lecodes-cli 0.1.1 → 0.1.2

package/runtime/gl-matrix/mat4.js

@@ -0,0 +1,1947 @@
+import * as glMatrix from "./common.js";
+
+/**
+ * 4x4 Matrix<br>Format: column-major, when typed out it looks like row-major<br>The matrices are being post multiplied.
+ * @module mat4
+ */
+
+/**
+ * Creates a new identity mat4
+ *
+ * @returns {mat4} a new 4x4 matrix
+ */
+export function create() {
+  var out = new Float32Array(16);
+  out[0] = 1;
+  out[5] = 1;
+  out[10] = 1;
+  out[15] = 1;
+  return out;
+}
+
+/**
+ * Creates a new mat4 initialized with values from an existing matrix
+ *
+ * @param {ReadonlyMat4} a matrix to clone
+ * @returns {mat4} a new 4x4 matrix
+ */
+export function clone(a) {
+  var out = new Float32Array(16);
+  out[0] = a[0];
+  out[1] = a[1];
+  out[2] = a[2];
+  out[3] = a[3];
+  out[4] = a[4];
+  out[5] = a[5];
+  out[6] = a[6];
+  out[7] = a[7];
+  out[8] = a[8];
+  out[9] = a[9];
+  out[10] = a[10];
+  out[11] = a[11];
+  out[12] = a[12];
+  out[13] = a[13];
+  out[14] = a[14];
+  out[15] = a[15];
+  return out;
+}
+
+/**
+ * Copy the values from one mat4 to another
+ *
+ * @param {mat4} out the receiving matrix
+ * @param {ReadonlyMat4} a the source matrix
+ * @returns {mat4} out
+ */
+export function copy(out, a) {
+  out[0] = a[0];
+  out[1] = a[1];
+  out[2] = a[2];
+  out[3] = a[3];
+  out[4] = a[4];
+  out[5] = a[5];
+  out[6] = a[6];
+  out[7] = a[7];
+  out[8] = a[8];
+  out[9] = a[9];
+  out[10] = a[10];
+  out[11] = a[11];
+  out[12] = a[12];
+  out[13] = a[13];
+  out[14] = a[14];
+  out[15] = a[15];
+  return out;
+}
+
+/**
+ * Create a new mat4 with the given values
+ *
+ * @param {Number} m00 Component in column 0, row 0 position (index 0)
+ * @param {Number} m01 Component in column 0, row 1 position (index 1)
+ * @param {Number} m02 Component in column 0, row 2 position (index 2)
+ * @param {Number} m03 Component in column 0, row 3 position (index 3)
+ * @param {Number} m10 Component in column 1, row 0 position (index 4)
+ * @param {Number} m11 Component in column 1, row 1 position (index 5)
+ * @param {Number} m12 Component in column 1, row 2 position (index 6)
+ * @param {Number} m13 Component in column 1, row 3 position (index 7)
+ * @param {Number} m20 Component in column 2, row 0 position (index 8)
+ * @param {Number} m21 Component in column 2, row 1 position (index 9)
+ * @param {Number} m22 Component in column 2, row 2 position (index 10)
+ * @param {Number} m23 Component in column 2, row 3 position (index 11)
+ * @param {Number} m30 Component in column 3, row 0 position (index 12)
+ * @param {Number} m31 Component in column 3, row 1 position (index 13)
+ * @param {Number} m32 Component in column 3, row 2 position (index 14)
+ * @param {Number} m33 Component in column 3, row 3 position (index 15)
+ * @returns {mat4} A new mat4
+ */
+export function fromValues(m00, m01, m02, m03, m10, m11, m12, m13, m20, m21, m22, m23, m30, m31, m32, m33) {
+  var out = new Float32Array(16);
+  out[0] = m00;
+  out[1] = m01;
+  out[2] = m02;
+  out[3] = m03;
+  out[4] = m10;
+  out[5] = m11;
+  out[6] = m12;
+  out[7] = m13;
+  out[8] = m20;
+  out[9] = m21;
+  out[10] = m22;
+  out[11] = m23;
+  out[12] = m30;
+  out[13] = m31;
+  out[14] = m32;
+  out[15] = m33;
+  return out;
+}
+
+/**
+ * Set the components of a mat4 to the given values
+ *
+ * @param {mat4} out the receiving matrix
+ * @param {Number} m00 Component in column 0, row 0 position (index 0)
+ * @param {Number} m01 Component in column 0, row 1 position (index 1)
+ * @param {Number} m02 Component in column 0, row 2 position (index 2)
+ * @param {Number} m03 Component in column 0, row 3 position (index 3)
+ * @param {Number} m10 Component in column 1, row 0 position (index 4)
+ * @param {Number} m11 Component in column 1, row 1 position (index 5)
+ * @param {Number} m12 Component in column 1, row 2 position (index 6)
+ * @param {Number} m13 Component in column 1, row 3 position (index 7)
+ * @param {Number} m20 Component in column 2, row 0 position (index 8)
+ * @param {Number} m21 Component in column 2, row 1 position (index 9)
+ * @param {Number} m22 Component in column 2, row 2 position (index 10)
+ * @param {Number} m23 Component in column 2, row 3 position (index 11)
+ * @param {Number} m30 Component in column 3, row 0 position (index 12)
+ * @param {Number} m31 Component in column 3, row 1 position (index 13)
+ * @param {Number} m32 Component in column 3, row 2 position (index 14)
+ * @param {Number} m33 Component in column 3, row 3 position (index 15)
+ * @returns {mat4} out
+ */
+export function set(out, m00, m01, m02, m03, m10, m11, m12, m13, m20, m21, m22, m23, m30, m31, m32, m33) {
+  out[0] = m00;
+  out[1] = m01;
+  out[2] = m02;
+  out[3] = m03;
+  out[4] = m10;
+  out[5] = m11;
+  out[6] = m12;
+  out[7] = m13;
+  out[8] = m20;
+  out[9] = m21;
+  out[10] = m22;
+  out[11] = m23;
+  out[12] = m30;
+  out[13] = m31;
+  out[14] = m32;
+  out[15] = m33;
+  return out;
+}
+
+/**
+ * Set a mat4 to the identity matrix
+ *
+ * @param {mat4} out the receiving matrix
+ * @returns {mat4} out
+ */
+export function identity(out) {
+  out[0] = 1;
+  out[1] = 0;
+  out[2] = 0;
+  out[3] = 0;
+  out[4] = 0;
+  out[5] = 1;
+  out[6] = 0;
+  out[7] = 0;
+  out[8] = 0;
+  out[9] = 0;
+  out[10] = 1;
+  out[11] = 0;
+  out[12] = 0;
+  out[13] = 0;
+  out[14] = 0;
+  out[15] = 1;
+  return out;
+}
+
+/**
+ * Transpose the values of a mat4
+ *
+ * @param {mat4} out the receiving matrix
+ * @param {ReadonlyMat4} a the source matrix
+ * @returns {mat4} out
+ */
+export function transpose(out, a) {
+  // If we are transposing ourselves we can skip a few steps but have to cache some values
+  if (out === a) {
+    var a01 = a[1],
+      a02 = a[2],
+      a03 = a[3];
+    var a12 = a[6],
+      a13 = a[7];
+    var a23 = a[11];
+    out[1] = a[4];
+    out[2] = a[8];
+    out[3] = a[12];
+    out[4] = a01;
+    out[6] = a[9];
+    out[7] = a[13];
+    out[8] = a02;
+    out[9] = a12;
+    out[11] = a[14];
+    out[12] = a03;
+    out[13] = a13;
+    out[14] = a23;
+  } else {
+    out[0] = a[0];
+    out[1] = a[4];
+    out[2] = a[8];
+    out[3] = a[12];
+    out[4] = a[1];
+    out[5] = a[5];
+    out[6] = a[9];
+    out[7] = a[13];
+    out[8] = a[2];
+    out[9] = a[6];
+    out[10] = a[10];
+    out[11] = a[14];
+    out[12] = a[3];
+    out[13] = a[7];
+    out[14] = a[11];
+    out[15] = a[15];
+  }
+  return out;
+}
+
+/**
+ * Inverts a mat4
+ *
+ * @param {mat4} out the receiving matrix
+ * @param {ReadonlyMat4} a the source matrix
+ * @returns {mat4 | null} out, or null if source matrix is not invertible
+ */
+export function invert(out, a) {
+  var a00 = a[0],
+    a01 = a[1],
+    a02 = a[2],
+    a03 = a[3];
+  var a10 = a[4],
+    a11 = a[5],
+    a12 = a[6],
+    a13 = a[7];
+  var a20 = a[8],
+    a21 = a[9],
+    a22 = a[10],
+    a23 = a[11];
+  var a30 = a[12],
+    a31 = a[13],
+    a32 = a[14],
+    a33 = a[15];
+  var b00 = a00 * a11 - a01 * a10;
+  var b01 = a00 * a12 - a02 * a10;
+  var b02 = a00 * a13 - a03 * a10;
+  var b03 = a01 * a12 - a02 * a11;
+  var b04 = a01 * a13 - a03 * a11;
+  var b05 = a02 * a13 - a03 * a12;
+  var b06 = a20 * a31 - a21 * a30;
+  var b07 = a20 * a32 - a22 * a30;
+  var b08 = a20 * a33 - a23 * a30;
+  var b09 = a21 * a32 - a22 * a31;
+  var b10 = a21 * a33 - a23 * a31;
+  var b11 = a22 * a33 - a23 * a32;
+
+  // Calculate the determinant
+  var det = b00 * b11 - b01 * b10 + b02 * b09 + b03 * b08 - b04 * b07 + b05 * b06;
+  if (!det) {
+    return null;
+  }
+  det = 1.0 / det;
+  out[0] = (a11 * b11 - a12 * b10 + a13 * b09) * det;
+  out[1] = (a02 * b10 - a01 * b11 - a03 * b09) * det;
+  out[2] = (a31 * b05 - a32 * b04 + a33 * b03) * det;
+  out[3] = (a22 * b04 - a21 * b05 - a23 * b03) * det;
+  out[4] = (a12 * b08 - a10 * b11 - a13 * b07) * det;
+  out[5] = (a00 * b11 - a02 * b08 + a03 * b07) * det;
+  out[6] = (a32 * b02 - a30 * b05 - a33 * b01) * det;
+  out[7] = (a20 * b05 - a22 * b02 + a23 * b01) * det;
+  out[8] = (a10 * b10 - a11 * b08 + a13 * b06) * det;
+  out[9] = (a01 * b08 - a00 * b10 - a03 * b06) * det;
+  out[10] = (a30 * b04 - a31 * b02 + a33 * b00) * det;
+  out[11] = (a21 * b02 - a20 * b04 - a23 * b00) * det;
+  out[12] = (a11 * b07 - a10 * b09 - a12 * b06) * det;
+  out[13] = (a00 * b09 - a01 * b07 + a02 * b06) * det;
+  out[14] = (a31 * b01 - a30 * b03 - a32 * b00) * det;
+  out[15] = (a20 * b03 - a21 * b01 + a22 * b00) * det;
+  return out;
+}
+
+/**
+ * Calculates the adjugate of a mat4
+ *
+ * @param {mat4} out the receiving matrix
+ * @param {ReadonlyMat4} a the source matrix
+ * @returns {mat4} out
+ */
+export function adjoint(out, a) {
+  var a00 = a[0],
+    a01 = a[1],
+    a02 = a[2],
+    a03 = a[3];
+  var a10 = a[4],
+    a11 = a[5],
+    a12 = a[6],
+    a13 = a[7];
+  var a20 = a[8],
+    a21 = a[9],
+    a22 = a[10],
+    a23 = a[11];
+  var a30 = a[12],
+    a31 = a[13],
+    a32 = a[14],
+    a33 = a[15];
+  var b00 = a00 * a11 - a01 * a10;
+  var b01 = a00 * a12 - a02 * a10;
+  var b02 = a00 * a13 - a03 * a10;
+  var b03 = a01 * a12 - a02 * a11;
+  var b04 = a01 * a13 - a03 * a11;
+  var b05 = a02 * a13 - a03 * a12;
+  var b06 = a20 * a31 - a21 * a30;
+  var b07 = a20 * a32 - a22 * a30;
+  var b08 = a20 * a33 - a23 * a30;
+  var b09 = a21 * a32 - a22 * a31;
+  var b10 = a21 * a33 - a23 * a31;
+  var b11 = a22 * a33 - a23 * a32;
+  out[0] = a11 * b11 - a12 * b10 + a13 * b09;
+  out[1] = a02 * b10 - a01 * b11 - a03 * b09;
+  out[2] = a31 * b05 - a32 * b04 + a33 * b03;
+  out[3] = a22 * b04 - a21 * b05 - a23 * b03;
+  out[4] = a12 * b08 - a10 * b11 - a13 * b07;
+  out[5] = a00 * b11 - a02 * b08 + a03 * b07;
+  out[6] = a32 * b02 - a30 * b05 - a33 * b01;
+  out[7] = a20 * b05 - a22 * b02 + a23 * b01;
+  out[8] = a10 * b10 - a11 * b08 + a13 * b06;
+  out[9] = a01 * b08 - a00 * b10 - a03 * b06;
+  out[10] = a30 * b04 - a31 * b02 + a33 * b00;
+  out[11] = a21 * b02 - a20 * b04 - a23 * b00;
+  out[12] = a11 * b07 - a10 * b09 - a12 * b06;
+  out[13] = a00 * b09 - a01 * b07 + a02 * b06;
+  out[14] = a31 * b01 - a30 * b03 - a32 * b00;
+  out[15] = a20 * b03 - a21 * b01 + a22 * b00;
+  return out;
+}
+
+/**
+ * Calculates the determinant of a mat4
+ *
+ * @param {ReadonlyMat4} a the source matrix
+ * @returns {Number} determinant of a
+ */
+export function determinant(a) {
+  var a00 = a[0],
+    a01 = a[1],
+    a02 = a[2],
+    a03 = a[3];
+  var a10 = a[4],
+    a11 = a[5],
+    a12 = a[6],
+    a13 = a[7];
+  var a20 = a[8],
+    a21 = a[9],
+    a22 = a[10],
+    a23 = a[11];
+  var a30 = a[12],
+    a31 = a[13],
+    a32 = a[14],
+    a33 = a[15];
+  var b0 = a00 * a11 - a01 * a10;
+  var b1 = a00 * a12 - a02 * a10;
+  var b2 = a01 * a12 - a02 * a11;
+  var b3 = a20 * a31 - a21 * a30;
+  var b4 = a20 * a32 - a22 * a30;
+  var b5 = a21 * a32 - a22 * a31;
+  var b6 = a00 * b5 - a01 * b4 + a02 * b3;
+  var b7 = a10 * b5 - a11 * b4 + a12 * b3;
+  var b8 = a20 * b2 - a21 * b1 + a22 * b0;
+  var b9 = a30 * b2 - a31 * b1 + a32 * b0;
+
+  // Calculate the determinant
+  return a13 * b6 - a03 * b7 + a33 * b8 - a23 * b9;
+}
+
+/**
+ * Multiplies two mat4s
+ *
+ * @param {mat4} out the receiving matrix
+ * @param {ReadonlyMat4} a the first operand
+ * @param {ReadonlyMat4} b the second operand
+ * @returns {mat4} out
+ */
+export function multiply(out, a, b) {
+  var a00 = a[0],
+    a01 = a[1],
+    a02 = a[2],
+    a03 = a[3];
+  var a10 = a[4],
+    a11 = a[5],
+    a12 = a[6],
+    a13 = a[7];
+  var a20 = a[8],
+    a21 = a[9],
+    a22 = a[10],
+    a23 = a[11];
+  var a30 = a[12],
+    a31 = a[13],
+    a32 = a[14],
+    a33 = a[15];
+
+  // Cache only the current line of the second matrix
+  var b0 = b[0],
+    b1 = b[1],
+    b2 = b[2],
+    b3 = b[3];
+  out[0] = b0 * a00 + b1 * a10 + b2 * a20 + b3 * a30;
+  out[1] = b0 * a01 + b1 * a11 + b2 * a21 + b3 * a31;
+  out[2] = b0 * a02 + b1 * a12 + b2 * a22 + b3 * a32;
+  out[3] = b0 * a03 + b1 * a13 + b2 * a23 + b3 * a33;
+  b0 = b[4];
+  b1 = b[5];
+  b2 = b[6];
+  b3 = b[7];
+  out[4] = b0 * a00 + b1 * a10 + b2 * a20 + b3 * a30;
+  out[5] = b0 * a01 + b1 * a11 + b2 * a21 + b3 * a31;
+  out[6] = b0 * a02 + b1 * a12 + b2 * a22 + b3 * a32;
+  out[7] = b0 * a03 + b1 * a13 + b2 * a23 + b3 * a33;
+  b0 = b[8];
+  b1 = b[9];
+  b2 = b[10];
+  b3 = b[11];
+  out[8] = b0 * a00 + b1 * a10 + b2 * a20 + b3 * a30;
+  out[9] = b0 * a01 + b1 * a11 + b2 * a21 + b3 * a31;
+  out[10] = b0 * a02 + b1 * a12 + b2 * a22 + b3 * a32;
+  out[11] = b0 * a03 + b1 * a13 + b2 * a23 + b3 * a33;
+  b0 = b[12];
+  b1 = b[13];
+  b2 = b[14];
+  b3 = b[15];
+  out[12] = b0 * a00 + b1 * a10 + b2 * a20 + b3 * a30;
+  out[13] = b0 * a01 + b1 * a11 + b2 * a21 + b3 * a31;
+  out[14] = b0 * a02 + b1 * a12 + b2 * a22 + b3 * a32;
+  out[15] = b0 * a03 + b1 * a13 + b2 * a23 + b3 * a33;
+  return out;
+}
+
+/**
+ * Translate a mat4 by the given vector
+ *
+ * @param {mat4} out the receiving matrix
+ * @param {ReadonlyMat4} a the matrix to translate
+ * @param {ReadonlyVec3} v vector to translate by
+ * @returns {mat4} out
+ */
+export function translate(out, a, v) {
+  var x = v[0],
+    y = v[1],
+    z = v[2];
+  var a00, a01, a02, a03;
+  var a10, a11, a12, a13;
+  var a20, a21, a22, a23;
+  if (a === out) {
+    out[12] = a[0] * x + a[4] * y + a[8] * z + a[12];
+    out[13] = a[1] * x + a[5] * y + a[9] * z + a[13];
+    out[14] = a[2] * x + a[6] * y + a[10] * z + a[14];
+    out[15] = a[3] * x + a[7] * y + a[11] * z + a[15];
+  } else {
+    a00 = a[0];
+    a01 = a[1];
+    a02 = a[2];
+    a03 = a[3];
+    a10 = a[4];
+    a11 = a[5];
+    a12 = a[6];
+    a13 = a[7];
+    a20 = a[8];
+    a21 = a[9];
+    a22 = a[10];
+    a23 = a[11];
+    out[0] = a00;
+    out[1] = a01;
+    out[2] = a02;
+    out[3] = a03;
+    out[4] = a10;
+    out[5] = a11;
+    out[6] = a12;
+    out[7] = a13;
+    out[8] = a20;
+    out[9] = a21;
+    out[10] = a22;
+    out[11] = a23;
+    out[12] = a00 * x + a10 * y + a20 * z + a[12];
+    out[13] = a01 * x + a11 * y + a21 * z + a[13];
+    out[14] = a02 * x + a12 * y + a22 * z + a[14];
+    out[15] = a03 * x + a13 * y + a23 * z + a[15];
+  }
+  return out;
+}
+
+/**
+ * Scales the mat4 by the dimensions in the given vec3 not using vectorization
+ *
+ * @param {mat4} out the receiving matrix
+ * @param {ReadonlyMat4} a the matrix to scale
+ * @param {ReadonlyVec3} v the vec3 to scale the matrix by
+ * @returns {mat4} out
+ **/
+export function scale(out, a, v) {
+  var x = v[0],
+    y = v[1],
+    z = v[2];
+  out[0] = a[0] * x;
+  out[1] = a[1] * x;
+  out[2] = a[2] * x;
+  out[3] = a[3] * x;
+  out[4] = a[4] * y;
+  out[5] = a[5] * y;
+  out[6] = a[6] * y;
+  out[7] = a[7] * y;
+  out[8] = a[8] * z;
+  out[9] = a[9] * z;
+  out[10] = a[10] * z;
+  out[11] = a[11] * z;
+  out[12] = a[12];
+  out[13] = a[13];
+  out[14] = a[14];
+  out[15] = a[15];
+  return out;
+}
+
+/**
+ * Rotates a mat4 by the given angle around the given axis
+ *
+ * @param {mat4} out the receiving matrix
+ * @param {ReadonlyMat4} a the matrix to rotate
+ * @param {Number} rad the angle to rotate the matrix by
+ * @param {ReadonlyVec3} axis the axis to rotate around
+ * @returns {mat4} out
+ */
+export function rotate(out, a, rad, axis) {
+  var x = axis[0],
+    y = axis[1],
+    z = axis[2];
+  var len = Math.sqrt(x * x + y * y + z * z);
+  var s, c, t;
+  var a00, a01, a02, a03;
+  var a10, a11, a12, a13;
+  var a20, a21, a22, a23;
+  var b00, b01, b02;
+  var b10, b11, b12;
+  var b20, b21, b22;
+  if (len < glMatrix.EPSILON) {
+    return null;
+  }
+  len = 1 / len;
+  x *= len;
+  y *= len;
+  z *= len;
+  s = Math.sin(rad);
+  c = Math.cos(rad);
+  t = 1 - c;
+  a00 = a[0];
+  a01 = a[1];
+  a02 = a[2];
+  a03 = a[3];
+  a10 = a[4];
+  a11 = a[5];
+  a12 = a[6];
+  a13 = a[7];
+  a20 = a[8];
+  a21 = a[9];
+  a22 = a[10];
+  a23 = a[11];
+
+  // Construct the elements of the rotation matrix
+  b00 = x * x * t + c;
+  b01 = y * x * t + z * s;
+  b02 = z * x * t - y * s;
+  b10 = x * y * t - z * s;
+  b11 = y * y * t + c;
+  b12 = z * y * t + x * s;
+  b20 = x * z * t + y * s;
+  b21 = y * z * t - x * s;
+  b22 = z * z * t + c;
+
+  // Perform rotation-specific matrix multiplication
+  out[0] = a00 * b00 + a10 * b01 + a20 * b02;
+  out[1] = a01 * b00 + a11 * b01 + a21 * b02;
+  out[2] = a02 * b00 + a12 * b01 + a22 * b02;
+  out[3] = a03 * b00 + a13 * b01 + a23 * b02;
+  out[4] = a00 * b10 + a10 * b11 + a20 * b12;
+  out[5] = a01 * b10 + a11 * b11 + a21 * b12;
+  out[6] = a02 * b10 + a12 * b11 + a22 * b12;
+  out[7] = a03 * b10 + a13 * b11 + a23 * b12;
+  out[8] = a00 * b20 + a10 * b21 + a20 * b22;
+  out[9] = a01 * b20 + a11 * b21 + a21 * b22;
+  out[10] = a02 * b20 + a12 * b21 + a22 * b22;
+  out[11] = a03 * b20 + a13 * b21 + a23 * b22;
+  if (a !== out) {
+    // If the source and destination differ, copy the unchanged last row
+    out[12] = a[12];
+    out[13] = a[13];
+    out[14] = a[14];
+    out[15] = a[15];
+  }
+  return out;
+}
+
+/**
+ * Rotates a matrix by the given angle around the X axis
+ *
+ * @param {mat4} out the receiving matrix
+ * @param {ReadonlyMat4} a the matrix to rotate
+ * @param {Number} rad the angle to rotate the matrix by
+ * @returns {mat4} out
+ */
+export function rotateX(out, a, rad) {
+  var s = Math.sin(rad);
+  var c = Math.cos(rad);
+  var a10 = a[4];
+  var a11 = a[5];
+  var a12 = a[6];
+  var a13 = a[7];
+  var a20 = a[8];
+  var a21 = a[9];
+  var a22 = a[10];
+  var a23 = a[11];
+  if (a !== out) {
+    // If the source and destination differ, copy the unchanged rows
+    out[0] = a[0];
+    out[1] = a[1];
+    out[2] = a[2];
+    out[3] = a[3];
+    out[12] = a[12];
+    out[13] = a[13];
+    out[14] = a[14];
+    out[15] = a[15];
+  }
+
+  // Perform axis-specific matrix multiplication
+  out[4] = a10 * c + a20 * s;
+  out[5] = a11 * c + a21 * s;
+  out[6] = a12 * c + a22 * s;
+  out[7] = a13 * c + a23 * s;
+  out[8] = a20 * c - a10 * s;
+  out[9] = a21 * c - a11 * s;
+  out[10] = a22 * c - a12 * s;
+  out[11] = a23 * c - a13 * s;
+  return out;
+}
+
+/**
+ * Rotates a matrix by the given angle around the Y axis
+ *
+ * @param {mat4} out the receiving matrix
+ * @param {ReadonlyMat4} a the matrix to rotate
+ * @param {Number} rad the angle to rotate the matrix by
+ * @returns {mat4} out
+ */
+export function rotateY(out, a, rad) {
+  var s = Math.sin(rad);
+  var c = Math.cos(rad);
+  var a00 = a[0];
+  var a01 = a[1];
+  var a02 = a[2];
+  var a03 = a[3];
+  var a20 = a[8];
+  var a21 = a[9];
+  var a22 = a[10];
+  var a23 = a[11];
+  if (a !== out) {
+    // If the source and destination differ, copy the unchanged rows
+    out[4] = a[4];
+    out[5] = a[5];
+    out[6] = a[6];
+    out[7] = a[7];
+    out[12] = a[12];
+    out[13] = a[13];
+    out[14] = a[14];
+    out[15] = a[15];
+  }
+
+  // Perform axis-specific matrix multiplication
+  out[0] = a00 * c - a20 * s;
+  out[1] = a01 * c - a21 * s;
+  out[2] = a02 * c - a22 * s;
+  out[3] = a03 * c - a23 * s;
+  out[8] = a00 * s + a20 * c;
+  out[9] = a01 * s + a21 * c;
+  out[10] = a02 * s + a22 * c;
+  out[11] = a03 * s + a23 * c;
+  return out;
+}
+
+/**
+ * Rotates a matrix by the given angle around the Z axis
+ *
+ * @param {mat4} out the receiving matrix
+ * @param {ReadonlyMat4} a the matrix to rotate
+ * @param {Number} rad the angle to rotate the matrix by
+ * @returns {mat4} out
+ */
+export function rotateZ(out, a, rad) {
+  var s = Math.sin(rad);
+  var c = Math.cos(rad);
+  var a00 = a[0];
+  var a01 = a[1];
+  var a02 = a[2];
+  var a03 = a[3];
+  var a10 = a[4];
+  var a11 = a[5];
+  var a12 = a[6];
+  var a13 = a[7];
+  if (a !== out) {
+    // If the source and destination differ, copy the unchanged last row
+    out[8] = a[8];
+    out[9] = a[9];
+    out[10] = a[10];
+    out[11] = a[11];
+    out[12] = a[12];
+    out[13] = a[13];
+    out[14] = a[14];
+    out[15] = a[15];
+  }
+
+  // Perform axis-specific matrix multiplication
+  out[0] = a00 * c + a10 * s;
+  out[1] = a01 * c + a11 * s;
+  out[2] = a02 * c + a12 * s;
+  out[3] = a03 * c + a13 * s;
+  out[4] = a10 * c - a00 * s;
+  out[5] = a11 * c - a01 * s;
+  out[6] = a12 * c - a02 * s;
+  out[7] = a13 * c - a03 * s;
+  return out;
+}
+
+/**
+ * Creates a matrix from a vector translation
+ * This is equivalent to (but much faster than):
+ *
+ *     mat4.identity(dest);
+ *     mat4.translate(dest, dest, vec);
+ *
+ * @param {mat4} out mat4 receiving operation result
+ * @param {ReadonlyVec3} v Translation vector
+ * @returns {mat4} out
+ */
+export function fromTranslation(out, v) {
+  out[0] = 1;
+  out[1] = 0;
+  out[2] = 0;
+  out[3] = 0;
+  out[4] = 0;
+  out[5] = 1;
+  out[6] = 0;
+  out[7] = 0;
+  out[8] = 0;
+  out[9] = 0;
+  out[10] = 1;
+  out[11] = 0;
+  out[12] = v[0];
+  out[13] = v[1];
+  out[14] = v[2];
+  out[15] = 1;
+  return out;
+}
+
+/**
+ * Creates a matrix from a vector scaling
+ * This is equivalent to (but much faster than):
+ *
+ *     mat4.identity(dest);
+ *     mat4.scale(dest, dest, vec);
+ *
+ * @param {mat4} out mat4 receiving operation result
+ * @param {ReadonlyVec3} v Scaling vector
+ * @returns {mat4} out
+ */
+export function fromScaling(out, v) {
+  out[0] = v[0];
+  out[1] = 0;
+  out[2] = 0;
+  out[3] = 0;
+  out[4] = 0;
+  out[5] = v[1];
+  out[6] = 0;
+  out[7] = 0;
+  out[8] = 0;
+  out[9] = 0;
+  out[10] = v[2];
+  out[11] = 0;
+  out[12] = 0;
+  out[13] = 0;
+  out[14] = 0;
+  out[15] = 1;
+  return out;
+}
+
+/**
+ * Creates a matrix from a given angle around a given axis
+ * This is equivalent to (but much faster than):
+ *
+ *     mat4.identity(dest);
+ *     mat4.rotate(dest, dest, rad, axis);
+ *
+ * @param {mat4} out mat4 receiving operation result
+ * @param {Number} rad the angle to rotate the matrix by
+ * @param {ReadonlyVec3} axis the axis to rotate around
+ * @returns {mat4} out
+ */
+export function fromRotation(out, rad, axis) {
+  var x = axis[0],
+    y = axis[1],
+    z = axis[2];
+  var len = Math.sqrt(x * x + y * y + z * z);
+  var s, c, t;
+  if (len < glMatrix.EPSILON) {
+    return null;
+  }
+  len = 1 / len;
+  x *= len;
+  y *= len;
+  z *= len;
+  s = Math.sin(rad);
+  c = Math.cos(rad);
+  t = 1 - c;
+
+  // Perform rotation-specific matrix multiplication
+  out[0] = x * x * t + c;
+  out[1] = y * x * t + z * s;
+  out[2] = z * x * t - y * s;
+  out[3] = 0;
+  out[4] = x * y * t - z * s;
+  out[5] = y * y * t + c;
+  out[6] = z * y * t + x * s;
+  out[7] = 0;
+  out[8] = x * z * t + y * s;
+  out[9] = y * z * t - x * s;
+  out[10] = z * z * t + c;
+  out[11] = 0;
+  out[12] = 0;
+  out[13] = 0;
+  out[14] = 0;
+  out[15] = 1;
+  return out;
+}
+
+/**
+ * Creates a matrix from the given angle around the X axis
+ * This is equivalent to (but much faster than):
+ *
+ *     mat4.identity(dest);
+ *     mat4.rotateX(dest, dest, rad);
+ *
+ * @param {mat4} out mat4 receiving operation result
+ * @param {Number} rad the angle to rotate the matrix by
+ * @returns {mat4} out
+ */
+export function fromXRotation(out, rad) {
+  var s = Math.sin(rad);
+  var c = Math.cos(rad);
+
+  // Perform axis-specific matrix multiplication
+  out[0] = 1;
+  out[1] = 0;
+  out[2] = 0;
+  out[3] = 0;
+  out[4] = 0;
+  out[5] = c;
+  out[6] = s;
+  out[7] = 0;
+  out[8] = 0;
+  out[9] = -s;
+  out[10] = c;
+  out[11] = 0;
+  out[12] = 0;
+  out[13] = 0;
+  out[14] = 0;
+  out[15] = 1;
+  return out;
+}
+
+/**
+ * Creates a matrix from the given angle around the Y axis
+ * This is equivalent to (but much faster than):
+ *
+ *     mat4.identity(dest);
+ *     mat4.rotateY(dest, dest, rad);
+ *
+ * @param {mat4} out mat4 receiving operation result
+ * @param {Number} rad the angle to rotate the matrix by
+ * @returns {mat4} out
+ */
+export function fromYRotation(out, rad) {
+  var s = Math.sin(rad);
+  var c = Math.cos(rad);
+
+  // Perform axis-specific matrix multiplication
+  out[0] = c;
+  out[1] = 0;
+  out[2] = -s;
+  out[3] = 0;
+  out[4] = 0;
+  out[5] = 1;
+  out[6] = 0;
+  out[7] = 0;
+  out[8] = s;
+  out[9] = 0;
+  out[10] = c;
+  out[11] = 0;
+  out[12] = 0;
+  out[13] = 0;
+  out[14] = 0;
+  out[15] = 1;
+  return out;
+}
+
+/**
+ * Creates a matrix from the given angle around the Z axis
+ * This is equivalent to (but much faster than):
+ *
+ *     mat4.identity(dest);
+ *     mat4.rotateZ(dest, dest, rad);
+ *
+ * @param {mat4} out mat4 receiving operation result
+ * @param {Number} rad the angle to rotate the matrix by
+ * @returns {mat4} out
+ */
+export function fromZRotation(out, rad) {
+  var s = Math.sin(rad);
+  var c = Math.cos(rad);
+
+  // Perform axis-specific matrix multiplication
+  out[0] = c;
+  out[1] = s;
+  out[2] = 0;
+  out[3] = 0;
+  out[4] = -s;
+  out[5] = c;
+  out[6] = 0;
+  out[7] = 0;
+  out[8] = 0;
+  out[9] = 0;
+  out[10] = 1;
+  out[11] = 0;
+  out[12] = 0;
+  out[13] = 0;
+  out[14] = 0;
+  out[15] = 1;
+  return out;
+}
+
+/**
+ * Creates a matrix from a quaternion rotation and vector translation
+ * This is equivalent to (but much faster than):
+ *
+ *     mat4.identity(dest);
+ *     mat4.translate(dest, dest, vec);
+ *     let quatMat = mat4.create();
+ *     mat4.fromQuat(quatMat, quat);
+ *     mat4.multiply(dest, dest, quatMat);
+ *
+ * @param {mat4} out mat4 receiving operation result
+ * @param {quat} q Rotation quaternion
+ * @param {ReadonlyVec3} v Translation vector
+ * @returns {mat4} out
+ */
+export function fromRotationTranslation(out, q, v) {
+  // Quaternion math
+  var x = q[0],
+    y = q[1],
+    z = q[2],
+    w = q[3];
+  var x2 = x + x;
+  var y2 = y + y;
+  var z2 = z + z;
+  var xx = x * x2;
+  var xy = x * y2;
+  var xz = x * z2;
+  var yy = y * y2;
+  var yz = y * z2;
+  var zz = z * z2;
+  var wx = w * x2;
+  var wy = w * y2;
+  var wz = w * z2;
+  out[0] = 1 - (yy + zz);
+  out[1] = xy + wz;
+  out[2] = xz - wy;
+  out[3] = 0;
+  out[4] = xy - wz;
+  out[5] = 1 - (xx + zz);
+  out[6] = yz + wx;
+  out[7] = 0;
+  out[8] = xz + wy;
+  out[9] = yz - wx;
+  out[10] = 1 - (xx + yy);
+  out[11] = 0;
+  out[12] = v[0];
+  out[13] = v[1];
+  out[14] = v[2];
+  out[15] = 1;
+  return out;
+}
+
+/**
+ * Creates a new mat4 from a dual quat.
+ *
+ * @param {mat4} out Matrix
+ * @param {ReadonlyQuat2} a Dual Quaternion
+ * @returns {mat4} mat4 receiving operation result
+ */
+export function fromQuat2(out, a) {
+  var translation = new Float32Array(3);
+  var bx = -a[0],
+    by = -a[1],
+    bz = -a[2],
+    bw = a[3],
+    ax = a[4],
+    ay = a[5],
+    az = a[6],
+    aw = a[7];
+  var magnitude = bx * bx + by * by + bz * bz + bw * bw;
+  //Only scale if it makes sense
+  if (magnitude > 0) {
+    translation[0] = (ax * bw + aw * bx + ay * bz - az * by) * 2 / magnitude;
+    translation[1] = (ay * bw + aw * by + az * bx - ax * bz) * 2 / magnitude;
+    translation[2] = (az * bw + aw * bz + ax * by - ay * bx) * 2 / magnitude;
+  } else {
+    translation[0] = (ax * bw + aw * bx + ay * bz - az * by) * 2;
+    translation[1] = (ay * bw + aw * by + az * bx - ax * bz) * 2;
+    translation[2] = (az * bw + aw * bz + ax * by - ay * bx) * 2;
+  }
+  fromRotationTranslation(out, a, translation);
+  return out;
+}
+
+/**
+ * Returns the translation vector component of a transformation
+ *  matrix. If a matrix is built with fromRotationTranslation,
+ *  the returned vector will be the same as the translation vector
+ *  originally supplied.
+ * @param  {vec3} out Vector to receive translation component
+ * @param  {ReadonlyMat4} mat Matrix to be decomposed (input)
+ * @return {vec3} out
+ */
+export function getTranslation(out, mat) {
+  out[0] = mat[12];
+  out[1] = mat[13];
+  out[2] = mat[14];
+  return out;
+}
+
+/**
+ * Returns the scaling factor component of a transformation
+ *  matrix. If a matrix is built with fromRotationTranslationScale
+ *  with a normalized Quaternion parameter, the returned vector will be
+ *  the same as the scaling vector
+ *  originally supplied.
+ * @param  {vec3} out Vector to receive scaling factor component
+ * @param  {ReadonlyMat4} mat Matrix to be decomposed (input)
+ * @return {vec3} out
+ */
+export function getScaling(out, mat) {
+  var m11 = mat[0];
+  var m12 = mat[1];
+  var m13 = mat[2];
+  var m21 = mat[4];
+  var m22 = mat[5];
+  var m23 = mat[6];
+  var m31 = mat[8];
+  var m32 = mat[9];
+  var m33 = mat[10];
+  out[0] = Math.sqrt(m11 * m11 + m12 * m12 + m13 * m13);
+  out[1] = Math.sqrt(m21 * m21 + m22 * m22 + m23 * m23);
+  out[2] = Math.sqrt(m31 * m31 + m32 * m32 + m33 * m33);
+  return out;
+}
+
+/**
+ * Returns a quaternion representing the rotational component
+ *  of a transformation matrix. If a matrix is built with
+ *  fromRotationTranslation, the returned quaternion will be the
+ *  same as the quaternion originally supplied.
+ * @param {quat} out Quaternion to receive the rotation component
+ * @param {ReadonlyMat4} mat Matrix to be decomposed (input)
+ * @return {quat} out
+ */
+export function getRotation(out, mat) {
+  var scaling = new Float32Array(3);
+  getScaling(scaling, mat);
+  var is1 = 1 / scaling[0];
+  var is2 = 1 / scaling[1];
+  var is3 = 1 / scaling[2];
+  var sm11 = mat[0] * is1;
+  var sm12 = mat[1] * is2;
+  var sm13 = mat[2] * is3;
+  var sm21 = mat[4] * is1;
+  var sm22 = mat[5] * is2;
+  var sm23 = mat[6] * is3;
+  var sm31 = mat[8] * is1;
+  var sm32 = mat[9] * is2;
+  var sm33 = mat[10] * is3;
+  var trace = sm11 + sm22 + sm33;
+  var S = 0;
+  if (trace > 0) {
+    S = Math.sqrt(trace + 1.0) * 2;
+    out[3] = 0.25 * S;
+    out[0] = (sm23 - sm32) / S;
+    out[1] = (sm31 - sm13) / S;
+    out[2] = (sm12 - sm21) / S;
+  } else if (sm11 > sm22 && sm11 > sm33) {
+    S = Math.sqrt(1.0 + sm11 - sm22 - sm33) * 2;
+    out[3] = (sm23 - sm32) / S;
+    out[0] = 0.25 * S;
+    out[1] = (sm12 + sm21) / S;
+    out[2] = (sm31 + sm13) / S;
+  } else if (sm22 > sm33) {
+    S = Math.sqrt(1.0 + sm22 - sm11 - sm33) * 2;
+    out[3] = (sm31 - sm13) / S;
+    out[0] = (sm12 + sm21) / S;
+    out[1] = 0.25 * S;
+    out[2] = (sm23 + sm32) / S;
+  } else {
+    S = Math.sqrt(1.0 + sm33 - sm11 - sm22) * 2;
+    out[3] = (sm12 - sm21) / S;
+    out[0] = (sm31 + sm13) / S;
+    out[1] = (sm23 + sm32) / S;
+    out[2] = 0.25 * S;
+  }
+  return out;
+}
+
+/**
+ * Decomposes a transformation matrix into its rotation, translation
+ * and scale components. Returns only the rotation component
+ * @param  {quat} out_r Quaternion to receive the rotation component
+ * @param  {vec3} out_t Vector to receive the translation vector
+ * @param  {vec3} out_s Vector to receive the scaling factor
+ * @param  {ReadonlyMat4} mat Matrix to be decomposed (input)
+ * @returns {quat} out_r
+ */
+export function decompose(out_r, out_t, out_s, mat) {
+  out_t[0] = mat[12];
+  out_t[1] = mat[13];
+  out_t[2] = mat[14];
+  var m11 = mat[0];
+  var m12 = mat[1];
+  var m13 = mat[2];
+  var m21 = mat[4];
+  var m22 = mat[5];
+  var m23 = mat[6];
+  var m31 = mat[8];
+  var m32 = mat[9];
+  var m33 = mat[10];
+  out_s[0] = Math.sqrt(m11 * m11 + m12 * m12 + m13 * m13);
+  out_s[1] = Math.sqrt(m21 * m21 + m22 * m22 + m23 * m23);
+  out_s[2] = Math.sqrt(m31 * m31 + m32 * m32 + m33 * m33);
+  var is1 = 1 / out_s[0];
+  var is2 = 1 / out_s[1];
+  var is3 = 1 / out_s[2];
+  var sm11 = m11 * is1;
+  var sm12 = m12 * is2;
+  var sm13 = m13 * is3;
+  var sm21 = m21 * is1;
+  var sm22 = m22 * is2;
+  var sm23 = m23 * is3;
+  var sm31 = m31 * is1;
+  var sm32 = m32 * is2;
+  var sm33 = m33 * is3;
+  var trace = sm11 + sm22 + sm33;
+  var S = 0;
+  if (trace > 0) {
+    S = Math.sqrt(trace + 1.0) * 2;
+    out_r[3] = 0.25 * S;
+    out_r[0] = (sm23 - sm32) / S;
+    out_r[1] = (sm31 - sm13) / S;
+    out_r[2] = (sm12 - sm21) / S;
+  } else if (sm11 > sm22 && sm11 > sm33) {
+    S = Math.sqrt(1.0 + sm11 - sm22 - sm33) * 2;
+    out_r[3] = (sm23 - sm32) / S;
+    out_r[0] = 0.25 * S;
+    out_r[1] = (sm12 + sm21) / S;
+    out_r[2] = (sm31 + sm13) / S;
+  } else if (sm22 > sm33) {
+    S = Math.sqrt(1.0 + sm22 - sm11 - sm33) * 2;
+    out_r[3] = (sm31 - sm13) / S;
+    out_r[0] = (sm12 + sm21) / S;
+    out_r[1] = 0.25 * S;
+    out_r[2] = (sm23 + sm32) / S;
+  } else {
+    S = Math.sqrt(1.0 + sm33 - sm11 - sm22) * 2;
+    out_r[3] = (sm12 - sm21) / S;
+    out_r[0] = (sm31 + sm13) / S;
+    out_r[1] = (sm23 + sm32) / S;
+    out_r[2] = 0.25 * S;
+  }
+  return out_r;
+}
+
+/**
+ * Creates a matrix from a quaternion rotation, vector translation and vector scale
+ * This is equivalent to (but much faster than):
+ *
+ *     mat4.identity(dest);
+ *     mat4.translate(dest, dest, vec);
+ *     let quatMat = mat4.create();
+ *     mat4.fromQuat(quatMat, quat);
+ *     mat4.multiply(dest, dest, quatMat);
+ *     mat4.scale(dest, dest, scale)
+ *
+ * @param {mat4} out mat4 receiving operation result
+ * @param {quat} q Rotation quaternion
+ * @param {ReadonlyVec3} v Translation vector
+ * @param {ReadonlyVec3} s Scaling vector
+ * @returns {mat4} out
+ */
+export function fromRotationTranslationScale(out, q, v, s) {
+  // Quaternion math
+  var x = q[0],
+    y = q[1],
+    z = q[2],
+    w = q[3];
+  var x2 = x + x;
+  var y2 = y + y;
+  var z2 = z + z;
+  var xx = x * x2;
+  var xy = x * y2;
+  var xz = x * z2;
+  var yy = y * y2;
+  var yz = y * z2;
+  var zz = z * z2;
+  var wx = w * x2;
+  var wy = w * y2;
+  var wz = w * z2;
+  var sx = s[0];
+  var sy = s[1];
+  var sz = s[2];
+  out[0] = (1 - (yy + zz)) * sx;
+  out[1] = (xy + wz) * sx;
+  out[2] = (xz - wy) * sx;
+  out[3] = 0;
+  out[4] = (xy - wz) * sy;
+  out[5] = (1 - (xx + zz)) * sy;
+  out[6] = (yz + wx) * sy;
+  out[7] = 0;
+  out[8] = (xz + wy) * sz;
+  out[9] = (yz - wx) * sz;
+  out[10] = (1 - (xx + yy)) * sz;
+  out[11] = 0;
+  out[12] = v[0];
+  out[13] = v[1];
+  out[14] = v[2];
+  out[15] = 1;
+  return out;
+}
+
+/**
+ * Creates a matrix from a quaternion rotation, vector translation and vector scale, rotating and scaling around the given origin
+ * This is equivalent to (but much faster than):
+ *
+ *     mat4.identity(dest);
+ *     mat4.translate(dest, dest, vec);
+ *     mat4.translate(dest, dest, origin);
+ *     let quatMat = mat4.create();
+ *     mat4.fromQuat(quatMat, quat);
+ *     mat4.multiply(dest, dest, quatMat);
+ *     mat4.scale(dest, dest, scale)
+ *     mat4.translate(dest, dest, negativeOrigin);
+ *
+ * @param {mat4} out mat4 receiving operation result
+ * @param {quat} q Rotation quaternion
+ * @param {ReadonlyVec3} v Translation vector
+ * @param {ReadonlyVec3} s Scaling vector
+ * @param {ReadonlyVec3} o The origin vector around which to scale and rotate
+ * @returns {mat4} out
+ */
+export function fromRotationTranslationScaleOrigin(out, q, v, s, o) {
+  // Quaternion math
+  var x = q[0],
+    y = q[1],
+    z = q[2],
+    w = q[3];
+  var x2 = x + x;
+  var y2 = y + y;
+  var z2 = z + z;
+  var xx = x * x2;
+  var xy = x * y2;
+  var xz = x * z2;
+  var yy = y * y2;
+  var yz = y * z2;
+  var zz = z * z2;
+  var wx = w * x2;
+  var wy = w * y2;
+  var wz = w * z2;
+  var sx = s[0];
+  var sy = s[1];
+  var sz = s[2];
+  var ox = o[0];
+  var oy = o[1];
+  var oz = o[2];
+  var out0 = (1 - (yy + zz)) * sx;
+  var out1 = (xy + wz) * sx;
+  var out2 = (xz - wy) * sx;
+  var out4 = (xy - wz) * sy;
+  var out5 = (1 - (xx + zz)) * sy;
+  var out6 = (yz + wx) * sy;
+  var out8 = (xz + wy) * sz;
+  var out9 = (yz - wx) * sz;
+  var out10 = (1 - (xx + yy)) * sz;
+  out[0] = out0;
+  out[1] = out1;
+  out[2] = out2;
+  out[3] = 0;
+  out[4] = out4;
+  out[5] = out5;
+  out[6] = out6;
+  out[7] = 0;
+  out[8] = out8;
+  out[9] = out9;
+  out[10] = out10;
+  out[11] = 0;
+  out[12] = v[0] + ox - (out0 * ox + out4 * oy + out8 * oz);
+  out[13] = v[1] + oy - (out1 * ox + out5 * oy + out9 * oz);
+  out[14] = v[2] + oz - (out2 * ox + out6 * oy + out10 * oz);
+  out[15] = 1;
+  return out;
+}
+
+/**
+ * Calculates a 4x4 matrix from the given quaternion
+ *
+ * @param {mat4} out mat4 receiving operation result
+ * @param {ReadonlyQuat} q Quaternion to create matrix from
+ *
+ * @returns {mat4} out
+ */
+export function fromQuat(out, q) {
+  var x = q[0],
+    y = q[1],
+    z = q[2],
+    w = q[3];
+  var x2 = x + x;
+  var y2 = y + y;
+  var z2 = z + z;
+  var xx = x * x2;
+  var yx = y * x2;
+  var yy = y * y2;
+  var zx = z * x2;
+  var zy = z * y2;
+  var zz = z * z2;
+  var wx = w * x2;
+  var wy = w * y2;
+  var wz = w * z2;
+  out[0] = 1 - yy - zz;
+  out[1] = yx + wz;
+  out[2] = zx - wy;
+  out[3] = 0;
+  out[4] = yx - wz;
+  out[5] = 1 - xx - zz;
+  out[6] = zy + wx;
+  out[7] = 0;
+  out[8] = zx + wy;
+  out[9] = zy - wx;
+  out[10] = 1 - xx - yy;
+  out[11] = 0;
+  out[12] = 0;
+  out[13] = 0;
+  out[14] = 0;
+  out[15] = 1;
+  return out;
+}
+
+/**
+ * Generates a frustum matrix with the given bounds
+ *
+ * @param {mat4} out mat4 frustum matrix will be written into
+ * @param {Number} left Left bound of the frustum
+ * @param {Number} right Right bound of the frustum
+ * @param {Number} bottom Bottom bound of the frustum
+ * @param {Number} top Top bound of the frustum
+ * @param {Number} near Near bound of the frustum
+ * @param {Number} far Far bound of the frustum
+ * @returns {mat4} out
+ */
+export function frustum(out, left, right, bottom, top, near, far) {
+  var rl = 1 / (right - left);
+  var tb = 1 / (top - bottom);
+  var nf = 1 / (near - far);
+  out[0] = near * 2 * rl;
+  out[1] = 0;
+  out[2] = 0;
+  out[3] = 0;
+  out[4] = 0;
+  out[5] = near * 2 * tb;
+  out[6] = 0;
+  out[7] = 0;
+  out[8] = (right + left) * rl;
+  out[9] = (top + bottom) * tb;
+  out[10] = (far + near) * nf;
+  out[11] = -1;
+  out[12] = 0;
+  out[13] = 0;
+  out[14] = far * near * 2 * nf;
+  out[15] = 0;
+  return out;
+}
+
+/**
+ * Generates a perspective projection matrix with the given bounds.
+ * The near/far clip planes correspond to a normalized device coordinate Z range of [-1, 1],
+ * which matches WebGL/OpenGL's clip volume.
+ * Passing null/undefined/no value for far will generate infinite projection matrix.
+ *
+ * @param {mat4} out mat4 frustum matrix will be written into
+ * @param {number} fovy Vertical field of view in radians
+ * @param {number} aspect Aspect ratio. typically viewport width/height
+ * @param {number} near Near bound of the frustum
+ * @param {number} far Far bound of the frustum, can be null or Infinity
+ * @returns {mat4} out
+ */
+export function perspectiveNO(out, fovy, aspect, near, far) {
+  var f = 1.0 / Math.tan(fovy / 2);
+  out[0] = f / aspect;
+  out[1] = 0;
+  out[2] = 0;
+  out[3] = 0;
+  out[4] = 0;
+  out[5] = f;
+  out[6] = 0;
+  out[7] = 0;
+  out[8] = 0;
+  out[9] = 0;
+  out[11] = -1;
+  out[12] = 0;
+  out[13] = 0;
+  out[15] = 0;
+  if (far != null && far !== Infinity) {
+    var nf = 1 / (near - far);
+    out[10] = (far + near) * nf;
+    out[14] = 2 * far * near * nf;
+  } else {
+    out[10] = -1;
+    out[14] = -2 * near;
+  }
+  return out;
+}
+
+/**
+ * Alias for {@link mat4.perspectiveNO}
+ * @function
+ */
+export var perspective = perspectiveNO;
+
+/**
+ * Generates a perspective projection matrix suitable for WebGPU with the given bounds.
+ * The near/far clip planes correspond to a normalized device coordinate Z range of [0, 1],
+ * which matches WebGPU/Vulkan/DirectX/Metal's clip volume.
+ * Passing null/undefined/no value for far will generate infinite projection matrix.
+ *
+ * @param {mat4} out mat4 frustum matrix will be written into
+ * @param {number} fovy Vertical field of view in radians
+ * @param {number} aspect Aspect ratio. typically viewport width/height
+ * @param {number} near Near bound of the frustum
+ * @param {number} far Far bound of the frustum, can be null or Infinity
+ * @returns {mat4} out
+ */
+export function perspectiveZO(out, fovy, aspect, near, far) {
+  var f = 1.0 / Math.tan(fovy / 2);
+  out[0] = f / aspect;
+  out[1] = 0;
+  out[2] = 0;
+  out[3] = 0;
+  out[4] = 0;
+  out[5] = f;
+  out[6] = 0;
+  out[7] = 0;
+  out[8] = 0;
+  out[9] = 0;
+  out[11] = -1;
+  out[12] = 0;
+  out[13] = 0;
+  out[15] = 0;
+  if (far != null && far !== Infinity) {
+    var nf = 1 / (near - far);
+    out[10] = far * nf;
+    out[14] = far * near * nf;
+  } else {
+    out[10] = -1;
+    out[14] = -near;
+  }
+  return out;
+}
+
+/**
+ * Generates a perspective projection matrix with the given field of view.
+ * This is primarily useful for generating projection matrices to be used
+ * with the still experiemental WebVR API.
+ *
+ * @param {mat4} out mat4 frustum matrix will be written into
+ * @param {Object} fov Object containing the following values: upDegrees, downDegrees, leftDegrees, rightDegrees
+ * @param {number} near Near bound of the frustum
+ * @param {number} far Far bound of the frustum
+ * @returns {mat4} out
+ */
+export function perspectiveFromFieldOfView(out, fov, near, far) {
+  var upTan = Math.tan(fov.upDegrees * Math.PI / 180.0);
+  var downTan = Math.tan(fov.downDegrees * Math.PI / 180.0);
+  var leftTan = Math.tan(fov.leftDegrees * Math.PI / 180.0);
+  var rightTan = Math.tan(fov.rightDegrees * Math.PI / 180.0);
+  var xScale = 2.0 / (leftTan + rightTan);
+  var yScale = 2.0 / (upTan + downTan);
+  out[0] = xScale;
+  out[1] = 0.0;
+  out[2] = 0.0;
+  out[3] = 0.0;
+  out[4] = 0.0;
+  out[5] = yScale;
+  out[6] = 0.0;
+  out[7] = 0.0;
+  out[8] = -((leftTan - rightTan) * xScale * 0.5);
+  out[9] = (upTan - downTan) * yScale * 0.5;
+  out[10] = far / (near - far);
+  out[11] = -1.0;
+  out[12] = 0.0;
+  out[13] = 0.0;
+  out[14] = far * near / (near - far);
+  out[15] = 0.0;
+  return out;
+}
+
+/**
+ * Generates a orthogonal projection matrix with the given bounds.
+ * The near/far clip planes correspond to a normalized device coordinate Z range of [-1, 1],
+ * which matches WebGL/OpenGL's clip volume.
+ *
+ * @param {mat4} out mat4 frustum matrix will be written into
+ * @param {number} left Left bound of the frustum
+ * @param {number} right Right bound of the frustum
+ * @param {number} bottom Bottom bound of the frustum
+ * @param {number} top Top bound of the frustum
+ * @param {number} near Near bound of the frustum
+ * @param {number} far Far bound of the frustum
+ * @returns {mat4} out
+ */
+export function orthoNO(out, left, right, bottom, top, near, far) {
+  var lr = 1 / (left - right);
+  var bt = 1 / (bottom - top);
+  var nf = 1 / (near - far);
+  out[0] = -2 * lr;
+  out[1] = 0;
+  out[2] = 0;
+  out[3] = 0;
+  out[4] = 0;
+  out[5] = -2 * bt;
+  out[6] = 0;
+  out[7] = 0;
+  out[8] = 0;
+  out[9] = 0;
+  out[10] = 2 * nf;
+  out[11] = 0;
+  out[12] = (left + right) * lr;
+  out[13] = (top + bottom) * bt;
+  out[14] = (far + near) * nf;
+  out[15] = 1;
+  return out;
+}
+
+/**
+ * Alias for {@link mat4.orthoNO}
+ * @function
+ */
+export var ortho = orthoNO;
+
+/**
+ * Generates a orthogonal projection matrix with the given bounds.
+ * The near/far clip planes correspond to a normalized device coordinate Z range of [0, 1],
+ * which matches WebGPU/Vulkan/DirectX/Metal's clip volume.
+ *
+ * @param {mat4} out mat4 frustum matrix will be written into
+ * @param {number} left Left bound of the frustum
+ * @param {number} right Right bound of the frustum
+ * @param {number} bottom Bottom bound of the frustum
+ * @param {number} top Top bound of the frustum
+ * @param {number} near Near bound of the frustum
+ * @param {number} far Far bound of the frustum
+ * @returns {mat4} out
+ */
+export function orthoZO(out, left, right, bottom, top, near, far) {
+  var lr = 1 / (left - right);
+  var bt = 1 / (bottom - top);
+  var nf = 1 / (near - far);
+  out[0] = -2 * lr;
+  out[1] = 0;
+  out[2] = 0;
+  out[3] = 0;
+  out[4] = 0;
+  out[5] = -2 * bt;
+  out[6] = 0;
+  out[7] = 0;
+  out[8] = 0;
+  out[9] = 0;
+  out[10] = nf;
+  out[11] = 0;
+  out[12] = (left + right) * lr;
+  out[13] = (top + bottom) * bt;
+  out[14] = near * nf;
+  out[15] = 1;
+  return out;
+}
+
+/**
+ * Generates a look-at matrix with the given eye position, focal point, and up axis.
+ * If you want a matrix that actually makes an object look at another object, you should use targetTo instead.
+ *
+ * @param {mat4} out mat4 frustum matrix will be written into
+ * @param {ReadonlyVec3} eye Position of the viewer
+ * @param {ReadonlyVec3} center Point the viewer is looking at
+ * @param {ReadonlyVec3} up vec3 pointing up
+ * @returns {mat4} out
+ */
+export function lookAt(out, eye, center, up) {
+  var x0, x1, x2, y0, y1, y2, z0, z1, z2, len;
+  var eyex = eye[0];
+  var eyey = eye[1];
+  var eyez = eye[2];
+  var upx = up[0];
+  var upy = up[1];
+  var upz = up[2];
+  var centerx = center[0];
+  var centery = center[1];
+  var centerz = center[2];
+  if (Math.abs(eyex - centerx) < glMatrix.EPSILON && Math.abs(eyey - centery) < glMatrix.EPSILON && Math.abs(eyez - centerz) < glMatrix.EPSILON) {
+    return identity(out);
+  }
+  z0 = eyex - centerx;
+  z1 = eyey - centery;
+  z2 = eyez - centerz;
+  len = 1 / Math.sqrt(z0 * z0 + z1 * z1 + z2 * z2);
+  z0 *= len;
+  z1 *= len;
+  z2 *= len;
+  x0 = upy * z2 - upz * z1;
+  x1 = upz * z0 - upx * z2;
+  x2 = upx * z1 - upy * z0;
+  len = Math.sqrt(x0 * x0 + x1 * x1 + x2 * x2);
+  if (!len) {
+    x0 = 0;
+    x1 = 0;
+    x2 = 0;
+  } else {
+    len = 1 / len;
+    x0 *= len;
+    x1 *= len;
+    x2 *= len;
+  }
+  y0 = z1 * x2 - z2 * x1;
+  y1 = z2 * x0 - z0 * x2;
+  y2 = z0 * x1 - z1 * x0;
+  len = Math.sqrt(y0 * y0 + y1 * y1 + y2 * y2);
+  if (!len) {
+    y0 = 0;
+    y1 = 0;
+    y2 = 0;
+  } else {
+    len = 1 / len;
+    y0 *= len;
+    y1 *= len;
+    y2 *= len;
+  }
+  out[0] = x0;
+  out[1] = y0;
+  out[2] = z0;
+  out[3] = 0;
+  out[4] = x1;
+  out[5] = y1;
+  out[6] = z1;
+  out[7] = 0;
+  out[8] = x2;
+  out[9] = y2;
+  out[10] = z2;
+  out[11] = 0;
+  out[12] = -(x0 * eyex + x1 * eyey + x2 * eyez);
+  out[13] = -(y0 * eyex + y1 * eyey + y2 * eyez);
+  out[14] = -(z0 * eyex + z1 * eyey + z2 * eyez);
+  out[15] = 1;
+  return out;
+}
+
+/**
+ * Generates a matrix that makes something look at something else.
+ *
+ * @param {mat4} out mat4 frustum matrix will be written into
+ * @param {ReadonlyVec3} eye Position of the viewer
+ * @param {ReadonlyVec3} target Point the viewer is looking at
+ * @param {ReadonlyVec3} up vec3 pointing up
+ * @returns {mat4} out
+ */
+export function targetTo(out, eye, target, up) {
+  var eyex = eye[0],
+    eyey = eye[1],
+    eyez = eye[2],
+    upx = up[0],
+    upy = up[1],
+    upz = up[2];
+  var z0 = eyex - target[0],
+    z1 = eyey - target[1],
+    z2 = eyez - target[2];
+  var len = z0 * z0 + z1 * z1 + z2 * z2;
+  if (len > 0) {
+    len = 1 / Math.sqrt(len);
+    z0 *= len;
+    z1 *= len;
+    z2 *= len;
+  }
+  var x0 = upy * z2 - upz * z1,
+    x1 = upz * z0 - upx * z2,
+    x2 = upx * z1 - upy * z0;
+  len = x0 * x0 + x1 * x1 + x2 * x2;
+  if (len > 0) {
+    len = 1 / Math.sqrt(len);
+    x0 *= len;
+    x1 *= len;
+    x2 *= len;
+  }
+  out[0] = x0;
+  out[1] = x1;
+  out[2] = x2;
+  out[3] = 0;
+  out[4] = z1 * x2 - z2 * x1;
+  out[5] = z2 * x0 - z0 * x2;
+  out[6] = z0 * x1 - z1 * x0;
+  out[7] = 0;
+  out[8] = z0;
+  out[9] = z1;
+  out[10] = z2;
+  out[11] = 0;
+  out[12] = eyex;
+  out[13] = eyey;
+  out[14] = eyez;
+  out[15] = 1;
+  return out;
+}
+
+/**
+ * Returns a string representation of a mat4
+ *
+ * @param {ReadonlyMat4} a matrix to represent as a string
+ * @returns {String} string representation of the matrix
+ */
+export function str(a) {
+  return "mat4(" + a[0] + ", " + a[1] + ", " + a[2] + ", " + a[3] + ", " + a[4] + ", " + a[5] + ", " + a[6] + ", " + a[7] + ", " + a[8] + ", " + a[9] + ", " + a[10] + ", " + a[11] + ", " + a[12] + ", " + a[13] + ", " + a[14] + ", " + a[15] + ")";
+}
+
+/**
+ * Returns Frobenius norm of a mat4
+ *
+ * @param {ReadonlyMat4} a the matrix to calculate Frobenius norm of
+ * @returns {Number} Frobenius norm
+ */
+export function frob(a) {
+  return Math.sqrt(a[0] * a[0] + a[1] * a[1] + a[2] * a[2] + a[3] * a[3] + a[4] * a[4] + a[5] * a[5] + a[6] * a[6] + a[7] * a[7] + a[8] * a[8] + a[9] * a[9] + a[10] * a[10] + a[11] * a[11] + a[12] * a[12] + a[13] * a[13] + a[14] * a[14] + a[15] * a[15]);
+}
+
+/**
+ * Adds two mat4's
+ *
+ * @param {mat4} out the receiving matrix
+ * @param {ReadonlyMat4} a the first operand
+ * @param {ReadonlyMat4} b the second operand
+ * @returns {mat4} out
+ */
+export function add(out, a, b) {
+  out[0] = a[0] + b[0];
+  out[1] = a[1] + b[1];
+  out[2] = a[2] + b[2];
+  out[3] = a[3] + b[3];
+  out[4] = a[4] + b[4];
+  out[5] = a[5] + b[5];
+  out[6] = a[6] + b[6];
+  out[7] = a[7] + b[7];
+  out[8] = a[8] + b[8];
+  out[9] = a[9] + b[9];
+  out[10] = a[10] + b[10];
+  out[11] = a[11] + b[11];
+  out[12] = a[12] + b[12];
+  out[13] = a[13] + b[13];
+  out[14] = a[14] + b[14];
+  out[15] = a[15] + b[15];
+  return out;
+}
+
+/**
+ * Subtracts matrix b from matrix a
+ *
+ * @param {mat4} out the receiving matrix
+ * @param {ReadonlyMat4} a the first operand
+ * @param {ReadonlyMat4} b the second operand
+ * @returns {mat4} out
+ */
+export function subtract(out, a, b) {
+  out[0] = a[0] - b[0];
+  out[1] = a[1] - b[1];
+  out[2] = a[2] - b[2];
+  out[3] = a[3] - b[3];
+  out[4] = a[4] - b[4];
+  out[5] = a[5] - b[5];
+  out[6] = a[6] - b[6];
+  out[7] = a[7] - b[7];
+  out[8] = a[8] - b[8];
+  out[9] = a[9] - b[9];
+  out[10] = a[10] - b[10];
+  out[11] = a[11] - b[11];
+  out[12] = a[12] - b[12];
+  out[13] = a[13] - b[13];
+  out[14] = a[14] - b[14];
+  out[15] = a[15] - b[15];
+  return out;
+}
+
+/**
+ * Multiply each element of the matrix by a scalar.
+ *
+ * @param {mat4} out the receiving matrix
+ * @param {ReadonlyMat4} a the matrix to scale
+ * @param {Number} b amount to scale the matrix's elements by
+ * @returns {mat4} out
+ */
+export function multiplyScalar(out, a, b) {
+  out[0] = a[0] * b;
+  out[1] = a[1] * b;
+  out[2] = a[2] * b;
+  out[3] = a[3] * b;
+  out[4] = a[4] * b;
+  out[5] = a[5] * b;
+  out[6] = a[6] * b;
+  out[7] = a[7] * b;
+  out[8] = a[8] * b;
+  out[9] = a[9] * b;
+  out[10] = a[10] * b;
+  out[11] = a[11] * b;
+  out[12] = a[12] * b;
+  out[13] = a[13] * b;
+  out[14] = a[14] * b;
+  out[15] = a[15] * b;
+  return out;
+}
+
+/**
+ * Adds two mat4's after multiplying each element of the second operand by a scalar value.
+ *
+ * @param {mat4} out the receiving vector
+ * @param {ReadonlyMat4} a the first operand
+ * @param {ReadonlyMat4} b the second operand
+ * @param {Number} scale the amount to scale b's elements by before adding
+ * @returns {mat4} out
+ */
+export function multiplyScalarAndAdd(out, a, b, scale) {
+  out[0] = a[0] + b[0] * scale;
+  out[1] = a[1] + b[1] * scale;
+  out[2] = a[2] + b[2] * scale;
+  out[3] = a[3] + b[3] * scale;
+  out[4] = a[4] + b[4] * scale;
+  out[5] = a[5] + b[5] * scale;
+  out[6] = a[6] + b[6] * scale;
+  out[7] = a[7] + b[7] * scale;
+  out[8] = a[8] + b[8] * scale;
+  out[9] = a[9] + b[9] * scale;
+  out[10] = a[10] + b[10] * scale;
+  out[11] = a[11] + b[11] * scale;
+  out[12] = a[12] + b[12] * scale;
+  out[13] = a[13] + b[13] * scale;
+  out[14] = a[14] + b[14] * scale;
+  out[15] = a[15] + b[15] * scale;
+  return out;
+}
+
+/**
+ * Returns whether or not the matrices have exactly the same elements in the same position (when compared with ===)
+ *
+ * @param {ReadonlyMat4} a The first matrix.
+ * @param {ReadonlyMat4} b The second matrix.
+ * @returns {Boolean} True if the matrices are equal, false otherwise.
+ */
+export function exactEquals(a, b) {
+  return a[0] === b[0] && a[1] === b[1] && a[2] === b[2] && a[3] === b[3] && a[4] === b[4] && a[5] === b[5] && a[6] === b[6] && a[7] === b[7] && a[8] === b[8] && a[9] === b[9] && a[10] === b[10] && a[11] === b[11] && a[12] === b[12] && a[13] === b[13] && a[14] === b[14] && a[15] === b[15];
+}
+
+/**
+ * Returns whether or not the matrices have approximately the same elements in the same position.
+ *
+ * @param {ReadonlyMat4} a The first matrix.
+ * @param {ReadonlyMat4} b The second matrix.
+ * @returns {Boolean} True if the matrices are equal, false otherwise.
+ */
+export function equals(a, b) {
+  var a0 = a[0],
+    a1 = a[1],
+    a2 = a[2],
+    a3 = a[3];
+  var a4 = a[4],
+    a5 = a[5],
+    a6 = a[6],
+    a7 = a[7];
+  var a8 = a[8],
+    a9 = a[9],
+    a10 = a[10],
+    a11 = a[11];
+  var a12 = a[12],
+    a13 = a[13],
+    a14 = a[14],
+    a15 = a[15];
+  var b0 = b[0],
+    b1 = b[1],
+    b2 = b[2],
+    b3 = b[3];
+  var b4 = b[4],
+    b5 = b[5],
+    b6 = b[6],
+    b7 = b[7];
+  var b8 = b[8],
+    b9 = b[9],
+    b10 = b[10],
+    b11 = b[11];
+  var b12 = b[12],
+    b13 = b[13],
+    b14 = b[14],
+    b15 = b[15];
+  return Math.abs(a0 - b0) <= glMatrix.EPSILON * Math.max(1.0, Math.abs(a0), Math.abs(b0)) && Math.abs(a1 - b1) <= glMatrix.EPSILON * Math.max(1.0, Math.abs(a1), Math.abs(b1)) && Math.abs(a2 - b2) <= glMatrix.EPSILON * Math.max(1.0, Math.abs(a2), Math.abs(b2)) && Math.abs(a3 - b3) <= glMatrix.EPSILON * Math.max(1.0, Math.abs(a3), Math.abs(b3)) && Math.abs(a4 - b4) <= glMatrix.EPSILON * Math.max(1.0, Math.abs(a4), Math.abs(b4)) && Math.abs(a5 - b5) <= glMatrix.EPSILON * Math.max(1.0, Math.abs(a5), Math.abs(b5)) && Math.abs(a6 - b6) <= glMatrix.EPSILON * Math.max(1.0, Math.abs(a6), Math.abs(b6)) && Math.abs(a7 - b7) <= glMatrix.EPSILON * Math.max(1.0, Math.abs(a7), Math.abs(b7)) && Math.abs(a8 - b8) <= glMatrix.EPSILON * Math.max(1.0, Math.abs(a8), Math.abs(b8)) && Math.abs(a9 - b9) <= glMatrix.EPSILON * Math.max(1.0, Math.abs(a9), Math.abs(b9)) && Math.abs(a10 - b10) <= glMatrix.EPSILON * Math.max(1.0, Math.abs(a10), Math.abs(b10)) && Math.abs(a11 - b11) <= glMatrix.EPSILON * Math.max(1.0, Math.abs(a11), Math.abs(b11)) && Math.abs(a12 - b12) <= glMatrix.EPSILON * Math.max(1.0, Math.abs(a12), Math.abs(b12)) && Math.abs(a13 - b13) <= glMatrix.EPSILON * Math.max(1.0, Math.abs(a13), Math.abs(b13)) && Math.abs(a14 - b14) <= glMatrix.EPSILON * Math.max(1.0, Math.abs(a14), Math.abs(b14)) && Math.abs(a15 - b15) <= glMatrix.EPSILON * Math.max(1.0, Math.abs(a15), Math.abs(b15));
+}
+
+/**
+ * Alias for {@link mat4.multiply}
+ * @function
+ */
+export var mul = multiply;
+
+/**
+ * Alias for {@link mat4.subtract}
+ * @function
+ */
+export var sub = subtract;