const rotation = Quat.fromAxisAngle(new Vec3([0, 1, 0]), t / 10000)

function fromAxisAngle(axis: Vec3, angle: number, dest = new Quat()): Quat {
  angle *= 0.5
  const sin = Math.sin(angle)

  dest.x = axis.x * sin
  dest.y = axis.y * sin
  dest.z = axis.z * sin
  dest.w = Math.cos(angle)

  return dest
}

toMat4(dest = new Mat4()): Mat4 {
  const { x, y, z, w } = this

  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

  dest.init([
    1 - (yy + zz), xy - wz,       xz + wy,       0,
    xy + wz,       1 - (xx + zz), yz - wx,       0,
    xz - wy,       yz + wx,       1 - (xx + yy), 0,
    0,             0,             0,             1,
  ])

  return dest
}

precision mediump float;

attribute vec3 aVertexPosition;
attribute vec2 aVertexUV;

uniform mat4 uModelMatrix;
uniform mat4 uViewMatrix;
uniform mat4 uProjectionMatrix;

varying vec2 vUV;

void main(void) {
  vUV = aVertexUV;

  gl_Position = uProjectionMatrix * uViewMatrix * uModelMatrix * vec4(aVertexPosition.xyz, 1.0);
}

precision mediump float;

attribute vec3 aVertexPosition;
attribute vec2 aVertexUV;

struct Transform {
  float scale;
  vec3 translation;
  vec4 rotation;
};

uniform Transform uModel;
uniform Transform uView;
uniform mat4 uProjection;

varying vec2 vUV;

vec3 rotateVector(vec4 quat, vec3 vec) {
  return vec + 2.0 * cross(cross(vec, quat.xyz) + quat.w * vec, quat.xyz);
}

void main(void) {
  vUV = aVertexUV;

  vec3 world = rotateVector(uModel.rotation, aVertexPosition * uModel.scale) + uModel.translation;
  vec3 view = rotateVector(uView.rotation, world * uView.scale) + uView.translation;

  gl_Position = uProjection * vec4(view, 1.0);
}