@ntf/math 1.2.0 → 1.3.1
This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
- package/dist/index.d.mts +754 -0
- package/dist/index.d.ts +754 -0
- package/dist/index.js +2892 -0
- package/dist/index.mjs +2869 -0
- package/package.json +23 -13
- package/dist/cjs/algebra/function.js +0 -7
- package/dist/cjs/algebra/function.js.map +0 -1
- package/dist/cjs/algebra/linear.js +0 -49
- package/dist/cjs/algebra/linear.js.map +0 -1
- package/dist/cjs/algebra/quad.js +0 -62
- package/dist/cjs/algebra/quad.js.map +0 -1
- package/dist/cjs/color.js +0 -243
- package/dist/cjs/color.js.map +0 -1
- package/dist/cjs/common/error.js +0 -14
- package/dist/cjs/common/error.js.map +0 -1
- package/dist/cjs/common/sign.js +0 -14
- package/dist/cjs/common/sign.js.map +0 -1
- package/dist/cjs/common/types.js +0 -77
- package/dist/cjs/common/types.js.map +0 -1
- package/dist/cjs/geometry/angle.js +0 -11
- package/dist/cjs/geometry/angle.js.map +0 -1
- package/dist/cjs/geometry/bbox.js +0 -102
- package/dist/cjs/geometry/bbox.js.map +0 -1
- package/dist/cjs/geometry/circle.js +0 -87
- package/dist/cjs/geometry/circle.js.map +0 -1
- package/dist/cjs/geometry/object.js +0 -3
- package/dist/cjs/geometry/object.js.map +0 -1
- package/dist/cjs/geometry/rectangle.js +0 -98
- package/dist/cjs/geometry/rectangle.js.map +0 -1
- package/dist/cjs/geometry/square.js +0 -70
- package/dist/cjs/geometry/square.js.map +0 -1
- package/dist/cjs/geometry/triangle.js +0 -65
- package/dist/cjs/geometry/triangle.js.map +0 -1
- package/dist/cjs/index.js +0 -59
- package/dist/cjs/index.js.map +0 -1
- package/dist/cjs/matrices/mat3.js +0 -202
- package/dist/cjs/matrices/mat3.js.map +0 -1
- package/dist/cjs/matrices/mat4.js +0 -292
- package/dist/cjs/matrices/mat4.js.map +0 -1
- package/dist/cjs/quaternion.js +0 -204
- package/dist/cjs/quaternion.js.map +0 -1
- package/dist/cjs/vectors/vec2.js +0 -168
- package/dist/cjs/vectors/vec2.js.map +0 -1
- package/dist/cjs/vectors/vec3.js +0 -177
- package/dist/cjs/vectors/vec3.js.map +0 -1
- package/dist/esm/algebra/function.js +0 -3
- package/dist/esm/algebra/function.js.map +0 -1
- package/dist/esm/algebra/linear.js +0 -45
- package/dist/esm/algebra/linear.js.map +0 -1
- package/dist/esm/algebra/quad.js +0 -58
- package/dist/esm/algebra/quad.js.map +0 -1
- package/dist/esm/color.js +0 -236
- package/dist/esm/color.js.map +0 -1
- package/dist/esm/common/error.js +0 -10
- package/dist/esm/common/error.js.map +0 -1
- package/dist/esm/common/sign.js +0 -10
- package/dist/esm/common/sign.js.map +0 -1
- package/dist/esm/common/types.js +0 -65
- package/dist/esm/common/types.js.map +0 -1
- package/dist/esm/geometry/angle.js +0 -5
- package/dist/esm/geometry/angle.js.map +0 -1
- package/dist/esm/geometry/bbox.js +0 -98
- package/dist/esm/geometry/bbox.js.map +0 -1
- package/dist/esm/geometry/circle.js +0 -83
- package/dist/esm/geometry/circle.js.map +0 -1
- package/dist/esm/geometry/object.js +0 -2
- package/dist/esm/geometry/object.js.map +0 -1
- package/dist/esm/geometry/rectangle.js +0 -94
- package/dist/esm/geometry/rectangle.js.map +0 -1
- package/dist/esm/geometry/square.js +0 -66
- package/dist/esm/geometry/square.js.map +0 -1
- package/dist/esm/geometry/triangle.js +0 -59
- package/dist/esm/geometry/triangle.js.map +0 -1
- package/dist/esm/index.js +0 -40
- package/dist/esm/index.js.map +0 -1
- package/dist/esm/matrices/mat3.js +0 -198
- package/dist/esm/matrices/mat3.js.map +0 -1
- package/dist/esm/matrices/mat4.js +0 -288
- package/dist/esm/matrices/mat4.js.map +0 -1
- package/dist/esm/quaternion.js +0 -200
- package/dist/esm/quaternion.js.map +0 -1
- package/dist/esm/vectors/vec2.js +0 -164
- package/dist/esm/vectors/vec2.js.map +0 -1
- package/dist/esm/vectors/vec3.js +0 -173
- package/dist/esm/vectors/vec3.js.map +0 -1
- package/dist/types/algebra/function.d.ts +0 -6
- package/dist/types/algebra/function.d.ts.map +0 -1
- package/dist/types/algebra/linear.d.ts +0 -14
- package/dist/types/algebra/linear.d.ts.map +0 -1
- package/dist/types/algebra/quad.d.ts +0 -18
- package/dist/types/algebra/quad.d.ts.map +0 -1
- package/dist/types/color.d.ts +0 -90
- package/dist/types/color.d.ts.map +0 -1
- package/dist/types/common/error.d.ts +0 -6
- package/dist/types/common/error.d.ts.map +0 -1
- package/dist/types/common/sign.d.ts +0 -2
- package/dist/types/common/sign.d.ts.map +0 -1
- package/dist/types/common/types.d.ts +0 -26
- package/dist/types/common/types.d.ts.map +0 -1
- package/dist/types/geometry/angle.d.ts +0 -5
- package/dist/types/geometry/angle.d.ts.map +0 -1
- package/dist/types/geometry/bbox.d.ts +0 -38
- package/dist/types/geometry/bbox.d.ts.map +0 -1
- package/dist/types/geometry/circle.d.ts +0 -32
- package/dist/types/geometry/circle.d.ts.map +0 -1
- package/dist/types/geometry/object.d.ts +0 -5
- package/dist/types/geometry/object.d.ts.map +0 -1
- package/dist/types/geometry/rectangle.d.ts +0 -34
- package/dist/types/geometry/rectangle.d.ts.map +0 -1
- package/dist/types/geometry/square.d.ts +0 -28
- package/dist/types/geometry/square.d.ts.map +0 -1
- package/dist/types/geometry/triangle.d.ts +0 -42
- package/dist/types/geometry/triangle.d.ts.map +0 -1
- package/dist/types/index.d.ts +0 -23
- package/dist/types/index.d.ts.map +0 -1
- package/dist/types/matrices/mat3.d.ts +0 -62
- package/dist/types/matrices/mat3.d.ts.map +0 -1
- package/dist/types/matrices/mat4.d.ts +0 -89
- package/dist/types/matrices/mat4.d.ts.map +0 -1
- package/dist/types/quaternion.d.ts +0 -50
- package/dist/types/quaternion.d.ts.map +0 -1
- package/dist/types/vectors/vec2.d.ts +0 -60
- package/dist/types/vectors/vec2.d.ts.map +0 -1
- package/dist/types/vectors/vec3.d.ts +0 -58
- package/dist/types/vectors/vec3.d.ts.map +0 -1
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import { ResolveError } from "../common/error.js";
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import { Vec3 } from "../vectors/vec3.js";
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import { check_number_array, check_number, check_string, check_string_array, has_property, check_array } from "../common/types.js";
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import { Mat3 } from "./mat3.js";
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export class Mat4 {
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_raw;
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get m00() { return this._raw[0]; }
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set m00(val) { this._raw[0] = val; }
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get m01() { return this._raw[1]; }
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set m01(val) { this._raw[1] = val; }
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get m02() { return this._raw[2]; }
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set m02(val) { this._raw[2] = val; }
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get m03() { return this._raw[3]; }
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set m03(val) { this._raw[3] = val; }
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get m10() { return this._raw[4]; }
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set m10(val) { this._raw[4] = val; }
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get m11() { return this._raw[5]; }
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set m11(val) { this._raw[5] = val; }
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get m12() { return this._raw[6]; }
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set m12(val) { this._raw[6] = val; }
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get m13() { return this._raw[7]; }
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set m13(val) { this._raw[7] = val; }
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get m20() { return this._raw[8]; }
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set m20(val) { this._raw[8] = val; }
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get m21() { return this._raw[9]; }
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set m21(val) { this._raw[9] = val; }
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get m22() { return this._raw[10]; }
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set m22(val) { this._raw[10] = val; }
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get m23() { return this._raw[11]; }
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set m23(val) { this._raw[11] = val; }
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get m30() { return this._raw[12]; }
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set m30(val) { this._raw[12] = val; }
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get m31() { return this._raw[13]; }
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set m31(val) { this._raw[13] = val; }
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get m32() { return this._raw[14]; }
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set m32(val) { this._raw[14] = val; }
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get m33() { return this._raw[15]; }
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set m33(val) { this._raw[15] = val; }
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static resolve(a) {
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const value = this.cast(a);
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if (typeof value != "undefined")
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return value;
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throw new ResolveError("Mat4", a);
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}
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static cast(a) {
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if (a == null || typeof a == "undefined")
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return undefined;
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if (check_number_array(a, 16)) {
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return new this(a);
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}
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if (check_array(a, undefined, 4)) {
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const row0 = a[0], row1 = a[1], row2 = a[2], row3 = a[3];
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if (check_number_array(row0, 4) && check_number_array(row1, 4) && check_number_array(row2, 4) && check_number_array(row3, 4))
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return new this([
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row0[0], row0[1], row0[2], row0[3],
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row1[0], row1[1], row1[2], row1[3],
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row2[0], row2[1], row2[2], row2[3],
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row3[0], row3[1], row3[2], row3[3]
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]);
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}
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if (check_string(a)) {
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const parts = a.split(",");
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if (check_string_array(parts, 16))
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return this.cast(parts.map((i) => parseFloat(i)));
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}
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if (has_property(a, "m00", "number") && has_property(a, "m01", "number") && has_property(a, "m02", "number") && has_property(a, "m03", "number") &&
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has_property(a, "m10", "number") && has_property(a, "m11", "number") && has_property(a, "m12", "number") && has_property(a, "m13", "number") &&
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has_property(a, "m20", "number") && has_property(a, "m21", "number") && has_property(a, "m22", "number") && has_property(a, "m23", "number") &&
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has_property(a, "m30", "number") && has_property(a, "m31", "number") && has_property(a, "m32", "number") && has_property(a, "m33", "number"))
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return new this([
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a.m00, a.m01, a.m02, a.m03,
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a.m10, a.m11, a.m12, a.m13,
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a.m20, a.m21, a.m22, a.m23,
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a.m30, a.m31, a.m32, a.m33
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]);
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if (check_number(a)) {
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return new this([a, a, a, a, a, a, a, a, a, a, a, a, a, a, a, a]);
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}
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return undefined;
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}
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static is(a) {
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return typeof this.cast(a) != "undefined";
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}
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static orthographic(left, right, bottom, top, near, far) {
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return new this([
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2 / (right - left), 0, 0, 0,
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0, 2 / (top - bottom), 0, 0,
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0, 0, 2 / (near - far), 0,
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(left + right) / (left - right),
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(bottom + top) / (bottom - top),
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(near + far) / (near - far), 1
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]);
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}
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static perspective(fov, aspect, near, far) {
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const f = Math.tan(Math.PI * 0.5 - 0.5 * fov);
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const rangeInv = 1.0 / (near - far);
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return new this([
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f / aspect, 0, 0, 0,
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0, f, 0, 0,
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0, 0, (near + far) * rangeInv, -1,
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0, 0, near * far * rangeInv * 2, 0
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]);
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}
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static pointAt(position, target, up) {
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const newForward = Vec3.resolve(target).subtract(position).normalize();
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const a = newForward.multiply(Vec3.resolve(up).dot(newForward));
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const newUp = Vec3.resolve(up).subtract(a).normalize();
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const newRight = newUp.cross(newForward);
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const pos = Vec3.resolve(position);
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return new this([
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newRight.x, newRight.y, newRight.z, 0,
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newUp.x, newUp.y, newUp.z, 0,
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newForward.x, newForward.y, newForward.z, 0,
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pos.x, pos.y, pos.z, 1
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]);
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}
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constructor(init = [1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1]) {
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if (!check_number_array(init, 16))
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throw new TypeError("expected a number array with 16 elements");
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this._raw = init;
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}
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toArray() {
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return [
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this.m00, this.m01, this.m02, this.m03,
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this.m10, this.m11, this.m12, this.m13,
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this.m20, this.m21, this.m22, this.m23,
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this.m30, this.m31, this.m32, this.m33
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];
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}
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toNestetArray() {
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return [
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[this.m00, this.m01, this.m02, this.m03],
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[this.m10, this.m11, this.m12, this.m13],
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[this.m20, this.m21, this.m22, this.m23],
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[this.m30, this.m31, this.m32, this.m33]
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];
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}
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toJSON() {
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return {
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m00: this.m00, m01: this.m01, m02: this.m02, m03: this.m03,
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m10: this.m10, m11: this.m11, m12: this.m12, m13: this.m13,
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m20: this.m20, m21: this.m21, m22: this.m22, m23: this.m23,
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m30: this.m20, m31: this.m21, m32: this.m22, m33: this.m23
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};
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}
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toString() {
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return `${this.m00},${this.m01},${this.m02},${this.m03},${this.m10},${this.m11},${this.m12},${this.m13},${this.m20},${this.m21},${this.m22},${this.m23},${this.m30},${this.m31},${this.m32},${this.m33}`;
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}
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clone() {
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return new Mat4([
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this.m00, this.m01, this.m02, this.m03,
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this.m10, this.m11, this.m12, this.m13,
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this.m20, this.m21, this.m22, this.m23,
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this.m30, this.m31, this.m32, this.m33
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]);
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}
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equals(mat) {
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const m = Mat4.resolve(mat);
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for (let index = 0; index < this._raw.length; index++)
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if (this._raw[index] != m._raw[index])
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return false;
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return true;
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}
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add(mat) {
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const b = Mat4.resolve(mat);
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const m = new Mat4;
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for (let index = 0; index < this._raw.length; index++)
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m._raw[index] = this._raw[index] + b._raw[index];
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return m;
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}
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subtract(mat) {
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const b = Mat4.resolve(mat);
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const m = new Mat4;
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for (let index = 0; index < this._raw.length; index++)
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m._raw[index] = this._raw[index] - b._raw[index];
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return m;
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}
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multiply(a) {
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if (check_number(a)) {
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return new Mat4([
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this.m00 * a, this.m01 * a, this.m02 * a, this.m03 * a,
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this.m10 * a, this.m11 * a, this.m12 * a, this.m13 * a,
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this.m20 * a, this.m21 * a, this.m22 * a, this.m23 * a,
|
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184
|
-
this.m30 * a, this.m31 * a, this.m32 * a, this.m33 * a
|
|
185
|
-
]);
|
|
186
|
-
}
|
|
187
|
-
if (Mat4.is(a)) {
|
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188
|
-
const b = Mat4.resolve(a);
|
|
189
|
-
return new Mat4([
|
|
190
|
-
b.m00 * this.m00 + b.m01 * this.m10 + b.m02 * this.m20 + b.m03 * this.m30,
|
|
191
|
-
b.m00 * this.m01 + b.m01 * this.m11 + b.m02 * this.m21 + b.m03 * this.m31,
|
|
192
|
-
b.m00 * this.m02 + b.m01 * this.m12 + b.m02 * this.m22 + b.m03 * this.m32,
|
|
193
|
-
b.m00 * this.m03 + b.m01 * this.m13 + b.m02 * this.m23 + b.m03 * this.m33,
|
|
194
|
-
b.m10 * this.m00 + b.m11 * this.m10 + b.m12 * this.m20 + b.m13 * this.m30,
|
|
195
|
-
b.m10 * this.m01 + b.m11 * this.m11 + b.m12 * this.m21 + b.m13 * this.m31,
|
|
196
|
-
b.m10 * this.m02 + b.m11 * this.m12 + b.m12 * this.m22 + b.m13 * this.m32,
|
|
197
|
-
b.m10 * this.m03 + b.m11 * this.m13 + b.m12 * this.m23 + b.m13 * this.m33,
|
|
198
|
-
b.m20 * this.m00 + b.m21 * this.m10 + b.m22 * this.m20 + b.m23 * this.m30,
|
|
199
|
-
b.m20 * this.m01 + b.m21 * this.m11 + b.m22 * this.m21 + b.m23 * this.m31,
|
|
200
|
-
b.m20 * this.m02 + b.m21 * this.m12 + b.m22 * this.m22 + b.m23 * this.m32,
|
|
201
|
-
b.m20 * this.m03 + b.m21 * this.m13 + b.m22 * this.m23 + b.m23 * this.m33,
|
|
202
|
-
b.m30 * this.m00 + b.m31 * this.m10 + b.m32 * this.m20 + b.m33 * this.m30,
|
|
203
|
-
b.m30 * this.m01 + b.m31 * this.m11 + b.m32 * this.m21 + b.m33 * this.m31,
|
|
204
|
-
b.m30 * this.m02 + b.m31 * this.m12 + b.m32 * this.m22 + b.m33 * this.m32,
|
|
205
|
-
b.m30 * this.m03 + b.m31 * this.m13 + b.m32 * this.m23 + b.m33 * this.m33,
|
|
206
|
-
]);
|
|
207
|
-
}
|
|
208
|
-
if (Vec3.is(a)) {
|
|
209
|
-
const b = Vec3.resolve(a);
|
|
210
|
-
const vec = new Vec3(b.x * this.m00 + b.y * this.m10 + b.z * this.m20 + this.m30, b.x * this.m01 + b.y * this.m11 + b.z * this.m21 + this.m31, b.x * this.m02 + b.y * this.m12 + b.z * this.m22 + this.m32, b.x * this.m03 + b.y * this.m13 + b.z * this.m23 + this.m33);
|
|
211
|
-
if (vec.w != 0)
|
|
212
|
-
return vec.divide(vec.w);
|
|
213
|
-
return vec;
|
|
214
|
-
}
|
|
215
|
-
throw new ResolveError("Mat4 or Vec3 or number", a);
|
|
216
|
-
}
|
|
217
|
-
translate(...args) {
|
|
218
|
-
const vec = Vec3.resolveArgs(args);
|
|
219
|
-
return this.multiply([
|
|
220
|
-
1, 0, 0, 0,
|
|
221
|
-
0, 1, 0, 0,
|
|
222
|
-
0, 0, 1, 0,
|
|
223
|
-
vec.x, vec.y, vec.z, 1
|
|
224
|
-
]);
|
|
225
|
-
}
|
|
226
|
-
rotateX(angle) {
|
|
227
|
-
const c = Math.cos(angle);
|
|
228
|
-
const s = Math.sin(angle);
|
|
229
|
-
return this.multiply([
|
|
230
|
-
1, 0, 0, 0,
|
|
231
|
-
0, c, s, 0,
|
|
232
|
-
0, -s, c, 0,
|
|
233
|
-
0, 0, 0, 1
|
|
234
|
-
]);
|
|
235
|
-
}
|
|
236
|
-
rotateY(angle) {
|
|
237
|
-
const c = Math.cos(angle);
|
|
238
|
-
const s = Math.sin(angle);
|
|
239
|
-
return this.multiply([
|
|
240
|
-
c, 0, -s, 0,
|
|
241
|
-
0, 1, 0, 0,
|
|
242
|
-
s, 0, c, 0,
|
|
243
|
-
0, 0, 0, 1
|
|
244
|
-
]);
|
|
245
|
-
}
|
|
246
|
-
rotateZ(angle) {
|
|
247
|
-
const c = Math.cos(angle);
|
|
248
|
-
const s = Math.sin(angle);
|
|
249
|
-
return this.multiply([
|
|
250
|
-
c, s, 0, 0,
|
|
251
|
-
-s, c, 0, 0,
|
|
252
|
-
0, 0, 1, 0,
|
|
253
|
-
0, 0, 0, 1
|
|
254
|
-
]);
|
|
255
|
-
}
|
|
256
|
-
rotate(...args) {
|
|
257
|
-
const vec = Vec3.resolveArgs(args);
|
|
258
|
-
return this.rotateX(vec.x).rotateY(vec.y).rotateZ(vec.z);
|
|
259
|
-
}
|
|
260
|
-
scale(...args) {
|
|
261
|
-
const vec = Vec3.resolveArgs(args);
|
|
262
|
-
return this.multiply([
|
|
263
|
-
vec.x, 0, 0, 0,
|
|
264
|
-
0, vec.y, 0, 0,
|
|
265
|
-
0, 0, vec.z, 0,
|
|
266
|
-
0, 0, 0, 1
|
|
267
|
-
]);
|
|
268
|
-
}
|
|
269
|
-
inverse() {
|
|
270
|
-
return new Mat4([
|
|
271
|
-
this.m00, this.m10, this.m20, 0,
|
|
272
|
-
this.m01, this.m11, this.m21, 0,
|
|
273
|
-
this.m02, this.m12, this.m22, 0,
|
|
274
|
-
-(this.m30 * this.m00 + this.m31 * this.m10 + this.m32 * this.m20),
|
|
275
|
-
-(this.m30 * this.m01 + this.m31 * this.m11 + this.m32 * this.m21),
|
|
276
|
-
-(this.m30 * this.m02 + this.m31 * this.m12 + this.m32 * this.m22),
|
|
277
|
-
1
|
|
278
|
-
]);
|
|
279
|
-
}
|
|
280
|
-
toMat3() {
|
|
281
|
-
return new Mat3([
|
|
282
|
-
this.m00, this.m01, this.m03,
|
|
283
|
-
this.m10, this.m11, this.m13,
|
|
284
|
-
this.m30, this.m31, this.m33
|
|
285
|
-
]);
|
|
286
|
-
}
|
|
287
|
-
}
|
|
288
|
-
//# sourceMappingURL=mat4.js.map
|
|
@@ -1 +0,0 @@
|
|
|
1
|
-
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package/dist/esm/quaternion.js
DELETED
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@@ -1,200 +0,0 @@
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1
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-
import { ResolveError } from "./common/error.js";
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2
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-
import { check_number, check_number_array, check_string, check_string_array, has_property } from "./common/types.js";
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3
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-
import { EPSILON, Mat3, Mat4, log_hypot } from "./index.js";
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4
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-
import { Vec3 } from "./vectors/vec3.js";
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5
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-
export class Quaternion {
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6
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-
w;
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7
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-
x;
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8
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-
y;
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9
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-
z;
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10
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-
static is(a) {
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11
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-
return typeof this.cast(a) != "undefined";
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12
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-
}
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13
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-
static resolve(a) {
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14
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-
const value = this.cast(a);
|
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15
|
-
if (typeof value != "undefined")
|
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16
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-
return value;
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17
|
-
throw new ResolveError("Quaternion", a);
|
|
18
|
-
}
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19
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-
static cast(a) {
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20
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-
if (a == null || typeof a == "undefined")
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21
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-
return undefined;
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22
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-
if (check_number_array(a, 4))
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23
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-
return new this(a[0], a[1], a[2], a[3]);
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24
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-
if (has_property(a, "w", "number") && has_property(a, "x", "number") && has_property(a, "y", "number") && has_property(a, "z", "number"))
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25
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-
return new this(a.w, a.x, a.y, a.z);
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26
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-
if (check_string(a)) {
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27
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-
const parts = a.replaceAll(" ", "").split("+");
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28
|
-
if (check_string_array(parts, 4)) {
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29
|
-
const [sw, sxi, syj, szk] = parts;
|
|
30
|
-
if (sxi.endsWith("i") && syj.endsWith("j") && szk.endsWith("k"))
|
|
31
|
-
return this.cast([
|
|
32
|
-
parseFloat(sw),
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|
33
|
-
parseFloat(sxi.substring(0, sxi.length - 1)),
|
|
34
|
-
parseFloat(syj.substring(0, syj.length - 1)),
|
|
35
|
-
parseFloat(szk.substring(0, szk.length - 1))
|
|
36
|
-
]);
|
|
37
|
-
}
|
|
38
|
-
}
|
|
39
|
-
return undefined;
|
|
40
|
-
}
|
|
41
|
-
static fromAxisAngle(axis, angle) {
|
|
42
|
-
const vec = Vec3.resolve(axis);
|
|
43
|
-
const hangle = angle * 0.5;
|
|
44
|
-
const sin2 = Math.sin(hangle);
|
|
45
|
-
const cos2 = Math.cos(hangle);
|
|
46
|
-
const length = sin2 / Math.sqrt(vec.x * vec.x + vec.y * vec.y + vec.z * vec.z);
|
|
47
|
-
return new this(cos2, vec.x * length, vec.y * length, vec.z * length);
|
|
48
|
-
}
|
|
49
|
-
static fromEuler(...args) {
|
|
50
|
-
const vec = Vec3.resolveArgs(args);
|
|
51
|
-
const x2 = vec.x * 0.5, y2 = vec.y * 0.5, z2 = vec.z * 0.5;
|
|
52
|
-
const cx = Math.cos(x2), cy = Math.cos(y2), cz = Math.cos(z2);
|
|
53
|
-
const sx = Math.sin(x2), sy = Math.sin(y2), sz = Math.sin(z2);
|
|
54
|
-
return new Quaternion(cx * cy * cz - sx * sy * sz, sx * cy * cz - sy * sz * cx, sy * cx * cz - sx * sz * cy, sx * sy * cz + sz * cx * cy);
|
|
55
|
-
}
|
|
56
|
-
constructor(w = 0, x = 0, y = 0, z = 0) {
|
|
57
|
-
if (!check_number(w))
|
|
58
|
-
throw new TypeError("expected number for w");
|
|
59
|
-
if (!check_number(x))
|
|
60
|
-
throw new TypeError("expected number for x");
|
|
61
|
-
if (!check_number(y))
|
|
62
|
-
throw new TypeError("expected number for x");
|
|
63
|
-
if (!check_number(z))
|
|
64
|
-
throw new TypeError("expected number for w");
|
|
65
|
-
this.w = w;
|
|
66
|
-
this.x = x;
|
|
67
|
-
this.y = y;
|
|
68
|
-
this.z = z;
|
|
69
|
-
}
|
|
70
|
-
toArray() {
|
|
71
|
-
return [this.w, this.x, this.y, this.z];
|
|
72
|
-
}
|
|
73
|
-
toString() {
|
|
74
|
-
return `${this.w} + ${this.x}i + ${this.y}j + ${this.z}k`;
|
|
75
|
-
}
|
|
76
|
-
toJSON() {
|
|
77
|
-
return {
|
|
78
|
-
w: this.w, x: this.x, y: this.y, z: this.z
|
|
79
|
-
};
|
|
80
|
-
}
|
|
81
|
-
clone() {
|
|
82
|
-
return new Quaternion(this.w, this.x, this.y, this.z);
|
|
83
|
-
}
|
|
84
|
-
add(a) {
|
|
85
|
-
const quat = Quaternion.resolve(a);
|
|
86
|
-
return new Quaternion(this.w + quat.w, this.x + quat.x, this.y + quat.y, this.z + quat.z);
|
|
87
|
-
}
|
|
88
|
-
offset(a) {
|
|
89
|
-
const quat = Quaternion.resolve(a);
|
|
90
|
-
this.w += quat.w;
|
|
91
|
-
this.x += quat.x;
|
|
92
|
-
this.y += quat.y;
|
|
93
|
-
this.z += quat.z;
|
|
94
|
-
return this;
|
|
95
|
-
}
|
|
96
|
-
subtract(a) {
|
|
97
|
-
const quat = Quaternion.resolve(a);
|
|
98
|
-
return new Quaternion(this.w - quat.w, this.x - quat.x, this.y - quat.y, this.z - quat.z);
|
|
99
|
-
}
|
|
100
|
-
negative() {
|
|
101
|
-
return new Quaternion(-this.w, -this.x, -this.y, -this.z);
|
|
102
|
-
}
|
|
103
|
-
length(sqrt = true) {
|
|
104
|
-
const value = this.w * this.w + this.x * this.x + this.y * this.y + this.z * this.z;
|
|
105
|
-
return sqrt ? Math.sqrt(value) : value;
|
|
106
|
-
}
|
|
107
|
-
normalize() {
|
|
108
|
-
let length = this.length();
|
|
109
|
-
if (length < EPSILON)
|
|
110
|
-
return new Quaternion();
|
|
111
|
-
length = 1 / length;
|
|
112
|
-
return new Quaternion(this.w * length, this.x * length, this.y * length, this.z * length);
|
|
113
|
-
}
|
|
114
|
-
multiply(a) {
|
|
115
|
-
const quat = Quaternion.resolve(a);
|
|
116
|
-
return new Quaternion(this.w * quat.w - this.x * quat.x - this.y * quat.y - this.z * quat.z, this.w * quat.x + this.x * quat.w + this.y * quat.z - this.z * quat.y, this.w * quat.y + this.y * quat.w + this.z * quat.x - this.x * quat.z, this.w * quat.z + this.z * quat.w + this.x * quat.y - this.y * quat.x);
|
|
117
|
-
}
|
|
118
|
-
multiplyVector(...args) {
|
|
119
|
-
const vec = Vec3.resolveArgs(args);
|
|
120
|
-
const ix = this.w * vec.x + this.y * vec.y - this.z * vec.y;
|
|
121
|
-
const iy = this.w * vec.y + this.z * vec.x - this.x * vec.z;
|
|
122
|
-
const iz = this.w * vec.z + this.x * vec.y - this.y * vec.x;
|
|
123
|
-
const iw = -this.w * vec.x - this.y * vec.y - this.z * vec.z;
|
|
124
|
-
return new Vec3(ix * this.w + iw * -this.x + iy * -this.z - iz * -this.y, iy * this.w + iw * -this.y + iz * -this.x - ix * -this.z, iz * this.w + iw * -this.z + ix * -this.y - iy * -this.x);
|
|
125
|
-
}
|
|
126
|
-
scale(scalar) {
|
|
127
|
-
return new Quaternion(this.w * scalar, this.x * scalar, this.y * scalar, this.z * scalar);
|
|
128
|
-
}
|
|
129
|
-
dot(a) {
|
|
130
|
-
const quat = Quaternion.resolve(a);
|
|
131
|
-
return this.w * quat.w + this.x * quat.x + this.y * quat.y + this.z * quat.z;
|
|
132
|
-
}
|
|
133
|
-
inverse() {
|
|
134
|
-
let length = this.length(false);
|
|
135
|
-
if (length == 0)
|
|
136
|
-
return new Quaternion();
|
|
137
|
-
length = 1 / length;
|
|
138
|
-
return new Quaternion(this.w * length, -this.x * length, -this.y * length, -this.z * length);
|
|
139
|
-
}
|
|
140
|
-
divide(a) {
|
|
141
|
-
const quat = Quaternion.resolve(a);
|
|
142
|
-
let length = quat.length(false);
|
|
143
|
-
if (length == 0)
|
|
144
|
-
return new Quaternion();
|
|
145
|
-
length = 1 / length;
|
|
146
|
-
return new Quaternion((this.w * quat.w + this.x * quat.x + this.y * quat.y + this.z * quat.z) * length, (this.x * quat.w - this.w * quat.x - this.y * quat.z + this.z * quat.y) * length, (this.y * quat.w - this.w * quat.y - this.z * quat.x + this.x * quat.z) * length, (this.z * quat.w - this.w * quat.z - this.x * quat.y + this.y * quat.x) * length);
|
|
147
|
-
}
|
|
148
|
-
conjugate() {
|
|
149
|
-
return new Quaternion(this.w, -this.x, -this.y, -this.z);
|
|
150
|
-
}
|
|
151
|
-
exp() {
|
|
152
|
-
const length = Math.sqrt(this.x * this.x + this.y * this.y + this.z * this.z);
|
|
153
|
-
const exp = Math.exp(this.w);
|
|
154
|
-
const scale = exp * Math.sin(length) / length;
|
|
155
|
-
if (length == 0)
|
|
156
|
-
return new Quaternion(exp);
|
|
157
|
-
return new Quaternion(exp * Math.cos(length), this.x * scale, this.y * scale, this.z * scale);
|
|
158
|
-
}
|
|
159
|
-
log() {
|
|
160
|
-
if (this.x == 0 && this.z == 0)
|
|
161
|
-
return new Quaternion(log_hypot(this.w, this.x), Math.atan2(this.x, this.w));
|
|
162
|
-
const length = this.length(false);
|
|
163
|
-
const length2 = Math.sqrt(this.x * this.x + this.y * this.y + this.z * this.z);
|
|
164
|
-
const scale = Math.atan2(length2, this.w) / length;
|
|
165
|
-
return new Quaternion(Math.log(length) * 0.5, this.x * scale, this.y * scale, this.z * scale);
|
|
166
|
-
}
|
|
167
|
-
toVector() {
|
|
168
|
-
return new Vec3(this.x, this.y, this.z, this.w);
|
|
169
|
-
}
|
|
170
|
-
toAxisAngle() {
|
|
171
|
-
const sin2 = 1 - this.w * this.w;
|
|
172
|
-
if (sin2 > EPSILON)
|
|
173
|
-
return new Vec3(this.x, this.y, this.z, 0);
|
|
174
|
-
const isin = 1 / Math.sqrt(sin2);
|
|
175
|
-
const angle = 2 * Math.acos(this.w);
|
|
176
|
-
return new Vec3(this.x * isin, this.y * isin, this.z * isin, angle);
|
|
177
|
-
}
|
|
178
|
-
toEuler() {
|
|
179
|
-
function asin(t) {
|
|
180
|
-
return t >= 1 ? Math.PI / 2 : (t <= -1 ? -Math.PI / 2 : Math.asin(t));
|
|
181
|
-
}
|
|
182
|
-
return new Vec3(-Math.atan2(2 * (this.y * this.z - this.w * this.x), 1 - 2 * (this.x * this.x + this.y * this.y)), asin(2 * (this.x * this.z + this.w * this.y)), -Math.atan2(2 * (this.x * this.y - this.w * this.z), 1 - 2 * (this.y * this.y + this.z * this.z)));
|
|
183
|
-
}
|
|
184
|
-
toMat3() {
|
|
185
|
-
return new Mat3([
|
|
186
|
-
1 - 2 * (this.y * this.y + this.z * this.z), 2 * (this.x * this.y - this.w * this.z), 2 * (this.x * this.z + this.w * this.y),
|
|
187
|
-
2 * (this.x * this.y + this.w * this.z), 1 - 2 * (this.x * this.x + this.z * this.z), 2 * (this.y * this.z - this.w * this.x),
|
|
188
|
-
2 * (this.x * this.z - this.w * this.y), 2 * (this.y * this.z + this.w * this.x), 1 - 2 * (this.x * this.x + this.y * this.y)
|
|
189
|
-
]);
|
|
190
|
-
}
|
|
191
|
-
toMat4() {
|
|
192
|
-
return new Mat4([
|
|
193
|
-
1 - 2 * (this.y * this.y + this.z * this.z), 2 * (this.x * this.y - this.w * this.z), 2 * (this.x * this.z + this.w * this.y), 0,
|
|
194
|
-
2 * (this.x * this.y + this.w * this.z), 1 - 2 * (this.x * this.x + this.z * this.z), 2 * (this.y * this.z - this.w * this.x), 0,
|
|
195
|
-
2 * (this.x * this.z - this.w * this.y), 2 * (this.y * this.z + this.w * this.x), 1 - 2 * (this.x * this.x + this.y * this.y), 0,
|
|
196
|
-
0, 0, 0, 1
|
|
197
|
-
]);
|
|
198
|
-
}
|
|
199
|
-
}
|
|
200
|
-
//# sourceMappingURL=quaternion.js.map
|
|
@@ -1 +0,0 @@
|
|
|
1
|
-
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