math 0.0.3 → 0.1.0

package/dist/core/vec3.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"vec3.js","sources":["../../src/core/vec3.ts"],"sourcesContent":["import type { MutableArrayLike } from './arrays';\nimport type { Mat3 } from './mat3';\nimport type { Mat4 } from './mat4';\nimport type { Quat } from './quat';\nimport * as scalar from './scalar';\n\n/** A 3D vector */\nexport type Vec3 = [x: number, y: number, z: number];\n\n/**\n * Creates a new, empty vec3\n *\n * @returns a new 3D vector\n */\nexport function create(): Vec3 {\n    return [0, 0, 0];\n}\n\n/**\n * Creates a new vec3 initialized with values from an existing vector\n *\n * @param a vector to clone\n * @returns a new 3D vector\n */\nexport function clone(a: Vec3): Vec3 {\n    return [a[0], a[1], a[2]];\n}\n\n/**\n * Creates a new vec3 initialized with the given values\n *\n * @param x X component\n * @param y Y component\n * @param z Z component\n * @returns a new 3D vector\n */\nexport function fromValues(x: number, y: number, z: number): Vec3 {\n    return [x, y, z];\n}\n\n/**\n * Calculates the length of a vec3\n *\n * @param a vector to calculate length of\n * @returns length of a\n */\nexport function length(a: Vec3): number {\n    const x = a[0];\n    const y = a[1];\n    const z = a[2];\n    return Math.sqrt(x * x + y * y + z * z);\n}\n\n/**\n * Copy the values from one vec3 to another\n *\n * @param out the receiving vector\n * @param a the source vector\n * @returns out\n */\nexport function copy(out: Vec3, a: Vec3): Vec3 {\n    out[0] = a[0];\n    out[1] = a[1];\n    out[2] = a[2];\n    return out;\n}\n\n/**\n * Set the components of a vec3 to the given values\n *\n * @param out the receiving vector\n * @param x X component\n * @param y Y component\n * @param z Z component\n * @returns out\n */\nexport function set(out: Vec3, x: number, y: number, z: number): Vec3 {\n    out[0] = x;\n    out[1] = y;\n    out[2] = z;\n    return out;\n}\n\n/**\n * Sets all components of a vec3 to the given scalar value\n *\n * @param out the receiving vector\n * @param s scalar value to set\n * @returns out\n */\nexport function setScalar(out: Vec3, s: number): Vec3 {\n    out[0] = s;\n    out[1] = s;\n    out[2] = s;\n    return out;\n}\n\n/**\n * Sets the components of a vec3 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: Vec3, buffer: ArrayLike<number>, startIndex: number): Vec3 {\n    out[0] = buffer[startIndex];\n    out[1] = buffer[startIndex + 1];\n    out[2] = buffer[startIndex + 2];\n    return out;\n}\n\n/**\n * Writes the components of a vec3 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: Vec3, startIndex: number): MutableArrayLike<number> {\n    outBuffer[startIndex] = vec[0];\n    outBuffer[startIndex + 1] = vec[1];\n    outBuffer[startIndex + 2] = vec[2];\n    return outBuffer;\n}\n\n/**\n * Adds two vec3'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: Vec3, a: Vec3, b: Vec3): Vec3 {\n    out[0] = a[0] + b[0];\n    out[1] = a[1] + b[1];\n    out[2] = a[2] + b[2];\n    return out;\n}\n\n/**\n * Adds a scalar value to all components of a vec3\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: Vec3, a: Vec3, b: number): Vec3 {\n    out[0] = a[0] + b;\n    out[1] = a[1] + b;\n    out[2] = a[2] + 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: Vec3, a: Vec3, b: Vec3): Vec3 {\n    out[0] = a[0] - b[0];\n    out[1] = a[1] - b[1];\n    out[2] = a[2] - b[2];\n    return out;\n}\n\n/**\n * Subtracts a scalar value from all components of a vec3\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: Vec3, a: Vec3, b: number): Vec3 {\n    out[0] = a[0] - b;\n    out[1] = a[1] - b;\n    out[2] = a[2] - b;\n    return out;\n}\n/**\n * Multiplies two vec3'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: Vec3, a: Vec3, b: Vec3): Vec3 {\n    out[0] = a[0] * b[0];\n    out[1] = a[1] * b[1];\n    out[2] = a[2] * b[2];\n    return out;\n}\n\n/**\n * Divides two vec3'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: Vec3, a: Vec3, b: Vec3): Vec3 {\n    out[0] = a[0] / b[0];\n    out[1] = a[1] / b[1];\n    out[2] = a[2] / b[2];\n    return out;\n}\n\n/**\n * Math.ceil the components of a vec3\n *\n * @param out the receiving vector\n * @param a vector to ceil\n * @returns out\n */\nexport function ceil(out: Vec3, a: Vec3): Vec3 {\n    out[0] = Math.ceil(a[0]);\n    out[1] = Math.ceil(a[1]);\n    out[2] = Math.ceil(a[2]);\n    return out;\n}\n\n/**\n * Math.floor the components of a vec3\n *\n * @param out the receiving vector\n * @param a vector to floor\n * @returns out\n */\nexport function floor(out: Vec3, a: Vec3): Vec3 {\n    out[0] = Math.floor(a[0]);\n    out[1] = Math.floor(a[1]);\n    out[2] = Math.floor(a[2]);\n    return out;\n}\n\n/**\n * Returns the minimum of two vec3'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: Vec3, a: Vec3, b: Vec3): Vec3 {\n    out[0] = Math.min(a[0], b[0]);\n    out[1] = Math.min(a[1], b[1]);\n    out[2] = Math.min(a[2], b[2]);\n    return out;\n}\n\n/**\n * Returns the maximum of two vec3'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: Vec3, a: Vec3, b: Vec3): Vec3 {\n    out[0] = Math.max(a[0], b[0]);\n    out[1] = Math.max(a[1], b[1]);\n    out[2] = Math.max(a[2], b[2]);\n    return out;\n}\n\n/**\n * symmetric round the components of a vec3\n *\n * @param out the receiving vector\n * @param a vector to round\n * @returns out\n */\nexport function round(out: Vec3, a: Vec3): Vec3 {\n    out[0] = scalar.round(a[0]);\n    out[1] = scalar.round(a[1]);\n    out[2] = scalar.round(a[2]);\n    return out;\n}\n\n/**\n * Scales a vec3 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: Vec3, a: Vec3, b: number): Vec3 {\n    out[0] = a[0] * b;\n    out[1] = a[1] * b;\n    out[2] = a[2] * b;\n    return out;\n}\n\n/**\n * Adds two vec3'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: Vec3, a: Vec3, b: Vec3, scale: number): Vec3 {\n    out[0] = a[0] + b[0] * scale;\n    out[1] = a[1] + b[1] * scale;\n    out[2] = a[2] + b[2] * scale;\n    return out;\n}\n\n/**\n * Calculates the euclidian distance between two vec3'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: Vec3, b: Vec3): number {\n    const x = b[0] - a[0];\n    const y = b[1] - a[1];\n    const z = b[2] - a[2];\n    return Math.sqrt(x * x + y * y + z * z);\n}\n\n/**\n * Calculates the squared euclidian distance between two vec3'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: Vec3, b: Vec3): number {\n    const x = b[0] - a[0];\n    const y = b[1] - a[1];\n    const z = b[2] - a[2];\n    return x * x + y * y + z * z;\n}\n\n/**\n * Calculates the squared length of a vec3\n *\n * @param a vector to calculate squared length of\n * @returns squared length of a\n */\nexport function squaredLength(a: Vec3): number {\n    const x = a[0];\n    const y = a[1];\n    const z = a[2];\n    return x * x + y * y + z * z;\n}\n\n/**\n * Negates the components of a vec3\n *\n * @param out the receiving vector\n * @param a vector to negate\n * @returns out\n */\nexport function negate(out: Vec3, a: Vec3): Vec3 {\n    out[0] = -a[0];\n    out[1] = -a[1];\n    out[2] = -a[2];\n    return out;\n}\n\n/**\n * Returns the inverse of the components of a vec3\n *\n * @param out the receiving vector\n * @param a vector to invert\n * @returns out\n */\nexport function inverse(out: Vec3, a: Vec3): Vec3 {\n    out[0] = 1.0 / a[0];\n    out[1] = 1.0 / a[1];\n    out[2] = 1.0 / a[2];\n    return out;\n}\n\n/**\n * Normalize a vec3\n *\n * @param out the receiving vector\n * @param a vector to normalize\n * @returns out\n */\nexport function normalize(out: Vec3, a: Vec3): Vec3 {\n    const x = a[0];\n    const y = a[1];\n    const z = a[2];\n    let len = x * x + y * y + z * z;\n    if (len > 0) {\n        len = 1 / Math.sqrt(len);\n    }\n    out[0] = a[0] * len;\n    out[1] = a[1] * len;\n    out[2] = a[2] * len;\n    return out;\n}\n\n/**\n * Calculates the dot product of two vec3'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: Vec3, b: Vec3): number {\n    return a[0] * b[0] + a[1] * b[1] + a[2] * b[2];\n}\n\n/**\n * Computes the cross product of two vec3'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 cross(out: Vec3, a: Vec3, b: Vec3): Vec3 {\n    const ax = a[0];\n    const ay = a[1];\n    const az = a[2];\n    const bx = b[0];\n    const by = b[1];\n    const bz = b[2];\n\n    out[0] = ay * bz - az * by;\n    out[1] = az * bx - ax * bz;\n    out[2] = ax * by - ay * bx;\n    return out;\n}\n\n/**\n * Calculates a normalized perpendicular vector to the given vector.\n * Useful for finding an arbitrary orthogonal basis vector.\n *\n * The zero vector has no unique perpendicular - every direction qualifies - so it returns the X\n * axis rather than NaN.\n *\n * @param out the receiving vector\n * @param a the source vector\n * @returns the out vector\n */\nexport function perpendicular(out: Vec3, a: Vec3): Vec3 {\n    if (Math.abs(a[0]) > Math.abs(a[1])) {\n        const len = Math.sqrt(a[0] * a[0] + a[2] * a[2]);\n        const invLen = 1.0 / len;\n        out[0] = a[2] * invLen;\n        out[1] = 0;\n        out[2] = -a[0] * invLen;\n    } else {\n        const len = Math.sqrt(a[1] * a[1] + a[2] * a[2]);\n\n        if (len === 0) {\n            // the zero vector, the only input that reaches here with no length. every direction is\n            // perpendicular to it, so return one rather than dividing by zero into NaN\n            out[0] = 1;\n            out[1] = 0;\n            out[2] = 0;\n            return out;\n        }\n\n        const invLen = 1.0 / len;\n        out[0] = 0;\n        out[1] = a[2] * invLen;\n        out[2] = -a[1] * invLen;\n    }\n    return out;\n}\n\n/**\n * Performs a linear interpolation between two vec3'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: Vec3, a: Vec3, b: Vec3, t: number): Vec3 {\n    const ax = a[0];\n    const ay = a[1];\n    const az = a[2];\n    out[0] = ax + t * (b[0] - ax);\n    out[1] = ay + t * (b[1] - ay);\n    out[2] = az + t * (b[2] - az);\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: Vec3, a: Vec3, b: Vec3, c: Vec3, t: number): Vec3 {\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    out[2] = c0 * a[2] + c1 * b[2] + c2 * c[2];\n    return out;\n}\n\n/**\n * Performs a spherical linear interpolation between two vec3'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 slerp(out: Vec3, a: Vec3, b: Vec3, t: number): Vec3 {\n    const angle = Math.acos(Math.min(Math.max(dot(a, b), -1), 1));\n    const sinTotal = Math.sin(angle);\n\n    const ratioA = Math.sin((1 - t) * angle) / sinTotal;\n    const ratioB = Math.sin(t * angle) / sinTotal;\n    out[0] = ratioA * a[0] + ratioB * b[0];\n    out[1] = ratioA * a[1] + ratioB * b[1];\n    out[2] = ratioA * a[2] + ratioB * b[2];\n\n    return out;\n}\n\n/**\n * Performs a hermite interpolation with two control points\n *\n * @param out the receiving vector\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 function hermite(out: Vec3, a: Vec3, b: Vec3, c: Vec3, d: Vec3, t: number): Vec3 {\n    const factorTimes2 = t * t;\n    const factor1 = factorTimes2 * (2 * t - 3) + 1;\n    const factor2 = factorTimes2 * (t - 2) + t;\n    const factor3 = factorTimes2 * (t - 1);\n    const factor4 = factorTimes2 * (3 - 2 * t);\n\n    out[0] = a[0] * factor1 + b[0] * factor2 + c[0] * factor3 + d[0] * factor4;\n    out[1] = a[1] * factor1 + b[1] * factor2 + c[1] * factor3 + d[1] * factor4;\n    out[2] = a[2] * factor1 + b[2] * factor2 + c[2] * factor3 + d[2] * factor4;\n\n    return out;\n}\n\n/**\n * Performs a bezier interpolation with two control points\n *\n * @param out the receiving vector\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 function bezier(out: Vec3, a: Vec3, b: Vec3, c: Vec3, d: Vec3, t: number): Vec3 {\n    const inverseFactor = 1 - t;\n    const inverseFactorTimesTwo = inverseFactor * inverseFactor;\n    const factorTimes2 = t * t;\n    const factor1 = inverseFactorTimesTwo * inverseFactor;\n    const factor2 = 3 * t * inverseFactorTimesTwo;\n    const factor3 = 3 * factorTimes2 * inverseFactor;\n    const factor4 = factorTimes2 * t;\n\n    out[0] = a[0] * factor1 + b[0] * factor2 + c[0] * factor3 + d[0] * factor4;\n    out[1] = a[1] * factor1 + b[1] * factor2 + c[1] * factor3 + d[1] * factor4;\n    out[2] = a[2] * factor1 + b[2] * factor2 + c[2] * factor3 + d[2] * factor4;\n\n    return out;\n}\n\n/**\n * Transforms the vec3 with a mat4.\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: Vec3, a: Vec3, m: Mat4): Vec3 {\n    const x = a[0];\n    const y = a[1];\n    const z = a[2];\n    let w = m[3] * x + m[7] * y + m[11] * z + m[15];\n    w = w || 1.0;\n    out[0] = (m[0] * x + m[4] * y + m[8] * z + m[12]) / w;\n    out[1] = (m[1] * x + m[5] * y + m[9] * z + m[13]) / w;\n    out[2] = (m[2] * x + m[6] * y + m[10] * z + m[14]) / w;\n    return out;\n}\n\n/**\n * Transforms the vec3 with a mat3.\n *\n * @param out the receiving vector\n * @param a the vector to transform\n * @param m the 3x3 matrix to transform with\n * @returns out\n */\nexport function transformMat3(out: Vec3, a: Vec3, m: Mat3): Vec3 {\n    const x = a[0];\n    const y = a[1];\n    const z = a[2];\n    out[0] = x * m[0] + y * m[3] + z * m[6];\n    out[1] = x * m[1] + y * m[4] + z * m[7];\n    out[2] = x * m[2] + y * m[5] + z * m[8];\n    return out;\n}\n\n/**\n * Transforms the vec3 with a quat\n * Can also be used for dual quaternions. (Multiply it with the real part)\n *\n * @param out the receiving vector\n * @param a the vector to transform\n * @param q quaternion to transform with\n * @returns out\n */\nexport function transformQuat(out: Vec3, a: Vec3, q: Quat): Vec3 {\n    // benchmarks: https://jsperf.com/quaternion-transform-vec3-implementations-fixed\n    const qx = q[0];\n    const qy = q[1];\n    const qz = q[2];\n    const qw = q[3];\n    const x = a[0];\n    const y = a[1];\n    const z = a[2];\n    // var qvec = [qx, qy, qz];\n    // var uv = vec3.cross([], qvec, a);\n    let uvx = qy * z - qz * y;\n    let uvy = qz * x - qx * z;\n    let uvz = qx * y - qy * x;\n    // var uuv = vec3.cross([], qvec, uv);\n    let uuvx = qy * uvz - qz * uvy;\n    let uuvy = qz * uvx - qx * uvz;\n    let uuvz = qx * uvy - qy * uvx;\n    // vec3.scale(uv, uv, 2 * w);\n    const w2 = qw * 2;\n    uvx *= w2;\n    uvy *= w2;\n    uvz *= w2;\n    // vec3.scale(uuv, uuv, 2);\n    uuvx *= 2;\n    uuvy *= 2;\n    uuvz *= 2;\n    // return vec3.add(out, a, vec3.add(out, uv, uuv));\n    out[0] = x + uvx + uuvx;\n    out[1] = y + uvy + uuvy;\n    out[2] = z + uvz + uuvz;\n    return out;\n}\n\n/**\n * Rotate a 3D vector around the x-axis\n * @param out The receiving vec3\n * @param a The vec3 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 rotateX(out: Vec3, a: Vec3, b: Vec3, rad: number): Vec3 {\n    const p: number[] = [];\n    const r: number[] = [];\n    //Translate point to the origin\n    p[0] = a[0] - b[0];\n    p[1] = a[1] - b[1];\n    p[2] = a[2] - b[2];\n\n    //perform rotation\n    r[0] = p[0];\n    r[1] = p[1] * Math.cos(rad) - p[2] * Math.sin(rad);\n    r[2] = p[1] * Math.sin(rad) + p[2] * Math.cos(rad);\n\n    //translate to correct position\n    out[0] = r[0] + b[0];\n    out[1] = r[1] + b[1];\n    out[2] = r[2] + b[2];\n\n    return out;\n}\n\n/**\n * Rotate a 3D vector around the y-axis\n * @param out The receiving vec3\n * @param a The vec3 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 rotateY(out: Vec3, a: Vec3, b: Vec3, rad: number): Vec3 {\n    const p: number[] = [];\n    const r: number[] = [];\n\n    // translate point to the origin\n    p[0] = a[0] - b[0];\n    p[1] = a[1] - b[1];\n    p[2] = a[2] - b[2];\n\n    // perform rotation\n    r[0] = p[2] * Math.sin(rad) + p[0] * Math.cos(rad);\n    r[1] = p[1];\n    r[2] = p[2] * Math.cos(rad) - p[0] * Math.sin(rad);\n\n    // translate to correct position\n    out[0] = r[0] + b[0];\n    out[1] = r[1] + b[1];\n    out[2] = r[2] + b[2];\n\n    return out;\n}\n\n/**\n * Rotate a 3D vector around the z-axis\n * @param out The receiving vec3\n * @param a The vec3 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 rotateZ(out: Vec3, a: Vec3, b: Vec3, rad: number): Vec3 {\n    const p: number[] = [];\n    const r: number[] = [];\n    // translate point to the origin\n    p[0] = a[0] - b[0];\n    p[1] = a[1] - b[1];\n    p[2] = a[2] - b[2];\n\n    // perform rotation\n    r[0] = p[0] * Math.cos(rad) - p[1] * Math.sin(rad);\n    r[1] = p[0] * Math.sin(rad) + p[1] * Math.cos(rad);\n    r[2] = p[2];\n\n    // translate to correct position\n    out[0] = r[0] + b[0];\n    out[1] = r[1] + b[1];\n    out[2] = r[2] + b[2];\n\n    return out;\n}\n\n/**\n * Get the angle between two 3D vectors\n * @param a The first operand\n * @param b The second operand\n * @returns The angle in radians\n */\nexport function angle(a: Vec3, b: Vec3): number {\n    const ax = a[0];\n    const ay = a[1];\n    const az = a[2];\n    const bx = b[0];\n    const by = b[1];\n    const bz = b[2];\n    const mag = Math.sqrt((ax * ax + ay * ay + az * az) * (bx * bx + by * by + bz * bz));\n    const cosine = mag && dot(a, b) / mag;\n    return Math.acos(Math.min(Math.max(cosine, -1), 1));\n}\n\n/**\n * Get the signed angle from `a` to `b` measured about `axis`, in the range (-PI, PI].\n *\n * Positive is counter-clockwise when `axis` points toward the viewer. Only the components of\n * `a` and `b` in the plane perpendicular to `axis` contribute, so they need not be\n * perpendicular to it. Returns 0 if either projects to the zero vector.\n *\n * Unlike {@link angle}, this distinguishes the two directions of rotation, which is what\n * hinge limits and turn directions need.\n *\n * @param a the first operand\n * @param b the second operand\n * @param axis the axis to measure the rotation about, assumed to be unit length\n * @returns the signed angle in radians\n */\nexport function signedAngle(a: Vec3, b: Vec3, axis: Vec3): number {\n    const nx = axis[0];\n    const ny = axis[1];\n    const nz = axis[2];\n\n    // drop the components along the axis - they carry no signed angle\n    const ad = a[0] * nx + a[1] * ny + a[2] * nz;\n    const ax = a[0] - nx * ad;\n    const ay = a[1] - ny * ad;\n    const az = a[2] - nz * ad;\n\n    const bd = b[0] * nx + b[1] * ny + b[2] * nz;\n    const bx = b[0] - nx * bd;\n    const by = b[1] - ny * bd;\n    const bz = b[2] - nz * bd;\n\n    // (a x b) . axis is |a||b|sin(theta), a . b is |a||b|cos(theta)\n    const cx = ay * bz - az * by;\n    const cy = az * bx - ax * bz;\n    const cz = ax * by - ay * bx;\n\n    return Math.atan2(cx * nx + cy * ny + cz * nz, ax * bx + ay * by + az * bz);\n}\n\nconst _rotateTowards_axis: Vec3 = [0, 0, 0];\n\n/**\n * Rotates the unit vector `from` toward the unit vector `to` by at most `maxAngle` radians.\n *\n * When the two are already within `maxAngle` this copies `to`, so the function doubles as a\n * cone clamp: the result is `to`, limited to lie within `maxAngle` of `from`. That is the form\n * a rotor joint limit and a per-frame turn rate both want.\n *\n * Both inputs are assumed to be unit length, and the result is unit length. `maxAngle` is treated\n * as 0 if negative. When the inputs are exactly antiparallel the rotation plane is undefined\n * and an arbitrary perpendicular is used.\n *\n * @param out the receiving vector\n * @param from the unit vector to rotate away from\n * @param to the unit vector to rotate toward\n * @param maxAngle the maximum rotation, in radians\n * @returns out\n */\nexport function rotateTowards(out: Vec3, from: Vec3, to: Vec3, maxAngle: number): Vec3 {\n    const fx = from[0];\n    const fy = from[1];\n    const fz = from[2];\n    const tx = to[0];\n    const ty = to[1];\n    const tz = to[2];\n\n    const cosine = Math.min(Math.max(fx * tx + fy * ty + fz * tz, -1), 1);\n\n    const limit = maxAngle > 0 ? maxAngle : 0;\n\n    if (Math.acos(cosine) <= limit) {\n        out[0] = tx;\n        out[1] = ty;\n        out[2] = tz;\n        return out;\n    }\n\n    // the rotation plane is spanned by the two vectors, so its normal is their cross product\n    let axisX = fy * tz - fz * ty;\n    let axisY = fz * tx - fx * tz;\n   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components of a vec3 to zero\n *\n * @param out the receiving vector\n * @returns out\n */\nexport function zero(out: Vec3): Vec3 {\n    out[0] = 0.0;\n    out[1] = 0.0;\n    out[2] = 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: Vec3): string {\n    return `vec3(${a[0]}, ${a[1]}, ${a[2]})`;\n}\n\n/**\n * Returns whether or not the vectors have exactly 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: Vec3, b: Vec3): boolean {\n    return a[0] === b[0] && a[1] === b[1] && a[2] === b[2];\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: Vec3, b: Vec3): boolean {\n    const a0 = a[0];\n    const a1 = a[1];\n    const a2 = a[2];\n    const b0 = b[0];\n    const b1 = b[1];\n    const b2 = b[2];\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        Math.abs(a2 - b2) <= scalar.EPSILON * Math.max(1.0, Math.abs(a2), Math.abs(b2))\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: Vec3): boolean {\n    return Number.isFinite(a[0]) && Number.isFinite(a[1]) && Number.isFinite(a[2]);\n}\n\n/**\n * Determines if a scale vector represents an inside-out transformation (reflection)\n * Returns true if an odd number of scale components are negative\n *\n * @param scale The scale vector to test\n * @returns true if the scale represents a reflection (odd number of negative components)\n */\nexport function isScaleInsideOut(scale: Vec3): boolean {\n    // create a bitmask of which components are negative\n    // each component that is < 0 contributes a bit (1, 2, or 4)\n    const mask = (scale[0] < 0 ? 1 : 0) | (scale[1] < 0 ? 2 : 0) | (scale[2] < 0 ? 4 : 0);\n\n    // count the number of set bits and return true if odd\n    // popcount: count number of 1-bits in the mask\n    let count = 0;\n    let m = mask;\n    while (m) {\n        count += m & 1;\n        m >>= 1;\n    }\n    return (count & 1) !== 0;\n}\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 length}\n */\nexport const len = length;\n\n/**\n * Alias for {@link squaredLength}\n */\nexport const sqrLen = 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package/dist/core/vec4.js

@@ -0,0 +1,573 @@
+import { EPSILON, round as round$1 } from './scalar.js';
+
+/**
+ * Creates a new, empty vec4
+ *
+ * @returns a new 4D vector
+ */
+function create() {
+    return [0, 0, 0, 0];
+}
+/**
+ * Creates a new vec4 initialized with values from an existing vector
+ *
+ * @param a vector to clone
+ * @returns a new 4D vector
+ */
+function clone(a) {
+    return [a[0], a[1], a[2], a[3]];
+}
+/**
+ * Creates a new vec4 initialized with the given values
+ *
+ * @param x X component
+ * @param y Y component
+ * @param z Z component
+ * @param w W component
+ * @returns a new 4D vector
+ */
+function fromValues(x, y, z, w) {
+    return [x, y, z, w];
+}
+/**
+ * Copy the values from one vec4 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];
+    out[3] = a[3];
+    return out;
+}
+/**
+ * Set the components of a vec4 to the given values
+ *
+ * @param out the receiving vector
+ * @param x X component
+ * @param y Y component
+ * @param z Z component
+ * @param w W component
+ * @returns out
+ */
+function set(out, x, y, z, w) {
+    out[0] = x;
+    out[1] = y;
+    out[2] = z;
+    out[3] = w;
+    return out;
+}
+/**
+ * Sets the components of a vec4 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];
+    out[3] = buffer[startIndex + 3];
+    return out;
+}
+/**
+ * Writes the components of a vec4 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];
+    outBuffer[startIndex + 3] = vec[3];
+    return outBuffer;
+}
+/**
+ * Adds two vec4'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];
+    out[3] = a[3] + b[3];
+    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];
+    out[3] = a[3] - b[3];
+    return out;
+}
+/**
+ * Multiplies two vec4'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];
+    out[3] = a[3] * b[3];
+    return out;
+}
+/**
+ * Divides two vec4'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];
+    out[3] = a[3] / b[3];
+    return out;
+}
+/**
+ * Math.ceil the components of a vec4
+ *
+ * @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]);
+    out[3] = Math.ceil(a[3]);
+    return out;
+}
+/**
+ * Math.floor the components of a vec4
+ *
+ * @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]);
+    out[3] = Math.floor(a[3]);
+    return out;
+}
+/**
+ * Returns the minimum of two vec4'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]);
+    out[3] = Math.min(a[3], b[3]);
+    return out;
+}
+/**
+ * Returns the maximum of two vec4'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]);
+    out[3] = Math.max(a[3], b[3]);
+    return out;
+}
+/**
+ * symmetric round the components of a vec4
+ *
+ * @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]);
+    out[3] = round$1(a[3]);
+    return out;
+}
+/**
+ * Scales a vec4 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;
+    out[3] = a[3] * b;
+    return out;
+}
+/**
+ * Adds two vec4'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;
+    out[3] = a[3] + b[3] * scale;
+    return out;
+}
+/**
+ * Calculates the euclidian distance between two vec4'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];
+    const w = b[3] - a[3];
+    return Math.sqrt(x * x + y * y + z * z + w * w);
+}
+/**
+ * Calculates the squared euclidian distance between two vec4'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];
+    const w = b[3] - a[3];
+    return x * x + y * y + z * z + w * w;
+}
+/**
+ * Calculates the length of a vec4
+ *
+ * @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];
+    const w = a[3];
+    return Math.sqrt(x * x + y * y + z * z + w * w);
+}
+/**
+ * Calculates the squared length of a vec4
+ *
+ * @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];
+    const w = a[3];
+    return x * x + y * y + z * z + w * w;
+}
+/**
+ * Negates the components of a vec4
+ *
+ * @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];
+    out[3] = -a[3];
+    return out;
+}
+/**
+ * Returns the inverse of the components of a vec4
+ *
+ * @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];
+    out[3] = 1.0 / a[3];
+    return out;
+}
+/**
+ * Normalize a vec4
+ *
+ * @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];
+    const w = a[3];
+    let len = x * x + y * y + z * z + w * w;
+    if (len > 0) {
+        len = 1 / Math.sqrt(len);
+    }
+    out[0] = x * len;
+    out[1] = y * len;
+    out[2] = z * len;
+    out[3] = w * len;
+    return out;
+}
+/**
+ * Calculates the dot product of two vec4'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] + a[3] * b[3];
+}
+/**
+ * Returns the cross-product of three vectors in a 4-dimensional space
+ *
+ * @param out the receiving vector
+ * @param u the first vector
+ * @param v the second vector
+ * @param w the third vector
+ * @returns result
+ */
+function cross(out, u, v, w) {
+    const A = v[0] * w[1] - v[1] * w[0];
+    const B = v[0] * w[2] - v[2] * w[0];
+    const C = v[0] * w[3] - v[3] * w[0];
+    const D = v[1] * w[2] - v[2] * w[1];
+    const E = v[1] * w[3] - v[3] * w[1];
+    const F = v[2] * w[3] - v[3] * w[2];
+    const G = u[0];
+    const H = u[1];
+    const I = u[2];
+    const J = u[3];
+    out[0] = H * F - I * E + J * D;
+    out[1] = -(G * F) + I * C - J * B;
+    out[2] = G * E - H * C + J * A;
+    out[3] = -(G * D) + H * B - I * A;
+    return out;
+}
+/**
+ * Performs a linear interpolation between two vec4'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];
+    const aw = a[3];
+    out[0] = ax + t * (b[0] - ax);
+    out[1] = ay + t * (b[1] - ay);
+    out[2] = az + t * (b[2] - az);
+    out[3] = aw + t * (b[3] - aw);
+    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];
+    out[3] = c0 * a[3] + c1 * b[3] + c2 * c[3];
+    return out;
+}
+/**
+ * Transforms the vec4 with a mat4.
+ *
+ * @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];
+    const w = a[3];
+    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;
+    out[3] = m[3] * x + m[7] * y + m[11] * z + m[15] * w;
+    return out;
+}
+/**
+ * Transforms the vec4 with a quat
+ *
+ * @param out the receiving vector
+ * @param a the vector to transform
+ * @param q quaternion to transform with
+ * @returns out
+ */
+function transformQuat(out, a, q) {
+    const x = a[0];
+    const y = a[1];
+    const z = a[2];
+    const qx = q[0];
+    const qy = q[1];
+    const qz = q[2];
+    const qw = q[3];
+    // calculate quat * vec
+    const ix = qw * x + qy * z - qz * y;
+    const iy = qw * y + qz * x - qx * z;
+    const iz = qw * z + qx * y - qy * x;
+    const iw = -qx * x - qy * y - qz * z;
+    // calculate result * inverse quat
+    out[0] = ix * qw + iw * -qx + iy * -qz - iz * -qy;
+    out[1] = iy * qw + iw * -qy + iz * -qx - ix * -qz;
+    out[2] = iz * qw + iw * -qz + ix * -qy - iy * -qx;
+    out[3] = a[3];
+    return out;
+}
+/**
+ * Set the components of a vec4 to zero
+ *
+ * @param out the receiving vector
+ * @returns out
+ */
+function zero(out) {
+    out[0] = 0.0;
+    out[1] = 0.0;
+    out[2] = 0.0;
+    out[3] = 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 `vec4(${a[0]}, ${a[1]}, ${a[2]}, ${a[3]})`;
+}
+/**
+ * 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] && a[3] === b[3];
+}
+/**
+ * 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 a3 = a[3];
+    const b0 = b[0];
+    const b1 = b[1];
+    const b2 = b[2];
+    const b3 = b[3];
+    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)) &&
+        Math.abs(a3 - b3) <= EPSILON * Math.max(1.0, Math.abs(a3), Math.abs(b3)));
+}
+/**
+ * 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]) && Number.isFinite(a[3]);
+}
+/**
+ * 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, 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, round, scale, scaleAndAdd, set, sqrDist, sqrLen, squaredDistance, squaredLength, str, sub, subtract, toBuffer, transformMat4, transformQuat, zero };
+//# sourceMappingURL=vec4.js.map