@thi.ng/matrices 1.0.4 → 2.0.3

package/lib/index.js

@@ -1,733 +0,0 @@
-'use strict';
-
-Object.defineProperty(exports, '__esModule', { value: true });
-
-var vectors = require('@thi.ng/vectors');
-var math = require('@thi.ng/math');
-var checks = require('@thi.ng/checks');
-
-const IDENT22 = Object.freeze([1, 0, 0, 1]);
-const IDENT23 = Object.freeze([1, 0, 0, 1, 0, 0]);
-const IDENT33 = Object.freeze([
-    1, 0, 0,
-    0, 1, 0,
-    0, 0, 1
-]);
-const IDENT44 = Object.freeze([
-    1, 0, 0, 0,
-    0, 1, 0, 0,
-    0, 0, 1, 0,
-    0, 0, 0, 1
-]);
-
-const DEFAULT_SIZES = [6, 9, 16];
-const defMath = (fn, op, sizes = DEFAULT_SIZES) => sizes.map((n) => fn.add(n, vectors.compile(n, vectors.MATH(op), vectors.ARGS_VV, undefined, "o", "", vectors.DEFAULT_OUT)));
-const defMathN = (fn, op, sizes = DEFAULT_SIZES) => sizes.map((n) => fn.add(n, vectors.compile(n, vectors.MATH_N(op), vectors.ARGS_VN, "o,a", "o", "", vectors.DEFAULT_OUT)));
-
-const add = vectors.add;
-const add22 = vectors.add4;
-const [add23, add33, add44] = defMath(add, "+");
-
-const addN = vectors.addN;
-const addN22 = vectors.addN4;
-const [addN23, addN33, addN44] = defMathN(addN, "+");
-
-const quatFromAxisAngle = (axis, theta) => {
-    theta *= 0.5;
-    return vectors.normalize([0, 0, 0, Math.cos(theta)], axis, Math.sin(theta));
-};
-const quatToAxisAngle = (quat) => {
-    const n = vectors.normalize([], quat);
-    const w = n[3];
-    const m = Math.sqrt(1 - w * w);
-    const theta = 2 * Math.acos(w);
-    return m > math.EPS
-        ? [[n[0] / m, n[1] / m, n[2] / m], theta]
-        : [[n[0], n[1], n[2]], theta];
-};
-
-const alignmentQuat = (from, to, normalize = true) => {
-    if (normalize) {
-        from = vectors.normalize([], from);
-        to = vectors.normalize([], to);
-    }
-    const axis = vectors.cross3([], from, to);
-    return quatFromAxisAngle(axis, Math.atan2(vectors.mag(axis), vectors.dot3(from, to)));
-};
-
-const column = vectors.vop(1);
-const column22 = column.add(4, (out, m, n) => vectors.setS2(out, m, 0, n * 2));
-const column23 = column.add(6, column22);
-const column33 = column.add(9, (out, m, n) => vectors.setS3(out, m, 0, n * 3));
-const column44 = column.add(16, (out, m, n) => vectors.setS4(out, m, 0, n * 4));
-
-const mulM = vectors.vop(1);
-const mulM22 = mulM.add(4, (out, a, b) => vectors.setC4(out || a, vectors.dotS2(a, b, 0, 0, 2), vectors.dotS2(a, b, 1, 0, 2), vectors.dotS2(a, b, 0, 2, 2), vectors.dotS2(a, b, 1, 2, 2)));
-const mulM23 = mulM.add(6, (out, a, b) => vectors.setC6(out || a, vectors.dotS2(a, b, 0, 0, 2), vectors.dotS2(a, b, 1, 0, 2), vectors.dotS2(a, b, 0, 2, 2), vectors.dotS2(a, b, 1, 2, 2), vectors.dotS2(a, b, 0, 4, 2) + a[4], vectors.dotS2(a, b, 1, 4, 2) + a[5]));
-const mulM33 = mulM.add(9, (out, a, b) => vectors.setC(out || a, vectors.dotS3(a, b, 0, 0, 3), vectors.dotS3(a, b, 1, 0, 3), vectors.dotS3(a, b, 2, 0, 3), vectors.dotS3(a, b, 0, 3, 3), vectors.dotS3(a, b, 1, 3, 3), vectors.dotS3(a, b, 2, 3, 3), vectors.dotS3(a, b, 0, 6, 3), vectors.dotS3(a, b, 1, 6, 3), vectors.dotS3(a, b, 2, 6, 3)));
-const mulM44 = mulM.add(16, (out, a, b) => vectors.setC(out || a, vectors.dotS4(a, b, 0, 0, 4), vectors.dotS4(a, b, 1, 0, 4), vectors.dotS4(a, b, 2, 0, 4), vectors.dotS4(a, b, 3, 0, 4), vectors.dotS4(a, b, 0, 4, 4), vectors.dotS4(a, b, 1, 4, 4), vectors.dotS4(a, b, 2, 4, 4), vectors.dotS4(a, b, 3, 4, 4), vectors.dotS4(a, b, 0, 8, 4), vectors.dotS4(a, b, 1, 8, 4), vectors.dotS4(a, b, 2, 8, 4), vectors.dotS4(a, b, 3, 8, 4), vectors.dotS4(a, b, 0, 12, 4), vectors.dotS4(a, b, 1, 12, 4), vectors.dotS4(a, b, 2, 12, 4), vectors.dotS4(a, b, 3, 12, 4)));
-
-const concat = (out, a, b, ...xs) => xs.reduce((acc, x) => mulM(acc, acc, x), mulM(out, a, b));
-
-const conjugateQ = (out, a) => vectors.setC4(out || a, -a[0], -a[1], -a[2], a[3]);
-
-const dp4$1 = vectors.dotC4;
-const dp6$1 = vectors.dotC6;
-const det22 = (m) => dp4$1(m[0], m[3], -m[1], m[2]);
-const det23 = det22;
-const det33 = (m) => {
-    const [m00, m01, m02, m10, m11, m12, m20, m21, m22] = m;
-    const d01 = dp4$1(m22, m11, -m12, m21);
-    const d11 = dp4$1(m12, m20, -m22, m10);
-    const d21 = dp4$1(m21, m10, -m11, m20);
-    return dp6$1(m00, d01, m01, d11, m02, d21);
-};
-const detCoeffs44 = (m) => {
-    const [m00, m01, m02, m03, m10, m11, m12, m13, m20, m21, m22, m23, m30, m31, m32, m33,] = m;
-    return [
-        dp4$1(m00, m11, -m01, m10),
-        dp4$1(m00, m12, -m02, m10),
-        dp4$1(m00, m13, -m03, m10),
-        dp4$1(m01, m12, -m02, m11),
-        dp4$1(m01, m13, -m03, m11),
-        dp4$1(m02, m13, -m03, m12),
-        dp4$1(m20, m31, -m21, m30),
-        dp4$1(m20, m32, -m22, m30),
-        dp4$1(m20, m33, -m23, m30),
-        dp4$1(m21, m32, -m22, m31),
-        dp4$1(m21, m33, -m23, m31),
-        dp4$1(m22, m33, -m23, m32),
-    ];
-};
-const det44FromCoeffs = (d) => dp6$1(d[0], d[11], -d[1], d[10], d[2], d[9]) +
-    dp6$1(d[3], d[8], -d[4], d[7], d[5], d[6]);
-const det44 = (m) => det44FromCoeffs(detCoeffs44(m));
-
-const diag = vectors.vop(1);
-const diag22 = diag.add(4, (out, m) => vectors.setS2(out, m, 0, 0, 1, 3));
-const diag23 = diag.add(6, diag22);
-const diag33 = diag.add(9, (out, m) => vectors.setS3(out, m, 0, 0, 1, 4));
-const diag44 = diag.add(16, (out, m) => vectors.setS4(out, m, 0, 0, 1, 5));
-
-const div = vectors.div;
-const div22 = vectors.div4;
-const [div23, div33, div44] = defMath(div, "/");
-
-const divN = vectors.divN;
-const divN22 = vectors.divN4;
-const [divN23, divN33, divN44] = defMathN(divN, "/");
-
-const frustum = (out, left, right, bottom, top, near, far) => {
-    const dx = 1 / (right - left);
-    const dy = 1 / (top - bottom);
-    const dz = 1 / (far - near);
-    return vectors.setC(out || [], near * 2 * dx, 0, 0, 0, 0, near * 2 * dy, 0, 0, (right + left) * dx, (top + bottom) * dy, -(far + near) * dz, -1, 0, 0, -(far * near * 2) * dz, 0);
-};
-const frustumBounds = (fovy, aspect, near, far) => {
-    const top = near * Math.tan((fovy * math.DEG2RAD) / 2);
-    const right = top * aspect;
-    return {
-        left: -right,
-        right,
-        bottom: -top,
-        top,
-        near,
-        far,
-    };
-};
-
-const $$2 = (dim) => vectors.set.add(dim, vectors.compile(dim, vectors.SET, "o,a"));
-const set = vectors.set;
-const set22 = vectors.set4;
-const set23 = $$2(6);
-const set33 = $$2(9);
-const set44 = $$2(16);
-
-const identity = vectors.vop();
-const identity22 = identity.add(4, (m) => set(m, IDENT22));
-const identity23 = identity.add(6, (m) => set(m, IDENT23));
-const identity33 = identity.add(9, (m) => set(m, IDENT33));
-const identity44 = identity.add(16, (m) => set(m, IDENT44));
-
-const dp4 = vectors.dotC4;
-const dp6 = vectors.dotC6;
-const invert = vectors.vop(1);
-const invert22 = invert.add(4, (out, m) => {
-    const [m00, m01, m10, m11] = m;
-    let det = dp4(m00, m11, -m01, m10);
-    if (det === 0)
-        return;
-    det = 1.0 / det;
-    return vectors.setC4(out || m, m11 * det, -m01 * det, -m10 * det, m00 * det);
-});
-const invert23 = invert.add(6, (out, m) => {
-    const [m00, m01, m10, m11, m20, m21] = m;
-    let det = dp4(m00, m11, -m01, m10);
-    if (det === 0)
-        return;
-    det = 1.0 / det;
-    return vectors.setC6(out || m, m11 * det, -m01 * det, -m10 * det, m00 * det, dp4(m10, m21, -m11, m20) * det, dp4(m01, m20, -m00, m21) * det);
-});
-const invert33 = invert.add(9, (out, m) => {
-    const [m00, m01, m02, m10, m11, m12, m20, m21, m22] = m;
-    const d01 = dp4(m22, m11, -m12, m21);
-    const d11 = dp4(m12, m20, -m22, m10);
-    const d21 = dp4(m21, m10, -m11, m20);
-    let det = dp6(m00, d01, m01, d11, m02, d21);
-    if (det === 0)
-        return;
-    det = 1.0 / det;
-    return vectors.setC(out || m, d01 * det, dp4(-m22, m01, m02, m21) * det, dp4(m12, m01, -m02, m11) * det, d11 * det, dp4(m22, m00, -m02, m20) * det, dp4(-m12, m00, m02, m10) * det, d21 * det, dp4(-m21, m00, m01, m20) * det, dp4(m11, m00, -m01, m10) * det);
-});
-const invert44 = invert.add(16, (out, m) => {
-    const coeffs = detCoeffs44(m);
-    let det = det44FromCoeffs(coeffs);
-    if (det === 0)
-        return;
-    det = 1.0 / det;
-    const [m00, m01, m02, m03, m10, m11, m12, m13, m20, m21, m22, m23, m30, m31, m32, m33,] = m;
-    const [d00, d01, d02, d03, d04, d05, d06, d07, d08, d09, d10, d11] = coeffs;
-    return vectors.setC(out || m, dp6(m11, d11, -m12, d10, m13, d09) * det, dp6(-m01, d11, m02, d10, -m03, d09) * det, dp6(m31, d05, -m32, d04, m33, d03) * det, dp6(-m21, d05, m22, d04, -m23, d03) * det, dp6(-m10, d11, m12, d08, -m13, d07) * det, dp6(m00, d11, -m02, d08, m03, d07) * det, dp6(-m30, d05, m32, d02, -m33, d01) * det, dp6(m20, d05, -m22, d02, m23, d01) * det, dp6(m10, d10, -m11, d08, m13, d06) * det, dp6(-m00, d10, m01, d08, -m03, d06) * det, dp6(m30, d04, -m31, d02, m33, d00) * det, dp6(-m20, d04, m21, d02, -m23, d00) * det, dp6(-m10, d09, m11, d07, -m12, d06) * det, dp6(m00, d09, -m01, d07, m02, d06) * det, dp6(-m30, d03, m31, d01, -m32, d00) * det, dp6(m20, d03, -m21, d01, m22, d00) * det);
-});
-const invertQ = (out, a) => {
-    let d = vectors.magSq4(a);
-    d = d > 0 ? -1 / d : 0;
-    return vectors.setC4(out || a, a[0] * d, a[1] * d, a[2] * d, a[3] * -d);
-};
-
-const lookAt = (out, eye, target, up) => {
-    const z = vectors.normalize(null, vectors.sub3([], eye, target));
-    const x = vectors.normalize(null, vectors.cross3([], up, z));
-    const y = vectors.normalize(null, vectors.cross3([], z, x));
-    return vectors.setC(out || [], x[0], y[0], z[0], 0, x[1], y[1], z[1], 0, x[2], y[2], z[2], 0, -vectors.dot3(eye, x), -vectors.dot3(eye, y), -vectors.dot3(eye, z), 1);
-};
-
-const mat22to23 = (out, m22) => (!out && (out = []), vectors.set4(out, m22), (out[4] = out[5] = 0), out);
-
-const mat23to22 = (out, m23) => vectors.set4(out || [], m23);
-
-const mat23to44 = (out, m23) => vectors.setC(out || [],
-m23[0], m23[1], 0, 0,
-m23[2], m23[3], 0, 0,
-0, 0, 1, 0,
-m23[4], m23[5], 0, 1);
-
-const mat33to44 = (out, m33) => vectors.setC(out || [],
-m33[0], m33[1], m33[2], 0,
-m33[3], m33[4], m33[5], 0,
-m33[6], m33[7], m33[8], 0,
-0, 0, 0, 1);
-
-const mat44to33 = (out, m44) => (!out && (out = []),
-    vectors.setS3(out, m44),
-    vectors.setS3(out, m44, 3, 4),
-    vectors.setS3(out, m44, 6, 8));
-
-const scale22 = (m, s) => ((s = checks.isNumber(s) ? [s, s] : s), vectors.setC4(m || [], s[0], 0, 0, s[1]));
-const scale23 = (m, s) => ((s = checks.isNumber(s) ? [s, s] : s), vectors.setC6(m || [], s[0], 0, 0, s[1], 0, 0));
-const scale33 = (m, s) => ((s = checks.isNumber(s) ? [s, s, s] : s),
-    vectors.setC(m || [], s[0], 0, 0, 0, s[1], 0, 0, 0, s[2]));
-const scale44 = (m, s) => ((s = checks.isNumber(s) ? [s, s, s] : s),
-    vectors.setC(m || [],
-    s[0], 0, 0, 0,
-    0, s[1], 0, 0,
-    0, 0, s[2], 0,
-    0, 0, 0, s[3] !== undefined ? s[3] : 1));
-
-const mat22n = (out, n) => scale22(out, n);
-const mat23n = (out, n) => scale23(out, n);
-const mat33n = (out, n) => scale33(out, n);
-const mat44n = (out, n) => scale44(out, [n, n, n, n]);
-
-const mat22v = vectors.setVV4;
-const mat23v = vectors.setVV6;
-const mat33v = vectors.setVV9;
-const mat44v = vectors.setVV16;
-
-const mixQ = (out, a, b, t, eps = 1e-3) => {
-    const d = vectors.dot4(a, b);
-    if (Math.abs(d) < 1.0) {
-        const theta = Math.acos(d);
-        const stheta = Math.sqrt(1 - d * d);
-        let u, v;
-        if (Math.abs(stheta) < eps) {
-            u = v = 0.5;
-        }
-        else {
-            u = Math.sin(theta * (1 - t)) / stheta;
-            v = Math.sin(theta * t) / stheta;
-        }
-        !out && (out = a);
-        return vectors.maddN4(out, b, v, vectors.mulN4(out, a, u));
-    }
-    return a !== out ? vectors.set4(out, a) : out;
-};
-
-const mul = vectors.mul;
-const mul22 = vectors.mul4;
-const [mul23, mul33, mul44] = defMath(mul, "*");
-
-const mulN = vectors.mulN;
-const mulN22 = vectors.mulN4;
-const [mulN23, mulN33, mulN44] = defMathN(mulN, "*");
-
-const mulQ = (out, a, b) => {
-    const { 0: ax, 1: ay, 2: az, 3: aw } = a;
-    const { 0: bx, 1: by, 2: bz, 3: bw } = b;
-    return vectors.setC4(out || a, ax * bw + aw * bx + ay * bz - az * by, ay * bw + aw * by + az * bx - ax * bz, az * bw + aw * bz + ax * by - ay * bx, aw * bw - ax * bx - ay * by - az * bz);
-};
-
-const mulV = vectors.vop(1);
-const mulV22 = mulV.add(4, (out, m, v) => vectors.setC2(out || v, vectors.dotS2(m, v, 0, 0, 2), vectors.dotS2(m, v, 1, 0, 2)));
-const mulV23 = mulV.add(6, (out, m, v) => vectors.setC2(out || v, vectors.dotS2(m, v, 0, 0, 2) + m[4], vectors.dotS2(m, v, 1, 0, 2) + m[5]));
-const mulV33 = mulV.add(9, (out, m, v) => vectors.setC3(out || v, vectors.dotS3(m, v, 0, 0, 3), vectors.dotS3(m, v, 1, 0, 3), vectors.dotS3(m, v, 2, 0, 3)));
-const mulV44 = mulV.add(16, (out, m, v) => vectors.setC4(out || v, vectors.dotS4(m, v, 0, 0, 4), vectors.dotS4(m, v, 1, 0, 4), vectors.dotS4(m, v, 2, 0, 4), vectors.dotS4(m, v, 3, 0, 4)));
-const mulV344 = (out, m, v) => {
-    const w = vectors.dotS3(m, v, 3, 0, 4) + m[15];
-    return w !== 0
-        ? vectors.setC3(out || v, (vectors.dotS3(m, v, 0, 0, 4) + m[12]) / w, (vectors.dotS3(m, v, 1, 0, 4) + m[13]) / w, (vectors.dotS3(m, v, 2, 0, 4) + m[14]) / w)
-        : undefined;
-};
-const mulVQ = (out, q, v) => {
-    const { 0: px, 1: py, 2: pz } = v;
-    const { 0: qx, 1: qy, 2: qz, 3: qw } = q;
-    const ix = qw * px + qy * pz - qz * py;
-    const iy = qw * py + qz * px - qx * pz;
-    const iz = qw * pz + qx * py - qy * px;
-    const iw = -qx * px - qy * py - qz * pz;
-    return vectors.setC3(out || v, ix * qw + iw * -qx + iy * -qz - iz * -qy, iy * qw + iw * -qy + iz * -qx - ix * -qz, iz * qw + iw * -qz + ix * -qy - iy * -qx);
-};
-
-const mulVM22 = (out, v, m) => vectors.setC2(out, vectors.dot2(v, m), vectors.dotS2(v, m, 0, 2));
-const mulVM23 = mulVM22;
-const mulVM33 = (out, v, m) => vectors.setC3(out, vectors.dot3(v, m), vectors.dotS3(v, m, 0, 3), vectors.dotS3(v, m, 0, 6));
-const mulVM44 = (out, v, m) => vectors.setC4(out, vectors.dot4(v, m), vectors.dotS4(v, m, 0, 4), vectors.dotS4(v, m, 0, 8), vectors.dotS4(v, m, 0, 12));
-
-const transpose22 = (out, m) => vectors.setC4(out || [], m[0], m[2], m[1], m[3]);
-const transpose33 = (out, m) => vectors.setC(out || [], m[0], m[3], m[6], m[1], m[4], m[7], m[2], m[5], m[8]);
-const transpose44 = (out, m) => vectors.setC(out || [], m[0], m[4], m[8], m[12], m[1], m[5], m[9], m[13], m[2], m[6], m[10], m[14], m[3], m[7], m[11], m[15]);
-
-const normal33 = (out, m) => {
-    out = invert33(null, mat44to33(out, m));
-    return out ? transpose33(null, out) : undefined;
-};
-const normal44 = (out, m) => {
-    out = invert44(out, m);
-    return out ? transpose44(null, out) : undefined;
-};
-
-const ortho = (out, left, right, bottom, top, near, far) => {
-    const dx = 1 / (right - left);
-    const dy = 1 / (top - bottom);
-    const dz = 1 / (far - near);
-    return vectors.setC(out || [], 2 * dx, 0, 0, 0, 0, 2 * dy, 0, 0, 0, 0, -2 * dz, 0, -(left + right) * dx, -(top + bottom) * dy, -(far + near) * dz, 1);
-};
-
-const isOrthagonal = (m, n, eps = math.EPS) => {
-    for (let i = 0; i < n; i++) {
-        const ii = i * n;
-        for (let j = 0; j < n; j++) {
-            const jj = j * n;
-            let acc = 0;
-            for (let k = 0; k < n; k++) {
-                acc += m[ii + k] * m[jj + k];
-            }
-            if ((i == j && !math.eqDelta(acc, 1, eps)) ||
-                (i != j && !math.eqDelta(acc, 0, eps))) {
-                return false;
-            }
-        }
-    }
-    return true;
-};
-
-const outerProduct = vectors.vop(1);
-const outerProduct2 = outerProduct.add(2, (out, [ux, uy], [vx, vy]) => vectors.setC4(out || [], ux * vx, uy * vx, ux * vy, uy * vy));
-const outerProduct3 = outerProduct.add(3, (out, [ux, uy, uz], [vx, vy, vz]) => vectors.setC(out || [], ux * vx, uy * vx, uz * vx, ux * vy, uy * vy, uz * vy, ux * vz, uy * vz, uz * vz));
-const outerProduct4 = outerProduct.add(4, (out, [ux, uy, uz, uw], [vx, vy, vz, vw]) => vectors.setC(out || [], ux * vx, uy * vx, uz * vx, uw * vx, ux * vy, uy * vy, uz * vy, uw * vy, ux * vz, uy * vz, uz * vz, uw * vz, ux * vw, uy * vw, uz * vw, uw * vw));
-
-const perspective = (out, fov, aspect, near, far) => {
-    const f = frustumBounds(fov, aspect, near, far);
-    return frustum(out, f.left, f.right, f.bottom, f.top, f.near, f.far);
-};
-
-const project = (out, mvp, view, p) => (!out && (out = []),
-    mulV23(out, view, vectors.fromHomogeneous4(out, mulV44([], mvp, p))));
-const project3 = (out, mvp, view, p) => {
-    !out && (out = []);
-    const q = mulV344(out, mvp, p);
-    return q ? mulV23(q, view, q) : undefined;
-};
-const unproject = (out, mvp, view, p, doInvert = false) => {
-    if (doInvert) {
-        const _mvp = invert44([], mvp);
-        const _view = invert23([], view);
-        if (!_mvp || !_view)
-            return;
-        mvp = _mvp;
-        view = _view;
-    }
-    return mulV344(out, mvp, mulV23([0, 0, p[2] * 2 - 1], view, p));
-};
-
-const axisOrder = {
-    xyz: [vectors.X3, vectors.Y3, vectors.Z3],
-    yxz: [vectors.Y3, vectors.X3, vectors.Z3],
-    xzy: [vectors.X3, vectors.Z3, vectors.Y3],
-    zxy: [vectors.Z3, vectors.X3, vectors.Y3],
-    yzx: [vectors.Y3, vectors.Z3, vectors.X3],
-    zyx: [vectors.Z3, vectors.Y3, vectors.X3],
-};
-const quatFromEuler = (order, a, b, c) => {
-    const [aa, ab, ac] = axisOrder[order];
-    return mulQ(null, mulQ([], quatFromAxisAngle(aa, a), quatFromAxisAngle(ab, b)), quatFromAxisAngle(ac, c));
-};
-
-const quatToMat33 = (out, q) => {
-    const [x, y, z, w] = q;
-    const x2 = x + x;
-    const y2 = y + y;
-    const z2 = z + z;
-    const xx = x * x2;
-    const xy = x * y2;
-    const xz = x * z2;
-    const yy = y * y2;
-    const yz = y * z2;
-    const zz = z * z2;
-    const wx = w * x2;
-    const wy = w * y2;
-    const wz = w * z2;
-    return vectors.setC(out || [], 1 - yy - zz, xy + wz, xz - wy, xy - wz, 1 - xx - zz, yz + wx, xz + wy, yz - wx, 1 - xx - yy);
-};
-
-const quatToMat44 = (out, a, t = vectors.ZERO3) => {
-    const [x, y, z, w] = a;
-    const x2 = x + x;
-    const y2 = y + y;
-    const z2 = z + z;
-    const xx = x * x2;
-    const xy = x * y2;
-    const xz = x * z2;
-    const yy = y * y2;
-    const yz = y * z2;
-    const zz = z * z2;
-    const wx = w * x2;
-    const wy = w * y2;
-    const wz = w * z2;
-    return vectors.setC(out || [], 1 - yy - zz, xy + wz, xz - wy, 0, xy - wz, 1 - xx - zz, yz + wx, 0, xz + wy, yz - wx, 1 - xx - yy, 0, t[0], t[1], t[2], 1);
-};
-
-const rotationAroundAxis33 = (out, axis, theta, normalize = false) => {
-    const [x, y, z] = normalize ? vectors.normalize([], axis) : axis;
-    const [s, c] = math.sincos(theta);
-    const t = 1 - c;
-    const xs = x * s;
-    const ys = y * s;
-    const zs = z * s;
-    const xt = x * t;
-    const yt = y * t;
-    const zt = z * t;
-    return vectors.setC(out || [], x * xt + c, y * xt + zs, z * xt - ys, x * yt - zs, y * yt + c, z * yt + xs, x * zt + ys, y * zt - xs, z * zt + c);
-};
-const rotationAroundAxis44 = (out, axis, theta, normalize = false) => mat33to44(out, rotationAroundAxis33([], axis, theta, normalize));
-
-const rotation22 = (out, theta) => {
-    const [s, c] = math.sincos(theta);
-    return vectors.setC4(out || [], c, s, -s, c);
-};
-const rotation23 = (out, theta) => {
-    const [s, c] = math.sincos(theta);
-    return vectors.setC6(out || [], c, s, -s, c, 0, 0);
-};
-const rotationX33 = (out, theta) => {
-    const [s, c] = math.sincos(theta);
-    return vectors.setC(out || [], 1, 0, 0, 0, c, s, 0, -s, c);
-};
-const rotationY33 = (out, theta) => {
-    const [s, c] = math.sincos(theta);
-    return vectors.setC(out || [], c, 0, -s, 0, 1, 0, s, 0, c);
-};
-const rotationZ33 = (out, theta) => {
-    const [s, c] = math.sincos(theta);
-    return vectors.setC(out || [], c, s, 0, -s, c, 0, 0, 0, 1);
-};
-const rotationX44 = (out, theta) => {
-    const [s, c] = math.sincos(theta);
-    return vectors.setC(out || [], 1, 0, 0, 0, 0, c, s, 0, 0, -s, c, 0, 0, 0, 0, 1);
-};
-const rotationY44 = (out, theta) => {
-    const [s, c] = math.sincos(theta);
-    return vectors.setC(out || [], c, 0, -s, 0, 0, 1, 0, 0, s, 0, c, 0, 0, 0, 0, 1);
-};
-const rotationZ44 = (out, theta) => {
-    const [s, c] = math.sincos(theta);
-    return vectors.setC(out || [], c, s, 0, 0, -s, c, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1);
-};
-
-const row = vectors.vop(1);
-const row22 = row.add(4, (out, m, n) => vectors.setS2(out, m, 0, n, 1, 2));
-const row23 = row.add(6, (out, m, n) => vectors.setS3(out, m, 0, n, 1, 2));
-const row33 = row.add(9, (out, m, n) => vectors.setS3(out, m, 0, n, 1, 3));
-const row44 = row.add(16, (out, m, n) => vectors.setS4(out, m, 0, n, 1, 4));
-
-const translation23 = (m, v) => vectors.setC6(m || [], 1, 0, 0, 1, v[0], v[1]);
-const translation44 = (m, v) => vectors.setC(m || [], 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, v[0], v[1], v[2], 1);
-
-const scaleWithCenter23 = (m, p, s) => concat(m, translation23([], p), scale23([], s), translation23([], vectors.neg([], p)));
-const scaleWithCenter44 = (m, p, s) => concat(m, translation44([], p), scale44([], s), translation44([], vectors.neg([], p)));
-
-const $$1 = (f) => (i) => (m, x) => (!m && (m = []), f(m), (m[i] = x), m);
-const $22 = $$1(identity22);
-const $23 = $$1(identity23);
-const $33 = $$1(identity33);
-const $44 = $$1(identity44);
-const shearX22 = $22(2);
-const shearY22 = $22(1);
-const shearX23 = $23(2);
-const shearY23 = $23(1);
-const shearXY33 = $33(3);
-const shearXZ33 = $33(6);
-const shearYX33 = $33(1);
-const shearYZ33 = $33(7);
-const shearZX33 = $33(2);
-const shearZY33 = $33(5);
-const shearXY44 = $44(4);
-const shearXZ44 = $44(8);
-const shearYX44 = $44(1);
-const shearYZ44 = $44(9);
-const shearZX44 = $44(2);
-const shearZY44 = $44(6);
-
-const $ = (f) => (m, theta) => f(m, Math.tan(theta));
-const skewX22 = $(shearX22);
-const skewY22 = $(shearY22);
-const skewX23 = $(shearX23);
-const skewY23 = $(shearY23);
-const skewXY33 = $(shearXY33);
-const skewXZ33 = $(shearXZ33);
-const skewYX33 = $(shearYX33);
-const skewYZ33 = $(shearYZ33);
-const skewZX33 = $(shearZX33);
-const skewZY33 = $(shearZY33);
-const skewXY44 = $(shearXY44);
-const skewXZ44 = $(shearXZ44);
-const skewYX44 = $(shearYX44);
-const skewYZ44 = $(shearYZ44);
-const skewZX44 = $(shearZX44);
-const skewZY44 = $(shearZY44);
-
-const sub = vectors.sub;
-const sub22 = vectors.sub4;
-const [sub23, sub33, sub44] = defMath(sub, "-");
-
-const subN = vectors.subN;
-const subN22 = vectors.subN4;
-const [subN23, subN33, subN44] = defMathN(subN, "-");
-
-const trace = (m) => vectors.sum(diag([], m));
-
-const transform23 = (out, translate, rotation, scale) => concat(out, translation23([], translate), rotation23([], rotation), scale23([], scale));
-const transform44 = (out, translate, rotation, scale) => mulM44(out, quatToMat44(out, quatFromEuler("zyx", rotation[2], rotation[1], rotation[0]), translate), scale44([], scale));
-
-const viewport = (out, left, right, bottom, top) => {
-    const x = (left + right) / 2;
-    const y = (bottom + top) / 2;
-    const w = (right - left) / 2;
-    const h = (top - bottom) / 2;
-    return mulM23(null, translation23(out, [x, y]), scale23([], [w, h]));
-};
-
-exports.IDENT22 = IDENT22;
-exports.IDENT23 = IDENT23;
-exports.IDENT33 = IDENT33;
-exports.IDENT44 = IDENT44;
-exports.add = add;
-exports.add22 = add22;
-exports.add23 = add23;
-exports.add33 = add33;
-exports.add44 = add44;
-exports.addN = addN;
-exports.addN22 = addN22;
-exports.addN23 = addN23;
-exports.addN33 = addN33;
-exports.addN44 = addN44;
-exports.alignmentQuat = alignmentQuat;
-exports.column = column;
-exports.column22 = column22;
-exports.column23 = column23;
-exports.column33 = column33;
-exports.column44 = column44;
-exports.concat = concat;
-exports.conjugateQ = conjugateQ;
-exports.defMath = defMath;
-exports.defMathN = defMathN;
-exports.det22 = det22;
-exports.det23 = det23;
-exports.det33 = det33;
-exports.det44 = det44;
-exports.det44FromCoeffs = det44FromCoeffs;
-exports.detCoeffs44 = detCoeffs44;
-exports.diag = diag;
-exports.diag22 = diag22;
-exports.diag23 = diag23;
-exports.diag33 = diag33;
-exports.diag44 = diag44;
-exports.div = div;
-exports.div22 = div22;
-exports.div23 = div23;
-exports.div33 = div33;
-exports.div44 = div44;
-exports.divN = divN;
-exports.divN22 = divN22;
-exports.divN23 = divN23;
-exports.divN33 = divN33;
-exports.divN44 = divN44;
-exports.frustum = frustum;
-exports.frustumBounds = frustumBounds;
-exports.identity = identity;
-exports.identity22 = identity22;
-exports.identity23 = identity23;
-exports.identity33 = identity33;
-exports.identity44 = identity44;
-exports.invert = invert;
-exports.invert22 = invert22;
-exports.invert23 = invert23;
-exports.invert33 = invert33;
-exports.invert44 = invert44;
-exports.invertQ = invertQ;
-exports.isOrthagonal = isOrthagonal;
-exports.lookAt = lookAt;
-exports.mat22n = mat22n;
-exports.mat22to23 = mat22to23;
-exports.mat22v = mat22v;
-exports.mat23n = mat23n;
-exports.mat23to22 = mat23to22;
-exports.mat23to44 = mat23to44;
-exports.mat23v = mat23v;
-exports.mat33n = mat33n;
-exports.mat33to44 = mat33to44;
-exports.mat33v = mat33v;
-exports.mat44n = mat44n;
-exports.mat44to33 = mat44to33;
-exports.mat44v = mat44v;
-exports.mixQ = mixQ;
-exports.mul = mul;
-exports.mul22 = mul22;
-exports.mul23 = mul23;
-exports.mul33 = mul33;
-exports.mul44 = mul44;
-exports.mulM = mulM;
-exports.mulM22 = mulM22;
-exports.mulM23 = mulM23;
-exports.mulM33 = mulM33;
-exports.mulM44 = mulM44;
-exports.mulN = mulN;
-exports.mulN22 = mulN22;
-exports.mulN23 = mulN23;
-exports.mulN33 = mulN33;
-exports.mulN44 = mulN44;
-exports.mulQ = mulQ;
-exports.mulV = mulV;
-exports.mulV22 = mulV22;
-exports.mulV23 = mulV23;
-exports.mulV33 = mulV33;
-exports.mulV344 = mulV344;
-exports.mulV44 = mulV44;
-exports.mulVM22 = mulVM22;
-exports.mulVM23 = mulVM23;
-exports.mulVM33 = mulVM33;
-exports.mulVM44 = mulVM44;
-exports.mulVQ = mulVQ;
-exports.normal33 = normal33;
-exports.normal44 = normal44;
-exports.ortho = ortho;
-exports.outerProduct = outerProduct;
-exports.outerProduct2 = outerProduct2;
-exports.outerProduct3 = outerProduct3;
-exports.outerProduct4 = outerProduct4;
-exports.perspective = perspective;
-exports.project = project;
-exports.project3 = project3;
-exports.quatFromAxisAngle = quatFromAxisAngle;
-exports.quatFromEuler = quatFromEuler;
-exports.quatToAxisAngle = quatToAxisAngle;
-exports.quatToMat33 = quatToMat33;
-exports.quatToMat44 = quatToMat44;
-exports.rotation22 = rotation22;
-exports.rotation23 = rotation23;
-exports.rotationAroundAxis33 = rotationAroundAxis33;
-exports.rotationAroundAxis44 = rotationAroundAxis44;
-exports.rotationX33 = rotationX33;
-exports.rotationX44 = rotationX44;
-exports.rotationY33 = rotationY33;
-exports.rotationY44 = rotationY44;
-exports.rotationZ33 = rotationZ33;
-exports.rotationZ44 = rotationZ44;
-exports.row = row;
-exports.row22 = row22;
-exports.row23 = row23;
-exports.row33 = row33;
-exports.row44 = row44;
-exports.scale22 = scale22;
-exports.scale23 = scale23;
-exports.scale33 = scale33;
-exports.scale44 = scale44;
-exports.scaleWithCenter23 = scaleWithCenter23;
-exports.scaleWithCenter44 = scaleWithCenter44;
-exports.set = set;
-exports.set22 = set22;
-exports.set23 = set23;
-exports.set33 = set33;
-exports.set44 = set44;
-exports.shearX22 = shearX22;
-exports.shearX23 = shearX23;
-exports.shearXY33 = shearXY33;
-exports.shearXY44 = shearXY44;
-exports.shearXZ33 = shearXZ33;
-exports.shearXZ44 = shearXZ44;
-exports.shearY22 = shearY22;
-exports.shearY23 = shearY23;
-exports.shearYX33 = shearYX33;
-exports.shearYX44 = shearYX44;
-exports.shearYZ33 = shearYZ33;
-exports.shearYZ44 = shearYZ44;
-exports.shearZX33 = shearZX33;
-exports.shearZX44 = shearZX44;
-exports.shearZY33 = shearZY33;
-exports.shearZY44 = shearZY44;
-exports.skewX22 = skewX22;
-exports.skewX23 = skewX23;
-exports.skewXY33 = skewXY33;
-exports.skewXY44 = skewXY44;
-exports.skewXZ33 = skewXZ33;
-exports.skewXZ44 = skewXZ44;
-exports.skewY22 = skewY22;
-exports.skewY23 = skewY23;
-exports.skewYX33 = skewYX33;
-exports.skewYX44 = skewYX44;
-exports.skewYZ33 = skewYZ33;
-exports.skewYZ44 = skewYZ44;
-exports.skewZX33 = skewZX33;
-exports.skewZX44 = skewZX44;
-exports.skewZY33 = skewZY33;
-exports.skewZY44 = skewZY44;
-exports.sub = sub;
-exports.sub22 = sub22;
-exports.sub23 = sub23;
-exports.sub33 = sub33;
-exports.sub44 = sub44;
-exports.subN = subN;
-exports.subN22 = subN22;
-exports.subN23 = subN23;
-exports.subN33 = subN33;
-exports.subN44 = subN44;
-exports.trace = trace;
-exports.transform23 = transform23;
-exports.transform44 = transform44;
-exports.translation23 = translation23;
-exports.translation44 = translation44;
-exports.transpose22 = transpose22;
-exports.transpose33 = transpose33;
-exports.transpose44 = transpose44;
-exports.unproject = unproject;
-exports.viewport = viewport;