{"id":"../node_modules/gl-matrix/esm/quat2.js","dependencies":[{"name":"/Users/simonebembi/Projects/particles-liquid-system/package.json","includedInParent":true,"mtime":1586786861555},{"name":"/Users/simonebembi/Projects/particles-liquid-system/node_modules/gl-matrix/package.json","includedInParent":true,"mtime":1586780889460},{"name":"./common.js","loc":{"line":1,"column":26},"parent":"/Users/simonebembi/Projects/particles-liquid-system/node_modules/gl-matrix/esm/quat2.js","resolved":"/Users/simonebembi/Projects/particles-liquid-system/node_modules/gl-matrix/esm/common.js"},{"name":"./quat.js","loc":{"line":2,"column":22},"parent":"/Users/simonebembi/Projects/particles-liquid-system/node_modules/gl-matrix/esm/quat2.js","resolved":"/Users/simonebembi/Projects/particles-liquid-system/node_modules/gl-matrix/esm/quat.js"},{"name":"./mat4.js","loc":{"line":3,"column":22},"parent":"/Users/simonebembi/Projects/particles-liquid-system/node_modules/gl-matrix/esm/quat2.js","resolved":"/Users/simonebembi/Projects/particles-liquid-system/node_modules/gl-matrix/esm/mat4.js"}],"generated":{"js":"\"use strict\";\n\nObject.defineProperty(exports, \"__esModule\", {\n value: true\n});\nexports.create = create;\nexports.clone = clone;\nexports.fromValues = fromValues;\nexports.fromRotationTranslationValues = fromRotationTranslationValues;\nexports.fromRotationTranslation = fromRotationTranslation;\nexports.fromTranslation = fromTranslation;\nexports.fromRotation = fromRotation;\nexports.fromMat4 = fromMat4;\nexports.copy = copy;\nexports.identity = identity;\nexports.set = set;\nexports.getDual = getDual;\nexports.setDual = setDual;\nexports.getTranslation = getTranslation;\nexports.translate = translate;\nexports.rotateX = rotateX;\nexports.rotateY = rotateY;\nexports.rotateZ = rotateZ;\nexports.rotateByQuatAppend = rotateByQuatAppend;\nexports.rotateByQuatPrepend = rotateByQuatPrepend;\nexports.rotateAroundAxis = rotateAroundAxis;\nexports.add = add;\nexports.multiply = multiply;\nexports.scale = scale;\nexports.lerp = lerp;\nexports.invert = invert;\nexports.conjugate = conjugate;\nexports.normalize = normalize;\nexports.str = str;\nexports.exactEquals = exactEquals;\nexports.equals = equals;\nexports.sqrLen = exports.squaredLength = exports.len = exports.length = exports.dot = exports.mul = exports.setReal = exports.getReal = void 0;\n\nvar glMatrix = _interopRequireWildcard(require(\"./common.js\"));\n\nvar quat = _interopRequireWildcard(require(\"./quat.js\"));\n\nvar mat4 = _interopRequireWildcard(require(\"./mat4.js\"));\n\nfunction _getRequireWildcardCache() { if (typeof WeakMap !== \"function\") return null; var cache = new WeakMap(); _getRequireWildcardCache = function () { return cache; }; return cache; }\n\nfunction _interopRequireWildcard(obj) { if (obj && obj.__esModule) { return obj; } if (obj === null || typeof obj !== \"object\" && typeof obj !== \"function\") { return { default: obj }; } var cache = _getRequireWildcardCache(); if (cache && cache.has(obj)) { return cache.get(obj); } var newObj = {}; var hasPropertyDescriptor = Object.defineProperty && Object.getOwnPropertyDescriptor; for (var key in obj) { if (Object.prototype.hasOwnProperty.call(obj, key)) { var desc = hasPropertyDescriptor ? Object.getOwnPropertyDescriptor(obj, key) : null; if (desc && (desc.get || desc.set)) { Object.defineProperty(newObj, key, desc); } else { newObj[key] = obj[key]; } } } newObj.default = obj; if (cache) { cache.set(obj, newObj); } return newObj; }\n\n/**\r\n * Dual Quaternion
\r\n * Format: [real, dual]
\r\n * Quaternion format: XYZW
\r\n * Make sure to have normalized dual quaternions, otherwise the functions may not work as intended.
\r\n * @module quat2\r\n */\n\n/**\r\n * Creates a new identity dual quat\r\n *\r\n * @returns {quat2} a new dual quaternion [real -> rotation, dual -> translation]\r\n */\nfunction create() {\n var dq = new glMatrix.ARRAY_TYPE(8);\n\n if (glMatrix.ARRAY_TYPE != Float32Array) {\n dq[0] = 0;\n dq[1] = 0;\n dq[2] = 0;\n dq[4] = 0;\n dq[5] = 0;\n dq[6] = 0;\n dq[7] = 0;\n }\n\n dq[3] = 1;\n return dq;\n}\n/**\r\n * Creates a new quat initialized with values from an existing quaternion\r\n *\r\n * @param {ReadonlyQuat2} a dual quaternion to clone\r\n * @returns {quat2} new dual quaternion\r\n * @function\r\n */\n\n\nfunction clone(a) {\n var dq = new glMatrix.ARRAY_TYPE(8);\n dq[0] = a[0];\n dq[1] = a[1];\n dq[2] = a[2];\n dq[3] = a[3];\n dq[4] = a[4];\n dq[5] = a[5];\n dq[6] = a[6];\n dq[7] = a[7];\n return dq;\n}\n/**\r\n * Creates a new dual quat initialized with the given values\r\n *\r\n * @param {Number} x1 X component\r\n * @param {Number} y1 Y component\r\n * @param {Number} z1 Z component\r\n * @param {Number} w1 W component\r\n * @param {Number} x2 X component\r\n * @param {Number} y2 Y component\r\n * @param {Number} z2 Z component\r\n * @param {Number} w2 W component\r\n * @returns {quat2} new dual quaternion\r\n * @function\r\n */\n\n\nfunction fromValues(x1, y1, z1, w1, x2, y2, z2, w2) {\n var dq = new glMatrix.ARRAY_TYPE(8);\n dq[0] = x1;\n dq[1] = y1;\n dq[2] = z1;\n dq[3] = w1;\n dq[4] = x2;\n dq[5] = y2;\n dq[6] = z2;\n dq[7] = w2;\n return dq;\n}\n/**\r\n * Creates a new dual quat from the given values (quat and translation)\r\n *\r\n * @param {Number} x1 X component\r\n * @param {Number} y1 Y component\r\n * @param {Number} z1 Z component\r\n * @param {Number} w1 W component\r\n * @param {Number} x2 X component (translation)\r\n * @param {Number} y2 Y component (translation)\r\n * @param {Number} z2 Z component (translation)\r\n * @returns {quat2} new dual quaternion\r\n * @function\r\n */\n\n\nfunction fromRotationTranslationValues(x1, y1, z1, w1, x2, y2, z2) {\n var dq = new glMatrix.ARRAY_TYPE(8);\n dq[0] = x1;\n dq[1] = y1;\n dq[2] = z1;\n dq[3] = w1;\n var ax = x2 * 0.5,\n ay = y2 * 0.5,\n az = z2 * 0.5;\n dq[4] = ax * w1 + ay * z1 - az * y1;\n dq[5] = ay * w1 + az * x1 - ax * z1;\n dq[6] = az * w1 + ax * y1 - ay * x1;\n dq[7] = -ax * x1 - ay * y1 - az * z1;\n return dq;\n}\n/**\r\n * Creates a dual quat from a quaternion and a translation\r\n *\r\n * @param {ReadonlyQuat2} dual quaternion receiving operation result\r\n * @param {ReadonlyQuat} q a normalized quaternion\r\n * @param {ReadonlyVec3} t tranlation vector\r\n * @returns {quat2} dual quaternion receiving operation result\r\n * @function\r\n */\n\n\nfunction fromRotationTranslation(out, q, t) {\n var ax = t[0] * 0.5,\n ay = t[1] * 0.5,\n az = t[2] * 0.5,\n bx = q[0],\n by = q[1],\n bz = q[2],\n bw = q[3];\n out[0] = bx;\n out[1] = by;\n out[2] = bz;\n out[3] = bw;\n out[4] = ax * bw + ay * bz - az * by;\n out[5] = ay * bw + az * bx - ax * bz;\n out[6] = az * bw + ax * by - ay * bx;\n out[7] = -ax * bx - ay * by - az * bz;\n return out;\n}\n/**\r\n * Creates a dual quat from a translation\r\n *\r\n * @param {ReadonlyQuat2} dual quaternion receiving operation result\r\n * @param {ReadonlyVec3} t translation vector\r\n * @returns {quat2} dual quaternion receiving operation result\r\n * @function\r\n */\n\n\nfunction fromTranslation(out, t) {\n out[0] = 0;\n out[1] = 0;\n out[2] = 0;\n out[3] = 1;\n out[4] = t[0] * 0.5;\n out[5] = t[1] * 0.5;\n out[6] = t[2] * 0.5;\n out[7] = 0;\n return out;\n}\n/**\r\n * Creates a dual quat from a quaternion\r\n *\r\n * @param {ReadonlyQuat2} dual quaternion receiving operation result\r\n * @param {ReadonlyQuat} q the quaternion\r\n * @returns {quat2} dual quaternion receiving operation result\r\n * @function\r\n */\n\n\nfunction fromRotation(out, q) {\n out[0] = q[0];\n out[1] = q[1];\n out[2] = q[2];\n out[3] = q[3];\n out[4] = 0;\n out[5] = 0;\n out[6] = 0;\n out[7] = 0;\n return out;\n}\n/**\r\n * Creates a new dual quat from a matrix (4x4)\r\n *\r\n * @param {quat2} out the dual quaternion\r\n * @param {ReadonlyMat4} a the matrix\r\n * @returns {quat2} dual quat receiving operation result\r\n * @function\r\n */\n\n\nfunction fromMat4(out, a) {\n //TODO Optimize this\n var outer = quat.create();\n mat4.getRotation(outer, a);\n var t = new glMatrix.ARRAY_TYPE(3);\n mat4.getTranslation(t, a);\n fromRotationTranslation(out, outer, t);\n return out;\n}\n/**\r\n * Copy the values from one dual quat to another\r\n *\r\n * @param {quat2} out the receiving dual quaternion\r\n * @param {ReadonlyQuat2} a the source dual quaternion\r\n * @returns {quat2} out\r\n * @function\r\n */\n\n\nfunction copy(out, a) {\n out[0] = a[0];\n out[1] = a[1];\n out[2] = a[2];\n out[3] = a[3];\n out[4] = a[4];\n out[5] = a[5];\n out[6] = a[6];\n out[7] = a[7];\n return out;\n}\n/**\r\n * Set a dual quat to the identity dual quaternion\r\n *\r\n * @param {quat2} out the receiving quaternion\r\n * @returns {quat2} out\r\n */\n\n\nfunction identity(out) {\n out[0] = 0;\n out[1] = 0;\n out[2] = 0;\n out[3] = 1;\n out[4] = 0;\n out[5] = 0;\n out[6] = 0;\n out[7] = 0;\n return out;\n}\n/**\r\n * Set the components of a dual quat to the given values\r\n *\r\n * @param {quat2} out the receiving quaternion\r\n * @param {Number} x1 X component\r\n * @param {Number} y1 Y component\r\n * @param {Number} z1 Z component\r\n * @param {Number} w1 W component\r\n * @param {Number} x2 X component\r\n * @param {Number} y2 Y component\r\n * @param {Number} z2 Z component\r\n * @param {Number} w2 W component\r\n * @returns {quat2} out\r\n * @function\r\n */\n\n\nfunction set(out, x1, y1, z1, w1, x2, y2, z2, w2) {\n out[0] = x1;\n out[1] = y1;\n out[2] = z1;\n out[3] = w1;\n out[4] = x2;\n out[5] = y2;\n out[6] = z2;\n out[7] = w2;\n return out;\n}\n/**\r\n * Gets the real part of a dual quat\r\n * @param {quat} out real part\r\n * @param {ReadonlyQuat2} a Dual Quaternion\r\n * @return {quat} real part\r\n */\n\n\nvar getReal = quat.copy;\n/**\r\n * Gets the dual part of a dual quat\r\n * @param {quat} out dual part\r\n * @param {ReadonlyQuat2} a Dual Quaternion\r\n * @return {quat} dual part\r\n */\n\nexports.getReal = getReal;\n\nfunction getDual(out, a) {\n out[0] = a[4];\n out[1] = a[5];\n out[2] = a[6];\n out[3] = a[7];\n return out;\n}\n/**\r\n * Set the real component of a dual quat to the given quaternion\r\n *\r\n * @param {quat2} out the receiving quaternion\r\n * @param {ReadonlyQuat} q a quaternion representing the real part\r\n * @returns {quat2} out\r\n * @function\r\n */\n\n\nvar setReal = quat.copy;\n/**\r\n * Set the dual component of a dual quat to the given quaternion\r\n *\r\n * @param {quat2} out the receiving quaternion\r\n * @param {ReadonlyQuat} q a quaternion representing the dual part\r\n * @returns {quat2} out\r\n * @function\r\n */\n\nexports.setReal = setReal;\n\nfunction setDual(out, q) {\n out[4] = q[0];\n out[5] = q[1];\n out[6] = q[2];\n out[7] = q[3];\n return out;\n}\n/**\r\n * Gets the translation of a normalized dual quat\r\n * @param {vec3} out translation\r\n * @param {ReadonlyQuat2} a Dual Quaternion to be decomposed\r\n * @return {vec3} translation\r\n */\n\n\nfunction getTranslation(out, a) {\n var ax = a[4],\n ay = a[5],\n az = a[6],\n aw = a[7],\n bx = -a[0],\n by = -a[1],\n bz = -a[2],\n bw = a[3];\n out[0] = (ax * bw + aw * bx + ay * bz - az * by) * 2;\n out[1] = (ay * bw + aw * by + az * bx - ax * bz) * 2;\n out[2] = (az * bw + aw * bz + ax * by - ay * bx) * 2;\n return out;\n}\n/**\r\n * Translates a dual quat by the given vector\r\n *\r\n * @param {quat2} out the receiving dual quaternion\r\n * @param {ReadonlyQuat2} a the dual quaternion to translate\r\n * @param {ReadonlyVec3} v vector to translate by\r\n * @returns {quat2} out\r\n */\n\n\nfunction translate(out, a, v) {\n var ax1 = a[0],\n ay1 = a[1],\n az1 = a[2],\n aw1 = a[3],\n bx1 = v[0] * 0.5,\n by1 = v[1] * 0.5,\n bz1 = v[2] * 0.5,\n ax2 = a[4],\n ay2 = a[5],\n az2 = a[6],\n aw2 = a[7];\n out[0] = ax1;\n out[1] = ay1;\n out[2] = az1;\n out[3] = aw1;\n out[4] = aw1 * bx1 + ay1 * bz1 - az1 * by1 + ax2;\n out[5] = aw1 * by1 + az1 * bx1 - ax1 * bz1 + ay2;\n out[6] = aw1 * bz1 + ax1 * by1 - ay1 * bx1 + az2;\n out[7] = -ax1 * bx1 - ay1 * by1 - az1 * bz1 + aw2;\n return out;\n}\n/**\r\n * Rotates a dual quat around the X axis\r\n *\r\n * @param {quat2} out the receiving dual quaternion\r\n * @param {ReadonlyQuat2} a the dual quaternion to rotate\r\n * @param {number} rad how far should the rotation be\r\n * @returns {quat2} out\r\n */\n\n\nfunction rotateX(out, a, rad) {\n var bx = -a[0],\n by = -a[1],\n bz = -a[2],\n bw = a[3],\n ax = a[4],\n ay = a[5],\n az = a[6],\n aw = a[7],\n ax1 = ax * bw + aw * bx + ay * bz - az * by,\n ay1 = ay * bw + aw * by + az * bx - ax * bz,\n az1 = az * bw + aw * bz + ax * by - ay * bx,\n aw1 = aw * bw - ax * bx - ay * by - az * bz;\n quat.rotateX(out, a, rad);\n bx = out[0];\n by = out[1];\n bz = out[2];\n bw = out[3];\n out[4] = ax1 * bw + aw1 * bx + ay1 * bz - az1 * by;\n out[5] = ay1 * bw + aw1 * by + az1 * bx - ax1 * bz;\n out[6] = az1 * bw + aw1 * bz + ax1 * by - ay1 * bx;\n out[7] = aw1 * bw - ax1 * bx - ay1 * by - az1 * bz;\n return out;\n}\n/**\r\n * Rotates a dual quat around the Y axis\r\n *\r\n * @param {quat2} out the receiving dual quaternion\r\n * @param {ReadonlyQuat2} a the dual quaternion to rotate\r\n * @param {number} rad how far should the rotation be\r\n * @returns {quat2} out\r\n */\n\n\nfunction rotateY(out, a, rad) {\n var bx = -a[0],\n by = -a[1],\n bz = -a[2],\n bw = a[3],\n ax = a[4],\n ay = a[5],\n az = a[6],\n aw = a[7],\n ax1 = ax * bw + aw * bx + ay * bz - az * by,\n ay1 = ay * bw + aw * by + az * bx - ax * bz,\n az1 = az * bw + aw * bz + ax * by - ay * bx,\n aw1 = aw * bw - ax * bx - ay * by - az * bz;\n quat.rotateY(out, a, rad);\n bx = out[0];\n by = out[1];\n bz = out[2];\n bw = out[3];\n out[4] = ax1 * bw + aw1 * bx + ay1 * bz - az1 * by;\n out[5] = ay1 * bw + aw1 * by + az1 * bx - ax1 * bz;\n out[6] = az1 * bw + aw1 * bz + ax1 * by - ay1 * bx;\n out[7] = aw1 * bw - ax1 * bx - ay1 * by - az1 * bz;\n return out;\n}\n/**\r\n * Rotates a dual quat around the Z axis\r\n *\r\n * @param {quat2} out the receiving dual quaternion\r\n * @param {ReadonlyQuat2} a the dual quaternion to rotate\r\n * @param {number} rad how far should the rotation be\r\n * @returns {quat2} out\r\n */\n\n\nfunction rotateZ(out, a, rad) {\n var bx = -a[0],\n by = -a[1],\n bz = -a[2],\n bw = a[3],\n ax = a[4],\n ay = a[5],\n az = a[6],\n aw = a[7],\n ax1 = ax * bw + aw * bx + ay * bz - az * by,\n ay1 = ay * bw + aw * by + az * bx - ax * bz,\n az1 = az * bw + aw * bz + ax * by - ay * bx,\n aw1 = aw * bw - ax * bx - ay * by - az * bz;\n quat.rotateZ(out, a, rad);\n bx = out[0];\n by = out[1];\n bz = out[2];\n bw = out[3];\n out[4] = ax1 * bw + aw1 * bx + ay1 * bz - az1 * by;\n out[5] = ay1 * bw + aw1 * by + az1 * bx - ax1 * bz;\n out[6] = az1 * bw + aw1 * bz + ax1 * by - ay1 * bx;\n out[7] = aw1 * bw - ax1 * bx - ay1 * by - az1 * bz;\n return out;\n}\n/**\r\n * Rotates a dual quat by a given quaternion (a * q)\r\n *\r\n * @param {quat2} out the receiving dual quaternion\r\n * @param {ReadonlyQuat2} a the dual quaternion to rotate\r\n * @param {ReadonlyQuat} q quaternion to rotate by\r\n * @returns {quat2} out\r\n */\n\n\nfunction rotateByQuatAppend(out, a, q) {\n var qx = q[0],\n qy = q[1],\n qz = q[2],\n qw = q[3],\n ax = a[0],\n ay = a[1],\n az = a[2],\n aw = a[3];\n out[0] = ax * qw + aw * qx + ay * qz - az * qy;\n out[1] = ay * qw + aw * qy + az * qx - ax * qz;\n out[2] = az * qw + aw * qz + ax * qy - ay * qx;\n out[3] = aw * qw - ax * qx - ay * qy - az * qz;\n ax = a[4];\n ay = a[5];\n az = a[6];\n aw = a[7];\n out[4] = ax * qw + aw * qx + ay * qz - az * qy;\n out[5] = ay * qw + aw * qy + az * qx - ax * qz;\n out[6] = az * qw + aw * qz + ax * qy - ay * qx;\n out[7] = aw * qw - ax * qx - ay * qy - az * qz;\n return out;\n}\n/**\r\n * Rotates a dual quat by a given quaternion (q * a)\r\n *\r\n * @param {quat2} out the receiving dual quaternion\r\n * @param {ReadonlyQuat} q quaternion to rotate by\r\n * @param {ReadonlyQuat2} a the dual quaternion to rotate\r\n * @returns {quat2} out\r\n */\n\n\nfunction rotateByQuatPrepend(out, q, a) {\n var qx = q[0],\n qy = q[1],\n qz = q[2],\n qw = q[3],\n bx = a[0],\n by = a[1],\n bz = a[2],\n bw = a[3];\n out[0] = qx * bw + qw * bx + qy * bz - qz * by;\n out[1] = qy * bw + qw * by + qz * bx - qx * bz;\n out[2] = qz * bw + qw * bz + qx * by - qy * bx;\n out[3] = qw * bw - qx * bx - qy * by - qz * bz;\n bx = a[4];\n by = a[5];\n bz = a[6];\n bw = a[7];\n out[4] = qx * bw + qw * bx + qy * bz - qz * by;\n out[5] = qy * bw + qw * by + qz * bx - qx * bz;\n out[6] = qz * bw + qw * bz + qx * by - qy * bx;\n out[7] = qw * bw - qx * bx - qy * by - qz * bz;\n return out;\n}\n/**\r\n * Rotates a dual quat around a given axis. Does the normalisation automatically\r\n *\r\n * @param {quat2} out the receiving dual quaternion\r\n * @param {ReadonlyQuat2} a the dual quaternion to rotate\r\n * @param {ReadonlyVec3} axis the axis to rotate around\r\n * @param {Number} rad how far the rotation should be\r\n * @returns {quat2} out\r\n */\n\n\nfunction rotateAroundAxis(out, a, axis, rad) {\n //Special case for rad = 0\n if (Math.abs(rad) < glMatrix.EPSILON) {\n return copy(out, a);\n }\n\n var axisLength = Math.hypot(axis[0], axis[1], axis[2]);\n rad = rad * 0.5;\n var s = Math.sin(rad);\n var bx = s * axis[0] / axisLength;\n var by = s * axis[1] / axisLength;\n var bz = s * axis[2] / axisLength;\n var bw = Math.cos(rad);\n var ax1 = a[0],\n ay1 = a[1],\n az1 = a[2],\n aw1 = a[3];\n out[0] = ax1 * bw + aw1 * bx + ay1 * bz - az1 * by;\n out[1] = ay1 * bw + aw1 * by + az1 * bx - ax1 * bz;\n out[2] = az1 * bw + aw1 * bz + ax1 * by - ay1 * bx;\n out[3] = aw1 * bw - ax1 * bx - ay1 * by - az1 * bz;\n var ax = a[4],\n ay = a[5],\n az = a[6],\n aw = a[7];\n out[4] = ax * bw + aw * bx + ay * bz - az * by;\n out[5] = ay * bw + aw * by + az * bx - ax * bz;\n out[6] = az * bw + aw * bz + ax * by - ay * bx;\n out[7] = aw * bw - ax * bx - ay * by - az * bz;\n return out;\n}\n/**\r\n * Adds two dual quat's\r\n *\r\n * @param {quat2} out the receiving dual quaternion\r\n * @param {ReadonlyQuat2} a the first operand\r\n * @param {ReadonlyQuat2} b the second operand\r\n * @returns {quat2} out\r\n * @function\r\n */\n\n\nfunction add(out, a, b) {\n out[0] = a[0] + b[0];\n out[1] = a[1] + b[1];\n out[2] = a[2] + b[2];\n out[3] = a[3] + b[3];\n out[4] = a[4] + b[4];\n out[5] = a[5] + b[5];\n out[6] = a[6] + b[6];\n out[7] = a[7] + b[7];\n return out;\n}\n/**\r\n * Multiplies two dual quat's\r\n *\r\n * @param {quat2} out the receiving dual quaternion\r\n * @param {ReadonlyQuat2} a the first operand\r\n * @param {ReadonlyQuat2} b the second operand\r\n * @returns {quat2} out\r\n */\n\n\nfunction multiply(out, a, b) {\n var ax0 = a[0],\n ay0 = a[1],\n az0 = a[2],\n aw0 = a[3],\n bx1 = b[4],\n by1 = b[5],\n bz1 = b[6],\n bw1 = b[7],\n ax1 = a[4],\n ay1 = a[5],\n az1 = a[6],\n aw1 = a[7],\n bx0 = b[0],\n by0 = b[1],\n bz0 = b[2],\n bw0 = b[3];\n out[0] = ax0 * bw0 + aw0 * bx0 + ay0 * bz0 - az0 * by0;\n out[1] = ay0 * bw0 + aw0 * by0 + az0 * bx0 - ax0 * bz0;\n out[2] = az0 * bw0 + aw0 * bz0 + ax0 * by0 - ay0 * bx0;\n out[3] = aw0 * bw0 - ax0 * bx0 - ay0 * by0 - az0 * bz0;\n out[4] = ax0 * bw1 + aw0 * bx1 + ay0 * bz1 - az0 * by1 + ax1 * bw0 + aw1 * bx0 + ay1 * bz0 - az1 * by0;\n out[5] = ay0 * bw1 + aw0 * by1 + az0 * bx1 - ax0 * bz1 + ay1 * bw0 + aw1 * by0 + az1 * bx0 - ax1 * bz0;\n out[6] = az0 * bw1 + aw0 * bz1 + ax0 * by1 - ay0 * bx1 + az1 * bw0 + aw1 * bz0 + ax1 * by0 - ay1 * bx0;\n out[7] = aw0 * bw1 - ax0 * bx1 - ay0 * by1 - az0 * bz1 + aw1 * bw0 - ax1 * bx0 - ay1 * by0 - az1 * bz0;\n return out;\n}\n/**\r\n * Alias for {@link quat2.multiply}\r\n * @function\r\n */\n\n\nvar mul = multiply;\n/**\r\n * Scales a dual quat by a scalar number\r\n *\r\n * @param {quat2} out the receiving dual quat\r\n * @param {ReadonlyQuat2} a the dual quat to scale\r\n * @param {Number} b amount to scale the dual quat by\r\n * @returns {quat2} out\r\n * @function\r\n */\n\nexports.mul = mul;\n\nfunction scale(out, a, b) {\n out[0] = a[0] * b;\n out[1] = a[1] * b;\n out[2] = a[2] * b;\n out[3] = a[3] * b;\n out[4] = a[4] * b;\n out[5] = a[5] * b;\n out[6] = a[6] * b;\n out[7] = a[7] * b;\n return out;\n}\n/**\r\n * Calculates the dot product of two dual quat's (The dot product of the real parts)\r\n *\r\n * @param {ReadonlyQuat2} a the first operand\r\n * @param {ReadonlyQuat2} b the second operand\r\n * @returns {Number} dot product of a and b\r\n * @function\r\n */\n\n\nvar dot = quat.dot;\n/**\r\n * Performs a linear interpolation between two dual quats's\r\n * NOTE: The resulting dual quaternions won't always be normalized (The error is most noticeable when t = 0.5)\r\n *\r\n * @param {quat2} out the receiving dual quat\r\n * @param {ReadonlyQuat2} a the first operand\r\n * @param {ReadonlyQuat2} b the second operand\r\n * @param {Number} t interpolation amount, in the range [0-1], between the two inputs\r\n * @returns {quat2} out\r\n */\n\nexports.dot = dot;\n\nfunction lerp(out, a, b, t) {\n var mt = 1 - t;\n if (dot(a, b) < 0) t = -t;\n out[0] = a[0] * mt + b[0] * t;\n out[1] = a[1] * mt + b[1] * t;\n out[2] = a[2] * mt + b[2] * t;\n out[3] = a[3] * mt + b[3] * t;\n out[4] = a[4] * mt + b[4] * t;\n out[5] = a[5] * mt + b[5] * t;\n out[6] = a[6] * mt + b[6] * t;\n out[7] = a[7] * mt + b[7] * t;\n return out;\n}\n/**\r\n * Calculates the inverse of a dual quat. If they are normalized, conjugate is cheaper\r\n *\r\n * @param {quat2} out the receiving dual quaternion\r\n * @param {ReadonlyQuat2} a dual quat to calculate inverse of\r\n * @returns {quat2} out\r\n */\n\n\nfunction invert(out, a) {\n var sqlen = squaredLength(a);\n out[0] = -a[0] / sqlen;\n out[1] = -a[1] / sqlen;\n out[2] = -a[2] / sqlen;\n out[3] = a[3] / sqlen;\n out[4] = -a[4] / sqlen;\n out[5] = -a[5] / sqlen;\n out[6] = -a[6] / sqlen;\n out[7] = a[7] / sqlen;\n return out;\n}\n/**\r\n * Calculates the conjugate of a dual quat\r\n * If the dual quaternion is normalized, this function is faster than quat2.inverse and produces the same result.\r\n *\r\n * @param {quat2} out the receiving quaternion\r\n * @param {ReadonlyQuat2} a quat to calculate conjugate of\r\n * @returns {quat2} out\r\n */\n\n\nfunction conjugate(out, a) {\n out[0] = -a[0];\n out[1] = -a[1];\n out[2] = -a[2];\n out[3] = a[3];\n out[4] = -a[4];\n out[5] = -a[5];\n out[6] = -a[6];\n out[7] = a[7];\n return out;\n}\n/**\r\n * Calculates the length of a dual quat\r\n *\r\n * @param {ReadonlyQuat2} a dual quat to calculate length of\r\n * @returns {Number} length of a\r\n * @function\r\n */\n\n\nvar length = quat.length;\n/**\r\n * Alias for {@link quat2.length}\r\n * @function\r\n */\n\nexports.length = length;\nvar len = length;\n/**\r\n * Calculates the squared length of a dual quat\r\n *\r\n * @param {ReadonlyQuat2} a dual quat to calculate squared length of\r\n * @returns {Number} squared length of a\r\n * @function\r\n */\n\nexports.len = len;\nvar squaredLength = quat.squaredLength;\n/**\r\n * Alias for {@link quat2.squaredLength}\r\n * @function\r\n */\n\nexports.squaredLength = squaredLength;\nvar sqrLen = squaredLength;\n/**\r\n * Normalize a dual quat\r\n *\r\n * @param {quat2} out the receiving dual quaternion\r\n * @param {ReadonlyQuat2} a dual quaternion to normalize\r\n * @returns {quat2} out\r\n * @function\r\n */\n\nexports.sqrLen = sqrLen;\n\nfunction normalize(out, a) {\n var magnitude = squaredLength(a);\n\n if (magnitude > 0) {\n magnitude = Math.sqrt(magnitude);\n var a0 = a[0] / magnitude;\n var a1 = a[1] / magnitude;\n var a2 = a[2] / magnitude;\n var a3 = a[3] / magnitude;\n var b0 = a[4];\n var b1 = a[5];\n var b2 = a[6];\n var b3 = a[7];\n var a_dot_b = a0 * b0 + a1 * b1 + a2 * b2 + a3 * b3;\n out[0] = a0;\n out[1] = a1;\n out[2] = a2;\n out[3] = a3;\n out[4] = (b0 - a0 * a_dot_b) / magnitude;\n out[5] = (b1 - a1 * a_dot_b) / magnitude;\n out[6] = (b2 - a2 * a_dot_b) / magnitude;\n out[7] = (b3 - a3 * a_dot_b) / magnitude;\n }\n\n return out;\n}\n/**\r\n * Returns a string representation of a dual quatenion\r\n *\r\n * @param {ReadonlyQuat2} a dual quaternion to represent as a string\r\n * @returns {String} string representation of the dual quat\r\n */\n\n\nfunction str(a) {\n return \"quat2(\" + a[0] + \", \" + a[1] + \", \" + a[2] + \", \" + a[3] + \", \" + a[4] + \", \" + a[5] + \", \" + a[6] + \", \" + a[7] + \")\";\n}\n/**\r\n * Returns whether or not the dual quaternions have exactly the same elements in the same position (when compared with ===)\r\n *\r\n * @param {ReadonlyQuat2} a the first dual quaternion.\r\n * @param {ReadonlyQuat2} b the second dual quaternion.\r\n * @returns {Boolean} true if the dual quaternions are equal, false otherwise.\r\n */\n\n\nfunction exactEquals(a, b) {\n return a[0] === b[0] && a[1] === b[1] && a[2] === b[2] && a[3] === b[3] && a[4] === b[4] && a[5] === b[5] && a[6] === b[6] && a[7] === b[7];\n}\n/**\r\n * Returns whether or not the dual quaternions have approximately the same elements in the same position.\r\n *\r\n * @param {ReadonlyQuat2} a the first dual quat.\r\n * @param {ReadonlyQuat2} b the second dual quat.\r\n * @returns {Boolean} true if the dual quats are equal, false otherwise.\r\n */\n\n\nfunction equals(a, b) {\n var a0 = a[0],\n a1 = a[1],\n a2 = a[2],\n a3 = a[3],\n a4 = a[4],\n a5 = a[5],\n a6 = a[6],\n a7 = a[7];\n var b0 = b[0],\n b1 = b[1],\n b2 = b[2],\n b3 = 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\r\n * Make sure to have normalized dual quaternions, otherwise the functions may not work as intended.
\r\n * @module quat2\r\n */\n\n/**\r\n * Creates a new identity dual quat\r\n *\r\n * @returns {quat2} a new dual quaternion [real -> rotation, dual -> translation]\r\n */\n\nexport function create() {\n var dq = new glMatrix.ARRAY_TYPE(8);\n\n if (glMatrix.ARRAY_TYPE != Float32Array) {\n dq[0] = 0;\n dq[1] = 0;\n dq[2] = 0;\n dq[4] = 0;\n dq[5] = 0;\n dq[6] = 0;\n dq[7] = 0;\n }\n\n dq[3] = 1;\n return dq;\n}\n/**\r\n * Creates a new quat initialized with values from an existing quaternion\r\n *\r\n * @param {ReadonlyQuat2} a dual quaternion to clone\r\n * @returns {quat2} new dual quaternion\r\n * @function\r\n */\n\nexport function clone(a) {\n var dq = new glMatrix.ARRAY_TYPE(8);\n dq[0] = a[0];\n dq[1] = a[1];\n dq[2] = a[2];\n dq[3] = a[3];\n dq[4] = a[4];\n dq[5] = a[5];\n dq[6] = a[6];\n dq[7] = a[7];\n return dq;\n}\n/**\r\n * Creates a new dual quat initialized with the given values\r\n *\r\n * @param {Number} x1 X component\r\n * @param {Number} y1 Y component\r\n * @param {Number} z1 Z component\r\n * @param {Number} w1 W component\r\n * @param {Number} x2 X component\r\n * @param {Number} y2 Y component\r\n * @param {Number} z2 Z component\r\n * @param {Number} w2 W component\r\n * @returns {quat2} new dual quaternion\r\n * @function\r\n */\n\nexport function fromValues(x1, y1, z1, w1, x2, y2, z2, w2) {\n var dq = new glMatrix.ARRAY_TYPE(8);\n dq[0] = x1;\n dq[1] = y1;\n dq[2] = z1;\n dq[3] = w1;\n dq[4] = x2;\n dq[5] = y2;\n dq[6] = z2;\n dq[7] = w2;\n return dq;\n}\n/**\r\n * Creates a new dual quat from the given values (quat and translation)\r\n *\r\n * @param {Number} x1 X component\r\n * @param {Number} y1 Y component\r\n * @param {Number} z1 Z component\r\n * @param {Number} w1 W component\r\n * @param {Number} x2 X component (translation)\r\n * @param {Number} y2 Y component (translation)\r\n * @param {Number} z2 Z component (translation)\r\n * @returns {quat2} new dual quaternion\r\n * @function\r\n */\n\nexport function fromRotationTranslationValues(x1, y1, z1, w1, x2, y2, z2) {\n var dq = new glMatrix.ARRAY_TYPE(8);\n dq[0] = x1;\n dq[1] = y1;\n dq[2] = z1;\n dq[3] = w1;\n var ax = x2 * 0.5,\n ay = y2 * 0.5,\n az = z2 * 0.5;\n dq[4] = ax * w1 + ay * z1 - az * y1;\n dq[5] = ay * w1 + az * x1 - ax * z1;\n dq[6] = az * w1 + ax * y1 - ay * x1;\n dq[7] = -ax * x1 - ay * y1 - az * z1;\n return dq;\n}\n/**\r\n * Creates a dual quat from a quaternion and a translation\r\n *\r\n * @param {ReadonlyQuat2} dual quaternion receiving operation result\r\n * @param {ReadonlyQuat} q a normalized quaternion\r\n * @param {ReadonlyVec3} t tranlation vector\r\n * @returns {quat2} dual quaternion receiving operation result\r\n * @function\r\n */\n\nexport function fromRotationTranslation(out, q, t) {\n var ax = t[0] * 0.5,\n ay = t[1] * 0.5,\n az = t[2] * 0.5,\n bx = q[0],\n by = q[1],\n bz = q[2],\n bw = q[3];\n out[0] = bx;\n out[1] = by;\n out[2] = bz;\n out[3] = bw;\n out[4] = ax * bw + ay * bz - az * by;\n out[5] = ay * bw + az * bx - ax * bz;\n out[6] = az * bw + ax * by - ay * bx;\n out[7] = -ax * bx - ay * by - az * bz;\n return out;\n}\n/**\r\n * Creates a dual quat from a translation\r\n *\r\n * @param {ReadonlyQuat2} dual quaternion receiving operation result\r\n * @param {ReadonlyVec3} t translation vector\r\n * @returns {quat2} dual quaternion receiving operation result\r\n * @function\r\n */\n\nexport function fromTranslation(out, t) {\n out[0] = 0;\n out[1] = 0;\n out[2] = 0;\n out[3] = 1;\n out[4] = t[0] * 0.5;\n out[5] = t[1] * 0.5;\n out[6] = t[2] * 0.5;\n out[7] = 0;\n return out;\n}\n/**\r\n * Creates a dual quat from a quaternion\r\n *\r\n * @param {ReadonlyQuat2} dual quaternion receiving operation result\r\n * @param {ReadonlyQuat} q the quaternion\r\n * @returns {quat2} dual quaternion receiving operation result\r\n * @function\r\n */\n\nexport function fromRotation(out, q) {\n out[0] = q[0];\n out[1] = q[1];\n out[2] = q[2];\n out[3] = q[3];\n out[4] = 0;\n out[5] = 0;\n out[6] = 0;\n out[7] = 0;\n return out;\n}\n/**\r\n * Creates a new dual quat from a matrix (4x4)\r\n *\r\n * @param {quat2} out the dual quaternion\r\n * @param {ReadonlyMat4} a the matrix\r\n * @returns {quat2} dual quat receiving operation result\r\n * @function\r\n */\n\nexport function fromMat4(out, a) {\n //TODO Optimize this\n var outer = quat.create();\n mat4.getRotation(outer, a);\n var t = new glMatrix.ARRAY_TYPE(3);\n mat4.getTranslation(t, a);\n fromRotationTranslation(out, outer, t);\n return out;\n}\n/**\r\n * Copy the values from one dual quat to another\r\n *\r\n * @param {quat2} out the receiving dual quaternion\r\n * @param {ReadonlyQuat2} a the source dual quaternion\r\n * @returns {quat2} out\r\n * @function\r\n */\n\nexport function copy(out, a) {\n out[0] = a[0];\n out[1] = a[1];\n out[2] = a[2];\n out[3] = a[3];\n out[4] = a[4];\n out[5] = a[5];\n out[6] = a[6];\n out[7] = a[7];\n return out;\n}\n/**\r\n * Set a dual quat to the identity dual quaternion\r\n *\r\n * @param {quat2} out the receiving quaternion\r\n * @returns {quat2} out\r\n */\n\nexport function identity(out) {\n out[0] = 0;\n out[1] = 0;\n out[2] = 0;\n out[3] = 1;\n out[4] = 0;\n out[5] = 0;\n out[6] = 0;\n out[7] = 0;\n return out;\n}\n/**\r\n * Set the components of a dual quat to the given values\r\n *\r\n * @param {quat2} out the receiving quaternion\r\n * @param {Number} x1 X component\r\n * @param {Number} y1 Y component\r\n * @param {Number} z1 Z component\r\n * @param {Number} w1 W component\r\n * @param {Number} x2 X component\r\n * @param {Number} y2 Y component\r\n * @param {Number} z2 Z component\r\n * @param {Number} w2 W component\r\n * @returns {quat2} out\r\n * @function\r\n */\n\nexport function set(out, x1, y1, z1, w1, x2, y2, z2, w2) {\n out[0] = x1;\n out[1] = y1;\n out[2] = z1;\n out[3] = w1;\n out[4] = x2;\n out[5] = y2;\n out[6] = z2;\n out[7] = w2;\n return out;\n}\n/**\r\n * Gets the real part of a dual quat\r\n * @param {quat} out real part\r\n * @param {ReadonlyQuat2} a Dual Quaternion\r\n * @return {quat} real part\r\n */\n\nexport var getReal = quat.copy;\n/**\r\n * Gets the dual part of a dual quat\r\n * @param {quat} out dual part\r\n * @param {ReadonlyQuat2} a Dual Quaternion\r\n * @return {quat} dual part\r\n */\n\nexport function getDual(out, a) {\n out[0] = a[4];\n out[1] = a[5];\n out[2] = a[6];\n out[3] = a[7];\n return out;\n}\n/**\r\n * Set the real component of a dual quat to the given quaternion\r\n *\r\n * @param {quat2} out the receiving quaternion\r\n * @param {ReadonlyQuat} q a quaternion representing the real part\r\n * @returns {quat2} out\r\n * @function\r\n */\n\nexport var setReal = quat.copy;\n/**\r\n * Set the dual component of a dual quat to the given quaternion\r\n *\r\n * @param {quat2} out the receiving quaternion\r\n * @param {ReadonlyQuat} q a quaternion representing the dual part\r\n * @returns {quat2} out\r\n * @function\r\n */\n\nexport function setDual(out, q) {\n out[4] = q[0];\n out[5] = q[1];\n out[6] = q[2];\n out[7] = q[3];\n return out;\n}\n/**\r\n * Gets the translation of a normalized dual quat\r\n * @param {vec3} out translation\r\n * @param {ReadonlyQuat2} a Dual Quaternion to be decomposed\r\n * @return {vec3} translation\r\n */\n\nexport function getTranslation(out, a) {\n var ax = a[4],\n ay = a[5],\n az = a[6],\n aw = a[7],\n bx = -a[0],\n by = -a[1],\n bz = -a[2],\n bw = a[3];\n out[0] = (ax * bw + aw * bx + ay * bz - az * by) * 2;\n out[1] = (ay * bw + aw * by + az * bx - ax * bz) * 2;\n out[2] = (az * bw + aw * bz + ax * by - ay * bx) * 2;\n return out;\n}\n/**\r\n * Translates a dual quat by the given vector\r\n *\r\n * @param {quat2} out the receiving dual quaternion\r\n * @param {ReadonlyQuat2} a the dual quaternion to translate\r\n * @param {ReadonlyVec3} v vector to translate by\r\n * @returns {quat2} out\r\n */\n\nexport function translate(out, a, v) {\n var ax1 = a[0],\n ay1 = a[1],\n az1 = a[2],\n aw1 = a[3],\n bx1 = v[0] * 0.5,\n by1 = v[1] * 0.5,\n bz1 = v[2] * 0.5,\n ax2 = a[4],\n ay2 = a[5],\n az2 = a[6],\n aw2 = a[7];\n out[0] = ax1;\n out[1] = ay1;\n out[2] = az1;\n out[3] = aw1;\n out[4] = aw1 * bx1 + ay1 * bz1 - az1 * by1 + ax2;\n out[5] = aw1 * by1 + az1 * bx1 - ax1 * bz1 + ay2;\n out[6] = aw1 * bz1 + ax1 * by1 - ay1 * bx1 + az2;\n out[7] = -ax1 * bx1 - ay1 * by1 - az1 * bz1 + aw2;\n return out;\n}\n/**\r\n * Rotates a dual quat around the X axis\r\n *\r\n * @param {quat2} out the receiving dual quaternion\r\n * @param {ReadonlyQuat2} a the dual quaternion to rotate\r\n * @param {number} rad how far should the rotation be\r\n * @returns {quat2} out\r\n */\n\nexport function rotateX(out, a, rad) {\n var bx = -a[0],\n by = -a[1],\n bz = -a[2],\n bw = a[3],\n ax = a[4],\n ay = a[5],\n az = a[6],\n aw = a[7],\n ax1 = ax * bw + aw * bx + ay * bz - az * by,\n ay1 = ay * bw + aw * by + az * bx - ax * bz,\n az1 = az * bw + aw * bz + ax * by - ay * bx,\n aw1 = aw * bw - ax * bx - ay * by - az * bz;\n quat.rotateX(out, a, rad);\n bx = out[0];\n by = out[1];\n bz = out[2];\n bw = out[3];\n out[4] = ax1 * bw + aw1 * bx + ay1 * bz - az1 * by;\n out[5] = ay1 * bw + aw1 * by + az1 * bx - ax1 * bz;\n out[6] = az1 * bw + aw1 * bz + ax1 * by - ay1 * bx;\n out[7] = aw1 * bw - ax1 * bx - ay1 * by - az1 * bz;\n return out;\n}\n/**\r\n * Rotates a dual quat around the Y axis\r\n *\r\n * @param {quat2} out the receiving dual quaternion\r\n * @param {ReadonlyQuat2} a the dual quaternion to rotate\r\n * @param {number} rad how far should the rotation be\r\n * @returns {quat2} out\r\n */\n\nexport function rotateY(out, a, rad) {\n var bx = -a[0],\n by = -a[1],\n bz = -a[2],\n bw = a[3],\n ax = a[4],\n ay = a[5],\n az = a[6],\n aw = a[7],\n ax1 = ax * bw + aw * bx + ay * bz - az * by,\n ay1 = ay * bw + aw * by + az * bx - ax * bz,\n az1 = az * bw + aw * bz + ax * by - ay * bx,\n aw1 = aw * bw - ax * bx - ay * by - az * bz;\n quat.rotateY(out, a, rad);\n bx = out[0];\n by = out[1];\n bz = out[2];\n bw = out[3];\n out[4] = ax1 * bw + aw1 * bx + ay1 * bz - az1 * by;\n out[5] = ay1 * bw + aw1 * by + az1 * bx - ax1 * bz;\n out[6] = az1 * bw + aw1 * bz + ax1 * by - ay1 * bx;\n out[7] = aw1 * bw - ax1 * bx - ay1 * by - az1 * bz;\n return out;\n}\n/**\r\n * Rotates a dual quat around the Z axis\r\n *\r\n * @param {quat2} out the receiving dual quaternion\r\n * @param {ReadonlyQuat2} a the dual quaternion to rotate\r\n * @param {number} rad how far should the rotation be\r\n * @returns {quat2} out\r\n */\n\nexport function rotateZ(out, a, rad) {\n var bx = -a[0],\n by = -a[1],\n bz = -a[2],\n bw = a[3],\n ax = a[4],\n ay = a[5],\n az = a[6],\n aw = a[7],\n ax1 = ax * bw + aw * bx + ay * bz - az * by,\n ay1 = ay * bw + aw * by + az * bx - ax * bz,\n az1 = az * bw + aw * bz + ax * by - ay * bx,\n aw1 = aw * bw - ax * bx - ay * by - az * bz;\n quat.rotateZ(out, a, rad);\n bx = out[0];\n by = out[1];\n bz = out[2];\n bw = out[3];\n out[4] = ax1 * bw + aw1 * bx + ay1 * bz - az1 * by;\n out[5] = ay1 * bw + aw1 * by + az1 * bx - ax1 * bz;\n out[6] = az1 * bw + aw1 * bz + ax1 * by - ay1 * bx;\n out[7] = aw1 * bw - ax1 * bx - ay1 * by - az1 * bz;\n return out;\n}\n/**\r\n * Rotates a dual quat by a given quaternion (a * q)\r\n *\r\n * @param {quat2} out the receiving dual quaternion\r\n * @param {ReadonlyQuat2} a the dual quaternion to rotate\r\n * @param {ReadonlyQuat} q quaternion to rotate by\r\n * @returns {quat2} out\r\n */\n\nexport function rotateByQuatAppend(out, a, q) {\n var qx = q[0],\n qy = q[1],\n qz = q[2],\n qw = q[3],\n ax = a[0],\n ay = a[1],\n az = a[2],\n aw = a[3];\n out[0] = ax * qw + aw * qx + ay * qz - az * qy;\n out[1] = ay * qw + aw * qy + az * qx - ax * qz;\n out[2] = az * qw + aw * qz + ax * qy - ay * qx;\n out[3] = aw * qw - ax * qx - ay * qy - az * qz;\n ax = a[4];\n ay = a[5];\n az = a[6];\n aw = a[7];\n out[4] = ax * qw + aw * qx + ay * qz - az * qy;\n out[5] = ay * qw + aw * qy + az * qx - ax * qz;\n out[6] = az * qw + aw * qz + ax * qy - ay * qx;\n out[7] = aw * qw - ax * qx - ay * qy - az * qz;\n return out;\n}\n/**\r\n * Rotates a dual quat by a given quaternion (q * a)\r\n *\r\n * @param {quat2} out the receiving dual quaternion\r\n * @param {ReadonlyQuat} q quaternion to rotate by\r\n * @param {ReadonlyQuat2} a the dual quaternion to rotate\r\n * @returns {quat2} out\r\n */\n\nexport function rotateByQuatPrepend(out, q, a) {\n var qx = q[0],\n qy = q[1],\n qz = q[2],\n qw = q[3],\n bx = a[0],\n by = a[1],\n bz = a[2],\n bw = a[3];\n out[0] = qx * bw + qw * bx + qy * bz - qz * by;\n out[1] = qy * bw + qw * by + qz * bx - qx * bz;\n out[2] = qz * bw + qw * bz + qx * by - qy * bx;\n out[3] = qw * bw - qx * bx - qy * by - qz * bz;\n bx = a[4];\n by = a[5];\n bz = a[6];\n bw = a[7];\n out[4] = qx * bw + qw * bx + qy * bz - qz * by;\n out[5] = qy * bw + qw * by + qz * bx - qx * bz;\n out[6] = qz * bw + qw * bz + qx * by - qy * bx;\n out[7] = qw * bw - qx * bx - qy * by - qz * bz;\n return out;\n}\n/**\r\n * Rotates a dual quat around a given axis. Does the normalisation automatically\r\n *\r\n * @param {quat2} out the receiving dual quaternion\r\n * @param {ReadonlyQuat2} a the dual quaternion to rotate\r\n * @param {ReadonlyVec3} axis the axis to rotate around\r\n * @param {Number} rad how far the rotation should be\r\n * @returns {quat2} out\r\n */\n\nexport function rotateAroundAxis(out, a, axis, rad) {\n //Special case for rad = 0\n if (Math.abs(rad) < glMatrix.EPSILON) {\n return copy(out, a);\n }\n\n var axisLength = Math.hypot(axis[0], axis[1], axis[2]);\n rad = rad * 0.5;\n var s = Math.sin(rad);\n var bx = s * axis[0] / axisLength;\n var by = s * axis[1] / axisLength;\n var bz = s * axis[2] / axisLength;\n var bw = Math.cos(rad);\n var ax1 = a[0],\n ay1 = a[1],\n az1 = a[2],\n aw1 = a[3];\n out[0] = ax1 * bw + aw1 * bx + ay1 * bz - az1 * by;\n out[1] = ay1 * bw + aw1 * by + az1 * bx - ax1 * bz;\n out[2] = az1 * bw + aw1 * bz + ax1 * by - ay1 * bx;\n out[3] = aw1 * bw - ax1 * bx - ay1 * by - az1 * bz;\n var ax = a[4],\n ay = a[5],\n az = a[6],\n aw = a[7];\n out[4] = ax * bw + aw * bx + ay * bz - az * by;\n out[5] = ay * bw + aw * by + az * bx - ax * bz;\n out[6] = az * bw + aw * bz + ax * by - ay * bx;\n out[7] = aw * bw - ax * bx - ay * by - az * bz;\n return out;\n}\n/**\r\n * Adds two dual quat's\r\n *\r\n * @param {quat2} out the receiving dual quaternion\r\n * @param {ReadonlyQuat2} a the first operand\r\n * @param {ReadonlyQuat2} b the second operand\r\n * @returns {quat2} out\r\n * @function\r\n */\n\nexport function add(out, a, b) {\n out[0] = a[0] + b[0];\n out[1] = a[1] + b[1];\n out[2] = a[2] + b[2];\n out[3] = a[3] + b[3];\n out[4] = a[4] + b[4];\n out[5] = a[5] + b[5];\n out[6] = a[6] + b[6];\n out[7] = a[7] + b[7];\n return out;\n}\n/**\r\n * Multiplies two dual quat's\r\n *\r\n * @param {quat2} out the receiving dual quaternion\r\n * @param {ReadonlyQuat2} a the first operand\r\n * @param {ReadonlyQuat2} b the second operand\r\n * @returns {quat2} out\r\n */\n\nexport function multiply(out, a, b) {\n var ax0 = a[0],\n ay0 = a[1],\n az0 = a[2],\n aw0 = a[3],\n bx1 = b[4],\n by1 = b[5],\n bz1 = b[6],\n bw1 = b[7],\n ax1 = a[4],\n ay1 = a[5],\n az1 = a[6],\n aw1 = a[7],\n bx0 = b[0],\n by0 = b[1],\n bz0 = b[2],\n bw0 = b[3];\n out[0] = ax0 * bw0 + aw0 * bx0 + ay0 * bz0 - az0 * by0;\n out[1] = ay0 * bw0 + aw0 * by0 + az0 * bx0 - ax0 * bz0;\n out[2] = az0 * bw0 + aw0 * bz0 + ax0 * by0 - ay0 * bx0;\n out[3] = aw0 * bw0 - ax0 * bx0 - ay0 * by0 - az0 * bz0;\n out[4] = ax0 * bw1 + aw0 * bx1 + ay0 * bz1 - az0 * by1 + ax1 * bw0 + aw1 * bx0 + ay1 * bz0 - az1 * by0;\n out[5] = ay0 * bw1 + aw0 * by1 + az0 * bx1 - ax0 * bz1 + ay1 * bw0 + aw1 * by0 + az1 * bx0 - ax1 * bz0;\n out[6] = az0 * bw1 + aw0 * bz1 + ax0 * by1 - ay0 * bx1 + az1 * bw0 + aw1 * bz0 + ax1 * by0 - ay1 * bx0;\n out[7] = aw0 * bw1 - ax0 * bx1 - ay0 * by1 - az0 * bz1 + aw1 * bw0 - ax1 * bx0 - ay1 * by0 - az1 * bz0;\n return out;\n}\n/**\r\n * Alias for {@link quat2.multiply}\r\n * @function\r\n */\n\nexport var mul = multiply;\n/**\r\n * Scales a dual quat by a scalar number\r\n *\r\n * @param {quat2} out the receiving dual quat\r\n * @param {ReadonlyQuat2} a the dual quat to scale\r\n * @param {Number} b amount to scale the dual quat by\r\n * @returns {quat2} out\r\n * @function\r\n */\n\nexport function scale(out, a, b) {\n out[0] = a[0] * b;\n out[1] = a[1] * b;\n out[2] = a[2] * b;\n out[3] = a[3] * b;\n out[4] = a[4] * b;\n out[5] = a[5] * b;\n out[6] = a[6] * b;\n out[7] = a[7] * b;\n return out;\n}\n/**\r\n * Calculates the dot product of two dual quat's (The dot product of the real parts)\r\n *\r\n * @param {ReadonlyQuat2} a the first operand\r\n * @param {ReadonlyQuat2} b the second operand\r\n * @returns {Number} dot product of a and b\r\n * @function\r\n */\n\nexport var dot = quat.dot;\n/**\r\n * Performs a linear interpolation between two dual quats's\r\n * NOTE: The resulting dual quaternions won't always be normalized (The error is most noticeable when t = 0.5)\r\n *\r\n * @param {quat2} out the receiving dual quat\r\n * @param {ReadonlyQuat2} a the first operand\r\n * @param {ReadonlyQuat2} b the second operand\r\n * @param {Number} t interpolation amount, in the range [0-1], between the two inputs\r\n * @returns {quat2} out\r\n */\n\nexport function lerp(out, a, b, t) {\n var mt = 1 - t;\n if (dot(a, b) < 0) t = -t;\n out[0] = a[0] * mt + b[0] * t;\n out[1] = a[1] * mt + b[1] * t;\n out[2] = a[2] * mt + b[2] * t;\n out[3] = a[3] * mt + b[3] * t;\n out[4] = a[4] * mt + b[4] * t;\n out[5] = a[5] * mt + b[5] * t;\n out[6] = a[6] * mt + b[6] * t;\n out[7] = a[7] * mt + b[7] * t;\n return out;\n}\n/**\r\n * Calculates the inverse of a dual quat. If they are normalized, conjugate is cheaper\r\n *\r\n * @param {quat2} out the receiving dual quaternion\r\n * @param {ReadonlyQuat2} a dual quat to calculate inverse of\r\n * @returns {quat2} out\r\n */\n\nexport function invert(out, a) {\n var sqlen = squaredLength(a);\n out[0] = -a[0] / sqlen;\n out[1] = -a[1] / sqlen;\n out[2] = -a[2] / sqlen;\n out[3] = a[3] / sqlen;\n out[4] = -a[4] / sqlen;\n out[5] = -a[5] / sqlen;\n out[6] = -a[6] / sqlen;\n out[7] = a[7] / sqlen;\n return out;\n}\n/**\r\n * Calculates the conjugate of a dual quat\r\n * If the dual quaternion is normalized, this function is faster than quat2.inverse and produces the same result.\r\n *\r\n * @param {quat2} out the receiving quaternion\r\n * @param {ReadonlyQuat2} a quat to calculate conjugate of\r\n * @returns {quat2} out\r\n */\n\nexport function conjugate(out, a) {\n out[0] = -a[0];\n out[1] = -a[1];\n out[2] = -a[2];\n out[3] = a[3];\n out[4] = -a[4];\n out[5] = -a[5];\n out[6] = -a[6];\n out[7] = a[7];\n return out;\n}\n/**\r\n * Calculates the length of a dual quat\r\n *\r\n * @param {ReadonlyQuat2} a dual quat to calculate length of\r\n * @returns {Number} length of a\r\n * @function\r\n */\n\nexport var length = quat.length;\n/**\r\n * Alias for {@link quat2.length}\r\n * @function\r\n */\n\nexport var len = length;\n/**\r\n * Calculates the squared length of a dual quat\r\n *\r\n * @param {ReadonlyQuat2} a dual quat to calculate squared length of\r\n * @returns {Number} squared length of a\r\n * @function\r\n */\n\nexport var squaredLength = quat.squaredLength;\n/**\r\n * Alias for {@link quat2.squaredLength}\r\n * @function\r\n */\n\nexport var sqrLen = squaredLength;\n/**\r\n * Normalize a dual quat\r\n *\r\n * @param {quat2} out the receiving dual quaternion\r\n * @param {ReadonlyQuat2} a dual quaternion to normalize\r\n * @returns {quat2} out\r\n * @function\r\n */\n\nexport function normalize(out, a) {\n var magnitude = squaredLength(a);\n\n if (magnitude > 0) {\n magnitude = Math.sqrt(magnitude);\n var a0 = a[0] / magnitude;\n var a1 = a[1] / magnitude;\n var a2 = a[2] / magnitude;\n var a3 = a[3] / magnitude;\n var b0 = a[4];\n var b1 = a[5];\n var b2 = a[6];\n var b3 = a[7];\n var a_dot_b = a0 * b0 + a1 * b1 + a2 * b2 + a3 * b3;\n out[0] = a0;\n out[1] = a1;\n out[2] = a2;\n out[3] = a3;\n out[4] = (b0 - a0 * a_dot_b) / magnitude;\n out[5] = (b1 - a1 * a_dot_b) / magnitude;\n out[6] = (b2 - a2 * a_dot_b) / magnitude;\n out[7] = (b3 - a3 * a_dot_b) / magnitude;\n }\n\n return out;\n}\n/**\r\n * Returns a string representation of a dual quatenion\r\n *\r\n * @param {ReadonlyQuat2} a dual quaternion to represent as a string\r\n * @returns {String} string representation of the dual quat\r\n */\n\nexport function str(a) {\n return \"quat2(\" + a[0] + \", \" + a[1] + \", \" + a[2] + \", \" + a[3] + \", \" + a[4] + \", \" + a[5] + \", \" + a[6] + \", \" + a[7] + \")\";\n}\n/**\r\n * Returns whether or not the dual quaternions have exactly the same elements in the same position (when compared with ===)\r\n *\r\n * @param {ReadonlyQuat2} a the first dual quaternion.\r\n * @param {ReadonlyQuat2} b the second dual quaternion.\r\n * @returns {Boolean} true if the dual quaternions are equal, false otherwise.\r\n */\n\nexport function exactEquals(a, b) {\n return a[0] === b[0] && a[1] === b[1] && a[2] === b[2] && a[3] === b[3] && a[4] === b[4] && a[5] === b[5] && a[6] === b[6] && a[7] === b[7];\n}\n/**\r\n * Returns whether or not the dual quaternions have approximately the same elements in the same position.\r\n *\r\n * @param {ReadonlyQuat2} a the first dual quat.\r\n * @param {ReadonlyQuat2} b the second dual quat.\r\n * @returns {Boolean} true if the dual quats are equal, false otherwise.\r\n */\n\nexport function equals(a, b) {\n var a0 = a[0],\n a1 = a[1],\n a2 = a[2],\n a3 = a[3],\n a4 = a[4],\n a5 = a[5],\n a6 = a[6],\n a7 = a[7];\n var b0 = b[0],\n b1 = b[1],\n b2 = b[2],\n b3 = b[3],\n b4 = b[4],\n b5 = b[5],\n b6 = b[6],\n b7 = b[7];\n return Math.abs(a0 - b0) <= glMatrix.EPSILON * Math.max(1.0, Math.abs(a0), Math.abs(b0)) && Math.abs(a1 - b1) <= glMatrix.EPSILON * Math.max(1.0, Math.abs(a1), Math.abs(b1)) && Math.abs(a2 - b2) <= glMatrix.EPSILON * Math.max(1.0, Math.abs(a2), Math.abs(b2)) && Math.abs(a3 - b3) <= glMatrix.EPSILON * Math.max(1.0, Math.abs(a3), Math.abs(b3)) && Math.abs(a4 - b4) <= glMatrix.EPSILON * Math.max(1.0, Math.abs(a4), Math.abs(b4)) && Math.abs(a5 - b5) <= glMatrix.EPSILON * Math.max(1.0, Math.abs(a5), Math.abs(b5)) && Math.abs(a6 - b6) <= glMatrix.EPSILON * Math.max(1.0, Math.abs(a6), Math.abs(b6)) && Math.abs(a7 - b7) <= glMatrix.EPSILON * Math.max(1.0, Math.abs(a7), Math.abs(b7));\n}"},"lineCount":null}},"error":null,"hash":"84a23c5026f499883bbc1e39ef7fdb8f","cacheData":{"env":{}}}