@tolokoban/tgd
Version:
ToloGameDev library for WebGL2
220 lines • 19.1 kB
JavaScript
import { quat } from "gl-matrix";
import { TgdMat3 } from "./mat3.js";
import { TgdVec3 } from "./vec3.js";
import { TgdVec4 } from "./vec4.js";
const temporaryAxisX = new TgdVec3();
const temporaryAxisY = new TgdVec3();
const temporaryAxisZ = new TgdVec3();
const temporaryMat3 = new TgdMat3();
export class TgdQuat extends TgdVec4 {
static fromMatrix(mat) {
const quat = new TgdQuat();
quat.fromMatrix(mat);
return quat;
}
static fromFace(face) {
return new TgdQuat().face(face);
}
static fromSlerp(valueAtT0, valueAtT1, t) {
return new TgdQuat().fromSlerp(valueAtT0, valueAtT1, t);
}
constructor(x = 0, y = 0, z = 0, w = 1) {
if (Array.isArray(x)) {
const [xx, yy, zz, ww] = x;
super(xx, yy, zz, ww);
}
else if (typeof x === "number")
super(x, y, z, w);
else
super(x);
}
clone() {
return new TgdQuat(this);
}
multiply(q) {
quat.multiply(this, this, q);
return this;
}
fromSlerp(valueAtT0, valueAtT1, t) {
const EPSILON = 1e-6;
const [ax, ay, az, aw] = valueAtT0;
let [bx, by, bz, bw] = valueAtT1;
let scale0, scale1;
// calc cosine
let cosom = ax * bx + ay * by + az * bz + aw * bw;
// adjust signs (if necessary)
if (cosom < 0) {
cosom = -cosom;
bx = -bx;
by = -by;
bz = -bz;
bw = -bw;
}
// calculate coefficients
if (1 - cosom > EPSILON) {
// standard case (slerp)
const omega = Math.acos(cosom);
const sinom = Math.sin(omega);
const inverseSinom = 1 / sinom;
scale0 = Math.sin((1 - t) * omega) * inverseSinom;
scale1 = Math.sin(t * omega) * inverseSinom;
}
else {
// "from" and "to" quaternions are very close
// ... so we can do a linear interpolation
scale0 = 1 - t;
scale1 = t;
}
// calculate final values
this.x = scale0 * ax + scale1 * bx;
this.y = scale0 * ay + scale1 * by;
this.z = scale0 * az + scale1 * bz;
this.w = scale0 * aw + scale1 * bw;
return this;
}
fromAxesTransposed([m00, m01, m02], [m10, m11, m12], [m20, m21, m22]) {
return this.fromAxes([m00, m10, m20], [m01, m11, m21], [m02, m12, m22]);
}
fromAxes(X, Y, Z) {
const [x, y, z] = Z;
quat.setAxes(this, [-x, -y, -z], X, Y);
return this;
}
fromMatrix(mat) {
quat.fromMat3(this, mat);
return this;
}
rotateAround(axis, angleInRadians) {
temporaryMat3
.fromQuat(this)
.toAxes(temporaryAxisX, temporaryAxisY, temporaryAxisZ);
temporaryAxisX.rotateAround(axis, angleInRadians);
temporaryAxisY.rotateAround(axis, angleInRadians);
temporaryAxisZ.rotateAround(axis, angleInRadians);
return this.fromAxes(temporaryAxisX, temporaryAxisY, temporaryAxisZ);
}
static rotateAroundX(angleInRadians) {
return new TgdQuat().rotateAroundX(angleInRadians);
}
rotateAroundX(angleInRadians) {
return this.rotateAround(TgdVec3.X, angleInRadians);
}
static rotateAroundY(angleInRadians) {
return new TgdQuat().rotateAroundY(angleInRadians);
}
rotateAroundY(angleInRadians) {
return this.rotateAround(TgdVec3.Y, angleInRadians);
}
static rotateAroundZ(angleInRadians) {
return new TgdQuat().rotateAroundZ(angleInRadians);
}
rotateAroundZ(angleInRadians) {
return this.rotateAround(TgdVec3.Z, angleInRadians);
}
toAxisX(vec) {
const [x, y, z, w] = this;
const x2 = x + x;
const y2 = y + y;
const z2 = z + z;
const yx = y * x2;
const yy = y * y2;
const zx = z * x2;
const zz = z * z2;
const wy = w * y2;
const wz = w * z2;
vec.x = 1 - yy - zz;
vec.y = yx - wz;
vec.z = zx + wy;
return vec;
}
toAxisY(vec) {
const [x, y, z, w] = this;
const x2 = x + x;
const y2 = y + y;
const z2 = z + z;
const xx = x * x2;
const yx = y * x2;
const zy = z * y2;
const zz = z * z2;
const wx = w * x2;
const wz = w * z2;
vec.x = yx + wz;
vec.y = 1 - xx - zz;
vec.z = zy - wx;
return vec;
}
toAxisZ(vec) {
const { x, y, z, w } = this;
const x2 = x + x;
const y2 = y + y;
const xx = x * x2;
const yy = y * y2;
const zx = z * x2;
const zy = z * y2;
const wx = w * x2;
const wy = w * y2;
vec.x = zx - wy;
vec.y = zy + wx;
vec.z = 1 - xx - yy;
return vec;
}
toMatrix(mat) {
const axisX = new TgdVec3();
const axisY = new TgdVec3();
const axisZ = new TgdVec3();
this.toAxisX(axisX);
this.toAxisY(axisY);
this.toAxisZ(axisZ);
mat.m00 = axisX.x;
mat.m01 = axisX.y;
mat.m02 = axisX.z;
mat.m10 = axisY.x;
mat.m11 = axisY.y;
mat.m12 = axisY.z;
mat.m20 = axisZ.x;
mat.m21 = axisZ.y;
mat.m22 = axisZ.z;
return mat;
}
invert() {
quat.invert(this, this);
return this;
}
face(face = "+X+Y+Z") {
const [x, y, z, w] = FACES[face];
this.x = x;
this.y = y;
this.z = z;
this.w = w;
return this;
}
}
const A = Math.sqrt(2) / 2;
const H = 0.5;
const FACES = {
"-X-Y+Z": [+0, +0, +1, +0],
"-X-Z-Y": [+0, -A, +A, +0],
"-X+Y-Z": [+0, +1, +0, +0],
"-X+Z+Y": [+0, +A, +A, +0],
"-Y-X-Z": [+A, -A, +0, +0],
"-Y-Z+X": [+H, -H, +H, -H],
"-Y+X+Z": [+0, +0, -A, +A],
"-Y+Z-X": [+H, -H, -H, +H],
"-Z-X+Y": [+H, -H, -H, -H],
"-Z-Y-X": [-A, +0, +A, +0],
"-Z+X-Y": [+H, +H, -H, +H],
"-Z+Y+X": [+0, +A, +0, +A],
"+X-Y-Z": [+1, +0, +0, +0],
"+X-Z+Y": [-A, +0, +0, +A],
"+X+Y+Z": [+0, +0, +0, +1],
"+X+Z-Y": [+A, +0, +0, +A],
"+Y-X+Z": [+0, +0, +A, +A],
"+Y-Z-X": [-H, -H, +H, +H],
"+Y+X-Z": [+A, +A, +0, +0],
"+Y+Z+X": [+H, +H, +H, +H],
"+Z-X-Y": [+H, -H, +H, +H],
"+Z-Y+X": [+A, +0, +A, +0],
"+Z+X+Y": [+H, +H, +H, -H],
"+Z+Y-X": [+0, -A, +0, +A],
};
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