wonder.js
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JavaScript
;
var AngleService$Wonderjs = require("./AngleService.js");
var Vector3Service$Wonderjs = require("./Vector3Service.js");
function conjugate(param) {
return /* tuple */[
param[0] * -1.0,
param[1] * -1.0,
param[2] * -1.0,
param[3]
];
}
function length(param) {
var w = param[3];
var z = param[2];
var y = param[1];
var x = param[0];
return Math.sqrt(x * x + y * y + z * z + w * w);
}
function normalize(tuple) {
var len = length(tuple);
if (len !== 0) {
return /* tuple */[
tuple[0] / len,
tuple[1] / len,
tuple[2] / len,
tuple[3] / len
];
} else {
return /* tuple */[
0,
0,
0,
1
];
}
}
function invert(tuple) {
return normalize(conjugate(tuple));
}
function multiply(param, param$1) {
var q2w = param$1[3];
var q2z = param$1[2];
var q2y = param$1[1];
var q2x = param$1[0];
var q1w = param[3];
var q1z = param[2];
var q1y = param[1];
var q1x = param[0];
return /* tuple */[
q1w * q2x + q1x * q2w + q1y * q2z - q1z * q2y,
q1w * q2y + q1y * q2w + q1z * q2x - q1x * q2z,
q1w * q2z + q1z * q2w + q1x * q2y - q1y * q2x,
q1w * q2w - q1x * q2x - q1y * q2y - q1z * q2z
];
}
function setFromMatrix (matrixTypeArray){
var m00, m01, m02, m10, m11, m12, m20, m21, m22,
tr, s, rs, lx, ly, lz, m;
var x,y,z,w;
m = matrixTypeArray;
// Cache matrix values for super-speed
m00 = m[0];
m01 = m[1];
m02 = m[2];
m10 = m[4];
m11 = m[5];
m12 = m[6];
m20 = m[8];
m21 = m[9];
m22 = m[10];
// Remove the scale from the matrix
lx = 1 / Math.sqrt(m00 * m00 + m01 * m01 + m02 * m02);
ly = 1 / Math.sqrt(m10 * m10 + m11 * m11 + m12 * m12);
lz = 1 / Math.sqrt(m20 * m20 + m21 * m21 + m22 * m22);
m00 *= lx;
m01 *= lx;
m02 *= lx;
m10 *= ly;
m11 *= ly;
m12 *= ly;
m20 *= lz;
m21 *= lz;
m22 *= lz;
// http://www.cs.ucr.edu/~vbz/resources/quatut.pdf
tr = m00 + m11 + m22;
if (tr >= 0) {
s = Math.sqrt(tr + 1);
w = s * 0.5;
s = 0.5 / s;
x = (m12 - m21) * s;
y = (m20 - m02) * s;
z = (m01 - m10) * s;
} else {
if (m00 > m11) {
if (m00 > m22) {
// XDiagDomMatrix
rs = (m00 - (m11 + m22)) + 1;
rs = Math.sqrt(rs);
x = rs * 0.5;
rs = 0.5 / rs;
w = (m12 - m21) * rs;
y = (m01 + m10) * rs;
z = (m02 + m20) * rs;
} else {
// ZDiagDomMatrix
rs = (m22 - (m00 + m11)) + 1;
rs = Math.sqrt(rs);
z = rs * 0.5;
rs = 0.5 / rs;
w = (m01 - m10) * rs;
x = (m20 + m02) * rs;
y = (m21 + m12) * rs;
}
} else if (m11 > m22) {
// YDiagDomMatrix
rs = (m11 - (m22 + m00)) + 1;
rs = Math.sqrt(rs);
y = rs * 0.5;
rs = 0.5 / rs;
w = (m20 - m02) * rs;
z = (m12 + m21) * rs;
x = (m10 + m01) * rs;
} else {
// ZDiagDomMatrix
rs = (m22 - (m00 + m11)) + 1;
rs = Math.sqrt(rs);
z = rs * 0.5;
rs = 0.5 / rs;
w = (m01 - m10) * rs;
x = (m20 + m02) * rs;
y = (m21 + m12) * rs;
}
}
return [x,y,z,w]
};
function setFromEulerAngles(param) {
var halfToRad = 0.5 * AngleService$Wonderjs.getDegToRad(/* () */0);
var ex = param[0] * halfToRad;
var ey = param[1] * halfToRad;
var ez = param[2] * 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);
return /* tuple */[
sx * cy * cz - cx * sy * sz,
cx * sy * cz + sx * cy * sz,
cx * cy * sz - sx * sy * cz,
cx * cy * cz + sx * sy * sz
];
}
function _getEulerAngles (quat){
var x, y, z, qx, qy, qz, qw, a2;
qx = quat[0];
qy = quat[1];
qz = quat[2];
qw = quat[3];
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 Vector3.create(x, y, z).scale(RAD_TO_DEG);
return [x, y, z];
};
function getEulerAngles(quat) {
var rad_to_deg = 180 / Math.PI;
return Vector3Service$Wonderjs.scale(/* Float */0, rad_to_deg, _getEulerAngles(quat));
}
function setFromAxisAngle(angle, axis) {
var match = Vector3Service$Wonderjs.normalize(axis);
var angle$1 = angle * 0.5 * AngleService$Wonderjs.getDegToRad(/* () */0);
var sa = Math.sin(angle$1);
var ca = Math.cos(angle$1);
return /* tuple */[
sa * match[0],
sa * match[1],
sa * match[2],
ca
];
}
exports.conjugate = conjugate;
exports.length = length;
exports.normalize = normalize;
exports.invert = invert;
exports.multiply = multiply;
exports.setFromMatrix = setFromMatrix;
exports.setFromEulerAngles = setFromEulerAngles;
exports._getEulerAngles = _getEulerAngles;
exports.getEulerAngles = getEulerAngles;
exports.setFromAxisAngle = setFromAxisAngle;
/* No side effect */