More math

common/se3.js

@@ -86,6 +86,42 @@ export function orientationOnly(m) {
     ];
 }
 
+export function fromBases(x, y, z) {
+    return [
+        x[0], x[1], x[2], 0,
+        y[0], y[1], y[2], 0,
+        z[0], z[1], z[2], 0,
+        0, 0, 0, 1,
+    ];
+}
+
+export function positionOnly(m) {
+    return [
+        1, 0, 0, 0,
+        0, 1, 0, 0,
+        0, 0, 1, 0,
+        m[12], m[13], m[14], m[15],
+    ]
+}
+
+export function setOrientation(m, o) {
+    return [
+        o[0], o[1], o[2], m[3],
+        o[4], o[5], o[6], m[7],
+        o[8], o[9], o[10], m[11],
+        m[12], m[13], m[14], m[15],
+    ];
+}
+
+export function setPosition(m, x) {
+    return [
+        m[0], m[1], m[2], m[3],
+        m[4], m[5], m[6], m[7],
+        m[8], m[9], m[10], m[11],
+        x[0], x[1], x[2], 1,
+    ];
+}
+
 export function inverse(m) {
     const t = apply(m, [0, 0, 0, 1]);
     const r = orientationOnly(m);

skycraft/linalg.ts

@@ -38,4 +38,8 @@ export function scale(a: Vec3, s: number) : Vec3 {
         a[1] * s,
         a[2] * s,
     ];
-}
+}
+
+export function normalize(a: Vec3) : Vec3 {
+    return scale(a, 1/norm(a));
+}