@jscad/x3d-deserializer 2.1.5 → 2.2.2

package/CHANGELOG.md

@@ -3,6 +3,33 @@
 All notable changes to this project will be documented in this file.
 See [Conventional Commits](https://conventionalcommits.org) for commit guidelines.
 
+## [2.2.2](https://github.com/jscad/OpenJSCAD.org/compare/@jscad/x3d-deserializer@2.2.1...@jscad/x3d-deserializer@2.2.2) (2022-08-21)
+
+**Note:** Version bump only for package @jscad/x3d-deserializer
+
+
+
+
+
+## [2.2.1](https://github.com/jscad/OpenJSCAD.org/compare/@jscad/x3d-deserializer@2.2.0...@jscad/x3d-deserializer@2.2.1) (2022-07-17)
+
+**Note:** Version bump only for package @jscad/x3d-deserializer
+
+
+
+
+
+# [2.2.0](https://github.com/jscad/OpenJSCAD.org/compare/@jscad/x3d-deserializer@2.1.5...@jscad/x3d-deserializer@2.2.0) (2022-06-12)
+
+
+### Features
+
+* **x3d-serializer:** enhanced to convert 2D geometry and path to X3D Polyline2D ([#1091](https://github.com/jscad/OpenJSCAD.org/issues/1091)) ([4f763a8](https://github.com/jscad/OpenJSCAD.org/commit/4f763a8def39f3b0454f2079f3c1fd7da52dd880))
+
+
+
+
+
 ## [2.1.5](https://github.com/jscad/OpenJSCAD.org/compare/@jscad/x3d-deserializer@2.1.4...@jscad/x3d-deserializer@2.1.5) (2022-04-24)
 
 **Note:** Version bump only for package @jscad/x3d-deserializer

package/README.md

@@ -9,7 +9,7 @@
 [![License](https://img.shields.io/github/license/jscad/OpenJSCAD.org)](https://github.com/jscad/OpenJSCAD.org/blob/master/LICENSE)
 
 [![User Group](https://img.shields.io/badge/maintained%20by-user%20group-blue)](https://openjscad.nodebb.com/)
-[![Lerna](https://img.shields.io/badge/maintained%20with-lerna-blue)](https://lernajs.io/)
+[![Lerna](https://img.shields.io/badge/maintained%20with-lerna-blue)](https://lerna.js.org/)
 [![JavaScript Style Guide](https://img.shields.io/badge/code_style-standard-blue)](https://standardjs.com)
 
 [![Backers](https://img.shields.io/opencollective/backers/openjscad)](https://opencollective.com/openjscad)

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@jscad/x3d-deserializer",
-  "version": "2.1.5",
+  "version": "2.2.2",
   "description": "X3D Deserializer for JSCAD",
   "repository": "https://github.com/jscad/OpenJSCAD.org/",
   "main": "src/index.js",
@@ -27,12 +27,12 @@
   },
   "dependencies": {
     "@jscad/array-utils": "2.1.4",
-    "@jscad/modeling": "2.4.0",
+    "@jscad/modeling": "2.10.0",
     "saxes": "5.0.1"
   },
   "devDependencies": {
     "ava": "3.15.0",
     "nyc": "15.1.0"
   },
-  "gitHead": "85fa1fcdfb2d516a201ecf31da242e64b5b3274e"
+  "gitHead": "13572067545460affd53b64b3ab834a39af8c7e5"
 }

package/src/createTransform.js

@@ -1,7 +1,6 @@
 const { maths } = require('@jscad/modeling')
 
 const createTransform = (center, rotation, scale, scaleOrientation, translation) => {
-  // console.log('createTransform',center,rotation,scale,scaleOrientation,translation)
   const matrix = maths.mat4.create()
   const temp = maths.mat4.create()
   maths.mat4.multiply(matrix, matrix, maths.mat4.fromTranslation(temp, translation))

package/src/index.js

@@ -15,6 +15,7 @@ All code released under MIT license
 
 /**
  * Deserializer of X3D source data (XML) to JSCAD geometries.
+ * @see {@link https://github.com/jscad/OpenJSCAD.org/blob/master/packages/io/x3d-deserializer/README.md|README} for supported conversion of X3D entities.
  * @module io/x3d-deserializer
  * @example
  * const { deserializer, extension } = require('@jscad/x3d-deserializer')

package/tests/createTransform.test.js

@@ -2,36 +2,7 @@ const test = require('ava')
 
 const createTransform = require('../src/createTransform')
 
-const Matrix4 = require('./helpers/Matrix4')
-
-const compareMat4ToMatrix4 = (mat4, matrix4) => {
-  // console.log('compareMat4ToMatrix4',mat4,matrix4.toString())
-  const EPS = 0.0000000000001
-
-  if (Math.abs(mat4[0] - matrix4[0]) > EPS) return false
-  if (Math.abs(mat4[1] - matrix4[1]) > EPS) return false
-  if (Math.abs(mat4[2] - matrix4[2]) > EPS) return false
-  if (Math.abs(mat4[3] - matrix4[3]) > EPS) return false
-
-  if (Math.abs(mat4[4] - matrix4[4]) > EPS) return false
-  if (Math.abs(mat4[5] - matrix4[5]) > EPS) return false
-  if (Math.abs(mat4[6] - matrix4[6]) > EPS) return false
-  if (Math.abs(mat4[7] - matrix4[7]) > EPS) return false
-
-  if (Math.abs(mat4[8] - matrix4[8]) > EPS) return false
-  if (Math.abs(mat4[9] - matrix4[9]) > EPS) return false
-  if (Math.abs(mat4[10] - matrix4[10]) > EPS) return false
-  if (Math.abs(mat4[11] - matrix4[11]) > EPS) return false
-
-  if (Math.abs(mat4[12] - matrix4[12]) > EPS) return false
-  if (Math.abs(mat4[13] - matrix4[13]) > EPS) return false
-  if (Math.abs(mat4[14] - matrix4[14]) > EPS) return false
-  if (Math.abs(mat4[15] - matrix4[15]) > EPS) return false
-  return true
-}
-
 test('createTransform returns expected transform matrix', (t) => {
-  const matrix4 = new Matrix4()
   // X3D defaults
   let center = [0, 0, 0]
   let rotation = [0, 0, 1, 0]
@@ -40,77 +11,107 @@ test('createTransform returns expected transform matrix', (t) => {
   let translation = [0, 0, 0]
 
   let obs = createTransform(center, rotation, scale, scaleOrientation, translation)
-  let exp = matrix4.set(translation, rotation, scale, scaleOrientation, center)
-  t.true(compareMat4ToMatrix4(obs, exp))
+  let exp = [1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1]
+  t.deepEqual(obs, exp)
 
   center = [5, 5, 5]
   obs = createTransform(center, rotation, scale, scaleOrientation, translation)
-  exp = matrix4.set(translation, rotation, scale, scaleOrientation, center)
-  t.true(compareMat4ToMatrix4(obs, exp))
+  exp = [1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1]
+  t.deepEqual(obs, exp)
   center = [0, 0, 0]
 
   scale = [5, 5, 5]
   obs = createTransform(center, rotation, scale, scaleOrientation, translation)
-  exp = matrix4.set(translation, rotation, scale, scaleOrientation, center)
-  t.true(compareMat4ToMatrix4(obs, exp))
+  exp = [5, 0, 0, 0, 0, 5, 0, 0, 0, 0, 5, 0, 0, 0, 0, 1]
+  t.deepEqual(obs, exp)
   scale = [1, 1, 1]
 
   translation = [5, 5, 5]
   obs = createTransform(center, rotation, scale, scaleOrientation, translation)
-  exp = matrix4.set(translation, rotation, scale, scaleOrientation, center)
-  t.true(compareMat4ToMatrix4(obs, exp))
+  exp = [1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 5, 5, 5, 1]
+  t.deepEqual(obs, exp)
   translation = [0, 0, 0]
 
   rotation = [1, 0, 0, -0.707]
   obs = createTransform(center, rotation, scale, scaleOrientation, translation)
-  exp = matrix4.set(translation, rotation, scale, scaleOrientation, center)
-  t.true(compareMat4ToMatrix4(obs, exp))
+  exp = [
+    1, 0, 0, 0,
+    0, 0.7603139617444397, -0.6495557555564224, 0,
+    0, 0.6495557555564224, 0.7603139617444397, 0,
+    0, 0, 0, 1
+  ]
+  t.deepEqual(obs, exp)
   rotation = [0, 0, 1, 0]
 
   rotation = [0.577, 0.577, 0.577, 1]
   obs = createTransform(center, rotation, scale, scaleOrientation, translation)
-  exp = matrix4.set(translation, rotation, scale, scaleOrientation, center)
-  t.true(compareMat4ToMatrix4(obs, exp))
+  exp = [
+    0.6935348705787598, 0.6390560643047187, -0.33259093488347846, 0,
+    -0.33259093488347846, 0.6935348705787598, 0.6390560643047187, 0,
+    0.6390560643047187, -0.33259093488347846, 0.6935348705787598, 0,
+    0, 0, 0, 1
+  ]
+  t.deepEqual(obs, exp)
   rotation = [0, 0, 1, 0]
 
   rotation = [0, 0, -1, 0.523599]
   obs = createTransform(center, rotation, scale, scaleOrientation, translation)
-  exp = matrix4.set(translation, rotation, scale, scaleOrientation, center)
-  t.true(compareMat4ToMatrix4(obs, exp))
+  exp = [
+    0.8660252915835662, -0.5000001943375613, 0, 0,
+    0.5000001943375613, 0.8660252915835662, 0, 0,
+    0, 0, 1, 0,
+    0, 0, 0, 1
+  ]
+  t.deepEqual(obs, exp)
   rotation = [0, 0, 1, 0]
 
   rotation = [1, 0, 0, 5.27]
   obs = createTransform(center, rotation, scale, scaleOrientation, translation)
-  exp = matrix4.set(translation, rotation, scale, scaleOrientation, center)
-  t.true(compareMat4ToMatrix4(obs, exp))
+  exp = [
+    1, 0, 0, 0,
+    0, 0.5291606082056949, -0.8485216854762045, 0,
+    0, 0.8485216854762045, 0.5291606082056949, 0,
+    0, 0, 0, 1
+  ]
+  t.deepEqual(obs, exp)
   rotation = [0, 0, 1, 0]
 
   rotation = [0.0, 0.707, 0.707, 0.9]
   obs = createTransform(center, rotation, scale, scaleOrientation, translation)
-  exp = matrix4.set(translation, rotation, scale, scaleOrientation, center)
-  t.true(compareMat4ToMatrix4(obs, exp))
+  exp = [
+    0.6216099682706644, 0.5538957696834953, -0.5538957696834953, 0,
+    -0.5538957696834953, 0.8108049841353322, 0.18919501586466775, 0,
+    0.5538957696834953, 0.18919501586466775, 0.8108049841353322, 0,
+    0, 0, 0, 1
+  ]
+  t.deepEqual(obs, exp)
   rotation = [0, 0, 1, 0]
 
   rotation = [0.0, 0.0, 0.0, 1.57]
   obs = createTransform(center, rotation, scale, scaleOrientation, translation)
-  exp = matrix4.set(translation, rotation, scale, scaleOrientation, center)
-  t.true(compareMat4ToMatrix4(obs, exp))
+  exp = [1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1]
+  t.deepEqual(obs, exp)
   rotation = [0, 0, 1, 0]
 
   // COMBINATIONS
   scale = [0.91, 0.6, 0.3]
   translation = [0.8, -0.65, 0.5]
   obs = createTransform(center, rotation, scale, scaleOrientation, translation)
-  exp = matrix4.set(translation, rotation, scale, scaleOrientation, center)
-  t.true(compareMat4ToMatrix4(obs, exp))
+  exp = [0.91, 0, 0, 0, 0, 0.6, 0, 0, 0, 0, 0.3, 0, 0.8, -0.65, 0.5, 1]
+  t.deepEqual(obs, exp)
   scale = [1, 1, 1]
   translation = [0, 0, 0]
 
   rotation = [0.0, 0.0, -1.0, 0.523599]
   translation = [-0.25, 0.75, 0.0]
   obs = createTransform(center, rotation, scale, scaleOrientation, translation)
-  exp = matrix4.set(translation, rotation, scale, scaleOrientation, center)
-  t.true(compareMat4ToMatrix4(obs, exp))
+  exp = [
+    0.8660252915835662, -0.5000001943375613, 0, 0,
+    0.5000001943375613, 0.8660252915835662, 0, 0,
+    0, 0, 1, 0,
+    -0.25, 0.75, 0, 1
+  ]
+  t.deepEqual(obs, exp)
   rotation = [0, 0, 1, 0]
   translation = [0, 0, 0]
 
@@ -118,8 +119,13 @@ test('createTransform returns expected transform matrix', (t) => {
   rotation = [0, 1, 0, 1.57079]
   translation = [0.00303999, -0.898843, 0.049247]
   obs = createTransform(center, rotation, scale, scaleOrientation, translation)
-  exp = matrix4.set(translation, rotation, scale, scaleOrientation, center)
-  t.true(compareMat4ToMatrix4(obs, exp))
+  exp = [
+    0.000006326794896668469, 0, -0.9999999999799858, 0,
+    0, 1, 0, 0,
+    0.9999999999799858, 0, 0.000006326794896668469, 0,
+    0.09181701923155557, -0.898843, -0.04560940909261213, 1
+  ]
+  t.deepEqual(obs, exp)
   center = [0, 0, 0]
   rotation = [0, 0, 1, 0]
   translation = [0, 0, 0]

package/tests/helpers/Matrix4.js

@@ -1,371 +0,0 @@
-const Vector3 = require('./Vector3')
-const Rotation4 = require('./Rotation4')
-
-function Matrix4 () {
-  if (arguments.length) {
-    this[0] = arguments[0]
-    this[1] = arguments[1]
-    this[2] = arguments[2]
-    this[3] = arguments[3]
-    this[4] = arguments[4]
-    this[5] = arguments[5]
-    this[6] = arguments[6]
-    this[7] = arguments[7]
-    this[8] = arguments[8]
-    this[9] = arguments[9]
-    this[10] = arguments[10]
-    this[11] = arguments[11]
-    this[12] = arguments[12]
-    this[13] = arguments[13]
-    this[14] = arguments[14]
-    this[15] = arguments[15]
-  } else {
-    this.identity()
-  }
-}
-
-Matrix4.prototype = {
-  constructor: Matrix4,
-  order: 4,
-  length: 16,
-  equals: function (matrix) {
-    return this[0] === matrix[0] &&
-           this[1] === matrix[1] &&
-           this[2] === matrix[2] &&
-           this[3] === matrix[3] &&
-           this[4] === matrix[4] &&
-           this[5] === matrix[5] &&
-           this[6] === matrix[6] &&
-           this[7] === matrix[7] &&
-           this[8] === matrix[8] &&
-           this[9] === matrix[9] &&
-           this[10] === matrix[10] &&
-           this[11] === matrix[11] &&
-           this[12] === matrix[12] &&
-           this[13] === matrix[13] &&
-           this[14] === matrix[14] &&
-           this[15] === matrix[15]
-  },
-  set: function (translation, rotation, scale, scaleOrientation, center) {
-    translation = new Vector3(translation[0], translation[1], translation[2])
-    rotation = new Rotation4(rotation[0], rotation[1], rotation[2], rotation[3])
-    scale = new Vector3(scale[0], scale[1], scale[2])
-    scaleOrientation = new Rotation4(scaleOrientation[0], scaleOrientation[1], scaleOrientation[2], scaleOrientation[3])
-    center = new Vector3(center[0], center[1], center[2])
-
-    switch (arguments.length) {
-      case 0: {
-        this.identity()
-        break
-      }
-      case 1: {
-        if (translation === null) translation = Vector3.Zero
-
-        this.identity()
-        this.translate(translation)
-        break
-      }
-      case 2: {
-        if (translation === null) translation = Vector3.Zero
-        if (rotation === null) rotation = Rotation4.Identity
-
-        this.identity()
-        this.translate(translation)
-
-        if (!rotation.equals(Rotation4.Identity)) this.rotate(rotation)
-
-        break
-      }
-      case 3: {
-        if (translation === null) translation = Vector3.Zero
-        if (rotation === null) rotation = Rotation4.Identity
-        if (scale === null) scale = Vector3.One
-
-        this.identity()
-        this.translate(translation)
-
-        if (!rotation.equals(Rotation4.Identity)) this.rotate(rotation)
-
-        if (!scale.equals(Vector3.One)) this.scale(scale)
-
-        break
-      }
-      case 4: {
-        if (translation === null) translation = Vector3.Zero
-        if (rotation === null) rotation = Rotation4.Identity
-        if (scale === null) scale = Vector3.One
-        if (scaleOrientation === null) scaleOrientation = Rotation4.Identity
-
-        this.identity()
-        this.translate(translation)
-
-        if (!rotation.equals(Rotation4.Identity)) this.rotate(rotation)
-
-        if (!scale.equals(Vector3.One)) {
-          const hasScaleOrientation = !scaleOrientation.equals(Rotation4.Identity)
-
-          if (hasScaleOrientation) {
-            this.rotate(scaleOrientation)
-            this.scale(scale)
-            this.rotate(Rotation4.inverse(scaleOrientation))
-          } else {
-            this.scale(scale)
-          }
-        }
-        break
-      }
-      case 5: {
-        if (translation === null) translation = Vector3.Zero
-        if (rotation === null) rotation = Rotation4.Identity
-        if (scale === null) scale = Vector3.One
-        if (scaleOrientation === null) scaleOrientation = Rotation4.Identity
-        if (center === null) center = Vector3.Zero
-
-        // P' = T * C * R * SR * S * -SR * -C * P
-        this.identity()
-        this.translate(translation)
-
-        const hasCenter = !center.equals(Vector3.Zero)
-
-        if (hasCenter) this.translate(center)
-
-        if (!rotation.equals(Rotation4.Identity)) this.rotate(rotation)
-
-        if (!scale.equals(Vector3.One)) {
-          if (!scaleOrientation.equals(Rotation4.Identity)) {
-            this.rotate(scaleOrientation)
-            this.scale(scale)
-            this.rotate(Rotation4.inverse(scaleOrientation))
-          } else {
-            this.scale(scale)
-          }
-        }
-
-        if (hasCenter) this.translate(Vector3.negate(center))
-
-        break
-      }
-      case 16: {
-        this[0] = arguments[0]
-        this[1] = arguments[1]
-        this[2] = arguments[2]
-        this[3] = arguments[3]
-        this[4] = arguments[4]
-        this[5] = arguments[5]
-        this[6] = arguments[6]
-        this[7] = arguments[7]
-        this[8] = arguments[8]
-        this[9] = arguments[9]
-        this[10] = arguments[10]
-        this[11] = arguments[11]
-        this[12] = arguments[12]
-        this[13] = arguments[13]
-        this[14] = arguments[14]
-        this[15] = arguments[15]
-        break
-      }
-    }
-
-    return this
-  },
-  setRotation: function (rotation) {
-    return this.setQuaternion(rotation.value)
-  },
-  setQuaternion: function (quaternion) {
-    const x = quaternion.x
-    const y = quaternion.y
-    const z = quaternion.z
-    const w = quaternion.w
-    const A = y * y
-    const B = z * z
-    const C = x * y
-    const D = z * w
-    const E = z * x
-    const F = y * w
-    const G = x * x
-    const H = y * z
-    const I = x * w
-
-    this[0] = 1 - 2 * (A + B)
-    this[1] = 2 * (C + D)
-    this[2] = 2 * (E - F)
-    this[3] = 0
-    this[4] = 2 * (C - D)
-    this[5] = 1 - 2 * (B + G)
-    this[6] = 2 * (H + I)
-    this[7] = 0
-    this[8] = 2 * (E + F)
-    this[9] = 2 * (H - I)
-    this[10] = 1 - 2 * (A + G)
-    this[11] = 0
-    this[12] = 0
-    this[13] = 0
-    this[14] = 0
-    this[15] = 1
-
-    return this
-  },
-  multLeft: function (matrix) {
-    const a00 = this[0]
-    const a01 = this[1]
-    const a02 = this[2]
-    const a03 = this[3]
-    const a04 = this[4]
-    const a05 = this[5]
-    const a06 = this[6]
-    const a07 = this[7]
-    const a08 = this[8]
-    const a09 = this[9]
-    const a10 = this[10]
-    const a11 = this[11]
-    const a12 = this[12]
-    const a13 = this[13]
-    const a14 = this[14]
-    const a15 = this[15]
-    const b00 = matrix[0]
-    const b01 = matrix[1]
-    const b02 = matrix[2]
-    const b03 = matrix[3]
-    const b04 = matrix[4]
-    const b05 = matrix[5]
-    const b06 = matrix[6]
-    const b07 = matrix[7]
-    const b08 = matrix[8]
-    const b09 = matrix[9]
-    const b10 = matrix[10]
-    const b11 = matrix[11]
-    const b12 = matrix[12]
-    const b13 = matrix[13]
-    const b14 = matrix[14]
-    const b15 = matrix[15]
-
-    this[0] = a00 * b00 + a04 * b01 + a08 * b02 + a12 * b03
-    this[1] = a01 * b00 + a05 * b01 + a09 * b02 + a13 * b03
-    this[2] = a02 * b00 + a06 * b01 + a10 * b02 + a14 * b03
-    this[3] = a03 * b00 + a07 * b01 + a11 * b02 + a15 * b03
-    this[4] = a00 * b04 + a04 * b05 + a08 * b06 + a12 * b07
-    this[5] = a01 * b04 + a05 * b05 + a09 * b06 + a13 * b07
-    this[6] = a02 * b04 + a06 * b05 + a10 * b06 + a14 * b07
-    this[7] = a03 * b04 + a07 * b05 + a11 * b06 + a15 * b07
-    this[8] = a00 * b08 + a04 * b09 + a08 * b10 + a12 * b11
-    this[9] = a01 * b08 + a05 * b09 + a09 * b10 + a13 * b11
-    this[10] = a02 * b08 + a06 * b09 + a10 * b10 + a14 * b11
-    this[11] = a03 * b08 + a07 * b09 + a11 * b10 + a15 * b11
-    this[12] = a00 * b12 + a04 * b13 + a08 * b14 + a12 * b15
-    this[13] = a01 * b12 + a05 * b13 + a09 * b14 + a13 * b15
-    this[14] = a02 * b12 + a06 * b13 + a10 * b14 + a14 * b15
-    this[15] = a03 * b12 + a07 * b13 + a11 * b14 + a15 * b15
-
-    return this
-  },
-  multRight: function (matrix) {
-    const a00 = this[0]
-    const a01 = this[1]
-    const a02 = this[2]
-    const a03 = this[3]
-    const a04 = this[4]
-    const a05 = this[5]
-    const a06 = this[6]
-    const a07 = this[7]
-    const a08 = this[8]
-    const a09 = this[9]
-    const a10 = this[10]
-    const a11 = this[11]
-    const a12 = this[12]
-    const a13 = this[13]
-    const a14 = this[14]
-    const a15 = this[15]
-    const b00 = matrix[0]
-    const b01 = matrix[1]
-    const b02 = matrix[2]
-    const b03 = matrix[3]
-    const b04 = matrix[4]
-    const b05 = matrix[5]
-    const b06 = matrix[6]
-    const b07 = matrix[7]
-    const b08 = matrix[8]
-    const b09 = matrix[9]
-    const b10 = matrix[10]
-    const b11 = matrix[11]
-    const b12 = matrix[12]
-    const b13 = matrix[13]
-    const b14 = matrix[14]
-    const b15 = matrix[15]
-
-    this[0] = a00 * b00 + a01 * b04 + a02 * b08 + a03 * b12
-    this[1] = a00 * b01 + a01 * b05 + a02 * b09 + a03 * b13
-    this[2] = a00 * b02 + a01 * b06 + a02 * b10 + a03 * b14
-    this[3] = a00 * b03 + a01 * b07 + a02 * b11 + a03 * b15
-    this[4] = a04 * b00 + a05 * b04 + a06 * b08 + a07 * b12
-    this[5] = a04 * b01 + a05 * b05 + a06 * b09 + a07 * b13
-    this[6] = a04 * b02 + a05 * b06 + a06 * b10 + a07 * b14
-    this[7] = a04 * b03 + a05 * b07 + a06 * b11 + a07 * b15
-    this[8] = a08 * b00 + a09 * b04 + a10 * b08 + a11 * b12
-    this[9] = a08 * b01 + a09 * b05 + a10 * b09 + a11 * b13
-    this[10] = a08 * b02 + a09 * b06 + a10 * b10 + a11 * b14
-    this[11] = a08 * b03 + a09 * b07 + a10 * b11 + a11 * b15
-    this[12] = a12 * b00 + a13 * b04 + a14 * b08 + a15 * b12
-    this[13] = a12 * b01 + a13 * b05 + a14 * b09 + a15 * b13
-    this[14] = a12 * b02 + a13 * b06 + a14 * b10 + a15 * b14
-    this[15] = a12 * b03 + a13 * b07 + a14 * b11 + a15 * b15
-
-    return this
-  },
-  identity: function () {
-    this[0] = 1
-    this[1] = 0
-    this[2] = 0
-    this[3] = 0
-    this[4] = 0
-    this[5] = 1
-    this[6] = 0
-    this[7] = 0
-    this[8] = 0
-    this[9] = 0
-    this[10] = 1
-    this[11] = 0
-    this[12] = 0
-    this[13] = 0
-    this[14] = 0
-    this[15] = 1
-  },
-  translate: function (translation) {
-    const x = translation.x
-    const y = translation.y
-    const z = translation.z
-
-    this[12] += this[0] * x + this[4] * y + this[8] * z
-    this[13] += this[1] * x + this[5] * y + this[9] * z
-    this[14] += this[2] * x + this[6] * y + this[10] * z
-
-    return this
-  },
-  rotate: function (rotation) {
-    this.multLeft(rotateMatrix.setQuaternion(rotation.value))
-
-    return this
-  },
-  scale: function (scale) {
-    const x = scale.x
-    const y = scale.y
-    const z = scale.z
-
-    this[0] *= x
-    this[4] *= y
-    this[8] *= z
-
-    this[1] *= x
-    this[5] *= y
-    this[9] *= z
-
-    this[2] *= x
-    this[6] *= y
-    this[10] *= z
-
-    return this
-  }
-}
-
-const rotateMatrix = new Matrix4()
-
-module.exports = Matrix4

package/tests/helpers/Quaternion.js

@@ -1,23 +0,0 @@
-function Quaternion (x, y, z, w) {
-  this.x = x
-  this.y = y
-  this.z = z
-  this.w = w
-}
-
-Quaternion.prototype = {
-  constructor: Quaternion,
-  length: 4,
-  set: function (x, y, z, w) {
-    this.x = x
-    this.y = y
-    this.z = z
-    this.w = w
-    return this
-  },
-  equals: function (quat) {
-    return this.x === quat.x && this.y === quat.y && this.z === quat.z && this.w === quat.w
-  }
-}
-
-module.exports = Quaternion

package/tests/helpers/Rotation4.js

@@ -1,93 +0,0 @@
-const Vector3 = require('./Vector3')
-const Quaternion = require('./Quaternion')
-
-const interval = (value, low, high) => {
-  if (value >= high) return ((value - low) % (high - low)) + low
-
-  if (value < low) return ((value - high) % (high - low)) + high
-
-  return value
-}
-
-function Rotation4 (x, y, z, angle) {
-  this.x_ = 0
-  this.y_ = 0
-  this.z_ = 1
-  this.angle_ = 0
-
-  switch (arguments.length) {
-    case 0: {
-      this.value = new Quaternion(0, 0, 0, 1)
-      return
-    }
-    case 1: {
-      this.value = arguments[0]
-      this.update()
-      return
-    }
-    case 2: {
-      const arg0 = arguments[0]
-      const arg1 = arguments[1]
-
-      this.value = new Quaternion(0, 0, 0, 1)
-
-      if (arg1 instanceof Vector3) return this.setFromToVec(arg0, arg1)
-
-      this.set(arg0.x, arg0.y, arg0.z, arg1)
-
-      return
-    }
-    case 4: {
-      this.value = new Quaternion(0, 0, 0, 1)
-      this.set(x, y, z, angle)
-      break
-    }
-  }
-}
-
-Rotation4.prototype = {
-  constructor: Rotation4,
-  length: 4,
-  update: function () {
-    const rotation = this.get()
-
-    this.x_ = rotation.x
-    this.y_ = rotation.y
-    this.z_ = rotation.z
-    this.angle_ = rotation.w
-
-    return this
-  },
-  set: function (x, y, z, angle) {
-    this.x_ = x
-    this.y_ = y
-    this.z_ = z
-    this.angle_ = angle
-
-    let scale = Math.hypot(x, y, z)
-
-    if (scale === 0) {
-      this.value.set(0, 0, 0, 1)
-      return this
-    }
-
-    // Calculate quaternion
-
-    const halfTheta = interval(angle / 2, 0, Math.PI)
-    scale = Math.sin(halfTheta) / scale
-
-    this.value.set(x * scale, y * scale, z * scale, Math.cos(halfTheta))
-    return this
-  },
-  equals: function (rot) {
-    return this.value.equals(rot.value)
-  }
-}
-
-Object.assign(Rotation4,
-  {
-    Identity: new Rotation4()
-  }
-)
-
-module.exports = Rotation4

package/tests/helpers/Vector3.js

@@ -1,28 +0,0 @@
-function Vector3 (x, y, z) {
-  this.x = x
-  this.y = y
-  this.z = z
-}
-
-Vector3.prototype = {
-  constructor: Vector3,
-  length: 3,
-  equals: function (vector) {
-    return this.x === vector.x && this.y === vector.y && this.z === vector.z
-  }
-}
-
-Object.assign(Vector3, {
-  Zero: new Vector3(0, 0, 0),
-  One: new Vector3(1, 1, 1),
-  negate: (vector) => {
-    const copy = Object.create(Vector3.prototype)
-    copy.x = -vector.x
-    copy.y = -vector.y
-    copy.z = -vector.z
-    return copy
-  }
-}
-)
-
-module.exports = Vector3

package/tests/helpers/Vector4.js

@@ -1,13 +0,0 @@
-function Vector4 (x, y, z, w) {
-  this.x = x
-  this.y = y
-  this.z = z
-  this.w = w
-}
-
-Vector4.prototype = {
-  constructor: Vector4,
-  length: 4
-}
-
-module.exports = Vector4