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-/* Copyright (c) 2013, Brandon Jones, Colin MacKenzie IV. All rights reserved.
-
-Redistribution and use in source and binary forms, with or without modification,
-are permitted provided that the following conditions are met:
-
- * Redistributions of source code must retain the above copyright notice, this
- list of conditions and the following disclaimer.
- * Redistributions in binary form must reproduce the above copyright notice,
- this list of conditions and the following disclaimer in the documentation
- and/or other materials provided with the distribution.
-
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
-ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
-WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
-DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
-ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
-(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
-ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
-(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
-SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */
-
-/**
- * @class 4x4 Matrix
- * @name mat4
- */
-var mat4 = {};
-
-/**
- * Creates a new identity mat4
- *
- * @returns {mat4} a new 4x4 matrix
- */
-mat4.create = function() {
- var out = new GLMAT_ARRAY_TYPE(16);
- out[0] = 1;
- out[1] = 0;
- out[2] = 0;
- out[3] = 0;
- out[4] = 0;
- out[5] = 1;
- out[6] = 0;
- out[7] = 0;
- out[8] = 0;
- out[9] = 0;
- out[10] = 1;
- out[11] = 0;
- out[12] = 0;
- out[13] = 0;
- out[14] = 0;
- out[15] = 1;
- return out;
-};
-
-/**
- * Creates a new mat4 initialized with values from an existing matrix
- *
- * @param {mat4} a matrix to clone
- * @returns {mat4} a new 4x4 matrix
- */
-mat4.clone = function(a) {
- var out = new GLMAT_ARRAY_TYPE(16);
- out[0] = a[0];
- out[1] = a[1];
- out[2] = a[2];
- out[3] = a[3];
- out[4] = a[4];
- out[5] = a[5];
- out[6] = a[6];
- out[7] = a[7];
- out[8] = a[8];
- out[9] = a[9];
- out[10] = a[10];
- out[11] = a[11];
- out[12] = a[12];
- out[13] = a[13];
- out[14] = a[14];
- out[15] = a[15];
- return out;
-};
-
-/**
- * Copy the values from one mat4 to another
- *
- * @param {mat4} out the receiving matrix
- * @param {mat4} a the source matrix
- * @returns {mat4} out
- */
-mat4.copy = function(out, a) {
- out[0] = a[0];
- out[1] = a[1];
- out[2] = a[2];
- out[3] = a[3];
- out[4] = a[4];
- out[5] = a[5];
- out[6] = a[6];
- out[7] = a[7];
- out[8] = a[8];
- out[9] = a[9];
- out[10] = a[10];
- out[11] = a[11];
- out[12] = a[12];
- out[13] = a[13];
- out[14] = a[14];
- out[15] = a[15];
- return out;
-};
-
-/**
- * Set a mat4 to the identity matrix
- *
- * @param {mat4} out the receiving matrix
- * @returns {mat4} out
- */
-mat4.identity = function(out) {
- out[0] = 1;
- out[1] = 0;
- out[2] = 0;
- out[3] = 0;
- out[4] = 0;
- out[5] = 1;
- out[6] = 0;
- out[7] = 0;
- out[8] = 0;
- out[9] = 0;
- out[10] = 1;
- out[11] = 0;
- out[12] = 0;
- out[13] = 0;
- out[14] = 0;
- out[15] = 1;
- return out;
-};
-
-/**
- * Transpose the values of a mat4
- *
- * @param {mat4} out the receiving matrix
- * @param {mat4} a the source matrix
- * @returns {mat4} out
- */
-mat4.transpose = function(out, a) {
- // If we are transposing ourselves we can skip a few steps but have to cache some values
- if (out === a) {
- var a01 = a[1], a02 = a[2], a03 = a[3],
- a12 = a[6], a13 = a[7],
- a23 = a[11];
-
- out[1] = a[4];
- out[2] = a[8];
- out[3] = a[12];
- out[4] = a01;
- out[6] = a[9];
- out[7] = a[13];
- out[8] = a02;
- out[9] = a12;
- out[11] = a[14];
- out[12] = a03;
- out[13] = a13;
- out[14] = a23;
- } else {
- out[0] = a[0];
- out[1] = a[4];
- out[2] = a[8];
- out[3] = a[12];
- out[4] = a[1];
- out[5] = a[5];
- out[6] = a[9];
- out[7] = a[13];
- out[8] = a[2];
- out[9] = a[6];
- out[10] = a[10];
- out[11] = a[14];
- out[12] = a[3];
- out[13] = a[7];
- out[14] = a[11];
- out[15] = a[15];
- }
-
- return out;
-};
-
-/**
- * Inverts a mat4
- *
- * @param {mat4} out the receiving matrix
- * @param {mat4} a the source matrix
- * @returns {mat4} out
- */
-mat4.invert = function(out, a) {
- var a00 = a[0], a01 = a[1], a02 = a[2], a03 = a[3],
- a10 = a[4], a11 = a[5], a12 = a[6], a13 = a[7],
- a20 = a[8], a21 = a[9], a22 = a[10], a23 = a[11],
- a30 = a[12], a31 = a[13], a32 = a[14], a33 = a[15],
-
- b00 = a00 * a11 - a01 * a10,
- b01 = a00 * a12 - a02 * a10,
- b02 = a00 * a13 - a03 * a10,
- b03 = a01 * a12 - a02 * a11,
- b04 = a01 * a13 - a03 * a11,
- b05 = a02 * a13 - a03 * a12,
- b06 = a20 * a31 - a21 * a30,
- b07 = a20 * a32 - a22 * a30,
- b08 = a20 * a33 - a23 * a30,
- b09 = a21 * a32 - a22 * a31,
- b10 = a21 * a33 - a23 * a31,
- b11 = a22 * a33 - a23 * a32,
-
- // Calculate the determinant
- det = b00 * b11 - b01 * b10 + b02 * b09 + b03 * b08 - b04 * b07 + b05 * b06;
-
- if (!det) {
- return null;
- }
- det = 1.0 / det;
-
- out[0] = (a11 * b11 - a12 * b10 + a13 * b09) * det;
- out[1] = (a02 * b10 - a01 * b11 - a03 * b09) * det;
- out[2] = (a31 * b05 - a32 * b04 + a33 * b03) * det;
- out[3] = (a22 * b04 - a21 * b05 - a23 * b03) * det;
- out[4] = (a12 * b08 - a10 * b11 - a13 * b07) * det;
- out[5] = (a00 * b11 - a02 * b08 + a03 * b07) * det;
- out[6] = (a32 * b02 - a30 * b05 - a33 * b01) * det;
- out[7] = (a20 * b05 - a22 * b02 + a23 * b01) * det;
- out[8] = (a10 * b10 - a11 * b08 + a13 * b06) * det;
- out[9] = (a01 * b08 - a00 * b10 - a03 * b06) * det;
- out[10] = (a30 * b04 - a31 * b02 + a33 * b00) * det;
- out[11] = (a21 * b02 - a20 * b04 - a23 * b00) * det;
- out[12] = (a11 * b07 - a10 * b09 - a12 * b06) * det;
- out[13] = (a00 * b09 - a01 * b07 + a02 * b06) * det;
- out[14] = (a31 * b01 - a30 * b03 - a32 * b00) * det;
- out[15] = (a20 * b03 - a21 * b01 + a22 * b00) * det;
-
- return out;
-};
-
-/**
- * Calculates the adjugate of a mat4
- *
- * @param {mat4} out the receiving matrix
- * @param {mat4} a the source matrix
- * @returns {mat4} out
- */
-mat4.adjoint = function(out, a) {
- var a00 = a[0], a01 = a[1], a02 = a[2], a03 = a[3],
- a10 = a[4], a11 = a[5], a12 = a[6], a13 = a[7],
- a20 = a[8], a21 = a[9], a22 = a[10], a23 = a[11],
- a30 = a[12], a31 = a[13], a32 = a[14], a33 = a[15];
-
- out[0] = (a11 * (a22 * a33 - a23 * a32) - a21 * (a12 * a33 - a13 * a32) + a31 * (a12 * a23 - a13 * a22));
- out[1] = -(a01 * (a22 * a33 - a23 * a32) - a21 * (a02 * a33 - a03 * a32) + a31 * (a02 * a23 - a03 * a22));
- out[2] = (a01 * (a12 * a33 - a13 * a32) - a11 * (a02 * a33 - a03 * a32) + a31 * (a02 * a13 - a03 * a12));
- out[3] = -(a01 * (a12 * a23 - a13 * a22) - a11 * (a02 * a23 - a03 * a22) + a21 * (a02 * a13 - a03 * a12));
- out[4] = -(a10 * (a22 * a33 - a23 * a32) - a20 * (a12 * a33 - a13 * a32) + a30 * (a12 * a23 - a13 * a22));
- out[5] = (a00 * (a22 * a33 - a23 * a32) - a20 * (a02 * a33 - a03 * a32) + a30 * (a02 * a23 - a03 * a22));
- out[6] = -(a00 * (a12 * a33 - a13 * a32) - a10 * (a02 * a33 - a03 * a32) + a30 * (a02 * a13 - a03 * a12));
- out[7] = (a00 * (a12 * a23 - a13 * a22) - a10 * (a02 * a23 - a03 * a22) + a20 * (a02 * a13 - a03 * a12));
- out[8] = (a10 * (a21 * a33 - a23 * a31) - a20 * (a11 * a33 - a13 * a31) + a30 * (a11 * a23 - a13 * a21));
- out[9] = -(a00 * (a21 * a33 - a23 * a31) - a20 * (a01 * a33 - a03 * a31) + a30 * (a01 * a23 - a03 * a21));
- out[10] = (a00 * (a11 * a33 - a13 * a31) - a10 * (a01 * a33 - a03 * a31) + a30 * (a01 * a13 - a03 * a11));
- out[11] = -(a00 * (a11 * a23 - a13 * a21) - a10 * (a01 * a23 - a03 * a21) + a20 * (a01 * a13 - a03 * a11));
- out[12] = -(a10 * (a21 * a32 - a22 * a31) - a20 * (a11 * a32 - a12 * a31) + a30 * (a11 * a22 - a12 * a21));
- out[13] = (a00 * (a21 * a32 - a22 * a31) - a20 * (a01 * a32 - a02 * a31) + a30 * (a01 * a22 - a02 * a21));
- out[14] = -(a00 * (a11 * a32 - a12 * a31) - a10 * (a01 * a32 - a02 * a31) + a30 * (a01 * a12 - a02 * a11));
- out[15] = (a00 * (a11 * a22 - a12 * a21) - a10 * (a01 * a22 - a02 * a21) + a20 * (a01 * a12 - a02 * a11));
- return out;
-};
-
-/**
- * Calculates the determinant of a mat4
- *
- * @param {mat4} a the source matrix
- * @returns {Number} determinant of a
- */
-mat4.determinant = function (a) {
- var a00 = a[0], a01 = a[1], a02 = a[2], a03 = a[3],
- a10 = a[4], a11 = a[5], a12 = a[6], a13 = a[7],
- a20 = a[8], a21 = a[9], a22 = a[10], a23 = a[11],
- a30 = a[12], a31 = a[13], a32 = a[14], a33 = a[15],
-
- b00 = a00 * a11 - a01 * a10,
- b01 = a00 * a12 - a02 * a10,
- b02 = a00 * a13 - a03 * a10,
- b03 = a01 * a12 - a02 * a11,
- b04 = a01 * a13 - a03 * a11,
- b05 = a02 * a13 - a03 * a12,
- b06 = a20 * a31 - a21 * a30,
- b07 = a20 * a32 - a22 * a30,
- b08 = a20 * a33 - a23 * a30,
- b09 = a21 * a32 - a22 * a31,
- b10 = a21 * a33 - a23 * a31,
- b11 = a22 * a33 - a23 * a32;
-
- // Calculate the determinant
- return b00 * b11 - b01 * b10 + b02 * b09 + b03 * b08 - b04 * b07 + b05 * b06;
-};
-
-/**
- * Multiplies two mat4's
- *
- * @param {mat4} out the receiving matrix
- * @param {mat4} a the first operand
- * @param {mat4} b the second operand
- * @returns {mat4} out
- */
-mat4.multiply = function (out, a, b) {
- var a00 = a[0], a01 = a[1], a02 = a[2], a03 = a[3],
- a10 = a[4], a11 = a[5], a12 = a[6], a13 = a[7],
- a20 = a[8], a21 = a[9], a22 = a[10], a23 = a[11],
- a30 = a[12], a31 = a[13], a32 = a[14], a33 = a[15];
-
- // Cache only the current line of the second matrix
- var b0 = b[0], b1 = b[1], b2 = b[2], b3 = b[3];
- out[0] = b0*a00 + b1*a10 + b2*a20 + b3*a30;
- out[1] = b0*a01 + b1*a11 + b2*a21 + b3*a31;
- out[2] = b0*a02 + b1*a12 + b2*a22 + b3*a32;
- out[3] = b0*a03 + b1*a13 + b2*a23 + b3*a33;
-
- b0 = b[4]; b1 = b[5]; b2 = b[6]; b3 = b[7];
- out[4] = b0*a00 + b1*a10 + b2*a20 + b3*a30;
- out[5] = b0*a01 + b1*a11 + b2*a21 + b3*a31;
- out[6] = b0*a02 + b1*a12 + b2*a22 + b3*a32;
- out[7] = b0*a03 + b1*a13 + b2*a23 + b3*a33;
-
- b0 = b[8]; b1 = b[9]; b2 = b[10]; b3 = b[11];
- out[8] = b0*a00 + b1*a10 + b2*a20 + b3*a30;
- out[9] = b0*a01 + b1*a11 + b2*a21 + b3*a31;
- out[10] = b0*a02 + b1*a12 + b2*a22 + b3*a32;
- out[11] = b0*a03 + b1*a13 + b2*a23 + b3*a33;
-
- b0 = b[12]; b1 = b[13]; b2 = b[14]; b3 = b[15];
- out[12] = b0*a00 + b1*a10 + b2*a20 + b3*a30;
- out[13] = b0*a01 + b1*a11 + b2*a21 + b3*a31;
- out[14] = b0*a02 + b1*a12 + b2*a22 + b3*a32;
- out[15] = b0*a03 + b1*a13 + b2*a23 + b3*a33;
- return out;
-};
-
-/**
- * Alias for {@link mat4.multiply}
- * @function
- */
-mat4.mul = mat4.multiply;
-
-/**
- * Translate a mat4 by the given vector
- *
- * @param {mat4} out the receiving matrix
- * @param {mat4} a the matrix to translate
- * @param {vec3} v vector to translate by
- * @returns {mat4} out
- */
-mat4.translate = function (out, a, v) {
- var x = v[0], y = v[1], z = v[2],
- a00, a01, a02, a03,
- a10, a11, a12, a13,
- a20, a21, a22, a23;
-
- if (a === out) {
- out[12] = a[0] * x + a[4] * y + a[8] * z + a[12];
- out[13] = a[1] * x + a[5] * y + a[9] * z + a[13];
- out[14] = a[2] * x + a[6] * y + a[10] * z + a[14];
- out[15] = a[3] * x + a[7] * y + a[11] * z + a[15];
- } else {
- a00 = a[0]; a01 = a[1]; a02 = a[2]; a03 = a[3];
- a10 = a[4]; a11 = a[5]; a12 = a[6]; a13 = a[7];
- a20 = a[8]; a21 = a[9]; a22 = a[10]; a23 = a[11];
-
- out[0] = a00; out[1] = a01; out[2] = a02; out[3] = a03;
- out[4] = a10; out[5] = a11; out[6] = a12; out[7] = a13;
- out[8] = a20; out[9] = a21; out[10] = a22; out[11] = a23;
-
- out[12] = a00 * x + a10 * y + a20 * z + a[12];
- out[13] = a01 * x + a11 * y + a21 * z + a[13];
- out[14] = a02 * x + a12 * y + a22 * z + a[14];
- out[15] = a03 * x + a13 * y + a23 * z + a[15];
- }
-
- return out;
-};
-
-/**
- * Scales the mat4 by the dimensions in the given vec3
- *
- * @param {mat4} out the receiving matrix
- * @param {mat4} a the matrix to scale
- * @param {vec3} v the vec3 to scale the matrix by
- * @returns {mat4} out
- **/
-mat4.scale = function(out, a, v) {
- var x = v[0], y = v[1], z = v[2];
-
- out[0] = a[0] * x;
- out[1] = a[1] * x;
- out[2] = a[2] * x;
- out[3] = a[3] * x;
- out[4] = a[4] * y;
- out[5] = a[5] * y;
- out[6] = a[6] * y;
- out[7] = a[7] * y;
- out[8] = a[8] * z;
- out[9] = a[9] * z;
- out[10] = a[10] * z;
- out[11] = a[11] * z;
- out[12] = a[12];
- out[13] = a[13];
- out[14] = a[14];
- out[15] = a[15];
- return out;
-};
-
-/**
- * Rotates a mat4 by the given angle
- *
- * @param {mat4} out the receiving matrix
- * @param {mat4} a the matrix to rotate
- * @param {Number} rad the angle to rotate the matrix by
- * @param {vec3} axis the axis to rotate around
- * @returns {mat4} out
- */
-mat4.rotate = function (out, a, rad, axis) {
- var x = axis[0], y = axis[1], z = axis[2],
- len = Math.sqrt(x * x + y * y + z * z),
- s, c, t,
- a00, a01, a02, a03,
- a10, a11, a12, a13,
- a20, a21, a22, a23,
- b00, b01, b02,
- b10, b11, b12,
- b20, b21, b22;
-
- if (Math.abs(len) < GLMAT_EPSILON) { return null; }
-
- len = 1 / len;
- x *= len;
- y *= len;
- z *= len;
-
- s = Math.sin(rad);
- c = Math.cos(rad);
- t = 1 - c;
-
- a00 = a[0]; a01 = a[1]; a02 = a[2]; a03 = a[3];
- a10 = a[4]; a11 = a[5]; a12 = a[6]; a13 = a[7];
- a20 = a[8]; a21 = a[9]; a22 = a[10]; a23 = a[11];
-
- // Construct the elements of the rotation matrix
- b00 = x * x * t + c; b01 = y * x * t + z * s; b02 = z * x * t - y * s;
- b10 = x * y * t - z * s; b11 = y * y * t + c; b12 = z * y * t + x * s;
- b20 = x * z * t + y * s; b21 = y * z * t - x * s; b22 = z * z * t + c;
-
- // Perform rotation-specific matrix multiplication
- out[0] = a00 * b00 + a10 * b01 + a20 * b02;
- out[1] = a01 * b00 + a11 * b01 + a21 * b02;
- out[2] = a02 * b00 + a12 * b01 + a22 * b02;
- out[3] = a03 * b00 + a13 * b01 + a23 * b02;
- out[4] = a00 * b10 + a10 * b11 + a20 * b12;
- out[5] = a01 * b10 + a11 * b11 + a21 * b12;
- out[6] = a02 * b10 + a12 * b11 + a22 * b12;
- out[7] = a03 * b10 + a13 * b11 + a23 * b12;
- out[8] = a00 * b20 + a10 * b21 + a20 * b22;
- out[9] = a01 * b20 + a11 * b21 + a21 * b22;
- out[10] = a02 * b20 + a12 * b21 + a22 * b22;
- out[11] = a03 * b20 + a13 * b21 + a23 * b22;
-
- if (a !== out) { // If the source and destination differ, copy the unchanged last row
- out[12] = a[12];
- out[13] = a[13];
- out[14] = a[14];
- out[15] = a[15];
- }
- return out;
-};
-
-/**
- * Rotates a matrix by the given angle around the X axis
- *
- * @param {mat4} out the receiving matrix
- * @param {mat4} a the matrix to rotate
- * @param {Number} rad the angle to rotate the matrix by
- * @returns {mat4} out
- */
-mat4.rotateX = function (out, a, rad) {
- var s = Math.sin(rad),
- c = Math.cos(rad),
- a10 = a[4],
- a11 = a[5],
- a12 = a[6],
- a13 = a[7],
- a20 = a[8],
- a21 = a[9],
- a22 = a[10],
- a23 = a[11];
-
- if (a !== out) { // If the source and destination differ, copy the unchanged rows
- out[0] = a[0];
- out[1] = a[1];
- out[2] = a[2];
- out[3] = a[3];
- out[12] = a[12];
- out[13] = a[13];
- out[14] = a[14];
- out[15] = a[15];
- }
-
- // Perform axis-specific matrix multiplication
- out[4] = a10 * c + a20 * s;
- out[5] = a11 * c + a21 * s;
- out[6] = a12 * c + a22 * s;
- out[7] = a13 * c + a23 * s;
- out[8] = a20 * c - a10 * s;
- out[9] = a21 * c - a11 * s;
- out[10] = a22 * c - a12 * s;
- out[11] = a23 * c - a13 * s;
- return out;
-};
-
-/**
- * Rotates a matrix by the given angle around the Y axis
- *
- * @param {mat4} out the receiving matrix
- * @param {mat4} a the matrix to rotate
- * @param {Number} rad the angle to rotate the matrix by
- * @returns {mat4} out
- */
-mat4.rotateY = function (out, a, rad) {
- var s = Math.sin(rad),
- c = Math.cos(rad),
- a00 = a[0],
- a01 = a[1],
- a02 = a[2],
- a03 = a[3],
- a20 = a[8],
- a21 = a[9],
- a22 = a[10],
- a23 = a[11];
-
- if (a !== out) { // If the source and destination differ, copy the unchanged rows
- out[4] = a[4];
- out[5] = a[5];
- out[6] = a[6];
- out[7] = a[7];
- out[12] = a[12];
- out[13] = a[13];
- out[14] = a[14];
- out[15] = a[15];
- }
-
- // Perform axis-specific matrix multiplication
- out[0] = a00 * c - a20 * s;
- out[1] = a01 * c - a21 * s;
- out[2] = a02 * c - a22 * s;
- out[3] = a03 * c - a23 * s;
- out[8] = a00 * s + a20 * c;
- out[9] = a01 * s + a21 * c;
- out[10] = a02 * s + a22 * c;
- out[11] = a03 * s + a23 * c;
- return out;
-};
-
-/**
- * Rotates a matrix by the given angle around the Z axis
- *
- * @param {mat4} out the receiving matrix
- * @param {mat4} a the matrix to rotate
- * @param {Number} rad the angle to rotate the matrix by
- * @returns {mat4} out
- */
-mat4.rotateZ = function (out, a, rad) {
- var s = Math.sin(rad),
- c = Math.cos(rad),
- a00 = a[0],
- a01 = a[1],
- a02 = a[2],
- a03 = a[3],
- a10 = a[4],
- a11 = a[5],
- a12 = a[6],
- a13 = a[7];
-
- if (a !== out) { // If the source and destination differ, copy the unchanged last row
- out[8] = a[8];
- out[9] = a[9];
- out[10] = a[10];
- out[11] = a[11];
- out[12] = a[12];
- out[13] = a[13];
- out[14] = a[14];
- out[15] = a[15];
- }
-
- // Perform axis-specific matrix multiplication
- out[0] = a00 * c + a10 * s;
- out[1] = a01 * c + a11 * s;
- out[2] = a02 * c + a12 * s;
- out[3] = a03 * c + a13 * s;
- out[4] = a10 * c - a00 * s;
- out[5] = a11 * c - a01 * s;
- out[6] = a12 * c - a02 * s;
- out[7] = a13 * c - a03 * s;
- return out;
-};
-
-/**
- * Creates a matrix from a quaternion rotation and vector translation
- * This is equivalent to (but much faster than):
- *
- * mat4.identity(dest);
- * mat4.translate(dest, vec);
- * var quatMat = mat4.create();
- * quat4.toMat4(quat, quatMat);
- * mat4.multiply(dest, quatMat);
- *
- * @param {mat4} out mat4 receiving operation result
- * @param {quat4} q Rotation quaternion
- * @param {vec3} v Translation vector
- * @returns {mat4} out
- */
-mat4.fromRotationTranslation = function (out, q, v) {
- // Quaternion math
- var x = q[0], y = q[1], z = q[2], w = q[3],
- x2 = x + x,
- y2 = y + y,
- z2 = z + z,
-
- xx = x * x2,
- xy = x * y2,
- xz = x * z2,
- yy = y * y2,
- yz = y * z2,
- zz = z * z2,
- wx = w * x2,
- wy = w * y2,
- wz = w * z2;
-
- out[0] = 1 - (yy + zz);
- out[1] = xy + wz;
- out[2] = xz - wy;
- out[3] = 0;
- out[4] = xy - wz;
- out[5] = 1 - (xx + zz);
- out[6] = yz + wx;
- out[7] = 0;
- out[8] = xz + wy;
- out[9] = yz - wx;
- out[10] = 1 - (xx + yy);
- out[11] = 0;
- out[12] = v[0];
- out[13] = v[1];
- out[14] = v[2];
- out[15] = 1;
-
- return out;
-};
-
-/**
-* Calculates a 4x4 matrix from the given quaternion
-*
-* @param {mat4} out mat4 receiving operation result
-* @param {quat} q Quaternion to create matrix from
-*
-* @returns {mat4} out
-*/
-mat4.fromQuat = function (out, q) {
- var x = q[0], y = q[1], z = q[2], w = q[3],
- x2 = x + x,
- y2 = y + y,
- z2 = z + z,
-
- xx = x * x2,
- xy = x * y2,
- xz = x * z2,
- yy = y * y2,
- yz = y * z2,
- zz = z * z2,
- wx = w * x2,
- wy = w * y2,
- wz = w * z2;
-
- out[0] = 1 - (yy + zz);
- out[1] = xy + wz;
- out[2] = xz - wy;
- out[3] = 0;
-
- out[4] = xy - wz;
- out[5] = 1 - (xx + zz);
- out[6] = yz + wx;
- out[7] = 0;
-
- out[8] = xz + wy;
- out[9] = yz - wx;
- out[10] = 1 - (xx + yy);
- out[11] = 0;
-
- out[12] = 0;
- out[13] = 0;
- out[14] = 0;
- out[15] = 1;
-
- return out;
-};
-
-/**
- * Generates a frustum matrix with the given bounds
- *
- * @param {mat4} out mat4 frustum matrix will be written into
- * @param {Number} left Left bound of the frustum
- * @param {Number} right Right bound of the frustum
- * @param {Number} bottom Bottom bound of the frustum
- * @param {Number} top Top bound of the frustum
- * @param {Number} near Near bound of the frustum
- * @param {Number} far Far bound of the frustum
- * @returns {mat4} out
- */
-mat4.frustum = function (out, left, right, bottom, top, near, far) {
- var rl = 1 / (right - left),
- tb = 1 / (top - bottom),
- nf = 1 / (near - far);
- out[0] = (near * 2) * rl;
- out[1] = 0;
- out[2] = 0;
- out[3] = 0;
- out[4] = 0;
- out[5] = (near * 2) * tb;
- out[6] = 0;
- out[7] = 0;
- out[8] = (right + left) * rl;
- out[9] = (top + bottom) * tb;
- out[10] = (far + near) * nf;
- out[11] = -1;
- out[12] = 0;
- out[13] = 0;
- out[14] = (far * near * 2) * nf;
- out[15] = 0;
- return out;
-};
-
-/**
- * Generates a perspective projection matrix with the given bounds
- *
- * @param {mat4} out mat4 frustum matrix will be written into
- * @param {number} fovy Vertical field of view in radians
- * @param {number} aspect Aspect ratio. typically viewport width/height
- * @param {number} near Near bound of the frustum
- * @param {number} far Far bound of the frustum
- * @returns {mat4} out
- */
-mat4.perspective = function (out, fovy, aspect, near, far) {
- var f = 1.0 / Math.tan(fovy / 2),
- nf = 1 / (near - far);
- out[0] = f / aspect;
- out[1] = 0;
- out[2] = 0;
- out[3] = 0;
- out[4] = 0;
- out[5] = f;
- out[6] = 0;
- out[7] = 0;
- out[8] = 0;
- out[9] = 0;
- out[10] = (far + near) * nf;
- out[11] = -1;
- out[12] = 0;
- out[13] = 0;
- out[14] = (2 * far * near) * nf;
- out[15] = 0;
- return out;
-};
-
-/**
- * Generates a orthogonal projection matrix with the given bounds
- *
- * @param {mat4} out mat4 frustum matrix will be written into
- * @param {number} left Left bound of the frustum
- * @param {number} right Right bound of the frustum
- * @param {number} bottom Bottom bound of the frustum
- * @param {number} top Top bound of the frustum
- * @param {number} near Near bound of the frustum
- * @param {number} far Far bound of the frustum
- * @returns {mat4} out
- */
-mat4.ortho = function (out, left, right, bottom, top, near, far) {
- var lr = 1 / (left - right),
- bt = 1 / (bottom - top),
- nf = 1 / (near - far);
- out[0] = -2 * lr;
- out[1] = 0;
- out[2] = 0;
- out[3] = 0;
- out[4] = 0;
- out[5] = -2 * bt;
- out[6] = 0;
- out[7] = 0;
- out[8] = 0;
- out[9] = 0;
- out[10] = 2 * nf;
- out[11] = 0;
- out[12] = (left + right) * lr;
- out[13] = (top + bottom) * bt;
- out[14] = (far + near) * nf;
- out[15] = 1;
- return out;
-};
-
-/**
- * Generates a look-at matrix with the given eye position, focal point, and up axis
- *
- * @param {mat4} out mat4 frustum matrix will be written into
- * @param {vec3} eye Position of the viewer
- * @param {vec3} center Point the viewer is looking at
- * @param {vec3} up vec3 pointing up
- * @returns {mat4} out
- */
-mat4.lookAt = function (out, eye, center, up) {
- var x0, x1, x2, y0, y1, y2, z0, z1, z2, len,
- eyex = eye[0],
- eyey = eye[1],
- eyez = eye[2],
- upx = up[0],
- upy = up[1],
- upz = up[2],
- centerx = center[0],
- centery = center[1],
- centerz = center[2];
-
- if (Math.abs(eyex - centerx) < GLMAT_EPSILON &&
- Math.abs(eyey - centery) < GLMAT_EPSILON &&
- Math.abs(eyez - centerz) < GLMAT_EPSILON) {
- return mat4.identity(out);
- }
-
- z0 = eyex - centerx;
- z1 = eyey - centery;
- z2 = eyez - centerz;
-
- len = 1 / Math.sqrt(z0 * z0 + z1 * z1 + z2 * z2);
- z0 *= len;
- z1 *= len;
- z2 *= len;
-
- x0 = upy * z2 - upz * z1;
- x1 = upz * z0 - upx * z2;
- x2 = upx * z1 - upy * z0;
- len = Math.sqrt(x0 * x0 + x1 * x1 + x2 * x2);
- if (!len) {
- x0 = 0;
- x1 = 0;
- x2 = 0;
- } else {
- len = 1 / len;
- x0 *= len;
- x1 *= len;
- x2 *= len;
- }
-
- y0 = z1 * x2 - z2 * x1;
- y1 = z2 * x0 - z0 * x2;
- y2 = z0 * x1 - z1 * x0;
-
- len = Math.sqrt(y0 * y0 + y1 * y1 + y2 * y2);
- if (!len) {
- y0 = 0;
- y1 = 0;
- y2 = 0;
- } else {
- len = 1 / len;
- y0 *= len;
- y1 *= len;
- y2 *= len;
- }
-
- out[0] = x0;
- out[1] = y0;
- out[2] = z0;
- out[3] = 0;
- out[4] = x1;
- out[5] = y1;
- out[6] = z1;
- out[7] = 0;
- out[8] = x2;
- out[9] = y2;
- out[10] = z2;
- out[11] = 0;
- out[12] = -(x0 * eyex + x1 * eyey + x2 * eyez);
- out[13] = -(y0 * eyex + y1 * eyey + y2 * eyez);
- out[14] = -(z0 * eyex + z1 * eyey + z2 * eyez);
- out[15] = 1;
-
- return out;
-};
-
-/**
- * Returns a string representation of a mat4
- *
- * @param {mat4} mat matrix to represent as a string
- * @returns {String} string representation of the matrix
- */
-mat4.str = function (a) {
- return 'mat4(' + a[0] + ', ' + a[1] + ', ' + a[2] + ', ' + a[3] + ', ' +
- a[4] + ', ' + a[5] + ', ' + a[6] + ', ' + a[7] + ', ' +
- a[8] + ', ' + a[9] + ', ' + a[10] + ', ' + a[11] + ', ' +
- a[12] + ', ' + a[13] + ', ' + a[14] + ', ' + a[15] + ')';
-};
-
-if(typeof(exports) !== 'undefined') {
- exports.mat4 = mat4;
-}
generated by cgit v1.2.3 (git 2.25.1) at 2024-05-07 16:01:30 +0000