glmaths 0.0.3 → 0.0.4

package/src/mat4.ts

@@ -11,9 +11,9 @@ import { Vec4 } from './vec4'
  */
 export class Mat4 extends Float32Array {
 
-  static get identity() { return new Mat4(1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1) }
-  static get Identity() { return new Mat4(1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1) }
-  static get IDENTITY() { return new Mat4(1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1) }
+  static get identity() { return mat4(1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1) }
+  static get Identity() { return mat4(1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1) }
+  static get IDENTITY() { return mat4(1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1) }
 
   /**
    * Creates a new 4x4 matrix
@@ -66,7 +66,7 @@ export class Mat4 extends Float32Array {
    * @returns {Mat4} a new 4x4 matrix
    */
   clone() {
-    return new Mat4(
+    return mat4(
       this[0], this[1], this[2], this[3],
       this[4], this[5], this[6], this[7],
       this[8], this[9], this[10], this[11],
@@ -77,10 +77,10 @@ export class Mat4 extends Float32Array {
   /**
    * Transposes a mat4
    *
-   * @param {Mat4} out the receiving matrix, defaults to this
+   * @param {Mat4} out the receiving matrix, defaults to new mat4()
    * @returns {Mat4} out
    */
-  transpose(out = glmaths.ALWAYS_COPY ? new Mat4() : this) {
+  transpose(out = glmaths.ALWAYS_COPY ? mat4() : this) {
     if (out === this) {
       const a01 = this[1], a02 = this[2], a03 = this[3]
       const a12 = this[6], a13 = this[7], a23 = this[11]
@@ -108,10 +108,10 @@ export class Mat4 extends Float32Array {
   /**
    * Inverts a mat4
    *
-   * @param {Mat4} out the receiving matrix, defaults to this
+   * @param {Mat4} out the receiving matrix, defaults to new mat4()
    * @returns {Mat4} out
    */
-  invert(out = glmaths.ALWAYS_COPY ? new Mat4() : this) {
+  invert(out = glmaths.ALWAYS_COPY ? mat4() : this) {
     const a00 = this[0], a01 = this[1], a02 = this[2], a03 = this[3]
     const a10 = this[4], a11 = this[5], a12 = this[6], a13 = this[7]
     const a20 = this[8], a21 = this[9], a22 = this[10], a23 = this[11]
@@ -156,10 +156,10 @@ export class Mat4 extends Float32Array {
   /**
    * Calculates the adjugate of a mat4
    *
-   * @param {Mat4} out the receiving matrix, defaults to this
+   * @param {Mat4} out the receiving matrix, defaults to new mat4()
    * @returns {Mat4} out
    */
-  adjoint(out = glmaths.ALWAYS_COPY ? new Mat4() : this) {
+  adjoint(out = glmaths.ALWAYS_COPY ? mat4() : this) {
     const a00 = this[0], a01 = this[1], a02 = this[2], a03 = this[3]
     const a10 = this[4], a11 = this[5], a12 = this[6], a13 = this[7]
     const a20 = this[8], a21 = this[9], a22 = this[10], a23 = this[11]
@@ -221,14 +221,14 @@ export class Mat4 extends Float32Array {
    * Multiplies with another matrix, or transforms a vector
    *
    * @param {Vec2 | Vec3 | Vec4 | Mat4} b the second operand
-   * @param {Mat4} out the receiving matrix, defaults to this
+   * @param {Mat4} out the receiving matrix, defaults to new mat4()
    * @returns {Mat4} out
    */
   multiply(b: Vec2): Vec2
   multiply(b: Vec3): Vec3
   multiply(b: Vec4): Vec4
   multiply(b: Mat4, out?: Mat4): Mat4
-  multiply(b: Mat4 | Vec2 | Vec3 | Vec4, out = glmaths.ALWAYS_COPY ? new Mat4() : this) {
+  multiply(b: Mat4 | Vec2 | Vec3 | Vec4, out = glmaths.ALWAYS_COPY ? mat4() : this) {
     if (b instanceof Vec2)
       return b.transformMat4(this)
     if (b instanceof Vec3)
@@ -271,10 +271,10 @@ export class Mat4 extends Float32Array {
    * Translates a mat4 by the given Vec3
    *
    * @param {Vec3} v vector to translate by
-   * @param {Mat4} out the receiving matrix, defaults to this
+   * @param {Mat4} out the receiving matrix, defaults to new mat4()
    * @returns {Mat4} out
    */
-  translate(v: Vec3, out = glmaths.ALWAYS_COPY ? new Mat4() : this) {
+  translate(v: Vec3, out = glmaths.ALWAYS_COPY ? mat4() : this) {
     const x = v[0], y = v[1], z = v[2]
     if (out === this) {
       out[12] = this[0] * x + this[4] * y + this[8] * z + this[12]
@@ -300,10 +300,10 @@ export class Mat4 extends Float32Array {
    * Scales a mat4 by the dimensions in the given Vec3 not using vectorization
    *
    * @param {Vec3} v the Vec3 to scale the matrix by
-   * @param {Mat4} out the receiving matrix, defaults to this
+   * @param {Mat4} out the receiving matrix, defaults to new mat4()
    * @returns {Mat4} out
    */
-  scale(v: Vec3, out = glmaths.ALWAYS_COPY ? new Mat4() : this) {
+  scale(v: Vec3, out = glmaths.ALWAYS_COPY ? mat4() : this) {
     const x = v[0], y = v[1], z = v[2]
     out[0] = this[0] * x; out[1] = this[1] * x; out[2] = this[2] * x; out[3] = this[3] * x
     out[4] = this[4] * y; out[5] = this[5] * y; out[6] = this[6] * y; out[7] = this[7] * y
@@ -317,10 +317,10 @@ export class Mat4 extends Float32Array {
    *
    * @param {Number} rad the angle to rotate the matrix by
    * @param {Vec3} axis the axis to rotate around
-   * @param {Mat4} out the receiving matrix, defaults to this
+   * @param {Mat4} out the receiving matrix, defaults to new mat4()
    * @returns {Mat4} out
    */
-  rotate(rad: number, axis: Vec3, out = glmaths.ALWAYS_COPY ? new Mat4() : this) {
+  rotate(rad: number, axis: Vec3, out = glmaths.ALWAYS_COPY ? mat4() : this) {
     let x = axis[0], y = axis[1], z = axis[2]
     let len = Math.sqrt(x * x + y * y + z * z)
     if (len < glmaths.EPSILON) return null
@@ -356,10 +356,10 @@ export class Mat4 extends Float32Array {
    * Rotates a mat4 by the given angle around the X axis
    *
    * @param {Number} rad the angle to rotate the matrix by
-   * @param {Mat4} out the receiving matrix, defaults to this
+   * @param {Mat4} out the receiving matrix, defaults to new mat4()
    * @returns {Mat4} out
    */
-  rotateX(rad: number, out = glmaths.ALWAYS_COPY ? new Mat4() : this) {
+  rotateX(rad: number, out = glmaths.ALWAYS_COPY ? mat4() : this) {
     const s = Math.sin(rad), c = Math.cos(rad)
     const a10 = this[4], a11 = this[5], a12 = this[6], a13 = this[7]
     const a20 = this[8], a21 = this[9], a22 = this[10], a23 = this[11]
@@ -380,10 +380,10 @@ export class Mat4 extends Float32Array {
    * Rotates a mat4 by the given angle around the Y axis
    *
    * @param {Number} rad the angle to rotate the matrix by
-   * @param {Mat4} out the receiving matrix, defaults to this
+   * @param {Mat4} out the receiving matrix, defaults to new mat4()
    * @returns {Mat4} out
    */
-  rotateY(rad: number, out = glmaths.ALWAYS_COPY ? new Mat4() : this) {
+  rotateY(rad: number, out = glmaths.ALWAYS_COPY ? mat4() : this) {
     const s = Math.sin(rad), c = Math.cos(rad)
     const a00 = this[0], a01 = this[1], a02 = this[2], a03 = this[3]
     const a20 = this[8], a21 = this[9], a22 = this[10], a23 = this[11]
@@ -404,10 +404,10 @@ export class Mat4 extends Float32Array {
    * Rotates a mat4 by the given angle around the Z axis
    *
    * @param {Number} rad the angle to rotate the matrix by
-   * @param {Mat4} out the receiving matrix, defaults to this
+   * @param {Mat4} out the receiving matrix, defaults to new mat4()
    * @returns {Mat4} out
    */
-  rotateZ(rad: number, out = glmaths.ALWAYS_COPY ? new Mat4() : this) {
+  rotateZ(rad: number, out = glmaths.ALWAYS_COPY ? mat4() : this) {
     const s = Math.sin(rad), c = Math.cos(rad)
     const a00 = this[0], a01 = this[1], a02 = this[2], a03 = this[3]
     const a10 = this[4], a11 = this[5], a12 = this[6], a13 = this[7]
@@ -559,10 +559,10 @@ export class Mat4 extends Float32Array {
    * Creates a matrix from a vector translation
    *
    * @param {Vec3} v translation vector
-   * @param {Mat4} out the receiving matrix, defaults to new Mat4()
+   * @param {Mat4} out the receiving matrix, defaults to mat4()
    * @returns {Mat4} out
    */
-  static fromTranslation(v: Vec3, out = new Mat4()) {
+  static fromTranslation(v: Vec3, out = mat4()) {
     out[0] = out[5] = out[10] = out[15] = 1
     out[1] = out[2] = out[3] = out[4] = out[6] = out[7] = out[8] = out[9] = out[11] = 0
     out[12] = v[0]
@@ -575,10 +575,10 @@ export class Mat4 extends Float32Array {
    * Creates a matrix from a vector scaling
    *
    * @param {Vec3} v scaling vector
-   * @param {Mat4} out the receiving matrix, defaults to new Mat4()
+   * @param {Mat4} out the receiving matrix, defaults to mat4()
    * @returns {Mat4} out
    */
-  static fromScaling(v: Vec3, out = new Mat4()) {
+  static fromScaling(v: Vec3, out = mat4()) {
     out[0] = v[0]
     out[5] = v[1]
     out[10] = v[2]
@@ -592,10 +592,10 @@ export class Mat4 extends Float32Array {
    *
    * @param {Number} rad the angle to rotate the matrix by
    * @param {Vec3} axis the axis to rotate around
-   * @param {Mat4} out the receiving matrix, defaults to new Mat4()
+   * @param {Mat4} out the receiving matrix, defaults to mat4()
    * @returns {Mat4} out
    */
-  static fromRotation(rad: number, axis: Vec3, out = new Mat4()) {
+  static fromRotation(rad: number, axis: Vec3, out = mat4()) {
     let x = axis[0], y = axis[1], z = axis[2]
     let len = Math.sqrt(x * x + y * y + z * z)
     if (len < glmaths.EPSILON) return null
@@ -616,10 +616,10 @@ export class Mat4 extends Float32Array {
    * Creates a matrix from the given angle around the X axis
    *
    * @param {Number} rad the angle to rotate the matrix by
-   * @param {Mat4} out the receiving matrix, defaults to new Mat4()
+   * @param {Mat4} out the receiving matrix, defaults to mat4()
    * @returns {Mat4} out
    */
-  static fromXRotation(rad: number, out = new Mat4()) {
+  static fromXRotation(rad: number, out = mat4()) {
     const s = Math.sin(rad), c = Math.cos(rad)
     out[0] = 1
     out[1] = out[2] = out[3] = out[4] = out[7] = out[8] = out[11] = out[12] = out[13] = out[14] = 0
@@ -635,10 +635,10 @@ export class Mat4 extends Float32Array {
    * Creates a matrix from the given angle around the Y axis
    *
    * @param {Number} rad the angle to rotate the matrix by
-   * @param {Mat4} out the receiving matrix, defaults to new Mat4()
+   * @param {Mat4} out the receiving matrix, defaults to mat4()
    * @returns {Mat4} out
    */
-  static fromYRotation(rad: number, out = new Mat4()) {
+  static fromYRotation(rad: number, out = mat4()) {
     const s = Math.sin(rad), c = Math.cos(rad)
     out[0] = c
     out[1] = out[3] = out[4] = out[6] = out[7] = out[9] = out[11] = out[12] = out[13] = out[14] = 0
@@ -653,10 +653,10 @@ export class Mat4 extends Float32Array {
    * Creates a matrix from the given angle around the Z axis
    *
    * @param {Number} rad the angle to rotate the matrix by
-   * @param {Mat4} out the receiving matrix, defaults to new Mat4()
+   * @param {Mat4} out the receiving matrix, defaults to mat4()
    * @returns {Mat4} out
    */
-  static fromZRotation(rad: number, out = new Mat4()) {
+  static fromZRotation(rad: number, out = mat4()) {
     const s = Math.sin(rad), c = Math.cos(rad)
     out[0] = c
     out[1] = s 
@@ -672,10 +672,10 @@ export class Mat4 extends Float32Array {
    *
    * @param {Quat} q rotation quaternion
    * @param {Vec3} v translation vector
-   * @param {Mat4} out the receiving matrix, defaults to new Mat4()
+   * @param {Mat4} out the receiving matrix, defaults to mat4()
    * @returns {Mat4} out
    */
-  static fromRotationTranslation(q: Quat, v: Vec3, out = new Mat4()) {
+  static fromRotationTranslation(q: Quat, v: Vec3, out = mat4()) {
     const x = q[0], y = q[1], z = q[2], w = q[3]
     const x2 = x + x, y2 = y + y, z2 = z + z
     const xx = x * x2, xy = x * y2, xz = x * z2
@@ -696,10 +696,10 @@ export class Mat4 extends Float32Array {
    * @param {Quat} q rotation quaternion
    * @param {Vec3} v translation vector
    * @param {Vec3} s scaling vector
-   * @param {Mat4} out the receiving matrix, defaults to new Mat4()
+   * @param {Mat4} out the receiving matrix, defaults to mat4()
    * @returns {Mat4} out
    */
-  static fromRotationTranslationScale(q: Quat, v: Vec3, s: Vec3, out = new Mat4()) {
+  static fromRotationTranslationScale(q: Quat, v: Vec3, s: Vec3, out = mat4()) {
     const x = q[0], y = q[1], z = q[2], w = q[3]
     const x2 = x + x, y2 = y + y, z2 = z + z
     const xx = x * x2, xy = x * y2, xz = x * z2
@@ -722,10 +722,10 @@ export class Mat4 extends Float32Array {
    * @param {Vec3} v translation vector
    * @param {Vec3} s scaling vector
    * @param {Vec3} o the origin vector
-   * @param {Mat4} out the receiving matrix, defaults to new Mat4()
+   * @param {Mat4} out the receiving matrix, defaults to mat4()
    * @returns {Mat4} out
    */
-  static fromRotationTranslationScaleOrigin(q: Quat, v: Vec3, s: Vec3, o: Vec3, out = new Mat4()) {
+  static fromRotationTranslationScaleOrigin(q: Quat, v: Vec3, s: Vec3, o: Vec3, out = mat4()) {
     const x = q[0], y = q[1], z = q[2], w = q[3]
     const x2 = x + x, y2 = y + y, z2 = z + z
     const xx = x * x2, xy = x * y2, xz = x * z2
@@ -759,10 +759,10 @@ export class Mat4 extends Float32Array {
    * Calculates a 4x4 matrix from the given quaternion
    *
    * @param {Quat} q quaternion to create matrix from
-   * @param {Mat4} out the receiving matrix, defaults to new Mat4()
+   * @param {Mat4} out the receiving matrix, defaults to mat4()
    * @returns {Mat4} out
    */
-  static fromQuat(q: Quat, out = new Mat4()) {
+  static fromQuat(q: Quat, out = mat4()) {
     const x = q[0], y = q[1], z = q[2], w = q[3]
     const x2 = x + x, y2 = y + y, z2 = z + z
     const xx = x * x2, yx = y * x2, yy = y * y2
@@ -786,10 +786,10 @@ export class Mat4 extends Float32Array {
    * @param {Number} top top bound of the frustum
    * @param {Number} near near bound of the frustum
    * @param {Number} far far bound of the frustum
-   * @param {Mat4} out the receiving matrix, defaults to new Mat4()
+   * @param {Mat4} out the receiving matrix, defaults to mat4()
    * @returns {Mat4} out
    */
-  static frustum(left: number, right: number, bottom: number, top: number, near: number, far: number, out = new Mat4()) {
+  static frustum(left: number, right: number, bottom: number, top: number, near: number, far: number, out = mat4()) {
     const rl = 1 / (right - left)
     const tb = 1 / (top - bottom)
     const nf = 1 / (near - far)
@@ -811,10 +811,10 @@ export class Mat4 extends Float32Array {
    * @param {Number} aspect aspect ratio, typically viewport width / height
    * @param {Number} near near bound of the frustum
    * @param {Number | null} far far bound of the frustum, can be null or Infinity
-   * @param {Mat4} out the receiving matrix, defaults to new Mat4()
+   * @param {Mat4} out the receiving matrix, defaults to mat4()
    * @returns {Mat4} out
    */
-  static perspectiveNO(fovy: number, aspect: number, near: number, far: number | null, out = new Mat4()) {
+  static perspectiveNO(fovy: number, aspect: number, near: number, far: number | null, out = mat4()) {
     const f = 1.0 / Math.tan(fovy / 2)
     const lh = glmaths.LEFT_HANDED
     out[0] = f / aspect
@@ -842,10 +842,10 @@ export class Mat4 extends Float32Array {
    * @param {Number} aspect aspect ratio, typically viewport width / height
    * @param {Number} near near bound of the frustum
    * @param {Number | null} far far bound of the frustum, can be null or Infinity
-   * @param {Mat4} out the receiving matrix, defaults to new Mat4()
+   * @param {Mat4} out the receiving matrix, defaults to mat4()
    * @returns {Mat4} out
    */
-  static perspectiveZO(fovy: number, aspect: number, near: number, far: number | null, out = new Mat4()) {
+  static perspectiveZO(fovy: number, aspect: number, near: number, far: number | null, out = mat4()) {
     const f = 1.0 / Math.tan(fovy / 2)
     const lh = glmaths.LEFT_HANDED
     out[0] = f / aspect; out[1] = 0; out[2] = 0; out[3] = 0
@@ -869,10 +869,10 @@ export class Mat4 extends Float32Array {
    * @param {Object} fov object containing upDegrees, downDegrees, leftDegrees, rightDegrees
    * @param {Number} near near bound of the frustum
    * @param {Number} far far bound of the frustum
-   * @param {Mat4} out the receiving matrix, defaults to new Mat4()
+   * @param {Mat4} out the receiving matrix, defaults to mat4()
    * @returns {Mat4} out
    */
-  static perspectiveFromFieldOfView(fov: { upDegrees: number, downDegrees: number, leftDegrees: number, rightDegrees: number }, near: number, far: number, out = new Mat4()) {
+  static perspectiveFromFieldOfView(fov: { upDegrees: number, downDegrees: number, leftDegrees: number, rightDegrees: number }, near: number, far: number, out = mat4()) {
     const upTan = Math.tan((fov.upDegrees * Math.PI) / 180.0)
     const downTan = Math.tan((fov.downDegrees * Math.PI) / 180.0)
     const leftTan = Math.tan((fov.leftDegrees * Math.PI) / 180.0)
@@ -904,10 +904,10 @@ export class Mat4 extends Float32Array {
    * @param {Number} top top bound of the frustum
    * @param {Number} near near bound of the frustum
    * @param {Number} far far bound of the frustum
-   * @param {Mat4} out the receiving matrix, defaults to new Mat4()
+   * @param {Mat4} out the receiving matrix, defaults to mat4()
    * @returns {Mat4} out
    */
-  static orthoNO(left: number, right: number, bottom: number, top: number, near: number, far: number, out = new Mat4()) {
+  static orthoNO(left: number, right: number, bottom: number, top: number, near: number, far: number, out = mat4()) {
     const lr = 1 / (left - right)
     const bt = 1 / (bottom - top)
     const nf = 1 / (near - far)
@@ -931,10 +931,10 @@ export class Mat4 extends Float32Array {
    * @param {Number} top top bound of the frustum
    * @param {Number} near near bound of the frustum
    * @param {Number} far far bound of the frustum
-   * @param {Mat4} out the receiving matrix, defaults to new Mat4()
+   * @param {Mat4} out the receiving matrix, defaults to mat4()
    * @returns {Mat4} out
    */
-  static orthoZO(left: number, right: number, bottom: number, top: number, near: number, far: number, out = new Mat4()) {
+  static orthoZO(left: number, right: number, bottom: number, top: number, near: number, far: number, out = mat4()) {
     const lr = 1 / (left - right)
     const bt = 1 / (bottom - top)
     const nf = 1 / (near - far)
@@ -953,10 +953,10 @@ export class Mat4 extends Float32Array {
    * @param {Vec3} eye position of the viewer
    * @param {Vec3} center point the viewer is looking at
    * @param {Vec3} up vector pointing up
-   * @param {Mat4} out the receiving matrix, defaults to new Mat4()
+   * @param {Mat4} out the receiving matrix, defaults to mat4()
    * @returns {Mat4} out
    */
-  static lookAt(eye: Vec3, center: Vec3, up: Vec3, out = new Mat4()) {
+  static lookAt(eye: Vec3, center: Vec3, up: Vec3, out = mat4()) {
     let x0, x1, x2, y0, y1, y2, z0, z1, z2, len
 
     const eyex = eye[0], eyey = eye[1], eyez = eye[2]
@@ -1009,10 +1009,10 @@ export class Mat4 extends Float32Array {
    * @param {Vec3} eye position of the viewer
    * @param {Vec3} target point the viewer is looking at
    * @param {Vec3} up vector pointing up
-   * @param {Mat4} out the receiving matrix, defaults to new Mat4()
+   * @param {Mat4} out the receiving matrix, defaults to mat4()
    * @returns {Mat4} out
    */
-  static targetTo(eye: Vec3, target: Vec3, up: Vec3, out = new Mat4()) {
+  static targetTo(eye: Vec3, target: Vec3, up: Vec3, out = mat4()) {
     const eyex = eye[0], eyey = eye[1], eyez = eye[2]
     const upx = up[0], upy = up[1], upz = up[2]
 
@@ -1054,7 +1054,7 @@ export class Mat4 extends Float32Array {
    * @param {Mat4} out the receiving matrix, defaults to a new Mat4
    * @returns {Mat4} out
    */
-  static infinitePerspective(fovy: number, aspect: number, near: number, out = new Mat4()) {
+  static infinitePerspective(fovy: number, aspect: number, near: number, out = mat4()) {
     const f = 1.0 / Math.tan(fovy / 2)
     const lh = glmaths.LEFT_HANDED
     out[0] = f / aspect
@@ -1115,7 +1115,7 @@ export class Mat4 extends Float32Array {
     const a20 = model[8], a21 = model[9], a22 = model[10], a23 = model[11]
     const a30 = model[12], a31 = model[13], a32 = model[14], a33 = model[15]
 
-    const pm = new Mat4()
+    const pm = mat4()
     let b0 = proj[0], b1 = proj[1], b2 = proj[2], b3 = proj[3]
     pm[0] = b0*a00 + b1*a10 + b2*a20 + b3*a30
     pm[1] = b0*a01 + b1*a11 + b2*a21 + b3*a31
@@ -1173,10 +1173,10 @@ export class Mat4 extends Float32Array {
    * Adds two mat4's
    *
    * @param {Mat4} b the second operand
-   * @param {Mat4} out the receiving matrix, defaults to this
+   * @param {Mat4} out the receiving matrix, defaults to new mat4()
    * @returns {Mat4} out
    */
-  plus(b: Mat4, out = glmaths.ALWAYS_COPY ? new Mat4() : this) {
+  plus(b: Mat4, out = glmaths.ALWAYS_COPY ? mat4() : this) {
     out[0] = this[0] + b[0]; out[1] = this[1] + b[1]; out[2] = this[2] + b[2]; out[3] = this[3] + b[3]
     out[4] = this[4] + b[4]; out[5] = this[5] + b[5]; out[6] = this[6] + b[6]; out[7] = this[7] + b[7]
     out[8] = this[8] + b[8]; out[9] = this[9] + b[9]; out[10] = this[10] + b[10]; out[11] = this[11] + b[11]
@@ -1188,10 +1188,10 @@ export class Mat4 extends Float32Array {
    * Subtracts matrix b from a mat4
    *
    * @param {Mat4} b the second operand
-   * @param {Mat4} out the receiving matrix, defaults to this
+   * @param {Mat4} out the receiving matrix, defaults to new mat4()
    * @returns {Mat4} out
    */
-  minus(b: Mat4, out = glmaths.ALWAYS_COPY ? new Mat4() : this) {
+  minus(b: Mat4, out = glmaths.ALWAYS_COPY ? mat4() : this) {
     out[0] = this[0] - b[0]; out[1] = this[1] - b[1]; out[2] = this[2] - b[2]; out[3] = this[3] - b[3]
     out[4] = this[4] - b[4]; out[5] = this[5] - b[5]; out[6] = this[6] - b[6]; out[7] = this[7] - b[7]
     out[8] = this[8] - b[8]; out[9] = this[9] - b[9]; out[10] = this[10] - b[10]; out[11] = this[11] - b[11]
@@ -1203,10 +1203,10 @@ export class Mat4 extends Float32Array {
    * Multiplies each element of a mat4 by a scalar number
    *
    * @param {Number} b amount to scale the matrix's elements by
-   * @param {Mat4} out the receiving matrix, defaults to this
+   * @param {Mat4} out the receiving matrix, defaults to new mat4()
    * @returns {Mat4} out
    */
-  scaleScalar(b: number, out = glmaths.ALWAYS_COPY ? new Mat4() : this) {
+  scaleScalar(b: number, out = glmaths.ALWAYS_COPY ? mat4() : this) {
     out[0] = this[0] * b; out[1] = this[1] * b; out[2] = this[2] * b; out[3] = this[3] * b
     out[4] = this[4] * b; out[5] = this[5] * b; out[6] = this[6] * b; out[7] = this[7] * b
     out[8] = this[8] * b; out[9] = this[9] * b; out[10] = this[10] * b; out[11] = this[11] * b
@@ -1219,10 +1219,10 @@ export class Mat4 extends Float32Array {
    *
    * @param {Mat4} b the second operand
    * @param {Number} scale the amount to scale b's elements by before adding
-   * @param {Mat4} out the receiving matrix, defaults to this
+   * @param {Mat4} out the receiving matrix, defaults to new mat4()
    * @returns {Mat4} out
    */
-  multiplyScalarAndAdd(b: Mat4, scale: number, out = glmaths.ALWAYS_COPY ? new Mat4() : this) {
+  multiplyScalarAndAdd(b: Mat4, scale: number, out = glmaths.ALWAYS_COPY ? mat4() : this) {
     out[0] = this[0] + b[0] * scale; out[1] = this[1] + b[1] * scale
     out[2] = this[2] + b[2] * scale; out[3] = this[3] + b[3] * scale
     out[4] = this[4] + b[4] * scale; out[5] = this[5] + b[5] * scale
@@ -1304,16 +1304,15 @@ Mat4.prototype.times = Mat4.prototype.multiply
 Mat4.prototype.str = Mat4.prototype.toString
 Mat4.prototype.multiplyScalar = Mat4.prototype.scaleScalar
 
-export const mat4 = Object.assign(
-  (...args: (number | Float32Array)[]): Mat4 => {
-    const out = new Mat4()
-    let i = 0
-    for (const a of args) {
-      if (typeof a === 'number') out[i++] = a
-      else for (const v of a) out[i++] = v
-    }
-    return out
-  },
-  Mat4
-)
+const createMat4 = (...args: (number | Float32Array)[]): Mat4 => {
+  const out = new Mat4()
+  let i = 0
+  for (const a of args) {
+    if (typeof a === 'number') out[i++] = a
+    else for (const v of a) out[i++] = v
+  }
+  return out
+}
+Object.setPrototypeOf(createMat4, Mat4)
+export const mat4 = createMat4 as typeof createMat4 & typeof Mat4
 export const mat4x4 = mat4

package/src/quat.ts

@@ -10,9 +10,9 @@ import { Mat4 } from './mat4'
  */
 export class Quat extends Float32Array {
 
-  static get identity() { return new Quat(0, 0, 0, 1) }
-  static get Identity() { return new Quat(0, 0, 0, 1) }
-  static get IDENTITY() { return new Quat(0, 0, 0, 1) }
+  static get identity() { return quat(0, 0, 0, 1) }
+  static get Identity() { return quat(0, 0, 0, 1) }
+  static get IDENTITY() { return quat(0, 0, 0, 1) }
 
   /**
    * Creates a new quaternion
@@ -34,10 +34,10 @@ export class Quat extends Float32Array {
    * Calculates the Hamilton product of two quaternions
    *
    * @param {Quat} b the second operand
-   * @param {Quat} out the receiving quaternion, defaults to this
+   * @param {Quat} out the receiving quaternion, defaults to new quat()
    * @returns {Quat} out
    */
-  multiply(b: Quat | number, out: Quat = glmaths.ALWAYS_COPY ? new Quat() : this): Quat {
+  multiply(b: Quat | number, out: Quat = glmaths.ALWAYS_COPY ? quat() : this): Quat {
     if (typeof b === 'number') {
       out[0] = this[0] * b
       out[1] = this[1] * b
@@ -77,7 +77,7 @@ export class Quat extends Float32Array {
    *
    * @param {Vec3} axis the axis around which to rotate
    * @param {Number} rad the angle in radians
-   * @param {Quat} out the receiving quaternion, defaults to this
+   * @param {Quat} out the receiving quaternion, defaults to new quat()
    * @returns {Quat} out
    */
   setAxisAngle(axis: Vec3, rad: number, out = glmaths.ALWAYS_COPY ? quat() : this): Quat {
@@ -143,7 +143,7 @@ export class Quat extends Float32Array {
    * Rotates a quaternion by the given angle about the X axis
    *
    * @param {Number} rad angle in radians to rotate
-   * @param {Quat} out the receiving quaternion, defaults to this
+   * @param {Quat} out the receiving quaternion, defaults to new quat()
    * @returns {Quat} out
    */
   rotateX(rad: number, out = glmaths.ALWAYS_COPY ? quat() : this) {
@@ -161,7 +161,7 @@ export class Quat extends Float32Array {
    * Rotates a quaternion by the given angle about the Y axis
    *
    * @param {Number} rad angle in radians to rotate
-   * @param {Quat} out the receiving quaternion, defaults to this
+   * @param {Quat} out the receiving quaternion, defaults to new quat()
    * @returns {Quat} out
    */
   rotateY(rad: number, out = glmaths.ALWAYS_COPY ? quat() : this) {
@@ -178,7 +178,7 @@ export class Quat extends Float32Array {
    * Rotates a quaternion by the given angle about the Z axis
    *
    * @param {Number} rad angle in radians to rotate
-   * @param {Quat} out the receiving quaternion, defaults to this
+   * @param {Quat} out the receiving quaternion, defaults to new quat()
    * @returns {Quat} out
    */
   rotateZ(rad: number, out = glmaths.ALWAYS_COPY ? quat() : this) {
@@ -223,7 +223,7 @@ export class Quat extends Float32Array {
   /**
    * Calculates the exponential of the unit quaternion
    *
-   * @param {Quat} out the receiving quaternion, defaults to this
+   * @param {Quat} out the receiving quaternion, defaults to new quat()
    * @returns {Quat} out
    */
   exp(out = glmaths.ALWAYS_COPY ? quat() : this): Quat {
@@ -258,7 +258,7 @@ export class Quat extends Float32Array {
   /**
    * Calculates the natural logarithm of the unit quaternion
    *
-   * @param {Quat} out the receiving quaternion, defaults to this
+   * @param {Quat} out the receiving quaternion, defaults to new quat()
    * @returns {Quat} out
    */
   ln(out = glmaths.ALWAYS_COPY ? quat() : this): Quat {
@@ -334,7 +334,7 @@ export class Quat extends Float32Array {
    *
    * @param {Quat} b the second operand
    * @param {Number} t interpolation amount, in the range [0-1], between the two inputs
-   * @param {Quat} out the receiving quaternion, defaults to this
+   * @param {Quat} out the receiving quaternion, defaults to new quat()
    * @returns {Quat} out
    */
   slerp(b: Quat, t: number, out = glmaths.ALWAYS_COPY ? quat() : this): Quat {
@@ -415,7 +415,7 @@ export class Quat extends Float32Array {
   /**
    * Calculates the inverse of a quaternion
    *
-   * @param {Quat} out the receiving quaternion, defaults to this
+   * @param {Quat} out the receiving quaternion, defaults to new quat()
    * @returns {Quat} out
    */
   invert(out = glmaths.ALWAYS_COPY ? quat() : this) {
@@ -447,7 +447,7 @@ export class Quat extends Float32Array {
   /**
    * Calculates the conjugate of a quaternion
    *
-   * @param {Quat} out the receiving quaternion, defaults to this
+   * @param {Quat} out the receiving quaternion, defaults to new quat()
    * @returns {Quat} out
    */
   conjugate(out = glmaths.ALWAYS_COPY ? quat() : this): Quat {
@@ -675,15 +675,16 @@ export class Quat extends Float32Array {
 
     return Quat.fromMat3(Quat.tmpMat3, out).normalize()
   }
-  
+
   /**
    * Normalizes a quaternion
    *
-   * @param {Quat} out the receiving vector, defaults to this
+   * @param {Quat} q the quaternion to normalize
+   * @param {Quat} out the receiving vector, defaults to new quat()
    * @returns {Quat} out
    */
-  normalize(out = glmaths.ALWAYS_COPY ? new Quat() : this): Quat {
-    const x = this[0], y = this[1], z = this[2], w = this[3]
+  static normalize(q: Quat, out = quat()): Quat {
+    const x = q[0], y = q[1], z = q[2], w = q[3]
     let len = x * x + y * y + z * z + w * w
     if (len > 0) {
       len = 1.0 / Math.sqrt(len)
@@ -694,6 +695,16 @@ export class Quat extends Float32Array {
     out[3] = w * len
     return out
   }
+  
+  /**
+   * Normalizes a quaternion
+   *
+   * @param {Quat} out the receiving vector, defaults to new quat()
+   * @returns {Quat} out
+   */
+  normalize(out = glmaths.ALWAYS_COPY ? quat() : this): Quat {
+    return Quat.normalize(this, out)
+  }
 
   /**
    * Creates a quaternion that looks along the given direction vector
@@ -703,7 +714,7 @@ export class Quat extends Float32Array {
    * @param {Quat} out the receiving quaternion, defaults to quat()
    * @returns {Quat} out
    */
-  static quatLookAt(direction: Vec3, up: Vec3, out = new Quat()): Quat {
+  static quatLookAt(direction: Vec3, up: Vec3, out = quat()): Quat {
     const f = vec3(direction[0], direction[1], direction[2]).normalize()
     const s = Vec3.cross(f, up).normalize()
     const u = Vec3.cross(s, f)
@@ -803,6 +814,7 @@ export interface Quat {
   scale: (b: Quat | number, out?: Quat) => Quat
   times: (b: Quat | number, out?: Quat) => Quat
   str: () => string
+  normalized: (out?: Quat) => Quat
 }
 
 // @aliases
@@ -812,8 +824,9 @@ Quat.prototype.mul = Quat.prototype.multiply
 Quat.prototype.scale = Quat.prototype.multiply
 Quat.prototype.times = Quat.prototype.multiply
 Quat.prototype.str = Quat.prototype.toString
+Quat.prototype.normalized = Quat.prototype.normalize
 
-export const quat = Object.assign(
-  (x = 0, y = 0, z = 0, w = 1) => new Quat(x, y, z, w),
-  Quat
-)
+const createQuat = 
+  (x = 0, y = 0, z = 0, w = 1) => new Quat(x, y, z, w)
+Object.setPrototypeOf(createQuat, Quat)
+export const quat = createQuat as typeof createQuat & typeof Quat