cione-comp-lib/es/node_modules/claygl/src/glmatrix/quat.mjs

`$ yarn add cione-comp-lib` 或者 `$ npm i cione-comp-lib -S`

import { GLMAT_ARRAY_TYPE } from "./common.mjs";
import vec3 from "./vec3.mjs";
import vec4 from "./vec4.mjs";
import mat3 from "./mat3.mjs";
var quat = {};
quat.create = function() {
  var out = new GLMAT_ARRAY_TYPE(4);
  out[0] = 0;
  out[1] = 0;
  out[2] = 0;
  out[3] = 1;
  return out;
};
quat.rotationTo = function() {
  var tmpvec3 = vec3.create();
  var xUnitVec3 = vec3.fromValues(1, 0, 0);
  var yUnitVec3 = vec3.fromValues(0, 1, 0);
  return function(out, a, b) {
    var dot = vec3.dot(a, b);
    if (dot < -0.999999) {
      vec3.cross(tmpvec3, xUnitVec3, a);
      if (vec3.length(tmpvec3) < 1e-6)
        vec3.cross(tmpvec3, yUnitVec3, a);
      vec3.normalize(tmpvec3, tmpvec3);
      quat.setAxisAngle(out, tmpvec3, Math.PI);
      return out;
    } else if (dot > 0.999999) {
      out[0] = 0;
      out[1] = 0;
      out[2] = 0;
      out[3] = 1;
      return out;
    } else {
      vec3.cross(tmpvec3, a, b);
      out[0] = tmpvec3[0];
      out[1] = tmpvec3[1];
      out[2] = tmpvec3[2];
      out[3] = 1 + dot;
      return quat.normalize(out, out);
    }
  };
}();
quat.setAxes = function() {
  var matr = mat3.create();
  return function(out, view, right, up) {
    matr[0] = right[0];
    matr[3] = right[1];
    matr[6] = right[2];
    matr[1] = up[0];
    matr[4] = up[1];
    matr[7] = up[2];
    matr[2] = -view[0];
    matr[5] = -view[1];
    matr[8] = -view[2];
    return quat.normalize(out, quat.fromMat3(out, matr));
  };
}();
quat.clone = vec4.clone;
quat.fromValues = vec4.fromValues;
quat.copy = vec4.copy;
quat.set = vec4.set;
quat.identity = function(out) {
  out[0] = 0;
  out[1] = 0;
  out[2] = 0;
  out[3] = 1;
  return out;
};
quat.setAxisAngle = function(out, axis, rad) {
  rad = rad * 0.5;
  var s = Math.sin(rad);
  out[0] = s * axis[0];
  out[1] = s * axis[1];
  out[2] = s * axis[2];
  out[3] = Math.cos(rad);
  return out;
};
quat.add = vec4.add;
quat.multiply = function(out, a, b) {
  var ax = a[0], ay = a[1], az = a[2], aw = a[3], bx = b[0], by = b[1], bz = b[2], bw = b[3];
  out[0] = ax * bw + aw * bx + ay * bz - az * by;
  out[1] = ay * bw + aw * by + az * bx - ax * bz;
  out[2] = az * bw + aw * bz + ax * by - ay * bx;
  out[3] = aw * bw - ax * bx - ay * by - az * bz;
  return out;
};
quat.mul = quat.multiply;
quat.scale = vec4.scale;
quat.rotateX = function(out, a, rad) {
  rad *= 0.5;
  var ax = a[0], ay = a[1], az = a[2], aw = a[3], bx = Math.sin(rad), bw = Math.cos(rad);
  out[0] = ax * bw + aw * bx;
  out[1] = ay * bw + az * bx;
  out[2] = az * bw - ay * bx;
  out[3] = aw * bw - ax * bx;
  return out;
};
quat.rotateY = function(out, a, rad) {
  rad *= 0.5;
  var ax = a[0], ay = a[1], az = a[2], aw = a[3], by = Math.sin(rad), bw = Math.cos(rad);
  out[0] = ax * bw - az * by;
  out[1] = ay * bw + aw * by;
  out[2] = az * bw + ax * by;
  out[3] = aw * bw - ay * by;
  return out;
};
quat.rotateZ = function(out, a, rad) {
  rad *= 0.5;
  var ax = a[0], ay = a[1], az = a[2], aw = a[3], bz = Math.sin(rad), bw = Math.cos(rad);
  out[0] = ax * bw + ay * bz;
  out[1] = ay * bw - ax * bz;
  out[2] = az * bw + aw * bz;
  out[3] = aw * bw - az * bz;
  return out;
};
quat.calculateW = function(out, a) {
  var x = a[0], y = a[1], z = a[2];
  out[0] = x;
  out[1] = y;
  out[2] = z;
  out[3] = Math.sqrt(Math.abs(1 - x * x - y * y - z * z));
  return out;
};
quat.dot = vec4.dot;
quat.lerp = vec4.lerp;
quat.slerp = function(out, a, b, t) {
  var ax = a[0], ay = a[1], az = a[2], aw = a[3], bx = b[0], by = b[1], bz = b[2], bw = b[3];
  var omega, cosom, sinom, scale0, scale1;
  cosom = ax * bx + ay * by + az * bz + aw * bw;
  if (cosom < 0) {
    cosom = -cosom;
    bx = -bx;
    by = -by;
    bz = -bz;
    bw = -bw;
  }
  if (1 - cosom > 1e-6) {
    omega = Math.acos(cosom);
    sinom = Math.sin(omega);
    scale0 = Math.sin((1 - t) * omega) / sinom;
    scale1 = Math.sin(t * omega) / sinom;
  } else {
    scale0 = 1 - t;
    scale1 = t;
  }
  out[0] = scale0 * ax + scale1 * bx;
  out[1] = scale0 * ay + scale1 * by;
  out[2] = scale0 * az + scale1 * bz;
  out[3] = scale0 * aw + scale1 * bw;
  return out;
};
quat.invert = function(out, a) {
  var a0 = a[0], a1 = a[1], a2 = a[2], a3 = a[3], dot = a0 * a0 + a1 * a1 + a2 * a2 + a3 * a3, invDot = dot ? 1 / dot : 0;
  out[0] = -a0 * invDot;
  out[1] = -a1 * invDot;
  out[2] = -a2 * invDot;
  out[3] = a3 * invDot;
  return out;
};
quat.conjugate = function(out, a) {
  out[0] = -a[0];
  out[1] = -a[1];
  out[2] = -a[2];
  out[3] = a[3];
  return out;
};
quat.length = vec4.length;
quat.len = quat.length;
quat.squaredLength = vec4.squaredLength;
quat.sqrLen = quat.squaredLength;
quat.normalize = vec4.normalize;
quat.fromMat3 = function(out, m) {
  var fTrace = m[0] + m[4] + m[8];
  var fRoot;
  if (fTrace > 0) {
    fRoot = Math.sqrt(fTrace + 1);
    out[3] = 0.5 * fRoot;
    fRoot = 0.5 / fRoot;
    out[0] = (m[5] - m[7]) * fRoot;
    out[1] = (m[6] - m[2]) * fRoot;
    out[2] = (m[1] - m[3]) * fRoot;
  } else {
    var i = 0;
    if (m[4] > m[0])
      i = 1;
    if (m[8] > m[i * 3 + i])
      i = 2;
    var j = (i + 1) % 3;
    var k = (i + 2) % 3;
    fRoot = Math.sqrt(m[i * 3 + i] - m[j * 3 + j] - m[k * 3 + k] + 1);
    out[i] = 0.5 * fRoot;
    fRoot = 0.5 / fRoot;
    out[3] = (m[j * 3 + k] - m[k * 3 + j]) * fRoot;
    out[j] = (m[j * 3 + i] + m[i * 3 + j]) * fRoot;
    out[k] = (m[k * 3 + i] + m[i * 3 + k]) * fRoot;
  }
  return out;
};
var quat$1 = quat;
export { quat$1 as default };