feat(mat3): mat3 with vectors

src/index.js

@@ -1,33 +1,39 @@
 import { operatorCalc } from './operator';
 import { Vector, Victor } from './vector';
 import { Point, IPoint } from './point';
+import { Quaternion, IQuaternion } from './quaternion';
+import { IMat3 } from './mat3';
 
 export {
-  Vector, Victor, Victor as IVector, vector, victor, victor as ivector, FORWARD, LEFT, UP
+  Vector, Victor, Victor as IVector, vector, victor, victor as ivector, FORWARD, LEFT, UP, RIGHT
 } from './vector';
 export {
   Point, IPoint, point, ipoint
 } from './point';
 export {
-  Quaternion, IQuaternion, IDENTITY, quaternion, iquaternion
+  Quaternion, IQuaternion, IDENTITY, quaternion, iquaternion, fromOrientation
 } from './quaternion';
 export {
   Degree, IDegree, degree, idegree
 } from './degree';
 export {
   Color, IColor, color, icolor
 } from './color';
+export { IMat3 } from './mat3';
 
 /**
- * @typedef {Vector & number} IndexVectorType
- * @typedef {Victor & number} IndexVictorType
- * @typedef {Point & number} IndexPointType
- * @typedef {IPoint & number} IndexIPointType
+ * @typedef {Vector & number} IndexVector
+ * @typedef {Victor & number} IndexVictor
+ * @typedef {Point & number} IndexPoint
+ * @typedef {IPoint & number} IndexIPoint
+ * @typedef {Quaternion & number} IndexQuaternion
+ * @typedef {IQuaternion & number} IndexIQuaternion
+ * @typedef {IMat3 & number} IndexIMat3
  */
 
 /**
  * @param {() => number} alg
- * @return {IndexVectorType | IndexVictorType | IndexPointType | IndexIPointType | number}
+ * @return {IndexVector | IndexVictor | IndexPoint | IndexIPoint | IndexQuaternion | IndexIQuaternion | IndexIMat3 | number}
  */
 export function calc(alg) {
   return operatorCalc(alg);

src/mat3.js

@@ -0,0 +1,69 @@
+import { defineMatrixLength, cachedValueOf } from './operator';
+
+const AXES = Symbol('data');
+
+class AMat3 {
+  constructor(...columns) {
+    this[AXES] = columns;
+  }
+
+  get [0]() {
+    return this[AXES][0];
+  }
+
+  set [0](_) {
+    throw new Error('set [0] not implemented');
+  }
+
+  get [1]() {
+    return this[AXES][1];
+  }
+
+  set [1](_) {
+    throw new Error('set [1] not implemented');
+  }
+
+  get [2]() {
+    return this[AXES][2];
+  }
+
+  set [2](_) {
+    throw new Error('set [2] not implemented');
+  }
+
+  multiplyMat(_) {
+    throw new Error('multiplyMat() not implemented');
+  }
+
+  // https://stackoverflow.com/questions/24593939/matrix-multiplication-with-vector-in-glsl#answer-24594497
+  multiplyVec({ x, y, z }) {
+    const [column0, column1, column2] = this[AXES];
+    return new column0.constructor(
+      column0.x * x + column1.x * y + column2.x * z,
+      column0.y * x + column1.y * y + column2.y * z,
+      column0.z * x + column1.z * y + column2.z * z
+    );
+  }
+
+  multiply(other) {
+    if (other instanceof AMat3) {
+      return this.multiplyMat(other);
+    }
+    const { x, y, z } = other;
+    if (x === undefined || y === undefined || z === undefined) {
+      throw new Error(`multiply only works with mat3 and vec3, not supported ${other}`);
+    }
+    return this.multiplyVec(other);
+  }
+
+  [Symbol.iterator]() {
+    return this[AXES].values();
+  }
+}
+
+cachedValueOf(AMat3);
+defineMatrixLength(AMat3);
+
+export class IMat3 extends AMat3 {
+
+}

src/utils/math.js

@@ -3,6 +3,7 @@ export function isArray(arr) {
   return Array.isArray(arr) || ArrayBuffer.isView(arr);
 }
 
+// http://schteppe.github.io/cannon.js/docs/files/src_math_Quaternion.js.html
 export function multQuatVec(quat, vec) {
   const {
     x, y, z