math 0.0.0 → 0.1.0

package/dist/core/quat.js

@@ -0,0 +1,730 @@
+import { fromMat4 as fromMat4$1, create as create$1 } from './mat3.js';
+import { EPSILON } from './scalar.js';
+import { dot as dot$2, cross, length as length$2, normalize as normalize$2, create as create$2, fromValues as fromValues$2 } from './vec3.js';
+import { add as add$1, clone as clone$1, copy as copy$1, dot as dot$1, exactEquals as exactEquals$1, fromValues as fromValues$1, length as length$1, lerp as lerp$1, normalize as normalize$1, scale as scale$1, set as set$1, squaredLength as squaredLength$1 } from './vec4.js';
+
+/**
+ * Creates a new identity quat
+ *
+ * @returns a new quaternion
+ */
+function create() {
+    return [0, 0, 0, 1];
+}
+/**
+ * Sets the components of a quat from a buffer
+ * @param out the receiving quaternion
+ * @param buffer the source buffer
+ * @param startIndex the starting index in the buffer
+ * @returns out
+ */
+function fromBuffer(out, buffer, startIndex) {
+    out[0] = buffer[startIndex];
+    out[1] = buffer[startIndex + 1];
+    out[2] = buffer[startIndex + 2];
+    out[3] = buffer[startIndex + 3];
+    return out;
+}
+/**
+ * Writes the components of a quat to a buffer
+ * @param outBuffer The output buffer
+ * @param q The source quaternion
+ * @param startIndex The starting index in the buffer
+ * @returns The output buffer
+ */
+function toBuffer(outBuffer, q, startIndex) {
+    outBuffer[startIndex] = q[0];
+    outBuffer[startIndex + 1] = q[1];
+    outBuffer[startIndex + 2] = q[2];
+    outBuffer[startIndex + 3] = q[3];
+    return outBuffer;
+}
+/**
+ * Set a quat to the identity quaternion
+ *
+ * @param out the receiving quaternion
+ * @returns out
+ */
+function identity(out) {
+    out[0] = 0;
+    out[1] = 0;
+    out[2] = 0;
+    out[3] = 1;
+    return out;
+}
+/**
+ * Sets a quat from the given angle and rotation axis,
+ * then returns it.
+ *
+ * @param out the receiving quaternion
+ * @param axis the axis around which to rotate
+ * @param rad the angle in radians
+ * @returns out
+ **/
+function setAxisAngle(out, axis, rad) {
+    rad *= 0.5;
+    const s = Math.sin(rad);
+    out[0] = s * axis[0];
+    out[1] = s * axis[1];
+    out[2] = s * axis[2];
+    out[3] = Math.cos(rad);
+    return out;
+}
+/**
+ * Gets the rotation axis and angle for a given
+ *  quaternion. If a quaternion is created with
+ *  setAxisAngle, this method will return the same
+ *  values as providied in the original parameter list
+ *  OR functionally equivalent values.
+ * Example: The quaternion formed by axis [0, 0, 1] and
+ *  angle -90 is the same as the quaternion formed by
+ *  [0, 0, 1] and 270. This method favors the latter.
+ * @param  out_axis  Vector receiving the axis of rotation
+ * @param  q     Quaternion to be decomposed
+ * @return     Angle, in radians, of the rotation
+ */
+function getAxisAngle(out_axis, q) {
+    const rad = Math.acos(q[3]) * 2.0;
+    const s = Math.sin(rad / 2.0);
+    if (s > EPSILON) {
+        out_axis[0] = q[0] / s;
+        out_axis[1] = q[1] / s;
+        out_axis[2] = q[2] / s;
+    }
+    else {
+        // If s is zero, return any axis (no rotation - axis does not matter)
+        out_axis[0] = 1;
+        out_axis[1] = 0;
+        out_axis[2] = 0;
+    }
+    return rad;
+}
+/**
+ * Gets the angular distance between two unit quaternions
+ *
+ * @param  a     Origin unit quaternion
+ * @param  b     Destination unit quaternion
+ * @return     Angle, in radians, between the two quaternions
+ */
+function getAngle(a, b) {
+    const dotproduct = dot(a, b);
+    return Math.acos(2 * dotproduct * dotproduct - 1);
+}
+/**
+ * Multiplies two quat's
+ *
+ * @param out the receiving quaternion
+ * @param a the first operand
+ * @param b the second operand
+ * @returns out
+ */
+function multiply(out, a, b) {
+    const ax = a[0];
+    const ay = a[1];
+    const az = a[2];
+    const aw = a[3];
+    const bx = b[0];
+    const by = b[1];
+    const bz = b[2];
+    const bw = b[3];
+    out[0] = ax * bw + aw * bx + ay * bz - az * by;
+    out[1] = ay * bw + aw * by + az * bx - ax * bz;
+    out[2] = az * bw + aw * bz + ax * by - ay * bx;
+    out[3] = aw * bw - ax * bx - ay * by - az * bz;
+    return out;
+}
+/**
+ * Rotates a quaternion by the given angle about the X axis
+ *
+ * @param out quat receiving operation result
+ * @param a quat to rotate
+ * @param rad angle (in radians) to rotate
+ * @returns out
+ */
+function rotateX(out, a, rad) {
+    rad *= 0.5;
+    const ax = a[0];
+    const ay = a[1];
+    const az = a[2];
+    const aw = a[3];
+    const bx = Math.sin(rad);
+    const bw = Math.cos(rad);
+    out[0] = ax * bw + aw * bx;
+    out[1] = ay * bw + az * bx;
+    out[2] = az * bw - ay * bx;
+    out[3] = aw * bw - ax * bx;
+    return out;
+}
+/**
+ * Rotates a quaternion by the given angle about the Y axis
+ *
+ * @param out quat receiving operation result
+ * @param a quat to rotate
+ * @param rad angle (in radians) to rotate
+ * @returns out
+ */
+function rotateY(out, a, rad) {
+    rad *= 0.5;
+    const ax = a[0];
+    const ay = a[1];
+    const az = a[2];
+    const aw = a[3];
+    const by = Math.sin(rad);
+    const bw = Math.cos(rad);
+    out[0] = ax * bw - az * by;
+    out[1] = ay * bw + aw * by;
+    out[2] = az * bw + ax * by;
+    out[3] = aw * bw - ay * by;
+    return out;
+}
+/**
+ * Rotates a quaternion by the given angle about the Z axis
+ *
+ * @param out quat receiving operation result
+ * @param a quat to rotate
+ * @param rad angle (in radians) to rotate
+ * @returns out
+ */
+function rotateZ(out, a, rad) {
+    rad *= 0.5;
+    const ax = a[0];
+    const ay = a[1];
+    const az = a[2];
+    const aw = a[3];
+    const bz = Math.sin(rad);
+    const bw = Math.cos(rad);
+    out[0] = ax * bw + ay * bz;
+    out[1] = ay * bw - ax * bz;
+    out[2] = az * bw + aw * bz;
+    out[3] = aw * bw - az * bz;
+    return out;
+}
+/**
+ * Calculates the W component of a quat from the X, Y, and Z components.
+ * Assumes that quaternion is 1 unit in length.
+ * Any existing W component will be ignored.
+ *
+ * @param out the receiving quaternion
+ * @param a quat to calculate W component of
+ * @returns out
+ */
+function calculateW(out, a) {
+    const x = a[0];
+    const y = a[1];
+    const z = a[2];
+    out[0] = x;
+    out[1] = y;
+    out[2] = z;
+    out[3] = Math.sqrt(Math.abs(1.0 - x * x - y * y - z * z));
+    return out;
+}
+/**
+ * Calculate the exponential of a unit quaternion.
+ *
+ * @param out the receiving quaternion
+ * @param a quat to calculate the exponential of
+ * @returns out
+ */
+function exp(out, a) {
+    const x = a[0];
+    const y = a[1];
+    const z = a[2];
+    const w = a[3];
+    const r = Math.sqrt(x * x + y * y + z * z);
+    const et = Math.exp(w);
+    const s = r > 0 ? (et * Math.sin(r)) / r : 0;
+    out[0] = x * s;
+    out[1] = y * s;
+    out[2] = z * s;
+    out[3] = et * Math.cos(r);
+    return out;
+}
+/**
+ * Calculate the natural logarithm of a unit quaternion.
+ *
+ * @param out the receiving quaternion
+ * @param a quat to calculate the exponential of
+ * @returns out
+ */
+function ln(out, a) {
+    const x = a[0];
+    const y = a[1];
+    const z = a[2];
+    const w = a[3];
+    const r = Math.sqrt(x * x + y * y + z * z);
+    const t = r > 0 ? Math.atan2(r, w) / r : 0;
+    out[0] = x * t;
+    out[1] = y * t;
+    out[2] = z * t;
+    out[3] = 0.5 * Math.log(x * x + y * y + z * z + w * w);
+    return out;
+}
+/**
+ * Calculate the scalar power of a unit quaternion.
+ *
+ * @param out the receiving quaternion
+ * @param a quat to calculate the exponential of
+ * @param b amount to scale the quaternion by
+ * @returns out
+ */
+function pow(out, a, b) {
+    ln(out, a);
+    scale(out, out, b);
+    exp(out, out);
+    return out;
+}
+/**
+ * Performs a spherical linear interpolation between two quat
+ *
+ * @param out the receiving quaternion
+ * @param a the first operand
+ * @param b the second operand
+ * @param t interpolation amount, in the range [0-1], between the two inputs
+ * @returns out
+ */
+function slerp(out, a, b, t) {
+    // benchmarks:
+    //    http://jsperf.com/quaternion-slerp-implementations
+    const ax = a[0];
+    const ay = a[1];
+    const az = a[2];
+    const aw = a[3];
+    let bx = b[0];
+    let by = b[1];
+    let bz = b[2];
+    let bw = b[3];
+    let omega;
+    let cosom;
+    let sinom;
+    let scale0;
+    let scale1;
+    // calc cosine
+    cosom = ax * bx + ay * by + az * bz + aw * bw;
+    // adjust signs (if necessary)
+    if (cosom < 0.0) {
+        cosom = -cosom;
+        bx = -bx;
+        by = -by;
+        bz = -bz;
+        bw = -bw;
+    }
+    // calculate coefficients
+    if (1.0 - cosom > EPSILON) {
+        // standard case (slerp)
+        omega = Math.acos(cosom);
+        sinom = Math.sin(omega);
+        scale0 = Math.sin((1.0 - t) * omega) / sinom;
+        scale1 = Math.sin(t * omega) / sinom;
+    }
+    else {
+        // "from" and "to" quaternions are very close
+        //  ... so we can do a linear interpolation
+        scale0 = 1.0 - t;
+        scale1 = t;
+    }
+    // calculate final values
+    out[0] = scale0 * ax + scale1 * bx;
+    out[1] = scale0 * ay + scale1 * by;
+    out[2] = scale0 * az + scale1 * bz;
+    out[3] = scale0 * aw + scale1 * bw;
+    return out;
+}
+/**
+ * Calculates the inverse of a quat
+ *
+ * @param out the receiving quaternion
+ * @param a quat to calculate inverse of
+ * @returns out
+ */
+function invert(out, a) {
+    const a0 = a[0];
+    const a1 = a[1];
+    const a2 = a[2];
+    const a3 = a[3];
+    const dot = a0 * a0 + a1 * a1 + a2 * a2 + a3 * a3;
+    if (dot === 0) {
+        out[0] = 0;
+        out[1] = 0;
+        out[2] = 0;
+        out[3] = 0;
+        return out;
+    }
+    const invDot = 1.0 / dot;
+    out[0] = -a0 * invDot;
+    out[1] = -a1 * invDot;
+    out[2] = -a2 * invDot;
+    out[3] = a3 * invDot;
+    return out;
+}
+/**
+ * Calculates the conjugate of a quat
+ * If the quaternion is normalized, this function is faster than quat.inverse and produces the same result.
+ *
+ * @param out the receiving quaternion
+ * @param a quat to calculate conjugate of
+ * @returns out
+ */
+function conjugate(out, a) {
+    out[0] = -a[0];
+    out[1] = -a[1];
+    out[2] = -a[2];
+    out[3] = a[3];
+    return out;
+}
+/**
+ * Creates a quaternion from the given 3x3 rotation matrix.
+ *
+ * NOTE: The resultant quaternion is not normalized, so you should be sure
+ * to renormalize the quaternion yourself where necessary.
+ *
+ * @param out the receiving quaternion
+ * @param m rotation matrix
+ * @returns out
+ */
+function fromMat3(out, m) {
+    // Algorithm in Ken Shoemake's article in 1987 SIGGRAPH course notes
+    // article "Quaternion Calculus and Fast Animation".
+    const fTrace = m[0] + m[4] + m[8];
+    let fRoot;
+    if (fTrace > 0.0) {
+        // |w| > 1/2, may as well choose w > 1/2
+        fRoot = Math.sqrt(fTrace + 1.0); // 2w
+        out[3] = 0.5 * fRoot;
+        fRoot = 0.5 / fRoot; // 1/(4w)
+        out[0] = (m[5] - m[7]) * fRoot;
+        out[1] = (m[6] - m[2]) * fRoot;
+        out[2] = (m[1] - m[3]) * fRoot;
+    }
+    else {
+        // |w| <= 1/2
+        let i = 0;
+        if (m[4] > m[0])
+            i = 1;
+        if (m[8] > m[i * 3 + i])
+            i = 2;
+        const j = (i + 1) % 3;
+        const k = (i + 2) % 3;
+        fRoot = Math.sqrt(m[i * 3 + i] - m[j * 3 + j] - m[k * 3 + k] + 1.0);
+        out[i] = 0.5 * fRoot;
+        fRoot = 0.5 / fRoot;
+        out[3] = (m[j * 3 + k] - m[k * 3 + j]) * fRoot;
+        out[j] = (m[j * 3 + i] + m[i * 3 + j]) * fRoot;
+        out[k] = (m[k * 3 + i] + m[i * 3 + k]) * fRoot;
+    }
+    return out;
+}
+/**
+ * Calculates a quaternion from a 4x4 rotation matrix
+ * Extracts the 3x3 rotation part and calls fromMat3
+ *
+ * @param out the receiving quaternion
+ * @param m rotation matrix
+ * @returns out
+ */
+function fromMat4(out, m) {
+    const m3 = create$1();
+    fromMat4$1(m3, m);
+    return fromMat3(out, m3);
+}
+/**
+ * Creates a quaternion from the given euler
+ * @param out the receiving quaternion
+ * @param euler the euler to create the quaternion from
+ * @returns out
+ */
+function fromEuler(out, euler) {
+    const x = euler[0];
+    const y = euler[1];
+    const z = euler[2];
+    const order = euler[3] || 'xyz';
+    const cos = Math.cos;
+    const sin = Math.sin;
+    const c1 = cos(x / 2);
+    const c2 = cos(y / 2);
+    const c3 = cos(z / 2);
+    const s1 = sin(x / 2);
+    const s2 = sin(y / 2);
+    const s3 = sin(z / 2);
+    switch (order) {
+        case 'xyz':
+            out[0] = s1 * c2 * c3 + c1 * s2 * s3;
+            out[1] = c1 * s2 * c3 - s1 * c2 * s3;
+            out[2] = c1 * c2 * s3 + s1 * s2 * c3;
+            out[3] = c1 * c2 * c3 - s1 * s2 * s3;
+            break;
+        case 'yxz':
+            out[0] = s1 * c2 * c3 + c1 * s2 * s3;
+            out[1] = c1 * s2 * c3 - s1 * c2 * s3;
+            out[2] = c1 * c2 * s3 - s1 * s2 * c3;
+            out[3] = c1 * c2 * c3 + s1 * s2 * s3;
+            break;
+        case 'zxy':
+            out[0] = s1 * c2 * c3 - c1 * s2 * s3;
+            out[1] = c1 * s2 * c3 + s1 * c2 * s3;
+            out[2] = c1 * c2 * s3 + s1 * s2 * c3;
+            out[3] = c1 * c2 * c3 - s1 * s2 * s3;
+            break;
+        case 'zyx':
+            out[0] = s1 * c2 * c3 - c1 * s2 * s3;
+            out[1] = c1 * s2 * c3 + s1 * c2 * s3;
+            out[2] = c1 * c2 * s3 - s1 * s2 * c3;
+            out[3] = c1 * c2 * c3 + s1 * s2 * s3;
+            break;
+        case 'yzx':
+            out[0] = s1 * c2 * c3 + c1 * s2 * s3;
+            out[1] = c1 * s2 * c3 + s1 * c2 * s3;
+            out[2] = c1 * c2 * s3 - s1 * s2 * c3;
+            out[3] = c1 * c2 * c3 - s1 * s2 * s3;
+            break;
+        case 'xzy':
+            out[0] = s1 * c2 * c3 - c1 * s2 * s3;
+            out[1] = c1 * s2 * c3 - s1 * c2 * s3;
+            out[2] = c1 * c2 * s3 + s1 * s2 * c3;
+            out[3] = c1 * c2 * c3 + s1 * s2 * s3;
+            break;
+        default:
+            console.warn(`fromEuler() encountered an unknown order: ${order}`);
+    }
+    return out;
+}
+const _fromDegrees_euler = [0, 0, 0, 'xyz'];
+/**
+ * Creates a quaternion from euler angles specified in degrees.
+ * Shorthand for converting degrees to radians and then creating a quaternion from euler.
+ *
+ * @param out the receiving quaternion
+ * @param x The x euler rotation in degrees
+ * @param y The y euler rotation in degrees
+ * @param z The z euler rotation in degrees
+ * @param order The order of rotation
+ * @returns out
+ */
+function fromDegrees(out, x, y, z, order) {
+    _fromDegrees_euler[0] = (x * Math.PI) / 180;
+    _fromDegrees_euler[1] = (y * Math.PI) / 180;
+    _fromDegrees_euler[2] = (z * Math.PI) / 180;
+    _fromDegrees_euler[3] = order;
+    return fromEuler(out, _fromDegrees_euler);
+}
+/**
+ * Returns a string representation of a quaternion
+ *
+ * @param a vector to represent as a string
+ * @returns string representation of the vector
+ */
+function str(a) {
+    return `quat(${a[0]}, ${a[1]}, ${a[2]}, ${a[3]})`;
+}
+/**
+ * Creates a new quat initialized with values from an existing quaternion
+ *
+ * @param a quaternion to clone
+ * @returns a new quaternion
+ */
+const clone = clone$1;
+/**
+ * Creates a new quat initialized with the given values
+ *
+ * @param x X component
+ * @param y Y component
+ * @param z Z component
+ * @param w W component
+ * @returns a new quaternion
+ */
+const fromValues = fromValues$1;
+/**
+ * Copy the values from one quat to another
+ *
+ * @param out the receiving quaternion
+ * @param a the source quaternion
+ * @returns out
+ */
+const copy = copy$1;
+/**
+ * Set the components of a quat to the given values
+ *
+ * @param out the receiving quaternion
+ * @param x X component
+ * @param y Y component
+ * @param z Z component
+ * @param w W component
+ * @returns out
+ */
+const set = set$1;
+/**
+ * Adds two quat's
+ *
+ * @param out the receiving quaternion
+ * @param a the first operand
+ * @param b the second operand
+ * @returns out
+ */
+const add = add$1;
+/**
+ * Scales a quat by a scalar number
+ *
+ * @param out the receiving quaternion
+ * @param a the quaternion to scale
+ * @param b amount to scale the quaternion by
+ * @returns out
+ */
+const scale = scale$1;
+/**
+ * Calculates the dot product of two quat's
+ *
+ * @param a the first operand
+ * @param b the second operand
+ * @returns dot product of a and b
+ */
+const dot = dot$1;
+/**
+ * Performs a linear interpolation between two quat's
+ *
+ * @param out the receiving quaternion
+ * @param a the first operand
+ * @param b the second operand
+ * @param t interpolation amount, in the range [0-1], between the two inputs
+ * @returns out
+ */
+const lerp = lerp$1;
+/**
+ * Calculates the length of a quat
+ *
+ * @param a quaternion to calculate length of
+ * @returns length of a
+ */
+const length = length$1;
+/**
+ * Alias for {@link length}
+ */
+const len = length;
+/**
+ * Calculates the squared length of a quat
+ *
+ * @param a quaternion to calculate squared length of
+ * @returns squared length of a
+ */
+const squaredLength = squaredLength$1;
+/**
+ * Alias for {@link squaredLength}
+ */
+const sqrLen = squaredLength;
+/**
+ * Alias for {@link multiply}
+ */
+const mul = multiply;
+/**
+ * Normalize a quat
+ *
+ * @param out the receiving quaternion
+ * @param a quaternion to normalize
+ * @returns out
+ */
+const normalize = normalize$1;
+/**
+ * Returns whether or not the quaternions have exactly the same elements in the same position (when compared with ===)
+ *
+ * @param a The first quaternion.
+ * @param b The second quaternion.
+ * @returns True if the quaternions are equal, false otherwise.
+ */
+const exactEquals = exactEquals$1;
+/**
+ * Returns whether or not the quaternions have approximately the same elements in the same position.
+ *
+ * @param a The first quaternion.
+ * @param b The second quaternion.
+ * @returns True if the quaternions are equal, false otherwise.
+ */
+function equals(a, b) {
+    return Math.abs(dot$1(a, b)) >= 1 - EPSILON;
+}
+/**
+ * Sets a quaternion to represent the shortest rotation from one
+ * vector to another.
+ *
+ * Both vectors are assumed to be unit length.
+ *
+ * @param out the receiving quaternion.
+ * @param a the initial vector
+ * @param b the destination vector
+ * @returns out
+ */
+const rotationTo = /* @__PURE__ */ (() => {
+    const tmpvec3 = create$2();
+    const xUnitVec3 = fromValues$2(1, 0, 0);
+    const yUnitVec3 = fromValues$2(0, 1, 0);
+    return (out, a, b) => {
+        const dot = dot$2(a, b);
+        if (dot < -0.999999) {
+            cross(tmpvec3, xUnitVec3, a);
+            if (length$2(tmpvec3) < 0.000001)
+                cross(tmpvec3, yUnitVec3, a);
+            normalize$2(tmpvec3, tmpvec3);
+            setAxisAngle(out, tmpvec3, Math.PI);
+            return out;
+        }
+        if (dot > 0.999999) {
+            out[0] = 0;
+            out[1] = 0;
+            out[2] = 0;
+            out[3] = 1;
+            return out;
+        }
+        cross(tmpvec3, a, b);
+        out[0] = tmpvec3[0];
+        out[1] = tmpvec3[1];
+        out[2] = tmpvec3[2];
+        out[3] = 1 + dot;
+        return normalize(out, out);
+    };
+})();
+/**
+ * Performs a spherical linear interpolation with two control points
+ *
+ * @param out the receiving quaternion
+ * @param a the first operand
+ * @param b the second operand
+ * @param c the third operand
+ * @param d the fourth operand
+ * @param t interpolation amount, in the range [0-1], between the two inputs
+ * @returns out
+ */
+const sqlerp = /* @__PURE__ */ (() => {
+    const temp1 = create();
+    const temp2 = create();
+    return (out, a, b, c, d, t) => {
+        slerp(temp1, a, d, t);
+        slerp(temp2, b, c, t);
+        slerp(out, temp1, temp2, 2 * t * (1 - t));
+        return out;
+    };
+})();
+/**
+ * Sets the specified quaternion with values corresponding to the given
+ * axes. Each axis is a vec3 and is expected to be unit length and
+ * perpendicular to all other specified axes.
+ *
+ * @param view  the vector representing the viewing direction
+ * @param right the vector representing the local "right" direction
+ * @param up    the vector representing the local "up" direction
+ * @returns out
+ */
+const setAxes = /* @__PURE__ */ (() => {
+    const matr = create$1();
+    return (out, view, right, up) => {
+        matr[0] = right[0];
+        matr[3] = right[1];
+        matr[6] = right[2];
+        matr[1] = up[0];
+        matr[4] = up[1];
+        matr[7] = up[2];
+        matr[2] = -view[0];
+        matr[5] = -view[1];
+        matr[8] = -view[2];
+        return normalize(out, fromMat3(out, matr));
+    };
+})();
+
+export { add, calculateW, clone, conjugate, copy, create, dot, equals, exactEquals, exp, fromBuffer, fromDegrees, fromEuler, fromMat3, fromMat4, fromValues, getAngle, getAxisAngle, identity, invert, len, length, lerp, ln, mul, multiply, normalize, pow, rotateX, rotateY, rotateZ, rotationTo, scale, set, setAxes, setAxisAngle, slerp, sqlerp, sqrLen, squaredLength, str, toBuffer };
+//# sourceMappingURL=quat.js.map