@math.gl/core 3.5.6 → 3.6.0-alpha.2

package/dist/esm/classes/matrix4.js

@@ -1,44 +1,43 @@
-import { checkVector, deprecated } from '../lib/validators';
 import Matrix from './base/matrix';
+import { checkVector } from '../lib/validators';
 import { vec2_transformMat4AsVector, vec3_transformMat4AsVector } from '../lib/gl-matrix-extras';
 import * as mat4 from 'gl-matrix/mat4';
 import * as vec2 from 'gl-matrix/vec2';
 import * as vec3 from 'gl-matrix/vec3';
 import * as vec4 from 'gl-matrix/vec4';
-const IDENTITY = Object.freeze([1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1]);
-const ZERO = Object.freeze([0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]);
-const INDICES = Object.freeze({
-  COL0ROW0: 0,
-  COL0ROW1: 1,
-  COL0ROW2: 2,
-  COL0ROW3: 3,
-  COL1ROW0: 4,
-  COL1ROW1: 5,
-  COL1ROW2: 6,
-  COL1ROW3: 7,
-  COL2ROW0: 8,
-  COL2ROW1: 9,
-  COL2ROW2: 10,
-  COL2ROW3: 11,
-  COL3ROW0: 12,
-  COL3ROW1: 13,
-  COL3ROW2: 14,
-  COL3ROW3: 15
-});
-const constants = {};
+var INDICES;
+
+(function (INDICES) {
+  INDICES[INDICES["COL0ROW0"] = 0] = "COL0ROW0";
+  INDICES[INDICES["COL0ROW1"] = 1] = "COL0ROW1";
+  INDICES[INDICES["COL0ROW2"] = 2] = "COL0ROW2";
+  INDICES[INDICES["COL0ROW3"] = 3] = "COL0ROW3";
+  INDICES[INDICES["COL1ROW0"] = 4] = "COL1ROW0";
+  INDICES[INDICES["COL1ROW1"] = 5] = "COL1ROW1";
+  INDICES[INDICES["COL1ROW2"] = 6] = "COL1ROW2";
+  INDICES[INDICES["COL1ROW3"] = 7] = "COL1ROW3";
+  INDICES[INDICES["COL2ROW0"] = 8] = "COL2ROW0";
+  INDICES[INDICES["COL2ROW1"] = 9] = "COL2ROW1";
+  INDICES[INDICES["COL2ROW2"] = 10] = "COL2ROW2";
+  INDICES[INDICES["COL2ROW3"] = 11] = "COL2ROW3";
+  INDICES[INDICES["COL3ROW0"] = 12] = "COL3ROW0";
+  INDICES[INDICES["COL3ROW1"] = 13] = "COL3ROW1";
+  INDICES[INDICES["COL3ROW2"] = 14] = "COL3ROW2";
+  INDICES[INDICES["COL3ROW3"] = 15] = "COL3ROW3";
+})(INDICES || (INDICES = {}));
+
+const DEFAULT_FOVY = 45 * Math.PI / 180;
+const DEFAULT_ASPECT = 1;
+const DEFAULT_NEAR = 0.1;
+const DEFAULT_FAR = 500;
+const IDENTITY_MATRIX = Object.freeze([1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1]);
 export default class Matrix4 extends Matrix {
   static get IDENTITY() {
-    constants.IDENTITY = constants.IDENTITY || Object.freeze(new Matrix4(IDENTITY));
-    return constants.IDENTITY;
+    return getIdentityMatrix();
   }
 
   static get ZERO() {
-    constants.ZERO = constants.ZERO || Object.freeze(new Matrix4(ZERO));
-    return constants.ZERO;
-  }
-
-  get INDICES() {
-    return INDICES;
+    return getZeroMatrix();
   }
 
   get ELEMENTS() {
@@ -49,6 +48,10 @@ export default class Matrix4 extends Matrix {
     return 4;
   }
 
+  get INDICES() {
+    return INDICES;
+  }
+
   constructor(array) {
     super(-0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0);
 
@@ -140,24 +143,30 @@ export default class Matrix4 extends Matrix {
   }
 
   identity() {
-    return this.copy(IDENTITY);
+    return this.copy(IDENTITY_MATRIX);
   }
 
-  fromQuaternion(q) {
-    mat4.fromQuat(this, q);
+  fromObject(object) {
     return this.check();
   }
 
-  frustum({
-    left,
-    right,
-    bottom,
-    top,
-    near,
-    far
-  }) {
+  fromQuaternion(quaternion) {
+    mat4.fromQuat(this, quaternion);
+    return this.check();
+  }
+
+  frustum(view) {
+    const {
+      left,
+      right,
+      bottom,
+      top,
+      near = DEFAULT_NEAR,
+      far = DEFAULT_FAR
+    } = view;
+
     if (far === Infinity) {
-      Matrix4._computeInfinitePerspectiveOffCenter(this, left, right, bottom, top, near);
+      computeInfinitePerspectiveOffCenter(this, left, right, bottom, top, near);
     } else {
       mat4.frustum(this, left, right, bottom, top, near, far);
     }
@@ -165,75 +174,42 @@ export default class Matrix4 extends Matrix {
     return this.check();
   }
 
-  static _computeInfinitePerspectiveOffCenter(result, left, right, bottom, top, near) {
-    const column0Row0 = 2.0 * near / (right - left);
-    const column1Row1 = 2.0 * near / (top - bottom);
-    const column2Row0 = (right + left) / (right - left);
-    const column2Row1 = (top + bottom) / (top - bottom);
-    const column2Row2 = -1.0;
-    const column2Row3 = -1.0;
-    const column3Row2 = -2.0 * near;
-    result[0] = column0Row0;
-    result[1] = 0.0;
-    result[2] = 0.0;
-    result[3] = 0.0;
-    result[4] = 0.0;
-    result[5] = column1Row1;
-    result[6] = 0.0;
-    result[7] = 0.0;
-    result[8] = column2Row0;
-    result[9] = column2Row1;
-    result[10] = column2Row2;
-    result[11] = column2Row3;
-    result[12] = 0.0;
-    result[13] = 0.0;
-    result[14] = column3Row2;
-    result[15] = 0.0;
-    return result;
-  }
-
-  lookAt(eye, center, up) {
-    if (arguments.length === 1) {
-      ({
-        eye,
-        center,
-        up
-      } = eye);
-    }
-
-    center = center || [0, 0, 0];
-    up = up || [0, 1, 0];
+  lookAt(view) {
+    const {
+      eye,
+      center = [0, 0, 0],
+      up = [0, 1, 0]
+    } = view;
     mat4.lookAt(this, eye, center, up);
     return this.check();
   }
 
-  ortho({
-    left,
-    right,
-    bottom,
-    top,
-    near = 0.1,
-    far = 500
-  }) {
+  ortho(view) {
+    const {
+      left,
+      right,
+      bottom,
+      top,
+      near = DEFAULT_NEAR,
+      far = DEFAULT_FAR
+    } = view;
     mat4.ortho(this, left, right, bottom, top, near, far);
     return this.check();
   }
 
-  orthographic({
-    fovy = 45 * Math.PI / 180,
-    aspect = 1,
-    focalDistance = 1,
-    near = 0.1,
-    far = 500
-  }) {
-    if (fovy > Math.PI * 2) {
-      throw Error('radians');
-    }
-
+  orthographic(view) {
+    const {
+      fovy = DEFAULT_FOVY,
+      aspect = DEFAULT_ASPECT,
+      focalDistance = 1,
+      near = DEFAULT_NEAR,
+      far = DEFAULT_FAR
+    } = view;
+    checkRadians(fovy);
     const halfY = fovy / 2;
     const top = focalDistance * Math.tan(halfY);
     const right = top * aspect;
-    return new Matrix4().ortho({
+    return this.ortho({
       left: -right,
       right,
       bottom: -top,
@@ -243,19 +219,14 @@ export default class Matrix4 extends Matrix {
     });
   }
 
-  perspective({
-    fovy = undefined,
-    fov = 45 * Math.PI / 180,
-    aspect = 1,
-    near = 0.1,
-    far = 500
-  } = {}) {
-    fovy = fovy || fov;
-
-    if (fovy > Math.PI * 2) {
-      throw Error('radians');
-    }
-
+  perspective(view) {
+    const {
+      fovy = 45 * Math.PI / 180,
+      aspect = 1,
+      near = 0.1,
+      far = 500
+    } = view;
+    checkRadians(fovy);
     mat4.perspective(this, fovy, aspect, near, far);
     return this.check();
   }
@@ -278,8 +249,10 @@ export default class Matrix4 extends Matrix {
     return result;
   }
 
-  getRotation(result = [-0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0], scaleResult = null) {
-    const scale = this.getScale(scaleResult || [-0, -0, -0]);
+  getRotation(result, scaleResult) {
+    result = result || [-0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0];
+    scaleResult = scaleResult || [-0, -0, -0];
+    const scale = this.getScale(scaleResult);
     const inverseScale0 = 1 / scale[0];
     const inverseScale1 = 1 / scale[1];
     const inverseScale2 = 1 / scale[2];
@@ -302,8 +275,10 @@ export default class Matrix4 extends Matrix {
     return result;
   }
 
-  getRotationMatrix3(result = [-0, -0, -0, -0, -0, -0, -0, -0, -0], scaleResult = null) {
-    const scale = this.getScale(scaleResult || [-0, -0, -0]);
+  getRotationMatrix3(result, scaleResult) {
+    result = result || [-0, -0, -0, -0, -0, -0, -0, -0, -0];
+    scaleResult = scaleResult || [-0, -0, -0];
+    const scale = this.getScale(scaleResult);
     const inverseScale0 = 1 / scale[0];
     const inverseScale1 = 1 / scale[1];
     const inverseScale2 = 1 / scale[2];
@@ -354,8 +329,8 @@ export default class Matrix4 extends Matrix {
     return this.check();
   }
 
-  rotateXYZ([rx, ry, rz]) {
-    return this.rotateX(rx).rotateY(ry).rotateZ(rz);
+  rotateXYZ(angleXYZ) {
+    return this.rotateX(angleXYZ[0]).rotateY(angleXYZ[1]).rotateZ(angleXYZ[2]);
   }
 
   rotateAxis(radians, axis) {
@@ -364,17 +339,12 @@ export default class Matrix4 extends Matrix {
   }
 
   scale(factor) {
-    if (Array.isArray(factor)) {
-      mat4.scale(this, this, factor);
-    } else {
-      mat4.scale(this, this, [factor, factor, factor]);
-    }
-
+    mat4.scale(this, this, Array.isArray(factor) ? factor : [factor, factor, factor]);
     return this.check();
   }
 
-  translate(vec) {
-    mat4.translate(this, this, vec);
+  translate(vector) {
+    mat4.translate(this, this, vector);
     return this.check();
   }
 
@@ -428,6 +398,18 @@ export default class Matrix4 extends Matrix {
     return result;
   }
 
+  transformPoint(vector, result) {
+    return this.transformAsPoint(vector, result);
+  }
+
+  transformVector(vector, result) {
+    return this.transformAsPoint(vector, result);
+  }
+
+  transformDirection(vector, result) {
+    return this.transformAsVector(vector, result);
+  }
+
   makeRotationX(radians) {
     return this.identity().rotateX(radians);
   }
@@ -436,20 +418,58 @@ export default class Matrix4 extends Matrix {
     return this.identity().translate([x, y, z]);
   }
 
-  transformPoint(vector, result) {
-    deprecated('Matrix4.transformPoint', '3.0');
-    return this.transformAsPoint(vector, result);
+}
+let ZERO;
+let IDENTITY;
+
+function getZeroMatrix() {
+  if (!ZERO) {
+    ZERO = new Matrix4([0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]);
+    Object.freeze(ZERO);
   }
 
-  transformVector(vector, result) {
-    deprecated('Matrix4.transformVector', '3.0');
-    return this.transformAsPoint(vector, result);
+  return ZERO;
+}
+
+function getIdentityMatrix() {
+  if (!IDENTITY) {
+    IDENTITY = new Matrix4();
+    Object.freeze(IDENTITY);
   }
 
-  transformDirection(vector, result) {
-    deprecated('Matrix4.transformDirection', '3.0');
-    return this.transformAsVector(vector, result);
+  return IDENTITY;
+}
+
+function checkRadians(possiblyDegrees) {
+  if (possiblyDegrees > Math.PI * 2) {
+    throw Error('expected radians');
   }
+}
 
+function computeInfinitePerspectiveOffCenter(result, left, right, bottom, top, near) {
+  const column0Row0 = 2 * near / (right - left);
+  const column1Row1 = 2 * near / (top - bottom);
+  const column2Row0 = (right + left) / (right - left);
+  const column2Row1 = (top + bottom) / (top - bottom);
+  const column2Row2 = -1;
+  const column2Row3 = -1;
+  const column3Row2 = -2 * near;
+  result[0] = column0Row0;
+  result[1] = 0;
+  result[2] = 0;
+  result[3] = 0;
+  result[4] = 0;
+  result[5] = column1Row1;
+  result[6] = 0;
+  result[7] = 0;
+  result[8] = column2Row0;
+  result[9] = column2Row1;
+  result[10] = column2Row2;
+  result[11] = column2Row3;
+  result[12] = 0;
+  result[13] = 0;
+  result[14] = column3Row2;
+  result[15] = 0;
+  return result;
 }
 //# sourceMappingURL=matrix4.js.map

package/dist/esm/classes/matrix4.js.map

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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 {checkVector, deprecated} from '../lib/validators';\nimport Matrix from './base/matrix';\n// eslint-disable-next-line camelcase\nimport {vec2_transformMat4AsVector, vec3_transformMat4AsVector} from '../lib/gl-matrix-extras';\n\n// @ts-ignore: error TS2307: Cannot find module 'gl-matrix/...'.\nimport * as mat4 from 'gl-matrix/mat4';\n// @ts-ignore: error TS2307: Cannot find module 'gl-matrix/...'.\nimport * as vec2 from 'gl-matrix/vec2';\n// @ts-ignore: error TS2307: Cannot find module 'gl-matrix/...'.\nimport * as vec3 from 'gl-matrix/vec3';\n// @ts-ignore: error TS2307: Cannot find module 'gl-matrix/...'.\nimport * as vec4 from 'gl-matrix/vec4';\n\nconst IDENTITY = Object.freeze([1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1]);\nconst ZERO = Object.freeze([0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]);\n\nconst INDICES = Object.freeze({\n  COL0ROW0: 0,\n  COL0ROW1: 1,\n  COL0ROW2: 2,\n  COL0ROW3: 3,\n  COL1ROW0: 4,\n  COL1ROW1: 5,\n  COL1ROW2: 6,\n  COL1ROW3: 7,\n  COL2ROW0: 8,\n  COL2ROW1: 9,\n  COL2ROW2: 10,\n  COL2ROW3: 11,\n  COL3ROW0: 12,\n  COL3ROW1: 13,\n  COL3ROW2: 14,\n  COL3ROW3: 15\n});\n\nconst constants = {};\n\nexport default class Matrix4 extends Matrix {\n  static get IDENTITY() {\n    constants.IDENTITY = constants.IDENTITY || Object.freeze(new Matrix4(IDENTITY));\n    return constants.IDENTITY;\n  }\n\n  static get ZERO() {\n    constants.ZERO = constants.ZERO || Object.freeze(new Matrix4(ZERO));\n    return constants.ZERO;\n  }\n\n  get INDICES() {\n    return INDICES;\n  }\n\n  get ELEMENTS() {\n    return 16;\n  }\n\n  get RANK() {\n    return 4;\n  }\n\n  constructor(array) {\n    // PERF NOTE: initialize elements as double precision numbers\n    super(-0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0);\n    if (arguments.length === 1 && Array.isArray(array)) {\n      this.copy(array);\n    } else {\n      this.identity();\n    }\n  }\n\n  copy(array) {\n    this[0] = array[0];\n    this[1] = array[1];\n    this[2] = array[2];\n    this[3] = array[3];\n    this[4] = array[4];\n    this[5] = array[5];\n    this[6] = array[6];\n    this[7] = array[7];\n    this[8] = array[8];\n    this[9] = array[9];\n    this[10] = array[10];\n    this[11] = array[11];\n    this[12] = array[12];\n    this[13] = array[13];\n    this[14] = array[14];\n    this[15] = array[15];\n    return this.check();\n  }\n\n  // eslint-disable-next-line max-params\n  set(m00, m10, m20, m30, m01, m11, m21, m31, m02, m12, m22, m32, m03, m13, m23, m33) {\n    this[0] = m00;\n    this[1] = m10;\n    this[2] = m20;\n    this[3] = m30;\n    this[4] = m01;\n    this[5] = m11;\n    this[6] = m21;\n    this[7] = m31;\n    this[8] = m02;\n    this[9] = m12;\n    this[10] = m22;\n    this[11] = m32;\n    this[12] = m03;\n    this[13] = m13;\n    this[14] = m23;\n    this[15] = m33;\n    return this.check();\n  }\n\n  // accepts row major order, stores as column major\n  // eslint-disable-next-line max-params\n  setRowMajor(m00, m01, m02, m03, m10, m11, m12, m13, m20, m21, m22, m23, m30, m31, m32, m33) {\n    this[0] = m00;\n    this[1] = m10;\n    this[2] = m20;\n    this[3] = m30;\n    this[4] = m01;\n    this[5] = m11;\n    this[6] = m21;\n    this[7] = m31;\n    this[8] = m02;\n    this[9] = m12;\n    this[10] = m22;\n    this[11] = m32;\n    this[12] = m03;\n    this[13] = m13;\n    this[14] = m23;\n    this[15] = m33;\n    return this.check();\n  }\n\n  toRowMajor(result) {\n    result[0] = this[0];\n    result[1] = this[4];\n    result[2] = this[8];\n    result[3] = this[12];\n    result[4] = this[1];\n    result[5] = this[5];\n    result[6] = this[9];\n    result[7] = this[13];\n    result[8] = this[2];\n    result[9] = this[6];\n    result[10] = this[10];\n    result[11] = this[14];\n    result[12] = this[3];\n    result[13] = this[7];\n    result[14] = this[11];\n    result[15] = this[15];\n    return result;\n  }\n\n  // Constructors\n\n  identity() {\n    return this.copy(IDENTITY);\n  }\n\n  // Calculates a 4x4 matrix from the given quaternion\n  // q quat  Quaternion to create matrix from\n  fromQuaternion(q) {\n    mat4.fromQuat(this, q);\n    return this.check();\n  }\n\n  // Generates a frustum matrix with the given bounds\n  // left  Number  Left bound of the frustum\n  // right Number  Right bound of the frustum\n  // bottom  Number  Bottom bound of the frustum\n  // top Number  Top bound of the frustum\n  // near  Number  Near bound of the frustum\n  // far Number  Far bound of the frustum\n  frustum({left, right, bottom, top, near, far}) {\n    if (far === Infinity) {\n      Matrix4._computeInfinitePerspectiveOffCenter(this, left, right, bottom, top, near);\n    } else {\n      mat4.frustum(this, left, right, bottom, top, near, far);\n    }\n    return this.check();\n  }\n\n  // eslint-disable-next-line max-params\n  static _computeInfinitePerspectiveOffCenter(result, left, right, bottom, top, near) {\n    const column0Row0 = (2.0 * near) / (right - left);\n    const column1Row1 = (2.0 * near) / (top - bottom);\n    const column2Row0 = (right + left) / (right - left);\n    const column2Row1 = (top + bottom) / (top - bottom);\n    const column2Row2 = -1.0;\n    const column2Row3 = -1.0;\n    const column3Row2 = -2.0 * near;\n\n    result[0] = column0Row0;\n    result[1] = 0.0;\n    result[2] = 0.0;\n    result[3] = 0.0;\n    result[4] = 0.0;\n    result[5] = column1Row1;\n    result[6] = 0.0;\n    result[7] = 0.0;\n    result[8] = column2Row0;\n    result[9] = column2Row1;\n    result[10] = column2Row2;\n    result[11] = column2Row3;\n    result[12] = 0.0;\n    result[13] = 0.0;\n    result[14] = column3Row2;\n    result[15] = 0.0;\n    return result;\n  }\n\n  // Generates a look-at matrix with the given eye position, focal point,\n  // and up axis\n  // eye vec3  Position of the viewer\n  // center  vec3  Point the viewer is looking at\n  // up  vec3  vec3 pointing up\n  lookAt(eye, center, up) {\n    // Signature: lookAt({eye, center = [0, 0, 0], up = [0, 1, 0]}))\n    if (arguments.length === 1) {\n      ({eye, center, up} = eye);\n    }\n\n    center = center || [0, 0, 0];\n    up = up || [0, 1, 0];\n\n    mat4.lookAt(this, eye, center, up);\n    return this.check();\n  }\n\n  // Generates a orthogonal projection matrix with the given bounds\n  // from \"traditional\" view space parameters\n  // left  number  Left bound of the frustum\n  // right number  Right bound of the frustum\n  // bottom  number  Bottom bound of the frustum\n  // top number  Top bound of the frustum\n  // near  number  Near bound of the frustum\n  // far number  Far bound of the frustum\n  ortho({left, right, bottom, top, near = 0.1, far = 500}) {\n    mat4.ortho(this, left, right, bottom, top, near, far);\n    return this.check();\n  }\n\n  // Generates an orthogonal projection matrix with the same parameters\n  // as a perspective matrix (plus focalDistance)\n  // fovy  number  Vertical field of view in radians\n  // aspect  number  Aspect ratio. typically viewport width/height\n  // focalDistance distance in the view frustum used for extent calculations\n  // near  number  Near bound of the frustum\n  // far number  Far bound of the frustum\n  orthographic({\n    fovy = (45 * Math.PI) / 180,\n    aspect = 1,\n    focalDistance = 1,\n    near = 0.1,\n    far = 500\n  }) {\n    if (fovy > Math.PI * 2) {\n      throw Error('radians');\n    }\n    const halfY = fovy / 2;\n    const top = focalDistance * Math.tan(halfY); // focus_plane is the distance from the camera\n    const right = top * aspect;\n\n    return new Matrix4().ortho({\n      left: -right,\n      right,\n      bottom: -top,\n      top,\n      near,\n      far\n    });\n  }\n\n  // Generates a perspective projection matrix with the given bounds\n  // fovy  number  Vertical field of view in radians\n  // aspect  number  Aspect ratio. typically viewport width/height\n  // near  number  Near bound of the frustum\n  // far number  Far bound of the frustum\n  perspective({\n    fovy = undefined,\n    fov = (45 * Math.PI) / 180, // DEPRECATED\n    aspect = 1,\n    near = 0.1,\n    far = 500\n  } = {}) {\n    fovy = fovy || fov;\n    if (fovy > Math.PI * 2) {\n      throw Error('radians');\n    }\n    mat4.perspective(this, fovy, aspect, near, far);\n    return this.check();\n  }\n\n  // Accessors\n\n  determinant() {\n    return mat4.determinant(this);\n  }\n\n  // Extracts the non-uniform scale assuming the matrix is an affine transformation.\n  // The scales are the \"lengths\" of the column vectors in the upper-left 3x3 matrix.\n  getScale(result = [-0, -0, -0]) {\n    // explicit is faster than hypot...\n    result[0] = Math.sqrt(this[0] * this[0] + this[1] * this[1] + this[2] * this[2]);\n    result[1] = Math.sqrt(this[4] * this[4] + this[5] * this[5] + this[6] * this[6]);\n    result[2] = Math.sqrt(this[8] * this[8] + this[9] * this[9] + this[10] * this[10]);\n    // result[0] = Math.hypot(this[0], this[1], this[2]);\n    // result[1] = Math.hypot(this[4], this[5], this[6]);\n    // result[2] = Math.hypot(this[8], this[9], this[10]);\n    return result;\n  }\n\n  // Gets the translation portion, assuming the matrix is a affine transformation matrix.\n  getTranslation(result = [-0, -0, -0]) {\n    result[0] = this[12];\n    result[1] = this[13];\n    result[2] = this[14];\n    return result;\n  }\n\n  // Gets upper left 3x3 pure rotation matrix (non-scaling), assume affine transformation matrix\n  getRotation(\n    result = [-0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0],\n    scaleResult = null\n  ) {\n    const scale = this.getScale(scaleResult || [-0, -0, -0]);\n\n    const inverseScale0 = 1 / scale[0];\n    const inverseScale1 = 1 / scale[1];\n    const inverseScale2 = 1 / scale[2];\n\n    result[0] = this[0] * inverseScale0;\n    result[1] = this[1] * inverseScale1;\n    result[2] = this[2] * inverseScale2;\n    result[3] = 0;\n    result[4] = this[4] * inverseScale0;\n    result[5] = this[5] * inverseScale1;\n    result[6] = this[6] * inverseScale2;\n    result[7] = 0;\n    result[8] = this[8] * inverseScale0;\n    result[9] = this[9] * inverseScale1;\n    result[10] = this[10] * inverseScale2;\n    result[11] = 0;\n    result[12] = 0;\n    result[13] = 0;\n    result[14] = 0;\n    result[15] = 1;\n    return result;\n  }\n\n  getRotationMatrix3(result = [-0, -0, -0, -0, -0, -0, -0, -0, -0], scaleResult = null) {\n    const scale = this.getScale(scaleResult || [-0, -0, -0]);\n\n    const inverseScale0 = 1 / scale[0];\n    const inverseScale1 = 1 / scale[1];\n    const inverseScale2 = 1 / scale[2];\n\n    result[0] = this[0] * inverseScale0;\n    result[1] = this[1] * inverseScale1;\n    result[2] = this[2] * inverseScale2;\n    result[3] = this[4] * inverseScale0;\n    result[4] = this[5] * inverseScale1;\n    result[5] = this[6] * inverseScale2;\n    result[6] = this[8] * inverseScale0;\n    result[7] = this[9] * inverseScale1;\n    result[8] = this[10] * inverseScale2;\n    return result;\n  }\n\n  // Modifiers\n\n  transpose() {\n    mat4.transpose(this, this);\n    return this.check();\n  }\n\n  invert() {\n    mat4.invert(this, this);\n    return this.check();\n  }\n\n  // Operations\n\n  multiplyLeft(a) {\n    mat4.multiply(this, a, this);\n    return this.check();\n  }\n\n  multiplyRight(a) {\n    mat4.multiply(this, this, a);\n    return this.check();\n  }\n\n  // Rotates a matrix by the given angle around the X axis\n  rotateX(radians) {\n    mat4.rotateX(this, this, radians);\n    // mat4.rotate(this, this, radians, [1, 0, 0]);\n    return this.check();\n  }\n\n  // Rotates a matrix by the given angle around the Y axis.\n  rotateY(radians) {\n    mat4.rotateY(this, this, radians);\n    // mat4.rotate(this, this, radians, [0, 1, 0]);\n    return this.check();\n  }\n\n  // Rotates a matrix by the given angle around the Z axis.\n  rotateZ(radians) {\n    mat4.rotateZ(this, this, radians);\n    // mat4.rotate(this, this, radians, [0, 0, 1]);\n    return this.check();\n  }\n\n  rotateXYZ([rx, ry, rz]) {\n    return this.rotateX(rx).rotateY(ry).rotateZ(rz);\n  }\n\n  rotateAxis(radians, axis) {\n    mat4.rotate(this, this, radians, axis);\n    return this.check();\n  }\n\n  scale(factor) {\n    if (Array.isArray(factor)) {\n      mat4.scale(this, this, factor);\n    } else {\n      mat4.scale(this, this, [factor, factor, factor]);\n    }\n\n    return this.check();\n  }\n\n  translate(vec) {\n    mat4.translate(this, this, vec);\n    return this.check();\n  }\n\n  // Transforms\n\n  // Transforms any 2, 3 or 4 element vector. 2 and 3 elements are treated as points\n  transform(vector, result) {\n    if (vector.length === 4) {\n      result = vec4.transformMat4(result || [-0, -0, -0, -0], vector, this);\n      checkVector(result, 4);\n      return result;\n    }\n    return this.transformAsPoint(vector, result);\n  }\n\n  // Transforms any 2 or 3 element array as point (w implicitly 1)\n  transformAsPoint(vector, result) {\n    const {length} = vector;\n    switch (length) {\n      case 2:\n        result = vec2.transformMat4(result || [-0, -0], vector, this);\n        break;\n      case 3:\n        result = vec3.transformMat4(result || [-0, -0, -0], vector, this);\n        break;\n      default:\n        throw new Error('Illegal vector');\n    }\n    checkVector(result, vector.length);\n    return result;\n  }\n\n  // Transforms any 2 or 3 element array as vector (w implicitly 0)\n  transformAsVector(vector, result) {\n    switch (vector.length) {\n      case 2:\n        result = vec2_transformMat4AsVector(result || [-0, -0], vector, this);\n        break;\n      case 3:\n        result = vec3_transformMat4AsVector(result 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Copyright (c) 2017 Uber Technologies, Inc.\n// MIT License\nimport Matrix from './base/matrix';\nimport {NumericArray} from '@math.gl/types';\nimport {checkVector} from '../lib/validators';\n\n/* eslint-disable camelcase */\nimport {vec2_transformMat4AsVector, vec3_transformMat4AsVector} from '../lib/gl-matrix-extras';\nimport * as mat4 from 'gl-matrix/mat4';\nimport * as vec2 from 'gl-matrix/vec2';\nimport * as vec3 from 'gl-matrix/vec3';\nimport * as vec4 from 'gl-matrix/vec4';\n\nenum INDICES {\n  COL0ROW0 = 0,\n  COL0ROW1 = 1,\n  COL0ROW2 = 2,\n  COL0ROW3 = 3,\n  COL1ROW0 = 4,\n  COL1ROW1 = 5,\n  COL1ROW2 = 6,\n  COL1ROW3 = 7,\n  COL2ROW0 = 8,\n  COL2ROW1 = 9,\n  COL2ROW2 = 10,\n  COL2ROW3 = 11,\n  COL3ROW0 = 12,\n  COL3ROW1 = 13,\n  COL3ROW2 = 14,\n  COL3ROW3 = 15\n}\n\nconst DEFAULT_FOVY = (45 * Math.PI) / 180;\nconst DEFAULT_ASPECT = 1;\nconst DEFAULT_NEAR = 0.1;\nconst DEFAULT_FAR = 500;\n\nconst IDENTITY_MATRIX = Object.freeze([1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1]);\n\n/** 4x4 matrix */\nexport default class Matrix4 extends Matrix {\n  static get IDENTITY(): Readonly<Matrix4> {\n    return getIdentityMatrix();\n  }\n\n  static get ZERO(): Readonly<Matrix4> {\n    return getZeroMatrix();\n  }\n\n  get ELEMENTS(): number {\n    return 16;\n  }\n\n  get RANK(): number {\n    return 4;\n  }\n\n  get INDICES(): typeof INDICES {\n    return INDICES;\n  }\n\n  constructor(array?: Readonly<NumericArray>) {\n    // PERF NOTE: initialize elements as double precision numbers\n    super(-0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0);\n    if (arguments.length === 1 && Array.isArray(array)) {\n      this.copy(array);\n    } else {\n      this.identity();\n    }\n  }\n\n  copy(array: Readonly<NumericArray>): this {\n    this[0] = array[0];\n    this[1] = array[1];\n    this[2] = array[2];\n    this[3] = array[3];\n    this[4] = array[4];\n    this[5] = array[5];\n    this[6] = array[6];\n    this[7] = array[7];\n    this[8] = array[8];\n    this[9] = array[9];\n    this[10] = array[10];\n    this[11] = array[11];\n    this[12] = array[12];\n    this[13] = array[13];\n    this[14] = array[14];\n    this[15] = array[15];\n    return this.check();\n  }\n\n  // eslint-disable-next-line max-params\n  set(\n    m00: number,\n    m10: number,\n    m20: number,\n    m30: number,\n    m01: number,\n    m11: number,\n    m21: number,\n    m31: number,\n    m02: number,\n    m12: number,\n    m22: number,\n    m32: number,\n    m03: number,\n    m13: number,\n    m23: number,\n    m33: number\n  ): this {\n    this[0] = m00;\n    this[1] = m10;\n    this[2] = m20;\n    this[3] = m30;\n    this[4] = m01;\n    this[5] = m11;\n    this[6] = m21;\n    this[7] = m31;\n    this[8] = m02;\n    this[9] = m12;\n    this[10] = m22;\n    this[11] = m32;\n    this[12] = m03;\n    this[13] = m13;\n    this[14] = m23;\n    this[15] = m33;\n    return this.check();\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    m03: number,\n    m10: number,\n    m11: number,\n    m12: number,\n    m13: number,\n    m20: number,\n    m21: number,\n    m22: number,\n    m23: number,\n    m30: number,\n    m31: number,\n    m32: number,\n    m33: number\n  ): this {\n    this[0] = m00;\n    this[1] = m10;\n    this[2] = m20;\n    this[3] = m30;\n    this[4] = m01;\n    this[5] = m11;\n    this[6] = m21;\n    this[7] = m31;\n    this[8] = m02;\n    this[9] = m12;\n    this[10] = m22;\n    this[11] = m32;\n    this[12] = m03;\n    this[13] = m13;\n    this[14] = m23;\n    this[15] = m33;\n    return this.check();\n  }\n\n  toRowMajor(result: NumericArray): NumericArray {\n    result[0] = this[0];\n    result[1] = this[4];\n    result[2] = this[8];\n    result[3] = this[12];\n    result[4] = this[1];\n    result[5] = this[5];\n    result[6] = this[9];\n    result[7] = this[13];\n    result[8] = this[2];\n    result[9] = this[6];\n    result[10] = this[10];\n    result[11] = this[14];\n    result[12] = this[3];\n    result[13] = this[7];\n    result[14] = this[11];\n    result[15] = this[15];\n    return result;\n  }\n\n  // Constructors\n\n  /** Set to identity matrix */\n  identity(): this {\n    return this.copy(IDENTITY_MATRIX);\n  }\n\n  /**\n   *\n   * @param object\n   * @returns self\n   */\n  fromObject(object: {[key: string]: any}): this {\n    return this.check();\n  }\n\n  /**\n   * Calculates a 4x4 matrix from the given quaternion\n   * @param quaternion Quaternion to create matrix from\n   * @returns self\n   */\n  fromQuaternion(quaternion: Readonly<NumericArray>): this {\n    mat4.fromQuat(this, quaternion);\n    return this.check();\n  }\n\n  /**\n   * Generates a frustum matrix with the given bounds\n   * @param view.left - Left bound of the frustum\n   * @param view.right - Right bound of the frustum\n   * @param view.bottom - Bottom bound of the frustum\n   * @param view.top - Top bound of the frustum\n   * @param view.near - Near bound of the frustum\n   * @param view.far - Far bound of the frustum. Can be set to Infinity.\n   * @returns self\n   */\n  frustum(view: {\n    left: number;\n    right: number;\n    bottom: number;\n    top: number;\n    near: number;\n    far?: number;\n  }): this {\n    const {left, right, bottom, top, near = DEFAULT_NEAR, far = DEFAULT_FAR} = view;\n    if (far === Infinity) {\n      computeInfinitePerspectiveOffCenter(this, left, right, bottom, top, near);\n    } else {\n      mat4.frustum(this, left, right, bottom, top, near, far);\n    }\n    return this.check();\n  }\n\n  /**\n   * Generates a look-at matrix with the given eye position, focal point,\n   * and up axis\n   * @param view.eye - (vector) Position of the viewer\n   * @param view.center - (vector) Point the viewer is looking at\n   * @param view.up - (vector) Up axis\n   * @returns self\n   */\n  lookAt(view: {\n    eye: Readonly<NumericArray>;\n    center: Readonly<NumericArray>;\n    up: Readonly<NumericArray>;\n  }): this {\n    const {eye, center = [0, 0, 0], up = [0, 1, 0]} = view;\n    mat4.lookAt(this, eye, center, up);\n    return this.check();\n  }\n\n  /**\n   * Generates a orthogonal projection matrix with the given bounds\n   * from \"traditional\" view space parameters\n   * @param view.left - Left bound of the frustum\n   * @param view.right number  Right bound of the frustum\n   * @param view.bottom - Bottom bound of the frustum\n   * @param view.top number  Top bound of the frustum\n   * @param view.near - Near bound of the frustum\n   * @param view.far number  Far bound of the frustum\n   * @returns self\n   */\n  ortho(view: {\n    left: number;\n    right: number;\n    bottom: number;\n    top: number;\n    near?: number;\n    far?: number;\n  }): this {\n    const {left, right, bottom, top, near = DEFAULT_NEAR, far = DEFAULT_FAR} = view;\n    mat4.ortho(this, left, right, bottom, top, near, far);\n    return this.check();\n  }\n\n  /**\n   * Generates an orthogonal projection matrix with the same parameters\n   * as a perspective matrix (plus focalDistance)\n   * @param view.fovy Vertical field of view in radians\n   * @param view.aspect Aspect ratio. Typically viewport width / viewport height\n   * @param view.focalDistance Distance in the view frustum used for extent calculations\n   * @param view.near Near bound of the frustum\n   * @param view.far Far bound of the frustum\n   * @returns self\n   */\n  orthographic(view: {\n    fovy?: number;\n    aspect?: number;\n    focalDistance?: number;\n    near?: number;\n    far?: number;\n  }): this {\n    const {\n      fovy = DEFAULT_FOVY,\n      aspect = DEFAULT_ASPECT,\n      focalDistance = 1,\n      near = DEFAULT_NEAR,\n      far = DEFAULT_FAR\n    } = view;\n\n    checkRadians(fovy);\n\n    const halfY = fovy / 2;\n    const top = focalDistance * Math.tan(halfY); // focus_plane is the distance from the camera\n    const right = top * aspect;\n\n    return this.ortho({\n      left: -right,\n      right,\n      bottom: -top,\n      top,\n      near,\n      far\n    });\n  }\n\n  /**\n   * Generates a perspective projection matrix with the given bounds\n   * @param view.fovy Vertical field of view in radians\n   * @param view.aspect Aspect ratio. typically viewport width/height\n   * @param view.near Near bound of the frustum\n   * @param view.far Far bound of the frustum\n   * @returns self\n   */\n  perspective(view: {fovy: number; aspect?: number; near?: number; far?: number}): this {\n    const {fovy = (45 * Math.PI) / 180, aspect = 1, near = 0.1, far = 500} = view;\n    checkRadians(fovy);\n    mat4.perspective(this, fovy, aspect, near, far);\n    return this.check();\n  }\n\n  // Accessors\n\n  determinant(): number {\n    return mat4.determinant(this);\n  }\n\n  /**\n   * Extracts the non-uniform scale assuming the matrix is an affine transformation.\n   * The scales are the \"lengths\" of the column vectors in the upper-left 3x3 matrix.\n   * @param result\n   * @returns self\n   */\n  getScale(result: NumericArray = [-0, -0, -0]): NumericArray {\n    // explicit is faster than hypot...\n    result[0] = Math.sqrt(this[0] * this[0] + this[1] * this[1] + this[2] * this[2]);\n    result[1] = Math.sqrt(this[4] * this[4] + this[5] * this[5] + this[6] * this[6]);\n    result[2] = Math.sqrt(this[8] * this[8] + this[9] * this[9] + this[10] * this[10]);\n    // result[0] = Math.hypot(this[0], this[1], this[2]);\n    // result[1] = Math.hypot(this[4], this[5], this[6]);\n    // result[2] = Math.hypot(this[8], this[9], this[10]);\n    return result;\n  }\n\n  /**\n   * Gets the translation portion, assuming the matrix is a affine transformation matrix.\n   * @param result\n   * @returns self\n   */\n  getTranslation(result: NumericArray = [-0, -0, -0]): NumericArray {\n    result[0] = this[12];\n    result[1] = this[13];\n    result[2] = this[14];\n    return result;\n  }\n\n  /**\n   * Gets upper left 3x3 pure rotation matrix (non-scaling), assume affine transformation matrix\n   * @param result\n   * @param scaleResult\n   * @returns self\n   */\n  getRotation(result?: NumericArray, scaleResult?: NumericArray): NumericArray {\n    result = result || [-0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0];\n    scaleResult = scaleResult || [-0, -0, -0];\n    const scale = this.getScale(scaleResult);\n    const inverseScale0 = 1 / scale[0];\n    const inverseScale1 = 1 / scale[1];\n    const inverseScale2 = 1 / scale[2];\n    result[0] = this[0] * inverseScale0;\n    result[1] = this[1] * inverseScale1;\n    result[2] = this[2] * inverseScale2;\n    result[3] = 0;\n    result[4] = this[4] * inverseScale0;\n    result[5] = this[5] * inverseScale1;\n    result[6] = this[6] * inverseScale2;\n    result[7] = 0;\n    result[8] = this[8] * inverseScale0;\n    result[9] = this[9] * inverseScale1;\n    result[10] = this[10] * inverseScale2;\n    result[11] = 0;\n    result[12] = 0;\n    result[13] = 0;\n    result[14] = 0;\n    result[15] = 1;\n    return result;\n  }\n\n  /**\n   *\n   * @param result\n   * @param scaleResult\n   * @returns self\n   */\n  getRotationMatrix3(result?: NumericArray, scaleResult?: NumericArray): NumericArray {\n    result = result || [-0, -0, -0, -0, -0, -0, -0, -0, -0];\n    scaleResult = scaleResult || [-0, -0, -0];\n    const scale = this.getScale(scaleResult);\n    const inverseScale0 = 1 / scale[0];\n    const inverseScale1 = 1 / scale[1];\n    const inverseScale2 = 1 / scale[2];\n    result[0] = this[0] * inverseScale0;\n    result[1] = this[1] * inverseScale1;\n    result[2] = this[2] * inverseScale2;\n    result[3] = this[4] * inverseScale0;\n    result[4] = this[5] * inverseScale1;\n    result[5] = this[6] * inverseScale2;\n    result[6] = this[8] * inverseScale0;\n    result[7] = this[9] * inverseScale1;\n    result[8] = this[10] * inverseScale2;\n    return result;\n  }\n\n  // Modifiers\n\n  transpose(): this {\n    mat4.transpose(this, this);\n    return this.check();\n  }\n\n  invert(): this {\n    mat4.invert(this, this);\n    return this.check();\n  }\n\n  // Operations\n\n  multiplyLeft(a: Readonly<NumericArray>): this {\n    mat4.multiply(this, a, this);\n    return this.check();\n  }\n\n  multiplyRight(a: Readonly<NumericArray>): this {\n    mat4.multiply(this, this, a);\n    return this.check();\n  }\n\n  // Rotates a matrix by the given angle around the X axis\n  rotateX(radians: number): this {\n    mat4.rotateX(this, this, radians);\n    // mat4.rotate(this, this, radians, [1, 0, 0]);\n    return this.check();\n  }\n\n  // Rotates a matrix by the given angle around the Y axis.\n  rotateY(radians: number): this {\n    mat4.rotateY(this, this, radians);\n    // mat4.rotate(this, this, radians, [0, 1, 0]);\n    return this.check();\n  }\n\n  /**\n   * Rotates a matrix by the given angle around the Z axis.\n   * @param radians\n   * @returns self\n   */\n  rotateZ(radians: number): this {\n    mat4.rotateZ(this, this, radians);\n    // mat4.rotate(this, this, radians, [0, 0, 1]);\n    return this.check();\n  }\n\n  /**\n   *\n   * @param param0\n   * @returns self\n   */\n  rotateXYZ(angleXYZ: Readonly<NumericArray>): this {\n    return this.rotateX(angleXYZ[0]).rotateY(angleXYZ[1]).rotateZ(angleXYZ[2]);\n  }\n\n  /**\n   *\n   * @param radians\n   * @param axis\n   * @returns self\n   */\n  rotateAxis(radians: number, axis: Readonly<NumericArray>): this {\n    mat4.rotate(this, this, radians, axis);\n    return this.check();\n  }\n\n  /**\n   *\n   * @param factor\n   * @returns self\n   */\n  scale(factor: number | Readonly<NumericArray>): this {\n    mat4.scale(this, this, Array.isArray(factor) ? factor : [factor, factor, factor]);\n    return this.check();\n  }\n\n  /**\n   *\n   * @param vec\n   * @returns self\n   */\n  translate(vector: Readonly<NumericArray>): this {\n    mat4.translate(this, this, vector);\n    return this.check();\n  }\n\n  // Transforms\n\n  /**\n   * Transforms any 2, 3 or 4 element vector. 2 and 3 elements are treated as points\n   * @param vector\n   * @param result\n   * @returns self\n   */\n  transform(vector: Readonly<NumericArray>, result: NumericArray): NumericArray {\n    if (vector.length === 4) {\n      result = vec4.transformMat4(result || [-0, -0, -0, -0], vector, this);\n      checkVector(result, 4);\n      return result;\n    }\n    return this.transformAsPoint(vector, result);\n  }\n\n  /**\n   * Transforms any 2 or 3 element array as point (w implicitly 1)\n   * @param vector\n   * @param result\n   * @returns self\n   */\n  transformAsPoint(vector: Readonly<NumericArray>, result?: NumericArray) {\n    const {length} = vector;\n    switch (length) {\n      case 2:\n        result = vec2.transformMat4(result || [-0, -0], vector, this);\n        break;\n      case 3:\n        result = vec3.transformMat4(result || [-0, -0, -0], vector, this);\n        break;\n      default:\n        throw new Error('Illegal vector');\n    }\n    checkVector(result, vector.length);\n    return result;\n  }\n\n  /**\n   * Transforms any 2 or 3 element array as vector (w implicitly 0)\n   * @param vector\n   * @param result\n   * @returns self\n   */\n  transformAsVector(vector: Readonly<NumericArray>, result?: NumericArray): NumericArray {\n    switch (vector.length) {\n      case 2:\n        result = vec2_transformMat4AsVector(result || [-0, -0], vector, this);\n        break;\n      case 3:\n        result = vec3_transformMat4AsVector(result || [-0, -0, -0], vector, this);\n        break;\n      default:\n        throw new Error('Illegal vector');\n    }\n    checkVector(result, vector.length);\n    return result;\n  }\n\n  /** @deprecated */\n  transformPoint(vector: Readonly<NumericArray>, result?: NumericArray): NumericArray {\n    return this.transformAsPoint(vector, result);\n  }\n\n  /** @deprecated */\n  transformVector(vector: Readonly<NumericArray>, result?: NumericArray): NumericArray {\n    return this.transformAsPoint(vector, result);\n  }\n\n  /** @deprecated */\n  transformDirection(vector: Readonly<NumericArray>, result?: NumericArray): NumericArray {\n    return this.transformAsVector(vector, result);\n  }\n\n  // three.js math API compatibility\n\n  makeRotationX(radians: number): this {\n    return this.identity().rotateX(radians);\n  }\n\n  makeTranslation(x: number, y: number, z: number): this {\n    return this.identity().translate([x, y, z]);\n  }\n}\n\n// TODO initializing static members directly is an option, but make sure no tree-shaking issues\nlet ZERO: Matrix4;\nlet IDENTITY: Matrix4;\n\nfunction getZeroMatrix(): Readonly<Matrix4> {\n  if (!ZERO) {\n    ZERO = new Matrix4([0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]);\n    Object.freeze(ZERO);\n  }\n  return ZERO;\n}\n\nfunction getIdentityMatrix(): Matrix4 {\n  if (!IDENTITY) {\n    IDENTITY = new Matrix4();\n    Object.freeze(IDENTITY);\n  }\n  return IDENTITY;\n}\n\n// HELPER FUNCTIONS\n\nfunction checkRadians(possiblyDegrees: number) {\n  if (possiblyDegrees > Math.PI * 2) {\n    throw Error('expected radians');\n  }\n}\n\n// eslint-disable-next-line max-params\nfunction computeInfinitePerspectiveOffCenter(\n  result: NumericArray,\n  left: number,\n  right: number,\n  bottom: number,\n  top: number,\n  near: number\n): NumericArray {\n  const column0Row0 = (2 * near) / (right - left);\n  const column1Row1 = (2 * near) / (top - bottom);\n  const column2Row0 = (right + left) / (right - left);\n  const column2Row1 = (top + bottom) / (top - bottom);\n  const column2Row2 = -1;\n  const column2Row3 = -1;\n  const column3Row2 = -2 * near;\n  result[0] = column0Row0;\n  result[1] = 0;\n  result[2] = 0;\n  result[3] = 0;\n  result[4] = 0;\n  result[5] = column1Row1;\n  result[6] = 0;\n  result[7] = 0;\n  result[8] = column2Row0;\n  result[9] = column2Row1;\n  result[10] = column2Row2;\n  result[11] = column2Row3;\n  result[12] = 0;\n  result[13] = 0;\n  result[14] = column3Row2;\n  result[15] = 0;\n  return result;\n}\n"],"file":"matrix4.js"}

package/dist/esm/classes/pose.js

@@ -1,3 +1,4 @@
+import _defineProperty from "@babel/runtime/helpers/esm/defineProperty";
 import Matrix4 from './matrix4';
 import Vector3 from './vector3';
 import Euler from './euler';
@@ -9,9 +10,13 @@ export default class Pose {
     roll = 0,
     pitch = 0,
     yaw = 0,
-    position = undefined,
-    orientation = undefined
+    position,
+    orientation
   } = {}) {
+    _defineProperty(this, "position", void 0);
+
+    _defineProperty(this, "orientation", void 0);
+
     if (Array.isArray(position) && position.length === 3) {
       this.position = new Vector3(position);
     } else {
@@ -104,8 +109,7 @@ export default class Pose {
     const cr = Math.cos(this.roll);
     const cp = Math.cos(this.pitch);
     const cw = Math.cos(this.yaw);
-    const matrix = new Matrix4().setRowMajor(cw * cp, -sw * cr + cw * sp * sr, sw * sr + cw * sp * cr, this.x, sw * cp, cw * cr + sw * sp * sr, -cw * sr + sw * sp * cr, this.y, -sp, cp * sr, cp * cr, this.z, 0, 0, 0, 1);
-    return matrix;
+    return new Matrix4().setRowMajor(cw * cp, -sw * cr + cw * sp * sr, sw * sr + cw * sp * cr, this.x, sw * cp, cw * cr + sw * sp * sr, -cw * sr + sw * sp * cr, this.y, -sp, cp * sr, cp * cr, this.z, 0, 0, 0, 1);
   }
 
   getTransformationMatrixFromPose(pose) {