math 0.0.0 → 0.1.0

package/dist/core/vec3.js

@@ -0,0 +1,916 @@
+import { EPSILON, round as round$1 } from './scalar.js';
+
+/**
+ * Creates a new, empty vec3
+ *
+ * @returns a new 3D vector
+ */
+function create() {
+    return [0, 0, 0];
+}
+/**
+ * Creates a new vec3 initialized with values from an existing vector
+ *
+ * @param a vector to clone
+ * @returns a new 3D vector
+ */
+function clone(a) {
+    return [a[0], a[1], a[2]];
+}
+/**
+ * Creates a new vec3 initialized with the given values
+ *
+ * @param x X component
+ * @param y Y component
+ * @param z Z component
+ * @returns a new 3D vector
+ */
+function fromValues(x, y, z) {
+    return [x, y, z];
+}
+/**
+ * Calculates the length of a vec3
+ *
+ * @param a vector to calculate length of
+ * @returns length of a
+ */
+function length(a) {
+    const x = a[0];
+    const y = a[1];
+    const z = a[2];
+    return Math.sqrt(x * x + y * y + z * z);
+}
+/**
+ * Copy the values from one vec3 to another
+ *
+ * @param out the receiving vector
+ * @param a the source vector
+ * @returns out
+ */
+function copy(out, a) {
+    out[0] = a[0];
+    out[1] = a[1];
+    out[2] = a[2];
+    return out;
+}
+/**
+ * Set the components of a vec3 to the given values
+ *
+ * @param out the receiving vector
+ * @param x X component
+ * @param y Y component
+ * @param z Z component
+ * @returns out
+ */
+function set(out, x, y, z) {
+    out[0] = x;
+    out[1] = y;
+    out[2] = z;
+    return out;
+}
+/**
+ * Sets all components of a vec3 to the given scalar value
+ *
+ * @param out the receiving vector
+ * @param s scalar value to set
+ * @returns out
+ */
+function setScalar(out, s) {
+    out[0] = s;
+    out[1] = s;
+    out[2] = s;
+    return out;
+}
+/**
+ * Sets the components of a vec3 from a buffer
+ * @param out the receiving vector
+ * @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];
+    return out;
+}
+/**
+ * Writes the components of a vec3 to a buffer
+ * @param outBuffer The output buffer
+ * @param vec The source vector
+ * @param startIndex The starting index in the buffer
+ * @returns The output buffer
+ */
+function toBuffer(outBuffer, vec, startIndex) {
+    outBuffer[startIndex] = vec[0];
+    outBuffer[startIndex + 1] = vec[1];
+    outBuffer[startIndex + 2] = vec[2];
+    return outBuffer;
+}
+/**
+ * Adds two vec3's
+ *
+ * @param out the receiving vector
+ * @param a the first operand
+ * @param b the second operand
+ * @returns out
+ */
+function add(out, a, b) {
+    out[0] = a[0] + b[0];
+    out[1] = a[1] + b[1];
+    out[2] = a[2] + b[2];
+    return out;
+}
+/**
+ * Adds a scalar value to all components of a vec3
+ *
+ * @param out the receiving vector
+ * @param a the source vector
+ * @param b the scalar value to add
+ * @returns out
+ */
+function addScalar(out, a, b) {
+    out[0] = a[0] + b;
+    out[1] = a[1] + b;
+    out[2] = a[2] + b;
+    return out;
+}
+/**
+ * Subtracts vector b from vector a
+ *
+ * @param out the receiving vector
+ * @param a the first operand
+ * @param b the second operand
+ * @returns out
+ */
+function subtract(out, a, b) {
+    out[0] = a[0] - b[0];
+    out[1] = a[1] - b[1];
+    out[2] = a[2] - b[2];
+    return out;
+}
+/**
+ * Subtracts a scalar value from all components of a vec3
+ *
+ * @param out the receiving vector
+ * @param a the source vector
+ * @param b the scalar value to subtract
+ * @returns out
+ */
+function subtractScalar(out, a, b) {
+    out[0] = a[0] - b;
+    out[1] = a[1] - b;
+    out[2] = a[2] - b;
+    return out;
+}
+/**
+ * Multiplies two vec3's
+ *
+ * @param out the receiving vector
+ * @param a the first operand
+ * @param b the second operand
+ * @returns out
+ */
+function multiply(out, a, b) {
+    out[0] = a[0] * b[0];
+    out[1] = a[1] * b[1];
+    out[2] = a[2] * b[2];
+    return out;
+}
+/**
+ * Divides two vec3's
+ *
+ * @param out the receiving vector
+ * @param a the first operand
+ * @param b the second operand
+ * @returns out
+ */
+function divide(out, a, b) {
+    out[0] = a[0] / b[0];
+    out[1] = a[1] / b[1];
+    out[2] = a[2] / b[2];
+    return out;
+}
+/**
+ * Math.ceil the components of a vec3
+ *
+ * @param out the receiving vector
+ * @param a vector to ceil
+ * @returns out
+ */
+function ceil(out, a) {
+    out[0] = Math.ceil(a[0]);
+    out[1] = Math.ceil(a[1]);
+    out[2] = Math.ceil(a[2]);
+    return out;
+}
+/**
+ * Math.floor the components of a vec3
+ *
+ * @param out the receiving vector
+ * @param a vector to floor
+ * @returns out
+ */
+function floor(out, a) {
+    out[0] = Math.floor(a[0]);
+    out[1] = Math.floor(a[1]);
+    out[2] = Math.floor(a[2]);
+    return out;
+}
+/**
+ * Returns the minimum of two vec3's
+ *
+ * @param out the receiving vector
+ * @param a the first operand
+ * @param b the second operand
+ * @returns out
+ */
+function min(out, a, b) {
+    out[0] = Math.min(a[0], b[0]);
+    out[1] = Math.min(a[1], b[1]);
+    out[2] = Math.min(a[2], b[2]);
+    return out;
+}
+/**
+ * Returns the maximum of two vec3's
+ *
+ * @param out the receiving vector
+ * @param a the first operand
+ * @param b the second operand
+ * @returns out
+ */
+function max(out, a, b) {
+    out[0] = Math.max(a[0], b[0]);
+    out[1] = Math.max(a[1], b[1]);
+    out[2] = Math.max(a[2], b[2]);
+    return out;
+}
+/**
+ * symmetric round the components of a vec3
+ *
+ * @param out the receiving vector
+ * @param a vector to round
+ * @returns out
+ */
+function round(out, a) {
+    out[0] = round$1(a[0]);
+    out[1] = round$1(a[1]);
+    out[2] = round$1(a[2]);
+    return out;
+}
+/**
+ * Scales a vec3 by a scalar number
+ *
+ * @param out the receiving vector
+ * @param a the vector to scale
+ * @param b amount to scale the vector by
+ * @returns out
+ */
+function scale(out, a, b) {
+    out[0] = a[0] * b;
+    out[1] = a[1] * b;
+    out[2] = a[2] * b;
+    return out;
+}
+/**
+ * Adds two vec3's after scaling the second operand by a scalar value
+ *
+ * @param out the receiving vector
+ * @param a the first operand
+ * @param b the second operand
+ * @param scale the amount to scale b by before adding
+ * @returns out
+ */
+function scaleAndAdd(out, a, b, scale) {
+    out[0] = a[0] + b[0] * scale;
+    out[1] = a[1] + b[1] * scale;
+    out[2] = a[2] + b[2] * scale;
+    return out;
+}
+/**
+ * Calculates the euclidian distance between two vec3's
+ *
+ * @param a the first operand
+ * @param b the second operand
+ * @returns distance between a and b
+ */
+function distance(a, b) {
+    const x = b[0] - a[0];
+    const y = b[1] - a[1];
+    const z = b[2] - a[2];
+    return Math.sqrt(x * x + y * y + z * z);
+}
+/**
+ * Calculates the squared euclidian distance between two vec3's
+ *
+ * @param a the first operand
+ * @param b the second operand
+ * @returns squared distance between a and b
+ */
+function squaredDistance(a, b) {
+    const x = b[0] - a[0];
+    const y = b[1] - a[1];
+    const z = b[2] - a[2];
+    return x * x + y * y + z * z;
+}
+/**
+ * Calculates the squared length of a vec3
+ *
+ * @param a vector to calculate squared length of
+ * @returns squared length of a
+ */
+function squaredLength(a) {
+    const x = a[0];
+    const y = a[1];
+    const z = a[2];
+    return x * x + y * y + z * z;
+}
+/**
+ * Negates the components of a vec3
+ *
+ * @param out the receiving vector
+ * @param a vector to negate
+ * @returns out
+ */
+function negate(out, a) {
+    out[0] = -a[0];
+    out[1] = -a[1];
+    out[2] = -a[2];
+    return out;
+}
+/**
+ * Returns the inverse of the components of a vec3
+ *
+ * @param out the receiving vector
+ * @param a vector to invert
+ * @returns out
+ */
+function inverse(out, a) {
+    out[0] = 1.0 / a[0];
+    out[1] = 1.0 / a[1];
+    out[2] = 1.0 / a[2];
+    return out;
+}
+/**
+ * Normalize a vec3
+ *
+ * @param out the receiving vector
+ * @param a vector to normalize
+ * @returns out
+ */
+function normalize(out, a) {
+    const x = a[0];
+    const y = a[1];
+    const z = a[2];
+    let len = x * x + y * y + z * z;
+    if (len > 0) {
+        len = 1 / Math.sqrt(len);
+    }
+    out[0] = a[0] * len;
+    out[1] = a[1] * len;
+    out[2] = a[2] * len;
+    return out;
+}
+/**
+ * Calculates the dot product of two vec3's
+ *
+ * @param a the first operand
+ * @param b the second operand
+ * @returns dot product of a and b
+ */
+function dot(a, b) {
+    return a[0] * b[0] + a[1] * b[1] + a[2] * b[2];
+}
+/**
+ * Computes the cross product of two vec3's
+ *
+ * @param out the receiving vector
+ * @param a the first operand
+ * @param b the second operand
+ * @returns out
+ */
+function cross(out, a, b) {
+    const ax = a[0];
+    const ay = a[1];
+    const az = a[2];
+    const bx = b[0];
+    const by = b[1];
+    const bz = b[2];
+    out[0] = ay * bz - az * by;
+    out[1] = az * bx - ax * bz;
+    out[2] = ax * by - ay * bx;
+    return out;
+}
+/**
+ * Calculates a normalized perpendicular vector to the given vector.
+ * Useful for finding an arbitrary orthogonal basis vector.
+ *
+ * The zero vector has no unique perpendicular - every direction qualifies - so it returns the X
+ * axis rather than NaN.
+ *
+ * @param out the receiving vector
+ * @param a the source vector
+ * @returns the out vector
+ */
+function perpendicular(out, a) {
+    if (Math.abs(a[0]) > Math.abs(a[1])) {
+        const len = Math.sqrt(a[0] * a[0] + a[2] * a[2]);
+        const invLen = 1.0 / len;
+        out[0] = a[2] * invLen;
+        out[1] = 0;
+        out[2] = -a[0] * invLen;
+    }
+    else {
+        const len = Math.sqrt(a[1] * a[1] + a[2] * a[2]);
+        if (len === 0) {
+            // the zero vector, the only input that reaches here with no length. every direction is
+            // perpendicular to it, so return one rather than dividing by zero into NaN
+            out[0] = 1;
+            out[1] = 0;
+            out[2] = 0;
+            return out;
+        }
+        const invLen = 1.0 / len;
+        out[0] = 0;
+        out[1] = a[2] * invLen;
+        out[2] = -a[1] * invLen;
+    }
+    return out;
+}
+/**
+ * Performs a linear interpolation between two vec3's
+ *
+ * @param out the receiving vector
+ * @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 lerp(out, a, b, t) {
+    const ax = a[0];
+    const ay = a[1];
+    const az = a[2];
+    out[0] = ax + t * (b[0] - ax);
+    out[1] = ay + t * (b[1] - ay);
+    out[2] = az + t * (b[2] - az);
+    return out;
+}
+/**
+ * Quadratic interpolation through three vectors using Lagrange interpolation.
+ * Passes through a at t=0, b at t=0.5, and c at t=1.
+ *
+ * @param out the receiving vector
+ * @param a vector at t=0
+ * @param b vector at t=0.5
+ * @param c vector at t=1
+ * @param t interpolation amount
+ * @returns out
+ */
+function lagrange(out, a, b, c, t) {
+    const c0 = 2 * (t - 1) * (t - 0.5);
+    const c1 = -4 * (t - 1) * t;
+    const c2 = 2 * (t - 0.5) * t;
+    out[0] = c0 * a[0] + c1 * b[0] + c2 * c[0];
+    out[1] = c0 * a[1] + c1 * b[1] + c2 * c[1];
+    out[2] = c0 * a[2] + c1 * b[2] + c2 * c[2];
+    return out;
+}
+/**
+ * Performs a spherical linear interpolation between two vec3's
+ *
+ * @param out the receiving vector
+ * @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) {
+    const angle = Math.acos(Math.min(Math.max(dot(a, b), -1), 1));
+    const sinTotal = Math.sin(angle);
+    const ratioA = Math.sin((1 - t) * angle) / sinTotal;
+    const ratioB = Math.sin(t * angle) / sinTotal;
+    out[0] = ratioA * a[0] + ratioB * b[0];
+    out[1] = ratioA * a[1] + ratioB * b[1];
+    out[2] = ratioA * a[2] + ratioB * b[2];
+    return out;
+}
+/**
+ * Performs a hermite interpolation with two control points
+ *
+ * @param out the receiving vector
+ * @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
+ */
+function hermite(out, a, b, c, d, t) {
+    const factorTimes2 = t * t;
+    const factor1 = factorTimes2 * (2 * t - 3) + 1;
+    const factor2 = factorTimes2 * (t - 2) + t;
+    const factor3 = factorTimes2 * (t - 1);
+    const factor4 = factorTimes2 * (3 - 2 * t);
+    out[0] = a[0] * factor1 + b[0] * factor2 + c[0] * factor3 + d[0] * factor4;
+    out[1] = a[1] * factor1 + b[1] * factor2 + c[1] * factor3 + d[1] * factor4;
+    out[2] = a[2] * factor1 + b[2] * factor2 + c[2] * factor3 + d[2] * factor4;
+    return out;
+}
+/**
+ * Performs a bezier interpolation with two control points
+ *
+ * @param out the receiving vector
+ * @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
+ */
+function bezier(out, a, b, c, d, t) {
+    const inverseFactor = 1 - t;
+    const inverseFactorTimesTwo = inverseFactor * inverseFactor;
+    const factorTimes2 = t * t;
+    const factor1 = inverseFactorTimesTwo * inverseFactor;
+    const factor2 = 3 * t * inverseFactorTimesTwo;
+    const factor3 = 3 * factorTimes2 * inverseFactor;
+    const factor4 = factorTimes2 * t;
+    out[0] = a[0] * factor1 + b[0] * factor2 + c[0] * factor3 + d[0] * factor4;
+    out[1] = a[1] * factor1 + b[1] * factor2 + c[1] * factor3 + d[1] * factor4;
+    out[2] = a[2] * factor1 + b[2] * factor2 + c[2] * factor3 + d[2] * factor4;
+    return out;
+}
+/**
+ * Transforms the vec3 with a mat4.
+ * 4th vector component is implicitly '1'
+ *
+ * @param out the receiving vector
+ * @param a the vector to transform
+ * @param m matrix to transform with
+ * @returns out
+ */
+function transformMat4(out, a, m) {
+    const x = a[0];
+    const y = a[1];
+    const z = a[2];
+    let w = m[3] * x + m[7] * y + m[11] * z + m[15];
+    w = w || 1.0;
+    out[0] = (m[0] * x + m[4] * y + m[8] * z + m[12]) / w;
+    out[1] = (m[1] * x + m[5] * y + m[9] * z + m[13]) / w;
+    out[2] = (m[2] * x + m[6] * y + m[10] * z + m[14]) / w;
+    return out;
+}
+/**
+ * Transforms the vec3 with a mat3.
+ *
+ * @param out the receiving vector
+ * @param a the vector to transform
+ * @param m the 3x3 matrix to transform with
+ * @returns out
+ */
+function transformMat3(out, a, m) {
+    const x = a[0];
+    const y = a[1];
+    const z = a[2];
+    out[0] = x * m[0] + y * m[3] + z * m[6];
+    out[1] = x * m[1] + y * m[4] + z * m[7];
+    out[2] = x * m[2] + y * m[5] + z * m[8];
+    return out;
+}
+/**
+ * Transforms the vec3 with a quat
+ * Can also be used for dual quaternions. (Multiply it with the real part)
+ *
+ * @param out the receiving vector
+ * @param a the vector to transform
+ * @param q quaternion to transform with
+ * @returns out
+ */
+function transformQuat(out, a, q) {
+    // benchmarks: https://jsperf.com/quaternion-transform-vec3-implementations-fixed
+    const qx = q[0];
+    const qy = q[1];
+    const qz = q[2];
+    const qw = q[3];
+    const x = a[0];
+    const y = a[1];
+    const z = a[2];
+    // var qvec = [qx, qy, qz];
+    // var uv = vec3.cross([], qvec, a);
+    let uvx = qy * z - qz * y;
+    let uvy = qz * x - qx * z;
+    let uvz = qx * y - qy * x;
+    // var uuv = vec3.cross([], qvec, uv);
+    let uuvx = qy * uvz - qz * uvy;
+    let uuvy = qz * uvx - qx * uvz;
+    let uuvz = qx * uvy - qy * uvx;
+    // vec3.scale(uv, uv, 2 * w);
+    const w2 = qw * 2;
+    uvx *= w2;
+    uvy *= w2;
+    uvz *= w2;
+    // vec3.scale(uuv, uuv, 2);
+    uuvx *= 2;
+    uuvy *= 2;
+    uuvz *= 2;
+    // return vec3.add(out, a, vec3.add(out, uv, uuv));
+    out[0] = x + uvx + uuvx;
+    out[1] = y + uvy + uuvy;
+    out[2] = z + uvz + uuvz;
+    return out;
+}
+/**
+ * Rotate a 3D vector around the x-axis
+ * @param out The receiving vec3
+ * @param a The vec3 point to rotate
+ * @param b The origin of the rotation
+ * @param rad The angle of rotation in radians
+ * @returns out
+ */
+function rotateX(out, a, b, rad) {
+    const p = [];
+    const r = [];
+    //Translate point to the origin
+    p[0] = a[0] - b[0];
+    p[1] = a[1] - b[1];
+    p[2] = a[2] - b[2];
+    //perform rotation
+    r[0] = p[0];
+    r[1] = p[1] * Math.cos(rad) - p[2] * Math.sin(rad);
+    r[2] = p[1] * Math.sin(rad) + p[2] * Math.cos(rad);
+    //translate to correct position
+    out[0] = r[0] + b[0];
+    out[1] = r[1] + b[1];
+    out[2] = r[2] + b[2];
+    return out;
+}
+/**
+ * Rotate a 3D vector around the y-axis
+ * @param out The receiving vec3
+ * @param a The vec3 point to rotate
+ * @param b The origin of the rotation
+ * @param rad The angle of rotation in radians
+ * @returns out
+ */
+function rotateY(out, a, b, rad) {
+    const p = [];
+    const r = [];
+    // translate point to the origin
+    p[0] = a[0] - b[0];
+    p[1] = a[1] - b[1];
+    p[2] = a[2] - b[2];
+    // perform rotation
+    r[0] = p[2] * Math.sin(rad) + p[0] * Math.cos(rad);
+    r[1] = p[1];
+    r[2] = p[2] * Math.cos(rad) - p[0] * Math.sin(rad);
+    // translate to correct position
+    out[0] = r[0] + b[0];
+    out[1] = r[1] + b[1];
+    out[2] = r[2] + b[2];
+    return out;
+}
+/**
+ * Rotate a 3D vector around the z-axis
+ * @param out The receiving vec3
+ * @param a The vec3 point to rotate
+ * @param b The origin of the rotation
+ * @param rad The angle of rotation in radians
+ * @returns out
+ */
+function rotateZ(out, a, b, rad) {
+    const p = [];
+    const r = [];
+    // translate point to the origin
+    p[0] = a[0] - b[0];
+    p[1] = a[1] - b[1];
+    p[2] = a[2] - b[2];
+    // perform rotation
+    r[0] = p[0] * Math.cos(rad) - p[1] * Math.sin(rad);
+    r[1] = p[0] * Math.sin(rad) + p[1] * Math.cos(rad);
+    r[2] = p[2];
+    // translate to correct position
+    out[0] = r[0] + b[0];
+    out[1] = r[1] + b[1];
+    out[2] = r[2] + b[2];
+    return out;
+}
+/**
+ * Get the angle between two 3D vectors
+ * @param a The first operand
+ * @param b The second operand
+ * @returns The angle in radians
+ */
+function angle(a, b) {
+    const ax = a[0];
+    const ay = a[1];
+    const az = a[2];
+    const bx = b[0];
+    const by = b[1];
+    const bz = b[2];
+    const mag = Math.sqrt((ax * ax + ay * ay + az * az) * (bx * bx + by * by + bz * bz));
+    const cosine = mag && dot(a, b) / mag;
+    return Math.acos(Math.min(Math.max(cosine, -1), 1));
+}
+/**
+ * Get the signed angle from `a` to `b` measured about `axis`, in the range (-PI, PI].
+ *
+ * Positive is counter-clockwise when `axis` points toward the viewer. Only the components of
+ * `a` and `b` in the plane perpendicular to `axis` contribute, so they need not be
+ * perpendicular to it. Returns 0 if either projects to the zero vector.
+ *
+ * Unlike {@link angle}, this distinguishes the two directions of rotation, which is what
+ * hinge limits and turn directions need.
+ *
+ * @param a the first operand
+ * @param b the second operand
+ * @param axis the axis to measure the rotation about, assumed to be unit length
+ * @returns the signed angle in radians
+ */
+function signedAngle(a, b, axis) {
+    const nx = axis[0];
+    const ny = axis[1];
+    const nz = axis[2];
+    // drop the components along the axis - they carry no signed angle
+    const ad = a[0] * nx + a[1] * ny + a[2] * nz;
+    const ax = a[0] - nx * ad;
+    const ay = a[1] - ny * ad;
+    const az = a[2] - nz * ad;
+    const bd = b[0] * nx + b[1] * ny + b[2] * nz;
+    const bx = b[0] - nx * bd;
+    const by = b[1] - ny * bd;
+    const bz = b[2] - nz * bd;
+    // (a x b) . axis is |a||b|sin(theta), a . b is |a||b|cos(theta)
+    const cx = ay * bz - az * by;
+    const cy = az * bx - ax * bz;
+    const cz = ax * by - ay * bx;
+    return Math.atan2(cx * nx + cy * ny + cz * nz, ax * bx + ay * by + az * bz);
+}
+const _rotateTowards_axis = [0, 0, 0];
+/**
+ * Rotates the unit vector `from` toward the unit vector `to` by at most `maxAngle` radians.
+ *
+ * When the two are already within `maxAngle` this copies `to`, so the function doubles as a
+ * cone clamp: the result is `to`, limited to lie within `maxAngle` of `from`. That is the form
+ * a rotor joint limit and a per-frame turn rate both want.
+ *
+ * Both inputs are assumed to be unit length, and the result is unit length. `maxAngle` is treated
+ * as 0 if negative. When the inputs are exactly antiparallel the rotation plane is undefined
+ * and an arbitrary perpendicular is used.
+ *
+ * @param out the receiving vector
+ * @param from the unit vector to rotate away from
+ * @param to the unit vector to rotate toward
+ * @param maxAngle the maximum rotation, in radians
+ * @returns out
+ */
+function rotateTowards(out, from, to, maxAngle) {
+    const fx = from[0];
+    const fy = from[1];
+    const fz = from[2];
+    const tx = to[0];
+    const ty = to[1];
+    const tz = to[2];
+    const cosine = Math.min(Math.max(fx * tx + fy * ty + fz * tz, -1), 1);
+    const limit = maxAngle > 0 ? maxAngle : 0;
+    if (Math.acos(cosine) <= limit) {
+        out[0] = tx;
+        out[1] = ty;
+        out[2] = tz;
+        return out;
+    }
+    // the rotation plane is spanned by the two vectors, so its normal is their cross product
+    let axisX = fy * tz - fz * ty;
+    let axisY = fz * tx - fx * tz;
+    let axisZ = fx * ty - fy * tx;
+    const axisLength = Math.sqrt(axisX * axisX + axisY * axisY + axisZ * axisZ);
+    if (axisLength < 1e-8) {
+        // antiparallel: every plane containing `from` is equally valid, so pick one
+        perpendicular(_rotateTowards_axis, from);
+        axisX = _rotateTowards_axis[0];
+        axisY = _rotateTowards_axis[1];
+        axisZ = _rotateTowards_axis[2];
+    }
+    else {
+        const inverseLength = 1 / axisLength;
+        axisX *= inverseLength;
+        axisY *= inverseLength;
+        axisZ *= inverseLength;
+    }
+    // rodrigues rotation of `from` about `axis`
+    const c = Math.cos(limit);
+    const s = Math.sin(limit);
+    const d = (axisX * fx + axisY * fy + axisZ * fz) * (1 - c);
+    out[0] = fx * c + (axisY * fz - axisZ * fy) * s + axisX * d;
+    out[1] = fy * c + (axisZ * fx - axisX * fz) * s + axisY * d;
+    out[2] = fz * c + (axisX * fy - axisY * fx) * s + axisZ * d;
+    return out;
+}
+/**
+ * Set the components of a vec3 to zero
+ *
+ * @param out the receiving vector
+ * @returns out
+ */
+function zero(out) {
+    out[0] = 0.0;
+    out[1] = 0.0;
+    out[2] = 0.0;
+    return out;
+}
+/**
+ * Returns a string representation of a vector
+ *
+ * @param a vector to represent as a string
+ * @returns string representation of the vector
+ */
+function str(a) {
+    return `vec3(${a[0]}, ${a[1]}, ${a[2]})`;
+}
+/**
+ * Returns whether or not the vectors have exactly the same elements in the same position (when compared with ===)
+ *
+ * @param a The first vector.
+ * @param b The second vector.
+ * @returns True if the vectors are equal, false otherwise.
+ */
+function exactEquals(a, b) {
+    return a[0] === b[0] && a[1] === b[1] && a[2] === b[2];
+}
+/**
+ * Returns whether or not the vectors have approximately the same elements in the same position.
+ *
+ * @param a The first vector.
+ * @param b The second vector.
+ * @returns True if the vectors are equal, false otherwise.
+ */
+function equals(a, b) {
+    const a0 = a[0];
+    const a1 = a[1];
+    const a2 = a[2];
+    const b0 = b[0];
+    const b1 = b[1];
+    const b2 = b[2];
+    return (Math.abs(a0 - b0) <= EPSILON * Math.max(1.0, Math.abs(a0), Math.abs(b0)) &&
+        Math.abs(a1 - b1) <= EPSILON * Math.max(1.0, Math.abs(a1), Math.abs(b1)) &&
+        Math.abs(a2 - b2) <= EPSILON * Math.max(1.0, Math.abs(a2), Math.abs(b2)));
+}
+/**
+ * Returns whether or not the vector is finite
+ * @param a vector to test
+ * @returns whether or not the vector is finite
+ */
+function finite(a) {
+    return Number.isFinite(a[0]) && Number.isFinite(a[1]) && Number.isFinite(a[2]);
+}
+/**
+ * Determines if a scale vector represents an inside-out transformation (reflection)
+ * Returns true if an odd number of scale components are negative
+ *
+ * @param scale The scale vector to test
+ * @returns true if the scale represents a reflection (odd number of negative components)
+ */
+function isScaleInsideOut(scale) {
+    // create a bitmask of which components are negative
+    // each component that is < 0 contributes a bit (1, 2, or 4)
+    const mask = (scale[0] < 0 ? 1 : 0) | (scale[1] < 0 ? 2 : 0) | (scale[2] < 0 ? 4 : 0);
+    // count the number of set bits and return true if odd
+    // popcount: count number of 1-bits in the mask
+    let count = 0;
+    let m = mask;
+    while (m) {
+        count += m & 1;
+        m >>= 1;
+    }
+    return (count & 1) !== 0;
+}
+/**
+ * Alias for {@link subtract}
+ */
+const sub = subtract;
+/**
+ * Alias for {@link multiply}
+ */
+const mul = multiply;
+/**
+ * Alias for {@link divide}
+ */
+const div = divide;
+/**
+ * Alias for {@link distance}
+ */
+const dist = distance;
+/**
+ * Alias for {@link squaredDistance}
+ */
+const sqrDist = squaredDistance;
+/**
+ * Alias for {@link length}
+ */
+const len = length;
+/**
+ * Alias for {@link squaredLength}
+ */
+const sqrLen = squaredLength;
+
+export { add, addScalar, angle, bezier, ceil, clone, copy, create, cross, dist, distance, div, divide, dot, equals, exactEquals, finite, floor, fromBuffer, fromValues, hermite, inverse, isScaleInsideOut, lagrange, len, length, lerp, max, min, mul, multiply, negate, normalize, perpendicular, rotateTowards, rotateX, rotateY, rotateZ, round, scale, scaleAndAdd, set, setScalar, signedAngle, slerp, sqrDist, sqrLen, squaredDistance, squaredLength, str, sub, subtract, subtractScalar, toBuffer, transformMat3, transformMat4, transformQuat, zero };
+//# sourceMappingURL=vec3.js.map