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<pre class="prettyprint source"><code>if (typeof(define) !== "function") {
var define = require("amdefine")(module);
}
define([
"odin/math/mathf",
"odin/math/vec3"
],
function(Mathf, Vec3) {
"use strict";
var sqrt = Math.sqrt,
cos = Math.cos,
sin = Math.sin,
tan = Math.tan;
/**
* @class Mat4
* 4x4 matrix
* @param Number m11
* @param Number m12
* @param Number m13
* @param Number m14
* @param Number m21
* @param Number m22
* @param Number m23
* @param Number m24
* @param Number m31
* @param Number m32
* @param Number m33
* @param Number m34
* @param Number m41
* @param Number m42
* @param Number m43
* @param Number m44
*/
function Mat4(m11, m12, m13, m14, m21, m22, m23, m24, m31, m32, m33, m34, m41, m42, m43, m44) {
var te = new Float32Array(16);
/**
* @property Float32Array elements
* @memberof Odin.Mat4
*/
this.elements = te;
te[0] = m11 !== undefined ? m11 : 1;
te[4] = m12 || 0;
te[8] = m13 || 0;
te[12] = m14 || 0;
te[1] = m21 || 0;
te[5] = m22 !== undefined ? m22 : 1;
te[9] = m23 || 0;
te[13] = m24 || 0;
te[2] = m31 || 0;
te[6] = m32 || 0;
te[10] = m33 !== undefined ? m33 : 1;
te[14] = m34 || 0;
te[3] = m41 || 0;
te[7] = m42 || 0;
te[11] = m43 || 0;
te[15] = m44 !== undefined ? m44 : 1;
}
Mathf._classes["Mat4"] = Mat4;
/**
* @method clone
* @memberof Odin.Mat4
* returns new instance of this
* @return Mat4
*/
Mat4.prototype.clone = function() {
var te = this.elements;
return new Mat4(
te[0], te[4], te[8], te[12],
te[1], te[5], te[9], te[13],
te[2], te[6], te[10], te[14],
te[3], te[7], te[11], te[15]
);
};
/**
* @method copy
* @memberof Odin.Mat4
* copies other
* @param Mat4 other
* @return this
*/
Mat4.prototype.copy = function(other) {
var te = this.elements,
me = other.elements;
te[0] = me[0];
te[1] = me[1];
te[2] = me[2];
te[3] = me[3];
te[4] = me[4];
te[5] = me[5];
te[6] = me[6];
te[7] = me[7];
te[8] = me[8];
te[9] = me[9];
te[10] = me[10];
te[11] = me[11];
te[12] = me[12];
te[13] = me[13];
te[14] = me[14];
te[15] = me[15];
return this;
};
/**
* @method set
* @memberof Odin.Mat4
* sets values of this
* @param Number m11
* @param Number m12
* @param Number m13
* @param Number m14
* @param Number m21
* @param Number m22
* @param Number m23
* @param Number m24
* @param Number m31
* @param Number m32
* @param Number m33
* @param Number m34
* @param Number m41
* @param Number m42
* @param Number m43
* @param Number m44
* @return this
*/
Mat4.prototype.set = function(m11, m12, m13, m14, m21, m22, m23, m24, m31, m32, m33, m34, m41, m42, m43, m44) {
var te = this.elements;
te[0] = m11;
te[4] = m12;
te[8] = m13;
te[12] = m14;
te[1] = m21;
te[5] = m22;
te[9] = m23;
te[13] = m24;
te[2] = m31;
te[6] = m32;
te[10] = m33;
te[14] = m34;
te[3] = m41;
te[7] = m42;
te[11] = m43;
te[15] = m44;
return this;
};
/**
* @method mul
* @memberof Odin.Mat4
* muliples this's values by other's
* @param Mat4 other
* @return this
*/
Mat4.prototype.mul = function(other) {
var ae = this.elements,
be = other.elements,
a11 = ae[0],
a12 = ae[4],
a13 = ae[8],
a14 = ae[12],
a21 = ae[1],
a22 = ae[5],
a23 = ae[9],
a24 = ae[13],
a31 = ae[2],
a32 = ae[6],
a33 = ae[10],
a34 = ae[14],
a41 = ae[3],
a42 = ae[7],
a43 = ae[11],
a44 = ae[15],
b11 = be[0],
b12 = be[4],
b13 = be[8],
b14 = be[12],
b21 = be[1],
b22 = be[5],
b23 = be[9],
b24 = be[13],
b31 = be[2],
b32 = be[6],
b33 = be[10],
b34 = be[14],
b41 = be[3],
b42 = be[7],
b43 = be[11],
b44 = be[15];
ae[0] = a11 * b11 + a12 * b21 + a13 * b31 + a14 * b41;
ae[4] = a11 * b12 + a12 * b22 + a13 * b32 + a14 * b42;
ae[8] = a11 * b13 + a12 * b23 + a13 * b33 + a14 * b43;
ae[12] = a11 * b14 + a12 * b24 + a13 * b34 + a14 * b44;
ae[1] = a21 * b11 + a22 * b21 + a23 * b31 + a24 * b41;
ae[5] = a21 * b12 + a22 * b22 + a23 * b32 + a24 * b42;
ae[9] = a21 * b13 + a22 * b23 + a23 * b33 + a24 * b43;
ae[13] = a21 * b14 + a22 * b24 + a23 * b34 + a24 * b44;
ae[2] = a31 * b11 + a32 * b21 + a33 * b31 + a34 * b41;
ae[6] = a31 * b12 + a32 * b22 + a33 * b32 + a34 * b42;
ae[10] = a31 * b13 + a32 * b23 + a33 * b33 + a34 * b43;
ae[14] = a31 * b14 + a32 * b24 + a33 * b34 + a34 * b44;
ae[3] = a41 * b11 + a42 * b21 + a43 * b31 + a44 * b41;
ae[7] = a41 * b12 + a42 * b22 + a43 * b32 + a44 * b42;
ae[11] = a41 * b13 + a42 * b23 + a43 * b33 + a44 * b43;
ae[15] = a41 * b14 + a42 * b24 + a43 * b34 + a44 * b44;
return this;
};
/**
* @method mmul
* @memberof Odin.Mat4
* muliples a and b saves it in this
* @param Mat4 a
* @param Mat4 b
* @return this
*/
Mat4.prototype.mmul = function(a, b) {
var te = this.elements,
ae = a.elements,
be = b.elements,
a11 = ae[0],
a12 = ae[4],
a13 = ae[8],
a14 = ae[12],
a21 = ae[1],
a22 = ae[5],
a23 = ae[9],
a24 = ae[13],
a31 = ae[2],
a32 = ae[6],
a33 = ae[10],
a34 = ae[14],
a41 = ae[3],
a42 = ae[7],
a43 = ae[11],
a44 = ae[15],
b11 = be[0],
b12 = be[4],
b13 = be[8],
b14 = be[12],
b21 = be[1],
b22 = be[5],
b23 = be[9],
b24 = be[13],
b31 = be[2],
b32 = be[6],
b33 = be[10],
b34 = be[14],
b41 = be[3],
b42 = be[7],
b43 = be[11],
b44 = be[15];
te[0] = a11 * b11 + a12 * b21 + a13 * b31 + a14 * b41;
te[4] = a11 * b12 + a12 * b22 + a13 * b32 + a14 * b42;
te[8] = a11 * b13 + a12 * b23 + a13 * b33 + a14 * b43;
te[12] = a11 * b14 + a12 * b24 + a13 * b34 + a14 * b44;
te[1] = a21 * b11 + a22 * b21 + a23 * b31 + a24 * b41;
te[5] = a21 * b12 + a22 * b22 + a23 * b32 + a24 * b42;
te[9] = a21 * b13 + a22 * b23 + a23 * b33 + a24 * b43;
te[13] = a21 * b14 + a22 * b24 + a23 * b34 + a24 * b44;
te[2] = a31 * b11 + a32 * b21 + a33 * b31 + a34 * b41;
te[6] = a31 * b12 + a32 * b22 + a33 * b32 + a34 * b42;
te[10] = a31 * b13 + a32 * b23 + a33 * b33 + a34 * b43;
te[14] = a31 * b14 + a32 * b24 + a33 * b34 + a34 * b44;
te[3] = a41 * b11 + a42 * b21 + a43 * b31 + a44 * b41;
te[7] = a41 * b12 + a42 * b22 + a43 * b32 + a44 * b42;
te[11] = a41 * b13 + a42 * b23 + a43 * b33 + a44 * b43;
te[15] = a41 * b14 + a42 * b24 + a43 * b34 + a44 * b44;
return this;
};
/**
* @method smul
* @memberof Odin.Mat4
* muliples this by a scalar value
* @param Number s
* @return this
*/
Mat4.prototype.smul = function(s) {
var te = this.elements;
te[0] *= s;
te[1] *= s;
te[2] *= s;
te[3] *= s;
te[4] *= s;
te[5] *= s;
te[6] *= s;
te[7] *= s;
te[8] *= s;
te[9] *= s;
te[10] *= s;
te[11] *= s;
te[12] *= s;
te[13] *= s;
te[14] *= s;
te[15] *= s;
return this;
};
/**
* @method sdiv
* @memberof Odin.Mat4
* divides this by scalar value
* @param Number s
* @return this
*/
Mat4.prototype.sdiv = function(s) {
var te = this.elements;
s = s !== 0 ? 1 / s : 1;
te[0] *= s;
te[1] *= s;
te[2] *= s;
te[3] *= s;
te[4] *= s;
te[5] *= s;
te[6] *= s;
te[7] *= s;
te[8] *= s;
te[9] *= s;
te[10] *= s;
te[11] *= s;
te[12] *= s;
te[13] *= s;
te[14] *= s;
te[15] *= s;
return this;
};
/**
* @method identity
* @memberof Odin.Mat4
* identity matrix
* @return this
*/
Mat4.prototype.identity = function() {
var te = this.elements;
te[0] = 1;
te[1] = 0;
te[2] = 0;
te[3] = 0;
te[4] = 0;
te[5] = 1;
te[6] = 0;
te[7] = 0;
te[8] = 0;
te[9] = 0;
te[10] = 1;
te[11] = 0;
te[12] = 0;
te[13] = 0;
te[14] = 0;
te[15] = 1;
return this;
};
/**
* @method zero
* @memberof Odin.Mat4
* zero matrix
* @return this
*/
Mat4.prototype.zero = function() {
var te = this.elements;
te[0] = 0;
te[1] = 0;
te[2] = 0;
te[3] = 0;
te[4] = 0;
te[5] = 0;
te[6] = 0;
te[7] = 0;
te[8] = 0;
te[9] = 0;
te[10] = 0;
te[11] = 0;
te[12] = 0;
te[13] = 0;
te[14] = 0;
te[15] = 0;
return this;
};
/**
* @method determinant
* @memberof Odin.Mat4
* returns the determinant of this
* @return this
*/
Mat4.prototype.determinant = function() {
var m11 = ae[0],
m12 = ae[4],
m13 = ae[8],
m14 = ae[12],
m21 = ae[1],
m22 = ae[5],
m23 = ae[9],
m24 = ae[13],
m31 = ae[2],
m32 = ae[6],
m33 = ae[10],
m34 = ae[14],
m41 = ae[3],
m42 = ae[7],
m43 = ae[11],
m44 = ae[15];
return (
m41 * (m14 * m23 * m32 - m13 * m24 * m32 - m14 * m22 * m33 + m12 * m24 * m33 + m13 * m22 * m34 - m12 * m23 * m34) +
m42 * (m11 * m23 * m34 - m11 * m24 * m33 + m14 * m21 * m33 - m13 * m21 * m34 + m13 * m24 * m31 - m14 * m23 * m31) +
m43 * (m11 * m24 * m32 - m11 * m22 * m34 - m14 * m21 * m32 + m12 * m21 * m34 + m14 * m22 * m31 - m12 * m24 * m31) +
m44 * (-m13 * m22 * m31 - m11 * m23 * m32 + m11 * m22 * m33 + m13 * m21 * m32 - m12 * m21 * m33 + m12 * m23 * m31)
);
};
/**
* @method inverse
* @memberof Odin.Mat4
* returns the inverse of this
* @return this
*/
Mat4.prototype.inverse = function() {
var te = this.elements,
m11 = te[0],
m12 = te[4],
m13 = te[8],
m14 = te[12],
m21 = te[1],
m22 = te[5],
m23 = te[9],
m24 = te[13],
m31 = te[2],
m32 = te[6],
m33 = te[10],
m34 = te[14],
m41 = te[3],
m42 = te[7],
m43 = te[11],
m44 = te[15],
me0 = m23 * m34 * m42 - m24 * m33 * m42 + m24 * m32 * m43 - m22 * m34 * m43 - m23 * m32 * m44 + m22 * m33 * m44,
me4 = m14 * m33 * m42 - m13 * m34 * m42 - m14 * m32 * m43 + m12 * m34 * m43 + m13 * m32 * m44 - m12 * m33 * m44,
me8 = m13 * m24 * m42 - m14 * m23 * m42 + m14 * m22 * m43 - m12 * m24 * m43 - m13 * m22 * m44 + m12 * m23 * m44,
me12 = m14 * m23 * m32 - m13 * m24 * m32 - m14 * m22 * m33 + m12 * m24 * m33 + m13 * m22 * m34 - m12 * m23 * m34,
det = m11 * me0 + m21 * me4 + m31 * me8 + m41 * me12;
if (det === 0) return this.identity();
te[0] = me0 * det;
te[4] = me4 * det;
te[8] = me8 * det;
te[12] = me12 * det;
te[1] = (m24 * m33 * m41 - m23 * m34 * m41 - m24 * m31 * m43 + m21 * m34 * m43 + m23 * m31 * m44 - m21 * m33 * m44) * det;
te[5] = (m13 * m34 * m41 - m14 * m33 * m41 + m14 * m31 * m43 - m11 * m34 * m43 - m13 * m31 * m44 + m11 * m33 * m44) * det;
te[9] = (m14 * m23 * m41 - m13 * m24 * m41 - m14 * m21 * m43 + m11 * m24 * m43 + m13 * m21 * m44 - m11 * m23 * m44) * det;
te[13] = (m13 * m24 * m31 - m14 * m23 * m31 + m14 * m21 * m33 - m11 * m24 * m33 - m13 * m21 * m34 + m11 * m23 * m34) * det;
te[2] = (m22 * m34 * m41 - m24 * m32 * m41 + m24 * m31 * m42 - m21 * m34 * m42 - m22 * m31 * m44 + m21 * m32 * m44) * det;
te[6] = (m14 * m32 * m41 - m12 * m34 * m41 - m14 * m31 * m42 + m11 * m34 * m42 + m12 * m31 * m44 - m11 * m32 * m44) * det;
te[10] = (m12 * m24 * m41 - m14 * m22 * m41 + m14 * m21 * m42 - m11 * m24 * m42 - m12 * m21 * m44 + m11 * m22 * m44) * det;
te[14] = (m14 * m22 * m31 - m12 * m24 * m31 - m14 * m21 * m32 + m11 * m24 * m32 + m12 * m21 * m34 - m11 * m22 * m34) * det;
te[3] = (m23 * m32 * m41 - m22 * m33 * m41 - m23 * m31 * m42 + m21 * m33 * m42 + m22 * m31 * m43 - m21 * m32 * m43) * det;
te[7] = (m12 * m33 * m41 - m13 * m32 * m41 + m13 * m31 * m42 - m11 * m33 * m42 - m12 * m31 * m43 + m11 * m32 * m43) * det;
te[11] = (m13 * m22 * m41 - m12 * m23 * m41 - m13 * m21 * m42 + m11 * m23 * m42 + m12 * m21 * m43 - m11 * m22 * m43) * det;
te[15] = (m12 * m23 * m31 - m13 * m22 * m31 + m13 * m21 * m32 - m11 * m23 * m32 - m12 * m21 * m33 + m11 * m22 * m33) * det;
return this;
};
/**
* @method inverseMat
* @memberof Odin.Mat4
* returns the inverse of other
* @param Mat4 other
* @return this
*/
Mat4.prototype.inverseMat = function(other) {
var te = this.elements,
me = other.elements,
m11 = me[0],
m12 = me[4],
m13 = me[8],
m14 = me[12],
m21 = me[1],
m22 = me[5],
m23 = me[9],
m24 = me[13],
m31 = me[2],
m32 = me[6],
m33 = me[10],
m34 = me[14],
m41 = me[3],
m42 = me[7],
m43 = me[11],
m44 = me[15],
me0 = m23 * m34 * m42 - m24 * m33 * m42 + m24 * m32 * m43 - m22 * m34 * m43 - m23 * m32 * m44 + m22 * m33 * m44,
me4 = m14 * m33 * m42 - m13 * m34 * m42 - m14 * m32 * m43 + m12 * m34 * m43 + m13 * m32 * m44 - m12 * m33 * m44,
me8 = m13 * m24 * m42 - m14 * m23 * m42 + m14 * m22 * m43 - m12 * m24 * m43 - m13 * m22 * m44 + m12 * m23 * m44,
me12 = m14 * m23 * m32 - m13 * m24 * m32 - m14 * m22 * m33 + m12 * m24 * m33 + m13 * m22 * m34 - m12 * m23 * m34,
det = m11 * me0 + m21 * me4 + m31 * me8 + m41 * me12;
if (det === 0) return this.identity();
te[0] = me0 * det;
te[4] = me4 * det;
te[8] = me8 * det;
te[12] = me12 * det;
te[1] = (m24 * m33 * m41 - m23 * m34 * m41 - m24 * m31 * m43 + m21 * m34 * m43 + m23 * m31 * m44 - m21 * m33 * m44) * det;
te[5] = (m13 * m34 * m41 - m14 * m33 * m41 + m14 * m31 * m43 - m11 * m34 * m43 - m13 * m31 * m44 + m11 * m33 * m44) * det;
te[9] = (m14 * m23 * m41 - m13 * m24 * m41 - m14 * m21 * m43 + m11 * m24 * m43 + m13 * m21 * m44 - m11 * m23 * m44) * det;
te[13] = (m13 * m24 * m31 - m14 * m23 * m31 + m14 * m21 * m33 - m11 * m24 * m33 - m13 * m21 * m34 + m11 * m23 * m34) * det;
te[2] = (m22 * m34 * m41 - m24 * m32 * m41 + m24 * m31 * m42 - m21 * m34 * m42 - m22 * m31 * m44 + m21 * m32 * m44) * det;
te[6] = (m14 * m32 * m41 - m12 * m34 * m41 - m14 * m31 * m42 + m11 * m34 * m42 + m12 * m31 * m44 - m11 * m32 * m44) * det;
te[10] = (m12 * m24 * m41 - m14 * m22 * m41 + m14 * m21 * m42 - m11 * m24 * m42 - m12 * m21 * m44 + m11 * m22 * m44) * det;
te[14] = (m14 * m22 * m31 - m12 * m24 * m31 - m14 * m21 * m32 + m11 * m24 * m32 + m12 * m21 * m34 - m11 * m22 * m34) * det;
te[3] = (m23 * m32 * m41 - m22 * m33 * m41 - m23 * m31 * m42 + m21 * m33 * m42 + m22 * m31 * m43 - m21 * m32 * m43) * det;
te[7] = (m12 * m33 * m41 - m13 * m32 * m41 + m13 * m31 * m42 - m11 * m33 * m42 - m12 * m31 * m43 + m11 * m32 * m43) * det;
te[11] = (m13 * m22 * m41 - m12 * m23 * m41 - m13 * m21 * m42 + m11 * m23 * m42 + m12 * m21 * m43 - m11 * m22 * m43) * det;
te[15] = (m12 * m23 * m31 - m13 * m22 * m31 + m13 * m21 * m32 - m11 * m23 * m32 - m12 * m21 * m33 + m11 * m22 * m33) * det;
return this;
};
/**
* @method transpose
* @memberof Odin.Mat4
* transposes this matrix
* @return this
*/
Mat4.prototype.transpose = function() {
var te = this.elements,
tmp;
tmp = te[1];
te[1] = te[4];
te[4] = tmp;
tmp = te[2];
te[2] = te[8];
te[8] = tmp;
tmp = te[6];
te[6] = te[9];
te[9] = tmp;
tmp = te[3];
te[3] = te[12];
te[12] = tmp;
tmp = te[7];
te[7] = te[13];
te[13] = tmp;
tmp = te[11];
te[11] = te[14];
te[14] = tmp;
return this;
};
/**
* @method setTrace
* @memberof Odin.Mat4
* sets the diagonal of matrix
* @param Vec4 v
* @return this
*/
Mat4.prototype.setTrace = function(v) {
var te = this.elements,
w = v.w;
te[0] = v.x;
te[5] = v.y;
te[10] = v.z;
te[15] = w !== undefined ? w : 1;
return this;
};
/**
* @method lookAt
* @memberof Odin.Mat4
* makes matrix look from eye at target along up vector
* @param Vec3 eye
* @param Vec3 target
* @param Vec3 up
* @return this
*/
Mat4.prototype.lookAt = function() {
var dup = new Vec3(0, 0, 1),
x = new Vec3,
y = new Vec3,
z = new Vec3;
return function(eye, target, up) {
var te = this.elements;
z.vsub(eye, target).normalize();
if (z.length() === 0) z.z = 1;
x.vcross(up, z).normalize();
if (x.length() === 0) {
z.x += 0.0001;
x.vcross(up, z).normalize();
}
y.vcross(z, x);
te[0] = x.x;
te[4] = y.x;
te[8] = z.x;
te[1] = x.y;
te[5] = y.y;
te[9] = z.y;
te[2] = x.z;
te[6] = y.z;
te[10] = z.z;
return this;
};
}();
/**
* @method compose
* @memberof Odin.Mat4
* sets matrix from position, scale, and quaternion
* @param Vec3 position
* @param Vec3 scale
* @param Quat rotation
* @return this
*/
Mat4.prototype.compose = function(position, scale, rotation) {
var te = this.elements,
x = rotation.x,
y = rotation.y,
z = rotation.z,
w = rotation.w,
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,
sx = scale.x,
sy = scale.y,
sz = scale.z;
te[0] = (1 - (yy + zz)) * sx;
te[4] = (xy - wz) * sy;
te[8] = (xz + wy) * sz;
te[1] = (xy + wz) * sx;
te[5] = (1 - (xx + zz)) * sy;
te[9] = (yz - wx) * sz;
te[2] = (xz - wy) * sx;
te[6] = (yz + wx) * sy;
te[10] = (1 - (xx + yy)) * sz;
te[3] = 0;
te[7] = 0;
te[11] = 0;
te[12] = position.x;
te[13] = position.y;
te[14] = position.z;
te[15] = 1;
return this;
};
/**
* @method decompose
* @memberof Odin.Mat4
* gets matrix position, scale, quaternion
* @param Vec3 position
* @param Vec3 scale
* @param Quat quaternion
* @return this
*/
Mat4.prototype.decompose = function(position, scale, quaternion) {
var te = this.elements,
m11 = te[0],
m12 = te[4],
m13 = te[8],
m21 = te[1],
m22 = te[5],
m23 = te[9],
m31 = te[2],
m32 = te[6],
m33 = te[10],
trace, x = 0,
y = 0,
z = 0,
w = 1,
s,
sx = scale.set(m11, m21, m31).length(),
sy = scale.set(m12, m22, m32).length(),
sz = scale.set(m13, m23, m33).length(),
invSx = 1 / sx,
invSy = 1 / sy,
invSz = 1 / sz;
scale.x = sx;
scale.y = sy;
scale.z = sz;
position.x = te[12];
position.y = te[13];
position.z = te[14];
m11 *= invSx;
m12 *= invSy;
m13 *= invSz;
m21 *= invSx;
m22 *= invSy;
m23 *= invSz;
m31 *= invSx;
m32 *= invSy;
m33 *= invSz;
trace = m11 + m22 + m33;
if (trace > 0) {
s = 0.5 / sqrt(trace + 1.0);
w = 0.25 / s;
x = (m32 - m23) * s;
y = (m13 - m31) * s;
z = (m21 - m12) * s;
} else if (m11 > m22 && m11 > m33) {
s = 2.0 * sqrt(1.0 + m11 - m22 - m33);
w = (m32 - m23) / s;
x = 0.25 * s;
y = (m12 + m21) / s;
z = (m13 + m31) / s;
} else if (m22 > m33) {
s = 2.0 * sqrt(1.0 + m22 - m11 - m33);
w = (m13 - m31) / s;
x = (m12 + m21) / s;
y = 0.25 * s;
z = (m23 + m32) / s;
} else {
s = 2.0 * sqrt(1.0 + m33 - m11 - m22);
w = (m21 - m12) / s;
x = (m13 + m31) / s;
y = (m23 + m32) / s;
z = 0.25 * s;
}
quaternion.x = x;
quaternion.y = y;
quaternion.w = w;
quaternion.z = z;
return this;
};
/**
* @method setPosition
* @memberof Odin.Mat4
* sets position of matrix
* @param Vec3 v
* @return this
*/
Mat4.prototype.setPosition = function(v) {
var te = this.elements,
z = v.z;
te[12] = v.x;
te[13] = v.y;
te[14] = z !== undefined ? z : 0;
return this;
};
/**
* @method extractPosition
* @memberof Odin.Mat4
* gets position from other saves it in this
* @param Mat4 other
* @return this
*/
Mat4.prototype.extractPosition = function(other) {
var te = this.elements,
me = other.elements;
te[12] = me[12];
te[13] = me[13];
te[14] = me[14];
return this;
};
/**
* @method extractRotation
* @memberof Odin.Mat4
* gets rotation from other saves it in this
* @param Mat4 other
* @return this
*/
Mat4.prototype.extractRotation = function() {
var vec = new Vec3();
return function(other) {
var te = this.elements,
me = other.elements,
lx = vec.set(me[0], me[1], me[2]).lengthSq(),
ly = vec.set(me[4], me[5], me[6]).lengthSq(),
lz = vec.set(me[8], me[9], me[10]).lengthSq(),
scaleX = lx > 0 ? 1 / sqrt(lx) : 0,
scaleY = ly > 0 ? 1 / sqrt(ly) : 0,
scaleZ = lz > 0 ? 1 / sqrt(lz) : 0;
te[0] = me[0] * scaleX;
te[1] = me[1] * scaleX;
te[2] = me[2] * scaleX;
te[4] = me[4] * scaleY;
te[5] = me[5] * scaleY;
te[6] = me[6] * scaleY;
te[8] = me[8] * scaleZ;
te[9] = me[9] * scaleZ;
te[10] = me[10] * scaleZ;
return this;
};
}();
/**
* @method extractRotationScale
* @memberof Odin.Mat4
* gets rotation with scale from other saves it in this
* @param Mat4 other
* @return this
*/
Mat4.prototype.extractRotationScale = function(other) {
var te = this.elements,
me = other.elements;
te[0] = me[0];
te[1] = me[1];
te[2] = me[2];
te[4] = me[4];
te[5] = me[5];
te[6] = me[6];
te[8] = me[8];
te[9] = me[9];
te[10] = me[10];
return this;
};
/**
* @method translate
* @memberof Odin.Mat4
* translates matrix by vector
* @param Vec3 v
* @return this
*/
Mat4.prototype.translate = function(v) {
var te = this.elements,
x = v.x,
y = v.y,
z = v.z || 0;
te[12] = te[0] * x + te[4] * y + te[8] * z + te[12];
te[13] = te[1] * x + te[5] * y + te[9] * z + te[13];
te[14] = te[2] * x + te[6] * y + te[10] * z + te[14];
te[15] = te[3] * x + te[7] * y + te[11] * z + te[15];
return this;
};
/**
* @method scale
* @memberof Odin.Mat4
* scales matrix by vector
* @param Vec3 v
* @return this
*/
Mat4.prototype.scale = function(v) {
var te = this.elements,
x = v.x,
y = v.y,
z = v.z;
te[0] *= x;
te[4] *= y;
te[8] *= z;
te[1] *= x;
te[5] *= y;
te[9] *= z;
te[2] *= x;
te[6] *= y;
te[10] *= z;
te[3] *= x;
te[7] *= y;
te[11] *= z;
return this;
};
/**
* @method rotateX
* @memberof Odin.Mat4
* rotates matrix along x axis by angle
* @param Number angle
* @return this
*/
Mat4.prototype.rotateX = function(angle) {
var te = this.elements,
m12 = te[4],
m22 = te[5],
m32 = te[6],
m42 = te[7],
m13 = te[8],
m23 = te[9],
m33 = te[10],
m43 = te[11],
c = cos(angle),
s = sin(angle);
te[4] = c * m12 + s * m13;
te[5] = c * m22 + s * m23;
te[6] = c * m32 + s * m33;
te[7] = c * m42 + s * m43;
te[8] = c * m13 - s * m12;
te[9] = c * m23 - s * m22;
te[10] = c * m33 - s * m32;
te[11] = c * m43 - s * m42;
return this;
};
/**
* @method rotateY
* @memberof Odin.Mat4
* rotates matrix along y axis by angle
* @param Number angle
* @return this
*/
Mat4.prototype.rotateY = function(angle) {
var te = this.elements,
m11 = te[0],
m21 = te[1],
m31 = te[2],
m41 = te[3],
m13 = te[8],
m23 = te[9],
m33 = te[10],
m43 = te[11],
c = cos(angle),
s = sin(angle);
te[0] = c * m11 - s * m13;
te[1] = c * m21 - s * m23;
te[2] = c * m31 - s * m33;
te[3] = c * m41 - s * m43;
te[8] = c * m13 + s * m11;
te[9] = c * m23 + s * m21;
te[10] = c * m33 + s * m31;
te[11] = c * m43 + s * m41;
return this;
};
/**
* @method rotateZ
* @memberof Odin.Mat4
* rotates matrix along z axis by angle
* @param Number angle
* @return this
*/
Mat4.prototype.rotateZ = function(angle) {
var te = this.elements,
m11 = te[0],
m21 = te[1],
m31 = te[2],
m41 = te[3],
m12 = te[4],
m22 = te[5],
m32 = te[6],
m42 = te[7],
c = cos(angle),
s = sin(angle);
te[0] = c * m11 + s * m12;
te[1] = c * m21 + s * m22;
te[2] = c * m31 + s * m32;
te[3] = c * m41 + s * m42;
te[4] = c * m12 - s * m11;
te[5] = c * m22 - s * m21;
te[6] = c * m32 - s * m31;
te[7] = c * m42 - s * m41;
return this;
};
/**
* @method makeTranslation
* @memberof Odin.Mat4
* makes this a translation matrix
* @param Number x
* @param Number y
* @param Number z
* @return this
*/
Mat4.prototype.makeTranslation = function(x, y, z) {
return this.set(
1, 0, 0, x,
0, 1, 0, y,
0, 0, 1, z,
0, 0, 0, 1
);
};
/**
* @method makeScale
* @memberof Odin.Mat4
* makes this a scale matrix
* @param Number x
* @param Number y
* @param Number z
* @return this
*/
Mat4.prototype.makeScale = function(x, y, z) {
return this.set(
x, 0, 0, 0,
0, y, 0, 0,
0, 0, z, 0,
0, 0, 0, 1
);
};
/**
* @method makeRotationX
* @memberof Odin.Mat4
* makes this a rotation matrix along x axis
* @param Number angle
* @return this
*/
Mat4.prototype.makeRotationX = function(angle) {
var c = cos(angle),
s = sin(angle);
return this.set(
1, 0, 0, 0,
0, c, -s, 0,
0, s, c, 0,
0, 0, 0, 1
);
};
/**
* @method makeRotationY
* @memberof Odin.Mat4
* makes this a rotation matrix along y axis
* @param Number angle
* @return this
*/
Mat4.prototype.makeRotationY = function(angle) {
var c = cos(angle),
s = sin(angle);
return this.set(
c, 0, s, 0,
0, 1, 0, 0, -s, 0, c, 0,
0, 0, 0, 1
);
};
/**
* @method makeRotationZ
* @memberof Odin.Mat4
* makes this a rotation matrix along z axis
* @param Number angle
* @return this
*/
Mat4.prototype.makeRotationZ = function(angle) {
var c = cos(angle),
s = sin(angle);
return this.set(
c, -s, 0, 0,
s, c, 0, 0,
0, 0, 1, 0,
0, 0, 0, 1
);
};
/**
* @method frustum
* @memberof Odin.Mat4
* makes frustum matrix
* @param Number left
* @param Number right
* @param Number bottom
* @param Number top
* @param Number near
* @param Number far
* @return this
*/
Mat4.prototype.frustum = function(left, right, top, bottom, near, far) {
var te = this.elements,
x = 2 * near / (right - left),
y = 2 * near / (top - bottom),
a = (right + left) / (right - left),
b = (top + bottom) / (top - bottom),
c = -(far + near) / (far - near),
d = -2 * far * near / (far - near);
te[0] = x;
te[4] = 0;
te[8] = a;
te[12] = 0;
te[1] = 0;
te[5] = y;
te[9] = b;
te[13] = 0;
te[2] = 0;
te[6] = 0;
te[10] = c;
te[14] = d;
te[3] = 0;
te[7] = 0;
te[11] = -1;
te[15] = 0;
return this;
};
/**
* @method perspective
* @memberof Odin.Mat4
* makes perspective matrix
* @param Number fov
* @param Number aspect
* @param Number near
* @param Number far
* @return this
*/
Mat4.prototype.perspective = function(fov, aspect, near, far) {
var ymax = near * tan(fov * 0.5),
ymin = -ymax,
xmin = ymin * aspect,
xmax = ymax * aspect;
return this.frustum(xmin, xmax, ymax, ymin, near, far);
};
/**
* @method orthographic
* @memberof Odin.Mat4
* makes orthographic matrix
* @param Number left
* @param Number right
* @param Number bottom
* @param Number top
* @param Number near
* @param Number far
* @return this
*/
Mat4.prototype.orthographic = function(left, right, top, bottom, near, far) {
var te = this.elements,
w = right - left,
h = top - bottom,
p = far - near,
x = (right + left) / w,
y = (top + bottom) / h,
z = (far + near) / p;
te[0] = 2 / w;
te[1] = 0;
te[2] = 0;
te[3] = 0;
te[4] = 0;
te[5] = 2 / h;
te[6] = 0;
te[7] = 0
te[8] = 0;
te[9] = 0;
te[10] = -2 / p;
te[11] = 0;
te[12] = -x;
te[13] = -y;
te[14] = -z;
te[15] = 1;
return this;
};
/**
* @method fromMat2
* @memberof Odin.Mat4
* sets this from Mat2
* @param Mat2 m
* @return this
*/
Mat4.prototype.fromMat2 = function(m) {
var te = this.elements,
me = m.elements;
te[0] = me[0];
te[1] = me[1];
te[2] = 0;
te[3] = 0;
te[4] = me[2];
te[5] = me[3];
te[6] = 0;
te[7] = 0;
te[8] = 0;
te[9] = 0;
te[10] = 1;
te[11] = 0;
te[12] = 0;
te[13] = 0;
te[14] = 0;
te[15] = 1;
return this;
};
/**
* @method fromMat32
* @memberof Odin.Mat4
* sets this from Mat32
* @param Mat32 m
* @return this
*/
Mat4.prototype.fromMat32 = function(m) {
var te = this.elements,
me = m.elements;
te[0] = me[0];
te[1] = me[1];
te[2] = 0;
te[3] = 0;
te[4] = me[2];
te[5] = me[3];
te[6] = 0;
te[7] = 0;
te[8] = 0;
te[9] = 0;
te[10] = 1;
te[11] = 0;
te[12] = me[4];
te[13] = me[5];
te[14] = 0;
te[15] = 1;
return this;
};
/**
* @method fromMat3
* @memberof Odin.Mat4
* sets this from Mat3
* @param Mat3 m
* @return this
*/
Mat4.prototype.fromMat3 = function(m) {
var te = this.elements,
me = m.elements;
te[0] = me[0];
te[1] = me[1];
te[2] = me[2];
te[3] = 0;
te[4] = me[3];
te[5] = me[4];
te[6] = me[5];
te[7] = 0;
te[8] = me[6];
te[9] = me[7];
te[10] = me[8];
te[11] = 0;
te[12] = 0;
te[13] = 0;
te[14] = 0;
te[15] = 1;
return this;
};
/**
* @method fromQuat
* @memberof Odin.Mat4
* sets rotation of this from quaterian
* @param Quat q
* @return this
*/
Mat4.prototype.fromQuat = function(q) {
var te = this.elements,
x = q.x,
y = q.y,
z = q.z,
w = q.w,
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;
te[0] = 1 - (yy + zz);
te[4] = xy - wz;
te[8] = xz + wy;
te[1] = xy + wz;
te[5] = 1 - (xx + zz);
te[9] = yz - wx;
te[2] = xz - wy;
te[6] = yz + wx;
te[10] = 1 - (xx + yy);
te[3] = 0;
te[7] = 0;
te[11] = 0;
te[12] = 0;
te[13] = 0;
te[14] = 0;
te[15] = 1;
return this;
};
/**
* @memberof Odin.Mat4
* @param Odin.Mat4 other
* @return this
*/
Mat4.prototype.equals = function(other) {
var ae = this.elements,
be = other.elements;
return !(
ae[0] !== be[0] ||
ae[1] !== be[1] ||
ae[2] !== be[2] ||
ae[3] !== be[3] ||
ae[4] !== be[4] ||
ae[5] !== be[5] ||
ae[6] !== be[6] ||
ae[7] !== be[7] ||
ae[8] !== be[8] ||
ae[9] !== be[9] ||
ae[10] !== be[10] ||
ae[11] !== be[11] ||
ae[12] !== be[12] ||
ae[13] !== be[13] ||
ae[14] !== be[14] ||
ae[15] !== be[15]
);
};
/**
* @method fromJSON
* @memberof Odin.Mat4
* sets values from JSON object
* @param Object json
* @return this
*/
Mat4.prototype.fromJSON = function(json) {
var te = this.elements,
me = json.elements;
te[0] = me[0];
te[1] = me[1];
te[2] = me[2];
te[3] = me[3];
te[4] = me[4];
te[5] = me[5];
te[6] = me[6];
te[7] = me[7];
te[8] = me[8];
te[9] = me[9];
te[10] = me[10];
te[11] = me[11];
te[12] = me[12];
te[13] = me[13];
te[14] = me[14];
te[15] = me[15];
return this;
};
/**
* @method toJSON
* @memberof Odin.Mat4
* returns json object of this
* @return Object
*/
Mat4.prototype.toJSON = function(json) {
json || (json = {});
var te = this.elements,
je = json.elements || (json.elements = []);
json._className = "Mat4";
je[0] = te[0];
je[1] = te[1];
je[2] = te[2];
je[3] = te[3];
je[4] = te[4];
je[5] = te[5];
je[6] = te[6];
je[7] = te[7];
je[8] = te[8];
return json;
};
/**
* @method toString
* @memberof Odin.Mat4
* returns string of this
* @return String
*/
Mat4.prototype.toString = function() {
var te = this.elements;
return (
"Mat4[" + te[0] + ", " + te[4] + ", " + te[8] + ", " + te[12] + "]\n" +
" [" + te[1] + ", " + te[5] + ", " + te[9] + ", " + te[13] + "]\n" +
" [" + te[2] + ", " + te[6] + ", " + te[10] + ", " + te[14] + "]\n" +
" [" + te[3] + ", " + te[7] + ", " + te[11] + ", " + te[15] + "]"
);
};
return Mat4;
}
);
</code></pre>
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