Spaces:
Running
Running
File size: 3,162 Bytes
352fb85 |
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 |
import { Quaternion } from "./Quaternion";
import type { Vector3 } from "./Vector3";
class Matrix3 {
public readonly buffer: number[];
// prettier-ignore
constructor(n11: number = 1, n12: number = 0, n13: number = 0,
n21: number = 0, n22: number = 1, n23: number = 0,
n31: number = 0, n32: number = 0, n33: number = 1) {
this.buffer = [
n11, n12, n13,
n21, n22, n23,
n31, n32, n33
];
}
equals(m: Matrix3): boolean {
if (this.buffer.length !== m.buffer.length) {
return false;
}
if (this.buffer === m.buffer) {
return true;
}
for (let i = 0; i < this.buffer.length; i++) {
if (this.buffer[i] !== m.buffer[i]) {
return false;
}
}
return true;
}
multiply(v: Matrix3): Matrix3 {
const a = this.buffer;
const b = v.buffer;
return new Matrix3(
b[0] * a[0] + b[3] * a[1] + b[6] * a[2],
b[1] * a[0] + b[4] * a[1] + b[7] * a[2],
b[2] * a[0] + b[5] * a[1] + b[8] * a[2],
b[0] * a[3] + b[3] * a[4] + b[6] * a[5],
b[1] * a[3] + b[4] * a[4] + b[7] * a[5],
b[2] * a[3] + b[5] * a[4] + b[8] * a[5],
b[0] * a[6] + b[3] * a[7] + b[6] * a[8],
b[1] * a[6] + b[4] * a[7] + b[7] * a[8],
b[2] * a[6] + b[5] * a[7] + b[8] * a[8],
);
}
clone(): Matrix3 {
const e = this.buffer;
// prettier-ignore
return new Matrix3(
e[0], e[1], e[2],
e[3], e[4], e[5],
e[6], e[7], e[8]
);
}
static Eye(v: number = 1): Matrix3 {
return new Matrix3(v, 0, 0, 0, v, 0, 0, 0, v);
}
static Diagonal(v: Vector3): Matrix3 {
return new Matrix3(v.x, 0, 0, 0, v.y, 0, 0, 0, v.z);
}
static RotationFromQuaternion(q: Quaternion): Matrix3 {
const matrix = new Matrix3(
1 - 2 * q.y * q.y - 2 * q.z * q.z,
2 * q.x * q.y - 2 * q.z * q.w,
2 * q.x * q.z + 2 * q.y * q.w,
2 * q.x * q.y + 2 * q.z * q.w,
1 - 2 * q.x * q.x - 2 * q.z * q.z,
2 * q.y * q.z - 2 * q.x * q.w,
2 * q.x * q.z - 2 * q.y * q.w,
2 * q.y * q.z + 2 * q.x * q.w,
1 - 2 * q.x * q.x - 2 * q.y * q.y,
);
return matrix;
}
static RotationFromEuler(m: Vector3): Matrix3 {
const cx = Math.cos(m.x);
const sx = Math.sin(m.x);
const cy = Math.cos(m.y);
const sy = Math.sin(m.y);
const cz = Math.cos(m.z);
const sz = Math.sin(m.z);
const rotationMatrix = [
cy * cz + sy * sx * sz,
-cy * sz + sy * sx * cz,
sy * cx,
cx * sz,
cx * cz,
-sx,
-sy * cz + cy * sx * sz,
sy * sz + cy * sx * cz,
cy * cx,
];
return new Matrix3(...rotationMatrix);
}
toString(): string {
return `[${this.buffer.join(", ")}]`;
}
}
export { Matrix3 };
|