V4

[dmnsgn]

Changes:

• refactor: convert to esm
• feat: export _fromMat39 in quat
• refactor: replace mat3 let with const
• refactor: replace mat4 _rotate3 let with const
• perf: remove assert (performance gain)
• refactor: remove 1.0 and 0.0
• feat: add EPSILON
• perf: replace slice(0) with slice()
• perf: _rotate3 has useless multiplication by zero
• refactor: mat4._lookAt9 is duplicate of mat4.lookAt
• refactor: mat4._lookAt9 return identity if < epsilon
• perf: mat4._lookAt9 has early let declarations
• perf: divide by 2
• refactor: reorder functions
• docs: auto-generate
• test: add all mat4 methods to bemchmark
• perf: mat4 mult / invert caching
• perf: inline mat4.fromTranslationRotationScale
• refactor: prevent duplicate copy and vec4 methods

To test:

• perf: use Math.hypot (quat.length, vec2/3.length, vec2/3.distance)
• perf: / 2 or * 0.5 ? (quat.fromEuler)
• perf: copy
• test: quat benchmarks
• perf: quat.fromTo wrapped function

Implementation:

• quat.normalize epsilon is 2 ** -24
• mat4._lookAt9 doesn't check for len === 0 (https://github.com/toji/gl-matrix/blob/0bca31acb13cdaa6eaa2bd615b053d9fdd4e7b72/src/mat4.js#L1773)
• quat.fromAxisAngle is missing epsilon check (https://github.com/toji/gl-matrix/blob/0bca31acb13cdaa6eaa2bd615b053d9fdd4e7b72/src/quat.js#L73)

TBD:

• use new Float32Array by default
• rename _methods (_set9(), _rotate3, _lookAt9)
• implement quat.targetTo
• remove toString

Closes #9
Closes #10
Closes #14
Closes #16
Closes #25
Closes #26
Closes #30
Closes #31

[vorg]

Thanks for the work so far. Yes let's discuss TBD items one by one below.

[dmnsgn]

use new Float32Array by default

Benchmark lean towards keeping array

[dmnsgn]

• add avec3.multMat4
• add avec3.multQuat

[dmnsgn]

Should we default avec j parameter to 0 if it is last in arguments list?

+ export function add(a, i, b, j = 0) {
- export function add(a, i, b, j) {
  a[i * 3] += b[j * 3];
  a[i * 3 + 1] += b[j * 3 + 1];
  a[i * 3 + 2] += b[j * 3 + 2];
}

This would help when transforming an avec by a regular vec3 eg.:

import { avec3 } from "pex-math";
const myVec3 = [1,0,0];
const myGeom = plane();

for (let i = 0; i < myGeom.positions.length /3; i++) {
  avec3.add(myGeom.positions, i, myVec3);
  // instead of avec3.add(myGeom.positions, i, myVec3, 0);
}

[vorg]

I would say no defaults. I like to see the 0