@math.gl/core 4.0.0 → 4.1.0-alpha.1

package/dist/classes/matrix4.js

@@ -1,478 +1,547 @@
+// math.gl
+// SPDX-License-Identifier: MIT
+// Copyright (c) vis.gl contributors
+// Copyright (c) 2017 Uber Technologies, Inc.
 import { Matrix } from "./base/matrix.js";
 import { checkVector } from "../lib/validators.js";
+/* eslint-disable camelcase */
 import { vec2_transformMat4AsVector, vec3_transformMat4AsVector } from "../lib/gl-matrix-extras.js";
+// @ts-ignore gl-matrix types...
 import { fromQuat as mat4_fromQuat, frustum as mat4_frustum, lookAt as mat4_lookAt, ortho as mat4_ortho, perspective as mat4_perspective, determinant as mat4_determinant, transpose as mat4_transpose, invert as mat4_invert, multiply as mat4_multiply, rotateX as mat4_rotateX, rotateY as mat4_rotateY, rotateZ as mat4_rotateZ, rotate as mat4_rotate, scale as mat4_scale, translate as mat4_translate } from "../gl-matrix/mat4.js";
 import { transformMat4 as vec2_transformMat4 } from "../gl-matrix/vec2.js";
 import { transformMat4 as vec3_transformMat4 } from "../gl-matrix/vec3.js";
 import { transformMat4 as vec4_transformMat4 } from "../gl-matrix/vec4.js";
 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["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_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]);
+/**
+ * A 4x4 matrix with common linear algebra operations
+ * Subclass of Array<number> meaning that it is highly compatible with other libraries
+ */
 export class Matrix4 extends Matrix {
-  static get IDENTITY() {
-    return getIdentityMatrix();
-  }
-
-  static get ZERO() {
-    return getZeroMatrix();
-  }
-
-  get ELEMENTS() {
-    return 16;
-  }
-
-  get RANK() {
-    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);
-
-    if (arguments.length === 1 && Array.isArray(array)) {
-      this.copy(array);
-    } else {
-      this.identity();
-    }
-  }
-
-  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];
-    this[9] = array[9];
-    this[10] = array[10];
-    this[11] = array[11];
-    this[12] = array[12];
-    this[13] = array[13];
-    this[14] = array[14];
-    this[15] = array[15];
-    return this.check();
-  }
-
-  set(m00, m10, m20, m30, m01, m11, m21, m31, m02, m12, m22, m32, m03, m13, m23, m33) {
-    this[0] = m00;
-    this[1] = m10;
-    this[2] = m20;
-    this[3] = m30;
-    this[4] = m01;
-    this[5] = m11;
-    this[6] = m21;
-    this[7] = m31;
-    this[8] = m02;
-    this[9] = m12;
-    this[10] = m22;
-    this[11] = m32;
-    this[12] = m03;
-    this[13] = m13;
-    this[14] = m23;
-    this[15] = m33;
-    return this.check();
-  }
-
-  setRowMajor(m00, m01, m02, m03, m10, m11, m12, m13, m20, m21, m22, m23, m30, m31, m32, m33) {
-    this[0] = m00;
-    this[1] = m10;
-    this[2] = m20;
-    this[3] = m30;
-    this[4] = m01;
-    this[5] = m11;
-    this[6] = m21;
-    this[7] = m31;
-    this[8] = m02;
-    this[9] = m12;
-    this[10] = m22;
-    this[11] = m32;
-    this[12] = m03;
-    this[13] = m13;
-    this[14] = m23;
-    this[15] = m33;
-    return this.check();
-  }
-
-  toRowMajor(result) {
-    result[0] = this[0];
-    result[1] = this[4];
-    result[2] = this[8];
-    result[3] = this[12];
-    result[4] = this[1];
-    result[5] = this[5];
-    result[6] = this[9];
-    result[7] = this[13];
-    result[8] = this[2];
-    result[9] = this[6];
-    result[10] = this[10];
-    result[11] = this[14];
-    result[12] = this[3];
-    result[13] = this[7];
-    result[14] = this[11];
-    result[15] = this[15];
-    return result;
-  }
-
-  identity() {
-    return this.copy(IDENTITY_MATRIX);
-  }
-
-  fromObject(object) {
-    return this.check();
-  }
-
-  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) {
-      computeInfinitePerspectiveOffCenter(this, left, right, bottom, top, near);
-    } else {
-      mat4_frustum(this, left, right, bottom, top, near, far);
-    }
-
-    return this.check();
-  }
-
-  lookAt(view) {
-    const {
-      eye,
-      center = [0, 0, 0],
-      up = [0, 1, 0]
-    } = view;
-    mat4_lookAt(this, eye, center, up);
-    return this.check();
-  }
-
-  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(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 this.ortho({
-      left: -right,
-      right,
-      bottom: -top,
-      top,
-      near,
-      far
-    });
-  }
-
-  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();
-  }
-
-  determinant() {
-    return mat4_determinant(this);
-  }
-
-  getScale(result = [-0, -0, -0]) {
-    result[0] = Math.sqrt(this[0] * this[0] + this[1] * this[1] + this[2] * this[2]);
-    result[1] = Math.sqrt(this[4] * this[4] + this[5] * this[5] + this[6] * this[6]);
-    result[2] = Math.sqrt(this[8] * this[8] + this[9] * this[9] + this[10] * this[10]);
-    return result;
-  }
-
-  getTranslation(result = [-0, -0, -0]) {
-    result[0] = this[12];
-    result[1] = this[13];
-    result[2] = this[14];
-    return result;
-  }
-
-  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];
-    result[0] = this[0] * inverseScale0;
-    result[1] = this[1] * inverseScale1;
-    result[2] = this[2] * inverseScale2;
-    result[3] = 0;
-    result[4] = this[4] * inverseScale0;
-    result[5] = this[5] * inverseScale1;
-    result[6] = this[6] * inverseScale2;
-    result[7] = 0;
-    result[8] = this[8] * inverseScale0;
-    result[9] = this[9] * inverseScale1;
-    result[10] = this[10] * inverseScale2;
-    result[11] = 0;
-    result[12] = 0;
-    result[13] = 0;
-    result[14] = 0;
-    result[15] = 1;
-    return result;
-  }
-
-  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];
-    result[0] = this[0] * inverseScale0;
-    result[1] = this[1] * inverseScale1;
-    result[2] = this[2] * inverseScale2;
-    result[3] = this[4] * inverseScale0;
-    result[4] = this[5] * inverseScale1;
-    result[5] = this[6] * inverseScale2;
-    result[6] = this[8] * inverseScale0;
-    result[7] = this[9] * inverseScale1;
-    result[8] = this[10] * inverseScale2;
-    return result;
-  }
-
-  transpose() {
-    mat4_transpose(this, this);
-    return this.check();
-  }
-
-  invert() {
-    mat4_invert(this, this);
-    return this.check();
-  }
-
-  multiplyLeft(a) {
-    mat4_multiply(this, a, this);
-    return this.check();
-  }
-
-  multiplyRight(a) {
-    mat4_multiply(this, this, a);
-    return this.check();
-  }
-
-  rotateX(radians) {
-    mat4_rotateX(this, this, radians);
-    return this.check();
-  }
-
-  rotateY(radians) {
-    mat4_rotateY(this, this, radians);
-    return this.check();
-  }
-
-  rotateZ(radians) {
-    mat4_rotateZ(this, this, radians);
-    return this.check();
-  }
-
-  rotateXYZ(angleXYZ) {
-    return this.rotateX(angleXYZ[0]).rotateY(angleXYZ[1]).rotateZ(angleXYZ[2]);
-  }
-
-  rotateAxis(radians, axis) {
-    mat4_rotate(this, this, radians, axis);
-    return this.check();
-  }
-
-  scale(factor) {
-    mat4_scale(this, this, Array.isArray(factor) ? factor : [factor, factor, factor]);
-    return this.check();
-  }
-
-  translate(vector) {
-    mat4_translate(this, this, vector);
-    return this.check();
-  }
-
-  transform(vector, result) {
-    if (vector.length === 4) {
-      result = vec4_transformMat4(result || [-0, -0, -0, -0], vector, this);
-      checkVector(result, 4);
-      return result;
-    }
-
-    return this.transformAsPoint(vector, result);
-  }
-
-  transformAsPoint(vector, result) {
-    const {
-      length
-    } = vector;
-    let out;
-
-    switch (length) {
-      case 2:
-        out = vec2_transformMat4(result || [-0, -0], vector, this);
-        break;
-
-      case 3:
-        out = vec3_transformMat4(result || [-0, -0, -0], vector, this);
-        break;
-
-      default:
-        throw new Error('Illegal vector');
-    }
-
-    checkVector(out, vector.length);
-    return out;
-  }
-
-  transformAsVector(vector, result) {
-    let out;
-
-    switch (vector.length) {
-      case 2:
-        out = vec2_transformMat4AsVector(result || [-0, -0], vector, this);
-        break;
-
-      case 3:
-        out = vec3_transformMat4AsVector(result || [-0, -0, -0], vector, this);
-        break;
-
-      default:
-        throw new Error('Illegal vector');
-    }
-
-    checkVector(out, vector.length);
-    return out;
-  }
-
-  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);
-  }
-
-  makeTranslation(x, y, z) {
-    return this.identity().translate([x, y, z]);
-  }
-
+    static get IDENTITY() {
+        return getIdentityMatrix();
+    }
+    static get ZERO() {
+        return getZeroMatrix();
+    }
+    get ELEMENTS() {
+        return 16;
+    }
+    get RANK() {
+        return 4;
+    }
+    get INDICES() {
+        return INDICES;
+    }
+    constructor(array) {
+        // PERF NOTE: initialize elements as double precision numbers
+        super(-0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0, -0);
+        if (arguments.length === 1 && Array.isArray(array)) {
+            this.copy(array);
+        }
+        else {
+            this.identity();
+        }
+    }
+    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];
+        this[9] = array[9];
+        this[10] = array[10];
+        this[11] = array[11];
+        this[12] = array[12];
+        this[13] = array[13];
+        this[14] = array[14];
+        this[15] = array[15];
+        return this.check();
+    }
+    // eslint-disable-next-line max-params
+    set(m00, m10, m20, m30, m01, m11, m21, m31, m02, m12, m22, m32, m03, m13, m23, m33) {
+        this[0] = m00;
+        this[1] = m10;
+        this[2] = m20;
+        this[3] = m30;
+        this[4] = m01;
+        this[5] = m11;
+        this[6] = m21;
+        this[7] = m31;
+        this[8] = m02;
+        this[9] = m12;
+        this[10] = m22;
+        this[11] = m32;
+        this[12] = m03;
+        this[13] = m13;
+        this[14] = m23;
+        this[15] = m33;
+        return this.check();
+    }
+    // accepts row major order, stores as column major
+    // eslint-disable-next-line max-params
+    setRowMajor(m00, m01, m02, m03, m10, m11, m12, m13, m20, m21, m22, m23, m30, m31, m32, m33) {
+        this[0] = m00;
+        this[1] = m10;
+        this[2] = m20;
+        this[3] = m30;
+        this[4] = m01;
+        this[5] = m11;
+        this[6] = m21;
+        this[7] = m31;
+        this[8] = m02;
+        this[9] = m12;
+        this[10] = m22;
+        this[11] = m32;
+        this[12] = m03;
+        this[13] = m13;
+        this[14] = m23;
+        this[15] = m33;
+        return this.check();
+    }
+    toRowMajor(result) {
+        result[0] = this[0];
+        result[1] = this[4];
+        result[2] = this[8];
+        result[3] = this[12];
+        result[4] = this[1];
+        result[5] = this[5];
+        result[6] = this[9];
+        result[7] = this[13];
+        result[8] = this[2];
+        result[9] = this[6];
+        result[10] = this[10];
+        result[11] = this[14];
+        result[12] = this[3];
+        result[13] = this[7];
+        result[14] = this[11];
+        result[15] = this[15];
+        return result;
+    }
+    // Constructors
+    /** Set to identity matrix */
+    identity() {
+        return this.copy(IDENTITY_MATRIX);
+    }
+    /**
+     *
+     * @param object
+     * @returns self
+     */
+    // eslint-disable-next-line @typescript-eslint/no-unused-vars
+    fromObject(object) {
+        return this.check();
+    }
+    /**
+     * Calculates a 4x4 matrix from the given quaternion
+     * @param quaternion Quaternion to create matrix from
+     * @returns self
+     */
+    fromQuaternion(quaternion) {
+        mat4_fromQuat(this, quaternion);
+        return this.check();
+    }
+    /**
+     * Generates a frustum matrix with the given bounds
+     * @param view.left - Left bound of the frustum
+     * @param view.right - Right bound of the frustum
+     * @param view.bottom - Bottom bound of the frustum
+     * @param view.top - Top bound of the frustum
+     * @param view.near - Near bound of the frustum
+     * @param view.far - Far bound of the frustum. Can be set to Infinity.
+     * @returns self
+     */
+    frustum(view) {
+        const { left, right, bottom, top, near = DEFAULT_NEAR, far = DEFAULT_FAR } = view;
+        if (far === Infinity) {
+            computeInfinitePerspectiveOffCenter(this, left, right, bottom, top, near);
+        }
+        else {
+            mat4_frustum(this, left, right, bottom, top, near, far);
+        }
+        return this.check();
+    }
+    /**
+     * Generates a look-at matrix with the given eye position, focal point,
+     * and up axis
+     * @param view.eye - (vector) Position of the viewer
+     * @param view.center - (vector) Point the viewer is looking at
+     * @param view.up - (vector) Up axis
+     * @returns self
+     */
+    lookAt(view) {
+        const { eye, center = [0, 0, 0], up = [0, 1, 0] } = view;
+        mat4_lookAt(this, eye, center, up);
+        return this.check();
+    }
+    /**
+     * Generates a orthogonal projection matrix with the given bounds
+     * from "traditional" view space parameters
+     * @param view.left - Left bound of the frustum
+     * @param view.right number  Right bound of the frustum
+     * @param view.bottom - Bottom bound of the frustum
+     * @param view.top number  Top bound of the frustum
+     * @param view.near - Near bound of the frustum
+     * @param view.far number  Far bound of the frustum
+     * @returns self
+     */
+    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();
+    }
+    /**
+     * Generates an orthogonal projection matrix with the same parameters
+     * as a perspective matrix (plus focalDistance)
+     * @param view.fovy Vertical field of view in radians
+     * @param view.aspect Aspect ratio. Typically viewport width / viewport height
+     * @param view.focalDistance Distance in the view frustum used for extent calculations
+     * @param view.near Near bound of the frustum
+     * @param view.far Far bound of the frustum
+     * @returns self
+     */
+    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); // focus_plane is the distance from the camera
+        const right = top * aspect;
+        return this.ortho({
+            left: -right,
+            right,
+            bottom: -top,
+            top,
+            near,
+            far
+        });
+    }
+    /**
+     * Generates a perspective projection matrix with the given bounds
+     * @param view.fovy Vertical field of view in radians
+     * @param view.aspect Aspect ratio. typically viewport width/height
+     * @param view.near Near bound of the frustum
+     * @param view.far Far bound of the frustum
+     * @returns self
+     */
+    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();
+    }
+    // Accessors
+    determinant() {
+        return mat4_determinant(this);
+    }
+    /**
+     * Extracts the non-uniform scale assuming the matrix is an affine transformation.
+     * The scales are the "lengths" of the column vectors in the upper-left 3x3 matrix.
+     * @param result
+     * @returns self
+     */
+    getScale(result = [-0, -0, -0]) {
+        // explicit is faster than hypot...
+        result[0] = Math.sqrt(this[0] * this[0] + this[1] * this[1] + this[2] * this[2]);
+        result[1] = Math.sqrt(this[4] * this[4] + this[5] * this[5] + this[6] * this[6]);
+        result[2] = Math.sqrt(this[8] * this[8] + this[9] * this[9] + this[10] * this[10]);
+        // result[0] = Math.hypot(this[0], this[1], this[2]);
+        // result[1] = Math.hypot(this[4], this[5], this[6]);
+        // result[2] = Math.hypot(this[8], this[9], this[10]);
+        return result;
+    }
+    /**
+     * Gets the translation portion, assuming the matrix is a affine transformation matrix.
+     * @param result
+     * @returns self
+     */
+    getTranslation(result = [-0, -0, -0]) {
+        result[0] = this[12];
+        result[1] = this[13];
+        result[2] = this[14];
+        return result;
+    }
+    /**
+     * Gets upper left 3x3 pure rotation matrix (non-scaling), assume affine transformation matrix
+     * @param result
+     * @param scaleResult
+     * @returns self
+     */
+    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];
+        result[0] = this[0] * inverseScale0;
+        result[1] = this[1] * inverseScale1;
+        result[2] = this[2] * inverseScale2;
+        result[3] = 0;
+        result[4] = this[4] * inverseScale0;
+        result[5] = this[5] * inverseScale1;
+        result[6] = this[6] * inverseScale2;
+        result[7] = 0;
+        result[8] = this[8] * inverseScale0;
+        result[9] = this[9] * inverseScale1;
+        result[10] = this[10] * inverseScale2;
+        result[11] = 0;
+        result[12] = 0;
+        result[13] = 0;
+        result[14] = 0;
+        result[15] = 1;
+        return result;
+    }
+    /**
+     *
+     * @param result
+     * @param scaleResult
+     * @returns self
+     */
+    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];
+        result[0] = this[0] * inverseScale0;
+        result[1] = this[1] * inverseScale1;
+        result[2] = this[2] * inverseScale2;
+        result[3] = this[4] * inverseScale0;
+        result[4] = this[5] * inverseScale1;
+        result[5] = this[6] * inverseScale2;
+        result[6] = this[8] * inverseScale0;
+        result[7] = this[9] * inverseScale1;
+        result[8] = this[10] * inverseScale2;
+        return result;
+    }
+    // Modifiers
+    transpose() {
+        mat4_transpose(this, this);
+        return this.check();
+    }
+    invert() {
+        mat4_invert(this, this);
+        return this.check();
+    }
+    // Operations
+    multiplyLeft(a) {
+        mat4_multiply(this, a, this);
+        return this.check();
+    }
+    multiplyRight(a) {
+        mat4_multiply(this, this, a);
+        return this.check();
+    }
+    // Rotates a matrix by the given angle around the X axis
+    rotateX(radians) {
+        mat4_rotateX(this, this, radians);
+        // mat4_rotate(this, this, radians, [1, 0, 0]);
+        return this.check();
+    }
+    // Rotates a matrix by the given angle around the Y axis.
+    rotateY(radians) {
+        mat4_rotateY(this, this, radians);
+        // mat4_rotate(this, this, radians, [0, 1, 0]);
+        return this.check();
+    }
+    /**
+     * Rotates a matrix by the given angle around the Z axis.
+     * @param radians
+     * @returns self
+     */
+    rotateZ(radians) {
+        mat4_rotateZ(this, this, radians);
+        // mat4_rotate(this, this, radians, [0, 0, 1]);
+        return this.check();
+    }
+    /**
+     *
+     * @param param0
+     * @returns self
+     */
+    rotateXYZ(angleXYZ) {
+        return this.rotateX(angleXYZ[0]).rotateY(angleXYZ[1]).rotateZ(angleXYZ[2]);
+    }
+    /**
+     *
+     * @param radians
+     * @param axis
+     * @returns self
+     */
+    rotateAxis(radians, axis) {
+        mat4_rotate(this, this, radians, axis);
+        return this.check();
+    }
+    /**
+     *
+     * @param factor
+     * @returns self
+     */
+    scale(factor) {
+        mat4_scale(this, this, Array.isArray(factor) ? factor : [factor, factor, factor]);
+        return this.check();
+    }
+    /**
+     *
+     * @param vec
+     * @returns self
+     */
+    translate(vector) {
+        mat4_translate(this, this, vector);
+        return this.check();
+    }
+    // Transforms
+    /**
+     * Transforms any 2, 3 or 4 element vector. 2 and 3 elements are treated as points
+     * @param vector
+     * @param result
+     * @returns self
+     */
+    transform(vector, result) {
+        if (vector.length === 4) {
+            result = vec4_transformMat4(result || [-0, -0, -0, -0], vector, this);
+            checkVector(result, 4);
+            return result;
+        }
+        return this.transformAsPoint(vector, result);
+    }
+    /**
+     * Transforms any 2 or 3 element array as point (w implicitly 1)
+     * @param vector
+     * @param result
+     * @returns self
+     */
+    transformAsPoint(vector, result) {
+        const { length } = vector;
+        let out;
+        switch (length) {
+            case 2:
+                out = vec2_transformMat4(result || [-0, -0], vector, this);
+                break;
+            case 3:
+                out = vec3_transformMat4(result || [-0, -0, -0], vector, this);
+                break;
+            default:
+                throw new Error('Illegal vector');
+        }
+        checkVector(out, vector.length);
+        return out;
+    }
+    /**
+     * Transforms any 2 or 3 element array as vector (w implicitly 0)
+     * @param vector
+     * @param result
+     * @returns self
+     */
+    transformAsVector(vector, result) {
+        let out;
+        switch (vector.length) {
+            case 2:
+                out = vec2_transformMat4AsVector(result || [-0, -0], vector, this);
+                break;
+            case 3:
+                out = vec3_transformMat4AsVector(result || [-0, -0, -0], vector, this);
+                break;
+            default:
+                throw new Error('Illegal vector');
+        }
+        checkVector(out, vector.length);
+        return out;
+    }
+    /** @deprecated */
+    transformPoint(vector, result) {
+        return this.transformAsPoint(vector, result);
+    }
+    /** @deprecated */
+    transformVector(vector, result) {
+        return this.transformAsPoint(vector, result);
+    }
+    /** @deprecated */
+    transformDirection(vector, result) {
+        return this.transformAsVector(vector, result);
+    }
+    // three.js math API compatibility
+    makeRotationX(radians) {
+        return this.identity().rotateX(radians);
+    }
+    makeTranslation(x, y, z) {
+        return this.identity().translate([x, y, z]);
+    }
 }
+// TODO initializing static members directly is an option, but make sure no tree-shaking issues
 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);
-  }
-
-  return ZERO;
+    if (!ZERO) {
+        ZERO = new Matrix4([0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]);
+        Object.freeze(ZERO);
+    }
+    return ZERO;
 }
-
 function getIdentityMatrix() {
-  if (!IDENTITY) {
-    IDENTITY = new Matrix4();
-    Object.freeze(IDENTITY);
-  }
-
-  return IDENTITY;
+    if (!IDENTITY) {
+        IDENTITY = new Matrix4();
+        Object.freeze(IDENTITY);
+    }
+    return IDENTITY;
 }
-
+// HELPER FUNCTIONS
 function checkRadians(possiblyDegrees) {
-  if (possiblyDegrees > Math.PI * 2) {
-    throw Error('expected radians');
-  }
+    if (possiblyDegrees > Math.PI * 2) {
+        throw Error('expected radians');
+    }
 }
-
+// eslint-disable-next-line max-params
 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;
+    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