@aura3d/physics 1.3.2 → 1.3.3
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.
- package/dist/Constraint.d.ts.map +1 -1
- package/dist/Constraint.js +3 -3
- package/dist/Constraint.js.map +1 -1
- package/dist/Shape.d.ts +1 -0
- package/dist/Shape.d.ts.map +1 -1
- package/dist/Shape.js +12 -0
- package/dist/Shape.js.map +1 -1
- package/package.json +1 -1
- package/src/Constraint.ts +3 -3
- package/src/Shape.ts +14 -1
package/dist/Constraint.d.ts.map
CHANGED
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@@ -1 +1 @@
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1
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-
{"version":3,"file":"Constraint.d.ts","sourceRoot":"","sources":["../../../../packages/physics/src/Constraint.ts"],"names":[],"mappings":"AAAA,OAAO,
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1
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+
{"version":3,"file":"Constraint.d.ts","sourceRoot":"","sources":["../../../../packages/physics/src/Constraint.ts"],"names":[],"mappings":"AAAA,OAAO,EAA6F,KAAK,IAAI,EAAE,MAAM,YAAY,CAAC;AAClI,OAAO,KAAK,EAAE,SAAS,EAAE,MAAM,gBAAgB,CAAC;AAEhD,MAAM,MAAM,cAAc,GAAG,OAAO,GAAG,OAAO,GAAG,QAAQ,GAAG,QAAQ,CAAC;AAErE,MAAM,MAAM,oBAAoB,GAAG;IACjC,QAAQ,CAAC,IAAI,EAAE,cAAc,CAAC;IAC9B,QAAQ,CAAC,KAAK,EAAE,SAAS,CAAC;IAC1B,QAAQ,CAAC,KAAK,EAAE,SAAS,CAAC;IAC1B,QAAQ,CAAC,YAAY,CAAC,EAAE,IAAI,CAAC;IAC7B,QAAQ,CAAC,YAAY,CAAC,EAAE,IAAI,CAAC;IAC7B,QAAQ,CAAC,UAAU,CAAC,EAAE,MAAM,CAAC;IAC7B,QAAQ,CAAC,SAAS,CAAC,EAAE,MAAM,CAAC;IAC5B,QAAQ,CAAC,IAAI,CAAC,EAAE,IAAI,CAAC;CACtB,CAAC;AAEF,qBAAa,UAAU;IACrB,QAAQ,CAAC,IAAI,EAAE,cAAc,CAAC;IAC9B,QAAQ,CAAC,KAAK,EAAE,SAAS,CAAC;IAC1B,QAAQ,CAAC,KAAK,EAAE,SAAS,CAAC;IAC1B,QAAQ,CAAC,YAAY,EAAE,IAAI,CAAC;IAC5B,QAAQ,CAAC,YAAY,EAAE,IAAI,CAAC;IAC5B,QAAQ,CAAC,UAAU,EAAE,IAAI,CAAC;IAC1B,QAAQ,CAAC,UAAU,EAAE,MAAM,CAAC;IAC5B,QAAQ,CAAC,SAAS,EAAE,MAAM,CAAC;IAC3B,QAAQ,CAAC,IAAI,EAAE,IAAI,CAAC;gBAER,UAAU,EAAE,oBAAoB;IAyB5C,KAAK,IAAI,IAAI;IAgCb,OAAO,CAAC,YAAY;IAIpB,OAAO,CAAC,YAAY;IAIpB,OAAO,CAAC,UAAU;IAclB,OAAO,CAAC,kBAAkB;CAa3B"}
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package/dist/Constraint.js
CHANGED
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@@ -1,4 +1,4 @@
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1
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-
import { addVec3, dotVec3, normalizeVec3, scaleVec3, subVec3, validateFiniteVec3 } from "./Shape.js";
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import { addVec3, dotVec3, normalizeVec3, rotateVec3ByQuat, scaleVec3, subVec3, validateFiniteVec3 } from "./Shape.js";
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export class Constraint {
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type;
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bodyA;
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@@ -68,10 +68,10 @@ export class Constraint {
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}
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}
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anchorAWorld() {
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-
return addVec3(this.bodyA.position, this.localAnchorA);
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return addVec3(this.bodyA.position, rotateVec3ByQuat(this.localAnchorA, this.bodyA.rotation));
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}
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anchorBWorld() {
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return addVec3(this.bodyB.position, this.localAnchorB);
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return addVec3(this.bodyB.position, rotateVec3ByQuat(this.localAnchorB, this.bodyB.rotation));
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}
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applyError(error) {
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const inverseMassSum = this.bodyA.inverseMass + this.bodyB.inverseMass;
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package/dist/Constraint.js.map
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@@ -1 +1 @@
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1
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-
{"version":3,"file":"Constraint.js","sourceRoot":"","sources":["../../../../packages/physics/src/Constraint.ts"],"names":[],"mappings":"AAAA,OAAO,EAAE,OAAO,EAAE,OAAO,EAAE,aAAa,EAAE,SAAS,EAAE,OAAO,EAAE,kBAAkB,EAAa,MAAM,YAAY,CAAC;
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1
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{"version":3,"file":"Constraint.js","sourceRoot":"","sources":["../../../../packages/physics/src/Constraint.ts"],"names":[],"mappings":"AAAA,OAAO,EAAE,OAAO,EAAE,OAAO,EAAE,aAAa,EAAE,gBAAgB,EAAE,SAAS,EAAE,OAAO,EAAE,kBAAkB,EAAa,MAAM,YAAY,CAAC;AAgBlI,MAAM,OAAO,UAAU;IACZ,IAAI,CAAiB;IACrB,KAAK,CAAY;IACjB,KAAK,CAAY;IACjB,YAAY,CAAO;IACnB,YAAY,CAAO;IACnB,UAAU,CAAO;IACjB,UAAU,CAAS;IACnB,SAAS,CAAS;IAClB,IAAI,CAAO;IAEpB,YAAY,UAAgC;QAC1C,IAAI,UAAU,CAAC,KAAK,CAAC,EAAE,KAAK,UAAU,CAAC,KAAK,CAAC,EAAE,EAAE,CAAC;YAChD,MAAM,IAAI,KAAK,CAAC,2CAA2C,CAAC,CAAC;QAC/D,CAAC;QACD,IAAI,CAAC,YAAY,GAAG,UAAU,CAAC,YAAY,IAAI,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;QACzD,IAAI,CAAC,YAAY,GAAG,UAAU,CAAC,YAAY,IAAI,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;QACzD,kBAAkB,CAAC,IAAI,CAAC,YAAY,EAAE,yBAAyB,CAAC,CAAC;QACjE,kBAAkB,CAAC,IAAI,CAAC,YAAY,EAAE,yBAAyB,CAAC,CAAC;QACjE,IAAI,CAAC,IAAI,GAAG,aAAa,CAAC,UAAU,CAAC,IAAI,IAAI,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC;QACxD,IAAI,CAAC,IAAI,GAAG,UAAU,CAAC,IAAI,CAAC;QAC5B,IAAI,CAAC,KAAK,GAAG,UAAU,CAAC,KAAK,CAAC;QAC9B,IAAI,CAAC,KAAK,GAAG,UAAU,CAAC,KAAK,CAAC;QAC9B,MAAM,OAAO,GAAG,IAAI,CAAC,YAAY,EAAE,CAAC;QACpC,MAAM,OAAO,GAAG,IAAI,CAAC,YAAY,EAAE,CAAC;QACpC,IAAI,CAAC,UAAU,GAAG,OAAO,CAAC,OAAO,EAAE,OAAO,CAAC,CAAC;QAC5C,IAAI,CAAC,UAAU,GAAG,UAAU,CAAC,UAAU,IAAI,IAAI,CAAC,KAAK,CAAC,IAAI,CAAC,UAAU,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,UAAU,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,UAAU,CAAC,CAAC,CAAC,CAAC,CAAC;QAClH,IAAI,CAAC,SAAS,GAAG,UAAU,CAAC,SAAS,IAAI,CAAC,CAAC;QAC3C,IAAI,CAAC,MAAM,CAAC,QAAQ,CAAC,IAAI,CAAC,UAAU,CAAC,IAAI,IAAI,CAAC,UAAU,GAAG,CAAC,EAAE,CAAC;YAC7D,MAAM,IAAI,KAAK,CAAC,wDAAwD,CAAC,CAAC;QAC5E,CAAC;QACD,IAAI,CAAC,MAAM,CAAC,QAAQ,CAAC,IAAI,CAAC,SAAS,CAAC,IAAI,IAAI,CAAC,SAAS,GAAG,CAAC,IAAI,IAAI,CAAC,SAAS,GAAG,CAAC,EAAE,CAAC;YACjF,MAAM,IAAI,KAAK,CAAC,mDAAmD,CAAC,CAAC;QACvE,CAAC;IACH,CAAC;IAED,KAAK;QACH,IAAI,IAAI,CAAC,SAAS,KAAK,CAAC,EAAE,CAAC;YACzB,OAAO;QACT,CAAC;QACD,IAAI,IAAI,CAAC,IAAI,KAAK,OAAO,EAAE,CAAC;YAC1B,MAAM,aAAa,GAAG,OAAO,CAAC,IAAI,CAAC,YAAY,EAAE,EAAE,IAAI,CAAC,YAAY,EAAE,CAAC,CAAC;YACxE,IAAI,CAAC,UAAU,CAAC,OAAO,CAAC,aAAa,EAAE,IAAI,CAAC,UAAU,CAAC,CAAC,CAAC;YACzD,IAAI,CAAC,kBAAkB,CAAC,OAAO,CAAC,IAAI,CAAC,KAAK,CAAC,QAAQ,EAAE,IAAI,CAAC,KAAK,CAAC,QAAQ,CAAC,CAAC,CAAC;QAC7E,CAAC;aAAM,IAAI,IAAI,CAAC,IAAI,KAAK,OAAO,EAAE,CAAC;YACjC,IAAI,CAAC,UAAU,CAAC,OAAO,CAAC,IAAI,CAAC,YAAY,EAAE,EAAE,IAAI,CAAC,YAAY,EAAE,CAAC,CAAC,CAAC;YACnE,IAAI,CAAC,kBAAkB,CAAC,OAAO,CAAC,IAAI,CAAC,KAAK,CAAC,QAAQ,EAAE,IAAI,CAAC,KAAK,CAAC,QAAQ,CAAC,CAAC,CAAC;QAC7E,CAAC;aAAM,IAAI,IAAI,CAAC,IAAI,KAAK,QAAQ,EAAE,CAAC;YAClC,MAAM,aAAa,GAAG,OAAO,CAAC,IAAI,CAAC,YAAY,EAAE,EAAE,IAAI,CAAC,YAAY,EAAE,CAAC,CAAC;YACxE,MAAM,SAAS,GAAG,SAAS,CAAC,IAAI,CAAC,IAAI,EAAE,OAAO,CAAC,aAAa,EAAE,IAAI,CAAC,IAAI,CAAC,CAAC,CAAC;YAC1E,IAAI,CAAC,UAAU,CAAC,OAAO,CAAC,aAAa,EAAE,SAAS,CAAC,CAAC,CAAC;YACnD,MAAM,gBAAgB,GAAG,OAAO,CAAC,IAAI,CAAC,KAAK,CAAC,QAAQ,EAAE,IAAI,CAAC,KAAK,CAAC,QAAQ,CAAC,CAAC;YAC3E,MAAM,iBAAiB,GAAG,SAAS,CAAC,IAAI,CAAC,IAAI,EAAE,OAAO,CAAC,gBAAgB,EAAE,IAAI,CAAC,IAAI,CAAC,CAAC,CAAC;YACrF,IAAI,CAAC,kBAAkB,CAAC,OAAO,CAAC,gBAAgB,EAAE,iBAAiB,CAAC,CAAC,CAAC;QACxE,CAAC;aAAM,IAAI,IAAI,CAAC,IAAI,KAAK,QAAQ,EAAE,CAAC;YAClC,MAAM,aAAa,GAAG,OAAO,CAAC,IAAI,CAAC,YAAY,EAAE,EAAE,IAAI,CAAC,YAAY,EAAE,CAAC,CAAC;YACxE,MAAM,aAAa,GAAG,IAAI,CAAC,KAAK,CAAC,aAAa,CAAC,CAAC,CAAC,EAAE,aAAa,CAAC,CAAC,CAAC,EAAE,aAAa,CAAC,CAAC,CAAC,CAAC,CAAC;YACvF,IAAI,aAAa,IAAI,IAAI,EAAE,CAAC;gBAC1B,OAAO;YACT,CAAC;YACD,MAAM,WAAW,GAAG,aAAa,GAAG,IAAI,CAAC,UAAU,CAAC;YACpD,IAAI,CAAC,UAAU,CAAC,SAAS,CAAC,aAAa,EAAE,WAAW,GAAG,aAAa,CAAC,CAAC,CAAC;YACvE,MAAM,gBAAgB,GAAG,OAAO,CAAC,IAAI,CAAC,KAAK,CAAC,QAAQ,EAAE,IAAI,CAAC,KAAK,CAAC,QAAQ,CAAC,CAAC;YAC3E,MAAM,IAAI,GAAG,SAAS,CAAC,aAAa,EAAE,CAAC,GAAG,aAAa,CAAC,CAAC;YACzD,IAAI,CAAC,kBAAkB,CAAC,SAAS,CAAC,IAAI,EAAE,OAAO,CAAC,gBAAgB,EAAE,IAAI,CAAC,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,EAAE,IAAI,CAAC,SAAS,CAAC,CAAC,CAAC,CAAC;QAC1G,CAAC;IACH,CAAC;IAEO,YAAY;QAClB,OAAO,OAAO,CAAC,IAAI,CAAC,KAAK,CAAC,QAAQ,EAAE,gBAAgB,CAAC,IAAI,CAAC,YAAY,EAAE,IAAI,CAAC,KAAK,CAAC,QAAQ,CAAC,CAAC,CAAC;IAChG,CAAC;IAEO,YAAY;QAClB,OAAO,OAAO,CAAC,IAAI,CAAC,KAAK,CAAC,QAAQ,EAAE,gBAAgB,CAAC,IAAI,CAAC,YAAY,EAAE,IAAI,CAAC,KAAK,CAAC,QAAQ,CAAC,CAAC,CAAC;IAChG,CAAC;IAEO,UAAU,CAAC,KAAW;QAC5B,MAAM,cAAc,GAAG,IAAI,CAAC,KAAK,CAAC,WAAW,GAAG,IAAI,CAAC,KAAK,CAAC,WAAW,CAAC;QACvE,IAAI,cAAc,IAAI,CAAC,EAAE,CAAC;YACxB,OAAO;QACT,CAAC;QACD,MAAM,aAAa,GAAG,SAAS,CAAC,KAAK,EAAE,IAAI,CAAC,SAAS,CAAC,CAAC;QACvD,IAAI,IAAI,CAAC,KAAK,CAAC,WAAW,GAAG,CAAC,EAAE,CAAC;YAC/B,IAAI,CAAC,KAAK,CAAC,WAAW,CAAC,OAAO,CAAC,IAAI,CAAC,KAAK,CAAC,QAAQ,EAAE,SAAS,CAAC,aAAa,EAAE,IAAI,CAAC,KAAK,CAAC,WAAW,GAAG,cAAc,CAAC,CAAC,CAAC,CAAC;QAC1H,CAAC;QACD,IAAI,IAAI,CAAC,KAAK,CAAC,WAAW,GAAG,CAAC,EAAE,CAAC;YAC/B,IAAI,CAAC,KAAK,CAAC,WAAW,CAAC,OAAO,CAAC,IAAI,CAAC,KAAK,CAAC,QAAQ,EAAE,SAAS,CAAC,aAAa,EAAE,IAAI,CAAC,KAAK,CAAC,WAAW,GAAG,cAAc,CAAC,CAAC,CAAC,CAAC;QAC1H,CAAC;IACH,CAAC;IAEO,kBAAkB,CAAC,aAAmB;QAC5C,MAAM,cAAc,GAAG,IAAI,CAAC,KAAK,CAAC,WAAW,GAAG,IAAI,CAAC,KAAK,CAAC,WAAW,CAAC;QACvE,IAAI,cAAc,IAAI,CAAC,EAAE,CAAC;YACxB,OAAO;QACT,CAAC;QACD,MAAM,iBAAiB,GAAG,SAAS,CAAC,aAAa,EAAE,CAAC,IAAI,CAAC,SAAS,GAAG,cAAc,CAAC,CAAC;QACrF,IAAI,IAAI,CAAC,KAAK,CAAC,WAAW,GAAG,CAAC,EAAE,CAAC;YAC/B,IAAI,CAAC,KAAK,CAAC,YAAY,CAAC,SAAS,CAAC,iBAAiB,EAAE,CAAC,CAAC,CAAC,CAAC,CAAC;QAC5D,CAAC;QACD,IAAI,IAAI,CAAC,KAAK,CAAC,WAAW,GAAG,CAAC,EAAE,CAAC;YAC/B,IAAI,CAAC,KAAK,CAAC,YAAY,CAAC,iBAAiB,CAAC,CAAC;QAC7C,CAAC;IACH,CAAC;CACF"}
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package/dist/Shape.d.ts
CHANGED
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@@ -47,4 +47,5 @@ export declare class Shape {
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static mesh(vertices: readonly Vec3[], indices: readonly number[]): MeshShape;
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static bounds(shape: PhysicsShape, position: Vec3): Bounds;
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}
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export declare function rotateVec3ByQuat(v: Vec3, q: readonly [number, number, number, number]): [number, number, number];
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//# sourceMappingURL=Shape.d.ts.map
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package/dist/Shape.d.ts.map
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{"version":3,"file":"Shape.d.ts","sourceRoot":"","sources":["../../../../packages/physics/src/Shape.ts"],"names":[],"mappings":"AAAA,MAAM,MAAM,IAAI,GAAG,SAAS,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAC;AAErD,MAAM,MAAM,QAAQ,GAAG;IACrB,QAAQ,CAAC,IAAI,EAAE,KAAK,CAAC;IACrB,QAAQ,CAAC,WAAW,EAAE,IAAI,CAAC;CAC5B,CAAC;AAEF,MAAM,MAAM,WAAW,GAAG;IACxB,QAAQ,CAAC,IAAI,EAAE,QAAQ,CAAC;IACxB,QAAQ,CAAC,MAAM,EAAE,MAAM,CAAC;CACzB,CAAC;AAEF,MAAM,MAAM,YAAY,GAAG;IACzB,QAAQ,CAAC,IAAI,EAAE,SAAS,CAAC;IACzB,QAAQ,CAAC,MAAM,EAAE,MAAM,CAAC;IACxB,QAAQ,CAAC,UAAU,EAAE,MAAM,CAAC;CAC7B,CAAC;AAEF,MAAM,MAAM,UAAU,GAAG;IACvB,QAAQ,CAAC,IAAI,EAAE,OAAO,CAAC;IACvB,QAAQ,CAAC,MAAM,EAAE,IAAI,CAAC;IACtB,QAAQ,CAAC,QAAQ,EAAE,MAAM,CAAC;CAC3B,CAAC;AAEF,MAAM,MAAM,SAAS,GAAG;IACtB,QAAQ,CAAC,IAAI,EAAE,MAAM,CAAC;IACtB,QAAQ,CAAC,QAAQ,EAAE,SAAS,IAAI,EAAE,CAAC;IACnC,QAAQ,CAAC,OAAO,EAAE,SAAS,MAAM,EAAE,CAAC;CACrC,CAAC;AAEF,MAAM,MAAM,YAAY,GAAG,QAAQ,GAAG,WAAW,GAAG,YAAY,GAAG,UAAU,GAAG,SAAS,CAAC;AAE1F,MAAM,MAAM,MAAM,GAAG;IACnB,QAAQ,CAAC,GAAG,EAAE,IAAI,CAAC;IACnB,QAAQ,CAAC,GAAG,EAAE,IAAI,CAAC;CACpB,CAAC;AAEF,eAAO,MAAM,OAAO,OAAO,CAAC;AAE5B,wBAAgB,IAAI,CAAC,CAAC,SAAI,EAAE,CAAC,SAAI,EAAE,CAAC,SAAI,GAAG,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAElE;AAED,wBAAgB,SAAS,CAAC,KAAK,EAAE,IAAI,GAAG,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAE/D;AAED,wBAAgB,OAAO,CAAC,CAAC,EAAE,IAAI,EAAE,CAAC,EAAE,IAAI,GAAG,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAElE;AAED,wBAAgB,OAAO,CAAC,CAAC,EAAE,IAAI,EAAE,CAAC,EAAE,IAAI,GAAG,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAElE;AAED,wBAAgB,SAAS,CAAC,KAAK,EAAE,IAAI,EAAE,MAAM,EAAE,MAAM,GAAG,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAE/E;AAED,wBAAgB,OAAO,CAAC,CAAC,EAAE,IAAI,EAAE,CAAC,EAAE,IAAI,GAAG,MAAM,CAEhD;AAED,wBAAgB,UAAU,CAAC,KAAK,EAAE,IAAI,GAAG,MAAM,CAE9C;AAED,wBAAgB,aAAa,CAAC,KAAK,EAAE,IAAI,GAAG,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAMnE;AAED,wBAAgB,OAAO,CAAC,CAAC,EAAE,IAAI,EAAE,CAAC,EAAE,IAAI,GAAG,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAElE;AAED,wBAAgB,OAAO,CAAC,CAAC,EAAE,IAAI,EAAE,CAAC,EAAE,IAAI,GAAG,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAElE;AAED,wBAAgB,kBAAkB,CAAC,KAAK,EAAE,IAAI,EAAE,IAAI,EAAE,MAAM,GAAG,IAAI,CAIlE;AAQD,qBAAa,KAAK;IAChB,MAAM,CAAC,GAAG,CAAC,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,GAAG,QAAQ;IAOrD,MAAM,CAAC,MAAM,CAAC,MAAM,EAAE,MAAM,GAAG,WAAW;IAK1C,MAAM,CAAC,OAAO,CAAC,MAAM,EAAE,MAAM,EAAE,UAAU,EAAE,MAAM,GAAG,YAAY;IAMhE,MAAM,CAAC,KAAK,CAAC,MAAM,GAAE,IAAgB,EAAE,QAAQ,SAAI,GAAG,UAAU;IAQhE,MAAM,CAAC,IAAI,CAAC,QAAQ,EAAE,SAAS,IAAI,EAAE,EAAE,OAAO,EAAE,SAAS,MAAM,EAAE,GAAG,SAAS;IAsB7E,MAAM,CAAC,MAAM,CAAC,KAAK,EAAE,YAAY,EAAE,QAAQ,EAAE,IAAI,GAAG,MAAM;CAqC3D"}
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+
{"version":3,"file":"Shape.d.ts","sourceRoot":"","sources":["../../../../packages/physics/src/Shape.ts"],"names":[],"mappings":"AAAA,MAAM,MAAM,IAAI,GAAG,SAAS,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAC;AAErD,MAAM,MAAM,QAAQ,GAAG;IACrB,QAAQ,CAAC,IAAI,EAAE,KAAK,CAAC;IACrB,QAAQ,CAAC,WAAW,EAAE,IAAI,CAAC;CAC5B,CAAC;AAEF,MAAM,MAAM,WAAW,GAAG;IACxB,QAAQ,CAAC,IAAI,EAAE,QAAQ,CAAC;IACxB,QAAQ,CAAC,MAAM,EAAE,MAAM,CAAC;CACzB,CAAC;AAEF,MAAM,MAAM,YAAY,GAAG;IACzB,QAAQ,CAAC,IAAI,EAAE,SAAS,CAAC;IACzB,QAAQ,CAAC,MAAM,EAAE,MAAM,CAAC;IACxB,QAAQ,CAAC,UAAU,EAAE,MAAM,CAAC;CAC7B,CAAC;AAEF,MAAM,MAAM,UAAU,GAAG;IACvB,QAAQ,CAAC,IAAI,EAAE,OAAO,CAAC;IACvB,QAAQ,CAAC,MAAM,EAAE,IAAI,CAAC;IACtB,QAAQ,CAAC,QAAQ,EAAE,MAAM,CAAC;CAC3B,CAAC;AAEF,MAAM,MAAM,SAAS,GAAG;IACtB,QAAQ,CAAC,IAAI,EAAE,MAAM,CAAC;IACtB,QAAQ,CAAC,QAAQ,EAAE,SAAS,IAAI,EAAE,CAAC;IACnC,QAAQ,CAAC,OAAO,EAAE,SAAS,MAAM,EAAE,CAAC;CACrC,CAAC;AAEF,MAAM,MAAM,YAAY,GAAG,QAAQ,GAAG,WAAW,GAAG,YAAY,GAAG,UAAU,GAAG,SAAS,CAAC;AAE1F,MAAM,MAAM,MAAM,GAAG;IACnB,QAAQ,CAAC,GAAG,EAAE,IAAI,CAAC;IACnB,QAAQ,CAAC,GAAG,EAAE,IAAI,CAAC;CACpB,CAAC;AAEF,eAAO,MAAM,OAAO,OAAO,CAAC;AAE5B,wBAAgB,IAAI,CAAC,CAAC,SAAI,EAAE,CAAC,SAAI,EAAE,CAAC,SAAI,GAAG,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAElE;AAED,wBAAgB,SAAS,CAAC,KAAK,EAAE,IAAI,GAAG,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAE/D;AAED,wBAAgB,OAAO,CAAC,CAAC,EAAE,IAAI,EAAE,CAAC,EAAE,IAAI,GAAG,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAElE;AAED,wBAAgB,OAAO,CAAC,CAAC,EAAE,IAAI,EAAE,CAAC,EAAE,IAAI,GAAG,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAElE;AAED,wBAAgB,SAAS,CAAC,KAAK,EAAE,IAAI,EAAE,MAAM,EAAE,MAAM,GAAG,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAE/E;AAED,wBAAgB,OAAO,CAAC,CAAC,EAAE,IAAI,EAAE,CAAC,EAAE,IAAI,GAAG,MAAM,CAEhD;AAED,wBAAgB,UAAU,CAAC,KAAK,EAAE,IAAI,GAAG,MAAM,CAE9C;AAED,wBAAgB,aAAa,CAAC,KAAK,EAAE,IAAI,GAAG,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAMnE;AAED,wBAAgB,OAAO,CAAC,CAAC,EAAE,IAAI,EAAE,CAAC,EAAE,IAAI,GAAG,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAElE;AAED,wBAAgB,OAAO,CAAC,CAAC,EAAE,IAAI,EAAE,CAAC,EAAE,IAAI,GAAG,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAElE;AAED,wBAAgB,kBAAkB,CAAC,KAAK,EAAE,IAAI,EAAE,IAAI,EAAE,MAAM,GAAG,IAAI,CAIlE;AAQD,qBAAa,KAAK;IAChB,MAAM,CAAC,GAAG,CAAC,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,GAAG,QAAQ;IAOrD,MAAM,CAAC,MAAM,CAAC,MAAM,EAAE,MAAM,GAAG,WAAW;IAK1C,MAAM,CAAC,OAAO,CAAC,MAAM,EAAE,MAAM,EAAE,UAAU,EAAE,MAAM,GAAG,YAAY;IAMhE,MAAM,CAAC,KAAK,CAAC,MAAM,GAAE,IAAgB,EAAE,QAAQ,SAAI,GAAG,UAAU;IAQhE,MAAM,CAAC,IAAI,CAAC,QAAQ,EAAE,SAAS,IAAI,EAAE,EAAE,OAAO,EAAE,SAAS,MAAM,EAAE,GAAG,SAAS;IAsB7E,MAAM,CAAC,MAAM,CAAC,KAAK,EAAE,YAAY,EAAE,QAAQ,EAAE,IAAI,GAAG,MAAM;CAqC3D;AAED,wBAAgB,gBAAgB,CAAC,CAAC,EAAE,IAAI,EAAE,CAAC,EAAE,SAAS,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,GAAG,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAWhH"}
|
package/dist/Shape.js
CHANGED
|
@@ -125,4 +125,16 @@ export class Shape {
|
|
|
125
125
|
}
|
|
126
126
|
}
|
|
127
127
|
}
|
|
128
|
+
export function rotateVec3ByQuat(v, q) {
|
|
129
|
+
// q * v * q^-1 for rotating a vector by a unit quaternion
|
|
130
|
+
const x = q[0], y = q[1], z = q[2], w = q[3];
|
|
131
|
+
const tx = 2 * (y * v[2] - z * v[1]);
|
|
132
|
+
const ty = 2 * (z * v[0] - x * v[2]);
|
|
133
|
+
const tz = 2 * (x * v[1] - y * v[0]);
|
|
134
|
+
return [
|
|
135
|
+
v[0] + w * tx + (y * tz - z * ty),
|
|
136
|
+
v[1] + w * ty + (z * tx - x * tz),
|
|
137
|
+
v[2] + w * tz + (x * ty - y * tx)
|
|
138
|
+
];
|
|
139
|
+
}
|
|
128
140
|
//# sourceMappingURL=Shape.js.map
|
package/dist/Shape.js.map
CHANGED
|
@@ -1 +1 @@
|
|
|
1
|
-
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|
|
1
|
+
{"version":3,"file":"Shape.js","sourceRoot":"","sources":["../../../../packages/physics/src/Shape.ts"],"names":[],"mappings":"AAqCA,MAAM,CAAC,MAAM,OAAO,GAAG,IAAI,CAAC;AAE5B,MAAM,UAAU,IAAI,CAAC,CAAC,GAAG,CAAC,EAAE,CAAC,GAAG,CAAC,EAAE,CAAC,GAAG,CAAC;IACtC,OAAO,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;AACnB,CAAC;AAED,MAAM,UAAU,SAAS,CAAC,KAAW;IACnC,OAAO,CAAC,KAAK,CAAC,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC,CAAC,CAAC,CAAC;AACxC,CAAC;AAED,MAAM,UAAU,OAAO,CAAC,CAAO,EAAE,CAAO;IACtC,OAAO,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC;AACjD,CAAC;AAED,MAAM,UAAU,OAAO,CAAC,CAAO,EAAE,CAAO;IACtC,OAAO,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC;AACjD,CAAC;AAED,MAAM,UAAU,SAAS,CAAC,KAAW,EAAE,MAAc;IACnD,OAAO,CAAC,KAAK,CAAC,CAAC,CAAC,GAAG,MAAM,EAAE,KAAK,CAAC,CAAC,CAAC,GAAG,MAAM,EAAE,KAAK,CAAC,CAAC,CAAC,GAAG,MAAM,CAAC,CAAC;AACnE,CAAC;AAED,MAAM,UAAU,OAAO,CAAC,CAAO,EAAE,CAAO;IACtC,OAAO,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC;AACjD,CAAC;AAED,MAAM,UAAU,UAAU,CAAC,KAAW;IACpC,OAAO,IAAI,CAAC,KAAK,CAAC,KAAK,CAAC,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC,CAAC,CAAC,CAAC;AAClD,CAAC;AAED,MAAM,UAAU,aAAa,CAAC,KAAW;IACvC,MAAM,MAAM,GAAG,UAAU,CAAC,KAAK,CAAC,CAAC;IACjC,IAAI,MAAM,IAAI,OAAO,EAAE,CAAC;QACtB,MAAM,IAAI,KAAK,CAAC,wCAAwC,CAAC,CAAC;IAC5D,CAAC;IACD,OAAO,CAAC,KAAK,CAAC,CAAC,CAAC,GAAG,MAAM,EAAE,KAAK,CAAC,CAAC,CAAC,GAAG,MAAM,EAAE,KAAK,CAAC,CAAC,CAAC,GAAG,MAAM,CAAC,CAAC;AACnE,CAAC;AAED,MAAM,UAAU,OAAO,CAAC,CAAO,EAAE,CAAO;IACtC,OAAO,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC;AAC5E,CAAC;AAED,MAAM,UAAU,OAAO,CAAC,CAAO,EAAE,CAAO;IACtC,OAAO,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC;AAC5E,CAAC;AAED,MAAM,UAAU,kBAAkB,CAAC,KAAW,EAAE,IAAY;IAC1D,IAAI,KAAK,CAAC,MAAM,KAAK,CAAC,IAAI,CAAC,MAAM,CAAC,QAAQ,CAAC,KAAK,CAAC,CAAC,CAAC,CAAC,IAAI,CAAC,MAAM,CAAC,QAAQ,CAAC,KAAK,CAAC,CAAC,CAAC,CAAC,IAAI,CAAC,MAAM,CAAC,QAAQ,CAAC,KAAK,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC;QACjH,MAAM,IAAI,KAAK,CAAC,GAAG,IAAI,8BAA8B,CAAC,CAAC;IACzD,CAAC;AACH,CAAC;AAED,SAAS,gBAAgB,CAAC,KAAa,EAAE,IAAY;IACnD,IAAI,CAAC,MAAM,CAAC,QAAQ,CAAC,KAAK,CAAC,IAAI,KAAK,IAAI,CAAC,EAAE,CAAC;QAC1C,MAAM,IAAI,KAAK,CAAC,GAAG,IAAI,oCAAoC,CAAC,CAAC;IAC/D,CAAC;AACH,CAAC;AAED,MAAM,OAAO,KAAK;IAChB,MAAM,CAAC,GAAG,CAAC,CAAS,EAAE,CAAS,EAAE,CAAS;QACxC,gBAAgB,CAAC,CAAC,EAAE,mBAAmB,CAAC,CAAC;QACzC,gBAAgB,CAAC,CAAC,EAAE,mBAAmB,CAAC,CAAC;QACzC,gBAAgB,CAAC,CAAC,EAAE,mBAAmB,CAAC,CAAC;QACzC,OAAO,EAAE,IAAI,EAAE,KAAK,EAAE,WAAW,EAAE,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC;IACjD,CAAC;IAED,MAAM,CAAC,MAAM,CAAC,MAAc;QAC1B,gBAAgB,CAAC,MAAM,EAAE,eAAe,CAAC,CAAC;QAC1C,OAAO,EAAE,IAAI,EAAE,QAAQ,EAAE,MAAM,EAAE,CAAC;IACpC,CAAC;IAED,MAAM,CAAC,OAAO,CAAC,MAAc,EAAE,UAAkB;QAC/C,gBAAgB,CAAC,MAAM,EAAE,gBAAgB,CAAC,CAAC;QAC3C,gBAAgB,CAAC,UAAU,EAAE,qBAAqB,CAAC,CAAC;QACpD,OAAO,EAAE,IAAI,EAAE,SAAS,EAAE,MAAM,EAAE,UAAU,EAAE,CAAC;IACjD,CAAC;IAED,MAAM,CAAC,KAAK,CAAC,SAAe,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,EAAE,QAAQ,GAAG,CAAC;QACjD,kBAAkB,CAAC,MAAM,EAAE,cAAc,CAAC,CAAC;QAC3C,IAAI,CAAC,MAAM,CAAC,QAAQ,CAAC,QAAQ,CAAC,EAAE,CAAC;YAC/B,MAAM,IAAI,KAAK,CAAC,gCAAgC,CAAC,CAAC;QACpD,CAAC;QACD,OAAO,EAAE,IAAI,EAAE,OAAO,EAAE,MAAM,EAAE,aAAa,CAAC,MAAM,CAAC,EAAE,QAAQ,EAAE,CAAC;IACpE,CAAC;IAED,MAAM,CAAC,IAAI,CAAC,QAAyB,EAAE,OAA0B;QAC/D,IAAI,QAAQ,CAAC,MAAM,GAAG,CAAC,EAAE,CAAC;YACxB,MAAM,IAAI,KAAK,CAAC,8CAA8C,CAAC,CAAC;QAClE,CAAC;QACD,KAAK,MAAM,CAAC,KAAK,EAAE,MAAM,CAAC,IAAI,QAAQ,CAAC,OAAO,EAAE,EAAE,CAAC;YACjD,kBAAkB,CAAC,MAAM,EAAE,eAAe,KAAK,EAAE,CAAC,CAAC;QACrD,CAAC;QACD,IAAI,OAAO,CAAC,MAAM,KAAK,CAAC,IAAI,OAAO,CAAC,MAAM,GAAG,CAAC,KAAK,CAAC,EAAE,CAAC;YACrD,MAAM,IAAI,KAAK,CAAC,iEAAiE,CAAC,CAAC;QACrF,CAAC;QACD,KAAK,MAAM,KAAK,IAAI,OAAO,EAAE,CAAC;YAC5B,IAAI,CAAC,MAAM,CAAC,SAAS,CAAC,KAAK,CAAC,IAAI,KAAK,GAAG,CAAC,IAAI,KAAK,IAAI,QAAQ,CAAC,MAAM,EAAE,CAAC;gBACtE,MAAM,IAAI,KAAK,CAAC,oBAAoB,KAAK,mBAAmB,CAAC,CAAC;YAChE,CAAC;QACH,CAAC;QACD,OAAO;YACL,IAAI,EAAE,MAAM;YACZ,QAAQ,EAAE,QAAQ,CAAC,GAAG,CAAC,SAAS,CAAC;YACjC,OAAO,EAAE,CAAC,GAAG,OAAO,CAAC;SACtB,CAAC;IACJ,CAAC;IAED,MAAM,CAAC,MAAM,CAAC,KAAmB,EAAE,QAAc;QAC/C,kBAAkB,CAAC,QAAQ,EAAE,gBAAgB,CAAC,CAAC;QAC/C,QAAQ,KAAK,CAAC,IAAI,EAAE,CAAC;YACnB,KAAK,KAAK;gBACR,OAAO;oBACL,GAAG,EAAE,OAAO,CAAC,QAAQ,EAAE,KAAK,CAAC,WAAW,CAAC;oBACzC,GAAG,EAAE,OAAO,CAAC,QAAQ,EAAE,KAAK,CAAC,WAAW,CAAC;iBAC1C,CAAC;YACJ,KAAK,QAAQ;gBACX,OAAO;oBACL,GAAG,EAAE,CAAC,QAAQ,CAAC,CAAC,CAAC,GAAG,KAAK,CAAC,MAAM,EAAE,QAAQ,CAAC,CAAC,CAAC,GAAG,KAAK,CAAC,MA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|
package/package.json
CHANGED
package/src/Constraint.ts
CHANGED
|
@@ -1,4 +1,4 @@
|
|
|
1
|
-
import { addVec3, dotVec3, normalizeVec3, scaleVec3, subVec3, validateFiniteVec3, type Vec3 } from "./Shape.js";
|
|
1
|
+
import { addVec3, dotVec3, normalizeVec3, rotateVec3ByQuat, scaleVec3, subVec3, validateFiniteVec3, type Vec3 } from "./Shape.js";
|
|
2
2
|
import type { RigidBody } from "./RigidBody.js";
|
|
3
3
|
|
|
4
4
|
export type ConstraintType = "fixed" | "hinge" | "slider" | "spring";
|
|
@@ -83,11 +83,11 @@ export class Constraint {
|
|
|
83
83
|
}
|
|
84
84
|
|
|
85
85
|
private anchorAWorld(): Vec3 {
|
|
86
|
-
return addVec3(this.bodyA.position, this.localAnchorA);
|
|
86
|
+
return addVec3(this.bodyA.position, rotateVec3ByQuat(this.localAnchorA, this.bodyA.rotation));
|
|
87
87
|
}
|
|
88
88
|
|
|
89
89
|
private anchorBWorld(): Vec3 {
|
|
90
|
-
return addVec3(this.bodyB.position, this.localAnchorB);
|
|
90
|
+
return addVec3(this.bodyB.position, rotateVec3ByQuat(this.localAnchorB, this.bodyB.rotation));
|
|
91
91
|
}
|
|
92
92
|
|
|
93
93
|
private applyError(error: Vec3): void {
|
package/src/Shape.ts
CHANGED
|
@@ -177,6 +177,19 @@ export class Shape {
|
|
|
177
177
|
}
|
|
178
178
|
return { min, max };
|
|
179
179
|
}
|
|
180
|
-
}
|
|
181
180
|
}
|
|
182
181
|
}
|
|
182
|
+
}
|
|
183
|
+
|
|
184
|
+
export function rotateVec3ByQuat(v: Vec3, q: readonly [number, number, number, number]): [number, number, number] {
|
|
185
|
+
// q * v * q^-1 for rotating a vector by a unit quaternion
|
|
186
|
+
const x = q[0], y = q[1], z = q[2], w = q[3];
|
|
187
|
+
const tx = 2 * (y * v[2] - z * v[1]);
|
|
188
|
+
const ty = 2 * (z * v[0] - x * v[2]);
|
|
189
|
+
const tz = 2 * (x * v[1] - y * v[0]);
|
|
190
|
+
return [
|
|
191
|
+
v[0] + w * tx + (y * tz - z * ty),
|
|
192
|
+
v[1] + w * ty + (z * tx - x * tz),
|
|
193
|
+
v[2] + w * tz + (x * ty - y * tx)
|
|
194
|
+
];
|
|
195
|
+
}
|