@inweb/client 25.2.2 → 25.2.5

package/src/ConvetMath.ts

@@ -1,372 +1,372 @@
-/**
- * Convert world coordinates to screen normalized (-1, 1)
- *
- * @param viewMatrix Camera world matrix
- * @param projectionMatrix Camera projection matrix
- * @param worldPoint World point
- */
-export function worldToScreenNormalized(
-  viewMatrix: Array<number>,
-  projectionMatrix: Array<number>,
-  worldPoint: [x: number, y: number, z: number]
-): [x: number, y: number, z: number] {
-  function applyMatrixToPoint3(matrix, point: [x: number, y: number, z: number]): [x: number, y: number, z: number] {
-    const [x, y, z] = point;
-    const e = matrix;
-    const w = 1 / (e[3] * x + e[7] * y + e[11] * z + e[15]);
-
-    return [
-      (e[0] * x + e[4] * y + e[8] * z + e[12]) * w,
-      (e[1] * x + e[5] * y + e[9] * z + e[13]) * w,
-      (e[2] * x + e[6] * y + e[10] * z + e[14]) * w,
-    ];
-  }
-
-  const [x, y, z] = applyMatrixToPoint3(projectionMatrix, applyMatrixToPoint3(invertMatrix(viewMatrix), worldPoint));
-
-  return [x, y, z];
-}
-
-export function multiplyMatrices(a: Array<number>, b: Array<number>): Array<number> {
-  const ae = a;
-  const be = b;
-  const te = [1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1];
-
-  const a11 = ae[0],
-    a12 = ae[4],
-    a13 = ae[8],
-    a14 = ae[12];
-  const a21 = ae[1],
-    a22 = ae[5],
-    a23 = ae[9],
-    a24 = ae[13];
-  const a31 = ae[2],
-    a32 = ae[6],
-    a33 = ae[10],
-    a34 = ae[14];
-  const a41 = ae[3],
-    a42 = ae[7],
-    a43 = ae[11],
-    a44 = ae[15];
-
-  const b11 = be[0],
-    b12 = be[4],
-    b13 = be[8],
-    b14 = be[12];
-  const b21 = be[1],
-    b22 = be[5],
-    b23 = be[9],
-    b24 = be[13];
-  const b31 = be[2],
-    b32 = be[6],
-    b33 = be[10],
-    b34 = be[14];
-  const b41 = be[3],
-    b42 = be[7],
-    b43 = be[11],
-    b44 = be[15];
-
-  te[0] = a11 * b11 + a12 * b21 + a13 * b31 + a14 * b41;
-  te[4] = a11 * b12 + a12 * b22 + a13 * b32 + a14 * b42;
-  te[8] = a11 * b13 + a12 * b23 + a13 * b33 + a14 * b43;
-  te[12] = a11 * b14 + a12 * b24 + a13 * b34 + a14 * b44;
-
-  te[1] = a21 * b11 + a22 * b21 + a23 * b31 + a24 * b41;
-  te[5] = a21 * b12 + a22 * b22 + a23 * b32 + a24 * b42;
-  te[9] = a21 * b13 + a22 * b23 + a23 * b33 + a24 * b43;
-  te[13] = a21 * b14 + a22 * b24 + a23 * b34 + a24 * b44;
-
-  te[2] = a31 * b11 + a32 * b21 + a33 * b31 + a34 * b41;
-  te[6] = a31 * b12 + a32 * b22 + a33 * b32 + a34 * b42;
-  te[10] = a31 * b13 + a32 * b23 + a33 * b33 + a34 * b43;
-  te[14] = a31 * b14 + a32 * b24 + a33 * b34 + a34 * b44;
-
-  te[3] = a41 * b11 + a42 * b21 + a43 * b31 + a44 * b41;
-  te[7] = a41 * b12 + a42 * b22 + a43 * b32 + a44 * b42;
-  te[11] = a41 * b13 + a42 * b23 + a43 * b33 + a44 * b43;
-  te[15] = a41 * b14 + a42 * b24 + a43 * b34 + a44 * b44;
-
-  return te;
-}
-
-/**
- * @param matrix
- * @returns Matrix
- */
-export function invertMatrix(matrix: Array<number>): Array<number> {
-  const te = matrix,
-    n11 = te[0],
-    n21 = te[1],
-    n31 = te[2],
-    n41 = te[3],
-    n12 = te[4],
-    n22 = te[5],
-    n32 = te[6],
-    n42 = te[7],
-    n13 = te[8],
-    n23 = te[9],
-    n33 = te[10],
-    n43 = te[11],
-    n14 = te[12],
-    n24 = te[13],
-    n34 = te[14],
-    n44 = te[15],
-    t11 = n23 * n34 * n42 - n24 * n33 * n42 + n24 * n32 * n43 - n22 * n34 * n43 - n23 * n32 * n44 + n22 * n33 * n44,
-    t12 = n14 * n33 * n42 - n13 * n34 * n42 - n14 * n32 * n43 + n12 * n34 * n43 + n13 * n32 * n44 - n12 * n33 * n44,
-    t13 = n13 * n24 * n42 - n14 * n23 * n42 + n14 * n22 * n43 - n12 * n24 * n43 - n13 * n22 * n44 + n12 * n23 * n44,
-    t14 = n14 * n23 * n32 - n13 * n24 * n32 - n14 * n22 * n33 + n12 * n24 * n33 + n13 * n22 * n34 - n12 * n23 * n34;
-
-  const det = n11 * t11 + n21 * t12 + n31 * t13 + n41 * t14;
-
-  if (det === 0) return [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0];
-
-  const detInv = 1 / det;
-
-  return [
-    t11 * detInv,
-    (n24 * n33 * n41 - n23 * n34 * n41 - n24 * n31 * n43 + n21 * n34 * n43 + n23 * n31 * n44 - n21 * n33 * n44) *
-      detInv,
-    (n22 * n34 * n41 - n24 * n32 * n41 + n24 * n31 * n42 - n21 * n34 * n42 - n22 * n31 * n44 + n21 * n32 * n44) *
-      detInv,
-    (n23 * n32 * n41 - n22 * n33 * n41 - n23 * n31 * n42 + n21 * n33 * n42 + n22 * n31 * n43 - n21 * n32 * n43) *
-      detInv,
-
-    t12 * detInv,
-    (n13 * n34 * n41 - n14 * n33 * n41 + n14 * n31 * n43 - n11 * n34 * n43 - n13 * n31 * n44 + n11 * n33 * n44) *
-      detInv,
-    (n14 * n32 * n41 - n12 * n34 * n41 - n14 * n31 * n42 + n11 * n34 * n42 + n12 * n31 * n44 - n11 * n32 * n44) *
-      detInv,
-    (n12 * n33 * n41 - n13 * n32 * n41 + n13 * n31 * n42 - n11 * n33 * n42 - n12 * n31 * n43 + n11 * n32 * n43) *
-      detInv,
-
-    t13 * detInv,
-    (n14 * n23 * n41 - n13 * n24 * n41 - n14 * n21 * n43 + n11 * n24 * n43 + n13 * n21 * n44 - n11 * n23 * n44) *
-      detInv,
-    (n12 * n24 * n41 - n14 * n22 * n41 + n14 * n21 * n42 - n11 * n24 * n42 - n12 * n21 * n44 + n11 * n22 * n44) *
-      detInv,
-    (n13 * n22 * n41 - n12 * n23 * n41 - n13 * n21 * n42 + n11 * n23 * n42 + n12 * n21 * n43 - n11 * n22 * n43) *
-      detInv,
-
-    t14 * detInv,
-    (n13 * n24 * n31 - n14 * n23 * n31 + n14 * n21 * n33 - n11 * n24 * n33 - n13 * n21 * n34 + n11 * n23 * n34) *
-      detInv,
-    (n14 * n22 * n31 - n12 * n24 * n31 - n14 * n21 * n32 + n11 * n24 * n32 + n12 * n21 * n34 - n11 * n22 * n34) *
-      detInv,
-    (n12 * n23 * n31 - n13 * n22 * n31 + n13 * n21 * n32 - n11 * n23 * n32 - n12 * n21 * n33 + n11 * n22 * n33) *
-      detInv,
-  ];
-}
-
-/**
- * Convert world coordinates to screen (screenWidth, screenHeight)
- *
- * @param viewMatrix Camera world matrix
- * @param projectionMatrix Camera projection matrix
- * @param worldPoint World point
- * @param screenWidth Screen width
- * @param screenHeight Screen height
- */
-export function worldToScreen(
-  viewMatrix: Array<number>,
-  projectionMatrix: Array<number>,
-  worldPoint: [x: number, y: number, z: number],
-  screenWidth: number,
-  screenHeight: number
-) {
-  const widthHalf = screenWidth / 2;
-  const heightHalf = screenHeight / 2;
-
-  const [x, y] = worldToScreenNormalized(viewMatrix, projectionMatrix, worldPoint);
-  const p = [x * widthHalf + widthHalf, -(y * heightHalf) + heightHalf];
-  return p;
-}
-
-/**
- * @param a
- * @returns
- */
-function lengthVector(a: { x: number; y: number; z: number }): number {
-  return Math.sqrt(a.x * a.x + a.y * a.y + a.z * a.z);
-}
-function normalizeVector(a: { x: number; y: number; z: number }): { x: number; y: number; z: number } {
-  const len = lengthVector(a);
-  if (len === 0) return a;
-  return {
-    x: a.x / len,
-    y: a.y / len,
-    z: a.z / len,
-  };
-}
-
-function crossVectors(a, b) {
-  const ax = a.x,
-    ay = a.y,
-    az = a.z;
-  const bx = b.x,
-    by = b.y,
-    bz = b.z;
-
-  return {
-    x: ay * bz - az * by,
-    y: az * bx - ax * bz,
-    z: ax * by - ay * bx,
-  };
-}
-
-function normalizedProjection(
-  width,
-  height,
-  nearClipPlaneDist,
-  farClipPlaneDist,
-  normalizedCenter,
-  normalizedWidth,
-  normalizedHeight,
-  normalizedDepth
-) {
-  const mtx = [1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1];
-
-  mtx[0] = -normalizedWidth / width;
-  mtx[1] = 0;
-  mtx[2] = 0.0;
-  mtx[3] = normalizedCenter.x;
-
-  mtx[4] = 0.0;
-  mtx[5] = -normalizedHeight / height;
-  mtx[6] = 0.0;
-  mtx[7] = normalizedCenter.y;
-
-  mtx[8] = 0;
-  mtx[9] = 0.0;
-  mtx[10] = normalizedDepth / (farClipPlaneDist - nearClipPlaneDist);
-  mtx[11] = -mtx[10] * nearClipPlaneDist;
-
-  mtx[12] = mtx[13] = mtx[14] = 0.0;
-  mtx[15] = 1.0;
-
-  return mtx;
-}
-
-export function createOrthoProjectionMatrix(camera, width, height) {
-  const nearClipPlaneDist = 0.1;
-  const farClipPlaneDist = 1000;
-  const fieldWidth = camera.field_width;
-  const fieldHeight = camera.field_height;
-  let viewportNormalizedWidth = 2;
-  let viewportNormalizedHeight = 2;
-
-  if (width > height) {
-    const aspect = height / width;
-    const aspectFiled = fieldHeight / fieldWidth;
-    viewportNormalizedWidth = (2 / aspectFiled) * aspect;
-    viewportNormalizedHeight = 2;
-  } else {
-    const aspect = width / height;
-    const aspectFiled = fieldWidth / fieldHeight;
-    viewportNormalizedWidth = 2;
-    viewportNormalizedHeight = (2 / aspectFiled) * aspect;
-  }
-
-  const viewportNormalizedCenter = {
-    x: 0,
-    y: 0,
-  };
-
-  const projectionMatrix = normalizedProjection(
-    fieldWidth,
-    fieldHeight,
-    nearClipPlaneDist,
-    farClipPlaneDist,
-    viewportNormalizedCenter,
-    viewportNormalizedWidth,
-    viewportNormalizedHeight,
-    1.0
-  );
-
-  return projectionMatrix;
-}
-
-export function createViewMatrix(camera) {
-  const position = camera.view_point;
-
-  const viewMatrix = [1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, position.x, position.y, position.z, 1];
-
-  const target = addVectors(camera.direction, position);
-
-  matrixLookAt(viewMatrix, position, target, camera.up_vector);
-
-  return viewMatrix;
-}
-
-export function bcfWorldToScreenFromCamera(
-  camera,
-  canvas: HTMLCanvasElement,
-  point: [x: number, y: number, z: number]
-) {
-  const { width, height } = canvas;
-
-  if (lengthVector(camera.direction) >= 1.0001) {
-    camera = {
-      ...camera,
-      direction: normalizeVector(subVectors(camera.direction, camera.view_point)),
-    };
-  }
-
-  const projectionMatrix = createOrthoProjectionMatrix(camera, width, height);
-  const viewMatrix = createViewMatrix(camera);
-
-  return worldToScreen(viewMatrix, projectionMatrix, point, width, height);
-}
-
-function subVectors(
-  a: { x: number; y: number; z: number },
-  b: { x: number; y: number; z: number }
-): { x: number; y: number; z: number } {
-  return { x: a.x - b.x, y: a.y - b.y, z: a.z - b.z };
-}
-
-function addVectors(
-  a: { x: number; y: number; z: number },
-  b: { x: number; y: number; z: number }
-): { x: number; y: number; z: number } {
-  return { x: a.x + b.x, y: a.y + b.y, z: a.z + b.z };
-}
-
-export function matrixLookAt(matrix, eye, target, up) {
-  let z = subVectors(eye, target);
-
-  if (lengthVector(z) === 0) {
-    z.z = 1;
-  }
-  z = normalizeVector(z);
-
-  let x = crossVectors(z, up);
-  if (lengthVector(x) === 0) {
-    if (Math.abs(up.z) === 1) {
-      z.x += 0.0001;
-    } else {
-      z.z += 0.0001;
-    }
-
-    z = normalizeVector(z);
-
-    x = crossVectors(up, z);
-  }
-
-  x = normalizeVector(x);
-
-  const y = crossVectors(z, x);
-
-  const m = matrix;
-
-  m[0] = x.x;
-  m[4] = y.x;
-  m[8] = z.x;
-  m[1] = x.y;
-  m[5] = y.y;
-  m[9] = z.y;
-  m[2] = x.z;
-  m[6] = y.z;
-  m[10] = z.z;
-
-  return m;
-}
+/**
+ * Convert world coordinates to screen normalized (-1, 1)
+ *
+ * @param viewMatrix Camera world matrix
+ * @param projectionMatrix Camera projection matrix
+ * @param worldPoint World point
+ */
+export function worldToScreenNormalized(
+  viewMatrix: Array<number>,
+  projectionMatrix: Array<number>,
+  worldPoint: [x: number, y: number, z: number]
+): [x: number, y: number, z: number] {
+  function applyMatrixToPoint3(matrix, point: [x: number, y: number, z: number]): [x: number, y: number, z: number] {
+    const [x, y, z] = point;
+    const e = matrix;
+    const w = 1 / (e[3] * x + e[7] * y + e[11] * z + e[15]);
+
+    return [
+      (e[0] * x + e[4] * y + e[8] * z + e[12]) * w,
+      (e[1] * x + e[5] * y + e[9] * z + e[13]) * w,
+      (e[2] * x + e[6] * y + e[10] * z + e[14]) * w,
+    ];
+  }
+
+  const [x, y, z] = applyMatrixToPoint3(projectionMatrix, applyMatrixToPoint3(invertMatrix(viewMatrix), worldPoint));
+
+  return [x, y, z];
+}
+
+export function multiplyMatrices(a: Array<number>, b: Array<number>): Array<number> {
+  const ae = a;
+  const be = b;
+  const te = [1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1];
+
+  const a11 = ae[0],
+    a12 = ae[4],
+    a13 = ae[8],
+    a14 = ae[12];
+  const a21 = ae[1],
+    a22 = ae[5],
+    a23 = ae[9],
+    a24 = ae[13];
+  const a31 = ae[2],
+    a32 = ae[6],
+    a33 = ae[10],
+    a34 = ae[14];
+  const a41 = ae[3],
+    a42 = ae[7],
+    a43 = ae[11],
+    a44 = ae[15];
+
+  const b11 = be[0],
+    b12 = be[4],
+    b13 = be[8],
+    b14 = be[12];
+  const b21 = be[1],
+    b22 = be[5],
+    b23 = be[9],
+    b24 = be[13];
+  const b31 = be[2],
+    b32 = be[6],
+    b33 = be[10],
+    b34 = be[14];
+  const b41 = be[3],
+    b42 = be[7],
+    b43 = be[11],
+    b44 = be[15];
+
+  te[0] = a11 * b11 + a12 * b21 + a13 * b31 + a14 * b41;
+  te[4] = a11 * b12 + a12 * b22 + a13 * b32 + a14 * b42;
+  te[8] = a11 * b13 + a12 * b23 + a13 * b33 + a14 * b43;
+  te[12] = a11 * b14 + a12 * b24 + a13 * b34 + a14 * b44;
+
+  te[1] = a21 * b11 + a22 * b21 + a23 * b31 + a24 * b41;
+  te[5] = a21 * b12 + a22 * b22 + a23 * b32 + a24 * b42;
+  te[9] = a21 * b13 + a22 * b23 + a23 * b33 + a24 * b43;
+  te[13] = a21 * b14 + a22 * b24 + a23 * b34 + a24 * b44;
+
+  te[2] = a31 * b11 + a32 * b21 + a33 * b31 + a34 * b41;
+  te[6] = a31 * b12 + a32 * b22 + a33 * b32 + a34 * b42;
+  te[10] = a31 * b13 + a32 * b23 + a33 * b33 + a34 * b43;
+  te[14] = a31 * b14 + a32 * b24 + a33 * b34 + a34 * b44;
+
+  te[3] = a41 * b11 + a42 * b21 + a43 * b31 + a44 * b41;
+  te[7] = a41 * b12 + a42 * b22 + a43 * b32 + a44 * b42;
+  te[11] = a41 * b13 + a42 * b23 + a43 * b33 + a44 * b43;
+  te[15] = a41 * b14 + a42 * b24 + a43 * b34 + a44 * b44;
+
+  return te;
+}
+
+/**
+ * @param matrix
+ * @returns Matrix
+ */
+export function invertMatrix(matrix: Array<number>): Array<number> {
+  const te = matrix,
+    n11 = te[0],
+    n21 = te[1],
+    n31 = te[2],
+    n41 = te[3],
+    n12 = te[4],
+    n22 = te[5],
+    n32 = te[6],
+    n42 = te[7],
+    n13 = te[8],
+    n23 = te[9],
+    n33 = te[10],
+    n43 = te[11],
+    n14 = te[12],
+    n24 = te[13],
+    n34 = te[14],
+    n44 = te[15],
+    t11 = n23 * n34 * n42 - n24 * n33 * n42 + n24 * n32 * n43 - n22 * n34 * n43 - n23 * n32 * n44 + n22 * n33 * n44,
+    t12 = n14 * n33 * n42 - n13 * n34 * n42 - n14 * n32 * n43 + n12 * n34 * n43 + n13 * n32 * n44 - n12 * n33 * n44,
+    t13 = n13 * n24 * n42 - n14 * n23 * n42 + n14 * n22 * n43 - n12 * n24 * n43 - n13 * n22 * n44 + n12 * n23 * n44,
+    t14 = n14 * n23 * n32 - n13 * n24 * n32 - n14 * n22 * n33 + n12 * n24 * n33 + n13 * n22 * n34 - n12 * n23 * n34;
+
+  const det = n11 * t11 + n21 * t12 + n31 * t13 + n41 * t14;
+
+  if (det === 0) return [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0];
+
+  const detInv = 1 / det;
+
+  return [
+    t11 * detInv,
+    (n24 * n33 * n41 - n23 * n34 * n41 - n24 * n31 * n43 + n21 * n34 * n43 + n23 * n31 * n44 - n21 * n33 * n44) *
+      detInv,
+    (n22 * n34 * n41 - n24 * n32 * n41 + n24 * n31 * n42 - n21 * n34 * n42 - n22 * n31 * n44 + n21 * n32 * n44) *
+      detInv,
+    (n23 * n32 * n41 - n22 * n33 * n41 - n23 * n31 * n42 + n21 * n33 * n42 + n22 * n31 * n43 - n21 * n32 * n43) *
+      detInv,
+
+    t12 * detInv,
+    (n13 * n34 * n41 - n14 * n33 * n41 + n14 * n31 * n43 - n11 * n34 * n43 - n13 * n31 * n44 + n11 * n33 * n44) *
+      detInv,
+    (n14 * n32 * n41 - n12 * n34 * n41 - n14 * n31 * n42 + n11 * n34 * n42 + n12 * n31 * n44 - n11 * n32 * n44) *
+      detInv,
+    (n12 * n33 * n41 - n13 * n32 * n41 + n13 * n31 * n42 - n11 * n33 * n42 - n12 * n31 * n43 + n11 * n32 * n43) *
+      detInv,
+
+    t13 * detInv,
+    (n14 * n23 * n41 - n13 * n24 * n41 - n14 * n21 * n43 + n11 * n24 * n43 + n13 * n21 * n44 - n11 * n23 * n44) *
+      detInv,
+    (n12 * n24 * n41 - n14 * n22 * n41 + n14 * n21 * n42 - n11 * n24 * n42 - n12 * n21 * n44 + n11 * n22 * n44) *
+      detInv,
+    (n13 * n22 * n41 - n12 * n23 * n41 - n13 * n21 * n42 + n11 * n23 * n42 + n12 * n21 * n43 - n11 * n22 * n43) *
+      detInv,
+
+    t14 * detInv,
+    (n13 * n24 * n31 - n14 * n23 * n31 + n14 * n21 * n33 - n11 * n24 * n33 - n13 * n21 * n34 + n11 * n23 * n34) *
+      detInv,
+    (n14 * n22 * n31 - n12 * n24 * n31 - n14 * n21 * n32 + n11 * n24 * n32 + n12 * n21 * n34 - n11 * n22 * n34) *
+      detInv,
+    (n12 * n23 * n31 - n13 * n22 * n31 + n13 * n21 * n32 - n11 * n23 * n32 - n12 * n21 * n33 + n11 * n22 * n33) *
+      detInv,
+  ];
+}
+
+/**
+ * Convert world coordinates to screen (screenWidth, screenHeight)
+ *
+ * @param viewMatrix Camera world matrix
+ * @param projectionMatrix Camera projection matrix
+ * @param worldPoint World point
+ * @param screenWidth Screen width
+ * @param screenHeight Screen height
+ */
+export function worldToScreen(
+  viewMatrix: Array<number>,
+  projectionMatrix: Array<number>,
+  worldPoint: [x: number, y: number, z: number],
+  screenWidth: number,
+  screenHeight: number
+) {
+  const widthHalf = screenWidth / 2;
+  const heightHalf = screenHeight / 2;
+
+  const [x, y] = worldToScreenNormalized(viewMatrix, projectionMatrix, worldPoint);
+  const p = [x * widthHalf + widthHalf, -(y * heightHalf) + heightHalf];
+  return p;
+}
+
+/**
+ * @param a
+ * @returns
+ */
+function lengthVector(a: { x: number; y: number; z: number }): number {
+  return Math.sqrt(a.x * a.x + a.y * a.y + a.z * a.z);
+}
+function normalizeVector(a: { x: number; y: number; z: number }): { x: number; y: number; z: number } {
+  const len = lengthVector(a);
+  if (len === 0) return a;
+  return {
+    x: a.x / len,
+    y: a.y / len,
+    z: a.z / len,
+  };
+}
+
+function crossVectors(a, b) {
+  const ax = a.x,
+    ay = a.y,
+    az = a.z;
+  const bx = b.x,
+    by = b.y,
+    bz = b.z;
+
+  return {
+    x: ay * bz - az * by,
+    y: az * bx - ax * bz,
+    z: ax * by - ay * bx,
+  };
+}
+
+function normalizedProjection(
+  width,
+  height,
+  nearClipPlaneDist,
+  farClipPlaneDist,
+  normalizedCenter,
+  normalizedWidth,
+  normalizedHeight,
+  normalizedDepth
+) {
+  const mtx = [1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1];
+
+  mtx[0] = -normalizedWidth / width;
+  mtx[1] = 0;
+  mtx[2] = 0.0;
+  mtx[3] = normalizedCenter.x;
+
+  mtx[4] = 0.0;
+  mtx[5] = -normalizedHeight / height;
+  mtx[6] = 0.0;
+  mtx[7] = normalizedCenter.y;
+
+  mtx[8] = 0;
+  mtx[9] = 0.0;
+  mtx[10] = normalizedDepth / (farClipPlaneDist - nearClipPlaneDist);
+  mtx[11] = -mtx[10] * nearClipPlaneDist;
+
+  mtx[12] = mtx[13] = mtx[14] = 0.0;
+  mtx[15] = 1.0;
+
+  return mtx;
+}
+
+export function createOrthoProjectionMatrix(camera, width, height) {
+  const nearClipPlaneDist = 0.1;
+  const farClipPlaneDist = 1000;
+  const fieldWidth = camera.field_width;
+  const fieldHeight = camera.field_height;
+  let viewportNormalizedWidth = 2;
+  let viewportNormalizedHeight = 2;
+
+  if (width > height) {
+    const aspect = height / width;
+    const aspectFiled = fieldHeight / fieldWidth;
+    viewportNormalizedWidth = (2 / aspectFiled) * aspect;
+    viewportNormalizedHeight = 2;
+  } else {
+    const aspect = width / height;
+    const aspectFiled = fieldWidth / fieldHeight;
+    viewportNormalizedWidth = 2;
+    viewportNormalizedHeight = (2 / aspectFiled) * aspect;
+  }
+
+  const viewportNormalizedCenter = {
+    x: 0,
+    y: 0,
+  };
+
+  const projectionMatrix = normalizedProjection(
+    fieldWidth,
+    fieldHeight,
+    nearClipPlaneDist,
+    farClipPlaneDist,
+    viewportNormalizedCenter,
+    viewportNormalizedWidth,
+    viewportNormalizedHeight,
+    1.0
+  );
+
+  return projectionMatrix;
+}
+
+export function createViewMatrix(camera) {
+  const position = camera.view_point;
+
+  const viewMatrix = [1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, position.x, position.y, position.z, 1];
+
+  const target = addVectors(camera.direction, position);
+
+  matrixLookAt(viewMatrix, position, target, camera.up_vector);
+
+  return viewMatrix;
+}
+
+export function bcfWorldToScreenFromCamera(
+  camera,
+  canvas: HTMLCanvasElement,
+  point: [x: number, y: number, z: number]
+) {
+  const { width, height } = canvas;
+
+  if (lengthVector(camera.direction) >= 1.0001) {
+    camera = {
+      ...camera,
+      direction: normalizeVector(subVectors(camera.direction, camera.view_point)),
+    };
+  }
+
+  const projectionMatrix = createOrthoProjectionMatrix(camera, width, height);
+  const viewMatrix = createViewMatrix(camera);
+
+  return worldToScreen(viewMatrix, projectionMatrix, point, width, height);
+}
+
+function subVectors(
+  a: { x: number; y: number; z: number },
+  b: { x: number; y: number; z: number }
+): { x: number; y: number; z: number } {
+  return { x: a.x - b.x, y: a.y - b.y, z: a.z - b.z };
+}
+
+function addVectors(
+  a: { x: number; y: number; z: number },
+  b: { x: number; y: number; z: number }
+): { x: number; y: number; z: number } {
+  return { x: a.x + b.x, y: a.y + b.y, z: a.z + b.z };
+}
+
+export function matrixLookAt(matrix, eye, target, up) {
+  let z = subVectors(eye, target);
+
+  if (lengthVector(z) === 0) {
+    z.z = 1;
+  }
+  z = normalizeVector(z);
+
+  let x = crossVectors(z, up);
+  if (lengthVector(x) === 0) {
+    if (Math.abs(up.z) === 1) {
+      z.x += 0.0001;
+    } else {
+      z.z += 0.0001;
+    }
+
+    z = normalizeVector(z);
+
+    x = crossVectors(up, z);
+  }
+
+  x = normalizeVector(x);
+
+  const y = crossVectors(z, x);
+
+  const m = matrix;
+
+  m[0] = x.x;
+  m[4] = y.x;
+  m[8] = z.x;
+  m[1] = x.y;
+  m[5] = y.y;
+  m[9] = z.y;
+  m[2] = x.z;
+  m[6] = y.z;
+  m[10] = z.z;
+
+  return m;
+}