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Add Mat3
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@G43riko
G43riko committed Aug 20, 2021
1 parent 2bda0a5 commit 40d3ac5
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3 changes: 3 additions & 0 deletions src/math/index.ts
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Expand Up @@ -8,4 +8,7 @@ export * from "./vector2";
export * from "./vector2f";
export * from "./vector3";
export * from "./vector4";
export * from "./mat3";
export * from "./simple-mat3";
export * from "./mat4";
export * from "./simple-mat4";
52 changes: 46 additions & 6 deletions src/math/mat3.ts
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@@ -1,13 +1,53 @@
import { SimpleMat3 } from "./simple-mat3";
import { SimpleVector2 } from "./simple-vector2";

/**
* https://github.com/mrdoob/three.js/blob/dev/src/math/Matrix3.js
*/
export class SimpleMat3 {
public constructor(
private readonly data: number[][],
) {
export class Mat3 extends SimpleMat3 {
public static mul(a: SimpleMat3, b: SimpleMat3): SimpleMat3;
public static mul<T extends SimpleMat3>(a: SimpleMat3, b: SimpleMat3, out: T): T;
public static mul<T extends SimpleMat3>(a: SimpleMat3, b: SimpleMat3, out = SimpleMat3.create()): T {
const a00 = a.data[0];
const a01 = a.data[1];
const a02 = a.data[2];
const a10 = a.data[3];
const a11 = a.data[4];
const a12 = a.data[5];
const a20 = a.data[6];
const a21 = a.data[7];
const a22 = a.data[8];
const b00 = b.data[0];
const b01 = b.data[1];
const b02 = b.data[2];
const b10 = b.data[3];
const b11 = b.data[4];
const b12 = b.data[5];
const b20 = b.data[6];
const b21 = b.data[7];
const b22 = b.data[8];
out.data[0] = b00 * a00 + b01 * a10 + b02 * a20;
out.data[1] = b00 * a01 + b01 * a11 + b02 * a21;
out.data[2] = b00 * a02 + b01 * a12 + b02 * a22;
out.data[3] = b10 * a00 + b11 * a10 + b12 * a20;
out.data[4] = b10 * a01 + b11 * a11 + b12 * a21;
out.data[5] = b10 * a02 + b11 * a12 + b12 * a22;
out.data[6] = b20 * a00 + b21 * a10 + b22 * a20;
out.data[7] = b20 * a01 + b21 * a11 + b22 * a21;
out.data[8] = b20 * a02 + b21 * a12 + b22 * a22;

return out as T;
}
}

export class Mat3 extends SimpleMat3 {
public static getTranslatedVector(a: SimpleVector2, m: SimpleMat3): SimpleVector2;
public static getTranslatedVector<T extends SimpleVector2>(a: SimpleVector2, m: SimpleMat3, out: T): T;
public static getTranslatedVector<T extends SimpleVector2>(a: SimpleVector2, m: SimpleMat3, out = {x: 0, y: 0}): T {
const x = a.x;
const y = a.y;

out.x = m.data[0] * x + m.data[3] * y + m.data[6];
out.y = m.data[1] * x + m.data[4] * y + m.data[7];

return out as T;
}
}
307 changes: 1 addition & 306 deletions src/math/mat4.ts
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@@ -1,309 +1,4 @@
// /* eslint-disable */
/**
* https://github.com/mrdoob/three.js/blob/dev/src/math/Matrix4.js
* https://github.com/BennyQBD/3DEngineCpp/blob/master/src/core/math3d.h
* https://glmatrix.net/docs/mat4.js.html
* https://github.com/fynnfluegge/oreon-engine/blob/master/oreonengine/oe-core/src/main/java/org/oreon/core/math/Matrix4f.java
*/
import { Quaternion } from "./quaternion";
import { ReadonlySimpleVector3, SimpleVector3 } from "./simple-vector3";
import { Vector3 } from "./vector3";

/**
* 00 04 08 12
* 01 05 09 13
* 02 06 10 14
* 03 07 11 14
*/
export class SimpleMat4 {
public constructor(public readonly data: number[]) {
}

public set(x: number, y: number, value: number): void {
this.data[x * 4 + y] = value;
}

public get(x: number, y: number): number {
return this.data[x * 4 + y];
}

public getTranslation(): SimpleVector3 {
return {
x: this.data[12],
y: this.data[13],
z: this.data[14],
};
}

public getScale(): SimpleVector3 {
return {
x: this.data[0],
y: this.data[5],
z: this.data[10],
};
}

public equalsArray(data: number[]): boolean {
if (!data?.length) {
return false;
}

for (let i = 0; i < 16; i++) {
if (data[i] !== this.data[i]) {
return false;
}
}

return true;
}

public equals(mat: Mat4): boolean {
if (!mat) {
return false;
}

return this.equalsArray(mat.data);
}

public static create(): SimpleMat4 {
return new SimpleMat4([
1, 0, 0, 0,
0, 1, 0, 0,
0, 0, 1, 0,
0, 0, 0, 1,
]);
}

public static setIdentity(result: SimpleMat4): SimpleMat4 {
result.data[0] = 1;
result.data[1] = 0;
result.data[2] = 0;
result.data[3] = 0;
result.data[4] = 0;
result.data[5] = 1;
result.data[6] = 0;
result.data[7] = 0;
result.data[8] = 0;
result.data[9] = 0;
result.data[10] = 1;
result.data[11] = 0;
result.data[12] = 0;
result.data[13] = 0;
result.data[14] = 0;
result.data[15] = 1;

return result;
}

private static setTranslation(x: number, y: number, z: number, result: number[]): number[] {
result[12] = x;
result[13] = y;
result[14] = z;

return result;
}

private static setScale(x: number, y: number, z: number, result: number[]): number[] {
result[0] = x;
result[5] = y;
result[10] = z;

return result;
}

public static fromTranslation(translation: SimpleVector3, result = SimpleMat4.create()): SimpleMat4 {
Mat4.setIdentity(result);
Mat4.setTranslation(translation.x, translation.y, translation.z, result.data);

return result;
}

public static fromScale(scale: SimpleVector3, result = SimpleMat4.create()): SimpleMat4 {
Mat4.setIdentity(result);
Mat4.setScale(scale.x, scale.y, scale.z, result.data);

return result;
}

public static from(
param: {
scale?: SimpleVector3 | [number, number, number];
translation?: SimpleVector3 | [number, number, number];
rotation?: Quaternion;
angle?: number;
axes?: number | SimpleVector3;
rotX?: number;
rotY?: number;
rotZ?: number;
},
result = SimpleMat4.create()): SimpleMat4 {

Mat4.setIdentity(result);

if (param.translation) {
if (Vector3.isVector(param.translation)) {
Mat4.setTranslation(param.translation.x, param.translation.y, param.translation.z, result.data);
} else {
Mat4.setTranslation(param.translation[0], param.translation[1], param.translation[2], result.data);
}
}

if (param.scale) {
if (Vector3.isVector(param.scale)) {
Mat4.setScale(param.scale.x, param.scale.y, param.scale.z, result.data);
} else {
Mat4.setScale(param.scale[0], param.scale[1], param.scale[2], result.data);
}
}

return result;
}

public static fromQuaternion(v: Quaternion, result = SimpleMat4.create()): SimpleMat4 {
const x2 = v.x + v.x;
const y2 = v.y + v.y;
const z2 = v.z + v.z;
const xx = v.x * x2;
const xy = v.x * y2;
const xz = v.x * z2;
const yy = v.y * y2;
const yz = v.y * z2;
const zz = v.z * z2;
const wx = v.w * x2;
const wy = v.w * y2;
const wz = v.w * z2;

result.data[0] = 1 - (yy + zz);
result.data[1] = xy + wz;
result.data[2] = xz - wy;
result.data[3] = 0;
result.data[4] = xy - wz;
result.data[5] = 1 - (xx + zz);
result.data[6] = yz + wx;
result.data[7] = 0;
result.data[8] = xz + wy;
result.data[9] = yz - wx;
result.data[10] = 1 - (xx + yy);
result.data[11] = 0;
result.data[12] = v.x;
result.data[13] = v.y;
result.data[14] = v.z;
result.data[15] = 1;

return result;
}

public static fromRotation(rad: number, axis: SimpleVector3, result = SimpleMat4.create()): SimpleMat4 | null {
let len = Math.hypot(axis.x, axis.y, axis.z);
if (len < Number.EPSILON) {
return null;
}
len = 1 / len;
const x = axis.x * len;
const y = axis.y * len;
const z = axis.z * len;
const s = Math.sin(rad);
const c = Math.cos(rad);
const t = 1 - c;

result.data[0] = x * x * t + c;
result.data[1] = y * x * t + z * s;
result.data[2] = z * x * t - y * s;
result.data[3] = 0;
result.data[4] = x * y * t - z * s;
result.data[5] = y * y * t + c;
result.data[6] = z * y * t + x * s;
result.data[7] = 0;
result.data[8] = x * z * t + y * s;
result.data[9] = y * z * t - x * s;
result.data[10] = z * z * t + c;
result.data[11] = 0;
result.data[12] = 0;
result.data[13] = 0;
result.data[14] = 0;
result.data[15] = 1;

return result;
}

private static staticSetAngleRotation(sin: number, cos: number, axe: "X" | "Y" | "Z", data: number[]): number[] {
switch (axe) {
case "X":
data[5] = cos;
data[6] = sin;
data[9] = -sin;
data[10] = cos;

return data;
case "Y":
data[0] = cos;
data[2] = -sin;
data[8] = sin;
data[10] = cos;

return data;
case "Z":
data[0] = cos;
data[1] = sin;
data[4] = -sin;
data[5] = cos;

return data;
default:
throw new Error(`Unknown axe ${axe}`);
}
}

public static fromXRotation(rad: number, result = SimpleMat4.create()): SimpleMat4 {
Mat4.setIdentity(result);
Mat4.staticSetAngleRotation(Math.sin(rad), Math.cos(rad), "X", result.data);

return result;
}

public static fromYRotation(rad: number, result = SimpleMat4.create()): SimpleMat4 {
Mat4.setIdentity(result);
Mat4.staticSetAngleRotation(Math.sin(rad), Math.cos(rad), "Y", result.data);

return result;
}

public static fromZRotation(rad: number, result = SimpleMat4.create()): SimpleMat4 {
Mat4.setIdentity(result);
Mat4.staticSetAngleRotation(Math.sin(rad), Math.cos(rad), "Z", result.data);

return result;
}

public transformVector(a: SimpleVector3): SimpleVector3 {
const m = this.data;
const x = a.x;
const y = a.y;
const z = a.z;
let w = m[3] * x + m[7] * y + m[11] * z + m[15];
w = w || 1;
a.x = (m[0] * x + m[4] * y + m[8] * z + m[12]) / w;
a.y = (m[1] * x + m[5] * y + m[9] * z + m[13]) / w;
a.z = (m[2] * x + m[6] * y + m[10] * z + m[14]) / w;

return a;
}

public getTransformedVector(a: ReadonlySimpleVector3): SimpleVector3 {
const m = this.data;
const x = a.x;
const y = a.y;
const z = a.z;
let w = m[3] * x + m[7] * y + m[11] * z + m[15];
w = w || 1;

return {
x: (m[0] * x + m[4] * y + m[8] * z + m[12]) / w,
y: (m[1] * x + m[5] * y + m[9] * z + m[13]) / w,
z: (m[2] * x + m[6] * y + m[10] * z + m[14]) / w,
};
}
}
import { SimpleMat4 } from "./simple-mat4";

export class Mat4 extends SimpleMat4 {
public static createViewMatrix(): void {
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