@lakuna/umath 1.3.8 → 1.4.0

package/dist/linalg/Matrix3.js

@@ -1,78 +1,79 @@
 import SingularMatrixError from "../utility/SingularMatrixError.js";
-import epsilon from "../utility/epsilon.js";
+import approxRelative from "../algorithms/approxRelative.js";
 /**
- * Creates a 3x3 matrix-like object.
- * @returns A 3x3 matrix-like object.
+ * Creates a three-by-three matrix-like object.
+ * @returns A three-by-three matrix-like object.
+ * @public
  */
 export const createMatrix3Like = () => {
     return new Float32Array(9);
 };
 /**
- * Create a transformation matrix that represents a rotation by the given angle around the Z-axis.
+ * Create a three-by-three 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
+ */
+export const fromValues = (c0r0, c0r1, c0r2, c1r0, c1r1, c1r2, c2r0, c2r1, c2r2, out) => {
+    out[0] = c0r0;
+    out[1] = c0r1;
+    out[2] = c0r2;
+    out[3] = c1r0;
+    out[4] = c1r1;
+    out[5] = c1r2;
+    out[6] = c2r0;
+    out[7] = c2r1;
+    out[8] = c2r2;
+    return out;
+};
+/**
+ * Create a transformation matrix that represents a rotation by the given angle around the Z-axis. Equivalent to (but faster than) `rotate(identity(out), r, out)`.
  * @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)
+ * @see {@link https://en.wikipedia.org/wiki/Rotation_matrix | Rotation matrix}
+ * @public
  */
 export const fromRotation = (r, out) => {
     const s = Math.sin(r);
     const c = Math.cos(r);
-    out[0] = c;
-    out[1] = s;
-    out[2] = 0;
-    out[3] = -s;
-    out[4] = c;
-    out[5] = 0;
-    out[6] = 0;
-    out[7] = 0;
-    out[8] = 1;
-    return out;
+    return fromValues(c, s, 0, -s, c, 0, 0, 0, 1, out);
 };
 /**
- * Create a transformation matrix that represents a scaling by the given vector.
+ * Create a transformation matrix that represents a scaling by the given vector. Equivalent to (but faster than) `scale(identity(out), vector, out)`.
  * @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)
+ * @see {@link https://en.wikipedia.org/wiki/Transformation_matrix | Transformation matrix}
+ * @public
  */
-export const fromScaling = (vector, out) => {
-    out[0] = vector[0];
-    out[1] = 0;
-    out[2] = 0;
-    out[3] = 0;
-    out[4] = vector[1];
-    out[5] = 0;
-    out[6] = 0;
-    out[7] = 0;
-    out[8] = 1;
-    return out;
-};
+export const fromScaling = (vector, out) => fromValues(vector[0], 0, 0, 0, vector[1], 0, 0, 0, 1, out);
 /**
- * Create a transformation matrix that represents a translation by the given vector.
+ * Create a transformation matrix that represents a translation by the given vector. Equivalent to (but faster than) `translate(identity(out), vector, out)`.
  * @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)
+ * @see {@link https://en.wikipedia.org/wiki/Transformation_matrix | Transformation matrix}
+ * @public
  */
-export const fromTranslation = (vector, out) => {
-    out[0] = 1;
-    out[1] = 0;
-    out[2] = 0;
-    out[3] = 0;
-    out[4] = 1;
-    out[5] = 0;
-    out[6] = vector[0];
-    out[7] = vector[1];
-    out[8] = 1;
-    return out;
-};
+export const fromTranslation = (vector, out) => fromValues(1, 0, 0, 0, 1, 0, vector[0], vector[1], 1, out);
 /**
  * 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)
+ * @see {@link https://en.wikipedia.org/wiki/Quaternion | Quaternion}
+ * @see {@link https://en.wikipedia.org/wiki/Rotation_matrix | Rotation matrix}
+ * @public
  */
 export const fromQuaternion = (quaternion, out) => {
     const x = quaternion[0];
@@ -91,23 +92,36 @@ export const fromQuaternion = (quaternion, out) => {
     const wx = w * x2;
     const wy = w * y2;
     const wz = w * z2;
-    out[0] = 1 - yy - zz;
-    out[3] = yx - wz;
-    out[6] = zx + wy;
-    out[1] = yx + wz;
-    out[4] = 1 - xx - zz;
-    out[7] = zy - wx;
-    out[2] = zx - wy;
-    out[5] = zy + wx;
-    out[8] = 1 - xx - yy;
-    return out;
+    return fromValues(1 - yy - zz, yx - wz, zx + wy, yx + wz, 1 - xx - zz, zy - wx, zx - wy, zy + wx, 1 - xx - yy, out);
+};
+/**
+ * Create a transformation matrix that represents a rotation by the given z-y'-x" (intrinsic) Tait-Bryan angles.
+ * @param z - The z (roll) angle.
+ * @param y - The y (pitch) angle.
+ * @param x - The x (yaw) angle.
+ * @param out - The matrix to store the result in.
+ * @returns The transformation matrix.
+ * @see {@link https://en.wikipedia.org/wiki/Rotation_matrix | Rotation matrix}
+ * @public
+ */
+export const fromEuler = (z, y, x, out) => {
+    const cz = Math.cos(z);
+    const sz = Math.sin(z);
+    const sy = Math.sin(y);
+    const cy = Math.cos(y);
+    const sx = Math.sin(x);
+    const cx = Math.cos(x);
+    const sysz = sy * sz;
+    const cysz = cy * sz;
+    return fromValues(cz * cx, sysz * cx - cy * sx, cysz * cx + sy * sx, cz * sx, sysz * sx + cy * cx, cysz * sx - sy * cx, -sz, sy * cz, cy * cz, out);
 };
 /**
  * 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)
+ * @see {@link https://en.wikipedia.org/wiki/Normal_matrix | Normal matrix}
+ * @public
  */
 export const normalFromMatrix4 = (matrix, out) => {
     const a00 = matrix[0];
@@ -143,16 +157,7 @@ export const normalFromMatrix4 = (matrix, out) => {
         throw new SingularMatrixError();
     }
     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;
+    return fromValues((a11 * b11 - a12 * b10 + a13 * b09) * det, (a12 * b08 - a10 * b11 - a13 * b07) * det, (a10 * b10 - a11 * b08 + a13 * b06) * det, (a02 * b10 - a01 * b11 - a03 * b09) * det, (a00 * b11 - a02 * b08 + a03 * b07) * det, (a01 * b08 - a00 * b10 - a03 * b06) * det, (a31 * b05 - a32 * b04 + a33 * b03) * det, (a32 * b02 - a30 * b05 - a33 * b01) * det, (a30 * b04 - a31 * b02 + a33 * b00) * det, out);
 };
 /**
  * Generate a two-dimensional projection matrix with the given bounds.
@@ -160,143 +165,68 @@ export const normalFromMatrix4 = (matrix, out) => {
  * @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)
+ * @see {@link https://en.wikipedia.org/wiki/Camera_matrix | Camera matrix}
+ * @see {@link https://en.wikipedia.org/wiki/3D_projection | 3D projection}
+ * @public
  */
-export const projection = (width, height, out) => {
-    out[0] = 2 / width;
-    out[1] = 0;
-    out[2] = 0;
-    out[3] = 0;
-    out[4] = -2 / height;
-    out[5] = 0;
-    out[6] = -1;
-    out[7] = 1;
-    out[8] = 1;
-    return out;
-};
+export const projection = (width, height, out) => fromValues(2 / width, 0, 0, 0, -2 / height, 0, -1, 1, 1, out);
 /**
  * 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
  */
-export const fromMatrix4 = (matrix, out) => {
-    out[0] = matrix[0];
-    out[1] = matrix[1];
-    out[2] = matrix[2];
-    out[3] = matrix[4];
-    out[4] = matrix[5];
-    out[5] = matrix[6];
-    out[6] = matrix[8];
-    out[7] = matrix[9];
-    out[8] = matrix[10];
-    return out;
-};
-/**
- * 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 const fromValues = (c0r0, c0r1, c0r2, c1r0, c1r1, c1r2, c2r0, c2r1, c2r2, out) => {
-    out[0] = c0r0;
-    out[1] = c0r1;
-    out[2] = c0r2;
-    out[3] = c1r0;
-    out[4] = c1r1;
-    out[5] = c1r2;
-    out[6] = c2r0;
-    out[7] = c2r1;
-    out[8] = c2r2;
-    return out;
-};
+export const fromMatrix4 = (matrix, out) => fromValues(matrix[0], matrix[1], matrix[2], matrix[4], matrix[5], matrix[6], matrix[8], matrix[9], matrix[10], out);
 /**
  * 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.
+ * @public
  */
-export const equals = (a, b) => {
-    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)) &&
-        Math.abs(a1 - b1) <= epsilon * Math.max(1, Math.abs(a1), Math.abs(b1)) &&
-        Math.abs(a2 - b2) <= epsilon * Math.max(1, Math.abs(a2), Math.abs(b2)) &&
-        Math.abs(a3 - b3) <= epsilon * Math.max(1, Math.abs(a3), Math.abs(b3)) &&
-        Math.abs(a4 - b4) <= epsilon * Math.max(1, Math.abs(a4), Math.abs(b4)) &&
-        Math.abs(a5 - b5) <= epsilon * Math.max(1, Math.abs(a5), Math.abs(b5)) &&
-        Math.abs(a6 - b6) <= epsilon * Math.max(1, Math.abs(a6), Math.abs(b6)) &&
-        Math.abs(a7 - b7) <= epsilon * Math.max(1, Math.abs(a7), Math.abs(b7)) &&
-        Math.abs(a8 - b8) <= epsilon * Math.max(1, Math.abs(a8), Math.abs(b8)));
-};
+export const equals = (a, b) => approxRelative(a[0], b[0]) &&
+    approxRelative(a[1], b[1]) &&
+    approxRelative(a[2], b[2]) &&
+    approxRelative(a[3], b[3]) &&
+    approxRelative(a[4], b[4]) &&
+    approxRelative(a[5], b[5]) &&
+    approxRelative(a[6], b[6]) &&
+    approxRelative(a[7], b[7]) &&
+    approxRelative(a[8], b[8]);
 /**
  * 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.
+ * @public
  */
-export const 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]);
-};
+export const exactEquals = (a, b) => 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];
 /**
  * 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)
+ * @see {@link https://en.wikipedia.org/wiki/Matrix_addition | Matrix addition}
+ * @public
  */
-export const add = (a, b, out) => {
-    out[0] = a[0] + b[0];
-    out[1] = a[1] + b[1];
-    out[2] = a[2] + b[2];
-    out[3] = a[3] + b[3];
-    out[4] = a[4] + b[4];
-    out[5] = a[5] + b[5];
-    out[6] = a[6] + b[6];
-    out[7] = a[7] + b[7];
-    out[8] = a[8] + b[8];
-    return out;
-};
+export const add = (a, b, out) => fromValues(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], out);
 /**
  * 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)
+ * @see {@link https://en.wikipedia.org/wiki/Adjugate_matrix | Adjugate matrix}
+ * @public
  */
 export const adjoint = (matrix, out) => {
     const a00 = matrix[0];
@@ -308,51 +238,52 @@ export const adjoint = (matrix, out) => {
     const a20 = matrix[6];
     const a21 = matrix[7];
     const a22 = matrix[8];
-    out[0] = a11 * a22 - a12 * a21;
-    out[1] = a02 * a21 - a01 * a22;
-    out[2] = a01 * a12 - a02 * a11;
-    out[3] = a12 * a20 - a10 * a22;
-    out[4] = a00 * a22 - a02 * a20;
-    out[5] = a02 * a10 - a00 * a12;
-    out[6] = a10 * a21 - a11 * a20;
-    out[7] = a01 * a20 - a00 * a21;
-    out[8] = a00 * a11 - a01 * a10;
-    return out;
+    return fromValues(a11 * a22 - a12 * a21, a02 * a21 - a01 * a22, a01 * a12 - a02 * a11, a12 * a20 - a10 * a22, a00 * a22 - a02 * a20, a02 * a10 - a00 * a12, a10 * a21 - a11 * a20, a01 * a20 - a00 * a21, a00 * a11 - a01 * a10, out);
 };
 /**
  * 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.
+ * @returns The copy matrix.
+ * @public
  */
-export const copy = (matrix, out) => {
-    out[0] = matrix[0];
-    out[1] = matrix[1];
-    out[2] = matrix[2];
-    out[3] = matrix[3];
-    out[4] = matrix[4];
-    out[5] = matrix[5];
-    out[6] = matrix[6];
-    out[7] = matrix[7];
-    out[8] = matrix[8];
-    return out;
-};
+export const copy = (matrix, out) => fromValues(matrix[0], matrix[1], matrix[2], matrix[3], matrix[4], matrix[5], matrix[6], matrix[7], matrix[8], out);
 /**
  * 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)
+ * @see {@link https://en.wikipedia.org/wiki/Matrix_norm | Matrix norm}
+ * @public
  */
 export const frob = (matrix) => {
-    return Math.hypot(matrix[0], matrix[1], matrix[2], matrix[3], matrix[4], matrix[5], matrix[6], matrix[7], matrix[8]);
+    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];
+    // `Math.hypot` is slower.
+    return Math.sqrt(a00 * a00 +
+        a01 * a01 +
+        a02 * a02 +
+        a10 * a10 +
+        a11 * a11 +
+        a12 * a12 +
+        a20 * a20 +
+        a21 * a21 +
+        a22 * a22);
 };
 /**
  * Multiply two matrices.
- * @param a - The multiplicand.
- * @param b - The multiplier.
+ * @param a - The multiplier.
+ * @param b - The multiplicand.
  * @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)
+ * @see {@link https://en.wikipedia.org/wiki/Matrix_multiplication | Matrix multiplication}
+ * @public
  */
 export const multiply = (a, b, out) => {
     const a00 = a[0];
@@ -373,16 +304,7 @@ export const multiply = (a, b, out) => {
     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;
-    out[2] = b00 * a02 + b01 * a12 + b02 * a22;
-    out[3] = b10 * a00 + b11 * a10 + b12 * a20;
-    out[4] = b10 * a01 + b11 * a11 + b12 * a21;
-    out[5] = b10 * a02 + b11 * a12 + b12 * a22;
-    out[6] = b20 * a00 + b21 * a10 + b22 * a20;
-    out[7] = b20 * a01 + b21 * a11 + b22 * a21;
-    out[8] = b20 * a02 + b21 * a12 + b22 * a22;
-    return out;
+    return fromValues(b00 * a00 + b01 * a10 + b02 * a20, b00 * a01 + b01 * a11 + b02 * a21, b00 * a02 + b01 * a12 + b02 * a22, b10 * a00 + b11 * a10 + b12 * a20, b10 * a01 + b11 * a11 + b12 * a21, b10 * a02 + b11 * a12 + b12 * a22, b20 * a00 + b21 * a10 + b22 * a20, b20 * a01 + b21 * a11 + b22 * a21, b20 * a02 + b21 * a12 + b22 * a22, out);
 };
 /**
  * Multiply a matrix by a scalar value.
@@ -390,20 +312,10 @@ export const multiply = (a, b, out) => {
  * @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)
+ * @see {@link https://en.wikipedia.org/wiki/Matrix_multiplication | Matrix multiplication}
+ * @public
  */
-export const multiplyScalar = (matrix, scalar, out) => {
-    out[0] = matrix[0] * scalar;
-    out[1] = matrix[1] * scalar;
-    out[2] = matrix[2] * scalar;
-    out[3] = matrix[3] * scalar;
-    out[4] = matrix[4] * scalar;
-    out[5] = matrix[5] * scalar;
-    out[6] = matrix[6] * scalar;
-    out[7] = matrix[7] * scalar;
-    out[8] = matrix[8] * scalar;
-    return out;
-};
+export const multiplyScalar = (matrix, scalar, out) => fromValues(matrix[0] * scalar, matrix[1] * scalar, matrix[2] * scalar, matrix[3] * scalar, matrix[4] * scalar, matrix[5] * scalar, matrix[6] * scalar, matrix[7] * scalar, matrix[8] * scalar, out);
 /**
  * Add a matrix to another after multiplying the other by a scalar.
  * @param a - The augend.
@@ -411,47 +323,28 @@ export const multiplyScalar = (matrix, scalar, out) => {
  * @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)
+ * @see {@link https://en.wikipedia.org/wiki/Matrix_addition | Matrix addition}
+ * @see {@link https://en.wikipedia.org/wiki/Matrix_multiplication | Matrix multiplication}
+ * @public
  */
-export const multiplyScalarAndAdd = (a, b, scalar, out) => {
-    out[0] = a[0] + b[0] * scalar;
-    out[1] = a[1] + b[1] * scalar;
-    out[2] = a[2] + b[2] * scalar;
-    out[3] = a[3] + b[3] * scalar;
-    out[4] = a[4] + b[4] * scalar;
-    out[5] = a[5] + b[5] * scalar;
-    out[6] = a[6] + b[6] * scalar;
-    out[7] = a[7] + b[7] * scalar;
-    out[8] = a[8] + b[8] * scalar;
-    return out;
-};
+export const multiplyScalarAndAdd = (a, b, scalar, out) => fromValues(a[0] + b[0] * scalar, a[1] + b[1] * scalar, a[2] + b[2] * scalar, a[3] + b[3] * scalar, a[4] + b[4] * scalar, a[5] + b[5] * scalar, a[6] + b[6] * scalar, a[7] + b[7] * scalar, a[8] + b[8] * scalar, out);
 /**
  * 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)
+ * @see {@link https://en.wikipedia.org/wiki/Matrix_addition | Matrix addition}
+ * @public
  */
-export const subtract = (a, b, out) => {
-    out[0] = a[0] - b[0];
-    out[1] = a[1] - b[1];
-    out[2] = a[2] - b[2];
-    out[3] = a[3] - b[3];
-    out[4] = a[4] - b[4];
-    out[5] = a[5] - b[5];
-    out[6] = a[6] - b[6];
-    out[7] = a[7] - b[7];
-    out[8] = a[8] - b[8];
-    return out;
-};
+export const subtract = (a, b, out) => fromValues(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], out);
 /**
  * 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)
+ * @see {@link https://en.wikipedia.org/wiki/Transpose | Transpose}
+ * @public
  */
 export const transpose = (matrix, out) => {
     if (out === matrix) {
@@ -464,64 +357,43 @@ export const transpose = (matrix, out) => {
         out[5] = matrix[7];
         out[6] = a02;
         out[7] = a12;
+        return out;
     }
-    else {
-        out[0] = matrix[0];
-        out[1] = matrix[3];
-        out[2] = matrix[6];
-        out[3] = matrix[1];
-        out[4] = matrix[4];
-        out[5] = matrix[7];
-        out[6] = matrix[2];
-        out[7] = matrix[5];
-        out[8] = matrix[8];
-    }
-    return out;
+    return fromValues(matrix[0], matrix[3], matrix[6], matrix[1], matrix[4], matrix[7], matrix[2], matrix[5], matrix[8], out);
 };
 /**
  * Calculate the determinant of a matrix.
  * @param matrix - The matrix.
  * @returns The determinant.
- * @see [Determinant](https://en.wikipedia.org/wiki/Determinant)
+ * @see {@link https://en.wikipedia.org/wiki/Determinant | Determinant}
+ * @public
  */
 export const determinant = (matrix) => {
-    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) +
-        a01 * (-a22 * a10 + a12 * a20) +
-        a02 * (a21 * a10 - a11 * a20));
+    return (matrix[0] * (a22 * a11 - a12 * a21) +
+        matrix[1] * (-a22 * a10 + a12 * a20) +
+        matrix[2] * (a21 * a10 - a11 * a20));
 };
 /**
  * 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)
+ * @see {@link https://en.wikipedia.org/wiki/Identity_matrix | Identity matrix}
+ * @public
  */
-export const identity = (out) => {
-    out[0] = 1;
-    out[1] = 0;
-    out[2] = 0;
-    out[3] = 0;
-    out[4] = 1;
-    out[5] = 0;
-    out[6] = 0;
-    out[7] = 0;
-    out[8] = 1;
-    return out;
-};
+export const identity = (out) => fromValues(1, 0, 0, 0, 1, 0, 0, 0, 1, out);
 /**
  * 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)
+ * @see {@link https://en.wikipedia.org/wiki/Invertible_matrix | Invertible matrix}
+ * @public
  */
 export const invert = (matrix, out) => {
     const a00 = matrix[0];
@@ -541,16 +413,7 @@ export const invert = (matrix, out) => {
         throw new SingularMatrixError();
     }
     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;
+    return fromValues(b01 * det, (-a22 * a01 + a02 * a21) * det, (a12 * a01 - a02 * a11) * det, b11 * det, (a22 * a00 - a02 * a20) * det, (-a12 * a00 + a02 * a10) * det, b21 * det, (-a21 * a00 + a01 * a20) * det, (a11 * a00 - a01 * a10) * det, out);
 };
 /**
  * Rotate a matrix by the given angle around the Z-axis.
@@ -558,7 +421,8 @@ export const invert = (matrix, out) => {
  * @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)
+ * @see {@link https://en.wikipedia.org/wiki/Rotation_matrix | Rotation matrix}
+ * @public
  */
 export const rotate = (matrix, radians, out) => {
     const a00 = matrix[0];
@@ -567,21 +431,9 @@ export const rotate = (matrix, radians, out) => {
     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;
-    out[2] = c * a02 + s * a12;
-    out[3] = c * a10 - s * a00;
-    out[4] = c * a11 - s * a01;
-    out[5] = c * a12 - s * a02;
-    out[6] = a20;
-    out[7] = a21;
-    out[8] = a22;
-    return out;
+    return fromValues(c * a00 + s * a10, c * a01 + s * a11, c * a02 + s * a12, c * a10 - s * a00, c * a11 - s * a01, c * a12 - s * a02, matrix[6], matrix[7], matrix[8], out);
 };
 /**
  * Scale a matrix by the given vector.
@@ -589,21 +441,13 @@ export const rotate = (matrix, radians, out) => {
  * @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)
+ * @see {@link https://en.wikipedia.org/wiki/Transformation_matrix | Transformation matrix}
+ * @public
  */
 export const scale = (matrix, vector, out) => {
     const x = vector[0];
     const y = vector[1];
-    out[0] = matrix[0] * x;
-    out[1] = matrix[1] * x;
-    out[2] = matrix[2] * x;
-    out[3] = matrix[3] * y;
-    out[4] = matrix[4] * y;
-    out[5] = matrix[5] * y;
-    out[6] = matrix[6];
-    out[7] = matrix[7];
-    out[8] = matrix[8];
-    return out;
+    return fromValues(matrix[0] * x, matrix[1] * x, matrix[2] * x, matrix[3] * y, matrix[4] * y, matrix[5] * y, matrix[6], matrix[7], matrix[8], out);
 };
 /**
  * Translate a matrix by the given vector.
@@ -611,7 +455,8 @@ export const scale = (matrix, vector, out) => {
  * @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)
+ * @see {@link https://en.wikipedia.org/wiki/Transformation_matrix | Transformation matrix}
+ * @public
  */
 export const translate = (matrix, vector, out) => {
     const a00 = matrix[0];
@@ -620,25 +465,14 @@ export const translate = (matrix, vector, out) => {
     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;
-    out[2] = a02;
-    out[3] = a10;
-    out[4] = a11;
-    out[5] = a12;
-    out[6] = x * a00 + y * a10 + a20;
-    out[7] = x * a01 + y * a11 + a21;
-    out[8] = x * a02 + y * a12 + a22;
-    return out;
+    return fromValues(a00, a01, a02, a10, a11, a12, x * a00 + y * a10 + matrix[6], x * a01 + y * a11 + matrix[7], x * a02 + y * a12 + matrix[8], out);
 };
 /**
  * A three-by-three matrix.
- * @see [Matrix](https://en.wikipedia.org/wiki/Matrix_(mathematics))
+ * @see {@link https://en.wikipedia.org/wiki/Matrix_(mathematics) | Matrix}
+ * @public
  */
 export default class Matrix3 extends Float32Array {
     /**
@@ -646,7 +480,7 @@ export default class Matrix3 extends Float32Array {
      * @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)
+     * @see {@link https://en.wikipedia.org/wiki/Rotation_matrix | Rotation matrix}
      */
     static fromRotation(r, out = new Matrix3()) {
         return fromRotation(r, out);
@@ -656,7 +490,7 @@ export default class Matrix3 extends Float32Array {
      * @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)
+     * @see {@link https://en.wikipedia.org/wiki/Transformation_matrix | Transformation matrix}
      */
     static fromScaling(vector, out = new Matrix3()) {
         return fromScaling(vector, out);
@@ -666,7 +500,7 @@ export default class Matrix3 extends Float32Array {
      * @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)
+     * @see {@link https://en.wikipedia.org/wiki/Transformation_matrix | Transformation matrix}
      */
     static fromTranslation(vector, out = new Matrix3()) {
         return fromTranslation(vector, out);
@@ -676,18 +510,31 @@ export default class Matrix3 extends Float32Array {
      * @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)
+     * @see {@link https://en.wikipedia.org/wiki/Quaternion | Quaternion}
+     * @see {@link https://en.wikipedia.org/wiki/Rotation_matrix | Rotation matrix}
      */
     static fromQuaternion(quaternion, out = new Matrix3()) {
         return fromQuaternion(quaternion, out);
     }
+    /**
+     * Create a transformation matrix that represents a rotation by the given z-y'-x" (intrinsic) Tait-Bryan angles.
+     * @param z - The z (roll) angle.
+     * @param y - The y (pitch) angle.
+     * @param x - The x (yaw) angle.
+     * @param out - The matrix to store the result in.
+     * @returns The transformation matrix.
+     * @see {@link https://en.wikipedia.org/wiki/Quaternion | Quaternion}
+     * @see {@link https://en.wikipedia.org/wiki/Rotation_matrix | Rotation matrix}
+     */
+    static fromEuler(z, y, x, out = new Matrix3()) {
+        return fromEuler(z, y, x, out);
+    }
     /**
      * 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)
+     * @see {@link https://en.wikipedia.org/wiki/Normal_matrix | Normal matrix}
      */
     static normalFromMatrix4(matrix, out = new Matrix3()) {
         return normalFromMatrix4(matrix, out);
@@ -698,8 +545,8 @@ export default class Matrix3 extends Float32Array {
      * @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)
+     * @see {@link https://en.wikipedia.org/wiki/Camera_matrix | Camera matrix}
+     * @see {@link https://en.wikipedia.org/wiki/3D_projection | 3D projection}
      */
     static projection(width, height, out = new Matrix3()) {
         return projection(width, height, out);
@@ -732,7 +579,7 @@ export default class Matrix3 extends Float32Array {
     }
     /**
      * Create a three-by-three identity matrix.
-     * @see [Identity matrix](https://en.wikipedia.org/wiki/Identity_matrix)
+     * @see {@link https://en.wikipedia.org/wiki/Identity_matrix | Identity matrix}
      */
     constructor() {
         super(9);
@@ -785,7 +632,7 @@ export default class Matrix3 extends Float32Array {
      * @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)
+     * @see {@link https://en.wikipedia.org/wiki/Matrix_addition | Matrix addition}
      */
     add(matrix, out = new Matrix3()) {
         return add(this, matrix, out);
@@ -794,7 +641,7 @@ export default class Matrix3 extends Float32Array {
      * 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)
+     * @see {@link https://en.wikipedia.org/wiki/Adjugate_matrix | Adjugate matrix}
      */
     adjoint(out = new Matrix3()) {
         return adjoint(this, out);
@@ -817,7 +664,7 @@ export default class Matrix3 extends Float32Array {
     }
     /**
      * Get the Frobenius norm of this matrix.
-     * @see [Matrix norm](https://en.wikipedia.org/wiki/Matrix_norm)
+     * @see {@link https://en.wikipedia.org/wiki/Matrix_norm | Matrix norm}
      */
     get frob() {
         return frob(this);
@@ -827,7 +674,7 @@ export default class Matrix3 extends Float32Array {
      * @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)
+     * @see {@link https://en.wikipedia.org/wiki/Matrix_multiplication | Matrix multiplication}
      */
     multiply(matrix, out = new Matrix3()) {
         return multiply(this, matrix, out);
@@ -837,7 +684,7 @@ export default class Matrix3 extends Float32Array {
      * @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)
+     * @see {@link https://en.wikipedia.org/wiki/Matrix_multiplication | Matrix multiplication}
      */
     multiplyScalar(scalar, out = new Matrix3()) {
         return multiplyScalar(this, scalar, out);
@@ -848,8 +695,8 @@ export default class Matrix3 extends Float32Array {
      * @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)
+     * @see {@link https://en.wikipedia.org/wiki/Matrix_addition | Matrix addition}
+     * @see {@link https://en.wikipedia.org/wiki/Matrix_multiplication | Matrix multiplication}
      */
     multiplyScalarAndAdd(matrix, scalar, out = new Matrix3()) {
         return multiplyScalarAndAdd(this, matrix, scalar, out);
@@ -859,7 +706,7 @@ export default class Matrix3 extends Float32Array {
      * @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)
+     * @see {@link https://en.wikipedia.org/wiki/Matrix_addition | Matrix addition}
      */
     subtract(matrix, out = new Matrix3()) {
         return subtract(this, matrix, out);
@@ -868,14 +715,14 @@ export default class Matrix3 extends Float32Array {
      * 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)
+     * @see {@link https://en.wikipedia.org/wiki/Transpose | Transpose}
      */
     transpose(out = new Matrix3()) {
         return transpose(this, out);
     }
     /**
      * Get the determinant of this matrix.
-     * @see [Determinant](https://en.wikipedia.org/wiki/Determinant)
+     * @see {@link https://en.wikipedia.org/wiki/Determinant | Determinant}
      */
     get determinant() {
         return determinant(this);
@@ -883,7 +730,7 @@ export default class Matrix3 extends Float32Array {
     /**
      * Reset this matrix to identity.
      * @returns This matrix.
-     * @see [Identity matrix](https://en.wikipedia.org/wiki/Identity_matrix)
+     * @see {@link https://en.wikipedia.org/wiki/Identity_matrix | Identity matrix}
      */
     identity() {
         return identity(this);
@@ -892,7 +739,7 @@ export default class Matrix3 extends Float32Array {
      * 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)
+     * @see {@link https://en.wikipedia.org/wiki/Invertible_matrix | Invertible matrix}
      */
     invert(out = new Matrix3()) {
         return invert(this, out);
@@ -902,7 +749,7 @@ export default class Matrix3 extends Float32Array {
      * @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)
+     * @see {@link https://en.wikipedia.org/wiki/Rotation_matrix | Rotation matrix}
      */
     rotate(r, out = new Matrix3()) {
         return rotate(this, r, out);
@@ -912,7 +759,7 @@ export default class Matrix3 extends Float32Array {
      * @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)
+     * @see {@link https://en.wikipedia.org/wiki/Transformation_matrix | Transformation matrix}
      */
     scale(vector, out = new Matrix3()) {
         return scale(this, vector, out);
@@ -922,7 +769,7 @@ export default class Matrix3 extends Float32Array {
      * @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)
+     * @see {@link https://en.wikipedia.org/wiki/Transformation_matrix | Transformation matrix}
      */
     translate(vector, out = new Matrix3()) {
         return translate(this, vector, out);