@lakuna/umath 1.3.3 → 1.3.5

package/dist/linalg/Matrix4.d.ts

@@ -1,34 +1,35 @@
-import type { DualQuaternionLike } from "#DualQuaternion";
-import Quaternion, { type QuaternionLike } from "#Quaternion";
-import type SquareMatrix from "#SquareMatrix";
-import Vector3, { type Vector3Like } from "#Vector3";
-import type FieldOfView from "#FieldOfView";
-export type Matrix4Like = Matrix4 | [
-    number,
-    number,
-    number,
-    number,
-    number,
-    number,
-    number,
-    number,
-    number,
-    number,
-    number,
-    number,
-    number,
-    number,
-    number,
-    number
-];
+import { type QuaternionLike } from "./Quaternion.js";
+import { type Vector3Like } from "./Vector3.js";
+import type { DualQuaternionLike } from "./DualQuaternion.js";
+import type FieldOfView from "../types/FieldOfView.js";
+import type { MatrixLike } from "./Matrix.js";
+import type SquareMatrix from "./SquareMatrix.js";
+export interface Matrix4Like extends MatrixLike {
+    0: number;
+    1: number;
+    2: number;
+    3: number;
+    4: number;
+    5: number;
+    6: number;
+    7: number;
+    8: number;
+    9: number;
+    10: number;
+    11: number;
+    12: number;
+    13: number;
+    14: number;
+    15: number;
+}
 export declare function createMatrix4Like(): Matrix4Like;
 export declare function fromTranslation<T extends Matrix4Like>(vector: Vector3Like, out: T): T;
 export declare function fromScaling<T extends Matrix4Like>(vector: Vector3Like, out: T): T;
 export declare function identity<T extends Matrix4Like>(out: T): T;
-export declare function fromRotation<T extends Matrix4Like>(radians: number, axis: Vector3Like, out: T): T;
-export declare function fromXRotation<T extends Matrix4Like>(radians: number, out: T): T;
-export declare function fromYRotation<T extends Matrix4Like>(radians: number, out: T): T;
-export declare function fromZRotation<T extends Matrix4Like>(radians: number, out: T): T;
+export declare function fromRotation<T extends Matrix4Like>(r: number, axis: Vector3Like, out: T): T;
+export declare function fromXRotation<T extends Matrix4Like>(r: number, out: T): T;
+export declare function fromYRotation<T extends Matrix4Like>(r: number, out: T): T;
+export declare function fromZRotation<T extends Matrix4Like>(r: number, out: T): T;
 export declare function fromRotationTranslation<T extends Matrix4Like>(rotation: QuaternionLike, translation: Vector3Like, out: T): T;
 export declare function fromRotationTranslationScale<T extends Matrix4Like>(rotation: QuaternionLike, translation: Vector3Like, scaling: Vector3Like, out: T): T;
 export declare function fromRotationTranslationScaleOrigin<T extends Matrix4Like>(rotation: QuaternionLike, translation: Vector3Like, scaling: Vector3Like, origin: Vector3Like, out: T): T;
@@ -56,94 +57,74 @@ export declare function invert<T extends Matrix4Like>(matrix: Matrix4Like, out:
 export declare function scale<T extends Matrix4Like>(matrix: Matrix4Like, vector: Vector3Like, out: T): T;
 export declare function translate<T extends Matrix4Like>(matrix: Matrix4Like, vector: Vector3Like, out: T): T;
 export declare function rotate<T extends Matrix4Like>(matrix: Matrix4Like, radians: number, axis: Vector3Like, out: T): T;
-export declare function rotateX<T extends Matrix4Like>(matrix: Matrix4Like, radians: number, out: T): T;
-export declare function rotateY<T extends Matrix4Like>(matrix: Matrix4Like, radians: number, out: T): T;
-export declare function rotateZ<T extends Matrix4Like>(matrix: Matrix4Like, radians: number, out: T): T;
+export declare function rotateX<T extends Matrix4Like>(matrix: Matrix4Like, r: number, out: T): T;
+export declare function rotateY<T extends Matrix4Like>(matrix: Matrix4Like, r: number, out: T): T;
+export declare function rotateZ<T extends Matrix4Like>(matrix: Matrix4Like, r: number, out: T): T;
 export declare function getTranslation<T extends Vector3Like>(matrix: Matrix4Like, out: T): T;
 export declare function setTranslation<T extends Matrix4Like>(matrix: Matrix4Like, translation: Vector3Like, out: T): T;
 export declare function getScaling<T extends Vector3Like>(matrix: Matrix4Like, out: T): T;
 export declare function getRotation<T extends QuaternionLike>(matrix: Matrix4Like, out: T): T;
-export default class Matrix4 extends Float32Array implements SquareMatrix {
-    static fromTranslation(vector: Vector3Like): Matrix4;
-    static fromTranslation<T extends Matrix4Like>(vector: Vector3Like, out: T): T;
-    static fromScaling(vector: Vector3Like): Matrix4;
-    static fromScaling<T extends Matrix4Like>(vector: Vector3Like, out: T): T;
-    static fromRotation(radians: number, axis: Vector3Like): Matrix4;
-    static fromRotation<T extends Matrix4Like>(radians: number, axis: Vector3Like, out: T): T;
-    static fromXRotation(radians: number): Matrix4;
-    static fromXRotation<T extends Matrix4Like>(radians: number, out: T): T;
-    static fromYRotation(radians: number): Matrix4;
-    static fromYRotation<T extends Matrix4Like>(radians: number, out: T): T;
-    static fromZRotation(radians: number): Matrix4;
-    static fromZRotation<T extends Matrix4Like>(radians: number, out: T): T;
-    static fromRotationTranslation(rotation: QuaternionLike, translation: Vector3Like): Matrix4;
-    static fromRotationTranslation<T extends Matrix4Like>(rotation: QuaternionLike, translation: Vector3Like, out: T): T;
-    static fromRotationTranslationScale(rotation: QuaternionLike, translation: Vector3Like, scaling: Vector3Like): Matrix4;
-    static fromRotationTranslationScale<T extends Matrix4Like>(rotation: QuaternionLike, translation: Vector3Like, scaling: Vector3Like, out: T): T;
-    static fromRotationTranslationScaleOrigin(rotation: QuaternionLike, translation: Vector3Like, scaling: Vector3Like, origin: Vector3Like): Matrix4;
-    static fromRotationTranslationScaleOrigin<T extends Matrix4Like>(rotation: QuaternionLike, translation: Vector3Like, scaling: Vector3Like, origin: Vector3Like, out: T): T;
-    static fromDualQuaternion(quaternion: DualQuaternionLike): Matrix4;
-    static fromDualQuaternion<T extends Matrix4Like>(quaternion: DualQuaternionLike, out: T): T;
-    static frustum(left: number, right: number, bottom: number, top: number, near: number, far: number): Matrix4;
-    static frustum<T extends Matrix4Like>(left: number, right: number, bottom: number, top: number, near: number, far: number, out: T): T;
-    static perspective(fov: number, aspect: number, near: number, far: number): Matrix4;
-    static perspective<T extends Matrix4Like>(fov: number, aspect: number, near: number, far: number, out: T): T;
-    static perspectiveFromFieldOfView(fov: FieldOfView, near: number, far: number): Matrix4;
-    static perspectiveFromFieldOfView<T extends Matrix4Like>(fov: FieldOfView, near: number, far: number, out: T): T;
-    static ortho(left: number, right: number, bottom: number, top: number, near: number, far: number): Matrix4;
-    static ortho<T extends Matrix4Like>(left: number, right: number, bottom: number, top: number, near: number, far: number, out: T): T;
-    static lookAt(eye: Vector3Like, center: Vector3Like, up?: Vector3Like): Matrix4;
+export default class Matrix4 extends Float32Array implements SquareMatrix, Matrix4Like {
+    static fromTranslation<T extends Matrix4Like>(vector: Vector3Like, out?: T): T;
+    static fromScaling<T extends Matrix4Like>(vector: Vector3Like, out?: T): T;
+    static fromRotation<T extends Matrix4Like>(r: number, axis: Vector3Like, out?: T): T;
+    static fromXRotation<T extends Matrix4Like>(r: number, out?: T): T;
+    static fromYRotation<T extends Matrix4Like>(r: number, out?: T): T;
+    static fromZRotation<T extends Matrix4Like>(r: number, out?: T): T;
+    static fromRotationTranslation<T extends Matrix4Like>(rotation: QuaternionLike, translation: Vector3Like, out?: T): T;
+    static fromRotationTranslationScale<T extends Matrix4Like>(rotation: QuaternionLike, translation: Vector3Like, scaling: Vector3Like, out?: T): T;
+    static fromRotationTranslationScaleOrigin<T extends Matrix4Like>(rotation: QuaternionLike, translation: Vector3Like, scaling: Vector3Like, origin: Vector3Like, out?: T): T;
+    static fromDualQuaternion<T extends Matrix4Like>(quaternion: DualQuaternionLike, out?: T): T;
+    static frustum<T extends Matrix4Like>(left: number, right: number, bottom: number, top: number, near: number, far: number, out?: T): T;
+    static perspective<T extends Matrix4Like>(fov: number, aspect: number, near: number, far: number, out?: T): T;
+    static perspectiveFromFieldOfView<T extends Matrix4Like>(fov: FieldOfView, near: number, far: number, out?: T): T;
+    static ortho<T extends Matrix4Like>(left: number, right: number, bottom: number, top: number, near: number, far: number, out?: T): T;
     static lookAt<T extends Matrix4Like>(eye: Vector3Like, center: Vector3Like, up?: Vector3Like, out?: T): T;
-    static targetTo(eye: Vector3Like, target: Vector3Like, up?: Vector3Like): Matrix4;
-    static targetTo<T extends Matrix4>(eye: Vector3Like, target: Vector3Like, up?: Vector3Like, out?: T): T;
-    static fromValues(c0r0: number, c0r1: number, c0r2: number, c0r3: number, c1r0: number, c1r1: number, c1r2: number, c1r3: number, c2r0: number, c2r1: number, c2r2: number, c2r3: number, c3r0: number, c3r1: number, c3r2: number, c3r3: number): Matrix4;
-    static fromValues<T extends Matrix4Like>(c0r0: number, c0r1: number, c0r2: number, c0r3: number, c1r0: number, c1r1: number, c1r2: number, c1r3: number, c2r0: number, c2r1: number, c2r2: number, c2r3: number, c3r0: number, c3r1: number, c3r2: number, c3r3: number, out: T): T;
+    static targetTo<T extends Matrix4Like>(eye: Vector3Like, target: Vector3Like, up?: Vector3Like, out?: T): T;
+    static fromValues<T extends Matrix4Like>(c0r0: number, c0r1: number, c0r2: number, c0r3: number, c1r0: number, c1r1: number, c1r2: number, c1r3: number, c2r0: number, c2r1: number, c2r2: number, c2r3: number, c3r0: number, c3r1: number, c3r2: number, c3r3: number, out?: T): T;
     constructor();
+    0: number;
+    1: number;
+    2: number;
+    3: number;
+    4: number;
+    5: number;
+    6: number;
+    7: number;
+    8: number;
+    9: number;
+    10: number;
+    11: number;
+    12: number;
+    13: number;
+    14: number;
+    15: number;
     readonly width: 4;
     readonly height: 4;
     equals(matrix: Matrix4Like): boolean;
     exactEquals(matrix: Matrix4Like): boolean;
-    add(matrix: Matrix4Like): Matrix4;
-    add<T extends Matrix4Like>(matrix: Matrix4Like, out: T): T;
-    adjoint(): Matrix4;
-    adjoint<T extends Matrix4Like>(out: T): T;
-    clone(): Matrix4;
-    clone<T extends Matrix4Like>(out: T): T;
+    add<T extends Matrix4Like>(matrix: Matrix4Like, out?: T): T;
+    adjoint<T extends Matrix4Like>(out?: T): T;
+    clone<T extends Matrix4Like>(out?: T): T;
     copy(matrix: Matrix4Like): this;
     get frob(): number;
-    multiply(matrix: Matrix4Like): Matrix4;
-    multiply<T extends Matrix4Like>(matrix: Matrix4Like, out: T): T;
-    multiplyScalar(scalar: number): Matrix4;
-    multiplyScalar<T extends Matrix4Like>(scalar: number, out: T): T;
-    multiplyScalarAndAdd(matrix: Matrix4Like, scalar: number): Matrix4;
-    multiplyScalarAndAdd<T extends Matrix4Like>(matrix: Matrix4Like, scalar: number, out: T): T;
-    subtract(matrix: Matrix4Like): Matrix4;
-    subtract<T extends Matrix4Like>(matrix: Matrix4Like, out: T): T;
-    transpose(): Matrix4;
-    transpose<T extends Matrix4Like>(out: T): T;
+    multiply<T extends Matrix4Like>(matrix: Matrix4Like, out?: T): T;
+    multiplyScalar<T extends Matrix4Like>(scalar: number, out?: T): T;
+    multiplyScalarAndAdd<T extends Matrix4Like>(matrix: Matrix4Like, scalar: number, out?: T): T;
+    subtract<T extends Matrix4Like>(matrix: Matrix4Like, out?: T): T;
+    transpose<T extends Matrix4Like>(out?: T): T;
     get determinant(): number;
     identity(): this;
-    invert(): Matrix4;
-    invert<T extends Matrix4Like>(out: T): T;
-    scale(vector: Vector3Like): Matrix4;
-    scale<T extends Matrix4Like>(vector: Vector3Like, out: T): T;
-    translate(vector: Vector3Like): Matrix4;
-    translate<T extends Matrix4Like>(vector: Vector3Like, out: T): T;
-    rotate(radians: number, axis: Vector3Like): Matrix4;
-    rotate<T extends Matrix4Like>(radians: number, axis: Vector3Like, out: T): T;
-    rotateX(radians: number): Matrix4;
-    rotateX<T extends Matrix4Like>(radians: number, out: T): T;
-    rotateY(radians: number): Matrix4;
-    rotateY<T extends Matrix4Like>(radians: number, out: T): T;
-    rotateZ(radians: number): Matrix4;
-    rotateZ<T extends Matrix4Like>(radians: number, out: T): T;
-    getTranslation(): Vector3;
-    getTranslation<T extends Vector3Like>(out: T): T;
-    setTranslation(matrix: Matrix4Like, translation: Vector3Like): Matrix4;
-    setTranslation<T extends Matrix4Like>(matrix: Matrix4Like, translation: Vector3Like, out: T): T;
-    getScaling(): Vector3;
-    getScaling<T extends Vector3Like>(out: T): T;
-    getRotation(): Quaternion;
-    getRotation<T extends QuaternionLike>(out: T): T;
+    invert<T extends Matrix4Like>(out?: T): T;
+    scale<T extends Matrix4Like>(vector: Vector3Like, out?: T): T;
+    translate<T extends Matrix4Like>(vector: Vector3Like, out?: T): T;
+    rotate<T extends Matrix4Like>(r: number, axis: Vector3Like, out?: T): T;
+    rotateX<T extends Matrix4Like>(r: number, out?: T): T;
+    rotateY<T extends Matrix4Like>(r: number, out?: T): T;
+    rotateZ<T extends Matrix4Like>(r: number, out?: T): T;
+    getTranslation<T extends Vector3Like>(out?: T): T;
+    setTranslation<T extends Matrix4Like>(translation: Vector3Like, out?: T): T;
+    getScaling<T extends Vector3Like>(out?: T): T;
+    getRotation<T extends QuaternionLike>(out?: T): T;
 }
 //# sourceMappingURL=Matrix4.d.ts.map

package/dist/linalg/Matrix4.d.ts.map

@@ -1 +1 @@
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package/dist/linalg/Matrix4.js

@@ -1,8 +1,8 @@
-import Quaternion, {} from "#Quaternion";
-import Vector3, {} from "#Vector3";
-import epsilon from "#epsilon";
-import MagnitudeError from "#MagnitudeError";
-import SingularMatrixError from "#SingularMatrixError";
+import Quaternion, {} from "./Quaternion.js";
+import Vector3, { createVector3Like } from "./Vector3.js";
+import MagnitudeError from "../utility/MagnitudeError.js";
+import SingularMatrixError from "../utility/SingularMatrixError.js";
+import epsilon from "../utility/epsilon.js";
 export function createMatrix4Like() {
     return new Float32Array(16);
 }
@@ -63,20 +63,20 @@ export function identity(out) {
     out[15] = 1;
     return out;
 }
-export function fromRotation(radians, axis, out) {
+export function fromRotation(r, axis, out) {
     let x = axis[0];
     let y = axis[1];
     let z = axis[2];
     let len = Math.hypot(x, y, z);
-    if (len == 0) {
+    if (len === 0) {
         throw new MagnitudeError();
     }
     len = 1 / len;
     x *= len;
     y *= len;
     z *= len;
-    const s = Math.sin(radians);
-    const c = Math.cos(radians);
+    const s = Math.sin(r);
+    const c = Math.cos(r);
     const t = 1 - c;
     out[0] = x * x * t + c;
     out[1] = y * x * t + z * s;
@@ -96,9 +96,9 @@ export function fromRotation(radians, axis, out) {
     out[15] = 1;
     return out;
 }
-export function fromXRotation(radians, out) {
-    const s = Math.sin(radians);
-    const c = Math.cos(radians);
+export function fromXRotation(r, out) {
+    const s = Math.sin(r);
+    const c = Math.cos(r);
     out[0] = 1;
     out[1] = 0;
     out[2] = 0;
@@ -117,9 +117,9 @@ export function fromXRotation(radians, out) {
     out[15] = 1;
     return out;
 }
-export function fromYRotation(radians, out) {
-    const s = Math.sin(radians);
-    const c = Math.cos(radians);
+export function fromYRotation(r, out) {
+    const s = Math.sin(r);
+    const c = Math.cos(r);
     out[0] = c;
     out[1] = 0;
     out[2] = -s;
@@ -138,9 +138,9 @@ export function fromYRotation(radians, out) {
     out[15] = 1;
     return out;
 }
-export function fromZRotation(radians, out) {
-    const s = Math.sin(radians);
-    const c = Math.cos(radians);
+export function fromZRotation(r, out) {
+    const s = Math.sin(r);
+    const c = Math.cos(r);
     out[0] = c;
     out[1] = s;
     out[2] = 0;
@@ -282,7 +282,7 @@ export function fromRotationTranslationScaleOrigin(rotation, translation, scalin
     out[15] = 1;
     return out;
 }
-const intermediary = new Float32Array(3);
+const intermediary = createVector3Like();
 export function fromDualQuaternion(quaternion, out) {
     const bx = -quaternion[0];
     const by = -quaternion[1];
@@ -343,15 +343,15 @@ export function perspective(fov, aspect, near, far, out) {
     out[12] = 0;
     out[13] = 0;
     out[15] = 0;
-    if (far != null && far != Infinity) {
+    if (far === Infinity) {
+        out[10] = -1;
+        out[14] = -2 * near;
+    }
+    else {
         const nf = 1 / (near - far);
         out[10] = (far + near) * nf;
         out[14] = 2 * far * near * nf;
     }
-    else {
-        out[10] = -1;
-        out[14] = -2 * near;
-    }
     return out;
 }
 export function perspectiveFromFieldOfView(fov, near, far, out) {
@@ -427,32 +427,32 @@ export function lookAt(eye, center, up, out) {
     let x1 = upz * z0 - upx * z2;
     let x2 = upx * z1 - upy * z0;
     len = Math.hypot(x0, x1, x2);
-    if (!len) {
-        x0 = 0;
-        x1 = 0;
-        x2 = 0;
-    }
-    else {
+    if (len > 0) {
         len = 1 / len;
         x0 *= len;
         x1 *= len;
         x2 *= len;
     }
+    else {
+        x0 = 0;
+        x1 = 0;
+        x2 = 0;
+    }
     let y0 = z1 * x2 - z2 * x1;
     let y1 = z2 * x0 - z0 * x2;
     let y2 = z0 * x1 - z1 * x0;
     len = Math.hypot(y0, y1, y2);
-    if (!len) {
-        y0 = 0;
-        y1 = 0;
-        y2 = 0;
-    }
-    else {
+    if (len > 0) {
         len = 1 / len;
         y0 *= len;
         y1 *= len;
         y2 *= len;
     }
+    else {
+        y0 = 0;
+        y1 = 0;
+        y2 = 0;
+    }
     out[0] = x0;
     out[1] = y0;
     out[2] = z0;
@@ -610,22 +610,22 @@ export function equals(a, b) {
         Math.abs(a15 - b15) <= epsilon * Math.max(1, Math.abs(a15), Math.abs(b15)));
 }
 export function exactEquals(a, b) {
-    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[9] == b[9] &&
-        a[10] == b[10] &&
-        a[11] == b[11] &&
-        a[12] == b[12] &&
-        a[13] == b[13] &&
-        a[14] == b[14] &&
-        a[15] == b[15]);
+    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[9] === b[9] &&
+        a[10] === b[10] &&
+        a[11] === b[11] &&
+        a[12] === b[12] &&
+        a[13] === b[13] &&
+        a[14] === b[14] &&
+        a[15] === b[15]);
 }
 export function adjoint(matrix, out) {
     const a00 = matrix[0];
@@ -833,7 +833,7 @@ export function subtract(a, b, out) {
     return out;
 }
 export function transpose(matrix, out) {
-    if (out == matrix) {
+    if (out === matrix) {
         const a01 = matrix[1];
         const a02 = matrix[2];
         const a03 = matrix[3];
@@ -982,7 +982,7 @@ export function translate(matrix, vector, out) {
     const x = vector[0];
     const y = vector[1];
     const z = vector[2];
-    if (out == matrix) {
+    if (out === matrix) {
         out[12] = matrix[0] * x + matrix[4] * y + matrix[8] * z + matrix[12];
         out[13] = matrix[1] * x + matrix[5] * y + matrix[9] * z + matrix[13];
         out[14] = matrix[2] * x + matrix[6] * y + matrix[10] * z + matrix[14];
@@ -1068,7 +1068,7 @@ export function rotate(matrix, radians, axis, out) {
     out[9] = a01 * b20 + a11 * b21 + a21 * b22;
     out[10] = a02 * b20 + a12 * b21 + a22 * b22;
     out[11] = a03 * b20 + a13 * b21 + a23 * b22;
-    if (out != matrix) {
+    if (out !== matrix) {
         out[12] = matrix[12];
         out[13] = matrix[13];
         out[14] = matrix[14];
@@ -1076,9 +1076,9 @@ export function rotate(matrix, radians, axis, out) {
     }
     return out;
 }
-export function rotateX(matrix, radians, out) {
-    const s = Math.sin(radians);
-    const c = Math.cos(radians);
+export function rotateX(matrix, r, out) {
+    const s = Math.sin(r);
+    const c = Math.cos(r);
     const a10 = matrix[4];
     const a11 = matrix[5];
     const a12 = matrix[6];
@@ -1087,7 +1087,7 @@ export function rotateX(matrix, radians, out) {
     const a21 = matrix[9];
     const a22 = matrix[10];
     const a23 = matrix[11];
-    if (out != matrix) {
+    if (out !== matrix) {
         out[0] = matrix[0];
         out[1] = matrix[1];
         out[2] = matrix[2];
@@ -1107,9 +1107,9 @@ export function rotateX(matrix, radians, out) {
     out[11] = a23 * c - a13 * s;
     return out;
 }
-export function rotateY(matrix, radians, out) {
-    const s = Math.sin(radians);
-    const c = Math.cos(radians);
+export function rotateY(matrix, r, out) {
+    const s = Math.sin(r);
+    const c = Math.cos(r);
     const a00 = matrix[0];
     const a01 = matrix[1];
     const a02 = matrix[2];
@@ -1118,7 +1118,7 @@ export function rotateY(matrix, radians, out) {
     const a21 = matrix[9];
     const a22 = matrix[10];
     const a23 = matrix[11];
-    if (out != matrix) {
+    if (out !== matrix) {
         out[4] = matrix[4];
         out[5] = matrix[5];
         out[6] = matrix[6];
@@ -1138,9 +1138,9 @@ export function rotateY(matrix, radians, out) {
     out[11] = a03 * s + a23 * c;
     return out;
 }
-export function rotateZ(matrix, radians, out) {
-    const s = Math.sin(radians);
-    const c = Math.cos(radians);
+export function rotateZ(matrix, r, out) {
+    const s = Math.sin(r);
+    const c = Math.cos(r);
     const a00 = matrix[0];
     const a01 = matrix[1];
     const a02 = matrix[2];
@@ -1149,7 +1149,7 @@ export function rotateZ(matrix, radians, out) {
     const a11 = matrix[5];
     const a12 = matrix[6];
     const a13 = matrix[7];
-    if (out != matrix) {
+    if (out !== matrix) {
         out[8] = matrix[8];
         out[9] = matrix[9];
         out[10] = matrix[10];
@@ -1176,7 +1176,7 @@ export function getTranslation(matrix, out) {
     return out;
 }
 export function setTranslation(matrix, translation, out) {
-    if (out != matrix) {
+    if (out !== matrix) {
         out[0] = matrix[0];
         out[1] = matrix[1];
         out[2] = matrix[2];
@@ -1212,7 +1212,7 @@ export function getScaling(matrix, out) {
     return out;
 }
 export function getRotation(matrix, out) {
-    const scaling = getScaling(matrix, new Float32Array(3));
+    const scaling = getScaling(matrix, createVector3Like());
     const is1 = 1 / scaling[0];
     const is2 = 1 / scaling[1];
     const is3 = 1 / scaling[2];
@@ -1264,17 +1264,17 @@ export default class Matrix4 extends Float32Array {
     static fromScaling(vector, out = new Matrix4()) {
         return fromScaling(vector, out);
     }
-    static fromRotation(radians, axis, out = new Matrix4()) {
-        return fromRotation(radians, axis, out);
+    static fromRotation(r, axis, out = new Matrix4()) {
+        return fromRotation(r, axis, out);
     }
-    static fromXRotation(radians, out = new Matrix4()) {
-        return fromXRotation(radians, out);
+    static fromXRotation(r, out = new Matrix4()) {
+        return fromXRotation(r, out);
     }
-    static fromYRotation(radians, out = new Matrix4()) {
-        return fromYRotation(radians, out);
+    static fromYRotation(r, out = new Matrix4()) {
+        return fromYRotation(r, out);
     }
-    static fromZRotation(radians, out = new Matrix4()) {
-        return fromZRotation(radians, out);
+    static fromZRotation(r, out = new Matrix4()) {
+        return fromZRotation(r, out);
     }
     static fromRotationTranslation(rotation, translation, out = new Matrix4()) {
         return fromRotationTranslation(rotation, translation, out);
@@ -1300,10 +1300,10 @@ export default class Matrix4 extends Float32Array {
     static ortho(left, right, bottom, top, near, far, out = new Matrix4()) {
         return ortho(left, right, bottom, top, near, far, out);
     }
-    static lookAt(eye, center, up = new Float32Array([0, 1, 0]), out = new Matrix4()) {
+    static lookAt(eye, center, up = [0, 1, 0], out = new Matrix4()) {
         return lookAt(eye, center, up, out);
     }
-    static targetTo(eye, target, up = new Float32Array([0, 1, 0]), out = new Matrix4()) {
+    static targetTo(eye, target, up = [0, 1, 0], out = new Matrix4()) {
         return targetTo(eye, target, up, out);
     }
     static fromValues(c0r0, c0r1, c0r2, c0r3, c1r0, c1r1, c1r2, c1r3, c2r0, c2r1, c2r2, c2r3, c3r0, c3r1, c3r2, c3r3, out = new Matrix4()) {
@@ -1318,6 +1318,22 @@ export default class Matrix4 extends Float32Array {
         this.width = 4;
         this.height = 4;
     }
+    0;
+    1;
+    2;
+    3;
+    4;
+    5;
+    6;
+    7;
+    8;
+    9;
+    10;
+    11;
+    12;
+    13;
+    14;
+    15;
     width;
     height;
     equals(matrix) {
@@ -1371,23 +1387,23 @@ export default class Matrix4 extends Float32Array {
     translate(vector, out = new Matrix4()) {
         return translate(this, vector, out);
     }
-    rotate(radians, axis, out = new Matrix4()) {
-        return rotate(this, radians, axis, out);
+    rotate(r, axis, out = new Matrix4()) {
+        return rotate(this, r, axis, out);
     }
-    rotateX(radians, out = new Matrix4()) {
-        return rotateX(this, radians, out);
+    rotateX(r, out = new Matrix4()) {
+        return rotateX(this, r, out);
     }
-    rotateY(radians, out = new Matrix4()) {
-        return rotateY(this, radians, out);
+    rotateY(r, out = new Matrix4()) {
+        return rotateY(this, r, out);
     }
-    rotateZ(radians, out = new Matrix4()) {
-        return rotateZ(this, radians, out);
+    rotateZ(r, out = new Matrix4()) {
+        return rotateZ(this, r, out);
     }
     getTranslation(out = new Vector3()) {
         return getTranslation(this, out);
     }
-    setTranslation(matrix, translation, out = new Matrix4()) {
-        return setTranslation(matrix, translation, out);
+    setTranslation(translation, out = new Matrix4()) {
+        return setTranslation(this, translation, out);
     }
     getScaling(out = new Vector3()) {
         return getScaling(this, out);