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https://github.com/misode/misode.github.io.git
synced 2026-05-04 14:42:53 +00:00
Use deepslate matrix abstraction
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Misode
+73
-84
@@ -1,8 +1,10 @@
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import type { DataModel } from '@mcschema/core'
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import { Path } from '@mcschema/core'
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import * as zip from '@zip.js/zip.js'
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import type { Random } from 'deepslate/core'
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import { mat3, mat4, quat, vec2, vec3 } from 'gl-matrix'
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import type { Random } from 'deepslate'
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import { Matrix3, Matrix4, Vector } from 'deepslate'
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import type { mat3 } from 'gl-matrix'
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import { quat, vec2 } from 'gl-matrix'
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import yaml from 'js-yaml'
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import { route } from 'preact-router'
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import rfdc from 'rfdc'
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@@ -406,28 +408,27 @@ function qrGivensQuat(a: number, b: number) {
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}
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// modifies the passed mat3
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function stepJacobi(m: mat3): quat {
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const n = mat3.create()
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function stepJacobi(m: Matrix3): quat {
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const n = new Matrix3()
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const q = quat.create()
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if (m[1] * m[1] + m[3] * m[3] > 1e-6) {
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const [a, b] = approxGivensQuat(m[0], 0.5 * (m[1] + m[3]), m[4])
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if (m.m01 * m.m01 + m.m10 * m.m10 > 1e-6) {
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const [a, b] = approxGivensQuat(m.m00, 0.5 * (m.m01 + m.m10), m.m11)
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const r = quat.fromValues(0, 0, a, b)
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const c = b * b - a * a
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const d = -2 * a * b
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const e = b * b + a * a
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quat.mul(q, q, r)
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n[0] = c
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n[4] = c
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n[1] = -d
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n[3] = d
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n[8] = e
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mat3.mul(m, m, n)
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mat3.transpose(n, n)
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mat3.mul(n, n, m)
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mat3.copy(m, n)
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n.m00 = c
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n.m11 = c
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n.m01 = -d
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n.m10 = d
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n.m22 = e
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m.mul(n)
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n.transpose().mul(m)
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m.copy(n)
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}
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if (m[2] * m[2] + m[6] * m[6] > 1e-6) {
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const pair = approxGivensQuat(m[0], 0.5 * (m[2] + m[6]), m[8])
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if (m.m02 * m.m02 + m.m20 * m.m20 > 1e-6) {
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const pair = approxGivensQuat(m.m00, 0.5 * (m.m02 + m.m20), m.m22)
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const a = -pair[0]
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const b = pair[1]
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const r = quat.fromValues(0, a, 0, b)
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@@ -435,68 +436,65 @@ function stepJacobi(m: mat3): quat {
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const d = -2 * a * b
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const e = b * b + a * a
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quat.mul(q, q, r)
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n[0] = c
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n[8] = c
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n[2] = d
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n[6] = -d
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n[4] = e
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mat3.mul(m, m, n)
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mat3.transpose(n, n)
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mat3.mul(n, n, m)
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mat3.copy(m, n)
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n.m00 = c
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n.m22 = c
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n.m02 = d
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n.m20 = -d
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n.m11 = e
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m.mul(n)
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n.transpose().mul(m)
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m.copy(n)
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}
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if (m[5] * m[5] + m[7] * m[7] > 1e-6) {
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const [a, b] = approxGivensQuat(m[4], 0.5 * (m[5] + m[7]), m[8])
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if (m.m12 * m.m12 + m.m21 * m.m21 > 1e-6) {
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const [a, b] = approxGivensQuat(m.m11, 0.5 * (m.m12 + m.m21), m.m22)
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const r = quat.fromValues(a, 0, 0, b)
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const c = b * b - a * a
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const d = -2 * a * b
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const e = b * b + a * a
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quat.mul(q, q, r)
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n[4] = c
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n[8] = c
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n[5] = -d
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n[7] = d
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n[0] = e
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mat3.mul(m, m, n)
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mat3.transpose(n, n)
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mat3.mul(n, n, m)
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mat3.copy(m, n)
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n.m11 = c
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n.m22 = c
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n.m12 = -d
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n.m21 = d
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n.m00 = e
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m.mul(n)
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n.transpose().mul(m)
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m.copy(n)
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}
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return q
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}
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export function svdDecompose(m: mat3): [quat, vec3, quat] {
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export function svdDecompose(m: Matrix3): [quat, Vector, quat] {
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const q = quat.create()
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const r = quat.create()
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const n = mat3.create()
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mat3.transpose(n, m)
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mat3.mul(n, n, m)
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const n = m.clone()
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.transpose()
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.mul(m)
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for (let i = 0; i < 5; i += 1) {
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quat.mul(r, r, stepJacobi(n))
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}
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quat.normalize(r, r)
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const p0 = mat3.create()
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mat3.fromQuat(p0, r)
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mat3.mul(p0, m, p0)
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const p0 = m.clone()
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.mul(Matrix3.fromQuat(r))
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let f = 1
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const [a1, b1] = qrGivensQuat(p0[0], p0[1])
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const [a1, b1] = qrGivensQuat(p0.m00, p0.m01)
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const c1 = b1 * b1 - a1 * a1
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const d1 = -2 * a1 * b1
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const e1 = b1 * b1 + a1 * a1
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const s1 = quat.fromValues(0, 0, a1, b1)
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quat.mul(q, q, s1)
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const p1 = mat3.create()
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p1[0] = c1
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p1[4] = c1
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p1[1] = d1
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p1[3] = -d1
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p1[8] = e1
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const p1 = new Matrix3()
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p1.m00 = c1
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p1.m11 = c1
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p1.m01 = d1
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p1.m10 = -d1
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p1.m22 = e1
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f *= e1
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mat3.mul(p1, p1, p0)
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p1.mul(p0)
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const pair = qrGivensQuat(p1[0], p1[2])
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const pair = qrGivensQuat(p1.m00, p1.m02)
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const a2 = -pair[0]
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const b2 = pair[1]
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const c2 = b2 * b2 - a2 * a2
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@@ -504,49 +502,40 @@ export function svdDecompose(m: mat3): [quat, vec3, quat] {
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const e2 = b2 * b2 + a2 * a2
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const s2 = quat.fromValues(0, a2, 0, b2)
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quat.mul(q, q, s2)
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const p2 = mat3.create()
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p2[0] = c2
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p2[8] = c2
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p2[2] = -d2
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p2[6] = d2
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p2[4] = e2
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const p2 = new Matrix3()
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p2.m00 = c2
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p2.m22 = c2
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p2.m02 = -d2
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p2.m20 = d2
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p2.m11 = e2
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f *= e2
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mat3.mul(p2, p2, p1)
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p2.mul(p1)
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const [a3, b3] = qrGivensQuat(p2[4], p2[5])
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const [a3, b3] = qrGivensQuat(p2.m11, p2.m12)
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const c3 = b3 * b3 - a3 * a3
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const d3 = -2 * a3 * b3
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const e3 = b3 * b3 + a3 * a3
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const s3 = quat.fromValues(a3, 0, 0, b3)
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quat.mul(q, q, s3)
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const p3 = mat3.create()
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p3[4] = c3
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p3[8] = c3
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p3[5] = d3
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p3[7] = -d3
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p3[0] = e3
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const p3 = new Matrix3()
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p3.m11 = c3
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p3.m22 = c3
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p3.m12 = d3
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p3.m21 = -d3
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p3.m00 = e3
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f *= e3
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mat3.mul(p3, p3, p2)
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p3.mul(p2)
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f = 1 / f
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quat.scale(q, q, Math.sqrt(f))
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const scale = vec3.fromValues(p3[0] * f, p3[4] * f, p3[8] * f)
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const scale = new Vector(p3.m00 * f, p3.m11 * f, p3.m22 * f)
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return [q, scale, r]
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}
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export function toAffine(m: mat4): mat4 {
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if (m[15] === 0) m[15] = 1
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const a = 1 / m[15]
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const n = mat4.clone(m)
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mat4.scale(n, n, [a, a, a])
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return n
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}
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export function composeMatrix(translation: vec3, leftRotation: quat, scale: vec3, rightRotation: quat) {
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const m = mat4.create()
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mat4.translate(m, m, translation)
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mat4.mul(m, m, mat4.fromQuat(mat4.create(), leftRotation))
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mat4.scale(m, m, scale)
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mat4.mul(m, m, mat4.fromQuat(mat4.create(), rightRotation))
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return m
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export function composeMatrix(translation: Vector, leftRotation: quat, scale: Vector, rightRotation: quat) {
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return new Matrix4()
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.translate(translation)
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.mul(Matrix4.fromQuat(leftRotation))
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.scale(scale)
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.mul(Matrix4.fromQuat(rightRotation))
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}
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