Function getRotation

docs/app/js/sanddance-app.js:73607–73650

(out, mat)

    return out;
}
function getRotation(out, mat) {
    var scaling = new _commonJs.ARRAY_TYPE(3);
    getScaling(scaling, mat);
    var is1 = 1 / scaling[0];
    var is2 = 1 / scaling[1];
    var is3 = 1 / scaling[2];
    var sm11 = mat[0] * is1;
    var sm12 = mat[1] * is2;
    var sm13 = mat[2] * is3;
    var sm21 = mat[4] * is1;
    var sm22 = mat[5] * is2;
    var sm23 = mat[6] * is3;
    var sm31 = mat[8] * is1;
    var sm32 = mat[9] * is2;
    var sm33 = mat[10] * is3;
    var trace = sm11 + sm22 + sm33;
    var S = 0;
    if (trace > 0) {
        S = Math.sqrt(trace + 1.0) * 2;
        out[3] = 0.25 * S;
        out[0] = (sm23 - sm32) / S;
        out[1] = (sm31 - sm13) / S;
        out[2] = (sm12 - sm21) / S;
    } else if (sm11 > sm22 && sm11 > sm33) {
        S = Math.sqrt(1.0 + sm11 - sm22 - sm33) * 2;
        out[3] = (sm23 - sm32) / S;
        out[0] = 0.25 * S;
        out[1] = (sm12 + sm21) / S;
        out[2] = (sm31 + sm13) / S;
    } else if (sm22 > sm33) {
        S = Math.sqrt(1.0 + sm22 - sm11 - sm33) * 2;
        out[3] = (sm31 - sm13) / S;
        out[0] = (sm12 + sm21) / S;
        out[1] = 0.25 * S;
        out[2] = (sm23 + sm32) / S;
    } else {
        S = Math.sqrt(1.0 + sm33 - sm11 - sm22) * 2;
        out[3] = (sm12 - sm21) / S;
        out[0] = (sm31 + sm13) / S;
        out[1] = (sm23 + sm32) / S;
        out[2] = 0.25 * S;
    }
    return out;
}
function fromRotationTranslationScale(out, q, v, s) {
    // Quaternion math
    var x = q[0], y = q[1], z = q[2], w = q[3];