@carbonenginejs/core-math 0.1.0

package/src/vec3.js

@@ -0,0 +1,1116 @@
+import { vec3 as glVec3, mat4 as glMat4 } from "gl-matrix";
+import { num } from "./num.js";
+import { pool } from "./pool.js";
+import { vec4 } from "./vec4.js";
+
+const
+    vec3 = { ...glVec3 },
+    mat4 = { ...glMat4 };
+
+/**
+ * Vector 3
+ * @typedef {Float32Array} vec3
+ */
+
+/**
+ * Allocates a pooled vec3
+ * @returns {Float32Array|vec3}
+ */
+vec3.alloc = function ()
+{
+    return pool.allocF32(3);
+};
+
+/**
+ * Unallocates a pooled vec3
+ * @param {vec3|Float32Array} a
+ */
+vec3.unalloc = function (a)
+{
+    pool.freeType(a);
+};
+
+vec3.unallocMany = function(arr)
+{
+    for (let i = 0; i < arr.length; i++)
+    {
+        pool.freeType(arr[i]);
+    }
+};
+
+/**
+ * X_AXIS
+ * @type {vec3}
+ */
+vec3.X_AXIS = vec3.fromValues(1, 0, 0);
+
+/**
+ * Y Axis
+ * @type {vec3}
+ */
+vec3.Y_AXIS = vec3.fromValues(0, 1, 0);
+
+/**
+ * Z Axis
+ * @type {vec3}
+ */
+vec3.Z_AXIS = vec3.fromValues(0, 0, 1);
+
+
+/**
+ * Adds a scalar to a vec3
+ *
+ * @param {vec3} out
+ * @param {vec3} a
+ * @param {Number} s
+ * @returns {vec3} out
+ */
+vec3.addScalar = function (out, a, s)
+{
+    out[0] = a[0] + s;
+    out[1] = a[1] + s;
+    out[2] = a[2] + s;
+    return out;
+};
+
+/**
+ * Converts radians to degrees
+ *
+ * @param {vec3} out
+ * @param {vec3} a
+ * @returns {vec3} out
+ */
+vec3.degrees = function (out, a)
+{
+    out[0] = num.degrees(a[0]);
+    out[1] = num.degrees(a[1]);
+    out[2] = num.degrees(a[2]);
+    return out;
+};
+
+/**
+ * Converts radians to unwrapped degrees
+ *
+ * @param {vec3} out
+ * @param {vec3} a
+ * @returns {vec3} out
+ */
+vec3.degreesUnwrapped = function (out, a)
+{
+    out[0] = num.degreesUnwrapped(a[0]);
+    out[1] = num.degreesUnwrapped(a[1]);
+    out[2] = num.degreesUnwrapped(a[2]);
+    return out;
+};
+
+/**
+ * Gets normalized direction between two points
+ * @param {vec3} out
+ * @param {vec3} a
+ * @param {vec3} b
+ * @returns {vec3}
+ */
+vec3.direction = function (out, a, b)
+{
+    vec3.subtract(out, a, b);
+    vec3.normalize(out, out);
+    return out;
+};
+
+/**
+ * Gets the direction from a quat
+ * @param {vec3} out
+ * @param {vec3} axis
+ * @param {quat} q
+ * @returns {vec3} out
+ */
+vec3.directionFromQuat = function (out, axis, q)
+{
+    return vec3.transformQuat(out, axis, q);
+};
+
+/**
+ * Gets the direction from a mat4's axis
+ * @param {vec3} out
+ * @param {vec3} axis
+ * @param {mat4} m
+ * @returns {vec3} out
+ */
+vec3.directionFromMat4 = function (out, axis, m)
+{
+    const quat_0 = mat4.getRotation(vec4.alloc(), m);
+    vec3.transformQuat(out, axis, quat_0);
+    vec4.unalloc(quat_0);
+    return out;
+};
+
+/**
+ * Divides a vec3 by a scalar
+ *
+ * @param {vec3} out
+ * @param {vec3} a
+ * @param {Number} s
+ * @returns {vec3} out
+ */
+vec3.divideScalar = function (out, a, s)
+{
+    return vec3.multiplyScalar(out, a, 1 / s);
+};
+
+/**
+ * Euler functions
+ * @type {{*}}
+ */
+vec3.euler = {};
+
+/**
+ * Default euler order
+ * @type {string}
+ */
+vec3.euler.DEFAULT_ORDER = "XYZ";
+
+
+/**
+ * Sets a euler from a quat
+ *
+ * @param {vec3} out
+ * @param {quat} q
+ * @param {string} [order=vec3.euler.DEFAULT_ORDER]
+ * @returns {vec3} out
+ */
+vec3.euler.fromQuat = function (out, q, order = vec3.euler.DEFAULT_ORDER)
+{
+    // mat4.alloc
+    const mat4_0 = mat4.fromQuat(pool.allocF32(16), q);
+    vec3.euler.fromMat4(out, mat4_0, order);
+    pool.unalloc(mat4_0);
+    return out;
+};
+
+/**
+ * Sets a euler from a mat4
+ *
+ * @author three.js (converted)
+ * @param {vec3} out
+ * @param {mat4} m
+ * @param {string} [order=vec3.euler.DEFAULT_ORDER]
+ * @returns {vec3} out
+ */
+vec3.euler.fromMat4 = function (out, m, order = vec3.euler.DEFAULT_ORDER)
+{
+    const
+        m11 = m[0], m12 = m[4], m13 = m[8],
+        m21 = m[1], m22 = m[5], m23 = m[9],
+        m31 = m[2], m32 = m[6], m33 = m[10];
+
+    const clamp = num.clamp;
+
+    if (order === "XYZ")
+    {
+        out[1] = Math.asin(clamp(m13, -1, 1));
+        if (Math.abs(m13) < 0.99999)
+        {
+            out[0] = Math.atan2(-m23, m33);
+            out[2] = Math.atan2(-m12, m11);
+        }
+        else
+        {
+            out[0] = Math.atan2(m32, m22);
+            out[2] = 0;
+        }
+    }
+    else if (order === "YXZ")
+    {
+        out[0] = Math.asin(-clamp(m23, -1, 1));
+        if (Math.abs(m23) < 0.99999)
+        {
+            out[1] = Math.atan2(m13, m33);
+            out[2] = Math.atan2(m21, m22);
+        }
+        else
+        {
+            out[1] = Math.atan2(-m31, m11);
+            out[2] = 0;
+        }
+    }
+    else if (order === "ZXY")
+    {
+        out[0] = Math.asin(clamp(m32, -1, 1));
+        if (Math.abs(m32) < 0.99999)
+        {
+            out[1] = Math.atan2(-m31, m33);
+            out[2] = Math.atan2(-m12, m22);
+        }
+        else
+        {
+            out[1] = 0;
+            out[2] = Math.atan2(m21, m11);
+        }
+    }
+    else if (order === "ZYX")
+    {
+        out[1] = Math.asin(-clamp(m31, -1, 1));
+        if (Math.abs(m31) < 0.99999)
+        {
+            out[0] = Math.atan2(m32, m33);
+            out[2] = Math.atan2(m21, m11);
+        }
+        else
+        {
+            out[0] = 0;
+            out[2] = Math.atan2(-m12, m22);
+        }
+    }
+    else if (order === "YZX")
+    {
+        out[2] = Math.asin(clamp(m21, -1, 1));
+        if (Math.abs(m21) < 0.99999)
+        {
+            out[0] = Math.atan2(-m23, m22);
+            out[1] = Math.atan2(-m31, m11);
+        }
+        else
+        {
+            out[0] = 0;
+            out[1] = Math.atan2(m13, m33);
+        }
+    }
+    else if (order === "XZY")
+    {
+        out[2] = Math.asin(-clamp(m12, -1, 1));
+        if (Math.abs(m12) < 0.99999)
+        {
+            out[0] = Math.atan2(m32, m22);
+            out[1] = Math.atan2(m13, m11);
+        }
+        else
+        {
+            out[0] = Math.atan2(-m23, m33);
+            out[1] = 0;
+        }
+    }
+    else
+    {
+        out[0] = 0;
+        out[1] = 0;
+        out[2] = 0;
+        throw new Error("Unrecognised euler order: " + order);
+    }
+
+    return out;
+};
+
+/**
+ * Gets a quat from a euler
+ * - Differs from quat.getEuler as it allows for different euler ordering
+ *
+ * - http://www.mathworks.com/matlabcentral/fileexchange/
+ * - 20696-function-to-convert-between-dcm-euler-angles-quaternions-and-euler-vectors/
+ * - content/SpinCalc.m
+ *
+ * @param {quat} out
+ * @param {vec3} euler
+ * @param [order=vec3.euler.DEFAULT_ORDER]
+ * @returns {quat} out
+ */
+vec3.euler.getQuat = function (out, euler, order = vec3.euler.DEFAULT_ORDER)
+{
+    const
+        x = euler[0],
+        y = euler[1],
+        z = euler[2];
+
+    const
+        cosYaw = Math.cos(x / 2),
+        cosPitch = Math.cos(y / 2),
+        cosRoll = Math.cos(z / 2),
+        sinYaw = Math.sin(x / 2),
+        sinPitch = Math.sin(y / 2),
+        sinRoll = Math.sin(z / 2);
+
+    if (order === "XYZ")
+    {
+        out[0] = sinYaw * cosPitch * cosRoll + cosYaw * sinPitch * sinRoll;
+        out[1] = cosYaw * sinPitch * cosRoll - sinYaw * cosPitch * sinRoll;
+        out[2] = cosYaw * cosPitch * sinRoll + sinYaw * sinPitch * cosRoll;
+        out[3] = cosYaw * cosPitch * cosRoll - sinYaw * sinPitch * sinRoll;
+    }
+    else if (order === "YXZ")
+    {
+        out[0] = sinYaw * cosPitch * cosRoll + cosYaw * sinPitch * sinRoll;
+        out[1] = cosYaw * sinPitch * cosRoll - sinYaw * cosPitch * sinRoll;
+        out[2] = cosYaw * cosPitch * sinRoll - sinYaw * sinPitch * cosRoll;
+        out[3] = cosYaw * cosPitch * cosRoll + sinYaw * sinPitch * sinRoll;
+    }
+    else if (order === "ZXY")
+    {
+        out[0] = sinYaw * cosPitch * cosRoll - cosYaw * sinPitch * sinRoll;
+        out[1] = cosYaw * sinPitch * cosRoll + sinYaw * cosPitch * sinRoll;
+        out[2] = cosYaw * cosPitch * sinRoll + sinYaw * sinPitch * cosRoll;
+        out[3] = cosYaw * cosPitch * cosRoll - sinYaw * sinPitch * sinRoll;
+    }
+    else if (order === "ZYX")
+    {
+        out[0] = sinYaw * cosPitch * cosRoll - cosYaw * sinPitch * sinRoll;
+        out[1] = cosYaw * sinPitch * cosRoll + sinYaw * cosPitch * sinRoll;
+        out[2] = cosYaw * cosPitch * sinRoll - sinYaw * sinPitch * cosRoll;
+        out[3] = cosYaw * cosPitch * cosRoll + sinYaw * sinPitch * sinRoll;
+    }
+    else if (order === "YZX")
+    {
+        out[0] = sinYaw * cosPitch * cosRoll + cosYaw * sinPitch * sinRoll;
+        out[1] = cosYaw * sinPitch * cosRoll + sinYaw * cosPitch * sinRoll;
+        out[2] = cosYaw * cosPitch * sinRoll - sinYaw * sinPitch * cosRoll;
+        out[3] = cosYaw * cosPitch * cosRoll - sinYaw * sinPitch * sinRoll;
+    }
+    else if (order === "XZY")
+    {
+        out[0] = sinYaw * cosPitch * cosRoll - cosYaw * sinPitch * sinRoll;
+        out[1] = cosYaw * sinPitch * cosRoll - sinYaw * cosPitch * sinRoll;
+        out[2] = cosYaw * cosPitch * sinRoll + sinYaw * sinPitch * cosRoll;
+        out[3] = cosYaw * cosPitch * cosRoll + sinYaw * sinPitch * sinRoll;
+    }
+    else
+    {
+        out[0] = 0;
+        out[1] = 0;
+        out[2] = 0;
+        out[3] = 1;
+        throw new Error("Unrecognised euler order: " + order);
+    }
+    return out;
+};
+
+
+/**
+ * Gets a quat from a euler values
+ *
+ * @param {quat} out
+ * @param {Number} x
+ * @param {Number} y
+ * @param {Number} z
+ * @param {String} [order]
+ * @return {quat} out
+ */
+vec3.euler.getQuatFromValues = function (out, x, y, z, order)
+{
+    const vec3_0 = vec3.set(vec3.alloc(), x, y, z);
+    vec3.euler.getQuat(out, vec3_0, order);
+    vec3.unalloc(vec3_0);
+    return out;
+};
+
+/**
+ * Gets a quat from a euler that uses degrees
+ *
+ * @param {quat} out
+ * @param {vec3} v
+ * @param {String} [order]
+ * @return {quat} out
+ */
+vec3.euler.getQuatFromDegrees = function (out, v, order)
+{
+    const vec3_0 = vec3.radians(vec3.alloc(), v);
+    vec3.euler.getQuat(out, vec3_0, order);
+    vec3.unalloc(vec3_0);
+    return out;
+};
+
+/**
+ * Gets a quat from euler degree values
+ *
+ * @param {quat} out
+ * @param {Number} x
+ * @param {Number} y
+ * @param {Number} z
+ * @param {String} [order]
+ * @return {quat} out
+ */
+vec3.euler.getQuatFromDegreeValues = function (out, x, y, z, order)
+{
+    const vec3_0 = vec3.set(vec3.alloc(), x, y, z);
+    vec3.radians(vec3_0, vec3_0);
+    vec3.euler.getQuat(out, vec3_0, order);
+    vec3.unalloc(vec3_0);
+    return out;
+};
+
+/**
+ * Sets a euler from quat, and stores in degrees
+ *
+ * @param {vec3} out
+ * @param {quat} q
+ * @param {String} [order]
+ * @return {vec3} out
+ */
+vec3.euler.fromQuatInDegrees = function (out, q, order)
+{
+    vec3.euler.fromQuat(out, q, order);
+    return vec3.degrees(out, out);
+};
+
+/**
+ * Exponential decay
+ *
+ * @param {vec3} out
+ * @param {vec3} omega0
+ * @param {vec3} torque
+ * @param {number} I
+ * @param {number} drag
+ * @param {number} time
+ * @returns {vec3} out
+ */
+vec3.exponentialDecay = function (out, omega0, torque, I, drag, time)
+{
+    out[0] = num.exponentialDecay(omega0[0], torque[0], I, drag, time);
+    out[1] = num.exponentialDecay(omega0[1], torque[1], I, drag, time);
+    out[2] = num.exponentialDecay(omega0[2], torque[2], I, drag, time);
+    return out;
+};
+
+/**
+ * Creates a spherical
+ * @returns {vec3}
+ */
+vec3.createSpherical = function ()
+{
+    return vec3.fromValues(0, 0, 1);
+};
+
+/**
+ * Sets a vec3 with cartesian coordinates from spherical coordinates and an optional center point
+ * @param {vec3} out       - receiving vec3
+ * @param {vec3} spherical - source vec3 with spherical coordinates (phi, theta, radius)
+ * @param {vec3} [center]  - Optional center
+ * @returns {vec3} out     - receiving vec3
+ */
+vec3.fromSpherical = function (out, spherical, center)
+{
+    const
+        phi = spherical[0],
+        theta = spherical[1],
+        radius = spherical[2];
+
+    const sinPhi = Math.sin(phi);
+
+    out[0] = radius * sinPhi * Math.sin(theta); // x
+    out[1] = radius * Math.cos(phi);            // y
+    out[2] = radius * sinPhi * Math.cos(theta); // z
+
+    if (center)
+    {
+        out[0] += center[0];
+        out[1] += center[1];
+        out[2] += center[2];
+    }
+
+    return out;
+};
+
+
+
+/**
+ * Gets spherical coordinates from a vector
+ * @param {vec3} out
+ * @param {vec3} a
+ * @returns {vec3} out
+ */
+vec3.getSpherical = function (out, a)
+{
+    let phi = 0,
+        theta = 0,
+        radius = vec3.length(a);
+
+    if (radius !== 0)
+    {
+        phi = Math.acos(num.clamp(a[1] / radius, -1, 1));
+        theta = Math.atan2(a[0], a[2]);
+    }
+
+    out[0] = phi;
+    out[1] = theta;
+    out[2] = radius;
+    return out;
+};
+
+/**
+ * Makes a spherical value "safe"
+ * @param {vec3} out
+ * @param {vec3} a
+ * @returns {vec3} out
+ */
+vec3.makeSphericalSafe = function (out, a)
+{
+    out[0] = Math.max(num.EPSILON, Math.min(Math.PI - num.EPSILON, a[0]));
+    out[1] = a[1];
+    out[2] = a[2];
+    return out;
+};
+
+/**
+ * Checks if all elements are 0
+ * @param {vec3} a
+ * @returns {boolean}
+ */
+vec3.isEmpty = function (a)
+{
+    return a[0] === 0 && a[1] === 0 && a[2] === 0;
+};
+
+/**
+ * Multiplies a vec3 by a scalar
+ *
+ * @param {vec3} out
+ * @param {vec3} a
+ * @param {Number} s
+ * @returns {vec3} out
+ */
+vec3.multiplyScalar = function (out, a, s)
+{
+    out[0] = a[0] * s;
+    out[1] = a[1] * s;
+    out[2] = a[2] * s;
+    return out;
+};
+
+/**
+ * Converts from long, lat and radius to a vector
+ * @param {vec3} out
+ * @param {Number} radius
+ * @param {Number} latitude
+ * @param {Number} longitude
+ * @returns {vec3} out
+ */
+vec3.polarToCartesian = function (out, radius, latitude, longitude)
+{
+    out[0] = radius * Math.cos(latitude) * Math.sin(longitude);
+    out[1] = radius * Math.sin(latitude);
+    out[2] = radius * Math.cos(latitude) * Math.cos(longitude);
+    return out;
+};
+
+/**
+ * Projects a world vec3 to screen space with viewport settings
+ * @param {vec3} out           - receiving vec3
+ * @param {vec3} a             - local vec3
+ * @param {mat4} m             - model view projection matrix
+ * @param {vec4} viewport      - view port settings (x, y, width, height)
+ * @returns {vec3} out         - receiving vec3 (x, y, perspectiveDivide)
+ */
+vec3.project = function (out, a, m, viewport)
+{
+    let x = a[0],
+        y = a[1],
+        z = a[2];
+
+    let outX = m[0] * x + m[4] * y + m[8] * z + m[12],
+        outY = m[1] * x + m[5] * y + m[9] * z + m[13],
+        perD = m[3] * x + m[7] * y + m[11] * z + m[15];
+
+    let projectionX = (outX / perD + 1) / 2;
+    let projectionY = 1 - (outY / perD + 1) / 2;
+
+    out[0] = projectionX * viewport[2] + viewport[0];
+    out[1] = projectionY * viewport[3] + viewport[1];
+    out[2] = perD;
+    return out;
+};
+
+/**
+ * Converts degrees to radians
+ *
+ * @param {vec3} out
+ * @param {vec3} a
+ * @returns {vec3} out
+ */
+vec3.radians = function (out, a)
+{
+    out[0] = num.radians(a[0]);
+    out[1] = num.radians(a[1]);
+    out[2] = num.radians(a[2]);
+    return out;
+};
+
+/**
+ * Converts degrees to unwrapped radians
+ *
+ * @param {vec3} out
+ * @param {vec3} a
+ * @returns {vec3} out
+ */
+vec3.radiansUnwrapped = function (out, a)
+{
+    out[0] = num.radiansUnwrapped(a[0]);
+    out[1] = num.radiansUnwrapped(a[1]);
+    out[2] = num.radiansUnwrapped(a[2]);
+    return out;
+};
+
+/**
+ * Sets a vec3 from a scalar
+ *
+ * @param {vec3} out
+ * @param {Number} s
+ * @returns {vec3} out
+ */
+vec3.setScalar = function (out, s)
+{
+    out[0] = s;
+    out[1] = s;
+    out[2] = s;
+    return out;
+};
+
+/**
+ * Subtracts a scalar from a vec3
+ *
+ * @param {vec3} out
+ * @param {vec3} a
+ * @param {Number} s
+ * @returns {vec3} out
+ */
+vec3.subtractScalar = function (out, a, s)
+{
+    out[0] = a[0] - s;
+    out[1] = a[1] - s;
+    out[2] = a[2] - s;
+    return out;
+};
+
+/**
+ * Unprojects a vec3 with canvas coordinates to world space
+ *
+ * @param {vec3} out            - receiving vec3
+ * @param {vec3} a              - vec3 to unproject
+ * @param {mat4} invViewProj    - inverse view projection matrix
+ * @param {vec4|Array} viewport - [ x, y, width, height ]
+ * @returns {vec3} out
+ * @throw On perspective divide error
+ */
+vec3.unproject = function (out, a, invViewProj, viewport)
+{
+    const vec4_0 = vec4.alloc(4);
+
+    let x = a[0],
+        y = a[1],
+        z = a[2];
+
+    vec4_0[0] = (x - viewport[0]) * 2.0 / viewport[2] - 1.0;
+    vec4_0[1] = (y - viewport[1]) * 2.0 / viewport[3] - 1.0;
+    vec4_0[2] = 2.0 * z - 1.0;
+    vec4_0[3] = 1.0;
+
+    vec4.transformMat4(vec4_0, vec4_0, invViewProj);
+
+    if (vec4_0[3] === 0.0)
+    {
+        vec4.unalloc(vec4_0);
+        out[0] = 0;
+        out[1] = 0;
+        out[2] = 0;
+        throw new Error("Perspective divide error");
+    }
+
+    out[0] = vec4_0[0] / vec4_0[3];
+    out[1] = vec4_0[1] / vec4_0[3];
+    out[2] = vec4_0[2] / vec4_0[3];
+
+    vec4.unalloc(vec4_0);
+
+    return out;
+};
+
+/**
+ * Unwraps degrees
+ *
+ * @param {vec3} out
+ * @param {vec3} a
+ * @returns {vec3}
+ */
+vec3.unwrapDegrees = function (out, a)
+{
+    out[0] = num.unwrapDegrees(a[0]);
+    out[1] = num.unwrapDegrees(a[1]);
+    out[2] = num.unwrapDegrees(a[2]);
+    return out;
+};
+
+/**
+ * Unwraps radians
+ *
+ * @param {vec3} out
+ * @param {vec3} a
+ * @returns {vec3}
+ */
+vec3.unwrapRadians = function (out, a)
+{
+    out[0] = num.unwrapRadians(a[0]);
+    out[1] = num.unwrapRadians(a[1]);
+    out[2] = num.unwrapRadians(a[2]);
+    return out;
+};
+
+/**
+ * Converts from linear color to rgb
+ * @param {vec3} out
+ * @param {vec3} linear
+ * @returns {vec3}
+ */
+vec3.toRGB = function (out, linear)
+{
+    out[0] = num.colorFromLinear(linear[0]);
+    out[1] = num.colorFromLinear(linear[1]);
+    out[2] = num.colorFromLinear(linear[2]);
+    return out;
+};
+
+/**
+ * Converts from linear color to rgba
+ * @param {vec4} out
+ * @param {vec3} linear
+ * @param {Number} [linearAlpha=1]
+ * @return {vec4} out
+ */
+vec3.toRGBA = function (out, linear, linearAlpha = 1)
+{
+    out[0] = num.colorFromLinear(linear[0]);
+    out[1] = num.colorFromLinear(linear[1]);
+    out[2] = num.colorFromLinear(linear[2]);
+    out[3] = num.colorFromLinear(linearAlpha);
+    return out;
+};
+
+/**
+ * Converts to linear color from rgba
+ * @param {vec3} out
+ * @param {vec3} rgb
+ * @returns {vec3} out
+ */
+vec3.fromRGB = function (out, rgb)
+{
+    out[0] = num.linearFromColor(rgb[0]);
+    out[1] = num.linearFromColor(rgb[1]);
+    out[2] = num.linearFromColor(rgb[2]);
+    return out;
+};
+
+/**
+ * Gets hex value from linear color
+ * @param {vec4} linear
+ * @returns {string} hex value
+ */
+vec3.toHex = function (linear)
+{
+    return "#" +
+        num.hexFromLinear(linear[0]) +
+        num.hexFromLinear(linear[1]) +
+        num.hexFromLinear(linear[2]);
+};
+
+/**
+ * Gets hex rgba from linear colour
+ * @param {vec3}  linear
+ * @param {Number} [linearAlpha=1]
+ * @return {string}
+ */
+vec3.toHexA = function (linear, linearAlpha = 1)
+{
+    return "#" +
+        num.hexFromLinear(linear[0]) +
+        num.hexFromLinear(linear[1]) +
+        num.hexFromLinear(linear[2]) +
+        num.hexFromLinear(linearAlpha);
+};
+
+/**
+ * Gets RGB from hex
+ * @param {vec3} out
+ * @param {String} hex
+ * @return {vec3} out
+ */
+vec3.fromHex = function (out, hex)
+{
+    // Set empty color in case of error
+    out[0] = 0;
+    out[1] = 0;
+    out[2] = 0;
+
+    if (hex.length === 4 || hex.length === 5)
+    {
+        out[0] = ("0x" + hex[1] + hex[1]) / 255;
+        out[1] = ("0x" + hex[2] + hex[2]) / 255;
+        out[2] = ("0x" + hex[3] + hex[3]) / 255;
+    }
+    // RGB hex
+    else if (hex.length === 7 || hex.length === 9)
+    {
+        out[0] = ("0x" + hex[1] + hex[2]) / 255;
+        out[1] = ("0x" + hex[3] + hex[4]) / 255;
+        out[2] = ("0x" + hex[5] + hex[6]) / 255;
+    }
+    else
+    {
+        throw new TypeError("Invalid hex");
+    }
+
+    return out;
+};
+
+
+vec3.linearToHSV = function (out, linear)
+{
+    let rabs,
+        gabs,
+        babs, rr,
+        gg, bb,
+        h,
+        s,
+        v,
+        diff,
+        diffc,
+        percentRoundFn;
+
+    rabs = linear[0];
+    gabs = linear[1];
+    babs = linear[2];
+
+    v = Math.max(rabs, gabs, babs);
+    diff = v - Math.min(rabs, gabs, babs);
+    diffc = c => (v - c) / 6 / diff + 1 / 2;
+    percentRoundFn = num => Math.round(num * 100) / 100;
+
+    if (diff == 0)
+    {
+        h = s = 0;
+    }
+    else
+    {
+        s = diff / v;
+        rr = diffc(rabs);
+        gg = diffc(gabs);
+        bb = diffc(babs);
+
+        if (rabs === v)
+        {
+            h = bb - gg;
+        }
+        else if (gabs === v)
+        {
+            h = (1 / 3) + rr - bb;
+        }
+        else if (babs === v)
+        {
+            h = (2 / 3) + gg - rr;
+        }
+
+        if (h < 0)
+        {
+            h += 1;
+        }
+        else if (h > 1)
+        {
+            h -= 1;
+        }
+    }
+
+    out[0] = Math.round(h * 360);
+    out[1] = percentRoundFn(s * 100);
+    out[2] = percentRoundFn(v * 100);
+    return out;
+};
+
+/**
+ * Sets a vec3 from an array with an optional offset
+ * @param {vec3} out
+ * @param {TypedArray|Array} array
+ * @param {Number} [offset=0]
+ * @returns {vec3} out
+ */
+vec3.fromArray = function (out, array, offset = 0)
+{
+    out[0] = array[offset];
+    out[1] = array[offset + 1];
+    out[2] = array[offset + 2];
+    return out;
+};
+
+/**
+ * Sets a vec3 from a mat4 column
+ * @param {vec3} out
+ * @param {mat4} m
+ * @param {Number} index
+ * @returns {vec3} out
+ */
+vec3.fromMat4Column = function (out, m, index)
+{
+    return vec3.fromArray(out, m, index * 4);
+};
+
+/**
+ * Sets a vec3 from a mat3 column
+ * @param {vec3} out
+ * @param {mat4} m
+ * @param {Number} index
+ * @returns {vec3} out
+ */
+vec3.fromMat3Column = function (out, m, index)
+{
+    return vec3.fromArray(out, m, index * 3);
+};
+
+/**
+ * Converts srgb to linear colour
+ * @param {vec3} out
+ * @param {vec3} srgb
+ * @returns {vec3} out
+ */
+vec3.fromSRGB = function (out, srgb)
+{
+    out[0] = num.linearFromSRGB(srgb[0]);
+    out[1] = num.linearFromSRGB(srgb[1]);
+    out[2] = num.linearFromSRGB(srgb[2]);
+    return out;
+};
+
+/**
+ * Converts linear colour to srgb
+ * @param {vec3} out
+ * @param {vec3} srgb
+ * @returns {vec3} out
+ */
+vec3.toSRGB = function (out, linear)
+{
+    out[0] = num.srgbFromLinear(linear[0]);
+    out[1] = num.srgbFromLinear(linear[1]);
+    out[2] = num.srgbFromLinear(linear[2]);
+    return out;
+};
+
+/**
+ * Three js
+ * Todo: replace with glMatrix
+ */
+vec3.applyQuaternion = function (out, a, q)
+{
+
+    const
+        x = a[0],
+        y = a[1],
+        z = a[2],
+        qx = q[0],
+        qy = q[1],
+        qz = q[2],
+        qw = q[3];
+
+    // calculate quat * vector
+    const
+        ix = qw * x + qy * z - qz * y,
+        iy = qw * y + qz * x - qx * z,
+        iz = qw * z + qx * y - qy * x,
+        iw = -qx * x - qy * y - qz * z;
+
+    // calculate result * inverse quat
+    out[0] = ix * qw + iw * -qx + iy * -qz - iz * -qy;
+    out[1] = iy * qw + iw * -qy + iz * -qx - ix * -qz;
+    out[2] = iz * qw + iw * -qz + ix * -qy - iy * -qx;
+
+    return out;
+};
+
+
+export { vec3 };
+
+export const {
+    add,
+    angle,
+    bezier,
+    ceil,
+    clone,
+    copy,
+    create,
+    cross,
+    dist,
+    distance,
+    div,
+    divide,
+    dot,
+    equals,
+    exactEquals,
+    floor,
+    forEach,
+    fromValues,
+    hermite,
+    inverse,
+    len,
+    length,
+    lerp,
+    max,
+    min,
+    mul,
+    multiply,
+    negate,
+    normalize,
+    random,
+    rotateX,
+    rotateY,
+    rotateZ,
+    round,
+    scale,
+    scaleAndAdd,
+    set,
+    slerp,
+    sqrDist,
+    sqrLen,
+    squaredDistance,
+    squaredLength,
+    str,
+    sub,
+    subtract,
+    transformMat3,
+    transformMat4,
+    transformQuat,
+    zero,
+    alloc,
+    unalloc,
+    unallocMany,
+    X_AXIS,
+    Y_AXIS,
+    Z_AXIS,
+    addScalar,
+    degrees,
+    degreesUnwrapped,
+    direction,
+    directionFromQuat,
+    directionFromMat4,
+    divideScalar,
+    euler,
+    exponentialDecay,
+    createSpherical,
+    fromSpherical,
+    getSpherical,
+    makeSphericalSafe,
+    isEmpty,
+    multiplyScalar,
+    polarToCartesian,
+    project,
+    radians,
+    radiansUnwrapped,
+    setScalar,
+    subtractScalar,
+    unproject,
+    unwrapDegrees,
+    unwrapRadians,
+    toRGB,
+    toRGBA,
+    fromRGB,
+    toHex,
+    toHexA,
+    fromHex,
+    linearToHSV,
+    fromArray,
+    fromMat4Column,
+    fromMat3Column,
+    fromSRGB,
+    toSRGB,
+    applyQuaternion
+} = vec3;