deeptwins-cesium-engine 0.0.3

package/Source/Core/Matrix3.js

@@ -0,0 +1,1838 @@
+import Cartesian3 from "./Cartesian3.js";
+import Check from "./Check.js";
+import defined from "./defined.js";
+import DeveloperError from "./DeveloperError.js";
+import CesiumMath from "./Math.js";
+
+/**
+ * A 3x3 matrix, indexable as a column-major order array.
+ * Constructor parameters are in row-major order for code readability.
+ * @alias Matrix3
+ * @constructor
+ * @implements {ArrayLike<number>}
+ *
+ * @param {number} [column0Row0=0.0] The value for column 0, row 0.
+ * @param {number} [column1Row0=0.0] The value for column 1, row 0.
+ * @param {number} [column2Row0=0.0] The value for column 2, row 0.
+ * @param {number} [column0Row1=0.0] The value for column 0, row 1.
+ * @param {number} [column1Row1=0.0] The value for column 1, row 1.
+ * @param {number} [column2Row1=0.0] The value for column 2, row 1.
+ * @param {number} [column0Row2=0.0] The value for column 0, row 2.
+ * @param {number} [column1Row2=0.0] The value for column 1, row 2.
+ * @param {number} [column2Row2=0.0] The value for column 2, row 2.
+ *
+ * @see Matrix3.fromArray
+ * @see Matrix3.fromColumnMajorArray
+ * @see Matrix3.fromRowMajorArray
+ * @see Matrix3.fromQuaternion
+ * @see Matrix3.fromHeadingPitchRoll
+ * @see Matrix3.fromScale
+ * @see Matrix3.fromUniformScale
+ * @see Matrix3.fromCrossProduct
+ * @see Matrix3.fromRotationX
+ * @see Matrix3.fromRotationY
+ * @see Matrix3.fromRotationZ
+ * @see Matrix2
+ * @see Matrix4
+ */
+function Matrix3(
+  column0Row0,
+  column1Row0,
+  column2Row0,
+  column0Row1,
+  column1Row1,
+  column2Row1,
+  column0Row2,
+  column1Row2,
+  column2Row2,
+) {
+  this[0] = column0Row0 ?? 0.0;
+  this[1] = column0Row1 ?? 0.0;
+  this[2] = column0Row2 ?? 0.0;
+  this[3] = column1Row0 ?? 0.0;
+  this[4] = column1Row1 ?? 0.0;
+  this[5] = column1Row2 ?? 0.0;
+  this[6] = column2Row0 ?? 0.0;
+  this[7] = column2Row1 ?? 0.0;
+  this[8] = column2Row2 ?? 0.0;
+}
+
+/**
+ * The number of elements used to pack the object into an array.
+ * @type {number}
+ */
+Matrix3.packedLength = 9;
+
+/**
+ * Stores the provided instance into the provided array.
+ *
+ * @param {Matrix3} value The value to pack.
+ * @param {number[]} array The array to pack into.
+ * @param {number} [startingIndex=0] The index into the array at which to start packing the elements.
+ *
+ * @returns {number[]} The array that was packed into
+ */
+Matrix3.pack = function (value, array, startingIndex) {
+  //>>includeStart('debug', pragmas.debug);
+  Check.typeOf.object("value", value);
+  Check.defined("array", array);
+  //>>includeEnd('debug');
+
+  startingIndex = startingIndex ?? 0;
+
+  array[startingIndex++] = value[0];
+  array[startingIndex++] = value[1];
+  array[startingIndex++] = value[2];
+  array[startingIndex++] = value[3];
+  array[startingIndex++] = value[4];
+  array[startingIndex++] = value[5];
+  array[startingIndex++] = value[6];
+  array[startingIndex++] = value[7];
+  array[startingIndex++] = value[8];
+
+  return array;
+};
+
+/**
+ * Retrieves an instance from a packed array.
+ *
+ * @param {number[]} array The packed array.
+ * @param {number} [startingIndex=0] The starting index of the element to be unpacked.
+ * @param {Matrix3} [result] The object into which to store the result.
+ * @returns {Matrix3} The modified result parameter or a new Matrix3 instance if one was not provided.
+ */
+Matrix3.unpack = function (array, startingIndex, result) {
+  //>>includeStart('debug', pragmas.debug);
+  Check.defined("array", array);
+  //>>includeEnd('debug');
+
+  startingIndex = startingIndex ?? 0;
+
+  if (!defined(result)) {
+    result = new Matrix3();
+  }
+
+  result[0] = array[startingIndex++];
+  result[1] = array[startingIndex++];
+  result[2] = array[startingIndex++];
+  result[3] = array[startingIndex++];
+  result[4] = array[startingIndex++];
+  result[5] = array[startingIndex++];
+  result[6] = array[startingIndex++];
+  result[7] = array[startingIndex++];
+  result[8] = array[startingIndex++];
+  return result;
+};
+
+/**
+ * Flattens an array of Matrix3s into an array of components. The components
+ * are stored in column-major order.
+ *
+ * @param {Matrix3[]} array The array of matrices to pack.
+ * @param {number[]} [result] The array onto which to store the result. If this is a typed array, it must have array.length * 9 components, else a {@link DeveloperError} will be thrown. If it is a regular array, it will be resized to have (array.length * 9) elements.
+ * @returns {number[]} The packed array.
+ */
+Matrix3.packArray = function (array, result) {
+  //>>includeStart('debug', pragmas.debug);
+  Check.defined("array", array);
+  //>>includeEnd('debug');
+
+  const length = array.length;
+  const resultLength = length * 9;
+  if (!defined(result)) {
+    result = new Array(resultLength);
+  } else if (!Array.isArray(result) && result.length !== resultLength) {
+    //>>includeStart('debug', pragmas.debug);
+    throw new DeveloperError(
+      "If result is a typed array, it must have exactly array.length * 9 elements",
+    );
+    //>>includeEnd('debug');
+  } else if (result.length !== resultLength) {
+    result.length = resultLength;
+  }
+
+  for (let i = 0; i < length; ++i) {
+    Matrix3.pack(array[i], result, i * 9);
+  }
+  return result;
+};
+
+/**
+ * Unpacks an array of column-major matrix components into an array of Matrix3s.
+ *
+ * @param {number[]} array The array of components to unpack.
+ * @param {Matrix3[]} [result] The array onto which to store the result.
+ * @returns {Matrix3[]} The unpacked array.
+ */
+Matrix3.unpackArray = function (array, result) {
+  //>>includeStart('debug', pragmas.debug);
+  Check.defined("array", array);
+  Check.typeOf.number.greaterThanOrEquals("array.length", array.length, 9);
+  if (array.length % 9 !== 0) {
+    throw new DeveloperError("array length must be a multiple of 9.");
+  }
+  //>>includeEnd('debug');
+
+  const length = array.length;
+  if (!defined(result)) {
+    result = new Array(length / 9);
+  } else {
+    result.length = length / 9;
+  }
+
+  for (let i = 0; i < length; i += 9) {
+    const index = i / 9;
+    result[index] = Matrix3.unpack(array, i, result[index]);
+  }
+  return result;
+};
+
+/**
+ * Duplicates a Matrix3 instance.
+ *
+ * @param {Matrix3} matrix The matrix to duplicate.
+ * @param {Matrix3} [result] The object onto which to store the result.
+ * @returns {Matrix3} The modified result parameter or a new Matrix3 instance if one was not provided. (Returns undefined if matrix is undefined)
+ */
+Matrix3.clone = function (matrix, result) {
+  if (!defined(matrix)) {
+    return undefined;
+  }
+  if (!defined(result)) {
+    return new Matrix3(
+      matrix[0],
+      matrix[3],
+      matrix[6],
+      matrix[1],
+      matrix[4],
+      matrix[7],
+      matrix[2],
+      matrix[5],
+      matrix[8],
+    );
+  }
+  result[0] = matrix[0];
+  result[1] = matrix[1];
+  result[2] = matrix[2];
+  result[3] = matrix[3];
+  result[4] = matrix[4];
+  result[5] = matrix[5];
+  result[6] = matrix[6];
+  result[7] = matrix[7];
+  result[8] = matrix[8];
+  return result;
+};
+
+/**
+ * Creates a Matrix3 from 9 consecutive elements in an array.
+ *
+ * @function
+ * @param {number[]} array The array whose 9 consecutive elements correspond to the positions of the matrix.  Assumes column-major order.
+ * @param {number} [startingIndex=0] The offset into the array of the first element, which corresponds to first column first row position in the matrix.
+ * @param {Matrix3} [result] The object onto which to store the result.
+ * @returns {Matrix3} The modified result parameter or a new Matrix3 instance if one was not provided.
+ *
+ * @example
+ * // Create the Matrix3:
+ * // [1.0, 2.0, 3.0]
+ * // [1.0, 2.0, 3.0]
+ * // [1.0, 2.0, 3.0]
+ *
+ * const v = [1.0, 1.0, 1.0, 2.0, 2.0, 2.0, 3.0, 3.0, 3.0];
+ * const m = Cesium.Matrix3.fromArray(v);
+ *
+ * // Create same Matrix3 with using an offset into an array
+ * const v2 = [0.0, 0.0, 1.0, 1.0, 1.0, 2.0, 2.0, 2.0, 3.0, 3.0, 3.0];
+ * const m2 = Cesium.Matrix3.fromArray(v2, 2);
+ */
+Matrix3.fromArray = Matrix3.unpack;
+
+/**
+ * Creates a Matrix3 instance from a column-major order array.
+ *
+ * @param {number[]} values The column-major order array.
+ * @param {Matrix3} [result] The object in which the result will be stored, if undefined a new instance will be created.
+ * @returns {Matrix3} The modified result parameter, or a new Matrix3 instance if one was not provided.
+ */
+Matrix3.fromColumnMajorArray = function (values, result) {
+  //>>includeStart('debug', pragmas.debug);
+  Check.defined("values", values);
+  //>>includeEnd('debug');
+
+  return Matrix3.clone(values, result);
+};
+
+/**
+ * Creates a Matrix3 instance from a row-major order array.
+ * The resulting matrix will be in column-major order.
+ *
+ * @param {number[]} values The row-major order array.
+ * @param {Matrix3} [result] The object in which the result will be stored, if undefined a new instance will be created.
+ * @returns {Matrix3} The modified result parameter, or a new Matrix3 instance if one was not provided.
+ */
+Matrix3.fromRowMajorArray = function (values, result) {
+  //>>includeStart('debug', pragmas.debug);
+  Check.defined("values", values);
+  //>>includeEnd('debug');
+
+  if (!defined(result)) {
+    return new Matrix3(
+      values[0],
+      values[1],
+      values[2],
+      values[3],
+      values[4],
+      values[5],
+      values[6],
+      values[7],
+      values[8],
+    );
+  }
+  result[0] = values[0];
+  result[1] = values[3];
+  result[2] = values[6];
+  result[3] = values[1];
+  result[4] = values[4];
+  result[5] = values[7];
+  result[6] = values[2];
+  result[7] = values[5];
+  result[8] = values[8];
+  return result;
+};
+
+/**
+ * Computes a 3x3 rotation matrix from the provided quaternion.
+ *
+ * @param {Quaternion} quaternion the quaternion to use.
+ * @param {Matrix3} [result] The object in which the result will be stored, if undefined a new instance will be created.
+ * @returns {Matrix3} The 3x3 rotation matrix from this quaternion.
+ */
+Matrix3.fromQuaternion = function (quaternion, result) {
+  //>>includeStart('debug', pragmas.debug);
+  Check.typeOf.object("quaternion", quaternion);
+  //>>includeEnd('debug');
+
+  const x2 = quaternion.x * quaternion.x;
+  const xy = quaternion.x * quaternion.y;
+  const xz = quaternion.x * quaternion.z;
+  const xw = quaternion.x * quaternion.w;
+  const y2 = quaternion.y * quaternion.y;
+  const yz = quaternion.y * quaternion.z;
+  const yw = quaternion.y * quaternion.w;
+  const z2 = quaternion.z * quaternion.z;
+  const zw = quaternion.z * quaternion.w;
+  const w2 = quaternion.w * quaternion.w;
+
+  const m00 = x2 - y2 - z2 + w2;
+  const m01 = 2.0 * (xy - zw);
+  const m02 = 2.0 * (xz + yw);
+
+  const m10 = 2.0 * (xy + zw);
+  const m11 = -x2 + y2 - z2 + w2;
+  const m12 = 2.0 * (yz - xw);
+
+  const m20 = 2.0 * (xz - yw);
+  const m21 = 2.0 * (yz + xw);
+  const m22 = -x2 - y2 + z2 + w2;
+
+  if (!defined(result)) {
+    return new Matrix3(m00, m01, m02, m10, m11, m12, m20, m21, m22);
+  }
+  result[0] = m00;
+  result[1] = m10;
+  result[2] = m20;
+  result[3] = m01;
+  result[4] = m11;
+  result[5] = m21;
+  result[6] = m02;
+  result[7] = m12;
+  result[8] = m22;
+  return result;
+};
+
+/**
+ * Computes a 3x3 rotation matrix from the provided headingPitchRoll. (see http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles )
+ *
+ * @param {HeadingPitchRoll} headingPitchRoll the headingPitchRoll to use.
+ * @param {Matrix3} [result] The object in which the result will be stored, if undefined a new instance will be created.
+ * @returns {Matrix3} The 3x3 rotation matrix from this headingPitchRoll.
+ */
+Matrix3.fromHeadingPitchRoll = function (headingPitchRoll, result) {
+  //>>includeStart('debug', pragmas.debug);
+  Check.typeOf.object("headingPitchRoll", headingPitchRoll);
+  //>>includeEnd('debug');
+
+  const cosTheta = Math.cos(-headingPitchRoll.pitch);
+  const cosPsi = Math.cos(-headingPitchRoll.heading);
+  const cosPhi = Math.cos(headingPitchRoll.roll);
+  const sinTheta = Math.sin(-headingPitchRoll.pitch);
+  const sinPsi = Math.sin(-headingPitchRoll.heading);
+  const sinPhi = Math.sin(headingPitchRoll.roll);
+
+  const m00 = cosTheta * cosPsi;
+  const m01 = -cosPhi * sinPsi + sinPhi * sinTheta * cosPsi;
+  const m02 = sinPhi * sinPsi + cosPhi * sinTheta * cosPsi;
+
+  const m10 = cosTheta * sinPsi;
+  const m11 = cosPhi * cosPsi + sinPhi * sinTheta * sinPsi;
+  const m12 = -sinPhi * cosPsi + cosPhi * sinTheta * sinPsi;
+
+  const m20 = -sinTheta;
+  const m21 = sinPhi * cosTheta;
+  const m22 = cosPhi * cosTheta;
+
+  if (!defined(result)) {
+    return new Matrix3(m00, m01, m02, m10, m11, m12, m20, m21, m22);
+  }
+  result[0] = m00;
+  result[1] = m10;
+  result[2] = m20;
+  result[3] = m01;
+  result[4] = m11;
+  result[5] = m21;
+  result[6] = m02;
+  result[7] = m12;
+  result[8] = m22;
+  return result;
+};
+
+/**
+ * Computes a Matrix3 instance representing a non-uniform scale.
+ *
+ * @param {Cartesian3} scale The x, y, and z scale factors.
+ * @param {Matrix3} [result] The object in which the result will be stored, if undefined a new instance will be created.
+ * @returns {Matrix3} The modified result parameter, or a new Matrix3 instance if one was not provided.
+ *
+ * @example
+ * // Creates
+ * //   [7.0, 0.0, 0.0]
+ * //   [0.0, 8.0, 0.0]
+ * //   [0.0, 0.0, 9.0]
+ * const m = Cesium.Matrix3.fromScale(new Cesium.Cartesian3(7.0, 8.0, 9.0));
+ */
+Matrix3.fromScale = function (scale, result) {
+  //>>includeStart('debug', pragmas.debug);
+  Check.typeOf.object("scale", scale);
+  //>>includeEnd('debug');
+
+  if (!defined(result)) {
+    return new Matrix3(scale.x, 0.0, 0.0, 0.0, scale.y, 0.0, 0.0, 0.0, scale.z);
+  }
+
+  result[0] = scale.x;
+  result[1] = 0.0;
+  result[2] = 0.0;
+  result[3] = 0.0;
+  result[4] = scale.y;
+  result[5] = 0.0;
+  result[6] = 0.0;
+  result[7] = 0.0;
+  result[8] = scale.z;
+  return result;
+};
+
+/**
+ * Computes a Matrix3 instance representing a uniform scale.
+ *
+ * @param {number} scale The uniform scale factor.
+ * @param {Matrix3} [result] The object in which the result will be stored, if undefined a new instance will be created.
+ * @returns {Matrix3} The modified result parameter, or a new Matrix3 instance if one was not provided.
+ *
+ * @example
+ * // Creates
+ * //   [2.0, 0.0, 0.0]
+ * //   [0.0, 2.0, 0.0]
+ * //   [0.0, 0.0, 2.0]
+ * const m = Cesium.Matrix3.fromUniformScale(2.0);
+ */
+Matrix3.fromUniformScale = function (scale, result) {
+  //>>includeStart('debug', pragmas.debug);
+  Check.typeOf.number("scale", scale);
+  //>>includeEnd('debug');
+
+  if (!defined(result)) {
+    return new Matrix3(scale, 0.0, 0.0, 0.0, scale, 0.0, 0.0, 0.0, scale);
+  }
+
+  result[0] = scale;
+  result[1] = 0.0;
+  result[2] = 0.0;
+  result[3] = 0.0;
+  result[4] = scale;
+  result[5] = 0.0;
+  result[6] = 0.0;
+  result[7] = 0.0;
+  result[8] = scale;
+  return result;
+};
+
+/**
+ * Computes a Matrix3 instance representing the cross product equivalent matrix of a Cartesian3 vector.
+ *
+ * @param {Cartesian3} vector the vector on the left hand side of the cross product operation.
+ * @param {Matrix3} [result] The object in which the result will be stored, if undefined a new instance will be created.
+ * @returns {Matrix3} The modified result parameter, or a new Matrix3 instance if one was not provided.
+ *
+ * @example
+ * // Creates
+ * //   [0.0, -9.0,  8.0]
+ * //   [9.0,  0.0, -7.0]
+ * //   [-8.0, 7.0,  0.0]
+ * const m = Cesium.Matrix3.fromCrossProduct(new Cesium.Cartesian3(7.0, 8.0, 9.0));
+ */
+Matrix3.fromCrossProduct = function (vector, result) {
+  //>>includeStart('debug', pragmas.debug);
+  Check.typeOf.object("vector", vector);
+  //>>includeEnd('debug');
+
+  if (!defined(result)) {
+    return new Matrix3(
+      0.0,
+      -vector.z,
+      vector.y,
+      vector.z,
+      0.0,
+      -vector.x,
+      -vector.y,
+      vector.x,
+      0.0,
+    );
+  }
+
+  result[0] = 0.0;
+  result[1] = vector.z;
+  result[2] = -vector.y;
+  result[3] = -vector.z;
+  result[4] = 0.0;
+  result[5] = vector.x;
+  result[6] = vector.y;
+  result[7] = -vector.x;
+  result[8] = 0.0;
+  return result;
+};
+
+/**
+ * Creates a rotation matrix around the x-axis.
+ *
+ * @param {number} angle The angle, in radians, of the rotation.  Positive angles are counterclockwise.
+ * @param {Matrix3} [result] The object in which the result will be stored, if undefined a new instance will be created.
+ * @returns {Matrix3} The modified result parameter, or a new Matrix3 instance if one was not provided.
+ *
+ * @example
+ * // Rotate a point 45 degrees counterclockwise around the x-axis.
+ * const p = new Cesium.Cartesian3(5, 6, 7);
+ * const m = Cesium.Matrix3.fromRotationX(Cesium.Math.toRadians(45.0));
+ * const rotated = Cesium.Matrix3.multiplyByVector(m, p, new Cesium.Cartesian3());
+ */
+Matrix3.fromRotationX = function (angle, result) {
+  //>>includeStart('debug', pragmas.debug);
+  Check.typeOf.number("angle", angle);
+  //>>includeEnd('debug');
+
+  const cosAngle = Math.cos(angle);
+  const sinAngle = Math.sin(angle);
+
+  if (!defined(result)) {
+    return new Matrix3(
+      1.0,
+      0.0,
+      0.0,
+      0.0,
+      cosAngle,
+      -sinAngle,
+      0.0,
+      sinAngle,
+      cosAngle,
+    );
+  }
+
+  result[0] = 1.0;
+  result[1] = 0.0;
+  result[2] = 0.0;
+  result[3] = 0.0;
+  result[4] = cosAngle;
+  result[5] = sinAngle;
+  result[6] = 0.0;
+  result[7] = -sinAngle;
+  result[8] = cosAngle;
+
+  return result;
+};
+
+/**
+ * Creates a rotation matrix around the y-axis.
+ *
+ * @param {number} angle The angle, in radians, of the rotation.  Positive angles are counterclockwise.
+ * @param {Matrix3} [result] The object in which the result will be stored, if undefined a new instance will be created.
+ * @returns {Matrix3} The modified result parameter, or a new Matrix3 instance if one was not provided.
+ *
+ * @example
+ * // Rotate a point 45 degrees counterclockwise around the y-axis.
+ * const p = new Cesium.Cartesian3(5, 6, 7);
+ * const m = Cesium.Matrix3.fromRotationY(Cesium.Math.toRadians(45.0));
+ * const rotated = Cesium.Matrix3.multiplyByVector(m, p, new Cesium.Cartesian3());
+ */
+Matrix3.fromRotationY = function (angle, result) {
+  //>>includeStart('debug', pragmas.debug);
+  Check.typeOf.number("angle", angle);
+  //>>includeEnd('debug');
+
+  const cosAngle = Math.cos(angle);
+  const sinAngle = Math.sin(angle);
+
+  if (!defined(result)) {
+    return new Matrix3(
+      cosAngle,
+      0.0,
+      sinAngle,
+      0.0,
+      1.0,
+      0.0,
+      -sinAngle,
+      0.0,
+      cosAngle,
+    );
+  }
+
+  result[0] = cosAngle;
+  result[1] = 0.0;
+  result[2] = -sinAngle;
+  result[3] = 0.0;
+  result[4] = 1.0;
+  result[5] = 0.0;
+  result[6] = sinAngle;
+  result[7] = 0.0;
+  result[8] = cosAngle;
+
+  return result;
+};
+
+/**
+ * Creates a rotation matrix around the z-axis.
+ *
+ * @param {number} angle The angle, in radians, of the rotation.  Positive angles are counterclockwise.
+ * @param {Matrix3} [result] The object in which the result will be stored, if undefined a new instance will be created.
+ * @returns {Matrix3} The modified result parameter, or a new Matrix3 instance if one was not provided.
+ *
+ * @example
+ * // Rotate a point 45 degrees counterclockwise around the z-axis.
+ * const p = new Cesium.Cartesian3(5, 6, 7);
+ * const m = Cesium.Matrix3.fromRotationZ(Cesium.Math.toRadians(45.0));
+ * const rotated = Cesium.Matrix3.multiplyByVector(m, p, new Cesium.Cartesian3());
+ */
+Matrix3.fromRotationZ = function (angle, result) {
+  //>>includeStart('debug', pragmas.debug);
+  Check.typeOf.number("angle", angle);
+  //>>includeEnd('debug');
+
+  const cosAngle = Math.cos(angle);
+  const sinAngle = Math.sin(angle);
+
+  if (!defined(result)) {
+    return new Matrix3(
+      cosAngle,
+      -sinAngle,
+      0.0,
+      sinAngle,
+      cosAngle,
+      0.0,
+      0.0,
+      0.0,
+      1.0,
+    );
+  }
+
+  result[0] = cosAngle;
+  result[1] = sinAngle;
+  result[2] = 0.0;
+  result[3] = -sinAngle;
+  result[4] = cosAngle;
+  result[5] = 0.0;
+  result[6] = 0.0;
+  result[7] = 0.0;
+  result[8] = 1.0;
+
+  return result;
+};
+
+/**
+ * Creates an Array from the provided Matrix3 instance.
+ * The array will be in column-major order.
+ *
+ * @param {Matrix3} matrix The matrix to use..
+ * @param {number[]} [result] The Array onto which to store the result.
+ * @returns {number[]} The modified Array parameter or a new Array instance if one was not provided.
+ */
+Matrix3.toArray = function (matrix, result) {
+  //>>includeStart('debug', pragmas.debug);
+  Check.typeOf.object("matrix", matrix);
+  //>>includeEnd('debug');
+
+  if (!defined(result)) {
+    return [
+      matrix[0],
+      matrix[1],
+      matrix[2],
+      matrix[3],
+      matrix[4],
+      matrix[5],
+      matrix[6],
+      matrix[7],
+      matrix[8],
+    ];
+  }
+  result[0] = matrix[0];
+  result[1] = matrix[1];
+  result[2] = matrix[2];
+  result[3] = matrix[3];
+  result[4] = matrix[4];
+  result[5] = matrix[5];
+  result[6] = matrix[6];
+  result[7] = matrix[7];
+  result[8] = matrix[8];
+  return result;
+};
+
+/**
+ * Computes the array index of the element at the provided row and column.
+ *
+ * @param {number} column The zero-based index of the column.
+ * @param {number} row The zero-based index of the row.
+ * @returns {number} The index of the element at the provided row and column.
+ *
+ * @exception {DeveloperError} row must be 0, 1, or 2.
+ * @exception {DeveloperError} column must be 0, 1, or 2.
+ *
+ * @example
+ * const myMatrix = new Cesium.Matrix3();
+ * const column1Row0Index = Cesium.Matrix3.getElementIndex(1, 0);
+ * const column1Row0 = myMatrix[column1Row0Index]
+ * myMatrix[column1Row0Index] = 10.0;
+ */
+Matrix3.getElementIndex = function (column, row) {
+  //>>includeStart('debug', pragmas.debug);
+  Check.typeOf.number.greaterThanOrEquals("row", row, 0);
+  Check.typeOf.number.lessThanOrEquals("row", row, 2);
+  Check.typeOf.number.greaterThanOrEquals("column", column, 0);
+  Check.typeOf.number.lessThanOrEquals("column", column, 2);
+  //>>includeEnd('debug');
+
+  return column * 3 + row;
+};
+
+/**
+ * Retrieves a copy of the matrix column at the provided index as a Cartesian3 instance.
+ *
+ * @param {Matrix3} matrix The matrix to use.
+ * @param {number} index The zero-based index of the column to retrieve.
+ * @param {Cartesian3} result The object onto which to store the result.
+ * @returns {Cartesian3} The modified result parameter.
+ *
+ * @exception {DeveloperError} index must be 0, 1, or 2.
+ */
+Matrix3.getColumn = function (matrix, index, result) {
+  //>>includeStart('debug', pragmas.debug);
+  Check.typeOf.object("matrix", matrix);
+  Check.typeOf.number.greaterThanOrEquals("index", index, 0);
+  Check.typeOf.number.lessThanOrEquals("index", index, 2);
+  Check.typeOf.object("result", result);
+  //>>includeEnd('debug');
+
+  const startIndex = index * 3;
+  const x = matrix[startIndex];
+  const y = matrix[startIndex + 1];
+  const z = matrix[startIndex + 2];
+
+  result.x = x;
+  result.y = y;
+  result.z = z;
+  return result;
+};
+
+/**
+ * Computes a new matrix that replaces the specified column in the provided matrix with the provided Cartesian3 instance.
+ *
+ * @param {Matrix3} matrix The matrix to use.
+ * @param {number} index The zero-based index of the column to set.
+ * @param {Cartesian3} cartesian The Cartesian whose values will be assigned to the specified column.
+ * @param {Matrix3} result The object onto which to store the result.
+ * @returns {Matrix3} The modified result parameter.
+ *
+ * @exception {DeveloperError} index must be 0, 1, or 2.
+ */
+Matrix3.setColumn = function (matrix, index, cartesian, result) {
+  //>>includeStart('debug', pragmas.debug);
+  Check.typeOf.object("matrix", matrix);
+  Check.typeOf.number.greaterThanOrEquals("index", index, 0);
+  Check.typeOf.number.lessThanOrEquals("index", index, 2);
+  Check.typeOf.object("cartesian", cartesian);
+  Check.typeOf.object("result", result);
+  //>>includeEnd('debug');
+
+  result = Matrix3.clone(matrix, result);
+  const startIndex = index * 3;
+  result[startIndex] = cartesian.x;
+  result[startIndex + 1] = cartesian.y;
+  result[startIndex + 2] = cartesian.z;
+  return result;
+};
+
+/**
+ * Retrieves a copy of the matrix row at the provided index as a Cartesian3 instance.
+ *
+ * @param {Matrix3} matrix The matrix to use.
+ * @param {number} index The zero-based index of the row to retrieve.
+ * @param {Cartesian3} result The object onto which to store the result.
+ * @returns {Cartesian3} The modified result parameter.
+ *
+ * @exception {DeveloperError} index must be 0, 1, or 2.
+ */
+Matrix3.getRow = function (matrix, index, result) {
+  //>>includeStart('debug', pragmas.debug);
+  Check.typeOf.object("matrix", matrix);
+  Check.typeOf.number.greaterThanOrEquals("index", index, 0);
+  Check.typeOf.number.lessThanOrEquals("index", index, 2);
+  Check.typeOf.object("result", result);
+  //>>includeEnd('debug');
+
+  const x = matrix[index];
+  const y = matrix[index + 3];
+  const z = matrix[index + 6];
+
+  result.x = x;
+  result.y = y;
+  result.z = z;
+  return result;
+};
+
+/**
+ * Computes a new matrix that replaces the specified row in the provided matrix with the provided Cartesian3 instance.
+ *
+ * @param {Matrix3} matrix The matrix to use.
+ * @param {number} index The zero-based index of the row to set.
+ * @param {Cartesian3} cartesian The Cartesian whose values will be assigned to the specified row.
+ * @param {Matrix3} result The object onto which to store the result.
+ * @returns {Matrix3} The modified result parameter.
+ *
+ * @exception {DeveloperError} index must be 0, 1, or 2.
+ */
+Matrix3.setRow = function (matrix, index, cartesian, result) {
+  //>>includeStart('debug', pragmas.debug);
+  Check.typeOf.object("matrix", matrix);
+  Check.typeOf.number.greaterThanOrEquals("index", index, 0);
+  Check.typeOf.number.lessThanOrEquals("index", index, 2);
+  Check.typeOf.object("cartesian", cartesian);
+  Check.typeOf.object("result", result);
+  //>>includeEnd('debug');
+
+  result = Matrix3.clone(matrix, result);
+  result[index] = cartesian.x;
+  result[index + 3] = cartesian.y;
+  result[index + 6] = cartesian.z;
+  return result;
+};
+
+const scaleScratch1 = new Cartesian3();
+
+/**
+ * Computes a new matrix that replaces the scale with the provided scale.
+ * This assumes the matrix is an affine transformation.
+ *
+ * @param {Matrix3} matrix The matrix to use.
+ * @param {Cartesian3} scale The scale that replaces the scale of the provided matrix.
+ * @param {Matrix3} result The object onto which to store the result.
+ * @returns {Matrix3} The modified result parameter.
+ *
+ * @see Matrix3.setUniformScale
+ * @see Matrix3.fromScale
+ * @see Matrix3.fromUniformScale
+ * @see Matrix3.multiplyByScale
+ * @see Matrix3.multiplyByUniformScale
+ * @see Matrix3.getScale
+ */
+Matrix3.setScale = function (matrix, scale, result) {
+  //>>includeStart('debug', pragmas.debug);
+  Check.typeOf.object("matrix", matrix);
+  Check.typeOf.object("scale", scale);
+  Check.typeOf.object("result", result);
+  //>>includeEnd('debug');
+
+  const existingScale = Matrix3.getScale(matrix, scaleScratch1);
+  const scaleRatioX = scale.x / existingScale.x;
+  const scaleRatioY = scale.y / existingScale.y;
+  const scaleRatioZ = scale.z / existingScale.z;
+
+  result[0] = matrix[0] * scaleRatioX;
+  result[1] = matrix[1] * scaleRatioX;
+  result[2] = matrix[2] * scaleRatioX;
+  result[3] = matrix[3] * scaleRatioY;
+  result[4] = matrix[4] * scaleRatioY;
+  result[5] = matrix[5] * scaleRatioY;
+  result[6] = matrix[6] * scaleRatioZ;
+  result[7] = matrix[7] * scaleRatioZ;
+  result[8] = matrix[8] * scaleRatioZ;
+
+  return result;
+};
+
+const scaleScratch2 = new Cartesian3();
+
+/**
+ * Computes a new matrix that replaces the scale with the provided uniform scale.
+ * This assumes the matrix is an affine transformation.
+ *
+ * @param {Matrix3} matrix The matrix to use.
+ * @param {number} scale The uniform scale that replaces the scale of the provided matrix.
+ * @param {Matrix3} result The object onto which to store the result.
+ * @returns {Matrix3} The modified result parameter.
+ *
+ * @see Matrix3.setScale
+ * @see Matrix3.fromScale
+ * @see Matrix3.fromUniformScale
+ * @see Matrix3.multiplyByScale
+ * @see Matrix3.multiplyByUniformScale
+ * @see Matrix3.getScale
+ */
+Matrix3.setUniformScale = function (matrix, scale, result) {
+  //>>includeStart('debug', pragmas.debug);
+  Check.typeOf.object("matrix", matrix);
+  Check.typeOf.number("scale", scale);
+  Check.typeOf.object("result", result);
+  //>>includeEnd('debug');
+
+  const existingScale = Matrix3.getScale(matrix, scaleScratch2);
+  const scaleRatioX = scale / existingScale.x;
+  const scaleRatioY = scale / existingScale.y;
+  const scaleRatioZ = scale / existingScale.z;
+
+  result[0] = matrix[0] * scaleRatioX;
+  result[1] = matrix[1] * scaleRatioX;
+  result[2] = matrix[2] * scaleRatioX;
+  result[3] = matrix[3] * scaleRatioY;
+  result[4] = matrix[4] * scaleRatioY;
+  result[5] = matrix[5] * scaleRatioY;
+  result[6] = matrix[6] * scaleRatioZ;
+  result[7] = matrix[7] * scaleRatioZ;
+  result[8] = matrix[8] * scaleRatioZ;
+
+  return result;
+};
+
+const scratchColumn = new Cartesian3();
+
+/**
+ * Extracts the non-uniform scale assuming the matrix is an affine transformation.
+ *
+ * @param {Matrix3} matrix The matrix.
+ * @param {Cartesian3} result The object onto which to store the result.
+ * @returns {Cartesian3} The modified result parameter.
+ *
+ * @see Matrix3.multiplyByScale
+ * @see Matrix3.multiplyByUniformScale
+ * @see Matrix3.fromScale
+ * @see Matrix3.fromUniformScale
+ * @see Matrix3.setScale
+ * @see Matrix3.setUniformScale
+ */
+Matrix3.getScale = function (matrix, result) {
+  //>>includeStart('debug', pragmas.debug);
+  Check.typeOf.object("matrix", matrix);
+  Check.typeOf.object("result", result);
+  //>>includeEnd('debug');
+
+  result.x = Cartesian3.magnitude(
+    Cartesian3.fromElements(matrix[0], matrix[1], matrix[2], scratchColumn),
+  );
+  result.y = Cartesian3.magnitude(
+    Cartesian3.fromElements(matrix[3], matrix[4], matrix[5], scratchColumn),
+  );
+  result.z = Cartesian3.magnitude(
+    Cartesian3.fromElements(matrix[6], matrix[7], matrix[8], scratchColumn),
+  );
+  return result;
+};
+
+const scaleScratch3 = new Cartesian3();
+
+/**
+ * Computes the maximum scale assuming the matrix is an affine transformation.
+ * The maximum scale is the maximum length of the column vectors.
+ *
+ * @param {Matrix3} matrix The matrix.
+ * @returns {number} The maximum scale.
+ */
+Matrix3.getMaximumScale = function (matrix) {
+  Matrix3.getScale(matrix, scaleScratch3);
+  return Cartesian3.maximumComponent(scaleScratch3);
+};
+
+const scaleScratch4 = new Cartesian3();
+
+/**
+ * Sets the rotation assuming the matrix is an affine transformation.
+ *
+ * @param {Matrix3} matrix The matrix.
+ * @param {Matrix3} rotation The rotation matrix.
+ * @param {Matrix3} result The object onto which to store the result.
+ * @returns {Matrix3} The modified result parameter.
+ *
+ * @see Matrix3.getRotation
+ */
+Matrix3.setRotation = function (matrix, rotation, result) {
+  //>>includeStart('debug', pragmas.debug);
+  Check.typeOf.object("matrix", matrix);
+  Check.typeOf.object("result", result);
+  //>>includeEnd('debug');
+
+  const scale = Matrix3.getScale(matrix, scaleScratch4);
+
+  result[0] = rotation[0] * scale.x;
+  result[1] = rotation[1] * scale.x;
+  result[2] = rotation[2] * scale.x;
+  result[3] = rotation[3] * scale.y;
+  result[4] = rotation[4] * scale.y;
+  result[5] = rotation[5] * scale.y;
+  result[6] = rotation[6] * scale.z;
+  result[7] = rotation[7] * scale.z;
+  result[8] = rotation[8] * scale.z;
+
+  return result;
+};
+
+const scaleScratch5 = new Cartesian3();
+
+/**
+ * Extracts the rotation matrix assuming the matrix is an affine transformation.
+ *
+ * @param {Matrix3} matrix The matrix.
+ * @param {Matrix3} result The object onto which to store the result.
+ * @returns {Matrix3} The modified result parameter.
+ *
+ * @see Matrix3.setRotation
+ */
+Matrix3.getRotation = function (matrix, result) {
+  //>>includeStart('debug', pragmas.debug);
+  Check.typeOf.object("matrix", matrix);
+  Check.typeOf.object("result", result);
+  //>>includeEnd('debug');
+
+  const scale = Matrix3.getScale(matrix, scaleScratch5);
+
+  result[0] = matrix[0] / scale.x;
+  result[1] = matrix[1] / scale.x;
+  result[2] = matrix[2] / scale.x;
+  result[3] = matrix[3] / scale.y;
+  result[4] = matrix[4] / scale.y;
+  result[5] = matrix[5] / scale.y;
+  result[6] = matrix[6] / scale.z;
+  result[7] = matrix[7] / scale.z;
+  result[8] = matrix[8] / scale.z;
+
+  return result;
+};
+
+/**
+ * Computes the product of two matrices.
+ *
+ * @param {Matrix3} left The first matrix.
+ * @param {Matrix3} right The second matrix.
+ * @param {Matrix3} result The object onto which to store the result.
+ * @returns {Matrix3} The modified result parameter.
+ */
+Matrix3.multiply = function (left, right, result) {
+  //>>includeStart('debug', pragmas.debug);
+  Check.typeOf.object("left", left);
+  Check.typeOf.object("right", right);
+  Check.typeOf.object("result", result);
+  //>>includeEnd('debug');
+
+  const column0Row0 =
+    left[0] * right[0] + left[3] * right[1] + left[6] * right[2];
+  const column0Row1 =
+    left[1] * right[0] + left[4] * right[1] + left[7] * right[2];
+  const column0Row2 =
+    left[2] * right[0] + left[5] * right[1] + left[8] * right[2];
+
+  const column1Row0 =
+    left[0] * right[3] + left[3] * right[4] + left[6] * right[5];
+  const column1Row1 =
+    left[1] * right[3] + left[4] * right[4] + left[7] * right[5];
+  const column1Row2 =
+    left[2] * right[3] + left[5] * right[4] + left[8] * right[5];
+
+  const column2Row0 =
+    left[0] * right[6] + left[3] * right[7] + left[6] * right[8];
+  const column2Row1 =
+    left[1] * right[6] + left[4] * right[7] + left[7] * right[8];
+  const column2Row2 =
+    left[2] * right[6] + left[5] * right[7] + left[8] * right[8];
+
+  result[0] = column0Row0;
+  result[1] = column0Row1;
+  result[2] = column0Row2;
+  result[3] = column1Row0;
+  result[4] = column1Row1;
+  result[5] = column1Row2;
+  result[6] = column2Row0;
+  result[7] = column2Row1;
+  result[8] = column2Row2;
+  return result;
+};
+
+/**
+ * Computes the sum of two matrices.
+ *
+ * @param {Matrix3} left The first matrix.
+ * @param {Matrix3} right The second matrix.
+ * @param {Matrix3} result The object onto which to store the result.
+ * @returns {Matrix3} The modified result parameter.
+ */
+Matrix3.add = function (left, right, result) {
+  //>>includeStart('debug', pragmas.debug);
+  Check.typeOf.object("left", left);
+  Check.typeOf.object("right", right);
+  Check.typeOf.object("result", result);
+  //>>includeEnd('debug');
+
+  result[0] = left[0] + right[0];
+  result[1] = left[1] + right[1];
+  result[2] = left[2] + right[2];
+  result[3] = left[3] + right[3];
+  result[4] = left[4] + right[4];
+  result[5] = left[5] + right[5];
+  result[6] = left[6] + right[6];
+  result[7] = left[7] + right[7];
+  result[8] = left[8] + right[8];
+  return result;
+};
+
+/**
+ * Computes the difference of two matrices.
+ *
+ * @param {Matrix3} left The first matrix.
+ * @param {Matrix3} right The second matrix.
+ * @param {Matrix3} result The object onto which to store the result.
+ * @returns {Matrix3} The modified result parameter.
+ */
+Matrix3.subtract = function (left, right, result) {
+  //>>includeStart('debug', pragmas.debug);
+  Check.typeOf.object("left", left);
+  Check.typeOf.object("right", right);
+  Check.typeOf.object("result", result);
+  //>>includeEnd('debug');
+
+  result[0] = left[0] - right[0];
+  result[1] = left[1] - right[1];
+  result[2] = left[2] - right[2];
+  result[3] = left[3] - right[3];
+  result[4] = left[4] - right[4];
+  result[5] = left[5] - right[5];
+  result[6] = left[6] - right[6];
+  result[7] = left[7] - right[7];
+  result[8] = left[8] - right[8];
+  return result;
+};
+
+/**
+ * Computes the product of a matrix and a column vector.
+ *
+ * @param {Matrix3} matrix The matrix.
+ * @param {Cartesian3} cartesian The column.
+ * @param {Cartesian3} result The object onto which to store the result.
+ * @returns {Cartesian3} The modified result parameter.
+ */
+Matrix3.multiplyByVector = function (matrix, cartesian, result) {
+  //>>includeStart('debug', pragmas.debug);
+  Check.typeOf.object("matrix", matrix);
+  Check.typeOf.object("cartesian", cartesian);
+  Check.typeOf.object("result", result);
+  //>>includeEnd('debug');
+
+  const vX = cartesian.x;
+  const vY = cartesian.y;
+  const vZ = cartesian.z;
+
+  const x = matrix[0] * vX + matrix[3] * vY + matrix[6] * vZ;
+  const y = matrix[1] * vX + matrix[4] * vY + matrix[7] * vZ;
+  const z = matrix[2] * vX + matrix[5] * vY + matrix[8] * vZ;
+
+  result.x = x;
+  result.y = y;
+  result.z = z;
+  return result;
+};
+
+/**
+ * Computes the product of a matrix and a scalar.
+ *
+ * @param {Matrix3} matrix The matrix.
+ * @param {number} scalar The number to multiply by.
+ * @param {Matrix3} result The object onto which to store the result.
+ * @returns {Matrix3} The modified result parameter.
+ */
+Matrix3.multiplyByScalar = function (matrix, scalar, result) {
+  //>>includeStart('debug', pragmas.debug);
+  Check.typeOf.object("matrix", matrix);
+  Check.typeOf.number("scalar", scalar);
+  Check.typeOf.object("result", result);
+  //>>includeEnd('debug');
+
+  result[0] = matrix[0] * scalar;
+  result[1] = matrix[1] * scalar;
+  result[2] = matrix[2] * scalar;
+  result[3] = matrix[3] * scalar;
+  result[4] = matrix[4] * scalar;
+  result[5] = matrix[5] * scalar;
+  result[6] = matrix[6] * scalar;
+  result[7] = matrix[7] * scalar;
+  result[8] = matrix[8] * scalar;
+  return result;
+};
+
+/**
+ * Computes the product of a matrix times a (non-uniform) scale, as if the scale were a scale matrix.
+ *
+ * @param {Matrix3} matrix The matrix on the left-hand side.
+ * @param {Cartesian3} scale The non-uniform scale on the right-hand side.
+ * @param {Matrix3} result The object onto which to store the result.
+ * @returns {Matrix3} The modified result parameter.
+ *
+ *
+ * @example
+ * // Instead of Cesium.Matrix3.multiply(m, Cesium.Matrix3.fromScale(scale), m);
+ * Cesium.Matrix3.multiplyByScale(m, scale, m);
+ *
+ * @see Matrix3.multiplyByUniformScale
+ * @see Matrix3.fromScale
+ * @see Matrix3.fromUniformScale
+ * @see Matrix3.setScale
+ * @see Matrix3.setUniformScale
+ * @see Matrix3.getScale
+ */
+Matrix3.multiplyByScale = function (matrix, scale, result) {
+  //>>includeStart('debug', pragmas.debug);
+  Check.typeOf.object("matrix", matrix);
+  Check.typeOf.object("scale", scale);
+  Check.typeOf.object("result", result);
+  //>>includeEnd('debug');
+
+  result[0] = matrix[0] * scale.x;
+  result[1] = matrix[1] * scale.x;
+  result[2] = matrix[2] * scale.x;
+  result[3] = matrix[3] * scale.y;
+  result[4] = matrix[4] * scale.y;
+  result[5] = matrix[5] * scale.y;
+  result[6] = matrix[6] * scale.z;
+  result[7] = matrix[7] * scale.z;
+  result[8] = matrix[8] * scale.z;
+
+  return result;
+};
+
+/**
+ * Computes the product of a matrix times a uniform scale, as if the scale were a scale matrix.
+ *
+ * @param {Matrix3} matrix The matrix on the left-hand side.
+ * @param {number} scale The uniform scale on the right-hand side.
+ * @param {Matrix3} result The object onto which to store the result.
+ * @returns {Matrix3} The modified result parameter.
+ *
+ * @example
+ * // Instead of Cesium.Matrix3.multiply(m, Cesium.Matrix3.fromUniformScale(scale), m);
+ * Cesium.Matrix3.multiplyByUniformScale(m, scale, m);
+ *
+ * @see Matrix3.multiplyByScale
+ * @see Matrix3.fromScale
+ * @see Matrix3.fromUniformScale
+ * @see Matrix3.setScale
+ * @see Matrix3.setUniformScale
+ * @see Matrix3.getScale
+ */
+Matrix3.multiplyByUniformScale = function (matrix, scale, result) {
+  //>>includeStart('debug', pragmas.debug);
+  Check.typeOf.object("matrix", matrix);
+  Check.typeOf.number("scale", scale);
+  Check.typeOf.object("result", result);
+  //>>includeEnd('debug');
+
+  result[0] = matrix[0] * scale;
+  result[1] = matrix[1] * scale;
+  result[2] = matrix[2] * scale;
+  result[3] = matrix[3] * scale;
+  result[4] = matrix[4] * scale;
+  result[5] = matrix[5] * scale;
+  result[6] = matrix[6] * scale;
+  result[7] = matrix[7] * scale;
+  result[8] = matrix[8] * scale;
+
+  return result;
+};
+
+/**
+ * Creates a negated copy of the provided matrix.
+ *
+ * @param {Matrix3} matrix The matrix to negate.
+ * @param {Matrix3} result The object onto which to store the result.
+ * @returns {Matrix3} The modified result parameter.
+ */
+Matrix3.negate = function (matrix, result) {
+  //>>includeStart('debug', pragmas.debug);
+  Check.typeOf.object("matrix", matrix);
+  Check.typeOf.object("result", result);
+  //>>includeEnd('debug');
+
+  result[0] = -matrix[0];
+  result[1] = -matrix[1];
+  result[2] = -matrix[2];
+  result[3] = -matrix[3];
+  result[4] = -matrix[4];
+  result[5] = -matrix[5];
+  result[6] = -matrix[6];
+  result[7] = -matrix[7];
+  result[8] = -matrix[8];
+  return result;
+};
+
+/**
+ * Computes the transpose of the provided matrix.
+ *
+ * @param {Matrix3} matrix The matrix to transpose.
+ * @param {Matrix3} result The object onto which to store the result.
+ * @returns {Matrix3} The modified result parameter.
+ */
+Matrix3.transpose = function (matrix, result) {
+  //>>includeStart('debug', pragmas.debug);
+  Check.typeOf.object("matrix", matrix);
+  Check.typeOf.object("result", result);
+  //>>includeEnd('debug');
+
+  const column0Row0 = matrix[0];
+  const column0Row1 = matrix[3];
+  const column0Row2 = matrix[6];
+  const column1Row0 = matrix[1];
+  const column1Row1 = matrix[4];
+  const column1Row2 = matrix[7];
+  const column2Row0 = matrix[2];
+  const column2Row1 = matrix[5];
+  const column2Row2 = matrix[8];
+
+  result[0] = column0Row0;
+  result[1] = column0Row1;
+  result[2] = column0Row2;
+  result[3] = column1Row0;
+  result[4] = column1Row1;
+  result[5] = column1Row2;
+  result[6] = column2Row0;
+  result[7] = column2Row1;
+  result[8] = column2Row2;
+  return result;
+};
+
+function computeFrobeniusNorm(matrix) {
+  let norm = 0.0;
+  for (let i = 0; i < 9; ++i) {
+    const temp = matrix[i];
+    norm += temp * temp;
+  }
+
+  return Math.sqrt(norm);
+}
+
+const rowVal = [1, 0, 0];
+const colVal = [2, 2, 1];
+
+function offDiagonalFrobeniusNorm(matrix) {
+  // Computes the "off-diagonal" Frobenius norm.
+  // Assumes matrix is symmetric.
+
+  let norm = 0.0;
+  for (let i = 0; i < 3; ++i) {
+    const temp = matrix[Matrix3.getElementIndex(colVal[i], rowVal[i])];
+    norm += 2.0 * temp * temp;
+  }
+
+  return Math.sqrt(norm);
+}
+
+function shurDecomposition(matrix, result) {
+  // This routine was created based upon Matrix Computations, 3rd ed., by Golub and Van Loan,
+  // section 8.4.2 The 2by2 Symmetric Schur Decomposition.
+  //
+  // The routine takes a matrix, which is assumed to be symmetric, and
+  // finds the largest off-diagonal term, and then creates
+  // a matrix (result) which can be used to help reduce it
+
+  const tolerance = CesiumMath.EPSILON15;
+
+  let maxDiagonal = 0.0;
+  let rotAxis = 1;
+
+  // find pivot (rotAxis) based on max diagonal of matrix
+  for (let i = 0; i < 3; ++i) {
+    const temp = Math.abs(
+      matrix[Matrix3.getElementIndex(colVal[i], rowVal[i])],
+    );
+    if (temp > maxDiagonal) {
+      rotAxis = i;
+      maxDiagonal = temp;
+    }
+  }
+
+  let c = 1.0;
+  let s = 0.0;
+
+  const p = rowVal[rotAxis];
+  const q = colVal[rotAxis];
+
+  if (Math.abs(matrix[Matrix3.getElementIndex(q, p)]) > tolerance) {
+    const qq = matrix[Matrix3.getElementIndex(q, q)];
+    const pp = matrix[Matrix3.getElementIndex(p, p)];
+    const qp = matrix[Matrix3.getElementIndex(q, p)];
+
+    const tau = (qq - pp) / 2.0 / qp;
+    let t;
+
+    if (tau < 0.0) {
+      t = -1.0 / (-tau + Math.sqrt(1.0 + tau * tau));
+    } else {
+      t = 1.0 / (tau + Math.sqrt(1.0 + tau * tau));
+    }
+
+    c = 1.0 / Math.sqrt(1.0 + t * t);
+    s = t * c;
+  }
+
+  result = Matrix3.clone(Matrix3.IDENTITY, result);
+
+  result[Matrix3.getElementIndex(p, p)] = result[
+    Matrix3.getElementIndex(q, q)
+  ] = c;
+  result[Matrix3.getElementIndex(q, p)] = s;
+  result[Matrix3.getElementIndex(p, q)] = -s;
+
+  return result;
+}
+
+const jMatrix = new Matrix3();
+const jMatrixTranspose = new Matrix3();
+
+/**
+ * Computes the eigenvectors and eigenvalues of a symmetric matrix.
+ * <p>
+ * Returns a diagonal matrix and unitary matrix such that:
+ * <code>matrix = unitary matrix * diagonal matrix * transpose(unitary matrix)</code>
+ * </p>
+ * <p>
+ * The values along the diagonal of the diagonal matrix are the eigenvalues. The columns
+ * of the unitary matrix are the corresponding eigenvectors.
+ * </p>
+ *
+ * @param {Matrix3} matrix The matrix to decompose into diagonal and unitary matrix. Expected to be symmetric.
+ * @param {object} [result] An object with unitary and diagonal properties which are matrices onto which to store the result.
+ * @returns {object} An object with unitary and diagonal properties which are the unitary and diagonal matrices, respectively.
+ *
+ * @example
+ * const a = //... symetric matrix
+ * const result = {
+ *     unitary : new Cesium.Matrix3(),
+ *     diagonal : new Cesium.Matrix3()
+ * };
+ * Cesium.Matrix3.computeEigenDecomposition(a, result);
+ *
+ * const unitaryTranspose = Cesium.Matrix3.transpose(result.unitary, new Cesium.Matrix3());
+ * const b = Cesium.Matrix3.multiply(result.unitary, result.diagonal, new Cesium.Matrix3());
+ * Cesium.Matrix3.multiply(b, unitaryTranspose, b); // b is now equal to a
+ *
+ * const lambda = Cesium.Matrix3.getColumn(result.diagonal, 0, new Cesium.Cartesian3()).x;  // first eigenvalue
+ * const v = Cesium.Matrix3.getColumn(result.unitary, 0, new Cesium.Cartesian3());          // first eigenvector
+ * const c = Cesium.Cartesian3.multiplyByScalar(v, lambda, new Cesium.Cartesian3());        // equal to Cesium.Matrix3.multiplyByVector(a, v)
+ */
+Matrix3.computeEigenDecomposition = function (matrix, result) {
+  //>>includeStart('debug', pragmas.debug);
+  Check.typeOf.object("matrix", matrix);
+  //>>includeEnd('debug');
+
+  // This routine was created based upon Matrix Computations, 3rd ed., by Golub and Van Loan,
+  // section 8.4.3 The Classical Jacobi Algorithm
+
+  const tolerance = CesiumMath.EPSILON20;
+  const maxSweeps = 10;
+
+  let count = 0;
+  let sweep = 0;
+
+  if (!defined(result)) {
+    result = {};
+  }
+
+  const unitaryMatrix = (result.unitary = Matrix3.clone(
+    Matrix3.IDENTITY,
+    result.unitary,
+  ));
+  const diagMatrix = (result.diagonal = Matrix3.clone(matrix, result.diagonal));
+
+  const epsilon = tolerance * computeFrobeniusNorm(diagMatrix);
+
+  while (sweep < maxSweeps && offDiagonalFrobeniusNorm(diagMatrix) > epsilon) {
+    shurDecomposition(diagMatrix, jMatrix);
+    Matrix3.transpose(jMatrix, jMatrixTranspose);
+    Matrix3.multiply(diagMatrix, jMatrix, diagMatrix);
+    Matrix3.multiply(jMatrixTranspose, diagMatrix, diagMatrix);
+    Matrix3.multiply(unitaryMatrix, jMatrix, unitaryMatrix);
+
+    if (++count > 2) {
+      ++sweep;
+      count = 0;
+    }
+  }
+
+  return result;
+};
+
+/**
+ * Computes a matrix, which contains the absolute (unsigned) values of the provided matrix's elements.
+ *
+ * @param {Matrix3} matrix The matrix with signed elements.
+ * @param {Matrix3} result The object onto which to store the result.
+ * @returns {Matrix3} The modified result parameter.
+ */
+Matrix3.abs = function (matrix, result) {
+  //>>includeStart('debug', pragmas.debug);
+  Check.typeOf.object("matrix", matrix);
+  Check.typeOf.object("result", result);
+  //>>includeEnd('debug');
+
+  result[0] = Math.abs(matrix[0]);
+  result[1] = Math.abs(matrix[1]);
+  result[2] = Math.abs(matrix[2]);
+  result[3] = Math.abs(matrix[3]);
+  result[4] = Math.abs(matrix[4]);
+  result[5] = Math.abs(matrix[5]);
+  result[6] = Math.abs(matrix[6]);
+  result[7] = Math.abs(matrix[7]);
+  result[8] = Math.abs(matrix[8]);
+
+  return result;
+};
+
+/**
+ * Computes the determinant of the provided matrix.
+ *
+ * @param {Matrix3} matrix The matrix to use.
+ * @returns {number} The value of the determinant of the matrix.
+ */
+Matrix3.determinant = function (matrix) {
+  //>>includeStart('debug', pragmas.debug);
+  Check.typeOf.object("matrix", matrix);
+  //>>includeEnd('debug');
+
+  const m11 = matrix[0];
+  const m21 = matrix[3];
+  const m31 = matrix[6];
+  const m12 = matrix[1];
+  const m22 = matrix[4];
+  const m32 = matrix[7];
+  const m13 = matrix[2];
+  const m23 = matrix[5];
+  const m33 = matrix[8];
+
+  return (
+    m11 * (m22 * m33 - m23 * m32) +
+    m12 * (m23 * m31 - m21 * m33) +
+    m13 * (m21 * m32 - m22 * m31)
+  );
+};
+
+/**
+ * Computes the inverse of the provided matrix.
+ *
+ * @param {Matrix3} matrix The matrix to invert.
+ * @param {Matrix3} result The object onto which to store the result.
+ * @returns {Matrix3} The modified result parameter.
+ *
+ * @exception {DeveloperError} matrix is not invertible.
+ */
+Matrix3.inverse = function (matrix, result) {
+  //>>includeStart('debug', pragmas.debug);
+  Check.typeOf.object("matrix", matrix);
+  Check.typeOf.object("result", result);
+  //>>includeEnd('debug');
+
+  const m11 = matrix[0];
+  const m21 = matrix[1];
+  const m31 = matrix[2];
+  const m12 = matrix[3];
+  const m22 = matrix[4];
+  const m32 = matrix[5];
+  const m13 = matrix[6];
+  const m23 = matrix[7];
+  const m33 = matrix[8];
+
+  const determinant = Matrix3.determinant(matrix);
+
+  //>>includeStart('debug', pragmas.debug);
+  if (Math.abs(determinant) <= CesiumMath.EPSILON15) {
+    throw new DeveloperError("matrix is not invertible");
+  }
+  //>>includeEnd('debug');
+
+  result[0] = m22 * m33 - m23 * m32;
+  result[1] = m23 * m31 - m21 * m33;
+  result[2] = m21 * m32 - m22 * m31;
+  result[3] = m13 * m32 - m12 * m33;
+  result[4] = m11 * m33 - m13 * m31;
+  result[5] = m12 * m31 - m11 * m32;
+  result[6] = m12 * m23 - m13 * m22;
+  result[7] = m13 * m21 - m11 * m23;
+  result[8] = m11 * m22 - m12 * m21;
+
+  const scale = 1.0 / determinant;
+  return Matrix3.multiplyByScalar(result, scale, result);
+};
+
+const scratchTransposeMatrix = new Matrix3();
+
+/**
+ * Computes the inverse transpose of a matrix.
+ *
+ * @param {Matrix3} matrix The matrix to transpose and invert.
+ * @param {Matrix3} result The object onto which to store the result.
+ * @returns {Matrix3} The modified result parameter.
+ */
+Matrix3.inverseTranspose = function (matrix, result) {
+  //>>includeStart('debug', pragmas.debug);
+  Check.typeOf.object("matrix", matrix);
+  Check.typeOf.object("result", result);
+  //>>includeEnd('debug');
+
+  return Matrix3.inverse(
+    Matrix3.transpose(matrix, scratchTransposeMatrix),
+    result,
+  );
+};
+
+/**
+ * Compares the provided matrices componentwise and returns
+ * <code>true</code> if they are equal, <code>false</code> otherwise.
+ *
+ * @param {Matrix3} [left] The first matrix.
+ * @param {Matrix3} [right] The second matrix.
+ * @returns {boolean} <code>true</code> if left and right are equal, <code>false</code> otherwise.
+ */
+Matrix3.equals = function (left, right) {
+  return (
+    left === right ||
+    (defined(left) &&
+      defined(right) &&
+      left[0] === right[0] &&
+      left[1] === right[1] &&
+      left[2] === right[2] &&
+      left[3] === right[3] &&
+      left[4] === right[4] &&
+      left[5] === right[5] &&
+      left[6] === right[6] &&
+      left[7] === right[7] &&
+      left[8] === right[8])
+  );
+};
+
+/**
+ * Compares the provided matrices componentwise and returns
+ * <code>true</code> if they are within the provided epsilon,
+ * <code>false</code> otherwise.
+ *
+ * @param {Matrix3} [left] The first matrix.
+ * @param {Matrix3} [right] The second matrix.
+ * @param {number} [epsilon=0] The epsilon to use for equality testing.
+ * @returns {boolean} <code>true</code> if left and right are within the provided epsilon, <code>false</code> otherwise.
+ */
+Matrix3.equalsEpsilon = function (left, right, epsilon) {
+  epsilon = epsilon ?? 0;
+
+  return (
+    left === right ||
+    (defined(left) &&
+      defined(right) &&
+      Math.abs(left[0] - right[0]) <= epsilon &&
+      Math.abs(left[1] - right[1]) <= epsilon &&
+      Math.abs(left[2] - right[2]) <= epsilon &&
+      Math.abs(left[3] - right[3]) <= epsilon &&
+      Math.abs(left[4] - right[4]) <= epsilon &&
+      Math.abs(left[5] - right[5]) <= epsilon &&
+      Math.abs(left[6] - right[6]) <= epsilon &&
+      Math.abs(left[7] - right[7]) <= epsilon &&
+      Math.abs(left[8] - right[8]) <= epsilon)
+  );
+};
+
+/**
+ * An immutable Matrix3 instance initialized to the identity matrix.
+ *
+ * @type {Matrix3}
+ * @constant
+ */
+Matrix3.IDENTITY = Object.freeze(
+  new Matrix3(1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0),
+);
+
+/**
+ * An immutable Matrix3 instance initialized to the zero matrix.
+ *
+ * @type {Matrix3}
+ * @constant
+ */
+Matrix3.ZERO = Object.freeze(
+  new Matrix3(0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0),
+);
+
+/**
+ * The index into Matrix3 for column 0, row 0.
+ *
+ * @type {number}
+ * @constant
+ */
+Matrix3.COLUMN0ROW0 = 0;
+
+/**
+ * The index into Matrix3 for column 0, row 1.
+ *
+ * @type {number}
+ * @constant
+ */
+Matrix3.COLUMN0ROW1 = 1;
+
+/**
+ * The index into Matrix3 for column 0, row 2.
+ *
+ * @type {number}
+ * @constant
+ */
+Matrix3.COLUMN0ROW2 = 2;
+
+/**
+ * The index into Matrix3 for column 1, row 0.
+ *
+ * @type {number}
+ * @constant
+ */
+Matrix3.COLUMN1ROW0 = 3;
+
+/**
+ * The index into Matrix3 for column 1, row 1.
+ *
+ * @type {number}
+ * @constant
+ */
+Matrix3.COLUMN1ROW1 = 4;
+
+/**
+ * The index into Matrix3 for column 1, row 2.
+ *
+ * @type {number}
+ * @constant
+ */
+Matrix3.COLUMN1ROW2 = 5;
+
+/**
+ * The index into Matrix3 for column 2, row 0.
+ *
+ * @type {number}
+ * @constant
+ */
+Matrix3.COLUMN2ROW0 = 6;
+
+/**
+ * The index into Matrix3 for column 2, row 1.
+ *
+ * @type {number}
+ * @constant
+ */
+Matrix3.COLUMN2ROW1 = 7;
+
+/**
+ * The index into Matrix3 for column 2, row 2.
+ *
+ * @type {number}
+ * @constant
+ */
+Matrix3.COLUMN2ROW2 = 8;
+
+Object.defineProperties(Matrix3.prototype, {
+  /**
+   * Gets the number of items in the collection.
+   * @memberof Matrix3.prototype
+   *
+   * @type {number}
+   */
+  length: {
+    get: function () {
+      return Matrix3.packedLength;
+    },
+  },
+});
+
+/**
+ * Duplicates the provided Matrix3 instance.
+ *
+ * @param {Matrix3} [result] The object onto which to store the result.
+ * @returns {Matrix3} The modified result parameter or a new Matrix3 instance if one was not provided.
+ */
+Matrix3.prototype.clone = function (result) {
+  return Matrix3.clone(this, result);
+};
+
+/**
+ * Compares this matrix to the provided matrix componentwise and returns
+ * <code>true</code> if they are equal, <code>false</code> otherwise.
+ *
+ * @param {Matrix3} [right] The right hand side matrix.
+ * @returns {boolean} <code>true</code> if they are equal, <code>false</code> otherwise.
+ */
+Matrix3.prototype.equals = function (right) {
+  return Matrix3.equals(this, right);
+};
+
+/**
+ * @private
+ */
+Matrix3.equalsArray = function (matrix, array, offset) {
+  return (
+    matrix[0] === array[offset] &&
+    matrix[1] === array[offset + 1] &&
+    matrix[2] === array[offset + 2] &&
+    matrix[3] === array[offset + 3] &&
+    matrix[4] === array[offset + 4] &&
+    matrix[5] === array[offset + 5] &&
+    matrix[6] === array[offset + 6] &&
+    matrix[7] === array[offset + 7] &&
+    matrix[8] === array[offset + 8]
+  );
+};
+
+/**
+ * Compares this matrix to the provided matrix componentwise and returns
+ * <code>true</code> if they are within the provided epsilon,
+ * <code>false</code> otherwise.
+ *
+ * @param {Matrix3} [right] The right hand side matrix.
+ * @param {number} [epsilon=0] The epsilon to use for equality testing.
+ * @returns {boolean} <code>true</code> if they are within the provided epsilon, <code>false</code> otherwise.
+ */
+Matrix3.prototype.equalsEpsilon = function (right, epsilon) {
+  return Matrix3.equalsEpsilon(this, right, epsilon);
+};
+
+/**
+ * Creates a string representing this Matrix with each row being
+ * on a separate line and in the format '(column0, column1, column2)'.
+ *
+ * @returns {string} A string representing the provided Matrix with each row being on a separate line and in the format '(column0, column1, column2)'.
+ */
+Matrix3.prototype.toString = function () {
+  return (
+    `(${this[0]}, ${this[3]}, ${this[6]})\n` +
+    `(${this[1]}, ${this[4]}, ${this[7]})\n` +
+    `(${this[2]}, ${this[5]}, ${this[8]})`
+  );
+};
+export default Matrix3;