@caspertech/node-metaverse 0.7.22 → 0.7.23

package/dist/lib/tsm/quat.js

@@ -1,376 +1,347 @@
-"use strict";
-/**
- * @fileoverview TSM - A TypeScript vector and matrix math library
- * @author Matthias Ferch
- * @version 0.6
- */
-Object.defineProperty(exports, "__esModule", { value: true });
-exports.TSMQuat = void 0;
-/*
- * Copyright (c) 2012 Matthias Ferch
- *
- * Project homepage: https://github.com/matthiasferch/tsm
- *
- * This software is provided 'as-is', without any express or implied
- * warranty. In no event will the authors be held liable for any damages
- * arising from the use of this software.
- *
- * Permission is granted to anyone to use this software for any purpose,
- * including commercial applications, and to alter it and redistribute it
- * freely, subject to the following restrictions:
- *
- *    1. The origin of this software must not be misrepresented; you must not
- *    claim that you wrote the original software. If you use this software
- *    in a product, an acknowledgment in the product documentation would be
- *    appreciated but is not required.
- *
- *    2. Altered source versions must be plainly marked as such, and must not
- *    be misrepresented as being the original software.
- *
- *    3. This notice may not be removed or altered from any source
- *    distribution.
- */
-const vec3_1 = require("./vec3");
-const mat3_1 = require("./mat3");
-const mat4_1 = require("./mat4");
-class TSMQuat {
-    static dot(q1, q2) {
-        return q1.x * q2.x + q1.y * q2.y + q1.z * q2.z + q1.w * q2.w;
-    }
-    static sum(q1, q2, dest = null) {
-        if (!dest) {
-            dest = new TSMQuat();
-        }
-        dest.x = q1.x + q2.x;
-        dest.y = q1.y + q2.y;
-        dest.z = q1.z + q2.z;
-        dest.w = q1.w + q2.w;
-        return dest;
-    }
-    static product(q1, q2, dest = null) {
-        if (!dest) {
-            dest = new TSMQuat();
-        }
-        const q1x = q1.x, q1y = q1.y, q1z = q1.z, q1w = q1.w, q2x = q2.x, q2y = q2.y, q2z = q2.z, q2w = q2.w;
-        dest.x = q1x * q2w + q1w * q2x + q1y * q2z - q1z * q2y;
-        dest.y = q1y * q2w + q1w * q2y + q1z * q2x - q1x * q2z;
-        dest.z = q1z * q2w + q1w * q2z + q1x * q2y - q1y * q2x;
-        dest.w = q1w * q2w - q1x * q2x - q1y * q2y - q1z * q2z;
-        return dest;
-    }
-    static cross(q1, q2, dest = null) {
-        if (!dest) {
-            dest = new TSMQuat();
-        }
-        const q1x = q1.x, q1y = q1.y, q1z = q1.z, q1w = q1.w, q2x = q2.x, q2y = q2.y, q2z = q2.z, q2w = q2.w;
-        dest.x = q1w * q2z + q1z * q2w + q1x * q2y - q1y * q2x;
-        dest.y = q1w * q2w - q1x * q2x - q1y * q2y - q1z * q2z;
-        dest.z = q1w * q2x + q1x * q2w + q1y * q2z - q1z * q2y;
-        dest.w = q1w * q2y + q1y * q2w + q1z * q2x - q1x * q2z;
-        return dest;
-    }
-    static shortMix(q1, q2, time, dest = null) {
-        if (!dest) {
-            dest = new TSMQuat();
-        }
-        if (time <= 0.0) {
-            dest.xyzw = q1.xyzw;
-            return dest;
-        }
-        else if (time >= 1.0) {
-            dest.xyzw = q2.xyzw;
-            return dest;
-        }
-        let cos = TSMQuat.dot(q1, q2);
-        const q2a = q2.copy();
-        if (cos < 0.0) {
-            q2a.inverse();
-            cos = -cos;
-        }
-        let k0, k1;
-        if (cos > 0.9999) {
-            k0 = 1 - time;
-            k1 = time;
-        }
-        else {
-            const sin = Math.sqrt(1 - cos * cos);
-            const angle = Math.atan2(sin, cos);
-            const oneOverSin = 1 / sin;
-            k0 = Math.sin((1 - time) * angle) * oneOverSin;
-            k1 = Math.sin((time) * angle) * oneOverSin;
-        }
-        dest.x = k0 * q1.x + k1 * q2a.x;
-        dest.y = k0 * q1.y + k1 * q2a.y;
-        dest.z = k0 * q1.z + k1 * q2a.z;
-        dest.w = k0 * q1.w + k1 * q2a.w;
-        return dest;
-    }
-    static mix(q1, q2, time, dest = null) {
-        if (!dest) {
-            dest = new TSMQuat();
-        }
-        const cosHalfTheta = q1.x * q2.x + q1.y * q2.y + q1.z * q2.z + q1.w * q2.w;
-        if (Math.abs(cosHalfTheta) >= 1.0) {
-            dest.xyzw = q1.xyzw;
-            return dest;
-        }
-        const halfTheta = Math.acos(cosHalfTheta), sinHalfTheta = Math.sqrt(1.0 - cosHalfTheta * cosHalfTheta);
-        if (Math.abs(sinHalfTheta) < 0.001) {
-            dest.x = q1.x * 0.5 + q2.x * 0.5;
-            dest.y = q1.y * 0.5 + q2.y * 0.5;
-            dest.z = q1.z * 0.5 + q2.z * 0.5;
-            dest.w = q1.w * 0.5 + q2.w * 0.5;
-            return dest;
-        }
-        const ratioA = Math.sin((1 - time) * halfTheta) / sinHalfTheta, ratioB = Math.sin(time * halfTheta) / sinHalfTheta;
-        dest.x = q1.x * ratioA + q2.x * ratioB;
-        dest.y = q1.y * ratioA + q2.y * ratioB;
-        dest.z = q1.z * ratioA + q2.z * ratioB;
-        dest.w = q1.w * ratioA + q2.w * ratioB;
-        return dest;
-    }
-    static fromAxis(axis, angle, dest = null) {
-        if (!dest) {
-            dest = new TSMQuat();
-        }
-        angle *= 0.5;
-        const sin = Math.sin(angle);
-        dest.x = axis.x * sin;
-        dest.y = axis.y * sin;
-        dest.z = axis.z * sin;
-        dest.w = Math.cos(angle);
-        return dest;
-    }
-    get x() {
-        return this.values[0];
-    }
-    get y() {
-        return this.values[1];
-    }
-    get z() {
-        return this.values[2];
-    }
-    get w() {
-        return this.values[3];
-    }
-    get xy() {
-        return [
-            this.values[0],
-            this.values[1]
-        ];
-    }
-    get xyz() {
-        return [
-            this.values[0],
-            this.values[1],
-            this.values[2]
-        ];
-    }
-    get xyzw() {
-        return [
-            this.values[0],
-            this.values[1],
-            this.values[2],
-            this.values[3]
-        ];
-    }
-    set x(value) {
-        this.values[0] = value;
-    }
-    set y(value) {
-        this.values[1] = value;
-    }
-    set z(value) {
-        this.values[2] = value;
-    }
-    set w(value) {
-        this.values[3] = value;
-    }
-    set xy(values) {
-        this.values[0] = values[0];
-        this.values[1] = values[1];
-    }
-    set xyz(values) {
-        this.values[0] = values[0];
-        this.values[1] = values[1];
-        this.values[2] = values[2];
-    }
-    set xyzw(values) {
-        this.values[0] = values[0];
-        this.values[1] = values[1];
-        this.values[2] = values[2];
-        this.values[3] = values[3];
-    }
-    constructor(values = null) {
-        this.values = new Float32Array(4);
-        if (values) {
-            this.xyzw = values;
-        }
-    }
-    at(index) {
-        return this.values[index];
-    }
-    reset() {
-        for (let i = 0; i < 4; i++) {
-            this.values[i] = 0;
-        }
-    }
-    copy(dest = null) {
-        if (!dest) {
-            dest = new TSMQuat();
-        }
-        for (let i = 0; i < 4; i++) {
-            dest.values[i] = this.values[i];
-        }
-        return dest;
-    }
-    roll() {
-        const x = this.x, y = this.y, z = this.z, w = this.w;
-        return Math.atan2(2.0 * (x * y + w * z), w * w + x * x - y * y - z * z);
-    }
-    pitch() {
-        const x = this.x, y = this.y, z = this.z, w = this.w;
-        return Math.atan2(2.0 * (y * z + w * x), w * w - x * x - y * y + z * z);
-    }
-    yaw() {
-        return Math.asin(2.0 * (this.x * this.z - this.w * this.y));
-    }
-    equals(vector, threshold = EPSILON) {
-        for (let i = 0; i < 4; i++) {
-            if (Math.abs(this.values[i] - vector.at(i)) > threshold) {
-                return false;
-            }
-        }
-        return true;
-    }
-    setIdentity() {
-        this.x = 0;
-        this.y = 0;
-        this.z = 0;
-        this.w = 1;
-        return this;
-    }
-    calculateW() {
-        const x = this.x, y = this.y, z = this.z;
-        this.w = -(Math.sqrt(Math.abs(1.0 - x * x - y * y - z * z)));
-        return this;
-    }
-    inverse() {
-        const dot = TSMQuat.dot(this, this);
-        if (!dot) {
-            this.xyzw = [0, 0, 0, 0];
-            return this;
-        }
-        const invDot = dot ? 1.0 / dot : 0;
-        this.x *= -invDot;
-        this.y *= -invDot;
-        this.z *= -invDot;
-        this.w *= invDot;
-        return this;
-    }
-    conjugate() {
-        this.values[0] *= -1;
-        this.values[1] *= -1;
-        this.values[2] *= -1;
-        return this;
-    }
-    length() {
-        const x = this.x, y = this.y, z = this.z, w = this.w;
-        return Math.sqrt(x * x + y * y + z * z + w * w);
-    }
-    normalize(dest = null) {
-        if (!dest) {
-            dest = this;
-        }
-        const x = this.x, y = this.y, z = this.z, w = this.w;
-        let length = Math.sqrt(x * x + y * y + z * z + w * w);
-        if (!length) {
-            dest.x = 0;
-            dest.y = 0;
-            dest.z = 0;
-            dest.w = 0;
-            return dest;
-        }
-        length = 1 / length;
-        dest.x = x * length;
-        dest.y = y * length;
-        dest.z = z * length;
-        dest.w = w * length;
-        return dest;
-    }
-    add(other) {
-        for (let i = 0; i < 4; i++) {
-            this.values[i] += other.at(i);
-        }
-        return this;
-    }
-    multiply(other) {
-        const q1x = this.values[0], q1y = this.values[1], q1z = this.values[2], q1w = this.values[3];
-        const q2x = other.x, q2y = other.y, q2z = other.z, q2w = other.w;
-        this.x = q1x * q2w + q1w * q2x + q1y * q2z - q1z * q2y;
-        this.y = q1y * q2w + q1w * q2y + q1z * q2x - q1x * q2z;
-        this.z = q1z * q2w + q1w * q2z + q1x * q2y - q1y * q2x;
-        this.w = q1w * q2w - q1x * q2x - q1y * q2y - q1z * q2z;
-        return this;
-    }
-    multiplyTSMVec3(vector, dest = null) {
-        if (!dest) {
-            dest = new vec3_1.TSMVec3();
-        }
-        const x = vector.x, y = vector.y, z = vector.z;
-        const qx = this.x, qy = this.y, qz = this.z, qw = this.w;
-        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;
-        dest.x = ix * qw + iw * -qx + iy * -qz - iz * -qy;
-        dest.y = iy * qw + iw * -qy + iz * -qx - ix * -qz;
-        dest.z = iz * qw + iw * -qz + ix * -qy - iy * -qx;
-        return dest;
-    }
-    toTSMMat3(dest = null) {
-        if (!dest) {
-            dest = new mat3_1.TSMMat3();
-        }
-        const x = this.x, y = this.y, z = this.z, w = this.w;
-        const x2 = x + x, y2 = y + y, z2 = z + z;
-        const xx = x * x2, xy = x * y2, xz = x * z2, yy = y * y2, yz = y * z2, zz = z * z2, wx = w * x2, wy = w * y2, wz = w * z2;
-        dest.init([
-            1 - (yy + zz),
-            xy + wz,
-            xz - wy,
-            xy - wz,
-            1 - (xx + zz),
-            yz + wx,
-            xz + wy,
-            yz - wx,
-            1 - (xx + yy)
-        ]);
-        return dest;
-    }
-    toTSMMat4(dest = null) {
-        if (!dest) {
-            dest = new mat4_1.TSMMat4();
-        }
-        const x = this.x, y = this.y, z = this.z, w = this.w, x2 = x + x, y2 = y + y, z2 = z + z, xx = x * x2, xy = x * y2, xz = x * z2, yy = y * y2, yz = y * z2, zz = z * z2, wx = w * x2, wy = w * y2, wz = w * z2;
-        dest.init([
-            1 - (yy + zz),
-            xy + wz,
-            xz - wy,
-            0,
-            xy - wz,
-            1 - (xx + zz),
-            yz + wx,
-            0,
-            xz + wy,
-            yz - wx,
-            1 - (xx + yy),
-            0,
-            0,
-            0,
-            0,
-            1
-        ]);
-        return dest;
-    }
-}
-exports.TSMQuat = TSMQuat;
-TSMQuat.identity = new TSMQuat().setIdentity();
+"use strict";
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.TSMQuat = void 0;
+const vec3_1 = require("./vec3");
+const mat3_1 = require("./mat3");
+const mat4_1 = require("./mat4");
+class TSMQuat {
+    static dot(q1, q2) {
+        return q1.x * q2.x + q1.y * q2.y + q1.z * q2.z + q1.w * q2.w;
+    }
+    static sum(q1, q2, dest = null) {
+        if (!dest) {
+            dest = new TSMQuat();
+        }
+        dest.x = q1.x + q2.x;
+        dest.y = q1.y + q2.y;
+        dest.z = q1.z + q2.z;
+        dest.w = q1.w + q2.w;
+        return dest;
+    }
+    static product(q1, q2, dest = null) {
+        if (!dest) {
+            dest = new TSMQuat();
+        }
+        const q1x = q1.x, q1y = q1.y, q1z = q1.z, q1w = q1.w, q2x = q2.x, q2y = q2.y, q2z = q2.z, q2w = q2.w;
+        dest.x = q1x * q2w + q1w * q2x + q1y * q2z - q1z * q2y;
+        dest.y = q1y * q2w + q1w * q2y + q1z * q2x - q1x * q2z;
+        dest.z = q1z * q2w + q1w * q2z + q1x * q2y - q1y * q2x;
+        dest.w = q1w * q2w - q1x * q2x - q1y * q2y - q1z * q2z;
+        return dest;
+    }
+    static cross(q1, q2, dest = null) {
+        if (!dest) {
+            dest = new TSMQuat();
+        }
+        const q1x = q1.x, q1y = q1.y, q1z = q1.z, q1w = q1.w, q2x = q2.x, q2y = q2.y, q2z = q2.z, q2w = q2.w;
+        dest.x = q1w * q2z + q1z * q2w + q1x * q2y - q1y * q2x;
+        dest.y = q1w * q2w - q1x * q2x - q1y * q2y - q1z * q2z;
+        dest.z = q1w * q2x + q1x * q2w + q1y * q2z - q1z * q2y;
+        dest.w = q1w * q2y + q1y * q2w + q1z * q2x - q1x * q2z;
+        return dest;
+    }
+    static shortMix(q1, q2, time, dest = null) {
+        if (!dest) {
+            dest = new TSMQuat();
+        }
+        if (time <= 0.0) {
+            dest.xyzw = q1.xyzw;
+            return dest;
+        }
+        else if (time >= 1.0) {
+            dest.xyzw = q2.xyzw;
+            return dest;
+        }
+        let cos = TSMQuat.dot(q1, q2);
+        const q2a = q2.copy();
+        if (cos < 0.0) {
+            q2a.inverse();
+            cos = -cos;
+        }
+        let k0, k1;
+        if (cos > 0.9999) {
+            k0 = 1 - time;
+            k1 = time;
+        }
+        else {
+            const sin = Math.sqrt(1 - cos * cos);
+            const angle = Math.atan2(sin, cos);
+            const oneOverSin = 1 / sin;
+            k0 = Math.sin((1 - time) * angle) * oneOverSin;
+            k1 = Math.sin((time) * angle) * oneOverSin;
+        }
+        dest.x = k0 * q1.x + k1 * q2a.x;
+        dest.y = k0 * q1.y + k1 * q2a.y;
+        dest.z = k0 * q1.z + k1 * q2a.z;
+        dest.w = k0 * q1.w + k1 * q2a.w;
+        return dest;
+    }
+    static mix(q1, q2, time, dest = null) {
+        if (!dest) {
+            dest = new TSMQuat();
+        }
+        const cosHalfTheta = q1.x * q2.x + q1.y * q2.y + q1.z * q2.z + q1.w * q2.w;
+        if (Math.abs(cosHalfTheta) >= 1.0) {
+            dest.xyzw = q1.xyzw;
+            return dest;
+        }
+        const halfTheta = Math.acos(cosHalfTheta), sinHalfTheta = Math.sqrt(1.0 - cosHalfTheta * cosHalfTheta);
+        if (Math.abs(sinHalfTheta) < 0.001) {
+            dest.x = q1.x * 0.5 + q2.x * 0.5;
+            dest.y = q1.y * 0.5 + q2.y * 0.5;
+            dest.z = q1.z * 0.5 + q2.z * 0.5;
+            dest.w = q1.w * 0.5 + q2.w * 0.5;
+            return dest;
+        }
+        const ratioA = Math.sin((1 - time) * halfTheta) / sinHalfTheta, ratioB = Math.sin(time * halfTheta) / sinHalfTheta;
+        dest.x = q1.x * ratioA + q2.x * ratioB;
+        dest.y = q1.y * ratioA + q2.y * ratioB;
+        dest.z = q1.z * ratioA + q2.z * ratioB;
+        dest.w = q1.w * ratioA + q2.w * ratioB;
+        return dest;
+    }
+    static fromAxis(axis, angle, dest = null) {
+        if (!dest) {
+            dest = new TSMQuat();
+        }
+        angle *= 0.5;
+        const sin = Math.sin(angle);
+        dest.x = axis.x * sin;
+        dest.y = axis.y * sin;
+        dest.z = axis.z * sin;
+        dest.w = Math.cos(angle);
+        return dest;
+    }
+    get x() {
+        return this.values[0];
+    }
+    get y() {
+        return this.values[1];
+    }
+    get z() {
+        return this.values[2];
+    }
+    get w() {
+        return this.values[3];
+    }
+    get xy() {
+        return [
+            this.values[0],
+            this.values[1]
+        ];
+    }
+    get xyz() {
+        return [
+            this.values[0],
+            this.values[1],
+            this.values[2]
+        ];
+    }
+    get xyzw() {
+        return [
+            this.values[0],
+            this.values[1],
+            this.values[2],
+            this.values[3]
+        ];
+    }
+    set x(value) {
+        this.values[0] = value;
+    }
+    set y(value) {
+        this.values[1] = value;
+    }
+    set z(value) {
+        this.values[2] = value;
+    }
+    set w(value) {
+        this.values[3] = value;
+    }
+    set xy(values) {
+        this.values[0] = values[0];
+        this.values[1] = values[1];
+    }
+    set xyz(values) {
+        this.values[0] = values[0];
+        this.values[1] = values[1];
+        this.values[2] = values[2];
+    }
+    set xyzw(values) {
+        this.values[0] = values[0];
+        this.values[1] = values[1];
+        this.values[2] = values[2];
+        this.values[3] = values[3];
+    }
+    constructor(values = null) {
+        this.values = new Float32Array(4);
+        if (values) {
+            this.xyzw = values;
+        }
+    }
+    at(index) {
+        return this.values[index];
+    }
+    reset() {
+        for (let i = 0; i < 4; i++) {
+            this.values[i] = 0;
+        }
+    }
+    copy(dest = null) {
+        if (!dest) {
+            dest = new TSMQuat();
+        }
+        for (let i = 0; i < 4; i++) {
+            dest.values[i] = this.values[i];
+        }
+        return dest;
+    }
+    roll() {
+        const x = this.x, y = this.y, z = this.z, w = this.w;
+        return Math.atan2(2.0 * (x * y + w * z), w * w + x * x - y * y - z * z);
+    }
+    pitch() {
+        const x = this.x, y = this.y, z = this.z, w = this.w;
+        return Math.atan2(2.0 * (y * z + w * x), w * w - x * x - y * y + z * z);
+    }
+    yaw() {
+        return Math.asin(2.0 * (this.x * this.z - this.w * this.y));
+    }
+    equals(vector, threshold = EPSILON) {
+        for (let i = 0; i < 4; i++) {
+            if (Math.abs(this.values[i] - vector.at(i)) > threshold) {
+                return false;
+            }
+        }
+        return true;
+    }
+    setIdentity() {
+        this.x = 0;
+        this.y = 0;
+        this.z = 0;
+        this.w = 1;
+        return this;
+    }
+    calculateW() {
+        const x = this.x, y = this.y, z = this.z;
+        this.w = -(Math.sqrt(Math.abs(1.0 - x * x - y * y - z * z)));
+        return this;
+    }
+    inverse() {
+        const dot = TSMQuat.dot(this, this);
+        if (!dot) {
+            this.xyzw = [0, 0, 0, 0];
+            return this;
+        }
+        const invDot = dot ? 1.0 / dot : 0;
+        this.x *= -invDot;
+        this.y *= -invDot;
+        this.z *= -invDot;
+        this.w *= invDot;
+        return this;
+    }
+    conjugate() {
+        this.values[0] *= -1;
+        this.values[1] *= -1;
+        this.values[2] *= -1;
+        return this;
+    }
+    length() {
+        const x = this.x, y = this.y, z = this.z, w = this.w;
+        return Math.sqrt(x * x + y * y + z * z + w * w);
+    }
+    normalize(dest = null) {
+        if (!dest) {
+            dest = this;
+        }
+        const x = this.x, y = this.y, z = this.z, w = this.w;
+        let length = Math.sqrt(x * x + y * y + z * z + w * w);
+        if (!length) {
+            dest.x = 0;
+            dest.y = 0;
+            dest.z = 0;
+            dest.w = 0;
+            return dest;
+        }
+        length = 1 / length;
+        dest.x = x * length;
+        dest.y = y * length;
+        dest.z = z * length;
+        dest.w = w * length;
+        return dest;
+    }
+    add(other) {
+        for (let i = 0; i < 4; i++) {
+            this.values[i] += other.at(i);
+        }
+        return this;
+    }
+    multiply(other) {
+        const q1x = this.values[0], q1y = this.values[1], q1z = this.values[2], q1w = this.values[3];
+        const q2x = other.x, q2y = other.y, q2z = other.z, q2w = other.w;
+        this.x = q1x * q2w + q1w * q2x + q1y * q2z - q1z * q2y;
+        this.y = q1y * q2w + q1w * q2y + q1z * q2x - q1x * q2z;
+        this.z = q1z * q2w + q1w * q2z + q1x * q2y - q1y * q2x;
+        this.w = q1w * q2w - q1x * q2x - q1y * q2y - q1z * q2z;
+        return this;
+    }
+    multiplyTSMVec3(vector, dest = null) {
+        if (!dest) {
+            dest = new vec3_1.TSMVec3();
+        }
+        const x = vector.x, y = vector.y, z = vector.z;
+        const qx = this.x, qy = this.y, qz = this.z, qw = this.w;
+        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;
+        dest.x = ix * qw + iw * -qx + iy * -qz - iz * -qy;
+        dest.y = iy * qw + iw * -qy + iz * -qx - ix * -qz;
+        dest.z = iz * qw + iw * -qz + ix * -qy - iy * -qx;
+        return dest;
+    }
+    toTSMMat3(dest = null) {
+        if (!dest) {
+            dest = new mat3_1.TSMMat3();
+        }
+        const x = this.x, y = this.y, z = this.z, w = this.w;
+        const x2 = x + x, y2 = y + y, z2 = z + z;
+        const xx = x * x2, xy = x * y2, xz = x * z2, yy = y * y2, yz = y * z2, zz = z * z2, wx = w * x2, wy = w * y2, wz = w * z2;
+        dest.init([
+            1 - (yy + zz),
+            xy + wz,
+            xz - wy,
+            xy - wz,
+            1 - (xx + zz),
+            yz + wx,
+            xz + wy,
+            yz - wx,
+            1 - (xx + yy)
+        ]);
+        return dest;
+    }
+    toTSMMat4(dest = null) {
+        if (!dest) {
+            dest = new mat4_1.TSMMat4();
+        }
+        const x = this.x, y = this.y, z = this.z, w = this.w, x2 = x + x, y2 = y + y, z2 = z + z, xx = x * x2, xy = x * y2, xz = x * z2, yy = y * y2, yz = y * z2, zz = z * z2, wx = w * x2, wy = w * y2, wz = w * z2;
+        dest.init([
+            1 - (yy + zz),
+            xy + wz,
+            xz - wy,
+            0,
+            xy - wz,
+            1 - (xx + zz),
+            yz + wx,
+            0,
+            xz + wy,
+            yz - wx,
+            1 - (xx + yy),
+            0,
+            0,
+            0,
+            0,
+            1
+        ]);
+        return dest;
+    }
+}
+exports.TSMQuat = TSMQuat;
+TSMQuat.identity = new TSMQuat().setIdentity();
 //# sourceMappingURL=quat.js.map