const NULL = 0;
const PI = 3.14159265358979323846264338327;

const AreaShowType = {
    Area_AabbBox:	        0,	//Aabb包围盒
    Area_Hexaherdron:	    1,	//六面体
    Area_TriangularPrism:	2,	//三棱柱
    Area_Cylinder:	        3,	//圆柱
}

// 添加 Math.clamp 函数
if (!Math.clamp)
{
    Math.clamp = function(a, min, max) {
        if (a < min) return min;
        else if (a > max) return max;
        return a;
    }
}

/**
 * 三维向量，包含向量常用的运算方法，当前系统使用数组表示向量，三维向量是包含三个Number的数组
 */
let Vec3 = (function(){
    return {

        /**
         * 判断对象是否是合格的向量
         * @param {*} a 检查对象
         */
        check: function(a)
        {
            if (!Array.isArray(a))
                return false;
            for(let i = 0; i < 3; ++i)
                if (isNaN(a[i]))
                    return false;
            return true;
        },

        /**
         * 向量a与向量b相加，a + b
         * @param {[Number, Number, Number]} a 向量a
         * @param {[Number, Number, Number]} b 向量b
         */
        add: function(a, b)
        {
            return [a[0] + b[0], a[1] + b[1], a[2] + b[2]];
        },

        /**
         * 向量a与常数b相加，a + b
         * @param {[Number, Number, Number]} a 向量a
         * @param {Number} b 常数b
         */
        addScalar: function(a, b)
        {
            return [a[0] + b, a[1] + b, a[2] + b];
        },

        /**
         * 向量a与向量b相减， a - b
         * @param {[Number, Number, Number]} a 向量a
         * @param {[Number, Number, Number]} b 向量b
         */
        sub: function(a, b)
        {
            return [a[0] - b[0], a[1] - b[1], a[2] - b[2]];
        },

        /**
         * 向量a与常数b相减，a - b
         * @param {[Number, Number, Number]} a 向量a
         * @param {Number} b 常数b
         */
        subScalar: function(a, b)
        {
            return [a[0] - b, a[1] - b, a[2] - b];
        },

        /**
         * 向量a与向量b相乘， a * b
         * @param {[Number, Number, Number]} a 向量a
         * @param {[Number, Number, Number]} b 向量b
         */
        multiply: function(a, b)
        {
            return [a[0] * b[0], a[1] * b[1], a[2] * b[2]];
        },

        /**
         * 向量a与常数b相乘，a * b
         * @param {[Number, Number, Number]} a 向量a
         * @param {Number} b 常数b
         */
        multiplyScalar: function(a, b)
        {
            return [a[0] * b, a[1] * b, a[2] * b];
        },
        
        /**
         * 向量a与向量b相除， a / b
         * @param {[Number, Number, Number]} a 向量a
         * @param {[Number, Number, Number]} b 向量b
         * @note 向量b各分量不能为0
         */
        divide: function(a, b)
        {
            return [a[0] / b[0], a[1] / b[1], a[2] / b[2]];
        },

        /**
         * 向量a与常数b相除，a / b
         * @param {[Number, Number, Number]} a 向量a
         * @param {Number} b 常数b
         * @note 常数b不能为0
         */
        divideScalar: function(a, b)
        {
            return [a[0] / b, a[1] / b, a[2] / b];
        },

        /**
         * 向量a与向量b点乘， dot(a, b) = |a| * |b| * cos
         * @param {[Number, Number, Number]} a 向量a
         * @param {[Number, Number, Number]} b 向量b
         */
        dot: function(a, b)
        {
            return a[0] * b[0] + a[1] * b[1] + a[2] * b[2];
        },

        /**
         * 向量a与向量b叉乘， cross(a, b) = 法向量，同时垂直于向量a和向量b
         * @param {[Number, Number, Number]} a 向量a
         * @param {[Number, Number, Number]} b 向量b
         */
        cross: function(a, b)
        {
            return [a[1] * b[2] - b[1] * a[2],
                a[2] * b[0] - b[2] * a[0],
                a[0] * b[1] - b[0] * a[1]
            ];
        },
        
        /**
         * 获取向量a的模长/长度, length(a) = |a|
         * @param {[Number, Number, Number]} a 向量a
         */
        length: function(a)
        {
            return Math.sqrt(a[0] * a[0] + a[1] * a[1] + a[2] * a[2]);
        },

        /**
         * 获取向量a的模长/长度的平方，lengthSq(a) = length(a) * length(a)
         * @param {[Number, Number, Number]} a 向量a
         */
        lengthSq: function(a)
        {
            return a[0] * a[0] + a[1] * a[1] + a[2] * a[2];
        },

        /**
         * 向量取反
         * @param {[Number, Number, Number]} a 向量a
         */
        negate: function(a)
        {
            return [-a[0], -a[1], -a[2]];
        },

        /**
         * 获取单位向量
         * @param {[Number, Number, Number]} a 向量a
         */
        normalize: function(a)
        {
            var len = Math.sqrt(a[0] * a[0] + a[1] * a[1] + a[2] * a[2]) || 1;
            return [a[0] / len, a[1] / len, a[2] / len];
        },

        /**
         * 向量a与向量b的夹角
         * @param {[Number, Number, Number]} a 向量a
         * @param {[Number, Number, Number]} b 向量b
         * @param 返回两个向量的夹角(角度制)
         */
        angleBetween: function (a, b)
        {
            const denominator = Vec3.length(a) * Vec3.length(b);

            if (denominator === 0)
                return Math.PI / 2 * (180 / Math.PI);

            let theta = Vec3.dot(a, b) / denominator;

            if (theta < -1)
                theta = -1;
            if (theta > 1)
                theta = 1;

            let angle = Math.acos(theta)
            angle *= 180 / Math.PI

            return angle
        }
    }
})();

/**
 * 行优先4x4矩阵
 */
let Matrix4 = (function(){
    return {
        /**
         * 获取单位矩阵
         * @returns 单位矩阵
         */
        identity: function()
        {
            return [ 1, 0, 0, 0
                    ,0, 1, 0, 0
                    ,0, 0, 1, 0
                    ,0, 0, 0, 1];
        },

        /**
         * 检查a是否是合法的矩阵
         * @param {*} a 检查对象
         */
        check: function(a)
        {
            if (!Array.isArray(a))
                return false;
            for(let i = 0; i < 16; ++i)
                if (isNaN(a[i]))
                    return false;
            return true;
        },

        /**
         * 矩阵a与矩阵b相乘
         * @param {[...Number]} a 
         * @param {[...Number]} b 
         */
        multiply: function(a, b) {
            const ae = a;
            const be = b;

            const a11 = ae[0], a12 = ae[4], a13 = ae[8], a14 = ae[12];
            const a21 = ae[1], a22 = ae[5], a23 = ae[9], a24 = ae[13];
            const a31 = ae[2], a32 = ae[6], a33 = ae[10], a34 = ae[14];
            const a41 = ae[3], a42 = ae[7], a43 = ae[11], a44 = ae[15];

            const b11 = be[0], b12 = be[4], b13 = be[8], b14 = be[12];
            const b21 = be[1], b22 = be[5], b23 = be[9], b24 = be[13];
            const b31 = be[2], b32 = be[6], b33 = be[10], b34 = be[14];
            const b41 = be[3], b42 = be[7], b43 = be[11], b44 = be[15];

            let rMat =[]

            rMat[0] = a11 * b11 + a12 * b21 + a13 * b31 + a14 * b41;
            rMat[4] = a11 * b12 + a12 * b22 + a13 * b32 + a14 * b42;
            rMat[8] = a11 * b13 + a12 * b23 + a13 * b33 + a14 * b43;
            rMat[12] = a11 * b14 + a12 * b24 + a13 * b34 + a14 * b44;

            rMat[1] = a21 * b11 + a22 * b21 + a23 * b31 + a24 * b41;
            rMat[5] = a21 * b12 + a22 * b22 + a23 * b32 + a24 * b42;
            rMat[9] = a21 * b13 + a22 * b23 + a23 * b33 + a24 * b43;
            rMat[13] = a21 * b14 + a22 * b24 + a23 * b34 + a24 * b44;

            rMat[2] = a31 * b11 + a32 * b21 + a33 * b31 + a34 * b41;
            rMat[6] = a31 * b12 + a32 * b22 + a33 * b32 + a34 * b42;
            rMat[10] = a31 * b13 + a32 * b23 + a33 * b33 + a34 * b43;
            rMat[14] = a31 * b14 + a32 * b24 + a33 * b34 + a34 * b44;

            rMat[3] = a41 * b11 + a42 * b21 + a43 * b31 + a44 * b41;
            rMat[7] = a41 * b12 + a42 * b22 + a43 * b32 + a44 * b42;
            rMat[11] = a41 * b13 + a42 * b23 + a43 * b33 + a44 * b43;
            rMat[15] = a41 * b14 + a42 * b24 + a43 * b34 + a44 * b44;

            return rMat; 
        },

        /**
         * 矩阵a与三维坐标b相乘，返回变换后的坐标
         * @param {[...Number]} a 矩阵a
         * @param {[Number,Number,Number]} b 三维坐标b
         */
        multiplyPos: function(a, b) {
            var ret = [];
            for(var i = 0; i < 3; ++i)
            {
                ret[i] = a[12 + i];
                for(var j = 0; j < 3; ++j)
                {
                    ret[i] += b[j] * a[j * 4 + i];
                }
            }
            return ret;
        },

        /**
         * 矩阵a与方向向量b相乘，返回变化后的方向
         * @param {[...Number]} a 矩阵a
         * @param {[Number,Number,Number]} b 三维向量b
         */
        multiplyDir: function(a, b) {
            var ret = [];
            for(var i = 0; i < 3; ++i)
            {
                ret[i] = 0;
                for(var j = 0; j < 3; ++j)
                {
                    ret[i] += b[j] * a[j * 4 + i];
                }
            }
            return ret;
        },

        /**
         * 构造TRS矩阵
         * @param position 位置
         * @param quaternion 旋转四元数(顺序wxyz)
         * @param scale 缩放
         * @returns 4x4 TRS矩阵
         */
        compose: function(position, quaternion, scale) {

            var ret = [];

            const x = quaternion[1];
            const y = quaternion[2];
            const z = quaternion[3];
            const w = quaternion[0];

            const x2 = x + x;
            const y2 = y + y;
            const z2 = z + z;
            const xx = x * x2;
            const xy = x * y2;
            const xz = x * z2;
            const yy = y * y2;
            const yz = y * z2;
            const zz = z * z2;
            const wx = w * x2;
            const wy = w * y2;
            const wz = w * z2;

            const sx = scale[0];
            const sy = scale[1];
            const sz = scale[2];

            ret[0] = (1 - (yy + zz)) * sx;
            ret[1] = (xy + wz) * sx;
            ret[2] = (xz - wy) * sx;
            ret[3] = 0;

            ret[4] = (xy - wz) * sy;
            ret[5] = (1 - (xx + zz)) * sy;
            ret[6] = (yz + wx) * sy;
            ret[7] = 0;

            ret[8] = (xz + wy) * sz;
            ret[9] = (yz - wx) * sz;
            ret[10] = (1 - (xx + yy)) * sz;
            ret[11] = 0;

            ret[12] = position[0];
            ret[13] = position[1];
            ret[14] = position[2];
            ret[15] = 1;

            return ret;

        },

        /**
         * 矩阵萃取
         * @param {*} m 将被萃取的矩阵对象
         * @returns 萃取结果
         *          - position: 萃取的位置信息
         *          - quaternion: 萃取的旋转四元数信息
         *          - rotation: 萃取的旋转矩阵信息
         *          - scale:萃取的缩放信息
         */
	    decompose: function(m)
        {
            var a = {};

            var vx = [m[0], m[1], m[2]];
            var vy = [m[4], m[5], m[6]];
            var vz = [m[8], m[9], m[10]];

	    	let sx = Vec3.length(vx);
	    	const sy = Vec3.length(vy);
	    	const sz = Vec3.length(vz);

	    	// if determine is negative, we need to invert one scale
	    	const det = Matrix4.determinant(m);
	    	if ( det < 0 ) 
                sx = - sx;

            a.position = [];
	    	a.position[0] = m[ 12 ];
	    	a.position[1] = m[ 13 ];
	    	a.position[2] = m[ 14 ];

	    	// scale the rotation part
            var rMat = m;
            rMat[12] = 0;
            rMat[13] = 0;
            rMat[14] = 0;

	    	const invSX = 1 / sx;
	    	const invSY = 1 / sy;
	    	const invSZ = 1 / sz;
            
            rMat[ 0 ] *= invSX;
            rMat[ 1 ] *= invSX;
            rMat[ 2 ] *= invSX;

            rMat[ 4 ] *= invSY;
            rMat[ 5 ] *= invSY;
            rMat[ 6 ] *= invSY;
            
            rMat[ 8 ] *= invSZ;
            rMat[ 9 ] *= invSZ;
            rMat[ 10 ] *= invSZ;

            a.rotation = rMat;
            a.quaternion = Quat.fromRotationMatrix(rMat);

            a.scale = [];
            a.scale[0] = sx;
            a.scale[1] = sy;
            a.scale[2] = sz;

            return a;
	    },

        /**
         * 计算矩阵行列式
         * @param {*} m 将被计算行列式的矩阵对象
         * @returns 矩阵的行列式值
         */
        determinant: function(m) 
        {
            const n11 = m[ 0 ], n12 = m[ 1 ], n13 = m[ 2 ], n14 = m[ 3 ];
            const n21 = m[ 4 ], n22 = m[ 5 ], n23 = m[ 6 ], n24 = m[ 7 ];
            const n31 = m[ 8 ], n32 = m[ 9 ], n33 = m[ 10 ], n34 = m[ 11 ];
            const n41 = m[ 12 ], n42 = m[ 13 ], n43 = m[ 14 ], n44 = m[ 15 ];
    
            return (
                n41 * (
                    + n14 * n23 * n32
                     - n13 * n24 * n32
                     - n14 * n22 * n33
                     + n12 * n24 * n33
                     + n13 * n22 * n34
                     - n12 * n23 * n34
                ) +
                n42 * (
                    + n11 * n23 * n34
                     - n11 * n24 * n33
                     + n14 * n21 * n33
                     - n13 * n21 * n34
                     + n13 * n24 * n31
                     - n14 * n23 * n31
                ) +
                n43 * (
                    + n11 * n24 * n32
                     - n11 * n22 * n34
                     - n14 * n21 * n32
                     + n12 * n21 * n34
                     + n14 * n22 * n31
                     - n12 * n24 * n31
                ) +
                n44 * (
                    - n13 * n22 * n31
                     - n11 * n23 * n32
                     + n11 * n22 * n33
                     + n13 * n21 * n32
                     - n12 * n21 * n33
                     + n12 * n23 * n31
                )
    
            );
    
        },
        
        /**
         * 计算矩阵的逆
         * @param {*} m 将被计算逆的矩阵对象
         * @returns 矩阵的逆矩阵
         * */
	    inverse: function(m) {
            
            // based on http://www.euclideanspace.com/maths/algebra/matrix/functions/inverse/fourD/index.htm

            const n11 = m[0], n21 = m[1], n31 = m[2], n41 = m[3],
                  n12 = m[4], n22 = m[5], n32 = m[6], n42 = m[7],
                  n13 = m[8], n23 = m[9], n33 = m[10], n43 = m[11],
                  n14 = m[12], n24 = m[13], n34 = m[14], n44 = m[15],

                  t11 = n23 * n34 * n42 - n24 * n33 * n42 + n24 * n32 * n43 - n22 * n34 * n43 - n23 * n32 * n44 + n22 * n33 * n44,
                  t12 = n14 * n33 * n42 - n13 * n34 * n42 - n14 * n32 * n43 + n12 * n34 * n43 + n13 * n32 * n44 - n12 * n33 * n44,
                  t13 = n13 * n24 * n42 - n14 * n23 * n42 + n14 * n22 * n43 - n12 * n24 * n43 - n13 * n22 * n44 + n12 * n23 * n44,
                  t14 = n14 * n23 * n32 - n13 * n24 * n32 - n14 * n22 * n33 + n12 * n24 * n33 + n13 * n22 * n34 - n12 * n23 * n34;

            const det = n11 * t11 + n21 * t12 + n31 * t13 + n41 * t14;

            if (det === 0) return [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0];

            const detInv = 1 / det;

            let invMat = [];

            invMat[0] = t11 * detInv;
            invMat[1] = (n24 * n33 * n41 - n23 * n34 * n41 - n24 * n31 * n43 + n21 * n34 * n43 + n23 * n31 * n44 - n21 * n33 * n44) * detInv;
            invMat[2] = (n22 * n34 * n41 - n24 * n32 * n41 + n24 * n31 * n42 - n21 * n34 * n42 - n22 * n31 * n44 + n21 * n32 * n44) * detInv;
            invMat[3] = (n23 * n32 * n41 - n22 * n33 * n41 - n23 * n31 * n42 + n21 * n33 * n42 + n22 * n31 * n43 - n21 * n32 * n43) * detInv;

            invMat[4] = t12 * detInv;
            invMat[5] = (n13 * n34 * n41 - n14 * n33 * n41 + n14 * n31 * n43 - n11 * n34 * n43 - n13 * n31 * n44 + n11 * n33 * n44) * detInv;
            invMat[6] = (n14 * n32 * n41 - n12 * n34 * n41 - n14 * n31 * n42 + n11 * n34 * n42 + n12 * n31 * n44 - n11 * n32 * n44) * detInv;
            invMat[7] = (n12 * n33 * n41 - n13 * n32 * n41 + n13 * n31 * n42 - n11 * n33 * n42 - n12 * n31 * n43 + n11 * n32 * n43) * detInv;

            invMat[8] = t13 * detInv;
            invMat[9] = (n14 * n23 * n41 - n13 * n24 * n41 - n14 * n21 * n43 + n11 * n24 * n43 + n13 * n21 * n44 - n11 * n23 * n44) * detInv;
            invMat[10] = (n12 * n24 * n41 - n14 * n22 * n41 + n14 * n21 * n42 - n11 * n24 * n42 - n12 * n21 * n44 + n11 * n22 * n44) * detInv;
            invMat[11] = (n13 * n22 * n41 - n12 * n23 * n41 - n13 * n21 * n42 + n11 * n23 * n42 + n12 * n21 * n43 - n11 * n22 * n43) * detInv;

            invMat[12] = t14 * detInv;
            invMat[13] = (n13 * n24 * n31 - n14 * n23 * n31 + n14 * n21 * n33 - n11 * n24 * n33 - n13 * n21 * n34 + n11 * n23 * n34) * detInv;
            invMat[14] = (n14 * n22 * n31 - n12 * n24 * n31 - n14 * n21 * n32 + n11 * n24 * n32 + n12 * n21 * n34 - n11 * n22 * n34) * detInv;
            invMat[15] = (n12 * n23 * n31 - n13 * n22 * n31 + n13 * n21 * n32 - n11 * n23 * n32 - n12 * n21 * n33 + n11 * n22 * n33) * detInv;

            return invMat;
        },
        
        /**
         * 构造平移矩阵
         * @param {[Number, Number, Number]} t 平移距离
         * @returns 4x4 的平移矩阵
         */
        makeTranslate: function(t)
        {
            var mat = this.identity();
            mat[12] = t[0];
            mat[13] = t[1];
            mat[14] = t[2];
            return mat;
        },

        /**
         * 指定旋转角和旋转轴计算一个旋转矩阵
         * @param {Number} angle 旋转角(角度制)
         * @param {[Number, Number, Number]} axis 旋转轴(单位向量)
         * @returns 4x4的旋转矩阵
         * */
        makeRotationAxis: function(angle, axis){

            const tAngne = angle * Math.PI / 180;
            // Based on http://www.gamedev.net/reference/articles/article1199.asp
            const c = Math.cos(tAngne);
            const s = Math.sin(tAngne);
            const t = 1 - c;
            const x = axis[0], y = axis[1], z = axis[2];
            const tx = t * x, ty = t * y;

            let rMat = [];
            rMat[0] = tx * x + c;       rMat[4] = tx * y - s * z; rMat[8]  = tx * z + s * y;    rMat[12] =0;
            rMat[1] = tx * y + s * z;   rMat[5] = ty * y + c;     rMat[9]  = ty * z - s * x;    rMat[13] =0;
            rMat[2] = tx * z - s * y;   rMat[6] = ty * z + s * x; rMat[10] = t * z * z + c;     rMat[14] =0;
            rMat[3] = 0;                rMat[7] = 0;              rMat[11] = 0;                 rMat[15] =1;
            return rMat;
        },
    }
})();

/**
 * 四元素
 *  注：这里四元数对应Player返回的四元数对象，Player返回的四元数的顺序是 [w,x,y,z]
 *   因此这里四元数所有算法也应该遵循Player中的 [w,x,y,z]顺序
 */
let Quat = (function(){
    return {
        /**
         * 检查a是否是合法的四元数
         * @param {*} a 检查对象
         */
        check: function(a)
        {
            if (!Array.isArray(a))
                return false;
            for(let i = 0; i < 4; ++i)
                if (isNaN(a[i]))
                    return false;
            if (Math.abs(a[0] * a[0] + a[1] * a[1] + a[2] * a[2] + a[3] * a[3] - 1) > 0.01)
                return false;
            return true;
        },
        /**
         * 转换旋转矩阵到四元数
         * @param {*} m 旋转矩阵
         * @returns 旋转四元数
         */
        fromRotationMatrix: function( m) 
        {
            m11 = m[ 0 ], m12 = m[ 4 ], m13 = m[ 8 ],
            m21 = m[ 1 ], m22 = m[ 5 ], m23 = m[ 9 ],
            m31 = m[ 2 ], m32 = m[ 6 ], m33 = m[ 10 ],
    
            trace = m11 + m22 + m33;
    
            q = [];
    
            if ( trace > 0 ) 
            {
    
                const s = 0.5 / Math.sqrt( trace + 1.0 );

                q[0] = 0.25 / s;
                q[1] = ( m32 - m23 ) * s;
                q[2] = ( m13 - m31 ) * s;
                q[3] = ( m21 - m12 ) * s;
    
            } 
            else if ( m11 > m22 && m11 > m33 ) 
            {
    
                const s = 2.0 * Math.sqrt( 1.0 + m11 - m22 - m33 );
    
                q[0] = ( m32 - m23 ) / s;
                q[1] = 0.25 * s;
                q[2] = ( m12 + m21 ) / s;
                q[3] = ( m13 + m31 ) / s;
    
            }
            else if ( m22 > m33 ) 
            {
    
                const s = 2.0 * Math.sqrt( 1.0 + m22 - m11 - m33 );
    
                q[0] = ( m13 - m31 ) / s;
                q[1] = ( m12 + m21 ) / s;
                q[2] = 0.25 * s;
                q[3] = ( m23 + m32 ) / s;
    
            }
            else
            {
    
                const s = 2.0 * Math.sqrt( 1.0 + m33 - m11 - m22 );
    
                q[0] = ( m21 - m12 ) / s;
                q[1] = ( m13 + m31 ) / s;
                q[2] = ( m23 + m32 ) / s;
                q[3] = 0.25 * s;
    
            }
            
            return q;
        },
        /**
         * 转换四元数到旋转矩阵
         * @param m 旋转四元数
         * @returns 旋转矩阵
         */
        toRotationMatrix: function (q)
        {
            return Matrix4.compose([0, 0, 0], q, [1, 1, 1]);
        },
}})();


let EulerAngle = (function () {
    return {
        /**
        * 转换旋转矩阵到欧拉角
        * @param m 旋转矩阵(4x4)
        * @param order 欧拉角顺序, 取值分别为: "XYZ", "YXZ", "ZXY", "ZYX", "YZX", "XZY"
        * @returns 欧拉角
        */
        fromRotationMatrix: function (m, order = 'XYZ') {

            var ret = []

            const te = m;
            const m11 = te[0], m12 = te[4], m13 = te[8];
            const m21 = te[1], m22 = te[5], m23 = te[9];
            const m31 = te[2], m32 = te[6], m33 = te[10];

            switch (order) {

                case 'XYZ':

                    ret[1] = Math.asin(Math.clamp(m13, - 1, 1));

                    if (Math.abs(m13) < 0.9999999) {

                        ret[0] = Math.atan2(- m23, m33);
                        ret[2] = Math.atan2(- m12, m11);

                    } else {

                        ret[0] = Math.atan2(m32, m22);
                        ret[2] = 0;

                    }

                    break;

                case 'YXZ':

                    ret[0] = Math.asin(- clamp(m23, - 1, 1));

                    if (Math.abs(m23) < 0.9999999) {

                        ret[1] = Math.atan2(m13, m33);
                        ret[2] = Math.atan2(m21, m22);

                    } else {

                        ret[1] = Math.atan2(- m31, m11);
                        ret[2] = 0;

                    }

                    break;

                case 'ZXY':

                    ret[0] = Math.asin(clamp(m32, - 1, 1));

                    if (Math.abs(m32) < 0.9999999) {

                        ret[1] = Math.atan2(- m31, m33);
                        ret[2] = Math.atan2(- m12, m22);

                    } else {

                        ret[1] = 0;
                        ret[2] = Math.atan2(m21, m11);

                    }

                    break;

                case 'ZYX':

                    ret[1] = Math.asin(- clamp(m31, - 1, 1));

                    if (Math.abs(m31) < 0.9999999) {

                        ret[0] = Math.atan2(m32, m33);
                        ret[2] = Math.atan2(m21, m11);

                    } else {

                        ret[0] = 0;
                        ret[2] = Math.atan2(- m12, m22);

                    }

                    break;

                case 'YZX':

                    ret[2] = Math.asin(clamp(m21, - 1, 1));

                    if (Math.abs(m21) < 0.9999999) {

                        ret[0] = Math.atan2(- m23, m22);
                        ret[1] = Math.atan2(- m31, m11);

                    } else {

                        ret[0] = 0;
                        ret[1] = Math.atan2(m13, m33);

                    }

                    break;

                case 'XZY':

                    ret[2] = Math.asin(- clamp(m12, - 1, 1));

                    if (Math.abs(m12) < 0.9999999) {

                        ret[0] = Math.atan2(m32, m22);
                        ret[1] = Math.atan2(m13, m11);

                    } else {

                        ret[0] = Math.atan2(- m23, m33);
                        ret[1] = 0;

                    }

                    break;

                default:

                    console.warn(' unknown order: ' + order);

            }
            //弧度制转角度制
            ret[0] = ret[0] * 180 / Math.PI;
            ret[1] = ret[1] * 180 / Math.PI;
            ret[2] = ret[2] * 180 / Math.PI;
            return ret;
        },
        /**
         * 转换欧拉角到旋转矩阵
         * @param euler 欧拉角
         * @param order 欧拉角顺序, 取值分别为: "XYZ", "YXZ", "ZXY", "ZYX", "YZX", "XZY"
         * @returns 4x4旋转矩阵
         */
        toRotationMatrix: function (euler, order = 'XYZ'){

            var ret = [];

            const x = euler[0] * Math.PI / 180;
            const y = euler[1] * Math.PI / 180;
            const z = euler[2] * Math.PI / 180;
            const a = Math.cos(x);
            const b = Math.sin(x);
            const c = Math.cos(y);
            const d = Math.sin(y);
            const e = Math.cos(z);
            const f = Math.sin(z);

            if (order === 'XYZ') {

                const ae = a * e, af = a * f, be = b * e, bf = b * f;

                ret[0] = c * e;
                ret[4] = - c * f;
                ret[8] = d;

                ret[1] = af + be * d;
                ret[5] = ae - bf * d;
                ret[9] = - b * c;

                ret[2] = bf - ae * d;
                ret[6] = be + af * d;
                ret[10] = a * c;

            } else if (order === 'YXZ') {

                const ce = c * e, cf = c * f, de = d * e, df = d * f;

                ret[0] = ce + df * b;
                ret[4] = de * b - cf;
                ret[8] = a * d;

                ret[1] = a * f;
                ret[5] = a * e;
                ret[9] = - b;

                ret[2] = cf * b - de;
                ret[6] = df + ce * b;
                ret[10] = a * c;

            } else if (order === 'ZXY') {

                const ce = c * e, cf = c * f, de = d * e, df = d * f;

                ret[0] = ce - df * b;
                ret[4] = - a * f;
                ret[8] = de + cf * b;

                ret[1] = cf + de * b;
                ret[5] = a * e;
                ret[9] = df - ce * b;

                ret[2] = - a * d;
                ret[6] = b;
                ret[10] = a * c;

            } else if (order === 'ZYX') {

                const ae = a * e, af = a * f, be = b * e, bf = b * f;

                ret[0] = c * e;
                ret[4] = be * d - af;
                ret[8] = ae * d + bf;

                ret[1] = c * f;
                ret[5] = bf * d + ae;
                ret[9] = af * d - be;

                ret[2] = - d;
                ret[6] = b * c;
                ret[10] = a * c;

            } else if (order === 'YZX') {

                const ac = a * c, ad = a * d, bc = b * c, bd = b * d;

                ret[0] = c * e;
                ret[4] = bd - ac * f;
                ret[8] = bc * f + ad;

                ret[1] = f;
                ret[5] = a * e;
                ret[9] = - b * e;

                ret[2] = - d * e;
                ret[6] = ad * f + bc;
                ret[10] = ac - bd * f;

            } else if (order === 'XZY') {

                const ac = a * c, ad = a * d, bc = b * c, bd = b * d;

                ret[0] = c * e;
                ret[4] = - f;
                ret[8] = d * e;

                ret[1] = ac * f + bd;
                ret[5] = a * e;
                ret[9] = ad * f - bc;

                ret[2] = bc * f - ad;
                ret[6] = b * e;
                ret[10] = bd * f + ac;

            }

            // bottom row
            ret[3] = 0;
            ret[7] = 0;
            ret[11] = 0;

            // last column
            ret[12] = 0;
            ret[13] = 0;
            ret[14] = 0;
            ret[15] = 1;

            return ret;
        },
        /**
         * 转换旋转四元数到欧拉角
         * @param q 旋转四元数(wxyz)
         * @param order 欧拉角顺序, 取值分别为: "XYZ", "YXZ", "ZXY", "ZYX", "YZX", "XZY"
         * @returns 旋转四元数
         */
        fromQuat: function (q, order = 'XYZ') {
            return EulerAngle.fromRotationMatrix(Quat.toRotationMatrix(q), order);
        },
        /**
         * 转换欧拉角到旋转四元数
         * @param euler 欧拉角
         * @param order 欧拉角顺序, 取值分别为: "XYZ", "YXZ", "ZXY", "ZYX", "YZX", "XZY"
         * @returns 旋转四元数(wxyz)
         */
        toQuat: function (euler, order = 'XYZ') {

            var q = [];
            const x = euler[0] * Math.PI / 180;
            const y = euler[1] * Math.PI / 180;
            const z = euler[2] * Math.PI / 180;
            
            const cos = Math.cos;
            const sin = Math.sin;

            const c1 = cos(x / 2);
            const c2 = cos(y / 2);
            const c3 = cos(z / 2);

            const s1 = sin(x / 2);
            const s2 = sin(y / 2);
            const s3 = sin(z / 2);

            switch (order) {

                case 'XYZ':
                    q[1] = s1 * c2 * c3 + c1 * s2 * s3;
                    q[2] = c1 * s2 * c3 - s1 * c2 * s3;
                    q[3] = c1 * c2 * s3 + s1 * s2 * c3;
                    q[0] = c1 * c2 * c3 - s1 * s2 * s3;
                    break;

                case 'YXZ':
                    q[1] = s1 * c2 * c3 + c1 * s2 * s3;
                    q[2] = c1 * s2 * c3 - s1 * c2 * s3;
                    q[3] = c1 * c2 * s3 - s1 * s2 * c3;
                    q[0] = c1 * c2 * c3 + s1 * s2 * s3;
                    break;

                case 'ZXY':
                    q[1] = s1 * c2 * c3 - c1 * s2 * s3;
                    q[2] = c1 * s2 * c3 + s1 * c2 * s3;
                    q[3] = c1 * c2 * s3 + s1 * s2 * c3;
                    q[0] = c1 * c2 * c3 - s1 * s2 * s3;
                    break;

                case 'ZYX':
                    q[1] = s1 * c2 * c3 - c1 * s2 * s3;
                    q[2] = c1 * s2 * c3 + s1 * c2 * s3;
                    q[3] = c1 * c2 * s3 - s1 * s2 * c3;
                    q[0] = c1 * c2 * c3 + s1 * s2 * s3;
                    break;

                case 'YZX':
                    q[1] = s1 * c2 * c3 + c1 * s2 * s3;
                    q[2] = c1 * s2 * c3 + s1 * c2 * s3;
                    q[3] = c1 * c2 * s3 - s1 * s2 * c3;
                    q[0] = c1 * c2 * c3 - s1 * s2 * s3;
                    break;

                case 'XZY':
                    q[1] = s1 * c2 * c3 - c1 * s2 * s3;
                    q[2] = c1 * s2 * c3 - s1 * c2 * s3;
                    q[3] = c1 * c2 * s3 + s1 * s2 * c3;
                    q[0] = c1 * c2 * c3 + s1 * s2 * s3;
                    break;

                default:
                    console.warn('unknown order: ' + order);

            }

            return q;
        }
    };
})();
/**
 * 包围盒
 */
let Aabb = (function () {
    return {
        /**
         * 检查a是否是合法的包围盒
         * @param {*} a 检查对象
         */
        check: function (a) {
            if (!Array.isArray(a))
                return false;
            if (isNaN(a.min) || isNaN(a.max))
                return false;
            for (let i = 0; i < 3; ++i)
                if (isNaN(a.min[i]) || isNaN(a.max[i]))
                    return false;
            return true;
        },

        /**
         * map(min、max)解成二维数组
         * @param {[{"min", [Number, Number, Number]}， {"max", [Number, Number, Number]}]} a map a
         */
        deMap: function (a) {
            return [a.min, a.max];
        },

        /**
         * 获取包围盒8个顶点
         * @param a [ [Number, Number, Number]，[Number, Number, Number]] a aabb
         */
        vertex8: function (a) {
            return [
                [a[0][0], a[0][1], a[0][2]]

                , [a[0][0], a[1][1], a[0][2]]

                , [a[1][0], a[1][1], a[0][2]]

                , [a[1][0], a[0][1], a[0][2]]

                , [a[1][0], a[1][1], a[1][2]]

                , [a[0][0], a[1][1], a[1][2]]

                , [a[0][0], a[0][1], a[1][2]]

                , [a[1][0], a[0][1], a[1][2]]];
        },
        /**
         * 获取包围盒某个面
         * @param a [ [Number, Number, Number]，[Number, Number, Number]] a aabb
         * @param faceName 面名称: X,XN,Y,YN,Z,ZN
         */
        face:function(a, faceName = 'Z')
        {
            let fIdx =  []; 
            switch (faceName)
            {
            case 'X':
                {
                    fIdx = [ 3, 2, 4, 7 ];   //X
                }break;
            case 'XN':
                {
                    fIdx = [1, 0, 6, 5 ];    //XN
                }break;
            case 'Y':
                {
                    fIdx = [2, 1, 5, 4 ];   //Y
                }break;
            case 'YN':
                {
                    fIdx = [0, 3, 7, 6 ];   //YN
                }break;
            case 'Z':
                {
                    fIdx = [6, 7, 4, 5 ];   //Z
                }break;
            case 'ZN':
                {
                    fIdx = [1, 2, 3, 0 ];   //ZN
                }break;
            default:
                {
                    console.warn('unknown face: ' + faceName);
                    return [];
                }break;
            }
            const v8 = Aabb.vertex8(a)
            return [v8[fIdx[0]], v8[fIdx[1]], v8[fIdx[2]], v8[fIdx[3]]]
        },
        /**
         * 获取包围盒某个面中心点
         * @param a [ [Number, Number, Number]，[Number, Number, Number]] a aabb
         * @param faceName 面名称: X,XN,Y,YN,Z,ZN
         */
        faceCenter:function(a, faceName = 'Z')
        {
            const face = Aabb.face(a, faceName);
            const a0 = Vec3.add(face[0], face[1]);
            const a1 = Vec3.add(a0, face[2]);
            let a2 = Vec3.add(a1, face[3]);
            a2[0] /= 4;
            a2[1] /= 4;
            a2[2] /= 4;
            return a2;
        },
        /**
         * 获取包围盒中心点
         * @param [ [Number, Number, Number]，[Number, Number, Number]] a aabb
         */
        center: function(a)
        {
            let cen = Vec3.add(a[0], a[1])
            cen = Vec3.multiplyScalar(cen, 0.5)
            return cen
        }
    }
})();

/**
 * 射线 [[Number,Number,Number],[Number,Number,Number]] 第一个数据表示射线端点，第二个数据表示射线防线
 */
let Ray = (function () { 
	return {
        /**
        * @brief 根据参数 t(距离) 获取射线上的点
        *   当 t = 0 时， 结果点为射线原点
        *   当 t > 0 时， 结果点在射线上
        *   当 t < 0 是， 结果点在射线的背面
        */
        at: function(ray, t) 
        {
            let pt = Vec3.add(ray[0], Vec3.multiplyScalar(ray[1], t))
			return pt;
        },
        /**
        * @brief 射线与平面相交
		* @param ray 射线对象
		* @param planePosition 平面上的任意一点
		* @param planeNormal 平面发向量
        */
        intersectPlane: function(ray, planePosition, planeNormal)
        {
            let denominator = Vec3.dot(planeNormal, ray[1])
            if (denominator === 0.0)
            {
                let dt = Vec3.dot(planeNormal, ray[0])
                if (dt === 0.0)
                {
                    return { bIntersect: true, rayParamT: 0 };
                }
                return { bIntersect: false, rayParamT: -1 };
            }
            let t = Vec3.dot(planeNormal, Vec3.sub(planePosition, ray[0])) / denominator;
            if (t >= 0)
            {
                return { bIntersect: true, rayParamT: t };
            }
            return { bIntersect: false, rayParamT: -1 };
        },
	}
})();

/**
 * Player常用函数集合
 */
let PlayerUtils = (function() {
    return {
        /**
         * 使用Promise封装异步接口调用
         * @param {Function} fun 要调用的函数
         * @param  {...any} args 参数
         * @example
         *  var info = await PlayerUtils.call(player.Model.getInfo, 'sampler.pr') //使用await
         *  PlayerUtils.call(player.Model.getInfo, 'sampler.pr').then((info)=>{ console.log(info) }); //使用then
         */
        call: function(fun, ...args) {
            return new Promise((resolve)=>{
                fun(...args, (ret)=>{
                    resolve(ret);
                });
            });
        },

        /**
         * 计算包围盒的视口信息
         * @param {{min:[Number,Number,Number],max:[Number,Number,Number]}} aabb 目标包围盒
         * @param {[Number,Number,Number]} eyeDir 摄像机方向
         * @param {[Number,Number,Number]} upDir 摄像机上方向，不能与eyeDir重合
         * @param {Number} lenScalar 摄像机距离系数，越大越远
         */
        calAabbViewParam: function(aabb, eyeDir, upDir, lenScalar) {
            var target = Vec3.divideScalar(Vec3.add(aabb.min, aabb.max), 2);
            var dir = Vec3.normalize(eyeDir);
            var len = Vec3.length(Vec3.sub(aabb.max, aabb.min)) * lenScalar;
            var eye = Vec3.add(Vec3.multiplyScalar(dir, len), target);
            var up = Vec3.normalize(Vec3.cross(Vec3.cross(dir, upDir), dir));
            return {
                eye: eye,
                target: target,
                up: up
            }
        },

        /**
         * 移动相机看向模型，适用于模型所在高程瓦片已加载完成或禁用地形跟随
         * @param {RemotePlayer} player Player对象
         * @param {String} modelId 模型ID
         * @param {[Number,Number,Number]|Function} eyeDir 摄像机方向，基于模型局部坐标系，或计算相机方向的函数
         * @param {[Number,Number,Number]} upDir 摄像机上方向，不能与eyeDir重合，基于模型局部坐标系
         * @param {Number} lenScalar 摄像机距离系数，越大越远
         * @param {Number} second 摄像机过渡时间
         * @example
         *  PlayerUtils.moveToModel(player, "data://models/sampler.pr", [1,0,0], [0,0,1], 2); //[1,0,0]=>从右看向左边
         */
        moveToModel: async function (player, modelId, eyeDir, upDir, lenScalar = 1, second = 1) {
            var info = await PlayerUtils.call(player.Native.Model.getInfo, modelId);
            var mat = await PlayerUtils.call(player.Native.Model.getModelMatrix, modelId);
            if (typeof(eyeDir) == "function") eyeDir = eyeDir(info.srcAabb);
            var param = PlayerUtils.calAabbViewParam(info.srcAabb, eyeDir, upDir, lenScalar);
            param.eye = Matrix4.multiplyPos(mat, param.eye);
            param.target = Matrix4.multiplyPos(mat, param.target);
            param.up = Matrix4.multiplyDir(mat, param.up);
            await PlayerUtils.call(player.Native.Camera.moveTo, param.eye, param.target, param.up, second);
        },

        /**
         * 移动相机看向包围盒
         * @param {RemotePlayer} player Player对象
         * @param {{min:[Number,Number,Number], max:[Number,Number,Number]}} aabb 模型ID
         * @param {[...Number]} mat 包围盒需要运用的矩阵
         * @param {[Number,Number,Number]} eyeDir 摄像机方向，基于模型局部坐标系
         * @param {[Number,Number,Number]} upDir 摄像机上方向，不能与eyeDir重合，基于模型局部坐标系
         * @param {Number} lenScalar 摄像机距离系数，越大越远
         * @param {Number} second 摄像机过渡时间
         * @example
         *  PlayerUtils.moveToAabb(player, {min:[-1,-1,-1],max:[1,1,1]}, [1,0,0], [0,0,1], 2); //[1,0,0]=>从右看向左边
         */
        moveToAabb: async function (player, aabb, mat, eyeDir, upDir, lenScalar = 1, second = 1) {
            var param = PlayerUtils.calAabbViewParam(aabb, eyeDir, upDir, lenScalar);
            param.eye = Matrix4.multiplyPos(mat, param.eye);
            param.target = Matrix4.multiplyPos(mat, param.target);
            param.up = Matrix4.multiplyDir(mat, param.up);
            await PlayerUtils.call(player.Native.Camera.moveTo, param.eye, param.target, param.up, second);
        },
        
        /**
         * 添加移动相机看向包围盒任务
         * @param {RemotePlayer} player Player对象
         * @param {{min:[Number,Number,Number], max:[Number,Number,Number]}} aabb 模型ID
         * @param {[...Number]} mat 包围盒需要运用的矩阵
         * @param {[Number,Number,Number]} eyeDir 摄像机方向，基于模型局部坐标系
         * @param {[Number,Number,Number]} upDir 摄像机上方向，不能与eyeDir重合，基于模型局部坐标系
         * @param {Number} lenScalar 摄像机距离系数，越大越远
         * @param {Number} second 摄像机过渡时间
         * @example
         *  PlayerUtils.addMoveToAabb(player, {min:[-1,-1,-1],max:[1,1,1]}, [1,0,0], [0,0,1], 2); //[1,0,0]=>从右看向左边
         */
        addMoveToAabb: async function (player, aabb, mat, eyeDir, upDir, lenScalar = 1, second = 1) {
            var param = PlayerUtils.calAabbViewParam(aabb, eyeDir, upDir, lenScalar);
            param.eye = Matrix4.multiplyPos(mat, param.eye);
            param.target = Matrix4.multiplyPos(mat, param.target);
            param.up = Matrix4.multiplyDir(mat, param.up);
            await PlayerUtils.call(player.Native.Camera.addMoveTo, param.eye, param.target, param.up, second);
        }
    }

})();