@asciiz/atoolkit 0.1.0

package/dist/alm/quat.js

@@ -0,0 +1,543 @@
+import { EPSILON, RAD2DEG } from "./constants.js";
+import { Vec3 } from "./vec3.js";
+export class _Quat extends Float32Array {
+    static get [Symbol.species]() {
+        return Float32Array;
+    }
+    static IDENTITY = new _Quat(0, 0, 0, 1);
+    constructor(a, b, c, d) {
+        if (a instanceof ArrayBuffer || (typeof SharedArrayBuffer !== "undefined" && a instanceof SharedArrayBuffer)) {
+            super(a, b ?? 0, 4);
+        }
+        else {
+            super(4);
+            if (typeof a === "number") {
+                this[0] = a;
+                if (typeof b === "number")
+                    this[1] = b;
+                if (typeof c === "number")
+                    this[2] = c;
+                this[3] = typeof d === "number" ? d : 1;
+            }
+            else if (a && "length" in a) {
+                this[0] = a[0] ?? 0;
+                this[1] = a[1] ?? 0;
+                this[2] = a[2] ?? 0;
+                this[3] = a[3] ?? 1;
+            }
+            else {
+                this[3] = 1;
+            }
+        }
+    }
+    get x() {
+        return this[0];
+    }
+    set x(val) {
+        this[0] = val;
+    }
+    get y() {
+        return this[1];
+    }
+    set y(val) {
+        this[1] = val;
+    }
+    get z() {
+        return this[2];
+    }
+    set z(val) {
+        this[2] = val;
+    }
+    get w() {
+        return this[3];
+    }
+    set w(val) {
+        this[3] = val;
+    }
+    static create(x = 0, y = 0, z = 0, w = 1) {
+        return new _Quat(x, y, z, w);
+    }
+    static identity(out) {
+        out ??= new _Quat();
+        out[0] = 0;
+        out[1] = 0;
+        out[2] = 0;
+        out[3] = 1;
+        return out;
+    }
+    static makeIdentity(out) {
+        return _Quat.identity(out);
+    }
+    static view(buffer, byteOffset = 0) {
+        return new _Quat(buffer, byteOffset);
+    }
+    static fromValues(x, y, z, w) {
+        return new _Quat(x, y, z, w);
+    }
+    static fromArray(array, offset = 0, out) {
+        out ??= new _Quat();
+        out[0] = array[offset];
+        out[1] = array[offset + 1];
+        out[2] = array[offset + 2];
+        out[3] = array[offset + 3];
+        return out;
+    }
+    identity() {
+        this[0] = 0;
+        this[1] = 0;
+        this[2] = 0;
+        this[3] = 1;
+        return this;
+    }
+    setValues(x, y, z, w) {
+        this[0] = x;
+        this[1] = y;
+        this[2] = z;
+        this[3] = w;
+        return this;
+    }
+    copy(src) {
+        this[0] = src[0];
+        this[1] = src[1];
+        this[2] = src[2];
+        this[3] = src[3];
+        return this;
+    }
+    clone() {
+        return new _Quat(this[0], this[1], this[2], this[3]);
+    }
+    dot(b) {
+        return this[0] * b[0] + this[1] * b[1] + this[2] * b[2] + this[3] * b[3];
+    }
+    mul(b, out = this) {
+        const ax = this[0], ay = this[1], az = this[2], aw = this[3];
+        const bx = b[0], by = b[1], bz = b[2], bw = b[3];
+        out[0] = aw * bx + ax * bw + ay * bz - az * by;
+        out[1] = aw * by - ax * bz + ay * bw + az * bx;
+        out[2] = aw * bz + ax * by - ay * bx + az * bw;
+        out[3] = aw * bw - ax * bx - ay * by - az * bz;
+        return out;
+    }
+    multiply(b, out = this) {
+        return this.mul(b, out);
+    }
+    premul(a, out = this) {
+        const ax = a[0], ay = a[1], az = a[2], aw = a[3];
+        const bx = this[0], by = this[1], bz = this[2], bw = this[3];
+        out[0] = aw * bx + ax * bw + ay * bz - az * by;
+        out[1] = aw * by - ax * bz + ay * bw + az * bx;
+        out[2] = aw * bz + ax * by - ay * bx + az * bw;
+        out[3] = aw * bw - ax * bx - ay * by - az * bz;
+        return out;
+    }
+    len() {
+        const x = this[0], y = this[1], z = this[2], w = this[3];
+        return Math.sqrt(x * x + y * y + z * z + w * w);
+    }
+    lenSq() {
+        const x = this[0], y = this[1], z = this[2], w = this[3];
+        return x * x + y * y + z * z + w * w;
+    }
+    magnitude() {
+        return this.len();
+    }
+    magnitudeSq() {
+        return this.lenSq();
+    }
+    normalize(out = this) {
+        const x = this[0], y = this[1], z = this[2], w = this[3];
+        const lenSq = x * x + y * y + z * z + w * w;
+        if (lenSq > EPSILON * EPSILON) {
+            const invLen = 1.0 / Math.sqrt(lenSq);
+            out[0] = x * invLen;
+            out[1] = y * invLen;
+            out[2] = z * invLen;
+            out[3] = w * invLen;
+        }
+        else {
+            out[0] = 0;
+            out[1] = 0;
+            out[2] = 0;
+            out[3] = 1;
+        }
+        return out;
+    }
+    norm(out = this) {
+        return this.normalize(out);
+    }
+    conjugate(out = this) {
+        out[0] = -this[0];
+        out[1] = -this[1];
+        out[2] = -this[2];
+        out[3] = this[3];
+        return out;
+    }
+    invert(out = this) {
+        const x = this[0], y = this[1], z = this[2], w = this[3];
+        const dot = x * x + y * y + z * z + w * w;
+        const inv = dot > EPSILON ? 1.0 / dot : 0;
+        out[0] = -x * inv;
+        out[1] = -y * inv;
+        out[2] = -z * inv;
+        out[3] = w * inv;
+        return out;
+    }
+    slerp(b, t, out = this) {
+        let dot = this[0] * b[0] + this[1] * b[1] + this[2] * b[2] + this[3] * b[3];
+        let bx = b[0], by = b[1], bz = b[2], bw = b[3];
+        if (dot < 0) {
+            dot = -dot;
+            bx = -bx;
+            by = -by;
+            bz = -bz;
+            bw = -bw;
+        }
+        let scale0;
+        let scale1;
+        if (dot > 1.0 - EPSILON) {
+            scale0 = 1.0 - t;
+            scale1 = t;
+        }
+        else {
+            const theta = Math.acos(dot);
+            const sinTheta = Math.sin(theta);
+            scale0 = Math.sin((1.0 - t) * theta) / sinTheta;
+            scale1 = Math.sin(t * theta) / sinTheta;
+        }
+        out[0] = scale0 * this[0] + scale1 * bx;
+        out[1] = scale0 * this[1] + scale1 * by;
+        out[2] = scale0 * this[2] + scale1 * bz;
+        out[3] = scale0 * this[3] + scale1 * bw;
+        return out;
+    }
+    fromAxisAngle(axis, rad) {
+        const half = rad * 0.5;
+        const s = Math.sin(half);
+        this[0] = axis[0] * s;
+        this[1] = axis[1] * s;
+        this[2] = axis[2] * s;
+        this[3] = Math.cos(half);
+        return this;
+    }
+    fromEuler(x, y, z) {
+        const hx = x * 0.5, hy = y * 0.5, hz = z * 0.5;
+        const cx = Math.cos(hx), sx = Math.sin(hx);
+        const cy = Math.cos(hy), sy = Math.sin(hy);
+        const cz = Math.cos(hz), sz = Math.sin(hz);
+        this[0] = sx * cy * cz - cx * sy * sz;
+        this[1] = cx * sy * cz + sx * cy * sz;
+        this[2] = cx * cy * sz - sx * sy * cz;
+        this[3] = cx * cy * cz + sx * sy * sz;
+        return this;
+    }
+    toEulerYPR(out) {
+        out ??= new Vec3();
+        const x = this[0], y = this[1], z = this[2], w = this[3];
+        const sx = 2 * (w * x - y * z);
+        const clamped = Math.max(-1, Math.min(1, sx));
+        const pitch = Math.asin(clamped);
+        const yaw = Math.atan2(2 * (w * y + x * z), 1 - 2 * (x * x + y * y));
+        const roll = Math.atan2(2 * (w * z + x * y), 1 - 2 * (x * x + z * z));
+        out[0] = yaw * RAD2DEG;
+        out[1] = pitch * RAD2DEG;
+        out[2] = roll * RAD2DEG;
+        return out;
+    }
+    transformVec3(v, out) {
+        out ??= new Vec3();
+        const vx = v[0], vy = v[1], vz = v[2];
+        const qx = this[0], qy = this[1], qz = this[2], qw = this[3];
+        const tx = 2 * (qy * vz - qz * vy);
+        const ty = 2 * (qz * vx - qx * vz);
+        const tz = 2 * (qx * vy - qy * vx);
+        out[0] = vx + qw * tx + qy * tz - qz * ty;
+        out[1] = vy + qw * ty + qz * tx - qx * tz;
+        out[2] = vz + qw * tz + qx * ty - qy * tx;
+        return out;
+    }
+    rotateX(rad, out = this) {
+        const half = rad * 0.5;
+        const bx = Math.sin(half), bw = Math.cos(half);
+        const ax = this[0], ay = this[1], az = this[2], aw = this[3];
+        out[0] = ax * bw + aw * bx;
+        out[1] = ay * bw + az * bx;
+        out[2] = az * bw - ay * bx;
+        out[3] = aw * bw - ax * bx;
+        return out;
+    }
+    rotateY(rad, out = this) {
+        const half = rad * 0.5;
+        const by = Math.sin(half), bw = Math.cos(half);
+        const ax = this[0], ay = this[1], az = this[2], aw = this[3];
+        out[0] = ax * bw - az * by;
+        out[1] = ay * bw + aw * by;
+        out[2] = az * bw + ax * by;
+        out[3] = aw * bw - ay * by;
+        return out;
+    }
+    rotateZ(rad, out = this) {
+        const half = rad * 0.5;
+        const bz = Math.sin(half), bw = Math.cos(half);
+        const ax = this[0], ay = this[1], az = this[2], aw = this[3];
+        out[0] = ax * bw + ay * bz;
+        out[1] = ay * bw - ax * bz;
+        out[2] = az * bw + aw * bz;
+        out[3] = aw * bw - az * bz;
+        return out;
+    }
+    equals(b, epsilon = EPSILON) {
+        return (Math.abs(this[0] - b[0]) <= epsilon &&
+            Math.abs(this[1] - b[1]) <= epsilon &&
+            Math.abs(this[2] - b[2]) <= epsilon &&
+            Math.abs(this[3] - b[3]) <= epsilon);
+    }
+    exactEquals(b) {
+        return (this[0] === b[0] &&
+            this[1] === b[1] &&
+            this[2] === b[2] &&
+            this[3] === b[3]);
+    }
+    // Static procedural API
+    static set(x, y, z, w, out) {
+        out ??= new _Quat();
+        out[0] = x;
+        out[1] = y;
+        out[2] = z;
+        out[3] = w;
+        return out;
+    }
+    static copy(a, out) {
+        out ??= new _Quat();
+        out[0] = a[0];
+        out[1] = a[1];
+        out[2] = a[2];
+        out[3] = a[3];
+        return out;
+    }
+    static clone(a) {
+        return new _Quat(a[0], a[1], a[2], a[3]);
+    }
+    static dot(a, b) {
+        return a[0] * b[0] + a[1] * b[1] + a[2] * b[2] + a[3] * b[3];
+    }
+    static mul(a, b, out) {
+        out ??= new _Quat();
+        const ax = a[0], ay = a[1], az = a[2], aw = a[3];
+        const bx = b[0], by = b[1], bz = b[2], bw = b[3];
+        out[0] = aw * bx + ax * bw + ay * bz - az * by;
+        out[1] = aw * by - ax * bz + ay * bw + az * bx;
+        out[2] = aw * bz + ax * by - ay * bx + az * bw;
+        out[3] = aw * bw - ax * bx - ay * by - az * bz;
+        return out;
+    }
+    static length(a) {
+        const x = a[0], y = a[1], z = a[2], w = a[3];
+        return Math.sqrt(x * x + y * y + z * z + w * w);
+    }
+    static len(a) {
+        return _Quat.length(a);
+    }
+    static lengthSq(a) {
+        const x = a[0], y = a[1], z = a[2], w = a[3];
+        return x * x + y * y + z * z + w * w;
+    }
+    static lenSq(a) {
+        return _Quat.lengthSq(a);
+    }
+    static normalize(a, out) {
+        out ??= new _Quat();
+        const x = a[0], y = a[1], z = a[2], w = a[3];
+        const lenSq = x * x + y * y + z * z + w * w;
+        if (lenSq > EPSILON * EPSILON) {
+            const invLen = 1.0 / Math.sqrt(lenSq);
+            out[0] = x * invLen;
+            out[1] = y * invLen;
+            out[2] = z * invLen;
+            out[3] = w * invLen;
+        }
+        else {
+            out[0] = 0;
+            out[1] = 0;
+            out[2] = 0;
+            out[3] = 1;
+        }
+        return out;
+    }
+    static norm(a, out) {
+        return _Quat.normalize(a, out);
+    }
+    static conjugate(a, out) {
+        out ??= new _Quat();
+        out[0] = -a[0];
+        out[1] = -a[1];
+        out[2] = -a[2];
+        out[3] = a[3];
+        return out;
+    }
+    static invert(a, out) {
+        out ??= new _Quat();
+        const dot = a[0] * a[0] + a[1] * a[1] + a[2] * a[2] + a[3] * a[3];
+        const inv = dot > EPSILON ? 1.0 / dot : 0;
+        out[0] = -a[0] * inv;
+        out[1] = -a[1] * inv;
+        out[2] = -a[2] * inv;
+        out[3] = a[3] * inv;
+        return out;
+    }
+    static slerp(a, b, t, out) {
+        out ??= new _Quat();
+        let dot = a[0] * b[0] + a[1] * b[1] + a[2] * b[2] + a[3] * b[3];
+        let bx = b[0], by = b[1], bz = b[2], bw = b[3];
+        if (dot < 0) {
+            dot = -dot;
+            bx = -bx;
+            by = -by;
+            bz = -bz;
+            bw = -bw;
+        }
+        let scale0;
+        let scale1;
+        if (dot > 1.0 - EPSILON) {
+            scale0 = 1.0 - t;
+            scale1 = t;
+        }
+        else {
+            const theta = Math.acos(dot);
+            const sinTheta = Math.sin(theta);
+            scale0 = Math.sin((1.0 - t) * theta) / sinTheta;
+            scale1 = Math.sin(t * theta) / sinTheta;
+        }
+        out[0] = scale0 * a[0] + scale1 * bx;
+        out[1] = scale0 * a[1] + scale1 * by;
+        out[2] = scale0 * a[2] + scale1 * bz;
+        out[3] = scale0 * a[3] + scale1 * bw;
+        return out;
+    }
+    static fromAxisAngle(axis, rad, out) {
+        out ??= new _Quat();
+        const half = rad * 0.5;
+        const s = Math.sin(half);
+        out[0] = axis[0] * s;
+        out[1] = axis[1] * s;
+        out[2] = axis[2] * s;
+        out[3] = Math.cos(half);
+        return out;
+    }
+    static fromEuler(x, y, z, out) {
+        out ??= new _Quat();
+        const hx = x * 0.5, hy = y * 0.5, hz = z * 0.5;
+        const cx = Math.cos(hx), sx = Math.sin(hx);
+        const cy = Math.cos(hy), sy = Math.sin(hy);
+        const cz = Math.cos(hz), sz = Math.sin(hz);
+        out[0] = sx * cy * cz - cx * sy * sz;
+        out[1] = cx * sy * cz + sx * cy * sz;
+        out[2] = cx * cy * sz - sx * sy * cz;
+        out[3] = cx * cy * cz + sx * sy * sz;
+        return out;
+    }
+    static fromMat4(m, out) {
+        out ??= new _Quat();
+        const m00 = m[0], m10 = m[1], m20 = m[2];
+        const m01 = m[4], m11 = m[5], m21 = m[6];
+        const m02 = m[8], m12 = m[9], m22 = m[10];
+        const trace = m00 + m11 + m22;
+        let s;
+        if (trace > 0) {
+            s = 0.5 / Math.sqrt(trace + 1.0);
+            out[3] = 0.25 / s;
+            out[0] = (m21 - m12) * s;
+            out[1] = (m02 - m20) * s;
+            out[2] = (m10 - m01) * s;
+        }
+        else if (m00 > m11 && m00 > m22) {
+            s = 2.0 * Math.sqrt(1.0 + m00 - m11 - m22);
+            out[3] = (m21 - m12) / s;
+            out[0] = 0.25 * s;
+            out[1] = (m01 + m10) / s;
+            out[2] = (m02 + m20) / s;
+        }
+        else if (m11 > m22) {
+            s = 2.0 * Math.sqrt(1.0 + m11 - m00 - m22);
+            out[3] = (m02 - m20) / s;
+            out[0] = (m01 + m10) / s;
+            out[1] = 0.25 * s;
+            out[2] = (m12 + m21) / s;
+        }
+        else {
+            s = 2.0 * Math.sqrt(1.0 + m22 - m00 - m11);
+            out[3] = (m10 - m01) / s;
+            out[0] = (m02 + m20) / s;
+            out[1] = (m12 + m21) / s;
+            out[2] = 0.25 * s;
+        }
+        return out;
+    }
+    static fromM4(m, out) {
+        return _Quat.fromMat4(m, out);
+    }
+    static toEulerYPR(q, out) {
+        out ??= new Vec3();
+        const x = q[0], y = q[1], z = q[2], w = q[3];
+        const sx = 2 * (w * x - y * z);
+        const clamped = Math.max(-1, Math.min(1, sx));
+        const pitch = Math.asin(clamped);
+        const yaw = Math.atan2(2 * (w * y + x * z), 1 - 2 * (x * x + y * y));
+        const roll = Math.atan2(2 * (w * z + x * y), 1 - 2 * (x * x + z * z));
+        out[0] = yaw * RAD2DEG;
+        out[1] = pitch * RAD2DEG;
+        out[2] = roll * RAD2DEG;
+        return out;
+    }
+    static transformV3(q, v, out) {
+        out ??= new Vec3();
+        const vx = v[0], vy = v[1], vz = v[2];
+        const qx = q[0], qy = q[1], qz = q[2], qw = q[3];
+        const tx = 2 * (qy * vz - qz * vy);
+        const ty = 2 * (qz * vx - qx * vz);
+        const tz = 2 * (qx * vy - qy * vx);
+        out[0] = vx + qw * tx + qy * tz - qz * ty;
+        out[1] = vy + qw * ty + qz * tx - qx * tz;
+        out[2] = vz + qw * tz + qx * ty - qy * tx;
+        return out;
+    }
+    static equals(a, b, epsilon = EPSILON) {
+        return (Math.abs(a[0] - b[0]) <= epsilon &&
+            Math.abs(a[1] - b[1]) <= epsilon &&
+            Math.abs(a[2] - b[2]) <= epsilon &&
+            Math.abs(a[3] - b[3]) <= epsilon);
+    }
+    static exactEquals(a, b) {
+        return (a[0] === b[0] &&
+            a[1] === b[1] &&
+            a[2] === b[2] &&
+            a[3] === b[3]);
+    }
+    /**
+     * Bulk transform an array of 3D vectors by a rotation quaternion.
+     */
+    static transformVectors(q, src, dst, count, srcStride = 3, dstStride = 3) {
+        const qx = q[0], qy = q[1], qz = q[2], qw = q[3];
+        let sIdx = 0;
+        let dIdx = 0;
+        for (let i = 0; i < count; i++) {
+            const vx = src[sIdx];
+            const vy = src[sIdx + 1];
+            const vz = src[sIdx + 2];
+            const tx = 2 * (qy * vz - qz * vy);
+            const ty = 2 * (qz * vx - qx * vz);
+            const tz = 2 * (qx * vy - qy * vx);
+            dst[dIdx] = vx + qw * tx + qy * tz - qz * ty;
+            dst[dIdx + 1] = vy + qw * ty + qz * tx - qx * tz;
+            dst[dIdx + 2] = vz + qw * tz + qx * ty - qy * tx;
+            sIdx += srcStride;
+            dIdx += dstStride;
+        }
+    }
+}
+const _QuatWrapper = function (a, b, c, d) {
+    return new _Quat(a, b, c, d);
+};
+Object.setPrototypeOf(_QuatWrapper, _Quat);
+_QuatWrapper.prototype = _Quat.prototype;
+export const Quat = _QuatWrapper;
+//# sourceMappingURL=quat.js.map

package/dist/alm/quat.js.map

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