webruby 0.1.0

data/modules/emscripten/src/gl-matrix.js

@@ -0,0 +1,1952 @@
+(function() {
+
+/**
+ * @fileoverview gl-matrix - High performance matrix and vector operations for WebGL
+ * @author Brandon Jones
+ * @version 1.2.4
+ */
+
+// Modifed for emscripten: Global scoping etc.
+
+/*
+ * Copyright (c) 2011 Brandon Jones
+ *
+ * This software is provided 'as-is', without any express or implied
+ * warranty. In no event will the authors be held liable for any damages
+ * arising from the use of this software.
+ *
+ * Permission is granted to anyone to use this software for any purpose,
+ * including commercial applications, and to alter it and redistribute it
+ * freely, subject to the following restrictions:
+ *
+ *    1. The origin of this software must not be misrepresented; you must not
+ *    claim that you wrote the original software. If you use this software
+ *    in a product, an acknowledgment in the product documentation would be
+ *    appreciated but is not required.
+ *
+ *    2. Altered source versions must be plainly marked as such, and must not
+ *    be misrepresented as being the original software.
+ *
+ *    3. This notice may not be removed or altered from any source
+ *    distribution.
+ */
+
+
+/**
+ * @class 3 Dimensional Vector
+ * @name vec3
+ */
+var vec3 = {};
+
+/**
+ * @class 3x3 Matrix
+ * @name mat3
+ */
+var mat3 = {};
+
+/**
+ * @class 4x4 Matrix
+ * @name mat4
+ */
+var mat4 = {};
+
+/**
+ * @class Quaternion
+ * @name quat4
+ */
+var quat4 = {};
+
+var MatrixArray = Float32Array;
+
+/*
+ * vec3
+ */
+ 
+/**
+ * Creates a new instance of a vec3 using the default array type
+ * Any javascript array-like objects containing at least 3 numeric elements can serve as a vec3
+ *
+ * @param {vec3} [vec] vec3 containing values to initialize with
+ *
+ * @returns {vec3} New vec3
+ */
+vec3.create = function (vec) {
+    var dest = new MatrixArray(3);
+
+    if (vec) {
+        dest[0] = vec[0];
+        dest[1] = vec[1];
+        dest[2] = vec[2];
+    } else {
+        dest[0] = dest[1] = dest[2] = 0;
+    }
+
+    return dest;
+};
+
+/**
+ * Copies the values of one vec3 to another
+ *
+ * @param {vec3} vec vec3 containing values to copy
+ * @param {vec3} dest vec3 receiving copied values
+ *
+ * @returns {vec3} dest
+ */
+vec3.set = function (vec, dest) {
+    dest[0] = vec[0];
+    dest[1] = vec[1];
+    dest[2] = vec[2];
+
+    return dest;
+};
+
+/**
+ * Performs a vector addition
+ *
+ * @param {vec3} vec First operand
+ * @param {vec3} vec2 Second operand
+ * @param {vec3} [dest] vec3 receiving operation result. If not specified result is written to vec
+ *
+ * @returns {vec3} dest if specified, vec otherwise
+ */
+vec3.add = function (vec, vec2, dest) {
+    if (!dest || vec === dest) {
+        vec[0] += vec2[0];
+        vec[1] += vec2[1];
+        vec[2] += vec2[2];
+        return vec;
+    }
+
+    dest[0] = vec[0] + vec2[0];
+    dest[1] = vec[1] + vec2[1];
+    dest[2] = vec[2] + vec2[2];
+    return dest;
+};
+
+/**
+ * Performs a vector subtraction
+ *
+ * @param {vec3} vec First operand
+ * @param {vec3} vec2 Second operand
+ * @param {vec3} [dest] vec3 receiving operation result. If not specified result is written to vec
+ *
+ * @returns {vec3} dest if specified, vec otherwise
+ */
+vec3.subtract = function (vec, vec2, dest) {
+    if (!dest || vec === dest) {
+        vec[0] -= vec2[0];
+        vec[1] -= vec2[1];
+        vec[2] -= vec2[2];
+        return vec;
+    }
+
+    dest[0] = vec[0] - vec2[0];
+    dest[1] = vec[1] - vec2[1];
+    dest[2] = vec[2] - vec2[2];
+    return dest;
+};
+
+/**
+ * Performs a vector multiplication
+ *
+ * @param {vec3} vec First operand
+ * @param {vec3} vec2 Second operand
+ * @param {vec3} [dest] vec3 receiving operation result. If not specified result is written to vec
+ *
+ * @returns {vec3} dest if specified, vec otherwise
+ */
+vec3.multiply = function (vec, vec2, dest) {
+    if (!dest || vec === dest) {
+        vec[0] *= vec2[0];
+        vec[1] *= vec2[1];
+        vec[2] *= vec2[2];
+        return vec;
+    }
+
+    dest[0] = vec[0] * vec2[0];
+    dest[1] = vec[1] * vec2[1];
+    dest[2] = vec[2] * vec2[2];
+    return dest;
+};
+
+/**
+ * Negates the components of a vec3
+ *
+ * @param {vec3} vec vec3 to negate
+ * @param {vec3} [dest] vec3 receiving operation result. If not specified result is written to vec
+ *
+ * @returns {vec3} dest if specified, vec otherwise
+ */
+vec3.negate = function (vec, dest) {
+    if (!dest) { dest = vec; }
+
+    dest[0] = -vec[0];
+    dest[1] = -vec[1];
+    dest[2] = -vec[2];
+    return dest;
+};
+
+/**
+ * Multiplies the components of a vec3 by a scalar value
+ *
+ * @param {vec3} vec vec3 to scale
+ * @param {number} val Value to scale by
+ * @param {vec3} [dest] vec3 receiving operation result. If not specified result is written to vec
+ *
+ * @returns {vec3} dest if specified, vec otherwise
+ */
+vec3.scale = function (vec, val, dest) {
+    if (!dest || vec === dest) {
+        vec[0] *= val;
+        vec[1] *= val;
+        vec[2] *= val;
+        return vec;
+    }
+
+    dest[0] = vec[0] * val;
+    dest[1] = vec[1] * val;
+    dest[2] = vec[2] * val;
+    return dest;
+};
+
+/**
+ * Generates a unit vector of the same direction as the provided vec3
+ * If vector length is 0, returns [0, 0, 0]
+ *
+ * @param {vec3} vec vec3 to normalize
+ * @param {vec3} [dest] vec3 receiving operation result. If not specified result is written to vec
+ *
+ * @returns {vec3} dest if specified, vec otherwise
+ */
+vec3.normalize = function (vec, dest) {
+    if (!dest) { dest = vec; }
+
+    var x = vec[0], y = vec[1], z = vec[2],
+        len = Math.sqrt(x * x + y * y + z * z);
+
+    if (!len) {
+        dest[0] = 0;
+        dest[1] = 0;
+        dest[2] = 0;
+        return dest;
+    } else if (len === 1) {
+        dest[0] = x;
+        dest[1] = y;
+        dest[2] = z;
+        return dest;
+    }
+
+    len = 1 / len;
+    dest[0] = x * len;
+    dest[1] = y * len;
+    dest[2] = z * len;
+    return dest;
+};
+
+/**
+ * Generates the cross product of two vec3s
+ *
+ * @param {vec3} vec First operand
+ * @param {vec3} vec2 Second operand
+ * @param {vec3} [dest] vec3 receiving operation result. If not specified result is written to vec
+ *
+ * @returns {vec3} dest if specified, vec otherwise
+ */
+vec3.cross = function (vec, vec2, dest) {
+    if (!dest) { dest = vec; }
+
+    var x = vec[0], y = vec[1], z = vec[2],
+        x2 = vec2[0], y2 = vec2[1], z2 = vec2[2];
+
+    dest[0] = y * z2 - z * y2;
+    dest[1] = z * x2 - x * z2;
+    dest[2] = x * y2 - y * x2;
+    return dest;
+};
+
+/**
+ * Caclulates the length of a vec3
+ *
+ * @param {vec3} vec vec3 to calculate length of
+ *
+ * @returns {number} Length of vec
+ */
+vec3.length = function (vec) {
+    var x = vec[0], y = vec[1], z = vec[2];
+    return Math.sqrt(x * x + y * y + z * z);
+};
+
+/**
+ * Caclulates the dot product of two vec3s
+ *
+ * @param {vec3} vec First operand
+ * @param {vec3} vec2 Second operand
+ *
+ * @returns {number} Dot product of vec and vec2
+ */
+vec3.dot = function (vec, vec2) {
+    return vec[0] * vec2[0] + vec[1] * vec2[1] + vec[2] * vec2[2];
+};
+
+/**
+ * Generates a unit vector pointing from one vector to another
+ *
+ * @param {vec3} vec Origin vec3
+ * @param {vec3} vec2 vec3 to point to
+ * @param {vec3} [dest] vec3 receiving operation result. If not specified result is written to vec
+ *
+ * @returns {vec3} dest if specified, vec otherwise
+ */
+vec3.direction = function (vec, vec2, dest) {
+    if (!dest) { dest = vec; }
+
+    var x = vec[0] - vec2[0],
+        y = vec[1] - vec2[1],
+        z = vec[2] - vec2[2],
+        len = Math.sqrt(x * x + y * y + z * z);
+
+    if (!len) {
+        dest[0] = 0;
+        dest[1] = 0;
+        dest[2] = 0;
+        return dest;
+    }
+
+    len = 1 / len;
+    dest[0] = x * len;
+    dest[1] = y * len;
+    dest[2] = z * len;
+    return dest;
+};
+
+/**
+ * Performs a linear interpolation between two vec3
+ *
+ * @param {vec3} vec First vector
+ * @param {vec3} vec2 Second vector
+ * @param {number} lerp Interpolation amount between the two inputs
+ * @param {vec3} [dest] vec3 receiving operation result. If not specified result is written to vec
+ *
+ * @returns {vec3} dest if specified, vec otherwise
+ */
+vec3.lerp = function (vec, vec2, lerp, dest) {
+    if (!dest) { dest = vec; }
+
+    dest[0] = vec[0] + lerp * (vec2[0] - vec[0]);
+    dest[1] = vec[1] + lerp * (vec2[1] - vec[1]);
+    dest[2] = vec[2] + lerp * (vec2[2] - vec[2]);
+
+    return dest;
+};
+
+/**
+ * Calculates the euclidian distance between two vec3
+ *
+ * Params:
+ * @param {vec3} vec First vector
+ * @param {vec3} vec2 Second vector
+ *
+ * @returns {number} Distance between vec and vec2
+ */
+vec3.dist = function (vec, vec2) {
+    var x = vec2[0] - vec[0],
+        y = vec2[1] - vec[1],
+        z = vec2[2] - vec[2];
+        
+    return Math.sqrt(x*x + y*y + z*z);
+};
+
+/**
+ * Projects the specified vec3 from screen space into object space
+ * Based on the <a href="http://webcvs.freedesktop.org/mesa/Mesa/src/glu/mesa/project.c?revision=1.4&view=markup">Mesa gluUnProject implementation</a>
+ *
+ * @param {vec3} vec Screen-space vector to project
+ * @param {mat4} view View matrix
+ * @param {mat4} proj Projection matrix
+ * @param {vec4} viewport Viewport as given to gl.viewport [x, y, width, height]
+ * @param {vec3} [dest] vec3 receiving unprojected result. If not specified result is written to vec
+ *
+ * @returns {vec3} dest if specified, vec otherwise
+ */
+vec3.unproject = function (vec, view, proj, viewport, dest) {
+    if (!dest) { dest = vec; }
+
+    var m = mat4.create();
+    var v = new MatrixArray(4);
+    
+    v[0] = (vec[0] - viewport[0]) * 2.0 / viewport[2] - 1.0;
+    v[1] = (vec[1] - viewport[1]) * 2.0 / viewport[3] - 1.0;
+    v[2] = 2.0 * vec[2] - 1.0;
+    v[3] = 1.0;
+    
+    mat4.multiply(proj, view, m);
+    if(!mat4.inverse(m)) { return null; }
+    
+    mat4.multiplyVec4(m, v);
+    if(v[3] === 0.0) { return null; }
+
+    dest[0] = v[0] / v[3];
+    dest[1] = v[1] / v[3];
+    dest[2] = v[2] / v[3];
+    
+    return dest;
+};
+
+/**
+ * Returns a string representation of a vector
+ *
+ * @param {vec3} vec Vector to represent as a string
+ *
+ * @returns {string} String representation of vec
+ */
+vec3.str = function (vec) {
+    return '[' + vec[0] + ', ' + vec[1] + ', ' + vec[2] + ']';
+};
+
+/*
+ * mat3
+ */
+
+/**
+ * Creates a new instance of a mat3 using the default array type
+ * Any javascript array-like object containing at least 9 numeric elements can serve as a mat3
+ *
+ * @param {mat3} [mat] mat3 containing values to initialize with
+ *
+ * @returns {mat3} New mat3
+ */
+mat3.create = function (mat) {
+    var dest = new MatrixArray(9);
+
+    if (mat) {
+        dest[0] = mat[0];
+        dest[1] = mat[1];
+        dest[2] = mat[2];
+        dest[3] = mat[3];
+        dest[4] = mat[4];
+        dest[5] = mat[5];
+        dest[6] = mat[6];
+        dest[7] = mat[7];
+        dest[8] = mat[8];
+    }
+
+    return dest;
+};
+
+/**
+ * Copies the values of one mat3 to another
+ *
+ * @param {mat3} mat mat3 containing values to copy
+ * @param {mat3} dest mat3 receiving copied values
+ *
+ * @returns {mat3} dest
+ */
+mat3.set = function (mat, dest) {
+    dest[0] = mat[0];
+    dest[1] = mat[1];
+    dest[2] = mat[2];
+    dest[3] = mat[3];
+    dest[4] = mat[4];
+    dest[5] = mat[5];
+    dest[6] = mat[6];
+    dest[7] = mat[7];
+    dest[8] = mat[8];
+    return dest;
+};
+
+/**
+ * Sets a mat3 to an identity matrix
+ *
+ * @param {mat3} dest mat3 to set
+ *
+ * @returns dest if specified, otherwise a new mat3
+ */
+mat3.identity = function (dest) {
+    if (!dest) { dest = mat3.create(); }
+    dest[0] = 1;
+    dest[1] = 0;
+    dest[2] = 0;
+    dest[3] = 0;
+    dest[4] = 1;
+    dest[5] = 0;
+    dest[6] = 0;
+    dest[7] = 0;
+    dest[8] = 1;
+    return dest;
+};
+
+/**
+ * Transposes a mat3 (flips the values over the diagonal)
+ *
+ * Params:
+ * @param {mat3} mat mat3 to transpose
+ * @param {mat3} [dest] mat3 receiving transposed values. If not specified result is written to mat
+ *
+ * @returns {mat3} dest is specified, mat otherwise
+ */
+mat3.transpose = function (mat, dest) {
+    // If we are transposing ourselves we can skip a few steps but have to cache some values
+    if (!dest || mat === dest) {
+        var a01 = mat[1], a02 = mat[2],
+            a12 = mat[5];
+
+        mat[1] = mat[3];
+        mat[2] = mat[6];
+        mat[3] = a01;
+        mat[5] = mat[7];
+        mat[6] = a02;
+        mat[7] = a12;
+        return mat;
+    }
+
+    dest[0] = mat[0];
+    dest[1] = mat[3];
+    dest[2] = mat[6];
+    dest[3] = mat[1];
+    dest[4] = mat[4];
+    dest[5] = mat[7];
+    dest[6] = mat[2];
+    dest[7] = mat[5];
+    dest[8] = mat[8];
+    return dest;
+};
+
+/**
+ * Copies the elements of a mat3 into the upper 3x3 elements of a mat4
+ *
+ * @param {mat3} mat mat3 containing values to copy
+ * @param {mat4} [dest] mat4 receiving copied values
+ *
+ * @returns {mat4} dest if specified, a new mat4 otherwise
+ */
+mat3.toMat4 = function (mat, dest) {
+    if (!dest) { dest = mat4.create(); }
+
+    dest[15] = 1;
+    dest[14] = 0;
+    dest[13] = 0;
+    dest[12] = 0;
+
+    dest[11] = 0;
+    dest[10] = mat[8];
+    dest[9] = mat[7];
+    dest[8] = mat[6];
+
+    dest[7] = 0;
+    dest[6] = mat[5];
+    dest[5] = mat[4];
+    dest[4] = mat[3];
+
+    dest[3] = 0;
+    dest[2] = mat[2];
+    dest[1] = mat[1];
+    dest[0] = mat[0];
+
+    return dest;
+};
+
+/**
+ * Returns a string representation of a mat3
+ *
+ * @param {mat3} mat mat3 to represent as a string
+ *
+ * @param {string} String representation of mat
+ */
+mat3.str = function (mat) {
+    return '[' + mat[0] + ', ' + mat[1] + ', ' + mat[2] +
+        ', ' + mat[3] + ', ' + mat[4] + ', ' + mat[5] +
+        ', ' + mat[6] + ', ' + mat[7] + ', ' + mat[8] + ']';
+};
+
+/*
+ * mat4
+ */
+
+/**
+ * Creates a new instance of a mat4 using the default array type
+ * Any javascript array-like object containing at least 16 numeric elements can serve as a mat4
+ *
+ * @param {mat4} [mat] mat4 containing values to initialize with
+ *
+ * @returns {mat4} New mat4
+ */
+mat4.create = function (mat) {
+    var dest = new MatrixArray(16);
+
+    if (mat) {
+        dest[0] = mat[0];
+        dest[1] = mat[1];
+        dest[2] = mat[2];
+        dest[3] = mat[3];
+        dest[4] = mat[4];
+        dest[5] = mat[5];
+        dest[6] = mat[6];
+        dest[7] = mat[7];
+        dest[8] = mat[8];
+        dest[9] = mat[9];
+        dest[10] = mat[10];
+        dest[11] = mat[11];
+        dest[12] = mat[12];
+        dest[13] = mat[13];
+        dest[14] = mat[14];
+        dest[15] = mat[15];
+    }
+
+    return dest;
+};
+
+/**
+ * Copies the values of one mat4 to another
+ *
+ * @param {mat4} mat mat4 containing values to copy
+ * @param {mat4} dest mat4 receiving copied values
+ *
+ * @returns {mat4} dest
+ */
+mat4.set = function (mat, dest) {
+    dest[0] = mat[0];
+    dest[1] = mat[1];
+    dest[2] = mat[2];
+    dest[3] = mat[3];
+    dest[4] = mat[4];
+    dest[5] = mat[5];
+    dest[6] = mat[6];
+    dest[7] = mat[7];
+    dest[8] = mat[8];
+    dest[9] = mat[9];
+    dest[10] = mat[10];
+    dest[11] = mat[11];
+    dest[12] = mat[12];
+    dest[13] = mat[13];
+    dest[14] = mat[14];
+    dest[15] = mat[15];
+    return dest;
+};
+
+/**
+ * Sets a mat4 to an identity matrix
+ *
+ * @param {mat4} dest mat4 to set
+ *
+ * @returns {mat4} dest
+ */
+mat4.identity = function (dest) {
+    if (!dest) { dest = mat4.create(); }
+    dest[0] = 1;
+    dest[1] = 0;
+    dest[2] = 0;
+    dest[3] = 0;
+    dest[4] = 0;
+    dest[5] = 1;
+    dest[6] = 0;
+    dest[7] = 0;
+    dest[8] = 0;
+    dest[9] = 0;
+    dest[10] = 1;
+    dest[11] = 0;
+    dest[12] = 0;
+    dest[13] = 0;
+    dest[14] = 0;
+    dest[15] = 1;
+    return dest;
+};
+
+/**
+ * Transposes a mat4 (flips the values over the diagonal)
+ *
+ * @param {mat4} mat mat4 to transpose
+ * @param {mat4} [dest] mat4 receiving transposed values. If not specified result is written to mat
+ *
+ * @param {mat4} dest is specified, mat otherwise
+ */
+mat4.transpose = function (mat, dest) {
+    // If we are transposing ourselves we can skip a few steps but have to cache some values
+    if (!dest || mat === dest) {
+        var a01 = mat[1], a02 = mat[2], a03 = mat[3],
+            a12 = mat[6], a13 = mat[7],
+            a23 = mat[11];
+
+        mat[1] = mat[4];
+        mat[2] = mat[8];
+        mat[3] = mat[12];
+        mat[4] = a01;
+        mat[6] = mat[9];
+        mat[7] = mat[13];
+        mat[8] = a02;
+        mat[9] = a12;
+        mat[11] = mat[14];
+        mat[12] = a03;
+        mat[13] = a13;
+        mat[14] = a23;
+        return mat;
+    }
+
+    dest[0] = mat[0];
+    dest[1] = mat[4];
+    dest[2] = mat[8];
+    dest[3] = mat[12];
+    dest[4] = mat[1];
+    dest[5] = mat[5];
+    dest[6] = mat[9];
+    dest[7] = mat[13];
+    dest[8] = mat[2];
+    dest[9] = mat[6];
+    dest[10] = mat[10];
+    dest[11] = mat[14];
+    dest[12] = mat[3];
+    dest[13] = mat[7];
+    dest[14] = mat[11];
+    dest[15] = mat[15];
+    return dest;
+};
+
+/**
+ * Calculates the determinant of a mat4
+ *
+ * @param {mat4} mat mat4 to calculate determinant of
+ *
+ * @returns {number} determinant of mat
+ */
+mat4.determinant = function (mat) {
+    // Cache the matrix values (makes for huge speed increases!)
+    var a00 = mat[0], a01 = mat[1], a02 = mat[2], a03 = mat[3],
+        a10 = mat[4], a11 = mat[5], a12 = mat[6], a13 = mat[7],
+        a20 = mat[8], a21 = mat[9], a22 = mat[10], a23 = mat[11],
+        a30 = mat[12], a31 = mat[13], a32 = mat[14], a33 = mat[15];
+
+    return (a30 * a21 * a12 * a03 - a20 * a31 * a12 * a03 - a30 * a11 * a22 * a03 + a10 * a31 * a22 * a03 +
+            a20 * a11 * a32 * a03 - a10 * a21 * a32 * a03 - a30 * a21 * a02 * a13 + a20 * a31 * a02 * a13 +
+            a30 * a01 * a22 * a13 - a00 * a31 * a22 * a13 - a20 * a01 * a32 * a13 + a00 * a21 * a32 * a13 +
+            a30 * a11 * a02 * a23 - a10 * a31 * a02 * a23 - a30 * a01 * a12 * a23 + a00 * a31 * a12 * a23 +
+            a10 * a01 * a32 * a23 - a00 * a11 * a32 * a23 - a20 * a11 * a02 * a33 + a10 * a21 * a02 * a33 +
+            a20 * a01 * a12 * a33 - a00 * a21 * a12 * a33 - a10 * a01 * a22 * a33 + a00 * a11 * a22 * a33);
+};
+
+/**
+ * Calculates the inverse matrix of a mat4
+ *
+ * @param {mat4} mat mat4 to calculate inverse of
+ * @param {mat4} [dest] mat4 receiving inverse matrix. If not specified result is written to mat
+ *
+ * @param {mat4} dest is specified, mat otherwise, null if matrix cannot be inverted
+ */
+mat4.inverse = function (mat, dest) {
+    if (!dest) { dest = mat; }
+
+    // Cache the matrix values (makes for huge speed increases!)
+    var a00 = mat[0], a01 = mat[1], a02 = mat[2], a03 = mat[3],
+        a10 = mat[4], a11 = mat[5], a12 = mat[6], a13 = mat[7],
+        a20 = mat[8], a21 = mat[9], a22 = mat[10], a23 = mat[11],
+        a30 = mat[12], a31 = mat[13], a32 = mat[14], a33 = mat[15],
+
+        b00 = a00 * a11 - a01 * a10,
+        b01 = a00 * a12 - a02 * a10,
+        b02 = a00 * a13 - a03 * a10,
+        b03 = a01 * a12 - a02 * a11,
+        b04 = a01 * a13 - a03 * a11,
+        b05 = a02 * a13 - a03 * a12,
+        b06 = a20 * a31 - a21 * a30,
+        b07 = a20 * a32 - a22 * a30,
+        b08 = a20 * a33 - a23 * a30,
+        b09 = a21 * a32 - a22 * a31,
+        b10 = a21 * a33 - a23 * a31,
+        b11 = a22 * a33 - a23 * a32,
+
+        d = (b00 * b11 - b01 * b10 + b02 * b09 + b03 * b08 - b04 * b07 + b05 * b06),
+        invDet;
+
+        // Calculate the determinant
+        if (!d) { return null; }
+        invDet = 1 / d;
+
+    dest[0] = (a11 * b11 - a12 * b10 + a13 * b09) * invDet;
+    dest[1] = (-a01 * b11 + a02 * b10 - a03 * b09) * invDet;
+    dest[2] = (a31 * b05 - a32 * b04 + a33 * b03) * invDet;
+    dest[3] = (-a21 * b05 + a22 * b04 - a23 * b03) * invDet;
+    dest[4] = (-a10 * b11 + a12 * b08 - a13 * b07) * invDet;
+    dest[5] = (a00 * b11 - a02 * b08 + a03 * b07) * invDet;
+    dest[6] = (-a30 * b05 + a32 * b02 - a33 * b01) * invDet;
+    dest[7] = (a20 * b05 - a22 * b02 + a23 * b01) * invDet;
+    dest[8] = (a10 * b10 - a11 * b08 + a13 * b06) * invDet;
+    dest[9] = (-a00 * b10 + a01 * b08 - a03 * b06) * invDet;
+    dest[10] = (a30 * b04 - a31 * b02 + a33 * b00) * invDet;
+    dest[11] = (-a20 * b04 + a21 * b02 - a23 * b00) * invDet;
+    dest[12] = (-a10 * b09 + a11 * b07 - a12 * b06) * invDet;
+    dest[13] = (a00 * b09 - a01 * b07 + a02 * b06) * invDet;
+    dest[14] = (-a30 * b03 + a31 * b01 - a32 * b00) * invDet;
+    dest[15] = (a20 * b03 - a21 * b01 + a22 * b00) * invDet;
+
+    return dest;
+};
+
+/**
+ * Copies the upper 3x3 elements of a mat4 into another mat4
+ *
+ * @param {mat4} mat mat4 containing values to copy
+ * @param {mat4} [dest] mat4 receiving copied values
+ *
+ * @returns {mat4} dest is specified, a new mat4 otherwise
+ */
+mat4.toRotationMat = function (mat, dest) {
+    if (!dest) { dest = mat4.create(); }
+
+    dest[0] = mat[0];
+    dest[1] = mat[1];
+    dest[2] = mat[2];
+    dest[3] = mat[3];
+    dest[4] = mat[4];
+    dest[5] = mat[5];
+    dest[6] = mat[6];
+    dest[7] = mat[7];
+    dest[8] = mat[8];
+    dest[9] = mat[9];
+    dest[10] = mat[10];
+    dest[11] = mat[11];
+    dest[12] = 0;
+    dest[13] = 0;
+    dest[14] = 0;
+    dest[15] = 1;
+
+    return dest;
+};
+
+/**
+ * Copies the upper 3x3 elements of a mat4 into a mat3
+ *
+ * @param {mat4} mat mat4 containing values to copy
+ * @param {mat3} [dest] mat3 receiving copied values
+ *
+ * @returns {mat3} dest is specified, a new mat3 otherwise
+ */
+mat4.toMat3 = function (mat, dest) {
+    if (!dest) { dest = mat3.create(); }
+
+    dest[0] = mat[0];
+    dest[1] = mat[1];
+    dest[2] = mat[2];
+    dest[3] = mat[4];
+    dest[4] = mat[5];
+    dest[5] = mat[6];
+    dest[6] = mat[8];
+    dest[7] = mat[9];
+    dest[8] = mat[10];
+
+    return dest;
+};
+
+/**
+ * Calculates the inverse of the upper 3x3 elements of a mat4 and copies the result into a mat3
+ * The resulting matrix is useful for calculating transformed normals
+ *
+ * Params:
+ * @param {mat4} mat mat4 containing values to invert and copy
+ * @param {mat3} [dest] mat3 receiving values
+ *
+ * @returns {mat3} dest is specified, a new mat3 otherwise, null if the matrix cannot be inverted
+ */
+mat4.toInverseMat3 = function (mat, dest) {
+    // Cache the matrix values (makes for huge speed increases!)
+    var a00 = mat[0], a01 = mat[1], a02 = mat[2],
+        a10 = mat[4], a11 = mat[5], a12 = mat[6],
+        a20 = mat[8], a21 = mat[9], a22 = mat[10],
+
+        b01 = a22 * a11 - a12 * a21,
+        b11 = -a22 * a10 + a12 * a20,
+        b21 = a21 * a10 - a11 * a20,
+
+        d = a00 * b01 + a01 * b11 + a02 * b21,
+        id;
+
+    if (!d) { return null; }
+    id = 1 / d;
+
+    if (!dest) { dest = mat3.create(); }
+
+    dest[0] = b01 * id;
+    dest[1] = (-a22 * a01 + a02 * a21) * id;
+    dest[2] = (a12 * a01 - a02 * a11) * id;
+    dest[3] = b11 * id;
+    dest[4] = (a22 * a00 - a02 * a20) * id;
+    dest[5] = (-a12 * a00 + a02 * a10) * id;
+    dest[6] = b21 * id;
+    dest[7] = (-a21 * a00 + a01 * a20) * id;
+    dest[8] = (a11 * a00 - a01 * a10) * id;
+
+    return dest;
+};
+
+/**
+ * Performs a matrix multiplication
+ *
+ * @param {mat4} mat First operand
+ * @param {mat4} mat2 Second operand
+ * @param {mat4} [dest] mat4 receiving operation result. If not specified result is written to mat
+ *
+ * @returns {mat4} dest if specified, mat otherwise
+ */
+mat4.multiply = function (mat, mat2, dest) {
+    if (!dest) { dest = mat; }
+
+    // Cache the matrix values (makes for huge speed increases!)
+    var a00 = mat[0], a01 = mat[1], a02 = mat[2], a03 = mat[3],
+        a10 = mat[4], a11 = mat[5], a12 = mat[6], a13 = mat[7],
+        a20 = mat[8], a21 = mat[9], a22 = mat[10], a23 = mat[11],
+        a30 = mat[12], a31 = mat[13], a32 = mat[14], a33 = mat[15],
+
+        b00 = mat2[0], b01 = mat2[1], b02 = mat2[2], b03 = mat2[3],
+        b10 = mat2[4], b11 = mat2[5], b12 = mat2[6], b13 = mat2[7],
+        b20 = mat2[8], b21 = mat2[9], b22 = mat2[10], b23 = mat2[11],
+        b30 = mat2[12], b31 = mat2[13], b32 = mat2[14], b33 = mat2[15];
+
+    dest[0] = b00 * a00 + b01 * a10 + b02 * a20 + b03 * a30;
+    dest[1] = b00 * a01 + b01 * a11 + b02 * a21 + b03 * a31;
+    dest[2] = b00 * a02 + b01 * a12 + b02 * a22 + b03 * a32;
+    dest[3] = b00 * a03 + b01 * a13 + b02 * a23 + b03 * a33;
+    dest[4] = b10 * a00 + b11 * a10 + b12 * a20 + b13 * a30;
+    dest[5] = b10 * a01 + b11 * a11 + b12 * a21 + b13 * a31;
+    dest[6] = b10 * a02 + b11 * a12 + b12 * a22 + b13 * a32;
+    dest[7] = b10 * a03 + b11 * a13 + b12 * a23 + b13 * a33;
+    dest[8] = b20 * a00 + b21 * a10 + b22 * a20 + b23 * a30;
+    dest[9] = b20 * a01 + b21 * a11 + b22 * a21 + b23 * a31;
+    dest[10] = b20 * a02 + b21 * a12 + b22 * a22 + b23 * a32;
+    dest[11] = b20 * a03 + b21 * a13 + b22 * a23 + b23 * a33;
+    dest[12] = b30 * a00 + b31 * a10 + b32 * a20 + b33 * a30;
+    dest[13] = b30 * a01 + b31 * a11 + b32 * a21 + b33 * a31;
+    dest[14] = b30 * a02 + b31 * a12 + b32 * a22 + b33 * a32;
+    dest[15] = b30 * a03 + b31 * a13 + b32 * a23 + b33 * a33;
+
+    return dest;
+};
+
+/**
+ * Transforms a vec3 with the given matrix
+ * 4th vector component is implicitly '1'
+ *
+ * @param {mat4} mat mat4 to transform the vector with
+ * @param {vec3} vec vec3 to transform
+ * @param {vec3} [dest] vec3 receiving operation result. If not specified result is written to vec
+ *
+ * @returns {vec3} dest if specified, vec otherwise
+ */
+mat4.multiplyVec3 = function (mat, vec, dest) {
+    if (!dest) { dest = vec; }
+
+    var x = vec[0], y = vec[1], z = vec[2];
+
+    dest[0] = mat[0] * x + mat[4] * y + mat[8] * z + mat[12];
+    dest[1] = mat[1] * x + mat[5] * y + mat[9] * z + mat[13];
+    dest[2] = mat[2] * x + mat[6] * y + mat[10] * z + mat[14];
+
+    return dest;
+};
+
+/**
+ * Transforms a vec4 with the given matrix
+ *
+ * @param {mat4} mat mat4 to transform the vector with
+ * @param {vec4} vec vec4 to transform
+ * @param {vec4} [dest] vec4 receiving operation result. If not specified result is written to vec
+ *
+ * @returns {vec4} dest if specified, vec otherwise
+ */
+mat4.multiplyVec4 = function (mat, vec, dest) {
+    if (!dest) { dest = vec; }
+
+    var x = vec[0], y = vec[1], z = vec[2], w = vec[3];
+
+    dest[0] = mat[0] * x + mat[4] * y + mat[8] * z + mat[12] * w;
+    dest[1] = mat[1] * x + mat[5] * y + mat[9] * z + mat[13] * w;
+    dest[2] = mat[2] * x + mat[6] * y + mat[10] * z + mat[14] * w;
+    dest[3] = mat[3] * x + mat[7] * y + mat[11] * z + mat[15] * w;
+
+    return dest;
+};
+
+/**
+ * Translates a matrix by the given vector
+ *
+ * @param {mat4} mat mat4 to translate
+ * @param {vec3} vec vec3 specifying the translation
+ * @param {mat4} [dest] mat4 receiving operation result. If not specified result is written to mat
+ *
+ * @returns {mat4} dest if specified, mat otherwise
+ */
+mat4.translate = function (mat, vec, dest) {
+    var x = vec[0], y = vec[1], z = vec[2],
+        a00, a01, a02, a03,
+        a10, a11, a12, a13,
+        a20, a21, a22, a23;
+
+    if (!dest || mat === dest) {
+        mat[12] = mat[0] * x + mat[4] * y + mat[8] * z + mat[12];
+        mat[13] = mat[1] * x + mat[5] * y + mat[9] * z + mat[13];
+        mat[14] = mat[2] * x + mat[6] * y + mat[10] * z + mat[14];
+        mat[15] = mat[3] * x + mat[7] * y + mat[11] * z + mat[15];
+        return mat;
+    }
+
+    a00 = mat[0]; a01 = mat[1]; a02 = mat[2]; a03 = mat[3];
+    a10 = mat[4]; a11 = mat[5]; a12 = mat[6]; a13 = mat[7];
+    a20 = mat[8]; a21 = mat[9]; a22 = mat[10]; a23 = mat[11];
+
+    dest[0] = a00; dest[1] = a01; dest[2] = a02; dest[3] = a03;
+    dest[4] = a10; dest[5] = a11; dest[6] = a12; dest[7] = a13;
+    dest[8] = a20; dest[9] = a21; dest[10] = a22; dest[11] = a23;
+
+    dest[12] = a00 * x + a10 * y + a20 * z + mat[12];
+    dest[13] = a01 * x + a11 * y + a21 * z + mat[13];
+    dest[14] = a02 * x + a12 * y + a22 * z + mat[14];
+    dest[15] = a03 * x + a13 * y + a23 * z + mat[15];
+    return dest;
+};
+
+/**
+ * Scales a matrix by the given vector
+ *
+ * @param {mat4} mat mat4 to scale
+ * @param {vec3} vec vec3 specifying the scale for each axis
+ * @param {mat4} [dest] mat4 receiving operation result. If not specified result is written to mat
+ *
+ * @param {mat4} dest if specified, mat otherwise
+ */
+mat4.scale = function (mat, vec, dest) {
+    var x = vec[0], y = vec[1], z = vec[2];
+
+    if (!dest || mat === dest) {
+        mat[0] *= x;
+        mat[1] *= x;
+        mat[2] *= x;
+        mat[3] *= x;
+        mat[4] *= y;
+        mat[5] *= y;
+        mat[6] *= y;
+        mat[7] *= y;
+        mat[8] *= z;
+        mat[9] *= z;
+        mat[10] *= z;
+        mat[11] *= z;
+        return mat;
+    }
+
+    dest[0] = mat[0] * x;
+    dest[1] = mat[1] * x;
+    dest[2] = mat[2] * x;
+    dest[3] = mat[3] * x;
+    dest[4] = mat[4] * y;
+    dest[5] = mat[5] * y;
+    dest[6] = mat[6] * y;
+    dest[7] = mat[7] * y;
+    dest[8] = mat[8] * z;
+    dest[9] = mat[9] * z;
+    dest[10] = mat[10] * z;
+    dest[11] = mat[11] * z;
+    dest[12] = mat[12];
+    dest[13] = mat[13];
+    dest[14] = mat[14];
+    dest[15] = mat[15];
+    return dest;
+};
+
+/**
+ * Rotates a matrix by the given angle around the specified axis
+ * If rotating around a primary axis (X,Y,Z) one of the specialized rotation functions should be used instead for performance
+ *
+ * @param {mat4} mat mat4 to rotate
+ * @param {number} angle Angle (in radians) to rotate
+ * @param {vec3} axis vec3 representing the axis to rotate around 
+ * @param {mat4} [dest] mat4 receiving operation result. If not specified result is written to mat
+ *
+ * @returns {mat4} dest if specified, mat otherwise
+ */
+mat4.rotate = function (mat, angle, axis, dest) {
+    var x = axis[0], y = axis[1], z = axis[2],
+        len = Math.sqrt(x * x + y * y + z * z),
+        s, c, t,
+        a00, a01, a02, a03,
+        a10, a11, a12, a13,
+        a20, a21, a22, a23,
+        b00, b01, b02,
+        b10, b11, b12,
+        b20, b21, b22;
+
+    if (!len) { return null; }
+    if (len !== 1) {
+        len = 1 / len;
+        x *= len;
+        y *= len;
+        z *= len;
+    }
+
+    s = Math.sin(angle);
+    c = Math.cos(angle);
+    t = 1 - c;
+
+    a00 = mat[0]; a01 = mat[1]; a02 = mat[2]; a03 = mat[3];
+    a10 = mat[4]; a11 = mat[5]; a12 = mat[6]; a13 = mat[7];
+    a20 = mat[8]; a21 = mat[9]; a22 = mat[10]; a23 = mat[11];
+
+    // Construct the elements of the rotation matrix
+    b00 = x * x * t + c; b01 = y * x * t + z * s; b02 = z * x * t - y * s;
+    b10 = x * y * t - z * s; b11 = y * y * t + c; b12 = z * y * t + x * s;
+    b20 = x * z * t + y * s; b21 = y * z * t - x * s; b22 = z * z * t + c;
+
+    if (!dest) {
+        dest = mat;
+    } else if (mat !== dest) { // If the source and destination differ, copy the unchanged last row
+        dest[12] = mat[12];
+        dest[13] = mat[13];
+        dest[14] = mat[14];
+        dest[15] = mat[15];
+    }
+
+    // Perform rotation-specific matrix multiplication
+    dest[0] = a00 * b00 + a10 * b01 + a20 * b02;
+    dest[1] = a01 * b00 + a11 * b01 + a21 * b02;
+    dest[2] = a02 * b00 + a12 * b01 + a22 * b02;
+    dest[3] = a03 * b00 + a13 * b01 + a23 * b02;
+
+    dest[4] = a00 * b10 + a10 * b11 + a20 * b12;
+    dest[5] = a01 * b10 + a11 * b11 + a21 * b12;
+    dest[6] = a02 * b10 + a12 * b11 + a22 * b12;
+    dest[7] = a03 * b10 + a13 * b11 + a23 * b12;
+
+    dest[8] = a00 * b20 + a10 * b21 + a20 * b22;
+    dest[9] = a01 * b20 + a11 * b21 + a21 * b22;
+    dest[10] = a02 * b20 + a12 * b21 + a22 * b22;
+    dest[11] = a03 * b20 + a13 * b21 + a23 * b22;
+    return dest;
+};
+
+/**
+ * Rotates a matrix by the given angle around the X axis
+ *
+ * @param {mat4} mat mat4 to rotate
+ * @param {number} angle Angle (in radians) to rotate
+ * @param {mat4} [dest] mat4 receiving operation result. If not specified result is written to mat
+ *
+ * @returns {mat4} dest if specified, mat otherwise
+ */
+mat4.rotateX = function (mat, angle, dest) {
+    var s = Math.sin(angle),
+        c = Math.cos(angle),
+        a10 = mat[4],
+        a11 = mat[5],
+        a12 = mat[6],
+        a13 = mat[7],
+        a20 = mat[8],
+        a21 = mat[9],
+        a22 = mat[10],
+        a23 = mat[11];
+
+    if (!dest) {
+        dest = mat;
+    } else if (mat !== dest) { // If the source and destination differ, copy the unchanged rows
+        dest[0] = mat[0];
+        dest[1] = mat[1];
+        dest[2] = mat[2];
+        dest[3] = mat[3];
+
+        dest[12] = mat[12];
+        dest[13] = mat[13];
+        dest[14] = mat[14];
+        dest[15] = mat[15];
+    }
+
+    // Perform axis-specific matrix multiplication
+    dest[4] = a10 * c + a20 * s;
+    dest[5] = a11 * c + a21 * s;
+    dest[6] = a12 * c + a22 * s;
+    dest[7] = a13 * c + a23 * s;
+
+    dest[8] = a10 * -s + a20 * c;
+    dest[9] = a11 * -s + a21 * c;
+    dest[10] = a12 * -s + a22 * c;
+    dest[11] = a13 * -s + a23 * c;
+    return dest;
+};
+
+/**
+ * Rotates a matrix by the given angle around the Y axis
+ *
+ * @param {mat4} mat mat4 to rotate
+ * @param {number} angle Angle (in radians) to rotate
+ * @param {mat4} [dest] mat4 receiving operation result. If not specified result is written to mat
+ *
+ * @returns {mat4} dest if specified, mat otherwise
+ */
+mat4.rotateY = function (mat, angle, dest) {
+    var s = Math.sin(angle),
+        c = Math.cos(angle),
+        a00 = mat[0],
+        a01 = mat[1],
+        a02 = mat[2],
+        a03 = mat[3],
+        a20 = mat[8],
+        a21 = mat[9],
+        a22 = mat[10],
+        a23 = mat[11];
+
+    if (!dest) {
+        dest = mat;
+    } else if (mat !== dest) { // If the source and destination differ, copy the unchanged rows
+        dest[4] = mat[4];
+        dest[5] = mat[5];
+        dest[6] = mat[6];
+        dest[7] = mat[7];
+
+        dest[12] = mat[12];
+        dest[13] = mat[13];
+        dest[14] = mat[14];
+        dest[15] = mat[15];
+    }
+
+    // Perform axis-specific matrix multiplication
+    dest[0] = a00 * c + a20 * -s;
+    dest[1] = a01 * c + a21 * -s;
+    dest[2] = a02 * c + a22 * -s;
+    dest[3] = a03 * c + a23 * -s;
+
+    dest[8] = a00 * s + a20 * c;
+    dest[9] = a01 * s + a21 * c;
+    dest[10] = a02 * s + a22 * c;
+    dest[11] = a03 * s + a23 * c;
+    return dest;
+};
+
+/**
+ * Rotates a matrix by the given angle around the Z axis
+ *
+ * @param {mat4} mat mat4 to rotate
+ * @param {number} angle Angle (in radians) to rotate
+ * @param {mat4} [dest] mat4 receiving operation result. If not specified result is written to mat
+ *
+ * @returns {mat4} dest if specified, mat otherwise
+ */
+mat4.rotateZ = function (mat, angle, dest) {
+    var s = Math.sin(angle),
+        c = Math.cos(angle),
+        a00 = mat[0],
+        a01 = mat[1],
+        a02 = mat[2],
+        a03 = mat[3],
+        a10 = mat[4],
+        a11 = mat[5],
+        a12 = mat[6],
+        a13 = mat[7];
+
+    if (!dest) {
+        dest = mat;
+    } else if (mat !== dest) { // If the source and destination differ, copy the unchanged last row
+        dest[8] = mat[8];
+        dest[9] = mat[9];
+        dest[10] = mat[10];
+        dest[11] = mat[11];
+
+        dest[12] = mat[12];
+        dest[13] = mat[13];
+        dest[14] = mat[14];
+        dest[15] = mat[15];
+    }
+
+    // Perform axis-specific matrix multiplication
+    dest[0] = a00 * c + a10 * s;
+    dest[1] = a01 * c + a11 * s;
+    dest[2] = a02 * c + a12 * s;
+    dest[3] = a03 * c + a13 * s;
+
+    dest[4] = a00 * -s + a10 * c;
+    dest[5] = a01 * -s + a11 * c;
+    dest[6] = a02 * -s + a12 * c;
+    dest[7] = a03 * -s + a13 * c;
+
+    return dest;
+};
+
+/**
+ * Generates a frustum matrix with the given bounds
+ *
+ * @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
+ * @param {mat4} [dest] mat4 frustum matrix will be written into
+ *
+ * @returns {mat4} dest if specified, a new mat4 otherwise
+ */
+mat4.frustum = function (left, right, bottom, top, near, far, dest) {
+    if (!dest) { dest = mat4.create(); }
+    var rl = (right - left),
+        tb = (top - bottom),
+        fn = (far - near);
+    dest[0] = (near * 2) / rl;
+    dest[1] = 0;
+    dest[2] = 0;
+    dest[3] = 0;
+    dest[4] = 0;
+    dest[5] = (near * 2) / tb;
+    dest[6] = 0;
+    dest[7] = 0;
+    dest[8] = (right + left) / rl;
+    dest[9] = (top + bottom) / tb;
+    dest[10] = -(far + near) / fn;
+    dest[11] = -1;
+    dest[12] = 0;
+    dest[13] = 0;
+    dest[14] = -(far * near * 2) / fn;
+    dest[15] = 0;
+    return dest;
+};
+
+/**
+ * Generates a perspective projection matrix with the given bounds
+ *
+ * @param {number} fovy Vertical field of view
+ * @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
+ * @param {mat4} [dest] mat4 frustum matrix will be written into
+ *
+ * @returns {mat4} dest if specified, a new mat4 otherwise
+ */
+mat4.perspective = function (fovy, aspect, near, far, dest) {
+    var top = near * Math.tan(fovy * Math.PI / 360.0),
+        right = top * aspect;
+    return mat4.frustum(-right, right, -top, top, near, far, dest);
+};
+
+/**
+ * Generates a orthogonal projection matrix with the given bounds
+ *
+ * @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
+ * @param {mat4} [dest] mat4 frustum matrix will be written into
+ *
+ * @returns {mat4} dest if specified, a new mat4 otherwise
+ */
+mat4.ortho = function (left, right, bottom, top, near, far, dest) {
+    if (!dest) { dest = mat4.create(); }
+    var rl = (right - left),
+        tb = (top - bottom),
+        fn = (far - near);
+    dest[0] = 2 / rl;
+    dest[1] = 0;
+    dest[2] = 0;
+    dest[3] = 0;
+    dest[4] = 0;
+    dest[5] = 2 / tb;
+    dest[6] = 0;
+    dest[7] = 0;
+    dest[8] = 0;
+    dest[9] = 0;
+    dest[10] = -2 / fn;
+    dest[11] = 0;
+    dest[12] = -(left + right) / rl;
+    dest[13] = -(top + bottom) / tb;
+    dest[14] = -(far + near) / fn;
+    dest[15] = 1;
+    return dest;
+};
+
+/**
+ * Generates a look-at matrix with the given eye position, focal point, and up axis
+ *
+ * @param {vec3} eye Position of the viewer
+ * @param {vec3} center Point the viewer is looking at
+ * @param {vec3} up vec3 pointing "up"
+ * @param {mat4} [dest] mat4 frustum matrix will be written into
+ *
+ * @returns {mat4} dest if specified, a new mat4 otherwise
+ */
+mat4.lookAt = function (eye, center, up, dest) {
+    if (!dest) { dest = mat4.create(); }
+
+    var x0, x1, x2, y0, y1, y2, z0, z1, z2, len,
+        eyex = eye[0],
+        eyey = eye[1],
+        eyez = eye[2],
+        upx = up[0],
+        upy = up[1],
+        upz = up[2],
+        centerx = center[0],
+        centery = center[1],
+        centerz = center[2];
+
+    if (eyex === centerx && eyey === centery && eyez === centerz) {
+        return mat4.identity(dest);
+    }
+
+    //vec3.direction(eye, center, z);
+    z0 = eyex - centerx;
+    z1 = eyey - centery;
+    z2 = eyez - centerz;
+
+    // normalize (no check needed for 0 because of early return)
+    len = 1 / Math.sqrt(z0 * z0 + z1 * z1 + z2 * z2);
+    z0 *= len;
+    z1 *= len;
+    z2 *= len;
+
+    //vec3.normalize(vec3.cross(up, z, x));
+    x0 = upy * z2 - upz * z1;
+    x1 = upz * z0 - upx * z2;
+    x2 = upx * z1 - upy * z0;
+    len = Math.sqrt(x0 * x0 + x1 * x1 + x2 * x2);
+    if (!len) {
+        x0 = 0;
+        x1 = 0;
+        x2 = 0;
+    } else {
+        len = 1 / len;
+        x0 *= len;
+        x1 *= len;
+        x2 *= len;
+    }
+
+    //vec3.normalize(vec3.cross(z, x, y));
+    y0 = z1 * x2 - z2 * x1;
+    y1 = z2 * x0 - z0 * x2;
+    y2 = z0 * x1 - z1 * x0;
+
+    len = Math.sqrt(y0 * y0 + y1 * y1 + y2 * y2);
+    if (!len) {
+        y0 = 0;
+        y1 = 0;
+        y2 = 0;
+    } else {
+        len = 1 / len;
+        y0 *= len;
+        y1 *= len;
+        y2 *= len;
+    }
+
+    dest[0] = x0;
+    dest[1] = y0;
+    dest[2] = z0;
+    dest[3] = 0;
+    dest[4] = x1;
+    dest[5] = y1;
+    dest[6] = z1;
+    dest[7] = 0;
+    dest[8] = x2;
+    dest[9] = y2;
+    dest[10] = z2;
+    dest[11] = 0;
+    dest[12] = -(x0 * eyex + x1 * eyey + x2 * eyez);
+    dest[13] = -(y0 * eyex + y1 * eyey + y2 * eyez);
+    dest[14] = -(z0 * eyex + z1 * eyey + z2 * eyez);
+    dest[15] = 1;
+
+    return dest;
+};
+
+/**
+ * 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 {quat4} quat Rotation quaternion
+ * @param {vec3} vec Translation vector
+ * @param {mat4} [dest] mat4 receiving operation result. If not specified result is written to a new mat4
+ *
+ * @returns {mat4} dest if specified, a new mat4 otherwise
+ */
+mat4.fromRotationTranslation = function (quat, vec, dest) {
+    if (!dest) { dest = mat4.create(); }
+
+    // Quaternion math
+    var x = quat[0], y = quat[1], z = quat[2], w = quat[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;
+
+    dest[0] = 1 - (yy + zz);
+    dest[1] = xy + wz;
+    dest[2] = xz - wy;
+    dest[3] = 0;
+    dest[4] = xy - wz;
+    dest[5] = 1 - (xx + zz);
+    dest[6] = yz + wx;
+    dest[7] = 0;
+    dest[8] = xz + wy;
+    dest[9] = yz - wx;
+    dest[10] = 1 - (xx + yy);
+    dest[11] = 0;
+    dest[12] = vec[0];
+    dest[13] = vec[1];
+    dest[14] = vec[2];
+    dest[15] = 1;
+    
+    return dest;
+};
+
+/**
+ * Returns a string representation of a mat4
+ *
+ * @param {mat4} mat mat4 to represent as a string
+ *
+ * @returns {string} String representation of mat
+ */
+mat4.str = function (mat) {
+    return '[' + mat[0] + ', ' + mat[1] + ', ' + mat[2] + ', ' + mat[3] +
+        ', ' + mat[4] + ', ' + mat[5] + ', ' + mat[6] + ', ' + mat[7] +
+        ', ' + mat[8] + ', ' + mat[9] + ', ' + mat[10] + ', ' + mat[11] +
+        ', ' + mat[12] + ', ' + mat[13] + ', ' + mat[14] + ', ' + mat[15] + ']';
+};
+
+/*
+ * quat4
+ */
+
+/**
+ * Creates a new instance of a quat4 using the default array type
+ * Any javascript array containing at least 4 numeric elements can serve as a quat4
+ *
+ * @param {quat4} [quat] quat4 containing values to initialize with
+ *
+ * @returns {quat4} New quat4
+ */
+quat4.create = function (quat) {
+    var dest = new MatrixArray(4);
+
+    if (quat) {
+        dest[0] = quat[0];
+        dest[1] = quat[1];
+        dest[2] = quat[2];
+        dest[3] = quat[3];
+    }
+
+    return dest;
+};
+
+/**
+ * Copies the values of one quat4 to another
+ *
+ * @param {quat4} quat quat4 containing values to copy
+ * @param {quat4} dest quat4 receiving copied values
+ *
+ * @returns {quat4} dest
+ */
+quat4.set = function (quat, dest) {
+    dest[0] = quat[0];
+    dest[1] = quat[1];
+    dest[2] = quat[2];
+    dest[3] = quat[3];
+
+    return dest;
+};
+
+/**
+ * Calculates the W component of a quat4 from the X, Y, and Z components.
+ * Assumes that quaternion is 1 unit in length. 
+ * Any existing W component will be ignored. 
+ *
+ * @param {quat4} quat quat4 to calculate W component of
+ * @param {quat4} [dest] quat4 receiving calculated values. If not specified result is written to quat
+ *
+ * @returns {quat4} dest if specified, quat otherwise
+ */
+quat4.calculateW = function (quat, dest) {
+    var x = quat[0], y = quat[1], z = quat[2];
+
+    if (!dest || quat === dest) {
+        quat[3] = -Math.sqrt(Math.abs(1.0 - x * x - y * y - z * z));
+        return quat;
+    }
+    dest[0] = x;
+    dest[1] = y;
+    dest[2] = z;
+    dest[3] = -Math.sqrt(Math.abs(1.0 - x * x - y * y - z * z));
+    return dest;
+};
+
+/**
+ * Calculates the dot product of two quaternions
+ *
+ * @param {quat4} quat First operand
+ * @param {quat4} quat2 Second operand
+ *
+ * @return {number} Dot product of quat and quat2
+ */
+quat4.dot = function(quat, quat2){
+    return quat[0]*quat2[0] + quat[1]*quat2[1] + quat[2]*quat2[2] + quat[3]*quat2[3];
+};
+
+/**
+ * Calculates the inverse of a quat4
+ *
+ * @param {quat4} quat quat4 to calculate inverse of
+ * @param {quat4} [dest] quat4 receiving inverse values. If not specified result is written to quat
+ *
+ * @returns {quat4} dest if specified, quat otherwise
+ */
+quat4.inverse = function(quat, dest) {
+    var q0 = quat[0], q1 = quat[1], q2 = quat[2], q3 = quat[3],
+        dot = q0*q0 + q1*q1 + q2*q2 + q3*q3,
+        invDot = dot ? 1.0/dot : 0;
+    
+    // TODO: Would be faster to return [0,0,0,0] immediately if dot == 0
+    
+    if(!dest || quat === dest) {
+        quat[0] *= -invDot;
+        quat[1] *= -invDot;
+        quat[2] *= -invDot;
+        quat[3] *= invDot;
+        return quat;
+    }
+    dest[0] = -quat[0]*invDot;
+    dest[1] = -quat[1]*invDot;
+    dest[2] = -quat[2]*invDot;
+    dest[3] = quat[3]*invDot;
+    return dest;
+};
+
+
+/**
+ * Calculates the conjugate of a quat4
+ * If the quaternion is normalized, this function is faster than quat4.inverse and produces the same result.
+ *
+ * @param {quat4} quat quat4 to calculate conjugate of
+ * @param {quat4} [dest] quat4 receiving conjugate values. If not specified result is written to quat
+ *
+ * @returns {quat4} dest if specified, quat otherwise
+ */
+quat4.conjugate = function (quat, dest) {
+    if (!dest || quat === dest) {
+        quat[0] *= -1;
+        quat[1] *= -1;
+        quat[2] *= -1;
+        return quat;
+    }
+    dest[0] = -quat[0];
+    dest[1] = -quat[1];
+    dest[2] = -quat[2];
+    dest[3] = quat[3];
+    return dest;
+};
+
+/**
+ * Calculates the length of a quat4
+ *
+ * Params:
+ * @param {quat4} quat quat4 to calculate length of
+ *
+ * @returns Length of quat
+ */
+quat4.length = function (quat) {
+    var x = quat[0], y = quat[1], z = quat[2], w = quat[3];
+    return Math.sqrt(x * x + y * y + z * z + w * w);
+};
+
+/**
+ * Generates a unit quaternion of the same direction as the provided quat4
+ * If quaternion length is 0, returns [0, 0, 0, 0]
+ *
+ * @param {quat4} quat quat4 to normalize
+ * @param {quat4} [dest] quat4 receiving operation result. If not specified result is written to quat
+ *
+ * @returns {quat4} dest if specified, quat otherwise
+ */
+quat4.normalize = function (quat, dest) {
+    if (!dest) { dest = quat; }
+
+    var x = quat[0], y = quat[1], z = quat[2], w = quat[3],
+        len = Math.sqrt(x * x + y * y + z * z + w * w);
+    if (len === 0) {
+        dest[0] = 0;
+        dest[1] = 0;
+        dest[2] = 0;
+        dest[3] = 0;
+        return dest;
+    }
+    len = 1 / len;
+    dest[0] = x * len;
+    dest[1] = y * len;
+    dest[2] = z * len;
+    dest[3] = w * len;
+
+    return dest;
+};
+
+/**
+ * Performs quaternion addition
+ *
+ * @param {quat4} quat First operand
+ * @param {quat4} quat2 Second operand
+ * @param {quat4} [dest] quat4 receiving operation result. If not specified result is written to quat
+ *
+ * @returns {quat4} dest if specified, quat otherwise
+ */
+quat4.add = function (quat, quat2, dest) {
+    if(!dest || quat === dest) {
+        quat[0] += quat2[0];
+        quat[1] += quat2[1];
+        quat[2] += quat2[2];
+        quat[3] += quat2[3];
+        return quat;
+    }
+    dest[0] = quat[0]+quat2[0];
+    dest[1] = quat[1]+quat2[1];
+    dest[2] = quat[2]+quat2[2];
+    dest[3] = quat[3]+quat2[3];
+    return dest;
+};
+
+/**
+ * Performs a quaternion multiplication
+ *
+ * @param {quat4} quat First operand
+ * @param {quat4} quat2 Second operand
+ * @param {quat4} [dest] quat4 receiving operation result. If not specified result is written to quat
+ *
+ * @returns {quat4} dest if specified, quat otherwise
+ */
+quat4.multiply = function (quat, quat2, dest) {
+    if (!dest) { dest = quat; }
+
+    var qax = quat[0], qay = quat[1], qaz = quat[2], qaw = quat[3],
+        qbx = quat2[0], qby = quat2[1], qbz = quat2[2], qbw = quat2[3];
+
+    dest[0] = qax * qbw + qaw * qbx + qay * qbz - qaz * qby;
+    dest[1] = qay * qbw + qaw * qby + qaz * qbx - qax * qbz;
+    dest[2] = qaz * qbw + qaw * qbz + qax * qby - qay * qbx;
+    dest[3] = qaw * qbw - qax * qbx - qay * qby - qaz * qbz;
+
+    return dest;
+};
+
+/**
+ * Transforms a vec3 with the given quaternion
+ *
+ * @param {quat4} quat quat4 to transform the vector with
+ * @param {vec3} vec vec3 to transform
+ * @param {vec3} [dest] vec3 receiving operation result. If not specified result is written to vec
+ *
+ * @returns dest if specified, vec otherwise
+ */
+quat4.multiplyVec3 = function (quat, vec, dest) {
+    if (!dest) { dest = vec; }
+
+    var x = vec[0], y = vec[1], z = vec[2],
+        qx = quat[0], qy = quat[1], qz = quat[2], qw = quat[3],
+
+        // calculate quat * vec
+        ix = qw * x + qy * z - qz * y,
+        iy = qw * y + qz * x - qx * z,
+        iz = qw * z + qx * y - qy * x,
+        iw = -qx * x - qy * y - qz * z;
+
+    // calculate result * inverse quat
+    dest[0] = ix * qw + iw * -qx + iy * -qz - iz * -qy;
+    dest[1] = iy * qw + iw * -qy + iz * -qx - ix * -qz;
+    dest[2] = iz * qw + iw * -qz + ix * -qy - iy * -qx;
+
+    return dest;
+};
+
+/**
+ * Multiplies the components of a quaternion by a scalar value
+ *
+ * @param {quat4} quat to scale
+ * @param {number} val Value to scale by
+ * @param {quat4} [dest] quat4 receiving operation result. If not specified result is written to quat
+ *
+ * @returns {quat4} dest if specified, quat otherwise
+ */
+quat4.scale = function (quat, val, dest) {
+    if(!dest || quat === dest) {
+        quat[0] *= val;
+        quat[1] *= val;
+        quat[2] *= val;
+        quat[3] *= val;
+        return quat;
+    }
+    dest[0] = quat[0]*val;
+    dest[1] = quat[1]*val;
+    dest[2] = quat[2]*val;
+    dest[3] = quat[3]*val;
+    return dest;
+};
+
+/**
+ * Calculates a 3x3 matrix from the given quat4
+ *
+ * @param {quat4} quat quat4 to create matrix from
+ * @param {mat3} [dest] mat3 receiving operation result
+ *
+ * @returns {mat3} dest if specified, a new mat3 otherwise
+ */
+quat4.toMat3 = function (quat, dest) {
+    if (!dest) { dest = mat3.create(); }
+
+    var x = quat[0], y = quat[1], z = quat[2], w = quat[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;
+
+    dest[0] = 1 - (yy + zz);
+    dest[1] = xy + wz;
+    dest[2] = xz - wy;
+
+    dest[3] = xy - wz;
+    dest[4] = 1 - (xx + zz);
+    dest[5] = yz + wx;
+
+    dest[6] = xz + wy;
+    dest[7] = yz - wx;
+    dest[8] = 1 - (xx + yy);
+
+    return dest;
+};
+
+/**
+ * Calculates a 4x4 matrix from the given quat4
+ *
+ * @param {quat4} quat quat4 to create matrix from
+ * @param {mat4} [dest] mat4 receiving operation result
+ *
+ * @returns {mat4} dest if specified, a new mat4 otherwise
+ */
+quat4.toMat4 = function (quat, dest) {
+    if (!dest) { dest = mat4.create(); }
+
+    var x = quat[0], y = quat[1], z = quat[2], w = quat[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;
+
+    dest[0] = 1 - (yy + zz);
+    dest[1] = xy + wz;
+    dest[2] = xz - wy;
+    dest[3] = 0;
+
+    dest[4] = xy - wz;
+    dest[5] = 1 - (xx + zz);
+    dest[6] = yz + wx;
+    dest[7] = 0;
+
+    dest[8] = xz + wy;
+    dest[9] = yz - wx;
+    dest[10] = 1 - (xx + yy);
+    dest[11] = 0;
+
+    dest[12] = 0;
+    dest[13] = 0;
+    dest[14] = 0;
+    dest[15] = 1;
+
+    return dest;
+};
+
+/**
+ * Performs a spherical linear interpolation between two quat4
+ *
+ * @param {quat4} quat First quaternion
+ * @param {quat4} quat2 Second quaternion
+ * @param {number} slerp Interpolation amount between the two inputs
+ * @param {quat4} [dest] quat4 receiving operation result. If not specified result is written to quat
+ *
+ * @returns {quat4} dest if specified, quat otherwise
+ */
+quat4.slerp = function (quat, quat2, slerp, dest) {
+    if (!dest) { dest = quat; }
+
+    var cosHalfTheta = quat[0] * quat2[0] + quat[1] * quat2[1] + quat[2] * quat2[2] + quat[3] * quat2[3],
+        halfTheta,
+        sinHalfTheta,
+        ratioA,
+        ratioB;
+
+    if (Math.abs(cosHalfTheta) >= 1.0) {
+        if (dest !== quat) {
+            dest[0] = quat[0];
+            dest[1] = quat[1];
+            dest[2] = quat[2];
+            dest[3] = quat[3];
+        }
+        return dest;
+    }
+
+    halfTheta = Math.acos(cosHalfTheta);
+    sinHalfTheta = Math.sqrt(1.0 - cosHalfTheta * cosHalfTheta);
+
+    if (Math.abs(sinHalfTheta) < 0.001) {
+        dest[0] = (quat[0] * 0.5 + quat2[0] * 0.5);
+        dest[1] = (quat[1] * 0.5 + quat2[1] * 0.5);
+        dest[2] = (quat[2] * 0.5 + quat2[2] * 0.5);
+        dest[3] = (quat[3] * 0.5 + quat2[3] * 0.5);
+        return dest;
+    }
+
+    ratioA = Math.sin((1 - slerp) * halfTheta) / sinHalfTheta;
+    ratioB = Math.sin(slerp * halfTheta) / sinHalfTheta;
+
+    dest[0] = (quat[0] * ratioA + quat2[0] * ratioB);
+    dest[1] = (quat[1] * ratioA + quat2[1] * ratioB);
+    dest[2] = (quat[2] * ratioA + quat2[2] * ratioB);
+    dest[3] = (quat[3] * ratioA + quat2[3] * ratioB);
+
+    return dest;
+};
+
+/**
+ * Returns a string representation of a quaternion
+ *
+ * @param {quat4} quat quat4 to represent as a string
+ *
+ * @returns {string} String representation of quat
+ */
+quat4.str = function (quat) {
+    return '[' + quat[0] + ', ' + quat[1] + ', ' + quat[2] + ', ' + quat[3] + ']';
+};
+
+
+return {
+  vec3: vec3,
+  mat3: mat3,
+  mat4: mat4,
+  quat4: quat4
+};
+
+})();
+