405 lines
11 KiB
JavaScript
405 lines
11 KiB
JavaScript
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import mat3 from './mat3';
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import mat4 from './mat4';
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import vec3 from './vec3';
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import { epsilon } from './constants';
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export default class quat {
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constructor(values) {
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this.values = new Float32Array(4);
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if (values !== undefined) {
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this.xyzw = values;
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}
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}
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get x() {
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return this.values[0];
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}
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get y() {
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return this.values[1];
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}
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get z() {
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return this.values[2];
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}
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get w() {
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return this.values[3];
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}
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get xy() {
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return [this.values[0], this.values[1]];
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}
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get xyz() {
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return [this.values[0], this.values[1], this.values[2]];
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}
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get xyzw() {
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return [this.values[0], this.values[1], this.values[2], this.values[3]];
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}
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set x(value) {
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this.values[0] = value;
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}
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set y(value) {
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this.values[1] = value;
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}
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set z(value) {
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this.values[2] = value;
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}
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set w(value) {
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this.values[3] = value;
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}
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set xy(values) {
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this.values[0] = values[0];
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this.values[1] = values[1];
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}
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set xyz(values) {
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this.values[0] = values[0];
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this.values[1] = values[1];
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this.values[2] = values[2];
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}
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set xyzw(values) {
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this.values[0] = values[0];
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this.values[1] = values[1];
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this.values[2] = values[2];
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this.values[3] = values[3];
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}
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at(index) {
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return this.values[index];
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}
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reset() {
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for (let i = 0; i < 4; i++) {
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this.values[i] = 0;
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}
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}
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copy(dest) {
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if (!dest) {
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dest = new quat();
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}
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for (let i = 0; i < 4; i++) {
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dest.values[i] = this.values[i];
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}
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return dest;
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}
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roll() {
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const x = this.x;
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const y = this.y;
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const z = this.z;
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const w = this.w;
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return Math.atan2(2.0 * (x * y + w * z), w * w + x * x - y * y - z * z);
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}
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pitch() {
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const x = this.x;
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const y = this.y;
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const z = this.z;
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const w = this.w;
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return Math.atan2(2.0 * (y * z + w * x), w * w - x * x - y * y + z * z);
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}
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yaw() {
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return Math.asin(2.0 * (this.x * this.z - this.w * this.y));
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}
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equals(vector, threshold = epsilon) {
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for (let i = 0; i < 4; i++) {
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if (Math.abs(this.values[i] - vector.at(i)) > threshold) {
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return false;
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}
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}
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return true;
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}
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setIdentity() {
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this.x = 0;
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this.y = 0;
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this.z = 0;
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this.w = 1;
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return this;
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}
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calculateW() {
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const x = this.x;
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const y = this.y;
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const z = this.z;
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this.w = -Math.sqrt(Math.abs(1.0 - x * x - y * y - z * z));
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return this;
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}
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inverse() {
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const dot = quat.dot(this, this);
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if (!dot) {
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this.xyzw = [0, 0, 0, 0];
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return this;
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}
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const invDot = dot ? 1.0 / dot : 0;
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this.x *= -invDot;
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this.y *= -invDot;
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this.z *= -invDot;
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this.w *= invDot;
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return this;
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}
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conjugate() {
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this.values[0] *= -1;
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this.values[1] *= -1;
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this.values[2] *= -1;
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return this;
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}
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length() {
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const x = this.x;
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const y = this.y;
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const z = this.z;
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const w = this.w;
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return Math.sqrt(x * x + y * y + z * z + w * w);
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}
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normalize(dest) {
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if (!dest) {
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dest = this;
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}
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const x = this.x;
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const y = this.y;
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const z = this.z;
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const w = this.w;
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let length = Math.sqrt(x * x + y * y + z * z + w * w);
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if (!length) {
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dest.x = 0;
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dest.y = 0;
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dest.z = 0;
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dest.w = 0;
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return dest;
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}
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length = 1 / length;
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dest.x = x * length;
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dest.y = y * length;
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dest.z = z * length;
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dest.w = w * length;
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return dest;
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}
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add(other) {
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for (let i = 0; i < 4; i++) {
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this.values[i] += other.at(i);
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}
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return this;
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}
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multiply(other) {
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const q1x = this.values[0];
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const q1y = this.values[1];
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const q1z = this.values[2];
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const q1w = this.values[3];
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const q2x = other.x;
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const q2y = other.y;
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const q2z = other.z;
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const q2w = other.w;
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this.x = q1x * q2w + q1w * q2x + q1y * q2z - q1z * q2y;
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this.y = q1y * q2w + q1w * q2y + q1z * q2x - q1x * q2z;
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this.z = q1z * q2w + q1w * q2z + q1x * q2y - q1y * q2x;
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this.w = q1w * q2w - q1x * q2x - q1y * q2y - q1z * q2z;
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return this;
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}
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multiplyVec3(vector, dest) {
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if (!dest) {
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dest = new vec3();
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}
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const x = vector.x;
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const y = vector.y;
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const z = vector.z;
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const qx = this.x;
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const qy = this.y;
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const qz = this.z;
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const qw = this.w;
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const ix = qw * x + qy * z - qz * y;
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const iy = qw * y + qz * x - qx * z;
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const iz = qw * z + qx * y - qy * x;
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const iw = -qx * x - qy * y - qz * z;
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dest.x = ix * qw + iw * -qx + iy * -qz - iz * -qy;
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dest.y = iy * qw + iw * -qy + iz * -qx - ix * -qz;
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dest.z = iz * qw + iw * -qz + ix * -qy - iy * -qx;
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return dest;
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}
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toMat3(dest) {
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if (!dest) {
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dest = new mat3();
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}
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const x = this.x;
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const y = this.y;
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const z = this.z;
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const w = this.w;
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const x2 = x + x;
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const y2 = y + y;
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const z2 = z + z;
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const xx = x * x2;
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const xy = x * y2;
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const xz = x * z2;
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const yy = y * y2;
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const yz = y * z2;
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const zz = z * z2;
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const wx = w * x2;
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const wy = w * y2;
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const wz = w * z2;
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dest.init([
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1 - (yy + zz),
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xy + wz,
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xz - wy,
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xy - wz,
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1 - (xx + zz),
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yz + wx,
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xz + wy,
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yz - wx,
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1 - (xx + yy)
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]);
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return dest;
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}
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toMat4(dest) {
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if (!dest) {
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dest = new mat4();
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}
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const x = this.x;
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const y = this.y;
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const z = this.z;
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const w = this.w;
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const x2 = x + x;
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const y2 = y + y;
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const z2 = z + z;
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const xx = x * x2;
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const xy = x * y2;
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const xz = x * z2;
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const yy = y * y2;
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const yz = y * z2;
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const zz = z * z2;
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const wx = w * x2;
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const wy = w * y2;
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const wz = w * z2;
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dest.init([
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1 - (yy + zz),
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xy + wz,
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xz - wy,
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0,
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xy - wz,
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1 - (xx + zz),
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yz + wx,
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0,
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xz + wy,
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yz - wx,
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1 - (xx + yy),
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0,
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0,
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0,
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0,
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1
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]);
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return dest;
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}
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static dot(q1, q2) {
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return q1.x * q2.x + q1.y * q2.y + q1.z * q2.z + q1.w * q2.w;
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}
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static sum(q1, q2, dest) {
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if (!dest) {
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dest = new quat();
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}
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dest.x = q1.x + q2.x;
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dest.y = q1.y + q2.y;
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dest.z = q1.z + q2.z;
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dest.w = q1.w + q2.w;
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return dest;
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}
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static product(q1, q2, dest) {
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if (!dest) {
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dest = new quat();
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}
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const q1x = q1.x;
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const q1y = q1.y;
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const q1z = q1.z;
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const q1w = q1.w;
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const q2x = q2.x;
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const q2y = q2.y;
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const q2z = q2.z;
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const q2w = q2.w;
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dest.x = q1x * q2w + q1w * q2x + q1y * q2z - q1z * q2y;
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dest.y = q1y * q2w + q1w * q2y + q1z * q2x - q1x * q2z;
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dest.z = q1z * q2w + q1w * q2z + q1x * q2y - q1y * q2x;
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dest.w = q1w * q2w - q1x * q2x - q1y * q2y - q1z * q2z;
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return dest;
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}
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static cross(q1, q2, dest) {
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if (!dest) {
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dest = new quat();
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}
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const q1x = q1.x;
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const q1y = q1.y;
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const q1z = q1.z;
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const q1w = q1.w;
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const q2x = q2.x;
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const q2y = q2.y;
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const q2z = q2.z;
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const q2w = q2.w;
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dest.x = q1w * q2z + q1z * q2w + q1x * q2y - q1y * q2x;
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dest.y = q1w * q2w - q1x * q2x - q1y * q2y - q1z * q2z;
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dest.z = q1w * q2x + q1x * q2w + q1y * q2z - q1z * q2y;
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dest.w = q1w * q2y + q1y * q2w + q1z * q2x - q1x * q2z;
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return dest;
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}
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static shortMix(q1, q2, time, dest) {
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if (!dest) {
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dest = new quat();
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}
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if (time <= 0.0) {
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dest.xyzw = q1.xyzw;
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return dest;
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}
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else if (time >= 1.0) {
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dest.xyzw = q2.xyzw;
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return dest;
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}
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let cos = quat.dot(q1, q2);
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const q2a = q2.copy();
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if (cos < 0.0) {
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q2a.inverse();
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cos = -cos;
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}
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let k0;
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let k1;
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if (cos > 0.9999) {
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k0 = 1 - time;
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k1 = 0 + time;
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}
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else {
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const sin = Math.sqrt(1 - cos * cos);
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const angle = Math.atan2(sin, cos);
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const oneOverSin = 1 / sin;
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k0 = Math.sin((1 - time) * angle) * oneOverSin;
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k1 = Math.sin((0 + time) * angle) * oneOverSin;
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}
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dest.x = k0 * q1.x + k1 * q2a.x;
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dest.y = k0 * q1.y + k1 * q2a.y;
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dest.z = k0 * q1.z + k1 * q2a.z;
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dest.w = k0 * q1.w + k1 * q2a.w;
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return dest;
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}
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static mix(q1, q2, time, dest) {
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if (!dest) {
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dest = new quat();
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||
|
|
}
|
||
|
|
const cosHalfTheta = q1.x * q2.x + q1.y * q2.y + q1.z * q2.z + q1.w * q2.w;
|
||
|
|
if (Math.abs(cosHalfTheta) >= 1.0) {
|
||
|
|
dest.xyzw = q1.xyzw;
|
||
|
|
return dest;
|
||
|
|
}
|
||
|
|
const halfTheta = Math.acos(cosHalfTheta);
|
||
|
|
const sinHalfTheta = Math.sqrt(1.0 - cosHalfTheta * cosHalfTheta);
|
||
|
|
if (Math.abs(sinHalfTheta) < 0.001) {
|
||
|
|
dest.x = q1.x * 0.5 + q2.x * 0.5;
|
||
|
|
dest.y = q1.y * 0.5 + q2.y * 0.5;
|
||
|
|
dest.z = q1.z * 0.5 + q2.z * 0.5;
|
||
|
|
dest.w = q1.w * 0.5 + q2.w * 0.5;
|
||
|
|
return dest;
|
||
|
|
}
|
||
|
|
const ratioA = Math.sin((1 - time) * halfTheta) / sinHalfTheta;
|
||
|
|
const ratioB = Math.sin(time * halfTheta) / sinHalfTheta;
|
||
|
|
dest.x = q1.x * ratioA + q2.x * ratioB;
|
||
|
|
dest.y = q1.y * ratioA + q2.y * ratioB;
|
||
|
|
dest.z = q1.z * ratioA + q2.z * ratioB;
|
||
|
|
dest.w = q1.w * ratioA + q2.w * ratioB;
|
||
|
|
return dest;
|
||
|
|
}
|
||
|
|
static fromAxisAngle(axis, angle, dest) {
|
||
|
|
if (!dest) {
|
||
|
|
dest = new quat();
|
||
|
|
}
|
||
|
|
angle *= 0.5;
|
||
|
|
const sin = Math.sin(angle);
|
||
|
|
dest.x = axis.x * sin;
|
||
|
|
dest.y = axis.y * sin;
|
||
|
|
dest.z = axis.z * sin;
|
||
|
|
dest.w = Math.cos(angle);
|
||
|
|
return dest;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
quat.identity = new quat().setIdentity();
|