@lightningjs/renderer 0.4.1 → 0.5.0

package/src/core/lib/glm/quat.ts

@@ -1,828 +0,0 @@
-/*
- * If not stated otherwise in this file or this component's LICENSE file the
- * following copyright and licenses apply:
- *
- * Copyright 2023 Comcast Cable Communications Management, LLC.
- *
- * Licensed under the Apache License, Version 2.0 (the License);
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-import {
-  ANGLE_ORDER,
-  EPSILON,
-  getMatrixArrayType,
-  RANDOM,
-  type ConversionOrder,
-  type Float32ArrayLen4,
-  type NumberArrayLen4,
-} from './common.js';
-import type { Mat3 } from './mat3.js';
-import type { Vec3 } from './vec3.js';
-import type { Quat2 } from './quat2.js';
-
-import * as mat3 from './mat3.js';
-import * as vec3 from './vec3.js';
-import * as vec4 from './vec4.js';
-
-export type Quat = Float32ArrayLen4 | NumberArrayLen4;
-
-/**
- * Quaternion in the format XYZW
- * @module quat
- */
-
-/**
- * Creates a new identity quat
- *
- * @returns {quat} a new quaternion
- */
-
-export function create(): Quat {
-  const out = getMatrixArrayType(4) as Quat;
-
-  if (!(out instanceof Float32Array)) {
-    out[0] = 0;
-    out[1] = 0;
-    out[2] = 0;
-  }
-
-  out[3] = 1;
-  return out;
-}
-/**
- * Set a quat to the identity quaternion
- *
- * @param {quat} out the receiving quaternion
- * @returns {quat} out
- */
-
-export function identity(out: Quat): Quat {
-  out[0] = 0;
-  out[1] = 0;
-  out[2] = 0;
-  out[3] = 1;
-  return out;
-}
-/**
- * Sets a quat from the given angle and rotation axis,
- * then returns it.
- *
- * @param {quat} out the receiving quaternion
- * @param {Vec3} axis the axis around which to rotate
- * @param {Number} rad the angle in radians
- * @returns {quat} out
- **/
-
-export function setAxisAngle(out: Quat, axis: Vec3, rad: number): Quat {
-  rad = rad * 0.5;
-  const s = Math.sin(rad);
-  out[0] = s * axis[0];
-  out[1] = s * axis[1];
-  out[2] = s * axis[2];
-  out[3] = Math.cos(rad);
-  return out;
-}
-/**
- * Gets the rotation axis and angle for a given
- *  quaternion. If a quaternion is created with
- *  setAxisAngle, this method will return the same
- *  values as providied in the original parameter list
- *  OR functionally equivalent values.
- * Example: The quaternion formed by axis [0, 0, 1] and
- *  angle -90 is the same as the quaternion formed by
- *  [0, 0, 1] and 270. This method favors the latter.
- * @param  {Vec3} out_axis  Vector receiving the axis of rotation
- * @param  {Quat} q     Quaternion to be decomposed
- * @return {Number}     Angle, in radians, of the rotation
- */
-
-export function getAxisAngle(out_axis: Vec3, q: Quat): number {
-  const rad = Math.acos(q[3]) * 2.0;
-  const s = Math.sin(rad / 2.0);
-
-  if (s > EPSILON) {
-    out_axis[0] = q[0] / s;
-    out_axis[1] = q[1] / s;
-    out_axis[2] = q[2] / s;
-  } else {
-    // If s is zero, return any axis (no rotation - axis does not matter)
-    out_axis[0] = 1;
-    out_axis[1] = 0;
-    out_axis[2] = 0;
-  }
-
-  return rad;
-}
-/**
- * Gets the angular distance between two unit quaternions
- *
- * @param  {Quat} a     Origin unit quaternion
- * @param  {Quat} b     Destination unit quaternion
- * @return {Number}     Angle, in radians, between the two quaternions
- */
-
-export function getAngle(a: Quat, b: Quat): number {
-  const dotproduct = dot(a, b);
-  return Math.acos(2 * dotproduct * dotproduct - 1);
-}
-/**
- * Multiplies two quat's
- *
- * @param {quat} out the receiving quaternion
- * @param {Quat} a the first operand
- * @param {Quat} b the second operand
- * @returns {quat} out
- */
-
-export function multiply(out: Quat, a: Quat, b: Quat): Quat {
-  const ax = a[0],
-    ay = a[1],
-    az = a[2],
-    aw = a[3];
-  const bx = b[0],
-    by = b[1],
-    bz = b[2],
-    bw = b[3];
-  out[0] = ax * bw + aw * bx + ay * bz - az * by;
-  out[1] = ay * bw + aw * by + az * bx - ax * bz;
-  out[2] = az * bw + aw * bz + ax * by - ay * bx;
-  out[3] = aw * bw - ax * bx - ay * by - az * bz;
-  return out;
-}
-/**
- * Rotates a quaternion by the given angle about the X axis
- *
- * @param {quat} out quat receiving operation result
- * @param {Quat} a quat to rotate
- * @param {number} rad angle (in radians) to rotate
- * @returns {quat} out
- */
-
-export function rotateX(
-  out: Quat | Quat2,
-  a: Quat | Quat2,
-  rad: number,
-): Quat | Quat2 {
-  rad *= 0.5;
-  const ax = a[0],
-    ay = a[1],
-    az = a[2],
-    aw = a[3];
-  const bx = Math.sin(rad),
-    bw = Math.cos(rad);
-  out[0] = ax * bw + aw * bx;
-  out[1] = ay * bw + az * bx;
-  out[2] = az * bw - ay * bx;
-  out[3] = aw * bw - ax * bx;
-  return out;
-}
-/**
- * Rotates a quaternion by the given angle about the Y axis
- *
- * @param {quat} out quat receiving operation result
- * @param {Quat} a quat to rotate
- * @param {number} rad angle (in radians) to rotate
- * @returns {quat} out
- */
-
-export function rotateY(
-  out: Quat | Quat2,
-  a: Quat | Quat2,
-  rad: number,
-): Quat | Quat2 {
-  rad *= 0.5;
-  const ax = a[0],
-    ay = a[1],
-    az = a[2],
-    aw = a[3];
-  const by = Math.sin(rad),
-    bw = Math.cos(rad);
-  out[0] = ax * bw - az * by;
-  out[1] = ay * bw + aw * by;
-  out[2] = az * bw + ax * by;
-  out[3] = aw * bw - ay * by;
-  return out;
-}
-/**
- * Rotates a quaternion by the given angle about the Z axis
- *
- * @param {quat} out quat receiving operation result
- * @param {Quat} a quat to rotate
- * @param {number} rad angle (in radians) to rotate
- * @returns {quat} out
- */
-
-export function rotateZ(
-  out: Quat | Quat2,
-  a: Quat | Quat2,
-  rad: number,
-): Quat | Quat2 {
-  rad *= 0.5;
-  const ax = a[0],
-    ay = a[1],
-    az = a[2],
-    aw = a[3];
-  const bz = Math.sin(rad),
-    bw = Math.cos(rad);
-  out[0] = ax * bw + ay * bz;
-  out[1] = ay * bw - ax * bz;
-  out[2] = az * bw + aw * bz;
-  out[3] = aw * bw - az * bz;
-  return out;
-}
-/**
- * Calculates the W component of a quat from the X, Y, and Z components.
- * Assumes that quaternion is 1 unit in length.
- * Any existing W component will be ignored.
- *
- * @param {quat} out the receiving quaternion
- * @param {Quat} a quat to calculate W component of
- * @returns {quat} out
- */
-
-export function calculateW(out: Quat, a: Quat): Quat {
-  const x = a[0],
-    y = a[1],
-    z = a[2];
-  out[0] = x;
-  out[1] = y;
-  out[2] = z;
-  out[3] = Math.sqrt(Math.abs(1.0 - x * x - y * y - z * z));
-  return out;
-}
-/**
- * Calculate the exponential of a unit quaternion.
- *
- * @param {quat} out the receiving quaternion
- * @param {Quat} a quat to calculate the exponential of
- * @returns {quat} out
- */
-
-export function exp(out: Quat, a: Quat): Quat {
-  const x = a[0],
-    y = a[1],
-    z = a[2],
-    w = a[3];
-  const r = Math.sqrt(x * x + y * y + z * z);
-  const et = Math.exp(w);
-  const s = r > 0 ? (et * Math.sin(r)) / r : 0;
-  out[0] = x * s;
-  out[1] = y * s;
-  out[2] = z * s;
-  out[3] = et * Math.cos(r);
-  return out;
-}
-/**
- * Calculate the natural logarithm of a unit quaternion.
- *
- * @param {quat} out the receiving quaternion
- * @param {Quat} a quat to calculate the exponential of
- * @returns {quat} out
- */
-
-export function ln(out: Quat, a: Quat): Quat {
-  const x = a[0],
-    y = a[1],
-    z = a[2],
-    w = a[3];
-  const r = Math.sqrt(x * x + y * y + z * z);
-  const t = r > 0 ? Math.atan2(r, w) / r : 0;
-  out[0] = x * t;
-  out[1] = y * t;
-  out[2] = z * t;
-  out[3] = 0.5 * Math.log(x * x + y * y + z * z + w * w);
-  return out;
-}
-/**
- * Calculate the scalar power of a unit quaternion.
- *
- * @param {quat} out the receiving quaternion
- * @param {Quat} a quat to calculate the exponential of
- * @param {Number} b amount to scale the quaternion by
- * @returns {quat} out
- */
-
-export function pow(out: Quat, a: Quat, b: number): Quat {
-  ln(out, a);
-  scale(out, out, b);
-  exp(out, out);
-  return out;
-}
-/**
- * Performs a spherical linear interpolation between two quat
- *
- * @param {quat} out the receiving quaternion
- * @param {Quat} a the first operand
- * @param {Quat} b the second operand
- * @param {Number} t interpolation amount, in the range [0-1], between the two inputs
- * @returns {quat} out
- */
-
-export function slerp(out: Quat, a: Quat, b: Quat, t: number): Quat {
-  // benchmarks:
-  //    http://jsperf.com/quaternion-slerp-implementations
-  const ax = a[0],
-    ay = a[1],
-    az = a[2],
-    aw = a[3];
-  let bx = b[0],
-    by = b[1],
-    bz = b[2],
-    bw = b[3];
-  let omega, cosom, sinom, scale0, scale1; // calc cosine
-
-  cosom = ax * bx + ay * by + az * bz + aw * bw; // adjust signs (if necessary)
-
-  if (cosom < 0.0) {
-    cosom = -cosom;
-    bx = -bx;
-    by = -by;
-    bz = -bz;
-    bw = -bw;
-  } // calculate coefficients
-
-  if (1.0 - cosom > EPSILON) {
-    // standard case (slerp)
-    omega = Math.acos(cosom);
-    sinom = Math.sin(omega);
-    scale0 = Math.sin((1.0 - t) * omega) / sinom;
-    scale1 = Math.sin(t * omega) / sinom;
-  } else {
-    // "from" and "to" quaternions are very close
-    //  ... so we can do a linear interpolation
-    scale0 = 1.0 - t;
-    scale1 = t;
-  } // calculate final values
-
-  out[0] = scale0 * ax + scale1 * bx;
-  out[1] = scale0 * ay + scale1 * by;
-  out[2] = scale0 * az + scale1 * bz;
-  out[3] = scale0 * aw + scale1 * bw;
-  return out;
-}
-/**
- * Generates a random unit quaternion
- *
- * @param {quat} out the receiving quaternion
- * @returns {quat} out
- */
-
-export function random(out: Quat): Quat {
-  // Implementation of http://planning.cs.uiuc.edu/node198.html
-  // TODO: Calling random 3 times is probably not the fastest solution
-  const u1 = RANDOM();
-  const u2 = RANDOM();
-  const u3 = RANDOM();
-  const sqrt1MinusU1 = Math.sqrt(1 - u1);
-  const sqrtU1 = Math.sqrt(u1);
-  out[0] = sqrt1MinusU1 * Math.sin(2.0 * Math.PI * u2);
-  out[1] = sqrt1MinusU1 * Math.cos(2.0 * Math.PI * u2);
-  out[2] = sqrtU1 * Math.sin(2.0 * Math.PI * u3);
-  out[3] = sqrtU1 * Math.cos(2.0 * Math.PI * u3);
-  return out;
-}
-/**
- * Calculates the inverse of a quat
- *
- * @param {quat} out the receiving quaternion
- * @param {Quat} a quat to calculate inverse of
- * @returns {quat} out
- */
-
-export function invert(out: Quat, a: Quat): Quat {
-  const a0 = a[0],
-    a1 = a[1],
-    a2 = a[2],
-    a3 = a[3];
-  const dot = a0 * a0 + a1 * a1 + a2 * a2 + a3 * a3;
-  const invDot = dot ? 1.0 / dot : 0; // TODO: Would be faster to return [0,0,0,0] immediately if dot == 0
-
-  out[0] = -a0 * invDot;
-  out[1] = -a1 * invDot;
-  out[2] = -a2 * invDot;
-  out[3] = a3 * invDot;
-  return out;
-}
-/**
- * Calculates the conjugate of a quat
- * If the quaternion is normalized, this function is faster than quat.inverse and produces the same result.
- *
- * @param {quat} out the receiving quaternion
- * @param {Quat} a quat to calculate conjugate of
- * @returns {quat} out
- */
-
-export function conjugate(out: Quat, a: Quat): Quat {
-  out[0] = -a[0];
-  out[1] = -a[1];
-  out[2] = -a[2];
-  out[3] = a[3];
-  return out;
-}
-/**
- * Creates a quaternion from the given 3x3 rotation matrix.
- *
- * NOTE: The resultant quaternion is not normalized, so you should be sure
- * to renormalize the quaternion yourself where necessary.
- *
- * @param {quat} out the receiving quaternion
- * @param {Mat3} m rotation matrix
- * @returns {quat} out
- * @function
- */
-
-export function fromMat3(out: Quat, m: Mat3) {
-  // Algorithm in Ken Shoemake's article in 1987 SIGGRAPH course notes
-  // article "Quaternion Calculus and Fast Animation".
-  const fTrace = m[0] + m[4] + m[8];
-  let fRoot: number;
-
-  if (fTrace > 0.0) {
-    // |w| > 1/2, may as well choose w > 1/2
-    fRoot = Math.sqrt(fTrace + 1.0); // 2w
-
-    out[3] = 0.5 * fRoot;
-    fRoot = 0.5 / fRoot; // 1/(4w)
-
-    out[0] = (m[5] - m[7]) * fRoot;
-    out[1] = (m[6] - m[2]) * fRoot;
-    out[2] = (m[1] - m[3]) * fRoot;
-  } else {
-    // |w| <= 1/2
-    // Since we're doing math to calculate tuple indices we extract these
-    // types so we can easily assert to them below when needed.
-    type Mat3Index = Extract<keyof Mat3, number>;
-    type QuatIndex = Extract<keyof Quat, number>;
-    let i = 0;
-    if (m[4] > m[0]) i = 1;
-    if (m[8] > m[(i * 3 + i) as Mat3Index]) i = 2;
-    const j = ((i + 1) % 3) as QuatIndex;
-    const k = ((i + 2) % 3) as QuatIndex;
-    fRoot = Math.sqrt(
-      m[(i * 3 + i) as Mat3Index] -
-        m[(j * 3 + j) as Mat3Index] -
-        m[(k * 3 + k) as Mat3Index] +
-        1.0,
-    );
-    out[i as QuatIndex] = 0.5 * fRoot;
-    fRoot = 0.5 / fRoot;
-    out[3] =
-      (m[(j * 3 + k) as Mat3Index] - m[(k * 3 + j) as Mat3Index]) * fRoot;
-    out[j] =
-      (m[(j * 3 + i) as Mat3Index] + m[(i * 3 + j) as Mat3Index]) * fRoot;
-    out[k] =
-      (m[(k * 3 + i) as Mat3Index] + m[(i * 3 + k) as Mat3Index]) * fRoot;
-  }
-
-  return out;
-}
-/**
- * Creates a quaternion from the given euler angle x, y, z using the provided intrinsic order for the conversion.
- *
- * @param {quat} out the receiving quaternion
- * @param {x} x Angle to rotate around X axis in degrees.
- * @param {y} y Angle to rotate around Y axis in degrees.
- * @param {z} z Angle to rotate around Z axis in degrees.
- * @param {'zyx'|'xyz'|'yxz'|'yzx'|'zxy'|'zyx'} order Intrinsic order for conversion, default is zyx.
- * @returns {quat} out
- * @function
- */
-
-export function fromEuler(
-  out: Quat,
-  x: number,
-  y: number,
-  z: number,
-  order?: ConversionOrder,
-): Quat {
-  order = order ?? ANGLE_ORDER;
-  const halfToRad = Math.PI / 360;
-  x *= halfToRad;
-  z *= halfToRad;
-  y *= halfToRad;
-  const sx = Math.sin(x);
-  const cx = Math.cos(x);
-  const sy = Math.sin(y);
-  const cy = Math.cos(y);
-  const sz = Math.sin(z);
-  const cz = Math.cos(z);
-
-  switch (order) {
-    case 'xyz':
-      out[0] = sx * cy * cz + cx * sy * sz;
-      out[1] = cx * sy * cz - sx * cy * sz;
-      out[2] = cx * cy * sz + sx * sy * cz;
-      out[3] = cx * cy * cz - sx * sy * sz;
-      break;
-
-    case 'xzy':
-      out[0] = sx * cy * cz - cx * sy * sz;
-      out[1] = cx * sy * cz - sx * cy * sz;
-      out[2] = cx * cy * sz + sx * sy * cz;
-      out[3] = cx * cy * cz + sx * sy * sz;
-      break;
-
-    case 'yxz':
-      out[0] = sx * cy * cz + cx * sy * sz;
-      out[1] = cx * sy * cz - sx * cy * sz;
-      out[2] = cx * cy * sz - sx * sy * cz;
-      out[3] = cx * cy * cz + sx * sy * sz;
-      break;
-
-    case 'yzx':
-      out[0] = sx * cy * cz + cx * sy * sz;
-      out[1] = cx * sy * cz + sx * cy * sz;
-      out[2] = cx * cy * sz - sx * sy * cz;
-      out[3] = cx * cy * cz - sx * sy * sz;
-      break;
-
-    case 'zxy':
-      out[0] = sx * cy * cz - cx * sy * sz;
-      out[1] = cx * sy * cz + sx * cy * sz;
-      out[2] = cx * cy * sz + sx * sy * cz;
-      out[3] = cx * cy * cz - sx * sy * sz;
-      break;
-
-    case 'zyx':
-      out[0] = sx * cy * cz - cx * sy * sz;
-      out[1] = cx * sy * cz + sx * cy * sz;
-      out[2] = cx * cy * sz - sx * sy * cz;
-      out[3] = cx * cy * cz + sx * sy * sz;
-      break;
-
-    default:
-      throw new Error('Unknown angle order ' + (order as string));
-  }
-
-  return out;
-}
-/**
- * Returns a string representation of a quaternion
- *
- * @param {Quat} a vector to represent as a string
- * @returns {String} string representation of the vector
- */
-
-export function str(a: Quat): string {
-  return `quat(${a[0]}, ${a[1]}, ${a[2]}, ${a[3]})`;
-}
-/**
- * Creates a new quat initialized with values from an existing quaternion
- *
- * @param {Quat} a quaternion to clone
- * @returns {quat} a new quaternion
- * @function
- */
-
-export const clone = vec4.clone;
-/**
- * Creates a new quat initialized with the given values
- *
- * @param {Number} x X component
- * @param {Number} y Y component
- * @param {Number} z Z component
- * @param {Number} w W component
- * @returns {quat} a new quaternion
- * @function
- */
-
-export const fromValues = vec4.fromValues;
-/**
- * Copy the values from one quat to another
- *
- * @param {quat} out the receiving quaternion
- * @param {Quat} a the source quaternion
- * @returns {quat} out
- * @function
- */
-
-export const copy = vec4.copy;
-/**
- * Set the components of a quat to the given values
- *
- * @param {quat} out the receiving quaternion
- * @param {Number} x X component
- * @param {Number} y Y component
- * @param {Number} z Z component
- * @param {Number} w W component
- * @returns {quat} out
- * @function
- */
-
-export const set = vec4.set;
-/**
- * Adds two quat's
- *
- * @param {quat} out the receiving quaternion
- * @param {Quat} a the first operand
- * @param {Quat} b the second operand
- * @returns {quat} out
- * @function
- */
-
-export const add = vec4.add;
-/**
- * Alias for {@link quat.multiply}
- * @function
- */
-
-export const mul = multiply;
-/**
- * Scales a quat by a scalar number
- *
- * @param {quat} out the receiving vector
- * @param {Quat} a the vector to scale
- * @param {Number} b amount to scale the vector by
- * @returns {quat} out
- * @function
- */
-
-export const scale = vec4.scale;
-/**
- * Calculates the dot product of two quat's
- *
- * @param {Quat} a the first operand
- * @param {Quat} b the second operand
- * @returns {Number} dot product of a and b
- * @function
- */
-
-export const dot = vec4.dot;
-/**
- * Performs a linear interpolation between two quat's
- *
- * @param {quat} out the receiving quaternion
- * @param {Quat} a the first operand
- * @param {Quat} b the second operand
- * @param {Number} t interpolation amount, in the range [0-1], between the two inputs
- * @returns {quat} out
- * @function
- */
-
-export const lerp = vec4.lerp;
-/**
- * Calculates the length of a quat
- *
- * @param {Quat} a vector to calculate length of
- * @returns {Number} length of a
- */
-
-export const length = vec4.length;
-/**
- * Alias for {@link length}
- * @function
- */
-
-export const len = length;
-/**
- * Calculates the squared length of a quat
- *
- * @param {Quat} a vector to calculate squared length of
- * @returns {Number} squared length of a
- * @function
- */
-
-export const squaredLength = vec4.squaredLength;
-/**
- * Alias for {@link squaredLength}
- * @function
- */
-
-export const sqrLen = squaredLength;
-/**
- * Normalize a quat
- *
- * @param {quat} out the receiving quaternion
- * @param {Quat} a quaternion to normalize
- * @returns {quat} out
- * @function
- */
-export const normalize = vec4.normalize;
-/**
- * Returns whether or not the quaternions have exactly the same elements in the same position (when compared with ===)
- *
- * @param {Quat} a The first quaternion.
- * @param {Quat} b The second quaternion.
- * @returns {Boolean} True if the vectors are equal, false otherwise.
- */
-
-export const exactEquals = vec4.exactEquals;
-/**
- * Returns whether or not the quaternions point approximately to the same direction.
- *
- * Both quaternions are assumed to be unit length.
- *
- * @param {Quat} a The first unit quaternion.
- * @param {Quat} b The second unit quaternion.
- * @returns {Boolean} True if the quaternions are equal, false otherwise.
- */
-
-export function equals(a: Quat, b: Quat): boolean {
-  return Math.abs(vec4.dot(a, b)) >= 1 - EPSILON;
-}
-/**
- * Sets a quaternion to represent the shortest rotation from one
- * vector to another.
- *
- * Both vectors are assumed to be unit length.
- *
- * @param {quat} out the receiving quaternion.
- * @param {Vec3} a the initial vector
- * @param {Vec3} b the destination vector
- * @returns {quat} out
- */
-
-export const rotationTo = (function () {
-  const tmpVec3 = vec3.create();
-  const xUnitVec3 = vec3.fromValues(1, 0, 0);
-  const yUnitVec3 = vec3.fromValues(0, 1, 0);
-  return function (out: Quat, a: Vec3, b: Vec3) {
-    const dot = vec3.dot(a, b);
-
-    if (dot < -0.999999) {
-      vec3.cross(tmpVec3, xUnitVec3, a);
-      if (vec3.len(tmpVec3) < 0.000001) vec3.cross(tmpVec3, yUnitVec3, a);
-      vec3.normalize(tmpVec3, tmpVec3);
-      setAxisAngle(out, tmpVec3, Math.PI);
-      return out;
-    } else if (dot > 0.999999) {
-      out[0] = 0;
-      out[1] = 0;
-      out[2] = 0;
-      out[3] = 1;
-      return out;
-    } else {
-      vec3.cross(tmpVec3, a, b);
-      out[0] = tmpVec3[0];
-      out[1] = tmpVec3[1];
-      out[2] = tmpVec3[2];
-      out[3] = 1 + dot;
-      return normalize(out, out);
-    }
-  };
-})();
-/**
- * Performs a spherical linear interpolation with two control points
- *
- * @param {quat} out the receiving quaternion
- * @param {Quat} a the first operand
- * @param {Quat} b the second operand
- * @param {Quat} c the third operand
- * @param {Quat} d the fourth operand
- * @param {Number} t interpolation amount, in the range [0-1], between the two inputs
- * @returns {quat} out
- */
-
-export const sqlerp = (function () {
-  const temp1 = create();
-  const temp2 = create();
-  return function (
-    out: Quat,
-    a: Quat,
-    b: Quat,
-    c: Quat,
-    d: Quat,
-    t: number,
-  ): Quat {
-    slerp(temp1, a, d, t);
-    slerp(temp2, b, c, t);
-    slerp(out, temp1, temp2, 2 * t * (1 - t));
-    return out;
-  };
-})();
-/**
- * Sets the specified quaternion with values corresponding to the given
- * axes. Each axis is a Vec3 and is expected to be unit length and
- * perpendicular to all other specified axes.
- *
- * @param {Vec3} view  the vector representing the viewing direction
- * @param {Vec3} right the vector representing the local "right" direction
- * @param {Vec3} up    the vector representing the local "up" direction
- * @returns {quat} out
- */
-
-export const setAxes = (function () {
-  const matr = mat3.create();
-  return function (out: Quat, view: Vec3, right: Vec3, up: Vec3) {
-    matr[0] = right[0];
-    matr[3] = right[1];
-    matr[6] = right[2];
-    matr[1] = up[0];
-    matr[4] = up[1];
-    matr[7] = up[2];
-    matr[2] = -view[0];
-    matr[5] = -view[1];
-    matr[8] = -view[2];
-    return normalize(out, fromMat3(out, matr));
-  };
-})();