@math.gl/core 4.0.0 → 4.0.1

package/dist/gl-matrix/vec3.js

@@ -1,384 +1,752 @@
+// @eslint-disable
+// @ts-nocheck
 import * as glMatrix from './common.js';
+/**
+ * 3 Dimensional Vector
+ * @module vec3
+ */
+/**
+ * Creates a new, empty vec3
+ *
+ * @returns {vec3} a new 3D vector
+ */
 export function create() {
-  const out = new glMatrix.ARRAY_TYPE(3);
-
-  if (glMatrix.ARRAY_TYPE != Float32Array) {
-    out[0] = 0;
-    out[1] = 0;
-    out[2] = 0;
-  }
-
-  return out;
-}
+    const out = new glMatrix.ARRAY_TYPE(3);
+    if (glMatrix.ARRAY_TYPE != Float32Array) {
+        out[0] = 0;
+        out[1] = 0;
+        out[2] = 0;
+    }
+    return out;
+}
+/**
+ * Creates a new vec3 initialized with values from an existing vector
+ *
+ * @param {ReadonlyVec3} a vector to clone
+ * @returns {vec3} a new 3D vector
+ */
 export function clone(a) {
-  const out = new glMatrix.ARRAY_TYPE(3);
-  out[0] = a[0];
-  out[1] = a[1];
-  out[2] = a[2];
-  return out;
-}
+    const out = new glMatrix.ARRAY_TYPE(3);
+    out[0] = a[0];
+    out[1] = a[1];
+    out[2] = a[2];
+    return out;
+}
+/**
+ * Calculates the length of a vec3
+ *
+ * @param {ReadonlyVec3} a vector to calculate length of
+ * @returns {Number} length of a
+ */
 export function length(a) {
-  const x = a[0];
-  const y = a[1];
-  const z = a[2];
-  return Math.sqrt(x * x + y * y + z * z);
-}
+    const x = a[0];
+    const y = a[1];
+    const z = a[2];
+    return Math.sqrt(x * x + y * y + z * z);
+}
+/**
+ * Creates a new vec3 initialized with the given values
+ *
+ * @param {Number} x X component
+ * @param {Number} y Y component
+ * @param {Number} z Z component
+ * @returns {vec3} a new 3D vector
+ */
 export function fromValues(x, y, z) {
-  const out = new glMatrix.ARRAY_TYPE(3);
-  out[0] = x;
-  out[1] = y;
-  out[2] = z;
-  return out;
-}
+    const out = new glMatrix.ARRAY_TYPE(3);
+    out[0] = x;
+    out[1] = y;
+    out[2] = z;
+    return out;
+}
+/**
+ * Copy the values from one vec3 to another
+ *
+ * @param {vec3} out the receiving vector
+ * @param {ReadonlyVec3} a the source vector
+ * @returns {vec3} out
+ */
 export function copy(out, a) {
-  out[0] = a[0];
-  out[1] = a[1];
-  out[2] = a[2];
-  return out;
-}
+    out[0] = a[0];
+    out[1] = a[1];
+    out[2] = a[2];
+    return out;
+}
+/**
+ * Set the components of a vec3 to the given values
+ *
+ * @param {vec3} out the receiving vector
+ * @param {Number} x X component
+ * @param {Number} y Y component
+ * @param {Number} z Z component
+ * @returns {vec3} out
+ */
 export function set(out, x, y, z) {
-  out[0] = x;
-  out[1] = y;
-  out[2] = z;
-  return out;
-}
+    out[0] = x;
+    out[1] = y;
+    out[2] = z;
+    return out;
+}
+/**
+ * Adds two vec3's
+ *
+ * @param {vec3} out the receiving vector
+ * @param {ReadonlyVec3} a the first operand
+ * @param {ReadonlyVec3} b the second operand
+ * @returns {vec3} out
+ */
 export function add(out, a, b) {
-  out[0] = a[0] + b[0];
-  out[1] = a[1] + b[1];
-  out[2] = a[2] + b[2];
-  return out;
-}
+    out[0] = a[0] + b[0];
+    out[1] = a[1] + b[1];
+    out[2] = a[2] + b[2];
+    return out;
+}
+/**
+ * Subtracts vector b from vector a
+ *
+ * @param {vec3} out the receiving vector
+ * @param {ReadonlyVec3} a the first operand
+ * @param {ReadonlyVec3} b the second operand
+ * @returns {vec3} out
+ */
 export function subtract(out, a, b) {
-  out[0] = a[0] - b[0];
-  out[1] = a[1] - b[1];
-  out[2] = a[2] - b[2];
-  return out;
-}
+    out[0] = a[0] - b[0];
+    out[1] = a[1] - b[1];
+    out[2] = a[2] - b[2];
+    return out;
+}
+/**
+ * Multiplies two vec3's
+ *
+ * @param {vec3} out the receiving vector
+ * @param {ReadonlyVec3} a the first operand
+ * @param {ReadonlyVec3} b the second operand
+ * @returns {vec3} out
+ */
 export function multiply(out, a, b) {
-  out[0] = a[0] * b[0];
-  out[1] = a[1] * b[1];
-  out[2] = a[2] * b[2];
-  return out;
-}
+    out[0] = a[0] * b[0];
+    out[1] = a[1] * b[1];
+    out[2] = a[2] * b[2];
+    return out;
+}
+/**
+ * Divides two vec3's
+ *
+ * @param {vec3} out the receiving vector
+ * @param {ReadonlyVec3} a the first operand
+ * @param {ReadonlyVec3} b the second operand
+ * @returns {vec3} out
+ */
 export function divide(out, a, b) {
-  out[0] = a[0] / b[0];
-  out[1] = a[1] / b[1];
-  out[2] = a[2] / b[2];
-  return out;
-}
+    out[0] = a[0] / b[0];
+    out[1] = a[1] / b[1];
+    out[2] = a[2] / b[2];
+    return out;
+}
+/**
+ * Math.ceil the components of a vec3
+ *
+ * @param {vec3} out the receiving vector
+ * @param {ReadonlyVec3} a vector to ceil
+ * @returns {vec3} out
+ */
 export function ceil(out, a) {
-  out[0] = Math.ceil(a[0]);
-  out[1] = Math.ceil(a[1]);
-  out[2] = Math.ceil(a[2]);
-  return out;
-}
+    out[0] = Math.ceil(a[0]);
+    out[1] = Math.ceil(a[1]);
+    out[2] = Math.ceil(a[2]);
+    return out;
+}
+/**
+ * Math.floor the components of a vec3
+ *
+ * @param {vec3} out the receiving vector
+ * @param {ReadonlyVec3} a vector to floor
+ * @returns {vec3} out
+ */
 export function floor(out, a) {
-  out[0] = Math.floor(a[0]);
-  out[1] = Math.floor(a[1]);
-  out[2] = Math.floor(a[2]);
-  return out;
-}
+    out[0] = Math.floor(a[0]);
+    out[1] = Math.floor(a[1]);
+    out[2] = Math.floor(a[2]);
+    return out;
+}
+/**
+ * Returns the minimum of two vec3's
+ *
+ * @param {vec3} out the receiving vector
+ * @param {ReadonlyVec3} a the first operand
+ * @param {ReadonlyVec3} b the second operand
+ * @returns {vec3} out
+ */
 export function min(out, a, b) {
-  out[0] = Math.min(a[0], b[0]);
-  out[1] = Math.min(a[1], b[1]);
-  out[2] = Math.min(a[2], b[2]);
-  return out;
-}
+    out[0] = Math.min(a[0], b[0]);
+    out[1] = Math.min(a[1], b[1]);
+    out[2] = Math.min(a[2], b[2]);
+    return out;
+}
+/**
+ * Returns the maximum of two vec3's
+ *
+ * @param {vec3} out the receiving vector
+ * @param {ReadonlyVec3} a the first operand
+ * @param {ReadonlyVec3} b the second operand
+ * @returns {vec3} out
+ */
 export function max(out, a, b) {
-  out[0] = Math.max(a[0], b[0]);
-  out[1] = Math.max(a[1], b[1]);
-  out[2] = Math.max(a[2], b[2]);
-  return out;
-}
+    out[0] = Math.max(a[0], b[0]);
+    out[1] = Math.max(a[1], b[1]);
+    out[2] = Math.max(a[2], b[2]);
+    return out;
+}
+/**
+ * symmetric round the components of a vec3
+ *
+ * @param {vec3} out the receiving vector
+ * @param {ReadonlyVec3} a vector to round
+ * @returns {vec3} out
+ */
 export function round(out, a) {
-  out[0] = glMatrix.round(a[0]);
-  out[1] = glMatrix.round(a[1]);
-  out[2] = glMatrix.round(a[2]);
-  return out;
-}
+    out[0] = glMatrix.round(a[0]);
+    out[1] = glMatrix.round(a[1]);
+    out[2] = glMatrix.round(a[2]);
+    return out;
+}
+/**
+ * Scales a vec3 by a scalar number
+ *
+ * @param {vec3} out the receiving vector
+ * @param {ReadonlyVec3} a the vector to scale
+ * @param {Number} b amount to scale the vector by
+ * @returns {vec3} out
+ */
 export function scale(out, a, b) {
-  out[0] = a[0] * b;
-  out[1] = a[1] * b;
-  out[2] = a[2] * b;
-  return out;
-}
+    out[0] = a[0] * b;
+    out[1] = a[1] * b;
+    out[2] = a[2] * b;
+    return out;
+}
+/**
+ * Adds two vec3's after scaling the second operand by a scalar value
+ *
+ * @param {vec3} out the receiving vector
+ * @param {ReadonlyVec3} a the first operand
+ * @param {ReadonlyVec3} b the second operand
+ * @param {Number} scale the amount to scale b by before adding
+ * @returns {vec3} out
+ */
 export function scaleAndAdd(out, a, b, scale) {
-  out[0] = a[0] + b[0] * scale;
-  out[1] = a[1] + b[1] * scale;
-  out[2] = a[2] + b[2] * scale;
-  return out;
-}
+    out[0] = a[0] + b[0] * scale;
+    out[1] = a[1] + b[1] * scale;
+    out[2] = a[2] + b[2] * scale;
+    return out;
+}
+/**
+ * Calculates the euclidian distance between two vec3's
+ *
+ * @param {ReadonlyVec3} a the first operand
+ * @param {ReadonlyVec3} b the second operand
+ * @returns {Number} distance between a and b
+ */
 export function distance(a, b) {
-  const x = b[0] - a[0];
-  const y = b[1] - a[1];
-  const z = b[2] - a[2];
-  return Math.sqrt(x * x + y * y + z * z);
-}
+    const x = b[0] - a[0];
+    const y = b[1] - a[1];
+    const z = b[2] - a[2];
+    return Math.sqrt(x * x + y * y + z * z);
+}
+/**
+ * Calculates the squared euclidian distance between two vec3's
+ *
+ * @param {ReadonlyVec3} a the first operand
+ * @param {ReadonlyVec3} b the second operand
+ * @returns {Number} squared distance between a and b
+ */
 export function squaredDistance(a, b) {
-  const x = b[0] - a[0];
-  const y = b[1] - a[1];
-  const z = b[2] - a[2];
-  return x * x + y * y + z * z;
-}
+    const x = b[0] - a[0];
+    const y = b[1] - a[1];
+    const z = b[2] - a[2];
+    return x * x + y * y + z * z;
+}
+/**
+ * Calculates the squared length of a vec3
+ *
+ * @param {ReadonlyVec3} a vector to calculate squared length of
+ * @returns {Number} squared length of a
+ */
 export function squaredLength(a) {
-  const x = a[0];
-  const y = a[1];
-  const z = a[2];
-  return x * x + y * y + z * z;
-}
+    const x = a[0];
+    const y = a[1];
+    const z = a[2];
+    return x * x + y * y + z * z;
+}
+/**
+ * Negates the components of a vec3
+ *
+ * @param {vec3} out the receiving vector
+ * @param {ReadonlyVec3} a vector to negate
+ * @returns {vec3} out
+ */
 export function negate(out, a) {
-  out[0] = -a[0];
-  out[1] = -a[1];
-  out[2] = -a[2];
-  return out;
-}
+    out[0] = -a[0];
+    out[1] = -a[1];
+    out[2] = -a[2];
+    return out;
+}
+/**
+ * Returns the inverse of the components of a vec3
+ *
+ * @param {vec3} out the receiving vector
+ * @param {ReadonlyVec3} a vector to invert
+ * @returns {vec3} out
+ */
 export function inverse(out, a) {
-  out[0] = 1.0 / a[0];
-  out[1] = 1.0 / a[1];
-  out[2] = 1.0 / a[2];
-  return out;
-}
+    out[0] = 1.0 / a[0];
+    out[1] = 1.0 / a[1];
+    out[2] = 1.0 / a[2];
+    return out;
+}
+/**
+ * Normalize a vec3
+ *
+ * @param {vec3} out the receiving vector
+ * @param {ReadonlyVec3} a vector to normalize
+ * @returns {vec3} out
+ */
 export function normalize(out, a) {
-  const x = a[0];
-  const y = a[1];
-  const z = a[2];
-  let len = x * x + y * y + z * z;
-
-  if (len > 0) {
-    len = 1 / Math.sqrt(len);
-  }
-
-  out[0] = a[0] * len;
-  out[1] = a[1] * len;
-  out[2] = a[2] * len;
-  return out;
-}
+    const x = a[0];
+    const y = a[1];
+    const z = a[2];
+    let len = x * x + y * y + z * z;
+    if (len > 0) {
+        // TODO: evaluate use of glm_invsqrt here?
+        len = 1 / Math.sqrt(len);
+    }
+    out[0] = a[0] * len;
+    out[1] = a[1] * len;
+    out[2] = a[2] * len;
+    return out;
+}
+/**
+ * Calculates the dot product of two vec3's
+ *
+ * @param {ReadonlyVec3} a the first operand
+ * @param {ReadonlyVec3} b the second operand
+ * @returns {Number} dot product of a and b
+ */
 export function dot(a, b) {
-  return a[0] * b[0] + a[1] * b[1] + a[2] * b[2];
-}
+    return a[0] * b[0] + a[1] * b[1] + a[2] * b[2];
+}
+/**
+ * Computes the cross product of two vec3's
+ *
+ * @param {vec3} out the receiving vector
+ * @param {ReadonlyVec3} a the first operand
+ * @param {ReadonlyVec3} b the second operand
+ * @returns {vec3} out
+ */
 export function cross(out, a, b) {
-  const ax = a[0];
-  const ay = a[1];
-  const az = a[2];
-  const bx = b[0];
-  const by = b[1];
-  const bz = b[2];
-  out[0] = ay * bz - az * by;
-  out[1] = az * bx - ax * bz;
-  out[2] = ax * by - ay * bx;
-  return out;
-}
+    const ax = a[0];
+    const ay = a[1];
+    const az = a[2];
+    const bx = b[0];
+    const by = b[1];
+    const bz = b[2];
+    out[0] = ay * bz - az * by;
+    out[1] = az * bx - ax * bz;
+    out[2] = ax * by - ay * bx;
+    return out;
+}
+/**
+ * Performs a linear interpolation between two vec3's
+ *
+ * @param {vec3} out the receiving vector
+ * @param {ReadonlyVec3} a the first operand
+ * @param {ReadonlyVec3} b the second operand
+ * @param {Number} t interpolation amount, in the range [0-1], between the two inputs
+ * @returns {vec3} out
+ */
 export function lerp(out, a, b, t) {
-  const ax = a[0];
-  const ay = a[1];
-  const az = a[2];
-  out[0] = ax + t * (b[0] - ax);
-  out[1] = ay + t * (b[1] - ay);
-  out[2] = az + t * (b[2] - az);
-  return out;
-}
+    const ax = a[0];
+    const ay = a[1];
+    const az = a[2];
+    out[0] = ax + t * (b[0] - ax);
+    out[1] = ay + t * (b[1] - ay);
+    out[2] = az + t * (b[2] - az);
+    return out;
+}
+/**
+ * Performs a spherical linear interpolation between two vec3's
+ *
+ * @param {vec3} out the receiving vector
+ * @param {ReadonlyVec3} a the first operand
+ * @param {ReadonlyVec3} b the second operand
+ * @param {Number} t interpolation amount, in the range [0-1], between the two inputs
+ * @returns {vec3} out
+ */
 export function slerp(out, a, b, t) {
-  const angle = Math.acos(Math.min(Math.max(dot(a, b), -1), 1));
-  const sinTotal = Math.sin(angle);
-  const ratioA = Math.sin((1 - t) * angle) / sinTotal;
-  const ratioB = Math.sin(t * angle) / sinTotal;
-  out[0] = ratioA * a[0] + ratioB * b[0];
-  out[1] = ratioA * a[1] + ratioB * b[1];
-  out[2] = ratioA * a[2] + ratioB * b[2];
-  return out;
-}
+    const angle = Math.acos(Math.min(Math.max(dot(a, b), -1), 1));
+    const sinTotal = Math.sin(angle);
+    const ratioA = Math.sin((1 - t) * angle) / sinTotal;
+    const ratioB = Math.sin(t * angle) / sinTotal;
+    out[0] = ratioA * a[0] + ratioB * b[0];
+    out[1] = ratioA * a[1] + ratioB * b[1];
+    out[2] = ratioA * a[2] + ratioB * b[2];
+    return out;
+}
+/**
+ * Performs a hermite interpolation with two control points
+ *
+ * @param {vec3} out the receiving vector
+ * @param {ReadonlyVec3} a the first operand
+ * @param {ReadonlyVec3} b the second operand
+ * @param {ReadonlyVec3} c the third operand
+ * @param {ReadonlyVec3} d the fourth operand
+ * @param {Number} t interpolation amount, in the range [0-1], between the two inputs
+ * @returns {vec3} out
+ */
 export function hermite(out, a, b, c, d, t) {
-  const factorTimes2 = t * t;
-  const factor1 = factorTimes2 * (2 * t - 3) + 1;
-  const factor2 = factorTimes2 * (t - 2) + t;
-  const factor3 = factorTimes2 * (t - 1);
-  const factor4 = factorTimes2 * (3 - 2 * t);
-  out[0] = a[0] * factor1 + b[0] * factor2 + c[0] * factor3 + d[0] * factor4;
-  out[1] = a[1] * factor1 + b[1] * factor2 + c[1] * factor3 + d[1] * factor4;
-  out[2] = a[2] * factor1 + b[2] * factor2 + c[2] * factor3 + d[2] * factor4;
-  return out;
-}
+    const factorTimes2 = t * t;
+    const factor1 = factorTimes2 * (2 * t - 3) + 1;
+    const factor2 = factorTimes2 * (t - 2) + t;
+    const factor3 = factorTimes2 * (t - 1);
+    const factor4 = factorTimes2 * (3 - 2 * t);
+    out[0] = a[0] * factor1 + b[0] * factor2 + c[0] * factor3 + d[0] * factor4;
+    out[1] = a[1] * factor1 + b[1] * factor2 + c[1] * factor3 + d[1] * factor4;
+    out[2] = a[2] * factor1 + b[2] * factor2 + c[2] * factor3 + d[2] * factor4;
+    return out;
+}
+/**
+ * Performs a bezier interpolation with two control points
+ *
+ * @param {vec3} out the receiving vector
+ * @param {ReadonlyVec3} a the first operand
+ * @param {ReadonlyVec3} b the second operand
+ * @param {ReadonlyVec3} c the third operand
+ * @param {ReadonlyVec3} d the fourth operand
+ * @param {Number} t interpolation amount, in the range [0-1], between the two inputs
+ * @returns {vec3} out
+ */
 export function bezier(out, a, b, c, d, t) {
-  const inverseFactor = 1 - t;
-  const inverseFactorTimesTwo = inverseFactor * inverseFactor;
-  const factorTimes2 = t * t;
-  const factor1 = inverseFactorTimesTwo * inverseFactor;
-  const factor2 = 3 * t * inverseFactorTimesTwo;
-  const factor3 = 3 * factorTimes2 * inverseFactor;
-  const factor4 = factorTimes2 * t;
-  out[0] = a[0] * factor1 + b[0] * factor2 + c[0] * factor3 + d[0] * factor4;
-  out[1] = a[1] * factor1 + b[1] * factor2 + c[1] * factor3 + d[1] * factor4;
-  out[2] = a[2] * factor1 + b[2] * factor2 + c[2] * factor3 + d[2] * factor4;
-  return out;
-}
+    const inverseFactor = 1 - t;
+    const inverseFactorTimesTwo = inverseFactor * inverseFactor;
+    const factorTimes2 = t * t;
+    const factor1 = inverseFactorTimesTwo * inverseFactor;
+    const factor2 = 3 * t * inverseFactorTimesTwo;
+    const factor3 = 3 * factorTimes2 * inverseFactor;
+    const factor4 = factorTimes2 * t;
+    out[0] = a[0] * factor1 + b[0] * factor2 + c[0] * factor3 + d[0] * factor4;
+    out[1] = a[1] * factor1 + b[1] * factor2 + c[1] * factor3 + d[1] * factor4;
+    out[2] = a[2] * factor1 + b[2] * factor2 + c[2] * factor3 + d[2] * factor4;
+    return out;
+}
+/**
+ * Generates a random vector with the given scale
+ *
+ * @param {vec3} out the receiving vector
+ * @param {Number} [scale] Length of the resulting vector. If omitted, a unit vector will be returned
+ * @returns {vec3} out
+ */
 export function random(out, scale) {
-  scale = scale === undefined ? 1.0 : scale;
-  const r = glMatrix.RANDOM() * 2.0 * Math.PI;
-  const z = glMatrix.RANDOM() * 2.0 - 1.0;
-  const zScale = Math.sqrt(1.0 - z * z) * scale;
-  out[0] = Math.cos(r) * zScale;
-  out[1] = Math.sin(r) * zScale;
-  out[2] = z * scale;
-  return out;
-}
+    scale = scale === undefined ? 1.0 : scale;
+    const r = glMatrix.RANDOM() * 2.0 * Math.PI;
+    const z = glMatrix.RANDOM() * 2.0 - 1.0;
+    const zScale = Math.sqrt(1.0 - z * z) * scale;
+    out[0] = Math.cos(r) * zScale;
+    out[1] = Math.sin(r) * zScale;
+    out[2] = z * scale;
+    return out;
+}
+/**
+ * Transforms the vec3 with a mat4.
+ * 4th vector component is implicitly '1'
+ *
+ * @param {vec3} out the receiving vector
+ * @param {ReadonlyVec3} a the vector to transform
+ * @param {ReadonlyMat4} m matrix to transform with
+ * @returns {vec3} out
+ */
 export function transformMat4(out, a, m) {
-  const x = a[0];
-  const y = a[1];
-  const z = a[2];
-  let w = m[3] * x + m[7] * y + m[11] * z + m[15];
-  w = w || 1.0;
-  out[0] = (m[0] * x + m[4] * y + m[8] * z + m[12]) / w;
-  out[1] = (m[1] * x + m[5] * y + m[9] * z + m[13]) / w;
-  out[2] = (m[2] * x + m[6] * y + m[10] * z + m[14]) / w;
-  return out;
-}
+    const x = a[0];
+    const y = a[1];
+    const z = a[2];
+    let w = m[3] * x + m[7] * y + m[11] * z + m[15];
+    w = w || 1.0;
+    out[0] = (m[0] * x + m[4] * y + m[8] * z + m[12]) / w;
+    out[1] = (m[1] * x + m[5] * y + m[9] * z + m[13]) / w;
+    out[2] = (m[2] * x + m[6] * y + m[10] * z + m[14]) / w;
+    return out;
+}
+/**
+ * Transforms the vec3 with a mat3.
+ *
+ * @param {vec3} out the receiving vector
+ * @param {ReadonlyVec3} a the vector to transform
+ * @param {ReadonlyMat3} m the 3x3 matrix to transform with
+ * @returns {vec3} out
+ */
 export function transformMat3(out, a, m) {
-  const x = a[0];
-  const y = a[1];
-  const z = a[2];
-  out[0] = x * m[0] + y * m[3] + z * m[6];
-  out[1] = x * m[1] + y * m[4] + z * m[7];
-  out[2] = x * m[2] + y * m[5] + z * m[8];
-  return out;
-}
+    const x = a[0];
+    const y = a[1];
+    const z = a[2];
+    out[0] = x * m[0] + y * m[3] + z * m[6];
+    out[1] = x * m[1] + y * m[4] + z * m[7];
+    out[2] = x * m[2] + y * m[5] + z * m[8];
+    return out;
+}
+/**
+ * Transforms the vec3 with a quat
+ * Can also be used for dual quaternions. (Multiply it with the real part)
+ *
+ * @param {vec3} out the receiving vector
+ * @param {ReadonlyVec3} a the vector to transform
+ * @param {ReadonlyQuat} q quaternion to transform with
+ * @returns {vec3} out
+ */
 export function transformQuat(out, a, q) {
-  const qx = q[0];
-  const qy = q[1];
-  const qz = q[2];
-  const qw = q[3];
-  const x = a[0];
-  const y = a[1];
-  const z = a[2];
-  let uvx = qy * z - qz * y;
-  let uvy = qz * x - qx * z;
-  let uvz = qx * y - qy * x;
-  let uuvx = qy * uvz - qz * uvy;
-  let uuvy = qz * uvx - qx * uvz;
-  let uuvz = qx * uvy - qy * uvx;
-  const w2 = qw * 2;
-  uvx *= w2;
-  uvy *= w2;
-  uvz *= w2;
-  uuvx *= 2;
-  uuvy *= 2;
-  uuvz *= 2;
-  out[0] = x + uvx + uuvx;
-  out[1] = y + uvy + uuvy;
-  out[2] = z + uvz + uuvz;
-  return out;
-}
+    // benchmarks: https://jsperf.com/quaternion-transform-vec3-implementations-fixed
+    const qx = q[0];
+    const qy = q[1];
+    const qz = q[2];
+    const qw = q[3];
+    const x = a[0];
+    const y = a[1];
+    const z = a[2];
+    // var qvec = [qx, qy, qz];
+    // var uv = vec3.cross([], qvec, a);
+    let uvx = qy * z - qz * y;
+    let uvy = qz * x - qx * z;
+    let uvz = qx * y - qy * x;
+    // var uuv = vec3.cross([], qvec, uv);
+    let uuvx = qy * uvz - qz * uvy;
+    let uuvy = qz * uvx - qx * uvz;
+    let uuvz = qx * uvy - qy * uvx;
+    // vec3.scale(uv, uv, 2 * w);
+    const w2 = qw * 2;
+    uvx *= w2;
+    uvy *= w2;
+    uvz *= w2;
+    // vec3.scale(uuv, uuv, 2);
+    uuvx *= 2;
+    uuvy *= 2;
+    uuvz *= 2;
+    // return vec3.add(out, a, vec3.add(out, uv, uuv));
+    out[0] = x + uvx + uuvx;
+    out[1] = y + uvy + uuvy;
+    out[2] = z + uvz + uuvz;
+    return out;
+}
+/**
+ * Rotate a 3D vector around the x-axis
+ * @param {vec3} out The receiving vec3
+ * @param {ReadonlyVec3} a The vec3 point to rotate
+ * @param {ReadonlyVec3} b The origin of the rotation
+ * @param {Number} rad The angle of rotation in radians
+ * @returns {vec3} out
+ */
 export function rotateX(out, a, b, rad) {
-  const p = [];
-  const r = [];
-  p[0] = a[0] - b[0];
-  p[1] = a[1] - b[1];
-  p[2] = a[2] - b[2];
-  r[0] = p[0];
-  r[1] = p[1] * Math.cos(rad) - p[2] * Math.sin(rad);
-  r[2] = p[1] * Math.sin(rad) + p[2] * Math.cos(rad);
-  out[0] = r[0] + b[0];
-  out[1] = r[1] + b[1];
-  out[2] = r[2] + b[2];
-  return out;
-}
+    const p = [];
+    const r = [];
+    // Translate point to the origin
+    p[0] = a[0] - b[0];
+    p[1] = a[1] - b[1];
+    p[2] = a[2] - b[2];
+    // perform rotation
+    r[0] = p[0];
+    r[1] = p[1] * Math.cos(rad) - p[2] * Math.sin(rad);
+    r[2] = p[1] * Math.sin(rad) + p[2] * Math.cos(rad);
+    // translate to correct position
+    out[0] = r[0] + b[0];
+    out[1] = r[1] + b[1];
+    out[2] = r[2] + b[2];
+    return out;
+}
+/**
+ * Rotate a 3D vector around the y-axis
+ * @param {vec3} out The receiving vec3
+ * @param {ReadonlyVec3} a The vec3 point to rotate
+ * @param {ReadonlyVec3} b The origin of the rotation
+ * @param {Number} rad The angle of rotation in radians
+ * @returns {vec3} out
+ */
 export function rotateY(out, a, b, rad) {
-  const p = [];
-  const r = [];
-  p[0] = a[0] - b[0];
-  p[1] = a[1] - b[1];
-  p[2] = a[2] - b[2];
-  r[0] = p[2] * Math.sin(rad) + p[0] * Math.cos(rad);
-  r[1] = p[1];
-  r[2] = p[2] * Math.cos(rad) - p[0] * Math.sin(rad);
-  out[0] = r[0] + b[0];
-  out[1] = r[1] + b[1];
-  out[2] = r[2] + b[2];
-  return out;
-}
+    const p = [];
+    const r = [];
+    // Translate point to the origin
+    p[0] = a[0] - b[0];
+    p[1] = a[1] - b[1];
+    p[2] = a[2] - b[2];
+    // perform rotation
+    r[0] = p[2] * Math.sin(rad) + p[0] * Math.cos(rad);
+    r[1] = p[1];
+    r[2] = p[2] * Math.cos(rad) - p[0] * Math.sin(rad);
+    // translate to correct position
+    out[0] = r[0] + b[0];
+    out[1] = r[1] + b[1];
+    out[2] = r[2] + b[2];
+    return out;
+}
+/**
+ * Rotate a 3D vector around the z-axis
+ * @param {vec3} out The receiving vec3
+ * @param {ReadonlyVec3} a The vec3 point to rotate
+ * @param {ReadonlyVec3} b The origin of the rotation
+ * @param {Number} rad The angle of rotation in radians
+ * @returns {vec3} out
+ */
 export function rotateZ(out, a, b, rad) {
-  const p = [];
-  const r = [];
-  p[0] = a[0] - b[0];
-  p[1] = a[1] - b[1];
-  p[2] = a[2] - b[2];
-  r[0] = p[0] * Math.cos(rad) - p[1] * Math.sin(rad);
-  r[1] = p[0] * Math.sin(rad) + p[1] * Math.cos(rad);
-  r[2] = p[2];
-  out[0] = r[0] + b[0];
-  out[1] = r[1] + b[1];
-  out[2] = r[2] + b[2];
-  return out;
-}
+    const p = [];
+    const r = [];
+    // Translate point to the origin
+    p[0] = a[0] - b[0];
+    p[1] = a[1] - b[1];
+    p[2] = a[2] - b[2];
+    // perform rotation
+    r[0] = p[0] * Math.cos(rad) - p[1] * Math.sin(rad);
+    r[1] = p[0] * Math.sin(rad) + p[1] * Math.cos(rad);
+    r[2] = p[2];
+    // translate to correct position
+    out[0] = r[0] + b[0];
+    out[1] = r[1] + b[1];
+    out[2] = r[2] + b[2];
+    return out;
+}
+/**
+ * Get the angle between two 3D vectors
+ * @param {ReadonlyVec3} a The first operand
+ * @param {ReadonlyVec3} b The second operand
+ * @returns {Number} The angle in radians
+ */
 export function angle(a, b) {
-  const ax = a[0];
-  const ay = a[1];
-  const az = a[2];
-  const bx = b[0];
-  const by = b[1];
-  const bz = b[2];
-  const mag = Math.sqrt((ax * ax + ay * ay + az * az) * (bx * bx + by * by + bz * bz));
-  const cosine = mag && dot(a, b) / mag;
-  return Math.acos(Math.min(Math.max(cosine, -1), 1));
-}
+    const ax = a[0];
+    const ay = a[1];
+    const az = a[2];
+    const bx = b[0];
+    const by = b[1];
+    const bz = b[2];
+    const mag = Math.sqrt((ax * ax + ay * ay + az * az) * (bx * bx + by * by + bz * bz));
+    const cosine = mag && dot(a, b) / mag;
+    return Math.acos(Math.min(Math.max(cosine, -1), 1));
+}
+/**
+ * Set the components of a vec3 to zero
+ *
+ * @param {vec3} out the receiving vector
+ * @returns {vec3} out
+ */
 export function zero(out) {
-  out[0] = 0.0;
-  out[1] = 0.0;
-  out[2] = 0.0;
-  return out;
-}
+    out[0] = 0.0;
+    out[1] = 0.0;
+    out[2] = 0.0;
+    return out;
+}
+/**
+ * Returns a string representation of a vector
+ *
+ * @param {ReadonlyVec3} a vector to represent as a string
+ * @returns {String} string representation of the vector
+ */
 export function str(a) {
-  return "vec3(".concat(a[0], ", ").concat(a[1], ", ").concat(a[2], ")");
-}
+    return `vec3(${a[0]}, ${a[1]}, ${a[2]})`;
+}
+/**
+ * Returns whether or not the vectors have exactly the same elements in the same position (when compared with ===)
+ *
+ * @param {ReadonlyVec3} a The first vector.
+ * @param {ReadonlyVec3} b The second vector.
+ * @returns {Boolean} True if the vectors are equal, false otherwise.
+ */
 export function exactEquals(a, b) {
-  return a[0] === b[0] && a[1] === b[1] && a[2] === b[2];
-}
+    return a[0] === b[0] && a[1] === b[1] && a[2] === b[2];
+}
+/**
+ * Returns whether or not the vectors have approximately the same elements in the same position.
+ *
+ * @param {ReadonlyVec3} a The first vector.
+ * @param {ReadonlyVec3} b The second vector.
+ * @returns {Boolean} True if the vectors are equal, false otherwise.
+ */
 export function equals(a, b) {
-  const a0 = a[0];
-  const a1 = a[1];
-  const a2 = a[2];
-  const b0 = b[0];
-  const b1 = b[1];
-  const b2 = b[2];
-  return Math.abs(a0 - b0) <= glMatrix.EPSILON * Math.max(1.0, Math.abs(a0), Math.abs(b0)) && Math.abs(a1 - b1) <= glMatrix.EPSILON * Math.max(1.0, Math.abs(a1), Math.abs(b1)) && Math.abs(a2 - b2) <= glMatrix.EPSILON * Math.max(1.0, Math.abs(a2), Math.abs(b2));
-}
+    const a0 = a[0];
+    const a1 = a[1];
+    const a2 = a[2];
+    const b0 = b[0];
+    const b1 = b[1];
+    const b2 = b[2];
+    return (Math.abs(a0 - b0) <= glMatrix.EPSILON * Math.max(1.0, Math.abs(a0), Math.abs(b0)) &&
+        Math.abs(a1 - b1) <= glMatrix.EPSILON * Math.max(1.0, Math.abs(a1), Math.abs(b1)) &&
+        Math.abs(a2 - b2) <= glMatrix.EPSILON * Math.max(1.0, Math.abs(a2), Math.abs(b2)));
+}
+/**
+ * Alias for {@link vec3.subtract}
+ * @function
+ */
 export const sub = subtract;
+/**
+ * Alias for {@link vec3.multiply}
+ * @function
+ */
 export const mul = multiply;
+/**
+ * Alias for {@link vec3.divide}
+ * @function
+ */
 export const div = divide;
+/**
+ * Alias for {@link vec3.distance}
+ * @function
+ */
 export const dist = distance;
+/**
+ * Alias for {@link vec3.squaredDistance}
+ * @function
+ */
 export const sqrDist = squaredDistance;
+/**
+ * Alias for {@link vec3.length}
+ * @function
+ */
 export const len = length;
+/**
+ * Alias for {@link vec3.squaredLength}
+ * @function
+ */
 export const sqrLen = squaredLength;
-export const forEach = function () {
-  const vec = create();
-  return function (a, stride, offset, count, fn, arg) {
-    let i;
-    let l;
-
-    if (!stride) {
-      stride = 3;
-    }
-
-    if (!offset) {
-      offset = 0;
-    }
-
-    if (count) {
-      l = Math.min(count * stride + offset, a.length);
-    } else {
-      l = a.length;
-    }
-
-    for (i = offset; i < l; i += stride) {
-      vec[0] = a[i];
-      vec[1] = a[i + 1];
-      vec[2] = a[i + 2];
-      fn(vec, vec, arg);
-      a[i] = vec[0];
-      a[i + 1] = vec[1];
-      a[i + 2] = vec[2];
-    }
-
-    return a;
-  };
-}();
-//# sourceMappingURL=vec3.js.map
+/**
+ * Perform some operation over an array of vec3s.
+ *
+ * @param {Array} a the array of vectors to iterate over
+ * @param {Number} stride Number of elements between the start of each vec3. If 0 assumes tightly packed
+ * @param {Number} offset Number of elements to skip at the beginning of the array
+ * @param {Number} count Number of vec3s to iterate over. If 0 iterates over entire array
+ * @param {Function} fn Function to call for each vector in the array
+ * @param {Object} [arg] additional argument to pass to fn
+ * @returns {Array} a
+ * @function
+ */
+export const forEach = (function () {
+    const vec = create();
+    return function (a, stride, offset, count, fn, arg) {
+        let i;
+        let l;
+        if (!stride) {
+            stride = 3;
+        }
+        if (!offset) {
+            offset = 0;
+        }
+        if (count) {
+            l = Math.min(count * stride + offset, a.length);
+        }
+        else {
+            l = a.length;
+        }
+        for (i = offset; i < l; i += stride) {
+            vec[0] = a[i];
+            vec[1] = a[i + 1];
+            vec[2] = a[i + 2];
+            fn(vec, vec, arg);
+            a[i] = vec[0];
+            a[i + 1] = vec[1];
+            a[i + 2] = vec[2];
+        }
+        return a;
+    };
+})();