x_ite 4.7.12 → 5.0.0

package/src/standard/Math/Numbers/Matrix4.js

@@ -48,11 +48,11 @@
 
 
 define ([
-	"standard/Math/Numbers/Vector3",
-	"standard/Math/Numbers/Vector4",
-	"standard/Math/Numbers/Rotation4",
-	"standard/Math/Numbers/Matrix3",
-	"standard/Math/Algorithms/eigendecomposition",
+   "standard/Math/Numbers/Vector3",
+   "standard/Math/Numbers/Vector4",
+   "standard/Math/Numbers/Rotation4",
+   "standard/Math/Numbers/Matrix3",
+   "standard/Math/Algorithms/eigendecomposition",
 ],
 function (Vector3,
           Vector4,
@@ -62,882 +62,882 @@ function (Vector3,
 {
 "use strict";
 
-	function Matrix4 ()
-	{
-		if (arguments .length)
-		{
-			this [ 0] = arguments [ 0];
-			this [ 1] = arguments [ 1];
-			this [ 2] = arguments [ 2];
-			this [ 3] = arguments [ 3];
-			this [ 4] = arguments [ 4];
-			this [ 5] = arguments [ 5];
-			this [ 6] = arguments [ 6];
-			this [ 7] = arguments [ 7];
-			this [ 8] = arguments [ 8];
-			this [ 9] = arguments [ 9];
-			this [10] = arguments [10];
-			this [11] = arguments [11];
-			this [12] = arguments [12];
-			this [13] = arguments [13];
-			this [14] = arguments [14];
-			this [15] = arguments [15];
-		}
-		else
-		{
-			this .identity ();
-		}
-	}
-
-	Matrix4 .prototype =
-	{
-		constructor: Matrix4,
-		order: 4,
-		length: 16,
-		copy: function ()
-		{
-			const copy = Object .create (Matrix4 .prototype);
-			copy [ 0] = this [ 0];
-			copy [ 1] = this [ 1];
-			copy [ 2] = this [ 2];
-			copy [ 3] = this [ 3];
-			copy [ 4] = this [ 4];
-			copy [ 5] = this [ 5];
-			copy [ 6] = this [ 6];
-			copy [ 7] = this [ 7];
-			copy [ 8] = this [ 8];
-			copy [ 9] = this [ 9];
-			copy [10] = this [10];
-			copy [11] = this [11];
-			copy [12] = this [12];
-			copy [13] = this [13];
-			copy [14] = this [14];
-			copy [15] = this [15];
-			return copy;
-		},
-		assign: function (matrix)
-		{
-			this [ 0] = matrix [ 0];
-			this [ 1] = matrix [ 1];
-			this [ 2] = matrix [ 2];
-			this [ 3] = matrix [ 3];
-			this [ 4] = matrix [ 4];
-			this [ 5] = matrix [ 5];
-			this [ 6] = matrix [ 6];
-			this [ 7] = matrix [ 7];
-			this [ 8] = matrix [ 8];
-			this [ 9] = matrix [ 9];
-			this [10] = matrix [10];
-			this [11] = matrix [11];
-			this [12] = matrix [12];
-			this [13] = matrix [13];
-			this [14] = matrix [14];
-			this [15] = matrix [15];
-			return this;
-		},
-		equals: function (matrix)
-		{
-			return this [ 0] === matrix [ 0] &&
-			       this [ 1] === matrix [ 1] &&
-			       this [ 2] === matrix [ 2] &&
-			       this [ 3] === matrix [ 3] &&
-			       this [ 4] === matrix [ 4] &&
-			       this [ 5] === matrix [ 5] &&
-			       this [ 6] === matrix [ 6] &&
-			       this [ 7] === matrix [ 7] &&
-			       this [ 8] === matrix [ 8] &&
-			       this [ 9] === matrix [ 9] &&
-			       this [10] === matrix [10] &&
-			       this [11] === matrix [11] &&
-			       this [12] === matrix [12] &&
-			       this [13] === matrix [13] &&
-			       this [14] === matrix [14] &&
-			       this [15] === matrix [15];
-		},
-		set1: function (r, c, value)
-		{
-			this [r * this .order + c] = value;
-
-			return this;
-		},
-		get1: function (r, c)
-		{
-			return this [r * this .order + c];
-		},
-		set: function (translation, rotation, scale, scaleOrientation, center)
-		{
-			switch (arguments .length)
-			{
-				case 0:
-				{
-					this .identity ();
-					break;
-				}
-				case 1:
-				{
-					if (translation === null) translation = Vector3 .Zero;
-
-					this .identity ();
-					this .translate (translation);
-					break;
-				}
-				case 2:
-				{
-					if (translation === null) translation = Vector3 .Zero;
-					if (rotation    === null) rotation    = Rotation4 .Identity;
-
-					this .identity ();
-					this .translate (translation);
-
-					if (! rotation .equals (Rotation4 .Identity))
-						this .rotate (rotation);
-
-					break;
-				}
-				case 3:
-				{
-					if (translation === null) translation = Vector3 .Zero;
-					if (rotation    === null) rotation    = Rotation4 .Identity;
-					if (scale       === null) scale       = Vector3 .One;
-
-					this .identity ();
-					this .translate (translation);
-
-					if (! rotation .equals (Rotation4 .Identity))
-						this .rotate (rotation);
-
-					if (! scale .equals (Vector3 .One))
-						this .scale  (scale);
-
-					break;
-				}
-				case 4:
-				{
-					if (translation      === null) translation      = Vector3 .Zero;
-					if (rotation         === null) rotation         = Rotation4 .Identity;
-					if (scale            === null) scale            = Vector3 .One;
-					if (scaleOrientation === null) scaleOrientation = Rotation4 .Identity;
-
-					this .identity ();
-					this .translate (translation);
-
-					if (! rotation .equals (Rotation4 .Identity))
-						this .rotate (rotation);
-
-					if (! scale .equals (Vector3 .One))
-					{
-						const hasScaleOrientation = ! scaleOrientation .equals (Rotation4 .Identity);
-
-						if (hasScaleOrientation)
-						{
-							this .rotate (scaleOrientation);
-							this .scale (scale);
-							this .rotate (Rotation4 .inverse (scaleOrientation));
-						}
-						else
-							this .scale (scale);
-					}
-
-					break;
-				}
-				case 5:
-				{
-					if (translation      === null) translation      = Vector3 .Zero;
-					if (rotation         === null) rotation         = Rotation4 .Identity;
-					if (scale            === null) scale            = Vector3 .One;
-					if (scaleOrientation === null) scaleOrientation = Rotation4 .Identity;
-					if (center           === null) center           = Vector3 .Zero;
-
-					// P' = T * C * R * SR * S * -SR * -C * P
-					this .identity ();
-					this .translate (translation);
-
-					const hasCenter = ! center .equals (Vector3 .Zero);
-
-					if (hasCenter)
-						this .translate (center);
-
-					if (! rotation .equals (Rotation4 .Identity))
-						this .rotate (rotation);
-
-					if (! scale .equals (Vector3 .One))
-					{
-						if (! scaleOrientation .equals (Rotation4 .Identity))
-						{
-							this .rotate (scaleOrientation);
-							this .scale (scale);
-							this .rotate (Rotation4 .inverse (scaleOrientation));
-						}
-						else
-							this .scale (scale);
-					}
-
-					if (hasCenter)
-						this .translate (Vector3 .negate (center));
-
-					break;
-				}
-				case 16:
-				{
-					this [ 0] = arguments [ 0];
-					this [ 1] = arguments [ 1];
-					this [ 2] = arguments [ 2];
-					this [ 3] = arguments [ 3];
-					this [ 4] = arguments [ 4];
-					this [ 5] = arguments [ 5];
-					this [ 6] = arguments [ 6];
-					this [ 7] = arguments [ 7];
-					this [ 8] = arguments [ 8];
-					this [ 9] = arguments [ 9];
-					this [10] = arguments [10];
-					this [11] = arguments [11];
-					this [12] = arguments [12];
-					this [13] = arguments [13];
-					this [14] = arguments [14];
-					this [15] = arguments [15];
-					break;
-				}
-			}
-
-			return this;
-		},
-		get: (function ()
-		{
-			const
-				dummyTranslation      = new Vector3 (0, 0, 0),
-				dummyRotation         = new Rotation4 (),
-				dummyScale            = new Vector3 (0, 0, 0),
-				dummyScaleOrientation = new Rotation4 (),
-				dummyCenter           = new Vector3 (0, 0, 0),
-				rot                   = new Matrix3 (),
-				so                    = new Matrix3 (),
-				c                     = new Vector3 (0, 0, 0);
-
-			return function (translation, rotation, scale, scaleOrientation, center)
-			{
-				if (translation      === null) translation      = dummyTranslation;
-				if (rotation         === null) rotation         = dummyRotation;
-				if (scale            === null) scale            = dummyScale;
-				if (scaleOrientation === null) scaleOrientation = dummyScaleOrientation;
-				if (center           === null) center           = dummyCenter;
-
-				switch (arguments .length)
-				{
-					case 1:
-					{
-						translation .set (this [12], this [13], this [14]);
-						break;
-					}
-					case 2:
-					{
-						this .factor (translation, rot, dummyScale, so);
-						rotation .setMatrix (rot);
-						break;
-					}
-					case 3:
-					{
-						this .factor (translation, rot, scale, so);
-						rotation .setMatrix (rot);
-						break;
-					}
-					case 4:
-					{
-						this .factor (translation, rot, scale, so);
-						rotation         .setMatrix (rot);
-						scaleOrientation .setMatrix (so);
-						break;
-					}
-					case 5:
-					{
-						const m = new Matrix4 ();
-
-						m .set (c .assign (center) .negate ());
-						m .multLeft (this);
-						m .translate (center);
-
-						m .get (translation, rotation, scale, scaleOrientation);
-						break;
-					}
-				}
-			};
-		})(),
-		setRotation: function (rotation)
-		{
-			return this .setQuaternion (rotation .value);
-		},
-		setQuaternion: function (quaternion)
-		{
-			const
-				x = quaternion .x,
-				y = quaternion .y,
-				z = quaternion .z,
-				w = quaternion .w,
-				A = y * y,
-				B = z * z,
-				C = x * y,
-				D = z * w,
-				E = z * x,
-				F = y * w,
-				G = x * x,
-				H = y * z,
-				I = x * w;
-
-			this [0]  = 1 - 2 * (A + B);
-			this [1]  = 2 * (C + D);
-			this [2]  = 2 * (E - F);
-			this [3]  = 0;
-			this [4]  = 2 * (C - D);
-			this [5]  = 1 - 2 * (B + G);
-			this [6]  = 2 * (H + I);
-			this [7]  = 0;
-			this [8]  = 2 * (E + F);
-			this [9]  = 2 * (H - I);
-			this [10] = 1 - 2 * (A + G);
-			this [11] = 0;
-			this [12] = 0;
-			this [13] = 0;
-			this [14] = 0;
-			this [15] = 1;
-
-			return this;
-		},
-		factor: (function ()
-		{
-			const
-				si = new Matrix3 (),
-				u  = new Matrix3 (),
-				b  = new Matrix3 ();
-
-			const eigen = { values: [ ], vectors: [[ ], [ ], [ ]] };
-
-			return function (translation, rotation, scale, scaleOrientation)
-			{
-				// (1) Get translation.
-				translation .set (this [12], this [13], this [14]);
-
-				// (2) Create 3x3 matrix.
-				const a = this .submatrix;
-
-				// (3) Compute det A. If negative, set sign = -1, else sign = 1
-				const det      = a .determinant ();
-				const det_sign = det < 0 ? -1 : 1;
-
-				if (det === 0)
-					throw new Error ("Matrix4 .factor: determinant is 0.");
-
-				// (4) B = A * !A  (here !A means A transpose)
-				b .assign (a) .transpose () .multLeft (a);
-				const e = eigendecomposition (b, eigen);
-
-				// Find min / max eigenvalues and do ratio test to determine singularity.
-
-				scaleOrientation .set (e .vectors [0] [0], e .vectors [1] [0], e .vectors [2] [0],
-				                       e .vectors [0] [1], e .vectors [1] [1], e .vectors [2] [1],
-				                       e .vectors [0] [2], e .vectors [1] [2], e .vectors [2] [2]);
-
-				// Compute s = sqrt(evalues), with sign. Set si = s-inverse
-
-				scale .x = det_sign * Math .sqrt (e .values [0]);
-				scale .y = det_sign * Math .sqrt (e .values [1]);
-				scale .z = det_sign * Math .sqrt (e .values [2]);
-
-				si [0] = 1 / scale .x;
-				si [4] = 1 / scale .y;
-				si [8] = 1 / scale .z;
-
-				// (5) Compute U = !R ~S R A.
-				rotation .assign (u .assign (scaleOrientation) .transpose () .multRight (si) .multRight (scaleOrientation) .multRight (a));
-			};
-		})(),
-		determinant3: function ()
-		{
-			const
-				m00 = this [0], m01 = this [1], m02 = this [ 2],
-				m04 = this [4], m05 = this [5], m06 = this [ 6],
-				m08 = this [8], m09 = this [9], m10 = this [10];
-
-			return m00 * (m05 * m10 - m06 * m09) -
-			       m01 * (m04 * m10 - m06 * m08) +
-			       m02 * (m04 * m09 - m05 * m08);
-		},
-		determinant: function ()
-		{
-			const
-				m00 = this [ 0],
-				m01 = this [ 1],
-				m02 = this [ 2],
-				m03 = this [ 3],
-				m04 = this [ 4],
-				m05 = this [ 5],
-				m06 = this [ 6],
-				m07 = this [ 7],
-				m08 = this [ 8],
-				m09 = this [ 9],
-				m10 = this [10],
-				m11 = this [11],
-				m12 = this [12],
-				m13 = this [13],
-				m14 = this [14],
-				m15 = this [15],
-				b = m10 * m15,
-				c = m14 * m11,
-				d = m06 * m15,
-				e = m14 * m07,
-				f = m06 * m11,
-				g = m10 * m07,
-				h = m02 * m15,
-				i = m14 * m03,
-				j = m02 * m11,
-				o = m10 * m03,
-				r = m02 * m07,
-				x = m06 * m03,
-				H = b * m05 + e * m09 + f * m13 - (c * m05) - (d * m09) - (g * m13),
-				I = c * m01 + h * m09 + o * m13 - (b * m01) - (i * m09) - (j * m13),
-				J = d * m01 + i * m05 + r * m13 - (e * m01) - (h * m05) - (x * m13),
-				K = g * m01 + j * m05 + x * m09 - (f * m01) - (o * m05) - (r * m09);
-
-			return m00 * H + m04 * I + m08 * J + m12 * K;
-		},
-		transpose: function ()
-		{
-			let tmp;
-
-			tmp = this [ 1]; this [ 1] = this [ 4]; this [ 4] = tmp;
-			tmp = this [ 2]; this [ 2] = this [ 8]; this [ 8] = tmp;
-			tmp = this [ 3]; this [ 3] = this [12]; this [12] = tmp;
-			tmp = this [ 6]; this [ 6] = this [ 9]; this [ 9] = tmp;
-			tmp = this [ 7]; this [ 7] = this [13]; this [13] = tmp;
-			tmp = this [11]; this [11] = this [14]; this [14] = tmp;
-
-			return this;
-		},
-		inverse: function ()
-		{
-			const
-				m00 = this [ 0],
-				m01 = this [ 1],
-				m02 = this [ 2],
-				m03 = this [ 3],
-				m04 = this [ 4],
-				m05 = this [ 5],
-				m06 = this [ 6],
-				m07 = this [ 7],
-				m08 = this [ 8],
-				m09 = this [ 9],
-				m10 = this [10],
-				m11 = this [11],
-				m12 = this [12],
-				m13 = this [13],
-				m14 = this [14],
-				m15 = this [15],
-				b = m10 * m15,
-				c = m14 * m11,
-				d = m06 * m15,
-				e = m14 * m07,
-				f = m06 * m11,
-				g = m10 * m07,
-				h = m02 * m15,
-				i = m14 * m03,
-				j = m02 * m11,
-				o = m10 * m03,
-				r = m02 * m07,
-				x = m06 * m03,
-				t = m08 * m13,
-				p = m12 * m09,
-				v = m04 * m13,
-				s = m12 * m05,
-				y = m04 * m09,
-				z = m08 * m05,
-				A = m00 * m13,
-				C = m12 * m01,
-				D = m00 * m09,
-				E = m08 * m01,
-				F = m00 * m05,
-				G = m04 * m01,
-				H = b * m05 + e * m09 + f * m13 - ((c * m05) + (d * m09) + (g * m13)),
-				I = c * m01 + h * m09 + o * m13 - ((b * m01) + (i * m09) + (j * m13)),
-				J = d * m01 + i * m05 + r * m13 - ((e * m01) + (h * m05) + (x * m13)),
-				K = g * m01 + j * m05 + x * m09 - ((f * m01) + (o * m05) + (r * m09));
-
-			let B = m00 * H + m04 * I + m08 * J + m12 * K;
-
-			if (B === 0)
-				throw new Error ("Matrix4 .inverse: determinant is 0.");
-
-			B = 1 / B;
-
-			this [ 0] = B * H;
-			this [ 1] = B * I;
-			this [ 2] = B * J;
-			this [ 3] = B * K;
-			this [ 4] = B * (c * m04 + d * m08 + g * m12 - (b * m04) - (e * m08) - (f * m12));
-			this [ 5] = B * (b * m00 + i * m08 + j * m12 - (c * m00) - (h * m08) - (o * m12));
-			this [ 6] = B * (e * m00 + h * m04 + x * m12 - (d * m00) - (i * m04) - (r * m12));
-			this [ 7] = B * (f * m00 + o * m04 + r * m08 - (g * m00) - (j * m04) - (x * m08));
-			this [ 8] = B * (t * m07 + s * m11 + y * m15 - (p * m07) - (v * m11) - (z * m15));
-			this [ 9] = B * (p * m03 + A * m11 + E * m15 - (t * m03) - (C * m11) - (D * m15));
-			this [10] = B * (v * m03 + C * m07 + F * m15 - (s * m03) - (A * m07) - (G * m15));
-			this [11] = B * (z * m03 + D * m07 + G * m11 - (y * m03) - (E * m07) - (F * m11));
-			this [12] = B * (v * m10 + z * m14 + p * m06 - (y * m14) - (t * m06) - (s * m10));
-			this [13] = B * (D * m14 + t * m02 + C * m10 - (A * m10) - (E * m14) - (p * m02));
-			this [14] = B * (A * m06 + G * m14 + s * m02 - (F * m14) - (v * m02) - (C * m06));
-			this [15] = B * (F * m10 + y * m02 + E * m06 - (D * m06) - (G * m10) - (z * m02));
-
-			return this;
-		},
-		multLeft: function (matrix)
-		{
-			const
-				a00 = this [ 0], a01 = this [ 1], a02 = this [ 2], a03 = this [ 3],
-				a04 = this [ 4], a05 = this [ 5], a06 = this [ 6], a07 = this [ 7],
-				a08 = this [ 8], a09 = this [ 9], a10 = this [10], a11 = this [11],
-				a12 = this [12], a13 = this [13], a14 = this [14], a15 = this [15],
-				b00 = matrix [ 0], b01 = matrix [ 1], b02 = matrix [ 2], b03 = matrix [ 3],
-				b04 = matrix [ 4], b05 = matrix [ 5], b06 = matrix [ 6], b07 = matrix [ 7],
-				b08 = matrix [ 8], b09 = matrix [ 9], b10 = matrix [10], b11 = matrix [11],
-				b12 = matrix [12], b13 = matrix [13], b14 = matrix [14], b15 = matrix [15];
-
-			this [ 0] = a00 * b00 + a04 * b01 + a08 * b02 + a12 * b03;
-			this [ 1] = a01 * b00 + a05 * b01 + a09 * b02 + a13 * b03;
-			this [ 2] = a02 * b00 + a06 * b01 + a10 * b02 + a14 * b03;
-			this [ 3] = a03 * b00 + a07 * b01 + a11 * b02 + a15 * b03;
-			this [ 4] = a00 * b04 + a04 * b05 + a08 * b06 + a12 * b07;
-			this [ 5] = a01 * b04 + a05 * b05 + a09 * b06 + a13 * b07;
-			this [ 6] = a02 * b04 + a06 * b05 + a10 * b06 + a14 * b07;
-			this [ 7] = a03 * b04 + a07 * b05 + a11 * b06 + a15 * b07;
-			this [ 8] = a00 * b08 + a04 * b09 + a08 * b10 + a12 * b11;
-			this [ 9] = a01 * b08 + a05 * b09 + a09 * b10 + a13 * b11;
-			this [10] = a02 * b08 + a06 * b09 + a10 * b10 + a14 * b11;
-			this [11] = a03 * b08 + a07 * b09 + a11 * b10 + a15 * b11;
-			this [12] = a00 * b12 + a04 * b13 + a08 * b14 + a12 * b15;
-			this [13] = a01 * b12 + a05 * b13 + a09 * b14 + a13 * b15;
-			this [14] = a02 * b12 + a06 * b13 + a10 * b14 + a14 * b15;
-			this [15] = a03 * b12 + a07 * b13 + a11 * b14 + a15 * b15;
-
-			return this;
-		},
-		multRight: function (matrix)
-		{
-			const
-				a00 = this [ 0], a01 = this [ 1], a02 = this [ 2], a03 = this [ 3],
-				a04 = this [ 4], a05 = this [ 5], a06 = this [ 6], a07 = this [ 7],
-				a08 = this [ 8], a09 = this [ 9], a10 = this [10], a11 = this [11],
-				a12 = this [12], a13 = this [13], a14 = this [14], a15 = this [15],
-				b00 = matrix [ 0], b01 = matrix [ 1], b02 = matrix [ 2], b03 = matrix [ 3],
-				b04 = matrix [ 4], b05 = matrix [ 5], b06 = matrix [ 6], b07 = matrix [ 7],
-				b08 = matrix [ 8], b09 = matrix [ 9], b10 = matrix [10], b11 = matrix [11],
-				b12 = matrix [12], b13 = matrix [13], b14 = matrix [14], b15 = matrix [15];
-
-			this [ 0] = a00 * b00 + a01 * b04 + a02 * b08 + a03 * b12;
-			this [ 1] = a00 * b01 + a01 * b05 + a02 * b09 + a03 * b13;
-			this [ 2] = a00 * b02 + a01 * b06 + a02 * b10 + a03 * b14;
-			this [ 3] = a00 * b03 + a01 * b07 + a02 * b11 + a03 * b15;
-			this [ 4] = a04 * b00 + a05 * b04 + a06 * b08 + a07 * b12;
-			this [ 5] = a04 * b01 + a05 * b05 + a06 * b09 + a07 * b13;
-			this [ 6] = a04 * b02 + a05 * b06 + a06 * b10 + a07 * b14;
-			this [ 7] = a04 * b03 + a05 * b07 + a06 * b11 + a07 * b15;
-			this [ 8] = a08 * b00 + a09 * b04 + a10 * b08 + a11 * b12;
-			this [ 9] = a08 * b01 + a09 * b05 + a10 * b09 + a11 * b13;
-			this [10] = a08 * b02 + a09 * b06 + a10 * b10 + a11 * b14;
-			this [11] = a08 * b03 + a09 * b07 + a10 * b11 + a11 * b15;
-			this [12] = a12 * b00 + a13 * b04 + a14 * b08 + a15 * b12;
-			this [13] = a12 * b01 + a13 * b05 + a14 * b09 + a15 * b13;
-			this [14] = a12 * b02 + a13 * b06 + a14 * b10 + a15 * b14;
-			this [15] = a12 * b03 + a13 * b07 + a14 * b11 + a15 * b15;
-
-			return this;
-		},
-		multVecMatrix: function (vector)
-		{
-			if (vector .length === 3)
-			{
-				const
-					x = vector .x,
-					y = vector .y,
-					z = vector .z,
-					w = 1 / (x * this [3] + y * this [7] + z * this [11] + this [15]);
-
-				vector .x = (x * this [0] + y * this [4] + z * this [ 8] + this [12]) * w;
-				vector .y = (x * this [1] + y * this [5] + z * this [ 9] + this [13]) * w;
-				vector .z = (x * this [2] + y * this [6] + z * this [10] + this [14]) * w;
-
-				return vector;
-			}
-
-			const
-				x = vector .x,
-				y = vector .y,
-				z = vector .z,
-				w = vector .w;
-
-			vector .x = x * this [0] + y * this [4] + z * this [ 8] + w * this [12];
-			vector .y = x * this [1] + y * this [5] + z * this [ 9] + w * this [13];
-			vector .z = x * this [2] + y * this [6] + z * this [10] + w * this [14];
-			vector .w = x * this [3] + y * this [7] + z * this [11] + w * this [15];
-
-			return vector;
-		},
-		multMatrixVec: function (vector)
-		{
-			if (vector .length === 3)
-			{
-				const
-					x = vector .x,
-					y = vector .y,
-					z = vector .z,
-					w = 1 / (x * this [12] + y * this [13] + z * this [14] + this [15]);
-
-				vector .x = (x * this [0] + y * this [1] + z * this [ 2] + this [ 3]) * w;
-				vector .y = (x * this [4] + y * this [5] + z * this [ 6] + this [ 7]) * w;
-				vector .z = (x * this [8] + y * this [9] + z * this [10] + this [11]) * w;
-
-				return vector;
-			}
-
-			const
-				x = vector .x,
-				y = vector .y,
-				z = vector .z,
-				w = vector .w;
-
-			vector .x = x * this [ 0] + y * this [ 1] + z * this [ 2] + w * this [ 3];
-			vector .y = x * this [ 4] + y * this [ 5] + z * this [ 6] + w * this [ 7];
-			vector .z = x * this [ 8] + y * this [ 9] + z * this [10] + w * this [11];
-			vector .w = x * this [12] + y * this [13] + z * this [14] + w * this [15];
-
-			return vector;
-		},
-		multDirMatrix: function (vector)
-		{
-			const
-				x = vector .x,
-				y = vector .y,
-				z = vector .z;
-
-			vector .x = x * this [0] + y * this [4] + z * this [ 8];
-			vector .y = x * this [1] + y * this [5] + z * this [ 9];
-			vector .z = x * this [2] + y * this [6] + z * this [10];
-
-			return vector;
-		},
-		multMatrixDir: function (vector)
-		{
-			const
-				x = vector .x,
-				y = vector .y,
-				z = vector .z;
-
-			vector .x = x * this [0] + y * this [1] + z * this [ 2];
-			vector .y = x * this [4] + y * this [5] + z * this [ 6];
-			vector .z = x * this [8] + y * this [9] + z * this [10];
-
-			return vector;
-		},
-		identity: function ()
-		{
-			this [ 0] = 1; this [ 1] = 0; this [ 2] = 0; this [ 3] = 0;
-			this [ 4] = 0; this [ 5] = 1; this [ 6] = 0; this [ 7] = 0;
-			this [ 8] = 0; this [ 9] = 0; this [10] = 1; this [11] = 0;
-			this [12] = 0; this [13] = 0; this [14] = 0; this [15] = 1;
-		},
-		translate: function (translation)
-		{
-			const
-				x = translation .x,
-				y = translation .y,
-				z = translation .z;
-
-			this [12] += this [ 0] * x + this [ 4] * y + this [ 8] * z;
-			this [13] += this [ 1] * x + this [ 5] * y + this [ 9] * z;
-			this [14] += this [ 2] * x + this [ 6] * y + this [10] * z;
-
-			return this;
-		},
-		rotate: function (rotation)
-		{
-			this .multLeft (rotateMatrix .setQuaternion (rotation .value));
-
-			return this;
-		},
-		scale: function (scale)
-		{
-			const
-				x = scale .x,
-				y = scale .y,
-				z = scale .z;
-
-			this [ 0] *= x;
-			this [ 4] *= y;
-			this [ 8] *= z;
-
-			this [ 1] *= x;
-			this [ 5] *= y;
-			this [ 9] *= z;
-
-			this [ 2] *= x;
-			this [ 6] *= y;
-			this [10] *= z;
-
-			return this;
-		},
-		getDepth: function (vector)
-		{
-			const
-				x = vector .x,
-				y = vector .y,
-				z = vector .z,
-				w = 1 / (x * this [3] + y * this [7] + z * this [11] + this [15]);
-
-			return (x * this [2] + y * this [6] + z * this [10] + this [14]) * w;
-		},
-		toString: function ()
-		{
-			return this [ 0] + " " + this [ 1] + " " + this [ 2] + " " + this [ 3] + " " +
-			       this [ 4] + " " + this [ 5] + " " + this [ 6] + " " + this [ 7] + " " +
-			       this [ 8] + " " + this [ 9] + " " + this [10] + " " + this [11] + " " +
-			       this [12] + " " + this [13] + " " + this [14] + " " + this [15]
-		},
-	};
-
-	Object .defineProperty (Matrix4 .prototype, "x",
-	{
-		get: (function ()
-		{
-			const vector = new Vector4 (0, 0, 0, 0);
-
-			return function () { return vector .set (this [0], this [1], this [2], this [3]); };
-		})(),
-		enumerable: false,
-		configurable: false
-	});
-
-	Object .defineProperty (Matrix4 .prototype, "y",
-	{
-		get: (function ()
-		{
-			const vector = new Vector4 (0, 0, 0, 0);
-
-			return function () { return vector .set (this [4], this [5], this [6], this [7]); };
-		})(),
-		enumerable: false,
-		configurable: false
-	});
-
-	Object .defineProperty (Matrix4 .prototype, "z",
-	{
-		get: (function ()
-		{
-			const vector = new Vector4 (0, 0, 0, 0);
-
-			return function () { return vector .set (this [8], this [9], this [10], this [11]); };
-		})(),
-		enumerable: false,
-		configurable: false
-	});
-
-	Object .defineProperty (Matrix4 .prototype, "xAxis",
-	{
-		get: (function ()
-		{
-			const vector = new Vector3 (0, 0, 0);
-
-			return function () { return vector .set (this [0], this [1], this [2]); };
-		})(),
-		enumerable: false,
-		configurable: false
-	});
-
-	Object .defineProperty (Matrix4 .prototype, "yAxis",
-	{
-		get: (function ()
-		{
-			const vector = new Vector3 (0, 0, 0);
-
-			return function () { return vector .set (this [4], this [5], this [6]); };
-		})(),
-		enumerable: false,
-		configurable: false
-	});
-
-	Object .defineProperty (Matrix4 .prototype, "zAxis",
-	{
-		get: (function ()
-		{
-			const vector = new Vector3 (0, 0, 0);
-
-			return function () { return vector .set (this [8], this [9], this [10]); };
-		})(),
-		enumerable: false,
-		configurable: false
-	});
-
-	Object .defineProperty (Matrix4 .prototype, "origin",
-	{
-		get: (function ()
-		{
-			const vector = new Vector3 (0, 0, 0);
-
-			return function () { return vector .set (this [12], this [13], this [14]); };
-		})(),
-		enumerable: false,
-		configurable: false
-	});
-
-	Object .defineProperty (Matrix4 .prototype, "submatrix",
-	{
-		get: (function ()
-		{
-			const matrix = new Matrix3 ();
-
-			return function ()
-			{
-				matrix [0] = this [0]; matrix [1] = this [1]; matrix [2] = this [ 2];
-				matrix [3] = this [4]; matrix [4] = this [5]; matrix [5] = this [ 6];
-				matrix [6] = this [8]; matrix [7] = this [9]; matrix [8] = this [10];
-				return matrix;
-			};
-		})(),
-		enumerable: false,
-		configurable: false
-	});
-
-	Object .assign (Matrix4,
-	{
-		Identity: new Matrix4 (),
-		Rotation: function (rotation)
-		{
-			return Object .create (this .prototype) .setQuaternion (rotation .value);
-		},
-		Quaternion: function (quaternion)
-		{
-			return Object .create (this .prototype) .setQuaternion (quaternion);
-		},
-		Matrix3: function (matrix)
-		{
-			return new Matrix4 (matrix [0], matrix [1], matrix [2], 0,
-			                    matrix [3], matrix [4], matrix [5], 0,
-			                    matrix [6], matrix [7], matrix [8], 0,
-			                    0, 0, 0, 1);
-		},
-		transpose: function (matrix)
-		{
-			return matrix .copy () .transpose ();
-		},
-		inverse: function (matrix)
-		{
-			return matrix .copy () .inverse ();
-		},
-		multLeft: function (lhs, rhs)
-		{
-			return lhs .copy () .multLeft (rhs);
-		},
-		multRight: function (lhs, rhs)
-		{
-			return lhs .copy () .multRight (rhs);
-		},
-	});
-
-	const rotateMatrix = new Matrix4 ();
-
-	return Matrix4;
+   function Matrix4 ()
+   {
+      if (arguments .length)
+      {
+         this [ 0] = arguments [ 0];
+         this [ 1] = arguments [ 1];
+         this [ 2] = arguments [ 2];
+         this [ 3] = arguments [ 3];
+         this [ 4] = arguments [ 4];
+         this [ 5] = arguments [ 5];
+         this [ 6] = arguments [ 6];
+         this [ 7] = arguments [ 7];
+         this [ 8] = arguments [ 8];
+         this [ 9] = arguments [ 9];
+         this [10] = arguments [10];
+         this [11] = arguments [11];
+         this [12] = arguments [12];
+         this [13] = arguments [13];
+         this [14] = arguments [14];
+         this [15] = arguments [15];
+      }
+      else
+      {
+         this .identity ();
+      }
+   }
+
+   Matrix4 .prototype =
+   {
+      constructor: Matrix4,
+      order: 4,
+      length: 16,
+      copy: function ()
+      {
+         const copy = Object .create (Matrix4 .prototype);
+         copy [ 0] = this [ 0];
+         copy [ 1] = this [ 1];
+         copy [ 2] = this [ 2];
+         copy [ 3] = this [ 3];
+         copy [ 4] = this [ 4];
+         copy [ 5] = this [ 5];
+         copy [ 6] = this [ 6];
+         copy [ 7] = this [ 7];
+         copy [ 8] = this [ 8];
+         copy [ 9] = this [ 9];
+         copy [10] = this [10];
+         copy [11] = this [11];
+         copy [12] = this [12];
+         copy [13] = this [13];
+         copy [14] = this [14];
+         copy [15] = this [15];
+         return copy;
+      },
+      assign: function (matrix)
+      {
+         this [ 0] = matrix [ 0];
+         this [ 1] = matrix [ 1];
+         this [ 2] = matrix [ 2];
+         this [ 3] = matrix [ 3];
+         this [ 4] = matrix [ 4];
+         this [ 5] = matrix [ 5];
+         this [ 6] = matrix [ 6];
+         this [ 7] = matrix [ 7];
+         this [ 8] = matrix [ 8];
+         this [ 9] = matrix [ 9];
+         this [10] = matrix [10];
+         this [11] = matrix [11];
+         this [12] = matrix [12];
+         this [13] = matrix [13];
+         this [14] = matrix [14];
+         this [15] = matrix [15];
+         return this;
+      },
+      equals: function (matrix)
+      {
+         return this [ 0] === matrix [ 0] &&
+                this [ 1] === matrix [ 1] &&
+                this [ 2] === matrix [ 2] &&
+                this [ 3] === matrix [ 3] &&
+                this [ 4] === matrix [ 4] &&
+                this [ 5] === matrix [ 5] &&
+                this [ 6] === matrix [ 6] &&
+                this [ 7] === matrix [ 7] &&
+                this [ 8] === matrix [ 8] &&
+                this [ 9] === matrix [ 9] &&
+                this [10] === matrix [10] &&
+                this [11] === matrix [11] &&
+                this [12] === matrix [12] &&
+                this [13] === matrix [13] &&
+                this [14] === matrix [14] &&
+                this [15] === matrix [15];
+      },
+      set1: function (r, c, value)
+      {
+         this [r * this .order + c] = value;
+
+         return this;
+      },
+      get1: function (r, c)
+      {
+         return this [r * this .order + c];
+      },
+      set: function (translation, rotation, scale, scaleOrientation, center)
+      {
+         switch (arguments .length)
+         {
+            case 0:
+            {
+               this .identity ();
+               break;
+            }
+            case 1:
+            {
+               if (translation === null) translation = Vector3 .Zero;
+
+               this .identity ();
+               this .translate (translation);
+               break;
+            }
+            case 2:
+            {
+               if (translation === null) translation = Vector3 .Zero;
+               if (rotation    === null) rotation    = Rotation4 .Identity;
+
+               this .identity ();
+               this .translate (translation);
+
+               if (! rotation .equals (Rotation4 .Identity))
+                  this .rotate (rotation);
+
+               break;
+            }
+            case 3:
+            {
+               if (translation === null) translation = Vector3 .Zero;
+               if (rotation    === null) rotation    = Rotation4 .Identity;
+               if (scale       === null) scale       = Vector3 .One;
+
+               this .identity ();
+               this .translate (translation);
+
+               if (! rotation .equals (Rotation4 .Identity))
+                  this .rotate (rotation);
+
+               if (! scale .equals (Vector3 .One))
+                  this .scale  (scale);
+
+               break;
+            }
+            case 4:
+            {
+               if (translation      === null) translation      = Vector3 .Zero;
+               if (rotation         === null) rotation         = Rotation4 .Identity;
+               if (scale            === null) scale            = Vector3 .One;
+               if (scaleOrientation === null) scaleOrientation = Rotation4 .Identity;
+
+               this .identity ();
+               this .translate (translation);
+
+               if (! rotation .equals (Rotation4 .Identity))
+                  this .rotate (rotation);
+
+               if (! scale .equals (Vector3 .One))
+               {
+                  const hasScaleOrientation = ! scaleOrientation .equals (Rotation4 .Identity);
+
+                  if (hasScaleOrientation)
+                  {
+                     this .rotate (scaleOrientation);
+                     this .scale (scale);
+                     this .rotate (Rotation4 .inverse (scaleOrientation));
+                  }
+                  else
+                     this .scale (scale);
+               }
+
+               break;
+            }
+            case 5:
+            {
+               if (translation      === null) translation      = Vector3 .Zero;
+               if (rotation         === null) rotation         = Rotation4 .Identity;
+               if (scale            === null) scale            = Vector3 .One;
+               if (scaleOrientation === null) scaleOrientation = Rotation4 .Identity;
+               if (center           === null) center           = Vector3 .Zero;
+
+               // P' = T * C * R * SR * S * -SR * -C * P
+               this .identity ();
+               this .translate (translation);
+
+               const hasCenter = ! center .equals (Vector3 .Zero);
+
+               if (hasCenter)
+                  this .translate (center);
+
+               if (! rotation .equals (Rotation4 .Identity))
+                  this .rotate (rotation);
+
+               if (! scale .equals (Vector3 .One))
+               {
+                  if (! scaleOrientation .equals (Rotation4 .Identity))
+                  {
+                     this .rotate (scaleOrientation);
+                     this .scale (scale);
+                     this .rotate (Rotation4 .inverse (scaleOrientation));
+                  }
+                  else
+                     this .scale (scale);
+               }
+
+               if (hasCenter)
+                  this .translate (Vector3 .negate (center));
+
+               break;
+            }
+            case 16:
+            {
+               this [ 0] = arguments [ 0];
+               this [ 1] = arguments [ 1];
+               this [ 2] = arguments [ 2];
+               this [ 3] = arguments [ 3];
+               this [ 4] = arguments [ 4];
+               this [ 5] = arguments [ 5];
+               this [ 6] = arguments [ 6];
+               this [ 7] = arguments [ 7];
+               this [ 8] = arguments [ 8];
+               this [ 9] = arguments [ 9];
+               this [10] = arguments [10];
+               this [11] = arguments [11];
+               this [12] = arguments [12];
+               this [13] = arguments [13];
+               this [14] = arguments [14];
+               this [15] = arguments [15];
+               break;
+            }
+         }
+
+         return this;
+      },
+      get: (function ()
+      {
+         const
+            dummyTranslation      = new Vector3 (0, 0, 0),
+            dummyRotation         = new Rotation4 (),
+            dummyScale            = new Vector3 (0, 0, 0),
+            dummyScaleOrientation = new Rotation4 (),
+            dummyCenter           = new Vector3 (0, 0, 0),
+            rot                   = new Matrix3 (),
+            so                    = new Matrix3 (),
+            c                     = new Vector3 (0, 0, 0);
+
+         return function (translation, rotation, scale, scaleOrientation, center)
+         {
+            if (translation      === null) translation      = dummyTranslation;
+            if (rotation         === null) rotation         = dummyRotation;
+            if (scale            === null) scale            = dummyScale;
+            if (scaleOrientation === null) scaleOrientation = dummyScaleOrientation;
+            if (center           === null) center           = dummyCenter;
+
+            switch (arguments .length)
+            {
+               case 1:
+               {
+                  translation .set (this [12], this [13], this [14]);
+                  break;
+               }
+               case 2:
+               {
+                  this .factor (translation, rot, dummyScale, so);
+                  rotation .setMatrix (rot);
+                  break;
+               }
+               case 3:
+               {
+                  this .factor (translation, rot, scale, so);
+                  rotation .setMatrix (rot);
+                  break;
+               }
+               case 4:
+               {
+                  this .factor (translation, rot, scale, so);
+                  rotation         .setMatrix (rot);
+                  scaleOrientation .setMatrix (so);
+                  break;
+               }
+               case 5:
+               {
+                  const m = new Matrix4 ();
+
+                  m .set (c .assign (center) .negate ());
+                  m .multLeft (this);
+                  m .translate (center);
+
+                  m .get (translation, rotation, scale, scaleOrientation);
+                  break;
+               }
+            }
+         };
+      })(),
+      setRotation: function (rotation)
+      {
+         return this .setQuaternion (rotation .value);
+      },
+      setQuaternion: function (quaternion)
+      {
+         const
+            x = quaternion .x,
+            y = quaternion .y,
+            z = quaternion .z,
+            w = quaternion .w,
+            A = y * y,
+            B = z * z,
+            C = x * y,
+            D = z * w,
+            E = z * x,
+            F = y * w,
+            G = x * x,
+            H = y * z,
+            I = x * w;
+
+         this [0]  = 1 - 2 * (A + B);
+         this [1]  = 2 * (C + D);
+         this [2]  = 2 * (E - F);
+         this [3]  = 0;
+         this [4]  = 2 * (C - D);
+         this [5]  = 1 - 2 * (B + G);
+         this [6]  = 2 * (H + I);
+         this [7]  = 0;
+         this [8]  = 2 * (E + F);
+         this [9]  = 2 * (H - I);
+         this [10] = 1 - 2 * (A + G);
+         this [11] = 0;
+         this [12] = 0;
+         this [13] = 0;
+         this [14] = 0;
+         this [15] = 1;
+
+         return this;
+      },
+      factor: (function ()
+      {
+         const
+            si = new Matrix3 (),
+            u  = new Matrix3 (),
+            b  = new Matrix3 ();
+
+         const eigen = { values: [ ], vectors: [[ ], [ ], [ ]] };
+
+         return function (translation, rotation, scale, scaleOrientation)
+         {
+            // (1) Get translation.
+            translation .set (this [12], this [13], this [14]);
+
+            // (2) Create 3x3 matrix.
+            const a = this .submatrix;
+
+            // (3) Compute det A. If negative, set sign = -1, else sign = 1
+            const det      = a .determinant ();
+            const det_sign = det < 0 ? -1 : 1;
+
+            if (det === 0)
+               throw new Error ("Matrix4 .factor: determinant is 0.");
+
+            // (4) B = A * !A  (here !A means A transpose)
+            b .assign (a) .transpose () .multLeft (a);
+            const e = eigendecomposition (b, eigen);
+
+            // Find min / max eigenvalues and do ratio test to determine singularity.
+
+            scaleOrientation .set (e .vectors [0] [0], e .vectors [1] [0], e .vectors [2] [0],
+                                   e .vectors [0] [1], e .vectors [1] [1], e .vectors [2] [1],
+                                   e .vectors [0] [2], e .vectors [1] [2], e .vectors [2] [2]);
+
+            // Compute s = sqrt(evalues), with sign. Set si = s-inverse
+
+            scale .x = det_sign * Math .sqrt (e .values [0]);
+            scale .y = det_sign * Math .sqrt (e .values [1]);
+            scale .z = det_sign * Math .sqrt (e .values [2]);
+
+            si [0] = 1 / scale .x;
+            si [4] = 1 / scale .y;
+            si [8] = 1 / scale .z;
+
+            // (5) Compute U = !R ~S R A.
+            rotation .assign (u .assign (scaleOrientation) .transpose () .multRight (si) .multRight (scaleOrientation) .multRight (a));
+         };
+      })(),
+      determinant3: function ()
+      {
+         const
+            m00 = this [0], m01 = this [1], m02 = this [ 2],
+            m04 = this [4], m05 = this [5], m06 = this [ 6],
+            m08 = this [8], m09 = this [9], m10 = this [10];
+
+         return m00 * (m05 * m10 - m06 * m09) -
+                m01 * (m04 * m10 - m06 * m08) +
+                m02 * (m04 * m09 - m05 * m08);
+      },
+      determinant: function ()
+      {
+         const
+            m00 = this [ 0],
+            m01 = this [ 1],
+            m02 = this [ 2],
+            m03 = this [ 3],
+            m04 = this [ 4],
+            m05 = this [ 5],
+            m06 = this [ 6],
+            m07 = this [ 7],
+            m08 = this [ 8],
+            m09 = this [ 9],
+            m10 = this [10],
+            m11 = this [11],
+            m12 = this [12],
+            m13 = this [13],
+            m14 = this [14],
+            m15 = this [15],
+            b = m10 * m15,
+            c = m14 * m11,
+            d = m06 * m15,
+            e = m14 * m07,
+            f = m06 * m11,
+            g = m10 * m07,
+            h = m02 * m15,
+            i = m14 * m03,
+            j = m02 * m11,
+            o = m10 * m03,
+            r = m02 * m07,
+            x = m06 * m03,
+            H = b * m05 + e * m09 + f * m13 - (c * m05) - (d * m09) - (g * m13),
+            I = c * m01 + h * m09 + o * m13 - (b * m01) - (i * m09) - (j * m13),
+            J = d * m01 + i * m05 + r * m13 - (e * m01) - (h * m05) - (x * m13),
+            K = g * m01 + j * m05 + x * m09 - (f * m01) - (o * m05) - (r * m09);
+
+         return m00 * H + m04 * I + m08 * J + m12 * K;
+      },
+      transpose: function ()
+      {
+         let tmp;
+
+         tmp = this [ 1]; this [ 1] = this [ 4]; this [ 4] = tmp;
+         tmp = this [ 2]; this [ 2] = this [ 8]; this [ 8] = tmp;
+         tmp = this [ 3]; this [ 3] = this [12]; this [12] = tmp;
+         tmp = this [ 6]; this [ 6] = this [ 9]; this [ 9] = tmp;
+         tmp = this [ 7]; this [ 7] = this [13]; this [13] = tmp;
+         tmp = this [11]; this [11] = this [14]; this [14] = tmp;
+
+         return this;
+      },
+      inverse: function ()
+      {
+         const
+            m00 = this [ 0],
+            m01 = this [ 1],
+            m02 = this [ 2],
+            m03 = this [ 3],
+            m04 = this [ 4],
+            m05 = this [ 5],
+            m06 = this [ 6],
+            m07 = this [ 7],
+            m08 = this [ 8],
+            m09 = this [ 9],
+            m10 = this [10],
+            m11 = this [11],
+            m12 = this [12],
+            m13 = this [13],
+            m14 = this [14],
+            m15 = this [15],
+            b = m10 * m15,
+            c = m14 * m11,
+            d = m06 * m15,
+            e = m14 * m07,
+            f = m06 * m11,
+            g = m10 * m07,
+            h = m02 * m15,
+            i = m14 * m03,
+            j = m02 * m11,
+            o = m10 * m03,
+            r = m02 * m07,
+            x = m06 * m03,
+            t = m08 * m13,
+            p = m12 * m09,
+            v = m04 * m13,
+            s = m12 * m05,
+            y = m04 * m09,
+            z = m08 * m05,
+            A = m00 * m13,
+            C = m12 * m01,
+            D = m00 * m09,
+            E = m08 * m01,
+            F = m00 * m05,
+            G = m04 * m01,
+            H = b * m05 + e * m09 + f * m13 - ((c * m05) + (d * m09) + (g * m13)),
+            I = c * m01 + h * m09 + o * m13 - ((b * m01) + (i * m09) + (j * m13)),
+            J = d * m01 + i * m05 + r * m13 - ((e * m01) + (h * m05) + (x * m13)),
+            K = g * m01 + j * m05 + x * m09 - ((f * m01) + (o * m05) + (r * m09));
+
+         let B = m00 * H + m04 * I + m08 * J + m12 * K;
+
+         if (B === 0)
+            throw new Error ("Matrix4 .inverse: determinant is 0.");
+
+         B = 1 / B;
+
+         this [ 0] = B * H;
+         this [ 1] = B * I;
+         this [ 2] = B * J;
+         this [ 3] = B * K;
+         this [ 4] = B * (c * m04 + d * m08 + g * m12 - (b * m04) - (e * m08) - (f * m12));
+         this [ 5] = B * (b * m00 + i * m08 + j * m12 - (c * m00) - (h * m08) - (o * m12));
+         this [ 6] = B * (e * m00 + h * m04 + x * m12 - (d * m00) - (i * m04) - (r * m12));
+         this [ 7] = B * (f * m00 + o * m04 + r * m08 - (g * m00) - (j * m04) - (x * m08));
+         this [ 8] = B * (t * m07 + s * m11 + y * m15 - (p * m07) - (v * m11) - (z * m15));
+         this [ 9] = B * (p * m03 + A * m11 + E * m15 - (t * m03) - (C * m11) - (D * m15));
+         this [10] = B * (v * m03 + C * m07 + F * m15 - (s * m03) - (A * m07) - (G * m15));
+         this [11] = B * (z * m03 + D * m07 + G * m11 - (y * m03) - (E * m07) - (F * m11));
+         this [12] = B * (v * m10 + z * m14 + p * m06 - (y * m14) - (t * m06) - (s * m10));
+         this [13] = B * (D * m14 + t * m02 + C * m10 - (A * m10) - (E * m14) - (p * m02));
+         this [14] = B * (A * m06 + G * m14 + s * m02 - (F * m14) - (v * m02) - (C * m06));
+         this [15] = B * (F * m10 + y * m02 + E * m06 - (D * m06) - (G * m10) - (z * m02));
+
+         return this;
+      },
+      multLeft: function (matrix)
+      {
+         const
+            a00 = this [ 0], a01 = this [ 1], a02 = this [ 2], a03 = this [ 3],
+            a04 = this [ 4], a05 = this [ 5], a06 = this [ 6], a07 = this [ 7],
+            a08 = this [ 8], a09 = this [ 9], a10 = this [10], a11 = this [11],
+            a12 = this [12], a13 = this [13], a14 = this [14], a15 = this [15],
+            b00 = matrix [ 0], b01 = matrix [ 1], b02 = matrix [ 2], b03 = matrix [ 3],
+            b04 = matrix [ 4], b05 = matrix [ 5], b06 = matrix [ 6], b07 = matrix [ 7],
+            b08 = matrix [ 8], b09 = matrix [ 9], b10 = matrix [10], b11 = matrix [11],
+            b12 = matrix [12], b13 = matrix [13], b14 = matrix [14], b15 = matrix [15];
+
+         this [ 0] = a00 * b00 + a04 * b01 + a08 * b02 + a12 * b03;
+         this [ 1] = a01 * b00 + a05 * b01 + a09 * b02 + a13 * b03;
+         this [ 2] = a02 * b00 + a06 * b01 + a10 * b02 + a14 * b03;
+         this [ 3] = a03 * b00 + a07 * b01 + a11 * b02 + a15 * b03;
+         this [ 4] = a00 * b04 + a04 * b05 + a08 * b06 + a12 * b07;
+         this [ 5] = a01 * b04 + a05 * b05 + a09 * b06 + a13 * b07;
+         this [ 6] = a02 * b04 + a06 * b05 + a10 * b06 + a14 * b07;
+         this [ 7] = a03 * b04 + a07 * b05 + a11 * b06 + a15 * b07;
+         this [ 8] = a00 * b08 + a04 * b09 + a08 * b10 + a12 * b11;
+         this [ 9] = a01 * b08 + a05 * b09 + a09 * b10 + a13 * b11;
+         this [10] = a02 * b08 + a06 * b09 + a10 * b10 + a14 * b11;
+         this [11] = a03 * b08 + a07 * b09 + a11 * b10 + a15 * b11;
+         this [12] = a00 * b12 + a04 * b13 + a08 * b14 + a12 * b15;
+         this [13] = a01 * b12 + a05 * b13 + a09 * b14 + a13 * b15;
+         this [14] = a02 * b12 + a06 * b13 + a10 * b14 + a14 * b15;
+         this [15] = a03 * b12 + a07 * b13 + a11 * b14 + a15 * b15;
+
+         return this;
+      },
+      multRight: function (matrix)
+      {
+         const
+            a00 = this [ 0], a01 = this [ 1], a02 = this [ 2], a03 = this [ 3],
+            a04 = this [ 4], a05 = this [ 5], a06 = this [ 6], a07 = this [ 7],
+            a08 = this [ 8], a09 = this [ 9], a10 = this [10], a11 = this [11],
+            a12 = this [12], a13 = this [13], a14 = this [14], a15 = this [15],
+            b00 = matrix [ 0], b01 = matrix [ 1], b02 = matrix [ 2], b03 = matrix [ 3],
+            b04 = matrix [ 4], b05 = matrix [ 5], b06 = matrix [ 6], b07 = matrix [ 7],
+            b08 = matrix [ 8], b09 = matrix [ 9], b10 = matrix [10], b11 = matrix [11],
+            b12 = matrix [12], b13 = matrix [13], b14 = matrix [14], b15 = matrix [15];
+
+         this [ 0] = a00 * b00 + a01 * b04 + a02 * b08 + a03 * b12;
+         this [ 1] = a00 * b01 + a01 * b05 + a02 * b09 + a03 * b13;
+         this [ 2] = a00 * b02 + a01 * b06 + a02 * b10 + a03 * b14;
+         this [ 3] = a00 * b03 + a01 * b07 + a02 * b11 + a03 * b15;
+         this [ 4] = a04 * b00 + a05 * b04 + a06 * b08 + a07 * b12;
+         this [ 5] = a04 * b01 + a05 * b05 + a06 * b09 + a07 * b13;
+         this [ 6] = a04 * b02 + a05 * b06 + a06 * b10 + a07 * b14;
+         this [ 7] = a04 * b03 + a05 * b07 + a06 * b11 + a07 * b15;
+         this [ 8] = a08 * b00 + a09 * b04 + a10 * b08 + a11 * b12;
+         this [ 9] = a08 * b01 + a09 * b05 + a10 * b09 + a11 * b13;
+         this [10] = a08 * b02 + a09 * b06 + a10 * b10 + a11 * b14;
+         this [11] = a08 * b03 + a09 * b07 + a10 * b11 + a11 * b15;
+         this [12] = a12 * b00 + a13 * b04 + a14 * b08 + a15 * b12;
+         this [13] = a12 * b01 + a13 * b05 + a14 * b09 + a15 * b13;
+         this [14] = a12 * b02 + a13 * b06 + a14 * b10 + a15 * b14;
+         this [15] = a12 * b03 + a13 * b07 + a14 * b11 + a15 * b15;
+
+         return this;
+      },
+      multVecMatrix: function (vector)
+      {
+         if (vector .length === 3)
+         {
+            const
+               x = vector .x,
+               y = vector .y,
+               z = vector .z,
+               w = 1 / (x * this [3] + y * this [7] + z * this [11] + this [15]);
+
+            vector .x = (x * this [0] + y * this [4] + z * this [ 8] + this [12]) * w;
+            vector .y = (x * this [1] + y * this [5] + z * this [ 9] + this [13]) * w;
+            vector .z = (x * this [2] + y * this [6] + z * this [10] + this [14]) * w;
+
+            return vector;
+         }
+
+         const
+            x = vector .x,
+            y = vector .y,
+            z = vector .z,
+            w = vector .w;
+
+         vector .x = x * this [0] + y * this [4] + z * this [ 8] + w * this [12];
+         vector .y = x * this [1] + y * this [5] + z * this [ 9] + w * this [13];
+         vector .z = x * this [2] + y * this [6] + z * this [10] + w * this [14];
+         vector .w = x * this [3] + y * this [7] + z * this [11] + w * this [15];
+
+         return vector;
+      },
+      multMatrixVec: function (vector)
+      {
+         if (vector .length === 3)
+         {
+            const
+               x = vector .x,
+               y = vector .y,
+               z = vector .z,
+               w = 1 / (x * this [12] + y * this [13] + z * this [14] + this [15]);
+
+            vector .x = (x * this [0] + y * this [1] + z * this [ 2] + this [ 3]) * w;
+            vector .y = (x * this [4] + y * this [5] + z * this [ 6] + this [ 7]) * w;
+            vector .z = (x * this [8] + y * this [9] + z * this [10] + this [11]) * w;
+
+            return vector;
+         }
+
+         const
+            x = vector .x,
+            y = vector .y,
+            z = vector .z,
+            w = vector .w;
+
+         vector .x = x * this [ 0] + y * this [ 1] + z * this [ 2] + w * this [ 3];
+         vector .y = x * this [ 4] + y * this [ 5] + z * this [ 6] + w * this [ 7];
+         vector .z = x * this [ 8] + y * this [ 9] + z * this [10] + w * this [11];
+         vector .w = x * this [12] + y * this [13] + z * this [14] + w * this [15];
+
+         return vector;
+      },
+      multDirMatrix: function (vector)
+      {
+         const
+            x = vector .x,
+            y = vector .y,
+            z = vector .z;
+
+         vector .x = x * this [0] + y * this [4] + z * this [ 8];
+         vector .y = x * this [1] + y * this [5] + z * this [ 9];
+         vector .z = x * this [2] + y * this [6] + z * this [10];
+
+         return vector;
+      },
+      multMatrixDir: function (vector)
+      {
+         const
+            x = vector .x,
+            y = vector .y,
+            z = vector .z;
+
+         vector .x = x * this [0] + y * this [1] + z * this [ 2];
+         vector .y = x * this [4] + y * this [5] + z * this [ 6];
+         vector .z = x * this [8] + y * this [9] + z * this [10];
+
+         return vector;
+      },
+      identity: function ()
+      {
+         this [ 0] = 1; this [ 1] = 0; this [ 2] = 0; this [ 3] = 0;
+         this [ 4] = 0; this [ 5] = 1; this [ 6] = 0; this [ 7] = 0;
+         this [ 8] = 0; this [ 9] = 0; this [10] = 1; this [11] = 0;
+         this [12] = 0; this [13] = 0; this [14] = 0; this [15] = 1;
+      },
+      translate: function (translation)
+      {
+         const
+            x = translation .x,
+            y = translation .y,
+            z = translation .z;
+
+         this [12] += this [ 0] * x + this [ 4] * y + this [ 8] * z;
+         this [13] += this [ 1] * x + this [ 5] * y + this [ 9] * z;
+         this [14] += this [ 2] * x + this [ 6] * y + this [10] * z;
+
+         return this;
+      },
+      rotate: function (rotation)
+      {
+         this .multLeft (rotateMatrix .setQuaternion (rotation .value));
+
+         return this;
+      },
+      scale: function (scale)
+      {
+         const
+            x = scale .x,
+            y = scale .y,
+            z = scale .z;
+
+         this [ 0] *= x;
+         this [ 4] *= y;
+         this [ 8] *= z;
+
+         this [ 1] *= x;
+         this [ 5] *= y;
+         this [ 9] *= z;
+
+         this [ 2] *= x;
+         this [ 6] *= y;
+         this [10] *= z;
+
+         return this;
+      },
+      getDepth: function (vector)
+      {
+         const
+            x = vector .x,
+            y = vector .y,
+            z = vector .z,
+            w = 1 / (x * this [3] + y * this [7] + z * this [11] + this [15]);
+
+         return (x * this [2] + y * this [6] + z * this [10] + this [14]) * w;
+      },
+      toString: function ()
+      {
+         return this [ 0] + " " + this [ 1] + " " + this [ 2] + " " + this [ 3] + " " +
+                this [ 4] + " " + this [ 5] + " " + this [ 6] + " " + this [ 7] + " " +
+                this [ 8] + " " + this [ 9] + " " + this [10] + " " + this [11] + " " +
+                this [12] + " " + this [13] + " " + this [14] + " " + this [15]
+      },
+   };
+
+   Object .defineProperty (Matrix4 .prototype, "x",
+   {
+      get: (function ()
+      {
+         const vector = new Vector4 (0, 0, 0, 0);
+
+         return function () { return vector .set (this [0], this [1], this [2], this [3]); };
+      })(),
+      enumerable: false,
+      configurable: false
+   });
+
+   Object .defineProperty (Matrix4 .prototype, "y",
+   {
+      get: (function ()
+      {
+         const vector = new Vector4 (0, 0, 0, 0);
+
+         return function () { return vector .set (this [4], this [5], this [6], this [7]); };
+      })(),
+      enumerable: false,
+      configurable: false
+   });
+
+   Object .defineProperty (Matrix4 .prototype, "z",
+   {
+      get: (function ()
+      {
+         const vector = new Vector4 (0, 0, 0, 0);
+
+         return function () { return vector .set (this [8], this [9], this [10], this [11]); };
+      })(),
+      enumerable: false,
+      configurable: false
+   });
+
+   Object .defineProperty (Matrix4 .prototype, "xAxis",
+   {
+      get: (function ()
+      {
+         const vector = new Vector3 (0, 0, 0);
+
+         return function () { return vector .set (this [0], this [1], this [2]); };
+      })(),
+      enumerable: false,
+      configurable: false
+   });
+
+   Object .defineProperty (Matrix4 .prototype, "yAxis",
+   {
+      get: (function ()
+      {
+         const vector = new Vector3 (0, 0, 0);
+
+         return function () { return vector .set (this [4], this [5], this [6]); };
+      })(),
+      enumerable: false,
+      configurable: false
+   });
+
+   Object .defineProperty (Matrix4 .prototype, "zAxis",
+   {
+      get: (function ()
+      {
+         const vector = new Vector3 (0, 0, 0);
+
+         return function () { return vector .set (this [8], this [9], this [10]); };
+      })(),
+      enumerable: false,
+      configurable: false
+   });
+
+   Object .defineProperty (Matrix4 .prototype, "origin",
+   {
+      get: (function ()
+      {
+         const vector = new Vector3 (0, 0, 0);
+
+         return function () { return vector .set (this [12], this [13], this [14]); };
+      })(),
+      enumerable: false,
+      configurable: false
+   });
+
+   Object .defineProperty (Matrix4 .prototype, "submatrix",
+   {
+      get: (function ()
+      {
+         const matrix = new Matrix3 ();
+
+         return function ()
+         {
+            matrix [0] = this [0]; matrix [1] = this [1]; matrix [2] = this [ 2];
+            matrix [3] = this [4]; matrix [4] = this [5]; matrix [5] = this [ 6];
+            matrix [6] = this [8]; matrix [7] = this [9]; matrix [8] = this [10];
+            return matrix;
+         };
+      })(),
+      enumerable: false,
+      configurable: false
+   });
+
+   Object .assign (Matrix4,
+   {
+      Identity: new Matrix4 (),
+      Rotation: function (rotation)
+      {
+         return Object .create (this .prototype) .setQuaternion (rotation .value);
+      },
+      Quaternion: function (quaternion)
+      {
+         return Object .create (this .prototype) .setQuaternion (quaternion);
+      },
+      Matrix3: function (matrix)
+      {
+         return new Matrix4 (matrix [0], matrix [1], matrix [2], 0,
+                             matrix [3], matrix [4], matrix [5], 0,
+                             matrix [6], matrix [7], matrix [8], 0,
+                             0, 0, 0, 1);
+      },
+      transpose: function (matrix)
+      {
+         return matrix .copy () .transpose ();
+      },
+      inverse: function (matrix)
+      {
+         return matrix .copy () .inverse ();
+      },
+      multLeft: function (lhs, rhs)
+      {
+         return lhs .copy () .multLeft (rhs);
+      },
+      multRight: function (lhs, rhs)
+      {
+         return lhs .copy () .multRight (rhs);
+      },
+   });
+
+   const rotateMatrix = new Matrix4 ();
+
+   return Matrix4;
 });