Matrix.js

import mat3 from './mat3';
import vec3 from './vec3';
import vec4 from './vec4';
import { epsilon } from './constants';
export default class mat4 {
    constructor(values) {
        this.values = new Float32Array(16);
        if (values !== undefined) {
            this.init(values);
        }
    }
    at(index) {
        return this.values[index];
    }
    init(values) {
        for (let i = 0; i < 16; i++) {
            this.values[i] = values[i];
        }
        return this;
    }
    reset() {
        for (let i = 0; i < 16; i++) {
            this.values[i] = 0;
        }
    }
    copy(dest) {
        if (!dest) {
            dest = new mat4();
        }
        for (let i = 0; i < 16; i++) {
            dest.values[i] = this.values[i];
        }
        return dest;
    }
    all() {
        const data = [];
        for (let i = 0; i < 16; i++) {
            data[i] = this.values[i];
        }
        return data;
    }
    row(index) {
        return [
            this.values[index * 4 + 0],
            this.values[index * 4 + 1],
            this.values[index * 4 + 2],
            this.values[index * 4 + 3],
        ];
    }
    col(index) {
        return [
            this.values[index],
            this.values[index + 4],
            this.values[index + 8],
            this.values[index + 12],
        ];
    }
    equals(matrix, threshold = epsilon) {
        for (let i = 0; i < 16; i++) {
            if (Math.abs(this.values[i] - matrix.at(i)) > threshold) {
                return false;
            }
        }
        return true;
    }
    determinant() {
        const a00 = this.values[0];
        const a01 = this.values[1];
        const a02 = this.values[2];
        const a03 = this.values[3];
        const a10 = this.values[4];
        const a11 = this.values[5];
        const a12 = this.values[6];
        const a13 = this.values[7];
        const a20 = this.values[8];
        const a21 = this.values[9];
        const a22 = this.values[10];
        const a23 = this.values[11];
        const a30 = this.values[12];
        const a31 = this.values[13];
        const a32 = this.values[14];
        const a33 = this.values[15];
        const det00 = a00 * a11 - a01 * a10;
        const det01 = a00 * a12 - a02 * a10;
        const det02 = a00 * a13 - a03 * a10;
        const det03 = a01 * a12 - a02 * a11;
        const det04 = a01 * a13 - a03 * a11;
        const det05 = a02 * a13 - a03 * a12;
        const det06 = a20 * a31 - a21 * a30;
        const det07 = a20 * a32 - a22 * a30;
        const det08 = a20 * a33 - a23 * a30;
        const det09 = a21 * a32 - a22 * a31;
        const det10 = a21 * a33 - a23 * a31;
        const det11 = a22 * a33 - a23 * a32;
        return (det00 * det11 - det01 * det10 + det02 * det09 + det03 * det08 - det04 * det07 + det05 * det06);
    }
    setIdentity() {
        this.values[0] = 1;
        this.values[1] = 0;
        this.values[2] = 0;
        this.values[3] = 0;
        this.values[4] = 0;
        this.values[5] = 1;
        this.values[6] = 0;
        this.values[7] = 0;
        this.values[8] = 0;
        this.values[9] = 0;
        this.values[10] = 1;
        this.values[11] = 0;
        this.values[12] = 0;
        this.values[13] = 0;
        this.values[14] = 0;
        this.values[15] = 1;
        return this;
    }
    transpose() {
        const temp01 = this.values[1];
        const temp02 = this.values[2];
        const temp03 = this.values[3];
        const temp12 = this.values[6];
        const temp13 = this.values[7];
        const temp23 = this.values[11];
        this.values[1] = this.values[4];
        this.values[2] = this.values[8];
        this.values[3] = this.values[12];
        this.values[4] = temp01;
        this.values[6] = this.values[9];
        this.values[7] = this.values[13];
        this.values[8] = temp02;
        this.values[9] = temp12;
        this.values[11] = this.values[14];
        this.values[12] = temp03;
        this.values[13] = temp13;
        this.values[14] = temp23;
        return this;
    }
    inverse() {
        const a00 = this.values[0];
        const a01 = this.values[1];
        const a02 = this.values[2];
        const a03 = this.values[3];
        const a10 = this.values[4];
        const a11 = this.values[5];
        const a12 = this.values[6];
        const a13 = this.values[7];
        const a20 = this.values[8];
        const a21 = this.values[9];
        const a22 = this.values[10];
        const a23 = this.values[11];
        const a30 = this.values[12];
        const a31 = this.values[13];
        const a32 = this.values[14];
        const a33 = this.values[15];
        const det00 = a00 * a11 - a01 * a10;
        const det01 = a00 * a12 - a02 * a10;
        const det02 = a00 * a13 - a03 * a10;
        const det03 = a01 * a12 - a02 * a11;
        const det04 = a01 * a13 - a03 * a11;
        const det05 = a02 * a13 - a03 * a12;
        const det06 = a20 * a31 - a21 * a30;
        const det07 = a20 * a32 - a22 * a30;
        const det08 = a20 * a33 - a23 * a30;
        const det09 = a21 * a32 - a22 * a31;
        const det10 = a21 * a33 - a23 * a31;
        const det11 = a22 * a33 - a23 * a32;
        let det = (det00 * det11 - det01 * det10 + det02 * det09 + det03 * det08 - det04 * det07 + det05 * det06);
        if (!det) {
            return null;
        }
        det = 1.0 / det;
        this.values[0] = (a11 * det11 - a12 * det10 + a13 * det09) * det;
        this.values[1] = (-a01 * det11 + a02 * det10 - a03 * det09) * det;
        this.values[2] = (a31 * det05 - a32 * det04 + a33 * det03) * det;
        this.values[3] = (-a21 * det05 + a22 * det04 - a23 * det03) * det;
        this.values[4] = (-a10 * det11 + a12 * det08 - a13 * det07) * det;
        this.values[5] = (a00 * det11 - a02 * det08 + a03 * det07) * det;
        this.values[6] = (-a30 * det05 + a32 * det02 - a33 * det01) * det;
        this.values[7] = (a20 * det05 - a22 * det02 + a23 * det01) * det;
        this.values[8] = (a10 * det10 - a11 * det08 + a13 * det06) * det;
        this.values[9] = (-a00 * det10 + a01 * det08 - a03 * det06) * det;
        this.values[10] = (a30 * det04 - a31 * det02 + a33 * det00) * det;
        this.values[11] = (-a20 * det04 + a21 * det02 - a23 * det00) * det;
        this.values[12] = (-a10 * det09 + a11 * det07 - a12 * det06) * det;
        this.values[13] = (a00 * det09 - a01 * det07 + a02 * det06) * det;
        this.values[14] = (-a30 * det03 + a31 * det01 - a32 * det00) * det;
        this.values[15] = (a20 * det03 - a21 * det01 + a22 * det00) * det;
        return this;
    }
    multiply(matrix) {
        const a00 = this.values[0];
        const a01 = this.values[1];
        const a02 = this.values[2];
        const a03 = this.values[3];
        const a10 = this.values[4];
        const a11 = this.values[5];
        const a12 = this.values[6];
        const a13 = this.values[7];
        const a20 = this.values[8];
        const a21 = this.values[9];
        const a22 = this.values[10];
        const a23 = this.values[11];
        const a30 = this.values[12];
        const a31 = this.values[13];
        const a32 = this.values[14];
        const a33 = this.values[15];
        let b0 = matrix.at(0);
        let b1 = matrix.at(1);
        let b2 = matrix.at(2);
        let b3 = matrix.at(3);
        this.values[0] = b0 * a00 + b1 * a10 + b2 * a20 + b3 * a30;
        this.values[1] = b0 * a01 + b1 * a11 + b2 * a21 + b3 * a31;
        this.values[2] = b0 * a02 + b1 * a12 + b2 * a22 + b3 * a32;
        this.values[3] = b0 * a03 + b1 * a13 + b2 * a23 + b3 * a33;
        b0 = matrix.at(4);
        b1 = matrix.at(5);
        b2 = matrix.at(6);
        b3 = matrix.at(7);
        this.values[4] = b0 * a00 + b1 * a10 + b2 * a20 + b3 * a30;
        this.values[5] = b0 * a01 + b1 * a11 + b2 * a21 + b3 * a31;
        this.values[6] = b0 * a02 + b1 * a12 + b2 * a22 + b3 * a32;
        this.values[7] = b0 * a03 + b1 * a13 + b2 * a23 + b3 * a33;
        b0 = matrix.at(8);
        b1 = matrix.at(9);
        b2 = matrix.at(10);
        b3 = matrix.at(11);
        this.values[8] = b0 * a00 + b1 * a10 + b2 * a20 + b3 * a30;
        this.values[9] = b0 * a01 + b1 * a11 + b2 * a21 + b3 * a31;
        this.values[10] = b0 * a02 + b1 * a12 + b2 * a22 + b3 * a32;
        this.values[11] = b0 * a03 + b1 * a13 + b2 * a23 + b3 * a33;
        b0 = matrix.at(12);
        b1 = matrix.at(13);
        b2 = matrix.at(14);
        b3 = matrix.at(15);
        this.values[12] = b0 * a00 + b1 * a10 + b2 * a20 + b3 * a30;
        this.values[13] = b0 * a01 + b1 * a11 + b2 * a21 + b3 * a31;
        this.values[14] = b0 * a02 + b1 * a12 + b2 * a22 + b3 * a32;
        this.values[15] = b0 * a03 + b1 * a13 + b2 * a23 + b3 * a33;
        return this;
    }
    multiplyVec3(vector) {
        const x = vector.x;
        const y = vector.y;
        const z = vector.z;
        return new vec3([
            this.values[0] * x + this.values[4] * y + this.values[8] * z + this.values[12],
            this.values[1] * x + this.values[5] * y + this.values[9] * z + this.values[13],
            this.values[2] * x + this.values[6] * y + this.values[10] * z + this.values[14],
        ]);
    }
    multiplyVec4(vector, dest) {
        if (!dest) {
            dest = new vec4();
        }
        const x = vector.x;
        const y = vector.y;
        const z = vector.z;
        const w = vector.w;
        dest.x = this.values[0] * x + this.values[4] * y + this.values[8] * z + this.values[12] * w;
        dest.y = this.values[1] * x + this.values[5] * y + this.values[9] * z + this.values[13] * w;
        dest.z = this.values[2] * x + this.values[6] * y + this.values[10] * z + this.values[14] * w;
        dest.w = this.values[3] * x + this.values[7] * y + this.values[11] * z + this.values[15] * w;
        return dest;
    }
    toMat3() {
        return new mat3([
            this.values[0],
            this.values[1],
            this.values[2],
            this.values[4],
            this.values[5],
            this.values[6],
            this.values[8],
            this.values[9],
            this.values[10],
        ]);
    }
    toInverseMat3() {
        const a00 = this.values[0];
        const a01 = this.values[1];
        const a02 = this.values[2];
        const a10 = this.values[4];
        const a11 = this.values[5];
        const a12 = this.values[6];
        const a20 = this.values[8];
        const a21 = this.values[9];
        const a22 = this.values[10];
        const det01 = a22 * a11 - a12 * a21;
        const det11 = -a22 * a10 + a12 * a20;
        const det21 = a21 * a10 - a11 * a20;
        let det = a00 * det01 + a01 * det11 + a02 * det21;
        if (!det) {
            return null;
        }
        det = 1.0 / det;
        return new mat3([
            det01 * det,
            (-a22 * a01 + a02 * a21) * det,
            (a12 * a01 - a02 * a11) * det,
            det11 * det,
            (a22 * a00 - a02 * a20) * det,
            (-a12 * a00 + a02 * a10) * det,
            det21 * det,
            (-a21 * a00 + a01 * a20) * det,
            (a11 * a00 - a01 * a10) * det,
        ]);
    }
    translate(vector) {
        const x = vector.x;
        const y = vector.y;
        const z = vector.z;
        this.values[12] += this.values[0] * x + this.values[4] * y + this.values[8] * z;
        this.values[13] += this.values[1] * x + this.values[5] * y + this.values[9] * z;
        this.values[14] += this.values[2] * x + this.values[6] * y + this.values[10] * z;
        this.values[15] += this.values[3] * x + this.values[7] * y + this.values[11] * z;
        return this;
    }
    scale(vector) {
        const x = vector.x;
        const y = vector.y;
        const z = vector.z;
        this.values[0] *= x;
        this.values[1] *= x;
        this.values[2] *= x;
        this.values[3] *= x;
        this.values[4] *= y;
        this.values[5] *= y;
        this.values[6] *= y;
        this.values[7] *= y;
        this.values[8] *= z;
        this.values[9] *= z;
        this.values[10] *= z;
        this.values[11] *= z;
        return this;
    }
    rotate(angle, axis) {
        let x = axis.x;
        let y = axis.y;
        let z = axis.z;
        let length = Math.sqrt(x * x + y * y + z * z);
        if (!length) {
            return null;
        }
        if (length !== 1) {
            length = 1 / length;
            x *= length;
            y *= length;
            z *= length;
        }
        const s = Math.sin(angle);
        const c = Math.cos(angle);
        const t = 1.0 - c;
        const a00 = this.values[0];
        const a01 = this.values[1];
        const a02 = this.values[2];
        const a03 = this.values[3];
        const a10 = this.values[4];
        const a11 = this.values[5];
        const a12 = this.values[6];
        const a13 = this.values[7];
        const a20 = this.values[8];
        const a21 = this.values[9];
        const a22 = this.values[10];
        const a23 = this.values[11];
        const b00 = x * x * t + c;
        const b01 = y * x * t + z * s;
        const b02 = z * x * t - y * s;
        const b10 = x * y * t - z * s;
        const b11 = y * y * t + c;
        const b12 = z * y * t + x * s;
        const b20 = x * z * t + y * s;
        const b21 = y * z * t - x * s;
        const b22 = z * z * t + c;
        this.values[0] = a00 * b00 + a10 * b01 + a20 * b02;
        this.values[1] = a01 * b00 + a11 * b01 + a21 * b02;
        this.values[2] = a02 * b00 + a12 * b01 + a22 * b02;
        this.values[3] = a03 * b00 + a13 * b01 + a23 * b02;
        this.values[4] = a00 * b10 + a10 * b11 + a20 * b12;
        this.values[5] = a01 * b10 + a11 * b11 + a21 * b12;
        this.values[6] = a02 * b10 + a12 * b11 + a22 * b12;
        this.values[7] = a03 * b10 + a13 * b11 + a23 * b12;
        this.values[8] = a00 * b20 + a10 * b21 + a20 * b22;
        this.values[9] = a01 * b20 + a11 * b21 + a21 * b22;
        this.values[10] = a02 * b20 + a12 * b21 + a22 * b22;
        this.values[11] = a03 * b20 + a13 * b21 + a23 * b22;
        return this;
    }
    static frustum(left, right, bottom, top, near, far) {
        const rl = (right - left);
        const tb = (top - bottom);
        const fn = (far - near);
        return new mat4([
            (near * 2) / rl,
            0,
            0,
            0,
            0,
            (near * 2) / tb,
            0,
            0,
            (right + left) / rl,
            (top + bottom) / tb,
            -(far + near) / fn,
            -1,
            0,
            0,
            -(far * near * 2) / fn,
            0,
        ]);
    }
    static perspective(fov, aspect, near, far) {
        const top = near * Math.tan(fov * Math.PI / 360.0);
        const right = top * aspect;
        return mat4.frustum(-right, right, -top, top, near, far);
    }
    static orthographic(left, right, bottom, top, near, far) {
        const rl = (right - left);
        const tb = (top - bottom);
        const fn = (far - near);
        return new mat4([
            2 / rl,
            0,
            0,
            0,
            0,
            2 / tb,
            0,
            0,
            0,
            0,
            -2 / fn,
            0,
            -(left + right) / rl,
            -(top + bottom) / tb,
            -(far + near) / fn,
            1,
        ]);
    }
    static lookAt(position, target, up = vec3.up) {
        if (position.equals(target)) {
            return this.identity;
        }
        const z = vec3.difference(position, target).normalize();
        const x = vec3.cross(up, z).normalize();
        const y = vec3.cross(z, x).normalize();
        return new mat4([
            x.x,
            y.x,
            z.x,
            0,
            x.y,
            y.y,
            z.y,
            0,
            x.z,
            y.z,
            z.z,
            0,
            -vec3.dot(x, position),
            -vec3.dot(y, position),
            -vec3.dot(z, position),
            1,
        ]);
    }
    static product(m1, m2, result) {
        const a00 = m1.at(0);
        const a01 = m1.at(1);
        const a02 = m1.at(2);
        const a03 = m1.at(3);
        const a10 = m1.at(4);
        const a11 = m1.at(5);
        const a12 = m1.at(6);
        const a13 = m1.at(7);
        const a20 = m1.at(8);
        const a21 = m1.at(9);
        const a22 = m1.at(10);
        const a23 = m1.at(11);
        const a30 = m1.at(12);
        const a31 = m1.at(13);
        const a32 = m1.at(14);
        const a33 = m1.at(15);
        const b00 = m2.at(0);
        const b01 = m2.at(1);
        const b02 = m2.at(2);
        const b03 = m2.at(3);
        const b10 = m2.at(4);
        const b11 = m2.at(5);
        const b12 = m2.at(6);
        const b13 = m2.at(7);
        const b20 = m2.at(8);
        const b21 = m2.at(9);
        const b22 = m2.at(10);
        const b23 = m2.at(11);
        const b30 = m2.at(12);
        const b31 = m2.at(13);
        const b32 = m2.at(14);
        const b33 = m2.at(15);
        if (result) {
            result.init([
                b00 * a00 + b01 * a10 + b02 * a20 + b03 * a30,
                b00 * a01 + b01 * a11 + b02 * a21 + b03 * a31,
                b00 * a02 + b01 * a12 + b02 * a22 + b03 * a32,
                b00 * a03 + b01 * a13 + b02 * a23 + b03 * a33,
                b10 * a00 + b11 * a10 + b12 * a20 + b13 * a30,
                b10 * a01 + b11 * a11 + b12 * a21 + b13 * a31,
                b10 * a02 + b11 * a12 + b12 * a22 + b13 * a32,
                b10 * a03 + b11 * a13 + b12 * a23 + b13 * a33,
                b20 * a00 + b21 * a10 + b22 * a20 + b23 * a30,
                b20 * a01 + b21 * a11 + b22 * a21 + b23 * a31,
                b20 * a02 + b21 * a12 + b22 * a22 + b23 * a32,
                b20 * a03 + b21 * a13 + b22 * a23 + b23 * a33,
                b30 * a00 + b31 * a10 + b32 * a20 + b33 * a30,
                b30 * a01 + b31 * a11 + b32 * a21 + b33 * a31,
                b30 * a02 + b31 * a12 + b32 * a22 + b33 * a32,
                b30 * a03 + b31 * a13 + b32 * a23 + b33 * a33,
            ]);
            return result;
        }
        else {
            return new mat4([
                b00 * a00 + b01 * a10 + b02 * a20 + b03 * a30,
                b00 * a01 + b01 * a11 + b02 * a21 + b03 * a31,
                b00 * a02 + b01 * a12 + b02 * a22 + b03 * a32,
                b00 * a03 + b01 * a13 + b02 * a23 + b03 * a33,
                b10 * a00 + b11 * a10 + b12 * a20 + b13 * a30,
                b10 * a01 + b11 * a11 + b12 * a21 + b13 * a31,
                b10 * a02 + b11 * a12 + b12 * a22 + b13 * a32,
                b10 * a03 + b11 * a13 + b12 * a23 + b13 * a33,
                b20 * a00 + b21 * a10 + b22 * a20 + b23 * a30,
                b20 * a01 + b21 * a11 + b22 * a21 + b23 * a31,
                b20 * a02 + b21 * a12 + b22 * a22 + b23 * a32,
                b20 * a03 + b21 * a13 + b22 * a23 + b23 * a33,
                b30 * a00 + b31 * a10 + b32 * a20 + b33 * a30,
                b30 * a01 + b31 * a11 + b32 * a21 + b33 * a31,
                b30 * a02 + b31 * a12 + b32 * a22 + b33 * a32,
                b30 * a03 + b31 * a13 + b32 * a23 + b33 * a33,
            ]);
        }
    }
}
mat4.identity = new mat4().setIdentity();
//# sourceMappingURL=Matrix.js.map