@vived/core 1.4.1 → 1.4.2

package/dist/cjs/ValueObjects/Matrix.js

@@ -0,0 +1,466 @@
+"use strict";
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.Matrix = void 0;
+const Quaternion_1 = require("./Quaternion");
+const Vector3_1 = require("./Vector3");
+class Matrix {
+    /**
+     * Consructs an identity matrix
+     * @returns An identity matrix
+     */
+    static Identity() {
+        return new Matrix([1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1]);
+    }
+    /**
+     * Constructs an matrix of zeros
+     * @returns A matrix of zeros
+     */
+    static Zero() {
+        return new Matrix([0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]);
+    }
+    /**
+     * Compares two matricies
+     * @param a Matrix A
+     * @param b Matrix B
+     * @returns True if all the elements in matrix A are equal to all the elements of matrix B
+     */
+    static Equal(a, b) {
+        let areEqual = true;
+        for (let i = 0; i < 16; i++) {
+            if (a._m[i] !== b._m[i]) {
+                areEqual = false;
+                break;
+            }
+        }
+        return areEqual;
+    }
+    /**
+     * Checks to see if Matrix A is close to Matrix B by comparing elements
+     * @param a Matrix A
+     * @param b Matrix B
+     * @param threshold "Close" thershold. Defaults to 0.001
+     * @returns True if all the difference between the elements in each array is less than the threshold
+     */
+    static Close(a, b, threshold = 0.001) {
+        let areClose = true;
+        for (let i = 0; i < 16; i++) {
+            let diff = a._m[i] - b._m[i];
+            if (diff < 0) {
+                diff = -diff;
+            }
+            if (diff > threshold) {
+                areClose = false;
+                break;
+            }
+        }
+        return areClose;
+    }
+    /**
+     * Multiplies Matrix A and B (AxB)
+     * @param a Matrix A
+     * @param b Matrix B
+     * @returns The result of AxB
+     */
+    static Multiply(a, b) {
+        const aMatrix = a._m;
+        const bMatrix = b._m;
+        const tm0 = bMatrix[0];
+        const tm1 = bMatrix[1];
+        const tm2 = bMatrix[2];
+        const tm3 = bMatrix[3];
+        const tm4 = bMatrix[4];
+        const tm5 = bMatrix[5];
+        const tm6 = bMatrix[6];
+        const tm7 = bMatrix[7];
+        const tm8 = bMatrix[8];
+        const tm9 = bMatrix[9];
+        const tm10 = bMatrix[10];
+        const tm11 = bMatrix[11];
+        const tm12 = bMatrix[12];
+        const tm13 = bMatrix[13];
+        const tm14 = bMatrix[14];
+        const tm15 = bMatrix[15];
+        const om0 = aMatrix[0];
+        const om1 = aMatrix[1];
+        const om2 = aMatrix[2];
+        const om3 = aMatrix[3];
+        const om4 = aMatrix[4];
+        const om5 = aMatrix[5];
+        const om6 = aMatrix[6];
+        const om7 = aMatrix[7];
+        const om8 = aMatrix[8];
+        const om9 = aMatrix[9];
+        const om10 = aMatrix[10];
+        const om11 = aMatrix[11];
+        const om12 = aMatrix[12];
+        const om13 = aMatrix[13];
+        const om14 = aMatrix[14];
+        const om15 = aMatrix[15];
+        const result1 = tm0 * om0 + tm1 * om4 + tm2 * om8 + tm3 * om12;
+        const result2 = tm0 * om1 + tm1 * om5 + tm2 * om9 + tm3 * om13;
+        const result3 = tm0 * om2 + tm1 * om6 + tm2 * om10 + tm3 * om14;
+        const result4 = tm0 * om3 + tm1 * om7 + tm2 * om11 + tm3 * om15;
+        const result5 = tm4 * om0 + tm5 * om4 + tm6 * om8 + tm7 * om12;
+        const result6 = tm4 * om1 + tm5 * om5 + tm6 * om9 + tm7 * om13;
+        const result7 = tm4 * om2 + tm5 * om6 + tm6 * om10 + tm7 * om14;
+        const result8 = tm4 * om3 + tm5 * om7 + tm6 * om11 + tm7 * om15;
+        const result9 = tm8 * om0 + tm9 * om4 + tm10 * om8 + tm11 * om12;
+        const result10 = tm8 * om1 + tm9 * om5 + tm10 * om9 + tm11 * om13;
+        const result11 = tm8 * om2 + tm9 * om6 + tm10 * om10 + tm11 * om14;
+        const result12 = tm8 * om3 + tm9 * om7 + tm10 * om11 + tm11 * om15;
+        const result13 = tm12 * om0 + tm13 * om4 + tm14 * om8 + tm15 * om12;
+        const result14 = tm12 * om1 + tm13 * om5 + tm14 * om9 + tm15 * om13;
+        const result15 = tm12 * om2 + tm13 * om6 + tm14 * om10 + tm15 * om14;
+        const result16 = tm12 * om3 + tm13 * om7 + tm14 * om11 + tm15 * om15;
+        return new Matrix([
+            result1,
+            result2,
+            result3,
+            result4,
+            result5,
+            result6,
+            result7,
+            result8,
+            result9,
+            result10,
+            result11,
+            result12,
+            result13,
+            result14,
+            result15,
+            result16,
+        ]);
+    }
+    /**
+     * Composes a matrix from a scale vector, rotation quaterion, and translation vector
+     * @param scale The scale of the transformation matrix
+     * @param rotation The rotation of the transformation matrix
+     * @param translation The translation of the transformation matrix
+     * @returns The composed matrix
+     */
+    static Compose(scale, rotation, translation) {
+        const final = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0];
+        const rotX = rotation.x;
+        const rotY = rotation.y;
+        const rotZ = rotation.z;
+        const rotW = rotation.w;
+        const x2 = rotX + rotX;
+        const y2 = rotY + rotY;
+        const z2 = rotZ + rotZ;
+        const xx = rotX * x2;
+        const xy = rotX * y2;
+        const xz = rotX * z2;
+        const yy = rotY * y2;
+        const yz = rotY * z2;
+        const zz = rotZ * z2;
+        const wx = rotW * x2;
+        const wy = rotW * y2;
+        const wz = rotW * z2;
+        const scaleX = scale.x;
+        const scaleY = scale.y;
+        const scaleZ = scale.z;
+        final[0] = (1 - (yy + zz)) * scaleX;
+        final[1] = (xy + wz) * scaleX;
+        final[2] = (xz - wy) * scaleX;
+        final[3] = 0;
+        final[4] = (xy - wz) * scaleY;
+        final[5] = (1 - (xx + zz)) * scaleY;
+        final[6] = (yz + wx) * scaleY;
+        final[7] = 0;
+        final[8] = (xz + wy) * scaleZ;
+        final[9] = (yz - wx) * scaleZ;
+        final[10] = (1 - (xx + yy)) * scaleZ;
+        final[11] = 0;
+        final[12] = translation.x;
+        final[13] = translation.y;
+        final[14] = translation.z;
+        final[15] = 1;
+        return new Matrix(final);
+    }
+    /**
+     * Inverts a matrix into a new matrix.
+     * @param matrix The matrix to invert
+     * @returns The inverted matrix unless the matrix cannot be inverted, then the identity is returned
+     */
+    static Invert(matrix) {
+        const m = matrix._m;
+        const m00 = m[0];
+        const m01 = m[1];
+        const m02 = m[2];
+        const m03 = m[3];
+        const m10 = m[4];
+        const m11 = m[5];
+        const m12 = m[6];
+        const m13 = m[7];
+        const m20 = m[8];
+        const m21 = m[9];
+        const m22 = m[10];
+        const m23 = m[11];
+        const m30 = m[12];
+        const m31 = m[13];
+        const m32 = m[14];
+        const m33 = m[15];
+        const det_12_33 = m12 * m33 - m32 * m13;
+        const det_11_33 = m11 * m33 - m31 * m13;
+        const det_11_32 = m11 * m32 - m31 * m12;
+        const det_10_33 = m10 * m33 - m30 * m13;
+        const det_10_32 = m10 * m32 - m30 * m12;
+        const det_10_31 = m10 * m31 - m30 * m11;
+        const det_12_23 = m12 * m23 - m22 * m13;
+        const det_11_23 = m11 * m23 - m21 * m13;
+        const det_11_22 = m11 * m22 - m21 * m12;
+        const det_10_23 = m10 * m23 - m20 * m13;
+        const det_10_22 = m10 * m22 - m20 * m12;
+        const det_10_21 = m10 * m21 - m20 * m11;
+        const det_22_33 = m22 * m33 - m32 * m23;
+        const det_21_33 = m21 * m33 - m31 * m23;
+        const det_21_32 = m21 * m32 - m31 * m22;
+        const det_20_33 = m20 * m33 - m30 * m23;
+        const det_20_32 = m20 * m32 - m22 * m30;
+        const det_20_31 = m20 * m31 - m30 * m21;
+        const cofact_00 = +(m11 * det_22_33 - m12 * det_21_33 + m13 * det_21_32);
+        const cofact_01 = -(m10 * det_22_33 - m12 * det_20_33 + m13 * det_20_32);
+        const cofact_02 = +(m10 * det_21_33 - m11 * det_20_33 + m13 * det_20_31);
+        const cofact_03 = -(m10 * det_21_32 - m11 * det_20_32 + m12 * det_20_31);
+        const det = m00 * cofact_00 + m01 * cofact_01 + m02 * cofact_02 + m03 * cofact_03;
+        if (det === 0)
+            return Matrix.Identity();
+        const detInv = 1 / det;
+        const cofact_10 = -(m01 * det_22_33 - m02 * det_21_33 + m03 * det_21_32);
+        const cofact_11 = +(m00 * det_22_33 - m02 * det_20_33 + m03 * det_20_32);
+        const cofact_12 = -(m00 * det_21_33 - m01 * det_20_33 + m03 * det_20_31);
+        const cofact_13 = +(m00 * det_21_32 - m01 * det_20_32 + m02 * det_20_31);
+        const cofact_20 = +(m01 * det_12_33 - m02 * det_11_33 + m03 * det_11_32);
+        const cofact_21 = -(m00 * det_12_33 - m02 * det_10_33 + m03 * det_10_32);
+        const cofact_22 = +(m00 * det_11_33 - m01 * det_10_33 + m03 * det_10_31);
+        const cofact_23 = -(m00 * det_11_32 - m01 * det_10_32 + m02 * det_10_31);
+        const cofact_30 = -(m01 * det_12_23 - m02 * det_11_23 + m03 * det_11_22);
+        const cofact_31 = +(m00 * det_12_23 - m02 * det_10_23 + m03 * det_10_22);
+        const cofact_32 = -(m00 * det_11_23 - m01 * det_10_23 + m03 * det_10_21);
+        const cofact_33 = +(m00 * det_11_22 - m01 * det_10_22 + m02 * det_10_21);
+        return new Matrix([
+            cofact_00 * detInv,
+            cofact_10 * detInv,
+            cofact_20 * detInv,
+            cofact_30 * detInv,
+            cofact_01 * detInv,
+            cofact_11 * detInv,
+            cofact_21 * detInv,
+            cofact_31 * detInv,
+            cofact_02 * detInv,
+            cofact_12 * detInv,
+            cofact_22 * detInv,
+            cofact_32 * detInv,
+            cofact_03 * detInv,
+            cofact_13 * detInv,
+            cofact_23 * detInv,
+            cofact_33 * detInv,
+        ]);
+    }
+    /**
+     * Creates a rotation matrix for a given axes and angle
+     * @param axis The axes of rotation
+     * @param angle The angle of rotation
+     * @returns A new rotation matrix
+     */
+    static FromRotationAxisAngle(axis, angle) {
+        const sin = Math.sin(-angle.radians);
+        const cosin = Math.cos(-angle.radians);
+        const c1 = 1 - cosin;
+        const unit = axis.unit;
+        const m = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0];
+        m[0] = unit.x * unit.x * c1 + cosin;
+        m[1] = unit.x * unit.y * c1 - unit.z * sin;
+        m[2] = unit.x * unit.z * c1 + unit.y * sin;
+        m[3] = 0.0;
+        m[4] = unit.y * unit.x * c1 + unit.z * sin;
+        m[5] = unit.y * unit.y * c1 + cosin;
+        m[6] = unit.y * unit.z * c1 - unit.x * sin;
+        m[7] = 0.0;
+        m[8] = unit.z * unit.x * c1 - unit.y * sin;
+        m[9] = unit.z * unit.y * c1 + unit.x * sin;
+        m[10] = unit.z * unit.z * c1 + cosin;
+        m[11] = 0.0;
+        m[12] = 0.0;
+        m[13] = 0.0;
+        m[14] = 0.0;
+        m[15] = 1.0;
+        return new Matrix(m);
+    }
+    /**
+     * Make a new transformation matrix that has the same scale and rotation as the original but the translation is set
+     * @param original The original matrix
+     * @param translation The new translation value
+     * @returns A new matrix that is the same as the original but the translation has been changed
+     */
+    static SetMatrixTranslation(original, translation) {
+        const values = original.m;
+        values[12] = translation.x;
+        values[13] = translation.y;
+        values[14] = translation.z;
+        return new Matrix(values);
+    }
+    /**
+     * Make a new transformation matrix that has the same scale and translation as the original but the rotation is set
+     * @param original The original matrix
+     * @param rotation The new rotation value
+     * @returns A new matrix that is the same as the original but the rotation has been changed
+     */
+    static SetMatrixRotation(original, rotation) {
+        const scale = original.scale;
+        const translation = original.translation;
+        return Matrix.Compose(scale, rotation, translation);
+    }
+    /**
+     * Make a new transformation matrix that has the same rotation and translation as the original but the scale is set
+     * @param original The original matrix
+     * @param scale The new scale value
+     * @returns A new matrix that is the same as the original but the scale has been changed
+     */
+    static SetMatrixScale(original, scale) {
+        const rotation = original.rotation;
+        const translation = original.translation;
+        return Matrix.Compose(scale, rotation, translation);
+    }
+    static FromFloat32Array(array) {
+        if (array.length !== 16) {
+            console.error("[matrixFrom32] Array does not have a length of 16");
+            return Matrix.Identity();
+        }
+        const matrixArray = [
+            array[0],
+            array[1],
+            array[2],
+            array[3],
+            array[4],
+            array[5],
+            array[6],
+            array[7],
+            array[8],
+            array[9],
+            array[10],
+            array[11],
+            array[12],
+            array[13],
+            array[14],
+            array[15]
+        ];
+        return new Matrix(matrixArray);
+    }
+    static FlipTransformMatrixHand(matrix) {
+        const m = matrix.m;
+        m[2] *= -1;
+        m[6] *= -1;
+        m[8] *= -1;
+        m[9] *= -1;
+        m[14] *= -1;
+        return new Matrix(m);
+    }
+    static FlipProjectionMatrixHand(matrix) {
+        const m = matrix.m;
+        m[8] *= -1;
+        m[9] *= -1;
+        m[10] *= -1;
+        m[11] *= -1;
+        return new Matrix(m);
+    }
+    /**
+     * Returns the determinate of the matrix
+     */
+    get determinate() {
+        const m = this._m;
+        const m00 = m[0];
+        const m01 = m[1];
+        const m02 = m[2];
+        const m03 = m[3];
+        const m10 = m[4];
+        const m11 = m[5];
+        const m12 = m[6];
+        const m13 = m[7];
+        const m20 = m[8];
+        const m21 = m[9];
+        const m22 = m[10];
+        const m23 = m[11];
+        const m30 = m[12];
+        const m31 = m[13];
+        const m32 = m[14];
+        const m33 = m[15];
+        const det_22_33 = m22 * m33 - m32 * m23;
+        const det_21_33 = m21 * m33 - m31 * m23;
+        const det_21_32 = m21 * m32 - m31 * m22;
+        const det_20_33 = m20 * m33 - m30 * m23;
+        const det_20_32 = m20 * m32 - m22 * m30;
+        const det_20_31 = m20 * m31 - m30 * m21;
+        const cofact_00 = +(m11 * det_22_33 - m12 * det_21_33 + m13 * det_21_32);
+        const cofact_01 = -(m10 * det_22_33 - m12 * det_20_33 + m13 * det_20_32);
+        const cofact_02 = +(m10 * det_21_33 - m11 * det_20_33 + m13 * det_20_31);
+        const cofact_03 = -(m10 * det_21_32 - m11 * det_20_32 + m12 * det_20_31);
+        return (m00 * cofact_00 + m01 * cofact_01 + m02 * cofact_02 + m03 * cofact_03);
+    }
+    /**
+     * Returns the translation component of the transformation matrix as a Vector
+     */
+    get translation() {
+        return new Vector3_1.Vector3(this._m[12], this._m[13], this._m[14]);
+    }
+    /**
+     * Returns the scale of the transformation matrix as a vector
+     */
+    get scale() {
+        const x = Math.sqrt(this._m[0] * this._m[0] +
+            this._m[1] * this._m[1] +
+            this._m[2] * this._m[2]);
+        let y = Math.sqrt(this._m[4] * this._m[4] +
+            this._m[5] * this._m[5] +
+            this._m[6] * this._m[6]);
+        const z = Math.sqrt(this._m[8] * this._m[8] +
+            this._m[9] * this._m[9] +
+            this._m[10] * this._m[10]);
+        if (this.determinate <= 0) {
+            y = -y;
+        }
+        return new Vector3_1.Vector3(x, y, z);
+    }
+    /**
+     * Returns the rotation components of the transformation matrix as a Quaternion
+     */
+    get rotation() {
+        return Quaternion_1.Quaternion.FromRotationMatrix(this.rotationMatrix);
+    }
+    /**
+     * Returns just the rotation matrix of the transformation matrix
+     */
+    get rotationMatrix() {
+        const scale = this.scale;
+        const sx = 1 / scale.x;
+        const sy = 1 / scale.y;
+        const sz = 1 / scale.z;
+        const rMatrixValues = [
+            this._m[0] * sx,
+            this._m[1] * sx,
+            this._m[2] * sx,
+            0.0,
+            this._m[4] * sy,
+            this._m[5] * sy,
+            this._m[6] * sy,
+            0.0,
+            this._m[8] * sz,
+            this._m[9] * sz,
+            this._m[10] * sz,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.0,
+        ];
+        return new Matrix(rMatrixValues);
+    }
+    get m() {
+        return [...this._m];
+    }
+    constructor(m) {
+        this._m = m;
+    }
+}
+exports.Matrix = Matrix;
+//# sourceMappingURL=Matrix.js.map

package/dist/cjs/ValueObjects/Matrix.js.map

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{ Angle } from \"./Angle\";\r\nimport { Quaternion } from \"./Quaternion\";\r\nimport { Vector3 } from \"./Vector3\";\r\n\r\nexport type MatrixArray = [\r\n  number,\r\n  number,\r\n  number,\r\n  number,\r\n  number,\r\n  number,\r\n  number,\r\n  number,\r\n  number,\r\n  number,\r\n  number,\r\n  number,\r\n  number,\r\n  number,\r\n  number,\r\n  number\r\n];\r\n\r\nexport class Matrix {\r\n  /**\r\n   * Consructs an identity matrix\r\n   * @returns An identity matrix\r\n   */\r\n  public static Identity(): Matrix {\r\n    return new Matrix([1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1]);\r\n  }\r\n\r\n  /**\r\n   * Constructs an matrix of zeros\r\n   * @returns A matrix of zeros\r\n   */\r\n  public static Zero(): Matrix {\r\n    return new Matrix([0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]);\r\n  }\r\n\r\n  /**\r\n   * Compares two matricies\r\n   * @param a Matrix A\r\n   * @param b Matrix B\r\n   * @returns True if all the elements in matrix A are equal to all the elements of matrix B\r\n   */\r\n  public static Equal(a: Matrix, b: Matrix): boolean {\r\n    let areEqual = true;\r\n    for (let i = 0; i < 16; i++) {\r\n      if (a._m[i] !== b._m[i]) {\r\n        areEqual = false;\r\n        break;\r\n      }\r\n    }\r\n    return areEqual;\r\n  }\r\n\r\n  /**\r\n   * Checks to see if Matrix A is close to Matrix B by comparing elements\r\n   * @param a Matrix A\r\n   * @param b Matrix B\r\n   * @param threshold \"Close\" thershold. Defaults to 0.001\r\n   * @returns True if all the difference between the elements in each array is less than the threshold\r\n   */\r\n  public static Close(a: Matrix, b: Matrix, threshold = 0.001): boolean {\r\n    let areClose = true;\r\n    for (let i = 0; i < 16; i++) {\r\n      let diff = a._m[i] - b._m[i];\r\n      if (diff < 0) {\r\n        diff = -diff;\r\n      }\r\n      if (diff > threshold) {\r\n        areClose = false;\r\n        break;\r\n      }\r\n    }\r\n    return areClose;\r\n  }\r\n\r\n  /**\r\n   * Multiplies Matrix A and B (AxB)\r\n   * @param a Matrix A\r\n   * @param b Matrix B\r\n   * @returns The result of AxB\r\n   */\r\n  public static Multiply(a: Matrix, b: Matrix): Matrix {\r\n    const aMatrix = a._m;\r\n    const bMatrix = b._m;\r\n    const tm0 = bMatrix[0];\r\n    const tm1 = bMatrix[1];\r\n    const tm2 = bMatrix[2];\r\n    const tm3 = bMatrix[3];\r\n    const tm4 = bMatrix[4];\r\n    const tm5 = bMatrix[5];\r\n    const tm6 = bMatrix[6];\r\n    const tm7 = bMatrix[7];\r\n    const tm8 = bMatrix[8];\r\n    const tm9 = bMatrix[9];\r\n    const tm10 = bMatrix[10];\r\n    const tm11 = bMatrix[11];\r\n    const tm12 = bMatrix[12];\r\n    const tm13 = bMatrix[13];\r\n    const tm14 = bMatrix[14];\r\n    const tm15 = bMatrix[15];\r\n\r\n    const om0 = aMatrix[0];\r\n    const om1 = aMatrix[1];\r\n    const om2 = aMatrix[2];\r\n    const om3 = aMatrix[3];\r\n    const om4 = aMatrix[4];\r\n    const om5 = aMatrix[5];\r\n    const om6 = aMatrix[6];\r\n    const om7 = aMatrix[7];\r\n    const om8 = aMatrix[8];\r\n    const om9 = aMatrix[9];\r\n    const om10 = aMatrix[10];\r\n    const om11 = aMatrix[11];\r\n    const om12 = aMatrix[12];\r\n    const om13 = aMatrix[13];\r\n    const om14 = aMatrix[14];\r\n    const om15 = aMatrix[15];\r\n\r\n    const result1 = tm0 * om0 + tm1 * om4 + tm2 * om8 + tm3 * om12;\r\n    const result2 = tm0 * om1 + tm1 * om5 + tm2 * om9 + tm3 * om13;\r\n    const result3 = tm0 * om2 + tm1 * om6 + tm2 * om10 + tm3 * om14;\r\n    const result4 = tm0 * om3 + tm1 * om7 + tm2 * om11 + tm3 * om15;\r\n\r\n    const result5 = tm4 * om0 + tm5 * om4 + tm6 * om8 + tm7 * om12;\r\n    const result6 = tm4 * om1 + tm5 * om5 + tm6 * om9 + tm7 * om13;\r\n    const result7 = tm4 * om2 + tm5 * om6 + tm6 * om10 + tm7 * om14;\r\n    const result8 = tm4 * om3 + tm5 * om7 + tm6 * om11 + tm7 * om15;\r\n\r\n    const result9 = tm8 * om0 + tm9 * om4 + tm10 * om8 + tm11 * om12;\r\n    const result10 = tm8 * om1 + tm9 * om5 + tm10 * om9 + tm11 * om13;\r\n    const result11 = tm8 * om2 + tm9 * om6 + tm10 * om10 + tm11 * om14;\r\n    const result12 = tm8 * om3 + tm9 * om7 + tm10 * om11 + tm11 * om15;\r\n\r\n    const result13 = tm12 * om0 + tm13 * om4 + tm14 * om8 + tm15 * om12;\r\n    const result14 = tm12 * om1 + tm13 * om5 + tm14 * om9 + tm15 * om13;\r\n    const result15 = tm12 * om2 + tm13 * om6 + tm14 * om10 + tm15 * om14;\r\n    const result16 = tm12 * om3 + tm13 * om7 + tm14 * om11 + tm15 * om15;\r\n    return new Matrix([\r\n      result1,\r\n      result2,\r\n      result3,\r\n      result4,\r\n\r\n      result5,\r\n      result6,\r\n      result7,\r\n      result8,\r\n\r\n      result9,\r\n      result10,\r\n      result11,\r\n      result12,\r\n\r\n      result13,\r\n      result14,\r\n      result15,\r\n      result16,\r\n    ]);\r\n  }\r\n\r\n  /**\r\n   * Composes a matrix from a scale vector, rotation quaterion, and translation vector\r\n   * @param scale The scale of the transformation matrix\r\n   * @param rotation The rotation of the transformation matrix\r\n   * @param translation The translation of the transformation matrix\r\n   * @returns The composed matrix\r\n   */\r\n  public static Compose(\r\n    scale: Vector3,\r\n    rotation: Quaternion,\r\n    translation: Vector3\r\n  ): Matrix {\r\n    const final: MatrixArray = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0];\r\n\r\n    const rotX = rotation.x;\r\n    const rotY = rotation.y;\r\n    const rotZ = rotation.z;\r\n    const rotW = rotation.w;\r\n\r\n    const x2 = rotX + rotX;\r\n    const y2 = rotY + rotY;\r\n    const z2 = rotZ + rotZ;\r\n    const xx = rotX * x2;\r\n    const xy = rotX * y2;\r\n    const xz = rotX * z2;\r\n    const yy = rotY * y2;\r\n    const yz = rotY * z2;\r\n    const zz = rotZ * z2;\r\n    const wx = rotW * x2;\r\n    const wy = rotW * y2;\r\n    const wz = rotW * z2;\r\n\r\n    const scaleX = scale.x;\r\n    const scaleY = scale.y;\r\n    const scaleZ = scale.z;\r\n\r\n    final[0] = (1 - (yy + zz)) * scaleX;\r\n    final[1] = (xy + wz) * scaleX;\r\n    final[2] = (xz - wy) * scaleX;\r\n    final[3] = 0;\r\n\r\n    final[4] = (xy - wz) * scaleY;\r\n    final[5] = (1 - (xx + zz)) * scaleY;\r\n    final[6] = (yz + wx) * scaleY;\r\n    final[7] = 0;\r\n\r\n    final[8] = (xz + wy) * scaleZ;\r\n    final[9] = (yz - wx) * scaleZ;\r\n    final[10] = (1 - (xx + yy)) * scaleZ;\r\n    final[11] = 0;\r\n\r\n    final[12] = translation.x;\r\n    final[13] = translation.y;\r\n    final[14] = translation.z;\r\n    final[15] = 1;\r\n\r\n    return new Matrix(final);\r\n  }\r\n\r\n  /**\r\n   * Inverts a matrix into a new matrix.\r\n   * @param matrix The matrix to invert\r\n   * @returns The inverted matrix unless the matrix cannot be inverted, then the identity is returned\r\n   */\r\n  public static Invert(matrix: Matrix): Matrix {\r\n    const m = matrix._m;\r\n    const m00 = m[0];\r\n    const m01 = m[1];\r\n    const m02 = m[2];\r\n    const m03 = m[3];\r\n    const m10 = m[4];\r\n    const m11 = m[5];\r\n    const m12 = m[6];\r\n    const m13 = m[7];\r\n    const m20 = m[8];\r\n    const m21 = m[9];\r\n    const m22 = m[10];\r\n    const m23 = m[11];\r\n    const m30 = m[12];\r\n    const m31 = m[13];\r\n    const m32 = m[14];\r\n    const m33 = m[15];\r\n\r\n    const det_12_33 = m12 * m33 - m32 * m13;\r\n    const det_11_33 = m11 * m33 - m31 * m13;\r\n    const det_11_32 = m11 * m32 - m31 * m12;\r\n    const det_10_33 = m10 * m33 - m30 * m13;\r\n    const det_10_32 = m10 * m32 - m30 * m12;\r\n    const det_10_31 = m10 * m31 - m30 * m11;\r\n    const det_12_23 = m12 * m23 - m22 * m13;\r\n    const det_11_23 = m11 * m23 - m21 * m13;\r\n    const det_11_22 = m11 * m22 - m21 * m12;\r\n    const det_10_23 = m10 * m23 - m20 * m13;\r\n    const det_10_22 = m10 * m22 - m20 * m12;\r\n    const det_10_21 = m10 * m21 - m20 * m11;\r\n\r\n    const det_22_33 = m22 * m33 - m32 * m23;\r\n    const det_21_33 = m21 * m33 - m31 * m23;\r\n    const det_21_32 = m21 * m32 - m31 * m22;\r\n    const det_20_33 = m20 * m33 - m30 * m23;\r\n    const det_20_32 = m20 * m32 - m22 * m30;\r\n    const det_20_31 = m20 * m31 - m30 * m21;\r\n\r\n    const cofact_00 = +(m11 * det_22_33 - m12 * det_21_33 + m13 * det_21_32);\r\n    const cofact_01 = -(m10 * det_22_33 - m12 * det_20_33 + m13 * det_20_32);\r\n    const cofact_02 = +(m10 * det_21_33 - m11 * det_20_33 + m13 * det_20_31);\r\n    const cofact_03 = -(m10 * det_21_32 - m11 * det_20_32 + m12 * det_20_31);\r\n\r\n    const det =\r\n      m00 * cofact_00 + m01 * cofact_01 + m02 * cofact_02 + m03 * cofact_03;\r\n    if (det === 0) return Matrix.Identity();\r\n\r\n    const detInv = 1 / det;\r\n\r\n    const cofact_10 = -(m01 * det_22_33 - m02 * det_21_33 + m03 * det_21_32);\r\n    const cofact_11 = +(m00 * det_22_33 - m02 * det_20_33 + m03 * det_20_32);\r\n    const cofact_12 = -(m00 * det_21_33 - m01 * det_20_33 + m03 * det_20_31);\r\n    const cofact_13 = +(m00 * det_21_32 - m01 * det_20_32 + m02 * det_20_31);\r\n\r\n    const cofact_20 = +(m01 * det_12_33 - m02 * det_11_33 + m03 * det_11_32);\r\n    const cofact_21 = -(m00 * det_12_33 - m02 * det_10_33 + m03 * det_10_32);\r\n    const cofact_22 = +(m00 * det_11_33 - m01 * det_10_33 + m03 * det_10_31);\r\n    const cofact_23 = -(m00 * det_11_32 - m01 * det_10_32 + m02 * det_10_31);\r\n\r\n    const cofact_30 = -(m01 * det_12_23 - m02 * det_11_23 + m03 * det_11_22);\r\n    const cofact_31 = +(m00 * det_12_23 - m02 * det_10_23 + m03 * det_10_22);\r\n    const cofact_32 = -(m00 * det_11_23 - m01 * det_10_23 + m03 * det_10_21);\r\n    const cofact_33 = +(m00 * det_11_22 - m01 * det_10_22 + m02 * det_10_21);\r\n\r\n    return new Matrix([\r\n      cofact_00 * detInv,\r\n      cofact_10 * detInv,\r\n      cofact_20 * detInv,\r\n      cofact_30 * detInv,\r\n      cofact_01 * detInv,\r\n      cofact_11 * detInv,\r\n      cofact_21 * detInv,\r\n      cofact_31 * detInv,\r\n      cofact_02 * detInv,\r\n      cofact_12 * detInv,\r\n      cofact_22 * detInv,\r\n      cofact_32 * detInv,\r\n      cofact_03 * detInv,\r\n      cofact_13 * detInv,\r\n      cofact_23 * detInv,\r\n      cofact_33 * detInv,\r\n    ]);\r\n  }\r\n\r\n  /**\r\n   * Creates a rotation matrix for a given axes and angle\r\n   * @param axis The axes of rotation\r\n   * @param angle The angle of rotation\r\n   * @returns A new rotation matrix\r\n   */\r\n  public static FromRotationAxisAngle(axis: Vector3, angle: Angle): Matrix {\r\n    const sin = Math.sin(-angle.radians);\r\n    const cosin = Math.cos(-angle.radians);\r\n    const c1 = 1 - cosin;\r\n\r\n    const unit = axis.unit;\r\n    const m: MatrixArray = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0];\r\n    m[0] = unit.x * unit.x * c1 + cosin;\r\n    m[1] = unit.x * unit.y * c1 - unit.z * sin;\r\n    m[2] = unit.x * unit.z * c1 + unit.y * sin;\r\n    m[3] = 0.0;\r\n\r\n    m[4] = unit.y * unit.x * c1 + unit.z * sin;\r\n    m[5] = unit.y * unit.y * c1 + cosin;\r\n    m[6] = unit.y * unit.z * c1 - unit.x * sin;\r\n    m[7] = 0.0;\r\n\r\n    m[8] = unit.z * unit.x * c1 - unit.y * sin;\r\n    m[9] = unit.z * unit.y * c1 + unit.x * sin;\r\n    m[10] = unit.z * unit.z * c1 + cosin;\r\n    m[11] = 0.0;\r\n\r\n    m[12] = 0.0;\r\n    m[13] = 0.0;\r\n    m[14] = 0.0;\r\n    m[15] = 1.0;\r\n\r\n    return new Matrix(m);\r\n  }\r\n\r\n  /**\r\n   * Make a new transformation matrix that has the same scale and rotation as the original but the translation is set\r\n   * @param original The original matrix\r\n   * @param translation The new translation value\r\n   * @returns A new matrix that is the same as the original but the translation has been changed\r\n   */\r\n  public static SetMatrixTranslation(\r\n    original: Matrix,\r\n    translation: Vector3\r\n  ): Matrix {\r\n    const values: MatrixArray = original.m;\r\n    values[12] = translation.x;\r\n    values[13] = translation.y;\r\n    values[14] = translation.z;\r\n\r\n    return new Matrix(values);\r\n  }\r\n\r\n  /**\r\n   * Make a new transformation matrix that has the same scale and translation as the original but the rotation is set\r\n   * @param original The original matrix\r\n   * @param rotation The new rotation value\r\n   * @returns A new matrix that is the same as the original but the rotation has been changed\r\n   */\r\n  public static SetMatrixRotation(\r\n    original: Matrix,\r\n    rotation: Quaternion\r\n  ): Matrix {\r\n    const scale = original.scale;\r\n    const translation = original.translation;\r\n\r\n    return Matrix.Compose(scale, rotation, translation);\r\n  }\r\n\r\n  /**\r\n   * Make a new transformation matrix that has the same rotation and translation as the original but the scale is set\r\n   * @param original The original matrix\r\n   * @param scale The new scale value\r\n   * @returns A new matrix that is the same as the original but the scale has been changed\r\n   */\r\n  public static SetMatrixScale(\r\n    original: Matrix,\r\n    scale: Vector3\r\n  ): Matrix {\r\n    const rotation = original.rotation;\r\n    const translation = original.translation;\r\n\r\n    return Matrix.Compose(scale, rotation, translation);\r\n  }\r\n\r\n  public static FromFloat32Array(array: Float32Array): Matrix {\r\n    if (array.length !== 16) {\r\n      console.error(\"[matrixFrom32] Array does not have a length of 16\");\r\n      return Matrix.Identity();\r\n    }\r\n\r\n    const matrixArray: MatrixArray = [\r\n      array[0],\r\n      array[1],\r\n      array[2],\r\n      array[3],\r\n      array[4],\r\n      array[5],\r\n      array[6],\r\n      array[7],\r\n      array[8],\r\n      array[9],\r\n      array[10],\r\n      array[11],\r\n      array[12],\r\n      array[13],\r\n      array[14],\r\n      array[15]\r\n    ]\r\n\r\n    return new Matrix(matrixArray);\r\n  }\r\n\r\n  public static FlipTransformMatrixHand(matrix: Matrix): Matrix {\r\n    const m = matrix.m;\r\n    m[2] *= -1;\r\n    m[6] *= -1;\r\n    m[8] *= -1;\r\n    m[9] *= -1;\r\n    m[14] *= -1;\r\n\r\n    return new Matrix(m);\r\n  }\r\n\r\n  public static FlipProjectionMatrixHand(matrix: Matrix): Matrix {\r\n    const m = matrix.m;\r\n    m[8] *= -1;\r\n    m[9] *= -1;\r\n    m[10] *= -1;\r\n    m[11] *= -1;\r\n\r\n    return new Matrix(m);\r\n  }\r\n\r\n  /**\r\n   * Returns the determinate of the matrix\r\n   */\r\n  public get determinate(): number {\r\n    const m = this._m;\r\n    const m00 = m[0];\r\n    const m01 = m[1];\r\n    const m02 = m[2];\r\n    const m03 = m[3];\r\n    const m10 = m[4];\r\n    const m11 = m[5];\r\n    const m12 = m[6];\r\n    const m13 = m[7];\r\n    const m20 = m[8];\r\n    const m21 = m[9];\r\n    const m22 = m[10];\r\n    const m23 = m[11];\r\n    const m30 = m[12];\r\n    const m31 = m[13];\r\n    const m32 = m[14];\r\n    const m33 = m[15];\r\n\r\n    const det_22_33 = m22 * m33 - m32 * m23;\r\n    const det_21_33 = m21 * m33 - m31 * m23;\r\n    const det_21_32 = m21 * m32 - m31 * m22;\r\n    const det_20_33 = m20 * m33 - m30 * m23;\r\n    const det_20_32 = m20 * m32 - m22 * m30;\r\n    const det_20_31 = m20 * m31 - m30 * m21;\r\n    const cofact_00 = +(m11 * det_22_33 - m12 * det_21_33 + m13 * det_21_32);\r\n    const cofact_01 = -(m10 * det_22_33 - m12 * det_20_33 + m13 * det_20_32);\r\n    const cofact_02 = +(m10 * det_21_33 - m11 * det_20_33 + m13 * det_20_31);\r\n    const cofact_03 = -(m10 * det_21_32 - m11 * det_20_32 + m12 * det_20_31);\r\n    return (\r\n      m00 * cofact_00 + m01 * cofact_01 + m02 * cofact_02 + m03 * cofact_03\r\n    );\r\n  }\r\n\r\n  /**\r\n   * Returns the translation component of the transformation matrix as a Vector\r\n   */\r\n  get translation(): Vector3 {\r\n    return new Vector3(this._m[12], this._m[13], this._m[14]);\r\n  }\r\n\r\n  /**\r\n   * Returns the scale of the transformation matrix as a vector\r\n   */\r\n  get scale(): Vector3 {\r\n    const x = Math.sqrt(\r\n      this._m[0] * this._m[0] +\r\n      this._m[1] * this._m[1] +\r\n      this._m[2] * this._m[2]\r\n    );\r\n    let y = Math.sqrt(\r\n      this._m[4] * this._m[4] +\r\n      this._m[5] * this._m[5] +\r\n      this._m[6] * this._m[6]\r\n    );\r\n    const z = Math.sqrt(\r\n      this._m[8] * this._m[8] +\r\n      this._m[9] * this._m[9] +\r\n      this._m[10] * this._m[10]\r\n    );\r\n\r\n    if (this.determinate <= 0) {\r\n      y = -y;\r\n    }\r\n\r\n    return new Vector3(x, y, z);\r\n  }\r\n\r\n  /**\r\n   * Returns the rotation components of the transformation matrix as a Quaternion\r\n   */\r\n  get rotation(): Quaternion {\r\n    return Quaternion.FromRotationMatrix(this.rotationMatrix);\r\n  }\r\n\r\n  /**\r\n   * Returns just the rotation matrix of the transformation matrix\r\n   */\r\n  get rotationMatrix(): Matrix {\r\n    const scale = this.scale;\r\n    const sx = 1 / scale.x;\r\n    const sy = 1 / scale.y;\r\n    const sz = 1 / scale.z;\r\n\r\n    const rMatrixValues: MatrixArray = [\r\n      this._m[0] * sx,\r\n      this._m[1] * sx,\r\n      this._m[2] * sx,\r\n      0.0,\r\n      this._m[4] * sy,\r\n      this._m[5] * sy,\r\n      this._m[6] * sy,\r\n      0.0,\r\n      this._m[8] * sz,\r\n      this._m[9] * sz,\r\n      this._m[10] * sz,\r\n      0.0,\r\n      0.0,\r\n      0.0,\r\n      0.0,\r\n      1.0,\r\n    ];\r\n\r\n    return new Matrix(rMatrixValues);\r\n  }\r\n\r\n  // Row, column\r\n  private readonly _m: MatrixArray;\r\n  get m(): MatrixArray {\r\n    return [...this._m];\r\n  }\r\n\r\n  constructor(m: MatrixArray) {\r\n    this._m = m;\r\n  }\r\n}\r\n"]}