a = mat3.create()
b = mat3create()
mat3 = ({
adjoint: mat3adjoint,
clone: mat3clone,
copy: mat3copy,
create: mat3create,
determinant: mat3determinant,
frob: mat3frob,
fromMat2d: mat3fromMat2d,
fromMat4: mat3fromMat4,
fromQuat: mat3fromQuat,
identity: mat3identity,
invert: mat3invert,
multiply: mat3multiply,
normalFromMat4: mat3normalFromMat4,
ortho: mat3ortho,
rotate: mat3rotate,
scale: mat3scale,
str: mat3str,
translate: mat3translate,
transpose: mat3transpose
})
/**
* Calculates the adjugate of a mat3
*
* @alias mat3.adjoint
* @param {mat3} out the receiving matrix
* @param {mat3} a the source matrix
* @returns {mat3} out
*/
function mat3adjoint(out, a) {
var a00 = a[0], a01 = a[1], a02 = a[2]
var a10 = a[3], a11 = a[4], a12 = a[5]
var a20 = a[6], a21 = a[7], a22 = a[8]
out[0] = (a11 * a22 - a12 * a21)
out[1] = (a02 * a21 - a01 * a22)
out[2] = (a01 * a12 - a02 * a11)
out[3] = (a12 * a20 - a10 * a22)
out[4] = (a00 * a22 - a02 * a20)
out[5] = (a02 * a10 - a00 * a12)
out[6] = (a10 * a21 - a11 * a20)
out[7] = (a01 * a20 - a00 * a21)
out[8] = (a00 * a11 - a01 * a10)
return out
}
/**
* Creates a new mat3 initialized with values from an existing matrix
*
* @alias mat3.clone
* @param {mat3} a matrix to clone
* @returns {mat3} a new 3x3 matrix
*/
function mat3clone(a) {
var out = new Float32Array(9)
out[0] = a[0]
out[1] = a[1]
out[2] = a[2]
out[3] = a[3]
out[4] = a[4]
out[5] = a[5]
out[6] = a[6]
out[7] = a[7]
out[8] = a[8]
return out
}
/**
* Copy the values from one mat3 to another
*
* @alias mat3.copy
* @param {mat3} out the receiving matrix
* @param {mat3} a the source matrix
* @returns {mat3} out
*/
function mat3copy(out, a) {
out[0] = a[0]
out[1] = a[1]
out[2] = a[2]
out[3] = a[3]
out[4] = a[4]
out[5] = a[5]
out[6] = a[6]
out[7] = a[7]
out[8] = a[8]
return out
}
/**
* Creates a new identity mat3
*
* @alias mat3.create
* @returns {mat3} a new 3x3 matrix
*/
function mat3create() {
var out = new Float32Array(9)
out[0] = 1
out[1] = 0
out[2] = 0
out[3] = 0
out[4] = 1
out[5] = 0
out[6] = 0
out[7] = 0
out[8] = 1
return out
}
/**
* Calculates the determinant of a mat3
*
* @alias mat3.determinant
* @param {mat3} a the source matrix
* @returns {Number} determinant of a
*/
function mat3determinant(a) {
var a00 = a[0], a01 = a[1], a02 = a[2]
var a10 = a[3], a11 = a[4], a12 = a[5]
var a20 = a[6], a21 = a[7], a22 = a[8]
return a00 * (a22 * a11 - a12 * a21)
+ a01 * (a12 * a20 - a22 * a10)
+ a02 * (a21 * a10 - a11 * a20)
}
/**
* Returns Frobenius norm of a mat3
*
* @alias mat3.frob
* @param {mat3} a the matrix to calculate Frobenius norm of
* @returns {Number} Frobenius norm
*/
function mat3frob(a) {
return Math.sqrt(
a[0]*a[0]
+ a[1]*a[1]
+ a[2]*a[2]
+ a[3]*a[3]
+ a[4]*a[4]
+ a[5]*a[5]
+ a[6]*a[6]
+ a[7]*a[7]
+ a[8]*a[8]
)
}
/**
* Copies the values from a mat2d into a mat3
*
* @alias mat3.fromMat2d
* @param {mat3} out the receiving matrix
* @param {mat2d} a the matrix to copy
* @returns {mat3} out
**/
function mat3fromMat2d(out, a) {
out[0] = a[0]
out[1] = a[1]
out[2] = 0
out[3] = a[2]
out[4] = a[3]
out[5] = 0
out[6] = a[4]
out[7] = a[5]
out[8] = 1
return out
}
/**
* Copies the upper-left 3x3 values into the given mat3.
*
* @alias mat3.fromMat4
* @param {mat3} out the receiving 3x3 matrix
* @param {mat4} a the source 4x4 matrix
* @returns {mat3} out
*/
function mat3fromMat4(out, a) {
out[0] = a[0]
out[1] = a[1]
out[2] = a[2]
out[3] = a[4]
out[4] = a[5]
out[5] = a[6]
out[6] = a[8]
out[7] = a[9]
out[8] = a[10]
return out
}
/**
* Calculates a 3x3 matrix from the given quaternion
*
* @alias mat3.fromQuat
* @param {mat3} out mat3 receiving operation result
* @param {quat} q Quaternion to create matrix from
*
* @returns {mat3} out
*/
function mat3fromQuat(out, q) {
var x = q[0]
var y = q[1]
var z = q[2]
var w = q[3]
var x2 = x + x
var y2 = y + y
var z2 = z + z
var xx = x * x2
var yx = y * x2
var yy = y * y2
var zx = z * x2
var zy = z * y2
var zz = z * z2
var wx = w * x2
var wy = w * y2
var wz = w * z2
out[0] = 1 - yy - zz
out[3] = yx - wz
out[6] = zx + wy
out[1] = yx + wz
out[4] = 1 - xx - zz
out[7] = zy - wx
out[2] = zx - wy
out[5] = zy + wx
out[8] = 1 - xx - yy
return out
}
/**
* Set a mat3 to the identity matrix
*
* @alias mat3.identity
* @param {mat3} out the receiving matrix
* @returns {mat3} out
*/
function mat3identity(out) {
out[0] = 1
out[1] = 0
out[2] = 0
out[3] = 0
out[4] = 1
out[5] = 0
out[6] = 0
out[7] = 0
out[8] = 1
return out
}
/**
* Inverts a mat3
*
* @alias mat3.invert
* @param {mat3} out the receiving matrix
* @param {mat3} a the source matrix
* @returns {mat3} out
*/
function mat3invert(out, a) {
var a00 = a[0], a01 = a[1], a02 = a[2]
var a10 = a[3], a11 = a[4], a12 = a[5]
var a20 = a[6], a21 = a[7], a22 = a[8]
var b01 = a22 * a11 - a12 * a21
var b11 = -a22 * a10 + a12 * a20
var b21 = a21 * a10 - a11 * a20
// Calculate the determinant
var det = a00 * b01 + a01 * b11 + a02 * b21
if (!det) return null
det = 1.0 / det
out[0] = b01 * det
out[1] = (-a22 * a01 + a02 * a21) * det
out[2] = (a12 * a01 - a02 * a11) * det
out[3] = b11 * det
out[4] = (a22 * a00 - a02 * a20) * det
out[5] = (-a12 * a00 + a02 * a10) * det
out[6] = b21 * det
out[7] = (-a21 * a00 + a01 * a20) * det
out[8] = (a11 * a00 - a01 * a10) * det
return out
}
/**
* Multiplies two mat3's
*
* @alias mat3.multiply
* @param {mat3} out the receiving matrix
* @param {mat3} a the first operand
* @param {mat3} b the second operand
* @returns {mat3} out
*/
function mat3multiply(out, a, b) {
var a00 = a[0], a01 = a[1], a02 = a[2]
var a10 = a[3], a11 = a[4], a12 = a[5]
var a20 = a[6], a21 = a[7], a22 = a[8]
var b00 = b[0], b01 = b[1], b02 = b[2]
var b10 = b[3], b11 = b[4], b12 = b[5]
var b20 = b[6], b21 = b[7], b22 = b[8]
out[0] = b00 * a00 + b01 * a10 + b02 * a20
out[1] = b00 * a01 + b01 * a11 + b02 * a21
out[2] = b00 * a02 + b01 * a12 + b02 * a22
out[3] = b10 * a00 + b11 * a10 + b12 * a20
out[4] = b10 * a01 + b11 * a11 + b12 * a21
out[5] = b10 * a02 + b11 * a12 + b12 * a22
out[6] = b20 * a00 + b21 * a10 + b22 * a20
out[7] = b20 * a01 + b21 * a11 + b22 * a21
out[8] = b20 * a02 + b21 * a12 + b22 * a22
return out
}
/**
* Calculates a 3x3 normal matrix (transpose inverse) from the 4x4 matrix
*
* @alias mat3.normalFromMat4
* @param {mat3} out mat3 receiving operation result
* @param {mat4} a Mat4 to derive the normal matrix from
*
* @returns {mat3} out
*/
function mat3normalFromMat4(out, a) {
var a00 = a[0], a01 = a[1], a02 = a[2], a03 = a[3]
var a10 = a[4], a11 = a[5], a12 = a[6], a13 = a[7]
var a20 = a[8], a21 = a[9], a22 = a[10], a23 = a[11]
var a30 = a[12], a31 = a[13], a32 = a[14], a33 = a[15]
var b00 = a00 * a11 - a01 * a10
var b01 = a00 * a12 - a02 * a10
var b02 = a00 * a13 - a03 * a10
var b03 = a01 * a12 - a02 * a11
var b04 = a01 * a13 - a03 * a11
var b05 = a02 * a13 - a03 * a12
var b06 = a20 * a31 - a21 * a30
var b07 = a20 * a32 - a22 * a30
var b08 = a20 * a33 - a23 * a30
var b09 = a21 * a32 - a22 * a31
var b10 = a21 * a33 - a23 * a31
var b11 = a22 * a33 - a23 * a32
// Calculate the determinant
var det = b00 * b11
- b01 * b10
+ b02 * b09
+ b03 * b08
- b04 * b07
+ b05 * b06
if (!det) return null
det = 1.0 / det
out[0] = (a11 * b11 - a12 * b10 + a13 * b09) * det
out[1] = (a12 * b08 - a10 * b11 - a13 * b07) * det
out[2] = (a10 * b10 - a11 * b08 + a13 * b06) * det
out[3] = (a02 * b10 - a01 * b11 - a03 * b09) * det
out[4] = (a00 * b11 - a02 * b08 + a03 * b07) * det
out[5] = (a01 * b08 - a00 * b10 - a03 * b06) * det
out[6] = (a31 * b05 - a32 * b04 + a33 * b03) * det
out[7] = (a32 * b02 - a30 * b05 - a33 * b01) * det
out[8] = (a30 * b04 - a31 * b02 + a33 * b00) * det
return out
}
function mat3ortho(out, left, right, bottom, top) {
const lr = 1 / (left - right);
const bt = 1 / (bottom - top);
out[0] = -2 * lr;
out[1] = 0;
out[2] = 0;
out[3] = 0;
out[4] = -2 * bt;
out[5] = 0;
out[6] = (left + right) * lr;
out[7] = (top + bottom) * bt;
out[8] = 1;
return out;
}
/**
* Rotates a mat3 by the given angle
*
* @alias mat3.rotate
* @param {mat3} out the receiving matrix
* @param {mat3} a the matrix to rotate
* @param {Number} rad the angle to rotate the matrix by
* @returns {mat3} out
*/
function mat3rotate(out, a, rad) {
var a00 = a[0], a01 = a[1], a02 = a[2]
var a10 = a[3], a11 = a[4], a12 = a[5]
var a20 = a[6], a21 = a[7], a22 = a[8]
var s = Math.sin(rad)
var c = Math.cos(rad)
out[0] = c * a00 + s * a10
out[1] = c * a01 + s * a11
out[2] = c * a02 + s * a12
out[3] = c * a10 - s * a00
out[4] = c * a11 - s * a01
out[5] = c * a12 - s * a02
out[6] = a20
out[7] = a21
out[8] = a22
return out
}
/**
* Scales the mat3 by the dimensions in the given vec2
*
* @alias mat3.scale
* @param {mat3} out the receiving matrix
* @param {mat3} a the matrix to rotate
* @param {vec2} v the vec2 to scale the matrix by
* @returns {mat3} out
**/
function mat3scale(out, a, v) {
var x = v[0]
var y = v[1]
out[0] = x * a[0]
out[1] = x * a[1]
out[2] = x * a[2]
out[3] = y * a[3]
out[4] = y * a[4]
out[5] = y * a[5]
out[6] = a[6]
out[7] = a[7]
out[8] = a[8]
return out
}
/**
* Returns a string representation of a mat3
*
* @alias mat3.str
* @param {mat3} mat matrix to represent as a string
* @returns {String} string representation of the matrix
*/
function mat3str(a) {
return 'mat3(' + a[0] + ', ' + a[1] + ', ' + a[2] + ', ' +
a[3] + ', ' + a[4] + ', ' + a[5] + ', ' +
a[6] + ', ' + a[7] + ', ' + a[8] + ')'
}
/**
* Translate a mat3 by the given vector
*
* @alias mat3.translate
* @param {mat3} out the receiving matrix
* @param {mat3} a the matrix to translate
* @param {vec2} v vector to translate by
* @returns {mat3} out
*/
function mat3translate(out, a, v) {
var a00 = a[0], a01 = a[1], a02 = a[2]
var a10 = a[3], a11 = a[4], a12 = a[5]
var a20 = a[6], a21 = a[7], a22 = a[8]
var x = v[0], y = v[1]
out[0] = a00
out[1] = a01
out[2] = a02
out[3] = a10
out[4] = a11
out[5] = a12
out[6] = x * a00 + y * a10 + a20
out[7] = x * a01 + y * a11 + a21
out[8] = x * a02 + y * a12 + a22
return out
}
/**
* Transpose the values of a mat3
*
* @alias mat3.transpose
* @param {mat3} out the receiving matrix
* @param {mat3} a the source matrix
* @returns {mat3} out
*/
function mat3transpose(out, a) {
// If we are transposing ourselves we can skip a few steps but have to cache some values
if (out === a) {
var a01 = a[1], a02 = a[2], a12 = a[5]
out[1] = a[3]
out[2] = a[6]
out[3] = a01
out[5] = a[7]
out[6] = a02
out[7] = a12
} else {
out[0] = a[0]
out[1] = a[3]
out[2] = a[6]
out[3] = a[1]
out[4] = a[4]
out[5] = a[7]
out[6] = a[2]
out[7] = a[5]
out[8] = a[8]
}
return out
}
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