@cesium/engine 24.0.0 → 25.0.0

package/Source/Core/Matrix3.js

@@ -1,25 +1,25 @@
+// @ts-check
+
 import Cartesian3 from "./Cartesian3.js";
 import Check from "./Check.js";
 import defined from "./defined.js";
 import DeveloperError from "./DeveloperError.js";
 import CesiumMath from "./Math.js";
 
+/** @import Quaternion from "./Quaternion.js"; */
+/** @import HeadingPitchRoll from "./HeadingPitchRoll.js"; */
+
+/**
+ * @typedef {object} EigenDecompositionResult
+ * @property {Matrix3} [unitary]
+ * @property {Matrix3} [diagonal]
+ */
+
 /**
  * A 3x3 matrix, indexable as a column-major order array.
  * Constructor parameters are in row-major order for code readability.
- * @alias Matrix3
- * @constructor
- * @implements {ArrayLike<number>}
  *
- * @param {number} [column0Row0=0.0] The value for column 0, row 0.
- * @param {number} [column1Row0=0.0] The value for column 1, row 0.
- * @param {number} [column2Row0=0.0] The value for column 2, row 0.
- * @param {number} [column0Row1=0.0] The value for column 0, row 1.
- * @param {number} [column1Row1=0.0] The value for column 1, row 1.
- * @param {number} [column2Row1=0.0] The value for column 2, row 1.
- * @param {number} [column0Row2=0.0] The value for column 0, row 2.
- * @param {number} [column1Row2=0.0] The value for column 1, row 2.
- * @param {number} [column2Row2=0.0] The value for column 2, row 2.
+ * @implements {ArrayLike<number>}
  *
  * @see Matrix3.fromArray
  * @see Matrix3.fromColumnMajorArray
@@ -35,1635 +35,1662 @@ import CesiumMath from "./Math.js";
  * @see Matrix2
  * @see Matrix4
  */
-function Matrix3(
-  column0Row0,
-  column1Row0,
-  column2Row0,
-  column0Row1,
-  column1Row1,
-  column2Row1,
-  column0Row2,
-  column1Row2,
-  column2Row2,
-) {
-  this[0] = column0Row0 ?? 0.0;
-  this[1] = column0Row1 ?? 0.0;
-  this[2] = column0Row2 ?? 0.0;
-  this[3] = column1Row0 ?? 0.0;
-  this[4] = column1Row1 ?? 0.0;
-  this[5] = column1Row2 ?? 0.0;
-  this[6] = column2Row0 ?? 0.0;
-  this[7] = column2Row1 ?? 0.0;
-  this[8] = column2Row2 ?? 0.0;
-}
-
-/**
- * The number of elements used to pack the object into an array.
- * @type {number}
- */
-Matrix3.packedLength = 9;
+// @ts-expect-error TODO(tsd-jsdoc): Requires index signature support.
+class Matrix3 {
+  /**
+   * @param {number} [column0Row0=0.0] The value for column 0, row 0.
+   * @param {number} [column1Row0=0.0] The value for column 1, row 0.
+   * @param {number} [column2Row0=0.0] The value for column 2, row 0.
+   * @param {number} [column0Row1=0.0] The value for column 0, row 1.
+   * @param {number} [column1Row1=0.0] The value for column 1, row 1.
+   * @param {number} [column2Row1=0.0] The value for column 2, row 1.
+   * @param {number} [column0Row2=0.0] The value for column 0, row 2.
+   * @param {number} [column1Row2=0.0] The value for column 1, row 2.
+   * @param {number} [column2Row2=0.0] The value for column 2, row 2.
+   */
+  constructor(
+    column0Row0,
+    column1Row0,
+    column2Row0,
+    column0Row1,
+    column1Row1,
+    column2Row1,
+    column0Row2,
+    column1Row2,
+    column2Row2,
+  ) {
+    this[0] = column0Row0 ?? 0.0;
+    this[1] = column0Row1 ?? 0.0;
+    this[2] = column0Row2 ?? 0.0;
+    this[3] = column1Row0 ?? 0.0;
+    this[4] = column1Row1 ?? 0.0;
+    this[5] = column1Row2 ?? 0.0;
+    this[6] = column2Row0 ?? 0.0;
+    this[7] = column2Row1 ?? 0.0;
+    this[8] = column2Row2 ?? 0.0;
+  }
 
-/**
- * Stores the provided instance into the provided array.
- *
- * @param {Matrix3} value The value to pack.
- * @param {number[]} array The array to pack into.
- * @param {number} [startingIndex=0] The index into the array at which to start packing the elements.
- *
- * @returns {number[]} The array that was packed into
- */
-Matrix3.pack = function (value, array, startingIndex) {
-  //>>includeStart('debug', pragmas.debug);
-  Check.typeOf.object("value", value);
-  Check.defined("array", array);
-  //>>includeEnd('debug');
-
-  startingIndex = startingIndex ?? 0;
-
-  array[startingIndex++] = value[0];
-  array[startingIndex++] = value[1];
-  array[startingIndex++] = value[2];
-  array[startingIndex++] = value[3];
-  array[startingIndex++] = value[4];
-  array[startingIndex++] = value[5];
-  array[startingIndex++] = value[6];
-  array[startingIndex++] = value[7];
-  array[startingIndex++] = value[8];
-
-  return array;
-};
+  /**
+   * Stores the provided instance into the provided array.
+   *
+   * @param {Matrix3} value The value to pack.
+   * @param {number[]} array The array to pack into.
+   * @param {number} [startingIndex=0] The index into the array at which to start packing the elements.
+   *
+   * @returns {number[]} The array that was packed into
+   */
+  static pack(value, array, startingIndex) {
+    //>>includeStart('debug', pragmas.debug);
+    Check.typeOf.object("value", value);
+    Check.defined("array", array);
+    //>>includeEnd('debug');
 
-/**
- * Retrieves an instance from a packed array.
- *
- * @param {number[]} array The packed array.
- * @param {number} [startingIndex=0] The starting index of the element to be unpacked.
- * @param {Matrix3} [result] The object into which to store the result.
- * @returns {Matrix3} The modified result parameter or a new Matrix3 instance if one was not provided.
- */
-Matrix3.unpack = function (array, startingIndex, result) {
-  //>>includeStart('debug', pragmas.debug);
-  Check.defined("array", array);
-  //>>includeEnd('debug');
+    startingIndex = startingIndex ?? 0;
 
-  startingIndex = startingIndex ?? 0;
+    array[startingIndex++] = value[0];
+    array[startingIndex++] = value[1];
+    array[startingIndex++] = value[2];
+    array[startingIndex++] = value[3];
+    array[startingIndex++] = value[4];
+    array[startingIndex++] = value[5];
+    array[startingIndex++] = value[6];
+    array[startingIndex++] = value[7];
+    array[startingIndex++] = value[8];
 
-  if (!defined(result)) {
-    result = new Matrix3();
+    return array;
   }
 
-  result[0] = array[startingIndex++];
-  result[1] = array[startingIndex++];
-  result[2] = array[startingIndex++];
-  result[3] = array[startingIndex++];
-  result[4] = array[startingIndex++];
-  result[5] = array[startingIndex++];
-  result[6] = array[startingIndex++];
-  result[7] = array[startingIndex++];
-  result[8] = array[startingIndex++];
-  return result;
-};
-
-/**
- * Flattens an array of Matrix3s into an array of components. The components
- * are stored in column-major order.
- *
- * @param {Matrix3[]} array The array of matrices to pack.
- * @param {number[]} [result] The array onto which to store the result. If this is a typed array, it must have array.length * 9 components, else a {@link DeveloperError} will be thrown. If it is a regular array, it will be resized to have (array.length * 9) elements.
- * @returns {number[]} The packed array.
- */
-Matrix3.packArray = function (array, result) {
-  //>>includeStart('debug', pragmas.debug);
-  Check.defined("array", array);
-  //>>includeEnd('debug');
-
-  const length = array.length;
-  const resultLength = length * 9;
-  if (!defined(result)) {
-    result = new Array(resultLength);
-  } else if (!Array.isArray(result) && result.length !== resultLength) {
+  /**
+   * Retrieves an instance from a packed array.
+   *
+   * @param {number[]} array The packed array.
+   * @param {number} [startingIndex=0] The starting index of the element to be unpacked.
+   * @param {Matrix3} [result] The object into which to store the result.
+   * @returns {Matrix3} The modified result parameter or a new Matrix3 instance if one was not provided.
+   */
+  static unpack(array, startingIndex, result) {
     //>>includeStart('debug', pragmas.debug);
-    throw new DeveloperError(
-      "If result is a typed array, it must have exactly array.length * 9 elements",
-    );
+    Check.defined("array", array);
     //>>includeEnd('debug');
-  } else if (result.length !== resultLength) {
-    result.length = resultLength;
-  }
 
-  for (let i = 0; i < length; ++i) {
-    Matrix3.pack(array[i], result, i * 9);
-  }
-  return result;
-};
+    startingIndex = startingIndex ?? 0;
 
-/**
- * Unpacks an array of column-major matrix components into an array of Matrix3s.
- *
- * @param {number[]} array The array of components to unpack.
- * @param {Matrix3[]} [result] The array onto which to store the result.
- * @returns {Matrix3[]} The unpacked array.
- */
-Matrix3.unpackArray = function (array, result) {
-  //>>includeStart('debug', pragmas.debug);
-  Check.defined("array", array);
-  Check.typeOf.number.greaterThanOrEquals("array.length", array.length, 9);
-  if (array.length % 9 !== 0) {
-    throw new DeveloperError("array length must be a multiple of 9.");
-  }
-  //>>includeEnd('debug');
+    if (!defined(result)) {
+      result = new Matrix3();
+    }
 
-  const length = array.length;
-  if (!defined(result)) {
-    result = new Array(length / 9);
-  } else {
-    result.length = length / 9;
+    result[0] = array[startingIndex++];
+    result[1] = array[startingIndex++];
+    result[2] = array[startingIndex++];
+    result[3] = array[startingIndex++];
+    result[4] = array[startingIndex++];
+    result[5] = array[startingIndex++];
+    result[6] = array[startingIndex++];
+    result[7] = array[startingIndex++];
+    result[8] = array[startingIndex++];
+    return result;
   }
 
-  for (let i = 0; i < length; i += 9) {
-    const index = i / 9;
-    result[index] = Matrix3.unpack(array, i, result[index]);
-  }
-  return result;
-};
+  /**
+   * Flattens an array of Matrix3s into an array of components. The components
+   * are stored in column-major order.
+   *
+   * @param {Matrix3[]} array The array of matrices to pack.
+   * @param {number[]} [result] The array onto which to store the result. If this is a typed array, it must have array.length * 9 components, else a {@link DeveloperError} will be thrown. If it is a regular array, it will be resized to have (array.length * 9) elements.
+   * @returns {number[]} The packed array.
+   */
+  static packArray(array, result) {
+    //>>includeStart('debug', pragmas.debug);
+    Check.defined("array", array);
+    //>>includeEnd('debug');
 
-/**
- * Duplicates a Matrix3 instance.
- *
- * @param {Matrix3} matrix The matrix to duplicate.
- * @param {Matrix3} [result] The object onto which to store the result.
- * @returns {Matrix3} The modified result parameter or a new Matrix3 instance if one was not provided. (Returns undefined if matrix is undefined)
- */
-Matrix3.clone = function (matrix, result) {
-  if (!defined(matrix)) {
-    return undefined;
-  }
-  if (!defined(result)) {
-    return new Matrix3(
-      matrix[0],
-      matrix[3],
-      matrix[6],
-      matrix[1],
-      matrix[4],
-      matrix[7],
-      matrix[2],
-      matrix[5],
-      matrix[8],
-    );
+    const length = array.length;
+    const resultLength = length * 9;
+    if (!defined(result)) {
+      result = new Array(resultLength);
+      // @ts-expect-error TODO(tsd-jsdoc): Requires conditional TypedArray types.
+    } else if (!Array.isArray(result) && result.length !== resultLength) {
+      //>>includeStart('debug', pragmas.debug);
+      throw new DeveloperError(
+        "If result is a typed array, it must have exactly array.length * 9 elements",
+      );
+      //>>includeEnd('debug');
+    } else if (result.length !== resultLength) {
+      /** @type {number[]} */ (result).length = resultLength;
+    }
+
+    for (let i = 0; i < length; ++i) {
+      Matrix3.pack(array[i], result, i * 9);
+    }
+
+    return result;
   }
-  result[0] = matrix[0];
-  result[1] = matrix[1];
-  result[2] = matrix[2];
-  result[3] = matrix[3];
-  result[4] = matrix[4];
-  result[5] = matrix[5];
-  result[6] = matrix[6];
-  result[7] = matrix[7];
-  result[8] = matrix[8];
-  return result;
-};
 
-/**
- * Creates a Matrix3 from 9 consecutive elements in an array.
- *
- * @function
- * @param {number[]} array The array whose 9 consecutive elements correspond to the positions of the matrix.  Assumes column-major order.
- * @param {number} [startingIndex=0] The offset into the array of the first element, which corresponds to first column first row position in the matrix.
- * @param {Matrix3} [result] The object onto which to store the result.
- * @returns {Matrix3} The modified result parameter or a new Matrix3 instance if one was not provided.
- *
- * @example
- * // Create the Matrix3:
- * // [1.0, 2.0, 3.0]
- * // [1.0, 2.0, 3.0]
- * // [1.0, 2.0, 3.0]
- *
- * const v = [1.0, 1.0, 1.0, 2.0, 2.0, 2.0, 3.0, 3.0, 3.0];
- * const m = Cesium.Matrix3.fromArray(v);
- *
- * // Create same Matrix3 with using an offset into an array
- * const v2 = [0.0, 0.0, 1.0, 1.0, 1.0, 2.0, 2.0, 2.0, 3.0, 3.0, 3.0];
- * const m2 = Cesium.Matrix3.fromArray(v2, 2);
- */
-Matrix3.fromArray = Matrix3.unpack;
+  /**
+   * Unpacks an array of column-major matrix components into an array of Matrix3s.
+   *
+   * @param {number[]} array The array of components to unpack.
+   * @param {Matrix3[]} [result] The array onto which to store the result.
+   * @returns {Matrix3[]} The unpacked array.
+   */
+  static unpackArray(array, result) {
+    //>>includeStart('debug', pragmas.debug);
+    Check.defined("array", array);
+    Check.typeOf.number.greaterThanOrEquals("array.length", array.length, 9);
+    if (array.length % 9 !== 0) {
+      throw new DeveloperError("array length must be a multiple of 9.");
+    }
+    //>>includeEnd('debug');
 
-/**
- * Creates a Matrix3 instance from a column-major order array.
- *
- * @param {number[]} values The column-major order array.
- * @param {Matrix3} [result] The object in which the result will be stored, if undefined a new instance will be created.
- * @returns {Matrix3} The modified result parameter, or a new Matrix3 instance if one was not provided.
- */
-Matrix3.fromColumnMajorArray = function (values, result) {
-  //>>includeStart('debug', pragmas.debug);
-  Check.defined("values", values);
-  //>>includeEnd('debug');
+    const length = array.length;
+    if (!defined(result)) {
+      result = new Array(length / 9);
+    } else {
+      result.length = length / 9;
+    }
 
-  return Matrix3.clone(values, result);
-};
+    for (let i = 0; i < length; i += 9) {
+      const index = i / 9;
+      result[index] = Matrix3.unpack(array, i, result[index]);
+    }
+    return result;
+  }
 
-/**
- * Creates a Matrix3 instance from a row-major order array.
- * The resulting matrix will be in column-major order.
- *
- * @param {number[]} values The row-major order array.
- * @param {Matrix3} [result] The object in which the result will be stored, if undefined a new instance will be created.
- * @returns {Matrix3} The modified result parameter, or a new Matrix3 instance if one was not provided.
- */
-Matrix3.fromRowMajorArray = function (values, result) {
-  //>>includeStart('debug', pragmas.debug);
-  Check.defined("values", values);
-  //>>includeEnd('debug');
-
-  if (!defined(result)) {
-    return new Matrix3(
-      values[0],
-      values[1],
-      values[2],
-      values[3],
-      values[4],
-      values[5],
-      values[6],
-      values[7],
-      values[8],
-    );
+  /**
+   * Duplicates a Matrix3 instance.
+   *
+   * @param {Matrix3} matrix The matrix to duplicate.
+   * @param {Matrix3} [result] The object onto which to store the result.
+   * @returns {Matrix3} The modified result parameter or a new Matrix3 instance if one was not provided. (Returns undefined if matrix is undefined)
+   */
+  static clone(matrix, result) {
+    if (!defined(matrix)) {
+      return undefined;
+    }
+    if (!defined(result)) {
+      return new Matrix3(
+        matrix[0],
+        matrix[3],
+        matrix[6],
+        matrix[1],
+        matrix[4],
+        matrix[7],
+        matrix[2],
+        matrix[5],
+        matrix[8],
+      );
+    }
+    result[0] = matrix[0];
+    result[1] = matrix[1];
+    result[2] = matrix[2];
+    result[3] = matrix[3];
+    result[4] = matrix[4];
+    result[5] = matrix[5];
+    result[6] = matrix[6];
+    result[7] = matrix[7];
+    result[8] = matrix[8];
+    return result;
   }
-  result[0] = values[0];
-  result[1] = values[3];
-  result[2] = values[6];
-  result[3] = values[1];
-  result[4] = values[4];
-  result[5] = values[7];
-  result[6] = values[2];
-  result[7] = values[5];
-  result[8] = values[8];
-  return result;
-};
 
-/**
- * Computes a 3x3 rotation matrix from the provided quaternion.
- *
- * @param {Quaternion} quaternion the quaternion to use.
- * @param {Matrix3} [result] The object in which the result will be stored, if undefined a new instance will be created.
- * @returns {Matrix3} The 3x3 rotation matrix from this quaternion.
- */
-Matrix3.fromQuaternion = function (quaternion, result) {
-  //>>includeStart('debug', pragmas.debug);
-  Check.typeOf.object("quaternion", quaternion);
-  //>>includeEnd('debug');
-
-  const x2 = quaternion.x * quaternion.x;
-  const xy = quaternion.x * quaternion.y;
-  const xz = quaternion.x * quaternion.z;
-  const xw = quaternion.x * quaternion.w;
-  const y2 = quaternion.y * quaternion.y;
-  const yz = quaternion.y * quaternion.z;
-  const yw = quaternion.y * quaternion.w;
-  const z2 = quaternion.z * quaternion.z;
-  const zw = quaternion.z * quaternion.w;
-  const w2 = quaternion.w * quaternion.w;
-
-  const m00 = x2 - y2 - z2 + w2;
-  const m01 = 2.0 * (xy - zw);
-  const m02 = 2.0 * (xz + yw);
-
-  const m10 = 2.0 * (xy + zw);
-  const m11 = -x2 + y2 - z2 + w2;
-  const m12 = 2.0 * (yz - xw);
-
-  const m20 = 2.0 * (xz - yw);
-  const m21 = 2.0 * (yz + xw);
-  const m22 = -x2 - y2 + z2 + w2;
-
-  if (!defined(result)) {
-    return new Matrix3(m00, m01, m02, m10, m11, m12, m20, m21, m22);
+  /**
+   * Creates a Matrix3 instance from a column-major order array.
+   *
+   * @param {number[]} values The column-major order array.
+   * @param {Matrix3} [result] The object in which the result will be stored, if undefined a new instance will be created.
+   * @returns {Matrix3} The modified result parameter, or a new Matrix3 instance if one was not provided.
+   */
+  static fromColumnMajorArray(values, result) {
+    //>>includeStart('debug', pragmas.debug);
+    Check.defined("values", values);
+    //>>includeEnd('debug');
+
+    // @ts-expect-error TODO(tsd-jsdoc): Requires index signature support.
+    return Matrix3.clone(values, result);
   }
-  result[0] = m00;
-  result[1] = m10;
-  result[2] = m20;
-  result[3] = m01;
-  result[4] = m11;
-  result[5] = m21;
-  result[6] = m02;
-  result[7] = m12;
-  result[8] = m22;
-  return result;
-};
 
-/**
- * Computes a 3x3 rotation matrix from the provided headingPitchRoll. (see http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles )
- *
- * @param {HeadingPitchRoll} headingPitchRoll the headingPitchRoll to use.
- * @param {Matrix3} [result] The object in which the result will be stored, if undefined a new instance will be created.
- * @returns {Matrix3} The 3x3 rotation matrix from this headingPitchRoll.
- */
-Matrix3.fromHeadingPitchRoll = function (headingPitchRoll, result) {
-  //>>includeStart('debug', pragmas.debug);
-  Check.typeOf.object("headingPitchRoll", headingPitchRoll);
-  //>>includeEnd('debug');
-
-  const cosTheta = Math.cos(-headingPitchRoll.pitch);
-  const cosPsi = Math.cos(-headingPitchRoll.heading);
-  const cosPhi = Math.cos(headingPitchRoll.roll);
-  const sinTheta = Math.sin(-headingPitchRoll.pitch);
-  const sinPsi = Math.sin(-headingPitchRoll.heading);
-  const sinPhi = Math.sin(headingPitchRoll.roll);
-
-  const m00 = cosTheta * cosPsi;
-  const m01 = -cosPhi * sinPsi + sinPhi * sinTheta * cosPsi;
-  const m02 = sinPhi * sinPsi + cosPhi * sinTheta * cosPsi;
-
-  const m10 = cosTheta * sinPsi;
-  const m11 = cosPhi * cosPsi + sinPhi * sinTheta * sinPsi;
-  const m12 = -sinPhi * cosPsi + cosPhi * sinTheta * sinPsi;
-
-  const m20 = -sinTheta;
-  const m21 = sinPhi * cosTheta;
-  const m22 = cosPhi * cosTheta;
-
-  if (!defined(result)) {
-    return new Matrix3(m00, m01, m02, m10, m11, m12, m20, m21, m22);
+  /**
+   * Creates a Matrix3 instance from a row-major order array.
+   * The resulting matrix will be in column-major order.
+   *
+   * @param {number[]} values The row-major order array.
+   * @param {Matrix3} [result] The object in which the result will be stored, if undefined a new instance will be created.
+   * @returns {Matrix3} The modified result parameter, or a new Matrix3 instance if one was not provided.
+   */
+  static fromRowMajorArray(values, result) {
+    //>>includeStart('debug', pragmas.debug);
+    Check.defined("values", values);
+    //>>includeEnd('debug');
+
+    if (!defined(result)) {
+      return new Matrix3(
+        values[0],
+        values[1],
+        values[2],
+        values[3],
+        values[4],
+        values[5],
+        values[6],
+        values[7],
+        values[8],
+      );
+    }
+    result[0] = values[0];
+    result[1] = values[3];
+    result[2] = values[6];
+    result[3] = values[1];
+    result[4] = values[4];
+    result[5] = values[7];
+    result[6] = values[2];
+    result[7] = values[5];
+    result[8] = values[8];
+    return result;
   }
-  result[0] = m00;
-  result[1] = m10;
-  result[2] = m20;
-  result[3] = m01;
-  result[4] = m11;
-  result[5] = m21;
-  result[6] = m02;
-  result[7] = m12;
-  result[8] = m22;
-  return result;
-};
 
-/**
- * Computes a Matrix3 instance representing a non-uniform scale.
- *
- * @param {Cartesian3} scale The x, y, and z scale factors.
- * @param {Matrix3} [result] The object in which the result will be stored, if undefined a new instance will be created.
- * @returns {Matrix3} The modified result parameter, or a new Matrix3 instance if one was not provided.
- *
- * @example
- * // Creates
- * //   [7.0, 0.0, 0.0]
- * //   [0.0, 8.0, 0.0]
- * //   [0.0, 0.0, 9.0]
- * const m = Cesium.Matrix3.fromScale(new Cesium.Cartesian3(7.0, 8.0, 9.0));
- */
-Matrix3.fromScale = function (scale, result) {
-  //>>includeStart('debug', pragmas.debug);
-  Check.typeOf.object("scale", scale);
-  //>>includeEnd('debug');
+  /**
+   * Computes a 3x3 rotation matrix from the provided quaternion.
+   *
+   * @param {Quaternion} quaternion the quaternion to use.
+   * @param {Matrix3} [result] The object in which the result will be stored, if undefined a new instance will be created.
+   * @returns {Matrix3} The 3x3 rotation matrix from this quaternion.
+   */
+  static fromQuaternion(quaternion, result) {
+    //>>includeStart('debug', pragmas.debug);
+    Check.typeOf.object("quaternion", quaternion);
+    //>>includeEnd('debug');
 
-  if (!defined(result)) {
-    return new Matrix3(scale.x, 0.0, 0.0, 0.0, scale.y, 0.0, 0.0, 0.0, scale.z);
+    const x2 = quaternion.x * quaternion.x;
+    const xy = quaternion.x * quaternion.y;
+    const xz = quaternion.x * quaternion.z;
+    const xw = quaternion.x * quaternion.w;
+    const y2 = quaternion.y * quaternion.y;
+    const yz = quaternion.y * quaternion.z;
+    const yw = quaternion.y * quaternion.w;
+    const z2 = quaternion.z * quaternion.z;
+    const zw = quaternion.z * quaternion.w;
+    const w2 = quaternion.w * quaternion.w;
+
+    const m00 = x2 - y2 - z2 + w2;
+    const m01 = 2.0 * (xy - zw);
+    const m02 = 2.0 * (xz + yw);
+
+    const m10 = 2.0 * (xy + zw);
+    const m11 = -x2 + y2 - z2 + w2;
+    const m12 = 2.0 * (yz - xw);
+
+    const m20 = 2.0 * (xz - yw);
+    const m21 = 2.0 * (yz + xw);
+    const m22 = -x2 - y2 + z2 + w2;
+
+    if (!defined(result)) {
+      return new Matrix3(m00, m01, m02, m10, m11, m12, m20, m21, m22);
+    }
+    result[0] = m00;
+    result[1] = m10;
+    result[2] = m20;
+    result[3] = m01;
+    result[4] = m11;
+    result[5] = m21;
+    result[6] = m02;
+    result[7] = m12;
+    result[8] = m22;
+    return result;
   }
 
-  result[0] = scale.x;
-  result[1] = 0.0;
-  result[2] = 0.0;
-  result[3] = 0.0;
-  result[4] = scale.y;
-  result[5] = 0.0;
-  result[6] = 0.0;
-  result[7] = 0.0;
-  result[8] = scale.z;
-  return result;
-};
+  /**
+   * Computes a 3x3 rotation matrix from the provided headingPitchRoll. (see http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles )
+   *
+   * @param {HeadingPitchRoll} headingPitchRoll the headingPitchRoll to use.
+   * @param {Matrix3} [result] The object in which the result will be stored, if undefined a new instance will be created.
+   * @returns {Matrix3} The 3x3 rotation matrix from this headingPitchRoll.
+   */
+  static fromHeadingPitchRoll(headingPitchRoll, result) {
+    //>>includeStart('debug', pragmas.debug);
+    Check.typeOf.object("headingPitchRoll", headingPitchRoll);
+    //>>includeEnd('debug');
 
-/**
- * Computes a Matrix3 instance representing a uniform scale.
- *
- * @param {number} scale The uniform scale factor.
- * @param {Matrix3} [result] The object in which the result will be stored, if undefined a new instance will be created.
- * @returns {Matrix3} The modified result parameter, or a new Matrix3 instance if one was not provided.
- *
- * @example
- * // Creates
- * //   [2.0, 0.0, 0.0]
- * //   [0.0, 2.0, 0.0]
- * //   [0.0, 0.0, 2.0]
- * const m = Cesium.Matrix3.fromUniformScale(2.0);
- */
-Matrix3.fromUniformScale = function (scale, result) {
-  //>>includeStart('debug', pragmas.debug);
-  Check.typeOf.number("scale", scale);
-  //>>includeEnd('debug');
+    const cosTheta = Math.cos(-headingPitchRoll.pitch);
+    const cosPsi = Math.cos(-headingPitchRoll.heading);
+    const cosPhi = Math.cos(headingPitchRoll.roll);
+    const sinTheta = Math.sin(-headingPitchRoll.pitch);
+    const sinPsi = Math.sin(-headingPitchRoll.heading);
+    const sinPhi = Math.sin(headingPitchRoll.roll);
 
-  if (!defined(result)) {
-    return new Matrix3(scale, 0.0, 0.0, 0.0, scale, 0.0, 0.0, 0.0, scale);
-  }
+    const m00 = cosTheta * cosPsi;
+    const m01 = -cosPhi * sinPsi + sinPhi * sinTheta * cosPsi;
+    const m02 = sinPhi * sinPsi + cosPhi * sinTheta * cosPsi;
 
-  result[0] = scale;
-  result[1] = 0.0;
-  result[2] = 0.0;
-  result[3] = 0.0;
-  result[4] = scale;
-  result[5] = 0.0;
-  result[6] = 0.0;
-  result[7] = 0.0;
-  result[8] = scale;
-  return result;
-};
+    const m10 = cosTheta * sinPsi;
+    const m11 = cosPhi * cosPsi + sinPhi * sinTheta * sinPsi;
+    const m12 = -sinPhi * cosPsi + cosPhi * sinTheta * sinPsi;
 
-/**
- * Computes a Matrix3 instance representing the cross product equivalent matrix of a Cartesian3 vector.
- *
- * @param {Cartesian3} vector the vector on the left hand side of the cross product operation.
- * @param {Matrix3} [result] The object in which the result will be stored, if undefined a new instance will be created.
- * @returns {Matrix3} The modified result parameter, or a new Matrix3 instance if one was not provided.
- *
- * @example
- * // Creates
- * //   [0.0, -9.0,  8.0]
- * //   [9.0,  0.0, -7.0]
- * //   [-8.0, 7.0,  0.0]
- * const m = Cesium.Matrix3.fromCrossProduct(new Cesium.Cartesian3(7.0, 8.0, 9.0));
- */
-Matrix3.fromCrossProduct = function (vector, result) {
-  //>>includeStart('debug', pragmas.debug);
-  Check.typeOf.object("vector", vector);
-  //>>includeEnd('debug');
-
-  if (!defined(result)) {
-    return new Matrix3(
-      0.0,
-      -vector.z,
-      vector.y,
-      vector.z,
-      0.0,
-      -vector.x,
-      -vector.y,
-      vector.x,
-      0.0,
-    );
+    const m20 = -sinTheta;
+    const m21 = sinPhi * cosTheta;
+    const m22 = cosPhi * cosTheta;
+
+    if (!defined(result)) {
+      return new Matrix3(m00, m01, m02, m10, m11, m12, m20, m21, m22);
+    }
+    result[0] = m00;
+    result[1] = m10;
+    result[2] = m20;
+    result[3] = m01;
+    result[4] = m11;
+    result[5] = m21;
+    result[6] = m02;
+    result[7] = m12;
+    result[8] = m22;
+    return result;
   }
 
-  result[0] = 0.0;
-  result[1] = vector.z;
-  result[2] = -vector.y;
-  result[3] = -vector.z;
-  result[4] = 0.0;
-  result[5] = vector.x;
-  result[6] = vector.y;
-  result[7] = -vector.x;
-  result[8] = 0.0;
-  return result;
-};
+  /**
+   * Computes a Matrix3 instance representing a non-uniform scale.
+   *
+   * @param {Cartesian3} scale The x, y, and z scale factors.
+   * @param {Matrix3} [result] The object in which the result will be stored, if undefined a new instance will be created.
+   * @returns {Matrix3} The modified result parameter, or a new Matrix3 instance if one was not provided.
+   *
+   * @example
+   * // Creates
+   * //   [7.0, 0.0, 0.0]
+   * //   [0.0, 8.0, 0.0]
+   * //   [0.0, 0.0, 9.0]
+   * const m = Cesium.Matrix3.fromScale(new Cesium.Cartesian3(7.0, 8.0, 9.0));
+   */
+  static fromScale(scale, result) {
+    //>>includeStart('debug', pragmas.debug);
+    Check.typeOf.object("scale", scale);
+    //>>includeEnd('debug');
 
-/**
- * Creates a rotation matrix around the x-axis.
- *
- * @param {number} angle The angle, in radians, of the rotation.  Positive angles are counterclockwise.
- * @param {Matrix3} [result] The object in which the result will be stored, if undefined a new instance will be created.
- * @returns {Matrix3} The modified result parameter, or a new Matrix3 instance if one was not provided.
- *
- * @example
- * // Rotate a point 45 degrees counterclockwise around the x-axis.
- * const p = new Cesium.Cartesian3(5, 6, 7);
- * const m = Cesium.Matrix3.fromRotationX(Cesium.Math.toRadians(45.0));
- * const rotated = Cesium.Matrix3.multiplyByVector(m, p, new Cesium.Cartesian3());
- */
-Matrix3.fromRotationX = function (angle, result) {
-  //>>includeStart('debug', pragmas.debug);
-  Check.typeOf.number("angle", angle);
-  //>>includeEnd('debug');
-
-  const cosAngle = Math.cos(angle);
-  const sinAngle = Math.sin(angle);
-
-  if (!defined(result)) {
-    return new Matrix3(
-      1.0,
-      0.0,
-      0.0,
-      0.0,
-      cosAngle,
-      -sinAngle,
-      0.0,
-      sinAngle,
-      cosAngle,
-    );
+    if (!defined(result)) {
+      return new Matrix3(
+        scale.x,
+        0.0,
+        0.0,
+        0.0,
+        scale.y,
+        0.0,
+        0.0,
+        0.0,
+        scale.z,
+      );
+    }
+
+    result[0] = scale.x;
+    result[1] = 0.0;
+    result[2] = 0.0;
+    result[3] = 0.0;
+    result[4] = scale.y;
+    result[5] = 0.0;
+    result[6] = 0.0;
+    result[7] = 0.0;
+    result[8] = scale.z;
+    return result;
   }
 
-  result[0] = 1.0;
-  result[1] = 0.0;
-  result[2] = 0.0;
-  result[3] = 0.0;
-  result[4] = cosAngle;
-  result[5] = sinAngle;
-  result[6] = 0.0;
-  result[7] = -sinAngle;
-  result[8] = cosAngle;
+  /**
+   * Computes a Matrix3 instance representing a uniform scale.
+   *
+   * @param {number} scale The uniform scale factor.
+   * @param {Matrix3} [result] The object in which the result will be stored, if undefined a new instance will be created.
+   * @returns {Matrix3} The modified result parameter, or a new Matrix3 instance if one was not provided.
+   *
+   * @example
+   * // Creates
+   * //   [2.0, 0.0, 0.0]
+   * //   [0.0, 2.0, 0.0]
+   * //   [0.0, 0.0, 2.0]
+   * const m = Cesium.Matrix3.fromUniformScale(2.0);
+   */
+  static fromUniformScale(scale, result) {
+    //>>includeStart('debug', pragmas.debug);
+    Check.typeOf.number("scale", scale);
+    //>>includeEnd('debug');
 
-  return result;
-};
+    if (!defined(result)) {
+      return new Matrix3(scale, 0.0, 0.0, 0.0, scale, 0.0, 0.0, 0.0, scale);
+    }
 
-/**
- * Creates a rotation matrix around the y-axis.
- *
- * @param {number} angle The angle, in radians, of the rotation.  Positive angles are counterclockwise.
- * @param {Matrix3} [result] The object in which the result will be stored, if undefined a new instance will be created.
- * @returns {Matrix3} The modified result parameter, or a new Matrix3 instance if one was not provided.
- *
- * @example
- * // Rotate a point 45 degrees counterclockwise around the y-axis.
- * const p = new Cesium.Cartesian3(5, 6, 7);
- * const m = Cesium.Matrix3.fromRotationY(Cesium.Math.toRadians(45.0));
- * const rotated = Cesium.Matrix3.multiplyByVector(m, p, new Cesium.Cartesian3());
- */
-Matrix3.fromRotationY = function (angle, result) {
-  //>>includeStart('debug', pragmas.debug);
-  Check.typeOf.number("angle", angle);
-  //>>includeEnd('debug');
-
-  const cosAngle = Math.cos(angle);
-  const sinAngle = Math.sin(angle);
-
-  if (!defined(result)) {
-    return new Matrix3(
-      cosAngle,
-      0.0,
-      sinAngle,
-      0.0,
-      1.0,
-      0.0,
-      -sinAngle,
-      0.0,
-      cosAngle,
-    );
+    result[0] = scale;
+    result[1] = 0.0;
+    result[2] = 0.0;
+    result[3] = 0.0;
+    result[4] = scale;
+    result[5] = 0.0;
+    result[6] = 0.0;
+    result[7] = 0.0;
+    result[8] = scale;
+    return result;
   }
 
-  result[0] = cosAngle;
-  result[1] = 0.0;
-  result[2] = -sinAngle;
-  result[3] = 0.0;
-  result[4] = 1.0;
-  result[5] = 0.0;
-  result[6] = sinAngle;
-  result[7] = 0.0;
-  result[8] = cosAngle;
+  /**
+   * Computes a Matrix3 instance representing the cross product equivalent matrix of a Cartesian3 vector.
+   *
+   * @param {Cartesian3} vector the vector on the left hand side of the cross product operation.
+   * @param {Matrix3} [result] The object in which the result will be stored, if undefined a new instance will be created.
+   * @returns {Matrix3} The modified result parameter, or a new Matrix3 instance if one was not provided.
+   *
+   * @example
+   * // Creates
+   * //   [0.0, -9.0,  8.0]
+   * //   [9.0,  0.0, -7.0]
+   * //   [-8.0, 7.0,  0.0]
+   * const m = Cesium.Matrix3.fromCrossProduct(new Cesium.Cartesian3(7.0, 8.0, 9.0));
+   */
+  static fromCrossProduct(vector, result) {
+    //>>includeStart('debug', pragmas.debug);
+    Check.typeOf.object("vector", vector);
+    //>>includeEnd('debug');
 
-  return result;
-};
+    if (!defined(result)) {
+      return new Matrix3(
+        0.0,
+        -vector.z,
+        vector.y,
+        vector.z,
+        0.0,
+        -vector.x,
+        -vector.y,
+        vector.x,
+        0.0,
+      );
+    }
 
-/**
- * Creates a rotation matrix around the z-axis.
- *
- * @param {number} angle The angle, in radians, of the rotation.  Positive angles are counterclockwise.
- * @param {Matrix3} [result] The object in which the result will be stored, if undefined a new instance will be created.
- * @returns {Matrix3} The modified result parameter, or a new Matrix3 instance if one was not provided.
- *
- * @example
- * // Rotate a point 45 degrees counterclockwise around the z-axis.
- * const p = new Cesium.Cartesian3(5, 6, 7);
- * const m = Cesium.Matrix3.fromRotationZ(Cesium.Math.toRadians(45.0));
- * const rotated = Cesium.Matrix3.multiplyByVector(m, p, new Cesium.Cartesian3());
- */
-Matrix3.fromRotationZ = function (angle, result) {
-  //>>includeStart('debug', pragmas.debug);
-  Check.typeOf.number("angle", angle);
-  //>>includeEnd('debug');
-
-  const cosAngle = Math.cos(angle);
-  const sinAngle = Math.sin(angle);
-
-  if (!defined(result)) {
-    return new Matrix3(
-      cosAngle,
-      -sinAngle,
-      0.0,
-      sinAngle,
-      cosAngle,
-      0.0,
-      0.0,
-      0.0,
-      1.0,
-    );
+    result[0] = 0.0;
+    result[1] = vector.z;
+    result[2] = -vector.y;
+    result[3] = -vector.z;
+    result[4] = 0.0;
+    result[5] = vector.x;
+    result[6] = vector.y;
+    result[7] = -vector.x;
+    result[8] = 0.0;
+    return result;
   }
 
-  result[0] = cosAngle;
-  result[1] = sinAngle;
-  result[2] = 0.0;
-  result[3] = -sinAngle;
-  result[4] = cosAngle;
-  result[5] = 0.0;
-  result[6] = 0.0;
-  result[7] = 0.0;
-  result[8] = 1.0;
+  /**
+   * Creates a rotation matrix around the x-axis.
+   *
+   * @param {number} angle The angle, in radians, of the rotation.  Positive angles are counterclockwise.
+   * @param {Matrix3} [result] The object in which the result will be stored, if undefined a new instance will be created.
+   * @returns {Matrix3} The modified result parameter, or a new Matrix3 instance if one was not provided.
+   *
+   * @example
+   * // Rotate a point 45 degrees counterclockwise around the x-axis.
+   * const p = new Cesium.Cartesian3(5, 6, 7);
+   * const m = Cesium.Matrix3.fromRotationX(Cesium.Math.toRadians(45.0));
+   * const rotated = Cesium.Matrix3.multiplyByVector(m, p, new Cesium.Cartesian3());
+   */
+  static fromRotationX(angle, result) {
+    //>>includeStart('debug', pragmas.debug);
+    Check.typeOf.number("angle", angle);
+    //>>includeEnd('debug');
 
-  return result;
-};
+    const cosAngle = Math.cos(angle);
+    const sinAngle = Math.sin(angle);
+
+    if (!defined(result)) {
+      return new Matrix3(
+        1.0,
+        0.0,
+        0.0,
+        0.0,
+        cosAngle,
+        -sinAngle,
+        0.0,
+        sinAngle,
+        cosAngle,
+      );
+    }
 
-/**
- * Creates an Array from the provided Matrix3 instance.
- * The array will be in column-major order.
- *
- * @param {Matrix3} matrix The matrix to use..
- * @param {number[]} [result] The Array onto which to store the result.
- * @returns {number[]} The modified Array parameter or a new Array instance if one was not provided.
- */
-Matrix3.toArray = function (matrix, result) {
-  //>>includeStart('debug', pragmas.debug);
-  Check.typeOf.object("matrix", matrix);
-  //>>includeEnd('debug');
-
-  if (!defined(result)) {
-    return [
-      matrix[0],
-      matrix[1],
-      matrix[2],
-      matrix[3],
-      matrix[4],
-      matrix[5],
-      matrix[6],
-      matrix[7],
-      matrix[8],
-    ];
+    result[0] = 1.0;
+    result[1] = 0.0;
+    result[2] = 0.0;
+    result[3] = 0.0;
+    result[4] = cosAngle;
+    result[5] = sinAngle;
+    result[6] = 0.0;
+    result[7] = -sinAngle;
+    result[8] = cosAngle;
+
+    return result;
   }
-  result[0] = matrix[0];
-  result[1] = matrix[1];
-  result[2] = matrix[2];
-  result[3] = matrix[3];
-  result[4] = matrix[4];
-  result[5] = matrix[5];
-  result[6] = matrix[6];
-  result[7] = matrix[7];
-  result[8] = matrix[8];
-  return result;
-};
 
-/**
- * Computes the array index of the element at the provided row and column.
- *
- * @param {number} column The zero-based index of the column.
- * @param {number} row The zero-based index of the row.
- * @returns {number} The index of the element at the provided row and column.
- *
- * @exception {DeveloperError} row must be 0, 1, or 2.
- * @exception {DeveloperError} column must be 0, 1, or 2.
- *
- * @example
- * const myMatrix = new Cesium.Matrix3();
- * const column1Row0Index = Cesium.Matrix3.getElementIndex(1, 0);
- * const column1Row0 = myMatrix[column1Row0Index]
- * myMatrix[column1Row0Index] = 10.0;
- */
-Matrix3.getElementIndex = function (column, row) {
-  //>>includeStart('debug', pragmas.debug);
-  Check.typeOf.number.greaterThanOrEquals("row", row, 0);
-  Check.typeOf.number.lessThanOrEquals("row", row, 2);
-  Check.typeOf.number.greaterThanOrEquals("column", column, 0);
-  Check.typeOf.number.lessThanOrEquals("column", column, 2);
-  //>>includeEnd('debug');
+  /**
+   * Creates a rotation matrix around the y-axis.
+   *
+   * @param {number} angle The angle, in radians, of the rotation.  Positive angles are counterclockwise.
+   * @param {Matrix3} [result] The object in which the result will be stored, if undefined a new instance will be created.
+   * @returns {Matrix3} The modified result parameter, or a new Matrix3 instance if one was not provided.
+   *
+   * @example
+   * // Rotate a point 45 degrees counterclockwise around the y-axis.
+   * const p = new Cesium.Cartesian3(5, 6, 7);
+   * const m = Cesium.Matrix3.fromRotationY(Cesium.Math.toRadians(45.0));
+   * const rotated = Cesium.Matrix3.multiplyByVector(m, p, new Cesium.Cartesian3());
+   */
+  static fromRotationY(angle, result) {
+    //>>includeStart('debug', pragmas.debug);
+    Check.typeOf.number("angle", angle);
+    //>>includeEnd('debug');
 
-  return column * 3 + row;
-};
+    const cosAngle = Math.cos(angle);
+    const sinAngle = Math.sin(angle);
+
+    if (!defined(result)) {
+      return new Matrix3(
+        cosAngle,
+        0.0,
+        sinAngle,
+        0.0,
+        1.0,
+        0.0,
+        -sinAngle,
+        0.0,
+        cosAngle,
+      );
+    }
 
-/**
- * Retrieves a copy of the matrix column at the provided index as a Cartesian3 instance.
- *
- * @param {Matrix3} matrix The matrix to use.
- * @param {number} index The zero-based index of the column to retrieve.
- * @param {Cartesian3} result The object onto which to store the result.
- * @returns {Cartesian3} The modified result parameter.
- *
- * @exception {DeveloperError} index must be 0, 1, or 2.
- */
-Matrix3.getColumn = function (matrix, index, result) {
-  //>>includeStart('debug', pragmas.debug);
-  Check.typeOf.object("matrix", matrix);
-  Check.typeOf.number.greaterThanOrEquals("index", index, 0);
-  Check.typeOf.number.lessThanOrEquals("index", index, 2);
-  Check.typeOf.object("result", result);
-  //>>includeEnd('debug');
-
-  const startIndex = index * 3;
-  const x = matrix[startIndex];
-  const y = matrix[startIndex + 1];
-  const z = matrix[startIndex + 2];
-
-  result.x = x;
-  result.y = y;
-  result.z = z;
-  return result;
-};
+    result[0] = cosAngle;
+    result[1] = 0.0;
+    result[2] = -sinAngle;
+    result[3] = 0.0;
+    result[4] = 1.0;
+    result[5] = 0.0;
+    result[6] = sinAngle;
+    result[7] = 0.0;
+    result[8] = cosAngle;
+
+    return result;
+  }
 
-/**
- * Computes a new matrix that replaces the specified column in the provided matrix with the provided Cartesian3 instance.
- *
- * @param {Matrix3} matrix The matrix to use.
- * @param {number} index The zero-based index of the column to set.
- * @param {Cartesian3} cartesian The Cartesian whose values will be assigned to the specified column.
- * @param {Matrix3} result The object onto which to store the result.
- * @returns {Matrix3} The modified result parameter.
- *
- * @exception {DeveloperError} index must be 0, 1, or 2.
- */
-Matrix3.setColumn = function (matrix, index, cartesian, result) {
-  //>>includeStart('debug', pragmas.debug);
-  Check.typeOf.object("matrix", matrix);
-  Check.typeOf.number.greaterThanOrEquals("index", index, 0);
-  Check.typeOf.number.lessThanOrEquals("index", index, 2);
-  Check.typeOf.object("cartesian", cartesian);
-  Check.typeOf.object("result", result);
-  //>>includeEnd('debug');
-
-  result = Matrix3.clone(matrix, result);
-  const startIndex = index * 3;
-  result[startIndex] = cartesian.x;
-  result[startIndex + 1] = cartesian.y;
-  result[startIndex + 2] = cartesian.z;
-  return result;
-};
+  /**
+   * Creates a rotation matrix around the z-axis.
+   *
+   * @param {number} angle The angle, in radians, of the rotation.  Positive angles are counterclockwise.
+   * @param {Matrix3} [result] The object in which the result will be stored, if undefined a new instance will be created.
+   * @returns {Matrix3} The modified result parameter, or a new Matrix3 instance if one was not provided.
+   *
+   * @example
+   * // Rotate a point 45 degrees counterclockwise around the z-axis.
+   * const p = new Cesium.Cartesian3(5, 6, 7);
+   * const m = Cesium.Matrix3.fromRotationZ(Cesium.Math.toRadians(45.0));
+   * const rotated = Cesium.Matrix3.multiplyByVector(m, p, new Cesium.Cartesian3());
+   */
+  static fromRotationZ(angle, result) {
+    //>>includeStart('debug', pragmas.debug);
+    Check.typeOf.number("angle", angle);
+    //>>includeEnd('debug');
 
-/**
- * Retrieves a copy of the matrix row at the provided index as a Cartesian3 instance.
- *
- * @param {Matrix3} matrix The matrix to use.
- * @param {number} index The zero-based index of the row to retrieve.
- * @param {Cartesian3} result The object onto which to store the result.
- * @returns {Cartesian3} The modified result parameter.
- *
- * @exception {DeveloperError} index must be 0, 1, or 2.
- */
-Matrix3.getRow = function (matrix, index, result) {
-  //>>includeStart('debug', pragmas.debug);
-  Check.typeOf.object("matrix", matrix);
-  Check.typeOf.number.greaterThanOrEquals("index", index, 0);
-  Check.typeOf.number.lessThanOrEquals("index", index, 2);
-  Check.typeOf.object("result", result);
-  //>>includeEnd('debug');
-
-  const x = matrix[index];
-  const y = matrix[index + 3];
-  const z = matrix[index + 6];
-
-  result.x = x;
-  result.y = y;
-  result.z = z;
-  return result;
-};
+    const cosAngle = Math.cos(angle);
+    const sinAngle = Math.sin(angle);
+
+    if (!defined(result)) {
+      return new Matrix3(
+        cosAngle,
+        -sinAngle,
+        0.0,
+        sinAngle,
+        cosAngle,
+        0.0,
+        0.0,
+        0.0,
+        1.0,
+      );
+    }
 
-/**
- * Computes a new matrix that replaces the specified row in the provided matrix with the provided Cartesian3 instance.
- *
- * @param {Matrix3} matrix The matrix to use.
- * @param {number} index The zero-based index of the row to set.
- * @param {Cartesian3} cartesian The Cartesian whose values will be assigned to the specified row.
- * @param {Matrix3} result The object onto which to store the result.
- * @returns {Matrix3} The modified result parameter.
- *
- * @exception {DeveloperError} index must be 0, 1, or 2.
- */
-Matrix3.setRow = function (matrix, index, cartesian, result) {
-  //>>includeStart('debug', pragmas.debug);
-  Check.typeOf.object("matrix", matrix);
-  Check.typeOf.number.greaterThanOrEquals("index", index, 0);
-  Check.typeOf.number.lessThanOrEquals("index", index, 2);
-  Check.typeOf.object("cartesian", cartesian);
-  Check.typeOf.object("result", result);
-  //>>includeEnd('debug');
-
-  result = Matrix3.clone(matrix, result);
-  result[index] = cartesian.x;
-  result[index + 3] = cartesian.y;
-  result[index + 6] = cartesian.z;
-  return result;
-};
+    result[0] = cosAngle;
+    result[1] = sinAngle;
+    result[2] = 0.0;
+    result[3] = -sinAngle;
+    result[4] = cosAngle;
+    result[5] = 0.0;
+    result[6] = 0.0;
+    result[7] = 0.0;
+    result[8] = 1.0;
+
+    return result;
+  }
 
-const scaleScratch1 = new Cartesian3();
+  /**
+   * Creates an Array from the provided Matrix3 instance.
+   * The array will be in column-major order.
+   *
+   * @param {Matrix3} matrix The matrix to use..
+   * @param {number[]} [result] The Array onto which to store the result.
+   * @returns {number[]} The modified Array parameter or a new Array instance if one was not provided.
+   */
+  static toArray(matrix, result) {
+    //>>includeStart('debug', pragmas.debug);
+    Check.typeOf.object("matrix", matrix);
+    //>>includeEnd('debug');
 
-/**
- * Computes a new matrix that replaces the scale with the provided scale.
- * This assumes the matrix is an affine transformation.
- *
- * @param {Matrix3} matrix The matrix to use.
- * @param {Cartesian3} scale The scale that replaces the scale of the provided matrix.
- * @param {Matrix3} result The object onto which to store the result.
- * @returns {Matrix3} The modified result parameter.
- *
- * @see Matrix3.setUniformScale
- * @see Matrix3.fromScale
- * @see Matrix3.fromUniformScale
- * @see Matrix3.multiplyByScale
- * @see Matrix3.multiplyByUniformScale
- * @see Matrix3.getScale
- */
-Matrix3.setScale = function (matrix, scale, result) {
-  //>>includeStart('debug', pragmas.debug);
-  Check.typeOf.object("matrix", matrix);
-  Check.typeOf.object("scale", scale);
-  Check.typeOf.object("result", result);
-  //>>includeEnd('debug');
-
-  const existingScale = Matrix3.getScale(matrix, scaleScratch1);
-  const scaleRatioX = scale.x / existingScale.x;
-  const scaleRatioY = scale.y / existingScale.y;
-  const scaleRatioZ = scale.z / existingScale.z;
-
-  result[0] = matrix[0] * scaleRatioX;
-  result[1] = matrix[1] * scaleRatioX;
-  result[2] = matrix[2] * scaleRatioX;
-  result[3] = matrix[3] * scaleRatioY;
-  result[4] = matrix[4] * scaleRatioY;
-  result[5] = matrix[5] * scaleRatioY;
-  result[6] = matrix[6] * scaleRatioZ;
-  result[7] = matrix[7] * scaleRatioZ;
-  result[8] = matrix[8] * scaleRatioZ;
+    if (!defined(result)) {
+      return [
+        matrix[0],
+        matrix[1],
+        matrix[2],
+        matrix[3],
+        matrix[4],
+        matrix[5],
+        matrix[6],
+        matrix[7],
+        matrix[8],
+      ];
+    }
+    result[0] = matrix[0];
+    result[1] = matrix[1];
+    result[2] = matrix[2];
+    result[3] = matrix[3];
+    result[4] = matrix[4];
+    result[5] = matrix[5];
+    result[6] = matrix[6];
+    result[7] = matrix[7];
+    result[8] = matrix[8];
+    return result;
+  }
 
-  return result;
-};
+  /**
+   * Computes the array index of the element at the provided row and column.
+   *
+   * @param {number} column The zero-based index of the column.
+   * @param {number} row The zero-based index of the row.
+   * @returns {number} The index of the element at the provided row and column.
+   *
+   * @exception {DeveloperError} row must be 0, 1, or 2.
+   * @exception {DeveloperError} column must be 0, 1, or 2.
+   *
+   * @example
+   * const myMatrix = new Cesium.Matrix3();
+   * const column1Row0Index = Cesium.Matrix3.getElementIndex(1, 0);
+   * const column1Row0 = myMatrix[column1Row0Index]
+   * myMatrix[column1Row0Index] = 10.0;
+   */
+  static getElementIndex(column, row) {
+    //>>includeStart('debug', pragmas.debug);
+    Check.typeOf.number.greaterThanOrEquals("row", row, 0);
+    Check.typeOf.number.lessThanOrEquals("row", row, 2);
+    Check.typeOf.number.greaterThanOrEquals("column", column, 0);
+    Check.typeOf.number.lessThanOrEquals("column", column, 2);
+    //>>includeEnd('debug');
 
-const scaleScratch2 = new Cartesian3();
+    return column * 3 + row;
+  }
 
-/**
- * Computes a new matrix that replaces the scale with the provided uniform scale.
- * This assumes the matrix is an affine transformation.
- *
- * @param {Matrix3} matrix The matrix to use.
- * @param {number} scale The uniform scale that replaces the scale of the provided matrix.
- * @param {Matrix3} result The object onto which to store the result.
- * @returns {Matrix3} The modified result parameter.
- *
- * @see Matrix3.setScale
- * @see Matrix3.fromScale
- * @see Matrix3.fromUniformScale
- * @see Matrix3.multiplyByScale
- * @see Matrix3.multiplyByUniformScale
- * @see Matrix3.getScale
- */
-Matrix3.setUniformScale = function (matrix, scale, result) {
-  //>>includeStart('debug', pragmas.debug);
-  Check.typeOf.object("matrix", matrix);
-  Check.typeOf.number("scale", scale);
-  Check.typeOf.object("result", result);
-  //>>includeEnd('debug');
-
-  const existingScale = Matrix3.getScale(matrix, scaleScratch2);
-  const scaleRatioX = scale / existingScale.x;
-  const scaleRatioY = scale / existingScale.y;
-  const scaleRatioZ = scale / existingScale.z;
-
-  result[0] = matrix[0] * scaleRatioX;
-  result[1] = matrix[1] * scaleRatioX;
-  result[2] = matrix[2] * scaleRatioX;
-  result[3] = matrix[3] * scaleRatioY;
-  result[4] = matrix[4] * scaleRatioY;
-  result[5] = matrix[5] * scaleRatioY;
-  result[6] = matrix[6] * scaleRatioZ;
-  result[7] = matrix[7] * scaleRatioZ;
-  result[8] = matrix[8] * scaleRatioZ;
+  /**
+   * Retrieves a copy of the matrix column at the provided index as a Cartesian3 instance.
+   *
+   * @param {Matrix3} matrix The matrix to use.
+   * @param {number} index The zero-based index of the column to retrieve.
+   * @param {Cartesian3} result The object onto which to store the result.
+   * @returns {Cartesian3} The modified result parameter.
+   *
+   * @exception {DeveloperError} index must be 0, 1, or 2.
+   */
+  static getColumn(matrix, index, result) {
+    //>>includeStart('debug', pragmas.debug);
+    Check.typeOf.object("matrix", matrix);
+    Check.typeOf.number.greaterThanOrEquals("index", index, 0);
+    Check.typeOf.number.lessThanOrEquals("index", index, 2);
+    Check.typeOf.object("result", result);
+    //>>includeEnd('debug');
 
-  return result;
-};
+    const startIndex = index * 3;
 
-const scratchColumn = new Cartesian3();
+    // @ts-expect-error TODO(tsd-jsdoc): Requires index signature support.
+    const x = matrix[startIndex];
+    // @ts-expect-error TODO(tsd-jsdoc): Requires index signature support.
+    const y = matrix[startIndex + 1];
+    // @ts-expect-error TODO(tsd-jsdoc): Requires index signature support.
+    const z = matrix[startIndex + 2];
 
-/**
- * Extracts the non-uniform scale assuming the matrix is an affine transformation.
- *
- * @param {Matrix3} matrix The matrix.
- * @param {Cartesian3} result The object onto which to store the result.
- * @returns {Cartesian3} The modified result parameter.
- *
- * @see Matrix3.multiplyByScale
- * @see Matrix3.multiplyByUniformScale
- * @see Matrix3.fromScale
- * @see Matrix3.fromUniformScale
- * @see Matrix3.setScale
- * @see Matrix3.setUniformScale
- */
-Matrix3.getScale = function (matrix, result) {
-  //>>includeStart('debug', pragmas.debug);
-  Check.typeOf.object("matrix", matrix);
-  Check.typeOf.object("result", result);
-  //>>includeEnd('debug');
-
-  result.x = Cartesian3.magnitude(
-    Cartesian3.fromElements(matrix[0], matrix[1], matrix[2], scratchColumn),
-  );
-  result.y = Cartesian3.magnitude(
-    Cartesian3.fromElements(matrix[3], matrix[4], matrix[5], scratchColumn),
-  );
-  result.z = Cartesian3.magnitude(
-    Cartesian3.fromElements(matrix[6], matrix[7], matrix[8], scratchColumn),
-  );
-  return result;
-};
+    result.x = x;
+    result.y = y;
+    result.z = z;
+    return result;
+  }
 
-const scaleScratch3 = new Cartesian3();
+  /**
+   * Computes a new matrix that replaces the specified column in the provided matrix with the provided Cartesian3 instance.
+   *
+   * @param {Matrix3} matrix The matrix to use.
+   * @param {number} index The zero-based index of the column to set.
+   * @param {Cartesian3} cartesian The Cartesian whose values will be assigned to the specified column.
+   * @param {Matrix3} result The object onto which to store the result.
+   * @returns {Matrix3} The modified result parameter.
+   *
+   * @exception {DeveloperError} index must be 0, 1, or 2.
+   */
+  static setColumn(matrix, index, cartesian, result) {
+    //>>includeStart('debug', pragmas.debug);
+    Check.typeOf.object("matrix", matrix);
+    Check.typeOf.number.greaterThanOrEquals("index", index, 0);
+    Check.typeOf.number.lessThanOrEquals("index", index, 2);
+    Check.typeOf.object("cartesian", cartesian);
+    Check.typeOf.object("result", result);
+    //>>includeEnd('debug');
 
-/**
- * Computes the maximum scale assuming the matrix is an affine transformation.
- * The maximum scale is the maximum length of the column vectors.
- *
- * @param {Matrix3} matrix The matrix.
- * @returns {number} The maximum scale.
- */
-Matrix3.getMaximumScale = function (matrix) {
-  Matrix3.getScale(matrix, scaleScratch3);
-  return Cartesian3.maximumComponent(scaleScratch3);
-};
+    result = Matrix3.clone(matrix, result);
+    const startIndex = index * 3;
 
-const scaleScratch4 = new Cartesian3();
+    // @ts-expect-error TODO(tsd-jsdoc): Requires index signature support.
+    result[startIndex] = cartesian.x;
+    // @ts-expect-error TODO(tsd-jsdoc): Requires index signature support.
+    result[startIndex + 1] = cartesian.y;
+    // @ts-expect-error TODO(tsd-jsdoc): Requires index signature support.
+    result[startIndex + 2] = cartesian.z;
 
-/**
- * Sets the rotation assuming the matrix is an affine transformation.
- *
- * @param {Matrix3} matrix The matrix.
- * @param {Matrix3} rotation The rotation matrix.
- * @param {Matrix3} result The object onto which to store the result.
- * @returns {Matrix3} The modified result parameter.
- *
- * @see Matrix3.getRotation
- */
-Matrix3.setRotation = function (matrix, rotation, result) {
-  //>>includeStart('debug', pragmas.debug);
-  Check.typeOf.object("matrix", matrix);
-  Check.typeOf.object("result", result);
-  //>>includeEnd('debug');
-
-  const scale = Matrix3.getScale(matrix, scaleScratch4);
-
-  result[0] = rotation[0] * scale.x;
-  result[1] = rotation[1] * scale.x;
-  result[2] = rotation[2] * scale.x;
-  result[3] = rotation[3] * scale.y;
-  result[4] = rotation[4] * scale.y;
-  result[5] = rotation[5] * scale.y;
-  result[6] = rotation[6] * scale.z;
-  result[7] = rotation[7] * scale.z;
-  result[8] = rotation[8] * scale.z;
+    return result;
+  }
 
-  return result;
-};
+  /**
+   * Retrieves a copy of the matrix row at the provided index as a Cartesian3 instance.
+   *
+   * @param {Matrix3} matrix The matrix to use.
+   * @param {number} index The zero-based index of the row to retrieve.
+   * @param {Cartesian3} result The object onto which to store the result.
+   * @returns {Cartesian3} The modified result parameter.
+   *
+   * @exception {DeveloperError} index must be 0, 1, or 2.
+   */
+  static getRow(matrix, index, result) {
+    //>>includeStart('debug', pragmas.debug);
+    Check.typeOf.object("matrix", matrix);
+    Check.typeOf.number.greaterThanOrEquals("index", index, 0);
+    Check.typeOf.number.lessThanOrEquals("index", index, 2);
+    Check.typeOf.object("result", result);
+    //>>includeEnd('debug');
 
-const scaleScratch5 = new Cartesian3();
+    // @ts-expect-error TODO(tsd-jsdoc): Requires index signature support.
+    const x = matrix[index];
+    // @ts-expect-error TODO(tsd-jsdoc): Requires index signature support.
+    const y = matrix[index + 3];
+    // @ts-expect-error TODO(tsd-jsdoc): Requires index signature support.
+    const z = matrix[index + 6];
+
+    result.x = x;
+    result.y = y;
+    result.z = z;
+    return result;
+  }
 
-/**
- * Extracts the rotation matrix assuming the matrix is an affine transformation.
- *
- * @param {Matrix3} matrix The matrix.
- * @param {Matrix3} result The object onto which to store the result.
- * @returns {Matrix3} The modified result parameter.
- *
- * @see Matrix3.setRotation
- */
-Matrix3.getRotation = function (matrix, result) {
-  //>>includeStart('debug', pragmas.debug);
-  Check.typeOf.object("matrix", matrix);
-  Check.typeOf.object("result", result);
-  //>>includeEnd('debug');
-
-  const scale = Matrix3.getScale(matrix, scaleScratch5);
-
-  result[0] = matrix[0] / scale.x;
-  result[1] = matrix[1] / scale.x;
-  result[2] = matrix[2] / scale.x;
-  result[3] = matrix[3] / scale.y;
-  result[4] = matrix[4] / scale.y;
-  result[5] = matrix[5] / scale.y;
-  result[6] = matrix[6] / scale.z;
-  result[7] = matrix[7] / scale.z;
-  result[8] = matrix[8] / scale.z;
+  /**
+   * Computes a new matrix that replaces the specified row in the provided matrix with the provided Cartesian3 instance.
+   *
+   * @param {Matrix3} matrix The matrix to use.
+   * @param {number} index The zero-based index of the row to set.
+   * @param {Cartesian3} cartesian The Cartesian whose values will be assigned to the specified row.
+   * @param {Matrix3} result The object onto which to store the result.
+   * @returns {Matrix3} The modified result parameter.
+   *
+   * @exception {DeveloperError} index must be 0, 1, or 2.
+   */
+  static setRow(matrix, index, cartesian, result) {
+    //>>includeStart('debug', pragmas.debug);
+    Check.typeOf.object("matrix", matrix);
+    Check.typeOf.number.greaterThanOrEquals("index", index, 0);
+    Check.typeOf.number.lessThanOrEquals("index", index, 2);
+    Check.typeOf.object("cartesian", cartesian);
+    Check.typeOf.object("result", result);
+    //>>includeEnd('debug');
 
-  return result;
-};
+    result = Matrix3.clone(matrix, result);
 
-/**
- * Computes the product of two matrices.
- *
- * @param {Matrix3} left The first matrix.
- * @param {Matrix3} right The second matrix.
- * @param {Matrix3} result The object onto which to store the result.
- * @returns {Matrix3} The modified result parameter.
- */
-Matrix3.multiply = function (left, right, result) {
-  //>>includeStart('debug', pragmas.debug);
-  Check.typeOf.object("left", left);
-  Check.typeOf.object("right", right);
-  Check.typeOf.object("result", result);
-  //>>includeEnd('debug');
-
-  const column0Row0 =
-    left[0] * right[0] + left[3] * right[1] + left[6] * right[2];
-  const column0Row1 =
-    left[1] * right[0] + left[4] * right[1] + left[7] * right[2];
-  const column0Row2 =
-    left[2] * right[0] + left[5] * right[1] + left[8] * right[2];
-
-  const column1Row0 =
-    left[0] * right[3] + left[3] * right[4] + left[6] * right[5];
-  const column1Row1 =
-    left[1] * right[3] + left[4] * right[4] + left[7] * right[5];
-  const column1Row2 =
-    left[2] * right[3] + left[5] * right[4] + left[8] * right[5];
-
-  const column2Row0 =
-    left[0] * right[6] + left[3] * right[7] + left[6] * right[8];
-  const column2Row1 =
-    left[1] * right[6] + left[4] * right[7] + left[7] * right[8];
-  const column2Row2 =
-    left[2] * right[6] + left[5] * right[7] + left[8] * right[8];
-
-  result[0] = column0Row0;
-  result[1] = column0Row1;
-  result[2] = column0Row2;
-  result[3] = column1Row0;
-  result[4] = column1Row1;
-  result[5] = column1Row2;
-  result[6] = column2Row0;
-  result[7] = column2Row1;
-  result[8] = column2Row2;
-  return result;
-};
+    // @ts-expect-error TODO(tsd-jsdoc): Requires index signature support.
+    result[index] = cartesian.x;
+    // @ts-expect-error TODO(tsd-jsdoc): Requires index signature support.
+    result[index + 3] = cartesian.y;
+    // @ts-expect-error TODO(tsd-jsdoc): Requires index signature support.
+    result[index + 6] = cartesian.z;
 
-/**
- * Computes the sum of two matrices.
- *
- * @param {Matrix3} left The first matrix.
- * @param {Matrix3} right The second matrix.
- * @param {Matrix3} result The object onto which to store the result.
- * @returns {Matrix3} The modified result parameter.
- */
-Matrix3.add = function (left, right, result) {
-  //>>includeStart('debug', pragmas.debug);
-  Check.typeOf.object("left", left);
-  Check.typeOf.object("right", right);
-  Check.typeOf.object("result", result);
-  //>>includeEnd('debug');
-
-  result[0] = left[0] + right[0];
-  result[1] = left[1] + right[1];
-  result[2] = left[2] + right[2];
-  result[3] = left[3] + right[3];
-  result[4] = left[4] + right[4];
-  result[5] = left[5] + right[5];
-  result[6] = left[6] + right[6];
-  result[7] = left[7] + right[7];
-  result[8] = left[8] + right[8];
-  return result;
-};
+    return result;
+  }
 
-/**
- * Computes the difference of two matrices.
- *
- * @param {Matrix3} left The first matrix.
- * @param {Matrix3} right The second matrix.
- * @param {Matrix3} result The object onto which to store the result.
- * @returns {Matrix3} The modified result parameter.
- */
-Matrix3.subtract = function (left, right, result) {
-  //>>includeStart('debug', pragmas.debug);
-  Check.typeOf.object("left", left);
-  Check.typeOf.object("right", right);
-  Check.typeOf.object("result", result);
-  //>>includeEnd('debug');
-
-  result[0] = left[0] - right[0];
-  result[1] = left[1] - right[1];
-  result[2] = left[2] - right[2];
-  result[3] = left[3] - right[3];
-  result[4] = left[4] - right[4];
-  result[5] = left[5] - right[5];
-  result[6] = left[6] - right[6];
-  result[7] = left[7] - right[7];
-  result[8] = left[8] - right[8];
-  return result;
-};
+  /**
+   * Computes a new matrix that replaces the scale with the provided scale.
+   * This assumes the matrix is an affine transformation.
+   *
+   * @param {Matrix3} matrix The matrix to use.
+   * @param {Cartesian3} scale The scale that replaces the scale of the provided matrix.
+   * @param {Matrix3} result The object onto which to store the result.
+   * @returns {Matrix3} The modified result parameter.
+   *
+   * @see Matrix3.setUniformScale
+   * @see Matrix3.fromScale
+   * @see Matrix3.fromUniformScale
+   * @see Matrix3.multiplyByScale
+   * @see Matrix3.multiplyByUniformScale
+   * @see Matrix3.getScale
+   */
+  static setScale(matrix, scale, result) {
+    //>>includeStart('debug', pragmas.debug);
+    Check.typeOf.object("matrix", matrix);
+    Check.typeOf.object("scale", scale);
+    Check.typeOf.object("result", result);
+    //>>includeEnd('debug');
 
-/**
- * Computes the product of a matrix and a column vector.
- *
- * @param {Matrix3} matrix The matrix.
- * @param {Cartesian3} cartesian The column.
- * @param {Cartesian3} result The object onto which to store the result.
- * @returns {Cartesian3} The modified result parameter.
- */
-Matrix3.multiplyByVector = function (matrix, cartesian, result) {
-  //>>includeStart('debug', pragmas.debug);
-  Check.typeOf.object("matrix", matrix);
-  Check.typeOf.object("cartesian", cartesian);
-  Check.typeOf.object("result", result);
-  //>>includeEnd('debug');
-
-  const vX = cartesian.x;
-  const vY = cartesian.y;
-  const vZ = cartesian.z;
-
-  const x = matrix[0] * vX + matrix[3] * vY + matrix[6] * vZ;
-  const y = matrix[1] * vX + matrix[4] * vY + matrix[7] * vZ;
-  const z = matrix[2] * vX + matrix[5] * vY + matrix[8] * vZ;
-
-  result.x = x;
-  result.y = y;
-  result.z = z;
-  return result;
-};
+    const existingScale = Matrix3.getScale(matrix, scaleScratch1);
+    const scaleRatioX = scale.x / existingScale.x;
+    const scaleRatioY = scale.y / existingScale.y;
+    const scaleRatioZ = scale.z / existingScale.z;
+
+    result[0] = matrix[0] * scaleRatioX;
+    result[1] = matrix[1] * scaleRatioX;
+    result[2] = matrix[2] * scaleRatioX;
+    result[3] = matrix[3] * scaleRatioY;
+    result[4] = matrix[4] * scaleRatioY;
+    result[5] = matrix[5] * scaleRatioY;
+    result[6] = matrix[6] * scaleRatioZ;
+    result[7] = matrix[7] * scaleRatioZ;
+    result[8] = matrix[8] * scaleRatioZ;
+
+    return result;
+  }
 
-/**
- * Computes the product of a matrix and a scalar.
- *
- * @param {Matrix3} matrix The matrix.
- * @param {number} scalar The number to multiply by.
- * @param {Matrix3} result The object onto which to store the result.
- * @returns {Matrix3} The modified result parameter.
- */
-Matrix3.multiplyByScalar = function (matrix, scalar, result) {
-  //>>includeStart('debug', pragmas.debug);
-  Check.typeOf.object("matrix", matrix);
-  Check.typeOf.number("scalar", scalar);
-  Check.typeOf.object("result", result);
-  //>>includeEnd('debug');
-
-  result[0] = matrix[0] * scalar;
-  result[1] = matrix[1] * scalar;
-  result[2] = matrix[2] * scalar;
-  result[3] = matrix[3] * scalar;
-  result[4] = matrix[4] * scalar;
-  result[5] = matrix[5] * scalar;
-  result[6] = matrix[6] * scalar;
-  result[7] = matrix[7] * scalar;
-  result[8] = matrix[8] * scalar;
-  return result;
-};
+  /**
+   * Computes a new matrix that replaces the scale with the provided uniform scale.
+   * This assumes the matrix is an affine transformation.
+   *
+   * @param {Matrix3} matrix The matrix to use.
+   * @param {number} scale The uniform scale that replaces the scale of the provided matrix.
+   * @param {Matrix3} result The object onto which to store the result.
+   * @returns {Matrix3} The modified result parameter.
+   *
+   * @see Matrix3.setScale
+   * @see Matrix3.fromScale
+   * @see Matrix3.fromUniformScale
+   * @see Matrix3.multiplyByScale
+   * @see Matrix3.multiplyByUniformScale
+   * @see Matrix3.getScale
+   */
+  static setUniformScale(matrix, scale, result) {
+    //>>includeStart('debug', pragmas.debug);
+    Check.typeOf.object("matrix", matrix);
+    Check.typeOf.number("scale", scale);
+    Check.typeOf.object("result", result);
+    //>>includeEnd('debug');
 
-/**
- * Computes the product of a matrix times a (non-uniform) scale, as if the scale were a scale matrix.
- *
- * @param {Matrix3} matrix The matrix on the left-hand side.
- * @param {Cartesian3} scale The non-uniform scale on the right-hand side.
- * @param {Matrix3} result The object onto which to store the result.
- * @returns {Matrix3} The modified result parameter.
- *
- *
- * @example
- * // Instead of Cesium.Matrix3.multiply(m, Cesium.Matrix3.fromScale(scale), m);
- * Cesium.Matrix3.multiplyByScale(m, scale, m);
- *
- * @see Matrix3.multiplyByUniformScale
- * @see Matrix3.fromScale
- * @see Matrix3.fromUniformScale
- * @see Matrix3.setScale
- * @see Matrix3.setUniformScale
- * @see Matrix3.getScale
- */
-Matrix3.multiplyByScale = function (matrix, scale, result) {
-  //>>includeStart('debug', pragmas.debug);
-  Check.typeOf.object("matrix", matrix);
-  Check.typeOf.object("scale", scale);
-  Check.typeOf.object("result", result);
-  //>>includeEnd('debug');
-
-  result[0] = matrix[0] * scale.x;
-  result[1] = matrix[1] * scale.x;
-  result[2] = matrix[2] * scale.x;
-  result[3] = matrix[3] * scale.y;
-  result[4] = matrix[4] * scale.y;
-  result[5] = matrix[5] * scale.y;
-  result[6] = matrix[6] * scale.z;
-  result[7] = matrix[7] * scale.z;
-  result[8] = matrix[8] * scale.z;
+    const existingScale = Matrix3.getScale(matrix, scaleScratch2);
+    const scaleRatioX = scale / existingScale.x;
+    const scaleRatioY = scale / existingScale.y;
+    const scaleRatioZ = scale / existingScale.z;
+
+    result[0] = matrix[0] * scaleRatioX;
+    result[1] = matrix[1] * scaleRatioX;
+    result[2] = matrix[2] * scaleRatioX;
+    result[3] = matrix[3] * scaleRatioY;
+    result[4] = matrix[4] * scaleRatioY;
+    result[5] = matrix[5] * scaleRatioY;
+    result[6] = matrix[6] * scaleRatioZ;
+    result[7] = matrix[7] * scaleRatioZ;
+    result[8] = matrix[8] * scaleRatioZ;
+
+    return result;
+  }
 
-  return result;
-};
+  /**
+   * Extracts the non-uniform scale assuming the matrix is an affine transformation.
+   *
+   * @param {Matrix3} matrix The matrix.
+   * @param {Cartesian3} result The object onto which to store the result.
+   * @returns {Cartesian3} The modified result parameter.
+   *
+   * @see Matrix3.multiplyByScale
+   * @see Matrix3.multiplyByUniformScale
+   * @see Matrix3.fromScale
+   * @see Matrix3.fromUniformScale
+   * @see Matrix3.setScale
+   * @see Matrix3.setUniformScale
+   */
+  static getScale(matrix, result) {
+    //>>includeStart('debug', pragmas.debug);
+    Check.typeOf.object("matrix", matrix);
+    Check.typeOf.object("result", result);
+    //>>includeEnd('debug');
 
-/**
- * Computes the product of a matrix times a uniform scale, as if the scale were a scale matrix.
- *
- * @param {Matrix3} matrix The matrix on the left-hand side.
- * @param {number} scale The uniform scale on the right-hand side.
- * @param {Matrix3} result The object onto which to store the result.
- * @returns {Matrix3} The modified result parameter.
- *
- * @example
- * // Instead of Cesium.Matrix3.multiply(m, Cesium.Matrix3.fromUniformScale(scale), m);
- * Cesium.Matrix3.multiplyByUniformScale(m, scale, m);
- *
- * @see Matrix3.multiplyByScale
- * @see Matrix3.fromScale
- * @see Matrix3.fromUniformScale
- * @see Matrix3.setScale
- * @see Matrix3.setUniformScale
- * @see Matrix3.getScale
- */
-Matrix3.multiplyByUniformScale = function (matrix, scale, result) {
-  //>>includeStart('debug', pragmas.debug);
-  Check.typeOf.object("matrix", matrix);
-  Check.typeOf.number("scale", scale);
-  Check.typeOf.object("result", result);
-  //>>includeEnd('debug');
-
-  result[0] = matrix[0] * scale;
-  result[1] = matrix[1] * scale;
-  result[2] = matrix[2] * scale;
-  result[3] = matrix[3] * scale;
-  result[4] = matrix[4] * scale;
-  result[5] = matrix[5] * scale;
-  result[6] = matrix[6] * scale;
-  result[7] = matrix[7] * scale;
-  result[8] = matrix[8] * scale;
+    result.x = Cartesian3.magnitude(
+      Cartesian3.fromElements(matrix[0], matrix[1], matrix[2], scratchColumn),
+    );
+    result.y = Cartesian3.magnitude(
+      Cartesian3.fromElements(matrix[3], matrix[4], matrix[5], scratchColumn),
+    );
+    result.z = Cartesian3.magnitude(
+      Cartesian3.fromElements(matrix[6], matrix[7], matrix[8], scratchColumn),
+    );
+    return result;
+  }
 
-  return result;
-};
+  /**
+   * Computes the maximum scale assuming the matrix is an affine transformation.
+   * The maximum scale is the maximum length of the column vectors.
+   *
+   * @param {Matrix3} matrix The matrix.
+   * @returns {number} The maximum scale.
+   */
+  static getMaximumScale(matrix) {
+    Matrix3.getScale(matrix, scaleScratch3);
+    return Cartesian3.maximumComponent(scaleScratch3);
+  }
 
-/**
- * Creates a negated copy of the provided matrix.
- *
- * @param {Matrix3} matrix The matrix to negate.
- * @param {Matrix3} result The object onto which to store the result.
- * @returns {Matrix3} The modified result parameter.
- */
-Matrix3.negate = function (matrix, result) {
-  //>>includeStart('debug', pragmas.debug);
-  Check.typeOf.object("matrix", matrix);
-  Check.typeOf.object("result", result);
-  //>>includeEnd('debug');
-
-  result[0] = -matrix[0];
-  result[1] = -matrix[1];
-  result[2] = -matrix[2];
-  result[3] = -matrix[3];
-  result[4] = -matrix[4];
-  result[5] = -matrix[5];
-  result[6] = -matrix[6];
-  result[7] = -matrix[7];
-  result[8] = -matrix[8];
-  return result;
-};
+  /**
+   * Sets the rotation assuming the matrix is an affine transformation.
+   *
+   * @param {Matrix3} matrix The matrix.
+   * @param {Matrix3} rotation The rotation matrix.
+   * @param {Matrix3} result The object onto which to store the result.
+   * @returns {Matrix3} The modified result parameter.
+   *
+   * @see Matrix3.getRotation
+   */
+  static setRotation(matrix, rotation, result) {
+    //>>includeStart('debug', pragmas.debug);
+    Check.typeOf.object("matrix", matrix);
+    Check.typeOf.object("result", result);
+    //>>includeEnd('debug');
 
-/**
- * Computes the transpose of the provided matrix.
- *
- * @param {Matrix3} matrix The matrix to transpose.
- * @param {Matrix3} result The object onto which to store the result.
- * @returns {Matrix3} The modified result parameter.
- */
-Matrix3.transpose = function (matrix, result) {
-  //>>includeStart('debug', pragmas.debug);
-  Check.typeOf.object("matrix", matrix);
-  Check.typeOf.object("result", result);
-  //>>includeEnd('debug');
-
-  const column0Row0 = matrix[0];
-  const column0Row1 = matrix[3];
-  const column0Row2 = matrix[6];
-  const column1Row0 = matrix[1];
-  const column1Row1 = matrix[4];
-  const column1Row2 = matrix[7];
-  const column2Row0 = matrix[2];
-  const column2Row1 = matrix[5];
-  const column2Row2 = matrix[8];
-
-  result[0] = column0Row0;
-  result[1] = column0Row1;
-  result[2] = column0Row2;
-  result[3] = column1Row0;
-  result[4] = column1Row1;
-  result[5] = column1Row2;
-  result[6] = column2Row0;
-  result[7] = column2Row1;
-  result[8] = column2Row2;
-  return result;
-};
+    const scale = Matrix3.getScale(matrix, scaleScratch4);
 
-function computeFrobeniusNorm(matrix) {
-  let norm = 0.0;
-  for (let i = 0; i < 9; ++i) {
-    const temp = matrix[i];
-    norm += temp * temp;
+    result[0] = rotation[0] * scale.x;
+    result[1] = rotation[1] * scale.x;
+    result[2] = rotation[2] * scale.x;
+    result[3] = rotation[3] * scale.y;
+    result[4] = rotation[4] * scale.y;
+    result[5] = rotation[5] * scale.y;
+    result[6] = rotation[6] * scale.z;
+    result[7] = rotation[7] * scale.z;
+    result[8] = rotation[8] * scale.z;
+
+    return result;
   }
 
-  return Math.sqrt(norm);
-}
+  /**
+   * Extracts the rotation matrix assuming the matrix is an affine transformation.
+   *
+   * @param {Matrix3} matrix The matrix.
+   * @param {Matrix3} result The object onto which to store the result.
+   * @returns {Matrix3} The modified result parameter.
+   *
+   * @see Matrix3.setRotation
+   */
+  static getRotation(matrix, result) {
+    //>>includeStart('debug', pragmas.debug);
+    Check.typeOf.object("matrix", matrix);
+    Check.typeOf.object("result", result);
+    //>>includeEnd('debug');
 
-const rowVal = [1, 0, 0];
-const colVal = [2, 2, 1];
+    const scale = Matrix3.getScale(matrix, scaleScratch5);
 
-function offDiagonalFrobeniusNorm(matrix) {
-  // Computes the "off-diagonal" Frobenius norm.
-  // Assumes matrix is symmetric.
+    result[0] = matrix[0] / scale.x;
+    result[1] = matrix[1] / scale.x;
+    result[2] = matrix[2] / scale.x;
+    result[3] = matrix[3] / scale.y;
+    result[4] = matrix[4] / scale.y;
+    result[5] = matrix[5] / scale.y;
+    result[6] = matrix[6] / scale.z;
+    result[7] = matrix[7] / scale.z;
+    result[8] = matrix[8] / scale.z;
 
-  let norm = 0.0;
-  for (let i = 0; i < 3; ++i) {
-    const temp = matrix[Matrix3.getElementIndex(colVal[i], rowVal[i])];
-    norm += 2.0 * temp * temp;
+    return result;
   }
 
-  return Math.sqrt(norm);
-}
+  /**
+   * Computes the product of two matrices.
+   *
+   * @param {Matrix3} left The first matrix.
+   * @param {Matrix3} right The second matrix.
+   * @param {Matrix3} result The object onto which to store the result.
+   * @returns {Matrix3} The modified result parameter.
+   */
+  static multiply(left, right, result) {
+    //>>includeStart('debug', pragmas.debug);
+    Check.typeOf.object("left", left);
+    Check.typeOf.object("right", right);
+    Check.typeOf.object("result", result);
+    //>>includeEnd('debug');
 
-function shurDecomposition(matrix, result) {
-  // This routine was created based upon Matrix Computations, 3rd ed., by Golub and Van Loan,
-  // section 8.4.2 The 2by2 Symmetric Schur Decomposition.
-  //
-  // The routine takes a matrix, which is assumed to be symmetric, and
-  // finds the largest off-diagonal term, and then creates
-  // a matrix (result) which can be used to help reduce it
+    const column0Row0 =
+      left[0] * right[0] + left[3] * right[1] + left[6] * right[2];
+    const column0Row1 =
+      left[1] * right[0] + left[4] * right[1] + left[7] * right[2];
+    const column0Row2 =
+      left[2] * right[0] + left[5] * right[1] + left[8] * right[2];
+
+    const column1Row0 =
+      left[0] * right[3] + left[3] * right[4] + left[6] * right[5];
+    const column1Row1 =
+      left[1] * right[3] + left[4] * right[4] + left[7] * right[5];
+    const column1Row2 =
+      left[2] * right[3] + left[5] * right[4] + left[8] * right[5];
+
+    const column2Row0 =
+      left[0] * right[6] + left[3] * right[7] + left[6] * right[8];
+    const column2Row1 =
+      left[1] * right[6] + left[4] * right[7] + left[7] * right[8];
+    const column2Row2 =
+      left[2] * right[6] + left[5] * right[7] + left[8] * right[8];
+
+    result[0] = column0Row0;
+    result[1] = column0Row1;
+    result[2] = column0Row2;
+    result[3] = column1Row0;
+    result[4] = column1Row1;
+    result[5] = column1Row2;
+    result[6] = column2Row0;
+    result[7] = column2Row1;
+    result[8] = column2Row2;
+    return result;
+  }
 
-  const tolerance = CesiumMath.EPSILON15;
+  /**
+   * Computes the sum of two matrices.
+   *
+   * @param {Matrix3} left The first matrix.
+   * @param {Matrix3} right The second matrix.
+   * @param {Matrix3} result The object onto which to store the result.
+   * @returns {Matrix3} The modified result parameter.
+   */
+  static add(left, right, result) {
+    //>>includeStart('debug', pragmas.debug);
+    Check.typeOf.object("left", left);
+    Check.typeOf.object("right", right);
+    Check.typeOf.object("result", result);
+    //>>includeEnd('debug');
 
-  let maxDiagonal = 0.0;
-  let rotAxis = 1;
+    result[0] = left[0] + right[0];
+    result[1] = left[1] + right[1];
+    result[2] = left[2] + right[2];
+    result[3] = left[3] + right[3];
+    result[4] = left[4] + right[4];
+    result[5] = left[5] + right[5];
+    result[6] = left[6] + right[6];
+    result[7] = left[7] + right[7];
+    result[8] = left[8] + right[8];
+    return result;
+  }
 
-  // find pivot (rotAxis) based on max diagonal of matrix
-  for (let i = 0; i < 3; ++i) {
-    const temp = Math.abs(
-      matrix[Matrix3.getElementIndex(colVal[i], rowVal[i])],
-    );
-    if (temp > maxDiagonal) {
-      rotAxis = i;
-      maxDiagonal = temp;
-    }
+  /**
+   * Computes the difference of two matrices.
+   *
+   * @param {Matrix3} left The first matrix.
+   * @param {Matrix3} right The second matrix.
+   * @param {Matrix3} result The object onto which to store the result.
+   * @returns {Matrix3} The modified result parameter.
+   */
+  static subtract(left, right, result) {
+    //>>includeStart('debug', pragmas.debug);
+    Check.typeOf.object("left", left);
+    Check.typeOf.object("right", right);
+    Check.typeOf.object("result", result);
+    //>>includeEnd('debug');
+
+    result[0] = left[0] - right[0];
+    result[1] = left[1] - right[1];
+    result[2] = left[2] - right[2];
+    result[3] = left[3] - right[3];
+    result[4] = left[4] - right[4];
+    result[5] = left[5] - right[5];
+    result[6] = left[6] - right[6];
+    result[7] = left[7] - right[7];
+    result[8] = left[8] - right[8];
+    return result;
+  }
+
+  /**
+   * Computes the product of a matrix and a column vector.
+   *
+   * @param {Matrix3} matrix The matrix.
+   * @param {Cartesian3} cartesian The column.
+   * @param {Cartesian3} result The object onto which to store the result.
+   * @returns {Cartesian3} The modified result parameter.
+   */
+  static multiplyByVector(matrix, cartesian, result) {
+    //>>includeStart('debug', pragmas.debug);
+    Check.typeOf.object("matrix", matrix);
+    Check.typeOf.object("cartesian", cartesian);
+    Check.typeOf.object("result", result);
+    //>>includeEnd('debug');
+
+    const vX = cartesian.x;
+    const vY = cartesian.y;
+    const vZ = cartesian.z;
+
+    const x = matrix[0] * vX + matrix[3] * vY + matrix[6] * vZ;
+    const y = matrix[1] * vX + matrix[4] * vY + matrix[7] * vZ;
+    const z = matrix[2] * vX + matrix[5] * vY + matrix[8] * vZ;
+
+    result.x = x;
+    result.y = y;
+    result.z = z;
+    return result;
+  }
+
+  /**
+   * Computes the product of a matrix and a scalar.
+   *
+   * @param {Matrix3} matrix The matrix.
+   * @param {number} scalar The number to multiply by.
+   * @param {Matrix3} result The object onto which to store the result.
+   * @returns {Matrix3} The modified result parameter.
+   */
+  static multiplyByScalar(matrix, scalar, result) {
+    //>>includeStart('debug', pragmas.debug);
+    Check.typeOf.object("matrix", matrix);
+    Check.typeOf.number("scalar", scalar);
+    Check.typeOf.object("result", result);
+    //>>includeEnd('debug');
+
+    result[0] = matrix[0] * scalar;
+    result[1] = matrix[1] * scalar;
+    result[2] = matrix[2] * scalar;
+    result[3] = matrix[3] * scalar;
+    result[4] = matrix[4] * scalar;
+    result[5] = matrix[5] * scalar;
+    result[6] = matrix[6] * scalar;
+    result[7] = matrix[7] * scalar;
+    result[8] = matrix[8] * scalar;
+    return result;
+  }
+
+  /**
+   * Computes the product of a matrix times a (non-uniform) scale, as if the scale were a scale matrix.
+   *
+   * @param {Matrix3} matrix The matrix on the left-hand side.
+   * @param {Cartesian3} scale The non-uniform scale on the right-hand side.
+   * @param {Matrix3} result The object onto which to store the result.
+   * @returns {Matrix3} The modified result parameter.
+   *
+   *
+   * @example
+   * // Instead of Cesium.Matrix3.multiply(m, Cesium.Matrix3.fromScale(scale), m);
+   * Cesium.Matrix3.multiplyByScale(m, scale, m);
+   *
+   * @see Matrix3.multiplyByUniformScale
+   * @see Matrix3.fromScale
+   * @see Matrix3.fromUniformScale
+   * @see Matrix3.setScale
+   * @see Matrix3.setUniformScale
+   * @see Matrix3.getScale
+   */
+  static multiplyByScale(matrix, scale, result) {
+    //>>includeStart('debug', pragmas.debug);
+    Check.typeOf.object("matrix", matrix);
+    Check.typeOf.object("scale", scale);
+    Check.typeOf.object("result", result);
+    //>>includeEnd('debug');
+
+    result[0] = matrix[0] * scale.x;
+    result[1] = matrix[1] * scale.x;
+    result[2] = matrix[2] * scale.x;
+    result[3] = matrix[3] * scale.y;
+    result[4] = matrix[4] * scale.y;
+    result[5] = matrix[5] * scale.y;
+    result[6] = matrix[6] * scale.z;
+    result[7] = matrix[7] * scale.z;
+    result[8] = matrix[8] * scale.z;
+
+    return result;
+  }
+
+  /**
+   * Computes the product of a matrix times a uniform scale, as if the scale were a scale matrix.
+   *
+   * @param {Matrix3} matrix The matrix on the left-hand side.
+   * @param {number} scale The uniform scale on the right-hand side.
+   * @param {Matrix3} result The object onto which to store the result.
+   * @returns {Matrix3} The modified result parameter.
+   *
+   * @example
+   * // Instead of Cesium.Matrix3.multiply(m, Cesium.Matrix3.fromUniformScale(scale), m);
+   * Cesium.Matrix3.multiplyByUniformScale(m, scale, m);
+   *
+   * @see Matrix3.multiplyByScale
+   * @see Matrix3.fromScale
+   * @see Matrix3.fromUniformScale
+   * @see Matrix3.setScale
+   * @see Matrix3.setUniformScale
+   * @see Matrix3.getScale
+   */
+  static multiplyByUniformScale(matrix, scale, result) {
+    //>>includeStart('debug', pragmas.debug);
+    Check.typeOf.object("matrix", matrix);
+    Check.typeOf.number("scale", scale);
+    Check.typeOf.object("result", result);
+    //>>includeEnd('debug');
+
+    result[0] = matrix[0] * scale;
+    result[1] = matrix[1] * scale;
+    result[2] = matrix[2] * scale;
+    result[3] = matrix[3] * scale;
+    result[4] = matrix[4] * scale;
+    result[5] = matrix[5] * scale;
+    result[6] = matrix[6] * scale;
+    result[7] = matrix[7] * scale;
+    result[8] = matrix[8] * scale;
+
+    return result;
+  }
+
+  /**
+   * Creates a negated copy of the provided matrix.
+   *
+   * @param {Matrix3} matrix The matrix to negate.
+   * @param {Matrix3} result The object onto which to store the result.
+   * @returns {Matrix3} The modified result parameter.
+   */
+  static negate(matrix, result) {
+    //>>includeStart('debug', pragmas.debug);
+    Check.typeOf.object("matrix", matrix);
+    Check.typeOf.object("result", result);
+    //>>includeEnd('debug');
+
+    result[0] = -matrix[0];
+    result[1] = -matrix[1];
+    result[2] = -matrix[2];
+    result[3] = -matrix[3];
+    result[4] = -matrix[4];
+    result[5] = -matrix[5];
+    result[6] = -matrix[6];
+    result[7] = -matrix[7];
+    result[8] = -matrix[8];
+    return result;
   }
 
-  let c = 1.0;
-  let s = 0.0;
+  /**
+   * Computes the transpose of the provided matrix.
+   *
+   * @param {Matrix3} matrix The matrix to transpose.
+   * @param {Matrix3} result The object onto which to store the result.
+   * @returns {Matrix3} The modified result parameter.
+   */
+  static transpose(matrix, result) {
+    //>>includeStart('debug', pragmas.debug);
+    Check.typeOf.object("matrix", matrix);
+    Check.typeOf.object("result", result);
+    //>>includeEnd('debug');
 
-  const p = rowVal[rotAxis];
-  const q = colVal[rotAxis];
+    const column0Row0 = matrix[0];
+    const column0Row1 = matrix[3];
+    const column0Row2 = matrix[6];
+    const column1Row0 = matrix[1];
+    const column1Row1 = matrix[4];
+    const column1Row2 = matrix[7];
+    const column2Row0 = matrix[2];
+    const column2Row1 = matrix[5];
+    const column2Row2 = matrix[8];
+
+    result[0] = column0Row0;
+    result[1] = column0Row1;
+    result[2] = column0Row2;
+    result[3] = column1Row0;
+    result[4] = column1Row1;
+    result[5] = column1Row2;
+    result[6] = column2Row0;
+    result[7] = column2Row1;
+    result[8] = column2Row2;
+    return result;
+  }
 
-  if (Math.abs(matrix[Matrix3.getElementIndex(q, p)]) > tolerance) {
-    const qq = matrix[Matrix3.getElementIndex(q, q)];
-    const pp = matrix[Matrix3.getElementIndex(p, p)];
-    const qp = matrix[Matrix3.getElementIndex(q, p)];
+  /**
+   * Computes the eigenvectors and eigenvalues of a symmetric matrix.
+   * <p>
+   * Returns a diagonal matrix and unitary matrix such that:
+   * <code>matrix = unitary matrix * diagonal matrix * transpose(unitary matrix)</code>
+   * </p>
+   * <p>
+   * The values along the diagonal of the diagonal matrix are the eigenvalues. The columns
+   * of the unitary matrix are the corresponding eigenvectors.
+   * </p>
+   *
+   * @param {Matrix3} matrix The matrix to decompose into diagonal and unitary matrix. Expected to be symmetric.
+   * @param {EigenDecompositionResult} [result] An object with unitary and diagonal properties which are matrices onto which to store the result.
+   * @returns {EigenDecompositionResult} An object with unitary and diagonal properties which are the unitary and diagonal matrices, respectively.
+   *
+   * @example
+   * const a = //... symetric matrix
+   * const result = {
+   *     unitary : new Cesium.Matrix3(),
+   *     diagonal : new Cesium.Matrix3()
+   * };
+   * Cesium.Matrix3.computeEigenDecomposition(a, result);
+   *
+   * const unitaryTranspose = Cesium.Matrix3.transpose(result.unitary, new Cesium.Matrix3());
+   * const b = Cesium.Matrix3.multiply(result.unitary, result.diagonal, new Cesium.Matrix3());
+   * Cesium.Matrix3.multiply(b, unitaryTranspose, b); // b is now equal to a
+   *
+   * const lambda = Cesium.Matrix3.getColumn(result.diagonal, 0, new Cesium.Cartesian3()).x;  // first eigenvalue
+   * const v = Cesium.Matrix3.getColumn(result.unitary, 0, new Cesium.Cartesian3());          // first eigenvector
+   * const c = Cesium.Cartesian3.multiplyByScalar(v, lambda, new Cesium.Cartesian3());        // equal to Cesium.Matrix3.multiplyByVector(a, v)
+   */
+  static computeEigenDecomposition(matrix, result) {
+    //>>includeStart('debug', pragmas.debug);
+    Check.typeOf.object("matrix", matrix);
+    //>>includeEnd('debug');
 
-    const tau = (qq - pp) / 2.0 / qp;
-    let t;
+    // This routine was created based upon Matrix Computations, 3rd ed., by Golub and Van Loan,
+    // section 8.4.3 The Classical Jacobi Algorithm
 
-    if (tau < 0.0) {
-      t = -1.0 / (-tau + Math.sqrt(1.0 + tau * tau));
-    } else {
-      t = 1.0 / (tau + Math.sqrt(1.0 + tau * tau));
+    const tolerance = CesiumMath.EPSILON20;
+    const maxSweeps = 10;
+
+    let count = 0;
+    let sweep = 0;
+
+    if (!defined(result)) {
+      result = {};
     }
 
-    c = 1.0 / Math.sqrt(1.0 + t * t);
-    s = t * c;
+    const unitaryMatrix = (result.unitary = Matrix3.clone(
+      Matrix3.IDENTITY,
+      result.unitary,
+    ));
+    const diagMatrix = (result.diagonal = Matrix3.clone(
+      matrix,
+      result.diagonal,
+    ));
+
+    const epsilon = tolerance * computeFrobeniusNorm(diagMatrix);
+
+    while (
+      sweep < maxSweeps &&
+      offDiagonalFrobeniusNorm(diagMatrix) > epsilon
+    ) {
+      shurDecomposition(diagMatrix, jMatrix);
+      Matrix3.transpose(jMatrix, jMatrixTranspose);
+      Matrix3.multiply(diagMatrix, jMatrix, diagMatrix);
+      Matrix3.multiply(jMatrixTranspose, diagMatrix, diagMatrix);
+      Matrix3.multiply(unitaryMatrix, jMatrix, unitaryMatrix);
+
+      if (++count > 2) {
+        ++sweep;
+        count = 0;
+      }
+    }
+
+    return result;
   }
 
-  result = Matrix3.clone(Matrix3.IDENTITY, result);
+  /**
+   * Computes a matrix, which contains the absolute (unsigned) values of the provided matrix's elements.
+   *
+   * @param {Matrix3} matrix The matrix with signed elements.
+   * @param {Matrix3} result The object onto which to store the result.
+   * @returns {Matrix3} The modified result parameter.
+   */
+  static abs(matrix, result) {
+    //>>includeStart('debug', pragmas.debug);
+    Check.typeOf.object("matrix", matrix);
+    Check.typeOf.object("result", result);
+    //>>includeEnd('debug');
 
-  result[Matrix3.getElementIndex(p, p)] = result[
-    Matrix3.getElementIndex(q, q)
-  ] = c;
-  result[Matrix3.getElementIndex(q, p)] = s;
-  result[Matrix3.getElementIndex(p, q)] = -s;
+    result[0] = Math.abs(matrix[0]);
+    result[1] = Math.abs(matrix[1]);
+    result[2] = Math.abs(matrix[2]);
+    result[3] = Math.abs(matrix[3]);
+    result[4] = Math.abs(matrix[4]);
+    result[5] = Math.abs(matrix[5]);
+    result[6] = Math.abs(matrix[6]);
+    result[7] = Math.abs(matrix[7]);
+    result[8] = Math.abs(matrix[8]);
+
+    return result;
+  }
 
-  return result;
-}
+  /**
+   * Computes the determinant of the provided matrix.
+   *
+   * @param {Matrix3} matrix The matrix to use.
+   * @returns {number} The value of the determinant of the matrix.
+   */
+  static determinant(matrix) {
+    //>>includeStart('debug', pragmas.debug);
+    Check.typeOf.object("matrix", matrix);
+    //>>includeEnd('debug');
 
-const jMatrix = new Matrix3();
-const jMatrixTranspose = new Matrix3();
+    const m11 = matrix[0];
+    const m21 = matrix[3];
+    const m31 = matrix[6];
+    const m12 = matrix[1];
+    const m22 = matrix[4];
+    const m32 = matrix[7];
+    const m13 = matrix[2];
+    const m23 = matrix[5];
+    const m33 = matrix[8];
+
+    return (
+      m11 * (m22 * m33 - m23 * m32) +
+      m12 * (m23 * m31 - m21 * m33) +
+      m13 * (m21 * m32 - m22 * m31)
+    );
+  }
 
-/**
- * Computes the eigenvectors and eigenvalues of a symmetric matrix.
- * <p>
- * Returns a diagonal matrix and unitary matrix such that:
- * <code>matrix = unitary matrix * diagonal matrix * transpose(unitary matrix)</code>
- * </p>
- * <p>
- * The values along the diagonal of the diagonal matrix are the eigenvalues. The columns
- * of the unitary matrix are the corresponding eigenvectors.
- * </p>
- *
- * @param {Matrix3} matrix The matrix to decompose into diagonal and unitary matrix. Expected to be symmetric.
- * @param {object} [result] An object with unitary and diagonal properties which are matrices onto which to store the result.
- * @returns {object} An object with unitary and diagonal properties which are the unitary and diagonal matrices, respectively.
- *
- * @example
- * const a = //... symetric matrix
- * const result = {
- *     unitary : new Cesium.Matrix3(),
- *     diagonal : new Cesium.Matrix3()
- * };
- * Cesium.Matrix3.computeEigenDecomposition(a, result);
- *
- * const unitaryTranspose = Cesium.Matrix3.transpose(result.unitary, new Cesium.Matrix3());
- * const b = Cesium.Matrix3.multiply(result.unitary, result.diagonal, new Cesium.Matrix3());
- * Cesium.Matrix3.multiply(b, unitaryTranspose, b); // b is now equal to a
- *
- * const lambda = Cesium.Matrix3.getColumn(result.diagonal, 0, new Cesium.Cartesian3()).x;  // first eigenvalue
- * const v = Cesium.Matrix3.getColumn(result.unitary, 0, new Cesium.Cartesian3());          // first eigenvector
- * const c = Cesium.Cartesian3.multiplyByScalar(v, lambda, new Cesium.Cartesian3());        // equal to Cesium.Matrix3.multiplyByVector(a, v)
- */
-Matrix3.computeEigenDecomposition = function (matrix, result) {
-  //>>includeStart('debug', pragmas.debug);
-  Check.typeOf.object("matrix", matrix);
-  //>>includeEnd('debug');
+  /**
+   * Computes the inverse of the provided matrix.
+   *
+   * @param {Matrix3} matrix The matrix to invert.
+   * @param {Matrix3} result The object onto which to store the result.
+   * @returns {Matrix3} The modified result parameter.
+   *
+   * @exception {DeveloperError} matrix is not invertible.
+   */
+  static inverse(matrix, result) {
+    //>>includeStart('debug', pragmas.debug);
+    Check.typeOf.object("matrix", matrix);
+    Check.typeOf.object("result", result);
+    //>>includeEnd('debug');
 
-  // This routine was created based upon Matrix Computations, 3rd ed., by Golub and Van Loan,
-  // section 8.4.3 The Classical Jacobi Algorithm
+    const m11 = matrix[0];
+    const m21 = matrix[1];
+    const m31 = matrix[2];
+    const m12 = matrix[3];
+    const m22 = matrix[4];
+    const m32 = matrix[5];
+    const m13 = matrix[6];
+    const m23 = matrix[7];
+    const m33 = matrix[8];
 
-  const tolerance = CesiumMath.EPSILON20;
-  const maxSweeps = 10;
+    const determinant = Matrix3.determinant(matrix);
 
-  let count = 0;
-  let sweep = 0;
+    //>>includeStart('debug', pragmas.debug);
+    if (Math.abs(determinant) <= CesiumMath.EPSILON15) {
+      throw new DeveloperError("matrix is not invertible");
+    }
+    //>>includeEnd('debug');
 
-  if (!defined(result)) {
-    result = {};
+    result[0] = m22 * m33 - m23 * m32;
+    result[1] = m23 * m31 - m21 * m33;
+    result[2] = m21 * m32 - m22 * m31;
+    result[3] = m13 * m32 - m12 * m33;
+    result[4] = m11 * m33 - m13 * m31;
+    result[5] = m12 * m31 - m11 * m32;
+    result[6] = m12 * m23 - m13 * m22;
+    result[7] = m13 * m21 - m11 * m23;
+    result[8] = m11 * m22 - m12 * m21;
+
+    const scale = 1.0 / determinant;
+    return Matrix3.multiplyByScalar(result, scale, result);
   }
 
-  const unitaryMatrix = (result.unitary = Matrix3.clone(
-    Matrix3.IDENTITY,
-    result.unitary,
-  ));
-  const diagMatrix = (result.diagonal = Matrix3.clone(matrix, result.diagonal));
+  /**
+   * Computes the inverse transpose of a matrix.
+   *
+   * @param {Matrix3} matrix The matrix to transpose and invert.
+   * @param {Matrix3} result The object onto which to store the result.
+   * @returns {Matrix3} The modified result parameter.
+   */
+  static inverseTranspose(matrix, result) {
+    //>>includeStart('debug', pragmas.debug);
+    Check.typeOf.object("matrix", matrix);
+    Check.typeOf.object("result", result);
+    //>>includeEnd('debug');
 
-  const epsilon = tolerance * computeFrobeniusNorm(diagMatrix);
+    return Matrix3.inverse(
+      Matrix3.transpose(matrix, scratchTransposeMatrix),
+      result,
+    );
+  }
 
-  while (sweep < maxSweeps && offDiagonalFrobeniusNorm(diagMatrix) > epsilon) {
-    shurDecomposition(diagMatrix, jMatrix);
-    Matrix3.transpose(jMatrix, jMatrixTranspose);
-    Matrix3.multiply(diagMatrix, jMatrix, diagMatrix);
-    Matrix3.multiply(jMatrixTranspose, diagMatrix, diagMatrix);
-    Matrix3.multiply(unitaryMatrix, jMatrix, unitaryMatrix);
+  /**
+   * Compares the provided matrices componentwise and returns
+   * <code>true</code> if they are equal, <code>false</code> otherwise.
+   *
+   * @param {Matrix3} [left] The first matrix.
+   * @param {Matrix3} [right] The second matrix.
+   * @returns {boolean} <code>true</code> if left and right are equal, <code>false</code> otherwise.
+   */
+  static equals(left, right) {
+    return (
+      left === right ||
+      (defined(left) &&
+        defined(right) &&
+        left[0] === right[0] &&
+        left[1] === right[1] &&
+        left[2] === right[2] &&
+        left[3] === right[3] &&
+        left[4] === right[4] &&
+        left[5] === right[5] &&
+        left[6] === right[6] &&
+        left[7] === right[7] &&
+        left[8] === right[8])
+    );
+  }
 
-    if (++count > 2) {
-      ++sweep;
-      count = 0;
-    }
+  /**
+   * Compares the provided matrices componentwise and returns
+   * <code>true</code> if they are within the provided epsilon,
+   * <code>false</code> otherwise.
+   *
+   * @param {Matrix3} [left] The first matrix.
+   * @param {Matrix3} [right] The second matrix.
+   * @param {number} [epsilon=0] The epsilon to use for equality testing.
+   * @returns {boolean} <code>true</code> if left and right are within the provided epsilon, <code>false</code> otherwise.
+   */
+  static equalsEpsilon(left, right, epsilon) {
+    epsilon = epsilon ?? 0;
+
+    return (
+      left === right ||
+      (defined(left) &&
+        defined(right) &&
+        Math.abs(left[0] - right[0]) <= epsilon &&
+        Math.abs(left[1] - right[1]) <= epsilon &&
+        Math.abs(left[2] - right[2]) <= epsilon &&
+        Math.abs(left[3] - right[3]) <= epsilon &&
+        Math.abs(left[4] - right[4]) <= epsilon &&
+        Math.abs(left[5] - right[5]) <= epsilon &&
+        Math.abs(left[6] - right[6]) <= epsilon &&
+        Math.abs(left[7] - right[7]) <= epsilon &&
+        Math.abs(left[8] - right[8]) <= epsilon)
+    );
   }
 
-  return result;
-};
+  /**
+   * Gets the number of items in the collection.
+   *
+   * @type {number}
+   */
+  get length() {
+    return Matrix3.packedLength;
+  }
 
-/**
- * Computes a matrix, which contains the absolute (unsigned) values of the provided matrix's elements.
- *
- * @param {Matrix3} matrix The matrix with signed elements.
- * @param {Matrix3} result The object onto which to store the result.
- * @returns {Matrix3} The modified result parameter.
- */
-Matrix3.abs = function (matrix, result) {
-  //>>includeStart('debug', pragmas.debug);
-  Check.typeOf.object("matrix", matrix);
-  Check.typeOf.object("result", result);
-  //>>includeEnd('debug');
-
-  result[0] = Math.abs(matrix[0]);
-  result[1] = Math.abs(matrix[1]);
-  result[2] = Math.abs(matrix[2]);
-  result[3] = Math.abs(matrix[3]);
-  result[4] = Math.abs(matrix[4]);
-  result[5] = Math.abs(matrix[5]);
-  result[6] = Math.abs(matrix[6]);
-  result[7] = Math.abs(matrix[7]);
-  result[8] = Math.abs(matrix[8]);
+  /**
+   * Duplicates the provided Matrix3 instance.
+   *
+   * @param {Matrix3} [result] The object onto which to store the result.
+   * @returns {Matrix3} The modified result parameter or a new Matrix3 instance if one was not provided.
+   */
+  clone(result) {
+    return Matrix3.clone(this, result);
+  }
 
-  return result;
-};
+  /**
+   * Compares this matrix to the provided matrix componentwise and returns
+   * <code>true</code> if they are equal, <code>false</code> otherwise.
+   *
+   * @param {Matrix3} [right] The right hand side matrix.
+   * @returns {boolean} <code>true</code> if they are equal, <code>false</code> otherwise.
+   */
+  equals(right) {
+    return Matrix3.equals(this, right);
+  }
 
-/**
- * Computes the determinant of the provided matrix.
- *
- * @param {Matrix3} matrix The matrix to use.
- * @returns {number} The value of the determinant of the matrix.
- */
-Matrix3.determinant = function (matrix) {
-  //>>includeStart('debug', pragmas.debug);
-  Check.typeOf.object("matrix", matrix);
-  //>>includeEnd('debug');
-
-  const m11 = matrix[0];
-  const m21 = matrix[3];
-  const m31 = matrix[6];
-  const m12 = matrix[1];
-  const m22 = matrix[4];
-  const m32 = matrix[7];
-  const m13 = matrix[2];
-  const m23 = matrix[5];
-  const m33 = matrix[8];
-
-  return (
-    m11 * (m22 * m33 - m23 * m32) +
-    m12 * (m23 * m31 - m21 * m33) +
-    m13 * (m21 * m32 - m22 * m31)
-  );
-};
+  /**
+   * Compares provided matrix and array, starting from a given array offset.
+   *
+   * @param {Matrix3} matrix
+   * @param {number[]} array
+   * @param {number} offset
+   * @private
+   */
+  static equalsArray(matrix, array, offset) {
+    return (
+      matrix[0] === array[offset] &&
+      matrix[1] === array[offset + 1] &&
+      matrix[2] === array[offset + 2] &&
+      matrix[3] === array[offset + 3] &&
+      matrix[4] === array[offset + 4] &&
+      matrix[5] === array[offset + 5] &&
+      matrix[6] === array[offset + 6] &&
+      matrix[7] === array[offset + 7] &&
+      matrix[8] === array[offset + 8]
+    );
+  }
 
-/**
- * Computes the inverse of the provided matrix.
- *
- * @param {Matrix3} matrix The matrix to invert.
- * @param {Matrix3} result The object onto which to store the result.
- * @returns {Matrix3} The modified result parameter.
- *
- * @exception {DeveloperError} matrix is not invertible.
- */
-Matrix3.inverse = function (matrix, result) {
-  //>>includeStart('debug', pragmas.debug);
-  Check.typeOf.object("matrix", matrix);
-  Check.typeOf.object("result", result);
-  //>>includeEnd('debug');
-
-  const m11 = matrix[0];
-  const m21 = matrix[1];
-  const m31 = matrix[2];
-  const m12 = matrix[3];
-  const m22 = matrix[4];
-  const m32 = matrix[5];
-  const m13 = matrix[6];
-  const m23 = matrix[7];
-  const m33 = matrix[8];
-
-  const determinant = Matrix3.determinant(matrix);
-
-  //>>includeStart('debug', pragmas.debug);
-  if (Math.abs(determinant) <= CesiumMath.EPSILON15) {
-    throw new DeveloperError("matrix is not invertible");
+  /**
+   * Compares this matrix to the provided matrix componentwise and returns
+   * <code>true</code> if they are within the provided epsilon,
+   * <code>false</code> otherwise.
+   *
+   * @param {Matrix3} [right] The right hand side matrix.
+   * @param {number} [epsilon=0] The epsilon to use for equality testing.
+   * @returns {boolean} <code>true</code> if they are within the provided epsilon, <code>false</code> otherwise.
+   */
+  equalsEpsilon(right, epsilon) {
+    return Matrix3.equalsEpsilon(this, right, epsilon);
   }
-  //>>includeEnd('debug');
-
-  result[0] = m22 * m33 - m23 * m32;
-  result[1] = m23 * m31 - m21 * m33;
-  result[2] = m21 * m32 - m22 * m31;
-  result[3] = m13 * m32 - m12 * m33;
-  result[4] = m11 * m33 - m13 * m31;
-  result[5] = m12 * m31 - m11 * m32;
-  result[6] = m12 * m23 - m13 * m22;
-  result[7] = m13 * m21 - m11 * m23;
-  result[8] = m11 * m22 - m12 * m21;
-
-  const scale = 1.0 / determinant;
-  return Matrix3.multiplyByScalar(result, scale, result);
-};
 
-const scratchTransposeMatrix = new Matrix3();
+  /**
+   * Creates a string representing this Matrix with each row being
+   * on a separate line and in the format '(column0, column1, column2)'.
+   *
+   * @returns {string} A string representing the provided Matrix with each row being on a separate line and in the format '(column0, column1, column2)'.
+   */
+  toString() {
+    return (
+      `(${this[0]}, ${this[3]}, ${this[6]})\n` +
+      `(${this[1]}, ${this[4]}, ${this[7]})\n` +
+      `(${this[2]}, ${this[5]}, ${this[8]})`
+    );
+  }
+}
 
 /**
- * Computes the inverse transpose of a matrix.
- *
- * @param {Matrix3} matrix The matrix to transpose and invert.
- * @param {Matrix3} result The object onto which to store the result.
- * @returns {Matrix3} The modified result parameter.
+ * The number of elements used to pack the object into an array.
+ * @type {number}
  */
-Matrix3.inverseTranspose = function (matrix, result) {
-  //>>includeStart('debug', pragmas.debug);
-  Check.typeOf.object("matrix", matrix);
-  Check.typeOf.object("result", result);
-  //>>includeEnd('debug');
-
-  return Matrix3.inverse(
-    Matrix3.transpose(matrix, scratchTransposeMatrix),
-    result,
-  );
-};
+Matrix3.packedLength = 9;
 
 /**
- * Compares the provided matrices componentwise and returns
- * <code>true</code> if they are equal, <code>false</code> otherwise.
+ * Creates a Matrix3 from 9 consecutive elements in an array.
  *
- * @param {Matrix3} [left] The first matrix.
- * @param {Matrix3} [right] The second matrix.
- * @returns {boolean} <code>true</code> if left and right are equal, <code>false</code> otherwise.
- */
-Matrix3.equals = function (left, right) {
-  return (
-    left === right ||
-    (defined(left) &&
-      defined(right) &&
-      left[0] === right[0] &&
-      left[1] === right[1] &&
-      left[2] === right[2] &&
-      left[3] === right[3] &&
-      left[4] === right[4] &&
-      left[5] === right[5] &&
-      left[6] === right[6] &&
-      left[7] === right[7] &&
-      left[8] === right[8])
-  );
-};
-
-/**
- * Compares the provided matrices componentwise and returns
- * <code>true</code> if they are within the provided epsilon,
- * <code>false</code> otherwise.
+ * @function
+ * @param {number[]} array The array whose 9 consecutive elements correspond to the positions of the matrix.  Assumes column-major order.
+ * @param {number} [startingIndex=0] The offset into the array of the first element, which corresponds to first column first row position in the matrix.
+ * @param {Matrix3} [result] The object onto which to store the result.
+ * @returns {Matrix3} The modified result parameter or a new Matrix3 instance if one was not provided.
  *
- * @param {Matrix3} [left] The first matrix.
- * @param {Matrix3} [right] The second matrix.
- * @param {number} [epsilon=0] The epsilon to use for equality testing.
- * @returns {boolean} <code>true</code> if left and right are within the provided epsilon, <code>false</code> otherwise.
+ * @example
+ * // Create the Matrix3:
+ * // [1.0, 2.0, 3.0]
+ * // [1.0, 2.0, 3.0]
+ * // [1.0, 2.0, 3.0]
+ *
+ * const v = [1.0, 1.0, 1.0, 2.0, 2.0, 2.0, 3.0, 3.0, 3.0];
+ * const m = Cesium.Matrix3.fromArray(v);
+ *
+ * // Create same Matrix3 with using an offset into an array
+ * const v2 = [0.0, 0.0, 1.0, 1.0, 1.0, 2.0, 2.0, 2.0, 3.0, 3.0, 3.0];
+ * const m2 = Cesium.Matrix3.fromArray(v2, 2);
  */
-Matrix3.equalsEpsilon = function (left, right, epsilon) {
-  epsilon = epsilon ?? 0;
-
-  return (
-    left === right ||
-    (defined(left) &&
-      defined(right) &&
-      Math.abs(left[0] - right[0]) <= epsilon &&
-      Math.abs(left[1] - right[1]) <= epsilon &&
-      Math.abs(left[2] - right[2]) <= epsilon &&
-      Math.abs(left[3] - right[3]) <= epsilon &&
-      Math.abs(left[4] - right[4]) <= epsilon &&
-      Math.abs(left[5] - right[5]) <= epsilon &&
-      Math.abs(left[6] - right[6]) <= epsilon &&
-      Math.abs(left[7] - right[7]) <= epsilon &&
-      Math.abs(left[8] - right[8]) <= epsilon)
-  );
-};
+Matrix3.fromArray = Matrix3.unpack;
 
 /**
  * An immutable Matrix3 instance initialized to the identity matrix.
@@ -1757,82 +1784,123 @@ Matrix3.COLUMN2ROW1 = 7;
  */
 Matrix3.COLUMN2ROW2 = 8;
 
-Object.defineProperties(Matrix3.prototype, {
-  /**
-   * Gets the number of items in the collection.
-   * @memberof Matrix3.prototype
-   *
-   * @type {number}
-   */
-  length: {
-    get: function () {
-      return Matrix3.packedLength;
-    },
-  },
-});
+const scaleScratch1 = new Cartesian3();
+const scaleScratch2 = new Cartesian3();
+const scratchColumn = new Cartesian3();
+const scaleScratch3 = new Cartesian3();
+const scaleScratch4 = new Cartesian3();
+const scaleScratch5 = new Cartesian3();
 
-/**
- * Duplicates the provided Matrix3 instance.
- *
- * @param {Matrix3} [result] The object onto which to store the result.
- * @returns {Matrix3} The modified result parameter or a new Matrix3 instance if one was not provided.
- */
-Matrix3.prototype.clone = function (result) {
-  return Matrix3.clone(this, result);
-};
+const jMatrix = new Matrix3();
+const jMatrixTranspose = new Matrix3();
+const scratchTransposeMatrix = new Matrix3();
 
 /**
- * Compares this matrix to the provided matrix componentwise and returns
- * <code>true</code> if they are equal, <code>false</code> otherwise.
- *
- * @param {Matrix3} [right] The right hand side matrix.
- * @returns {boolean} <code>true</code> if they are equal, <code>false</code> otherwise.
+ * @param {Matrix3} matrix
+ * @ignore
  */
-Matrix3.prototype.equals = function (right) {
-  return Matrix3.equals(this, right);
-};
+function computeFrobeniusNorm(matrix) {
+  let norm = 0.0;
+  for (let i = 0; i < 9; ++i) {
+    // @ts-expect-error TODO(tsd-jsdoc): Requires index signature support.
+    const temp = matrix[i];
+    norm += temp * temp;
+  }
 
-/**
- * @private
- */
-Matrix3.equalsArray = function (matrix, array, offset) {
-  return (
-    matrix[0] === array[offset] &&
-    matrix[1] === array[offset + 1] &&
-    matrix[2] === array[offset + 2] &&
-    matrix[3] === array[offset + 3] &&
-    matrix[4] === array[offset + 4] &&
-    matrix[5] === array[offset + 5] &&
-    matrix[6] === array[offset + 6] &&
-    matrix[7] === array[offset + 7] &&
-    matrix[8] === array[offset + 8]
-  );
-};
+  return Math.sqrt(norm);
+}
+
+const rowVal = [1, 0, 0];
+const colVal = [2, 2, 1];
 
 /**
- * Compares this matrix to the provided matrix componentwise and returns
- * <code>true</code> if they are within the provided epsilon,
- * <code>false</code> otherwise.
- *
- * @param {Matrix3} [right] The right hand side matrix.
- * @param {number} [epsilon=0] The epsilon to use for equality testing.
- * @returns {boolean} <code>true</code> if they are within the provided epsilon, <code>false</code> otherwise.
+ * @param {Matrix3} matrix
+ * @ignore
  */
-Matrix3.prototype.equalsEpsilon = function (right, epsilon) {
-  return Matrix3.equalsEpsilon(this, right, epsilon);
-};
+function offDiagonalFrobeniusNorm(matrix) {
+  // Computes the "off-diagonal" Frobenius norm.
+  // Assumes matrix is symmetric.
+
+  let norm = 0.0;
+  for (let i = 0; i < 3; ++i) {
+    // @ts-expect-error TODO(tsd-jsdoc): Requires index signature support.
+    const temp = matrix[Matrix3.getElementIndex(colVal[i], rowVal[i])];
+    norm += 2.0 * temp * temp;
+  }
+
+  return Math.sqrt(norm);
+}
 
 /**
- * Creates a string representing this Matrix with each row being
- * on a separate line and in the format '(column0, column1, column2)'.
+ * This routine was created based upon Matrix Computations, 3rd ed., by Golub and Van Loan,
+ * section 8.4.2 The 2by2 Symmetric Schur Decomposition.
+ *
+ * The routine takes a matrix, which is assumed to be symmetric, and
+ * finds the largest off-diagonal term, and then creates
+ * a matrix (result) which can be used to help reduce it
  *
- * @returns {string} A string representing the provided Matrix with each row being on a separate line and in the format '(column0, column1, column2)'.
+ * @param {Matrix3} matrix
+ * @param {Matrix3} result
+ * @ignore
  */
-Matrix3.prototype.toString = function () {
-  return (
-    `(${this[0]}, ${this[3]}, ${this[6]})\n` +
-    `(${this[1]}, ${this[4]}, ${this[7]})\n` +
-    `(${this[2]}, ${this[5]}, ${this[8]})`
-  );
-};
+function shurDecomposition(matrix, result) {
+  const tolerance = CesiumMath.EPSILON15;
+
+  let maxDiagonal = 0.0;
+  let rotAxis = 1;
+
+  // find pivot (rotAxis) based on max diagonal of matrix
+  for (let i = 0; i < 3; ++i) {
+    const temp = Math.abs(
+      // @ts-expect-error TODO(tsd-jsdoc): Requires index signature support.
+      matrix[Matrix3.getElementIndex(colVal[i], rowVal[i])],
+    );
+    if (temp > maxDiagonal) {
+      rotAxis = i;
+      maxDiagonal = temp;
+    }
+  }
+
+  let c = 1.0;
+  let s = 0.0;
+
+  const p = rowVal[rotAxis];
+  const q = colVal[rotAxis];
+
+  // @ts-expect-error TODO(tsd-jsdoc): Requires index signature support.
+  if (Math.abs(matrix[Matrix3.getElementIndex(q, p)]) > tolerance) {
+    // @ts-expect-error TODO(tsd-jsdoc): Requires index signature support.
+    const qq = matrix[Matrix3.getElementIndex(q, q)];
+    // @ts-expect-error TODO(tsd-jsdoc): Requires index signature support.
+    const pp = matrix[Matrix3.getElementIndex(p, p)];
+    // @ts-expect-error TODO(tsd-jsdoc): Requires index signature support.
+    const qp = matrix[Matrix3.getElementIndex(q, p)];
+
+    const tau = (qq - pp) / 2.0 / qp;
+    let t;
+
+    if (tau < 0.0) {
+      t = -1.0 / (-tau + Math.sqrt(1.0 + tau * tau));
+    } else {
+      t = 1.0 / (tau + Math.sqrt(1.0 + tau * tau));
+    }
+
+    c = 1.0 / Math.sqrt(1.0 + t * t);
+    s = t * c;
+  }
+
+  result = Matrix3.clone(Matrix3.IDENTITY, result);
+
+  // @ts-expect-error TODO(tsd-jsdoc): Requires index signature support.
+  result[Matrix3.getElementIndex(p, p)] = result[
+    Matrix3.getElementIndex(q, q)
+  ] = c;
+  // @ts-expect-error TODO(tsd-jsdoc): Requires index signature support.
+  result[Matrix3.getElementIndex(q, p)] = s;
+  // @ts-expect-error TODO(tsd-jsdoc): Requires index signature support.
+  result[Matrix3.getElementIndex(p, q)] = -s;
+
+  return result;
+}
+
 export default Matrix3;