math 0.0.3 → 0.1.0

package/dist/core/vec2.js

@@ -0,0 +1,597 @@
+import { EPSILON, round as round$1 } from './scalar.js';
+
+/**
+ * Creates a new, empty vec2
+ *
+ * @returns a new 2D vector
+ */
+function create() {
+    return [0, 0];
+}
+/**
+ * Creates a new vec2 initialized with values from an existing vector
+ *
+ * @param a vector to clone
+ * @returns a new 2D vector
+ */
+function clone(a) {
+    return [a[0], a[1]];
+}
+/**
+ * Creates a new vec2 initialized with the given values
+ *
+ * @param x X component
+ * @param y Y component
+ * @returns a new 2D vector
+ */
+function fromValues(x, y) {
+    return [x, y];
+}
+/**
+ * Copy the values from one vec2 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];
+    return out;
+}
+/**
+ * Set the components of a vec2 to the given values
+ *
+ * @param out the receiving vector
+ * @param x X component
+ * @param y Y component
+ * @returns out
+ */
+function set(out, x, y) {
+    out[0] = x;
+    out[1] = y;
+    return out;
+}
+/**
+ * Sets the components of a vec2 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];
+    return out;
+}
+/**
+ * Writes the components of a vec2 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];
+    return outBuffer;
+}
+/**
+ * Adds two vec2'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];
+    return out;
+}
+/**
+ * Adds a scalar value to all components of a vec2
+ *
+ * @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;
+    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];
+    return out;
+}
+/**
+ * Subtracts a scalar value from all components of a vec2
+ *
+ * @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;
+    return out;
+}
+/**
+ * Multiplies two vec2'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];
+    return out;
+}
+/**
+ * Divides two vec2'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];
+    return out;
+}
+/**
+ * Math.ceil the components of a vec2
+ *
+ * @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]);
+    return out;
+}
+/**
+ * Math.floor the components of a vec2
+ *
+ * @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]);
+    return out;
+}
+/**
+ * Returns the minimum of two vec2'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]);
+    return out;
+}
+/**
+ * Returns the maximum of two vec2'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]);
+    return out;
+}
+/**
+ * symmetric round the components of a vec2
+ *
+ * @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]);
+    return out;
+}
+/**
+ * Scales a vec2 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;
+    return out;
+}
+/**
+ * Adds two vec2'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;
+    return out;
+}
+/**
+ * Calculates the euclidian distance between two vec2'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];
+    return Math.sqrt(x * x + y * y);
+}
+/**
+ * Calculates the squared euclidian distance between two vec2'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];
+    return x * x + y * y;
+}
+/**
+ * Calculates the length of a vec2
+ *
+ * @param a vector to calculate length of
+ * @returns length of a
+ */
+function length(a) {
+    const x = a[0];
+    const y = a[1];
+    return Math.sqrt(x * x + y * y);
+}
+/**
+ * Calculates the squared length of a vec2
+ *
+ * @param a vector to calculate squared length of
+ * @returns squared length of a
+ */
+function squaredLength(a) {
+    const x = a[0];
+    const y = a[1];
+    return x * x + y * y;
+}
+/**
+ * Negates the components of a vec2
+ *
+ * @param out the receiving vector
+ * @param a vector to negate
+ * @returns out
+ */
+function negate(out, a) {
+    out[0] = -a[0];
+    out[1] = -a[1];
+    return out;
+}
+/**
+ * Returns the inverse of the components of a vec2
+ *
+ * @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];
+    return out;
+}
+/**
+ * Normalize a vec2
+ *
+ * @param out the receiving vector
+ * @param a vector to normalize
+ * @returns out
+ */
+function normalize(out, a) {
+    const x = a[0];
+    const y = a[1];
+    let len = x * x + y * y;
+    if (len > 0) {
+        len = 1 / Math.sqrt(len);
+    }
+    out[0] = a[0] * len;
+    out[1] = a[1] * len;
+    return out;
+}
+/**
+ * Calculates the dot product of two vec2'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];
+}
+/**
+ * Computes the cross product of two vec2's
+ * Note that the cross product must by definition produce a 3D vector
+ *
+ * @param out the receiving vector
+ * @param a the first operand
+ * @param b the second operand
+ * @returns out
+ */
+function cross(out, a, b) {
+    const z = a[0] * b[1] - a[1] * b[0];
+    out[0] = out[1] = 0;
+    out[2] = z;
+    return out;
+}
+/**
+ * Performs a linear interpolation between two vec2'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];
+    out[0] = ax + t * (b[0] - ax);
+    out[1] = ay + t * (b[1] - ay);
+    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];
+    return out;
+}
+/**
+ * Transforms the vec2 with a mat2
+ *
+ * @param out the receiving vector
+ * @param a the vector to transform
+ * @param m matrix to transform with
+ * @returns out
+ */
+function transformMat2(out, a, m) {
+    const x = a[0];
+    const y = a[1];
+    out[0] = m[0] * x + m[2] * y;
+    out[1] = m[1] * x + m[3] * y;
+    return out;
+}
+/**
+ * Transforms the vec2 with a mat2d
+ *
+ * @param out the receiving vector
+ * @param a the vector to transform
+ * @param m matrix to transform with
+ * @returns out
+ */
+function transformMat2d(out, a, m) {
+    const x = a[0];
+    const y = a[1];
+    out[0] = m[0] * x + m[2] * y + m[4];
+    out[1] = m[1] * x + m[3] * y + m[5];
+    return out;
+}
+/**
+ * Transforms the vec2 with a mat3
+ * 3rd 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 transformMat3(out, a, m) {
+    const x = a[0];
+    const y = a[1];
+    out[0] = m[0] * x + m[3] * y + m[6];
+    out[1] = m[1] * x + m[4] * y + m[7];
+    return out;
+}
+/**
+ * Transforms the vec2 with a mat4
+ * 3rd vector component is implicitly '0'
+ * 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];
+    out[0] = m[0] * x + m[4] * y + m[12];
+    out[1] = m[1] * x + m[5] * y + m[13];
+    return out;
+}
+/**
+ * Rotate a 2D vector
+ * @param out The receiving vec2
+ * @param a The vec2 point to rotate
+ * @param b The origin of the rotation
+ * @param rad The angle of rotation in radians
+ * @returns out
+ */
+function rotate(out, a, b, rad) {
+    //Translate point to the origin
+    const p0 = a[0] - b[0];
+    const p1 = a[1] - b[1];
+    const sinC = Math.sin(rad);
+    const cosC = Math.cos(rad);
+    //perform rotation and translate to correct position
+    out[0] = p0 * cosC - p1 * sinC + b[0];
+    out[1] = p0 * sinC + p1 * cosC + b[1];
+    return out;
+}
+/**
+ * Get the angle between two 2D vectors
+ * @param a The first operand
+ * @param b The second operand
+ * @returns The angle in radians
+ */
+function angle(a, b) {
+    const x1 = a[0];
+    const y1 = a[1];
+    const x2 = b[0];
+    const y2 = b[1];
+    // mag is the product of the magnitudes of a and b
+    const mag = Math.sqrt((x1 * x1 + y1 * y1) * (x2 * x2 + y2 * y2));
+    // mag &&.. short circuits if mag == 0
+    const cosine = mag && (x1 * x2 + y1 * y2) / mag;
+    // Math.min(Math.max(cosine, -1), 1) clamps the cosine between -1 and 1
+    return Math.acos(Math.min(Math.max(cosine, -1), 1));
+}
+/**
+ * Get the signed angle from `a` to `b`, in the range (-PI, PI].
+ *
+ * Positive is counter-clockwise. Returns 0 if either vector is zero length.
+ *
+ * Unlike {@link angle}, this distinguishes the two directions of rotation, which is what
+ * joint limits and turn directions need.
+ *
+ * @param a the first operand
+ * @param b the second operand
+ * @returns the signed angle in radians
+ */
+function signedAngle(a, b) {
+    const ax = a[0];
+    const ay = a[1];
+    const bx = b[0];
+    const by = b[1];
+    // the 2D cross product is |a||b|sin(theta), the dot product is |a||b|cos(theta)
+    return Math.atan2(ax * by - ay * bx, ax * bx + ay * by);
+}
+/**
+ * Set the components of a vec2 to zero
+ *
+ * @param out the receiving vector
+ * @returns out
+ */
+function zero(out) {
+    out[0] = 0.0;
+    out[1] = 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 `vec2(${a[0]}, ${a[1]})`;
+}
+/**
+ * Returns whether or not the vectors exactly have 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];
+}
+/**
+ * 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 b0 = b[0];
+    const b1 = b[1];
+    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)));
+}
+/**
+ * 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]);
+}
+/**
+ * Alias for {@link length}
+ */
+const len = length;
+/**
+ * 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 squaredLength}
+ */
+const sqrLen = squaredLength;
+
+export { add, addScalar, angle, ceil, clone, copy, create, cross, dist, distance, div, divide, dot, equals, exactEquals, finite, floor, fromBuffer, fromValues, inverse, lagrange, len, length, lerp, max, min, mul, multiply, negate, normalize, rotate, round, scale, scaleAndAdd, set, signedAngle, sqrDist, sqrLen, squaredDistance, squaredLength, str, sub, subtract, subtractScalar, toBuffer, transformMat2, transformMat2d, transformMat3, transformMat4, zero };
+//# sourceMappingURL=vec2.js.map

package/dist/core/vec2.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"vec2.js","sources":["../../src/core/vec2.ts"],"sourcesContent":["import type { MutableArrayLike } from './arrays';\nimport type { Mat2 } from './mat2';\nimport type { Mat2d } from './mat2d';\nimport type { Mat3 } from './mat3';\nimport type { Mat4 } from './mat4';\nimport * as scalar from './scalar';\nimport type { Vec3 } from './vec3';\n\n/** A 2D vector */\nexport type Vec2 = [x: number, y: number];\n\n/**\n * Creates a new, empty vec2\n *\n * @returns a new 2D vector\n */\nexport function create(): Vec2 {\n    return [0, 0];\n}\n\n/**\n * Creates a new vec2 initialized with values from an existing vector\n *\n * @param a vector to clone\n * @returns a new 2D vector\n */\nexport function clone(a: Vec2): Vec2 {\n    return [a[0], a[1]];\n}\n\n/**\n * Creates a new vec2 initialized with the given values\n *\n * @param x X component\n * @param y Y component\n * @returns a new 2D vector\n */\nexport function fromValues(x: number, y: number): Vec2 {\n    return [x, y];\n}\n\n/**\n * Copy the values from one vec2 to another\n *\n * @param out the receiving vector\n * @param a the source vector\n * @returns out\n */\nexport function copy(out: Vec2, a: Vec2): Vec2 {\n    out[0] = a[0];\n    out[1] = a[1];\n    return out;\n}\n\n/**\n * Set the components of a vec2 to the given values\n *\n * @param out the receiving vector\n * @param x X component\n * @param y Y component\n * @returns out\n */\nexport function set(out: Vec2, x: number, y: number): Vec2 {\n    out[0] = x;\n    out[1] = y;\n    return out;\n}\n\n/**\n * Sets the components of a vec2 from a buffer\n * @param out the receiving vector\n * @param buffer the source buffer\n * @param startIndex the starting index in the buffer\n * @returns out\n */\nexport function fromBuffer(out: Vec2, buffer: ArrayLike<number>, startIndex: number): Vec2 {\n    out[0] = buffer[startIndex];\n    out[1] = buffer[startIndex + 1];\n    return out;\n}\n\n/**\n * Writes the components of a vec2 to a buffer\n * @param outBuffer The output buffer\n * @param vec The source vector\n * @param startIndex The starting index in the buffer\n * @returns The output buffer\n */\nexport function toBuffer(outBuffer: MutableArrayLike<number>, vec: Vec2, startIndex: number): MutableArrayLike<number> {\n    outBuffer[startIndex] = vec[0];\n    outBuffer[startIndex + 1] = vec[1];\n    return outBuffer;\n}\n\n/**\n * Adds two vec2's\n *\n * @param out the receiving vector\n * @param a the first operand\n * @param b the second operand\n * @returns out\n */\nexport function add(out: Vec2, a: Vec2, b: Vec2): Vec2 {\n    out[0] = a[0] + b[0];\n    out[1] = a[1] + b[1];\n    return out;\n}\n\n/**\n * Adds a scalar value to all components of a vec2\n *\n * @param out the receiving vector\n * @param a the source vector\n * @param b the scalar value to add\n * @returns out\n */\nexport function addScalar(out: Vec2, a: Vec2, b: number): Vec2 {\n    out[0] = a[0] + b;\n    out[1] = a[1] + b;\n    return out;\n}\n\n/**\n * Subtracts vector b from vector a\n *\n * @param out the receiving vector\n * @param a the first operand\n * @param b the second operand\n * @returns out\n */\nexport function subtract(out: Vec2, a: Vec2, b: Vec2): Vec2 {\n    out[0] = a[0] - b[0];\n    out[1] = a[1] - b[1];\n    return out;\n}\n\n/**\n * Subtracts a scalar value from all components of a vec2\n *\n * @param out the receiving vector\n * @param a the source vector\n * @param b the scalar value to subtract\n * @returns out\n */\nexport function subtractScalar(out: Vec2, a: Vec2, b: number): Vec2 {\n    out[0] = a[0] - b;\n    out[1] = a[1] - b;\n    return out;\n}\n\n/**\n * Multiplies two vec2's\n *\n * @param out the receiving vector\n * @param a the first operand\n * @param b the second operand\n * @returns out\n */\nexport function multiply(out: Vec2, a: Vec2, b: Vec2): Vec2 {\n    out[0] = a[0] * b[0];\n    out[1] = a[1] * b[1];\n    return out;\n}\n\n/**\n * Divides two vec2's\n *\n * @param out the receiving vector\n * @param a the first operand\n * @param b the second operand\n * @returns out\n */\nexport function divide(out: Vec2, a: Vec2, b: Vec2): Vec2 {\n    out[0] = a[0] / b[0];\n    out[1] = a[1] / b[1];\n    return out;\n}\n\n/**\n * Math.ceil the components of a vec2\n *\n * @param out the receiving vector\n * @param a vector to ceil\n * @returns out\n */\nexport function ceil(out: Vec2, a: Vec2): Vec2 {\n    out[0] = Math.ceil(a[0]);\n    out[1] = Math.ceil(a[1]);\n    return out;\n}\n\n/**\n * Math.floor the components of a vec2\n *\n * @param out the receiving vector\n * @param a vector to floor\n * @returns out\n */\nexport function floor(out: Vec2, a: Vec2): Vec2 {\n    out[0] = Math.floor(a[0]);\n    out[1] = Math.floor(a[1]);\n    return out;\n}\n\n/**\n * Returns the minimum of two vec2's\n *\n * @param out the receiving vector\n * @param a the first operand\n * @param b the second operand\n * @returns out\n */\nexport function min(out: Vec2, a: Vec2, b: Vec2): Vec2 {\n    out[0] = Math.min(a[0], b[0]);\n    out[1] = Math.min(a[1], b[1]);\n    return out;\n}\n\n/**\n * Returns the maximum of two vec2's\n *\n * @param out the receiving vector\n * @param a the first operand\n * @param b the second operand\n * @returns out\n */\nexport function max(out: Vec2, a: Vec2, b: Vec2): Vec2 {\n    out[0] = Math.max(a[0], b[0]);\n    out[1] = Math.max(a[1], b[1]);\n    return out;\n}\n\n/**\n * symmetric round the components of a vec2\n *\n * @param out the receiving vector\n * @param a vector to round\n * @returns out\n */\nexport function round(out: Vec2, a: Vec2): Vec2 {\n    out[0] = scalar.round(a[0]);\n    out[1] = scalar.round(a[1]);\n    return out;\n}\n\n/**\n * Scales a vec2 by a scalar number\n *\n * @param out the receiving vector\n * @param a the vector to scale\n * @param b amount to scale the vector by\n * @returns out\n */\nexport function scale(out: Vec2, a: Vec2, b: number): Vec2 {\n    out[0] = a[0] * b;\n    out[1] = a[1] * b;\n    return out;\n}\n\n/**\n * Adds two vec2's after scaling the second operand by a scalar value\n *\n * @param out the receiving vector\n * @param a the first operand\n * @param b the second operand\n * @param scale the amount to scale b by before adding\n * @returns out\n */\nexport function scaleAndAdd(out: Vec2, a: Vec2, b: Vec2, scale: number): Vec2 {\n    out[0] = a[0] + b[0] * scale;\n    out[1] = a[1] + b[1] * scale;\n    return out;\n}\n\n/**\n * Calculates the euclidian distance between two vec2's\n *\n * @param a the first operand\n * @param b the second operand\n * @returns distance between a and b\n */\nexport function distance(a: Vec2, b: Vec2): number {\n    const x = b[0] - a[0];\n    const y = b[1] - a[1];\n    return Math.sqrt(x * x + y * y);\n}\n\n/**\n * Calculates the squared euclidian distance between two vec2's\n *\n * @param a the first operand\n * @param b the second operand\n * @returns squared distance between a and b\n */\nexport function squaredDistance(a: Vec2, b: Vec2): number {\n    const x = b[0] - a[0];\n    const y = b[1] - a[1];\n    return x * x + y * y;\n}\n\n/**\n * Calculates the length of a vec2\n *\n * @param a vector to calculate length of\n * @returns length of a\n */\nexport function length(a: Vec2): number {\n    const x = a[0];\n    const y = a[1];\n    return Math.sqrt(x * x + y * y);\n}\n\n/**\n * Calculates the squared length of a vec2\n *\n * @param a vector to calculate squared length of\n * @returns squared length of a\n */\nexport function squaredLength(a: Vec2): number {\n    const x = a[0];\n    const y = a[1];\n    return x * x + y * y;\n}\n\n/**\n * Negates the components of a vec2\n *\n * @param out the receiving vector\n * @param a vector to negate\n * @returns out\n */\nexport function negate(out: Vec2, a: Vec2): Vec2 {\n    out[0] = -a[0];\n    out[1] = -a[1];\n    return out;\n}\n\n/**\n * Returns the inverse of the components of a vec2\n *\n * @param out the receiving vector\n * @param a vector to invert\n * @returns out\n */\nexport function inverse(out: Vec2, a: Vec2): Vec2 {\n    out[0] = 1.0 / a[0];\n    out[1] = 1.0 / a[1];\n    return out;\n}\n\n/**\n * Normalize a vec2\n *\n * @param out the receiving vector\n * @param a vector to normalize\n * @returns out\n */\nexport function normalize(out: Vec2, a: Vec2): Vec2 {\n    const x = a[0];\n    const y = a[1];\n    let len = x * x + y * y;\n    if (len > 0) {\n        len = 1 / Math.sqrt(len);\n    }\n    out[0] = a[0] * len;\n    out[1] = a[1] * len;\n    return out;\n}\n\n/**\n * Calculates the dot product of two vec2's\n *\n * @param a the first operand\n * @param b the second operand\n * @returns dot product of a and b\n */\nexport function dot(a: Vec2, b: Vec2): number {\n    return a[0] * b[0] + a[1] * b[1];\n}\n\n/**\n * Computes the cross product of two vec2's\n * Note that the cross product must by definition produce a 3D vector\n *\n * @param out the receiving vector\n * @param a the first operand\n * @param b the second operand\n * @returns out\n */\nexport function cross(out: Vec3, a: Vec2, b: Vec2): Vec3 {\n    const z = a[0] * b[1] - a[1] * b[0];\n    out[0] = out[1] = 0;\n    out[2] = z;\n    return out;\n}\n\n/**\n * Performs a linear interpolation between two vec2's\n *\n * @param out the receiving vector\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 lerp(out: Vec2, a: Vec2, b: Vec2, t: number): Vec2 {\n    const ax = a[0];\n    const ay = a[1];\n    out[0] = ax + t * (b[0] - ax);\n    out[1] = ay + t * (b[1] - ay);\n    return out;\n}\n\n/**\n * Quadratic interpolation through three vectors using Lagrange interpolation.\n * Passes through a at t=0, b at t=0.5, and c at t=1.\n *\n * @param out the receiving vector\n * @param a vector at t=0\n * @param b vector at t=0.5\n * @param c vector at t=1\n * @param t interpolation amount\n * @returns out\n */\nexport function lagrange(out: Vec2, a: Vec2, b: Vec2, c: Vec2, t: number): Vec2 {\n    const c0 = 2 * (t - 1) * (t - 0.5);\n    const c1 = -4 * (t - 1) * t;\n    const c2 = 2 * (t - 0.5) * t;\n    out[0] = c0 * a[0] + c1 * b[0] + c2 * c[0];\n    out[1] = c0 * a[1] + c1 * b[1] + c2 * c[1];\n    return out;\n}\n\n/**\n * Transforms the vec2 with a mat2\n *\n * @param out the receiving vector\n * @param a the vector to transform\n * @param m matrix to transform with\n * @returns out\n */\nexport function transformMat2(out: Vec2, a: Vec2, m: Mat2): Vec2 {\n    const x = a[0];\n    const y = a[1];\n    out[0] = m[0] * x + m[2] * y;\n    out[1] = m[1] * x + m[3] * y;\n    return out;\n}\n\n/**\n * Transforms the vec2 with a mat2d\n *\n * @param out the receiving vector\n * @param a the vector to transform\n * @param m matrix to transform with\n * @returns out\n */\nexport function transformMat2d(out: Vec2, a: Vec2, m: Mat2d): Vec2 {\n    const x = a[0];\n    const y = a[1];\n    out[0] = m[0] * x + m[2] * y + m[4];\n    out[1] = m[1] * x + m[3] * y + m[5];\n    return out;\n}\n\n/**\n * Transforms the vec2 with a mat3\n * 3rd vector component is implicitly '1'\n *\n * @param out the receiving vector\n * @param a the vector to transform\n * @param m matrix to transform with\n * @returns out\n */\nexport function transformMat3(out: Vec2, a: Vec2, m: Mat3): Vec2 {\n    const x = a[0];\n    const y = a[1];\n    out[0] = m[0] * x + m[3] * y + m[6];\n    out[1] = m[1] * x + m[4] * y + m[7];\n    return out;\n}\n\n/**\n * Transforms the vec2 with a mat4\n * 3rd vector component is implicitly '0'\n * 4th vector component is implicitly '1'\n *\n * @param out the receiving vector\n * @param a the vector to transform\n * @param m matrix to transform with\n * @returns out\n */\nexport function transformMat4(out: Vec2, a: Vec2, m: Mat4): Vec2 {\n    const x = a[0];\n    const y = a[1];\n    out[0] = m[0] * x + m[4] * y + m[12];\n    out[1] = m[1] * x + m[5] * y + m[13];\n    return out;\n}\n\n/**\n * Rotate a 2D vector\n * @param out The receiving vec2\n * @param a The vec2 point to rotate\n * @param b The origin of the rotation\n * @param rad The angle of rotation in radians\n * @returns out\n */\nexport function rotate(out: Vec2, a: Vec2, b: Vec2, rad: number): Vec2 {\n    //Translate point to the origin\n    const p0 = a[0] - b[0];\n    const p1 = a[1] - b[1];\n    const sinC = Math.sin(rad);\n    const cosC = Math.cos(rad);\n\n    //perform rotation and translate to correct position\n    out[0] = p0 * cosC - p1 * sinC + b[0];\n    out[1] = p0 * sinC + p1 * cosC + b[1];\n\n    return out;\n}\n\n/**\n * Get the angle between two 2D vectors\n * @param a The first operand\n * @param b The second operand\n * @returns The angle in radians\n */\nexport function angle(a: Vec2, b: Vec2): number {\n    const x1 = a[0];\n    const y1 = a[1];\n    const x2 = b[0];\n    const y2 = b[1];\n    // mag is the product of the magnitudes of a and b\n    const mag = Math.sqrt((x1 * x1 + y1 * y1) * (x2 * x2 + y2 * y2));\n    // mag &&.. short circuits if mag == 0\n    const cosine = mag && (x1 * x2 + y1 * y2) / mag;\n    // Math.min(Math.max(cosine, -1), 1) clamps the cosine between -1 and 1\n    return Math.acos(Math.min(Math.max(cosine, -1), 1));\n}\n\n/**\n * Get the signed angle from `a` to `b`, in the range (-PI, PI].\n *\n * Positive is counter-clockwise. Returns 0 if either vector is zero length.\n *\n * Unlike {@link angle}, this distinguishes the two directions of rotation, which is what\n * joint limits and turn directions need.\n *\n * @param a the first operand\n * @param b the second operand\n * @returns the signed angle in radians\n */\nexport function signedAngle(a: Vec2, b: Vec2): number {\n    const ax = a[0];\n    const ay = a[1];\n    const bx = b[0];\n    const by = b[1];\n\n    // the 2D cross product is |a||b|sin(theta), the dot product is |a||b|cos(theta)\n    return Math.atan2(ax * by - ay * bx, ax * bx + ay * by);\n}\n\n/**\n * Set the components of a vec2 to zero\n *\n * @param out the receiving vector\n * @returns out\n */\nexport function zero(out: Vec2): Vec2 {\n    out[0] = 0.0;\n    out[1] = 0.0;\n    return out;\n}\n\n/**\n * Returns a string representation of a vector\n *\n * @param a vector to represent as a string\n * @returns string representation of the vector\n */\nexport function str(a: Vec2): string {\n    return `vec2(${a[0]}, ${a[1]})`;\n}\n\n/**\n * Returns whether or not the vectors exactly have the same elements in the same position (when compared with ===)\n *\n * @param a The first vector.\n * @param b The second vector.\n * @returns True if the vectors are equal, false otherwise.\n */\nexport function exactEquals(a: Vec2, b: Vec2): boolean {\n    return a[0] === b[0] && a[1] === b[1];\n}\n\n/**\n * Returns whether or not the vectors have approximately the same elements in the same position.\n *\n * @param a The first vector.\n * @param b The second vector.\n * @returns True if the vectors are equal, false otherwise.\n */\nexport function equals(a: Vec2, b: Vec2): boolean {\n    const a0 = a[0];\n    const a1 = a[1];\n    const b0 = b[0];\n    const b1 = b[1];\n    return (\n        Math.abs(a0 - b0) <= scalar.EPSILON * Math.max(1.0, Math.abs(a0), Math.abs(b0)) &&\n        Math.abs(a1 - b1) <= scalar.EPSILON * Math.max(1.0, Math.abs(a1), Math.abs(b1))\n    );\n}\n\n/**\n * Returns whether or not the vector is finite\n * @param a vector to test\n * @returns whether or not the vector is finite\n */\nexport function finite(a: Vec2): boolean {\n    return Number.isFinite(a[0]) && Number.isFinite(a[1]);\n}\n\n/**\n * Alias for {@link length}\n */\nexport const len = length;\n\n/**\n * Alias for {@link subtract}\n */\nexport const sub = subtract;\n\n/**\n * Alias for {@link multiply}\n */\nexport const mul = multiply;\n\n/**\n * Alias for {@link divide}\n */\nexport const div = divide;\n\n/**\n * Alias for {@link distance}\n */\nexport const dist = distance;\n\n/**\n * Alias for {@link squaredDistance}\n */\nexport const sqrDist = squaredDistance;\n\n/**\n * Alias for {@link squaredLength}\n */\nexport const sqrLen = 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