Skip to content
Snippets Groups Projects
Commit a636b9e0 authored by David Sehnal's avatar David Sehnal
Browse files

refactored 3d linear algebra

parent 0393a7e9
Branches
Tags
No related merge requests found
Hide whitespace changes
Inline Side-by-side
src/mol-base/math/linear-algebra-3d.ts
+ 95
− 101
View file @ a636b9e0
......@@ -16,9 +16,9 @@
* furnished to do so, subject to the following conditions:
*/
export type Mat4 = number[]
export type Vec3 = number[]
export type Vec4 = number[]
export interface Mat4 { [d: number]: number, '@type': 'mat4' }
export interface Vec3 { [d: number]: number, '@type': 'vec3' | 'vec4' }
export interface Vec4 { [d: number]: number, '@type': 'vec4' }
const enum EPSILON { Value = 0.000001 }
......@@ -30,15 +30,15 @@ export function Mat4() {
* Stores a 4x4 matrix in a column major (j * 4 + i indexing) format.
*/
export namespace Mat4 {
export function zero(): number[] {
export function zero(): Mat4 {
// force double backing array by 0.1.
const ret = [0.1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0];
ret[0] = 0.0;
return ret;
return ret as any;
}
export function identity(): number[] {
let out = zero();
export function identity(): Mat4 {
const out = zero();
out[0] = 1;
out[1] = 0;
out[2] = 0;
......@@ -58,7 +58,7 @@ export namespace Mat4 {
return out;
}
export function fromIdentity(mat: number[]): number[] {
export function setIdentity(mat: Mat4): Mat4 {
mat[0] = 1;
mat[1] = 0;
mat[2] = 0;
......@@ -78,18 +78,18 @@ export namespace Mat4 {
return mat;
}
export function ofRows(rows: number[][]): number[] {
let out = zero(), i: number, j: number, r: number[];
for (i = 0; i < 4; i++) {
r = rows[i];
for (j = 0; j < 4; j++) {
export function ofRows(rows: number[][]): Mat4 {
const out = zero();
for (let i = 0; i < 4; i++) {
const r = rows[i];
for (let j = 0; j < 4; j++) {
out[4 * j + i] = r[j];
}
}
return out;
}
export function areEqual(a: number[], b: number[], eps: number) {
export function areEqual(a: Mat4, b: Mat4, eps: number) {
for (let i = 0; i < 16; i++) {
if (Math.abs(a[i] - b[i]) > eps) {
return false;
......@@ -98,11 +98,11 @@ export namespace Mat4 {
return true;
}
export function setValue(a: number[], i: number, j: number, value: number) {
export function setValue(a: Mat4, i: number, j: number, value: number) {
a[4 * j + i] = value;
}
export function copy(out: number[], a: number[]) {
export function copy(out: Mat4, a: Mat4) {
out[0] = a[0];
out[1] = a[1];
out[2] = a[2];
......@@ -122,12 +122,12 @@ export namespace Mat4 {
return out;
}
export function clone(a: number[]) {
export function clone(a: Mat4) {
return Mat4.copy(Mat4.zero(), a);
}
export function invert(out: number[], a: number[]) {
let a00 = a[0], a01 = a[1], a02 = a[2], a03 = a[3],
export function invert(out: Mat4, a: Mat4) {
const a00 = a[0], a01 = a[1], a02 = a[2], a03 = a[3],
a10 = a[4], a11 = a[5], a12 = a[6], a13 = a[7],
a20 = a[8], a21 = a[9], a22 = a[10], a23 = a[11],
a30 = a[12], a31 = a[13], a32 = a[14], a33 = a[15],
......@@ -143,13 +143,13 @@ export namespace Mat4 {
b08 = a20 * a33 - a23 * a30,
b09 = a21 * a32 - a22 * a31,
b10 = a21 * a33 - a23 * a31,
b11 = a22 * a33 - a23 * a32,
b11 = a22 * a33 - a23 * a32;
// Calculate the determinant
det = b00 * b11 - b01 * b10 + b02 * b09 + b03 * b08 - b04 * b07 + b05 * b06;
// Calculate the determinant
let det = b00 * b11 - b01 * b10 + b02 * b09 + b03 * b08 - b04 * b07 + b05 * b06;
if (!det) {
return null;
return Number.NaN;
}
det = 1.0 / det;
......@@ -173,8 +173,8 @@ export namespace Mat4 {
return out;
}
export function mul(out: number[], a: number[], b: number[]) {
let a00 = a[0], a01 = a[1], a02 = a[2], a03 = a[3],
export function mul(out: Mat4, a: Mat4, b: Mat4) {
const a00 = a[0], a01 = a[1], a02 = a[2], a03 = a[3],
a10 = a[4], a11 = a[5], a12 = a[6], a13 = a[7],
a20 = a[8], a21 = a[9], a22 = a[10], a23 = a[11],
a30 = a[12], a31 = a[13], a32 = a[14], a33 = a[15];
......@@ -206,13 +206,13 @@ export namespace Mat4 {
return out;
}
export function mul3(out: number[], a: number[], b: number[], c: number[]) {
export function mul3(out: Mat4, a: Mat4, b: Mat4, c: Mat4) {
return mul(out, mul(out, a, b), c);
}
export function translate(out: number[], a: number[], v: number[]) {
let x = v[0], y = v[1], z = v[2],
a00: number, a01: number, a02: number, a03: number,
export function translate(out: Mat4, a: Mat4, v: Mat4) {
const x = v[0], y = v[1], z = v[2];
let a00: number, a01: number, a02: number, a03: number,
a10: number, a11: number, a12: number, a13: number,
a20: number, a21: number, a22: number, a23: number;
......@@ -239,7 +239,7 @@ export namespace Mat4 {
return out;
}
export function fromTranslation(out: number[], v: number[]) {
export function fromTranslation(out: Mat4, v: Mat4) {
out[0] = 1;
out[1] = 0;
out[2] = 0;
......@@ -259,7 +259,7 @@ export namespace Mat4 {
return out;
}
export function rotate(out: number[], a: number[], rad: number, axis: number[]) {
export function rotate(out: Mat4, a: Mat4, rad: number, axis: Mat4) {
let x = axis[0], y = axis[1], z = axis[2],
len = Math.sqrt(x * x + y * y + z * z),
s, c, t,
......@@ -270,7 +270,9 @@ export namespace Mat4 {
b10, b11, b12,
b20, b21, b22;
if (Math.abs(len) < EPSILON.Value) { return null; }
if (Math.abs(len) < EPSILON.Value) {
return Mat4.identity();
}
len = 1 / len;
x *= len;
......@@ -313,12 +315,12 @@ export namespace Mat4 {
return out;
}
export function fromRotation(out: number[], rad: number, axis: number[]) {
export function fromRotation(out: Mat4, rad: number, axis: Vec3) {
let x = axis[0], y = axis[1], z = axis[2],
len = Math.sqrt(x * x + y * y + z * z),
s, c, t;
if (Math.abs(len) < EPSILON.Value) { return fromIdentity(out); }
if (Math.abs(len) < EPSILON.Value) { return setIdentity(out); }
len = 1 / len;
x *= len;
......@@ -349,8 +351,8 @@ export namespace Mat4 {
return out;
}
export function scale(out: number[], a: number[], v: number[]) {
let x = v[0], y = v[1], z = v[2];
export function scale(out: Mat4, a: Mat4, v: Vec3) {
const x = v[0], y = v[1], z = v[2];
out[0] = a[0] * x;
out[1] = a[1] * x;
......@@ -371,7 +373,7 @@ export namespace Mat4 {
return out;
}
export function fromScaling(out: number[], v: number[]) {
export function fromScaling(out: Mat4, v: Vec3) {
out[0] = v[0];
out[1] = 0;
out[2] = 0;
......@@ -391,7 +393,7 @@ export namespace Mat4 {
return out;
}
export function makeTable(m: number[]) {
export function makeTable(m: Mat4) {
let ret = '';
for (let i = 0; i < 4; i++) {
for (let j = 0; j < 4; j++) {
......@@ -403,8 +405,8 @@ export namespace Mat4 {
return ret;
}
export function determinant(a: number[]) {
let a00 = a[0], a01 = a[1], a02 = a[2], a03 = a[3],
export function determinant(a: Mat4) {
const a00 = a[0], a01 = a[1], a02 = a[2], a03 = a[3],
a10 = a[4], a11 = a[5], a12 = a[6], a13 = a[7],
a20 = a[8], a21 = a[9], a22 = a[10], a23 = a[11],
a30 = a[12], a31 = a[13], a32 = a[14], a33 = a[15],
......@@ -427,113 +429,109 @@ export namespace Mat4 {
}
}
export function Vec3(x?: number, y?: number, z?: number) {
return Vec3.fromValues(x || 0, y || 0, z || 0);
}
export namespace Vec3 {
export function zero() {
let out = [0.1, 0.0, 0.0];
export function zero(): Vec3 {
const out = [0.1, 0.0, 0.0];
out[0] = 0;
return out;
return out as any;
}
export function clone(a: number[]) {
let out = zero();
export function clone(a: Vec3): Vec3 {
const out = zero();
out[0] = a[0];
out[1] = a[1];
out[2] = a[2];
return out;
}
export function fromObj(v: { x: number, y: number, z: number }) {
return fromValues(v.x, v.y, v.z);
export function fromObj(v: { x: number, y: number, z: number }): Vec3 {
return create(v.x, v.y, v.z);
}
export function toObj(v: number[]) {
export function toObj(v: Vec3) {
return { x: v[0], y: v[1], z: v[2] };
}
export function fromValues(x: number, y: number, z: number) {
let out = zero();
export function create(x: number, y: number, z: number): Vec3 {
const out = zero();
out[0] = x;
out[1] = y;
out[2] = z;
return out;
}
export function set(out: number[], x: number, y: number, z: number) {
export function set(out: Vec3, x: number, y: number, z: number): Vec3 {
out[0] = x;
out[1] = y;
out[2] = z;
return out;
}
export function copy(out: number[], a: number[]) {
export function copy(out: Vec3, a: Vec3) {
out[0] = a[0];
out[1] = a[1];
out[2] = a[2];
return out;
}
export function add(out: number[], a: number[], b: number[]) {
export function add(out: Vec3, a: Vec3, b: Vec3) {
out[0] = a[0] + b[0];
out[1] = a[1] + b[1];
out[2] = a[2] + b[2];
return out;
}
export function sub(out: number[], a: number[], b: number[]) {
export function sub(out: Vec3, a: Vec3, b: Vec3) {
out[0] = a[0] - b[0];
out[1] = a[1] - b[1];
out[2] = a[2] - b[2];
return out;
}
export function scale(out: number[], a: number[], b: number) {
export function scale(out: Vec3, a: Vec3, b: number) {
out[0] = a[0] * b;
out[1] = a[1] * b;
out[2] = a[2] * b;
return out;
}
export function scaleAndAdd(out: number[], a: number[], b: number[], scale: number) {
export function scaleAndAdd(out: Vec3, a: Vec3, b: Vec3, scale: number) {
out[0] = a[0] + (b[0] * scale);
out[1] = a[1] + (b[1] * scale);
out[2] = a[2] + (b[2] * scale);
return out;
}
export function distance(a: number[], b: number[]) {
let x = b[0] - a[0],
export function distance(a: Vec3, b: Vec3) {
const x = b[0] - a[0],
y = b[1] - a[1],
z = b[2] - a[2];
return Math.sqrt(x * x + y * y + z * z);
}
export function squaredDistance(a: number[], b: number[]) {
let x = b[0] - a[0],
export function squaredDistance(a: Vec3, b: Vec3) {
const x = b[0] - a[0],
y = b[1] - a[1],
z = b[2] - a[2];
return x * x + y * y + z * z;
}
export function magnitude(a: number[]) {
let x = a[0],
export function magnitude(a: Vec3) {
const x = a[0],
y = a[1],
z = a[2];
return Math.sqrt(x * x + y * y + z * z);
}
export function squaredMagnitude(a: number[]) {
let x = a[0],
export function squaredMagnitude(a: Vec3) {
const x = a[0],
y = a[1],
z = a[2];
return x * x + y * y + z * z;
}
export function normalize(out: number[], a: number[]) {
let x = a[0],
export function normalize(out: Vec3, a: Vec3) {
const x = a[0],
y = a[1],
z = a[2];
let len = x * x + y * y + z * z;
......@@ -546,12 +544,12 @@ export namespace Vec3 {
return out;
}
export function dot(a: number[], b: number[]) {
export function dot(a: Vec3, b: Vec3) {
return a[0] * b[0] + a[1] * b[1] + a[2] * b[2];
}
export function cross(out: number[], a: number[], b: number[]) {
let ax = a[0], ay = a[1], az = a[2],
export function cross(out: Vec3, a: Vec3, b: Vec3) {
const ax = a[0], ay = a[1], az = a[2],
bx = b[0], by = b[1], bz = b[2];
out[0] = ay * bz - az * by;
......@@ -560,8 +558,8 @@ export namespace Vec3 {
return out;
}
export function lerp(out: number[], a: number[], b: number[], t: number) {
let ax = a[0],
export function lerp(out: Vec3, a: Vec3, b: Vec3, t: number) {
const ax = a[0],
ay = a[1],
az = a[2];
out[0] = ax + t * (b[0] - ax);
......@@ -570,8 +568,8 @@ export namespace Vec3 {
return out;
}
export function transformMat4(out: number[], a: number[], m: number[]) {
let x = a[0], y = a[1], z = a[2],
export function transformMat4(out: Vec3, a: Vec3, m: number[]) {
const x = a[0], y = a[1], z = a[2],
w = (m[3] * x + m[7] * y + m[11] * z + m[15]) || 1.0;
out[0] = (m[0] * x + m[4] * y + m[8] * z + m[12]) / w;
out[1] = (m[1] * x + m[5] * y + m[9] * z + m[13]) / w;
......@@ -580,14 +578,14 @@ export namespace Vec3 {
}
const angleTempA = zero(), angleTempB = zero();
export function angle(a: number[], b: number[]) {
export function angle(a: Vec3, b: Vec3) {
copy(angleTempA, a);
copy(angleTempB, b);
normalize(angleTempA, angleTempA);
normalize(angleTempB, angleTempB);
let cosine = dot(angleTempA, angleTempB);
const cosine = dot(angleTempA, angleTempB);
if (cosine > 1.0) {
return 0;
......@@ -602,26 +600,22 @@ export namespace Vec3 {
const rotTemp = zero();
export function makeRotation(mat: Mat4, a: Vec3, b: Vec3): Mat4 {
const by = angle(a, b);
if (Math.abs(by) < 0.0001) return Mat4.fromIdentity(mat);
if (Math.abs(by) < 0.0001) return Mat4.setIdentity(mat);
const axis = cross(rotTemp, a, b);
return Mat4.fromRotation(mat, by, axis);
}
}
export function Vec4(x?: number, y?: number, z?: number, w?: number) {
return Vec4.fromValues(x || 0, y || 0, z || 0, w || 0);
}
export namespace Vec4 {
export function zero(): number[] {
export function zero(): Vec4 {
// force double backing array by 0.1.
const ret = [0.1, 0, 0, 0];
ret[0] = 0.0;
return ret;
return ret as any;
}
export function clone(a: number[]) {
let out = zero();
export function clone(a: Vec4) {
const out = zero();
out[0] = a[0];
out[1] = a[1];
out[2] = a[2];
......@@ -629,8 +623,8 @@ export namespace Vec4 {
return out;
}
export function fromValues(x: number, y: number, z: number, w: number) {
let out = zero();
export function create(x: number, y: number, z: number, w: number) {
const out = zero();
out[0] = x;
out[1] = y;
out[2] = z;
......@@ -638,7 +632,7 @@ export namespace Vec4 {
return out;
}
export function set(out: number[], x: number, y: number, z: number, w: number) {
export function set(out: Vec4, x: number, y: number, z: number, w: number) {
out[0] = x;
out[1] = y;
out[2] = z;
......@@ -646,40 +640,40 @@ export namespace Vec4 {
return out;
}
export function distance(a: number[], b: number[]) {
let x = b[0] - a[0],
export function distance(a: Vec4, b: Vec4) {
const x = b[0] - a[0],
y = b[1] - a[1],
z = b[2] - a[2],
w = b[3] - a[3];
return Math.sqrt(x * x + y * y + z * z + w * w);
}
export function squaredDistance(a: number[], b: number[]) {
let x = b[0] - a[0],
export function squaredDistance(a: Vec4, b: Vec4) {
const x = b[0] - a[0],
y = b[1] - a[1],
z = b[2] - a[2],
w = b[3] - a[3];
return x * x + y * y + z * z + w * w;
}
export function norm(a: number[]) {
let x = a[0],
export function norm(a: Vec4) {
const x = a[0],
y = a[1],
z = a[2],
w = a[3];
return Math.sqrt(x * x + y * y + z * z + w * w);
}
export function squaredNorm(a: number[]) {
let x = a[0],
export function squaredNorm(a: Vec4) {
const x = a[0],
y = a[1],
z = a[2],
w = a[3];
return x * x + y * y + z * z + w * w;
}
export function transform(out: number[], a: number[], m: number[]) {
let x = a[0], y = a[1], z = a[2], w = a[3];
export function transform(out: Vec4, a: Vec4, m: Mat4) {
const x = a[0], y = a[1], z = a[2], w = a[3];
out[0] = m[0] * x + m[4] * y + m[8] * z + m[12] * w;
out[1] = m[1] * x + m[5] * y + m[9] * z + m[13] * w;
out[2] = m[2] * x + m[6] * y + m[10] * z + m[14] * w;
......
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Please register or to comment