playcanvas
Version:
PlayCanvas WebGL game engine
319 lines (316 loc) • 8.52 kB
JavaScript
import { math } from './math.js';
import { Vec3 } from './vec3.js';
class Quat {
clone() {
var cstr = this.constructor;
return new cstr(this.x, this.y, this.z, this.w);
}
conjugate(src) {
if (src === void 0) src = this;
this.x = src.x * -1;
this.y = src.y * -1;
this.z = src.z * -1;
this.w = src.w;
return this;
}
copy(rhs) {
this.x = rhs.x;
this.y = rhs.y;
this.z = rhs.z;
this.w = rhs.w;
return this;
}
equals(rhs) {
return this.x === rhs.x && this.y === rhs.y && this.z === rhs.z && this.w === rhs.w;
}
equalsApprox(rhs, epsilon) {
if (epsilon === void 0) epsilon = 1e-6;
return Math.abs(this.x - rhs.x) < epsilon && Math.abs(this.y - rhs.y) < epsilon && Math.abs(this.z - rhs.z) < epsilon && Math.abs(this.w - rhs.w) < epsilon;
}
getAxisAngle(axis) {
var rad = Math.acos(this.w) * 2;
var s = Math.sin(rad / 2);
if (s !== 0) {
axis.x = this.x / s;
axis.y = this.y / s;
axis.z = this.z / s;
if (axis.x < 0 || axis.y < 0 || axis.z < 0) {
axis.x *= -1;
axis.y *= -1;
axis.z *= -1;
rad *= -1;
}
} else {
axis.x = 1;
axis.y = 0;
axis.z = 0;
}
return rad * math.RAD_TO_DEG;
}
getEulerAngles(eulers) {
if (eulers === void 0) eulers = new Vec3();
var x, y, z;
var qx = this.x;
var qy = this.y;
var qz = this.z;
var qw = this.w;
var a2 = 2 * (qw * qy - qx * qz);
if (a2 <= -0.99999) {
x = 2 * Math.atan2(qx, qw);
y = -Math.PI / 2;
z = 0;
} else if (a2 >= 0.99999) {
x = 2 * Math.atan2(qx, qw);
y = Math.PI / 2;
z = 0;
} else {
x = Math.atan2(2 * (qw * qx + qy * qz), 1 - 2 * (qx * qx + qy * qy));
y = Math.asin(a2);
z = Math.atan2(2 * (qw * qz + qx * qy), 1 - 2 * (qy * qy + qz * qz));
}
return eulers.set(x, y, z).mulScalar(math.RAD_TO_DEG);
}
invert(src) {
if (src === void 0) src = this;
return this.conjugate(src).normalize();
}
length() {
return Math.sqrt(this.x * this.x + this.y * this.y + this.z * this.z + this.w * this.w);
}
lengthSq() {
return this.x * this.x + this.y * this.y + this.z * this.z + this.w * this.w;
}
mul(rhs) {
var q1x = this.x;
var q1y = this.y;
var q1z = this.z;
var q1w = this.w;
var q2x = rhs.x;
var q2y = rhs.y;
var q2z = rhs.z;
var q2w = rhs.w;
this.x = q1w * q2x + q1x * q2w + q1y * q2z - q1z * q2y;
this.y = q1w * q2y + q1y * q2w + q1z * q2x - q1x * q2z;
this.z = q1w * q2z + q1z * q2w + q1x * q2y - q1y * q2x;
this.w = q1w * q2w - q1x * q2x - q1y * q2y - q1z * q2z;
return this;
}
mulScalar(scalar, src) {
if (src === void 0) src = this;
this.x = src.x * scalar;
this.y = src.y * scalar;
this.z = src.z * scalar;
this.w = src.w * scalar;
return this;
}
mul2(lhs, rhs) {
var q1x = lhs.x;
var q1y = lhs.y;
var q1z = lhs.z;
var q1w = lhs.w;
var q2x = rhs.x;
var q2y = rhs.y;
var q2z = rhs.z;
var q2w = rhs.w;
this.x = q1w * q2x + q1x * q2w + q1y * q2z - q1z * q2y;
this.y = q1w * q2y + q1y * q2w + q1z * q2x - q1x * q2z;
this.z = q1w * q2z + q1z * q2w + q1x * q2y - q1y * q2x;
this.w = q1w * q2w - q1x * q2x - q1y * q2y - q1z * q2z;
return this;
}
normalize(src) {
if (src === void 0) src = this;
var len = src.length();
if (len === 0) {
this.x = this.y = this.z = 0;
this.w = 1;
} else {
len = 1 / len;
this.x = src.x * len;
this.y = src.y * len;
this.z = src.z * len;
this.w = src.w * len;
}
return this;
}
set(x, y, z, w) {
this.x = x;
this.y = y;
this.z = z;
this.w = w;
return this;
}
setFromAxisAngle(axis, angle) {
angle *= 0.5 * math.DEG_TO_RAD;
var sa = Math.sin(angle);
var ca = Math.cos(angle);
this.x = sa * axis.x;
this.y = sa * axis.y;
this.z = sa * axis.z;
this.w = ca;
return this;
}
setFromEulerAngles(ex, ey, ez) {
if (ex instanceof Vec3) {
var vec = ex;
ex = vec.x;
ey = vec.y;
ez = vec.z;
}
var halfToRad = 0.5 * math.DEG_TO_RAD;
ex *= halfToRad;
ey *= halfToRad;
ez *= halfToRad;
var sx = Math.sin(ex);
var cx = Math.cos(ex);
var sy = Math.sin(ey);
var cy = Math.cos(ey);
var sz = Math.sin(ez);
var cz = Math.cos(ez);
this.x = sx * cy * cz - cx * sy * sz;
this.y = cx * sy * cz + sx * cy * sz;
this.z = cx * cy * sz - sx * sy * cz;
this.w = cx * cy * cz + sx * sy * sz;
return this;
}
setFromMat4(m) {
var d = m.data;
var m00 = d[0];
var m01 = d[1];
var m02 = d[2];
var m10 = d[4];
var m11 = d[5];
var m12 = d[6];
var m20 = d[8];
var m21 = d[9];
var m22 = d[10];
var l;
l = m00 * m00 + m01 * m01 + m02 * m02;
if (l === 0) return this.set(0, 0, 0, 1);
l = 1 / Math.sqrt(l);
m00 *= l;
m01 *= l;
m02 *= l;
l = m10 * m10 + m11 * m11 + m12 * m12;
if (l === 0) return this.set(0, 0, 0, 1);
l = 1 / Math.sqrt(l);
m10 *= l;
m11 *= l;
m12 *= l;
l = m20 * m20 + m21 * m21 + m22 * m22;
if (l === 0) return this.set(0, 0, 0, 1);
l = 1 / Math.sqrt(l);
m20 *= l;
m21 *= l;
m22 *= l;
if (m22 < 0) {
if (m00 > m11) {
this.set(1 + m00 - m11 - m22, m01 + m10, m20 + m02, m12 - m21);
} else {
this.set(m01 + m10, 1 - m00 + m11 - m22, m12 + m21, m20 - m02);
}
} else {
if (m00 < -m11) {
this.set(m20 + m02, m12 + m21, 1 - m00 - m11 + m22, m01 - m10);
} else {
this.set(m12 - m21, m20 - m02, m01 - m10, 1 + m00 + m11 + m22);
}
}
return this.mulScalar(1.0 / this.length());
}
setFromDirections(from, to) {
var dotProduct = 1 + from.dot(to);
if (dotProduct < Number.EPSILON) {
if (Math.abs(from.x) > Math.abs(from.y)) {
this.x = -from.z;
this.y = 0;
this.z = from.x;
this.w = 0;
} else {
this.x = 0;
this.y = -from.z;
this.z = from.y;
this.w = 0;
}
} else {
this.x = from.y * to.z - from.z * to.y;
this.y = from.z * to.x - from.x * to.z;
this.z = from.x * to.y - from.y * to.x;
this.w = dotProduct;
}
return this.normalize();
}
slerp(lhs, rhs, alpha) {
var lx = lhs.x;
var ly = lhs.y;
var lz = lhs.z;
var lw = lhs.w;
var rx = rhs.x;
var ry = rhs.y;
var rz = rhs.z;
var rw = rhs.w;
var cosHalfTheta = lw * rw + lx * rx + ly * ry + lz * rz;
if (cosHalfTheta < 0) {
rw = -rw;
rx = -rx;
ry = -ry;
rz = -rz;
cosHalfTheta = -cosHalfTheta;
}
if (Math.abs(cosHalfTheta) >= 1) {
this.w = lw;
this.x = lx;
this.y = ly;
this.z = lz;
return this;
}
var halfTheta = Math.acos(cosHalfTheta);
var sinHalfTheta = Math.sqrt(1 - cosHalfTheta * cosHalfTheta);
if (Math.abs(sinHalfTheta) < 0.001) {
this.w = lw * 0.5 + rw * 0.5;
this.x = lx * 0.5 + rx * 0.5;
this.y = ly * 0.5 + ry * 0.5;
this.z = lz * 0.5 + rz * 0.5;
return this;
}
var ratioA = Math.sin((1 - alpha) * halfTheta) / sinHalfTheta;
var ratioB = Math.sin(alpha * halfTheta) / sinHalfTheta;
this.w = lw * ratioA + rw * ratioB;
this.x = lx * ratioA + rx * ratioB;
this.y = ly * ratioA + ry * ratioB;
this.z = lz * ratioA + rz * ratioB;
return this;
}
transformVector(vec, res) {
if (res === void 0) res = new Vec3();
var x = vec.x, y = vec.y, z = vec.z;
var qx = this.x, qy = this.y, qz = this.z, qw = this.w;
var ix = qw * x + qy * z - qz * y;
var iy = qw * y + qz * x - qx * z;
var iz = qw * z + qx * y - qy * x;
var iw = -qx * x - qy * y - qz * z;
res.x = ix * qw + iw * -qx + iy * -qz - iz * -qy;
res.y = iy * qw + iw * -qy + iz * -qx - ix * -qz;
res.z = iz * qw + iw * -qz + ix * -qy - iy * -qx;
return res;
}
toString() {
return "[" + this.x + ", " + this.y + ", " + this.z + ", " + this.w + "]";
}
constructor(x = 0, y = 0, z = 0, w = 1){
if (x.length === 4) {
this.x = x[0];
this.y = x[1];
this.z = x[2];
this.w = x[3];
} else {
this.x = x;
this.y = y;
this.z = z;
this.w = w;
}
}
}
Quat.IDENTITY = Object.freeze(new Quat(0, 0, 0, 1));
Quat.ZERO = Object.freeze(new Quat(0, 0, 0, 0));
export { Quat };