@perplexdotgg/bounce 1.0.0

package/src/math/isometry.ts

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+import { createClass, MonomorphType, PropertyDefinitionMap } from "monomorph";
+import { Mat4 } from "./mat4";
+import { Quat } from "./quat";
+import { Vec3 } from "./vec3";
+import { Mat3 } from "./mat3";
+
+const isometryProps = {
+  matrix: MonomorphType(Mat4),
+} as const satisfies PropertyDefinitionMap;
+
+const tempTranslation = /*@__PURE__*/ Vec3.create();
+const tempRotation = /*@__PURE__*/ Quat.create();
+const rotation = /*@__PURE__*/ Mat3.create();
+
+const inverseMatrix = /*@__PURE__*/ Mat4.create();
+
+export class Isometry extends createClass<Isometry, typeof isometryProps>(isometryProps) {
+  fromRotationAndTranslation(rotation?: Quat, translation?: Vec3) {
+    if (rotation) {
+      tempRotation.copy(rotation);
+    } else {
+      tempRotation.identity();
+    }
+
+    if (translation) {
+      tempTranslation.copy(translation);
+    } else {
+      tempTranslation.zero();
+    }
+
+    this.matrix.fromRotationTranslation(tempRotation, tempTranslation);
+    return this;
+  }
+
+  fromInverseRotationAndTranslation(rotation: Quat, translation: Vec3) {
+    this.matrix.fromRotationTranslation(rotation, translation);
+    this.matrix.invert();
+    return this;
+  }
+
+  rotateVector(vector: Vec3) {
+    rotation.fromMat4(this.matrix);
+    vector.transformVectorFromMat3(vector, rotation);
+    return vector;
+  }
+
+  inverseRotateVector(out: Vec3, vector: Vec3) {
+    rotation.fromMat4(this.matrix);
+    rotation.invert();
+    out.transformVectorFromMat3(vector, rotation);
+    return out;
+  }
+
+  transformPoint(point: Vec3) {
+    point.transformFromMat4(this.matrix);
+    return point;
+  }
+
+  inverseTransformPoint(point: Vec3) {
+    inverseMatrix.invertMatrix(this.matrix);
+    point.transformFromMat4(inverseMatrix);
+    return point;
+  }
+}

package/src/math/mat3.ts

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+import { createClass, NumberType, PropertyDefinitionMap } from "monomorph";
+import { Mat4 } from "./mat4";
+import { Quat } from "./quat";
+import { Vec3 } from "./vec3";
+
+export const mat3Keys = ["e0", "e1", "e2", "e3", "e4", "e5", "e6", "e7", "e8"] as const;
+
+const mat3Props = {
+  e0: NumberType(0),
+  e1: NumberType(0),
+  e2: NumberType(0),
+
+  e3: NumberType(0),
+  e4: NumberType(0),
+  e5: NumberType(0),
+
+  e6: NumberType(0),
+  e7: NumberType(0),
+  e8: NumberType(0),
+} as const satisfies PropertyDefinitionMap;
+
+export class Mat3 extends createClass<Mat3, typeof mat3Props>(mat3Props) {
+  adjointMatrix(a: Mat3) {
+    let a00 = a.e0,
+      a01 = a.e1,
+      a02 = a.e2;
+    let a10 = a.e3,
+      a11 = a.e4,
+      a12 = a.e5;
+    let a20 = a.e6,
+      a21 = a.e7,
+      a22 = a.e8;
+
+    this.e0 = a11 * a22 - a12 * a21;
+    this.e1 = a02 * a21 - a01 * a22;
+    this.e2 = a01 * a12 - a02 * a11;
+    this.e3 = a12 * a20 - a10 * a22;
+    this.e4 = a00 * a22 - a02 * a20;
+    this.e5 = a02 * a10 - a00 * a12;
+    this.e6 = a10 * a21 - a11 * a20;
+    this.e7 = a01 * a20 - a00 * a21;
+    this.e8 = a00 * a11 - a01 * a10;
+    return this;
+  }
+
+  adjoint() {
+    let a00 = this.e0,
+      a01 = this.e1,
+      a02 = this.e2;
+    let a10 = this.e3,
+      a11 = this.e4,
+      a12 = this.e5;
+    let a20 = this.e6,
+      a21 = this.e7,
+      a22 = this.e8;
+
+    this.e0 = a11 * a22 - a12 * a21;
+    this.e1 = a02 * a21 - a01 * a22;
+    this.e2 = a01 * a12 - a02 * a11;
+    this.e3 = a12 * a20 - a10 * a22;
+    this.e4 = a00 * a22 - a02 * a20;
+    this.e5 = a02 * a10 - a00 * a12;
+    this.e6 = a10 * a21 - a11 * a20;
+    this.e7 = a01 * a20 - a00 * a21;
+    this.e8 = a00 * a11 - a01 * a10;
+    return this;
+  }
+
+  computeDeterminant() {
+    let a00 = this.e0,
+      a01 = this.e1,
+      a02 = this.e2;
+    let a10 = this.e3,
+      a11 = this.e4,
+      a12 = this.e5;
+    let a20 = this.e6,
+      a21 = this.e7,
+      a22 = this.e8;
+
+    return a00 * (a22 * a11 - a12 * a21) + a01 * (-a22 * a10 + a12 * a20) + a02 * (a21 * a10 - a11 * a20);
+  }
+
+  setColumns(column0: Vec3, column1: Vec3, column2: Vec3): void {
+    this.e0 = column0.x;
+    this.e1 = column0.y;
+    this.e2 = column0.z;
+    this.e3 = column1.x;
+    this.e4 = column1.y;
+    this.e5 = column1.z;
+    this.e6 = column2.x;
+    this.e7 = column2.y;
+    this.e8 = column2.z;
+  }
+
+  fill(value: number) {
+    this.e0 = value;
+    this.e1 = value;
+    this.e2 = value;
+    this.e3 = value;
+    this.e4 = value;
+    this.e5 = value;
+    this.e6 = value;
+    this.e7 = value;
+    this.e8 = value;
+  }
+
+  fillDiagonal(value: number) {
+    this.e0 = value;
+    this.e4 = value;
+    this.e8 = value;
+  }
+
+  fillOffDiagonal(value: number) {
+    this.e1 = value;
+    this.e2 = value;
+    this.e3 = value;
+    this.e5 = value;
+    this.e6 = value;
+    this.e7 = value;
+  }
+
+  fromMat4(a: Mat4) {
+    this.e0 = a.e0;
+    this.e1 = a.e1;
+    this.e2 = a.e2;
+    this.e3 = a.e4;
+    this.e4 = a.e5;
+    this.e5 = a.e6;
+    this.e6 = a.e8;
+    this.e7 = a.e9;
+    this.e8 = a.e10;
+
+    return this;
+  }
+
+  transpose() {
+    const a01 = this.e1;
+    const a02 = this.e2;
+    const a12 = this.e5;
+    this.e1 = this.e3;
+    this.e2 = this.e6;
+    this.e3 = a01;
+    this.e5 = this.e7;
+    this.e6 = a02;
+    this.e7 = a12;
+
+    return this;
+  }
+
+  transposeMatrix(a: Mat3) {
+    this.e0 = a.e0;
+    this.e1 = a.e3;
+    this.e2 = a.e6;
+    this.e3 = a.e1;
+    this.e4 = a.e4;
+    this.e5 = a.e7;
+    this.e6 = a.e2;
+    this.e7 = a.e5;
+    this.e8 = a.e8;
+
+    return this;
+  }
+
+  invert(): Mat3 | null {
+    const a00 = this.e0;
+    const a01 = this.e1;
+    const a02 = this.e2;
+    const a10 = this.e3;
+    const a11 = this.e4;
+    const a12 = this.e5;
+    const a20 = this.e6;
+    const a21 = this.e7;
+    const a22 = this.e8;
+
+    const b01 = a22 * a11 - a12 * a21;
+    const b11 = -a22 * a10 + a12 * a20;
+    const b21 = a21 * a10 - a11 * a20;
+
+    // Calculate the determinant
+    let det = a00 * b01 + a01 * b11 + a02 * b21;
+
+    if (!det) {
+      return null;
+    }
+    det = 1.0 / det;
+
+    this.e0 = b01 * det;
+    this.e1 = (-a22 * a01 + a02 * a21) * det;
+    this.e2 = (a12 * a01 - a02 * a11) * det;
+    this.e3 = b11 * det;
+    this.e4 = (a22 * a00 - a02 * a20) * det;
+    this.e5 = (-a12 * a00 + a02 * a10) * det;
+    this.e6 = b21 * det;
+    this.e7 = (-a21 * a00 + a01 * a20) * det;
+    this.e8 = (a11 * a00 - a01 * a10) * det;
+    return this;
+  }
+
+  invertMat3(a: Mat3): Mat3 | null {
+    const a00 = a.e0;
+    const a01 = a.e1;
+    const a02 = a.e2;
+    const a10 = a.e3;
+    const a11 = a.e4;
+    const a12 = a.e5;
+    const a20 = a.e6;
+    const a21 = a.e7;
+    const a22 = a.e8;
+
+    const b01 = a22 * a11 - a12 * a21;
+    const b11 = -a22 * a10 + a12 * a20;
+    const b21 = a21 * a10 - a11 * a20;
+
+    // Calculate the determinant
+    let det = a00 * b01 + a01 * b11 + a02 * b21;
+
+    if (!det) {
+      return null;
+    }
+    det = 1.0 / det;
+
+    this.e0 = b01 * det;
+    this.e1 = (-a22 * a01 + a02 * a21) * det;
+    this.e2 = (a12 * a01 - a02 * a11) * det;
+    this.e3 = b11 * det;
+    this.e4 = (a22 * a00 - a02 * a20) * det;
+    this.e5 = (-a12 * a00 + a02 * a10) * det;
+    this.e6 = b21 * det;
+    this.e7 = (-a21 * a00 + a01 * a20) * det;
+    this.e8 = (a11 * a00 - a01 * a10) * det;
+    return this;
+  }
+
+  zero() {
+    this.e0 = 0;
+    this.e1 = 0;
+    this.e2 = 0;
+    this.e3 = 0;
+    this.e4 = 0;
+    this.e5 = 0;
+    this.e6 = 0;
+    this.e7 = 0;
+    this.e8 = 0;
+
+    return this;
+  }
+
+  multiplyMat3(b: Mat3): Mat3 {
+    const a00 = this.e0;
+    const a01 = this.e1;
+    const a02 = this.e2;
+    const a10 = this.e3;
+    const a11 = this.e4;
+    const a12 = this.e5;
+    const a20 = this.e6;
+    const a21 = this.e7;
+    const a22 = this.e8;
+
+    const b00 = b.e0;
+    const b01 = b.e1;
+    const b02 = b.e2;
+    const b10 = b.e3;
+    const b11 = b.e4;
+    const b12 = b.e5;
+    const b20 = b.e6;
+    const b21 = b.e7;
+    const b22 = b.e8;
+
+    this.e0 = b00 * a00 + b01 * a10 + b02 * a20;
+    this.e1 = b00 * a01 + b01 * a11 + b02 * a21;
+    this.e2 = b00 * a02 + b01 * a12 + b02 * a22;
+
+    this.e3 = b10 * a00 + b11 * a10 + b12 * a20;
+    this.e4 = b10 * a01 + b11 * a11 + b12 * a21;
+    this.e5 = b10 * a02 + b11 * a12 + b12 * a22;
+
+    this.e6 = b20 * a00 + b21 * a10 + b22 * a20;
+    this.e7 = b20 * a01 + b21 * a11 + b22 * a21;
+    this.e8 = b20 * a02 + b21 * a12 + b22 * a22;
+    return this;
+  }
+
+  addMatrix(a: Mat3) {
+    this.e0 += a.e0;
+    this.e1 += a.e1;
+    this.e2 += a.e2;
+    this.e3 += a.e3;
+    this.e4 += a.e4;
+    this.e5 += a.e5;
+    this.e6 += a.e6;
+    this.e7 += a.e7;
+    this.e8 += a.e8;
+
+    return this;
+  }
+
+  addMatrices(a: Mat3, b: Mat3) {
+    this.e0 = a.e0 + b.e0;
+    this.e1 = a.e1 + b.e1;
+    this.e2 = a.e2 + b.e2;
+    this.e3 = a.e3 + b.e3;
+    this.e4 = a.e4 + b.e4;
+    this.e5 = a.e5 + b.e5;
+    this.e6 = a.e6 + b.e6;
+    this.e7 = a.e7 + b.e7;
+    this.e8 = a.e8 + b.e8;
+    return this;
+  }
+
+  subtractMatrix(a: Mat3) {
+    this.e0 -= a.e0;
+    this.e1 -= a.e1;
+    this.e2 -= a.e2;
+    this.e3 -= a.e3;
+    this.e4 -= a.e4;
+    this.e5 -= a.e5;
+    this.e6 -= a.e6;
+    this.e7 -= a.e7;
+    this.e8 -= a.e8;
+
+    return this;
+  }
+
+  subtractMatrices(a: Mat3, b: Mat3) {
+    this.e0 = a.e0 - b.e0;
+    this.e1 = a.e1 - b.e1;
+    this.e2 = a.e2 - b.e2;
+    this.e3 = a.e3 - b.e3;
+    this.e4 = a.e4 - b.e4;
+    this.e5 = a.e5 - b.e5;
+    this.e6 = a.e6 - b.e6;
+    this.e7 = a.e7 - b.e7;
+    this.e8 = a.e8 - b.e8;
+    return this;
+  }
+
+  outerProduct(a: Vec3, b: Vec3) {
+    this.e0 = a.x * b.x;
+    this.e1 = a.y * b.x;
+    this.e2 = a.z * b.x;
+    this.e3 = a.x * b.y;
+    this.e4 = a.y * b.y;
+    this.e5 = a.z * b.y;
+    this.e6 = a.x * b.z;
+    this.e7 = a.y * b.z;
+    this.e8 = a.z * b.z;
+    return this;
+  }
+
+  multiplyByScalar(b: number) {
+    this.e0 *= b;
+    this.e1 *= b;
+    this.e2 *= b;
+    this.e3 *= b;
+    this.e4 *= b;
+    this.e5 *= b;
+    this.e6 *= b;
+    this.e7 *= b;
+    this.e8 *= b;
+
+    return this;
+  }
+
+  multiplyMatrixByScalar(a: Mat3, b: number) {
+    this.e0 = a.e0 * b;
+    this.e1 = a.e1 * b;
+    this.e2 = a.e2 * b;
+    this.e3 = a.e3 * b;
+    this.e4 = a.e4 * b;
+    this.e5 = a.e5 * b;
+    this.e6 = a.e6 * b;
+    this.e7 = a.e7 * b;
+    this.e8 = a.e8 * b;
+    return this;
+  }
+
+  identity() {
+    this.e0 = 1;
+    this.e1 = 0;
+    this.e2 = 0;
+    this.e3 = 0;
+    this.e4 = 1;
+    this.e5 = 0;
+    this.e6 = 0;
+    this.e7 = 0;
+    this.e8 = 1;
+
+    return this;
+  }
+
+  multiplyMat3RightTransposed(a: Mat3) {
+    rightTransposed.transposeMatrix(a);
+    this.multiplyMat3s(this, rightTransposed);
+    return this;
+  }
+
+  multiplyMat3s(a: Mat3, b: Mat3): Mat3 {
+    const a00 = a.e0;
+    const a01 = a.e1;
+    const a02 = a.e2;
+    const a10 = a.e3;
+    const a11 = a.e4;
+    const a12 = a.e5;
+    const a20 = a.e6;
+    const a21 = a.e7;
+    const a22 = a.e8;
+
+    const b00 = b.e0;
+    const b01 = b.e1;
+    const b02 = b.e2;
+    const b10 = b.e3;
+    const b11 = b.e4;
+    const b12 = b.e5;
+    const b20 = b.e6;
+    const b21 = b.e7;
+    const b22 = b.e8;
+
+    this.e0 = b00 * a00 + b01 * a10 + b02 * a20;
+    this.e1 = b00 * a01 + b01 * a11 + b02 * a21;
+    this.e2 = b00 * a02 + b01 * a12 + b02 * a22;
+
+    this.e3 = b10 * a00 + b11 * a10 + b12 * a20;
+    this.e4 = b10 * a01 + b11 * a11 + b12 * a21;
+    this.e5 = b10 * a02 + b11 * a12 + b12 * a22;
+
+    this.e6 = b20 * a00 + b21 * a10 + b22 * a20;
+    this.e7 = b20 * a01 + b21 * a11 + b22 * a21;
+    this.e8 = b20 * a02 + b21 * a12 + b22 * a22;
+    return this;
+  }
+
+  fromQuat(q: Quat): Mat3 {
+    const x = q.x;
+    const y = q.y;
+    const z = q.z;
+    const w = q.w;
+    const x2 = x + x;
+    const y2 = y + y;
+    const z2 = z + z;
+
+    const xx = x * x2;
+    const yx = y * x2;
+    const yy = y * y2;
+    const zx = z * x2;
+    const zy = z * y2;
+    const zz = z * z2;
+    const wx = w * x2;
+    const wy = w * y2;
+    const wz = w * z2;
+
+    this.e0 = 1 - yy - zz;
+    this.e3 = yx - wz;
+    this.e6 = zx + wy;
+
+    this.e1 = yx + wz;
+    this.e4 = 1 - xx - zz;
+    this.e7 = zy - wx;
+
+    this.e2 = zx - wy;
+    this.e5 = zy + wx;
+    this.e8 = 1 - xx - yy;
+
+    return this;
+  }
+
+  isExactlyZero() {
+    return (
+      this.e0 === 0 &&
+      this.e1 === 0 &&
+      this.e2 === 0 &&
+      this.e3 === 0 &&
+      this.e4 === 0 &&
+      this.e5 === 0 &&
+      this.e6 === 0 &&
+      this.e7 === 0 &&
+      this.e8 === 0
+    );
+  }
+
+  asSkewSymmetricMatrix(a: Vec3) {
+    this.e0 = +0;
+    this.e1 = +a.z;
+    this.e2 = -a.y;
+    this.e3 = -a.z;
+    this.e4 = +0;
+    this.e5 = +a.x;
+    this.e6 = +a.y;
+    this.e7 = -a.x;
+    this.e8 = +0;
+    return this;
+  }
+
+  multiplyMatrices(a: Mat3, b: Mat3) {
+    let a00 = a.e0,
+      a01 = a.e1,
+      a02 = a.e2;
+    let a10 = a.e3,
+      a11 = a.e4,
+      a12 = a.e5;
+    let a20 = a.e6,
+      a21 = a.e7,
+      a22 = a.e8;
+
+    let b00 = b.e0,
+      b01 = b.e1,
+      b02 = b.e2;
+    let b10 = b.e3,
+      b11 = b.e4,
+      b12 = b.e5;
+    let b20 = b.e6,
+      b21 = b.e7,
+      b22 = b.e8;
+
+    this.e0 = b00 * a00 + b01 * a10 + b02 * a20;
+    this.e1 = b00 * a01 + b01 * a11 + b02 * a21;
+    this.e2 = b00 * a02 + b01 * a12 + b02 * a22;
+
+    this.e3 = b10 * a00 + b11 * a10 + b12 * a20;
+    this.e4 = b10 * a01 + b11 * a11 + b12 * a21;
+    this.e5 = b10 * a02 + b11 * a12 + b12 * a22;
+
+    this.e6 = b20 * a00 + b21 * a10 + b22 * a20;
+    this.e7 = b20 * a01 + b21 * a11 + b22 * a21;
+    this.e8 = b20 * a02 + b21 * a12 + b22 * a22;
+    return this;
+  }
+}
+
+const rightTransposed = /*@__PURE__*/ Mat3.create();