| 73535 | return out; |
| 73536 | } |
| 73537 | function fromRotationTranslation(out, q, v) { |
| 73538 | // Quaternion math |
| 73539 | var x = q[0], y = q[1], z = q[2], w = q[3]; |
| 73540 | var x2 = x + x; |
| 73541 | var y2 = y + y; |
| 73542 | var z2 = z + z; |
| 73543 | var xx = x * x2; |
| 73544 | var xy = x * y2; |
| 73545 | var xz = x * z2; |
| 73546 | var yy = y * y2; |
| 73547 | var yz = y * z2; |
| 73548 | var zz = z * z2; |
| 73549 | var wx = w * x2; |
| 73550 | var wy = w * y2; |
| 73551 | var wz = w * z2; |
| 73552 | out[0] = 1 - (yy + zz); |
| 73553 | out[1] = xy + wz; |
| 73554 | out[2] = xz - wy; |
| 73555 | out[3] = 0; |
| 73556 | out[4] = xy - wz; |
| 73557 | out[5] = 1 - (xx + zz); |
| 73558 | out[6] = yz + wx; |
| 73559 | out[7] = 0; |
| 73560 | out[8] = xz + wy; |
| 73561 | out[9] = yz - wx; |
| 73562 | out[10] = 1 - (xx + yy); |
| 73563 | out[11] = 0; |
| 73564 | out[12] = v[0]; |
| 73565 | out[13] = v[1]; |
| 73566 | out[14] = v[2]; |
| 73567 | out[15] = 1; |
| 73568 | return out; |
| 73569 | } |
| 73570 | function fromQuat2(out, a) { |
| 73571 | var translation = new _commonJs.ARRAY_TYPE(3); |
| 73572 | var bx = -a[0], by = -a[1], bz = -a[2], bw = a[3], ax = a[4], ay = a[5], az = a[6], aw = a[7]; |