@lightningjs/renderer 3.0.0-beta1 → 3.0.0-beta10

package/dist/src/core/lib/glm/quat2.js

@@ -1,754 +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 { EPSILON, getMatrixArrayType, } from './common.js';
-import * as quat from './quat.js';
-import * as mat4 from './mat4.js';
-/**
- * Dual Quaternion<br>
- * Format: [real, dual]<br>
- * Quaternion format: XYZW<br>
- * Make sure to have normalized dual quaternions, otherwise the functions may not work as intended.<br>
- * @module quat2
- */
-/**
- * Creates a new identity dual quat
- *
- * @returns {quat2} a new dual quaternion [real -> rotation, dual -> translation]
- */
-export function create() {
-    const dq = getMatrixArrayType(8);
-    if (!(dq instanceof Float32Array)) {
-        dq[0] = 0;
-        dq[1] = 0;
-        dq[2] = 0;
-        dq[4] = 0;
-        dq[5] = 0;
-        dq[6] = 0;
-        dq[7] = 0;
-    }
-    dq[3] = 1;
-    return dq;
-}
-/**
- * Creates a new quat initialized with values from an existing quaternion
- *
- * @param {Quat2} a dual quaternion to clone
- * @returns {quat2} new dual quaternion
- * @function
- */
-export function clone(a) {
-    const dq = getMatrixArrayType(8);
-    dq[0] = a[0];
-    dq[1] = a[1];
-    dq[2] = a[2];
-    dq[3] = a[3];
-    dq[4] = a[4];
-    dq[5] = a[5];
-    dq[6] = a[6];
-    dq[7] = a[7];
-    return dq;
-}
-/**
- * Creates a new dual quat initialized with the given values
- *
- * @param {Number} x1 X component
- * @param {Number} y1 Y component
- * @param {Number} z1 Z component
- * @param {Number} w1 W component
- * @param {Number} x2 X component
- * @param {Number} y2 Y component
- * @param {Number} z2 Z component
- * @param {Number} w2 W component
- * @returns {quat2} new dual quaternion
- * @function
- */
-export function fromValues(x1, y1, z1, w1, x2, y2, z2, w2) {
-    const dq = getMatrixArrayType(8);
-    dq[0] = x1;
-    dq[1] = y1;
-    dq[2] = z1;
-    dq[3] = w1;
-    dq[4] = x2;
-    dq[5] = y2;
-    dq[6] = z2;
-    dq[7] = w2;
-    return dq;
-}
-/**
- * Creates a new dual quat from the given values (quat and translation)
- *
- * @param {Number} x1 X component
- * @param {Number} y1 Y component
- * @param {Number} z1 Z component
- * @param {Number} w1 W component
- * @param {Number} x2 X component (translation)
- * @param {Number} y2 Y component (translation)
- * @param {Number} z2 Z component (translation)
- * @returns {quat2} new dual quaternion
- * @function
- */
-export function fromRotationTranslationValues(x1, y1, z1, w1, x2, y2, z2) {
-    const dq = getMatrixArrayType(8);
-    dq[0] = x1;
-    dq[1] = y1;
-    dq[2] = z1;
-    dq[3] = w1;
-    const ax = x2 * 0.5, ay = y2 * 0.5, az = z2 * 0.5;
-    dq[4] = ax * w1 + ay * z1 - az * y1;
-    dq[5] = ay * w1 + az * x1 - ax * z1;
-    dq[6] = az * w1 + ax * y1 - ay * x1;
-    dq[7] = -ax * x1 - ay * y1 - az * z1;
-    return dq;
-}
-/**
- * Creates a dual quat from a quaternion and a translation
- *
- * @param {Quat2} out quaternion receiving operation result
- * @param {Quat} q a normalized quaternion
- * @param {Vec3} t translation vector
- * @returns {quat2} dual quaternion receiving operation result
- * @function
- */
-export function fromRotationTranslation(out, q, t) {
-    const ax = t[0] * 0.5, ay = t[1] * 0.5, az = t[2] * 0.5, bx = q[0], by = q[1], bz = q[2], bw = q[3];
-    out[0] = bx;
-    out[1] = by;
-    out[2] = bz;
-    out[3] = bw;
-    out[4] = ax * bw + ay * bz - az * by;
-    out[5] = ay * bw + az * bx - ax * bz;
-    out[6] = az * bw + ax * by - ay * bx;
-    out[7] = -ax * bx - ay * by - az * bz;
-    return out;
-}
-/**
- * Creates a dual quat from a translation
- *
- * @param {Quat2} dual quaternion receiving operation result
- * @param {Vec3} t translation vector
- * @returns {quat2} dual quaternion receiving operation result
- * @function
- */
-export function fromTranslation(out, t) {
-    out[0] = 0;
-    out[1] = 0;
-    out[2] = 0;
-    out[3] = 1;
-    out[4] = t[0] * 0.5;
-    out[5] = t[1] * 0.5;
-    out[6] = t[2] * 0.5;
-    out[7] = 0;
-    return out;
-}
-/**
- * Creates a dual quat from a quaternion
- *
- * @param {Quat2} dual quaternion receiving operation result
- * @param {Quat} q the quaternion
- * @returns {quat2} dual quaternion receiving operation result
- * @function
- */
-export function fromRotation(out, q) {
-    out[0] = q[0];
-    out[1] = q[1];
-    out[2] = q[2];
-    out[3] = q[3];
-    out[4] = 0;
-    out[5] = 0;
-    out[6] = 0;
-    out[7] = 0;
-    return out;
-}
-/**
- * Creates a new dual quat from a matrix (4x4)
- *
- * @param {quat2} out the dual quaternion
- * @param {Mat4} a the matrix
- * @returns {quat2} dual quat receiving operation result
- * @function
- */
-export function fromMat4(out, a) {
-    //TODO Optimize this
-    const outer = quat.create();
-    mat4.getRotation(outer, a);
-    const t = getMatrixArrayType(3);
-    mat4.getTranslation(t, a);
-    fromRotationTranslation(out, outer, t);
-    return out;
-}
-/**
- * Copy the values from one dual quat to another
- *
- * @param {quat2} out the receiving dual quaternion
- * @param {Quat2} a the source dual quaternion
- * @returns {quat2} out
- * @function
- */
-export function copy(out, a) {
-    out[0] = a[0];
-    out[1] = a[1];
-    out[2] = a[2];
-    out[3] = a[3];
-    out[4] = a[4];
-    out[5] = a[5];
-    out[6] = a[6];
-    out[7] = a[7];
-    return out;
-}
-/**
- * Set a dual quat to the identity dual quaternion
- *
- * @param {quat2} out the receiving quaternion
- * @returns {quat2} out
- */
-export function identity(out) {
-    out[0] = 0;
-    out[1] = 0;
-    out[2] = 0;
-    out[3] = 1;
-    out[4] = 0;
-    out[5] = 0;
-    out[6] = 0;
-    out[7] = 0;
-    return out;
-}
-/**
- * Set the components of a dual quat to the given values
- *
- * @param {quat2} out the receiving quaternion
- * @param {Number} x1 X component
- * @param {Number} y1 Y component
- * @param {Number} z1 Z component
- * @param {Number} w1 W component
- * @param {Number} x2 X component
- * @param {Number} y2 Y component
- * @param {Number} z2 Z component
- * @param {Number} w2 W component
- * @returns {quat2} out
- * @function
- */
-export function set(out, x1, y1, z1, w1, x2, y2, z2, w2) {
-    out[0] = x1;
-    out[1] = y1;
-    out[2] = z1;
-    out[3] = w1;
-    out[4] = x2;
-    out[5] = y2;
-    out[6] = z2;
-    out[7] = w2;
-    return out;
-}
-/**
- * Gets the real part of a dual quat
- * @param  {quat} out real part
- * @param  {Quat2} a Dual Quaternion
- * @return {quat} real part
- */
-export const getReal = quat.copy;
-/**
- * Gets the dual part of a dual quat
- * @param  {quat} out dual part
- * @param  {Quat2} a Dual Quaternion
- * @return {quat} dual part
- */
-export function getDual(out, a) {
-    out[0] = a[4];
-    out[1] = a[5];
-    out[2] = a[6];
-    out[3] = a[7];
-    return out;
-}
-/**
- * Set the real component of a dual quat to the given quaternion
- *
- * @param {quat2} out the receiving quaternion
- * @param {Quat} q a quaternion representing the real part
- * @returns {quat2} out
- * @function
- */
-export const setReal = quat.copy;
-/**
- * Set the dual component of a dual quat to the given quaternion
- *
- * @param {quat2} out the receiving quaternion
- * @param {Quat} q a quaternion representing the dual part
- * @returns {quat2} out
- * @function
- */
-export function setDual(out, q) {
-    out[4] = q[0];
-    out[5] = q[1];
-    out[6] = q[2];
-    out[7] = q[3];
-    return out;
-}
-/**
- * Gets the translation of a normalized dual quat
- * @param  {Vec3} out translation
- * @param  {Quat2} a Dual Quaternion to be decomposed
- * @return {Vec3} translation
- */
-export function getTranslation(out, a) {
-    const ax = a[4], ay = a[5], az = a[6], aw = a[7], bx = -a[0], by = -a[1], bz = -a[2], bw = a[3];
-    out[0] = (ax * bw + aw * bx + ay * bz - az * by) * 2;
-    out[1] = (ay * bw + aw * by + az * bx - ax * bz) * 2;
-    out[2] = (az * bw + aw * bz + ax * by - ay * bx) * 2;
-    return out;
-}
-/**
- * Translates a dual quat by the given vector
- *
- * @param {quat2} out the receiving dual quaternion
- * @param {Quat2} a the dual quaternion to translate
- * @param {Vec3} v vector to translate by
- * @returns {quat2} out
- */
-export function translate(out, a, v) {
-    const ax1 = a[0], ay1 = a[1], az1 = a[2], aw1 = a[3], bx1 = v[0] * 0.5, by1 = v[1] * 0.5, bz1 = v[2] * 0.5, ax2 = a[4], ay2 = a[5], az2 = a[6], aw2 = a[7];
-    out[0] = ax1;
-    out[1] = ay1;
-    out[2] = az1;
-    out[3] = aw1;
-    out[4] = aw1 * bx1 + ay1 * bz1 - az1 * by1 + ax2;
-    out[5] = aw1 * by1 + az1 * bx1 - ax1 * bz1 + ay2;
-    out[6] = aw1 * bz1 + ax1 * by1 - ay1 * bx1 + az2;
-    out[7] = -ax1 * bx1 - ay1 * by1 - az1 * bz1 + aw2;
-    return out;
-}
-/**
- * Rotates a dual quat around the X axis
- *
- * @param {quat2} out the receiving dual quaternion
- * @param {Quat2} a the dual quaternion to rotate
- * @param {number} rad how far should the rotation be
- * @returns {quat2} out
- */
-export function rotateX(out, a, rad) {
-    let bx = -a[0], by = -a[1], bz = -a[2], bw = a[3];
-    const ax = a[4], ay = a[5], az = a[6], aw = a[7], ax1 = ax * bw + aw * bx + ay * bz - az * by, ay1 = ay * bw + aw * by + az * bx - ax * bz, az1 = az * bw + aw * bz + ax * by - ay * bx, aw1 = aw * bw - ax * bx - ay * by - az * bz;
-    quat.rotateX(out, a, rad);
-    bx = out[0];
-    by = out[1];
-    bz = out[2];
-    bw = out[3];
-    out[4] = ax1 * bw + aw1 * bx + ay1 * bz - az1 * by;
-    out[5] = ay1 * bw + aw1 * by + az1 * bx - ax1 * bz;
-    out[6] = az1 * bw + aw1 * bz + ax1 * by - ay1 * bx;
-    out[7] = aw1 * bw - ax1 * bx - ay1 * by - az1 * bz;
-    return out;
-}
-/**
- * Rotates a dual quat around the Y axis
- *
- * @param {quat2} out the receiving dual quaternion
- * @param {Quat2} a the dual quaternion to rotate
- * @param {number} rad how far should the rotation be
- * @returns {quat2} out
- */
-export function rotateY(out, a, rad) {
-    let bx = -a[0], by = -a[1], bz = -a[2], bw = a[3];
-    const ax = a[4], ay = a[5], az = a[6], aw = a[7], ax1 = ax * bw + aw * bx + ay * bz - az * by, ay1 = ay * bw + aw * by + az * bx - ax * bz, az1 = az * bw + aw * bz + ax * by - ay * bx, aw1 = aw * bw - ax * bx - ay * by - az * bz;
-    quat.rotateY(out, a, rad);
-    bx = out[0];
-    by = out[1];
-    bz = out[2];
-    bw = out[3];
-    out[4] = ax1 * bw + aw1 * bx + ay1 * bz - az1 * by;
-    out[5] = ay1 * bw + aw1 * by + az1 * bx - ax1 * bz;
-    out[6] = az1 * bw + aw1 * bz + ax1 * by - ay1 * bx;
-    out[7] = aw1 * bw - ax1 * bx - ay1 * by - az1 * bz;
-    return out;
-}
-/**
- * Rotates a dual quat around the Z axis
- *
- * @param {quat2} out the receiving dual quaternion
- * @param {Quat2} a the dual quaternion to rotate
- * @param {number} rad how far should the rotation be
- * @returns {quat2} out
- */
-export function rotateZ(out, a, rad) {
-    let bx = -a[0], by = -a[1], bz = -a[2], bw = a[3];
-    const ax = a[4], ay = a[5], az = a[6], aw = a[7], ax1 = ax * bw + aw * bx + ay * bz - az * by, ay1 = ay * bw + aw * by + az * bx - ax * bz, az1 = az * bw + aw * bz + ax * by - ay * bx, aw1 = aw * bw - ax * bx - ay * by - az * bz;
-    quat.rotateZ(out, a, rad);
-    bx = out[0];
-    by = out[1];
-    bz = out[2];
-    bw = out[3];
-    out[4] = ax1 * bw + aw1 * bx + ay1 * bz - az1 * by;
-    out[5] = ay1 * bw + aw1 * by + az1 * bx - ax1 * bz;
-    out[6] = az1 * bw + aw1 * bz + ax1 * by - ay1 * bx;
-    out[7] = aw1 * bw - ax1 * bx - ay1 * by - az1 * bz;
-    return out;
-}
-/**
- * Rotates a dual quat by a given quaternion (a * q)
- *
- * @param {quat2} out the receiving dual quaternion
- * @param {Quat2} a the dual quaternion to rotate
- * @param {Quat} q quaternion to rotate by
- * @returns {quat2} out
- */
-export function rotateByQuatAppend(out, a, q) {
-    const qx = q[0], qy = q[1], qz = q[2], qw = q[3];
-    let ax = a[0], ay = a[1], az = a[2], aw = a[3];
-    out[0] = ax * qw + aw * qx + ay * qz - az * qy;
-    out[1] = ay * qw + aw * qy + az * qx - ax * qz;
-    out[2] = az * qw + aw * qz + ax * qy - ay * qx;
-    out[3] = aw * qw - ax * qx - ay * qy - az * qz;
-    ax = a[4];
-    ay = a[5];
-    az = a[6];
-    aw = a[7];
-    out[4] = ax * qw + aw * qx + ay * qz - az * qy;
-    out[5] = ay * qw + aw * qy + az * qx - ax * qz;
-    out[6] = az * qw + aw * qz + ax * qy - ay * qx;
-    out[7] = aw * qw - ax * qx - ay * qy - az * qz;
-    return out;
-}
-/**
- * Rotates a dual quat by a given quaternion (q * a)
- *
- * @param {quat2} out the receiving dual quaternion
- * @param {Quat} q quaternion to rotate by
- * @param {Quat2} a the dual quaternion to rotate
- * @returns {quat2} out
- */
-export function rotateByQuatPrepend(out, q, a) {
-    const qx = q[0], qy = q[1], qz = q[2], qw = q[3];
-    let bx = a[0], by = a[1], bz = a[2], bw = a[3];
-    out[0] = qx * bw + qw * bx + qy * bz - qz * by;
-    out[1] = qy * bw + qw * by + qz * bx - qx * bz;
-    out[2] = qz * bw + qw * bz + qx * by - qy * bx;
-    out[3] = qw * bw - qx * bx - qy * by - qz * bz;
-    bx = a[4];
-    by = a[5];
-    bz = a[6];
-    bw = a[7];
-    out[4] = qx * bw + qw * bx + qy * bz - qz * by;
-    out[5] = qy * bw + qw * by + qz * bx - qx * bz;
-    out[6] = qz * bw + qw * bz + qx * by - qy * bx;
-    out[7] = qw * bw - qx * bx - qy * by - qz * bz;
-    return out;
-}
-/**
- * Rotates a dual quat around a given axis. Does the normalisation automatically
- *
- * @param {quat2} out the receiving dual quaternion
- * @param {Quat2} a the dual quaternion to rotate
- * @param {Vec3} axis the axis to rotate around
- * @param {Number} rad how far the rotation should be
- * @returns {quat2} out
- */
-export function rotateAroundAxis(out, a, axis, rad) {
-    //Special case for rad = 0
-    if (Math.abs(rad) < EPSILON) {
-        return copy(out, a);
-    }
-    const axisLength = Math.hypot(axis[0], axis[1], axis[2]);
-    rad = rad * 0.5;
-    const s = Math.sin(rad);
-    const bx = (s * axis[0]) / axisLength;
-    const by = (s * axis[1]) / axisLength;
-    const bz = (s * axis[2]) / axisLength;
-    const bw = Math.cos(rad);
-    const ax1 = a[0], ay1 = a[1], az1 = a[2], aw1 = a[3];
-    out[0] = ax1 * bw + aw1 * bx + ay1 * bz - az1 * by;
-    out[1] = ay1 * bw + aw1 * by + az1 * bx - ax1 * bz;
-    out[2] = az1 * bw + aw1 * bz + ax1 * by - ay1 * bx;
-    out[3] = aw1 * bw - ax1 * bx - ay1 * by - az1 * bz;
-    const ax = a[4], ay = a[5], az = a[6], aw = a[7];
-    out[4] = ax * bw + aw * bx + ay * bz - az * by;
-    out[5] = ay * bw + aw * by + az * bx - ax * bz;
-    out[6] = az * bw + aw * bz + ax * by - ay * bx;
-    out[7] = aw * bw - ax * bx - ay * by - az * bz;
-    return out;
-}
-/**
- * Adds two dual quat's
- *
- * @param {quat2} out the receiving dual quaternion
- * @param {Quat2} a the first operand
- * @param {Quat2} b the second operand
- * @returns {quat2} out
- * @function
- */
-export function add(out, a, b) {
-    out[0] = a[0] + b[0];
-    out[1] = a[1] + b[1];
-    out[2] = a[2] + b[2];
-    out[3] = a[3] + b[3];
-    out[4] = a[4] + b[4];
-    out[5] = a[5] + b[5];
-    out[6] = a[6] + b[6];
-    out[7] = a[7] + b[7];
-    return out;
-}
-/**
- * Multiplies two dual quat's
- *
- * @param {quat2} out the receiving dual quaternion
- * @param {Quat2} a the first operand
- * @param {Quat2} b the second operand
- * @returns {quat2} out
- */
-export function multiply(out, a, b) {
-    const ax0 = a[0], ay0 = a[1], az0 = a[2], aw0 = a[3], bx1 = b[4], by1 = b[5], bz1 = b[6], bw1 = b[7], ax1 = a[4], ay1 = a[5], az1 = a[6], aw1 = a[7], bx0 = b[0], by0 = b[1], bz0 = b[2], bw0 = b[3];
-    out[0] = ax0 * bw0 + aw0 * bx0 + ay0 * bz0 - az0 * by0;
-    out[1] = ay0 * bw0 + aw0 * by0 + az0 * bx0 - ax0 * bz0;
-    out[2] = az0 * bw0 + aw0 * bz0 + ax0 * by0 - ay0 * bx0;
-    out[3] = aw0 * bw0 - ax0 * bx0 - ay0 * by0 - az0 * bz0;
-    out[4] =
-        ax0 * bw1 +
-            aw0 * bx1 +
-            ay0 * bz1 -
-            az0 * by1 +
-            ax1 * bw0 +
-            aw1 * bx0 +
-            ay1 * bz0 -
-            az1 * by0;
-    out[5] =
-        ay0 * bw1 +
-            aw0 * by1 +
-            az0 * bx1 -
-            ax0 * bz1 +
-            ay1 * bw0 +
-            aw1 * by0 +
-            az1 * bx0 -
-            ax1 * bz0;
-    out[6] =
-        az0 * bw1 +
-            aw0 * bz1 +
-            ax0 * by1 -
-            ay0 * bx1 +
-            az1 * bw0 +
-            aw1 * bz0 +
-            ax1 * by0 -
-            ay1 * bx0;
-    out[7] =
-        aw0 * bw1 -
-            ax0 * bx1 -
-            ay0 * by1 -
-            az0 * bz1 +
-            aw1 * bw0 -
-            ax1 * bx0 -
-            ay1 * by0 -
-            az1 * bz0;
-    return out;
-}
-/**
- * Alias for {@link multiply}
- * @function
- */
-export const mul = multiply;
-/**
- * Scales a dual quat by a scalar number
- *
- * @param {quat2} out the receiving dual quat
- * @param {Quat2} a the dual quat to scale
- * @param {Number} b amount to scale the dual quat by
- * @returns {quat2} out
- * @function
- */
-export function scale(out, a, b) {
-    out[0] = a[0] * b;
-    out[1] = a[1] * b;
-    out[2] = a[2] * b;
-    out[3] = a[3] * b;
-    out[4] = a[4] * b;
-    out[5] = a[5] * b;
-    out[6] = a[6] * b;
-    out[7] = a[7] * b;
-    return out;
-}
-/**
- * Calculates the dot product of two dual quat's (The dot product of the real parts)
- *
- * @param {Quat2} a the first operand
- * @param {Quat2} b the second operand
- * @returns {Number} dot product of a and b
- * @function
- */
-export const dot = quat.dot;
-/**
- * Performs a linear interpolation between two dual quats's
- * NOTE: The resulting dual quaternions won't always be normalized (The error is most noticeable when t = 0.5)
- *
- * @param {quat2} out the receiving dual quat
- * @param {Quat2} a the first operand
- * @param {Quat2} b the second operand
- * @param {Number} t interpolation amount, in the range [0-1], between the two inputs
- * @returns {quat2} out
- */
-export function lerp(out, a, b, t) {
-    const mt = 1 - t;
-    if (dot(a, b) < 0)
-        t = -t;
-    out[0] = a[0] * mt + b[0] * t;
-    out[1] = a[1] * mt + b[1] * t;
-    out[2] = a[2] * mt + b[2] * t;
-    out[3] = a[3] * mt + b[3] * t;
-    out[4] = a[4] * mt + b[4] * t;
-    out[5] = a[5] * mt + b[5] * t;
-    out[6] = a[6] * mt + b[6] * t;
-    out[7] = a[7] * mt + b[7] * t;
-    return out;
-}
-/**
- * Calculates the inverse of a dual quat. If they are normalized, conjugate is cheaper
- *
- * @param {quat2} out the receiving dual quaternion
- * @param {Quat2} a dual quat to calculate inverse of
- * @returns {quat2} out
- */
-export function invert(out, a) {
-    const sqlen = squaredLength(a);
-    out[0] = -a[0] / sqlen;
-    out[1] = -a[1] / sqlen;
-    out[2] = -a[2] / sqlen;
-    out[3] = a[3] / sqlen;
-    out[4] = -a[4] / sqlen;
-    out[5] = -a[5] / sqlen;
-    out[6] = -a[6] / sqlen;
-    out[7] = a[7] / sqlen;
-    return out;
-}
-/**
- * Calculates the conjugate of a dual quat
- * If the dual quaternion is normalized, this function is faster than quat2.inverse and produces the same result.
- *
- * @param {quat2} out the receiving quaternion
- * @param {Quat2} a quat to calculate conjugate of
- * @returns {quat2} out
- */
-export function conjugate(out, a) {
-    out[0] = -a[0];
-    out[1] = -a[1];
-    out[2] = -a[2];
-    out[3] = a[3];
-    out[4] = -a[4];
-    out[5] = -a[5];
-    out[6] = -a[6];
-    out[7] = a[7];
-    return out;
-}
-/**
- * Calculates the length of a dual quat
- *
- * @param {Quat2} a dual quat to calculate length of
- * @returns {Number} length of a
- * @function
- */
-export const length = quat.length;
-/**
- * Alias for {@link length}
- * @function
- */
-export const len = length;
-/**
- * Calculates the squared length of a dual quat
- *
- * @param {Quat2} a dual quat to calculate squared length of
- * @returns {Number} squared length of a
- * @function
- */
-export const squaredLength = quat.squaredLength;
-/**
- * Alias for {@link quat2.squaredLength}
- * @function
- */
-export const sqrLen = squaredLength;
-/**
- * Normalize a dual quat
- *
- * @param {quat2} out the receiving dual quaternion
- * @param {Quat2} a dual quaternion to normalize
- * @returns {quat2} out
- * @function
- */
-export function normalize(out, a) {
-    let magnitude = squaredLength(a);
-    if (magnitude > 0) {
-        magnitude = Math.sqrt(magnitude);
-        const a0 = a[0] / magnitude;
-        const a1 = a[1] / magnitude;
-        const a2 = a[2] / magnitude;
-        const a3 = a[3] / magnitude;
-        const b0 = a[4];
-        const b1 = a[5];
-        const b2 = a[6];
-        const b3 = a[7];
-        const a_dot_b = a0 * b0 + a1 * b1 + a2 * b2 + a3 * b3;
-        out[0] = a0;
-        out[1] = a1;
-        out[2] = a2;
-        out[3] = a3;
-        out[4] = (b0 - a0 * a_dot_b) / magnitude;
-        out[5] = (b1 - a1 * a_dot_b) / magnitude;
-        out[6] = (b2 - a2 * a_dot_b) / magnitude;
-        out[7] = (b3 - a3 * a_dot_b) / magnitude;
-    }
-    return out;
-}
-/**
- * Returns a string representation of a dual quaternion
- *
- * @param {Quat2} a dual quaternion to represent as a string
- * @returns {String} string representation of the dual quat
- */
-export function str(a) {
-    return `quat2(${a[0]}, ${a[1]}, ${a[2]}, ${a[3]}, ${a[4]}, ${a[5]}, ${a[6]}, ${a[7]})`;
-}
-/**
- * Returns whether or not the dual quaternions have exactly the same elements in the same position (when compared with ===)
- *
- * @param {Quat2} a the first dual quaternion.
- * @param {Quat2} b the second dual quaternion.
- * @returns {Boolean} true if the dual quaternions are equal, false otherwise.
- */
-export function exactEquals(a, b) {
-    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]);
-}
-/**
- * Returns whether or not the dual quaternions have approximately the same elements in the same position.
- *
- * @param {Quat2} a the first dual quat.
- * @param {Quat2} b the second dual quat.
- * @returns {Boolean} true if the dual quats are equal, false otherwise.
- */
-export function equals(a, b) {
-    const a0 = a[0], a1 = a[1], a2 = a[2], a3 = a[3], a4 = a[4], a5 = a[5], a6 = a[6], a7 = a[7];
-    const b0 = b[0], b1 = b[1], b2 = b[2], b3 = b[3], b4 = b[4], b5 = b[5], b6 = b[6], b7 = b[7];
-    return (Math.abs(a0 - b0) <= EPSILON * Math.max(1.0, Math.abs(a0), Math.abs(b0)) &&
-        Math.abs(a1 - b1) <= EPSILON * Math.max(1.0, Math.abs(a1), Math.abs(b1)) &&
-        Math.abs(a2 - b2) <= EPSILON * Math.max(1.0, Math.abs(a2), Math.abs(b2)) &&
-        Math.abs(a3 - b3) <= EPSILON * Math.max(1.0, Math.abs(a3), Math.abs(b3)) &&
-        Math.abs(a4 - b4) <= EPSILON * Math.max(1.0, Math.abs(a4), Math.abs(b4)) &&
-        Math.abs(a5 - b5) <= EPSILON * Math.max(1.0, Math.abs(a5), Math.abs(b5)) &&
-        Math.abs(a6 - b6) <= EPSILON * Math.max(1.0, Math.abs(a6), Math.abs(b6)) &&
-        Math.abs(a7 - b7) <= EPSILON * Math.max(1.0, Math.abs(a7), Math.abs(b7)));
-}
-//# sourceMappingURL=quat2.js.map