@lakuna/umath 1.3.9 → 1.4.0

package/src/linalg/Matrix4.ts

@@ -1,16 +1,27 @@
-import Quaternion, { type QuaternionLike } from "./Quaternion.js";
-import Vector3, { type Vector3Like, createVector3Like } from "./Vector3.js";
+import Quaternion, {
+	type QuaternionLike,
+	fromValues as quaternionFromValues
+} from "./Quaternion.js";
+import Vector3, {
+	type Vector3Like,
+	createVector3Like,
+	fromValues as vector3FromValues
+} from "./Vector3.js";
 import type { DualQuaternionLike } from "./DualQuaternion.js";
 import type FieldOfView from "../types/FieldOfView.js";
 import MagnitudeError from "../utility/MagnitudeError.js";
 import type { MatrixLike } from "./Matrix.js";
 import SingularMatrixError from "../utility/SingularMatrixError.js";
 import type SquareMatrix from "./SquareMatrix.js";
+import approx from "../algorithms/approx.js";
+import approxRelative from "../algorithms/approxRelative.js";
+import degreesToRadians from "../algorithms/degreesToRadians.js";
 import epsilon from "../utility/epsilon.js";
 
 /**
  * Numbers arranged into four columns and four rows.
- * @see [Matrix](https://en.wikipedia.org/wiki/Matrix_(mathematics))
+ * @see {@link https://en.wikipedia.org/wiki/Matrix_(mathematics) | Matrix}
+ * @public
  */
 export interface Matrix4Like extends MatrixLike {
 	/** The value in the first column and first row. */
@@ -63,109 +74,159 @@ export interface Matrix4Like extends MatrixLike {
 }
 
 /**
- * Create a 4x4 matrix-like object.
- * @returns A 4x4 matrix-like object.
+ * Create a four-by-four matrix-like object.
+ * @returns A four-by-four matrix-like object.
+ * @public
  */
-export const createMatrix4Like = () => {
+export const createMatrix4Like = (): Float32Array & Matrix4Like => {
 	return new Float32Array(16) as Float32Array & Matrix4Like;
 };
 
 /**
- * Create a transformation matrix that represents a translation by the given vector.
+ * Create a four-by-four 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 c0r3 - The value in the first column and fourth 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 c1r3 - The value in the second column and fourth 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 c2r3 - The value in the third column and fourth row.
+ * @param c3r0 - The value in the fourth column and first row.
+ * @param c3r1 - The value in the fourth column and second row.
+ * @param c3r2 - The value in the fourth column and third row.
+ * @param c3r3 - The value in the fourth column and fourth row.
+ * @param out - The matrix to store the result in.
+ * @returns The matrix.
+ * @public
+ */
+export const 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 => {
+	out[0] = c0r0;
+	out[1] = c0r1;
+	out[2] = c0r2;
+	out[3] = c0r3;
+	out[4] = c1r0;
+	out[5] = c1r1;
+	out[6] = c1r2;
+	out[7] = c1r3;
+	out[8] = c2r0;
+	out[9] = c2r1;
+	out[10] = c2r2;
+	out[11] = c2r3;
+	out[12] = c3r0;
+	out[13] = c3r1;
+	out[14] = c3r2;
+	out[15] = c3r3;
+	return out;
+};
+
+/**
+ * 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 = <T extends Matrix4Like>(
 	vector: Vector3Like,
 	out: T
-): T => {
-	out[0] = 1;
-	out[1] = 0;
-	out[2] = 0;
-	out[3] = 0;
-	out[4] = 0;
-	out[5] = 1;
-	out[6] = 0;
-	out[7] = 0;
-	out[8] = 0;
-	out[9] = 0;
-	out[10] = 1;
-	out[11] = 0;
-	out[12] = vector[0];
-	out[13] = vector[1];
-	out[14] = vector[2];
-	out[15] = 1;
-	return out;
-};
+): T =>
+	fromValues(
+		1,
+		0,
+		0,
+		0,
+		0,
+		1,
+		0,
+		0,
+		0,
+		0,
+		1,
+		0,
+		vector[0],
+		vector[1],
+		vector[2],
+		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. This is 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 = <T extends Matrix4Like>(
 	vector: Vector3Like,
 	out: T
-): T => {
-	out[0] = vector[0];
-	out[1] = 0;
-	out[2] = 0;
-	out[3] = 0;
-	out[4] = 0;
-	out[5] = vector[1];
-	out[6] = 0;
-	out[7] = 0;
-	out[8] = 0;
-	out[9] = 0;
-	out[10] = vector[2];
-	out[11] = 0;
-	out[12] = 0;
-	out[13] = 0;
-	out[14] = 0;
-	out[15] = 1;
-	return out;
-};
+): T =>
+	fromValues(
+		vector[0],
+		0,
+		0,
+		0,
+		0,
+		vector[1],
+		0,
+		0,
+		0,
+		0,
+		vector[2],
+		0,
+		0,
+		0,
+		0,
+		1,
+		out
+	);
 
 /**
  * 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 = <T extends Matrix4Like>(out: T): T => {
-	out[0] = 1;
-	out[1] = 0;
-	out[2] = 0;
-	out[3] = 0;
-	out[4] = 0;
-	out[5] = 1;
-	out[6] = 0;
-	out[7] = 0;
-	out[8] = 0;
-	out[9] = 0;
-	out[10] = 1;
-	out[11] = 0;
-	out[12] = 0;
-	out[13] = 0;
-	out[14] = 0;
-	out[15] = 1;
-	return out;
-};
+export const identity = <T extends Matrix4Like>(out: T): T =>
+	fromValues(1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, out);
 
 /**
- * Create a transformation matrix that represents a rotation by the given angle around the Z-axis.
- * @param r - The angle in radians.
+ * Create a transformation matrix that represents a rotation by the given angle around the given axis. This is equivalent to (but faster than) `rotate(identity(out), radians, axis, out)`.
+ * @param radians - The angle in radians.
  * @param axis - The axis to rotate around.
  * @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 = <T extends Matrix4Like>(
-	r: number,
+	radians: number,
 	axis: Vector3Like,
 	out: T
 ): T => {
@@ -183,128 +244,95 @@ export const fromRotation = <T extends Matrix4Like>(
 	y *= len;
 	z *= len;
 
-	const s = Math.sin(r);
-	const c = Math.cos(r);
+	const s = Math.sin(radians);
+	const c = Math.cos(radians);
 	const t = 1 - c;
 
-	out[0] = x * x * t + c;
-	out[1] = y * x * t + z * s;
-	out[2] = z * x * t - y * s;
-	out[3] = 0;
-	out[4] = x * y * t - z * s;
-	out[5] = y * y * t + c;
-	out[6] = z * y * t + x * s;
-	out[7] = 0;
-	out[8] = x * z * t + y * s;
-	out[9] = y * z * t - x * s;
-	out[10] = z * z * t + c;
-	out[11] = 0;
-	out[12] = 0;
-	out[13] = 0;
-	out[14] = 0;
-	out[15] = 1;
-	return out;
+	return fromValues(
+		x * x * t + c,
+		y * x * t + z * s,
+		z * x * t - y * s,
+		0,
+		x * y * t - z * s,
+		y * y * t + c,
+		z * y * t + x * s,
+		0,
+		x * z * t + y * s,
+		y * z * t - x * s,
+		z * z * t + c,
+		0,
+		0,
+		0,
+		0,
+		1,
+		out
+	);
 };
 
 /**
- * Create a transformation matrix that represents a rotation by the given angle around the X-axis.
- * @param r - The angle in radians.
+ * Create a transformation matrix that represents a rotation by the given angle around the X-axis. This is equivalent to (but faster than) `rotateX(identity(out), radians, out)`.
+ * @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)
+ * @see {@link https://en.wikipedia.org/wiki/Rotation_matrix | Rotation matrix}
+ * @public
  */
-export const fromXRotation = <T extends Matrix4Like>(r: number, out: T): T => {
-	const s = Math.sin(r);
-	const c = Math.cos(r);
+export const fromXRotation = <T extends Matrix4Like>(
+	radians: number,
+	out: T
+): T => {
+	const s = Math.sin(radians);
+	const c = Math.cos(radians);
 
-	out[0] = 1;
-	out[1] = 0;
-	out[2] = 0;
-	out[3] = 0;
-	out[4] = 0;
-	out[5] = c;
-	out[6] = s;
-	out[7] = 0;
-	out[8] = 0;
-	out[9] = -s;
-	out[10] = c;
-	out[11] = 0;
-	out[12] = 0;
-	out[13] = 0;
-	out[14] = 0;
-	out[15] = 1;
-	return out;
+	return fromValues(1, 0, 0, 0, 0, c, s, 0, 0, -s, c, 0, 0, 0, 0, 1, out);
 };
 
 /**
- * Create a transformation matrix that represents a rotation by the given angle around the Y-axis.
- * @param r - The angle in radians.
+ * Create a transformation matrix that represents a rotation by the given angle around the Y-axis. This is equivalent to (but faster than) `rotateY(identity(out), radians, out)`.
+ * @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)
+ * @see {@link https://en.wikipedia.org/wiki/Rotation_matrix | Rotation matrix}
+ * @public
  */
-export const fromYRotation = <T extends Matrix4Like>(r: number, out: T): T => {
-	const s = Math.sin(r);
-	const c = Math.cos(r);
+export const fromYRotation = <T extends Matrix4Like>(
+	radians: number,
+	out: T
+): T => {
+	const s = Math.sin(radians);
+	const c = Math.cos(radians);
 
-	out[0] = c;
-	out[1] = 0;
-	out[2] = -s;
-	out[3] = 0;
-	out[4] = 0;
-	out[5] = 1;
-	out[6] = 0;
-	out[7] = 0;
-	out[8] = s;
-	out[9] = 0;
-	out[10] = c;
-	out[11] = 0;
-	out[12] = 0;
-	out[13] = 0;
-	out[14] = 0;
-	out[15] = 1;
-	return out;
+	return fromValues(c, 0, -s, 0, 0, 1, 0, 0, s, 0, c, 0, 0, 0, 0, 1, out);
 };
 
 /**
- * Create a transformation matrix that represents a rotation by the given angle around the Z-axis.
- * @param r - The angle in radians.
+ * Create a transformation matrix that represents a rotation by the given angle around the Z-axis. This is equivalent to (but faster than) `rotateZ(identity(out), radians, out)`.
+ * @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)
+ * @see {@link https://en.wikipedia.org/wiki/Rotation_matrix | Rotation matrix}
+ * @public
  */
-export const fromZRotation = <T extends Matrix4Like>(r: number, out: T): T => {
-	const s = Math.sin(r);
-	const c = Math.cos(r);
+export const fromZRotation = <T extends Matrix4Like>(
+	radians: number,
+	out: T
+): T => {
+	const s = Math.sin(radians);
+	const c = Math.cos(radians);
 
-	out[0] = c;
-	out[1] = s;
-	out[2] = 0;
-	out[3] = 0;
-	out[4] = -s;
-	out[5] = c;
-	out[6] = 0;
-	out[7] = 0;
-	out[8] = 0;
-	out[9] = 0;
-	out[10] = 1;
-	out[11] = 0;
-	out[12] = 0;
-	out[13] = 0;
-	out[14] = 0;
-	out[15] = 1;
-	return out;
+	return fromValues(c, s, 0, 0, -s, c, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, out);
 };
 
 /**
- * Create a transformation matrix from the given rotation and translation.
+ * Create a transformation matrix from the given rotation and translation. This is equivalent to (but faster than) `multiply(translate(identity(out), translation, out), fromQuaternion(rotation, createMatrix4Like()), out)`.
  * @param rotation - The rotation quaternion.
  * @param translation - The translation vector.
  * @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 [Transformation matrix](https://en.wikipedia.org/wiki/Transformation_matrix)
+ * @see {@link https://en.wikipedia.org/wiki/Quaternion | Quaternion}
+ * @see {@link https://en.wikipedia.org/wiki/Rotation_matrix | Rotation matrix}
+ * @see {@link https://en.wikipedia.org/wiki/Transformation_matrix | Transformation matrix}
+ * @public
  */
 export const fromRotationTranslation = <T extends Matrix4Like>(
 	rotation: QuaternionLike,
@@ -329,35 +357,38 @@ export const fromRotationTranslation = <T extends Matrix4Like>(
 	const wy = w * y2;
 	const wz = w * z2;
 
-	out[0] = 1 - (yy + zz);
-	out[1] = xy + wz;
-	out[2] = xz - wy;
-	out[3] = 0;
-	out[4] = xy - wz;
-	out[5] = 1 - (xx + zz);
-	out[6] = yz + wx;
-	out[7] = 0;
-	out[8] = xz + wy;
-	out[9] = yz - wx;
-	out[10] = 1 - (xx + yy);
-	out[11] = 0;
-	out[12] = translation[0];
-	out[13] = translation[1];
-	out[14] = translation[2];
-	out[15] = 1;
-	return out;
+	return fromValues(
+		1 - (yy + zz),
+		xy + wz,
+		xz - wy,
+		0,
+		xy - wz,
+		1 - (xx + zz),
+		yz + wx,
+		0,
+		xz + wy,
+		yz - wx,
+		1 - (xx + yy),
+		0,
+		translation[0],
+		translation[1],
+		translation[2],
+		1,
+		out
+	);
 };
 
 /**
- * Create a transformation matrix from the given rotation, translation, and scale.
+ * Create a transformation matrix from the given rotation, translation, and scale. This is equivalent to (but faster than) `scale(multiply(translate(identity(out), translation, out), fromQuaternion(rotation, createMatrix4Like()), out), scaling, out)`.
  * @param rotation - The rotation quaternion.
  * @param translation - The translation vector.
  * @param scaling - The scaling vector.
  * @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 [Transformation matrix](https://en.wikipedia.org/wiki/Transformation_matrix)
+ * @see {@link https://en.wikipedia.org/wiki/Quaternion | Quaternion}
+ * @see {@link https://en.wikipedia.org/wiki/Rotation_matrix | Rotation matrix}
+ * @see {@link https://en.wikipedia.org/wiki/Transformation_matrix | Transformation matrix}
+ * @public
  */
 export const fromRotationTranslationScale = <T extends Matrix4Like>(
 	rotation: QuaternionLike,
@@ -387,36 +418,39 @@ export const fromRotationTranslationScale = <T extends Matrix4Like>(
 	const sy = scaling[1];
 	const sz = scaling[2];
 
-	out[0] = (1 - (yy + zz)) * sx;
-	out[1] = (xy + wz) * sx;
-	out[2] = (xz - wy) * sx;
-	out[3] = 0;
-	out[4] = (xy - wz) * sy;
-	out[5] = (1 - (xx + zz)) * sy;
-	out[6] = (yz + wx) * sy;
-	out[7] = 0;
-	out[8] = (xz + wy) * sz;
-	out[9] = (yz - wx) * sz;
-	out[10] = (1 - (xx + yy)) * sz;
-	out[11] = 0;
-	out[12] = translation[0];
-	out[13] = translation[1];
-	out[14] = translation[2];
-	out[15] = 1;
-	return out;
+	return fromValues(
+		(1 - (yy + zz)) * sx,
+		(xy + wz) * sx,
+		(xz - wy) * sx,
+		0,
+		(xy - wz) * sy,
+		(1 - (xx + zz)) * sy,
+		(yz + wx) * sy,
+		0,
+		(xz + wy) * sz,
+		(yz - wx) * sz,
+		(1 - (xx + yy)) * sz,
+		0,
+		translation[0],
+		translation[1],
+		translation[2],
+		1,
+		out
+	);
 };
 
 /**
- * Create a transformation matrix from the given rotation, translation, and scale around the given origin.
+ * Create a transformation matrix from the given rotation, translation, and scale around the given origin. This is equivalent to (but faster than) `translate(scale(multiply(translate(translate(identity(out), translation, out), origin, out), fromQuaternion(rotation, createMatrix4Like()), out), scaling, out), negate(origin), out)`.
  * @param rotation - The rotation quaternion.
  * @param translation - The translation vector.
  * @param scaling - The scaling vector.
  * @param origin - The origin vector.
  * @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 [Transformation matrix](https://en.wikipedia.org/wiki/Transformation_matrix)
+ * @see {@link https://en.wikipedia.org/wiki/Quaternion | Quaternion}
+ * @see {@link https://en.wikipedia.org/wiki/Rotation_matrix | Rotation matrix}
+ * @see {@link https://en.wikipedia.org/wiki/Transformation_matrix | Transformation matrix}
+ * @public
  */
 export const fromRotationTranslationScaleOrigin = <T extends Matrix4Like>(
 	rotation: QuaternionLike,
@@ -450,46 +484,102 @@ export const fromRotationTranslationScaleOrigin = <T extends Matrix4Like>(
 	const oy = origin[1];
 	const oz = origin[2];
 
-	const out0 = (1 - (yy + zz)) * sx;
-	const out1 = (xy + wz) * sx;
-	const out2 = (xz - wy) * sx;
-	const out4 = (xy - wz) * sy;
-	const out5 = (1 - (xx + zz)) * sy;
-	const out6 = (yz + wx) * sy;
-	const out8 = (xz + wy) * sz;
-	const out9 = (yz - wx) * sz;
-	const out10 = (1 - (xx + yy)) * sz;
-
-	out[0] = out0;
-	out[1] = out1;
-	out[2] = out2;
-	out[3] = 0;
-	out[4] = out4;
-	out[5] = out5;
-	out[6] = out6;
-	out[7] = 0;
-	out[8] = out8;
-	out[9] = out9;
-	out[10] = out10;
-	out[11] = 0;
-	out[12] = translation[0] + ox - (out0 * ox + out4 * oy + out8 * oz);
-	out[13] = translation[1] + oy - (out1 * ox + out5 * oy + out9 * oz);
-	out[14] = translation[2] + oz - (out2 * ox + out6 * oy + out10 * oz);
-	out[15] = 1;
-	return out;
+	const o0 = (1 - (yy + zz)) * sx;
+	const o1 = (xy + wz) * sx;
+	const o2 = (xz - wy) * sx;
+	const o4 = (xy - wz) * sy;
+	const o5 = (1 - (xx + zz)) * sy;
+	const o6 = (yz + wx) * sy;
+	const o8 = (xz + wy) * sz;
+	const o9 = (yz - wx) * sz;
+	const o10 = (1 - (xx + yy)) * sz;
+
+	return fromValues(
+		o0,
+		o1,
+		o2,
+		0,
+		o4,
+		o5,
+		o6,
+		0,
+		o8,
+		o9,
+		o10,
+		0,
+		translation[0] + ox - (o0 * ox + o4 * oy + o8 * oz),
+		translation[1] + oy - (o1 * ox + o5 * oy + o9 * oz),
+		translation[2] + oz - (o2 * ox + o6 * oy + o10 * oz),
+		1,
+		out
+	);
+};
+
+/**
+ * Create a transformation matrix from a quaternion.
+ * @param quaternion - The quaternion.
+ * @param out - The matrix to store the result in.
+ * @returns The transformation matrix.
+ * @see {@link https://en.wikipedia.org/wiki/Rotation_matrix | Rotation matrix}
+ * @see {@link https://en.wikipedia.org/wiki/Transformation_matrix | Transformation matrix}
+ * @public
+ */
+export const fromQuaternion = <T extends Matrix4Like>(
+	quaternion: QuaternionLike,
+	out: T
+): T => {
+	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;
+
+	return fromValues(
+		1 - yy - zz,
+		yx + wz,
+		zx - wy,
+		0,
+		yx - wz,
+		1 - xx - zz,
+		zy + wx,
+		0,
+		zx + wy,
+		zy - wx,
+		1 - xx - yy,
+		0,
+		0,
+		0,
+		0,
+		1,
+		out
+	);
 };
 
 // Used to store intermediary values in some functions.
-const intermediary = createVector3Like();
+const iv3 = createVector3Like();
 
 /**
  * Create a transformation matrix from a dual quaternion.
  * @param quaternion - The dual quaternion.
  * @param out - The matrix to store the result in.
  * @returns The transformation matrix.
- * @see [Dual quaternion](https://en.wikipedia.org/wiki/Dual_quaternion)
- * @see [Rotation matrix](https://en.wikipedia.org/wiki/Rotation_matrix)
- * @see [Transformation matrix](https://en.wikipedia.org/wiki/Transformation_matrix)
+ * @see {@link https://en.wikipedia.org/wiki/Dual_quaternion | Dual quaternion}
+ * @see {@link https://en.wikipedia.org/wiki/Rotation_matrix | Rotation matrix}
+ * @see {@link https://en.wikipedia.org/wiki/Transformation_matrix | Transformation matrix}
+ * @public
  */
 export const fromDualQuaternion = <T extends Matrix4Like>(
 	quaternion: DualQuaternionLike,
@@ -505,17 +595,23 @@ export const fromDualQuaternion = <T extends Matrix4Like>(
 	const aw = quaternion[7];
 
 	const magnitude = bx * bx + by * by + bz * bz + bw * bw;
-	if (magnitude > 0) {
-		intermediary[0] = ((ax * bw + aw * bx + ay * bz - az * by) * 2) / magnitude;
-		intermediary[1] = ((ay * bw + aw * by + az * bx - ax * bz) * 2) / magnitude;
-		intermediary[2] = ((az * bw + aw * bz + ax * by - ay * bx) * 2) / magnitude;
-	} else {
-		intermediary[0] = (ax * bw + aw * bx + ay * bz - az * by) * 2;
-		intermediary[1] = (ay * bw + aw * by + az * bx - ax * bz) * 2;
-		intermediary[2] = (az * bw + aw * bz + ax * by - ay * bx) * 2;
-	}
-
-	return fromRotationTranslation(quaternion, intermediary, out);
+	return fromRotationTranslation(
+		quaternion,
+		magnitude > 0
+			? vector3FromValues(
+					((ax * bw + aw * bx + ay * bz - az * by) * 2) / magnitude,
+					((ay * bw + aw * by + az * bx - ax * bz) * 2) / magnitude,
+					((az * bw + aw * bz + ax * by - ay * bx) * 2) / magnitude,
+					iv3
+				)
+			: vector3FromValues(
+					(ax * bw + aw * bx + ay * bz - az * by) * 2,
+					(ay * bw + aw * by + az * bx - ax * bz) * 2,
+					(az * bw + aw * bz + ax * by - ay * bx) * 2,
+					iv3
+				),
+		out
+	);
 };
 
 /**
@@ -528,8 +624,9 @@ export const fromDualQuaternion = <T extends Matrix4Like>(
  * @param far - The far bound of the frustum.
  * @param out - The matrix to store the result in.
  * @returns The frustum 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 frustum = <T extends Matrix4Like>(
 	left: number,
@@ -542,7 +639,6 @@ export const frustum = <T extends Matrix4Like>(
 ): T => {
 	const rl = 1 / (right - left);
 	const tb = 1 / (top - bottom);
-	const nf = 1 / (near - far);
 
 	out[0] = near * 2 * rl;
 	out[1] = 0;
@@ -554,25 +650,34 @@ export const frustum = <T extends Matrix4Like>(
 	out[7] = 0;
 	out[8] = (right + left) * rl;
 	out[9] = (top + bottom) * tb;
-	out[10] = (far + near) * nf;
 	out[11] = -1;
 	out[12] = 0;
 	out[13] = 0;
-	out[14] = far * near * 2 * nf;
 	out[15] = 0;
+
+	if (far === Infinity) {
+		out[10] = -1;
+		out[14] = -2 * near;
+		return out;
+	}
+
+	const nf = 1 / (near - far);
+	out[10] = (far + near) * nf;
+	out[14] = 2 * far * near * nf;
 	return out;
 };
 
 /**
- * Create a perspective projection matrix with the given bounds.
+ * Create a perspective projection matrix with the given bounds such that the near and far clip planes correspond to a normalized device coordinate Z range of `[-1, 1]` (OpenGL/WebGL).
  * @param fov - The vertical field of view in radians.
  * @param aspect - The aspect ratio (typically the width of the viewport divided by its height).
  * @param near - The near bound of the frustum. Must be strictly positive.
  * @param far - The far bound of the frustum.
  * @param out - The matrix to store the result in.
  * @returns The perspective 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 perspective = <T extends Matrix4Like>(
 	fov: number,
@@ -610,6 +715,54 @@ export const perspective = <T extends Matrix4Like>(
 	return out;
 };
 
+/**
+ * Create a perspective projection matrix with the given bounds such that the near and far clip planes correspond to a normalized device coordinate Z range of `[0, 1]` (WebGPU/Vulkan/DirectX/Metal).
+ * @param fov - The vertical field of view in radians.
+ * @param aspect - The aspect ratio (typically the width of the viewport divided by its height).
+ * @param near - The near bound of the frustum. Must be strictly positive.
+ * @param far - The far bound of the frustum.
+ * @param out - The matrix to store the result in.
+ * @returns The perspective projection matrix.
+ * @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 perspectiveGpu = <T extends Matrix4Like>(
+	fov: number,
+	aspect: number,
+	near: number,
+	far: number,
+	out: T
+): T => {
+	const f = 1 / Math.tan(fov / 2);
+
+	out[0] = f / aspect;
+	out[1] = 0;
+	out[2] = 0;
+	out[3] = 0;
+	out[4] = 0;
+	out[5] = f;
+	out[6] = 0;
+	out[7] = 0;
+	out[8] = 0;
+	out[9] = 0;
+	out[11] = -1;
+	out[12] = 0;
+	out[13] = 0;
+	out[15] = 0;
+
+	if (far === Infinity) {
+		out[10] = -1;
+		out[14] = -near;
+		return out;
+	}
+
+	const fnf = far * (1 / (near - far));
+	out[10] = fnf;
+	out[14] = near * fnf;
+	return out;
+};
+
 /**
  * Create a perspective projection matrix from a field of view. Useful for generating projection matrices to be used with the WebXR API.
  * @param fov - The field of view.
@@ -617,9 +770,10 @@ export const perspective = <T extends Matrix4Like>(
  * @param far - The far bound of the frustum.
  * @param out - The matrix to store the result in.
  * @returns The perspective projection matrix.
- * @see [WebXR API](https://developer.mozilla.org/en-US/docs/Web/API/WebXR_Device_API)
- * @see [Camera matrix](https://en.wikipedia.org/wiki/Camera_matrix)
- * @see [3D projection](https://en.wikipedia.org/wiki/3D_projection)
+ * @see {@link https://developer.mozilla.org/en-US/docs/Web/API/WebXR_Device_API | WebXR API}
+ * @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 perspectiveFromFieldOfView = <T extends Matrix4Like>(
 	fov: FieldOfView,
@@ -627,34 +781,85 @@ export const perspectiveFromFieldOfView = <T extends Matrix4Like>(
 	far: number,
 	out: T
 ): T => {
-	const upTan = Math.tan((fov.upDegrees * Math.PI) / 180);
-	const downTan = Math.tan((fov.downDegrees * Math.PI) / 180);
-	const leftTan = Math.tan((fov.leftDegrees * Math.PI) / 180);
-	const rightTan = Math.tan((fov.rightDegrees * Math.PI) / 180);
-	const xScale = 2 / (leftTan + rightTan);
-	const yScale = 2 / (upTan + downTan);
+	const upTan = Math.tan(degreesToRadians(fov.upDegrees));
+	const downTan = Math.tan(degreesToRadians(fov.downDegrees));
+	const leftTan = Math.tan(degreesToRadians(fov.leftDegrees));
+	const rightTan = Math.tan(degreesToRadians(fov.rightDegrees));
+	const xScale = 2 / (leftTan + rightTan);
+	const yScale = 2 / (upTan + downTan);
+	const nf = near - far;
+
+	return fromValues(
+		xScale,
+		0,
+		0,
+		0,
+		0,
+		yScale,
+		0,
+		0,
+		-(((leftTan - rightTan) * xScale) / 2),
+		((upTan - downTan) * yScale) / 2,
+		far / nf,
+		-1,
+		0,
+		0,
+		(far * near) / nf,
+		0,
+		out
+	);
+};
+
+/**
+ * Generate an orthogonal projection matrix with the given bounds such that the near and far clip planes correspond to a normalized device coordinate Z range of `[-1, 1]` (OpenGL/WebGL).
+ * @param left - The left bound of the frustum.
+ * @param right - The right bound of the frustum.
+ * @param bottom - The bottom bound of the frustum.
+ * @param top - The top bound of the frustum.
+ * @param near - The near bound of the frustum.
+ * @param far - The far bound of the frustum.
+ * @param out - The matrix to store the result in.
+ * @returns The frustum matrix.
+ * @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 ortho = <T extends Matrix4Like>(
+	left: number,
+	right: number,
+	bottom: number,
+	top: number,
+	near: number,
+	far: number,
+	out: T
+): T => {
+	const lr = 1 / (left - right);
+	const bt = 1 / (bottom - top);
+	const nf = 1 / (near - far);
 
-	out[0] = xScale;
-	out[1] = 0;
-	out[2] = 0;
-	out[3] = 0;
-	out[4] = 0;
-	out[5] = yScale;
-	out[6] = 0;
-	out[7] = 0;
-	out[8] = -((leftTan - rightTan) * xScale * 0.5);
-	out[9] = (upTan - downTan) * yScale * 0.5;
-	out[10] = far / (near - far);
-	out[11] = -1;
-	out[12] = 0;
-	out[13] = 0;
-	out[14] = (far * near) / (near - far);
-	out[15] = 0;
-	return out;
+	return fromValues(
+		-2 * lr,
+		0,
+		0,
+		0,
+		0,
+		-2 * bt,
+		0,
+		0,
+		0,
+		0,
+		2 * nf,
+		0,
+		(left + right) * lr,
+		(top + bottom) * bt,
+		(far + near) * nf,
+		1,
+		out
+	);
 };
 
 /**
- * Generate an orthogonal projection matrix with the given bounds.
+ * Generate an orthogonal projection matrix with the given bounds such that the near and far clip planes correspond to a normalized device coordinate Z range of `[0, 1]` (WebGPU/Vulkan/DirectX/Metal).
  * @param left - The left bound of the frustum.
  * @param right - The right bound of the frustum.
  * @param bottom - The bottom bound of the frustum.
@@ -663,10 +868,11 @@ export const perspectiveFromFieldOfView = <T extends Matrix4Like>(
  * @param far - The far bound of the frustum.
  * @param out - The matrix to store the result in.
  * @returns The frustum 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 ortho = <T extends Matrix4Like>(
+export const orthoGpu = <T extends Matrix4Like>(
 	left: number,
 	right: number,
 	bottom: number,
@@ -679,23 +885,25 @@ export const ortho = <T extends Matrix4Like>(
 	const bt = 1 / (bottom - top);
 	const nf = 1 / (near - far);
 
-	out[0] = -2 * lr;
-	out[1] = 0;
-	out[2] = 0;
-	out[3] = 0;
-	out[4] = 0;
-	out[5] = -2 * bt;
-	out[6] = 0;
-	out[7] = 0;
-	out[8] = 0;
-	out[9] = 0;
-	out[10] = 2 * nf;
-	out[11] = 0;
-	out[12] = (left + right) * lr;
-	out[13] = (top + bottom) * bt;
-	out[14] = (far + near) * nf;
-	out[15] = 1;
-	return out;
+	return fromValues(
+		-2 * lr,
+		0,
+		0,
+		0,
+		0,
+		-2 * bt,
+		0,
+		0,
+		0,
+		0,
+		nf,
+		0,
+		(left + right) * lr,
+		(top + bottom) * bt,
+		near * nf,
+		1,
+		out
+	);
 };
 
 /**
@@ -705,7 +913,8 @@ export const ortho = <T extends Matrix4Like>(
  * @param up - The local up direction.
  * @param out - The matrix to store the result in.
  * @returns The look-at 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 lookAt = <T extends Matrix4Like>(
 	eye: Vector3Like,
@@ -725,18 +934,14 @@ export const lookAt = <T extends Matrix4Like>(
 	const centery = center[1];
 	const centerz = center[2];
 
-	if (
-		Math.abs(eyex - centerx) < epsilon &&
-		Math.abs(eyey - centery) < epsilon &&
-		Math.abs(eyez - centerz) < epsilon
-	) {
+	if (approx(eyex, centerx) && approx(eyey, centery) && approx(eyez, centerz)) {
 		return identity(out);
 	}
 
 	let z0 = eyex - centerx;
 	let z1 = eyey - centery;
 	let z2 = eyez - centerz;
-	let len = 1 / Math.sqrt(z0 * z0 + z1 * z1 + z2 * z2);
+	let len = 1 / Math.sqrt(z0 * z0 + z1 * z1 + z2 * z2); // `Math.hypot` is slower.
 	z0 *= len;
 	z1 *= len;
 	z2 *= len;
@@ -745,7 +950,7 @@ export const lookAt = <T extends Matrix4Like>(
 	let x1 = upz * z0 - upx * z2;
 	let x2 = upx * z1 - upy * z0;
 	len = Math.sqrt(x0 * x0 + x1 * x1 + x2 * x2);
-	if (len > 0) {
+	if (len) {
 		len = 1 / len;
 		x0 *= len;
 		x1 *= len;
@@ -760,7 +965,7 @@ export const lookAt = <T extends Matrix4Like>(
 	let y1 = z2 * x0 - z0 * x2;
 	let y2 = z0 * x1 - z1 * x0;
 	len = Math.sqrt(y0 * y0 + y1 * y1 + y2 * y2);
-	if (len > 0) {
+	if (len) {
 		len = 1 / len;
 		y0 *= len;
 		y1 *= len;
@@ -771,23 +976,25 @@ export const lookAt = <T extends Matrix4Like>(
 		y2 = 0;
 	}
 
-	out[0] = x0;
-	out[1] = y0;
-	out[2] = z0;
-	out[3] = 0;
-	out[4] = x1;
-	out[5] = y1;
-	out[6] = z1;
-	out[7] = 0;
-	out[8] = x2;
-	out[9] = y2;
-	out[10] = z2;
-	out[11] = 0;
-	out[12] = -(x0 * eyex + x1 * eyey + x2 * eyez);
-	out[13] = -(y0 * eyex + y1 * eyey + y2 * eyez);
-	out[14] = -(z0 * eyex + z1 * eyey + z2 * eyez);
-	out[15] = 1;
-	return out;
+	return fromValues(
+		x0,
+		y0,
+		z0,
+		0,
+		x1,
+		y1,
+		z1,
+		0,
+		x2,
+		y2,
+		z2,
+		0,
+		-(x0 * eyex + x1 * eyey + x2 * eyez),
+		-(y0 * eyex + y1 * eyey + y2 * eyez),
+		-(z0 * eyex + z1 * eyey + z2 * eyez),
+		1,
+		out
+	);
 };
 
 /**
@@ -797,7 +1004,8 @@ export const lookAt = <T extends Matrix4Like>(
  * @param up - The local up direction.
  * @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 targetTo = <T extends Matrix4Like>(
 	eye: Vector3Like,
@@ -817,7 +1025,7 @@ export const targetTo = <T extends Matrix4Like>(
 	let z1 = eyey - target[1];
 	let z2 = eyez - target[2];
 	let len = z0 * z0 + z1 * z1 + z2 * z2;
-	if (len > 0) {
+	if (len) {
 		len = 1 / Math.sqrt(len);
 		z0 *= len;
 		z1 *= len;
@@ -828,30 +1036,32 @@ export const targetTo = <T extends Matrix4Like>(
 	let x1 = upz * z0 - upx * z2;
 	let x2 = upx * z1 - upy * z0;
 	len = x0 * x0 + x1 * x1 + x2 * x2;
-	if (len > 0) {
+	if (len) {
 		len = 1 / Math.sqrt(len);
 		x0 *= len;
 		x1 *= len;
 		x2 *= len;
 	}
 
-	out[0] = x0;
-	out[1] = x1;
-	out[2] = x2;
-	out[3] = 0;
-	out[4] = z1 * x2 - z2 * x1;
-	out[5] = z2 * x0 - z0 * x2;
-	out[6] = z0 * x1 - z1 * x0;
-	out[7] = 0;
-	out[8] = z0;
-	out[9] = z1;
-	out[10] = z2;
-	out[11] = 0;
-	out[12] = eyex;
-	out[13] = eyey;
-	out[14] = eyez;
-	out[15] = 1;
-	return out;
+	return fromValues(
+		x0,
+		x1,
+		x2,
+		0,
+		z1 * x2 - z2 * x1,
+		z2 * x0 - z0 * x2,
+		z0 * x1 - z1 * x0,
+		0,
+		z0,
+		z1,
+		z2,
+		0,
+		eyex,
+		eyey,
+		eyez,
+		1,
+		out
+	);
 };
 
 /**
@@ -860,190 +1070,91 @@ export const targetTo = <T extends Matrix4Like>(
  * @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 = <T extends Matrix4Like>(
 	a: Matrix4Like,
 	b: Matrix4Like,
 	out: T
-): T => {
-	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];
-	out[9] = a[9] + b[8];
-	out[10] = a[10] + b[10];
-	out[11] = a[11] + b[11];
-	out[12] = a[12] + b[12];
-	out[13] = a[13] + b[13];
-	out[14] = a[14] + b[14];
-	out[15] = a[15] + b[15];
-	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 c0r3 - The value in the first column and fourth 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 c1r3 - The value in the second column and fourth 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 c2r3 - The value in the third column and fourth row.
- * @param c3r0 - The value in the fourth column and first row.
- * @param c3r1 - The value in the fourth column and second row.
- * @param c3r2 - The value in the fourth column and third row.
- * @param c3r3 - The value in the fourth column and fourth row.
- * @param out - The matrix to store the result in.
- * @returns The matrix.
- */
-export const 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 => {
-	out[0] = c0r0;
-	out[1] = c0r1;
-	out[2] = c0r2;
-	out[3] = c0r3;
-	out[4] = c1r0;
-	out[5] = c1r1;
-	out[6] = c1r2;
-	out[7] = c1r3;
-	out[8] = c2r0;
-	out[9] = c2r1;
-	out[10] = c2r2;
-	out[11] = c2r3;
-	out[12] = c3r0;
-	out[13] = c3r1;
-	out[14] = c3r2;
-	out[15] = c3r3;
-	return out;
-};
+): T =>
+	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],
+		a[9] + b[8],
+		a[10] + b[10],
+		a[11] + b[11],
+		a[12] + b[12],
+		a[13] + b[13],
+		a[14] + b[14],
+		a[15] + b[15],
+		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: Matrix4Like, b: Matrix4Like): boolean => {
-	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 a9 = a[9];
-	const a10 = a[10];
-	const a11 = a[11];
-	const a12 = a[12];
-	const a13 = a[13];
-	const a14 = a[14];
-	const a15 = a[15];
-
-	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];
-	const b9 = b[9];
-	const b10 = b[10];
-	const b11 = b[11];
-	const b12 = b[12];
-	const b13 = b[13];
-	const b14 = b[14];
-	const b15 = b[15];
-
-	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)) &&
-		Math.abs(a9 - b9) <= epsilon * Math.max(1, Math.abs(a9), Math.abs(b9)) &&
-		Math.abs(a10 - b10) <=
-			epsilon * Math.max(1, Math.abs(a10), Math.abs(b10)) &&
-		Math.abs(a11 - b11) <=
-			epsilon * Math.max(1, Math.abs(a11), Math.abs(b11)) &&
-		Math.abs(a12 - b12) <=
-			epsilon * Math.max(1, Math.abs(a12), Math.abs(b12)) &&
-		Math.abs(a13 - b13) <=
-			epsilon * Math.max(1, Math.abs(a13), Math.abs(b13)) &&
-		Math.abs(a14 - b14) <=
-			epsilon * Math.max(1, Math.abs(a14), Math.abs(b14)) &&
-		Math.abs(a15 - b15) <= epsilon * Math.max(1, Math.abs(a15), Math.abs(b15))
-	);
-};
+export const equals = (a: Matrix4Like, b: Matrix4Like): boolean =>
+	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]) &&
+	approxRelative(a[9], b[9]) &&
+	approxRelative(a[10], b[10]) &&
+	approxRelative(a[11], b[11]) &&
+	approxRelative(a[12], b[12]) &&
+	approxRelative(a[13], b[13]) &&
+	approxRelative(a[14], b[14]) &&
+	approxRelative(a[15], b[15]);
 
 /**
  * Determine whether or not two matrices are exactly equivalent.
  * @param a - The first matrix.
  * @param b - The second matrix.
  * @returns Whether the matrices are equivalent.
+ * @public
  */
-export const exactEquals = (a: Matrix4Like, b: Matrix4Like): boolean => {
-	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 const exactEquals = (a: Matrix4Like, b: Matrix4Like): boolean =>
+	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];
 
 /**
  * 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 = <T extends Matrix4Like>(
 	matrix: Matrix4Like,
@@ -1066,79 +1177,38 @@ export const adjoint = <T extends Matrix4Like>(
 	const a32 = matrix[14];
 	const a33 = matrix[15];
 
-	out[0] =
-		a11 * (a22 * a33 - a23 * a32) -
-		a21 * (a12 * a33 - a13 * a32) +
-		a31 * (a12 * a23 - a13 * a22);
-	out[1] = -(
-		a01 * (a22 * a33 - a23 * a32) -
-		a21 * (a02 * a33 - a03 * a32) +
-		a31 * (a02 * a23 - a03 * a22)
-	);
-	out[2] =
-		a01 * (a12 * a33 - a13 * a32) -
-		a11 * (a02 * a33 - a03 * a32) +
-		a31 * (a02 * a13 - a03 * a12);
-	out[3] = -(
-		a01 * (a12 * a23 - a13 * a22) -
-		a11 * (a02 * a23 - a03 * a22) +
-		a21 * (a02 * a13 - a03 * a12)
-	);
-	out[4] = -(
-		a10 * (a22 * a33 - a23 * a32) -
-		a20 * (a12 * a33 - a13 * a32) +
-		a30 * (a12 * a23 - a13 * a22)
-	);
-	out[5] =
-		a00 * (a22 * a33 - a23 * a32) -
-		a20 * (a02 * a33 - a03 * a32) +
-		a30 * (a02 * a23 - a03 * a22);
-	out[6] = -(
-		a00 * (a12 * a33 - a13 * a32) -
-		a10 * (a02 * a33 - a03 * a32) +
-		a30 * (a02 * a13 - a03 * a12)
-	);
-	out[7] =
-		a00 * (a12 * a23 - a13 * a22) -
-		a10 * (a02 * a23 - a03 * a22) +
-		a20 * (a02 * a13 - a03 * a12);
-	out[8] =
-		a10 * (a21 * a33 - a23 * a31) -
-		a20 * (a11 * a33 - a13 * a31) +
-		a30 * (a11 * a23 - a13 * a21);
-	out[9] = -(
-		a00 * (a21 * a33 - a23 * a31) -
-		a20 * (a01 * a33 - a03 * a31) +
-		a30 * (a01 * a23 - a03 * a21)
-	);
-	out[10] =
-		a00 * (a11 * a33 - a13 * a31) -
-		a10 * (a01 * a33 - a03 * a31) +
-		a30 * (a01 * a13 - a03 * a11);
-	out[11] = -(
-		a00 * (a11 * a23 - a13 * a21) -
-		a10 * (a01 * a23 - a03 * a21) +
-		a20 * (a01 * a13 - a03 * a11)
-	);
-	out[12] = -(
-		a10 * (a21 * a32 - a22 * a31) -
-		a20 * (a11 * a32 - a12 * a31) +
-		a30 * (a11 * a22 - a12 * a21)
-	);
-	out[13] =
-		a00 * (a21 * a32 - a22 * a31) -
-		a20 * (a01 * a32 - a02 * a31) +
-		a30 * (a01 * a22 - a02 * a21);
-	out[14] = -(
-		a00 * (a11 * a32 - a12 * a31) -
-		a10 * (a01 * a32 - a02 * a31) +
-		a30 * (a01 * a12 - a02 * a11)
+	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;
+
+	return fromValues(
+		a11 * b11 - a12 * b10 + a13 * b09,
+		a02 * b10 - a01 * b11 - a03 * b09,
+		a31 * b05 - a32 * b04 + a33 * b03,
+		a22 * b04 - a21 * b05 - a23 * b03,
+		a12 * b08 - a10 * b11 - a13 * b07,
+		a00 * b11 - a02 * b08 + a03 * b07,
+		a32 * b02 - a30 * b05 - a33 * b01,
+		a20 * b05 - a22 * b02 + a23 * b01,
+		a10 * b10 - a11 * b08 + a13 * b06,
+		a01 * b08 - a00 * b10 - a03 * b06,
+		a30 * b04 - a31 * b02 + a33 * b00,
+		a21 * b02 - a20 * b04 - a23 * b00,
+		a11 * b07 - a10 * b09 - a12 * b06,
+		a00 * b09 - a01 * b07 + a02 * b06,
+		a31 * b01 - a30 * b03 - a32 * b00,
+		a20 * b03 - a21 * b01 + a22 * b00,
+		out
 	);
-	out[15] =
-		a00 * (a11 * a22 - a12 * a21) -
-		a10 * (a01 * a22 - a02 * a21) +
-		a20 * (a01 * a12 - a02 * a11);
-	return out;
 };
 
 /**
@@ -1146,32 +1216,35 @@ export const adjoint = <T extends Matrix4Like>(
  * @param matrix - The matrix to copy.
  * @param out - The matrix to store the result in.
  * @returns This matrix.
+ * @public
  */
-export const copy = <T extends Matrix4Like>(matrix: Matrix4Like, out: T): T => {
-	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];
-	out[9] = matrix[9];
-	out[10] = matrix[10];
-	out[11] = matrix[11];
-	out[12] = matrix[12];
-	out[13] = matrix[13];
-	out[14] = matrix[14];
-	out[15] = matrix[15];
-	return out;
-};
+export const copy = <T extends Matrix4Like>(matrix: Matrix4Like, out: T): T =>
+	fromValues(
+		matrix[0],
+		matrix[1],
+		matrix[2],
+		matrix[3],
+		matrix[4],
+		matrix[5],
+		matrix[6],
+		matrix[7],
+		matrix[8],
+		matrix[9],
+		matrix[10],
+		matrix[11],
+		matrix[12],
+		matrix[13],
+		matrix[14],
+		matrix[15],
+		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: Matrix4Like): number => {
 	const a00 = matrix[0];
@@ -1191,6 +1264,7 @@ export const frob = (matrix: Matrix4Like): number => {
 	const a32 = matrix[14];
 	const a33 = matrix[15];
 
+	// `Math.hypot` is slower.
 	return Math.sqrt(
 		a00 * a00 +
 			a01 * a01 +
@@ -1213,11 +1287,12 @@ export const frob = (matrix: Matrix4Like): number => {
 
 /**
  * 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.
- * @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 = <T extends Matrix4Like>(
 	a: Matrix4Like,
@@ -1241,39 +1316,42 @@ export const multiply = <T extends Matrix4Like>(
 	const a32 = a[14];
 	const a33 = a[15];
 
-	let b0 = b[0];
-	let b1 = b[1];
-	let b2 = b[2];
-	let b3 = b[3];
-	out[0] = b0 * a00 + b1 * a10 + b2 * a20 + b3 * a30;
-	out[1] = b0 * a01 + b1 * a11 + b2 * a21 + b3 * a31;
-	out[2] = b0 * a02 + b1 * a12 + b2 * a22 + b3 * a32;
-	out[3] = b0 * a03 + b1 * a13 + b2 * a23 + b3 * a33;
-	b0 = b[4];
-	b1 = b[5];
-	b2 = b[6];
-	b3 = b[7];
-	out[4] = b0 * a00 + b1 * a10 + b2 * a20 + b3 * a30;
-	out[5] = b0 * a01 + b1 * a11 + b2 * a21 + b3 * a31;
-	out[6] = b0 * a02 + b1 * a12 + b2 * a22 + b3 * a32;
-	out[7] = b0 * a03 + b1 * a13 + b2 * a23 + b3 * a33;
-	b0 = b[8];
-	b1 = b[9];
-	b2 = b[10];
-	b3 = b[11];
-	out[8] = b0 * a00 + b1 * a10 + b2 * a20 + b3 * a30;
-	out[9] = b0 * a01 + b1 * a11 + b2 * a21 + b3 * a31;
-	out[10] = b0 * a02 + b1 * a12 + b2 * a22 + b3 * a32;
-	out[11] = b0 * a03 + b1 * a13 + b2 * a23 + b3 * a33;
-	b0 = b[12];
-	b1 = b[13];
-	b2 = b[14];
-	b3 = b[15];
-	out[12] = b0 * a00 + b1 * a10 + b2 * a20 + b3 * a30;
-	out[13] = b0 * a01 + b1 * a11 + b2 * a21 + b3 * a31;
-	out[14] = b0 * a02 + b1 * a12 + b2 * a22 + b3 * a32;
-	out[15] = b0 * a03 + b1 * a13 + b2 * a23 + b3 * a33;
-	return out;
+	const b00 = b[0];
+	const b01 = b[1];
+	const b02 = b[2];
+	const b03 = b[3];
+	const b10 = b[4];
+	const b11 = b[5];
+	const b12 = b[6];
+	const b13 = b[7];
+	const b20 = b[8];
+	const b21 = b[9];
+	const b22 = b[10];
+	const b23 = b[11];
+	const b30 = b[12];
+	const b31 = b[13];
+	const b32 = b[14];
+	const b33 = b[15];
+
+	return fromValues(
+		b00 * a00 + b01 * a10 + b02 * a20 + b03 * a30,
+		b00 * a01 + b01 * a11 + b02 * a21 + b03 * a31,
+		b00 * a02 + b01 * a12 + b02 * a22 + b03 * a32,
+		b00 * a03 + b01 * a13 + b02 * a23 + b03 * a33,
+		b10 * a00 + b11 * a10 + b12 * a20 + b13 * a30,
+		b10 * a01 + b11 * a11 + b12 * a21 + b13 * a31,
+		b10 * a02 + b11 * a12 + b12 * a22 + b13 * a32,
+		b10 * a03 + b11 * a13 + b12 * a23 + b13 * a33,
+		b20 * a00 + b21 * a10 + b22 * a20 + b23 * a30,
+		b20 * a01 + b21 * a11 + b22 * a21 + b23 * a31,
+		b20 * a02 + b21 * a12 + b22 * a22 + b23 * a32,
+		b20 * a03 + b21 * a13 + b22 * a23 + b23 * a33,
+		b30 * a00 + b31 * a10 + b32 * a20 + b33 * a30,
+		b30 * a01 + b31 * a11 + b32 * a21 + b33 * a31,
+		b30 * a02 + b31 * a12 + b32 * a22 + b33 * a32,
+		b30 * a03 + b31 * a13 + b32 * a23 + b33 * a33,
+		out
+	);
 };
 
 /**
@@ -1282,31 +1360,33 @@ export const multiply = <T extends Matrix4Like>(
  * @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 = <T extends Matrix4Like>(
 	matrix: Matrix4Like,
 	scalar: number,
 	out: T
-): T => {
-	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;
-	out[9] = matrix[9] * scalar;
-	out[10] = matrix[10] * scalar;
-	out[11] = matrix[11] * scalar;
-	out[12] = matrix[12] * scalar;
-	out[13] = matrix[13] * scalar;
-	out[14] = matrix[14] * scalar;
-	out[15] = matrix[15] * scalar;
-	return out;
-};
+): T =>
+	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,
+		matrix[9] * scalar,
+		matrix[10] * scalar,
+		matrix[11] * scalar,
+		matrix[12] * scalar,
+		matrix[13] * scalar,
+		matrix[14] * scalar,
+		matrix[15] * scalar,
+		out
+	);
 
 /**
  * Add a matrix to another after multiplying the other by a scalar.
@@ -1315,33 +1395,35 @@ export const multiplyScalar = <T extends Matrix4Like>(
  * @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 = <T extends Matrix4Like>(
 	a: Matrix4Like,
 	b: Matrix4Like,
 	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;
-	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;
-	out[9] = a[9] + b[9] * scalar;
-	out[10] = a[10] + b[10] * scalar;
-	out[11] = a[11] + b[11] * scalar;
-	out[12] = a[12] + b[12] * scalar;
-	out[13] = a[13] + b[13] * scalar;
-	out[14] = a[14] + b[14] * scalar;
-	out[15] = a[15] + b[15] * scalar;
-	return out;
-};
+): T =>
+	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,
+		a[9] + b[9] * scalar,
+		a[10] + b[10] * scalar,
+		a[11] + b[11] * scalar,
+		a[12] + b[12] * scalar,
+		a[13] + b[13] * scalar,
+		a[14] + b[14] * scalar,
+		a[15] + b[15] * scalar,
+		out
+	);
 
 /**
  * Subtract two matrices.
@@ -1349,38 +1431,41 @@ export const multiplyScalarAndAdd = <T extends Matrix4Like>(
  * @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 = <T extends Matrix4Like>(
 	a: Matrix4Like,
 	b: Matrix4Like,
 	out: T
-): T => {
-	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];
-	out[9] = a[9] - b[8];
-	out[10] = a[10] - b[10];
-	out[11] = a[11] - b[11];
-	out[12] = a[12] - b[12];
-	out[13] = a[13] - b[13];
-	out[14] = a[14] - b[14];
-	out[15] = a[15] - b[15];
-	return out;
-};
+): T =>
+	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],
+		a[9] - b[8],
+		a[10] - b[10],
+		a[11] - b[11],
+		a[12] - b[12],
+		a[13] - b[13],
+		a[14] - b[14],
+		a[15] - b[15],
+		out
+	);
 
 /**
  * Transpose a matrix.
  * @param matrix - The matrix.
  * @param out - The matrix to store the result in.
  * @returns The transpose.
- * @see [Transpose](https://en.wikipedia.org/wiki/Transpose)
+ * @see {@link https://en.wikipedia.org/wiki/Transpose | Transpose}
+ * @public
  */
 export const transpose = <T extends Matrix4Like>(
 	matrix: Matrix4Like,
@@ -1408,63 +1493,61 @@ export const transpose = <T extends Matrix4Like>(
 		return out;
 	}
 
-	out[0] = matrix[0];
-	out[1] = matrix[4];
-	out[2] = matrix[8];
-	out[3] = matrix[12];
-	out[4] = matrix[1];
-	out[5] = matrix[5];
-	out[6] = matrix[9];
-	out[7] = matrix[13];
-	out[8] = matrix[2];
-	out[9] = matrix[6];
-	out[10] = matrix[10];
-	out[11] = matrix[14];
-	out[12] = matrix[3];
-	out[13] = matrix[7];
-	out[14] = matrix[11];
-	out[15] = matrix[15];
-	return out;
+	return fromValues(
+		matrix[0],
+		matrix[4],
+		matrix[8],
+		matrix[12],
+		matrix[1],
+		matrix[5],
+		matrix[9],
+		matrix[13],
+		matrix[2],
+		matrix[6],
+		matrix[10],
+		matrix[14],
+		matrix[3],
+		matrix[7],
+		matrix[11],
+		matrix[15],
+		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: Matrix4Like): 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;
+	const b0 = a00 * a11 - a01 * a10;
+	const b1 = a00 * a12 - a02 * a10;
+	const b2 = a01 * a12 - a02 * a11;
+	const b3 = a20 * a31 - a21 * a30;
+	const b4 = a20 * a32 - a22 * a30;
+	const b5 = a21 * a32 - a22 * a31;
 
-	return b00 * b11 - b01 * b10 + b02 * b09 + b03 * b08 - b04 * b07 + b05 * b06;
+	return (
+		matrix[7] * (a00 * b5 - a01 * b4 + a02 * b3) -
+		matrix[3] * (a10 * b5 - a11 * b4 + a12 * b3) +
+		matrix[15] * (a20 * b2 - a21 * b1 + a22 * b0) -
+		matrix[11] * (a30 * b2 - a31 * b1 + a32 * b0)
+	);
 };
 
 /**
@@ -1472,7 +1555,8 @@ export const determinant = (matrix: Matrix4Like): number => {
  * @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 = <T extends Matrix4Like>(
 	matrix: Matrix4Like,
@@ -1515,23 +1599,25 @@ export const invert = <T extends Matrix4Like>(
 	}
 	det = 1 / det;
 
-	out[0] = (a11 * b11 - a12 * b10 + a13 * b09) * det;
-	out[1] = (a02 * b10 - a01 * b11 - a03 * b09) * det;
-	out[2] = (a31 * b05 - a32 * b04 + a33 * b03) * det;
-	out[3] = (a22 * b04 - a21 * b05 - a23 * b03) * det;
-	out[4] = (a12 * b08 - a10 * b11 - a13 * b07) * det;
-	out[5] = (a00 * b11 - a02 * b08 + a03 * b07) * det;
-	out[6] = (a32 * b02 - a30 * b05 - a33 * b01) * det;
-	out[7] = (a20 * b05 - a22 * b02 + a23 * b01) * det;
-	out[8] = (a10 * b10 - a11 * b08 + a13 * b06) * det;
-	out[9] = (a01 * b08 - a00 * b10 - a03 * b06) * det;
-	out[10] = (a30 * b04 - a31 * b02 + a33 * b00) * det;
-	out[11] = (a21 * b02 - a20 * b04 - a23 * b00) * det;
-	out[12] = (a11 * b07 - a10 * b09 - a12 * b06) * det;
-	out[13] = (a00 * b09 - a01 * b07 + a02 * b06) * det;
-	out[14] = (a31 * b01 - a30 * b03 - a32 * b00) * det;
-	out[15] = (a20 * b03 - a21 * b01 + a22 * b00) * det;
-	return out;
+	return fromValues(
+		(a11 * b11 - a12 * b10 + a13 * b09) * det,
+		(a02 * b10 - a01 * b11 - a03 * b09) * det,
+		(a31 * b05 - a32 * b04 + a33 * b03) * det,
+		(a22 * b04 - a21 * b05 - a23 * b03) * det,
+		(a12 * b08 - a10 * b11 - a13 * b07) * det,
+		(a00 * b11 - a02 * b08 + a03 * b07) * det,
+		(a32 * b02 - a30 * b05 - a33 * b01) * det,
+		(a20 * b05 - a22 * b02 + a23 * b01) * det,
+		(a10 * b10 - a11 * b08 + a13 * b06) * det,
+		(a01 * b08 - a00 * b10 - a03 * b06) * det,
+		(a30 * b04 - a31 * b02 + a33 * b00) * det,
+		(a21 * b02 - a20 * b04 - a23 * b00) * det,
+		(a11 * b07 - a10 * b09 - a12 * b06) * det,
+		(a00 * b09 - a01 * b07 + a02 * b06) * det,
+		(a31 * b01 - a30 * b03 - a32 * b00) * det,
+		(a20 * b03 - a21 * b01 + a22 * b00) * det,
+		out
+	);
 };
 
 /**
@@ -1540,7 +1626,8 @@ export const invert = <T extends Matrix4Like>(
  * @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 = <T extends Matrix4Like>(
 	matrix: Matrix4Like,
@@ -1551,23 +1638,25 @@ export const scale = <T extends Matrix4Like>(
 	const y = vector[1];
 	const z = vector[2];
 
-	out[0] = matrix[0] * x;
-	out[1] = matrix[1] * x;
-	out[2] = matrix[2] * x;
-	out[3] = matrix[3] * x;
-	out[4] = matrix[4] * y;
-	out[5] = matrix[5] * y;
-	out[6] = matrix[6] * y;
-	out[7] = matrix[7] * y;
-	out[8] = matrix[8] * z;
-	out[9] = matrix[9] * z;
-	out[10] = matrix[10] * z;
-	out[11] = matrix[11] * z;
-	out[12] = matrix[12];
-	out[13] = matrix[13];
-	out[14] = matrix[14];
-	out[15] = matrix[15];
-	return out;
+	return fromValues(
+		matrix[0] * x,
+		matrix[1] * x,
+		matrix[2] * x,
+		matrix[3] * x,
+		matrix[4] * y,
+		matrix[5] * y,
+		matrix[6] * y,
+		matrix[7] * y,
+		matrix[8] * z,
+		matrix[9] * z,
+		matrix[10] * z,
+		matrix[11] * z,
+		matrix[12],
+		matrix[13],
+		matrix[14],
+		matrix[15],
+		out
+	);
 };
 
 /**
@@ -1576,7 +1665,8 @@ export const scale = <T extends Matrix4Like>(
  * @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 = <T extends Matrix4Like>(
 	matrix: Matrix4Like,
@@ -1592,39 +1682,41 @@ export const translate = <T extends Matrix4Like>(
 		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];
 		out[15] = matrix[3] * x + matrix[7] * y + matrix[11] * z + matrix[15];
-	} else {
-		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];
-
-		out[0] = a00;
-		out[1] = a01;
-		out[2] = a02;
-		out[3] = a03;
-		out[4] = a10;
-		out[5] = a11;
-		out[6] = a12;
-		out[7] = a13;
-		out[8] = a20;
-		out[9] = a21;
-		out[10] = a22;
-		out[11] = a23;
-		out[12] = a00 * x + a10 * y + a20 * z + matrix[12];
-		out[13] = a01 * x + a11 * y + a21 * z + matrix[13];
-		out[14] = a02 * x + a12 * y + a22 * z + matrix[14];
-		out[15] = a03 * x + a13 * y + a23 * z + matrix[15];
+		return out;
 	}
 
-	return out;
+	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];
+
+	return fromValues(
+		a00,
+		a01,
+		a02,
+		a03,
+		a10,
+		a11,
+		a12,
+		a13,
+		a20,
+		a21,
+		a22,
+		a23,
+		a00 * x + a10 * y + a20 * z + matrix[12],
+		a01 * x + a11 * y + a21 * z + matrix[13],
+		a02 * x + a12 * y + a22 * z + matrix[14],
+		a03 * x + a13 * y + a23 * z + matrix[15],
+		out
+	);
 };
 
 /**
@@ -1634,7 +1726,8 @@ export const translate = <T extends Matrix4Like>(
  * @param axis - The axis.
  * @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 = <T extends Matrix4Like>(
 	matrix: Matrix4Like,
@@ -1646,7 +1739,7 @@ export const rotate = <T extends Matrix4Like>(
 	let y = axis[1];
 	let z = axis[2];
 
-	let len = Math.sqrt(x * x + y * y + z * z);
+	let len = Math.sqrt(x * x + y * y + z * z); // `Math.hypot` is slower.
 	if (len < epsilon) {
 		return out;
 	}
@@ -1660,6 +1753,14 @@ export const rotate = <T extends Matrix4Like>(
 	const c = Math.cos(radians);
 	const t = 1 - c;
 
+	const xs = x * s;
+	const ys = y * s;
+	const zs = z * s;
+
+	const xt = x * t;
+	const yt = y * t;
+	const zt = z * t;
+
 	const a00 = matrix[0];
 	const a01 = matrix[1];
 	const a02 = matrix[2];
@@ -1673,15 +1774,15 @@ export const rotate = <T extends Matrix4Like>(
 	const a22 = matrix[10];
 	const a23 = matrix[11];
 
-	const b00 = x * x * t + c;
-	const b01 = y * x * t + z * s;
-	const b02 = z * x * t - y * s;
-	const b10 = x * y * t - z * s;
-	const b11 = y * y * t + c;
-	const b12 = z * y * t + x * s;
-	const b20 = x * z * t + y * s;
-	const b21 = y * z * t - x * s;
-	const b22 = z * z * t + c;
+	const b00 = x * xt + c;
+	const b01 = y * xt + zs;
+	const b02 = z * xt - ys;
+	const b10 = x * yt - zs;
+	const b11 = y * yt + c;
+	const b12 = z * yt + xs;
+	const b20 = x * zt + ys;
+	const b21 = y * zt - xs;
+	const b22 = z * zt + c;
 
 	out[0] = a00 * b00 + a10 * b01 + a20 * b02;
 	out[1] = a01 * b00 + a11 * b01 + a21 * b02;
@@ -1695,12 +1796,14 @@ export const rotate = <T extends Matrix4Like>(
 	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) {
 		out[12] = matrix[12];
 		out[13] = matrix[13];
 		out[14] = matrix[14];
 		out[15] = matrix[15];
 	}
+
 	return out;
 };
 
@@ -1710,7 +1813,8 @@ export const rotate = <T extends Matrix4Like>(
  * @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}
+ * @public
  */
 export const rotateX = <T extends Matrix4Like>(
 	matrix: Matrix4Like,
@@ -1757,7 +1861,8 @@ export const rotateX = <T extends Matrix4Like>(
  * @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}
+ * @public
  */
 export const rotateY = <T extends Matrix4Like>(
 	matrix: Matrix4Like,
@@ -1804,7 +1909,8 @@ export const rotateY = <T extends Matrix4Like>(
  * @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}
+ * @public
  */
 export const rotateZ = <T extends Matrix4Like>(
 	matrix: Matrix4Like,
@@ -1850,17 +1956,13 @@ export const rotateZ = <T extends Matrix4Like>(
  * @param matrix - The matrix.
  * @param out - The vector to store the result in.
  * @returns The translation vector.
- * @see [Transformation matrix](https://en.wikipedia.org/wiki/Transformation_matrix)
+ * @see {@link https://en.wikipedia.org/wiki/Transformation_matrix | Transformation matrix}
+ * @public
  */
 export const getTranslation = <T extends Vector3Like>(
 	matrix: Matrix4Like,
 	out: T
-): T => {
-	out[0] = matrix[12];
-	out[1] = matrix[13];
-	out[2] = matrix[14];
-	return out;
-};
+): T => vector3FromValues(matrix[12], matrix[13], matrix[14], out);
 
 /**
  * Set the translation vector component of a transformation matrix.
@@ -1868,7 +1970,8 @@ export const getTranslation = <T extends Vector3Like>(
  * @param translation - 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 setTranslation = <T extends Matrix4Like>(
 	matrix: Matrix4Like,
@@ -1902,7 +2005,8 @@ export const setTranslation = <T extends Matrix4Like>(
  * @param matrix - The matrix.
  * @param out - The vector to store the result in.
  * @returns The scaling vector.
- * @see [Transformation matrix](https://en.wikipedia.org/wiki/Transformation_matrix)
+ * @see {@link https://en.wikipedia.org/wiki/Transformation_matrix | Transformation matrix}
+ * @public
  */
 export const getScaling = <T extends Vector3Like>(
 	matrix: Matrix4Like,
@@ -1918,10 +2022,13 @@ export const getScaling = <T extends Vector3Like>(
 	const m32 = matrix[9];
 	const m33 = matrix[10];
 
-	out[0] = Math.sqrt(m11 * m11 + m12 * m12 + m13 * m13);
-	out[1] = Math.sqrt(m21 * m21 + m22 * m22 + m23 * m23);
-	out[2] = Math.sqrt(m31 * m31 + m32 * m32 + m33 * m33);
-	return out;
+	// `Math.hypot` is slower.
+	return vector3FromValues(
+		Math.sqrt(m11 * m11 + m12 * m12 + m13 * m13),
+		Math.sqrt(m21 * m21 + m22 * m22 + m23 * m23),
+		Math.sqrt(m31 * m31 + m32 * m32 + m33 * m33),
+		out
+	);
 };
 
 /**
@@ -1929,17 +2036,18 @@ export const getScaling = <T extends Vector3Like>(
  * @param matrix - The matrix.
  * @param out - The quaternion to store the result in.
  * @returns The rotation.
- * @see [Rotation matrix](https://en.wikipedia.org/wiki/Rotation_matrix)
+ * @see {@link https://en.wikipedia.org/wiki/Rotation_matrix | Rotation matrix}
+ * @public
  */
 export const getRotation = <T extends QuaternionLike>(
 	matrix: Matrix4Like,
 	out: T
 ): T => {
-	const scaling = getScaling(matrix, createVector3Like());
+	getScaling(matrix, iv3);
 
-	const is1 = 1 / scaling[0];
-	const is2 = 1 / scaling[1];
-	const is3 = 1 / scaling[2];
+	const is1 = 1 / iv3[0];
+	const is2 = 1 / iv3[1];
+	const is3 = 1 / iv3[2];
 
 	const sm11 = matrix[0] * is1;
 	const sm12 = matrix[1] * is2;
@@ -1955,42 +2063,51 @@ export const getRotation = <T extends QuaternionLike>(
 
 	if (trace > 0) {
 		const s = Math.sqrt(trace + 1) * 2;
-		out[0] = (sm23 - sm32) / s;
-		out[1] = (sm31 - sm13) / s;
-		out[2] = (sm12 - sm21) / s;
-		out[3] = 0.25 * s;
-		return out;
+		return quaternionFromValues(
+			(sm23 - sm32) / s,
+			(sm31 - sm13) / s,
+			(sm12 - sm21) / s,
+			0.25 * s,
+			out
+		);
 	}
 
 	if (sm11 > sm22 && sm11 > sm33) {
 		const s = Math.sqrt(1 + sm11 - sm22 - sm33) * 2;
-		out[0] = 0.25 * s;
-		out[1] = (sm12 + sm21) / s;
-		out[2] = (sm31 + sm13) / s;
-		out[3] = (sm23 - sm32) / s;
-		return out;
+		return quaternionFromValues(
+			0.25 * s,
+			(sm12 + sm21) / s,
+			(sm31 + sm13) / s,
+			(sm23 - sm32) / s,
+			out
+		);
 	}
 
 	if (sm22 > sm33) {
 		const s = Math.sqrt(1 + sm22 - sm11 - sm33) * 2;
-		out[0] = (sm12 + sm21) / s;
-		out[1] = 0.25 * s;
-		out[2] = (sm23 + sm32) / s;
-		out[3] = (sm31 - sm13) / s;
-		return out;
+		return quaternionFromValues(
+			(sm12 + sm21) / s,
+			0.25 * s,
+			(sm23 + sm32) / s,
+			(sm31 - sm13) / s,
+			out
+		);
 	}
 
 	const s = Math.sqrt(1 + sm33 - sm11 - sm22) * 2;
-	out[0] = (sm31 + sm13) / s;
-	out[1] = (sm23 + sm32) / s;
-	out[2] = 0.25 * s;
-	out[3] = (sm12 - sm21) / s;
-	return out;
+	return quaternionFromValues(
+		(sm31 + sm13) / s,
+		(sm23 + sm32) / s,
+		0.25 * s,
+		(sm12 - sm21) / s,
+		out
+	);
 };
 
 /**
  * A four-by-four matrix.
- * @see [Matrix](https://en.wikipedia.org/wiki/Matrix_(mathematics))
+ * @see {@link https://en.wikipedia.org/wiki/Matrix_(mathematics) | Matrix}
+ * @public
  */
 export default class Matrix4
 	extends Float32Array
@@ -2001,7 +2118,7 @@ export default class Matrix4
 	 * @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 static fromTranslation<T extends Matrix4Like = Matrix4>(
 		vector: Vector3Like,
@@ -2015,7 +2132,7 @@ export default class Matrix4
 	 * @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 static fromScaling<T extends Matrix4Like = Matrix4>(
 		vector: Vector3Like,
@@ -2030,7 +2147,7 @@ export default class Matrix4
 	 * @param axis - The axis to rotate around.
 	 * @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 static fromRotation<T extends Matrix4Like = Matrix4>(
 		r: number,
@@ -2045,7 +2162,7 @@ export default class Matrix4
 	 * @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 static fromXRotation<T extends Matrix4Like = Matrix4>(
 		r: number,
@@ -2059,7 +2176,7 @@ export default class Matrix4
 	 * @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 static fromYRotation<T extends Matrix4Like = Matrix4>(
 		r: number,
@@ -2073,7 +2190,7 @@ export default class Matrix4
 	 * @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 static fromZRotation<T extends Matrix4Like = Matrix4>(
 		r: number,
@@ -2088,8 +2205,8 @@ export default class Matrix4
 	 * @param translation - The translation vector.
 	 * @param out - The matrix to store the result in.
 	 * @returns The transformation matrix.
-	 * @see [Rotation matrix](https://en.wikipedia.org/wiki/Rotation_matrix)
-	 * @see [Transformation matrix](https://en.wikipedia.org/wiki/Transformation_matrix)
+	 * @see {@link https://en.wikipedia.org/wiki/Rotation_matrix | Rotation matrix}
+	 * @see {@link https://en.wikipedia.org/wiki/Transformation_matrix | Transformation matrix}
 	 */
 	public static fromRotationTranslation<T extends Matrix4Like = Matrix4>(
 		rotation: QuaternionLike,
@@ -2106,8 +2223,8 @@ export default class Matrix4
 	 * @param scaling - The scaling vector.
 	 * @param out - The matrix to store the result in.
 	 * @returns The transformation matrix.
-	 * @see [Rotation matrix](https://en.wikipedia.org/wiki/Rotation_matrix)
-	 * @see [Transformation matrix](https://en.wikipedia.org/wiki/Transformation_matrix)
+	 * @see {@link https://en.wikipedia.org/wiki/Rotation_matrix | Rotation matrix}
+	 * @see {@link https://en.wikipedia.org/wiki/Transformation_matrix | Transformation matrix}
 	 */
 	public static fromRotationTranslationScale<T extends Matrix4Like = Matrix4>(
 		rotation: QuaternionLike,
@@ -2126,8 +2243,8 @@ export default class Matrix4
 	 * @param origin - The origin vector.
 	 * @param out - The matrix to store the result in.
 	 * @returns The transformation matrix.
-	 * @see [Rotation matrix](https://en.wikipedia.org/wiki/Rotation_matrix)
-	 * @see [Transformation matrix](https://en.wikipedia.org/wiki/Transformation_matrix)
+	 * @see {@link https://en.wikipedia.org/wiki/Rotation_matrix | Rotation matrix}
+	 * @see {@link https://en.wikipedia.org/wiki/Transformation_matrix | Transformation matrix}
 	 */
 	public static fromRotationTranslationScaleOrigin<
 		T extends Matrix4Like = Matrix4
@@ -2152,9 +2269,9 @@ export default class Matrix4
 	 * @param quaternion - The dual quaternion.
 	 * @param out - The matrix to store the result in.
 	 * @returns The transformation matrix.
-	 * @see [Dual quaternion](https://en.wikipedia.org/wiki/Dual_quaternion)
-	 * @see [Rotation matrix](https://en.wikipedia.org/wiki/Rotation_matrix)
-	 * @see [Transformation matrix](https://en.wikipedia.org/wiki/Transformation_matrix)
+	 * @see {@link https://en.wikipedia.org/wiki/Dual_quaternion | Dual quaternion}
+	 * @see {@link https://en.wikipedia.org/wiki/Rotation_matrix | Rotation matrix}
+	 * @see {@link https://en.wikipedia.org/wiki/Transformation_matrix | Transformation matrix}
 	 */
 	public static fromDualQuaternion<T extends Matrix4Like = Matrix4>(
 		quaternion: DualQuaternionLike,
@@ -2163,6 +2280,21 @@ export default class Matrix4
 		return fromDualQuaternion(quaternion, out);
 	}
 
+	/**
+	 * Create a transformation matrix from a quaternion.
+	 * @param quaternion - The quaternion.
+	 * @param out - The matrix to store the result in.
+	 * @returns The transformation matrix.
+	 * @see {@link https://en.wikipedia.org/wiki/Rotation_matrix | Rotation matrix}
+	 * @see {@link https://en.wikipedia.org/wiki/Transformation_matrix | Transformation matrix}
+	 */
+	public static fromQuaternion<T extends Matrix4Like = Matrix4>(
+		quaternion: QuaternionLike,
+		out: T = new Matrix4() as Matrix4 & T
+	): T {
+		return fromQuaternion(quaternion, out);
+	}
+
 	/**
 	 * Generate a frustum matrix with the given bounds.
 	 * @param left - The left bound of the frustum.
@@ -2173,8 +2305,8 @@ export default class Matrix4
 	 * @param far - The far bound of the frustum.
 	 * @param out - The matrix to store the result in.
 	 * @returns The frustum 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 static frustum<T extends Matrix4Like = Matrix4>(
 		left: number,
@@ -2189,15 +2321,15 @@ export default class Matrix4
 	}
 
 	/**
-	 * Create a perspective projection matrix with the given bounds.
+	 * Create a perspective projection matrix with the given bounds such that the near and far clip planes correspond to a normalized device coordinate Z range of `[-1, 1]` (OpenGL/WebGL).
 	 * @param fov - The vertical field of view in radians.
 	 * @param aspect - The aspect ratio (typically the width of the viewport divided by its height).
 	 * @param near - The near bound of the frustum.
 	 * @param far - The far bound of the frustum.
 	 * @param out - The matrix to store the result in.
 	 * @returns The perspective 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 static perspective<T extends Matrix4Like = Matrix4>(
 		fov: number,
@@ -2209,6 +2341,27 @@ export default class Matrix4
 		return perspective(fov, aspect, near, far, out);
 	}
 
+	/**
+	 * Create a perspective projection matrix with the given bounds such that the near and far clip planes correspond to a normalized device coordinate Z range of `[0, 1]` (WebGPU/Vulkan/DirectX/Metal).
+	 * @param fov - The vertical field of view in radians.
+	 * @param aspect - The aspect ratio (typically the width of the viewport divided by its height).
+	 * @param near - The near bound of the frustum.
+	 * @param far - The far bound of the frustum.
+	 * @param out - The matrix to store the result in.
+	 * @returns The perspective projection matrix.
+	 * @see {@link https://en.wikipedia.org/wiki/Camera_matrix | Camera matrix}
+	 * @see {@link https://en.wikipedia.org/wiki/3D_projection | 3D projection}
+	 */
+	public static perspectiveGpu<T extends Matrix4Like = Matrix4>(
+		fov: number,
+		aspect: number,
+		near: number,
+		far: number,
+		out: T = new Matrix4() as Matrix4 & T
+	): T {
+		return perspectiveGpu(fov, aspect, near, far, out);
+	}
+
 	/**
 	 * Create a perspective projection matrix from a field of view. Useful for generating projection matrices to be used with the WebXR API.
 	 * @param fov - The field of view.
@@ -2216,9 +2369,9 @@ export default class Matrix4
 	 * @param far - The far bound of the frustum.
 	 * @param out - The matrix to store the result in.
 	 * @returns The perspective projection matrix.
-	 * @see [Camera matrix](https://en.wikipedia.org/wiki/Camera_matrix)
-	 * @see [3D projection](https://en.wikipedia.org/wiki/3D_projection)
-	 * @see [WebXR API](https://developer.mozilla.org/en-US/docs/Web/API/WebXR_Device_API)
+	 * @see {@link https://en.wikipedia.org/wiki/Camera_matrix | Camera matrix}
+	 * @see {@link https://en.wikipedia.org/wiki/3D_projection | 3D projection}
+	 * @see {@link https://developer.mozilla.org/en-US/docs/Web/API/WebXR_Device_API | WebXR API}
 	 */
 	public static perspectiveFromFieldOfView<T extends Matrix4Like = Matrix4>(
 		fov: FieldOfView,
@@ -2230,7 +2383,7 @@ export default class Matrix4
 	}
 
 	/**
-	 * Generate an orthogonal projection matrix with the given bounds.
+	 * Generate an orthogonal projection matrix with the given bounds such that the near and far clip planes correspond to a normalized device coordinate Z range of `[-1, 1]` (OpenGL/WebGL).
 	 * @param left - The left bound of the frustum.
 	 * @param right - The right bound of the frustum.
 	 * @param bottom - The bottom bound of the frustum.
@@ -2239,8 +2392,8 @@ export default class Matrix4
 	 * @param far - The far bound of the frustum.
 	 * @param out - The matrix to store the result in.
 	 * @returns The frustum 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 static ortho<T extends Matrix4Like = Matrix4>(
 		left: number,
@@ -2254,6 +2407,31 @@ export default class Matrix4
 		return ortho(left, right, bottom, top, near, far, out);
 	}
 
+	/**
+	 * Generate an orthogonal projection matrix with the given bounds such that the near and far clip planes correspond to a normalized device coordinate Z range of `[0, 1]` (WebGPU/Vulkan/DirectX/Metal).
+	 * @param left - The left bound of the frustum.
+	 * @param right - The right bound of the frustum.
+	 * @param bottom - The bottom bound of the frustum.
+	 * @param top - The top bound of the frustum.
+	 * @param near - The near bound of the frustum.
+	 * @param far - The far bound of the frustum.
+	 * @param out - The matrix to store the result in.
+	 * @returns The frustum matrix.
+	 * @see {@link https://en.wikipedia.org/wiki/Camera_matrix | Camera matrix}
+	 * @see {@link https://en.wikipedia.org/wiki/3D_projection | 3D projection}
+	 */
+	public static orthoGpu<T extends Matrix4Like = Matrix4>(
+		left: number,
+		right: number,
+		bottom: number,
+		top: number,
+		near: number,
+		far: number,
+		out: T = new Matrix4() as Matrix4 & T
+	): T {
+		return orthoGpu(left, right, bottom, top, near, far, out);
+	}
+
 	/**
 	 * Generate a look-at matrix. If you want a matrix that actually makes an object look at another object, use `targetTo` instead.
 	 * @param eye - The position of the viewer.
@@ -2261,7 +2439,7 @@ export default class Matrix4
 	 * @param up - The local up direction.
 	 * @param out - The matrix to store the result in.
 	 * @returns The look-at matrix.
-	 * @see [Transformation matrix](https://en.wikipedia.org/wiki/Transformation_matrix)
+	 * @see {@link https://en.wikipedia.org/wiki/Transformation_matrix | Transformation matrix}
 	 */
 	public static lookAt<T extends Matrix4Like = Matrix4>(
 		eye: Vector3Like,
@@ -2279,7 +2457,7 @@ export default class Matrix4
 	 * @param up - The local up direction.
 	 * @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 static targetTo<T extends Matrix4Like = Matrix4>(
 		eye: Vector3Like,
@@ -2353,7 +2531,7 @@ export default class Matrix4
 
 	/**
 	 * Create a four-by-four identity matrix.
-	 * @see [Identity matrix](https://en.wikipedia.org/wiki/Identity_matrix)
+	 * @see {@link https://en.wikipedia.org/wiki/Identity_matrix | Identity matrix}
 	 */
 	public constructor() {
 		super(16);
@@ -2444,7 +2622,7 @@ export default class Matrix4
 	 * @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}
 	 */
 	public add<T extends Matrix4Like = Matrix4>(
 		matrix: Matrix4Like,
@@ -2457,7 +2635,7 @@ export default class Matrix4
 	 * 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}
 	 */
 	public adjoint<T extends Matrix4Like = Matrix4>(
 		out: T = new Matrix4() as Matrix4 & T
@@ -2487,7 +2665,7 @@ export default class Matrix4
 
 	/**
 	 * 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}
 	 */
 	public get frob(): number {
 		return frob(this);
@@ -2498,7 +2676,7 @@ export default class Matrix4
 	 * @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}
 	 */
 	public multiply<T extends Matrix4Like = Matrix4>(
 		matrix: Matrix4Like,
@@ -2512,7 +2690,7 @@ export default class Matrix4
 	 * @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}
 	 */
 	public multiplyScalar<T extends Matrix4Like = Matrix4>(
 		scalar: number,
@@ -2527,8 +2705,8 @@ export default class Matrix4
 	 * @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}
 	 */
 	public multiplyScalarAndAdd<T extends Matrix4Like = Matrix4>(
 		matrix: Matrix4Like,
@@ -2543,7 +2721,7 @@ export default class Matrix4
 	 * @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}
 	 */
 	public subtract<T extends Matrix4Like = Matrix4>(
 		matrix: Matrix4Like,
@@ -2556,7 +2734,7 @@ export default class Matrix4
 	 * 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}
 	 */
 	public transpose<T extends Matrix4Like = Matrix4>(
 		out: T = new Matrix4() as Matrix4 & T
@@ -2566,7 +2744,7 @@ export default class Matrix4
 
 	/**
 	 * Get the determinant of this matrix.
-	 * @see [Determinant](https://en.wikipedia.org/wiki/Determinant)
+	 * @see {@link https://en.wikipedia.org/wiki/Determinant | Determinant}
 	 */
 	public get determinant(): number {
 		return determinant(this);
@@ -2575,7 +2753,7 @@ export default class Matrix4
 	/**
 	 * 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}
 	 */
 	public identity(): this {
 		return identity(this);
@@ -2585,7 +2763,7 @@ export default class Matrix4
 	 * 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}
 	 */
 	public invert<T extends Matrix4Like = Matrix4>(
 		out: T = new Matrix4() as Matrix4 & T
@@ -2598,7 +2776,7 @@ export default class Matrix4
 	 * @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 scale<T extends Matrix4Like = Matrix4>(
 		vector: Vector3Like,
@@ -2612,7 +2790,7 @@ export default class Matrix4
 	 * @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 translate<T extends Matrix4Like = Matrix4>(
 		vector: Vector3Like,
@@ -2627,7 +2805,7 @@ export default class Matrix4
 	 * @param axis - The axis.
 	 * @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 rotate<T extends Matrix4Like = Matrix4>(
 		r: number,
@@ -2642,7 +2820,7 @@ export default class Matrix4
 	 * @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}
 	 */
 	public rotateX<T extends Matrix4Like = Matrix4>(
 		r: number,
@@ -2656,7 +2834,7 @@ export default class Matrix4
 	 * @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}
 	 */
 	public rotateY<T extends Matrix4Like = Matrix4>(
 		r: number,
@@ -2670,7 +2848,7 @@ export default class Matrix4
 	 * @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}
 	 */
 	public rotateZ<T extends Matrix4Like = Matrix4>(
 		r: number,
@@ -2683,7 +2861,7 @@ export default class Matrix4
 	 * Get the translation vector component of this transformation matrix.
 	 * @param out - The vector to store the result in.
 	 * @returns The translation.
-	 * @see [Transformation matrix](https://en.wikipedia.org/wiki/Transformation_matrix)
+	 * @see {@link https://en.wikipedia.org/wiki/Transformation_matrix | Transformation matrix}
 	 */
 	public getTranslation<T extends Vector3Like = Vector3>(
 		out: T = new Vector3() as Vector3 & T
@@ -2696,7 +2874,7 @@ export default class Matrix4
 	 * @param translation - 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 setTranslation<T extends Matrix4Like = Matrix4>(
 		translation: Vector3Like,
@@ -2709,7 +2887,7 @@ export default class Matrix4
 	 * Get the scaling vector component of this transformation matrix.
 	 * @param out - The vector to store the result in.
 	 * @returns The scaling.
-	 * @see [Transformation matrix](https://en.wikipedia.org/wiki/Transformation_matrix)
+	 * @see {@link https://en.wikipedia.org/wiki/Transformation_matrix | Transformation matrix}
 	 */
 	public getScaling<T extends Vector3Like = Vector3>(
 		out: T = new Vector3() as Vector3 & T
@@ -2721,7 +2899,7 @@ export default class Matrix4
 	 * Get the scaling vector component of this transformation matrix.
 	 * @param out - The quaternion to store the result in.
 	 * @returns The rotation.
-	 * @see [Rotation matrix](https://en.wikipedia.org/wiki/Rotation_matrix)
+	 * @see {@link https://en.wikipedia.org/wiki/Rotation_matrix | Rotation matrix}
 	 */
 	public getRotation<T extends QuaternionLike = Quaternion>(
 		out: T = new Quaternion() as Quaternion & T