@lakuna/umath 1.3.3 → 1.3.5

package/src/linalg/Matrix3.ts

@@ -1,40 +1,62 @@
-import type { Matrix4Like } from "#Matrix4";
-import type { QuaternionLike } from "#Quaternion";
-import type SquareMatrix from "#SquareMatrix";
-import type { Vector2Like } from "#Vector2";
-import epsilon from "#epsilon";
-import SingularMatrixError from "#SingularMatrixError";
+import type { Matrix4Like } from "./Matrix4.js";
+import type { MatrixLike } from "./Matrix.js";
+import type { QuaternionLike } from "./Quaternion.js";
+import SingularMatrixError from "../utility/SingularMatrixError.js";
+import type SquareMatrix from "./SquareMatrix.js";
+import type { Vector2Like } from "./Vector2.js";
+import epsilon from "../utility/epsilon.js";
 
 /**
  * Numbers arranged into three columns and three rows.
  * @see [Matrix](https://en.wikipedia.org/wiki/Matrix_(mathematics))
  */
-export type Matrix3Like =
-	| Matrix3
-	| [number, number, number, number, number, number, number, number, number];
+export interface Matrix3Like extends MatrixLike {
+	/** The value in the first column and first row. */
+	0: number;
+
+	/** The value in the first column and second row. */
+	1: number;
+
+	/** The value in the first column and third row. */
+	2: number;
+
+	/** The value in the second column and first row. */
+	3: number;
+
+	/** The value in the second column and second row. */
+	4: number;
+
+	/** The value in the second column and third row. */
+	5: number;
+
+	/** The value in the third column and first row. */
+	6: number;
+
+	/** The value in the third column and second row. */
+	7: number;
+
+	/** The value in the third column and third row. */
+	8: number;
+}
 
 /**
  * Creates a 3x3 matrix-like object.
  * @returns A 3x3 matrix-like object.
  */
-export function createMatrix3Like(): Matrix3Like {
-	return new Float32Array(9) as Matrix3Like;
+export function createMatrix3Like() {
+	return new Float32Array(9) as unknown as Matrix3Like;
 }
 
 /**
- * Creates a transformation matrix that represents a rotation by the given
- * angle around the Z-axis.
- * @param radians The angle in radians.
- * @param out The matrix to store the result in.
+ * Create a transformation matrix that represents a rotation by the given angle around the Z-axis.
+ * @param r - The angle in radians.
+ * @param out - The matrix to store the result in.
  * @returns The transformation matrix.
  * @see [Rotation matrix](https://en.wikipedia.org/wiki/Rotation_matrix)
  */
-export function fromRotation<T extends Matrix3Like>(
-	radians: number,
-	out: T
-): T {
-	const s: number = Math.sin(radians);
-	const c: number = Math.cos(radians);
+export function fromRotation<T extends Matrix3Like>(r: number, out: T) {
+	const s = Math.sin(r);
+	const c = Math.cos(r);
 
 	out[0] = c;
 	out[1] = s;
@@ -49,17 +71,16 @@ export function fromRotation<T extends Matrix3Like>(
 }
 
 /**
- * Creates a transformation matrix that represents a scaling by the given
- * vector.
- * @param vector The scaling vector.
- * @param out The matrix to store the result in.
+ * Create a transformation matrix that represents a scaling by the given vector.
+ * @param vector - The scaling vector.
+ * @param out - The matrix to store the result in.
  * @returns The transformation matrix.
  * @see [Transformation matrix](https://en.wikipedia.org/wiki/Transformation_matrix)
  */
 export function fromScaling<T extends Matrix3Like>(
 	vector: Vector2Like,
 	out: T
-): T {
+) {
 	out[0] = vector[0];
 	out[1] = 0;
 	out[2] = 0;
@@ -73,17 +94,16 @@ export function fromScaling<T extends Matrix3Like>(
 }
 
 /**
- * Creates a transformation matrix that represents a translation by the given
- * vector.
- * @param vector The translation vector.
- * @param out The matrix to store the result in.
+ * Create a transformation matrix that represents a translation by the given vector.
+ * @param vector - The translation vector.
+ * @param out - The matrix to store the result in.
  * @returns The transformation matrix.
  * @see [Transformation matrix](https://en.wikipedia.org/wiki/Transformation_matrix)
  */
 export function fromTranslation<T extends Matrix3Like>(
 	vector: Vector2Like,
 	out: T
-): T {
+) {
 	out[0] = 1;
 	out[1] = 0;
 	out[2] = 0;
@@ -97,10 +117,9 @@ export function fromTranslation<T extends Matrix3Like>(
 }
 
 /**
- * Creates a transformation matrix that represents a rotation by the given
- * quaternion.
- * @param quaternion The quaternion.
- * @param out The matrix to store the result in.
+ * Create a transformation matrix that represents a rotation by the given quaternion.
+ * @param quaternion - The quaternion.
+ * @param out - The matrix to store the result in.
  * @returns The transformation matrix.
  * @see [Quaternion](https://en.wikipedia.org/wiki/Quaternion)
  * @see [Rotation matrix](https://en.wikipedia.org/wiki/Rotation_matrix)
@@ -108,24 +127,24 @@ export function fromTranslation<T extends Matrix3Like>(
 export function fromQuaternion<T extends Matrix3Like>(
 	quaternion: QuaternionLike,
 	out: T
-): T {
-	const x: number = quaternion[0];
-	const y: number = quaternion[1];
-	const z: number = quaternion[2];
-	const w: number = quaternion[3];
-
-	const x2: number = x + x;
-	const y2: number = y + y;
-	const z2: number = z + z;
-	const xx: number = x * x2;
-	const yx: number = y * x2;
-	const yy: number = y * y2;
-	const zx: number = z * x2;
-	const zy: number = z * y2;
-	const zz: number = z * z2;
-	const wx: number = w * x2;
-	const wy: number = w * y2;
-	const wz: number = w * z2;
+) {
+	const x = quaternion[0];
+	const y = quaternion[1];
+	const z = quaternion[2];
+	const w = quaternion[3];
+
+	const x2 = x + x;
+	const y2 = y + y;
+	const z2 = z + z;
+	const xx = x * x2;
+	const yx = y * x2;
+	const yy = y * y2;
+	const zx = z * x2;
+	const zy = z * y2;
+	const zz = z * z2;
+	const wx = w * x2;
+	const wy = w * y2;
+	const wz = w * z2;
 
 	out[0] = 1 - yy - zz;
 	out[3] = yx - wz;
@@ -140,71 +159,70 @@ export function fromQuaternion<T extends Matrix3Like>(
 }
 
 /**
- * Calculates a three-by-three normal (inverse transpose) matrix from a
- * four-by-four matrix.
- * @param matrix The four-by-four matrix.
- * @param out The matrix to store the result in.
+ * Calculate a three-by-three normal (inverse transpose) matrix from a four-by-four matrix.
+ * @param matrix - The four-by-four matrix.
+ * @param out - The matrix to store the result in.
  * @returns The normal matrix.
  * @see [Normal matrix](https://en.wikipedia.org/wiki/Normal_matrix)
  */
 export function normalFromMatrix4<T extends Matrix3Like>(
 	matrix: Matrix4Like,
 	out: T
-): T {
-	const a00: number = matrix[0];
-	const a01: number = matrix[1];
-	const a02: number = matrix[2];
-	const a03: number = matrix[3];
-	const a10: number = matrix[4];
-	const a11: number = matrix[5];
-	const a12: number = matrix[6];
-	const a13: number = matrix[7];
-	const a20: number = matrix[8];
-	const a21: number = matrix[9];
-	const a22: number = matrix[10];
-	const a23: number = matrix[11];
-	const a30: number = matrix[12];
-	const a31: number = matrix[13];
-	const a32: number = matrix[14];
-	const a33: number = matrix[15];
-
-	const b00: number = a00 * a11 - a01 * a10;
-	const b01: number = a00 * a12 - a02 * a10;
-	const b02: number = a00 * a13 - a03 * a10;
-	const b03: number = a01 * a12 - a02 * a11;
-	const b04: number = a01 * a13 - a03 * a11;
-	const b05: number = a02 * a13 - a03 * a12;
-	const b06: number = a20 * a31 - a21 * a30;
-	const b07: number = a20 * a32 - a22 * a30;
-	const b08: number = a20 * a33 - a23 * a30;
-	const b09: number = a21 * a32 - a22 * a31;
-	const b10: number = a21 * a33 - a23 * a31;
-	const b11: number = a22 * a33 - a23 * a32;
-
-	let determinant: number =
+) {
+	const a00 = matrix[0];
+	const a01 = matrix[1];
+	const a02 = matrix[2];
+	const a03 = matrix[3];
+	const a10 = matrix[4];
+	const a11 = matrix[5];
+	const a12 = matrix[6];
+	const a13 = matrix[7];
+	const a20 = matrix[8];
+	const a21 = matrix[9];
+	const a22 = matrix[10];
+	const a23 = matrix[11];
+	const a30 = matrix[12];
+	const a31 = matrix[13];
+	const a32 = matrix[14];
+	const a33 = matrix[15];
+
+	const b00 = a00 * a11 - a01 * a10;
+	const b01 = a00 * a12 - a02 * a10;
+	const b02 = a00 * a13 - a03 * a10;
+	const b03 = a01 * a12 - a02 * a11;
+	const b04 = a01 * a13 - a03 * a11;
+	const b05 = a02 * a13 - a03 * a12;
+	const b06 = a20 * a31 - a21 * a30;
+	const b07 = a20 * a32 - a22 * a30;
+	const b08 = a20 * a33 - a23 * a30;
+	const b09 = a21 * a32 - a22 * a31;
+	const b10 = a21 * a33 - a23 * a31;
+	const b11 = a22 * a33 - a23 * a32;
+
+	let det =
 		b00 * b11 - b01 * b10 + b02 * b09 + b03 * b08 - b04 * b07 + b05 * b06;
-	if (!determinant) {
+	if (!det) {
 		throw new SingularMatrixError();
 	}
-	determinant = 1 / determinant;
-
-	out[0] = (a11 * b11 - a12 * b10 + a13 * b09) * determinant;
-	out[1] = (a12 * b08 - a10 * b11 - a13 * b07) * determinant;
-	out[2] = (a10 * b10 - a11 * b08 + a13 * b06) * determinant;
-	out[3] = (a02 * b10 - a01 * b11 - a03 * b09) * determinant;
-	out[4] = (a00 * b11 - a02 * b08 + a03 * b07) * determinant;
-	out[5] = (a01 * b08 - a00 * b10 - a03 * b06) * determinant;
-	out[6] = (a31 * b05 - a32 * b04 + a33 * b03) * determinant;
-	out[7] = (a32 * b02 - a30 * b05 - a33 * b01) * determinant;
-	out[8] = (a30 * b04 - a31 * b02 + a33 * b00) * determinant;
+	det = 1 / det;
+
+	out[0] = (a11 * b11 - a12 * b10 + a13 * b09) * det;
+	out[1] = (a12 * b08 - a10 * b11 - a13 * b07) * det;
+	out[2] = (a10 * b10 - a11 * b08 + a13 * b06) * det;
+	out[3] = (a02 * b10 - a01 * b11 - a03 * b09) * det;
+	out[4] = (a00 * b11 - a02 * b08 + a03 * b07) * det;
+	out[5] = (a01 * b08 - a00 * b10 - a03 * b06) * det;
+	out[6] = (a31 * b05 - a32 * b04 + a33 * b03) * det;
+	out[7] = (a32 * b02 - a30 * b05 - a33 * b01) * det;
+	out[8] = (a30 * b04 - a31 * b02 + a33 * b00) * det;
 	return out;
 }
 
 /**
- * Generates a two-dimensional projection matrix with the given bounds.
- * @param width The width of the projection.
- * @param height The height of the projection.
- * @param out The matrix to store the result in.
+ * Generate a two-dimensional projection matrix with the given bounds.
+ * @param width - The width of the projection.
+ * @param height - The height of the projection.
+ * @param out - The matrix to store the result in.
  * @returns The projection matrix.
  * @see [Camera matrix](https://en.wikipedia.org/wiki/Camera_matrix)
  * @see [3D projection](https://en.wikipedia.org/wiki/3D_projection)
@@ -213,7 +231,7 @@ export function projection<T extends Matrix3Like>(
 	width: number,
 	height: number,
 	out: T
-): T {
+) {
 	out[0] = 2 / width;
 	out[1] = 0;
 	out[2] = 0;
@@ -227,16 +245,15 @@ export function projection<T extends Matrix3Like>(
 }
 
 /**
- * Creates a three-by-three matrix from the upper-left corner of a four-by-four
- * matrix.
- * @param matrix The four-by-four matrix.
- * @param out The matrix to store the result in.
+ * Create a three-by-three matrix from the upper-left corner of a four-by-four matrix.
+ * @param matrix - The four-by-four matrix.
+ * @param out - The matrix to store the result in.
  * @returns The three-by-three matrix.
  */
 export function fromMatrix4<T extends Matrix3Like>(
 	matrix: Matrix4Like,
 	out: T
-): T {
+) {
 	out[0] = matrix[0];
 	out[1] = matrix[1];
 	out[2] = matrix[2];
@@ -250,17 +267,17 @@ export function fromMatrix4<T extends Matrix3Like>(
 }
 
 /**
- * Creates a two-by-two matrix with the given values.
- * @param c0r0 The value in the first column and first row.
- * @param c0r1 The value in the first column and second row.
- * @param c0r2 The value in the first column and third row.
- * @param c1r0 The value in the second column and first row.
- * @param c1r1 The value in the second column and second row.
- * @param c1r2 The value in the second column and third row.
- * @param c2r0 The value in the third column and first row.
- * @param c2r1 The value in the third column and second row.
- * @param c2r2 The value in the third column and third row.
- * @param out The matrix to store the result in.
+ * Create a two-by-two matrix with the given values.
+ * @param c0r0 - The value in the first column and first row.
+ * @param c0r1 - The value in the first column and second row.
+ * @param c0r2 - The value in the first column and third row.
+ * @param c1r0 - The value in the second column and first row.
+ * @param c1r1 - The value in the second column and second row.
+ * @param c1r2 - The value in the second column and third row.
+ * @param c2r0 - The value in the third column and first row.
+ * @param c2r1 - The value in the third column and second row.
+ * @param c2r2 - The value in the third column and third row.
+ * @param out - The matrix to store the result in.
  * @returns The matrix.
  */
 export function fromValues<T extends Matrix3Like>(
@@ -274,7 +291,7 @@ export function fromValues<T extends Matrix3Like>(
 	c2r1: number,
 	c2r2: number,
 	out: T
-): T {
+) {
 	out[0] = c0r0;
 	out[1] = c0r1;
 	out[2] = c0r2;
@@ -288,31 +305,31 @@ export function fromValues<T extends Matrix3Like>(
 }
 
 /**
- * Determines whether two matrices are roughly equivalent.
- * @param a The first matrix.
- * @param b The second matrix.
- * @returns Whether the matrices are equivalent.
+ * Determine whether or not two matrices are roughly equivalent.
+ * @param a - The first matrix.
+ * @param b - The second matrix.
+ * @returns Whether or not the matrices are equivalent.
  */
-export function equals(a: Matrix3Like, b: Matrix3Like): boolean {
-	const a0: number = a[0];
-	const a1: number = a[1];
-	const a2: number = a[2];
-	const a3: number = a[3];
-	const a4: number = a[4];
-	const a5: number = a[5];
-	const a6: number = a[6];
-	const a7: number = a[7];
-	const a8: number = a[8];
-
-	const b0: number = b[0];
-	const b1: number = b[1];
-	const b2: number = b[2];
-	const b3: number = b[3];
-	const b4: number = b[4];
-	const b5: number = b[5];
-	const b6: number = b[6];
-	const b7: number = b[7];
-	const b8: number = b[8];
+export function equals(a: Matrix3Like, b: Matrix3Like) {
+	const a0 = a[0];
+	const a1 = a[1];
+	const a2 = a[2];
+	const a3 = a[3];
+	const a4 = a[4];
+	const a5 = a[5];
+	const a6 = a[6];
+	const a7 = a[7];
+	const a8 = a[8];
+
+	const b0 = b[0];
+	const b1 = b[1];
+	const b2 = b[2];
+	const b3 = b[3];
+	const b4 = b[4];
+	const b5 = b[5];
+	const b6 = b[6];
+	const b7 = b[7];
+	const b8 = b[8];
 
 	return (
 		Math.abs(a0 - b0) <= epsilon * Math.max(1, Math.abs(a0), Math.abs(b0)) &&
@@ -328,30 +345,30 @@ export function equals(a: Matrix3Like, b: Matrix3Like): boolean {
 }
 
 /**
- * Determines whether two matrices are exactly equivalent.
- * @param a The first matrix.
- * @param b The second matrix.
- * @returns Whether the matrices are equivalent.
+ * Determine whether or not two matrices are exactly equivalent.
+ * @param a - The first matrix.
+ * @param b - The second matrix.
+ * @returns Whether or not the matrices are equivalent.
  */
-export function exactEquals(a: Matrix3Like, b: Matrix3Like): boolean {
+export function exactEquals(a: Matrix3Like, b: Matrix3Like) {
 	return (
-		a[0] == b[0] &&
-		a[1] == b[1] &&
-		a[2] == b[2] &&
-		a[3] == b[3] &&
-		a[4] == b[4] &&
-		a[5] == b[5] &&
-		a[6] == b[6] &&
-		a[7] == b[7] &&
-		a[8] == b[8]
+		a[0] === b[0] &&
+		a[1] === b[1] &&
+		a[2] === b[2] &&
+		a[3] === b[3] &&
+		a[4] === b[4] &&
+		a[5] === b[5] &&
+		a[6] === b[6] &&
+		a[7] === b[7] &&
+		a[8] === b[8]
 	);
 }
 
 /**
- * Adds two matrices.
- * @param a The augend.
- * @param b The addend.
- * @param out The matrix to store the result in.
+ * Add two matrices.
+ * @param a - The augend.
+ * @param b - The addend.
+ * @param out - The matrix to store the result in.
  * @returns The sum.
  * @see [Matrix addition](https://en.wikipedia.org/wiki/Matrix_addition)
  */
@@ -359,7 +376,7 @@ export function add<T extends Matrix3Like>(
 	a: Matrix3Like,
 	b: Matrix3Like,
 	out: T
-): T {
+) {
 	out[0] = a[0] + b[0];
 	out[1] = a[1] + b[1];
 	out[2] = a[2] + b[2];
@@ -373,22 +390,22 @@ export function add<T extends Matrix3Like>(
 }
 
 /**
- * Calculates the adjugate of a matrix.
- * @param matrix The matrix.
- * @param out The matrix to store the result in.
+ * Calculate the adjugate of a matrix.
+ * @param matrix - The matrix.
+ * @param out - The matrix to store the result in.
  * @returns The adjugate of the matrix.
  * @see [Adjugate matrix](https://en.wikipedia.org/wiki/Adjugate_matrix)
  */
-export function adjoint<T extends Matrix3Like>(matrix: Matrix3Like, out: T): T {
-	const a00: number = matrix[0];
-	const a01: number = matrix[1];
-	const a02: number = matrix[2];
-	const a10: number = matrix[3];
-	const a11: number = matrix[4];
-	const a12: number = matrix[5];
-	const a20: number = matrix[6];
-	const a21: number = matrix[7];
-	const a22: number = matrix[8];
+export function adjoint<T extends Matrix3Like>(matrix: Matrix3Like, out: T) {
+	const a00 = matrix[0];
+	const a01 = matrix[1];
+	const a02 = matrix[2];
+	const a10 = matrix[3];
+	const a11 = matrix[4];
+	const a12 = matrix[5];
+	const a20 = matrix[6];
+	const a21 = matrix[7];
+	const a22 = matrix[8];
 
 	out[0] = a11 * a22 - a12 * a21;
 	out[1] = a02 * a21 - a01 * a22;
@@ -403,12 +420,12 @@ export function adjoint<T extends Matrix3Like>(matrix: Matrix3Like, out: T): T {
 }
 
 /**
- * Copies the values of one matrix into another.
- * @param matrix The matrix to copy.
- * @param out The matrix to store the result in.
+ * Copy the values of one matrix into another.
+ * @param matrix - The matrix to copy.
+ * @param out - The matrix to store the result in.
  * @returns This matrix.
  */
-export function copy<T extends Matrix3Like>(matrix: Matrix3Like, out: T): T {
+export function copy<T extends Matrix3Like>(matrix: Matrix3Like, out: T) {
 	out[0] = matrix[0];
 	out[1] = matrix[1];
 	out[2] = matrix[2];
@@ -422,30 +439,30 @@ export function copy<T extends Matrix3Like>(matrix: Matrix3Like, out: T): T {
 }
 
 /**
- * Calculates the Frobenius norm of a matrix.
- * @param matrix The matrix.
+ * Calculate the Frobenius norm of a matrix.
+ * @param matrix - The matrix.
  * @returns The Frobenius norm.
  * @see [Matrix norm](https://en.wikipedia.org/wiki/Matrix_norm)
  */
-export function frob(matrix: Matrix3Like): number {
+export function frob(matrix: Matrix3Like) {
 	return Math.hypot(
-		matrix[0] as number,
-		matrix[1] as number,
-		matrix[2] as number,
-		matrix[3] as number,
-		matrix[4] as number,
-		matrix[5] as number,
-		matrix[6] as number,
-		matrix[7] as number,
-		matrix[8] as number
+		matrix[0],
+		matrix[1],
+		matrix[2],
+		matrix[3],
+		matrix[4],
+		matrix[5],
+		matrix[6],
+		matrix[7],
+		matrix[8]
 	);
 }
 
 /**
- * Multiplies two matrices.
- * @param a The multiplicand.
- * @param b The multiplier.
- * @param out The matrix to store the result in.
+ * Multiply two matrices.
+ * @param a - The multiplicand.
+ * @param b - The multiplier.
+ * @param out - The matrix to store the result in.
  * @returns The product of the matrices.
  * @see [Matrix multiplication](https://en.wikipedia.org/wiki/Matrix_multiplication)
  */
@@ -453,26 +470,26 @@ export function multiply<T extends Matrix3Like>(
 	a: Matrix3Like,
 	b: Matrix3Like,
 	out: T
-): T {
-	const a00: number = a[0];
-	const a01: number = a[1];
-	const a02: number = a[2];
-	const a10: number = a[3];
-	const a11: number = a[4];
-	const a12: number = a[5];
-	const a20: number = a[6];
-	const a21: number = a[7];
-	const a22: number = a[8];
-
-	const b00: number = b[0];
-	const b01: number = b[1];
-	const b02: number = b[2];
-	const b10: number = b[3];
-	const b11: number = b[4];
-	const b12: number = b[5];
-	const b20: number = b[6];
-	const b21: number = b[7];
-	const b22: number = b[8];
+) {
+	const a00 = a[0];
+	const a01 = a[1];
+	const a02 = a[2];
+	const a10 = a[3];
+	const a11 = a[4];
+	const a12 = a[5];
+	const a20 = a[6];
+	const a21 = a[7];
+	const a22 = a[8];
+
+	const b00 = b[0];
+	const b01 = b[1];
+	const b02 = b[2];
+	const b10 = b[3];
+	const b11 = b[4];
+	const b12 = b[5];
+	const b20 = b[6];
+	const b21 = b[7];
+	const b22 = b[8];
 
 	out[0] = b00 * a00 + b01 * a10 + b02 * a20;
 	out[1] = b00 * a01 + b01 * a11 + b02 * a21;
@@ -487,10 +504,10 @@ export function multiply<T extends Matrix3Like>(
 }
 
 /**
- * Multiplies a matrix by a scalar value.
- * @param matrix The multiplicand.
- * @param scalar The multiplier.
- * @param out The matrix to store the result in.
+ * Multiply a matrix by a scalar value.
+ * @param matrix - The multiplicand.
+ * @param scalar - The multiplier.
+ * @param out - The matrix to store the result in.
  * @returns The product.
  * @see [Matrix multiplication](https://en.wikipedia.org/wiki/Matrix_multiplication)
  */
@@ -498,7 +515,7 @@ export function multiplyScalar<T extends Matrix3Like>(
 	matrix: Matrix3Like,
 	scalar: number,
 	out: T
-): T {
+) {
 	out[0] = matrix[0] * scalar;
 	out[1] = matrix[1] * scalar;
 	out[2] = matrix[2] * scalar;
@@ -512,11 +529,11 @@ export function multiplyScalar<T extends Matrix3Like>(
 }
 
 /**
- * Adds a matrix to another after multiplying the other by a scalar.
- * @param a The augend.
- * @param b The addend.
- * @param scalar The multiplier.
- * @param out The matrix to store the result in.
+ * Add a matrix to another after multiplying the other by a scalar.
+ * @param a - The augend.
+ * @param b - The addend.
+ * @param scalar - The multiplier.
+ * @param out - The matrix to store the result in.
  * @returns The sum.
  * @see [Matrix addition](https://en.wikipedia.org/wiki/Matrix_addition)
  * @see [Matrix multiplication](https://en.wikipedia.org/wiki/Matrix_multiplication)
@@ -526,7 +543,7 @@ export function multiplyScalarAndAdd<T extends Matrix3Like>(
 	b: Matrix3Like,
 	scalar: number,
 	out: T
-): T {
+) {
 	out[0] = a[0] + b[0] * scalar;
 	out[1] = a[1] + b[1] * scalar;
 	out[2] = a[2] + b[2] * scalar;
@@ -540,10 +557,10 @@ export function multiplyScalarAndAdd<T extends Matrix3Like>(
 }
 
 /**
- * Subtracts two matrices.
- * @param a The minuend.
- * @param b The subtrahend.
- * @param out The matrix to store the result in.
+ * Subtract two matrices.
+ * @param a - The minuend.
+ * @param b - The subtrahend.
+ * @param out - The matrix to store the result in.
  * @returns The difference.
  * @see [Matrix addition](https://en.wikipedia.org/wiki/Matrix_addition)
  */
@@ -551,7 +568,7 @@ export function subtract<T extends Matrix3Like>(
 	a: Matrix3Like,
 	b: Matrix3Like,
 	out: T
-): T {
+) {
 	out[0] = a[0] - b[0];
 	out[1] = a[1] - b[1];
 	out[2] = a[2] - b[2];
@@ -565,20 +582,17 @@ export function subtract<T extends Matrix3Like>(
 }
 
 /**
- * Transposes a matrix.
- * @param matrix The matrix.
- * @param out The matrix to store the result in.
+ * Transpose a matrix.
+ * @param matrix - The matrix.
+ * @param out - The matrix to store the result in.
  * @returns The transpose of the matrix.
  * @see [Transpose](https://en.wikipedia.org/wiki/Transpose)
  */
-export function transpose<T extends Matrix3Like>(
-	matrix: Matrix3Like,
-	out: T
-): T {
-	if (out == (matrix as unknown as T)) {
-		const a01: number = matrix[1];
-		const a02: number = matrix[2];
-		const a12: number = matrix[5];
+export function transpose<T extends Matrix3Like>(matrix: Matrix3Like, out: T) {
+	if (out === matrix) {
+		const a01 = matrix[1];
+		const a02 = matrix[2];
+		const a12 = matrix[5];
 		out[1] = matrix[3];
 		out[2] = matrix[6];
 		out[3] = a01;
@@ -600,21 +614,21 @@ export function transpose<T extends Matrix3Like>(
 }
 
 /**
- * Calculates the determinant of a matrix.
- * @param matrix The matrix.
+ * Calculate the determinant of a matrix.
+ * @param matrix - The matrix.
  * @returns The determinant.
  * @see [Determinant](https://en.wikipedia.org/wiki/Determinant)
  */
-export function determinant(matrix: Matrix3Like): number {
-	const a00: number = matrix[0];
-	const a01: number = matrix[1];
-	const a02: number = matrix[2];
-	const a10: number = matrix[3];
-	const a11: number = matrix[4];
-	const a12: number = matrix[5];
-	const a20: number = matrix[6];
-	const a21: number = matrix[7];
-	const a22: number = matrix[8];
+export function determinant(matrix: Matrix3Like) {
+	const a00 = matrix[0];
+	const a01 = matrix[1];
+	const a02 = matrix[2];
+	const a10 = matrix[3];
+	const a11 = matrix[4];
+	const a12 = matrix[5];
+	const a20 = matrix[6];
+	const a21 = matrix[7];
+	const a22 = matrix[8];
 
 	return (
 		a00 * (a22 * a11 - a12 * a21) +
@@ -624,12 +638,12 @@ export function determinant(matrix: Matrix3Like): number {
 }
 
 /**
- * Resets a matrix to identity.
- * @param out The matrix to store the result in.
+ * Reset a matrix to identity.
+ * @param out - The matrix to store the result in.
  * @returns The matrix.
  * @see [Identity matrix](https://en.wikipedia.org/wiki/Identity_matrix)
  */
-export function identity<T extends Matrix3Like>(out: T): T {
+export function identity<T extends Matrix3Like>(out: T) {
 	out[0] = 1;
 	out[1] = 0;
 	out[2] = 0;
@@ -643,50 +657,50 @@ export function identity<T extends Matrix3Like>(out: T): T {
 }
 
 /**
- * Inverts a matrix.
- * @param matrix The matrix.
- * @param out The matrix to store the result in.
+ * Invert a matrix.
+ * @param matrix - The matrix.
+ * @param out - The matrix to store the result in.
  * @returns The inverted matrix.
  * @see [Invertible matrix](https://en.wikipedia.org/wiki/Invertible_matrix)
  */
-export function invert<T extends Matrix3Like>(matrix: Matrix3Like, out: T): T {
-	const a00: number = matrix[0];
-	const a01: number = matrix[1];
-	const a02: number = matrix[2];
-	const a10: number = matrix[3];
-	const a11: number = matrix[4];
-	const a12: number = matrix[5];
-	const a20: number = matrix[6];
-	const a21: number = matrix[7];
-	const a22: number = matrix[8];
-
-	const b01: number = a22 * a11 - a12 * a21;
-	const b11: number = -a22 * a10 + a12 * a20;
-	const b21: number = a21 * a10 - a11 * a20;
-
-	let determinant: number = a00 * b01 + a01 * b11 + a02 * b21;
-	if (!determinant) {
+export function invert<T extends Matrix3Like>(matrix: Matrix3Like, out: T) {
+	const a00 = matrix[0];
+	const a01 = matrix[1];
+	const a02 = matrix[2];
+	const a10 = matrix[3];
+	const a11 = matrix[4];
+	const a12 = matrix[5];
+	const a20 = matrix[6];
+	const a21 = matrix[7];
+	const a22 = matrix[8];
+
+	const b01 = a22 * a11 - a12 * a21;
+	const b11 = -a22 * a10 + a12 * a20;
+	const b21 = a21 * a10 - a11 * a20;
+
+	let det = a00 * b01 + a01 * b11 + a02 * b21;
+	if (!det) {
 		throw new SingularMatrixError();
 	}
-	determinant = 1 / determinant;
-
-	out[0] = b01 * determinant;
-	out[1] = (-a22 * a01 + a02 * a21) * determinant;
-	out[2] = (a12 * a01 - a02 * a11) * determinant;
-	out[3] = b11 * determinant;
-	out[4] = (a22 * a00 - a02 * a20) * determinant;
-	out[5] = (-a12 * a00 + a02 * a10) * determinant;
-	out[6] = b21 * determinant;
-	out[7] = (-a21 * a00 + a01 * a20) * determinant;
-	out[8] = (a11 * a00 - a01 * a10) * determinant;
+	det = 1 / det;
+
+	out[0] = b01 * det;
+	out[1] = (-a22 * a01 + a02 * a21) * det;
+	out[2] = (a12 * a01 - a02 * a11) * det;
+	out[3] = b11 * det;
+	out[4] = (a22 * a00 - a02 * a20) * det;
+	out[5] = (-a12 * a00 + a02 * a10) * det;
+	out[6] = b21 * det;
+	out[7] = (-a21 * a00 + a01 * a20) * det;
+	out[8] = (a11 * a00 - a01 * a10) * det;
 	return out;
 }
 
 /**
- * Rotates a matrix by the given angle around the Z-axis.
- * @param matrix The matrix.
- * @param radians The angle in radians.
- * @param out The matrix to store the result in.
+ * Rotate a matrix by the given angle around the Z-axis.
+ * @param matrix - The matrix.
+ * @param radians - The angle in radians.
+ * @param out - The matrix to store the result in.
  * @returns The rotated matrix.
  * @see [Rotation matrix](https://en.wikipedia.org/wiki/Rotation_matrix)
  */
@@ -694,19 +708,19 @@ export function rotate<T extends Matrix3Like>(
 	matrix: Matrix3Like,
 	radians: number,
 	out: T
-): T {
-	const a00: number = matrix[0];
-	const a01: number = matrix[1];
-	const a02: number = matrix[2];
-	const a10: number = matrix[3];
-	const a11: number = matrix[4];
-	const a12: number = matrix[5];
-	const a20: number = matrix[6];
-	const a21: number = matrix[7];
-	const a22: number = matrix[8];
-
-	const s: number = Math.sin(radians);
-	const c: number = Math.cos(radians);
+) {
+	const a00 = matrix[0];
+	const a01 = matrix[1];
+	const a02 = matrix[2];
+	const a10 = matrix[3];
+	const a11 = matrix[4];
+	const a12 = matrix[5];
+	const a20 = matrix[6];
+	const a21 = matrix[7];
+	const a22 = matrix[8];
+
+	const s = Math.sin(radians);
+	const c = Math.cos(radians);
 
 	out[0] = c * a00 + s * a10;
 	out[1] = c * a01 + s * a11;
@@ -721,10 +735,10 @@ export function rotate<T extends Matrix3Like>(
 }
 
 /**
- * Scales a matrix by the given vector.
- * @param matrix The matrix.
- * @param vector The scaling vector.
- * @param out The matrix to store the result in.
+ * Scale a matrix by the given vector.
+ * @param matrix - The matrix.
+ * @param vector - The scaling vector.
+ * @param out - The matrix to store the result in.
  * @returns The scaled matrix.
  * @see [Transformation matrix](https://en.wikipedia.org/wiki/Transformation_matrix)
  */
@@ -732,9 +746,9 @@ export function scale<T extends Matrix3Like>(
 	matrix: Matrix3Like,
 	vector: Vector2Like,
 	out: T
-): T {
-	const x: number = vector[0];
-	const y: number = vector[1];
+) {
+	const x = vector[0];
+	const y = vector[1];
 
 	out[0] = matrix[0] * x;
 	out[1] = matrix[1] * x;
@@ -749,10 +763,10 @@ export function scale<T extends Matrix3Like>(
 }
 
 /**
- * Translates a matrix by the given vector.
- * @param matrix The matrix.
- * @param vector The translation vector.
- * @param out The matrix to store the result in.
+ * Translate a matrix by the given vector.
+ * @param matrix - The matrix.
+ * @param vector - The translation vector.
+ * @param out - The matrix to store the result in.
  * @returns The translated matrix.
  * @see [Transformation matrix](https://en.wikipedia.org/wiki/Transformation_matrix)
  */
@@ -760,19 +774,19 @@ export function translate<T extends Matrix3Like>(
 	matrix: Matrix3Like,
 	vector: Vector2Like,
 	out: T
-): T {
-	const a00: number = matrix[0];
-	const a01: number = matrix[1];
-	const a02: number = matrix[2];
-	const a10: number = matrix[3];
-	const a11: number = matrix[4];
-	const a12: number = matrix[5];
-	const a20: number = matrix[6];
-	const a21: number = matrix[7];
-	const a22: number = matrix[8];
-
-	const x: number = vector[0];
-	const y: number = vector[1];
+) {
+	const a00 = matrix[0];
+	const a01 = matrix[1];
+	const a02 = matrix[2];
+	const a10 = matrix[3];
+	const a11 = matrix[4];
+	const a12 = matrix[5];
+	const a20 = matrix[6];
+	const a21 = matrix[7];
+	const a22 = matrix[8];
+
+	const x = vector[0];
+	const y = vector[1];
 
 	out[0] = a00;
 	out[1] = a01;
@@ -790,166 +804,86 @@ export function translate<T extends Matrix3Like>(
  * A three-by-three matrix.
  * @see [Matrix](https://en.wikipedia.org/wiki/Matrix_(mathematics))
  */
-export default class Matrix3 extends Float32Array implements SquareMatrix {
+export default class Matrix3
+	extends Float32Array
+	implements SquareMatrix, Matrix3Like
+{
 	/**
-	 * Creates a transformation matrix that represents a rotation by the given
-	 * angle around the Z-axis.
-	 * @param radians The angle in radians.
+	 * Create a transformation matrix that represents a rotation by the given angle around the Z-axis.
+	 * @param r - The angle in radians.
+	 * @param out - The matrix to store the result in.
 	 * @returns The transformation matrix.
 	 * @see [Rotation matrix](https://en.wikipedia.org/wiki/Rotation_matrix)
 	 */
-	public static fromRotation(radians: number): Matrix3;
-
-	/**
-	 * Creates a transformation matrix that represents a rotation by the given
-	 * angle around the Z-axis.
-	 * @param radians The angle in radians.
-	 * @param out The matrix to store the result in.
-	 * @returns The transformation matrix.
-	 * @see [Rotation matrix](https://en.wikipedia.org/wiki/Rotation_matrix)
-	 */
-	public static fromRotation<T extends Matrix3Like>(radians: number, out: T): T;
-
 	public static fromRotation<T extends Matrix3Like>(
-		radians: number,
-		out: T = new Matrix3() as T
-	): T {
-		return fromRotation(radians, out);
+		r: number,
+		out = new Matrix3() as unknown as T
+	) {
+		return fromRotation(r, out);
 	}
 
 	/**
-	 * Creates a transformation matrix that represents a scaling by the given
-	 * vector.
-	 * @param vector The scaling vector.
-	 * @returns The transformation matrix.
-	 * @see [Transformation matrix](https://en.wikipedia.org/wiki/Transformation_matrix)
-	 */
-	public static fromScaling(vector: Vector2Like): Matrix3;
-
-	/**
-	 * Creates a transformation matrix that represents a scaling by the given
-	 * vector.
-	 * @param vector The scaling vector.
-	 * @param out The matrix to store the result in.
+	 * Create a transformation matrix that represents a scaling by the given vector.
+	 * @param vector - The scaling vector.
+	 * @param out - The matrix to store the result in.
 	 * @returns The transformation matrix.
 	 * @see [Transformation matrix](https://en.wikipedia.org/wiki/Transformation_matrix)
 	 */
 	public static fromScaling<T extends Matrix3Like>(
 		vector: Vector2Like,
-		out: T
-	): T;
-
-	public static fromScaling<T extends Matrix3Like>(
-		vector: Vector2Like,
-		out: T = new Matrix3() as T
-	): T {
+		out = new Matrix3() as unknown as T
+	) {
 		return fromScaling(vector, out);
 	}
 
 	/**
-	 * Creates a transformation matrix that represents a translation by the
-	 * given vector.
-	 * @param vector The translation vector.
+	 * Create a transformation matrix that represents a translation by the given vector.
+	 * @param vector - The translation vector.
+	 * @param out - The matrix to store the result in.
 	 * @returns The transformation matrix.
 	 * @see [Transformation matrix](https://en.wikipedia.org/wiki/Transformation_matrix)
 	 */
-	public static fromTranslation(vector: Vector2Like): Matrix3;
-
-	/**
-	 * Creates a transformation matrix that represents a translation by the
-	 * given vector.
-	 * @param vector The translation vector.
-	 * @param out The matrix to store the result in.
-	 * @returns The transformation matrix.
-	 * @see [Transformation matrix](https://en.wikipedia.org/wiki/Transformation_matrix)
-	 */
-	public static fromTranslation<T extends Matrix3Like>(
-		vector: Vector2Like,
-		out: T
-	): T;
-
 	public static fromTranslation<T extends Matrix3Like>(
 		vector: Vector2Like,
-		out: T = new Matrix3() as T
-	): T {
+		out = new Matrix3() as unknown as T
+	) {
 		return fromTranslation(vector, out);
 	}
 
 	/**
-	 * Creates a transformation matrix that represents a rotation by the given
-	 * quaternion.
-	 * @param quaternion The quaternion.
+	 * Create a transformation matrix that represents a rotation by the given quaternion.
+	 * @param quaternion - The quaternion.
+	 * @param out - The matrix to store the result in.
 	 * @returns The transformation matrix.
 	 * @see [Quaternion](https://en.wikipedia.org/wiki/Quaternion)
 	 * @see [Rotation matrix](https://en.wikipedia.org/wiki/Rotation_matrix)
 	 */
-	public static fromQuaternion(quaternion: QuaternionLike): Matrix3;
-
-	/**
-	 * Creates a transformation matrix that represents a rotation by the given
-	 * quaternion.
-	 * @param quaternion The quaternion.
-	 * @param out The matrix to store the result in.
-	 * @returns The transformation matrix.
-	 * @see [Quaternion](https://en.wikipedia.org/wiki/Quaternion)
-	 * @see [Rotation matrix](https://en.wikipedia.org/wiki/Rotation_matrix)
-	 */
-	public static fromQuaternion<T extends Matrix3Like>(
-		quaternion: QuaternionLike,
-		out: T
-	): T;
-
 	public static fromQuaternion<T extends Matrix3Like>(
 		quaternion: QuaternionLike,
-		out: T = new Matrix3() as T
-	): T {
+		out = new Matrix3() as unknown as T
+	) {
 		return fromQuaternion(quaternion, out);
 	}
 
 	/**
-	 * Calculates a three-by-three normal (inverse transpose) matrix from a
-	 * four-by-four matrix.
-	 * @param matrix The four-by-four matrix.
-	 * @returns The normal matrix.
-	 * @see [Normal matrix](https://en.wikipedia.org/wiki/Normal_matrix)
-	 */
-	public static normalFromMatrix4(matrix: Matrix4Like): Matrix3;
-
-	/**
-	 * Calculates a three-by-three normal (inverse transpose) matrix from a
-	 * four-by-four matrix.
-	 * @param matrix The four-by-four matrix.
-	 * @param out The matrix to store the result in.
+	 * Calculate a three-by-three normal (inverse transpose) matrix from a four-by-four matrix.
+	 * @param matrix - The four-by-four matrix.
+	 * @param out - The matrix to store the result in.
 	 * @returns The normal matrix.
 	 * @see [Normal matrix](https://en.wikipedia.org/wiki/Normal_matrix)
 	 */
 	public static normalFromMatrix4<T extends Matrix3Like>(
 		matrix: Matrix4Like,
-		out: T
-	): T;
-
-	public static normalFromMatrix4<T extends Matrix3Like>(
-		matrix: Matrix4Like,
-		out: T = new Matrix3() as T
-	): T {
+		out = new Matrix3() as unknown as T
+	) {
 		return normalFromMatrix4(matrix, out);
 	}
 
 	/**
-	 * Generates a two-dimensional projection matrix with the given bounds.
-	 * @param width The width of the projection.
-	 * @param height The height of the projection.
-	 * @returns The projection matrix.
-	 * @see [Camera matrix](https://en.wikipedia.org/wiki/Camera_matrix)
-	 * @see [3D projection](https://en.wikipedia.org/wiki/3D_projection)
-	 */
-	public static projection(width: number, height: number): Matrix3;
-
-	/**
-	 * Generates a two-dimensional projection matrix with the given bounds.
-	 * @param width The width of the projection.
-	 * @param height The height of the projection.
-	 * @param out The matrix to store the result in.
+	 * Generate a two-dimensional projection matrix with the given bounds.
+	 * @param width - The width of the projection.
+	 * @param height - The height of the projection.
+	 * @param out - The matrix to store the result in.
 	 * @returns The projection matrix.
 	 * @see [Camera matrix](https://en.wikipedia.org/wiki/Camera_matrix)
 	 * @see [3D projection](https://en.wikipedia.org/wiki/3D_projection)
@@ -957,81 +891,36 @@ export default class Matrix3 extends Float32Array implements SquareMatrix {
 	public static projection<T extends Matrix3Like>(
 		width: number,
 		height: number,
-		out: T
-	): T;
-
-	public static projection<T extends Matrix3Like>(
-		width: number,
-		height: number,
-		out: T = new Matrix3() as T
-	): T {
+		out = new Matrix3() as unknown as T
+	) {
 		return projection(width, height, out);
 	}
 
 	/**
-	 * Creates a three-by-three matrix from the upper-left corner of a
-	 * four-by-four matrix.
-	 * @param matrix The four-by-four matrix.
-	 * @returns The three-by-three matrix.
-	 */
-	public static fromMatrix4(matrix: Matrix4Like): Matrix3;
-
-	/**
-	 * Creates a three-by-three matrix from the upper-left corner of a
-	 * four-by-four matrix.
-	 * @param matrix The four-by-four matrix.
-	 * @param out The matrix to store the result in.
+	 * Create a three-by-three matrix from the upper-left corner of a four-by-four matrix.
+	 * @param matrix - The four-by-four matrix.
+	 * @param out - The matrix to store the result in.
 	 * @returns The three-by-three matrix.
 	 */
 	public static fromMatrix4<T extends Matrix3Like>(
 		matrix: Matrix4Like,
-		out: T
-	): T;
-
-	public static fromMatrix4<T extends Matrix3Like>(
-		matrix: Matrix4Like,
-		out: T = new Matrix3() as T
-	): T {
+		out = new Matrix3() as unknown as T
+	) {
 		return fromMatrix4(matrix, out);
 	}
 
 	/**
-	 * Creates a two-by-two matrix with the given values.
-	 * @param c0r0 The value in the first column and first row.
-	 * @param c0r1 The value in the first column and second row.
-	 * @param c0r2 The value in the first column and third row.
-	 * @param c1r0 The value in the second column and first row.
-	 * @param c1r1 The value in the second column and second row.
-	 * @param c1r2 The value in the second column and third row.
-	 * @param c2r0 The value in the third column and first row.
-	 * @param c2r1 The value in the third column and second row.
-	 * @param c2r2 The value in the third column and third row.
-	 * @returns The matrix.
-	 */
-	public static fromValues(
-		c0r0: number,
-		c0r1: number,
-		c0r2: number,
-		c1r0: number,
-		c1r1: number,
-		c1r2: number,
-		c2r0: number,
-		c2r1: number,
-		c2r2: number
-	): Matrix3;
-
-	/**
-	 * Creates a two-by-two matrix with the given values.
-	 * @param c0r0 The value in the first column and first row.
-	 * @param c0r1 The value in the first column and second row.
-	 * @param c0r2 The value in the first column and third row.
-	 * @param c1r0 The value in the second column and first row.
-	 * @param c1r1 The value in the second column and second row.
-	 * @param c1r2 The value in the second column and third row.
-	 * @param c2r0 The value in the third column and first row.
-	 * @param c2r1 The value in the third column and second row.
-	 * @param c2r2 The value in the third column and third row.
-	 * @param out The matrix to store the result in.
+	 * Create a two-by-two matrix with the given values.
+	 * @param c0r0 - The value in the first column and first row.
+	 * @param c0r1 - The value in the first column and second row.
+	 * @param c0r2 - The value in the first column and third row.
+	 * @param c1r0 - The value in the second column and first row.
+	 * @param c1r1 - The value in the second column and second row.
+	 * @param c1r2 - The value in the second column and third row.
+	 * @param c2r0 - The value in the third column and first row.
+	 * @param c2r1 - The value in the third column and second row.
+	 * @param c2r2 - The value in the third column and third row.
+	 * @param out - The matrix to store the result in.
 	 * @returns The matrix.
 	 */
 	public static fromValues<T extends Matrix3Like>(
@@ -1044,21 +933,8 @@ export default class Matrix3 extends Float32Array implements SquareMatrix {
 		c2r0: number,
 		c2r1: number,
 		c2r2: number,
-		out: T
-	): T;
-
-	public static fromValues<T extends Matrix3Like>(
-		c0r0: number,
-		c0r1: number,
-		c0r2: number,
-		c1r0: number,
-		c1r1: number,
-		c1r2: number,
-		c2r0: number,
-		c2r1: number,
-		c2r2: number,
-		out: T = new Matrix3() as T
-	): T {
+		out = new Matrix3() as unknown as T
+	) {
 		return fromValues(
 			c0r0,
 			c0r1,
@@ -1074,7 +950,7 @@ export default class Matrix3 extends Float32Array implements SquareMatrix {
 	}
 
 	/**
-	 * Creates a three-by-three identity matrix.
+	 * Create a three-by-three identity matrix.
 	 * @see [Identity matrix](https://en.wikipedia.org/wiki/Identity_matrix)
 	 */
 	public constructor() {
@@ -1088,6 +964,33 @@ export default class Matrix3 extends Float32Array implements SquareMatrix {
 		this.height = 3;
 	}
 
+	/** The value in the first column and first row. */
+	public 0: number;
+
+	/** The value in the first column and second row. */
+	public 1: number;
+
+	/** The value in the first column and third row. */
+	public 2: number;
+
+	/** The value in the second column and first row. */
+	public 3: number;
+
+	/** The value in the second column and second row. */
+	public 4: number;
+
+	/** The value in the second column and third row. */
+	public 5: number;
+
+	/** The value in the third column and first row. */
+	public 6: number;
+
+	/** The value in the third column and second row. */
+	public 7: number;
+
+	/** The value in the third column and third row. */
+	public 8: number;
+
 	/** The number of columns in this matrix. */
 	public readonly width: 3;
 
@@ -1095,163 +998,106 @@ export default class Matrix3 extends Float32Array implements SquareMatrix {
 	public readonly height: 3;
 
 	/**
-	 * Determines whether this matrix is roughly equivalent to another.
-	 * @param matrix The other matrix.
-	 * @returns Whether the matrices are equivalent.
+	 * Determine whether or not this matrix is roughly equivalent to another.
+	 * @param matrix - The other matrix.
+	 * @returns Whether or not the matrices are equivalent.
 	 */
-	public equals(matrix: Matrix3Like): boolean {
+	public equals(matrix: Matrix3Like) {
 		return equals(this, matrix);
 	}
 
 	/**
-	 * Determines whether this matrix is exactly equivalent to another.
-	 * @param matrix The other matrix.
-	 * @returns Whether the matrices are equivalent.
+	 * Determine whether or not this matrix is exactly equivalent to another.
+	 * @param matrix - The other matrix.
+	 * @returns Whether or not the matrices are equivalent.
 	 */
-	public exactEquals(matrix: Matrix3Like): boolean {
+	public exactEquals(matrix: Matrix3Like) {
 		return exactEquals(this, matrix);
 	}
 
 	/**
-	 * Adds two matrices of the same size.
-	 * @param matrix The other matrix.
+	 * Add two matrices of the same size.
+	 * @param matrix - The other matrix.
+	 * @param out - The matrix to store the result in.
 	 * @returns The sum of the matrices.
 	 * @see [Matrix addition](https://en.wikipedia.org/wiki/Matrix_addition)
 	 */
-	public add(matrix: Matrix3Like): Matrix3;
-
-	/**
-	 * Adds two matrices of the same size.
-	 * @param matrix The other matrix.
-	 * @param out The matrix to store the result in.
-	 * @returns The sum of the matrices.
-	 * @see [Matrix addition](https://en.wikipedia.org/wiki/Matrix_addition)
-	 */
-	public add<T extends Matrix3Like>(matrix: Matrix3Like, out: T): T;
-
 	public add<T extends Matrix3Like>(
 		matrix: Matrix3Like,
-		out: T = new Matrix3() as T
-	): T {
+		out = new Matrix3() as unknown as T
+	) {
 		return add(this, matrix, out);
 	}
 
 	/**
-	 * Calculates the adjugate of this matrix.
-	 * @returns The adjugate of this matrix.
-	 * @see [Adjugate matrix](https://en.wikipedia.org/wiki/Adjugate_matrix)
-	 */
-	public adjoint(): Matrix3;
-
-	/**
-	 * Calculates the adjugate of this matrix.
-	 * @param out The matrix to store the result in.
+	 * Calculate the adjugate of this matrix.
+	 * @param out - The matrix to store the result in.
 	 * @returns The adjugate of this matrix.
 	 * @see [Adjugate matrix](https://en.wikipedia.org/wiki/Adjugate_matrix)
 	 */
-	public adjoint<T extends Matrix3Like>(out: T): T;
-
-	public adjoint<T extends Matrix3Like>(out: T = new Matrix3() as T): T {
+	public adjoint<T extends Matrix3Like>(out = new Matrix3() as unknown as T) {
 		return adjoint(this, out);
 	}
 
 	/**
-	 * Creates a copy of this matrix.
+	 * Copy the values from this matrix to another one.
+	 * @param out - The matrix to store the result in.
 	 * @returns The copy.
 	 */
-	public clone(): Matrix3;
-
-	/**
-	 * Copies the values from this matrix to another one.
-	 * @param out The matrix to store the result in.
-	 * @returns The copy.
-	 */
-	public clone<T extends Matrix3Like>(out: T): T;
-
-	public clone<T extends Matrix3Like>(out: T = new Matrix3() as T): T {
+	public clone<T extends Matrix3Like>(out = new Matrix3() as unknown as T) {
 		return copy(this, out);
 	}
 
 	/**
-	 * Copies the values of another matrix into this one.
-	 * @param matrix The matrix to copy.
+	 * Copy the values of another matrix into this one.
+	 * @param matrix - The matrix to copy.
 	 * @returns This matrix.
 	 */
-	public copy(matrix: Matrix3Like): this {
+	public copy(matrix: Matrix3Like) {
 		return copy(matrix, this);
 	}
 
 	/**
-	 * The Frobenius norm of this matrix.
+	 * Get the Frobenius norm of this matrix.
 	 * @see [Matrix norm](https://en.wikipedia.org/wiki/Matrix_norm)
 	 */
-	public get frob(): number {
+	public get frob() {
 		return frob(this);
 	}
 
 	/**
-	 * Multiplies this matrix by another.
-	 * @param matrix The other matrix.
-	 * @returns The product of the matrices.
-	 * @see [Matrix multiplication](https://en.wikipedia.org/wiki/Matrix_multiplication)
-	 */
-	public multiply(matrix: Matrix3Like): Matrix3;
-
-	/**
-	 * Multiplies this matrix by another.
-	 * @param matrix The other matrix.
-	 * @param out The matrix to store the result in.
+	 * Multiply this matrix by another.
+	 * @param matrix - The other matrix.
+	 * @param out - The matrix to store the result in.
 	 * @returns The product of the matrices.
 	 * @see [Matrix multiplication](https://en.wikipedia.org/wiki/Matrix_multiplication)
 	 */
-	public multiply<T extends Matrix3Like>(matrix: Matrix3Like, out: T): T;
-
 	public multiply<T extends Matrix3Like>(
 		matrix: Matrix3Like,
-		out: T = new Matrix3() as T
-	): T {
+		out = new Matrix3() as unknown as T
+	) {
 		return multiply(this, matrix, out);
 	}
 
 	/**
-	 * Multiplies this matrix by a scalar value.
-	 * @param scalar The scalar value.
+	 * Multiply this matrix by a scalar value.
+	 * @param scalar - The scalar value.
+	 * @param out - The matrix to store the result in.
 	 * @returns The product of the matrix and the scalar value.
 	 * @see [Matrix multiplication](https://en.wikipedia.org/wiki/Matrix_multiplication)
 	 */
-	public multiplyScalar(scalar: number): Matrix3;
-
-	/**
-	 * Multiplies this matrix by a scalar value.
-	 * @param scalar The scalar value.
-	 * @param out The matrix to store the result in.
-	 * @returns The product of the matrix and the scalar value.
-	 * @see [Matrix multiplication](https://en.wikipedia.org/wiki/Matrix_multiplication)
-	 */
-	public multiplyScalar<T extends Matrix3Like>(scalar: number, out: T): T;
-
 	public multiplyScalar<T extends Matrix3Like>(
 		scalar: number,
-		out: T = new Matrix3() as T
-	): T {
+		out = new Matrix3() as unknown as T
+	) {
 		return multiplyScalar(this, scalar, out);
 	}
 
 	/**
-	 * Adds this matrix to another after multiplying the other by a scalar.
-	 * @param matrix The other matrix.
-	 * @param scalar The scalar.
-	 * @returns The sum.
-	 * @see [Matrix addition](https://en.wikipedia.org/wiki/Matrix_addition)
-	 * @see [Matrix multiplication](https://en.wikipedia.org/wiki/Matrix_multiplication)
-	 */
-	public multiplyScalarAndAdd(matrix: Matrix3Like, scalar: number): Matrix3;
-
-	/**
-	 * Adds this matrix to another after multiplying the other by a scalar.
-	 * @param matrix The other matrix.
-	 * @param scalar The scalar.
-	 * @param out The matrix to store the result in.
+	 * Add this matrix to another after multiplying the other by a scalar.
+	 * @param matrix - The other matrix.
+	 * @param scalar - The scalar.
+	 * @param out - The matrix to store the result in.
 	 * @returns The sum.
 	 * @see [Matrix addition](https://en.wikipedia.org/wiki/Matrix_addition)
 	 * @see [Matrix multiplication](https://en.wikipedia.org/wiki/Matrix_multiplication)
@@ -1259,165 +1105,101 @@ export default class Matrix3 extends Float32Array implements SquareMatrix {
 	public multiplyScalarAndAdd<T extends Matrix3Like>(
 		matrix: Matrix3Like,
 		scalar: number,
-		out: T
-	): T;
-
-	public multiplyScalarAndAdd<T extends Matrix3Like>(
-		matrix: Matrix3Like,
-		scalar: number,
-		out: T = new Matrix3() as T
-	): T {
+		out = new Matrix3() as unknown as T
+	) {
 		return multiplyScalarAndAdd(this, matrix, scalar, out);
 	}
 
 	/**
-	 * Subtracts another matrix from this one.
-	 * @param matrix The other matrix.
-	 * @returns The difference between the matrices.
-	 * @see [Matrix addition](https://en.wikipedia.org/wiki/Matrix_addition)
-	 */
-	public subtract(matrix: Matrix3Like): Matrix3;
-
-	/**
-	 * Subtracts another matrix from this one.
-	 * @param matrix The other matrix.
-	 * @param out The matrix to store the result in.
+	 * Subtract another matrix from this one.
+	 * @param matrix - The other matrix.
+	 * @param out - The matrix to store the result in.
 	 * @returns The difference between the matrices.
 	 * @see [Matrix addition](https://en.wikipedia.org/wiki/Matrix_addition)
 	 */
-	public subtract<T extends Matrix3Like>(matrix: Matrix3Like, out: T): T;
-
 	public subtract<T extends Matrix3Like>(
 		matrix: Matrix3Like,
-		out: T = new Matrix3() as T
-	): T {
+		out = new Matrix3() as unknown as T
+	) {
 		return subtract(this, matrix, out);
 	}
 
 	/**
-	 * Transposes this matrix.
+	 * Transpose this matrix.
+	 * @param out - The matrix to store the result in.
 	 * @returns The transpose of this matrix.
 	 * @see [Transpose](https://en.wikipedia.org/wiki/Transpose)
 	 */
-	public transpose(): Matrix3;
-
-	/**
-	 * Transposes this matrix.
-	 * @param out The matrix to store the result in.
-	 * @returns The transpose of this matrix.
-	 * @see [Transpose](https://en.wikipedia.org/wiki/Transpose)
-	 */
-	public transpose<T extends Matrix3Like>(out: T): T;
-
-	public transpose<T extends Matrix3Like>(out: T = new Matrix3() as T): T {
+	public transpose<T extends Matrix3Like>(out = new Matrix3() as unknown as T) {
 		return transpose(this, out);
 	}
 
 	/**
-	 * The determinant of this matrix.
+	 * Get the determinant of this matrix.
 	 * @see [Determinant](https://en.wikipedia.org/wiki/Determinant)
 	 */
-	public get determinant(): number {
+	public get determinant() {
 		return determinant(this);
 	}
 
 	/**
-	 * Resets this matrix to identity.
+	 * Reset this matrix to identity.
 	 * @returns This matrix.
 	 * @see [Identity matrix](https://en.wikipedia.org/wiki/Identity_matrix)
 	 */
-	public identity(): this {
+	public identity() {
 		return identity(this);
 	}
 
 	/**
-	 * Inverts this matrix.
-	 * @returns The inverted matrix.
-	 * @see [Invertible matrix](https://en.wikipedia.org/wiki/Invertible_matrix)
-	 */
-	public invert(): Matrix3;
-
-	/**
-	 * Inverts this matrix.
-	 * @param out The matrix to store the result in.
+	 * Invert this matrix.
+	 * @param out - The matrix to store the result in.
 	 * @returns The inverted matrix.
 	 * @see [Invertible matrix](https://en.wikipedia.org/wiki/Invertible_matrix)
 	 */
-	public invert<T extends Matrix3Like>(out: T): T;
-
-	public invert<T extends Matrix3Like>(out: T = new Matrix3() as T): T {
+	public invert<T extends Matrix3Like>(out = new Matrix3() as unknown as T) {
 		return invert(this, out);
 	}
 
 	/**
-	 * Rotates this matrix by the given angle around the Z-axis.
-	 * @param radians The angle in radians.
+	 * Rotate this matrix by the given angle around the Z-axis.
+	 * @param r - The angle in radians.
+	 * @param out - The matrix to store the result in.
 	 * @returns The rotated matrix.
 	 * @see [Rotation matrix](https://en.wikipedia.org/wiki/Rotation_matrix)
 	 */
-	public rotate(radians: number): Matrix3;
-
-	/**
-	 * Rotates this matrix by the given angle around the Z-axis.
-	 * @param radians The angle in radians.
-	 * @param out The matrix to store the result in.
-	 * @returns The rotated matrix.
-	 * @see [Rotation matrix](https://en.wikipedia.org/wiki/Rotation_matrix)
-	 */
-	public rotate<T extends Matrix3Like>(radians: number, out: T): T;
-
 	public rotate<T extends Matrix3Like>(
-		radians: number,
-		out: T = new Matrix3() as T
-	): T {
-		return rotate(this, radians, out);
+		r: number,
+		out = new Matrix3() as unknown as T
+	) {
+		return rotate(this, r, out);
 	}
 
 	/**
-	 * Scales this matrix by the given vector.
-	 * @param vector The scaling vector.
-	 * @returns The scaled matrix.
-	 * @see [Transformation matrix](https://en.wikipedia.org/wiki/Transformation_matrix)
-	 */
-	public scale(vector: Vector2Like): Matrix3;
-
-	/**
-	 * Scales this matrix by the given vector.
-	 * @param vector The scaling vector.
-	 * @param out The matrix to store the result in.
+	 * Scale this matrix by the given vector.
+	 * @param vector - The scaling vector.
+	 * @param out - The matrix to store the result in.
 	 * @returns The scaled matrix.
 	 * @see [Transformation matrix](https://en.wikipedia.org/wiki/Transformation_matrix)
 	 */
-	public scale<T extends Matrix3Like>(vector: Vector2Like, out: T): T;
-
 	public scale<T extends Matrix3Like>(
 		vector: Vector2Like,
-		out: T = new Matrix3() as T
-	): T {
+		out = new Matrix3() as unknown as T
+	) {
 		return scale(this, vector, out);
 	}
 
 	/**
-	 * Translates this matrix by the given vector.
-	 * @param vector The translation vector.
+	 * Translate this matrix by the given vector.
+	 * @param vector - The translation vector.
+	 * @param out - The matrix to store the result in.
 	 * @returns The translated matrix.
 	 * @see [Transformation matrix](https://en.wikipedia.org/wiki/Transformation_matrix)
 	 */
-	public translate(vector: Vector2Like): Matrix3;
-
-	/**
-	 * Translates this matrix by the given vector.
-	 * @param vector The translation vector.
-	 * @param out The matrix to store the result in.
-	 * @returns The translated matrix.
-	 * @see [Transformation matrix](https://en.wikipedia.org/wiki/Transformation_matrix)
-	 */
-	public translate<T extends Matrix3Like>(vector: Vector2Like, out: T): T;
-
 	public translate<T extends Matrix3Like>(
 		vector: Vector2Like,
-		out: T = new Matrix3() as T
-	): T {
+		out = new Matrix3() as unknown as T
+	) {
 		return translate(this, vector, out);
 	}
 }