@mlightcad/geometry-engine 1.0.0

package/lib/math/AcGeMatrix3d.js

@@ -0,0 +1,1037 @@
+import { DEFAULT_TOL } from '../util';
+import { AcGeVector3d } from './AcGeVector3d';
+/**
+ * The class representing a 4x4 matrix.
+ */
+var AcGeMatrix3d = /** @class */ (function () {
+    /**
+     * Create a 4x4 matrix with the given arguments in row-major order. If no arguments are provided,
+     * the constructor initializes the Matrix4 to the 4x4 identity matrix.
+     *
+     * @param n11 Input element in the first row and the first column
+     * @param n12 Input element in the first row and the second column
+     * @param n13 Input element in the first row and the third column
+     * @param n14 Input element in the first row and the forth column
+     * @param n21 Input element in the second row and the first column
+     * @param n22 Input element in the second row and the second column
+     * @param n23 Input element in the second row and the third column
+     * @param n24 Input element in the second row and the forth column
+     * @param n31 Input element in the third row and the first column
+     * @param n32 Input element in the third row and the second column
+     * @param n33 Input element in the third row and the third column
+     * @param n34 Input element in the third row and the forth column
+     * @param n41 Input element in the forth row and the first column
+     * @param n42 Input element in the forth row and the second column
+     * @param n43 Input element in the forth row and the third column
+     * @param n44 Input element in the forth row and the forth column
+     */
+    function AcGeMatrix3d(n11, n12, n13, n14, n21, n22, n23, n24, n31, n32, n33, n34, n41, n42, n43, n44) {
+        this.elements = [1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1];
+        if (n11 != null &&
+            n12 != null &&
+            n13 != null &&
+            n14 != null &&
+            n21 != null &&
+            n22 != null &&
+            n23 != null &&
+            n24 != null &&
+            n31 != null &&
+            n32 != null &&
+            n33 != null &&
+            n34 != null &&
+            n41 != null &&
+            n42 != null &&
+            n43 != null &&
+            n44 != null) {
+            this.set(n11, n12, n13, n14, n21, n22, n23, n24, n31, n32, n33, n34, n41, n42, n43, n44);
+        }
+    }
+    /**
+     * Set the elements of this matrix to the supplied row-major values n11, n12, ... n44.
+     *
+     * @param n11 Input element in the first row and the first column
+     * @param n12 Input element in the first row and the second column
+     * @param n13 Input element in the first row and the third column
+     * @param n14 Input element in the first row and the forth column
+     * @param n21 Input element in the second row and the first column
+     * @param n22 Input element in the second row and the second column
+     * @param n23 Input element in the second row and the third column
+     * @param n24 Input element in the second row and the forth column
+     * @param n31 Input element in the third row and the first column
+     * @param n32 Input element in the third row and the second column
+     * @param n33 Input element in the third row and the third column
+     * @param n34 Input element in the third row and the forth column
+     * @param n41 Input element in the forth row and the first column
+     * @param n42 Input element in the forth row and the second column
+     * @param n43 Input element in the forth row and the third column
+     * @param n44 Input element in the forth row and the forth column
+     * @returns Return this matrix
+     */
+    AcGeMatrix3d.prototype.set = function (n11, n12, n13, n14, n21, n22, n23, n24, n31, n32, n33, n34, n41, n42, n43, n44) {
+        var te = this.elements;
+        te[0] = n11;
+        te[4] = n12;
+        te[8] = n13;
+        te[12] = n14;
+        te[1] = n21;
+        te[5] = n22;
+        te[9] = n23;
+        te[13] = n24;
+        te[2] = n31;
+        te[6] = n32;
+        te[10] = n33;
+        te[14] = n34;
+        te[3] = n41;
+        te[7] = n42;
+        te[11] = n43;
+        te[15] = n44;
+        return this;
+    };
+    /**
+     * Reset this matrix to the identity matrix.
+     * @returns Return this matrix
+     */
+    AcGeMatrix3d.prototype.identity = function () {
+        this.set(1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1);
+        return this;
+    };
+    AcGeMatrix3d.prototype.clone = function () {
+        return new AcGeMatrix3d().fromArray(this.elements);
+    };
+    /**
+     * Copy the elements of matrix m into this matrix.
+     * @param m Input one matrix copied from
+     * @returns Return this matrix
+     */
+    AcGeMatrix3d.prototype.copy = function (m) {
+        var te = this.elements;
+        var me = m.elements;
+        te[0] = me[0];
+        te[1] = me[1];
+        te[2] = me[2];
+        te[3] = me[3];
+        te[4] = me[4];
+        te[5] = me[5];
+        te[6] = me[6];
+        te[7] = me[7];
+        te[8] = me[8];
+        te[9] = me[9];
+        te[10] = me[10];
+        te[11] = me[11];
+        te[12] = me[12];
+        te[13] = me[13];
+        te[14] = me[14];
+        te[15] = me[15];
+        return this;
+    };
+    /**
+     * Copy the translation component of the supplied matrix m into this matrix's translation component.
+     * @param m Input the matrix copied from
+     * @returns Return this matrix
+     */
+    AcGeMatrix3d.prototype.copyPosition = function (m) {
+        var te = this.elements, me = m.elements;
+        te[12] = me[12];
+        te[13] = me[13];
+        te[14] = me[14];
+        return this;
+    };
+    /**
+     * Set the upper 3x3 elements of this matrix to the values of the 3x3 matrix m.
+     * @param m Input one 3x3 matrix
+     * @returns Return this matrix
+     */
+    AcGeMatrix3d.prototype.setFromMatrix3 = function (m) {
+        var me = m.elements;
+        this.set(me[0], me[3], me[6], 0, me[1], me[4], me[7], 0, me[2], me[5], me[8], 0, 0, 0, 0, 1);
+        return this;
+    };
+    /**
+     * Create transform matrix according to the given the normalized extrusion vector
+     * @param extrusion Input the normalized extrusion vector
+     * @returns Return this matrix
+     */
+    AcGeMatrix3d.prototype.setFromExtrusionDirection = function (extrusion) {
+        if (!DEFAULT_TOL.equalPoint3d(extrusion, AcGeVector3d.Z_AXIS)) {
+            var xAxis = new AcGeVector3d(1, 0, 0);
+            if (Math.abs(extrusion.x) < 1.0 / 64.0 &&
+                Math.abs(extrusion.y) < 1.0 / 64.0) {
+                xAxis.crossVectors(AcGeVector3d.Y_AXIS, extrusion).normalize();
+            }
+            else {
+                xAxis.crossVectors(AcGeVector3d.Z_AXIS, extrusion).normalize();
+            }
+            var yAxis = extrusion.clone().cross(xAxis).normalize();
+            this.set(xAxis.x, xAxis.y, xAxis.z, 0, yAxis.x, yAxis.y, yAxis.z, 0, extrusion.x, extrusion.y, extrusion.z, 0, 0, 0, 0, 1);
+        }
+        else {
+            this.identity();
+        }
+        return this;
+    };
+    /**
+     * Extracts the basis of this matrix into the three axis vectors provided.
+     * @param xAxis Input X axis vector
+     * @param yAxis Input Y axis vector
+     * @param zAxis Input Z axis vector
+     * @returns Return this matrix
+     */
+    AcGeMatrix3d.prototype.extractBasis = function (xAxis, yAxis, zAxis) {
+        xAxis.setFromMatrixColumn(this, 0);
+        yAxis.setFromMatrixColumn(this, 1);
+        zAxis.setFromMatrixColumn(this, 2);
+        return this;
+    };
+    /**
+     * Set this to the basis matrix consisting of the three provided basis vectors:
+     * @param xAxis Input X axis vector
+     * @param yAxis Input Y axis vector
+     * @param zAxis Input Z axis vector
+     * @returns Return this matrix
+     */
+    AcGeMatrix3d.prototype.makeBasis = function (xAxis, yAxis, zAxis) {
+        this.set(xAxis.x, yAxis.x, zAxis.x, 0, xAxis.y, yAxis.y, zAxis.y, 0, xAxis.z, yAxis.z, zAxis.z, 0, 0, 0, 0, 1);
+        return this;
+    };
+    /**
+     * Extracts the rotation component of the supplied matrix m into this matrix's rotation component.
+     * @param m Input one 4x4 matrix
+     * @returns Return this matrix
+     */
+    AcGeMatrix3d.prototype.extractRotation = function (m) {
+        // this method does not support reflection matrices
+        var te = this.elements;
+        var me = m.elements;
+        var scaleX = 1 / _v1.setFromMatrixColumn(m, 0).length();
+        var scaleY = 1 / _v1.setFromMatrixColumn(m, 1).length();
+        var scaleZ = 1 / _v1.setFromMatrixColumn(m, 2).length();
+        te[0] = me[0] * scaleX;
+        te[1] = me[1] * scaleX;
+        te[2] = me[2] * scaleX;
+        te[3] = 0;
+        te[4] = me[4] * scaleY;
+        te[5] = me[5] * scaleY;
+        te[6] = me[6] * scaleY;
+        te[7] = 0;
+        te[8] = me[8] * scaleZ;
+        te[9] = me[9] * scaleZ;
+        te[10] = me[10] * scaleZ;
+        te[11] = 0;
+        te[12] = 0;
+        te[13] = 0;
+        te[14] = 0;
+        te[15] = 1;
+        return this;
+    };
+    // makeRotationFromEuler(euler) {
+    //   const te = this.elements
+    //   const x = euler.x,
+    //     y = euler.y,
+    //     z = euler.z
+    //   const a = Math.cos(x),
+    //     b = Math.sin(x)
+    //   const c = Math.cos(y),
+    //     d = Math.sin(y)
+    //   const e = Math.cos(z),
+    //     f = Math.sin(z)
+    //   if (euler.order === 'XYZ') {
+    //     const ae = a * e,
+    //       af = a * f,
+    //       be = b * e,
+    //       bf = b * f
+    //     te[0] = c * e
+    //     te[4] = -c * f
+    //     te[8] = d
+    //     te[1] = af + be * d
+    //     te[5] = ae - bf * d
+    //     te[9] = -b * c
+    //     te[2] = bf - ae * d
+    //     te[6] = be + af * d
+    //     te[10] = a * c
+    //   } else if (euler.order === 'YXZ') {
+    //     const ce = c * e,
+    //       cf = c * f,
+    //       de = d * e,
+    //       df = d * f
+    //     te[0] = ce + df * b
+    //     te[4] = de * b - cf
+    //     te[8] = a * d
+    //     te[1] = a * f
+    //     te[5] = a * e
+    //     te[9] = -b
+    //     te[2] = cf * b - de
+    //     te[6] = df + ce * b
+    //     te[10] = a * c
+    //   } else if (euler.order === 'ZXY') {
+    //     const ce = c * e,
+    //       cf = c * f,
+    //       de = d * e,
+    //       df = d * f
+    //     te[0] = ce - df * b
+    //     te[4] = -a * f
+    //     te[8] = de + cf * b
+    //     te[1] = cf + de * b
+    //     te[5] = a * e
+    //     te[9] = df - ce * b
+    //     te[2] = -a * d
+    //     te[6] = b
+    //     te[10] = a * c
+    //   } else if (euler.order === 'ZYX') {
+    //     const ae = a * e,
+    //       af = a * f,
+    //       be = b * e,
+    //       bf = b * f
+    //     te[0] = c * e
+    //     te[4] = be * d - af
+    //     te[8] = ae * d + bf
+    //     te[1] = c * f
+    //     te[5] = bf * d + ae
+    //     te[9] = af * d - be
+    //     te[2] = -d
+    //     te[6] = b * c
+    //     te[10] = a * c
+    //   } else if (euler.order === 'YZX') {
+    //     const ac = a * c,
+    //       ad = a * d,
+    //       bc = b * c,
+    //       bd = b * d
+    //     te[0] = c * e
+    //     te[4] = bd - ac * f
+    //     te[8] = bc * f + ad
+    //     te[1] = f
+    //     te[5] = a * e
+    //     te[9] = -b * e
+    //     te[2] = -d * e
+    //     te[6] = ad * f + bc
+    //     te[10] = ac - bd * f
+    //   } else if (euler.order === 'XZY') {
+    //     const ac = a * c,
+    //       ad = a * d,
+    //       bc = b * c,
+    //       bd = b * d
+    //     te[0] = c * e
+    //     te[4] = -f
+    //     te[8] = d * e
+    //     te[1] = ac * f + bd
+    //     te[5] = a * e
+    //     te[9] = ad * f - bc
+    //     te[2] = bc * f - ad
+    //     te[6] = b * e
+    //     te[10] = bd * f + ac
+    //   }
+    //   // bottom row
+    //   te[3] = 0
+    //   te[7] = 0
+    //   te[11] = 0
+    //   // last column
+    //   te[12] = 0
+    //   te[13] = 0
+    //   te[14] = 0
+    //   te[15] = 1
+    //   return this
+    // }
+    /**
+     * Set the rotation component of this matrix to the rotation specified by q
+     * @param q Input one uaternion
+     * @returns Return this matrix
+     */
+    AcGeMatrix3d.prototype.makeRotationFromQuaternion = function (q) {
+        return this.compose(_zero, q, _one);
+    };
+    /**
+     * Construct a rotation matrix, looking from eye towards target oriented by the up vector.
+     * @param eye Input eye vector
+     * @param target Input target vector
+     * @param up Input up vector
+     * @returns Return this matrix
+     */
+    AcGeMatrix3d.prototype.lookAt = function (eye, target, up) {
+        var te = this.elements;
+        _z.subVectors(eye, target);
+        if (_z.lengthSq() === 0) {
+            // eye and target are in the same position
+            _z.z = 1;
+        }
+        _z.normalize();
+        _x.crossVectors(up, _z);
+        if (_x.lengthSq() === 0) {
+            // up and z are parallel
+            if (Math.abs(up.z) === 1) {
+                _z.x += 0.0001;
+            }
+            else {
+                _z.z += 0.0001;
+            }
+            _z.normalize();
+            _x.crossVectors(up, _z);
+        }
+        _x.normalize();
+        _y.crossVectors(_z, _x);
+        te[0] = _x.x;
+        te[4] = _y.x;
+        te[8] = _z.x;
+        te[1] = _x.y;
+        te[5] = _y.y;
+        te[9] = _z.y;
+        te[2] = _x.z;
+        te[6] = _y.z;
+        te[10] = _z.z;
+        return this;
+    };
+    /**
+     * Post-multiply this matrix by m.
+     * @param m Input one 4x4 matrix
+     * @returns Return this matrix
+     */
+    AcGeMatrix3d.prototype.multiply = function (m) {
+        return this.multiplyMatrices(this, m);
+    };
+    /**
+     * Pre-multiply this matrix by m.
+     * @param m Input one 4x4 matrix
+     * @returns Return this matrix
+     */
+    AcGeMatrix3d.prototype.premultiply = function (m) {
+        return this.multiplyMatrices(m, this);
+    };
+    /**
+     * Set this matrix to a x b.
+     * @param a Input one 4x4 matrix
+     * @param b Input one 4x4 matrix
+     * @returns Return this matrix
+     */
+    AcGeMatrix3d.prototype.multiplyMatrices = function (a, b) {
+        var ae = a.elements;
+        var be = b.elements;
+        var te = this.elements;
+        var a11 = ae[0], a12 = ae[4], a13 = ae[8], a14 = ae[12];
+        var a21 = ae[1], a22 = ae[5], a23 = ae[9], a24 = ae[13];
+        var a31 = ae[2], a32 = ae[6], a33 = ae[10], a34 = ae[14];
+        var a41 = ae[3], a42 = ae[7], a43 = ae[11], a44 = ae[15];
+        var b11 = be[0], b12 = be[4], b13 = be[8], b14 = be[12];
+        var b21 = be[1], b22 = be[5], b23 = be[9], b24 = be[13];
+        var b31 = be[2], b32 = be[6], b33 = be[10], b34 = be[14];
+        var b41 = be[3], b42 = be[7], b43 = be[11], b44 = be[15];
+        te[0] = a11 * b11 + a12 * b21 + a13 * b31 + a14 * b41;
+        te[4] = a11 * b12 + a12 * b22 + a13 * b32 + a14 * b42;
+        te[8] = a11 * b13 + a12 * b23 + a13 * b33 + a14 * b43;
+        te[12] = a11 * b14 + a12 * b24 + a13 * b34 + a14 * b44;
+        te[1] = a21 * b11 + a22 * b21 + a23 * b31 + a24 * b41;
+        te[5] = a21 * b12 + a22 * b22 + a23 * b32 + a24 * b42;
+        te[9] = a21 * b13 + a22 * b23 + a23 * b33 + a24 * b43;
+        te[13] = a21 * b14 + a22 * b24 + a23 * b34 + a24 * b44;
+        te[2] = a31 * b11 + a32 * b21 + a33 * b31 + a34 * b41;
+        te[6] = a31 * b12 + a32 * b22 + a33 * b32 + a34 * b42;
+        te[10] = a31 * b13 + a32 * b23 + a33 * b33 + a34 * b43;
+        te[14] = a31 * b14 + a32 * b24 + a33 * b34 + a34 * b44;
+        te[3] = a41 * b11 + a42 * b21 + a43 * b31 + a44 * b41;
+        te[7] = a41 * b12 + a42 * b22 + a43 * b32 + a44 * b42;
+        te[11] = a41 * b13 + a42 * b23 + a43 * b33 + a44 * b43;
+        te[15] = a41 * b14 + a42 * b24 + a43 * b34 + a44 * b44;
+        return this;
+    };
+    /**
+     * Multiply every component of the matrix by a scalar value s.
+     * @param s Input one scalar value
+     * @returns Return this matrix
+     */
+    AcGeMatrix3d.prototype.multiplyScalar = function (s) {
+        var te = this.elements;
+        te[0] *= s;
+        te[4] *= s;
+        te[8] *= s;
+        te[12] *= s;
+        te[1] *= s;
+        te[5] *= s;
+        te[9] *= s;
+        te[13] *= s;
+        te[2] *= s;
+        te[6] *= s;
+        te[10] *= s;
+        te[14] *= s;
+        te[3] *= s;
+        te[7] *= s;
+        te[11] *= s;
+        te[15] *= s;
+        return this;
+    };
+    /**
+     * Compute and return the determinant of this matrix.
+     * @returns Return the determinant of this matrix.
+     */
+    AcGeMatrix3d.prototype.determinant = function () {
+        var te = this.elements;
+        var n11 = te[0], n12 = te[4], n13 = te[8], n14 = te[12];
+        var n21 = te[1], n22 = te[5], n23 = te[9], n24 = te[13];
+        var n31 = te[2], n32 = te[6], n33 = te[10], n34 = te[14];
+        var n41 = te[3], n42 = te[7], n43 = te[11], n44 = te[15];
+        //TODO: make this more efficient
+        //( based on http://www.euclideanspace.com/maths/algebra/matrix/functions/inverse/fourD/index.htm )
+        return (n41 *
+            (+n14 * n23 * n32 -
+                n13 * n24 * n32 -
+                n14 * n22 * n33 +
+                n12 * n24 * n33 +
+                n13 * n22 * n34 -
+                n12 * n23 * n34) +
+            n42 *
+                (+n11 * n23 * n34 -
+                    n11 * n24 * n33 +
+                    n14 * n21 * n33 -
+                    n13 * n21 * n34 +
+                    n13 * n24 * n31 -
+                    n14 * n23 * n31) +
+            n43 *
+                (+n11 * n24 * n32 -
+                    n11 * n22 * n34 -
+                    n14 * n21 * n32 +
+                    n12 * n21 * n34 +
+                    n14 * n22 * n31 -
+                    n12 * n24 * n31) +
+            n44 *
+                (-n13 * n22 * n31 -
+                    n11 * n23 * n32 +
+                    n11 * n22 * n33 +
+                    n13 * n21 * n32 -
+                    n12 * n21 * n33 +
+                    n12 * n23 * n31));
+    };
+    /**
+     * Transposes this matrix.
+     * @returns Return this matrix
+     */
+    AcGeMatrix3d.prototype.transpose = function () {
+        var te = this.elements;
+        var tmp;
+        tmp = te[1];
+        te[1] = te[4];
+        te[4] = tmp;
+        tmp = te[2];
+        te[2] = te[8];
+        te[8] = tmp;
+        tmp = te[6];
+        te[6] = te[9];
+        te[9] = tmp;
+        tmp = te[3];
+        te[3] = te[12];
+        te[12] = tmp;
+        tmp = te[7];
+        te[7] = te[13];
+        te[13] = tmp;
+        tmp = te[11];
+        te[11] = te[14];
+        te[14] = tmp;
+        return this;
+    };
+    /**
+     * Set the position component for this matrix from vector v, without affecting the rest of the matrix.
+     * @param x Input one number or one vector
+     * @param y Input one number
+     * @param z Input one number
+     * @returns Return this matrix
+     */
+    AcGeMatrix3d.prototype.setPosition = function (x, y, z) {
+        var te = this.elements;
+        if (x instanceof AcGeVector3d) {
+            te[12] = x.x;
+            te[13] = x.y;
+            te[14] = x.z;
+        }
+        else {
+            te[12] = x;
+            te[13] = y;
+            te[14] = z;
+        }
+        return this;
+    };
+    /**
+     * Invert this matrix, using the analytic method. You can not invert with a determinant of zero.
+     * If you attempt this, the method produces a zero matrix instead.
+     * @returns Return this matrix
+     */
+    AcGeMatrix3d.prototype.invert = function () {
+        // based on http://www.euclideanspace.com/maths/algebra/matrix/functions/inverse/fourD/index.htm
+        var te = this.elements, n11 = te[0], n21 = te[1], n31 = te[2], n41 = te[3], n12 = te[4], n22 = te[5], n32 = te[6], n42 = te[7], n13 = te[8], n23 = te[9], n33 = te[10], n43 = te[11], n14 = te[12], n24 = te[13], n34 = te[14], n44 = te[15], t11 = n23 * n34 * n42 -
+            n24 * n33 * n42 +
+            n24 * n32 * n43 -
+            n22 * n34 * n43 -
+            n23 * n32 * n44 +
+            n22 * n33 * n44, t12 = n14 * n33 * n42 -
+            n13 * n34 * n42 -
+            n14 * n32 * n43 +
+            n12 * n34 * n43 +
+            n13 * n32 * n44 -
+            n12 * n33 * n44, t13 = n13 * n24 * n42 -
+            n14 * n23 * n42 +
+            n14 * n22 * n43 -
+            n12 * n24 * n43 -
+            n13 * n22 * n44 +
+            n12 * n23 * n44, t14 = n14 * n23 * n32 -
+            n13 * n24 * n32 -
+            n14 * n22 * n33 +
+            n12 * n24 * n33 +
+            n13 * n22 * n34 -
+            n12 * n23 * n34;
+        var det = n11 * t11 + n21 * t12 + n31 * t13 + n41 * t14;
+        if (det === 0)
+            return this.set(0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0);
+        var detInv = 1 / det;
+        te[0] = t11 * detInv;
+        te[1] =
+            (n24 * n33 * n41 -
+                n23 * n34 * n41 -
+                n24 * n31 * n43 +
+                n21 * n34 * n43 +
+                n23 * n31 * n44 -
+                n21 * n33 * n44) *
+                detInv;
+        te[2] =
+            (n22 * n34 * n41 -
+                n24 * n32 * n41 +
+                n24 * n31 * n42 -
+                n21 * n34 * n42 -
+                n22 * n31 * n44 +
+                n21 * n32 * n44) *
+                detInv;
+        te[3] =
+            (n23 * n32 * n41 -
+                n22 * n33 * n41 -
+                n23 * n31 * n42 +
+                n21 * n33 * n42 +
+                n22 * n31 * n43 -
+                n21 * n32 * n43) *
+                detInv;
+        te[4] = t12 * detInv;
+        te[5] =
+            (n13 * n34 * n41 -
+                n14 * n33 * n41 +
+                n14 * n31 * n43 -
+                n11 * n34 * n43 -
+                n13 * n31 * n44 +
+                n11 * n33 * n44) *
+                detInv;
+        te[6] =
+            (n14 * n32 * n41 -
+                n12 * n34 * n41 -
+                n14 * n31 * n42 +
+                n11 * n34 * n42 +
+                n12 * n31 * n44 -
+                n11 * n32 * n44) *
+                detInv;
+        te[7] =
+            (n12 * n33 * n41 -
+                n13 * n32 * n41 +
+                n13 * n31 * n42 -
+                n11 * n33 * n42 -
+                n12 * n31 * n43 +
+                n11 * n32 * n43) *
+                detInv;
+        te[8] = t13 * detInv;
+        te[9] =
+            (n14 * n23 * n41 -
+                n13 * n24 * n41 -
+                n14 * n21 * n43 +
+                n11 * n24 * n43 +
+                n13 * n21 * n44 -
+                n11 * n23 * n44) *
+                detInv;
+        te[10] =
+            (n12 * n24 * n41 -
+                n14 * n22 * n41 +
+                n14 * n21 * n42 -
+                n11 * n24 * n42 -
+                n12 * n21 * n44 +
+                n11 * n22 * n44) *
+                detInv;
+        te[11] =
+            (n13 * n22 * n41 -
+                n12 * n23 * n41 -
+                n13 * n21 * n42 +
+                n11 * n23 * n42 +
+                n12 * n21 * n43 -
+                n11 * n22 * n43) *
+                detInv;
+        te[12] = t14 * detInv;
+        te[13] =
+            (n13 * n24 * n31 -
+                n14 * n23 * n31 +
+                n14 * n21 * n33 -
+                n11 * n24 * n33 -
+                n13 * n21 * n34 +
+                n11 * n23 * n34) *
+                detInv;
+        te[14] =
+            (n14 * n22 * n31 -
+                n12 * n24 * n31 -
+                n14 * n21 * n32 +
+                n11 * n24 * n32 +
+                n12 * n21 * n34 -
+                n11 * n22 * n34) *
+                detInv;
+        te[15] =
+            (n12 * n23 * n31 -
+                n13 * n22 * n31 +
+                n13 * n21 * n32 -
+                n11 * n23 * n32 -
+                n12 * n21 * n33 +
+                n11 * n22 * n33) *
+                detInv;
+        return this;
+    };
+    /**
+     * Multiply the columns of this matrix by vector v.
+     * @param v Input one vector
+     * @returns Return this matrix
+     */
+    AcGeMatrix3d.prototype.scale = function (v) {
+        var te = this.elements;
+        var x = v.x, y = v.y, z = v.z;
+        te[0] *= x;
+        te[4] *= y;
+        te[8] *= z;
+        te[1] *= x;
+        te[5] *= y;
+        te[9] *= z;
+        te[2] *= x;
+        te[6] *= y;
+        te[10] *= z;
+        te[3] *= x;
+        te[7] *= y;
+        te[11] *= z;
+        return this;
+    };
+    /**
+     * Get the maximum scale value of the 3 axes.
+     * @returns Return the maximum scale value of the 3 axes.
+     */
+    AcGeMatrix3d.prototype.getMaxScaleOnAxis = function () {
+        var te = this.elements;
+        var scaleXSq = te[0] * te[0] + te[1] * te[1] + te[2] * te[2];
+        var scaleYSq = te[4] * te[4] + te[5] * te[5] + te[6] * te[6];
+        var scaleZSq = te[8] * te[8] + te[9] * te[9] + te[10] * te[10];
+        return Math.sqrt(Math.max(scaleXSq, scaleYSq, scaleZSq));
+    };
+    /**
+     * Set this matrix as a translation transform from vector v, or numbers x, y and z.
+     * @param x Input one vector or one number
+     * @param y Input one number
+     * @param z Input one number
+     * @returns Return this matrix
+     */
+    AcGeMatrix3d.prototype.makeTranslation = function (x, y, z) {
+        if (x instanceof AcGeVector3d) {
+            this.set(1, 0, 0, x.x, 0, 1, 0, x.y, 0, 0, 1, x.z, 0, 0, 0, 1);
+        }
+        else {
+            this.set(1, 0, 0, x, 0, 1, 0, y, 0, 0, 1, z, 0, 0, 0, 1);
+        }
+        return this;
+    };
+    /**
+     * Set this matrix as a rotational transformation around the X axis by theta (θ) radians.
+     * @param theta Input rotation angle in radians.
+     * @returns Return this matrix
+     */
+    AcGeMatrix3d.prototype.makeRotationX = function (theta) {
+        var c = Math.cos(theta), s = Math.sin(theta);
+        this.set(1, 0, 0, 0, 0, c, -s, 0, 0, s, c, 0, 0, 0, 0, 1);
+        return this;
+    };
+    /**
+     * Set this matrix as a rotational transformation around the Y axis by theta (θ) radians.
+     * @param theta Input rotation angle in radians.
+     * @returns Return this matrix
+     */
+    AcGeMatrix3d.prototype.makeRotationY = function (theta) {
+        var c = Math.cos(theta), s = Math.sin(theta);
+        this.set(c, 0, s, 0, 0, 1, 0, 0, -s, 0, c, 0, 0, 0, 0, 1);
+        return this;
+    };
+    /**
+     * Set this matrix as a rotational transformation around the Z axis by theta (θ) radians.
+     * @param theta Input rotation angle in radians.
+     * @returns Return this matrix
+     */
+    AcGeMatrix3d.prototype.makeRotationZ = function (theta) {
+        var c = Math.cos(theta), s = Math.sin(theta);
+        this.set(c, -s, 0, 0, s, c, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1);
+        return this;
+    };
+    /**
+     * Set this matrix as rotation transform around axis by theta radians.
+     * @param axis Input rotation axis, should be normalized.
+     * @param angle Input rotation angle in radians.
+     * @returns Return this matrix
+     */
+    AcGeMatrix3d.prototype.makeRotationAxis = function (axis, angle) {
+        // Based on http://www.gamedev.net/reference/articles/article1199.asp
+        var c = Math.cos(angle);
+        var s = Math.sin(angle);
+        var t = 1 - c;
+        var x = axis.x, y = axis.y, z = axis.z;
+        var tx = t * x, ty = t * y;
+        this.set(tx * x + c, tx * y - s * z, tx * z + s * y, 0, tx * y + s * z, ty * y + c, ty * z - s * x, 0, tx * z - s * y, ty * z + s * x, t * z * z + c, 0, 0, 0, 0, 1);
+        return this;
+    };
+    /**
+     * Set this matrix as scale transform.
+     * @param x Input x scale
+     * @param y Input y scale
+     * @param z Input z scale
+     * @returns Return this matrix
+     */
+    AcGeMatrix3d.prototype.makeScale = function (x, y, z) {
+        this.set(x, 0, 0, 0, 0, y, 0, 0, 0, 0, z, 0, 0, 0, 0, 1);
+        return this;
+    };
+    /**
+     * Set this matrix as a shear transform.
+     * @param xy Input the amount to shear X by Y.
+     * @param xz Input the amount to shear X by Z.
+     * @param yx Input the amount to shear Y by X.
+     * @param yz Input the amount to shear Y by Z.
+     * @param zx Input the amount to shear Z by X.
+     * @param zy Input the amount to shear Z by Y.
+     * @returns Return this matrix
+     */
+    AcGeMatrix3d.prototype.makeShear = function (xy, xz, yx, yz, zx, zy) {
+        this.set(1, yx, zx, 0, xy, 1, zy, 0, xz, yz, 1, 0, 0, 0, 0, 1);
+        return this;
+    };
+    /**
+     * Set this matrix to the transformation composed of position, quaternion and scale.
+     * @param position Input position
+     * @param quaternion Input quaternion
+     * @param scale Input scale
+     * @returns Return this matrix
+     */
+    AcGeMatrix3d.prototype.compose = function (position, quaternion, scale) {
+        var te = this.elements;
+        var x = quaternion.x, y = quaternion.y, z = quaternion.z, w = quaternion.w;
+        var x2 = x + x, y2 = y + y, z2 = z + z;
+        var xx = x * x2, xy = x * y2, xz = x * z2;
+        var yy = y * y2, yz = y * z2, zz = z * z2;
+        var wx = w * x2, wy = w * y2, wz = w * z2;
+        var sx = scale.x, sy = scale.y, sz = scale.z;
+        te[0] = (1 - (yy + zz)) * sx;
+        te[1] = (xy + wz) * sx;
+        te[2] = (xz - wy) * sx;
+        te[3] = 0;
+        te[4] = (xy - wz) * sy;
+        te[5] = (1 - (xx + zz)) * sy;
+        te[6] = (yz + wx) * sy;
+        te[7] = 0;
+        te[8] = (xz + wy) * sz;
+        te[9] = (yz - wx) * sz;
+        te[10] = (1 - (xx + yy)) * sz;
+        te[11] = 0;
+        te[12] = position.x;
+        te[13] = position.y;
+        te[14] = position.z;
+        te[15] = 1;
+        return this;
+    };
+    /**
+     * Decompose this matrix into its position, quaternion and scale components.
+     *
+     * Note: Not all matrices are decomposable in this way. For example, if an object has a non-uniformly
+     * scaled parent, then the object's world matrix may not be decomposable, and this method may not be
+     * appropriate.
+     * @param position Input position to output
+     * @param quaternion Input quaternion to output
+     * @param scale Input scale to output
+     * @returns Return this matrix
+     */
+    AcGeMatrix3d.prototype.decompose = function (position, quaternion, scale) {
+        var te = this.elements;
+        var sx = _v1.set(te[0], te[1], te[2]).length();
+        var sy = _v1.set(te[4], te[5], te[6]).length();
+        var sz = _v1.set(te[8], te[9], te[10]).length();
+        // if determine is negative, we need to invert one scale
+        var det = this.determinant();
+        if (det < 0)
+            sx = -sx;
+        position.x = te[12];
+        position.y = te[13];
+        position.z = te[14];
+        // scale the rotation part
+        _m1.copy(this);
+        var invSX = 1 / sx;
+        var invSY = 1 / sy;
+        var invSZ = 1 / sz;
+        _m1.elements[0] *= invSX;
+        _m1.elements[1] *= invSX;
+        _m1.elements[2] *= invSX;
+        _m1.elements[4] *= invSY;
+        _m1.elements[5] *= invSY;
+        _m1.elements[6] *= invSY;
+        _m1.elements[8] *= invSZ;
+        _m1.elements[9] *= invSZ;
+        _m1.elements[10] *= invSZ;
+        quaternion.setFromRotationMatrix(_m1);
+        scale.x = sx;
+        scale.y = sy;
+        scale.z = sz;
+        return this;
+    };
+    // makePerspective(
+    //   left,
+    //   right,
+    //   top,
+    //   bottom,
+    //   near,
+    //   far,
+    //   coordinateSystem = WebGLCoordinateSystem
+    // ) {
+    //   const te = this.elements
+    //   const x = (2 * near) / (right - left)
+    //   const y = (2 * near) / (top - bottom)
+    //   const a = (right + left) / (right - left)
+    //   const b = (top + bottom) / (top - bottom)
+    //   let c, d
+    //   if (coordinateSystem === WebGLCoordinateSystem) {
+    //     c = -(far + near) / (far - near)
+    //     d = (-2 * far * near) / (far - near)
+    //   } else if (coordinateSystem === WebGPUCoordinateSystem) {
+    //     c = -far / (far - near)
+    //     d = (-far * near) / (far - near)
+    //   } else {
+    //     throw new Error(
+    //       'THREE.Matrix4.makePerspective(): Invalid coordinate system: ' +
+    //         coordinateSystem
+    //     )
+    //   }
+    //   te[0] = x
+    //   te[4] = 0
+    //   te[8] = a
+    //   te[12] = 0
+    //   te[1] = 0
+    //   te[5] = y
+    //   te[9] = b
+    //   te[13] = 0
+    //   te[2] = 0
+    //   te[6] = 0
+    //   te[10] = c
+    //   te[14] = d
+    //   te[3] = 0
+    //   te[7] = 0
+    //   te[11] = -1
+    //   te[15] = 0
+    //   return this
+    // }
+    // makeOrthographic(
+    //   left,
+    //   right,
+    //   top,
+    //   bottom,
+    //   near,
+    //   far,
+    //   coordinateSystem = WebGLCoordinateSystem
+    // ) {
+    //   const te = this.elements
+    //   const w = 1.0 / (right - left)
+    //   const h = 1.0 / (top - bottom)
+    //   const p = 1.0 / (far - near)
+    //   const x = (right + left) * w
+    //   const y = (top + bottom) * h
+    //   let z, zInv
+    //   if (coordinateSystem === WebGLCoordinateSystem) {
+    //     z = (far + near) * p
+    //     zInv = -2 * p
+    //   } else if (coordinateSystem === WebGPUCoordinateSystem) {
+    //     z = near * p
+    //     zInv = -1 * p
+    //   } else {
+    //     throw new Error(
+    //       'THREE.Matrix4.makeOrthographic(): Invalid coordinate system: ' +
+    //         coordinateSystem
+    //     )
+    //   }
+    //   te[0] = 2 * w
+    //   te[4] = 0
+    //   te[8] = 0
+    //   te[12] = -x
+    //   te[1] = 0
+    //   te[5] = 2 * h
+    //   te[9] = 0
+    //   te[13] = -y
+    //   te[2] = 0
+    //   te[6] = 0
+    //   te[10] = zInv
+    //   te[14] = -z
+    //   te[3] = 0
+    //   te[7] = 0
+    //   te[11] = 0
+    //   te[15] = 1
+    //   return this
+    // }
+    /**
+     * Return true if this matrix and m are equal.
+     * @param matrix Input one matrix to compare
+     * @returns Return true if this matrix and m are equal.
+     */
+    AcGeMatrix3d.prototype.equals = function (matrix) {
+        var te = this.elements;
+        var me = matrix.elements;
+        for (var i = 0; i < 16; i++) {
+            if (te[i] !== me[i])
+                return false;
+        }
+        return true;
+    };
+    /**
+     * Set the elements of this matrix based on an array in column-major format.
+     * @param array Input the array to read the elements from.
+     * @param offset Input (optional) offset into the array. Default is 0.
+     * @returns
+     */
+    AcGeMatrix3d.prototype.fromArray = function (array, offset) {
+        if (offset === void 0) { offset = 0; }
+        for (var i = 0; i < 16; i++) {
+            this.elements[i] = array[i + offset];
+        }
+        return this;
+    };
+    /**
+     * Write the elements of this matrix to an array in column-major format.
+     * @param array Input (optional) array to store the resulting vector in.
+     * @param offset Input (optional) offset in the array at which to put the result.
+     * @returns Return an array in column-major format by writing the elements of this matrix to it
+     */
+    AcGeMatrix3d.prototype.toArray = function (array, offset) {
+        if (array === void 0) { array = []; }
+        if (offset === void 0) { offset = 0; }
+        var te = this.elements;
+        array[offset] = te[0];
+        array[offset + 1] = te[1];
+        array[offset + 2] = te[2];
+        array[offset + 3] = te[3];
+        array[offset + 4] = te[4];
+        array[offset + 5] = te[5];
+        array[offset + 6] = te[6];
+        array[offset + 7] = te[7];
+        array[offset + 8] = te[8];
+        array[offset + 9] = te[9];
+        array[offset + 10] = te[10];
+        array[offset + 11] = te[11];
+        array[offset + 12] = te[12];
+        array[offset + 13] = te[13];
+        array[offset + 14] = te[14];
+        array[offset + 15] = te[15];
+        return array;
+    };
+    /**
+     * Identity matrix.
+     */
+    AcGeMatrix3d.IDENTITY = Object.freeze(new AcGeMatrix3d());
+    return AcGeMatrix3d;
+}());
+export { AcGeMatrix3d };
+var _v1 = /*@__PURE__*/ new AcGeVector3d();
+var _m1 = /*@__PURE__*/ new AcGeMatrix3d();
+var _zero = /*@__PURE__*/ new AcGeVector3d(0, 0, 0);
+var _one = /*@__PURE__*/ new AcGeVector3d(1, 1, 1);
+var _x = /*@__PURE__*/ new AcGeVector3d();
+var _y = /*@__PURE__*/ new AcGeVector3d();
+var _z = /*@__PURE__*/ new AcGeVector3d();
+//# sourceMappingURL=AcGeMatrix3d.js.map