@visactor/vrender-core/es/common/matrix.js

## Description

import { epsilon } from "@visactor/vutils";

export function identityMat4(out) {
    return 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, out;
}

export function rotateX(out, a, rad) {
    const 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];
    return a !== out && (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]), 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, out;
}

export function rotateY(out, a, rad) {
    const 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];
    return a !== out && (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]), 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, out;
}

export function rotateZ(out, a, rad) {
    const 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];
    return a !== out && (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]), 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, out;
}

export function translate(out, a, v) {
    const x = v[0], y = v[1], z = v[2];
    let a00, a01, a02, a03, a10, a11, a12, a13, a20, a21, a22, a23;
    return 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]) : (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]), out;
}

export function mat3Tomat4(out, b) {
    out[0] = b.a, out[1] = b.b, out[2] = 0, out[3] = 0, out[4] = b.c, out[5] = b.d, 
    out[6] = 0, out[7] = 0, out[8] = 0, out[9] = 0, out[10] = 1, out[11] = 0, out[12] = b.e, 
    out[13] = b.f, out[14] = 0, out[15] = 1;
}

export function multiplyMat4Mat3(out, a, b) {
    const 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];
    let b0 = b.a, b1 = b.b, b2 = 0, b3 = 0;
    return 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.c, b1 = b.d, b2 = 0, b3 = 0, 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 = 0, b1 = 0, b2 = 1, b3 = 0, 
    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.e, b1 = b.f, b2 = 0, b3 = 1, 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, out;
}

export function scaleMat4(out, a, v) {
    const x = v[0], y = v[1], z = v[2];
    return 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], out;
}

export function multiplyMat4Mat4(out, a, b) {
    const 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];
    let b0 = b[0], b1 = b[1], b2 = b[2], b3 = b[3];
    return 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, out;
}

export function lookAt(out, eye, center, up) {
    let x0, x1, x2, y0, y1, y2, z0, z1, z2, len;
    const 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];
    return Math.abs(eyex - centerx) < epsilon && Math.abs(eyey - centery) < epsilon && Math.abs(eyez - centerz) < epsilon ? identityMat4(out) : (z0 = eyex - centerx, 
    z1 = eyey - centery, z2 = eyez - centerz, len = 1 / Math.hypot(z0, z1, z2), z0 *= len, 
    z1 *= len, z2 *= len, x0 = upy * z2 - upz * z1, x1 = upz * z0 - upx * z2, x2 = upx * z1 - upy * z0, 
    len = Math.hypot(x0, x1, x2), len ? (len = 1 / len, x0 *= len, x1 *= len, x2 *= len) : (x0 = 0, 
    x1 = 0, x2 = 0), y0 = z1 * x2 - z2 * x1, y1 = z2 * x0 - z0 * x2, y2 = z0 * x1 - z1 * x0, 
    len = Math.hypot(y0, y1, y2), len ? (len = 1 / len, y0 *= len, y1 *= len, y2 *= len) : (y0 = 0, 
    y1 = 0, y2 = 0), 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, out);
}

export function ortho(out, left, right, bottom, top, near, far) {
    const lr = 1 / (left - right), bt = 1 / (bottom - top), nf = 1 / (near - far);
    return 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, out;
}

export function transformMat4(out, a, m) {
    const x = a[0], y = a[1], z = a[2];
    let w = m[3] * x + m[7] * y + m[11] * z + m[15];
    return w = w || 1, 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;
}
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