bg2e-js 2.3.11 → 2.3.13

package/src/math/Mat4.ts

@@ -1,710 +1,710 @@
-import { NumericArray, PI, checkArray } from "./constants";
-import Vec from "./Vec";
-import Mat3 from "./Mat3";
-import { equals, isZero } from "./functions";
-
-export default class Mat4 extends NumericArray {
-    constructor();
-    constructor(m: ArrayLike<number>);
-    constructor(m0: number, m1: number, m2: number, m3: number, m4: number, m5: number, m6: number, m7: number, m8: number, m9: number, m10: number, m11: number, m12: number, m13: number, m14: number, m15: number);
-    constructor(...args: any[]) {
-        const inMatrix = [
-            0, 0, 0, 0,
-            0, 0, 0, 0,
-            0, 0, 0, 0,
-            0, 0, 0, 0
-        ];
-
-        // Create from matrix3
-        if (args.length === 9) {
-            inMatrix[0] = args[0]; 
-            inMatrix[1] = args[1];
-            inMatrix[2] = args[2];
-
-            inMatrix[4] = args[3]; 
-            inMatrix[5] = args[4];
-            inMatrix[6] = args[5];
-
-            inMatrix[8] = args[6]; 
-            inMatrix[9] = args[7];
-            inMatrix[10] = args[8];
-
-            inMatrix[15] = 1;
-        }
-        else if (args.length === 1 && args[0].length === 9) {
-            inMatrix[0]  = args[0][0]; 
-            inMatrix[1]  = args[0][1];
-            inMatrix[2]  = args[0][2];
-
-            inMatrix[4]  = args[0][3]; 
-            inMatrix[5]  = args[0][4];
-            inMatrix[6]  = args[0][5];
-
-            inMatrix[8]  = args[0][6]; 
-            inMatrix[9]  = args[0][7];
-            inMatrix[10] = args[0][8];
-
-            inMatrix[15] = 1;
-        }
-        // Create from matrix4
-        else if (args.length === 16) {
-            inMatrix[0 ] = args[0];
-            inMatrix[1 ] = args[1 ];
-            inMatrix[2 ] = args[2 ];
-            inMatrix[3 ] = args[3 ];
-
-            inMatrix[4 ] = args[4 ];
-            inMatrix[5 ] = args[5 ];
-            inMatrix[6 ] = args[6 ];
-            inMatrix[7 ] = args[7 ];
-
-            inMatrix[8 ] = args[8 ];
-            inMatrix[9 ] = args[9 ];
-            inMatrix[10] = args[10];
-            inMatrix[11] = args[11];
-
-            inMatrix[12] = args[12];
-            inMatrix[13] = args[13];
-            inMatrix[14] = args[14];
-            inMatrix[15] = args[15];
-        }
-        else if (args.length === 1 && args[0].length === 16) {
-            inMatrix[0 ] = args[0][0];
-            inMatrix[1 ] = args[0][1 ];
-            inMatrix[2 ] = args[0][2 ];
-            inMatrix[3 ] = args[0][3 ];
-
-            inMatrix[4 ] = args[0][4 ];
-            inMatrix[5 ] = args[0][5 ];
-            inMatrix[6 ] = args[0][6 ];
-            inMatrix[7 ] = args[0][7 ];
-
-            inMatrix[8 ] = args[0][8 ];
-            inMatrix[9 ] = args[0][9 ];
-            inMatrix[10] = args[0][10];
-            inMatrix[11] = args[0][11];
-
-            inMatrix[12] = args[0][12];
-            inMatrix[13] = args[0][13];
-            inMatrix[14] = args[0][14];
-            inMatrix[15] = args[0][15];
-        }
-        else if (args.length != 0) {
-            throw new Error(`Invalid parameter size in Matrix3 constructor`);
-        }
-
-        super(inMatrix);
-    }
-
-    ////// Initializers
-    identity(): this {
-        this[0 ] = 1; this[1 ] = 0; this[2 ] = 0; this[3 ] = 0
-        this[4 ] = 0; this[5 ] = 1; this[6 ] = 0; this[7 ] = 0
-        this[8 ] = 0; this[9 ] = 0; this[10] = 1; this[11] = 0
-        this[12] = 0; this[13] = 0; this[14] = 0; this[15] = 1
-        return this;
-    }
-
-    zero(): this {
-		this[ 0] = 0; this[ 1] = 0; this[ 2] = 0; this[ 3] = 0;
-		this[ 4] = 0; this[ 5] = 0; this[ 6] = 0; this[ 7] = 0;
-		this[ 8] = 0; this[ 9] = 0; this[10] = 0; this[11] = 0;
-		this[12] = 0; this[13] = 0; this[14] = 0; this[15] = 0;
-		return this;
-	}
-
-    perspective(fovy: number, aspect: number, nearPlane: number, farPlane: number): this {
-		let fovy2 = Math.tan(fovy * PI / 360.0) * nearPlane;
-		let fovy2aspect = fovy2 * aspect;
-		this.frustum(-fovy2aspect,fovy2aspect,-fovy2,fovy2,nearPlane,farPlane);
-        return this;
-	}
-
-	frustum(left: number, right: number, bottom: number, top: number, nearPlane: number, farPlane: number): this {
-		let A = right - left;
-		let B = top-bottom;
-		let C = farPlane-nearPlane;
-		
-		this.setRow(0, new Vec(nearPlane*2.0/A,	0.0,	0.0,	0.0));
-		this.setRow(1, new Vec(0.0,	nearPlane*2.0/B,	0.0,	0.0));
-		this.setRow(2, new Vec((right+left)/A,	(top+bottom)/B,	-(farPlane+nearPlane)/C,	-1.0));
-		this.setRow(3, new Vec(0.0,	0.0,	-(farPlane*nearPlane*2.0)/C,	0.0));
-		
-		return this;
-	}
-
-	ortho(left: number, right: number, bottom: number, top: number, nearPlane: number, farPlane: number): this {
-		let m = right-left;
-		let l = top-bottom;
-		let k = farPlane-nearPlane;;
-		
-		this[0] = 2/m; this[1] = 0;   this[2] = 0;     this[3] = 0;
-		this[4] = 0;   this[5] = 2/l; this[6] = 0;     this[7] = 0;
-		this[8] = 0;   this[9] = 0;   this[10] = -2/k; this[11]= 0;
-		this[12]=-(left+right)/m; this[13] = -(top+bottom)/l; this[14] = -(farPlane+nearPlane)/k; this[15]=1;
-
-		return this;
-	}
-		
-	lookAt(p_eye: Vec, p_center: Vec, p_up: Vec): this {
-        this.identity();
-
-		const y = new Vec(p_up);
-		const z = Vec.Sub(p_eye,p_center);
-		z.normalize();
-		const x = Vec.Cross(y,z) as Vec;
-		x.normalize();
-		y.normalize();
-
-		this.m00 = x.x;
-		this.m10 = x.y;
-		this.m20 = x.z;
-		this.m30 = -Vec.Dot(x, p_eye);
-		this.m01 = y.x;
-		this.m11 = y.y;
-		this.m21 = y.z;
-		this.m31 = -Vec.Dot(y, p_eye);
-		this.m02 = z.x;
-		this.m12 = z.y;
-		this.m22 = z.z;
-		this.m32 = -Vec.Dot(z, p_eye);
-		this.m03 = 0;
-		this.m13 = 0;
-		this.m23 = 0;
-		this.m33 = 1;
-	
-		return this;
-	}
-
-
-
-
-    ///// Setters and getters
-    get m00(): number { return this[0]; }
-    get m01(): number { return this[1]; }
-    get m02(): number { return this[2]; }
-    get m03(): number { return this[3]; }
-    get m10(): number { return this[4]; }
-    get m11(): number { return this[5]; }
-    get m12(): number { return this[6]; }
-    get m13(): number { return this[7]; }
-    get m20(): number { return this[8]; }
-    get m21(): number { return this[9]; }
-    get m22(): number { return this[10]; }
-    get m23(): number { return this[11]; }
-    get m30(): number { return this[12]; }
-    get m31(): number { return this[13]; }
-    get m32(): number { return this[14]; }
-    get m33(): number { return this[15]; }
-    
-    set m00(v: number) { this[0] = v; }
-    set m01(v: number) { this[1] = v; }
-    set m02(v: number) { this[2] = v; }
-    set m03(v: number) { this[3] = v; }
-    set m10(v: number) { this[4] = v; }
-    set m11(v: number) { this[5] = v; }
-    set m12(v: number) { this[6] = v; }
-    set m13(v: number) { this[7] = v; }
-    set m20(v: number) { this[8] = v; }
-    set m21(v: number) { this[9] = v; }
-    set m22(v: number) { this[10] = v; }
-    set m23(v: number) { this[11] = v; }
-    set m30(v: number) { this[12] = v; }
-    set m31(v: number) { this[13] = v; }
-    set m32(v: number) { this[14] = v; }
-    set m33(v: number) { this[15] = v; }
-
-    get mat3(): Mat3 {
-		return new Mat3(this[0], this[1], this[ 2],
-						this[4], this[5], this[ 6],
-						this[8], this[9], this[10]);
-	}
-
-	get forwardVector(): Vec {
-		return Mat4.TransformDirection(this, new Vec(0.0, 0.0, 1.0));
-	}
-	
-	get rightVector(): Vec {
-		return Mat4.TransformDirection(this, new Vec(1.0, 0.0, 0.0));
-	}
-	
-	get upVector(): Vec {
-		return Mat4.TransformDirection(this, new Vec(0.0, 1.0, 0.0));
-	}
-	
-	get backwardVector(): Vec {
-		return Mat4.TransformDirection(this, new Vec(0.0, 0.0, -1.0));
-	}
-	
-	get leftVector(): Vec {
-		return Mat4.TransformDirection(this, new Vec(-1.0, 0.0, 0.0));
-	}
-	
-	get downVector(): Vec {
-		return Mat4.TransformDirection(this, new Vec(0.0, -1.0, 0.0));
-	}
-
-	get translation(): Vec {
-		return new Vec(this[12], this[13], this[14]);
-	}
-
-    row(i: number): Vec {
-        return new Vec(
-            this[i * 4], 
-            this[i * 4 + 1],
-            this[i * 4 + 2],
-            this[i * 4 + 3]);
-    }
-
-    setRow(i: number, a: ArrayLike<number>): this;
-    setRow(i: number, x: number, y: number, z: number, w: number): this;
-    setRow(i: number, a: number | ArrayLike<number>, y?: number, z?: number, w?: number): this {
-        if (typeof a === 'object' && a.length >= 4) {
-            this[i * 4]      = a[0];
-            this[i * 4 + 1]  = a[1];
-            this[i * 4 + 2]  = a[2];
-            this[i * 4 + 3]  = a[3];
-        }
-		else if (typeof a === 'object' && a.length == 3) {
-			this[i * 4]      = a[0];
-            this[i * 4 + 1]  = a[1];
-            this[i * 4 + 2]  = a[2];
-		}
-        else if (typeof(a) === "number" && 
-            typeof(y) === "number" && 
-            typeof(z) === "number" &&
-            typeof(w) === "number"
-        ) {
-            this[i * 4]      = a;
-            this[i * 4 + 1]  = y;
-            this[i * 4 + 2]  = z;
-            this[i * 4 + 3]  = w;
-        }
-        else {
-            throw new Error(`Invalid parameter setting matrix row`);
-        }
-        return this;
-    }
-
-    col(i: number): Vec {
-        return new Vec(
-            this[i],
-            this[i + 4],
-            this[i + 4 * 2],
-            this[i + 4 * 3]
-        )
-    }
-
-    setCol(i: number, a: ArrayLike<number>): this;
-    setCol(i: number, x: number, y: number, z: number, w: number): this;
-    setCol(i: number, a: number | ArrayLike<number>, y?: number, z?: number, w?: number): this {
-        if (typeof a === 'object' && a.length >= 4) {
-            this[i]         = a[0];
-            this[i + 4]     = a[1];
-            this[i + 4 * 2] = a[2];
-            this[i + 4 * 3] = a[3];
-        }
-        else if (typeof(a) === "number" && 
-            typeof(y) === "number" && 
-            typeof(z) === "number" &&
-            typeof(w) === "number"
-        ) {
-            this[i]         = a;
-            this[i + 4]     = y;
-            this[i + 4 * 2] = z;
-            this[i + 4 * 3] = w;
-        }
-        else {
-            throw new Error(`Invalid parameter setting matrix row`);
-        }
-        return this;
-    }
-
-    assign(a: ArrayLike<number>): this {
-		if (a.length==9) {
-			this[0]  = a[0]; this[1]  = a[1]; this[2]  = a[2]; this[3]  = 0;
-			this[4]  = a[3]; this[5]  = a[4]; this[6]  = a[5]; this[7]  = 0;
-			this[8]  = a[6]; this[9]  = a[7]; this[10] = a[8]; this[11] = 0;
-			this[12] = 0;	 this[13] = 0;	  this[14] = 0;	   this[15] = 1;
-		}
-		else if (a.length==16) {
-			this[0]  = a[0];  this[1]  = a[1];  this[2]  = a[2];  this[3]  = a[3];
-			this[4]  = a[4];  this[5]  = a[5];  this[6]  = a[6];  this[7]  = a[7];
-			this[8]  = a[8];  this[9]  = a[9];  this[10] = a[10]; this[11] = a[11];
-			this[12] = a[12]; this[13] = a[13];	this[14] = a[14]; this[15] = a[15];
-		}
-		return this;
-	}
-
-	translate(x: number | ArrayLike<number>, y?: number, z?: number): this {
-		if (checkArray(x, 3)) {
-			y = (x as ArrayLike<number>)[1];
-			z = (x as ArrayLike<number>)[2];
-			x = (x as ArrayLike<number>)[0];
-		}
-		this.mult(Mat4.MakeTranslation(x, y, z));
-		return this;
-	}
-
-	rotate(alpha: number, x: number | ArrayLike<number>, y?: number, z?: number): this {
-		if (checkArray(x, 3)) {
-			y = (x as ArrayLike<number>)[1];
-			z = (x as ArrayLike<number>)[2];
-			x = (x as ArrayLike<number>)[0];
-		}
-		this.mult(Mat4.MakeRotation(alpha, x as number, y ?? 0, z ?? 0));
-		return this;
-	}
-	
-	scale(x: number | ArrayLike<number>, y?: number, z?: number): this {
-		if (checkArray(x, 3)) {
-			y = (x as ArrayLike<number>)[1];
-			z = (x as ArrayLike<number>)[2];
-			x = (x as ArrayLike<number>)[0];
-		}
-		this.mult(Mat4.MakeScale(x, y, z));
-		return this;
-	}
-
-    toString(): string {
-        return  `[ ${this[ 0]}, ${this[ 1]}, ${this[ 2]}, ${this[ 3]}\n` +
-                `  ${this[ 4]}, ${this[ 5]}, ${this[ 6]}, ${this[ 7]}\n` +
-                `  ${this[ 8]}, ${this[ 9]}, ${this[10]}, ${this[11]}\n` +
-                `  ${this[12]}, ${this[13]}, ${this[14]}, ${this[15]} ]`;
-    }
-
-    setScale(x: number, y: number, z: number): this {
-		const rx = new Vec(this[0], this[4], this[8]).normalize().scale(x);
-		const ry = new Vec(this[1], this[5], this[9]).normalize().scale(y);
-		const rz = new Vec(this[2], this[6], this[10]).normalize().scale(z);
-		this[0] = rx.x; this[4] = rx.y; this[8] = rx.z;
-		this[1] = ry.x; this[5] = ry.y; this[9] = ry.z;
-		this[2] = rz.x; this[6] = rz.y; this[10] = rz.z;
-		return this;
-	}
-
-	setPosition(pos: Vec): this;
-	setPosition(x: number, y: number, z: number): this;
-	setPosition(pos: number | Vec, y?: number, z?: number): this {
-		if (typeof(pos) === "number" && y !== undefined && z !== undefined) {
-			this[12] = pos;
-			this[13] = y;
-			this[14] = z;
-		}
-		else if (typeof pos === 'object') {
-			this[12] = pos.x;
-			this[13] = pos.y;
-			this[14] = pos.z;
-		}
-		return this;
-	}
-
-	setRotation(rotationMatrix: ArrayLike<number>): this {
-		if (rotationMatrix.length === 9) {
-			this[0] = rotationMatrix[0]; this[1] = rotationMatrix[1]; this[2] = rotationMatrix[2];
-			this[4] = rotationMatrix[3]; this[5] = rotationMatrix[4]; this[6] = rotationMatrix[5];
-			this[8] = rotationMatrix[6]; this[9] = rotationMatrix[7]; this[10] = rotationMatrix[8];
-		}
-		else if (rotationMatrix.length === 16) {
-			this[0] = rotationMatrix[0]; this[1] = rotationMatrix[1]; this[2] = rotationMatrix[2];
-			this[4] = rotationMatrix[4]; this[5] = rotationMatrix[5]; this[6] = rotationMatrix[6];
-			this[8] = rotationMatrix[8]; this[9] = rotationMatrix[9]; this[10] = rotationMatrix[10];
-		}
-		else {
-			throw new Error("Invalid parameter setting rotation matrix");
-		}
-		return this;
-	}
-
-    mult(a: number): this;
-    mult(a: Mat4): this;
-    mult(a: number | Mat4): this {
-		if (typeof(a)=='number') {
-			this[ 0] *= a; this[ 1] *= a; this[ 2] *= a; this[ 3] *= a;
-			this[ 4] *= a; this[ 5] *= a; this[ 6] *= a; this[ 7] *= a;
-			this[ 8] *= a; this[ 9] *= a; this[10] *= a; this[11] *= a;
-			this[12] *= a; this[13] *= a; this[14] *= a; this[15] *= a;
-			return this;
-		}
-
-        const r0 = this.row(0);
-        const r1 = this.row(1);
-        const r2 = this.row(2);
-        const r3 = this.row(3);
-        const c0 = a.col(0);
-        const c1 = a.col(1);
-        const c2 = a.col(2);
-        const c3 = a.col(3);
-
-        this[0 ] = Vec.Dot(r0, c0); this[1 ] = Vec.Dot(r0, c1); this[2 ] = Vec.Dot(r0, c2); this[3 ] = Vec.Dot(r0, c3);
-        this[4 ] = Vec.Dot(r1, c0); this[5 ] = Vec.Dot(r1, c1); this[6 ] = Vec.Dot(r1, c2); this[7 ] = Vec.Dot(r1, c3);
-        this[8 ] = Vec.Dot(r2, c0); this[9 ] = Vec.Dot(r2, c1); this[10] = Vec.Dot(r2, c2); this[11] = Vec.Dot(r2, c3);
-        this[12] = Vec.Dot(r3, c0); this[13] = Vec.Dot(r3, c1); this[14] = Vec.Dot(r3, c2); this[15] = Vec.Dot(r3, c3);
-
-		return this;
-	}
-
-	multVector(vec: ArrayLike<number>): Vec {
-        if (vec.length<3) {
-            throw new Error("Invalid parameter multiplying Mat4 by vector");
-        }
-
-		const x = vec[0];
-		const y = vec[1];
-		const z = vec[2];
-		const w = vec.length >3 ? vec[3] : 1.0;
-	
-		return new Vec( this[0] * x + this[4] * y + this[ 8] * z + this[12] * w,
-						this[1] * x + this[5] * y + this[ 9] * z + this[13] * w,
-						this[2] * x + this[6] * y + this[10] * z + this[14] * w,
-						this[3] * x + this[7] * y + this[11] * z + this[15] * w);
-	}
-	
-	invert(): this {
-		const a00 = this[0],  a01 = this[1],  a02 = this[2],  a03 = this[3],
-	          a10 = this[4],  a11 = this[5],  a12 = this[6],  a13 = this[7],
-	          a20 = this[8],  a21 = this[9],  a22 = this[10], a23 = this[11],
-	          a30 = this[12], a31 = this[13], a32 = this[14], a33 = this[15];
-
-	    const b00 = a00 * a11 - a01 * a10,
-	          b01 = a00 * a12 - a02 * a10,
-	          b02 = a00 * a13 - a03 * a10,
-	          b03 = a01 * a12 - a02 * a11,
-	          b04 = a01 * a13 - a03 * a11,
-	          b05 = a02 * a13 - a03 * a12,
-	          b06 = a20 * a31 - a21 * a30,
-	          b07 = a20 * a32 - a22 * a30,
-	          b08 = a20 * a33 - a23 * a30,
-	          b09 = a21 * a32 - a22 * a31,
-	          b10 = a21 * a33 - a23 * a31,
-	          b11 = a22 * a33 - a23 * a32;
-
-	    let det = b00 * b11 - b01 * b10 + b02 * b09 + b03 * b08 - b04 * b07 + b05 * b06;
-
-	    if (!det) {
-			this.zero();
-	    }
-		else {
-			det = 1.0 / det;
-
-			this[0] = (a11 * b11 - a12 * b10 + a13 * b09) * det;
-			this[1] = (a02 * b10 - a01 * b11 - a03 * b09) * det;
-			this[2] = (a31 * b05 - a32 * b04 + a33 * b03) * det;
-			this[3] = (a22 * b04 - a21 * b05 - a23 * b03) * det;
-			this[4] = (a12 * b08 - a10 * b11 - a13 * b07) * det;
-			this[5] = (a00 * b11 - a02 * b08 + a03 * b07) * det;
-			this[6] = (a32 * b02 - a30 * b05 - a33 * b01) * det;
-			this[7] = (a20 * b05 - a22 * b02 + a23 * b01) * det;
-			this[8] = (a10 * b10 - a11 * b08 + a13 * b06) * det;
-			this[9] = (a01 * b08 - a00 * b10 - a03 * b06) * det;
-			this[10] = (a30 * b04 - a31 * b02 + a33 * b00) * det;
-			this[11] = (a21 * b02 - a20 * b04 - a23 * b00) * det;
-			this[12] = (a11 * b07 - a10 * b09 - a12 * b06) * det;
-			this[13] = (a00 * b09 - a01 * b07 + a02 * b06) * det;
-			this[14] = (a31 * b01 - a30 * b03 - a32 * b00) * det;
-			this[15] = (a20 * b03 - a21 * b01 + a22 * b00) * det;
-		}
-
-        return this;
-	}
-	
-	traspose(): this {
-		const r0 = new Vec(this[0], this[4], this[ 8], this[12]);
-		const r1 = new Vec(this[1], this[5], this[ 9], this[13]);
-		const r2 = new Vec(this[2], this[6], this[10], this[14]);
-		const r3 = new Vec(this[3], this[7], this[11], this[15]);
-	
-		this.setRow(0, r0);
-		this.setRow(1, r1);
-		this.setRow(2, r2);
-		this.setRow(3, r3);
-		return this;
-	}
-
-    ///////// Factory methods
-    static MakeIdentity(): Mat4 {
-        const m = new Mat4();
-        return m.identity();
-    }
-
-	static MakeZero(): Mat4 {
-		const m = new Mat4();
-		return m.zero();
-	}
-
-	static MakeWithQuaternion(q: ArrayLike<number>): Mat4 {
-		const m = Mat4.MakeIdentity();
-		m.setRotation(Mat3.MakeWithQuaternion(q));
-        return m;
-	}
-	
-    static MakeTranslation(x: number | ArrayLike<number>, y?: number, z?: number): Mat4 {
-		if (checkArray(x, 3)) {
-			y = (x as ArrayLike<number>)[1];
-			z = (x as ArrayLike<number>)[2];
-			x = (x as ArrayLike<number>)[0];
-		}
-		return new Mat4(
-			1.0, 0.0, 0.0, 0.0,
-			0.0, 1.0, 0.0, 0.0,
-			0.0, 0.0, 1.0, 0.0,
-			  x as number,   y as number,   z as number, 1.0
-		);
-	}
-		
-	static MakeRotation(alpha: number, x: number, y: number, z: number): Mat4 {
-		const axis = new Vec(x,y,z);
-		axis.normalize();
-				
-		var cosAlpha = Math.cos(alpha);
-		var acosAlpha = 1.0 - cosAlpha;
-		var sinAlpha = Math.sin(alpha);
-		
-		return new Mat4(
-			axis.x * axis.x * acosAlpha + cosAlpha, axis.x * axis.y * acosAlpha + axis.z * sinAlpha, axis.x * axis.z * acosAlpha - axis.y * sinAlpha, 0,
-			axis.y * axis.x * acosAlpha - axis.z * sinAlpha, axis.y * axis.y * acosAlpha + cosAlpha, axis.y * axis.z * acosAlpha + axis.x * sinAlpha, 0,
-			axis.z * axis.x * acosAlpha + axis.y * sinAlpha, axis.z * axis.y * acosAlpha - axis.x * sinAlpha, axis.z * axis.z * acosAlpha + cosAlpha, 0,
-			0,0,0,1
-		);
-	}
-
-	static MakeRotationWithDirection(direction: Vec, up?: Vec): Mat4 {
-		const trx = Mat4.MakeIdentity();
-		trx.setRotation(Mat3.MakeRotationWithDirection(direction, up));
-		return trx;
-	}
-
-	static MakeScale(x: number | ArrayLike<number>, y?: number, z?: number): Mat4 {
-		if (checkArray(x, 3)) {
-            y = (x as ArrayLike<number>)[1];
-			z = (x as ArrayLike<number>)[2];
-			x = (x as ArrayLike<number>)[0];
-		}
-		return new Mat4(
-			x as number, 0, 0, 0,
-			0, y as number, 0, 0,
-			0, 0, z as number, 0,
-			0, 0, 0, 1
-		)
-	}
-    
-
-    static MakePerspective(fovy: number, aspect: number, nearPlane: number, farPlane: number): Mat4 {
-		return (new Mat4()).perspective(fovy, aspect, nearPlane, farPlane);
-	}
-	
-	static MakeFrustum(left: number, right: number, bottom: number, top: number, nearPlane: number, farPlane: number): Mat4 {
-		return (new Mat4()).frustum(left, right, bottom, top, nearPlane, farPlane);
-	}
-	
-	static MakeOrtho(left: number, right: number, bottom: number, top: number, nearPlane: number, farPlane: number): Mat4 {
-		return (new Mat4()).ortho(left, right, bottom, top, nearPlane, farPlane);
-	}
-
-	static MakeLookAt(origin: Vec, target: Vec, up: Vec): Mat4 {
-		return (new Mat4()).lookAt(origin,target,up);
-	}
-
-	// Other static methods. This function multyplies two B x A matrices. It works opposite than the non-static mult() function:
-	// A.mult(B) is the same as Mat4.Mult(B,A)
-	static Mult(A: Mat4, B: Mat4): Mat4 {
-		const result = new Mat4(B);
-		return result.mult(A);
-	}
-
-    static Unproject(x: number, y: number, depth: number, mvMat: Mat4, pMat: Mat4, viewport: Vec): Vec {
-		let mvp = new Mat4(pMat);
-		mvp.mult(mvMat);
-		mvp.invert();
-
-		const vin = new Vec(((x - viewport.y) / viewport.width) * 2.0 - 1.0,
-								((y - viewport.x) / viewport.height) * 2.0 - 1.0,
-								depth * 2.0 - 1.0,
-								1.0);
-		
-		const result = mvp.multVector(vin);
-		if (result.z==0) {
-			result.setValue(0, 0, 0, 0);
-		}
-		else {
-			result.setValue(result.x/result.w,
-						result.y/result.w,
-						result.z/result.w,
-						result.w/result.w);
-		}
-
-		return result;
-	}
-
-    static GetScale(m: ArrayLike<number>): Vec {
-		return new Vec(
-            Vec.Magnitude([m[1], m[5], m[9]]),
-			Vec.Magnitude([m[0], m[4], m[8]]),
-			Vec.Magnitude([m[2], m[6], m[10]])
-		);
-	}
-
-    static GetRotation(m: ArrayLike<number>): Mat4 {
-		const scale = Mat4.GetScale(m);
-		return new Mat4(
-				m[0] / scale.x, m[1] / scale.y, m[ 2] / scale.z, 0,
-				m[4] / scale.x, m[5] / scale.y, m[ 6] / scale.z, 0,
-				m[8] / scale.x, m[9] / scale.y, m[10] / scale.z, 0,
-				0,	   0,	  0, 	1
-		);
-	}
-
-	static GetPosition(m: ArrayLike<number>): Vec {
-		return new Vec(m[12], m[13], m[14]);
-	}
-
-	static GetInverted(m: Mat4): Mat4 {
-		const inverted = new Mat4(m);
-		inverted.invert();
-		return inverted;
-	}
-
-	static GetNormalMatrix(m: Mat4): Mat3 {
-		return new Mat4(m)
-			.invert()
-			.traspose()
-			.mat3;
-	}
-	
-    static Equals(m: ArrayLike<number>, n: ArrayLike<number>): boolean {
-		return	m[ 0] == n[ 0] && m[ 1] == n[ 1] && m[ 2] == n[ 2] && m[ 3] == n[ 3] &&
-				m[ 4] == n[ 4] && m[ 5] == n[ 5] && m[ 6] == n[ 6] && m[ 7] == n[ 7] &&
-				m[ 8] == n[ 8] && m[ 9] == n[ 9] && m[10] == n[10] && m[11] == n[11] &&
-				m[12] == n[12] && m[13] == n[13] && m[14] == n[14] && m[15] == n[15];
-	}
-
-    static TransformDirection(M: Mat4, dir: Vec): Vec {
-		const direction = new Vec(dir);
-		const trx = new Mat4(M);
-		trx.setRow(3, new Vec(0, 0, 0, 1));
-		direction.assign(trx.multVector(direction).xyz);
-		direction.normalize();
-		return direction;
-	}
-
-    static IsNan(m: ArrayLike<number>): boolean {
-        return	isNaN(m[ 0]) || isNaN(m[ 1]) || isNaN(m[ 2]) || isNaN(m[ 3]) ||
-                isNaN(m[ 4]) || isNaN(m[ 5]) || isNaN(m[ 6]) || isNaN(m[ 7]) ||
-                isNaN(m[ 8]) || isNaN(m[ 9]) || isNaN(m[10]) || isNaN(m[11]) ||
-                isNaN(m[12]) || isNaN(m[13]) || isNaN(m[14]) || isNaN(m[15]);
-    }
-
-    static IsZero(m: ArrayLike<number>): boolean {
-		return	isZero(m[ 0]) && isZero(m[ 1]) && isZero(m[ 2]) && isZero(m[ 3]) &&
-				isZero(m[ 4]) && isZero(m[ 5]) && isZero(m[ 6]) && isZero(m[ 7]) &&
-				isZero(m[ 8]) && isZero(m[ 9]) && isZero(m[10]) && isZero(m[11]) &&
-				isZero(m[12]) && isZero(m[13]) && isZero(m[14]) && isZero(m[15]);
-	}
-	
-	static IsIdentity(m: ArrayLike<number>): boolean {
-		return	equals(m[ 0],1) && equals(m[ 1],0) && equals(m[ 2],0) && equals(m[ 3],0) &&
-				equals(m[ 4],0) && equals(m[ 5],1) && equals(m[ 6],0) && equals(m[ 7],0) &&
-				equals(m[ 8],0) && equals(m[ 9],0) && equals(m[10],1) && equals(m[11],0) &&
-				equals(m[12],0) && equals(m[13],0) && equals(m[14],0) && equals(m[15],1);
-	}
-}
+import { NumericArray, PI, checkArray } from "./constants";
+import Vec from "./Vec";
+import Mat3 from "./Mat3";
+import { equals, isZero } from "./functions";
+
+export default class Mat4 extends NumericArray {
+    constructor();
+    constructor(m: ArrayLike<number>);
+    constructor(m0: number, m1: number, m2: number, m3: number, m4: number, m5: number, m6: number, m7: number, m8: number, m9: number, m10: number, m11: number, m12: number, m13: number, m14: number, m15: number);
+    constructor(...args: any[]) {
+        const inMatrix = [
+            0, 0, 0, 0,
+            0, 0, 0, 0,
+            0, 0, 0, 0,
+            0, 0, 0, 0
+        ];
+
+        // Create from matrix3
+        if (args.length === 9) {
+            inMatrix[0] = args[0]; 
+            inMatrix[1] = args[1];
+            inMatrix[2] = args[2];
+
+            inMatrix[4] = args[3]; 
+            inMatrix[5] = args[4];
+            inMatrix[6] = args[5];
+
+            inMatrix[8] = args[6]; 
+            inMatrix[9] = args[7];
+            inMatrix[10] = args[8];
+
+            inMatrix[15] = 1;
+        }
+        else if (args.length === 1 && args[0].length === 9) {
+            inMatrix[0]  = args[0][0]; 
+            inMatrix[1]  = args[0][1];
+            inMatrix[2]  = args[0][2];
+
+            inMatrix[4]  = args[0][3]; 
+            inMatrix[5]  = args[0][4];
+            inMatrix[6]  = args[0][5];
+
+            inMatrix[8]  = args[0][6]; 
+            inMatrix[9]  = args[0][7];
+            inMatrix[10] = args[0][8];
+
+            inMatrix[15] = 1;
+        }
+        // Create from matrix4
+        else if (args.length === 16) {
+            inMatrix[0 ] = args[0];
+            inMatrix[1 ] = args[1 ];
+            inMatrix[2 ] = args[2 ];
+            inMatrix[3 ] = args[3 ];
+
+            inMatrix[4 ] = args[4 ];
+            inMatrix[5 ] = args[5 ];
+            inMatrix[6 ] = args[6 ];
+            inMatrix[7 ] = args[7 ];
+
+            inMatrix[8 ] = args[8 ];
+            inMatrix[9 ] = args[9 ];
+            inMatrix[10] = args[10];
+            inMatrix[11] = args[11];
+
+            inMatrix[12] = args[12];
+            inMatrix[13] = args[13];
+            inMatrix[14] = args[14];
+            inMatrix[15] = args[15];
+        }
+        else if (args.length === 1 && args[0].length === 16) {
+            inMatrix[0 ] = args[0][0];
+            inMatrix[1 ] = args[0][1 ];
+            inMatrix[2 ] = args[0][2 ];
+            inMatrix[3 ] = args[0][3 ];
+
+            inMatrix[4 ] = args[0][4 ];
+            inMatrix[5 ] = args[0][5 ];
+            inMatrix[6 ] = args[0][6 ];
+            inMatrix[7 ] = args[0][7 ];
+
+            inMatrix[8 ] = args[0][8 ];
+            inMatrix[9 ] = args[0][9 ];
+            inMatrix[10] = args[0][10];
+            inMatrix[11] = args[0][11];
+
+            inMatrix[12] = args[0][12];
+            inMatrix[13] = args[0][13];
+            inMatrix[14] = args[0][14];
+            inMatrix[15] = args[0][15];
+        }
+        else if (args.length != 0) {
+            throw new Error(`Invalid parameter size in Matrix3 constructor`);
+        }
+
+        super(inMatrix);
+    }
+
+    ////// Initializers
+    identity(): this {
+        this[0 ] = 1; this[1 ] = 0; this[2 ] = 0; this[3 ] = 0
+        this[4 ] = 0; this[5 ] = 1; this[6 ] = 0; this[7 ] = 0
+        this[8 ] = 0; this[9 ] = 0; this[10] = 1; this[11] = 0
+        this[12] = 0; this[13] = 0; this[14] = 0; this[15] = 1
+        return this;
+    }
+
+    zero(): this {
+		this[ 0] = 0; this[ 1] = 0; this[ 2] = 0; this[ 3] = 0;
+		this[ 4] = 0; this[ 5] = 0; this[ 6] = 0; this[ 7] = 0;
+		this[ 8] = 0; this[ 9] = 0; this[10] = 0; this[11] = 0;
+		this[12] = 0; this[13] = 0; this[14] = 0; this[15] = 0;
+		return this;
+	}
+
+    perspective(fovy: number, aspect: number, nearPlane: number, farPlane: number): this {
+		let fovy2 = Math.tan(fovy * PI / 360.0) * nearPlane;
+		let fovy2aspect = fovy2 * aspect;
+		this.frustum(-fovy2aspect,fovy2aspect,-fovy2,fovy2,nearPlane,farPlane);
+        return this;
+	}
+
+	frustum(left: number, right: number, bottom: number, top: number, nearPlane: number, farPlane: number): this {
+		let A = right - left;
+		let B = top-bottom;
+		let C = farPlane-nearPlane;
+		
+		this.setRow(0, new Vec(nearPlane*2.0/A,	0.0,	0.0,	0.0));
+		this.setRow(1, new Vec(0.0,	nearPlane*2.0/B,	0.0,	0.0));
+		this.setRow(2, new Vec((right+left)/A,	(top+bottom)/B,	-(farPlane+nearPlane)/C,	-1.0));
+		this.setRow(3, new Vec(0.0,	0.0,	-(farPlane*nearPlane*2.0)/C,	0.0));
+		
+		return this;
+	}
+
+	ortho(left: number, right: number, bottom: number, top: number, nearPlane: number, farPlane: number): this {
+		let m = right-left;
+		let l = top-bottom;
+		let k = farPlane-nearPlane;;
+		
+		this[0] = 2/m; this[1] = 0;   this[2] = 0;     this[3] = 0;
+		this[4] = 0;   this[5] = 2/l; this[6] = 0;     this[7] = 0;
+		this[8] = 0;   this[9] = 0;   this[10] = -2/k; this[11]= 0;
+		this[12]=-(left+right)/m; this[13] = -(top+bottom)/l; this[14] = -(farPlane+nearPlane)/k; this[15]=1;
+
+		return this;
+	}
+		
+	lookAt(p_eye: Vec, p_center: Vec, p_up: Vec): this {
+        this.identity();
+
+		const y = new Vec(p_up);
+		const z = Vec.Sub(p_eye,p_center);
+		z.normalize();
+		const x = Vec.Cross(y,z) as Vec;
+		x.normalize();
+		y.normalize();
+
+		this.m00 = x.x;
+		this.m10 = x.y;
+		this.m20 = x.z;
+		this.m30 = -Vec.Dot(x, p_eye);
+		this.m01 = y.x;
+		this.m11 = y.y;
+		this.m21 = y.z;
+		this.m31 = -Vec.Dot(y, p_eye);
+		this.m02 = z.x;
+		this.m12 = z.y;
+		this.m22 = z.z;
+		this.m32 = -Vec.Dot(z, p_eye);
+		this.m03 = 0;
+		this.m13 = 0;
+		this.m23 = 0;
+		this.m33 = 1;
+	
+		return this;
+	}
+
+
+
+
+    ///// Setters and getters
+    get m00(): number { return this[0]; }
+    get m01(): number { return this[1]; }
+    get m02(): number { return this[2]; }
+    get m03(): number { return this[3]; }
+    get m10(): number { return this[4]; }
+    get m11(): number { return this[5]; }
+    get m12(): number { return this[6]; }
+    get m13(): number { return this[7]; }
+    get m20(): number { return this[8]; }
+    get m21(): number { return this[9]; }
+    get m22(): number { return this[10]; }
+    get m23(): number { return this[11]; }
+    get m30(): number { return this[12]; }
+    get m31(): number { return this[13]; }
+    get m32(): number { return this[14]; }
+    get m33(): number { return this[15]; }
+    
+    set m00(v: number) { this[0] = v; }
+    set m01(v: number) { this[1] = v; }
+    set m02(v: number) { this[2] = v; }
+    set m03(v: number) { this[3] = v; }
+    set m10(v: number) { this[4] = v; }
+    set m11(v: number) { this[5] = v; }
+    set m12(v: number) { this[6] = v; }
+    set m13(v: number) { this[7] = v; }
+    set m20(v: number) { this[8] = v; }
+    set m21(v: number) { this[9] = v; }
+    set m22(v: number) { this[10] = v; }
+    set m23(v: number) { this[11] = v; }
+    set m30(v: number) { this[12] = v; }
+    set m31(v: number) { this[13] = v; }
+    set m32(v: number) { this[14] = v; }
+    set m33(v: number) { this[15] = v; }
+
+    get mat3(): Mat3 {
+		return new Mat3(this[0], this[1], this[ 2],
+						this[4], this[5], this[ 6],
+						this[8], this[9], this[10]);
+	}
+
+	get forwardVector(): Vec {
+		return Mat4.TransformDirection(this, new Vec(0.0, 0.0, 1.0));
+	}
+	
+	get rightVector(): Vec {
+		return Mat4.TransformDirection(this, new Vec(1.0, 0.0, 0.0));
+	}
+	
+	get upVector(): Vec {
+		return Mat4.TransformDirection(this, new Vec(0.0, 1.0, 0.0));
+	}
+	
+	get backwardVector(): Vec {
+		return Mat4.TransformDirection(this, new Vec(0.0, 0.0, -1.0));
+	}
+	
+	get leftVector(): Vec {
+		return Mat4.TransformDirection(this, new Vec(-1.0, 0.0, 0.0));
+	}
+	
+	get downVector(): Vec {
+		return Mat4.TransformDirection(this, new Vec(0.0, -1.0, 0.0));
+	}
+
+	get translation(): Vec {
+		return new Vec(this[12], this[13], this[14]);
+	}
+
+    row(i: number): Vec {
+        return new Vec(
+            this[i * 4], 
+            this[i * 4 + 1],
+            this[i * 4 + 2],
+            this[i * 4 + 3]);
+    }
+
+    setRow(i: number, a: ArrayLike<number>): this;
+    setRow(i: number, x: number, y: number, z: number, w: number): this;
+    setRow(i: number, a: number | ArrayLike<number>, y?: number, z?: number, w?: number): this {
+        if (typeof a === 'object' && a.length >= 4) {
+            this[i * 4]      = a[0];
+            this[i * 4 + 1]  = a[1];
+            this[i * 4 + 2]  = a[2];
+            this[i * 4 + 3]  = a[3];
+        }
+		else if (typeof a === 'object' && a.length == 3) {
+			this[i * 4]      = a[0];
+            this[i * 4 + 1]  = a[1];
+            this[i * 4 + 2]  = a[2];
+		}
+        else if (typeof(a) === "number" && 
+            typeof(y) === "number" && 
+            typeof(z) === "number" &&
+            typeof(w) === "number"
+        ) {
+            this[i * 4]      = a;
+            this[i * 4 + 1]  = y;
+            this[i * 4 + 2]  = z;
+            this[i * 4 + 3]  = w;
+        }
+        else {
+            throw new Error(`Invalid parameter setting matrix row`);
+        }
+        return this;
+    }
+
+    col(i: number): Vec {
+        return new Vec(
+            this[i],
+            this[i + 4],
+            this[i + 4 * 2],
+            this[i + 4 * 3]
+        )
+    }
+
+    setCol(i: number, a: ArrayLike<number>): this;
+    setCol(i: number, x: number, y: number, z: number, w: number): this;
+    setCol(i: number, a: number | ArrayLike<number>, y?: number, z?: number, w?: number): this {
+        if (typeof a === 'object' && a.length >= 4) {
+            this[i]         = a[0];
+            this[i + 4]     = a[1];
+            this[i + 4 * 2] = a[2];
+            this[i + 4 * 3] = a[3];
+        }
+        else if (typeof(a) === "number" && 
+            typeof(y) === "number" && 
+            typeof(z) === "number" &&
+            typeof(w) === "number"
+        ) {
+            this[i]         = a;
+            this[i + 4]     = y;
+            this[i + 4 * 2] = z;
+            this[i + 4 * 3] = w;
+        }
+        else {
+            throw new Error(`Invalid parameter setting matrix row`);
+        }
+        return this;
+    }
+
+    assign(a: ArrayLike<number>): this {
+		if (a.length==9) {
+			this[0]  = a[0]; this[1]  = a[1]; this[2]  = a[2]; this[3]  = 0;
+			this[4]  = a[3]; this[5]  = a[4]; this[6]  = a[5]; this[7]  = 0;
+			this[8]  = a[6]; this[9]  = a[7]; this[10] = a[8]; this[11] = 0;
+			this[12] = 0;	 this[13] = 0;	  this[14] = 0;	   this[15] = 1;
+		}
+		else if (a.length==16) {
+			this[0]  = a[0];  this[1]  = a[1];  this[2]  = a[2];  this[3]  = a[3];
+			this[4]  = a[4];  this[5]  = a[5];  this[6]  = a[6];  this[7]  = a[7];
+			this[8]  = a[8];  this[9]  = a[9];  this[10] = a[10]; this[11] = a[11];
+			this[12] = a[12]; this[13] = a[13];	this[14] = a[14]; this[15] = a[15];
+		}
+		return this;
+	}
+
+	translate(x: number | ArrayLike<number>, y?: number, z?: number): this {
+		if (checkArray(x, 3)) {
+			y = (x as ArrayLike<number>)[1];
+			z = (x as ArrayLike<number>)[2];
+			x = (x as ArrayLike<number>)[0];
+		}
+		this.mult(Mat4.MakeTranslation(x, y, z));
+		return this;
+	}
+
+	rotate(alpha: number, x: number | ArrayLike<number>, y?: number, z?: number): this {
+		if (checkArray(x, 3)) {
+			y = (x as ArrayLike<number>)[1];
+			z = (x as ArrayLike<number>)[2];
+			x = (x as ArrayLike<number>)[0];
+		}
+		this.mult(Mat4.MakeRotation(alpha, x as number, y ?? 0, z ?? 0));
+		return this;
+	}
+	
+	scale(x: number | ArrayLike<number>, y?: number, z?: number): this {
+		if (checkArray(x, 3)) {
+			y = (x as ArrayLike<number>)[1];
+			z = (x as ArrayLike<number>)[2];
+			x = (x as ArrayLike<number>)[0];
+		}
+		this.mult(Mat4.MakeScale(x, y, z));
+		return this;
+	}
+
+    toString(): string {
+        return  `[ ${this[ 0]}, ${this[ 1]}, ${this[ 2]}, ${this[ 3]}\n` +
+                `  ${this[ 4]}, ${this[ 5]}, ${this[ 6]}, ${this[ 7]}\n` +
+                `  ${this[ 8]}, ${this[ 9]}, ${this[10]}, ${this[11]}\n` +
+                `  ${this[12]}, ${this[13]}, ${this[14]}, ${this[15]} ]`;
+    }
+
+    setScale(x: number, y: number, z: number): this {
+		const rx = new Vec(this[0], this[4], this[8]).normalize().scale(x);
+		const ry = new Vec(this[1], this[5], this[9]).normalize().scale(y);
+		const rz = new Vec(this[2], this[6], this[10]).normalize().scale(z);
+		this[0] = rx.x; this[4] = rx.y; this[8] = rx.z;
+		this[1] = ry.x; this[5] = ry.y; this[9] = ry.z;
+		this[2] = rz.x; this[6] = rz.y; this[10] = rz.z;
+		return this;
+	}
+
+	setPosition(pos: Vec): this;
+	setPosition(x: number, y: number, z: number): this;
+	setPosition(pos: number | Vec, y?: number, z?: number): this {
+		if (typeof(pos) === "number" && y !== undefined && z !== undefined) {
+			this[12] = pos;
+			this[13] = y;
+			this[14] = z;
+		}
+		else if (typeof pos === 'object') {
+			this[12] = pos.x;
+			this[13] = pos.y;
+			this[14] = pos.z;
+		}
+		return this;
+	}
+
+	setRotation(rotationMatrix: ArrayLike<number>): this {
+		if (rotationMatrix.length === 9) {
+			this[0] = rotationMatrix[0]; this[1] = rotationMatrix[1]; this[2] = rotationMatrix[2];
+			this[4] = rotationMatrix[3]; this[5] = rotationMatrix[4]; this[6] = rotationMatrix[5];
+			this[8] = rotationMatrix[6]; this[9] = rotationMatrix[7]; this[10] = rotationMatrix[8];
+		}
+		else if (rotationMatrix.length === 16) {
+			this[0] = rotationMatrix[0]; this[1] = rotationMatrix[1]; this[2] = rotationMatrix[2];
+			this[4] = rotationMatrix[4]; this[5] = rotationMatrix[5]; this[6] = rotationMatrix[6];
+			this[8] = rotationMatrix[8]; this[9] = rotationMatrix[9]; this[10] = rotationMatrix[10];
+		}
+		else {
+			throw new Error("Invalid parameter setting rotation matrix");
+		}
+		return this;
+	}
+
+    mult(a: number): this;
+    mult(a: Mat4): this;
+    mult(a: number | Mat4): this {
+		if (typeof(a)=='number') {
+			this[ 0] *= a; this[ 1] *= a; this[ 2] *= a; this[ 3] *= a;
+			this[ 4] *= a; this[ 5] *= a; this[ 6] *= a; this[ 7] *= a;
+			this[ 8] *= a; this[ 9] *= a; this[10] *= a; this[11] *= a;
+			this[12] *= a; this[13] *= a; this[14] *= a; this[15] *= a;
+			return this;
+		}
+
+        const r0 = this.row(0);
+        const r1 = this.row(1);
+        const r2 = this.row(2);
+        const r3 = this.row(3);
+        const c0 = a.col(0);
+        const c1 = a.col(1);
+        const c2 = a.col(2);
+        const c3 = a.col(3);
+
+        this[0 ] = Vec.Dot(r0, c0); this[1 ] = Vec.Dot(r0, c1); this[2 ] = Vec.Dot(r0, c2); this[3 ] = Vec.Dot(r0, c3);
+        this[4 ] = Vec.Dot(r1, c0); this[5 ] = Vec.Dot(r1, c1); this[6 ] = Vec.Dot(r1, c2); this[7 ] = Vec.Dot(r1, c3);
+        this[8 ] = Vec.Dot(r2, c0); this[9 ] = Vec.Dot(r2, c1); this[10] = Vec.Dot(r2, c2); this[11] = Vec.Dot(r2, c3);
+        this[12] = Vec.Dot(r3, c0); this[13] = Vec.Dot(r3, c1); this[14] = Vec.Dot(r3, c2); this[15] = Vec.Dot(r3, c3);
+
+		return this;
+	}
+
+	multVector(vec: ArrayLike<number>): Vec {
+        if (vec.length<3) {
+            throw new Error("Invalid parameter multiplying Mat4 by vector");
+        }
+
+		const x = vec[0];
+		const y = vec[1];
+		const z = vec[2];
+		const w = vec.length >3 ? vec[3] : 1.0;
+	
+		return new Vec( this[0] * x + this[4] * y + this[ 8] * z + this[12] * w,
+						this[1] * x + this[5] * y + this[ 9] * z + this[13] * w,
+						this[2] * x + this[6] * y + this[10] * z + this[14] * w,
+						this[3] * x + this[7] * y + this[11] * z + this[15] * w);
+	}
+	
+	invert(): this {
+		const a00 = this[0],  a01 = this[1],  a02 = this[2],  a03 = this[3],
+	          a10 = this[4],  a11 = this[5],  a12 = this[6],  a13 = this[7],
+	          a20 = this[8],  a21 = this[9],  a22 = this[10], a23 = this[11],
+	          a30 = this[12], a31 = this[13], a32 = this[14], a33 = this[15];
+
+	    const b00 = a00 * a11 - a01 * a10,
+	          b01 = a00 * a12 - a02 * a10,
+	          b02 = a00 * a13 - a03 * a10,
+	          b03 = a01 * a12 - a02 * a11,
+	          b04 = a01 * a13 - a03 * a11,
+	          b05 = a02 * a13 - a03 * a12,
+	          b06 = a20 * a31 - a21 * a30,
+	          b07 = a20 * a32 - a22 * a30,
+	          b08 = a20 * a33 - a23 * a30,
+	          b09 = a21 * a32 - a22 * a31,
+	          b10 = a21 * a33 - a23 * a31,
+	          b11 = a22 * a33 - a23 * a32;
+
+	    let det = b00 * b11 - b01 * b10 + b02 * b09 + b03 * b08 - b04 * b07 + b05 * b06;
+
+	    if (!det) {
+			this.zero();
+	    }
+		else {
+			det = 1.0 / det;
+
+			this[0] = (a11 * b11 - a12 * b10 + a13 * b09) * det;
+			this[1] = (a02 * b10 - a01 * b11 - a03 * b09) * det;
+			this[2] = (a31 * b05 - a32 * b04 + a33 * b03) * det;
+			this[3] = (a22 * b04 - a21 * b05 - a23 * b03) * det;
+			this[4] = (a12 * b08 - a10 * b11 - a13 * b07) * det;
+			this[5] = (a00 * b11 - a02 * b08 + a03 * b07) * det;
+			this[6] = (a32 * b02 - a30 * b05 - a33 * b01) * det;
+			this[7] = (a20 * b05 - a22 * b02 + a23 * b01) * det;
+			this[8] = (a10 * b10 - a11 * b08 + a13 * b06) * det;
+			this[9] = (a01 * b08 - a00 * b10 - a03 * b06) * det;
+			this[10] = (a30 * b04 - a31 * b02 + a33 * b00) * det;
+			this[11] = (a21 * b02 - a20 * b04 - a23 * b00) * det;
+			this[12] = (a11 * b07 - a10 * b09 - a12 * b06) * det;
+			this[13] = (a00 * b09 - a01 * b07 + a02 * b06) * det;
+			this[14] = (a31 * b01 - a30 * b03 - a32 * b00) * det;
+			this[15] = (a20 * b03 - a21 * b01 + a22 * b00) * det;
+		}
+
+        return this;
+	}
+	
+	traspose(): this {
+		const r0 = new Vec(this[0], this[4], this[ 8], this[12]);
+		const r1 = new Vec(this[1], this[5], this[ 9], this[13]);
+		const r2 = new Vec(this[2], this[6], this[10], this[14]);
+		const r3 = new Vec(this[3], this[7], this[11], this[15]);
+	
+		this.setRow(0, r0);
+		this.setRow(1, r1);
+		this.setRow(2, r2);
+		this.setRow(3, r3);
+		return this;
+	}
+
+    ///////// Factory methods
+    static MakeIdentity(): Mat4 {
+        const m = new Mat4();
+        return m.identity();
+    }
+
+	static MakeZero(): Mat4 {
+		const m = new Mat4();
+		return m.zero();
+	}
+
+	static MakeWithQuaternion(q: ArrayLike<number>): Mat4 {
+		const m = Mat4.MakeIdentity();
+		m.setRotation(Mat3.MakeWithQuaternion(q));
+        return m;
+	}
+	
+    static MakeTranslation(x: number | ArrayLike<number>, y?: number, z?: number): Mat4 {
+		if (checkArray(x, 3)) {
+			y = (x as ArrayLike<number>)[1];
+			z = (x as ArrayLike<number>)[2];
+			x = (x as ArrayLike<number>)[0];
+		}
+		return new Mat4(
+			1.0, 0.0, 0.0, 0.0,
+			0.0, 1.0, 0.0, 0.0,
+			0.0, 0.0, 1.0, 0.0,
+			  x as number,   y as number,   z as number, 1.0
+		);
+	}
+		
+	static MakeRotation(alpha: number, x: number, y: number, z: number): Mat4 {
+		const axis = new Vec(x,y,z);
+		axis.normalize();
+				
+		var cosAlpha = Math.cos(alpha);
+		var acosAlpha = 1.0 - cosAlpha;
+		var sinAlpha = Math.sin(alpha);
+		
+		return new Mat4(
+			axis.x * axis.x * acosAlpha + cosAlpha, axis.x * axis.y * acosAlpha + axis.z * sinAlpha, axis.x * axis.z * acosAlpha - axis.y * sinAlpha, 0,
+			axis.y * axis.x * acosAlpha - axis.z * sinAlpha, axis.y * axis.y * acosAlpha + cosAlpha, axis.y * axis.z * acosAlpha + axis.x * sinAlpha, 0,
+			axis.z * axis.x * acosAlpha + axis.y * sinAlpha, axis.z * axis.y * acosAlpha - axis.x * sinAlpha, axis.z * axis.z * acosAlpha + cosAlpha, 0,
+			0,0,0,1
+		);
+	}
+
+	static MakeRotationWithDirection(direction: Vec, up?: Vec): Mat4 {
+		const trx = Mat4.MakeIdentity();
+		trx.setRotation(Mat3.MakeRotationWithDirection(direction, up));
+		return trx;
+	}
+
+	static MakeScale(x: number | ArrayLike<number>, y?: number, z?: number): Mat4 {
+		if (checkArray(x, 3)) {
+            y = (x as ArrayLike<number>)[1];
+			z = (x as ArrayLike<number>)[2];
+			x = (x as ArrayLike<number>)[0];
+		}
+		return new Mat4(
+			x as number, 0, 0, 0,
+			0, y as number, 0, 0,
+			0, 0, z as number, 0,
+			0, 0, 0, 1
+		)
+	}
+    
+
+    static MakePerspective(fovy: number, aspect: number, nearPlane: number, farPlane: number): Mat4 {
+		return (new Mat4()).perspective(fovy, aspect, nearPlane, farPlane);
+	}
+	
+	static MakeFrustum(left: number, right: number, bottom: number, top: number, nearPlane: number, farPlane: number): Mat4 {
+		return (new Mat4()).frustum(left, right, bottom, top, nearPlane, farPlane);
+	}
+	
+	static MakeOrtho(left: number, right: number, bottom: number, top: number, nearPlane: number, farPlane: number): Mat4 {
+		return (new Mat4()).ortho(left, right, bottom, top, nearPlane, farPlane);
+	}
+
+	static MakeLookAt(origin: Vec, target: Vec, up: Vec): Mat4 {
+		return (new Mat4()).lookAt(origin,target,up);
+	}
+
+	// Other static methods. This function multyplies two B x A matrices. It works opposite than the non-static mult() function:
+	// A.mult(B) is the same as Mat4.Mult(B,A)
+	static Mult(A: Mat4, B: Mat4): Mat4 {
+		const result = new Mat4(B);
+		return result.mult(A);
+	}
+
+    static Unproject(x: number, y: number, depth: number, mvMat: Mat4, pMat: Mat4, viewport: Vec): Vec {
+		let mvp = new Mat4(pMat);
+		mvp.mult(mvMat);
+		mvp.invert();
+
+		const vin = new Vec(((x - viewport.y) / viewport.width) * 2.0 - 1.0,
+								((y - viewport.x) / viewport.height) * 2.0 - 1.0,
+								depth * 2.0 - 1.0,
+								1.0);
+		
+		const result = mvp.multVector(vin);
+		if (result.z==0) {
+			result.setValue(0, 0, 0, 0);
+		}
+		else {
+			result.setValue(result.x/result.w,
+						result.y/result.w,
+						result.z/result.w,
+						result.w/result.w);
+		}
+
+		return result;
+	}
+
+    static GetScale(m: ArrayLike<number>): Vec {
+		return new Vec(
+            Vec.Magnitude([m[1], m[5], m[9]]),
+			Vec.Magnitude([m[0], m[4], m[8]]),
+			Vec.Magnitude([m[2], m[6], m[10]])
+		);
+	}
+
+    static GetRotation(m: ArrayLike<number>): Mat4 {
+		const scale = Mat4.GetScale(m);
+		return new Mat4(
+				m[0] / scale.x, m[1] / scale.y, m[ 2] / scale.z, 0,
+				m[4] / scale.x, m[5] / scale.y, m[ 6] / scale.z, 0,
+				m[8] / scale.x, m[9] / scale.y, m[10] / scale.z, 0,
+				0,	   0,	  0, 	1
+		);
+	}
+
+	static GetPosition(m: ArrayLike<number>): Vec {
+		return new Vec(m[12], m[13], m[14]);
+	}
+
+	static GetInverted(m: Mat4): Mat4 {
+		const inverted = new Mat4(m);
+		inverted.invert();
+		return inverted;
+	}
+
+	static GetNormalMatrix(m: Mat4): Mat3 {
+		return new Mat4(m)
+			.invert()
+			.traspose()
+			.mat3;
+	}
+	
+    static Equals(m: ArrayLike<number>, n: ArrayLike<number>): boolean {
+		return	m[ 0] == n[ 0] && m[ 1] == n[ 1] && m[ 2] == n[ 2] && m[ 3] == n[ 3] &&
+				m[ 4] == n[ 4] && m[ 5] == n[ 5] && m[ 6] == n[ 6] && m[ 7] == n[ 7] &&
+				m[ 8] == n[ 8] && m[ 9] == n[ 9] && m[10] == n[10] && m[11] == n[11] &&
+				m[12] == n[12] && m[13] == n[13] && m[14] == n[14] && m[15] == n[15];
+	}
+
+    static TransformDirection(M: Mat4, dir: Vec): Vec {
+		const direction = new Vec(dir);
+		const trx = new Mat4(M);
+		trx.setRow(3, new Vec(0, 0, 0, 1));
+		direction.assign(trx.multVector(direction).xyz);
+		direction.normalize();
+		return direction;
+	}
+
+    static IsNan(m: ArrayLike<number>): boolean {
+        return	isNaN(m[ 0]) || isNaN(m[ 1]) || isNaN(m[ 2]) || isNaN(m[ 3]) ||
+                isNaN(m[ 4]) || isNaN(m[ 5]) || isNaN(m[ 6]) || isNaN(m[ 7]) ||
+                isNaN(m[ 8]) || isNaN(m[ 9]) || isNaN(m[10]) || isNaN(m[11]) ||
+                isNaN(m[12]) || isNaN(m[13]) || isNaN(m[14]) || isNaN(m[15]);
+    }
+
+    static IsZero(m: ArrayLike<number>): boolean {
+		return	isZero(m[ 0]) && isZero(m[ 1]) && isZero(m[ 2]) && isZero(m[ 3]) &&
+				isZero(m[ 4]) && isZero(m[ 5]) && isZero(m[ 6]) && isZero(m[ 7]) &&
+				isZero(m[ 8]) && isZero(m[ 9]) && isZero(m[10]) && isZero(m[11]) &&
+				isZero(m[12]) && isZero(m[13]) && isZero(m[14]) && isZero(m[15]);
+	}
+	
+	static IsIdentity(m: ArrayLike<number>): boolean {
+		return	equals(m[ 0],1) && equals(m[ 1],0) && equals(m[ 2],0) && equals(m[ 3],0) &&
+				equals(m[ 4],0) && equals(m[ 5],1) && equals(m[ 6],0) && equals(m[ 7],0) &&
+				equals(m[ 8],0) && equals(m[ 9],0) && equals(m[10],1) && equals(m[11],0) &&
+				equals(m[12],0) && equals(m[13],0) && equals(m[14],0) && equals(m[15],1);
+	}
+}