lecodes-cli 0.1.5 → 0.1.7

package/runtime/gl-matrix/quat.js

@@ -1,737 +0,0 @@
-import * as glMatrix from "./common.js";
-import * as mat3 from "./mat3.js";
-import * as vec3 from "./vec3.js";
-import * as vec4 from "./vec4.js";
-
-/**
- * Quaternion in the format XYZW
- * @module quat
- */
-
-/**
- * Creates a new identity quat
- *
- * @returns {quat} a new quaternion
- */
-export function create() {
-  var out = new Float32Array(4);
-  out[3] = 1;
-  return out;
-}
-
-/**
- * Set a quat to the identity quaternion
- *
- * @param {quat} out the receiving quaternion
- * @returns {quat} out
- */
-export function identity(out) {
-  out[0] = 0;
-  out[1] = 0;
-  out[2] = 0;
-  out[3] = 1;
-  return out;
-}
-
-/**
- * Sets a quat from the given angle and rotation axis,
- * then returns it.
- *
- * @param {quat} out the receiving quaternion
- * @param {ReadonlyVec3} axis the axis around which to rotate
- * @param {Number} rad the angle in radians
- * @returns {quat} out
- **/
-export function setAxisAngle(out, axis, rad) {
-  rad = rad * 0.5;
-  var s = Math.sin(rad);
-  out[0] = s * axis[0];
-  out[1] = s * axis[1];
-  out[2] = s * axis[2];
-  out[3] = Math.cos(rad);
-  return out;
-}
-
-/**
- * Gets the rotation axis and angle for a given
- *  quaternion. If a quaternion is created with
- *  setAxisAngle, this method will return the same
- *  values as providied in the original parameter list
- *  OR functionally equivalent values.
- * Example: The quaternion formed by axis [0, 0, 1] and
- *  angle -90 is the same as the quaternion formed by
- *  [0, 0, 1] and 270. This method favors the latter.
- * @param  {vec3} out_axis  Vector receiving the axis of rotation
- * @param  {ReadonlyQuat} q     Quaternion to be decomposed
- * @return {Number}     Angle, in radians, of the rotation
- */
-export function getAxisAngle(out_axis, q) {
-  var rad = Math.acos(q[3]) * 2.0;
-  var s = Math.sin(rad / 2.0);
-  if (s > glMatrix.EPSILON) {
-    out_axis[0] = q[0] / s;
-    out_axis[1] = q[1] / s;
-    out_axis[2] = q[2] / s;
-  } else {
-    // If s is zero, return any axis (no rotation - axis does not matter)
-    out_axis[0] = 1;
-    out_axis[1] = 0;
-    out_axis[2] = 0;
-  }
-  return rad;
-}
-
-/**
- * Gets the angular distance between two unit quaternions
- *
- * @param  {ReadonlyQuat} a     Origin unit quaternion
- * @param  {ReadonlyQuat} b     Destination unit quaternion
- * @return {Number}     Angle, in radians, between the two quaternions
- */
-export function getAngle(a, b) {
-  var dotproduct = dot(a, b);
-  return Math.acos(2 * dotproduct * dotproduct - 1);
-}
-
-/**
- * Multiplies two quat's
- *
- * @param {quat} out the receiving quaternion
- * @param {ReadonlyQuat} a the first operand
- * @param {ReadonlyQuat} b the second operand
- * @returns {quat} out
- */
-export function multiply(out, a, b) {
-  var ax = a[0],
-    ay = a[1],
-    az = a[2],
-    aw = a[3];
-  var bx = b[0],
-    by = b[1],
-    bz = b[2],
-    bw = b[3];
-  out[0] = ax * bw + aw * bx + ay * bz - az * by;
-  out[1] = ay * bw + aw * by + az * bx - ax * bz;
-  out[2] = az * bw + aw * bz + ax * by - ay * bx;
-  out[3] = aw * bw - ax * bx - ay * by - az * bz;
-  return out;
-}
-
-/**
- * Rotates a quaternion by the given angle about the X axis
- *
- * @param {quat} out quat receiving operation result
- * @param {ReadonlyQuat} a quat to rotate
- * @param {number} rad angle (in radians) to rotate
- * @returns {quat} out
- */
-export function rotateX(out, a, rad) {
-  rad *= 0.5;
-  var ax = a[0],
-    ay = a[1],
-    az = a[2],
-    aw = a[3];
-  var bx = Math.sin(rad),
-    bw = Math.cos(rad);
-  out[0] = ax * bw + aw * bx;
-  out[1] = ay * bw + az * bx;
-  out[2] = az * bw - ay * bx;
-  out[3] = aw * bw - ax * bx;
-  return out;
-}
-
-/**
- * Rotates a quaternion by the given angle about the Y axis
- *
- * @param {quat} out quat receiving operation result
- * @param {ReadonlyQuat} a quat to rotate
- * @param {number} rad angle (in radians) to rotate
- * @returns {quat} out
- */
-export function rotateY(out, a, rad) {
-  rad *= 0.5;
-  var ax = a[0],
-    ay = a[1],
-    az = a[2],
-    aw = a[3];
-  var by = Math.sin(rad),
-    bw = Math.cos(rad);
-  out[0] = ax * bw - az * by;
-  out[1] = ay * bw + aw * by;
-  out[2] = az * bw + ax * by;
-  out[3] = aw * bw - ay * by;
-  return out;
-}
-
-/**
- * Rotates a quaternion by the given angle about the Z axis
- *
- * @param {quat} out quat receiving operation result
- * @param {ReadonlyQuat} a quat to rotate
- * @param {number} rad angle (in radians) to rotate
- * @returns {quat} out
- */
-export function rotateZ(out, a, rad) {
-  rad *= 0.5;
-  var ax = a[0],
-    ay = a[1],
-    az = a[2],
-    aw = a[3];
-  var bz = Math.sin(rad),
-    bw = Math.cos(rad);
-  out[0] = ax * bw + ay * bz;
-  out[1] = ay * bw - ax * bz;
-  out[2] = az * bw + aw * bz;
-  out[3] = aw * bw - az * bz;
-  return out;
-}
-
-/**
- * Calculates the W component of a quat from the X, Y, and Z components.
- * Assumes that quaternion is 1 unit in length.
- * Any existing W component will be ignored.
- *
- * @param {quat} out the receiving quaternion
- * @param {ReadonlyQuat} a quat to calculate W component of
- * @returns {quat} out
- */
-export function calculateW(out, a) {
-  var x = a[0],
-    y = a[1],
-    z = a[2];
-  out[0] = x;
-  out[1] = y;
-  out[2] = z;
-  out[3] = Math.sqrt(Math.abs(1.0 - x * x - y * y - z * z));
-  return out;
-}
-
-/**
- * Calculate the exponential of a unit quaternion.
- *
- * @param {quat} out the receiving quaternion
- * @param {ReadonlyQuat} a quat to calculate the exponential of
- * @returns {quat} out
- */
-export function exp(out, a) {
-  var x = a[0],
-    y = a[1],
-    z = a[2],
-    w = a[3];
-  var r = Math.sqrt(x * x + y * y + z * z);
-  var et = Math.exp(w);
-  var s = r > 0 ? et * Math.sin(r) / r : 0;
-  out[0] = x * s;
-  out[1] = y * s;
-  out[2] = z * s;
-  out[3] = et * Math.cos(r);
-  return out;
-}
-
-/**
- * Calculate the natural logarithm of a unit quaternion.
- *
- * @param {quat} out the receiving quaternion
- * @param {ReadonlyQuat} a quat to calculate the exponential of
- * @returns {quat} out
- */
-export function ln(out, a) {
-  var x = a[0],
-    y = a[1],
-    z = a[2],
-    w = a[3];
-  var r = Math.sqrt(x * x + y * y + z * z);
-  var t = r > 0 ? Math.atan2(r, w) / r : 0;
-  out[0] = x * t;
-  out[1] = y * t;
-  out[2] = z * t;
-  out[3] = 0.5 * Math.log(x * x + y * y + z * z + w * w);
-  return out;
-}
-
-/**
- * Calculate the scalar power of a unit quaternion.
- *
- * @param {quat} out the receiving quaternion
- * @param {ReadonlyQuat} a quat to calculate the exponential of
- * @param {Number} b amount to scale the quaternion by
- * @returns {quat} out
- */
-export function pow(out, a, b) {
-  ln(out, a);
-  scale(out, out, b);
-  exp(out, out);
-  return out;
-}
-
-/**
- * Performs a spherical linear interpolation between two quat
- *
- * @param {quat} out the receiving quaternion
- * @param {ReadonlyQuat} a the first operand
- * @param {ReadonlyQuat} b the second operand
- * @param {Number} t interpolation amount, in the range [0-1], between the two inputs
- * @returns {quat} out
- */
-export function slerp(out, a, b, t) {
-  // benchmarks:
-  //    http://jsperf.com/quaternion-slerp-implementations
-  var ax = a[0],
-    ay = a[1],
-    az = a[2],
-    aw = a[3];
-  var bx = b[0],
-    by = b[1],
-    bz = b[2],
-    bw = b[3];
-  var omega, cosom, sinom, scale0, scale1;
-
-  // calc cosine
-  cosom = ax * bx + ay * by + az * bz + aw * bw;
-  // adjust signs (if necessary)
-  if (cosom < 0.0) {
-    cosom = -cosom;
-    bx = -bx;
-    by = -by;
-    bz = -bz;
-    bw = -bw;
-  }
-  // calculate coefficients
-  if (1.0 - cosom > glMatrix.EPSILON) {
-    // standard case (slerp)
-    omega = Math.acos(cosom);
-    sinom = Math.sin(omega);
-    scale0 = Math.sin((1.0 - t) * omega) / sinom;
-    scale1 = Math.sin(t * omega) / sinom;
-  } else {
-    // "from" and "to" quaternions are very close
-    //  ... so we can do a linear interpolation
-    scale0 = 1.0 - t;
-    scale1 = t;
-  }
-  // calculate final values
-  out[0] = scale0 * ax + scale1 * bx;
-  out[1] = scale0 * ay + scale1 * by;
-  out[2] = scale0 * az + scale1 * bz;
-  out[3] = scale0 * aw + scale1 * bw;
-  return out;
-}
-
-/**
- * Generates a random unit quaternion
- *
- * @param {quat} out the receiving quaternion
- * @returns {quat} out
- */
-export function random(out) {
-  // Implementation of http://planning.cs.uiuc.edu/node198.html
-  // TODO: Calling random 3 times is probably not the fastest solution
-  var u1 = glMatrix.RANDOM();
-  var u2 = glMatrix.RANDOM();
-  var u3 = glMatrix.RANDOM();
-  var sqrt1MinusU1 = Math.sqrt(1 - u1);
-  var sqrtU1 = Math.sqrt(u1);
-  out[0] = sqrt1MinusU1 * Math.sin(2.0 * Math.PI * u2);
-  out[1] = sqrt1MinusU1 * Math.cos(2.0 * Math.PI * u2);
-  out[2] = sqrtU1 * Math.sin(2.0 * Math.PI * u3);
-  out[3] = sqrtU1 * Math.cos(2.0 * Math.PI * u3);
-  return out;
-}
-
-/**
- * Calculates the inverse of a quat
- *
- * @param {quat} out the receiving quaternion
- * @param {ReadonlyQuat} a quat to calculate inverse of
- * @returns {quat} out
- */
-export function invert(out, a) {
-  var a0 = a[0],
-    a1 = a[1],
-    a2 = a[2],
-    a3 = a[3];
-  var dot = a0 * a0 + a1 * a1 + a2 * a2 + a3 * a3;
-  var invDot = dot ? 1.0 / dot : 0;
-
-  // TODO: Would be faster to return [0,0,0,0] immediately if dot == 0
-
-  out[0] = -a0 * invDot;
-  out[1] = -a1 * invDot;
-  out[2] = -a2 * invDot;
-  out[3] = a3 * invDot;
-  return out;
-}
-
-/**
- * Calculates the conjugate of a quat
- * If the quaternion is normalized, this function is faster than quat.inverse and produces the same result.
- *
- * @param {quat} out the receiving quaternion
- * @param {ReadonlyQuat} a quat to calculate conjugate of
- * @returns {quat} out
- */
-export function conjugate(out, a) {
-  out[0] = -a[0];
-  out[1] = -a[1];
-  out[2] = -a[2];
-  out[3] = a[3];
-  return out;
-}
-
-/**
- * Creates a quaternion from the given 3x3 rotation matrix.
- *
- * NOTE: The resultant quaternion is not normalized, so you should be sure
- * to renormalize the quaternion yourself where necessary.
- *
- * @param {quat} out the receiving quaternion
- * @param {ReadonlyMat3} m rotation matrix
- * @returns {quat} out
- * @function
- */
-export function fromMat3(out, m) {
-  // Algorithm in Ken Shoemake's article in 1987 SIGGRAPH course notes
-  // article "Quaternion Calculus and Fast Animation".
-  var fTrace = m[0] + m[4] + m[8];
-  var fRoot;
-  if (fTrace > 0.0) {
-    // |w| > 1/2, may as well choose w > 1/2
-    fRoot = Math.sqrt(fTrace + 1.0); // 2w
-    out[3] = 0.5 * fRoot;
-    fRoot = 0.5 / fRoot; // 1/(4w)
-    out[0] = (m[5] - m[7]) * fRoot;
-    out[1] = (m[6] - m[2]) * fRoot;
-    out[2] = (m[1] - m[3]) * fRoot;
-  } else {
-    // |w| <= 1/2
-    var i = 0;
-    if (m[4] > m[0]) i = 1;
-    if (m[8] > m[i * 3 + i]) i = 2;
-    var j = (i + 1) % 3;
-    var k = (i + 2) % 3;
-    fRoot = Math.sqrt(m[i * 3 + i] - m[j * 3 + j] - m[k * 3 + k] + 1.0);
-    out[i] = 0.5 * fRoot;
-    fRoot = 0.5 / fRoot;
-    out[3] = (m[j * 3 + k] - m[k * 3 + j]) * fRoot;
-    out[j] = (m[j * 3 + i] + m[i * 3 + j]) * fRoot;
-    out[k] = (m[k * 3 + i] + m[i * 3 + k]) * fRoot;
-  }
-  return out;
-}
-
-/**
- * Creates a quaternion from the given euler angle x, y, z using the provided intrinsic order for the conversion.
- *
- * @param {quat} out the receiving quaternion
- * @param {Number} x Angle to rotate around X axis in degrees.
- * @param {Number} y Angle to rotate around Y axis in degrees.
- * @param {Number} z Angle to rotate around Z axis in degrees.
- * @param {'xyz'|'xzy'|'yxz'|'yzx'|'zxy'|'zyx'} order Intrinsic order for conversion, default is zyx.
- * @returns {quat} out
- * @function
- */
-export function fromEuler(out, x, y, z) {
-  var order = arguments.length > 4 && arguments[4] !== undefined ? arguments[4] : glMatrix.ANGLE_ORDER;
-  var halfToRad = Math.PI / 360;
-  x *= halfToRad;
-  z *= halfToRad;
-  y *= halfToRad;
-  var sx = Math.sin(x);
-  var cx = Math.cos(x);
-  var sy = Math.sin(y);
-  var cy = Math.cos(y);
-  var sz = Math.sin(z);
-  var cz = Math.cos(z);
-  switch (order) {
-    case "xyz":
-      out[0] = sx * cy * cz + cx * sy * sz;
-      out[1] = cx * sy * cz - sx * cy * sz;
-      out[2] = cx * cy * sz + sx * sy * cz;
-      out[3] = cx * cy * cz - sx * sy * sz;
-      break;
-    case "xzy":
-      out[0] = sx * cy * cz - cx * sy * sz;
-      out[1] = cx * sy * cz - sx * cy * sz;
-      out[2] = cx * cy * sz + sx * sy * cz;
-      out[3] = cx * cy * cz + sx * sy * sz;
-      break;
-    case "yxz":
-      out[0] = sx * cy * cz + cx * sy * sz;
-      out[1] = cx * sy * cz - sx * cy * sz;
-      out[2] = cx * cy * sz - sx * sy * cz;
-      out[3] = cx * cy * cz + sx * sy * sz;
-      break;
-    case "yzx":
-      out[0] = sx * cy * cz + cx * sy * sz;
-      out[1] = cx * sy * cz + sx * cy * sz;
-      out[2] = cx * cy * sz - sx * sy * cz;
-      out[3] = cx * cy * cz - sx * sy * sz;
-      break;
-    case "zxy":
-      out[0] = sx * cy * cz - cx * sy * sz;
-      out[1] = cx * sy * cz + sx * cy * sz;
-      out[2] = cx * cy * sz + sx * sy * cz;
-      out[3] = cx * cy * cz - sx * sy * sz;
-      break;
-    case "zyx":
-      out[0] = sx * cy * cz - cx * sy * sz;
-      out[1] = cx * sy * cz + sx * cy * sz;
-      out[2] = cx * cy * sz - sx * sy * cz;
-      out[3] = cx * cy * cz + sx * sy * sz;
-      break;
-    default:
-      throw new Error('Unknown angle order ' + order);
-  }
-  return out;
-}
-
-/**
- * Returns a string representation of a quaternion
- *
- * @param {ReadonlyQuat} a vector to represent as a string
- * @returns {String} string representation of the vector
- */
-export function str(a) {
-  return "quat(" + a[0] + ", " + a[1] + ", " + a[2] + ", " + a[3] + ")";
-}
-
-/**
- * Creates a new quat initialized with values from an existing quaternion
- *
- * @param {ReadonlyQuat} a quaternion to clone
- * @returns {quat} a new quaternion
- * @function
- */
-export var clone = vec4.clone;
-
-/**
- * Creates a new quat initialized with the given values
- *
- * @param {Number} x X component
- * @param {Number} y Y component
- * @param {Number} z Z component
- * @param {Number} w W component
- * @returns {quat} a new quaternion
- * @function
- */
-export var fromValues = vec4.fromValues;
-
-/**
- * Copy the values from one quat to another
- *
- * @param {quat} out the receiving quaternion
- * @param {ReadonlyQuat} a the source quaternion
- * @returns {quat} out
- * @function
- */
-export var copy = vec4.copy;
-
-/**
- * Set the components of a quat to the given values
- *
- * @param {quat} out the receiving quaternion
- * @param {Number} x X component
- * @param {Number} y Y component
- * @param {Number} z Z component
- * @param {Number} w W component
- * @returns {quat} out
- * @function
- */
-export var set = vec4.set;
-
-/**
- * Adds two quat's
- *
- * @param {quat} out the receiving quaternion
- * @param {ReadonlyQuat} a the first operand
- * @param {ReadonlyQuat} b the second operand
- * @returns {quat} out
- * @function
- */
-export var add = vec4.add;
-
-/**
- * Alias for {@link quat.multiply}
- * @function
- */
-export var mul = multiply;
-
-/**
- * Scales a quat by a scalar number
- *
- * @param {quat} out the receiving vector
- * @param {ReadonlyQuat} a the vector to scale
- * @param {Number} b amount to scale the vector by
- * @returns {quat} out
- * @function
- */
-export var scale = vec4.scale;
-
-/**
- * Calculates the dot product of two quat's
- *
- * @param {ReadonlyQuat} a the first operand
- * @param {ReadonlyQuat} b the second operand
- * @returns {Number} dot product of a and b
- * @function
- */
-export var dot = vec4.dot;
-
-/**
- * Performs a linear interpolation between two quat's
- *
- * @param {quat} out the receiving quaternion
- * @param {ReadonlyQuat} a the first operand
- * @param {ReadonlyQuat} b the second operand
- * @param {Number} t interpolation amount, in the range [0-1], between the two inputs
- * @returns {quat} out
- * @function
- */
-export var lerp = vec4.lerp;
-
-/**
- * Calculates the length of a quat
- *
- * @param {ReadonlyQuat} a vector to calculate length of
- * @returns {Number} length of a
- */
-export var length = vec4.length;
-
-/**
- * Alias for {@link quat.length}
- * @function
- */
-export var len = length;
-
-/**
- * Calculates the squared length of a quat
- *
- * @param {ReadonlyQuat} a vector to calculate squared length of
- * @returns {Number} squared length of a
- * @function
- */
-export var squaredLength = vec4.squaredLength;
-
-/**
- * Alias for {@link quat.squaredLength}
- * @function
- */
-export var sqrLen = squaredLength;
-
-/**
- * Normalize a quat
- *
- * @param {quat} out the receiving quaternion
- * @param {ReadonlyQuat} a quaternion to normalize
- * @returns {quat} out
- * @function
- */
-export var normalize = vec4.normalize;
-
-/**
- * Returns whether or not the quaternions have exactly the same elements in the same position (when compared with ===)
- *
- * @param {ReadonlyQuat} a The first quaternion.
- * @param {ReadonlyQuat} b The second quaternion.
- * @returns {Boolean} True if the vectors are equal, false otherwise.
- */
-export var exactEquals = vec4.exactEquals;
-
-/**
- * Returns whether or not the quaternions point approximately to the same direction.
- *
- * Both quaternions are assumed to be unit length.
- *
- * @param {ReadonlyQuat} a The first unit quaternion.
- * @param {ReadonlyQuat} b The second unit quaternion.
- * @returns {Boolean} True if the quaternions are equal, false otherwise.
- */
-export function equals(a, b) {
-  return Math.abs(vec4.dot(a, b)) >= 1 - glMatrix.EPSILON;
-}
-
-/**
- * Sets a quaternion to represent the shortest rotation from one
- * vector to another.
- *
- * Both vectors are assumed to be unit length.
- *
- * @param {quat} out the receiving quaternion.
- * @param {ReadonlyVec3} a the initial vector
- * @param {ReadonlyVec3} b the destination vector
- * @returns {quat} out
- */
-export function rotationTo (out, a, b) {
-  var tmpvec3 = vec3.create();
-  var xUnitVec3 = vec3.fromValues(1, 0, 0);
-  var yUnitVec3 = vec3.fromValues(0, 1, 0);
-
-  var dot = vec3.dot(a, b);
-  if (dot < -0.999999) {
-    vec3.cross(tmpvec3, xUnitVec3, a);
-    if (vec3.len(tmpvec3) < 0.000001) vec3.cross(tmpvec3, yUnitVec3, a);
-    vec3.normalize(tmpvec3, tmpvec3);
-    setAxisAngle(out, tmpvec3, Math.PI);
-    return out;
-  } else if (dot > 0.999999) {
-    out[0] = 0;
-    out[1] = 0;
-    out[2] = 0;
-    out[3] = 1;
-    return out;
-  } else {
-    vec3.cross(tmpvec3, a, b);
-    out[0] = tmpvec3[0];
-    out[1] = tmpvec3[1];
-    out[2] = tmpvec3[2];
-    out[3] = 1 + dot;
-    return normalize(out, out);
-  }
-};
-
-
-/**
- * Performs a spherical linear interpolation with two control points
- *
- * @param {quat} out the receiving quaternion
- * @param {ReadonlyQuat} a the first operand
- * @param {ReadonlyQuat} b the second operand
- * @param {ReadonlyQuat} c the third operand
- * @param {ReadonlyQuat} d the fourth operand
- * @param {Number} t interpolation amount, in the range [0-1], between the two inputs
- * @returns {quat} out
- */
-export function sqlerp (out, a, b, c, d, t) {
-  var temp1 = create();
-  var temp2 = create();
-  slerp(temp1, a, d, t);
-  slerp(temp2, b, c, t);
-  slerp(out, temp1, temp2, 2 * t * (1 - t));
-  return out;
-};
-
-
-/**
- * Sets the specified quaternion with values corresponding to the given
- * axes. Each axis is a vec3 and is expected to be unit length and
- * perpendicular to all other specified axes.
- *
- * @param {ReadonlyVec3} view  the vector representing the viewing direction
- * @param {ReadonlyVec3} right the vector representing the local "right" direction
- * @param {ReadonlyVec3} up    the vector representing the local "up" direction
- * @returns {quat} out
- */
-export function setAxes (out, view, right, up) {
-  var matr = new Float32Array(9);
-
-  matr[0] = right[0];
-  matr[3] = right[1];
-  matr[6] = right[2];
-  matr[1] = up[0];
-  matr[4] = up[1];
-  matr[7] = up[2];
-  matr[2] = -view[0];
-  matr[5] = -view[1];
-  matr[8] = -view[2];
-  return normalize(out, fromMat3(out, matr));
-};