super-three 0.179.0 → 0.184.0

package/src/math/MathUtils.js

@@ -1,3 +1,5 @@
+import { warn } from '../utils.js';
+
 const _lut = [ '00', '01', '02', '03', '04', '05', '06', '07', '08', '09', '0a', '0b', '0c', '0d', '0e', '0f', '10', '11', '12', '13', '14', '15', '16', '17', '18', '19', '1a', '1b', '1c', '1d', '1e', '1f', '20', '21', '22', '23', '24', '25', '26', '27', '28', '29', '2a', '2b', '2c', '2d', '2e', '2f', '30', '31', '32', '33', '34', '35', '36', '37', '38', '39', '3a', '3b', '3c', '3d', '3e', '3f', '40', '41', '42', '43', '44', '45', '46', '47', '48', '49', '4a', '4b', '4c', '4d', '4e', '4f', '50', '51', '52', '53', '54', '55', '56', '57', '58', '59', '5a', '5b', '5c', '5d', '5e', '5f', '60', '61', '62', '63', '64', '65', '66', '67', '68', '69', '6a', '6b', '6c', '6d', '6e', '6f', '70', '71', '72', '73', '74', '75', '76', '77', '78', '79', '7a', '7b', '7c', '7d', '7e', '7f', '80', '81', '82', '83', '84', '85', '86', '87', '88', '89', '8a', '8b', '8c', '8d', '8e', '8f', '90', '91', '92', '93', '94', '95', '96', '97', '98', '99', '9a', '9b', '9c', '9d', '9e', '9f', 'a0', 'a1', 'a2', 'a3', 'a4', 'a5', 'a6', 'a7', 'a8', 'a9', 'aa', 'ab', 'ac', 'ad', 'ae', 'af', 'b0', 'b1', 'b2', 'b3', 'b4', 'b5', 'b6', 'b7', 'b8', 'b9', 'ba', 'bb', 'bc', 'bd', 'be', 'bf', 'c0', 'c1', 'c2', 'c3', 'c4', 'c5', 'c6', 'c7', 'c8', 'c9', 'ca', 'cb', 'cc', 'cd', 'ce', 'cf', 'd0', 'd1', 'd2', 'd3', 'd4', 'd5', 'd6', 'd7', 'd8', 'd9', 'da', 'db', 'dc', 'dd', 'de', 'df', 'e0', 'e1', 'e2', 'e3', 'e4', 'e5', 'e6', 'e7', 'e8', 'e9', 'ea', 'eb', 'ec', 'ed', 'ee', 'ef', 'f0', 'f1', 'f2', 'f3', 'f4', 'f5', 'f6', 'f7', 'f8', 'f9', 'fa', 'fb', 'fc', 'fd', 'fe', 'ff' ];
 
 let _seed = 1234567;
@@ -7,7 +9,7 @@ const DEG2RAD = Math.PI / 180;
 const RAD2DEG = 180 / Math.PI;
 
 /**
- * Generate a [UUID]{@link https://en.wikipedia.org/wiki/Universally_unique_identifier}
+ * Generate a [UUID](https://en.wikipedia.org/wiki/Universally_unique_identifier)
  * (universally unique identifier).
  *
  * @return {string} The UUID.
@@ -62,7 +64,7 @@ function euclideanModulo( n, m ) {
 
 /**
  * Performs a linear mapping from range `<a1, a2>` to range `<b1, b2>`
- * for the given value.
+ * for the given value. `a2` must be greater than `a1`.
  *
  * @param {number} x - The value to be mapped.
  * @param {number} a1 - Minimum value for range A.
@@ -120,7 +122,7 @@ function lerp( x, y, t ) {
 /**
  * Smoothly interpolate a number from `x` to `y` in  a spring-like manner using a delta
  * time to maintain frame rate independent movement. For details, see
- * [Frame rate independent damping using lerp]{@link http://www.rorydriscoll.com/2016/03/07/frame-rate-independent-damping-using-lerp/}.
+ * [Frame rate independent damping using lerp](http://www.rorydriscoll.com/2016/03/07/frame-rate-independent-damping-using-lerp/).
  *
  * @param {number} x - The current point.
  * @param {number} y - The target point.
@@ -155,11 +157,11 @@ function pingpong( x, length = 1 ) {
  * moved between `min` and `max`, but smoothed or slowed down the closer `x` is to
  * the `min` and `max`.
  *
- * See [Smoothstep]{@link http://en.wikipedia.org/wiki/Smoothstep} for more details.
+ * See [Smoothstep](http://en.wikipedia.org/wiki/Smoothstep) for more details.
  *
- * @param {number} x - The value to evaluate based on its position between min and max.
- * @param {number} min - The min value. Any x value below min will be `0`.
- * @param {number} max - The max value. Any x value above max will be `1`.
+ * @param {number} x - The value to evaluate based on its position between `min` and `max`.
+ * @param {number} min - The min value. Any `x` value below `min` will be `0`. `min` must be lower than `max`.
+ * @param {number} max - The max value. Any `x` value above `max` will be `1`. `max` must be greater than `min`.
  * @return {number} The alternated value.
  */
 function smoothstep( x, min, max ) {
@@ -174,12 +176,12 @@ function smoothstep( x, min, max ) {
 }
 
 /**
- * A [variation on smoothstep]{@link https://en.wikipedia.org/wiki/Smoothstep#Variations}
- * that has zero 1st and 2nd order derivatives at x=0 and x=1.
+ * A [variation on smoothstep](https://en.wikipedia.org/wiki/Smoothstep#Variations)
+ * that has zero 1st and 2nd order derivatives at `x=0` and `x=1`.
  *
- * @param {number} x - The value to evaluate based on its position between min and max.
- * @param {number} min - The min value. Any x value below min will be `0`.
- * @param {number} max - The max value. Any x value above max will be `1`.
+ * @param {number} x - The value to evaluate based on its position between `min` and `max`.
+ * @param {number} min - The min value. Any `x` value below `min` will be `0`. `min` must be lower than `max`.
+ * @param {number} max - The max value. Any `x` value above `max` will be `1`. `max` must be greater than `min`.
  * @return {number} The alternated value.
  */
 function smootherstep( x, min, max ) {
@@ -292,7 +294,7 @@ function isPowerOfTwo( value ) {
 /**
  * Returns the smallest power of two that is greater than or equal to the given number.
  *
- * @param {number} value - The value to find a POT for.
+ * @param {number} value - The value to find a POT for. Must be greater than `0`.
  * @return {number} The smallest power of two that is greater than or equal to the given number.
  */
 function ceilPowerOfTwo( value ) {
@@ -304,7 +306,7 @@ function ceilPowerOfTwo( value ) {
 /**
  * Returns the largest power of two that is less than or equal to the given number.
  *
- * @param {number} value - The value to find a POT for.
+ * @param {number} value - The value to find a POT for. Must be greater than `0`.
  * @return {number} The largest power of two that is less than or equal to the given number.
  */
 function floorPowerOfTwo( value ) {
@@ -314,7 +316,7 @@ function floorPowerOfTwo( value ) {
 }
 
 /**
- * Sets the given quaternion from the [Intrinsic Proper Euler Angles]{@link https://en.wikipedia.org/wiki/Euler_angles}
+ * Sets the given quaternion from the [Intrinsic Proper Euler Angles](https://en.wikipedia.org/wiki/Euler_angles)
  * defined by the given angles and order.
  *
  * Rotations are applied to the axes in the order specified by order:
@@ -370,7 +372,7 @@ function setQuaternionFromProperEuler( q, a, b, c, order ) {
 			break;
 
 		default:
-			console.warn( 'THREE.MathUtils: .setQuaternionFromProperEuler() encountered an unknown order: ' + order );
+			warn( 'MathUtils: .setQuaternionFromProperEuler() encountered an unknown order: ' + order );
 
 	}
 
@@ -479,7 +481,7 @@ const MathUtils = {
 	DEG2RAD: DEG2RAD,
 	RAD2DEG: RAD2DEG,
 	/**
-	 * Generate a [UUID]{@link https://en.wikipedia.org/wiki/Universally_unique_identifier}
+	 * Generate a [UUID](https://en.wikipedia.org/wiki/Universally_unique_identifier)
 	 * (universally unique identifier).
 	 *
 	 * @static
@@ -550,7 +552,7 @@ const MathUtils = {
 	/**
 	 * Smoothly interpolate a number from `x` to `y` in  a spring-like manner using a delta
 	 * time to maintain frame rate independent movement. For details, see
-	 * [Frame rate independent damping using lerp]{@link http://www.rorydriscoll.com/2016/03/07/frame-rate-independent-damping-using-lerp/}.
+	 * [Frame rate independent damping using lerp](http://www.rorydriscoll.com/2016/03/07/frame-rate-independent-damping-using-lerp/).
 	 *
 	 * @static
 	 * @method
@@ -577,7 +579,7 @@ const MathUtils = {
 	 * moved between `min` and `max`, but smoothed or slowed down the closer `x` is to
 	 * the `min` and `max`.
 	 *
-	 * See [Smoothstep]{@link http://en.wikipedia.org/wiki/Smoothstep} for more details.
+	 * See [Smoothstep](http://en.wikipedia.org/wiki/Smoothstep) for more details.
 	 *
 	 * @static
 	 * @method
@@ -588,7 +590,7 @@ const MathUtils = {
 	 */
 	smoothstep: smoothstep,
 	/**
-	 * A [variation on smoothstep]{@link https://en.wikipedia.org/wiki/Smoothstep#Variations}
+	 * A [variation on smoothstep](https://en.wikipedia.org/wiki/Smoothstep#Variations)
 	 * that has zero 1st and 2nd order derivatives at x=0 and x=1.
 	 *
 	 * @static
@@ -683,7 +685,7 @@ const MathUtils = {
 	 */
 	floorPowerOfTwo: floorPowerOfTwo,
 	/**
-	 * Sets the given quaternion from the [Intrinsic Proper Euler Angles]{@link https://en.wikipedia.org/wiki/Euler_angles}
+	 * Sets the given quaternion from the [Intrinsic Proper Euler Angles](https://en.wikipedia.org/wiki/Euler_angles)
 	 * defined by the given angles and order.
 	 *
 	 * Rotations are applied to the axes in the order specified by order:

package/src/math/Matrix2.js

@@ -4,7 +4,7 @@
  * A Note on Row-Major and Column-Major Ordering:
  *
  * The constructor and {@link Matrix2#set} method take arguments in
- * [row-major]{@link https://en.wikipedia.org/wiki/Row-_and_column-major_order#Column-major_order}
+ * [row-major](https://en.wikipedia.org/wiki/Row-_and_column-major_order#Column-major_order)
  * order, while internally they are stored in the {@link Matrix2#elements} array in column-major order.
  * This means that calling:
  * ```js
@@ -26,6 +26,19 @@
  */
 export class Matrix2 {
 
+	static {
+
+		/**
+		 * This flag can be used for type testing.
+		 *
+		 * @type {boolean}
+		 * @readonly
+		 * @default true
+		 */
+		Matrix2.prototype.isMatrix2 = true;
+
+	}
+
 	/**
 	 * Constructs a new 2x2 matrix. The arguments are supposed to be
 	 * in row-major order. If no arguments are provided, the constructor
@@ -38,15 +51,6 @@ export class Matrix2 {
 	 */
 	constructor( n11, n12, n21, n22 ) {
 
-		/**
-		 * This flag can be used for type testing.
-		 *
-		 * @type {boolean}
-		 * @readonly
-		 * @default true
-		 */
-		Matrix2.prototype.isMatrix2 = true;
-
 		/**
 		 * A column-major list of matrix values.
 		 *

package/src/math/Matrix3.js

@@ -4,7 +4,7 @@
  * A Note on Row-Major and Column-Major Ordering:
  *
  * The constructor and {@link Matrix3#set} method take arguments in
- * [row-major]{@link https://en.wikipedia.org/wiki/Row-_and_column-major_order#Column-major_order}
+ * [row-major](https://en.wikipedia.org/wiki/Row-_and_column-major_order#Column-major_order)
  * order, while internally they are stored in the {@link Matrix3#elements} array in column-major order.
  * This means that calling:
  * ```js
@@ -28,6 +28,19 @@
  */
 class Matrix3 {
 
+	static {
+
+		/**
+		 * This flag can be used for type testing.
+		 *
+		 * @type {boolean}
+		 * @readonly
+		 * @default true
+		 */
+		Matrix3.prototype.isMatrix3 = true;
+
+	}
+
 	/**
 	 * Constructs a new 3x3 matrix. The arguments are supposed to be
 	 * in row-major order. If no arguments are provided, the constructor
@@ -45,15 +58,6 @@ class Matrix3 {
 	 */
 	constructor( n11, n12, n13, n21, n22, n23, n31, n32, n33 ) {
 
-		/**
-		 * This flag can be used for type testing.
-		 *
-		 * @type {boolean}
-		 * @readonly
-		 * @default true
-		 */
-		Matrix3.prototype.isMatrix3 = true;
-
 		/**
 		 * A column-major list of matrix values.
 		 *
@@ -278,7 +282,7 @@ class Matrix3 {
 	}
 
 	/**
-	 * Inverts this matrix, using the [analytic method]{@link https://en.wikipedia.org/wiki/Invertible_matrix#Analytic_solution}.
+	 * Inverts this matrix, using the [analytic method](https://en.wikipedia.org/wiki/Invertible_matrix#Analytic_solution).
 	 * You can not invert with a determinant of zero. If you attempt this, the method produces
 	 * a zero matrix instead.
 	 *

package/src/math/Matrix4.js

@@ -5,7 +5,7 @@ import { Vector3 } from './Vector3.js';
  * Represents a 4x4 matrix.
  *
  * The most common use of a 4x4 matrix in 3D computer graphics is as a transformation matrix.
- * For an introduction to transformation matrices as used in WebGL, check out [this tutorial]{@link https://www.opengl-tutorial.org/beginners-tutorials/tutorial-3-matrices}
+ * For an introduction to transformation matrices as used in WebGL, check out [this tutorial](https://www.opengl-tutorial.org/beginners-tutorials/tutorial-3-matrices)
  *
  * This allows a 3D vector representing a point in 3D space to undergo
  * transformations such as translation, rotation, shear, scale, reflection,
@@ -15,7 +15,7 @@ import { Vector3 } from './Vector3.js';
  * A Note on Row-Major and Column-Major Ordering:
  *
  * The constructor and {@link Matrix3#set} method take arguments in
- * [row-major]{@link https://en.wikipedia.org/wiki/Row-_and_column-major_order#Column-major_order}
+ * [row-major](https://en.wikipedia.org/wiki/Row-_and_column-major_order#Column-major_order)
  * order, while internally they are stored in the {@link Matrix3#elements} array in column-major order.
  * This means that calling:
  * ```js
@@ -41,6 +41,19 @@ import { Vector3 } from './Vector3.js';
  */
 class Matrix4 {
 
+	static {
+
+		/**
+		 * This flag can be used for type testing.
+		 *
+		 * @type {boolean}
+		 * @readonly
+		 * @default true
+		 */
+		Matrix4.prototype.isMatrix4 = true;
+
+	}
+
 	/**
 	 * Constructs a new 4x4 matrix. The arguments are supposed to be
 	 * in row-major order. If no arguments are provided, the constructor
@@ -65,15 +78,6 @@ class Matrix4 {
 	 */
 	constructor( n11, n12, n13, n14, n21, n22, n23, n24, n31, n32, n33, n34, n41, n42, n43, n44 ) {
 
-		/**
-		 * This flag can be used for type testing.
-		 *
-		 * @type {boolean}
-		 * @readonly
-		 * @default true
-		 */
-		Matrix4.prototype.isMatrix4 = true;
-
 		/**
 		 * A column-major list of matrix values.
 		 *
@@ -234,6 +238,16 @@ class Matrix4 {
 	 */
 	extractBasis( xAxis, yAxis, zAxis ) {
 
+		if ( this.determinant() === 0 ) {
+
+			xAxis.set( 1, 0, 0 );
+			yAxis.set( 0, 1, 0 );
+			zAxis.set( 0, 0, 1 );
+
+			return this;
+
+		}
+
 		xAxis.setFromMatrixColumn( this, 0 );
 		yAxis.setFromMatrixColumn( this, 1 );
 		zAxis.setFromMatrixColumn( this, 2 );
@@ -274,6 +288,12 @@ class Matrix4 {
 	 */
 	extractRotation( m ) {
 
+		if ( m.determinant() === 0 ) {
+
+			return this.identity();
+
+		}
+
 		const te = this.elements;
 		const me = m.elements;
 
@@ -309,7 +329,7 @@ class Matrix4 {
 	 * Sets the rotation component (the upper left 3x3 matrix) of this matrix to
 	 * the rotation specified by the given Euler angles. The rest of
 	 * the matrix is set to the identity. Depending on the {@link Euler#order},
-	 * there are six possible outcomes. See [this page]{@link https://en.wikipedia.org/wiki/Euler_angles#Rotation_matrix}
+	 * there are six possible outcomes. See [this page](https://en.wikipedia.org/wiki/Euler_angles#Rotation_matrix)
 	 * for a complete list.
 	 *
 	 * @param {Euler} euler - The Euler angles.
@@ -439,7 +459,7 @@ class Matrix4 {
 
 	/**
 	 * Sets the rotation component of this matrix to the rotation specified by
-	 * the given Quaternion as outlined [here]{@link https://en.wikipedia.org/wiki/Rotation_matrix#Quaternion}
+	 * the given Quaternion as outlined [here](https://en.wikipedia.org/wiki/Rotation_matrix#Quaternion)
 	 * The rest of the matrix is set to the identity.
 	 *
 	 * @param {Quaternion} q - The Quaternion.
@@ -601,7 +621,7 @@ class Matrix4 {
 	/**
 	 * Computes and returns the determinant of this matrix.
 	 *
-	 * Based on the method outlined [here]{@link http://www.euclideanspace.com/maths/algebra/matrix/functions/inverse/fourD/index.html}.
+	 * Based on the method outlined [here](http://www.euclideanspace.com/maths/algebra/matrix/functions/inverse/fourD/index.html).
 	 *
 	 * @return {number} The determinant.
 	 */
@@ -614,43 +634,18 @@ class Matrix4 {
 		const n31 = te[ 2 ], n32 = te[ 6 ], n33 = te[ 10 ], n34 = te[ 14 ];
 		const n41 = te[ 3 ], n42 = te[ 7 ], n43 = te[ 11 ], n44 = te[ 15 ];
 
-		//TODO: make this more efficient
-
-		return (
-			n41 * (
-				+ n14 * n23 * n32
-				 - n13 * n24 * n32
-				 - n14 * n22 * n33
-				 + n12 * n24 * n33
-				 + n13 * n22 * n34
-				 - n12 * n23 * n34
-			) +
-			n42 * (
-				+ n11 * n23 * n34
-				 - n11 * n24 * n33
-				 + n14 * n21 * n33
-				 - n13 * n21 * n34
-				 + n13 * n24 * n31
-				 - n14 * n23 * n31
-			) +
-			n43 * (
-				+ n11 * n24 * n32
-				 - n11 * n22 * n34
-				 - n14 * n21 * n32
-				 + n12 * n21 * n34
-				 + n14 * n22 * n31
-				 - n12 * n24 * n31
-			) +
-			n44 * (
-				- n13 * n22 * n31
-				 - n11 * n23 * n32
-				 + n11 * n22 * n33
-				 + n13 * n21 * n32
-				 - n12 * n21 * n33
-				 + n12 * n23 * n31
-			)
+		const t11 = n23 * n34 - n24 * n33;
+		const t12 = n22 * n34 - n24 * n32;
+		const t13 = n22 * n33 - n23 * n32;
 
-		);
+		const t21 = n21 * n34 - n24 * n31;
+		const t22 = n21 * n33 - n23 * n31;
+		const t23 = n21 * n32 - n22 * n31;
+
+		return n11 * ( n42 * t11 - n43 * t12 + n44 * t13 ) -
+			n12 * ( n41 * t11 - n43 * t21 + n44 * t22 ) +
+			n13 * ( n41 * t12 - n42 * t21 + n44 * t23 ) -
+			n14 * ( n41 * t13 - n42 * t22 + n43 * t23 );
 
 	}
 
@@ -708,7 +703,7 @@ class Matrix4 {
 	}
 
 	/**
-	 * Inverts this matrix, using the [analytic method]{@link https://en.wikipedia.org/wiki/Invertible_matrix#Analytic_solution}.
+	 * Inverts this matrix, using the [analytic method](https://en.wikipedia.org/wiki/Invertible_matrix#Analytic_solution).
 	 * You can not invert with a determinant of zero. If you attempt this, the method produces
 	 * a zero matrix instead.
 	 *
@@ -716,7 +711,7 @@ class Matrix4 {
 	 */
 	invert() {
 
-		// based on http://www.euclideanspace.com/maths/algebra/matrix/functions/inverse/fourD/index.htm
+		// based on https://github.com/toji/gl-matrix
 		const te = this.elements,
 
 			n11 = te[ 0 ], n21 = te[ 1 ], n31 = te[ 2 ], n41 = te[ 3 ],
@@ -724,36 +719,44 @@ class Matrix4 {
 			n13 = te[ 8 ], n23 = te[ 9 ], n33 = te[ 10 ], n43 = te[ 11 ],
 			n14 = te[ 12 ], n24 = te[ 13 ], n34 = te[ 14 ], n44 = te[ 15 ],
 
-			t11 = n23 * n34 * n42 - n24 * n33 * n42 + n24 * n32 * n43 - n22 * n34 * n43 - n23 * n32 * n44 + n22 * n33 * n44,
-			t12 = n14 * n33 * n42 - n13 * n34 * n42 - n14 * n32 * n43 + n12 * n34 * n43 + n13 * n32 * n44 - n12 * n33 * n44,
-			t13 = n13 * n24 * n42 - n14 * n23 * n42 + n14 * n22 * n43 - n12 * n24 * n43 - n13 * n22 * n44 + n12 * n23 * n44,
-			t14 = n14 * n23 * n32 - n13 * n24 * n32 - n14 * n22 * n33 + n12 * n24 * n33 + n13 * n22 * n34 - n12 * n23 * n34;
-
-		const det = n11 * t11 + n21 * t12 + n31 * t13 + n41 * t14;
+			t1 = n11 * n22 - n21 * n12,
+			t2 = n11 * n32 - n31 * n12,
+			t3 = n11 * n42 - n41 * n12,
+			t4 = n21 * n32 - n31 * n22,
+			t5 = n21 * n42 - n41 * n22,
+			t6 = n31 * n42 - n41 * n32,
+			t7 = n13 * n24 - n23 * n14,
+			t8 = n13 * n34 - n33 * n14,
+			t9 = n13 * n44 - n43 * n14,
+			t10 = n23 * n34 - n33 * n24,
+			t11 = n23 * n44 - n43 * n24,
+			t12 = n33 * n44 - n43 * n34;
+
+		const det = t1 * t12 - t2 * t11 + t3 * t10 + t4 * t9 - t5 * t8 + t6 * t7;
 
 		if ( det === 0 ) return this.set( 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 );
 
 		const detInv = 1 / det;
 
-		te[ 0 ] = t11 * detInv;
-		te[ 1 ] = ( n24 * n33 * n41 - n23 * n34 * n41 - n24 * n31 * n43 + n21 * n34 * n43 + n23 * n31 * n44 - n21 * n33 * n44 ) * detInv;
-		te[ 2 ] = ( n22 * n34 * n41 - n24 * n32 * n41 + n24 * n31 * n42 - n21 * n34 * n42 - n22 * n31 * n44 + n21 * n32 * n44 ) * detInv;
-		te[ 3 ] = ( n23 * n32 * n41 - n22 * n33 * n41 - n23 * n31 * n42 + n21 * n33 * n42 + n22 * n31 * n43 - n21 * n32 * n43 ) * detInv;
+		te[ 0 ] = ( n22 * t12 - n32 * t11 + n42 * t10 ) * detInv;
+		te[ 1 ] = ( n31 * t11 - n21 * t12 - n41 * t10 ) * detInv;
+		te[ 2 ] = ( n24 * t6 - n34 * t5 + n44 * t4 ) * detInv;
+		te[ 3 ] = ( n33 * t5 - n23 * t6 - n43 * t4 ) * detInv;
 
-		te[ 4 ] = t12 * detInv;
-		te[ 5 ] = ( n13 * n34 * n41 - n14 * n33 * n41 + n14 * n31 * n43 - n11 * n34 * n43 - n13 * n31 * n44 + n11 * n33 * n44 ) * detInv;
-		te[ 6 ] = ( n14 * n32 * n41 - n12 * n34 * n41 - n14 * n31 * n42 + n11 * n34 * n42 + n12 * n31 * n44 - n11 * n32 * n44 ) * detInv;
-		te[ 7 ] = ( n12 * n33 * n41 - n13 * n32 * n41 + n13 * n31 * n42 - n11 * n33 * n42 - n12 * n31 * n43 + n11 * n32 * n43 ) * detInv;
+		te[ 4 ] = ( n32 * t9 - n12 * t12 - n42 * t8 ) * detInv;
+		te[ 5 ] = ( n11 * t12 - n31 * t9 + n41 * t8 ) * detInv;
+		te[ 6 ] = ( n34 * t3 - n14 * t6 - n44 * t2 ) * detInv;
+		te[ 7 ] = ( n13 * t6 - n33 * t3 + n43 * t2 ) * detInv;
 
-		te[ 8 ] = t13 * detInv;
-		te[ 9 ] = ( n14 * n23 * n41 - n13 * n24 * n41 - n14 * n21 * n43 + n11 * n24 * n43 + n13 * n21 * n44 - n11 * n23 * n44 ) * detInv;
-		te[ 10 ] = ( n12 * n24 * n41 - n14 * n22 * n41 + n14 * n21 * n42 - n11 * n24 * n42 - n12 * n21 * n44 + n11 * n22 * n44 ) * detInv;
-		te[ 11 ] = ( n13 * n22 * n41 - n12 * n23 * n41 - n13 * n21 * n42 + n11 * n23 * n42 + n12 * n21 * n43 - n11 * n22 * n43 ) * detInv;
+		te[ 8 ] = ( n12 * t11 - n22 * t9 + n42 * t7 ) * detInv;
+		te[ 9 ] = ( n21 * t9 - n11 * t11 - n41 * t7 ) * detInv;
+		te[ 10 ] = ( n14 * t5 - n24 * t3 + n44 * t1 ) * detInv;
+		te[ 11 ] = ( n23 * t3 - n13 * t5 - n43 * t1 ) * detInv;
 
-		te[ 12 ] = t14 * detInv;
-		te[ 13 ] = ( n13 * n24 * n31 - n14 * n23 * n31 + n14 * n21 * n33 - n11 * n24 * n33 - n13 * n21 * n34 + n11 * n23 * n34 ) * detInv;
-		te[ 14 ] = ( n14 * n22 * n31 - n12 * n24 * n31 - n14 * n21 * n32 + n11 * n24 * n32 + n12 * n21 * n34 - n11 * n22 * n34 ) * detInv;
-		te[ 15 ] = ( n12 * n23 * n31 - n13 * n22 * n31 + n13 * n21 * n32 - n11 * n23 * n32 - n12 * n21 * n33 + n11 * n22 * n33 ) * detInv;
+		te[ 12 ] = ( n22 * t8 - n12 * t10 - n32 * t7 ) * detInv;
+		te[ 13 ] = ( n11 * t10 - n21 * t8 + n31 * t7 ) * detInv;
+		te[ 14 ] = ( n24 * t2 - n14 * t4 - n34 * t1 ) * detInv;
+		te[ 15 ] = ( n13 * t4 - n23 * t2 + n33 * t1 ) * detInv;
 
 		return this;
 
@@ -911,7 +914,7 @@ class Matrix4 {
 	 * the given angle.
 	 *
 	 * This is a somewhat controversial but mathematically sound alternative to
-	 * rotating via Quaternions. See the discussion [here]{@link https://www.gamedev.net/articles/programming/math-and-physics/do-we-really-need-quaternions-r1199}.
+	 * rotating via Quaternions. See the discussion [here](https://www.gamedev.net/articles/programming/math-and-physics/do-we-really-need-quaternions-r1199).
 	 *
 	 * @param {Vector3} axis - The normalized rotation axis.
 	 * @param {number} angle - The rotation in radians.
@@ -1051,18 +1054,28 @@ class Matrix4 {
 
 		const te = this.elements;
 
+		position.x = te[ 12 ];
+		position.y = te[ 13 ];
+		position.z = te[ 14 ];
+
+		const det = this.determinant();
+
+		if ( det === 0 ) {
+
+			scale.set( 1, 1, 1 );
+			quaternion.identity();
+
+			return this;
+
+		}
+
 		let sx = _v1.set( te[ 0 ], te[ 1 ], te[ 2 ] ).length();
 		const sy = _v1.set( te[ 4 ], te[ 5 ], te[ 6 ] ).length();
 		const sz = _v1.set( te[ 8 ], te[ 9 ], te[ 10 ] ).length();
 
-		// if determine is negative, we need to invert one scale
-		const det = this.determinant();
+		// if determinant is negative, we need to invert one scale
 		if ( det < 0 ) sx = - sx;
 
-		position.x = te[ 12 ];
-		position.y = te[ 13 ];
-		position.z = te[ 14 ];
-
 		// scale the rotation part
 		_m1.copy( this );
 

package/src/math/Plane.js

@@ -7,7 +7,7 @@ const _normalMatrix = /*@__PURE__*/ new Matrix3();
 
 /**
  * A two dimensional surface that extends infinitely in 3D space, represented
- * in [Hessian normal form]{@link http://mathworld.wolfram.com/HessianNormalForm.html}
+ * in [Hessian normal form](http://mathworld.wolfram.com/HessianNormalForm.html)
  * by a unit length normal vector and a constant.
  */
 class Plane {
@@ -210,9 +210,10 @@ class Plane {
 	 *
 	 * @param {Line3} line - The line to compute the intersection for.
 	 * @param {Vector3} target - The target vector that is used to store the method's result.
-	 * @return {?Vector3} The intersection point.
+	 * @param {boolean} [clampToLine=true] - Whether to clamp the intersection to the line segment.
+	 * @return {?Vector3} The intersection point. Returns `null` if no intersection is detected.
 	 */
-	intersectLine( line, target ) {
+	intersectLine( line, target, clampToLine = true ) {
 
 		const direction = line.delta( _vector1 );
 
@@ -234,7 +235,7 @@ class Plane {
 
 		const t = - ( line.start.dot( this.normal ) + this.constant ) / denominator;
 
-		if ( t < 0 || t > 1 ) {
+		if ( ( clampToLine === true ) && ( t < 0 || t > 1 ) ) {
 
 			return null;