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-// Copyright 2011 The Closure Library Authors. All Rights Reserved.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-// http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS-IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-/**
- * @fileoverview WARNING: DEPRECATED. Use Mat4 instead.
- * Implements 4x4 matrices and their related functions which are
- * compatible with WebGL. The API is structured to avoid unnecessary memory
- * allocations. The last parameter will typically be the output vector and
- * an object can be both an input and output parameter to all methods except
- * where noted. Matrix operations follow the mathematical form when multiplying
- * vectors as follows: resultVec = matrix * vec.
- *
- */
-goog.provide('goog.vec.Matrix4');
-
-goog.require('goog.vec');
-goog.require('goog.vec.Vec3');
-goog.require('goog.vec.Vec4');
-
-
-/**
- * @typedef {goog.vec.ArrayType}
- */
-goog.vec.Matrix4.Type;
-
-
-/**
- * Creates the array representation of a 4x4 matrix. The use of the array
- * directly eliminates any overhead associated with the class representation
- * defined above. The returned matrix is cleared to all zeros.
- *
- * @return {goog.vec.Matrix4.Type} The new, sixteen element array.
- */
-goog.vec.Matrix4.create = function() {
- return new Float32Array(16);
-};
-
-
-/**
- * Creates the array representation of a 4x4 matrix. The use of the array
- * directly eliminates any overhead associated with the class representation
- * defined above. The returned matrix is initialized with the identity
- *
- * @return {goog.vec.Matrix4.Type} The new, sixteen element array.
- */
-goog.vec.Matrix4.createIdentity = function() {
- var mat = goog.vec.Matrix4.create();
- mat[0] = mat[5] = mat[10] = mat[15] = 1;
- return mat;
-};
-
-
-/**
- * Creates a 4x4 matrix initialized from the given array.
- *
- * @param {goog.vec.ArrayType} matrix The array containing the
- * matrix values in column major order.
- * @return {goog.vec.Matrix4.Type} The new, 16 element array.
- */
-goog.vec.Matrix4.createFromArray = function(matrix) {
- var newMatrix = goog.vec.Matrix4.create();
- goog.vec.Matrix4.setFromArray(newMatrix, matrix);
- return newMatrix;
-};
-
-
-/**
- * Creates a 4x4 matrix initialized from the given values.
- *
- * @param {number} v00 The values at (0, 0).
- * @param {number} v10 The values at (1, 0).
- * @param {number} v20 The values at (2, 0).
- * @param {number} v30 The values at (3, 0).
- * @param {number} v01 The values at (0, 1).
- * @param {number} v11 The values at (1, 1).
- * @param {number} v21 The values at (2, 1).
- * @param {number} v31 The values at (3, 1).
- * @param {number} v02 The values at (0, 2).
- * @param {number} v12 The values at (1, 2).
- * @param {number} v22 The values at (2, 2).
- * @param {number} v32 The values at (3, 2).
- * @param {number} v03 The values at (0, 3).
- * @param {number} v13 The values at (1, 3).
- * @param {number} v23 The values at (2, 3).
- * @param {number} v33 The values at (3, 3).
- * @return {goog.vec.Matrix4.Type} The new, 16 element array.
- */
-goog.vec.Matrix4.createFromValues = function(
- v00, v10, v20, v30, v01, v11, v21, v31, v02, v12, v22, v32,
- v03, v13, v23, v33) {
- var newMatrix = goog.vec.Matrix4.create();
- goog.vec.Matrix4.setFromValues(
- newMatrix, v00, v10, v20, v30, v01, v11, v21, v31, v02, v12, v22, v32,
- v03, v13, v23, v33);
- return newMatrix;
-};
-
-
-/**
- * Creates a clone of a 4x4 matrix.
- *
- * @param {goog.vec.Matrix4.Type} matrix The source 4x4 matrix.
- * @return {goog.vec.Matrix4.Type} The new, 16 element matrix.
- */
-goog.vec.Matrix4.clone =
- goog.vec.Matrix4.createFromArray;
-
-
-/**
- * Retrieves the element at the requested row and column.
- *
- * @param {goog.vec.ArrayType} mat The matrix containing the
- * value to retrieve.
- * @param {number} row The row index.
- * @param {number} column The column index.
- * @return {number} The element value at the requested row, column indices.
- */
-goog.vec.Matrix4.getElement = function(mat, row, column) {
- return mat[row + column * 4];
-};
-
-
-/**
- * Sets the element at the requested row and column.
- *
- * @param {goog.vec.ArrayType} mat The matrix containing the
- * value to retrieve.
- * @param {number} row The row index.
- * @param {number} column The column index.
- * @param {number} value The value to set at the requested row, column.
- */
-goog.vec.Matrix4.setElement = function(mat, row, column, value) {
- mat[row + column * 4] = value;
-};
-
-
-/**
- * Initializes the matrix from the set of values. Note the values supplied are
- * in column major order.
- *
- * @param {goog.vec.ArrayType} mat The matrix to receive the
- * values.
- * @param {number} v00 The values at (0, 0).
- * @param {number} v10 The values at (1, 0).
- * @param {number} v20 The values at (2, 0).
- * @param {number} v30 The values at (3, 0).
- * @param {number} v01 The values at (0, 1).
- * @param {number} v11 The values at (1, 1).
- * @param {number} v21 The values at (2, 1).
- * @param {number} v31 The values at (3, 1).
- * @param {number} v02 The values at (0, 2).
- * @param {number} v12 The values at (1, 2).
- * @param {number} v22 The values at (2, 2).
- * @param {number} v32 The values at (3, 2).
- * @param {number} v03 The values at (0, 3).
- * @param {number} v13 The values at (1, 3).
- * @param {number} v23 The values at (2, 3).
- * @param {number} v33 The values at (3, 3).
- */
-goog.vec.Matrix4.setFromValues = function(
- mat, v00, v10, v20, v30, v01, v11, v21, v31, v02, v12, v22, v32,
- v03, v13, v23, v33) {
- mat[0] = v00;
- mat[1] = v10;
- mat[2] = v20;
- mat[3] = v30;
- mat[4] = v01;
- mat[5] = v11;
- mat[6] = v21;
- mat[7] = v31;
- mat[8] = v02;
- mat[9] = v12;
- mat[10] = v22;
- mat[11] = v32;
- mat[12] = v03;
- mat[13] = v13;
- mat[14] = v23;
- mat[15] = v33;
-};
-
-
-/**
- * Sets the matrix from the array of values stored in column major order.
- *
- * @param {goog.vec.ArrayType} mat The matrix to receive the
- * values.
- * @param {goog.vec.ArrayType} values The column major ordered
- * array of values to store in the matrix.
- */
-goog.vec.Matrix4.setFromArray = function(mat, values) {
- mat[0] = values[0];
- mat[1] = values[1];
- mat[2] = values[2];
- mat[3] = values[3];
- mat[4] = values[4];
- mat[5] = values[5];
- mat[6] = values[6];
- mat[7] = values[7];
- mat[8] = values[8];
- mat[9] = values[9];
- mat[10] = values[10];
- mat[11] = values[11];
- mat[12] = values[12];
- mat[13] = values[13];
- mat[14] = values[14];
- mat[15] = values[15];
-};
-
-
-/**
- * Sets the matrix from the array of values stored in row major order.
- *
- * @param {goog.vec.ArrayType} mat The matrix to receive the
- * values.
- * @param {goog.vec.ArrayType} values The row major ordered array of
- * values to store in the matrix.
- */
-goog.vec.Matrix4.setFromRowMajorArray = function(mat, values) {
- mat[0] = values[0];
- mat[1] = values[4];
- mat[2] = values[8];
- mat[3] = values[12];
-
- mat[4] = values[1];
- mat[5] = values[5];
- mat[6] = values[9];
- mat[7] = values[13];
-
- mat[8] = values[2];
- mat[9] = values[6];
- mat[10] = values[10];
- mat[11] = values[14];
-
- mat[12] = values[3];
- mat[13] = values[7];
- mat[14] = values[11];
- mat[15] = values[15];
-};
-
-
-/**
- * Sets the diagonal values of the matrix from the given values.
- *
- * @param {goog.vec.ArrayType} mat The matrix to receive the
- * values.
- * @param {number} v00 The values for (0, 0).
- * @param {number} v11 The values for (1, 1).
- * @param {number} v22 The values for (2, 2).
- * @param {number} v33 The values for (3, 3).
- */
-goog.vec.Matrix4.setDiagonalValues = function(
- mat, v00, v11, v22, v33) {
- mat[0] = v00;
- mat[5] = v11;
- mat[10] = v22;
- mat[15] = v33;
-};
-
-
-/**
- * Sets the diagonal values of the matrix from the given vector.
- *
- * @param {goog.vec.ArrayType} mat The matrix to receive the
- * values.
- * @param {goog.vec.ArrayType} vec The vector containing the
- * values.
- */
-goog.vec.Matrix4.setDiagonal = function(mat, vec) {
- mat[0] = vec[0];
- mat[5] = vec[1];
- mat[10] = vec[2];
- mat[15] = vec[3];
-};
-
-
-/**
- * Sets the specified column with the supplied values.
- *
- * @param {goog.vec.ArrayType} mat The matrix to recieve the
- * values.
- * @param {number} column The column index to set the values on.
- * @param {number} v0 The value for row 0.
- * @param {number} v1 The value for row 1.
- * @param {number} v2 The value for row 2.
- * @param {number} v3 The value for row 3.
- */
-goog.vec.Matrix4.setColumnValues = function(
- mat, column, v0, v1, v2, v3) {
- var i = column * 4;
- mat[i] = v0;
- mat[i + 1] = v1;
- mat[i + 2] = v2;
- mat[i + 3] = v3;
-};
-
-
-/**
- * Sets the specified column with the value from the supplied array.
- *
- * @param {goog.vec.ArrayType} mat The matrix to receive the
- * values.
- * @param {number} column The column index to set the values on.
- * @param {goog.vec.ArrayType} vec The vector of elements for the
- * column.
- */
-goog.vec.Matrix4.setColumn = function(mat, column, vec) {
- var i = column * 4;
- mat[i] = vec[0];
- mat[i + 1] = vec[1];
- mat[i + 2] = vec[2];
- mat[i + 3] = vec[3];
-};
-
-
-/**
- * Retrieves the specified column from the matrix into the given vector
- * array.
- *
- * @param {goog.vec.ArrayType} mat The matrix supplying the
- * values.
- * @param {number} column The column to get the values from.
- * @param {goog.vec.ArrayType} vec The vector of elements to
- * receive the column.
- */
-goog.vec.Matrix4.getColumn = function(mat, column, vec) {
- var i = column * 4;
- vec[0] = mat[i];
- vec[1] = mat[i + 1];
- vec[2] = mat[i + 2];
- vec[3] = mat[i + 3];
-};
-
-
-/**
- * Sets the columns of the matrix from the set of vector elements.
- *
- * @param {goog.vec.ArrayType} mat The matrix to receive the
- * values.
- * @param {goog.vec.ArrayType} vec0 The values for column 0.
- * @param {goog.vec.ArrayType} vec1 The values for column 1.
- * @param {goog.vec.ArrayType} vec2 The values for column 2.
- * @param {goog.vec.ArrayType} vec3 The values for column 3.
- */
-goog.vec.Matrix4.setColumns = function(
- mat, vec0, vec1, vec2, vec3) {
- goog.vec.Matrix4.setColumn(mat, 0, vec0);
- goog.vec.Matrix4.setColumn(mat, 1, vec1);
- goog.vec.Matrix4.setColumn(mat, 2, vec2);
- goog.vec.Matrix4.setColumn(mat, 3, vec3);
-};
-
-
-/**
- * Retrieves the column values from the given matrix into the given vector
- * elements.
- *
- * @param {goog.vec.ArrayType} mat The matrix containing the
- * columns to retrieve.
- * @param {goog.vec.ArrayType} vec0 The vector elements to receive
- * column 0.
- * @param {goog.vec.ArrayType} vec1 The vector elements to receive
- * column 1.
- * @param {goog.vec.ArrayType} vec2 The vector elements to receive
- * column 2.
- * @param {goog.vec.ArrayType} vec3 The vector elements to receive
- * column 3.
- */
-goog.vec.Matrix4.getColumns = function(
- mat, vec0, vec1, vec2, vec3) {
- goog.vec.Matrix4.getColumn(mat, 0, vec0);
- goog.vec.Matrix4.getColumn(mat, 1, vec1);
- goog.vec.Matrix4.getColumn(mat, 2, vec2);
- goog.vec.Matrix4.getColumn(mat, 3, vec3);
-};
-
-
-/**
- * Sets the row values from the supplied values.
- *
- * @param {goog.vec.ArrayType} mat The matrix to receive the
- * values.
- * @param {number} row The index of the row to receive the values.
- * @param {number} v0 The value for column 0.
- * @param {number} v1 The value for column 1.
- * @param {number} v2 The value for column 2.
- * @param {number} v3 The value for column 3.
- */
-goog.vec.Matrix4.setRowValues = function(mat, row, v0, v1, v2, v3) {
- mat[row] = v0;
- mat[row + 4] = v1;
- mat[row + 8] = v2;
- mat[row + 12] = v3;
-};
-
-
-/**
- * Sets the row values from the supplied vector.
- *
- * @param {goog.vec.ArrayType} mat The matrix to receive the
- * row values.
- * @param {number} row The index of the row.
- * @param {goog.vec.ArrayType} vec The vector containing the
- * values.
- */
-goog.vec.Matrix4.setRow = function(mat, row, vec) {
- mat[row] = vec[0];
- mat[row + 4] = vec[1];
- mat[row + 8] = vec[2];
- mat[row + 12] = vec[3];
-};
-
-
-/**
- * Retrieves the row values into the given vector.
- *
- * @param {goog.vec.ArrayType} mat The matrix supplying the
- * values.
- * @param {number} row The index of the row supplying the values.
- * @param {goog.vec.ArrayType} vec The vector to receive the
- * row.
- */
-goog.vec.Matrix4.getRow = function(mat, row, vec) {
- vec[0] = mat[row];
- vec[1] = mat[row + 4];
- vec[2] = mat[row + 8];
- vec[3] = mat[row + 12];
-};
-
-
-/**
- * Sets the rows of the matrix from the supplied vectors.
- *
- * @param {goog.vec.ArrayType} mat The matrix to receive the
- * values.
- * @param {goog.vec.ArrayType} vec0 The values for row 0.
- * @param {goog.vec.ArrayType} vec1 The values for row 1.
- * @param {goog.vec.ArrayType} vec2 The values for row 2.
- * @param {goog.vec.ArrayType} vec3 The values for row 3.
- */
-goog.vec.Matrix4.setRows = function(
- mat, vec0, vec1, vec2, vec3) {
- goog.vec.Matrix4.setRow(mat, 0, vec0);
- goog.vec.Matrix4.setRow(mat, 1, vec1);
- goog.vec.Matrix4.setRow(mat, 2, vec2);
- goog.vec.Matrix4.setRow(mat, 3, vec3);
-};
-
-
-/**
- * Retrieves the rows of the matrix into the supplied vectors.
- *
- * @param {goog.vec.ArrayType} mat The matrix to supply the
- * values.
- * @param {goog.vec.ArrayType} vec0 The vector to receive row 0.
- * @param {goog.vec.ArrayType} vec1 The vector to receive row 1.
- * @param {goog.vec.ArrayType} vec2 The vector to receive row 2.
- * @param {goog.vec.ArrayType} vec3 The vector to receive row 3.
- */
-goog.vec.Matrix4.getRows = function(
- mat, vec0, vec1, vec2, vec3) {
- goog.vec.Matrix4.getRow(mat, 0, vec0);
- goog.vec.Matrix4.getRow(mat, 1, vec1);
- goog.vec.Matrix4.getRow(mat, 2, vec2);
- goog.vec.Matrix4.getRow(mat, 3, vec3);
-};
-
-
-/**
- * Clears the given matrix to zero.
- *
- * @param {goog.vec.ArrayType} mat The matrix to clear.
- */
-goog.vec.Matrix4.setZero = function(mat) {
- mat[0] = 0;
- mat[1] = 0;
- mat[2] = 0;
- mat[3] = 0;
- mat[4] = 0;
- mat[5] = 0;
- mat[6] = 0;
- mat[7] = 0;
- mat[8] = 0;
- mat[9] = 0;
- mat[10] = 0;
- mat[11] = 0;
- mat[12] = 0;
- mat[13] = 0;
- mat[14] = 0;
- mat[15] = 0;
-};
-
-
-/**
- * Sets the given matrix to the identity matrix.
- *
- * @param {goog.vec.ArrayType} mat The matrix to set.
- */
-goog.vec.Matrix4.setIdentity = function(mat) {
- mat[0] = 1;
- mat[1] = 0;
- mat[2] = 0;
- mat[3] = 0;
- mat[4] = 0;
- mat[5] = 1;
- mat[6] = 0;
- mat[7] = 0;
- mat[8] = 0;
- mat[9] = 0;
- mat[10] = 1;
- mat[11] = 0;
- mat[12] = 0;
- mat[13] = 0;
- mat[14] = 0;
- mat[15] = 1;
-};
-
-
-/**
- * Performs a per-component addition of the matrix mat0 and mat1, storing
- * the result into resultMat.
- *
- * @param {goog.vec.ArrayType} mat0 The first addend.
- * @param {goog.vec.ArrayType} mat1 The second addend.
- * @param {goog.vec.ArrayType} resultMat The matrix to
- * receive the results (may be either mat0 or mat1).
- * @return {goog.vec.ArrayType} return resultMat so that operations can be
- * chained together.
- */
-goog.vec.Matrix4.add = function(mat0, mat1, resultMat) {
- resultMat[0] = mat0[0] + mat1[0];
- resultMat[1] = mat0[1] + mat1[1];
- resultMat[2] = mat0[2] + mat1[2];
- resultMat[3] = mat0[3] + mat1[3];
- resultMat[4] = mat0[4] + mat1[4];
- resultMat[5] = mat0[5] + mat1[5];
- resultMat[6] = mat0[6] + mat1[6];
- resultMat[7] = mat0[7] + mat1[7];
- resultMat[8] = mat0[8] + mat1[8];
- resultMat[9] = mat0[9] + mat1[9];
- resultMat[10] = mat0[10] + mat1[10];
- resultMat[11] = mat0[11] + mat1[11];
- resultMat[12] = mat0[12] + mat1[12];
- resultMat[13] = mat0[13] + mat1[13];
- resultMat[14] = mat0[14] + mat1[14];
- resultMat[15] = mat0[15] + mat1[15];
- return resultMat;
-};
-
-
-/**
- * Performs a per-component subtraction of the matrix mat0 and mat1,
- * storing the result into resultMat.
- *
- * @param {goog.vec.ArrayType} mat0 The minuend.
- * @param {goog.vec.ArrayType} mat1 The subtrahend.
- * @param {goog.vec.ArrayType} resultMat The matrix to receive
- * the results (may be either mat0 or mat1).
- * @return {goog.vec.ArrayType} return resultMat so that operations can be
- * chained together.
- */
-goog.vec.Matrix4.subtract = function(mat0, mat1, resultMat) {
- resultMat[0] = mat0[0] - mat1[0];
- resultMat[1] = mat0[1] - mat1[1];
- resultMat[2] = mat0[2] - mat1[2];
- resultMat[3] = mat0[3] - mat1[3];
- resultMat[4] = mat0[4] - mat1[4];
- resultMat[5] = mat0[5] - mat1[5];
- resultMat[6] = mat0[6] - mat1[6];
- resultMat[7] = mat0[7] - mat1[7];
- resultMat[8] = mat0[8] - mat1[8];
- resultMat[9] = mat0[9] - mat1[9];
- resultMat[10] = mat0[10] - mat1[10];
- resultMat[11] = mat0[11] - mat1[11];
- resultMat[12] = mat0[12] - mat1[12];
- resultMat[13] = mat0[13] - mat1[13];
- resultMat[14] = mat0[14] - mat1[14];
- resultMat[15] = mat0[15] - mat1[15];
- return resultMat;
-};
-
-
-/**
- * Performs a component-wise multiplication of mat0 with the given scalar
- * storing the result into resultMat.
- *
- * @param {goog.vec.ArrayType} mat0 The matrix to scale.
- * @param {number} scalar The scalar value to multiple to each element of mat0.
- * @param {goog.vec.ArrayType} resultMat The matrix to receive
- * the results (may be mat0).
- * @return {goog.vec.ArrayType} return resultMat so that operations can be
- * chained together.
- */
-goog.vec.Matrix4.scale = function(mat0, scalar, resultMat) {
- resultMat[0] = mat0[0] * scalar;
- resultMat[1] = mat0[1] * scalar;
- resultMat[2] = mat0[2] * scalar;
- resultMat[3] = mat0[3] * scalar;
- resultMat[4] = mat0[4] * scalar;
- resultMat[5] = mat0[5] * scalar;
- resultMat[6] = mat0[6] * scalar;
- resultMat[7] = mat0[7] * scalar;
- resultMat[8] = mat0[8] * scalar;
- resultMat[9] = mat0[9] * scalar;
- resultMat[10] = mat0[10] * scalar;
- resultMat[11] = mat0[11] * scalar;
- resultMat[12] = mat0[12] * scalar;
- resultMat[13] = mat0[13] * scalar;
- resultMat[14] = mat0[14] * scalar;
- resultMat[15] = mat0[15] * scalar;
- return resultMat;
-};
-
-
-/**
- * Multiplies the two matrices mat0 and mat1 using matrix multiplication,
- * storing the result into resultMat.
- *
- * @param {goog.vec.ArrayType} mat0 The first (left hand) matrix.
- * @param {goog.vec.ArrayType} mat1 The second (right hand)
- * matrix.
- * @param {goog.vec.ArrayType} resultMat The matrix to receive
- * the results (may be either mat0 or mat1).
- * @return {goog.vec.ArrayType} return resultMat so that operations can be
- * chained together.
- */
-goog.vec.Matrix4.multMat = function(mat0, mat1, resultMat) {
- var a00 = mat0[0], a10 = mat0[1], a20 = mat0[2], a30 = mat0[3];
- var a01 = mat0[4], a11 = mat0[5], a21 = mat0[6], a31 = mat0[7];
- var a02 = mat0[8], a12 = mat0[9], a22 = mat0[10], a32 = mat0[11];
- var a03 = mat0[12], a13 = mat0[13], a23 = mat0[14], a33 = mat0[15];
-
- var b00 = mat1[0], b10 = mat1[1], b20 = mat1[2], b30 = mat1[3];
- var b01 = mat1[4], b11 = mat1[5], b21 = mat1[6], b31 = mat1[7];
- var b02 = mat1[8], b12 = mat1[9], b22 = mat1[10], b32 = mat1[11];
- var b03 = mat1[12], b13 = mat1[13], b23 = mat1[14], b33 = mat1[15];
-
- resultMat[0] = a00 * b00 + a01 * b10 + a02 * b20 + a03 * b30;
- resultMat[1] = a10 * b00 + a11 * b10 + a12 * b20 + a13 * b30;
- resultMat[2] = a20 * b00 + a21 * b10 + a22 * b20 + a23 * b30;
- resultMat[3] = a30 * b00 + a31 * b10 + a32 * b20 + a33 * b30;
-
- resultMat[4] = a00 * b01 + a01 * b11 + a02 * b21 + a03 * b31;
- resultMat[5] = a10 * b01 + a11 * b11 + a12 * b21 + a13 * b31;
- resultMat[6] = a20 * b01 + a21 * b11 + a22 * b21 + a23 * b31;
- resultMat[7] = a30 * b01 + a31 * b11 + a32 * b21 + a33 * b31;
-
- resultMat[8] = a00 * b02 + a01 * b12 + a02 * b22 + a03 * b32;
- resultMat[9] = a10 * b02 + a11 * b12 + a12 * b22 + a13 * b32;
- resultMat[10] = a20 * b02 + a21 * b12 + a22 * b22 + a23 * b32;
- resultMat[11] = a30 * b02 + a31 * b12 + a32 * b22 + a33 * b32;
-
- resultMat[12] = a00 * b03 + a01 * b13 + a02 * b23 + a03 * b33;
- resultMat[13] = a10 * b03 + a11 * b13 + a12 * b23 + a13 * b33;
- resultMat[14] = a20 * b03 + a21 * b13 + a22 * b23 + a23 * b33;
- resultMat[15] = a30 * b03 + a31 * b13 + a32 * b23 + a33 * b33;
- return resultMat;
-};
-
-
-/**
- * Transposes the given matrix mat storing the result into resultMat.
- * @param {goog.vec.ArrayType} mat The matrix to transpose.
- * @param {goog.vec.ArrayType} resultMat The matrix to receive
- * the results (may be mat).
- * @return {goog.vec.ArrayType} return resultMat so that operations can be
- * chained together.
- */
-goog.vec.Matrix4.transpose = function(mat, resultMat) {
- if (resultMat == mat) {
- var a10 = mat[1], a20 = mat[2], a30 = mat[3];
- var a21 = mat[6], a31 = mat[7];
- var a32 = mat[11];
- resultMat[1] = mat[4];
- resultMat[2] = mat[8];
- resultMat[3] = mat[12];
- resultMat[4] = a10;
- resultMat[6] = mat[9];
- resultMat[7] = mat[13];
- resultMat[8] = a20;
- resultMat[9] = a21;
- resultMat[11] = mat[14];
- resultMat[12] = a30;
- resultMat[13] = a31;
- resultMat[14] = a32;
- } else {
- resultMat[0] = mat[0];
- resultMat[1] = mat[4];
- resultMat[2] = mat[8];
- resultMat[3] = mat[12];
-
- resultMat[4] = mat[1];
- resultMat[5] = mat[5];
- resultMat[6] = mat[9];
- resultMat[7] = mat[13];
-
- resultMat[8] = mat[2];
- resultMat[9] = mat[6];
- resultMat[10] = mat[10];
- resultMat[11] = mat[14];
-
- resultMat[12] = mat[3];
- resultMat[13] = mat[7];
- resultMat[14] = mat[11];
- resultMat[15] = mat[15];
- }
- return resultMat;
-};
-
-
-/**
- * Computes the determinant of the matrix.
- *
- * @param {goog.vec.ArrayType} mat The matrix to compute the
- * matrix for.
- * @return {number} The determinant of the matrix.
- */
-goog.vec.Matrix4.determinant = function(mat) {
- var m00 = mat[0], m10 = mat[1], m20 = mat[2], m30 = mat[3];
- var m01 = mat[4], m11 = mat[5], m21 = mat[6], m31 = mat[7];
- var m02 = mat[8], m12 = mat[9], m22 = mat[10], m32 = mat[11];
- var m03 = mat[12], m13 = mat[13], m23 = mat[14], m33 = mat[15];
-
- var a0 = m00 * m11 - m10 * m01;
- var a1 = m00 * m21 - m20 * m01;
- var a2 = m00 * m31 - m30 * m01;
- var a3 = m10 * m21 - m20 * m11;
- var a4 = m10 * m31 - m30 * m11;
- var a5 = m20 * m31 - m30 * m21;
- var b0 = m02 * m13 - m12 * m03;
- var b1 = m02 * m23 - m22 * m03;
- var b2 = m02 * m33 - m32 * m03;
- var b3 = m12 * m23 - m22 * m13;
- var b4 = m12 * m33 - m32 * m13;
- var b5 = m22 * m33 - m32 * m23;
-
- return a0 * b5 - a1 * b4 + a2 * b3 + a3 * b2 - a4 * b1 + a5 * b0;
-};
-
-
-/**
- * Computes the inverse of mat storing the result into resultMat. If the
- * inverse is defined, this function returns true, false otherwise.
- *
- * @param {goog.vec.ArrayType} mat The matrix to invert.
- * @param {goog.vec.ArrayType} resultMat The matrix to receive
- * the result (may be mat).
- * @return {boolean} True if the inverse is defined. If false is returned,
- * resultMat is not modified.
- */
-goog.vec.Matrix4.invert = function(mat, resultMat) {
- var m00 = mat[0], m10 = mat[1], m20 = mat[2], m30 = mat[3];
- var m01 = mat[4], m11 = mat[5], m21 = mat[6], m31 = mat[7];
- var m02 = mat[8], m12 = mat[9], m22 = mat[10], m32 = mat[11];
- var m03 = mat[12], m13 = mat[13], m23 = mat[14], m33 = mat[15];
-
- var a0 = m00 * m11 - m10 * m01;
- var a1 = m00 * m21 - m20 * m01;
- var a2 = m00 * m31 - m30 * m01;
- var a3 = m10 * m21 - m20 * m11;
- var a4 = m10 * m31 - m30 * m11;
- var a5 = m20 * m31 - m30 * m21;
- var b0 = m02 * m13 - m12 * m03;
- var b1 = m02 * m23 - m22 * m03;
- var b2 = m02 * m33 - m32 * m03;
- var b3 = m12 * m23 - m22 * m13;
- var b4 = m12 * m33 - m32 * m13;
- var b5 = m22 * m33 - m32 * m23;
-
- var det = a0 * b5 - a1 * b4 + a2 * b3 + a3 * b2 - a4 * b1 + a5 * b0;
- if (det == 0) {
- return false;
- }
-
- var idet = 1.0 / det;
- resultMat[0] = (m11 * b5 - m21 * b4 + m31 * b3) * idet;
- resultMat[1] = (-m10 * b5 + m20 * b4 - m30 * b3) * idet;
- resultMat[2] = (m13 * a5 - m23 * a4 + m33 * a3) * idet;
- resultMat[3] = (-m12 * a5 + m22 * a4 - m32 * a3) * idet;
- resultMat[4] = (-m01 * b5 + m21 * b2 - m31 * b1) * idet;
- resultMat[5] = (m00 * b5 - m20 * b2 + m30 * b1) * idet;
- resultMat[6] = (-m03 * a5 + m23 * a2 - m33 * a1) * idet;
- resultMat[7] = (m02 * a5 - m22 * a2 + m32 * a1) * idet;
- resultMat[8] = (m01 * b4 - m11 * b2 + m31 * b0) * idet;
- resultMat[9] = (-m00 * b4 + m10 * b2 - m30 * b0) * idet;
- resultMat[10] = (m03 * a4 - m13 * a2 + m33 * a0) * idet;
- resultMat[11] = (-m02 * a4 + m12 * a2 - m32 * a0) * idet;
- resultMat[12] = (-m01 * b3 + m11 * b1 - m21 * b0) * idet;
- resultMat[13] = (m00 * b3 - m10 * b1 + m20 * b0) * idet;
- resultMat[14] = (-m03 * a3 + m13 * a1 - m23 * a0) * idet;
- resultMat[15] = (m02 * a3 - m12 * a1 + m22 * a0) * idet;
- return true;
-};
-
-
-/**
- * Returns true if the components of mat0 are equal to the components of mat1.
- *
- * @param {goog.vec.ArrayType} mat0 The first matrix.
- * @param {goog.vec.ArrayType} mat1 The second matrix.
- * @return {boolean} True if the the two matrices are equivalent.
- */
-goog.vec.Matrix4.equals = function(mat0, mat1) {
- return mat0.length == mat1.length &&
- mat0[0] == mat1[0] &&
- mat0[1] == mat1[1] &&
- mat0[2] == mat1[2] &&
- mat0[3] == mat1[3] &&
- mat0[4] == mat1[4] &&
- mat0[5] == mat1[5] &&
- mat0[6] == mat1[6] &&
- mat0[7] == mat1[7] &&
- mat0[8] == mat1[8] &&
- mat0[9] == mat1[9] &&
- mat0[10] == mat1[10] &&
- mat0[11] == mat1[11] &&
- mat0[12] == mat1[12] &&
- mat0[13] == mat1[13] &&
- mat0[14] == mat1[14] &&
- mat0[15] == mat1[15];
-};
-
-
-/**
- * Transforms the given vector with the given matrix storing the resulting,
- * transformed vector into resultVec. The input vector is multiplied against the
- * upper 3x4 matrix omitting the projective component.
- *
- * @param {goog.vec.ArrayType} mat The matrix supplying the
- * transformation.
- * @param {goog.vec.ArrayType} vec The 3 element vector to
- * transform.
- * @param {goog.vec.ArrayType} resultVec The 3 element vector to
- * receive the results (may be vec).
- * @return {goog.vec.ArrayType} return resultVec so that operations can be
- * chained together.
- */
-goog.vec.Matrix4.multVec3 = function(mat, vec, resultVec) {
- var x = vec[0], y = vec[1], z = vec[2];
- resultVec[0] = x * mat[0] + y * mat[4] + z * mat[8] + mat[12];
- resultVec[1] = x * mat[1] + y * mat[5] + z * mat[9] + mat[13];
- resultVec[2] = x * mat[2] + y * mat[6] + z * mat[10] + mat[14];
- return resultVec;
-};
-
-
-/**
- * Transforms the given vector with the given matrix storing the resulting,
- * transformed vector into resultVec. The input vector is multiplied against the
- * upper 3x3 matrix omitting the projective component and translation
- * components.
- *
- * @param {goog.vec.ArrayType} mat The matrix supplying the
- * transformation.
- * @param {goog.vec.ArrayType} vec The 3 element vector to
- * transform.
- * @param {goog.vec.ArrayType} resultVec The 3 element vector to
- * receive the results (may be vec).
- * @return {goog.vec.ArrayType} return resultVec so that operations can be
- * chained together.
- */
-goog.vec.Matrix4.multVec3NoTranslate = function(
- mat, vec, resultVec) {
- var x = vec[0], y = vec[1], z = vec[2];
- resultVec[0] = x * mat[0] + y * mat[4] + z * mat[8];
- resultVec[1] = x * mat[1] + y * mat[5] + z * mat[9];
- resultVec[2] = x * mat[2] + y * mat[6] + z * mat[10];
- return resultVec;
-};
-
-
-/**
- * Transforms the given vector with the given matrix storing the resulting,
- * transformed vector into resultVec. The input vector is multiplied against the
- * full 4x4 matrix with the homogeneous divide applied to reduce the 4 element
- * vector to a 3 element vector.
- *
- * @param {goog.vec.ArrayType} mat The matrix supplying the
- * transformation.
- * @param {goog.vec.ArrayType} vec The 3 element vector to
- * transform.
- * @param {goog.vec.ArrayType} resultVec The 3 element vector
- * to receive the results (may be vec).
- * @return {goog.vec.ArrayType} return resultVec so that operations can be
- * chained together.
- */
-goog.vec.Matrix4.multVec3Projective = function(
- mat, vec, resultVec) {
- var x = vec[0], y = vec[1], z = vec[2];
- var invw = 1 / (x * mat[3] + y * mat[7] + z * mat[11] + mat[15]);
- resultVec[0] = (x * mat[0] + y * mat[4] + z * mat[8] + mat[12]) * invw;
- resultVec[1] = (x * mat[1] + y * mat[5] + z * mat[9] + mat[13]) * invw;
- resultVec[2] = (x * mat[2] + y * mat[6] + z * mat[10] + mat[14]) * invw;
- return resultVec;
-};
-
-
-/**
- * Transforms the given vector with the given matrix storing the resulting,
- * transformed vector into resultVec.
- *
- * @param {goog.vec.ArrayType} mat The matrix supplying the
- * transformation.
- * @param {goog.vec.ArrayType} vec The vector to transform.
- * @param {goog.vec.ArrayType} resultVec The vector to
- * receive the results (may be vec).
- * @return {goog.vec.ArrayType} return resultVec so that operations can be
- * chained together.
- */
-goog.vec.Matrix4.multVec4 = function(mat, vec, resultVec) {
- var x = vec[0], y = vec[1], z = vec[2], w = vec[3];
- resultVec[0] = x * mat[0] + y * mat[4] + z * mat[8] + w * mat[12];
- resultVec[1] = x * mat[1] + y * mat[5] + z * mat[9] + w * mat[13];
- resultVec[2] = x * mat[2] + y * mat[6] + z * mat[10] + w * mat[14];
- resultVec[3] = x * mat[3] + y * mat[7] + z * mat[11] + w * mat[15];
- return resultVec;
-};
-
-
-/**
- * Transforms the given vector with the given matrix storing the resulting,
- * transformed vector into resultVec. The input matrix is multiplied against the
- * upper 3x4 matrix omitting the projective component.
- *
- * @param {goog.vec.ArrayType} mat The matrix supplying the
- * transformation.
- * @param {goog.vec.ArrayType} vec The 3 element vector to
- * transform.
- * @param {goog.vec.ArrayType} resultVec The 3 element vector to
- * receive the results (may be vec).
- * @return {goog.vec.ArrayType} return resultVec so that operations can be
- * chained together.
- */
-goog.vec.Matrix4.multVec3ToArray = function(mat, vec, resultVec) {
- goog.vec.Matrix4.multVec3(
- mat, vec, (/** @type {goog.vec.ArrayType} */ resultVec));
- return resultVec;
-};
-
-
-/**
- * Transforms the given vector with the given matrix storing the resulting,
- * transformed vector into resultVec.
- *
- * @param {goog.vec.ArrayType} mat The matrix supplying the
- * transformation.
- * @param {goog.vec.ArrayType} vec The vector to transform.
- * @param {goog.vec.ArrayType} resultVec The vector to
- * receive the results (may be vec).
- * @return {goog.vec.ArrayType} return resultVec so that operations can be
- * chained together.
- */
-goog.vec.Matrix4.multVec4ToArray = function(mat, vec, resultVec) {
- goog.vec.Matrix4.multVec4(
- mat, vec, (/** @type {goog.vec.ArrayType} */ resultVec));
- return resultVec;
-};
-
-
-/**
- * Initializes the given 4x4 matrix as a translation matrix with x, y and z
- * translation factors.
- * @param {goog.vec.ArrayType} mat The 4x4 (16-element) matrix
- * array to receive the new translation matrix.
- * @param {number} x The translation along the x axis.
- * @param {number} y The translation along the y axis.
- * @param {number} z The translation along the z axis.
- */
-goog.vec.Matrix4.makeTranslate = function(mat, x, y, z) {
- goog.vec.Matrix4.setIdentity(mat);
- goog.vec.Matrix4.setColumnValues(mat, 3, x, y, z, 1);
-};
-
-
-/**
- * Initializes the given 4x4 matrix as a scale matrix with x, y and z scale
- * factors.
- * @param {goog.vec.ArrayType} mat The 4x4 (16-element) matrix
- * array to receive the new translation matrix.
- * @param {number} x The scale along the x axis.
- * @param {number} y The scale along the y axis.
- * @param {number} z The scale along the z axis.
- */
-goog.vec.Matrix4.makeScale = function(mat, x, y, z) {
- goog.vec.Matrix4.setIdentity(mat);
- goog.vec.Matrix4.setDiagonalValues(mat, x, y, z, 1);
-};
-
-
-/**
- * Initializes the given 4x4 matrix as a rotation matrix with the given rotation
- * angle about the axis defined by the vector (ax, ay, az).
- * @param {goog.vec.ArrayType} mat The 4x4 (16-element) matrix
- * array to receive the new translation matrix.
- * @param {number} angle The rotation angle in radians.
- * @param {number} ax The x component of the rotation axis.
- * @param {number} ay The y component of the rotation axis.
- * @param {number} az The z component of the rotation axis.
- */
-goog.vec.Matrix4.makeAxisAngleRotate = function(
- mat, angle, ax, ay, az) {
- var c = Math.cos(angle);
- var d = 1 - c;
- var s = Math.sin(angle);
-
- goog.vec.Matrix4.setFromValues(mat,
- ax * ax * d + c,
- ax * ay * d + az * s,
- ax * az * d - ay * s,
- 0,
-
- ax * ay * d - az * s,
- ay * ay * d + c,
- ay * az * d + ax * s,
- 0,
-
- ax * az * d + ay * s,
- ay * az * d - ax * s,
- az * az * d + c,
- 0,
-
- 0, 0, 0, 1);
-};
-
-
-/**
- * Initializes the given 4x4 matrix as a perspective projection matrix.
- * @param {goog.vec.ArrayType} mat The 4x4 (16-element) matrix
- * array to receive the new translation matrix.
- * @param {number} left The coordinate of the left clipping plane.
- * @param {number} right The coordinate of the right clipping plane.
- * @param {number} bottom The coordinate of the bottom clipping plane.
- * @param {number} top The coordinate of the top clipping plane.
- * @param {number} near The distance to the near clipping plane.
- * @param {number} far The distance to the far clipping plane.
- */
-goog.vec.Matrix4.makeFrustum = function(
- mat, left, right, bottom, top, near, far) {
- var x = (2 * near) / (right - left);
- var y = (2 * near) / (top - bottom);
- var a = (right + left) / (right - left);
- var b = (top + bottom) / (top - bottom);
- var c = -(far + near) / (far - near);
- var d = -(2 * far * near) / (far - near);
-
- goog.vec.Matrix4.setFromValues(mat,
- x, 0, 0, 0,
- 0, y, 0, 0,
- a, b, c, -1,
- 0, 0, d, 0
- );
-};
-
-
-/**
- * Initializes the given 4x4 matrix as a perspective projection matrix given a
- * field of view and aspect ratio.
- * @param {goog.vec.ArrayType} mat The 4x4 (16-element) matrix
- * array to receive the new translation matrix.
- * @param {number} fovy The field of view along the y (vertical) axis in
- * radians.
- * @param {number} aspect The x (width) to y (height) aspect ratio.
- * @param {number} near The distance to the near clipping plane.
- * @param {number} far The distance to the far clipping plane.
- */
-goog.vec.Matrix4.makePerspective = function(
- mat, fovy, aspect, near, far) {
- var angle = fovy / 2;
- var dz = far - near;
- var sinAngle = Math.sin(angle);
- if (dz == 0 || sinAngle == 0 || aspect == 0) return;
-
- var cot = Math.cos(angle) / sinAngle;
- goog.vec.Matrix4.setFromValues(mat,
- cot / aspect, 0, 0, 0,
- 0, cot, 0, 0,
- 0, 0, -(far + near) / dz, -1,
- 0, 0, -(2 * near * far) / dz, 0
- );
-};
-
-
-/**
- * Initializes the given 4x4 matrix as an orthographic projection matrix.
- * @param {goog.vec.ArrayType} mat The 4x4 (16-element) matrix
- * array to receive the new translation matrix.
- * @param {number} left The coordinate of the left clipping plane.
- * @param {number} right The coordinate of the right clipping plane.
- * @param {number} bottom The coordinate of the bottom clipping plane.
- * @param {number} top The coordinate of the top clipping plane.
- * @param {number} near The distance to the near clipping plane.
- * @param {number} far The distance to the far clipping plane.
- */
-goog.vec.Matrix4.makeOrtho = function(
- mat, left, right, bottom, top, near, far) {
- var x = 2 / (right - left);
- var y = 2 / (top - bottom);
- var z = -2 / (far - near);
- var a = -(right + left) / (right - left);
- var b = -(top + bottom) / (top - bottom);
- var c = -(far + near) / (far - near);
-
- goog.vec.Matrix4.setFromValues(mat,
- x, 0, 0, 0,
- 0, y, 0, 0,
- 0, 0, z, 0,
- a, b, c, 1
- );
-};
-
-
-/**
- * Updates a matrix representing the modelview matrix of a camera so that
- * the camera is 'looking at' the given center point.
- * @param {goog.vec.ArrayType} viewMatrix The matrix.
- * @param {goog.vec.ArrayType} eyePt The position of the eye point
- * (camera origin).
- * @param {goog.vec.ArrayType} centerPt The point to aim the camera
- * at.
- * @param {goog.vec.ArrayType} worldUpVec The vector that
- * identifies the up direction for the camera.
- */
-goog.vec.Matrix4.lookAt = function(
- viewMatrix, eyePt, centerPt, worldUpVec) {
- // Compute the direction vector from the eye point to the center point and
- // normalize.
- var fwdVec = goog.vec.Matrix4.tmpVec4_[0];
- goog.vec.Vec3.subtract(centerPt, eyePt, fwdVec);
- goog.vec.Vec3.normalize(fwdVec, fwdVec);
- fwdVec[3] = 0;
-
- // Compute the side vector from the forward vector and the input up vector.
- var sideVec = goog.vec.Matrix4.tmpVec4_[1];
- goog.vec.Vec3.cross(fwdVec, worldUpVec, sideVec);
- goog.vec.Vec3.normalize(sideVec, sideVec);
- sideVec[3] = 0;
-
- // Now the up vector to form the orthonormal basis.
- var upVec = goog.vec.Matrix4.tmpVec4_[2];
- goog.vec.Vec3.cross(sideVec, fwdVec, upVec);
- goog.vec.Vec3.normalize(upVec, upVec);
- upVec[3] = 0;
-
- // Update the view matrix with the new orthonormal basis and position the
- // camera at the given eye point.
- goog.vec.Vec3.negate(fwdVec, fwdVec);
- goog.vec.Matrix4.setRow(viewMatrix, 0, sideVec);
- goog.vec.Matrix4.setRow(viewMatrix, 1, upVec);
- goog.vec.Matrix4.setRow(viewMatrix, 2, fwdVec);
- goog.vec.Matrix4.setRowValues(viewMatrix, 3, 0, 0, 0, 1);
- goog.vec.Matrix4.applyTranslate(
- viewMatrix, -eyePt[0], -eyePt[1], -eyePt[2]);
-};
-
-
-/**
- * Decomposes a matrix into the lookAt vectors eyePt, fwdVec and worldUpVec.
- * The matrix represents the modelview matrix of a camera. It is the inverse
- * of lookAt except for the output of the fwdVec instead of centerPt.
- * The centerPt itself cannot be recovered from a modelview matrix.
- * @param {goog.vec.ArrayType} viewMatrix The matrix.
- * @param {goog.vec.ArrayType} eyePt The position of the eye point
- * (camera origin).
- * @param {goog.vec.ArrayType} fwdVec The vector describing where
- * the camera points to.
- * @param {goog.vec.ArrayType} worldUpVec The vector that
- * identifies the up direction for the camera.
- * @return {boolean} True if the method succeeds, false otherwise.
- * The method can only fail if the inverse of viewMatrix is not defined.
- */
-goog.vec.Matrix4.toLookAt = function(
- viewMatrix, eyePt, fwdVec, worldUpVec) {
- // Get eye of the camera.
- var viewMatrixInverse = goog.vec.Matrix4.tmpMatrix4_[0];
- if (!goog.vec.Matrix4.invert(viewMatrix, viewMatrixInverse)) {
- // The input matrix does not have a valid inverse.
- return false;
- }
-
- if (eyePt) {
- eyePt[0] = viewMatrixInverse[12];
- eyePt[1] = viewMatrixInverse[13];
- eyePt[2] = viewMatrixInverse[14];
- }
-
- // Get forward vector from the definition of lookAt.
- if (fwdVec || worldUpVec) {
- if (!fwdVec) {
- fwdVec = goog.vec.Matrix4.tmpVec3_[0];
- }
- fwdVec[0] = -viewMatrix[2];
- fwdVec[1] = -viewMatrix[6];
- fwdVec[2] = -viewMatrix[10];
- // Normalize forward vector.
- goog.vec.Vec3.normalize(fwdVec, fwdVec);
- }
-
- if (worldUpVec) {
- // Get side vector from the definition of gluLookAt.
- var side = goog.vec.Matrix4.tmpVec3_[1];
- side[0] = viewMatrix[0];
- side[1] = viewMatrix[4];
- side[2] = viewMatrix[8];
- // Compute up vector as a up = side x forward.
- goog.vec.Vec3.cross(side, fwdVec, worldUpVec);
- // Normalize up vector.
- goog.vec.Vec3.normalize(worldUpVec, worldUpVec);
- }
- return true;
-};
-
-
-/**
- * Constructs a rotation matrix from its Euler angles using the ZXZ convention.
- * Given the euler angles [theta1, theta2, theta3], the rotation is defined as
- * rotation = rotation_z(theta1) * rotation_x(theta2) * rotation_z(theta3),
- * where rotation_x(theta) means rotation around the X axis of theta radians.
- * @param {goog.vec.ArrayType} matrix The rotation matrix.
- * @param {number} theta1 The angle of rotation around the Z axis in radians.
- * @param {number} theta2 The angle of rotation around the X axis in radians.
- * @param {number} theta3 The angle of rotation around the Z axis in radians.
- */
-goog.vec.Matrix4.fromEulerZXZ = function(
- matrix, theta1, theta2, theta3) {
- var c1 = Math.cos(theta1);
- var s1 = Math.sin(theta1);
-
- var c2 = Math.cos(theta2);
- var s2 = Math.sin(theta2);
-
- var c3 = Math.cos(theta3);
- var s3 = Math.sin(theta3);
-
- matrix[0] = c1 * c3 - c2 * s1 * s3;
- matrix[1] = c2 * c1 * s3 + c3 * s1;
- matrix[2] = s3 * s2;
- matrix[3] = 0;
-
- matrix[4] = -c1 * s3 - c3 * c2 * s1;
- matrix[5] = c1 * c2 * c3 - s1 * s3;
- matrix[6] = c3 * s2;
- matrix[7] = 0;
-
- matrix[8] = s2 * s1;
- matrix[9] = -c1 * s2;
- matrix[10] = c2;
- matrix[11] = 0;
-
- matrix[12] = 0;
- matrix[13] = 0;
- matrix[14] = 0;
- matrix[15] = 1;
-};
-
-
-/**
- * Decomposes a rotation matrix into Euler angles using the ZXZ convention.
- * @param {goog.vec.ArrayType} matrix The rotation matrix.
- * @param {goog.vec.ArrayType} euler The ZXZ Euler angles in
- * radians. euler = [roll, tilt, pan].
- */
-goog.vec.Matrix4.toEulerZXZ = function(matrix, euler) {
- var s2 = Math.sqrt(matrix[2] * matrix[2] + matrix[6] * matrix[6]);
-
- // There is an ambiguity in the sign of s2. We assume the tilt value
- // is between [-pi/2, 0], so s2 is always negative.
- if (s2 > goog.vec.EPSILON) {
- euler[2] = Math.atan2(-matrix[2], -matrix[6]);
- euler[1] = Math.atan2(-s2, matrix[10]);
- euler[0] = Math.atan2(-matrix[8], matrix[9]);
- } else {
- // There is also an arbitrary choice for roll = 0 or pan = 0 in this case.
- // We assume roll = 0 as some applications do not allow the camera to roll.
- euler[0] = 0;
- euler[1] = Math.atan2(-s2, matrix[10]);
- euler[2] = Math.atan2(matrix[1], matrix[0]);
- }
-};
-
-
-/**
- * Applies a translation by x,y,z to the given matrix.
- *
- * @param {goog.vec.ArrayType} mat The matrix.
- * @param {number} x The translation along the x axis.
- * @param {number} y The translation along the y axis.
- * @param {number} z The translation along the z axis.
- */
-goog.vec.Matrix4.applyTranslate = function(mat, x, y, z) {
- goog.vec.Matrix4.setColumnValues(
- mat, 3,
- mat[0] * x + mat[4] * y + mat[8] * z + mat[12],
- mat[1] * x + mat[5] * y + mat[9] * z + mat[13],
- mat[2] * x + mat[6] * y + mat[10] * z + mat[14],
- mat[3] * x + mat[7] * y + mat[11] * z + mat[15]);
-};
-
-
-/**
- * Applies an x,y,z scale to the given matrix.
- *
- * @param {goog.vec.ArrayType} mat The matrix.
- * @param {number} x The x scale factor.
- * @param {number} y The y scale factor.
- * @param {number} z The z scale factor.
- */
-goog.vec.Matrix4.applyScale = function(mat, x, y, z) {
- goog.vec.Matrix4.setFromValues(
- mat,
- mat[0] * x, mat[1] * x, mat[2] * x, mat[3] * x,
- mat[4] * y, mat[5] * y, mat[6] * y, mat[7] * y,
- mat[8] * z, mat[9] * z, mat[10] * z, mat[11] * z,
- mat[12], mat[13], mat[14], mat[15]);
-};
-
-
-/**
- * Applies a rotation by angle about the x,y,z axis to the given matrix.
- *
- * @param {goog.vec.ArrayType} mat The matrix.
- * @param {number} angle The angle in radians.
- * @param {number} x The x component of the rotation axis.
- * @param {number} y The y component of the rotation axis.
- * @param {number} z The z component of the rotation axis.
- */
-goog.vec.Matrix4.applyRotate = function(mat, angle, x, y, z) {
- var m00 = mat[0], m10 = mat[1], m20 = mat[2], m30 = mat[3];
- var m01 = mat[4], m11 = mat[5], m21 = mat[6], m31 = mat[7];
- var m02 = mat[8], m12 = mat[9], m22 = mat[10], m32 = mat[11];
- var m03 = mat[12], m13 = mat[13], m23 = mat[14], m33 = mat[15];
-
- var cosAngle = Math.cos(angle);
- var sinAngle = Math.sin(angle);
- var diffCosAngle = 1 - cosAngle;
- var r00 = x * x * diffCosAngle + cosAngle;
- var r10 = x * y * diffCosAngle + z * sinAngle;
- var r20 = x * z * diffCosAngle - y * sinAngle;
-
- var r01 = x * y * diffCosAngle - z * sinAngle;
- var r11 = y * y * diffCosAngle + cosAngle;
- var r21 = y * z * diffCosAngle + x * sinAngle;
-
- var r02 = x * z * diffCosAngle + y * sinAngle;
- var r12 = y * z * diffCosAngle - x * sinAngle;
- var r22 = z * z * diffCosAngle + cosAngle;
-
- goog.vec.Matrix4.setFromValues(
- mat,
- m00 * r00 + m01 * r10 + m02 * r20,
- m10 * r00 + m11 * r10 + m12 * r20,
- m20 * r00 + m21 * r10 + m22 * r20,
- m30 * r00 + m31 * r10 + m32 * r20,
-
- m00 * r01 + m01 * r11 + m02 * r21,
- m10 * r01 + m11 * r11 + m12 * r21,
- m20 * r01 + m21 * r11 + m22 * r21,
- m30 * r01 + m31 * r11 + m32 * r21,
-
- m00 * r02 + m01 * r12 + m02 * r22,
- m10 * r02 + m11 * r12 + m12 * r22,
- m20 * r02 + m21 * r12 + m22 * r22,
- m30 * r02 + m31 * r12 + m32 * r22,
-
- m03, m13, m23, m33);
-};
-
-
-/**
- * @type {Array.<goog.vec.Vec3.Type>}
- * @private
- */
-goog.vec.Matrix4.tmpVec3_ = [
- goog.vec.Vec3.createNumber(),
- goog.vec.Vec3.createNumber()
-];
-
-
-/**
- * @type {Array.<goog.vec.Vec4.Type>}
- * @private
- */
-goog.vec.Matrix4.tmpVec4_ = [
- goog.vec.Vec4.createNumber(),
- goog.vec.Vec4.createNumber(),
- goog.vec.Vec4.createNumber()
-];
-
-
-/**
- * @type {Array.<goog.vec.Matrix4.Type>}
- * @private
- */
-goog.vec.Matrix4.tmpMatrix4_ = [
- goog.vec.Matrix4.create()
-];
generated by cgit v1.2.3 (git 2.39.1) at 2024-05-30 09:17:27 +0000