@math.gl/core 3.5.3 → 3.6.0-alpha.1

package/dist/es5/classes/euler.js.map

@@ -1 +1 @@
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Copyright (c) 2017 Uber Technologies, Inc.\n//\n// Permission is hereby granted, free of charge, to any person obtaining a copy\n// of this software and associated documentation files (the \"Software\"), to deal\n// in the Software without restriction, including without limitation the rights\n// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell\n// copies of the Software, and to permit persons to whom the Software is\n// furnished to do so, subject to the following conditions:\n//\n// The above copyright notice and this permission notice shall be included in\n// all copies or substantial portions of the Software.\n//\n// THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE\n// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,\n// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN\n// THE SOFTWARE.\n\nimport MathArray from './base/math-array';\nimport {clamp} from '../lib/common';\nimport {checkNumber} from '../lib/validators';\nimport Quaternion from './quaternion';\n\n// Internal constants\nconst ERR_UNKNOWN_ORDER = 'Unknown Euler angle order';\nconst ALMOST_ONE = 0.99999;\n\nfunction validateOrder(value) {\n  return value >= 0 && value < 6;\n}\n\nfunction checkOrder(value) {\n  if (value < 0 && value >= 6) {\n    throw new Error(ERR_UNKNOWN_ORDER);\n  }\n  return value;\n}\n\nexport default class Euler extends MathArray {\n  // static XYZ = 0;\n  // static YZX = 1;\n  // static ZXY = 2;\n  // static XZY = 3;\n  // static YXZ = 4;\n  // static ZYX = 5;\n  // static RollPitchYaw = 0;\n  // static DefaultOrder = 0;\n\n  // Constants\n  /* eslint-disable no-multi-spaces, brace-style, no-return-assign */\n  static get ZYX() {\n    return 0;\n  }\n\n  static get YXZ() {\n    return 1;\n  }\n\n  static get XZY() {\n    return 2;\n  }\n\n  static get ZXY() {\n    return 3;\n  }\n\n  static get YZX() {\n    return 4;\n  }\n\n  static get XYZ() {\n    return 5;\n  }\n\n  static get RollPitchYaw() {\n    return 0;\n  }\n\n  static get DefaultOrder() {\n    return Euler.ZYX;\n  }\n\n  static get RotationOrders() {\n    return ['ZYX', 'YXZ', 'XZY', 'ZXY', 'YZX', 'XYZ'];\n  }\n\n  static rotationOrder(order) {\n    return Euler.RotationOrders[order];\n  }\n\n  get ELEMENTS() {\n    return 4;\n  }\n\n  /* eslint-enable no-multi-spaces, brace-style, no-return-assign */\n\n  /**\n   * @class\n   * @param {Number | Number[]} x\n   * @param {Number=} [y]\n   * @param {Number=} [z]\n   * @param {Number=} [order]\n   */\n  constructor(x = 0, y = 0, z = 0, order = Euler.DefaultOrder) {\n    // PERF NOTE: initialize elements as double precision numbers\n    super(-0, -0, -0, -0);\n    // eslint-disable-next-line prefer-rest-params\n    if (arguments.length > 0 && Array.isArray(arguments[0])) {\n      // eslint-disable-next-line prefer-rest-params\n      this.fromVector3(...arguments);\n    } else {\n      // @ts-ignore error TS2345: Argument of type 'number | [number, number, number, number]' not assignable to 'number'\n      this.set(x, y, z, order);\n    }\n  }\n\n  fromQuaternion(quaternion) {\n    const [x, y, z, w] = quaternion;\n    const ysqr = y * y;\n    const t0 = -2.0 * (ysqr + z * z) + 1.0;\n    const t1 = +2.0 * (x * y + w * z);\n    let t2 = -2.0 * (x * z - w * y);\n    const t3 = +2.0 * (y * z + w * x);\n    const t4 = -2.0 * (x * x + ysqr) + 1.0;\n\n    t2 = t2 > 1.0 ? 1.0 : t2;\n    t2 = t2 < -1.0 ? -1.0 : t2;\n\n    const roll = Math.atan2(t3, t4);\n    const pitch = Math.asin(t2);\n    const yaw = Math.atan2(t1, t0);\n\n    return new Euler(roll, pitch, yaw, Euler.RollPitchYaw);\n  }\n\n  // fromQuaternion(q, order) {\n  //   this._fromRotationMat[-0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0];\n  //   return this.check();\n  // }\n\n  // If copied array does contain fourth element, preserves currently set order\n  copy(array) {\n    this[0] = array[0];\n    this[1] = array[1];\n    this[2] = array[2];\n    this[3] = Number.isFinite(array[3]) || this.order;\n    return this.check();\n  }\n\n  // Sets the three angles, and optionally sets the rotation order\n  // If order is not specified, preserves currently set order\n  set(x = 0, y = 0, z = 0, order) {\n    this[0] = x;\n    this[1] = y;\n    this[2] = z;\n    this[3] = Number.isFinite(order) ? order : this[3];\n    return this.check();\n  }\n\n  validate() {\n    return (\n      validateOrder(this[3]) &&\n      Number.isFinite(this[0]) &&\n      Number.isFinite(this[1]) &&\n      Number.isFinite(this[2])\n    );\n  }\n\n  // Does not copy the orientation element\n  toArray(array = [], offset = 0) {\n    array[offset] = this[0];\n    array[offset + 1] = this[1];\n    array[offset + 2] = this[2];\n    return array;\n  }\n\n  // Copies the orientation element\n  toArray4(array = [], offset = 0) {\n    array[offset] = this[0];\n    array[offset + 1] = this[1];\n    array[offset + 2] = this[2];\n    array[offset + 3] = this[3];\n    return array;\n  }\n\n  toVector3(result = [-0, -0, -0]) {\n    result[0] = this[0];\n    result[1] = this[1];\n    result[2] = this[2];\n    return result;\n  }\n\n  /* eslint-disable no-multi-spaces, brace-style, no-return-assign */\n\n  // x, y, z angle notation (note: only corresponds to axis in XYZ orientation)\n  /** @type {number} */\n  get x() {\n    return this[0];\n  }\n\n  set x(value) {\n    this[0] = checkNumber(value);\n  }\n\n  /** @type {number} */\n  get y() {\n    return this[1];\n  }\n\n  set y(value) {\n    this[1] = checkNumber(value);\n  }\n\n  /** @type {number} */\n  get z() {\n    return this[2];\n  }\n\n  set z(value) {\n    this[2] = checkNumber(value);\n  }\n\n  // alpha, beta, gamma angle notation\n  get alpha() {\n    return this[0];\n  }\n\n  set alpha(value) {\n    this[0] = checkNumber(value);\n  }\n\n  get beta() {\n    return this[1];\n  }\n\n  set beta(value) {\n    this[1] = checkNumber(value);\n  }\n\n  get gamma() {\n    return this[2];\n  }\n\n  set gamma(value) {\n    this[2] = checkNumber(value);\n  }\n\n  // phi, theta, psi angle notation\n  get phi() {\n    return this[0];\n  }\n\n  set phi(value) {\n    this[0] = checkNumber(value);\n  }\n\n  get theta() {\n    return this[1];\n  }\n\n  set theta(value) {\n    this[1] = checkNumber(value);\n  }\n\n  get psi() {\n    return this[2];\n  }\n\n  set psi(value) {\n    this[2] = checkNumber(value);\n  }\n\n  // roll, pitch, yaw angle notation\n  /** @type {number} */\n  get roll() {\n    return this[0];\n  }\n\n  set roll(value) {\n    this[0] = checkNumber(value);\n  }\n\n  /** @type {number} */\n  get pitch() {\n    return this[1];\n  }\n\n  set pitch(value) {\n    this[1] = checkNumber(value);\n  }\n\n  /** @type {number} */\n  get yaw() {\n    return this[2];\n  }\n\n  set yaw(value) {\n    this[2] = checkNumber(value);\n  }\n\n  // rotation order, in all three angle notations\n  get order() {\n    return this[3];\n  }\n\n  set order(value) {\n    this[3] = checkOrder(value);\n  }\n\n  /* eslint-disable no-multi-spaces, brace-style, no-return-assign */\n\n  // Constructors\n  fromVector3(v, order) {\n    return this.set(v[0], v[1], v[2], Number.isFinite(order) ? order : this[3]);\n  }\n\n  // TODO - with and without 4th element\n  fromArray(array, offset = 0) {\n    this[0] = array[0 + offset];\n    this[1] = array[1 + offset];\n    this[2] = array[2 + offset];\n    if (array[3] !== undefined) {\n      this[3] = array[3];\n    }\n    return this.check();\n  }\n\n  // Common ZYX rotation order\n  fromRollPitchYaw(roll, pitch, yaw) {\n    return this.set(roll, pitch, yaw, Euler.ZYX);\n  }\n\n  fromRotationMatrix(m, order = Euler.DefaultOrder) {\n    this._fromRotationMatrix(m, order);\n    return this.check();\n  }\n\n  // ACCESSORS\n\n  getRotationMatrix(m) {\n    return this._getRotationMatrix(m);\n  }\n\n  // TODO - move to Quaternion\n  getQuaternion() {\n    const q = new Quaternion();\n    switch (this[4]) {\n      case Euler.XYZ:\n        return q.rotateX(this[0]).rotateY(this[1]).rotateZ(this[2]);\n      case Euler.YXZ:\n        return q.rotateY(this[0]).rotateX(this[1]).rotateZ(this[2]);\n      case Euler.ZXY:\n        return q.rotateZ(this[0]).rotateX(this[1]).rotateY(this[2]);\n      case Euler.ZYX:\n        return q.rotateZ(this[0]).rotateY(this[1]).rotateX(this[2]);\n      case Euler.YZX:\n        return q.rotateY(this[0]).rotateZ(this[1]).rotateX(this[2]);\n      case Euler.XZY:\n        return q.rotateX(this[0]).rotateZ(this[1]).rotateY(this[2]);\n      default:\n        throw new Error(ERR_UNKNOWN_ORDER);\n    }\n  }\n\n  // INTERNAL METHODS\n\n  // Concersion from Euler to rotation matrix and from matrix to Euler\n  // Adapted from three.js under MIT license\n\n  // // WARNING: this discards revolution information -bhouston\n  // reorder(newOrder) {\n  //   const q = new Quaternion().setFromEuler(this);\n  //   return this.setFromQuaternion(q, newOrder);\n\n  /* eslint-disable complexity, max-statements, one-var */\n  _fromRotationMatrix(m, order = Euler.DefaultOrder) {\n    // assumes the upper 3x3 of m is a pure rotation matrix (i.e, unscaled)\n\n    const te = m.elements;\n    const m11 = te[0],\n      m12 = te[4],\n      m13 = te[8];\n    const m21 = te[1],\n      m22 = te[5],\n      m23 = te[9];\n    const m31 = te[2],\n      m32 = te[6],\n      m33 = te[10];\n\n    order = order || this[3];\n\n    switch (order) {\n      case Euler.XYZ:\n        this[1] = Math.asin(clamp(m13, -1, 1));\n\n        if (Math.abs(m13) < ALMOST_ONE) {\n          this[0] = Math.atan2(-m23, m33);\n          this[2] = Math.atan2(-m12, m11);\n        } else {\n          this[0] = Math.atan2(m32, m22);\n          this[2] = 0;\n        }\n        break;\n\n      case Euler.YXZ:\n        this[0] = Math.asin(-clamp(m23, -1, 1));\n\n        if (Math.abs(m23) < ALMOST_ONE) {\n          this[1] = Math.atan2(m13, m33);\n          this[2] = Math.atan2(m21, m22);\n        } else {\n          this[1] = Math.atan2(-m31, m11);\n          this[2] = 0;\n        }\n        break;\n\n      case Euler.ZXY:\n        this[0] = Math.asin(clamp(m32, -1, 1));\n\n        if (Math.abs(m32) < ALMOST_ONE) {\n          this[1] = Math.atan2(-m31, m33);\n          this[2] = Math.atan2(-m12, m22);\n        } else {\n          this[1] = 0;\n          this[2] = Math.atan2(m21, m11);\n        }\n        break;\n\n      case Euler.ZYX:\n        this[1] = Math.asin(-clamp(m31, -1, 1));\n\n        if (Math.abs(m31) < ALMOST_ONE) {\n          this[0] = Math.atan2(m32, m33);\n          this[2] = Math.atan2(m21, m11);\n        } else {\n          this[0] = 0;\n          this[2] = Math.atan2(-m12, m22);\n        }\n        break;\n\n      case Euler.YZX:\n        this[2] = Math.asin(clamp(m21, -1, 1));\n\n        if (Math.abs(m21) < ALMOST_ONE) {\n          this[0] = Math.atan2(-m23, m22);\n          this[1] = Math.atan2(-m31, m11);\n        } else {\n          this[0] = 0;\n          this[1] = Math.atan2(m13, m33);\n        }\n        break;\n\n      case Euler.XZY:\n        this[2] = Math.asin(-clamp(m12, -1, 1));\n\n        if (Math.abs(m12) < ALMOST_ONE) {\n          this[0] = Math.atan2(m32, m22);\n          this[1] = Math.atan2(m13, m11);\n        } else {\n          this[0] = Math.atan2(-m23, m33);\n          this[1] = 0;\n        }\n        break;\n\n      default:\n        throw new Error(ERR_UNKNOWN_ORDER);\n    }\n\n    this[3] = order;\n\n    return this;\n  }\n\n  _getRotationMatrix(result) {\n    const te = result || [-0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0];\n\n    const x = this.x,\n      y = this.y,\n      z = this.z;\n    const a = Math.cos(x);\n    const c = Math.cos(y);\n    const e = Math.cos(z);\n    const b = Math.sin(x);\n    const d = Math.sin(y);\n    const f = Math.sin(z);\n\n    switch (this[3]) {\n      case Euler.XYZ: {\n        const ae = a * e,\n          af = a * f,\n          be = b * e,\n          bf = b * f;\n\n        te[0] = c * e;\n        te[4] = -c * f;\n        te[8] = d;\n\n        te[1] = af + be * d;\n        te[5] = ae - bf * d;\n        te[9] = -b * c;\n\n        te[2] = bf - ae * d;\n        te[6] = be + af * d;\n        te[10] = a * c;\n        break;\n      }\n\n      case Euler.YXZ: {\n        const ce = c * e,\n          cf = c * f,\n          de = d * e,\n          df = d * f;\n\n        te[0] = ce + df * b;\n        te[4] = de * b - cf;\n        te[8] = a * d;\n\n        te[1] = a * f;\n        te[5] = a * e;\n        te[9] = -b;\n\n        te[2] = cf * b - de;\n        te[6] = df + ce * b;\n        te[10] = a * c;\n        break;\n      }\n\n      case Euler.ZXY: {\n        const ce = c * e,\n          cf = c * f,\n          de = d * e,\n          df = d * f;\n\n        te[0] = ce - df * b;\n        te[4] = -a * f;\n        te[8] = de + cf * b;\n\n        te[1] = cf + de * b;\n        te[5] = a * e;\n        te[9] = df - ce * b;\n\n        te[2] = -a * d;\n        te[6] = b;\n        te[10] = a * c;\n        break;\n      }\n\n      case Euler.ZYX: {\n        const ae = a * e,\n          af = a * f,\n          be = b * e,\n          bf = b * f;\n\n        te[0] = c * e;\n        te[4] = be * d - af;\n        te[8] = ae * d + bf;\n\n        te[1] = c * f;\n        te[5] = bf * d + ae;\n        te[9] = af * d - be;\n\n        te[2] = -d;\n        te[6] = b * c;\n        te[10] = a * c;\n        break;\n      }\n\n      case Euler.YZX: {\n        const ac = a * c,\n          ad = a * d,\n          bc = b * c,\n          bd = b * d;\n\n        te[0] = c * e;\n        te[4] = bd - ac * f;\n        te[8] = bc * f + ad;\n\n        te[1] = f;\n        te[5] = a * e;\n        te[9] = -b * e;\n\n        te[2] = -d * e;\n        te[6] = ad * f + bc;\n        te[10] = ac - bd * f;\n        break;\n      }\n\n      case Euler.XZY: {\n        const ac = a * c,\n          ad = a * d,\n          bc = b * c,\n          bd = b * d;\n\n        te[0] = c * e;\n        te[4] = -f;\n        te[8] = d * e;\n\n        te[1] = ac * f + bd;\n        te[5] = a * e;\n        te[9] = ad * f - bc;\n\n        te[2] = bc * f - ad;\n        te[6] = b * e;\n        te[10] = bd * f + ac;\n        break;\n      }\n\n      default:\n        throw new Error(ERR_UNKNOWN_ORDER);\n    }\n\n    // last column\n    te[3] = 0;\n    te[7] = 0;\n    te[11] = 0;\n\n    // bottom row\n    te[12] = 0;\n    te[13] = 0;\n    te[14] = 0;\n    te[15] = 1;\n\n    return te;\n  }\n\n  toQuaternion() {\n    // Abbreviations for the various angular functions\n    const cy = Math.cos(this.yaw * 0.5);\n    const sy = Math.sin(this.yaw * 0.5);\n    const cr = Math.cos(this.roll * 0.5);\n    const sr = Math.sin(this.roll * 0.5);\n    const cp = Math.cos(this.pitch * 0.5);\n    const sp = Math.sin(this.pitch * 0.5);\n\n    const w = cy * cr * cp + sy * sr * sp;\n    const x = cy * sr * cp - sy * cr * sp;\n    const y = cy * cr * sp + sy * sr * cp;\n    const z = sy * cr * cp - cy * sr * sp;\n\n    return new Quaternion(x, y, z, w);\n  }\n}\n"],"file":"euler.js"}
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Copyright (c) 2017 Uber Technologies, Inc.\n//\n// Permission is hereby granted, free of charge, to any person obtaining a copy\n// of this software and associated documentation files (the \"Software\"), to deal\n// in the Software without restriction, including without limitation the rights\n// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell\n// copies of the Software, and to permit persons to whom the Software is\n// furnished to do so, subject to the following conditions:\n//\n// The above copyright notice and this permission notice shall be included in\n// all copies or substantial portions of the Software.\n//\n// THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE\n// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,\n// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN\n// THE SOFTWARE.\n\nimport MathArray from './base/math-array';\nimport {clamp} from '../lib/common';\nimport {checkNumber} from '../lib/validators';\nimport Quaternion from './quaternion';\n\n// Internal constants\nconst ERR_UNKNOWN_ORDER = 'Unknown Euler angle order';\nconst ALMOST_ONE = 0.99999;\n\nfunction validateOrder(value) {\n  return value >= 0 && value < 6;\n}\n\nfunction checkOrder(value) {\n  if (value < 0 && value >= 6) {\n    throw new Error(ERR_UNKNOWN_ORDER);\n  }\n  return value;\n}\n\nexport default class Euler extends MathArray {\n  // static XYZ = 0;\n  // static YZX = 1;\n  // static ZXY = 2;\n  // static XZY = 3;\n  // static YXZ = 4;\n  // static ZYX = 5;\n  // static RollPitchYaw = 0;\n  // static DefaultOrder = 0;\n\n  // Constants\n  /* eslint-disable no-multi-spaces, brace-style, no-return-assign */\n  static get ZYX() {\n    return 0;\n  }\n\n  static get YXZ() {\n    return 1;\n  }\n\n  static get XZY() {\n    return 2;\n  }\n\n  static get ZXY() {\n    return 3;\n  }\n\n  static get YZX() {\n    return 4;\n  }\n\n  static get XYZ() {\n    return 5;\n  }\n\n  static get RollPitchYaw() {\n    return 0;\n  }\n\n  static get DefaultOrder() {\n    return Euler.ZYX;\n  }\n\n  static get RotationOrders() {\n    return ['ZYX', 'YXZ', 'XZY', 'ZXY', 'YZX', 'XYZ'];\n  }\n\n  static rotationOrder(order) {\n    return Euler.RotationOrders[order];\n  }\n\n  get ELEMENTS() {\n    return 4;\n  }\n\n  /* eslint-enable no-multi-spaces, brace-style, no-return-assign */\n\n  /**\n   * @class\n   * @param {Number | Number[]} x\n   * @param {Number=} [y]\n   * @param {Number=} [z]\n   * @param {Number=} [order]\n   */\n  constructor(x = 0, y = 0, z = 0, order = Euler.DefaultOrder) {\n    // PERF NOTE: initialize elements as double precision numbers\n    super(-0, -0, -0, -0);\n    // eslint-disable-next-line prefer-rest-params\n    if (arguments.length > 0 && Array.isArray(arguments[0])) {\n      // eslint-disable-next-line prefer-rest-params\n      this.fromVector3(...arguments);\n    } else {\n      // @ts-ignore error TS2345: Argument of type 'number | [number, number, number, number]' not assignable to 'number'\n      this.set(x, y, z, order);\n    }\n  }\n\n  fromQuaternion(quaternion) {\n    const [x, y, z, w] = quaternion;\n    const ysqr = y * y;\n    const t0 = -2.0 * (ysqr + z * z) + 1.0;\n    const t1 = +2.0 * (x * y + w * z);\n    let t2 = -2.0 * (x * z - w * y);\n    const t3 = +2.0 * (y * z + w * x);\n    const t4 = -2.0 * (x * x + ysqr) + 1.0;\n\n    t2 = t2 > 1.0 ? 1.0 : t2;\n    t2 = t2 < -1.0 ? -1.0 : t2;\n\n    const roll = Math.atan2(t3, t4);\n    const pitch = Math.asin(t2);\n    const yaw = Math.atan2(t1, t0);\n\n    return new Euler(roll, pitch, yaw, Euler.RollPitchYaw);\n  }\n\n  // fromQuaternion(q, order) {\n  //   this._fromRotationMat[-0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0];\n  //   return this.check();\n  // }\n\n  // If copied array does contain fourth element, preserves currently set order\n  copy(array) {\n    this[0] = array[0];\n    this[1] = array[1];\n    this[2] = array[2];\n    this[3] = Number.isFinite(array[3]) || this.order;\n    return this.check();\n  }\n\n  // Sets the three angles, and optionally sets the rotation order\n  // If order is not specified, preserves currently set order\n  set(x = 0, y = 0, z = 0, order) {\n    this[0] = x;\n    this[1] = y;\n    this[2] = z;\n    this[3] = Number.isFinite(order) ? order : this[3];\n    return this.check();\n  }\n\n  validate() {\n    return (\n      validateOrder(this[3]) &&\n      Number.isFinite(this[0]) &&\n      Number.isFinite(this[1]) &&\n      Number.isFinite(this[2])\n    );\n  }\n\n  // Does not copy the orientation element\n  toArray(array = [], offset = 0) {\n    array[offset] = this[0];\n    array[offset + 1] = this[1];\n    array[offset + 2] = this[2];\n    return array;\n  }\n\n  // Copies the orientation element\n  toArray4(array = [], offset = 0) {\n    array[offset] = this[0];\n    array[offset + 1] = this[1];\n    array[offset + 2] = this[2];\n    array[offset + 3] = this[3];\n    return array;\n  }\n\n  toVector3(result = [-0, -0, -0]) {\n    result[0] = this[0];\n    result[1] = this[1];\n    result[2] = this[2];\n    return result;\n  }\n\n  /* eslint-disable no-multi-spaces, brace-style, no-return-assign */\n\n  // x, y, z angle notation (note: only corresponds to axis in XYZ orientation)\n  /** @type {number} */\n  get x() {\n    return this[0];\n  }\n\n  set x(value) {\n    this[0] = checkNumber(value);\n  }\n\n  /** @type {number} */\n  get y() {\n    return this[1];\n  }\n\n  set y(value) {\n    this[1] = checkNumber(value);\n  }\n\n  /** @type {number} */\n  get z() {\n    return this[2];\n  }\n\n  set z(value) {\n    this[2] = checkNumber(value);\n  }\n\n  // alpha, beta, gamma angle notation\n  get alpha() {\n    return this[0];\n  }\n\n  set alpha(value) {\n    this[0] = checkNumber(value);\n  }\n\n  get beta() {\n    return this[1];\n  }\n\n  set beta(value) {\n    this[1] = checkNumber(value);\n  }\n\n  get gamma() {\n    return this[2];\n  }\n\n  set gamma(value) {\n    this[2] = checkNumber(value);\n  }\n\n  // phi, theta, psi angle notation\n  get phi() {\n    return this[0];\n  }\n\n  set phi(value) {\n    this[0] = checkNumber(value);\n  }\n\n  get theta() {\n    return this[1];\n  }\n\n  set theta(value) {\n    this[1] = checkNumber(value);\n  }\n\n  get psi() {\n    return this[2];\n  }\n\n  set psi(value) {\n    this[2] = checkNumber(value);\n  }\n\n  // roll, pitch, yaw angle notation\n  /** @type {number} */\n  get roll() {\n    return this[0];\n  }\n\n  set roll(value) {\n    this[0] = checkNumber(value);\n  }\n\n  /** @type {number} */\n  get pitch() {\n    return this[1];\n  }\n\n  set pitch(value) {\n    this[1] = checkNumber(value);\n  }\n\n  /** @type {number} */\n  get yaw() {\n    return this[2];\n  }\n\n  set yaw(value) {\n    this[2] = checkNumber(value);\n  }\n\n  // rotation order, in all three angle notations\n  get order() {\n    return this[3];\n  }\n\n  set order(value) {\n    this[3] = checkOrder(value);\n  }\n\n  /* eslint-disable no-multi-spaces, brace-style, no-return-assign */\n\n  // Constructors\n  fromVector3(v, order) {\n    return this.set(v[0], v[1], v[2], Number.isFinite(order) ? order : this[3]);\n  }\n\n  // TODO - with and without 4th element\n  fromArray(array, offset = 0) {\n    this[0] = array[0 + offset];\n    this[1] = array[1 + offset];\n    this[2] = array[2 + offset];\n    if (array[3] !== undefined) {\n      this[3] = array[3];\n    }\n    return this.check();\n  }\n\n  // Common ZYX rotation order\n  fromRollPitchYaw(roll, pitch, yaw) {\n    return this.set(roll, pitch, yaw, Euler.ZYX);\n  }\n\n  fromRotationMatrix(m, order = Euler.DefaultOrder) {\n    this._fromRotationMatrix(m, order);\n    return this.check();\n  }\n\n  // ACCESSORS\n\n  getRotationMatrix(m) {\n    return this._getRotationMatrix(m);\n  }\n\n  // TODO - move to Quaternion\n  getQuaternion() {\n    const q = new Quaternion();\n    switch (this[3]) {\n      case Euler.XYZ:\n        return q.rotateX(this[0]).rotateY(this[1]).rotateZ(this[2]);\n      case Euler.YXZ:\n        return q.rotateY(this[0]).rotateX(this[1]).rotateZ(this[2]);\n      case Euler.ZXY:\n        return q.rotateZ(this[0]).rotateX(this[1]).rotateY(this[2]);\n      case Euler.ZYX:\n        return q.rotateZ(this[0]).rotateY(this[1]).rotateX(this[2]);\n      case Euler.YZX:\n        return q.rotateY(this[0]).rotateZ(this[1]).rotateX(this[2]);\n      case Euler.XZY:\n        return q.rotateX(this[0]).rotateZ(this[1]).rotateY(this[2]);\n      default:\n        throw new Error(ERR_UNKNOWN_ORDER);\n    }\n  }\n\n  // INTERNAL METHODS\n\n  // Concersion from Euler to rotation matrix and from matrix to Euler\n  // Adapted from three.js under MIT license\n\n  // // WARNING: this discards revolution information -bhouston\n  // reorder(newOrder) {\n  //   const q = new Quaternion().setFromEuler(this);\n  //   return this.setFromQuaternion(q, newOrder);\n\n  /* eslint-disable complexity, max-statements, one-var */\n  _fromRotationMatrix(m, order = Euler.DefaultOrder) {\n    // assumes the upper 3x3 of m is a pure rotation matrix (i.e, unscaled)\n\n    const te = m.elements;\n    const m11 = te[0],\n      m12 = te[4],\n      m13 = te[8];\n    const m21 = te[1],\n      m22 = te[5],\n      m23 = te[9];\n    const m31 = te[2],\n      m32 = te[6],\n      m33 = te[10];\n\n    order = order || this[3];\n\n    switch (order) {\n      case Euler.XYZ:\n        this[1] = Math.asin(clamp(m13, -1, 1));\n\n        if (Math.abs(m13) < ALMOST_ONE) {\n          this[0] = Math.atan2(-m23, m33);\n          this[2] = Math.atan2(-m12, m11);\n        } else {\n          this[0] = Math.atan2(m32, m22);\n          this[2] = 0;\n        }\n        break;\n\n      case Euler.YXZ:\n        this[0] = Math.asin(-clamp(m23, -1, 1));\n\n        if (Math.abs(m23) < ALMOST_ONE) {\n          this[1] = Math.atan2(m13, m33);\n          this[2] = Math.atan2(m21, m22);\n        } else {\n          this[1] = Math.atan2(-m31, m11);\n          this[2] = 0;\n        }\n        break;\n\n      case Euler.ZXY:\n        this[0] = Math.asin(clamp(m32, -1, 1));\n\n        if (Math.abs(m32) < ALMOST_ONE) {\n          this[1] = Math.atan2(-m31, m33);\n          this[2] = Math.atan2(-m12, m22);\n        } else {\n          this[1] = 0;\n          this[2] = Math.atan2(m21, m11);\n        }\n        break;\n\n      case Euler.ZYX:\n        this[1] = Math.asin(-clamp(m31, -1, 1));\n\n        if (Math.abs(m31) < ALMOST_ONE) {\n          this[0] = Math.atan2(m32, m33);\n          this[2] = Math.atan2(m21, m11);\n        } else {\n          this[0] = 0;\n          this[2] = Math.atan2(-m12, m22);\n        }\n        break;\n\n      case Euler.YZX:\n        this[2] = Math.asin(clamp(m21, -1, 1));\n\n        if (Math.abs(m21) < ALMOST_ONE) {\n          this[0] = Math.atan2(-m23, m22);\n          this[1] = Math.atan2(-m31, m11);\n        } else {\n          this[0] = 0;\n          this[1] = Math.atan2(m13, m33);\n        }\n        break;\n\n      case Euler.XZY:\n        this[2] = Math.asin(-clamp(m12, -1, 1));\n\n        if (Math.abs(m12) < ALMOST_ONE) {\n          this[0] = Math.atan2(m32, m22);\n          this[1] = Math.atan2(m13, m11);\n        } else {\n          this[0] = Math.atan2(-m23, m33);\n          this[1] = 0;\n        }\n        break;\n\n      default:\n        throw new Error(ERR_UNKNOWN_ORDER);\n    }\n\n    this[3] = order;\n\n    return this;\n  }\n\n  _getRotationMatrix(result) {\n    const te = result || [-0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0];\n\n    const x = this.x,\n      y = this.y,\n      z = this.z;\n    const a = Math.cos(x);\n    const c = Math.cos(y);\n    const e = Math.cos(z);\n    const b = Math.sin(x);\n    const d = Math.sin(y);\n    const f = Math.sin(z);\n\n    switch (this[3]) {\n      case Euler.XYZ: {\n        const ae = a * e,\n          af = a * f,\n          be = b * e,\n          bf = b * f;\n\n        te[0] = c * e;\n        te[4] = -c * f;\n        te[8] = d;\n\n        te[1] = af + be * d;\n        te[5] = ae - bf * d;\n        te[9] = -b * c;\n\n        te[2] = bf - ae * d;\n        te[6] = be + af * d;\n        te[10] = a * c;\n        break;\n      }\n\n      case Euler.YXZ: {\n        const ce = c * e,\n          cf = c * f,\n          de = d * e,\n          df = d * f;\n\n        te[0] = ce + df * b;\n        te[4] = de * b - cf;\n        te[8] = a * d;\n\n        te[1] = a * f;\n        te[5] = a * e;\n        te[9] = -b;\n\n        te[2] = cf * b - de;\n        te[6] = df + ce * b;\n        te[10] = a * c;\n        break;\n      }\n\n      case Euler.ZXY: {\n        const ce = c * e,\n          cf = c * f,\n          de = d * e,\n          df = d * f;\n\n        te[0] = ce - df * b;\n        te[4] = -a * f;\n        te[8] = de + cf * b;\n\n        te[1] = cf + de * b;\n        te[5] = a * e;\n        te[9] = df - ce * b;\n\n        te[2] = -a * d;\n        te[6] = b;\n        te[10] = a * c;\n        break;\n      }\n\n      case Euler.ZYX: {\n        const ae = a * e,\n          af = a * f,\n          be = b * e,\n          bf = b * f;\n\n        te[0] = c * e;\n        te[4] = be * d - af;\n        te[8] = ae * d + bf;\n\n        te[1] = c * f;\n        te[5] = bf * d + ae;\n        te[9] = af * d - be;\n\n        te[2] = -d;\n        te[6] = b * c;\n        te[10] = a * c;\n        break;\n      }\n\n      case Euler.YZX: {\n        const ac = a * c,\n          ad = a * d,\n          bc = b * c,\n          bd = b * d;\n\n        te[0] = c * e;\n        te[4] = bd - ac * f;\n        te[8] = bc * f + ad;\n\n        te[1] = f;\n        te[5] = a * e;\n        te[9] = -b * e;\n\n        te[2] = -d * e;\n        te[6] = ad * f + bc;\n        te[10] = ac - bd * f;\n        break;\n      }\n\n      case Euler.XZY: {\n        const ac = a * c,\n          ad = a * d,\n          bc = b * c,\n          bd = b * d;\n\n        te[0] = c * e;\n        te[4] = -f;\n        te[8] = d * e;\n\n        te[1] = ac * f + bd;\n        te[5] = a * e;\n        te[9] = ad * f - bc;\n\n        te[2] = bc * f - ad;\n        te[6] = b * e;\n        te[10] = bd * f + ac;\n        break;\n      }\n\n      default:\n        throw new Error(ERR_UNKNOWN_ORDER);\n    }\n\n    // last column\n    te[3] = 0;\n    te[7] = 0;\n    te[11] = 0;\n\n    // bottom row\n    te[12] = 0;\n    te[13] = 0;\n    te[14] = 0;\n    te[15] = 1;\n\n    return te;\n  }\n\n  toQuaternion() {\n    // Abbreviations for the various angular functions\n    const cy = Math.cos(this.yaw * 0.5);\n    const sy = Math.sin(this.yaw * 0.5);\n    const cr = Math.cos(this.roll * 0.5);\n    const sr = Math.sin(this.roll * 0.5);\n    const cp = Math.cos(this.pitch * 0.5);\n    const sp = Math.sin(this.pitch * 0.5);\n\n    const w = cy * cr * cp + sy * sr * sp;\n    const x = cy * sr * cp - sy * cr * sp;\n    const y = cy * cr * sp + sy * sr * cp;\n    const z = sy * cr * cp - cy * sr * sp;\n\n    return new Quaternion(x, y, z, w);\n  }\n}\n"],"file":"euler.js"}

package/dist/es5/classes/matrix3.d.js

@@ -0,0 +1,25 @@
+"use strict";
+
+var _interopRequireDefault = require("@babel/runtime/helpers/interopRequireDefault");
+
+Object.defineProperty(exports, "__esModule", {
+  value: true
+});
+exports.default = void 0;
+
+var _defineProperty2 = _interopRequireDefault(require("@babel/runtime/helpers/defineProperty"));
+
+var _matrix = _interopRequireDefault(require("./base/matrix"));
+
+class Matrix3 extends _matrix.default {
+  constructor(...args) {
+    super(...args);
+    (0, _defineProperty2.default)(this, "INDICES", void 0);
+  }
+
+}
+
+exports.default = Matrix3;
+(0, _defineProperty2.default)(Matrix3, "IDENTITY", void 0);
+(0, _defineProperty2.default)(Matrix3, "ZERO", void 0);
+//# sourceMappingURL=matrix3.d.js.map

package/dist/es5/classes/matrix3.d.js.map

@@ -0,0 +1 @@
+{"version":3,"sources":["../../../src/classes/matrix3.d.ts"],"names":["Matrix3","Matrix"],"mappings":";;;;;;;;;;;AAAA;;AAGe,MAAMA,OAAN,SAAsBC,eAAtB,CAAsC;AAAA;AAAA;AAAA;AAAA;;AAAA;;;8BAAhCD,O;8BAAAA,O","sourcesContent":["import Matrix from './base/matrix';\n// import Quaternion from './quaternion';\n\nexport default class Matrix3 extends Matrix<Matrix3> {\n  static IDENTITY: Matrix3;\n  static ZERO: Matrix3;\n\n  // inherited\n  get ELEMENTS(): number;\n  get RANK(): number;\n  INDICES: number[];\n\n  constructor();\n  constructor(array: number[]);\n  constructor(\n    m00: number,\n    m10: number,\n    m20: number,\n    m01: number,\n    m11: number,\n    m21: number,\n    m02: number,\n    m12: number,\n    m22: number\n  );\n\n  copy(array): Matrix3;\n\n  // accepts column major order, stores in column major order\n  // eslint-disable-next-line max-params\n  set(\n    m00: number,\n    m10: number,\n    m20: number,\n    m01: number,\n    m11: number,\n    m21: number,\n    m02: number,\n    m12: number,\n    m22: number\n  );\n\n  // accepts row major order, stores as column major\n  // eslint-disable-next-line max-params\n  setRowMajor(\n    m00: number,\n    m01: number,\n    m02: number,\n    m10: number,\n    m11: number,\n    m12: number,\n    m20: number,\n    m21: number,\n    m22: number\n  );\n  setRowMajor(...array: number[]);\n\n  // Accessors\n  determinant(): number;\n\n  // Constructors\n  identity(): Matrix3;\n\n  // Calculates a 3x3 matrix from the given quaternion\n  // q quat  Quaternion to create matrix from\n  fromQuaternion(q: number[]): Matrix3;\n\n  // Modifiers\n  transpose(): Matrix3;\n  invert(): Matrix3;\n\n  // Operations\n  multiplyLeft(a: Matrix3): Matrix3;\n  multiplyRight(a: Matrix3): Matrix3;\n\n  rotate(radians: number): Matrix3;\n\n  scale(scale: number): Matrix3;\n  scale([scaleX, scaleY, scaleZ]: number[]): Matrix3;\n\n  translate(vec): Matrix3;\n\n  // Transforms\n\n  transform(vector: number[], result?: number[]): number[];\n\n  // DEPRECATED IN 3.0\n  transformVector(vector, result);\n  transformVector2(vector, result);\n  transformVector3(vector, result);\n}\n"],"file":"matrix3.d.js"}

package/dist/es5/classes/matrix3.js

@@ -2,23 +2,11 @@
 
 var _interopRequireDefault = require("@babel/runtime/helpers/interopRequireDefault");
 
-var _typeof = require("@babel/runtime/helpers/typeof");
-
 Object.defineProperty(exports, "__esModule", {
   value: true
 });
 exports.default = void 0;
 
-var _classCallCheck2 = _interopRequireDefault(require("@babel/runtime/helpers/classCallCheck"));
-
-var _createClass2 = _interopRequireDefault(require("@babel/runtime/helpers/createClass"));
-
-var _inherits2 = _interopRequireDefault(require("@babel/runtime/helpers/inherits"));
-
-var _possibleConstructorReturn2 = _interopRequireDefault(require("@babel/runtime/helpers/possibleConstructorReturn"));
-
-var _getPrototypeOf2 = _interopRequireDefault(require("@babel/runtime/helpers/getPrototypeOf"));
-
 var _matrix = _interopRequireDefault(require("./base/matrix"));
 
 var _validators = require("../lib/validators");
@@ -31,17 +19,13 @@ var vec2 = _interopRequireWildcard(require("gl-matrix/vec2"));
 
 var vec3 = _interopRequireWildcard(require("gl-matrix/vec3"));
 
-function _getRequireWildcardCache(nodeInterop) { if (typeof WeakMap !== "function") return null; var cacheBabelInterop = new WeakMap(); var cacheNodeInterop = new WeakMap(); return (_getRequireWildcardCache = function _getRequireWildcardCache(nodeInterop) { return nodeInterop ? cacheNodeInterop : cacheBabelInterop; })(nodeInterop); }
-
-function _interopRequireWildcard(obj, nodeInterop) { if (!nodeInterop && obj && obj.__esModule) { return obj; } if (obj === null || _typeof(obj) !== "object" && typeof obj !== "function") { return { default: obj }; } var cache = _getRequireWildcardCache(nodeInterop); if (cache && cache.has(obj)) { return cache.get(obj); } var newObj = {}; var hasPropertyDescriptor = Object.defineProperty && Object.getOwnPropertyDescriptor; for (var key in obj) { if (key !== "default" && Object.prototype.hasOwnProperty.call(obj, key)) { var desc = hasPropertyDescriptor ? Object.getOwnPropertyDescriptor(obj, key) : null; if (desc && (desc.get || desc.set)) { Object.defineProperty(newObj, key, desc); } else { newObj[key] = obj[key]; } } } newObj.default = obj; if (cache) { cache.set(obj, newObj); } return newObj; }
-
-function _createSuper(Derived) { var hasNativeReflectConstruct = _isNativeReflectConstruct(); return function _createSuperInternal() { var Super = (0, _getPrototypeOf2.default)(Derived), result; if (hasNativeReflectConstruct) { var NewTarget = (0, _getPrototypeOf2.default)(this).constructor; result = Reflect.construct(Super, arguments, NewTarget); } else { result = Super.apply(this, arguments); } return (0, _possibleConstructorReturn2.default)(this, result); }; }
+function _getRequireWildcardCache(nodeInterop) { if (typeof WeakMap !== "function") return null; var cacheBabelInterop = new WeakMap(); var cacheNodeInterop = new WeakMap(); return (_getRequireWildcardCache = function (nodeInterop) { return nodeInterop ? cacheNodeInterop : cacheBabelInterop; })(nodeInterop); }
 
-function _isNativeReflectConstruct() { if (typeof Reflect === "undefined" || !Reflect.construct) return false; if (Reflect.construct.sham) return false; if (typeof Proxy === "function") return true; try { Boolean.prototype.valueOf.call(Reflect.construct(Boolean, [], function () {})); return true; } catch (e) { return false; } }
+function _interopRequireWildcard(obj, nodeInterop) { if (!nodeInterop && obj && obj.__esModule) { return obj; } if (obj === null || typeof obj !== "object" && typeof obj !== "function") { return { default: obj }; } var cache = _getRequireWildcardCache(nodeInterop); if (cache && cache.has(obj)) { return cache.get(obj); } var newObj = {}; var hasPropertyDescriptor = Object.defineProperty && Object.getOwnPropertyDescriptor; for (var key in obj) { if (key !== "default" && Object.prototype.hasOwnProperty.call(obj, key)) { var desc = hasPropertyDescriptor ? Object.getOwnPropertyDescriptor(obj, key) : null; if (desc && (desc.get || desc.set)) { Object.defineProperty(newObj, key, desc); } else { newObj[key] = obj[key]; } } } newObj.default = obj; if (cache) { cache.set(obj, newObj); } return newObj; }
 
-var IDENTITY = Object.freeze([1, 0, 0, 0, 1, 0, 0, 0, 1]);
-var ZERO = Object.freeze([0, 0, 0, 0, 0, 0, 0, 0, 0]);
-var INDICES = Object.freeze({
+const IDENTITY = Object.freeze([1, 0, 0, 0, 1, 0, 0, 0, 1]);
+const ZERO = Object.freeze([0, 0, 0, 0, 0, 0, 0, 0, 0]);
+const INDICES = Object.freeze({
   COL0ROW0: 0,
   COL0ROW1: 1,
   COL0ROW2: 2,
@@ -52,204 +36,171 @@ var INDICES = Object.freeze({
   COL2ROW1: 7,
   COL2ROW2: 8
 });
-var constants = {};
+const constants = {};
 
-var Matrix3 = function (_Matrix) {
-  (0, _inherits2.default)(Matrix3, _Matrix);
+class Matrix3 extends _matrix.default {
+  static get IDENTITY() {
+    constants.IDENTITY = constants.IDENTITY || Object.freeze(new Matrix3(IDENTITY));
+    return constants.IDENTITY;
+  }
 
-  var _super = _createSuper(Matrix3);
+  static get ZERO() {
+    constants.ZERO = constants.ZERO || Object.freeze(new Matrix3(ZERO));
+    return constants.ZERO;
+  }
 
-  function Matrix3(array) {
-    var _this;
+  get ELEMENTS() {
+    return 9;
+  }
+
+  get RANK() {
+    return 3;
+  }
+
+  get INDICES() {
+    return INDICES;
+  }
 
-    (0, _classCallCheck2.default)(this, Matrix3);
-    _this = _super.call(this, -0, -0, -0, -0, -0, -0, -0, -0, -0);
+  constructor(array) {
+    super(-0, -0, -0, -0, -0, -0, -0, -0, -0);
 
     if (arguments.length === 1 && Array.isArray(array)) {
-      _this.copy(array);
+      this.copy(array);
     } else {
-      _this.identity();
+      this.identity();
     }
+  }
 
-    return _this;
+  copy(array) {
+    this[0] = array[0];
+    this[1] = array[1];
+    this[2] = array[2];
+    this[3] = array[3];
+    this[4] = array[4];
+    this[5] = array[5];
+    this[6] = array[6];
+    this[7] = array[7];
+    this[8] = array[8];
+    return this.check();
   }
 
-  (0, _createClass2.default)(Matrix3, [{
-    key: "ELEMENTS",
-    get: function get() {
-      return 9;
-    }
-  }, {
-    key: "RANK",
-    get: function get() {
-      return 3;
-    }
-  }, {
-    key: "INDICES",
-    get: function get() {
-      return INDICES;
-    }
-  }, {
-    key: "copy",
-    value: function copy(array) {
-      this[0] = array[0];
-      this[1] = array[1];
-      this[2] = array[2];
-      this[3] = array[3];
-      this[4] = array[4];
-      this[5] = array[5];
-      this[6] = array[6];
-      this[7] = array[7];
-      this[8] = array[8];
-      return this.check();
-    }
-  }, {
-    key: "set",
-    value: function set(m00, m10, m20, m01, m11, m21, m02, m12, m22) {
-      this[0] = m00;
-      this[1] = m10;
-      this[2] = m20;
-      this[3] = m01;
-      this[4] = m11;
-      this[5] = m21;
-      this[6] = m02;
-      this[7] = m12;
-      this[8] = m22;
-      return this.check();
-    }
-  }, {
-    key: "setRowMajor",
-    value: function setRowMajor(m00, m01, m02, m10, m11, m12, m20, m21, m22) {
-      this[0] = m00;
-      this[1] = m10;
-      this[2] = m20;
-      this[3] = m01;
-      this[4] = m11;
-      this[5] = m21;
-      this[6] = m02;
-      this[7] = m12;
-      this[8] = m22;
-      return this.check();
-    }
-  }, {
-    key: "determinant",
-    value: function determinant() {
-      return mat3.determinant(this);
-    }
-  }, {
-    key: "identity",
-    value: function identity() {
-      return this.copy(IDENTITY);
-    }
-  }, {
-    key: "fromQuaternion",
-    value: function fromQuaternion(q) {
-      mat3.fromQuat(this, q);
-      return this.check();
-    }
-  }, {
-    key: "transpose",
-    value: function transpose() {
-      mat3.transpose(this, this);
-      return this.check();
-    }
-  }, {
-    key: "invert",
-    value: function invert() {
-      mat3.invert(this, this);
-      return this.check();
-    }
-  }, {
-    key: "multiplyLeft",
-    value: function multiplyLeft(a) {
-      mat3.multiply(this, a, this);
-      return this.check();
-    }
-  }, {
-    key: "multiplyRight",
-    value: function multiplyRight(a) {
-      mat3.multiply(this, this, a);
-      return this.check();
-    }
-  }, {
-    key: "rotate",
-    value: function rotate(radians) {
-      mat3.rotate(this, this, radians);
-      return this.check();
-    }
-  }, {
-    key: "scale",
-    value: function scale(factor) {
-      if (Array.isArray(factor)) {
-        mat3.scale(this, this, factor);
-      } else {
-        mat3.scale(this, this, [factor, factor, factor]);
-      }
-
-      return this.check();
-    }
-  }, {
-    key: "translate",
-    value: function translate(vec) {
-      mat3.translate(this, this, vec);
-      return this.check();
-    }
-  }, {
-    key: "transform",
-    value: function transform(vector, result) {
-      switch (vector.length) {
-        case 2:
-          result = vec2.transformMat3(result || [-0, -0], vector, this);
-          break;
-
-        case 3:
-          result = vec3.transformMat3(result || [-0, -0, -0], vector, this);
-          break;
-
-        case 4:
-          result = (0, _glMatrixExtras.vec4_transformMat3)(result || [-0, -0, -0, -0], vector, this);
-          break;
-
-        default:
-          throw new Error('Illegal vector');
-      }
-
-      (0, _validators.checkVector)(result, vector.length);
-      return result;
-    }
-  }, {
-    key: "transformVector",
-    value: function transformVector(vector, result) {
-      (0, _validators.deprecated)('Matrix3.transformVector');
-      return this.transform(vector, result);
-    }
-  }, {
-    key: "transformVector2",
-    value: function transformVector2(vector, result) {
-      (0, _validators.deprecated)('Matrix3.transformVector');
-      return this.transform(vector, result);
-    }
-  }, {
-    key: "transformVector3",
-    value: function transformVector3(vector, result) {
-      (0, _validators.deprecated)('Matrix3.transformVector');
-      return this.transform(vector, result);
-    }
-  }], [{
-    key: "IDENTITY",
-    get: function get() {
-      constants.IDENTITY = constants.IDENTITY || Object.freeze(new Matrix3(IDENTITY));
-      return constants.IDENTITY;
+  set(m00, m10, m20, m01, m11, m21, m02, m12, m22) {
+    this[0] = m00;
+    this[1] = m10;
+    this[2] = m20;
+    this[3] = m01;
+    this[4] = m11;
+    this[5] = m21;
+    this[6] = m02;
+    this[7] = m12;
+    this[8] = m22;
+    return this.check();
+  }
+
+  setRowMajor(m00, m01, m02, m10, m11, m12, m20, m21, m22) {
+    this[0] = m00;
+    this[1] = m10;
+    this[2] = m20;
+    this[3] = m01;
+    this[4] = m11;
+    this[5] = m21;
+    this[6] = m02;
+    this[7] = m12;
+    this[8] = m22;
+    return this.check();
+  }
+
+  determinant() {
+    return mat3.determinant(this);
+  }
+
+  identity() {
+    return this.copy(IDENTITY);
+  }
+
+  fromQuaternion(q) {
+    mat3.fromQuat(this, q);
+    return this.check();
+  }
+
+  transpose() {
+    mat3.transpose(this, this);
+    return this.check();
+  }
+
+  invert() {
+    mat3.invert(this, this);
+    return this.check();
+  }
+
+  multiplyLeft(a) {
+    mat3.multiply(this, a, this);
+    return this.check();
+  }
+
+  multiplyRight(a) {
+    mat3.multiply(this, this, a);
+    return this.check();
+  }
+
+  rotate(radians) {
+    mat3.rotate(this, this, radians);
+    return this.check();
+  }
+
+  scale(factor) {
+    if (Array.isArray(factor)) {
+      mat3.scale(this, this, factor);
+    } else {
+      mat3.scale(this, this, [factor, factor, factor]);
     }
-  }, {
-    key: "ZERO",
-    get: function get() {
-      constants.ZERO = constants.ZERO || Object.freeze(new Matrix3(ZERO));
-      return constants.ZERO;
+
+    return this.check();
+  }
+
+  translate(vec) {
+    mat3.translate(this, this, vec);
+    return this.check();
+  }
+
+  transform(vector, result) {
+    switch (vector.length) {
+      case 2:
+        result = vec2.transformMat3(result || [-0, -0], vector, this);
+        break;
+
+      case 3:
+        result = vec3.transformMat3(result || [-0, -0, -0], vector, this);
+        break;
+
+      case 4:
+        result = (0, _glMatrixExtras.vec4_transformMat3)(result || [-0, -0, -0, -0], vector, this);
+        break;
+
+      default:
+        throw new Error('Illegal vector');
     }
-  }]);
-  return Matrix3;
-}(_matrix.default);
+
+    (0, _validators.checkVector)(result, vector.length);
+    return result;
+  }
+
+  transformVector(vector, result) {
+    (0, _validators.deprecated)('Matrix3.transformVector');
+    return this.transform(vector, result);
+  }
+
+  transformVector2(vector, result) {
+    (0, _validators.deprecated)('Matrix3.transformVector');
+    return this.transform(vector, result);
+  }
+
+  transformVector3(vector, result) {
+    (0, _validators.deprecated)('Matrix3.transformVector');
+    return this.transform(vector, result);
+  }
+
+}
 
 exports.default = Matrix3;
 //# sourceMappingURL=matrix3.js.map