chore: 添加第三方依赖库

thirdparty/rapier.js/src.ts/math.ts

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+import {RawVector, RawRotation} from "./raw";
+// #if DIM3
+import {RawSdpMatrix3} from "./raw";
+// #endif
+
+// #if DIM2
+export interface Vector {
+    x: number;
+    y: number;
+}
+
+/**
+ * A 2D vector.
+ */
+export class Vector2 implements Vector {
+    x: number;
+    y: number;
+
+    constructor(x: number, y: number) {
+        this.x = x;
+        this.y = y;
+    }
+}
+
+export class VectorOps {
+    public static new(x: number, y: number): Vector {
+        return new Vector2(x, y);
+    }
+
+    public static zeros(): Vector {
+        return VectorOps.new(0.0, 0.0);
+    }
+
+    // FIXME: type ram: RawVector?
+    public static fromRaw(raw: RawVector): Vector | null {
+        if (!raw) return null;
+
+        let res = VectorOps.new(raw.x, raw.y);
+        raw.free();
+        return res;
+    }
+
+    public static intoRaw(v: Vector): RawVector {
+        return new RawVector(v.x, v.y);
+    }
+
+    public static copy(out: Vector, input: Vector) {
+        out.x = input.x;
+        out.y = input.y;
+    }
+}
+
+/**
+ * A rotation angle in radians.
+ */
+export type Rotation = number;
+
+export class RotationOps {
+    public static identity(): number {
+        return 0.0;
+    }
+
+    public static fromRaw(raw: RawRotation): Rotation | null {
+        if (!raw) return null;
+
+        let res = raw.angle;
+        raw.free();
+        return res;
+    }
+
+    public static intoRaw(angle: Rotation): RawRotation {
+        return RawRotation.fromAngle(angle);
+    }
+}
+
+// #endif
+
+// #if DIM3
+export interface Vector {
+    x: number;
+    y: number;
+    z: number;
+}
+
+/**
+ * A 3D vector.
+ */
+export class Vector3 implements Vector {
+    x: number;
+    y: number;
+    z: number;
+
+    constructor(x: number, y: number, z: number) {
+        this.x = x;
+        this.y = y;
+        this.z = z;
+    }
+}
+
+export class VectorOps {
+    public static new(x: number, y: number, z: number): Vector {
+        return new Vector3(x, y, z);
+    }
+
+    public static intoRaw(v: Vector): RawVector {
+        return new RawVector(v.x, v.y, v.z);
+    }
+
+    public static zeros(): Vector {
+        return VectorOps.new(0.0, 0.0, 0.0);
+    }
+
+    // FIXME: type ram: RawVector?
+    public static fromRaw(raw: RawVector): Vector | null {
+        if (!raw) return null;
+
+        let res = VectorOps.new(raw.x, raw.y, raw.z);
+        raw.free();
+        return res;
+    }
+
+    public static copy(out: Vector, input: Vector) {
+        out.x = input.x;
+        out.y = input.y;
+        out.z = input.z;
+    }
+}
+
+export interface Rotation {
+    x: number;
+    y: number;
+    z: number;
+    w: number;
+}
+
+/**
+ * A quaternion.
+ */
+export class Quaternion implements Rotation {
+    x: number;
+    y: number;
+    z: number;
+    w: number;
+
+    constructor(x: number, y: number, z: number, w: number) {
+        this.x = x;
+        this.y = y;
+        this.z = z;
+        this.w = w;
+    }
+}
+
+export class RotationOps {
+    public static identity(): Rotation {
+        return new Quaternion(0.0, 0.0, 0.0, 1.0);
+    }
+
+    public static fromRaw(raw: RawRotation): Rotation | null {
+        if (!raw) return null;
+
+        let res = new Quaternion(raw.x, raw.y, raw.z, raw.w);
+        raw.free();
+        return res;
+    }
+
+    public static intoRaw(rot: Rotation): RawRotation {
+        return new RawRotation(rot.x, rot.y, rot.z, rot.w);
+    }
+
+    public static copy(out: Rotation, input: Rotation) {
+        out.x = input.x;
+        out.y = input.y;
+        out.z = input.z;
+        out.w = input.w;
+    }
+}
+
+/**
+ * A 3D symmetric-positive-definite matrix.
+ */
+export class SdpMatrix3 {
+    /**
+     * Row major list of the upper-triangular part of the symmetric matrix.
+     */
+    elements: Float32Array;
+
+    /**
+     * Matrix element at row 1, column 1.
+     */
+    public get m11(): number {
+        return this.elements[0];
+    }
+
+    /**
+     * Matrix element at row 1, column 2.
+     */
+    public get m12(): number {
+        return this.elements[1];
+    }
+
+    /**
+     * Matrix element at row 2, column 1.
+     */
+    public get m21(): number {
+        return this.m12;
+    }
+
+    /**
+     * Matrix element at row 1, column 3.
+     */
+    public get m13(): number {
+        return this.elements[2];
+    }
+
+    /**
+     * Matrix element at row 3, column 1.
+     */
+    public get m31(): number {
+        return this.m13;
+    }
+
+    /**
+     * Matrix element at row 2, column 2.
+     */
+    public get m22(): number {
+        return this.elements[3];
+    }
+
+    /**
+     * Matrix element at row 2, column 3.
+     */
+    public get m23(): number {
+        return this.elements[4];
+    }
+
+    /**
+     * Matrix element at row 3, column 2.
+     */
+    public get m32(): number {
+        return this.m23;
+    }
+
+    /**
+     * Matrix element at row 3, column 3.
+     */
+    public get m33(): number {
+        return this.elements[5];
+    }
+
+    constructor(elements: Float32Array) {
+        this.elements = elements;
+    }
+}
+
+export class SdpMatrix3Ops {
+    public static fromRaw(raw: RawSdpMatrix3): SdpMatrix3 {
+        const sdpMatrix3 = new SdpMatrix3(raw.elements());
+        raw.free();
+        return sdpMatrix3;
+    }
+}
+
+// #endif