Math Utilities

Minimal linear algebra for 3D rendering. No external dependencies.

Mat4

4x4 matrix operations in column-major order (OpenGL/WebGL convention).

Types

type Mat4 = Float32Array; // 16 elements
type Vec3 = [number, number, number];

Functions

create()

Create identity matrix.

const m = Mat4.create();
// [1,0,0,0, 0,1,0,0, 0,0,1,0, 0,0,0,1]

identity(out)

Set matrix to identity.

Mat4.identity(m);

copy(out, a)

Copy matrix a to out.

Mat4.copy(out, source);

multiply(out, a, b)

Multiply two matrices: out = a * b.

Mat4.multiply(viewProj, proj, view);

perspective(out, fovY, aspect, near, far)

Create perspective projection matrix.

Mat4.perspective(proj, Math.PI / 4, 16/9, 0.1, 1000);

lookAt(out, eye, center, up)

Create view matrix looking at target from eye position.

Mat4.lookAt(view, [0, 5, 10], [0, 0, 0], [0, 1, 0]);

translate(out, a, v)

Translate matrix by vector.

Mat4.translate(model, model, [1, 2, 3]);

scale(out, a, v)

Scale matrix by vector.

Mat4.scale(model, model, [2, 2, 2]);

rotateX(out, a, rad)

Rotate matrix around X axis.

Mat4.rotateX(model, model, Math.PI / 4);

rotateY(out, a, rad)

Rotate matrix around Y axis.

Mat4.rotateY(model, model, Math.PI / 4);

rotateZ(out, a, rad)

Rotate matrix around Z axis.

Mat4.rotateZ(model, model, Math.PI / 4);

invert(out, a)

Invert matrix. Returns null if not invertible.

const inv = Mat4.invert(out, m);
if (!inv) console.error('Matrix not invertible');

ortho(out, left, right, bottom, top, near, far)

Create orthographic projection matrix.

Mat4.ortho(proj, -10, 10, -10, 10, 0.1, 100);

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Vec3

3D vector operations.

Types

type Vec3 = [number, number, number];

Functions

create(x?, y?, z?)

Create a new Vec3.

const v = Vec3.create(1, 2, 3);

clone(a)

Clone a Vec3.

const copy = Vec3.clone(v);

add(out, a, b)

Add two vectors: out = a + b.

Vec3.add(result, v1, v2);

subtract(out, a, b)

Subtract vectors: out = a - b.

Vec3.subtract(result, v1, v2);

scale(out, a, s)

Scale vector: out = a * scalar.

Vec3.scale(result, v, 2);

normalize(out, a)

Normalize vector to unit length.

Vec3.normalize(result, v);

dot(a, b)

Dot product of two vectors.

const d = Vec3.dot(v1, v2);

cross(out, a, b)

Cross product: out = a × b.

Vec3.cross(result, v1, v2);

length(a)

Length of vector.

const len = Vec3.length(v);

distance(a, b)

Distance between two vectors.

const dist = Vec3.distance(v1, v2);

lerp(out, a, b, t)

Linear interpolation: out = a + t * (b - a).

Vec3.lerp(result, start, end, 0.5);

transformMat4(out, a, m)

Transform Vec3 by Mat4 (assumes w=1).

Vec3.transformMat4(worldPos, localPos, modelMatrix);

Usage Example

import { Mat4, Vec3 } from 'scichart-engine/core/3d';

// Create matrices
const model = Mat4.create();
const view = Mat4.create();
const proj = Mat4.create();
const mvp = Mat4.create();

// Setup view
Mat4.lookAt(view, [0, 5, 10], [0, 0, 0], [0, 1, 0]);

// Setup projection
Mat4.perspective(proj, Math.PI / 4, canvas.width / canvas.height, 0.1, 1000);

// Animate model
function animate(time: number) {
  Mat4.identity(model);
  Mat4.rotateY(model, model, time * 0.001);
  
  // Combine: MVP = Proj * View * Model
  Mat4.multiply(mvp, view, model);
  Mat4.multiply(mvp, proj, mvp);
  
  // Upload to shader
  gl.uniformMatrix4fv(mvpLocation, false, mvp);
}