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import type { Camera } from "$lib/splat.js/cameras/Camera";
import { Vector3 } from "$lib/splat.js/math/Vector3";
import { Matrix3 } from "$lib/splat.js/math/Matrix3";
import { Matrix4 } from "$lib/splat.js/math/Matrix4";
import type { Quaternion } from "$lib/splat.js/math/Quaternion";
export function quaternionToEuler(q: Quaternion) {
return new Vector3(
Math.atan2(2 * (q.w * q.x + q.y * q.z), 1 - 2 * (q.x * q.x + q.y * q.y)),
Math.asin(2 * (q.w * q.y - q.z * q.x)),
Math.atan2(2 * (q.w * q.z + q.x * q.y), 1 - 2 * (q.y * q.y + q.z * q.z))
);
}
export function eulerToMatrix(v: Vector3) {
const x = v.x;
const y = v.y;
const z = v.z;
const cx = Math.cos(x);
const sx = Math.sin(x);
const cy = Math.cos(y);
const sy = Math.sin(y);
const cz = Math.cos(z);
const sz = Math.sin(z);
const rotationMatrix = [
cy * cz + sy * sx * sz,
-cy * sz + sy * sx * cz,
sy * cx,
cx * sz,
cx * cz,
-sx,
-sy * cz + cy * sx * sz,
sy * sz + cy * sx * cz,
cy * cx,
];
return new Matrix4(...rotationMatrix);
}
export function quatToMatrix(q: Quaternion) {
const x = q.x;
const y = q.y;
const z = q.z;
const w = q.w;
const xx = x * x;
const xy = x * y;
const xz = x * z;
const xw = x * w;
const yy = y * y;
const yz = y * z;
const yw = y * w;
const zz = z * z;
const zw = z * w;
const rotationMatrix = [
1 - 2 * (yy + zz),
2 * (xy - zw),
2 * (xz + yw),
2 * (xy + zw),
1 - 2 * (xx + zz),
2 * (yz - xw),
2 * (xz - yw),
2 * (yz + xw),
1 - 2 * (xx + yy),
];
return new Matrix3(...rotationMatrix);
}
export function getViewMatrix(camera: Camera) {
const R = quatToMatrix(camera.rotation).buffer;
const t = camera.position.flat();
const camToWorld = [
[R[0], R[1], R[2], 0],
[R[3], R[4], R[5], 0],
[R[6], R[7], R[8], 0],
[
-t[0] * R[0] - t[1] * R[3] - t[2] * R[6],
-t[0] * R[1] - t[1] * R[4] - t[2] * R[7],
-t[0] * R[2] - t[1] * R[5] - t[2] * R[8],
1,
],
].flat();
return new Matrix4(...camToWorld);
}
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