@fonsecabarreto/genesis-gl-react 0.1.0 → 0.1.1

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  1. package/dist/chunk-G55QEKXA.js +4669 -0
  2. package/dist/chunk-G55QEKXA.js.map +1 -0
  3. package/dist/chunk-QBJQURWX.js +66 -0
  4. package/dist/chunk-QBJQURWX.js.map +1 -0
  5. package/dist/chunk-SP2L7A72.js +351 -0
  6. package/dist/chunk-SP2L7A72.js.map +1 -0
  7. package/dist/components/index.js +9 -4
  8. package/dist/hooks/index.js +13 -4
  9. package/dist/index.js +26 -6
  10. package/dist/index.js.map +1 -1
  11. package/package.json +1 -1
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+ {"version":3,"sources":["../src/hooks/useGenesisGL.ts","../../GenesisGL/src/Core/shaders/index.ts","../../GenesisGL/src/Core/classes/WebGLCore.ts","../../../node_modules/gl-matrix/esm/common.js","../../../node_modules/gl-matrix/esm/mat3.js","../../../node_modules/gl-matrix/esm/mat4.js","../../../node_modules/gl-matrix/esm/quat.js","../../../node_modules/gl-matrix/esm/vec3.js","../../../node_modules/gl-matrix/esm/vec4.js","../../GenesisGL/src/Core/classes/Camera.ts","../../GenesisGL/src/Core/controls/Mouse/MouseWheelControl.ts","../../GenesisGL/src/Core/controls/Mouse/MouseDragControl.ts","../../GenesisGL/src/Core/controls/Mouse/MousePointerLockControl.ts","../../GenesisGL/src/Core/classes/Viewport.ts","../../GenesisGL/src/Core/utils/compute-bounds.ts","../../GenesisGL/src/Core/classes/Mesh.ts","../../GenesisGL/src/Core/utils/load-texture.ts","../../GenesisGL/src/Core/utils/parse-hex-to-rgb.ts","../../GenesisGL/src/Core/classes/Material.ts","../../GenesisGL/src/Core/classes/Light.ts","../../GenesisGL/src/Core/classes/Scene.ts","../../GenesisGL/src/Core/domain/value-objects/Collider.ts","../../GenesisGL/src/Core/utils/gltf-utils.ts","../../GenesisGL/src/Core/classes/Model.ts","../../GenesisGL/src/Core/classes/AnimationClip.ts","../../GenesisGL/src/Core/utils/create-wire-box.ts","../../GenesisGL/src/Core/classes/Renderer.ts","../../GenesisGL/src/Core/utils/parse-obj.ts","../src/hooks/useRenderer.ts","../src/hooks/useWorldToScreen.ts","../src/hooks/useCameraControls.ts"],"sourcesContent":["import { useRef, useEffect, useState } from 'react';\nimport type {\n WebGLCore,\n Scene,\n Renderer,\n Viewport,\n Model,\n} from '../../../GenesisGL/src/Core';\nimport { WebGLCore as WebGLCoreImpl } from '../../../GenesisGL/src/Core/classes/WebGLCore';\nimport { Viewport as ViewportImpl } from '../../../GenesisGL/src/Core/classes/Viewport';\nimport { Renderer as RendererImpl } from '../../../GenesisGL/src/Core/classes/Renderer';\nimport { Scene as SceneImpl } from '../../../GenesisGL/src/Core/classes/Scene';\nimport { loadOBJWithMTL } from '../../../GenesisGL/src/Core/utils/parse-obj';\nexport interface LoadOBJOptions {\n mtlUrl?: string | null;\n translation?: [number, number, number];\n scale?: [number, number, number];\n}\n\nexport interface GenesisGLContext {\n renderer: Renderer | null;\n scene: Scene | null;\n viewport: Viewport | null;\n webglCore: WebGLCore | null;\n loadOBJ: (objUrl: string, options?: LoadOBJOptions) => Promise<Model>;\n}\n\nexport interface UseGenesisGLOptions {\n canvasRef: React.RefObject<HTMLCanvasElement>;\n width?: number;\n height?: number;\n initialYaw?: number;\n initialPitch?: number;\n initialZoom?: number;\n onReady?: (context: GenesisGLContext) => void;\n onError?: (error: Error) => void;\n}\n\nconst nullLoadOBJ = (): Promise<never> =>\n Promise.reject(new Error('GenesisGL not initialized'));\n\nexport function useGenesisGL(options: UseGenesisGLOptions): GenesisGLContext {\n const [context, setContext] = useState<GenesisGLContext>({\n renderer: null,\n scene: null,\n viewport: null,\n webglCore: null,\n loadOBJ: nullLoadOBJ,\n });\n\n const contextRef = useRef<GenesisGLContext>(context);\n\n useEffect(() => {\n const { canvasRef, onReady, onError, width, height, initialYaw, initialPitch, initialZoom } = options;\n if (!canvasRef.current) return;\n\n try {\n const canvas = canvasRef.current;\n const vpWidth = width ?? window.innerWidth;\n const vpHeight = height ?? window.innerHeight;\n\n const webglCore = new WebGLCoreImpl(canvas);\n const viewport = new ViewportImpl(canvas, vpWidth, vpHeight, webglCore);\n const renderer = new RendererImpl(webglCore, viewport);\n const scene = SceneImpl.withDefaultLights(webglCore);\n\n viewport.camera.target = [0, 0, 0];\n viewport.camera.position = [4, 2, 8];\n if (initialYaw !== undefined) viewport.camera.yaw = initialYaw;\n if (initialPitch !== undefined) viewport.camera.pitch = initialPitch;\n if (initialZoom !== undefined) viewport.camera.setZoom(initialZoom);\n viewport.camera.invalidate();\n\n const loadOBJ = (objUrl: string, opts: LoadOBJOptions = {}) =>\n loadOBJWithMTL(\n webglCore,\n objUrl,\n opts.mtlUrl ?? null,\n opts.translation,\n opts.scale,\n );\n\n const ctx: GenesisGLContext = {\n renderer,\n scene,\n viewport,\n webglCore,\n loadOBJ,\n };\n contextRef.current = ctx;\n setContext(ctx);\n\n if (onReady) onReady(ctx);\n } catch (error) {\n const err = error instanceof Error ? error : new Error(String(error));\n console.error('Failed to initialize GenesisGL:', err);\n if (onError) onError(err);\n }\n\n return () => {\n const { scene, viewport, webglCore } = contextRef.current;\n if (scene && webglCore) scene.dispose(webglCore);\n if (viewport) viewport.dispose();\n if (webglCore) webglCore.dispose();\n };\n }, []);\n\n return context;\n}\n","// GLSL shader sources inlined as TypeScript strings so the package can\n// be built with tsup without requiring Vite's ?raw loader.\n\nexport const vsSource = /* glsl */ `\n#define MAX_JOINTS 128\n\nattribute vec3 aPosition;\nattribute vec3 aNormal;\nattribute vec2 aTexCoord;\n\n// ── Skinning attributes (vec4: up to 4 joint influences per vertex) ──\nattribute vec4 aJointIndices;\nattribute vec4 aJointWeights;\n\nuniform mat4 uModel;\nuniform mat4 uView;\nuniform mat4 uProjection;\n\n// ── Skinning uniforms ──\nuniform bool uUseSkinning;\nuniform mat4 uJointMatrices[MAX_JOINTS];\n\nvarying vec3 vNormal;\nvarying vec3 vPosition;\nvarying vec2 vTexCoord;\n\nvoid main() {\n vTexCoord = aTexCoord;\n\n vec4 pos = vec4(aPosition, 1.0);\n vec3 norm = aNormal;\n\n if (uUseSkinning) {\n mat4 skinMat =\n aJointWeights.x * uJointMatrices[int(aJointIndices.x)] +\n aJointWeights.y * uJointMatrices[int(aJointIndices.y)] +\n aJointWeights.z * uJointMatrices[int(aJointIndices.z)] +\n aJointWeights.w * uJointMatrices[int(aJointIndices.w)];\n pos = skinMat * pos;\n norm = mat3(skinMat) * norm;\n }\n\n vNormal = mat3(uModel) * norm;\n\n vec4 worldPosition = uModel * pos;\n vPosition = worldPosition.xyz;\n gl_Position = uProjection * uView * worldPosition;\n}\n`;\n\nexport const fsSource = /* glsl */ `\nprecision mediump float;\n\n#define MAX_LIGHTS 5\n\nvarying vec3 vNormal;\nvarying vec3 vPosition;\nvarying vec2 vTexCoord;\n\nuniform vec3 uLightDirection[MAX_LIGHTS];\nuniform vec3 uLightColor[MAX_LIGHTS];\nuniform float uLightIntensity[MAX_LIGHTS];\nuniform int uLightType[MAX_LIGHTS]; // 0=directional, 1=point, 2=ambient\nuniform int uLightCount;\nuniform vec3 uLightPosition[MAX_LIGHTS];\nuniform float uLightConstant[MAX_LIGHTS];\nuniform float uLightLinear[MAX_LIGHTS];\nuniform float uLightQuadratic[MAX_LIGHTS];\n\nuniform vec4 uColor;\nuniform bool uUnlit;\nuniform bool uUseTexture;\nuniform sampler2D uTexture;\n\nuniform vec3 uViewPosition;\nuniform float uShininess;\nuniform vec3 uSpecularColor;\n\nvoid main() {\n vec4 baseColor = uColor;\n if (uUseTexture) {\n baseColor *= texture2D(uTexture, vTexCoord);\n }\n\n if (uUnlit) {\n gl_FragColor = baseColor;\n return;\n }\n\n vec3 norm = normalize(vNormal);\n vec3 totalDiffuse = vec3(0.0);\n vec3 totalAmbient = vec3(0.0);\n vec3 totalSpecular = vec3(0.0);\n\n vec3 viewDir = normalize(uViewPosition - vPosition);\n\n for (int i = 0; i < MAX_LIGHTS; i++) {\n if (i >= uLightCount) break;\n\n if (uLightType[i] == 2) {\n totalAmbient += uLightColor[i] * uLightIntensity[i];\n } else {\n vec3 lightDir;\n float attenuation = 1.0;\n\n if (uLightType[i] == 0) {\n // Directional light\n lightDir = normalize(-uLightDirection[i]);\n } else {\n // Point light\n vec3 lightVec = uLightPosition[i] - vPosition;\n float distance = length(lightVec);\n lightDir = normalize(lightVec);\n attenuation = 1.0 / (\n uLightConstant[i] +\n uLightLinear[i] * distance +\n uLightQuadratic[i] * distance * distance\n );\n }\n\n // Diffuse\n float diff = max(dot(norm, lightDir), 0.0);\n totalDiffuse += diff * uLightColor[i] * uLightIntensity[i] * attenuation;\n\n // Specular (Blinn-Phong) — softer, more natural highlights\n vec3 halfDir = normalize(lightDir + viewDir);\n float spec = pow(max(dot(norm, halfDir), 0.0), uShininess);\n totalSpecular += spec * uSpecularColor * uLightIntensity[i] * attenuation;\n }\n }\n\n vec3 lightingResult =\n totalAmbient * baseColor.rgb +\n totalDiffuse * baseColor.rgb +\n totalSpecular;\n\n gl_FragColor = vec4(lightingResult, baseColor.a);\n}\n`;\n","/* eslint-disable @typescript-eslint/no-unsafe-argument */\nimport { vsSource, fsSource } from '../shaders/index';\n\nexport type RenderCallback = (\n gl: WebGLRenderingContext,\n program: WebGLProgram,\n) => void;\n\nexport class WebGLCore {\n public gl: WebGL2RenderingContext | WebGLRenderingContext;\n public program: WebGLProgram;\n public canvas: HTMLCanvasElement;\n public isWebGL2: boolean;\n\n /**\n * Initialise the WebGL rendering core.\n *\n * @param canvasOrId - An `HTMLCanvasElement` or the DOM `id` of one.\n * Defaults to `'glcanvas'`.\n */\n constructor(canvasOrId: string | HTMLCanvasElement = 'glcanvas') {\n const canvas =\n typeof canvasOrId === 'string'\n ? (document.getElementById(canvasOrId) as HTMLCanvasElement | null)\n : canvasOrId;\n if (!canvas) throw new Error('Canvas not found');\n this.canvas = canvas;\n\n canvas.width = window.innerWidth;\n canvas.height = window.innerHeight;\n\n this.gl = (canvas.getContext('webgl2') ?? canvas.getContext('webgl')) as\n | WebGL2RenderingContext\n | WebGLRenderingContext;\n\n if (!this.gl) throw new Error('WebGL not supported in this browser!');\n\n this.isWebGL2 = this.gl instanceof WebGL2RenderingContext;\n this.gl.viewport(0, 0, canvas.width, canvas.height);\n\n const program = this.createProgram(this.gl);\n if (!program) throw new Error('Failed to create program');\n this.program = program as unknown as WebGLProgram;\n }\n\n public getProgram(): WebGLProgram {\n return this.program;\n }\n\n public getRenderingContext(): WebGLRenderingContext {\n return this.gl;\n }\n\n private createProgram(gl: WebGLRenderingContext): WebGLProgram | null {\n const vertexShader = this.compileShader(gl, gl.VERTEX_SHADER, vsSource);\n const fragmentShader = this.compileShader(gl, gl.FRAGMENT_SHADER, fsSource);\n\n if (!vertexShader || !fragmentShader)\n throw new Error('Failed to create shaders');\n\n const program = gl.createProgram();\n if (!program) return null;\n\n gl.attachShader(program, vertexShader);\n gl.attachShader(program, fragmentShader);\n gl.linkProgram(program);\n\n // Clean up shader objects\n gl.deleteShader(vertexShader);\n gl.deleteShader(fragmentShader);\n\n if (!gl.getProgramParameter(program, gl.LINK_STATUS)) {\n console.error(gl.getProgramInfoLog(program));\n throw new Error(gl.getProgramInfoLog(program) || 'Program link error');\n }\n\n return program;\n }\n\n private compileShader(\n gl: WebGLRenderingContext,\n type: number,\n source: string,\n ): WebGLShader | null {\n const shader = gl.createShader(type);\n if (!shader) return null;\n\n gl.shaderSource(shader, source);\n gl.compileShader(shader);\n\n if (!gl.getShaderParameter(shader, gl.COMPILE_STATUS)) {\n console.error(gl.getShaderInfoLog(shader));\n gl.deleteShader(shader);\n throw new Error(gl.getShaderInfoLog(shader) || 'Shader compile error');\n }\n return shader;\n }\n\n public resize(width: number, height: number) {\n this.canvas.width = width;\n this.canvas.height = height;\n this.gl.viewport(0, 0, width, height);\n }\n\n dispose() {\n const { gl, program } = this;\n if (program) gl.deleteProgram(program);\n }\n}\n\nexport default WebGLCore;\n","/**\n * Common utilities\n * @module glMatrix\n */\n\n// Configuration Constants\nexport var EPSILON = 0.000001;\nexport var ARRAY_TYPE = typeof Float32Array !== \"undefined\" ? Float32Array : Array;\nexport var RANDOM = Math.random;\nexport var ANGLE_ORDER = \"zyx\";\n\n/**\n * Symmetric round\n * see https://www.npmjs.com/package/round-half-up-symmetric#user-content-detailed-background\n *\n * @param {Number} a value to round\n */\nexport function round(a) {\n if (a >= 0) return Math.round(a);\n return a % 0.5 === 0 ? Math.floor(a) : Math.round(a);\n}\n\n/**\n * Sets the type of array used when creating new vectors and matrices\n *\n * @param {Float32ArrayConstructor | ArrayConstructor} type Array type, such as Float32Array or Array\n */\nexport function setMatrixArrayType(type) {\n ARRAY_TYPE = type;\n}\nvar degree = Math.PI / 180;\nvar radian = 180 / Math.PI;\n\n/**\n * Convert Degree To Radian\n *\n * @param {Number} a Angle in Degrees\n */\nexport function toRadian(a) {\n return a * degree;\n}\n\n/**\n * Convert Radian To Degree\n *\n * @param {Number} a Angle in Radians\n */\nexport function toDegree(a) {\n return a * radian;\n}\n\n/**\n * Tests whether or not the arguments have approximately the same value, within an absolute\n * or relative tolerance of glMatrix.EPSILON (an absolute tolerance is used for values less\n * than or equal to 1.0, and a relative tolerance is used for larger values)\n *\n * @param {Number} a The first number to test.\n * @param {Number} b The second number to test.\n * @param {Number} tolerance Absolute or relative tolerance (default glMatrix.EPSILON)\n * @returns {Boolean} True if the numbers are approximately equal, false otherwise.\n */\nexport function equals(a, b) {\n var tolerance = arguments.length > 2 && arguments[2] !== undefined ? arguments[2] : EPSILON;\n return Math.abs(a - b) <= tolerance * Math.max(1, Math.abs(a), Math.abs(b));\n}","import * as glMatrix from \"./common.js\";\n\n/**\n * 3x3 Matrix\n * @module mat3\n */\n\n/**\n * Creates a new identity mat3\n *\n * @returns {mat3} a new 3x3 matrix\n */\nexport function create() {\n var out = new glMatrix.ARRAY_TYPE(9);\n if (glMatrix.ARRAY_TYPE != Float32Array) {\n out[1] = 0;\n out[2] = 0;\n out[3] = 0;\n out[5] = 0;\n out[6] = 0;\n out[7] = 0;\n }\n out[0] = 1;\n out[4] = 1;\n out[8] = 1;\n return out;\n}\n\n/**\n * Copies the upper-left 3x3 values into the given mat3.\n *\n * @param {mat3} out the receiving 3x3 matrix\n * @param {ReadonlyMat4} a the source 4x4 matrix\n * @returns {mat3} out\n */\nexport function fromMat4(out, a) {\n out[0] = a[0];\n out[1] = a[1];\n out[2] = a[2];\n out[3] = a[4];\n out[4] = a[5];\n out[5] = a[6];\n out[6] = a[8];\n out[7] = a[9];\n out[8] = a[10];\n return out;\n}\n\n/**\n * Creates a new mat3 initialized with values from an existing matrix\n *\n * @param {ReadonlyMat3} a matrix to clone\n * @returns {mat3} a new 3x3 matrix\n */\nexport function clone(a) {\n var out = new glMatrix.ARRAY_TYPE(9);\n out[0] = a[0];\n out[1] = a[1];\n out[2] = a[2];\n out[3] = a[3];\n out[4] = a[4];\n out[5] = a[5];\n out[6] = a[6];\n out[7] = a[7];\n out[8] = a[8];\n return out;\n}\n\n/**\n * Copy the values from one mat3 to another\n *\n * @param {mat3} out the receiving matrix\n * @param {ReadonlyMat3} a the source matrix\n * @returns {mat3} out\n */\nexport function copy(out, a) {\n out[0] = a[0];\n out[1] = a[1];\n out[2] = a[2];\n out[3] = a[3];\n out[4] = a[4];\n out[5] = a[5];\n out[6] = a[6];\n out[7] = a[7];\n out[8] = a[8];\n return out;\n}\n\n/**\n * Create a new mat3 with the given values\n *\n * @param {Number} m00 Component in column 0, row 0 position (index 0)\n * @param {Number} m01 Component in column 0, row 1 position (index 1)\n * @param {Number} m02 Component in column 0, row 2 position (index 2)\n * @param {Number} m10 Component in column 1, row 0 position (index 3)\n * @param {Number} m11 Component in column 1, row 1 position (index 4)\n * @param {Number} m12 Component in column 1, row 2 position (index 5)\n * @param {Number} m20 Component in column 2, row 0 position (index 6)\n * @param {Number} m21 Component in column 2, row 1 position (index 7)\n * @param {Number} m22 Component in column 2, row 2 position (index 8)\n * @returns {mat3} A new mat3\n */\nexport function fromValues(m00, m01, m02, m10, m11, m12, m20, m21, m22) {\n var out = new glMatrix.ARRAY_TYPE(9);\n out[0] = m00;\n out[1] = m01;\n out[2] = m02;\n out[3] = m10;\n out[4] = m11;\n out[5] = m12;\n out[6] = m20;\n out[7] = m21;\n out[8] = m22;\n return out;\n}\n\n/**\n * Set the components of a mat3 to the given values\n *\n * @param {mat3} out the receiving matrix\n * @param {Number} m00 Component in column 0, row 0 position (index 0)\n * @param {Number} m01 Component in column 0, row 1 position (index 1)\n * @param {Number} m02 Component in column 0, row 2 position (index 2)\n * @param {Number} m10 Component in column 1, row 0 position (index 3)\n * @param {Number} m11 Component in column 1, row 1 position (index 4)\n * @param {Number} m12 Component in column 1, row 2 position (index 5)\n * @param {Number} m20 Component in column 2, row 0 position (index 6)\n * @param {Number} m21 Component in column 2, row 1 position (index 7)\n * @param {Number} m22 Component in column 2, row 2 position (index 8)\n * @returns {mat3} out\n */\nexport function set(out, m00, m01, m02, m10, m11, m12, m20, m21, m22) {\n out[0] = m00;\n out[1] = m01;\n out[2] = m02;\n out[3] = m10;\n out[4] = m11;\n out[5] = m12;\n out[6] = m20;\n out[7] = m21;\n out[8] = m22;\n return out;\n}\n\n/**\n * Set a mat3 to the identity matrix\n *\n * @param {mat3} out the receiving matrix\n * @returns {mat3} out\n */\nexport function identity(out) {\n out[0] = 1;\n out[1] = 0;\n out[2] = 0;\n out[3] = 0;\n out[4] = 1;\n out[5] = 0;\n out[6] = 0;\n out[7] = 0;\n out[8] = 1;\n return out;\n}\n\n/**\n * Transpose the values of a mat3\n *\n * @param {mat3} out the receiving matrix\n * @param {ReadonlyMat3} a the source matrix\n * @returns {mat3} out\n */\nexport function transpose(out, a) {\n // If we are transposing ourselves we can skip a few steps but have to cache some values\n if (out === a) {\n var a01 = a[1],\n a02 = a[2],\n a12 = a[5];\n out[1] = a[3];\n out[2] = a[6];\n out[3] = a01;\n out[5] = a[7];\n out[6] = a02;\n out[7] = a12;\n } else {\n out[0] = a[0];\n out[1] = a[3];\n out[2] = a[6];\n out[3] = a[1];\n out[4] = a[4];\n out[5] = a[7];\n out[6] = a[2];\n out[7] = a[5];\n out[8] = a[8];\n }\n return out;\n}\n\n/**\n * Inverts a mat3\n *\n * @param {mat3} out the receiving matrix\n * @param {ReadonlyMat3} a the source matrix\n * @returns {mat3 | null} out, or null if source matrix is not invertible\n */\nexport function invert(out, a) {\n var a00 = a[0],\n a01 = a[1],\n a02 = a[2];\n var a10 = a[3],\n a11 = a[4],\n a12 = a[5];\n var a20 = a[6],\n a21 = a[7],\n a22 = a[8];\n var b01 = a22 * a11 - a12 * a21;\n var b11 = -a22 * a10 + a12 * a20;\n var b21 = a21 * a10 - a11 * a20;\n\n // Calculate the determinant\n var det = a00 * b01 + a01 * b11 + a02 * b21;\n if (!det) {\n return null;\n }\n det = 1.0 / det;\n out[0] = b01 * det;\n out[1] = (-a22 * a01 + a02 * a21) * det;\n out[2] = (a12 * a01 - a02 * a11) * det;\n out[3] = b11 * det;\n out[4] = (a22 * a00 - a02 * a20) * det;\n out[5] = (-a12 * a00 + a02 * a10) * det;\n out[6] = b21 * det;\n out[7] = (-a21 * a00 + a01 * a20) * det;\n out[8] = (a11 * a00 - a01 * a10) * det;\n return out;\n}\n\n/**\n * Calculates the adjugate of a mat3\n *\n * @param {mat3} out the receiving matrix\n * @param {ReadonlyMat3} a the source matrix\n * @returns {mat3} out\n */\nexport function adjoint(out, a) {\n var a00 = a[0],\n a01 = a[1],\n a02 = a[2];\n var a10 = a[3],\n a11 = a[4],\n a12 = a[5];\n var a20 = a[6],\n a21 = a[7],\n a22 = a[8];\n out[0] = a11 * a22 - a12 * a21;\n out[1] = a02 * a21 - a01 * a22;\n out[2] = a01 * a12 - a02 * a11;\n out[3] = a12 * a20 - a10 * a22;\n out[4] = a00 * a22 - a02 * a20;\n out[5] = a02 * a10 - a00 * a12;\n out[6] = a10 * a21 - a11 * a20;\n out[7] = a01 * a20 - a00 * a21;\n out[8] = a00 * a11 - a01 * a10;\n return out;\n}\n\n/**\n * Calculates the determinant of a mat3\n *\n * @param {ReadonlyMat3} a the source matrix\n * @returns {Number} determinant of a\n */\nexport function determinant(a) {\n var a00 = a[0],\n a01 = a[1],\n a02 = a[2];\n var a10 = a[3],\n a11 = a[4],\n a12 = a[5];\n var a20 = a[6],\n a21 = a[7],\n a22 = a[8];\n return a00 * (a22 * a11 - a12 * a21) + a01 * (-a22 * a10 + a12 * a20) + a02 * (a21 * a10 - a11 * a20);\n}\n\n/**\n * Multiplies two mat3's\n *\n * @param {mat3} out the receiving matrix\n * @param {ReadonlyMat3} a the first operand\n * @param {ReadonlyMat3} b the second operand\n * @returns {mat3} out\n */\nexport function multiply(out, a, b) {\n var a00 = a[0],\n a01 = a[1],\n a02 = a[2];\n var a10 = a[3],\n a11 = a[4],\n a12 = a[5];\n var a20 = a[6],\n a21 = a[7],\n a22 = a[8];\n var b00 = b[0],\n b01 = b[1],\n b02 = b[2];\n var b10 = b[3],\n b11 = b[4],\n b12 = b[5];\n var b20 = b[6],\n b21 = b[7],\n b22 = b[8];\n out[0] = b00 * a00 + b01 * a10 + b02 * a20;\n out[1] = b00 * a01 + b01 * a11 + b02 * a21;\n out[2] = b00 * a02 + b01 * a12 + b02 * a22;\n out[3] = b10 * a00 + b11 * a10 + b12 * a20;\n out[4] = b10 * a01 + b11 * a11 + b12 * a21;\n out[5] = b10 * a02 + b11 * a12 + b12 * a22;\n out[6] = b20 * a00 + b21 * a10 + b22 * a20;\n out[7] = b20 * a01 + b21 * a11 + b22 * a21;\n out[8] = b20 * a02 + b21 * a12 + b22 * a22;\n return out;\n}\n\n/**\n * Translate a mat3 by the given vector\n *\n * @param {mat3} out the receiving matrix\n * @param {ReadonlyMat3} a the matrix to translate\n * @param {ReadonlyVec2} v vector to translate by\n * @returns {mat3} out\n */\nexport function translate(out, a, v) {\n var a00 = a[0],\n a01 = a[1],\n a02 = a[2],\n a10 = a[3],\n a11 = a[4],\n a12 = a[5],\n a20 = a[6],\n a21 = a[7],\n a22 = a[8],\n x = v[0],\n y = v[1];\n out[0] = a00;\n out[1] = a01;\n out[2] = a02;\n out[3] = a10;\n out[4] = a11;\n out[5] = a12;\n out[6] = x * a00 + y * a10 + a20;\n out[7] = x * a01 + y * a11 + a21;\n out[8] = x * a02 + y * a12 + a22;\n return out;\n}\n\n/**\n * Rotates a mat3 by the given angle\n *\n * @param {mat3} out the receiving matrix\n * @param {ReadonlyMat3} a the matrix to rotate\n * @param {Number} rad the angle to rotate the matrix by\n * @returns {mat3} out\n */\nexport function rotate(out, a, rad) {\n var a00 = a[0],\n a01 = a[1],\n a02 = a[2],\n a10 = a[3],\n a11 = a[4],\n a12 = a[5],\n a20 = a[6],\n a21 = a[7],\n a22 = a[8],\n s = Math.sin(rad),\n c = Math.cos(rad);\n out[0] = c * a00 + s * a10;\n out[1] = c * a01 + s * a11;\n out[2] = c * a02 + s * a12;\n out[3] = c * a10 - s * a00;\n out[4] = c * a11 - s * a01;\n out[5] = c * a12 - s * a02;\n out[6] = a20;\n out[7] = a21;\n out[8] = a22;\n return out;\n}\n\n/**\n * Scales the mat3 by the dimensions in the given vec2\n *\n * @param {mat3} out the receiving matrix\n * @param {ReadonlyMat3} a the matrix to scale\n * @param {ReadonlyVec2} v the vec2 to scale the matrix by\n * @returns {mat3} out\n **/\nexport function scale(out, a, v) {\n var x = v[0],\n y = v[1];\n out[0] = x * a[0];\n out[1] = x * a[1];\n out[2] = x * a[2];\n out[3] = y * a[3];\n out[4] = y * a[4];\n out[5] = y * a[5];\n out[6] = a[6];\n out[7] = a[7];\n out[8] = a[8];\n return out;\n}\n\n/**\n * Creates a matrix from a vector translation\n * This is equivalent to (but much faster than):\n *\n * mat3.identity(dest);\n * mat3.translate(dest, dest, vec);\n *\n * @param {mat3} out mat3 receiving operation result\n * @param {ReadonlyVec2} v Translation vector\n * @returns {mat3} out\n */\nexport function fromTranslation(out, v) {\n out[0] = 1;\n out[1] = 0;\n out[2] = 0;\n out[3] = 0;\n out[4] = 1;\n out[5] = 0;\n out[6] = v[0];\n out[7] = v[1];\n out[8] = 1;\n return out;\n}\n\n/**\n * Creates a matrix from a given angle\n * This is equivalent to (but much faster than):\n *\n * mat3.identity(dest);\n * mat3.rotate(dest, dest, rad);\n *\n * @param {mat3} out mat3 receiving operation result\n * @param {Number} rad the angle to rotate the matrix by\n * @returns {mat3} out\n */\nexport function fromRotation(out, rad) {\n var s = Math.sin(rad),\n c = Math.cos(rad);\n out[0] = c;\n out[1] = s;\n out[2] = 0;\n out[3] = -s;\n out[4] = c;\n out[5] = 0;\n out[6] = 0;\n out[7] = 0;\n out[8] = 1;\n return out;\n}\n\n/**\n * Creates a matrix from a vector scaling\n * This is equivalent to (but much faster than):\n *\n * mat3.identity(dest);\n * mat3.scale(dest, dest, vec);\n *\n * @param {mat3} out mat3 receiving operation result\n * @param {ReadonlyVec2} v Scaling vector\n * @returns {mat3} out\n */\nexport function fromScaling(out, v) {\n out[0] = v[0];\n out[1] = 0;\n out[2] = 0;\n out[3] = 0;\n out[4] = v[1];\n out[5] = 0;\n out[6] = 0;\n out[7] = 0;\n out[8] = 1;\n return out;\n}\n\n/**\n * Copies the values from a mat2d into a mat3\n *\n * @param {mat3} out the receiving matrix\n * @param {ReadonlyMat2d} a the matrix to copy\n * @returns {mat3} out\n **/\nexport function fromMat2d(out, a) {\n out[0] = a[0];\n out[1] = a[1];\n out[2] = 0;\n out[3] = a[2];\n out[4] = a[3];\n out[5] = 0;\n out[6] = a[4];\n out[7] = a[5];\n out[8] = 1;\n return out;\n}\n\n/**\n * Calculates a 3x3 matrix from the given quaternion\n *\n * @param {mat3} out mat3 receiving operation result\n * @param {ReadonlyQuat} q Quaternion to create matrix from\n *\n * @returns {mat3} out\n */\nexport function fromQuat(out, q) {\n var x = q[0],\n y = q[1],\n z = q[2],\n w = q[3];\n var x2 = x + x;\n var y2 = y + y;\n var z2 = z + z;\n var xx = x * x2;\n var yx = y * x2;\n var yy = y * y2;\n var zx = z * x2;\n var zy = z * y2;\n var zz = z * z2;\n var wx = w * x2;\n var wy = w * y2;\n var wz = w * z2;\n out[0] = 1 - yy - zz;\n out[3] = yx - wz;\n out[6] = zx + wy;\n out[1] = yx + wz;\n out[4] = 1 - xx - zz;\n out[7] = zy - wx;\n out[2] = zx - wy;\n out[5] = zy + wx;\n out[8] = 1 - xx - yy;\n return out;\n}\n\n/**\n * Calculates a 3x3 normal matrix (transpose inverse) from the 4x4 matrix\n *\n * @param {mat3} out mat3 receiving operation result\n * @param {ReadonlyMat4} a Mat4 to derive the normal matrix from\n *\n * @returns {mat3} out\n */\nexport function normalFromMat4(out, a) {\n var a00 = a[0],\n a01 = a[1],\n a02 = a[2],\n a03 = a[3];\n var a10 = a[4],\n a11 = a[5],\n a12 = a[6],\n a13 = a[7];\n var a20 = a[8],\n a21 = a[9],\n a22 = a[10],\n a23 = a[11];\n var a30 = a[12],\n a31 = a[13],\n a32 = a[14],\n a33 = a[15];\n var b00 = a00 * a11 - a01 * a10;\n var b01 = a00 * a12 - a02 * a10;\n var b02 = a00 * a13 - a03 * a10;\n var b03 = a01 * a12 - a02 * a11;\n var b04 = a01 * a13 - a03 * a11;\n var b05 = a02 * a13 - a03 * a12;\n var b06 = a20 * a31 - a21 * a30;\n var b07 = a20 * a32 - a22 * a30;\n var b08 = a20 * a33 - a23 * a30;\n var b09 = a21 * a32 - a22 * a31;\n var b10 = a21 * a33 - a23 * a31;\n var b11 = a22 * a33 - a23 * a32;\n\n // Calculate the determinant\n var det = b00 * b11 - b01 * b10 + b02 * b09 + b03 * b08 - b04 * b07 + b05 * b06;\n if (!det) {\n return null;\n }\n det = 1.0 / det;\n out[0] = (a11 * b11 - a12 * b10 + a13 * b09) * det;\n out[1] = (a12 * b08 - a10 * b11 - a13 * b07) * det;\n out[2] = (a10 * b10 - a11 * b08 + a13 * b06) * det;\n out[3] = (a02 * b10 - a01 * b11 - a03 * b09) * det;\n out[4] = (a00 * b11 - a02 * b08 + a03 * b07) * det;\n out[5] = (a01 * b08 - a00 * b10 - a03 * b06) * det;\n out[6] = (a31 * b05 - a32 * b04 + a33 * b03) * det;\n out[7] = (a32 * b02 - a30 * b05 - a33 * b01) * det;\n out[8] = (a30 * b04 - a31 * b02 + a33 * b00) * det;\n return out;\n}\n\n/**\n * Generates a 2D projection matrix with the given bounds\n *\n * @param {mat3} out mat3 frustum matrix will be written into\n * @param {number} width Width of your gl context\n * @param {number} height Height of gl context\n * @returns {mat3} out\n */\nexport function projection(out, width, height) {\n out[0] = 2 / width;\n out[1] = 0;\n out[2] = 0;\n out[3] = 0;\n out[4] = -2 / height;\n out[5] = 0;\n out[6] = -1;\n out[7] = 1;\n out[8] = 1;\n return out;\n}\n\n/**\n * Returns a string representation of a mat3\n *\n * @param {ReadonlyMat3} a matrix to represent as a string\n * @returns {String} string representation of the matrix\n */\nexport function str(a) {\n return \"mat3(\" + a[0] + \", \" + a[1] + \", \" + a[2] + \", \" + a[3] + \", \" + a[4] + \", \" + a[5] + \", \" + a[6] + \", \" + a[7] + \", \" + a[8] + \")\";\n}\n\n/**\n * Returns Frobenius norm of a mat3\n *\n * @param {ReadonlyMat3} a the matrix to calculate Frobenius norm of\n * @returns {Number} Frobenius norm\n */\nexport function frob(a) {\n return Math.sqrt(a[0] * a[0] + a[1] * a[1] + a[2] * a[2] + a[3] * a[3] + a[4] * a[4] + a[5] * a[5] + a[6] * a[6] + a[7] * a[7] + a[8] * a[8]);\n}\n\n/**\n * Adds two mat3's\n *\n * @param {mat3} out the receiving matrix\n * @param {ReadonlyMat3} a the first operand\n * @param {ReadonlyMat3} b the second operand\n * @returns {mat3} out\n */\nexport function add(out, a, b) {\n out[0] = a[0] + b[0];\n out[1] = a[1] + b[1];\n out[2] = a[2] + b[2];\n out[3] = a[3] + b[3];\n out[4] = a[4] + b[4];\n out[5] = a[5] + b[5];\n out[6] = a[6] + b[6];\n out[7] = a[7] + b[7];\n out[8] = a[8] + b[8];\n return out;\n}\n\n/**\n * Subtracts matrix b from matrix a\n *\n * @param {mat3} out the receiving matrix\n * @param {ReadonlyMat3} a the first operand\n * @param {ReadonlyMat3} b the second operand\n * @returns {mat3} out\n */\nexport function subtract(out, a, b) {\n out[0] = a[0] - b[0];\n out[1] = a[1] - b[1];\n out[2] = a[2] - b[2];\n out[3] = a[3] - b[3];\n out[4] = a[4] - b[4];\n out[5] = a[5] - b[5];\n out[6] = a[6] - b[6];\n out[7] = a[7] - b[7];\n out[8] = a[8] - b[8];\n return out;\n}\n\n/**\n * Multiply each element of the matrix by a scalar.\n *\n * @param {mat3} out the receiving matrix\n * @param {ReadonlyMat3} a the matrix to scale\n * @param {Number} b amount to scale the matrix's elements by\n * @returns {mat3} out\n */\nexport function multiplyScalar(out, a, b) {\n out[0] = a[0] * b;\n out[1] = a[1] * b;\n out[2] = a[2] * b;\n out[3] = a[3] * b;\n out[4] = a[4] * b;\n out[5] = a[5] * b;\n out[6] = a[6] * b;\n out[7] = a[7] * b;\n out[8] = a[8] * b;\n return out;\n}\n\n/**\n * Adds two mat3's after multiplying each element of the second operand by a scalar value.\n *\n * @param {mat3} out the receiving vector\n * @param {ReadonlyMat3} a the first operand\n * @param {ReadonlyMat3} b the second operand\n * @param {Number} scale the amount to scale b's elements by before adding\n * @returns {mat3} out\n */\nexport function multiplyScalarAndAdd(out, a, b, scale) {\n out[0] = a[0] + b[0] * scale;\n out[1] = a[1] + b[1] * scale;\n out[2] = a[2] + b[2] * scale;\n out[3] = a[3] + b[3] * scale;\n out[4] = a[4] + b[4] * scale;\n out[5] = a[5] + b[5] * scale;\n out[6] = a[6] + b[6] * scale;\n out[7] = a[7] + b[7] * scale;\n out[8] = a[8] + b[8] * scale;\n return out;\n}\n\n/**\n * Returns whether or not the matrices have exactly the same elements in the same position (when compared with ===)\n *\n * @param {ReadonlyMat3} a The first matrix.\n * @param {ReadonlyMat3} b The second matrix.\n * @returns {Boolean} True if the matrices are equal, false otherwise.\n */\nexport function exactEquals(a, b) {\n return a[0] === b[0] && a[1] === b[1] && a[2] === b[2] && a[3] === b[3] && a[4] === b[4] && a[5] === b[5] && a[6] === b[6] && a[7] === b[7] && a[8] === b[8];\n}\n\n/**\n * Returns whether or not the matrices have approximately the same elements in the same position.\n *\n * @param {ReadonlyMat3} a The first matrix.\n * @param {ReadonlyMat3} b The second matrix.\n * @returns {Boolean} True if the matrices are equal, false otherwise.\n */\nexport function equals(a, b) {\n var a0 = a[0],\n a1 = a[1],\n a2 = a[2],\n a3 = a[3],\n a4 = a[4],\n a5 = a[5],\n a6 = a[6],\n a7 = a[7],\n a8 = a[8];\n var b0 = b[0],\n b1 = b[1],\n b2 = b[2],\n b3 = b[3],\n b4 = b[4],\n b5 = b[5],\n b6 = b[6],\n b7 = b[7],\n b8 = b[8];\n return Math.abs(a0 - b0) <= glMatrix.EPSILON * Math.max(1.0, Math.abs(a0), Math.abs(b0)) && Math.abs(a1 - b1) <= glMatrix.EPSILON * Math.max(1.0, Math.abs(a1), Math.abs(b1)) && Math.abs(a2 - b2) <= glMatrix.EPSILON * Math.max(1.0, Math.abs(a2), Math.abs(b2)) && Math.abs(a3 - b3) <= glMatrix.EPSILON * Math.max(1.0, Math.abs(a3), Math.abs(b3)) && Math.abs(a4 - b4) <= glMatrix.EPSILON * Math.max(1.0, Math.abs(a4), Math.abs(b4)) && Math.abs(a5 - b5) <= glMatrix.EPSILON * Math.max(1.0, Math.abs(a5), Math.abs(b5)) && Math.abs(a6 - b6) <= glMatrix.EPSILON * Math.max(1.0, Math.abs(a6), Math.abs(b6)) && Math.abs(a7 - b7) <= glMatrix.EPSILON * Math.max(1.0, Math.abs(a7), Math.abs(b7)) && Math.abs(a8 - b8) <= glMatrix.EPSILON * Math.max(1.0, Math.abs(a8), Math.abs(b8));\n}\n\n/**\n * Alias for {@link mat3.multiply}\n * @function\n */\nexport var mul = multiply;\n\n/**\n * Alias for {@link mat3.subtract}\n * @function\n */\nexport var sub = subtract;","import * as glMatrix from \"./common.js\";\n\n/**\n * 4x4 Matrix<br>Format: column-major, when typed out it looks like row-major<br>The matrices are being post multiplied.\n * @module mat4\n */\n\n/**\n * Creates a new identity mat4\n *\n * @returns {mat4} a new 4x4 matrix\n */\nexport function create() {\n var out = new glMatrix.ARRAY_TYPE(16);\n if (glMatrix.ARRAY_TYPE != Float32Array) {\n out[1] = 0;\n out[2] = 0;\n out[3] = 0;\n out[4] = 0;\n out[6] = 0;\n out[7] = 0;\n out[8] = 0;\n out[9] = 0;\n out[11] = 0;\n out[12] = 0;\n out[13] = 0;\n out[14] = 0;\n }\n out[0] = 1;\n out[5] = 1;\n out[10] = 1;\n out[15] = 1;\n return out;\n}\n\n/**\n * Creates a new mat4 initialized with values from an existing matrix\n *\n * @param {ReadonlyMat4} a matrix to clone\n * @returns {mat4} a new 4x4 matrix\n */\nexport function clone(a) {\n var out = new glMatrix.ARRAY_TYPE(16);\n out[0] = a[0];\n out[1] = a[1];\n out[2] = a[2];\n out[3] = a[3];\n out[4] = a[4];\n out[5] = a[5];\n out[6] = a[6];\n out[7] = a[7];\n out[8] = a[8];\n out[9] = a[9];\n out[10] = a[10];\n out[11] = a[11];\n out[12] = a[12];\n out[13] = a[13];\n out[14] = a[14];\n out[15] = a[15];\n return out;\n}\n\n/**\n * Copy the values from one mat4 to another\n *\n * @param {mat4} out the receiving matrix\n * @param {ReadonlyMat4} a the source matrix\n * @returns {mat4} out\n */\nexport function copy(out, a) {\n out[0] = a[0];\n out[1] = a[1];\n out[2] = a[2];\n out[3] = a[3];\n out[4] = a[4];\n out[5] = a[5];\n out[6] = a[6];\n out[7] = a[7];\n out[8] = a[8];\n out[9] = a[9];\n out[10] = a[10];\n out[11] = a[11];\n out[12] = a[12];\n out[13] = a[13];\n out[14] = a[14];\n out[15] = a[15];\n return out;\n}\n\n/**\n * Create a new mat4 with the given values\n *\n * @param {Number} m00 Component in column 0, row 0 position (index 0)\n * @param {Number} m01 Component in column 0, row 1 position (index 1)\n * @param {Number} m02 Component in column 0, row 2 position (index 2)\n * @param {Number} m03 Component in column 0, row 3 position (index 3)\n * @param {Number} m10 Component in column 1, row 0 position (index 4)\n * @param {Number} m11 Component in column 1, row 1 position (index 5)\n * @param {Number} m12 Component in column 1, row 2 position (index 6)\n * @param {Number} m13 Component in column 1, row 3 position (index 7)\n * @param {Number} m20 Component in column 2, row 0 position (index 8)\n * @param {Number} m21 Component in column 2, row 1 position (index 9)\n * @param {Number} m22 Component in column 2, row 2 position (index 10)\n * @param {Number} m23 Component in column 2, row 3 position (index 11)\n * @param {Number} m30 Component in column 3, row 0 position (index 12)\n * @param {Number} m31 Component in column 3, row 1 position (index 13)\n * @param {Number} m32 Component in column 3, row 2 position (index 14)\n * @param {Number} m33 Component in column 3, row 3 position (index 15)\n * @returns {mat4} A new mat4\n */\nexport function fromValues(m00, m01, m02, m03, m10, m11, m12, m13, m20, m21, m22, m23, m30, m31, m32, m33) {\n var out = new glMatrix.ARRAY_TYPE(16);\n out[0] = m00;\n out[1] = m01;\n out[2] = m02;\n out[3] = m03;\n out[4] = m10;\n out[5] = m11;\n out[6] = m12;\n out[7] = m13;\n out[8] = m20;\n out[9] = m21;\n out[10] = m22;\n out[11] = m23;\n out[12] = m30;\n out[13] = m31;\n out[14] = m32;\n out[15] = m33;\n return out;\n}\n\n/**\n * Set the components of a mat4 to the given values\n *\n * @param {mat4} out the receiving matrix\n * @param {Number} m00 Component in column 0, row 0 position (index 0)\n * @param {Number} m01 Component in column 0, row 1 position (index 1)\n * @param {Number} m02 Component in column 0, row 2 position (index 2)\n * @param {Number} m03 Component in column 0, row 3 position (index 3)\n * @param {Number} m10 Component in column 1, row 0 position (index 4)\n * @param {Number} m11 Component in column 1, row 1 position (index 5)\n * @param {Number} m12 Component in column 1, row 2 position (index 6)\n * @param {Number} m13 Component in column 1, row 3 position (index 7)\n * @param {Number} m20 Component in column 2, row 0 position (index 8)\n * @param {Number} m21 Component in column 2, row 1 position (index 9)\n * @param {Number} m22 Component in column 2, row 2 position (index 10)\n * @param {Number} m23 Component in column 2, row 3 position (index 11)\n * @param {Number} m30 Component in column 3, row 0 position (index 12)\n * @param {Number} m31 Component in column 3, row 1 position (index 13)\n * @param {Number} m32 Component in column 3, row 2 position (index 14)\n * @param {Number} m33 Component in column 3, row 3 position (index 15)\n * @returns {mat4} out\n */\nexport function set(out, m00, m01, m02, m03, m10, m11, m12, m13, m20, m21, m22, m23, m30, m31, m32, m33) {\n out[0] = m00;\n out[1] = m01;\n out[2] = m02;\n out[3] = m03;\n out[4] = m10;\n out[5] = m11;\n out[6] = m12;\n out[7] = m13;\n out[8] = m20;\n out[9] = m21;\n out[10] = m22;\n out[11] = m23;\n out[12] = m30;\n out[13] = m31;\n out[14] = m32;\n out[15] = m33;\n return out;\n}\n\n/**\n * Set a mat4 to the identity matrix\n *\n * @param {mat4} out the receiving matrix\n * @returns {mat4} out\n */\nexport function identity(out) {\n out[0] = 1;\n out[1] = 0;\n out[2] = 0;\n out[3] = 0;\n out[4] = 0;\n out[5] = 1;\n out[6] = 0;\n out[7] = 0;\n out[8] = 0;\n out[9] = 0;\n out[10] = 1;\n out[11] = 0;\n out[12] = 0;\n out[13] = 0;\n out[14] = 0;\n out[15] = 1;\n return out;\n}\n\n/**\n * Transpose the values of a mat4\n *\n * @param {mat4} out the receiving matrix\n * @param {ReadonlyMat4} a the source matrix\n * @returns {mat4} out\n */\nexport function transpose(out, a) {\n // If we are transposing ourselves we can skip a few steps but have to cache some values\n if (out === a) {\n var a01 = a[1],\n a02 = a[2],\n a03 = a[3];\n var a12 = a[6],\n a13 = a[7];\n var a23 = a[11];\n out[1] = a[4];\n out[2] = a[8];\n out[3] = a[12];\n out[4] = a01;\n out[6] = a[9];\n out[7] = a[13];\n out[8] = a02;\n out[9] = a12;\n out[11] = a[14];\n out[12] = a03;\n out[13] = a13;\n out[14] = a23;\n } else {\n out[0] = a[0];\n out[1] = a[4];\n out[2] = a[8];\n out[3] = a[12];\n out[4] = a[1];\n out[5] = a[5];\n out[6] = a[9];\n out[7] = a[13];\n out[8] = a[2];\n out[9] = a[6];\n out[10] = a[10];\n out[11] = a[14];\n out[12] = a[3];\n out[13] = a[7];\n out[14] = a[11];\n out[15] = a[15];\n }\n return out;\n}\n\n/**\n * Inverts a mat4\n *\n * @param {mat4} out the receiving matrix\n * @param {ReadonlyMat4} a the source matrix\n * @returns {mat4 | null} out, or null if source matrix is not invertible\n */\nexport function invert(out, a) {\n var a00 = a[0],\n a01 = a[1],\n a02 = a[2],\n a03 = a[3];\n var a10 = a[4],\n a11 = a[5],\n a12 = a[6],\n a13 = a[7];\n var a20 = a[8],\n a21 = a[9],\n a22 = a[10],\n a23 = a[11];\n var a30 = a[12],\n a31 = a[13],\n a32 = a[14],\n a33 = a[15];\n var b00 = a00 * a11 - a01 * a10;\n var b01 = a00 * a12 - a02 * a10;\n var b02 = a00 * a13 - a03 * a10;\n var b03 = a01 * a12 - a02 * a11;\n var b04 = a01 * a13 - a03 * a11;\n var b05 = a02 * a13 - a03 * a12;\n var b06 = a20 * a31 - a21 * a30;\n var b07 = a20 * a32 - a22 * a30;\n var b08 = a20 * a33 - a23 * a30;\n var b09 = a21 * a32 - a22 * a31;\n var b10 = a21 * a33 - a23 * a31;\n var b11 = a22 * a33 - a23 * a32;\n\n // Calculate the determinant\n var det = b00 * b11 - b01 * b10 + b02 * b09 + b03 * b08 - b04 * b07 + b05 * b06;\n if (!det) {\n return null;\n }\n det = 1.0 / det;\n out[0] = (a11 * b11 - a12 * b10 + a13 * b09) * det;\n out[1] = (a02 * b10 - a01 * b11 - a03 * b09) * det;\n out[2] = (a31 * b05 - a32 * b04 + a33 * b03) * det;\n out[3] = (a22 * b04 - a21 * b05 - a23 * b03) * det;\n out[4] = (a12 * b08 - a10 * b11 - a13 * b07) * det;\n out[5] = (a00 * b11 - a02 * b08 + a03 * b07) * det;\n out[6] = (a32 * b02 - a30 * b05 - a33 * b01) * det;\n out[7] = (a20 * b05 - a22 * b02 + a23 * b01) * det;\n out[8] = (a10 * b10 - a11 * b08 + a13 * b06) * det;\n out[9] = (a01 * b08 - a00 * b10 - a03 * b06) * det;\n out[10] = (a30 * b04 - a31 * b02 + a33 * b00) * det;\n out[11] = (a21 * b02 - a20 * b04 - a23 * b00) * det;\n out[12] = (a11 * b07 - a10 * b09 - a12 * b06) * det;\n out[13] = (a00 * b09 - a01 * b07 + a02 * b06) * det;\n out[14] = (a31 * b01 - a30 * b03 - a32 * b00) * det;\n out[15] = (a20 * b03 - a21 * b01 + a22 * b00) * det;\n return out;\n}\n\n/**\n * Calculates the adjugate of a mat4\n *\n * @param {mat4} out the receiving matrix\n * @param {ReadonlyMat4} a the source matrix\n * @returns {mat4} out\n */\nexport function adjoint(out, a) {\n var a00 = a[0],\n a01 = a[1],\n a02 = a[2],\n a03 = a[3];\n var a10 = a[4],\n a11 = a[5],\n a12 = a[6],\n a13 = a[7];\n var a20 = a[8],\n a21 = a[9],\n a22 = a[10],\n a23 = a[11];\n var a30 = a[12],\n a31 = a[13],\n a32 = a[14],\n a33 = a[15];\n var b00 = a00 * a11 - a01 * a10;\n var b01 = a00 * a12 - a02 * a10;\n var b02 = a00 * a13 - a03 * a10;\n var b03 = a01 * a12 - a02 * a11;\n var b04 = a01 * a13 - a03 * a11;\n var b05 = a02 * a13 - a03 * a12;\n var b06 = a20 * a31 - a21 * a30;\n var b07 = a20 * a32 - a22 * a30;\n var b08 = a20 * a33 - a23 * a30;\n var b09 = a21 * a32 - a22 * a31;\n var b10 = a21 * a33 - a23 * a31;\n var b11 = a22 * a33 - a23 * a32;\n out[0] = a11 * b11 - a12 * b10 + a13 * b09;\n out[1] = a02 * b10 - a01 * b11 - a03 * b09;\n out[2] = a31 * b05 - a32 * b04 + a33 * b03;\n out[3] = a22 * b04 - a21 * b05 - a23 * b03;\n out[4] = a12 * b08 - a10 * b11 - a13 * b07;\n out[5] = a00 * b11 - a02 * b08 + a03 * b07;\n out[6] = a32 * b02 - a30 * b05 - a33 * b01;\n out[7] = a20 * b05 - a22 * b02 + a23 * b01;\n out[8] = a10 * b10 - a11 * b08 + a13 * b06;\n out[9] = a01 * b08 - a00 * b10 - a03 * b06;\n out[10] = a30 * b04 - a31 * b02 + a33 * b00;\n out[11] = a21 * b02 - a20 * b04 - a23 * b00;\n out[12] = a11 * b07 - a10 * b09 - a12 * b06;\n out[13] = a00 * b09 - a01 * b07 + a02 * b06;\n out[14] = a31 * b01 - a30 * b03 - a32 * b00;\n out[15] = a20 * b03 - a21 * b01 + a22 * b00;\n return out;\n}\n\n/**\n * Calculates the determinant of a mat4\n *\n * @param {ReadonlyMat4} a the source matrix\n * @returns {Number} determinant of a\n */\nexport function determinant(a) {\n var a00 = a[0],\n a01 = a[1],\n a02 = a[2],\n a03 = a[3];\n var a10 = a[4],\n a11 = a[5],\n a12 = a[6],\n a13 = a[7];\n var a20 = a[8],\n a21 = a[9],\n a22 = a[10],\n a23 = a[11];\n var a30 = a[12],\n a31 = a[13],\n a32 = a[14],\n a33 = a[15];\n var b0 = a00 * a11 - a01 * a10;\n var b1 = a00 * a12 - a02 * a10;\n var b2 = a01 * a12 - a02 * a11;\n var b3 = a20 * a31 - a21 * a30;\n var b4 = a20 * a32 - a22 * a30;\n var b5 = a21 * a32 - a22 * a31;\n var b6 = a00 * b5 - a01 * b4 + a02 * b3;\n var b7 = a10 * b5 - a11 * b4 + a12 * b3;\n var b8 = a20 * b2 - a21 * b1 + a22 * b0;\n var b9 = a30 * b2 - a31 * b1 + a32 * b0;\n\n // Calculate the determinant\n return a13 * b6 - a03 * b7 + a33 * b8 - a23 * b9;\n}\n\n/**\n * Multiplies two mat4s\n *\n * @param {mat4} out the receiving matrix\n * @param {ReadonlyMat4} a the first operand\n * @param {ReadonlyMat4} b the second operand\n * @returns {mat4} out\n */\nexport function multiply(out, a, b) {\n var a00 = a[0],\n a01 = a[1],\n a02 = a[2],\n a03 = a[3];\n var a10 = a[4],\n a11 = a[5],\n a12 = a[6],\n a13 = a[7];\n var a20 = a[8],\n a21 = a[9],\n a22 = a[10],\n a23 = a[11];\n var a30 = a[12],\n a31 = a[13],\n a32 = a[14],\n a33 = a[15];\n\n // Cache only the current line of the second matrix\n var b0 = b[0],\n b1 = b[1],\n b2 = b[2],\n b3 = b[3];\n out[0] = b0 * a00 + b1 * a10 + b2 * a20 + b3 * a30;\n out[1] = b0 * a01 + b1 * a11 + b2 * a21 + b3 * a31;\n out[2] = b0 * a02 + b1 * a12 + b2 * a22 + b3 * a32;\n out[3] = b0 * a03 + b1 * a13 + b2 * a23 + b3 * a33;\n b0 = b[4];\n b1 = b[5];\n b2 = b[6];\n b3 = b[7];\n out[4] = b0 * a00 + b1 * a10 + b2 * a20 + b3 * a30;\n out[5] = b0 * a01 + b1 * a11 + b2 * a21 + b3 * a31;\n out[6] = b0 * a02 + b1 * a12 + b2 * a22 + b3 * a32;\n out[7] = b0 * a03 + b1 * a13 + b2 * a23 + b3 * a33;\n b0 = b[8];\n b1 = b[9];\n b2 = b[10];\n b3 = b[11];\n out[8] = b0 * a00 + b1 * a10 + b2 * a20 + b3 * a30;\n out[9] = b0 * a01 + b1 * a11 + b2 * a21 + b3 * a31;\n out[10] = b0 * a02 + b1 * a12 + b2 * a22 + b3 * a32;\n out[11] = b0 * a03 + b1 * a13 + b2 * a23 + b3 * a33;\n b0 = b[12];\n b1 = b[13];\n b2 = b[14];\n b3 = b[15];\n out[12] = b0 * a00 + b1 * a10 + b2 * a20 + b3 * a30;\n out[13] = b0 * a01 + b1 * a11 + b2 * a21 + b3 * a31;\n out[14] = b0 * a02 + b1 * a12 + b2 * a22 + b3 * a32;\n out[15] = b0 * a03 + b1 * a13 + b2 * a23 + b3 * a33;\n return out;\n}\n\n/**\n * Translate a mat4 by the given vector\n *\n * @param {mat4} out the receiving matrix\n * @param {ReadonlyMat4} a the matrix to translate\n * @param {ReadonlyVec3} v vector to translate by\n * @returns {mat4} out\n */\nexport function translate(out, a, v) {\n var x = v[0],\n y = v[1],\n z = v[2];\n var a00, a01, a02, a03;\n var a10, a11, a12, a13;\n var a20, a21, a22, a23;\n if (a === out) {\n out[12] = a[0] * x + a[4] * y + a[8] * z + a[12];\n out[13] = a[1] * x + a[5] * y + a[9] * z + a[13];\n out[14] = a[2] * x + a[6] * y + a[10] * z + a[14];\n out[15] = a[3] * x + a[7] * y + a[11] * z + a[15];\n } else {\n a00 = a[0];\n a01 = a[1];\n a02 = a[2];\n a03 = a[3];\n a10 = a[4];\n a11 = a[5];\n a12 = a[6];\n a13 = a[7];\n a20 = a[8];\n a21 = a[9];\n a22 = a[10];\n a23 = a[11];\n out[0] = a00;\n out[1] = a01;\n out[2] = a02;\n out[3] = a03;\n out[4] = a10;\n out[5] = a11;\n out[6] = a12;\n out[7] = a13;\n out[8] = a20;\n out[9] = a21;\n out[10] = a22;\n out[11] = a23;\n out[12] = a00 * x + a10 * y + a20 * z + a[12];\n out[13] = a01 * x + a11 * y + a21 * z + a[13];\n out[14] = a02 * x + a12 * y + a22 * z + a[14];\n out[15] = a03 * x + a13 * y + a23 * z + a[15];\n }\n return out;\n}\n\n/**\n * Scales the mat4 by the dimensions in the given vec3 not using vectorization\n *\n * @param {mat4} out the receiving matrix\n * @param {ReadonlyMat4} a the matrix to scale\n * @param {ReadonlyVec3} v the vec3 to scale the matrix by\n * @returns {mat4} out\n **/\nexport function scale(out, a, v) {\n var x = v[0],\n y = v[1],\n z = v[2];\n out[0] = a[0] * x;\n out[1] = a[1] * x;\n out[2] = a[2] * x;\n out[3] = a[3] * x;\n out[4] = a[4] * y;\n out[5] = a[5] * y;\n out[6] = a[6] * y;\n out[7] = a[7] * y;\n out[8] = a[8] * z;\n out[9] = a[9] * z;\n out[10] = a[10] * z;\n out[11] = a[11] * z;\n out[12] = a[12];\n out[13] = a[13];\n out[14] = a[14];\n out[15] = a[15];\n return out;\n}\n\n/**\n * Rotates a mat4 by the given angle around the given axis\n *\n * @param {mat4} out the receiving matrix\n * @param {ReadonlyMat4} a the matrix to rotate\n * @param {Number} rad the angle to rotate the matrix by\n * @param {ReadonlyVec3} axis the axis to rotate around\n * @returns {mat4} out\n */\nexport function rotate(out, a, rad, axis) {\n var x = axis[0],\n y = axis[1],\n z = axis[2];\n var len = Math.sqrt(x * x + y * y + z * z);\n var s, c, t;\n var a00, a01, a02, a03;\n var a10, a11, a12, a13;\n var a20, a21, a22, a23;\n var b00, b01, b02;\n var b10, b11, b12;\n var b20, b21, b22;\n if (len < glMatrix.EPSILON) {\n return null;\n }\n len = 1 / len;\n x *= len;\n y *= len;\n z *= len;\n s = Math.sin(rad);\n c = Math.cos(rad);\n t = 1 - c;\n a00 = a[0];\n a01 = a[1];\n a02 = a[2];\n a03 = a[3];\n a10 = a[4];\n a11 = a[5];\n a12 = a[6];\n a13 = a[7];\n a20 = a[8];\n a21 = a[9];\n a22 = a[10];\n a23 = a[11];\n\n // Construct the elements of the rotation matrix\n b00 = x * x * t + c;\n b01 = y * x * t + z * s;\n b02 = z * x * t - y * s;\n b10 = x * y * t - z * s;\n b11 = y * y * t + c;\n b12 = z * y * t + x * s;\n b20 = x * z * t + y * s;\n b21 = y * z * t - x * s;\n b22 = z * z * t + c;\n\n // Perform rotation-specific matrix multiplication\n out[0] = a00 * b00 + a10 * b01 + a20 * b02;\n out[1] = a01 * b00 + a11 * b01 + a21 * b02;\n out[2] = a02 * b00 + a12 * b01 + a22 * b02;\n out[3] = a03 * b00 + a13 * b01 + a23 * b02;\n out[4] = a00 * b10 + a10 * b11 + a20 * b12;\n out[5] = a01 * b10 + a11 * b11 + a21 * b12;\n out[6] = a02 * b10 + a12 * b11 + a22 * b12;\n out[7] = a03 * b10 + a13 * b11 + a23 * b12;\n out[8] = a00 * b20 + a10 * b21 + a20 * b22;\n out[9] = a01 * b20 + a11 * b21 + a21 * b22;\n out[10] = a02 * b20 + a12 * b21 + a22 * b22;\n out[11] = a03 * b20 + a13 * b21 + a23 * b22;\n if (a !== out) {\n // If the source and destination differ, copy the unchanged last row\n out[12] = a[12];\n out[13] = a[13];\n out[14] = a[14];\n out[15] = a[15];\n }\n return out;\n}\n\n/**\n * Rotates a matrix by the given angle around the X axis\n *\n * @param {mat4} out the receiving matrix\n * @param {ReadonlyMat4} a the matrix to rotate\n * @param {Number} rad the angle to rotate the matrix by\n * @returns {mat4} out\n */\nexport function rotateX(out, a, rad) {\n var s = Math.sin(rad);\n var c = Math.cos(rad);\n var a10 = a[4];\n var a11 = a[5];\n var a12 = a[6];\n var a13 = a[7];\n var a20 = a[8];\n var a21 = a[9];\n var a22 = a[10];\n var a23 = a[11];\n if (a !== out) {\n // If the source and destination differ, copy the unchanged rows\n out[0] = a[0];\n out[1] = a[1];\n out[2] = a[2];\n out[3] = a[3];\n out[12] = a[12];\n out[13] = a[13];\n out[14] = a[14];\n out[15] = a[15];\n }\n\n // Perform axis-specific matrix multiplication\n out[4] = a10 * c + a20 * s;\n out[5] = a11 * c + a21 * s;\n out[6] = a12 * c + a22 * s;\n out[7] = a13 * c + a23 * s;\n out[8] = a20 * c - a10 * s;\n out[9] = a21 * c - a11 * s;\n out[10] = a22 * c - a12 * s;\n out[11] = a23 * c - a13 * s;\n return out;\n}\n\n/**\n * Rotates a matrix by the given angle around the Y axis\n *\n * @param {mat4} out the receiving matrix\n * @param {ReadonlyMat4} a the matrix to rotate\n * @param {Number} rad the angle to rotate the matrix by\n * @returns {mat4} out\n */\nexport function rotateY(out, a, rad) {\n var s = Math.sin(rad);\n var c = Math.cos(rad);\n var a00 = a[0];\n var a01 = a[1];\n var a02 = a[2];\n var a03 = a[3];\n var a20 = a[8];\n var a21 = a[9];\n var a22 = a[10];\n var a23 = a[11];\n if (a !== out) {\n // If the source and destination differ, copy the unchanged rows\n out[4] = a[4];\n out[5] = a[5];\n out[6] = a[6];\n out[7] = a[7];\n out[12] = a[12];\n out[13] = a[13];\n out[14] = a[14];\n out[15] = a[15];\n }\n\n // Perform axis-specific matrix multiplication\n out[0] = a00 * c - a20 * s;\n out[1] = a01 * c - a21 * s;\n out[2] = a02 * c - a22 * s;\n out[3] = a03 * c - a23 * s;\n out[8] = a00 * s + a20 * c;\n out[9] = a01 * s + a21 * c;\n out[10] = a02 * s + a22 * c;\n out[11] = a03 * s + a23 * c;\n return out;\n}\n\n/**\n * Rotates a matrix by the given angle around the Z axis\n *\n * @param {mat4} out the receiving matrix\n * @param {ReadonlyMat4} a the matrix to rotate\n * @param {Number} rad the angle to rotate the matrix by\n * @returns {mat4} out\n */\nexport function rotateZ(out, a, rad) {\n var s = Math.sin(rad);\n var c = Math.cos(rad);\n var a00 = a[0];\n var a01 = a[1];\n var a02 = a[2];\n var a03 = a[3];\n var a10 = a[4];\n var a11 = a[5];\n var a12 = a[6];\n var a13 = a[7];\n if (a !== out) {\n // If the source and destination differ, copy the unchanged last row\n out[8] = a[8];\n out[9] = a[9];\n out[10] = a[10];\n out[11] = a[11];\n out[12] = a[12];\n out[13] = a[13];\n out[14] = a[14];\n out[15] = a[15];\n }\n\n // Perform axis-specific matrix multiplication\n out[0] = a00 * c + a10 * s;\n out[1] = a01 * c + a11 * s;\n out[2] = a02 * c + a12 * s;\n out[3] = a03 * c + a13 * s;\n out[4] = a10 * c - a00 * s;\n out[5] = a11 * c - a01 * s;\n out[6] = a12 * c - a02 * s;\n out[7] = a13 * c - a03 * s;\n return out;\n}\n\n/**\n * Creates a matrix from a vector translation\n * This is equivalent to (but much faster than):\n *\n * mat4.identity(dest);\n * mat4.translate(dest, dest, vec);\n *\n * @param {mat4} out mat4 receiving operation result\n * @param {ReadonlyVec3} v Translation vector\n * @returns {mat4} out\n */\nexport function fromTranslation(out, v) {\n out[0] = 1;\n out[1] = 0;\n out[2] = 0;\n out[3] = 0;\n out[4] = 0;\n out[5] = 1;\n out[6] = 0;\n out[7] = 0;\n out[8] = 0;\n out[9] = 0;\n out[10] = 1;\n out[11] = 0;\n out[12] = v[0];\n out[13] = v[1];\n out[14] = v[2];\n out[15] = 1;\n return out;\n}\n\n/**\n * Creates a matrix from a vector scaling\n * This is equivalent to (but much faster than):\n *\n * mat4.identity(dest);\n * mat4.scale(dest, dest, vec);\n *\n * @param {mat4} out mat4 receiving operation result\n * @param {ReadonlyVec3} v Scaling vector\n * @returns {mat4} out\n */\nexport function fromScaling(out, v) {\n out[0] = v[0];\n out[1] = 0;\n out[2] = 0;\n out[3] = 0;\n out[4] = 0;\n out[5] = v[1];\n out[6] = 0;\n out[7] = 0;\n out[8] = 0;\n out[9] = 0;\n out[10] = v[2];\n out[11] = 0;\n out[12] = 0;\n out[13] = 0;\n out[14] = 0;\n out[15] = 1;\n return out;\n}\n\n/**\n * Creates a matrix from a given angle around a given axis\n * This is equivalent to (but much faster than):\n *\n * mat4.identity(dest);\n * mat4.rotate(dest, dest, rad, axis);\n *\n * @param {mat4} out mat4 receiving operation result\n * @param {Number} rad the angle to rotate the matrix by\n * @param {ReadonlyVec3} axis the axis to rotate around\n * @returns {mat4} out\n */\nexport function fromRotation(out, rad, axis) {\n var x = axis[0],\n y = axis[1],\n z = axis[2];\n var len = Math.sqrt(x * x + y * y + z * z);\n var s, c, t;\n if (len < glMatrix.EPSILON) {\n return null;\n }\n len = 1 / len;\n x *= len;\n y *= len;\n z *= len;\n s = Math.sin(rad);\n c = Math.cos(rad);\n t = 1 - c;\n\n // Perform rotation-specific matrix multiplication\n out[0] = x * x * t + c;\n out[1] = y * x * t + z * s;\n out[2] = z * x * t - y * s;\n out[3] = 0;\n out[4] = x * y * t - z * s;\n out[5] = y * y * t + c;\n out[6] = z * y * t + x * s;\n out[7] = 0;\n out[8] = x * z * t + y * s;\n out[9] = y * z * t - x * s;\n out[10] = z * z * t + c;\n out[11] = 0;\n out[12] = 0;\n out[13] = 0;\n out[14] = 0;\n out[15] = 1;\n return out;\n}\n\n/**\n * Creates a matrix from the given angle around the X axis\n * This is equivalent to (but much faster than):\n *\n * mat4.identity(dest);\n * mat4.rotateX(dest, dest, rad);\n *\n * @param {mat4} out mat4 receiving operation result\n * @param {Number} rad the angle to rotate the matrix by\n * @returns {mat4} out\n */\nexport function fromXRotation(out, rad) {\n var s = Math.sin(rad);\n var c = Math.cos(rad);\n\n // Perform axis-specific matrix multiplication\n out[0] = 1;\n out[1] = 0;\n out[2] = 0;\n out[3] = 0;\n out[4] = 0;\n out[5] = c;\n out[6] = s;\n out[7] = 0;\n out[8] = 0;\n out[9] = -s;\n out[10] = c;\n out[11] = 0;\n out[12] = 0;\n out[13] = 0;\n out[14] = 0;\n out[15] = 1;\n return out;\n}\n\n/**\n * Creates a matrix from the given angle around the Y axis\n * This is equivalent to (but much faster than):\n *\n * mat4.identity(dest);\n * mat4.rotateY(dest, dest, rad);\n *\n * @param {mat4} out mat4 receiving operation result\n * @param {Number} rad the angle to rotate the matrix by\n * @returns {mat4} out\n */\nexport function fromYRotation(out, rad) {\n var s = Math.sin(rad);\n var c = Math.cos(rad);\n\n // Perform axis-specific matrix multiplication\n out[0] = c;\n out[1] = 0;\n out[2] = -s;\n out[3] = 0;\n out[4] = 0;\n out[5] = 1;\n out[6] = 0;\n out[7] = 0;\n out[8] = s;\n out[9] = 0;\n out[10] = c;\n out[11] = 0;\n out[12] = 0;\n out[13] = 0;\n out[14] = 0;\n out[15] = 1;\n return out;\n}\n\n/**\n * Creates a matrix from the given angle around the Z axis\n * This is equivalent to (but much faster than):\n *\n * mat4.identity(dest);\n * mat4.rotateZ(dest, dest, rad);\n *\n * @param {mat4} out mat4 receiving operation result\n * @param {Number} rad the angle to rotate the matrix by\n * @returns {mat4} out\n */\nexport function fromZRotation(out, rad) {\n var s = Math.sin(rad);\n var c = Math.cos(rad);\n\n // Perform axis-specific matrix multiplication\n out[0] = c;\n out[1] = s;\n out[2] = 0;\n out[3] = 0;\n out[4] = -s;\n out[5] = c;\n out[6] = 0;\n out[7] = 0;\n out[8] = 0;\n out[9] = 0;\n out[10] = 1;\n out[11] = 0;\n out[12] = 0;\n out[13] = 0;\n out[14] = 0;\n out[15] = 1;\n return out;\n}\n\n/**\n * Creates a matrix from a quaternion rotation and vector translation\n * This is equivalent to (but much faster than):\n *\n * mat4.identity(dest);\n * mat4.translate(dest, dest, vec);\n * let quatMat = mat4.create();\n * mat4.fromQuat(quatMat, quat);\n * mat4.multiply(dest, dest, quatMat);\n *\n * @param {mat4} out mat4 receiving operation result\n * @param {quat} q Rotation quaternion\n * @param {ReadonlyVec3} v Translation vector\n * @returns {mat4} out\n */\nexport function fromRotationTranslation(out, q, v) {\n // Quaternion math\n var x = q[0],\n y = q[1],\n z = q[2],\n w = q[3];\n var x2 = x + x;\n var y2 = y + y;\n var z2 = z + z;\n var xx = x * x2;\n var xy = x * y2;\n var xz = x * z2;\n var yy = y * y2;\n var yz = y * z2;\n var zz = z * z2;\n var wx = w * x2;\n var wy = w * y2;\n var wz = w * z2;\n out[0] = 1 - (yy + zz);\n out[1] = xy + wz;\n out[2] = xz - wy;\n out[3] = 0;\n out[4] = xy - wz;\n out[5] = 1 - (xx + zz);\n out[6] = yz + wx;\n out[7] = 0;\n out[8] = xz + wy;\n out[9] = yz - wx;\n out[10] = 1 - (xx + yy);\n out[11] = 0;\n out[12] = v[0];\n out[13] = v[1];\n out[14] = v[2];\n out[15] = 1;\n return out;\n}\n\n/**\n * Creates a new mat4 from a dual quat.\n *\n * @param {mat4} out Matrix\n * @param {ReadonlyQuat2} a Dual Quaternion\n * @returns {mat4} mat4 receiving operation result\n */\nexport function fromQuat2(out, a) {\n var translation = new glMatrix.ARRAY_TYPE(3);\n var bx = -a[0],\n by = -a[1],\n bz = -a[2],\n bw = a[3],\n ax = a[4],\n ay = a[5],\n az = a[6],\n aw = a[7];\n var magnitude = bx * bx + by * by + bz * bz + bw * bw;\n //Only scale if it makes sense\n if (magnitude > 0) {\n translation[0] = (ax * bw + aw * bx + ay * bz - az * by) * 2 / magnitude;\n translation[1] = (ay * bw + aw * by + az * bx - ax * bz) * 2 / magnitude;\n translation[2] = (az * bw + aw * bz + ax * by - ay * bx) * 2 / magnitude;\n } else {\n translation[0] = (ax * bw + aw * bx + ay * bz - az * by) * 2;\n translation[1] = (ay * bw + aw * by + az * bx - ax * bz) * 2;\n translation[2] = (az * bw + aw * bz + ax * by - ay * bx) * 2;\n }\n fromRotationTranslation(out, a, translation);\n return out;\n}\n\n/**\n * Returns the translation vector component of a transformation\n * matrix. If a matrix is built with fromRotationTranslation,\n * the returned vector will be the same as the translation vector\n * originally supplied.\n * @param {vec3} out Vector to receive translation component\n * @param {ReadonlyMat4} mat Matrix to be decomposed (input)\n * @return {vec3} out\n */\nexport function getTranslation(out, mat) {\n out[0] = mat[12];\n out[1] = mat[13];\n out[2] = mat[14];\n return out;\n}\n\n/**\n * Returns the scaling factor component of a transformation\n * matrix. If a matrix is built with fromRotationTranslationScale\n * with a normalized Quaternion parameter, the returned vector will be\n * the same as the scaling vector\n * originally supplied.\n * @param {vec3} out Vector to receive scaling factor component\n * @param {ReadonlyMat4} mat Matrix to be decomposed (input)\n * @return {vec3} out\n */\nexport function getScaling(out, mat) {\n var m11 = mat[0];\n var m12 = mat[1];\n var m13 = mat[2];\n var m21 = mat[4];\n var m22 = mat[5];\n var m23 = mat[6];\n var m31 = mat[8];\n var m32 = mat[9];\n var m33 = mat[10];\n out[0] = Math.sqrt(m11 * m11 + m12 * m12 + m13 * m13);\n out[1] = Math.sqrt(m21 * m21 + m22 * m22 + m23 * m23);\n out[2] = Math.sqrt(m31 * m31 + m32 * m32 + m33 * m33);\n return out;\n}\n\n/**\n * Returns a quaternion representing the rotational component\n * of a transformation matrix. If a matrix is built with\n * fromRotationTranslation, the returned quaternion will be the\n * same as the quaternion originally supplied.\n * @param {quat} out Quaternion to receive the rotation component\n * @param {ReadonlyMat4} mat Matrix to be decomposed (input)\n * @return {quat} out\n */\nexport function getRotation(out, mat) {\n var scaling = new glMatrix.ARRAY_TYPE(3);\n getScaling(scaling, mat);\n var is1 = 1 / scaling[0];\n var is2 = 1 / scaling[1];\n var is3 = 1 / scaling[2];\n var sm11 = mat[0] * is1;\n var sm12 = mat[1] * is2;\n var sm13 = mat[2] * is3;\n var sm21 = mat[4] * is1;\n var sm22 = mat[5] * is2;\n var sm23 = mat[6] * is3;\n var sm31 = mat[8] * is1;\n var sm32 = mat[9] * is2;\n var sm33 = mat[10] * is3;\n var trace = sm11 + sm22 + sm33;\n var S = 0;\n if (trace > 0) {\n S = Math.sqrt(trace + 1.0) * 2;\n out[3] = 0.25 * S;\n out[0] = (sm23 - sm32) / S;\n out[1] = (sm31 - sm13) / S;\n out[2] = (sm12 - sm21) / S;\n } else if (sm11 > sm22 && sm11 > sm33) {\n S = Math.sqrt(1.0 + sm11 - sm22 - sm33) * 2;\n out[3] = (sm23 - sm32) / S;\n out[0] = 0.25 * S;\n out[1] = (sm12 + sm21) / S;\n out[2] = (sm31 + sm13) / S;\n } else if (sm22 > sm33) {\n S = Math.sqrt(1.0 + sm22 - sm11 - sm33) * 2;\n out[3] = (sm31 - sm13) / S;\n out[0] = (sm12 + sm21) / S;\n out[1] = 0.25 * S;\n out[2] = (sm23 + sm32) / S;\n } else {\n S = Math.sqrt(1.0 + sm33 - sm11 - sm22) * 2;\n out[3] = (sm12 - sm21) / S;\n out[0] = (sm31 + sm13) / S;\n out[1] = (sm23 + sm32) / S;\n out[2] = 0.25 * S;\n }\n return out;\n}\n\n/**\n * Decomposes a transformation matrix into its rotation, translation\n * and scale components. Returns only the rotation component\n * @param {quat} out_r Quaternion to receive the rotation component\n * @param {vec3} out_t Vector to receive the translation vector\n * @param {vec3} out_s Vector to receive the scaling factor\n * @param {ReadonlyMat4} mat Matrix to be decomposed (input)\n * @returns {quat} out_r\n */\nexport function decompose(out_r, out_t, out_s, mat) {\n out_t[0] = mat[12];\n out_t[1] = mat[13];\n out_t[2] = mat[14];\n var m11 = mat[0];\n var m12 = mat[1];\n var m13 = mat[2];\n var m21 = mat[4];\n var m22 = mat[5];\n var m23 = mat[6];\n var m31 = mat[8];\n var m32 = mat[9];\n var m33 = mat[10];\n out_s[0] = Math.sqrt(m11 * m11 + m12 * m12 + m13 * m13);\n out_s[1] = Math.sqrt(m21 * m21 + m22 * m22 + m23 * m23);\n out_s[2] = Math.sqrt(m31 * m31 + m32 * m32 + m33 * m33);\n var is1 = 1 / out_s[0];\n var is2 = 1 / out_s[1];\n var is3 = 1 / out_s[2];\n var sm11 = m11 * is1;\n var sm12 = m12 * is2;\n var sm13 = m13 * is3;\n var sm21 = m21 * is1;\n var sm22 = m22 * is2;\n var sm23 = m23 * is3;\n var sm31 = m31 * is1;\n var sm32 = m32 * is2;\n var sm33 = m33 * is3;\n var trace = sm11 + sm22 + sm33;\n var S = 0;\n if (trace > 0) {\n S = Math.sqrt(trace + 1.0) * 2;\n out_r[3] = 0.25 * S;\n out_r[0] = (sm23 - sm32) / S;\n out_r[1] = (sm31 - sm13) / S;\n out_r[2] = (sm12 - sm21) / S;\n } else if (sm11 > sm22 && sm11 > sm33) {\n S = Math.sqrt(1.0 + sm11 - sm22 - sm33) * 2;\n out_r[3] = (sm23 - sm32) / S;\n out_r[0] = 0.25 * S;\n out_r[1] = (sm12 + sm21) / S;\n out_r[2] = (sm31 + sm13) / S;\n } else if (sm22 > sm33) {\n S = Math.sqrt(1.0 + sm22 - sm11 - sm33) * 2;\n out_r[3] = (sm31 - sm13) / S;\n out_r[0] = (sm12 + sm21) / S;\n out_r[1] = 0.25 * S;\n out_r[2] = (sm23 + sm32) / S;\n } else {\n S = Math.sqrt(1.0 + sm33 - sm11 - sm22) * 2;\n out_r[3] = (sm12 - sm21) / S;\n out_r[0] = (sm31 + sm13) / S;\n out_r[1] = (sm23 + sm32) / S;\n out_r[2] = 0.25 * S;\n }\n return out_r;\n}\n\n/**\n * Creates a matrix from a quaternion rotation, vector translation and vector scale\n * This is equivalent to (but much faster than):\n *\n * mat4.identity(dest);\n * mat4.translate(dest, dest, vec);\n * let quatMat = mat4.create();\n * mat4.fromQuat(quatMat, quat);\n * mat4.multiply(dest, dest, quatMat);\n * mat4.scale(dest, dest, scale)\n *\n * @param {mat4} out mat4 receiving operation result\n * @param {quat} q Rotation quaternion\n * @param {ReadonlyVec3} v Translation vector\n * @param {ReadonlyVec3} s Scaling vector\n * @returns {mat4} out\n */\nexport function fromRotationTranslationScale(out, q, v, s) {\n // Quaternion math\n var x = q[0],\n y = q[1],\n z = q[2],\n w = q[3];\n var x2 = x + x;\n var y2 = y + y;\n var z2 = z + z;\n var xx = x * x2;\n var xy = x * y2;\n var xz = x * z2;\n var yy = y * y2;\n var yz = y * z2;\n var zz = z * z2;\n var wx = w * x2;\n var wy = w * y2;\n var wz = w * z2;\n var sx = s[0];\n var sy = s[1];\n var sz = s[2];\n out[0] = (1 - (yy + zz)) * sx;\n out[1] = (xy + wz) * sx;\n out[2] = (xz - wy) * sx;\n out[3] = 0;\n out[4] = (xy - wz) * sy;\n out[5] = (1 - (xx + zz)) * sy;\n out[6] = (yz + wx) * sy;\n out[7] = 0;\n out[8] = (xz + wy) * sz;\n out[9] = (yz - wx) * sz;\n out[10] = (1 - (xx + yy)) * sz;\n out[11] = 0;\n out[12] = v[0];\n out[13] = v[1];\n out[14] = v[2];\n out[15] = 1;\n return out;\n}\n\n/**\n * Creates a matrix from a quaternion rotation, vector translation and vector scale, rotating and scaling around the given origin\n * This is equivalent to (but much faster than):\n *\n * mat4.identity(dest);\n * mat4.translate(dest, dest, vec);\n * mat4.translate(dest, dest, origin);\n * let quatMat = mat4.create();\n * mat4.fromQuat(quatMat, quat);\n * mat4.multiply(dest, dest, quatMat);\n * mat4.scale(dest, dest, scale)\n * mat4.translate(dest, dest, negativeOrigin);\n *\n * @param {mat4} out mat4 receiving operation result\n * @param {quat} q Rotation quaternion\n * @param {ReadonlyVec3} v Translation vector\n * @param {ReadonlyVec3} s Scaling vector\n * @param {ReadonlyVec3} o The origin vector around which to scale and rotate\n * @returns {mat4} out\n */\nexport function fromRotationTranslationScaleOrigin(out, q, v, s, o) {\n // Quaternion math\n var x = q[0],\n y = q[1],\n z = q[2],\n w = q[3];\n var x2 = x + x;\n var y2 = y + y;\n var z2 = z + z;\n var xx = x * x2;\n var xy = x * y2;\n var xz = x * z2;\n var yy = y * y2;\n var yz = y * z2;\n var zz = z * z2;\n var wx = w * x2;\n var wy = w * y2;\n var wz = w * z2;\n var sx = s[0];\n var sy = s[1];\n var sz = s[2];\n var ox = o[0];\n var oy = o[1];\n var oz = o[2];\n var out0 = (1 - (yy + zz)) * sx;\n var out1 = (xy + wz) * sx;\n var out2 = (xz - wy) * sx;\n var out4 = (xy - wz) * sy;\n var out5 = (1 - (xx + zz)) * sy;\n var out6 = (yz + wx) * sy;\n var out8 = (xz + wy) * sz;\n var out9 = (yz - wx) * sz;\n var out10 = (1 - (xx + yy)) * sz;\n out[0] = out0;\n out[1] = out1;\n out[2] = out2;\n out[3] = 0;\n out[4] = out4;\n out[5] = out5;\n out[6] = out6;\n out[7] = 0;\n out[8] = out8;\n out[9] = out9;\n out[10] = out10;\n out[11] = 0;\n out[12] = v[0] + ox - (out0 * ox + out4 * oy + out8 * oz);\n out[13] = v[1] + oy - (out1 * ox + out5 * oy + out9 * oz);\n out[14] = v[2] + oz - (out2 * ox + out6 * oy + out10 * oz);\n out[15] = 1;\n return out;\n}\n\n/**\n * Calculates a 4x4 matrix from the given quaternion\n *\n * @param {mat4} out mat4 receiving operation result\n * @param {ReadonlyQuat} q Quaternion to create matrix from\n *\n * @returns {mat4} out\n */\nexport function fromQuat(out, q) {\n var x = q[0],\n y = q[1],\n z = q[2],\n w = q[3];\n var x2 = x + x;\n var y2 = y + y;\n var z2 = z + z;\n var xx = x * x2;\n var yx = y * x2;\n var yy = y * y2;\n var zx = z * x2;\n var zy = z * y2;\n var zz = z * z2;\n var wx = w * x2;\n var wy = w * y2;\n var wz = w * z2;\n out[0] = 1 - yy - zz;\n out[1] = yx + wz;\n out[2] = zx - wy;\n out[3] = 0;\n out[4] = yx - wz;\n out[5] = 1 - xx - zz;\n out[6] = zy + wx;\n out[7] = 0;\n out[8] = zx + wy;\n out[9] = zy - wx;\n out[10] = 1 - xx - yy;\n out[11] = 0;\n out[12] = 0;\n out[13] = 0;\n out[14] = 0;\n out[15] = 1;\n return out;\n}\n\n/**\n * Generates a frustum matrix with the given bounds\n *\n * @param {mat4} out mat4 frustum matrix will be written into\n * @param {Number} left Left bound of the frustum\n * @param {Number} right Right bound of the frustum\n * @param {Number} bottom Bottom bound of the frustum\n * @param {Number} top Top bound of the frustum\n * @param {Number} near Near bound of the frustum\n * @param {Number} far Far bound of the frustum\n * @returns {mat4} out\n */\nexport function frustum(out, left, right, bottom, top, near, far) {\n var rl = 1 / (right - left);\n var tb = 1 / (top - bottom);\n var nf = 1 / (near - far);\n out[0] = near * 2 * rl;\n out[1] = 0;\n out[2] = 0;\n out[3] = 0;\n out[4] = 0;\n out[5] = near * 2 * tb;\n out[6] = 0;\n out[7] = 0;\n out[8] = (right + left) * rl;\n out[9] = (top + bottom) * tb;\n out[10] = (far + near) * nf;\n out[11] = -1;\n out[12] = 0;\n out[13] = 0;\n out[14] = far * near * 2 * nf;\n out[15] = 0;\n return out;\n}\n\n/**\n * Generates a perspective projection matrix with the given bounds.\n * The near/far clip planes correspond to a normalized device coordinate Z range of [-1, 1],\n * which matches WebGL/OpenGL's clip volume.\n * Passing null/undefined/no value for far will generate infinite projection matrix.\n *\n * @param {mat4} out mat4 frustum matrix will be written into\n * @param {number} fovy Vertical field of view in radians\n * @param {number} aspect Aspect ratio. typically viewport width/height\n * @param {number} near Near bound of the frustum\n * @param {number} far Far bound of the frustum, can be null or Infinity\n * @returns {mat4} out\n */\nexport function perspectiveNO(out, fovy, aspect, near, far) {\n var f = 1.0 / Math.tan(fovy / 2);\n out[0] = f / aspect;\n out[1] = 0;\n out[2] = 0;\n out[3] = 0;\n out[4] = 0;\n out[5] = f;\n out[6] = 0;\n out[7] = 0;\n out[8] = 0;\n out[9] = 0;\n out[11] = -1;\n out[12] = 0;\n out[13] = 0;\n out[15] = 0;\n if (far != null && far !== Infinity) {\n var nf = 1 / (near - far);\n out[10] = (far + near) * nf;\n out[14] = 2 * far * near * nf;\n } else {\n out[10] = -1;\n out[14] = -2 * near;\n }\n return out;\n}\n\n/**\n * Alias for {@link mat4.perspectiveNO}\n * @function\n */\nexport var perspective = perspectiveNO;\n\n/**\n * Generates a perspective projection matrix suitable for WebGPU with the given bounds.\n * The near/far clip planes correspond to a normalized device coordinate Z range of [0, 1],\n * which matches WebGPU/Vulkan/DirectX/Metal's clip volume.\n * Passing null/undefined/no value for far will generate infinite projection matrix.\n *\n * @param {mat4} out mat4 frustum matrix will be written into\n * @param {number} fovy Vertical field of view in radians\n * @param {number} aspect Aspect ratio. typically viewport width/height\n * @param {number} near Near bound of the frustum\n * @param {number} far Far bound of the frustum, can be null or Infinity\n * @returns {mat4} out\n */\nexport function perspectiveZO(out, fovy, aspect, near, far) {\n var f = 1.0 / Math.tan(fovy / 2);\n out[0] = f / aspect;\n out[1] = 0;\n out[2] = 0;\n out[3] = 0;\n out[4] = 0;\n out[5] = f;\n out[6] = 0;\n out[7] = 0;\n out[8] = 0;\n out[9] = 0;\n out[11] = -1;\n out[12] = 0;\n out[13] = 0;\n out[15] = 0;\n if (far != null && far !== Infinity) {\n var nf = 1 / (near - far);\n out[10] = far * nf;\n out[14] = far * near * nf;\n } else {\n out[10] = -1;\n out[14] = -near;\n }\n return out;\n}\n\n/**\n * Generates a perspective projection matrix with the given field of view.\n * This is primarily useful for generating projection matrices to be used\n * with the still experiemental WebVR API.\n *\n * @param {mat4} out mat4 frustum matrix will be written into\n * @param {Object} fov Object containing the following values: upDegrees, downDegrees, leftDegrees, rightDegrees\n * @param {number} near Near bound of the frustum\n * @param {number} far Far bound of the frustum\n * @returns {mat4} out\n */\nexport function perspectiveFromFieldOfView(out, fov, near, far) {\n var upTan = Math.tan(fov.upDegrees * Math.PI / 180.0);\n var downTan = Math.tan(fov.downDegrees * Math.PI / 180.0);\n var leftTan = Math.tan(fov.leftDegrees * Math.PI / 180.0);\n var rightTan = Math.tan(fov.rightDegrees * Math.PI / 180.0);\n var xScale = 2.0 / (leftTan + rightTan);\n var yScale = 2.0 / (upTan + downTan);\n out[0] = xScale;\n out[1] = 0.0;\n out[2] = 0.0;\n out[3] = 0.0;\n out[4] = 0.0;\n out[5] = yScale;\n out[6] = 0.0;\n out[7] = 0.0;\n out[8] = -((leftTan - rightTan) * xScale * 0.5);\n out[9] = (upTan - downTan) * yScale * 0.5;\n out[10] = far / (near - far);\n out[11] = -1.0;\n out[12] = 0.0;\n out[13] = 0.0;\n out[14] = far * near / (near - far);\n out[15] = 0.0;\n return out;\n}\n\n/**\n * Generates a orthogonal projection matrix with the given bounds.\n * The near/far clip planes correspond to a normalized device coordinate Z range of [-1, 1],\n * which matches WebGL/OpenGL's clip volume.\n *\n * @param {mat4} out mat4 frustum matrix will be written into\n * @param {number} left Left bound of the frustum\n * @param {number} right Right bound of the frustum\n * @param {number} bottom Bottom bound of the frustum\n * @param {number} top Top bound of the frustum\n * @param {number} near Near bound of the frustum\n * @param {number} far Far bound of the frustum\n * @returns {mat4} out\n */\nexport function orthoNO(out, left, right, bottom, top, near, far) {\n var lr = 1 / (left - right);\n var bt = 1 / (bottom - top);\n var nf = 1 / (near - far);\n out[0] = -2 * lr;\n out[1] = 0;\n out[2] = 0;\n out[3] = 0;\n out[4] = 0;\n out[5] = -2 * bt;\n out[6] = 0;\n out[7] = 0;\n out[8] = 0;\n out[9] = 0;\n out[10] = 2 * nf;\n out[11] = 0;\n out[12] = (left + right) * lr;\n out[13] = (top + bottom) * bt;\n out[14] = (far + near) * nf;\n out[15] = 1;\n return out;\n}\n\n/**\n * Alias for {@link mat4.orthoNO}\n * @function\n */\nexport var ortho = orthoNO;\n\n/**\n * Generates a orthogonal projection matrix with the given bounds.\n * The near/far clip planes correspond to a normalized device coordinate Z range of [0, 1],\n * which matches WebGPU/Vulkan/DirectX/Metal's clip volume.\n *\n * @param {mat4} out mat4 frustum matrix will be written into\n * @param {number} left Left bound of the frustum\n * @param {number} right Right bound of the frustum\n * @param {number} bottom Bottom bound of the frustum\n * @param {number} top Top bound of the frustum\n * @param {number} near Near bound of the frustum\n * @param {number} far Far bound of the frustum\n * @returns {mat4} out\n */\nexport function orthoZO(out, left, right, bottom, top, near, far) {\n var lr = 1 / (left - right);\n var bt = 1 / (bottom - top);\n var nf = 1 / (near - far);\n out[0] = -2 * lr;\n out[1] = 0;\n out[2] = 0;\n out[3] = 0;\n out[4] = 0;\n out[5] = -2 * bt;\n out[6] = 0;\n out[7] = 0;\n out[8] = 0;\n out[9] = 0;\n out[10] = nf;\n out[11] = 0;\n out[12] = (left + right) * lr;\n out[13] = (top + bottom) * bt;\n out[14] = near * nf;\n out[15] = 1;\n return out;\n}\n\n/**\n * Generates a look-at matrix with the given eye position, focal point, and up axis.\n * If you want a matrix that actually makes an object look at another object, you should use targetTo instead.\n *\n * @param {mat4} out mat4 frustum matrix will be written into\n * @param {ReadonlyVec3} eye Position of the viewer\n * @param {ReadonlyVec3} center Point the viewer is looking at\n * @param {ReadonlyVec3} up vec3 pointing up\n * @returns {mat4} out\n */\nexport function lookAt(out, eye, center, up) {\n var x0, x1, x2, y0, y1, y2, z0, z1, z2, len;\n var eyex = eye[0];\n var eyey = eye[1];\n var eyez = eye[2];\n var upx = up[0];\n var upy = up[1];\n var upz = up[2];\n var centerx = center[0];\n var centery = center[1];\n var centerz = center[2];\n if (Math.abs(eyex - centerx) < glMatrix.EPSILON && Math.abs(eyey - centery) < glMatrix.EPSILON && Math.abs(eyez - centerz) < glMatrix.EPSILON) {\n return identity(out);\n }\n z0 = eyex - centerx;\n z1 = eyey - centery;\n z2 = eyez - centerz;\n len = 1 / Math.sqrt(z0 * z0 + z1 * z1 + z2 * z2);\n z0 *= len;\n z1 *= len;\n z2 *= len;\n x0 = upy * z2 - upz * z1;\n x1 = upz * z0 - upx * z2;\n x2 = upx * z1 - upy * z0;\n len = Math.sqrt(x0 * x0 + x1 * x1 + x2 * x2);\n if (!len) {\n x0 = 0;\n x1 = 0;\n x2 = 0;\n } else {\n len = 1 / len;\n x0 *= len;\n x1 *= len;\n x2 *= len;\n }\n y0 = z1 * x2 - z2 * x1;\n y1 = z2 * x0 - z0 * x2;\n y2 = z0 * x1 - z1 * x0;\n len = Math.sqrt(y0 * y0 + y1 * y1 + y2 * y2);\n if (!len) {\n y0 = 0;\n y1 = 0;\n y2 = 0;\n } else {\n len = 1 / len;\n y0 *= len;\n y1 *= len;\n y2 *= len;\n }\n out[0] = x0;\n out[1] = y0;\n out[2] = z0;\n out[3] = 0;\n out[4] = x1;\n out[5] = y1;\n out[6] = z1;\n out[7] = 0;\n out[8] = x2;\n out[9] = y2;\n out[10] = z2;\n out[11] = 0;\n out[12] = -(x0 * eyex + x1 * eyey + x2 * eyez);\n out[13] = -(y0 * eyex + y1 * eyey + y2 * eyez);\n out[14] = -(z0 * eyex + z1 * eyey + z2 * eyez);\n out[15] = 1;\n return out;\n}\n\n/**\n * Generates a matrix that makes something look at something else.\n *\n * @param {mat4} out mat4 frustum matrix will be written into\n * @param {ReadonlyVec3} eye Position of the viewer\n * @param {ReadonlyVec3} target Point the viewer is looking at\n * @param {ReadonlyVec3} up vec3 pointing up\n * @returns {mat4} out\n */\nexport function targetTo(out, eye, target, up) {\n var eyex = eye[0],\n eyey = eye[1],\n eyez = eye[2],\n upx = up[0],\n upy = up[1],\n upz = up[2];\n var z0 = eyex - target[0],\n z1 = eyey - target[1],\n z2 = eyez - target[2];\n var len = z0 * z0 + z1 * z1 + z2 * z2;\n if (len > 0) {\n len = 1 / Math.sqrt(len);\n z0 *= len;\n z1 *= len;\n z2 *= len;\n }\n var x0 = upy * z2 - upz * z1,\n x1 = upz * z0 - upx * z2,\n x2 = upx * z1 - upy * z0;\n len = x0 * x0 + x1 * x1 + x2 * x2;\n if (len > 0) {\n len = 1 / Math.sqrt(len);\n x0 *= len;\n x1 *= len;\n x2 *= len;\n }\n out[0] = x0;\n out[1] = x1;\n out[2] = x2;\n out[3] = 0;\n out[4] = z1 * x2 - z2 * x1;\n out[5] = z2 * x0 - z0 * x2;\n out[6] = z0 * x1 - z1 * x0;\n out[7] = 0;\n out[8] = z0;\n out[9] = z1;\n out[10] = z2;\n out[11] = 0;\n out[12] = eyex;\n out[13] = eyey;\n out[14] = eyez;\n out[15] = 1;\n return out;\n}\n\n/**\n * Returns a string representation of a mat4\n *\n * @param {ReadonlyMat4} a matrix to represent as a string\n * @returns {String} string representation of the matrix\n */\nexport function str(a) {\n return \"mat4(\" + a[0] + \", \" + a[1] + \", \" + a[2] + \", \" + a[3] + \", \" + a[4] + \", \" + a[5] + \", \" + a[6] + \", \" + a[7] + \", \" + a[8] + \", \" + a[9] + \", \" + a[10] + \", \" + a[11] + \", \" + a[12] + \", \" + a[13] + \", \" + a[14] + \", \" + a[15] + \")\";\n}\n\n/**\n * Returns Frobenius norm of a mat4\n *\n * @param {ReadonlyMat4} a the matrix to calculate Frobenius norm of\n * @returns {Number} Frobenius norm\n */\nexport function frob(a) {\n return Math.sqrt(a[0] * a[0] + a[1] * a[1] + a[2] * a[2] + a[3] * a[3] + a[4] * a[4] + a[5] * a[5] + a[6] * a[6] + a[7] * a[7] + a[8] * a[8] + a[9] * a[9] + a[10] * a[10] + a[11] * a[11] + a[12] * a[12] + a[13] * a[13] + a[14] * a[14] + a[15] * a[15]);\n}\n\n/**\n * Adds two mat4's\n *\n * @param {mat4} out the receiving matrix\n * @param {ReadonlyMat4} a the first operand\n * @param {ReadonlyMat4} b the second operand\n * @returns {mat4} out\n */\nexport function add(out, a, b) {\n out[0] = a[0] + b[0];\n out[1] = a[1] + b[1];\n out[2] = a[2] + b[2];\n out[3] = a[3] + b[3];\n out[4] = a[4] + b[4];\n out[5] = a[5] + b[5];\n out[6] = a[6] + b[6];\n out[7] = a[7] + b[7];\n out[8] = a[8] + b[8];\n out[9] = a[9] + b[9];\n out[10] = a[10] + b[10];\n out[11] = a[11] + b[11];\n out[12] = a[12] + b[12];\n out[13] = a[13] + b[13];\n out[14] = a[14] + b[14];\n out[15] = a[15] + b[15];\n return out;\n}\n\n/**\n * Subtracts matrix b from matrix a\n *\n * @param {mat4} out the receiving matrix\n * @param {ReadonlyMat4} a the first operand\n * @param {ReadonlyMat4} b the second operand\n * @returns {mat4} out\n */\nexport function subtract(out, a, b) {\n out[0] = a[0] - b[0];\n out[1] = a[1] - b[1];\n out[2] = a[2] - b[2];\n out[3] = a[3] - b[3];\n out[4] = a[4] - b[4];\n out[5] = a[5] - b[5];\n out[6] = a[6] - b[6];\n out[7] = a[7] - b[7];\n out[8] = a[8] - b[8];\n out[9] = a[9] - b[9];\n out[10] = a[10] - b[10];\n out[11] = a[11] - b[11];\n out[12] = a[12] - b[12];\n out[13] = a[13] - b[13];\n out[14] = a[14] - b[14];\n out[15] = a[15] - b[15];\n return out;\n}\n\n/**\n * Multiply each element of the matrix by a scalar.\n *\n * @param {mat4} out the receiving matrix\n * @param {ReadonlyMat4} a the matrix to scale\n * @param {Number} b amount to scale the matrix's elements by\n * @returns {mat4} out\n */\nexport function multiplyScalar(out, a, b) {\n out[0] = a[0] * b;\n out[1] = a[1] * b;\n out[2] = a[2] * b;\n out[3] = a[3] * b;\n out[4] = a[4] * b;\n out[5] = a[5] * b;\n out[6] = a[6] * b;\n out[7] = a[7] * b;\n out[8] = a[8] * b;\n out[9] = a[9] * b;\n out[10] = a[10] * b;\n out[11] = a[11] * b;\n out[12] = a[12] * b;\n out[13] = a[13] * b;\n out[14] = a[14] * b;\n out[15] = a[15] * b;\n return out;\n}\n\n/**\n * Adds two mat4's after multiplying each element of the second operand by a scalar value.\n *\n * @param {mat4} out the receiving vector\n * @param {ReadonlyMat4} a the first operand\n * @param {ReadonlyMat4} b the second operand\n * @param {Number} scale the amount to scale b's elements by before adding\n * @returns {mat4} out\n */\nexport function multiplyScalarAndAdd(out, a, b, scale) {\n out[0] = a[0] + b[0] * scale;\n out[1] = a[1] + b[1] * scale;\n out[2] = a[2] + b[2] * scale;\n out[3] = a[3] + b[3] * scale;\n out[4] = a[4] + b[4] * scale;\n out[5] = a[5] + b[5] * scale;\n out[6] = a[6] + b[6] * scale;\n out[7] = a[7] + b[7] * scale;\n out[8] = a[8] + b[8] * scale;\n out[9] = a[9] + b[9] * scale;\n out[10] = a[10] + b[10] * scale;\n out[11] = a[11] + b[11] * scale;\n out[12] = a[12] + b[12] * scale;\n out[13] = a[13] + b[13] * scale;\n out[14] = a[14] + b[14] * scale;\n out[15] = a[15] + b[15] * scale;\n return out;\n}\n\n/**\n * Returns whether or not the matrices have exactly the same elements in the same position (when compared with ===)\n *\n * @param {ReadonlyMat4} a The first matrix.\n * @param {ReadonlyMat4} b The second matrix.\n * @returns {Boolean} True if the matrices are equal, false otherwise.\n */\nexport function exactEquals(a, b) {\n return a[0] === b[0] && a[1] === b[1] && a[2] === b[2] && a[3] === b[3] && a[4] === b[4] && a[5] === b[5] && a[6] === b[6] && a[7] === b[7] && a[8] === b[8] && a[9] === b[9] && a[10] === b[10] && a[11] === b[11] && a[12] === b[12] && a[13] === b[13] && a[14] === b[14] && a[15] === b[15];\n}\n\n/**\n * Returns whether or not the matrices have approximately the same elements in the same position.\n *\n * @param {ReadonlyMat4} a The first matrix.\n * @param {ReadonlyMat4} b The second matrix.\n * @returns {Boolean} True if the matrices are equal, false otherwise.\n */\nexport function equals(a, b) {\n var a0 = a[0],\n a1 = a[1],\n a2 = a[2],\n a3 = a[3];\n var a4 = a[4],\n a5 = a[5],\n a6 = a[6],\n a7 = a[7];\n var a8 = a[8],\n a9 = a[9],\n a10 = a[10],\n a11 = a[11];\n var a12 = a[12],\n a13 = a[13],\n a14 = a[14],\n a15 = a[15];\n var b0 = b[0],\n b1 = b[1],\n b2 = b[2],\n b3 = b[3];\n var b4 = b[4],\n b5 = b[5],\n b6 = b[6],\n b7 = b[7];\n var b8 = b[8],\n b9 = b[9],\n b10 = b[10],\n b11 = b[11];\n var b12 = b[12],\n b13 = b[13],\n b14 = b[14],\n b15 = b[15];\n return Math.abs(a0 - b0) <= glMatrix.EPSILON * Math.max(1.0, Math.abs(a0), Math.abs(b0)) && Math.abs(a1 - b1) <= glMatrix.EPSILON * Math.max(1.0, Math.abs(a1), Math.abs(b1)) && Math.abs(a2 - b2) <= glMatrix.EPSILON * Math.max(1.0, Math.abs(a2), Math.abs(b2)) && Math.abs(a3 - b3) <= glMatrix.EPSILON * Math.max(1.0, Math.abs(a3), Math.abs(b3)) && Math.abs(a4 - b4) <= glMatrix.EPSILON * Math.max(1.0, Math.abs(a4), Math.abs(b4)) && Math.abs(a5 - b5) <= glMatrix.EPSILON * Math.max(1.0, Math.abs(a5), Math.abs(b5)) && Math.abs(a6 - b6) <= glMatrix.EPSILON * Math.max(1.0, Math.abs(a6), Math.abs(b6)) && Math.abs(a7 - b7) <= glMatrix.EPSILON * Math.max(1.0, Math.abs(a7), Math.abs(b7)) && Math.abs(a8 - b8) <= glMatrix.EPSILON * Math.max(1.0, Math.abs(a8), Math.abs(b8)) && Math.abs(a9 - b9) <= glMatrix.EPSILON * Math.max(1.0, Math.abs(a9), Math.abs(b9)) && Math.abs(a10 - b10) <= glMatrix.EPSILON * Math.max(1.0, Math.abs(a10), Math.abs(b10)) && Math.abs(a11 - b11) <= glMatrix.EPSILON * Math.max(1.0, Math.abs(a11), Math.abs(b11)) && Math.abs(a12 - b12) <= glMatrix.EPSILON * Math.max(1.0, Math.abs(a12), Math.abs(b12)) && Math.abs(a13 - b13) <= glMatrix.EPSILON * Math.max(1.0, Math.abs(a13), Math.abs(b13)) && Math.abs(a14 - b14) <= glMatrix.EPSILON * Math.max(1.0, Math.abs(a14), Math.abs(b14)) && Math.abs(a15 - b15) <= glMatrix.EPSILON * Math.max(1.0, Math.abs(a15), Math.abs(b15));\n}\n\n/**\n * Alias for {@link mat4.multiply}\n * @function\n */\nexport var mul = multiply;\n\n/**\n * Alias for {@link mat4.subtract}\n * @function\n */\nexport var sub = subtract;","import * as glMatrix from \"./common.js\";\nimport * as mat3 from \"./mat3.js\";\nimport * as vec3 from \"./vec3.js\";\nimport * as vec4 from \"./vec4.js\";\n\n/**\n * Quaternion in the format XYZW\n * @module quat\n */\n\n/**\n * Creates a new identity quat\n *\n * @returns {quat} a new quaternion\n */\nexport function create() {\n var out = new glMatrix.ARRAY_TYPE(4);\n if (glMatrix.ARRAY_TYPE != Float32Array) {\n out[0] = 0;\n out[1] = 0;\n out[2] = 0;\n }\n out[3] = 1;\n return out;\n}\n\n/**\n * Set a quat to the identity quaternion\n *\n * @param {quat} out the receiving quaternion\n * @returns {quat} out\n */\nexport function identity(out) {\n out[0] = 0;\n out[1] = 0;\n out[2] = 0;\n out[3] = 1;\n return out;\n}\n\n/**\n * Sets a quat from the given angle and rotation axis,\n * then returns it.\n *\n * @param {quat} out the receiving quaternion\n * @param {ReadonlyVec3} axis the axis around which to rotate\n * @param {Number} rad the angle in radians\n * @returns {quat} out\n **/\nexport function setAxisAngle(out, axis, rad) {\n rad = rad * 0.5;\n var s = Math.sin(rad);\n out[0] = s * axis[0];\n out[1] = s * axis[1];\n out[2] = s * axis[2];\n out[3] = Math.cos(rad);\n return out;\n}\n\n/**\n * Gets the rotation axis and angle for a given\n * quaternion. If a quaternion is created with\n * setAxisAngle, this method will return the same\n * values as providied in the original parameter list\n * OR functionally equivalent values.\n * Example: The quaternion formed by axis [0, 0, 1] and\n * angle -90 is the same as the quaternion formed by\n * [0, 0, 1] and 270. This method favors the latter.\n * @param {vec3} out_axis Vector receiving the axis of rotation\n * @param {ReadonlyQuat} q Quaternion to be decomposed\n * @return {Number} Angle, in radians, of the rotation\n */\nexport function getAxisAngle(out_axis, q) {\n var rad = Math.acos(q[3]) * 2.0;\n var s = Math.sin(rad / 2.0);\n if (s > glMatrix.EPSILON) {\n out_axis[0] = q[0] / s;\n out_axis[1] = q[1] / s;\n out_axis[2] = q[2] / s;\n } else {\n // If s is zero, return any axis (no rotation - axis does not matter)\n out_axis[0] = 1;\n out_axis[1] = 0;\n out_axis[2] = 0;\n }\n return rad;\n}\n\n/**\n * Gets the angular distance between two unit quaternions\n *\n * @param {ReadonlyQuat} a Origin unit quaternion\n * @param {ReadonlyQuat} b Destination unit quaternion\n * @return {Number} Angle, in radians, between the two quaternions\n */\nexport function getAngle(a, b) {\n var dotproduct = dot(a, b);\n return Math.acos(2 * dotproduct * dotproduct - 1);\n}\n\n/**\n * Multiplies two quat's\n *\n * @param {quat} out the receiving quaternion\n * @param {ReadonlyQuat} a the first operand\n * @param {ReadonlyQuat} b the second operand\n * @returns {quat} out\n */\nexport function multiply(out, a, b) {\n var ax = a[0],\n ay = a[1],\n az = a[2],\n aw = a[3];\n var bx = b[0],\n by = b[1],\n bz = b[2],\n bw = b[3];\n out[0] = ax * bw + aw * bx + ay * bz - az * by;\n out[1] = ay * bw + aw * by + az * bx - ax * bz;\n out[2] = az * bw + aw * bz + ax * by - ay * bx;\n out[3] = aw * bw - ax * bx - ay * by - az * bz;\n return out;\n}\n\n/**\n * Rotates a quaternion by the given angle about the X axis\n *\n * @param {quat} out quat receiving operation result\n * @param {ReadonlyQuat} a quat to rotate\n * @param {number} rad angle (in radians) to rotate\n * @returns {quat} out\n */\nexport function rotateX(out, a, rad) {\n rad *= 0.5;\n var ax = a[0],\n ay = a[1],\n az = a[2],\n aw = a[3];\n var bx = Math.sin(rad),\n bw = Math.cos(rad);\n out[0] = ax * bw + aw * bx;\n out[1] = ay * bw + az * bx;\n out[2] = az * bw - ay * bx;\n out[3] = aw * bw - ax * bx;\n return out;\n}\n\n/**\n * Rotates a quaternion by the given angle about the Y axis\n *\n * @param {quat} out quat receiving operation result\n * @param {ReadonlyQuat} a quat to rotate\n * @param {number} rad angle (in radians) to rotate\n * @returns {quat} out\n */\nexport function rotateY(out, a, rad) {\n rad *= 0.5;\n var ax = a[0],\n ay = a[1],\n az = a[2],\n aw = a[3];\n var by = Math.sin(rad),\n bw = Math.cos(rad);\n out[0] = ax * bw - az * by;\n out[1] = ay * bw + aw * by;\n out[2] = az * bw + ax * by;\n out[3] = aw * bw - ay * by;\n return out;\n}\n\n/**\n * Rotates a quaternion by the given angle about the Z axis\n *\n * @param {quat} out quat receiving operation result\n * @param {ReadonlyQuat} a quat to rotate\n * @param {number} rad angle (in radians) to rotate\n * @returns {quat} out\n */\nexport function rotateZ(out, a, rad) {\n rad *= 0.5;\n var ax = a[0],\n ay = a[1],\n az = a[2],\n aw = a[3];\n var bz = Math.sin(rad),\n bw = Math.cos(rad);\n out[0] = ax * bw + ay * bz;\n out[1] = ay * bw - ax * bz;\n out[2] = az * bw + aw * bz;\n out[3] = aw * bw - az * bz;\n return out;\n}\n\n/**\n * Calculates the W component of a quat from the X, Y, and Z components.\n * Assumes that quaternion is 1 unit in length.\n * Any existing W component will be ignored.\n *\n * @param {quat} out the receiving quaternion\n * @param {ReadonlyQuat} a quat to calculate W component of\n * @returns {quat} out\n */\nexport function calculateW(out, a) {\n var x = a[0],\n y = a[1],\n z = a[2];\n out[0] = x;\n out[1] = y;\n out[2] = z;\n out[3] = Math.sqrt(Math.abs(1.0 - x * x - y * y - z * z));\n return out;\n}\n\n/**\n * Calculate the exponential of a unit quaternion.\n *\n * @param {quat} out the receiving quaternion\n * @param {ReadonlyQuat} a quat to calculate the exponential of\n * @returns {quat} out\n */\nexport function exp(out, a) {\n var x = a[0],\n y = a[1],\n z = a[2],\n w = a[3];\n var r = Math.sqrt(x * x + y * y + z * z);\n var et = Math.exp(w);\n var s = r > 0 ? et * Math.sin(r) / r : 0;\n out[0] = x * s;\n out[1] = y * s;\n out[2] = z * s;\n out[3] = et * Math.cos(r);\n return out;\n}\n\n/**\n * Calculate the natural logarithm of a unit quaternion.\n *\n * @param {quat} out the receiving quaternion\n * @param {ReadonlyQuat} a quat to calculate the exponential of\n * @returns {quat} out\n */\nexport function ln(out, a) {\n var x = a[0],\n y = a[1],\n z = a[2],\n w = a[3];\n var r = Math.sqrt(x * x + y * y + z * z);\n var t = r > 0 ? Math.atan2(r, w) / r : 0;\n out[0] = x * t;\n out[1] = y * t;\n out[2] = z * t;\n out[3] = 0.5 * Math.log(x * x + y * y + z * z + w * w);\n return out;\n}\n\n/**\n * Calculate the scalar power of a unit quaternion.\n *\n * @param {quat} out the receiving quaternion\n * @param {ReadonlyQuat} a quat to calculate the exponential of\n * @param {Number} b amount to scale the quaternion by\n * @returns {quat} out\n */\nexport function pow(out, a, b) {\n ln(out, a);\n scale(out, out, b);\n exp(out, out);\n return out;\n}\n\n/**\n * Performs a spherical linear interpolation between two quat\n *\n * @param {quat} out the receiving quaternion\n * @param {ReadonlyQuat} a the first operand\n * @param {ReadonlyQuat} b the second operand\n * @param {Number} t interpolation amount, in the range [0-1], between the two inputs\n * @returns {quat} out\n */\nexport function slerp(out, a, b, t) {\n // benchmarks:\n // http://jsperf.com/quaternion-slerp-implementations\n var ax = a[0],\n ay = a[1],\n az = a[2],\n aw = a[3];\n var bx = b[0],\n by = b[1],\n bz = b[2],\n bw = b[3];\n var omega, cosom, sinom, scale0, scale1;\n\n // calc cosine\n cosom = ax * bx + ay * by + az * bz + aw * bw;\n // adjust signs (if necessary)\n if (cosom < 0.0) {\n cosom = -cosom;\n bx = -bx;\n by = -by;\n bz = -bz;\n bw = -bw;\n }\n // calculate coefficients\n if (1.0 - cosom > glMatrix.EPSILON) {\n // standard case (slerp)\n omega = Math.acos(cosom);\n sinom = Math.sin(omega);\n scale0 = Math.sin((1.0 - t) * omega) / sinom;\n scale1 = Math.sin(t * omega) / sinom;\n } else {\n // \"from\" and \"to\" quaternions are very close\n // ... so we can do a linear interpolation\n scale0 = 1.0 - t;\n scale1 = t;\n }\n // calculate final values\n out[0] = scale0 * ax + scale1 * bx;\n out[1] = scale0 * ay + scale1 * by;\n out[2] = scale0 * az + scale1 * bz;\n out[3] = scale0 * aw + scale1 * bw;\n return out;\n}\n\n/**\n * Generates a random unit quaternion\n *\n * @param {quat} out the receiving quaternion\n * @returns {quat} out\n */\nexport function random(out) {\n // Implementation of http://planning.cs.uiuc.edu/node198.html\n // TODO: Calling random 3 times is probably not the fastest solution\n var u1 = glMatrix.RANDOM();\n var u2 = glMatrix.RANDOM();\n var u3 = glMatrix.RANDOM();\n var sqrt1MinusU1 = Math.sqrt(1 - u1);\n var sqrtU1 = Math.sqrt(u1);\n out[0] = sqrt1MinusU1 * Math.sin(2.0 * Math.PI * u2);\n out[1] = sqrt1MinusU1 * Math.cos(2.0 * Math.PI * u2);\n out[2] = sqrtU1 * Math.sin(2.0 * Math.PI * u3);\n out[3] = sqrtU1 * Math.cos(2.0 * Math.PI * u3);\n return out;\n}\n\n/**\n * Calculates the inverse of a quat\n *\n * @param {quat} out the receiving quaternion\n * @param {ReadonlyQuat} a quat to calculate inverse of\n * @returns {quat} out\n */\nexport function invert(out, a) {\n var a0 = a[0],\n a1 = a[1],\n a2 = a[2],\n a3 = a[3];\n var dot = a0 * a0 + a1 * a1 + a2 * a2 + a3 * a3;\n var invDot = dot ? 1.0 / dot : 0;\n\n // TODO: Would be faster to return [0,0,0,0] immediately if dot == 0\n\n out[0] = -a0 * invDot;\n out[1] = -a1 * invDot;\n out[2] = -a2 * invDot;\n out[3] = a3 * invDot;\n return out;\n}\n\n/**\n * Calculates the conjugate of a quat\n * If the quaternion is normalized, this function is faster than quat.inverse and produces the same result.\n *\n * @param {quat} out the receiving quaternion\n * @param {ReadonlyQuat} a quat to calculate conjugate of\n * @returns {quat} out\n */\nexport function conjugate(out, a) {\n out[0] = -a[0];\n out[1] = -a[1];\n out[2] = -a[2];\n out[3] = a[3];\n return out;\n}\n\n/**\n * Creates a quaternion from the given 3x3 rotation matrix.\n *\n * NOTE: The resultant quaternion is not normalized, so you should be sure\n * to renormalize the quaternion yourself where necessary.\n *\n * @param {quat} out the receiving quaternion\n * @param {ReadonlyMat3} m rotation matrix\n * @returns {quat} out\n * @function\n */\nexport function fromMat3(out, m) {\n // Algorithm in Ken Shoemake's article in 1987 SIGGRAPH course notes\n // article \"Quaternion Calculus and Fast Animation\".\n var fTrace = m[0] + m[4] + m[8];\n var fRoot;\n if (fTrace > 0.0) {\n // |w| > 1/2, may as well choose w > 1/2\n fRoot = Math.sqrt(fTrace + 1.0); // 2w\n out[3] = 0.5 * fRoot;\n fRoot = 0.5 / fRoot; // 1/(4w)\n out[0] = (m[5] - m[7]) * fRoot;\n out[1] = (m[6] - m[2]) * fRoot;\n out[2] = (m[1] - m[3]) * fRoot;\n } else {\n // |w| <= 1/2\n var i = 0;\n if (m[4] > m[0]) i = 1;\n if (m[8] > m[i * 3 + i]) i = 2;\n var j = (i + 1) % 3;\n var k = (i + 2) % 3;\n fRoot = Math.sqrt(m[i * 3 + i] - m[j * 3 + j] - m[k * 3 + k] + 1.0);\n out[i] = 0.5 * fRoot;\n fRoot = 0.5 / fRoot;\n out[3] = (m[j * 3 + k] - m[k * 3 + j]) * fRoot;\n out[j] = (m[j * 3 + i] + m[i * 3 + j]) * fRoot;\n out[k] = (m[k * 3 + i] + m[i * 3 + k]) * fRoot;\n }\n return out;\n}\n\n/**\n * Creates a quaternion from the given euler angle x, y, z using the provided intrinsic order for the conversion.\n *\n * @param {quat} out the receiving quaternion\n * @param {Number} x Angle to rotate around X axis in degrees.\n * @param {Number} y Angle to rotate around Y axis in degrees.\n * @param {Number} z Angle to rotate around Z axis in degrees.\n * @param {'xyz'|'xzy'|'yxz'|'yzx'|'zxy'|'zyx'} order Intrinsic order for conversion, default is zyx.\n * @returns {quat} out\n * @function\n */\nexport function fromEuler(out, x, y, z) {\n var order = arguments.length > 4 && arguments[4] !== undefined ? arguments[4] : glMatrix.ANGLE_ORDER;\n var halfToRad = Math.PI / 360;\n x *= halfToRad;\n z *= halfToRad;\n y *= halfToRad;\n var sx = Math.sin(x);\n var cx = Math.cos(x);\n var sy = Math.sin(y);\n var cy = Math.cos(y);\n var sz = Math.sin(z);\n var cz = Math.cos(z);\n switch (order) {\n case \"xyz\":\n out[0] = sx * cy * cz + cx * sy * sz;\n out[1] = cx * sy * cz - sx * cy * sz;\n out[2] = cx * cy * sz + sx * sy * cz;\n out[3] = cx * cy * cz - sx * sy * sz;\n break;\n case \"xzy\":\n out[0] = sx * cy * cz - cx * sy * sz;\n out[1] = cx * sy * cz - sx * cy * sz;\n out[2] = cx * cy * sz + sx * sy * cz;\n out[3] = cx * cy * cz + sx * sy * sz;\n break;\n case \"yxz\":\n out[0] = sx * cy * cz + cx * sy * sz;\n out[1] = cx * sy * cz - sx * cy * sz;\n out[2] = cx * cy * sz - sx * sy * cz;\n out[3] = cx * cy * cz + sx * sy * sz;\n break;\n case \"yzx\":\n out[0] = sx * cy * cz + cx * sy * sz;\n out[1] = cx * sy * cz + sx * cy * sz;\n out[2] = cx * cy * sz - sx * sy * cz;\n out[3] = cx * cy * cz - sx * sy * sz;\n break;\n case \"zxy\":\n out[0] = sx * cy * cz - cx * sy * sz;\n out[1] = cx * sy * cz + sx * cy * sz;\n out[2] = cx * cy * sz + sx * sy * cz;\n out[3] = cx * cy * cz - sx * sy * sz;\n break;\n case \"zyx\":\n out[0] = sx * cy * cz - cx * sy * sz;\n out[1] = cx * sy * cz + sx * cy * sz;\n out[2] = cx * cy * sz - sx * sy * cz;\n out[3] = cx * cy * cz + sx * sy * sz;\n break;\n default:\n throw new Error('Unknown angle order ' + order);\n }\n return out;\n}\n\n/**\n * Returns a string representation of a quaternion\n *\n * @param {ReadonlyQuat} a vector to represent as a string\n * @returns {String} string representation of the vector\n */\nexport function str(a) {\n return \"quat(\" + a[0] + \", \" + a[1] + \", \" + a[2] + \", \" + a[3] + \")\";\n}\n\n/**\n * Creates a new quat initialized with values from an existing quaternion\n *\n * @param {ReadonlyQuat} a quaternion to clone\n * @returns {quat} a new quaternion\n * @function\n */\nexport var clone = vec4.clone;\n\n/**\n * Creates a new quat initialized with the given values\n *\n * @param {Number} x X component\n * @param {Number} y Y component\n * @param {Number} z Z component\n * @param {Number} w W component\n * @returns {quat} a new quaternion\n * @function\n */\nexport var fromValues = vec4.fromValues;\n\n/**\n * Copy the values from one quat to another\n *\n * @param {quat} out the receiving quaternion\n * @param {ReadonlyQuat} a the source quaternion\n * @returns {quat} out\n * @function\n */\nexport var copy = vec4.copy;\n\n/**\n * Set the components of a quat to the given values\n *\n * @param {quat} out the receiving quaternion\n * @param {Number} x X component\n * @param {Number} y Y component\n * @param {Number} z Z component\n * @param {Number} w W component\n * @returns {quat} out\n * @function\n */\nexport var set = vec4.set;\n\n/**\n * Adds two quat's\n *\n * @param {quat} out the receiving quaternion\n * @param {ReadonlyQuat} a the first operand\n * @param {ReadonlyQuat} b the second operand\n * @returns {quat} out\n * @function\n */\nexport var add = vec4.add;\n\n/**\n * Alias for {@link quat.multiply}\n * @function\n */\nexport var mul = multiply;\n\n/**\n * Scales a quat by a scalar number\n *\n * @param {quat} out the receiving vector\n * @param {ReadonlyQuat} a the vector to scale\n * @param {Number} b amount to scale the vector by\n * @returns {quat} out\n * @function\n */\nexport var scale = vec4.scale;\n\n/**\n * Calculates the dot product of two quat's\n *\n * @param {ReadonlyQuat} a the first operand\n * @param {ReadonlyQuat} b the second operand\n * @returns {Number} dot product of a and b\n * @function\n */\nexport var dot = vec4.dot;\n\n/**\n * Performs a linear interpolation between two quat's\n *\n * @param {quat} out the receiving quaternion\n * @param {ReadonlyQuat} a the first operand\n * @param {ReadonlyQuat} b the second operand\n * @param {Number} t interpolation amount, in the range [0-1], between the two inputs\n * @returns {quat} out\n * @function\n */\nexport var lerp = vec4.lerp;\n\n/**\n * Calculates the length of a quat\n *\n * @param {ReadonlyQuat} a vector to calculate length of\n * @returns {Number} length of a\n */\nexport var length = vec4.length;\n\n/**\n * Alias for {@link quat.length}\n * @function\n */\nexport var len = length;\n\n/**\n * Calculates the squared length of a quat\n *\n * @param {ReadonlyQuat} a vector to calculate squared length of\n * @returns {Number} squared length of a\n * @function\n */\nexport var squaredLength = vec4.squaredLength;\n\n/**\n * Alias for {@link quat.squaredLength}\n * @function\n */\nexport var sqrLen = squaredLength;\n\n/**\n * Normalize a quat\n *\n * @param {quat} out the receiving quaternion\n * @param {ReadonlyQuat} a quaternion to normalize\n * @returns {quat} out\n * @function\n */\nexport var normalize = vec4.normalize;\n\n/**\n * Returns whether or not the quaternions have exactly the same elements in the same position (when compared with ===)\n *\n * @param {ReadonlyQuat} a The first quaternion.\n * @param {ReadonlyQuat} b The second quaternion.\n * @returns {Boolean} True if the vectors are equal, false otherwise.\n */\nexport var exactEquals = vec4.exactEquals;\n\n/**\n * Returns whether or not the quaternions point approximately to the same direction.\n *\n * Both quaternions are assumed to be unit length.\n *\n * @param {ReadonlyQuat} a The first unit quaternion.\n * @param {ReadonlyQuat} b The second unit quaternion.\n * @returns {Boolean} True if the quaternions are equal, false otherwise.\n */\nexport function equals(a, b) {\n return Math.abs(vec4.dot(a, b)) >= 1 - glMatrix.EPSILON;\n}\n\n/**\n * Sets a quaternion to represent the shortest rotation from one\n * vector to another.\n *\n * Both vectors are assumed to be unit length.\n *\n * @param {quat} out the receiving quaternion.\n * @param {ReadonlyVec3} a the initial vector\n * @param {ReadonlyVec3} b the destination vector\n * @returns {quat} out\n */\nexport var rotationTo = function () {\n var tmpvec3 = vec3.create();\n var xUnitVec3 = vec3.fromValues(1, 0, 0);\n var yUnitVec3 = vec3.fromValues(0, 1, 0);\n return function (out, a, b) {\n var dot = vec3.dot(a, b);\n if (dot < -0.999999) {\n vec3.cross(tmpvec3, xUnitVec3, a);\n if (vec3.len(tmpvec3) < 0.000001) vec3.cross(tmpvec3, yUnitVec3, a);\n vec3.normalize(tmpvec3, tmpvec3);\n setAxisAngle(out, tmpvec3, Math.PI);\n return out;\n } else if (dot > 0.999999) {\n out[0] = 0;\n out[1] = 0;\n out[2] = 0;\n out[3] = 1;\n return out;\n } else {\n vec3.cross(tmpvec3, a, b);\n out[0] = tmpvec3[0];\n out[1] = tmpvec3[1];\n out[2] = tmpvec3[2];\n out[3] = 1 + dot;\n return normalize(out, out);\n }\n };\n}();\n\n/**\n * Performs a spherical linear interpolation with two control points\n *\n * @param {quat} out the receiving quaternion\n * @param {ReadonlyQuat} a the first operand\n * @param {ReadonlyQuat} b the second operand\n * @param {ReadonlyQuat} c the third operand\n * @param {ReadonlyQuat} d the fourth operand\n * @param {Number} t interpolation amount, in the range [0-1], between the two inputs\n * @returns {quat} out\n */\nexport var sqlerp = function () {\n var temp1 = create();\n var temp2 = create();\n return function (out, a, b, c, d, t) {\n slerp(temp1, a, d, t);\n slerp(temp2, b, c, t);\n slerp(out, temp1, temp2, 2 * t * (1 - t));\n return out;\n };\n}();\n\n/**\n * Sets the specified quaternion with values corresponding to the given\n * axes. Each axis is a vec3 and is expected to be unit length and\n * perpendicular to all other specified axes.\n *\n * @param {ReadonlyVec3} view the vector representing the viewing direction\n * @param {ReadonlyVec3} right the vector representing the local \"right\" direction\n * @param {ReadonlyVec3} up the vector representing the local \"up\" direction\n * @returns {quat} out\n */\nexport var setAxes = function () {\n var matr = mat3.create();\n return function (out, view, right, up) {\n matr[0] = right[0];\n matr[3] = right[1];\n matr[6] = right[2];\n matr[1] = up[0];\n matr[4] = up[1];\n matr[7] = up[2];\n matr[2] = -view[0];\n matr[5] = -view[1];\n matr[8] = -view[2];\n return normalize(out, fromMat3(out, matr));\n };\n}();","import * as glMatrix from \"./common.js\";\n\n/**\n * 3 Dimensional Vector\n * @module vec3\n */\n\n/**\n * Creates a new, empty vec3\n *\n * @returns {vec3} a new 3D vector\n */\nexport function create() {\n var out = new glMatrix.ARRAY_TYPE(3);\n if (glMatrix.ARRAY_TYPE != Float32Array) {\n out[0] = 0;\n out[1] = 0;\n out[2] = 0;\n }\n return out;\n}\n\n/**\n * Creates a new vec3 initialized with values from an existing vector\n *\n * @param {ReadonlyVec3} a vector to clone\n * @returns {vec3} a new 3D vector\n */\nexport function clone(a) {\n var out = new glMatrix.ARRAY_TYPE(3);\n out[0] = a[0];\n out[1] = a[1];\n out[2] = a[2];\n return out;\n}\n\n/**\n * Calculates the length of a vec3\n *\n * @param {ReadonlyVec3} a vector to calculate length of\n * @returns {Number} length of a\n */\nexport function length(a) {\n var x = a[0];\n var y = a[1];\n var z = a[2];\n return Math.sqrt(x * x + y * y + z * z);\n}\n\n/**\n * Creates a new vec3 initialized with the given values\n *\n * @param {Number} x X component\n * @param {Number} y Y component\n * @param {Number} z Z component\n * @returns {vec3} a new 3D vector\n */\nexport function fromValues(x, y, z) {\n var out = new glMatrix.ARRAY_TYPE(3);\n out[0] = x;\n out[1] = y;\n out[2] = z;\n return out;\n}\n\n/**\n * Copy the values from one vec3 to another\n *\n * @param {vec3} out the receiving vector\n * @param {ReadonlyVec3} a the source vector\n * @returns {vec3} out\n */\nexport function copy(out, a) {\n out[0] = a[0];\n out[1] = a[1];\n out[2] = a[2];\n return out;\n}\n\n/**\n * Set the components of a vec3 to the given values\n *\n * @param {vec3} out the receiving vector\n * @param {Number} x X component\n * @param {Number} y Y component\n * @param {Number} z Z component\n * @returns {vec3} out\n */\nexport function set(out, x, y, z) {\n out[0] = x;\n out[1] = y;\n out[2] = z;\n return out;\n}\n\n/**\n * Adds two vec3's\n *\n * @param {vec3} out the receiving vector\n * @param {ReadonlyVec3} a the first operand\n * @param {ReadonlyVec3} b the second operand\n * @returns {vec3} out\n */\nexport function add(out, a, b) {\n out[0] = a[0] + b[0];\n out[1] = a[1] + b[1];\n out[2] = a[2] + b[2];\n return out;\n}\n\n/**\n * Subtracts vector b from vector a\n *\n * @param {vec3} out the receiving vector\n * @param {ReadonlyVec3} a the first operand\n * @param {ReadonlyVec3} b the second operand\n * @returns {vec3} out\n */\nexport function subtract(out, a, b) {\n out[0] = a[0] - b[0];\n out[1] = a[1] - b[1];\n out[2] = a[2] - b[2];\n return out;\n}\n\n/**\n * Multiplies two vec3's\n *\n * @param {vec3} out the receiving vector\n * @param {ReadonlyVec3} a the first operand\n * @param {ReadonlyVec3} b the second operand\n * @returns {vec3} out\n */\nexport function multiply(out, a, b) {\n out[0] = a[0] * b[0];\n out[1] = a[1] * b[1];\n out[2] = a[2] * b[2];\n return out;\n}\n\n/**\n * Divides two vec3's\n *\n * @param {vec3} out the receiving vector\n * @param {ReadonlyVec3} a the first operand\n * @param {ReadonlyVec3} b the second operand\n * @returns {vec3} out\n */\nexport function divide(out, a, b) {\n out[0] = a[0] / b[0];\n out[1] = a[1] / b[1];\n out[2] = a[2] / b[2];\n return out;\n}\n\n/**\n * Math.ceil the components of a vec3\n *\n * @param {vec3} out the receiving vector\n * @param {ReadonlyVec3} a vector to ceil\n * @returns {vec3} out\n */\nexport function ceil(out, a) {\n out[0] = Math.ceil(a[0]);\n out[1] = Math.ceil(a[1]);\n out[2] = Math.ceil(a[2]);\n return out;\n}\n\n/**\n * Math.floor the components of a vec3\n *\n * @param {vec3} out the receiving vector\n * @param {ReadonlyVec3} a vector to floor\n * @returns {vec3} out\n */\nexport function floor(out, a) {\n out[0] = Math.floor(a[0]);\n out[1] = Math.floor(a[1]);\n out[2] = Math.floor(a[2]);\n return out;\n}\n\n/**\n * Returns the minimum of two vec3's\n *\n * @param {vec3} out the receiving vector\n * @param {ReadonlyVec3} a the first operand\n * @param {ReadonlyVec3} b the second operand\n * @returns {vec3} out\n */\nexport function min(out, a, b) {\n out[0] = Math.min(a[0], b[0]);\n out[1] = Math.min(a[1], b[1]);\n out[2] = Math.min(a[2], b[2]);\n return out;\n}\n\n/**\n * Returns the maximum of two vec3's\n *\n * @param {vec3} out the receiving vector\n * @param {ReadonlyVec3} a the first operand\n * @param {ReadonlyVec3} b the second operand\n * @returns {vec3} out\n */\nexport function max(out, a, b) {\n out[0] = Math.max(a[0], b[0]);\n out[1] = Math.max(a[1], b[1]);\n out[2] = Math.max(a[2], b[2]);\n return out;\n}\n\n/**\n * symmetric round the components of a vec3\n *\n * @param {vec3} out the receiving vector\n * @param {ReadonlyVec3} a vector to round\n * @returns {vec3} out\n */\nexport function round(out, a) {\n out[0] = glMatrix.round(a[0]);\n out[1] = glMatrix.round(a[1]);\n out[2] = glMatrix.round(a[2]);\n return out;\n}\n\n/**\n * Scales a vec3 by a scalar number\n *\n * @param {vec3} out the receiving vector\n * @param {ReadonlyVec3} a the vector to scale\n * @param {Number} b amount to scale the vector by\n * @returns {vec3} out\n */\nexport function scale(out, a, b) {\n out[0] = a[0] * b;\n out[1] = a[1] * b;\n out[2] = a[2] * b;\n return out;\n}\n\n/**\n * Adds two vec3's after scaling the second operand by a scalar value\n *\n * @param {vec3} out the receiving vector\n * @param {ReadonlyVec3} a the first operand\n * @param {ReadonlyVec3} b the second operand\n * @param {Number} scale the amount to scale b by before adding\n * @returns {vec3} out\n */\nexport function scaleAndAdd(out, a, b, scale) {\n out[0] = a[0] + b[0] * scale;\n out[1] = a[1] + b[1] * scale;\n out[2] = a[2] + b[2] * scale;\n return out;\n}\n\n/**\n * Calculates the euclidian distance between two vec3's\n *\n * @param {ReadonlyVec3} a the first operand\n * @param {ReadonlyVec3} b the second operand\n * @returns {Number} distance between a and b\n */\nexport function distance(a, b) {\n var x = b[0] - a[0];\n var y = b[1] - a[1];\n var z = b[2] - a[2];\n return Math.sqrt(x * x + y * y + z * z);\n}\n\n/**\n * Calculates the squared euclidian distance between two vec3's\n *\n * @param {ReadonlyVec3} a the first operand\n * @param {ReadonlyVec3} b the second operand\n * @returns {Number} squared distance between a and b\n */\nexport function squaredDistance(a, b) {\n var x = b[0] - a[0];\n var y = b[1] - a[1];\n var z = b[2] - a[2];\n return x * x + y * y + z * z;\n}\n\n/**\n * Calculates the squared length of a vec3\n *\n * @param {ReadonlyVec3} a vector to calculate squared length of\n * @returns {Number} squared length of a\n */\nexport function squaredLength(a) {\n var x = a[0];\n var y = a[1];\n var z = a[2];\n return x * x + y * y + z * z;\n}\n\n/**\n * Negates the components of a vec3\n *\n * @param {vec3} out the receiving vector\n * @param {ReadonlyVec3} a vector to negate\n * @returns {vec3} out\n */\nexport function negate(out, a) {\n out[0] = -a[0];\n out[1] = -a[1];\n out[2] = -a[2];\n return out;\n}\n\n/**\n * Returns the inverse of the components of a vec3\n *\n * @param {vec3} out the receiving vector\n * @param {ReadonlyVec3} a vector to invert\n * @returns {vec3} out\n */\nexport function inverse(out, a) {\n out[0] = 1.0 / a[0];\n out[1] = 1.0 / a[1];\n out[2] = 1.0 / a[2];\n return out;\n}\n\n/**\n * Normalize a vec3\n *\n * @param {vec3} out the receiving vector\n * @param {ReadonlyVec3} a vector to normalize\n * @returns {vec3} out\n */\nexport function normalize(out, a) {\n var x = a[0];\n var y = a[1];\n var z = a[2];\n var len = x * x + y * y + z * z;\n if (len > 0) {\n //TODO: evaluate use of glm_invsqrt here?\n len = 1 / Math.sqrt(len);\n }\n out[0] = a[0] * len;\n out[1] = a[1] * len;\n out[2] = a[2] * len;\n return out;\n}\n\n/**\n * Calculates the dot product of two vec3's\n *\n * @param {ReadonlyVec3} a the first operand\n * @param {ReadonlyVec3} b the second operand\n * @returns {Number} dot product of a and b\n */\nexport function dot(a, b) {\n return a[0] * b[0] + a[1] * b[1] + a[2] * b[2];\n}\n\n/**\n * Computes the cross product of two vec3's\n *\n * @param {vec3} out the receiving vector\n * @param {ReadonlyVec3} a the first operand\n * @param {ReadonlyVec3} b the second operand\n * @returns {vec3} out\n */\nexport function cross(out, a, b) {\n var ax = a[0],\n ay = a[1],\n az = a[2];\n var bx = b[0],\n by = b[1],\n bz = b[2];\n out[0] = ay * bz - az * by;\n out[1] = az * bx - ax * bz;\n out[2] = ax * by - ay * bx;\n return out;\n}\n\n/**\n * Performs a linear interpolation between two vec3's\n *\n * @param {vec3} out the receiving vector\n * @param {ReadonlyVec3} a the first operand\n * @param {ReadonlyVec3} b the second operand\n * @param {Number} t interpolation amount, in the range [0-1], between the two inputs\n * @returns {vec3} out\n */\nexport function lerp(out, a, b, t) {\n var ax = a[0];\n var ay = a[1];\n var az = a[2];\n out[0] = ax + t * (b[0] - ax);\n out[1] = ay + t * (b[1] - ay);\n out[2] = az + t * (b[2] - az);\n return out;\n}\n\n/**\n * Performs a spherical linear interpolation between two vec3's\n *\n * @param {vec3} out the receiving vector\n * @param {ReadonlyVec3} a the first operand\n * @param {ReadonlyVec3} b the second operand\n * @param {Number} t interpolation amount, in the range [0-1], between the two inputs\n * @returns {vec3} out\n */\nexport function slerp(out, a, b, t) {\n var angle = Math.acos(Math.min(Math.max(dot(a, b), -1), 1));\n var sinTotal = Math.sin(angle);\n var ratioA = Math.sin((1 - t) * angle) / sinTotal;\n var ratioB = Math.sin(t * angle) / sinTotal;\n out[0] = ratioA * a[0] + ratioB * b[0];\n out[1] = ratioA * a[1] + ratioB * b[1];\n out[2] = ratioA * a[2] + ratioB * b[2];\n return out;\n}\n\n/**\n * Performs a hermite interpolation with two control points\n *\n * @param {vec3} out the receiving vector\n * @param {ReadonlyVec3} a the first operand\n * @param {ReadonlyVec3} b the second operand\n * @param {ReadonlyVec3} c the third operand\n * @param {ReadonlyVec3} d the fourth operand\n * @param {Number} t interpolation amount, in the range [0-1], between the two inputs\n * @returns {vec3} out\n */\nexport function hermite(out, a, b, c, d, t) {\n var factorTimes2 = t * t;\n var factor1 = factorTimes2 * (2 * t - 3) + 1;\n var factor2 = factorTimes2 * (t - 2) + t;\n var factor3 = factorTimes2 * (t - 1);\n var factor4 = factorTimes2 * (3 - 2 * t);\n out[0] = a[0] * factor1 + b[0] * factor2 + c[0] * factor3 + d[0] * factor4;\n out[1] = a[1] * factor1 + b[1] * factor2 + c[1] * factor3 + d[1] * factor4;\n out[2] = a[2] * factor1 + b[2] * factor2 + c[2] * factor3 + d[2] * factor4;\n return out;\n}\n\n/**\n * Performs a bezier interpolation with two control points\n *\n * @param {vec3} out the receiving vector\n * @param {ReadonlyVec3} a the first operand\n * @param {ReadonlyVec3} b the second operand\n * @param {ReadonlyVec3} c the third operand\n * @param {ReadonlyVec3} d the fourth operand\n * @param {Number} t interpolation amount, in the range [0-1], between the two inputs\n * @returns {vec3} out\n */\nexport function bezier(out, a, b, c, d, t) {\n var inverseFactor = 1 - t;\n var inverseFactorTimesTwo = inverseFactor * inverseFactor;\n var factorTimes2 = t * t;\n var factor1 = inverseFactorTimesTwo * inverseFactor;\n var factor2 = 3 * t * inverseFactorTimesTwo;\n var factor3 = 3 * factorTimes2 * inverseFactor;\n var factor4 = factorTimes2 * t;\n out[0] = a[0] * factor1 + b[0] * factor2 + c[0] * factor3 + d[0] * factor4;\n out[1] = a[1] * factor1 + b[1] * factor2 + c[1] * factor3 + d[1] * factor4;\n out[2] = a[2] * factor1 + b[2] * factor2 + c[2] * factor3 + d[2] * factor4;\n return out;\n}\n\n/**\n * Generates a random vector with the given scale\n *\n * @param {vec3} out the receiving vector\n * @param {Number} [scale] Length of the resulting vector. If omitted, a unit vector will be returned\n * @returns {vec3} out\n */\nexport function random(out, scale) {\n scale = scale === undefined ? 1.0 : scale;\n var r = glMatrix.RANDOM() * 2.0 * Math.PI;\n var z = glMatrix.RANDOM() * 2.0 - 1.0;\n var zScale = Math.sqrt(1.0 - z * z) * scale;\n out[0] = Math.cos(r) * zScale;\n out[1] = Math.sin(r) * zScale;\n out[2] = z * scale;\n return out;\n}\n\n/**\n * Transforms the vec3 with a mat4.\n * 4th vector component is implicitly '1'\n *\n * @param {vec3} out the receiving vector\n * @param {ReadonlyVec3} a the vector to transform\n * @param {ReadonlyMat4} m matrix to transform with\n * @returns {vec3} out\n */\nexport function transformMat4(out, a, m) {\n var x = a[0],\n y = a[1],\n z = a[2];\n var w = m[3] * x + m[7] * y + m[11] * z + m[15];\n w = w || 1.0;\n out[0] = (m[0] * x + m[4] * y + m[8] * z + m[12]) / w;\n out[1] = (m[1] * x + m[5] * y + m[9] * z + m[13]) / w;\n out[2] = (m[2] * x + m[6] * y + m[10] * z + m[14]) / w;\n return out;\n}\n\n/**\n * Transforms the vec3 with a mat3.\n *\n * @param {vec3} out the receiving vector\n * @param {ReadonlyVec3} a the vector to transform\n * @param {ReadonlyMat3} m the 3x3 matrix to transform with\n * @returns {vec3} out\n */\nexport function transformMat3(out, a, m) {\n var x = a[0],\n y = a[1],\n z = a[2];\n out[0] = x * m[0] + y * m[3] + z * m[6];\n out[1] = x * m[1] + y * m[4] + z * m[7];\n out[2] = x * m[2] + y * m[5] + z * m[8];\n return out;\n}\n\n/**\n * Transforms the vec3 with a quat\n * Can also be used for dual quaternions. (Multiply it with the real part)\n *\n * @param {vec3} out the receiving vector\n * @param {ReadonlyVec3} a the vector to transform\n * @param {ReadonlyQuat} q normalized quaternion to transform with\n * @returns {vec3} out\n */\nexport function transformQuat(out, a, q) {\n // Fast Vector Rotation using Quaternions by Robert Eisele\n // https://raw.org/proof/vector-rotation-using-quaternions/\n\n var qx = q[0],\n qy = q[1],\n qz = q[2],\n qw = q[3];\n var vx = a[0],\n vy = a[1],\n vz = a[2];\n\n // t = q x v\n var tx = qy * vz - qz * vy;\n var ty = qz * vx - qx * vz;\n var tz = qx * vy - qy * vx;\n\n // t = 2t\n tx = tx + tx;\n ty = ty + ty;\n tz = tz + tz;\n\n // v + w t + q x t\n out[0] = vx + qw * tx + qy * tz - qz * ty;\n out[1] = vy + qw * ty + qz * tx - qx * tz;\n out[2] = vz + qw * tz + qx * ty - qy * tx;\n return out;\n}\n\n/**\n * Rotate a 3D vector around the x-axis\n * @param {vec3} out The receiving vec3\n * @param {ReadonlyVec3} a The vec3 point to rotate\n * @param {ReadonlyVec3} b The origin of the rotation\n * @param {Number} rad The angle of rotation in radians\n * @returns {vec3} out\n */\nexport function rotateX(out, a, b, rad) {\n var p = [],\n r = [];\n //Translate point to the origin\n p[0] = a[0] - b[0];\n p[1] = a[1] - b[1];\n p[2] = a[2] - b[2];\n\n //perform rotation\n r[0] = p[0];\n r[1] = p[1] * Math.cos(rad) - p[2] * Math.sin(rad);\n r[2] = p[1] * Math.sin(rad) + p[2] * Math.cos(rad);\n\n //translate to correct position\n out[0] = r[0] + b[0];\n out[1] = r[1] + b[1];\n out[2] = r[2] + b[2];\n return out;\n}\n\n/**\n * Rotate a 3D vector around the y-axis\n * @param {vec3} out The receiving vec3\n * @param {ReadonlyVec3} a The vec3 point to rotate\n * @param {ReadonlyVec3} b The origin of the rotation\n * @param {Number} rad The angle of rotation in radians\n * @returns {vec3} out\n */\nexport function rotateY(out, a, b, rad) {\n var p = [],\n r = [];\n //Translate point to the origin\n p[0] = a[0] - b[0];\n p[1] = a[1] - b[1];\n p[2] = a[2] - b[2];\n\n //perform rotation\n r[0] = p[2] * Math.sin(rad) + p[0] * Math.cos(rad);\n r[1] = p[1];\n r[2] = p[2] * Math.cos(rad) - p[0] * Math.sin(rad);\n\n //translate to correct position\n out[0] = r[0] + b[0];\n out[1] = r[1] + b[1];\n out[2] = r[2] + b[2];\n return out;\n}\n\n/**\n * Rotate a 3D vector around the z-axis\n * @param {vec3} out The receiving vec3\n * @param {ReadonlyVec3} a The vec3 point to rotate\n * @param {ReadonlyVec3} b The origin of the rotation\n * @param {Number} rad The angle of rotation in radians\n * @returns {vec3} out\n */\nexport function rotateZ(out, a, b, rad) {\n var p = [],\n r = [];\n //Translate point to the origin\n p[0] = a[0] - b[0];\n p[1] = a[1] - b[1];\n p[2] = a[2] - b[2];\n\n //perform rotation\n r[0] = p[0] * Math.cos(rad) - p[1] * Math.sin(rad);\n r[1] = p[0] * Math.sin(rad) + p[1] * Math.cos(rad);\n r[2] = p[2];\n\n //translate to correct position\n out[0] = r[0] + b[0];\n out[1] = r[1] + b[1];\n out[2] = r[2] + b[2];\n return out;\n}\n\n/**\n * Get the angle between two 3D vectors\n * @param {ReadonlyVec3} a The first operand\n * @param {ReadonlyVec3} b The second operand\n * @returns {Number} The angle in radians\n */\nexport function angle(a, b) {\n var ax = a[0],\n ay = a[1],\n az = a[2],\n bx = b[0],\n by = b[1],\n bz = b[2],\n mag = Math.sqrt((ax * ax + ay * ay + az * az) * (bx * bx + by * by + bz * bz)),\n cosine = mag && dot(a, b) / mag;\n return Math.acos(Math.min(Math.max(cosine, -1), 1));\n}\n\n/**\n * Set the components of a vec3 to zero\n *\n * @param {vec3} out the receiving vector\n * @returns {vec3} out\n */\nexport function zero(out) {\n out[0] = 0.0;\n out[1] = 0.0;\n out[2] = 0.0;\n return out;\n}\n\n/**\n * Returns a string representation of a vector\n *\n * @param {ReadonlyVec3} a vector to represent as a string\n * @returns {String} string representation of the vector\n */\nexport function str(a) {\n return \"vec3(\" + a[0] + \", \" + a[1] + \", \" + a[2] + \")\";\n}\n\n/**\n * Returns whether or not the vectors have exactly the same elements in the same position (when compared with ===)\n *\n * @param {ReadonlyVec3} a The first vector.\n * @param {ReadonlyVec3} b The second vector.\n * @returns {Boolean} True if the vectors are equal, false otherwise.\n */\nexport function exactEquals(a, b) {\n return a[0] === b[0] && a[1] === b[1] && a[2] === b[2];\n}\n\n/**\n * Returns whether or not the vectors have approximately the same elements in the same position.\n *\n * @param {ReadonlyVec3} a The first vector.\n * @param {ReadonlyVec3} b The second vector.\n * @returns {Boolean} True if the vectors are equal, false otherwise.\n */\nexport function equals(a, b) {\n var a0 = a[0],\n a1 = a[1],\n a2 = a[2];\n var b0 = b[0],\n b1 = b[1],\n b2 = b[2];\n return Math.abs(a0 - b0) <= glMatrix.EPSILON * Math.max(1.0, Math.abs(a0), Math.abs(b0)) && Math.abs(a1 - b1) <= glMatrix.EPSILON * Math.max(1.0, Math.abs(a1), Math.abs(b1)) && Math.abs(a2 - b2) <= glMatrix.EPSILON * Math.max(1.0, Math.abs(a2), Math.abs(b2));\n}\n\n/**\n * Alias for {@link vec3.subtract}\n * @function\n */\nexport var sub = subtract;\n\n/**\n * Alias for {@link vec3.multiply}\n * @function\n */\nexport var mul = multiply;\n\n/**\n * Alias for {@link vec3.divide}\n * @function\n */\nexport var div = divide;\n\n/**\n * Alias for {@link vec3.distance}\n * @function\n */\nexport var dist = distance;\n\n/**\n * Alias for {@link vec3.squaredDistance}\n * @function\n */\nexport var sqrDist = squaredDistance;\n\n/**\n * Alias for {@link vec3.length}\n * @function\n */\nexport var len = length;\n\n/**\n * Alias for {@link vec3.squaredLength}\n * @function\n */\nexport var sqrLen = squaredLength;\n\n/**\n * Perform some operation over an array of vec3s.\n *\n * @param {Array} a the array of vectors to iterate over\n * @param {Number} stride Number of elements between the start of each vec3. If 0 assumes tightly packed\n * @param {Number} offset Number of elements to skip at the beginning of the array\n * @param {Number} count Number of vec3s to iterate over. If 0 iterates over entire array\n * @param {Function} fn Function to call for each vector in the array\n * @param {Object} [arg] additional argument to pass to fn\n * @returns {Array} a\n * @function\n */\nexport var forEach = function () {\n var vec = create();\n return function (a, stride, offset, count, fn, arg) {\n var i, l;\n if (!stride) {\n stride = 3;\n }\n if (!offset) {\n offset = 0;\n }\n if (count) {\n l = Math.min(count * stride + offset, a.length);\n } else {\n l = a.length;\n }\n for (i = offset; i < l; i += stride) {\n vec[0] = a[i];\n vec[1] = a[i + 1];\n vec[2] = a[i + 2];\n fn(vec, vec, arg);\n a[i] = vec[0];\n a[i + 1] = vec[1];\n a[i + 2] = vec[2];\n }\n return a;\n };\n}();","import * as glMatrix from \"./common.js\";\n\n/**\n * 4 Dimensional Vector\n * @module vec4\n */\n\n/**\n * Creates a new, empty vec4\n *\n * @returns {vec4} a new 4D vector\n */\nexport function create() {\n var out = new glMatrix.ARRAY_TYPE(4);\n if (glMatrix.ARRAY_TYPE != Float32Array) {\n out[0] = 0;\n out[1] = 0;\n out[2] = 0;\n out[3] = 0;\n }\n return out;\n}\n\n/**\n * Creates a new vec4 initialized with values from an existing vector\n *\n * @param {ReadonlyVec4} a vector to clone\n * @returns {vec4} a new 4D vector\n */\nexport function clone(a) {\n var out = new glMatrix.ARRAY_TYPE(4);\n out[0] = a[0];\n out[1] = a[1];\n out[2] = a[2];\n out[3] = a[3];\n return out;\n}\n\n/**\n * Creates a new vec4 initialized with the given values\n *\n * @param {Number} x X component\n * @param {Number} y Y component\n * @param {Number} z Z component\n * @param {Number} w W component\n * @returns {vec4} a new 4D vector\n */\nexport function fromValues(x, y, z, w) {\n var out = new glMatrix.ARRAY_TYPE(4);\n out[0] = x;\n out[1] = y;\n out[2] = z;\n out[3] = w;\n return out;\n}\n\n/**\n * Copy the values from one vec4 to another\n *\n * @param {vec4} out the receiving vector\n * @param {ReadonlyVec4} a the source vector\n * @returns {vec4} out\n */\nexport function copy(out, a) {\n out[0] = a[0];\n out[1] = a[1];\n out[2] = a[2];\n out[3] = a[3];\n return out;\n}\n\n/**\n * Set the components of a vec4 to the given values\n *\n * @param {vec4} out the receiving vector\n * @param {Number} x X component\n * @param {Number} y Y component\n * @param {Number} z Z component\n * @param {Number} w W component\n * @returns {vec4} out\n */\nexport function set(out, x, y, z, w) {\n out[0] = x;\n out[1] = y;\n out[2] = z;\n out[3] = w;\n return out;\n}\n\n/**\n * Adds two vec4's\n *\n * @param {vec4} out the receiving vector\n * @param {ReadonlyVec4} a the first operand\n * @param {ReadonlyVec4} b the second operand\n * @returns {vec4} out\n */\nexport function add(out, a, b) {\n out[0] = a[0] + b[0];\n out[1] = a[1] + b[1];\n out[2] = a[2] + b[2];\n out[3] = a[3] + b[3];\n return out;\n}\n\n/**\n * Subtracts vector b from vector a\n *\n * @param {vec4} out the receiving vector\n * @param {ReadonlyVec4} a the first operand\n * @param {ReadonlyVec4} b the second operand\n * @returns {vec4} out\n */\nexport function subtract(out, a, b) {\n out[0] = a[0] - b[0];\n out[1] = a[1] - b[1];\n out[2] = a[2] - b[2];\n out[3] = a[3] - b[3];\n return out;\n}\n\n/**\n * Multiplies two vec4's\n *\n * @param {vec4} out the receiving vector\n * @param {ReadonlyVec4} a the first operand\n * @param {ReadonlyVec4} b the second operand\n * @returns {vec4} out\n */\nexport function multiply(out, a, b) {\n out[0] = a[0] * b[0];\n out[1] = a[1] * b[1];\n out[2] = a[2] * b[2];\n out[3] = a[3] * b[3];\n return out;\n}\n\n/**\n * Divides two vec4's\n *\n * @param {vec4} out the receiving vector\n * @param {ReadonlyVec4} a the first operand\n * @param {ReadonlyVec4} b the second operand\n * @returns {vec4} out\n */\nexport function divide(out, a, b) {\n out[0] = a[0] / b[0];\n out[1] = a[1] / b[1];\n out[2] = a[2] / b[2];\n out[3] = a[3] / b[3];\n return out;\n}\n\n/**\n * Math.ceil the components of a vec4\n *\n * @param {vec4} out the receiving vector\n * @param {ReadonlyVec4} a vector to ceil\n * @returns {vec4} out\n */\nexport function ceil(out, a) {\n out[0] = Math.ceil(a[0]);\n out[1] = Math.ceil(a[1]);\n out[2] = Math.ceil(a[2]);\n out[3] = Math.ceil(a[3]);\n return out;\n}\n\n/**\n * Math.floor the components of a vec4\n *\n * @param {vec4} out the receiving vector\n * @param {ReadonlyVec4} a vector to floor\n * @returns {vec4} out\n */\nexport function floor(out, a) {\n out[0] = Math.floor(a[0]);\n out[1] = Math.floor(a[1]);\n out[2] = Math.floor(a[2]);\n out[3] = Math.floor(a[3]);\n return out;\n}\n\n/**\n * Returns the minimum of two vec4's\n *\n * @param {vec4} out the receiving vector\n * @param {ReadonlyVec4} a the first operand\n * @param {ReadonlyVec4} b the second operand\n * @returns {vec4} out\n */\nexport function min(out, a, b) {\n out[0] = Math.min(a[0], b[0]);\n out[1] = Math.min(a[1], b[1]);\n out[2] = Math.min(a[2], b[2]);\n out[3] = Math.min(a[3], b[3]);\n return out;\n}\n\n/**\n * Returns the maximum of two vec4's\n *\n * @param {vec4} out the receiving vector\n * @param {ReadonlyVec4} a the first operand\n * @param {ReadonlyVec4} b the second operand\n * @returns {vec4} out\n */\nexport function max(out, a, b) {\n out[0] = Math.max(a[0], b[0]);\n out[1] = Math.max(a[1], b[1]);\n out[2] = Math.max(a[2], b[2]);\n out[3] = Math.max(a[3], b[3]);\n return out;\n}\n\n/**\n * symmetric round the components of a vec4\n *\n * @param {vec4} out the receiving vector\n * @param {ReadonlyVec4} a vector to round\n * @returns {vec4} out\n */\nexport function round(out, a) {\n out[0] = glMatrix.round(a[0]);\n out[1] = glMatrix.round(a[1]);\n out[2] = glMatrix.round(a[2]);\n out[3] = glMatrix.round(a[3]);\n return out;\n}\n\n/**\n * Scales a vec4 by a scalar number\n *\n * @param {vec4} out the receiving vector\n * @param {ReadonlyVec4} a the vector to scale\n * @param {Number} b amount to scale the vector by\n * @returns {vec4} out\n */\nexport function scale(out, a, b) {\n out[0] = a[0] * b;\n out[1] = a[1] * b;\n out[2] = a[2] * b;\n out[3] = a[3] * b;\n return out;\n}\n\n/**\n * Adds two vec4's after scaling the second operand by a scalar value\n *\n * @param {vec4} out the receiving vector\n * @param {ReadonlyVec4} a the first operand\n * @param {ReadonlyVec4} b the second operand\n * @param {Number} scale the amount to scale b by before adding\n * @returns {vec4} out\n */\nexport function scaleAndAdd(out, a, b, scale) {\n out[0] = a[0] + b[0] * scale;\n out[1] = a[1] + b[1] * scale;\n out[2] = a[2] + b[2] * scale;\n out[3] = a[3] + b[3] * scale;\n return out;\n}\n\n/**\n * Calculates the euclidian distance between two vec4's\n *\n * @param {ReadonlyVec4} a the first operand\n * @param {ReadonlyVec4} b the second operand\n * @returns {Number} distance between a and b\n */\nexport function distance(a, b) {\n var x = b[0] - a[0];\n var y = b[1] - a[1];\n var z = b[2] - a[2];\n var w = b[3] - a[3];\n return Math.sqrt(x * x + y * y + z * z + w * w);\n}\n\n/**\n * Calculates the squared euclidian distance between two vec4's\n *\n * @param {ReadonlyVec4} a the first operand\n * @param {ReadonlyVec4} b the second operand\n * @returns {Number} squared distance between a and b\n */\nexport function squaredDistance(a, b) {\n var x = b[0] - a[0];\n var y = b[1] - a[1];\n var z = b[2] - a[2];\n var w = b[3] - a[3];\n return x * x + y * y + z * z + w * w;\n}\n\n/**\n * Calculates the length of a vec4\n *\n * @param {ReadonlyVec4} a vector to calculate length of\n * @returns {Number} length of a\n */\nexport function length(a) {\n var x = a[0];\n var y = a[1];\n var z = a[2];\n var w = a[3];\n return Math.sqrt(x * x + y * y + z * z + w * w);\n}\n\n/**\n * Calculates the squared length of a vec4\n *\n * @param {ReadonlyVec4} a vector to calculate squared length of\n * @returns {Number} squared length of a\n */\nexport function squaredLength(a) {\n var x = a[0];\n var y = a[1];\n var z = a[2];\n var w = a[3];\n return x * x + y * y + z * z + w * w;\n}\n\n/**\n * Negates the components of a vec4\n *\n * @param {vec4} out the receiving vector\n * @param {ReadonlyVec4} a vector to negate\n * @returns {vec4} out\n */\nexport function negate(out, a) {\n out[0] = -a[0];\n out[1] = -a[1];\n out[2] = -a[2];\n out[3] = -a[3];\n return out;\n}\n\n/**\n * Returns the inverse of the components of a vec4\n *\n * @param {vec4} out the receiving vector\n * @param {ReadonlyVec4} a vector to invert\n * @returns {vec4} out\n */\nexport function inverse(out, a) {\n out[0] = 1.0 / a[0];\n out[1] = 1.0 / a[1];\n out[2] = 1.0 / a[2];\n out[3] = 1.0 / a[3];\n return out;\n}\n\n/**\n * Normalize a vec4\n *\n * @param {vec4} out the receiving vector\n * @param {ReadonlyVec4} a vector to normalize\n * @returns {vec4} out\n */\nexport function normalize(out, a) {\n var x = a[0];\n var y = a[1];\n var z = a[2];\n var w = a[3];\n var len = x * x + y * y + z * z + w * w;\n if (len > 0) {\n len = 1 / Math.sqrt(len);\n }\n out[0] = x * len;\n out[1] = y * len;\n out[2] = z * len;\n out[3] = w * len;\n return out;\n}\n\n/**\n * Calculates the dot product of two vec4's\n *\n * @param {ReadonlyVec4} a the first operand\n * @param {ReadonlyVec4} b the second operand\n * @returns {Number} dot product of a and b\n */\nexport function dot(a, b) {\n return a[0] * b[0] + a[1] * b[1] + a[2] * b[2] + a[3] * b[3];\n}\n\n/**\n * Returns the cross-product of three vectors in a 4-dimensional space\n *\n * @param {ReadonlyVec4} out the receiving vector\n * @param {ReadonlyVec4} u the first vector\n * @param {ReadonlyVec4} v the second vector\n * @param {ReadonlyVec4} w the third vector\n * @returns {vec4} result\n */\nexport function cross(out, u, v, w) {\n var A = v[0] * w[1] - v[1] * w[0],\n B = v[0] * w[2] - v[2] * w[0],\n C = v[0] * w[3] - v[3] * w[0],\n D = v[1] * w[2] - v[2] * w[1],\n E = v[1] * w[3] - v[3] * w[1],\n F = v[2] * w[3] - v[3] * w[2];\n var G = u[0];\n var H = u[1];\n var I = u[2];\n var J = u[3];\n out[0] = H * F - I * E + J * D;\n out[1] = -(G * F) + I * C - J * B;\n out[2] = G * E - H * C + J * A;\n out[3] = -(G * D) + H * B - I * A;\n return out;\n}\n\n/**\n * Performs a linear interpolation between two vec4's\n *\n * @param {vec4} out the receiving vector\n * @param {ReadonlyVec4} a the first operand\n * @param {ReadonlyVec4} b the second operand\n * @param {Number} t interpolation amount, in the range [0-1], between the two inputs\n * @returns {vec4} out\n */\nexport function lerp(out, a, b, t) {\n var ax = a[0];\n var ay = a[1];\n var az = a[2];\n var aw = a[3];\n out[0] = ax + t * (b[0] - ax);\n out[1] = ay + t * (b[1] - ay);\n out[2] = az + t * (b[2] - az);\n out[3] = aw + t * (b[3] - aw);\n return out;\n}\n\n/**\n * Generates a random vector with the given scale\n *\n * @param {vec4} out the receiving vector\n * @param {Number} [scale] Length of the resulting vector. If omitted, a unit vector will be returned\n * @returns {vec4} out\n */\nexport function random(out, scale) {\n scale = scale === undefined ? 1.0 : scale;\n\n // Marsaglia, George. Choosing a Point from the Surface of a\n // Sphere. Ann. Math. Statist. 43 (1972), no. 2, 645--646.\n // http://projecteuclid.org/euclid.aoms/1177692644;\n var v1, v2, v3, v4;\n var s1, s2;\n var rand;\n rand = glMatrix.RANDOM();\n v1 = rand * 2 - 1;\n v2 = (4 * glMatrix.RANDOM() - 2) * Math.sqrt(rand * -rand + rand);\n s1 = v1 * v1 + v2 * v2;\n rand = glMatrix.RANDOM();\n v3 = rand * 2 - 1;\n v4 = (4 * glMatrix.RANDOM() - 2) * Math.sqrt(rand * -rand + rand);\n s2 = v3 * v3 + v4 * v4;\n var d = Math.sqrt((1 - s1) / s2);\n out[0] = scale * v1;\n out[1] = scale * v2;\n out[2] = scale * v3 * d;\n out[3] = scale * v4 * d;\n return out;\n}\n\n/**\n * Transforms the vec4 with a mat4.\n *\n * @param {vec4} out the receiving vector\n * @param {ReadonlyVec4} a the vector to transform\n * @param {ReadonlyMat4} m matrix to transform with\n * @returns {vec4} out\n */\nexport function transformMat4(out, a, m) {\n var x = a[0],\n y = a[1],\n z = a[2],\n w = a[3];\n out[0] = m[0] * x + m[4] * y + m[8] * z + m[12] * w;\n out[1] = m[1] * x + m[5] * y + m[9] * z + m[13] * w;\n out[2] = m[2] * x + m[6] * y + m[10] * z + m[14] * w;\n out[3] = m[3] * x + m[7] * y + m[11] * z + m[15] * w;\n return out;\n}\n\n/**\n * Transforms the vec4 with a quat\n *\n * @param {vec4} out the receiving vector\n * @param {ReadonlyVec4} a the vector to transform\n * @param {ReadonlyQuat} q normalized quaternion to transform with\n * @returns {vec4} out\n */\nexport function transformQuat(out, a, q) {\n // Fast Vector Rotation using Quaternions by Robert Eisele\n // https://raw.org/proof/vector-rotation-using-quaternions/\n\n var qx = q[0],\n qy = q[1],\n qz = q[2],\n qw = q[3];\n var vx = a[0],\n vy = a[1],\n vz = a[2];\n\n // t = q x v\n var tx = qy * vz - qz * vy;\n var ty = qz * vx - qx * vz;\n var tz = qx * vy - qy * vx;\n\n // t = 2t\n tx = tx + tx;\n ty = ty + ty;\n tz = tz + tz;\n\n // v + w t + q x t\n out[0] = vx + qw * tx + qy * tz - qz * ty;\n out[1] = vy + qw * ty + qz * tx - qx * tz;\n out[2] = vz + qw * tz + qx * ty - qy * tx;\n out[3] = a[3];\n return out;\n}\n\n/**\n * Set the components of a vec4 to zero\n *\n * @param {vec4} out the receiving vector\n * @returns {vec4} out\n */\nexport function zero(out) {\n out[0] = 0.0;\n out[1] = 0.0;\n out[2] = 0.0;\n out[3] = 0.0;\n return out;\n}\n\n/**\n * Returns a string representation of a vector\n *\n * @param {ReadonlyVec4} a vector to represent as a string\n * @returns {String} string representation of the vector\n */\nexport function str(a) {\n return \"vec4(\" + a[0] + \", \" + a[1] + \", \" + a[2] + \", \" + a[3] + \")\";\n}\n\n/**\n * Returns whether or not the vectors have exactly the same elements in the same position (when compared with ===)\n *\n * @param {ReadonlyVec4} a The first vector.\n * @param {ReadonlyVec4} b The second vector.\n * @returns {Boolean} True if the vectors are equal, false otherwise.\n */\nexport function exactEquals(a, b) {\n return a[0] === b[0] && a[1] === b[1] && a[2] === b[2] && a[3] === b[3];\n}\n\n/**\n * Returns whether or not the vectors have approximately the same elements in the same position.\n *\n * @param {ReadonlyVec4} a The first vector.\n * @param {ReadonlyVec4} b The second vector.\n * @returns {Boolean} True if the vectors are equal, false otherwise.\n */\nexport function equals(a, b) {\n var a0 = a[0],\n a1 = a[1],\n a2 = a[2],\n a3 = a[3];\n var b0 = b[0],\n b1 = b[1],\n b2 = b[2],\n b3 = b[3];\n return Math.abs(a0 - b0) <= glMatrix.EPSILON * Math.max(1.0, Math.abs(a0), Math.abs(b0)) && Math.abs(a1 - b1) <= glMatrix.EPSILON * Math.max(1.0, Math.abs(a1), Math.abs(b1)) && Math.abs(a2 - b2) <= glMatrix.EPSILON * Math.max(1.0, Math.abs(a2), Math.abs(b2)) && Math.abs(a3 - b3) <= glMatrix.EPSILON * Math.max(1.0, Math.abs(a3), Math.abs(b3));\n}\n\n/**\n * Alias for {@link vec4.subtract}\n * @function\n */\nexport var sub = subtract;\n\n/**\n * Alias for {@link vec4.multiply}\n * @function\n */\nexport var mul = multiply;\n\n/**\n * Alias for {@link vec4.divide}\n * @function\n */\nexport var div = divide;\n\n/**\n * Alias for {@link vec4.distance}\n * @function\n */\nexport var dist = distance;\n\n/**\n * Alias for {@link vec4.squaredDistance}\n * @function\n */\nexport var sqrDist = squaredDistance;\n\n/**\n * Alias for {@link vec4.length}\n * @function\n */\nexport var len = length;\n\n/**\n * Alias for {@link vec4.squaredLength}\n * @function\n */\nexport var sqrLen = squaredLength;\n\n/**\n * Perform some operation over an array of vec4s.\n *\n * @param {Array} a the array of vectors to iterate over\n * @param {Number} stride Number of elements between the start of each vec4. If 0 assumes tightly packed\n * @param {Number} offset Number of elements to skip at the beginning of the array\n * @param {Number} count Number of vec4s to iterate over. If 0 iterates over entire array\n * @param {Function} fn Function to call for each vector in the array\n * @param {Object} [arg] additional argument to pass to fn\n * @returns {Array} a\n * @function\n */\nexport var forEach = function () {\n var vec = create();\n return function (a, stride, offset, count, fn, arg) {\n var i, l;\n if (!stride) {\n stride = 4;\n }\n if (!offset) {\n offset = 0;\n }\n if (count) {\n l = Math.min(count * stride + offset, a.length);\n } else {\n l = a.length;\n }\n for (i = offset; i < l; i += stride) {\n vec[0] = a[i];\n vec[1] = a[i + 1];\n vec[2] = a[i + 2];\n vec[3] = a[i + 3];\n fn(vec, vec, arg);\n a[i] = vec[0];\n a[i + 1] = vec[1];\n a[i + 2] = vec[2];\n a[i + 3] = vec[3];\n }\n return a;\n };\n}();","import { mat4, vec3, vec4 } from 'gl-matrix';\nimport { Vector3 } from '../domain/interfaces/Vectors';\n\n/**\n * Perspective camera with orbit (yaw/pitch), zoom, and viewport controls.\n */\nexport class Camera {\n public target: Vector3 = [0, 0, 0]; // camera looks at this\n\n /* Translation */\n public position: Vector3 = [0, 0, 0]; // 3D position\n\n /* Zoom */\n public zoom: number = 1;\n public minZoom: number = 0.5;\n public maxZoom: number = 10;\n public zoomSpeed: number = 0.06;\n\n /* Rotation */\n public yaw: number = 0; // horizontal rotation\n public pitch: number = 0.5; // vertical rotation\n\n public near = 0.01;\n public far = 1000.0;\n\n /* Render Utils */\n public lastViewMatrix?: Float32Array;\n public lastProjectionMatrix?: Float32Array;\n\n // ── Cached matrices (rebuilt only when camera state changes) ──\n private readonly _view: mat4 = mat4.create();\n private readonly _proj: mat4 = mat4.create();\n private readonly _mvp: mat4 = mat4.create();\n private _viewDirty = true;\n private _projDirty = true;\n\n constructor(\n public viewportWidth: number,\n public viewportHeight: number,\n ) {}\n\n /** Translate the camera by a delta. */\n move(dx: number, dy: number, dz: number = 0) {\n this.position[0] += dx;\n this.position[1] += dy;\n this.position[2] += dz;\n this._viewDirty = true;\n }\n\n /** Clamp-set the zoom level. */\n setZoom(zoom: number) {\n this.zoom = Math.max(this.minZoom, Math.min(this.maxZoom, zoom));\n this._viewDirty = true;\n this._projDirty = true;\n }\n\n /**\n * Mark the view matrix as dirty so it is rebuilt on the next\n * {@link getViewMatrix} call. Call this after directly mutating\n * {@link target} or {@link position} (e.g. from a follow-camera update).\n */\n invalidate(): void {\n this._viewDirty = true;\n }\n\n /** Zoom by a signed delta (positive = zoom in). */\n zoomBy(delta: number) {\n const factor = Math.exp(delta * this.zoomSpeed);\n this.setZoom(this.zoom * factor);\n }\n\n worldToNDC(x: number, y: number): [number, number] {\n const ndcX = ((x - this.position[0]) / this.viewportWidth) * 2 * this.zoom;\n const ndcY = ((y - this.position[1]) / this.viewportHeight) * 2 * this.zoom;\n return [ndcX, ndcY];\n }\n\n worldScale(scale: [number, number]): [number, number] {\n return [\n (scale[0] / this.viewportWidth) * 2 * this.zoom,\n (scale[1] / this.viewportHeight) * 2 * this.zoom,\n ];\n }\n\n setViewport(width: number, height: number) {\n this.viewportWidth = width;\n this.viewportHeight = height;\n this._projDirty = true;\n }\n\n /** Compute the eye position from yaw/pitch/distance to target. */\n getComputedPosition(): vec3 {\n const radius = vec3.distance(this.position, this.target);\n\n const camX =\n this.target[0] + radius * Math.cos(this.pitch) * Math.sin(this.yaw);\n const camY = this.target[1] + radius * Math.sin(this.pitch);\n const camZ =\n this.target[2] + radius * Math.cos(this.pitch) * Math.cos(this.yaw);\n\n return vec3.fromValues(camX, camY, camZ);\n }\n\n /** Build the view matrix (lookAt). Returns a cached matrix rebuilt only when the camera moves. */\n getViewMatrix(): mat4 {\n if (this._viewDirty) {\n const eye = this.getComputedPosition();\n mat4.lookAt(this._view, eye, this.target, vec3.fromValues(0, 1, 0));\n this._viewDirty = false;\n this.lastViewMatrix = this._view as unknown as Float32Array;\n }\n return this._view;\n }\n\n /** Build the perspective projection matrix. Returns a cached matrix rebuilt only when viewport/zoom changes. */\n getProjectionMatrix(): mat4 {\n if (this._projDirty) {\n const aspect = this.viewportWidth / this.viewportHeight;\n const fov = Math.PI / 4 / this.zoom;\n mat4.perspective(this._proj, fov, aspect, this.near, this.far);\n this._projDirty = false;\n this.lastProjectionMatrix = this._proj as unknown as Float32Array;\n }\n return this._proj;\n }\n\n worldToNDC3D(x: number, y: number, z: number = 0): [number, number, number] {\n const world = vec4.fromValues(x, y, z, 1.0);\n mat4.multiply(this._mvp, this.getProjectionMatrix(), this.getViewMatrix());\n vec4.transformMat4(world, world, this._mvp);\n return [world[0] / world[3], world[1] / world[3], world[2] / world[3]];\n }\n\n worldScale3D(scale: [number, number, number]): [number, number, number] {\n return [\n (scale[0] / this.viewportWidth) * 2 * this.zoom,\n (scale[1] / this.viewportHeight) * 2 * this.zoom,\n (scale[2] / ((this.viewportWidth + this.viewportHeight) / 2)) *\n 2 *\n this.zoom,\n ];\n }\n\n public minPitch: number = -Math.PI / 2 + 1.49;\n public maxPitch: number = Math.PI / 2 - 0.01;\n\n rotate(deltaYaw: number, deltaPitch: number) {\n this.yaw += deltaYaw;\n\n this.pitch -= deltaPitch; // ← add deltaPitch here\n this.pitch = Math.max(this.minPitch, Math.min(this.maxPitch, this.pitch));\n this._viewDirty = true;\n }\n}\n","import { IMouseControl } from './IMouseControl';\n\nexport type WheelDirection = 'up' | 'down';\nexport type WheelListener = (direction: WheelDirection, delta: number) => void;\n\nexport class MouseWheelControl implements IMouseControl {\n private listeners: WheelListener[] = [];\n private wheelHandler?: (e: WheelEvent) => void;\n\n public enable() {\n if (this.wheelHandler) return;\n\n this.wheelHandler = (e: WheelEvent) => {\n const direction: WheelDirection = e.deltaY < 0 ? 'up' : 'down';\n this.notify(direction, e.deltaY);\n };\n\n window.addEventListener('wheel', this.wheelHandler, { passive: true });\n }\n\n public disable() {\n if (this.wheelHandler) {\n window.removeEventListener('wheel', this.wheelHandler);\n this.wheelHandler = undefined;\n }\n }\n\n public onChange(listener: WheelListener) {\n this.listeners.push(listener);\n }\n\n /** Remove a previously registered listener. */\n public removeListener(listener: WheelListener) {\n this.listeners = this.listeners.filter((l) => l !== listener);\n }\n\n private notify(direction: WheelDirection, delta: number) {\n for (const listener of this.listeners) listener(direction, delta);\n }\n}\n","import { IMouseControl } from './IMouseControl';\n\nexport type DragListener = (dx: number, dy: number, button: number) => void;\n\nexport class MouseDragControl implements IMouseControl {\n private listeners: DragListener[] = [];\n public isDragging = false;\n\n private dragButton: number = 0; // 0 = left, 2 = right\n private lastX = 0;\n private lastY = 0;\n\n constructor(private element: HTMLElement) {}\n\n enable() {\n this.element.addEventListener('mousedown', this.onMouseDown);\n window.addEventListener('mouseup', this.onMouseUp);\n window.addEventListener('mousemove', this.onMouseMove);\n }\n\n disable() {\n this.element.removeEventListener('mousedown', this.onMouseDown);\n window.removeEventListener('mouseup', this.onMouseUp);\n window.removeEventListener('mousemove', this.onMouseMove);\n }\n\n onChange(listener: DragListener) {\n this.listeners.push(listener);\n }\n\n /** Remove a previously registered listener. */\n removeListener(listener: DragListener) {\n this.listeners = this.listeners.filter((l) => l !== listener);\n }\n\n private onMouseDown = (e: MouseEvent) => {\n this.isDragging = true;\n this.dragButton = e.button;\n\n this.lastX = e.clientX;\n this.lastY = e.clientY;\n };\n\n private onMouseUp = () => {\n this.isDragging = false;\n };\n\n private onMouseMove = (e: MouseEvent) => {\n if (!this.isDragging) return;\n\n const dx = e.clientX - this.lastX;\n const dy = e.clientY - this.lastY;\n\n this.lastX = e.clientX;\n this.lastY = e.clientY;\n\n for (const listener of this.listeners) listener(dx, dy, this.dragButton);\n };\n}\n","import { IMouseControl } from './IMouseControl';\n\nexport type MoveListener = (dx: number, dy: number) => void;\n\n/**\n * Captures mouse movement using the Pointer Lock API.\n * Ideal for camera-like controls where the cursor should not hit screen edges.\n */\nexport class MousePointerLockControl implements IMouseControl {\n private listeners: MoveListener[] = [];\n private isEnabled = false;\n private isPointerLocked = false;\n\n constructor(\n private element: HTMLElement,\n private sensitivity = 1,\n ) {}\n\n enable() {\n if (this.isEnabled) return;\n this.isEnabled = true;\n\n // Must be initiated by user click\n this.element.addEventListener('click', this.requestPointerLock);\n document.addEventListener('pointerlockchange', this.onPointerLockChange);\n document.addEventListener('mousemove', this.onMouseMove);\n }\n\n disable() {\n if (!this.isEnabled) return;\n this.isEnabled = false;\n\n this.element.removeEventListener('click', this.requestPointerLock);\n document.removeEventListener('pointerlockchange', this.onPointerLockChange);\n document.removeEventListener('mousemove', this.onMouseMove);\n\n if (this.isPointerLocked) document.exitPointerLock();\n }\n\n onChange(listener: MoveListener) {\n this.listeners.push(listener);\n }\n\n /** Remove a previously registered listener. */\n removeListener(listener: MoveListener) {\n this.listeners = this.listeners.filter((l) => l !== listener);\n }\n\n setSensitivity(value: number) {\n this.sensitivity = value;\n }\n\n private requestPointerLock = () => {\n this.element.requestPointerLock();\n };\n\n private onPointerLockChange = () => {\n this.isPointerLocked = document.pointerLockElement === this.element;\n };\n\n private onMouseMove = (e: MouseEvent) => {\n if (!this.isPointerLocked) return;\n\n const dx = e.movementX * this.sensitivity;\n const dy = e.movementY * this.sensitivity;\n\n for (const listener of this.listeners) listener(dx, dy);\n };\n}\n","import { Camera } from './Camera';\nimport {\n MouseWheelControl,\n WheelDirection,\n} from '../controls/Mouse/MouseWheelControl';\nimport { MouseDragControl } from '../controls/Mouse/MouseDragControl';\nimport { MousePointerLockControl } from '../controls/Mouse/MousePointerLockControl';\nimport WebGLCore from './WebGLCore';\n\nexport class Viewport {\n private static zoomInterval = 25;\n\n private wheelControl = new MouseWheelControl();\n private dragControl: MouseDragControl;\n private moveControl: MousePointerLockControl;\n\n private lastZoomTime: number = 0;\n private canvas: HTMLCanvasElement;\n private scale: number = 1;\n private webglCore: WebGLCore | null = null;\n private resizeHandler = () => this.resizeCanvas();\n public camera: Camera;\n\n /**\n * @param canvasOrId - An HTMLCanvasElement or the `id` attribute of one.\n * @param width - Logical viewport width.\n * @param height - Logical viewport height.\n * @param webglCore - Optional WebGLCore instance. When provided, the existing\n * GL context is reused for viewport resize instead of\n * requesting a new one.\n */\n constructor(\n canvasOrId: string | HTMLCanvasElement,\n public width: number,\n public height: number,\n webglCore?: WebGLCore,\n ) {\n this.canvas =\n typeof canvasOrId === 'string'\n ? (document.getElementById(canvasOrId) as HTMLCanvasElement)\n : canvasOrId;\n if (!this.canvas) throw new Error('Canvas not found');\n\n this.webglCore = webglCore ?? null;\n this.camera = new Camera(width, height);\n this.dragControl = new MouseDragControl(this.canvas);\n this.moveControl = new MousePointerLockControl(this.canvas, 0.25);\n\n this.resizeCanvas();\n this.setupControls();\n\n window.addEventListener('resize', this.resizeHandler);\n }\n\n private setupControls() {\n const zoomInterval = Viewport.zoomInterval;\n\n // Camera Zoom\n this.wheelControl.onChange((direction: WheelDirection) => {\n const now = performance.now();\n if (now - this.lastZoomTime < zoomInterval) return;\n\n const zoomDelta = direction === 'up' ? 1 : -1;\n this.camera.zoomBy(zoomDelta);\n\n this.lastZoomTime = now;\n });\n this.wheelControl.enable();\n\n // Drag / pan / rotate\n /* this.dragControl.onChange((dx, dy, button) => {\n const factor = 0.01 * this.camera.zoom;\n\n if (button === 2) {\n // Right click = orbit\n this.camera.rotate(-dx * factor, -dy * factor);\n } else if (button === 0) {\n this.camera.target[0] -= (dx * factor) / this.scale;\n this.camera.target[1] += (dy * factor) / this.scale;\n }\n\n });\n this.dragControl.enable(); */\n\n this.moveControl.onChange((dx, dy) => {\n const factor = 0.01 * this.camera.zoom;\n this.camera.rotate(-dx * factor, -dy * factor);\n });\n this.moveControl.enable();\n\n this.canvas.addEventListener('contextmenu', (e) => e.preventDefault());\n }\n\n public isDraggingCamera(): boolean {\n return this.dragControl.isDragging;\n }\n\n private resizeCanvas() {\n const screenWidth = window.innerWidth;\n const screenHeight = window.innerHeight;\n\n const aspectViewport = this.width / this.height;\n const aspectScreen = screenWidth / screenHeight;\n\n let canvasWidth: number, canvasHeight: number;\n\n if (aspectScreen > aspectViewport) {\n canvasHeight = screenHeight;\n canvasWidth = canvasHeight * aspectViewport;\n } else {\n canvasWidth = screenWidth;\n canvasHeight = canvasWidth / aspectViewport;\n }\n\n this.canvas.width = canvasWidth;\n this.canvas.height = canvasHeight;\n\n this.scale = canvasWidth / this.width;\n\n // Reuse the existing GL context when available, otherwise fall back.\n const gl = this.webglCore\n ? this.webglCore.getRenderingContext()\n : (this.canvas.getContext('webgl2') ?? this.canvas.getContext('webgl'));\n\n if (!gl) throw new Error('WebGL not supported');\n gl.viewport(0, 0, canvasWidth, canvasHeight);\n\n this.camera.setViewport(canvasWidth, canvasHeight);\n }\n\n getCanvas(): HTMLCanvasElement {\n return this.canvas;\n }\n\n getWebGLCore(): WebGLCore | null {\n return this.webglCore;\n }\n\n getScale(): number {\n return this.scale;\n }\n\n /** Release event listeners. Call when the viewport is no longer needed. */\n dispose() {\n window.removeEventListener('resize', this.resizeHandler);\n this.wheelControl.disable();\n this.dragControl.disable();\n this.moveControl.disable();\n }\n}\n","import { AABB } from '../domain/value-objects/Collider';\n\n/**\n * Compute the axis-aligned bounding box (AABB) from a flat Float32Array of vertices.\n * Each vertex is expected to be 3 consecutive floats: [x, y, z, ...].\n */\nexport function computeVertexBounds(vertices: Float32Array): AABB {\n if (!vertices || vertices.length === 0) {\n return { min: [0, 0, 0], max: [0, 0, 0] };\n }\n\n let minX = Infinity,\n minY = Infinity,\n minZ = Infinity;\n let maxX = -Infinity,\n maxY = -Infinity,\n maxZ = -Infinity;\n\n for (let i = 0; i < vertices.length; i += 3) {\n const x = vertices[i];\n const y = vertices[i + 1];\n const z = vertices[i + 2];\n\n if (x < minX) minX = x;\n if (y < minY) minY = y;\n if (z < minZ) minZ = z;\n\n if (x > maxX) maxX = x;\n if (y > maxY) maxY = y;\n if (z > maxZ) maxZ = z;\n }\n\n return {\n min: [minX, minY, minZ],\n max: [maxX, maxY, maxZ],\n };\n}\n","import WebGLCore from './WebGLCore';\nimport { Material } from './Material';\nimport { AABB } from '../domain/value-objects/Collider';\nimport { computeVertexBounds } from '../utils/compute-bounds';\n\n/** WebGL draw-mode constants. */\nexport const GL_LINES = 0x0001;\nexport const GL_TRIANGLES = 0x0004;\n\nexport const INITIAL_BOUNDING_BOX: AABB = { min: [0, 0, 0], max: [0, 0, 0] };\n\n/**\n * A single renderable mesh: vertex data, normals, indices, a material, and an\n * optional bounding box used for collision detection.\n *\n * For skinned meshes, set {@link jointIndices} and {@link jointWeights} to\n * enable GPU skeletal animation.\n */\nexport class Mesh {\n name: string;\n\n vertices: Float32Array;\n\n normals: Float32Array;\n\n texCoords: Float32Array;\n\n indices: Uint16Array | Uint32Array | null;\n\n mode: number;\n\n material: Material;\n\n // ── Skinning data (optional) ─────────────────────────────────\n /** Per-vertex joint indices (vec4 per vertex, 4 influences). */\n jointIndices: Float32Array | null = null;\n\n /** Per-vertex joint weights (vec4 per vertex, 4 influences). */\n jointWeights: Float32Array | null = null;\n\n // WebGL buffers aggregate\n buffers: MeshBuffers | null = null;\n\n boundingBox: AABB = INITIAL_BOUNDING_BOX;\n\n isCollidable = true;\n\n isInitialized = false;\n\n constructor(\n name: string,\n vertices: Float32Array,\n normals: Float32Array,\n material: Material,\n texCoords: Float32Array = new Float32Array(),\n indices: Uint16Array | Uint32Array | null = null,\n ) {\n this.mode = GL_TRIANGLES;\n this.name = name;\n this.normals = normals;\n this.indices = indices;\n this.vertices = vertices;\n this.texCoords = texCoords;\n this.material = material;\n\n this.computeBounds();\n }\n\n setMode(newMode: number) {\n this.mode = newMode;\n }\n\n /** Whether this mesh has skinning data for skeletal animation. */\n get isSkinned(): boolean {\n return this.jointIndices !== null && this.jointWeights !== null;\n }\n\n computeBounds() {\n this.boundingBox = computeVertexBounds(this.vertices);\n }\n\n clone(): Mesh {\n const clonedMesh = new Mesh(\n this.name,\n new Float32Array(this.vertices),\n new Float32Array(this.normals),\n this.material, // shallow ref — call Material.clone() if independent material is needed\n new Float32Array(this.texCoords),\n this.indices\n ? this.indices instanceof Uint16Array\n ? new Uint16Array(this.indices)\n : new Uint32Array(this.indices)\n : null,\n );\n clonedMesh.setMode(this.mode);\n clonedMesh.isCollidable = this.isCollidable;\n if (this.jointIndices)\n clonedMesh.jointIndices = new Float32Array(this.jointIndices);\n if (this.jointWeights)\n clonedMesh.jointWeights = new Float32Array(this.jointWeights);\n return clonedMesh;\n }\n\n /** Initialize GPU buffers safely */\n public initBuffer(webglCore: WebGLCore) {\n const gl = webglCore.getRenderingContext();\n\n if (!gl) {\n console.warn(\n `[Mesh:${this.name}] GL context not available, skipping buffer init.`,\n );\n return;\n }\n if (this.isInitialized) return;\n\n this.buffers = new MeshBuffers();\n this.buffers.init(gl as WebGL2RenderingContext, this);\n this.isInitialized = true;\n }\n\n /** Dispose of GPU buffers safely */\n public dispose(webglCore: WebGLCore) {\n const gl = webglCore.getRenderingContext();\n if (!gl || !this.buffers) return;\n\n this.buffers.dispose(gl as WebGL2RenderingContext);\n this.buffers = null;\n this.isInitialized = false;\n }\n}\n\nexport class MeshBuffers {\n vao: WebGLVertexArrayObject | null = null;\n vertexBuffer: WebGLBuffer | null = null;\n normalBuffer: WebGLBuffer | null = null;\n texCoordBuffer: WebGLBuffer | null = null;\n indexBuffer: WebGLBuffer | null = null;\n jointIndexBuffer: WebGLBuffer | null = null;\n jointWeightBuffer: WebGLBuffer | null = null;\n\n public init(gl: WebGLRenderingContext, mesh: Mesh) {\n if (!gl) throw new Error('Cannot init MeshBuffers: invalid GL context');\n\n const isWebGL2 = gl instanceof WebGL2RenderingContext;\n const gl2 = isWebGL2 ? (gl as unknown as WebGL2RenderingContext) : null;\n\n if (gl2) {\n this.vao = gl2.createVertexArray();\n gl2.bindVertexArray(this.vao);\n }\n\n // --- Attribute layout ---\n // Attribute locations must match the shader (aPosition=0, aNormal=1, aTexCoord=2).\n // Look them up from the mesh's material program so the VAO captures the bindings.\n const program = mesh.material?.program;\n const aPosition = program ? gl.getAttribLocation(program, 'aPosition') : 0;\n const aNormal = program ? gl.getAttribLocation(program, 'aNormal') : 1;\n const aTexCoord = program ? gl.getAttribLocation(program, 'aTexCoord') : 2;\n\n // Vertex buffer\n this.vertexBuffer = gl.createBuffer();\n if (!this.vertexBuffer) throw new Error('Failed to create vertex buffer');\n gl.bindBuffer(gl.ARRAY_BUFFER, this.vertexBuffer);\n gl.bufferData(gl.ARRAY_BUFFER, mesh.vertices, gl.STATIC_DRAW);\n if (aPosition !== -1) {\n gl.enableVertexAttribArray(aPosition);\n gl.vertexAttribPointer(aPosition, 3, gl.FLOAT, false, 0, 0);\n }\n\n // Normal buffer\n this.normalBuffer = gl.createBuffer();\n if (!this.normalBuffer) throw new Error('Failed to create normal buffer');\n gl.bindBuffer(gl.ARRAY_BUFFER, this.normalBuffer);\n gl.bufferData(gl.ARRAY_BUFFER, mesh.normals, gl.STATIC_DRAW);\n if (aNormal !== -1) {\n gl.enableVertexAttribArray(aNormal);\n gl.vertexAttribPointer(aNormal, 3, gl.FLOAT, false, 0, 0);\n }\n\n // TexCoord buffer\n if (mesh.texCoords.length > 0) {\n this.texCoordBuffer = gl.createBuffer();\n if (!this.texCoordBuffer)\n throw new Error('Failed to create texCoord buffer');\n gl.bindBuffer(gl.ARRAY_BUFFER, this.texCoordBuffer);\n gl.bufferData(gl.ARRAY_BUFFER, mesh.texCoords, gl.STATIC_DRAW);\n if (aTexCoord !== -1) {\n gl.enableVertexAttribArray(aTexCoord);\n gl.vertexAttribPointer(aTexCoord, 2, gl.FLOAT, false, 0, 0);\n }\n }\n\n // Index buffer\n if (mesh.indices && mesh.indices.length > 0) {\n this.indexBuffer = gl.createBuffer();\n if (!this.indexBuffer) throw new Error('Failed to create index buffer');\n gl.bindBuffer(gl.ELEMENT_ARRAY_BUFFER, this.indexBuffer);\n gl.bufferData(gl.ELEMENT_ARRAY_BUFFER, mesh.indices, gl.STATIC_DRAW);\n }\n\n // Joint indices buffer (skinning)\n const aJointIndices = program\n ? gl.getAttribLocation(program, 'aJointIndices')\n : -1;\n if (\n mesh.jointIndices &&\n mesh.jointIndices.length > 0 &&\n aJointIndices !== -1\n ) {\n this.jointIndexBuffer = gl.createBuffer();\n if (!this.jointIndexBuffer)\n throw new Error('Failed to create joint index buffer');\n gl.bindBuffer(gl.ARRAY_BUFFER, this.jointIndexBuffer);\n gl.bufferData(gl.ARRAY_BUFFER, mesh.jointIndices, gl.STATIC_DRAW);\n gl.enableVertexAttribArray(aJointIndices);\n gl.vertexAttribPointer(aJointIndices, 4, gl.FLOAT, false, 0, 0);\n }\n\n // Joint weights buffer (skinning)\n const aJointWeights = program\n ? gl.getAttribLocation(program, 'aJointWeights')\n : -1;\n if (\n mesh.jointWeights &&\n mesh.jointWeights.length > 0 &&\n aJointWeights !== -1\n ) {\n this.jointWeightBuffer = gl.createBuffer();\n if (!this.jointWeightBuffer)\n throw new Error('Failed to create joint weight buffer');\n gl.bindBuffer(gl.ARRAY_BUFFER, this.jointWeightBuffer);\n gl.bufferData(gl.ARRAY_BUFFER, mesh.jointWeights, gl.STATIC_DRAW);\n gl.enableVertexAttribArray(aJointWeights);\n gl.vertexAttribPointer(aJointWeights, 4, gl.FLOAT, false, 0, 0);\n }\n\n if (gl2) {\n gl2.bindVertexArray(null);\n }\n }\n\n public dispose(gl: WebGL2RenderingContext) {\n if (!gl) {\n console.warn('Cannot dispose MeshBuffers: invalid GL context');\n return;\n }\n\n const isWebGL2 = gl instanceof WebGL2RenderingContext;\n\n if (this.vertexBuffer) gl.deleteBuffer(this.vertexBuffer);\n if (this.normalBuffer) gl.deleteBuffer(this.normalBuffer);\n if (this.texCoordBuffer) gl.deleteBuffer(this.texCoordBuffer);\n if (this.indexBuffer) gl.deleteBuffer(this.indexBuffer);\n if (this.jointIndexBuffer) gl.deleteBuffer(this.jointIndexBuffer);\n if (this.jointWeightBuffer) gl.deleteBuffer(this.jointWeightBuffer);\n\n if (isWebGL2 && this.vao) {\n (gl as unknown as WebGL2RenderingContext).deleteVertexArray(this.vao);\n }\n\n this.vertexBuffer =\n this.normalBuffer =\n this.texCoordBuffer =\n this.indexBuffer =\n this.jointIndexBuffer =\n this.jointWeightBuffer =\n this.vao =\n null;\n }\n}\n","export interface TextureOptions {\n /** When true, use gl.REPEAT wrap mode for tiling textures. */\n repeat?: boolean;\n}\n\nexport async function loadWebGlTexture(\n gl: WebGLRenderingContext,\n url: string,\n options: TextureOptions = {},\n): Promise<WebGLTexture> {\n return new Promise((resolve, reject) => {\n const texture = gl.createTexture();\n if (!texture) return reject(new Error('Failed to create texture'));\n\n gl.bindTexture(gl.TEXTURE_2D, texture);\n\n // Placeholder pixel (gray) until image loads\n const level = 0;\n const internalFormat = gl.RGBA;\n const width = 1;\n const height = 1;\n const border = 0;\n const srcFormat = gl.RGBA;\n const srcType = gl.UNSIGNED_BYTE;\n const pixel = new Uint8Array([128, 128, 128, 255]); // gray\n gl.texImage2D(\n gl.TEXTURE_2D,\n level,\n internalFormat,\n width,\n height,\n border,\n srcFormat,\n srcType,\n pixel,\n );\n\n const image = new Image();\n image.crossOrigin = 'anonymous';\n image.onload = () => {\n gl.bindTexture(gl.TEXTURE_2D, texture);\n gl.texImage2D(\n gl.TEXTURE_2D,\n level,\n internalFormat,\n srcFormat,\n srcType,\n image,\n );\n\n // Auto mipmaps and filtering\n if (isPowerOf2(image.width) && isPowerOf2(image.height)) {\n gl.generateMipmap(gl.TEXTURE_2D);\n gl.texParameteri(\n gl.TEXTURE_2D,\n gl.TEXTURE_MIN_FILTER,\n gl.LINEAR_MIPMAP_LINEAR,\n );\n // Wrap mode: REPEAT for tiling, otherwise default (REPEAT is GL default for POT)\n if (options.repeat) {\n gl.texParameteri(gl.TEXTURE_2D, gl.TEXTURE_WRAP_S, gl.REPEAT);\n gl.texParameteri(gl.TEXTURE_2D, gl.TEXTURE_WRAP_T, gl.REPEAT);\n }\n } else {\n // Non-power-of-2: REPEAT is not supported in WebGL 1\n gl.texParameteri(gl.TEXTURE_2D, gl.TEXTURE_WRAP_S, gl.CLAMP_TO_EDGE);\n gl.texParameteri(gl.TEXTURE_2D, gl.TEXTURE_WRAP_T, gl.CLAMP_TO_EDGE);\n gl.texParameteri(gl.TEXTURE_2D, gl.TEXTURE_MIN_FILTER, gl.LINEAR);\n }\n\n resolve(texture);\n };\n image.onerror = reject;\n image.src = url;\n });\n}\n\nfunction isPowerOf2(value: number) {\n return (value & (value - 1)) === 0;\n}\n","import { Vector4 } from '../domain/interfaces/Vectors';\n\nexport function parseHexToRgbArray(hex: string): Vector4 {\n // Remove leading #\n if (hex.startsWith('#')) hex = hex.slice(1);\n\n let r = 1,\n g = 1,\n b = 1,\n a = 1;\n\n if (hex.length === 6) {\n r = parseInt(hex.slice(0, 2), 16) / 255;\n g = parseInt(hex.slice(2, 4), 16) / 255;\n b = parseInt(hex.slice(4, 6), 16) / 255;\n a = 1;\n } else if (hex.length === 8) {\n r = parseInt(hex.slice(0, 2), 16) / 255;\n g = parseInt(hex.slice(2, 4), 16) / 255;\n b = parseInt(hex.slice(4, 6), 16) / 255;\n a = parseInt(hex.slice(6, 8), 16) / 255;\n } else {\n throw new Error('Invalid hex color format. Use #RRGGBB or #RRGGBBAA.');\n }\n\n return [r, g, b, a];\n}\n","import { Vector3, Vector4 } from '../domain/interfaces/Vectors';\nimport { loadWebGlTexture, TextureOptions } from '../utils/load-texture';\nimport { parseHexToRgbArray } from '../utils/parse-hex-to-rgb';\nimport { Light } from './Light';\nimport WebGLCore from './WebGLCore';\n\n/** Maximum number of lights supported per draw call (must match the shader). */\nexport const MAX_LIGHTS = 5;\n\n/**\n * Encapsulates GPU material state: shader program reference, uniform/attribute\n * caches, albedo colour, textures, and lighting properties.\n */\nexport class Material {\n // cache\n public program: WebGLProgram;\n public uniformLocations: Record<string, WebGLUniformLocation | null> = {};\n public attribLocations: Record<string, number> = {};\n\n // Attributes\n public albedoColor: Vector4 = [1, 1, 1, 1];\n public unlit: boolean = false;\n public texture?: WebGLTexture;\n public specular: Vector3 = [0.3, 0.3, 0.3];\n public shininess: number = 64;\n public doubleSided: boolean = false;\n //others\n public ambientColor: Vector3 = [0.1, 0.1, 0.1]; // Ka\n public dissolve: number = 1.0; // d or Tr\n public diffuse: Vector3 = [1, 1, 1]; // Kd\n /** Physics friction coefficient [0–1]. 0 = no resistance (ice), 1 = instant stop. */\n public friction: number = 0.3;\n\n // ── Pre-allocated light uniform buffers (reused every frame, zero GC pressure) ──\n private readonly _lightDirs = new Float32Array(MAX_LIGHTS * 3);\n private readonly _lightColors = new Float32Array(MAX_LIGHTS * 3);\n private readonly _lightIntensities = new Float32Array(MAX_LIGHTS);\n private readonly _lightTypes = new Int32Array(MAX_LIGHTS);\n private readonly _lightPositions = new Float32Array(MAX_LIGHTS * 3);\n private readonly _lightConstants = new Float32Array(MAX_LIGHTS);\n private readonly _lightLinears = new Float32Array(MAX_LIGHTS);\n private readonly _lightQuadratics = new Float32Array(MAX_LIGHTS);\n\n constructor(\n private webglCore: WebGLCore,\n options: Partial<Material> = {},\n ) {\n this.program = webglCore.getProgram();\n const { gl } = webglCore;\n\n // Cache uniforms\n const names = [\n 'uColor',\n 'uUnlit',\n 'uModel',\n 'uView',\n 'uProjection',\n 'uLightCount',\n 'uUseTexture',\n 'uTexture',\n // --- LIGHTING UNIFORMS ---\n 'uViewPosition', // Camera position for specular light\n 'uShininess',\n 'uSpecularColor',\n 'uAmbientColor',\n 'uDissolve',\n 'uDiffuseColor',\n 'uLightDirection[0]',\n 'uLightColor[0]',\n 'uLightIntensity[0]',\n 'uLightType[0]',\n 'uLightPosition[0]', // NEW: For Point Lights\n 'uLightConstant[0]', // NEW: Attenuation\n 'uLightLinear[0]', // NEW: Attenuation\n 'uLightQuadratic[0]', // NEW: Attenuation\n // --- SKINNING UNIFORMS ---\n 'uUseSkinning',\n 'uJointMatrices[0]',\n ];\n for (const name of names) {\n this.uniformLocations[name] = gl.getUniformLocation(this.program, name);\n }\n\n // Cache attributes\n const attribs = [\n 'aPosition',\n 'aNormal',\n 'aTexCoord',\n 'aJointIndices',\n 'aJointWeights',\n ];\n for (const name of attribs) {\n this.attribLocations[name] = gl.getAttribLocation(this.program, name);\n }\n\n Object.assign(this, options);\n }\n\n setColorHex(hex: string) {\n this.albedoColor = parseHexToRgbArray(hex);\n }\n\n setColor(rgba: [number, number, number, number]) {\n this.albedoColor = rgba;\n this.dissolve = rgba[3];\n this.diffuse = [rgba[0], rgba[1], rgba[2]];\n }\n\n /**\n * Load an image from URL and create a WebGL texture.\n */\n async loadTexture(url: string, options?: TextureOptions): Promise<void> {\n const { gl } = this.webglCore;\n this.texture = await loadWebGlTexture(gl, url, options);\n }\n\n /**\n * Create an independent copy of this material.\n * Shares the same WebGL program but copies all mutable properties.\n * The texture reference is shared (immutable GPU resource).\n */\n clone(): Material {\n const copy = new Material(this.webglCore);\n copy.albedoColor = [...this.albedoColor];\n copy.specular = [...this.specular];\n copy.ambientColor = [...this.ambientColor];\n copy.diffuse = [...this.diffuse];\n copy.shininess = this.shininess;\n copy.dissolve = this.dissolve;\n copy.unlit = this.unlit;\n copy.doubleSided = this.doubleSided;\n copy.friction = this.friction;\n copy.texture = this.texture; // shared GPU resource\n return copy;\n }\n\n apply(gl: WebGLRenderingContext, lights: Light[], viewPosition?: Vector3) {\n if (this.uniformLocations['uColor'])\n gl.uniform4fv(this.uniformLocations['uColor'], this.albedoColor);\n\n if (this.uniformLocations['uUnlit'])\n gl.uniform1i(this.uniformLocations['uUnlit'], this.unlit ? 1 : 0);\n\n // --- NEW MATERIAL UNIFORMS ---\n if (this.uniformLocations['uShininess'])\n gl.uniform1f(this.uniformLocations['uShininess'], this.shininess);\n\n if (this.uniformLocations['uSpecularColor'])\n gl.uniform3fv(this.uniformLocations['uSpecularColor'], this.specular);\n\n if (this.uniformLocations['uDissolve'])\n gl.uniform1f(this.uniformLocations['uDissolve'], this.dissolve);\n\n if (this.uniformLocations['uAmbientColor'])\n gl.uniform3fv(this.uniformLocations['uAmbientColor'], this.ambientColor);\n\n if (this.uniformLocations['uDiffuseColor'])\n gl.uniform3fv(this.uniformLocations['uDiffuseColor'], this.diffuse);\n\n // --- NEW CAMERA UNIFORM FOR SPECULAR HIGHLIGHTS ---\n if (viewPosition && this.uniformLocations['uViewPosition']) {\n gl.uniform3fv(this.uniformLocations['uViewPosition'], viewPosition);\n }\n\n // Texture\n const hasTexture = !!this.texture;\n if (this.uniformLocations['uUseTexture'])\n gl.uniform1i(this.uniformLocations['uUseTexture'], hasTexture ? 1 : 0);\n\n if (hasTexture && this.texture) {\n gl.activeTexture(gl.TEXTURE0);\n gl.bindTexture(gl.TEXTURE_2D, this.texture);\n if (this.uniformLocations['uTexture'])\n gl.uniform1i(this.uniformLocations['uTexture'], 0);\n }\n\n // Lights — fill pre-allocated typed arrays in-place (zero per-frame allocations)\n if (!this.unlit && lights?.length) {\n const count = Math.min(lights.length, MAX_LIGHTS);\n\n if (this.uniformLocations['uLightCount'])\n gl.uniform1i(this.uniformLocations['uLightCount'], count);\n\n for (let i = 0; i < count; i++) {\n const light = lights[i];\n const i3 = i * 3;\n\n let typeInt = 0;\n if (light.type === 'point') typeInt = 1;\n else if (light.type === 'ambient') typeInt = 2;\n this._lightTypes[i] = typeInt;\n\n const dir = light.direction ?? [0, 0, 0];\n this._lightDirs[i3] = dir[0];\n this._lightDirs[i3 + 1] = dir[1];\n this._lightDirs[i3 + 2] = dir[2];\n\n const pos = light.position ?? [0, 0, 0];\n this._lightPositions[i3] = pos[0];\n this._lightPositions[i3 + 1] = pos[1];\n this._lightPositions[i3 + 2] = pos[2];\n\n this._lightColors[i3] = light.color[0];\n this._lightColors[i3 + 1] = light.color[1];\n this._lightColors[i3 + 2] = light.color[2];\n\n this._lightIntensities[i] = light.intensity;\n this._lightConstants[i] = light.constant;\n this._lightLinears[i] = light.linear;\n this._lightQuadratics[i] = light.quadratic;\n }\n\n if (this.uniformLocations['uLightDirection[0]'])\n gl.uniform3fv(\n this.uniformLocations['uLightDirection[0]'],\n this._lightDirs,\n );\n if (this.uniformLocations['uLightColor[0]'])\n gl.uniform3fv(\n this.uniformLocations['uLightColor[0]'],\n this._lightColors,\n );\n if (this.uniformLocations['uLightIntensity[0]'])\n gl.uniform1fv(\n this.uniformLocations['uLightIntensity[0]'],\n this._lightIntensities,\n );\n if (this.uniformLocations['uLightType[0]'])\n gl.uniform1iv(this.uniformLocations['uLightType[0]'], this._lightTypes);\n if (this.uniformLocations['uLightPosition[0]'])\n gl.uniform3fv(\n this.uniformLocations['uLightPosition[0]'],\n this._lightPositions,\n );\n if (this.uniformLocations['uLightConstant[0]'])\n gl.uniform1fv(\n this.uniformLocations['uLightConstant[0]'],\n this._lightConstants,\n );\n if (this.uniformLocations['uLightLinear[0]'])\n gl.uniform1fv(\n this.uniformLocations['uLightLinear[0]'],\n this._lightLinears,\n );\n if (this.uniformLocations['uLightQuadratic[0]'])\n gl.uniform1fv(\n this.uniformLocations['uLightQuadratic[0]'],\n this._lightQuadratics,\n );\n }\n }\n}\n","import { Vector3 } from '../domain/interfaces/Vectors';\n\n/**\n * Supported light types.\n * - `directional` – parallel rays (sun-like).\n * - `point` – omnidirectional with distance attenuation.\n * - `ambient` – constant contribution everywhere.\n */\nexport type LightType = 'directional' | 'point' | 'ambient';\n\n/**\n * A scene light with type, position, direction, colour, intensity,\n * and attenuation factors (for point lights).\n */\nexport class Light {\n // Attenuation factors are initialized to standard values (no falloff)\n public constant: number = 1.0;\n public linear: number = 0.0;\n public quadratic: number = 0.0;\n\n constructor(\n public type: LightType = 'directional',\n public position: Vector3 = [0, 10, 0], // for point lights\n public direction: Vector3 = [0, -1, -1], // for directional lights\n public color: Vector3 = [1, 1, 1],\n public intensity: number = 1,\n constant: number = 1.0,\n linear: number = 0.0,\n quadratic: number = 0.0,\n ) {\n this.constant = constant;\n this.linear = linear;\n this.quadratic = quadratic;\n }\n\n move(dx: number, dy: number, dz: number) {\n this.position[0] += dx;\n this.position[1] += dy;\n this.position[2] += dz;\n }\n\n rotateY(delta: number) {\n if (this.type === 'directional') {\n const cos = Math.cos(delta);\n const sin = Math.sin(delta);\n const [x, y, z] = this.direction;\n this.direction[0] = x * cos - z * sin;\n this.direction[2] = x * sin + z * cos;\n }\n }\n}\n","import { Light } from './Light';\nimport { Model } from './Model';\nimport WebGLCore from './WebGLCore';\n\nexport class Scene {\n private models: Model[] = [];\n private modelsMap = new Map<string, Model>();\n public lights: Light[] = [];\n\n // eslint-disable-next-line @typescript-eslint/no-unused-vars\n constructor(private webglCore: WebGLCore) {}\n\n // ─────────────────────────────────────────────\n // ░░░ Factory: pre-configured 3-point lighting ░░░\n // ─────────────────────────────────────────────\n\n /**\n * Create a Scene pre-loaded with a classic **3-point lighting** rig\n * (ambient + key + fill + back).\n *\n * Use this for quick prototyping; for production, create a plain Scene and\n * add your own lights.\n */\n static withDefaultLights(webglCore: WebGLCore): Scene {\n const scene = new Scene(webglCore);\n\n // 🌈 AMBIENT LIGHT (Global Base Illumination)\n scene.addLight(\n 'ambient_base',\n new Light('ambient', [0, 0, 0], [0, 0, 0], [0.3, 0.3, 0.35], 0.5),\n );\n\n // 🔑 KEY LIGHT (Main Sun/Primary Source)\n scene.addLight(\n 'directional_key',\n new Light(\n 'directional',\n [5, 10, 5],\n [-0.5, -1.0, -0.5],\n [1.0, 0.95, 0.9],\n 1.2,\n ),\n );\n\n // ☁️ FILL LIGHT (Softens Shadows)\n scene.addLight(\n 'directional_fill',\n new Light(\n 'directional',\n [-10, 5, 10],\n [0.5, -0.2, -0.7],\n [0.8, 0.8, 1.0],\n 0.5,\n ),\n );\n\n // 💫 BACK LIGHT (Rim/Separation Light)\n scene.addLight(\n 'directional_back',\n new Light(\n 'directional',\n [0, 15, -10],\n [0.0, -0.8, 1.0],\n [1.0, 1.0, 1.0],\n 0.7,\n ),\n );\n\n return scene;\n }\n\n /** Register a light source in the scene. */\n public addLight(id: string, light: Light) {\n this.lights.push(light);\n\n /* Debug only */\n /* \n const lightSphere = createSphereMesh(\n this.webglCore,\n 0.25,\n 12,\n 12,\n [1, 1, 0.8],\n );\n\n lightSphere.isCollidable = false;\n lightSphere.translation = light.position;\n this.add(id + '_sphere', lightSphere);\n\n // Debug direction for directional lights\n if (light.type === 'point' || light.type === 'directional') {\n const dirMesh = createLightDirectionMesh(\n this.webglCore,\n light.position,\n light.direction,\n 5, // length of the arrow\n [1, 0, 0], // red arrow\n );\n this.add(id + '_dir', dirMesh);\n } \n */\n }\n\n /** Add a model to the scene with a unique key. */\n add(id: string, model: Model) {\n this.models.push(model);\n this.modelsMap.set(id, model);\n }\n\n /** Remove a model from the scene by key. */\n remove(key: string) {\n const mesh = this.modelsMap.get(key);\n if (!mesh) return;\n this.models = this.models.filter((m) => m !== mesh);\n this.modelsMap.delete(key);\n }\n\n getModels() {\n return this.models;\n }\n\n getLights() {\n return this.lights;\n }\n\n /** Retrieve a model by its key. */\n public getModel(key: string) {\n const mesh = this.modelsMap.get(key);\n return mesh;\n }\n\n public hasMesh(key: string) {\n return this.modelsMap.has(key);\n }\n\n /** Returns all [id, model] pairs — useful for debug/inspector tools. */\n public getEntries(): [string, Model][] {\n return [...this.modelsMap.entries()];\n }\n\n dispose(webglCore: WebGLCore) {\n for (const model of this.models) {\n model.dispose(webglCore);\n }\n this.models.length = 0;\n this.modelsMap.clear();\n this.lights.length = 0;\n }\n}\n","import { Vector3 } from '../interfaces/Vectors';\n\nexport interface AABB {\n min: Vector3;\n max: Vector3;\n}\n\nexport type ColliderType = 'box' | 'sphere' | 'capsule';\nexport class Collider {\n type: ColliderType;\n offset: Vector3;\n size: Vector3;\n\n constructor(\n type: ColliderType,\n offset: Vector3 = [0, 0, 0],\n size: Vector3 = [1, 1, 1],\n ) {\n this.type = type;\n this.offset = offset;\n this.size = size;\n }\n}\n","// utils/gltf-utils.ts\nimport { mat4, vec3 } from 'gl-matrix';\n\n/** Transforma um ponto (vec3) por uma mat4 */\nexport function transformPoint(\n out: [number, number, number],\n m: mat4,\n p: [number, number, number],\n) {\n const v = vec3.fromValues(p[0], p[1], p[2]);\n vec3.transformMat4(v, v, m);\n out[0] = v[0];\n out[1] = v[1];\n out[2] = v[2];\n}\n\n/** Recebe uma AABB local (min,max) e uma mat4 e retorna AABB transformada */\nexport function transformAABB(\n min: [number, number, number],\n max: [number, number, number],\n m: mat4,\n) {\n // calcula os 8 cantos, transforma, e retorna new min/max\n const corners: [number, number, number][] = [\n [min[0], min[1], min[2]],\n [min[0], min[1], max[2]],\n [min[0], max[1], min[2]],\n [min[0], max[1], max[2]],\n [max[0], min[1], min[2]],\n [max[0], min[1], max[2]],\n [max[0], max[1], min[2]],\n [max[0], max[1], max[2]],\n ];\n const outMin: [number, number, number] = [Infinity, Infinity, Infinity];\n const outMax: [number, number, number] = [-Infinity, -Infinity, -Infinity];\n const t: [number, number, number] = [0, 0, 0];\n for (const c of corners) {\n transformPoint(t, m, c);\n for (let i = 0; i < 3; i++) {\n outMin[i] = Math.min(outMin[i], t[i]);\n outMax[i] = Math.max(outMax[i], t[i]);\n }\n }\n return { min: outMin, max: outMax };\n}\n","// classes/Model.ts\nimport { mat4 } from 'gl-matrix';\n\nimport { AABB, Collider } from '../domain/value-objects/Collider';\nimport { transformAABB } from '../utils/gltf-utils';\nimport { Vector3 } from '../domain/interfaces/Vectors';\nimport { Mesh } from './Mesh';\nimport { Skeleton, JointPose } from './Skeleton';\nimport { AnimationClip } from './AnimationClip';\nimport WebGLCore from './WebGLCore';\n\n/**\n * A high-level renderable object composed of one or more {@link Mesh}es.\n * Provides transform, bounding-box, AABB collision, and optional skeletal\n * animation utilities.\n */\nexport class Model {\n public name: string;\n public meshes: Mesh[];\n public collider: Collider;\n public translation: Vector3;\n public rotation: Vector3;\n public scale: Vector3;\n\n // ── Skeletal animation ──────────────────────────────────────\n /** The skeleton driving skinned meshes (set after GLB load if present). */\n public skeleton: Skeleton | null = null;\n\n /** Named animation clips available on this model. */\n public animations: Map<string, AnimationClip> = new Map();\n\n /** The currently playing animation clip (if any). */\n public activeAnimation: AnimationClip | null = null;\n\n private _boundingBox: AABB = { min: [0, 0, 0], max: [0, 0, 0] };\n private _bboxDirty = false;\n private _boundsDefinedManually = false;\n private _modelMatrix: mat4 = mat4.create();\n private _matrixDirty = true;\n private readonly _poseMap = new Map<number, JointPose>();\n\n /** World-space AABB, lazily recomputed after any transform change. */\n get boundingBox(): AABB {\n if (this._bboxDirty && !this._boundsDefinedManually) {\n this._boundingBox = this.computeBoundingBox();\n this._bboxDirty = false;\n }\n return this._boundingBox;\n }\n\n set boundingBox(value: AABB) {\n this._boundingBox = value;\n this._bboxDirty = false;\n }\n\n /** When `false` the model is excluded from collision detection. */\n public collidable = true;\n\n constructor(\n meshes: Mesh[],\n translation: Vector3 = [0, 0, 0],\n scale: Vector3 = [1, 1, 1],\n _name = 'model',\n skeleton: Skeleton | null = null,\n ) {\n this.meshes = meshes;\n this.translation = translation;\n this.scale = scale;\n this.rotation = [0, 0, 0];\n this.collider = new Collider('box');\n this.name = _name;\n this.skeleton = skeleton;\n this._boundingBox = this.computeBoundingBox();\n\n // Align bottom to y=0 — must dirty the matrix since we mutate translation directly\n this.translation[1] -= this._boundingBox.min[1];\n this._matrixDirty = true;\n this._bboxDirty = true;\n }\n\n // ─────────────────────────────────────────────\n // ░░░ Transform API ░░░\n // ─────────────────────────────────────────────\n /** Set absolute position. Marks matrix and bounding box dirty. */\n public setTranslation(x: number, y: number, z: number) {\n this.translation = [x, y, z];\n this._matrixDirty = true;\n this._bboxDirty = true;\n }\n\n /** Set absolute rotation (radians per axis). */\n public setRotation(x: number, y: number, z: number) {\n this.rotation = [x, y, z];\n this._matrixDirty = true;\n this._bboxDirty = true;\n }\n\n /** Set absolute scale. */\n public setScale(x: number, y: number, z: number) {\n this.scale = [x, y, z];\n this._matrixDirty = true;\n this._bboxDirty = true;\n }\n\n /** Translate the model by a delta. */\n public move(dx: number, dy: number, dz: number = 0) {\n this.translation[0] += dx;\n this.translation[1] += dy;\n this.translation[2] += dz;\n this._matrixDirty = true;\n this._bboxDirty = true;\n }\n\n // ─────────────────────────────────────────────\n // ░░░ Matrix Handling ░░░\n // ─────────────────────────────────────────────\n public getModelMatrix(): mat4 {\n if (this._matrixDirty) {\n mat4.identity(this._modelMatrix);\n mat4.translate(this._modelMatrix, this._modelMatrix, this.translation);\n mat4.rotateX(this._modelMatrix, this._modelMatrix, this.rotation[0]);\n mat4.rotateY(this._modelMatrix, this._modelMatrix, this.rotation[1]);\n mat4.rotateZ(this._modelMatrix, this._modelMatrix, this.rotation[2]);\n mat4.scale(this._modelMatrix, this._modelMatrix, this.scale);\n this._matrixDirty = false;\n }\n return this._modelMatrix;\n }\n\n // ─────────────────────────────────────────────\n // ░░░ Bounding Box & Collider ░░░\n // ─────────────────────────────────────────────\n /**\n * Manually define the collision bounding box relative to the model's\n * current translation.\n */\n public setBounds(\n xOffset: number,\n yOffset: number,\n zOffset: number,\n width: number,\n height: number,\n depth: number,\n ) {\n this.boundingBox.min = [\n this.translation[0] + xOffset,\n this.translation[1] + yOffset,\n this.translation[2] + zOffset,\n ];\n this.boundingBox.max = [\n this.boundingBox.min[0] + width,\n this.boundingBox.min[1] + height,\n this.boundingBox.min[2] + depth,\n ];\n this._boundsDefinedManually = true;\n }\n\n private computeBoundingBox(): AABB {\n if (this.meshes.length === 0) {\n return { min: [...this.translation], max: [...this.translation] };\n }\n\n const modelMat = this.getModelMatrix();\n\n // For skinned models the shader applies: uModel * skinMat * vertex.\n // In bind pose skinMat ≈ skeleton.rootTransform (the non-joint ancestor\n // transform that many exporters don't bake into the IBM). We must\n // include it so the bbox matches what the GPU actually renders.\n let effectiveMat = modelMat;\n if (this.skeleton) {\n effectiveMat = mat4.create();\n mat4.multiply(effectiveMat, modelMat, this.skeleton.rootTransform);\n }\n\n const min: Vector3 = [Infinity, Infinity, Infinity];\n const max: Vector3 = [-Infinity, -Infinity, -Infinity];\n\n for (const mesh of this.meshes) {\n if (!mesh.isCollidable) continue;\n\n mesh.computeBounds();\n\n // Skip degenerate meshes (helper objects, IK controls, etc. that have\n // all vertices at the local origin — they would pull the bbox to include\n // the world-space origin even when the model is far away).\n const mb = mesh.boundingBox;\n const isDegenerate =\n mb.min[0] === mb.max[0] &&\n mb.min[1] === mb.max[1] &&\n mb.min[2] === mb.max[2];\n if (isDegenerate) continue;\n\n const transformed = transformAABB(\n mesh.boundingBox.min,\n mesh.boundingBox.max,\n effectiveMat,\n );\n\n for (let i = 0; i < 3; i++) {\n min[i] = Math.min(min[i], transformed.min[i]);\n max[i] = Math.max(max[i], transformed.max[i]);\n }\n }\n\n // No collidable mesh contributed — return a unit box at the model's position\n // to avoid propagating Infinity/NaN into translation.\n if (!isFinite(min[0])) {\n const t = effectiveMat;\n const tx = t[12];\n const ty = t[13];\n const tz = t[14];\n return {\n min: [tx - 0.5, ty, tz - 0.5],\n max: [tx + 0.5, ty + 1, tz + 0.5],\n };\n }\n\n return { min, max };\n }\n\n /** Recompute the world-space AABB from mesh data (unless manually set). */\n public updateBoundingBox() {\n if (this._boundsDefinedManually) return;\n this.boundingBox = this.computeBoundingBox();\n }\n\n /** World-space centre of the bounding box. */\n public getCenter(): Vector3 {\n const { min, max } = this.boundingBox;\n return [\n (min[0] + max[0]) / 2,\n (min[1] + max[1]) / 2,\n (min[2] + max[2]) / 2,\n ];\n }\n\n /** Extents of the bounding box in each axis. */\n public getSize(): Vector3 {\n const { min, max } = this.boundingBox;\n return [max[0] - min[0], max[1] - min[1], max[2] - min[2]];\n }\n\n /** Test for intersection with another model using their colliders. */\n public intersects(other: Model): boolean {\n const a = this.collider;\n const b = other.collider;\n\n if (a.type !== 'box' || b.type !== 'box') {\n console.warn(\n `[Model] Collider types '${a.type}' / '${b.type}' not yet implemented — falling back to AABB.`,\n );\n }\n\n return this.intersectAABB(other);\n }\n\n private intersectAABB(other: Model): boolean {\n const a = this.boundingBox;\n const b = other.boundingBox;\n return !(\n a.max[0] < b.min[0] ||\n a.min[0] > b.max[0] ||\n a.max[1] < b.min[1] ||\n a.min[1] > b.max[1] ||\n a.max[2] < b.min[2] ||\n a.min[2] > b.max[2]\n );\n }\n\n // ─────────────────────────────────────────────\n // ░░░ Resource Management ░░░\n // ─────────────────────────────────────────────\n /** Release all GPU resources held by this model's meshes. */\n public dispose(glCore: WebGLCore) {\n for (const mesh of this.meshes) {\n mesh.dispose?.(glCore);\n }\n this.meshes = [];\n }\n\n // ─────────────────────────────────────────────\n // ░░░ Cloning ░░░\n // ─────────────────────────────────────────────\n /** Deep-clone the model including all meshes. Materials are shared. */\n public clone(): Model {\n const clonedMeshes = this.meshes.map((m) => (m.clone ? m.clone() : m));\n const c = new Model(\n clonedMeshes,\n [...this.translation],\n [...this.scale],\n this.name,\n this.skeleton?.clone() ?? null,\n );\n c.rotation = [...this.rotation];\n c.collider = new Collider(this.collider.type);\n c.boundingBox = {\n min: [...this.boundingBox.min],\n max: [...this.boundingBox.max],\n };\n for (const [name, clip] of this.animations) {\n c.animations.set(name, clip.clone());\n }\n return c;\n }\n\n // ─────────────────────────────────────────────\n // ░░░ Animation ░░░\n // ─────────────────────────────────────────────\n\n /**\n * Start playing a named animation clip.\n * @param name - Must match a key in {@link animations}.\n * @param loop - Whether the clip should loop (default `true`).\n */\n public playAnimation(name: string, loop = true): void {\n const clip = this.animations.get(name);\n if (!clip) {\n console.warn(`[Model:${this.name}] Animation \"${name}\" not found`);\n return;\n }\n this.activeAnimation = clip;\n clip.loop = loop;\n clip.reset();\n clip.play();\n }\n\n /** Pause the active animation without rewinding. */\n public pauseAnimation(): void {\n this.activeAnimation?.pause();\n }\n\n /** Stop the active animation and rewind. */\n public stopAnimation(): void {\n if (this.activeAnimation) {\n this.activeAnimation.stop();\n this.activeAnimation = null;\n }\n }\n\n /** List the names of all available animations. */\n public getAnimationNames(): string[] {\n return [...this.animations.keys()];\n }\n\n /**\n * Advance animation and recompute joint matrices.\n * Call this every frame from your game loop.\n *\n * @param deltaTime - Elapsed time in seconds since the last frame.\n */\n public update(deltaTime: number) {\n if (!this.activeAnimation || !this.skeleton) return;\n\n this.activeAnimation.update(deltaTime);\n // Reuse _poseMap to avoid a new Map allocation every frame.\n // Skeleton.computeJointMatrices already falls back to bind-pose for any\n // joint not present in the map, so no manual merging is needed.\n this.activeAnimation.sample(this._poseMap);\n this.skeleton.computeJointMatrices(this._poseMap);\n }\n}\n","import { quat, vec3 } from 'gl-matrix';\nimport type { JointPose } from './Skeleton';\n\n// ── Module-level scratch buffers ──\n// Reused across all AnimationClip.sample() calls. Safe because sample() is\n// synchronous and scratch values are copied into pose storage before reuse.\nconst _sv0Vec3 = vec3.create();\nconst _sv1Vec3 = vec3.create();\nconst _sOutVec3 = vec3.create();\nconst _sv0Quat = quat.create();\nconst _sv1Quat = quat.create();\nconst _sOutQuat = quat.create();\n\n// ─── Types ──────────────────────────────────────────────────────\n\n/** Interpolation mode as defined by glTF 2.0. */\nexport type InterpolationMode = 'STEP' | 'LINEAR' | 'CUBICSPLINE';\n\n/** Which transform component the channel drives. */\nexport type AnimationPath = 'translation' | 'rotation' | 'scale';\n\n/**\n * Stores the raw keyframe data for one animated property and performs\n * interpolation between keyframes.\n */\nexport interface AnimationSampler {\n /** Keyframe timestamps (seconds). */\n times: Float32Array;\n /** Flattened keyframe output values (3 or 4 components per key). */\n values: Float32Array;\n /** Interpolation mode (default `LINEAR`). */\n interpolation: InterpolationMode;\n}\n\n/**\n * Links a {@link AnimationSampler} to a specific joint property.\n */\nexport interface AnimationChannel {\n /** Index into the owning {@link Skeleton}'s joint array. */\n jointIndex: number;\n /** Transform component this channel drives. */\n path: AnimationPath;\n /** The sampler that holds keyframe data. */\n sampler: AnimationSampler;\n}\n\n// ─── AnimationClip ──────────────────────────────────────────────\n\n/**\n * A named animation clip containing one or more {@link AnimationChannel}s.\n *\n * Call {@link update} each frame to advance the playhead, then {@link sample}\n * to obtain per-joint local transforms that feed into\n * `Skeleton.computeJointMatrices()`.\n *\n * ```ts\n * clip.play();\n * // game loop:\n * clip.update(deltaTime);\n * const poses = clip.sample();\n * skeleton.computeJointMatrices(poses);\n * ```\n */\nexport class AnimationClip {\n /** Human-readable name (e.g. \"Walk\", \"Idle\"). */\n public readonly name: string;\n\n /** All channels in this clip. */\n public readonly channels: AnimationChannel[];\n\n /** Total duration in seconds (derived from the maximum keyframe time). */\n public readonly duration: number;\n\n /** Current playback time in seconds. */\n public currentTime = 0;\n\n /** Whether the clip loops when it reaches the end. */\n public loop = true;\n\n /** Playback speed multiplier (1 = normal, 2 = double, −1 = reverse). */\n public speed = 1;\n\n /** Whether the clip is currently advancing. */\n public playing = false;\n\n /**\n * Per-joint pose objects reused across frames to avoid per-frame allocations.\n * The vec3/quat inside each entry are also pre-allocated on first use.\n */\n private readonly _posePool = new Map<number, JointPose>();\n\n constructor(name: string, channels: AnimationChannel[], duration: number) {\n this.name = name;\n this.channels = channels;\n this.duration = duration;\n }\n\n /** Start / resume playback. */\n play(): void {\n this.playing = true;\n }\n\n /** Pause playback (keeps current time). */\n pause(): void {\n this.playing = false;\n }\n\n /** Stop and rewind to the beginning. */\n stop(): void {\n this.playing = false;\n this.currentTime = 0;\n }\n\n /** Rewind to the beginning without changing play state. */\n reset(): void {\n this.currentTime = 0;\n }\n\n /**\n * Advance the playhead by `deltaTime` seconds (respects {@link speed}).\n * Automatically loops or clamps depending on {@link loop}.\n */\n update(deltaTime: number): void {\n if (!this.playing || this.duration <= 0) return;\n\n this.currentTime += deltaTime * this.speed;\n\n if (this.loop) {\n this.currentTime =\n ((this.currentTime % this.duration) + this.duration) % this.duration;\n } else {\n if (this.currentTime >= this.duration) {\n this.currentTime = this.duration;\n this.playing = false;\n } else if (this.currentTime < 0) {\n this.currentTime = 0;\n this.playing = false;\n }\n }\n }\n\n /**\n * Sample every channel at the current playhead and write per-joint local\n * transforms into `out` (or a newly created map if none is provided).\n *\n * Pass a persistent `Map` to avoid allocating a new one every frame.\n */\n sample(out?: Map<number, JointPose>): Map<number, JointPose> {\n const result = out ?? new Map<number, JointPose>();\n if (out) out.clear();\n\n for (const channel of this.channels) {\n // Reuse the JointPose object for this joint from the pool.\n let entry = this._posePool.get(channel.jointIndex);\n if (!entry) {\n entry = {};\n this._posePool.set(channel.jointIndex, entry);\n }\n result.set(channel.jointIndex, entry);\n\n // sampleChannel writes into a module-level scratch buffer.\n // Copy the result into the pre-allocated fields of the pose entry.\n const value = sampleChannel(channel, this.currentTime);\n switch (channel.path) {\n case 'translation':\n if (!entry.t) entry.t = vec3.create();\n vec3.copy(entry.t, value as vec3);\n break;\n case 'rotation':\n if (!entry.r) entry.r = quat.create();\n quat.copy(entry.r, value as quat);\n break;\n case 'scale':\n if (!entry.s) entry.s = vec3.create();\n vec3.copy(entry.s, value as vec3);\n break;\n }\n }\n\n return result;\n }\n\n /**\n * Create an independent copy of this clip (shares the underlying sampler\n * data but has its own playback state).\n */\n clone(): AnimationClip {\n const copy = new AnimationClip(this.name, this.channels, this.duration);\n copy.loop = this.loop;\n copy.speed = this.speed;\n return copy;\n }\n}\n\n// ── Sampling helpers ───────────────────────────────────────────────\n\n/** Write `numComponents` floats from `values` at `index * numComponents` into `out`. */\nfunction readValueInto(\n values: Float32Array,\n index: number,\n numComponents: number,\n out: vec3 | quat,\n): void {\n const off = index * numComponents;\n out[0] = values[off];\n out[1] = values[off + 1];\n out[2] = values[off + 2];\n if (numComponents === 4) out[3] = values[off + 3];\n}\n\n/**\n * Sample a single channel at the given time. Writes the result into a\n * module-level scratch buffer and returns a reference to it.\n * The caller must copy the value before the next sampleChannel invocation.\n */\nfunction sampleChannel(channel: AnimationChannel, time: number): vec3 | quat {\n const { sampler, path } = channel;\n const { times, values, interpolation } = sampler;\n const numComponents = path === 'rotation' ? 4 : 3;\n const outScratch: vec3 | quat = numComponents === 4 ? _sOutQuat : _sOutVec3;\n\n // Edge cases — clamp to first / last keyframe\n if (times.length === 0) {\n if (numComponents === 4) quat.identity(outScratch as quat);\n else vec3.set(outScratch as vec3, 0, 0, 0);\n return outScratch;\n }\n if (time <= times[0]) {\n readValueInto(values, 0, numComponents, outScratch);\n return outScratch;\n }\n if (time >= times[times.length - 1]) {\n readValueInto(values, times.length - 1, numComponents, outScratch);\n return outScratch;\n }\n\n // Binary search for the surrounding keyframe pair\n let lo = 0;\n let hi = times.length - 1;\n while (lo < hi - 1) {\n const mid = (lo + hi) >>> 1;\n if (times[mid] <= time) {\n lo = mid;\n } else {\n hi = mid;\n }\n }\n\n const t0 = times[lo];\n const t1 = times[hi];\n const factor = (time - t0) / (t1 - t0);\n\n const v0Scratch: vec3 | quat = numComponents === 4 ? _sv0Quat : _sv0Vec3;\n const v1Scratch: vec3 | quat = numComponents === 4 ? _sv1Quat : _sv1Vec3;\n readValueInto(values, lo, numComponents, v0Scratch);\n readValueInto(values, hi, numComponents, v1Scratch);\n\n if (interpolation === 'STEP') {\n // STEP: return v0 unchanged\n readValueInto(values, lo, numComponents, outScratch);\n return outScratch;\n }\n\n // LINEAR (or fallback for CUBICSPLINE — true cubic not yet implemented)\n if (path === 'rotation') {\n quat.slerp(outScratch as quat, v0Scratch as quat, v1Scratch as quat, factor);\n return outScratch;\n }\n\n vec3.lerp(outScratch as vec3, v0Scratch as vec3, v1Scratch as vec3, factor);\n return outScratch;\n}\n","import { Material, Mesh } from '../classes';\nimport { GL_LINES } from '../classes/Mesh';\nimport { Vector3 } from '../domain/interfaces/Vectors';\n\nexport function createWireBox(\n min: Vector3,\n max: Vector3,\n material: Material,\n): Mesh {\n const [minX, minY, minZ] = min;\n const [maxX, maxY, maxZ] = max;\n\n // 8 corners of the box\n const vertices: number[] = [\n minX,\n minY,\n minZ,\n maxX,\n minY,\n minZ,\n maxX,\n maxY,\n minZ,\n minX,\n maxY,\n minZ,\n minX,\n minY,\n maxZ,\n maxX,\n minY,\n maxZ,\n maxX,\n maxY,\n maxZ,\n minX,\n maxY,\n maxZ,\n ];\n\n // edges as lines (pairs of indices)\n const indices: number[] = [\n 0,\n 1,\n 1,\n 2,\n 2,\n 3,\n 3,\n 0, // bottom face\n 4,\n 5,\n 5,\n 6,\n 6,\n 7,\n 7,\n 4, // top face\n 0,\n 4,\n 1,\n 5,\n 2,\n 6,\n 3,\n 7, // vertical edges\n ];\n\n // expand indices to vertices array (since WebGL uses gl.LINES)\n const lineVertices: number[] = [];\n for (let i = 0; i < indices.length; i++) {\n const idx = indices[i];\n lineVertices.push(\n vertices[idx * 3],\n vertices[idx * 3 + 1],\n vertices[idx * 3 + 2],\n );\n }\n\n // Normals can just be zero for wireframe\n const normals = new Float32Array(lineVertices.length);\n\n const mesh = new Mesh(\n 'hitbox',\n new Float32Array(lineVertices),\n normals,\n material,\n new Float32Array(),\n null,\n );\n mesh.setMode(GL_LINES);\n return mesh;\n}\n","import { mat4, vec3 } from 'gl-matrix';\nimport { Material, Mesh, Scene, WebGLCore } from '.';\nimport { Viewport } from './Viewport';\nimport { Light } from './Light';\nimport { Vector3 } from '../domain/interfaces/Vectors';\nimport { Model } from './Model';\nimport { Skeleton } from './Skeleton';\nimport { createWireBox } from '../utils/create-wire-box';\n\nexport class Renderer {\n /** Set to `true` to render wireframe bounding boxes for debugging. */\n public debug = false;\n\n // Cached debug materials to avoid per-frame GPU allocations\n private _modelHitboxMaterial: Material | null = null;\n private _meshHitboxMaterial: Material | null = null;\n\n // Cache wire-box debug meshes: recreated only when the bounding box changes.\n private readonly _modelWireBoxCache = new WeakMap<Model, { mesh: Mesh; key: string }>();\n private readonly _meshWireBoxCache = new WeakMap<Mesh, { mesh: Mesh; key: string }>();\n\n /** Pre-allocated identity matrix for world-space hitbox draws. */\n private readonly _identity: mat4 = mat4.create();\n\n /** Cached `gl instanceof WebGL2RenderingContext` — computed once at construction. */\n private readonly _isWebGL2: boolean;\n\n constructor(\n private webglCore: WebGLCore,\n public viewport: Viewport,\n ) {\n const gl = webglCore.getRenderingContext();\n this._isWebGL2 = gl instanceof WebGL2RenderingContext;\n if (gl) gl.enable(gl.DEPTH_TEST);\n }\n\n /** Lazily-created material for model-level hitboxes (red). */\n private get modelHitboxMaterial(): Material {\n if (!this._modelHitboxMaterial) {\n this._modelHitboxMaterial = new Material(this.webglCore);\n this._modelHitboxMaterial.setColorHex('#ff0404ff');\n this._modelHitboxMaterial.unlit = true;\n }\n return this._modelHitboxMaterial;\n }\n\n /** Lazily-created material for mesh-level hitboxes (green). */\n private get meshHitboxMaterial(): Material {\n if (!this._meshHitboxMaterial) {\n this._meshHitboxMaterial = new Material(this.webglCore);\n this._meshHitboxMaterial.setColorHex('#04ff0cff');\n this._meshHitboxMaterial.unlit = true;\n }\n return this._meshHitboxMaterial;\n }\n\n public clearFrame(\n color: [number, number, number, number] = [0.2, 0.5, 0.95, 1],\n ) {\n const gl = this.webglCore.getRenderingContext();\n if (!gl) return;\n\n gl.clearColor(...color);\n gl.clear(gl.COLOR_BUFFER_BIT | gl.DEPTH_BUFFER_BIT);\n }\n\n public render(scene: Scene) {\n const gl = this.webglCore.getRenderingContext();\n if (!gl) return;\n\n const models = scene.getModels();\n const lights = scene.getLights();\n const camera = this.viewport.camera;\n\n const viewPosition: vec3 = camera.getComputedPosition();\n this.clearFrame();\n\n const viewMatrix = camera.getViewMatrix() as Float32Array;\n const projMatrix = camera.getProjectionMatrix() as Float32Array;\n\n let activeProgram: WebGLProgram | null = null;\n\n for (const model of models) {\n activeProgram = this.drawModel(\n gl,\n model,\n lights,\n viewPosition,\n viewMatrix,\n projMatrix,\n activeProgram,\n );\n }\n }\n\n private drawModel(\n gl: WebGLRenderingContext,\n model: Model,\n lights: Light[],\n viewPosition: vec3,\n viewMatrix: Float32Array,\n projMatrix: Float32Array,\n activeProgram: WebGLProgram | null,\n ): WebGLProgram | null {\n const modelMatrix = model.getModelMatrix();\n const hasSkeleton = model.skeleton !== null;\n\n for (const mesh of model.meshes) {\n activeProgram = this.drawMesh(\n mesh,\n lights,\n viewPosition,\n modelMatrix,\n viewMatrix,\n projMatrix,\n activeProgram,\n hasSkeleton && mesh.isSkinned ? model : null,\n );\n\n if (this.debug) {\n this.drawHitBoxForMesh(\n mesh,\n modelMatrix,\n viewMatrix,\n projMatrix,\n activeProgram,\n );\n }\n }\n\n // Debug wireframe\n if (this.debug) {\n this.drawHitBox(model, activeProgram);\n }\n\n return activeProgram;\n }\n\n private drawMesh(\n mesh: Mesh,\n lights: Light[],\n viewPosition: vec3,\n modelMatrix: mat4,\n viewMatrix: Float32Array,\n projMatrix: Float32Array,\n activeProgram: WebGLProgram | null,\n skinnedModel: Model | null = null,\n ): WebGLProgram | null {\n const gl = this.webglCore.getRenderingContext();\n if (!gl) return activeProgram;\n if (!mesh.material) return activeProgram;\n\n mesh.initBuffer(this.webglCore);\n\n const { program, uniformLocations } = mesh.material;\n\n if (program !== activeProgram) {\n gl.useProgram(program);\n activeProgram = program;\n\n if (uniformLocations['uView'])\n gl.uniformMatrix4fv(uniformLocations['uView'], false, viewMatrix);\n if (uniformLocations['uProjection'])\n gl.uniformMatrix4fv(uniformLocations['uProjection'], false, projMatrix);\n }\n\n // Use cached WebGL2 check\n const isWebGL2 = this._isWebGL2;\n\n // --- Bind VAO if available ---\n if (isWebGL2 && mesh.buffers?.vao) {\n (gl as unknown as WebGL2RenderingContext).bindVertexArray(\n mesh.buffers.vao,\n );\n } else {\n // --- WebGL1 Fallback ---\n const aPosition = mesh.material.attribLocations['aPosition'];\n if (aPosition !== -1 && mesh.buffers?.vertexBuffer) {\n gl.bindBuffer(gl.ARRAY_BUFFER, mesh.buffers.vertexBuffer);\n gl.enableVertexAttribArray(aPosition);\n gl.vertexAttribPointer(aPosition, 3, gl.FLOAT, false, 0, 0);\n }\n\n const aNormal = mesh.material.attribLocations['aNormal'];\n if (aNormal !== -1 && mesh.buffers?.normalBuffer) {\n gl.bindBuffer(gl.ARRAY_BUFFER, mesh.buffers.normalBuffer);\n gl.enableVertexAttribArray(aNormal);\n gl.vertexAttribPointer(aNormal, 3, gl.FLOAT, false, 0, 0);\n }\n\n const aTexCoord = mesh.material.attribLocations['aTexCoord'];\n if (aTexCoord !== -1 && mesh.buffers?.texCoordBuffer) {\n gl.bindBuffer(gl.ARRAY_BUFFER, mesh.buffers.texCoordBuffer);\n gl.enableVertexAttribArray(aTexCoord);\n gl.vertexAttribPointer(aTexCoord, 2, gl.FLOAT, false, 0, 0);\n }\n\n // Skinning attributes (joint indices + weights)\n const aJointIndices = mesh.material.attribLocations['aJointIndices'];\n if (aJointIndices !== -1 && mesh.buffers?.jointIndexBuffer) {\n gl.bindBuffer(gl.ARRAY_BUFFER, mesh.buffers.jointIndexBuffer);\n gl.enableVertexAttribArray(aJointIndices);\n gl.vertexAttribPointer(aJointIndices, 4, gl.FLOAT, false, 0, 0);\n }\n\n const aJointWeights = mesh.material.attribLocations['aJointWeights'];\n if (aJointWeights !== -1 && mesh.buffers?.jointWeightBuffer) {\n gl.bindBuffer(gl.ARRAY_BUFFER, mesh.buffers.jointWeightBuffer);\n gl.enableVertexAttribArray(aJointWeights);\n gl.vertexAttribPointer(aJointWeights, 4, gl.FLOAT, false, 0, 0);\n }\n }\n\n // Material uniforms\n mesh.material.apply(gl, lights, viewPosition as Vector3);\n\n // ── Skinning uniforms ─────────────────────────────────────\n const uUseSkinning = uniformLocations['uUseSkinning'];\n const skeleton: Skeleton | null =\n (skinnedModel?.skeleton as Skeleton | undefined) ?? null;\n if (skeleton && mesh.isSkinned) {\n if (uUseSkinning) gl.uniform1i(uUseSkinning, 1);\n const uJointMatrices = uniformLocations['uJointMatrices[0]'];\n if (uJointMatrices) {\n gl.uniformMatrix4fv(uJointMatrices, false, skeleton.jointMatrices);\n }\n } else {\n if (uUseSkinning) gl.uniform1i(uUseSkinning, 0);\n }\n\n // Model transform\n const uModel = mesh.material.uniformLocations['uModel'];\n if (uModel) gl.uniformMatrix4fv(uModel, false, modelMatrix as Float32Array);\n\n // Draw\n if (mesh.buffers?.indexBuffer && mesh.indices) {\n gl.bindBuffer(gl.ELEMENT_ARRAY_BUFFER, mesh.buffers.indexBuffer);\n const type =\n mesh.indices instanceof Uint32Array\n ? gl.UNSIGNED_INT\n : gl.UNSIGNED_SHORT;\n gl.drawElements(mesh.mode, mesh.indices.length, type, 0);\n } else {\n gl.drawArrays(mesh.mode, 0, mesh.vertices.length / 3);\n }\n\n // Cleanup\n if (isWebGL2 && mesh.buffers?.vao) {\n (gl as unknown as WebGL2RenderingContext).bindVertexArray(null);\n } else {\n gl.bindBuffer(gl.ARRAY_BUFFER, null);\n gl.bindBuffer(gl.ELEMENT_ARRAY_BUFFER, null);\n }\n\n return activeProgram;\n }\n\n public drawHitBox(\n model: Model,\n activeProgram: WebGLProgram | null,\n ) {\n const bbox = model.boundingBox;\n const key = `${bbox.min[0]},${bbox.min[1]},${bbox.min[2]},${bbox.max[0]},${bbox.max[1]},${bbox.max[2]}`;\n const cached = this._modelWireBoxCache.get(model);\n let hitboxMesh: Mesh;\n if (!cached || cached.key !== key) {\n hitboxMesh = createWireBox(bbox.min, bbox.max, this.modelHitboxMaterial);\n hitboxMesh.isCollidable = false;\n this._modelWireBoxCache.set(model, { mesh: hitboxMesh, key });\n } else {\n hitboxMesh = cached.mesh;\n }\n\n const camera = this.viewport.camera;\n const viewMatrix = camera.getViewMatrix() as Float32Array;\n const projMatrix = camera.getProjectionMatrix() as Float32Array;\n\n this.drawMesh(\n hitboxMesh,\n [],\n camera.position,\n this._identity,\n viewMatrix,\n projMatrix,\n activeProgram,\n );\n }\n\n private drawHitBoxForMesh(\n mesh: Mesh,\n modelMatrix: mat4,\n viewMatrix: Float32Array,\n projMatrix: Float32Array,\n activeProgram: WebGLProgram | null,\n ) {\n if (!mesh.boundingBox) return;\n\n const { min, max } = mesh.boundingBox;\n const key = `${min[0]},${min[1]},${min[2]},${max[0]},${max[1]},${max[2]}`;\n const cached = this._meshWireBoxCache.get(mesh);\n let wireBox: Mesh;\n if (!cached || cached.key !== key) {\n wireBox = createWireBox(min, max, this.meshHitboxMaterial);\n wireBox.isCollidable = false;\n this._meshWireBoxCache.set(mesh, { mesh: wireBox, key });\n } else {\n wireBox = cached.mesh;\n }\n\n const camera = this.viewport.camera;\n this.drawMesh(\n wireBox,\n [],\n camera.position,\n modelMatrix,\n viewMatrix,\n projMatrix,\n activeProgram,\n );\n }\n}\n","import { Material, Mesh, Model, WebGLCore } from '../classes';\nimport { Vector3 } from '../domain/interfaces/Vectors';\n\nfunction computeNormal(p1: Vector3, p2: Vector3, p3: Vector3): Vector3 {\n const u: Vector3 = [p2[0] - p1[0], p2[1] - p1[1], p2[2] - p1[2]];\n const v: Vector3 = [p3[0] - p1[0], p3[1] - p1[1], p3[2] - p1[2]];\n return [\n u[1] * v[2] - u[2] * v[1],\n u[2] * v[0] - u[0] * v[2],\n u[0] * v[1] - u[1] * v[0],\n ];\n}\n\nexport async function loadMTL(\n url: string,\n webglCore: WebGLCore,\n): Promise<Record<string, Material>> {\n const response = await fetch(url);\n if (!response.ok) throw new Error(`Failed to load MTL: ${url}`);\n const text = await response.text();\n\n const materials: Record<string, Material> = {};\n let current: Material | null = null;\n\n const basePath = url.split('/').slice(0, -1).join('/') + '/';\n\n const lines = text.split('\\n');\n for (const line of lines) {\n const trimmed = line.trim();\n if (!trimmed || trimmed.startsWith('#')) continue;\n\n const parts = trimmed.split(/\\s+/);\n\n switch (parts[0].toLowerCase()) {\n case 'newmtl':\n current = new Material(webglCore, { albedoColor: [1, 1, 1, 1] });\n materials[parts[1]] = current;\n break;\n\n case 'kd':\n if (!current) continue;\n current.diffuse = [\n parseFloat(parts[1]),\n parseFloat(parts[2]),\n parseFloat(parts[3]),\n ];\n current.albedoColor = [...current.diffuse, 1];\n break;\n\n case 'ks':\n if (!current) continue;\n current.specular = [\n parseFloat(parts[1]),\n parseFloat(parts[2]),\n parseFloat(parts[3]),\n ];\n break;\n\n case 'ns':\n if (!current) continue;\n current.shininess = parseFloat(parts[1]);\n break;\n\n case 'map_kd':\n if (!current) continue;\n await current.loadTexture(basePath + parts[1]);\n break;\n }\n }\n\n return materials;\n}\n\nexport async function loadOBJWithMTL(\n webglCore: WebGLCore,\n objUrl: string,\n mtlUrl: string | null,\n translation: Vector3 = [0, 0, 0],\n scale: Vector3 = [1, 1, 1],\n defaultMaterial = new Material(webglCore, { albedoColor: [1, 1, 1, 1] }),\n): Promise<Model> {\n const materials = mtlUrl ? await loadMTL(mtlUrl, webglCore) : {};\n\n const response = await fetch(objUrl);\n if (!response.ok) throw new Error(`Failed to load OBJ: ${objUrl}`);\n const objText = await response.text();\n\n const positions: Vector3[] = [];\n const texCoords: number[][] = [];\n const vertexNormals: Vector3[] = [];\n\n const meshesData: Record<\n string,\n { vertices: number[]; normals: number[]; uvs: number[] }\n > = {};\n\n let currentMaterialName: string | null = null;\n\n const lines = objText.split('\\n');\n\n for (const line of lines) {\n const trimmed = line.trim();\n if (!trimmed || trimmed.startsWith('#')) continue;\n\n const parts = trimmed.split(/\\s+/);\n\n switch (parts[0]) {\n case 'v':\n positions.push([\n parseFloat(parts[1]),\n parseFloat(parts[2]),\n parseFloat(parts[3]),\n ]);\n break;\n\n case 'vt':\n texCoords.push([\n parseFloat(parts[1]),\n 1 - parseFloat(parts[2]), // flip V for WebGL\n ]);\n break;\n\n case 'vn':\n vertexNormals.push([\n parseFloat(parts[1]),\n parseFloat(parts[2]),\n parseFloat(parts[3]),\n ]);\n break;\n\n case 'usemtl':\n currentMaterialName = parts[1];\n if (!meshesData[currentMaterialName])\n meshesData[currentMaterialName] = {\n vertices: [],\n normals: [],\n uvs: [],\n };\n break;\n\n case 'f': {\n if (!currentMaterialName) currentMaterialName = 'default';\n if (!meshesData[currentMaterialName])\n meshesData[currentMaterialName] = {\n vertices: [],\n normals: [],\n uvs: [],\n };\n\n const faceVertices = parts.slice(1).map((token) => {\n const [v, vt, vn] = token.split('/');\n\n let vIdx = parseInt(v);\n let tIdx = vt ? parseInt(vt) : null;\n let nIdx = vn ? parseInt(vn) : null;\n\n if (vIdx < 0) vIdx = positions.length + vIdx;\n else vIdx--;\n\n if (tIdx !== null) {\n if (tIdx < 0) tIdx = texCoords.length + tIdx;\n else tIdx--;\n }\n\n if (nIdx !== null) {\n if (nIdx < 0) nIdx = vertexNormals.length + nIdx;\n else nIdx--;\n }\n\n return { vIdx, tIdx, nIdx };\n });\n\n const { vertices, normals, uvs } = meshesData[currentMaterialName];\n\n for (let i = 1; i < faceVertices.length - 1; i++) {\n const tri = [faceVertices[0], faceVertices[i], faceVertices[i + 1]];\n const p = tri.map((v) => positions[v.vIdx]);\n\n let n: Vector3[];\n if (tri.every((v) => v.nIdx !== null)) {\n n = tri.map((v) => vertexNormals[v.nIdx!]);\n } else {\n const normal = computeNormal(p[0], p[1], p[2]);\n n = [normal, normal, normal];\n }\n\n for (let j = 0; j < 3; j++) {\n vertices.push(...p[j]);\n normals.push(...n[j]);\n\n // eslint-disable-next-line @typescript-eslint/no-unsafe-assignment\n const tIdx = tri[j].tIdx;\n const uv = tIdx !== null ? texCoords[tIdx] : [0, 0];\n uvs.push(...uv);\n }\n }\n break;\n }\n }\n }\n\n const meshes: Mesh[] = [];\n\n for (const [matName, data] of Object.entries(meshesData)) {\n const material =\n materials[matName] ||\n defaultMaterial ||\n new Material(webglCore, { albedoColor: [1, 1, 1, 1] });\n\n const mesh = new Mesh(\n matName,\n new Float32Array(data.vertices),\n new Float32Array(data.normals),\n material,\n new Float32Array(data.uvs),\n null,\n );\n\n meshes.push(mesh);\n }\n\n const modelName = objUrl.split('/').pop()!.replace('.obj', '');\n return new Model(meshes, translation, scale, modelName);\n}\n","import { useRef, useEffect } from 'react';\nimport type { Renderer } from '../../../GenesisGL/src/Core/classes/Renderer';\n\nexport interface UseRendererOptions {\n renderer: Renderer | null;\n onFrame?: (time: number) => void;\n enabled?: boolean;\n}\n\n/**\n * Hook to manage the render loop with requestAnimationFrame.\n * Handles starting/stopping animation and cleanup.\n */\nexport function useRenderer(options: UseRendererOptions): void {\n const { renderer, onFrame, enabled = true } = options;\n const animationIdRef = useRef<number | null>(null);\n\n useEffect(() => {\n if (!renderer || !enabled) return;\n\n const animate = (time: number) => {\n if (onFrame) onFrame(time);\n animationIdRef.current = requestAnimationFrame(animate);\n };\n\n animationIdRef.current = requestAnimationFrame(animate);\n\n return () => {\n if (animationIdRef.current !== null) {\n cancelAnimationFrame(animationIdRef.current);\n }\n };\n }, [renderer, onFrame, enabled]);\n}\n","import { useState, useCallback } from 'react';\nimport type { GenesisGLContext } from './useGenesisGL';\n\nexport interface ScreenPoint {\n x: number;\n y: number;\n visible: boolean;\n}\n\nfunction mat4TransformVec4(m: Float32Array, x: number, y: number, z: number, w: number) {\n return {\n x: m[0] * x + m[4] * y + m[8] * z + m[12] * w,\n y: m[1] * x + m[5] * y + m[9] * z + m[13] * w,\n z: m[2] * x + m[6] * y + m[10] * z + m[14] * w,\n w: m[3] * x + m[7] * y + m[11] * z + m[15] * w,\n };\n}\n\nexport function useWorldToScreen(context: GenesisGLContext | null) {\n const [, forceUpdate] = useState(0);\n\n const project = useCallback(\n (worldX: number, worldY: number, worldZ: number): ScreenPoint => {\n if (!context?.viewport) return { x: 0, y: 0, visible: false };\n\n const { viewport } = context;\n const camera = viewport.camera;\n const canvas = viewport.getCanvas();\n\n const view = camera.getViewMatrix() as unknown as Float32Array;\n const proj = camera.getProjectionMatrix() as unknown as Float32Array;\n\n // view * worldPos\n const v = mat4TransformVec4(view, worldX, worldY, worldZ, 1);\n // proj * (view * worldPos)\n const c = mat4TransformVec4(proj, v.x, v.y, v.z, v.w);\n\n if (Math.abs(c.w) < 1e-6) return { x: 0, y: 0, visible: false };\n\n const ndcX = c.x / c.w;\n const ndcY = c.y / c.w;\n const ndcZ = c.z / c.w;\n\n const visible = ndcZ > -1 && ndcZ < 1 && Math.abs(ndcX) < 1.2 && Math.abs(ndcY) < 1.2;\n\n return {\n x: ((ndcX + 1) * 0.5) * canvas.clientWidth,\n y: ((1 - ndcY) * 0.5) * canvas.clientHeight,\n visible,\n };\n },\n [context],\n );\n\n // expose a tick function callers can plug into onFrame to re-render\n const tick = useCallback(() => forceUpdate((n) => n + 1), []);\n\n return { project, tick };\n}\n","import { useCallback, useState } from 'react';\nimport type { GenesisGLContext } from './useGenesisGL';\n\nexport interface CameraState {\n yaw: number;\n pitch: number;\n zoom: number;\n}\n\nexport interface UseCameraControlsResult {\n camera: CameraState;\n rotate: (deltaYaw: number, deltaPitch: number) => void;\n setYaw: (yaw: number) => void;\n setPitch: (pitch: number) => void;\n zoomBy: (delta: number) => void;\n setZoom: (zoom: number) => void;\n reset: () => void;\n}\n\nconst DEFAULT_YAW = 0;\nconst DEFAULT_PITCH = 0;\nconst DEFAULT_ZOOM = 1;\n\nexport function useCameraControls(\n ctx: GenesisGLContext | null,\n): UseCameraControlsResult {\n const [camera, setCameraState] = useState<CameraState>({\n yaw: DEFAULT_YAW,\n pitch: DEFAULT_PITCH,\n zoom: DEFAULT_ZOOM,\n });\n\n const sync = useCallback((c: { yaw: number; pitch: number; zoom: number }) => {\n setCameraState({ yaw: c.yaw, pitch: c.pitch, zoom: c.zoom });\n }, []);\n\n const rotate = useCallback(\n (deltaYaw: number, deltaPitch: number) => {\n const c = ctx?.viewport?.camera;\n if (!c) return;\n c.rotate(deltaYaw, deltaPitch);\n sync(c);\n },\n [ctx, sync],\n );\n\n const zoomBy = useCallback(\n (delta: number) => {\n const c = ctx?.viewport?.camera;\n if (!c) return;\n c.zoomBy(delta);\n sync(c);\n },\n [ctx, sync],\n );\n\n const setZoom = useCallback(\n (zoom: number) => {\n const c = ctx?.viewport?.camera;\n if (!c) return;\n c.setZoom(zoom);\n sync(c);\n },\n [ctx, sync],\n );\n\n const setYaw = useCallback(\n (yaw: number) => {\n const c = ctx?.viewport?.camera;\n if (!c) return;\n c.yaw = yaw;\n c.invalidate();\n sync(c);\n },\n [ctx, sync],\n );\n\n const setPitch = useCallback(\n (pitch: number) => {\n const c = ctx?.viewport?.camera;\n if (!c) return;\n c.pitch = pitch;\n c.invalidate();\n sync(c);\n },\n [ctx, sync],\n );\n\n const reset = useCallback(() => {\n const c = ctx?.viewport?.camera;\n if (!c) return;\n c.yaw = DEFAULT_YAW;\n c.pitch = DEFAULT_PITCH;\n c.invalidate();\n c.setZoom(DEFAULT_ZOOM);\n 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