@lakuna/umath 1.5.0 → 3.0.0

package/dist/linalg/Matrix4.js

@@ -1,19 +1,19 @@
-import Quaternion, { fromValues as quaternionFromValues } from "./Quaternion.js";
-import Vector3, { createVector3Like, fromValues as vector3FromValues } from "./Vector3.js";
-import MagnitudeError from "../utility/MagnitudeError.js";
-import SingularMatrixError from "../utility/SingularMatrixError.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";
+import MagnitudeError from "../utility/MagnitudeError.js";
+import SingularMatrixError from "../utility/SingularMatrixError.js";
+import Quaternion, { fromValues as quaternionFromValues } from "./Quaternion.js";
+import Vector3, { createVector3Like, fromValues as vector3FromValues } from "./Vector3.js";
 /**
  * Create a four-by-four matrix-like object.
  * @returns A four-by-four matrix-like object.
  * @public
  */
-export const createMatrix4Like = () => {
-    return new Float32Array(16);
-};
+export const createMatrix4Like = () => 
+// eslint-disable-next-line @typescript-eslint/no-unsafe-type-assertion
+new Float32Array(16);
 /**
  * Create a four-by-four matrix with the given values.
  * @param c0r0 - The value in the first column and first row.
@@ -94,7 +94,7 @@ export const fromRotation = (radians, axis, out) => {
     let x = axis[0];
     let y = axis[1];
     let z = axis[2];
-    let len = Math.sqrt(x * x + y * y + z * z);
+    let len = Math.hypot(x, y, z);
     if (len === 0) {
         throw new MagnitudeError();
     }
@@ -115,6 +115,7 @@ export const fromRotation = (radians, axis, out) => {
  * @see {@link https://en.wikipedia.org/wiki/Rotation_matrix | Rotation matrix}
  * @public
  */
+// eslint-disable-next-line @typescript-eslint/naming-convention
 export const fromXRotation = (radians, out) => {
     const s = Math.sin(radians);
     const c = Math.cos(radians);
@@ -128,6 +129,7 @@ export const fromXRotation = (radians, out) => {
  * @see {@link https://en.wikipedia.org/wiki/Rotation_matrix | Rotation matrix}
  * @public
  */
+// eslint-disable-next-line @typescript-eslint/naming-convention
 export const fromYRotation = (radians, out) => {
     const s = Math.sin(radians);
     const c = Math.cos(radians);
@@ -141,6 +143,7 @@ export const fromYRotation = (radians, out) => {
  * @see {@link https://en.wikipedia.org/wiki/Rotation_matrix | Rotation matrix}
  * @public
  */
+// eslint-disable-next-line @typescript-eslint/naming-convention
 export const fromZRotation = (radians, out) => {
     const s = Math.sin(radians);
     const c = Math.cos(radians);
@@ -516,14 +519,14 @@ export const lookAt = (eye, center, up, out) => {
     let z0 = eyex - centerx;
     let z1 = eyey - centery;
     let z2 = eyez - centerz;
-    let len = 1 / Math.sqrt(z0 * z0 + z1 * z1 + z2 * z2); // `Math.hypot` is slower.
+    let len = 1 / Math.hypot(z0, z1, z2);
     z0 *= len;
     z1 *= len;
     z2 *= len;
     let x0 = upy * z2 - upz * z1;
     let x1 = upz * z0 - upx * z2;
     let x2 = upx * z1 - upy * z0;
-    len = Math.sqrt(x0 * x0 + x1 * x1 + x2 * x2);
+    len = Math.hypot(x0, x1, x2);
     if (len) {
         len = 1 / len;
         x0 *= len;
@@ -538,7 +541,7 @@ export const lookAt = (eye, center, up, out) => {
     let y0 = z1 * x2 - z2 * x1;
     let y1 = z2 * x0 - z0 * x2;
     let y2 = z0 * x1 - z1 * x0;
-    len = Math.sqrt(y0 * y0 + y1 * y1 + y2 * y2);
+    len = Math.hypot(y0, y1, y2);
     if (len) {
         len = 1 / len;
         y0 *= len;
@@ -701,41 +704,7 @@ export const copy = (matrix, out) => fromValues(matrix[0], matrix[1], matrix[2],
  * @see {@link https://en.wikipedia.org/wiki/Matrix_norm | Matrix norm}
  * @public
  */
-export const frob = (matrix) => {
-    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];
-    // `Math.hypot` is slower.
-    return Math.sqrt(a00 * a00 +
-        a01 * a01 +
-        a02 * a02 +
-        a03 * a03 +
-        a10 * a10 +
-        a11 * a11 +
-        a12 * a12 +
-        a13 * a13 +
-        a20 * a20 +
-        a21 * a21 +
-        a22 * a22 +
-        a23 * a23 +
-        a30 * a30 +
-        a31 * a31 +
-        a32 * a32 +
-        a33 * a33);
-};
+export const frob = (matrix) => Math.hypot(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]);
 /**
  * Multiply two matrices.
  * @param a - The multiplier.
@@ -982,7 +951,7 @@ export const rotate = (matrix, radians, axis, out) => {
     let x = axis[0];
     let y = axis[1];
     let z = axis[2];
-    let len = Math.sqrt(x * x + y * y + z * z); // `Math.hypot` is slower.
+    let len = Math.hypot(x, y, z);
     if (len < epsilon) {
         return out;
     }
@@ -1207,19 +1176,7 @@ export const setTranslation = (matrix, translation, out) => {
  * @see {@link https://en.wikipedia.org/wiki/Transformation_matrix | Transformation matrix}
  * @public
  */
-export const getScaling = (matrix, out) => {
-    const m11 = matrix[0];
-    const m12 = matrix[1];
-    const m13 = matrix[2];
-    const m21 = matrix[4];
-    const m22 = matrix[5];
-    const m23 = matrix[6];
-    const m31 = matrix[8];
-    const m32 = matrix[9];
-    const m33 = matrix[10];
-    // `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);
-};
+export const getScaling = (matrix, out) => vector3FromValues(Math.hypot(matrix[0], matrix[1], matrix[2]), Math.hypot(matrix[4], matrix[5], matrix[6]), Math.hypot(matrix[8], matrix[9], matrix[10]), out);
 /**
  * Get the rotational component of a transformation matrix.
  * @param matrix - The matrix.
@@ -1264,91 +1221,161 @@ export const getRotation = (matrix, out) => {
  * @public
  */
 export default class Matrix4 extends Float32Array {
+    /** The value in the first column and first row. */
+    // eslint-disable-next-line @typescript-eslint/naming-convention
+    0;
+    /** The value in the first column and second row. */
+    // eslint-disable-next-line @typescript-eslint/naming-convention
+    1;
+    /** The value in the first column and third row. */
+    // eslint-disable-next-line @typescript-eslint/naming-convention
+    2;
+    /** The value in the first column and fourth row. */
+    // eslint-disable-next-line @typescript-eslint/naming-convention
+    3;
+    /** The value in the second column and first row. */
+    // eslint-disable-next-line @typescript-eslint/naming-convention
+    4;
+    /** The value in the second column and second row. */
+    // eslint-disable-next-line @typescript-eslint/naming-convention
+    5;
+    /** The value in the second column and third row. */
+    // eslint-disable-next-line @typescript-eslint/naming-convention
+    6;
+    /** The value in the second column and fourth row. */
+    // eslint-disable-next-line @typescript-eslint/naming-convention
+    7;
+    /** The value in the third column and first row. */
+    // eslint-disable-next-line @typescript-eslint/naming-convention
+    8;
+    /** The value in the third column and second row. */
+    // eslint-disable-next-line @typescript-eslint/naming-convention
+    9;
+    /** The value in the third column and third row. */
+    // eslint-disable-next-line @typescript-eslint/naming-convention
+    10;
+    /** The value in the third column and fourth row. */
+    // eslint-disable-next-line @typescript-eslint/naming-convention
+    11;
+    /** The value in the fourth column and first row. */
+    // eslint-disable-next-line @typescript-eslint/naming-convention
+    12;
+    /** The value in the fourth column and second row. */
+    // eslint-disable-next-line @typescript-eslint/naming-convention
+    13;
+    /** The value in the fourth column and third row. */
+    // eslint-disable-next-line @typescript-eslint/naming-convention
+    14;
+    /** The value in the fourth column and fourth row. */
+    // eslint-disable-next-line @typescript-eslint/naming-convention
+    15;
+    /** The number of rows in this matrix. */
+    height;
+    /** The number of columns in this matrix. */
+    width;
     /**
-     * Create a transformation matrix that represents a translation by the given vector.
-     * @param vector - The translation vector.
-     * @param out - The matrix to store the result in.
-     * @returns The transformation matrix.
+     * Get the determinant of this matrix.
+     * @see {@link https://en.wikipedia.org/wiki/Determinant | Determinant}
+     */
+    get determinant() {
+        return determinant(this);
+    }
+    /**
+     * Get the Frobenius norm of this matrix.
+     * @see {@link https://en.wikipedia.org/wiki/Matrix_norm | Matrix norm}
+     */
+    get frob() {
+        return frob(this);
+    }
+    /**
+     * Get the scaling vector component of this transformation matrix.
+     * @returns The rotation.
+     * @see {@link https://en.wikipedia.org/wiki/Rotation_matrix | Rotation matrix}
+     */
+    get rotation() {
+        return getRotation(this, new Quaternion());
+    }
+    /**
+     * Get the scaling vector component of this transformation matrix.
+     * @returns The scaling.
      * @see {@link https://en.wikipedia.org/wiki/Transformation_matrix | Transformation matrix}
      */
-    static fromTranslation(vector, out = new Matrix4()) {
-        return fromTranslation(vector, out);
+    get scaling() {
+        return getScaling(this, new Vector3());
     }
     /**
-     * Create a transformation matrix that represents a scaling by the given vector.
-     * @param vector - The scaling vector.
-     * @param out - The matrix to store the result in.
-     * @returns The transformation matrix.
+     * The translation vector component of this transformation matrix.
      * @see {@link https://en.wikipedia.org/wiki/Transformation_matrix | Transformation matrix}
      */
-    static fromScaling(vector, out = new Matrix4()) {
-        return fromScaling(vector, out);
+    get translation() {
+        return getTranslation(this, new Vector3());
     }
     /**
-     * Create a transformation matrix that represents a rotation by the given angle around the Z-axis.
-     * @param r - 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 {@link https://en.wikipedia.org/wiki/Rotation_matrix | Rotation matrix}
+     * Create a four-by-four identity matrix.
+     * @see {@link https://en.wikipedia.org/wiki/Identity_matrix | Identity matrix}
      */
-    static fromRotation(r, axis, out = new Matrix4()) {
-        return fromRotation(r, axis, out);
+    constructor() {
+        super(16);
+        this[0] = 1;
+        this[5] = 1;
+        this[10] = 1;
+        this[15] = 1;
+        this.width = 4;
+        this.height = 4;
     }
     /**
-     * Create a transformation matrix that represents a rotation by the given angle around the X-axis.
-     * @param r - The angle in radians.
-     * @param out - The matrix to store the result in.
+     * Create a transformation matrix from a dual quaternion.
+     * @param quaternion - The dual quaternion.
      * @returns The 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}
      */
-    static fromXRotation(r, out = new Matrix4()) {
-        return fromXRotation(r, out);
+    static fromDualQuaternion(quaternion) {
+        return fromDualQuaternion(quaternion, new Matrix4());
     }
     /**
-     * Create a transformation matrix that represents a rotation by the given angle around the Y-axis.
-     * @param r - The angle in radians.
-     * @param out - The matrix to store the result in.
+     * Create a transformation matrix from a quaternion.
+     * @param quaternion - The quaternion.
      * @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}
      */
-    static fromYRotation(r, out = new Matrix4()) {
-        return fromYRotation(r, out);
+    static fromQuaternion(quaternion) {
+        return fromQuaternion(quaternion, new Matrix4());
     }
     /**
      * Create a transformation matrix that represents a rotation by the given angle around the Z-axis.
      * @param r - The angle in radians.
-     * @param out - The matrix to store the result in.
+     * @param axis - The axis to rotate around.
      * @returns The transformation matrix.
      * @see {@link https://en.wikipedia.org/wiki/Rotation_matrix | Rotation matrix}
      */
-    static fromZRotation(r, out = new Matrix4()) {
-        return fromZRotation(r, out);
+    static fromRotation(r, axis) {
+        return fromRotation(r, axis, new Matrix4());
     }
     /**
      * Create a transformation matrix from the given rotation and translation.
      * @param rotation - The rotation quaternion.
      * @param translation - The translation vector.
-     * @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}
      */
-    static fromRotationTranslation(rotation, translation, out = new Matrix4()) {
-        return fromRotationTranslation(rotation, translation, out);
+    static fromRotationTranslation(rotation, translation) {
+        return fromRotationTranslation(rotation, translation, new Matrix4());
     }
     /**
      * Create a transformation matrix from the given rotation, translation, and scale.
      * @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 {@link https://en.wikipedia.org/wiki/Rotation_matrix | Rotation matrix}
      * @see {@link https://en.wikipedia.org/wiki/Transformation_matrix | Transformation matrix}
      */
-    static fromRotationTranslationScale(rotation, translation, scaling, out = new Matrix4()) {
-        return fromRotationTranslationScale(rotation, translation, scaling, out);
+    static fromRotationTranslationScale(rotation, translation, scaling) {
+        return fromRotationTranslationScale(rotation, translation, scaling, new Matrix4());
     }
     /**
      * Create a transformation matrix from the given rotation, translation, and scale around the given origin.
@@ -1356,36 +1383,83 @@ export default class Matrix4 extends Float32Array {
      * @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 {@link https://en.wikipedia.org/wiki/Rotation_matrix | Rotation matrix}
      * @see {@link https://en.wikipedia.org/wiki/Transformation_matrix | Transformation matrix}
      */
-    static fromRotationTranslationScaleOrigin(rotation, translation, scaling, origin, out = new Matrix4()) {
-        return fromRotationTranslationScaleOrigin(rotation, translation, scaling, origin, out);
+    static fromRotationTranslationScaleOrigin(rotation, translation, scaling, origin) {
+        return fromRotationTranslationScaleOrigin(rotation, translation, scaling, origin, new Matrix4());
     }
     /**
-     * Create a transformation matrix from a dual quaternion.
-     * @param quaternion - The dual quaternion.
-     * @param out - The matrix to store the result in.
+     * Create a transformation matrix that represents a scaling by the given vector.
+     * @param vector - The scaling vector.
      * @returns The 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}
      */
-    static fromDualQuaternion(quaternion, out = new Matrix4()) {
-        return fromDualQuaternion(quaternion, out);
+    static fromScaling(vector) {
+        return fromScaling(vector, new Matrix4());
     }
     /**
-     * Create a transformation matrix from a quaternion.
-     * @param quaternion - The quaternion.
-     * @param out - The matrix to store the result in.
+     * Create a transformation matrix that represents a translation by the given vector.
+     * @param vector - The translation vector.
      * @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}
      */
-    static fromQuaternion(quaternion, out = new Matrix4()) {
-        return fromQuaternion(quaternion, out);
+    static fromTranslation(vector) {
+        return fromTranslation(vector, new Matrix4());
+    }
+    /**
+     * 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.
+     * @returns The matrix.
+     */
+    static fromValues(c0r0, c0r1, c0r2, c0r3, c1r0, c1r1, c1r2, c1r3, c2r0, c2r1, c2r2, c2r3, c3r0, c3r1, c3r2, c3r3) {
+        return fromValues(c0r0, c0r1, c0r2, c0r3, c1r0, c1r1, c1r2, c1r3, c2r0, c2r1, c2r2, c2r3, c3r0, c3r1, c3r2, c3r3, new Matrix4());
+    }
+    /**
+     * Create a transformation matrix that represents a rotation by the given angle around the X-axis.
+     * @param r - The angle in radians.
+     * @returns The transformation matrix.
+     * @see {@link https://en.wikipedia.org/wiki/Rotation_matrix | Rotation matrix}
+     */
+    // eslint-disable-next-line @typescript-eslint/naming-convention
+    static fromXRotation(r) {
+        return fromXRotation(r, new Matrix4());
+    }
+    /**
+     * Create a transformation matrix that represents a rotation by the given angle around the Y-axis.
+     * @param r - The angle in radians.
+     * @returns The transformation matrix.
+     * @see {@link https://en.wikipedia.org/wiki/Rotation_matrix | Rotation matrix}
+     */
+    // eslint-disable-next-line @typescript-eslint/naming-convention
+    static fromYRotation(r) {
+        return fromYRotation(r, new Matrix4());
+    }
+    /**
+     * Create a transformation matrix that represents a rotation by the given angle around the Z-axis.
+     * @param r - The angle in radians.
+     * @returns The transformation matrix.
+     * @see {@link https://en.wikipedia.org/wiki/Rotation_matrix | Rotation matrix}
+     */
+    // eslint-disable-next-line @typescript-eslint/naming-convention
+    static fromZRotation(r) {
+        return fromZRotation(r, new Matrix4());
     }
     /**
      * Generate a frustum matrix with the given bounds.
@@ -1395,227 +1469,127 @@ export default class Matrix4 extends Float32Array {
      * @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}
      */
-    static frustum(left, right, bottom, top, near, far, out = new Matrix4()) {
-        return frustum(left, right, bottom, top, near, far, out);
+    static frustum(left, right, bottom, top, near, far) {
+        return frustum(left, right, bottom, top, near, far, new Matrix4());
     }
     /**
-     * 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).
+     * 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.
+     * @param center - The point that the viewer is looking at.
+     * @param up - The local up direction.
+     * @returns The look-at matrix.
+     * @see {@link https://en.wikipedia.org/wiki/Transformation_matrix | Transformation matrix}
+     */
+    static lookAt(eye, center, up = [0, 1, 0]) {
+        return lookAt(eye, center, up, new Matrix4());
+    }
+    /**
+     * 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 perspective projection matrix.
+     * @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}
      */
-    static perspective(fov, aspect, near, far, out = new Matrix4()) {
-        return perspective(fov, aspect, near, far, out);
+    static ortho(left, right, bottom, top, near, far) {
+        return ortho(left, right, bottom, top, near, far, new Matrix4());
     }
     /**
-     * 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).
+     * 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 perspective projection matrix.
+     * @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}
      */
-    static perspectiveGpu(fov, aspect, near, far, out = new Matrix4()) {
-        return perspectiveGpu(fov, aspect, near, far, out);
+    static orthoGpu(left, right, bottom, top, near, far) {
+        return orthoGpu(left, right, bottom, top, near, far, new Matrix4());
     }
     /**
-     * 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.
+     * 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 {@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}
      */
-    static perspectiveFromFieldOfView(fov, near, far, out = new Matrix4()) {
-        return perspectiveFromFieldOfView(fov, near, far, out);
+    static perspective(fov, aspect, near, far) {
+        return perspective(fov, aspect, near, far, new Matrix4());
     }
     /**
-     * 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.
+     * 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.
      * @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.
+     * @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}
+     * @see {@link https://developer.mozilla.org/en-US/docs/Web/API/WebXR_Device_API | WebXR API}
      */
-    static ortho(left, right, bottom, top, near, far, out = new Matrix4()) {
-        return ortho(left, right, bottom, top, near, far, out);
+    static perspectiveFromFieldOfView(fov, near, far) {
+        return perspectiveFromFieldOfView(fov, near, far, new Matrix4());
     }
     /**
-     * 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.
+     * 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 frustum matrix.
+     * @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}
      */
-    static orthoGpu(left, right, bottom, top, near, far, out = new Matrix4()) {
-        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.
-     * @param center - The point that the viewer is looking at.
-     * @param up - The local up direction.
-     * @param out - The matrix to store the result in.
-     * @returns The look-at matrix.
-     * @see {@link https://en.wikipedia.org/wiki/Transformation_matrix | Transformation matrix}
-     */
-    static lookAt(eye, center, up = [0, 1, 0], out = new Matrix4()) {
-        return lookAt(eye, center, up, out);
+    static perspectiveGpu(fov, aspect, near, far) {
+        return perspectiveGpu(fov, aspect, near, far, new Matrix4());
     }
     /**
      * Create a matrix that makes something look at something else.
      * @param eye - The position of the viewer.
      * @param target - The point that the viewer is looking at.
      * @param up - The local up direction.
-     * @param out - The matrix to store the result in.
      * @returns The transformation matrix.
      * @see {@link https://en.wikipedia.org/wiki/Transformation_matrix | Transformation matrix}
      */
-    static targetTo(eye, target, up = [0, 1, 0], out = new Matrix4()) {
-        return targetTo(eye, target, up, 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.
-     */
-    static fromValues(c0r0, c0r1, c0r2, c0r3, c1r0, c1r1, c1r2, c1r3, c2r0, c2r1, c2r2, c2r3, c3r0, c3r1, c3r2, c3r3, out = new Matrix4()) {
-        return fromValues(c0r0, c0r1, c0r2, c0r3, c1r0, c1r1, c1r2, c1r3, c2r0, c2r1, c2r2, c2r3, c3r0, c3r1, c3r2, c3r3, out);
-    }
-    /**
-     * Create a four-by-four identity matrix.
-     * @see {@link https://en.wikipedia.org/wiki/Identity_matrix | Identity matrix}
-     */
-    constructor() {
-        super(16);
-        this[0] = 1;
-        this[5] = 1;
-        this[10] = 1;
-        this[15] = 1;
-        this.width = 4;
-        this.height = 4;
-    }
-    /** The value in the first column and first row. */
-    0;
-    /** The value in the first column and second row. */
-    1;
-    /** The value in the first column and third row. */
-    2;
-    /** The value in the first column and fourth row. */
-    3;
-    /** The value in the second column and first row. */
-    4;
-    /** The value in the second column and second row. */
-    5;
-    /** The value in the second column and third row. */
-    6;
-    /** The value in the second column and fourth row. */
-    7;
-    /** The value in the third column and first row. */
-    8;
-    /** The value in the third column and second row. */
-    9;
-    /** The value in the third column and third row. */
-    10;
-    /** The value in the third column and fourth row. */
-    11;
-    /** The value in the fourth column and first row. */
-    12;
-    /** The value in the fourth column and second row. */
-    13;
-    /** The value in the fourth column and third row. */
-    14;
-    /** The value in the fourth column and fourth row. */
-    15;
-    /** The number of columns in this matrix. */
-    width;
-    /** The number of rows in this matrix. */
-    height;
-    /**
-     * Determine whether or not this matrix is roughly equivalent to another.
-     * @param matrix - The other matrix.
-     * @returns Whether or not the matrices are equivalent.
-     */
-    equals(matrix) {
-        return equals(this, matrix);
-    }
-    /**
-     * Determine whether or not this matrix is exactly equivalent to another.
-     * @param matrix - The other matrix.
-     * @returns Whether or not the matrices are equivalent.
-     */
-    exactEquals(matrix) {
-        return exactEquals(this, matrix);
+    static targetTo(eye, target, up = [0, 1, 0]) {
+        return targetTo(eye, target, up, new Matrix4());
     }
     /**
      * Add two matrices of the same size.
      * @param matrix - The other matrix.
-     * @param out - The matrix to store the result in.
      * @returns The sum of the matrices.
      * @see {@link https://en.wikipedia.org/wiki/Matrix_addition | Matrix addition}
      */
-    add(matrix, out = new Matrix4()) {
-        return add(this, matrix, out);
+    add(matrix) {
+        return add(this, matrix, new Matrix4());
     }
     /**
      * Calculate the adjugate of this matrix.
-     * @param out - The matrix to store the result in.
      * @returns The adjugate of this matrix.
      * @see {@link https://en.wikipedia.org/wiki/Adjugate_matrix | Adjugate matrix}
      */
-    adjoint(out = new Matrix4()) {
-        return adjoint(this, out);
+    adjoint() {
+        return adjoint(this, new Matrix4());
     }
     /**
      * Copy the values from this matrix to another one.
-     * @param out - The matrix to store the result in.
      * @returns The copy.
      */
-    clone(out = new Matrix4()) {
-        return copy(this, out);
+    clone() {
+        return copy(this, new Matrix4());
     }
     /**
      * Copy the values of another matrix into this one.
@@ -1626,69 +1600,20 @@ export default class Matrix4 extends Float32Array {
         return copy(matrix, this);
     }
     /**
-     * Get the Frobenius norm of this matrix.
-     * @see {@link https://en.wikipedia.org/wiki/Matrix_norm | Matrix norm}
-     */
-    get frob() {
-        return frob(this);
-    }
-    /**
-     * Multiply this matrix by another.
-     * @param matrix - The other matrix.
-     * @param out - The matrix to store the result in.
-     * @returns The product of the matrices.
-     * @see {@link https://en.wikipedia.org/wiki/Matrix_multiplication | Matrix multiplication}
-     */
-    multiply(matrix, out = new Matrix4()) {
-        return multiply(this, matrix, out);
-    }
-    /**
-     * Multiply this matrix by a scalar value.
-     * @param scalar - The scalar value.
-     * @param out - The matrix to store the result in.
-     * @returns The product of the matrix and the scalar value.
-     * @see {@link https://en.wikipedia.org/wiki/Matrix_multiplication | Matrix multiplication}
-     */
-    multiplyScalar(scalar, out = new Matrix4()) {
-        return multiplyScalar(this, scalar, out);
-    }
-    /**
-     * Add this matrix to another after multiplying the other by a scalar.
+     * Determine whether or not this matrix is roughly equivalent to another.
      * @param matrix - The other matrix.
-     * @param scalar - The scalar.
-     * @param out - The matrix to store the result in.
-     * @returns The sum.
-     * @see {@link https://en.wikipedia.org/wiki/Matrix_addition | Matrix addition}
-     * @see {@link https://en.wikipedia.org/wiki/Matrix_multiplication | Matrix multiplication}
+     * @returns Whether or not the matrices are equivalent.
      */
-    multiplyScalarAndAdd(matrix, scalar, out = new Matrix4()) {
-        return multiplyScalarAndAdd(this, matrix, scalar, out);
+    equals(matrix) {
+        return equals(this, matrix);
     }
     /**
-     * Subtract another matrix from this one.
+     * Determine whether or not this matrix is exactly equivalent to another.
      * @param matrix - The other matrix.
-     * @param out - The matrix to store the result in.
-     * @returns The difference between the matrices.
-     * @see {@link https://en.wikipedia.org/wiki/Matrix_addition | Matrix addition}
-     */
-    subtract(matrix, out = new Matrix4()) {
-        return subtract(this, matrix, out);
-    }
-    /**
-     * Transpose this matrix.
-     * @param out - The matrix to store the result in.
-     * @returns The transpose of this matrix.
-     * @see {@link https://en.wikipedia.org/wiki/Transpose | Transpose}
-     */
-    transpose(out = new Matrix4()) {
-        return transpose(this, out);
-    }
-    /**
-     * Get the determinant of this matrix.
-     * @see {@link https://en.wikipedia.org/wiki/Determinant | Determinant}
+     * @returns Whether or not the matrices are equivalent.
      */
-    get determinant() {
-        return determinant(this);
+    exactEquals(matrix) {
+        return exactEquals(this, matrix);
     }
     /**
      * Reset this matrix to identity.
@@ -1700,110 +1625,121 @@ export default class Matrix4 extends Float32Array {
     }
     /**
      * Invert this matrix.
-     * @param out - The matrix to store the result in.
      * @returns The inverted matrix.
      * @see {@link https://en.wikipedia.org/wiki/Invertible_matrix | Invertible matrix}
      */
-    invert(out = new Matrix4()) {
-        return invert(this, out);
+    invert() {
+        return invert(this, new Matrix4());
     }
     /**
-     * Scale this matrix by the given vector.
-     * @param vector - The scaling vector.
-     * @param out - The matrix to store the result in.
-     * @returns The scaled matrix.
-     * @see {@link https://en.wikipedia.org/wiki/Transformation_matrix | Transformation matrix}
+     * Multiply this matrix by another.
+     * @param matrix - The other matrix.
+     * @returns The product of the matrices.
+     * @see {@link https://en.wikipedia.org/wiki/Matrix_multiplication | Matrix multiplication}
      */
-    scale(vector, out = new Matrix4()) {
-        return scale(this, vector, out);
+    multiply(matrix) {
+        return multiply(this, matrix, new Matrix4());
     }
     /**
-     * Translate this matrix by the given vector.
-     * @param vector - The translation vector.
-     * @param out - The matrix to store the result in.
-     * @returns The translated matrix.
-     * @see {@link https://en.wikipedia.org/wiki/Transformation_matrix | Transformation matrix}
+     * Multiply this matrix by a scalar value.
+     * @param scalar - The scalar value.
+     * @returns The product of the matrix and the scalar value.
+     * @see {@link https://en.wikipedia.org/wiki/Matrix_multiplication | Matrix multiplication}
+     */
+    multiplyScalar(scalar) {
+        return multiplyScalar(this, scalar, new Matrix4());
+    }
+    /**
+     * Add this matrix to another after multiplying the other by a scalar.
+     * @param matrix - The other matrix.
+     * @param scalar - The scalar.
+     * @returns The sum.
+     * @see {@link https://en.wikipedia.org/wiki/Matrix_addition | Matrix addition}
+     * @see {@link https://en.wikipedia.org/wiki/Matrix_multiplication | Matrix multiplication}
      */
-    translate(vector, out = new Matrix4()) {
-        return translate(this, vector, out);
+    multiplyScalarAndAdd(matrix, scalar) {
+        return multiplyScalarAndAdd(this, matrix, scalar, new Matrix4());
     }
     /**
      * Rotate this matrix by the given angle around the given axis.
      * @param r - The angle in radians.
      * @param axis - The axis.
-     * @param out - The matrix to store the result in.
      * @returns The rotated matrix.
      * @see {@link https://en.wikipedia.org/wiki/Rotation_matrix | Rotation matrix}
      */
-    rotate(r, axis, out = new Matrix4()) {
-        return rotate(this, r, axis, out);
+    rotate(r, axis) {
+        return rotate(this, r, axis, new Matrix4());
     }
     /**
      * Rotate this matrix by the given angle around the X-axis.
      * @param r - The angle in radians.
-     * @param out - The matrix to store the result in.
      * @returns The rotated matrix.
      * @see {@link https://en.wikipedia.org/wiki/Rotation_matrix | Rotation matrix}
      */
-    rotateX(r, out = new Matrix4()) {
-        return rotateX(this, r, out);
+    rotateX(r) {
+        return rotateX(this, r, new Matrix4());
     }
     /**
      * Rotate this matrix by the given angle around the Y-axis.
      * @param r - The angle in radians.
-     * @param out - The matrix to store the result in.
      * @returns The rotated matrix.
      * @see {@link https://en.wikipedia.org/wiki/Rotation_matrix | Rotation matrix}
      */
-    rotateY(r, out = new Matrix4()) {
-        return rotateY(this, r, out);
+    rotateY(r) {
+        return rotateY(this, r, new Matrix4());
     }
     /**
      * Rotate this matrix by the given angle around the Z-axis.
      * @param r - The angle in radians.
-     * @param out - The matrix to store the result in.
      * @returns The rotated matrix.
      * @see {@link https://en.wikipedia.org/wiki/Rotation_matrix | Rotation matrix}
      */
-    rotateZ(r, out = new Matrix4()) {
-        return rotateZ(this, r, out);
+    rotateZ(r) {
+        return rotateZ(this, r, new Matrix4());
     }
     /**
-     * Get the translation vector component of this transformation matrix.
-     * @param out - The vector to store the result in.
-     * @returns The translation.
+     * Scale this matrix by the given vector.
+     * @param vector - The scaling vector.
+     * @returns The scaled matrix.
      * @see {@link https://en.wikipedia.org/wiki/Transformation_matrix | Transformation matrix}
      */
-    getTranslation(out = new Vector3()) {
-        return getTranslation(this, out);
+    scale(vector) {
+        return scale(this, vector, new Matrix4());
     }
     /**
      * Set the translation vector component of this transformation matrix.
      * @param translation - The translation vector.
-     * @param out - The matrix to store the result in.
      * @returns The transformation matrix.
      * @see {@link https://en.wikipedia.org/wiki/Transformation_matrix | Transformation matrix}
      */
-    setTranslation(translation, out = new Matrix4()) {
-        return setTranslation(this, translation, out);
+    setTranslation(translation) {
+        return setTranslation(this, translation, new Matrix4());
     }
     /**
-     * Get the scaling vector component of this transformation matrix.
-     * @param out - The vector to store the result in.
-     * @returns The scaling.
+     * Subtract another matrix from this one.
+     * @param matrix - The other matrix.
+     * @returns The difference between the matrices.
+     * @see {@link https://en.wikipedia.org/wiki/Matrix_addition | Matrix addition}
+     */
+    subtract(matrix) {
+        return subtract(this, matrix, new Matrix4());
+    }
+    /**
+     * Translate this matrix by the given vector.
+     * @param vector - The translation vector.
+     * @returns The translated matrix.
      * @see {@link https://en.wikipedia.org/wiki/Transformation_matrix | Transformation matrix}
      */
-    getScaling(out = new Vector3()) {
-        return getScaling(this, out);
+    translate(vector) {
+        return translate(this, vector, new Matrix4());
     }
     /**
-     * Get the scaling vector component of this transformation matrix.
-     * @param out - The quaternion to store the result in.
-     * @returns The rotation.
-     * @see {@link https://en.wikipedia.org/wiki/Rotation_matrix | Rotation matrix}
+     * Transpose this matrix.
+     * @returns The transpose of this matrix.
+     * @see {@link https://en.wikipedia.org/wiki/Transpose | Transpose}
      */
-    getRotation(out = new Quaternion()) {
-        return getRotation(this, out);
+    transpose() {
+        return transpose(this, new Matrix4());
     }
 }
 //# sourceMappingURL=Matrix4.js.map