@oliversalzburg/js-utils 0.0.13 → 0.0.15

package/lib/math/matrix3.js

@@ -0,0 +1,509 @@
+import { Vector3 } from "./vector3.js";
+/**
+ * A matrix with 3 x 3 components.
+ * @group Math
+ */
+export class Matrix3 {
+    /**
+     * The components of the matrix.
+     */
+    m = [
+        [0, 0, 0],
+        [0, 0, 0],
+        [0, 0, 0],
+    ];
+    /**
+     * Get position `0,0` of this matrix.
+     * @returns The position `0,0` of this matrix.
+     */
+    get m00() {
+        return this.m[0][0];
+    }
+    /**
+     * Set position `0,0` of this matrix.
+     */
+    set m00(value) {
+        this.m[0][0] = value;
+    }
+    /**
+     * Get position `1,0` of this matrix.
+     * @returns The position `1,0` of this matrix.
+     */
+    get m10() {
+        return this.m[1][0];
+    }
+    /**
+     * Set position `1,0` of this matrix.
+     */
+    set m10(value) {
+        this.m[1][0] = value;
+    }
+    /**
+     * Get position `2,0` of this matrix.
+     * @returns The position `2,0` of this matrix.
+     */
+    get m20() {
+        return this.m[2][0];
+    }
+    /**
+     * Set position `2,0` of this matrix.
+     */
+    set m20(value) {
+        this.m[2][0] = value;
+    }
+    /**
+     * Get position `0,1` of this matrix.
+     * @returns The position `0,1` of this matrix.
+     */
+    get m01() {
+        return this.m[0][1];
+    }
+    /**
+     * Set position `0,1` of this matrix.
+     */
+    set m01(value) {
+        this.m[0][1] = value;
+    }
+    /**
+     * Get position `1,1` of this matrix.
+     * @returns The position `1,1` of this matrix.
+     */
+    get m11() {
+        return this.m[1][1];
+    }
+    /**
+     * Set position `1,1` of this matrix.
+     */
+    set m11(value) {
+        this.m[1][1] = value;
+    }
+    /**
+     * Get position `2,1` of this matrix.
+     * @returns The position `2,1` of this matrix.
+     */
+    get m21() {
+        return this.m[2][1];
+    }
+    /**
+     * Set position `2,1` of this matrix.
+     */
+    set m21(value) {
+        this.m[2][1] = value;
+    }
+    /**
+     * Get position `0,2` of this matrix.
+     * @returns The position `0,2` of this matrix.
+     */
+    get m02() {
+        return this.m[0][2];
+    }
+    /**
+     * Set position `0,2` of this matrix.
+     */
+    set m02(value) {
+        this.m[0][2] = value;
+    }
+    /**
+     * Get position `1,2` of this matrix.
+     * @returns The position `1,2` of this matrix.
+     */
+    get m12() {
+        return this.m[1][2];
+    }
+    /**
+     * Set position `1,2` of this matrix.
+     */
+    set m12(value) {
+        this.m[1][2] = value;
+    }
+    /**
+     * Get position `2,2` of this matrix.
+     * @returns The position `2,2` of this matrix.
+     */
+    get m22() {
+        return this.m[2][2];
+    }
+    /**
+     * Set position `2,2` of this matrix.
+     */
+    set m22(value) {
+        this.m[2][2] = value;
+    }
+    /**
+     * Constructs a new {@linkcode Matrix3}.
+     * @param m00 Position `0,0` of this matrix.
+     * @param m10 Position `1,0` of this matrix.
+     * @param m20 Position `2,0` of this matrix.
+     * @param m01 Position `0,1` of this matrix.
+     * @param m11 Position `1,1` of this matrix.
+     * @param m21 Position `2,1` of this matrix.
+     * @param m02 Position `0,2` of this matrix.
+     * @param m12 Position `1,2` of this matrix.
+     * @param m22 Position `2,2` of this matrix.
+     */
+    constructor(m00 = 1, m10 = 0, m20 = 0, m01 = 0, m11 = 1, m21 = 0, m02 = 0, m12 = 0, m22 = 1) {
+        this.m00 = m00;
+        this.m10 = m10;
+        this.m20 = m20;
+        this.m01 = m01;
+        this.m11 = m11;
+        this.m21 = m21;
+        this.m02 = m02;
+        this.m12 = m12;
+        this.m22 = m22;
+    }
+    /**
+     * Creates a new {@linkcode Matrix3} from another {@linkcode Matrix3}.
+     * @param matrix The matrix to copy.
+     * @returns A new matrix.
+     */
+    static fromMatrix3(matrix) {
+        return new Matrix3().set(matrix);
+    }
+    /**
+     * Creates a new {@linkcode Matrix3} from a rotation in Euler angles.
+     * @param degrees The rotation in Euler angles.
+     * @returns A new matrix.
+     */
+    static fromEuler(degrees) {
+        return new Matrix3().setEuler(degrees);
+    }
+    /**
+     * Creates a new {@linkcode Matrix3} from a rotation around an axis.
+     * @param axis The axis around which to rotate.
+     * @param degrees The rotation in degrees.
+     * @returns A new matrix.
+     */
+    static fromVector3(axis, degrees) {
+        return new Matrix3().setVector3(axis, degrees);
+    }
+    /**
+     * Creates a new {@linkcode Matrix3} from a quaternion.
+     * @param quaternion The quaternion describes the rotation.
+     * @returns A new matrix.
+     */
+    static fromQuaternion(quaternion) {
+        return new Matrix3().setQuaternion(quaternion);
+    }
+    /**
+     * Sets the matrix to new values from another matrix.
+     * @param matrix The matrix to copy.
+     * @returns This instance.
+     */
+    set(matrix) {
+        this.setM(matrix.m00, matrix.m10, matrix.m20, matrix.m01, matrix.m11, matrix.m21, matrix.m02, matrix.m12, matrix.m22);
+        return this;
+    }
+    /**
+     * Update the matrix by individual components.
+     * @param m00 Position `0,0` of this matrix.
+     * @param m10 Position `1,0` of this matrix.
+     * @param m20 Position `2,0` of this matrix.
+     * @param m01 Position `0,1` of this matrix.
+     * @param m11 Position `1,1` of this matrix.
+     * @param m21 Position `2,1` of this matrix.
+     * @param m02 Position `0,2` of this matrix.
+     * @param m12 Position `1,2` of this matrix.
+     * @param m22 Position `2,2` of this matrix.
+     * @returns This instance.
+     */
+    setM(m00, m10, m20, m01, m11, m21, m02, m12, m22) {
+        this.m00 = m00;
+        this.m10 = m10;
+        this.m20 = m20;
+        this.m01 = m01;
+        this.m11 = m11;
+        this.m21 = m21;
+        this.m02 = m02;
+        this.m12 = m12;
+        this.m22 = m22;
+        return this;
+    }
+    /**
+     * Sets the matrix to a rotation in Euler angles.
+     * @param degrees The rotation in Euler angles.
+     * @returns This instance.
+     */
+    setEuler(degrees) {
+        const xsi = Math.sin(degrees.x);
+        const xco = Math.cos(degrees.x);
+        const ysi = Math.sin(degrees.y);
+        const yco = Math.cos(degrees.y);
+        const zsi = Math.sin(degrees.z);
+        const zco = Math.cos(degrees.z);
+        if (degrees.reverse) {
+            this.m00 = yco * zco;
+            this.m10 = yco * zsi;
+            this.m20 = -ysi;
+            this.m01 = xsi * ysi * zco - xco * zsi;
+            this.m11 = xsi * ysi * zsi + xco * zco;
+            this.m21 = xsi * yco;
+            this.m02 = xco * ysi * zco + xsi * zsi;
+            this.m12 = xco * ysi * zsi - xsi * zco;
+            this.m22 = xco * yco;
+        }
+        else {
+            this.m00 = yco * zco;
+            this.m10 = xco * zsi + xsi * ysi * zco;
+            this.m20 = xsi * zsi - xco * ysi * zco;
+            this.m01 = -yco * zsi;
+            this.m11 = xco * zco - xsi * ysi * zsi;
+            this.m21 = xsi * zco + xco * ysi * zsi;
+            this.m02 = ysi;
+            this.m12 = -xsi * yco;
+            this.m22 = xco * yco;
+        }
+        return this;
+    }
+    /**
+     * Sets the matrix to a rotation around an axis.
+     * @param axis The axis around which to rotate.
+     * @param degrees The rotation in degrees.
+     * @returns This instance.
+     */
+    setVector3(axis, degrees) {
+        const s = Math.sin(degrees);
+        const c = Math.cos(degrees);
+        const t = 1 - c;
+        const txy = t * axis.x * axis.y;
+        const txz = t * axis.x * axis.z;
+        const tyz = t * axis.y * axis.z;
+        const sx = s * axis.x;
+        const sy = s * axis.y;
+        const sz = s * axis.z;
+        this.m00 = t * axis.x * axis.x + c;
+        this.m10 = txy + sz;
+        this.m20 = txz - sy;
+        this.m01 = txy - sz;
+        this.m11 = t * axis.y * axis.y + c;
+        this.m21 = tyz + sx;
+        this.m02 = txz + sy;
+        this.m12 = tyz - sx;
+        this.m22 = t * axis.z * axis.z + c;
+        return this;
+    }
+    /**
+     * Sets the matrix to a rotation described by a quaternion.
+     * @param quaternion The quaternion describing the rotation.
+     * @returns This instance.
+     */
+    setQuaternion(quaternion) {
+        const x2 = quaternion.x + quaternion.x;
+        const y2 = quaternion.y + quaternion.y;
+        const z2 = quaternion.z + quaternion.z;
+        const xx = quaternion.x * x2;
+        const xy = quaternion.x * y2;
+        const xz = quaternion.x * z2;
+        const yy = quaternion.y * y2;
+        const yz = quaternion.y * z2;
+        const zz = quaternion.z * z2;
+        const wx = quaternion.w * x2;
+        const wy = quaternion.w * y2;
+        const wz = quaternion.w * z2;
+        this.m00 = 1 - (yy + zz);
+        this.m01 = xy - wz;
+        this.m02 = xz + wy;
+        this.m10 = xy + wz;
+        this.m11 = 1 - (xx + zz);
+        this.m12 = yz - wx;
+        this.m20 = xz - wy;
+        this.m21 = yz + wx;
+        this.m22 = 1 - (xx + yy);
+        return this;
+    }
+    /**
+     * Normalizes the matrix.
+     * @returns This instance.
+     */
+    normalize() {
+        const x = new Matrix3();
+        x.m00 = this.m00;
+        x.m10 = this.m01;
+        x.m20 = this.m02;
+        x.m01 = this.m10;
+        x.m11 = this.m11;
+        x.m21 = this.m12;
+        x.m02 = this.m20;
+        x.m12 = this.m21;
+        x.m22 = this.m22;
+        x.multiplyL(this);
+        x.m00 = (3 - x.m00) / 2;
+        x.m10 = -x.m10 / 2;
+        x.m20 = -x.m20 / 2;
+        x.m01 = -x.m01 / 2;
+        x.m11 = (3 - x.m11) / 2;
+        x.m21 = -x.m21 / 2;
+        x.m02 = -x.m02 / 2;
+        x.m12 = -x.m12 / 2;
+        x.m22 = (3 - x.m22) / 2;
+        this.multiplyL(x);
+        return this;
+    }
+    /**
+     * Inverts the matrix.
+     * @returns This instance.
+     */
+    invert() {
+        let buff;
+        buff = this.m01;
+        this.m01 = this.m10;
+        this.m10 = buff;
+        buff = this.m02;
+        this.m02 = this.m20;
+        this.m20 = buff;
+        buff = this.m12;
+        this.m12 = this.m21;
+        this.m21 = buff;
+        return this;
+    }
+    /**
+     * Multiply with another matrix from the right.
+     * @param matrix The matrix to multiply with.
+     * @returns This instance.
+     */
+    multiplyR(matrix) {
+        const z11 = matrix.m00 * this.m00 + matrix.m01 * this.m10 + matrix.m02 * this.m20;
+        const z21 = matrix.m10 * this.m00 + matrix.m11 * this.m10 + matrix.m12 * this.m20;
+        const z31 = matrix.m20 * this.m00 + matrix.m21 * this.m10 + matrix.m22 * this.m20;
+        const z12 = matrix.m00 * this.m01 + matrix.m01 * this.m11 + matrix.m02 * this.m21;
+        const z22 = matrix.m10 * this.m01 + matrix.m11 * this.m11 + matrix.m12 * this.m21;
+        const z32 = matrix.m20 * this.m01 + matrix.m21 * this.m11 + matrix.m22 * this.m21;
+        const z13 = matrix.m00 * this.m02 + matrix.m01 * this.m12 + matrix.m02 * this.m22;
+        const z23 = matrix.m10 * this.m02 + matrix.m11 * this.m12 + matrix.m12 * this.m22;
+        const z33 = matrix.m20 * this.m02 + matrix.m21 * this.m12 + matrix.m22 * this.m22;
+        this.m00 = z11;
+        this.m10 = z21;
+        this.m20 = z31;
+        this.m01 = z12;
+        this.m11 = z22;
+        this.m21 = z32;
+        this.m02 = z13;
+        this.m12 = z23;
+        this.m22 = z33;
+        return this;
+    }
+    /**
+     * Inversely multiply with another matrix from the right.
+     * @param matrix The matrix to multiply with.
+     * @returns This instance.
+     */
+    multiplyInverseR(matrix) {
+        const z11 = matrix.m00 * this.m00 + matrix.m10 * this.m10 + matrix.m20 * this.m20;
+        const z21 = matrix.m01 * this.m00 + matrix.m11 * this.m10 + matrix.m21 * this.m20;
+        const z31 = matrix.m02 * this.m00 + matrix.m12 * this.m10 + matrix.m22 * this.m20;
+        const z12 = matrix.m00 * this.m01 + matrix.m10 * this.m11 + matrix.m20 * this.m21;
+        const z22 = matrix.m01 * this.m01 + matrix.m11 * this.m11 + matrix.m21 * this.m21;
+        const z32 = matrix.m02 * this.m01 + matrix.m12 * this.m11 + matrix.m22 * this.m21;
+        const z13 = matrix.m00 * this.m02 + matrix.m10 * this.m12 + matrix.m20 * this.m22;
+        const z23 = matrix.m01 * this.m02 + matrix.m11 * this.m12 + matrix.m21 * this.m22;
+        const z33 = matrix.m02 * this.m02 + matrix.m12 * this.m12 + matrix.m22 * this.m22;
+        this.m00 = z11;
+        this.m10 = z21;
+        this.m20 = z31;
+        this.m01 = z12;
+        this.m11 = z22;
+        this.m21 = z32;
+        this.m02 = z13;
+        this.m12 = z23;
+        this.m22 = z33;
+        return this;
+    }
+    /**
+     * Multiply with another matrix from the left.
+     * @param matrix The matrix to multiply with.
+     * @returns This instance.
+     */
+    multiplyL(matrix) {
+        const z11 = this.m00 * matrix.m00 + this.m01 * matrix.m10 + this.m02 * matrix.m20;
+        const z21 = this.m10 * matrix.m00 + this.m11 * matrix.m10 + this.m12 * matrix.m20;
+        const z31 = this.m20 * matrix.m00 + this.m21 * matrix.m10 + this.m22 * matrix.m20;
+        const z12 = this.m00 * matrix.m01 + this.m01 * matrix.m11 + this.m02 * matrix.m21;
+        const z22 = this.m10 * matrix.m01 + this.m11 * matrix.m11 + this.m12 * matrix.m21;
+        const z32 = this.m20 * matrix.m01 + this.m21 * matrix.m11 + this.m22 * matrix.m21;
+        const z13 = this.m00 * matrix.m02 + this.m01 * matrix.m12 + this.m02 * matrix.m22;
+        const z23 = this.m10 * matrix.m02 + this.m11 * matrix.m12 + this.m12 * matrix.m22;
+        const z33 = this.m20 * matrix.m02 + this.m21 * matrix.m12 + this.m22 * matrix.m22;
+        this.m00 = z11;
+        this.m10 = z21;
+        this.m20 = z31;
+        this.m01 = z12;
+        this.m11 = z22;
+        this.m21 = z32;
+        this.m02 = z13;
+        this.m12 = z23;
+        this.m22 = z33;
+        return this;
+    }
+    /**
+     * Inversely multiply with another matrix from the right.
+     * @param matrix The matrix to multiply with.
+     * @returns This instance.
+     */
+    multiplyInverseL(matrix) {
+        const z11 = this.m00 * matrix.m00 + this.m01 * matrix.m01 + this.m02 * matrix.m02;
+        const z21 = this.m10 * matrix.m00 + this.m11 * matrix.m01 + this.m12 * matrix.m02;
+        const z31 = this.m20 * matrix.m00 + this.m21 * matrix.m01 + this.m22 * matrix.m02;
+        const z12 = this.m00 * matrix.m10 + this.m01 * matrix.m11 + this.m02 * matrix.m12;
+        const z22 = this.m10 * matrix.m10 + this.m11 * matrix.m11 + this.m12 * matrix.m12;
+        const z32 = this.m20 * matrix.m10 + this.m21 * matrix.m11 + this.m22 * matrix.m12;
+        const z13 = this.m00 * matrix.m20 + this.m01 * matrix.m21 + this.m02 * matrix.m22;
+        const z23 = this.m10 * matrix.m20 + this.m11 * matrix.m21 + this.m12 * matrix.m22;
+        const z33 = this.m20 * matrix.m20 + this.m21 * matrix.m21 + this.m22 * matrix.m22;
+        this.m00 = z11;
+        this.m10 = z21;
+        this.m20 = z31;
+        this.m01 = z12;
+        this.m11 = z22;
+        this.m21 = z32;
+        this.m02 = z13;
+        this.m12 = z23;
+        this.m22 = z33;
+        return this;
+    }
+    /**
+     * Sets this matrix up as a transformation matrix to look in a given direction.
+     * @param direction The direction to look in.
+     * @param upVector The vector indicating the up direction. If not provided
+     * a best effort is made to find a good one.
+     * @returns This instance.
+     */
+    lookAt(direction, upVector) {
+        const right = new Vector3(this.m00, this.m01, this.m02);
+        const up = new Vector3(this.m10, this.m11, this.m12);
+        const forward = new Vector3(this.m20, this.m21, this.m22);
+        forward.set(direction).normalize();
+        // Select positive y axis or positive z alternatively as up-vector
+        let lookUp = upVector;
+        if (!lookUp) {
+            lookUp = new Vector3();
+            if (Math.abs(forward.y) > 0.8) {
+                lookUp.setXYZ(0, 0, 1);
+            }
+            else {
+                lookUp.setXYZ(0, 1, 0);
+            }
+        }
+        right.set(forward).cross(lookUp).normalize();
+        up.set(right).cross(forward).normalize();
+        this.setM(right.x, right.y, right.z, up.x, up.y, up.z, forward.x, forward.y, forward.z);
+        return this;
+    }
+    /**
+     * Return the components of this matrix as an array.
+     * @returns The components of this matrix as an array.
+     */
+    asArray() {
+        return [
+            this.m00,
+            this.m01,
+            this.m02,
+            this.m10,
+            this.m11,
+            this.m12,
+            this.m20,
+            this.m21,
+            this.m22,
+        ];
+    }
+}
+//# sourceMappingURL=matrix3.js.map

package/lib/math/matrix3.js.map

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package/lib/math/quaternion.d.ts

@@ -0,0 +1,120 @@
+import { Euler } from "./euler.js";
+import { Matrix3 } from "./matrix3.js";
+import { Vector3 } from "./vector3.js";
+import { Vector4 } from "./vector4.js";
+/**
+ * A quaternion.
+ * @group Math
+ */
+export declare class Quaternion extends Vector4 {
+    /**
+     * Constructs a new {@linkcode Quaternion}.
+     * @param x The X component.
+     * @param y The Y component.
+     * @param z The Z component.
+     * @param w The W component.
+     */
+    constructor(x?: number, y?: number, z?: number, w?: number);
+    /**
+     * Creates a new {@linkcode Quaternion} from a rotation matrix.
+     * @param matrix The matrix to construct the quaternion from.
+     * @returns A new quaternion.
+     */
+    static fromMatrix3(matrix: Readonly<Matrix3>): Quaternion;
+    /**
+     * Creates a new {@linkcode Quaternion} from a rotation in Euler angles.
+     * @param degrees The rotation in Euler angles.
+     * @returns A new quaternion.
+     */
+    static fromEuler(degrees: Readonly<Euler>): Quaternion;
+    /**
+     * Creates a new {@linkcode Quaternion} from a rotation around an axis.
+     * @param axis The axis around which to rotate.
+     * @param degrees The rotation in degrees.
+     * @returns A new quaternion.
+     */
+    static fromVector3(axis: Readonly<Vector3>, degrees: number): Quaternion;
+    /**
+     * Creates a new {@linkcode Quaternion} from a {@linkcode Vector4}.
+     * @param vector The vector to copy the components from.
+     * @returns A new quaternion.
+     */
+    static fromVector4(vector: Readonly<Vector4>): Quaternion;
+    /**
+     * Creates a new {@linkcode Quaternion} from another {@linkcode Quaternion}.
+     * @param quaternion The quaternion to copy.
+     * @returns A new quaternion.
+     */
+    static fromQuaternion(quaternion: Readonly<Quaternion>): Quaternion;
+    /**
+     * Sets the quaternion to the values of another quaternion.
+     * @param quaternion The quaternion to copy.
+     * @returns This instance.
+     */
+    set(quaternion: Readonly<Quaternion>): this;
+    /**
+     * Sets all components of the quaternion to the given value.
+     * @param value The value to assign to the components of the quaternion.
+     * @returns This instance.
+     */
+    setValue(value: number): this;
+    /**
+     * Sets the components of the quaternion to the given values.
+     * @param x The X component for the quaternion.
+     * @param y The Y component for the quaternion.
+     * @param z The Z component for the quaternion.
+     * @param w The W component for the quaternion.
+     * @returns This instance.
+     */
+    setXYZW(x: number, y: number, z?: number, w?: number): this;
+    /**
+     * Sets the quaternion to the rotation of the given matrix.
+     * @param matrix The matrix describing the rotation of the quaternion.
+     * @returns This instance.
+     */
+    setMatrix3(matrix: Readonly<Matrix3>): this;
+    /**
+     * Sets the quaternion to a rotation in Euler angles.
+     * @param degrees The rotation in Euler angles.
+     * @returns This instance.
+     */
+    setEuler(degrees: Readonly<Euler>): this;
+    /**
+     * Sets the quaternion to a rotation around an axis.
+     * @param axis The axis around which to rotate.
+     * @param degrees The rotation in degrees.
+     * @returns This instance.
+     */
+    setVector3(axis: Readonly<Vector3>, degrees: number): this;
+    /**
+     * Sets the quaternion to the components of a {@linkcode Vector4}.
+     * @param vector The vector to copy.
+     * @returns This instance.
+     */
+    setVector4(vector: Readonly<Vector4>): this;
+    /**
+     * Normalize the quaternion.
+     * @returns This instance.
+     */
+    normalize(): this;
+    /**
+     * Invert the quaternion.
+     * @returns This instance.
+     */
+    invert(): this;
+    /**
+     * Multiply with another quaternion from the right.
+     * @param quaternion The quaternion to multiply with.
+     * @returns This instance.
+     */
+    multiplyR(quaternion: Readonly<Quaternion>): this;
+    /**
+     * Performs spherical linear interpolation between two rotations, and sets this
+     * quaternion to the resulting rotation.
+     * @param q1 The initial rotation.
+     * @param q2 The target rotation.
+     * @param t The location on the scale from `0` to `1`.
+     * @returns This instance.
+     */
+    slerp(q1: Readonly<Quaternion>, q2: Readonly<Quaternion>, t: number): this;
+}