gl-matrix-rails 0.1.0 → 0.1.1

data/lib/gl-matrix/version.rb

@@ -1,6 +1,6 @@
 module GLMatrix
   module Version
-    MAJOR, MINOR, TINY = 0, 1, 0
+    MAJOR, MINOR, TINY = 0, 1, 1
     STRING = [MAJOR, MINOR, TINY].join '.'
   end
 

data/vendor/assets/javascripts/gl-matrix.js

@@ -1,24 +1,24 @@
 /**
- * @fileoverview gl-matrix - High performance matrix and vector operations
- * @author Brandon Jones
- * @author Colin MacKenzie IV
- * @version 2.0.0
- */
+* @fileoverview gl-matrix - High performance matrix and vector operations
+* @author Brandon Jones
+* @author Colin MacKenzie IV
+* @version 2.1.0
+*/
 
-/* Copyright (c) 2012, Brandon Jones, Colin MacKenzie IV. All rights reserved.
+/* Copyright (c) 2013, Brandon Jones, Colin MacKenzie IV. All rights reserved.
 
 Redistribution and use in source and binary forms, with or without modification,
 are permitted provided that the following conditions are met:
 
-  * Redistributions of source code must retain the above copyright notice, this
-    list of conditions and the following disclaimer.
-  * Redistributions in binary form must reproduce the above copyright notice,
-    this list of conditions and the following disclaimer in the documentation 
-    and/or other materials provided with the distribution.
+* Redistributions of source code must retain the above copyright notice, this
+list of conditions and the following disclaimer.
+* Redistributions in binary form must reproduce the above copyright notice,
+this list of conditions and the following disclaimer in the documentation
+and/or other materials provided with the distribution.
 
 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
-WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
 ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
@@ -41,7 +41,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */
     } else {
       // gl-matrix lives in a browser, define its namespaces in global
       shim.exports = window;
-    }    
+    }
   }
   else {
     // gl-matrix lives in commonjs, define its namespaces in exports
@@ -49,20 +49,20 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */
   }
 
   (function(exports) {
-    /* Copyright (c) 2012, Brandon Jones, Colin MacKenzie IV. All rights reserved.
+    /* Copyright (c) 2013, Brandon Jones, Colin MacKenzie IV. All rights reserved.
 
 Redistribution and use in source and binary forms, with or without modification,
 are permitted provided that the following conditions are met:
 
-  * Redistributions of source code must retain the above copyright notice, this
-    list of conditions and the following disclaimer.
-  * Redistributions in binary form must reproduce the above copyright notice,
-    this list of conditions and the following disclaimer in the documentation 
-    and/or other materials provided with the distribution.
+* Redistributions of source code must retain the above copyright notice, this
+list of conditions and the following disclaimer.
+* Redistributions in binary form must reproduce the above copyright notice,
+this list of conditions and the following disclaimer in the documentation
+and/or other materials provided with the distribution.
 
 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
-WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
 ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
@@ -71,60 +71,109 @@ ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */
 
-/**
- * @class 2 Dimensional Vector
- * @name vec2
- */
-
-var vec2 = {};
 
 if(!GLMAT_EPSILON) {
     var GLMAT_EPSILON = 0.000001;
 }
- 
+
+if(!GLMAT_ARRAY_TYPE) {
+    var GLMAT_ARRAY_TYPE = (typeof Float32Array !== 'undefined') ? Float32Array : Array;
+}
+
 /**
- * Creates a new, empty vec2
- *
- * @returns {vec2} a new 2D vector
- */
+* @class Common utilities
+* @name glMatrix
+*/
+var glMatrix = {};
+
+/**
+* Sets the type of array used when creating new vectors and matricies
+*
+* @param {Type} type Array type, such as Float32Array or Array
+*/
+glMatrix.setMatrixArrayType = function(type) {
+    GLMAT_ARRAY_TYPE = type;
+}
+
+if(typeof(exports) !== 'undefined') {
+    exports.glMatrix = glMatrix;
+}
+;
+/* Copyright (c) 2013, Brandon Jones, Colin MacKenzie IV. All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this
+list of conditions and the following disclaimer.
+* Redistributions in binary form must reproduce the above copyright notice,
+this list of conditions and the following disclaimer in the documentation
+and/or other materials provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
+ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */
+
+/**
+* @class 2 Dimensional Vector
+* @name vec2
+*/
+
+var vec2 = {};
+
+/**
+* Creates a new, empty vec2
+*
+* @returns {vec2} a new 2D vector
+*/
 vec2.create = function() {
-    return new Float32Array(2);
+    var out = new GLMAT_ARRAY_TYPE(2);
+    out[0] = 0;
+    out[1] = 0;
+    return out;
 };
 
 /**
- * Creates a new vec2 initialized with values from an existing vector
- *
- * @param {vec2} a vector to clone
- * @returns {vec2} a new 2D vector
- */
+* Creates a new vec2 initialized with values from an existing vector
+*
+* @param {vec2} a vector to clone
+* @returns {vec2} a new 2D vector
+*/
 vec2.clone = function(a) {
-    var out = new Float32Array(2);
+    var out = new GLMAT_ARRAY_TYPE(2);
     out[0] = a[0];
     out[1] = a[1];
     return out;
 };
 
 /**
- * Creates a new vec2 initialized with the given values
- *
- * @param {Number} x X component
- * @param {Number} y Y component
- * @returns {vec2} a new 2D vector
- */
+* Creates a new vec2 initialized with the given values
+*
+* @param {Number} x X component
+* @param {Number} y Y component
+* @returns {vec2} a new 2D vector
+*/
 vec2.fromValues = function(x, y) {
-    var out = new Float32Array(2);
+    var out = new GLMAT_ARRAY_TYPE(2);
     out[0] = x;
     out[1] = y;
     return out;
 };
 
 /**
- * Copy the values from one vec2 to another
- *
- * @param {vec2} out the receiving vector
- * @param {vec2} a the source vector
- * @returns {vec2} out
- */
+* Copy the values from one vec2 to another
+*
+* @param {vec2} out the receiving vector
+* @param {vec2} a the source vector
+* @returns {vec2} out
+*/
 vec2.copy = function(out, a) {
     out[0] = a[0];
     out[1] = a[1];
@@ -132,13 +181,13 @@ vec2.copy = function(out, a) {
 };
 
 /**
- * Set the components of a vec2 to the given values
- *
- * @param {vec2} out the receiving vector
- * @param {Number} x X component
- * @param {Number} y Y component
- * @returns {vec2} out
- */
+* Set the components of a vec2 to the given values
+*
+* @param {vec2} out the receiving vector
+* @param {Number} x X component
+* @param {Number} y Y component
+* @returns {vec2} out
+*/
 vec2.set = function(out, x, y) {
     out[0] = x;
     out[1] = y;
@@ -146,13 +195,13 @@ vec2.set = function(out, x, y) {
 };
 
 /**
- * Adds two vec2's
- *
- * @param {vec2} out the receiving vector
- * @param {vec2} a the first operand
- * @param {vec2} b the second operand
- * @returns {vec2} out
- */
+* Adds two vec2's
+*
+* @param {vec2} out the receiving vector
+* @param {vec2} a the first operand
+* @param {vec2} b the second operand
+* @returns {vec2} out
+*/
 vec2.add = function(out, a, b) {
     out[0] = a[0] + b[0];
     out[1] = a[1] + b[1];
@@ -160,55 +209,73 @@ vec2.add = function(out, a, b) {
 };
 
 /**
- * Subtracts two vec2's
- *
- * @param {vec2} out the receiving vector
- * @param {vec2} a the first operand
- * @param {vec2} b the second operand
- * @returns {vec2} out
- */
-vec2.sub = vec2.subtract = function(out, a, b) {
+* Subtracts two vec2's
+*
+* @param {vec2} out the receiving vector
+* @param {vec2} a the first operand
+* @param {vec2} b the second operand
+* @returns {vec2} out
+*/
+vec2.subtract = function(out, a, b) {
     out[0] = a[0] - b[0];
     out[1] = a[1] - b[1];
     return out;
 };
 
 /**
- * Multiplies two vec2's
- *
- * @param {vec2} out the receiving vector
- * @param {vec2} a the first operand
- * @param {vec2} b the second operand
- * @returns {vec2} out
- */
-vec2.mul = vec2.multiply = function(out, a, b) {
+* Alias for {@link vec2.subtract}
+* @function
+*/
+vec2.sub = vec2.subtract;
+
+/**
+* Multiplies two vec2's
+*
+* @param {vec2} out the receiving vector
+* @param {vec2} a the first operand
+* @param {vec2} b the second operand
+* @returns {vec2} out
+*/
+vec2.multiply = function(out, a, b) {
     out[0] = a[0] * b[0];
     out[1] = a[1] * b[1];
     return out;
 };
 
 /**
- * Divides two vec2's
- *
- * @param {vec2} out the receiving vector
- * @param {vec2} a the first operand
- * @param {vec2} b the second operand
- * @returns {vec2} out
- */
-vec2.div = vec2.divide = function(out, a, b) {
+* Alias for {@link vec2.multiply}
+* @function
+*/
+vec2.mul = vec2.multiply;
+
+/**
+* Divides two vec2's
+*
+* @param {vec2} out the receiving vector
+* @param {vec2} a the first operand
+* @param {vec2} b the second operand
+* @returns {vec2} out
+*/
+vec2.divide = function(out, a, b) {
     out[0] = a[0] / b[0];
     out[1] = a[1] / b[1];
     return out;
 };
 
 /**
- * Returns the minimum of two vec2's
- *
- * @param {vec2} out the receiving vector
- * @param {vec2} a the first operand
- * @param {vec2} b the second operand
- * @returns {vec2} out
- */
+* Alias for {@link vec2.divide}
+* @function
+*/
+vec2.div = vec2.divide;
+
+/**
+* Returns the minimum of two vec2's
+*
+* @param {vec2} out the receiving vector
+* @param {vec2} a the first operand
+* @param {vec2} b the second operand
+* @returns {vec2} out
+*/
 vec2.min = function(out, a, b) {
     out[0] = Math.min(a[0], b[0]);
     out[1] = Math.min(a[1], b[1]);
@@ -216,13 +283,13 @@ vec2.min = function(out, a, b) {
 };
 
 /**
- * Returns the maximum of two vec2's
- *
- * @param {vec2} out the receiving vector
- * @param {vec2} a the first operand
- * @param {vec2} b the second operand
- * @returns {vec2} out
- */
+* Returns the maximum of two vec2's
+*
+* @param {vec2} out the receiving vector
+* @param {vec2} a the first operand
+* @param {vec2} b the second operand
+* @returns {vec2} out
+*/
 vec2.max = function(out, a, b) {
     out[0] = Math.max(a[0], b[0]);
     out[1] = Math.max(a[1], b[1]);
@@ -230,13 +297,13 @@ vec2.max = function(out, a, b) {
 };
 
 /**
- * Scales a vec2 by a scalar number
- *
- * @param {vec2} out the receiving vector
- * @param {vec2} a the vector to scale
- * @param {vec2} b amount to scale the vector by
- * @returns {vec2} out
- */
+* Scales a vec2 by a scalar number
+*
+* @param {vec2} out the receiving vector
+* @param {vec2} a the vector to scale
+* @param {Number} b amount to scale the vector by
+* @returns {vec2} out
+*/
 vec2.scale = function(out, a, b) {
     out[0] = a[0] * b;
     out[1] = a[1] * b;
@@ -244,62 +311,86 @@ vec2.scale = function(out, a, b) {
 };
 
 /**
- * Calculates the euclidian distance between two vec2's
- *
- * @param {vec2} a the first operand
- * @param {vec2} b the second operand
- * @returns {Number} distance between a and b
- */
-vec2.dist = vec2.distance = function(a, b) {
+* Calculates the euclidian distance between two vec2's
+*
+* @param {vec2} a the first operand
+* @param {vec2} b the second operand
+* @returns {Number} distance between a and b
+*/
+vec2.distance = function(a, b) {
     var x = b[0] - a[0],
         y = b[1] - a[1];
     return Math.sqrt(x*x + y*y);
 };
 
 /**
- * Calculates the squared euclidian distance between two vec2's
- *
- * @param {vec2} a the first operand
- * @param {vec2} b the second operand
- * @returns {Number} squared distance between a and b
- */
-vec2.sqrDist = vec2.squaredDistance = function(a, b) {
+* Alias for {@link vec2.distance}
+* @function
+*/
+vec2.dist = vec2.distance;
+
+/**
+* Calculates the squared euclidian distance between two vec2's
+*
+* @param {vec2} a the first operand
+* @param {vec2} b the second operand
+* @returns {Number} squared distance between a and b
+*/
+vec2.squaredDistance = function(a, b) {
     var x = b[0] - a[0],
         y = b[1] - a[1];
     return x*x + y*y;
 };
 
 /**
- * Caclulates the length of a vec2
- *
- * @param {vec2} a vector to calculate length of
- * @returns {Number} length of a
- */
-vec2.len = vec2.length = function (a) {
+* Alias for {@link vec2.squaredDistance}
+* @function
+*/
+vec2.sqrDist = vec2.squaredDistance;
+
+/**
+* Calculates the length of a vec2
+*
+* @param {vec2} a vector to calculate length of
+* @returns {Number} length of a
+*/
+vec2.length = function (a) {
     var x = a[0],
         y = a[1];
     return Math.sqrt(x*x + y*y);
 };
 
 /**
- * Caclulates the squared length of a vec2
- *
- * @param {vec2} a vector to calculate squared length of
- * @returns {Number} squared length of a
- */
-vec2.sqrLen = vec2.squaredLength = function (a) {
+* Alias for {@link vec2.length}
+* @function
+*/
+vec2.len = vec2.length;
+
+/**
+* Calculates the squared length of a vec2
+*
+* @param {vec2} a vector to calculate squared length of
+* @returns {Number} squared length of a
+*/
+vec2.squaredLength = function (a) {
     var x = a[0],
         y = a[1];
     return x*x + y*y;
 };
 
 /**
- * Negates the components of a vec2
- *
- * @param {vec2} out the receiving vector
- * @param {vec2} a vector to negate
- * @returns {vec2} out
- */
+* Alias for {@link vec2.squaredLength}
+* @function
+*/
+vec2.sqrLen = vec2.squaredLength;
+
+/**
+* Negates the components of a vec2
+*
+* @param {vec2} out the receiving vector
+* @param {vec2} a vector to negate
+* @returns {vec2} out
+*/
 vec2.negate = function(out, a) {
     out[0] = -a[0];
     out[1] = -a[1];
@@ -307,12 +398,12 @@ vec2.negate = function(out, a) {
 };
 
 /**
- * Normalize a vec2
- *
- * @param {vec2} out the receiving vector
- * @param {vec2} a vector to normalize
- * @returns {vec2} out
- */
+* Normalize a vec2
+*
+* @param {vec2} out the receiving vector
+* @param {vec2} a vector to normalize
+* @returns {vec2} out
+*/
 vec2.normalize = function(out, a) {
     var x = a[0],
         y = a[1];
@@ -327,25 +418,25 @@ vec2.normalize = function(out, a) {
 };
 
 /**
- * Caclulates the dot product of two vec2's
- *
- * @param {vec2} a the first operand
- * @param {vec2} b the second operand
- * @returns {Number} dot product of a and b
- */
+* Calculates the dot product of two vec2's
+*
+* @param {vec2} a the first operand
+* @param {vec2} b the second operand
+* @returns {Number} dot product of a and b
+*/
 vec2.dot = function (a, b) {
     return a[0] * b[0] + a[1] * b[1];
 };
 
 /**
- * Computes the cross product of two vec2's
- * Note that the cross product must by definition produce a 3D vector
- *
- * @param {vec3} out the receiving vector
- * @param {vec2} a the first operand
- * @param {vec2} b the second operand
- * @returns {vec3} out
- */
+* Computes the cross product of two vec2's
+* Note that the cross product must by definition produce a 3D vector
+*
+* @param {vec3} out the receiving vector
+* @param {vec2} a the first operand
+* @param {vec2} b the second operand
+* @returns {vec3} out
+*/
 vec2.cross = function(out, a, b) {
     var z = a[0] * b[1] - a[1] * b[0];
     out[0] = out[1] = 0;
@@ -354,14 +445,14 @@ vec2.cross = function(out, a, b) {
 };
 
 /**
- * Performs a linear interpolation between two vec2's
- *
- * @param {vec3} out the receiving vector
- * @param {vec2} a the first operand
- * @param {vec2} b the second operand
- * @param {Number} t interpolation amount between the two inputs
- * @returns {vec2} out
- */
+* Performs a linear interpolation between two vec2's
+*
+* @param {vec2} out the receiving vector
+* @param {vec2} a the first operand
+* @param {vec2} b the second operand
+* @param {Number} t interpolation amount between the two inputs
+* @returns {vec2} out
+*/
 vec2.lerp = function (out, a, b, t) {
     var ax = a[0],
         ay = a[1];
@@ -371,34 +462,86 @@ vec2.lerp = function (out, a, b, t) {
 };
 
 /**
- * Transforms the vec2 with a mat2
- *
- * @param {vec2} out the receiving vector
- * @param {vec2} a the vector to transform
- * @param {mat2} m matrix to transform with
- * @returns {vec2} out
- */
+* Transforms the vec2 with a mat2
+*
+* @param {vec2} out the receiving vector
+* @param {vec2} a the vector to transform
+* @param {mat2} m matrix to transform with
+* @returns {vec2} out
+*/
 vec2.transformMat2 = function(out, a, m) {
     var x = a[0],
         y = a[1];
-    out[0] = x * m[0] + y * m[1];
-    out[1] = x * m[2] + y * m[3];
+    out[0] = m[0] * x + m[2] * y;
+    out[1] = m[1] * x + m[3] * y;
+    return out;
+};
+
+/**
+* Transforms the vec2 with a mat2d
+*
+* @param {vec2} out the receiving vector
+* @param {vec2} a the vector to transform
+* @param {mat2d} m matrix to transform with
+* @returns {vec2} out
+*/
+vec2.transformMat2d = function(out, a, m) {
+    var x = a[0],
+        y = a[1];
+    out[0] = m[0] * x + m[2] * y + m[4];
+    out[1] = m[1] * x + m[3] * y + m[5];
+    return out;
+};
+
+/**
+* Transforms the vec2 with a mat3
+* 3rd vector component is implicitly '1'
+*
+* @param {vec2} out the receiving vector
+* @param {vec2} a the vector to transform
+* @param {mat3} m matrix to transform with
+* @returns {vec2} out
+*/
+vec2.transformMat3 = function(out, a, m) {
+    var x = a[0],
+        y = a[1];
+    out[0] = m[0] * x + m[3] * y + m[6];
+    out[1] = m[1] * x + m[4] * y + m[7];
+    return out;
+};
+
+/**
+* Transforms the vec2 with a mat4
+* 3rd vector component is implicitly '0'
+* 4th vector component is implicitly '1'
+*
+* @param {vec2} out the receiving vector
+* @param {vec2} a the vector to transform
+* @param {mat4} m matrix to transform with
+* @returns {vec2} out
+*/
+vec2.transformMat4 = function(out, a, m) {
+    var x = a[0],
+        y = a[1];
+    out[0] = m[0] * x + m[4] * y + m[12];
+    out[1] = m[1] * x + m[5] * y + m[13];
     return out;
 };
 
 /**
- * Perform some operation over an array of vec2s.
- *
- * @param {Array} a the array of vectors to iterate over
- * @param {Number} stride Number of elements between the start of each vec2. If 0 assumes tightly packed
- * @param {Number} offset Number of elements to skip at the beginning of the array
- * @param {Number} count Number of vec2s to iterate over. If 0 iterates over entire array
- * @param {Function} fn Function to call for each vector in the array
- * @param {Object} [arg] additional argument to pass to fn
- * @returns {Array} a
- */
+* Perform some operation over an array of vec2s.
+*
+* @param {Array} a the array of vectors to iterate over
+* @param {Number} stride Number of elements between the start of each vec2. If 0 assumes tightly packed
+* @param {Number} offset Number of elements to skip at the beginning of the array
+* @param {Number} count Number of vec2s to iterate over. If 0 iterates over entire array
+* @param {Function} fn Function to call for each vector in the array
+* @param {Object} [arg] additional argument to pass to fn
+* @returns {Array} a
+* @function
+*/
 vec2.forEach = (function() {
-    var vec = new Float32Array(2);
+    var vec = vec2.create();
 
     return function(a, stride, offset, count, fn, arg) {
         var i, l;
@@ -427,11 +570,11 @@ vec2.forEach = (function() {
 })();
 
 /**
- * Returns a string representation of a vector
- *
- * @param {vec2} vec vector to represent as a string
- * @returns {String} string representation of the vector
- */
+* Returns a string representation of a vector
+*
+* @param {vec2} vec vector to represent as a string
+* @returns {String} string representation of the vector
+*/
 vec2.str = function (a) {
     return 'vec2(' + a[0] + ', ' + a[1] + ')';
 };
@@ -440,20 +583,20 @@ if(typeof(exports) !== 'undefined') {
     exports.vec2 = vec2;
 }
 ;
-/* Copyright (c) 2012, Brandon Jones, Colin MacKenzie IV. All rights reserved.
+/* Copyright (c) 2013, Brandon Jones, Colin MacKenzie IV. All rights reserved.
 
 Redistribution and use in source and binary forms, with or without modification,
 are permitted provided that the following conditions are met:
 
-  * Redistributions of source code must retain the above copyright notice, this
-    list of conditions and the following disclaimer.
-  * Redistributions in binary form must reproduce the above copyright notice,
-    this list of conditions and the following disclaimer in the documentation 
-    and/or other materials provided with the distribution.
+* Redistributions of source code must retain the above copyright notice, this
+list of conditions and the following disclaimer.
+* Redistributions in binary form must reproduce the above copyright notice,
+this list of conditions and the following disclaimer in the documentation
+and/or other materials provided with the distribution.
 
 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
-WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
 ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
@@ -463,33 +606,33 @@ ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */
 
 /**
- * @class 3 Dimensional Vector
- * @name vec3
- */
+* @class 3 Dimensional Vector
+* @name vec3
+*/
 
 var vec3 = {};
 
-if(!GLMAT_EPSILON) {
-    var GLMAT_EPSILON = 0.000001;
-}
- 
 /**
- * Creates a new, empty vec3
- *
- * @returns {vec3} a new 3D vector
- */
+* Creates a new, empty vec3
+*
+* @returns {vec3} a new 3D vector
+*/
 vec3.create = function() {
-    return new Float32Array(3);
+    var out = new GLMAT_ARRAY_TYPE(3);
+    out[0] = 0;
+    out[1] = 0;
+    out[2] = 0;
+    return out;
 };
 
 /**
- * Creates a new vec3 initialized with values from an existing vector
- *
- * @param {vec3} a vector to clone
- * @returns {vec3} a new 3D vector
- */
+* Creates a new vec3 initialized with values from an existing vector
+*
+* @param {vec3} a vector to clone
+* @returns {vec3} a new 3D vector
+*/
 vec3.clone = function(a) {
-    var out = new Float32Array(3);
+    var out = new GLMAT_ARRAY_TYPE(3);
     out[0] = a[0];
     out[1] = a[1];
     out[2] = a[2];
@@ -497,15 +640,15 @@ vec3.clone = function(a) {
 };
 
 /**
- * Creates a new vec3 initialized with the given values
- *
- * @param {Number} x X component
- * @param {Number} y Y component
- * @param {Number} z Z component
- * @returns {vec3} a new 3D vector
- */
+* Creates a new vec3 initialized with the given values
+*
+* @param {Number} x X component
+* @param {Number} y Y component
+* @param {Number} z Z component
+* @returns {vec3} a new 3D vector
+*/
 vec3.fromValues = function(x, y, z) {
-    var out = new Float32Array(3);
+    var out = new GLMAT_ARRAY_TYPE(3);
     out[0] = x;
     out[1] = y;
     out[2] = z;
@@ -513,12 +656,12 @@ vec3.fromValues = function(x, y, z) {
 };
 
 /**
- * Copy the values from one vec3 to another
- *
- * @param {vec3} out the receiving vector
- * @param {vec3} a the source vector
- * @returns {vec3} out
- */
+* Copy the values from one vec3 to another
+*
+* @param {vec3} out the receiving vector
+* @param {vec3} a the source vector
+* @returns {vec3} out
+*/
 vec3.copy = function(out, a) {
     out[0] = a[0];
     out[1] = a[1];
@@ -527,14 +670,14 @@ vec3.copy = function(out, a) {
 };
 
 /**
- * Set the components of a vec3 to the given values
- *
- * @param {vec3} out the receiving vector
- * @param {Number} x X component
- * @param {Number} y Y component
- * @param {Number} z Z component
- * @returns {vec3} out
- */
+* Set the components of a vec3 to the given values
+*
+* @param {vec3} out the receiving vector
+* @param {Number} x X component
+* @param {Number} y Y component
+* @param {Number} z Z component
+* @returns {vec3} out
+*/
 vec3.set = function(out, x, y, z) {
     out[0] = x;
     out[1] = y;
@@ -543,13 +686,13 @@ vec3.set = function(out, x, y, z) {
 };
 
 /**
- * Adds two vec3's
- *
- * @param {vec3} out the receiving vector
- * @param {vec3} a the first operand
- * @param {vec3} b the second operand
- * @returns {vec3} out
- */
+* Adds two vec3's
+*
+* @param {vec3} out the receiving vector
+* @param {vec3} a the first operand
+* @param {vec3} b the second operand
+* @returns {vec3} out
+*/
 vec3.add = function(out, a, b) {
     out[0] = a[0] + b[0];
     out[1] = a[1] + b[1];
@@ -558,14 +701,14 @@ vec3.add = function(out, a, b) {
 };
 
 /**
- * Subtracts two vec3's
- *
- * @param {vec3} out the receiving vector
- * @param {vec3} a the first operand
- * @param {vec3} b the second operand
- * @returns {vec3} out
- */
-vec3.sub = vec3.subtract = function(out, a, b) {
+* Subtracts two vec3's
+*
+* @param {vec3} out the receiving vector
+* @param {vec3} a the first operand
+* @param {vec3} b the second operand
+* @returns {vec3} out
+*/
+vec3.subtract = function(out, a, b) {
     out[0] = a[0] - b[0];
     out[1] = a[1] - b[1];
     out[2] = a[2] - b[2];
@@ -573,14 +716,20 @@ vec3.sub = vec3.subtract = function(out, a, b) {
 };
 
 /**
- * Multiplies two vec3's
- *
- * @param {vec3} out the receiving vector
- * @param {vec3} a the first operand
- * @param {vec3} b the second operand
- * @returns {vec3} out
- */
-vec3.mul = vec3.multiply = function(out, a, b) {
+* Alias for {@link vec3.subtract}
+* @function
+*/
+vec3.sub = vec3.subtract;
+
+/**
+* Multiplies two vec3's
+*
+* @param {vec3} out the receiving vector
+* @param {vec3} a the first operand
+* @param {vec3} b the second operand
+* @returns {vec3} out
+*/
+vec3.multiply = function(out, a, b) {
     out[0] = a[0] * b[0];
     out[1] = a[1] * b[1];
     out[2] = a[2] * b[2];
@@ -588,14 +737,20 @@ vec3.mul = vec3.multiply = function(out, a, b) {
 };
 
 /**
- * Divides two vec3's
- *
- * @param {vec3} out the receiving vector
- * @param {vec3} a the first operand
- * @param {vec3} b the second operand
- * @returns {vec3} out
- */
-vec3.div = vec3.divide = function(out, a, b) {
+* Alias for {@link vec3.multiply}
+* @function
+*/
+vec3.mul = vec3.multiply;
+
+/**
+* Divides two vec3's
+*
+* @param {vec3} out the receiving vector
+* @param {vec3} a the first operand
+* @param {vec3} b the second operand
+* @returns {vec3} out
+*/
+vec3.divide = function(out, a, b) {
     out[0] = a[0] / b[0];
     out[1] = a[1] / b[1];
     out[2] = a[2] / b[2];
@@ -603,13 +758,19 @@ vec3.div = vec3.divide = function(out, a, b) {
 };
 
 /**
- * Returns the minimum of two vec3's
- *
- * @param {vec3} out the receiving vector
- * @param {vec3} a the first operand
- * @param {vec3} b the second operand
- * @returns {vec3} out
- */
+* Alias for {@link vec3.divide}
+* @function
+*/
+vec3.div = vec3.divide;
+
+/**
+* Returns the minimum of two vec3's
+*
+* @param {vec3} out the receiving vector
+* @param {vec3} a the first operand
+* @param {vec3} b the second operand
+* @returns {vec3} out
+*/
 vec3.min = function(out, a, b) {
     out[0] = Math.min(a[0], b[0]);
     out[1] = Math.min(a[1], b[1]);
@@ -618,13 +779,13 @@ vec3.min = function(out, a, b) {
 };
 
 /**
- * Returns the maximum of two vec3's
- *
- * @param {vec3} out the receiving vector
- * @param {vec3} a the first operand
- * @param {vec3} b the second operand
- * @returns {vec3} out
- */
+* Returns the maximum of two vec3's
+*
+* @param {vec3} out the receiving vector
+* @param {vec3} a the first operand
+* @param {vec3} b the second operand
+* @returns {vec3} out
+*/
 vec3.max = function(out, a, b) {
     out[0] = Math.max(a[0], b[0]);
     out[1] = Math.max(a[1], b[1]);
@@ -633,13 +794,13 @@ vec3.max = function(out, a, b) {
 };
 
 /**
- * Scales a vec3 by a scalar number
- *
- * @param {vec3} out the receiving vector
- * @param {vec3} a the vector to scale
- * @param {vec3} b amount to scale the vector by
- * @returns {vec3} out
- */
+* Scales a vec3 by a scalar number
+*
+* @param {vec3} out the receiving vector
+* @param {vec3} a the vector to scale
+* @param {Number} b amount to scale the vector by
+* @returns {vec3} out
+*/
 vec3.scale = function(out, a, b) {
     out[0] = a[0] * b;
     out[1] = a[1] * b;
@@ -648,13 +809,13 @@ vec3.scale = function(out, a, b) {
 };
 
 /**
- * Calculates the euclidian distance between two vec3's
- *
- * @param {vec3} a the first operand
- * @param {vec3} b the second operand
- * @returns {Number} distance between a and b
- */
-vec3.dist = vec3.distance = function(a, b) {
+* Calculates the euclidian distance between two vec3's
+*
+* @param {vec3} a the first operand
+* @param {vec3} b the second operand
+* @returns {Number} distance between a and b
+*/
+vec3.distance = function(a, b) {
     var x = b[0] - a[0],
         y = b[1] - a[1],
         z = b[2] - a[2];
@@ -662,13 +823,19 @@ vec3.dist = vec3.distance = function(a, b) {
 };
 
 /**
- * Calculates the squared euclidian distance between two vec3's
- *
- * @param {vec3} a the first operand
- * @param {vec3} b the second operand
- * @returns {Number} squared distance between a and b
- */
-vec3.sqrDist = vec3.squaredDistance = function(a, b) {
+* Alias for {@link vec3.distance}
+* @function
+*/
+vec3.dist = vec3.distance;
+
+/**
+* Calculates the squared euclidian distance between two vec3's
+*
+* @param {vec3} a the first operand
+* @param {vec3} b the second operand
+* @returns {Number} squared distance between a and b
+*/
+vec3.squaredDistance = function(a, b) {
     var x = b[0] - a[0],
         y = b[1] - a[1],
         z = b[2] - a[2];
@@ -676,12 +843,18 @@ vec3.sqrDist = vec3.squaredDistance = function(a, b) {
 };
 
 /**
- * Caclulates the length of a vec3
- *
- * @param {vec3} a vector to calculate length of
- * @returns {Number} length of a
- */
-vec3.len = vec3.length = function (a) {
+* Alias for {@link vec3.squaredDistance}
+* @function
+*/
+vec3.sqrDist = vec3.squaredDistance;
+
+/**
+* Calculates the length of a vec3
+*
+* @param {vec3} a vector to calculate length of
+* @returns {Number} length of a
+*/
+vec3.length = function (a) {
     var x = a[0],
         y = a[1],
         z = a[2];
@@ -689,12 +862,18 @@ vec3.len = vec3.length = function (a) {
 };
 
 /**
- * Caclulates the squared length of a vec3
- *
- * @param {vec3} a vector to calculate squared length of
- * @returns {Number} squared length of a
- */
-vec3.sqrLen = vec3.squaredLength = function (a) {
+* Alias for {@link vec3.length}
+* @function
+*/
+vec3.len = vec3.length;
+
+/**
+* Calculates the squared length of a vec3
+*
+* @param {vec3} a vector to calculate squared length of
+* @returns {Number} squared length of a
+*/
+vec3.squaredLength = function (a) {
     var x = a[0],
         y = a[1],
         z = a[2];
@@ -702,12 +881,18 @@ vec3.sqrLen = vec3.squaredLength = function (a) {
 };
 
 /**
- * Negates the components of a vec3
- *
- * @param {vec3} out the receiving vector
- * @param {vec3} a vector to negate
- * @returns {vec3} out
- */
+* Alias for {@link vec3.squaredLength}
+* @function
+*/
+vec3.sqrLen = vec3.squaredLength;
+
+/**
+* Negates the components of a vec3
+*
+* @param {vec3} out the receiving vector
+* @param {vec3} a vector to negate
+* @returns {vec3} out
+*/
 vec3.negate = function(out, a) {
     out[0] = -a[0];
     out[1] = -a[1];
@@ -716,12 +901,12 @@ vec3.negate = function(out, a) {
 };
 
 /**
- * Normalize a vec3
- *
- * @param {vec3} out the receiving vector
- * @param {vec3} a vector to normalize
- * @returns {vec3} out
- */
+* Normalize a vec3
+*
+* @param {vec3} out the receiving vector
+* @param {vec3} a vector to normalize
+* @returns {vec3} out
+*/
 vec3.normalize = function(out, a) {
     var x = a[0],
         y = a[1],
@@ -738,24 +923,24 @@ vec3.normalize = function(out, a) {
 };
 
 /**
- * Caclulates the dot product of two vec3's
- *
- * @param {vec3} a the first operand
- * @param {vec3} b the second operand
- * @returns {Number} dot product of a and b
- */
+* Calculates the dot product of two vec3's
+*
+* @param {vec3} a the first operand
+* @param {vec3} b the second operand
+* @returns {Number} dot product of a and b
+*/
 vec3.dot = function (a, b) {
     return a[0] * b[0] + a[1] * b[1] + a[2] * b[2];
 };
 
 /**
- * Computes the cross product of two vec3's
- *
- * @param {vec3} out the receiving vector
- * @param {vec3} a the first operand
- * @param {vec3} b the second operand
- * @returns {vec3} out
- */
+* Computes the cross product of two vec3's
+*
+* @param {vec3} out the receiving vector
+* @param {vec3} a the first operand
+* @param {vec3} b the second operand
+* @returns {vec3} out
+*/
 vec3.cross = function(out, a, b) {
     var ax = a[0], ay = a[1], az = a[2],
         bx = b[0], by = b[1], bz = b[2];
@@ -767,14 +952,14 @@ vec3.cross = function(out, a, b) {
 };
 
 /**
- * Performs a linear interpolation between two vec3's
- *
- * @param {vec3} out the receiving vector
- * @param {vec3} a the first operand
- * @param {vec3} b the second operand
- * @param {Number} t interpolation amount between the two inputs
- * @returns {vec3} out
- */
+* Performs a linear interpolation between two vec3's
+*
+* @param {vec3} out the receiving vector
+* @param {vec3} a the first operand
+* @param {vec3} b the second operand
+* @param {Number} t interpolation amount between the two inputs
+* @returns {vec3} out
+*/
 vec3.lerp = function (out, a, b, t) {
     var ax = a[0],
         ay = a[1],
@@ -786,14 +971,14 @@ vec3.lerp = function (out, a, b, t) {
 };
 
 /**
- * Transforms the vec3 with a mat4.
- * 4th vector component is implicitly '1'
- *
- * @param {vec3} out the receiving vector
- * @param {vec3} a the vector to transform
- * @param {mat4} m matrix to transform with
- * @returns {vec3} out
- */
+* Transforms the vec3 with a mat4.
+* 4th vector component is implicitly '1'
+*
+* @param {vec3} out the receiving vector
+* @param {vec3} a the vector to transform
+* @param {mat4} m matrix to transform with
+* @returns {vec3} out
+*/
 vec3.transformMat4 = function(out, a, m) {
     var x = a[0], y = a[1], z = a[2];
     out[0] = m[0] * x + m[4] * y + m[8] * z + m[12];
@@ -803,13 +988,13 @@ vec3.transformMat4 = function(out, a, m) {
 };
 
 /**
- * Transforms the vec3 with a quat
- *
- * @param {vec3} out the receiving vector
- * @param {vec3} a the vector to transform
- * @param {quat} q quaternion to transform with
- * @returns {vec3} out
- */
+* Transforms the vec3 with a quat
+*
+* @param {vec3} out the receiving vector
+* @param {vec3} a the vector to transform
+* @param {quat} q quaternion to transform with
+* @returns {vec3} out
+*/
 vec3.transformQuat = function(out, a, q) {
     var x = a[0], y = a[1], z = a[2],
         qx = q[0], qy = q[1], qz = q[2], qw = q[3],
@@ -828,18 +1013,19 @@ vec3.transformQuat = function(out, a, q) {
 };
 
 /**
- * Perform some operation over an array of vec3s.
- *
- * @param {Array} a the array of vectors to iterate over
- * @param {Number} stride Number of elements between the start of each vec3. If 0 assumes tightly packed
- * @param {Number} offset Number of elements to skip at the beginning of the array
- * @param {Number} count Number of vec3s to iterate over. If 0 iterates over entire array
- * @param {Function} fn Function to call for each vector in the array
- * @param {Object} [arg] additional argument to pass to fn
- * @returns {Array} a
- */
+* Perform some operation over an array of vec3s.
+*
+* @param {Array} a the array of vectors to iterate over
+* @param {Number} stride Number of elements between the start of each vec3. If 0 assumes tightly packed
+* @param {Number} offset Number of elements to skip at the beginning of the array
+* @param {Number} count Number of vec3s to iterate over. If 0 iterates over entire array
+* @param {Function} fn Function to call for each vector in the array
+* @param {Object} [arg] additional argument to pass to fn
+* @returns {Array} a
+* @function
+*/
 vec3.forEach = (function() {
-    var vec = new Float32Array(3);
+    var vec = vec3.create();
 
     return function(a, stride, offset, count, fn, arg) {
         var i, l;
@@ -868,11 +1054,11 @@ vec3.forEach = (function() {
 })();
 
 /**
- * Returns a string representation of a vector
- *
- * @param {vec3} vec vector to represent as a string
- * @returns {String} string representation of the vector
- */
+* Returns a string representation of a vector
+*
+* @param {vec3} vec vector to represent as a string
+* @returns {String} string representation of the vector
+*/
 vec3.str = function (a) {
     return 'vec3(' + a[0] + ', ' + a[1] + ', ' + a[2] + ')';
 };
@@ -881,20 +1067,20 @@ if(typeof(exports) !== 'undefined') {
     exports.vec3 = vec3;
 }
 ;
-/* Copyright (c) 2012, Brandon Jones, Colin MacKenzie IV. All rights reserved.
+/* Copyright (c) 2013, Brandon Jones, Colin MacKenzie IV. All rights reserved.
 
 Redistribution and use in source and binary forms, with or without modification,
 are permitted provided that the following conditions are met:
 
-  * Redistributions of source code must retain the above copyright notice, this
-    list of conditions and the following disclaimer.
-  * Redistributions in binary form must reproduce the above copyright notice,
-    this list of conditions and the following disclaimer in the documentation 
-    and/or other materials provided with the distribution.
+* Redistributions of source code must retain the above copyright notice, this
+list of conditions and the following disclaimer.
+* Redistributions in binary form must reproduce the above copyright notice,
+this list of conditions and the following disclaimer in the documentation
+and/or other materials provided with the distribution.
 
 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
-WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
 ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
@@ -904,33 +1090,34 @@ ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */
 
 /**
- * @class 4 Dimensional Vector
- * @name vec4
- */
+* @class 4 Dimensional Vector
+* @name vec4
+*/
 
 var vec4 = {};
 
-if(!GLMAT_EPSILON) {
-    var GLMAT_EPSILON = 0.000001;
-}
-
 /**
- * Creates a new, empty vec4
- *
- * @returns {vec4} a new 4D vector
- */
+* Creates a new, empty vec4
+*
+* @returns {vec4} a new 4D vector
+*/
 vec4.create = function() {
-    return new Float32Array(4);
+    var out = new GLMAT_ARRAY_TYPE(4);
+    out[0] = 0;
+    out[1] = 0;
+    out[2] = 0;
+    out[3] = 0;
+    return out;
 };
 
 /**
- * Creates a new vec4 initialized with values from an existing vector
- *
- * @param {vec4} a vector to clone
- * @returns {vec4} a new 4D vector
- */
+* Creates a new vec4 initialized with values from an existing vector
+*
+* @param {vec4} a vector to clone
+* @returns {vec4} a new 4D vector
+*/
 vec4.clone = function(a) {
-    var out = new Float32Array(4);
+    var out = new GLMAT_ARRAY_TYPE(4);
     out[0] = a[0];
     out[1] = a[1];
     out[2] = a[2];
@@ -939,16 +1126,16 @@ vec4.clone = function(a) {
 };
 
 /**
- * Creates a new vec4 initialized with the given values
- *
- * @param {Number} x X component
- * @param {Number} y Y component
- * @param {Number} z Z component
- * @param {Number} w W component
- * @returns {vec4} a new 4D vector
- */
+* Creates a new vec4 initialized with the given values
+*
+* @param {Number} x X component
+* @param {Number} y Y component
+* @param {Number} z Z component
+* @param {Number} w W component
+* @returns {vec4} a new 4D vector
+*/
 vec4.fromValues = function(x, y, z, w) {
-    var out = new Float32Array(4);
+    var out = new GLMAT_ARRAY_TYPE(4);
     out[0] = x;
     out[1] = y;
     out[2] = z;
@@ -957,12 +1144,12 @@ vec4.fromValues = function(x, y, z, w) {
 };
 
 /**
- * Copy the values from one vec4 to another
- *
- * @param {vec4} out the receiving vector
- * @param {vec4} a the source vector
- * @returns {vec4} out
- */
+* Copy the values from one vec4 to another
+*
+* @param {vec4} out the receiving vector
+* @param {vec4} a the source vector
+* @returns {vec4} out
+*/
 vec4.copy = function(out, a) {
     out[0] = a[0];
     out[1] = a[1];
@@ -972,15 +1159,15 @@ vec4.copy = function(out, a) {
 };
 
 /**
- * Set the components of a vec4 to the given values
- *
- * @param {vec4} out the receiving vector
- * @param {Number} x X component
- * @param {Number} y Y component
- * @param {Number} z Z component
- * @param {Number} w W component
- * @returns {vec4} out
- */
+* Set the components of a vec4 to the given values
+*
+* @param {vec4} out the receiving vector
+* @param {Number} x X component
+* @param {Number} y Y component
+* @param {Number} z Z component
+* @param {Number} w W component
+* @returns {vec4} out
+*/
 vec4.set = function(out, x, y, z, w) {
     out[0] = x;
     out[1] = y;
@@ -990,13 +1177,13 @@ vec4.set = function(out, x, y, z, w) {
 };
 
 /**
- * Adds two vec4's
- *
- * @param {vec4} out the receiving vector
- * @param {vec4} a the first operand
- * @param {vec4} b the second operand
- * @returns {vec4} out
- */
+* Adds two vec4's
+*
+* @param {vec4} out the receiving vector
+* @param {vec4} a the first operand
+* @param {vec4} b the second operand
+* @returns {vec4} out
+*/
 vec4.add = function(out, a, b) {
     out[0] = a[0] + b[0];
     out[1] = a[1] + b[1];
@@ -1006,14 +1193,14 @@ vec4.add = function(out, a, b) {
 };
 
 /**
- * Subtracts two vec4's
- *
- * @param {vec4} out the receiving vector
- * @param {vec4} a the first operand
- * @param {vec4} b the second operand
- * @returns {vec4} out
- */
-vec4.sub = vec4.subtract = function(out, a, b) {
+* Subtracts two vec4's
+*
+* @param {vec4} out the receiving vector
+* @param {vec4} a the first operand
+* @param {vec4} b the second operand
+* @returns {vec4} out
+*/
+vec4.subtract = function(out, a, b) {
     out[0] = a[0] - b[0];
     out[1] = a[1] - b[1];
     out[2] = a[2] - b[2];
@@ -1022,14 +1209,20 @@ vec4.sub = vec4.subtract = function(out, a, b) {
 };
 
 /**
- * Multiplies two vec4's
- *
- * @param {vec4} out the receiving vector
- * @param {vec4} a the first operand
- * @param {vec4} b the second operand
- * @returns {vec4} out
- */
-vec4.mul = vec4.multiply = function(out, a, b) {
+* Alias for {@link vec4.subtract}
+* @function
+*/
+vec4.sub = vec4.subtract;
+
+/**
+* Multiplies two vec4's
+*
+* @param {vec4} out the receiving vector
+* @param {vec4} a the first operand
+* @param {vec4} b the second operand
+* @returns {vec4} out
+*/
+vec4.multiply = function(out, a, b) {
     out[0] = a[0] * b[0];
     out[1] = a[1] * b[1];
     out[2] = a[2] * b[2];
@@ -1038,14 +1231,20 @@ vec4.mul = vec4.multiply = function(out, a, b) {
 };
 
 /**
- * Divides two vec4's
- *
- * @param {vec4} out the receiving vector
- * @param {vec4} a the first operand
- * @param {vec4} b the second operand
- * @returns {vec4} out
- */
-vec4.div = vec4.divide = function(out, a, b) {
+* Alias for {@link vec4.multiply}
+* @function
+*/
+vec4.mul = vec4.multiply;
+
+/**
+* Divides two vec4's
+*
+* @param {vec4} out the receiving vector
+* @param {vec4} a the first operand
+* @param {vec4} b the second operand
+* @returns {vec4} out
+*/
+vec4.divide = function(out, a, b) {
     out[0] = a[0] / b[0];
     out[1] = a[1] / b[1];
     out[2] = a[2] / b[2];
@@ -1054,13 +1253,19 @@ vec4.div = vec4.divide = function(out, a, b) {
 };
 
 /**
- * Returns the minimum of two vec4's
- *
- * @param {vec4} out the receiving vector
- * @param {vec4} a the first operand
- * @param {vec4} b the second operand
- * @returns {vec4} out
- */
+* Alias for {@link vec4.divide}
+* @function
+*/
+vec4.div = vec4.divide;
+
+/**
+* Returns the minimum of two vec4's
+*
+* @param {vec4} out the receiving vector
+* @param {vec4} a the first operand
+* @param {vec4} b the second operand
+* @returns {vec4} out
+*/
 vec4.min = function(out, a, b) {
     out[0] = Math.min(a[0], b[0]);
     out[1] = Math.min(a[1], b[1]);
@@ -1070,13 +1275,13 @@ vec4.min = function(out, a, b) {
 };
 
 /**
- * Returns the maximum of two vec4's
- *
- * @param {vec4} out the receiving vector
- * @param {vec4} a the first operand
- * @param {vec4} b the second operand
- * @returns {vec4} out
- */
+* Returns the maximum of two vec4's
+*
+* @param {vec4} out the receiving vector
+* @param {vec4} a the first operand
+* @param {vec4} b the second operand
+* @returns {vec4} out
+*/
 vec4.max = function(out, a, b) {
     out[0] = Math.max(a[0], b[0]);
     out[1] = Math.max(a[1], b[1]);
@@ -1086,13 +1291,13 @@ vec4.max = function(out, a, b) {
 };
 
 /**
- * Scales a vec4 by a scalar number
- *
- * @param {vec4} out the receiving vector
- * @param {vec4} a the vector to scale
- * @param {vec4} b amount to scale the vector by
- * @returns {vec4} out
- */
+* Scales a vec4 by a scalar number
+*
+* @param {vec4} out the receiving vector
+* @param {vec4} a the vector to scale
+* @param {Number} b amount to scale the vector by
+* @returns {vec4} out
+*/
 vec4.scale = function(out, a, b) {
     out[0] = a[0] * b;
     out[1] = a[1] * b;
@@ -1102,13 +1307,13 @@ vec4.scale = function(out, a, b) {
 };
 
 /**
- * Calculates the euclidian distance between two vec4's
- *
- * @param {vec4} a the first operand
- * @param {vec4} b the second operand
- * @returns {Number} distance between a and b
- */
-vec4.dist = vec4.distance = function(a, b) {
+* Calculates the euclidian distance between two vec4's
+*
+* @param {vec4} a the first operand
+* @param {vec4} b the second operand
+* @returns {Number} distance between a and b
+*/
+vec4.distance = function(a, b) {
     var x = b[0] - a[0],
         y = b[1] - a[1],
         z = b[2] - a[2],
@@ -1117,13 +1322,19 @@ vec4.dist = vec4.distance = function(a, b) {
 };
 
 /**
- * Calculates the squared euclidian distance between two vec4's
- *
- * @param {vec4} a the first operand
- * @param {vec4} b the second operand
- * @returns {Number} squared distance between a and b
- */
-vec4.sqrDist = vec4.squaredDistance = function(a, b) {
+* Alias for {@link vec4.distance}
+* @function
+*/
+vec4.dist = vec4.distance;
+
+/**
+* Calculates the squared euclidian distance between two vec4's
+*
+* @param {vec4} a the first operand
+* @param {vec4} b the second operand
+* @returns {Number} squared distance between a and b
+*/
+vec4.squaredDistance = function(a, b) {
     var x = b[0] - a[0],
         y = b[1] - a[1],
         z = b[2] - a[2],
@@ -1132,12 +1343,18 @@ vec4.sqrDist = vec4.squaredDistance = function(a, b) {
 };
 
 /**
- * Caclulates the length of a vec4
- *
- * @param {vec4} a vector to calculate length of
- * @returns {Number} length of a
- */
-vec4.len = vec4.length = function (a) {
+* Alias for {@link vec4.squaredDistance}
+* @function
+*/
+vec4.sqrDist = vec4.squaredDistance;
+
+/**
+* Calculates the length of a vec4
+*
+* @param {vec4} a vector to calculate length of
+* @returns {Number} length of a
+*/
+vec4.length = function (a) {
     var x = a[0],
         y = a[1],
         z = a[2],
@@ -1146,12 +1363,18 @@ vec4.len = vec4.length = function (a) {
 };
 
 /**
- * Caclulates the squared length of a vec4
- *
- * @param {vec4} a vector to calculate squared length of
- * @returns {Number} squared length of a
- */
-vec4.sqrLen = vec4.squaredLength = function (a) {
+* Alias for {@link vec4.length}
+* @function
+*/
+vec4.len = vec4.length;
+
+/**
+* Calculates the squared length of a vec4
+*
+* @param {vec4} a vector to calculate squared length of
+* @returns {Number} squared length of a
+*/
+vec4.squaredLength = function (a) {
     var x = a[0],
         y = a[1],
         z = a[2],
@@ -1160,12 +1383,18 @@ vec4.sqrLen = vec4.squaredLength = function (a) {
 };
 
 /**
- * Negates the components of a vec4
- *
- * @param {vec4} out the receiving vector
- * @param {vec4} a vector to negate
- * @returns {vec4} out
- */
+* Alias for {@link vec4.squaredLength}
+* @function
+*/
+vec4.sqrLen = vec4.squaredLength;
+
+/**
+* Negates the components of a vec4
+*
+* @param {vec4} out the receiving vector
+* @param {vec4} a vector to negate
+* @returns {vec4} out
+*/
 vec4.negate = function(out, a) {
     out[0] = -a[0];
     out[1] = -a[1];
@@ -1175,12 +1404,12 @@ vec4.negate = function(out, a) {
 };
 
 /**
- * Normalize a vec4
- *
- * @param {vec4} out the receiving vector
- * @param {vec4} a vector to normalize
- * @returns {vec4} out
- */
+* Normalize a vec4
+*
+* @param {vec4} out the receiving vector
+* @param {vec4} a vector to normalize
+* @returns {vec4} out
+*/
 vec4.normalize = function(out, a) {
     var x = a[0],
         y = a[1],
@@ -1198,25 +1427,25 @@ vec4.normalize = function(out, a) {
 };
 
 /**
- * Caclulates the dot product of two vec4's
- *
- * @param {vec4} a the first operand
- * @param {vec4} b the second operand
- * @returns {Number} dot product of a and b
- */
+* Calculates the dot product of two vec4's
+*
+* @param {vec4} a the first operand
+* @param {vec4} b the second operand
+* @returns {Number} dot product of a and b
+*/
 vec4.dot = function (a, b) {
     return a[0] * b[0] + a[1] * b[1] + a[2] * b[2] + a[3] * b[3];
 };
 
 /**
- * Performs a linear interpolation between two vec4's
- *
- * @param {vec4} out the receiving vector
- * @param {vec4} a the first operand
- * @param {vec4} b the second operand
- * @param {Number} t interpolation amount between the two inputs
- * @returns {vec4} out
- */
+* Performs a linear interpolation between two vec4's
+*
+* @param {vec4} out the receiving vector
+* @param {vec4} a the first operand
+* @param {vec4} b the second operand
+* @param {Number} t interpolation amount between the two inputs
+* @returns {vec4} out
+*/
 vec4.lerp = function (out, a, b, t) {
     var ax = a[0],
         ay = a[1],
@@ -1230,13 +1459,13 @@ vec4.lerp = function (out, a, b, t) {
 };
 
 /**
- * Transforms the vec4 with a mat4.
- *
- * @param {vec4} out the receiving vector
- * @param {vec4} a the vector to transform
- * @param {mat4} m matrix to transform with
- * @returns {vec4} out
- */
+* Transforms the vec4 with a mat4.
+*
+* @param {vec4} out the receiving vector
+* @param {vec4} a the vector to transform
+* @param {mat4} m matrix to transform with
+* @returns {vec4} out
+*/
 vec4.transformMat4 = function(out, a, m) {
     var x = a[0], y = a[1], z = a[2], w = a[3];
     out[0] = m[0] * x + m[4] * y + m[8] * z + m[12] * w;
@@ -1247,13 +1476,13 @@ vec4.transformMat4 = function(out, a, m) {
 };
 
 /**
- * Transforms the vec4 with a quat
- *
- * @param {vec4} out the receiving vector
- * @param {vec4} a the vector to transform
- * @param {quat} q quaternion to transform with
- * @returns {vec4} out
- */
+* Transforms the vec4 with a quat
+*
+* @param {vec4} out the receiving vector
+* @param {vec4} a the vector to transform
+* @param {quat} q quaternion to transform with
+* @returns {vec4} out
+*/
 vec4.transformQuat = function(out, a, q) {
     var x = a[0], y = a[1], z = a[2],
         qx = q[0], qy = q[1], qz = q[2], qw = q[3],
@@ -1272,18 +1501,19 @@ vec4.transformQuat = function(out, a, q) {
 };
 
 /**
- * Perform some operation over an array of vec4s.
- *
- * @param {Array} a the array of vectors to iterate over
- * @param {Number} stride Number of elements between the start of each vec4. If 0 assumes tightly packed
- * @param {Number} offset Number of elements to skip at the beginning of the array
- * @param {Number} count Number of vec2s to iterate over. If 0 iterates over entire array
- * @param {Function} fn Function to call for each vector in the array
- * @param {Object} [arg] additional argument to pass to fn
- * @returns {Array} a
- */
+* Perform some operation over an array of vec4s.
+*
+* @param {Array} a the array of vectors to iterate over
+* @param {Number} stride Number of elements between the start of each vec4. If 0 assumes tightly packed
+* @param {Number} offset Number of elements to skip at the beginning of the array
+* @param {Number} count Number of vec2s to iterate over. If 0 iterates over entire array
+* @param {Function} fn Function to call for each vector in the array
+* @param {Object} [arg] additional argument to pass to fn
+* @returns {Array} a
+* @function
+*/
 vec4.forEach = (function() {
-    var vec = new Float32Array(4);
+    var vec = vec4.create();
 
     return function(a, stride, offset, count, fn, arg) {
         var i, l;
@@ -1312,11 +1542,11 @@ vec4.forEach = (function() {
 })();
 
 /**
- * Returns a string representation of a vector
- *
- * @param {vec4} vec vector to represent as a string
- * @returns {String} string representation of the vector
- */
+* Returns a string representation of a vector
+*
+* @param {vec4} vec vector to represent as a string
+* @returns {String} string representation of the vector
+*/
 vec4.str = function (a) {
     return 'vec4(' + a[0] + ', ' + a[1] + ', ' + a[2] + ', ' + a[3] + ')';
 };
@@ -1325,20 +1555,20 @@ if(typeof(exports) !== 'undefined') {
     exports.vec4 = vec4;
 }
 ;
-/* Copyright (c) 2012, Brandon Jones, Colin MacKenzie IV. All rights reserved.
+/* Copyright (c) 2013, Brandon Jones, Colin MacKenzie IV. All rights reserved.
 
 Redistribution and use in source and binary forms, with or without modification,
 are permitted provided that the following conditions are met:
 
-  * Redistributions of source code must retain the above copyright notice, this
-    list of conditions and the following disclaimer.
-  * Redistributions in binary form must reproduce the above copyright notice,
-    this list of conditions and the following disclaimer in the documentation 
-    and/or other materials provided with the distribution.
+* Redistributions of source code must retain the above copyright notice, this
+list of conditions and the following disclaimer.
+* Redistributions in binary form must reproduce the above copyright notice,
+this list of conditions and the following disclaimer in the documentation
+and/or other materials provided with the distribution.
 
 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
-WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
 ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
@@ -1348,9 +1578,9 @@ ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */
 
 /**
- * @class 2x2 Matrix
- * @name mat2
- */
+* @class 2x2 Matrix
+* @name mat2
+*/
 
 var mat2 = {};
 
@@ -1359,27 +1589,28 @@ var mat2Identity = new Float32Array([
     0, 1
 ]);
 
-if(!GLMAT_EPSILON) {
-    var GLMAT_EPSILON = 0.000001;
-}
-
 /**
- * Creates a new identity mat2
- *
- * @returns {mat2} a new 2x2 matrix
- */
+* Creates a new identity mat2
+*
+* @returns {mat2} a new 2x2 matrix
+*/
 mat2.create = function() {
-    return new Float32Array(mat2Identity);
+    var out = new GLMAT_ARRAY_TYPE(4);
+    out[0] = 1;
+    out[1] = 0;
+    out[2] = 0;
+    out[3] = 1;
+    return out;
 };
 
 /**
- * Creates a new mat2 initialized with values from an existing matrix
- *
- * @param {mat2} a matrix to clone
- * @returns {mat2} a new 2x2 matrix
- */
+* Creates a new mat2 initialized with values from an existing matrix
+*
+* @param {mat2} a matrix to clone
+* @returns {mat2} a new 2x2 matrix
+*/
 mat2.clone = function(a) {
-    var out = new Float32Array(4);
+    var out = new GLMAT_ARRAY_TYPE(4);
     out[0] = a[0];
     out[1] = a[1];
     out[2] = a[2];
@@ -1388,12 +1619,12 @@ mat2.clone = function(a) {
 };
 
 /**
- * Copy the values from one mat2 to another
- *
- * @param {mat2} out the receiving matrix
- * @param {mat2} a the source matrix
- * @returns {mat2} out
- */
+* Copy the values from one mat2 to another
+*
+* @param {mat2} out the receiving matrix
+* @param {mat2} a the source matrix
+* @returns {mat2} out
+*/
 mat2.copy = function(out, a) {
     out[0] = a[0];
     out[1] = a[1];
@@ -1403,11 +1634,11 @@ mat2.copy = function(out, a) {
 };
 
 /**
- * Set a mat2 to the identity matrix
- *
- * @param {mat2} out the receiving matrix
- * @returns {mat2} out
- */
+* Set a mat2 to the identity matrix
+*
+* @param {mat2} out the receiving matrix
+* @returns {mat2} out
+*/
 mat2.identity = function(out) {
     out[0] = 1;
     out[1] = 0;
@@ -1417,12 +1648,12 @@ mat2.identity = function(out) {
 };
 
 /**
- * Transpose the values of a mat2
- *
- * @param {mat2} out the receiving matrix
- * @param {mat2} a the source matrix
- * @returns {mat2} out
- */
+* Transpose the values of a mat2
+*
+* @param {mat2} out the receiving matrix
+* @param {mat2} a the source matrix
+* @returns {mat2} out
+*/
 mat2.transpose = function(out, a) {
     // If we are transposing ourselves we can skip a few steps but have to cache some values
     if (out === a) {
@@ -1440,12 +1671,12 @@ mat2.transpose = function(out, a) {
 };
 
 /**
- * Inverts a mat2
- *
- * @param {mat2} out the receiving matrix
- * @param {mat2} a the source matrix
- * @returns {mat2} out
- */
+* Inverts a mat2
+*
+* @param {mat2} out the receiving matrix
+* @param {mat2} a the source matrix
+* @returns {mat2} out
+*/
 mat2.invert = function(out, a) {
     var a0 = a[0], a1 = a[1], a2 = a[2], a3 = a[3],
 
@@ -1457,51 +1688,51 @@ mat2.invert = function(out, a) {
     }
     det = 1.0 / det;
     
-    out[0] =  a3 * det;
+    out[0] = a3 * det;
     out[1] = -a1 * det;
     out[2] = -a2 * det;
-    out[3] =  a0 * det;
+    out[3] = a0 * det;
 
     return out;
 };
 
 /**
- * Caclulates the adjugate of a mat2
- *
- * @param {mat2} out the receiving matrix
- * @param {mat2} a the source matrix
- * @returns {mat2} out
- */
+* Calculates the adjugate of a mat2
+*
+* @param {mat2} out the receiving matrix
+* @param {mat2} a the source matrix
+* @returns {mat2} out
+*/
 mat2.adjoint = function(out, a) {
     // Caching this value is nessecary if out == a
     var a0 = a[0];
-    out[0] =  a[3];
+    out[0] = a[3];
     out[1] = -a[1];
     out[2] = -a[2];
-    out[3] =  a0;
+    out[3] = a0;
 
     return out;
 };
 
 /**
- * Calculates the determinant of a mat2
- *
- * @param {mat2} a the source matrix
- * @returns {Number} determinant of a
- */
+* Calculates the determinant of a mat2
+*
+* @param {mat2} a the source matrix
+* @returns {Number} determinant of a
+*/
 mat2.determinant = function (a) {
     return a[0] * a[3] - a[2] * a[1];
 };
 
 /**
- * Multiplies two mat2's
- *
- * @param {mat2} out the receiving matrix
- * @param {mat2} a the first operand
- * @param {mat2} b the second operand
- * @returns {mat2} out
- */
-mat2.mul = mat2.multiply = function (out, a, b) {
+* Multiplies two mat2's
+*
+* @param {mat2} out the receiving matrix
+* @param {mat2} a the first operand
+* @param {mat2} b the second operand
+* @returns {mat2} out
+*/
+mat2.multiply = function (out, a, b) {
     var a0 = a[0], a1 = a[1], a2 = a[2], a3 = a[3];
     var b0 = b[0], b1 = b[1], b2 = b[2], b3 = b[3];
     out[0] = a0 * b0 + a1 * b2;
@@ -1512,32 +1743,38 @@ mat2.mul = mat2.multiply = function (out, a, b) {
 };
 
 /**
- * Rotates a mat2 by the given angle
- *
- * @param {mat2} out the receiving matrix
- * @param {mat2} a the matrix to rotate
- * @param {mat2} rad the angle to rotate the matrix by
- * @returns {mat2} out
- */
+* Alias for {@link mat2.multiply}
+* @function
+*/
+mat2.mul = mat2.multiply;
+
+/**
+* Rotates a mat2 by the given angle
+*
+* @param {mat2} out the receiving matrix
+* @param {mat2} a the matrix to rotate
+* @param {Number} rad the angle to rotate the matrix by
+* @returns {mat2} out
+*/
 mat2.rotate = function (out, a, rad) {
     var a0 = a[0], a1 = a[1], a2 = a[2], a3 = a[3],
         s = Math.sin(rad),
         c = Math.cos(rad);
-    out[0] = a0 *  c + a1 * s;
+    out[0] = a0 * c + a1 * s;
     out[1] = a0 * -s + a1 * c;
-    out[2] = a2 *  c + a3 * s;
+    out[2] = a2 * c + a3 * s;
     out[3] = a2 * -s + a3 * c;
     return out;
 };
 
 /**
- * Scales the mat2 by the dimensions in the given vec2
- *
- * @param {mat2} out the receiving matrix
- * @param {mat2} a the matrix to rotate
- * @param {mat2} v the vec2 to scale the matrix by
- * @returns {mat2} out
- **/
+* Scales the mat2 by the dimensions in the given vec2
+*
+* @param {mat2} out the receiving matrix
+* @param {mat2} a the matrix to rotate
+* @param {vec2} v the vec2 to scale the matrix by
+* @returns {mat2} out
+**/
 mat2.scale = function(out, a, v) {
     var a0 = a[0], a1 = a[1], a2 = a[2], a3 = a[3],
         v0 = v[0], v1 = v[1];
@@ -1549,11 +1786,11 @@ mat2.scale = function(out, a, v) {
 };
 
 /**
- * Returns a string representation of a mat2
- *
- * @param {mat2} mat matrix to represent as a string
- * @returns {String} string representation of the matrix
- */
+* Returns a string representation of a mat2
+*
+* @param {mat2} mat matrix to represent as a string
+* @returns {String} string representation of the matrix
+*/
 mat2.str = function (a) {
     return 'mat2(' + a[0] + ', ' + a[1] + ', ' + a[2] + ', ' + a[3] + ')';
 };
@@ -1562,20 +1799,20 @@ if(typeof(exports) !== 'undefined') {
     exports.mat2 = mat2;
 }
 ;
-/* Copyright (c) 2012, Brandon Jones, Colin MacKenzie IV. All rights reserved.
+/* Copyright (c) 2013, Brandon Jones, Colin MacKenzie IV. All rights reserved.
 
 Redistribution and use in source and binary forms, with or without modification,
 are permitted provided that the following conditions are met:
 
-  * Redistributions of source code must retain the above copyright notice, this
-    list of conditions and the following disclaimer.
-  * Redistributions in binary form must reproduce the above copyright notice,
-    this list of conditions and the following disclaimer in the documentation 
-    and/or other materials provided with the distribution.
+* Redistributions of source code must retain the above copyright notice, this
+list of conditions and the following disclaimer.
+* Redistributions in binary form must reproduce the above copyright notice,
+this list of conditions and the following disclaimer in the documentation
+and/or other materials provided with the distribution.
 
 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
-WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
 ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
@@ -1585,9 +1822,270 @@ ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */
 
 /**
- * @class 3x3 Matrix
- * @name mat3
- */
+* @class 2x3 Matrix
+* @name mat2d
+*
+* @description
+* A mat2d contains six elements defined as:
+* <pre>
+* [a, b,
+* c, d,
+* tx,ty]
+* </pre>
+* This is a short form for the 3x3 matrix:
+* <pre>
+* [a, b, 0
+* c, d, 0
+* tx,ty,1]
+* </pre>
+* The last column is ignored so the array is shorter and operations are faster.
+*/
+
+var mat2d = {};
+
+var mat2dIdentity = new Float32Array([
+    1, 0,
+    0, 1,
+    0, 0
+]);
+
+/**
+* Creates a new identity mat2d
+*
+* @returns {mat2d} a new 2x3 matrix
+*/
+mat2d.create = function() {
+    var out = new GLMAT_ARRAY_TYPE(6);
+    out[0] = 1;
+    out[1] = 0;
+    out[2] = 0;
+    out[3] = 1;
+    out[4] = 0;
+    out[5] = 0;
+    return out;
+};
+
+/**
+* Creates a new mat2d initialized with values from an existing matrix
+*
+* @param {mat2d} a matrix to clone
+* @returns {mat2d} a new 2x3 matrix
+*/
+mat2d.clone = function(a) {
+    var out = new GLMAT_ARRAY_TYPE(6);
+    out[0] = a[0];
+    out[1] = a[1];
+    out[2] = a[2];
+    out[3] = a[3];
+    out[4] = a[4];
+    out[5] = a[5];
+    return out;
+};
+
+/**
+* Copy the values from one mat2d to another
+*
+* @param {mat2d} out the receiving matrix
+* @param {mat2d} a the source matrix
+* @returns {mat2d} out
+*/
+mat2d.copy = function(out, a) {
+    out[0] = a[0];
+    out[1] = a[1];
+    out[2] = a[2];
+    out[3] = a[3];
+    out[4] = a[4];
+    out[5] = a[5];
+    return out;
+};
+
+/**
+* Set a mat2d to the identity matrix
+*
+* @param {mat2d} out the receiving matrix
+* @returns {mat2d} out
+*/
+mat2d.identity = function(out) {
+    out[0] = 1;
+    out[1] = 0;
+    out[2] = 0;
+    out[3] = 1;
+    out[4] = 0;
+    out[5] = 0;
+    return out;
+};
+
+/**
+* Inverts a mat2d
+*
+* @param {mat2d} out the receiving matrix
+* @param {mat2d} a the source matrix
+* @returns {mat2d} out
+*/
+mat2d.invert = function(out, a) {
+    var aa = a[0], ab = a[1], ac = a[2], ad = a[3],
+        atx = a[4], aty = a[5];
+
+    var det = aa * ad - ab * ac;
+    if(!det){
+        return null;
+    }
+    det = 1.0 / det;
+
+    out[0] = ad * det;
+    out[1] = -ab * det;
+    out[2] = -ac * det;
+    out[3] = aa * det;
+    out[4] = (ac * aty - ad * atx) * det;
+    out[5] = (ab * atx - aa * aty) * det;
+    return out;
+};
+
+/**
+* Calculates the determinant of a mat2d
+*
+* @param {mat2d} a the source matrix
+* @returns {Number} determinant of a
+*/
+mat2d.determinant = function (a) {
+    return a[0] * a[3] - a[1] * a[2];
+};
+
+/**
+* Multiplies two mat2d's
+*
+* @param {mat2d} out the receiving matrix
+* @param {mat2d} a the first operand
+* @param {mat2d} b the second operand
+* @returns {mat2d} out
+*/
+mat2d.multiply = function (out, a, b) {
+    var aa = a[0], ab = a[1], ac = a[2], ad = a[3],
+        atx = a[4], aty = a[5],
+        ba = b[0], bb = b[1], bc = b[2], bd = b[3],
+        btx = b[4], bty = b[5];
+
+    out[0] = aa*ba + ab*bc;
+    out[1] = aa*bb + ab*bd;
+    out[2] = ac*ba + ad*bc;
+    out[3] = ac*bb + ad*bd;
+    out[4] = ba*atx + bc*aty + btx;
+    out[5] = bb*atx + bd*aty + bty;
+    return out;
+};
+
+/**
+* Alias for {@link mat2d.multiply}
+* @function
+*/
+mat2d.mul = mat2d.multiply;
+
+
+/**
+* Rotates a mat2d by the given angle
+*
+* @param {mat2d} out the receiving matrix
+* @param {mat2d} a the matrix to rotate
+* @param {Number} rad the angle to rotate the matrix by
+* @returns {mat2d} out
+*/
+mat2d.rotate = function (out, a, rad) {
+    var aa = a[0],
+        ab = a[1],
+        ac = a[2],
+        ad = a[3],
+        atx = a[4],
+        aty = a[5],
+        st = Math.sin(rad),
+        ct = Math.cos(rad);
+
+    out[0] = aa*ct + ab*st;
+    out[1] = -aa*st + ab*ct;
+    out[2] = ac*ct + ad*st;
+    out[3] = -ac*st + ct*ad;
+    out[4] = ct*atx + st*aty;
+    out[5] = ct*aty - st*atx;
+    return out;
+};
+
+/**
+* Scales the mat2d by the dimensions in the given vec2
+*
+* @param {mat2d} out the receiving matrix
+* @param {mat2d} a the matrix to translate
+* @param {mat2d} v the vec2 to scale the matrix by
+* @returns {mat2d} out
+**/
+mat2d.scale = function(out, a, v) {
+    var vx = v[0], vy = v[1];
+    out[0] = a[0] * vx;
+    out[1] = a[1] * vy;
+    out[2] = a[2] * vx;
+    out[3] = a[3] * vy;
+    out[4] = a[4] * vx;
+    out[5] = a[5] * vy;
+    return out;
+};
+
+/**
+* Translates the mat2d by the dimensions in the given vec2
+*
+* @param {mat2d} out the receiving matrix
+* @param {mat2d} a the matrix to translate
+* @param {mat2d} v the vec2 to translate the matrix by
+* @returns {mat2d} out
+**/
+mat2d.translate = function(out, a, v) {
+    out[0] = a[0];
+    out[1] = a[1];
+    out[2] = a[2];
+    out[3] = a[3];
+    out[4] = a[4] + v[0];
+    out[5] = a[5] + v[1];
+    return out;
+};
+
+/**
+* Returns a string representation of a mat2d
+*
+* @param {mat2d} a matrix to represent as a string
+* @returns {String} string representation of the matrix
+*/
+mat2d.str = function (a) {
+    return 'mat2d(' + a[0] + ', ' + a[1] + ', ' + a[2] + ', ' +
+                    a[3] + ', ' + a[4] + ', ' + a[5] + ')';
+};
+
+if(typeof(exports) !== 'undefined') {
+    exports.mat2d = mat2d;
+}
+;
+/* Copyright (c) 2013, Brandon Jones, Colin MacKenzie IV. All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this
+list of conditions and the following disclaimer.
+* Redistributions in binary form must reproduce the above copyright notice,
+this list of conditions and the following disclaimer in the documentation
+and/or other materials provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
+ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */
+
+/**
+* @class 3x3 Matrix
+* @name mat3
+*/
 
 var mat3 = {};
 
@@ -1597,27 +2095,33 @@ var mat3Identity = new Float32Array([
     0, 0, 1
 ]);
 
-if(!GLMAT_EPSILON) {
-    var GLMAT_EPSILON = 0.000001;
-}
-
 /**
- * Creates a new identity mat3
- *
- * @returns {mat3} a new 3x3 matrix
- */
+* Creates a new identity mat3
+*
+* @returns {mat3} a new 3x3 matrix
+*/
 mat3.create = function() {
-    return new Float32Array(mat3Identity);
+    var out = new GLMAT_ARRAY_TYPE(9);
+    out[0] = 1;
+    out[1] = 0;
+    out[2] = 0;
+    out[3] = 0;
+    out[4] = 1;
+    out[5] = 0;
+    out[6] = 0;
+    out[7] = 0;
+    out[8] = 1;
+    return out;
 };
 
 /**
- * Creates a new mat3 initialized with values from an existing matrix
- *
- * @param {mat3} a matrix to clone
- * @returns {mat3} a new 3x3 matrix
- */
+* Creates a new mat3 initialized with values from an existing matrix
+*
+* @param {mat3} a matrix to clone
+* @returns {mat3} a new 3x3 matrix
+*/
 mat3.clone = function(a) {
-    var out = new Float32Array(9);
+    var out = new GLMAT_ARRAY_TYPE(9);
     out[0] = a[0];
     out[1] = a[1];
     out[2] = a[2];
@@ -1631,12 +2135,12 @@ mat3.clone = function(a) {
 };
 
 /**
- * Copy the values from one mat3 to another
- *
- * @param {mat3} out the receiving matrix
- * @param {mat3} a the source matrix
- * @returns {mat3} out
- */
+* Copy the values from one mat3 to another
+*
+* @param {mat3} out the receiving matrix
+* @param {mat3} a the source matrix
+* @returns {mat3} out
+*/
 mat3.copy = function(out, a) {
     out[0] = a[0];
     out[1] = a[1];
@@ -1651,11 +2155,11 @@ mat3.copy = function(out, a) {
 };
 
 /**
- * Set a mat3 to the identity matrix
- *
- * @param {mat3} out the receiving matrix
- * @returns {mat3} out
- */
+* Set a mat3 to the identity matrix
+*
+* @param {mat3} out the receiving matrix
+* @returns {mat3} out
+*/
 mat3.identity = function(out) {
     out[0] = 1;
     out[1] = 0;
@@ -1670,12 +2174,12 @@ mat3.identity = function(out) {
 };
 
 /**
- * Transpose the values of a mat3
- *
- * @param {mat3} out the receiving matrix
- * @param {mat3} a the source matrix
- * @returns {mat3} out
- */
+* Transpose the values of a mat3
+*
+* @param {mat3} out the receiving matrix
+* @param {mat3} a the source matrix
+* @returns {mat3} out
+*/
 mat3.transpose = function(out, a) {
     // If we are transposing ourselves we can skip a few steps but have to cache some values
     if (out === a) {
@@ -1702,12 +2206,12 @@ mat3.transpose = function(out, a) {
 };
 
 /**
- * Inverts a mat3
- *
- * @param {mat3} out the receiving matrix
- * @param {mat3} a the source matrix
- * @returns {mat3} out
- */
+* Inverts a mat3
+*
+* @param {mat3} out the receiving matrix
+* @param {mat3} a the source matrix
+* @returns {mat3} out
+*/
 mat3.invert = function(out, a) {
     var a00 = a[0], a01 = a[1], a02 = a[2],
         a10 = a[3], a11 = a[4], a12 = a[5],
@@ -1720,8 +2224,8 @@ mat3.invert = function(out, a) {
         // Calculate the determinant
         det = a00 * b01 + a01 * b11 + a02 * b21;
 
-    if (!det) { 
-        return null; 
+    if (!det) {
+        return null;
     }
     det = 1.0 / det;
 
@@ -1738,12 +2242,12 @@ mat3.invert = function(out, a) {
 };
 
 /**
- * Caclulates the adjugate of a mat3
- *
- * @param {mat3} out the receiving matrix
- * @param {mat3} a the source matrix
- * @returns {mat3} out
- */
+* Calculates the adjugate of a mat3
+*
+* @param {mat3} out the receiving matrix
+* @param {mat3} a the source matrix
+* @returns {mat3} out
+*/
 mat3.adjoint = function(out, a) {
     var a00 = a[0], a01 = a[1], a02 = a[2],
         a10 = a[3], a11 = a[4], a12 = a[5],
@@ -1762,11 +2266,11 @@ mat3.adjoint = function(out, a) {
 };
 
 /**
- * Calculates the determinant of a mat3
- *
- * @param {mat3} a the source matrix
- * @returns {Number} determinant of a
- */
+* Calculates the determinant of a mat3
+*
+* @param {mat3} a the source matrix
+* @returns {Number} determinant of a
+*/
 mat3.determinant = function (a) {
     var a00 = a[0], a01 = a[1], a02 = a[2],
         a10 = a[3], a11 = a[4], a12 = a[5],
@@ -1776,14 +2280,14 @@ mat3.determinant = function (a) {
 };
 
 /**
- * Multiplies two mat3's
- *
- * @param {mat3} out the receiving matrix
- * @param {mat3} a the first operand
- * @param {mat3} b the second operand
- * @returns {mat3} out
- */
-mat3.mul = mat3.multiply = function (out, a, b) {
+* Multiplies two mat3's
+*
+* @param {mat3} out the receiving matrix
+* @param {mat3} a the first operand
+* @param {mat3} b the second operand
+* @returns {mat3} out
+*/
+mat3.multiply = function (out, a, b) {
     var a00 = a[0], a01 = a[1], a02 = a[2],
         a10 = a[3], a11 = a[4], a12 = a[5],
         a20 = a[6], a21 = a[7], a22 = a[8],
@@ -1807,14 +2311,165 @@ mat3.mul = mat3.multiply = function (out, a, b) {
 };
 
 /**
- * Returns a string representation of a mat3
- *
- * @param {mat3} mat matrix to represent as a string
- * @returns {String} string representation of the matrix
- */
+* Alias for {@link mat3.multiply}
+* @function
+*/
+mat3.mul = mat3.multiply;
+
+/**
+* Translate a mat3 by the given vector
+*
+* @param {mat3} out the receiving matrix
+* @param {mat3} a the matrix to translate
+* @param {vec2} v vector to translate by
+* @returns {mat3} out
+*/
+mat3.translate = function(out, a, v) {
+    var a00 = a[0], a01 = a[1], a02 = a[2],
+        a10 = a[3], a11 = a[4], a12 = a[5],
+        a20 = a[6], a21 = a[7], a22 = a[8],
+        x = v[0], y = v[1];
+
+    out[0] = a00;
+    out[1] = a01;
+    out[2] = a02;
+
+    out[3] = a10;
+    out[4] = a11;
+    out[5] = a12;
+
+    out[6] = x * a00 + y * a10 + a20;
+    out[7] = x * a01 + y * a11 + a21;
+    out[8] = x * a02 + y * a12 + a22;
+    return out;
+};
+
+/**
+* Rotates a mat3 by the given angle
+*
+* @param {mat3} out the receiving matrix
+* @param {mat3} a the matrix to rotate
+* @param {Number} rad the angle to rotate the matrix by
+* @returns {mat3} out
+*/
+mat3.rotate = function (out, a, rad) {
+    var a00 = a[0], a01 = a[1], a02 = a[2],
+        a10 = a[3], a11 = a[4], a12 = a[5],
+        a20 = a[6], a21 = a[7], a22 = a[8],
+
+        s = Math.sin(rad),
+        c = Math.cos(rad);
+
+    out[0] = c * a00 + s * a10;
+    out[1] = c * a01 + s * a11;
+    out[2] = c * a02 + s * a12;
+
+    out[3] = c * a10 - s * a00;
+    out[4] = c * a11 - s * a01;
+    out[5] = c * a12 - s * a02;
+
+    out[6] = a20;
+    out[7] = a21;
+    out[8] = a22;
+    return out;
+};
+
+/**
+* Scales the mat3 by the dimensions in the given vec2
+*
+* @param {mat3} out the receiving matrix
+* @param {mat3} a the matrix to rotate
+* @param {vec2} v the vec2 to scale the matrix by
+* @returns {mat3} out
+**/
+mat3.scale = function(out, a, v) {
+    var x = v[0], y = v[2];
+
+    out[0] = x * a[0];
+    out[1] = x * a[1];
+    out[2] = x * a[2];
+
+    out[3] = y * a[3];
+    out[4] = y * a[4];
+    out[5] = y * a[5];
+
+    out[6] = a[6];
+    out[7] = a[7];
+    out[8] = a[8];
+    return out;
+};
+
+/**
+* Copies the values from a mat2d into a mat3
+*
+* @param {mat3} out the receiving matrix
+* @param {mat3} a the matrix to rotate
+* @param {vec2} v the vec2 to scale the matrix by
+* @returns {mat3} out
+**/
+mat3.fromMat2d = function(out, a) {
+    out[0] = a[0];
+    out[1] = a[1];
+    out[2] = 0;
+
+    out[3] = a[2];
+    out[4] = a[3];
+    out[5] = 0;
+
+    out[6] = a[4];
+    out[7] = a[5];
+    out[8] = 1;
+    return out;
+};
+
+/**
+* Calculates a 3x3 matrix from the given quaternion
+*
+* @param {mat3} out mat3 receiving operation result
+* @param {quat} q Quaternion to create matrix from
+*
+* @returns {mat3} out
+*/
+mat3.fromQuat = function (out, q) {
+    var x = q[0], y = q[1], z = q[2], w = q[3],
+        x2 = x + x,
+        y2 = y + y,
+        z2 = z + z,
+
+        xx = x * x2,
+        xy = x * y2,
+        xz = x * z2,
+        yy = y * y2,
+        yz = y * z2,
+        zz = z * z2,
+        wx = w * x2,
+        wy = w * y2,
+        wz = w * z2;
+
+    out[0] = 1 - (yy + zz);
+    out[1] = xy + wz;
+    out[2] = xz - wy;
+
+    out[3] = xy - wz;
+    out[4] = 1 - (xx + zz);
+    out[5] = yz + wx;
+
+    out[6] = xz + wy;
+    out[7] = yz - wx;
+    out[8] = 1 - (xx + yy);
+
+    return out;
+};
+
+/**
+* Returns a string representation of a mat3
+*
+* @param {mat3} mat matrix to represent as a string
+* @returns {String} string representation of the matrix
+*/
 mat3.str = function (a) {
-    return 'mat3(' + a[0] + ', ' + a[1] + ', ' + a[2] + ', ' + 
-                    a[3] + ', ' + a[4] + ', ' + a[5] + ', ' + 
+    return 'mat3(' + a[0] + ', ' + a[1] + ', ' + a[2] + ', ' +
+                    a[3] + ', ' + a[4] + ', ' + a[5] + ', ' +
                     a[6] + ', ' + a[7] + ', ' + a[8] + ')';
 };
 
@@ -1822,20 +2477,20 @@ if(typeof(exports) !== 'undefined') {
     exports.mat3 = mat3;
 }
 ;
-/* Copyright (c) 2012, Brandon Jones, Colin MacKenzie IV. All rights reserved.
+/* Copyright (c) 2013, Brandon Jones, Colin MacKenzie IV. All rights reserved.
 
 Redistribution and use in source and binary forms, with or without modification,
 are permitted provided that the following conditions are met:
 
-  * Redistributions of source code must retain the above copyright notice, this
-    list of conditions and the following disclaimer.
-  * Redistributions in binary form must reproduce the above copyright notice,
-    this list of conditions and the following disclaimer in the documentation 
-    and/or other materials provided with the distribution.
+* Redistributions of source code must retain the above copyright notice, this
+list of conditions and the following disclaimer.
+* Redistributions in binary form must reproduce the above copyright notice,
+this list of conditions and the following disclaimer in the documentation
+and/or other materials provided with the distribution.
 
 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
-WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
 ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
@@ -1845,9 +2500,9 @@ ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */
 
 /**
- * @class 4x4 Matrix
- * @name mat4
- */
+* @class 4x4 Matrix
+* @name mat4
+*/
 
 var mat4 = {};
 
@@ -1858,27 +2513,40 @@ var mat4Identity = new Float32Array([
     0, 0, 0, 1
 ]);
 
-if(!GLMAT_EPSILON) {
-    var GLMAT_EPSILON = 0.000001;
-}
-
 /**
- * Creates a new identity mat4
- *
- * @returns {mat4} a new 4x4 matrix
- */
+* Creates a new identity mat4
+*
+* @returns {mat4} a new 4x4 matrix
+*/
 mat4.create = function() {
-    return new Float32Array(mat4Identity);
+    var out = new GLMAT_ARRAY_TYPE(16);
+    out[0] = 1;
+    out[1] = 0;
+    out[2] = 0;
+    out[3] = 0;
+    out[4] = 0;
+    out[5] = 1;
+    out[6] = 0;
+    out[7] = 0;
+    out[8] = 0;
+    out[9] = 0;
+    out[10] = 1;
+    out[11] = 0;
+    out[12] = 0;
+    out[13] = 0;
+    out[14] = 0;
+    out[15] = 1;
+    return out;
 };
 
 /**
- * Creates a new mat4 initialized with values from an existing matrix
- *
- * @param {mat4} a matrix to clone
- * @returns {mat4} a new 4x4 matrix
- */
+* Creates a new mat4 initialized with values from an existing matrix
+*
+* @param {mat4} a matrix to clone
+* @returns {mat4} a new 4x4 matrix
+*/
 mat4.clone = function(a) {
-    var out = new Float32Array(16);
+    var out = new GLMAT_ARRAY_TYPE(16);
     out[0] = a[0];
     out[1] = a[1];
     out[2] = a[2];
@@ -1899,12 +2567,12 @@ mat4.clone = function(a) {
 };
 
 /**
- * Copy the values from one mat4 to another
- *
- * @param {mat4} out the receiving matrix
- * @param {mat4} a the source matrix
- * @returns {mat4} out
- */
+* Copy the values from one mat4 to another
+*
+* @param {mat4} out the receiving matrix
+* @param {mat4} a the source matrix
+* @returns {mat4} out
+*/
 mat4.copy = function(out, a) {
     out[0] = a[0];
     out[1] = a[1];
@@ -1926,11 +2594,11 @@ mat4.copy = function(out, a) {
 };
 
 /**
- * Set a mat4 to the identity matrix
- *
- * @param {mat4} out the receiving matrix
- * @returns {mat4} out
- */
+* Set a mat4 to the identity matrix
+*
+* @param {mat4} out the receiving matrix
+* @returns {mat4} out
+*/
 mat4.identity = function(out) {
     out[0] = 1;
     out[1] = 0;
@@ -1952,12 +2620,12 @@ mat4.identity = function(out) {
 };
 
 /**
- * Transpose the values of a mat4
- *
- * @param {mat4} out the receiving matrix
- * @param {mat4} a the source matrix
- * @returns {mat4} out
- */
+* Transpose the values of a mat4
+*
+* @param {mat4} out the receiving matrix
+* @param {mat4} a the source matrix
+* @returns {mat4} out
+*/
 mat4.transpose = function(out, a) {
     // If we are transposing ourselves we can skip a few steps but have to cache some values
     if (out === a) {
@@ -2000,12 +2668,12 @@ mat4.transpose = function(out, a) {
 };
 
 /**
- * Inverts a mat4
- *
- * @param {mat4} out the receiving matrix
- * @param {mat4} a the source matrix
- * @returns {mat4} out
- */
+* Inverts a mat4
+*
+* @param {mat4} out the receiving matrix
+* @param {mat4} a the source matrix
+* @returns {mat4} out
+*/
 mat4.invert = function(out, a) {
     var a00 = a[0], a01 = a[1], a02 = a[2], a03 = a[3],
         a10 = a[4], a11 = a[5], a12 = a[6], a13 = a[7],
@@ -2028,8 +2696,8 @@ mat4.invert = function(out, a) {
         // Calculate the determinant
         det = b00 * b11 - b01 * b10 + b02 * b09 + b03 * b08 - b04 * b07 + b05 * b06;
 
-    if (!det) { 
-        return null; 
+    if (!det) {
+        return null;
     }
     det = 1.0 / det;
 
@@ -2054,43 +2722,43 @@ mat4.invert = function(out, a) {
 };
 
 /**
- * Caclulates the adjugate of a mat4
- *
- * @param {mat4} out the receiving matrix
- * @param {mat4} a the source matrix
- * @returns {mat4} out
- */
+* Calculates the adjugate of a mat4
+*
+* @param {mat4} out the receiving matrix
+* @param {mat4} a the source matrix
+* @returns {mat4} out
+*/
 mat4.adjoint = function(out, a) {
     var a00 = a[0], a01 = a[1], a02 = a[2], a03 = a[3],
         a10 = a[4], a11 = a[5], a12 = a[6], a13 = a[7],
         a20 = a[8], a21 = a[9], a22 = a[10], a23 = a[11],
         a30 = a[12], a31 = a[13], a32 = a[14], a33 = a[15];
 
-    out[0]  =  (a11 * (a22 * a33 - a23 * a32) - a21 * (a12 * a33 - a13 * a32) + a31 * (a12 * a23 - a13 * a22));
-    out[1]  = -(a01 * (a22 * a33 - a23 * a32) - a21 * (a02 * a33 - a03 * a32) + a31 * (a02 * a23 - a03 * a22));
-    out[2]  =  (a01 * (a12 * a33 - a13 * a32) - a11 * (a02 * a33 - a03 * a32) + a31 * (a02 * a13 - a03 * a12));
-    out[3]  = -(a01 * (a12 * a23 - a13 * a22) - a11 * (a02 * a23 - a03 * a22) + a21 * (a02 * a13 - a03 * a12));
-    out[4]  = -(a10 * (a22 * a33 - a23 * a32) - a20 * (a12 * a33 - a13 * a32) + a30 * (a12 * a23 - a13 * a22));
-    out[5]  =  (a00 * (a22 * a33 - a23 * a32) - a20 * (a02 * a33 - a03 * a32) + a30 * (a02 * a23 - a03 * a22));
-    out[6]  = -(a00 * (a12 * a33 - a13 * a32) - a10 * (a02 * a33 - a03 * a32) + a30 * (a02 * a13 - a03 * a12));
-    out[7]  =  (a00 * (a12 * a23 - a13 * a22) - a10 * (a02 * a23 - a03 * a22) + a20 * (a02 * a13 - a03 * a12));
-    out[8]  =  (a10 * (a21 * a33 - a23 * a31) - a20 * (a11 * a33 - a13 * a31) + a30 * (a11 * a23 - a13 * a21));
-    out[9]  = -(a00 * (a21 * a33 - a23 * a31) - a20 * (a01 * a33 - a03 * a31) + a30 * (a01 * a23 - a03 * a21));
-    out[10] =  (a00 * (a11 * a33 - a13 * a31) - a10 * (a01 * a33 - a03 * a31) + a30 * (a01 * a13 - a03 * a11));
+    out[0] = (a11 * (a22 * a33 - a23 * a32) - a21 * (a12 * a33 - a13 * a32) + a31 * (a12 * a23 - a13 * a22));
+    out[1] = -(a01 * (a22 * a33 - a23 * a32) - a21 * (a02 * a33 - a03 * a32) + a31 * (a02 * a23 - a03 * a22));
+    out[2] = (a01 * (a12 * a33 - a13 * a32) - a11 * (a02 * a33 - a03 * a32) + a31 * (a02 * a13 - a03 * a12));
+    out[3] = -(a01 * (a12 * a23 - a13 * a22) - a11 * (a02 * a23 - a03 * a22) + a21 * (a02 * a13 - a03 * a12));
+    out[4] = -(a10 * (a22 * a33 - a23 * a32) - a20 * (a12 * a33 - a13 * a32) + a30 * (a12 * a23 - a13 * a22));
+    out[5] = (a00 * (a22 * a33 - a23 * a32) - a20 * (a02 * a33 - a03 * a32) + a30 * (a02 * a23 - a03 * a22));
+    out[6] = -(a00 * (a12 * a33 - a13 * a32) - a10 * (a02 * a33 - a03 * a32) + a30 * (a02 * a13 - a03 * a12));
+    out[7] = (a00 * (a12 * a23 - a13 * a22) - a10 * (a02 * a23 - a03 * a22) + a20 * (a02 * a13 - a03 * a12));
+    out[8] = (a10 * (a21 * a33 - a23 * a31) - a20 * (a11 * a33 - a13 * a31) + a30 * (a11 * a23 - a13 * a21));
+    out[9] = -(a00 * (a21 * a33 - a23 * a31) - a20 * (a01 * a33 - a03 * a31) + a30 * (a01 * a23 - a03 * a21));
+    out[10] = (a00 * (a11 * a33 - a13 * a31) - a10 * (a01 * a33 - a03 * a31) + a30 * (a01 * a13 - a03 * a11));
     out[11] = -(a00 * (a11 * a23 - a13 * a21) - a10 * (a01 * a23 - a03 * a21) + a20 * (a01 * a13 - a03 * a11));
     out[12] = -(a10 * (a21 * a32 - a22 * a31) - a20 * (a11 * a32 - a12 * a31) + a30 * (a11 * a22 - a12 * a21));
-    out[13] =  (a00 * (a21 * a32 - a22 * a31) - a20 * (a01 * a32 - a02 * a31) + a30 * (a01 * a22 - a02 * a21));
+    out[13] = (a00 * (a21 * a32 - a22 * a31) - a20 * (a01 * a32 - a02 * a31) + a30 * (a01 * a22 - a02 * a21));
     out[14] = -(a00 * (a11 * a32 - a12 * a31) - a10 * (a01 * a32 - a02 * a31) + a30 * (a01 * a12 - a02 * a11));
-    out[15] =  (a00 * (a11 * a22 - a12 * a21) - a10 * (a01 * a22 - a02 * a21) + a20 * (a01 * a12 - a02 * a11));
+    out[15] = (a00 * (a11 * a22 - a12 * a21) - a10 * (a01 * a22 - a02 * a21) + a20 * (a01 * a12 - a02 * a11));
     return out;
 };
 
 /**
- * Calculates the determinant of a mat4
- *
- * @param {mat4} a the source matrix
- * @returns {Number} determinant of a
- */
+* Calculates the determinant of a mat4
+*
+* @param {mat4} a the source matrix
+* @returns {Number} determinant of a
+*/
 mat4.determinant = function (a) {
     var a00 = a[0], a01 = a[1], a02 = a[2], a03 = a[3],
         a10 = a[4], a11 = a[5], a12 = a[6], a13 = a[7],
@@ -2115,21 +2783,21 @@ mat4.determinant = function (a) {
 };
 
 /**
- * Multiplies two mat4's
- *
- * @param {mat4} out the receiving matrix
- * @param {mat4} a the first operand
- * @param {mat4} b the second operand
- * @returns {mat4} out
- */
-mat4.mul = mat4.multiply = function (out, a, b) {
+* Multiplies two mat4's
+*
+* @param {mat4} out the receiving matrix
+* @param {mat4} a the first operand
+* @param {mat4} b the second operand
+* @returns {mat4} out
+*/
+mat4.multiply = function (out, a, b) {
     var a00 = a[0], a01 = a[1], a02 = a[2], a03 = a[3],
         a10 = a[4], a11 = a[5], a12 = a[6], a13 = a[7],
         a20 = a[8], a21 = a[9], a22 = a[10], a23 = a[11],
         a30 = a[12], a31 = a[13], a32 = a[14], a33 = a[15];
 
     // Cache only the current line of the second matrix
-    var b0  = b[0], b1 = b[1], b2 = b[2], b3 = b[3];  
+    var b0 = b[0], b1 = b[1], b2 = b[2], b3 = b[3];
     out[0] = b0*a00 + b1*a10 + b2*a20 + b3*a30;
     out[1] = b0*a01 + b1*a11 + b2*a21 + b3*a31;
     out[2] = b0*a02 + b1*a12 + b2*a22 + b3*a32;
@@ -2156,13 +2824,19 @@ mat4.mul = mat4.multiply = function (out, a, b) {
 };
 
 /**
- * Translate a mat4 by the given vector
- *
- * @param {mat4} out the receiving matrix
- * @param {mat4} a the matrix to translate
- * @param {vec3} v vector to translate by
- * @returns {mat4} out
- */
+* Alias for {@link mat4.multiply}
+* @function
+*/
+mat4.mul = mat4.multiply;
+
+/**
+* Translate a mat4 by the given vector
+*
+* @param {mat4} out the receiving matrix
+* @param {mat4} a the matrix to translate
+* @param {vec3} v vector to translate by
+* @returns {mat4} out
+*/
 mat4.translate = function (out, a, v) {
     var x = v[0], y = v[1], z = v[2],
         a00, a01, a02, a03,
@@ -2193,13 +2867,13 @@ mat4.translate = function (out, a, v) {
 };
 
 /**
- * Scales the mat4 by the dimensions in the given vec3
- *
- * @param {mat4} out the receiving matrix
- * @param {mat4} a the matrix to scale
- * @param {vec3} v the vec3 to scale the matrix by
- * @returns {mat4} out
- **/
+* Scales the mat4 by the dimensions in the given vec3
+*
+* @param {mat4} out the receiving matrix
+* @param {mat4} a the matrix to scale
+* @param {vec3} v the vec3 to scale the matrix by
+* @returns {mat4} out
+**/
 mat4.scale = function(out, a, v) {
     var x = v[0], y = v[1], z = v[2];
 
@@ -2223,14 +2897,14 @@ mat4.scale = function(out, a, v) {
 };
 
 /**
- * Rotates a mat4 by the given angle
- *
- * @param {mat4} out the receiving matrix
- * @param {mat4} a the matrix to rotate
- * @param {Number} rad the angle to rotate the matrix by
- * @param {vec3} axis the axis to rotate around
- * @returns {mat4} out
- */
+* Rotates a mat4 by the given angle
+*
+* @param {mat4} out the receiving matrix
+* @param {mat4} a the matrix to rotate
+* @param {Number} rad the angle to rotate the matrix by
+* @param {vec3} axis the axis to rotate around
+* @returns {mat4} out
+*/
 mat4.rotate = function (out, a, rad, axis) {
     var x = axis[0], y = axis[1], z = axis[2],
         len = Math.sqrt(x * x + y * y + z * z),
@@ -2286,13 +2960,13 @@ mat4.rotate = function (out, a, rad, axis) {
 };
 
 /**
- * Rotates a matrix by the given angle around the X axis
- *
- * @param {mat4} out the receiving matrix
- * @param {mat4} a the matrix to rotate
- * @param {Number} rad the angle to rotate the matrix by
- * @returns {mat4} out
- */
+* Rotates a matrix by the given angle around the X axis
+*
+* @param {mat4} out the receiving matrix
+* @param {mat4} a the matrix to rotate
+* @param {Number} rad the angle to rotate the matrix by
+* @returns {mat4} out
+*/
 mat4.rotateX = function (out, a, rad) {
     var s = Math.sin(rad),
         c = Math.cos(rad),
@@ -2306,10 +2980,10 @@ mat4.rotateX = function (out, a, rad) {
         a23 = a[11];
 
     if (a !== out) { // If the source and destination differ, copy the unchanged rows
-        out[0]  = a[0];
-        out[1]  = a[1];
-        out[2]  = a[2];
-        out[3]  = a[3];
+        out[0] = a[0];
+        out[1] = a[1];
+        out[2] = a[2];
+        out[3] = a[3];
         out[12] = a[12];
         out[13] = a[13];
         out[14] = a[14];
@@ -2329,13 +3003,13 @@ mat4.rotateX = function (out, a, rad) {
 };
 
 /**
- * Rotates a matrix by the given angle around the Y axis
- *
- * @param {mat4} out the receiving matrix
- * @param {mat4} a the matrix to rotate
- * @param {Number} rad the angle to rotate the matrix by
- * @returns {mat4} out
- */
+* Rotates a matrix by the given angle around the Y axis
+*
+* @param {mat4} out the receiving matrix
+* @param {mat4} a the matrix to rotate
+* @param {Number} rad the angle to rotate the matrix by
+* @returns {mat4} out
+*/
 mat4.rotateY = function (out, a, rad) {
     var s = Math.sin(rad),
         c = Math.cos(rad),
@@ -2349,10 +3023,10 @@ mat4.rotateY = function (out, a, rad) {
         a23 = a[11];
 
     if (a !== out) { // If the source and destination differ, copy the unchanged rows
-        out[4]  = a[4];
-        out[5]  = a[5];
-        out[6]  = a[6];
-        out[7]  = a[7];
+        out[4] = a[4];
+        out[5] = a[5];
+        out[6] = a[6];
+        out[7] = a[7];
         out[12] = a[12];
         out[13] = a[13];
         out[14] = a[14];
@@ -2372,13 +3046,13 @@ mat4.rotateY = function (out, a, rad) {
 };
 
 /**
- * Rotates a matrix by the given angle around the Z axis
- *
- * @param {mat4} out the receiving matrix
- * @param {mat4} a the matrix to rotate
- * @param {Number} rad the angle to rotate the matrix by
- * @returns {mat4} out
- */
+* Rotates a matrix by the given angle around the Z axis
+*
+* @param {mat4} out the receiving matrix
+* @param {mat4} a the matrix to rotate
+* @param {Number} rad the angle to rotate the matrix by
+* @returns {mat4} out
+*/
 mat4.rotateZ = function (out, a, rad) {
     var s = Math.sin(rad),
         c = Math.cos(rad),
@@ -2392,8 +3066,8 @@ mat4.rotateZ = function (out, a, rad) {
         a13 = a[7];
 
     if (a !== out) { // If the source and destination differ, copy the unchanged last row
-        out[8]  = a[8];
-        out[9]  = a[9];
+        out[8] = a[8];
+        out[9] = a[9];
         out[10] = a[10];
         out[11] = a[11];
         out[12] = a[12];
@@ -2415,20 +3089,20 @@ mat4.rotateZ = function (out, a, rad) {
 };
 
 /**
- * Creates a matrix from a quaternion rotation and vector translation
- * This is equivalent to (but much faster than):
- *
- *     mat4.identity(dest);
- *     mat4.translate(dest, vec);
- *     var quatMat = mat4.create();
- *     quat4.toMat4(quat, quatMat);
- *     mat4.multiply(dest, quatMat);
- *
- * @param {mat4} out mat4 receiving operation result
- * @param {quat4} q Rotation quaternion
- * @param {vec3} v Translation vector
- * @returns {mat4} out
- */
+* Creates a matrix from a quaternion rotation and vector translation
+* This is equivalent to (but much faster than):
+*
+* mat4.identity(dest);
+* mat4.translate(dest, vec);
+* var quatMat = mat4.create();
+* quat4.toMat4(quat, quatMat);
+* mat4.multiply(dest, quatMat);
+*
+* @param {mat4} out mat4 receiving operation result
+* @param {quat4} q Rotation quaternion
+* @param {vec3} v Translation vector
+* @returns {mat4} out
+*/
 mat4.fromRotationTranslation = function (out, q, v) {
     // Quaternion math
     var x = q[0], y = q[1], z = q[2], w = q[3],
@@ -2467,17 +3141,64 @@ mat4.fromRotationTranslation = function (out, q, v) {
 };
 
 /**
- * Generates a frustum matrix with the given bounds
- *
- * @param {mat4} out mat4 frustum matrix will be written into
- * @param {Number} left Left bound of the frustum
- * @param {Number} right Right bound of the frustum
- * @param {Number} bottom Bottom bound of the frustum
- * @param {Number} top Top bound of the frustum
- * @param {Number} near Near bound of the frustum
- * @param {Number} far Far bound of the frustum
- * @returns {mat4} out
- */
+* Calculates a 4x4 matrix from the given quaternion
+*
+* @param {mat4} out mat4 receiving operation result
+* @param {quat} q Quaternion to create matrix from
+*
+* @returns {mat4} out
+*/
+mat4.fromQuat = function (out, q) {
+    var x = q[0], y = q[1], z = q[2], w = q[3],
+        x2 = x + x,
+        y2 = y + y,
+        z2 = z + z,
+
+        xx = x * x2,
+        xy = x * y2,
+        xz = x * z2,
+        yy = y * y2,
+        yz = y * z2,
+        zz = z * z2,
+        wx = w * x2,
+        wy = w * y2,
+        wz = w * z2;
+
+    out[0] = 1 - (yy + zz);
+    out[1] = xy + wz;
+    out[2] = xz - wy;
+    out[3] = 0;
+
+    out[4] = xy - wz;
+    out[5] = 1 - (xx + zz);
+    out[6] = yz + wx;
+    out[7] = 0;
+
+    out[8] = xz + wy;
+    out[9] = yz - wx;
+    out[10] = 1 - (xx + yy);
+    out[11] = 0;
+
+    out[12] = 0;
+    out[13] = 0;
+    out[14] = 0;
+    out[15] = 1;
+
+    return out;
+};
+
+/**
+* Generates a frustum matrix with the given bounds
+*
+* @param {mat4} out mat4 frustum matrix will be written into
+* @param {Number} left Left bound of the frustum
+* @param {Number} right Right bound of the frustum
+* @param {Number} bottom Bottom bound of the frustum
+* @param {Number} top Top bound of the frustum
+* @param {Number} near Near bound of the frustum
+* @param {Number} far Far bound of the frustum
+* @returns {mat4} out
+*/
 mat4.frustum = function (out, left, right, bottom, top, near, far) {
     var rl = 1 / (right - left),
         tb = 1 / (top - bottom),
@@ -2502,15 +3223,15 @@ mat4.frustum = function (out, left, right, bottom, top, near, far) {
 };
 
 /**
- * Generates a perspective projection matrix with the given bounds
- *
- * @param {mat4} out mat4 frustum matrix will be written into
- * @param {number} fovy Vertical field of view in radians
- * @param {number} aspect Aspect ratio. typically viewport width/height
- * @param {number} near Near bound of the frustum
- * @param {number} far Far bound of the frustum
- * @returns {mat4} out
- */
+* Generates a perspective projection matrix with the given bounds
+*
+* @param {mat4} out mat4 frustum matrix will be written into
+* @param {number} fovy Vertical field of view in radians
+* @param {number} aspect Aspect ratio. typically viewport width/height
+* @param {number} near Near bound of the frustum
+* @param {number} far Far bound of the frustum
+* @returns {mat4} out
+*/
 mat4.perspective = function (out, fovy, aspect, near, far) {
     var f = 1.0 / Math.tan(fovy / 2),
         nf = 1 / (near - far);
@@ -2534,17 +3255,17 @@ mat4.perspective = function (out, fovy, aspect, near, far) {
 };
 
 /**
- * Generates a orthogonal projection matrix with the given bounds
- *
- * @param {mat4} out mat4 frustum matrix will be written into
- * @param {number} left Left bound of the frustum
- * @param {number} right Right bound of the frustum
- * @param {number} bottom Bottom bound of the frustum
- * @param {number} top Top bound of the frustum
- * @param {number} near Near bound of the frustum
- * @param {number} far Far bound of the frustum
- * @returns {mat4} out
- */
+* Generates a orthogonal projection matrix with the given bounds
+*
+* @param {mat4} out mat4 frustum matrix will be written into
+* @param {number} left Left bound of the frustum
+* @param {number} right Right bound of the frustum
+* @param {number} bottom Bottom bound of the frustum
+* @param {number} top Top bound of the frustum
+* @param {number} near Near bound of the frustum
+* @param {number} far Far bound of the frustum
+* @returns {mat4} out
+*/
 mat4.ortho = function (out, left, right, bottom, top, near, far) {
     var lr = 1 / (left - right),
         bt = 1 / (bottom - top),
@@ -2569,14 +3290,14 @@ mat4.ortho = function (out, left, right, bottom, top, near, far) {
 };
 
 /**
- * Generates a look-at matrix with the given eye position, focal point, and up axis
- *
- * @param {mat4} out mat4 frustum matrix will be written into
- * @param {vec3} eye Position of the viewer
- * @param {vec3} center Point the viewer is looking at
- * @param {vec3} up vec3 pointing up
- * @returns {mat4} out
- */
+* Generates a look-at matrix with the given eye position, focal point, and up axis
+*
+* @param {mat4} out mat4 frustum matrix will be written into
+* @param {vec3} eye Position of the viewer
+* @param {vec3} center Point the viewer is looking at
+* @param {vec3} up vec3 pointing up
+* @returns {mat4} out
+*/
 mat4.lookAt = function (out, eye, center, up) {
     var x0, x1, x2, y0, y1, y2, z0, z1, z2, len,
         eyex = eye[0],
@@ -2656,15 +3377,15 @@ mat4.lookAt = function (out, eye, center, up) {
 };
 
 /**
- * Returns a string representation of a mat4
- *
- * @param {mat4} mat matrix to represent as a string
- * @returns {String} string representation of the matrix
- */
+* Returns a string representation of a mat4
+*
+* @param {mat4} mat matrix to represent as a string
+* @returns {String} string representation of the matrix
+*/
 mat4.str = function (a) {
     return 'mat4(' + a[0] + ', ' + a[1] + ', ' + a[2] + ', ' + a[3] + ', ' +
                     a[4] + ', ' + a[5] + ', ' + a[6] + ', ' + a[7] + ', ' +
-                    a[8] + ', ' + a[9] + ', ' + a[10] + ', ' + a[11] + ', ' + 
+                    a[8] + ', ' + a[9] + ', ' + a[10] + ', ' + a[11] + ', ' +
                     a[12] + ', ' + a[13] + ', ' + a[14] + ', ' + a[15] + ')';
 };
 
@@ -2672,20 +3393,20 @@ if(typeof(exports) !== 'undefined') {
     exports.mat4 = mat4;
 }
 ;
-/* Copyright (c) 2012, Brandon Jones, Colin MacKenzie IV. All rights reserved.
+/* Copyright (c) 2013, Brandon Jones, Colin MacKenzie IV. All rights reserved.
 
 Redistribution and use in source and binary forms, with or without modification,
 are permitted provided that the following conditions are met:
 
-  * Redistributions of source code must retain the above copyright notice, this
-    list of conditions and the following disclaimer.
-  * Redistributions in binary form must reproduce the above copyright notice,
-    this list of conditions and the following disclaimer in the documentation 
-    and/or other materials provided with the distribution.
+* Redistributions of source code must retain the above copyright notice, this
+list of conditions and the following disclaimer.
+* Redistributions in binary form must reproduce the above copyright notice,
+this list of conditions and the following disclaimer in the documentation
+and/or other materials provided with the distribution.
 
 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
-WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
 ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
@@ -2695,73 +3416,78 @@ ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */
 
 /**
- * @class Quaternion
- * @name quat
- */
+* @class Quaternion
+* @name quat
+*/
 
 var quat = {};
 
 var quatIdentity = new Float32Array([0, 0, 0, 1]);
 
-if(!GLMAT_EPSILON) {
-    var GLMAT_EPSILON = 0.000001;
-}
-
 /**
- * Creates a new identity quat
- *
- * @returns {quat} a new quaternion
- */
+* Creates a new identity quat
+*
+* @returns {quat} a new quaternion
+*/
 quat.create = function() {
-    return new Float32Array(quatIdentity);
+    var out = new GLMAT_ARRAY_TYPE(4);
+    out[0] = 0;
+    out[1] = 0;
+    out[2] = 0;
+    out[3] = 1;
+    return out;
 };
 
 /**
- * Creates a new quat initialized with values from an existing quaternion
- *
- * @param {quat} a quaternion to clone
- * @returns {quat} a new quaternion
- */
+* Creates a new quat initialized with values from an existing quaternion
+*
+* @param {quat} a quaternion to clone
+* @returns {quat} a new quaternion
+* @function
+*/
 quat.clone = vec4.clone;
 
 /**
- * Creates a new quat initialized with the given values
- *
- * @param {Number} x X component
- * @param {Number} y Y component
- * @param {Number} z Z component
- * @param {Number} w W component
- * @returns {quat} a new quaternion
- */
+* Creates a new quat initialized with the given values
+*
+* @param {Number} x X component
+* @param {Number} y Y component
+* @param {Number} z Z component
+* @param {Number} w W component
+* @returns {quat} a new quaternion
+* @function
+*/
 quat.fromValues = vec4.fromValues;
 
 /**
- * Copy the values from one quat to another
- *
- * @param {quat} out the receiving quaternion
- * @param {quat} a the source quaternion
- * @returns {quat} out
- */
+* Copy the values from one quat to another
+*
+* @param {quat} out the receiving quaternion
+* @param {quat} a the source quaternion
+* @returns {quat} out
+* @function
+*/
 quat.copy = vec4.copy;
 
 /**
- * Set the components of a quat to the given values
- *
- * @param {quat} out the receiving quaternion
- * @param {Number} x X component
- * @param {Number} y Y component
- * @param {Number} z Z component
- * @param {Number} w W component
- * @returns {quat} out
- */
+* Set the components of a quat to the given values
+*
+* @param {quat} out the receiving quaternion
+* @param {Number} x X component
+* @param {Number} y Y component
+* @param {Number} z Z component
+* @param {Number} w W component
+* @returns {quat} out
+* @function
+*/
 quat.set = vec4.set;
 
 /**
- * Set a quat to the identity quaternion
- *
- * @param {quat} out the receiving quaternion
- * @returns {quat} out
- */
+* Set a quat to the identity quaternion
+*
+* @param {quat} out the receiving quaternion
+* @returns {quat} out
+*/
 quat.identity = function(out) {
     out[0] = 0;
     out[1] = 0;
@@ -2771,14 +3497,14 @@ quat.identity = function(out) {
 };
 
 /**
- * Sets a quat from the given angle and rotation axis,
- * then returns it.
- *
- * @param {quat} out the receiving quaternion
- * @param {vec3} axis the axis around which to rotate
- * @param {Number} rad the angle in radians
- * @returns {quat} out
- **/
+* Sets a quat from the given angle and rotation axis,
+* then returns it.
+*
+* @param {quat} out the receiving quaternion
+* @param {vec3} axis the axis around which to rotate
+* @param {Number} rad the angle in radians
+* @returns {quat} out
+**/
 quat.setAxisAngle = function(out, axis, rad) {
     rad = rad * 0.5;
     var s = Math.sin(rad);
@@ -2790,24 +3516,25 @@ quat.setAxisAngle = function(out, axis, rad) {
 };
 
 /**
- * Adds two quat's
- *
- * @param {quat} out the receiving quaternion
- * @param {quat} a the first operand
- * @param {quat} b the second operand
- * @returns {quat} out
- */
+* Adds two quat's
+*
+* @param {quat} out the receiving quaternion
+* @param {quat} a the first operand
+* @param {quat} b the second operand
+* @returns {quat} out
+* @function
+*/
 quat.add = vec4.add;
 
 /**
- * Multiplies two quat's
- *
- * @param {quat} out the receiving quaternion
- * @param {quat} a the first operand
- * @param {quat} b the second operand
- * @returns {quat} out
- */
-quat.mul = quat.multiply = function(out, a, b) {
+* Multiplies two quat's
+*
+* @param {quat} out the receiving quaternion
+* @param {quat} a the first operand
+* @param {quat} b the second operand
+* @returns {quat} out
+*/
+quat.multiply = function(out, a, b) {
     var ax = a[0], ay = a[1], az = a[2], aw = a[3],
         bx = b[0], by = b[1], bz = b[2], bw = b[3];
 
@@ -2819,25 +3546,32 @@ quat.mul = quat.multiply = function(out, a, b) {
 };
 
 /**
- * Scales a quat by a scalar number
- *
- * @param {quat} out the receiving vector
- * @param {quat} a the vector to scale
- * @param {quat} b amount to scale the vector by
- * @returns {quat} out
- */
+* Alias for {@link quat.multiply}
+* @function
+*/
+quat.mul = quat.multiply;
+
+/**
+* Scales a quat by a scalar number
+*
+* @param {quat} out the receiving vector
+* @param {quat} a the vector to scale
+* @param {Number} b amount to scale the vector by
+* @returns {quat} out
+* @function
+*/
 quat.scale = vec4.scale;
 
 /**
- * Rotates a quaternion by the given angle around the X axis
- *
- * @param {quat} out quat receiving operation result
- * @param {quat} a quat to rotate
- * @param {number} rad angle (in radians) to rotate
- * @returns {quat} out
- */
+* Rotates a quaternion by the given angle around the X axis
+*
+* @param {quat} out quat receiving operation result
+* @param {quat} a quat to rotate
+* @param {number} rad angle (in radians) to rotate
+* @returns {quat} out
+*/
 quat.rotateX = function (out, a, rad) {
-    rad *= 0.5; 
+    rad *= 0.5;
 
     var ax = a[0], ay = a[1], az = a[2], aw = a[3],
         bx = Math.sin(rad), bw = Math.cos(rad);
@@ -2850,15 +3584,15 @@ quat.rotateX = function (out, a, rad) {
 };
 
 /**
- * Rotates a quaternion by the given angle around the X axis
- *
- * @param {quat} out quat receiving operation result
- * @param {quat} a quat to rotate
- * @param {number} rad angle (in radians) to rotate
- * @returns {quat} out
- */
+* Rotates a quaternion by the given angle around the Y axis
+*
+* @param {quat} out quat receiving operation result
+* @param {quat} a quat to rotate
+* @param {number} rad angle (in radians) to rotate
+* @returns {quat} out
+*/
 quat.rotateY = function (out, a, rad) {
-    rad *= 0.5; 
+    rad *= 0.5;
 
     var ax = a[0], ay = a[1], az = a[2], aw = a[3],
         by = Math.sin(rad), bw = Math.cos(rad);
@@ -2871,15 +3605,15 @@ quat.rotateY = function (out, a, rad) {
 };
 
 /**
- * Rotates a quaternion by the given angle around the X axis
- *
- * @param {quat} out quat receiving operation result
- * @param {quat} a quat to rotate
- * @param {number} rad angle (in radians) to rotate
- * @returns {quat} out
- */
+* Rotates a quaternion by the given angle around the Z axis
+*
+* @param {quat} out quat receiving operation result
+* @param {quat} a quat to rotate
+* @param {number} rad angle (in radians) to rotate
+* @returns {quat} out
+*/
 quat.rotateZ = function (out, a, rad) {
-    rad *= 0.5; 
+    rad *= 0.5;
 
     var ax = a[0], ay = a[1], az = a[2], aw = a[3],
         bz = Math.sin(rad), bw = Math.cos(rad);
@@ -2892,14 +3626,14 @@ quat.rotateZ = function (out, a, rad) {
 };
 
 /**
- * Calculates the W component of a quat from the X, Y, and Z components.
- * Assumes that quaternion is 1 unit in length.
- * Any existing W component will be ignored.
- *
- * @param {quat} out the receiving quaternion
- * @param {quat} a quat to calculate W component of
- * @returns {quat} out
- */
+* Calculates the W component of a quat from the X, Y, and Z components.
+* Assumes that quaternion is 1 unit in length.
+* Any existing W component will be ignored.
+*
+* @param {quat} out the receiving quaternion
+* @param {quat} a quat to calculate W component of
+* @returns {quat} out
+*/
 quat.calculateW = function (out, a) {
     var x = a[0], y = a[1], z = a[2];
 
@@ -2911,37 +3645,39 @@ quat.calculateW = function (out, a) {
 };
 
 /**
- * Caclulates the dot product of two quat's
- *
- * @param {quat} a the first operand
- * @param {quat} b the second operand
- * @returns {Number} dot product of a and b
- */
+* Calculates the dot product of two quat's
+*
+* @param {quat} a the first operand
+* @param {quat} b the second operand
+* @returns {Number} dot product of a and b
+* @function
+*/
 quat.dot = vec4.dot;
 
 /**
- * Performs a linear interpolation between two quat's
- *
- * @param {quat} out the receiving quaternion
- * @param {quat} a the first operand
- * @param {quat} b the second operand
- * @param {Number} t interpolation amount between the two inputs
- * @returns {quat} out
- */
+* Performs a linear interpolation between two quat's
+*
+* @param {quat} out the receiving quaternion
+* @param {quat} a the first operand
+* @param {quat} b the second operand
+* @param {Number} t interpolation amount between the two inputs
+* @returns {quat} out
+* @function
+*/
 quat.lerp = vec4.lerp;
 
 /**
- * Performs a spherical linear interpolation between two quat
- *
- * @param {quat} out the receiving quaternion
- * @param {quat} a the first operand
- * @param {quat} b the second operand
- * @param {Number} t interpolation amount between the two inputs
- * @returns {quat} out
- */
+* Performs a spherical linear interpolation between two quat
+*
+* @param {quat} out the receiving quaternion
+* @param {quat} a the first operand
+* @param {quat} b the second operand
+* @param {Number} t interpolation amount between the two inputs
+* @returns {quat} out
+*/
 quat.slerp = function (out, a, b, t) {
     var ax = a[0], ay = a[1], az = a[2], aw = a[3],
-        bx = b[0], by = b[1], bz = b[2], bw = a[3];
+        bx = b[0], by = b[1], bz = b[2], bw = b[3];
 
     var cosHalfTheta = ax * bx + ay * by + az * bz + aw * bw,
         halfTheta,
@@ -2982,12 +3718,12 @@ quat.slerp = function (out, a, b, t) {
 };
 
 /**
- * Calculates the inverse of a quat
- *
- * @param {quat} out the receiving quaternion
- * @param {quat} a quat to calculate inverse of
- * @returns {quat} out
- */
+* Calculates the inverse of a quat
+*
+* @param {quat} out the receiving quaternion
+* @param {quat} a quat to calculate inverse of
+* @returns {quat} out
+*/
 quat.invert = function(out, a) {
     var a0 = a[0], a1 = a[1], a2 = a[2], a3 = a[3],
         dot = a0*a0 + a1*a1 + a2*a2 + a3*a3,
@@ -3003,13 +3739,13 @@ quat.invert = function(out, a) {
 };
 
 /**
- * Calculates the conjugate of a quat
- * If the quaternion is normalized, this function is faster than quat.inverse and produces the same result.
- *
- * @param {quat} out the receiving quaternion
- * @param {quat} a quat to calculate conjugate of
- * @returns {quat} out
- */
+* Calculates the conjugate of a quat
+* If the quaternion is normalized, this function is faster than quat.inverse and produces the same result.
+*
+* @param {quat} out the receiving quaternion
+* @param {quat} a quat to calculate conjugate of
+* @returns {quat} out
+*/
 quat.conjugate = function (out, a) {
     out[0] = -a[0];
     out[1] = -a[1];
@@ -3019,36 +3755,97 @@ quat.conjugate = function (out, a) {
 };
 
 /**
- * Caclulates the length of a quat
- *
- * @param {quat} a vector to calculate length of
- * @returns {Number} length of a
- */
-quat.len = quat.length = vec4.length;
+* Calculates the length of a quat
+*
+* @param {quat} a vector to calculate length of
+* @returns {Number} length of a
+* @function
+*/
+quat.length = vec4.length;
+
+/**
+* Alias for {@link quat.length}
+* @function
+*/
+quat.len = quat.length;
+
+/**
+* Calculates the squared length of a quat
+*
+* @param {quat} a vector to calculate squared length of
+* @returns {Number} squared length of a
+* @function
+*/
+quat.squaredLength = vec4.squaredLength;
 
 /**
- * Caclulates the squared length of a quat
- *
- * @param {quat} a vector to calculate squared length of
- * @returns {Number} squared length of a
- */
-quat.sqrLen = quat.squaredLength = vec4.squaredLength;
+* Alias for {@link quat.squaredLength}
+* @function
+*/
+quat.sqrLen = quat.squaredLength;
 
 /**
- * Normalize a quat
- *
- * @param {quat} out the receiving quaternion
- * @param {quat} a quaternion to normalize
- * @returns {quat} out
- */
+* Normalize a quat
+*
+* @param {quat} out the receiving quaternion
+* @param {quat} a quaternion to normalize
+* @returns {quat} out
+* @function
+*/
 quat.normalize = vec4.normalize;
 
 /**
- * Returns a string representation of a quatenion
- *
- * @param {quat} vec vector to represent as a string
- * @returns {String} string representation of the vector
- */
+* Creates a quaternion from the given 3x3 rotation matrix.
+*
+* @param {quat} out the receiving quaternion
+* @param {mat3} m rotation matrix
+* @returns {quat} out
+* @function
+*/
+quat.fromMat3 = (function() {
+    var s_iNext = [1,2,0];
+    return function(out, m) {
+        // Algorithm in Ken Shoemake's article in 1987 SIGGRAPH course notes
+        // article "Quaternion Calculus and Fast Animation".
+        var fTrace = m[0] + m[4] + m[8];
+        var fRoot;
+
+        if ( fTrace > 0.0 ) {
+            // |w| > 1/2, may as well choose w > 1/2
+            fRoot = Math.sqrt(fTrace + 1.0); // 2w
+            out[3] = 0.5 * fRoot;
+            fRoot = 0.5/fRoot; // 1/(4w)
+            out[0] = (m[7]-m[5])*fRoot;
+            out[1] = (m[2]-m[6])*fRoot;
+            out[2] = (m[3]-m[1])*fRoot;
+        } else {
+            // |w| <= 1/2
+            var i = 0;
+            if ( m[4] > m[0] )
+              i = 1;
+            if ( m[8] > m[i*3+i] )
+              i = 2;
+            var j = s_iNext[i];
+            var k = s_iNext[j];
+            
+            fRoot = Math.sqrt(m[i*3+i]-m[j*3+j]-m[k*3+k] + 1.0);
+            out[i] = 0.5 * fRoot;
+            fRoot = 0.5 / fRoot;
+            out[3] = (m[k*3+j] - m[j*3+k]) * fRoot;
+            out[j] = (m[j*3+i] + m[i*3+j]) * fRoot;
+            out[k] = (m[k*3+i] + m[i*3+k]) * fRoot;
+        }
+        
+        return out;
+    };
+})();
+
+/**
+* Returns a string representation of a quatenion
+*
+* @param {quat} vec vector to represent as a string
+* @returns {String} string representation of the vector
+*/
 quat.str = function (a) {
     return 'quat(' + a[0] + ', ' + a[1] + ', ' + a[2] + ', ' + a[3] + ')';
 };
@@ -3067,5 +3864,8 @@ if(typeof(exports) !== 'undefined') {
 
 
 
+
+
+
   })(shim.exports);
-})();
+})();