Simple vector matrix quaternion library for basic operations transforms Author Ben Kenwright b kenwright xbdev net function valid val if val undefined console log invalid value if isNaN val console log NaN value if val 9999999 console log number warning range if val 9999999 console log number warning range function vec3 x y z this x x this y y this z z valid this x valid this y valid this z return this vec3 prototype float32 function let r new Float32Array 3 r 0 this x r 1 this y r 2 this z return r vec3 add function v0 v1 return new vec3 v0 x v1 x v0 y v1 y v0 z v1 z vec3 sub function v0 v1 return new vec3 v0 x v1 x v0 y v1 y v0 z v1 z vec3 scale function v0 s return new vec3 v0 x s v0 y s v0 z s vec3 cross function v0 v1 return v0 x v1 y v0 y v1 x vec3 cross function v0 v1 return new vec3 v0 y v1 z v0 z v1 y v0 z v1 x v0 x v1 z v0 x v1 y v0 y v1 x vec3 dot function v0 v1 return v0 x v1 x v0 y v1 y v0 z v1 z note you can t use length word vec3 dist function v0 return Math sqrt v0 x v0 x v0 y v0 y v0 z v0 z vec3 norm function v0 let ln Math sqrt v0 x v0 x v0 y v0 y v0 z v0 z valid ln return vec3 scale v0 1 0 ln vec3 rotz function v theta let cs Math cos theta let sn Math sin theta return new vec3 v x cs v y sn v x sn v y cs v z vec3 lerp function a b t let ti 1 t let r new vec3 ti a x t b x ti a y t b y ti a z t b z return r function quat w x y z this x x valid x this y y valid y this z z valid z this w w valid w return this quat prototype float32 function let r new Float32Array 4 r 0 this x r 1 this y r 2 this z r 3 this w return r quat identity function return new quat 1 0 0 0 quat zero function return new quat 0 0 0 0 quat scale function q s return new quat q w s q x s q y s q z s quat conj function q return new quat q w q x q y q z quat dot function v0 v1 return v0 w v1 w v0 x v1 x v0 y v1 y v0 z v1 z quat add function a b return new quat a w b w a x b x a y b y a z b z quat norm function q let ln Math sqrt q w q w q x q x q y q y q z q z valid ln return quat scale q 1 0 ln quat mul function a b return new quat a w b w a x b x a y b y a z b z a w b x a x b w a y b z a z b y a w b y a y b w a z b x a x b z a w b z a z b w a x b y a y b x quat lerp function a b t let r quat identity let ti 1 t r w ti a w t b w r x ti a x t b x r y ti a y t b y r z ti a z t b z r quat norm r return r quat slerp function a b t let ti 1 t let theta Math acos a x b x a y b y a z b z a w b w let sn Math sin theta let Wa Math sin ti theta sn let Wb Math sin t theta sn let ret new quat Wa a w Wb b w Wa a x Wb b x Wa a y Wb b y Wa a z Wb b z ret quat norm ret return ret quat getAxisAngle function q let angle 2 Math acos q w let vec new vec3 0 0 0 let d Math sqrt 1 q w q w if d 0 0 vec new vec3 q x d q y d q z d return vec angle quat fromAxisAngle function v a return new quat Math cos a 2 v x Math sin a 2 v y Math sin a 2 v z Math sin a 2 quat fromVecW function v w return new quat w v x v y v z function mat4 this m 16 for var i 0 i arguments length i this m i arguments i valid this m i return this mat4 prototype float32 function let r new Float32Array 16 for let i 0 i 16 i r i this m i return r mat4 identity function return new mat4 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 mat4 scale function s return new mat4 s x 0 0 0 0 s y 0 0 0 0 s x 0 0 0 0 1 mat4 zero function return new mat4 new Array 16 fill 0 mat4 clone function m let res new mat4 m m return res mat4 translate function v return new mat4 1 0 0 0 0 1 0 0 0 0 1 0 v x v y v z 1 mat4 transform function m v let res new vec3 0 0 0 let w m m 3 v x m m 7 v y m m 11 v z m m 15 w w 1 0 res x m m 0 v x m m 4 v y m m 8 v z m m 12 w res y m m 1 v x m m 5 v y m m 9 v z m m 13 w res z m m 2 v x m m 6 v y m m 10 v z m m 14 w return res mat4 fromAxisAngle function v a let s Math sin a let c Math cos a let x v x let y v y let z v z return new mat4 x x 1 c c x y 1 c z s x z 1 c y s 0 y x 1 c z s y y 1 c c y z 1 c x s 0 x z 1 c y s y z 1 c x s z z 1 c c 0 0 0 0 1 mat4 mult function a b var a11 a m 0 var a12 a m 1 var a13 a m 2 var a14 a m 3 var a21 a m 4 var a22 a m 5 var a23 a m 6 var a24 a m 7 var a31 a m 8 var a32 a m 9 var a33 a m 10 var a34 a m 11 var a41 a m 12 var a42 a m 13 var a43 a m 14 var a44 a m 15 var b11 b m 0 var b12 b m 1 var b13 b m 2 var b14 b m 3 var b21 b m 4 var b22 b m 5 var b23 b m 6 var b24 b m 7 var b31 b m 8 var b32 b m 9 var b33 b m 10 var b34 b m 11 var b41 b m 12 var b42 b m 13 var b43 b m 14 var b44 b m 15 let res mat4 zero res m 0 a11 b11 a12 b21 a13 b31 a14 b41 res m 1 a11 b12 a12 b22 a13 b32 a14 b42 res m 2 a11 b13 a12 b23 a13 b33 a14 b43 res m 3 a11 b14 a12 b24 a13 b34 a14 b44 res m 4 a21 b11 a22 b21 a23 b31 a24 b41 res m 5 a21 b12 a22 b22 a23 b32 a24 b42 res m 6 a21 b13 a22 b23 a23 b33 a24 b43 res m 7 a21 b14 a22 b24 a23 b34 a24 b44 res m 8 a31 b11 a32 b21 a33 b31 a34 b41 res m 9 a31 b12 a32 b22 a33 b32 a34 b42 res m 10 a31 b13 a32 b23 a33 b33 a34 b43 res m 11 a31 b14 a32 b24 a33 b34 a34 b44 res m 12 a41 b11 a42 b21 a43 b31 a44 b41 res m 13 a41 b12 a42 b22 a43 b32 a44 b42 res m 14 a41 b13 a42 b23 a43 b33 a44 b43 res m 15 a41 b14 a42 b24 a43 b34 a44 b44 return res Testing let v new vec3 1 2 3 console log v v let q new quat 1 2 3 4 console log q q let m mat4 identity console log m m m v new vec3 0 5 0 m mat4 fromAxisAngle new vec3 0 0 1 Math PI let res mat4 transform m v console log res v new vec3 0 5 0 m mat4 translate new vec3 3 7 9 res mat4 transform m v console log res let b mat4 clone m console log b console log float32 v float32 console log mat4 zero console log mat4 identity console log ready script src https notebook xbdev net var scripts vector0 8 js script script console log typeof vec3 console log new vec3 1 2 3 script
function mat4 this m 16 for var i 0 i arguments length i this m i arguments i valid this m i return this mat4 prototype float32 function let r new Float32Array 16 for let i 0 i 16 i r i this m i return r mat4 identity function return new mat4 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 mat4 scale function s return new mat4 s x 0 0 0 0 s y 0 0 0 0 s x 0 0 0 0 1 mat4 zero function return new mat4 new Array 16 fill 0 mat4 clone function m let res new mat4 m m return res mat4 translate function v return new mat4 1 0 0 0 0 1 0 0 0 0 1 0 v x v y v z 1 mat4 transform function m v let res new vec3 0 0 0 let w m m 3 v x m m 7 v y m m 11 v z m m 15 w w 1 0 res x m m 0 v x m m 4 v y m m 8 v z m m 12 w res y m m 1 v x m m 5 v y m m 9 v z m m 13 w res z m m 2 v x m m 6 v y m m 10 v z m m 14 w return res mat4 fromAxisAngle function v a let s Math sin a let c Math cos a let x v x let y v y let z v z return new mat4 x x 1 c c x y 1 c z s x z 1 c y s 0 y x 1 c z s y y 1 c c y z 1 c x s 0 x z 1 c y s y z 1 c x s z z 1 c c 0 0 0 0 1 mat4 mult function a b var a11 a m 0 var a12 a m 1 var a13 a m 2 var a14 a m 3 var a21 a m 4 var a22 a m 5 var a23 a m 6 var a24 a m 7 var a31 a m 8 var a32 a m 9 var a33 a m 10 var a34 a m 11 var a41 a m 12 var a42 a m 13 var a43 a m 14 var a44 a m 15 var b11 b m 0 var b12 b m 1 var b13 b m 2 var b14 b m 3 var b21 b m 4 var b22 b m 5 var b23 b m 6 var b24 b m 7 var b31 b m 8 var b32 b m 9 var b33 b m 10 var b34 b m 11 var b41 b m 12 var b42 b m 13 var b43 b m 14 var b44 b m 15 let res mat4 zero res m 0 a11 b11 a12 b21 a13 b31 a14 b41 res m 1 a11 b12 a12 b22 a13 b32 a14 b42 res m 2 a11 b13 a12 b23 a13 b33 a14 b43 res m 3 a11 b14 a12 b24 a13 b34 a14 b44 res m 4 a21 b11 a22 b21 a23 b31 a24 b41 res m 5 a21 b12 a22 b22 a23 b32 a24 b42 res m 6 a21 b13 a22 b23 a23 b33 a24 b43 res m 7 a21 b14 a22 b24 a23 b34 a24 b44 res m 8 a31 b11 a32 b21 a33 b31 a34 b41 res m 9 a31 b12 a32 b22 a33 b32 a34 b42 res m 10 a31 b13 a32 b23 a33 b33 a34 b43 res m 11 a31 b14 a32 b24 a33 b34 a34 b44 res m 12 a41 b11 a42 b21 a43 b31 a44 b41 res m 13 a41 b12 a42 b22 a43 b32 a44 b42 res m 14 a41 b13 a42 b23 a43 b33 a44 b43 res m 15 a41 b14 a42 b24 a43 b34 a44 b44 return res Testing let v new vec3 1 2 3 console log v v let q new quat 1 2 3 4 console log q q let m mat4 identity console log m m m v new vec3 0 5 0 m mat4 fromAxisAngle new vec3 0 0 1 Math PI let res mat4 transform m v console log res v new vec3 0 5 0 m mat4 translate new vec3 3 7 9 res mat4 transform m v console log res let b mat4 clone m console log b console log float32 v float32 console log mat4 zero console log mat4 identity console log ready script src https notebook xbdev net var scripts vector0 8 js script script console log typeof vec3 console log new vec3 1 2 3 script