linearly 0.1.0 → 0.2.0
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/lib/common.js +27 -13
- package/lib/index.js +45 -9
- package/lib/mat2.js +208 -156
- package/lib/mat2d.js +288 -236
- package/lib/mat2d.test.js +113 -78
- package/lib/mat3.js +444 -385
- package/lib/mat4.js +1223 -1147
- package/lib/quat.js +502 -447
- package/lib/vec2.js +211 -146
- package/lib/vec2.test.js +139 -104
- package/lib/vec3.js +408 -338
- package/lib/vec3.test.js +143 -108
- package/lib/vec4.js +316 -254
- package/package.json +1 -1
package/lib/mat4.js
CHANGED
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@@ -1,1176 +1,1252 @@
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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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export const zero = Object.freeze([
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0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
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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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var __createBinding = (this && this.__createBinding) || (Object.create ? (function(o, m, k, k2) {
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if (k2 === undefined) k2 = k;
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var desc = Object.getOwnPropertyDescriptor(m, k);
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if (!desc || ("get" in desc ? !m.__esModule : desc.writable || desc.configurable)) {
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desc = { enumerable: true, get: function() { return m[k]; } };
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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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Object.defineProperty(o, k2, desc);
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}) : (function(o, m, k, k2) {
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if (k2 === undefined) k2 = k;
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o[k2] = m[k];
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}));
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var __setModuleDefault = (this && this.__setModuleDefault) || (Object.create ? (function(o, v) {
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Object.defineProperty(o, "default", { enumerable: true, value: v });
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}) : function(o, v) {
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o["default"] = v;
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});
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var __importStar = (this && this.__importStar) || function (mod) {
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if (mod && mod.__esModule) return mod;
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var result = {};
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if (mod != null) for (var k in mod) if (k !== "default" && Object.prototype.hasOwnProperty.call(mod, k)) __createBinding(result, mod, k);
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__setModuleDefault(result, mod);
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return result;
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};
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(function (factory) {
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if (typeof module === "object" && typeof module.exports === "object") {
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var v = factory(require, exports);
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if (v !== undefined) module.exports = v;
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}
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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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248
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*/
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249
|
-
export function rotateX(a, rad) {
|
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250
|
-
const s = Math.sin(rad);
|
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251
|
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const c = Math.cos(rad);
|
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252
|
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const a10 = a[4];
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253
|
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const a11 = a[5];
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254
|
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const a12 = a[6];
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255
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const a13 = a[7];
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256
|
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const a20 = a[8];
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257
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const a21 = a[9];
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258
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const a22 = a[10];
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259
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const a23 = a[11];
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260
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// prettier-ignore
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261
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return [
|
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262
|
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a[0], a[1], a[2], a[3],
|
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263
|
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a10 * c + a20 * s, a11 * c + a21 * s, a12 * c + a22 * s, a13 * c + a23 * s,
|
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264
|
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a20 * c - a10 * s, a21 * c - a11 * s, a22 * c - a12 * s, a23 * c - a13 * s,
|
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265
|
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a[12], a[13], a[14], a[15],
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266
|
-
];
|
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267
|
-
}
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268
|
-
/**
|
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269
|
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* Rotates a matrix by the given angle around the Y axis
|
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270
|
-
*/
|
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271
|
-
export function rotateY(a, rad) {
|
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272
|
-
const s = Math.sin(rad);
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273
|
-
const c = Math.cos(rad);
|
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274
|
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const a00 = a[0];
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275
|
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const a01 = a[1];
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276
|
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const a02 = a[2];
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277
|
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const a03 = a[3];
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278
|
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const a20 = a[8];
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279
|
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const a21 = a[9];
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280
|
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const a22 = a[10];
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281
|
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const a23 = a[11];
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282
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// prettier-ignore
|
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283
|
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return [
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284
|
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a00 * c - a20 * s,
|
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285
|
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a01 * c - a21 * s,
|
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286
|
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a02 * c - a22 * s,
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287
|
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a03 * c - a23 * s,
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288
|
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a[4], a[5], a[6], a[7],
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289
|
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a00 * s + a20 * c,
|
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290
|
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a01 * s + a21 * c,
|
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291
|
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a02 * s + a22 * c,
|
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292
|
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a03 * s + a23 * c,
|
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293
|
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a[12], a[13], a[14], a[15],
|
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294
|
-
];
|
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295
|
-
}
|
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296
|
-
/**
|
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297
|
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* Rotates a matrix by the given angle around the Z axis
|
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298
|
-
*/
|
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299
|
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export function rotateZ(a, rad) {
|
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300
|
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const s = Math.sin(rad);
|
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301
|
-
const c = Math.cos(rad);
|
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302
|
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const a00 = a[0];
|
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303
|
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const a01 = a[1];
|
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304
|
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const a02 = a[2];
|
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305
|
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const a03 = a[3];
|
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306
|
-
const a10 = a[4];
|
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307
|
-
const a11 = a[5];
|
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308
|
-
const a12 = a[6];
|
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309
|
-
const a13 = a[7];
|
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310
|
-
// prettier-ignore
|
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311
|
-
return [
|
|
312
|
-
a00 * c + a10 * s,
|
|
313
|
-
a01 * c + a11 * s,
|
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314
|
-
a02 * c + a12 * s,
|
|
315
|
-
a03 * c + a13 * s,
|
|
316
|
-
a10 * c - a00 * s,
|
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317
|
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a11 * c - a01 * s,
|
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318
|
-
a12 * c - a02 * s,
|
|
319
|
-
a13 * c - a03 * s,
|
|
320
|
-
a[8], a[9], a[10], a[11],
|
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321
|
-
a[12], a[13], a[14], a[15],
|
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322
|
-
];
|
|
323
|
-
}
|
|
324
|
-
/**
|
|
325
|
-
* Creates a matrix from a vector translation
|
|
326
|
-
*/
|
|
327
|
-
export function fromTranslation(v) {
|
|
328
|
-
const [x, y, z] = v;
|
|
329
|
-
// prettier-ignore
|
|
330
|
-
return [
|
|
331
|
-
1, 0, 0, 0,
|
|
332
|
-
0, 1, 0, 0,
|
|
333
|
-
0, 0, 1, 0,
|
|
334
|
-
x, y, z, 1,
|
|
335
|
-
];
|
|
336
|
-
}
|
|
337
|
-
/**
|
|
338
|
-
* Creates a matrix from a vector scaling
|
|
339
|
-
*/
|
|
340
|
-
export function fromScaling(v) {
|
|
341
|
-
const [x, y, z] = v;
|
|
342
|
-
// prettier-ignore
|
|
343
|
-
return [
|
|
344
|
-
x, 0, 0, 0,
|
|
345
|
-
0, y, 0, 0,
|
|
346
|
-
0, 0, z, 0,
|
|
347
|
-
0, 0, 0, 1
|
|
348
|
-
];
|
|
349
|
-
}
|
|
350
|
-
/**
|
|
351
|
-
* Creates a matrix from a given angle around a given axis
|
|
352
|
-
*/
|
|
353
|
-
export function fromRotation(rad, axis) {
|
|
354
|
-
let [x, y, z] = axis;
|
|
355
|
-
const len = Math.sqrt(x * x + y * y + z * z);
|
|
356
|
-
if (len < Common.EPSILON) {
|
|
357
|
-
return null;
|
|
29
|
+
else if (typeof define === "function" && define.amd) {
|
|
30
|
+
define(["require", "exports", "./common"], factory);
|
|
358
31
|
}
|
|
359
|
-
|
|
360
|
-
|
|
361
|
-
|
|
362
|
-
|
|
363
|
-
const
|
|
364
|
-
|
|
365
|
-
|
|
366
|
-
|
|
367
|
-
|
|
368
|
-
|
|
369
|
-
|
|
370
|
-
0,
|
|
371
|
-
x * y * t - z * s,
|
|
372
|
-
y * y * t + c,
|
|
373
|
-
z * y * t + x * s,
|
|
374
|
-
0,
|
|
375
|
-
x * z * t + y * s,
|
|
376
|
-
y * z * t - x * s,
|
|
377
|
-
z * z * t + c,
|
|
378
|
-
0,
|
|
379
|
-
0, 0, 0, 1,
|
|
380
|
-
];
|
|
381
|
-
}
|
|
382
|
-
/**
|
|
383
|
-
* Creates a matrix from the given angle around the X axis
|
|
384
|
-
*/
|
|
385
|
-
export function fromXRotation(rad) {
|
|
386
|
-
const s = Math.sin(rad);
|
|
387
|
-
const c = Math.cos(rad);
|
|
32
|
+
})(function (require, exports) {
|
|
33
|
+
"use strict";
|
|
34
|
+
Object.defineProperty(exports, "__esModule", { value: true });
|
|
35
|
+
exports.equals = exports.exactEquals = exports.multiplyScalarAndAdd = exports.multiplyScalar = exports.subtract = exports.add = exports.frob = exports.targetTo = exports.lookAt = exports.orthoZO = exports.ortho = exports.orthoNO = exports.perspectiveFromFieldOfView = exports.perspectiveZO = exports.perspective = exports.perspectiveNO = exports.frustum = exports.fromQuat = exports.fromRotationTranslationScaleOrigin = exports.fromRotationTranslationScale = exports.decompose = exports.getRotation = exports.getScaling = exports.getTranslation = exports.fromRotationTranslation = exports.fromZRotation = exports.fromYRotation = exports.fromXRotation = exports.fromRotation = exports.fromScaling = exports.fromTranslation = exports.rotateZ = exports.rotateY = exports.rotateX = exports.rotate = exports.scale = exports.translate = exports.multiply = exports.determinant = exports.adjoint = exports.invert = exports.transpose = exports.zero = exports.identity = void 0;
|
|
36
|
+
const Common = __importStar(require("./common"));
|
|
37
|
+
/**
|
|
38
|
+
* 4x4 Matrix<br>Format: column-major, when typed out it looks like row-major<br>The matrices are being post multiplied.
|
|
39
|
+
*/
|
|
40
|
+
/**
|
|
41
|
+
* The identity matrix of mat4
|
|
42
|
+
*/
|
|
388
43
|
// prettier-ignore
|
|
389
|
-
|
|
44
|
+
exports.identity = Object.freeze([
|
|
390
45
|
1, 0, 0, 0,
|
|
391
|
-
0, c, s, 0,
|
|
392
|
-
0, -s, c, 0,
|
|
393
|
-
0, 0, 0, 1
|
|
394
|
-
];
|
|
395
|
-
}
|
|
396
|
-
/**
|
|
397
|
-
* Creates a matrix from the given angle around the Y axis
|
|
398
|
-
*/
|
|
399
|
-
export function fromYRotation(rad) {
|
|
400
|
-
const s = Math.sin(rad);
|
|
401
|
-
const c = Math.cos(rad);
|
|
402
|
-
// prettier-ignore
|
|
403
|
-
return [
|
|
404
|
-
c, 0, -s, 0,
|
|
405
46
|
0, 1, 0, 0,
|
|
406
|
-
s, 0, c, 0,
|
|
407
|
-
0, 0, 0, 1
|
|
408
|
-
];
|
|
409
|
-
}
|
|
410
|
-
/**
|
|
411
|
-
* Creates a matrix from the given angle around the Z axis
|
|
412
|
-
*/
|
|
413
|
-
export function fromZRotation(rad) {
|
|
414
|
-
const s = Math.sin(rad);
|
|
415
|
-
const c = Math.cos(rad);
|
|
416
|
-
// prettier-ignore
|
|
417
|
-
return [
|
|
418
|
-
c, s, 0, 0,
|
|
419
|
-
-s, c, 0, 0,
|
|
420
47
|
0, 0, 1, 0,
|
|
421
|
-
0, 0, 0, 1
|
|
422
|
-
];
|
|
423
|
-
|
|
424
|
-
|
|
425
|
-
|
|
426
|
-
|
|
427
|
-
|
|
428
|
-
|
|
429
|
-
|
|
430
|
-
|
|
431
|
-
|
|
432
|
-
|
|
433
|
-
|
|
434
|
-
|
|
435
|
-
|
|
436
|
-
|
|
437
|
-
const yz = y * z2;
|
|
438
|
-
const zz = z * z2;
|
|
439
|
-
const wx = w * x2;
|
|
440
|
-
const wy = w * y2;
|
|
441
|
-
const wz = w * z2;
|
|
442
|
-
return [
|
|
443
|
-
1 - (yy + zz),
|
|
444
|
-
xy + wz,
|
|
445
|
-
xz - wy,
|
|
446
|
-
0,
|
|
447
|
-
xy - wz,
|
|
448
|
-
1 - (xx + zz),
|
|
449
|
-
yz + wx,
|
|
450
|
-
0,
|
|
451
|
-
xz + wy,
|
|
452
|
-
yz - wx,
|
|
453
|
-
1 - (xx + yy),
|
|
454
|
-
0,
|
|
455
|
-
v[0],
|
|
456
|
-
v[1],
|
|
457
|
-
v[2],
|
|
458
|
-
1,
|
|
459
|
-
];
|
|
460
|
-
}
|
|
461
|
-
/**
|
|
462
|
-
* Returns the translation vector component of a transformation
|
|
463
|
-
* matrix. If a matrix is built with fromRotationTranslation,
|
|
464
|
-
* the returned vector will be the same as the translation vector
|
|
465
|
-
* originally supplied.
|
|
466
|
-
*/
|
|
467
|
-
export function getTranslation(mat) {
|
|
468
|
-
return [mat[12], mat[13], mat[14]];
|
|
469
|
-
}
|
|
470
|
-
/**
|
|
471
|
-
* Returns the scaling factor component of a transformation
|
|
472
|
-
* matrix. If a matrix is built with fromRotationTranslationScale
|
|
473
|
-
* with a normalized Quaternion paramter, the returned vector will be
|
|
474
|
-
* the same as the scaling vector
|
|
475
|
-
* originally supplied.
|
|
476
|
-
*/
|
|
477
|
-
export function getScaling(mat) {
|
|
478
|
-
// prettier-ignore
|
|
479
|
-
const [m11, m12, m13, , m21, m22, m23, , m31, m32, m33,] = mat;
|
|
480
|
-
return [
|
|
481
|
-
Math.sqrt(m11 * m11 + m12 * m12 + m13 * m13),
|
|
482
|
-
Math.sqrt(m21 * m21 + m22 * m22 + m23 * m23),
|
|
483
|
-
Math.sqrt(m31 * m31 + m32 * m32 + m33 * m33),
|
|
484
|
-
];
|
|
485
|
-
}
|
|
486
|
-
/**
|
|
487
|
-
* Returns a quaternion representing the rotational component
|
|
488
|
-
* of a transformation matrix. If a matrix is built with
|
|
489
|
-
* fromRotationTranslation, the returned quaternion will be the
|
|
490
|
-
* same as the quaternion originally supplied.
|
|
491
|
-
*/
|
|
492
|
-
export function getRotation(mat) {
|
|
493
|
-
const scaling = getScaling(mat);
|
|
494
|
-
const is1 = 1 / scaling[0];
|
|
495
|
-
const is2 = 1 / scaling[1];
|
|
496
|
-
const is3 = 1 / scaling[2];
|
|
497
|
-
const sm11 = mat[0] * is1;
|
|
498
|
-
const sm12 = mat[1] * is2;
|
|
499
|
-
const sm13 = mat[2] * is3;
|
|
500
|
-
const sm21 = mat[4] * is1;
|
|
501
|
-
const sm22 = mat[5] * is2;
|
|
502
|
-
const sm23 = mat[6] * is3;
|
|
503
|
-
const sm31 = mat[8] * is1;
|
|
504
|
-
const sm32 = mat[9] * is2;
|
|
505
|
-
const sm33 = mat[10] * is3;
|
|
506
|
-
const trace = sm11 + sm22 + sm33;
|
|
507
|
-
if (trace > 0) {
|
|
508
|
-
const S = Math.sqrt(trace + 1) * 2;
|
|
509
|
-
return [(sm23 - sm32) / S, (sm31 - sm13) / S, (sm12 - sm21) / S, 0.25 * S];
|
|
48
|
+
0, 0, 0, 1,
|
|
49
|
+
]);
|
|
50
|
+
exports.zero = Object.freeze([
|
|
51
|
+
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
|
|
52
|
+
]);
|
|
53
|
+
/**
|
|
54
|
+
* Transpose the values of a mat4
|
|
55
|
+
*/
|
|
56
|
+
function transpose(a) {
|
|
57
|
+
// prettier-ignore
|
|
58
|
+
return [
|
|
59
|
+
a[0], a[4], a[8], a[12],
|
|
60
|
+
a[1], a[5], a[9], a[13],
|
|
61
|
+
a[2], a[6], a[10], a[14],
|
|
62
|
+
a[3], a[7], a[11], a[15],
|
|
63
|
+
];
|
|
510
64
|
}
|
|
511
|
-
|
|
512
|
-
|
|
513
|
-
|
|
65
|
+
exports.transpose = transpose;
|
|
66
|
+
/**
|
|
67
|
+
* Inverts a mat4
|
|
68
|
+
*/
|
|
69
|
+
function invert(a) {
|
|
70
|
+
// prettier-ignore
|
|
71
|
+
const [a00, a01, a02, a03, a10, a11, a12, a13, a20, a21, a22, a23, a30, a31, a32, a33] = a;
|
|
72
|
+
const b00 = a00 * a11 - a01 * a10;
|
|
73
|
+
const b01 = a00 * a12 - a02 * a10;
|
|
74
|
+
const b02 = a00 * a13 - a03 * a10;
|
|
75
|
+
const b03 = a01 * a12 - a02 * a11;
|
|
76
|
+
const b04 = a01 * a13 - a03 * a11;
|
|
77
|
+
const b05 = a02 * a13 - a03 * a12;
|
|
78
|
+
const b06 = a20 * a31 - a21 * a30;
|
|
79
|
+
const b07 = a20 * a32 - a22 * a30;
|
|
80
|
+
const b08 = a20 * a33 - a23 * a30;
|
|
81
|
+
const b09 = a21 * a32 - a22 * a31;
|
|
82
|
+
const b10 = a21 * a33 - a23 * a31;
|
|
83
|
+
const b11 = a22 * a33 - a23 * a32;
|
|
84
|
+
// Calculate the determinant
|
|
85
|
+
const det = b00 * b11 - b01 * b10 + b02 * b09 + b03 * b08 - b04 * b07 + b05 * b06;
|
|
86
|
+
if (!det) {
|
|
87
|
+
return null;
|
|
88
|
+
}
|
|
89
|
+
const detinv = 1 / det;
|
|
90
|
+
return [
|
|
91
|
+
(a11 * b11 - a12 * b10 + a13 * b09) * detinv,
|
|
92
|
+
(a02 * b10 - a01 * b11 - a03 * b09) * detinv,
|
|
93
|
+
(a31 * b05 - a32 * b04 + a33 * b03) * detinv,
|
|
94
|
+
(a22 * b04 - a21 * b05 - a23 * b03) * detinv,
|
|
95
|
+
(a12 * b08 - a10 * b11 - a13 * b07) * detinv,
|
|
96
|
+
(a00 * b11 - a02 * b08 + a03 * b07) * detinv,
|
|
97
|
+
(a32 * b02 - a30 * b05 - a33 * b01) * detinv,
|
|
98
|
+
(a20 * b05 - a22 * b02 + a23 * b01) * detinv,
|
|
99
|
+
(a10 * b10 - a11 * b08 + a13 * b06) * detinv,
|
|
100
|
+
(a01 * b08 - a00 * b10 - a03 * b06) * detinv,
|
|
101
|
+
(a30 * b04 - a31 * b02 + a33 * b00) * detinv,
|
|
102
|
+
(a21 * b02 - a20 * b04 - a23 * b00) * detinv,
|
|
103
|
+
(a11 * b07 - a10 * b09 - a12 * b06) * detinv,
|
|
104
|
+
(a00 * b09 - a01 * b07 + a02 * b06) * detinv,
|
|
105
|
+
(a31 * b01 - a30 * b03 - a32 * b00) * detinv,
|
|
106
|
+
(a20 * b03 - a21 * b01 + a22 * b00) * detinv,
|
|
107
|
+
];
|
|
514
108
|
}
|
|
515
|
-
|
|
516
|
-
|
|
517
|
-
|
|
109
|
+
exports.invert = invert;
|
|
110
|
+
/**
|
|
111
|
+
* Calculates the adjugate of a mat4
|
|
112
|
+
*/
|
|
113
|
+
function adjoint(a) {
|
|
114
|
+
// prettier-ignore
|
|
115
|
+
const [a00, a01, a02, a03, a10, a11, a12, a13, a20, a21, a22, a23, a30, a31, a32, a33] = a;
|
|
116
|
+
const b00 = a00 * a11 - a01 * a10;
|
|
117
|
+
const b01 = a00 * a12 - a02 * a10;
|
|
118
|
+
const b02 = a00 * a13 - a03 * a10;
|
|
119
|
+
const b03 = a01 * a12 - a02 * a11;
|
|
120
|
+
const b04 = a01 * a13 - a03 * a11;
|
|
121
|
+
const b05 = a02 * a13 - a03 * a12;
|
|
122
|
+
const b06 = a20 * a31 - a21 * a30;
|
|
123
|
+
const b07 = a20 * a32 - a22 * a30;
|
|
124
|
+
const b08 = a20 * a33 - a23 * a30;
|
|
125
|
+
const b09 = a21 * a32 - a22 * a31;
|
|
126
|
+
const b10 = a21 * a33 - a23 * a31;
|
|
127
|
+
const b11 = a22 * a33 - a23 * a32;
|
|
128
|
+
return [
|
|
129
|
+
a11 * b11 - a12 * b10 + a13 * b09,
|
|
130
|
+
a02 * b10 - a01 * b11 - a03 * b09,
|
|
131
|
+
a31 * b05 - a32 * b04 + a33 * b03,
|
|
132
|
+
a22 * b04 - a21 * b05 - a23 * b03,
|
|
133
|
+
a12 * b08 - a10 * b11 - a13 * b07,
|
|
134
|
+
a00 * b11 - a02 * b08 + a03 * b07,
|
|
135
|
+
a32 * b02 - a30 * b05 - a33 * b01,
|
|
136
|
+
a20 * b05 - a22 * b02 + a23 * b01,
|
|
137
|
+
a10 * b10 - a11 * b08 + a13 * b06,
|
|
138
|
+
a01 * b08 - a00 * b10 - a03 * b06,
|
|
139
|
+
a30 * b04 - a31 * b02 + a33 * b00,
|
|
140
|
+
a21 * b02 - a20 * b04 - a23 * b00,
|
|
141
|
+
a11 * b07 - a10 * b09 - a12 * b06,
|
|
142
|
+
a00 * b09 - a01 * b07 + a02 * b06,
|
|
143
|
+
a31 * b01 - a30 * b03 - a32 * b00,
|
|
144
|
+
a20 * b03 - a21 * b01 + a22 * b00,
|
|
145
|
+
];
|
|
518
146
|
}
|
|
519
|
-
|
|
520
|
-
|
|
521
|
-
|
|
147
|
+
exports.adjoint = adjoint;
|
|
148
|
+
/**
|
|
149
|
+
* Calculates the determinant of a mat4
|
|
150
|
+
*/
|
|
151
|
+
function determinant(a) {
|
|
152
|
+
// prettier-ignore
|
|
153
|
+
const [a00, a01, a02, a03, a10, a11, a12, a13, a20, a21, a22, a23, a30, a31, a32, a33] = a;
|
|
154
|
+
const b0 = a00 * a11 - a01 * a10;
|
|
155
|
+
const b1 = a00 * a12 - a02 * a10;
|
|
156
|
+
const b2 = a01 * a12 - a02 * a11;
|
|
157
|
+
const b3 = a20 * a31 - a21 * a30;
|
|
158
|
+
const b4 = a20 * a32 - a22 * a30;
|
|
159
|
+
const b5 = a21 * a32 - a22 * a31;
|
|
160
|
+
const b6 = a00 * b5 - a01 * b4 + a02 * b3;
|
|
161
|
+
const b7 = a10 * b5 - a11 * b4 + a12 * b3;
|
|
162
|
+
const b8 = a20 * b2 - a21 * b1 + a22 * b0;
|
|
163
|
+
const b9 = a30 * b2 - a31 * b1 + a32 * b0;
|
|
164
|
+
// Calculate the determinant
|
|
165
|
+
return a13 * b6 - a03 * b7 + a33 * b8 - a23 * b9;
|
|
522
166
|
}
|
|
523
|
-
|
|
524
|
-
/**
|
|
525
|
-
|
|
526
|
-
|
|
527
|
-
|
|
528
|
-
|
|
529
|
-
|
|
530
|
-
|
|
531
|
-
|
|
532
|
-
|
|
533
|
-
|
|
534
|
-
|
|
535
|
-
|
|
536
|
-
|
|
537
|
-
|
|
538
|
-
|
|
539
|
-
|
|
540
|
-
|
|
541
|
-
|
|
542
|
-
|
|
543
|
-
|
|
544
|
-
|
|
545
|
-
|
|
546
|
-
|
|
547
|
-
|
|
548
|
-
|
|
549
|
-
|
|
550
|
-
|
|
551
|
-
|
|
552
|
-
|
|
553
|
-
|
|
554
|
-
|
|
555
|
-
|
|
167
|
+
exports.determinant = determinant;
|
|
168
|
+
/**
|
|
169
|
+
* Multiplies two mat4's
|
|
170
|
+
*/
|
|
171
|
+
function multiply(a, b) {
|
|
172
|
+
// prettier-ignore
|
|
173
|
+
const [a00, a01, a02, a03, a10, a11, a12, a13, a20, a21, a22, a23, a30, a31, a32, a33] = a;
|
|
174
|
+
const out = Array(16);
|
|
175
|
+
// Cache only the current line of the second matrix
|
|
176
|
+
let [b0, b1, b2, b3] = b;
|
|
177
|
+
out[0] = b0 * a00 + b1 * a10 + b2 * a20 + b3 * a30;
|
|
178
|
+
out[1] = b0 * a01 + b1 * a11 + b2 * a21 + b3 * a31;
|
|
179
|
+
out[2] = b0 * a02 + b1 * a12 + b2 * a22 + b3 * a32;
|
|
180
|
+
out[3] = b0 * a03 + b1 * a13 + b2 * a23 + b3 * a33;
|
|
181
|
+
b0 = b[4];
|
|
182
|
+
b1 = b[5];
|
|
183
|
+
b2 = b[6];
|
|
184
|
+
b3 = b[7];
|
|
185
|
+
out[4] = b0 * a00 + b1 * a10 + b2 * a20 + b3 * a30;
|
|
186
|
+
out[5] = b0 * a01 + b1 * a11 + b2 * a21 + b3 * a31;
|
|
187
|
+
out[6] = b0 * a02 + b1 * a12 + b2 * a22 + b3 * a32;
|
|
188
|
+
out[7] = b0 * a03 + b1 * a13 + b2 * a23 + b3 * a33;
|
|
189
|
+
b0 = b[8];
|
|
190
|
+
b1 = b[9];
|
|
191
|
+
b2 = b[10];
|
|
192
|
+
b3 = b[11];
|
|
193
|
+
out[8] = b0 * a00 + b1 * a10 + b2 * a20 + b3 * a30;
|
|
194
|
+
out[9] = b0 * a01 + b1 * a11 + b2 * a21 + b3 * a31;
|
|
195
|
+
out[10] = b0 * a02 + b1 * a12 + b2 * a22 + b3 * a32;
|
|
196
|
+
out[11] = b0 * a03 + b1 * a13 + b2 * a23 + b3 * a33;
|
|
197
|
+
b0 = b[12];
|
|
198
|
+
b1 = b[13];
|
|
199
|
+
b2 = b[14];
|
|
200
|
+
b3 = b[15];
|
|
201
|
+
out[12] = b0 * a00 + b1 * a10 + b2 * a20 + b3 * a30;
|
|
202
|
+
out[13] = b0 * a01 + b1 * a11 + b2 * a21 + b3 * a31;
|
|
203
|
+
out[14] = b0 * a02 + b1 * a12 + b2 * a22 + b3 * a32;
|
|
204
|
+
out[15] = b0 * a03 + b1 * a13 + b2 * a23 + b3 * a33;
|
|
205
|
+
return out;
|
|
556
206
|
}
|
|
557
|
-
|
|
558
|
-
|
|
559
|
-
|
|
207
|
+
exports.multiply = multiply;
|
|
208
|
+
/**
|
|
209
|
+
* Translate a mat4 by the given vector
|
|
210
|
+
*
|
|
211
|
+
* @param a the matrix to translate
|
|
212
|
+
* @param v vector to translate by
|
|
213
|
+
*/
|
|
214
|
+
function translate(a, v) {
|
|
215
|
+
const [x, y, z] = v;
|
|
216
|
+
// prettier-ignore
|
|
217
|
+
const [a00, a01, a02, a03, a10, a11, a12, a13, a20, a21, a22, a23] = a;
|
|
218
|
+
// prettier-ignore
|
|
219
|
+
return [
|
|
220
|
+
a00, a01, a02, a03,
|
|
221
|
+
a10, a11, a12, a13,
|
|
222
|
+
a20, a21, a22, a23,
|
|
223
|
+
a00 * x + a10 * y + a20 * z + a[12],
|
|
224
|
+
a01 * x + a11 * y + a21 * z + a[13],
|
|
225
|
+
a02 * x + a12 * y + a22 * z + a[14],
|
|
226
|
+
a03 * x + a13 * y + a23 * z + a[15],
|
|
227
|
+
];
|
|
560
228
|
}
|
|
561
|
-
|
|
562
|
-
|
|
563
|
-
|
|
229
|
+
exports.translate = translate;
|
|
230
|
+
/**
|
|
231
|
+
* Scales the mat4 by the dimensions in the given vec3 not using vectorization
|
|
232
|
+
**/
|
|
233
|
+
function scale(a, v) {
|
|
234
|
+
const [x, y, z] = v;
|
|
235
|
+
// prettier-ignore
|
|
236
|
+
return [
|
|
237
|
+
a[0] * x, a[1] * x, a[2] * x, a[3] * x,
|
|
238
|
+
a[4] * y, a[5] * y, a[6] * y, a[7] * y,
|
|
239
|
+
a[8] * z, a[9] * z, a[10] * z, a[11] * z,
|
|
240
|
+
a[12], a[13], a[14], a[15],
|
|
241
|
+
];
|
|
564
242
|
}
|
|
565
|
-
|
|
566
|
-
|
|
567
|
-
|
|
243
|
+
exports.scale = scale;
|
|
244
|
+
/**
|
|
245
|
+
* Rotates a mat4 by the given angle around the given axis
|
|
246
|
+
*/
|
|
247
|
+
function rotate(a, rad, axis) {
|
|
248
|
+
let [x, y, z] = axis;
|
|
249
|
+
const len = Math.sqrt(x * x + y * y + z * z);
|
|
250
|
+
if (len < Common.EPSILON) {
|
|
251
|
+
return null;
|
|
252
|
+
}
|
|
253
|
+
x /= len;
|
|
254
|
+
y /= len;
|
|
255
|
+
z /= len;
|
|
256
|
+
const s = Math.sin(rad);
|
|
257
|
+
const c = Math.cos(rad);
|
|
258
|
+
const t = 1 - c;
|
|
259
|
+
// prettier-ignore
|
|
260
|
+
const [a00, a01, a02, a03, a10, a11, a12, a13, a20, a21, a22, a23] = a;
|
|
261
|
+
// Construct the elements of the rotation matrix
|
|
262
|
+
const b00 = x * x * t + c;
|
|
263
|
+
const b01 = y * x * t + z * s;
|
|
264
|
+
const b02 = z * x * t - y * s;
|
|
265
|
+
const b10 = x * y * t - z * s;
|
|
266
|
+
const b11 = y * y * t + c;
|
|
267
|
+
const b12 = z * y * t + x * s;
|
|
268
|
+
const b20 = x * z * t + y * s;
|
|
269
|
+
const b21 = y * z * t - x * s;
|
|
270
|
+
const b22 = z * z * t + c;
|
|
271
|
+
// prettier-ignore
|
|
272
|
+
return [
|
|
273
|
+
a00 * b00 + a10 * b01 + a20 * b02,
|
|
274
|
+
a01 * b00 + a11 * b01 + a21 * b02,
|
|
275
|
+
a02 * b00 + a12 * b01 + a22 * b02,
|
|
276
|
+
a03 * b00 + a13 * b01 + a23 * b02,
|
|
277
|
+
a00 * b10 + a10 * b11 + a20 * b12,
|
|
278
|
+
a01 * b10 + a11 * b11 + a21 * b12,
|
|
279
|
+
a02 * b10 + a12 * b11 + a22 * b12,
|
|
280
|
+
a03 * b10 + a13 * b11 + a23 * b12,
|
|
281
|
+
a00 * b20 + a10 * b21 + a20 * b22,
|
|
282
|
+
a01 * b20 + a11 * b21 + a21 * b22,
|
|
283
|
+
a02 * b20 + a12 * b21 + a22 * b22,
|
|
284
|
+
a03 * b20 + a13 * b21 + a23 * b22,
|
|
285
|
+
a[12], a[13], a[14], a[15],
|
|
286
|
+
];
|
|
568
287
|
}
|
|
569
|
-
|
|
570
|
-
|
|
571
|
-
|
|
572
|
-
|
|
573
|
-
|
|
574
|
-
|
|
575
|
-
|
|
576
|
-
|
|
577
|
-
|
|
578
|
-
|
|
579
|
-
|
|
580
|
-
|
|
581
|
-
|
|
582
|
-
|
|
583
|
-
|
|
584
|
-
|
|
585
|
-
|
|
586
|
-
|
|
587
|
-
*
|
|
588
|
-
*
|
|
589
|
-
|
|
590
|
-
|
|
591
|
-
// Quaternion math
|
|
592
|
-
const [x, y, z, w] = rot;
|
|
593
|
-
const x2 = x + x;
|
|
594
|
-
const y2 = y + y;
|
|
595
|
-
const z2 = z + z;
|
|
596
|
-
const xx = x * x2;
|
|
597
|
-
const xy = x * y2;
|
|
598
|
-
const xz = x * z2;
|
|
599
|
-
const yy = y * y2;
|
|
600
|
-
const yz = y * z2;
|
|
601
|
-
const zz = z * z2;
|
|
602
|
-
const wx = w * x2;
|
|
603
|
-
const wy = w * y2;
|
|
604
|
-
const wz = w * z2;
|
|
605
|
-
const sx = scale[0];
|
|
606
|
-
const sy = scale[1];
|
|
607
|
-
const sz = scale[2];
|
|
608
|
-
return [
|
|
609
|
-
(1 - (yy + zz)) * sx,
|
|
610
|
-
(xy + wz) * sx,
|
|
611
|
-
(xz - wy) * sx,
|
|
612
|
-
0,
|
|
613
|
-
(xy - wz) * sy,
|
|
614
|
-
(1 - (xx + zz)) * sy,
|
|
615
|
-
(yz + wx) * sy,
|
|
616
|
-
0,
|
|
617
|
-
(xz + wy) * sz,
|
|
618
|
-
(yz - wx) * sz,
|
|
619
|
-
(1 - (xx + yy)) * sz,
|
|
620
|
-
0,
|
|
621
|
-
trans[0],
|
|
622
|
-
trans[1],
|
|
623
|
-
trans[2],
|
|
624
|
-
1,
|
|
625
|
-
];
|
|
626
|
-
}
|
|
627
|
-
/**
|
|
628
|
-
* Creates a matrix from a quaternion rotation, vector translation and vector scale, rotating and scaling around the given origin
|
|
629
|
-
* This is equivalent to (but much faster than):
|
|
630
|
-
*
|
|
631
|
-
* mat4.identity(dest);
|
|
632
|
-
* mat4.translate(dest, vec);
|
|
633
|
-
* mat4.translate(dest, origin);
|
|
634
|
-
* const quatMat = mat4.create();
|
|
635
|
-
* quat4.toMat4(quat, quatMat);
|
|
636
|
-
* mat4.multiply(dest, quatMat);
|
|
637
|
-
* mat4.scale(dest, scale)
|
|
638
|
-
* mat4.translate(dest, negativeOrigin);
|
|
639
|
-
*
|
|
640
|
-
* @param rot Rotation quaternion
|
|
641
|
-
* @param trans Translation vector
|
|
642
|
-
* @param scale Scaling vector
|
|
643
|
-
* @param origin The origin vector around which to scale and rotate
|
|
644
|
-
*/
|
|
645
|
-
export function fromRotationTranslationScaleOrigin(rot, trans, scale, origin) {
|
|
646
|
-
// Quaternion math
|
|
647
|
-
const [x, y, z, w] = rot;
|
|
648
|
-
const x2 = x + x;
|
|
649
|
-
const y2 = y + y;
|
|
650
|
-
const z2 = z + z;
|
|
651
|
-
const xx = x * x2;
|
|
652
|
-
const xy = x * y2;
|
|
653
|
-
const xz = x * z2;
|
|
654
|
-
const yy = y * y2;
|
|
655
|
-
const yz = y * z2;
|
|
656
|
-
const zz = z * z2;
|
|
657
|
-
const wx = w * x2;
|
|
658
|
-
const wy = w * y2;
|
|
659
|
-
const wz = w * z2;
|
|
660
|
-
const sx = scale[0];
|
|
661
|
-
const sy = scale[1];
|
|
662
|
-
const sz = scale[2];
|
|
663
|
-
const ox = origin[0];
|
|
664
|
-
const oy = origin[1];
|
|
665
|
-
const oz = origin[2];
|
|
666
|
-
const out0 = (1 - (yy + zz)) * sx;
|
|
667
|
-
const out1 = (xy + wz) * sx;
|
|
668
|
-
const out2 = (xz - wy) * sx;
|
|
669
|
-
const out4 = (xy - wz) * sy;
|
|
670
|
-
const out5 = (1 - (xx + zz)) * sy;
|
|
671
|
-
const out6 = (yz + wx) * sy;
|
|
672
|
-
const out8 = (xz + wy) * sz;
|
|
673
|
-
const out9 = (yz - wx) * sz;
|
|
674
|
-
const out10 = (1 - (xx + yy)) * sz;
|
|
675
|
-
// prettier-ignore
|
|
676
|
-
return [
|
|
677
|
-
out0, out1, out2, 0,
|
|
678
|
-
out4, out5, out6, 0,
|
|
679
|
-
out8, out9, out10, 0,
|
|
680
|
-
trans[0] + ox - (out0 * ox + out4 * oy + out8 * oz),
|
|
681
|
-
trans[1] + oy - (out1 * ox + out5 * oy + out9 * oz),
|
|
682
|
-
trans[2] + oz - (out2 * ox + out6 * oy + out10 * oz),
|
|
683
|
-
1,
|
|
684
|
-
];
|
|
685
|
-
}
|
|
686
|
-
/**
|
|
687
|
-
* Calculates a 4x4 matrix from the given quaternion
|
|
688
|
-
*
|
|
689
|
-
* @param q Quaternion to create matrix from
|
|
690
|
-
*/
|
|
691
|
-
export function fromQuat(q) {
|
|
692
|
-
const [x, y, z, w] = q;
|
|
693
|
-
const x2 = x + x;
|
|
694
|
-
const y2 = y + y;
|
|
695
|
-
const z2 = z + z;
|
|
696
|
-
const xx = x * x2;
|
|
697
|
-
const yx = y * x2;
|
|
698
|
-
const yy = y * y2;
|
|
699
|
-
const zx = z * x2;
|
|
700
|
-
const zy = z * y2;
|
|
701
|
-
const zz = z * z2;
|
|
702
|
-
const wx = w * x2;
|
|
703
|
-
const wy = w * y2;
|
|
704
|
-
const wz = w * z2;
|
|
705
|
-
// prettier-ignore
|
|
706
|
-
return [
|
|
707
|
-
1 - yy - zz,
|
|
708
|
-
yx + wz,
|
|
709
|
-
zx - wy,
|
|
710
|
-
0,
|
|
711
|
-
yx - wz,
|
|
712
|
-
1 - xx - zz,
|
|
713
|
-
zy + wx,
|
|
714
|
-
0,
|
|
715
|
-
zx + wy,
|
|
716
|
-
zy - wx,
|
|
717
|
-
1 - xx - yy,
|
|
718
|
-
0,
|
|
719
|
-
0, 0, 0, 1,
|
|
720
|
-
];
|
|
721
|
-
}
|
|
722
|
-
/**
|
|
723
|
-
* Generates a frustum matrix with the given bounds
|
|
724
|
-
*
|
|
725
|
-
* @param left Left bound of the frustum
|
|
726
|
-
* @param right Right bound of the frustum
|
|
727
|
-
* @param bottom Bottom bound of the frustum
|
|
728
|
-
* @param top Top bound of the frustum
|
|
729
|
-
* @param near Near bound of the frustum
|
|
730
|
-
* @param far Far bound of the frustum
|
|
731
|
-
*/
|
|
732
|
-
export function frustum(left, right, bottom, top, near, far) {
|
|
733
|
-
const rl = 1 / (right - left);
|
|
734
|
-
const tb = 1 / (top - bottom);
|
|
735
|
-
const nf = 1 / (near - far);
|
|
736
|
-
// prettier-ignore
|
|
737
|
-
return [
|
|
738
|
-
near * 2 * rl, 0, 0, 0,
|
|
739
|
-
0, near * 2 * tb, 0, 0,
|
|
740
|
-
(right + left) * rl, (top + bottom) * tb, (far + near) * nf, -1,
|
|
741
|
-
0, 0, far * near * 2 * nf, 0,
|
|
742
|
-
];
|
|
743
|
-
}
|
|
744
|
-
/**
|
|
745
|
-
* Generates a perspective projection matrix with the given bounds.
|
|
746
|
-
* The near/far clip planes correspond to a normalized device coordinate Z range of [-1, 1],
|
|
747
|
-
* which matches WebGL/OpenGL's clip volume.
|
|
748
|
-
* Passing null/undefined/no value for far will generate infinite projection matrix.
|
|
749
|
-
*
|
|
750
|
-
* @param fovy Vertical field of view in radians
|
|
751
|
-
* @param aspect Aspect ratio. typically viewport width/height
|
|
752
|
-
* @param near Near bound of the frustum
|
|
753
|
-
* @param far Far bound of the frustum, can be null or Infinity
|
|
754
|
-
*/
|
|
755
|
-
export function perspectiveNO(fovy, aspect, near, far) {
|
|
756
|
-
const f = 1 / Math.tan(fovy / 2);
|
|
757
|
-
let out10, out14;
|
|
758
|
-
if (far !== null && far !== Infinity) {
|
|
759
|
-
const nf = 1 / (near - far);
|
|
760
|
-
out10 = (far + near) * nf;
|
|
761
|
-
out14 = 2 * far * near * nf;
|
|
288
|
+
exports.rotate = rotate;
|
|
289
|
+
/**
|
|
290
|
+
* Rotates a matrix by the given angle around the X axis
|
|
291
|
+
*/
|
|
292
|
+
function rotateX(a, rad) {
|
|
293
|
+
const s = Math.sin(rad);
|
|
294
|
+
const c = Math.cos(rad);
|
|
295
|
+
const a10 = a[4];
|
|
296
|
+
const a11 = a[5];
|
|
297
|
+
const a12 = a[6];
|
|
298
|
+
const a13 = a[7];
|
|
299
|
+
const a20 = a[8];
|
|
300
|
+
const a21 = a[9];
|
|
301
|
+
const a22 = a[10];
|
|
302
|
+
const a23 = a[11];
|
|
303
|
+
// prettier-ignore
|
|
304
|
+
return [
|
|
305
|
+
a[0], a[1], a[2], a[3],
|
|
306
|
+
a10 * c + a20 * s, a11 * c + a21 * s, a12 * c + a22 * s, a13 * c + a23 * s,
|
|
307
|
+
a20 * c - a10 * s, a21 * c - a11 * s, a22 * c - a12 * s, a23 * c - a13 * s,
|
|
308
|
+
a[12], a[13], a[14], a[15],
|
|
309
|
+
];
|
|
762
310
|
}
|
|
763
|
-
|
|
764
|
-
|
|
765
|
-
|
|
311
|
+
exports.rotateX = rotateX;
|
|
312
|
+
/**
|
|
313
|
+
* Rotates a matrix by the given angle around the Y axis
|
|
314
|
+
*/
|
|
315
|
+
function rotateY(a, rad) {
|
|
316
|
+
const s = Math.sin(rad);
|
|
317
|
+
const c = Math.cos(rad);
|
|
318
|
+
const a00 = a[0];
|
|
319
|
+
const a01 = a[1];
|
|
320
|
+
const a02 = a[2];
|
|
321
|
+
const a03 = a[3];
|
|
322
|
+
const a20 = a[8];
|
|
323
|
+
const a21 = a[9];
|
|
324
|
+
const a22 = a[10];
|
|
325
|
+
const a23 = a[11];
|
|
326
|
+
// prettier-ignore
|
|
327
|
+
return [
|
|
328
|
+
a00 * c - a20 * s,
|
|
329
|
+
a01 * c - a21 * s,
|
|
330
|
+
a02 * c - a22 * s,
|
|
331
|
+
a03 * c - a23 * s,
|
|
332
|
+
a[4], a[5], a[6], a[7],
|
|
333
|
+
a00 * s + a20 * c,
|
|
334
|
+
a01 * s + a21 * c,
|
|
335
|
+
a02 * s + a22 * c,
|
|
336
|
+
a03 * s + a23 * c,
|
|
337
|
+
a[12], a[13], a[14], a[15],
|
|
338
|
+
];
|
|
766
339
|
}
|
|
767
|
-
|
|
768
|
-
|
|
769
|
-
|
|
770
|
-
|
|
771
|
-
|
|
772
|
-
|
|
773
|
-
|
|
774
|
-
|
|
775
|
-
|
|
776
|
-
|
|
777
|
-
|
|
778
|
-
|
|
779
|
-
|
|
780
|
-
|
|
781
|
-
|
|
782
|
-
|
|
783
|
-
|
|
784
|
-
*
|
|
785
|
-
*
|
|
786
|
-
*
|
|
787
|
-
*
|
|
788
|
-
*
|
|
789
|
-
*
|
|
790
|
-
|
|
791
|
-
|
|
792
|
-
|
|
793
|
-
|
|
794
|
-
|
|
795
|
-
const nf = 1 / (near - far);
|
|
796
|
-
out10 = far * nf;
|
|
797
|
-
out14 = far * near * nf;
|
|
340
|
+
exports.rotateY = rotateY;
|
|
341
|
+
/**
|
|
342
|
+
* Rotates a matrix by the given angle around the Z axis
|
|
343
|
+
*/
|
|
344
|
+
function rotateZ(a, rad) {
|
|
345
|
+
const s = Math.sin(rad);
|
|
346
|
+
const c = Math.cos(rad);
|
|
347
|
+
const a00 = a[0];
|
|
348
|
+
const a01 = a[1];
|
|
349
|
+
const a02 = a[2];
|
|
350
|
+
const a03 = a[3];
|
|
351
|
+
const a10 = a[4];
|
|
352
|
+
const a11 = a[5];
|
|
353
|
+
const a12 = a[6];
|
|
354
|
+
const a13 = a[7];
|
|
355
|
+
// prettier-ignore
|
|
356
|
+
return [
|
|
357
|
+
a00 * c + a10 * s,
|
|
358
|
+
a01 * c + a11 * s,
|
|
359
|
+
a02 * c + a12 * s,
|
|
360
|
+
a03 * c + a13 * s,
|
|
361
|
+
a10 * c - a00 * s,
|
|
362
|
+
a11 * c - a01 * s,
|
|
363
|
+
a12 * c - a02 * s,
|
|
364
|
+
a13 * c - a03 * s,
|
|
365
|
+
a[8], a[9], a[10], a[11],
|
|
366
|
+
a[12], a[13], a[14], a[15],
|
|
367
|
+
];
|
|
798
368
|
}
|
|
799
|
-
|
|
800
|
-
|
|
801
|
-
|
|
369
|
+
exports.rotateZ = rotateZ;
|
|
370
|
+
/**
|
|
371
|
+
* Creates a matrix from a vector translation
|
|
372
|
+
*/
|
|
373
|
+
function fromTranslation(v) {
|
|
374
|
+
const [x, y, z] = v;
|
|
375
|
+
// prettier-ignore
|
|
376
|
+
return [
|
|
377
|
+
1, 0, 0, 0,
|
|
378
|
+
0, 1, 0, 0,
|
|
379
|
+
0, 0, 1, 0,
|
|
380
|
+
x, y, z, 1,
|
|
381
|
+
];
|
|
802
382
|
}
|
|
803
|
-
|
|
804
|
-
|
|
805
|
-
|
|
806
|
-
|
|
807
|
-
|
|
808
|
-
|
|
809
|
-
|
|
810
|
-
|
|
811
|
-
|
|
812
|
-
|
|
813
|
-
|
|
814
|
-
|
|
815
|
-
|
|
816
|
-
const downTan = Math.tan((fov.downDegrees * Math.PI) / 180);
|
|
817
|
-
const leftTan = Math.tan((fov.leftDegrees * Math.PI) / 180);
|
|
818
|
-
const rightTan = Math.tan((fov.rightDegrees * Math.PI) / 180);
|
|
819
|
-
const xScale = 2 / (leftTan + rightTan);
|
|
820
|
-
const yScale = 2 / (upTan + downTan);
|
|
821
|
-
// prettier-ignore
|
|
822
|
-
return [
|
|
823
|
-
xScale, 0, 0, 0,
|
|
824
|
-
0, yScale, 0, 0,
|
|
825
|
-
-((leftTan - rightTan) * xScale * 0.5),
|
|
826
|
-
(upTan - downTan) * yScale * 0.5,
|
|
827
|
-
far / (near - far),
|
|
828
|
-
-1,
|
|
829
|
-
0,
|
|
830
|
-
0,
|
|
831
|
-
(far * near) / (near - far),
|
|
832
|
-
0,
|
|
833
|
-
];
|
|
834
|
-
}
|
|
835
|
-
/**
|
|
836
|
-
* Generates a orthogonal projection matrix with the given bounds.
|
|
837
|
-
* The near/far clip planes correspond to a normalized device coordinate Z range of [-1, 1],
|
|
838
|
-
* which matches WebGL/OpenGL's clip volume.
|
|
839
|
-
*
|
|
840
|
-
* @param left Left bound of the frustum
|
|
841
|
-
* @param right Right bound of the frustum
|
|
842
|
-
* @param bottom Bottom bound of the frustum
|
|
843
|
-
* @param top Top bound of the frustum
|
|
844
|
-
* @param near Near bound of the frustum
|
|
845
|
-
* @param far Far bound of the frustum
|
|
846
|
-
*/
|
|
847
|
-
export function orthoNO(left, right, bottom, top, near, far) {
|
|
848
|
-
const lr = 1 / (left - right);
|
|
849
|
-
const bt = 1 / (bottom - top);
|
|
850
|
-
const nf = 1 / (near - far);
|
|
851
|
-
// prettier-ignore
|
|
852
|
-
return [
|
|
853
|
-
-2 * lr, 0, 0, 0,
|
|
854
|
-
0, -2 * bt, 0, 0,
|
|
855
|
-
0, 0, 2 * nf, 0,
|
|
856
|
-
(left + right) * lr,
|
|
857
|
-
(top + bottom) * bt,
|
|
858
|
-
(far + near) * nf,
|
|
859
|
-
1,
|
|
860
|
-
];
|
|
861
|
-
}
|
|
862
|
-
/**
|
|
863
|
-
* Alias for {@link mat4.orthoNO}
|
|
864
|
-
* @function
|
|
865
|
-
*/
|
|
866
|
-
export const ortho = orthoNO;
|
|
867
|
-
/**
|
|
868
|
-
* Generates a orthogonal projection matrix with the given bounds.
|
|
869
|
-
* The near/far clip planes correspond to a normalized device coordinate Z range of [0, 1],
|
|
870
|
-
* which matches WebGPU/Vulkan/DirectX/Metal's clip volume.
|
|
871
|
-
*
|
|
872
|
-
* @param left Left bound of the frustum
|
|
873
|
-
* @param right Right bound of the frustum
|
|
874
|
-
* @param bottom Bottom bound of the frustum
|
|
875
|
-
* @param top Top bound of the frustum
|
|
876
|
-
* @param near Near bound of the frustum
|
|
877
|
-
* @param far Far bound of the frustum
|
|
878
|
-
*/
|
|
879
|
-
export function orthoZO(left, right, bottom, top, near, far) {
|
|
880
|
-
const lr = 1 / (left - right);
|
|
881
|
-
const bt = 1 / (bottom - top);
|
|
882
|
-
const nf = 1 / (near - far);
|
|
883
|
-
// prettier-ignore
|
|
884
|
-
return [
|
|
885
|
-
-2 * lr, 0, 0, 0,
|
|
886
|
-
0, -2 * bt, 0, 0,
|
|
887
|
-
0, 0, nf, 0,
|
|
888
|
-
(left + right) * lr,
|
|
889
|
-
(top + bottom) * bt,
|
|
890
|
-
near * nf,
|
|
891
|
-
1,
|
|
892
|
-
];
|
|
893
|
-
}
|
|
894
|
-
/**
|
|
895
|
-
* Generates a look-at matrix with the given eye position, focal point, and up axis.
|
|
896
|
-
* If you want a matrix that actually makes an object look at another object, you should use targetTo instead.
|
|
897
|
-
*
|
|
898
|
-
* @param eye Position of the viewer
|
|
899
|
-
* @param center Point the viewer is looking at
|
|
900
|
-
* @param up vec3 pointing up
|
|
901
|
-
*/
|
|
902
|
-
export function lookAt(eye, center, up) {
|
|
903
|
-
let x0, x1, x2, y0, y1, y2, z0, z1, z2, len;
|
|
904
|
-
const eyex = eye[0];
|
|
905
|
-
const eyey = eye[1];
|
|
906
|
-
const eyez = eye[2];
|
|
907
|
-
const upx = up[0];
|
|
908
|
-
const upy = up[1];
|
|
909
|
-
const upz = up[2];
|
|
910
|
-
const centerx = center[0];
|
|
911
|
-
const centery = center[1];
|
|
912
|
-
const centerz = center[2];
|
|
913
|
-
if (Math.abs(eyex - centerx) < Common.EPSILON &&
|
|
914
|
-
Math.abs(eyey - centery) < Common.EPSILON &&
|
|
915
|
-
Math.abs(eyez - centerz) < Common.EPSILON) {
|
|
916
|
-
return identity;
|
|
383
|
+
exports.fromTranslation = fromTranslation;
|
|
384
|
+
/**
|
|
385
|
+
* Creates a matrix from a vector scaling
|
|
386
|
+
*/
|
|
387
|
+
function fromScaling(v) {
|
|
388
|
+
const [x, y, z] = v;
|
|
389
|
+
// prettier-ignore
|
|
390
|
+
return [
|
|
391
|
+
x, 0, 0, 0,
|
|
392
|
+
0, y, 0, 0,
|
|
393
|
+
0, 0, z, 0,
|
|
394
|
+
0, 0, 0, 1
|
|
395
|
+
];
|
|
917
396
|
}
|
|
918
|
-
|
|
919
|
-
|
|
920
|
-
|
|
921
|
-
|
|
922
|
-
|
|
923
|
-
|
|
924
|
-
|
|
925
|
-
|
|
926
|
-
|
|
927
|
-
|
|
928
|
-
|
|
929
|
-
|
|
930
|
-
|
|
931
|
-
|
|
932
|
-
|
|
397
|
+
exports.fromScaling = fromScaling;
|
|
398
|
+
/**
|
|
399
|
+
* Creates a matrix from a given angle around a given axis
|
|
400
|
+
*/
|
|
401
|
+
function fromRotation(rad, axis) {
|
|
402
|
+
let [x, y, z] = axis;
|
|
403
|
+
const len = Math.sqrt(x * x + y * y + z * z);
|
|
404
|
+
if (len < Common.EPSILON) {
|
|
405
|
+
return null;
|
|
406
|
+
}
|
|
407
|
+
x /= len;
|
|
408
|
+
y /= len;
|
|
409
|
+
z /= len;
|
|
410
|
+
const s = Math.sin(rad);
|
|
411
|
+
const c = Math.cos(rad);
|
|
412
|
+
const t = 1 - c;
|
|
413
|
+
// prettier-ignore
|
|
414
|
+
return [
|
|
415
|
+
x * x * t + c,
|
|
416
|
+
y * x * t + z * s,
|
|
417
|
+
z * x * t - y * s,
|
|
418
|
+
0,
|
|
419
|
+
x * y * t - z * s,
|
|
420
|
+
y * y * t + c,
|
|
421
|
+
z * y * t + x * s,
|
|
422
|
+
0,
|
|
423
|
+
x * z * t + y * s,
|
|
424
|
+
y * z * t - x * s,
|
|
425
|
+
z * z * t + c,
|
|
426
|
+
0,
|
|
427
|
+
0, 0, 0, 1,
|
|
428
|
+
];
|
|
933
429
|
}
|
|
934
|
-
|
|
935
|
-
|
|
936
|
-
|
|
937
|
-
|
|
938
|
-
|
|
430
|
+
exports.fromRotation = fromRotation;
|
|
431
|
+
/**
|
|
432
|
+
* Creates a matrix from the given angle around the X axis
|
|
433
|
+
*/
|
|
434
|
+
function fromXRotation(rad) {
|
|
435
|
+
const s = Math.sin(rad);
|
|
436
|
+
const c = Math.cos(rad);
|
|
437
|
+
// prettier-ignore
|
|
438
|
+
return [
|
|
439
|
+
1, 0, 0, 0,
|
|
440
|
+
0, c, s, 0,
|
|
441
|
+
0, -s, c, 0,
|
|
442
|
+
0, 0, 0, 1
|
|
443
|
+
];
|
|
939
444
|
}
|
|
940
|
-
|
|
941
|
-
|
|
942
|
-
|
|
943
|
-
|
|
944
|
-
|
|
945
|
-
|
|
946
|
-
|
|
947
|
-
|
|
445
|
+
exports.fromXRotation = fromXRotation;
|
|
446
|
+
/**
|
|
447
|
+
* Creates a matrix from the given angle around the Y axis
|
|
448
|
+
*/
|
|
449
|
+
function fromYRotation(rad) {
|
|
450
|
+
const s = Math.sin(rad);
|
|
451
|
+
const c = Math.cos(rad);
|
|
452
|
+
// prettier-ignore
|
|
453
|
+
return [
|
|
454
|
+
c, 0, -s, 0,
|
|
455
|
+
0, 1, 0, 0,
|
|
456
|
+
s, 0, c, 0,
|
|
457
|
+
0, 0, 0, 1
|
|
458
|
+
];
|
|
948
459
|
}
|
|
949
|
-
|
|
950
|
-
|
|
951
|
-
|
|
952
|
-
|
|
953
|
-
|
|
460
|
+
exports.fromYRotation = fromYRotation;
|
|
461
|
+
/**
|
|
462
|
+
* Creates a matrix from the given angle around the Z axis
|
|
463
|
+
*/
|
|
464
|
+
function fromZRotation(rad) {
|
|
465
|
+
const s = Math.sin(rad);
|
|
466
|
+
const c = Math.cos(rad);
|
|
467
|
+
// prettier-ignore
|
|
468
|
+
return [
|
|
469
|
+
c, s, 0, 0,
|
|
470
|
+
-s, c, 0, 0,
|
|
471
|
+
0, 0, 1, 0,
|
|
472
|
+
0, 0, 0, 1
|
|
473
|
+
];
|
|
954
474
|
}
|
|
955
|
-
|
|
956
|
-
|
|
957
|
-
|
|
958
|
-
|
|
959
|
-
|
|
960
|
-
|
|
961
|
-
|
|
962
|
-
|
|
963
|
-
|
|
964
|
-
|
|
965
|
-
|
|
966
|
-
|
|
967
|
-
|
|
968
|
-
*
|
|
969
|
-
|
|
970
|
-
|
|
971
|
-
|
|
972
|
-
|
|
973
|
-
|
|
974
|
-
|
|
975
|
-
|
|
976
|
-
|
|
977
|
-
|
|
978
|
-
|
|
979
|
-
|
|
475
|
+
exports.fromZRotation = fromZRotation;
|
|
476
|
+
/**
|
|
477
|
+
* Creates a matrix from a quaternion rotation and vector translation
|
|
478
|
+
*/
|
|
479
|
+
function fromRotationTranslation(q, v) {
|
|
480
|
+
// Quaternion math
|
|
481
|
+
const [x, y, z, w] = q;
|
|
482
|
+
const x2 = x + x;
|
|
483
|
+
const y2 = y + y;
|
|
484
|
+
const z2 = z + z;
|
|
485
|
+
const xx = x * x2;
|
|
486
|
+
const xy = x * y2;
|
|
487
|
+
const xz = x * z2;
|
|
488
|
+
const yy = y * y2;
|
|
489
|
+
const yz = y * z2;
|
|
490
|
+
const zz = z * z2;
|
|
491
|
+
const wx = w * x2;
|
|
492
|
+
const wy = w * y2;
|
|
493
|
+
const wz = w * z2;
|
|
494
|
+
return [
|
|
495
|
+
1 - (yy + zz),
|
|
496
|
+
xy + wz,
|
|
497
|
+
xz - wy,
|
|
498
|
+
0,
|
|
499
|
+
xy - wz,
|
|
500
|
+
1 - (xx + zz),
|
|
501
|
+
yz + wx,
|
|
502
|
+
0,
|
|
503
|
+
xz + wy,
|
|
504
|
+
yz - wx,
|
|
505
|
+
1 - (xx + yy),
|
|
506
|
+
0,
|
|
507
|
+
v[0],
|
|
508
|
+
v[1],
|
|
509
|
+
v[2],
|
|
510
|
+
1,
|
|
511
|
+
];
|
|
512
|
+
}
|
|
513
|
+
exports.fromRotationTranslation = fromRotationTranslation;
|
|
514
|
+
/**
|
|
515
|
+
* Returns the translation vector component of a transformation
|
|
516
|
+
* matrix. If a matrix is built with fromRotationTranslation,
|
|
517
|
+
* the returned vector will be the same as the translation vector
|
|
518
|
+
* originally supplied.
|
|
519
|
+
*/
|
|
520
|
+
function getTranslation(mat) {
|
|
521
|
+
return [mat[12], mat[13], mat[14]];
|
|
522
|
+
}
|
|
523
|
+
exports.getTranslation = getTranslation;
|
|
524
|
+
/**
|
|
525
|
+
* Returns the scaling factor component of a transformation
|
|
526
|
+
* matrix. If a matrix is built with fromRotationTranslationScale
|
|
527
|
+
* with a normalized Quaternion paramter, the returned vector will be
|
|
528
|
+
* the same as the scaling vector
|
|
529
|
+
* originally supplied.
|
|
530
|
+
*/
|
|
531
|
+
function getScaling(mat) {
|
|
532
|
+
// prettier-ignore
|
|
533
|
+
const [m11, m12, m13, , m21, m22, m23, , m31, m32, m33,] = mat;
|
|
534
|
+
return [
|
|
535
|
+
Math.sqrt(m11 * m11 + m12 * m12 + m13 * m13),
|
|
536
|
+
Math.sqrt(m21 * m21 + m22 * m22 + m23 * m23),
|
|
537
|
+
Math.sqrt(m31 * m31 + m32 * m32 + m33 * m33),
|
|
538
|
+
];
|
|
539
|
+
}
|
|
540
|
+
exports.getScaling = getScaling;
|
|
541
|
+
/**
|
|
542
|
+
* Returns a quaternion representing the rotational component
|
|
543
|
+
* of a transformation matrix. If a matrix is built with
|
|
544
|
+
* fromRotationTranslation, the returned quaternion will be the
|
|
545
|
+
* same as the quaternion originally supplied.
|
|
546
|
+
*/
|
|
547
|
+
function getRotation(mat) {
|
|
548
|
+
const scaling = getScaling(mat);
|
|
549
|
+
const is1 = 1 / scaling[0];
|
|
550
|
+
const is2 = 1 / scaling[1];
|
|
551
|
+
const is3 = 1 / scaling[2];
|
|
552
|
+
const sm11 = mat[0] * is1;
|
|
553
|
+
const sm12 = mat[1] * is2;
|
|
554
|
+
const sm13 = mat[2] * is3;
|
|
555
|
+
const sm21 = mat[4] * is1;
|
|
556
|
+
const sm22 = mat[5] * is2;
|
|
557
|
+
const sm23 = mat[6] * is3;
|
|
558
|
+
const sm31 = mat[8] * is1;
|
|
559
|
+
const sm32 = mat[9] * is2;
|
|
560
|
+
const sm33 = mat[10] * is3;
|
|
561
|
+
const trace = sm11 + sm22 + sm33;
|
|
562
|
+
if (trace > 0) {
|
|
563
|
+
const S = Math.sqrt(trace + 1) * 2;
|
|
564
|
+
return [(sm23 - sm32) / S, (sm31 - sm13) / S, (sm12 - sm21) / S, 0.25 * S];
|
|
565
|
+
}
|
|
566
|
+
else if (sm11 > sm22 && sm11 > sm33) {
|
|
567
|
+
const S = Math.sqrt(1 + sm11 - sm22 - sm33) * 2;
|
|
568
|
+
return [0.25 * S, (sm12 + sm21) / S, (sm31 + sm13) / S, (sm23 - sm32) / S];
|
|
569
|
+
}
|
|
570
|
+
else if (sm22 > sm33) {
|
|
571
|
+
const S = Math.sqrt(1 + sm22 - sm11 - sm33) * 2;
|
|
572
|
+
return [(sm12 + sm21) / S, 0.25 * S, (sm23 + sm32) / S, (sm31 - sm13) / S];
|
|
573
|
+
}
|
|
574
|
+
else {
|
|
575
|
+
const S = Math.sqrt(1 + sm33 - sm11 - sm22) * 2;
|
|
576
|
+
return [(sm31 + sm13) / S, (sm23 + sm32) / S, 0.25 * S, (sm12 - sm21) / S];
|
|
577
|
+
}
|
|
578
|
+
}
|
|
579
|
+
exports.getRotation = getRotation;
|
|
580
|
+
/**
|
|
581
|
+
* Decomposes a transformation matrix into its rotation, translation
|
|
582
|
+
* and scale components. Returns only the rotation component
|
|
583
|
+
*
|
|
584
|
+
* @param mat Matrix to be decomposed (input)
|
|
585
|
+
*/
|
|
586
|
+
function decompose(mat) {
|
|
587
|
+
const trans = [mat[12], mat[13], mat[14]];
|
|
588
|
+
// prettier-ignore
|
|
589
|
+
const [m11, m12, m13, , m21, m22, m23, , m31, m32, m33,] = mat;
|
|
590
|
+
const scale = [
|
|
591
|
+
Math.sqrt(m11 * m11 + m12 * m12 + m13 * m13),
|
|
592
|
+
Math.sqrt(m21 * m21 + m22 * m22 + m23 * m23),
|
|
593
|
+
Math.sqrt(m31 * m31 + m32 * m32 + m33 * m33),
|
|
594
|
+
];
|
|
595
|
+
const is1 = 1 / scale[0];
|
|
596
|
+
const is2 = 1 / scale[1];
|
|
597
|
+
const is3 = 1 / scale[2];
|
|
598
|
+
const sm11 = m11 * is1;
|
|
599
|
+
const sm12 = m12 * is2;
|
|
600
|
+
const sm13 = m13 * is3;
|
|
601
|
+
const sm21 = m21 * is1;
|
|
602
|
+
const sm22 = m22 * is2;
|
|
603
|
+
const sm23 = m23 * is3;
|
|
604
|
+
const sm31 = m31 * is1;
|
|
605
|
+
const sm32 = m32 * is2;
|
|
606
|
+
const sm33 = m33 * is3;
|
|
607
|
+
const trace = sm11 + sm22 + sm33;
|
|
608
|
+
let rot;
|
|
609
|
+
if (trace > 0) {
|
|
610
|
+
const S = Math.sqrt(trace + 1) * 2;
|
|
611
|
+
rot = [(sm23 - sm32) / S, (sm31 - sm13) / S, (sm12 - sm21) / S, 0.25 * S];
|
|
612
|
+
}
|
|
613
|
+
else if (sm11 > sm22 && sm11 > sm33) {
|
|
614
|
+
const S = Math.sqrt(1 + sm11 - sm22 - sm33) * 2;
|
|
615
|
+
rot = [0.25 * S, (sm12 + sm21) / S, (sm31 + sm13) / S, (sm23 - sm32) / S];
|
|
616
|
+
}
|
|
617
|
+
else if (sm22 > sm33) {
|
|
618
|
+
const S = Math.sqrt(1 + sm22 - sm11 - sm33) * 2;
|
|
619
|
+
rot = [(sm12 + sm21) / S, 0.25 * S, (sm23 + sm32) / S, (sm31 - sm13) / S];
|
|
620
|
+
}
|
|
621
|
+
else {
|
|
622
|
+
const S = Math.sqrt(1 + sm33 - sm11 - sm22) * 2;
|
|
623
|
+
rot = [(sm31 + sm13) / S, (sm23 + sm32) / S, 0.25 * S, (sm12 - sm21) / S];
|
|
624
|
+
}
|
|
625
|
+
return {
|
|
626
|
+
trans,
|
|
627
|
+
rot,
|
|
628
|
+
scale,
|
|
629
|
+
};
|
|
630
|
+
}
|
|
631
|
+
exports.decompose = decompose;
|
|
632
|
+
/**
|
|
633
|
+
* Creates a matrix from a quaternion rotation, vector translation and vector scale
|
|
634
|
+
* This is equivalent to (but much faster than):
|
|
635
|
+
*
|
|
636
|
+
* mat4.identity(dest);
|
|
637
|
+
* mat4.translate(dest, vec);
|
|
638
|
+
* const quatMat = mat4.create();
|
|
639
|
+
* quat4.toMat4(quat, quatMat);
|
|
640
|
+
* mat4.multiply(dest, quatMat);
|
|
641
|
+
* mat4.scale(dest, scale)
|
|
642
|
+
*
|
|
643
|
+
* @param rot Rotation quaternion
|
|
644
|
+
* @param trans Translation vector
|
|
645
|
+
* @param scale Scaling vector
|
|
646
|
+
*/
|
|
647
|
+
function fromRotationTranslationScale(rot, trans, scale) {
|
|
648
|
+
// Quaternion math
|
|
649
|
+
const [x, y, z, w] = rot;
|
|
650
|
+
const x2 = x + x;
|
|
651
|
+
const y2 = y + y;
|
|
652
|
+
const z2 = z + z;
|
|
653
|
+
const xx = x * x2;
|
|
654
|
+
const xy = x * y2;
|
|
655
|
+
const xz = x * z2;
|
|
656
|
+
const yy = y * y2;
|
|
657
|
+
const yz = y * z2;
|
|
658
|
+
const zz = z * z2;
|
|
659
|
+
const wx = w * x2;
|
|
660
|
+
const wy = w * y2;
|
|
661
|
+
const wz = w * z2;
|
|
662
|
+
const sx = scale[0];
|
|
663
|
+
const sy = scale[1];
|
|
664
|
+
const sz = scale[2];
|
|
665
|
+
return [
|
|
666
|
+
(1 - (yy + zz)) * sx,
|
|
667
|
+
(xy + wz) * sx,
|
|
668
|
+
(xz - wy) * sx,
|
|
669
|
+
0,
|
|
670
|
+
(xy - wz) * sy,
|
|
671
|
+
(1 - (xx + zz)) * sy,
|
|
672
|
+
(yz + wx) * sy,
|
|
673
|
+
0,
|
|
674
|
+
(xz + wy) * sz,
|
|
675
|
+
(yz - wx) * sz,
|
|
676
|
+
(1 - (xx + yy)) * sz,
|
|
677
|
+
0,
|
|
678
|
+
trans[0],
|
|
679
|
+
trans[1],
|
|
680
|
+
trans[2],
|
|
681
|
+
1,
|
|
682
|
+
];
|
|
683
|
+
}
|
|
684
|
+
exports.fromRotationTranslationScale = fromRotationTranslationScale;
|
|
685
|
+
/**
|
|
686
|
+
* Creates a matrix from a quaternion rotation, vector translation and vector scale, rotating and scaling around the given origin
|
|
687
|
+
* This is equivalent to (but much faster than):
|
|
688
|
+
*
|
|
689
|
+
* mat4.identity(dest);
|
|
690
|
+
* mat4.translate(dest, vec);
|
|
691
|
+
* mat4.translate(dest, origin);
|
|
692
|
+
* const quatMat = mat4.create();
|
|
693
|
+
* quat4.toMat4(quat, quatMat);
|
|
694
|
+
* mat4.multiply(dest, quatMat);
|
|
695
|
+
* mat4.scale(dest, scale)
|
|
696
|
+
* mat4.translate(dest, negativeOrigin);
|
|
697
|
+
*
|
|
698
|
+
* @param rot Rotation quaternion
|
|
699
|
+
* @param trans Translation vector
|
|
700
|
+
* @param scale Scaling vector
|
|
701
|
+
* @param origin The origin vector around which to scale and rotate
|
|
702
|
+
*/
|
|
703
|
+
function fromRotationTranslationScaleOrigin(rot, trans, scale, origin) {
|
|
704
|
+
// Quaternion math
|
|
705
|
+
const [x, y, z, w] = rot;
|
|
706
|
+
const x2 = x + x;
|
|
707
|
+
const y2 = y + y;
|
|
708
|
+
const z2 = z + z;
|
|
709
|
+
const xx = x * x2;
|
|
710
|
+
const xy = x * y2;
|
|
711
|
+
const xz = x * z2;
|
|
712
|
+
const yy = y * y2;
|
|
713
|
+
const yz = y * z2;
|
|
714
|
+
const zz = z * z2;
|
|
715
|
+
const wx = w * x2;
|
|
716
|
+
const wy = w * y2;
|
|
717
|
+
const wz = w * z2;
|
|
718
|
+
const sx = scale[0];
|
|
719
|
+
const sy = scale[1];
|
|
720
|
+
const sz = scale[2];
|
|
721
|
+
const ox = origin[0];
|
|
722
|
+
const oy = origin[1];
|
|
723
|
+
const oz = origin[2];
|
|
724
|
+
const out0 = (1 - (yy + zz)) * sx;
|
|
725
|
+
const out1 = (xy + wz) * sx;
|
|
726
|
+
const out2 = (xz - wy) * sx;
|
|
727
|
+
const out4 = (xy - wz) * sy;
|
|
728
|
+
const out5 = (1 - (xx + zz)) * sy;
|
|
729
|
+
const out6 = (yz + wx) * sy;
|
|
730
|
+
const out8 = (xz + wy) * sz;
|
|
731
|
+
const out9 = (yz - wx) * sz;
|
|
732
|
+
const out10 = (1 - (xx + yy)) * sz;
|
|
733
|
+
// prettier-ignore
|
|
734
|
+
return [
|
|
735
|
+
out0, out1, out2, 0,
|
|
736
|
+
out4, out5, out6, 0,
|
|
737
|
+
out8, out9, out10, 0,
|
|
738
|
+
trans[0] + ox - (out0 * ox + out4 * oy + out8 * oz),
|
|
739
|
+
trans[1] + oy - (out1 * ox + out5 * oy + out9 * oz),
|
|
740
|
+
trans[2] + oz - (out2 * ox + out6 * oy + out10 * oz),
|
|
741
|
+
1,
|
|
742
|
+
];
|
|
743
|
+
}
|
|
744
|
+
exports.fromRotationTranslationScaleOrigin = fromRotationTranslationScaleOrigin;
|
|
745
|
+
/**
|
|
746
|
+
* Calculates a 4x4 matrix from the given quaternion
|
|
747
|
+
*
|
|
748
|
+
* @param q Quaternion to create matrix from
|
|
749
|
+
*/
|
|
750
|
+
function fromQuat(q) {
|
|
751
|
+
const [x, y, z, w] = q;
|
|
752
|
+
const x2 = x + x;
|
|
753
|
+
const y2 = y + y;
|
|
754
|
+
const z2 = z + z;
|
|
755
|
+
const xx = x * x2;
|
|
756
|
+
const yx = y * x2;
|
|
757
|
+
const yy = y * y2;
|
|
758
|
+
const zx = z * x2;
|
|
759
|
+
const zy = z * y2;
|
|
760
|
+
const zz = z * z2;
|
|
761
|
+
const wx = w * x2;
|
|
762
|
+
const wy = w * y2;
|
|
763
|
+
const wz = w * z2;
|
|
764
|
+
// prettier-ignore
|
|
765
|
+
return [
|
|
766
|
+
1 - yy - zz,
|
|
767
|
+
yx + wz,
|
|
768
|
+
zx - wy,
|
|
769
|
+
0,
|
|
770
|
+
yx - wz,
|
|
771
|
+
1 - xx - zz,
|
|
772
|
+
zy + wx,
|
|
773
|
+
0,
|
|
774
|
+
zx + wy,
|
|
775
|
+
zy - wx,
|
|
776
|
+
1 - xx - yy,
|
|
777
|
+
0,
|
|
778
|
+
0, 0, 0, 1,
|
|
779
|
+
];
|
|
780
|
+
}
|
|
781
|
+
exports.fromQuat = fromQuat;
|
|
782
|
+
/**
|
|
783
|
+
* Generates a frustum matrix with the given bounds
|
|
784
|
+
*
|
|
785
|
+
* @param left Left bound of the frustum
|
|
786
|
+
* @param right Right bound of the frustum
|
|
787
|
+
* @param bottom Bottom bound of the frustum
|
|
788
|
+
* @param top Top bound of the frustum
|
|
789
|
+
* @param near Near bound of the frustum
|
|
790
|
+
* @param far Far bound of the frustum
|
|
791
|
+
*/
|
|
792
|
+
function frustum(left, right, bottom, top, near, far) {
|
|
793
|
+
const rl = 1 / (right - left);
|
|
794
|
+
const tb = 1 / (top - bottom);
|
|
795
|
+
const nf = 1 / (near - far);
|
|
796
|
+
// prettier-ignore
|
|
797
|
+
return [
|
|
798
|
+
near * 2 * rl, 0, 0, 0,
|
|
799
|
+
0, near * 2 * tb, 0, 0,
|
|
800
|
+
(right + left) * rl, (top + bottom) * tb, (far + near) * nf, -1,
|
|
801
|
+
0, 0, far * near * 2 * nf, 0,
|
|
802
|
+
];
|
|
803
|
+
}
|
|
804
|
+
exports.frustum = frustum;
|
|
805
|
+
/**
|
|
806
|
+
* Generates a perspective projection matrix with the given bounds.
|
|
807
|
+
* The near/far clip planes correspond to a normalized device coordinate Z range of [-1, 1],
|
|
808
|
+
* which matches WebGL/OpenGL's clip volume.
|
|
809
|
+
* Passing null/undefined/no value for far will generate infinite projection matrix.
|
|
810
|
+
*
|
|
811
|
+
* @param fovy Vertical field of view in radians
|
|
812
|
+
* @param aspect Aspect ratio. typically viewport width/height
|
|
813
|
+
* @param near Near bound of the frustum
|
|
814
|
+
* @param far Far bound of the frustum, can be null or Infinity
|
|
815
|
+
*/
|
|
816
|
+
function perspectiveNO(fovy, aspect, near, far) {
|
|
817
|
+
const f = 1 / Math.tan(fovy / 2);
|
|
818
|
+
let out10, out14;
|
|
819
|
+
if (far !== null && far !== Infinity) {
|
|
820
|
+
const nf = 1 / (near - far);
|
|
821
|
+
out10 = (far + near) * nf;
|
|
822
|
+
out14 = 2 * far * near * nf;
|
|
823
|
+
}
|
|
824
|
+
else {
|
|
825
|
+
out10 = -1;
|
|
826
|
+
out14 = -2 * near;
|
|
827
|
+
}
|
|
828
|
+
// prettier-ignore
|
|
829
|
+
return [
|
|
830
|
+
f / aspect, 0, 0, 0,
|
|
831
|
+
0, f, 0, 0,
|
|
832
|
+
0, 0, out10, -1,
|
|
833
|
+
0, 0, out14, 0,
|
|
834
|
+
];
|
|
835
|
+
}
|
|
836
|
+
exports.perspectiveNO = perspectiveNO;
|
|
837
|
+
/**
|
|
838
|
+
* Alias for {@link mat4.perspectiveNO}
|
|
839
|
+
* @function
|
|
840
|
+
*/
|
|
841
|
+
exports.perspective = perspectiveNO;
|
|
842
|
+
/**
|
|
843
|
+
* Generates a perspective projection matrix suitable for WebGPU with the given bounds.
|
|
844
|
+
* The near/far clip planes correspond to a normalized device coordinate Z range of [0, 1],
|
|
845
|
+
* which matches WebGPU/Vulkan/DirectX/Metal's clip volume.
|
|
846
|
+
* Passing null/undefined/no value for far will generate infinite projection matrix.
|
|
847
|
+
*
|
|
848
|
+
* @param fovy Vertical field of view in radians
|
|
849
|
+
* @param aspect Aspect ratio. typically viewport width/height
|
|
850
|
+
* @param near Near bound of the frustum
|
|
851
|
+
* @param far Far bound of the frustum, can be null or Infinity
|
|
852
|
+
*/
|
|
853
|
+
function perspectiveZO(fovy, aspect, near, far) {
|
|
854
|
+
const f = 1 / Math.tan(fovy / 2);
|
|
855
|
+
let out10, out14;
|
|
856
|
+
if (far !== null && far !== Infinity) {
|
|
857
|
+
const nf = 1 / (near - far);
|
|
858
|
+
out10 = far * nf;
|
|
859
|
+
out14 = far * near * nf;
|
|
860
|
+
}
|
|
861
|
+
else {
|
|
862
|
+
out10 = -1;
|
|
863
|
+
out14 = -near;
|
|
864
|
+
}
|
|
865
|
+
return [f / aspect, 0, 0, 0, 0, f, 0, 0, 0, 0, out10, -1, 0, 0, out14, 0];
|
|
866
|
+
}
|
|
867
|
+
exports.perspectiveZO = perspectiveZO;
|
|
868
|
+
/**
|
|
869
|
+
* Generates a perspective projection matrix with the given field of view.
|
|
870
|
+
* This is primarily useful for generating projection matrices to be used
|
|
871
|
+
* with the still experiemental WebVR API.
|
|
872
|
+
*
|
|
873
|
+
* @param fov Object containing the following values: upDegrees, downDegrees, leftDegrees, rightDegrees
|
|
874
|
+
* @param near Near bound of the frustum
|
|
875
|
+
* @param far Far bound of the frustum
|
|
876
|
+
*/
|
|
877
|
+
function perspectiveFromFieldOfView(fov, near, far) {
|
|
878
|
+
const upTan = Math.tan((fov.upDegrees * Math.PI) / 180);
|
|
879
|
+
const downTan = Math.tan((fov.downDegrees * Math.PI) / 180);
|
|
880
|
+
const leftTan = Math.tan((fov.leftDegrees * Math.PI) / 180);
|
|
881
|
+
const rightTan = Math.tan((fov.rightDegrees * Math.PI) / 180);
|
|
882
|
+
const xScale = 2 / (leftTan + rightTan);
|
|
883
|
+
const yScale = 2 / (upTan + downTan);
|
|
884
|
+
// prettier-ignore
|
|
885
|
+
return [
|
|
886
|
+
xScale, 0, 0, 0,
|
|
887
|
+
0, yScale, 0, 0,
|
|
888
|
+
-((leftTan - rightTan) * xScale * 0.5),
|
|
889
|
+
(upTan - downTan) * yScale * 0.5,
|
|
890
|
+
far / (near - far),
|
|
891
|
+
-1,
|
|
892
|
+
0,
|
|
893
|
+
0,
|
|
894
|
+
(far * near) / (near - far),
|
|
895
|
+
0,
|
|
896
|
+
];
|
|
897
|
+
}
|
|
898
|
+
exports.perspectiveFromFieldOfView = perspectiveFromFieldOfView;
|
|
899
|
+
/**
|
|
900
|
+
* Generates a orthogonal projection matrix with the given bounds.
|
|
901
|
+
* The near/far clip planes correspond to a normalized device coordinate Z range of [-1, 1],
|
|
902
|
+
* which matches WebGL/OpenGL's clip volume.
|
|
903
|
+
*
|
|
904
|
+
* @param left Left bound of the frustum
|
|
905
|
+
* @param right Right bound of the frustum
|
|
906
|
+
* @param bottom Bottom bound of the frustum
|
|
907
|
+
* @param top Top bound of the frustum
|
|
908
|
+
* @param near Near bound of the frustum
|
|
909
|
+
* @param far Far bound of the frustum
|
|
910
|
+
*/
|
|
911
|
+
function orthoNO(left, right, bottom, top, near, far) {
|
|
912
|
+
const lr = 1 / (left - right);
|
|
913
|
+
const bt = 1 / (bottom - top);
|
|
914
|
+
const nf = 1 / (near - far);
|
|
915
|
+
// prettier-ignore
|
|
916
|
+
return [
|
|
917
|
+
-2 * lr, 0, 0, 0,
|
|
918
|
+
0, -2 * bt, 0, 0,
|
|
919
|
+
0, 0, 2 * nf, 0,
|
|
920
|
+
(left + right) * lr,
|
|
921
|
+
(top + bottom) * bt,
|
|
922
|
+
(far + near) * nf,
|
|
923
|
+
1,
|
|
924
|
+
];
|
|
925
|
+
}
|
|
926
|
+
exports.orthoNO = orthoNO;
|
|
927
|
+
/**
|
|
928
|
+
* Alias for {@link mat4.orthoNO}
|
|
929
|
+
* @function
|
|
930
|
+
*/
|
|
931
|
+
exports.ortho = orthoNO;
|
|
932
|
+
/**
|
|
933
|
+
* Generates a orthogonal projection matrix with the given bounds.
|
|
934
|
+
* The near/far clip planes correspond to a normalized device coordinate Z range of [0, 1],
|
|
935
|
+
* which matches WebGPU/Vulkan/DirectX/Metal's clip volume.
|
|
936
|
+
*
|
|
937
|
+
* @param left Left bound of the frustum
|
|
938
|
+
* @param right Right bound of the frustum
|
|
939
|
+
* @param bottom Bottom bound of the frustum
|
|
940
|
+
* @param top Top bound of the frustum
|
|
941
|
+
* @param near Near bound of the frustum
|
|
942
|
+
* @param far Far bound of the frustum
|
|
943
|
+
*/
|
|
944
|
+
function orthoZO(left, right, bottom, top, near, far) {
|
|
945
|
+
const lr = 1 / (left - right);
|
|
946
|
+
const bt = 1 / (bottom - top);
|
|
947
|
+
const nf = 1 / (near - far);
|
|
948
|
+
// prettier-ignore
|
|
949
|
+
return [
|
|
950
|
+
-2 * lr, 0, 0, 0,
|
|
951
|
+
0, -2 * bt, 0, 0,
|
|
952
|
+
0, 0, nf, 0,
|
|
953
|
+
(left + right) * lr,
|
|
954
|
+
(top + bottom) * bt,
|
|
955
|
+
near * nf,
|
|
956
|
+
1,
|
|
957
|
+
];
|
|
958
|
+
}
|
|
959
|
+
exports.orthoZO = orthoZO;
|
|
960
|
+
/**
|
|
961
|
+
* Generates a look-at matrix with the given eye position, focal point, and up axis.
|
|
962
|
+
* If you want a matrix that actually makes an object look at another object, you should use targetTo instead.
|
|
963
|
+
*
|
|
964
|
+
* @param eye Position of the viewer
|
|
965
|
+
* @param center Point the viewer is looking at
|
|
966
|
+
* @param up vec3 pointing up
|
|
967
|
+
*/
|
|
968
|
+
function lookAt(eye, center, up) {
|
|
969
|
+
let x0, x1, x2, y0, y1, y2, z0, z1, z2, len;
|
|
970
|
+
const eyex = eye[0];
|
|
971
|
+
const eyey = eye[1];
|
|
972
|
+
const eyez = eye[2];
|
|
973
|
+
const upx = up[0];
|
|
974
|
+
const upy = up[1];
|
|
975
|
+
const upz = up[2];
|
|
976
|
+
const centerx = center[0];
|
|
977
|
+
const centery = center[1];
|
|
978
|
+
const centerz = center[2];
|
|
979
|
+
if (Math.abs(eyex - centerx) < Common.EPSILON &&
|
|
980
|
+
Math.abs(eyey - centery) < Common.EPSILON &&
|
|
981
|
+
Math.abs(eyez - centerz) < Common.EPSILON) {
|
|
982
|
+
return exports.identity;
|
|
983
|
+
}
|
|
984
|
+
z0 = eyex - centerx;
|
|
985
|
+
z1 = eyey - centery;
|
|
986
|
+
z2 = eyez - centerz;
|
|
987
|
+
len = 1 / Math.sqrt(z0 * z0 + z1 * z1 + z2 * z2);
|
|
980
988
|
z0 *= len;
|
|
981
989
|
z1 *= len;
|
|
982
990
|
z2 *= len;
|
|
991
|
+
x0 = upy * z2 - upz * z1;
|
|
992
|
+
x1 = upz * z0 - upx * z2;
|
|
993
|
+
x2 = upx * z1 - upy * z0;
|
|
994
|
+
len = Math.sqrt(x0 * x0 + x1 * x1 + x2 * x2);
|
|
995
|
+
if (!len) {
|
|
996
|
+
x0 = 0;
|
|
997
|
+
x1 = 0;
|
|
998
|
+
x2 = 0;
|
|
999
|
+
}
|
|
1000
|
+
else {
|
|
1001
|
+
len = 1 / len;
|
|
1002
|
+
x0 *= len;
|
|
1003
|
+
x1 *= len;
|
|
1004
|
+
x2 *= len;
|
|
1005
|
+
}
|
|
1006
|
+
y0 = z1 * x2 - z2 * x1;
|
|
1007
|
+
y1 = z2 * x0 - z0 * x2;
|
|
1008
|
+
y2 = z0 * x1 - z1 * x0;
|
|
1009
|
+
len = Math.sqrt(y0 * y0 + y1 * y1 + y2 * y2);
|
|
1010
|
+
if (!len) {
|
|
1011
|
+
y0 = 0;
|
|
1012
|
+
y1 = 0;
|
|
1013
|
+
y2 = 0;
|
|
1014
|
+
}
|
|
1015
|
+
else {
|
|
1016
|
+
len = 1 / len;
|
|
1017
|
+
y0 *= len;
|
|
1018
|
+
y1 *= len;
|
|
1019
|
+
y2 *= len;
|
|
1020
|
+
}
|
|
1021
|
+
// prettier-ignore
|
|
1022
|
+
return [
|
|
1023
|
+
x0, y0, z0, 0,
|
|
1024
|
+
x1, y1, z1, 0,
|
|
1025
|
+
x2, y2, z2, 0,
|
|
1026
|
+
-(x0 * eyex + x1 * eyey + x2 * eyez),
|
|
1027
|
+
-(y0 * eyex + y1 * eyey + y2 * eyez),
|
|
1028
|
+
-(z0 * eyex + z1 * eyey + z2 * eyez),
|
|
1029
|
+
1,
|
|
1030
|
+
];
|
|
983
1031
|
}
|
|
984
|
-
|
|
985
|
-
|
|
986
|
-
|
|
987
|
-
|
|
988
|
-
|
|
989
|
-
|
|
990
|
-
|
|
1032
|
+
exports.lookAt = lookAt;
|
|
1033
|
+
/**
|
|
1034
|
+
* Generates a matrix that makes something look at something else.
|
|
1035
|
+
*
|
|
1036
|
+
* @param eye Position of the viewer
|
|
1037
|
+
* @param center Point the viewer is looking at
|
|
1038
|
+
* @param up vec3 pointing up
|
|
1039
|
+
*/
|
|
1040
|
+
function targetTo(eye, target, up) {
|
|
1041
|
+
const [eyex, eyey, eyez] = eye;
|
|
1042
|
+
const [upx, upy, upz] = up;
|
|
1043
|
+
let z0 = eyex - target[0], z1 = eyey - target[1], z2 = eyez - target[2];
|
|
1044
|
+
let len = z0 * z0 + z1 * z1 + z2 * z2;
|
|
1045
|
+
if (len > 0) {
|
|
1046
|
+
len = 1 / Math.sqrt(len);
|
|
1047
|
+
z0 *= len;
|
|
1048
|
+
z1 *= len;
|
|
1049
|
+
z2 *= len;
|
|
1050
|
+
}
|
|
1051
|
+
let x0 = upy * z2 - upz * z1, x1 = upz * z0 - upx * z2, x2 = upx * z1 - upy * z0;
|
|
1052
|
+
len = x0 * x0 + x1 * x1 + x2 * x2;
|
|
1053
|
+
if (len > 0) {
|
|
1054
|
+
len = 1 / Math.sqrt(len);
|
|
1055
|
+
x0 *= len;
|
|
1056
|
+
x1 *= len;
|
|
1057
|
+
x2 *= len;
|
|
1058
|
+
}
|
|
1059
|
+
// prettier-ignore
|
|
1060
|
+
return [
|
|
1061
|
+
x0, x1, x2, 0,
|
|
1062
|
+
z1 * x2 - z2 * x1,
|
|
1063
|
+
z2 * x0 - z0 * x2,
|
|
1064
|
+
z0 * x1 - z1 * x0,
|
|
1065
|
+
0,
|
|
1066
|
+
z0, z1, z2, 0,
|
|
1067
|
+
eyex, eyey, eyez, 1,
|
|
1068
|
+
];
|
|
991
1069
|
}
|
|
992
|
-
|
|
993
|
-
|
|
994
|
-
|
|
995
|
-
|
|
996
|
-
|
|
997
|
-
|
|
998
|
-
|
|
999
|
-
|
|
1000
|
-
|
|
1001
|
-
|
|
1002
|
-
|
|
1003
|
-
|
|
1004
|
-
*
|
|
1005
|
-
|
|
1006
|
-
|
|
1007
|
-
|
|
1008
|
-
|
|
1009
|
-
|
|
1010
|
-
|
|
1011
|
-
|
|
1012
|
-
|
|
1013
|
-
|
|
1014
|
-
|
|
1015
|
-
|
|
1016
|
-
|
|
1017
|
-
|
|
1018
|
-
|
|
1019
|
-
|
|
1020
|
-
|
|
1021
|
-
|
|
1022
|
-
|
|
1023
|
-
|
|
1024
|
-
|
|
1025
|
-
|
|
1026
|
-
|
|
1027
|
-
|
|
1028
|
-
|
|
1029
|
-
|
|
1030
|
-
|
|
1031
|
-
|
|
1032
|
-
|
|
1033
|
-
|
|
1034
|
-
|
|
1035
|
-
|
|
1036
|
-
|
|
1037
|
-
|
|
1038
|
-
|
|
1039
|
-
|
|
1040
|
-
|
|
1041
|
-
|
|
1042
|
-
|
|
1043
|
-
|
|
1044
|
-
|
|
1045
|
-
|
|
1046
|
-
|
|
1047
|
-
|
|
1048
|
-
|
|
1049
|
-
|
|
1050
|
-
|
|
1051
|
-
|
|
1052
|
-
|
|
1053
|
-
|
|
1054
|
-
|
|
1055
|
-
|
|
1056
|
-
|
|
1057
|
-
|
|
1058
|
-
|
|
1059
|
-
|
|
1060
|
-
|
|
1061
|
-
|
|
1062
|
-
|
|
1063
|
-
|
|
1064
|
-
|
|
1065
|
-
|
|
1066
|
-
|
|
1067
|
-
|
|
1068
|
-
|
|
1069
|
-
|
|
1070
|
-
|
|
1071
|
-
*
|
|
1072
|
-
|
|
1073
|
-
|
|
1074
|
-
|
|
1075
|
-
|
|
1076
|
-
|
|
1077
|
-
|
|
1078
|
-
|
|
1079
|
-
|
|
1080
|
-
|
|
1081
|
-
|
|
1082
|
-
|
|
1083
|
-
|
|
1084
|
-
|
|
1085
|
-
|
|
1086
|
-
|
|
1087
|
-
|
|
1088
|
-
|
|
1089
|
-
|
|
1090
|
-
|
|
1091
|
-
|
|
1092
|
-
|
|
1093
|
-
|
|
1094
|
-
|
|
1095
|
-
|
|
1096
|
-
|
|
1097
|
-
|
|
1098
|
-
|
|
1099
|
-
|
|
1100
|
-
|
|
1101
|
-
|
|
1102
|
-
|
|
1103
|
-
|
|
1104
|
-
|
|
1105
|
-
|
|
1106
|
-
|
|
1107
|
-
|
|
1108
|
-
|
|
1109
|
-
|
|
1110
|
-
|
|
1111
|
-
|
|
1112
|
-
|
|
1113
|
-
|
|
1114
|
-
|
|
1115
|
-
|
|
1116
|
-
|
|
1117
|
-
|
|
1118
|
-
|
|
1119
|
-
|
|
1120
|
-
|
|
1121
|
-
|
|
1122
|
-
|
|
1123
|
-
|
|
1124
|
-
|
|
1125
|
-
|
|
1126
|
-
|
|
1127
|
-
|
|
1128
|
-
|
|
1129
|
-
|
|
1130
|
-
|
|
1131
|
-
|
|
1132
|
-
|
|
1133
|
-
|
|
1134
|
-
|
|
1135
|
-
|
|
1136
|
-
|
|
1137
|
-
|
|
1138
|
-
|
|
1139
|
-
|
|
1140
|
-
|
|
1141
|
-
|
|
1142
|
-
|
|
1143
|
-
|
|
1144
|
-
|
|
1145
|
-
|
|
1146
|
-
|
|
1147
|
-
|
|
1148
|
-
|
|
1149
|
-
|
|
1150
|
-
|
|
1151
|
-
|
|
1152
|
-
|
|
1153
|
-
|
|
1154
|
-
|
|
1155
|
-
|
|
1156
|
-
|
|
1157
|
-
|
|
1158
|
-
|
|
1159
|
-
|
|
1160
|
-
|
|
1161
|
-
|
|
1162
|
-
|
|
1163
|
-
|
|
1164
|
-
|
|
1165
|
-
|
|
1166
|
-
|
|
1167
|
-
|
|
1168
|
-
|
|
1169
|
-
|
|
1170
|
-
|
|
1171
|
-
|
|
1172
|
-
|
|
1173
|
-
|
|
1174
|
-
Common.EPSILON * Math.max(1, Math.abs(aF), Math.abs(bF)));
|
|
1175
|
-
}
|
|
1176
|
-
//# 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|
|
1070
|
+
exports.targetTo = targetTo;
|
|
1071
|
+
/**
|
|
1072
|
+
* Returns Frobenius norm of a mat4
|
|
1073
|
+
*/
|
|
1074
|
+
function frob(a) {
|
|
1075
|
+
return Math.sqrt(a[0] * a[0] +
|
|
1076
|
+
a[1] * a[1] +
|
|
1077
|
+
a[2] * a[2] +
|
|
1078
|
+
a[3] * a[3] +
|
|
1079
|
+
a[4] * a[4] +
|
|
1080
|
+
a[5] * a[5] +
|
|
1081
|
+
a[6] * a[6] +
|
|
1082
|
+
a[7] * a[7] +
|
|
1083
|
+
a[8] * a[8] +
|
|
1084
|
+
a[9] * a[9] +
|
|
1085
|
+
a[10] * a[10] +
|
|
1086
|
+
a[11] * a[11] +
|
|
1087
|
+
a[12] * a[12] +
|
|
1088
|
+
a[13] * a[13] +
|
|
1089
|
+
a[14] * a[14] +
|
|
1090
|
+
a[15] * a[15]);
|
|
1091
|
+
}
|
|
1092
|
+
exports.frob = frob;
|
|
1093
|
+
/**
|
|
1094
|
+
* Adds two mat4's
|
|
1095
|
+
*/
|
|
1096
|
+
function add(a, b) {
|
|
1097
|
+
return [
|
|
1098
|
+
a[0] + b[0],
|
|
1099
|
+
a[1] + b[1],
|
|
1100
|
+
a[2] + b[2],
|
|
1101
|
+
a[3] + b[3],
|
|
1102
|
+
a[4] + b[4],
|
|
1103
|
+
a[5] + b[5],
|
|
1104
|
+
a[6] + b[6],
|
|
1105
|
+
a[7] + b[7],
|
|
1106
|
+
a[8] + b[8],
|
|
1107
|
+
a[9] + b[9],
|
|
1108
|
+
a[10] + b[10],
|
|
1109
|
+
a[11] + b[11],
|
|
1110
|
+
a[12] + b[12],
|
|
1111
|
+
a[13] + b[13],
|
|
1112
|
+
a[14] + b[14],
|
|
1113
|
+
a[15] + b[15],
|
|
1114
|
+
];
|
|
1115
|
+
}
|
|
1116
|
+
exports.add = add;
|
|
1117
|
+
/**
|
|
1118
|
+
* Subtracts matrix b from matrix a
|
|
1119
|
+
*/
|
|
1120
|
+
function subtract(a, b) {
|
|
1121
|
+
return [
|
|
1122
|
+
a[0] - b[0],
|
|
1123
|
+
a[1] - b[1],
|
|
1124
|
+
a[2] - b[2],
|
|
1125
|
+
a[3] - b[3],
|
|
1126
|
+
a[4] - b[4],
|
|
1127
|
+
a[5] - b[5],
|
|
1128
|
+
a[6] - b[6],
|
|
1129
|
+
a[7] - b[7],
|
|
1130
|
+
a[8] - b[8],
|
|
1131
|
+
a[9] - b[9],
|
|
1132
|
+
a[10] - b[10],
|
|
1133
|
+
a[11] - b[11],
|
|
1134
|
+
a[12] - b[12],
|
|
1135
|
+
a[13] - b[13],
|
|
1136
|
+
a[14] - b[14],
|
|
1137
|
+
a[15] - b[15],
|
|
1138
|
+
];
|
|
1139
|
+
}
|
|
1140
|
+
exports.subtract = subtract;
|
|
1141
|
+
/**
|
|
1142
|
+
* Multiply each element of the matrix by a scalar.
|
|
1143
|
+
*/
|
|
1144
|
+
function multiplyScalar(a, s) {
|
|
1145
|
+
return [
|
|
1146
|
+
a[0] * s,
|
|
1147
|
+
a[1] * s,
|
|
1148
|
+
a[2] * s,
|
|
1149
|
+
a[3] * s,
|
|
1150
|
+
a[4] * s,
|
|
1151
|
+
a[5] * s,
|
|
1152
|
+
a[6] * s,
|
|
1153
|
+
a[7] * s,
|
|
1154
|
+
a[8] * s,
|
|
1155
|
+
a[9] * s,
|
|
1156
|
+
a[10] * s,
|
|
1157
|
+
a[11] * s,
|
|
1158
|
+
a[12] * s,
|
|
1159
|
+
a[13] * s,
|
|
1160
|
+
a[14] * s,
|
|
1161
|
+
a[15] * s,
|
|
1162
|
+
];
|
|
1163
|
+
}
|
|
1164
|
+
exports.multiplyScalar = multiplyScalar;
|
|
1165
|
+
/**
|
|
1166
|
+
* Adds two mat4's after multiplying each element of the second operand by a scalar value.
|
|
1167
|
+
*/
|
|
1168
|
+
function multiplyScalarAndAdd(a, b, scale) {
|
|
1169
|
+
return [
|
|
1170
|
+
a[0] + b[0] * scale,
|
|
1171
|
+
a[1] + b[1] * scale,
|
|
1172
|
+
a[2] + b[2] * scale,
|
|
1173
|
+
a[3] + b[3] * scale,
|
|
1174
|
+
a[4] + b[4] * scale,
|
|
1175
|
+
a[5] + b[5] * scale,
|
|
1176
|
+
a[6] + b[6] * scale,
|
|
1177
|
+
a[7] + b[7] * scale,
|
|
1178
|
+
a[8] + b[8] * scale,
|
|
1179
|
+
a[9] + b[9] * scale,
|
|
1180
|
+
a[10] + b[10] * scale,
|
|
1181
|
+
a[11] + b[11] * scale,
|
|
1182
|
+
a[12] + b[12] * scale,
|
|
1183
|
+
a[13] + b[13] * scale,
|
|
1184
|
+
a[14] + b[14] * scale,
|
|
1185
|
+
a[15] + b[15] * scale,
|
|
1186
|
+
];
|
|
1187
|
+
}
|
|
1188
|
+
exports.multiplyScalarAndAdd = multiplyScalarAndAdd;
|
|
1189
|
+
/**
|
|
1190
|
+
* Returns whether or not the matrices have exactly the same elements in the same position (when compared with ===)
|
|
1191
|
+
*/
|
|
1192
|
+
function exactEquals(a, b) {
|
|
1193
|
+
return (a[0] === b[0] &&
|
|
1194
|
+
a[1] === b[1] &&
|
|
1195
|
+
a[2] === b[2] &&
|
|
1196
|
+
a[3] === b[3] &&
|
|
1197
|
+
a[4] === b[4] &&
|
|
1198
|
+
a[5] === b[5] &&
|
|
1199
|
+
a[6] === b[6] &&
|
|
1200
|
+
a[7] === b[7] &&
|
|
1201
|
+
a[8] === b[8] &&
|
|
1202
|
+
a[9] === b[9] &&
|
|
1203
|
+
a[10] === b[10] &&
|
|
1204
|
+
a[11] === b[11] &&
|
|
1205
|
+
a[12] === b[12] &&
|
|
1206
|
+
a[13] === b[13] &&
|
|
1207
|
+
a[14] === b[14] &&
|
|
1208
|
+
a[15] === b[15]);
|
|
1209
|
+
}
|
|
1210
|
+
exports.exactEquals = exactEquals;
|
|
1211
|
+
/**
|
|
1212
|
+
* Returns whether or not the matrices have approximately the same elements in the same position.
|
|
1213
|
+
*/
|
|
1214
|
+
function equals(a, b) {
|
|
1215
|
+
const [a0, a1, a2, a3, a4, a5, a6, a7, a8, a9, aA, aB, aC, aD, aE, aF] = a;
|
|
1216
|
+
const [b0, b1, b2, b3, b4, b5, b6, b7, b8, b9, bA, bB, bC, bD, bE, bF] = b;
|
|
1217
|
+
return (Math.abs(a0 - b0) <=
|
|
1218
|
+
Common.EPSILON * Math.max(1, Math.abs(a0), Math.abs(b0)) &&
|
|
1219
|
+
Math.abs(a1 - b1) <=
|
|
1220
|
+
Common.EPSILON * Math.max(1, Math.abs(a1), Math.abs(b1)) &&
|
|
1221
|
+
Math.abs(a2 - b2) <=
|
|
1222
|
+
Common.EPSILON * Math.max(1, Math.abs(a2), Math.abs(b2)) &&
|
|
1223
|
+
Math.abs(a3 - b3) <=
|
|
1224
|
+
Common.EPSILON * Math.max(1, Math.abs(a3), Math.abs(b3)) &&
|
|
1225
|
+
Math.abs(a4 - b4) <=
|
|
1226
|
+
Common.EPSILON * Math.max(1, Math.abs(a4), Math.abs(b4)) &&
|
|
1227
|
+
Math.abs(a5 - b5) <=
|
|
1228
|
+
Common.EPSILON * Math.max(1, Math.abs(a5), Math.abs(b5)) &&
|
|
1229
|
+
Math.abs(a6 - b6) <=
|
|
1230
|
+
Common.EPSILON * Math.max(1, Math.abs(a6), Math.abs(b6)) &&
|
|
1231
|
+
Math.abs(a7 - b7) <=
|
|
1232
|
+
Common.EPSILON * Math.max(1, Math.abs(a7), Math.abs(b7)) &&
|
|
1233
|
+
Math.abs(a8 - b8) <=
|
|
1234
|
+
Common.EPSILON * Math.max(1, Math.abs(a8), Math.abs(b8)) &&
|
|
1235
|
+
Math.abs(a9 - b9) <=
|
|
1236
|
+
Common.EPSILON * Math.max(1, Math.abs(a9), Math.abs(b9)) &&
|
|
1237
|
+
Math.abs(aA - bA) <=
|
|
1238
|
+
Common.EPSILON * Math.max(1, Math.abs(aA), Math.abs(bA)) &&
|
|
1239
|
+
Math.abs(aB - bB) <=
|
|
1240
|
+
Common.EPSILON * Math.max(1, Math.abs(aB), Math.abs(bB)) &&
|
|
1241
|
+
Math.abs(aC - bC) <=
|
|
1242
|
+
Common.EPSILON * Math.max(1, Math.abs(aC), Math.abs(bC)) &&
|
|
1243
|
+
Math.abs(aD - bD) <=
|
|
1244
|
+
Common.EPSILON * Math.max(1, Math.abs(aD), Math.abs(bD)) &&
|
|
1245
|
+
Math.abs(aE - bE) <=
|
|
1246
|
+
Common.EPSILON * Math.max(1, Math.abs(aE), Math.abs(bE)) &&
|
|
1247
|
+
Math.abs(aF - bF) <=
|
|
1248
|
+
Common.EPSILON * Math.max(1, Math.abs(aF), Math.abs(bF)));
|
|
1249
|
+
}
|
|
1250
|
+
exports.equals = equals;
|
|
1251
|
+
});
|
|
1252
|
+
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