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wip fixing rotations

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This commit is contained in:
David Allemang
2026-07-04 00:02:42 -04:00
parent 38feb21951
commit c457509562
3 changed files with 106 additions and 33 deletions
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111
math.js
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@@ -15,28 +15,37 @@ export function mat4Multiply(out, a, b) {
let a30 = a[12], a31 = a[13], a32 = a[14], a33 = a[15];
let b0 = b[0], b1 = b[1], b2 = b[2], b3 = b[3];
out[0] = b0*a00 + b1*a10 + b2*a20 + b3*a30;
out[1] = b0*a01 + b1*a11 + b2*a21 + b3*a31;
out[2] = b0*a02 + b1*a12 + b2*a22 + b3*a32;
out[3] = b0*a03 + b1*a13 + b2*a23 + b3*a33;
out[0] = b0 * a00 + b1 * a10 + b2 * a20 + b3 * a30;
out[1] = b0 * a01 + b1 * a11 + b2 * a21 + b3 * a31;
out[2] = b0 * a02 + b1 * a12 + b2 * a22 + b3 * a32;
out[3] = b0 * a03 + b1 * a13 + b2 * a23 + b3 * a33;
b0 = b[4]; b1 = b[5]; b2 = b[6]; b3 = b[7];
out[4] = b0*a00 + b1*a10 + b2*a20 + b3*a30;
out[5] = b0*a01 + b1*a11 + b2*a21 + b3*a31;
out[6] = b0*a02 + b1*a12 + b2*a22 + b3*a32;
out[7] = b0*a03 + b1*a13 + b2*a23 + b3*a33;
b0 = b[4];
b1 = b[5];
b2 = b[6];
b3 = b[7];
out[4] = b0 * a00 + b1 * a10 + b2 * a20 + b3 * a30;
out[5] = b0 * a01 + b1 * a11 + b2 * a21 + b3 * a31;
out[6] = b0 * a02 + b1 * a12 + b2 * a22 + b3 * a32;
out[7] = b0 * a03 + b1 * a13 + b2 * a23 + b3 * a33;
b0 = b[8]; b1 = b[9]; b2 = b[10]; b3 = b[11];
out[8] = b0*a00 + b1*a10 + b2*a20 + b3*a30;
out[9] = b0*a01 + b1*a11 + b2*a21 + b3*a31;
out[10] = b0*a02 + b1*a12 + b2*a22 + b3*a32;
out[11] = b0*a03 + b1*a13 + b2*a23 + b3*a33;
b0 = b[8];
b1 = b[9];
b2 = b[10];
b3 = b[11];
out[8] = b0 * a00 + b1 * a10 + b2 * a20 + b3 * a30;
out[9] = b0 * a01 + b1 * a11 + b2 * a21 + b3 * a31;
out[10] = b0 * a02 + b1 * a12 + b2 * a22 + b3 * a32;
out[11] = b0 * a03 + b1 * a13 + b2 * a23 + b3 * a33;
b0 = b[12]; b1 = b[13]; b2 = b[14]; b3 = b[15];
out[12] = b0*a00 + b1*a10 + b2*a20 + b3*a30;
out[13] = b0*a01 + b1*a11 + b2*a21 + b3*a31;
out[14] = b0*a02 + b1*a12 + b2*a22 + b3*a32;
out[15] = b0*a03 + b1*a13 + b2*a23 + b3*a33;
b0 = b[12];
b1 = b[13];
b2 = b[14];
b3 = b[15];
out[12] = b0 * a00 + b1 * a10 + b2 * a20 + b3 * a30;
out[13] = b0 * a01 + b1 * a11 + b2 * a21 + b3 * a31;
out[14] = b0 * a02 + b1 * a12 + b2 * a22 + b3 * a32;
out[15] = b0 * a03 + b1 * a13 + b2 * a23 + b3 * a33;
return out;
}
@@ -58,23 +67,38 @@ export function mat4Ortho(out, left, right, bottom, top, near, far) {
export function mat4LookAt(out, eyeX, eyeY, eyeZ, centerX, centerY, centerZ, upX, upY, upZ) {
let z0 = eyeX - centerX, z1 = eyeY - centerY, z2 = eyeZ - centerZ;
let len = 1 / Math.hypot(z0, z1, z2);
z0 *= len; z1 *= len; z2 *= len;
z0 *= len;
z1 *= len;
z2 *= len;
let x0 = upY * z2 - upZ * z1, x1 = upZ * z0 - upX * z2, x2 = upX * z1 - upY * z0;
len = 1 / Math.hypot(x0, x1, x2);
x0 *= len; x1 *= len; x2 *= len;
x0 *= len;
x1 *= len;
x2 *= len;
let y0 = z1 * x2 - z2 * x1, y1 = z2 * x0 - z0 * x2, y2 = z0 * x1 - z1 * x0;
out[0] = x0; out[1] = y0; out[2] = z0; out[3] = 0;
out[4] = x1; out[5] = y1; out[6] = z1; out[7] = 0;
out[8] = x2; out[9] = y2; out[10] = z2; out[11] = 0;
out[0] = x0;
out[1] = y0;
out[2] = z0;
out[3] = 0;
out[4] = x1;
out[5] = y1;
out[6] = z1;
out[7] = 0;
out[8] = x2;
out[9] = y2;
out[10] = z2;
out[11] = 0;
out[12] = -(x0 * eyeX + x1 * eyeY + x2 * eyeZ);
out[13] = -(y0 * eyeX + y1 * eyeY + y2 * eyeZ);
out[14] = -(z0 * eyeX + z1 * eyeY + z2 * eyeZ);
out[15] = 1;
return out;
}export function mat4Translate(out, a, v) {
}
export function mat4Translate(out, a, v) {
let x = v[0], y = v[1], z = v[2];
if (a === out) {
out[12] = a[0] * x + a[4] * y + a[8] * z + a[12];
@@ -93,8 +117,14 @@ export function mat4RotateY(out, a, rad) {
let a20 = a[8], a21 = a[9], a22 = a[10], a23 = a[11];
if (a !== out) {
out[4] = a[4]; out[5] = a[5]; out[6] = a[6]; out[7] = a[7];
out[12] = a[12]; out[13] = a[13]; out[14] = a[14]; out[15] = a[15];
out[4] = a[4];
out[5] = a[5];
out[6] = a[6];
out[7] = a[7];
out[12] = a[12];
out[13] = a[13];
out[14] = a[14];
out[15] = a[15];
}
out[0] = a00 * c - a20 * s;
@@ -106,4 +136,31 @@ export function mat4RotateY(out, a, rad) {
out[10] = a02 * s + a22 * c;
out[11] = a03 * s + a23 * c;
return out;
}
export function mat4RotateX(out, a, rad) {
let s = Math.sin(rad), c = Math.cos(rad);
let a10 = a[4], a11 = a[5], a12 = a[6], a13 = a[7];
let a20 = a[8], a21 = a[9], a22 = a[10], a23 = a[11];
if (a !== out) {
out[0] = a[0];
out[1] = a[1];
out[2] = a[2];
out[3] = a[3];
out[12] = a[12];
out[13] = a[13];
out[14] = a[14];
out[15] = a[15];
}
out[4] = a10 * c + a20 * s;
out[5] = a11 * c + a21 * s;
out[6] = a12 * c + a22 * s;
out[7] = a13 * c + a23 * s;
out[8] = a20 * c - a10 * s;
out[9] = a21 * c - a11 * s;
out[10] = a22 * c - a12 * s;
out[11] = a23 * c - a13 * s;
return out;
}