linearly 0.0.0
This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
- package/LICENSE +21 -0
- package/README.md +3 -0
- package/lib/common.d.ts +11 -0
- package/lib/common.js +16 -0
- package/lib/index.d.ts +16 -0
- package/lib/index.js +9 -0
- package/lib/mat2.d.ts +78 -0
- package/lib/mat2.js +155 -0
- package/lib/mat2d.d.ts +89 -0
- package/lib/mat2d.js +238 -0
- package/lib/mat2d.test.d.ts +1 -0
- package/lib/mat2d.test.js +88 -0
- package/lib/mat3.d.ts +117 -0
- package/lib/mat3.js +390 -0
- package/lib/mat4.d.ts +310 -0
- package/lib/mat4.js +1173 -0
- package/lib/quat.d.ts +218 -0
- package/lib/quat.js +459 -0
- package/lib/vec2.d.ts +58 -0
- package/lib/vec2.js +135 -0
- package/lib/vec2.test.d.ts +1 -0
- package/lib/vec2.test.js +105 -0
- package/lib/vec3.d.ts +159 -0
- package/lib/vec3.js +326 -0
- package/lib/vec3.test.d.ts +1 -0
- package/lib/vec3.test.js +105 -0
- package/lib/vec4.d.ts +108 -0
- package/lib/vec4.js +241 -0
- package/package.json +50 -0
package/lib/mat4.js
ADDED
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import * as Common from './common';
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/**
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* 4x4 Matrix<br>Format: column-major, when typed out it looks like row-major<br>The matrices are being post multiplied.
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*/
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/**
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* The identity matrix of mat4
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*/
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// prettier-ignore
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export const identity = Object.freeze([
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1, 0, 0, 0,
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0, 1, 0, 0,
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0, 0, 1, 0,
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0, 0, 0, 1,
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]);
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/**
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* Transpose the values of a mat4
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*/
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export function transpose(a) {
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// prettier-ignore
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return [
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a[0], a[4], a[8], a[12],
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a[1], a[5], a[9], a[13],
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a[2], a[6], a[10], a[14],
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a[3], a[7], a[11], a[15],
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];
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}
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/**
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* Inverts a mat4
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*/
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export function invert(a) {
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// prettier-ignore
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const [a00, a01, a02, a03, a10, a11, a12, a13, a20, a21, a22, a23, a30, a31, a32, a33] = a;
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const b00 = a00 * a11 - a01 * a10;
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const b01 = a00 * a12 - a02 * a10;
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const b02 = a00 * a13 - a03 * a10;
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const b03 = a01 * a12 - a02 * a11;
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const b04 = a01 * a13 - a03 * a11;
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const b05 = a02 * a13 - a03 * a12;
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const b06 = a20 * a31 - a21 * a30;
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const b07 = a20 * a32 - a22 * a30;
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const b08 = a20 * a33 - a23 * a30;
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const b09 = a21 * a32 - a22 * a31;
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const b10 = a21 * a33 - a23 * a31;
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const b11 = a22 * a33 - a23 * a32;
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// Calculate the determinant
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const det = b00 * b11 - b01 * b10 + b02 * b09 + b03 * b08 - b04 * b07 + b05 * b06;
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if (!det) {
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return null;
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}
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const detinv = 1 / det;
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return [
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(a11 * b11 - a12 * b10 + a13 * b09) * detinv,
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(a02 * b10 - a01 * b11 - a03 * b09) * detinv,
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(a31 * b05 - a32 * b04 + a33 * b03) * detinv,
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(a22 * b04 - a21 * b05 - a23 * b03) * detinv,
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(a12 * b08 - a10 * b11 - a13 * b07) * detinv,
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(a00 * b11 - a02 * b08 + a03 * b07) * detinv,
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(a32 * b02 - a30 * b05 - a33 * b01) * detinv,
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(a20 * b05 - a22 * b02 + a23 * b01) * detinv,
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(a10 * b10 - a11 * b08 + a13 * b06) * detinv,
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(a01 * b08 - a00 * b10 - a03 * b06) * detinv,
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(a30 * b04 - a31 * b02 + a33 * b00) * detinv,
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(a21 * b02 - a20 * b04 - a23 * b00) * detinv,
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(a11 * b07 - a10 * b09 - a12 * b06) * detinv,
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(a00 * b09 - a01 * b07 + a02 * b06) * detinv,
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(a31 * b01 - a30 * b03 - a32 * b00) * detinv,
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(a20 * b03 - a21 * b01 + a22 * b00) * detinv,
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];
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}
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/**
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* Calculates the adjugate of a mat4
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*/
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export function adjoint(a) {
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// prettier-ignore
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const [a00, a01, a02, a03, a10, a11, a12, a13, a20, a21, a22, a23, a30, a31, a32, a33] = a;
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const b00 = a00 * a11 - a01 * a10;
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const b01 = a00 * a12 - a02 * a10;
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const b02 = a00 * a13 - a03 * a10;
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const b03 = a01 * a12 - a02 * a11;
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const b04 = a01 * a13 - a03 * a11;
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const b05 = a02 * a13 - a03 * a12;
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const b06 = a20 * a31 - a21 * a30;
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const b07 = a20 * a32 - a22 * a30;
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const b08 = a20 * a33 - a23 * a30;
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const b09 = a21 * a32 - a22 * a31;
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const b10 = a21 * a33 - a23 * a31;
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const b11 = a22 * a33 - a23 * a32;
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return [
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a11 * b11 - a12 * b10 + a13 * b09,
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a02 * b10 - a01 * b11 - a03 * b09,
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a31 * b05 - a32 * b04 + a33 * b03,
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a22 * b04 - a21 * b05 - a23 * b03,
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a12 * b08 - a10 * b11 - a13 * b07,
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a00 * b11 - a02 * b08 + a03 * b07,
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a32 * b02 - a30 * b05 - a33 * b01,
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a20 * b05 - a22 * b02 + a23 * b01,
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a10 * b10 - a11 * b08 + a13 * b06,
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a01 * b08 - a00 * b10 - a03 * b06,
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a30 * b04 - a31 * b02 + a33 * b00,
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a21 * b02 - a20 * b04 - a23 * b00,
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a11 * b07 - a10 * b09 - a12 * b06,
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a00 * b09 - a01 * b07 + a02 * b06,
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a31 * b01 - a30 * b03 - a32 * b00,
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a20 * b03 - a21 * b01 + a22 * b00,
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];
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}
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/**
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* Calculates the determinant of a mat4
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*/
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export function determinant(a) {
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// prettier-ignore
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const [a00, a01, a02, a03, a10, a11, a12, a13, a20, a21, a22, a23, a30, a31, a32, a33] = a;
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const b0 = a00 * a11 - a01 * a10;
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const b1 = a00 * a12 - a02 * a10;
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const b2 = a01 * a12 - a02 * a11;
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const b3 = a20 * a31 - a21 * a30;
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const b4 = a20 * a32 - a22 * a30;
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const b5 = a21 * a32 - a22 * a31;
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const b6 = a00 * b5 - a01 * b4 + a02 * b3;
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const b7 = a10 * b5 - a11 * b4 + a12 * b3;
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const b8 = a20 * b2 - a21 * b1 + a22 * b0;
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const b9 = a30 * b2 - a31 * b1 + a32 * b0;
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// Calculate the determinant
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return a13 * b6 - a03 * b7 + a33 * b8 - a23 * b9;
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}
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/**
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* Multiplies two mat4's
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*/
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export function multiply(a, b) {
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// prettier-ignore
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const [a00, a01, a02, a03, a10, a11, a12, a13, a20, a21, a22, a23, a30, a31, a32, a33] = a;
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const out = Array(16);
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// Cache only the current line of the second matrix
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let [b0, b1, b2, b3] = b;
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out[0] = b0 * a00 + b1 * a10 + b2 * a20 + b3 * a30;
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out[1] = b0 * a01 + b1 * a11 + b2 * a21 + b3 * a31;
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out[2] = b0 * a02 + b1 * a12 + b2 * a22 + b3 * a32;
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out[3] = b0 * a03 + b1 * a13 + b2 * a23 + b3 * a33;
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b0 = b[4];
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b1 = b[5];
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b2 = b[6];
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b3 = b[7];
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out[4] = b0 * a00 + b1 * a10 + b2 * a20 + b3 * a30;
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out[5] = b0 * a01 + b1 * a11 + b2 * a21 + b3 * a31;
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out[6] = b0 * a02 + b1 * a12 + b2 * a22 + b3 * a32;
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out[7] = b0 * a03 + b1 * a13 + b2 * a23 + b3 * a33;
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b0 = b[8];
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b1 = b[9];
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b2 = b[10];
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b3 = b[11];
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out[8] = b0 * a00 + b1 * a10 + b2 * a20 + b3 * a30;
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out[9] = b0 * a01 + b1 * a11 + b2 * a21 + b3 * a31;
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out[10] = b0 * a02 + b1 * a12 + b2 * a22 + b3 * a32;
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out[11] = b0 * a03 + b1 * a13 + b2 * a23 + b3 * a33;
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b0 = b[12];
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b1 = b[13];
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b2 = b[14];
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b3 = b[15];
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out[12] = b0 * a00 + b1 * a10 + b2 * a20 + b3 * a30;
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out[13] = b0 * a01 + b1 * a11 + b2 * a21 + b3 * a31;
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out[14] = b0 * a02 + b1 * a12 + b2 * a22 + b3 * a32;
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out[15] = b0 * a03 + b1 * a13 + b2 * a23 + b3 * a33;
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return out;
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}
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/**
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* Translate a mat4 by the given vector
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*
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* @param a the matrix to translate
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* @param v vector to translate by
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*/
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export function translate(a, v) {
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const [x, y, z] = v;
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// prettier-ignore
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const [a00, a01, a02, a03, a10, a11, a12, a13, a20, a21, a22, a23] = a;
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// prettier-ignore
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return [
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a00, a01, a02, a03,
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a10, a11, a12, a13,
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a20, a21, a22, a23,
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a00 * x + a10 * y + a20 * z + a[12],
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a01 * x + a11 * y + a21 * z + a[13],
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a02 * x + a12 * y + a22 * z + a[14],
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a03 * x + a13 * y + a23 * z + a[15],
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];
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}
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/**
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* Scales the mat4 by the dimensions in the given vec3 not using vectorization
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**/
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export function scale(a, v) {
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const [x, y, z] = v;
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// prettier-ignore
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return [
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a[0] * x, a[1] * x, a[2] * x, a[3] * x,
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a[4] * y, a[5] * y, a[6] * y, a[7] * y,
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a[8] * z, a[9] * z, a[10] * z, a[11] * z,
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a[12], a[13], a[14], a[15],
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];
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}
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/**
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* Rotates a mat4 by the given angle around the given axis
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*/
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export function rotate(a, rad, axis) {
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let [x, y, z] = axis;
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const len = Math.sqrt(x * x + y * y + z * z);
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if (len < Common.EPSILON) {
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return null;
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}
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x /= len;
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y /= len;
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z /= len;
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const s = Math.sin(rad);
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const c = Math.cos(rad);
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const t = 1 - c;
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// prettier-ignore
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const [a00, a01, a02, a03, a10, a11, a12, a13, a20, a21, a22, a23] = a;
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// Construct the elements of the rotation matrix
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const b00 = x * x * t + c;
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const b01 = y * x * t + z * s;
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const b02 = z * x * t - y * s;
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const b10 = x * y * t - z * s;
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const b11 = y * y * t + c;
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const b12 = z * y * t + x * s;
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const b20 = x * z * t + y * s;
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const b21 = y * z * t - x * s;
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const b22 = z * z * t + c;
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// prettier-ignore
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return [
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a00 * b00 + a10 * b01 + a20 * b02,
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a01 * b00 + a11 * b01 + a21 * b02,
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a02 * b00 + a12 * b01 + a22 * b02,
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a03 * b00 + a13 * b01 + a23 * b02,
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a00 * b10 + a10 * b11 + a20 * b12,
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a01 * b10 + a11 * b11 + a21 * b12,
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a02 * b10 + a12 * b11 + a22 * b12,
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a03 * b10 + a13 * b11 + a23 * b12,
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a00 * b20 + a10 * b21 + a20 * b22,
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a01 * b20 + a11 * b21 + a21 * b22,
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a02 * b20 + a12 * b21 + a22 * b22,
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a03 * b20 + a13 * b21 + a23 * b22,
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a[12], a[13], a[14], a[15],
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];
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}
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/**
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* Rotates a matrix by the given angle around the X axis
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*/
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export function rotateX(a, rad) {
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const s = Math.sin(rad);
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const c = Math.cos(rad);
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const a10 = a[4];
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const a11 = a[5];
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251
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+
const a12 = a[6];
|
|
252
|
+
const a13 = a[7];
|
|
253
|
+
const a20 = a[8];
|
|
254
|
+
const a21 = a[9];
|
|
255
|
+
const a22 = a[10];
|
|
256
|
+
const a23 = a[11];
|
|
257
|
+
// prettier-ignore
|
|
258
|
+
return [
|
|
259
|
+
a[0], a[1], a[2], a[3],
|
|
260
|
+
a10 * c + a20 * s, a11 * c + a21 * s, a12 * c + a22 * s, a13 * c + a23 * s,
|
|
261
|
+
a20 * c - a10 * s, a21 * c - a11 * s, a22 * c - a12 * s, a23 * c - a13 * s,
|
|
262
|
+
a[12], a[13], a[14], a[15],
|
|
263
|
+
];
|
|
264
|
+
}
|
|
265
|
+
/**
|
|
266
|
+
* Rotates a matrix by the given angle around the Y axis
|
|
267
|
+
*/
|
|
268
|
+
export function rotateY(a, rad) {
|
|
269
|
+
const s = Math.sin(rad);
|
|
270
|
+
const c = Math.cos(rad);
|
|
271
|
+
const a00 = a[0];
|
|
272
|
+
const a01 = a[1];
|
|
273
|
+
const a02 = a[2];
|
|
274
|
+
const a03 = a[3];
|
|
275
|
+
const a20 = a[8];
|
|
276
|
+
const a21 = a[9];
|
|
277
|
+
const a22 = a[10];
|
|
278
|
+
const a23 = a[11];
|
|
279
|
+
// prettier-ignore
|
|
280
|
+
return [
|
|
281
|
+
a00 * c - a20 * s,
|
|
282
|
+
a01 * c - a21 * s,
|
|
283
|
+
a02 * c - a22 * s,
|
|
284
|
+
a03 * c - a23 * s,
|
|
285
|
+
a[4], a[5], a[6], a[7],
|
|
286
|
+
a00 * s + a20 * c,
|
|
287
|
+
a01 * s + a21 * c,
|
|
288
|
+
a02 * s + a22 * c,
|
|
289
|
+
a03 * s + a23 * c,
|
|
290
|
+
a[12], a[13], a[14], a[15],
|
|
291
|
+
];
|
|
292
|
+
}
|
|
293
|
+
/**
|
|
294
|
+
* Rotates a matrix by the given angle around the Z axis
|
|
295
|
+
*/
|
|
296
|
+
export function rotateZ(a, rad) {
|
|
297
|
+
const s = Math.sin(rad);
|
|
298
|
+
const c = Math.cos(rad);
|
|
299
|
+
const a00 = a[0];
|
|
300
|
+
const a01 = a[1];
|
|
301
|
+
const a02 = a[2];
|
|
302
|
+
const a03 = a[3];
|
|
303
|
+
const a10 = a[4];
|
|
304
|
+
const a11 = a[5];
|
|
305
|
+
const a12 = a[6];
|
|
306
|
+
const a13 = a[7];
|
|
307
|
+
// prettier-ignore
|
|
308
|
+
return [
|
|
309
|
+
a00 * c + a10 * s,
|
|
310
|
+
a01 * c + a11 * s,
|
|
311
|
+
a02 * c + a12 * s,
|
|
312
|
+
a03 * c + a13 * s,
|
|
313
|
+
a10 * c - a00 * s,
|
|
314
|
+
a11 * c - a01 * s,
|
|
315
|
+
a12 * c - a02 * s,
|
|
316
|
+
a13 * c - a03 * s,
|
|
317
|
+
a[8], a[9], a[10], a[11],
|
|
318
|
+
a[12], a[13], a[14], a[15],
|
|
319
|
+
];
|
|
320
|
+
}
|
|
321
|
+
/**
|
|
322
|
+
* Creates a matrix from a vector translation
|
|
323
|
+
*/
|
|
324
|
+
export function fromTranslation(v) {
|
|
325
|
+
const [x, y, z] = v;
|
|
326
|
+
// prettier-ignore
|
|
327
|
+
return [
|
|
328
|
+
1, 0, 0, 0,
|
|
329
|
+
0, 1, 0, 0,
|
|
330
|
+
0, 0, 1, 0,
|
|
331
|
+
x, y, z, 1,
|
|
332
|
+
];
|
|
333
|
+
}
|
|
334
|
+
/**
|
|
335
|
+
* Creates a matrix from a vector scaling
|
|
336
|
+
*/
|
|
337
|
+
export function fromScaling(v) {
|
|
338
|
+
const [x, y, z] = v;
|
|
339
|
+
// prettier-ignore
|
|
340
|
+
return [
|
|
341
|
+
x, 0, 0, 0,
|
|
342
|
+
0, y, 0, 0,
|
|
343
|
+
0, 0, z, 0,
|
|
344
|
+
0, 0, 0, 1
|
|
345
|
+
];
|
|
346
|
+
}
|
|
347
|
+
/**
|
|
348
|
+
* Creates a matrix from a given angle around a given axis
|
|
349
|
+
*/
|
|
350
|
+
export function fromRotation(rad, axis) {
|
|
351
|
+
let [x, y, z] = axis;
|
|
352
|
+
const len = Math.sqrt(x * x + y * y + z * z);
|
|
353
|
+
if (len < Common.EPSILON) {
|
|
354
|
+
return null;
|
|
355
|
+
}
|
|
356
|
+
x /= len;
|
|
357
|
+
y /= len;
|
|
358
|
+
z /= len;
|
|
359
|
+
const s = Math.sin(rad);
|
|
360
|
+
const c = Math.cos(rad);
|
|
361
|
+
const t = 1 - c;
|
|
362
|
+
// prettier-ignore
|
|
363
|
+
return [
|
|
364
|
+
x * x * t + c,
|
|
365
|
+
y * x * t + z * s,
|
|
366
|
+
z * x * t - y * s,
|
|
367
|
+
0,
|
|
368
|
+
x * y * t - z * s,
|
|
369
|
+
y * y * t + c,
|
|
370
|
+
z * y * t + x * s,
|
|
371
|
+
0,
|
|
372
|
+
x * z * t + y * s,
|
|
373
|
+
y * z * t - x * s,
|
|
374
|
+
z * z * t + c,
|
|
375
|
+
0,
|
|
376
|
+
0, 0, 0, 1,
|
|
377
|
+
];
|
|
378
|
+
}
|
|
379
|
+
/**
|
|
380
|
+
* Creates a matrix from the given angle around the X axis
|
|
381
|
+
*/
|
|
382
|
+
export function fromXRotation(rad) {
|
|
383
|
+
const s = Math.sin(rad);
|
|
384
|
+
const c = Math.cos(rad);
|
|
385
|
+
// prettier-ignore
|
|
386
|
+
return [
|
|
387
|
+
1, 0, 0, 0,
|
|
388
|
+
0, c, s, 0,
|
|
389
|
+
0, -s, c, 0,
|
|
390
|
+
0, 0, 0, 1
|
|
391
|
+
];
|
|
392
|
+
}
|
|
393
|
+
/**
|
|
394
|
+
* Creates a matrix from the given angle around the Y axis
|
|
395
|
+
*/
|
|
396
|
+
export function fromYRotation(rad) {
|
|
397
|
+
const s = Math.sin(rad);
|
|
398
|
+
const c = Math.cos(rad);
|
|
399
|
+
// prettier-ignore
|
|
400
|
+
return [
|
|
401
|
+
c, 0, -s, 0,
|
|
402
|
+
0, 1, 0, 0,
|
|
403
|
+
s, 0, c, 0,
|
|
404
|
+
0, 0, 0, 1
|
|
405
|
+
];
|
|
406
|
+
}
|
|
407
|
+
/**
|
|
408
|
+
* Creates a matrix from the given angle around the Z axis
|
|
409
|
+
*/
|
|
410
|
+
export function fromZRotation(rad) {
|
|
411
|
+
const s = Math.sin(rad);
|
|
412
|
+
const c = Math.cos(rad);
|
|
413
|
+
// prettier-ignore
|
|
414
|
+
return [
|
|
415
|
+
c, s, 0, 0,
|
|
416
|
+
-s, c, 0, 0,
|
|
417
|
+
0, 0, 1, 0,
|
|
418
|
+
0, 0, 0, 1
|
|
419
|
+
];
|
|
420
|
+
}
|
|
421
|
+
/**
|
|
422
|
+
* Creates a matrix from a quaternion rotation and vector translation
|
|
423
|
+
*/
|
|
424
|
+
export function fromRotationTranslation(q, v) {
|
|
425
|
+
// Quaternion math
|
|
426
|
+
const [x, y, z, w] = q;
|
|
427
|
+
const x2 = x + x;
|
|
428
|
+
const y2 = y + y;
|
|
429
|
+
const z2 = z + z;
|
|
430
|
+
const xx = x * x2;
|
|
431
|
+
const xy = x * y2;
|
|
432
|
+
const xz = x * z2;
|
|
433
|
+
const yy = y * y2;
|
|
434
|
+
const yz = y * z2;
|
|
435
|
+
const zz = z * z2;
|
|
436
|
+
const wx = w * x2;
|
|
437
|
+
const wy = w * y2;
|
|
438
|
+
const wz = w * z2;
|
|
439
|
+
return [
|
|
440
|
+
1 - (yy + zz),
|
|
441
|
+
xy + wz,
|
|
442
|
+
xz - wy,
|
|
443
|
+
0,
|
|
444
|
+
xy - wz,
|
|
445
|
+
1 - (xx + zz),
|
|
446
|
+
yz + wx,
|
|
447
|
+
0,
|
|
448
|
+
xz + wy,
|
|
449
|
+
yz - wx,
|
|
450
|
+
1 - (xx + yy),
|
|
451
|
+
0,
|
|
452
|
+
v[0],
|
|
453
|
+
v[1],
|
|
454
|
+
v[2],
|
|
455
|
+
1,
|
|
456
|
+
];
|
|
457
|
+
}
|
|
458
|
+
/**
|
|
459
|
+
* Returns the translation vector component of a transformation
|
|
460
|
+
* matrix. If a matrix is built with fromRotationTranslation,
|
|
461
|
+
* the returned vector will be the same as the translation vector
|
|
462
|
+
* originally supplied.
|
|
463
|
+
*/
|
|
464
|
+
export function getTranslation(mat) {
|
|
465
|
+
return [mat[12], mat[13], mat[14]];
|
|
466
|
+
}
|
|
467
|
+
/**
|
|
468
|
+
* Returns the scaling factor component of a transformation
|
|
469
|
+
* matrix. If a matrix is built with fromRotationTranslationScale
|
|
470
|
+
* with a normalized Quaternion paramter, the returned vector will be
|
|
471
|
+
* the same as the scaling vector
|
|
472
|
+
* originally supplied.
|
|
473
|
+
*/
|
|
474
|
+
export function getScaling(mat) {
|
|
475
|
+
// prettier-ignore
|
|
476
|
+
const [m11, m12, m13, , m21, m22, m23, , m31, m32, m33,] = mat;
|
|
477
|
+
return [
|
|
478
|
+
Math.sqrt(m11 * m11 + m12 * m12 + m13 * m13),
|
|
479
|
+
Math.sqrt(m21 * m21 + m22 * m22 + m23 * m23),
|
|
480
|
+
Math.sqrt(m31 * m31 + m32 * m32 + m33 * m33),
|
|
481
|
+
];
|
|
482
|
+
}
|
|
483
|
+
/**
|
|
484
|
+
* Returns a quaternion representing the rotational component
|
|
485
|
+
* of a transformation matrix. If a matrix is built with
|
|
486
|
+
* fromRotationTranslation, the returned quaternion will be the
|
|
487
|
+
* same as the quaternion originally supplied.
|
|
488
|
+
*/
|
|
489
|
+
export function getRotation(mat) {
|
|
490
|
+
const scaling = getScaling(mat);
|
|
491
|
+
const is1 = 1 / scaling[0];
|
|
492
|
+
const is2 = 1 / scaling[1];
|
|
493
|
+
const is3 = 1 / scaling[2];
|
|
494
|
+
const sm11 = mat[0] * is1;
|
|
495
|
+
const sm12 = mat[1] * is2;
|
|
496
|
+
const sm13 = mat[2] * is3;
|
|
497
|
+
const sm21 = mat[4] * is1;
|
|
498
|
+
const sm22 = mat[5] * is2;
|
|
499
|
+
const sm23 = mat[6] * is3;
|
|
500
|
+
const sm31 = mat[8] * is1;
|
|
501
|
+
const sm32 = mat[9] * is2;
|
|
502
|
+
const sm33 = mat[10] * is3;
|
|
503
|
+
const trace = sm11 + sm22 + sm33;
|
|
504
|
+
if (trace > 0) {
|
|
505
|
+
const S = Math.sqrt(trace + 1) * 2;
|
|
506
|
+
return [(sm23 - sm32) / S, (sm31 - sm13) / S, (sm12 - sm21) / S, 0.25 * S];
|
|
507
|
+
}
|
|
508
|
+
else if (sm11 > sm22 && sm11 > sm33) {
|
|
509
|
+
const S = Math.sqrt(1 + sm11 - sm22 - sm33) * 2;
|
|
510
|
+
return [0.25 * S, (sm12 + sm21) / S, (sm31 + sm13) / S, (sm23 - sm32) / S];
|
|
511
|
+
}
|
|
512
|
+
else if (sm22 > sm33) {
|
|
513
|
+
const S = Math.sqrt(1 + sm22 - sm11 - sm33) * 2;
|
|
514
|
+
return [(sm12 + sm21) / S, 0.25 * S, (sm23 + sm32) / S, (sm31 - sm13) / S];
|
|
515
|
+
}
|
|
516
|
+
else {
|
|
517
|
+
const S = Math.sqrt(1 + sm33 - sm11 - sm22) * 2;
|
|
518
|
+
return [(sm31 + sm13) / S, (sm23 + sm32) / S, 0.25 * S, (sm12 - sm21) / S];
|
|
519
|
+
}
|
|
520
|
+
}
|
|
521
|
+
/**
|
|
522
|
+
* Decomposes a transformation matrix into its rotation, translation
|
|
523
|
+
* and scale components. Returns only the rotation component
|
|
524
|
+
*
|
|
525
|
+
* @param mat Matrix to be decomposed (input)
|
|
526
|
+
*/
|
|
527
|
+
export function decompose(mat) {
|
|
528
|
+
const trans = [mat[12], mat[13], mat[14]];
|
|
529
|
+
// prettier-ignore
|
|
530
|
+
const [m11, m12, m13, , m21, m22, m23, , m31, m32, m33,] = mat;
|
|
531
|
+
const scale = [
|
|
532
|
+
Math.sqrt(m11 * m11 + m12 * m12 + m13 * m13),
|
|
533
|
+
Math.sqrt(m21 * m21 + m22 * m22 + m23 * m23),
|
|
534
|
+
Math.sqrt(m31 * m31 + m32 * m32 + m33 * m33),
|
|
535
|
+
];
|
|
536
|
+
const is1 = 1 / scale[0];
|
|
537
|
+
const is2 = 1 / scale[1];
|
|
538
|
+
const is3 = 1 / scale[2];
|
|
539
|
+
const sm11 = m11 * is1;
|
|
540
|
+
const sm12 = m12 * is2;
|
|
541
|
+
const sm13 = m13 * is3;
|
|
542
|
+
const sm21 = m21 * is1;
|
|
543
|
+
const sm22 = m22 * is2;
|
|
544
|
+
const sm23 = m23 * is3;
|
|
545
|
+
const sm31 = m31 * is1;
|
|
546
|
+
const sm32 = m32 * is2;
|
|
547
|
+
const sm33 = m33 * is3;
|
|
548
|
+
const trace = sm11 + sm22 + sm33;
|
|
549
|
+
let rot;
|
|
550
|
+
if (trace > 0) {
|
|
551
|
+
const S = Math.sqrt(trace + 1) * 2;
|
|
552
|
+
rot = [(sm23 - sm32) / S, (sm31 - sm13) / S, (sm12 - sm21) / S, 0.25 * S];
|
|
553
|
+
}
|
|
554
|
+
else if (sm11 > sm22 && sm11 > sm33) {
|
|
555
|
+
const S = Math.sqrt(1 + sm11 - sm22 - sm33) * 2;
|
|
556
|
+
rot = [0.25 * S, (sm12 + sm21) / S, (sm31 + sm13) / S, (sm23 - sm32) / S];
|
|
557
|
+
}
|
|
558
|
+
else if (sm22 > sm33) {
|
|
559
|
+
const S = Math.sqrt(1 + sm22 - sm11 - sm33) * 2;
|
|
560
|
+
rot = [(sm12 + sm21) / S, 0.25 * S, (sm23 + sm32) / S, (sm31 - sm13) / S];
|
|
561
|
+
}
|
|
562
|
+
else {
|
|
563
|
+
const S = Math.sqrt(1 + sm33 - sm11 - sm22) * 2;
|
|
564
|
+
rot = [(sm31 + sm13) / S, (sm23 + sm32) / S, 0.25 * S, (sm12 - sm21) / S];
|
|
565
|
+
}
|
|
566
|
+
return {
|
|
567
|
+
trans,
|
|
568
|
+
rot,
|
|
569
|
+
scale,
|
|
570
|
+
};
|
|
571
|
+
}
|
|
572
|
+
/**
|
|
573
|
+
* Creates a matrix from a quaternion rotation, vector translation and vector scale
|
|
574
|
+
* This is equivalent to (but much faster than):
|
|
575
|
+
*
|
|
576
|
+
* mat4.identity(dest);
|
|
577
|
+
* mat4.translate(dest, vec);
|
|
578
|
+
* const quatMat = mat4.create();
|
|
579
|
+
* quat4.toMat4(quat, quatMat);
|
|
580
|
+
* mat4.multiply(dest, quatMat);
|
|
581
|
+
* mat4.scale(dest, scale)
|
|
582
|
+
*
|
|
583
|
+
* @param rot Rotation quaternion
|
|
584
|
+
* @param trans Translation vector
|
|
585
|
+
* @param scale Scaling vector
|
|
586
|
+
*/
|
|
587
|
+
export function fromRotationTranslationScale(rot, trans, scale) {
|
|
588
|
+
// Quaternion math
|
|
589
|
+
const [x, y, z, w] = rot;
|
|
590
|
+
const x2 = x + x;
|
|
591
|
+
const y2 = y + y;
|
|
592
|
+
const z2 = z + z;
|
|
593
|
+
const xx = x * x2;
|
|
594
|
+
const xy = x * y2;
|
|
595
|
+
const xz = x * z2;
|
|
596
|
+
const yy = y * y2;
|
|
597
|
+
const yz = y * z2;
|
|
598
|
+
const zz = z * z2;
|
|
599
|
+
const wx = w * x2;
|
|
600
|
+
const wy = w * y2;
|
|
601
|
+
const wz = w * z2;
|
|
602
|
+
const sx = scale[0];
|
|
603
|
+
const sy = scale[1];
|
|
604
|
+
const sz = scale[2];
|
|
605
|
+
return [
|
|
606
|
+
(1 - (yy + zz)) * sx,
|
|
607
|
+
(xy + wz) * sx,
|
|
608
|
+
(xz - wy) * sx,
|
|
609
|
+
0,
|
|
610
|
+
(xy - wz) * sy,
|
|
611
|
+
(1 - (xx + zz)) * sy,
|
|
612
|
+
(yz + wx) * sy,
|
|
613
|
+
0,
|
|
614
|
+
(xz + wy) * sz,
|
|
615
|
+
(yz - wx) * sz,
|
|
616
|
+
(1 - (xx + yy)) * sz,
|
|
617
|
+
0,
|
|
618
|
+
trans[0],
|
|
619
|
+
trans[1],
|
|
620
|
+
trans[2],
|
|
621
|
+
1,
|
|
622
|
+
];
|
|
623
|
+
}
|
|
624
|
+
/**
|
|
625
|
+
* Creates a matrix from a quaternion rotation, vector translation and vector scale, rotating and scaling around the given origin
|
|
626
|
+
* This is equivalent to (but much faster than):
|
|
627
|
+
*
|
|
628
|
+
* mat4.identity(dest);
|
|
629
|
+
* mat4.translate(dest, vec);
|
|
630
|
+
* mat4.translate(dest, origin);
|
|
631
|
+
* const quatMat = mat4.create();
|
|
632
|
+
* quat4.toMat4(quat, quatMat);
|
|
633
|
+
* mat4.multiply(dest, quatMat);
|
|
634
|
+
* mat4.scale(dest, scale)
|
|
635
|
+
* mat4.translate(dest, negativeOrigin);
|
|
636
|
+
*
|
|
637
|
+
* @param rot Rotation quaternion
|
|
638
|
+
* @param trans Translation vector
|
|
639
|
+
* @param scale Scaling vector
|
|
640
|
+
* @param origin The origin vector around which to scale and rotate
|
|
641
|
+
*/
|
|
642
|
+
export function fromRotationTranslationScaleOrigin(rot, trans, scale, origin) {
|
|
643
|
+
// Quaternion math
|
|
644
|
+
const [x, y, z, w] = rot;
|
|
645
|
+
const x2 = x + x;
|
|
646
|
+
const y2 = y + y;
|
|
647
|
+
const z2 = z + z;
|
|
648
|
+
const xx = x * x2;
|
|
649
|
+
const xy = x * y2;
|
|
650
|
+
const xz = x * z2;
|
|
651
|
+
const yy = y * y2;
|
|
652
|
+
const yz = y * z2;
|
|
653
|
+
const zz = z * z2;
|
|
654
|
+
const wx = w * x2;
|
|
655
|
+
const wy = w * y2;
|
|
656
|
+
const wz = w * z2;
|
|
657
|
+
const sx = scale[0];
|
|
658
|
+
const sy = scale[1];
|
|
659
|
+
const sz = scale[2];
|
|
660
|
+
const ox = origin[0];
|
|
661
|
+
const oy = origin[1];
|
|
662
|
+
const oz = origin[2];
|
|
663
|
+
const out0 = (1 - (yy + zz)) * sx;
|
|
664
|
+
const out1 = (xy + wz) * sx;
|
|
665
|
+
const out2 = (xz - wy) * sx;
|
|
666
|
+
const out4 = (xy - wz) * sy;
|
|
667
|
+
const out5 = (1 - (xx + zz)) * sy;
|
|
668
|
+
const out6 = (yz + wx) * sy;
|
|
669
|
+
const out8 = (xz + wy) * sz;
|
|
670
|
+
const out9 = (yz - wx) * sz;
|
|
671
|
+
const out10 = (1 - (xx + yy)) * sz;
|
|
672
|
+
// prettier-ignore
|
|
673
|
+
return [
|
|
674
|
+
out0, out1, out2, 0,
|
|
675
|
+
out4, out5, out6, 0,
|
|
676
|
+
out8, out9, out10, 0,
|
|
677
|
+
trans[0] + ox - (out0 * ox + out4 * oy + out8 * oz),
|
|
678
|
+
trans[1] + oy - (out1 * ox + out5 * oy + out9 * oz),
|
|
679
|
+
trans[2] + oz - (out2 * ox + out6 * oy + out10 * oz),
|
|
680
|
+
1,
|
|
681
|
+
];
|
|
682
|
+
}
|
|
683
|
+
/**
|
|
684
|
+
* Calculates a 4x4 matrix from the given quaternion
|
|
685
|
+
*
|
|
686
|
+
* @param q Quaternion to create matrix from
|
|
687
|
+
*/
|
|
688
|
+
export function fromQuat(q) {
|
|
689
|
+
const [x, y, z, w] = q;
|
|
690
|
+
const x2 = x + x;
|
|
691
|
+
const y2 = y + y;
|
|
692
|
+
const z2 = z + z;
|
|
693
|
+
const xx = x * x2;
|
|
694
|
+
const yx = y * x2;
|
|
695
|
+
const yy = y * y2;
|
|
696
|
+
const zx = z * x2;
|
|
697
|
+
const zy = z * y2;
|
|
698
|
+
const zz = z * z2;
|
|
699
|
+
const wx = w * x2;
|
|
700
|
+
const wy = w * y2;
|
|
701
|
+
const wz = w * z2;
|
|
702
|
+
// prettier-ignore
|
|
703
|
+
return [
|
|
704
|
+
1 - yy - zz,
|
|
705
|
+
yx + wz,
|
|
706
|
+
zx - wy,
|
|
707
|
+
0,
|
|
708
|
+
yx - wz,
|
|
709
|
+
1 - xx - zz,
|
|
710
|
+
zy + wx,
|
|
711
|
+
0,
|
|
712
|
+
zx + wy,
|
|
713
|
+
zy - wx,
|
|
714
|
+
1 - xx - yy,
|
|
715
|
+
0,
|
|
716
|
+
0, 0, 0, 1,
|
|
717
|
+
];
|
|
718
|
+
}
|
|
719
|
+
/**
|
|
720
|
+
* Generates a frustum matrix with the given bounds
|
|
721
|
+
*
|
|
722
|
+
* @param left Left bound of the frustum
|
|
723
|
+
* @param right Right bound of the frustum
|
|
724
|
+
* @param bottom Bottom bound of the frustum
|
|
725
|
+
* @param top Top bound of the frustum
|
|
726
|
+
* @param near Near bound of the frustum
|
|
727
|
+
* @param far Far bound of the frustum
|
|
728
|
+
*/
|
|
729
|
+
export function frustum(left, right, bottom, top, near, far) {
|
|
730
|
+
const rl = 1 / (right - left);
|
|
731
|
+
const tb = 1 / (top - bottom);
|
|
732
|
+
const nf = 1 / (near - far);
|
|
733
|
+
// prettier-ignore
|
|
734
|
+
return [
|
|
735
|
+
near * 2 * rl, 0, 0, 0,
|
|
736
|
+
0, near * 2 * tb, 0, 0,
|
|
737
|
+
(right + left) * rl, (top + bottom) * tb, (far + near) * nf, -1,
|
|
738
|
+
0, 0, far * near * 2 * nf, 0,
|
|
739
|
+
];
|
|
740
|
+
}
|
|
741
|
+
/**
|
|
742
|
+
* Generates a perspective projection matrix with the given bounds.
|
|
743
|
+
* The near/far clip planes correspond to a normalized device coordinate Z range of [-1, 1],
|
|
744
|
+
* which matches WebGL/OpenGL's clip volume.
|
|
745
|
+
* Passing null/undefined/no value for far will generate infinite projection matrix.
|
|
746
|
+
*
|
|
747
|
+
* @param fovy Vertical field of view in radians
|
|
748
|
+
* @param aspect Aspect ratio. typically viewport width/height
|
|
749
|
+
* @param near Near bound of the frustum
|
|
750
|
+
* @param far Far bound of the frustum, can be null or Infinity
|
|
751
|
+
*/
|
|
752
|
+
export function perspectiveNO(fovy, aspect, near, far) {
|
|
753
|
+
const f = 1 / Math.tan(fovy / 2);
|
|
754
|
+
let out10, out14;
|
|
755
|
+
if (far !== null && far !== Infinity) {
|
|
756
|
+
const nf = 1 / (near - far);
|
|
757
|
+
out10 = (far + near) * nf;
|
|
758
|
+
out14 = 2 * far * near * nf;
|
|
759
|
+
}
|
|
760
|
+
else {
|
|
761
|
+
out10 = -1;
|
|
762
|
+
out14 = -2 * near;
|
|
763
|
+
}
|
|
764
|
+
// prettier-ignore
|
|
765
|
+
return [
|
|
766
|
+
f / aspect, 0, 0, 0,
|
|
767
|
+
0, f, 0, 0,
|
|
768
|
+
0, 0, out10, -1,
|
|
769
|
+
0, 0, out14, 0,
|
|
770
|
+
];
|
|
771
|
+
}
|
|
772
|
+
/**
|
|
773
|
+
* Alias for {@link mat4.perspectiveNO}
|
|
774
|
+
* @function
|
|
775
|
+
*/
|
|
776
|
+
export const perspective = perspectiveNO;
|
|
777
|
+
/**
|
|
778
|
+
* Generates a perspective projection matrix suitable for WebGPU with the given bounds.
|
|
779
|
+
* The near/far clip planes correspond to a normalized device coordinate Z range of [0, 1],
|
|
780
|
+
* which matches WebGPU/Vulkan/DirectX/Metal's clip volume.
|
|
781
|
+
* Passing null/undefined/no value for far will generate infinite projection matrix.
|
|
782
|
+
*
|
|
783
|
+
* @param fovy Vertical field of view in radians
|
|
784
|
+
* @param aspect Aspect ratio. typically viewport width/height
|
|
785
|
+
* @param near Near bound of the frustum
|
|
786
|
+
* @param far Far bound of the frustum, can be null or Infinity
|
|
787
|
+
*/
|
|
788
|
+
export function perspectiveZO(fovy, aspect, near, far) {
|
|
789
|
+
const f = 1 / Math.tan(fovy / 2);
|
|
790
|
+
let out10, out14;
|
|
791
|
+
if (far !== null && far !== Infinity) {
|
|
792
|
+
const nf = 1 / (near - far);
|
|
793
|
+
out10 = far * nf;
|
|
794
|
+
out14 = far * near * nf;
|
|
795
|
+
}
|
|
796
|
+
else {
|
|
797
|
+
out10 = -1;
|
|
798
|
+
out14 = -near;
|
|
799
|
+
}
|
|
800
|
+
return [f / aspect, 0, 0, 0, 0, f, 0, 0, 0, 0, out10, -1, 0, 0, out14, 0];
|
|
801
|
+
}
|
|
802
|
+
/**
|
|
803
|
+
* Generates a perspective projection matrix with the given field of view.
|
|
804
|
+
* This is primarily useful for generating projection matrices to be used
|
|
805
|
+
* with the still experiemental WebVR API.
|
|
806
|
+
*
|
|
807
|
+
* @param fov Object containing the following values: upDegrees, downDegrees, leftDegrees, rightDegrees
|
|
808
|
+
* @param near Near bound of the frustum
|
|
809
|
+
* @param far Far bound of the frustum
|
|
810
|
+
*/
|
|
811
|
+
export function perspectiveFromFieldOfView(fov, near, far) {
|
|
812
|
+
const upTan = Math.tan((fov.upDegrees * Math.PI) / 180);
|
|
813
|
+
const downTan = Math.tan((fov.downDegrees * Math.PI) / 180);
|
|
814
|
+
const leftTan = Math.tan((fov.leftDegrees * Math.PI) / 180);
|
|
815
|
+
const rightTan = Math.tan((fov.rightDegrees * Math.PI) / 180);
|
|
816
|
+
const xScale = 2 / (leftTan + rightTan);
|
|
817
|
+
const yScale = 2 / (upTan + downTan);
|
|
818
|
+
// prettier-ignore
|
|
819
|
+
return [
|
|
820
|
+
xScale, 0, 0, 0,
|
|
821
|
+
0, yScale, 0, 0,
|
|
822
|
+
-((leftTan - rightTan) * xScale * 0.5),
|
|
823
|
+
(upTan - downTan) * yScale * 0.5,
|
|
824
|
+
far / (near - far),
|
|
825
|
+
-1,
|
|
826
|
+
0,
|
|
827
|
+
0,
|
|
828
|
+
(far * near) / (near - far),
|
|
829
|
+
0,
|
|
830
|
+
];
|
|
831
|
+
}
|
|
832
|
+
/**
|
|
833
|
+
* Generates a orthogonal projection matrix with the given bounds.
|
|
834
|
+
* The near/far clip planes correspond to a normalized device coordinate Z range of [-1, 1],
|
|
835
|
+
* which matches WebGL/OpenGL's clip volume.
|
|
836
|
+
*
|
|
837
|
+
* @param left Left bound of the frustum
|
|
838
|
+
* @param right Right bound of the frustum
|
|
839
|
+
* @param bottom Bottom bound of the frustum
|
|
840
|
+
* @param top Top bound of the frustum
|
|
841
|
+
* @param near Near bound of the frustum
|
|
842
|
+
* @param far Far bound of the frustum
|
|
843
|
+
*/
|
|
844
|
+
export function orthoNO(left, right, bottom, top, near, far) {
|
|
845
|
+
const lr = 1 / (left - right);
|
|
846
|
+
const bt = 1 / (bottom - top);
|
|
847
|
+
const nf = 1 / (near - far);
|
|
848
|
+
// prettier-ignore
|
|
849
|
+
return [
|
|
850
|
+
-2 * lr, 0, 0, 0,
|
|
851
|
+
0, -2 * bt, 0, 0,
|
|
852
|
+
0, 0, 2 * nf, 0,
|
|
853
|
+
(left + right) * lr,
|
|
854
|
+
(top + bottom) * bt,
|
|
855
|
+
(far + near) * nf,
|
|
856
|
+
1,
|
|
857
|
+
];
|
|
858
|
+
}
|
|
859
|
+
/**
|
|
860
|
+
* Alias for {@link mat4.orthoNO}
|
|
861
|
+
* @function
|
|
862
|
+
*/
|
|
863
|
+
export const ortho = orthoNO;
|
|
864
|
+
/**
|
|
865
|
+
* Generates a orthogonal projection matrix with the given bounds.
|
|
866
|
+
* The near/far clip planes correspond to a normalized device coordinate Z range of [0, 1],
|
|
867
|
+
* which matches WebGPU/Vulkan/DirectX/Metal's clip volume.
|
|
868
|
+
*
|
|
869
|
+
* @param left Left bound of the frustum
|
|
870
|
+
* @param right Right bound of the frustum
|
|
871
|
+
* @param bottom Bottom bound of the frustum
|
|
872
|
+
* @param top Top bound of the frustum
|
|
873
|
+
* @param near Near bound of the frustum
|
|
874
|
+
* @param far Far bound of the frustum
|
|
875
|
+
*/
|
|
876
|
+
export function orthoZO(left, right, bottom, top, near, far) {
|
|
877
|
+
const lr = 1 / (left - right);
|
|
878
|
+
const bt = 1 / (bottom - top);
|
|
879
|
+
const nf = 1 / (near - far);
|
|
880
|
+
// prettier-ignore
|
|
881
|
+
return [
|
|
882
|
+
-2 * lr, 0, 0, 0,
|
|
883
|
+
0, -2 * bt, 0, 0,
|
|
884
|
+
0, 0, nf, 0,
|
|
885
|
+
(left + right) * lr,
|
|
886
|
+
(top + bottom) * bt,
|
|
887
|
+
near * nf,
|
|
888
|
+
1,
|
|
889
|
+
];
|
|
890
|
+
}
|
|
891
|
+
/**
|
|
892
|
+
* Generates a look-at matrix with the given eye position, focal point, and up axis.
|
|
893
|
+
* If you want a matrix that actually makes an object look at another object, you should use targetTo instead.
|
|
894
|
+
*
|
|
895
|
+
* @param eye Position of the viewer
|
|
896
|
+
* @param center Point the viewer is looking at
|
|
897
|
+
* @param up vec3 pointing up
|
|
898
|
+
*/
|
|
899
|
+
export function lookAt(eye, center, up) {
|
|
900
|
+
let x0, x1, x2, y0, y1, y2, z0, z1, z2, len;
|
|
901
|
+
const eyex = eye[0];
|
|
902
|
+
const eyey = eye[1];
|
|
903
|
+
const eyez = eye[2];
|
|
904
|
+
const upx = up[0];
|
|
905
|
+
const upy = up[1];
|
|
906
|
+
const upz = up[2];
|
|
907
|
+
const centerx = center[0];
|
|
908
|
+
const centery = center[1];
|
|
909
|
+
const centerz = center[2];
|
|
910
|
+
if (Math.abs(eyex - centerx) < Common.EPSILON &&
|
|
911
|
+
Math.abs(eyey - centery) < Common.EPSILON &&
|
|
912
|
+
Math.abs(eyez - centerz) < Common.EPSILON) {
|
|
913
|
+
return identity;
|
|
914
|
+
}
|
|
915
|
+
z0 = eyex - centerx;
|
|
916
|
+
z1 = eyey - centery;
|
|
917
|
+
z2 = eyez - centerz;
|
|
918
|
+
len = 1 / Math.sqrt(z0 * z0 + z1 * z1 + z2 * z2);
|
|
919
|
+
z0 *= len;
|
|
920
|
+
z1 *= len;
|
|
921
|
+
z2 *= len;
|
|
922
|
+
x0 = upy * z2 - upz * z1;
|
|
923
|
+
x1 = upz * z0 - upx * z2;
|
|
924
|
+
x2 = upx * z1 - upy * z0;
|
|
925
|
+
len = Math.sqrt(x0 * x0 + x1 * x1 + x2 * x2);
|
|
926
|
+
if (!len) {
|
|
927
|
+
x0 = 0;
|
|
928
|
+
x1 = 0;
|
|
929
|
+
x2 = 0;
|
|
930
|
+
}
|
|
931
|
+
else {
|
|
932
|
+
len = 1 / len;
|
|
933
|
+
x0 *= len;
|
|
934
|
+
x1 *= len;
|
|
935
|
+
x2 *= len;
|
|
936
|
+
}
|
|
937
|
+
y0 = z1 * x2 - z2 * x1;
|
|
938
|
+
y1 = z2 * x0 - z0 * x2;
|
|
939
|
+
y2 = z0 * x1 - z1 * x0;
|
|
940
|
+
len = Math.sqrt(y0 * y0 + y1 * y1 + y2 * y2);
|
|
941
|
+
if (!len) {
|
|
942
|
+
y0 = 0;
|
|
943
|
+
y1 = 0;
|
|
944
|
+
y2 = 0;
|
|
945
|
+
}
|
|
946
|
+
else {
|
|
947
|
+
len = 1 / len;
|
|
948
|
+
y0 *= len;
|
|
949
|
+
y1 *= len;
|
|
950
|
+
y2 *= len;
|
|
951
|
+
}
|
|
952
|
+
// prettier-ignore
|
|
953
|
+
return [
|
|
954
|
+
x0, y0, z0, 0,
|
|
955
|
+
x1, y1, z1, 0,
|
|
956
|
+
x2, y2, z2, 0,
|
|
957
|
+
-(x0 * eyex + x1 * eyey + x2 * eyez),
|
|
958
|
+
-(y0 * eyex + y1 * eyey + y2 * eyez),
|
|
959
|
+
-(z0 * eyex + z1 * eyey + z2 * eyez),
|
|
960
|
+
1,
|
|
961
|
+
];
|
|
962
|
+
}
|
|
963
|
+
/**
|
|
964
|
+
* Generates a matrix that makes something look at something else.
|
|
965
|
+
*
|
|
966
|
+
* @param eye Position of the viewer
|
|
967
|
+
* @param center Point the viewer is looking at
|
|
968
|
+
* @param up vec3 pointing up
|
|
969
|
+
*/
|
|
970
|
+
export function targetTo(eye, target, up) {
|
|
971
|
+
const [eyex, eyey, eyez] = eye;
|
|
972
|
+
const [upx, upy, upz] = up;
|
|
973
|
+
let z0 = eyex - target[0], z1 = eyey - target[1], z2 = eyez - target[2];
|
|
974
|
+
let len = z0 * z0 + z1 * z1 + z2 * z2;
|
|
975
|
+
if (len > 0) {
|
|
976
|
+
len = 1 / Math.sqrt(len);
|
|
977
|
+
z0 *= len;
|
|
978
|
+
z1 *= len;
|
|
979
|
+
z2 *= len;
|
|
980
|
+
}
|
|
981
|
+
let x0 = upy * z2 - upz * z1, x1 = upz * z0 - upx * z2, x2 = upx * z1 - upy * z0;
|
|
982
|
+
len = x0 * x0 + x1 * x1 + x2 * x2;
|
|
983
|
+
if (len > 0) {
|
|
984
|
+
len = 1 / Math.sqrt(len);
|
|
985
|
+
x0 *= len;
|
|
986
|
+
x1 *= len;
|
|
987
|
+
x2 *= len;
|
|
988
|
+
}
|
|
989
|
+
// prettier-ignore
|
|
990
|
+
return [
|
|
991
|
+
x0, x1, x2, 0,
|
|
992
|
+
z1 * x2 - z2 * x1,
|
|
993
|
+
z2 * x0 - z0 * x2,
|
|
994
|
+
z0 * x1 - z1 * x0,
|
|
995
|
+
0,
|
|
996
|
+
z0, z1, z2, 0,
|
|
997
|
+
eyex, eyey, eyez, 1,
|
|
998
|
+
];
|
|
999
|
+
}
|
|
1000
|
+
/**
|
|
1001
|
+
* Returns Frobenius norm of a mat4
|
|
1002
|
+
*/
|
|
1003
|
+
export function frob(a) {
|
|
1004
|
+
return Math.sqrt(a[0] * a[0] +
|
|
1005
|
+
a[1] * a[1] +
|
|
1006
|
+
a[2] * a[2] +
|
|
1007
|
+
a[3] * a[3] +
|
|
1008
|
+
a[4] * a[4] +
|
|
1009
|
+
a[5] * a[5] +
|
|
1010
|
+
a[6] * a[6] +
|
|
1011
|
+
a[7] * a[7] +
|
|
1012
|
+
a[8] * a[8] +
|
|
1013
|
+
a[9] * a[9] +
|
|
1014
|
+
a[10] * a[10] +
|
|
1015
|
+
a[11] * a[11] +
|
|
1016
|
+
a[12] * a[12] +
|
|
1017
|
+
a[13] * a[13] +
|
|
1018
|
+
a[14] * a[14] +
|
|
1019
|
+
a[15] * a[15]);
|
|
1020
|
+
}
|
|
1021
|
+
/**
|
|
1022
|
+
* Adds two mat4's
|
|
1023
|
+
*/
|
|
1024
|
+
export function add(a, b) {
|
|
1025
|
+
return [
|
|
1026
|
+
a[0] + b[0],
|
|
1027
|
+
a[1] + b[1],
|
|
1028
|
+
a[2] + b[2],
|
|
1029
|
+
a[3] + b[3],
|
|
1030
|
+
a[4] + b[4],
|
|
1031
|
+
a[5] + b[5],
|
|
1032
|
+
a[6] + b[6],
|
|
1033
|
+
a[7] + b[7],
|
|
1034
|
+
a[8] + b[8],
|
|
1035
|
+
a[9] + b[9],
|
|
1036
|
+
a[10] + b[10],
|
|
1037
|
+
a[11] + b[11],
|
|
1038
|
+
a[12] + b[12],
|
|
1039
|
+
a[13] + b[13],
|
|
1040
|
+
a[14] + b[14],
|
|
1041
|
+
a[15] + b[15],
|
|
1042
|
+
];
|
|
1043
|
+
}
|
|
1044
|
+
/**
|
|
1045
|
+
* Subtracts matrix b from matrix a
|
|
1046
|
+
*/
|
|
1047
|
+
export function subtract(a, b) {
|
|
1048
|
+
return [
|
|
1049
|
+
a[0] - b[0],
|
|
1050
|
+
a[1] - b[1],
|
|
1051
|
+
a[2] - b[2],
|
|
1052
|
+
a[3] - b[3],
|
|
1053
|
+
a[4] - b[4],
|
|
1054
|
+
a[5] - b[5],
|
|
1055
|
+
a[6] - b[6],
|
|
1056
|
+
a[7] - b[7],
|
|
1057
|
+
a[8] - b[8],
|
|
1058
|
+
a[9] - b[9],
|
|
1059
|
+
a[10] - b[10],
|
|
1060
|
+
a[11] - b[11],
|
|
1061
|
+
a[12] - b[12],
|
|
1062
|
+
a[13] - b[13],
|
|
1063
|
+
a[14] - b[14],
|
|
1064
|
+
a[15] - b[15],
|
|
1065
|
+
];
|
|
1066
|
+
}
|
|
1067
|
+
/**
|
|
1068
|
+
* Multiply each element of the matrix by a scalar.
|
|
1069
|
+
*/
|
|
1070
|
+
export function multiplyScalar(a, s) {
|
|
1071
|
+
return [
|
|
1072
|
+
a[0] * s,
|
|
1073
|
+
a[1] * s,
|
|
1074
|
+
a[2] * s,
|
|
1075
|
+
a[3] * s,
|
|
1076
|
+
a[4] * s,
|
|
1077
|
+
a[5] * s,
|
|
1078
|
+
a[6] * s,
|
|
1079
|
+
a[7] * s,
|
|
1080
|
+
a[8] * s,
|
|
1081
|
+
a[9] * s,
|
|
1082
|
+
a[10] * s,
|
|
1083
|
+
a[11] * s,
|
|
1084
|
+
a[12] * s,
|
|
1085
|
+
a[13] * s,
|
|
1086
|
+
a[14] * s,
|
|
1087
|
+
a[15] * s,
|
|
1088
|
+
];
|
|
1089
|
+
}
|
|
1090
|
+
/**
|
|
1091
|
+
* Adds two mat4's after multiplying each element of the second operand by a scalar value.
|
|
1092
|
+
*/
|
|
1093
|
+
export function multiplyScalarAndAdd(a, b, scale) {
|
|
1094
|
+
return [
|
|
1095
|
+
a[0] + b[0] * scale,
|
|
1096
|
+
a[1] + b[1] * scale,
|
|
1097
|
+
a[2] + b[2] * scale,
|
|
1098
|
+
a[3] + b[3] * scale,
|
|
1099
|
+
a[4] + b[4] * scale,
|
|
1100
|
+
a[5] + b[5] * scale,
|
|
1101
|
+
a[6] + b[6] * scale,
|
|
1102
|
+
a[7] + b[7] * scale,
|
|
1103
|
+
a[8] + b[8] * scale,
|
|
1104
|
+
a[9] + b[9] * scale,
|
|
1105
|
+
a[10] + b[10] * scale,
|
|
1106
|
+
a[11] + b[11] * scale,
|
|
1107
|
+
a[12] + b[12] * scale,
|
|
1108
|
+
a[13] + b[13] * scale,
|
|
1109
|
+
a[14] + b[14] * scale,
|
|
1110
|
+
a[15] + b[15] * scale,
|
|
1111
|
+
];
|
|
1112
|
+
}
|
|
1113
|
+
/**
|
|
1114
|
+
* Returns whether or not the matrices have exactly the same elements in the same position (when compared with ===)
|
|
1115
|
+
*/
|
|
1116
|
+
export function exactEquals(a, b) {
|
|
1117
|
+
return (a[0] === b[0] &&
|
|
1118
|
+
a[1] === b[1] &&
|
|
1119
|
+
a[2] === b[2] &&
|
|
1120
|
+
a[3] === b[3] &&
|
|
1121
|
+
a[4] === b[4] &&
|
|
1122
|
+
a[5] === b[5] &&
|
|
1123
|
+
a[6] === b[6] &&
|
|
1124
|
+
a[7] === b[7] &&
|
|
1125
|
+
a[8] === b[8] &&
|
|
1126
|
+
a[9] === b[9] &&
|
|
1127
|
+
a[10] === b[10] &&
|
|
1128
|
+
a[11] === b[11] &&
|
|
1129
|
+
a[12] === b[12] &&
|
|
1130
|
+
a[13] === b[13] &&
|
|
1131
|
+
a[14] === b[14] &&
|
|
1132
|
+
a[15] === b[15]);
|
|
1133
|
+
}
|
|
1134
|
+
/**
|
|
1135
|
+
* Returns whether or not the matrices have approximately the same elements in the same position.
|
|
1136
|
+
*/
|
|
1137
|
+
export function equals(a, b) {
|
|
1138
|
+
const [a0, a1, a2, a3, a4, a5, a6, a7, a8, a9, aA, aB, aC, aD, aE, aF] = a;
|
|
1139
|
+
const [b0, b1, b2, b3, b4, b5, b6, b7, b8, b9, bA, bB, bC, bD, bE, bF] = b;
|
|
1140
|
+
return (Math.abs(a0 - b0) <=
|
|
1141
|
+
Common.EPSILON * Math.max(1, Math.abs(a0), Math.abs(b0)) &&
|
|
1142
|
+
Math.abs(a1 - b1) <=
|
|
1143
|
+
Common.EPSILON * Math.max(1, Math.abs(a1), Math.abs(b1)) &&
|
|
1144
|
+
Math.abs(a2 - b2) <=
|
|
1145
|
+
Common.EPSILON * Math.max(1, Math.abs(a2), Math.abs(b2)) &&
|
|
1146
|
+
Math.abs(a3 - b3) <=
|
|
1147
|
+
Common.EPSILON * Math.max(1, Math.abs(a3), Math.abs(b3)) &&
|
|
1148
|
+
Math.abs(a4 - b4) <=
|
|
1149
|
+
Common.EPSILON * Math.max(1, Math.abs(a4), Math.abs(b4)) &&
|
|
1150
|
+
Math.abs(a5 - b5) <=
|
|
1151
|
+
Common.EPSILON * Math.max(1, Math.abs(a5), Math.abs(b5)) &&
|
|
1152
|
+
Math.abs(a6 - b6) <=
|
|
1153
|
+
Common.EPSILON * Math.max(1, Math.abs(a6), Math.abs(b6)) &&
|
|
1154
|
+
Math.abs(a7 - b7) <=
|
|
1155
|
+
Common.EPSILON * Math.max(1, Math.abs(a7), Math.abs(b7)) &&
|
|
1156
|
+
Math.abs(a8 - b8) <=
|
|
1157
|
+
Common.EPSILON * Math.max(1, Math.abs(a8), Math.abs(b8)) &&
|
|
1158
|
+
Math.abs(a9 - b9) <=
|
|
1159
|
+
Common.EPSILON * Math.max(1, Math.abs(a9), Math.abs(b9)) &&
|
|
1160
|
+
Math.abs(aA - bA) <=
|
|
1161
|
+
Common.EPSILON * Math.max(1, Math.abs(aA), Math.abs(bA)) &&
|
|
1162
|
+
Math.abs(aB - bB) <=
|
|
1163
|
+
Common.EPSILON * Math.max(1, Math.abs(aB), Math.abs(bB)) &&
|
|
1164
|
+
Math.abs(aC - bC) <=
|
|
1165
|
+
Common.EPSILON * Math.max(1, Math.abs(aC), Math.abs(bC)) &&
|
|
1166
|
+
Math.abs(aD - bD) <=
|
|
1167
|
+
Common.EPSILON * Math.max(1, Math.abs(aD), Math.abs(bD)) &&
|
|
1168
|
+
Math.abs(aE - bE) <=
|
|
1169
|
+
Common.EPSILON * Math.max(1, Math.abs(aE), Math.abs(bE)) &&
|
|
1170
|
+
Math.abs(aF - bF) <=
|
|
1171
|
+
Common.EPSILON * Math.max(1, Math.abs(aF), Math.abs(bF)));
|
|
1172
|
+
}
|
|
1173
|
+
//# 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