@math.gl/core 3.6.3 → 4.0.0-alpha.2

package/src/gl-matrix/quat.ts

@@ -0,0 +1,789 @@
+// @eslint-disable
+// @ts-nocheck
+
+import * as glMatrix from './common.js';
+import * as mat3 from './mat3.js';
+import * as vec3 from './vec3.js';
+import * as vec4 from './vec4.js';
+
+// const glMatrix: {EPSILON = 0.000001};
+
+/**
+ * Quaternion in the format XYZW
+ * @module quat
+ */
+
+/**
+ * Creates a new identity quat
+ *
+ * @returns {quat} a new quaternion
+ */
+export function create() {
+  const out = new glMatrix.ARRAY_TYPE(4);
+  if (glMatrix.ARRAY_TYPE != 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) {
+  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 {ReadonlyVec3} axis the axis around which to rotate
+ * @param {Number} rad the angle in radians
+ * @returns {quat} out
+ **/
+export function setAxisAngle(out, axis, rad) {
+  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  {ReadonlyQuat} q     Quaternion to be decomposed
+ * @return {Number}     Angle, in radians, of the rotation
+ */
+export function getAxisAngle(out_axis, q) {
+  const rad = Math.acos(q[3]) * 2.0;
+  const s = Math.sin(rad / 2.0);
+  if (s > glMatrix.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  {ReadonlyQuat} a     Origin unit quaternion
+ * @param  {ReadonlyQuat} b     Destination unit quaternion
+ * @return {Number}     Angle, in radians, between the two quaternions
+ */
+export function getAngle(a, b) {
+  const dotproduct = dot(a, b);
+
+  return Math.acos(2 * dotproduct * dotproduct - 1);
+}
+
+/**
+ * Multiplies two quat's
+ *
+ * @param {quat} out the receiving quaternion
+ * @param {ReadonlyQuat} a the first operand
+ * @param {ReadonlyQuat} b the second operand
+ * @returns {quat} out
+ */
+export function multiply(out, a, b) {
+  const ax = a[0];
+  const ay = a[1];
+  const az = a[2];
+  const aw = a[3];
+  const bx = b[0];
+  const by = b[1];
+  const bz = b[2];
+  const 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 {ReadonlyQuat} a quat to rotate
+ * @param {number} rad angle (in radians) to rotate
+ * @returns {quat} out
+ */
+export function rotateX(out, a, rad) {
+  rad *= 0.5;
+
+  const ax = a[0];
+  const ay = a[1];
+  const az = a[2];
+  const aw = a[3];
+  const bx = Math.sin(rad);
+  const 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 {ReadonlyQuat} a quat to rotate
+ * @param {number} rad angle (in radians) to rotate
+ * @returns {quat} out
+ */
+export function rotateY(out, a, rad) {
+  rad *= 0.5;
+
+  const ax = a[0];
+  const ay = a[1];
+  const az = a[2];
+  const aw = a[3];
+  const by = Math.sin(rad);
+  const 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 {ReadonlyQuat} a quat to rotate
+ * @param {number} rad angle (in radians) to rotate
+ * @returns {quat} out
+ */
+export function rotateZ(out, a, rad) {
+  rad *= 0.5;
+
+  const ax = a[0];
+  const ay = a[1];
+  const az = a[2];
+  const aw = a[3];
+  const bz = Math.sin(rad);
+  const 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 {ReadonlyQuat} a quat to calculate W component of
+ * @returns {quat} out
+ */
+export function calculateW(out, a) {
+  const x = a[0];
+  const y = a[1];
+  const 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 {ReadonlyQuat} a quat to calculate the exponential of
+ * @returns {quat} out
+ */
+export function exp(out, a) {
+  const x = a[0];
+  const y = a[1];
+  const z = a[2];
+  const 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 {ReadonlyQuat} a quat to calculate the exponential of
+ * @returns {quat} out
+ */
+export function ln(out, a) {
+  const x = a[0];
+  const y = a[1];
+  const z = a[2];
+  const 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 {ReadonlyQuat} a quat to calculate the exponential of
+ * @param {Number} b amount to scale the quaternion by
+ * @returns {quat} out
+ */
+export function pow(out, a, b) {
+  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 {ReadonlyQuat} a the first operand
+ * @param {ReadonlyQuat} 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, a, b, t) {
+  // benchmarks:
+  //    http://jsperf.com/quaternion-slerp-implementations
+  const ax = a[0];
+  const ay = a[1];
+  const az = a[2];
+  const aw = a[3];
+  let bx = b[0];
+  let by = b[1];
+  let bz = b[2];
+  let bw = b[3];
+
+  let cosom;
+  let omega;
+  let scale0;
+  let scale1;
+  let sinom;
+
+  // 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 > glMatrix.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) {
+//   // Implementation of http://planning.cs.uiuc.edu/node198.html
+//   // TODO: Calling random 3 times is probably not the fastest solution
+//   let u1 = glMatrix.RANDOM();
+//   let u2 = glMatrix.RANDOM();
+//   let u3 = glMatrix.RANDOM();
+
+//   let sqrt1MinusU1 = Math.sqrt(1 - u1);
+//   let 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 {ReadonlyQuat} a quat to calculate inverse of
+ * @returns {quat} out
+ */
+export function invert(out, a) {
+  const a0 = a[0];
+  const a1 = a[1];
+  const a2 = a[2];
+  const 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 {ReadonlyQuat} a quat to calculate conjugate of
+ * @returns {quat} out
+ */
+export function conjugate(out, a) {
+  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 {ReadonlyMat3} m rotation matrix
+ * @returns {quat} out
+ * @function
+ */
+export function fromMat3(out, m) {
+  // 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;
+
+  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
+    let i = 0;
+    if (m[4] > m[0]) i = 1;
+    if (m[8] > m[i * 3 + i]) i = 2;
+    const j = (i + 1) % 3;
+    const k = (i + 2) % 3;
+
+    fRoot = Math.sqrt(m[i * 3 + i] - m[j * 3 + j] - m[k * 3 + k] + 1.0);
+    out[i] = 0.5 * fRoot;
+    fRoot = 0.5 / fRoot;
+    out[3] = (m[j * 3 + k] - m[k * 3 + j]) * fRoot;
+    out[j] = (m[j * 3 + i] + m[i * 3 + j]) * fRoot;
+    out[k] = (m[k * 3 + i] + m[i * 3 + k]) * 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 {Number} x Angle to rotate around X axis in degrees.
+ * @param {Number} y Angle to rotate around Y axis in degrees.
+ * @param {Number} 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, x, y, z, order = glMatrix.ANGLE_ORDER) {
+//   let halfToRad = Math.PI / 360;
+//   x *= halfToRad;
+//   z *= halfToRad;
+//   y *= halfToRad;
+
+//   let sx = Math.sin(x);
+//   let cx = Math.cos(x);
+//   let sy = Math.sin(y);
+//   let cy = Math.cos(y);
+//   let sz = Math.sin(z);
+//   let 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);
+//   }
+
+//   return out;
+// }
+
+/**
+ * Returns a string representation of a quaternion
+ *
+ * @param {ReadonlyQuat} a vector to represent as a string
+ * @returns {String} string representation of the vector
+ */
+export function str(a) {
+  return `quat(${a[0]}, ${a[1]}, ${a[2]}, ${a[3]})`;
+}
+
+/**
+ * Creates a new quat initialized with values from an existing quaternion
+ *
+ * @param {ReadonlyQuat} 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 {ReadonlyQuat} 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 {ReadonlyQuat} a the first operand
+ * @param {ReadonlyQuat} 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 {ReadonlyQuat} 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 {ReadonlyQuat} a the first operand
+ * @param {ReadonlyQuat} 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 {ReadonlyQuat} a the first operand
+ * @param {ReadonlyQuat} 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 {ReadonlyQuat} a vector to calculate length of
+ * @returns {Number} length of a
+ */
+export const length = vec4.length;
+
+/**
+ * Alias for {@link quat.length}
+ * @function
+ */
+export const len = length;
+
+/**
+ * Calculates the squared length of a quat
+ *
+ * @param {ReadonlyQuat} a vector to calculate squared length of
+ * @returns {Number} squared length of a
+ * @function
+ */
+export const squaredLength = vec4.squaredLength;
+
+/**
+ * Alias for {@link quat.squaredLength}
+ * @function
+ */
+export const sqrLen = squaredLength;
+
+/**
+ * Normalize a quat
+ *
+ * @param {quat} out the receiving quaternion
+ * @param {ReadonlyQuat} 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 {ReadonlyQuat} a The first quaternion.
+ * @param {ReadonlyQuat} 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 {ReadonlyQuat} a The first unit quaternion.
+ * @param {ReadonlyQuat} b The second unit quaternion.
+ * @returns {Boolean} True if the quaternions are equal, false otherwise.
+ */
+export function equals(a, b) {
+  return Math.abs(vec4.dot(a, b)) >= 1 - glMatrix.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 {ReadonlyVec3} a the initial vector
+ * @param {ReadonlyVec3} 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, a, b) {
+    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;
+    }
+    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 {ReadonlyQuat} a the first operand
+ * @param {ReadonlyQuat} b the second operand
+ * @param {ReadonlyQuat} c the third operand
+ * @param {ReadonlyQuat} 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, a, b, c, d, t) {
+    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 {ReadonlyVec3} view  the vector representing the viewing direction
+ * @param {ReadonlyVec3} right the vector representing the local "right" direction
+ * @param {ReadonlyVec3} up    the vector representing the local "up" direction
+ * @returns {quat} out
+ */
+export const setAxes = (function () {
+  const matr = mat3.create();
+
+  return function (out, view, right, up) {
+    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));
+  };
+})();