math 0.0.3 → 0.1.0

package/dist/core/mat4.js

@@ -0,0 +1,2197 @@
+import { EPSILON } from './scalar.js';
+
+/**
+ * Creates a new identity mat4
+ *
+ * @returns a new 4x4 matrix
+ */
+function create() {
+    return [1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1];
+}
+/**
+ * Creates a new mat4 initialized with values from an existing matrix
+ *
+ * @param a matrix to clone
+ * @returns a new 4x4 matrix
+ */
+function clone(a) {
+    return [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]];
+}
+/**
+ * Copy the values from one mat4 to another
+ *
+ * @param out the receiving matrix
+ * @param a the source matrix
+ * @returns out
+ */
+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 m00 Component in column 0, row 0 position (index 0)
+ * @param m01 Component in column 0, row 1 position (index 1)
+ * @param m02 Component in column 0, row 2 position (index 2)
+ * @param m03 Component in column 0, row 3 position (index 3)
+ * @param m10 Component in column 1, row 0 position (index 4)
+ * @param m11 Component in column 1, row 1 position (index 5)
+ * @param m12 Component in column 1, row 2 position (index 6)
+ * @param m13 Component in column 1, row 3 position (index 7)
+ * @param m20 Component in column 2, row 0 position (index 8)
+ * @param m21 Component in column 2, row 1 position (index 9)
+ * @param m22 Component in column 2, row 2 position (index 10)
+ * @param m23 Component in column 2, row 3 position (index 11)
+ * @param m30 Component in column 3, row 0 position (index 12)
+ * @param m31 Component in column 3, row 1 position (index 13)
+ * @param m32 Component in column 3, row 2 position (index 14)
+ * @param m33 Component in column 3, row 3 position (index 15)
+ * @returns A new mat4
+ */
+function fromValues(m00, m01, m02, m03, m10, m11, m12, m13, m20, m21, m22, m23, m30, m31, m32, m33) {
+    return [m00, m01, m02, m03, m10, m11, m12, m13, m20, m21, m22, m23, m30, m31, m32, m33];
+}
+/**
+ * Set the components of a mat4 to the given values
+ *
+ * @param out the receiving matrix
+ * @param m00 Component in column 0, row 0 position (index 0)
+ * @param m01 Component in column 0, row 1 position (index 1)
+ * @param m02 Component in column 0, row 2 position (index 2)
+ * @param m03 Component in column 0, row 3 position (index 3)
+ * @param m10 Component in column 1, row 0 position (index 4)
+ * @param m11 Component in column 1, row 1 position (index 5)
+ * @param m12 Component in column 1, row 2 position (index 6)
+ * @param m13 Component in column 1, row 3 position (index 7)
+ * @param m20 Component in column 2, row 0 position (index 8)
+ * @param m21 Component in column 2, row 1 position (index 9)
+ * @param m22 Component in column 2, row 2 position (index 10)
+ * @param m23 Component in column 2, row 3 position (index 11)
+ * @param m30 Component in column 3, row 0 position (index 12)
+ * @param m31 Component in column 3, row 1 position (index 13)
+ * @param m32 Component in column 3, row 2 position (index 14)
+ * @param m33 Component in column 3, row 3 position (index 15)
+ * @returns out
+ */
+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 out the receiving matrix
+ * @returns out
+ */
+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;
+}
+/**
+ * Set a mat4 to the zero matrix
+ *
+ * @param out the receiving matrix
+ * @returns out
+ */
+function zero(out) {
+    out[0] = 0;
+    out[1] = 0;
+    out[2] = 0;
+    out[3] = 0;
+    out[4] = 0;
+    out[5] = 0;
+    out[6] = 0;
+    out[7] = 0;
+    out[8] = 0;
+    out[9] = 0;
+    out[10] = 0;
+    out[11] = 0;
+    out[12] = 0;
+    out[13] = 0;
+    out[14] = 0;
+    out[15] = 0;
+    return out;
+}
+/**
+ * Transpose the values of a mat4
+ *
+ * @param out the receiving matrix
+ * @param a the source matrix
+ * @returns out
+ */
+function transpose(out, a) {
+    // If we are transposing ourselves we can skip a few steps but have to cache some values
+    if (out === a) {
+        const a01 = a[1];
+        const a02 = a[2];
+        const a03 = a[3];
+        const a12 = a[6];
+        const a13 = a[7];
+        const 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 out the receiving matrix
+ * @param a the source matrix
+ * @returns out, or null if source matrix is not invertible
+ */
+function invert(out, a) {
+    const a00 = a[0];
+    const a01 = a[1];
+    const a02 = a[2];
+    const a03 = a[3];
+    const a10 = a[4];
+    const a11 = a[5];
+    const a12 = a[6];
+    const a13 = a[7];
+    const a20 = a[8];
+    const a21 = a[9];
+    const a22 = a[10];
+    const a23 = a[11];
+    const a30 = a[12];
+    const a31 = a[13];
+    const a32 = a[14];
+    const a33 = a[15];
+    const b00 = a00 * a11 - a01 * a10;
+    const b01 = a00 * a12 - a02 * a10;
+    const b02 = a00 * a13 - a03 * a10;
+    const b03 = a01 * a12 - a02 * a11;
+    const b04 = a01 * a13 - a03 * a11;
+    const b05 = a02 * a13 - a03 * a12;
+    const b06 = a20 * a31 - a21 * a30;
+    const b07 = a20 * a32 - a22 * a30;
+    const b08 = a20 * a33 - a23 * a30;
+    const b09 = a21 * a32 - a22 * a31;
+    const b10 = a21 * a33 - a23 * a31;
+    const b11 = a22 * a33 - a23 * a32;
+    // Calculate the determinant
+    let 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;
+}
+/**
+ * Inverts only the 3x3 rotation part of a mat4.
+ * Sets the translation column and bottom row to [0, 0, 0, 1].
+ * Equivalent to Jolt's Mat44::Inversed3x3()
+ *
+ * @param out the receiving matrix
+ * @param a the source matrix
+ * @returns out, or null if the 3x3 part is not invertible
+ */
+function invert3x3(out, a) {
+    const a00 = a[0];
+    const a01 = a[1];
+    const a02 = a[2];
+    const a10 = a[4];
+    const a11 = a[5];
+    const a12 = a[6];
+    const a20 = a[8];
+    const a21 = a[9];
+    const a22 = a[10];
+    const b01 = a22 * a11 - a12 * a21;
+    const b11 = -a22 * a10 + a12 * a20;
+    const b21 = a21 * a10 - a11 * a20;
+    // calculate the determinant
+    let det = a00 * b01 + a01 * b11 + a02 * b21;
+    if (!det) {
+        return null;
+    }
+    det = 1.0 / det;
+    out[0] = b01 * det;
+    out[1] = (-a22 * a01 + a02 * a21) * det;
+    out[2] = (a12 * a01 - a02 * a11) * det;
+    out[3] = 0;
+    out[4] = b11 * det;
+    out[5] = (a22 * a00 - a02 * a20) * det;
+    out[6] = (-a12 * a00 + a02 * a10) * det;
+    out[7] = 0;
+    out[8] = b21 * det;
+    out[9] = (-a21 * a00 + a01 * a20) * det;
+    out[10] = (a11 * a00 - a01 * a10) * det;
+    out[11] = 0;
+    out[12] = 0;
+    out[13] = 0;
+    out[14] = 0;
+    out[15] = 1;
+    return out;
+}
+/**
+ * Calculates the adjugate of a mat4
+ *
+ * @param out the receiving matrix
+ * @param a the source matrix
+ * @returns out
+ */
+function adjoint(out, a) {
+    const a00 = a[0];
+    const a01 = a[1];
+    const a02 = a[2];
+    const a03 = a[3];
+    const a10 = a[4];
+    const a11 = a[5];
+    const a12 = a[6];
+    const a13 = a[7];
+    const a20 = a[8];
+    const a21 = a[9];
+    const a22 = a[10];
+    const a23 = a[11];
+    const a30 = a[12];
+    const a31 = a[13];
+    const a32 = a[14];
+    const a33 = a[15];
+    const b00 = a00 * a11 - a01 * a10;
+    const b01 = a00 * a12 - a02 * a10;
+    const b02 = a00 * a13 - a03 * a10;
+    const b03 = a01 * a12 - a02 * a11;
+    const b04 = a01 * a13 - a03 * a11;
+    const b05 = a02 * a13 - a03 * a12;
+    const b06 = a20 * a31 - a21 * a30;
+    const b07 = a20 * a32 - a22 * a30;
+    const b08 = a20 * a33 - a23 * a30;
+    const b09 = a21 * a32 - a22 * a31;
+    const b10 = a21 * a33 - a23 * a31;
+    const 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 a the source matrix
+ * @returns determinant of a
+ */
+function determinant(a) {
+    const a00 = a[0];
+    const a01 = a[1];
+    const a02 = a[2];
+    const a03 = a[3];
+    const a10 = a[4];
+    const a11 = a[5];
+    const a12 = a[6];
+    const a13 = a[7];
+    const a20 = a[8];
+    const a21 = a[9];
+    const a22 = a[10];
+    const a23 = a[11];
+    const a30 = a[12];
+    const a31 = a[13];
+    const a32 = a[14];
+    const a33 = a[15];
+    const b0 = a00 * a11 - a01 * a10;
+    const b1 = a00 * a12 - a02 * a10;
+    const b2 = a01 * a12 - a02 * a11;
+    const b3 = a20 * a31 - a21 * a30;
+    const b4 = a20 * a32 - a22 * a30;
+    const b5 = a21 * a32 - a22 * a31;
+    const b6 = a00 * b5 - a01 * b4 + a02 * b3;
+    const b7 = a10 * b5 - a11 * b4 + a12 * b3;
+    const b8 = a20 * b2 - a21 * b1 + a22 * b0;
+    const b9 = a30 * b2 - a31 * b1 + a32 * b0;
+    // Calculate the determinant
+    return a13 * b6 - a03 * b7 + a33 * b8 - a23 * b9;
+}
+/**
+ * Multiplies two mat4s
+ *
+ * @param out the receiving matrix
+ * @param a the first operand
+ * @param b the second operand
+ * @returns out
+ */
+function multiply(out, a, b) {
+    const a00 = a[0];
+    const a01 = a[1];
+    const a02 = a[2];
+    const a03 = a[3];
+    const a10 = a[4];
+    const a11 = a[5];
+    const a12 = a[6];
+    const a13 = a[7];
+    const a20 = a[8];
+    const a21 = a[9];
+    const a22 = a[10];
+    const a23 = a[11];
+    const a30 = a[12];
+    const a31 = a[13];
+    const a32 = a[14];
+    const a33 = a[15];
+    // Cache only the current line of the second matrix
+    let b0 = b[0];
+    let b1 = b[1];
+    let b2 = b[2];
+    let 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;
+}
+/**
+ * Multiplies two mat4s treating them as 3x3 rotation matrices.
+ * Only computes the upper-left 3x3 portion, sets the 4th column to [0,0,0,1].
+ * More efficient than full mat4.multiply when working with pure rotations.
+ *
+ * @param out the receiving matrix
+ * @param a the first operand
+ * @param b the second operand
+ * @returns out
+ */
+function multiply3x3(out, a, b) {
+    const a00 = a[0];
+    const a01 = a[1];
+    const a02 = a[2];
+    const a10 = a[4];
+    const a11 = a[5];
+    const a12 = a[6];
+    const a20 = a[8];
+    const a21 = a[9];
+    const a22 = a[10];
+    let b0 = b[0];
+    let b1 = b[1];
+    let b2 = b[2];
+    out[0] = b0 * a00 + b1 * a10 + b2 * a20;
+    out[1] = b0 * a01 + b1 * a11 + b2 * a21;
+    out[2] = b0 * a02 + b1 * a12 + b2 * a22;
+    out[3] = 0;
+    b0 = b[4];
+    b1 = b[5];
+    b2 = b[6];
+    out[4] = b0 * a00 + b1 * a10 + b2 * a20;
+    out[5] = b0 * a01 + b1 * a11 + b2 * a21;
+    out[6] = b0 * a02 + b1 * a12 + b2 * a22;
+    out[7] = 0;
+    b0 = b[8];
+    b1 = b[9];
+    b2 = b[10];
+    out[8] = b0 * a00 + b1 * a10 + b2 * a20;
+    out[9] = b0 * a01 + b1 * a11 + b2 * a21;
+    out[10] = b0 * a02 + b1 * a12 + b2 * a22;
+    out[11] = 0;
+    out[12] = 0;
+    out[13] = 0;
+    out[14] = 0;
+    out[15] = 1;
+    return out;
+}
+/**
+ * Multiplies a mat4 by the transpose of another mat4,
+ * treating both as 3x3 rotation matrices.
+ * Computes: out = a * transpose(b) (3x3 only)
+ * Sets the 4th column to [0,0,0,1].
+ *
+ * @param out the receiving matrix
+ * @param a the first operand
+ * @param b the second operand (will be transposed)
+ * @returns out
+ */
+function multiply3x3RightTransposed(out, a, b) {
+    const a00 = a[0];
+    const a01 = a[1];
+    const a02 = a[2];
+    const a10 = a[4];
+    const a11 = a[5];
+    const a12 = a[6];
+    const a20 = a[8];
+    const a21 = a[9];
+    const a22 = a[10];
+    let bt0 = b[0];
+    let bt1 = b[4];
+    let bt2 = b[8];
+    out[0] = bt0 * a00 + bt1 * a10 + bt2 * a20;
+    out[1] = bt0 * a01 + bt1 * a11 + bt2 * a21;
+    out[2] = bt0 * a02 + bt1 * a12 + bt2 * a22;
+    out[3] = 0;
+    bt0 = b[1];
+    bt1 = b[5];
+    bt2 = b[9];
+    out[4] = bt0 * a00 + bt1 * a10 + bt2 * a20;
+    out[5] = bt0 * a01 + bt1 * a11 + bt2 * a21;
+    out[6] = bt0 * a02 + bt1 * a12 + bt2 * a22;
+    out[7] = 0;
+    bt0 = b[2];
+    bt1 = b[6];
+    bt2 = b[10];
+    out[8] = bt0 * a00 + bt1 * a10 + bt2 * a20;
+    out[9] = bt0 * a01 + bt1 * a11 + bt2 * a21;
+    out[10] = bt0 * a02 + bt1 * a12 + bt2 * a22;
+    out[11] = 0;
+    out[12] = 0;
+    out[13] = 0;
+    out[14] = 0;
+    out[15] = 1;
+    return out;
+}
+/**
+ * Transform a Vec3 by the transpose of the 3x3 rotation part.
+ *
+ * @param out the receiving vector
+ * @param mat the matrix to transform with
+ * @param vec the vector to transform
+ * @returns out
+ */
+function multiply3x3TransposedVec(out, mat, vec) {
+    const x = vec[0];
+    const y = vec[1];
+    const z = vec[2];
+    out[0] = mat[0] * x + mat[1] * y + mat[2] * z;
+    out[1] = mat[4] * x + mat[5] * y + mat[6] * z;
+    out[2] = mat[8] * x + mat[9] * y + mat[10] * z;
+    return out;
+}
+/**
+ * Transform a Vec3 by only the 3x3 rotation part of a Mat4.
+ *
+ * @param out the receiving vector
+ * @param mat the matrix to transform with
+ * @param vec the vector to transform
+ * @returns out
+ */
+function multiply3x3Vec(out, mat, vec) {
+    const x = vec[0];
+    const y = vec[1];
+    const z = vec[2];
+    out[0] = mat[0] * x + mat[4] * y + mat[8] * z;
+    out[1] = mat[1] * x + mat[5] * y + mat[9] * z;
+    out[2] = mat[2] * x + mat[6] * y + mat[10] * z;
+    return out;
+}
+/**
+ * Cross product matrix (skew-symmetric matrix).
+ * Equivalent to Jolt's Mat44::sCrossProduct(Vec3Arg)
+ *
+ * @param out the receiving matrix
+ * @param v the vector to create the cross product matrix from
+ * @returns out
+ */
+function crossProductMatrix(out, v) {
+    const x = v[0];
+    const y = v[1];
+    const z = v[2];
+    return set(out, 0, z, -y, 0, // column 0
+    -z, 0, x, 0, // column 1
+    y, -x, 0, 0, // column 2
+    0, 0, 0, 1);
+}
+/**
+ * Translate a mat4 by the given vector
+ *
+ * @param out the receiving matrix
+ * @param a the matrix to translate
+ * @param v vector to translate by
+ * @returns out
+ */
+function translate(out, a, v) {
+    const x = v[0];
+    const y = v[1];
+    const z = v[2];
+    let a00;
+    let a01;
+    let a02;
+    let a03;
+    let a10;
+    let a11;
+    let a12;
+    let a13;
+    let a20;
+    let a21;
+    let a22;
+    let 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 out the receiving matrix
+ * @param a the matrix to scale
+ * @param v the vec3 to scale the matrix by
+ * @returns out
+ **/
+function scale(out, a, v) {
+    const x = v[0];
+    const y = v[1];
+    const 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 out the receiving matrix
+ * @param a the matrix to rotate
+ * @param rad the angle to rotate the matrix by
+ * @param axis the axis to rotate around
+ * @returns out
+ */
+function rotate(out, a, rad, axis) {
+    let x = axis[0];
+    let y = axis[1];
+    let z = axis[2];
+    let len = Math.sqrt(x * x + y * y + z * z);
+    if (len < EPSILON) {
+        return null;
+    }
+    len = 1 / len;
+    x *= len;
+    y *= len;
+    z *= len;
+    const s = Math.sin(rad);
+    const c = Math.cos(rad);
+    const t = 1 - c;
+    const a00 = a[0];
+    const a01 = a[1];
+    const a02 = a[2];
+    const a03 = a[3];
+    const a10 = a[4];
+    const a11 = a[5];
+    const a12 = a[6];
+    const a13 = a[7];
+    const a20 = a[8];
+    const a21 = a[9];
+    const a22 = a[10];
+    const a23 = a[11];
+    // Construct the elements of the rotation matrix
+    const b00 = x * x * t + c;
+    const b01 = y * x * t + z * s;
+    const b02 = z * x * t - y * s;
+    const b10 = x * y * t - z * s;
+    const b11 = y * y * t + c;
+    const b12 = z * y * t + x * s;
+    const b20 = x * z * t + y * s;
+    const b21 = y * z * t - x * s;
+    const 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 out the receiving matrix
+ * @param a the matrix to rotate
+ * @param rad the angle to rotate the matrix by
+ * @returns out
+ */
+function rotateX(out, a, rad) {
+    const s = Math.sin(rad);
+    const c = Math.cos(rad);
+    const a10 = a[4];
+    const a11 = a[5];
+    const a12 = a[6];
+    const a13 = a[7];
+    const a20 = a[8];
+    const a21 = a[9];
+    const a22 = a[10];
+    const 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 out the receiving matrix
+ * @param a the matrix to rotate
+ * @param rad the angle to rotate the matrix by
+ * @returns out
+ */
+function rotateY(out, a, rad) {
+    const s = Math.sin(rad);
+    const c = Math.cos(rad);
+    const a00 = a[0];
+    const a01 = a[1];
+    const a02 = a[2];
+    const a03 = a[3];
+    const a20 = a[8];
+    const a21 = a[9];
+    const a22 = a[10];
+    const 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 out the receiving matrix
+ * @param a the matrix to rotate
+ * @param rad the angle to rotate the matrix by
+ * @returns out
+ */
+function rotateZ(out, a, rad) {
+    const s = Math.sin(rad);
+    const c = Math.cos(rad);
+    const a00 = a[0];
+    const a01 = a[1];
+    const a02 = a[2];
+    const a03 = a[3];
+    const a10 = a[4];
+    const a11 = a[5];
+    const a12 = a[6];
+    const 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 out mat4 receiving operation result
+ * @param v Translation vector
+ * @returns out
+ */
+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 out mat4 receiving operation result
+ * @param v Scaling vector
+ * @returns out
+ */
+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 out mat4 receiving operation result
+ * @param rad the angle to rotate the matrix by
+ * @param axis the axis to rotate around
+ * @returns out
+ */
+function fromRotation(out, rad, axis) {
+    let x = axis[0];
+    let y = axis[1];
+    let z = axis[2];
+    let len = Math.sqrt(x * x + y * y + z * z);
+    if (len < EPSILON) {
+        return null;
+    }
+    len = 1 / len;
+    x *= len;
+    y *= len;
+    z *= len;
+    const s = Math.sin(rad);
+    const c = Math.cos(rad);
+    const 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 out mat4 receiving operation result
+ * @param rad the angle to rotate the matrix by
+ * @returns out
+ */
+function fromXRotation(out, rad) {
+    const s = Math.sin(rad);
+    const 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 out mat4 receiving operation result
+ * @param rad the angle to rotate the matrix by
+ * @returns out
+ */
+function fromYRotation(out, rad) {
+    const s = Math.sin(rad);
+    const 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 out mat4 receiving operation result
+ * @param rad the angle to rotate the matrix by
+ * @returns out
+ */
+function fromZRotation(out, rad) {
+    const s = Math.sin(rad);
+    const 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 out mat4 receiving operation result
+ * @param q Rotation quaternion
+ * @param v Translation vector
+ * @returns out
+ */
+function fromRotationTranslation(out, q, v) {
+    // Quaternion math
+    const x = q[0];
+    const y = q[1];
+    const z = q[2];
+    const w = q[3];
+    const x2 = x + x;
+    const y2 = y + y;
+    const z2 = z + z;
+    const xx = x * x2;
+    const xy = x * y2;
+    const xz = x * z2;
+    const yy = y * y2;
+    const yz = y * z2;
+    const zz = z * z2;
+    const wx = w * x2;
+    const wy = w * y2;
+    const wz = w * z2;
+    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 out Matrix
+ * @param a Dual Quaternion
+ * @returns mat4 receiving operation result
+ */
+function fromQuat2(out, a) {
+    const translation = [0, 0, 0];
+    const bx = -a[0];
+    const by = -a[1];
+    const bz = -a[2];
+    const bw = a[3];
+    const ax = a[4];
+    const ay = a[5];
+    const az = a[6];
+    const aw = a[7];
+    const 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 out Vector to receive translation component
+ * @param mat Matrix to be decomposed (input)
+ * @return out
+ */
+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 out Vector to receive scaling factor component
+ * @param mat Matrix to be decomposed (input)
+ * @return out
+ */
+function getScaling(out, mat) {
+    const m11 = mat[0];
+    const m12 = mat[1];
+    const m13 = mat[2];
+    const m21 = mat[4];
+    const m22 = mat[5];
+    const m23 = mat[6];
+    const m31 = mat[8];
+    const m32 = mat[9];
+    const 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 out Quaternion to receive the rotation component
+ * @param mat Matrix to be decomposed (input)
+ * @return out
+ */
+function getRotation(out, mat) {
+    const scaling = [0, 0, 0];
+    getScaling(scaling, mat);
+    const is1 = 1 / scaling[0];
+    const is2 = 1 / scaling[1];
+    const is3 = 1 / scaling[2];
+    const sm11 = mat[0] * is1;
+    const sm12 = mat[1] * is2;
+    const sm13 = mat[2] * is3;
+    const sm21 = mat[4] * is1;
+    const sm22 = mat[5] * is2;
+    const sm23 = mat[6] * is3;
+    const sm31 = mat[8] * is1;
+    const sm32 = mat[9] * is2;
+    const sm33 = mat[10] * is3;
+    const trace = sm11 + sm22 + sm33;
+    let 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 out_r Quaternion to receive the rotation component
+ * @param out_t Vector to receive the translation vector
+ * @param out_s Vector to receive the scaling factor
+ * @param mat Matrix to be decomposed (input)
+ * @returns out_r
+ */
+function decompose(out_r, out_t, out_s, mat) {
+    out_t[0] = mat[12];
+    out_t[1] = mat[13];
+    out_t[2] = mat[14];
+    const m11 = mat[0];
+    const m12 = mat[1];
+    const m13 = mat[2];
+    const m21 = mat[4];
+    const m22 = mat[5];
+    const m23 = mat[6];
+    const m31 = mat[8];
+    const m32 = mat[9];
+    const 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);
+    const is1 = 1 / out_s[0];
+    const is2 = 1 / out_s[1];
+    const is3 = 1 / out_s[2];
+    const sm11 = m11 * is1;
+    const sm12 = m12 * is2;
+    const sm13 = m13 * is3;
+    const sm21 = m21 * is1;
+    const sm22 = m22 * is2;
+    const sm23 = m23 * is3;
+    const sm31 = m31 * is1;
+    const sm32 = m32 * is2;
+    const sm33 = m33 * is3;
+    const trace = sm11 + sm22 + sm33;
+    let 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 out mat4 receiving operation result
+ * @param q Rotation quaternion
+ * @param v Translation vector
+ * @param s Scaling vector
+ * @returns out
+ */
+function fromRotationTranslationScale(out, q, v, s) {
+    // Quaternion math
+    const x = q[0];
+    const y = q[1];
+    const z = q[2];
+    const w = q[3];
+    const x2 = x + x;
+    const y2 = y + y;
+    const z2 = z + z;
+    const xx = x * x2;
+    const xy = x * y2;
+    const xz = x * z2;
+    const yy = y * y2;
+    const yz = y * z2;
+    const zz = z * z2;
+    const wx = w * x2;
+    const wy = w * y2;
+    const wz = w * z2;
+    const sx = s[0];
+    const sy = s[1];
+    const 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 out mat4 receiving operation result
+ * @param q Rotation quaternion
+ * @param v Translation vector
+ * @param s Scaling vector
+ * @param o The origin vector around which to scale and rotate
+ * @returns out
+ */
+function fromRotationTranslationScaleOrigin(out, q, v, s, o) {
+    // Quaternion math
+    const x = q[0];
+    const y = q[1];
+    const z = q[2];
+    const w = q[3];
+    const x2 = x + x;
+    const y2 = y + y;
+    const z2 = z + z;
+    const xx = x * x2;
+    const xy = x * y2;
+    const xz = x * z2;
+    const yy = y * y2;
+    const yz = y * z2;
+    const zz = z * z2;
+    const wx = w * x2;
+    const wy = w * y2;
+    const wz = w * z2;
+    const sx = s[0];
+    const sy = s[1];
+    const sz = s[2];
+    const ox = o[0];
+    const oy = o[1];
+    const oz = o[2];
+    const out0 = (1 - (yy + zz)) * sx;
+    const out1 = (xy + wz) * sx;
+    const out2 = (xz - wy) * sx;
+    const out4 = (xy - wz) * sy;
+    const out5 = (1 - (xx + zz)) * sy;
+    const out6 = (yz + wx) * sy;
+    const out8 = (xz + wy) * sz;
+    const out9 = (yz - wx) * sz;
+    const 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 out mat4 receiving operation result
+ * @param q Quaternion to create matrix from
+ *
+ * @returns out
+ */
+function fromQuat(out, q) {
+    const x = q[0];
+    const y = q[1];
+    const z = q[2];
+    const w = q[3];
+    const x2 = x + x;
+    const y2 = y + y;
+    const z2 = z + z;
+    const xx = x * x2;
+    const yx = y * x2;
+    const yy = y * y2;
+    const zx = z * x2;
+    const zy = z * y2;
+    const zz = z * z2;
+    const wx = w * x2;
+    const wy = w * y2;
+    const 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.
+ * The near/far clip planes correspond to a normalized device coordinate Z range of [-1, 1],
+ * which matches WebGL/OpenGL's clip volume.
+ *
+ * @param out mat4 frustum matrix will be written into
+ * @param left Left bound of the frustum
+ * @param right Right bound of the frustum
+ * @param bottom Bottom bound of the frustum
+ * @param top Top bound of the frustum
+ * @param near Near bound of the frustum
+ * @param far Far bound of the frustum
+ * @returns out
+ */
+function frustumNO(out, left, right, bottom, top, near, far) {
+    const rl = 1 / (right - left);
+    const tb = 1 / (top - bottom);
+    const 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 frustum matrix with the given bounds, suitable for WebGPU.
+ * 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 out mat4 frustum matrix will be written into
+ * @param left Left bound of the frustum
+ * @param right Right bound of the frustum
+ * @param bottom Bottom bound of the frustum
+ * @param top Top bound of the frustum
+ * @param near Near bound of the frustum
+ * @param far Far bound of the frustum
+ * @returns out
+ */
+function frustumZO(out, left, right, bottom, top, near, far) {
+    const rl = 1 / (right - left);
+    const tb = 1 / (top - bottom);
+    const 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 * nf;
+    out[11] = -1;
+    out[12] = 0;
+    out[13] = 0;
+    out[14] = far * near * 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 out mat4 frustum matrix will be written into
+ * @param fovy Vertical field of view in radians
+ * @param aspect Aspect ratio. typically viewport width/height
+ * @param near Near bound of the frustum
+ * @param far Far bound of the frustum, can be null or Infinity
+ * @returns out
+ */
+function perspectiveNO(out, fovy, aspect, near, far) {
+    const 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 !== Number.POSITIVE_INFINITY) {
+        const 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;
+}
+/**
+ * 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 out mat4 frustum matrix will be written into
+ * @param fovy Vertical field of view in radians
+ * @param aspect Aspect ratio. typically viewport width/height
+ * @param near Near bound of the frustum
+ * @param far Far bound of the frustum, can be null or Infinity
+ * @returns out
+ */
+function perspectiveZO(out, fovy, aspect, near, far) {
+    const 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 !== Number.POSITIVE_INFINITY) {
+        const 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 experimental WebVR API.
+ * The near/far clip planes correspond to a normalized device coordinate Z range of [-1, 1],
+ * which matches WebGL/OpenGL's clip volume.
+ *
+ * @param out mat4 frustum matrix will be written into
+ * @param fov Object containing the following values: upDegrees, downDegrees, leftDegrees, rightDegrees
+ * @param near Near bound of the frustum
+ * @param far Far bound of the frustum
+ * @returns out
+ */
+function perspectiveFromFieldOfViewNO(out, fov, near, far) {
+    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);
+    const rightTan = Math.tan((fov.rightDegrees * Math.PI) / 180.0);
+    const xScale = 2.0 / (leftTan + rightTan);
+    const yScale = 2.0 / (upTan + downTan);
+    const nf = 1.0 / (near - far);
+    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) * nf;
+    out[11] = -1;
+    out[12] = 0.0;
+    out[13] = 0.0;
+    out[14] = 2.0 * far * near * nf;
+    out[15] = 0.0;
+    return out;
+}
+/**
+ * Generates a perspective projection matrix with the given field of view, suitable for WebGPU.
+ * This is primarily useful for generating projection matrices to be used
+ * with the still experimental WebVR API.
+ * 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 out mat4 frustum matrix will be written into
+ * @param fov Object containing the following values: upDegrees, downDegrees, leftDegrees, rightDegrees
+ * @param near Near bound of the frustum
+ * @param far Far bound of the frustum
+ * @returns out
+ */
+function perspectiveFromFieldOfViewZO(out, fov, near, far) {
+    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);
+    const rightTan = Math.tan((fov.rightDegrees * Math.PI) / 180.0);
+    const xScale = 2.0 / (leftTan + rightTan);
+    const 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;
+    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 out mat4 frustum matrix will be written into
+ * @param left Left bound of the frustum
+ * @param right Right bound of the frustum
+ * @param bottom Bottom bound of the frustum
+ * @param top Top bound of the frustum
+ * @param near Near bound of the frustum
+ * @param far Far bound of the frustum
+ * @returns out
+ */
+function orthoNO(out, left, right, bottom, top, near, far) {
+    const lr = 1 / (left - right);
+    const bt = 1 / (bottom - top);
+    const 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;
+}
+/**
+ * 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 out mat4 frustum matrix will be written into
+ * @param left Left bound of the frustum
+ * @param right Right bound of the frustum
+ * @param bottom Bottom bound of the frustum
+ * @param top Top bound of the frustum
+ * @param near Near bound of the frustum
+ * @param far Far bound of the frustum
+ * @returns out
+ */
+function orthoZO(out, left, right, bottom, top, near, far) {
+    const lr = 1 / (left - right);
+    const bt = 1 / (bottom - top);
+    const 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 out mat4 frustum matrix will be written into
+ * @param eye Position of the viewer
+ * @param center Point the viewer is looking at
+ * @param up vec3 pointing up
+ * @returns out
+ */
+function lookAt(out, eye, center, up) {
+    let x0;
+    let x1;
+    let x2;
+    let y0;
+    let y1;
+    let y2;
+    let z0;
+    let z1;
+    let z2;
+    let len;
+    const eyex = eye[0];
+    const eyey = eye[1];
+    const eyez = eye[2];
+    const upx = up[0];
+    const upy = up[1];
+    const upz = up[2];
+    const centerx = center[0];
+    const centery = center[1];
+    const centerz = center[2];
+    if (Math.abs(eyex - centerx) < EPSILON && Math.abs(eyey - centery) < EPSILON && Math.abs(eyez - centerz) < 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 out mat4 frustum matrix will be written into
+ * @param eye Position of the viewer
+ * @param target Point the viewer is looking at
+ * @param up vec3 pointing up
+ * @returns out
+ */
+function targetTo(out, eye, target, up) {
+    const eyex = eye[0];
+    const eyey = eye[1];
+    const eyez = eye[2];
+    const upx = up[0];
+    const upy = up[1];
+    const upz = up[2];
+    let z0 = eyex - target[0];
+    let z1 = eyey - target[1];
+    let z2 = eyez - target[2];
+    let len = z0 * z0 + z1 * z1 + z2 * z2;
+    if (len > 0) {
+        len = 1 / Math.sqrt(len);
+        z0 *= len;
+        z1 *= len;
+        z2 *= len;
+    }
+    let x0 = upy * z2 - upz * z1;
+    let x1 = upz * z0 - upx * z2;
+    let 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 a matrix to represent as a string
+ * @returns {String} string representation of the matrix
+ */
+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 a the matrix to calculate Frobenius norm of
+ * @returns Frobenius norm
+ */
+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 out the receiving matrix
+ * @param a the first operand
+ * @param b the second operand
+ * @returns out
+ */
+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 out the receiving matrix
+ * @param a the first operand
+ * @param b the second operand
+ * @returns out
+ */
+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 out the receiving matrix
+ * @param a the matrix to scale
+ * @param b amount to scale the matrix's elements by
+ * @returns out
+ */
+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 out the receiving vector
+ * @param a the first operand
+ * @param b the second operand
+ * @param scale the amount to scale b's elements by before adding
+ * @returns out
+ */
+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 a The first matrix.
+ * @param b The second matrix.
+ * @returns {Boolean} True if the matrices are equal, false otherwise.
+ */
+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 a The first matrix.
+ * @param b The second matrix.
+ * @returns {Boolean} True if the matrices are equal, false otherwise.
+ */
+function equals(a, b) {
+    const a0 = a[0];
+    const a1 = a[1];
+    const a2 = a[2];
+    const a3 = a[3];
+    const a4 = a[4];
+    const a5 = a[5];
+    const a6 = a[6];
+    const a7 = a[7];
+    const a8 = a[8];
+    const a9 = a[9];
+    const a10 = a[10];
+    const a11 = a[11];
+    const a12 = a[12];
+    const a13 = a[13];
+    const a14 = a[14];
+    const a15 = a[15];
+    const b0 = b[0];
+    const b1 = b[1];
+    const b2 = b[2];
+    const b3 = b[3];
+    const b4 = b[4];
+    const b5 = b[5];
+    const b6 = b[6];
+    const b7 = b[7];
+    const b8 = b[8];
+    const b9 = b[9];
+    const b10 = b[10];
+    const b11 = b[11];
+    const b12 = b[12];
+    const b13 = b[13];
+    const b14 = b[14];
+    const b15 = b[15];
+    return (Math.abs(a0 - b0) <= EPSILON * Math.max(1.0, Math.abs(a0), Math.abs(b0)) &&
+        Math.abs(a1 - b1) <= EPSILON * Math.max(1.0, Math.abs(a1), Math.abs(b1)) &&
+        Math.abs(a2 - b2) <= EPSILON * Math.max(1.0, Math.abs(a2), Math.abs(b2)) &&
+        Math.abs(a3 - b3) <= EPSILON * Math.max(1.0, Math.abs(a3), Math.abs(b3)) &&
+        Math.abs(a4 - b4) <= EPSILON * Math.max(1.0, Math.abs(a4), Math.abs(b4)) &&
+        Math.abs(a5 - b5) <= EPSILON * Math.max(1.0, Math.abs(a5), Math.abs(b5)) &&
+        Math.abs(a6 - b6) <= EPSILON * Math.max(1.0, Math.abs(a6), Math.abs(b6)) &&
+        Math.abs(a7 - b7) <= EPSILON * Math.max(1.0, Math.abs(a7), Math.abs(b7)) &&
+        Math.abs(a8 - b8) <= EPSILON * Math.max(1.0, Math.abs(a8), Math.abs(b8)) &&
+        Math.abs(a9 - b9) <= EPSILON * Math.max(1.0, Math.abs(a9), Math.abs(b9)) &&
+        Math.abs(a10 - b10) <= EPSILON * Math.max(1.0, Math.abs(a10), Math.abs(b10)) &&
+        Math.abs(a11 - b11) <= EPSILON * Math.max(1.0, Math.abs(a11), Math.abs(b11)) &&
+        Math.abs(a12 - b12) <= EPSILON * Math.max(1.0, Math.abs(a12), Math.abs(b12)) &&
+        Math.abs(a13 - b13) <= EPSILON * Math.max(1.0, Math.abs(a13), Math.abs(b13)) &&
+        Math.abs(a14 - b14) <= EPSILON * Math.max(1.0, Math.abs(a14), Math.abs(b14)) &&
+        Math.abs(a15 - b15) <= EPSILON * Math.max(1.0, Math.abs(a15), Math.abs(b15)));
+}
+/**
+ * Alias for {@link mat4.multiply}
+ * @function
+ */
+const mul = multiply;
+/**
+ * Alias for {@link mat4.subtract}
+ * @function
+ */
+const sub = subtract;
+
+export { add, adjoint, clone, copy, create, crossProductMatrix, decompose, determinant, equals, exactEquals, frob, fromQuat, fromQuat2, fromRotation, fromRotationTranslation, fromRotationTranslationScale, fromRotationTranslationScaleOrigin, fromScaling, fromTranslation, fromValues, fromXRotation, fromYRotation, fromZRotation, frustumNO, frustumZO, getRotation, getScaling, getTranslation, identity, invert, invert3x3, lookAt, mul, multiply, multiply3x3, multiply3x3RightTransposed, multiply3x3TransposedVec, multiply3x3Vec, multiplyScalar, multiplyScalarAndAdd, orthoNO, orthoZO, perspectiveFromFieldOfViewNO, perspectiveFromFieldOfViewZO, perspectiveNO, perspectiveZO, rotate, rotateX, rotateY, rotateZ, scale, set, str, sub, subtract, targetTo, translate, transpose, zero };
+//# sourceMappingURL=mat4.js.map