@openglobus/og 0.17.2 → 0.18.1

package/lib/js/math/Vec3.js

@@ -0,0 +1,799 @@
+import { Quat } from "./Quat";
+import { Vec4 } from "./Vec4";
+/**
+ * Class represents a 3d vector.
+ * @class
+ * @param {number} [x] - First value.
+ * @param {number} [y] - Second value.
+ * @param {number} [z] - Third value.
+ */
+export class Vec3 {
+    constructor(x = 0.0, y = 0.0, z = 0.0) {
+        this.x = x;
+        this.y = y;
+        this.z = z;
+    }
+    /** @const */
+    static get UP() {
+        return new Vec3(0, 1, 0);
+    }
+    /** @const */
+    static get DOWN() {
+        return new Vec3(0, -1, 0);
+    }
+    /** @const */
+    static get RIGHT() {
+        return new Vec3(1, 0, 0);
+    }
+    /** @const */
+    static get LEFT() {
+        return new Vec3(-1, 0, 0);
+    }
+    /** @const */
+    static get FORWARD() {
+        return new Vec3(0, 0, -1);
+    }
+    /** @const */
+    static get BACKWARD() {
+        return new Vec3(0, 0, 1);
+    }
+    /** @const */
+    static get ZERO() {
+        return new Vec3();
+    }
+    /** @const */
+    static get UNIT_X() {
+        return new Vec3(1, 0, 0);
+    }
+    /** @const */
+    static get UNIT_Y() {
+        return new Vec3(0, 1, 0);
+    }
+    /** @const */
+    static get UNIT_Z() {
+        return new Vec3(0, 0, 1);
+    }
+    /** @const */
+    static get NORTH() {
+        return Vec3.UNIT_Z;
+    }
+    /**
+     * Separate 63 bit Vec3 to two Vec3 32-bit float values.
+     * @function
+     * @param {Vec3} v - Double type value.
+     * @param {Vec3} high - Out vector high values.
+     * @param {Vec3} low - Out vector low values.
+     */
+    static doubleToTwoFloats(v, high, low) {
+        let x = v.x, y = v.y, z = v.z;
+        if (x >= 0.0) {
+            let doubleHigh = Math.floor(x / 65536.0) * 65536.0;
+            high.x = Math.fround(doubleHigh);
+            low.x = Math.fround(x - doubleHigh);
+        }
+        else {
+            let doubleHigh = Math.floor(-x / 65536.0) * 65536.0;
+            high.x = Math.fround(-doubleHigh);
+            low.x = Math.fround(x + doubleHigh);
+        }
+        if (y >= 0.0) {
+            let doubleHigh = Math.floor(y / 65536.0) * 65536.0;
+            high.y = Math.fround(doubleHigh);
+            low.y = Math.fround(y - doubleHigh);
+        }
+        else {
+            let doubleHigh = Math.floor(-y / 65536.0) * 65536.0;
+            high.y = Math.fround(-doubleHigh);
+            low.y = Math.fround(y + doubleHigh);
+        }
+        if (z >= 0.0) {
+            let doubleHigh = Math.floor(z / 65536.0) * 65536.0;
+            high.z = Math.fround(doubleHigh);
+            low.z = Math.fround(z - doubleHigh);
+        }
+        else {
+            let doubleHigh = Math.floor(-z / 65536.0) * 65536.0;
+            high.z = Math.fround(-doubleHigh);
+            low.z = Math.fround(z + doubleHigh);
+        }
+    }
+    /**
+     * Separate 63 bit Vec3 to two Vec3 32-bit float values.
+     * @function
+     * @param {Vec3} v - Double type value.
+     * @param {Float32Array} high - Out vector high values.
+     * @param {Float32Array} low - Out vector low values.
+     * @returns {Array.<number>} Encoded array. (exactly 2 entries)
+     */
+    static doubleToTwoFloat32Array(v, high, low) {
+        let x = v.x, y = v.y, z = v.z;
+        if (x >= 0.0) {
+            let doubleHigh = Math.floor(x / 65536.0) * 65536.0;
+            high[0] = Math.fround(doubleHigh);
+            low[0] = Math.fround(x - doubleHigh);
+        }
+        else {
+            let doubleHigh = Math.floor(-x / 65536.0) * 65536.0;
+            high[0] = Math.fround(-doubleHigh);
+            low[0] = Math.fround(x + doubleHigh);
+        }
+        if (y >= 0.0) {
+            let doubleHigh = Math.floor(y / 65536.0) * 65536.0;
+            high[1] = Math.fround(doubleHigh);
+            low[1] = Math.fround(y - doubleHigh);
+        }
+        else {
+            let doubleHigh = Math.floor(-y / 65536.0) * 65536.0;
+            high[1] = Math.fround(-doubleHigh);
+            low[1] = Math.fround(y + doubleHigh);
+        }
+        if (z >= 0.0) {
+            let doubleHigh = Math.floor(z / 65536.0) * 65536.0;
+            high[2] = Math.fround(doubleHigh);
+            low[2] = Math.fround(z - doubleHigh);
+        }
+        else {
+            let doubleHigh = Math.floor(-z / 65536.0) * 65536.0;
+            high[2] = Math.fround(-doubleHigh);
+            low[2] = Math.fround(z + doubleHigh);
+        }
+    }
+    /**
+     * Creates 3d vector from array.
+     * @function
+     * @param {NumberArray2 | NumberArray3 | NumberArray4} arr - Input array (exactly 3 entries)
+     * @returns {Vec3} -
+     */
+    static fromVec(arr) {
+        return new Vec3(arr[0], arr[1], arr[2]);
+    }
+    /**
+     * Gets angle between two vectors.
+     * @static
+     * @param {Vec3} a - First vector.
+     * @param {Vec3} b - Second vector.
+     * @returns {number} -
+     */
+    static angle(a, b) {
+        return Math.acos(a.dot(b) / Math.sqrt(a.length2() * b.length2()));
+    }
+    /**
+     * Returns two vectors linear interpolation.
+     * @static
+     * @param {Vec3} v1 - Start vector.
+     * @param {Vec3} v2 - End vector.
+     * @param {number} l - Interpolate value.
+     * @returns {Vec3} -
+     */
+    static lerp(v1, v2, l) {
+        return new Vec3(v1.x + (v2.x - v1.x) * l, v1.y + (v2.y - v1.y) * l, v1.z + (v2.z - v1.z) * l);
+    }
+    /**
+     * Returns summary vector.
+     * @static
+     * @param {Vec3} a - First vector.
+     * @param {Vec3} b - Second vector.
+     * @returns {Vec3} - Summary vector.
+     */
+    static add(a, b) {
+        let res = new Vec3(a.x, a.y, a.z);
+        res.addA(b);
+        return res;
+    }
+    /**
+     * Returns two vectors subtraction.
+     * @static
+     * @param {Vec3} a - First vector.
+     * @param {Vec3} b - Second vector.
+     * @returns {Vec3} - Vectors subtraction.
+     */
+    static sub(a, b) {
+        let res = new Vec3(a.x, a.y, a.z);
+        res.subA(b);
+        return res;
+    }
+    /**
+     * Returns scaled vector.
+     * @static
+     * @param {Vec3} a - Input vector.
+     * @param {number} scale - Scale value.
+     * @returns {Vec3} -
+     */
+    static scale(a, scale) {
+        return a.scaleTo(scale);
+    }
+    /**
+     * Returns two vectors production.
+     * @static
+     * @param {Vec3} a - First vector.
+     * @param {Vec3} b - Second vector.
+     * @returns {Vec3} -
+     */
+    static mul(a, b) {
+        let res = new Vec3(a.x, a.y, a.z);
+        res.mulA(b);
+        return res;
+    }
+    /**
+     * Returns true if two vectors are non-collinear.
+     * @public
+     * @param {Vec3} a - First vector.
+     * @param {Vec3} b - Second vector.
+     * @returns {Vec3} -
+     */
+    static noncollinear(a, b) {
+        return Boolean(a.y * b.z - a.z * b.y || a.z * b.x - a.x * b.z || a.x * b.y - a.y * b.z);
+    }
+    /**
+     * Get projection of the vector to plane where n - normal to the plane.
+     * @static
+     * @param {Vec3} b - Vector to project.
+     * @param {Vec3} n - Plane normal.
+     * @param {Vec3} [def] - Default value for non existed result.
+     * @returns {Vec3} -
+     */
+    static proj_b_to_plane(b, n, def) {
+        let res = b.sub(n.scaleTo(n.dot(b) / n.dot(n)));
+        if (def && res.isZero()) {
+            return new Vec3(def.x, def.y, def.z);
+        }
+        return res;
+    }
+    /**
+     * Get projection of the first vector to the second.
+     * @static
+     * @param {Vec3} b - First vector.
+     * @param {Vec3} a - Second vector.
+     * @returns {Vec3} -
+     */
+    static proj_b_to_a(b, a) {
+        return a.scaleTo(a.dot(b) / a.dot(a));
+    }
+    /**
+     * Makes vectors normalized and orthogonal to each other.
+     * Normalizes normal. Normalizes tangent and makes sure it is orthogonal to normal (that is, angle between them is 90 degrees).
+     * @static
+     * @param {Vec3} normal - Normal vector.
+     * @param {Vec3} tangent - Tangent vector.
+     * @returns {Vec3} -
+     */
+    static orthoNormalize(normal, tangent) {
+        normal = normal.getNormal();
+        normal.scale(tangent.dot(normal));
+        return tangent.subA(normal).normalize();
+    }
+    /**
+     * Returns vector components division product one to another.
+     * @static
+     * @param {Vec3} a - First vector.
+     * @param {Vec3} b - Second vector.
+     * @returns {Vec3} -
+     */
+    static div(a, b) {
+        let res = new Vec3(a.x, a.y, a.z);
+        res.divA(b);
+        return res;
+    }
+    static length2(a) {
+        return a.length2();
+    }
+    // static length(a: Vec3): number {
+    //     return a.length();
+    // }
+    static dot(a, b) {
+        return a.dot(b);
+    }
+    /**
+     * Converts to 4d vector, Fourth value is 1.0.
+     * @public
+     * @returns {Vec4} -
+     */
+    toVec4() {
+        return new Vec4(this.x, this.y, this.z, 1.0);
+    }
+    /**
+     * Returns clone vector.
+     * @public
+     * @returns {Vec3} -
+     */
+    clone() {
+        return new Vec3(this.x, this.y, this.z);
+    }
+    /**
+     * Converts vector to text string.
+     * @public
+     * @returns {string} -
+     */
+    toString() {
+        return `(${this.x},${this.y},${this.z})`;
+    }
+    /**
+     * Returns true if vector's values are zero.
+     * @public
+     * @returns {boolean} -
+     */
+    isZero() {
+        return !(this.x || this.y || this.z);
+    }
+    /**
+     * Get projection of the first vector to the second.
+     * @static
+     * @param {Vec3} a - Project vector.
+     * @returns {Vec3} -
+     */
+    projToVec(a) {
+        return a.scaleTo(a.dot(this) / a.dot(a));
+    }
+    /**
+     * Compares with vector. Returns true if it equals another.
+     * @public
+     * @param {Vec3} p - Vector to compare.
+     * @returns {boolean} -
+     */
+    equal(p) {
+        return this.x === p.x && this.y === p.y && this.z === p.z;
+    }
+    /**
+     * Copy input vector's values.
+     * @param {Vec3} p - Vector to copy.
+     * @returns {Vec3} -
+     */
+    copy(p) {
+        this.x = p.x;
+        this.y = p.y;
+        this.z = p.z;
+        return this;
+    }
+    /**
+     * Gets vector's length.
+     * @public
+     * @returns {number} -
+     */
+    length() {
+        return Math.sqrt(this.x * this.x + this.y * this.y + this.z * this.z);
+    }
+    /**
+     * Returns squared vector's length.
+     * @public
+     * @returns {number} -
+     */
+    length2() {
+        return this.x * this.x + this.y * this.y + this.z * this.z;
+    }
+    /**
+     * Converts vector's values to a quaternion object.
+     * @public
+     * @returns {Quat} -
+     */
+    getQuat() {
+        return new Quat(this.x, this.y, this.z);
+    }
+    /**
+     * Adds vector to the current.
+     * @public
+     * @param {Vec3} p - Point to add.
+     * @returns {Vec3} -
+     */
+    addA(p) {
+        this.x += p.x;
+        this.y += p.y;
+        this.z += p.z;
+        return this;
+    }
+    /**
+     * Gets two vectors summarization.
+     * @public
+     * @param {Vec3} p - Vector to add.
+     * @returns {Vec3} Returns a sum vector.
+     */
+    add(p) {
+        return new Vec3(this.x + p.x, this.y + p.y, this.z + p.z);
+    }
+    /**
+     * Subtract vector from the current.
+     * @public
+     * @param {Vec3} p - Subtract vector.
+     * @returns {Vec3} -
+     */
+    subA(p) {
+        this.x -= p.x;
+        this.y -= p.y;
+        this.z -= p.z;
+        return this;
+    }
+    /**
+     * Gets vector subtraction.
+     * @public
+     * @param {Vec3} p - Subtract vector.
+     * @return {Vec3} Returns new instance of a subtraction
+     */
+    sub(p) {
+        return new Vec3(this.x - p.x, this.y - p.y, this.z - p.z);
+    }
+    /**
+     * Scale current vector.
+     * @public
+     * @param {number} scale - Scale value.
+     * @returns {Vec3} -
+     */
+    scale(scale) {
+        this.x *= scale;
+        this.y *= scale;
+        this.z *= scale;
+        return this;
+    }
+    /**
+     * Scale current vector to another instance.
+     * @public
+     * @param {number} scale - Scale value.
+     * @returns {Vec3} -
+     */
+    scaleTo(scale) {
+        return new Vec3(this.x * scale, this.y * scale, this.z * scale);
+    }
+    /**
+     * Multiply current vector object to another and store result in the current instance.
+     * @public
+     * @param {Vec3} vec - Multiply vector.
+     * @returns {Vec3} -
+     */
+    mulA(vec) {
+        this.x *= vec.x;
+        this.y *= vec.y;
+        this.z *= vec.z;
+        return this;
+    }
+    /**
+     * Multiply current vector object to another and returns new vector instance.
+     * @public
+     * @param {Vec3} vec - Multiply vector.
+     * @returns {Vec3} -
+     */
+    mul(vec) {
+        return new Vec3(this.x * vec.x, this.y * vec.y, this.z * vec.z);
+    }
+    /**
+     * Divide current vector's components to another. Results stores in the current vector object.
+     * @public
+     * @param {Vec3} vec - Div vector.
+     * @returns {Vec3} -
+     */
+    divA(vec) {
+        this.x /= vec.x;
+        this.y /= vec.y;
+        this.z /= vec.z;
+        return this;
+    }
+    /**
+     * Divide current vector's components to another and returns new vector instance.
+     * @public
+     * @param {Vec3} vec - Div vector.
+     * @returns {Vec3} -
+     */
+    div(vec) {
+        return new Vec3(this.x / vec.x, this.y / vec.y, this.z / vec.z);
+    }
+    /**
+     * Gets vectors dot production.
+     * @public
+     * @param {Vec3} a - Another vector.
+     * @returns {number} -
+     */
+    dot(a) {
+        return a.x * this.x + a.y * this.y + a.z * this.z;
+    }
+    /**
+     * Gets vectors dot production.
+     * @public
+     * @param {Array.<number>} arr - Array vector. (exactly 3 entries)
+     * @returns {number} -
+     */
+    dotArr(arr) {
+        return arr[0] * this.x + arr[1] * this.y + arr[2] * this.z;
+    }
+    /**
+     * Gets vectors cross production.
+     * @public
+     * @param {Vec3} point3 - Another vector.
+     * @returns {Vec3} -
+     */
+    cross(point3) {
+        return new Vec3(this.y * point3.z - this.z * point3.y, this.z * point3.x - this.x * point3.z, this.x * point3.y - this.y * point3.x);
+    }
+    /**
+     * Sets vector to zero.
+     * @public
+     * @returns {Vec3} -
+     */
+    clear() {
+        this.x = this.y = this.z = 0;
+        return this;
+    }
+    /**
+     * Returns normalized vector.
+     * @public
+     * @returns {Vec3} -
+     */
+    getNormal() {
+        let res = new Vec3();
+        res.copy(this);
+        let length = 1.0 / res.length();
+        res.x *= length;
+        res.y *= length;
+        res.z *= length;
+        return res;
+    }
+    /**
+     * Returns normalized vector.
+     * @deprecated
+     * @public
+     * @returns {Vec3} -
+     */
+    normal() {
+        let res = new Vec3();
+        res.copy(this);
+        let length = 1.0 / res.length();
+        res.x *= length;
+        res.y *= length;
+        res.z *= length;
+        return res;
+    }
+    /**
+     * Returns normalized negate vector.
+     * @public
+     * @returns {Vec3} -
+     */
+    normalNegate() {
+        let res = new Vec3();
+        res.copy(this);
+        let length = -1.0 / res.length();
+        res.x *= length;
+        res.y *= length;
+        res.z *= length;
+        return res;
+    }
+    /**
+     * Returns normalized negate scale vector.
+     * @public
+     * @returns {Vec3} -
+     */
+    normalNegateScale(scale) {
+        let res = new Vec3();
+        res.copy(this);
+        let length = -scale / res.length();
+        res.x *= length;
+        res.y *= length;
+        res.z *= length;
+        return res;
+    }
+    /**
+     * Returns normalized scale vector.
+     * @public
+     * @returns {Vec3} -
+     */
+    normalScale(scale) {
+        let res = new Vec3();
+        res.copy(this);
+        let length = scale / res.length();
+        res.x *= length;
+        res.y *= length;
+        res.z *= length;
+        return res;
+    }
+    /**
+     * Normalize current vector.
+     * @public
+     * @returns {Vec3} -
+     */
+    normalize() {
+        let length = 1.0 / this.length();
+        this.x *= length;
+        this.y *= length;
+        this.z *= length;
+        return this;
+    }
+    /**
+     * Converts vector to a number array.
+     * @public
+     * @returns {Array.<number>} - (exactly 3 entries)
+     * @deprecated
+     */
+    toVec() {
+        return [this.x, this.y, this.z];
+    }
+    /**
+     * Converts vector to a number array.
+     * @public
+     * @returns {Array.<number>} - (exactly 3 entries)
+     */
+    toArray() {
+        return [this.x, this.y, this.z];
+    }
+    /**
+     * Gets distance to point.
+     * @public
+     * @param {Vec3} p - Distant point.
+     * @returns {number} -
+     */
+    distance(p) {
+        let dx = this.x - p.x, dy = this.y - p.y, dz = this.z - p.z;
+        return Math.sqrt(dx * dx + dy * dy + dz * dz);
+    }
+    /**
+     * Gets square distance to point.
+     * @public
+     * @param {Vec3} p - Distant point.
+     * @returns {number} -
+     */
+    distance2(p) {
+        let dx = this.x - p.x, dy = this.y - p.y, dz = this.z - p.z;
+        return dx * dx + dy * dy + dz * dz;
+    }
+    /**
+     * Sets vector's values.
+     * @public
+     * @param {number} x - Value X.
+     * @param {number} y - Value Y.
+     * @param {number} z - Value Z.
+     * @returns {Vec3} -
+     */
+    set(x, y, z) {
+        this.x = x;
+        this.y = y;
+        this.z = z;
+        return this;
+    }
+    /**
+     * Negate current vector.
+     * @public
+     * @returns {Vec3} -
+     */
+    negate() {
+        this.x = -this.x;
+        this.y = -this.y;
+        this.z = -this.z;
+        return this;
+    }
+    /**
+     * Negate current vector to another instance.
+     * @public
+     * @returns {Vec3} -
+     */
+    negateTo() {
+        return new Vec3(-this.x, -this.y, -this.z);
+    }
+    /**
+     * Gets projected point coordinates of the current vector on the ray.
+     * @public
+     * @param {Vec3} pos - Ray position.
+     * @param {Vec3} direction - Ray direction.
+     * @returns {Vec3} -
+     */
+    projToRay(pos, direction) {
+        let v = Vec3.proj_b_to_a(Vec3.sub(this, pos), direction);
+        v.addA(pos);
+        return v;
+    }
+    /**
+     * Gets angle between two vectors.
+     * @public
+     * @param {Vec3} a - Another vector.
+     * @returns {number} -
+     */
+    angle(a) {
+        return Vec3.angle(this, a);
+    }
+    /**
+     * Returns two vectors linear interpolation.
+     * @public
+     * @param {Vec3} v2 - End vector.
+     * @param {number} l - Interpolate value.
+     * @returns {Vec3} -
+     */
+    lerp(v2, l) {
+        return new Vec3(this.x + (v2.x - this.x) * l, this.y + (v2.y - this.y) * l, this.z + (v2.z - this.z) * l);
+    }
+    /**
+     * Returns vector interpolation by v(t) = v1 * t + v2 * (1 - t)
+     * @public
+     * @param {Vec3} v2 - End vector.
+     * @param {number} t - Interpolate value.
+     * @returns {Vec3} -
+     */
+    smerp(v2, t) {
+        let one_d = 1 - t;
+        return new Vec3(this.x * t + v2.x * one_d, this.y * t + v2.y * one_d, this.z * t + v2.z * one_d);
+    }
+    static get LERP_DELTA() {
+        return 1e-6;
+    }
+    /**
+     * Spherically interpolates between two vectors.
+     * Interpolates between current and v2 vector by amount t. The difference between this and linear interpolation (aka, "lerp") is that
+     * the vectors are treated as directions rather than points in space. The direction of the returned vector is interpolated
+     * by the angle and its magnitude is interpolated between the magnitudes of from and to.
+     * @public
+     * @param {Vec3} v2 -
+     * @param {number} t - The parameter t is clamped to the range [0, 1].
+     * @returns {Vec3} -
+     */
+    slerp(v2, t) {
+        let res = new Vec3();
+        if (t <= 0.0) {
+            res.copy(this);
+            return res;
+        }
+        else if (t >= 1.0) {
+            res.copy(v2);
+            return res;
+        }
+        let omega, sinom, scale0, scale1;
+        let cosom = this.dot(v2);
+        if (1.0 - cosom > Vec3.LERP_DELTA) {
+            omega = Math.acos(cosom);
+            sinom = Math.sin(omega);
+            scale0 = Math.sin((1.0 - t) * omega) / sinom;
+            scale1 = Math.sin(t * omega) / sinom;
+        }
+        else {
+            scale0 = 1.0 - t;
+            scale1 = t;
+        }
+        return Vec3.add(this.scaleTo(scale0), v2.scale(scale1));
+    }
+    /**
+     * Gets the shortest arc quaternion to rotate this vector to the destination vector.
+     * @param {Vec3} dest -
+     * @param {Vec3} fallbackAxis -
+     * @returns {Quat} -
+     * @todo: TEST IT!
+     */
+    getRotationTo(dest, fallbackAxis) {
+        // Based on Stan Melax's article in Game Programming Gems
+        // Copy, since cannot modify local
+        let v0 = this.clone();
+        let v1 = dest.clone();
+        v0.normalize();
+        v1.normalize();
+        let d = v0.dot(v1);
+        // If dot == 1, vectors are the same
+        if (d >= 1.0) {
+            return Quat.IDENTITY.clone();
+        }
+        if (d < 1e-6 - 1.0) {
+            if (!fallbackAxis.equal(Vec3.ZERO)) {
+                // rotate 180 degrees about the fallback axis
+                return Quat.axisAngleToQuat(fallbackAxis, Math.PI);
+            }
+            else {
+                // Generate an axis
+                let axis = Vec3.UNIT_X.cross(v0);
+                if (axis.isZero()) {
+                    // pick another if colinear
+                    axis = Vec3.UNIT_Y.cross(v0);
+                }
+                axis.normalize();
+                return Quat.axisAngleToQuat(axis, Math.PI);
+            }
+        }
+        else {
+            let s = Math.sqrt((1 + d) * 2);
+            let invs = 1.0 / s;
+            let c = v0.cross(v1);
+            let q = new Quat(c.x * invs, c.y * invs, c.z * invs, s * 0.5);
+            q.normalize();
+            return q;
+        }
+    }
+}
+/**
+ * Vector 3d object creator.
+ * @function
+ * @param {number} [x] - value X.
+ * @param {number} [y] - value Y.
+ * @param {number} [z] - value Z.
+ * @returns {Vec3} -
+ */
+export function vec3(x = 0, y = 0, z = 0) {
+    return new Vec3(x, y, z);
+}