = 0;
|
1342
|
-
dest[5] = 2 / tb;
|
1343
|
-
dest[6] = 0;
|
1344
|
-
dest[7] = 0;
|
1345
|
-
dest[8] = 0;
|
1346
|
-
dest[9] = 0;
|
1347
|
-
dest[10] = -2 / fn;
|
1348
|
-
dest[11] = 0;
|
1349
|
-
dest[12] = -(left + right) / rl;
|
1350
|
-
dest[13] = -(top + bottom) / tb;
|
1351
|
-
dest[14] = -(far + near) / fn;
|
1352
|
-
dest[15] = 1;
|
1353
|
-
return dest;
|
1354
|
-
};
|
1355
|
-
|
1356
|
-
/**
|
1357
|
-
* Generates a look-at matrix with the given eye position, focal point, and up axis
|
1358
|
-
*
|
1359
|
-
* @param {vec3} eye Position of the viewer
|
1360
|
-
* @param {vec3} center Point the viewer is looking at
|
1361
|
-
* @param {vec3} up vec3 pointing "up"
|
1362
|
-
* @param {mat4} [dest] mat4 frustum matrix will be written into
|
1363
|
-
*
|
1364
|
-
* @returns {mat4} dest if specified, a new mat4 otherwise
|
1365
|
-
*/
|
1366
|
-
mat4.lookAt = function (eye, center, up, dest) {
|
1367
|
-
if (!dest) { dest = mat4.create(); }
|
1368
|
-
|
1369
|
-
var x0, x1, x2, y0, y1, y2, z0, z1, z2, len,
|
1370
|
-
eyex = eye[0],
|
1371
|
-
eyey = eye[1],
|
1372
|
-
eyez = eye[2],
|
1373
|
-
upx = up[0],
|
1374
|
-
upy = up[1],
|
1375
|
-
upz = up[2],
|
1376
|
-
centerx = center[0],
|
1377
|
-
centery = center[1],
|
1378
|
-
centerz = center[2];
|
1379
|
-
|
1380
|
-
if (eyex === centerx && eyey === centery && eyez === centerz) {
|
1381
|
-
return mat4.identity(dest);
|
1382
|
-
}
|
1383
|
-
|
1384
|
-
//vec3.direction(eye, center, z);
|
1385
|
-
z0 = eyex - centerx;
|
1386
|
-
z1 = eyey - centery;
|
1387
|
-
z2 = eyez - centerz;
|
1388
|
-
|
1389
|
-
// normalize (no check needed for 0 because of early return)
|
1390
|
-
len = 1 / Math.sqrt(z0 * z0 + z1 * z1 + z2 * z2);
|
1391
|
-
z0 *= len;
|
1392
|
-
z1 *= len;
|
1393
|
-
z2 *= len;
|
1394
|
-
|
1395
|
-
//vec3.normalize(vec3.cross(up, z, x));
|
1396
|
-
x0 = upy * z2 - upz * z1;
|
1397
|
-
x1 = upz * z0 - upx * z2;
|
1398
|
-
x2 = upx * z1 - upy * z0;
|
1399
|
-
len = Math.sqrt(x0 * x0 + x1 * x1 + x2 * x2);
|
1400
|
-
if (!len) {
|
1401
|
-
x0 = 0;
|
1402
|
-
x1 = 0;
|
1403
|
-
x2 = 0;
|
1404
|
-
} else {
|
1405
|
-
len = 1 / len;
|
1406
|
-
x0 *= len;
|
1407
|
-
x1 *= len;
|
1408
|
-
x2 *= len;
|
1409
|
-
}
|
1410
|
-
|
1411
|
-
//vec3.normalize(vec3.cross(z, x, y));
|
1412
|
-
y0 = z1 * x2 - z2 * x1;
|
1413
|
-
y1 = z2 * x0 - z0 * x2;
|
1414
|
-
y2 = z0 * x1 - z1 * x0;
|
1415
|
-
|
1416
|
-
len = Math.sqrt(y0 * y0 + y1 * y1 + y2 * y2);
|
1417
|
-
if (!len) {
|
1418
|
-
y0 = 0;
|
1419
|
-
y1 = 0;
|
1420
|
-
y2 = 0;
|
1421
|
-
} else {
|
1422
|
-
len = 1 / len;
|
1423
|
-
y0 *= len;
|
1424
|
-
y1 *= len;
|
1425
|
-
y2 *= len;
|
1426
|
-
}
|
1427
|
-
|
1428
|
-
dest[0] = x0;
|
1429
|
-
dest[1] = y0;
|
1430
|
-
dest[2] = z0;
|
1431
|
-
dest[3] = 0;
|
1432
|
-
dest[4] = x1;
|
1433
|
-
dest[5] = y1;
|
1434
|
-
dest[6] = z1;
|
1435
|
-
dest[7] = 0;
|
1436
|
-
dest[8] = x2;
|
1437
|
-
dest[9] = y2;
|
1438
|
-
dest[10] = z2;
|
1439
|
-
dest[11] = 0;
|
1440
|
-
dest[12] = -(x0 * eyex + x1 * eyey + x2 * eyez);
|
1441
|
-
dest[13] = -(y0 * eyex + y1 * eyey + y2 * eyez);
|
1442
|
-
dest[14] = -(z0 * eyex + z1 * eyey + z2 * eyez);
|
1443
|
-
dest[15] = 1;
|
1444
|
-
|
1445
|
-
return dest;
|
1446
|
-
};
|
1447
|
-
|
1448
|
-
/**
|
1449
|
-
* Creates a matrix from a quaternion rotation and vector translation
|
1450
|
-
* This is equivalent to (but much faster than):
|
1451
|
-
*
|
1452
|
-
* mat4.identity(dest);
|
1453
|
-
* mat4.translate(dest, vec);
|
1454
|
-
* var quatMat = mat4.create();
|
1455
|
-
* quat4.toMat4(quat, quatMat);
|
1456
|
-
* mat4.multiply(dest, quatMat);
|
1457
|
-
*
|
1458
|
-
* @param {quat4} quat Rotation quaternion
|
1459
|
-
* @param {vec3} vec Translation vector
|
1460
|
-
* @param {mat4} [dest] mat4 receiving operation result. If not specified result is written to a new mat4
|
1461
|
-
*
|
1462
|
-
* @returns {mat4} dest if specified, a new mat4 otherwise
|
1463
|
-
*/
|
1464
|
-
mat4.fromRotationTranslation = function (quat, vec, dest) {
|
1465
|
-
if (!dest) { dest = mat4.create(); }
|
1466
|
-
|
1467
|
-
// Quaternion math
|
1468
|
-
var x = quat[0], y = quat[1], z = quat[2], w = quat[3],
|
1469
|
-
x2 = x + x,
|
1470
|
-
y2 = y + y,
|
1471
|
-
z2 = z + z,
|
1472
|
-
|
1473
|
-
xx = x * x2,
|
1474
|
-
xy = x * y2,
|
1475
|
-
xz = x * z2,
|
1476
|
-
yy = y * y2,
|
1477
|
-
yz = y * z2,
|
1478
|
-
zz = z * z2,
|
1479
|
-
wx = w * x2,
|
1480
|
-
wy = w * y2,
|
1481
|
-
wz = w * z2;
|
1482
|
-
|
1483
|
-
dest[0] = 1 - (yy + zz);
|
1484
|
-
dest[1] = xy + wz;
|
1485
|
-
dest[2] = xz - wy;
|
1486
|
-
dest[3] = 0;
|
1487
|
-
dest[4] = xy - wz;
|
1488
|
-
dest[5] = 1 - (xx + zz);
|
1489
|
-
dest[6] = yz + wx;
|
1490
|
-
dest[7] = 0;
|
1491
|
-
dest[8] = xz + wy;
|
1492
|
-
dest[9] = yz - wx;
|
1493
|
-
dest[10] = 1 - (xx + yy);
|
1494
|
-
dest[11] = 0;
|
1495
|
-
dest[12] = vec[0];
|
1496
|
-
dest[13] = vec[1];
|
1497
|
-
dest[14] = vec[2];
|
1498
|
-
dest[15] = 1;
|
1499
|
-
|
1500
|
-
return dest;
|
1501
|
-
};
|
1502
|
-
|
1503
|
-
/**
|
1504
|
-
* Returns a string representation of a mat4
|
1505
|
-
*
|
1506
|
-
* @param {mat4} mat mat4 to represent as a string
|
1507
|
-
*
|
1508
|
-
* @returns {string} String representation of mat
|
1509
|
-
*/
|
1510
|
-
mat4.str = function (mat) {
|
1511
|
-
return '[' + mat[0] + ', ' + mat[1] + ', ' + mat[2] + ', ' + mat[3] +
|
1512
|
-
', ' + mat[4] + ', ' + mat[5] + ', ' + mat[6] + ', ' + mat[7] +
|
1513
|
-
', ' + mat[8] + ', ' + mat[9] + ', ' + mat[10] + ', ' + mat[11] +
|
1514
|
-
', ' + mat[12] + ', ' + mat[13] + ', ' + mat[14] + ', ' + mat[15] + ']';
|
1515
|
-
};
|
1516
|
-
|
1517
|
-
/*
|
1518
|
-
* quat4
|
1519
|
-
*/
|
1520
|
-
|
1521
|
-
/**
|
1522
|
-
* Creates a new instance of a quat4 using the default array type
|
1523
|
-
* Any javascript array containing at least 4 numeric elements can serve as a quat4
|
1524
|
-
*
|
1525
|
-
* @param {quat4} [quat] quat4 containing values to initialize with
|
1526
|
-
*
|
1527
|
-
* @returns {quat4} New quat4
|
1528
|
-
*/
|
1529
|
-
quat4.create = function (quat) {
|
1530
|
-
var dest = new MatrixArray(4);
|
1531
|
-
|
1532
|
-
if (quat) {
|
1533
|
-
dest[0] = quat[0];
|
1534
|
-
dest[1] = quat[1];
|
1535
|
-
dest[2] = quat[2];
|
1536
|
-
dest[3] = quat[3];
|
1537
|
-
}
|
1538
|
-
|
1539
|
-
return dest;
|
1540
|
-
};
|
1541
|
-
|
1542
|
-
/**
|
1543
|
-
* Copies the values of one quat4 to another
|
1544
|
-
*
|
1545
|
-
* @param {quat4} quat quat4 containing values to copy
|
1546
|
-
* @param {quat4} dest quat4 receiving copied values
|
1547
|
-
*
|
1548
|
-
* @returns {quat4} dest
|
1549
|
-
*/
|
1550
|
-
quat4.set = function (quat, dest) {
|
1551
|
-
dest[0] = quat[0];
|
1552
|
-
dest[1] = quat[1];
|
1553
|
-
dest[2] = quat[2];
|
1554
|
-
dest[3] = quat[3];
|
1555
|
-
|
1556
|
-
return dest;
|
1557
|
-
};
|
1558
|
-
|
1559
|
-
/**
|
1560
|
-
* Calculates the W component of a quat4 from the X, Y, and Z components.
|
1561
|
-
* Assumes that quaternion is 1 unit in length.
|
1562
|
-
* Any existing W component will be ignored.
|
1563
|
-
*
|
1564
|
-
* @param {quat4} quat quat4 to calculate W component of
|
1565
|
-
* @param {quat4} [dest] quat4 receiving calculated values. If not specified result is written to quat
|
1566
|
-
*
|
1567
|
-
* @returns {quat4} dest if specified, quat otherwise
|
1568
|
-
*/
|
1569
|
-
quat4.calculateW = function (quat, dest) {
|
1570
|
-
var x = quat[0], y = quat[1], z = quat[2];
|
1571
|
-
|
1572
|
-
if (!dest || quat === dest) {
|
1573
|
-
quat[3] = -Math.sqrt(Math.abs(1.0 - x * x - y * y - z * z));
|
1574
|
-
return quat;
|
1575
|
-
}
|
1576
|
-
dest[0] = x;
|
1577
|
-
dest[1] = y;
|
1578
|
-
dest[2] = z;
|
1579
|
-
dest[3] = -Math.sqrt(Math.abs(1.0 - x * x - y * y - z * z));
|
1580
|
-
return dest;
|
1581
|
-
};
|
1582
|
-
|
1583
|
-
/**
|
1584
|
-
* Calculates the dot product of two quaternions
|
1585
|
-
*
|
1586
|
-
* @param {quat4} quat First operand
|
1587
|
-
* @param {quat4} quat2 Second operand
|
1588
|
-
*
|
1589
|
-
* @return {number} Dot product of quat and quat2
|
1590
|
-
*/
|
1591
|
-
quat4.dot = function(quat, quat2){
|
1592
|
-
return quat[0]*quat2[0] + quat[1]*quat2[1] + quat[2]*quat2[2] + quat[3]*quat2[3];
|
1593
|
-
};
|
1594
|
-
|
1595
|
-
/**
|
1596
|
-
* Calculates the inverse of a quat4
|
1597
|
-
*
|
1598
|
-
* @param {quat4} quat quat4 to calculate inverse of
|
1599
|
-
* @param {quat4} [dest] quat4 receiving inverse values. If not specified result is written to quat
|
1600
|
-
*
|
1601
|
-
* @returns {quat4} dest if specified, quat otherwise
|
1602
|
-
*/
|
1603
|
-
quat4.inverse = function(quat, dest) {
|
1604
|
-
var q0 = quat[0], q1 = quat[1], q2 = quat[2], q3 = quat[3],
|
1605
|
-
dot = q0*q0 + q1*q1 + q2*q2 + q3*q3,
|
1606
|
-
invDot = dot ? 1.0/dot : 0;
|
1607
|
-
|
1608
|
-
// TODO: Would be faster to return [0,0,0,0] immediately if dot == 0
|
1609
|
-
|
1610
|
-
if(!dest || quat === dest) {
|
1611
|
-
quat[0] *= -invDot;
|
1612
|
-
quat[1] *= -invDot;
|
1613
|
-
quat[2] *= -invDot;
|
1614
|
-
quat[3] *= invDot;
|
1615
|
-
return quat;
|
1616
|
-
}
|
1617
|
-
dest[0] = -quat[0]*invDot;
|
1618
|
-
dest[1] = -quat[1]*invDot;
|
1619
|
-
dest[2] = -quat[2]*invDot;
|
1620
|
-
dest[3] = quat[3]*invDot;
|
1621
|
-
return dest;
|
1622
|
-
};
|
1623
|
-
|
1624
|
-
|
1625
|
-
/**
|
1626
|
-
* Calculates the conjugate of a quat4
|
1627
|
-
* If the quaternion is normalized, this function is faster than quat4.inverse and produces the same result.
|
1628
|
-
*
|
1629
|
-
* @param {quat4} quat quat4 to calculate conjugate of
|
1630
|
-
* @param {quat4} [dest] quat4 receiving conjugate values. If not specified result is written to quat
|
1631
|
-
*
|
1632
|
-
* @returns {quat4} dest if specified, quat otherwise
|
1633
|
-
*/
|
1634
|
-
quat4.conjugate = function (quat, dest) {
|
1635
|
-
if (!dest || quat === dest) {
|
1636
|
-
quat[0] *= -1;
|
1637
|
-
quat[1] *= -1;
|
1638
|
-
quat[2] *= -1;
|
1639
|
-
return quat;
|
1640
|
-
}
|
1641
|
-
dest[0] = -quat[0];
|
1642
|
-
dest[1] = -quat[1];
|
1643
|
-
dest[2] = -quat[2];
|
1644
|
-
dest[3] = quat[3];
|
1645
|
-
return dest;
|
1646
|
-
};
|
1647
|
-
|
1648
|
-
/**
|
1649
|
-
* Calculates the length of a quat4
|
1650
|
-
*
|
1651
|
-
* Params:
|
1652
|
-
* @param {quat4} quat quat4 to calculate length of
|
1653
|
-
*
|
1654
|
-
* @returns Length of quat
|
1655
|
-
*/
|
1656
|
-
quat4.length = function (quat) {
|
1657
|
-
var x = quat[0], y = quat[1], z = quat[2], w = quat[3];
|
1658
|
-
return Math.sqrt(x * x + y * y + z * z + w * w);
|
1659
|
-
};
|
1660
|
-
|
1661
|
-
/**
|
1662
|
-
* Generates a unit quaternion of the same direction as the provided quat4
|
1663
|
-
* If quaternion length is 0, returns [0, 0, 0, 0]
|
1664
|
-
*
|
1665
|
-
* @param {quat4} quat quat4 to normalize
|
1666
|
-
* @param {quat4} [dest] quat4 receiving operation result. If not specified result is written to quat
|
1667
|
-
*
|
1668
|
-
* @returns {quat4} dest if specified, quat otherwise
|
1669
|
-
*/
|
1670
|
-
quat4.normalize = function (quat, dest) {
|
1671
|
-
if (!dest) { dest = quat; }
|
1672
|
-
|
1673
|
-
var x = quat[0], y = quat[1], z = quat[2], w = quat[3],
|
1674
|
-
len = Math.sqrt(x * x + y * y + z * z + w * w);
|
1675
|
-
if (len === 0) {
|
1676
|
-
dest[0] = 0;
|
1677
|
-
dest[1] = 0;
|
1678
|
-
dest[2] = 0;
|
1679
|
-
dest[3] = 0;
|
1680
|
-
return dest;
|
1681
|
-
}
|
1682
|
-
len = 1 / len;
|
1683
|
-
dest[0] = x * len;
|
1684
|
-
dest[1] = y * len;
|
1685
|
-
dest[2] = z * len;
|
1686
|
-
dest[3] = w * len;
|
1687
|
-
|
1688
|
-
return dest;
|
1689
|
-
};
|
1690
|
-
|
1691
|
-
/**
|
1692
|
-
* Performs quaternion addition
|
1693
|
-
*
|
1694
|
-
* @param {quat4} quat First operand
|
1695
|
-
* @param {quat4} quat2 Second operand
|
1696
|
-
* @param {quat4} [dest] quat4 receiving operation result. If not specified result is written to quat
|
1697
|
-
*
|
1698
|
-
* @returns {quat4} dest if specified, quat otherwise
|
1699
|
-
*/
|
1700
|
-
quat4.add = function (quat, quat2, dest) {
|
1701
|
-
if(!dest || quat === dest) {
|
1702
|
-
quat[0] += quat2[0];
|
1703
|
-
quat[1] += quat2[1];
|
1704
|
-
quat[2] += quat2[2];
|
1705
|
-
quat[3] += quat2[3];
|
1706
|
-
return quat;
|
1707
|
-
}
|
1708
|
-
dest[0] = quat[0]+quat2[0];
|
1709
|
-
dest[1] = quat[1]+quat2[1];
|
1710
|
-
dest[2] = quat[2]+quat2[2];
|
1711
|
-
dest[3] = quat[3]+quat2[3];
|
1712
|
-
return dest;
|
1713
|
-
};
|
1714
|
-
|
1715
|
-
/**
|
1716
|
-
* Performs a quaternion multiplication
|
1717
|
-
*
|
1718
|
-
* @param {quat4} quat First operand
|
1719
|
-
* @param {quat4} quat2 Second operand
|
1720
|
-
* @param {quat4} [dest] quat4 receiving operation result. If not specified result is written to quat
|
1721
|
-
*
|
1722
|
-
* @returns {quat4} dest if specified, quat otherwise
|
1723
|
-
*/
|
1724
|
-
quat4.multiply = function (quat, quat2, dest) {
|
1725
|
-
if (!dest) { dest = quat; }
|
1726
|
-
|
1727
|
-
var qax = quat[0], qay = quat[1], qaz = quat[2], qaw = quat[3],
|
1728
|
-
qbx = quat2[0], qby = quat2[1], qbz = quat2[2], qbw = quat2[3];
|
1729
|
-
|
1730
|
-
dest[0] = qax * qbw + qaw * qbx + qay * qbz - qaz * qby;
|
1731
|
-
dest[1] = qay * qbw + qaw * qby + qaz * qbx - qax * qbz;
|
1732
|
-
dest[2] = qaz * qbw + qaw * qbz + qax * qby - qay * qbx;
|
1733
|
-
dest[3] = qaw * qbw - qax * qbx - qay * qby - qaz * qbz;
|
1734
|
-
|
1735
|
-
return dest;
|
1736
|
-
};
|
1737
|
-
|
1738
|
-
/**
|
1739
|
-
* Transforms a vec3 with the given quaternion
|
1740
|
-
*
|
1741
|
-
* @param {quat4} quat quat4 to transform the vector with
|
1742
|
-
* @param {vec3} vec vec3 to transform
|
1743
|
-
* @param {vec3} [dest] vec3 receiving operation result. If not specified result is written to vec
|
1744
|
-
*
|
1745
|
-
* @returns dest if specified, vec otherwise
|
1746
|
-
*/
|
1747
|
-
quat4.multiplyVec3 = function (quat, vec, dest) {
|
1748
|
-
if (!dest) { dest = vec; }
|
1749
|
-
|
1750
|
-
var x = vec[0], y = vec[1], z = vec[2],
|
1751
|
-
qx = quat[0], qy = quat[1], qz = quat[2], qw = quat[3],
|
1752
|
-
|
1753
|
-
// calculate quat * vec
|
1754
|
-
ix = qw * x + qy * z - qz * y,
|
1755
|
-
iy = qw * y + qz * x - qx * z,
|
1756
|
-
iz = qw * z + qx * y - qy * x,
|
1757
|
-
iw = -qx * x - qy * y - qz * z;
|
1758
|
-
|
1759
|
-
// calculate result * inverse quat
|
1760
|
-
dest[0] = ix * qw + iw * -qx + iy * -qz - iz * -qy;
|
1761
|
-
dest[1] = iy * qw + iw * -qy + iz * -qx - ix * -qz;
|
1762
|
-
dest[2] = iz * qw + iw * -qz + ix * -qy - iy * -qx;
|
1763
|
-
|
1764
|
-
return dest;
|
1765
|
-
};
|
1766
|
-
|
1767
|
-
/**
|
1768
|
-
* Multiplies the components of a quaternion by a scalar value
|
1769
|
-
*
|
1770
|
-
* @param {quat4} quat to scale
|
1771
|
-
* @param {number} val Value to scale by
|
1772
|
-
* @param {quat4} [dest] quat4 receiving operation result. If not specified result is written to quat
|
1773
|
-
*
|
1774
|
-
* @returns {quat4} dest if specified, quat otherwise
|
1775
|
-
*/
|
1776
|
-
quat4.scale = function (quat, val, dest) {
|
1777
|
-
if(!dest || quat === dest) {
|
1778
|
-
quat[0] *= val;
|
1779
|
-
quat[1] *= val;
|
1780
|
-
quat[2] *= val;
|
1781
|
-
quat[3] *= val;
|
1782
|
-
return quat;
|
1783
|
-
}
|
1784
|
-
dest[0] = quat[0]*val;
|
1785
|
-
dest[1] = quat[1]*val;
|
1786
|
-
dest[2] = quat[2]*val;
|
1787
|
-
dest[3] = quat[3]*val;
|
1788
|
-
return dest;
|
1789
|
-
};
|
1790
|
-
|
1791
|
-
/**
|
1792
|
-
* Calculates a 3x3 matrix from the given quat4
|
1793
|
-
*
|
1794
|
-
* @param {quat4} quat quat4 to create matrix from
|
1795
|
-
* @param {mat3} [dest] mat3 receiving operation result
|
1796
|
-
*
|
1797
|
-
* @returns {mat3} dest if specified, a new mat3 otherwise
|
1798
|
-
*/
|
1799
|
-
quat4.toMat3 = function (quat, dest) {
|
1800
|
-
if (!dest) { dest = mat3.create(); }
|
1801
|
-
|
1802
|
-
var x = quat[0], y = quat[1], z = quat[2], w = quat[3],
|
1803
|
-
x2 = x + x,
|
1804
|
-
y2 = y + y,
|
1805
|
-
z2 = z + z,
|
1806
|
-
|
1807
|
-
xx = x * x2,
|
1808
|
-
xy = x * y2,
|
1809
|
-
xz = x * z2,
|
1810
|
-
yy = y * y2,
|
1811
|
-
yz = y * z2,
|
1812
|
-
zz = z * z2,
|
1813
|
-
wx = w * x2,
|
1814
|
-
wy = w * y2,
|
1815
|
-
wz = w * z2;
|
1816
|
-
|
1817
|
-
dest[0] = 1 - (yy + zz);
|
1818
|
-
dest[1] = xy + wz;
|
1819
|
-
dest[2] = xz - wy;
|
1820
|
-
|
1821
|
-
dest[3] = xy - wz;
|
1822
|
-
dest[4] = 1 - (xx + zz);
|
1823
|
-
dest[5] = yz + wx;
|
1824
|
-
|
1825
|
-
dest[6] = xz + wy;
|
1826
|
-
dest[7] = yz - wx;
|
1827
|
-
dest[8] = 1 - (xx + yy);
|
1828
|
-
|
1829
|
-
return dest;
|
1830
|
-
};
|
1831
|
-
|
1832
|
-
/**
|
1833
|
-
* Calculates a 4x4 matrix from the given quat4
|
1834
|
-
*
|
1835
|
-
* @param {quat4} quat quat4 to create matrix from
|
1836
|
-
* @param {mat4} [dest] mat4 receiving operation result
|
1837
|
-
*
|
1838
|
-
* @returns {mat4} dest if specified, a new mat4 otherwise
|
1839
|
-
*/
|
1840
|
-
quat4.toMat4 = function (quat, dest) {
|
1841
|
-
if (!dest) { dest = mat4.create(); }
|
1842
|
-
|
1843
|
-
var x = quat[0], y = quat[1], z = quat[2], w = quat[3],
|
1844
|
-
x2 = x + x,
|
1845
|
-
y2 = y + y,
|
1846
|
-
z2 = z + z,
|
1847
|
-
|
1848
|
-
xx = x * x2,
|
1849
|
-
xy = x * y2,
|
1850
|
-
xz = x * z2,
|
1851
|
-
yy = y * y2,
|
1852
|
-
yz = y * z2,
|
1853
|
-
zz = z * z2,
|
1854
|
-
wx = w * x2,
|
1855
|
-
wy = w * y2,
|
1856
|
-
wz = w * z2;
|
1857
|
-
|
1858
|
-
dest[0] = 1 - (yy + zz);
|
1859
|
-
dest[1] = xy + wz;
|
1860
|
-
dest[2] = xz - wy;
|
1861
|
-
dest[3] = 0;
|
1862
|
-
|
1863
|
-
dest[4] = xy - wz;
|
1864
|
-
dest[5] = 1 - (xx + zz);
|
1865
|
-
dest[6] = yz + wx;
|
1866
|
-
dest[7] = 0;
|
1867
|
-
|
1868
|
-
dest[8] = xz + wy;
|
1869
|
-
dest[9] = yz - wx;
|
1870
|
-
dest[10] = 1 - (xx + yy);
|
1871
|
-
dest[11] = 0;
|
1872
|
-
|
1873
|
-
dest[12] = 0;
|
1874
|
-
dest[13] = 0;
|
1875
|
-
dest[14] = 0;
|
1876
|
-
dest[15] = 1;
|
1877
|
-
|
1878
|
-
return dest;
|
1879
|
-
};
|
1880
|
-
|
1881
|
-
/**
|
1882
|
-
* Performs a spherical linear interpolation between two quat4
|
1883
|
-
*
|
1884
|
-
* @param {quat4} quat First quaternion
|
1885
|
-
* @param {quat4} quat2 Second quaternion
|
1886
|
-
* @param {number} slerp Interpolation amount between the two inputs
|
1887
|
-
* @param {quat4} [dest] quat4 receiving operation result. If not specified result is written to quat
|
1888
|
-
*
|
1889
|
-
* @returns {quat4} dest if specified, quat otherwise
|
1890
|
-
*/
|
1891
|
-
quat4.slerp = function (quat, quat2, slerp, dest) {
|
1892
|
-
if (!dest) { dest = quat; }
|
1893
|
-
|
1894
|
-
var cosHalfTheta = quat[0] * quat2[0] + quat[1] * quat2[1] + quat[2] * quat2[2] + quat[3] * quat2[3],
|
1895
|
-
halfTheta,
|
1896
|
-
sinHalfTheta,
|
1897
|
-
ratioA,
|
1898
|
-
ratioB;
|
1899
|
-
|
1900
|
-
if (Math.abs(cosHalfTheta) >= 1.0) {
|
1901
|
-
if (dest !== quat) {
|
1902
|
-
dest[0] = quat[0];
|
1903
|
-
dest[1] = quat[1];
|
1904
|
-
dest[2] = quat[2];
|
1905
|
-
dest[3] = quat[3];
|
1906
|
-
}
|
1907
|
-
return dest;
|
1908
|
-
}
|
1909
|
-
|
1910
|
-
halfTheta = Math.acos(cosHalfTheta);
|
1911
|
-
sinHalfTheta = Math.sqrt(1.0 - cosHalfTheta * cosHalfTheta);
|
1912
|
-
|
1913
|
-
if (Math.abs(sinHalfTheta) < 0.001) {
|
1914
|
-
dest[0] = (quat[0] * 0.5 + quat2[0] * 0.5);
|
1915
|
-
dest[1] = (quat[1] * 0.5 + quat2[1] * 0.5);
|
1916
|
-
dest[2] = (quat[2] * 0.5 + quat2[2] * 0.5);
|
1917
|
-
dest[3] = (quat[3] * 0.5 + quat2[3] * 0.5);
|
1918
|
-
return dest;
|
1919
|
-
}
|
1920
|
-
|
1921
|
-
ratioA = Math.sin((1 - slerp) * halfTheta) / sinHalfTheta;
|
1922
|
-
ratioB = Math.sin(slerp * halfTheta) / sinHalfTheta;
|
1923
|
-
|
1924
|
-
dest[0] = (quat[0] * ratioA + quat2[0] * ratioB);
|
1925
|
-
dest[1] = (quat[1] * ratioA + quat2[1] * ratioB);
|
1926
|
-
dest[2] = (quat[2] * ratioA + quat2[2] * ratioB);
|
1927
|
-
dest[3] = (quat[3] * ratioA + quat2[3] * ratioB);
|
1928
|
-
|
1929
|
-
return dest;
|
1930
|
-
};
|
1931
|
-
|
1932
|
-
/**
|
1933
|
-
* Returns a string representation of a quaternion
|
1934
|
-
*
|
1935
|
-
* @param {quat4} quat quat4 to represent as a string
|
1936
|
-
*
|
1937
|
-
* @returns {string} String representation of quat
|
1938
|
-
*/
|
1939
|
-
quat4.str = function (quat) {
|
1940
|
-
return '[' + quat[0] + ', ' + quat[1] + ', ' + quat[2] + ', ' + quat[3] + ']';
|
1941
|
-
};
|
1942
|
-
|
1943
|
-
|
1944
|
-
return {
|
1945
|
-
vec3: vec3,
|
1946
|
-
mat3: mat3,
|
1947
|
-
mat4: mat4,
|
1948
|
-
quat4: quat4
|
1949
|
-
};
|
1950
|
-
|
1951
|
-
})();
|
1952
|
-
|