math 0.0.0 → 0.1.0

package/dist/core/quat.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"quat.js","sources":["../../src/core/quat.ts"],"sourcesContent":["import type { MutableArrayLike } from './arrays';\nimport type { Euler, EulerOrder } from './euler';\nimport type { Mat3 } from './mat3';\nimport * as mat3 from './mat3';\nimport type { Mat4 } from './mat4';\nimport { EPSILON } from './scalar';\nimport type { Vec3 } from './vec3';\nimport * as vec3 from './vec3';\nimport * as vec4 from './vec4';\n\n/** A quaternion that represents rotation */\nexport type Quat = [x: number, y: number, z: number, w: number];\n\n/**\n * Creates a new identity quat\n *\n * @returns a new quaternion\n */\nexport function create(): Quat {\n    return [0, 0, 0, 1];\n}\n\n/**\n * Sets the components of a quat from a buffer\n * @param out the receiving quaternion\n * @param buffer the source buffer\n * @param startIndex the starting index in the buffer\n * @returns out\n */\nexport function fromBuffer(out: Quat, buffer: ArrayLike<number>, startIndex: number): Quat {\n    out[0] = buffer[startIndex];\n    out[1] = buffer[startIndex + 1];\n    out[2] = buffer[startIndex + 2];\n    out[3] = buffer[startIndex + 3];\n    return out;\n}\n\n/**\n * Writes the components of a quat to a buffer\n * @param outBuffer The output buffer\n * @param q The source quaternion\n * @param startIndex The starting index in the buffer\n * @returns The output buffer\n */\nexport function toBuffer(outBuffer: MutableArrayLike<number>, q: Quat, startIndex: number): MutableArrayLike<number> {\n    outBuffer[startIndex] = q[0];\n    outBuffer[startIndex + 1] = q[1];\n    outBuffer[startIndex + 2] = q[2];\n    outBuffer[startIndex + 3] = q[3];\n    return outBuffer;\n}\n\n/**\n * Set a quat to the identity quaternion\n *\n * @param out the receiving quaternion\n * @returns out\n */\nexport function identity(out: Quat): Quat {\n    out[0] = 0;\n    out[1] = 0;\n    out[2] = 0;\n    out[3] = 1;\n    return out;\n}\n\n/**\n * Sets a quat from the given angle and rotation axis,\n * then returns it.\n *\n * @param out the receiving quaternion\n * @param axis the axis around which to rotate\n * @param rad the angle in radians\n * @returns out\n **/\nexport function setAxisAngle(out: Quat, axis: Vec3, rad: number): Quat {\n    rad *= 0.5;\n    const s = Math.sin(rad);\n    out[0] = s * axis[0];\n    out[1] = s * axis[1];\n    out[2] = s * axis[2];\n    out[3] = Math.cos(rad);\n    return out;\n}\n\n/**\n * Gets the rotation axis and angle for a given\n *  quaternion. If a quaternion is created with\n *  setAxisAngle, this method will return the same\n *  values as providied in the original parameter list\n *  OR functionally equivalent values.\n * Example: The quaternion formed by axis [0, 0, 1] and\n *  angle -90 is the same as the quaternion formed by\n *  [0, 0, 1] and 270. This method favors the latter.\n * @param  out_axis  Vector receiving the axis of rotation\n * @param  q     Quaternion to be decomposed\n * @return     Angle, in radians, of the rotation\n */\nexport function getAxisAngle(out_axis: Vec3, q: Quat): number {\n    const rad = Math.acos(q[3]) * 2.0;\n    const s = Math.sin(rad / 2.0);\n    if (s > EPSILON) {\n        out_axis[0] = q[0] / s;\n        out_axis[1] = q[1] / s;\n        out_axis[2] = q[2] / s;\n    } else {\n        // If s is zero, return any axis (no rotation - axis does not matter)\n        out_axis[0] = 1;\n        out_axis[1] = 0;\n        out_axis[2] = 0;\n    }\n    return rad;\n}\n\n/**\n * Gets the angular distance between two unit quaternions\n *\n * @param  a     Origin unit quaternion\n * @param  b     Destination unit quaternion\n * @return     Angle, in radians, between the two quaternions\n */\nexport function getAngle(a: Quat, b: Quat): number {\n    const dotproduct = dot(a, b);\n\n    return Math.acos(2 * dotproduct * dotproduct - 1);\n}\n\n/**\n * Multiplies two quat's\n *\n * @param out the receiving quaternion\n * @param a the first operand\n * @param b the second operand\n * @returns out\n */\nexport function multiply(out: Quat, a: Quat, b: Quat): Quat {\n    const ax = a[0];\n    const ay = a[1];\n    const az = a[2];\n    const aw = a[3];\n    const bx = b[0];\n    const by = b[1];\n    const bz = b[2];\n    const bw = b[3];\n\n    out[0] = ax * bw + aw * bx + ay * bz - az * by;\n    out[1] = ay * bw + aw * by + az * bx - ax * bz;\n    out[2] = az * bw + aw * bz + ax * by - ay * bx;\n    out[3] = aw * bw - ax * bx - ay * by - az * bz;\n    return out;\n}\n\n/**\n * Rotates a quaternion by the given angle about the X axis\n *\n * @param out quat receiving operation result\n * @param a quat to rotate\n * @param rad angle (in radians) to rotate\n * @returns out\n */\nexport function rotateX(out: Quat, a: Quat, rad: number): Quat {\n    rad *= 0.5;\n\n    const ax = a[0];\n    const ay = a[1];\n    const az = a[2];\n    const aw = a[3];\n    const bx = Math.sin(rad);\n    const bw = Math.cos(rad);\n\n    out[0] = ax * bw + aw * bx;\n    out[1] = ay * bw + az * bx;\n    out[2] = az * bw - ay * bx;\n    out[3] = aw * bw - ax * bx;\n    return out;\n}\n\n/**\n * Rotates a quaternion by the given angle about the Y axis\n *\n * @param out quat receiving operation result\n * @param a quat to rotate\n * @param rad angle (in radians) to rotate\n * @returns out\n */\nexport function rotateY(out: Quat, a: Quat, rad: number): Quat {\n    rad *= 0.5;\n\n    const ax = a[0];\n    const ay = a[1];\n    const az = a[2];\n    const aw = a[3];\n    const by = Math.sin(rad);\n    const bw = Math.cos(rad);\n\n    out[0] = ax * bw - az * by;\n    out[1] = ay * bw + aw * by;\n    out[2] = az * bw + ax * by;\n    out[3] = aw * bw - ay * by;\n    return out;\n}\n\n/**\n * Rotates a quaternion by the given angle about the Z axis\n *\n * @param out quat receiving operation result\n * @param a quat to rotate\n * @param rad angle (in radians) to rotate\n * @returns out\n */\nexport function rotateZ(out: Quat, a: Quat, rad: number): Quat {\n    rad *= 0.5;\n\n    const ax = a[0];\n    const ay = a[1];\n    const az = a[2];\n    const aw = a[3];\n    const bz = Math.sin(rad);\n    const bw = Math.cos(rad);\n\n    out[0] = ax * bw + ay * bz;\n    out[1] = ay * bw - ax * bz;\n    out[2] = az * bw + aw * bz;\n    out[3] = aw * bw - az * bz;\n    return out;\n}\n\n/**\n * Calculates the W component of a quat from the X, Y, and Z components.\n * Assumes that quaternion is 1 unit in length.\n * Any existing W component will be ignored.\n *\n * @param out the receiving quaternion\n * @param a quat to calculate W component of\n * @returns out\n */\nexport function calculateW(out: Quat, a: Quat): Quat {\n    const x = a[0];\n    const y = a[1];\n    const z = a[2];\n\n    out[0] = x;\n    out[1] = y;\n    out[2] = z;\n    out[3] = Math.sqrt(Math.abs(1.0 - x * x - y * y - z * z));\n    return out;\n}\n\n/**\n * Calculate the exponential of a unit quaternion.\n *\n * @param out the receiving quaternion\n * @param a quat to calculate the exponential of\n * @returns out\n */\nexport function exp(out: Quat, a: Quat): Quat {\n    const x = a[0];\n    const y = a[1];\n    const z = a[2];\n    const w = a[3];\n\n    const r = Math.sqrt(x * x + y * y + z * z);\n    const et = Math.exp(w);\n    const s = r > 0 ? (et * Math.sin(r)) / r : 0;\n\n    out[0] = x * s;\n    out[1] = y * s;\n    out[2] = z * s;\n    out[3] = et * Math.cos(r);\n\n    return out;\n}\n\n/**\n * Calculate the natural logarithm of a unit quaternion.\n *\n * @param out the receiving quaternion\n * @param a quat to calculate the exponential of\n * @returns out\n */\nexport function ln(out: Quat, a: Quat): Quat {\n    const x = a[0];\n    const y = a[1];\n    const z = a[2];\n    const w = a[3];\n\n    const r = Math.sqrt(x * x + y * y + z * z);\n    const t = r > 0 ? Math.atan2(r, w) / r : 0;\n\n    out[0] = x * t;\n    out[1] = y * t;\n    out[2] = z * t;\n    out[3] = 0.5 * Math.log(x * x + y * y + z * z + w * w);\n\n    return out;\n}\n\n/**\n * Calculate the scalar power of a unit quaternion.\n *\n * @param out the receiving quaternion\n * @param a quat to calculate the exponential of\n * @param b amount to scale the quaternion by\n * @returns out\n */\nexport function pow(out: Quat, a: Quat, b: number): Quat {\n    ln(out, a);\n    scale(out, out, b);\n    exp(out, out);\n    return out;\n}\n\n/**\n * Performs a spherical linear interpolation between two quat\n *\n * @param out the receiving quaternion\n * @param a the first operand\n * @param b the second operand\n * @param t interpolation amount, in the range [0-1], between the two inputs\n * @returns out\n */\nexport function slerp(out: Quat, a: Quat, b: Quat, t: number): Quat {\n    // benchmarks:\n    //    http://jsperf.com/quaternion-slerp-implementations\n    const ax = a[0];\n    const ay = a[1];\n    const az = a[2];\n    const aw = a[3];\n    let bx = b[0];\n    let by = b[1];\n    let bz = b[2];\n    let bw = b[3];\n\n    let omega: number;\n    let cosom: number;\n    let sinom: number;\n    let scale0: number;\n    let scale1: number;\n\n    // calc cosine\n    cosom = ax * bx + ay * by + az * bz + aw * bw;\n    // adjust signs (if necessary)\n    if (cosom < 0.0) {\n        cosom = -cosom;\n        bx = -bx;\n        by = -by;\n        bz = -bz;\n        bw = -bw;\n    }\n    // calculate coefficients\n    if (1.0 - cosom > EPSILON) {\n        // standard case (slerp)\n        omega = Math.acos(cosom);\n        sinom = Math.sin(omega);\n        scale0 = Math.sin((1.0 - t) * omega) / sinom;\n        scale1 = Math.sin(t * omega) / sinom;\n    } else {\n        // \"from\" and \"to\" quaternions are very close\n        //  ... so we can do a linear interpolation\n        scale0 = 1.0 - t;\n        scale1 = t;\n    }\n    // calculate final values\n    out[0] = scale0 * ax + scale1 * bx;\n    out[1] = scale0 * ay + scale1 * by;\n    out[2] = scale0 * az + scale1 * bz;\n    out[3] = scale0 * aw + scale1 * bw;\n\n    return out;\n}\n\n/**\n * Calculates the inverse of a quat\n *\n * @param out the receiving quaternion\n * @param a quat to calculate inverse of\n * @returns out\n */\nexport function invert(out: Quat, a: Quat): Quat {\n    const a0 = a[0];\n    const a1 = a[1];\n    const a2 = a[2];\n    const a3 = a[3];\n    const dot = a0 * a0 + a1 * a1 + a2 * a2 + a3 * a3;\n\n    if (dot === 0) {\n        out[0] = 0;\n        out[1] = 0;\n        out[2] = 0;\n        out[3] = 0;\n        return out;\n    }\n\n    const invDot = 1.0 / dot;\n    out[0] = -a0 * invDot;\n    out[1] = -a1 * invDot;\n    out[2] = -a2 * invDot;\n    out[3] = a3 * invDot;\n    return out;\n}\n\n/**\n * Calculates the conjugate of a quat\n * If the quaternion is normalized, this function is faster than quat.inverse and produces the same result.\n *\n * @param out the receiving quaternion\n * @param a quat to calculate conjugate of\n * @returns out\n */\nexport function conjugate(out: Quat, a: Quat): Quat {\n    out[0] = -a[0];\n    out[1] = -a[1];\n    out[2] = -a[2];\n    out[3] = a[3];\n    return out;\n}\n\n/**\n * Creates a quaternion from the given 3x3 rotation matrix.\n *\n * NOTE: The resultant quaternion is not normalized, so you should be sure\n * to renormalize the quaternion yourself where necessary.\n *\n * @param out the receiving quaternion\n * @param m rotation matrix\n * @returns out\n */\nexport function fromMat3(out: Quat, m: Mat3): Quat {\n    // Algorithm in Ken Shoemake's article in 1987 SIGGRAPH course notes\n    // article \"Quaternion Calculus and Fast Animation\".\n    const fTrace = m[0] + m[4] + m[8];\n    let fRoot: number;\n\n    if (fTrace > 0.0) {\n        // |w| > 1/2, may as well choose w > 1/2\n        fRoot = Math.sqrt(fTrace + 1.0); // 2w\n        out[3] = 0.5 * fRoot;\n        fRoot = 0.5 / fRoot; // 1/(4w)\n        out[0] = (m[5] - m[7]) * fRoot;\n        out[1] = (m[6] - m[2]) * fRoot;\n        out[2] = (m[1] - m[3]) * fRoot;\n    } else {\n        // |w| <= 1/2\n        let i = 0;\n        if (m[4] > m[0]) i = 1;\n        if (m[8] > m[i * 3 + i]) i = 2;\n        const j = (i + 1) % 3;\n        const k = (i + 2) % 3;\n\n        fRoot = Math.sqrt(m[i * 3 + i] - m[j * 3 + j] - m[k * 3 + k] + 1.0);\n        out[i] = 0.5 * fRoot;\n        fRoot = 0.5 / fRoot;\n        out[3] = (m[j * 3 + k] - m[k * 3 + j]) * fRoot;\n        out[j] = (m[j * 3 + i] + m[i * 3 + j]) * fRoot;\n        out[k] = (m[k * 3 + i] + m[i * 3 + k]) * fRoot;\n    }\n\n    return out;\n}\n\n/**\n * Calculates a quaternion from a 4x4 rotation matrix\n * Extracts the 3x3 rotation part and calls fromMat3\n *\n * @param out the receiving quaternion\n * @param m rotation matrix\n * @returns out\n */\nexport function fromMat4(out: Quat, m: Mat4): Quat {\n    const m3 = mat3.create();\n    mat3.fromMat4(m3, m);\n    return fromMat3(out, m3);\n}\n\n/**\n * Creates a quaternion from the given euler\n * @param out the receiving quaternion\n * @param euler the euler to create the quaternion from\n * @returns out\n */\nexport function fromEuler(out: Quat, euler: Euler): Quat {\n    const x = euler[0];\n    const y = euler[1];\n    const z = euler[2];\n    const order = euler[3] || 'xyz';\n\n    const cos = Math.cos;\n    const sin = Math.sin;\n\n    const c1 = cos(x / 2);\n    const c2 = cos(y / 2);\n    const c3 = cos(z / 2);\n\n    const s1 = sin(x / 2);\n    const s2 = sin(y / 2);\n    const s3 = sin(z / 2);\n\n    switch (order) {\n        case 'xyz':\n            out[0] = s1 * c2 * c3 + c1 * s2 * s3;\n            out[1] = c1 * s2 * c3 - s1 * c2 * s3;\n            out[2] = c1 * c2 * s3 + s1 * s2 * c3;\n            out[3] = c1 * c2 * c3 - s1 * s2 * s3;\n            break;\n\n        case 'yxz':\n            out[0] = s1 * c2 * c3 + c1 * s2 * s3;\n            out[1] = c1 * s2 * c3 - s1 * c2 * s3;\n            out[2] = c1 * c2 * s3 - s1 * s2 * c3;\n            out[3] = c1 * c2 * c3 + s1 * s2 * s3;\n            break;\n\n        case 'zxy':\n            out[0] = s1 * c2 * c3 - c1 * s2 * s3;\n            out[1] = c1 * s2 * c3 + s1 * c2 * s3;\n            out[2] = c1 * c2 * s3 + s1 * s2 * c3;\n            out[3] = c1 * c2 * c3 - s1 * s2 * s3;\n            break;\n\n        case 'zyx':\n            out[0] = s1 * c2 * c3 - c1 * s2 * s3;\n            out[1] = c1 * s2 * c3 + s1 * c2 * s3;\n            out[2] = c1 * c2 * s3 - s1 * s2 * c3;\n            out[3] = c1 * c2 * c3 + s1 * s2 * s3;\n            break;\n\n        case 'yzx':\n            out[0] = s1 * c2 * c3 + c1 * s2 * s3;\n            out[1] = c1 * s2 * c3 + s1 * c2 * s3;\n            out[2] = c1 * c2 * s3 - s1 * s2 * c3;\n            out[3] = c1 * c2 * c3 - s1 * s2 * s3;\n            break;\n\n        case 'xzy':\n            out[0] = s1 * c2 * c3 - c1 * s2 * s3;\n            out[1] = c1 * s2 * c3 - s1 * c2 * s3;\n            out[2] = c1 * c2 * s3 + s1 * s2 * c3;\n            out[3] = c1 * c2 * c3 + s1 * s2 * s3;\n            break;\n\n        default:\n            console.warn(`fromEuler() encountered an unknown order: ${order}`);\n    }\n\n    return out;\n}\n\nconst _fromDegrees_euler: Euler = [0, 0, 0, 'xyz'];\n\n/**\n * Creates a quaternion from euler angles specified in degrees.\n * Shorthand for converting degrees to radians and then creating a quaternion from euler.\n *\n * @param out the receiving quaternion\n * @param x The x euler rotation in degrees\n * @param y The y euler rotation in degrees\n * @param z The z euler rotation in degrees\n * @param order The order of rotation\n * @returns out\n */\nexport function fromDegrees(out: Quat, x: number, y: number, z: number, order: EulerOrder): Quat {\n    _fromDegrees_euler[0] = (x * Math.PI) / 180;\n    _fromDegrees_euler[1] = (y * Math.PI) / 180;\n    _fromDegrees_euler[2] = (z * Math.PI) / 180;\n    _fromDegrees_euler[3] = order;\n\n    return fromEuler(out, _fromDegrees_euler);\n}\n\n/**\n * Returns a string representation of a quaternion\n *\n * @param a vector to represent as a string\n * @returns string representation of the vector\n */\nexport function str(a: Quat): string {\n    return `quat(${a[0]}, ${a[1]}, ${a[2]}, ${a[3]})`;\n}\n\n/**\n * Creates a new quat initialized with values from an existing quaternion\n *\n * @param a quaternion to clone\n * @returns a new quaternion\n */\nexport const clone = vec4.clone;\n\n/**\n * Creates a new quat initialized with the given values\n *\n * @param x X component\n * @param y Y component\n * @param z Z component\n * @param w W component\n * @returns a new quaternion\n */\nexport const fromValues = vec4.fromValues;\n\n/**\n * Copy the values from one quat to another\n *\n * @param out the receiving quaternion\n * @param a the source quaternion\n * @returns out\n */\nexport const copy = vec4.copy;\n\n/**\n * Set the components of a quat to the given values\n *\n * @param out the receiving quaternion\n * @param x X component\n * @param y Y component\n * @param z Z component\n * @param w W component\n * @returns out\n */\nexport const set = vec4.set;\n\n/**\n * Adds two quat's\n *\n * @param out the receiving quaternion\n * @param a the first operand\n * @param b the second operand\n * @returns out\n */\nexport const add = vec4.add;\n\n/**\n * Scales a quat by a scalar number\n *\n * @param out the receiving quaternion\n * @param a the quaternion to scale\n * @param b amount to scale the quaternion by\n * @returns out\n */\nexport const scale = vec4.scale;\n\n/**\n * Calculates the dot product of two quat's\n *\n * @param a the first operand\n * @param b the second operand\n * @returns dot product of a and b\n */\nexport const dot = vec4.dot;\n\n/**\n * Performs a linear interpolation between two quat's\n *\n * @param out the receiving quaternion\n * @param a the first operand\n * @param b the second operand\n * @param t interpolation amount, in the range [0-1], between the two inputs\n * @returns out\n */\nexport const lerp = vec4.lerp;\n\n/**\n * Calculates the length of a quat\n *\n * @param a quaternion to calculate length of\n * @returns length of a\n */\nexport const length = vec4.length;\n\n/**\n * Alias for {@link length}\n */\nexport const len = length;\n\n/**\n * Calculates the squared length of a quat\n *\n * @param a quaternion to calculate squared length of\n * @returns squared length of a\n */\nexport const squaredLength = vec4.squaredLength;\n\n/**\n * Alias for {@link squaredLength}\n */\nexport const sqrLen = squaredLength;\n\n/**\n * Alias for {@link multiply}\n */\nexport const mul = multiply;\n\n/**\n * Normalize a quat\n *\n * @param out the receiving quaternion\n * @param a quaternion to normalize\n * @returns out\n */\nexport const normalize = vec4.normalize;\n\n/**\n * Returns whether or not the quaternions have exactly the same elements in the same position (when compared with ===)\n *\n * @param a The first quaternion.\n * @param b The second quaternion.\n * @returns True if the quaternions are equal, false otherwise.\n */\nexport const exactEquals = vec4.exactEquals;\n\n/**\n * Returns whether or not the quaternions have approximately the same elements in the same position.\n *\n * @param a The first quaternion.\n * @param b The second quaternion.\n * @returns True if the quaternions are equal, false otherwise.\n */\nexport function equals(a: Quat, b: Quat): boolean {\n    return Math.abs(vec4.dot(a, b)) >= 1 - EPSILON;\n}\n\n/**\n * Sets a quaternion to represent the shortest rotation from one\n * vector to another.\n *\n * Both vectors are assumed to be unit length.\n *\n * @param out the receiving quaternion.\n * @param a the initial vector\n * @param b the destination vector\n * @returns out\n */\nexport const rotationTo = /* @__PURE__ */ (() => {\n    const tmpvec3 = vec3.create();\n    const xUnitVec3 = vec3.fromValues(1, 0, 0);\n    const yUnitVec3 = vec3.fromValues(0, 1, 0);\n\n    return (out: Quat, a: Vec3, b: Vec3): Quat => {\n        const dot = vec3.dot(a, b);\n\n        if (dot < -0.999999) {\n            vec3.cross(tmpvec3, xUnitVec3, a);\n            if (vec3.length(tmpvec3) < 0.000001) vec3.cross(tmpvec3, yUnitVec3, a);\n            vec3.normalize(tmpvec3, tmpvec3);\n            setAxisAngle(out, tmpvec3, Math.PI);\n            return out;\n        }\n\n        if (dot > 0.999999) {\n            out[0] = 0;\n            out[1] = 0;\n            out[2] = 0;\n            out[3] = 1;\n            return out;\n        }\n\n        vec3.cross(tmpvec3, a, b);\n        out[0] = tmpvec3[0];\n        out[1] = tmpvec3[1];\n        out[2] = tmpvec3[2];\n        out[3] = 1 + dot;\n        return normalize(out, out);\n    };\n})();\n\n/**\n * Performs a spherical linear interpolation with two control points\n *\n * @param out the receiving quaternion\n * @param a the first operand\n * @param b the second operand\n * @param c the third operand\n * @param d the fourth operand\n * @param t interpolation amount, in the range [0-1], between the two inputs\n * @returns out\n */\nexport const sqlerp = /* @__PURE__ */ (() => {\n    const temp1 = create();\n    const temp2 = create();\n\n    return (out: Quat, a: Quat, b: Quat, c: Quat, d: Quat, t: number): Quat => {\n        slerp(temp1, a, d, t);\n        slerp(temp2, b, c, t);\n        slerp(out, temp1, temp2, 2 * t * (1 - t));\n\n        return out;\n    };\n})();\n\n/**\n * Sets the specified quaternion with values corresponding to the given\n * axes. Each axis is a vec3 and is expected to be unit length and\n * perpendicular to all other specified axes.\n *\n * @param view  the vector representing the viewing direction\n * @param right the vector representing the local \"right\" direction\n * @param up    the vector representing the local \"up\" direction\n * @returns out\n */\nexport const setAxes = /* @__PURE__ */ (() => {\n    const matr = mat3.create();\n\n    return (out: Quat, view: Vec3, right: Vec3, up: Vec3): Quat => {\n        matr[0] = right[0];\n        matr[3] = right[1];\n        matr[6] = right[2];\n\n        matr[1] = up[0];\n        matr[4] = up[1];\n        matr[7] = up[2];\n\n        matr[2] = -view[0];\n        matr[5] = -view[1];\n        matr[8] = -view[2];\n\n        return normalize(out, fromMat3(out, matr));\n    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