js/SceneKit/SCNMatrix4.js
'use strict'
import SCNVector3 from './SCNVector3'
import SCNVector4 from './SCNVector4'
import _InstanceOf from '../util/_InstanceOf'
const _epsilon = 0.0000001
/**
* A representation of a 4 x 4 matrix.
* @access public
* @see https://developer.apple.com/documentation/scenekit/scnmatrix4
*/
export default class SCNMatrix4 {
// Initializers
/**
*
* @access public
* @construtor
* @param {number[][]} [m = null] -
* @see https://developer.apple.com/documentation/quartzcore/catransform3d/1524036-init
*/
constructor(m = null) {
// Instance Properties
/** @type {number} */
this.m11 = 0
/** @type {number} */
this.m12 = 0
/** @type {number} */
this.m13 = 0
/** @type {number} */
this.m14 = 0
/** @type {number} */
this.m21 = 0
/** @type {number} */
this.m22 = 0
/** @type {number} */
this.m23 = 0
/** @type {number} */
this.m24 = 0
/** @type {number} */
this.m31 = 0
/** @type {number} */
this.m32 = 0
/** @type {number} */
this.m33 = 0
/** @type {number} */
this.m34 = 0
/** @type {number} */
this.m41 = 0
/** @type {number} */
this.m42 = 0
/** @type {number} */
this.m43 = 0
/** @type {number} */
this.m44 = 0
if(_InstanceOf(m, SCNMatrix4)){
this.m11 = m.m11
this.m12 = m.m12
this.m13 = m.m13
this.m14 = m.m14
this.m21 = m.m21
this.m22 = m.m22
this.m23 = m.m23
this.m24 = m.m24
this.m31 = m.m31
this.m32 = m.m32
this.m33 = m.m33
this.m34 = m.m34
this.m41 = m.m41
this.m42 = m.m42
this.m43 = m.m43
this.m44 = m.m44
}else if(arguments.length >= 16){
this.m11 = arguments[0]
this.m12 = arguments[1]
this.m13 = arguments[2]
this.m14 = arguments[3]
this.m21 = arguments[4]
this.m22 = arguments[5]
this.m23 = arguments[6]
this.m24 = arguments[7]
this.m31 = arguments[8]
this.m32 = arguments[9]
this.m33 = arguments[10]
this.m34 = arguments[11]
this.m41 = arguments[12]
this.m42 = arguments[13]
this.m43 = arguments[14]
this.m44 = arguments[15]
}else if(m !== null){
// TODO: type check
this.m11 = m[0][0]
this.m12 = m[0][1]
this.m13 = m[0][2]
this.m14 = m[0][3]
this.m21 = m[1][0]
this.m22 = m[1][1]
this.m23 = m[1][2]
this.m24 = m[1][3]
this.m31 = m[2][0]
this.m32 = m[2][1]
this.m33 = m[2][2]
this.m34 = m[2][3]
this.m41 = m[3][0]
this.m42 = m[3][1]
this.m43 = m[3][2]
this.m44 = m[3][3]
}
}
/**
* @access private
* @param {Buffer} data -
* @param {number} [offset = 0] -
* @param {boolean} [bigEndian = false] -
* @returns {SCNMatrix4} -
*/
static _initWithData(data, offset = 0, bigEndian = false) {
const instance = new SCNMatrix4()
if(bigEndian){
instance.m11 = data.readFloatBE(offset + 0)
instance.m12 = data.readFloatBE(offset + 4)
instance.m13 = data.readFloatBE(offset + 8)
instance.m14 = data.readFloatBE(offset + 12)
instance.m21 = data.readFloatBE(offset + 16)
instance.m22 = data.readFloatBE(offset + 20)
instance.m23 = data.readFloatBE(offset + 24)
instance.m24 = data.readFloatBE(offset + 28)
instance.m31 = data.readFloatBE(offset + 32)
instance.m32 = data.readFloatBE(offset + 36)
instance.m33 = data.readFloatBE(offset + 40)
instance.m34 = data.readFloatBE(offset + 44)
instance.m41 = data.readFloatBE(offset + 48)
instance.m42 = data.readFloatBE(offset + 52)
instance.m43 = data.readFloatBE(offset + 56)
instance.m44 = data.readFloatBE(offset + 60)
}else{
instance.m11 = data.readFloatLE(offset + 0)
instance.m12 = data.readFloatLE(offset + 4)
instance.m13 = data.readFloatLE(offset + 8)
instance.m14 = data.readFloatLE(offset + 12)
instance.m21 = data.readFloatLE(offset + 16)
instance.m22 = data.readFloatLE(offset + 20)
instance.m23 = data.readFloatLE(offset + 24)
instance.m24 = data.readFloatLE(offset + 28)
instance.m31 = data.readFloatLE(offset + 32)
instance.m32 = data.readFloatLE(offset + 36)
instance.m33 = data.readFloatLE(offset + 40)
instance.m34 = data.readFloatLE(offset + 44)
instance.m41 = data.readFloatLE(offset + 48)
instance.m42 = data.readFloatLE(offset + 52)
instance.m43 = data.readFloatLE(offset + 56)
instance.m44 = data.readFloatLE(offset + 60)
}
return instance
}
_copy() {
return new SCNMatrix4(this)
}
// extensions
/**
* @access public
* @param {SCNMatrix4} m -
* @returns {SCNMatrix4} -
*/
add(m) {
const r = new SCNMatrix4()
r.m11 = this.m11 + m.m11
r.m12 = this.m12 + m.m12
r.m13 = this.m13 + m.m13
r.m14 = this.m14 + m.m14
r.m21 = this.m21 + m.m21
r.m22 = this.m22 + m.m22
r.m23 = this.m23 + m.m23
r.m24 = this.m24 + m.m24
r.m31 = this.m31 + m.m31
r.m32 = this.m32 + m.m32
r.m33 = this.m33 + m.m33
r.m34 = this.m34 + m.m34
r.m41 = this.m41 + m.m41
r.m42 = this.m42 + m.m42
r.m43 = this.m43 + m.m43
r.m44 = this.m44 + m.m44
return r
}
/**
* @access public
* @param {number} t -
* @returns {SCNMatrix4} -
*/
mul(t) {
const r = new SCNMatrix4()
r.m11 = this.m11 * t
r.m12 = this.mj2 * t
r.m13 = this.m13 * t
r.m14 = this.m14 * t
r.m21 = this.m21 * t
r.m22 = this.m22 * t
r.m23 = this.m23 * t
r.m24 = this.m24 * t
r.m31 = this.m31 * t
r.m32 = this.m32 * t
r.m33 = this.m33 * t
r.m34 = this.m34 * t
r.m41 = this.m41 * t
r.m42 = this.m42 * t
r.m43 = this.m43 * t
r.m44 = this.m44 * t
return r
}
/**
* @access public
* @param {SCNMatrix4} m -
* @returns {SCNMatrix4} -
*/
mult(m) {
const r = new SCNMatrix4()
r.m11 = this.m11 * m.m11 + this.m12 * m.m21 + this.m13 * m.m31 + this.m14 * m.m41
r.m12 = this.m11 * m.m12 + this.m12 * m.m22 + this.m13 * m.m32 + this.m14 * m.m42
r.m13 = this.m11 * m.m13 + this.m12 * m.m23 + this.m13 * m.m33 + this.m14 * m.m43
r.m14 = this.m11 * m.m14 + this.m12 * m.m24 + this.m13 * m.m34 + this.m14 * m.m44
r.m21 = this.m21 * m.m11 + this.m22 * m.m21 + this.m23 * m.m31 + this.m24 * m.m41
r.m22 = this.m21 * m.m12 + this.m22 * m.m22 + this.m23 * m.m32 + this.m24 * m.m42
r.m23 = this.m21 * m.m13 + this.m22 * m.m23 + this.m23 * m.m33 + this.m24 * m.m43
r.m24 = this.m21 * m.m14 + this.m22 * m.m24 + this.m23 * m.m34 + this.m24 * m.m44
r.m31 = this.m31 * m.m11 + this.m32 * m.m21 + this.m33 * m.m31 + this.m34 * m.m41
r.m32 = this.m31 * m.m12 + this.m32 * m.m22 + this.m33 * m.m32 + this.m34 * m.m42
r.m33 = this.m31 * m.m13 + this.m32 * m.m23 + this.m33 * m.m33 + this.m34 * m.m43
r.m34 = this.m31 * m.m14 + this.m32 * m.m24 + this.m33 * m.m34 + this.m34 * m.m44
r.m41 = this.m41 * m.m11 + this.m42 * m.m21 + this.m43 * m.m31 + this.m44 * m.m41
r.m42 = this.m41 * m.m12 + this.m42 * m.m22 + this.m43 * m.m32 + this.m44 * m.m42
r.m43 = this.m41 * m.m13 + this.m42 * m.m23 + this.m43 * m.m33 + this.m44 * m.m43
r.m44 = this.m41 * m.m14 + this.m42 * m.m24 + this.m43 * m.m34 + this.m44 * m.m44
return r
}
/**
* @access public
* @param {SCNMatrix4} m -
* @param {number} rate -
* @returns {SCNMatrix4} -
*/
lerp(m, rate) {
const r = new SCNMatrix4()
r.m11 = this.m11 + rate * (this.m11 - m.m11)
r.m12 = this.m12 + rate * (this.m12 - m.m12)
r.m13 = this.m13 + rate * (this.m13 - m.m13)
r.m14 = this.m14 + rate * (this.m14 - m.m14)
r.m21 = this.m21 + rate * (this.m21 - m.m21)
r.m22 = this.m22 + rate * (this.m22 - m.m22)
r.m23 = this.m23 + rate * (this.m23 - m.m23)
r.m24 = this.m24 + rate * (this.m24 - m.m24)
r.m31 = this.m31 + rate * (this.m31 - m.m31)
r.m32 = this.m32 + rate * (this.m32 - m.m32)
r.m33 = this.m33 + rate * (this.m33 - m.m33)
r.m34 = this.m34 + rate * (this.m34 - m.m34)
r.m41 = this.m41 + rate * (this.m41 - m.m41)
r.m42 = this.m42 + rate * (this.m42 - m.m42)
r.m43 = this.m43 + rate * (this.m43 - m.m43)
r.m44 = this.m44 + rate * (this.m44 - m.m44)
return r
}
/**
* @access public
* @returns {SCNVector4} -
*/
quaternion() {
const r = new SCNVector4()
r.x = this.m32 - this.m23
r.y = this.m13 - this.m31
r.z = this.m21 - this.m12
r.w = Math.acos((this.m11 + this.m22 + this.m33 - 1)*0.5)
return r
}
/**
* @access public
* @returns {SCNMatrix4} -
*/
invert() {
const mat = SCNMatrix4._identity()
const tmp = new SCNMatrix4(this)
let buf = 0
let w1 = Math.abs(tmp.m11)
let w2 = Math.abs(tmp.m21)
let w3 = Math.abs(tmp.m31)
let w4 = Math.abs(tmp.m41)
let max = w1 > w2 ? w1 : w2
if(max < w3) max = w3
// 1
if(max < w4){
buf = 1.0 / tmp.m41
w1 = tmp.m11
w2 = tmp.m12
w3 = tmp.m13
w4 = tmp.m14
tmp.m12 = tmp.m42 * buf
tmp.m13 = tmp.m43 * buf
tmp.m14 = tmp.m44 * buf
tmp.m41 = w1
tmp.m42 = w2
tmp.m43 = w3
tmp.m44 = w4
mat.m11 = 0.0
mat.m14 = buf
mat.m41 = 1.0
mat.m44 = 0.0
}else if(max === w1){
buf = 1.0 / tmp.m11
tmp.m12 *= buf
tmp.m13 *= buf
tmp.m14 *= buf
mat.m11 = buf
}else if(max === w2){
buf = 1.0 / tmp.m21
w1 = tmp.m11
w2 = tmp.m12
w3 = tmp.m13
w4 = tmp.m14
tmp.m12 = tmp.m22 * buf
tmp.m13 = tmp.m23 * buf
tmp.m14 = tmp.m24 * buf
tmp.m21 = w1
tmp.m22 = w2
tmp.m23 = w3
tmp.m24 = w4
mat.m11 = 0.0
mat.m12 = buf
mat.m21 = 1.0
mat.m22 = 0.0
}else{
buf = 1.0 / tmp.m31
w1 = tmp.m11
w2 = tmp.m12
w3 = tmp.m13
w4 = tmp.m14
tmp.m12 = tmp.m32 * buf
tmp.m13 = tmp.m33 * buf
tmp.m14 = tmp.m34 * buf
tmp.m31 = w1
tmp.m32 = w2
tmp.m33 = w3
tmp.m34 = w4
mat.m11 = 0.0
mat.m13 = buf
mat.m31 = 1.0
mat.m33 = 0.0
}
buf = tmp.m21
tmp.m22 -= tmp.m12 * buf
tmp.m23 -= tmp.m13 * buf
tmp.m24 -= tmp.m14 * buf
mat.m21 -= mat.m11 * buf
mat.m22 -= mat.m12 * buf
mat.m23 -= mat.m13 * buf
mat.m24 -= mat.m14 * buf
buf = tmp.m31
tmp.m32 -= tmp.m12 * buf
tmp.m33 -= tmp.m13 * buf
tmp.m34 -= tmp.m14 * buf
mat.m31 -= mat.m11 * buf
mat.m32 -= mat.m12 * buf
mat.m33 -= mat.m13 * buf
mat.m34 -= mat.m14 * buf
buf = tmp.m41
tmp.m42 -= tmp.m12 * buf
tmp.m43 -= tmp.m13 * buf
tmp.m44 -= tmp.m14 * buf
mat.m41 -= mat.m11 * buf
mat.m42 -= mat.m12 * buf
mat.m43 -= mat.m13 * buf
mat.m44 -= mat.m14 * buf
// 2
w2 = Math.abs(tmp.m22)
w3 = Math.abs(tmp.m32)
w4 = Math.abs(tmp.m42)
max = w2 > w3 ? w2 : w3
if(max < w4){
buf = 1.0 / tmp.m42
w2 = tmp.m22
w3 = tmp.m23
w4 = tmp.m24
tmp.m23 = tmp.m43 * buf
tmp.m24 = tmp.m44 * buf
tmp.m42 = w2
tmp.m43 = w3
tmp.m44 = w4
w1 = mat.m21
w2 = mat.m22
w3 = mat.m23
w4 = mat.m24
mat.m21 = mat.m41 * buf
mat.m22 = mat.m42 * buf
mat.m23 = mat.m43 * buf
mat.m24 = mat.m44 * buf
mat.m41 = w1
mat.m42 = w2
mat.m43 = w3
mat.m44 = w4
}else if(w2 > w3){
buf = 1.0 / tmp.m22
tmp.m23 *= buf
tmp.m24 *= buf
mat.m21 *= buf
mat.m22 *= buf
mat.m23 *= buf
mat.m24 *= buf
}else{
buf = 1.0 / tmp.m32
w2 = tmp.m22
w3 = tmp.m23
w4 = tmp.m24
tmp.m23 = tmp.m33 * buf
tmp.m24 = tmp.m34 * buf
tmp.m32 = w2
tmp.m33 = w3
tmp.m34 = w4
w1 = mat.m21
w2 = mat.m22
w3 = mat.m23
w4 = mat.m24
mat.m21 = mat.m31 * buf
mat.m22 = mat.m32 * buf
mat.m23 = mat.m33 * buf
mat.m24 = mat.m34 * buf
mat.m31 = w1
mat.m32 = w2
mat.m33 = w3
mat.m34 = w4
}
buf = tmp.m12
tmp.m13 -= tmp.m23 * buf
tmp.m14 -= tmp.m24 * buf
mat.m11 -= mat.m21 * buf
mat.m12 -= mat.m22 * buf
mat.m13 -= mat.m23 * buf
mat.m14 -= mat.m24 * buf
buf = tmp.m32
tmp.m33 -= tmp.m23 * buf
tmp.m34 -= tmp.m24 * buf
mat.m31 -= mat.m21 * buf
mat.m32 -= mat.m22 * buf
mat.m33 -= mat.m23 * buf
mat.m34 -= mat.m24 * buf
buf = tmp.m42
tmp.m43 -= tmp.m23 * buf
tmp.m44 -= tmp.m24 * buf
mat.m41 -= mat.m21 * buf
mat.m42 -= mat.m22 * buf
mat.m43 -= mat.m23 * buf
mat.m44 -= mat.m24 * buf
// 3
if(Math.abs(tmp.m33) > Math.abs(tmp.m43)){
buf = 1.0 / tmp.m33
tmp.m34 *= buf
mat.m31 *= buf
mat.m32 *= buf
mat.m33 *= buf
mat.m34 *= buf
}else{
buf = 1.0 / tmp.m43
w3 = tmp.m33
w4 = tmp.m34
tmp.m34 = tmp.m44 * buf
tmp.m43 = w3
tmp.m44 = w4
w1 = mat.m31
w2 = mat.m32
w3 = mat.m33
w4 = mat.m34
mat.m31 = mat.m41 * buf
mat.m32 = mat.m42 * buf
mat.m33 = mat.m43 * buf
mat.m34 = mat.m44 * buf
mat.m41 = w1
mat.m42 = w2
mat.m43 = w3
mat.m44 = w4
}
buf = tmp.m13
tmp.m14 -= tmp.m34 * buf
mat.m11 -= mat.m31 * buf
mat.m12 -= mat.m32 * buf
mat.m13 -= mat.m33 * buf
mat.m14 -= mat.m34 * buf
buf = tmp.m23
tmp.m24 -= tmp.m34 * buf
mat.m21 -= mat.m31 * buf
mat.m22 -= mat.m32 * buf
mat.m23 -= mat.m33 * buf
mat.m24 -= mat.m34 * buf
buf = tmp.m43
tmp.m44 -= tmp.m34 * buf
mat.m41 -= mat.m31 * buf
mat.m42 -= mat.m32 * buf
mat.m43 -= mat.m33 * buf
mat.m44 -= mat.m34 * buf
// 4
buf = 1.0 / tmp.m44
mat.m41 *= buf
mat.m42 *= buf
mat.m43 *= buf
mat.m44 *= buf
buf = tmp.m14
mat.m11 -= mat.m41 * buf
mat.m12 -= mat.m42 * buf
mat.m13 -= mat.m43 * buf
mat.m14 -= mat.m44 * buf
buf = tmp.m24
mat.m21 -= mat.m41 * buf
mat.m22 -= mat.m42 * buf
mat.m23 -= mat.m43 * buf
mat.m24 -= mat.m44 * buf
buf = tmp.m34
mat.m31 -= mat.m41 * buf
mat.m32 -= mat.m42 * buf
mat.m33 -= mat.m43 * buf
mat.m34 -= mat.m44 * buf
return mat
}
/**
* @access public
* @returns {SCNMatrix4} -
*/
transpose() {
const r = new SCNMatrix4()
r.m11 = this.m11
r.m12 = this.m21
r.m13 = this.m31
r.m14 = this.m41
r.m21 = this.m12
r.m22 = this.m22
r.m23 = this.m32
r.m24 = this.m42
r.m31 = this.m13
r.m32 = this.m23
r.m33 = this.m33
r.m34 = this.m43
r.m41 = this.m14
r.m42 = this.m24
r.m43 = this.m34
r.m44 = this.m44
return r
}
/**
* @access public
* @param {number} x -
* @param {number} y -
* @param {number} z -
* @returns {SCNMatrix4} -
*/
scale(x, y, z) {
const m = SCNMatrix4.matrixWithScale(x, y, z)
return this.mult(m)
}
/**
* @access public
* @param {number} x -
* @param {number} y -
* @param {number} z -
* @returns {SCNMatrix4} -
*/
static matrixWithScale(x, y, z) {
let _x = x
let _y = y
let _z = z
if(_InstanceOf(x, SCNVector3)){
const v = x
_x = v.x
_y = v.y
_z = v.z
}
//const m = new SCNMatrix4()
const m = SCNMatrix4._identity()
m.m11 = _x
m.m22 = _y
m.m33 = _z
return m
}
/**
* @access public
* @param {number} x -
* @param {number} y -
* @param {number} z -
* @param {number} w -
* @returns {SCNMatrix4} -
*/
rotation(x, y, z, w) {
if(_InstanceOf(x, SCNVector4)){
const v = x
x = v.x
y = v.y
z = v.z
w = v.w
}
const m = SCNMatrix4.matrixWithRotation(x, y, z, w)
return this.mult(m)
}
/**
* @access public
* @param {number} x -
* @param {number} y -
* @param {number} z -
* @param {number} w -
* @returns {SCNMatrix4} -
*/
static matrixWithRotation(x, y, z, w) {
if(_InstanceOf(x, SCNVector4)){
const v = x
x = v.x
y = v.y
z = v.z
w = v.w
}
const c = Math.cos(w)
const s = Math.sin(w)
const v = (new SCNVector3(x, y, z)).normalize()
const m = SCNMatrix4._identity()
const nx = v.x
const ny = v.y
const nz = v.z
m.m11 = nx * nx * (1.0-c) + c
m.m12 = ny * nx * (1.0-c) + nz * s
m.m13 = nz * nx * (1.0-c) - ny * s
m.m14 = 0.0
m.m21 = nx * ny * (1.0-c) - nz * s
m.m22 = ny * ny * (1.0-c) + c
m.m23 = nz * ny * (1.0-c) + nx * s
m.m24 = 0.0
m.m31 = nx * nz * (1.0-c) + ny * s
m.m32 = ny * nz * (1.0-c) - nx * s
m.m33 = nz * nz * (1.0-c) + c
m.m34 = 0.0
m.m41 = 0.0
m.m42 = 0.0
m.m43 = 0.0
m.m44 = 1.0
return m
}
static matrixWithOrientation(orientation) {
return SCNMatrix4.matrixWithRotation(orientation.quatToRotation())
}
/**
* @access public
* @param {number} x -
* @param {number} y -
* @param {number} z -
* @returns {SCNMatrix4} -
*/
translation(x, y, z) {
const m = SCNMatrix4.matrixWithTranslation(x, y, z)
return this.mult(m)
}
/**
* @access public
* @param {number} x -
* @param {number} y -
* @param {number} z -
* @returns {SCNMatrix4} -
*/
static matrixWithTranslation(x, y, z) {
let _x = x
let _y = y
let _z = z
if(_InstanceOf(x, SCNVector3)){
const v = x
_x = v.x
_y = v.y
_z = v.z
}
//const m = new SCNMatrix4()
const m = SCNMatrix4._identity()
m.m41 = _x
m.m42 = _y
m.m43 = _z
return m
}
/**
* Returns a Boolean value that indicates whether the corresponding elements of two matrices are equal.
* @access public
* @param {SCNMatrix4} m -
* @returns {boolean} -
* @desc This function performs a numeric (not bitwise) comparison of each pair of elements.
* @see https://developer.apple.com/documentation/scenekit/1409665-scnmatrix4equaltomatrix4
*/
equalTo(m) {
if(!_InstanceOf(m, SCNMatrix4)){
return false
}
return Math.abs(this.m11 - m.m11) < _epsilon
&& Math.abs(this.m12 - m.m12) < _epsilon
&& Math.abs(this.m13 - m.m13) < _epsilon
&& Math.abs(this.m14 - m.m14) < _epsilon
&& Math.abs(this.m21 - m.m21) < _epsilon
&& Math.abs(this.m22 - m.m22) < _epsilon
&& Math.abs(this.m23 - m.m23) < _epsilon
&& Math.abs(this.m24 - m.m24) < _epsilon
&& Math.abs(this.m31 - m.m31) < _epsilon
&& Math.abs(this.m32 - m.m32) < _epsilon
&& Math.abs(this.m33 - m.m33) < _epsilon
&& Math.abs(this.m34 - m.m34) < _epsilon
&& Math.abs(this.m41 - m.m41) < _epsilon
&& Math.abs(this.m42 - m.m42) < _epsilon
&& Math.abs(this.m43 - m.m43) < _epsilon
&& Math.abs(this.m44 - m.m44) < _epsilon
}
/**
* Returns a Boolean value that indicates whether the matrix is equal to the identity matrix.
* @access public
* @returns {boolean} -
* @see https://developer.apple.com/documentation/scenekit/1409715-scnmatrix4isidentity
*/
isIdentity() {
return this.equalTo(SCNMatrix4._identity())
}
/**
* @access public
* @returns {SCNVector3} -
*/
getScale() {
const det = this.m11 * this.m22 * this.m33
+ this.m12 * this.m23 * this.m31
+ this.m13 * this.m21 * this.m32
- this.m11 * this.m23 * this.m32
- this.m12 * this.m21 * this.m33
- this.m13 * this.m22 * this.m31
const sign = det > 0 ? 1 : -1
const r = sign / this.m44
const sx = new SCNVector3(this.m11, this.m12, this.m13)
const sy = new SCNVector3(this.m21, this.m22, this.m23)
const sz = new SCNVector3(this.m31, this.m32, this.m33)
return new SCNVector3(sx.length() * r, sy.length() * r, sz.length() * r)
}
/**
* @access public
* @returns {SCNVector3} -
*/
getTranslation() {
return new SCNVector3(this.m41 / this.m44, this.m42 / this.m44, this.m43 / this.m44)
}
/**
* @access public
* @returns {SCNVector4} -
*/
getRotation() {
const e = []
const scale = this.getScale().mul(this.m44)
const v = new SCNVector4()
const n1 = (new SCNVector3(this.m11, this.m12, this.m13)).mul(1.0 / scale.x)
const n2 = (new SCNVector3(this.m21, this.m22, this.m23)).mul(1.0 / scale.y)
const n3 = (new SCNVector3(this.m31, this.m32, this.m33)).mul(1.0 / scale.z)
e[0] = n1.x - n2.y - n3.z + 1.0
e[1] = -n1.x + n2.y - n3.z + 1.0
e[2] = -n1.x - n2.y + n3.z + 1.0
e[3] = n1.x + n2.y + n3.z + 1.0
let maxIndex = 0
for(let i=1; i<4; i++){
if(e[i] > e[maxIndex]){
maxIndex = i
}
}
if(e[maxIndex] < 0){
throw new Error('something is wrong...')
}
const d = Math.sqrt(e[maxIndex]) * 0.5
const r = 0.25 / d
//console.log(`n1: ${n1.x}, ${n1.y}, ${n1.z}`)
//console.log(`n2: ${n2.x}, ${n2.y}, ${n2.z}`)
//console.log(`n3: ${n3.x}, ${n3.y}, ${n3.z}`)
//console.log(`d: ${d}, r: ${r}`)
switch(maxIndex){
case 0:
v.x = d
v.y = (n1.y + n2.x) * r
v.z = (n3.x + n1.z) * r
v.w = (n2.z - n3.y) * r
break
case 1:
v.x = (n1.y + n2.x) * r
v.y = d
v.z = (n2.z + n3.y) * r
v.w = (n3.x - n1.z) * r
break
case 2:
v.x = (n3.x + n1.z) * r
v.y = (n2.z + n3.y) * r
v.z = d
v.w = (n1.y - n2.x) * r
break
case 3:
v.x = (n2.z - n3.y) * r
v.y = (n3.x - n1.z) * r
v.z = (n1.y - n2.x) * r
v.w = d
break
}
if(v.x === 0 && v.y === 0 && v.z === 0){
v.w = 0
}else{
const w = Math.acos(v.w)
if(isNaN(w)){
v.w = 0
}else{
v.w = w * 2.0
}
}
return v
}
/**
* @access public
* @returns {SCNVector4} -
*/
getOrientation() {
return this.getRotation().rotationToQuat()
/*
const e = []
const scale = this.getScale().mul(this.m44)
const v = new SCNVector4()
const n1 = (new SCNVector3(this.m11, this.m12, this.m13)).mul(1.0 / scale.x)
const n2 = (new SCNVector3(this.m21, this.m22, this.m23)).mul(1.0 / scale.y)
const n3 = (new SCNVector3(this.m31, this.m32, this.m33)).mul(1.0 / scale.z)
e[0] = n1.x - n2.y - n3.z + 1.0
e[1] = -n1.x + n2.y - n3.z + 1.0
e[2] = -n1.x - n2.y + n3.z + 1.0
e[3] = n1.x + n2.y + n3.z + 1.0
let maxIndex = 0
for(let i=1; i<4; i++){
if(e[i] > e[maxIndex]){
maxIndex = i
}
}
console.log(`maxIndex: ${maxIndex} => ${e[maxIndex]}`)
if(e[maxIndex] < 0){
throw new Error('something is wrong...')
}
const d = Math.sqrt(e[maxIndex]) * 0.5
const r = 0.25 / d
//console.log(`n1: ${n1.x}, ${n1.y}, ${n1.z}`)
//console.log(`n2: ${n2.x}, ${n2.y}, ${n2.z}`)
//console.log(`n3: ${n3.x}, ${n3.y}, ${n3.z}`)
//console.log(`d: ${d}, r: ${r}`)
switch(maxIndex){
case 0:
v.x = d
v.y = (n1.y + n2.x) * r
v.z = (n3.x + n1.z) * r
v.w = (n2.z - n3.y) * r
break
case 1:
v.x = (n1.y + n2.x) * r
v.y = d
v.z = (n2.z + n3.y) * r
v.w = (n3.x - n1.z) * r
break
case 2:
v.x = (n3.x + n1.z) * r
v.y = (n2.z + n3.y) * r
v.z = d
v.w = (n1.y - n2.x) * r
break
case 3:
v.x = (n2.z - n3.y) * r
v.y = (n3.x - n1.z) * r
v.z = (n1.y - n2.x) * r
v.w = d
break
}
const len = 1.0 / Math.sqrt(v.x * v.x + v.y * v.y + v.z * v.z)
v.x *= len
v.y *= len
v.z *= len
return v
*/
}
/**
* @access public
* @returns {number[]} -
*/
floatArray() {
return [
this.m11, this.m12, this.m13, this.m14,
this.m21, this.m22, this.m23, this.m24,
this.m31, this.m32, this.m33, this.m34,
this.m41, this.m42, this.m43, this.m44
]
}
/**
* @access public
* @returns {Float32Array} -
*/
float32Array() {
return new Float32Array([
this.m11, this.m12, this.m13, this.m14,
this.m21, this.m22, this.m23, this.m24,
this.m31, this.m32, this.m33, this.m34,
this.m41, this.m42, this.m43, this.m44
])
}
/**
* @access public
* @returns {number[]} -
*/
floatArray3x4f() {
return [
this.m11, this.m21, this.m31, this.m41,
this.m12, this.m22, this.m32, this.m42,
this.m13, this.m23, this.m33, this.m43
]
}
/**
* @access public
* @returns {Float32Array} -
*/
float32Array3x4f() {
return new Float32Array([
this.m11, this.m21, this.m31, this.m41,
this.m12, this.m22, this.m32, this.m42,
this.m13, this.m23, this.m33, this.m43
])
}
static _identity() {
return new SCNMatrix4(1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1)
}
}
