@manycore/aholo-splat-transform 1.2.8 → 1.2.10

package/dist/utils/math.js

@@ -1,346 +1,350 @@
-export class Quaternion {
-    static { this.ONE = new Quaternion(0, 0, 0, 1); }
-    constructor(x, y, z, w) {
-        this.x = x;
-        this.y = y;
-        this.z = z;
-        this.w = w;
-    }
-    set(x, y, z, w) {
-        this.x = x;
-        this.y = y;
-        this.z = z;
-        this.w = w;
-        return this;
-    }
-    equals(q) {
-        return (q.x === this.x) && (q.y === this.y) && (q.z === this.z) && (q.w === this.w);
-    }
-    normalize() {
-        const length = Math.sqrt(this.x * this.x + this.y * this.y + this.z * this.z + this.w * this.w);
-        if (length === 0) {
-            return this;
-        }
-        const invLength = (1 / length) * (this.w < 0 ? -1 : 1);
-        this.x *= invLength;
-        this.y *= invLength;
-        this.z *= invLength;
-        this.w *= invLength;
-        return this;
-    }
-    multiply(q) {
-        return this.multiplyQuaternions(this, q);
-    }
-    premultiply(q) {
-        return this.multiplyQuaternions(q, this);
-    }
-    multiplyQuaternions(a, b) {
-        // from http://www.euclideanspace.com/maths/algebra/realNormedAlgebra/quaternions/code/index.htm
-        const qax = a.x;
-        const qay = a.y;
-        const qaz = a.z;
-        const qaw = a.w;
-        const qbx = b.x;
-        const qby = b.y;
-        const qbz = b.z;
-        const qbw = b.w;
-        this.x = qax * qbw + qaw * qbx + qay * qbz - qaz * qby;
-        this.y = qay * qbw + qaw * qby + qaz * qbx - qax * qbz;
-        this.z = qaz * qbw + qaw * qbz + qax * qby - qay * qbx;
-        this.w = qaw * qbw - qax * qbx - qay * qby - qaz * qbz;
-        return this;
-    }
-    setRotationMatrix(m) {
-        // http://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToQuaternion/index.htm
-        // assumes the upper 3x3 of m is a pure rotation matrix (i.e, unscaled)
-        const te = m.elements;
-        const m11 = te[0];
-        const m12 = te[4];
-        const m13 = te[8];
-        const m21 = te[1];
-        const m22 = te[5];
-        const m23 = te[9];
-        const m31 = te[2];
-        const m32 = te[6];
-        const m33 = te[10];
-        const trace = m11 + m22 + m33;
-        let s;
-        if (trace > 0) {
-            s = 0.5 / Math.sqrt(trace + 1.0);
-            this.w = 0.25 / s;
-            this.x = (m32 - m23) * s;
-            this.y = (m13 - m31) * s;
-            this.z = (m21 - m12) * s;
-        }
-        else if (m11 > m22 && m11 > m33) {
-            s = 2.0 * Math.sqrt(1.0 + m11 - m22 - m33);
-            this.w = (m32 - m23) / s;
-            this.x = 0.25 * s;
-            this.y = (m12 + m21) / s;
-            this.z = (m13 + m31) / s;
-        }
-        else if (m22 > m33) {
-            s = 2.0 * Math.sqrt(1.0 + m22 - m11 - m33);
-            this.w = (m13 - m31) / s;
-            this.x = (m12 + m21) / s;
-            this.y = 0.25 * s;
-            this.z = (m23 + m32) / s;
-        }
-        else {
-            s = 2.0 * Math.sqrt(1.0 + m33 - m11 - m22);
-            this.w = (m21 - m12) / s;
-            this.x = (m13 + m31) / s;
-            this.y = (m23 + m32) / s;
-            this.z = 0.25 * s;
-        }
-        return this;
-    }
-}
-export class Vector3 {
-    static { this.ONE = new Vector3(1, 1, 1); }
-    constructor(x, y, z) {
-        this.x = x;
-        this.y = y;
-        this.z = z;
-    }
-    set(x, y, z) {
-        this.x = x;
-        this.y = y;
-        this.z = z;
-        return this;
-    }
-    length() {
-        return Math.sqrt(this.x * this.x + this.y * this.y + this.z * this.z);
-    }
-    equals(v) {
-        return (v.x === this.x) && (v.y === this.y) && (v.z === this.z);
-    }
-    mul(v) {
-        this.x *= v.x;
-        this.y *= v.y;
-        this.z *= v.z;
-        return this;
-    }
-    applyMatrix4(m) {
-        const { x, y, z } = this;
-        const e = m.elements;
-        const w = 1 / (e[3] * x + e[7] * y + e[11] * z + e[15]);
-        this.x = (e[0] * x + e[4] * y + e[8] * z + e[12]) * w;
-        this.y = (e[1] * x + e[5] * y + e[9] * z + e[13]) * w;
-        this.z = (e[2] * x + e[6] * y + e[10] * z + e[14]) * w;
-        return this;
-    }
-    clone() {
-        return new Vector3(this.x, this.y, this.z);
-    }
-}
-export class Matrix4 {
-    static { this.ONE = new Matrix4(); }
-    constructor(elements, isRow = false) {
-        this.elements = new Float32Array([1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1]);
-        if (elements) {
-            this.set(elements);
-        }
-        if (isRow) {
-            this.transpose();
-        }
-    }
-    set(elements) {
-        for (let i = 0; i < 16; i++) {
-            this.elements[i] = elements[i];
-        }
-        return this;
-    }
-    equals(matrix) {
-        const te = this.elements;
-        const me = matrix.elements;
-        for (let i = 0; i < 16; i++) {
-            if (te[i] !== me[i]) {
-                return false;
-            }
-        }
-        return true;
-    }
-    determinant() {
-        const te = this.elements;
-        const n11 = te[0], n12 = te[4], n13 = te[8], n14 = te[12], n21 = te[1], n22 = te[5], n23 = te[9], n24 = te[13], n31 = te[2], n32 = te[6], n33 = te[10], n34 = te[14], n41 = te[3], n42 = te[7], n43 = te[11], n44 = te[15];
-        // based on http://www.euclideanspace.com/maths/algebra/matrix/functions/inverse/fourD/index.htm
-        return (n41 * (+n14 * n23 * n32
-            - n13 * n24 * n32
-            - n14 * n22 * n33
-            + n12 * n24 * n33
-            + n13 * n22 * n34
-            - n12 * n23 * n34) +
-            n42 * (+n11 * n23 * n34
-                - n11 * n24 * n33
-                + n14 * n21 * n33
-                - n13 * n21 * n34
-                + n13 * n24 * n31
-                - n14 * n23 * n31) +
-            n43 * (+n11 * n24 * n32
-                - n11 * n22 * n34
-                - n14 * n21 * n32
-                + n12 * n21 * n34
-                + n14 * n22 * n31
-                - n12 * n24 * n31) +
-            n44 * (-n13 * n22 * n31
-                - n11 * n23 * n32
-                + n11 * n22 * n33
-                + n13 * n21 * n32
-                - n12 * n21 * n33
-                + n12 * n23 * n31));
-    }
-    multiply(m) {
-        return this.multiplyMatrices(this, m);
-    }
-    multiplyMatrices(a, b) {
-        const te = this.elements;
-        const ae = a.elements;
-        const be = b.elements;
-        const a11 = ae[0];
-        const a12 = ae[4];
-        const a13 = ae[8];
-        const a14 = ae[12];
-        const a21 = ae[1];
-        const a22 = ae[5];
-        const a23 = ae[9];
-        const a24 = ae[13];
-        const a31 = ae[2];
-        const a32 = ae[6];
-        const a33 = ae[10];
-        const a34 = ae[14];
-        const a41 = ae[3];
-        const a42 = ae[7];
-        const a43 = ae[11];
-        const a44 = ae[15];
-        const b11 = be[0];
-        const b12 = be[4];
-        const b13 = be[8];
-        const b14 = be[12];
-        const b21 = be[1];
-        const b22 = be[5];
-        const b23 = be[9];
-        const b24 = be[13];
-        const b31 = be[2];
-        const b32 = be[6];
-        const b33 = be[10];
-        const b34 = be[14];
-        const b41 = be[3];
-        const b42 = be[7];
-        const b43 = be[11];
-        const b44 = be[15];
-        te[0] = a11 * b11 + a12 * b21 + a13 * b31 + a14 * b41;
-        te[4] = a11 * b12 + a12 * b22 + a13 * b32 + a14 * b42;
-        te[8] = a11 * b13 + a12 * b23 + a13 * b33 + a14 * b43;
-        te[12] = a11 * b14 + a12 * b24 + a13 * b34 + a14 * b44;
-        te[1] = a21 * b11 + a22 * b21 + a23 * b31 + a24 * b41;
-        te[5] = a21 * b12 + a22 * b22 + a23 * b32 + a24 * b42;
-        te[9] = a21 * b13 + a22 * b23 + a23 * b33 + a24 * b43;
-        te[13] = a21 * b14 + a22 * b24 + a23 * b34 + a24 * b44;
-        te[2] = a31 * b11 + a32 * b21 + a33 * b31 + a34 * b41;
-        te[6] = a31 * b12 + a32 * b22 + a33 * b32 + a34 * b42;
-        te[10] = a31 * b13 + a32 * b23 + a33 * b33 + a34 * b43;
-        te[14] = a31 * b14 + a32 * b24 + a33 * b34 + a34 * b44;
-        te[3] = a41 * b11 + a42 * b21 + a43 * b31 + a44 * b41;
-        te[7] = a41 * b12 + a42 * b22 + a43 * b32 + a44 * b42;
-        te[11] = a41 * b13 + a42 * b23 + a43 * b33 + a44 * b43;
-        te[15] = a41 * b14 + a42 * b24 + a43 * b34 + a44 * b44;
-        return this;
-    }
-    compose(position, quaternion, scale) {
-        const te = this.elements;
-        const x = quaternion.x, y = quaternion.y, z = quaternion.z, w = quaternion.w, x2 = x + x, y2 = y + y, z2 = z + z, xx = x * x2, xy = x * y2, xz = x * z2, yy = y * y2, yz = y * z2, zz = z * z2, wx = w * x2, wy = w * y2, wz = w * z2, sx = scale.x, sy = scale.y, sz = scale.z;
-        te[0] = (1 - (yy + zz)) * sx;
-        te[1] = (xy + wz) * sx;
-        te[2] = (xz - wy) * sx;
-        te[3] = 0;
-        te[4] = (xy - wz) * sy;
-        te[5] = (1 - (xx + zz)) * sy;
-        te[6] = (yz + wx) * sy;
-        te[7] = 0;
-        te[8] = (xz + wy) * sz;
-        te[9] = (yz - wx) * sz;
-        te[10] = (1 - (xx + yy)) * sz;
-        te[11] = 0;
-        te[12] = position.x;
-        te[13] = position.y;
-        te[14] = position.z;
-        te[15] = 1;
-        return this;
-    }
-    decompose(position, quaternion, scale) {
-        const te = this.elements;
-        let sx = tmpVec.set(te[0], te[1], te[2]).length();
-        const sy = tmpVec.set(te[4], te[5], te[6]).length();
-        const sz = tmpVec.set(te[8], te[9], te[10]).length();
-        const det = this.determinant();
-        if (det < 0) {
-            sx *= -1;
-        }
-        position.set(te[12], te[13], te[14]);
-        const invSX = 1 / sx;
-        const invSY = 1 / sy;
-        const invSZ = 1 / sz;
-        tmpMat4.set(this.elements);
-        tmpMat4.elements[0] *= invSX;
-        tmpMat4.elements[1] *= invSX;
-        tmpMat4.elements[2] *= invSX;
-        tmpMat4.elements[4] *= invSY;
-        tmpMat4.elements[5] *= invSY;
-        tmpMat4.elements[6] *= invSY;
-        tmpMat4.elements[8] *= invSZ;
-        tmpMat4.elements[9] *= invSZ;
-        tmpMat4.elements[10] *= invSZ;
-        quaternion.setRotationMatrix(tmpMat4);
-        scale.set(sx, sy, sz);
-        return this;
-    }
-    transpose() {
-        const te = this.elements;
-        let tmp;
-        tmp = te[1];
-        te[1] = te[4];
-        te[4] = tmp;
-        tmp = te[2];
-        te[2] = te[8];
-        te[8] = tmp;
-        tmp = te[6];
-        te[6] = te[9];
-        te[9] = tmp;
-        tmp = te[3];
-        te[3] = te[12];
-        te[12] = tmp;
-        tmp = te[7];
-        te[7] = te[13];
-        te[13] = tmp;
-        tmp = te[11];
-        te[11] = te[14];
-        te[14] = tmp;
-        return this;
-    }
-}
-export class Matrix3 {
-    constructor() {
-        this.elements = new Float32Array([1, 0, 0, 0, 1, 0, 0, 0, 1]);
-    }
-    set(n11, n12, n13, n21, n22, n23, n31, n32, n33) {
-        const te = this.elements;
-        te[0] = n11;
-        te[1] = n21;
-        te[2] = n31;
-        te[3] = n12;
-        te[4] = n22;
-        te[5] = n32;
-        te[6] = n13;
-        te[7] = n23;
-        te[8] = n33;
-        return this;
-    }
-    setFromMatrix4(m) {
-        const me = m.elements;
-        this.set(me[0], me[4], me[8], me[1], me[5], me[9], me[2], me[6], me[10]);
-        return this;
-    }
-}
-const tmpVec = new Vector3(0, 0, 0);
-const tmpMat4 = new Matrix4();
+export class Quaternion {
+    static { this.ONE = new Quaternion(0, 0, 0, 1); }
+    constructor(x, y, z, w) {
+        this.x = x;
+        this.y = y;
+        this.z = z;
+        this.w = w;
+    }
+    set(x, y, z, w) {
+        this.x = x;
+        this.y = y;
+        this.z = z;
+        this.w = w;
+        return this;
+    }
+    equals(q) {
+        return q.x === this.x && q.y === this.y && q.z === this.z && q.w === this.w;
+    }
+    normalize() {
+        const length = Math.sqrt(this.x * this.x + this.y * this.y + this.z * this.z + this.w * this.w);
+        if (length === 0) {
+            return this;
+        }
+        const invLength = (1 / length) * (this.w < 0 ? -1 : 1);
+        this.x *= invLength;
+        this.y *= invLength;
+        this.z *= invLength;
+        this.w *= invLength;
+        return this;
+    }
+    multiply(q) {
+        return this.multiplyQuaternions(this, q);
+    }
+    premultiply(q) {
+        return this.multiplyQuaternions(q, this);
+    }
+    multiplyQuaternions(a, b) {
+        // from http://www.euclideanspace.com/maths/algebra/realNormedAlgebra/quaternions/code/index.htm
+        const qax = a.x;
+        const qay = a.y;
+        const qaz = a.z;
+        const qaw = a.w;
+        const qbx = b.x;
+        const qby = b.y;
+        const qbz = b.z;
+        const qbw = b.w;
+        this.x = qax * qbw + qaw * qbx + qay * qbz - qaz * qby;
+        this.y = qay * qbw + qaw * qby + qaz * qbx - qax * qbz;
+        this.z = qaz * qbw + qaw * qbz + qax * qby - qay * qbx;
+        this.w = qaw * qbw - qax * qbx - qay * qby - qaz * qbz;
+        return this;
+    }
+    setRotationMatrix(m) {
+        // http://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToQuaternion/index.htm
+        // assumes the upper 3x3 of m is a pure rotation matrix (i.e, unscaled)
+        const te = m.elements;
+        const m11 = te[0];
+        const m12 = te[4];
+        const m13 = te[8];
+        const m21 = te[1];
+        const m22 = te[5];
+        const m23 = te[9];
+        const m31 = te[2];
+        const m32 = te[6];
+        const m33 = te[10];
+        const trace = m11 + m22 + m33;
+        let s;
+        if (trace > 0) {
+            s = 0.5 / Math.sqrt(trace + 1.0);
+            this.w = 0.25 / s;
+            this.x = (m32 - m23) * s;
+            this.y = (m13 - m31) * s;
+            this.z = (m21 - m12) * s;
+        }
+        else if (m11 > m22 && m11 > m33) {
+            s = 2.0 * Math.sqrt(1.0 + m11 - m22 - m33);
+            this.w = (m32 - m23) / s;
+            this.x = 0.25 * s;
+            this.y = (m12 + m21) / s;
+            this.z = (m13 + m31) / s;
+        }
+        else if (m22 > m33) {
+            s = 2.0 * Math.sqrt(1.0 + m22 - m11 - m33);
+            this.w = (m13 - m31) / s;
+            this.x = (m12 + m21) / s;
+            this.y = 0.25 * s;
+            this.z = (m23 + m32) / s;
+        }
+        else {
+            s = 2.0 * Math.sqrt(1.0 + m33 - m11 - m22);
+            this.w = (m21 - m12) / s;
+            this.x = (m13 + m31) / s;
+            this.y = (m23 + m32) / s;
+            this.z = 0.25 * s;
+        }
+        return this;
+    }
+}
+export class Vector3 {
+    static { this.ONE = new Vector3(1, 1, 1); }
+    constructor(x, y, z) {
+        this.x = x;
+        this.y = y;
+        this.z = z;
+    }
+    set(x, y, z) {
+        this.x = x;
+        this.y = y;
+        this.z = z;
+        return this;
+    }
+    length() {
+        return Math.sqrt(this.x * this.x + this.y * this.y + this.z * this.z);
+    }
+    equals(v) {
+        return v.x === this.x && v.y === this.y && v.z === this.z;
+    }
+    mul(v) {
+        this.x *= v.x;
+        this.y *= v.y;
+        this.z *= v.z;
+        return this;
+    }
+    applyMatrix4(m) {
+        const { x, y, z } = this;
+        const e = m.elements;
+        const w = 1 / (e[3] * x + e[7] * y + e[11] * z + e[15]);
+        this.x = (e[0] * x + e[4] * y + e[8] * z + e[12]) * w;
+        this.y = (e[1] * x + e[5] * y + e[9] * z + e[13]) * w;
+        this.z = (e[2] * x + e[6] * y + e[10] * z + e[14]) * w;
+        return this;
+    }
+    clone() {
+        return new Vector3(this.x, this.y, this.z);
+    }
+}
+export class Matrix4 {
+    static { this.ONE = new Matrix4(); }
+    constructor(elements, isRow = false) {
+        this.elements = new Float32Array([1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1]);
+        if (elements) {
+            this.set(elements);
+        }
+        if (isRow) {
+            this.transpose();
+        }
+    }
+    set(elements) {
+        for (let i = 0; i < 16; i++) {
+            this.elements[i] = elements[i];
+        }
+        return this;
+    }
+    equals(matrix) {
+        const te = this.elements;
+        const me = matrix.elements;
+        for (let i = 0; i < 16; i++) {
+            if (te[i] !== me[i]) {
+                return false;
+            }
+        }
+        return true;
+    }
+    determinant() {
+        const te = this.elements;
+        const n11 = te[0], n12 = te[4], n13 = te[8], n14 = te[12], n21 = te[1], n22 = te[5], n23 = te[9], n24 = te[13], n31 = te[2], n32 = te[6], n33 = te[10], n34 = te[14], n41 = te[3], n42 = te[7], n43 = te[11], n44 = te[15];
+        // based on http://www.euclideanspace.com/maths/algebra/matrix/functions/inverse/fourD/index.htm
+        return (n41 *
+            (+n14 * n23 * n32 -
+                n13 * n24 * n32 -
+                n14 * n22 * n33 +
+                n12 * n24 * n33 +
+                n13 * n22 * n34 -
+                n12 * n23 * n34) +
+            n42 *
+                (+n11 * n23 * n34 -
+                    n11 * n24 * n33 +
+                    n14 * n21 * n33 -
+                    n13 * n21 * n34 +
+                    n13 * n24 * n31 -
+                    n14 * n23 * n31) +
+            n43 *
+                (+n11 * n24 * n32 -
+                    n11 * n22 * n34 -
+                    n14 * n21 * n32 +
+                    n12 * n21 * n34 +
+                    n14 * n22 * n31 -
+                    n12 * n24 * n31) +
+            n44 *
+                (-n13 * n22 * n31 -
+                    n11 * n23 * n32 +
+                    n11 * n22 * n33 +
+                    n13 * n21 * n32 -
+                    n12 * n21 * n33 +
+                    n12 * n23 * n31));
+    }
+    multiply(m) {
+        return this.multiplyMatrices(this, m);
+    }
+    multiplyMatrices(a, b) {
+        const te = this.elements;
+        const ae = a.elements;
+        const be = b.elements;
+        const a11 = ae[0];
+        const a12 = ae[4];
+        const a13 = ae[8];
+        const a14 = ae[12];
+        const a21 = ae[1];
+        const a22 = ae[5];
+        const a23 = ae[9];
+        const a24 = ae[13];
+        const a31 = ae[2];
+        const a32 = ae[6];
+        const a33 = ae[10];
+        const a34 = ae[14];
+        const a41 = ae[3];
+        const a42 = ae[7];
+        const a43 = ae[11];
+        const a44 = ae[15];
+        const b11 = be[0];
+        const b12 = be[4];
+        const b13 = be[8];
+        const b14 = be[12];
+        const b21 = be[1];
+        const b22 = be[5];
+        const b23 = be[9];
+        const b24 = be[13];
+        const b31 = be[2];
+        const b32 = be[6];
+        const b33 = be[10];
+        const b34 = be[14];
+        const b41 = be[3];
+        const b42 = be[7];
+        const b43 = be[11];
+        const b44 = be[15];
+        te[0] = a11 * b11 + a12 * b21 + a13 * b31 + a14 * b41;
+        te[4] = a11 * b12 + a12 * b22 + a13 * b32 + a14 * b42;
+        te[8] = a11 * b13 + a12 * b23 + a13 * b33 + a14 * b43;
+        te[12] = a11 * b14 + a12 * b24 + a13 * b34 + a14 * b44;
+        te[1] = a21 * b11 + a22 * b21 + a23 * b31 + a24 * b41;
+        te[5] = a21 * b12 + a22 * b22 + a23 * b32 + a24 * b42;
+        te[9] = a21 * b13 + a22 * b23 + a23 * b33 + a24 * b43;
+        te[13] = a21 * b14 + a22 * b24 + a23 * b34 + a24 * b44;
+        te[2] = a31 * b11 + a32 * b21 + a33 * b31 + a34 * b41;
+        te[6] = a31 * b12 + a32 * b22 + a33 * b32 + a34 * b42;
+        te[10] = a31 * b13 + a32 * b23 + a33 * b33 + a34 * b43;
+        te[14] = a31 * b14 + a32 * b24 + a33 * b34 + a34 * b44;
+        te[3] = a41 * b11 + a42 * b21 + a43 * b31 + a44 * b41;
+        te[7] = a41 * b12 + a42 * b22 + a43 * b32 + a44 * b42;
+        te[11] = a41 * b13 + a42 * b23 + a43 * b33 + a44 * b43;
+        te[15] = a41 * b14 + a42 * b24 + a43 * b34 + a44 * b44;
+        return this;
+    }
+    compose(position, quaternion, scale) {
+        const te = this.elements;
+        const x = quaternion.x, y = quaternion.y, z = quaternion.z, w = quaternion.w, x2 = x + x, y2 = y + y, z2 = z + z, xx = x * x2, xy = x * y2, xz = x * z2, yy = y * y2, yz = y * z2, zz = z * z2, wx = w * x2, wy = w * y2, wz = w * z2, sx = scale.x, sy = scale.y, sz = scale.z;
+        te[0] = (1 - (yy + zz)) * sx;
+        te[1] = (xy + wz) * sx;
+        te[2] = (xz - wy) * sx;
+        te[3] = 0;
+        te[4] = (xy - wz) * sy;
+        te[5] = (1 - (xx + zz)) * sy;
+        te[6] = (yz + wx) * sy;
+        te[7] = 0;
+        te[8] = (xz + wy) * sz;
+        te[9] = (yz - wx) * sz;
+        te[10] = (1 - (xx + yy)) * sz;
+        te[11] = 0;
+        te[12] = position.x;
+        te[13] = position.y;
+        te[14] = position.z;
+        te[15] = 1;
+        return this;
+    }
+    decompose(position, quaternion, scale) {
+        const te = this.elements;
+        let sx = tmpVec.set(te[0], te[1], te[2]).length();
+        const sy = tmpVec.set(te[4], te[5], te[6]).length();
+        const sz = tmpVec.set(te[8], te[9], te[10]).length();
+        const det = this.determinant();
+        if (det < 0) {
+            sx *= -1;
+        }
+        position.set(te[12], te[13], te[14]);
+        const invSX = 1 / sx;
+        const invSY = 1 / sy;
+        const invSZ = 1 / sz;
+        tmpMat4.set(this.elements);
+        tmpMat4.elements[0] *= invSX;
+        tmpMat4.elements[1] *= invSX;
+        tmpMat4.elements[2] *= invSX;
+        tmpMat4.elements[4] *= invSY;
+        tmpMat4.elements[5] *= invSY;
+        tmpMat4.elements[6] *= invSY;
+        tmpMat4.elements[8] *= invSZ;
+        tmpMat4.elements[9] *= invSZ;
+        tmpMat4.elements[10] *= invSZ;
+        quaternion.setRotationMatrix(tmpMat4);
+        scale.set(sx, sy, sz);
+        return this;
+    }
+    transpose() {
+        const te = this.elements;
+        let tmp;
+        tmp = te[1];
+        te[1] = te[4];
+        te[4] = tmp;
+        tmp = te[2];
+        te[2] = te[8];
+        te[8] = tmp;
+        tmp = te[6];
+        te[6] = te[9];
+        te[9] = tmp;
+        tmp = te[3];
+        te[3] = te[12];
+        te[12] = tmp;
+        tmp = te[7];
+        te[7] = te[13];
+        te[13] = tmp;
+        tmp = te[11];
+        te[11] = te[14];
+        te[14] = tmp;
+        return this;
+    }
+}
+export class Matrix3 {
+    constructor() {
+        this.elements = new Float32Array([1, 0, 0, 0, 1, 0, 0, 0, 1]);
+    }
+    set(n11, n12, n13, n21, n22, n23, n31, n32, n33) {
+        const te = this.elements;
+        te[0] = n11;
+        te[1] = n21;
+        te[2] = n31;
+        te[3] = n12;
+        te[4] = n22;
+        te[5] = n32;
+        te[6] = n13;
+        te[7] = n23;
+        te[8] = n33;
+        return this;
+    }
+    setFromMatrix4(m) {
+        const me = m.elements;
+        this.set(me[0], me[4], me[8], me[1], me[5], me[9], me[2], me[6], me[10]);
+        return this;
+    }
+}
+const tmpVec = new Vector3(0, 0, 0);
+const tmpMat4 = new Matrix4();