/**
* Copies the elements of a mat3 into the upper 3x3 elements of a mat4
*
* @param {mat3} mat mat3 containing values to copy
* @param {mat4} [dest] mat4 receiving copied values
*
* @returns {mat4} dest if specified, a new mat4 otherwise
*/
mat4 toMat4(mat3 mat, mat4 dest)
{
if (dest == null)
{
dest = mat4.create();
}
dest[15] = 1;
dest[14] = 0;
dest[13] = 0;
dest[12] = 0;
dest[11] = 0;
dest[10] = mat[8];
dest[9] = mat[7];
dest[8] = mat[6];
dest[7] = 0;
dest[6] = mat[5];
dest[5] = mat[4];
dest[4] = mat[3];
dest[3] = 0;
dest[2] = mat[2];
dest[1] = mat[1];
dest[0] = mat[0];
return(dest);
}
/**
* Transposes a mat3 (flips the values over the diagonal)
*
* Params:
* @param {mat3} mat mat3 to transpose
* @param {mat3} [dest] mat3 receiving transposed values. If not specified result is written to mat
*
* @returns {mat3} dest is specified, mat otherwise
*/
public static mat3 transpose(mat3 mat, mat3 dest = null)
{
// If we are transposing ourselves we can skip a few steps but have to cache some values
if (dest == null || ReferenceEquals(mat, dest))
{
var a01 = mat[1]; var a02 = mat[2];
var a12 = mat[5];
mat[1] = mat[3];
mat[2] = mat[6];
mat[3] = a01;
mat[5] = mat[7];
mat[6] = a02;
mat[7] = a12;
return(mat);
}
dest[0] = mat[0];
dest[1] = mat[3];
dest[2] = mat[6];
dest[3] = mat[1];
dest[4] = mat[4];
dest[5] = mat[7];
dest[6] = mat[2];
dest[7] = mat[5];
dest[8] = mat[8];
return(dest);
}
/**
* Copies the values of one mat3 to another
*
* @param {mat3} mat mat3 containing values to copy
* @param {mat3} dest mat3 receiving copied values
*
* @returns {mat3} dest
*/
public static mat3 set(mat3 mat, mat3 dest)
{
dest[0] = mat[0];
dest[1] = mat[1];
dest[2] = mat[2];
dest[3] = mat[3];
dest[4] = mat[4];
dest[5] = mat[5];
dest[6] = mat[6];
dest[7] = mat[7];
dest[8] = mat[8];
return(dest);
}
/**
* Sets a mat3 to an identity matrix
*
* @param {mat3} dest mat3 to set
*
* @returns dest if specified, otherwise a new mat3
*/
public static mat3 identity(mat3 dest)
{
if (dest == null)
{
dest = mat3.create();
}
dest[0] = 1;
dest[1] = 0;
dest[2] = 0;
dest[3] = 0;
dest[4] = 1;
dest[5] = 0;
dest[6] = 0;
dest[7] = 0;
dest[8] = 1;
return(dest);
}
/**
* Creates a new instance of a mat3 using the default array type
* Any javascript array-like object containing at least 9 numeric elements can serve as a mat3
*
* @param {mat3} [mat] mat3 containing values to initialize with
*
* @returns {mat3} New mat3
*/
public static mat3 create(mat3 mat = null)
{
var dest = new mat3();
if (mat != null) {
dest[0] = mat[0];
dest[1] = mat[1];
dest[2] = mat[2];
dest[3] = mat[3];
dest[4] = mat[4];
dest[5] = mat[5];
dest[6] = mat[6];
dest[7] = mat[7];
dest[8] = mat[8];
}
return dest;
}
/**
* Creates a new instance of a mat3 using the default array type
* Any javascript array-like object containing at least 9 numeric elements can serve as a mat3
*
* @param {mat3} [mat] mat3 containing values to initialize with
*
* @returns {mat3} New mat3
*/
public static mat3 create(mat3 mat = null)
{
var dest = new mat3();
if (mat != null)
{
dest[0] = mat[0];
dest[1] = mat[1];
dest[2] = mat[2];
dest[3] = mat[3];
dest[4] = mat[4];
dest[5] = mat[5];
dest[6] = mat[6];
dest[7] = mat[7];
dest[8] = mat[8];
}
return(dest);
}
/**
* Calculates the inverse of the upper 3x3 elements of a mat4 and copies the result into a mat3
* The resulting matrix is useful for calculating transformed normals
*
* Params:
* @param {mat4} mat mat4 containing values to invert and copy
* @param {mat3} [dest] mat3 receiving values
*
* @returns {mat3} dest is specified, a new mat3 otherwise, null if the matrix cannot be inverted
*/
public static mat3 toInverseMat3(mat4 mat, mat3 dest = null)
{
// Cache the matrix values (makes for huge speed increases!)
var a00 = mat[0]; var a01 = mat[1]; var a02 = mat[2];
var a10 = mat[4]; var a11 = mat[5]; var a12 = mat[6];
var a20 = mat[8]; var a21 = mat[9]; var a22 = mat[10];
var b01 = a22 * a11 - a12 * a21;
var b11 = -a22 * a10 + a12 * a20;
var b21 = a21 * a10 - a11 * a20;
var d = a00 * b01 + a01 * b11 + a02 * b21;
GLfloat id;
if (d == 0)
{
return(null);
}
id = 1 / d;
if (dest == null)
{
dest = mat3.create();
}
dest[0] = b01 * id;
dest[1] = (-a22 * a01 + a02 * a21) * id;
dest[2] = (a12 * a01 - a02 * a11) * id;
dest[3] = b11 * id;
dest[4] = (a22 * a00 - a02 * a20) * id;
dest[5] = (-a12 * a00 + a02 * a10) * id;
dest[6] = b21 * id;
dest[7] = (-a21 * a00 + a01 * a20) * id;
dest[8] = (a11 * a00 - a01 * a10) * id;
return(dest);
}
/**
* Sets a mat3 to an identity matrix
*
* @param {mat3} dest mat3 to set
*
* @returns dest if specified, otherwise a new mat3
*/
public static mat3 identity(mat3 dest)
{
if (dest == null) { dest = mat3.create(); }
dest[0] = 1;
dest[1] = 0;
dest[2] = 0;
dest[3] = 0;
dest[4] = 1;
dest[5] = 0;
dest[6] = 0;
dest[7] = 0;
dest[8] = 1;
return dest;
}
/**
* Calculates the inverse of the upper 3x3 elements of a mat4 and copies the result into a mat3
* The resulting matrix is useful for calculating transformed normals
*
* Params:
* @param {mat4} mat mat4 containing values to invert and copy
* @param {mat3} [dest] mat3 receiving values
*
* @returns {mat3} dest is specified, a new mat3 otherwise, null if the matrix cannot be inverted
*/
public static mat3 toInverseMat3(mat4 mat, mat3 dest=null)
{
// Cache the matrix values (makes for huge speed increases!)
var a00 = mat[0]; var a01 = mat[1]; var a02 = mat[2];
var a10 = mat[4]; var a11 = mat[5]; var a12 = mat[6];
var a20 = mat[8]; var a21 = mat[9]; var a22 = mat[10];
var b01 = a22 * a11 - a12 * a21;
var b11 = -a22 * a10 + a12 * a20;
var b21 = a21 * a10 - a11 * a20;
var d = a00 * b01 + a01 * b11 + a02 * b21;
GLfloat id;
if (d == 0) { return null; }
id = 1 / d;
if (dest == null) { dest = mat3.create(); }
dest[0] = b01 * id;
dest[1] = (-a22 * a01 + a02 * a21) * id;
dest[2] = (a12 * a01 - a02 * a11) * id;
dest[3] = b11 * id;
dest[4] = (a22 * a00 - a02 * a20) * id;
dest[5] = (-a12 * a00 + a02 * a10) * id;
dest[6] = b21 * id;
dest[7] = (-a21 * a00 + a01 * a20) * id;
dest[8] = (a11 * a00 - a01 * a10) * id;
return dest;
}
/**
* Copies the elements of a mat3 into the upper 3x3 elements of a mat4
*
* @param {mat3} mat mat3 containing values to copy
* @param {mat4} [dest] mat4 receiving copied values
*
* @returns {mat4} dest if specified, a new mat4 otherwise
*/
mat4 toMat4(mat3 mat, mat4 dest)
{
if (dest == null) { dest = mat4.create(); }
dest[15] = 1;
dest[14] = 0;
dest[13] = 0;
dest[12] = 0;
dest[11] = 0;
dest[10] = mat[8];
dest[9] = mat[7];
dest[8] = mat[6];
dest[7] = 0;
dest[6] = mat[5];
dest[5] = mat[4];
dest[4] = mat[3];
dest[3] = 0;
dest[2] = mat[2];
dest[1] = mat[1];
dest[0] = mat[0];
return dest;
}
/**
* Transposes a mat3 (flips the values over the diagonal)
*
* Params:
* @param {mat3} mat mat3 to transpose
* @param {mat3} [dest] mat3 receiving transposed values. If not specified result is written to mat
*
* @returns {mat3} dest is specified, mat otherwise
*/
public static mat3 transpose(mat3 mat, mat3 dest=null)
{
// If we are transposing ourselves we can skip a few steps but have to cache some values
if (dest == null || ReferenceEquals(mat, dest)) {
var a01 = mat[1]; var a02 = mat[2];
var a12 = mat[5];
mat[1] = mat[3];
mat[2] = mat[6];
mat[3] = a01;
mat[5] = mat[7];
mat[6] = a02;
mat[7] = a12;
return mat;
}
dest[0] = mat[0];
dest[1] = mat[3];
dest[2] = mat[6];
dest[3] = mat[1];
dest[4] = mat[4];
dest[5] = mat[7];
dest[6] = mat[2];
dest[7] = mat[5];
dest[8] = mat[8];
return dest;
}
/**
* Copies the values of one mat3 to another
*
* @param {mat3} mat mat3 containing values to copy
* @param {mat3} dest mat3 receiving copied values
*
* @returns {mat3} dest
*/
public static mat3 set(mat3 mat, mat3 dest)
{
dest[0] = mat[0];
dest[1] = mat[1];
dest[2] = mat[2];
dest[3] = mat[3];
dest[4] = mat[4];
dest[5] = mat[5];
dest[6] = mat[6];
dest[7] = mat[7];
dest[8] = mat[8];
return dest;
}