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1456 lines (1241 loc) · 36.5 KB
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/**
* @author Richard Davey <rich@photonstorm.com>
* @copyright 2020 Photon Storm Ltd.
* @license {@link https://opensource.org/licenses/MIT|MIT License}
*/
// Adapted from [gl-matrix](https://github.com/toji/gl-matrix) by toji
// and [vecmath](https://github.com/mattdesl/vecmath) by mattdesl
var Class = require('../utils/Class');
var EPSILON = 0.000001;
/**
* @classdesc
* A four-dimensional matrix.
*
* @class Matrix4
* @memberof Phaser.Math
* @constructor
* @since 3.0.0
*
* @param {Phaser.Math.Matrix4} [m] - Optional Matrix4 to copy values from.
*/
var Matrix4 = new Class({
initialize:
function Matrix4 (m)
{
/**
* The matrix values.
*
* @name Phaser.Math.Matrix4#val
* @type {Float32Array}
* @since 3.0.0
*/
this.val = new Float32Array(16);
if (m)
{
// Assume Matrix4 with val:
this.copy(m);
}
else
{
// Default to identity
this.identity();
}
},
/**
* Make a clone of this Matrix4.
*
* @method Phaser.Math.Matrix4#clone
* @since 3.0.0
*
* @return {Phaser.Math.Matrix4} A clone of this Matrix4.
*/
clone: function ()
{
return new Matrix4(this);
},
// TODO - Should work with basic values
/**
* This method is an alias for `Matrix4.copy`.
*
* @method Phaser.Math.Matrix4#set
* @since 3.0.0
*
* @param {Phaser.Math.Matrix4} src - The Matrix to set the values of this Matrix's from.
*
* @return {Phaser.Math.Matrix4} This Matrix4.
*/
set: function (src)
{
return this.copy(src);
},
/**
* Copy the values of a given Matrix into this Matrix.
*
* @method Phaser.Math.Matrix4#copy
* @since 3.0.0
*
* @param {Phaser.Math.Matrix4} src - The Matrix to copy the values from.
*
* @return {Phaser.Math.Matrix4} This Matrix4.
*/
copy: function (src)
{
var out = this.val;
var a = src.val;
out[0] = a[0];
out[1] = a[1];
out[2] = a[2];
out[3] = a[3];
out[4] = a[4];
out[5] = a[5];
out[6] = a[6];
out[7] = a[7];
out[8] = a[8];
out[9] = a[9];
out[10] = a[10];
out[11] = a[11];
out[12] = a[12];
out[13] = a[13];
out[14] = a[14];
out[15] = a[15];
return this;
},
/**
* Set the values of this Matrix from the given array.
*
* @method Phaser.Math.Matrix4#fromArray
* @since 3.0.0
*
* @param {array} a - The array to copy the values from.
*
* @return {Phaser.Math.Matrix4} This Matrix4.
*/
fromArray: function (a)
{
var out = this.val;
out[0] = a[0];
out[1] = a[1];
out[2] = a[2];
out[3] = a[3];
out[4] = a[4];
out[5] = a[5];
out[6] = a[6];
out[7] = a[7];
out[8] = a[8];
out[9] = a[9];
out[10] = a[10];
out[11] = a[11];
out[12] = a[12];
out[13] = a[13];
out[14] = a[14];
out[15] = a[15];
return this;
},
/**
* Reset this Matrix.
*
* Sets all values to `0`.
*
* @method Phaser.Math.Matrix4#zero
* @since 3.0.0
*
* @return {Phaser.Math.Matrix4} This Matrix4.
*/
zero: function ()
{
var out = this.val;
out[0] = 0;
out[1] = 0;
out[2] = 0;
out[3] = 0;
out[4] = 0;
out[5] = 0;
out[6] = 0;
out[7] = 0;
out[8] = 0;
out[9] = 0;
out[10] = 0;
out[11] = 0;
out[12] = 0;
out[13] = 0;
out[14] = 0;
out[15] = 0;
return this;
},
/**
* Set the `x`, `y` and `z` values of this Matrix.
*
* @method Phaser.Math.Matrix4#xyz
* @since 3.0.0
*
* @param {number} x - The x value.
* @param {number} y - The y value.
* @param {number} z - The z value.
*
* @return {Phaser.Math.Matrix4} This Matrix4.
*/
xyz: function (x, y, z)
{
this.identity();
var out = this.val;
out[12] = x;
out[13] = y;
out[14] = z;
return this;
},
/**
* Set the scaling values of this Matrix.
*
* @method Phaser.Math.Matrix4#scaling
* @since 3.0.0
*
* @param {number} x - The x scaling value.
* @param {number} y - The y scaling value.
* @param {number} z - The z scaling value.
*
* @return {Phaser.Math.Matrix4} This Matrix4.
*/
scaling: function (x, y, z)
{
this.zero();
var out = this.val;
out[0] = x;
out[5] = y;
out[10] = z;
out[15] = 1;
return this;
},
/**
* Reset this Matrix to an identity (default) matrix.
*
* @method Phaser.Math.Matrix4#identity
* @since 3.0.0
*
* @return {Phaser.Math.Matrix4} This Matrix4.
*/
identity: function ()
{
var out = this.val;
out[0] = 1;
out[1] = 0;
out[2] = 0;
out[3] = 0;
out[4] = 0;
out[5] = 1;
out[6] = 0;
out[7] = 0;
out[8] = 0;
out[9] = 0;
out[10] = 1;
out[11] = 0;
out[12] = 0;
out[13] = 0;
out[14] = 0;
out[15] = 1;
return this;
},
/**
* Transpose this Matrix.
*
* @method Phaser.Math.Matrix4#transpose
* @since 3.0.0
*
* @return {Phaser.Math.Matrix4} This Matrix4.
*/
transpose: function ()
{
var a = this.val;
var a01 = a[1];
var a02 = a[2];
var a03 = a[3];
var a12 = a[6];
var a13 = a[7];
var a23 = a[11];
a[1] = a[4];
a[2] = a[8];
a[3] = a[12];
a[4] = a01;
a[6] = a[9];
a[7] = a[13];
a[8] = a02;
a[9] = a12;
a[11] = a[14];
a[12] = a03;
a[13] = a13;
a[14] = a23;
return this;
},
/**
* Invert this Matrix.
*
* @method Phaser.Math.Matrix4#invert
* @since 3.0.0
*
* @return {Phaser.Math.Matrix4} This Matrix4.
*/
invert: function ()
{
var a = this.val;
var a00 = a[0];
var a01 = a[1];
var a02 = a[2];
var a03 = a[3];
var a10 = a[4];
var a11 = a[5];
var a12 = a[6];
var a13 = a[7];
var a20 = a[8];
var a21 = a[9];
var a22 = a[10];
var a23 = a[11];
var a30 = a[12];
var a31 = a[13];
var a32 = a[14];
var a33 = a[15];
var b00 = a00 * a11 - a01 * a10;
var b01 = a00 * a12 - a02 * a10;
var b02 = a00 * a13 - a03 * a10;
var b03 = a01 * a12 - a02 * a11;
var b04 = a01 * a13 - a03 * a11;
var b05 = a02 * a13 - a03 * a12;
var b06 = a20 * a31 - a21 * a30;
var b07 = a20 * a32 - a22 * a30;
var b08 = a20 * a33 - a23 * a30;
var b09 = a21 * a32 - a22 * a31;
var b10 = a21 * a33 - a23 * a31;
var b11 = a22 * a33 - a23 * a32;
// Calculate the determinant
var det = b00 * b11 - b01 * b10 + b02 * b09 + b03 * b08 - b04 * b07 + b05 * b06;
if (!det)
{
return null;
}
det = 1 / det;
a[0] = (a11 * b11 - a12 * b10 + a13 * b09) * det;
a[1] = (a02 * b10 - a01 * b11 - a03 * b09) * det;
a[2] = (a31 * b05 - a32 * b04 + a33 * b03) * det;
a[3] = (a22 * b04 - a21 * b05 - a23 * b03) * det;
a[4] = (a12 * b08 - a10 * b11 - a13 * b07) * det;
a[5] = (a00 * b11 - a02 * b08 + a03 * b07) * det;
a[6] = (a32 * b02 - a30 * b05 - a33 * b01) * det;
a[7] = (a20 * b05 - a22 * b02 + a23 * b01) * det;
a[8] = (a10 * b10 - a11 * b08 + a13 * b06) * det;
a[9] = (a01 * b08 - a00 * b10 - a03 * b06) * det;
a[10] = (a30 * b04 - a31 * b02 + a33 * b00) * det;
a[11] = (a21 * b02 - a20 * b04 - a23 * b00) * det;
a[12] = (a11 * b07 - a10 * b09 - a12 * b06) * det;
a[13] = (a00 * b09 - a01 * b07 + a02 * b06) * det;
a[14] = (a31 * b01 - a30 * b03 - a32 * b00) * det;
a[15] = (a20 * b03 - a21 * b01 + a22 * b00) * det;
return this;
},
/**
* Calculate the adjoint, or adjugate, of this Matrix.
*
* @method Phaser.Math.Matrix4#adjoint
* @since 3.0.0
*
* @return {Phaser.Math.Matrix4} This Matrix4.
*/
adjoint: function ()
{
var a = this.val;
var a00 = a[0];
var a01 = a[1];
var a02 = a[2];
var a03 = a[3];
var a10 = a[4];
var a11 = a[5];
var a12 = a[6];
var a13 = a[7];
var a20 = a[8];
var a21 = a[9];
var a22 = a[10];
var a23 = a[11];
var a30 = a[12];
var a31 = a[13];
var a32 = a[14];
var a33 = a[15];
a[0] = (a11 * (a22 * a33 - a23 * a32) - a21 * (a12 * a33 - a13 * a32) + a31 * (a12 * a23 - a13 * a22));
a[1] = -(a01 * (a22 * a33 - a23 * a32) - a21 * (a02 * a33 - a03 * a32) + a31 * (a02 * a23 - a03 * a22));
a[2] = (a01 * (a12 * a33 - a13 * a32) - a11 * (a02 * a33 - a03 * a32) + a31 * (a02 * a13 - a03 * a12));
a[3] = -(a01 * (a12 * a23 - a13 * a22) - a11 * (a02 * a23 - a03 * a22) + a21 * (a02 * a13 - a03 * a12));
a[4] = -(a10 * (a22 * a33 - a23 * a32) - a20 * (a12 * a33 - a13 * a32) + a30 * (a12 * a23 - a13 * a22));
a[5] = (a00 * (a22 * a33 - a23 * a32) - a20 * (a02 * a33 - a03 * a32) + a30 * (a02 * a23 - a03 * a22));
a[6] = -(a00 * (a12 * a33 - a13 * a32) - a10 * (a02 * a33 - a03 * a32) + a30 * (a02 * a13 - a03 * a12));
a[7] = (a00 * (a12 * a23 - a13 * a22) - a10 * (a02 * a23 - a03 * a22) + a20 * (a02 * a13 - a03 * a12));
a[8] = (a10 * (a21 * a33 - a23 * a31) - a20 * (a11 * a33 - a13 * a31) + a30 * (a11 * a23 - a13 * a21));
a[9] = -(a00 * (a21 * a33 - a23 * a31) - a20 * (a01 * a33 - a03 * a31) + a30 * (a01 * a23 - a03 * a21));
a[10] = (a00 * (a11 * a33 - a13 * a31) - a10 * (a01 * a33 - a03 * a31) + a30 * (a01 * a13 - a03 * a11));
a[11] = -(a00 * (a11 * a23 - a13 * a21) - a10 * (a01 * a23 - a03 * a21) + a20 * (a01 * a13 - a03 * a11));
a[12] = -(a10 * (a21 * a32 - a22 * a31) - a20 * (a11 * a32 - a12 * a31) + a30 * (a11 * a22 - a12 * a21));
a[13] = (a00 * (a21 * a32 - a22 * a31) - a20 * (a01 * a32 - a02 * a31) + a30 * (a01 * a22 - a02 * a21));
a[14] = -(a00 * (a11 * a32 - a12 * a31) - a10 * (a01 * a32 - a02 * a31) + a30 * (a01 * a12 - a02 * a11));
a[15] = (a00 * (a11 * a22 - a12 * a21) - a10 * (a01 * a22 - a02 * a21) + a20 * (a01 * a12 - a02 * a11));
return this;
},
/**
* Calculate the determinant of this Matrix.
*
* @method Phaser.Math.Matrix4#determinant
* @since 3.0.0
*
* @return {number} The determinant of this Matrix.
*/
determinant: function ()
{
var a = this.val;
var a00 = a[0];
var a01 = a[1];
var a02 = a[2];
var a03 = a[3];
var a10 = a[4];
var a11 = a[5];
var a12 = a[6];
var a13 = a[7];
var a20 = a[8];
var a21 = a[9];
var a22 = a[10];
var a23 = a[11];
var a30 = a[12];
var a31 = a[13];
var a32 = a[14];
var a33 = a[15];
var b00 = a00 * a11 - a01 * a10;
var b01 = a00 * a12 - a02 * a10;
var b02 = a00 * a13 - a03 * a10;
var b03 = a01 * a12 - a02 * a11;
var b04 = a01 * a13 - a03 * a11;
var b05 = a02 * a13 - a03 * a12;
var b06 = a20 * a31 - a21 * a30;
var b07 = a20 * a32 - a22 * a30;
var b08 = a20 * a33 - a23 * a30;
var b09 = a21 * a32 - a22 * a31;
var b10 = a21 * a33 - a23 * a31;
var b11 = a22 * a33 - a23 * a32;
// Calculate the determinant
return b00 * b11 - b01 * b10 + b02 * b09 + b03 * b08 - b04 * b07 + b05 * b06;
},
/**
* Multiply this Matrix by the given Matrix.
*
* @method Phaser.Math.Matrix4#multiply
* @since 3.0.0
*
* @param {Phaser.Math.Matrix4} src - The Matrix to multiply this Matrix by.
*
* @return {Phaser.Math.Matrix4} This Matrix4.
*/
multiply: function (src)
{
var a = this.val;
var a00 = a[0];
var a01 = a[1];
var a02 = a[2];
var a03 = a[3];
var a10 = a[4];
var a11 = a[5];
var a12 = a[6];
var a13 = a[7];
var a20 = a[8];
var a21 = a[9];
var a22 = a[10];
var a23 = a[11];
var a30 = a[12];
var a31 = a[13];
var a32 = a[14];
var a33 = a[15];
var b = src.val;
// Cache only the current line of the second matrix
var b0 = b[0];
var b1 = b[1];
var b2 = b[2];
var b3 = b[3];
a[0] = b0 * a00 + b1 * a10 + b2 * a20 + b3 * a30;
a[1] = b0 * a01 + b1 * a11 + b2 * a21 + b3 * a31;
a[2] = b0 * a02 + b1 * a12 + b2 * a22 + b3 * a32;
a[3] = b0 * a03 + b1 * a13 + b2 * a23 + b3 * a33;
b0 = b[4];
b1 = b[5];
b2 = b[6];
b3 = b[7];
a[4] = b0 * a00 + b1 * a10 + b2 * a20 + b3 * a30;
a[5] = b0 * a01 + b1 * a11 + b2 * a21 + b3 * a31;
a[6] = b0 * a02 + b1 * a12 + b2 * a22 + b3 * a32;
a[7] = b0 * a03 + b1 * a13 + b2 * a23 + b3 * a33;
b0 = b[8];
b1 = b[9];
b2 = b[10];
b3 = b[11];
a[8] = b0 * a00 + b1 * a10 + b2 * a20 + b3 * a30;
a[9] = b0 * a01 + b1 * a11 + b2 * a21 + b3 * a31;
a[10] = b0 * a02 + b1 * a12 + b2 * a22 + b3 * a32;
a[11] = b0 * a03 + b1 * a13 + b2 * a23 + b3 * a33;
b0 = b[12];
b1 = b[13];
b2 = b[14];
b3 = b[15];
a[12] = b0 * a00 + b1 * a10 + b2 * a20 + b3 * a30;
a[13] = b0 * a01 + b1 * a11 + b2 * a21 + b3 * a31;
a[14] = b0 * a02 + b1 * a12 + b2 * a22 + b3 * a32;
a[15] = b0 * a03 + b1 * a13 + b2 * a23 + b3 * a33;
return this;
},
/**
* Multiply the values of this Matrix4 by those given in the `src` argument.
*
* @method Phaser.Math.Matrix4#multiplyLocal
* @since 3.0.0
*
* @param {Phaser.Math.Matrix4} src - The source Matrix4 that this Matrix4 is multiplied by.
*
* @return {Phaser.Math.Matrix4} This Matrix4.
*/
multiplyLocal: function (src)
{
var a = [];
var m1 = this.val;
var m2 = src.val;
a[0] = m1[0] * m2[0] + m1[1] * m2[4] + m1[2] * m2[8] + m1[3] * m2[12];
a[1] = m1[0] * m2[1] + m1[1] * m2[5] + m1[2] * m2[9] + m1[3] * m2[13];
a[2] = m1[0] * m2[2] + m1[1] * m2[6] + m1[2] * m2[10] + m1[3] * m2[14];
a[3] = m1[0] * m2[3] + m1[1] * m2[7] + m1[2] * m2[11] + m1[3] * m2[15];
a[4] = m1[4] * m2[0] + m1[5] * m2[4] + m1[6] * m2[8] + m1[7] * m2[12];
a[5] = m1[4] * m2[1] + m1[5] * m2[5] + m1[6] * m2[9] + m1[7] * m2[13];
a[6] = m1[4] * m2[2] + m1[5] * m2[6] + m1[6] * m2[10] + m1[7] * m2[14];
a[7] = m1[4] * m2[3] + m1[5] * m2[7] + m1[6] * m2[11] + m1[7] * m2[15];
a[8] = m1[8] * m2[0] + m1[9] * m2[4] + m1[10] * m2[8] + m1[11] * m2[12];
a[9] = m1[8] * m2[1] + m1[9] * m2[5] + m1[10] * m2[9] + m1[11] * m2[13];
a[10] = m1[8] * m2[2] + m1[9] * m2[6] + m1[10] * m2[10] + m1[11] * m2[14];
a[11] = m1[8] * m2[3] + m1[9] * m2[7] + m1[10] * m2[11] + m1[11] * m2[15];
a[12] = m1[12] * m2[0] + m1[13] * m2[4] + m1[14] * m2[8] + m1[15] * m2[12];
a[13] = m1[12] * m2[1] + m1[13] * m2[5] + m1[14] * m2[9] + m1[15] * m2[13];
a[14] = m1[12] * m2[2] + m1[13] * m2[6] + m1[14] * m2[10] + m1[15] * m2[14];
a[15] = m1[12] * m2[3] + m1[13] * m2[7] + m1[14] * m2[11] + m1[15] * m2[15];
return this.fromArray(a);
},
/**
* Translate this Matrix using the given Vector.
*
* @method Phaser.Math.Matrix4#translate
* @since 3.0.0
*
* @param {(Phaser.Math.Vector3|Phaser.Math.Vector4)} v - The Vector to translate this Matrix with.
*
* @return {Phaser.Math.Matrix4} This Matrix4.
*/
translate: function (v)
{
var x = v.x;
var y = v.y;
var z = v.z;
var a = this.val;
a[12] = a[0] * x + a[4] * y + a[8] * z + a[12];
a[13] = a[1] * x + a[5] * y + a[9] * z + a[13];
a[14] = a[2] * x + a[6] * y + a[10] * z + a[14];
a[15] = a[3] * x + a[7] * y + a[11] * z + a[15];
return this;
},
/**
* Translate this Matrix using the given values.
*
* @method Phaser.Math.Matrix4#translateXYZ
* @since 3.16.0
*
* @param {number} x - The x component.
* @param {number} y - The y component.
* @param {number} z - The z component.
*
* @return {Phaser.Math.Matrix4} This Matrix4.
*/
translateXYZ: function (x, y, z)
{
var a = this.val;
a[12] = a[0] * x + a[4] * y + a[8] * z + a[12];
a[13] = a[1] * x + a[5] * y + a[9] * z + a[13];
a[14] = a[2] * x + a[6] * y + a[10] * z + a[14];
a[15] = a[3] * x + a[7] * y + a[11] * z + a[15];
return this;
},
/**
* Apply a scale transformation to t
10987
his Matrix.
*
* Uses the `x`, `y` and `z` components of the given Vector to scale the Matrix.
*
* @method Phaser.Math.Matrix4#scale
* @since 3.0.0
*
* @param {(Phaser.Math.Vector3|Phaser.Math.Vector4)} v - The Vector to scale this Matrix with.
*
* @return {Phaser.Math.Matrix4} This Matrix4.
*/
scale: function (v)
{
var x = v.x;
var y = v.y;
var z = v.z;
var a = this.val;
a[0] = a[0] * x;
a[1] = a[1] * x;
a[2] = a[2] * x;
a[3] = a[3] * x;
a[4] = a[4] * y;
a[5] = a[5] * y;
a[6] = a[6] * y;
a[7] = a[7] * y;
a[8] = a[8] * z;
a[9] = a[9] * z;
a[10] = a[10] * z;
a[11] = a[11] * z;
return this;
},
/**
* Apply a scale transformation to this Matrix.
*
* @method Phaser.Math.Matrix4#scaleXYZ
* @since 3.16.0
*
* @param {number} x - The x component.
* @param {number} y - The y component.
* @param {number} z - The z component.
*
* @return {Phaser.Math.Matrix4} This Matrix4.
*/
scaleXYZ: function (x, y, z)
{
var a = this.val;
a[0] = a[0] * x;
a[1] = a[1] * x;
a[2] = a[2] * x;
a[3] = a[3] * x;
a[4] = a[4] * y;
a[5] = a[5] * y;
a[6] = a[6] * y;
a[7] = a[7] * y;
a[8] = a[8] * z;
a[9] = a[9] * z;
a[10] = a[10] * z;
a[11] = a[11] * z;
return this;
},
/**
* Derive a rotation matrix around the given axis.
*
* @method Phaser.Math.Matrix4#makeRotationAxis
* @since 3.0.0
*
* @param {(Phaser.Math.Vector3|Phaser.Math.Vector4)} axis - The rotation axis.
* @param {number} angle - The rotation angle in radians.
*
* @return {Phaser.Math.Matrix4} This Matrix4.
*/
makeRotationAxis: function (axis, angle)
{
// Based on http://www.gamedev.net/reference/articles/article1199.asp
var c = Math.cos(angle);
var s = Math.sin(angle);
var t = 1 - c;
var x = axis.x;
var y = axis.y;
var z = axis.z;
var tx = t * x;
var ty = t * y;
this.fromArray([
tx * x + c, tx * y - s * z, tx * z + s * y, 0,
tx * y + s * z, ty * y + c, ty * z - s * x, 0,
tx * z - s * y, ty * z + s * x, t * z * z + c, 0,
0, 0, 0, 1
]);
return this;
},
/**
* Apply a rotation transformation to this Matrix.
*
* @method Phaser.Math.Matrix4#rotate
* @since 3.0.0
*
* @param {number} rad - The angle in radians to rotate by.
* @param {Phaser.Math.Vector3} axis - The axis to rotate upon.
*
* @return {Phaser.Math.Matrix4} This Matrix4.
*/
rotate: function (rad, axis)
{
var a = this.val;
var x = axis.x;
var y = axis.y;
var z = axis.z;
var len = Math.sqrt(x * x + y * y + z * z);
if (Math.abs(len) < EPSILON)
{
return null;
}
len = 1 / len;
x *= len;
y *= len;
z *= len;
var s = Math.sin(rad);
var c = Math.cos(rad);
var t = 1 - c;
var a00 = a[0];
var a01 = a[1];
var a02 = a[2];
var a03 = a[3];
var a10 = a[4];
var a11 = a[5];
var a12 = a[6];
var a13 = a[7];
var a20 = a[8];
var a21 = a[9];
var a22 = a[10];
var a23 = a[11];
// Construct the elements of the rotation matrix
var b00 = x * x * t + c;
var b01 = y * x * t + z * s;
var b02 = z * x * t - y * s;
var b10 = x * y * t - z * s;
var b11 = y * y * t + c;
var b12 = z * y * t + x * s;
var b20 = x * z * t + y * s;
var b21 = y * z * t - x * s;
var b22 = z * z * t + c;
// Perform rotation-specific matrix multiplication
a[0] = a00 * b00 + a10 * b01 + a20 * b02;
a[1] = a01 * b00 + a11 * b01 + a21 * b02;
a[2] = a02 * b00 + a12 * b01 + a22 * b02;
a[3] = a03 * b00 + a13 * b01 + a23 * b02;
a[4] = a00 * b10 + a10 * b11 + a20 * b12;
a[5] = a01 * b10 + a11 * b11 + a21 * b12;
a[6] = a02 * b10 + a12 * b11 + a22 * b12;
a[7] = a03 * b10 + a13 * b11 + a23 * b12;
a[8] = a00 * b20 + a10 * b21 + a20 * b22;
a[9] = a01 * b20 + a11 * b21 + a21 * b22;
a[10] = a02 * b20 + a12 * b21 + a22 * b22;
a[11] = a03 * b20 + a13 * b21 + a23 * b22;
return this;
},
/**
* Rotate this matrix on its X axis.
*
* @method Phaser.Math.Matrix4#rotateX
* @since 3.0.0
*
* @param {number} rad - The angle in radians to rotate by.
*
* @return {Phaser.Math.Matrix4} This Matrix4.
*/
rotateX: function (rad)
{
var a = this.val;
var s = Math.sin(rad);
var c = Math.cos(rad);
var a10 = a[4];
var a11 = a[5];
var a12 = a[6];
var a13 = a[7];
var a20 = a[8];
var a21 = a[9];
var a22 = a[10];
var a23 = a[11];
// Perform axis-specific matrix multiplication
a[4] = a10 * c + a20 * s;
a[5] = a11 * c + a21 * s;
a[6] = a12 * c + a22 * s;
a[7] = a13 * c + a23 * s;
a[8] = a20 * c - a10 * s;
a[9] = a21 * c - a11 * s;
a[10] = a22 * c - a12 * s;
a[11] = a23 * c - a13 * s;
return this;
},
/**
* Rotate this matrix on its Y axis.
*
* @method Phaser.Math.Matrix4#rotateY
* @since 3.0.0
*
* @param {number} rad - The angle to rotate by, in radians.
*
* @return {Phaser.Math.Matrix4} This Matrix4.
*/
rotateY: function (rad)
{
var a = this.val;
var s = Math.sin(rad);
var c = Math.cos(rad);
var a00 = a[0];
var a01 = a[1];
var a02 = a[2];
var a03 = a[3];
var a20 = a[8];
var a21 = a[9];
var a22 = a[10];
var a23 = a[11];
// Perform axis-specific matrix multiplication
a[0] = a00 * c - a20 * s;
a[1] = a01 * c - a21 * s;
a[2] = a02 * c - a22 * s;
a[3] = a03 * c - a23 * s;
a[8] = a00 * s + a20 * c;
a[9] = a01 * s + a21 * c;
a[10] = a02 * s + a22 * c;
a[11] = a03 * s + a23 * c;
return this;
},
/**
* Rotate this matrix on its Z axis.
*
* @method Phaser.Math.Matrix4#rotateZ
* @since 3.0.0
*
* @param {number} rad - The angle to rotate by, in radians.
*
* @return {Phaser.Math.Matrix4} This Matrix4.
*/
rotateZ: function (rad)
{
var a = this.val;
var s = Math.sin(rad);
var c = Math.cos(rad);
var a00 = a[0];
var a01 = a[1];
var a02 = a[2];
var a03 = a[3];
var a10 = a[4];
var a11 = a[5];
var a12 = a[6];
var a13 = a[7];
// Perform axis-specific matrix multiplication
a[0] = a00 * c + a10 * s;
a[1] = a01 * c + a11 * s;
a[2] = a02 * c + a12 * s;
a[3] = a03 * c + a13 * s;
a[4] = a10 * c - a00 * s;
a[5] = a11 * c - a01 * s;
a[6] = a12 * c - a02 * s;
a[7] = a13 * c - a03 * s;
return this;
},
/**
* Set the values of this Matrix from the given rotation Quaternion and translation Vector.
*
* @method Phaser.Math.Matrix4#fromRotationTranslation
* @since 3.0.0
*
* @param {Phaser.Math.Quaternion} q - The Quaternion to set rotation from.
* @param {Phaser.Math.Vector3} v - The Vector to set translation from.
*
* @return {Phaser.Math.Matrix4} This Matrix4.
*/
fromRotationTranslation: function (q, v)
{
// Quaternion math
var out = this.val;
var x = q.x;
var y = q.y;
var z = q.z;
var w = q.w;
var x2 = x + x;
var y2 = y + y;
var z2 = z + z;
var xx = x * x2;
var xy = x * y2;
var xz = x * z2;
var yy = y * y2;
var yz = y * z2;
var zz = z * z2;
var wx = w * x2;
var wy = w * y2;
var wz = w * z2;
out[0] = 1 - (yy + zz);
out[1] = xy + wz;
out[2] = xz - wy;
out[3] = 0;
out[4] = xy - wz;
out[5] = 1 - (xx + zz);
out[6] = yz + wx;
out[7] = 0;
out[8] = xz + wy;
out[9] = yz - wx;
out[10] = 1 - (xx + yy);
out[11] = 0;