@polygonjs/polygonjs/dist/src/core/softBody/SoftBodyMath.js

node-based WebGL 3D engine https://polygonjs.com

"use strict";
export function vecSetZero(a, anr) {
  anr *= 3;
  a[anr++] = 0;
  a[anr++] = 0;
  a[anr] = 0;
}
export function vecScale(a, anr, scale) {
  anr *= 3;
  a[anr++] *= scale;
  a[anr++] *= scale;
  a[anr] *= scale;
}
export function vecCopy(a, anr, b, bnr) {
  anr *= 3;
  bnr *= 3;
  a[anr++] = b[bnr++];
  a[anr++] = b[bnr++];
  a[anr] = b[bnr];
}
export function vecAdd(a, anr, b, bnr, scale = 1) {
  anr *= 3;
  bnr *= 3;
  a[anr++] += b[bnr++] * scale;
  a[anr++] += b[bnr++] * scale;
  a[anr] += b[bnr] * scale;
}
export function vecAddVector3(a, anr, v3) {
  anr *= 3;
  a[anr++] += v3.x;
  a[anr++] += v3.y;
  a[anr] += v3.z;
}
export function vecSetDiff(dst, dnr, a, anr, b, bnr, scale = 1) {
  dnr *= 3;
  anr *= 3;
  bnr *= 3;
  dst[dnr++] = (a[anr++] - b[bnr++]) * scale;
  dst[dnr++] = (a[anr++] - b[bnr++]) * scale;
  dst[dnr] = (a[anr] - b[bnr]) * scale;
}
export function vecLengthSquared(a, anr) {
  anr *= 3;
  let a0 = a[anr], a1 = a[anr + 1], a2 = a[anr + 2];
  return a0 * a0 + a1 * a1 + a2 * a2;
}
export function vecDistSquared(a, anr, b, bnr) {
  anr *= 3;
  bnr *= 3;
  let a0 = a[anr] - b[bnr], a1 = a[anr + 1] - b[bnr + 1], a2 = a[anr + 2] - b[bnr + 2];
  return a0 * a0 + a1 * a1 + a2 * a2;
}
export function vecDot(a, anr, b, bnr) {
  anr *= 3;
  bnr *= 3;
  return a[anr] * b[bnr] + a[anr + 1] * b[bnr + 1] + a[anr + 2] * b[bnr + 2];
}
export function vecSetCross(a, anr, b, bnr, c, cnr) {
  anr *= 3;
  bnr *= 3;
  cnr *= 3;
  a[anr++] = b[bnr + 1] * c[cnr + 2] - b[bnr + 2] * c[cnr + 1];
  a[anr++] = b[bnr + 2] * c[cnr + 0] - b[bnr + 0] * c[cnr + 2];
  a[anr] = b[bnr + 0] * c[cnr + 1] - b[bnr + 1] * c[cnr + 0];
}
function matGetDeterminant(A) {
  const a11 = A[0], a12 = A[3], a13 = A[6];
  const a21 = A[1], a22 = A[4], a23 = A[7];
  const a31 = A[2], a32 = A[5], a33 = A[8];
  return a11 * a22 * a33 + a12 * a23 * a31 + a13 * a21 * a32 - a13 * a22 * a31 - a12 * a21 * a33 - a11 * a23 * a32;
}
export function matSetMult(A, a, anr, b, bnr) {
  bnr *= 3;
  var bx = b[bnr++];
  var by = b[bnr++];
  var bz = b[bnr];
  vecSetZero(a, anr);
  vecAdd(a, anr, A, 0, bx);
  vecAdd(a, anr, A, 1, by);
  vecAdd(a, anr, A, 2, bz);
}
export function matSetInverse(A) {
  let det = matGetDeterminant(A);
  if (det == 0) {
    for (let i = 0; i < 9; i++)
      A[
        /*anr +*/
        i
      ] = 0;
    return;
  }
  let invDet = 1 / det;
  let a11 = A[0], a12 = A[3], a13 = A[6];
  let a21 = A[1], a22 = A[4], a23 = A[7];
  let a31 = A[2], a32 = A[5], a33 = A[8];
  A[0] = (a22 * a33 - a23 * a32) * invDet;
  A[3] = -(a12 * a33 - a13 * a32) * invDet;
  A[6] = (a12 * a23 - a13 * a22) * invDet;
  A[1] = -(a21 * a33 - a23 * a31) * invDet;
  A[4] = (a11 * a33 - a13 * a31) * invDet;
  A[7] = -(a11 * a23 - a13 * a21) * invDet;
  A[2] = (a21 * a32 - a22 * a31) * invDet;
  A[5] = -(a11 * a32 - a12 * a31) * invDet;
  A[8] = (a11 * a22 - a12 * a21) * invDet;
}