@openglobus/og 0.11.2 → 0.11.7

package/src/og/math/Mat4.js

@@ -1,459 +1,603 @@
-'use strict';
-
-import { Mat3 } from './Mat3.js';
-import { Quat } from './Quat.js';
-import { Vec3 } from './Vec3.js';
-import { Vec4 } from './Vec4.js';
-
-/**
- * Class represents a 4x4 matrix.
- * @class
- */
-export class Mat4 {
-    constructor() {
-        /**
-         * A 4x4 matrix, indexable as a column-major order array.
-         * @public
-         * @type {Array.<number>}
-         */
-        this._m = new Array(16);
-    }
-    
-    /**
-     * Returns identity matrix instance.
-     * @static
-     * @returns {og.Mat4} -
-     */
-    static get identity() {
-        var res = new Mat4();
-        res._m[0] = 1; res._m[1] = 0; res._m[2] = 0; res._m[3] = 0;
-        res._m[4] = 0; res._m[5] = 1; res._m[6] = 0; res._m[7] = 0;
-        res._m[8] = 0; res._m[9] = 0; res._m[10] = 1; res._m[11] = 0;
-        res._m[12] = 0; res._m[13] = 0; res._m[14] = 0; res._m[15] = 1;
-        return res;
-    }
-
-    /**
-     * Sets column-major order array matrix.
-     * @public
-     * @param {Array.<number>} m - Matrix array.
-     * @returns {og.Mat4} -
-     */
-    set(m) {
-        this._m[0] = m[0];
-        this._m[1] = m[1];
-        this._m[2] = m[2];
-        this._m[3] = m[3];
-        this._m[4] = m[4];
-        this._m[5] = m[5];
-        this._m[6] = m[6];
-        this._m[7] = m[7];
-        this._m[8] = m[8];
-        this._m[9] = m[9];
-        this._m[10] = m[10];
-        this._m[11] = m[11];
-        this._m[12] = m[12];
-        this._m[13] = m[13];
-        this._m[14] = m[14];
-        this._m[15] = m[15];
-        return this;
-    }
-
-    /**
-     * Duplicates a Matrix3 instance.
-     * @public
-     * @returns {og.Mat4} -
-     */
-    clone() {
-        var res = new Mat4();
-        res.set(this);
-        return res;
-    }
-
-    /**
-     * Copy matrix.
-     * @public
-     * @param {og.Mat3} a - Matrix to copy.
-     */
-    copy(a) {
-        this.set(a._m);
-    }
-
-    /**
-     * Converts to 3x3 matrix.
-     * @public
-     * @returns {og.Mat3} -
-     */
-    toMatrix3() {
-        var res = new Mat3();
-        var a = this._m,
-            b = res._m;
-        b[0] = a[0];
-        b[1] = a[1];
-        b[2] = a[2];
-        b[3] = a[4];
-        b[4] = a[5];
-        b[5] = a[6];
-        b[6] = a[8];
-        b[7] = a[9];
-        b[8] = a[10];
-        return res;
-    }
-
-    /**
-     * Multiply to 3d vector.
-     * @public
-     * @param {og.Vec3} p - 3d vector.
-     * @returns {og.Vec3} -
-     */
-    mulVec3(p) {
-        var d = p.x, e = p.y, g = p.z;
-        return new Vec3(
-            this._m[0] * d + this._m[4] * e + this._m[8] * g + this._m[12],
-            this._m[1] * d + this._m[5] * e + this._m[9] * g + this._m[13],
-            this._m[2] * d + this._m[6] * e + this._m[10] * g + this._m[14]
-        );
-    }
-
-    /**
-     * Multiply to 4d vector.
-     * @public
-     * @param {og.Vec4} p - 4d vector.
-     * @returns {og.Vec4} -
-     */
-    mulVec4(p) {
-        var d = p.x, e = p.y, g = p.z, f = p.w;
-        return new Vec4(
-            this._m[0] * d + this._m[4] * e + this._m[8] * g + this._m[12] * f,
-            this._m[1] * d + this._m[5] * e + this._m[9] * g + this._m[13] * f,
-            this._m[2] * d + this._m[6] * e + this._m[10] * g + this._m[14] * f,
-            this._m[3] * d + this._m[7] * e + this._m[11] * g + this._m[15] * f
-        );
-    }
-
-    /**
-     * Creates an inversed 3x3 matrix of the current.
-     * @public
-     * @returns {og.Mat3} -
-     */
-    toInverseMatrix3() {
-        var a = this._m;
-        var c = a[0], d = a[1], e = a[2],
-            g = a[4], f = a[5], h = a[6],
-            i = a[8], j = a[9], k = a[10],
-            l = k * f - h * j,
-            o = -k * g + h * i,
-            m = j * g - f * i,
-            n = c * l + d * o + e * m;
-
-        if (!n) {
-            return null;
-        }
-
-        n = 1 / n;
-
-        var res = new Mat3();
-        res._m[0] = l * n;
-        res._m[1] = (-k * d + e * j) * n;
-        res._m[2] = (h * d - e * f) * n;
-        res._m[3] = o * n;
-        res._m[4] = (k * c - e * i) * n;
-        res._m[5] = (-h * c + e * g) * n;
-        res._m[6] = m * n;
-        res._m[7] = (-j * c + d * i) * n;
-        res._m[8] = (f * c - d * g) * n;
-        return res;
-    }
-
-    /**
-     * Creates an inversed matrix of the current.
-     * @public
-     * @returns {og.Mat4} -
-     */
-    inverseTo(res) {
-        var c = this._m[0], d = this._m[1], e = this._m[2], g = this._m[3],
-            f = this._m[4], h = this._m[5], i = this._m[6], j = this._m[7],
-            k = this._m[8], l = this._m[9], o = this._m[10], m = this._m[11],
-            n = this._m[12], p = this._m[13], r = this._m[14], s = this._m[15],
-            A = c * h - d * f,
-            B = c * i - e * f,
-            t = c * j - g * f,
-            u = d * i - e * h,
-            v = d * j - g * h,
-            w = e * j - g * i,
-            x = k * p - l * n,
-            y = k * r - o * n,
-            z = k * s - m * n,
-            C = l * r - o * p,
-            D = l * s - m * p,
-            E = o * s - m * r,
-            q = 1 / (A * E - B * D + t * C + u * z - v * y + w * x),
-            res = res || new Mat4();
-
-        res._m[0] = (h * E - i * D + j * C) * q; res._m[1] = (-d * E + e * D - g * C) * q; res._m[2] = (p * w - r * v + s * u) * q; res._m[3] = (-l * w + o * v - m * u) * q;
-        res._m[4] = (-f * E + i * z - j * y) * q; res._m[5] = (c * E - e * z + g * y) * q; res._m[6] = (-n * w + r * t - s * B) * q; res._m[7] = (k * w - o * t + m * B) * q;
-        res._m[8] = (f * D - h * z + j * x) * q; res._m[9] = (-c * D + d * z - g * x) * q; res._m[10] = (n * v - p * t + s * A) * q; res._m[11] = (-k * v + l * t - m * A) * q;
-        res._m[12] = (-f * C + h * y - i * x) * q; res._m[13] = (c * C - d * y + e * x) * q; res._m[14] = (-n * u + p * B - r * A) * q; res._m[15] = (k * u - l * B + o * A) * q;
-        return res;
-    }
-
-    /**
-     * Creates a trasposed matrix of the current.
-     * @public
-     * @returns {og.Mat4} -
-     */
-    transposeTo() {
-        var res = new Mat4();
-        res._m[0] = this._m[0]; res._m[1] = this._m[4]; res._m[2] = this._m[8]; res._m[3] = this._m[12];
-        res._m[4] = this._m[1]; res._m[5] = this._m[5]; res._m[6] = this._m[9]; res._m[7] = this._m[13];
-        res._m[8] = this._m[2]; res._m[9] = this._m[6]; res._m[10] = this._m[10]; res._m[11] = this._m[14];
-        res._m[12] = this._m[3]; res._m[13] = this._m[7]; res._m[14] = this._m[11]; res._m[15] = this._m[15];
-        return res;
-    }
-
-    /**
-     * Sets matrix to identity.
-     * @public
-     * @returns {og.Mat4} -
-     */
-    setIdentity() {
-        this._m[0] = 1; this._m[1] = 0; this._m[2] = 0; this._m[3] = 0;
-        this._m[4] = 0; this._m[5] = 1; this._m[6] = 0; this._m[7] = 0;
-        this._m[8] = 0; this._m[9] = 0; this._m[10] = 1; this._m[11] = 0;
-        this._m[12] = 0; this._m[13] = 0; this._m[14] = 0; this._m[15] = 1;
-        return this;
-    }
-
-    /**
-     * Computes the product of two matrices.
-     * @public
-     * @param {og.Mat4} mx - Matrix to multiply.
-     * @returns {og.Mat4} -
-     */
-    mul(mx) {
-        let d = this._m[0], e = this._m[1], g = this._m[2], f = this._m[3],
-            h = this._m[4], i = this._m[5], j = this._m[6], k = this._m[7],
-            l = this._m[8], o = this._m[9], m = this._m[10], n = this._m[11],
-            p = this._m[12], r = this._m[13], s = this._m[14], a = this._m[15];
-
-        let A = mx._m[0], B = mx._m[1], t = mx._m[2], u = mx._m[3],
-            v = mx._m[4], w = mx._m[5], x = mx._m[6], y = mx._m[7],
-            z = mx._m[8], C = mx._m[9], D = mx._m[10], E = mx._m[11],
-            q = mx._m[12], F = mx._m[13], G = mx._m[14], b = mx._m[15];
-
-        var res = new Mat4();
-        res._m[0] = A * d + B * h + t * l + u * p; res._m[1] = A * e + B * i + t * o + u * r; res._m[2] = A * g + B * j + t * m + u * s; res._m[3] = A * f + B * k + t * n + u * a;
-        res._m[4] = v * d + w * h + x * l + y * p; res._m[5] = v * e + w * i + x * o + y * r; res._m[6] = v * g + w * j + x * m + y * s; res._m[7] = v * f + w * k + x * n + y * a;
-        res._m[8] = z * d + C * h + D * l + E * p; res._m[9] = z * e + C * i + D * o + E * r; res._m[10] = z * g + C * j + D * m + E * s; res._m[11] = z * f + C * k + D * n + E * a;
-        res._m[12] = q * d + F * h + G * l + b * p; res._m[13] = q * e + F * i + G * o + b * r; res._m[14] = q * g + F * j + G * m + b * s; res._m[15] = q * f + F * k + G * n + b * a;
-        return res;
-    }
-
-    /**
-     * Add translation vector to the current matrix.
-     * @public
-     * @param {og.Vec3} v - Translate vector.
-     * @returns {og.Mat4} -
-     */
-    translate(v) {
-        var d = v.x, e = v.y, b = v.z;
-        var a = this._m;
-        a[12] = a[0] * d + a[4] * e + a[8] * b + a[12];
-        a[13] = a[1] * d + a[5] * e + a[9] * b + a[13];
-        a[14] = a[2] * d + a[6] * e + a[10] * b + a[14];
-        a[15] = a[3] * d + a[7] * e + a[11] * b + a[15];
-        return this;
-    }
-
-    /**
-     * Sets translation matrix to the position.
-     * @public
-     * @param {og.Vec3} v - Translate to position.
-     * @returns {og.Mat4} -
-     */
-    translateToPosition(v) {
-        var a = this._m;
-        a[12] = v.x;
-        a[13] = v.y;
-        a[14] = v.z;
-        return this;
-    }
-
-    /**
-     * Rotate currrent matrix around the aligned axis and angle.
-     * @public
-     * @param {og.Vec3} u - Aligned axis.
-     * @param {number} angle - Aligned axis angle in radians.
-     * @returns {og.Mat4} -
-     * @todo: OPTIMIZE: reveal multiplication
-     */
-    rotate(u, angle) {
-        var c = Math.cos(angle),
-            s = Math.sin(angle);
-        var rot = new Mat4();
-        var mx = rot._m;
-        mx[0] = c + (1 - c) * u.x * u.x; mx[1] = (1 - c) * u.y * u.x - s * u.z; mx[2] = (1 - c) * u.z * u.x + s * u.y; mx[3] = 0;
-        mx[4] = (1 - c) * u.x * u.y + s * u.z; mx[5] = c + (1 - c) * u.y * u.y; mx[6] = (1 - c) * u.z * u.y - s * u.x; mx[7] = 0;
-        mx[8] = (1 - c) * u.x * u.z - s * u.y; mx[9] = (1 - c) * u.y * u.z + s * u.x; mx[10] = c + (1 - c) * u.z * u.z; mx[11] = 0;
-        mx[12] = 0; mx[13] = 0; mx[14] = 0; mx[15] = 1;
-        return this.mul(rot);
-    }
-
-    /**
-     * Sets current rotation matrix around the aligned axis and angle.
-     * @public
-     * @param {og.Vec3} u - Aligned axis.
-     * @param {number} angle - Aligned axis angle in radians.
-     * @returns {og.Mat4} -
-     */
-    setRotation(u, angle) {
-        var c = Math.cos(angle),
-            s = Math.sin(angle);
-        var mx = this._m;
-        mx[0] = c + (1 - c) * u.x * u.x; mx[1] = (1 - c) * u.y * u.x - s * u.z; mx[2] = (1 - c) * u.z * u.x + s * u.y; mx[3] = 0;
-        mx[4] = (1 - c) * u.x * u.y + s * u.z; mx[5] = c + (1 - c) * u.y * u.y; mx[6] = (1 - c) * u.z * u.y - s * u.x; mx[7] = 0;
-        mx[8] = (1 - c) * u.x * u.z - s * u.y; mx[9] = (1 - c) * u.y * u.z + s * u.x; mx[10] = c + (1 - c) * u.z * u.z; mx[11] = 0;
-        mx[12] = 0; mx[13] = 0; mx[14] = 0; mx[15] = 1;
-        return this;
-    }
-
-    /**
-     * Gets the rotation matrix from one vector to another.
-     * @public
-     * @param {og.Vec3} a - Firtst vector.
-     * @param {og.Vec3} b - Second vector.
-     * @returns {og.Mat4} -
-     */
-    rotateBetweenVectors(a, b) {
-        var q = Quat.getRotationBetweenVectors(a, b);
-        return q.getMat4();
-    }
-
-    /**
-     * Scale current matrix to the vector values.
-     * @public
-     * @param {og.Vec3} v - Scale vector.
-     * @returns {og.Mat4} -
-     */
-    scale(v) {
-        var mx = this._m;
-        mx[0] = mx[0] * v.x; mx[1] = mx[1] * v.x; mx[2] = mx[2] * v.x; mx[3] = mx[3] * v.x;
-        mx[4] = mx[4] * v.y; mx[5] = mx[5] * v.y; mx[6] = mx[6] * v.y; mx[7] = mx[7] * v.y;
-        mx[8] = mx[8] * v.z; mx[9] = mx[9] * v.z; mx[10] = mx[10] * v.z; mx[11] = mx[11] * v.z;
-        return this;
-    }
-
-    /**
-     * Sets perspective projection matrix frustum values.
-     * @public
-     * @param {number} left -
-     * @param {number} right -
-     * @param {number} bottom -
-     * @param {number} top -
-     * @param {number} near -
-     * @param {number} far -
-     * @returns {og.Mat4} -
-     */
-    setPerspective(left, right, bottom, top, near, far) {
-        var h = right - left, i = top - bottom, j = far - near;
-        this._m[0] = near * 2 / h;
-        this._m[1] = 0;
-        this._m[2] = 0;
-        this._m[3] = 0;
-        this._m[4] = 0;
-        this._m[5] = near * 2 / i;
-        this._m[6] = 0;
-        this._m[7] = 0;
-        this._m[8] = (right + left) / h;
-        this._m[9] = (top + bottom) / i;
-        this._m[10] = -(far + near) / j;
-        this._m[11] = -1;
-        this._m[12] = 0;
-        this._m[13] = 0;
-        this._m[14] = -(far * near * 2) / j;
-        this._m[15] = 0;
-        return this;
-    }
-
-    /**
-     * Creates current orthographic projection matrix.
-     * @public
-     * @param {number} left -
-     * @param {number} right -
-     * @param {number} bottom -
-     * @param {number} top -
-     * @param {number} near -
-     * @param {number} far -
-     * @return {og.Mat4} -
-     */
-    setOrtho(left, right, bottom, top, near, far) {
-
-        var lr = 1.0 / (left - right),
-            bt = 1.0 / (bottom - top),
-            nf = 1.0 / (near - far),
-            m = this._m;
-
-        m[0] = -2.0 * lr;
-        m[1] = 0;
-        m[2] = 0;
-        m[3] = 0;
-        m[4] = 0;
-        m[5] = -2.0 * bt;
-        m[6] = 0;
-        m[7] = 0;
-        m[8] = 0;
-        m[9] = 0;
-        m[10] = 2.0 * nf;
-        m[11] = 0;
-        m[12] = (left + right) * lr;
-        m[13] = (top + bottom) * bt;
-        m[14] = (far + near) * nf;
-        m[15] = 1.0;
-        return this;
-    }
-
-    /**
-     * Sets current rotation matrix by euler's angles.
-     * @public
-     * @param {number} ax - Rotation angle in radians arond X axis.
-     * @param {number} ay - Rotation angle in radians arond Y axis.
-     * @param {number} az - Rotation angle in radians arond Z axis.
-     * @returns {og.Mat4} -
-     */
-    eulerToMatrix(ax, ay, az) {
-        var a = Math.cos(ax),
-            b = Math.sin(ax),
-            c = Math.cos(ay),
-            d = Math.sin(ay),
-            e = Math.cos(az),
-            f = Math.sin(az);
-
-        var ad = a * d,
-            bd = b * d;
-
-        var mat = this._m;
-
-        mat[0] = c * e;
-        mat[1] = -c * f;
-        mat[2] = -d;
-        mat[4] = -bd * e + a * f;
-        mat[5] = bd * f + a * e;
-        mat[6] = -b * c;
-        mat[8] = ad * e + b * f;
-        mat[9] = -ad * f + b * e;
-        mat[10] = a * c;
-        mat[3] = mat[7] = mat[11] = mat[12] = mat[13] = mat[14] = 0;
-        mat[15] = 1;
-
-        return this;
-    }
-}
-
-/**
- * Mat4 factory.
- * @static
- * @returns {og.Mat4} -
- */
-export function mat4() {
-    return new og.Mat4();
-}
+"use strict";
+
+import { Mat3 } from "./Mat3.js";
+import { Quat } from "./Quat.js";
+import { Vec3 } from "./Vec3.js";
+import { Vec4 } from "./Vec4.js";
+
+/**
+ * Class represents a 4x4 matrix.
+ * @class
+ */
+export class Mat4 {
+    constructor() {
+        /**
+         * A 4x4 matrix, indexable as a column-major order array.
+         * @public
+         * @type {Array.<number>}
+         */
+        this._m = new Array(16);
+    }
+
+    /**
+     * Returns identity matrix instance.
+     * @static
+     * @returns {Mat4} -
+     */
+    static identity() {
+        var res = new Mat4();
+        res._m[0] = 1;
+        res._m[1] = 0;
+        res._m[2] = 0;
+        res._m[3] = 0;
+        res._m[4] = 0;
+        res._m[5] = 1;
+        res._m[6] = 0;
+        res._m[7] = 0;
+        res._m[8] = 0;
+        res._m[9] = 0;
+        res._m[10] = 1;
+        res._m[11] = 0;
+        res._m[12] = 0;
+        res._m[13] = 0;
+        res._m[14] = 0;
+        res._m[15] = 1;
+        return res;
+    }
+
+    /**
+     * Sets column-major order array matrix.
+     * @public
+     * @param {Array.<number>} m - Matrix array.
+     * @returns {Mat4} -
+     */
+    set(m) {
+        this._m[0] = m[0];
+        this._m[1] = m[1];
+        this._m[2] = m[2];
+        this._m[3] = m[3];
+        this._m[4] = m[4];
+        this._m[5] = m[5];
+        this._m[6] = m[6];
+        this._m[7] = m[7];
+        this._m[8] = m[8];
+        this._m[9] = m[9];
+        this._m[10] = m[10];
+        this._m[11] = m[11];
+        this._m[12] = m[12];
+        this._m[13] = m[13];
+        this._m[14] = m[14];
+        this._m[15] = m[15];
+        return this;
+    }
+
+    /**
+     * Duplicates a Matrix3 instance.
+     * @public
+     * @returns {Mat4} -
+     */
+    clone() {
+        var res = new Mat4();
+        res.set(this);
+        return res;
+    }
+
+    /**
+     * Copy matrix.
+     * @public
+     * @param {Mat3} a - Matrix to copy.
+     */
+    copy(a) {
+        this.set(a._m);
+    }
+
+    /**
+     * Converts to 3x3 matrix.
+     * @public
+     * @returns {Mat3} -
+     */
+    toMatrix3() {
+        var res = new Mat3();
+        var a = this._m,
+            b = res._m;
+        b[0] = a[0];
+        b[1] = a[1];
+        b[2] = a[2];
+        b[3] = a[4];
+        b[4] = a[5];
+        b[5] = a[6];
+        b[6] = a[8];
+        b[7] = a[9];
+        b[8] = a[10];
+        return res;
+    }
+
+    /**
+     * Multiply to 3d vector.
+     * @public
+     * @param {Vec3} p - 3d vector.
+     * @returns {Vec3} -
+     */
+    mulVec3(p) {
+        var d = p.x,
+            e = p.y,
+            g = p.z;
+        return new Vec3(
+            this._m[0] * d + this._m[4] * e + this._m[8] * g + this._m[12],
+            this._m[1] * d + this._m[5] * e + this._m[9] * g + this._m[13],
+            this._m[2] * d + this._m[6] * e + this._m[10] * g + this._m[14]
+        );
+    }
+
+    /**
+     * Multiply to 4d vector.
+     * @public
+     * @param {Vec4} p - 4d vector.
+     * @returns {Vec4} -
+     */
+    mulVec4(p) {
+        var d = p.x,
+            e = p.y,
+            g = p.z,
+            f = p.w;
+        return new Vec4(
+            this._m[0] * d + this._m[4] * e + this._m[8] * g + this._m[12] * f,
+            this._m[1] * d + this._m[5] * e + this._m[9] * g + this._m[13] * f,
+            this._m[2] * d + this._m[6] * e + this._m[10] * g + this._m[14] * f,
+            this._m[3] * d + this._m[7] * e + this._m[11] * g + this._m[15] * f
+        );
+    }
+
+    /**
+     * Creates an inversed 3x3 matrix of the current.
+     * @public
+     * @returns {Mat3} -
+     */
+    toInverseMatrix3() {
+        var a = this._m;
+        var c = a[0],
+            d = a[1],
+            e = a[2],
+            g = a[4],
+            f = a[5],
+            h = a[6],
+            i = a[8],
+            j = a[9],
+            k = a[10],
+            l = k * f - h * j,
+            o = -k * g + h * i,
+            m = j * g - f * i,
+            n = c * l + d * o + e * m;
+
+        if (!n) {
+            return null;
+        }
+
+        n = 1 / n;
+
+        var res = new Mat3();
+        res._m[0] = l * n;
+        res._m[1] = (-k * d + e * j) * n;
+        res._m[2] = (h * d - e * f) * n;
+        res._m[3] = o * n;
+        res._m[4] = (k * c - e * i) * n;
+        res._m[5] = (-h * c + e * g) * n;
+        res._m[6] = m * n;
+        res._m[7] = (-j * c + d * i) * n;
+        res._m[8] = (f * c - d * g) * n;
+        return res;
+    }
+
+    /**
+     * Creates an inversed matrix of the current.
+     * @public
+     * @returns {Mat4} -
+     */
+    inverseTo(res) {
+        var c = this._m[0],
+            d = this._m[1],
+            e = this._m[2],
+            g = this._m[3],
+            f = this._m[4],
+            h = this._m[5],
+            i = this._m[6],
+            j = this._m[7],
+            k = this._m[8],
+            l = this._m[9],
+            o = this._m[10],
+            m = this._m[11],
+            n = this._m[12],
+            p = this._m[13],
+            r = this._m[14],
+            s = this._m[15],
+            A = c * h - d * f,
+            B = c * i - e * f,
+            t = c * j - g * f,
+            u = d * i - e * h,
+            v = d * j - g * h,
+            w = e * j - g * i,
+            x = k * p - l * n,
+            y = k * r - o * n,
+            z = k * s - m * n,
+            C = l * r - o * p,
+            D = l * s - m * p,
+            E = o * s - m * r,
+            q = 1 / (A * E - B * D + t * C + u * z - v * y + w * x);
+
+        res = res || new Mat4();
+
+        res._m[0] = (h * E - i * D + j * C) * q;
+        res._m[1] = (-d * E + e * D - g * C) * q;
+        res._m[2] = (p * w - r * v + s * u) * q;
+        res._m[3] = (-l * w + o * v - m * u) * q;
+        res._m[4] = (-f * E + i * z - j * y) * q;
+        res._m[5] = (c * E - e * z + g * y) * q;
+        res._m[6] = (-n * w + r * t - s * B) * q;
+        res._m[7] = (k * w - o * t + m * B) * q;
+        res._m[8] = (f * D - h * z + j * x) * q;
+        res._m[9] = (-c * D + d * z - g * x) * q;
+        res._m[10] = (n * v - p * t + s * A) * q;
+        res._m[11] = (-k * v + l * t - m * A) * q;
+        res._m[12] = (-f * C + h * y - i * x) * q;
+        res._m[13] = (c * C - d * y + e * x) * q;
+        res._m[14] = (-n * u + p * B - r * A) * q;
+        res._m[15] = (k * u - l * B + o * A) * q;
+        return res;
+    }
+
+    /**
+     * Creates a trasposed matrix of the current.
+     * @public
+     * @returns {Mat4} -
+     */
+    transposeTo() {
+        var res = new Mat4();
+        res._m[0] = this._m[0];
+        res._m[1] = this._m[4];
+        res._m[2] = this._m[8];
+        res._m[3] = this._m[12];
+        res._m[4] = this._m[1];
+        res._m[5] = this._m[5];
+        res._m[6] = this._m[9];
+        res._m[7] = this._m[13];
+        res._m[8] = this._m[2];
+        res._m[9] = this._m[6];
+        res._m[10] = this._m[10];
+        res._m[11] = this._m[14];
+        res._m[12] = this._m[3];
+        res._m[13] = this._m[7];
+        res._m[14] = this._m[11];
+        res._m[15] = this._m[15];
+        return res;
+    }
+
+    /**
+     * Sets matrix to identity.
+     * @public
+     * @returns {Mat4} -
+     */
+    setIdentity() {
+        this._m[0] = 1;
+        this._m[1] = 0;
+        this._m[2] = 0;
+        this._m[3] = 0;
+        this._m[4] = 0;
+        this._m[5] = 1;
+        this._m[6] = 0;
+        this._m[7] = 0;
+        this._m[8] = 0;
+        this._m[9] = 0;
+        this._m[10] = 1;
+        this._m[11] = 0;
+        this._m[12] = 0;
+        this._m[13] = 0;
+        this._m[14] = 0;
+        this._m[15] = 1;
+        return this;
+    }
+
+    /**
+     * Computes the product of two matrices.
+     * @public
+     * @param {Mat4} mx - Matrix to multiply.
+     * @returns {Mat4} -
+     */
+    mul(mx) {
+        let d = this._m[0],
+            e = this._m[1],
+            g = this._m[2],
+            f = this._m[3],
+            h = this._m[4],
+            i = this._m[5],
+            j = this._m[6],
+            k = this._m[7],
+            l = this._m[8],
+            o = this._m[9],
+            m = this._m[10],
+            n = this._m[11],
+            p = this._m[12],
+            r = this._m[13],
+            s = this._m[14],
+            a = this._m[15];
+
+        let A = mx._m[0],
+            B = mx._m[1],
+            t = mx._m[2],
+            u = mx._m[3],
+            v = mx._m[4],
+            w = mx._m[5],
+            x = mx._m[6],
+            y = mx._m[7],
+            z = mx._m[8],
+            C = mx._m[9],
+            D = mx._m[10],
+            E = mx._m[11],
+            q = mx._m[12],
+            F = mx._m[13],
+            G = mx._m[14],
+            b = mx._m[15];
+
+        var res = new Mat4();
+        res._m[0] = A * d + B * h + t * l + u * p;
+        res._m[1] = A * e + B * i + t * o + u * r;
+        res._m[2] = A * g + B * j + t * m + u * s;
+        res._m[3] = A * f + B * k + t * n + u * a;
+        res._m[4] = v * d + w * h + x * l + y * p;
+        res._m[5] = v * e + w * i + x * o + y * r;
+        res._m[6] = v * g + w * j + x * m + y * s;
+        res._m[7] = v * f + w * k + x * n + y * a;
+        res._m[8] = z * d + C * h + D * l + E * p;
+        res._m[9] = z * e + C * i + D * o + E * r;
+        res._m[10] = z * g + C * j + D * m + E * s;
+        res._m[11] = z * f + C * k + D * n + E * a;
+        res._m[12] = q * d + F * h + G * l + b * p;
+        res._m[13] = q * e + F * i + G * o + b * r;
+        res._m[14] = q * g + F * j + G * m + b * s;
+        res._m[15] = q * f + F * k + G * n + b * a;
+        return res;
+    }
+
+    /**
+     * Add translation vector to the current matrix.
+     * @public
+     * @param {Vec3} v - Translate vector.
+     * @returns {Mat4} -
+     */
+    translate(v) {
+        var d = v.x,
+            e = v.y,
+            b = v.z;
+        var a = this._m;
+        a[12] = a[0] * d + a[4] * e + a[8] * b + a[12];
+        a[13] = a[1] * d + a[5] * e + a[9] * b + a[13];
+        a[14] = a[2] * d + a[6] * e + a[10] * b + a[14];
+        a[15] = a[3] * d + a[7] * e + a[11] * b + a[15];
+        return this;
+    }
+
+    /**
+     * Sets translation matrix to the position.
+     * @public
+     * @param {Vec3} v - Translate to position.
+     * @returns {Mat4} -
+     */
+    translateToPosition(v) {
+        var a = this._m;
+        a[12] = v.x;
+        a[13] = v.y;
+        a[14] = v.z;
+        return this;
+    }
+
+    /**
+     * Rotate currrent matrix around the aligned axis and angle.
+     * @public
+     * @param {Vec3} u - Aligned axis.
+     * @param {number} angle - Aligned axis angle in radians.
+     * @returns {Mat4} -
+     * @todo: OPTIMIZE: reveal multiplication
+     */
+    rotate(u, angle) {
+        var c = Math.cos(angle),
+            s = Math.sin(angle);
+        var rot = new Mat4();
+        var mx = rot._m;
+        mx[0] = c + (1 - c) * u.x * u.x;
+        mx[1] = (1 - c) * u.y * u.x - s * u.z;
+        mx[2] = (1 - c) * u.z * u.x + s * u.y;
+        mx[3] = 0;
+        mx[4] = (1 - c) * u.x * u.y + s * u.z;
+        mx[5] = c + (1 - c) * u.y * u.y;
+        mx[6] = (1 - c) * u.z * u.y - s * u.x;
+        mx[7] = 0;
+        mx[8] = (1 - c) * u.x * u.z - s * u.y;
+        mx[9] = (1 - c) * u.y * u.z + s * u.x;
+        mx[10] = c + (1 - c) * u.z * u.z;
+        mx[11] = 0;
+        mx[12] = 0;
+        mx[13] = 0;
+        mx[14] = 0;
+        mx[15] = 1;
+        return this.mul(rot);
+    }
+
+    /**
+     * Sets current rotation matrix around the aligned axis and angle.
+     * @public
+     * @param {Vec3} u - Aligned axis.
+     * @param {number} angle - Aligned axis angle in radians.
+     * @returns {Mat4} -
+     */
+    setRotation(u, angle) {
+        var c = Math.cos(angle),
+            s = Math.sin(angle);
+        var mx = this._m;
+        mx[0] = c + (1 - c) * u.x * u.x;
+        mx[1] = (1 - c) * u.y * u.x - s * u.z;
+        mx[2] = (1 - c) * u.z * u.x + s * u.y;
+        mx[3] = 0;
+        mx[4] = (1 - c) * u.x * u.y + s * u.z;
+        mx[5] = c + (1 - c) * u.y * u.y;
+        mx[6] = (1 - c) * u.z * u.y - s * u.x;
+        mx[7] = 0;
+        mx[8] = (1 - c) * u.x * u.z - s * u.y;
+        mx[9] = (1 - c) * u.y * u.z + s * u.x;
+        mx[10] = c + (1 - c) * u.z * u.z;
+        mx[11] = 0;
+        mx[12] = 0;
+        mx[13] = 0;
+        mx[14] = 0;
+        mx[15] = 1;
+        return this;
+    }
+
+    /**
+     * Gets the rotation matrix from one vector to another.
+     * @public
+     * @param {Vec3} a - Firtst vector.
+     * @param {Vec3} b - Second vector.
+     * @returns {Mat4} -
+     */
+    rotateBetweenVectors(a, b) {
+        var q = Quat.getRotationBetweenVectors(a, b);
+        return q.getMat4();
+    }
+
+    /**
+     * Scale current matrix to the vector values.
+     * @public
+     * @param {Vec3} v - Scale vector.
+     * @returns {Mat4} -
+     */
+    scale(v) {
+        var mx = this._m;
+        mx[0] = mx[0] * v.x;
+        mx[1] = mx[1] * v.x;
+        mx[2] = mx[2] * v.x;
+        mx[3] = mx[3] * v.x;
+        mx[4] = mx[4] * v.y;
+        mx[5] = mx[5] * v.y;
+        mx[6] = mx[6] * v.y;
+        mx[7] = mx[7] * v.y;
+        mx[8] = mx[8] * v.z;
+        mx[9] = mx[9] * v.z;
+        mx[10] = mx[10] * v.z;
+        mx[11] = mx[11] * v.z;
+        return this;
+    }
+
+    /**
+     * Sets perspective projection matrix frustum values.
+     * @public
+     * @param {number} left -
+     * @param {number} right -
+     * @param {number} bottom -
+     * @param {number} top -
+     * @param {number} near -
+     * @param {number} far -
+     * @returns {Mat4} -
+     */
+    setPerspective(left, right, bottom, top, near, far) {
+        var h = right - left,
+            i = top - bottom,
+            j = far - near;
+        this._m[0] = (near * 2) / h;
+        this._m[1] = 0;
+        this._m[2] = 0;
+        this._m[3] = 0;
+        this._m[4] = 0;
+        this._m[5] = (near * 2) / i;
+        this._m[6] = 0;
+        this._m[7] = 0;
+        this._m[8] = (right + left) / h;
+        this._m[9] = (top + bottom) / i;
+        this._m[10] = -(far + near) / j;
+        this._m[11] = -1;
+        this._m[12] = 0;
+        this._m[13] = 0;
+        this._m[14] = -(far * near * 2) / j;
+        this._m[15] = 0;
+        return this;
+    }
+
+    /**
+     * Creates current orthographic projection matrix.
+     * @public
+     * @param {number} left -
+     * @param {number} right -
+     * @param {number} bottom -
+     * @param {number} top -
+     * @param {number} near -
+     * @param {number} far -
+     * @return {Mat4} -
+     */
+    setOrtho(left, right, bottom, top, near, far) {
+        var lr = 1.0 / (left - right),
+            bt = 1.0 / (bottom - top),
+            nf = 1.0 / (near - far),
+            m = this._m;
+
+        m[0] = -2.0 * lr;
+        m[1] = 0;
+        m[2] = 0;
+        m[3] = 0;
+        m[4] = 0;
+        m[5] = -2.0 * bt;
+        m[6] = 0;
+        m[7] = 0;
+        m[8] = 0;
+        m[9] = 0;
+        m[10] = 2.0 * nf;
+        m[11] = 0;
+        m[12] = (left + right) * lr;
+        m[13] = (top + bottom) * bt;
+        m[14] = (far + near) * nf;
+        m[15] = 1.0;
+        return this;
+    }
+
+    /**
+     * Sets current rotation matrix by euler's angles.
+     * @public
+     * @param {number} ax - Rotation angle in radians arond X axis.
+     * @param {number} ay - Rotation angle in radians arond Y axis.
+     * @param {number} az - Rotation angle in radians arond Z axis.
+     * @returns {Mat4} -
+     */
+    eulerToMatrix(ax, ay, az) {
+        var a = Math.cos(ax),
+            b = Math.sin(ax),
+            c = Math.cos(ay),
+            d = Math.sin(ay),
+            e = Math.cos(az),
+            f = Math.sin(az);
+
+        var ad = a * d,
+            bd = b * d;
+
+        var mat = this._m;
+
+        mat[0] = c * e;
+        mat[1] = -c * f;
+        mat[2] = -d;
+        mat[4] = -bd * e + a * f;
+        mat[5] = bd * f + a * e;
+        mat[6] = -b * c;
+        mat[8] = ad * e + b * f;
+        mat[9] = -ad * f + b * e;
+        mat[10] = a * c;
+        mat[3] = mat[7] = mat[11] = mat[12] = mat[13] = mat[14] = 0;
+        mat[15] = 1;
+
+        return this;
+    }
+}
+
+/**
+ * Mat4 factory.
+ * @static
+ * @returns {Mat4} -
+ */
+export function mat4() {
+    return new Mat4();
+}