diff --git a/README.md b/README.md
index b2dc96c..d269584 100644
--- a/README.md
+++ b/README.md
@@ -101,7 +101,7 @@ There is also the minified version
 import {
   vec3,
   mat4,
-} from 'https://wgpu-matrix.org/dist/2.x/wgpu-matrix.module.min.js';
+} from 'https://wgpu-matrix.org/dist/2.x/wgpu-matrix.module.js';
 
 // ... etc ...
 ```
diff --git a/dist/2.x/wgpu-matrix.js b/dist/2.x/wgpu-matrix.js
index 81c44fd..0c521ac 100644
--- a/dist/2.x/wgpu-matrix.js
+++ b/dist/2.x/wgpu-matrix.js
@@ -1,4 +1,4 @@
-/* wgpu-matrix@2.8.0, license MIT */
+/* wgpu-matrix@2.8.1, license MIT */
 (function (global, factory) {
     typeof exports === 'object' && typeof module !== 'undefined' ? factory(exports) :
     typeof define === 'function' && define.amd ? define(['exports'], factory) :
@@ -404,8 +404,8 @@
     function angle$2(a, b) {
         const ax = a[0];
         const ay = a[1];
-        const bx = a[0];
-        const by = a[1];
+        const bx = b[0];
+        const by = b[1];
         const mag1 = Math.sqrt(ax * ax + ay * ay);
         const mag2 = Math.sqrt(bx * bx + by * by);
         const mag = mag1 * mag2;
@@ -1851,9 +1851,9 @@
         const ax = a[0];
         const ay = a[1];
         const az = a[2];
-        const bx = a[0];
-        const by = a[1];
-        const bz = a[2];
+        const bx = b[0];
+        const by = b[1];
+        const bz = b[2];
         const mag1 = Math.sqrt(ax * ax + ay * ay + az * az);
         const mag2 = Math.sqrt(bx * bx + by * by + bz * bz);
         const mag = mag1 * mag2;
diff --git a/dist/2.x/wgpu-matrix.js.map b/dist/2.x/wgpu-matrix.js.map
index 17baa31..3bf2a5a 100644
--- a/dist/2.x/wgpu-matrix.js.map
+++ b/dist/2.x/wgpu-matrix.js.map
@@ -1 +1 @@
-{"version":3,"file":"wgpu-matrix.js","sources":["../../../src/utils.ts","../../../src/vec2.ts","../../../src/vec3.ts","../../../src/vec2-impl.ts","../../../src/mat3-impl.ts","../../../src/vec3-impl.ts","../../../src/mat4-impl.ts","../../../src/quat.ts","../../../src/quat-impl.ts","../../../src/vec4.ts","../../../src/vec4-impl.ts","../../../src/wgpu-matrix.ts"],"sourcesContent":["/*\n * Copyright 2022 Gregg Tavares\n *\n * Permission is hereby granted, free of charge, to any person obtaining a\n * copy of this software and associated documentation files (the \"Software\"),\n * to deal in the Software without restriction, including without limitation\n * the rights to use, copy, modify, merge, publish, distribute, sublicense,\n * and/or sell copies of the Software, and to permit persons to whom the\n * Software is furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL\n * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER\n * DEALINGS IN THE SOFTWARE.\n */\n\nexport let EPSILON = 0.000001;\n\n/**\n * Set the value for EPSILON for various checks\n * @param v - Value to use for EPSILON.\n * @returns previous value of EPSILON;\n */\nexport function setEpsilon(v: number): number {\n  const old = EPSILON;\n  EPSILON = v;\n  return old;\n}\n\n/**\n * Convert degrees to radians\n * @param degrees - Angle in degrees\n * @returns angle converted to radians\n */\nexport function degToRad(degrees: number): number {\n  return degrees * Math.PI / 180;\n}\n\n/**\n * Convert radians to degrees\n * @param radians - Angle in radians\n * @returns angle converted to degrees\n */\nexport function radToDeg(radians: number): number {\n  return radians * 180 / Math.PI;\n}\n\n/**\n * Lerps between a and b via t\n * @param a - starting value\n * @param b - ending value\n * @param t - value where 0 = a and 1 = b\n * @returns a + (b - a) * t\n */\nexport function lerp(a: number, b: number, t: number): number {\n  return a + (b - a) * t;\n}\n\n/**\n * Compute the opposite of lerp. Given a and b and a value between\n * a and b returns a value between 0 and 1. 0 if a, 1 if b.\n * Note: no clamping is done.\n * @param a - start value\n * @param b - end value\n * @param v - value between a and b\n * @returns (v - a) / (b - a)\n */\nexport function inverseLerp(a: number, b: number, v: number): number {\n  const d = b - a;\n  return (Math.abs(b - a) < EPSILON)\n     ? a\n     : (v - a) / d;\n}\n\n/**\n * Compute the euclidean modulo\n *\n * ```\n * // table for n / 3\n * -5, -4, -3, -2, -1,  0,  1,  2,  3,  4,  5   <- n\n * ------------------------------------\n * -2  -1  -0  -2  -1   0,  1,  2,  0,  1,  2   <- n % 3\n *  1   2   0   1   2   0,  1,  2,  0,  1,  2   <- euclideanModule(n, 3)\n * ```\n *\n * @param n - dividend\n * @param m - divisor\n * @returns the euclidean modulo of n / m\n */\nexport function euclideanModulo(n: number, m: number) {\n  return ((n % m) + m) % m;\n}","/*\n * Copyright 2022 Gregg Tavares\n *\n * Permission is hereby granted, free of charge, to any person obtaining a\n * copy of this software and associated documentation files (the \"Software\"),\n * to deal in the Software without restriction, including without limitation\n * the rights to use, copy, modify, merge, publish, distribute, sublicense,\n * and/or sell copies of the Software, and to permit persons to whom the\n * Software is furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL\n * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER\n * DEALINGS IN THE SOFTWARE.\n */\n\n/**\n * A JavaScript array with 2 values, Float32Array with 2 values, or a Float64Array with 2 values.\n * When created by the library will create the default type which is `Float32Array`\n * but can be set by calling {@link vec2.setDefaultType}.\n */\nexport type Vec2 = number[] | Float32Array | Float64Array;\n\n/**\n *\n * Vec2 math functions.\n *\n * Almost all functions take an optional `dst` argument. If it is not passed in the\n * functions will create a new Vec2. In other words you can do this\n *\n *     const v = vec2.cross(v1, v2);  // Creates a new Vec2 with the cross product of v1 x v2.\n *\n * or\n *\n *     const v = vec2.create();\n *     vec2.cross(v1, v2, v);  // Puts the cross product of v1 x v2 in v\n *\n * The first style is often easier but depending on where it's used it generates garbage where\n * as there is almost never allocation with the second style.\n *\n * It is always safe to pass any vector as the destination. So for example\n *\n *     vec2.cross(v1, v2, v1);  // Puts the cross product of v1 x v2 in v1\n *\n */\n\nexport let VecType: new (n: number) => Vec2 = Float32Array;\n\n/**\n * Sets the type this library creates for a Vec2\n * @param ctor - the constructor for the type. Either `Float32Array`, `Float64Array`, or `Array`\n * @returns previous constructor for Vec2\n */\nexport function setDefaultType(ctor: new (n: number) => Vec2) {\n  const oldType = VecType;\n  VecType = ctor;\n  return oldType;\n}\n\n/**\n * Creates a Vec2; may be called with x, y, z to set initial values.\n *\n * Note: Since passing in a raw JavaScript array\n * is valid in all circumstances, if you want to\n * force a JavaScript array into a Vec2's specified type\n * it would be faster to use\n *\n * ```\n * const v = vec2.clone(someJSArray);\n * ```\n *\n * Note: a consequence of the implementation is if your Vec2Type = `Array`\n * instead of `Float32Array` or `Float64Array` then any values you\n * don't pass in will be undefined. Usually this is not an issue since\n * (a) using `Array` is rare and (b) using `vec2.create` is usually used\n * to create a Vec2 to be filled out as in\n *\n * ```\n * const sum = vec2.create();\n * vec2.add(v1, v2, sum);\n * ```\n *\n * @param x - Initial x value.\n * @param y - Initial y value.\n * @returns the created vector\n */\nexport function create(x = 0, y = 0): Vec2 {\n  const dst = new VecType(2);\n  if (x !== undefined) {\n    dst[0] = x;\n    if (y !== undefined) {\n      dst[1] = y;\n    }\n  }\n  return dst;\n}\n","/*\n * Copyright 2022 Gregg Tavares\n *\n * Permission is hereby granted, free of charge, to any person obtaining a\n * copy of this software and associated documentation files (the \"Software\"),\n * to deal in the Software without restriction, including without limitation\n * the rights to use, copy, modify, merge, publish, distribute, sublicense,\n * and/or sell copies of the Software, and to permit persons to whom the\n * Software is furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL\n * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER\n * DEALINGS IN THE SOFTWARE.\n */\n\n/**\n * A JavaScript array with 3 values, Float32Array with 3 values, or a Float64Array with 3 values.\n * When created by the library will create the default type which is `Float32Array`\n * but can be set by calling {@link vec3.setDefaultType}.\n */\nexport type Vec3 = number[] | Float32Array | Float64Array;\n\n/**\n *\n * Vec3 math functions.\n *\n * Almost all functions take an optional `dst` argument. If it is not passed in the\n * functions will create a new `Vec3`. In other words you can do this\n *\n *     const v = vec3.cross(v1, v2);  // Creates a new Vec3 with the cross product of v1 x v2.\n *\n * or\n *\n *     const v = vec3.create();\n *     vec3.cross(v1, v2, v);  // Puts the cross product of v1 x v2 in v\n *\n * The first style is often easier but depending on where it's used it generates garbage where\n * as there is almost never allocation with the second style.\n *\n * It is always safe to pass any vector as the destination. So for example\n *\n *     vec3.cross(v1, v2, v1);  // Puts the cross product of v1 x v2 in v1\n *\n */\n\nexport let VecType: new (n: number) => Vec3 = Float32Array;\n\n/**\n * Sets the type this library creates for a Vec3\n * @param ctor - the constructor for the type. Either `Float32Array`, `Float64Array`, or `Array`\n * @returns previous constructor for Vec3\n */\nexport function setDefaultType(ctor: new (n: number) => Vec3) {\n  const oldType = VecType;\n  VecType = ctor;\n  return oldType;\n}\n\n/**\n * Creates a vec3; may be called with x, y, z to set initial values.\n * @param x - Initial x value.\n * @param y - Initial y value.\n * @param z - Initial z value.\n * @returns the created vector\n */\nexport function create(x?: number, y?: number, z?: number): Vec3 {\n  const dst = new VecType(3);\n  if (x !== undefined) {\n    dst[0] = x;\n    if (y !== undefined) {\n      dst[1] = y;\n      if (z !== undefined) {\n        dst[2] = z;\n      }\n    }\n  }\n  return dst;\n}","/*\n * Copyright 2022 Gregg Tavares\n *\n * Permission is hereby granted, free of charge, to any person obtaining a\n * copy of this software and associated documentation files (the \"Software\"),\n * to deal in the Software without restriction, including without limitation\n * the rights to use, copy, modify, merge, publish, distribute, sublicense,\n * and/or sell copies of the Software, and to permit persons to whom the\n * Software is furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL\n * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER\n * DEALINGS IN THE SOFTWARE.\n */\nimport * as utils from './utils.js';\nimport { Mat3 } from './mat3';\nimport { Mat4 } from './mat4';\nimport { Vec2, create, setDefaultType, VecType } from './vec2';\nimport { Vec3, VecType as Vec3Type } from './vec3';\n\nexport default Vec2;\nexport { create, setDefaultType };\n\n/**\n * Creates a Vec2; may be called with x, y, z to set initial values. (same as create)\n * @param x - Initial x value.\n * @param y - Initial y value.\n * @returns the created vector\n */\nexport const fromValues = create;\n\n/**\n * Sets the values of a Vec2\n * Also see {@link vec2.create} and {@link vec2.copy}\n *\n * @param x first value\n * @param y second value\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector with its elements set.\n */\nexport function set(x: number, y: number, dst?: Vec2) {\n  dst = dst || new VecType(2);\n\n  dst[0] = x;\n  dst[1] = y;\n\n  return dst;\n}\n\n/**\n * Applies Math.ceil to each element of vector\n * @param v - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the ceil of each element of v.\n */\nexport function ceil(v: Vec2, dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  dst[0] = Math.ceil(v[0]);\n  dst[1] = Math.ceil(v[1]);\n\n  return dst;\n}\n\n/**\n * Applies Math.floor to each element of vector\n * @param v - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the floor of each element of v.\n */\nexport function floor(v: Vec2, dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  dst[0] = Math.floor(v[0]);\n  dst[1] = Math.floor(v[1]);\n\n  return dst;\n}\n\n/**\n * Applies Math.round to each element of vector\n * @param v - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the round of each element of v.\n */\nexport function round(v: Vec2, dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  dst[0] = Math.round(v[0]);\n  dst[1] = Math.round(v[1]);\n\n  return dst;\n}\n\n/**\n * Clamp each element of vector between min and max\n * @param v - Operand vector.\n * @param max - Min value, default 0\n * @param min - Max value, default 1\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that the clamped value of each element of v.\n */\nexport function clamp(v: Vec2, min = 0, max = 1, dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  dst[0] = Math.min(max, Math.max(min, v[0]));\n  dst[1] = Math.min(max, Math.max(min, v[1]));\n\n  return dst;\n}\n\n/**\n * Adds two vectors; assumes a and b have the same dimension.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the sum of a and b.\n */\nexport function add(a: Vec2, b: Vec2, dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  dst[0] = a[0] + b[0];\n  dst[1] = a[1] + b[1];\n\n  return dst;\n}\n\n/**\n * Adds two vectors, scaling the 2nd; assumes a and b have the same dimension.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param scale - Amount to scale b\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the sum of a + b * scale.\n */\nexport function addScaled(a: Vec2, b: Vec2, scale: number, dst?: Vec2) {\n  dst = dst || new VecType(2);\n\n  dst[0] = a[0] + b[0] * scale;\n  dst[1] = a[1] + b[1] * scale;\n\n  return dst;\n}\n\n/**\n * Returns the angle in radians between two vectors.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @returns The angle in radians between the 2 vectors.\n */\nexport function angle(a: Vec2, b: Vec2): number {\n  const ax = a[0];\n  const ay = a[1];\n  const bx = a[0];\n  const by = a[1];\n  const mag1 = Math.sqrt(ax * ax + ay * ay);\n  const mag2 = Math.sqrt(bx * bx + by * by);\n  const mag = mag1 * mag2;\n  const cosine = mag && dot(a, b) / mag;\n  return Math.acos(cosine);\n}\n\n/**\n * Subtracts two vectors.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the difference of a and b.\n */\nexport function subtract(a: Vec2, b: Vec2, dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  dst[0] = a[0] - b[0];\n  dst[1] = a[1] - b[1];\n\n  return dst;\n}\n\n/**\n * Subtracts two vectors.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the difference of a and b.\n */\nexport const sub = subtract;\n\n/**\n * Check if 2 vectors are approximately equal\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @returns true if vectors are approximately equal\n */\nexport function equalsApproximately(a: Vec2, b: Vec2): boolean {\n  return Math.abs(a[0] - b[0]) < utils.EPSILON &&\n         Math.abs(a[1] - b[1]) < utils.EPSILON;\n}\n\n/**\n * Check if 2 vectors are exactly equal\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @returns true if vectors are exactly equal\n */\nexport function equals(a: Vec2, b: Vec2): boolean {\n  return a[0] === b[0] && a[1] === b[1];\n}\n\n/**\n * Performs linear interpolation on two vectors.\n * Given vectors a and b and interpolation coefficient t, returns\n * a + t * (b - a).\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param t - Interpolation coefficient.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The linear interpolated result.\n */\nexport function lerp(a: Vec2, b: Vec2, t: number, dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  dst[0] = a[0] + t * (b[0] - a[0]);\n  dst[1] = a[1] + t * (b[1] - a[1]);\n\n  return dst;\n}\n\n/**\n * Performs linear interpolation on two vectors.\n * Given vectors a and b and interpolation coefficient vector t, returns\n * a + t * (b - a).\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param t - Interpolation coefficients vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns the linear interpolated result.\n */\nexport function lerpV(a: Vec2, b: Vec2, t: Vec2, dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  dst[0] = a[0] + t[0] * (b[0] - a[0]);\n  dst[1] = a[1] + t[1] * (b[1] - a[1]);\n\n  return dst;\n}\n\n/**\n * Return max values of two vectors.\n * Given vectors a and b returns\n * [max(a[0], b[0]), max(a[1], b[1]), max(a[2], b[2])].\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The max components vector.\n */\nexport function max(a: Vec2, b: Vec2, dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  dst[0] = Math.max(a[0], b[0]);\n  dst[1] = Math.max(a[1], b[1]);\n\n  return dst;\n}\n\n/**\n * Return min values of two vectors.\n * Given vectors a and b returns\n * [min(a[0], b[0]), min(a[1], b[1]), min(a[2], b[2])].\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The min components vector.\n */\nexport function min(a: Vec2, b: Vec2, dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  dst[0] = Math.min(a[0], b[0]);\n  dst[1] = Math.min(a[1], b[1]);\n\n  return dst;\n}\n\n/**\n * Multiplies a vector by a scalar.\n * @param v - The vector.\n * @param k - The scalar.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The scaled vector.\n */\nexport function mulScalar(v: Vec2, k: number, dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  dst[0] = v[0] * k;\n  dst[1] = v[1] * k;\n\n  return dst;\n}\n\n/**\n * Multiplies a vector by a scalar. (same as mulScalar)\n * @param v - The vector.\n * @param k - The scalar.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The scaled vector.\n */\nexport const scale = mulScalar;\n\n/**\n * Divides a vector by a scalar.\n * @param v - The vector.\n * @param k - The scalar.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The scaled vector.\n */\nexport function divScalar(v: Vec2, k: number, dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  dst[0] = v[0] / k;\n  dst[1] = v[1] / k;\n\n  return dst;\n}\n\n/**\n * Inverse a vector.\n * @param v - The vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The inverted vector.\n */\nexport function inverse(v: Vec2, dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  dst[0] = 1 / v[0];\n  dst[1] = 1 / v[1];\n\n  return dst;\n}\n\n/**\n * Invert a vector. (same as inverse)\n * @param v - The vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The inverted vector.\n */\nexport const invert = inverse;\n\n/**\n * Computes the cross product of two vectors; assumes both vectors have\n * three entries.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The vector of a cross b.\n */\nexport function cross(a: Vec2, b: Vec2, dst?: Vec3): Vec3 {\n  dst = dst || new Vec3Type(3);\n  const z = a[0] * b[1] - a[1] * b[0];\n  dst[0] = 0;\n  dst[1] = 0;\n  dst[2] = z;\n\n  return dst;\n}\n\n/**\n * Computes the dot product of two vectors; assumes both vectors have\n * three entries.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @returns dot product\n */\nexport function dot(a: Vec2, b: Vec2): number {\n  return a[0] * b[0] + a[1] * b[1];\n}\n\n/**\n * Computes the length of vector\n * @param v - vector.\n * @returns length of vector.\n */\nexport function length(v: Vec2): number {\n  const v0 = v[0];\n  const v1 = v[1];\n  return Math.sqrt(v0 * v0 + v1 * v1);\n}\n\n/**\n * Computes the length of vector (same as length)\n * @param v - vector.\n * @returns length of vector.\n */\nexport const len = length;\n\n/**\n * Computes the square of the length of vector\n * @param v - vector.\n * @returns square of the length of vector.\n */\nexport function lengthSq(v: Vec2): number {\n  const v0 = v[0];\n  const v1 = v[1];\n  return v0 * v0 + v1 * v1;\n}\n\n/**\n * Computes the square of the length of vector (same as lengthSq)\n * @param v - vector.\n * @returns square of the length of vector.\n */\nexport const lenSq = lengthSq;\n\n/**\n * Computes the distance between 2 points\n * @param a - vector.\n * @param b - vector.\n * @returns distance between a and b\n */\nexport function distance(a: Vec2, b: Vec2): number {\n  const dx = a[0] - b[0];\n  const dy = a[1] - b[1];\n  return Math.sqrt(dx * dx + dy * dy);\n}\n\n/**\n * Computes the distance between 2 points (same as distance)\n * @param a - vector.\n * @param b - vector.\n * @returns distance between a and b\n */\nexport const dist = distance;\n\n/**\n * Computes the square of the distance between 2 points\n * @param a - vector.\n * @param b - vector.\n * @returns square of the distance between a and b\n */\nexport function distanceSq(a: Vec2, b: Vec2): number {\n  const dx = a[0] - b[0];\n  const dy = a[1] - b[1];\n  return dx * dx + dy * dy;\n}\n\n/**\n * Computes the square of the distance between 2 points (same as distanceSq)\n * @param a - vector.\n * @param b - vector.\n * @returns square of the distance between a and b\n */\nexport const distSq = distanceSq;\n\n/**\n * Divides a vector by its Euclidean length and returns the quotient.\n * @param v - The vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The normalized vector.\n */\nexport function normalize(v: Vec2, dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  const v0 = v[0];\n  const v1 = v[1];\n  const len = Math.sqrt(v0 * v0 + v1 * v1);\n\n  if (len > 0.00001) {\n    dst[0] = v0 / len;\n    dst[1] = v1 / len;\n  } else {\n    dst[0] = 0;\n    dst[1] = 0;\n  }\n\n  return dst;\n}\n\n/**\n * Negates a vector.\n * @param v - The vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns -v.\n */\nexport function negate(v: Vec2, dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  dst[0] = -v[0];\n  dst[1] = -v[1];\n\n  return dst;\n}\n\n/**\n * Copies a vector. (same as {@link vec2.clone})\n * Also see {@link vec2.create} and {@link vec2.set}\n * @param v - The vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A copy of v.\n */\nexport function copy(v: Vec2, dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  dst[0] = v[0];\n  dst[1] = v[1];\n\n  return dst;\n}\n\n/**\n * Clones a vector. (same as {@link vec2.copy})\n * Also see {@link vec2.create} and {@link vec2.set}\n * @param v - The vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A copy of v.\n */\nexport const clone = copy;\n\n/**\n * Multiplies a vector by another vector (component-wise); assumes a and\n * b have the same length.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The vector of products of entries of a and b.\n */\nexport function multiply(a: Vec2, b: Vec2, dst?: Vec2) {\n  dst = dst || new VecType(2);\n\n  dst[0] = a[0] * b[0];\n  dst[1] = a[1] * b[1];\n\n  return dst;\n}\n\n/**\n * Multiplies a vector by another vector (component-wise); assumes a and\n * b have the same length. (same as mul)\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The vector of products of entries of a and b.\n */\nexport const mul = multiply;\n\n/**\n * Divides a vector by another vector (component-wise); assumes a and\n * b have the same length.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The vector of quotients of entries of a and b.\n */\nexport function divide(a: Vec2, b: Vec2, dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  dst[0] = a[0] / b[0];\n  dst[1] = a[1] / b[1];\n\n  return dst;\n}\n\n/**\n * Divides a vector by another vector (component-wise); assumes a and\n * b have the same length. (same as divide)\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The vector of quotients of entries of a and b.\n */\nexport const div = divide;\n\n/**\n * Creates a random unit vector * scale\n * @param scale - Default 1\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The random vector.\n */\nexport function random(scale = 1, dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  const angle = Math.random() * 2 * Math.PI;\n  dst[0] = Math.cos(angle) * scale;\n  dst[1] = Math.sin(angle) * scale;\n\n  return dst;\n}\n\n/**\n * Zero's a vector\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The zeroed vector.\n */\nexport function zero(dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  dst[0] = 0;\n  dst[1] = 0;\n\n  return dst;\n}\n\n\n/**\n * transform Vec2 by 4x4 matrix\n * @param v - the vector\n * @param m - The matrix.\n * @param dst - optional Vec2 to store result. If not passed a new one is created.\n * @returns the transformed vector\n */\nexport function transformMat4(v: Vec2, m: Mat4, dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  const x = v[0];\n  const y = v[1];\n\n  dst[0] = x * m[0] + y * m[4] + m[12];\n  dst[1] = x * m[1] + y * m[5] + m[13];\n\n  return dst;\n}\n\n/**\n * Transforms vec4 by 3x3 matrix\n *\n * @param v - the vector\n * @param m - The matrix.\n * @param dst - optional Vec2 to store result. If not passed a new one is created.\n * @returns the transformed vector\n */\nexport function transformMat3(v: Vec2, m: Mat3, dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  const x = v[0];\n  const y = v[1];\n\n  dst[0] = m[0] * x + m[4] * y + m[8];\n  dst[1] = m[1] * x + m[5] * y + m[9];\n\n  return dst;\n}\n\n/**\n * Rotate a 2D vector\n *\n * @param a The vec2 point to rotate\n * @param b The origin of the rotation\n * @param rad The angle of rotation in radians\n * @returns the rotated vector\n */\nexport function rotate(a: Vec2, b: Vec2, rad: number, dst?: Vec2) {\n  dst = dst || new VecType(2);\n\n  // Translate point to the origin\n  const p0 = a[0] - b[0];\n  const p1 = a[1] - b[1];\n  const sinC = Math.sin(rad);\n  const cosC = Math.cos(rad);\n\n  //perform rotation and translate to correct position\n  dst[0] = p0 * cosC - p1 * sinC + b[0];\n  dst[1] = p0 * sinC + p1 * cosC + b[1];\n\n  return dst;\n}\n\n/**\n * Treat a 2D vector as a direction and set it's length\n *\n * @param a The vec2 to lengthen\n * @param len The length of the resulting vector\n * @returns The lengthened vector\n */\nexport function setLength(a: Vec2, len: number, dst?: Vec2) {\n  dst = dst || new VecType(2);\n  normalize(a, dst);\n  return mulScalar(dst, len, dst);\n}\n\n/**\n * Ensure a vector is not longer than a max length\n *\n * @param a The vec2 to limit\n * @param maxLen The longest length of the resulting vector\n * @returns The vector, shortened to maxLen if it's too long\n */\nexport function truncate(a: Vec2, maxLen: number, dst?: Vec2) {\n  dst = dst || new VecType(2);\n\n  if (length(a) > maxLen) {\n    return setLength(a, maxLen, dst);\n  }\n\n  return copy(a, dst);\n}\n\n/**\n * Return the vector exactly between 2 endpoint vectors\n *\n * @param a Endpoint 1\n * @param b Endpoint 2\n * @returns The vector exactly residing between endpoints 1 and 2\n */\nexport function midpoint(a: Vec2, b: Vec2, dst?: Vec2) {\n  dst = dst || new VecType(2);\n  return lerp(a, b, 0.5, dst);\n}\n","/*\n * Copyright 2022 Gregg Tavares\n *\n * Permission is hereby granted, free of charge, to any person obtaining a\n * copy of this software and associated documentation files (the \"Software\"),\n * to deal in the Software without restriction, including without limitation\n * the rights to use, copy, modify, merge, publish, distribute, sublicense,\n * and/or sell copies of the Software, and to permit persons to whom the\n * Software is furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL\n * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER\n * DEALINGS IN THE SOFTWARE.\n */\n\nimport * as utils from './utils.js';\nimport { Quat } from './quat';\nimport { Mat3 } from './mat3';\nimport { Mat4 } from './mat4';\nimport Vec2, * as vec2 from './vec2-impl';\n\nexport default Mat3;\n\nexport type Mat3LikeCtor = new (n: number) => Mat3;\n\n/**\n * 3x3 Matrix math math functions.\n *\n * Almost all functions take an optional `dst` argument. If it is not passed in the\n * functions will create a new matrix. In other words you can do this\n *\n *     const mat = mat3.translation([1, 2, 3]);  // Creates a new translation matrix\n *\n * or\n *\n *     const mat = mat3.create();\n *     mat3.translation([1, 2, 3], mat);  // Puts translation matrix in mat.\n *\n * The first style is often easier but depending on where it's used it generates garbage where\n * as there is almost never allocation with the second style.\n *\n * It is always save to pass any matrix as the destination. So for example\n *\n *     const mat = mat3.identity();\n *     const trans = mat3.translation([1, 2, 3]);\n *     mat3.multiply(mat, trans, mat);  // Multiplies mat * trans and puts result in mat.\n *\n */\nlet MatType: Mat3LikeCtor = Float32Array;\n\n// This mess is because with Mat3 we have 3 unused elements.\n// For Float32Array and Float64Array that's not an issue\n// but for Array it's troublesome\nconst ctorMap = new Map<Mat3LikeCtor,() => Mat3>([\n  [Float32Array, () => new Float32Array(12)],\n  [Float64Array, () => new Float64Array(12)],\n  [Array, () => new Array(12).fill(0)],\n]);\nlet newMat3: () => Mat3 = ctorMap.get(Float32Array)!;\n\n/**\n * Sets the type this library creates for a Mat3\n * @param ctor - the constructor for the type. Either `Float32Array`, `Float64Array`, or `Array`\n * @returns previous constructor for Mat3\n */\nexport function setDefaultType(ctor: new (n: number) => Mat3) {\n  const oldType = MatType;\n  MatType = ctor;\n  newMat3 = ctorMap.get(ctor)!;\n  return oldType;\n}\n\n/**\n * Create a Mat3 from values\n *\n * Note: Since passing in a raw JavaScript array\n * is valid in all circumstances, if you want to\n * force a JavaScript array into a Mat3's specified type\n * it would be faster to use\n *\n * ```\n * const m = mat3.clone(someJSArray);\n * ```\n *\n * Note: a consequence of the implementation is if your Mat3Type = `Array`\n * instead of `Float32Array` or `Float64Array` then any values you\n * don't pass in will be undefined. Usually this is not an issue since\n * (a) using `Array` is rare and (b) using `mat3.create` is usually used\n * to create a Mat3 to be filled out as in\n *\n * ```\n * const m = mat3.create();\n * mat3.perspective(fov, aspect, near, far, m);\n * ```\n *\n * @param v0 - value for element 0\n * @param v1 - value for element 1\n * @param v2 - value for element 2\n * @param v3 - value for element 3\n * @param v4 - value for element 4\n * @param v5 - value for element 5\n * @param v6 - value for element 6\n * @param v7 - value for element 7\n * @param v8 - value for element 8\n * @returns matrix created from values.\n */\nexport function create(\n    v0?: number, v1?: number, v2?: number,\n    v3?: number, v4?: number, v5?: number,\n    v6?: number, v7?: number, v8?: number): Mat3 {\n  const dst = newMat3();\n  // to make the array homogenous\n  dst[3] = 0;\n  dst[7] = 0;\n  dst[11] = 0;\n\n  if (v0 !== undefined) {\n    dst[0] = v0;\n    if (v1 !== undefined) {\n      dst[1] = v1;\n      if (v2 !== undefined) {\n        dst[2] = v2;\n        if (v3 !== undefined) {\n          dst[4] = v3;\n          if (v4 !== undefined) {\n            dst[5] = v4;\n            if (v5 !== undefined) {\n              dst[6] = v5;\n              if (v6 !== undefined) {\n                dst[8] = v6;\n                if (v7 !== undefined) {\n                  dst[9] = v7;\n                  if (v8 !== undefined) {\n                    dst[10] = v8;\n                  }\n                }\n              }\n            }\n          }\n        }\n      }\n    }\n  }\n\n  return dst;\n}\n\n/**\n * Sets the values of a Mat3\n * Also see {@link mat3.create} and {@link mat3.copy}\n *\n * @param v0 - value for element 0\n * @param v1 - value for element 1\n * @param v2 - value for element 2\n * @param v3 - value for element 3\n * @param v4 - value for element 4\n * @param v5 - value for element 5\n * @param v6 - value for element 6\n * @param v7 - value for element 7\n * @param v8 - value for element 8\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns Mat3 set from values.\n */\nexport function set(\n    v0: number, v1: number, v2: number,\n    v3: number, v4: number, v5: number,\n    v6: number, v7: number, v8: number, dst?: Mat3) {\n  dst = dst || newMat3();\n\n  dst[0] = v0;  dst[1] = v1;  dst[ 2] = v2;  dst[ 3] = 0;\n  dst[4] = v3;  dst[5] = v4;  dst[ 6] = v5;  dst[ 7] = 0;\n  dst[8] = v6;  dst[9] = v7;  dst[10] = v8;  dst[11] = 0;\n\n  return dst;\n}\n\n/**\n * Creates a Mat3 from the upper left 3x3 part of a Mat4\n * @param m4 - source matrix\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns Mat3 made from m4\n */\nexport function fromMat4(m4: Mat4, dst?: Mat3): Mat3 {\n  dst = dst || newMat3();\n  dst[0] = m4[0];  dst[1] = m4[1];  dst[ 2] = m4[ 2];  dst[ 3] = 0;\n  dst[4] = m4[4];  dst[5] = m4[5];  dst[ 6] = m4[ 6];  dst[ 7] = 0;\n  dst[8] = m4[8];  dst[9] = m4[9];  dst[10] = m4[10];  dst[11] = 0;\n  return dst;\n}\n\n/**\n * Creates a Mat3 rotation matrix from a quaternion\n * @param q - quaternion to create matrix from\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns Mat3 made from q\n */\nexport function fromQuat(q: Quat, dst?: Mat3): Mat3 {\n  dst = dst || newMat3();\n\n  const x = q[0]; const y = q[1]; const z = q[2]; const w = q[3];\n  const x2 = x + x; const y2 = y + y; const z2 = z + z;\n\n  const xx = x * x2;\n  const yx = y * x2;\n  const yy = y * y2;\n  const zx = z * x2;\n  const zy = z * y2;\n  const zz = z * z2;\n  const wx = w * x2;\n  const wy = w * y2;\n  const wz = w * z2;\n\n  dst[ 0] = 1 - yy - zz;  dst[ 1] = yx + wz;      dst[ 2] = zx - wy;      dst[ 3] = 0;\n  dst[ 4] = yx - wz;      dst[ 5] = 1 - xx - zz;  dst[ 6] = zy + wx;      dst[ 7] = 0;\n  dst[ 8] = zx + wy;      dst[ 9] = zy - wx;      dst[10] = 1 - xx - yy;  dst[11] = 0;\n\n  return dst;\n}\n\n/**\n * Negates a matrix.\n * @param m - The matrix.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns -m.\n */\nexport function negate(m: Mat3, dst?: Mat3): Mat3 {\n  dst = dst || newMat3();\n\n  dst[ 0] = -m[ 0];  dst[ 1] = -m[ 1];  dst[ 2] = -m[ 2];\n  dst[ 4] = -m[ 4];  dst[ 5] = -m[ 5];  dst[ 6] = -m[ 6];\n  dst[ 8] = -m[ 8];  dst[ 9] = -m[ 9];  dst[10] = -m[10];\n\n  return dst;\n}\n\n/**\n * Copies a matrix. (same as {@link mat3.clone})\n * Also see {@link mat3.create} and {@link mat3.set}\n * @param m - The matrix.\n * @param dst - The matrix. If not passed a new one is created.\n * @returns A copy of m.\n */\nexport function copy(m: Mat3, dst?: Mat3): Mat3 {\n  dst = dst || newMat3();\n\n  dst[ 0] = m[ 0];  dst[ 1] = m[ 1];  dst[ 2] = m[ 2];\n  dst[ 4] = m[ 4];  dst[ 5] = m[ 5];  dst[ 6] = m[ 6];\n  dst[ 8] = m[ 8];  dst[ 9] = m[ 9];  dst[10] = m[10];\n\n  return dst;\n}\n\n/**\n * Copies a matrix (same as {@link mat3.copy})\n * Also see {@link mat3.create} and {@link mat3.set}\n * @param m - The matrix.\n * @param dst - The matrix. If not passed a new one is created.\n * @returns A copy of m.\n */\nexport const clone = copy;\n\n/**\n * Check if 2 matrices are approximately equal\n * @param a Operand matrix.\n * @param b Operand matrix.\n * @returns true if matrices are approximately equal\n */\nexport function equalsApproximately(a: Mat3, b: Mat3): boolean {\n  return Math.abs(a[ 0] - b[ 0]) < utils.EPSILON &&\n         Math.abs(a[ 1] - b[ 1]) < utils.EPSILON &&\n         Math.abs(a[ 2] - b[ 2]) < utils.EPSILON &&\n         Math.abs(a[ 4] - b[ 4]) < utils.EPSILON &&\n         Math.abs(a[ 5] - b[ 5]) < utils.EPSILON &&\n         Math.abs(a[ 6] - b[ 6]) < utils.EPSILON &&\n         Math.abs(a[ 8] - b[ 8]) < utils.EPSILON &&\n         Math.abs(a[ 9] - b[ 9]) < utils.EPSILON &&\n         Math.abs(a[10] - b[10]) < utils.EPSILON;\n}\n\n/**\n * Check if 2 matrices are exactly equal\n * @param a Operand matrix.\n * @param b Operand matrix.\n * @returns true if matrices are exactly equal\n */\nexport function equals(a: Mat3, b: Mat3): boolean {\n  return a[ 0] === b[ 0] &&\n         a[ 1] === b[ 1] &&\n         a[ 2] === b[ 2] &&\n         a[ 4] === b[ 4] &&\n         a[ 5] === b[ 5] &&\n         a[ 6] === b[ 6] &&\n         a[ 8] === b[ 8] &&\n         a[ 9] === b[ 9] &&\n         a[10] === b[10];\n}\n\n/**\n * Creates a 3-by-3 identity matrix.\n *\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns A 3-by-3 identity matrix.\n */\nexport function identity(dst?: Mat3): Mat3 {\n  dst = dst || newMat3();\n\n  dst[ 0] = 1;  dst[ 1] = 0;  dst[ 2] = 0;\n  dst[ 4] = 0;  dst[ 5] = 1;  dst[ 6] = 0;\n  dst[ 8] = 0;  dst[ 9] = 0;  dst[10] = 1;\n\n  return dst;\n}\n\n/**\n * Takes the transpose of a matrix.\n * @param m - The matrix.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The transpose of m.\n */\nexport function transpose(m: Mat3, dst?: Mat3): Mat3 {\n  dst = dst || newMat3();\n  if (dst === m) {\n    let t: number;\n\n    // 0 1 2\n    // 4 5 6\n    // 8 9 10\n\n    t = m[1];\n    m[1] = m[4];\n    m[4] = t;\n\n    t = m[2];\n    m[2] = m[8];\n    m[8] = t;\n\n    t = m[6];\n    m[6] = m[9];\n    m[9] = t;\n\n    return dst;\n  }\n\n  const m00 = m[0 * 4 + 0];\n  const m01 = m[0 * 4 + 1];\n  const m02 = m[0 * 4 + 2];\n  const m10 = m[1 * 4 + 0];\n  const m11 = m[1 * 4 + 1];\n  const m12 = m[1 * 4 + 2];\n  const m20 = m[2 * 4 + 0];\n  const m21 = m[2 * 4 + 1];\n  const m22 = m[2 * 4 + 2];\n\n  dst[ 0] = m00;  dst[ 1] = m10;  dst[ 2] = m20;\n  dst[ 4] = m01;  dst[ 5] = m11;  dst[ 6] = m21;\n  dst[ 8] = m02;  dst[ 9] = m12;  dst[10] = m22;\n\n  return dst;\n}\n\n/**\n * Computes the inverse of a 3-by-3 matrix.\n * @param m - The matrix.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The inverse of m.\n */\nexport function inverse(m: Mat3, dst?: Mat3): Mat3 {\n  dst = dst || newMat3();\n\n  const m00 = m[0 * 4 + 0];\n  const m01 = m[0 * 4 + 1];\n  const m02 = m[0 * 4 + 2];\n  const m10 = m[1 * 4 + 0];\n  const m11 = m[1 * 4 + 1];\n  const m12 = m[1 * 4 + 2];\n  const m20 = m[2 * 4 + 0];\n  const m21 = m[2 * 4 + 1];\n  const m22 = m[2 * 4 + 2];\n\n  const b01 =  m22 * m11 - m12 * m21;\n  const b11 = -m22 * m10 + m12 * m20;\n  const b21 =  m21 * m10 - m11 * m20;\n\n  const invDet = 1 / (m00 * b01 + m01 * b11 + m02 * b21);\n\n  dst[ 0] = b01 * invDet;\n  dst[ 1] = (-m22 * m01 + m02 * m21) * invDet;\n  dst[ 2] = ( m12 * m01 - m02 * m11) * invDet;\n  dst[ 4] = b11 * invDet;\n  dst[ 5] = ( m22 * m00 - m02 * m20) * invDet;\n  dst[ 6] = (-m12 * m00 + m02 * m10) * invDet;\n  dst[ 8] = b21 * invDet;\n  dst[ 9] = (-m21 * m00 + m01 * m20) * invDet;\n  dst[10] = ( m11 * m00 - m01 * m10) * invDet;\n\n  return dst;\n}\n\n/**\n * Compute the determinant of a matrix\n * @param m - the matrix\n * @returns the determinant\n */\nexport function determinant(m: Mat3): number {\n  const m00 = m[0 * 4 + 0];\n  const m01 = m[0 * 4 + 1];\n  const m02 = m[0 * 4 + 2];\n  const m10 = m[1 * 4 + 0];\n  const m11 = m[1 * 4 + 1];\n  const m12 = m[1 * 4 + 2];\n  const m20 = m[2 * 4 + 0];\n  const m21 = m[2 * 4 + 1];\n  const m22 = m[2 * 4 + 2];\n\n  return m00 * (m11 * m22 - m21 * m12) -\n         m10 * (m01 * m22 - m21 * m02) +\n         m20 * (m01 * m12 - m11 * m02);\n}\n\n/**\n * Computes the inverse of a 3-by-3 matrix. (same as inverse)\n * @param m - The matrix.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The inverse of m.\n */\nexport const invert = inverse;\n\n/**\n * Multiplies two 3-by-3 matrices with a on the left and b on the right\n * @param a - The matrix on the left.\n * @param b - The matrix on the right.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The matrix product of a and b.\n */\nexport function multiply(a: Mat3, b: Mat3, dst?: Mat3): Mat3 {\n  dst = dst || newMat3();\n\n  const a00 = a[0];\n  const a01 = a[1];\n  const a02 = a[2];\n  const a10 = a[ 4 + 0];\n  const a11 = a[ 4 + 1];\n  const a12 = a[ 4 + 2];\n  const a20 = a[ 8 + 0];\n  const a21 = a[ 8 + 1];\n  const a22 = a[ 8 + 2];\n  const b00 = b[0];\n  const b01 = b[1];\n  const b02 = b[2];\n  const b10 = b[ 4 + 0];\n  const b11 = b[ 4 + 1];\n  const b12 = b[ 4 + 2];\n  const b20 = b[ 8 + 0];\n  const b21 = b[ 8 + 1];\n  const b22 = b[ 8 + 2];\n\n  dst[ 0] = a00 * b00 + a10 * b01 + a20 * b02;\n  dst[ 1] = a01 * b00 + a11 * b01 + a21 * b02;\n  dst[ 2] = a02 * b00 + a12 * b01 + a22 * b02;\n  dst[ 4] = a00 * b10 + a10 * b11 + a20 * b12;\n  dst[ 5] = a01 * b10 + a11 * b11 + a21 * b12;\n  dst[ 6] = a02 * b10 + a12 * b11 + a22 * b12;\n  dst[ 8] = a00 * b20 + a10 * b21 + a20 * b22;\n  dst[ 9] = a01 * b20 + a11 * b21 + a21 * b22;\n  dst[10] = a02 * b20 + a12 * b21 + a22 * b22;\n\n  return dst;\n}\n\n/**\n * Multiplies two 3-by-3 matrices with a on the left and b on the right (same as multiply)\n * @param a - The matrix on the left.\n * @param b - The matrix on the right.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The matrix product of a and b.\n */\nexport const mul = multiply;\n\n/**\n * Sets the translation component of a 3-by-3 matrix to the given\n * vector.\n * @param a - The matrix.\n * @param v - The vector.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The matrix with translation set.\n */\nexport function setTranslation(a: Mat3, v: Vec2, dst?: Mat3): Mat3 {\n  dst = dst || identity();\n  if (a !== dst) {\n    dst[ 0] = a[ 0];\n    dst[ 1] = a[ 1];\n    dst[ 2] = a[ 2];\n    dst[ 4] = a[ 4];\n    dst[ 5] = a[ 5];\n    dst[ 6] = a[ 6];\n  }\n  dst[ 8] = v[0];\n  dst[ 9] = v[1];\n  dst[10] = 1;\n  return dst;\n}\n\n/**\n * Returns the translation component of a 3-by-3 matrix as a vector with 3\n * entries.\n * @param m - The matrix.\n * @param dst - vector to hold result. If not passed a new one is created.\n * @returns The translation component of m.\n */\nexport function getTranslation(m: Mat3, dst?: Vec2): Vec2 {\n  dst = dst || vec2.create();\n  dst[0] = m[8];\n  dst[1] = m[9];\n  return dst;\n}\n\n/**\n * Returns an axis of a 3x3 matrix as a vector with 2 entries\n * @param m - The matrix.\n * @param axis - The axis 0 = x, 1 = y,\n * @returns The axis component of m.\n */\nexport function getAxis(m: Mat3, axis: number, dst?: Vec2): Vec2 {\n  dst = dst || vec2.create();\n  const off = axis * 4;\n  dst[0] = m[off + 0];\n  dst[1] = m[off + 1];\n  return dst;\n}\n\n/**\n * Sets an axis of a 3x3 matrix as a vector with 2 entries\n * @param m - The matrix.\n * @param v - the axis vector\n * @param axis - The axis  0 = x, 1 = y;\n * @param dst - The matrix to set. If not passed a new one is created.\n * @returns The matrix with axis set.\n */\nexport function setAxis(m: Mat3, v: Vec2, axis: number, dst?: Mat3): Mat3 {\n  if (dst !== m) {\n    dst = copy(m, dst);\n  }\n  const off = axis * 4;\n  dst[off + 0] = v[0];\n  dst[off + 1] = v[1];\n  return dst;\n}\n\n/**\n * Returns the scaling component of the matrix\n * @param m - The Matrix\n * @param dst - The vector to set. If not passed a new one is created.\n */\nexport function getScaling(m: Mat3, dst?: Vec2): Vec2 {\n  dst = dst || vec2.create();\n\n  const xx = m[0];\n  const xy = m[1];\n  const yx = m[4];\n  const yy = m[5];\n\n  dst[0] = Math.sqrt(xx * xx + xy * xy);\n  dst[1] = Math.sqrt(yx * yx + yy * yy);\n\n  return dst;\n}\n\n/**\n * Creates a 3-by-3 matrix which translates by the given vector v.\n * @param v - The vector by which to translate.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The translation matrix.\n */\nexport function translation(v: Vec2, dst?: Mat3): Mat3 {\n  dst = dst || newMat3();\n\n  dst[ 0] = 1;     dst[ 1] = 0;     dst[ 2] = 0;\n  dst[ 4] = 0;     dst[ 5] = 1;     dst[ 6] = 0;\n  dst[ 8] = v[0];  dst[ 9] = v[1];  dst[10] = 1;\n\n  return dst;\n}\n\n/**\n * Translates the given 3-by-3 matrix by the given vector v.\n * @param m - The matrix.\n * @param v - The vector by which to translate.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The translated matrix.\n */\nexport function translate(m: Mat3, v: Vec2, dst?: Mat3): Mat3 {\n  dst = dst || newMat3();\n\n  const v0 = v[0];\n  const v1 = v[1];\n\n  const m00 = m[0];\n  const m01 = m[1];\n  const m02 = m[2];\n  const m10 = m[1 * 4 + 0];\n  const m11 = m[1 * 4 + 1];\n  const m12 = m[1 * 4 + 2];\n  const m20 = m[2 * 4 + 0];\n  const m21 = m[2 * 4 + 1];\n  const m22 = m[2 * 4 + 2];\n\n  if (m !== dst) {\n    dst[ 0] = m00;\n    dst[ 1] = m01;\n    dst[ 2] = m02;\n    dst[ 4] = m10;\n    dst[ 5] = m11;\n    dst[ 6] = m12;\n  }\n\n  dst[ 8] = m00 * v0 + m10 * v1 + m20;\n  dst[ 9] = m01 * v0 + m11 * v1 + m21;\n  dst[10] = m02 * v0 + m12 * v1 + m22;\n\n  return dst;\n}\n\n/**\n * Creates a 3-by-3 matrix which rotates  by the given angle.\n * @param angleInRadians - The angle by which to rotate (in radians).\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The rotation matrix.\n */\nexport function rotation(angleInRadians: number, dst?: Mat3): Mat3 {\n  dst = dst || newMat3();\n\n  const c = Math.cos(angleInRadians);\n  const s = Math.sin(angleInRadians);\n\n  dst[ 0] =  c;  dst[ 1] = s;  dst[ 2] = 0;\n  dst[ 4] = -s;  dst[ 5] = c;  dst[ 6] = 0;\n  dst[ 8] =  0;  dst[ 9] = 0;  dst[10] = 1;\n\n  return dst;\n}\n\n/**\n * Rotates the given 3-by-3 matrix  by the given angle.\n * @param m - The matrix.\n * @param angleInRadians - The angle by which to rotate (in radians).\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The rotated matrix.\n */\nexport function rotate(m: Mat3, angleInRadians: number, dst?: Mat3): Mat3 {\n  dst = dst || newMat3();\n\n  const m00 = m[0 * 4 + 0];\n  const m01 = m[0 * 4 + 1];\n  const m02 = m[0 * 4 + 2];\n  const m10 = m[1 * 4 + 0];\n  const m11 = m[1 * 4 + 1];\n  const m12 = m[1 * 4 + 2];\n  const c = Math.cos(angleInRadians);\n  const s = Math.sin(angleInRadians);\n\n  dst[ 0] = c * m00 + s * m10;\n  dst[ 1] = c * m01 + s * m11;\n  dst[ 2] = c * m02 + s * m12;\n\n  dst[ 4] = c * m10 - s * m00;\n  dst[ 5] = c * m11 - s * m01;\n  dst[ 6] = c * m12 - s * m02;\n\n\n  if (m !== dst) {\n    dst[ 8] = m[ 8];\n    dst[ 9] = m[ 9];\n    dst[10] = m[10];\n  }\n\n  return dst;\n}\n\n/**\n * Creates a 3-by-3 matrix which scales in each dimension by an amount given by\n * the corresponding entry in the given vector; assumes the vector has three\n * entries.\n * @param v - A vector of\n *     2 entries specifying the factor by which to scale in each dimension.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The scaling matrix.\n */\nexport function scaling(v: Vec2, dst?: Mat3): Mat3 {\n  dst = dst || newMat3();\n\n  dst[ 0] = v[0];  dst[ 1] = 0;     dst[ 2] = 0;\n  dst[ 4] = 0;     dst[ 5] = v[1];  dst[ 6] = 0;\n  dst[ 8] = 0;     dst[ 9] = 0;     dst[10] = 1;\n\n  return dst;\n}\n\n/**\n * Scales the given 3-by-3 matrix in each dimension by an amount\n * given by the corresponding entry in the given vector; assumes the vector has\n * three entries.\n * @param m - The matrix to be modified.\n * @param v - A vector of 2 entries specifying the\n *     factor by which to scale in each dimension.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The scaled matrix.\n */\nexport function scale(m: Mat3, v: Vec2, dst?: Mat3): Mat3 {\n  dst = dst || newMat3();\n\n  const v0 = v[0];\n  const v1 = v[1];\n\n  dst[ 0] = v0 * m[0 * 4 + 0];\n  dst[ 1] = v0 * m[0 * 4 + 1];\n  dst[ 2] = v0 * m[0 * 4 + 2];\n\n  dst[ 4] = v1 * m[1 * 4 + 0];\n  dst[ 5] = v1 * m[1 * 4 + 1];\n  dst[ 6] = v1 * m[1 * 4 + 2];\n\n  if (m !== dst) {\n    dst[ 8] = m[ 8];\n    dst[ 9] = m[ 9];\n    dst[10] = m[10];\n  }\n\n  return dst;\n}\n\n/**\n * Creates a 3-by-3 matrix which scales uniformly in each dimension\n * @param s - Amount to scale\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The scaling matrix.\n */\nexport function uniformScaling(s: number, dst?: Mat3): Mat3 {\n  dst = dst || newMat3();\n\n  dst[ 0] = s;  dst[ 1] = 0;  dst[ 2] = 0;\n  dst[ 4] = 0;  dst[ 5] = s;  dst[ 6] = 0;\n  dst[ 8] = 0;  dst[ 9] = 0;  dst[10] = 1;\n\n  return dst;\n}\n\n/**\n * Scales the given 3-by-3 matrix in each dimension by an amount\n * given.\n * @param m - The matrix to be modified.\n * @param s - Amount to scale.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The scaled matrix.\n */\nexport function uniformScale(m: Mat3, s: number, dst?: Mat3): Mat3 {\n  dst = dst || newMat3();\n\n  dst[ 0] = s * m[0 * 4 + 0];\n  dst[ 1] = s * m[0 * 4 + 1];\n  dst[ 2] = s * m[0 * 4 + 2];\n\n  dst[ 4] = s * m[1 * 4 + 0];\n  dst[ 5] = s * m[1 * 4 + 1];\n  dst[ 6] = s * m[1 * 4 + 2];\n\n  if (m !== dst) {\n    dst[ 8] = m[ 8];\n    dst[ 9] = m[ 9];\n    dst[10] = m[10];\n  }\n\n  return dst;\n}\n","/*\n * Copyright 2022 Gregg Tavares\n *\n * Permission is hereby granted, free of charge, to any person obtaining a\n * copy of this software and associated documentation files (the \"Software\"),\n * to deal in the Software without restriction, including without limitation\n * the rights to use, copy, modify, merge, publish, distribute, sublicense,\n * and/or sell copies of the Software, and to permit persons to whom the\n * Software is furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL\n * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER\n * DEALINGS IN THE SOFTWARE.\n */\nimport * as utils from './utils.js';\nimport { Vec3, create, setDefaultType, VecType } from './vec3';\nimport { Mat3 } from './mat3';\nimport { Mat4 } from './mat4';\nimport { Quat } from './quat';\n\nexport default Vec3;\nexport { create, setDefaultType };\n\n/**\n * Creates a vec3; may be called with x, y, z to set initial values. (same as create)\n * @param x - Initial x value.\n * @param y - Initial y value.\n * @param z - Initial z value.\n * @returns the created vector\n */\nexport const fromValues = create;\n\n/**\n * Sets the values of a Vec3\n * Also see {@link vec3.create} and {@link vec3.copy}\n *\n * @param x first value\n * @param y second value\n * @param z third value\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector with its elements set.\n */\nexport function set(x: number, y: number, z: number, dst?: Vec3) {\n  dst = dst || new VecType(3);\n\n  dst[0] = x;\n  dst[1] = y;\n  dst[2] = z;\n\n  return dst;\n}\n\n/**\n * Applies Math.ceil to each element of vector\n * @param v - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the ceil of each element of v.\n */\nexport function ceil(v: Vec3, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  dst[0] = Math.ceil(v[0]);\n  dst[1] = Math.ceil(v[1]);\n  dst[2] = Math.ceil(v[2]);\n\n  return dst;\n}\n\n/**\n * Applies Math.floor to each element of vector\n * @param v - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the floor of each element of v.\n */\nexport function floor(v: Vec3, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  dst[0] = Math.floor(v[0]);\n  dst[1] = Math.floor(v[1]);\n  dst[2] = Math.floor(v[2]);\n\n  return dst;\n}\n\n/**\n * Applies Math.round to each element of vector\n * @param v - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the round of each element of v.\n */\nexport function round(v: Vec3, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  dst[0] = Math.round(v[0]);\n  dst[1] = Math.round(v[1]);\n  dst[2] = Math.round(v[2]);\n\n  return dst;\n}\n\n/**\n * Clamp each element of vector between min and max\n * @param v - Operand vector.\n * @param max - Min value, default 0\n * @param min - Max value, default 1\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that the clamped value of each element of v.\n */\nexport function clamp(v: Vec3, min = 0, max = 1, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  dst[0] = Math.min(max, Math.max(min, v[0]));\n  dst[1] = Math.min(max, Math.max(min, v[1]));\n  dst[2] = Math.min(max, Math.max(min, v[2]));\n\n  return dst;\n}\n\n/**\n * Adds two vectors; assumes a and b have the same dimension.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the sum of a and b.\n */\nexport function add(a: Vec3, b: Vec3, dst?: Vec3) {\n  dst = dst || new VecType(3);\n\n  dst[0] = a[0] + b[0];\n  dst[1] = a[1] + b[1];\n  dst[2] = a[2] + b[2];\n\n  return dst;\n}\n\n/**\n * Adds two vectors, scaling the 2nd; assumes a and b have the same dimension.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param scale - Amount to scale b\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the sum of a + b * scale.\n */\nexport function addScaled(a: Vec3, b: Vec3, scale: number, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  dst[0] = a[0] + b[0] * scale;\n  dst[1] = a[1] + b[1] * scale;\n  dst[2] = a[2] + b[2] * scale;\n\n  return dst;\n}\n\n/**\n * Returns the angle in radians between two vectors.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @returns The angle in radians between the 2 vectors.\n */\nexport function angle(a: Vec3, b: Vec3): number {\n  const ax = a[0];\n  const ay = a[1];\n  const az = a[2];\n  const bx = a[0];\n  const by = a[1];\n  const bz = a[2];\n  const mag1 = Math.sqrt(ax * ax + ay * ay + az * az);\n  const mag2 = Math.sqrt(bx * bx + by * by + bz * bz);\n  const mag = mag1 * mag2;\n  const cosine = mag && dot(a, b) / mag;\n  return Math.acos(cosine);\n}\n\n/**\n * Subtracts two vectors.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the difference of a and b.\n */\nexport function subtract(a: Vec3, b: Vec3, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  dst[0] = a[0] - b[0];\n  dst[1] = a[1] - b[1];\n  dst[2] = a[2] - b[2];\n\n  return dst;\n}\n\n/**\n * Subtracts two vectors.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the difference of a and b.\n */\nexport const sub = subtract;\n\n/**\n * Check if 2 vectors are approximately equal\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @returns true if vectors are approximately equal\n */\nexport function equalsApproximately(a: Vec3, b: Vec3): boolean {\n  return Math.abs(a[0] - b[0]) < utils.EPSILON &&\n         Math.abs(a[1] - b[1]) < utils.EPSILON &&\n         Math.abs(a[2] - b[2]) < utils.EPSILON;\n}\n\n/**\n * Check if 2 vectors are exactly equal\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @returns true if vectors are exactly equal\n */\nexport function equals(a: Vec3, b: Vec3): boolean {\n  return a[0] === b[0] && a[1] === b[1] && a[2] === b[2];\n}\n\n/**\n * Performs linear interpolation on two vectors.\n * Given vectors a and b and interpolation coefficient t, returns\n * a + t * (b - a).\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param t - Interpolation coefficient.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The linear interpolated result.\n */\nexport function lerp(a: Vec3, b: Vec3, t: number, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  dst[0] = a[0] + t * (b[0] - a[0]);\n  dst[1] = a[1] + t * (b[1] - a[1]);\n  dst[2] = a[2] + t * (b[2] - a[2]);\n\n  return dst;\n}\n\n/**\n * Performs linear interpolation on two vectors.\n * Given vectors a and b and interpolation coefficient vector t, returns\n * a + t * (b - a).\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param t - Interpolation coefficients vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns the linear interpolated result.\n */\nexport function lerpV(a: Vec3, b: Vec3, t: Vec3, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  dst[0] = a[0] + t[0] * (b[0] - a[0]);\n  dst[1] = a[1] + t[1] * (b[1] - a[1]);\n  dst[2] = a[2] + t[2] * (b[2] - a[2]);\n\n  return dst;\n}\n\n/**\n * Return max values of two vectors.\n * Given vectors a and b returns\n * [max(a[0], b[0]), max(a[1], b[1]), max(a[2], b[2])].\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The max components vector.\n */\nexport function max(a: Vec3, b: Vec3, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  dst[0] = Math.max(a[0], b[0]);\n  dst[1] = Math.max(a[1], b[1]);\n  dst[2] = Math.max(a[2], b[2]);\n\n  return dst;\n}\n\n/**\n * Return min values of two vectors.\n * Given vectors a and b returns\n * [min(a[0], b[0]), min(a[1], b[1]), min(a[2], b[2])].\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The min components vector.\n */\nexport function min(a: Vec3, b: Vec3, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  dst[0] = Math.min(a[0], b[0]);\n  dst[1] = Math.min(a[1], b[1]);\n  dst[2] = Math.min(a[2], b[2]);\n\n  return dst;\n}\n\n/**\n * Multiplies a vector by a scalar.\n * @param v - The vector.\n * @param k - The scalar.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The scaled vector.\n */\nexport function mulScalar(v: Vec3, k: number, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  dst[0] = v[0] * k;\n  dst[1] = v[1] * k;\n  dst[2] = v[2] * k;\n\n  return dst;\n}\n\n/**\n * Multiplies a vector by a scalar. (same as mulScalar)\n * @param v - The vector.\n * @param k - The scalar.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The scaled vector.\n */\nexport const scale = mulScalar;\n\n/**\n * Divides a vector by a scalar.\n * @param v - The vector.\n * @param k - The scalar.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The scaled vector.\n */\nexport function divScalar(v: Vec3, k: number, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  dst[0] = v[0] / k;\n  dst[1] = v[1] / k;\n  dst[2] = v[2] / k;\n\n  return dst;\n}\n\n/**\n * Inverse a vector.\n * @param v - The vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The inverted vector.\n */\nexport function inverse(v: Vec3, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  dst[0] = 1 / v[0];\n  dst[1] = 1 / v[1];\n  dst[2] = 1 / v[2];\n\n  return dst;\n}\n\n/**\n * Invert a vector. (same as inverse)\n * @param v - The vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The inverted vector.\n */\nexport const invert = inverse;\n\n/**\n * Computes the cross product of two vectors; assumes both vectors have\n * three entries.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The vector of a cross b.\n */\nexport function cross(a: Vec3, b: Vec3, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  const t1 = a[2] * b[0] - a[0] * b[2];\n  const t2 = a[0] * b[1] - a[1] * b[0];\n  dst[0] = a[1] * b[2] - a[2] * b[1];\n  dst[1] = t1;\n  dst[2] = t2;\n\n  return dst;\n}\n\n/**\n * Computes the dot product of two vectors; assumes both vectors have\n * three entries.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @returns dot product\n */\nexport function dot(a: Vec3, b: Vec3): number {\n  return (a[0] * b[0]) + (a[1] * b[1]) + (a[2] * b[2]);\n}\n\n/**\n * Computes the length of vector\n * @param v - vector.\n * @returns length of vector.\n */\nexport function length(v: Vec3): number {\n  const v0 = v[0];\n  const v1 = v[1];\n  const v2 = v[2];\n  return Math.sqrt(v0 * v0 + v1 * v1 + v2 * v2);\n}\n\n/**\n * Computes the length of vector (same as length)\n * @param v - vector.\n * @returns length of vector.\n */\nexport const len = length;\n\n/**\n * Computes the square of the length of vector\n * @param v - vector.\n * @returns square of the length of vector.\n */\nexport function lengthSq(v: Vec3): number {\n  const v0 = v[0];\n  const v1 = v[1];\n  const v2 = v[2];\n  return v0 * v0 + v1 * v1 + v2 * v2;\n}\n\n/**\n * Computes the square of the length of vector (same as lengthSq)\n * @param v - vector.\n * @returns square of the length of vector.\n */\nexport const lenSq = lengthSq;\n\n/**\n * Computes the distance between 2 points\n * @param a - vector.\n * @param b - vector.\n * @returns distance between a and b\n */\nexport function distance(a: Vec3, b: Vec3): number {\n  const dx = a[0] - b[0];\n  const dy = a[1] - b[1];\n  const dz = a[2] - b[2];\n  return Math.sqrt(dx * dx + dy * dy + dz * dz);\n}\n\n/**\n * Computes the distance between 2 points (same as distance)\n * @param a - vector.\n * @param b - vector.\n * @returns distance between a and b\n */\nexport const dist = distance;\n\n/**\n * Computes the square of the distance between 2 points\n * @param a - vector.\n * @param b - vector.\n * @returns square of the distance between a and b\n */\nexport function distanceSq(a: Vec3, b: Vec3): number {\n  const dx = a[0] - b[0];\n  const dy = a[1] - b[1];\n  const dz = a[2] - b[2];\n  return dx * dx + dy * dy + dz * dz;\n}\n\n/**\n * Computes the square of the distance between 2 points (same as distanceSq)\n * @param a - vector.\n * @param b - vector.\n * @returns square of the distance between a and b\n */\nexport const distSq = distanceSq;\n\n/**\n * Divides a vector by its Euclidean length and returns the quotient.\n * @param v - The vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The normalized vector.\n */\nexport function normalize(v: Vec3, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  const v0 = v[0];\n  const v1 = v[1];\n  const v2 = v[2];\n  const len = Math.sqrt(v0 * v0 + v1 * v1 + v2 * v2);\n\n  if (len > 0.00001) {\n    dst[0] = v0 / len;\n    dst[1] = v1 / len;\n    dst[2] = v2 / len;\n  } else {\n    dst[0] = 0;\n    dst[1] = 0;\n    dst[2] = 0;\n  }\n\n\n  return dst;\n}\n\n/**\n * Negates a vector.\n * @param v - The vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns -v.\n */\nexport function negate(v: Vec3, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  dst[0] = -v[0];\n  dst[1] = -v[1];\n  dst[2] = -v[2];\n\n  return dst;\n}\n\n/**\n * Copies a vector. (same as {@link vec3.clone})\n * Also see {@link vec3.create} and {@link vec3.set}\n * @param v - The vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A copy of v.\n */\nexport function copy(v: Vec3, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  dst[0] = v[0];\n  dst[1] = v[1];\n  dst[2] = v[2];\n\n  return dst;\n}\n\n/**\n * Clones a vector. (same as {@link vec3.copy})\n * Also see {@link vec3.create} and {@link vec3.set}\n * @param v - The vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A copy of v.\n */\nexport const clone = copy;\n\n/**\n * Multiplies a vector by another vector (component-wise); assumes a and\n * b have the same length.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The vector of products of entries of a and b.\n */\nexport function multiply(a: Vec3, b: Vec3, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  dst[0] = a[0] * b[0];\n  dst[1] = a[1] * b[1];\n  dst[2] = a[2] * b[2];\n\n  return dst;\n}\n\n/**\n * Multiplies a vector by another vector (component-wise); assumes a and\n * b have the same length. (same as mul)\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The vector of products of entries of a and b.\n */\nexport const mul = multiply;\n\n/**\n * Divides a vector by another vector (component-wise); assumes a and\n * b have the same length.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The vector of quotients of entries of a and b.\n */\nexport function divide(a: Vec3, b: Vec3, dst?: Vec3) {\n  dst = dst || new VecType(3);\n\n  dst[0] = a[0] / b[0];\n  dst[1] = a[1] / b[1];\n  dst[2] = a[2] / b[2];\n\n  return dst;\n}\n\n/**\n * Divides a vector by another vector (component-wise); assumes a and\n * b have the same length. (same as divide)\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The vector of quotients of entries of a and b.\n */\nexport const div = divide;\n\n/**\n * Creates a random vector\n * @param scale - Default 1\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The random vector.\n */\nexport function random(scale = 1, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  const angle = Math.random() * 2 * Math.PI;\n  const z = Math.random() * 2 - 1;\n  const zScale = Math.sqrt(1 - z * z) * scale;\n  dst[0] = Math.cos(angle) * zScale;\n  dst[1] = Math.sin(angle) * zScale;\n  dst[2] = z * scale;\n\n  return dst;\n}\n\n/**\n * Zero's a vector\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The zeroed vector.\n */\nexport function zero(dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  dst[0] = 0;\n  dst[1] = 0;\n  dst[2] = 0;\n\n  return dst;\n}\n\n\n/**\n * transform vec3 by 4x4 matrix\n * @param v - the vector\n * @param m - The matrix.\n * @param dst - optional vec3 to store result. If not passed a new one is created.\n * @returns the transformed vector\n */\nexport function transformMat4(v: Vec3, m: Mat4, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  const x = v[0];\n  const y = v[1];\n  const z = v[2];\n  const w = (m[3] * x + m[7] * y + m[11] * z + m[15]) || 1;\n\n  dst[0] = (m[0] * x + m[4] * y + m[8] * z + m[12]) / w;\n  dst[1] = (m[1] * x + m[5] * y + m[9] * z + m[13]) / w;\n  dst[2] = (m[2] * x + m[6] * y + m[10] * z + m[14]) / w;\n\n  return dst;\n}\n\n/**\n * Transform vec4 by upper 3x3 matrix inside 4x4 matrix.\n * @param v - The direction.\n * @param m - The matrix.\n * @param dst - optional Vec3 to store result. If not passed a new one is created.\n * @returns The transformed vector.\n */\nexport function transformMat4Upper3x3(v: Vec3, m: Mat4, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  const v0 = v[0];\n  const v1 = v[1];\n  const v2 = v[2];\n\n  dst[0] = v0 * m[0 * 4 + 0] + v1 * m[1 * 4 + 0] + v2 * m[2 * 4 + 0];\n  dst[1] = v0 * m[0 * 4 + 1] + v1 * m[1 * 4 + 1] + v2 * m[2 * 4 + 1];\n  dst[2] = v0 * m[0 * 4 + 2] + v1 * m[1 * 4 + 2] + v2 * m[2 * 4 + 2];\n\n  return dst;\n}\n\n/**\n * Transforms vec3 by 3x3 matrix\n *\n * @param v - the vector\n * @param m - The matrix.\n * @param dst - optional vec3 to store result. If not passed a new one is created.\n * @returns the transformed vector\n */\nexport function transformMat3(v: Vec3, m: Mat3, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  const x = v[0];\n  const y = v[1];\n  const z = v[2];\n\n  dst[0] = x * m[0] + y * m[4] + z * m[8];\n  dst[1] = x * m[1] + y * m[5] + z * m[9];\n  dst[2] = x * m[2] + y * m[6] + z * m[10];\n\n  return dst;\n}\n\n/**\n * Transforms vec3 by Quaternion\n * @param v - the vector to transform\n * @param q - the quaternion to transform by\n * @param dst - optional vec3 to store result. If not passed a new one is created.\n * @returns the transformed\n */\nexport function transformQuat(v: Vec3, q: Quat, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  const qx = q[0];\n  const qy = q[1];\n  const qz = q[2];\n  const w2 = q[3] * 2;\n\n  const x = v[0];\n  const y = v[1];\n  const z = v[2];\n\n  const uvX = qy * z - qz * y;\n  const uvY = qz * x - qx * z;\n  const uvZ = qx * y - qy * x;\n\n  dst[0] = x + uvX * w2 + (qy * uvZ - qz * uvY) * 2;\n  dst[1] = y + uvY * w2 + (qz * uvX - qx * uvZ) * 2;\n  dst[2] = z + uvZ * w2 + (qx * uvY - qy * uvX) * 2;\n\n  return dst;\n}\n\n/**\n * Returns the translation component of a 4-by-4 matrix as a vector with 3\n * entries.\n * @param m - The matrix.\n * @param dst - vector to hold result. If not passed a new one is created.\n * @returns The translation component of m.\n */\nexport function getTranslation(m: Mat3, dst?: Vec3) {\n    dst = dst || new VecType(3);\n    dst[0] = m[12];\n    dst[1] = m[13];\n    dst[2] = m[14];\n    return dst;\n}\n/**\n * Returns an axis of a 4x4 matrix as a vector with 3 entries\n * @param m - The matrix.\n * @param axis - The axis 0 = x, 1 = y, 2 = z;\n * @returns The axis component of m.\n */\nexport function getAxis(m: Mat4, axis: number, dst?: Vec3) {\n    dst = dst || new VecType(3);\n    const off = axis * 4;\n    dst[0] = m[off + 0];\n    dst[1] = m[off + 1];\n    dst[2] = m[off + 2];\n    return dst;\n}\n/**\n * Returns the scaling component of the matrix\n * @param m - The Matrix\n * @param dst - The vector to set. If not passed a new one is created.\n */\nexport function getScaling(m: Mat4, dst: Vec3) {\n    dst = dst || new VecType(3);\n    const xx = m[0];\n    const xy = m[1];\n    const xz = m[2];\n    const yx = m[4];\n    const yy = m[5];\n    const yz = m[6];\n    const zx = m[8];\n    const zy = m[9];\n    const zz = m[10];\n    dst[0] = Math.sqrt(xx * xx + xy * xy + xz * xz);\n    dst[1] = Math.sqrt(yx * yx + yy * yy + yz * yz);\n    dst[2] = Math.sqrt(zx * zx + zy * zy + zz * zz);\n    return dst;\n}\n\n/**\n * Rotate a 3D vector around the x-axis\n *\n * @param {ReadonlyVec3} a The vec3 point to rotate\n * @param {ReadonlyVec3} b The origin of the rotation\n * @param {Number} rad The angle of rotation in radians\n * @param dst - The vector to set. If not passed a new one is created.\n * @returns the rotated vector\n */\nexport function rotateX(a: Vec3, b: Vec3, rad: number, dst?: Vec3) {\n  dst = dst || new VecType(3);\n  const p = [];\n  const r = [];\n\n  //Translate point to the origin\n  p[0] = a[0] - b[0];\n  p[1] = a[1] - b[1];\n  p[2] = a[2] - b[2];\n\n  //perform rotation\n  r[0] = p[0];\n  r[1] = p[1] * Math.cos(rad) - p[2] * Math.sin(rad);\n  r[2] = p[1] * Math.sin(rad) + p[2] * Math.cos(rad);\n\n  //translate to correct position\n  dst[0] = r[0] + b[0];\n  dst[1] = r[1] + b[1];\n  dst[2] = r[2] + b[2];\n\n  return dst;\n}\n\n/**\n * Rotate a 3D vector around the y-axis\n *\n * @param {ReadonlyVec3} a The vec3 point to rotate\n * @param {ReadonlyVec3} b The origin of the rotation\n * @param {Number} rad The angle of rotation in radians\n * @param dst - The vector to set. If not passed a new one is created.\n * @returns the rotated vector\n */\nexport function rotateY(a: Vec3, b: Vec3, rad: number, dst?: Vec3) {\n  dst = dst || new VecType(3);\n  const p = [];\n  const r = [];\n\n  // translate point to the origin\n  p[0] = a[0] - b[0];\n  p[1] = a[1] - b[1];\n  p[2] = a[2] - b[2];\n\n  // perform rotation\n  r[0] = p[2] * Math.sin(rad) + p[0] * Math.cos(rad);\n  r[1] = p[1];\n  r[2] = p[2] * Math.cos(rad) - p[0] * Math.sin(rad);\n\n  // translate to correct position\n  dst[0] = r[0] + b[0];\n  dst[1] = r[1] + b[1];\n  dst[2] = r[2] + b[2];\n\n  return dst;\n}\n\n/**\n * Rotate a 3D vector around the z-axis\n *\n * @param {ReadonlyVec3} a The vec3 point to rotate\n * @param {ReadonlyVec3} b The origin of the rotation\n * @param {Number} rad The angle of rotation in radians\n * @param dst - The vector to set. If not passed a new one is created.\n * @returns {vec3} out\n */\nexport function rotateZ(a: Vec3, b: Vec3, rad: number, dst?: Vec3) {\n  dst = dst || new VecType(3);\n  const p = [];\n  const r = [];\n\n  // translate point to the origin\n  p[0] = a[0] - b[0];\n  p[1] = a[1] - b[1];\n  p[2] = a[2] - b[2];\n\n  // perform rotation\n  r[0] = p[0] * Math.cos(rad) - p[1] * Math.sin(rad);\n  r[1] = p[0] * Math.sin(rad) + p[1] * Math.cos(rad);\n  r[2] = p[2];\n\n  // translate to correct position\n  dst[0] = r[0] + b[0];\n  dst[1] = r[1] + b[1];\n  dst[2] = r[2] + b[2];\n\n  return dst;\n}\n\n/**\n * Treat a 3D vector as a direction and set it's length\n *\n * @param a The vec3 to lengthen\n * @param len The length of the resulting vector\n * @returns The lengthened vector\n */\nexport function setLength(a: Vec3, len: number, dst?: Vec3) {\n  dst = dst || new VecType(3);\n  normalize(a, dst);\n  return mulScalar(dst, len, dst);\n}\n\n/**\n * Ensure a vector is not longer than a max length\n *\n * @param a The vec3 to limit\n * @param maxLen The longest length of the resulting vector\n * @returns The vector, shortened to maxLen if it's too long\n */\nexport function truncate(a: Vec3, maxLen: number, dst?: Vec3) {\n  dst = dst || new VecType(3);\n\n  if (length(a) > maxLen) {\n    return setLength(a, maxLen, dst);\n  }\n\n  return copy(a, dst);\n}\n\n/**\n * Return the vector exactly between 2 endpoint vectors\n *\n * @param a Endpoint 1\n * @param b Endpoint 2\n * @returns The vector exactly residing between endpoints 1 and 2\n */\nexport function midpoint(a: Vec3, b: Vec3, dst?: Vec3) {\n  dst = dst || new VecType(3);\n  return lerp(a, b, 0.5, dst);\n}\n","\nimport { Mat3 } from './mat3';\nimport { Mat4 } from './mat4';\nimport { Quat } from './quat';\nimport Vec3, * as vec3 from './vec3-impl';\nimport * as utils from './utils';\n\nexport default Mat4;\n\nexport type Mat4LikeCtor = new (n: number) => Mat4;\n\n/**\n * 4x4 Matrix math math functions.\n *\n * Almost all functions take an optional `dst` argument. If it is not passed in the\n * functions will create a new matrix. In other words you can do this\n *\n *     const mat = mat4.translation([1, 2, 3]);  // Creates a new translation matrix\n *\n * or\n *\n *     const mat = mat4.create();\n *     mat4.translation([1, 2, 3], mat);  // Puts translation matrix in mat.\n *\n * The first style is often easier but depending on where it's used it generates garbage where\n * as there is almost never allocation with the second style.\n *\n * It is always save to pass any matrix as the destination. So for example\n *\n *     const mat = mat4.identity();\n *     const trans = mat4.translation([1, 2, 3]);\n *     mat4.multiply(mat, trans, mat);  // Multiplies mat * trans and puts result in mat.\n *\n */\nlet MatType: Mat4LikeCtor = Float32Array;\n\n/**\n * Sets the type this library creates for a Mat4\n * @param ctor - the constructor for the type. Either `Float32Array`, `Float64Array`, or `Array`\n * @returns previous constructor for Mat4\n */\nexport function setDefaultType(ctor: new (n: number) => Mat4) {\n  const oldType = MatType;\n  MatType = ctor;\n  return oldType;\n}\n\n/**\n * Create a Mat4 from values\n *\n * Note: Since passing in a raw JavaScript array\n * is valid in all circumstances, if you want to\n * force a JavaScript array into a Mat4's specified type\n * it would be faster to use\n *\n * ```\n * const m = mat4.clone(someJSArray);\n * ```\n *\n * Note: a consequence of the implementation is if your Mat4Type = `Array`\n * instead of `Float32Array` or `Float64Array` then any values you\n * don't pass in will be undefined. Usually this is not an issue since\n * (a) using `Array` is rare and (b) using `mat4.create` is usually used\n * to create a Mat4 to be filled out as in\n *\n * ```\n * const m = mat4.create();\n * mat4.perspective(fov, aspect, near, far, m);\n * ```\n *\n * @param v0 - value for element 0\n * @param v1 - value for element 1\n * @param v2 - value for element 2\n * @param v3 - value for element 3\n * @param v4 - value for element 4\n * @param v5 - value for element 5\n * @param v6 - value for element 6\n * @param v7 - value for element 7\n * @param v8 - value for element 8\n * @param v9 - value for element 9\n * @param v10 - value for element 10\n * @param v11 - value for element 11\n * @param v12 - value for element 12\n * @param v13 - value for element 13\n * @param v14 - value for element 14\n * @param v15 - value for element 15\n * @returns created from values.\n */\nexport function create(\n    v0?: number, v1?: number, v2?: number, v3?: number,\n    v4?: number, v5?: number, v6?: number, v7?: number,\n    v8?: number, v9?: number, v10?: number, v11?: number,\n    v12?: number, v13?: number, v14?: number, v15?: number): Mat4 {\n  const dst = new MatType(16);\n  if (v0 !== undefined) {\n    dst[0] = v0;\n    if (v1 !== undefined) {\n      dst[1] = v1;\n      if (v2 !== undefined) {\n        dst[2] = v2;\n        if (v3 !== undefined) {\n          dst[3] = v3;\n          if (v4 !== undefined) {\n            dst[4] = v4;\n            if (v5 !== undefined) {\n              dst[5] = v5;\n              if (v6 !== undefined) {\n                dst[6] = v6;\n                if (v7 !== undefined) {\n                  dst[7] = v7;\n                  if (v8 !== undefined) {\n                    dst[8] = v8;\n                    if (v9 !== undefined) {\n                      dst[9] = v9;\n                      if (v10 !== undefined) {\n                        dst[10] = v10;\n                        if (v11 !== undefined) {\n                          dst[11] = v11;\n                          if (v12 !== undefined) {\n                            dst[12] = v12;\n                            if (v13 !== undefined) {\n                              dst[13] = v13;\n                              if (v14 !== undefined) {\n                                dst[14] = v14;\n                                if (v15 !== undefined) {\n                                  dst[15] = v15;\n                                }\n                              }\n                            }\n                          }\n                        }\n                      }\n                    }\n                  }\n                }\n              }\n            }\n          }\n        }\n      }\n    }\n  }\n  return dst;\n}\n\n/**\n * Sets the values of a Mat4\n * Also see {@link mat4.create} and {@link mat4.copy}\n *\n * @param v0 - value for element 0\n * @param v1 - value for element 1\n * @param v2 - value for element 2\n * @param v3 - value for element 3\n * @param v4 - value for element 4\n * @param v5 - value for element 5\n * @param v6 - value for element 6\n * @param v7 - value for element 7\n * @param v8 - value for element 8\n * @param v9 - value for element 9\n * @param v10 - value for element 10\n * @param v11 - value for element 11\n * @param v12 - value for element 12\n * @param v13 - value for element 13\n * @param v14 - value for element 14\n * @param v15 - value for element 15\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns Mat4 created from values.\n */\nexport function set(\n    v0: number, v1: number, v2: number, v3: number,\n    v4: number, v5: number, v6: number, v7: number,\n    v8: number, v9: number, v10: number, v11: number,\n    v12: number, v13: number, v14: number, v15: number,\n    dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  dst[ 0] = v0;   dst[ 1] = v1;   dst[ 2] = v2;   dst[ 3] = v3;\n  dst[ 4] = v4;   dst[ 5] = v5;   dst[ 6] = v6;   dst[ 7] = v7;\n  dst[ 8] = v8;   dst[ 9] = v9;   dst[10] = v10;  dst[11] = v11;\n  dst[12] = v12;  dst[13] = v13;  dst[14] = v14;  dst[15] = v15;\n\n  return dst;\n}\n\n/**\n * Creates a Mat4 from a Mat3\n * @param m3 - source matrix\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns Mat4 made from m3\n */\nexport function fromMat3(m3: Mat3, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  dst[ 0] = m3[0];  dst[ 1] = m3[1];  dst[ 2] = m3[ 2];  dst[ 3] = 0;\n  dst[ 4] = m3[4];  dst[ 5] = m3[5];  dst[ 6] = m3[ 6];  dst[ 7] = 0;\n  dst[ 8] = m3[8];  dst[ 9] = m3[9];  dst[10] = m3[10];  dst[11] = 0;\n  dst[12] = 0;      dst[13] = 0;      dst[14] = 0;       dst[15] = 1;\n\n  return dst;\n}\n\n/**\n * Creates a Mat4 rotation matrix from a quaternion\n * @param q - quaternion to create matrix from\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns Mat4 made from q\n */\nexport function fromQuat(q: Quat, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  const x = q[0]; const y = q[1]; const z = q[2]; const w = q[3];\n  const x2 = x + x; const y2 = y + y; const z2 = z + z;\n\n  const xx = x * x2;\n  const yx = y * x2;\n  const yy = y * y2;\n  const zx = z * x2;\n  const zy = z * y2;\n  const zz = z * z2;\n  const wx = w * x2;\n  const wy = w * y2;\n  const wz = w * z2;\n\n  dst[ 0] = 1 - yy - zz;  dst[ 1] = yx + wz;      dst[ 2] = zx - wy;      dst[ 3] = 0;\n  dst[ 4] = yx - wz;      dst[ 5] = 1 - xx - zz;  dst[ 6] = zy + wx;      dst[ 7] = 0;\n  dst[ 8] = zx + wy;      dst[ 9] = zy - wx;      dst[10] = 1 - xx - yy;  dst[11] = 0;\n  dst[12] = 0;            dst[13] = 0;            dst[14] = 0;            dst[15] = 1;\n\n  return dst;\n}\n\n/**\n * Negates a matrix.\n * @param m - The matrix.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns -m.\n */\nexport function negate(m: Mat4, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  dst[ 0] = -m[ 0];  dst[ 1] = -m[ 1];  dst[ 2] = -m[ 2];  dst[ 3] = -m[ 3];\n  dst[ 4] = -m[ 4];  dst[ 5] = -m[ 5];  dst[ 6] = -m[ 6];  dst[ 7] = -m[ 7];\n  dst[ 8] = -m[ 8];  dst[ 9] = -m[ 9];  dst[10] = -m[10];  dst[11] = -m[11];\n  dst[12] = -m[12];  dst[13] = -m[13];  dst[14] = -m[14];  dst[15] = -m[15];\n\n  return dst;\n}\n\n/**\n * Copies a matrix. (same as {@link mat4.clone})\n * Also see {@link mat4.create} and {@link mat4.set}\n * @param m - The matrix.\n * @param dst - The matrix. If not passed a new one is created.\n * @returns A copy of m.\n */\nexport function copy(m: Mat4, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  dst[ 0] = m[ 0];  dst[ 1] = m[ 1];  dst[ 2] = m[ 2];  dst[ 3] = m[ 3];\n  dst[ 4] = m[ 4];  dst[ 5] = m[ 5];  dst[ 6] = m[ 6];  dst[ 7] = m[ 7];\n  dst[ 8] = m[ 8];  dst[ 9] = m[ 9];  dst[10] = m[10];  dst[11] = m[11];\n  dst[12] = m[12];  dst[13] = m[13];  dst[14] = m[14];  dst[15] = m[15];\n\n  return dst;\n}\n\n/**\n * Copies a matrix (same as {@link mat4.copy})\n * Also see {@link mat4.create} and {@link mat4.set}\n * @param m - The matrix.\n * @param dst - The matrix. If not passed a new one is created.\n * @returns A copy of m.\n */\nexport const clone = copy;\n\n/**\n * Check if 2 matrices are approximately equal\n * @param a - Operand matrix.\n * @param b - Operand matrix.\n * @returns true if matrices are approximately equal\n */\nexport function equalsApproximately(a: Mat4, b: Mat4): boolean {\n  return Math.abs(a[ 0] - b[ 0]) < utils.EPSILON &&\n         Math.abs(a[ 1] - b[ 1]) < utils.EPSILON &&\n         Math.abs(a[ 2] - b[ 2]) < utils.EPSILON &&\n         Math.abs(a[ 3] - b[ 3]) < utils.EPSILON &&\n         Math.abs(a[ 4] - b[ 4]) < utils.EPSILON &&\n         Math.abs(a[ 5] - b[ 5]) < utils.EPSILON &&\n         Math.abs(a[ 6] - b[ 6]) < utils.EPSILON &&\n         Math.abs(a[ 7] - b[ 7]) < utils.EPSILON &&\n         Math.abs(a[ 8] - b[ 8]) < utils.EPSILON &&\n         Math.abs(a[ 9] - b[ 9]) < utils.EPSILON &&\n         Math.abs(a[10] - b[10]) < utils.EPSILON &&\n         Math.abs(a[11] - b[11]) < utils.EPSILON &&\n         Math.abs(a[12] - b[12]) < utils.EPSILON &&\n         Math.abs(a[13] - b[13]) < utils.EPSILON &&\n         Math.abs(a[14] - b[14]) < utils.EPSILON &&\n         Math.abs(a[15] - b[15]) < utils.EPSILON;\n}\n\n/**\n * Check if 2 matrices are exactly equal\n * @param a - Operand matrix.\n * @param b - Operand matrix.\n * @returns true if matrices are exactly equal\n */\nexport function equals(a: Mat4, b: Mat4): boolean {\n  return a[ 0] === b[ 0] &&\n         a[ 1] === b[ 1] &&\n         a[ 2] === b[ 2] &&\n         a[ 3] === b[ 3] &&\n         a[ 4] === b[ 4] &&\n         a[ 5] === b[ 5] &&\n         a[ 6] === b[ 6] &&\n         a[ 7] === b[ 7] &&\n         a[ 8] === b[ 8] &&\n         a[ 9] === b[ 9] &&\n         a[10] === b[10] &&\n         a[11] === b[11] &&\n         a[12] === b[12] &&\n         a[13] === b[13] &&\n         a[14] === b[14] &&\n         a[15] === b[15];\n}\n\n/**\n * Creates a 4-by-4 identity matrix.\n *\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns A 4-by-4 identity matrix.\n */\nexport function identity(dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  dst[ 0] = 1;  dst[ 1] = 0;  dst[ 2] = 0;  dst[ 3] = 0;\n  dst[ 4] = 0;  dst[ 5] = 1;  dst[ 6] = 0;  dst[ 7] = 0;\n  dst[ 8] = 0;  dst[ 9] = 0;  dst[10] = 1;  dst[11] = 0;\n  dst[12] = 0;  dst[13] = 0;  dst[14] = 0;  dst[15] = 1;\n\n  return dst;\n}\n\n/**\n * Takes the transpose of a matrix.\n * @param m - The matrix.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The transpose of m.\n */\nexport function transpose(m: Mat4, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n  if (dst === m) {\n    let t;\n\n    t = m[1];\n    m[1] = m[4];\n    m[4] = t;\n\n    t = m[2];\n    m[2] = m[8];\n    m[8] = t;\n\n    t = m[3];\n    m[3] = m[12];\n    m[12] = t;\n\n    t = m[6];\n    m[6] = m[9];\n    m[9] = t;\n\n    t = m[7];\n    m[7] = m[13];\n    m[13] = t;\n\n    t = m[11];\n    m[11] = m[14];\n    m[14] = t;\n    return dst;\n  }\n\n  const m00 = m[0 * 4 + 0];\n  const m01 = m[0 * 4 + 1];\n  const m02 = m[0 * 4 + 2];\n  const m03 = m[0 * 4 + 3];\n  const m10 = m[1 * 4 + 0];\n  const m11 = m[1 * 4 + 1];\n  const m12 = m[1 * 4 + 2];\n  const m13 = m[1 * 4 + 3];\n  const m20 = m[2 * 4 + 0];\n  const m21 = m[2 * 4 + 1];\n  const m22 = m[2 * 4 + 2];\n  const m23 = m[2 * 4 + 3];\n  const m30 = m[3 * 4 + 0];\n  const m31 = m[3 * 4 + 1];\n  const m32 = m[3 * 4 + 2];\n  const m33 = m[3 * 4 + 3];\n\n  dst[ 0] = m00;  dst[ 1] = m10;  dst[ 2] = m20;  dst[ 3] = m30;\n  dst[ 4] = m01;  dst[ 5] = m11;  dst[ 6] = m21;  dst[ 7] = m31;\n  dst[ 8] = m02;  dst[ 9] = m12;  dst[10] = m22;  dst[11] = m32;\n  dst[12] = m03;  dst[13] = m13;  dst[14] = m23;  dst[15] = m33;\n\n  return dst;\n}\n\n/**\n * Computes the inverse of a 4-by-4 matrix.\n * @param m - The matrix.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The inverse of m.\n */\nexport function inverse(m: Mat4, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  const m00 = m[0 * 4 + 0];\n  const m01 = m[0 * 4 + 1];\n  const m02 = m[0 * 4 + 2];\n  const m03 = m[0 * 4 + 3];\n  const m10 = m[1 * 4 + 0];\n  const m11 = m[1 * 4 + 1];\n  const m12 = m[1 * 4 + 2];\n  const m13 = m[1 * 4 + 3];\n  const m20 = m[2 * 4 + 0];\n  const m21 = m[2 * 4 + 1];\n  const m22 = m[2 * 4 + 2];\n  const m23 = m[2 * 4 + 3];\n  const m30 = m[3 * 4 + 0];\n  const m31 = m[3 * 4 + 1];\n  const m32 = m[3 * 4 + 2];\n  const m33 = m[3 * 4 + 3];\n  const tmp0  = m22 * m33;\n  const tmp1  = m32 * m23;\n  const tmp2  = m12 * m33;\n  const tmp3  = m32 * m13;\n  const tmp4  = m12 * m23;\n  const tmp5  = m22 * m13;\n  const tmp6  = m02 * m33;\n  const tmp7  = m32 * m03;\n  const tmp8  = m02 * m23;\n  const tmp9  = m22 * m03;\n  const tmp10 = m02 * m13;\n  const tmp11 = m12 * m03;\n  const tmp12 = m20 * m31;\n  const tmp13 = m30 * m21;\n  const tmp14 = m10 * m31;\n  const tmp15 = m30 * m11;\n  const tmp16 = m10 * m21;\n  const tmp17 = m20 * m11;\n  const tmp18 = m00 * m31;\n  const tmp19 = m30 * m01;\n  const tmp20 = m00 * m21;\n  const tmp21 = m20 * m01;\n  const tmp22 = m00 * m11;\n  const tmp23 = m10 * m01;\n\n  const t0 = (tmp0 * m11 + tmp3 * m21 + tmp4 * m31) -\n      (tmp1 * m11 + tmp2 * m21 + tmp5 * m31);\n  const t1 = (tmp1 * m01 + tmp6 * m21 + tmp9 * m31) -\n      (tmp0 * m01 + tmp7 * m21 + tmp8 * m31);\n  const t2 = (tmp2 * m01 + tmp7 * m11 + tmp10 * m31) -\n      (tmp3 * m01 + tmp6 * m11 + tmp11 * m31);\n  const t3 = (tmp5 * m01 + tmp8 * m11 + tmp11 * m21) -\n      (tmp4 * m01 + tmp9 * m11 + tmp10 * m21);\n\n  const d = 1 / (m00 * t0 + m10 * t1 + m20 * t2 + m30 * t3);\n\n  dst[ 0] = d * t0;\n  dst[ 1] = d * t1;\n  dst[ 2] = d * t2;\n  dst[ 3] = d * t3;\n  dst[ 4] = d * ((tmp1 * m10 + tmp2 * m20 + tmp5 * m30) -\n          (tmp0 * m10 + tmp3 * m20 + tmp4 * m30));\n  dst[ 5] = d * ((tmp0 * m00 + tmp7 * m20 + tmp8 * m30) -\n          (tmp1 * m00 + tmp6 * m20 + tmp9 * m30));\n  dst[ 6] = d * ((tmp3 * m00 + tmp6 * m10 + tmp11 * m30) -\n          (tmp2 * m00 + tmp7 * m10 + tmp10 * m30));\n  dst[ 7] = d * ((tmp4 * m00 + tmp9 * m10 + tmp10 * m20) -\n          (tmp5 * m00 + tmp8 * m10 + tmp11 * m20));\n  dst[ 8] = d * ((tmp12 * m13 + tmp15 * m23 + tmp16 * m33) -\n          (tmp13 * m13 + tmp14 * m23 + tmp17 * m33));\n  dst[ 9] = d * ((tmp13 * m03 + tmp18 * m23 + tmp21 * m33) -\n          (tmp12 * m03 + tmp19 * m23 + tmp20 * m33));\n  dst[10] = d * ((tmp14 * m03 + tmp19 * m13 + tmp22 * m33) -\n          (tmp15 * m03 + tmp18 * m13 + tmp23 * m33));\n  dst[11] = d * ((tmp17 * m03 + tmp20 * m13 + tmp23 * m23) -\n          (tmp16 * m03 + tmp21 * m13 + tmp22 * m23));\n  dst[12] = d * ((tmp14 * m22 + tmp17 * m32 + tmp13 * m12) -\n          (tmp16 * m32 + tmp12 * m12 + tmp15 * m22));\n  dst[13] = d * ((tmp20 * m32 + tmp12 * m02 + tmp19 * m22) -\n          (tmp18 * m22 + tmp21 * m32 + tmp13 * m02));\n  dst[14] = d * ((tmp18 * m12 + tmp23 * m32 + tmp15 * m02) -\n          (tmp22 * m32 + tmp14 * m02 + tmp19 * m12));\n  dst[15] = d * ((tmp22 * m22 + tmp16 * m02 + tmp21 * m12) -\n          (tmp20 * m12 + tmp23 * m22 + tmp17 * m02));\n\n  return dst;\n}\n\n/**\n * Compute the determinant of a matrix\n * @param m - the matrix\n * @returns the determinant\n */\nexport function determinant(m: Mat4): number {\n  const m00 = m[0 * 4 + 0];\n  const m01 = m[0 * 4 + 1];\n  const m02 = m[0 * 4 + 2];\n  const m03 = m[0 * 4 + 3];\n  const m10 = m[1 * 4 + 0];\n  const m11 = m[1 * 4 + 1];\n  const m12 = m[1 * 4 + 2];\n  const m13 = m[1 * 4 + 3];\n  const m20 = m[2 * 4 + 0];\n  const m21 = m[2 * 4 + 1];\n  const m22 = m[2 * 4 + 2];\n  const m23 = m[2 * 4 + 3];\n  const m30 = m[3 * 4 + 0];\n  const m31 = m[3 * 4 + 1];\n  const m32 = m[3 * 4 + 2];\n  const m33 = m[3 * 4 + 3];\n\n  const tmp0  = m22 * m33;\n  const tmp1  = m32 * m23;\n  const tmp2  = m12 * m33;\n  const tmp3  = m32 * m13;\n  const tmp4  = m12 * m23;\n  const tmp5  = m22 * m13;\n  const tmp6  = m02 * m33;\n  const tmp7  = m32 * m03;\n  const tmp8  = m02 * m23;\n  const tmp9  = m22 * m03;\n  const tmp10 = m02 * m13;\n  const tmp11 = m12 * m03;\n\n  const t0 = (tmp0 * m11 + tmp3 * m21 + tmp4 * m31) -\n             (tmp1 * m11 + tmp2 * m21 + tmp5 * m31);\n  const t1 = (tmp1 * m01 + tmp6 * m21 + tmp9 * m31) -\n             (tmp0 * m01 + tmp7 * m21 + tmp8 * m31);\n  const t2 = (tmp2 * m01 + tmp7 * m11 + tmp10 * m31) -\n             (tmp3 * m01 + tmp6 * m11 + tmp11 * m31);\n  const t3 = (tmp5 * m01 + tmp8 * m11 + tmp11 * m21) -\n             (tmp4 * m01 + tmp9 * m11 + tmp10 * m21);\n\n  return m00 * t0 + m10 * t1 + m20 * t2 + m30 * t3;\n}\n\n/**\n * Computes the inverse of a 4-by-4 matrix. (same as inverse)\n * @param m - The matrix.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The inverse of m.\n */\nexport const invert = inverse;\n\n/**\n * Multiplies two 4-by-4 matrices with a on the left and b on the right\n * @param a - The matrix on the left.\n * @param b - The matrix on the right.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The matrix product of a and b.\n */\nexport function multiply(a: Mat4, b: Mat4, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  const a00 = a[0];\n  const a01 = a[1];\n  const a02 = a[2];\n  const a03 = a[3];\n  const a10 = a[ 4 + 0];\n  const a11 = a[ 4 + 1];\n  const a12 = a[ 4 + 2];\n  const a13 = a[ 4 + 3];\n  const a20 = a[ 8 + 0];\n  const a21 = a[ 8 + 1];\n  const a22 = a[ 8 + 2];\n  const a23 = a[ 8 + 3];\n  const a30 = a[12 + 0];\n  const a31 = a[12 + 1];\n  const a32 = a[12 + 2];\n  const a33 = a[12 + 3];\n  const b00 = b[0];\n  const b01 = b[1];\n  const b02 = b[2];\n  const b03 = b[3];\n  const b10 = b[ 4 + 0];\n  const b11 = b[ 4 + 1];\n  const b12 = b[ 4 + 2];\n  const b13 = b[ 4 + 3];\n  const b20 = b[ 8 + 0];\n  const b21 = b[ 8 + 1];\n  const b22 = b[ 8 + 2];\n  const b23 = b[ 8 + 3];\n  const b30 = b[12 + 0];\n  const b31 = b[12 + 1];\n  const b32 = b[12 + 2];\n  const b33 = b[12 + 3];\n\n  dst[ 0] = a00 * b00 + a10 * b01 + a20 * b02 + a30 * b03;\n  dst[ 1] = a01 * b00 + a11 * b01 + a21 * b02 + a31 * b03;\n  dst[ 2] = a02 * b00 + a12 * b01 + a22 * b02 + a32 * b03;\n  dst[ 3] = a03 * b00 + a13 * b01 + a23 * b02 + a33 * b03;\n  dst[ 4] = a00 * b10 + a10 * b11 + a20 * b12 + a30 * b13;\n  dst[ 5] = a01 * b10 + a11 * b11 + a21 * b12 + a31 * b13;\n  dst[ 6] = a02 * b10 + a12 * b11 + a22 * b12 + a32 * b13;\n  dst[ 7] = a03 * b10 + a13 * b11 + a23 * b12 + a33 * b13;\n  dst[ 8] = a00 * b20 + a10 * b21 + a20 * b22 + a30 * b23;\n  dst[ 9] = a01 * b20 + a11 * b21 + a21 * b22 + a31 * b23;\n  dst[10] = a02 * b20 + a12 * b21 + a22 * b22 + a32 * b23;\n  dst[11] = a03 * b20 + a13 * b21 + a23 * b22 + a33 * b23;\n  dst[12] = a00 * b30 + a10 * b31 + a20 * b32 + a30 * b33;\n  dst[13] = a01 * b30 + a11 * b31 + a21 * b32 + a31 * b33;\n  dst[14] = a02 * b30 + a12 * b31 + a22 * b32 + a32 * b33;\n  dst[15] = a03 * b30 + a13 * b31 + a23 * b32 + a33 * b33;\n\n  return dst;\n}\n\n/**\n * Multiplies two 4-by-4 matrices with a on the left and b on the right (same as multiply)\n * @param a - The matrix on the left.\n * @param b - The matrix on the right.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The matrix product of a and b.\n */\nexport const mul = multiply;\n\n/**\n * Sets the translation component of a 4-by-4 matrix to the given\n * vector.\n * @param a - The matrix.\n * @param v - The vector.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The matrix with translation set.\n */\nexport function setTranslation(a: Mat4, v: Vec3, dst?: Mat4): Mat4 {\n  dst = dst || identity();\n  if (a !== dst) {\n    dst[ 0] = a[ 0];\n    dst[ 1] = a[ 1];\n    dst[ 2] = a[ 2];\n    dst[ 3] = a[ 3];\n    dst[ 4] = a[ 4];\n    dst[ 5] = a[ 5];\n    dst[ 6] = a[ 6];\n    dst[ 7] = a[ 7];\n    dst[ 8] = a[ 8];\n    dst[ 9] = a[ 9];\n    dst[10] = a[10];\n    dst[11] = a[11];\n  }\n  dst[12] = v[0];\n  dst[13] = v[1];\n  dst[14] = v[2];\n  dst[15] = 1;\n  return dst;\n}\n\n/**\n * Returns the translation component of a 4-by-4 matrix as a vector with 3\n * entries.\n * @param m - The matrix.\n * @param dst - vector to hold result. If not passed a new one is created.\n * @returns The translation component of m.\n */\nexport function getTranslation(m: Mat4, dst?: Vec3): Vec3 {\n  dst = dst || vec3.create();\n  dst[0] = m[12];\n  dst[1] = m[13];\n  dst[2] = m[14];\n  return dst;\n}\n\n/**\n * Returns an axis of a 4x4 matrix as a vector with 3 entries\n * @param m - The matrix.\n * @param axis - The axis 0 = x, 1 = y, 2 = z;\n * @returns The axis component of m.\n */\nexport function getAxis(m: Mat4, axis: number, dst?: Vec3): Vec3 {\n  dst = dst || vec3.create();\n  const off = axis * 4;\n  dst[0] = m[off + 0];\n  dst[1] = m[off + 1];\n  dst[2] = m[off + 2];\n  return dst;\n}\n\n/**\n * Sets an axis of a 4x4 matrix as a vector with 3 entries\n * @param m - The matrix.\n * @param v - the axis vector\n * @param axis - The axis  0 = x, 1 = y, 2 = z;\n * @param dst - The matrix to set. If not passed a new one is created.\n * @returns The matrix with axis set.\n */\nexport function setAxis(a: Mat4, v: Vec3, axis: number, dst: Mat4): Mat4 {\n  if (dst !== a) {\n    dst = copy(a, dst);\n  }\n  const off = axis * 4;\n  dst[off + 0] = v[0];\n  dst[off + 1] = v[1];\n  dst[off + 2] = v[2];\n  return dst;\n}\n\n/**\n * Returns the scaling component of the matrix\n * @param m - The Matrix\n * @param dst - The vector to set. If not passed a new one is created.\n */\nexport function getScaling(m: Mat4, dst?: Vec3): Vec3 {\n  dst = dst || vec3.create();\n\n  const xx = m[0];\n  const xy = m[1];\n  const xz = m[2];\n  const yx = m[4];\n  const yy = m[5];\n  const yz = m[6];\n  const zx = m[8];\n  const zy = m[9];\n  const zz = m[10];\n\n  dst[0] = Math.sqrt(xx * xx + xy * xy + xz * xz);\n  dst[1] = Math.sqrt(yx * yx + yy * yy + yz * yz);\n  dst[2] = Math.sqrt(zx * zx + zy * zy + zz * zz);\n\n  return dst;\n}\n\n/**\n * Computes a 4-by-4 perspective transformation matrix given the angular height\n * of the frustum, the aspect ratio, and the near and far clipping planes.  The\n * arguments define a frustum extending in the negative z direction.  The given\n * angle is the vertical angle of the frustum, and the horizontal angle is\n * determined to produce the given aspect ratio.  The arguments near and far are\n * the distances to the near and far clipping planes.  Note that near and far\n * are not z coordinates, but rather they are distances along the negative\n * z-axis.  The matrix generated sends the viewing frustum to the unit box.\n * We assume a unit box extending from -1 to 1 in the x and y dimensions and\n * from 0 to 1 in the z dimension.\n *\n * Note: If you pass `Infinity` for zFar then it will produce a projection matrix\n * returns -Infinity for Z when transforming coordinates with Z <= 0 and +Infinity for Z\n * otherwise.\n *\n * @param fieldOfViewYInRadians - The camera angle from top to bottom (in radians).\n * @param aspect - The aspect ratio width / height.\n * @param zNear - The depth (negative z coordinate)\n *     of the near clipping plane.\n * @param zFar - The depth (negative z coordinate)\n *     of the far clipping plane.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The perspective matrix.\n */\nexport function perspective(fieldOfViewYInRadians: number, aspect: number, zNear: number, zFar: number, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  const f = Math.tan(Math.PI * 0.5 - 0.5 * fieldOfViewYInRadians);\n\n  dst[0]  = f / aspect;\n  dst[1]  = 0;\n  dst[2]  = 0;\n  dst[3]  = 0;\n\n  dst[4]  = 0;\n  dst[5]  = f;\n  dst[6]  = 0;\n  dst[7]  = 0;\n\n  dst[8]  = 0;\n  dst[9]  = 0;\n  dst[11] = -1;\n\n  dst[12] = 0;\n  dst[13] = 0;\n  dst[15] = 0;\n\n  if (zFar === Infinity) {\n    dst[10] = -1;\n    dst[14] = -zNear;\n  } else {\n    const rangeInv = 1 / (zNear - zFar);\n    dst[10] = zFar * rangeInv;\n    dst[14] = zFar * zNear * rangeInv;\n  }\n\n  return dst;\n}\n\n/**\n * Computes a 4-by-4 orthogonal transformation matrix that transforms from\n * the given the left, right, bottom, and top dimensions to -1 +1 in x, and y\n * and 0 to +1 in z.\n * @param left - Left side of the near clipping plane viewport.\n * @param right - Right side of the near clipping plane viewport.\n * @param bottom - Bottom of the near clipping plane viewport.\n * @param top - Top of the near clipping plane viewport.\n * @param near - The depth (negative z coordinate)\n *     of the near clipping plane.\n * @param far - The depth (negative z coordinate)\n *     of the far clipping plane.\n * @param dst - Output matrix. If not passed a new one is created.\n * @returns The orthographic projection matrix.\n */\nexport function ortho(left: number, right: number, bottom: number, top: number, near: number, far: number, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  dst[0]  = 2 / (right - left);\n  dst[1]  = 0;\n  dst[2]  = 0;\n  dst[3]  = 0;\n\n  dst[4]  = 0;\n  dst[5]  = 2 / (top - bottom);\n  dst[6]  = 0;\n  dst[7]  = 0;\n\n  dst[8]  = 0;\n  dst[9]  = 0;\n  dst[10] = 1 / (near - far);\n  dst[11] = 0;\n\n  dst[12] = (right + left) / (left - right);\n  dst[13] = (top + bottom) / (bottom - top);\n  dst[14] = near / (near - far);\n  dst[15] = 1;\n\n  return dst;\n}\n\n/**\n * Computes a 4-by-4 perspective transformation matrix given the left, right,\n * top, bottom, near and far clipping planes. The arguments define a frustum\n * extending in the negative z direction. The arguments near and far are the\n * distances to the near and far clipping planes. Note that near and far are not\n * z coordinates, but rather they are distances along the negative z-axis. The\n * matrix generated sends the viewing frustum to the unit box. We assume a unit\n * box extending from -1 to 1 in the x and y dimensions and from 0 to 1 in the z\n * dimension.\n * @param left - The x coordinate of the left plane of the box.\n * @param right - The x coordinate of the right plane of the box.\n * @param bottom - The y coordinate of the bottom plane of the box.\n * @param top - The y coordinate of the right plane of the box.\n * @param near - The negative z coordinate of the near plane of the box.\n * @param far - The negative z coordinate of the far plane of the box.\n * @param dst - Output matrix. If not passed a new one is created.\n * @returns The perspective projection matrix.\n */\nexport function frustum(left: number, right: number, bottom: number, top: number, near: number, far: number, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  const dx = (right - left);\n  const dy = (top - bottom);\n  const dz = (near - far);\n\n  dst[ 0] = 2 * near / dx;\n  dst[ 1] = 0;\n  dst[ 2] = 0;\n  dst[ 3] = 0;\n  dst[ 4] = 0;\n  dst[ 5] = 2 * near / dy;\n  dst[ 6] = 0;\n  dst[ 7] = 0;\n  dst[ 8] = (left + right) / dx;\n  dst[ 9] = (top + bottom) / dy;\n  dst[10] = far / dz;\n  dst[11] = -1;\n  dst[12] = 0;\n  dst[13] = 0;\n  dst[14] = near * far / dz;\n  dst[15] = 0;\n\n  return dst;\n}\n\nlet xAxis: Vec3;\nlet yAxis: Vec3;\nlet zAxis: Vec3;\n\n/**\n * Computes a 4-by-4 aim transformation.\n *\n * This is a matrix which positions an object aiming down positive Z.\n * toward the target.\n *\n * Note: this is **NOT** the inverse of lookAt as lookAt looks at negative Z.\n *\n * @param position - The position of the object.\n * @param target - The position meant to be aimed at.\n * @param up - A vector pointing up.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The aim matrix.\n */\nexport function aim(position: Vec3, target: Vec3, up: Vec3, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  xAxis = xAxis || vec3.create();\n  yAxis = yAxis || vec3.create();\n  zAxis = zAxis || vec3.create();\n\n  vec3.normalize(vec3.subtract(target, position, zAxis), zAxis);\n  vec3.normalize(vec3.cross(up, zAxis, xAxis), xAxis);\n  vec3.normalize(vec3.cross(zAxis, xAxis, yAxis), yAxis);\n\n  dst[ 0] = xAxis[0];     dst[ 1] = xAxis[1];     dst[ 2] = xAxis[2];     dst[ 3] = 0;\n  dst[ 4] = yAxis[0];     dst[ 5] = yAxis[1];     dst[ 6] = yAxis[2];     dst[ 7] = 0;\n  dst[ 8] = zAxis[0];     dst[ 9] = zAxis[1];     dst[10] = zAxis[2];     dst[11] = 0;\n  dst[12] = position[0];  dst[13] = position[1];  dst[14] = position[2];  dst[15] = 1;\n\n  return dst;\n}\n\n/**\n * Computes a 4-by-4 camera aim transformation.\n *\n * This is a matrix which positions an object aiming down negative Z.\n * toward the target.\n *\n * Note: this is the inverse of `lookAt`\n *\n * @param eye - The position of the object.\n * @param target - The position meant to be aimed at.\n * @param up - A vector pointing up.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The aim matrix.\n */\nexport function cameraAim(eye: Vec3, target: Vec3, up: Vec3, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  xAxis = xAxis || vec3.create();\n  yAxis = yAxis || vec3.create();\n  zAxis = zAxis || vec3.create();\n\n  vec3.normalize(vec3.subtract(eye, target, zAxis), zAxis);\n  vec3.normalize(vec3.cross(up, zAxis, xAxis), xAxis);\n  vec3.normalize(vec3.cross(zAxis, xAxis, yAxis), yAxis);\n\n  dst[ 0] = xAxis[0];     dst[ 1] = xAxis[1];     dst[ 2] = xAxis[2];     dst[ 3] = 0;\n  dst[ 4] = yAxis[0];     dst[ 5] = yAxis[1];     dst[ 6] = yAxis[2];     dst[ 7] = 0;\n  dst[ 8] = zAxis[0];     dst[ 9] = zAxis[1];     dst[10] = zAxis[2];     dst[11] = 0;\n  dst[12] = eye[0];  dst[13] = eye[1];  dst[14] = eye[2];  dst[15] = 1;\n\n  return dst;\n}\n\n/**\n * Computes a 4-by-4 view transformation.\n *\n * This is a view matrix which transforms all other objects\n * to be in the space of the view defined by the parameters.\n *\n * @param eye - The position of the object.\n * @param target - The position meant to be aimed at.\n * @param up - A vector pointing up.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The look-at matrix.\n */\nexport function lookAt(eye: Vec3, target: Vec3, up: Vec3, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  xAxis = xAxis || vec3.create();\n  yAxis = yAxis || vec3.create();\n  zAxis = zAxis || vec3.create();\n\n  vec3.normalize(vec3.subtract(eye, target, zAxis), zAxis);\n  vec3.normalize(vec3.cross(up, zAxis, xAxis), xAxis);\n  vec3.normalize(vec3.cross(zAxis, xAxis, yAxis), yAxis);\n\n  dst[ 0] = xAxis[0];  dst[ 1] = yAxis[0];  dst[ 2] = zAxis[0];  dst[ 3] = 0;\n  dst[ 4] = xAxis[1];  dst[ 5] = yAxis[1];  dst[ 6] = zAxis[1];  dst[ 7] = 0;\n  dst[ 8] = xAxis[2];  dst[ 9] = yAxis[2];  dst[10] = zAxis[2];  dst[11] = 0;\n\n  dst[12] = -(xAxis[0] * eye[0] + xAxis[1] * eye[1] + xAxis[2] * eye[2]);\n  dst[13] = -(yAxis[0] * eye[0] + yAxis[1] * eye[1] + yAxis[2] * eye[2]);\n  dst[14] = -(zAxis[0] * eye[0] + zAxis[1] * eye[1] + zAxis[2] * eye[2]);\n  dst[15] = 1;\n\n  return dst;\n}\n\n/**\n * Creates a 4-by-4 matrix which translates by the given vector v.\n * @param v - The vector by\n *     which to translate.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The translation matrix.\n */\nexport function translation(v: Vec3, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  dst[ 0] = 1;     dst[ 1] = 0;     dst[ 2] = 0;     dst[ 3] = 0;\n  dst[ 4] = 0;     dst[ 5] = 1;     dst[ 6] = 0;     dst[ 7] = 0;\n  dst[ 8] = 0;     dst[ 9] = 0;     dst[10] = 1;     dst[11] = 0;\n  dst[12] = v[0];  dst[13] = v[1];  dst[14] = v[2];  dst[15] = 1;\n\n  return dst;\n}\n\n/**\n * Translates the given 4-by-4 matrix by the given vector v.\n * @param m - The matrix.\n * @param v - The vector by\n *     which to translate.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The translated matrix.\n */\nexport function translate(m: Mat4, v: Vec3, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  const v0 = v[0];\n  const v1 = v[1];\n  const v2 = v[2];\n  const m00 = m[0];\n  const m01 = m[1];\n  const m02 = m[2];\n  const m03 = m[3];\n  const m10 = m[1 * 4 + 0];\n  const m11 = m[1 * 4 + 1];\n  const m12 = m[1 * 4 + 2];\n  const m13 = m[1 * 4 + 3];\n  const m20 = m[2 * 4 + 0];\n  const m21 = m[2 * 4 + 1];\n  const m22 = m[2 * 4 + 2];\n  const m23 = m[2 * 4 + 3];\n  const m30 = m[3 * 4 + 0];\n  const m31 = m[3 * 4 + 1];\n  const m32 = m[3 * 4 + 2];\n  const m33 = m[3 * 4 + 3];\n\n  if (m !== dst) {\n    dst[ 0] = m00;\n    dst[ 1] = m01;\n    dst[ 2] = m02;\n    dst[ 3] = m03;\n    dst[ 4] = m10;\n    dst[ 5] = m11;\n    dst[ 6] = m12;\n    dst[ 7] = m13;\n    dst[ 8] = m20;\n    dst[ 9] = m21;\n    dst[10] = m22;\n    dst[11] = m23;\n  }\n\n  dst[12] = m00 * v0 + m10 * v1 + m20 * v2 + m30;\n  dst[13] = m01 * v0 + m11 * v1 + m21 * v2 + m31;\n  dst[14] = m02 * v0 + m12 * v1 + m22 * v2 + m32;\n  dst[15] = m03 * v0 + m13 * v1 + m23 * v2 + m33;\n\n  return dst;\n}\n\n/**\n * Creates a 4-by-4 matrix which rotates around the x-axis by the given angle.\n * @param angleInRadians - The angle by which to rotate (in radians).\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The rotation matrix.\n */\nexport function rotationX(angleInRadians: number, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  const c = Math.cos(angleInRadians);\n  const s = Math.sin(angleInRadians);\n\n  dst[ 0] = 1;  dst[ 1] =  0;  dst[ 2] = 0;  dst[ 3] = 0;\n  dst[ 4] = 0;  dst[ 5] =  c;  dst[ 6] = s;  dst[ 7] = 0;\n  dst[ 8] = 0;  dst[ 9] = -s;  dst[10] = c;  dst[11] = 0;\n  dst[12] = 0;  dst[13] =  0;  dst[14] = 0;  dst[15] = 1;\n\n  return dst;\n}\n\n/**\n * Rotates the given 4-by-4 matrix around the x-axis by the given\n * angle.\n * @param m - The matrix.\n * @param angleInRadians - The angle by which to rotate (in radians).\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The rotated matrix.\n */\nexport function rotateX(m: Mat4, angleInRadians: number, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  const m10 = m[4];\n  const m11 = m[5];\n  const m12 = m[6];\n  const m13 = m[7];\n  const m20 = m[8];\n  const m21 = m[9];\n  const m22 = m[10];\n  const m23 = m[11];\n  const c = Math.cos(angleInRadians);\n  const s = Math.sin(angleInRadians);\n\n  dst[4]  = c * m10 + s * m20;\n  dst[5]  = c * m11 + s * m21;\n  dst[6]  = c * m12 + s * m22;\n  dst[7]  = c * m13 + s * m23;\n  dst[8]  = c * m20 - s * m10;\n  dst[9]  = c * m21 - s * m11;\n  dst[10] = c * m22 - s * m12;\n  dst[11] = c * m23 - s * m13;\n\n  if (m !== dst) {\n    dst[ 0] = m[ 0];\n    dst[ 1] = m[ 1];\n    dst[ 2] = m[ 2];\n    dst[ 3] = m[ 3];\n    dst[12] = m[12];\n    dst[13] = m[13];\n    dst[14] = m[14];\n    dst[15] = m[15];\n  }\n\n  return dst;\n}\n\n/**\n * Creates a 4-by-4 matrix which rotates around the y-axis by the given angle.\n * @param angleInRadians - The angle by which to rotate (in radians).\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The rotation matrix.\n */\nexport function rotationY(angleInRadians: number, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  const c = Math.cos(angleInRadians);\n  const s = Math.sin(angleInRadians);\n\n  dst[ 0] = c;  dst[ 1] = 0;  dst[ 2] = -s;  dst[ 3] = 0;\n  dst[ 4] = 0;  dst[ 5] = 1;  dst[ 6] =  0;  dst[ 7] = 0;\n  dst[ 8] = s;  dst[ 9] = 0;  dst[10] =  c;  dst[11] = 0;\n  dst[12] = 0;  dst[13] = 0;  dst[14] =  0;  dst[15] = 1;\n\n  return dst;\n}\n\n/**\n * Rotates the given 4-by-4 matrix around the y-axis by the given\n * angle.\n * @param m - The matrix.\n * @param angleInRadians - The angle by which to rotate (in radians).\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The rotated matrix.\n */\nexport function rotateY(m: Mat4, angleInRadians: number, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  const m00 = m[0 * 4 + 0];\n  const m01 = m[0 * 4 + 1];\n  const m02 = m[0 * 4 + 2];\n  const m03 = m[0 * 4 + 3];\n  const m20 = m[2 * 4 + 0];\n  const m21 = m[2 * 4 + 1];\n  const m22 = m[2 * 4 + 2];\n  const m23 = m[2 * 4 + 3];\n  const c = Math.cos(angleInRadians);\n  const s = Math.sin(angleInRadians);\n\n  dst[ 0] = c * m00 - s * m20;\n  dst[ 1] = c * m01 - s * m21;\n  dst[ 2] = c * m02 - s * m22;\n  dst[ 3] = c * m03 - s * m23;\n  dst[ 8] = c * m20 + s * m00;\n  dst[ 9] = c * m21 + s * m01;\n  dst[10] = c * m22 + s * m02;\n  dst[11] = c * m23 + s * m03;\n\n  if (m !== dst) {\n    dst[ 4] = m[ 4];\n    dst[ 5] = m[ 5];\n    dst[ 6] = m[ 6];\n    dst[ 7] = m[ 7];\n    dst[12] = m[12];\n    dst[13] = m[13];\n    dst[14] = m[14];\n    dst[15] = m[15];\n  }\n\n  return dst;\n}\n\n/**\n * Creates a 4-by-4 matrix which rotates around the z-axis by the given angle.\n * @param angleInRadians - The angle by which to rotate (in radians).\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The rotation matrix.\n */\nexport function rotationZ(angleInRadians: number, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  const c = Math.cos(angleInRadians);\n  const s = Math.sin(angleInRadians);\n\n  dst[ 0] =  c;  dst[ 1] = s;  dst[ 2] = 0;  dst[ 3] = 0;\n  dst[ 4] = -s;  dst[ 5] = c;  dst[ 6] = 0;  dst[ 7] = 0;\n  dst[ 8] =  0;  dst[ 9] = 0;  dst[10] = 1;  dst[11] = 0;\n  dst[12] =  0;  dst[13] = 0;  dst[14] = 0;  dst[15] = 1;\n\n  return dst;\n}\n\n/**\n * Rotates the given 4-by-4 matrix around the z-axis by the given\n * angle.\n * @param m - The matrix.\n * @param angleInRadians - The angle by which to rotate (in radians).\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The rotated matrix.\n */\nexport function rotateZ(m: Mat4, angleInRadians: number, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  const m00 = m[0 * 4 + 0];\n  const m01 = m[0 * 4 + 1];\n  const m02 = m[0 * 4 + 2];\n  const m03 = m[0 * 4 + 3];\n  const m10 = m[1 * 4 + 0];\n  const m11 = m[1 * 4 + 1];\n  const m12 = m[1 * 4 + 2];\n  const m13 = m[1 * 4 + 3];\n  const c = Math.cos(angleInRadians);\n  const s = Math.sin(angleInRadians);\n\n  dst[ 0] = c * m00 + s * m10;\n  dst[ 1] = c * m01 + s * m11;\n  dst[ 2] = c * m02 + s * m12;\n  dst[ 3] = c * m03 + s * m13;\n  dst[ 4] = c * m10 - s * m00;\n  dst[ 5] = c * m11 - s * m01;\n  dst[ 6] = c * m12 - s * m02;\n  dst[ 7] = c * m13 - s * m03;\n\n  if (m !== dst) {\n    dst[ 8] = m[ 8];\n    dst[ 9] = m[ 9];\n    dst[10] = m[10];\n    dst[11] = m[11];\n    dst[12] = m[12];\n    dst[13] = m[13];\n    dst[14] = m[14];\n    dst[15] = m[15];\n  }\n\n  return dst;\n}\n\n/**\n * Creates a 4-by-4 matrix which rotates around the given axis by the given\n * angle.\n * @param axis - The axis\n *     about which to rotate.\n * @param angleInRadians - The angle by which to rotate (in radians).\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns A matrix which rotates angle radians\n *     around the axis.\n */\nexport function axisRotation(axis: Vec3, angleInRadians: number, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  let x = axis[0];\n  let y = axis[1];\n  let z = axis[2];\n  const n = Math.sqrt(x * x + y * y + z * z);\n  x /= n;\n  y /= n;\n  z /= n;\n  const xx = x * x;\n  const yy = y * y;\n  const zz = z * z;\n  const c = Math.cos(angleInRadians);\n  const s = Math.sin(angleInRadians);\n  const oneMinusCosine = 1 - c;\n\n  dst[ 0] = xx + (1 - xx) * c;\n  dst[ 1] = x * y * oneMinusCosine + z * s;\n  dst[ 2] = x * z * oneMinusCosine - y * s;\n  dst[ 3] = 0;\n  dst[ 4] = x * y * oneMinusCosine - z * s;\n  dst[ 5] = yy + (1 - yy) * c;\n  dst[ 6] = y * z * oneMinusCosine + x * s;\n  dst[ 7] = 0;\n  dst[ 8] = x * z * oneMinusCosine + y * s;\n  dst[ 9] = y * z * oneMinusCosine - x * s;\n  dst[10] = zz + (1 - zz) * c;\n  dst[11] = 0;\n  dst[12] = 0;\n  dst[13] = 0;\n  dst[14] = 0;\n  dst[15] = 1;\n\n  return dst;\n}\n\n/**\n * Creates a 4-by-4 matrix which rotates around the given axis by the given\n * angle. (same as axisRotation)\n * @param axis - The axis\n *     about which to rotate.\n * @param angleInRadians - The angle by which to rotate (in radians).\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns A matrix which rotates angle radians\n *     around the axis.\n */\nexport const rotation = axisRotation;\n\n/**\n * Rotates the given 4-by-4 matrix around the given axis by the\n * given angle.\n * @param m - The matrix.\n * @param axis - The axis\n *     about which to rotate.\n * @param angleInRadians - The angle by which to rotate (in radians).\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The rotated matrix.\n */\nexport function axisRotate(m: Mat4, axis: Vec3, angleInRadians: number, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  let x = axis[0];\n  let y = axis[1];\n  let z = axis[2];\n  const n = Math.sqrt(x * x + y * y + z * z);\n  x /= n;\n  y /= n;\n  z /= n;\n  const xx = x * x;\n  const yy = y * y;\n  const zz = z * z;\n  const c = Math.cos(angleInRadians);\n  const s = Math.sin(angleInRadians);\n  const oneMinusCosine = 1 - c;\n\n  const r00 = xx + (1 - xx) * c;\n  const r01 = x * y * oneMinusCosine + z * s;\n  const r02 = x * z * oneMinusCosine - y * s;\n  const r10 = x * y * oneMinusCosine - z * s;\n  const r11 = yy + (1 - yy) * c;\n  const r12 = y * z * oneMinusCosine + x * s;\n  const r20 = x * z * oneMinusCosine + y * s;\n  const r21 = y * z * oneMinusCosine - x * s;\n  const r22 = zz + (1 - zz) * c;\n\n  const m00 = m[0];\n  const m01 = m[1];\n  const m02 = m[2];\n  const m03 = m[3];\n  const m10 = m[4];\n  const m11 = m[5];\n  const m12 = m[6];\n  const m13 = m[7];\n  const m20 = m[8];\n  const m21 = m[9];\n  const m22 = m[10];\n  const m23 = m[11];\n\n  dst[ 0] = r00 * m00 + r01 * m10 + r02 * m20;\n  dst[ 1] = r00 * m01 + r01 * m11 + r02 * m21;\n  dst[ 2] = r00 * m02 + r01 * m12 + r02 * m22;\n  dst[ 3] = r00 * m03 + r01 * m13 + r02 * m23;\n  dst[ 4] = r10 * m00 + r11 * m10 + r12 * m20;\n  dst[ 5] = r10 * m01 + r11 * m11 + r12 * m21;\n  dst[ 6] = r10 * m02 + r11 * m12 + r12 * m22;\n  dst[ 7] = r10 * m03 + r11 * m13 + r12 * m23;\n  dst[ 8] = r20 * m00 + r21 * m10 + r22 * m20;\n  dst[ 9] = r20 * m01 + r21 * m11 + r22 * m21;\n  dst[10] = r20 * m02 + r21 * m12 + r22 * m22;\n  dst[11] = r20 * m03 + r21 * m13 + r22 * m23;\n\n  if (m !== dst) {\n    dst[12] = m[12];\n    dst[13] = m[13];\n    dst[14] = m[14];\n    dst[15] = m[15];\n  }\n\n  return dst;\n}\n\n/**\n * Rotates the given 4-by-4 matrix around the given axis by the\n * given angle. (same as rotate)\n * @param m - The matrix.\n * @param axis - The axis\n *     about which to rotate.\n * @param angleInRadians - The angle by which to rotate (in radians).\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The rotated matrix.\n */\nexport const rotate = axisRotate;\n\n/**\n * Creates a 4-by-4 matrix which scales in each dimension by an amount given by\n * the corresponding entry in the given vector; assumes the vector has three\n * entries.\n * @param v - A vector of\n *     three entries specifying the factor by which to scale in each dimension.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The scaling matrix.\n */\nexport function scaling(v: Vec3, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  dst[ 0] = v[0];  dst[ 1] = 0;     dst[ 2] = 0;     dst[ 3] = 0;\n  dst[ 4] = 0;     dst[ 5] = v[1];  dst[ 6] = 0;     dst[ 7] = 0;\n  dst[ 8] = 0;     dst[ 9] = 0;     dst[10] = v[2];  dst[11] = 0;\n  dst[12] = 0;     dst[13] = 0;     dst[14] = 0;     dst[15] = 1;\n\n  return dst;\n}\n\n/**\n * Scales the given 4-by-4 matrix in each dimension by an amount\n * given by the corresponding entry in the given vector; assumes the vector has\n * three entries.\n * @param m - The matrix to be modified.\n * @param v - A vector of three entries specifying the\n *     factor by which to scale in each dimension.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The scaled matrix.\n */\nexport function scale(m: Mat4, v: Vec3, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  const v0 = v[0];\n  const v1 = v[1];\n  const v2 = v[2];\n\n  dst[ 0] = v0 * m[0 * 4 + 0];\n  dst[ 1] = v0 * m[0 * 4 + 1];\n  dst[ 2] = v0 * m[0 * 4 + 2];\n  dst[ 3] = v0 * m[0 * 4 + 3];\n  dst[ 4] = v1 * m[1 * 4 + 0];\n  dst[ 5] = v1 * m[1 * 4 + 1];\n  dst[ 6] = v1 * m[1 * 4 + 2];\n  dst[ 7] = v1 * m[1 * 4 + 3];\n  dst[ 8] = v2 * m[2 * 4 + 0];\n  dst[ 9] = v2 * m[2 * 4 + 1];\n  dst[10] = v2 * m[2 * 4 + 2];\n  dst[11] = v2 * m[2 * 4 + 3];\n\n  if (m !== dst) {\n    dst[12] = m[12];\n    dst[13] = m[13];\n    dst[14] = m[14];\n    dst[15] = m[15];\n  }\n\n  return dst;\n}\n\n/**\n * Creates a 4-by-4 matrix which scales a uniform amount in each dimension.\n * @param s - the amount to scale\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The scaling matrix.\n */\nexport function uniformScaling(s: number, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  dst[ 0] = s;  dst[ 1] = 0;  dst[ 2] = 0;  dst[ 3] = 0;\n  dst[ 4] = 0;  dst[ 5] = s;  dst[ 6] = 0;  dst[ 7] = 0;\n  dst[ 8] = 0;  dst[ 9] = 0;  dst[10] = s;  dst[11] = 0;\n  dst[12] = 0;  dst[13] = 0;  dst[14] = 0;  dst[15] = 1;\n\n  return dst;\n}\n\n/**\n * Scales the given 4-by-4 matrix in each dimension by a uniform scale.\n * @param m - The matrix to be modified.\n * @param s - The amount to scale.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The scaled matrix.\n */\nexport function uniformScale(m: Mat4, s: number, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  dst[ 0] = s * m[0 * 4 + 0];\n  dst[ 1] = s * m[0 * 4 + 1];\n  dst[ 2] = s * m[0 * 4 + 2];\n  dst[ 3] = s * m[0 * 4 + 3];\n  dst[ 4] = s * m[1 * 4 + 0];\n  dst[ 5] = s * m[1 * 4 + 1];\n  dst[ 6] = s * m[1 * 4 + 2];\n  dst[ 7] = s * m[1 * 4 + 3];\n  dst[ 8] = s * m[2 * 4 + 0];\n  dst[ 9] = s * m[2 * 4 + 1];\n  dst[10] = s * m[2 * 4 + 2];\n  dst[11] = s * m[2 * 4 + 3];\n\n  if (m !== dst) {\n    dst[12] = m[12];\n    dst[13] = m[13];\n    dst[14] = m[14];\n    dst[15] = m[15];\n  }\n\n  return dst;\n}","/*\n * Copyright 2022 Gregg Tavares\n *\n * Permission is hereby granted, free of charge, to any person obtaining a\n * copy of this software and associated documentation files (the \"Software\"),\n * to deal in the Software without restriction, including without limitation\n * the rights to use, copy, modify, merge, publish, distribute, sublicense,\n * and/or sell copies of the Software, and to permit persons to whom the\n * Software is furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL\n * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER\n * DEALINGS IN THE SOFTWARE.\n */\n\n/**\n * A JavaScript array with 4 values, Float32Array with 4 values, or a Float64Array with 4 values.\n * When created by the library will create the default type which is `Float32Array`\n * but can be set by calling {@link quat.setDefaultType}.\n */\nexport type Quat = number[] | Float32Array | Float64Array;\n\n/**\n *\n * Quat4 math functions.\n *\n * Almost all functions take an optional `dst` argument. If it is not passed in the\n * functions will create a new `Quat4`. In other words you can do this\n *\n *     const v = quat4.cross(v1, v2);  // Creates a new Quat4 with the cross product of v1 x v2.\n *\n * or\n *\n *     const v = quat4.create();\n *     quat4.cross(v1, v2, v);  // Puts the cross product of v1 x v2 in v\n *\n * The first style is often easier but depending on where it's used it generates garbage where\n * as there is almost never allocation with the second style.\n *\n * It is always safe to pass any vector as the destination. So for example\n *\n *     quat4.cross(v1, v2, v1);  // Puts the cross product of v1 x v2 in v1\n *\n */\n\nexport let QuatType: new (n: number) => Quat = Float32Array;\n\n/**\n * Sets the type this library creates for a Quat4\n * @param ctor - the constructor for the type. Either `Float32Array`, `Float64Array`, or `Array`\n * @returns previous constructor for Quat4\n */\nexport function setDefaultType(ctor: new (n: number) => Quat) {\n  const oldType = QuatType;\n  QuatType = ctor;\n  return oldType;\n}\n\n/**\n * Creates a quat4; may be called with x, y, z to set initial values.\n * @param x - Initial x value.\n * @param y - Initial y value.\n * @param z - Initial z value.\n * @param w - Initial w value.\n * @returns the created vector\n */\nexport function create(x?: number, y?: number, z?: number, w?: number): Quat {\n  const dst = new QuatType(4);\n  if (x !== undefined) {\n    dst[0] = x;\n    if (y !== undefined) {\n      dst[1] = y;\n      if (z !== undefined) {\n        dst[2] = z;\n        if (w !== undefined) {\n          dst[3] = w;\n        }\n      }\n    }\n  }\n  return dst;\n}","/*\n * Copyright 2022 Gregg Tavares\n *\n * Permission is hereby granted, free of charge, to any person obtaining a\n * copy of this software and associated documentation files (the \"Software\"),\n * to deal in the Software without restriction, including without limitation\n * the rights to use, copy, modify, merge, publish, distribute, sublicense,\n * and/or sell copies of the Software, and to permit persons to whom the\n * Software is furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL\n * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER\n * DEALINGS IN THE SOFTWARE.\n */\nimport * as utils from './utils.js';\nimport { Quat, create, setDefaultType, QuatType } from './quat';\nimport { Mat3 } from './mat3.js';\nimport { Mat4 } from './mat4.js';\nimport { Vec3 } from './vec3.js';\nimport * as vec3 from './vec3-impl.js';\n\nexport type RotationOrder =  'xyz' |  'xzy' |  'yxz' |  'yzx' |  'zxy' |  'zyx';\n\nexport default Quat;\nexport { create, setDefaultType };\n\n/**\n * Creates a Quat; may be called with x, y, z to set initial values. (same as create)\n * @param x - Initial x value.\n * @param y - Initial y value.\n * @param z - Initial z value.\n * @param z - Initial w value.\n * @returns the created vector\n */\nexport const fromValues = create;\n\n/**\n * Sets the values of a Quat\n * Also see {@link quat.create} and {@link quat.copy}\n *\n * @param x first value\n * @param y second value\n * @param z third value\n * @param w fourth value\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector with its elements set.\n */\nexport function set(x: number, y: number, z: number, w: number, dst?: Quat) {\n  dst = dst || new QuatType(4);\n\n  dst[0] = x;\n  dst[1] = y;\n  dst[2] = z;\n  dst[3] = w;\n\n  return dst;\n}\n\n/**\n * Sets a quaternion from the given angle and  axis,\n * then returns it.\n *\n * @param axis - the axis to rotate around\n * @param angleInRadians - the angle\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns The quaternion that represents the given axis and angle\n **/\nexport function fromAxisAngle(axis: Vec3, angleInRadians: number, dst?: Quat): Quat {\n  dst = dst || new QuatType(4);\n\n  const halfAngle = angleInRadians * 0.5;\n  const s = Math.sin(halfAngle);\n\n  dst[0] = s * axis[0];\n  dst[1] = s * axis[1];\n  dst[2] = s * axis[2];\n  dst[3] = Math.cos(halfAngle);\n\n  return dst;\n}\n\n/**\n * Gets the rotation axis and angle\n * @param q - quaternion to compute from\n * @param dst - Vec3 to hold result. If not passed in a new one is created.\n * @return angle and axis\n */\nexport function toAxisAngle(q: Quat, dst?: Vec3): { angle: number, axis: Vec3 } {\n  dst = dst || vec3.create(4);\n\n  const angle = Math.acos(q[3]) * 2;\n  const s = Math.sin(angle * 0.5);\n  if (s > utils.EPSILON) {\n    dst[0] = q[0] / s;\n    dst[1] = q[1] / s;\n    dst[2] = q[2] / s;\n  } else {\n    dst[0] = 1;\n    dst[1] = 0;\n    dst[2] = 0;\n  }\n\n  return { angle, axis: dst };\n}\n\n/**\n * Returns the angle in degrees between two rotations a and b.\n * @param a - quaternion a\n * @param b - quaternion b\n * @return angle in radians between the two quaternions\n */\nexport function angle(a: Quat, b: Quat) {\n  const d = dot(a, b);\n  return Math.acos(2 * d * d - 1);\n}\n\n/**\n * Multiplies two quaternions\n *\n * @param a - the first quaternion\n * @param b - the second quaternion\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns A quaternion that is the result of a * b\n */\nexport function multiply(a: Quat, b: Quat, dst?: Quat): Quat {\n  dst = dst || new QuatType(4);\n\n  const ax = a[0];\n  const ay = a[1];\n  const az = a[2];\n  const aw = a[3];\n\n  const bx = b[0];\n  const by = b[1];\n  const bz = b[2];\n  const bw = b[3];\n\n  dst[0] = ax * bw + aw * bx + ay * bz - az * by;\n  dst[1] = ay * bw + aw * by + az * bx - ax * bz;\n  dst[2] = az * bw + aw * bz + ax * by - ay * bx;\n  dst[3] = aw * bw - ax * bx - ay * by - az * bz;\n\n  return dst;\n}\n\n/**\n * Multiplies two quaternions\n *\n * @param a - the first quaternion\n * @param b - the second quaternion\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns A quaternion that is the result of a * b\n */\nexport const mul = multiply;\n\n/**\n * Rotates the given quaternion around the X axis by the given angle.\n * @param q - quaternion to rotate\n * @param angleInRadians - The angle by which to rotate\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns A quaternion that is the result of a * b\n */\nexport function rotateX(q: Quat, angleInRadians: number, dst?: Quat): Quat {\n  dst = dst || new QuatType(4);\n\n  const halfAngle = angleInRadians * 0.5;\n\n  const qx = q[0];\n  const qy = q[1];\n  const qz = q[2];\n  const qw = q[3];\n\n  const bx = Math.sin(halfAngle);\n  const bw = Math.cos(halfAngle);\n\n  dst[0] = qx * bw + qw * bx;\n  dst[1] = qy * bw + qz * bx;\n  dst[2] = qz * bw - qy * bx;\n  dst[3] = qw * bw - qx * bx;\n\n  return dst;\n}\n\n/**\n * Rotates the given quaternion around the Y axis by the given angle.\n * @param q - quaternion to rotate\n * @param angleInRadians - The angle by which to rotate\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns A quaternion that is the result of a * b\n */\nexport function rotateY(q: Quat, angleInRadians: number, dst?: Quat): Quat {\n  dst = dst || new QuatType(4);\n\n  const halfAngle = angleInRadians * 0.5;\n\n  const qx = q[0];\n  const qy = q[1];\n  const qz = q[2];\n  const qw = q[3];\n\n  const by = Math.sin(halfAngle);\n  const bw = Math.cos(halfAngle);\n\n  dst[0] = qx * bw - qz * by;\n  dst[1] = qy * bw + qw * by;\n  dst[2] = qz * bw + qx * by;\n  dst[3] = qw * bw - qy * by;\n\n  return dst;\n}\n\n/**\n * Rotates the given quaternion around the Z axis by the given angle.\n * @param q - quaternion to rotate\n * @param angleInRadians - The angle by which to rotate\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns A quaternion that is the result of a * b\n */\nexport function rotateZ(q: Quat, angleInRadians: number, dst?: Quat): Quat {\n  dst = dst || new QuatType(4);\n\n  const halfAngle = angleInRadians * 0.5;\n\n  const qx = q[0];\n  const qy = q[1];\n  const qz = q[2];\n  const qw = q[3];\n\n  const bz = Math.sin(halfAngle);\n  const bw = Math.cos(halfAngle);\n\n  dst[0] = qx * bw + qy * bz;\n  dst[1] = qy * bw - qx * bz;\n  dst[2] = qz * bw + qw * bz;\n  dst[3] = qw * bw - qz * bz;\n\n  return dst;\n}\n\n/**\n * Spherically linear interpolate between two quaternions\n *\n * @param a - starting value\n * @param b - ending value\n * @param t - value where 0 = a and 1 = b\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns A quaternion that is the result of a * b\n */\nexport function slerp(a: Quat, b: Quat, t: number, dst?: Quat): Quat {\n  dst = dst || new QuatType(4);\n\n  const ax = a[0];\n  const ay = a[1];\n  const az = a[2];\n  const aw = a[3];\n\n  let bx = b[0];\n  let by = b[1];\n  let bz = b[2];\n  let bw = b[3];\n\n  let cosOmega = ax * bx + ay * by + az * bz + aw * bw;\n\n  if (cosOmega < 0) {\n    cosOmega = -cosOmega;\n    bx = -bx;\n    by = -by;\n    bz = -bz;\n    bw = -bw;\n  }\n\n  let scale0;\n  let scale1;\n\n  if (1.0 - cosOmega > utils.EPSILON) {\n    const omega = Math.acos(cosOmega);\n    const sinOmega = Math.sin(omega);\n    scale0 = Math.sin((1 - t) * omega) / sinOmega;\n    scale1 = Math.sin(t * omega) / sinOmega;\n  } else {\n    scale0 = 1.0 - t;\n    scale1 = t;\n  }\n\n  dst[0] = scale0 * ax + scale1 * bx;\n  dst[1] = scale0 * ay + scale1 * by;\n  dst[2] = scale0 * az + scale1 * bz;\n  dst[3] = scale0 * aw + scale1 * bw;\n\n  return dst;\n}\n\n/**\n * Compute the inverse of a quaternion\n *\n * @param q - quaternion to compute the inverse of\n * @returns A quaternion that is the result of a * b\n */\nexport function inverse(q: Quat, dst?: Quat): Quat {\n  dst = dst || new QuatType(4);\n\n  const a0 = q[0];\n  const a1 = q[1];\n  const a2 = q[2];\n  const a3 = q[3];\n\n  const dot = a0 * a0 + a1 * a1 + a2 * a2 + a3 * a3;\n  const invDot = dot ? 1 / dot : 0;\n\n  dst[0] = -a0 * invDot;\n  dst[1] = -a1 * invDot;\n  dst[2] = -a2 * invDot;\n  dst[3] =  a3 * invDot;\n\n  return dst;\n}\n\n/**\n * Compute the conjugate of a quaternion\n * For quaternions with a magnitude of 1 (a unit quaternion)\n * this returns the same as the inverse but is faster to calculate.\n *\n * @param q - quaternion to compute the conjugate of.\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns The conjugate of q\n */\nexport function conjugate(q: Quat, dst?: Quat): Quat {\n  dst = dst || new QuatType(4);\n\n  dst[0] = -q[0];\n  dst[1] = -q[1];\n  dst[2] = -q[2];\n  dst[3] =  q[3];\n\n  return dst;\n}\n\n/**\n * Creates a quaternion from the given rotation matrix.\n *\n * The created quaternion is not normalized.\n *\n * @param m - rotation matrix\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns the result\n */\nexport function fromMat(m: Mat3 | Mat4, dst?: Quat): Quat {\n  dst = dst || new QuatType(4);\n\n  /*\n  0 1 2\n  3 4 5\n  6 7 8\n\n  0 1 2\n  4 5 6\n  8 9 10\n   */\n\n  // Algorithm in Ken Shoemake's article in 1987 SIGGRAPH course notes\n  // article \"Quaternion Calculus and Fast Animation\".\n  const trace = m[0] + m[5] + m[10];\n\n  if (trace > 0.0) {\n    // |w| > 1/2, may as well choose w > 1/2\n    const root = Math.sqrt(trace + 1); // 2w\n    dst[3] = 0.5 * root;\n    const invRoot = 0.5 / root; // 1/(4w)\n\n    dst[0] = (m[6] - m[9]) * invRoot;\n    dst[1] = (m[8] - m[2]) * invRoot;\n    dst[2] = (m[1] - m[4]) * invRoot;\n  } else {\n    // |w| <= 1/2\n    let i = 0;\n\n    if (m[5] > m[0]) {\n      i = 1;\n    }\n    if (m[10] > m[i * 4 + i]) {\n      i = 2;\n    }\n\n    const j = (i + 1) % 3;\n    const k = (i + 2) % 3;\n\n    const root = Math.sqrt(m[i * 4 + i] - m[j * 4 + j] - m[k * 4 + k] + 1.0);\n    dst[i] = 0.5 * root;\n\n    const invRoot = 0.5 / root;\n\n    dst[3] = (m[j * 4 + k] - m[k * 4 + j]) * invRoot;\n    dst[j] = (m[j * 4 + i] + m[i * 4 + j]) * invRoot;\n    dst[k] = (m[k * 4 + i] + m[i * 4 + k]) * invRoot;\n  }\n\n  return dst;\n}\n\n/**\n * Creates a quaternion from the given euler angle x, y, z using the provided intrinsic order for the conversion.\n *\n * @param xAngleInRadians - angle to rotate around X axis in radians.\n * @param yAngleInRadians - angle to rotate around Y axis in radians.\n * @param zAngleInRadians - angle to rotate around Z axis in radians.\n * @param order - order to apply euler angles\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns A quaternion representing the same rotation as the euler angles applied in the given order\n */\nexport function fromEuler(\n    xAngleInRadians: number,\n    yAngleInRadians: number,\n    zAngleInRadians: number,\n    order: RotationOrder,\n    dst?: Quat) {\n  dst = dst || new QuatType(4);\n\n  const xHalfAngle = xAngleInRadians * 0.5;\n  const yHalfAngle = yAngleInRadians * 0.5;\n  const zHalfAngle = zAngleInRadians * 0.5;\n\n  const sx = Math.sin(xHalfAngle);\n  const cx = Math.cos(xHalfAngle);\n  const sy = Math.sin(yHalfAngle);\n  const cy = Math.cos(yHalfAngle);\n  const sz = Math.sin(zHalfAngle);\n  const cz = Math.cos(zHalfAngle);\n\n  switch (order) {\n    case 'xyz':\n      dst[0] = sx * cy * cz + cx * sy * sz;\n      dst[1] = cx * sy * cz - sx * cy * sz;\n      dst[2] = cx * cy * sz + sx * sy * cz;\n      dst[3] = cx * cy * cz - sx * sy * sz;\n      break;\n\n    case 'xzy':\n      dst[0] = sx * cy * cz - cx * sy * sz;\n      dst[1] = cx * sy * cz - sx * cy * sz;\n      dst[2] = cx * cy * sz + sx * sy * cz;\n      dst[3] = cx * cy * cz + sx * sy * sz;\n      break;\n\n    case 'yxz':\n      dst[0] = sx * cy * cz + cx * sy * sz;\n      dst[1] = cx * sy * cz - sx * cy * sz;\n      dst[2] = cx * cy * sz - sx * sy * cz;\n      dst[3] = cx * cy * cz + sx * sy * sz;\n      break;\n\n    case 'yzx':\n      dst[0] = sx * cy * cz + cx * sy * sz;\n      dst[1] = cx * sy * cz + sx * cy * sz;\n      dst[2] = cx * cy * sz - sx * sy * cz;\n      dst[3] = cx * cy * cz - sx * sy * sz;\n      break;\n\n    case 'zxy':\n      dst[0] = sx * cy * cz - cx * sy * sz;\n      dst[1] = cx * sy * cz + sx * cy * sz;\n      dst[2] = cx * cy * sz + sx * sy * cz;\n      dst[3] = cx * cy * cz - sx * sy * sz;\n      break;\n\n    case 'zyx':\n      dst[0] = sx * cy * cz - cx * sy * sz;\n      dst[1] = cx * sy * cz + sx * cy * sz;\n      dst[2] = cx * cy * sz - sx * sy * cz;\n      dst[3] = cx * cy * cz + sx * sy * sz;\n      break;\n\n    default:\n      throw new Error(`Unknown rotation order: ${order}`);\n  }\n\n  return dst;\n}\n\n/**\n * Copies a quaternion. (same as {@link quat.clone})\n * Also see {@link quat.create} and {@link quat.set}\n * @param q - The quaternion.\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns A quaternion that is a copy of q\n */\nexport function copy(q: Quat, dst?: Quat): Quat {\n  dst = dst || new QuatType(4);\n\n  dst[0] = q[0];\n  dst[1] = q[1];\n  dst[2] = q[2];\n  dst[3] = q[3];\n\n  return dst;\n}\n\n/**\n * Clones a quaternion. (same as {@link quat.copy})\n * Also see {@link quat.create} and {@link quat.set}\n * @param q - The quaternion.\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns A copy of q.\n */\nexport const clone = copy;\n\n/**\n * Adds two quaternions; assumes a and b have the same dimension.\n * @param a - Operand quaternion.\n * @param b - Operand quaternion.\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns A quaternion that is the sum of a and b.\n */\nexport function add(a: Quat, b: Quat, dst?: Quat): Quat {\n  dst = dst || new QuatType(4);\n\n  dst[0] = a[0] + b[0];\n  dst[1] = a[1] + b[1];\n  dst[2] = a[2] + b[2];\n  dst[3] = a[3] + b[3];\n\n  return dst;\n}\n\n/**\n * Subtracts two quaternions.\n * @param a - Operand quaternion.\n * @param b - Operand quaternion.\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns A quaternion that is the difference of a and b.\n */\nexport function subtract(a: Quat, b: Quat, dst?: Quat): Quat {\n  dst = dst || new QuatType(4);\n\n  dst[0] = a[0] - b[0];\n  dst[1] = a[1] - b[1];\n  dst[2] = a[2] - b[2];\n  dst[3] = a[3] - b[3];\n\n  return dst;\n}\n\n/**\n * Subtracts two quaternions.\n * @param a - Operand quaternion.\n * @param b - Operand quaternion.\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns A quaternion that is the difference of a and b.\n */\nexport const sub = subtract;\n\n/**\n * Multiplies a quaternion by a scalar.\n * @param v - The quaternion.\n * @param k - The scalar.\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns The scaled quaternion.\n */\nexport function mulScalar(v: Quat, k: number, dst?: Quat): Quat {\n  dst = dst || new QuatType(4);\n\n  dst[0] = v[0] * k;\n  dst[1] = v[1] * k;\n  dst[2] = v[2] * k;\n  dst[3] = v[3] * k;\n\n  return dst;\n}\n\n/**\n * Multiplies a quaternion by a scalar. (same as mulScalar)\n * @param v - The quaternion.\n * @param k - The scalar.\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns The scaled quaternion.\n */\nexport const scale = mulScalar;\n\n/**\n * Divides a vector by a scalar.\n * @param v - The vector.\n * @param k - The scalar.\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns The scaled quaternion.\n */\nexport function divScalar(v: Quat, k: number, dst?: Quat): Quat {\n  dst = dst || new QuatType(4);\n\n  dst[0] = v[0] / k;\n  dst[1] = v[1] / k;\n  dst[2] = v[2] / k;\n  dst[3] = v[3] / k;\n\n  return dst;\n}\n\n/**\n * Computes the dot product of two quaternions\n * @param a - Operand quaternion.\n * @param b - Operand quaternion.\n * @returns dot product\n */\nexport function dot(a: Quat, b: Quat): number {\n  return (a[0] * b[0]) + (a[1] * b[1]) + (a[2] * b[2]) + (a[3] * b[3]);\n}\n\n/**\n * Performs linear interpolation on two quaternions.\n * Given quaternions a and b and interpolation coefficient t, returns\n * a + t * (b - a).\n * @param a - Operand quaternion.\n * @param b - Operand quaternion.\n * @param t - Interpolation coefficient.\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns The linear interpolated result.\n */\nexport function lerp(a: Quat, b: Quat, t: number, dst?: Quat): Quat {\n  dst = dst || new QuatType(4);\n\n  dst[0] = a[0] + t * (b[0] - a[0]);\n  dst[1] = a[1] + t * (b[1] - a[1]);\n  dst[2] = a[2] + t * (b[2] - a[2]);\n  dst[3] = a[3] + t * (b[3] - a[3]);\n\n  return dst;\n}\n\n/**\n * Computes the length of quaternion\n * @param v - quaternion.\n * @returns length of quaternion.\n */\nexport function length(v: Quat): number {\n  const v0 = v[0];\n  const v1 = v[1];\n  const v2 = v[2];\n  const v3 = v[3];\n  return Math.sqrt(v0 * v0 + v1 * v1 + v2 * v2 + v3 * v3);\n}\n\n/**\n * Computes the length of quaternion (same as length)\n * @param v - quaternion.\n * @returns length of quaternion.\n */\nexport const len = length;\n\n/**\n * Computes the square of the length of quaternion\n * @param v - quaternion.\n * @returns square of the length of quaternion.\n */\nexport function lengthSq(v: Quat): number {\n  const v0 = v[0];\n  const v1 = v[1];\n  const v2 = v[2];\n  const v3 = v[3];\n  return v0 * v0 + v1 * v1 + v2 * v2 + v3 * v3;\n}\n\n/**\n * Computes the square of the length of quaternion (same as lengthSq)\n * @param v - quaternion.\n * @returns square of the length of quaternion.\n */\nexport const lenSq = lengthSq;\n\n/**\n * Divides a quaternion by its Euclidean length and returns the quotient.\n * @param v - The quaternion.\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns The normalized quaternion.\n */\nexport function normalize(v: Quat, dst?: Quat): Quat {\n  dst = dst || new QuatType(4);\n\n  const v0 = v[0];\n  const v1 = v[1];\n  const v2 = v[2];\n  const v3 = v[3];\n  const len = Math.sqrt(v0 * v0 + v1 * v1 + v2 * v2 + v3 * v3);\n\n  if (len > 0.00001) {\n    dst[0] = v0 / len;\n    dst[1] = v1 / len;\n    dst[2] = v2 / len;\n    dst[3] = v3 / len;\n  } else {\n    dst[0] = 0;\n    dst[1] = 0;\n    dst[2] = 0;\n    dst[3] = 0;\n  }\n\n  return dst;\n}\n\n/**\n * Check if 2 quaternions are approximately equal\n * @param a - Operand quaternion.\n * @param b - Operand quaternion.\n * @returns true if quaternions are approximately equal\n */\nexport function equalsApproximately(a: Quat, b: Quat): boolean {\n  return Math.abs(a[0] - b[0]) < utils.EPSILON &&\n         Math.abs(a[1] - b[1]) < utils.EPSILON &&\n         Math.abs(a[2] - b[2]) < utils.EPSILON &&\n         Math.abs(a[3] - b[3]) < utils.EPSILON;\n}\n\n/**\n * Check if 2 quaternions are exactly equal\n * @param a - Operand quaternion.\n * @param b - Operand quaternion.\n * @returns true if quaternions are exactly equal\n */\nexport function equals(a: Quat, b: Quat): boolean {\n  return a[0] === b[0] && a[1] === b[1] && a[2] === b[2] && a[3] === b[3];\n}\n\n/**\n * Creates an identity quaternion\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns an identity quaternion\n */\nexport function identity(dst?: Quat): Quat {\n  dst = dst || new QuatType(4);\n\n  dst[0] = 0;\n  dst[1] = 0;\n  dst[2] = 0;\n  dst[3] = 1;\n\n  return dst;\n}\n\nlet tempVec3: Vec3;\nlet xUnitVec3: Vec3;\nlet yUnitVec3: Vec3;\n\n/**\n * Computes a quaternion to represent the shortest rotation from one vector to another.\n *\n * @param aUnit - the start vector\n * @param bUnit - the end vector\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns the result\n */\nexport function rotationTo(aUnit: Vec3, bUnit: Vec3, dst?: Quat): Quat {\n  dst = dst || new QuatType(4);\n\n  tempVec3 = tempVec3 || vec3.create();\n  xUnitVec3 = xUnitVec3 || vec3.create(1, 0, 0);\n  yUnitVec3 = yUnitVec3 || vec3.create(0, 1, 0);\n\n  const dot = vec3.dot(aUnit, bUnit);\n  if (dot < -0.999999) {\n    vec3.cross(xUnitVec3, aUnit, tempVec3);\n    if (vec3.len(tempVec3) < 0.000001) {\n      vec3.cross(yUnitVec3, aUnit, tempVec3);\n    }\n\n    vec3.normalize(tempVec3, tempVec3);\n    fromAxisAngle(tempVec3, Math.PI, dst);\n\n    return dst;\n  } else if (dot > 0.999999) {\n    dst[0] = 0;\n    dst[1] = 0;\n    dst[2] = 0;\n    dst[3] = 1;\n\n    return dst;\n  } else {\n    vec3.cross(aUnit, bUnit, tempVec3);\n\n    dst[0] = tempVec3[0];\n    dst[1] = tempVec3[1];\n    dst[2] = tempVec3[2];\n    dst[3] = 1 + dot;\n\n    return normalize(dst, dst);\n  }\n}\n\nlet tempQuat1: Quat;\nlet tempQuat2: Quat;\n\n/**\n * Performs a spherical linear interpolation with two control points\n *\n * @param a - the first quaternion\n * @param b - the second quaternion\n * @param c - the third quaternion\n * @param d - the fourth quaternion\n * @param t - Interpolation coefficient 0 to 1\n * @returns result\n */\nexport function sqlerp(\n    a: Quat,\n    b: Quat,\n    c: Quat,\n    d: Quat,\n    t: number,\n    dst?: Quat): Quat {\n  dst = dst || new QuatType(4);\n\n  tempQuat1 = tempQuat1 || new QuatType(4);\n  tempQuat2 = tempQuat2 || new QuatType(4);\n\n  slerp(a, d, t, tempQuat1);\n  slerp(b, c, t, tempQuat2);\n  slerp(tempQuat1, tempQuat2, 2 * t * (1 - t), dst);\n\n  return dst;\n}\n","/*\n * Copyright 2022 Gregg Tavares\n *\n * Permission is hereby granted, free of charge, to any person obtaining a\n * copy of this software and associated documentation files (the \"Software\"),\n * to deal in the Software without restriction, including without limitation\n * the rights to use, copy, modify, merge, publish, distribute, sublicense,\n * and/or sell copies of the Software, and to permit persons to whom the\n * Software is furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL\n * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER\n * DEALINGS IN THE SOFTWARE.\n */\n\n/**\n * A JavaScript array with 4 values, Float32Array with 4 values, or a Float64Array with 4 values.\n * When created by the library will create the default type which is `Float32Array`\n * but can be set by calling {@link vec4.setDefaultType}.\n */\nexport type Vec4 = number[] | Float32Array | Float64Array;\n\n/**\n *\n * Vec4 math functions.\n *\n * Almost all functions take an optional `dst` argument. If it is not passed in the\n * functions will create a new `Vec4`. In other words you can do this\n *\n *     const v = vec4.cross(v1, v2);  // Creates a new Vec4 with the cross product of v1 x v2.\n *\n * or\n *\n *     const v = vec4.create();\n *     vec4.cross(v1, v2, v);  // Puts the cross product of v1 x v2 in v\n *\n * The first style is often easier but depending on where it's used it generates garbage where\n * as there is almost never allocation with the second style.\n *\n * It is always safe to pass any vector as the destination. So for example\n *\n *     vec4.cross(v1, v2, v1);  // Puts the cross product of v1 x v2 in v1\n *\n */\n\nexport let VecType: new (n: number) => Vec4 = Float32Array;\n\n/**\n * Sets the type this library creates for a Vec4\n * @param ctor - the constructor for the type. Either `Float32Array`, `Float64Array`, or `Array`\n * @returns previous constructor for Vec4\n */\nexport function setDefaultType(ctor: new (n: number) => Vec4) {\n  const oldType = VecType;\n  VecType = ctor;\n  return oldType;\n}\n\n/**\n * Creates a vec4; may be called with x, y, z to set initial values.\n * @param x - Initial x value.\n * @param y - Initial y value.\n * @param z - Initial z value.\n * @param w - Initial w value.\n * @returns the created vector\n */\nexport function create(x?: number, y?: number, z?: number, w?: number): Vec4 {\n  const dst = new VecType(4);\n  if (x !== undefined) {\n    dst[0] = x;\n    if (y !== undefined) {\n      dst[1] = y;\n      if (z !== undefined) {\n        dst[2] = z;\n        if (w !== undefined) {\n          dst[3] = w;\n        }\n      }\n    }\n  }\n  return dst;\n}","/*\n * Copyright 2022 Gregg Tavares\n *\n * Permission is hereby granted, free of charge, to any person obtaining a\n * copy of this software and associated documentation files (the \"Software\"),\n * to deal in the Software without restriction, including without limitation\n * the rights to use, copy, modify, merge, publish, distribute, sublicense,\n * and/or sell copies of the Software, and to permit persons to whom the\n * Software is furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL\n * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER\n * DEALINGS IN THE SOFTWARE.\n */\nimport * as utils from './utils.js';\nimport { Vec4, create, setDefaultType, VecType } from './vec4';\nimport { Mat4 } from './mat4';\n\nexport default Vec4;\nexport { create, setDefaultType };\n\n/**\n * Creates a vec4; may be called with x, y, z to set initial values. (same as create)\n * @param x - Initial x value.\n * @param y - Initial y value.\n * @param z - Initial z value.\n * @param z - Initial w value.\n * @returns the created vector\n */\nexport const fromValues = create;\n\n/**\n * Sets the values of a Vec4\n * Also see {@link vec4.create} and {@link vec4.copy}\n *\n * @param x first value\n * @param y second value\n * @param z third value\n * @param w fourth value\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector with its elements set.\n */\nexport function set(x: number, y: number, z: number, w: number, dst?: Vec4) {\n  dst = dst || new VecType(4);\n\n  dst[0] = x;\n  dst[1] = y;\n  dst[2] = z;\n  dst[3] = w;\n\n  return dst;\n}\n\n/**\n * Applies Math.ceil to each element of vector\n * @param v - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the ceil of each element of v.\n */\nexport function ceil(v: Vec4, dst?: Vec4): Vec4 {\n  dst = dst || new VecType(4);\n\n  dst[0] = Math.ceil(v[0]);\n  dst[1] = Math.ceil(v[1]);\n  dst[2] = Math.ceil(v[2]);\n  dst[3] = Math.ceil(v[3]);\n\n  return dst;\n}\n\n/**\n * Applies Math.floor to each element of vector\n * @param v - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the floor of each element of v.\n */\nexport function floor(v: Vec4, dst?: Vec4): Vec4 {\n  dst = dst || new VecType(4);\n\n  dst[0] = Math.floor(v[0]);\n  dst[1] = Math.floor(v[1]);\n  dst[2] = Math.floor(v[2]);\n  dst[3] = Math.floor(v[3]);\n\n  return dst;\n}\n\n/**\n * Applies Math.round to each element of vector\n * @param v - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the round of each element of v.\n */\nexport function round(v: Vec4, dst?: Vec4): Vec4 {\n  dst = dst || new VecType(4);\n\n  dst[0] = Math.round(v[0]);\n  dst[1] = Math.round(v[1]);\n  dst[2] = Math.round(v[2]);\n  dst[3] = Math.round(v[3]);\n\n  return dst;\n}\n\n/**\n * Clamp each element of vector between min and max\n * @param v - Operand vector.\n * @param max - Min value, default 0\n * @param min - Max value, default 1\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that the clamped value of each element of v.\n */\nexport function clamp(v: Vec4, min = 0, max = 1, dst?: Vec4): Vec4 {\n  dst = dst || new VecType(4);\n\n  dst[0] = Math.min(max, Math.max(min, v[0]));\n  dst[1] = Math.min(max, Math.max(min, v[1]));\n  dst[2] = Math.min(max, Math.max(min, v[2]));\n  dst[3] = Math.min(max, Math.max(min, v[3]));\n\n  return dst;\n}\n\n/**\n * Adds two vectors; assumes a and b have the same dimension.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the sum of a and b.\n */\nexport function add(a: Vec4, b: Vec4, dst?: Vec4): Vec4 {\n  dst = dst || new VecType(4);\n\n  dst[0] = a[0] + b[0];\n  dst[1] = a[1] + b[1];\n  dst[2] = a[2] + b[2];\n  dst[3] = a[3] + b[3];\n\n  return dst;\n}\n\n/**\n * Adds two vectors, scaling the 2nd; assumes a and b have the same dimension.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param scale - Amount to scale b\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the sum of a + b * scale.\n */\nexport function addScaled(a: Vec4, b: Vec4, scale: number, dst?: Vec4): Vec4 {\n  dst = dst || new VecType(4);\n\n  dst[0] = a[0] + b[0] * scale;\n  dst[1] = a[1] + b[1] * scale;\n  dst[2] = a[2] + b[2] * scale;\n  dst[3] = a[3] + b[3] * scale;\n\n  return dst;\n}\n\n/**\n * Subtracts two vectors.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the difference of a and b.\n */\nexport function subtract(a: Vec4, b: Vec4, dst?: Vec4): Vec4 {\n  dst = dst || new VecType(4);\n\n  dst[0] = a[0] - b[0];\n  dst[1] = a[1] - b[1];\n  dst[2] = a[2] - b[2];\n  dst[3] = a[3] - b[3];\n\n  return dst;\n}\n\n/**\n * Subtracts two vectors.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the difference of a and b.\n */\nexport const sub = subtract;\n\n/**\n * Check if 2 vectors are approximately equal\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @returns true if vectors are approximately equal\n */\nexport function equalsApproximately(a: Vec4, b: Vec4): boolean {\n  return Math.abs(a[0] - b[0]) < utils.EPSILON &&\n         Math.abs(a[1] - b[1]) < utils.EPSILON &&\n         Math.abs(a[2] - b[2]) < utils.EPSILON &&\n         Math.abs(a[3] - b[3]) < utils.EPSILON;\n}\n\n/**\n * Check if 2 vectors are exactly equal\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @returns true if vectors are exactly equal\n */\nexport function equals(a: Vec4, b: Vec4): boolean {\n  return a[0] === b[0] && a[1] === b[1] && a[2] === b[2] && a[3] === b[3];\n}\n\n/**\n * Performs linear interpolation on two vectors.\n * Given vectors a and b and interpolation coefficient t, returns\n * a + t * (b - a).\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param t - Interpolation coefficient.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The linear interpolated result.\n */\nexport function lerp(a: Vec4, b: Vec4, t: number, dst?: Vec4): Vec4 {\n  dst = dst || new VecType(4);\n\n  dst[0] = a[0] + t * (b[0] - a[0]);\n  dst[1] = a[1] + t * (b[1] - a[1]);\n  dst[2] = a[2] + t * (b[2] - a[2]);\n  dst[3] = a[3] + t * (b[3] - a[3]);\n\n  return dst;\n}\n\n/**\n * Performs linear interpolation on two vectors.\n * Given vectors a and b and interpolation coefficient vector t, returns\n * a + t * (b - a).\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param t - Interpolation coefficients vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns the linear interpolated result.\n */\nexport function lerpV(a: Vec4, b: Vec4, t: Vec4, dst?: Vec4): Vec4 {\n  dst = dst || new VecType(4);\n\n  dst[0] = a[0] + t[0] * (b[0] - a[0]);\n  dst[1] = a[1] + t[1] * (b[1] - a[1]);\n  dst[2] = a[2] + t[2] * (b[2] - a[2]);\n  dst[3] = a[3] + t[3] * (b[3] - a[3]);\n\n  return dst;\n}\n\n/**\n * Return max values of two vectors.\n * Given vectors a and b returns\n * [max(a[0], b[0]), max(a[1], b[1]), max(a[2], b[2])].\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The max components vector.\n */\nexport function max(a: Vec4, b: Vec4, dst?: Vec4): Vec4 {\n  dst = dst || new VecType(4);\n\n  dst[0] = Math.max(a[0], b[0]);\n  dst[1] = Math.max(a[1], b[1]);\n  dst[2] = Math.max(a[2], b[2]);\n  dst[3] = Math.max(a[3], b[3]);\n\n  return dst;\n}\n\n/**\n * Return min values of two vectors.\n * Given vectors a and b returns\n * [min(a[0], b[0]), min(a[1], b[1]), min(a[2], b[2])].\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The min components vector.\n */\nexport function min(a: Vec4, b: Vec4, dst?: Vec4): Vec4 {\n  dst = dst || new VecType(4);\n\n  dst[0] = Math.min(a[0], b[0]);\n  dst[1] = Math.min(a[1], b[1]);\n  dst[2] = Math.min(a[2], b[2]);\n  dst[3] = Math.min(a[3], b[3]);\n\n  return dst;\n}\n\n/**\n * Multiplies a vector by a scalar.\n * @param v - The vector.\n * @param k - The scalar.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The scaled vector.\n */\nexport function mulScalar(v: Vec4, k: number, dst?: Vec4): Vec4 {\n  dst = dst || new VecType(4);\n\n  dst[0] = v[0] * k;\n  dst[1] = v[1] * k;\n  dst[2] = v[2] * k;\n  dst[3] = v[3] * k;\n\n  return dst;\n}\n\n/**\n * Multiplies a vector by a scalar. (same as mulScalar)\n * @param v - The vector.\n * @param k - The scalar.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The scaled vector.\n */\nexport const scale = mulScalar;\n\n/**\n * Divides a vector by a scalar.\n * @param v - The vector.\n * @param k - The scalar.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The scaled vector.\n */\nexport function divScalar(v: Vec4, k: number, dst?: Vec4): Vec4 {\n  dst = dst || new VecType(4);\n\n  dst[0] = v[0] / k;\n  dst[1] = v[1] / k;\n  dst[2] = v[2] / k;\n  dst[3] = v[3] / k;\n\n  return dst;\n}\n\n/**\n * Inverse a vector.\n * @param v - The vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The inverted vector.\n */\nexport function inverse(v: Vec4, dst?: Vec4): Vec4 {\n  dst = dst || new VecType(4);\n\n  dst[0] = 1 / v[0];\n  dst[1] = 1 / v[1];\n  dst[2] = 1 / v[2];\n  dst[3] = 1 / v[3];\n\n  return dst;\n}\n\n/**\n * Invert a vector. (same as inverse)\n * @param v - The vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The inverted vector.\n */\nexport const invert = inverse;\n\n/**\n * Computes the dot product of two vectors\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @returns dot product\n */\nexport function dot(a: Vec4, b: Vec4): number {\n  return (a[0] * b[0]) + (a[1] * b[1]) + (a[2] * b[2]) + (a[3] * b[3]);\n}\n\n/**\n * Computes the length of vector\n * @param v - vector.\n * @returns length of vector.\n */\nexport function length(v: Vec4): number {\n  const v0 = v[0];\n  const v1 = v[1];\n  const v2 = v[2];\n  const v3 = v[3];\n  return Math.sqrt(v0 * v0 + v1 * v1 + v2 * v2 + v3 * v3);\n}\n\n/**\n * Computes the length of vector (same as length)\n * @param v - vector.\n * @returns length of vector.\n */\nexport const len = length;\n\n/**\n * Computes the square of the length of vector\n * @param v - vector.\n * @returns square of the length of vector.\n */\nexport function lengthSq(v: Vec4): number {\n  const v0 = v[0];\n  const v1 = v[1];\n  const v2 = v[2];\n  const v3 = v[3];\n  return v0 * v0 + v1 * v1 + v2 * v2 + v3 * v3;\n}\n\n/**\n * Computes the square of the length of vector (same as lengthSq)\n * @param v - vector.\n * @returns square of the length of vector.\n */\nexport const lenSq = lengthSq;\n\n/**\n * Computes the distance between 2 points\n * @param a - vector.\n * @param b - vector.\n * @returns distance between a and b\n */\nexport function distance(a: Vec4, b: Vec4): number {\n  const dx = a[0] - b[0];\n  const dy = a[1] - b[1];\n  const dz = a[2] - b[2];\n  const dw = a[3] - b[3];\n  return Math.sqrt(dx * dx + dy * dy + dz * dz + dw * dw);\n}\n\n/**\n * Computes the distance between 2 points (same as distance)\n * @param a - vector.\n * @param b - vector.\n * @returns distance between a and b\n */\nexport const dist = distance;\n\n/**\n * Computes the square of the distance between 2 points\n * @param a - vector.\n * @param b - vector.\n * @returns square of the distance between a and b\n */\nexport function distanceSq(a: Vec4, b: Vec4): number {\n  const dx = a[0] - b[0];\n  const dy = a[1] - b[1];\n  const dz = a[2] - b[2];\n  const dw = a[3] - b[3];\n  return dx * dx + dy * dy + dz * dz + dw * dw;\n}\n\n/**\n * Computes the square of the distance between 2 points (same as distanceSq)\n * @param a - vector.\n * @param b - vector.\n * @returns square of the distance between a and b\n */\nexport const distSq = distanceSq;\n\n/**\n * Divides a vector by its Euclidean length and returns the quotient.\n * @param v - The vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The normalized vector.\n */\nexport function normalize(v: Vec4, dst?: Vec4): Vec4 {\n  dst = dst || new VecType(4);\n\n  const v0 = v[0];\n  const v1 = v[1];\n  const v2 = v[2];\n  const v3 = v[3];\n  const len = Math.sqrt(v0 * v0 + v1 * v1 + v2 * v2 + v3 * v3);\n\n  if (len > 0.00001) {\n    dst[0] = v0 / len;\n    dst[1] = v1 / len;\n    dst[2] = v2 / len;\n    dst[3] = v3 / len;\n  } else {\n    dst[0] = 0;\n    dst[1] = 0;\n    dst[2] = 0;\n    dst[3] = 0;\n  }\n\n  return dst;\n}\n\n/**\n * Negates a vector.\n * @param v - The vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns -v.\n */\nexport function negate(v: Vec4, dst?: Vec4): Vec4 {\n  dst = dst || new VecType(4);\n\n  dst[0] = -v[0];\n  dst[1] = -v[1];\n  dst[2] = -v[2];\n  dst[3] = -v[3];\n\n  return dst;\n}\n\n/**\n * Copies a vector. (same as {@link vec4.clone})\n * Also see {@link vec4.create} and {@link vec4.set}\n * @param v - The vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A copy of v.\n */\nexport function copy(v: Vec4, dst?: Vec4): Vec4 {\n  dst = dst || new VecType(4);\n\n  dst[0] = v[0];\n  dst[1] = v[1];\n  dst[2] = v[2];\n  dst[3] = v[3];\n\n  return dst;\n}\n\n/**\n * Clones a vector. (same as {@link vec4.copy})\n * Also see {@link vec4.create} and {@link vec4.set}\n * @param v - The vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A copy of v.\n */\nexport const clone = copy;\n\n/**\n * Multiplies a vector by another vector (component-wise); assumes a and\n * b have the same length.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The vector of products of entries of a and b.\n */\nexport function multiply(a: Vec4, b: Vec4, dst?: Vec4): Vec4 {\n  dst = dst || new VecType(4);\n\n  dst[0] = a[0] * b[0];\n  dst[1] = a[1] * b[1];\n  dst[2] = a[2] * b[2];\n  dst[3] = a[3] * b[3];\n\n  return dst;\n}\n\n/**\n * Multiplies a vector by another vector (component-wise); assumes a and\n * b have the same length. (same as mul)\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The vector of products of entries of a and b.\n */\nexport const mul = multiply;\n\n/**\n * Divides a vector by another vector (component-wise); assumes a and\n * b have the same length.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The vector of quotients of entries of a and b.\n */\nexport function divide(a: Vec4, b: Vec4, dst?: Vec4) {\n  dst = dst || new VecType(4);\n\n  dst[0] = a[0] / b[0];\n  dst[1] = a[1] / b[1];\n  dst[2] = a[2] / b[2];\n  dst[3] = a[3] / b[3];\n\n  return dst;\n}\n\n/**\n * Divides a vector by another vector (component-wise); assumes a and\n * b have the same length. (same as divide)\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The vector of quotients of entries of a and b.\n */\nexport const div = divide;\n\n/**\n * Zero's a vector\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The zeroed vector.\n */\nexport function zero(dst?: Vec4): Vec4 {\n  dst = dst || new VecType(4);\n\n  dst[0] = 0;\n  dst[1] = 0;\n  dst[2] = 0;\n  dst[3] = 0;\n\n  return dst;\n}\n\n\n/**\n * transform vec4 by 4x4 matrix\n * @param v - the vector\n * @param m - The matrix.\n * @param dst - optional vec4 to store result. If not passed a new one is created.\n * @returns the transformed vector\n */\nexport function transformMat4(v: Vec4, m: Mat4, dst?: Vec4): Vec4 {\n  dst = dst || new VecType(4);\n\n  const x = v[0];\n  const y = v[1];\n  const z = v[2];\n  const w = v[3];\n\n  dst[0] = m[0] * x + m[4] * y + m[ 8] * z + m[12] * w;\n  dst[1] = m[1] * x + m[5] * y + m[ 9] * z + m[13] * w;\n  dst[2] = m[2] * x + m[6] * y + m[10] * z + m[14] * w;\n  dst[3] = m[3] * x + m[7] * y + m[11] * z + m[15] * w;\n\n  return dst;\n}\n\n\n/**\n * Treat a 4D vector as a direction and set it's length\n *\n * @param a The vec4 to lengthen\n * @param len The length of the resulting vector\n * @returns The lengthened vector\n */\nexport function setLength(a: Vec4, len: number, dst?: Vec4) {\n  dst = dst || new VecType(4);\n  normalize(a, dst);\n  return mulScalar(dst, len, dst);\n}\n\n/**\n * Ensure a vector is not longer than a max length\n *\n * @param a The vec4 to limit\n * @param maxLen The longest length of the resulting vector\n * @returns The vector, shortened to maxLen if it's too long\n */\nexport function truncate(a: Vec4, maxLen: number, dst?: Vec4) {\n  dst = dst || new VecType(4);\n\n  if (length(a) > maxLen) {\n    return setLength(a, maxLen, dst);\n  }\n\n  return copy(a, dst);\n}\n\n/**\n * Return the vector exactly between 2 endpoint vectors\n *\n * @param a Endpoint 1\n * @param b Endpoint 2\n * @returns The vector exactly residing between endpoints 1 and 2\n */\nexport function midpoint(a: Vec4, b: Vec4, dst?: Vec4) {\n  dst = dst || new VecType(4);\n  return lerp(a, b, 0.5, dst);\n}\n","import Mat3, * as mat3 from './mat3-impl';\nimport Mat4, * as mat4 from './mat4-impl';\nimport Quat, * as quat from './quat-impl';\nimport Vec2, * as vec2 from './vec2-impl';\nimport Vec3, * as vec3 from './vec3-impl';\nimport Vec4, * as vec4 from './vec4-impl';\nimport * as utils from './utils';\n\n/**\n * Sets the type this library creates for all types\n *\n * example:\n *\n * ```\n * setDefaultType(Float64Array);\n * ```\n *\n * @param ctor - the constructor for the type. 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\ No newline at end of file
+{"version":3,"file":"wgpu-matrix.js","sources":["../../../src/utils.ts","../../../src/vec2.ts","../../../src/vec3.ts","../../../src/vec2-impl.ts","../../../src/mat3-impl.ts","../../../src/vec3-impl.ts","../../../src/mat4-impl.ts","../../../src/quat.ts","../../../src/quat-impl.ts","../../../src/vec4.ts","../../../src/vec4-impl.ts","../../../src/wgpu-matrix.ts"],"sourcesContent":["/*\n * Copyright 2022 Gregg Tavares\n *\n * Permission is hereby granted, free of charge, to any person obtaining a\n * copy of this software and associated documentation files (the \"Software\"),\n * to deal in the Software without restriction, including without limitation\n * the rights to use, copy, modify, merge, publish, distribute, sublicense,\n * and/or sell copies of the Software, and to permit persons to whom the\n * Software is furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL\n * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER\n * DEALINGS IN THE SOFTWARE.\n */\n\nexport let EPSILON = 0.000001;\n\n/**\n * Set the value for EPSILON for various checks\n * @param v - Value to use for EPSILON.\n * @returns previous value of EPSILON;\n */\nexport function setEpsilon(v: number): number {\n  const old = EPSILON;\n  EPSILON = v;\n  return old;\n}\n\n/**\n * Convert degrees to radians\n * @param degrees - Angle in degrees\n * @returns angle converted to radians\n */\nexport function degToRad(degrees: number): number {\n  return degrees * Math.PI / 180;\n}\n\n/**\n * Convert radians to degrees\n * @param radians - Angle in radians\n * @returns angle converted to degrees\n */\nexport function radToDeg(radians: number): number {\n  return radians * 180 / Math.PI;\n}\n\n/**\n * Lerps between a and b via t\n * @param a - starting value\n * @param b - ending value\n * @param t - value where 0 = a and 1 = b\n * @returns a + (b - a) * t\n */\nexport function lerp(a: number, b: number, t: number): number {\n  return a + (b - a) * t;\n}\n\n/**\n * Compute the opposite of lerp. Given a and b and a value between\n * a and b returns a value between 0 and 1. 0 if a, 1 if b.\n * Note: no clamping is done.\n * @param a - start value\n * @param b - end value\n * @param v - value between a and b\n * @returns (v - a) / (b - a)\n */\nexport function inverseLerp(a: number, b: number, v: number): number {\n  const d = b - a;\n  return (Math.abs(b - a) < EPSILON)\n     ? a\n     : (v - a) / d;\n}\n\n/**\n * Compute the euclidean modulo\n *\n * ```\n * // table for n / 3\n * -5, -4, -3, -2, -1,  0,  1,  2,  3,  4,  5   <- n\n * ------------------------------------\n * -2  -1  -0  -2  -1   0,  1,  2,  0,  1,  2   <- n % 3\n *  1   2   0   1   2   0,  1,  2,  0,  1,  2   <- euclideanModule(n, 3)\n * ```\n *\n * @param n - dividend\n * @param m - divisor\n * @returns the euclidean modulo of n / m\n */\nexport function euclideanModulo(n: number, m: number) {\n  return ((n % m) + m) % m;\n}","/*\n * Copyright 2022 Gregg Tavares\n *\n * Permission is hereby granted, free of charge, to any person obtaining a\n * copy of this software and associated documentation files (the \"Software\"),\n * to deal in the Software without restriction, including without limitation\n * the rights to use, copy, modify, merge, publish, distribute, sublicense,\n * and/or sell copies of the Software, and to permit persons to whom the\n * Software is furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL\n * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER\n * DEALINGS IN THE SOFTWARE.\n */\n\n/**\n * A JavaScript array with 2 values, Float32Array with 2 values, or a Float64Array with 2 values.\n * When created by the library will create the default type which is `Float32Array`\n * but can be set by calling {@link vec2.setDefaultType}.\n */\nexport type Vec2 = number[] | Float32Array | Float64Array;\n\n/**\n *\n * Vec2 math functions.\n *\n * Almost all functions take an optional `dst` argument. If it is not passed in the\n * functions will create a new Vec2. In other words you can do this\n *\n *     const v = vec2.cross(v1, v2);  // Creates a new Vec2 with the cross product of v1 x v2.\n *\n * or\n *\n *     const v = vec2.create();\n *     vec2.cross(v1, v2, v);  // Puts the cross product of v1 x v2 in v\n *\n * The first style is often easier but depending on where it's used it generates garbage where\n * as there is almost never allocation with the second style.\n *\n * It is always safe to pass any vector as the destination. So for example\n *\n *     vec2.cross(v1, v2, v1);  // Puts the cross product of v1 x v2 in v1\n *\n */\n\nexport let VecType: new (n: number) => Vec2 = Float32Array;\n\n/**\n * Sets the type this library creates for a Vec2\n * @param ctor - the constructor for the type. Either `Float32Array`, `Float64Array`, or `Array`\n * @returns previous constructor for Vec2\n */\nexport function setDefaultType(ctor: new (n: number) => Vec2) {\n  const oldType = VecType;\n  VecType = ctor;\n  return oldType;\n}\n\n/**\n * Creates a Vec2; may be called with x, y, z to set initial values.\n *\n * Note: Since passing in a raw JavaScript array\n * is valid in all circumstances, if you want to\n * force a JavaScript array into a Vec2's specified type\n * it would be faster to use\n *\n * ```\n * const v = vec2.clone(someJSArray);\n * ```\n *\n * Note: a consequence of the implementation is if your Vec2Type = `Array`\n * instead of `Float32Array` or `Float64Array` then any values you\n * don't pass in will be undefined. Usually this is not an issue since\n * (a) using `Array` is rare and (b) using `vec2.create` is usually used\n * to create a Vec2 to be filled out as in\n *\n * ```\n * const sum = vec2.create();\n * vec2.add(v1, v2, sum);\n * ```\n *\n * @param x - Initial x value.\n * @param y - Initial y value.\n * @returns the created vector\n */\nexport function create(x = 0, y = 0): Vec2 {\n  const dst = new VecType(2);\n  if (x !== undefined) {\n    dst[0] = x;\n    if (y !== undefined) {\n      dst[1] = y;\n    }\n  }\n  return dst;\n}\n","/*\n * Copyright 2022 Gregg Tavares\n *\n * Permission is hereby granted, free of charge, to any person obtaining a\n * copy of this software and associated documentation files (the \"Software\"),\n * to deal in the Software without restriction, including without limitation\n * the rights to use, copy, modify, merge, publish, distribute, sublicense,\n * and/or sell copies of the Software, and to permit persons to whom the\n * Software is furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL\n * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER\n * DEALINGS IN THE SOFTWARE.\n */\n\n/**\n * A JavaScript array with 3 values, Float32Array with 3 values, or a Float64Array with 3 values.\n * When created by the library will create the default type which is `Float32Array`\n * but can be set by calling {@link vec3.setDefaultType}.\n */\nexport type Vec3 = number[] | Float32Array | Float64Array;\n\n/**\n *\n * Vec3 math functions.\n *\n * Almost all functions take an optional `dst` argument. If it is not passed in the\n * functions will create a new `Vec3`. In other words you can do this\n *\n *     const v = vec3.cross(v1, v2);  // Creates a new Vec3 with the cross product of v1 x v2.\n *\n * or\n *\n *     const v = vec3.create();\n *     vec3.cross(v1, v2, v);  // Puts the cross product of v1 x v2 in v\n *\n * The first style is often easier but depending on where it's used it generates garbage where\n * as there is almost never allocation with the second style.\n *\n * It is always safe to pass any vector as the destination. So for example\n *\n *     vec3.cross(v1, v2, v1);  // Puts the cross product of v1 x v2 in v1\n *\n */\n\nexport let VecType: new (n: number) => Vec3 = Float32Array;\n\n/**\n * Sets the type this library creates for a Vec3\n * @param ctor - the constructor for the type. Either `Float32Array`, `Float64Array`, or `Array`\n * @returns previous constructor for Vec3\n */\nexport function setDefaultType(ctor: new (n: number) => Vec3) {\n  const oldType = VecType;\n  VecType = ctor;\n  return oldType;\n}\n\n/**\n * Creates a vec3; may be called with x, y, z to set initial values.\n * @param x - Initial x value.\n * @param y - Initial y value.\n * @param z - Initial z value.\n * @returns the created vector\n */\nexport function create(x?: number, y?: number, z?: number): Vec3 {\n  const dst = new VecType(3);\n  if (x !== undefined) {\n    dst[0] = x;\n    if (y !== undefined) {\n      dst[1] = y;\n      if (z !== undefined) {\n        dst[2] = z;\n      }\n    }\n  }\n  return dst;\n}","/*\n * Copyright 2022 Gregg Tavares\n *\n * Permission is hereby granted, free of charge, to any person obtaining a\n * copy of this software and associated documentation files (the \"Software\"),\n * to deal in the Software without restriction, including without limitation\n * the rights to use, copy, modify, merge, publish, distribute, sublicense,\n * and/or sell copies of the Software, and to permit persons to whom the\n * Software is furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL\n * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER\n * DEALINGS IN THE SOFTWARE.\n */\nimport * as utils from './utils.js';\nimport { Mat3 } from './mat3';\nimport { Mat4 } from './mat4';\nimport { Vec2, create, setDefaultType, VecType } from './vec2';\nimport { Vec3, VecType as Vec3Type } from './vec3';\n\nexport default Vec2;\nexport { create, setDefaultType };\n\n/**\n * Creates a Vec2; may be called with x, y, z to set initial values. (same as create)\n * @param x - Initial x value.\n * @param y - Initial y value.\n * @returns the created vector\n */\nexport const fromValues = create;\n\n/**\n * Sets the values of a Vec2\n * Also see {@link vec2.create} and {@link vec2.copy}\n *\n * @param x first value\n * @param y second value\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector with its elements set.\n */\nexport function set(x: number, y: number, dst?: Vec2) {\n  dst = dst || new VecType(2);\n\n  dst[0] = x;\n  dst[1] = y;\n\n  return dst;\n}\n\n/**\n * Applies Math.ceil to each element of vector\n * @param v - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the ceil of each element of v.\n */\nexport function ceil(v: Vec2, dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  dst[0] = Math.ceil(v[0]);\n  dst[1] = Math.ceil(v[1]);\n\n  return dst;\n}\n\n/**\n * Applies Math.floor to each element of vector\n * @param v - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the floor of each element of v.\n */\nexport function floor(v: Vec2, dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  dst[0] = Math.floor(v[0]);\n  dst[1] = Math.floor(v[1]);\n\n  return dst;\n}\n\n/**\n * Applies Math.round to each element of vector\n * @param v - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the round of each element of v.\n */\nexport function round(v: Vec2, dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  dst[0] = Math.round(v[0]);\n  dst[1] = Math.round(v[1]);\n\n  return dst;\n}\n\n/**\n * Clamp each element of vector between min and max\n * @param v - Operand vector.\n * @param max - Min value, default 0\n * @param min - Max value, default 1\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that the clamped value of each element of v.\n */\nexport function clamp(v: Vec2, min = 0, max = 1, dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  dst[0] = Math.min(max, Math.max(min, v[0]));\n  dst[1] = Math.min(max, Math.max(min, v[1]));\n\n  return dst;\n}\n\n/**\n * Adds two vectors; assumes a and b have the same dimension.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the sum of a and b.\n */\nexport function add(a: Vec2, b: Vec2, dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  dst[0] = a[0] + b[0];\n  dst[1] = a[1] + b[1];\n\n  return dst;\n}\n\n/**\n * Adds two vectors, scaling the 2nd; assumes a and b have the same dimension.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param scale - Amount to scale b\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the sum of a + b * scale.\n */\nexport function addScaled(a: Vec2, b: Vec2, scale: number, dst?: Vec2) {\n  dst = dst || new VecType(2);\n\n  dst[0] = a[0] + b[0] * scale;\n  dst[1] = a[1] + b[1] * scale;\n\n  return dst;\n}\n\n/**\n * Returns the angle in radians between two vectors.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @returns The angle in radians between the 2 vectors.\n */\nexport function angle(a: Vec2, b: Vec2): number {\n  const ax = a[0];\n  const ay = a[1];\n  const bx = b[0];\n  const by = b[1];\n  const mag1 = Math.sqrt(ax * ax + ay * ay);\n  const mag2 = Math.sqrt(bx * bx + by * by);\n  const mag = mag1 * mag2;\n  const cosine = mag && dot(a, b) / mag;\n  return Math.acos(cosine);\n}\n\n/**\n * Subtracts two vectors.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the difference of a and b.\n */\nexport function subtract(a: Vec2, b: Vec2, dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  dst[0] = a[0] - b[0];\n  dst[1] = a[1] - b[1];\n\n  return dst;\n}\n\n/**\n * Subtracts two vectors.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the difference of a and b.\n */\nexport const sub = subtract;\n\n/**\n * Check if 2 vectors are approximately equal\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @returns true if vectors are approximately equal\n */\nexport function equalsApproximately(a: Vec2, b: Vec2): boolean {\n  return Math.abs(a[0] - b[0]) < utils.EPSILON &&\n         Math.abs(a[1] - b[1]) < utils.EPSILON;\n}\n\n/**\n * Check if 2 vectors are exactly equal\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @returns true if vectors are exactly equal\n */\nexport function equals(a: Vec2, b: Vec2): boolean {\n  return a[0] === b[0] && a[1] === b[1];\n}\n\n/**\n * Performs linear interpolation on two vectors.\n * Given vectors a and b and interpolation coefficient t, returns\n * a + t * (b - a).\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param t - Interpolation coefficient.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The linear interpolated result.\n */\nexport function lerp(a: Vec2, b: Vec2, t: number, dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  dst[0] = a[0] + t * (b[0] - a[0]);\n  dst[1] = a[1] + t * (b[1] - a[1]);\n\n  return dst;\n}\n\n/**\n * Performs linear interpolation on two vectors.\n * Given vectors a and b and interpolation coefficient vector t, returns\n * a + t * (b - a).\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param t - Interpolation coefficients vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns the linear interpolated result.\n */\nexport function lerpV(a: Vec2, b: Vec2, t: Vec2, dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  dst[0] = a[0] + t[0] * (b[0] - a[0]);\n  dst[1] = a[1] + t[1] * (b[1] - a[1]);\n\n  return dst;\n}\n\n/**\n * Return max values of two vectors.\n * Given vectors a and b returns\n * [max(a[0], b[0]), max(a[1], b[1]), max(a[2], b[2])].\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The max components vector.\n */\nexport function max(a: Vec2, b: Vec2, dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  dst[0] = Math.max(a[0], b[0]);\n  dst[1] = Math.max(a[1], b[1]);\n\n  return dst;\n}\n\n/**\n * Return min values of two vectors.\n * Given vectors a and b returns\n * [min(a[0], b[0]), min(a[1], b[1]), min(a[2], b[2])].\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The min components vector.\n */\nexport function min(a: Vec2, b: Vec2, dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  dst[0] = Math.min(a[0], b[0]);\n  dst[1] = Math.min(a[1], b[1]);\n\n  return dst;\n}\n\n/**\n * Multiplies a vector by a scalar.\n * @param v - The vector.\n * @param k - The scalar.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The scaled vector.\n */\nexport function mulScalar(v: Vec2, k: number, dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  dst[0] = v[0] * k;\n  dst[1] = v[1] * k;\n\n  return dst;\n}\n\n/**\n * Multiplies a vector by a scalar. (same as mulScalar)\n * @param v - The vector.\n * @param k - The scalar.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The scaled vector.\n */\nexport const scale = mulScalar;\n\n/**\n * Divides a vector by a scalar.\n * @param v - The vector.\n * @param k - The scalar.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The scaled vector.\n */\nexport function divScalar(v: Vec2, k: number, dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  dst[0] = v[0] / k;\n  dst[1] = v[1] / k;\n\n  return dst;\n}\n\n/**\n * Inverse a vector.\n * @param v - The vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The inverted vector.\n */\nexport function inverse(v: Vec2, dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  dst[0] = 1 / v[0];\n  dst[1] = 1 / v[1];\n\n  return dst;\n}\n\n/**\n * Invert a vector. (same as inverse)\n * @param v - The vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The inverted vector.\n */\nexport const invert = inverse;\n\n/**\n * Computes the cross product of two vectors; assumes both vectors have\n * three entries.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The vector of a cross b.\n */\nexport function cross(a: Vec2, b: Vec2, dst?: Vec3): Vec3 {\n  dst = dst || new Vec3Type(3);\n  const z = a[0] * b[1] - a[1] * b[0];\n  dst[0] = 0;\n  dst[1] = 0;\n  dst[2] = z;\n\n  return dst;\n}\n\n/**\n * Computes the dot product of two vectors; assumes both vectors have\n * three entries.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @returns dot product\n */\nexport function dot(a: Vec2, b: Vec2): number {\n  return a[0] * b[0] + a[1] * b[1];\n}\n\n/**\n * Computes the length of vector\n * @param v - vector.\n * @returns length of vector.\n */\nexport function length(v: Vec2): number {\n  const v0 = v[0];\n  const v1 = v[1];\n  return Math.sqrt(v0 * v0 + v1 * v1);\n}\n\n/**\n * Computes the length of vector (same as length)\n * @param v - vector.\n * @returns length of vector.\n */\nexport const len = length;\n\n/**\n * Computes the square of the length of vector\n * @param v - vector.\n * @returns square of the length of vector.\n */\nexport function lengthSq(v: Vec2): number {\n  const v0 = v[0];\n  const v1 = v[1];\n  return v0 * v0 + v1 * v1;\n}\n\n/**\n * Computes the square of the length of vector (same as lengthSq)\n * @param v - vector.\n * @returns square of the length of vector.\n */\nexport const lenSq = lengthSq;\n\n/**\n * Computes the distance between 2 points\n * @param a - vector.\n * @param b - vector.\n * @returns distance between a and b\n */\nexport function distance(a: Vec2, b: Vec2): number {\n  const dx = a[0] - b[0];\n  const dy = a[1] - b[1];\n  return Math.sqrt(dx * dx + dy * dy);\n}\n\n/**\n * Computes the distance between 2 points (same as distance)\n * @param a - vector.\n * @param b - vector.\n * @returns distance between a and b\n */\nexport const dist = distance;\n\n/**\n * Computes the square of the distance between 2 points\n * @param a - vector.\n * @param b - vector.\n * @returns square of the distance between a and b\n */\nexport function distanceSq(a: Vec2, b: Vec2): number {\n  const dx = a[0] - b[0];\n  const dy = a[1] - b[1];\n  return dx * dx + dy * dy;\n}\n\n/**\n * Computes the square of the distance between 2 points (same as distanceSq)\n * @param a - vector.\n * @param b - vector.\n * @returns square of the distance between a and b\n */\nexport const distSq = distanceSq;\n\n/**\n * Divides a vector by its Euclidean length and returns the quotient.\n * @param v - The vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The normalized vector.\n */\nexport function normalize(v: Vec2, dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  const v0 = v[0];\n  const v1 = v[1];\n  const len = Math.sqrt(v0 * v0 + v1 * v1);\n\n  if (len > 0.00001) {\n    dst[0] = v0 / len;\n    dst[1] = v1 / len;\n  } else {\n    dst[0] = 0;\n    dst[1] = 0;\n  }\n\n  return dst;\n}\n\n/**\n * Negates a vector.\n * @param v - The vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns -v.\n */\nexport function negate(v: Vec2, dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  dst[0] = -v[0];\n  dst[1] = -v[1];\n\n  return dst;\n}\n\n/**\n * Copies a vector. (same as {@link vec2.clone})\n * Also see {@link vec2.create} and {@link vec2.set}\n * @param v - The vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A copy of v.\n */\nexport function copy(v: Vec2, dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  dst[0] = v[0];\n  dst[1] = v[1];\n\n  return dst;\n}\n\n/**\n * Clones a vector. (same as {@link vec2.copy})\n * Also see {@link vec2.create} and {@link vec2.set}\n * @param v - The vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A copy of v.\n */\nexport const clone = copy;\n\n/**\n * Multiplies a vector by another vector (component-wise); assumes a and\n * b have the same length.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The vector of products of entries of a and b.\n */\nexport function multiply(a: Vec2, b: Vec2, dst?: Vec2) {\n  dst = dst || new VecType(2);\n\n  dst[0] = a[0] * b[0];\n  dst[1] = a[1] * b[1];\n\n  return dst;\n}\n\n/**\n * Multiplies a vector by another vector (component-wise); assumes a and\n * b have the same length. (same as mul)\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The vector of products of entries of a and b.\n */\nexport const mul = multiply;\n\n/**\n * Divides a vector by another vector (component-wise); assumes a and\n * b have the same length.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The vector of quotients of entries of a and b.\n */\nexport function divide(a: Vec2, b: Vec2, dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  dst[0] = a[0] / b[0];\n  dst[1] = a[1] / b[1];\n\n  return dst;\n}\n\n/**\n * Divides a vector by another vector (component-wise); assumes a and\n * b have the same length. (same as divide)\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The vector of quotients of entries of a and b.\n */\nexport const div = divide;\n\n/**\n * Creates a random unit vector * scale\n * @param scale - Default 1\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The random vector.\n */\nexport function random(scale = 1, dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  const angle = Math.random() * 2 * Math.PI;\n  dst[0] = Math.cos(angle) * scale;\n  dst[1] = Math.sin(angle) * scale;\n\n  return dst;\n}\n\n/**\n * Zero's a vector\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The zeroed vector.\n */\nexport function zero(dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  dst[0] = 0;\n  dst[1] = 0;\n\n  return dst;\n}\n\n\n/**\n * transform Vec2 by 4x4 matrix\n * @param v - the vector\n * @param m - The matrix.\n * @param dst - optional Vec2 to store result. If not passed a new one is created.\n * @returns the transformed vector\n */\nexport function transformMat4(v: Vec2, m: Mat4, dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  const x = v[0];\n  const y = v[1];\n\n  dst[0] = x * m[0] + y * m[4] + m[12];\n  dst[1] = x * m[1] + y * m[5] + m[13];\n\n  return dst;\n}\n\n/**\n * Transforms vec4 by 3x3 matrix\n *\n * @param v - the vector\n * @param m - The matrix.\n * @param dst - optional Vec2 to store result. If not passed a new one is created.\n * @returns the transformed vector\n */\nexport function transformMat3(v: Vec2, m: Mat3, dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  const x = v[0];\n  const y = v[1];\n\n  dst[0] = m[0] * x + m[4] * y + m[8];\n  dst[1] = m[1] * x + m[5] * y + m[9];\n\n  return dst;\n}\n\n/**\n * Rotate a 2D vector\n *\n * @param a The vec2 point to rotate\n * @param b The origin of the rotation\n * @param rad The angle of rotation in radians\n * @returns the rotated vector\n */\nexport function rotate(a: Vec2, b: Vec2, rad: number, dst?: Vec2) {\n  dst = dst || new VecType(2);\n\n  // Translate point to the origin\n  const p0 = a[0] - b[0];\n  const p1 = a[1] - b[1];\n  const sinC = Math.sin(rad);\n  const cosC = Math.cos(rad);\n\n  //perform rotation and translate to correct position\n  dst[0] = p0 * cosC - p1 * sinC + b[0];\n  dst[1] = p0 * sinC + p1 * cosC + b[1];\n\n  return dst;\n}\n\n/**\n * Treat a 2D vector as a direction and set it's length\n *\n * @param a The vec2 to lengthen\n * @param len The length of the resulting vector\n * @returns The lengthened vector\n */\nexport function setLength(a: Vec2, len: number, dst?: Vec2) {\n  dst = dst || new VecType(2);\n  normalize(a, dst);\n  return mulScalar(dst, len, dst);\n}\n\n/**\n * Ensure a vector is not longer than a max length\n *\n * @param a The vec2 to limit\n * @param maxLen The longest length of the resulting vector\n * @returns The vector, shortened to maxLen if it's too long\n */\nexport function truncate(a: Vec2, maxLen: number, dst?: Vec2) {\n  dst = dst || new VecType(2);\n\n  if (length(a) > maxLen) {\n    return setLength(a, maxLen, dst);\n  }\n\n  return copy(a, dst);\n}\n\n/**\n * Return the vector exactly between 2 endpoint vectors\n *\n * @param a Endpoint 1\n * @param b Endpoint 2\n * @returns The vector exactly residing between endpoints 1 and 2\n */\nexport function midpoint(a: Vec2, b: Vec2, dst?: Vec2) {\n  dst = dst || new VecType(2);\n  return lerp(a, b, 0.5, dst);\n}\n","/*\n * Copyright 2022 Gregg Tavares\n *\n * Permission is hereby granted, free of charge, to any person obtaining a\n * copy of this software and associated documentation files (the \"Software\"),\n * to deal in the Software without restriction, including without limitation\n * the rights to use, copy, modify, merge, publish, distribute, sublicense,\n * and/or sell copies of the Software, and to permit persons to whom the\n * Software is furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL\n * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER\n * DEALINGS IN THE SOFTWARE.\n */\n\nimport * as utils from './utils.js';\nimport { Quat } from './quat';\nimport { Mat3 } from './mat3';\nimport { Mat4 } from './mat4';\nimport Vec2, * as vec2 from './vec2-impl';\n\nexport default Mat3;\n\nexport type Mat3LikeCtor = new (n: number) => Mat3;\n\n/**\n * 3x3 Matrix math math functions.\n *\n * Almost all functions take an optional `dst` argument. If it is not passed in the\n * functions will create a new matrix. In other words you can do this\n *\n *     const mat = mat3.translation([1, 2, 3]);  // Creates a new translation matrix\n *\n * or\n *\n *     const mat = mat3.create();\n *     mat3.translation([1, 2, 3], mat);  // Puts translation matrix in mat.\n *\n * The first style is often easier but depending on where it's used it generates garbage where\n * as there is almost never allocation with the second style.\n *\n * It is always save to pass any matrix as the destination. So for example\n *\n *     const mat = mat3.identity();\n *     const trans = mat3.translation([1, 2, 3]);\n *     mat3.multiply(mat, trans, mat);  // Multiplies mat * trans and puts result in mat.\n *\n */\nlet MatType: Mat3LikeCtor = Float32Array;\n\n// This mess is because with Mat3 we have 3 unused elements.\n// For Float32Array and Float64Array that's not an issue\n// but for Array it's troublesome\nconst ctorMap = new Map<Mat3LikeCtor,() => Mat3>([\n  [Float32Array, () => new Float32Array(12)],\n  [Float64Array, () => new Float64Array(12)],\n  [Array, () => new Array(12).fill(0)],\n]);\nlet newMat3: () => Mat3 = ctorMap.get(Float32Array)!;\n\n/**\n * Sets the type this library creates for a Mat3\n * @param ctor - the constructor for the type. Either `Float32Array`, `Float64Array`, or `Array`\n * @returns previous constructor for Mat3\n */\nexport function setDefaultType(ctor: new (n: number) => Mat3) {\n  const oldType = MatType;\n  MatType = ctor;\n  newMat3 = ctorMap.get(ctor)!;\n  return oldType;\n}\n\n/**\n * Create a Mat3 from values\n *\n * Note: Since passing in a raw JavaScript array\n * is valid in all circumstances, if you want to\n * force a JavaScript array into a Mat3's specified type\n * it would be faster to use\n *\n * ```\n * const m = mat3.clone(someJSArray);\n * ```\n *\n * Note: a consequence of the implementation is if your Mat3Type = `Array`\n * instead of `Float32Array` or `Float64Array` then any values you\n * don't pass in will be undefined. Usually this is not an issue since\n * (a) using `Array` is rare and (b) using `mat3.create` is usually used\n * to create a Mat3 to be filled out as in\n *\n * ```\n * const m = mat3.create();\n * mat3.perspective(fov, aspect, near, far, m);\n * ```\n *\n * @param v0 - value for element 0\n * @param v1 - value for element 1\n * @param v2 - value for element 2\n * @param v3 - value for element 3\n * @param v4 - value for element 4\n * @param v5 - value for element 5\n * @param v6 - value for element 6\n * @param v7 - value for element 7\n * @param v8 - value for element 8\n * @returns matrix created from values.\n */\nexport function create(\n    v0?: number, v1?: number, v2?: number,\n    v3?: number, v4?: number, v5?: number,\n    v6?: number, v7?: number, v8?: number): Mat3 {\n  const dst = newMat3();\n  // to make the array homogenous\n  dst[3] = 0;\n  dst[7] = 0;\n  dst[11] = 0;\n\n  if (v0 !== undefined) {\n    dst[0] = v0;\n    if (v1 !== undefined) {\n      dst[1] = v1;\n      if (v2 !== undefined) {\n        dst[2] = v2;\n        if (v3 !== undefined) {\n          dst[4] = v3;\n          if (v4 !== undefined) {\n            dst[5] = v4;\n            if (v5 !== undefined) {\n              dst[6] = v5;\n              if (v6 !== undefined) {\n                dst[8] = v6;\n                if (v7 !== undefined) {\n                  dst[9] = v7;\n                  if (v8 !== undefined) {\n                    dst[10] = v8;\n                  }\n                }\n              }\n            }\n          }\n        }\n      }\n    }\n  }\n\n  return dst;\n}\n\n/**\n * Sets the values of a Mat3\n * Also see {@link mat3.create} and {@link mat3.copy}\n *\n * @param v0 - value for element 0\n * @param v1 - value for element 1\n * @param v2 - value for element 2\n * @param v3 - value for element 3\n * @param v4 - value for element 4\n * @param v5 - value for element 5\n * @param v6 - value for element 6\n * @param v7 - value for element 7\n * @param v8 - value for element 8\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns Mat3 set from values.\n */\nexport function set(\n    v0: number, v1: number, v2: number,\n    v3: number, v4: number, v5: number,\n    v6: number, v7: number, v8: number, dst?: Mat3) {\n  dst = dst || newMat3();\n\n  dst[0] = v0;  dst[1] = v1;  dst[ 2] = v2;  dst[ 3] = 0;\n  dst[4] = v3;  dst[5] = v4;  dst[ 6] = v5;  dst[ 7] = 0;\n  dst[8] = v6;  dst[9] = v7;  dst[10] = v8;  dst[11] = 0;\n\n  return dst;\n}\n\n/**\n * Creates a Mat3 from the upper left 3x3 part of a Mat4\n * @param m4 - source matrix\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns Mat3 made from m4\n */\nexport function fromMat4(m4: Mat4, dst?: Mat3): Mat3 {\n  dst = dst || newMat3();\n  dst[0] = m4[0];  dst[1] = m4[1];  dst[ 2] = m4[ 2];  dst[ 3] = 0;\n  dst[4] = m4[4];  dst[5] = m4[5];  dst[ 6] = m4[ 6];  dst[ 7] = 0;\n  dst[8] = m4[8];  dst[9] = m4[9];  dst[10] = m4[10];  dst[11] = 0;\n  return dst;\n}\n\n/**\n * Creates a Mat3 rotation matrix from a quaternion\n * @param q - quaternion to create matrix from\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns Mat3 made from q\n */\nexport function fromQuat(q: Quat, dst?: Mat3): Mat3 {\n  dst = dst || newMat3();\n\n  const x = q[0]; const y = q[1]; const z = q[2]; const w = q[3];\n  const x2 = x + x; const y2 = y + y; const z2 = z + z;\n\n  const xx = x * x2;\n  const yx = y * x2;\n  const yy = y * y2;\n  const zx = z * x2;\n  const zy = z * y2;\n  const zz = z * z2;\n  const wx = w * x2;\n  const wy = w * y2;\n  const wz = w * z2;\n\n  dst[ 0] = 1 - yy - zz;  dst[ 1] = yx + wz;      dst[ 2] = zx - wy;      dst[ 3] = 0;\n  dst[ 4] = yx - wz;      dst[ 5] = 1 - xx - zz;  dst[ 6] = zy + wx;      dst[ 7] = 0;\n  dst[ 8] = zx + wy;      dst[ 9] = zy - wx;      dst[10] = 1 - xx - yy;  dst[11] = 0;\n\n  return dst;\n}\n\n/**\n * Negates a matrix.\n * @param m - The matrix.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns -m.\n */\nexport function negate(m: Mat3, dst?: Mat3): Mat3 {\n  dst = dst || newMat3();\n\n  dst[ 0] = -m[ 0];  dst[ 1] = -m[ 1];  dst[ 2] = -m[ 2];\n  dst[ 4] = -m[ 4];  dst[ 5] = -m[ 5];  dst[ 6] = -m[ 6];\n  dst[ 8] = -m[ 8];  dst[ 9] = -m[ 9];  dst[10] = -m[10];\n\n  return dst;\n}\n\n/**\n * Copies a matrix. (same as {@link mat3.clone})\n * Also see {@link mat3.create} and {@link mat3.set}\n * @param m - The matrix.\n * @param dst - The matrix. If not passed a new one is created.\n * @returns A copy of m.\n */\nexport function copy(m: Mat3, dst?: Mat3): Mat3 {\n  dst = dst || newMat3();\n\n  dst[ 0] = m[ 0];  dst[ 1] = m[ 1];  dst[ 2] = m[ 2];\n  dst[ 4] = m[ 4];  dst[ 5] = m[ 5];  dst[ 6] = m[ 6];\n  dst[ 8] = m[ 8];  dst[ 9] = m[ 9];  dst[10] = m[10];\n\n  return dst;\n}\n\n/**\n * Copies a matrix (same as {@link mat3.copy})\n * Also see {@link mat3.create} and {@link mat3.set}\n * @param m - The matrix.\n * @param dst - The matrix. If not passed a new one is created.\n * @returns A copy of m.\n */\nexport const clone = copy;\n\n/**\n * Check if 2 matrices are approximately equal\n * @param a Operand matrix.\n * @param b Operand matrix.\n * @returns true if matrices are approximately equal\n */\nexport function equalsApproximately(a: Mat3, b: Mat3): boolean {\n  return Math.abs(a[ 0] - b[ 0]) < utils.EPSILON &&\n         Math.abs(a[ 1] - b[ 1]) < utils.EPSILON &&\n         Math.abs(a[ 2] - b[ 2]) < utils.EPSILON &&\n         Math.abs(a[ 4] - b[ 4]) < utils.EPSILON &&\n         Math.abs(a[ 5] - b[ 5]) < utils.EPSILON &&\n         Math.abs(a[ 6] - b[ 6]) < utils.EPSILON &&\n         Math.abs(a[ 8] - b[ 8]) < utils.EPSILON &&\n         Math.abs(a[ 9] - b[ 9]) < utils.EPSILON &&\n         Math.abs(a[10] - b[10]) < utils.EPSILON;\n}\n\n/**\n * Check if 2 matrices are exactly equal\n * @param a Operand matrix.\n * @param b Operand matrix.\n * @returns true if matrices are exactly equal\n */\nexport function equals(a: Mat3, b: Mat3): boolean {\n  return a[ 0] === b[ 0] &&\n         a[ 1] === b[ 1] &&\n         a[ 2] === b[ 2] &&\n         a[ 4] === b[ 4] &&\n         a[ 5] === b[ 5] &&\n         a[ 6] === b[ 6] &&\n         a[ 8] === b[ 8] &&\n         a[ 9] === b[ 9] &&\n         a[10] === b[10];\n}\n\n/**\n * Creates a 3-by-3 identity matrix.\n *\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns A 3-by-3 identity matrix.\n */\nexport function identity(dst?: Mat3): Mat3 {\n  dst = dst || newMat3();\n\n  dst[ 0] = 1;  dst[ 1] = 0;  dst[ 2] = 0;\n  dst[ 4] = 0;  dst[ 5] = 1;  dst[ 6] = 0;\n  dst[ 8] = 0;  dst[ 9] = 0;  dst[10] = 1;\n\n  return dst;\n}\n\n/**\n * Takes the transpose of a matrix.\n * @param m - The matrix.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The transpose of m.\n */\nexport function transpose(m: Mat3, dst?: Mat3): Mat3 {\n  dst = dst || newMat3();\n  if (dst === m) {\n    let t: number;\n\n    // 0 1 2\n    // 4 5 6\n    // 8 9 10\n\n    t = m[1];\n    m[1] = m[4];\n    m[4] = t;\n\n    t = m[2];\n    m[2] = m[8];\n    m[8] = t;\n\n    t = m[6];\n    m[6] = m[9];\n    m[9] = t;\n\n    return dst;\n  }\n\n  const m00 = m[0 * 4 + 0];\n  const m01 = m[0 * 4 + 1];\n  const m02 = m[0 * 4 + 2];\n  const m10 = m[1 * 4 + 0];\n  const m11 = m[1 * 4 + 1];\n  const m12 = m[1 * 4 + 2];\n  const m20 = m[2 * 4 + 0];\n  const m21 = m[2 * 4 + 1];\n  const m22 = m[2 * 4 + 2];\n\n  dst[ 0] = m00;  dst[ 1] = m10;  dst[ 2] = m20;\n  dst[ 4] = m01;  dst[ 5] = m11;  dst[ 6] = m21;\n  dst[ 8] = m02;  dst[ 9] = m12;  dst[10] = m22;\n\n  return dst;\n}\n\n/**\n * Computes the inverse of a 3-by-3 matrix.\n * @param m - The matrix.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The inverse of m.\n */\nexport function inverse(m: Mat3, dst?: Mat3): Mat3 {\n  dst = dst || newMat3();\n\n  const m00 = m[0 * 4 + 0];\n  const m01 = m[0 * 4 + 1];\n  const m02 = m[0 * 4 + 2];\n  const m10 = m[1 * 4 + 0];\n  const m11 = m[1 * 4 + 1];\n  const m12 = m[1 * 4 + 2];\n  const m20 = m[2 * 4 + 0];\n  const m21 = m[2 * 4 + 1];\n  const m22 = m[2 * 4 + 2];\n\n  const b01 =  m22 * m11 - m12 * m21;\n  const b11 = -m22 * m10 + m12 * m20;\n  const b21 =  m21 * m10 - m11 * m20;\n\n  const invDet = 1 / (m00 * b01 + m01 * b11 + m02 * b21);\n\n  dst[ 0] = b01 * invDet;\n  dst[ 1] = (-m22 * m01 + m02 * m21) * invDet;\n  dst[ 2] = ( m12 * m01 - m02 * m11) * invDet;\n  dst[ 4] = b11 * invDet;\n  dst[ 5] = ( m22 * m00 - m02 * m20) * invDet;\n  dst[ 6] = (-m12 * m00 + m02 * m10) * invDet;\n  dst[ 8] = b21 * invDet;\n  dst[ 9] = (-m21 * m00 + m01 * m20) * invDet;\n  dst[10] = ( m11 * m00 - m01 * m10) * invDet;\n\n  return dst;\n}\n\n/**\n * Compute the determinant of a matrix\n * @param m - the matrix\n * @returns the determinant\n */\nexport function determinant(m: Mat3): number {\n  const m00 = m[0 * 4 + 0];\n  const m01 = m[0 * 4 + 1];\n  const m02 = m[0 * 4 + 2];\n  const m10 = m[1 * 4 + 0];\n  const m11 = m[1 * 4 + 1];\n  const m12 = m[1 * 4 + 2];\n  const m20 = m[2 * 4 + 0];\n  const m21 = m[2 * 4 + 1];\n  const m22 = m[2 * 4 + 2];\n\n  return m00 * (m11 * m22 - m21 * m12) -\n         m10 * (m01 * m22 - m21 * m02) +\n         m20 * (m01 * m12 - m11 * m02);\n}\n\n/**\n * Computes the inverse of a 3-by-3 matrix. (same as inverse)\n * @param m - The matrix.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The inverse of m.\n */\nexport const invert = inverse;\n\n/**\n * Multiplies two 3-by-3 matrices with a on the left and b on the right\n * @param a - The matrix on the left.\n * @param b - The matrix on the right.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The matrix product of a and b.\n */\nexport function multiply(a: Mat3, b: Mat3, dst?: Mat3): Mat3 {\n  dst = dst || newMat3();\n\n  const a00 = a[0];\n  const a01 = a[1];\n  const a02 = a[2];\n  const a10 = a[ 4 + 0];\n  const a11 = a[ 4 + 1];\n  const a12 = a[ 4 + 2];\n  const a20 = a[ 8 + 0];\n  const a21 = a[ 8 + 1];\n  const a22 = a[ 8 + 2];\n  const b00 = b[0];\n  const b01 = b[1];\n  const b02 = b[2];\n  const b10 = b[ 4 + 0];\n  const b11 = b[ 4 + 1];\n  const b12 = b[ 4 + 2];\n  const b20 = b[ 8 + 0];\n  const b21 = b[ 8 + 1];\n  const b22 = b[ 8 + 2];\n\n  dst[ 0] = a00 * b00 + a10 * b01 + a20 * b02;\n  dst[ 1] = a01 * b00 + a11 * b01 + a21 * b02;\n  dst[ 2] = a02 * b00 + a12 * b01 + a22 * b02;\n  dst[ 4] = a00 * b10 + a10 * b11 + a20 * b12;\n  dst[ 5] = a01 * b10 + a11 * b11 + a21 * b12;\n  dst[ 6] = a02 * b10 + a12 * b11 + a22 * b12;\n  dst[ 8] = a00 * b20 + a10 * b21 + a20 * b22;\n  dst[ 9] = a01 * b20 + a11 * b21 + a21 * b22;\n  dst[10] = a02 * b20 + a12 * b21 + a22 * b22;\n\n  return dst;\n}\n\n/**\n * Multiplies two 3-by-3 matrices with a on the left and b on the right (same as multiply)\n * @param a - The matrix on the left.\n * @param b - The matrix on the right.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The matrix product of a and b.\n */\nexport const mul = multiply;\n\n/**\n * Sets the translation component of a 3-by-3 matrix to the given\n * vector.\n * @param a - The matrix.\n * @param v - The vector.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The matrix with translation set.\n */\nexport function setTranslation(a: Mat3, v: Vec2, dst?: Mat3): Mat3 {\n  dst = dst || identity();\n  if (a !== dst) {\n    dst[ 0] = a[ 0];\n    dst[ 1] = a[ 1];\n    dst[ 2] = a[ 2];\n    dst[ 4] = a[ 4];\n    dst[ 5] = a[ 5];\n    dst[ 6] = a[ 6];\n  }\n  dst[ 8] = v[0];\n  dst[ 9] = v[1];\n  dst[10] = 1;\n  return dst;\n}\n\n/**\n * Returns the translation component of a 3-by-3 matrix as a vector with 3\n * entries.\n * @param m - The matrix.\n * @param dst - vector to hold result. If not passed a new one is created.\n * @returns The translation component of m.\n */\nexport function getTranslation(m: Mat3, dst?: Vec2): Vec2 {\n  dst = dst || vec2.create();\n  dst[0] = m[8];\n  dst[1] = m[9];\n  return dst;\n}\n\n/**\n * Returns an axis of a 3x3 matrix as a vector with 2 entries\n * @param m - The matrix.\n * @param axis - The axis 0 = x, 1 = y,\n * @returns The axis component of m.\n */\nexport function getAxis(m: Mat3, axis: number, dst?: Vec2): Vec2 {\n  dst = dst || vec2.create();\n  const off = axis * 4;\n  dst[0] = m[off + 0];\n  dst[1] = m[off + 1];\n  return dst;\n}\n\n/**\n * Sets an axis of a 3x3 matrix as a vector with 2 entries\n * @param m - The matrix.\n * @param v - the axis vector\n * @param axis - The axis  0 = x, 1 = y;\n * @param dst - The matrix to set. If not passed a new one is created.\n * @returns The matrix with axis set.\n */\nexport function setAxis(m: Mat3, v: Vec2, axis: number, dst?: Mat3): Mat3 {\n  if (dst !== m) {\n    dst = copy(m, dst);\n  }\n  const off = axis * 4;\n  dst[off + 0] = v[0];\n  dst[off + 1] = v[1];\n  return dst;\n}\n\n/**\n * Returns the scaling component of the matrix\n * @param m - The Matrix\n * @param dst - The vector to set. If not passed a new one is created.\n */\nexport function getScaling(m: Mat3, dst?: Vec2): Vec2 {\n  dst = dst || vec2.create();\n\n  const xx = m[0];\n  const xy = m[1];\n  const yx = m[4];\n  const yy = m[5];\n\n  dst[0] = Math.sqrt(xx * xx + xy * xy);\n  dst[1] = Math.sqrt(yx * yx + yy * yy);\n\n  return dst;\n}\n\n/**\n * Creates a 3-by-3 matrix which translates by the given vector v.\n * @param v - The vector by which to translate.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The translation matrix.\n */\nexport function translation(v: Vec2, dst?: Mat3): Mat3 {\n  dst = dst || newMat3();\n\n  dst[ 0] = 1;     dst[ 1] = 0;     dst[ 2] = 0;\n  dst[ 4] = 0;     dst[ 5] = 1;     dst[ 6] = 0;\n  dst[ 8] = v[0];  dst[ 9] = v[1];  dst[10] = 1;\n\n  return dst;\n}\n\n/**\n * Translates the given 3-by-3 matrix by the given vector v.\n * @param m - The matrix.\n * @param v - The vector by which to translate.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The translated matrix.\n */\nexport function translate(m: Mat3, v: Vec2, dst?: Mat3): Mat3 {\n  dst = dst || newMat3();\n\n  const v0 = v[0];\n  const v1 = v[1];\n\n  const m00 = m[0];\n  const m01 = m[1];\n  const m02 = m[2];\n  const m10 = m[1 * 4 + 0];\n  const m11 = m[1 * 4 + 1];\n  const m12 = m[1 * 4 + 2];\n  const m20 = m[2 * 4 + 0];\n  const m21 = m[2 * 4 + 1];\n  const m22 = m[2 * 4 + 2];\n\n  if (m !== dst) {\n    dst[ 0] = m00;\n    dst[ 1] = m01;\n    dst[ 2] = m02;\n    dst[ 4] = m10;\n    dst[ 5] = m11;\n    dst[ 6] = m12;\n  }\n\n  dst[ 8] = m00 * v0 + m10 * v1 + m20;\n  dst[ 9] = m01 * v0 + m11 * v1 + m21;\n  dst[10] = m02 * v0 + m12 * v1 + m22;\n\n  return dst;\n}\n\n/**\n * Creates a 3-by-3 matrix which rotates  by the given angle.\n * @param angleInRadians - The angle by which to rotate (in radians).\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The rotation matrix.\n */\nexport function rotation(angleInRadians: number, dst?: Mat3): Mat3 {\n  dst = dst || newMat3();\n\n  const c = Math.cos(angleInRadians);\n  const s = Math.sin(angleInRadians);\n\n  dst[ 0] =  c;  dst[ 1] = s;  dst[ 2] = 0;\n  dst[ 4] = -s;  dst[ 5] = c;  dst[ 6] = 0;\n  dst[ 8] =  0;  dst[ 9] = 0;  dst[10] = 1;\n\n  return dst;\n}\n\n/**\n * Rotates the given 3-by-3 matrix  by the given angle.\n * @param m - The matrix.\n * @param angleInRadians - The angle by which to rotate (in radians).\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The rotated matrix.\n */\nexport function rotate(m: Mat3, angleInRadians: number, dst?: Mat3): Mat3 {\n  dst = dst || newMat3();\n\n  const m00 = m[0 * 4 + 0];\n  const m01 = m[0 * 4 + 1];\n  const m02 = m[0 * 4 + 2];\n  const m10 = m[1 * 4 + 0];\n  const m11 = m[1 * 4 + 1];\n  const m12 = m[1 * 4 + 2];\n  const c = Math.cos(angleInRadians);\n  const s = Math.sin(angleInRadians);\n\n  dst[ 0] = c * m00 + s * m10;\n  dst[ 1] = c * m01 + s * m11;\n  dst[ 2] = c * m02 + s * m12;\n\n  dst[ 4] = c * m10 - s * m00;\n  dst[ 5] = c * m11 - s * m01;\n  dst[ 6] = c * m12 - s * m02;\n\n\n  if (m !== dst) {\n    dst[ 8] = m[ 8];\n    dst[ 9] = m[ 9];\n    dst[10] = m[10];\n  }\n\n  return dst;\n}\n\n/**\n * Creates a 3-by-3 matrix which scales in each dimension by an amount given by\n * the corresponding entry in the given vector; assumes the vector has three\n * entries.\n * @param v - A vector of\n *     2 entries specifying the factor by which to scale in each dimension.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The scaling matrix.\n */\nexport function scaling(v: Vec2, dst?: Mat3): Mat3 {\n  dst = dst || newMat3();\n\n  dst[ 0] = v[0];  dst[ 1] = 0;     dst[ 2] = 0;\n  dst[ 4] = 0;     dst[ 5] = v[1];  dst[ 6] = 0;\n  dst[ 8] = 0;     dst[ 9] = 0;     dst[10] = 1;\n\n  return dst;\n}\n\n/**\n * Scales the given 3-by-3 matrix in each dimension by an amount\n * given by the corresponding entry in the given vector; assumes the vector has\n * three entries.\n * @param m - The matrix to be modified.\n * @param v - A vector of 2 entries specifying the\n *     factor by which to scale in each dimension.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The scaled matrix.\n */\nexport function scale(m: Mat3, v: Vec2, dst?: Mat3): Mat3 {\n  dst = dst || newMat3();\n\n  const v0 = v[0];\n  const v1 = v[1];\n\n  dst[ 0] = v0 * m[0 * 4 + 0];\n  dst[ 1] = v0 * m[0 * 4 + 1];\n  dst[ 2] = v0 * m[0 * 4 + 2];\n\n  dst[ 4] = v1 * m[1 * 4 + 0];\n  dst[ 5] = v1 * m[1 * 4 + 1];\n  dst[ 6] = v1 * m[1 * 4 + 2];\n\n  if (m !== dst) {\n    dst[ 8] = m[ 8];\n    dst[ 9] = m[ 9];\n    dst[10] = m[10];\n  }\n\n  return dst;\n}\n\n/**\n * Creates a 3-by-3 matrix which scales uniformly in each dimension\n * @param s - Amount to scale\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The scaling matrix.\n */\nexport function uniformScaling(s: number, dst?: Mat3): Mat3 {\n  dst = dst || newMat3();\n\n  dst[ 0] = s;  dst[ 1] = 0;  dst[ 2] = 0;\n  dst[ 4] = 0;  dst[ 5] = s;  dst[ 6] = 0;\n  dst[ 8] = 0;  dst[ 9] = 0;  dst[10] = 1;\n\n  return dst;\n}\n\n/**\n * Scales the given 3-by-3 matrix in each dimension by an amount\n * given.\n * @param m - The matrix to be modified.\n * @param s - Amount to scale.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The scaled matrix.\n */\nexport function uniformScale(m: Mat3, s: number, dst?: Mat3): Mat3 {\n  dst = dst || newMat3();\n\n  dst[ 0] = s * m[0 * 4 + 0];\n  dst[ 1] = s * m[0 * 4 + 1];\n  dst[ 2] = s * m[0 * 4 + 2];\n\n  dst[ 4] = s * m[1 * 4 + 0];\n  dst[ 5] = s * m[1 * 4 + 1];\n  dst[ 6] = s * m[1 * 4 + 2];\n\n  if (m !== dst) {\n    dst[ 8] = m[ 8];\n    dst[ 9] = m[ 9];\n    dst[10] = m[10];\n  }\n\n  return dst;\n}\n","/*\n * Copyright 2022 Gregg Tavares\n *\n * Permission is hereby granted, free of charge, to any person obtaining a\n * copy of this software and associated documentation files (the \"Software\"),\n * to deal in the Software without restriction, including without limitation\n * the rights to use, copy, modify, merge, publish, distribute, sublicense,\n * and/or sell copies of the Software, and to permit persons to whom the\n * Software is furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL\n * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER\n * DEALINGS IN THE SOFTWARE.\n */\nimport * as utils from './utils.js';\nimport { Vec3, create, setDefaultType, VecType } from './vec3';\nimport { Mat3 } from './mat3';\nimport { Mat4 } from './mat4';\nimport { Quat } from './quat';\n\nexport default Vec3;\nexport { create, setDefaultType };\n\n/**\n * Creates a vec3; may be called with x, y, z to set initial values. (same as create)\n * @param x - Initial x value.\n * @param y - Initial y value.\n * @param z - Initial z value.\n * @returns the created vector\n */\nexport const fromValues = create;\n\n/**\n * Sets the values of a Vec3\n * Also see {@link vec3.create} and {@link vec3.copy}\n *\n * @param x first value\n * @param y second value\n * @param z third value\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector with its elements set.\n */\nexport function set(x: number, y: number, z: number, dst?: Vec3) {\n  dst = dst || new VecType(3);\n\n  dst[0] = x;\n  dst[1] = y;\n  dst[2] = z;\n\n  return dst;\n}\n\n/**\n * Applies Math.ceil to each element of vector\n * @param v - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the ceil of each element of v.\n */\nexport function ceil(v: Vec3, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  dst[0] = Math.ceil(v[0]);\n  dst[1] = Math.ceil(v[1]);\n  dst[2] = Math.ceil(v[2]);\n\n  return dst;\n}\n\n/**\n * Applies Math.floor to each element of vector\n * @param v - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the floor of each element of v.\n */\nexport function floor(v: Vec3, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  dst[0] = Math.floor(v[0]);\n  dst[1] = Math.floor(v[1]);\n  dst[2] = Math.floor(v[2]);\n\n  return dst;\n}\n\n/**\n * Applies Math.round to each element of vector\n * @param v - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the round of each element of v.\n */\nexport function round(v: Vec3, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  dst[0] = Math.round(v[0]);\n  dst[1] = Math.round(v[1]);\n  dst[2] = Math.round(v[2]);\n\n  return dst;\n}\n\n/**\n * Clamp each element of vector between min and max\n * @param v - Operand vector.\n * @param max - Min value, default 0\n * @param min - Max value, default 1\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that the clamped value of each element of v.\n */\nexport function clamp(v: Vec3, min = 0, max = 1, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  dst[0] = Math.min(max, Math.max(min, v[0]));\n  dst[1] = Math.min(max, Math.max(min, v[1]));\n  dst[2] = Math.min(max, Math.max(min, v[2]));\n\n  return dst;\n}\n\n/**\n * Adds two vectors; assumes a and b have the same dimension.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the sum of a and b.\n */\nexport function add(a: Vec3, b: Vec3, dst?: Vec3) {\n  dst = dst || new VecType(3);\n\n  dst[0] = a[0] + b[0];\n  dst[1] = a[1] + b[1];\n  dst[2] = a[2] + b[2];\n\n  return dst;\n}\n\n/**\n * Adds two vectors, scaling the 2nd; assumes a and b have the same dimension.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param scale - Amount to scale b\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the sum of a + b * scale.\n */\nexport function addScaled(a: Vec3, b: Vec3, scale: number, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  dst[0] = a[0] + b[0] * scale;\n  dst[1] = a[1] + b[1] * scale;\n  dst[2] = a[2] + b[2] * scale;\n\n  return dst;\n}\n\n/**\n * Returns the angle in radians between two vectors.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @returns The angle in radians between the 2 vectors.\n */\nexport function angle(a: Vec3, b: Vec3): number {\n  const ax = a[0];\n  const ay = a[1];\n  const az = a[2];\n  const bx = b[0];\n  const by = b[1];\n  const bz = b[2];\n  const mag1 = Math.sqrt(ax * ax + ay * ay + az * az);\n  const mag2 = Math.sqrt(bx * bx + by * by + bz * bz);\n  const mag = mag1 * mag2;\n  const cosine = mag && dot(a, b) / mag;\n  return Math.acos(cosine);\n}\n\n/**\n * Subtracts two vectors.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the difference of a and b.\n */\nexport function subtract(a: Vec3, b: Vec3, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  dst[0] = a[0] - b[0];\n  dst[1] = a[1] - b[1];\n  dst[2] = a[2] - b[2];\n\n  return dst;\n}\n\n/**\n * Subtracts two vectors.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the difference of a and b.\n */\nexport const sub = subtract;\n\n/**\n * Check if 2 vectors are approximately equal\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @returns true if vectors are approximately equal\n */\nexport function equalsApproximately(a: Vec3, b: Vec3): boolean {\n  return Math.abs(a[0] - b[0]) < utils.EPSILON &&\n         Math.abs(a[1] - b[1]) < utils.EPSILON &&\n         Math.abs(a[2] - b[2]) < utils.EPSILON;\n}\n\n/**\n * Check if 2 vectors are exactly equal\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @returns true if vectors are exactly equal\n */\nexport function equals(a: Vec3, b: Vec3): boolean {\n  return a[0] === b[0] && a[1] === b[1] && a[2] === b[2];\n}\n\n/**\n * Performs linear interpolation on two vectors.\n * Given vectors a and b and interpolation coefficient t, returns\n * a + t * (b - a).\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param t - Interpolation coefficient.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The linear interpolated result.\n */\nexport function lerp(a: Vec3, b: Vec3, t: number, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  dst[0] = a[0] + t * (b[0] - a[0]);\n  dst[1] = a[1] + t * (b[1] - a[1]);\n  dst[2] = a[2] + t * (b[2] - a[2]);\n\n  return dst;\n}\n\n/**\n * Performs linear interpolation on two vectors.\n * Given vectors a and b and interpolation coefficient vector t, returns\n * a + t * (b - a).\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param t - Interpolation coefficients vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns the linear interpolated result.\n */\nexport function lerpV(a: Vec3, b: Vec3, t: Vec3, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  dst[0] = a[0] + t[0] * (b[0] - a[0]);\n  dst[1] = a[1] + t[1] * (b[1] - a[1]);\n  dst[2] = a[2] + t[2] * (b[2] - a[2]);\n\n  return dst;\n}\n\n/**\n * Return max values of two vectors.\n * Given vectors a and b returns\n * [max(a[0], b[0]), max(a[1], b[1]), max(a[2], b[2])].\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The max components vector.\n */\nexport function max(a: Vec3, b: Vec3, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  dst[0] = Math.max(a[0], b[0]);\n  dst[1] = Math.max(a[1], b[1]);\n  dst[2] = Math.max(a[2], b[2]);\n\n  return dst;\n}\n\n/**\n * Return min values of two vectors.\n * Given vectors a and b returns\n * [min(a[0], b[0]), min(a[1], b[1]), min(a[2], b[2])].\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The min components vector.\n */\nexport function min(a: Vec3, b: Vec3, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  dst[0] = Math.min(a[0], b[0]);\n  dst[1] = Math.min(a[1], b[1]);\n  dst[2] = Math.min(a[2], b[2]);\n\n  return dst;\n}\n\n/**\n * Multiplies a vector by a scalar.\n * @param v - The vector.\n * @param k - The scalar.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The scaled vector.\n */\nexport function mulScalar(v: Vec3, k: number, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  dst[0] = v[0] * k;\n  dst[1] = v[1] * k;\n  dst[2] = v[2] * k;\n\n  return dst;\n}\n\n/**\n * Multiplies a vector by a scalar. (same as mulScalar)\n * @param v - The vector.\n * @param k - The scalar.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The scaled vector.\n */\nexport const scale = mulScalar;\n\n/**\n * Divides a vector by a scalar.\n * @param v - The vector.\n * @param k - The scalar.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The scaled vector.\n */\nexport function divScalar(v: Vec3, k: number, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  dst[0] = v[0] / k;\n  dst[1] = v[1] / k;\n  dst[2] = v[2] / k;\n\n  return dst;\n}\n\n/**\n * Inverse a vector.\n * @param v - The vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The inverted vector.\n */\nexport function inverse(v: Vec3, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  dst[0] = 1 / v[0];\n  dst[1] = 1 / v[1];\n  dst[2] = 1 / v[2];\n\n  return dst;\n}\n\n/**\n * Invert a vector. (same as inverse)\n * @param v - The vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The inverted vector.\n */\nexport const invert = inverse;\n\n/**\n * Computes the cross product of two vectors; assumes both vectors have\n * three entries.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The vector of a cross b.\n */\nexport function cross(a: Vec3, b: Vec3, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  const t1 = a[2] * b[0] - a[0] * b[2];\n  const t2 = a[0] * b[1] - a[1] * b[0];\n  dst[0] = a[1] * b[2] - a[2] * b[1];\n  dst[1] = t1;\n  dst[2] = t2;\n\n  return dst;\n}\n\n/**\n * Computes the dot product of two vectors; assumes both vectors have\n * three entries.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @returns dot product\n */\nexport function dot(a: Vec3, b: Vec3): number {\n  return (a[0] * b[0]) + (a[1] * b[1]) + (a[2] * b[2]);\n}\n\n/**\n * Computes the length of vector\n * @param v - vector.\n * @returns length of vector.\n */\nexport function length(v: Vec3): number {\n  const v0 = v[0];\n  const v1 = v[1];\n  const v2 = v[2];\n  return Math.sqrt(v0 * v0 + v1 * v1 + v2 * v2);\n}\n\n/**\n * Computes the length of vector (same as length)\n * @param v - vector.\n * @returns length of vector.\n */\nexport const len = length;\n\n/**\n * Computes the square of the length of vector\n * @param v - vector.\n * @returns square of the length of vector.\n */\nexport function lengthSq(v: Vec3): number {\n  const v0 = v[0];\n  const v1 = v[1];\n  const v2 = v[2];\n  return v0 * v0 + v1 * v1 + v2 * v2;\n}\n\n/**\n * Computes the square of the length of vector (same as lengthSq)\n * @param v - vector.\n * @returns square of the length of vector.\n */\nexport const lenSq = lengthSq;\n\n/**\n * Computes the distance between 2 points\n * @param a - vector.\n * @param b - vector.\n * @returns distance between a and b\n */\nexport function distance(a: Vec3, b: Vec3): number {\n  const dx = a[0] - b[0];\n  const dy = a[1] - b[1];\n  const dz = a[2] - b[2];\n  return Math.sqrt(dx * dx + dy * dy + dz * dz);\n}\n\n/**\n * Computes the distance between 2 points (same as distance)\n * @param a - vector.\n * @param b - vector.\n * @returns distance between a and b\n */\nexport const dist = distance;\n\n/**\n * Computes the square of the distance between 2 points\n * @param a - vector.\n * @param b - vector.\n * @returns square of the distance between a and b\n */\nexport function distanceSq(a: Vec3, b: Vec3): number {\n  const dx = a[0] - b[0];\n  const dy = a[1] - b[1];\n  const dz = a[2] - b[2];\n  return dx * dx + dy * dy + dz * dz;\n}\n\n/**\n * Computes the square of the distance between 2 points (same as distanceSq)\n * @param a - vector.\n * @param b - vector.\n * @returns square of the distance between a and b\n */\nexport const distSq = distanceSq;\n\n/**\n * Divides a vector by its Euclidean length and returns the quotient.\n * @param v - The vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The normalized vector.\n */\nexport function normalize(v: Vec3, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  const v0 = v[0];\n  const v1 = v[1];\n  const v2 = v[2];\n  const len = Math.sqrt(v0 * v0 + v1 * v1 + v2 * v2);\n\n  if (len > 0.00001) {\n    dst[0] = v0 / len;\n    dst[1] = v1 / len;\n    dst[2] = v2 / len;\n  } else {\n    dst[0] = 0;\n    dst[1] = 0;\n    dst[2] = 0;\n  }\n\n\n  return dst;\n}\n\n/**\n * Negates a vector.\n * @param v - The vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns -v.\n */\nexport function negate(v: Vec3, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  dst[0] = -v[0];\n  dst[1] = -v[1];\n  dst[2] = -v[2];\n\n  return dst;\n}\n\n/**\n * Copies a vector. (same as {@link vec3.clone})\n * Also see {@link vec3.create} and {@link vec3.set}\n * @param v - The vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A copy of v.\n */\nexport function copy(v: Vec3, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  dst[0] = v[0];\n  dst[1] = v[1];\n  dst[2] = v[2];\n\n  return dst;\n}\n\n/**\n * Clones a vector. (same as {@link vec3.copy})\n * Also see {@link vec3.create} and {@link vec3.set}\n * @param v - The vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A copy of v.\n */\nexport const clone = copy;\n\n/**\n * Multiplies a vector by another vector (component-wise); assumes a and\n * b have the same length.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The vector of products of entries of a and b.\n */\nexport function multiply(a: Vec3, b: Vec3, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  dst[0] = a[0] * b[0];\n  dst[1] = a[1] * b[1];\n  dst[2] = a[2] * b[2];\n\n  return dst;\n}\n\n/**\n * Multiplies a vector by another vector (component-wise); assumes a and\n * b have the same length. (same as mul)\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The vector of products of entries of a and b.\n */\nexport const mul = multiply;\n\n/**\n * Divides a vector by another vector (component-wise); assumes a and\n * b have the same length.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The vector of quotients of entries of a and b.\n */\nexport function divide(a: Vec3, b: Vec3, dst?: Vec3) {\n  dst = dst || new VecType(3);\n\n  dst[0] = a[0] / b[0];\n  dst[1] = a[1] / b[1];\n  dst[2] = a[2] / b[2];\n\n  return dst;\n}\n\n/**\n * Divides a vector by another vector (component-wise); assumes a and\n * b have the same length. (same as divide)\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The vector of quotients of entries of a and b.\n */\nexport const div = divide;\n\n/**\n * Creates a random vector\n * @param scale - Default 1\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The random vector.\n */\nexport function random(scale = 1, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  const angle = Math.random() * 2 * Math.PI;\n  const z = Math.random() * 2 - 1;\n  const zScale = Math.sqrt(1 - z * z) * scale;\n  dst[0] = Math.cos(angle) * zScale;\n  dst[1] = Math.sin(angle) * zScale;\n  dst[2] = z * scale;\n\n  return dst;\n}\n\n/**\n * Zero's a vector\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The zeroed vector.\n */\nexport function zero(dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  dst[0] = 0;\n  dst[1] = 0;\n  dst[2] = 0;\n\n  return dst;\n}\n\n\n/**\n * transform vec3 by 4x4 matrix\n * @param v - the vector\n * @param m - The matrix.\n * @param dst - optional vec3 to store result. If not passed a new one is created.\n * @returns the transformed vector\n */\nexport function transformMat4(v: Vec3, m: Mat4, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  const x = v[0];\n  const y = v[1];\n  const z = v[2];\n  const w = (m[3] * x + m[7] * y + m[11] * z + m[15]) || 1;\n\n  dst[0] = (m[0] * x + m[4] * y + m[8] * z + m[12]) / w;\n  dst[1] = (m[1] * x + m[5] * y + m[9] * z + m[13]) / w;\n  dst[2] = (m[2] * x + m[6] * y + m[10] * z + m[14]) / w;\n\n  return dst;\n}\n\n/**\n * Transform vec4 by upper 3x3 matrix inside 4x4 matrix.\n * @param v - The direction.\n * @param m - The matrix.\n * @param dst - optional Vec3 to store result. If not passed a new one is created.\n * @returns The transformed vector.\n */\nexport function transformMat4Upper3x3(v: Vec3, m: Mat4, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  const v0 = v[0];\n  const v1 = v[1];\n  const v2 = v[2];\n\n  dst[0] = v0 * m[0 * 4 + 0] + v1 * m[1 * 4 + 0] + v2 * m[2 * 4 + 0];\n  dst[1] = v0 * m[0 * 4 + 1] + v1 * m[1 * 4 + 1] + v2 * m[2 * 4 + 1];\n  dst[2] = v0 * m[0 * 4 + 2] + v1 * m[1 * 4 + 2] + v2 * m[2 * 4 + 2];\n\n  return dst;\n}\n\n/**\n * Transforms vec3 by 3x3 matrix\n *\n * @param v - the vector\n * @param m - The matrix.\n * @param dst - optional vec3 to store result. If not passed a new one is created.\n * @returns the transformed vector\n */\nexport function transformMat3(v: Vec3, m: Mat3, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  const x = v[0];\n  const y = v[1];\n  const z = v[2];\n\n  dst[0] = x * m[0] + y * m[4] + z * m[8];\n  dst[1] = x * m[1] + y * m[5] + z * m[9];\n  dst[2] = x * m[2] + y * m[6] + z * m[10];\n\n  return dst;\n}\n\n/**\n * Transforms vec3 by Quaternion\n * @param v - the vector to transform\n * @param q - the quaternion to transform by\n * @param dst - optional vec3 to store result. If not passed a new one is created.\n * @returns the transformed\n */\nexport function transformQuat(v: Vec3, q: Quat, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  const qx = q[0];\n  const qy = q[1];\n  const qz = q[2];\n  const w2 = q[3] * 2;\n\n  const x = v[0];\n  const y = v[1];\n  const z = v[2];\n\n  const uvX = qy * z - qz * y;\n  const uvY = qz * x - qx * z;\n  const uvZ = qx * y - qy * x;\n\n  dst[0] = x + uvX * w2 + (qy * uvZ - qz * uvY) * 2;\n  dst[1] = y + uvY * w2 + (qz * uvX - qx * uvZ) * 2;\n  dst[2] = z + uvZ * w2 + (qx * uvY - qy * uvX) * 2;\n\n  return dst;\n}\n\n/**\n * Returns the translation component of a 4-by-4 matrix as a vector with 3\n * entries.\n * @param m - The matrix.\n * @param dst - vector to hold result. If not passed a new one is created.\n * @returns The translation component of m.\n */\nexport function getTranslation(m: Mat3, dst?: Vec3) {\n    dst = dst || new VecType(3);\n    dst[0] = m[12];\n    dst[1] = m[13];\n    dst[2] = m[14];\n    return dst;\n}\n/**\n * Returns an axis of a 4x4 matrix as a vector with 3 entries\n * @param m - The matrix.\n * @param axis - The axis 0 = x, 1 = y, 2 = z;\n * @returns The axis component of m.\n */\nexport function getAxis(m: Mat4, axis: number, dst?: Vec3) {\n    dst = dst || new VecType(3);\n    const off = axis * 4;\n    dst[0] = m[off + 0];\n    dst[1] = m[off + 1];\n    dst[2] = m[off + 2];\n    return dst;\n}\n/**\n * Returns the scaling component of the matrix\n * @param m - The Matrix\n * @param dst - The vector to set. If not passed a new one is created.\n */\nexport function getScaling(m: Mat4, dst: Vec3) {\n    dst = dst || new VecType(3);\n    const xx = m[0];\n    const xy = m[1];\n    const xz = m[2];\n    const yx = m[4];\n    const yy = m[5];\n    const yz = m[6];\n    const zx = m[8];\n    const zy = m[9];\n    const zz = m[10];\n    dst[0] = Math.sqrt(xx * xx + xy * xy + xz * xz);\n    dst[1] = Math.sqrt(yx * yx + yy * yy + yz * yz);\n    dst[2] = Math.sqrt(zx * zx + zy * zy + zz * zz);\n    return dst;\n}\n\n/**\n * Rotate a 3D vector around the x-axis\n *\n * @param {ReadonlyVec3} a The vec3 point to rotate\n * @param {ReadonlyVec3} b The origin of the rotation\n * @param {Number} rad The angle of rotation in radians\n * @param dst - The vector to set. If not passed a new one is created.\n * @returns the rotated vector\n */\nexport function rotateX(a: Vec3, b: Vec3, rad: number, dst?: Vec3) {\n  dst = dst || new VecType(3);\n  const p = [];\n  const r = [];\n\n  //Translate point to the origin\n  p[0] = a[0] - b[0];\n  p[1] = a[1] - b[1];\n  p[2] = a[2] - b[2];\n\n  //perform rotation\n  r[0] = p[0];\n  r[1] = p[1] * Math.cos(rad) - p[2] * Math.sin(rad);\n  r[2] = p[1] * Math.sin(rad) + p[2] * Math.cos(rad);\n\n  //translate to correct position\n  dst[0] = r[0] + b[0];\n  dst[1] = r[1] + b[1];\n  dst[2] = r[2] + b[2];\n\n  return dst;\n}\n\n/**\n * Rotate a 3D vector around the y-axis\n *\n * @param {ReadonlyVec3} a The vec3 point to rotate\n * @param {ReadonlyVec3} b The origin of the rotation\n * @param {Number} rad The angle of rotation in radians\n * @param dst - The vector to set. If not passed a new one is created.\n * @returns the rotated vector\n */\nexport function rotateY(a: Vec3, b: Vec3, rad: number, dst?: Vec3) {\n  dst = dst || new VecType(3);\n  const p = [];\n  const r = [];\n\n  // translate point to the origin\n  p[0] = a[0] - b[0];\n  p[1] = a[1] - b[1];\n  p[2] = a[2] - b[2];\n\n  // perform rotation\n  r[0] = p[2] * Math.sin(rad) + p[0] * Math.cos(rad);\n  r[1] = p[1];\n  r[2] = p[2] * Math.cos(rad) - p[0] * Math.sin(rad);\n\n  // translate to correct position\n  dst[0] = r[0] + b[0];\n  dst[1] = r[1] + b[1];\n  dst[2] = r[2] + b[2];\n\n  return dst;\n}\n\n/**\n * Rotate a 3D vector around the z-axis\n *\n * @param {ReadonlyVec3} a The vec3 point to rotate\n * @param {ReadonlyVec3} b The origin of the rotation\n * @param {Number} rad The angle of rotation in radians\n * @param dst - The vector to set. If not passed a new one is created.\n * @returns {vec3} out\n */\nexport function rotateZ(a: Vec3, b: Vec3, rad: number, dst?: Vec3) {\n  dst = dst || new VecType(3);\n  const p = [];\n  const r = [];\n\n  // translate point to the origin\n  p[0] = a[0] - b[0];\n  p[1] = a[1] - b[1];\n  p[2] = a[2] - b[2];\n\n  // perform rotation\n  r[0] = p[0] * Math.cos(rad) - p[1] * Math.sin(rad);\n  r[1] = p[0] * Math.sin(rad) + p[1] * Math.cos(rad);\n  r[2] = p[2];\n\n  // translate to correct position\n  dst[0] = r[0] + b[0];\n  dst[1] = r[1] + b[1];\n  dst[2] = r[2] + b[2];\n\n  return dst;\n}\n\n/**\n * Treat a 3D vector as a direction and set it's length\n *\n * @param a The vec3 to lengthen\n * @param len The length of the resulting vector\n * @returns The lengthened vector\n */\nexport function setLength(a: Vec3, len: number, dst?: Vec3) {\n  dst = dst || new VecType(3);\n  normalize(a, dst);\n  return mulScalar(dst, len, dst);\n}\n\n/**\n * Ensure a vector is not longer than a max length\n *\n * @param a The vec3 to limit\n * @param maxLen The longest length of the resulting vector\n * @returns The vector, shortened to maxLen if it's too long\n */\nexport function truncate(a: Vec3, maxLen: number, dst?: Vec3) {\n  dst = dst || new VecType(3);\n\n  if (length(a) > maxLen) {\n    return setLength(a, maxLen, dst);\n  }\n\n  return copy(a, dst);\n}\n\n/**\n * Return the vector exactly between 2 endpoint vectors\n *\n * @param a Endpoint 1\n * @param b Endpoint 2\n * @returns The vector exactly residing between endpoints 1 and 2\n */\nexport function midpoint(a: Vec3, b: Vec3, dst?: Vec3) {\n  dst = dst || new VecType(3);\n  return lerp(a, b, 0.5, dst);\n}\n","\nimport { Mat3 } from './mat3';\nimport { Mat4 } from './mat4';\nimport { Quat } from './quat';\nimport Vec3, * as vec3 from './vec3-impl';\nimport * as utils from './utils';\n\nexport default Mat4;\n\nexport type Mat4LikeCtor = new (n: number) => Mat4;\n\n/**\n * 4x4 Matrix math math functions.\n *\n * Almost all functions take an optional `dst` argument. If it is not passed in the\n * functions will create a new matrix. In other words you can do this\n *\n *     const mat = mat4.translation([1, 2, 3]);  // Creates a new translation matrix\n *\n * or\n *\n *     const mat = mat4.create();\n *     mat4.translation([1, 2, 3], mat);  // Puts translation matrix in mat.\n *\n * The first style is often easier but depending on where it's used it generates garbage where\n * as there is almost never allocation with the second style.\n *\n * It is always save to pass any matrix as the destination. So for example\n *\n *     const mat = mat4.identity();\n *     const trans = mat4.translation([1, 2, 3]);\n *     mat4.multiply(mat, trans, mat);  // Multiplies mat * trans and puts result in mat.\n *\n */\nlet MatType: Mat4LikeCtor = Float32Array;\n\n/**\n * Sets the type this library creates for a Mat4\n * @param ctor - the constructor for the type. Either `Float32Array`, `Float64Array`, or `Array`\n * @returns previous constructor for Mat4\n */\nexport function setDefaultType(ctor: new (n: number) => Mat4) {\n  const oldType = MatType;\n  MatType = ctor;\n  return oldType;\n}\n\n/**\n * Create a Mat4 from values\n *\n * Note: Since passing in a raw JavaScript array\n * is valid in all circumstances, if you want to\n * force a JavaScript array into a Mat4's specified type\n * it would be faster to use\n *\n * ```\n * const m = mat4.clone(someJSArray);\n * ```\n *\n * Note: a consequence of the implementation is if your Mat4Type = `Array`\n * instead of `Float32Array` or `Float64Array` then any values you\n * don't pass in will be undefined. Usually this is not an issue since\n * (a) using `Array` is rare and (b) using `mat4.create` is usually used\n * to create a Mat4 to be filled out as in\n *\n * ```\n * const m = mat4.create();\n * mat4.perspective(fov, aspect, near, far, m);\n * ```\n *\n * @param v0 - value for element 0\n * @param v1 - value for element 1\n * @param v2 - value for element 2\n * @param v3 - value for element 3\n * @param v4 - value for element 4\n * @param v5 - value for element 5\n * @param v6 - value for element 6\n * @param v7 - value for element 7\n * @param v8 - value for element 8\n * @param v9 - value for element 9\n * @param v10 - value for element 10\n * @param v11 - value for element 11\n * @param v12 - value for element 12\n * @param v13 - value for element 13\n * @param v14 - value for element 14\n * @param v15 - value for element 15\n * @returns created from values.\n */\nexport function create(\n    v0?: number, v1?: number, v2?: number, v3?: number,\n    v4?: number, v5?: number, v6?: number, v7?: number,\n    v8?: number, v9?: number, v10?: number, v11?: number,\n    v12?: number, v13?: number, v14?: number, v15?: number): Mat4 {\n  const dst = new MatType(16);\n  if (v0 !== undefined) {\n    dst[0] = v0;\n    if (v1 !== undefined) {\n      dst[1] = v1;\n      if (v2 !== undefined) {\n        dst[2] = v2;\n        if (v3 !== undefined) {\n          dst[3] = v3;\n          if (v4 !== undefined) {\n            dst[4] = v4;\n            if (v5 !== undefined) {\n              dst[5] = v5;\n              if (v6 !== undefined) {\n                dst[6] = v6;\n                if (v7 !== undefined) {\n                  dst[7] = v7;\n                  if (v8 !== undefined) {\n                    dst[8] = v8;\n                    if (v9 !== undefined) {\n                      dst[9] = v9;\n                      if (v10 !== undefined) {\n                        dst[10] = v10;\n                        if (v11 !== undefined) {\n                          dst[11] = v11;\n                          if (v12 !== undefined) {\n                            dst[12] = v12;\n                            if (v13 !== undefined) {\n                              dst[13] = v13;\n                              if (v14 !== undefined) {\n                                dst[14] = v14;\n                                if (v15 !== undefined) {\n                                  dst[15] = v15;\n                                }\n                              }\n                            }\n                          }\n                        }\n                      }\n                    }\n                  }\n                }\n              }\n            }\n          }\n        }\n      }\n    }\n  }\n  return dst;\n}\n\n/**\n * Sets the values of a Mat4\n * Also see {@link mat4.create} and {@link mat4.copy}\n *\n * @param v0 - value for element 0\n * @param v1 - value for element 1\n * @param v2 - value for element 2\n * @param v3 - value for element 3\n * @param v4 - value for element 4\n * @param v5 - value for element 5\n * @param v6 - value for element 6\n * @param v7 - value for element 7\n * @param v8 - value for element 8\n * @param v9 - value for element 9\n * @param v10 - value for element 10\n * @param v11 - value for element 11\n * @param v12 - value for element 12\n * @param v13 - value for element 13\n * @param v14 - value for element 14\n * @param v15 - value for element 15\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns Mat4 created from values.\n */\nexport function set(\n    v0: number, v1: number, v2: number, v3: number,\n    v4: number, v5: number, v6: number, v7: number,\n    v8: number, v9: number, v10: number, v11: number,\n    v12: number, v13: number, v14: number, v15: number,\n    dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  dst[ 0] = v0;   dst[ 1] = v1;   dst[ 2] = v2;   dst[ 3] = v3;\n  dst[ 4] = v4;   dst[ 5] = v5;   dst[ 6] = v6;   dst[ 7] = v7;\n  dst[ 8] = v8;   dst[ 9] = v9;   dst[10] = v10;  dst[11] = v11;\n  dst[12] = v12;  dst[13] = v13;  dst[14] = v14;  dst[15] = v15;\n\n  return dst;\n}\n\n/**\n * Creates a Mat4 from a Mat3\n * @param m3 - source matrix\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns Mat4 made from m3\n */\nexport function fromMat3(m3: Mat3, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  dst[ 0] = m3[0];  dst[ 1] = m3[1];  dst[ 2] = m3[ 2];  dst[ 3] = 0;\n  dst[ 4] = m3[4];  dst[ 5] = m3[5];  dst[ 6] = m3[ 6];  dst[ 7] = 0;\n  dst[ 8] = m3[8];  dst[ 9] = m3[9];  dst[10] = m3[10];  dst[11] = 0;\n  dst[12] = 0;      dst[13] = 0;      dst[14] = 0;       dst[15] = 1;\n\n  return dst;\n}\n\n/**\n * Creates a Mat4 rotation matrix from a quaternion\n * @param q - quaternion to create matrix from\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns Mat4 made from q\n */\nexport function fromQuat(q: Quat, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  const x = q[0]; const y = q[1]; const z = q[2]; const w = q[3];\n  const x2 = x + x; const y2 = y + y; const z2 = z + z;\n\n  const xx = x * x2;\n  const yx = y * x2;\n  const yy = y * y2;\n  const zx = z * x2;\n  const zy = z * y2;\n  const zz = z * z2;\n  const wx = w * x2;\n  const wy = w * y2;\n  const wz = w * z2;\n\n  dst[ 0] = 1 - yy - zz;  dst[ 1] = yx + wz;      dst[ 2] = zx - wy;      dst[ 3] = 0;\n  dst[ 4] = yx - wz;      dst[ 5] = 1 - xx - zz;  dst[ 6] = zy + wx;      dst[ 7] = 0;\n  dst[ 8] = zx + wy;      dst[ 9] = zy - wx;      dst[10] = 1 - xx - yy;  dst[11] = 0;\n  dst[12] = 0;            dst[13] = 0;            dst[14] = 0;            dst[15] = 1;\n\n  return dst;\n}\n\n/**\n * Negates a matrix.\n * @param m - The matrix.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns -m.\n */\nexport function negate(m: Mat4, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  dst[ 0] = -m[ 0];  dst[ 1] = -m[ 1];  dst[ 2] = -m[ 2];  dst[ 3] = -m[ 3];\n  dst[ 4] = -m[ 4];  dst[ 5] = -m[ 5];  dst[ 6] = -m[ 6];  dst[ 7] = -m[ 7];\n  dst[ 8] = -m[ 8];  dst[ 9] = -m[ 9];  dst[10] = -m[10];  dst[11] = -m[11];\n  dst[12] = -m[12];  dst[13] = -m[13];  dst[14] = -m[14];  dst[15] = -m[15];\n\n  return dst;\n}\n\n/**\n * Copies a matrix. (same as {@link mat4.clone})\n * Also see {@link mat4.create} and {@link mat4.set}\n * @param m - The matrix.\n * @param dst - The matrix. If not passed a new one is created.\n * @returns A copy of m.\n */\nexport function copy(m: Mat4, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  dst[ 0] = m[ 0];  dst[ 1] = m[ 1];  dst[ 2] = m[ 2];  dst[ 3] = m[ 3];\n  dst[ 4] = m[ 4];  dst[ 5] = m[ 5];  dst[ 6] = m[ 6];  dst[ 7] = m[ 7];\n  dst[ 8] = m[ 8];  dst[ 9] = m[ 9];  dst[10] = m[10];  dst[11] = m[11];\n  dst[12] = m[12];  dst[13] = m[13];  dst[14] = m[14];  dst[15] = m[15];\n\n  return dst;\n}\n\n/**\n * Copies a matrix (same as {@link mat4.copy})\n * Also see {@link mat4.create} and {@link mat4.set}\n * @param m - The matrix.\n * @param dst - The matrix. If not passed a new one is created.\n * @returns A copy of m.\n */\nexport const clone = copy;\n\n/**\n * Check if 2 matrices are approximately equal\n * @param a - Operand matrix.\n * @param b - Operand matrix.\n * @returns true if matrices are approximately equal\n */\nexport function equalsApproximately(a: Mat4, b: Mat4): boolean {\n  return Math.abs(a[ 0] - b[ 0]) < utils.EPSILON &&\n         Math.abs(a[ 1] - b[ 1]) < utils.EPSILON &&\n         Math.abs(a[ 2] - b[ 2]) < utils.EPSILON &&\n         Math.abs(a[ 3] - b[ 3]) < utils.EPSILON &&\n         Math.abs(a[ 4] - b[ 4]) < utils.EPSILON &&\n         Math.abs(a[ 5] - b[ 5]) < utils.EPSILON &&\n         Math.abs(a[ 6] - b[ 6]) < utils.EPSILON &&\n         Math.abs(a[ 7] - b[ 7]) < utils.EPSILON &&\n         Math.abs(a[ 8] - b[ 8]) < utils.EPSILON &&\n         Math.abs(a[ 9] - b[ 9]) < utils.EPSILON &&\n         Math.abs(a[10] - b[10]) < utils.EPSILON &&\n         Math.abs(a[11] - b[11]) < utils.EPSILON &&\n         Math.abs(a[12] - b[12]) < utils.EPSILON &&\n         Math.abs(a[13] - b[13]) < utils.EPSILON &&\n         Math.abs(a[14] - b[14]) < utils.EPSILON &&\n         Math.abs(a[15] - b[15]) < utils.EPSILON;\n}\n\n/**\n * Check if 2 matrices are exactly equal\n * @param a - Operand matrix.\n * @param b - Operand matrix.\n * @returns true if matrices are exactly equal\n */\nexport function equals(a: Mat4, b: Mat4): boolean {\n  return a[ 0] === b[ 0] &&\n         a[ 1] === b[ 1] &&\n         a[ 2] === b[ 2] &&\n         a[ 3] === b[ 3] &&\n         a[ 4] === b[ 4] &&\n         a[ 5] === b[ 5] &&\n         a[ 6] === b[ 6] &&\n         a[ 7] === b[ 7] &&\n         a[ 8] === b[ 8] &&\n         a[ 9] === b[ 9] &&\n         a[10] === b[10] &&\n         a[11] === b[11] &&\n         a[12] === b[12] &&\n         a[13] === b[13] &&\n         a[14] === b[14] &&\n         a[15] === b[15];\n}\n\n/**\n * Creates a 4-by-4 identity matrix.\n *\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns A 4-by-4 identity matrix.\n */\nexport function identity(dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  dst[ 0] = 1;  dst[ 1] = 0;  dst[ 2] = 0;  dst[ 3] = 0;\n  dst[ 4] = 0;  dst[ 5] = 1;  dst[ 6] = 0;  dst[ 7] = 0;\n  dst[ 8] = 0;  dst[ 9] = 0;  dst[10] = 1;  dst[11] = 0;\n  dst[12] = 0;  dst[13] = 0;  dst[14] = 0;  dst[15] = 1;\n\n  return dst;\n}\n\n/**\n * Takes the transpose of a matrix.\n * @param m - The matrix.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The transpose of m.\n */\nexport function transpose(m: Mat4, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n  if (dst === m) {\n    let t;\n\n    t = m[1];\n    m[1] = m[4];\n    m[4] = t;\n\n    t = m[2];\n    m[2] = m[8];\n    m[8] = t;\n\n    t = m[3];\n    m[3] = m[12];\n    m[12] = t;\n\n    t = m[6];\n    m[6] = m[9];\n    m[9] = t;\n\n    t = m[7];\n    m[7] = m[13];\n    m[13] = t;\n\n    t = m[11];\n    m[11] = m[14];\n    m[14] = t;\n    return dst;\n  }\n\n  const m00 = m[0 * 4 + 0];\n  const m01 = m[0 * 4 + 1];\n  const m02 = m[0 * 4 + 2];\n  const m03 = m[0 * 4 + 3];\n  const m10 = m[1 * 4 + 0];\n  const m11 = m[1 * 4 + 1];\n  const m12 = m[1 * 4 + 2];\n  const m13 = m[1 * 4 + 3];\n  const m20 = m[2 * 4 + 0];\n  const m21 = m[2 * 4 + 1];\n  const m22 = m[2 * 4 + 2];\n  const m23 = m[2 * 4 + 3];\n  const m30 = m[3 * 4 + 0];\n  const m31 = m[3 * 4 + 1];\n  const m32 = m[3 * 4 + 2];\n  const m33 = m[3 * 4 + 3];\n\n  dst[ 0] = m00;  dst[ 1] = m10;  dst[ 2] = m20;  dst[ 3] = m30;\n  dst[ 4] = m01;  dst[ 5] = m11;  dst[ 6] = m21;  dst[ 7] = m31;\n  dst[ 8] = m02;  dst[ 9] = m12;  dst[10] = m22;  dst[11] = m32;\n  dst[12] = m03;  dst[13] = m13;  dst[14] = m23;  dst[15] = m33;\n\n  return dst;\n}\n\n/**\n * Computes the inverse of a 4-by-4 matrix.\n * @param m - The matrix.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The inverse of m.\n */\nexport function inverse(m: Mat4, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  const m00 = m[0 * 4 + 0];\n  const m01 = m[0 * 4 + 1];\n  const m02 = m[0 * 4 + 2];\n  const m03 = m[0 * 4 + 3];\n  const m10 = m[1 * 4 + 0];\n  const m11 = m[1 * 4 + 1];\n  const m12 = m[1 * 4 + 2];\n  const m13 = m[1 * 4 + 3];\n  const m20 = m[2 * 4 + 0];\n  const m21 = m[2 * 4 + 1];\n  const m22 = m[2 * 4 + 2];\n  const m23 = m[2 * 4 + 3];\n  const m30 = m[3 * 4 + 0];\n  const m31 = m[3 * 4 + 1];\n  const m32 = m[3 * 4 + 2];\n  const m33 = m[3 * 4 + 3];\n  const tmp0  = m22 * m33;\n  const tmp1  = m32 * m23;\n  const tmp2  = m12 * m33;\n  const tmp3  = m32 * m13;\n  const tmp4  = m12 * m23;\n  const tmp5  = m22 * m13;\n  const tmp6  = m02 * m33;\n  const tmp7  = m32 * m03;\n  const tmp8  = m02 * m23;\n  const tmp9  = m22 * m03;\n  const tmp10 = m02 * m13;\n  const tmp11 = m12 * m03;\n  const tmp12 = m20 * m31;\n  const tmp13 = m30 * m21;\n  const tmp14 = m10 * m31;\n  const tmp15 = m30 * m11;\n  const tmp16 = m10 * m21;\n  const tmp17 = m20 * m11;\n  const tmp18 = m00 * m31;\n  const tmp19 = m30 * m01;\n  const tmp20 = m00 * m21;\n  const tmp21 = m20 * m01;\n  const tmp22 = m00 * m11;\n  const tmp23 = m10 * m01;\n\n  const t0 = (tmp0 * m11 + tmp3 * m21 + tmp4 * m31) -\n      (tmp1 * m11 + tmp2 * m21 + tmp5 * m31);\n  const t1 = (tmp1 * m01 + tmp6 * m21 + tmp9 * m31) -\n      (tmp0 * m01 + tmp7 * m21 + tmp8 * m31);\n  const t2 = (tmp2 * m01 + tmp7 * m11 + tmp10 * m31) -\n      (tmp3 * m01 + tmp6 * m11 + tmp11 * m31);\n  const t3 = (tmp5 * m01 + tmp8 * m11 + tmp11 * m21) -\n      (tmp4 * m01 + tmp9 * m11 + tmp10 * m21);\n\n  const d = 1 / (m00 * t0 + m10 * t1 + m20 * t2 + m30 * t3);\n\n  dst[ 0] = d * t0;\n  dst[ 1] = d * t1;\n  dst[ 2] = d * t2;\n  dst[ 3] = d * t3;\n  dst[ 4] = d * ((tmp1 * m10 + tmp2 * m20 + tmp5 * m30) -\n          (tmp0 * m10 + tmp3 * m20 + tmp4 * m30));\n  dst[ 5] = d * ((tmp0 * m00 + tmp7 * m20 + tmp8 * m30) -\n          (tmp1 * m00 + tmp6 * m20 + tmp9 * m30));\n  dst[ 6] = d * ((tmp3 * m00 + tmp6 * m10 + tmp11 * m30) -\n          (tmp2 * m00 + tmp7 * m10 + tmp10 * m30));\n  dst[ 7] = d * ((tmp4 * m00 + tmp9 * m10 + tmp10 * m20) -\n          (tmp5 * m00 + tmp8 * m10 + tmp11 * m20));\n  dst[ 8] = d * ((tmp12 * m13 + tmp15 * m23 + tmp16 * m33) -\n          (tmp13 * m13 + tmp14 * m23 + tmp17 * m33));\n  dst[ 9] = d * ((tmp13 * m03 + tmp18 * m23 + tmp21 * m33) -\n          (tmp12 * m03 + tmp19 * m23 + tmp20 * m33));\n  dst[10] = d * ((tmp14 * m03 + tmp19 * m13 + tmp22 * m33) -\n          (tmp15 * m03 + tmp18 * m13 + tmp23 * m33));\n  dst[11] = d * ((tmp17 * m03 + tmp20 * m13 + tmp23 * m23) -\n          (tmp16 * m03 + tmp21 * m13 + tmp22 * m23));\n  dst[12] = d * ((tmp14 * m22 + tmp17 * m32 + tmp13 * m12) -\n          (tmp16 * m32 + tmp12 * m12 + tmp15 * m22));\n  dst[13] = d * ((tmp20 * m32 + tmp12 * m02 + tmp19 * m22) -\n          (tmp18 * m22 + tmp21 * m32 + tmp13 * m02));\n  dst[14] = d * ((tmp18 * m12 + tmp23 * m32 + tmp15 * m02) -\n          (tmp22 * m32 + tmp14 * m02 + tmp19 * m12));\n  dst[15] = d * ((tmp22 * m22 + tmp16 * m02 + tmp21 * m12) -\n          (tmp20 * m12 + tmp23 * m22 + tmp17 * m02));\n\n  return dst;\n}\n\n/**\n * Compute the determinant of a matrix\n * @param m - the matrix\n * @returns the determinant\n */\nexport function determinant(m: Mat4): number {\n  const m00 = m[0 * 4 + 0];\n  const m01 = m[0 * 4 + 1];\n  const m02 = m[0 * 4 + 2];\n  const m03 = m[0 * 4 + 3];\n  const m10 = m[1 * 4 + 0];\n  const m11 = m[1 * 4 + 1];\n  const m12 = m[1 * 4 + 2];\n  const m13 = m[1 * 4 + 3];\n  const m20 = m[2 * 4 + 0];\n  const m21 = m[2 * 4 + 1];\n  const m22 = m[2 * 4 + 2];\n  const m23 = m[2 * 4 + 3];\n  const m30 = m[3 * 4 + 0];\n  const m31 = m[3 * 4 + 1];\n  const m32 = m[3 * 4 + 2];\n  const m33 = m[3 * 4 + 3];\n\n  const tmp0  = m22 * m33;\n  const tmp1  = m32 * m23;\n  const tmp2  = m12 * m33;\n  const tmp3  = m32 * m13;\n  const tmp4  = m12 * m23;\n  const tmp5  = m22 * m13;\n  const tmp6  = m02 * m33;\n  const tmp7  = m32 * m03;\n  const tmp8  = m02 * m23;\n  const tmp9  = m22 * m03;\n  const tmp10 = m02 * m13;\n  const tmp11 = m12 * m03;\n\n  const t0 = (tmp0 * m11 + tmp3 * m21 + tmp4 * m31) -\n             (tmp1 * m11 + tmp2 * m21 + tmp5 * m31);\n  const t1 = (tmp1 * m01 + tmp6 * m21 + tmp9 * m31) -\n             (tmp0 * m01 + tmp7 * m21 + tmp8 * m31);\n  const t2 = (tmp2 * m01 + tmp7 * m11 + tmp10 * m31) -\n             (tmp3 * m01 + tmp6 * m11 + tmp11 * m31);\n  const t3 = (tmp5 * m01 + tmp8 * m11 + tmp11 * m21) -\n             (tmp4 * m01 + tmp9 * m11 + tmp10 * m21);\n\n  return m00 * t0 + m10 * t1 + m20 * t2 + m30 * t3;\n}\n\n/**\n * Computes the inverse of a 4-by-4 matrix. (same as inverse)\n * @param m - The matrix.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The inverse of m.\n */\nexport const invert = inverse;\n\n/**\n * Multiplies two 4-by-4 matrices with a on the left and b on the right\n * @param a - The matrix on the left.\n * @param b - The matrix on the right.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The matrix product of a and b.\n */\nexport function multiply(a: Mat4, b: Mat4, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  const a00 = a[0];\n  const a01 = a[1];\n  const a02 = a[2];\n  const a03 = a[3];\n  const a10 = a[ 4 + 0];\n  const a11 = a[ 4 + 1];\n  const a12 = a[ 4 + 2];\n  const a13 = a[ 4 + 3];\n  const a20 = a[ 8 + 0];\n  const a21 = a[ 8 + 1];\n  const a22 = a[ 8 + 2];\n  const a23 = a[ 8 + 3];\n  const a30 = a[12 + 0];\n  const a31 = a[12 + 1];\n  const a32 = a[12 + 2];\n  const a33 = a[12 + 3];\n  const b00 = b[0];\n  const b01 = b[1];\n  const b02 = b[2];\n  const b03 = b[3];\n  const b10 = b[ 4 + 0];\n  const b11 = b[ 4 + 1];\n  const b12 = b[ 4 + 2];\n  const b13 = b[ 4 + 3];\n  const b20 = b[ 8 + 0];\n  const b21 = b[ 8 + 1];\n  const b22 = b[ 8 + 2];\n  const b23 = b[ 8 + 3];\n  const b30 = b[12 + 0];\n  const b31 = b[12 + 1];\n  const b32 = b[12 + 2];\n  const b33 = b[12 + 3];\n\n  dst[ 0] = a00 * b00 + a10 * b01 + a20 * b02 + a30 * b03;\n  dst[ 1] = a01 * b00 + a11 * b01 + a21 * b02 + a31 * b03;\n  dst[ 2] = a02 * b00 + a12 * b01 + a22 * b02 + a32 * b03;\n  dst[ 3] = a03 * b00 + a13 * b01 + a23 * b02 + a33 * b03;\n  dst[ 4] = a00 * b10 + a10 * b11 + a20 * b12 + a30 * b13;\n  dst[ 5] = a01 * b10 + a11 * b11 + a21 * b12 + a31 * b13;\n  dst[ 6] = a02 * b10 + a12 * b11 + a22 * b12 + a32 * b13;\n  dst[ 7] = a03 * b10 + a13 * b11 + a23 * b12 + a33 * b13;\n  dst[ 8] = a00 * b20 + a10 * b21 + a20 * b22 + a30 * b23;\n  dst[ 9] = a01 * b20 + a11 * b21 + a21 * b22 + a31 * b23;\n  dst[10] = a02 * b20 + a12 * b21 + a22 * b22 + a32 * b23;\n  dst[11] = a03 * b20 + a13 * b21 + a23 * b22 + a33 * b23;\n  dst[12] = a00 * b30 + a10 * b31 + a20 * b32 + a30 * b33;\n  dst[13] = a01 * b30 + a11 * b31 + a21 * b32 + a31 * b33;\n  dst[14] = a02 * b30 + a12 * b31 + a22 * b32 + a32 * b33;\n  dst[15] = a03 * b30 + a13 * b31 + a23 * b32 + a33 * b33;\n\n  return dst;\n}\n\n/**\n * Multiplies two 4-by-4 matrices with a on the left and b on the right (same as multiply)\n * @param a - The matrix on the left.\n * @param b - The matrix on the right.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The matrix product of a and b.\n */\nexport const mul = multiply;\n\n/**\n * Sets the translation component of a 4-by-4 matrix to the given\n * vector.\n * @param a - The matrix.\n * @param v - The vector.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The matrix with translation set.\n */\nexport function setTranslation(a: Mat4, v: Vec3, dst?: Mat4): Mat4 {\n  dst = dst || identity();\n  if (a !== dst) {\n    dst[ 0] = a[ 0];\n    dst[ 1] = a[ 1];\n    dst[ 2] = a[ 2];\n    dst[ 3] = a[ 3];\n    dst[ 4] = a[ 4];\n    dst[ 5] = a[ 5];\n    dst[ 6] = a[ 6];\n    dst[ 7] = a[ 7];\n    dst[ 8] = a[ 8];\n    dst[ 9] = a[ 9];\n    dst[10] = a[10];\n    dst[11] = a[11];\n  }\n  dst[12] = v[0];\n  dst[13] = v[1];\n  dst[14] = v[2];\n  dst[15] = 1;\n  return dst;\n}\n\n/**\n * Returns the translation component of a 4-by-4 matrix as a vector with 3\n * entries.\n * @param m - The matrix.\n * @param dst - vector to hold result. If not passed a new one is created.\n * @returns The translation component of m.\n */\nexport function getTranslation(m: Mat4, dst?: Vec3): Vec3 {\n  dst = dst || vec3.create();\n  dst[0] = m[12];\n  dst[1] = m[13];\n  dst[2] = m[14];\n  return dst;\n}\n\n/**\n * Returns an axis of a 4x4 matrix as a vector with 3 entries\n * @param m - The matrix.\n * @param axis - The axis 0 = x, 1 = y, 2 = z;\n * @returns The axis component of m.\n */\nexport function getAxis(m: Mat4, axis: number, dst?: Vec3): Vec3 {\n  dst = dst || vec3.create();\n  const off = axis * 4;\n  dst[0] = m[off + 0];\n  dst[1] = m[off + 1];\n  dst[2] = m[off + 2];\n  return dst;\n}\n\n/**\n * Sets an axis of a 4x4 matrix as a vector with 3 entries\n * @param m - The matrix.\n * @param v - the axis vector\n * @param axis - The axis  0 = x, 1 = y, 2 = z;\n * @param dst - The matrix to set. If not passed a new one is created.\n * @returns The matrix with axis set.\n */\nexport function setAxis(a: Mat4, v: Vec3, axis: number, dst: Mat4): Mat4 {\n  if (dst !== a) {\n    dst = copy(a, dst);\n  }\n  const off = axis * 4;\n  dst[off + 0] = v[0];\n  dst[off + 1] = v[1];\n  dst[off + 2] = v[2];\n  return dst;\n}\n\n/**\n * Returns the scaling component of the matrix\n * @param m - The Matrix\n * @param dst - The vector to set. If not passed a new one is created.\n */\nexport function getScaling(m: Mat4, dst?: Vec3): Vec3 {\n  dst = dst || vec3.create();\n\n  const xx = m[0];\n  const xy = m[1];\n  const xz = m[2];\n  const yx = m[4];\n  const yy = m[5];\n  const yz = m[6];\n  const zx = m[8];\n  const zy = m[9];\n  const zz = m[10];\n\n  dst[0] = Math.sqrt(xx * xx + xy * xy + xz * xz);\n  dst[1] = Math.sqrt(yx * yx + yy * yy + yz * yz);\n  dst[2] = Math.sqrt(zx * zx + zy * zy + zz * zz);\n\n  return dst;\n}\n\n/**\n * Computes a 4-by-4 perspective transformation matrix given the angular height\n * of the frustum, the aspect ratio, and the near and far clipping planes.  The\n * arguments define a frustum extending in the negative z direction.  The given\n * angle is the vertical angle of the frustum, and the horizontal angle is\n * determined to produce the given aspect ratio.  The arguments near and far are\n * the distances to the near and far clipping planes.  Note that near and far\n * are not z coordinates, but rather they are distances along the negative\n * z-axis.  The matrix generated sends the viewing frustum to the unit box.\n * We assume a unit box extending from -1 to 1 in the x and y dimensions and\n * from 0 to 1 in the z dimension.\n *\n * Note: If you pass `Infinity` for zFar then it will produce a projection matrix\n * returns -Infinity for Z when transforming coordinates with Z <= 0 and +Infinity for Z\n * otherwise.\n *\n * @param fieldOfViewYInRadians - The camera angle from top to bottom (in radians).\n * @param aspect - The aspect ratio width / height.\n * @param zNear - The depth (negative z coordinate)\n *     of the near clipping plane.\n * @param zFar - The depth (negative z coordinate)\n *     of the far clipping plane.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The perspective matrix.\n */\nexport function perspective(fieldOfViewYInRadians: number, aspect: number, zNear: number, zFar: number, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  const f = Math.tan(Math.PI * 0.5 - 0.5 * fieldOfViewYInRadians);\n\n  dst[0]  = f / aspect;\n  dst[1]  = 0;\n  dst[2]  = 0;\n  dst[3]  = 0;\n\n  dst[4]  = 0;\n  dst[5]  = f;\n  dst[6]  = 0;\n  dst[7]  = 0;\n\n  dst[8]  = 0;\n  dst[9]  = 0;\n  dst[11] = -1;\n\n  dst[12] = 0;\n  dst[13] = 0;\n  dst[15] = 0;\n\n  if (zFar === Infinity) {\n    dst[10] = -1;\n    dst[14] = -zNear;\n  } else {\n    const rangeInv = 1 / (zNear - zFar);\n    dst[10] = zFar * rangeInv;\n    dst[14] = zFar * zNear * rangeInv;\n  }\n\n  return dst;\n}\n\n/**\n * Computes a 4-by-4 orthogonal transformation matrix that transforms from\n * the given the left, right, bottom, and top dimensions to -1 +1 in x, and y\n * and 0 to +1 in z.\n * @param left - Left side of the near clipping plane viewport.\n * @param right - Right side of the near clipping plane viewport.\n * @param bottom - Bottom of the near clipping plane viewport.\n * @param top - Top of the near clipping plane viewport.\n * @param near - The depth (negative z coordinate)\n *     of the near clipping plane.\n * @param far - The depth (negative z coordinate)\n *     of the far clipping plane.\n * @param dst - Output matrix. If not passed a new one is created.\n * @returns The orthographic projection matrix.\n */\nexport function ortho(left: number, right: number, bottom: number, top: number, near: number, far: number, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  dst[0]  = 2 / (right - left);\n  dst[1]  = 0;\n  dst[2]  = 0;\n  dst[3]  = 0;\n\n  dst[4]  = 0;\n  dst[5]  = 2 / (top - bottom);\n  dst[6]  = 0;\n  dst[7]  = 0;\n\n  dst[8]  = 0;\n  dst[9]  = 0;\n  dst[10] = 1 / (near - far);\n  dst[11] = 0;\n\n  dst[12] = (right + left) / (left - right);\n  dst[13] = (top + bottom) / (bottom - top);\n  dst[14] = near / (near - far);\n  dst[15] = 1;\n\n  return dst;\n}\n\n/**\n * Computes a 4-by-4 perspective transformation matrix given the left, right,\n * top, bottom, near and far clipping planes. The arguments define a frustum\n * extending in the negative z direction. The arguments near and far are the\n * distances to the near and far clipping planes. Note that near and far are not\n * z coordinates, but rather they are distances along the negative z-axis. The\n * matrix generated sends the viewing frustum to the unit box. We assume a unit\n * box extending from -1 to 1 in the x and y dimensions and from 0 to 1 in the z\n * dimension.\n * @param left - The x coordinate of the left plane of the box.\n * @param right - The x coordinate of the right plane of the box.\n * @param bottom - The y coordinate of the bottom plane of the box.\n * @param top - The y coordinate of the right plane of the box.\n * @param near - The negative z coordinate of the near plane of the box.\n * @param far - The negative z coordinate of the far plane of the box.\n * @param dst - Output matrix. If not passed a new one is created.\n * @returns The perspective projection matrix.\n */\nexport function frustum(left: number, right: number, bottom: number, top: number, near: number, far: number, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  const dx = (right - left);\n  const dy = (top - bottom);\n  const dz = (near - far);\n\n  dst[ 0] = 2 * near / dx;\n  dst[ 1] = 0;\n  dst[ 2] = 0;\n  dst[ 3] = 0;\n  dst[ 4] = 0;\n  dst[ 5] = 2 * near / dy;\n  dst[ 6] = 0;\n  dst[ 7] = 0;\n  dst[ 8] = (left + right) / dx;\n  dst[ 9] = (top + bottom) / dy;\n  dst[10] = far / dz;\n  dst[11] = -1;\n  dst[12] = 0;\n  dst[13] = 0;\n  dst[14] = near * far / dz;\n  dst[15] = 0;\n\n  return dst;\n}\n\nlet xAxis: Vec3;\nlet yAxis: Vec3;\nlet zAxis: Vec3;\n\n/**\n * Computes a 4-by-4 aim transformation.\n *\n * This is a matrix which positions an object aiming down positive Z.\n * toward the target.\n *\n * Note: this is **NOT** the inverse of lookAt as lookAt looks at negative Z.\n *\n * @param position - The position of the object.\n * @param target - The position meant to be aimed at.\n * @param up - A vector pointing up.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The aim matrix.\n */\nexport function aim(position: Vec3, target: Vec3, up: Vec3, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  xAxis = xAxis || vec3.create();\n  yAxis = yAxis || vec3.create();\n  zAxis = zAxis || vec3.create();\n\n  vec3.normalize(vec3.subtract(target, position, zAxis), zAxis);\n  vec3.normalize(vec3.cross(up, zAxis, xAxis), xAxis);\n  vec3.normalize(vec3.cross(zAxis, xAxis, yAxis), yAxis);\n\n  dst[ 0] = xAxis[0];     dst[ 1] = xAxis[1];     dst[ 2] = xAxis[2];     dst[ 3] = 0;\n  dst[ 4] = yAxis[0];     dst[ 5] = yAxis[1];     dst[ 6] = yAxis[2];     dst[ 7] = 0;\n  dst[ 8] = zAxis[0];     dst[ 9] = zAxis[1];     dst[10] = zAxis[2];     dst[11] = 0;\n  dst[12] = position[0];  dst[13] = position[1];  dst[14] = position[2];  dst[15] = 1;\n\n  return dst;\n}\n\n/**\n * Computes a 4-by-4 camera aim transformation.\n *\n * This is a matrix which positions an object aiming down negative Z.\n * toward the target.\n *\n * Note: this is the inverse of `lookAt`\n *\n * @param eye - The position of the object.\n * @param target - The position meant to be aimed at.\n * @param up - A vector pointing up.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The aim matrix.\n */\nexport function cameraAim(eye: Vec3, target: Vec3, up: Vec3, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  xAxis = xAxis || vec3.create();\n  yAxis = yAxis || vec3.create();\n  zAxis = zAxis || vec3.create();\n\n  vec3.normalize(vec3.subtract(eye, target, zAxis), zAxis);\n  vec3.normalize(vec3.cross(up, zAxis, xAxis), xAxis);\n  vec3.normalize(vec3.cross(zAxis, xAxis, yAxis), yAxis);\n\n  dst[ 0] = xAxis[0];     dst[ 1] = xAxis[1];     dst[ 2] = xAxis[2];     dst[ 3] = 0;\n  dst[ 4] = yAxis[0];     dst[ 5] = yAxis[1];     dst[ 6] = yAxis[2];     dst[ 7] = 0;\n  dst[ 8] = zAxis[0];     dst[ 9] = zAxis[1];     dst[10] = zAxis[2];     dst[11] = 0;\n  dst[12] = eye[0];  dst[13] = eye[1];  dst[14] = eye[2];  dst[15] = 1;\n\n  return dst;\n}\n\n/**\n * Computes a 4-by-4 view transformation.\n *\n * This is a view matrix which transforms all other objects\n * to be in the space of the view defined by the parameters.\n *\n * @param eye - The position of the object.\n * @param target - The position meant to be aimed at.\n * @param up - A vector pointing up.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The look-at matrix.\n */\nexport function lookAt(eye: Vec3, target: Vec3, up: Vec3, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  xAxis = xAxis || vec3.create();\n  yAxis = yAxis || vec3.create();\n  zAxis = zAxis || vec3.create();\n\n  vec3.normalize(vec3.subtract(eye, target, zAxis), zAxis);\n  vec3.normalize(vec3.cross(up, zAxis, xAxis), xAxis);\n  vec3.normalize(vec3.cross(zAxis, xAxis, yAxis), yAxis);\n\n  dst[ 0] = xAxis[0];  dst[ 1] = yAxis[0];  dst[ 2] = zAxis[0];  dst[ 3] = 0;\n  dst[ 4] = xAxis[1];  dst[ 5] = yAxis[1];  dst[ 6] = zAxis[1];  dst[ 7] = 0;\n  dst[ 8] = xAxis[2];  dst[ 9] = yAxis[2];  dst[10] = zAxis[2];  dst[11] = 0;\n\n  dst[12] = -(xAxis[0] * eye[0] + xAxis[1] * eye[1] + xAxis[2] * eye[2]);\n  dst[13] = -(yAxis[0] * eye[0] + yAxis[1] * eye[1] + yAxis[2] * eye[2]);\n  dst[14] = -(zAxis[0] * eye[0] + zAxis[1] * eye[1] + zAxis[2] * eye[2]);\n  dst[15] = 1;\n\n  return dst;\n}\n\n/**\n * Creates a 4-by-4 matrix which translates by the given vector v.\n * @param v - The vector by\n *     which to translate.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The translation matrix.\n */\nexport function translation(v: Vec3, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  dst[ 0] = 1;     dst[ 1] = 0;     dst[ 2] = 0;     dst[ 3] = 0;\n  dst[ 4] = 0;     dst[ 5] = 1;     dst[ 6] = 0;     dst[ 7] = 0;\n  dst[ 8] = 0;     dst[ 9] = 0;     dst[10] = 1;     dst[11] = 0;\n  dst[12] = v[0];  dst[13] = v[1];  dst[14] = v[2];  dst[15] = 1;\n\n  return dst;\n}\n\n/**\n * Translates the given 4-by-4 matrix by the given vector v.\n * @param m - The matrix.\n * @param v - The vector by\n *     which to translate.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The translated matrix.\n */\nexport function translate(m: Mat4, v: Vec3, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  const v0 = v[0];\n  const v1 = v[1];\n  const v2 = v[2];\n  const m00 = m[0];\n  const m01 = m[1];\n  const m02 = m[2];\n  const m03 = m[3];\n  const m10 = m[1 * 4 + 0];\n  const m11 = m[1 * 4 + 1];\n  const m12 = m[1 * 4 + 2];\n  const m13 = m[1 * 4 + 3];\n  const m20 = m[2 * 4 + 0];\n  const m21 = m[2 * 4 + 1];\n  const m22 = m[2 * 4 + 2];\n  const m23 = m[2 * 4 + 3];\n  const m30 = m[3 * 4 + 0];\n  const m31 = m[3 * 4 + 1];\n  const m32 = m[3 * 4 + 2];\n  const m33 = m[3 * 4 + 3];\n\n  if (m !== dst) {\n    dst[ 0] = m00;\n    dst[ 1] = m01;\n    dst[ 2] = m02;\n    dst[ 3] = m03;\n    dst[ 4] = m10;\n    dst[ 5] = m11;\n    dst[ 6] = m12;\n    dst[ 7] = m13;\n    dst[ 8] = m20;\n    dst[ 9] = m21;\n    dst[10] = m22;\n    dst[11] = m23;\n  }\n\n  dst[12] = m00 * v0 + m10 * v1 + m20 * v2 + m30;\n  dst[13] = m01 * v0 + m11 * v1 + m21 * v2 + m31;\n  dst[14] = m02 * v0 + m12 * v1 + m22 * v2 + m32;\n  dst[15] = m03 * v0 + m13 * v1 + m23 * v2 + m33;\n\n  return dst;\n}\n\n/**\n * Creates a 4-by-4 matrix which rotates around the x-axis by the given angle.\n * @param angleInRadians - The angle by which to rotate (in radians).\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The rotation matrix.\n */\nexport function rotationX(angleInRadians: number, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  const c = Math.cos(angleInRadians);\n  const s = Math.sin(angleInRadians);\n\n  dst[ 0] = 1;  dst[ 1] =  0;  dst[ 2] = 0;  dst[ 3] = 0;\n  dst[ 4] = 0;  dst[ 5] =  c;  dst[ 6] = s;  dst[ 7] = 0;\n  dst[ 8] = 0;  dst[ 9] = -s;  dst[10] = c;  dst[11] = 0;\n  dst[12] = 0;  dst[13] =  0;  dst[14] = 0;  dst[15] = 1;\n\n  return dst;\n}\n\n/**\n * Rotates the given 4-by-4 matrix around the x-axis by the given\n * angle.\n * @param m - The matrix.\n * @param angleInRadians - The angle by which to rotate (in radians).\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The rotated matrix.\n */\nexport function rotateX(m: Mat4, angleInRadians: number, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  const m10 = m[4];\n  const m11 = m[5];\n  const m12 = m[6];\n  const m13 = m[7];\n  const m20 = m[8];\n  const m21 = m[9];\n  const m22 = m[10];\n  const m23 = m[11];\n  const c = Math.cos(angleInRadians);\n  const s = Math.sin(angleInRadians);\n\n  dst[4]  = c * m10 + s * m20;\n  dst[5]  = c * m11 + s * m21;\n  dst[6]  = c * m12 + s * m22;\n  dst[7]  = c * m13 + s * m23;\n  dst[8]  = c * m20 - s * m10;\n  dst[9]  = c * m21 - s * m11;\n  dst[10] = c * m22 - s * m12;\n  dst[11] = c * m23 - s * m13;\n\n  if (m !== dst) {\n    dst[ 0] = m[ 0];\n    dst[ 1] = m[ 1];\n    dst[ 2] = m[ 2];\n    dst[ 3] = m[ 3];\n    dst[12] = m[12];\n    dst[13] = m[13];\n    dst[14] = m[14];\n    dst[15] = m[15];\n  }\n\n  return dst;\n}\n\n/**\n * Creates a 4-by-4 matrix which rotates around the y-axis by the given angle.\n * @param angleInRadians - The angle by which to rotate (in radians).\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The rotation matrix.\n */\nexport function rotationY(angleInRadians: number, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  const c = Math.cos(angleInRadians);\n  const s = Math.sin(angleInRadians);\n\n  dst[ 0] = c;  dst[ 1] = 0;  dst[ 2] = -s;  dst[ 3] = 0;\n  dst[ 4] = 0;  dst[ 5] = 1;  dst[ 6] =  0;  dst[ 7] = 0;\n  dst[ 8] = s;  dst[ 9] = 0;  dst[10] =  c;  dst[11] = 0;\n  dst[12] = 0;  dst[13] = 0;  dst[14] =  0;  dst[15] = 1;\n\n  return dst;\n}\n\n/**\n * Rotates the given 4-by-4 matrix around the y-axis by the given\n * angle.\n * @param m - The matrix.\n * @param angleInRadians - The angle by which to rotate (in radians).\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The rotated matrix.\n */\nexport function rotateY(m: Mat4, angleInRadians: number, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  const m00 = m[0 * 4 + 0];\n  const m01 = m[0 * 4 + 1];\n  const m02 = m[0 * 4 + 2];\n  const m03 = m[0 * 4 + 3];\n  const m20 = m[2 * 4 + 0];\n  const m21 = m[2 * 4 + 1];\n  const m22 = m[2 * 4 + 2];\n  const m23 = m[2 * 4 + 3];\n  const c = Math.cos(angleInRadians);\n  const s = Math.sin(angleInRadians);\n\n  dst[ 0] = c * m00 - s * m20;\n  dst[ 1] = c * m01 - s * m21;\n  dst[ 2] = c * m02 - s * m22;\n  dst[ 3] = c * m03 - s * m23;\n  dst[ 8] = c * m20 + s * m00;\n  dst[ 9] = c * m21 + s * m01;\n  dst[10] = c * m22 + s * m02;\n  dst[11] = c * m23 + s * m03;\n\n  if (m !== dst) {\n    dst[ 4] = m[ 4];\n    dst[ 5] = m[ 5];\n    dst[ 6] = m[ 6];\n    dst[ 7] = m[ 7];\n    dst[12] = m[12];\n    dst[13] = m[13];\n    dst[14] = m[14];\n    dst[15] = m[15];\n  }\n\n  return dst;\n}\n\n/**\n * Creates a 4-by-4 matrix which rotates around the z-axis by the given angle.\n * @param angleInRadians - The angle by which to rotate (in radians).\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The rotation matrix.\n */\nexport function rotationZ(angleInRadians: number, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  const c = Math.cos(angleInRadians);\n  const s = Math.sin(angleInRadians);\n\n  dst[ 0] =  c;  dst[ 1] = s;  dst[ 2] = 0;  dst[ 3] = 0;\n  dst[ 4] = -s;  dst[ 5] = c;  dst[ 6] = 0;  dst[ 7] = 0;\n  dst[ 8] =  0;  dst[ 9] = 0;  dst[10] = 1;  dst[11] = 0;\n  dst[12] =  0;  dst[13] = 0;  dst[14] = 0;  dst[15] = 1;\n\n  return dst;\n}\n\n/**\n * Rotates the given 4-by-4 matrix around the z-axis by the given\n * angle.\n * @param m - The matrix.\n * @param angleInRadians - The angle by which to rotate (in radians).\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The rotated matrix.\n */\nexport function rotateZ(m: Mat4, angleInRadians: number, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  const m00 = m[0 * 4 + 0];\n  const m01 = m[0 * 4 + 1];\n  const m02 = m[0 * 4 + 2];\n  const m03 = m[0 * 4 + 3];\n  const m10 = m[1 * 4 + 0];\n  const m11 = m[1 * 4 + 1];\n  const m12 = m[1 * 4 + 2];\n  const m13 = m[1 * 4 + 3];\n  const c = Math.cos(angleInRadians);\n  const s = Math.sin(angleInRadians);\n\n  dst[ 0] = c * m00 + s * m10;\n  dst[ 1] = c * m01 + s * m11;\n  dst[ 2] = c * m02 + s * m12;\n  dst[ 3] = c * m03 + s * m13;\n  dst[ 4] = c * m10 - s * m00;\n  dst[ 5] = c * m11 - s * m01;\n  dst[ 6] = c * m12 - s * m02;\n  dst[ 7] = c * m13 - s * m03;\n\n  if (m !== dst) {\n    dst[ 8] = m[ 8];\n    dst[ 9] = m[ 9];\n    dst[10] = m[10];\n    dst[11] = m[11];\n    dst[12] = m[12];\n    dst[13] = m[13];\n    dst[14] = m[14];\n    dst[15] = m[15];\n  }\n\n  return dst;\n}\n\n/**\n * Creates a 4-by-4 matrix which rotates around the given axis by the given\n * angle.\n * @param axis - The axis\n *     about which to rotate.\n * @param angleInRadians - The angle by which to rotate (in radians).\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns A matrix which rotates angle radians\n *     around the axis.\n */\nexport function axisRotation(axis: Vec3, angleInRadians: number, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  let x = axis[0];\n  let y = axis[1];\n  let z = axis[2];\n  const n = Math.sqrt(x * x + y * y + z * z);\n  x /= n;\n  y /= n;\n  z /= n;\n  const xx = x * x;\n  const yy = y * y;\n  const zz = z * z;\n  const c = Math.cos(angleInRadians);\n  const s = Math.sin(angleInRadians);\n  const oneMinusCosine = 1 - c;\n\n  dst[ 0] = xx + (1 - xx) * c;\n  dst[ 1] = x * y * oneMinusCosine + z * s;\n  dst[ 2] = x * z * oneMinusCosine - y * s;\n  dst[ 3] = 0;\n  dst[ 4] = x * y * oneMinusCosine - z * s;\n  dst[ 5] = yy + (1 - yy) * c;\n  dst[ 6] = y * z * oneMinusCosine + x * s;\n  dst[ 7] = 0;\n  dst[ 8] = x * z * oneMinusCosine + y * s;\n  dst[ 9] = y * z * oneMinusCosine - x * s;\n  dst[10] = zz + (1 - zz) * c;\n  dst[11] = 0;\n  dst[12] = 0;\n  dst[13] = 0;\n  dst[14] = 0;\n  dst[15] = 1;\n\n  return dst;\n}\n\n/**\n * Creates a 4-by-4 matrix which rotates around the given axis by the given\n * angle. (same as axisRotation)\n * @param axis - The axis\n *     about which to rotate.\n * @param angleInRadians - The angle by which to rotate (in radians).\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns A matrix which rotates angle radians\n *     around the axis.\n */\nexport const rotation = axisRotation;\n\n/**\n * Rotates the given 4-by-4 matrix around the given axis by the\n * given angle.\n * @param m - The matrix.\n * @param axis - The axis\n *     about which to rotate.\n * @param angleInRadians - The angle by which to rotate (in radians).\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The rotated matrix.\n */\nexport function axisRotate(m: Mat4, axis: Vec3, angleInRadians: number, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  let x = axis[0];\n  let y = axis[1];\n  let z = axis[2];\n  const n = Math.sqrt(x * x + y * y + z * z);\n  x /= n;\n  y /= n;\n  z /= n;\n  const xx = x * x;\n  const yy = y * y;\n  const zz = z * z;\n  const c = Math.cos(angleInRadians);\n  const s = Math.sin(angleInRadians);\n  const oneMinusCosine = 1 - c;\n\n  const r00 = xx + (1 - xx) * c;\n  const r01 = x * y * oneMinusCosine + z * s;\n  const r02 = x * z * oneMinusCosine - y * s;\n  const r10 = x * y * oneMinusCosine - z * s;\n  const r11 = yy + (1 - yy) * c;\n  const r12 = y * z * oneMinusCosine + x * s;\n  const r20 = x * z * oneMinusCosine + y * s;\n  const r21 = y * z * oneMinusCosine - x * s;\n  const r22 = zz + (1 - zz) * c;\n\n  const m00 = m[0];\n  const m01 = m[1];\n  const m02 = m[2];\n  const m03 = m[3];\n  const m10 = m[4];\n  const m11 = m[5];\n  const m12 = m[6];\n  const m13 = m[7];\n  const m20 = m[8];\n  const m21 = m[9];\n  const m22 = m[10];\n  const m23 = m[11];\n\n  dst[ 0] = r00 * m00 + r01 * m10 + r02 * m20;\n  dst[ 1] = r00 * m01 + r01 * m11 + r02 * m21;\n  dst[ 2] = r00 * m02 + r01 * m12 + r02 * m22;\n  dst[ 3] = r00 * m03 + r01 * m13 + r02 * m23;\n  dst[ 4] = r10 * m00 + r11 * m10 + r12 * m20;\n  dst[ 5] = r10 * m01 + r11 * m11 + r12 * m21;\n  dst[ 6] = r10 * m02 + r11 * m12 + r12 * m22;\n  dst[ 7] = r10 * m03 + r11 * m13 + r12 * m23;\n  dst[ 8] = r20 * m00 + r21 * m10 + r22 * m20;\n  dst[ 9] = r20 * m01 + r21 * m11 + r22 * m21;\n  dst[10] = r20 * m02 + r21 * m12 + r22 * m22;\n  dst[11] = r20 * m03 + r21 * m13 + r22 * m23;\n\n  if (m !== dst) {\n    dst[12] = m[12];\n    dst[13] = m[13];\n    dst[14] = m[14];\n    dst[15] = m[15];\n  }\n\n  return dst;\n}\n\n/**\n * Rotates the given 4-by-4 matrix around the given axis by the\n * given angle. (same as rotate)\n * @param m - The matrix.\n * @param axis - The axis\n *     about which to rotate.\n * @param angleInRadians - The angle by which to rotate (in radians).\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The rotated matrix.\n */\nexport const rotate = axisRotate;\n\n/**\n * Creates a 4-by-4 matrix which scales in each dimension by an amount given by\n * the corresponding entry in the given vector; assumes the vector has three\n * entries.\n * @param v - A vector of\n *     three entries specifying the factor by which to scale in each dimension.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The scaling matrix.\n */\nexport function scaling(v: Vec3, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  dst[ 0] = v[0];  dst[ 1] = 0;     dst[ 2] = 0;     dst[ 3] = 0;\n  dst[ 4] = 0;     dst[ 5] = v[1];  dst[ 6] = 0;     dst[ 7] = 0;\n  dst[ 8] = 0;     dst[ 9] = 0;     dst[10] = v[2];  dst[11] = 0;\n  dst[12] = 0;     dst[13] = 0;     dst[14] = 0;     dst[15] = 1;\n\n  return dst;\n}\n\n/**\n * Scales the given 4-by-4 matrix in each dimension by an amount\n * given by the corresponding entry in the given vector; assumes the vector has\n * three entries.\n * @param m - The matrix to be modified.\n * @param v - A vector of three entries specifying the\n *     factor by which to scale in each dimension.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The scaled matrix.\n */\nexport function scale(m: Mat4, v: Vec3, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  const v0 = v[0];\n  const v1 = v[1];\n  const v2 = v[2];\n\n  dst[ 0] = v0 * m[0 * 4 + 0];\n  dst[ 1] = v0 * m[0 * 4 + 1];\n  dst[ 2] = v0 * m[0 * 4 + 2];\n  dst[ 3] = v0 * m[0 * 4 + 3];\n  dst[ 4] = v1 * m[1 * 4 + 0];\n  dst[ 5] = v1 * m[1 * 4 + 1];\n  dst[ 6] = v1 * m[1 * 4 + 2];\n  dst[ 7] = v1 * m[1 * 4 + 3];\n  dst[ 8] = v2 * m[2 * 4 + 0];\n  dst[ 9] = v2 * m[2 * 4 + 1];\n  dst[10] = v2 * m[2 * 4 + 2];\n  dst[11] = v2 * m[2 * 4 + 3];\n\n  if (m !== dst) {\n    dst[12] = m[12];\n    dst[13] = m[13];\n    dst[14] = m[14];\n    dst[15] = m[15];\n  }\n\n  return dst;\n}\n\n/**\n * Creates a 4-by-4 matrix which scales a uniform amount in each dimension.\n * @param s - the amount to scale\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The scaling matrix.\n */\nexport function uniformScaling(s: number, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  dst[ 0] = s;  dst[ 1] = 0;  dst[ 2] = 0;  dst[ 3] = 0;\n  dst[ 4] = 0;  dst[ 5] = s;  dst[ 6] = 0;  dst[ 7] = 0;\n  dst[ 8] = 0;  dst[ 9] = 0;  dst[10] = s;  dst[11] = 0;\n  dst[12] = 0;  dst[13] = 0;  dst[14] = 0;  dst[15] = 1;\n\n  return dst;\n}\n\n/**\n * Scales the given 4-by-4 matrix in each dimension by a uniform scale.\n * @param m - The matrix to be modified.\n * @param s - The amount to scale.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The scaled matrix.\n */\nexport function uniformScale(m: Mat4, s: number, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  dst[ 0] = s * m[0 * 4 + 0];\n  dst[ 1] = s * m[0 * 4 + 1];\n  dst[ 2] = s * m[0 * 4 + 2];\n  dst[ 3] = s * m[0 * 4 + 3];\n  dst[ 4] = s * m[1 * 4 + 0];\n  dst[ 5] = s * m[1 * 4 + 1];\n  dst[ 6] = s * m[1 * 4 + 2];\n  dst[ 7] = s * m[1 * 4 + 3];\n  dst[ 8] = s * m[2 * 4 + 0];\n  dst[ 9] = s * m[2 * 4 + 1];\n  dst[10] = s * m[2 * 4 + 2];\n  dst[11] = s * m[2 * 4 + 3];\n\n  if (m !== dst) {\n    dst[12] = m[12];\n    dst[13] = m[13];\n    dst[14] = m[14];\n    dst[15] = m[15];\n  }\n\n  return dst;\n}","/*\n * Copyright 2022 Gregg Tavares\n *\n * Permission is hereby granted, free of charge, to any person obtaining a\n * copy of this software and associated documentation files (the \"Software\"),\n * to deal in the Software without restriction, including without limitation\n * the rights to use, copy, modify, merge, publish, distribute, sublicense,\n * and/or sell copies of the Software, and to permit persons to whom the\n * Software is furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL\n * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER\n * DEALINGS IN THE SOFTWARE.\n */\n\n/**\n * A JavaScript array with 4 values, Float32Array with 4 values, or a Float64Array with 4 values.\n * When created by the library will create the default type which is `Float32Array`\n * but can be set by calling {@link quat.setDefaultType}.\n */\nexport type Quat = number[] | Float32Array | Float64Array;\n\n/**\n *\n * Quat4 math functions.\n *\n * Almost all functions take an optional `dst` argument. If it is not passed in the\n * functions will create a new `Quat4`. In other words you can do this\n *\n *     const v = quat4.cross(v1, v2);  // Creates a new Quat4 with the cross product of v1 x v2.\n *\n * or\n *\n *     const v = quat4.create();\n *     quat4.cross(v1, v2, v);  // Puts the cross product of v1 x v2 in v\n *\n * The first style is often easier but depending on where it's used it generates garbage where\n * as there is almost never allocation with the second style.\n *\n * It is always safe to pass any vector as the destination. So for example\n *\n *     quat4.cross(v1, v2, v1);  // Puts the cross product of v1 x v2 in v1\n *\n */\n\nexport let QuatType: new (n: number) => Quat = Float32Array;\n\n/**\n * Sets the type this library creates for a Quat4\n * @param ctor - the constructor for the type. Either `Float32Array`, `Float64Array`, or `Array`\n * @returns previous constructor for Quat4\n */\nexport function setDefaultType(ctor: new (n: number) => Quat) {\n  const oldType = QuatType;\n  QuatType = ctor;\n  return oldType;\n}\n\n/**\n * Creates a quat4; may be called with x, y, z to set initial values.\n * @param x - Initial x value.\n * @param y - Initial y value.\n * @param z - Initial z value.\n * @param w - Initial w value.\n * @returns the created vector\n */\nexport function create(x?: number, y?: number, z?: number, w?: number): Quat {\n  const dst = new QuatType(4);\n  if (x !== undefined) {\n    dst[0] = x;\n    if (y !== undefined) {\n      dst[1] = y;\n      if (z !== undefined) {\n        dst[2] = z;\n        if (w !== undefined) {\n          dst[3] = w;\n        }\n      }\n    }\n  }\n  return dst;\n}","/*\n * Copyright 2022 Gregg Tavares\n *\n * Permission is hereby granted, free of charge, to any person obtaining a\n * copy of this software and associated documentation files (the \"Software\"),\n * to deal in the Software without restriction, including without limitation\n * the rights to use, copy, modify, merge, publish, distribute, sublicense,\n * and/or sell copies of the Software, and to permit persons to whom the\n * Software is furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL\n * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER\n * DEALINGS IN THE SOFTWARE.\n */\nimport * as utils from './utils.js';\nimport { Quat, create, setDefaultType, QuatType } from './quat';\nimport { Mat3 } from './mat3.js';\nimport { Mat4 } from './mat4.js';\nimport { Vec3 } from './vec3.js';\nimport * as vec3 from './vec3-impl.js';\n\nexport type RotationOrder =  'xyz' |  'xzy' |  'yxz' |  'yzx' |  'zxy' |  'zyx';\n\nexport default Quat;\nexport { create, setDefaultType };\n\n/**\n * Creates a Quat; may be called with x, y, z to set initial values. (same as create)\n * @param x - Initial x value.\n * @param y - Initial y value.\n * @param z - Initial z value.\n * @param z - Initial w value.\n * @returns the created vector\n */\nexport const fromValues = create;\n\n/**\n * Sets the values of a Quat\n * Also see {@link quat.create} and {@link quat.copy}\n *\n * @param x first value\n * @param y second value\n * @param z third value\n * @param w fourth value\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector with its elements set.\n */\nexport function set(x: number, y: number, z: number, w: number, dst?: Quat) {\n  dst = dst || new QuatType(4);\n\n  dst[0] = x;\n  dst[1] = y;\n  dst[2] = z;\n  dst[3] = w;\n\n  return dst;\n}\n\n/**\n * Sets a quaternion from the given angle and  axis,\n * then returns it.\n *\n * @param axis - the axis to rotate around\n * @param angleInRadians - the angle\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns The quaternion that represents the given axis and angle\n **/\nexport function fromAxisAngle(axis: Vec3, angleInRadians: number, dst?: Quat): Quat {\n  dst = dst || new QuatType(4);\n\n  const halfAngle = angleInRadians * 0.5;\n  const s = Math.sin(halfAngle);\n\n  dst[0] = s * axis[0];\n  dst[1] = s * axis[1];\n  dst[2] = s * axis[2];\n  dst[3] = Math.cos(halfAngle);\n\n  return dst;\n}\n\n/**\n * Gets the rotation axis and angle\n * @param q - quaternion to compute from\n * @param dst - Vec3 to hold result. If not passed in a new one is created.\n * @return angle and axis\n */\nexport function toAxisAngle(q: Quat, dst?: Vec3): { angle: number, axis: Vec3 } {\n  dst = dst || vec3.create(4);\n\n  const angle = Math.acos(q[3]) * 2;\n  const s = Math.sin(angle * 0.5);\n  if (s > utils.EPSILON) {\n    dst[0] = q[0] / s;\n    dst[1] = q[1] / s;\n    dst[2] = q[2] / s;\n  } else {\n    dst[0] = 1;\n    dst[1] = 0;\n    dst[2] = 0;\n  }\n\n  return { angle, axis: dst };\n}\n\n/**\n * Returns the angle in degrees between two rotations a and b.\n * @param a - quaternion a\n * @param b - quaternion b\n * @return angle in radians between the two quaternions\n */\nexport function angle(a: Quat, b: Quat) {\n  const d = dot(a, b);\n  return Math.acos(2 * d * d - 1);\n}\n\n/**\n * Multiplies two quaternions\n *\n * @param a - the first quaternion\n * @param b - the second quaternion\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns A quaternion that is the result of a * b\n */\nexport function multiply(a: Quat, b: Quat, dst?: Quat): Quat {\n  dst = dst || new QuatType(4);\n\n  const ax = a[0];\n  const ay = a[1];\n  const az = a[2];\n  const aw = a[3];\n\n  const bx = b[0];\n  const by = b[1];\n  const bz = b[2];\n  const bw = b[3];\n\n  dst[0] = ax * bw + aw * bx + ay * bz - az * by;\n  dst[1] = ay * bw + aw * by + az * bx - ax * bz;\n  dst[2] = az * bw + aw * bz + ax * by - ay * bx;\n  dst[3] = aw * bw - ax * bx - ay * by - az * bz;\n\n  return dst;\n}\n\n/**\n * Multiplies two quaternions\n *\n * @param a - the first quaternion\n * @param b - the second quaternion\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns A quaternion that is the result of a * b\n */\nexport const mul = multiply;\n\n/**\n * Rotates the given quaternion around the X axis by the given angle.\n * @param q - quaternion to rotate\n * @param angleInRadians - The angle by which to rotate\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns A quaternion that is the result of a * b\n */\nexport function rotateX(q: Quat, angleInRadians: number, dst?: Quat): Quat {\n  dst = dst || new QuatType(4);\n\n  const halfAngle = angleInRadians * 0.5;\n\n  const qx = q[0];\n  const qy = q[1];\n  const qz = q[2];\n  const qw = q[3];\n\n  const bx = Math.sin(halfAngle);\n  const bw = Math.cos(halfAngle);\n\n  dst[0] = qx * bw + qw * bx;\n  dst[1] = qy * bw + qz * bx;\n  dst[2] = qz * bw - qy * bx;\n  dst[3] = qw * bw - qx * bx;\n\n  return dst;\n}\n\n/**\n * Rotates the given quaternion around the Y axis by the given angle.\n * @param q - quaternion to rotate\n * @param angleInRadians - The angle by which to rotate\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns A quaternion that is the result of a * b\n */\nexport function rotateY(q: Quat, angleInRadians: number, dst?: Quat): Quat {\n  dst = dst || new QuatType(4);\n\n  const halfAngle = angleInRadians * 0.5;\n\n  const qx = q[0];\n  const qy = q[1];\n  const qz = q[2];\n  const qw = q[3];\n\n  const by = Math.sin(halfAngle);\n  const bw = Math.cos(halfAngle);\n\n  dst[0] = qx * bw - qz * by;\n  dst[1] = qy * bw + qw * by;\n  dst[2] = qz * bw + qx * by;\n  dst[3] = qw * bw - qy * by;\n\n  return dst;\n}\n\n/**\n * Rotates the given quaternion around the Z axis by the given angle.\n * @param q - quaternion to rotate\n * @param angleInRadians - The angle by which to rotate\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns A quaternion that is the result of a * b\n */\nexport function rotateZ(q: Quat, angleInRadians: number, dst?: Quat): Quat {\n  dst = dst || new QuatType(4);\n\n  const halfAngle = angleInRadians * 0.5;\n\n  const qx = q[0];\n  const qy = q[1];\n  const qz = q[2];\n  const qw = q[3];\n\n  const bz = Math.sin(halfAngle);\n  const bw = Math.cos(halfAngle);\n\n  dst[0] = qx * bw + qy * bz;\n  dst[1] = qy * bw - qx * bz;\n  dst[2] = qz * bw + qw * bz;\n  dst[3] = qw * bw - qz * bz;\n\n  return dst;\n}\n\n/**\n * Spherically linear interpolate between two quaternions\n *\n * @param a - starting value\n * @param b - ending value\n * @param t - value where 0 = a and 1 = b\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns A quaternion that is the result of a * b\n */\nexport function slerp(a: Quat, b: Quat, t: number, dst?: Quat): Quat {\n  dst = dst || new QuatType(4);\n\n  const ax = a[0];\n  const ay = a[1];\n  const az = a[2];\n  const aw = a[3];\n\n  let bx = b[0];\n  let by = b[1];\n  let bz = b[2];\n  let bw = b[3];\n\n  let cosOmega = ax * bx + ay * by + az * bz + aw * bw;\n\n  if (cosOmega < 0) {\n    cosOmega = -cosOmega;\n    bx = -bx;\n    by = -by;\n    bz = -bz;\n    bw = -bw;\n  }\n\n  let scale0;\n  let scale1;\n\n  if (1.0 - cosOmega > utils.EPSILON) {\n    const omega = Math.acos(cosOmega);\n    const sinOmega = Math.sin(omega);\n    scale0 = Math.sin((1 - t) * omega) / sinOmega;\n    scale1 = Math.sin(t * omega) / sinOmega;\n  } else {\n    scale0 = 1.0 - t;\n    scale1 = t;\n  }\n\n  dst[0] = scale0 * ax + scale1 * bx;\n  dst[1] = scale0 * ay + scale1 * by;\n  dst[2] = scale0 * az + scale1 * bz;\n  dst[3] = scale0 * aw + scale1 * bw;\n\n  return dst;\n}\n\n/**\n * Compute the inverse of a quaternion\n *\n * @param q - quaternion to compute the inverse of\n * @returns A quaternion that is the result of a * b\n */\nexport function inverse(q: Quat, dst?: Quat): Quat {\n  dst = dst || new QuatType(4);\n\n  const a0 = q[0];\n  const a1 = q[1];\n  const a2 = q[2];\n  const a3 = q[3];\n\n  const dot = a0 * a0 + a1 * a1 + a2 * a2 + a3 * a3;\n  const invDot = dot ? 1 / dot : 0;\n\n  dst[0] = -a0 * invDot;\n  dst[1] = -a1 * invDot;\n  dst[2] = -a2 * invDot;\n  dst[3] =  a3 * invDot;\n\n  return dst;\n}\n\n/**\n * Compute the conjugate of a quaternion\n * For quaternions with a magnitude of 1 (a unit quaternion)\n * this returns the same as the inverse but is faster to calculate.\n *\n * @param q - quaternion to compute the conjugate of.\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns The conjugate of q\n */\nexport function conjugate(q: Quat, dst?: Quat): Quat {\n  dst = dst || new QuatType(4);\n\n  dst[0] = -q[0];\n  dst[1] = -q[1];\n  dst[2] = -q[2];\n  dst[3] =  q[3];\n\n  return dst;\n}\n\n/**\n * Creates a quaternion from the given rotation matrix.\n *\n * The created quaternion is not normalized.\n *\n * @param m - rotation matrix\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns the result\n */\nexport function fromMat(m: Mat3 | Mat4, dst?: Quat): Quat {\n  dst = dst || new QuatType(4);\n\n  /*\n  0 1 2\n  3 4 5\n  6 7 8\n\n  0 1 2\n  4 5 6\n  8 9 10\n   */\n\n  // Algorithm in Ken Shoemake's article in 1987 SIGGRAPH course notes\n  // article \"Quaternion Calculus and Fast Animation\".\n  const trace = m[0] + m[5] + m[10];\n\n  if (trace > 0.0) {\n    // |w| > 1/2, may as well choose w > 1/2\n    const root = Math.sqrt(trace + 1); // 2w\n    dst[3] = 0.5 * root;\n    const invRoot = 0.5 / root; // 1/(4w)\n\n    dst[0] = (m[6] - m[9]) * invRoot;\n    dst[1] = (m[8] - m[2]) * invRoot;\n    dst[2] = (m[1] - m[4]) * invRoot;\n  } else {\n    // |w| <= 1/2\n    let i = 0;\n\n    if (m[5] > m[0]) {\n      i = 1;\n    }\n    if (m[10] > m[i * 4 + i]) {\n      i = 2;\n    }\n\n    const j = (i + 1) % 3;\n    const k = (i + 2) % 3;\n\n    const root = Math.sqrt(m[i * 4 + i] - m[j * 4 + j] - m[k * 4 + k] + 1.0);\n    dst[i] = 0.5 * root;\n\n    const invRoot = 0.5 / root;\n\n    dst[3] = (m[j * 4 + k] - m[k * 4 + j]) * invRoot;\n    dst[j] = (m[j * 4 + i] + m[i * 4 + j]) * invRoot;\n    dst[k] = (m[k * 4 + i] + m[i * 4 + k]) * invRoot;\n  }\n\n  return dst;\n}\n\n/**\n * Creates a quaternion from the given euler angle x, y, z using the provided intrinsic order for the conversion.\n *\n * @param xAngleInRadians - angle to rotate around X axis in radians.\n * @param yAngleInRadians - angle to rotate around Y axis in radians.\n * @param zAngleInRadians - angle to rotate around Z axis in radians.\n * @param order - order to apply euler angles\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns A quaternion representing the same rotation as the euler angles applied in the given order\n */\nexport function fromEuler(\n    xAngleInRadians: number,\n    yAngleInRadians: number,\n    zAngleInRadians: number,\n    order: RotationOrder,\n    dst?: Quat) {\n  dst = dst || new QuatType(4);\n\n  const xHalfAngle = xAngleInRadians * 0.5;\n  const yHalfAngle = yAngleInRadians * 0.5;\n  const zHalfAngle = zAngleInRadians * 0.5;\n\n  const sx = Math.sin(xHalfAngle);\n  const cx = Math.cos(xHalfAngle);\n  const sy = Math.sin(yHalfAngle);\n  const cy = Math.cos(yHalfAngle);\n  const sz = Math.sin(zHalfAngle);\n  const cz = Math.cos(zHalfAngle);\n\n  switch (order) {\n    case 'xyz':\n      dst[0] = sx * cy * cz + cx * sy * sz;\n      dst[1] = cx * sy * cz - sx * cy * sz;\n      dst[2] = cx * cy * sz + sx * sy * cz;\n      dst[3] = cx * cy * cz - sx * sy * sz;\n      break;\n\n    case 'xzy':\n      dst[0] = sx * cy * cz - cx * sy * sz;\n      dst[1] = cx * sy * cz - sx * cy * sz;\n      dst[2] = cx * cy * sz + sx * sy * cz;\n      dst[3] = cx * cy * cz + sx * sy * sz;\n      break;\n\n    case 'yxz':\n      dst[0] = sx * cy * cz + cx * sy * sz;\n      dst[1] = cx * sy * cz - sx * cy * sz;\n      dst[2] = cx * cy * sz - sx * sy * cz;\n      dst[3] = cx * cy * cz + sx * sy * sz;\n      break;\n\n    case 'yzx':\n      dst[0] = sx * cy * cz + cx * sy * sz;\n      dst[1] = cx * sy * cz + sx * cy * sz;\n      dst[2] = cx * cy * sz - sx * sy * cz;\n      dst[3] = cx * cy * cz - sx * sy * sz;\n      break;\n\n    case 'zxy':\n      dst[0] = sx * cy * cz - cx * sy * sz;\n      dst[1] = cx * sy * cz + sx * cy * sz;\n      dst[2] = cx * cy * sz + sx * sy * cz;\n      dst[3] = cx * cy * cz - sx * sy * sz;\n      break;\n\n    case 'zyx':\n      dst[0] = sx * cy * cz - cx * sy * sz;\n      dst[1] = cx * sy * cz + sx * cy * sz;\n      dst[2] = cx * cy * sz - sx * sy * cz;\n      dst[3] = cx * cy * cz + sx * sy * sz;\n      break;\n\n    default:\n      throw new Error(`Unknown rotation order: ${order}`);\n  }\n\n  return dst;\n}\n\n/**\n * Copies a quaternion. (same as {@link quat.clone})\n * Also see {@link quat.create} and {@link quat.set}\n * @param q - The quaternion.\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns A quaternion that is a copy of q\n */\nexport function copy(q: Quat, dst?: Quat): Quat {\n  dst = dst || new QuatType(4);\n\n  dst[0] = q[0];\n  dst[1] = q[1];\n  dst[2] = q[2];\n  dst[3] = q[3];\n\n  return dst;\n}\n\n/**\n * Clones a quaternion. (same as {@link quat.copy})\n * Also see {@link quat.create} and {@link quat.set}\n * @param q - The quaternion.\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns A copy of q.\n */\nexport const clone = copy;\n\n/**\n * Adds two quaternions; assumes a and b have the same dimension.\n * @param a - Operand quaternion.\n * @param b - Operand quaternion.\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns A quaternion that is the sum of a and b.\n */\nexport function add(a: Quat, b: Quat, dst?: Quat): Quat {\n  dst = dst || new QuatType(4);\n\n  dst[0] = a[0] + b[0];\n  dst[1] = a[1] + b[1];\n  dst[2] = a[2] + b[2];\n  dst[3] = a[3] + b[3];\n\n  return dst;\n}\n\n/**\n * Subtracts two quaternions.\n * @param a - Operand quaternion.\n * @param b - Operand quaternion.\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns A quaternion that is the difference of a and b.\n */\nexport function subtract(a: Quat, b: Quat, dst?: Quat): Quat {\n  dst = dst || new QuatType(4);\n\n  dst[0] = a[0] - b[0];\n  dst[1] = a[1] - b[1];\n  dst[2] = a[2] - b[2];\n  dst[3] = a[3] - b[3];\n\n  return dst;\n}\n\n/**\n * Subtracts two quaternions.\n * @param a - Operand quaternion.\n * @param b - Operand quaternion.\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns A quaternion that is the difference of a and b.\n */\nexport const sub = subtract;\n\n/**\n * Multiplies a quaternion by a scalar.\n * @param v - The quaternion.\n * @param k - The scalar.\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns The scaled quaternion.\n */\nexport function mulScalar(v: Quat, k: number, dst?: Quat): Quat {\n  dst = dst || new QuatType(4);\n\n  dst[0] = v[0] * k;\n  dst[1] = v[1] * k;\n  dst[2] = v[2] * k;\n  dst[3] = v[3] * k;\n\n  return dst;\n}\n\n/**\n * Multiplies a quaternion by a scalar. (same as mulScalar)\n * @param v - The quaternion.\n * @param k - The scalar.\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns The scaled quaternion.\n */\nexport const scale = mulScalar;\n\n/**\n * Divides a vector by a scalar.\n * @param v - The vector.\n * @param k - The scalar.\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns The scaled quaternion.\n */\nexport function divScalar(v: Quat, k: number, dst?: Quat): Quat {\n  dst = dst || new QuatType(4);\n\n  dst[0] = v[0] / k;\n  dst[1] = v[1] / k;\n  dst[2] = v[2] / k;\n  dst[3] = v[3] / k;\n\n  return dst;\n}\n\n/**\n * Computes the dot product of two quaternions\n * @param a - Operand quaternion.\n * @param b - Operand quaternion.\n * @returns dot product\n */\nexport function dot(a: Quat, b: Quat): number {\n  return (a[0] * b[0]) + (a[1] * b[1]) + (a[2] * b[2]) + (a[3] * b[3]);\n}\n\n/**\n * Performs linear interpolation on two quaternions.\n * Given quaternions a and b and interpolation coefficient t, returns\n * a + t * (b - a).\n * @param a - Operand quaternion.\n * @param b - Operand quaternion.\n * @param t - Interpolation coefficient.\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns The linear interpolated result.\n */\nexport function lerp(a: Quat, b: Quat, t: number, dst?: Quat): Quat {\n  dst = dst || new QuatType(4);\n\n  dst[0] = a[0] + t * (b[0] - a[0]);\n  dst[1] = a[1] + t * (b[1] - a[1]);\n  dst[2] = a[2] + t * (b[2] - a[2]);\n  dst[3] = a[3] + t * (b[3] - a[3]);\n\n  return dst;\n}\n\n/**\n * Computes the length of quaternion\n * @param v - quaternion.\n * @returns length of quaternion.\n */\nexport function length(v: Quat): number {\n  const v0 = v[0];\n  const v1 = v[1];\n  const v2 = v[2];\n  const v3 = v[3];\n  return Math.sqrt(v0 * v0 + v1 * v1 + v2 * v2 + v3 * v3);\n}\n\n/**\n * Computes the length of quaternion (same as length)\n * @param v - quaternion.\n * @returns length of quaternion.\n */\nexport const len = length;\n\n/**\n * Computes the square of the length of quaternion\n * @param v - quaternion.\n * @returns square of the length of quaternion.\n */\nexport function lengthSq(v: Quat): number {\n  const v0 = v[0];\n  const v1 = v[1];\n  const v2 = v[2];\n  const v3 = v[3];\n  return v0 * v0 + v1 * v1 + v2 * v2 + v3 * v3;\n}\n\n/**\n * Computes the square of the length of quaternion (same as lengthSq)\n * @param v - quaternion.\n * @returns square of the length of quaternion.\n */\nexport const lenSq = lengthSq;\n\n/**\n * Divides a quaternion by its Euclidean length and returns the quotient.\n * @param v - The quaternion.\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns The normalized quaternion.\n */\nexport function normalize(v: Quat, dst?: Quat): Quat {\n  dst = dst || new QuatType(4);\n\n  const v0 = v[0];\n  const v1 = v[1];\n  const v2 = v[2];\n  const v3 = v[3];\n  const len = Math.sqrt(v0 * v0 + v1 * v1 + v2 * v2 + v3 * v3);\n\n  if (len > 0.00001) {\n    dst[0] = v0 / len;\n    dst[1] = v1 / len;\n    dst[2] = v2 / len;\n    dst[3] = v3 / len;\n  } else {\n    dst[0] = 0;\n    dst[1] = 0;\n    dst[2] = 0;\n    dst[3] = 0;\n  }\n\n  return dst;\n}\n\n/**\n * Check if 2 quaternions are approximately equal\n * @param a - Operand quaternion.\n * @param b - Operand quaternion.\n * @returns true if quaternions are approximately equal\n */\nexport function equalsApproximately(a: Quat, b: Quat): boolean {\n  return Math.abs(a[0] - b[0]) < utils.EPSILON &&\n         Math.abs(a[1] - b[1]) < utils.EPSILON &&\n         Math.abs(a[2] - b[2]) < utils.EPSILON &&\n         Math.abs(a[3] - b[3]) < utils.EPSILON;\n}\n\n/**\n * Check if 2 quaternions are exactly equal\n * @param a - Operand quaternion.\n * @param b - Operand quaternion.\n * @returns true if quaternions are exactly equal\n */\nexport function equals(a: Quat, b: Quat): boolean {\n  return a[0] === b[0] && a[1] === b[1] && a[2] === b[2] && a[3] === b[3];\n}\n\n/**\n * Creates an identity quaternion\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns an identity quaternion\n */\nexport function identity(dst?: Quat): Quat {\n  dst = dst || new QuatType(4);\n\n  dst[0] = 0;\n  dst[1] = 0;\n  dst[2] = 0;\n  dst[3] = 1;\n\n  return dst;\n}\n\nlet tempVec3: Vec3;\nlet xUnitVec3: Vec3;\nlet yUnitVec3: Vec3;\n\n/**\n * Computes a quaternion to represent the shortest rotation from one vector to another.\n *\n * @param aUnit - the start vector\n * @param bUnit - the end vector\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns the result\n */\nexport function rotationTo(aUnit: Vec3, bUnit: Vec3, dst?: Quat): Quat {\n  dst = dst || new QuatType(4);\n\n  tempVec3 = tempVec3 || vec3.create();\n  xUnitVec3 = xUnitVec3 || vec3.create(1, 0, 0);\n  yUnitVec3 = yUnitVec3 || vec3.create(0, 1, 0);\n\n  const dot = vec3.dot(aUnit, bUnit);\n  if (dot < -0.999999) {\n    vec3.cross(xUnitVec3, aUnit, tempVec3);\n    if (vec3.len(tempVec3) < 0.000001) {\n      vec3.cross(yUnitVec3, aUnit, tempVec3);\n    }\n\n    vec3.normalize(tempVec3, tempVec3);\n    fromAxisAngle(tempVec3, Math.PI, dst);\n\n    return dst;\n  } else if (dot > 0.999999) {\n    dst[0] = 0;\n    dst[1] = 0;\n    dst[2] = 0;\n    dst[3] = 1;\n\n    return dst;\n  } else {\n    vec3.cross(aUnit, bUnit, tempVec3);\n\n    dst[0] = tempVec3[0];\n    dst[1] = tempVec3[1];\n    dst[2] = tempVec3[2];\n    dst[3] = 1 + dot;\n\n    return normalize(dst, dst);\n  }\n}\n\nlet tempQuat1: Quat;\nlet tempQuat2: Quat;\n\n/**\n * Performs a spherical linear interpolation with two control points\n *\n * @param a - the first quaternion\n * @param b - the second quaternion\n * @param c - the third quaternion\n * @param d - the fourth quaternion\n * @param t - Interpolation coefficient 0 to 1\n * @returns result\n */\nexport function sqlerp(\n    a: Quat,\n    b: Quat,\n    c: Quat,\n    d: Quat,\n    t: number,\n    dst?: Quat): Quat {\n  dst = dst || new QuatType(4);\n\n  tempQuat1 = tempQuat1 || new QuatType(4);\n  tempQuat2 = tempQuat2 || new QuatType(4);\n\n  slerp(a, d, t, tempQuat1);\n  slerp(b, c, t, tempQuat2);\n  slerp(tempQuat1, tempQuat2, 2 * t * (1 - t), dst);\n\n  return dst;\n}\n","/*\n * Copyright 2022 Gregg Tavares\n *\n * Permission is hereby granted, free of charge, to any person obtaining a\n * copy of this software and associated documentation files (the \"Software\"),\n * to deal in the Software without restriction, including without limitation\n * the rights to use, copy, modify, merge, publish, distribute, sublicense,\n * and/or sell copies of the Software, and to permit persons to whom the\n * Software is furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL\n * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER\n * DEALINGS IN THE SOFTWARE.\n */\n\n/**\n * A JavaScript array with 4 values, Float32Array with 4 values, or a Float64Array with 4 values.\n * When created by the library will create the default type which is `Float32Array`\n * but can be set by calling {@link vec4.setDefaultType}.\n */\nexport type Vec4 = number[] | Float32Array | Float64Array;\n\n/**\n *\n * Vec4 math functions.\n *\n * Almost all functions take an optional `dst` argument. If it is not passed in the\n * functions will create a new `Vec4`. In other words you can do this\n *\n *     const v = vec4.cross(v1, v2);  // Creates a new Vec4 with the cross product of v1 x v2.\n *\n * or\n *\n *     const v = vec4.create();\n *     vec4.cross(v1, v2, v);  // Puts the cross product of v1 x v2 in v\n *\n * The first style is often easier but depending on where it's used it generates garbage where\n * as there is almost never allocation with the second style.\n *\n * It is always safe to pass any vector as the destination. So for example\n *\n *     vec4.cross(v1, v2, v1);  // Puts the cross product of v1 x v2 in v1\n *\n */\n\nexport let VecType: new (n: number) => Vec4 = Float32Array;\n\n/**\n * Sets the type this library creates for a Vec4\n * @param ctor - the constructor for the type. Either `Float32Array`, `Float64Array`, or `Array`\n * @returns previous constructor for Vec4\n */\nexport function setDefaultType(ctor: new (n: number) => Vec4) {\n  const oldType = VecType;\n  VecType = ctor;\n  return oldType;\n}\n\n/**\n * Creates a vec4; may be called with x, y, z to set initial values.\n * @param x - Initial x value.\n * @param y - Initial y value.\n * @param z - Initial z value.\n * @param w - Initial w value.\n * @returns the created vector\n */\nexport function create(x?: number, y?: number, z?: number, w?: number): Vec4 {\n  const dst = new VecType(4);\n  if (x !== undefined) {\n    dst[0] = x;\n    if (y !== undefined) {\n      dst[1] = y;\n      if (z !== undefined) {\n        dst[2] = z;\n        if (w !== undefined) {\n          dst[3] = w;\n        }\n      }\n    }\n  }\n  return dst;\n}","/*\n * Copyright 2022 Gregg Tavares\n *\n * Permission is hereby granted, free of charge, to any person obtaining a\n * copy of this software and associated documentation files (the \"Software\"),\n * to deal in the Software without restriction, including without limitation\n * the rights to use, copy, modify, merge, publish, distribute, sublicense,\n * and/or sell copies of the Software, and to permit persons to whom the\n * Software is furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL\n * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER\n * DEALINGS IN THE SOFTWARE.\n */\nimport * as utils from './utils.js';\nimport { Vec4, create, setDefaultType, VecType } from './vec4';\nimport { Mat4 } from './mat4';\n\nexport default Vec4;\nexport { create, setDefaultType };\n\n/**\n * Creates a vec4; may be called with x, y, z to set initial values. (same as create)\n * @param x - Initial x value.\n * @param y - Initial y value.\n * @param z - Initial z value.\n * @param z - Initial w value.\n * @returns the created vector\n */\nexport const fromValues = create;\n\n/**\n * Sets the values of a Vec4\n * Also see {@link vec4.create} and {@link vec4.copy}\n *\n * @param x first value\n * @param y second value\n * @param z third value\n * @param w fourth value\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector with its elements set.\n */\nexport function set(x: number, y: number, z: number, w: number, dst?: Vec4) {\n  dst = dst || new VecType(4);\n\n  dst[0] = x;\n  dst[1] = y;\n  dst[2] = z;\n  dst[3] = w;\n\n  return dst;\n}\n\n/**\n * Applies Math.ceil to each element of vector\n * @param v - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the ceil of each element of v.\n */\nexport function ceil(v: Vec4, dst?: Vec4): Vec4 {\n  dst = dst || new VecType(4);\n\n  dst[0] = Math.ceil(v[0]);\n  dst[1] = Math.ceil(v[1]);\n  dst[2] = Math.ceil(v[2]);\n  dst[3] = Math.ceil(v[3]);\n\n  return dst;\n}\n\n/**\n * Applies Math.floor to each element of vector\n * @param v - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the floor of each element of v.\n */\nexport function floor(v: Vec4, dst?: Vec4): Vec4 {\n  dst = dst || new VecType(4);\n\n  dst[0] = Math.floor(v[0]);\n  dst[1] = Math.floor(v[1]);\n  dst[2] = Math.floor(v[2]);\n  dst[3] = Math.floor(v[3]);\n\n  return dst;\n}\n\n/**\n * Applies Math.round to each element of vector\n * @param v - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the round of each element of v.\n */\nexport function round(v: Vec4, dst?: Vec4): Vec4 {\n  dst = dst || new VecType(4);\n\n  dst[0] = Math.round(v[0]);\n  dst[1] = Math.round(v[1]);\n  dst[2] = Math.round(v[2]);\n  dst[3] = Math.round(v[3]);\n\n  return dst;\n}\n\n/**\n * Clamp each element of vector between min and max\n * @param v - Operand vector.\n * @param max - Min value, default 0\n * @param min - Max value, default 1\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that the clamped value of each element of v.\n */\nexport function clamp(v: Vec4, min = 0, max = 1, dst?: Vec4): Vec4 {\n  dst = dst || new VecType(4);\n\n  dst[0] = Math.min(max, Math.max(min, v[0]));\n  dst[1] = Math.min(max, Math.max(min, v[1]));\n  dst[2] = Math.min(max, Math.max(min, v[2]));\n  dst[3] = Math.min(max, Math.max(min, v[3]));\n\n  return dst;\n}\n\n/**\n * Adds two vectors; assumes a and b have the same dimension.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the sum of a and b.\n */\nexport function add(a: Vec4, b: Vec4, dst?: Vec4): Vec4 {\n  dst = dst || new VecType(4);\n\n  dst[0] = a[0] + b[0];\n  dst[1] = a[1] + b[1];\n  dst[2] = a[2] + b[2];\n  dst[3] = a[3] + b[3];\n\n  return dst;\n}\n\n/**\n * Adds two vectors, scaling the 2nd; assumes a and b have the same dimension.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param scale - Amount to scale b\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the sum of a + b * scale.\n */\nexport function addScaled(a: Vec4, b: Vec4, scale: number, dst?: Vec4): Vec4 {\n  dst = dst || new VecType(4);\n\n  dst[0] = a[0] + b[0] * scale;\n  dst[1] = a[1] + b[1] * scale;\n  dst[2] = a[2] + b[2] * scale;\n  dst[3] = a[3] + b[3] * scale;\n\n  return dst;\n}\n\n/**\n * Subtracts two vectors.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the difference of a and b.\n */\nexport function subtract(a: Vec4, b: Vec4, dst?: Vec4): Vec4 {\n  dst = dst || new VecType(4);\n\n  dst[0] = a[0] - b[0];\n  dst[1] = a[1] - b[1];\n  dst[2] = a[2] - b[2];\n  dst[3] = a[3] - b[3];\n\n  return dst;\n}\n\n/**\n * Subtracts two vectors.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the difference of a and b.\n */\nexport const sub = subtract;\n\n/**\n * Check if 2 vectors are approximately equal\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @returns true if vectors are approximately equal\n */\nexport function equalsApproximately(a: Vec4, b: Vec4): boolean {\n  return Math.abs(a[0] - b[0]) < utils.EPSILON &&\n         Math.abs(a[1] - b[1]) < utils.EPSILON &&\n         Math.abs(a[2] - b[2]) < utils.EPSILON &&\n         Math.abs(a[3] - b[3]) < utils.EPSILON;\n}\n\n/**\n * Check if 2 vectors are exactly equal\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @returns true if vectors are exactly equal\n */\nexport function equals(a: Vec4, b: Vec4): boolean {\n  return a[0] === b[0] && a[1] === b[1] && a[2] === b[2] && a[3] === b[3];\n}\n\n/**\n * Performs linear interpolation on two vectors.\n * Given vectors a and b and interpolation coefficient t, returns\n * a + t * (b - a).\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param t - Interpolation coefficient.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The linear interpolated result.\n */\nexport function lerp(a: Vec4, b: Vec4, t: number, dst?: Vec4): Vec4 {\n  dst = dst || new VecType(4);\n\n  dst[0] = a[0] + t * (b[0] - a[0]);\n  dst[1] = a[1] + t * (b[1] - a[1]);\n  dst[2] = a[2] + t * (b[2] - a[2]);\n  dst[3] = a[3] + t * (b[3] - a[3]);\n\n  return dst;\n}\n\n/**\n * Performs linear interpolation on two vectors.\n * Given vectors a and b and interpolation coefficient vector t, returns\n * a + t * (b - a).\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param t - Interpolation coefficients vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns the linear interpolated result.\n */\nexport function lerpV(a: Vec4, b: Vec4, t: Vec4, dst?: Vec4): Vec4 {\n  dst = dst || new VecType(4);\n\n  dst[0] = a[0] + t[0] * (b[0] - a[0]);\n  dst[1] = a[1] + t[1] * (b[1] - a[1]);\n  dst[2] = a[2] + t[2] * (b[2] - a[2]);\n  dst[3] = a[3] + t[3] * (b[3] - a[3]);\n\n  return dst;\n}\n\n/**\n * Return max values of two vectors.\n * Given vectors a and b returns\n * [max(a[0], b[0]), max(a[1], b[1]), max(a[2], b[2])].\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The max components vector.\n */\nexport function max(a: Vec4, b: Vec4, dst?: Vec4): Vec4 {\n  dst = dst || new VecType(4);\n\n  dst[0] = Math.max(a[0], b[0]);\n  dst[1] = Math.max(a[1], b[1]);\n  dst[2] = Math.max(a[2], b[2]);\n  dst[3] = Math.max(a[3], b[3]);\n\n  return dst;\n}\n\n/**\n * Return min values of two vectors.\n * Given vectors a and b returns\n * [min(a[0], b[0]), min(a[1], b[1]), min(a[2], b[2])].\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The min components vector.\n */\nexport function min(a: Vec4, b: Vec4, dst?: Vec4): Vec4 {\n  dst = dst || new VecType(4);\n\n  dst[0] = Math.min(a[0], b[0]);\n  dst[1] = Math.min(a[1], b[1]);\n  dst[2] = Math.min(a[2], b[2]);\n  dst[3] = Math.min(a[3], b[3]);\n\n  return dst;\n}\n\n/**\n * Multiplies a vector by a scalar.\n * @param v - The vector.\n * @param k - The scalar.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The scaled vector.\n */\nexport function mulScalar(v: Vec4, k: number, dst?: Vec4): Vec4 {\n  dst = dst || new VecType(4);\n\n  dst[0] = v[0] * k;\n  dst[1] = v[1] * k;\n  dst[2] = v[2] * k;\n  dst[3] = v[3] * k;\n\n  return dst;\n}\n\n/**\n * Multiplies a vector by a scalar. (same as mulScalar)\n * @param v - The vector.\n * @param k - The scalar.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The scaled vector.\n */\nexport const scale = mulScalar;\n\n/**\n * Divides a vector by a scalar.\n * @param v - The vector.\n * @param k - The scalar.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The scaled vector.\n */\nexport function divScalar(v: Vec4, k: number, dst?: Vec4): Vec4 {\n  dst = dst || new VecType(4);\n\n  dst[0] = v[0] / k;\n  dst[1] = v[1] / k;\n  dst[2] = v[2] / k;\n  dst[3] = v[3] / k;\n\n  return dst;\n}\n\n/**\n * Inverse a vector.\n * @param v - The vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The inverted vector.\n */\nexport function inverse(v: Vec4, dst?: Vec4): Vec4 {\n  dst = dst || new VecType(4);\n\n  dst[0] = 1 / v[0];\n  dst[1] = 1 / v[1];\n  dst[2] = 1 / v[2];\n  dst[3] = 1 / v[3];\n\n  return dst;\n}\n\n/**\n * Invert a vector. (same as inverse)\n * @param v - The vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The inverted vector.\n */\nexport const invert = inverse;\n\n/**\n * Computes the dot product of two vectors\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @returns dot product\n */\nexport function dot(a: Vec4, b: Vec4): number {\n  return (a[0] * b[0]) + (a[1] * b[1]) + (a[2] * b[2]) + (a[3] * b[3]);\n}\n\n/**\n * Computes the length of vector\n * @param v - vector.\n * @returns length of vector.\n */\nexport function length(v: Vec4): number {\n  const v0 = v[0];\n  const v1 = v[1];\n  const v2 = v[2];\n  const v3 = v[3];\n  return Math.sqrt(v0 * v0 + v1 * v1 + v2 * v2 + v3 * v3);\n}\n\n/**\n * Computes the length of vector (same as length)\n * @param v - vector.\n * @returns length of vector.\n */\nexport const len = length;\n\n/**\n * Computes the square of the length of vector\n * @param v - vector.\n * @returns square of the length of vector.\n */\nexport function lengthSq(v: Vec4): number {\n  const v0 = v[0];\n  const v1 = v[1];\n  const v2 = v[2];\n  const v3 = v[3];\n  return v0 * v0 + v1 * v1 + v2 * v2 + v3 * v3;\n}\n\n/**\n * Computes the square of the length of vector (same as lengthSq)\n * @param v - vector.\n * @returns square of the length of vector.\n */\nexport const lenSq = lengthSq;\n\n/**\n * Computes the distance between 2 points\n * @param a - vector.\n * @param b - vector.\n * @returns distance between a and b\n */\nexport function distance(a: Vec4, b: Vec4): number {\n  const dx = a[0] - b[0];\n  const dy = a[1] - b[1];\n  const dz = a[2] - b[2];\n  const dw = a[3] - b[3];\n  return Math.sqrt(dx * dx + dy * dy + dz * dz + dw * dw);\n}\n\n/**\n * Computes the distance between 2 points (same as distance)\n * @param a - vector.\n * @param b - vector.\n * @returns distance between a and b\n */\nexport const dist = distance;\n\n/**\n * Computes the square of the distance between 2 points\n * @param a - vector.\n * @param b - vector.\n * @returns square of the distance between a and b\n */\nexport function distanceSq(a: Vec4, b: Vec4): number {\n  const dx = a[0] - b[0];\n  const dy = a[1] - b[1];\n  const dz = a[2] - b[2];\n  const dw = a[3] - b[3];\n  return dx * dx + dy * dy + dz * dz + dw * dw;\n}\n\n/**\n * Computes the square of the distance between 2 points (same as distanceSq)\n * @param a - vector.\n * @param b - vector.\n * @returns square of the distance between a and b\n */\nexport const distSq = distanceSq;\n\n/**\n * Divides a vector by its Euclidean length and returns the quotient.\n * @param v - The vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The normalized vector.\n */\nexport function normalize(v: Vec4, dst?: Vec4): Vec4 {\n  dst = dst || new VecType(4);\n\n  const v0 = v[0];\n  const v1 = v[1];\n  const v2 = v[2];\n  const v3 = v[3];\n  const len = Math.sqrt(v0 * v0 + v1 * v1 + v2 * v2 + v3 * v3);\n\n  if (len > 0.00001) {\n    dst[0] = v0 / len;\n    dst[1] = v1 / len;\n    dst[2] = v2 / len;\n    dst[3] = v3 / len;\n  } else {\n    dst[0] = 0;\n    dst[1] = 0;\n    dst[2] = 0;\n    dst[3] = 0;\n  }\n\n  return dst;\n}\n\n/**\n * Negates a vector.\n * @param v - The vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns -v.\n */\nexport function negate(v: Vec4, dst?: Vec4): Vec4 {\n  dst = dst || new VecType(4);\n\n  dst[0] = -v[0];\n  dst[1] = -v[1];\n  dst[2] = -v[2];\n  dst[3] = -v[3];\n\n  return dst;\n}\n\n/**\n * Copies a vector. (same as {@link vec4.clone})\n * Also see {@link vec4.create} and {@link vec4.set}\n * @param v - The vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A copy of v.\n */\nexport function copy(v: Vec4, dst?: Vec4): Vec4 {\n  dst = dst || new VecType(4);\n\n  dst[0] = v[0];\n  dst[1] = v[1];\n  dst[2] = v[2];\n  dst[3] = v[3];\n\n  return dst;\n}\n\n/**\n * Clones a vector. (same as {@link vec4.copy})\n * Also see {@link vec4.create} and {@link vec4.set}\n * @param v - The vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A copy of v.\n */\nexport const clone = copy;\n\n/**\n * Multiplies a vector by another vector (component-wise); assumes a and\n * b have the same length.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The vector of products of entries of a and b.\n */\nexport function multiply(a: Vec4, b: Vec4, dst?: Vec4): Vec4 {\n  dst = dst || new VecType(4);\n\n  dst[0] = a[0] * b[0];\n  dst[1] = a[1] * b[1];\n  dst[2] = a[2] * b[2];\n  dst[3] = a[3] * b[3];\n\n  return dst;\n}\n\n/**\n * Multiplies a vector by another vector (component-wise); assumes a and\n * b have the same length. (same as mul)\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The vector of products of entries of a and b.\n */\nexport const mul = multiply;\n\n/**\n * Divides a vector by another vector (component-wise); assumes a and\n * b have the same length.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The vector of quotients of entries of a and b.\n */\nexport function divide(a: Vec4, b: Vec4, dst?: Vec4) {\n  dst = dst || new VecType(4);\n\n  dst[0] = a[0] / b[0];\n  dst[1] = a[1] / b[1];\n  dst[2] = a[2] / b[2];\n  dst[3] = a[3] / b[3];\n\n  return dst;\n}\n\n/**\n * Divides a vector by another vector (component-wise); assumes a and\n * b have the same length. (same as divide)\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The vector of quotients of entries of a and b.\n */\nexport const div = divide;\n\n/**\n * Zero's a vector\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The zeroed vector.\n */\nexport function zero(dst?: Vec4): Vec4 {\n  dst = dst || new VecType(4);\n\n  dst[0] = 0;\n  dst[1] = 0;\n  dst[2] = 0;\n  dst[3] = 0;\n\n  return dst;\n}\n\n\n/**\n * transform vec4 by 4x4 matrix\n * @param v - the vector\n * @param m - The matrix.\n * @param dst - optional vec4 to store result. If not passed a new one is created.\n * @returns the transformed vector\n */\nexport function transformMat4(v: Vec4, m: Mat4, dst?: Vec4): Vec4 {\n  dst = dst || new VecType(4);\n\n  const x = v[0];\n  const y = v[1];\n  const z = v[2];\n  const w = v[3];\n\n  dst[0] = m[0] * x + m[4] * y + m[ 8] * z + m[12] * w;\n  dst[1] = m[1] * x + m[5] * y + m[ 9] * z + m[13] * w;\n  dst[2] = m[2] * x + m[6] * y + m[10] * z + m[14] * w;\n  dst[3] = m[3] * x + m[7] * y + m[11] * z + m[15] * w;\n\n  return dst;\n}\n\n\n/**\n * Treat a 4D vector as a direction and set it's length\n *\n * @param a The vec4 to lengthen\n * @param len The length of the resulting vector\n * @returns The lengthened vector\n */\nexport function setLength(a: Vec4, len: number, dst?: Vec4) {\n  dst = dst || new VecType(4);\n  normalize(a, dst);\n  return mulScalar(dst, len, dst);\n}\n\n/**\n * Ensure a vector is not longer than a max length\n *\n * @param a The vec4 to limit\n * @param maxLen The longest length of the resulting vector\n * @returns The vector, shortened to maxLen if it's too long\n */\nexport function truncate(a: Vec4, maxLen: number, dst?: Vec4) {\n  dst = dst || new VecType(4);\n\n  if (length(a) > maxLen) {\n    return setLength(a, maxLen, dst);\n  }\n\n  return copy(a, dst);\n}\n\n/**\n * Return the vector exactly between 2 endpoint vectors\n *\n * @param a Endpoint 1\n * @param b Endpoint 2\n * @returns The vector exactly residing between endpoints 1 and 2\n */\nexport function midpoint(a: Vec4, b: Vec4, dst?: Vec4) {\n  dst = dst || new VecType(4);\n  return lerp(a, b, 0.5, dst);\n}\n","import Mat3, * as mat3 from './mat3-impl';\nimport Mat4, * as mat4 from './mat4-impl';\nimport Quat, * as quat from './quat-impl';\nimport Vec2, * as vec2 from './vec2-impl';\nimport Vec3, * as vec3 from './vec3-impl';\nimport Vec4, * as vec4 from './vec4-impl';\nimport * as utils from './utils';\n\n/**\n * Sets the type this library creates for all types\n *\n * example:\n *\n * ```\n * setDefaultType(Float64Array);\n * ```\n *\n * @param ctor - the constructor for the type. 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diff --git a/dist/2.x/wgpu-matrix.min.js b/dist/2.x/wgpu-matrix.min.js
index 8807b4b..c7f150c 100644
--- a/dist/2.x/wgpu-matrix.min.js
+++ b/dist/2.x/wgpu-matrix.min.js
@@ -1,4 +1,4 @@
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-add:function(a,b,c){c=c||new y(2);c[0]=a[0]+b[0];c[1]=a[1]+b[1];return c},addScaled:function(a,b,c,d){d=d||new y(2);d[0]=a[0]+b[0]*c;d[1]=a[1]+b[1]*c;return d},angle:function(a,b){var c=a[0];const d=a[1],e=a[0],f=a[1];a=(c=Math.sqrt(c*c+d*d)*Math.sqrt(e*e+f*f))&&Ha(a,b)/c;return Math.acos(a)},ceil:function(a,b){b=b||new y(2);b[0]=Math.ceil(a[0]);b[1]=Math.ceil(a[1]);return b},clamp:function(a,b=0,c=1,d){d=d||new y(2);d[0]=Math.min(c,Math.max(b,a[0]));d[1]=Math.min(c,Math.max(b,a[1]));return d},clone:sa,
+add:function(a,b,c){c=c||new y(2);c[0]=a[0]+b[0];c[1]=a[1]+b[1];return c},addScaled:function(a,b,c,d){d=d||new y(2);d[0]=a[0]+b[0]*c;d[1]=a[1]+b[1]*c;return d},angle:function(a,b){var c=a[0];const d=a[1],e=b[0],f=b[1];a=(c=Math.sqrt(c*c+d*d)*Math.sqrt(e*e+f*f))&&Ha(a,b)/c;return Math.acos(a)},ceil:function(a,b){b=b||new y(2);b[0]=Math.ceil(a[0]);b[1]=Math.ceil(a[1]);return b},clamp:function(a,b=0,c=1,d){d=d||new y(2);d[0]=Math.min(c,Math.max(b,a[0]));d[1]=Math.min(c,Math.max(b,a[1]));return d},clone:sa,
 copy:sa,create:ba,cross:function(a,b,c){c=c||new u(3);a=a[0]*b[1]-a[1]*b[0];c[0]=0;c[1]=0;c[2]=a;return c},dist:Ja,distSq:Ka,distance:Ja,distanceSq:Ka,div:Na,divScalar:function(a,b,c){c=c||new y(2);c[0]=a[0]/b;c[1]=a[1]/b;return c},divide:Na,dot:Ha,equals:function(a,b){return a[0]===b[0]&&a[1]===b[1]},equalsApproximately:function(a,b){return Math.abs(a[0]-b[0])<t&&Math.abs(a[1]-b[1])<t},floor:function(a,b){b=b||new y(2);b[0]=Math.floor(a[0]);b[1]=Math.floor(a[1]);return b},fromValues:ba,inverse:Ga,
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@@ -31,7 +31,7 @@ b){b=b||ba();b[0]=a[8];b[1]=a[9];return b},identity:Sa,inverse:Ta,invert:Ta,mul:
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 k*b+q;return c},translation:function(a,b){b=b||G();b[0]=1;b[1]=0;b[2]=0;b[4]=0;b[5]=1;b[6]=0;b[8]=a[0];b[9]=a[1];b[10]=1;return b},transpose:function(a,b){b=b||G();if(b===a){var c=a[1];a[1]=a[4];a[4]=c;c=a[2];a[2]=a[8];a[8]=c;c=a[6];a[6]=a[9];a[9]=c;return b}c=a[1];const d=a[2],e=a[4],f=a[5],g=a[6],h=a[8],l=a[9],k=a[10];b[0]=a[0];b[1]=e;b[2]=h;b[4]=c;b[5]=f;b[6]=l;b[8]=d;b[9]=g;b[10]=k;return b},uniformScale:function(a,b,c){c=c||G();c[0]=b*a[0];c[1]=b*a[1];c[2]=b*a[2];c[4]=b*a[4];c[5]=b*a[5];c[6]=
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+b*a[6];a!==c&&(c[8]=a[8],c[9]=a[9],c[10]=a[10]);return c},uniformScaling:function(a,b){b=b||G();b[0]=a;b[1]=0;b[2]=0;b[4]=0;b[5]=a;b[6]=0;b[8]=0;b[9]=0;b[10]=1;return b}}),Kb=Object.freeze({__proto__:null,add:function(a,b,c){c=c||new u(3);c[0]=a[0]+b[0];c[1]=a[1]+b[1];c[2]=a[2]+b[2];return c},addScaled:function(a,b,c,d){d=d||new u(3);d[0]=a[0]+b[0]*c;d[1]=a[1]+b[1]*c;d[2]=a[2]+b[2]*c;return d},angle:function(a,b){var c=a[0];const d=a[1],e=a[2],f=b[0],g=b[1],h=b[2];a=(c=Math.sqrt(c*c+d*d+e*e)*Math.sqrt(f*
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 b){return a[0]===b[0]&&a[1]===b[1]&&a[2]===b[2]},equalsApproximately:function(a,b){return Math.abs(a[0]-b[0])<t&&Math.abs(a[1]-b[1])<t&&Math.abs(a[2]-b[2])<t},floor:function(a,b){b=b||new u(3);b[0]=Math.floor(a[0]);b[1]=Math.floor(a[1]);b[2]=Math.floor(a[2]);return b},fromValues:H,getAxis:function(a,b,c){c=c||new u(3);b*=4;c[0]=a[b+0];c[1]=a[b+1];c[2]=a[b+2];return c},getScaling:function(a,b){b=b||new u(3);const c=a[0],d=a[1],e=a[2],f=a[4],g=a[5],h=a[6],l=a[8],k=a[9];a=a[10];b[0]=Math.sqrt(c*c+d*
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diff --git a/dist/2.x/wgpu-matrix.module.js b/dist/2.x/wgpu-matrix.module.js
index 0c24942..ad19147 100644
--- a/dist/2.x/wgpu-matrix.module.js
+++ b/dist/2.x/wgpu-matrix.module.js
@@ -1,4 +1,4 @@
-/* wgpu-matrix@2.8.0, license MIT */
+/* wgpu-matrix@2.8.1, license MIT */
 /*
  * Copyright 2022 Gregg Tavares
  *
@@ -398,8 +398,8 @@ function addScaled$2(a, b, scale, dst) {
 function angle$2(a, b) {
     const ax = a[0];
     const ay = a[1];
-    const bx = a[0];
-    const by = a[1];
+    const bx = b[0];
+    const by = b[1];
     const mag1 = Math.sqrt(ax * ax + ay * ay);
     const mag2 = Math.sqrt(bx * bx + by * by);
     const mag = mag1 * mag2;
@@ -1845,9 +1845,9 @@ function angle$1(a, b) {
     const ax = a[0];
     const ay = a[1];
     const az = a[2];
-    const bx = a[0];
-    const by = a[1];
-    const bz = a[2];
+    const bx = b[0];
+    const by = b[1];
+    const bz = b[2];
     const mag1 = Math.sqrt(ax * ax + ay * ay + az * az);
     const mag2 = Math.sqrt(bx * bx + by * by + bz * bz);
     const mag = mag1 * mag2;
diff --git a/dist/2.x/wgpu-matrix.module.js.map b/dist/2.x/wgpu-matrix.module.js.map
index cfc2e37..bdc4f96 100644
--- a/dist/2.x/wgpu-matrix.module.js.map
+++ b/dist/2.x/wgpu-matrix.module.js.map
@@ -1 +1 @@
-{"version":3,"file":"wgpu-matrix.module.js","sources":["../../../src/utils.ts","../../../src/vec2.ts","../../../src/vec3.ts","../../../src/vec2-impl.ts","../../../src/mat3-impl.ts","../../../src/vec3-impl.ts","../../../src/mat4-impl.ts","../../../src/quat.ts","../../../src/quat-impl.ts","../../../src/vec4.ts","../../../src/vec4-impl.ts","../../../src/wgpu-matrix.ts"],"sourcesContent":["/*\n * Copyright 2022 Gregg Tavares\n *\n * Permission is hereby granted, free of charge, to any person obtaining a\n * copy of this software and associated documentation files (the \"Software\"),\n * to deal in the Software without restriction, including without limitation\n * the rights to use, copy, modify, merge, publish, distribute, sublicense,\n * and/or sell copies of the Software, and to permit persons to whom the\n * Software is furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL\n * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER\n * DEALINGS IN THE SOFTWARE.\n */\n\nexport let EPSILON = 0.000001;\n\n/**\n * Set the value for EPSILON for various checks\n * @param v - Value to use for EPSILON.\n * @returns previous value of EPSILON;\n */\nexport function setEpsilon(v: number): number {\n  const old = EPSILON;\n  EPSILON = v;\n  return old;\n}\n\n/**\n * Convert degrees to radians\n * @param degrees - Angle in degrees\n * @returns angle converted to radians\n */\nexport function degToRad(degrees: number): number {\n  return degrees * Math.PI / 180;\n}\n\n/**\n * Convert radians to degrees\n * @param radians - Angle in radians\n * @returns angle converted to degrees\n */\nexport function radToDeg(radians: number): number {\n  return radians * 180 / Math.PI;\n}\n\n/**\n * Lerps between a and b via t\n * @param a - starting value\n * @param b - ending value\n * @param t - value where 0 = a and 1 = b\n * @returns a + (b - a) * t\n */\nexport function lerp(a: number, b: number, t: number): number {\n  return a + (b - a) * t;\n}\n\n/**\n * Compute the opposite of lerp. Given a and b and a value between\n * a and b returns a value between 0 and 1. 0 if a, 1 if b.\n * Note: no clamping is done.\n * @param a - start value\n * @param b - end value\n * @param v - value between a and b\n * @returns (v - a) / (b - a)\n */\nexport function inverseLerp(a: number, b: number, v: number): number {\n  const d = b - a;\n  return (Math.abs(b - a) < EPSILON)\n     ? a\n     : (v - a) / d;\n}\n\n/**\n * Compute the euclidean modulo\n *\n * ```\n * // table for n / 3\n * -5, -4, -3, -2, -1,  0,  1,  2,  3,  4,  5   <- n\n * ------------------------------------\n * -2  -1  -0  -2  -1   0,  1,  2,  0,  1,  2   <- n % 3\n *  1   2   0   1   2   0,  1,  2,  0,  1,  2   <- euclideanModule(n, 3)\n * ```\n *\n * @param n - dividend\n * @param m - divisor\n * @returns the euclidean modulo of n / m\n */\nexport function euclideanModulo(n: number, m: number) {\n  return ((n % m) + m) % m;\n}","/*\n * Copyright 2022 Gregg Tavares\n *\n * Permission is hereby granted, free of charge, to any person obtaining a\n * copy of this software and associated documentation files (the \"Software\"),\n * to deal in the Software without restriction, including without limitation\n * the rights to use, copy, modify, merge, publish, distribute, sublicense,\n * and/or sell copies of the Software, and to permit persons to whom the\n * Software is furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL\n * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER\n * DEALINGS IN THE SOFTWARE.\n */\n\n/**\n * A JavaScript array with 2 values, Float32Array with 2 values, or a Float64Array with 2 values.\n * When created by the library will create the default type which is `Float32Array`\n * but can be set by calling {@link vec2.setDefaultType}.\n */\nexport type Vec2 = number[] | Float32Array | Float64Array;\n\n/**\n *\n * Vec2 math functions.\n *\n * Almost all functions take an optional `dst` argument. If it is not passed in the\n * functions will create a new Vec2. In other words you can do this\n *\n *     const v = vec2.cross(v1, v2);  // Creates a new Vec2 with the cross product of v1 x v2.\n *\n * or\n *\n *     const v = vec2.create();\n *     vec2.cross(v1, v2, v);  // Puts the cross product of v1 x v2 in v\n *\n * The first style is often easier but depending on where it's used it generates garbage where\n * as there is almost never allocation with the second style.\n *\n * It is always safe to pass any vector as the destination. So for example\n *\n *     vec2.cross(v1, v2, v1);  // Puts the cross product of v1 x v2 in v1\n *\n */\n\nexport let VecType: new (n: number) => Vec2 = Float32Array;\n\n/**\n * Sets the type this library creates for a Vec2\n * @param ctor - the constructor for the type. Either `Float32Array`, `Float64Array`, or `Array`\n * @returns previous constructor for Vec2\n */\nexport function setDefaultType(ctor: new (n: number) => Vec2) {\n  const oldType = VecType;\n  VecType = ctor;\n  return oldType;\n}\n\n/**\n * Creates a Vec2; may be called with x, y, z to set initial values.\n *\n * Note: Since passing in a raw JavaScript array\n * is valid in all circumstances, if you want to\n * force a JavaScript array into a Vec2's specified type\n * it would be faster to use\n *\n * ```\n * const v = vec2.clone(someJSArray);\n * ```\n *\n * Note: a consequence of the implementation is if your Vec2Type = `Array`\n * instead of `Float32Array` or `Float64Array` then any values you\n * don't pass in will be undefined. Usually this is not an issue since\n * (a) using `Array` is rare and (b) using `vec2.create` is usually used\n * to create a Vec2 to be filled out as in\n *\n * ```\n * const sum = vec2.create();\n * vec2.add(v1, v2, sum);\n * ```\n *\n * @param x - Initial x value.\n * @param y - Initial y value.\n * @returns the created vector\n */\nexport function create(x = 0, y = 0): Vec2 {\n  const dst = new VecType(2);\n  if (x !== undefined) {\n    dst[0] = x;\n    if (y !== undefined) {\n      dst[1] = y;\n    }\n  }\n  return dst;\n}\n","/*\n * Copyright 2022 Gregg Tavares\n *\n * Permission is hereby granted, free of charge, to any person obtaining a\n * copy of this software and associated documentation files (the \"Software\"),\n * to deal in the Software without restriction, including without limitation\n * the rights to use, copy, modify, merge, publish, distribute, sublicense,\n * and/or sell copies of the Software, and to permit persons to whom the\n * Software is furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL\n * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER\n * DEALINGS IN THE SOFTWARE.\n */\n\n/**\n * A JavaScript array with 3 values, Float32Array with 3 values, or a Float64Array with 3 values.\n * When created by the library will create the default type which is `Float32Array`\n * but can be set by calling {@link vec3.setDefaultType}.\n */\nexport type Vec3 = number[] | Float32Array | Float64Array;\n\n/**\n *\n * Vec3 math functions.\n *\n * Almost all functions take an optional `dst` argument. If it is not passed in the\n * functions will create a new `Vec3`. In other words you can do this\n *\n *     const v = vec3.cross(v1, v2);  // Creates a new Vec3 with the cross product of v1 x v2.\n *\n * or\n *\n *     const v = vec3.create();\n *     vec3.cross(v1, v2, v);  // Puts the cross product of v1 x v2 in v\n *\n * The first style is often easier but depending on where it's used it generates garbage where\n * as there is almost never allocation with the second style.\n *\n * It is always safe to pass any vector as the destination. So for example\n *\n *     vec3.cross(v1, v2, v1);  // Puts the cross product of v1 x v2 in v1\n *\n */\n\nexport let VecType: new (n: number) => Vec3 = Float32Array;\n\n/**\n * Sets the type this library creates for a Vec3\n * @param ctor - the constructor for the type. Either `Float32Array`, `Float64Array`, or `Array`\n * @returns previous constructor for Vec3\n */\nexport function setDefaultType(ctor: new (n: number) => Vec3) {\n  const oldType = VecType;\n  VecType = ctor;\n  return oldType;\n}\n\n/**\n * Creates a vec3; may be called with x, y, z to set initial values.\n * @param x - Initial x value.\n * @param y - Initial y value.\n * @param z - Initial z value.\n * @returns the created vector\n */\nexport function create(x?: number, y?: number, z?: number): Vec3 {\n  const dst = new VecType(3);\n  if (x !== undefined) {\n    dst[0] = x;\n    if (y !== undefined) {\n      dst[1] = y;\n      if (z !== undefined) {\n        dst[2] = z;\n      }\n    }\n  }\n  return dst;\n}","/*\n * Copyright 2022 Gregg Tavares\n *\n * Permission is hereby granted, free of charge, to any person obtaining a\n * copy of this software and associated documentation files (the \"Software\"),\n * to deal in the Software without restriction, including without limitation\n * the rights to use, copy, modify, merge, publish, distribute, sublicense,\n * and/or sell copies of the Software, and to permit persons to whom the\n * Software is furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL\n * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER\n * DEALINGS IN THE SOFTWARE.\n */\nimport * as utils from './utils.js';\nimport { Mat3 } from './mat3';\nimport { Mat4 } from './mat4';\nimport { Vec2, create, setDefaultType, VecType } from './vec2';\nimport { Vec3, VecType as Vec3Type } from './vec3';\n\nexport default Vec2;\nexport { create, setDefaultType };\n\n/**\n * Creates a Vec2; may be called with x, y, z to set initial values. (same as create)\n * @param x - Initial x value.\n * @param y - Initial y value.\n * @returns the created vector\n */\nexport const fromValues = create;\n\n/**\n * Sets the values of a Vec2\n * Also see {@link vec2.create} and {@link vec2.copy}\n *\n * @param x first value\n * @param y second value\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector with its elements set.\n */\nexport function set(x: number, y: number, dst?: Vec2) {\n  dst = dst || new VecType(2);\n\n  dst[0] = x;\n  dst[1] = y;\n\n  return dst;\n}\n\n/**\n * Applies Math.ceil to each element of vector\n * @param v - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the ceil of each element of v.\n */\nexport function ceil(v: Vec2, dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  dst[0] = Math.ceil(v[0]);\n  dst[1] = Math.ceil(v[1]);\n\n  return dst;\n}\n\n/**\n * Applies Math.floor to each element of vector\n * @param v - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the floor of each element of v.\n */\nexport function floor(v: Vec2, dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  dst[0] = Math.floor(v[0]);\n  dst[1] = Math.floor(v[1]);\n\n  return dst;\n}\n\n/**\n * Applies Math.round to each element of vector\n * @param v - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the round of each element of v.\n */\nexport function round(v: Vec2, dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  dst[0] = Math.round(v[0]);\n  dst[1] = Math.round(v[1]);\n\n  return dst;\n}\n\n/**\n * Clamp each element of vector between min and max\n * @param v - Operand vector.\n * @param max - Min value, default 0\n * @param min - Max value, default 1\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that the clamped value of each element of v.\n */\nexport function clamp(v: Vec2, min = 0, max = 1, dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  dst[0] = Math.min(max, Math.max(min, v[0]));\n  dst[1] = Math.min(max, Math.max(min, v[1]));\n\n  return dst;\n}\n\n/**\n * Adds two vectors; assumes a and b have the same dimension.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the sum of a and b.\n */\nexport function add(a: Vec2, b: Vec2, dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  dst[0] = a[0] + b[0];\n  dst[1] = a[1] + b[1];\n\n  return dst;\n}\n\n/**\n * Adds two vectors, scaling the 2nd; assumes a and b have the same dimension.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param scale - Amount to scale b\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the sum of a + b * scale.\n */\nexport function addScaled(a: Vec2, b: Vec2, scale: number, dst?: Vec2) {\n  dst = dst || new VecType(2);\n\n  dst[0] = a[0] + b[0] * scale;\n  dst[1] = a[1] + b[1] * scale;\n\n  return dst;\n}\n\n/**\n * Returns the angle in radians between two vectors.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @returns The angle in radians between the 2 vectors.\n */\nexport function angle(a: Vec2, b: Vec2): number {\n  const ax = a[0];\n  const ay = a[1];\n  const bx = a[0];\n  const by = a[1];\n  const mag1 = Math.sqrt(ax * ax + ay * ay);\n  const mag2 = Math.sqrt(bx * bx + by * by);\n  const mag = mag1 * mag2;\n  const cosine = mag && dot(a, b) / mag;\n  return Math.acos(cosine);\n}\n\n/**\n * Subtracts two vectors.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the difference of a and b.\n */\nexport function subtract(a: Vec2, b: Vec2, dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  dst[0] = a[0] - b[0];\n  dst[1] = a[1] - b[1];\n\n  return dst;\n}\n\n/**\n * Subtracts two vectors.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the difference of a and b.\n */\nexport const sub = subtract;\n\n/**\n * Check if 2 vectors are approximately equal\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @returns true if vectors are approximately equal\n */\nexport function equalsApproximately(a: Vec2, b: Vec2): boolean {\n  return Math.abs(a[0] - b[0]) < utils.EPSILON &&\n         Math.abs(a[1] - b[1]) < utils.EPSILON;\n}\n\n/**\n * Check if 2 vectors are exactly equal\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @returns true if vectors are exactly equal\n */\nexport function equals(a: Vec2, b: Vec2): boolean {\n  return a[0] === b[0] && a[1] === b[1];\n}\n\n/**\n * Performs linear interpolation on two vectors.\n * Given vectors a and b and interpolation coefficient t, returns\n * a + t * (b - a).\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param t - Interpolation coefficient.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The linear interpolated result.\n */\nexport function lerp(a: Vec2, b: Vec2, t: number, dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  dst[0] = a[0] + t * (b[0] - a[0]);\n  dst[1] = a[1] + t * (b[1] - a[1]);\n\n  return dst;\n}\n\n/**\n * Performs linear interpolation on two vectors.\n * Given vectors a and b and interpolation coefficient vector t, returns\n * a + t * (b - a).\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param t - Interpolation coefficients vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns the linear interpolated result.\n */\nexport function lerpV(a: Vec2, b: Vec2, t: Vec2, dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  dst[0] = a[0] + t[0] * (b[0] - a[0]);\n  dst[1] = a[1] + t[1] * (b[1] - a[1]);\n\n  return dst;\n}\n\n/**\n * Return max values of two vectors.\n * Given vectors a and b returns\n * [max(a[0], b[0]), max(a[1], b[1]), max(a[2], b[2])].\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The max components vector.\n */\nexport function max(a: Vec2, b: Vec2, dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  dst[0] = Math.max(a[0], b[0]);\n  dst[1] = Math.max(a[1], b[1]);\n\n  return dst;\n}\n\n/**\n * Return min values of two vectors.\n * Given vectors a and b returns\n * [min(a[0], b[0]), min(a[1], b[1]), min(a[2], b[2])].\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The min components vector.\n */\nexport function min(a: Vec2, b: Vec2, dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  dst[0] = Math.min(a[0], b[0]);\n  dst[1] = Math.min(a[1], b[1]);\n\n  return dst;\n}\n\n/**\n * Multiplies a vector by a scalar.\n * @param v - The vector.\n * @param k - The scalar.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The scaled vector.\n */\nexport function mulScalar(v: Vec2, k: number, dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  dst[0] = v[0] * k;\n  dst[1] = v[1] * k;\n\n  return dst;\n}\n\n/**\n * Multiplies a vector by a scalar. (same as mulScalar)\n * @param v - The vector.\n * @param k - The scalar.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The scaled vector.\n */\nexport const scale = mulScalar;\n\n/**\n * Divides a vector by a scalar.\n * @param v - The vector.\n * @param k - The scalar.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The scaled vector.\n */\nexport function divScalar(v: Vec2, k: number, dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  dst[0] = v[0] / k;\n  dst[1] = v[1] / k;\n\n  return dst;\n}\n\n/**\n * Inverse a vector.\n * @param v - The vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The inverted vector.\n */\nexport function inverse(v: Vec2, dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  dst[0] = 1 / v[0];\n  dst[1] = 1 / v[1];\n\n  return dst;\n}\n\n/**\n * Invert a vector. (same as inverse)\n * @param v - The vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The inverted vector.\n */\nexport const invert = inverse;\n\n/**\n * Computes the cross product of two vectors; assumes both vectors have\n * three entries.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The vector of a cross b.\n */\nexport function cross(a: Vec2, b: Vec2, dst?: Vec3): Vec3 {\n  dst = dst || new Vec3Type(3);\n  const z = a[0] * b[1] - a[1] * b[0];\n  dst[0] = 0;\n  dst[1] = 0;\n  dst[2] = z;\n\n  return dst;\n}\n\n/**\n * Computes the dot product of two vectors; assumes both vectors have\n * three entries.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @returns dot product\n */\nexport function dot(a: Vec2, b: Vec2): number {\n  return a[0] * b[0] + a[1] * b[1];\n}\n\n/**\n * Computes the length of vector\n * @param v - vector.\n * @returns length of vector.\n */\nexport function length(v: Vec2): number {\n  const v0 = v[0];\n  const v1 = v[1];\n  return Math.sqrt(v0 * v0 + v1 * v1);\n}\n\n/**\n * Computes the length of vector (same as length)\n * @param v - vector.\n * @returns length of vector.\n */\nexport const len = length;\n\n/**\n * Computes the square of the length of vector\n * @param v - vector.\n * @returns square of the length of vector.\n */\nexport function lengthSq(v: Vec2): number {\n  const v0 = v[0];\n  const v1 = v[1];\n  return v0 * v0 + v1 * v1;\n}\n\n/**\n * Computes the square of the length of vector (same as lengthSq)\n * @param v - vector.\n * @returns square of the length of vector.\n */\nexport const lenSq = lengthSq;\n\n/**\n * Computes the distance between 2 points\n * @param a - vector.\n * @param b - vector.\n * @returns distance between a and b\n */\nexport function distance(a: Vec2, b: Vec2): number {\n  const dx = a[0] - b[0];\n  const dy = a[1] - b[1];\n  return Math.sqrt(dx * dx + dy * dy);\n}\n\n/**\n * Computes the distance between 2 points (same as distance)\n * @param a - vector.\n * @param b - vector.\n * @returns distance between a and b\n */\nexport const dist = distance;\n\n/**\n * Computes the square of the distance between 2 points\n * @param a - vector.\n * @param b - vector.\n * @returns square of the distance between a and b\n */\nexport function distanceSq(a: Vec2, b: Vec2): number {\n  const dx = a[0] - b[0];\n  const dy = a[1] - b[1];\n  return dx * dx + dy * dy;\n}\n\n/**\n * Computes the square of the distance between 2 points (same as distanceSq)\n * @param a - vector.\n * @param b - vector.\n * @returns square of the distance between a and b\n */\nexport const distSq = distanceSq;\n\n/**\n * Divides a vector by its Euclidean length and returns the quotient.\n * @param v - The vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The normalized vector.\n */\nexport function normalize(v: Vec2, dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  const v0 = v[0];\n  const v1 = v[1];\n  const len = Math.sqrt(v0 * v0 + v1 * v1);\n\n  if (len > 0.00001) {\n    dst[0] = v0 / len;\n    dst[1] = v1 / len;\n  } else {\n    dst[0] = 0;\n    dst[1] = 0;\n  }\n\n  return dst;\n}\n\n/**\n * Negates a vector.\n * @param v - The vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns -v.\n */\nexport function negate(v: Vec2, dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  dst[0] = -v[0];\n  dst[1] = -v[1];\n\n  return dst;\n}\n\n/**\n * Copies a vector. (same as {@link vec2.clone})\n * Also see {@link vec2.create} and {@link vec2.set}\n * @param v - The vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A copy of v.\n */\nexport function copy(v: Vec2, dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  dst[0] = v[0];\n  dst[1] = v[1];\n\n  return dst;\n}\n\n/**\n * Clones a vector. (same as {@link vec2.copy})\n * Also see {@link vec2.create} and {@link vec2.set}\n * @param v - The vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A copy of v.\n */\nexport const clone = copy;\n\n/**\n * Multiplies a vector by another vector (component-wise); assumes a and\n * b have the same length.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The vector of products of entries of a and b.\n */\nexport function multiply(a: Vec2, b: Vec2, dst?: Vec2) {\n  dst = dst || new VecType(2);\n\n  dst[0] = a[0] * b[0];\n  dst[1] = a[1] * b[1];\n\n  return dst;\n}\n\n/**\n * Multiplies a vector by another vector (component-wise); assumes a and\n * b have the same length. (same as mul)\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The vector of products of entries of a and b.\n */\nexport const mul = multiply;\n\n/**\n * Divides a vector by another vector (component-wise); assumes a and\n * b have the same length.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The vector of quotients of entries of a and b.\n */\nexport function divide(a: Vec2, b: Vec2, dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  dst[0] = a[0] / b[0];\n  dst[1] = a[1] / b[1];\n\n  return dst;\n}\n\n/**\n * Divides a vector by another vector (component-wise); assumes a and\n * b have the same length. (same as divide)\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The vector of quotients of entries of a and b.\n */\nexport const div = divide;\n\n/**\n * Creates a random unit vector * scale\n * @param scale - Default 1\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The random vector.\n */\nexport function random(scale = 1, dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  const angle = Math.random() * 2 * Math.PI;\n  dst[0] = Math.cos(angle) * scale;\n  dst[1] = Math.sin(angle) * scale;\n\n  return dst;\n}\n\n/**\n * Zero's a vector\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The zeroed vector.\n */\nexport function zero(dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  dst[0] = 0;\n  dst[1] = 0;\n\n  return dst;\n}\n\n\n/**\n * transform Vec2 by 4x4 matrix\n * @param v - the vector\n * @param m - The matrix.\n * @param dst - optional Vec2 to store result. If not passed a new one is created.\n * @returns the transformed vector\n */\nexport function transformMat4(v: Vec2, m: Mat4, dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  const x = v[0];\n  const y = v[1];\n\n  dst[0] = x * m[0] + y * m[4] + m[12];\n  dst[1] = x * m[1] + y * m[5] + m[13];\n\n  return dst;\n}\n\n/**\n * Transforms vec4 by 3x3 matrix\n *\n * @param v - the vector\n * @param m - The matrix.\n * @param dst - optional Vec2 to store result. If not passed a new one is created.\n * @returns the transformed vector\n */\nexport function transformMat3(v: Vec2, m: Mat3, dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  const x = v[0];\n  const y = v[1];\n\n  dst[0] = m[0] * x + m[4] * y + m[8];\n  dst[1] = m[1] * x + m[5] * y + m[9];\n\n  return dst;\n}\n\n/**\n * Rotate a 2D vector\n *\n * @param a The vec2 point to rotate\n * @param b The origin of the rotation\n * @param rad The angle of rotation in radians\n * @returns the rotated vector\n */\nexport function rotate(a: Vec2, b: Vec2, rad: number, dst?: Vec2) {\n  dst = dst || new VecType(2);\n\n  // Translate point to the origin\n  const p0 = a[0] - b[0];\n  const p1 = a[1] - b[1];\n  const sinC = Math.sin(rad);\n  const cosC = Math.cos(rad);\n\n  //perform rotation and translate to correct position\n  dst[0] = p0 * cosC - p1 * sinC + b[0];\n  dst[1] = p0 * sinC + p1 * cosC + b[1];\n\n  return dst;\n}\n\n/**\n * Treat a 2D vector as a direction and set it's length\n *\n * @param a The vec2 to lengthen\n * @param len The length of the resulting vector\n * @returns The lengthened vector\n */\nexport function setLength(a: Vec2, len: number, dst?: Vec2) {\n  dst = dst || new VecType(2);\n  normalize(a, dst);\n  return mulScalar(dst, len, dst);\n}\n\n/**\n * Ensure a vector is not longer than a max length\n *\n * @param a The vec2 to limit\n * @param maxLen The longest length of the resulting vector\n * @returns The vector, shortened to maxLen if it's too long\n */\nexport function truncate(a: Vec2, maxLen: number, dst?: Vec2) {\n  dst = dst || new VecType(2);\n\n  if (length(a) > maxLen) {\n    return setLength(a, maxLen, dst);\n  }\n\n  return copy(a, dst);\n}\n\n/**\n * Return the vector exactly between 2 endpoint vectors\n *\n * @param a Endpoint 1\n * @param b Endpoint 2\n * @returns The vector exactly residing between endpoints 1 and 2\n */\nexport function midpoint(a: Vec2, b: Vec2, dst?: Vec2) {\n  dst = dst || new VecType(2);\n  return lerp(a, b, 0.5, dst);\n}\n","/*\n * Copyright 2022 Gregg Tavares\n *\n * Permission is hereby granted, free of charge, to any person obtaining a\n * copy of this software and associated documentation files (the \"Software\"),\n * to deal in the Software without restriction, including without limitation\n * the rights to use, copy, modify, merge, publish, distribute, sublicense,\n * and/or sell copies of the Software, and to permit persons to whom the\n * Software is furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL\n * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER\n * DEALINGS IN THE SOFTWARE.\n */\n\nimport * as utils from './utils.js';\nimport { Quat } from './quat';\nimport { Mat3 } from './mat3';\nimport { Mat4 } from './mat4';\nimport Vec2, * as vec2 from './vec2-impl';\n\nexport default Mat3;\n\nexport type Mat3LikeCtor = new (n: number) => Mat3;\n\n/**\n * 3x3 Matrix math math functions.\n *\n * Almost all functions take an optional `dst` argument. If it is not passed in the\n * functions will create a new matrix. In other words you can do this\n *\n *     const mat = mat3.translation([1, 2, 3]);  // Creates a new translation matrix\n *\n * or\n *\n *     const mat = mat3.create();\n *     mat3.translation([1, 2, 3], mat);  // Puts translation matrix in mat.\n *\n * The first style is often easier but depending on where it's used it generates garbage where\n * as there is almost never allocation with the second style.\n *\n * It is always save to pass any matrix as the destination. So for example\n *\n *     const mat = mat3.identity();\n *     const trans = mat3.translation([1, 2, 3]);\n *     mat3.multiply(mat, trans, mat);  // Multiplies mat * trans and puts result in mat.\n *\n */\nlet MatType: Mat3LikeCtor = Float32Array;\n\n// This mess is because with Mat3 we have 3 unused elements.\n// For Float32Array and Float64Array that's not an issue\n// but for Array it's troublesome\nconst ctorMap = new Map<Mat3LikeCtor,() => Mat3>([\n  [Float32Array, () => new Float32Array(12)],\n  [Float64Array, () => new Float64Array(12)],\n  [Array, () => new Array(12).fill(0)],\n]);\nlet newMat3: () => Mat3 = ctorMap.get(Float32Array)!;\n\n/**\n * Sets the type this library creates for a Mat3\n * @param ctor - the constructor for the type. Either `Float32Array`, `Float64Array`, or `Array`\n * @returns previous constructor for Mat3\n */\nexport function setDefaultType(ctor: new (n: number) => Mat3) {\n  const oldType = MatType;\n  MatType = ctor;\n  newMat3 = ctorMap.get(ctor)!;\n  return oldType;\n}\n\n/**\n * Create a Mat3 from values\n *\n * Note: Since passing in a raw JavaScript array\n * is valid in all circumstances, if you want to\n * force a JavaScript array into a Mat3's specified type\n * it would be faster to use\n *\n * ```\n * const m = mat3.clone(someJSArray);\n * ```\n *\n * Note: a consequence of the implementation is if your Mat3Type = `Array`\n * instead of `Float32Array` or `Float64Array` then any values you\n * don't pass in will be undefined. Usually this is not an issue since\n * (a) using `Array` is rare and (b) using `mat3.create` is usually used\n * to create a Mat3 to be filled out as in\n *\n * ```\n * const m = mat3.create();\n * mat3.perspective(fov, aspect, near, far, m);\n * ```\n *\n * @param v0 - value for element 0\n * @param v1 - value for element 1\n * @param v2 - value for element 2\n * @param v3 - value for element 3\n * @param v4 - value for element 4\n * @param v5 - value for element 5\n * @param v6 - value for element 6\n * @param v7 - value for element 7\n * @param v8 - value for element 8\n * @returns matrix created from values.\n */\nexport function create(\n    v0?: number, v1?: number, v2?: number,\n    v3?: number, v4?: number, v5?: number,\n    v6?: number, v7?: number, v8?: number): Mat3 {\n  const dst = newMat3();\n  // to make the array homogenous\n  dst[3] = 0;\n  dst[7] = 0;\n  dst[11] = 0;\n\n  if (v0 !== undefined) {\n    dst[0] = v0;\n    if (v1 !== undefined) {\n      dst[1] = v1;\n      if (v2 !== undefined) {\n        dst[2] = v2;\n        if (v3 !== undefined) {\n          dst[4] = v3;\n          if (v4 !== undefined) {\n            dst[5] = v4;\n            if (v5 !== undefined) {\n              dst[6] = v5;\n              if (v6 !== undefined) {\n                dst[8] = v6;\n                if (v7 !== undefined) {\n                  dst[9] = v7;\n                  if (v8 !== undefined) {\n                    dst[10] = v8;\n                  }\n                }\n              }\n            }\n          }\n        }\n      }\n    }\n  }\n\n  return dst;\n}\n\n/**\n * Sets the values of a Mat3\n * Also see {@link mat3.create} and {@link mat3.copy}\n *\n * @param v0 - value for element 0\n * @param v1 - value for element 1\n * @param v2 - value for element 2\n * @param v3 - value for element 3\n * @param v4 - value for element 4\n * @param v5 - value for element 5\n * @param v6 - value for element 6\n * @param v7 - value for element 7\n * @param v8 - value for element 8\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns Mat3 set from values.\n */\nexport function set(\n    v0: number, v1: number, v2: number,\n    v3: number, v4: number, v5: number,\n    v6: number, v7: number, v8: number, dst?: Mat3) {\n  dst = dst || newMat3();\n\n  dst[0] = v0;  dst[1] = v1;  dst[ 2] = v2;  dst[ 3] = 0;\n  dst[4] = v3;  dst[5] = v4;  dst[ 6] = v5;  dst[ 7] = 0;\n  dst[8] = v6;  dst[9] = v7;  dst[10] = v8;  dst[11] = 0;\n\n  return dst;\n}\n\n/**\n * Creates a Mat3 from the upper left 3x3 part of a Mat4\n * @param m4 - source matrix\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns Mat3 made from m4\n */\nexport function fromMat4(m4: Mat4, dst?: Mat3): Mat3 {\n  dst = dst || newMat3();\n  dst[0] = m4[0];  dst[1] = m4[1];  dst[ 2] = m4[ 2];  dst[ 3] = 0;\n  dst[4] = m4[4];  dst[5] = m4[5];  dst[ 6] = m4[ 6];  dst[ 7] = 0;\n  dst[8] = m4[8];  dst[9] = m4[9];  dst[10] = m4[10];  dst[11] = 0;\n  return dst;\n}\n\n/**\n * Creates a Mat3 rotation matrix from a quaternion\n * @param q - quaternion to create matrix from\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns Mat3 made from q\n */\nexport function fromQuat(q: Quat, dst?: Mat3): Mat3 {\n  dst = dst || newMat3();\n\n  const x = q[0]; const y = q[1]; const z = q[2]; const w = q[3];\n  const x2 = x + x; const y2 = y + y; const z2 = z + z;\n\n  const xx = x * x2;\n  const yx = y * x2;\n  const yy = y * y2;\n  const zx = z * x2;\n  const zy = z * y2;\n  const zz = z * z2;\n  const wx = w * x2;\n  const wy = w * y2;\n  const wz = w * z2;\n\n  dst[ 0] = 1 - yy - zz;  dst[ 1] = yx + wz;      dst[ 2] = zx - wy;      dst[ 3] = 0;\n  dst[ 4] = yx - wz;      dst[ 5] = 1 - xx - zz;  dst[ 6] = zy + wx;      dst[ 7] = 0;\n  dst[ 8] = zx + wy;      dst[ 9] = zy - wx;      dst[10] = 1 - xx - yy;  dst[11] = 0;\n\n  return dst;\n}\n\n/**\n * Negates a matrix.\n * @param m - The matrix.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns -m.\n */\nexport function negate(m: Mat3, dst?: Mat3): Mat3 {\n  dst = dst || newMat3();\n\n  dst[ 0] = -m[ 0];  dst[ 1] = -m[ 1];  dst[ 2] = -m[ 2];\n  dst[ 4] = -m[ 4];  dst[ 5] = -m[ 5];  dst[ 6] = -m[ 6];\n  dst[ 8] = -m[ 8];  dst[ 9] = -m[ 9];  dst[10] = -m[10];\n\n  return dst;\n}\n\n/**\n * Copies a matrix. (same as {@link mat3.clone})\n * Also see {@link mat3.create} and {@link mat3.set}\n * @param m - The matrix.\n * @param dst - The matrix. If not passed a new one is created.\n * @returns A copy of m.\n */\nexport function copy(m: Mat3, dst?: Mat3): Mat3 {\n  dst = dst || newMat3();\n\n  dst[ 0] = m[ 0];  dst[ 1] = m[ 1];  dst[ 2] = m[ 2];\n  dst[ 4] = m[ 4];  dst[ 5] = m[ 5];  dst[ 6] = m[ 6];\n  dst[ 8] = m[ 8];  dst[ 9] = m[ 9];  dst[10] = m[10];\n\n  return dst;\n}\n\n/**\n * Copies a matrix (same as {@link mat3.copy})\n * Also see {@link mat3.create} and {@link mat3.set}\n * @param m - The matrix.\n * @param dst - The matrix. If not passed a new one is created.\n * @returns A copy of m.\n */\nexport const clone = copy;\n\n/**\n * Check if 2 matrices are approximately equal\n * @param a Operand matrix.\n * @param b Operand matrix.\n * @returns true if matrices are approximately equal\n */\nexport function equalsApproximately(a: Mat3, b: Mat3): boolean {\n  return Math.abs(a[ 0] - b[ 0]) < utils.EPSILON &&\n         Math.abs(a[ 1] - b[ 1]) < utils.EPSILON &&\n         Math.abs(a[ 2] - b[ 2]) < utils.EPSILON &&\n         Math.abs(a[ 4] - b[ 4]) < utils.EPSILON &&\n         Math.abs(a[ 5] - b[ 5]) < utils.EPSILON &&\n         Math.abs(a[ 6] - b[ 6]) < utils.EPSILON &&\n         Math.abs(a[ 8] - b[ 8]) < utils.EPSILON &&\n         Math.abs(a[ 9] - b[ 9]) < utils.EPSILON &&\n         Math.abs(a[10] - b[10]) < utils.EPSILON;\n}\n\n/**\n * Check if 2 matrices are exactly equal\n * @param a Operand matrix.\n * @param b Operand matrix.\n * @returns true if matrices are exactly equal\n */\nexport function equals(a: Mat3, b: Mat3): boolean {\n  return a[ 0] === b[ 0] &&\n         a[ 1] === b[ 1] &&\n         a[ 2] === b[ 2] &&\n         a[ 4] === b[ 4] &&\n         a[ 5] === b[ 5] &&\n         a[ 6] === b[ 6] &&\n         a[ 8] === b[ 8] &&\n         a[ 9] === b[ 9] &&\n         a[10] === b[10];\n}\n\n/**\n * Creates a 3-by-3 identity matrix.\n *\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns A 3-by-3 identity matrix.\n */\nexport function identity(dst?: Mat3): Mat3 {\n  dst = dst || newMat3();\n\n  dst[ 0] = 1;  dst[ 1] = 0;  dst[ 2] = 0;\n  dst[ 4] = 0;  dst[ 5] = 1;  dst[ 6] = 0;\n  dst[ 8] = 0;  dst[ 9] = 0;  dst[10] = 1;\n\n  return dst;\n}\n\n/**\n * Takes the transpose of a matrix.\n * @param m - The matrix.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The transpose of m.\n */\nexport function transpose(m: Mat3, dst?: Mat3): Mat3 {\n  dst = dst || newMat3();\n  if (dst === m) {\n    let t: number;\n\n    // 0 1 2\n    // 4 5 6\n    // 8 9 10\n\n    t = m[1];\n    m[1] = m[4];\n    m[4] = t;\n\n    t = m[2];\n    m[2] = m[8];\n    m[8] = t;\n\n    t = m[6];\n    m[6] = m[9];\n    m[9] = t;\n\n    return dst;\n  }\n\n  const m00 = m[0 * 4 + 0];\n  const m01 = m[0 * 4 + 1];\n  const m02 = m[0 * 4 + 2];\n  const m10 = m[1 * 4 + 0];\n  const m11 = m[1 * 4 + 1];\n  const m12 = m[1 * 4 + 2];\n  const m20 = m[2 * 4 + 0];\n  const m21 = m[2 * 4 + 1];\n  const m22 = m[2 * 4 + 2];\n\n  dst[ 0] = m00;  dst[ 1] = m10;  dst[ 2] = m20;\n  dst[ 4] = m01;  dst[ 5] = m11;  dst[ 6] = m21;\n  dst[ 8] = m02;  dst[ 9] = m12;  dst[10] = m22;\n\n  return dst;\n}\n\n/**\n * Computes the inverse of a 3-by-3 matrix.\n * @param m - The matrix.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The inverse of m.\n */\nexport function inverse(m: Mat3, dst?: Mat3): Mat3 {\n  dst = dst || newMat3();\n\n  const m00 = m[0 * 4 + 0];\n  const m01 = m[0 * 4 + 1];\n  const m02 = m[0 * 4 + 2];\n  const m10 = m[1 * 4 + 0];\n  const m11 = m[1 * 4 + 1];\n  const m12 = m[1 * 4 + 2];\n  const m20 = m[2 * 4 + 0];\n  const m21 = m[2 * 4 + 1];\n  const m22 = m[2 * 4 + 2];\n\n  const b01 =  m22 * m11 - m12 * m21;\n  const b11 = -m22 * m10 + m12 * m20;\n  const b21 =  m21 * m10 - m11 * m20;\n\n  const invDet = 1 / (m00 * b01 + m01 * b11 + m02 * b21);\n\n  dst[ 0] = b01 * invDet;\n  dst[ 1] = (-m22 * m01 + m02 * m21) * invDet;\n  dst[ 2] = ( m12 * m01 - m02 * m11) * invDet;\n  dst[ 4] = b11 * invDet;\n  dst[ 5] = ( m22 * m00 - m02 * m20) * invDet;\n  dst[ 6] = (-m12 * m00 + m02 * m10) * invDet;\n  dst[ 8] = b21 * invDet;\n  dst[ 9] = (-m21 * m00 + m01 * m20) * invDet;\n  dst[10] = ( m11 * m00 - m01 * m10) * invDet;\n\n  return dst;\n}\n\n/**\n * Compute the determinant of a matrix\n * @param m - the matrix\n * @returns the determinant\n */\nexport function determinant(m: Mat3): number {\n  const m00 = m[0 * 4 + 0];\n  const m01 = m[0 * 4 + 1];\n  const m02 = m[0 * 4 + 2];\n  const m10 = m[1 * 4 + 0];\n  const m11 = m[1 * 4 + 1];\n  const m12 = m[1 * 4 + 2];\n  const m20 = m[2 * 4 + 0];\n  const m21 = m[2 * 4 + 1];\n  const m22 = m[2 * 4 + 2];\n\n  return m00 * (m11 * m22 - m21 * m12) -\n         m10 * (m01 * m22 - m21 * m02) +\n         m20 * (m01 * m12 - m11 * m02);\n}\n\n/**\n * Computes the inverse of a 3-by-3 matrix. (same as inverse)\n * @param m - The matrix.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The inverse of m.\n */\nexport const invert = inverse;\n\n/**\n * Multiplies two 3-by-3 matrices with a on the left and b on the right\n * @param a - The matrix on the left.\n * @param b - The matrix on the right.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The matrix product of a and b.\n */\nexport function multiply(a: Mat3, b: Mat3, dst?: Mat3): Mat3 {\n  dst = dst || newMat3();\n\n  const a00 = a[0];\n  const a01 = a[1];\n  const a02 = a[2];\n  const a10 = a[ 4 + 0];\n  const a11 = a[ 4 + 1];\n  const a12 = a[ 4 + 2];\n  const a20 = a[ 8 + 0];\n  const a21 = a[ 8 + 1];\n  const a22 = a[ 8 + 2];\n  const b00 = b[0];\n  const b01 = b[1];\n  const b02 = b[2];\n  const b10 = b[ 4 + 0];\n  const b11 = b[ 4 + 1];\n  const b12 = b[ 4 + 2];\n  const b20 = b[ 8 + 0];\n  const b21 = b[ 8 + 1];\n  const b22 = b[ 8 + 2];\n\n  dst[ 0] = a00 * b00 + a10 * b01 + a20 * b02;\n  dst[ 1] = a01 * b00 + a11 * b01 + a21 * b02;\n  dst[ 2] = a02 * b00 + a12 * b01 + a22 * b02;\n  dst[ 4] = a00 * b10 + a10 * b11 + a20 * b12;\n  dst[ 5] = a01 * b10 + a11 * b11 + a21 * b12;\n  dst[ 6] = a02 * b10 + a12 * b11 + a22 * b12;\n  dst[ 8] = a00 * b20 + a10 * b21 + a20 * b22;\n  dst[ 9] = a01 * b20 + a11 * b21 + a21 * b22;\n  dst[10] = a02 * b20 + a12 * b21 + a22 * b22;\n\n  return dst;\n}\n\n/**\n * Multiplies two 3-by-3 matrices with a on the left and b on the right (same as multiply)\n * @param a - The matrix on the left.\n * @param b - The matrix on the right.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The matrix product of a and b.\n */\nexport const mul = multiply;\n\n/**\n * Sets the translation component of a 3-by-3 matrix to the given\n * vector.\n * @param a - The matrix.\n * @param v - The vector.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The matrix with translation set.\n */\nexport function setTranslation(a: Mat3, v: Vec2, dst?: Mat3): Mat3 {\n  dst = dst || identity();\n  if (a !== dst) {\n    dst[ 0] = a[ 0];\n    dst[ 1] = a[ 1];\n    dst[ 2] = a[ 2];\n    dst[ 4] = a[ 4];\n    dst[ 5] = a[ 5];\n    dst[ 6] = a[ 6];\n  }\n  dst[ 8] = v[0];\n  dst[ 9] = v[1];\n  dst[10] = 1;\n  return dst;\n}\n\n/**\n * Returns the translation component of a 3-by-3 matrix as a vector with 3\n * entries.\n * @param m - The matrix.\n * @param dst - vector to hold result. If not passed a new one is created.\n * @returns The translation component of m.\n */\nexport function getTranslation(m: Mat3, dst?: Vec2): Vec2 {\n  dst = dst || vec2.create();\n  dst[0] = m[8];\n  dst[1] = m[9];\n  return dst;\n}\n\n/**\n * Returns an axis of a 3x3 matrix as a vector with 2 entries\n * @param m - The matrix.\n * @param axis - The axis 0 = x, 1 = y,\n * @returns The axis component of m.\n */\nexport function getAxis(m: Mat3, axis: number, dst?: Vec2): Vec2 {\n  dst = dst || vec2.create();\n  const off = axis * 4;\n  dst[0] = m[off + 0];\n  dst[1] = m[off + 1];\n  return dst;\n}\n\n/**\n * Sets an axis of a 3x3 matrix as a vector with 2 entries\n * @param m - The matrix.\n * @param v - the axis vector\n * @param axis - The axis  0 = x, 1 = y;\n * @param dst - The matrix to set. If not passed a new one is created.\n * @returns The matrix with axis set.\n */\nexport function setAxis(m: Mat3, v: Vec2, axis: number, dst?: Mat3): Mat3 {\n  if (dst !== m) {\n    dst = copy(m, dst);\n  }\n  const off = axis * 4;\n  dst[off + 0] = v[0];\n  dst[off + 1] = v[1];\n  return dst;\n}\n\n/**\n * Returns the scaling component of the matrix\n * @param m - The Matrix\n * @param dst - The vector to set. If not passed a new one is created.\n */\nexport function getScaling(m: Mat3, dst?: Vec2): Vec2 {\n  dst = dst || vec2.create();\n\n  const xx = m[0];\n  const xy = m[1];\n  const yx = m[4];\n  const yy = m[5];\n\n  dst[0] = Math.sqrt(xx * xx + xy * xy);\n  dst[1] = Math.sqrt(yx * yx + yy * yy);\n\n  return dst;\n}\n\n/**\n * Creates a 3-by-3 matrix which translates by the given vector v.\n * @param v - The vector by which to translate.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The translation matrix.\n */\nexport function translation(v: Vec2, dst?: Mat3): Mat3 {\n  dst = dst || newMat3();\n\n  dst[ 0] = 1;     dst[ 1] = 0;     dst[ 2] = 0;\n  dst[ 4] = 0;     dst[ 5] = 1;     dst[ 6] = 0;\n  dst[ 8] = v[0];  dst[ 9] = v[1];  dst[10] = 1;\n\n  return dst;\n}\n\n/**\n * Translates the given 3-by-3 matrix by the given vector v.\n * @param m - The matrix.\n * @param v - The vector by which to translate.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The translated matrix.\n */\nexport function translate(m: Mat3, v: Vec2, dst?: Mat3): Mat3 {\n  dst = dst || newMat3();\n\n  const v0 = v[0];\n  const v1 = v[1];\n\n  const m00 = m[0];\n  const m01 = m[1];\n  const m02 = m[2];\n  const m10 = m[1 * 4 + 0];\n  const m11 = m[1 * 4 + 1];\n  const m12 = m[1 * 4 + 2];\n  const m20 = m[2 * 4 + 0];\n  const m21 = m[2 * 4 + 1];\n  const m22 = m[2 * 4 + 2];\n\n  if (m !== dst) {\n    dst[ 0] = m00;\n    dst[ 1] = m01;\n    dst[ 2] = m02;\n    dst[ 4] = m10;\n    dst[ 5] = m11;\n    dst[ 6] = m12;\n  }\n\n  dst[ 8] = m00 * v0 + m10 * v1 + m20;\n  dst[ 9] = m01 * v0 + m11 * v1 + m21;\n  dst[10] = m02 * v0 + m12 * v1 + m22;\n\n  return dst;\n}\n\n/**\n * Creates a 3-by-3 matrix which rotates  by the given angle.\n * @param angleInRadians - The angle by which to rotate (in radians).\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The rotation matrix.\n */\nexport function rotation(angleInRadians: number, dst?: Mat3): Mat3 {\n  dst = dst || newMat3();\n\n  const c = Math.cos(angleInRadians);\n  const s = Math.sin(angleInRadians);\n\n  dst[ 0] =  c;  dst[ 1] = s;  dst[ 2] = 0;\n  dst[ 4] = -s;  dst[ 5] = c;  dst[ 6] = 0;\n  dst[ 8] =  0;  dst[ 9] = 0;  dst[10] = 1;\n\n  return dst;\n}\n\n/**\n * Rotates the given 3-by-3 matrix  by the given angle.\n * @param m - The matrix.\n * @param angleInRadians - The angle by which to rotate (in radians).\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The rotated matrix.\n */\nexport function rotate(m: Mat3, angleInRadians: number, dst?: Mat3): Mat3 {\n  dst = dst || newMat3();\n\n  const m00 = m[0 * 4 + 0];\n  const m01 = m[0 * 4 + 1];\n  const m02 = m[0 * 4 + 2];\n  const m10 = m[1 * 4 + 0];\n  const m11 = m[1 * 4 + 1];\n  const m12 = m[1 * 4 + 2];\n  const c = Math.cos(angleInRadians);\n  const s = Math.sin(angleInRadians);\n\n  dst[ 0] = c * m00 + s * m10;\n  dst[ 1] = c * m01 + s * m11;\n  dst[ 2] = c * m02 + s * m12;\n\n  dst[ 4] = c * m10 - s * m00;\n  dst[ 5] = c * m11 - s * m01;\n  dst[ 6] = c * m12 - s * m02;\n\n\n  if (m !== dst) {\n    dst[ 8] = m[ 8];\n    dst[ 9] = m[ 9];\n    dst[10] = m[10];\n  }\n\n  return dst;\n}\n\n/**\n * Creates a 3-by-3 matrix which scales in each dimension by an amount given by\n * the corresponding entry in the given vector; assumes the vector has three\n * entries.\n * @param v - A vector of\n *     2 entries specifying the factor by which to scale in each dimension.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The scaling matrix.\n */\nexport function scaling(v: Vec2, dst?: Mat3): Mat3 {\n  dst = dst || newMat3();\n\n  dst[ 0] = v[0];  dst[ 1] = 0;     dst[ 2] = 0;\n  dst[ 4] = 0;     dst[ 5] = v[1];  dst[ 6] = 0;\n  dst[ 8] = 0;     dst[ 9] = 0;     dst[10] = 1;\n\n  return dst;\n}\n\n/**\n * Scales the given 3-by-3 matrix in each dimension by an amount\n * given by the corresponding entry in the given vector; assumes the vector has\n * three entries.\n * @param m - The matrix to be modified.\n * @param v - A vector of 2 entries specifying the\n *     factor by which to scale in each dimension.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The scaled matrix.\n */\nexport function scale(m: Mat3, v: Vec2, dst?: Mat3): Mat3 {\n  dst = dst || newMat3();\n\n  const v0 = v[0];\n  const v1 = v[1];\n\n  dst[ 0] = v0 * m[0 * 4 + 0];\n  dst[ 1] = v0 * m[0 * 4 + 1];\n  dst[ 2] = v0 * m[0 * 4 + 2];\n\n  dst[ 4] = v1 * m[1 * 4 + 0];\n  dst[ 5] = v1 * m[1 * 4 + 1];\n  dst[ 6] = v1 * m[1 * 4 + 2];\n\n  if (m !== dst) {\n    dst[ 8] = m[ 8];\n    dst[ 9] = m[ 9];\n    dst[10] = m[10];\n  }\n\n  return dst;\n}\n\n/**\n * Creates a 3-by-3 matrix which scales uniformly in each dimension\n * @param s - Amount to scale\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The scaling matrix.\n */\nexport function uniformScaling(s: number, dst?: Mat3): Mat3 {\n  dst = dst || newMat3();\n\n  dst[ 0] = s;  dst[ 1] = 0;  dst[ 2] = 0;\n  dst[ 4] = 0;  dst[ 5] = s;  dst[ 6] = 0;\n  dst[ 8] = 0;  dst[ 9] = 0;  dst[10] = 1;\n\n  return dst;\n}\n\n/**\n * Scales the given 3-by-3 matrix in each dimension by an amount\n * given.\n * @param m - The matrix to be modified.\n * @param s - Amount to scale.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The scaled matrix.\n */\nexport function uniformScale(m: Mat3, s: number, dst?: Mat3): Mat3 {\n  dst = dst || newMat3();\n\n  dst[ 0] = s * m[0 * 4 + 0];\n  dst[ 1] = s * m[0 * 4 + 1];\n  dst[ 2] = s * m[0 * 4 + 2];\n\n  dst[ 4] = s * m[1 * 4 + 0];\n  dst[ 5] = s * m[1 * 4 + 1];\n  dst[ 6] = s * m[1 * 4 + 2];\n\n  if (m !== dst) {\n    dst[ 8] = m[ 8];\n    dst[ 9] = m[ 9];\n    dst[10] = m[10];\n  }\n\n  return dst;\n}\n","/*\n * Copyright 2022 Gregg Tavares\n *\n * Permission is hereby granted, free of charge, to any person obtaining a\n * copy of this software and associated documentation files (the \"Software\"),\n * to deal in the Software without restriction, including without limitation\n * the rights to use, copy, modify, merge, publish, distribute, sublicense,\n * and/or sell copies of the Software, and to permit persons to whom the\n * Software is furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL\n * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER\n * DEALINGS IN THE SOFTWARE.\n */\nimport * as utils from './utils.js';\nimport { Vec3, create, setDefaultType, VecType } from './vec3';\nimport { Mat3 } from './mat3';\nimport { Mat4 } from './mat4';\nimport { Quat } from './quat';\n\nexport default Vec3;\nexport { create, setDefaultType };\n\n/**\n * Creates a vec3; may be called with x, y, z to set initial values. (same as create)\n * @param x - Initial x value.\n * @param y - Initial y value.\n * @param z - Initial z value.\n * @returns the created vector\n */\nexport const fromValues = create;\n\n/**\n * Sets the values of a Vec3\n * Also see {@link vec3.create} and {@link vec3.copy}\n *\n * @param x first value\n * @param y second value\n * @param z third value\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector with its elements set.\n */\nexport function set(x: number, y: number, z: number, dst?: Vec3) {\n  dst = dst || new VecType(3);\n\n  dst[0] = x;\n  dst[1] = y;\n  dst[2] = z;\n\n  return dst;\n}\n\n/**\n * Applies Math.ceil to each element of vector\n * @param v - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the ceil of each element of v.\n */\nexport function ceil(v: Vec3, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  dst[0] = Math.ceil(v[0]);\n  dst[1] = Math.ceil(v[1]);\n  dst[2] = Math.ceil(v[2]);\n\n  return dst;\n}\n\n/**\n * Applies Math.floor to each element of vector\n * @param v - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the floor of each element of v.\n */\nexport function floor(v: Vec3, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  dst[0] = Math.floor(v[0]);\n  dst[1] = Math.floor(v[1]);\n  dst[2] = Math.floor(v[2]);\n\n  return dst;\n}\n\n/**\n * Applies Math.round to each element of vector\n * @param v - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the round of each element of v.\n */\nexport function round(v: Vec3, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  dst[0] = Math.round(v[0]);\n  dst[1] = Math.round(v[1]);\n  dst[2] = Math.round(v[2]);\n\n  return dst;\n}\n\n/**\n * Clamp each element of vector between min and max\n * @param v - Operand vector.\n * @param max - Min value, default 0\n * @param min - Max value, default 1\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that the clamped value of each element of v.\n */\nexport function clamp(v: Vec3, min = 0, max = 1, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  dst[0] = Math.min(max, Math.max(min, v[0]));\n  dst[1] = Math.min(max, Math.max(min, v[1]));\n  dst[2] = Math.min(max, Math.max(min, v[2]));\n\n  return dst;\n}\n\n/**\n * Adds two vectors; assumes a and b have the same dimension.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the sum of a and b.\n */\nexport function add(a: Vec3, b: Vec3, dst?: Vec3) {\n  dst = dst || new VecType(3);\n\n  dst[0] = a[0] + b[0];\n  dst[1] = a[1] + b[1];\n  dst[2] = a[2] + b[2];\n\n  return dst;\n}\n\n/**\n * Adds two vectors, scaling the 2nd; assumes a and b have the same dimension.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param scale - Amount to scale b\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the sum of a + b * scale.\n */\nexport function addScaled(a: Vec3, b: Vec3, scale: number, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  dst[0] = a[0] + b[0] * scale;\n  dst[1] = a[1] + b[1] * scale;\n  dst[2] = a[2] + b[2] * scale;\n\n  return dst;\n}\n\n/**\n * Returns the angle in radians between two vectors.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @returns The angle in radians between the 2 vectors.\n */\nexport function angle(a: Vec3, b: Vec3): number {\n  const ax = a[0];\n  const ay = a[1];\n  const az = a[2];\n  const bx = a[0];\n  const by = a[1];\n  const bz = a[2];\n  const mag1 = Math.sqrt(ax * ax + ay * ay + az * az);\n  const mag2 = Math.sqrt(bx * bx + by * by + bz * bz);\n  const mag = mag1 * mag2;\n  const cosine = mag && dot(a, b) / mag;\n  return Math.acos(cosine);\n}\n\n/**\n * Subtracts two vectors.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the difference of a and b.\n */\nexport function subtract(a: Vec3, b: Vec3, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  dst[0] = a[0] - b[0];\n  dst[1] = a[1] - b[1];\n  dst[2] = a[2] - b[2];\n\n  return dst;\n}\n\n/**\n * Subtracts two vectors.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the difference of a and b.\n */\nexport const sub = subtract;\n\n/**\n * Check if 2 vectors are approximately equal\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @returns true if vectors are approximately equal\n */\nexport function equalsApproximately(a: Vec3, b: Vec3): boolean {\n  return Math.abs(a[0] - b[0]) < utils.EPSILON &&\n         Math.abs(a[1] - b[1]) < utils.EPSILON &&\n         Math.abs(a[2] - b[2]) < utils.EPSILON;\n}\n\n/**\n * Check if 2 vectors are exactly equal\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @returns true if vectors are exactly equal\n */\nexport function equals(a: Vec3, b: Vec3): boolean {\n  return a[0] === b[0] && a[1] === b[1] && a[2] === b[2];\n}\n\n/**\n * Performs linear interpolation on two vectors.\n * Given vectors a and b and interpolation coefficient t, returns\n * a + t * (b - a).\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param t - Interpolation coefficient.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The linear interpolated result.\n */\nexport function lerp(a: Vec3, b: Vec3, t: number, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  dst[0] = a[0] + t * (b[0] - a[0]);\n  dst[1] = a[1] + t * (b[1] - a[1]);\n  dst[2] = a[2] + t * (b[2] - a[2]);\n\n  return dst;\n}\n\n/**\n * Performs linear interpolation on two vectors.\n * Given vectors a and b and interpolation coefficient vector t, returns\n * a + t * (b - a).\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param t - Interpolation coefficients vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns the linear interpolated result.\n */\nexport function lerpV(a: Vec3, b: Vec3, t: Vec3, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  dst[0] = a[0] + t[0] * (b[0] - a[0]);\n  dst[1] = a[1] + t[1] * (b[1] - a[1]);\n  dst[2] = a[2] + t[2] * (b[2] - a[2]);\n\n  return dst;\n}\n\n/**\n * Return max values of two vectors.\n * Given vectors a and b returns\n * [max(a[0], b[0]), max(a[1], b[1]), max(a[2], b[2])].\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The max components vector.\n */\nexport function max(a: Vec3, b: Vec3, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  dst[0] = Math.max(a[0], b[0]);\n  dst[1] = Math.max(a[1], b[1]);\n  dst[2] = Math.max(a[2], b[2]);\n\n  return dst;\n}\n\n/**\n * Return min values of two vectors.\n * Given vectors a and b returns\n * [min(a[0], b[0]), min(a[1], b[1]), min(a[2], b[2])].\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The min components vector.\n */\nexport function min(a: Vec3, b: Vec3, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  dst[0] = Math.min(a[0], b[0]);\n  dst[1] = Math.min(a[1], b[1]);\n  dst[2] = Math.min(a[2], b[2]);\n\n  return dst;\n}\n\n/**\n * Multiplies a vector by a scalar.\n * @param v - The vector.\n * @param k - The scalar.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The scaled vector.\n */\nexport function mulScalar(v: Vec3, k: number, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  dst[0] = v[0] * k;\n  dst[1] = v[1] * k;\n  dst[2] = v[2] * k;\n\n  return dst;\n}\n\n/**\n * Multiplies a vector by a scalar. (same as mulScalar)\n * @param v - The vector.\n * @param k - The scalar.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The scaled vector.\n */\nexport const scale = mulScalar;\n\n/**\n * Divides a vector by a scalar.\n * @param v - The vector.\n * @param k - The scalar.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The scaled vector.\n */\nexport function divScalar(v: Vec3, k: number, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  dst[0] = v[0] / k;\n  dst[1] = v[1] / k;\n  dst[2] = v[2] / k;\n\n  return dst;\n}\n\n/**\n * Inverse a vector.\n * @param v - The vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The inverted vector.\n */\nexport function inverse(v: Vec3, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  dst[0] = 1 / v[0];\n  dst[1] = 1 / v[1];\n  dst[2] = 1 / v[2];\n\n  return dst;\n}\n\n/**\n * Invert a vector. (same as inverse)\n * @param v - The vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The inverted vector.\n */\nexport const invert = inverse;\n\n/**\n * Computes the cross product of two vectors; assumes both vectors have\n * three entries.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The vector of a cross b.\n */\nexport function cross(a: Vec3, b: Vec3, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  const t1 = a[2] * b[0] - a[0] * b[2];\n  const t2 = a[0] * b[1] - a[1] * b[0];\n  dst[0] = a[1] * b[2] - a[2] * b[1];\n  dst[1] = t1;\n  dst[2] = t2;\n\n  return dst;\n}\n\n/**\n * Computes the dot product of two vectors; assumes both vectors have\n * three entries.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @returns dot product\n */\nexport function dot(a: Vec3, b: Vec3): number {\n  return (a[0] * b[0]) + (a[1] * b[1]) + (a[2] * b[2]);\n}\n\n/**\n * Computes the length of vector\n * @param v - vector.\n * @returns length of vector.\n */\nexport function length(v: Vec3): number {\n  const v0 = v[0];\n  const v1 = v[1];\n  const v2 = v[2];\n  return Math.sqrt(v0 * v0 + v1 * v1 + v2 * v2);\n}\n\n/**\n * Computes the length of vector (same as length)\n * @param v - vector.\n * @returns length of vector.\n */\nexport const len = length;\n\n/**\n * Computes the square of the length of vector\n * @param v - vector.\n * @returns square of the length of vector.\n */\nexport function lengthSq(v: Vec3): number {\n  const v0 = v[0];\n  const v1 = v[1];\n  const v2 = v[2];\n  return v0 * v0 + v1 * v1 + v2 * v2;\n}\n\n/**\n * Computes the square of the length of vector (same as lengthSq)\n * @param v - vector.\n * @returns square of the length of vector.\n */\nexport const lenSq = lengthSq;\n\n/**\n * Computes the distance between 2 points\n * @param a - vector.\n * @param b - vector.\n * @returns distance between a and b\n */\nexport function distance(a: Vec3, b: Vec3): number {\n  const dx = a[0] - b[0];\n  const dy = a[1] - b[1];\n  const dz = a[2] - b[2];\n  return Math.sqrt(dx * dx + dy * dy + dz * dz);\n}\n\n/**\n * Computes the distance between 2 points (same as distance)\n * @param a - vector.\n * @param b - vector.\n * @returns distance between a and b\n */\nexport const dist = distance;\n\n/**\n * Computes the square of the distance between 2 points\n * @param a - vector.\n * @param b - vector.\n * @returns square of the distance between a and b\n */\nexport function distanceSq(a: Vec3, b: Vec3): number {\n  const dx = a[0] - b[0];\n  const dy = a[1] - b[1];\n  const dz = a[2] - b[2];\n  return dx * dx + dy * dy + dz * dz;\n}\n\n/**\n * Computes the square of the distance between 2 points (same as distanceSq)\n * @param a - vector.\n * @param b - vector.\n * @returns square of the distance between a and b\n */\nexport const distSq = distanceSq;\n\n/**\n * Divides a vector by its Euclidean length and returns the quotient.\n * @param v - The vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The normalized vector.\n */\nexport function normalize(v: Vec3, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  const v0 = v[0];\n  const v1 = v[1];\n  const v2 = v[2];\n  const len = Math.sqrt(v0 * v0 + v1 * v1 + v2 * v2);\n\n  if (len > 0.00001) {\n    dst[0] = v0 / len;\n    dst[1] = v1 / len;\n    dst[2] = v2 / len;\n  } else {\n    dst[0] = 0;\n    dst[1] = 0;\n    dst[2] = 0;\n  }\n\n\n  return dst;\n}\n\n/**\n * Negates a vector.\n * @param v - The vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns -v.\n */\nexport function negate(v: Vec3, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  dst[0] = -v[0];\n  dst[1] = -v[1];\n  dst[2] = -v[2];\n\n  return dst;\n}\n\n/**\n * Copies a vector. (same as {@link vec3.clone})\n * Also see {@link vec3.create} and {@link vec3.set}\n * @param v - The vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A copy of v.\n */\nexport function copy(v: Vec3, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  dst[0] = v[0];\n  dst[1] = v[1];\n  dst[2] = v[2];\n\n  return dst;\n}\n\n/**\n * Clones a vector. (same as {@link vec3.copy})\n * Also see {@link vec3.create} and {@link vec3.set}\n * @param v - The vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A copy of v.\n */\nexport const clone = copy;\n\n/**\n * Multiplies a vector by another vector (component-wise); assumes a and\n * b have the same length.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The vector of products of entries of a and b.\n */\nexport function multiply(a: Vec3, b: Vec3, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  dst[0] = a[0] * b[0];\n  dst[1] = a[1] * b[1];\n  dst[2] = a[2] * b[2];\n\n  return dst;\n}\n\n/**\n * Multiplies a vector by another vector (component-wise); assumes a and\n * b have the same length. (same as mul)\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The vector of products of entries of a and b.\n */\nexport const mul = multiply;\n\n/**\n * Divides a vector by another vector (component-wise); assumes a and\n * b have the same length.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The vector of quotients of entries of a and b.\n */\nexport function divide(a: Vec3, b: Vec3, dst?: Vec3) {\n  dst = dst || new VecType(3);\n\n  dst[0] = a[0] / b[0];\n  dst[1] = a[1] / b[1];\n  dst[2] = a[2] / b[2];\n\n  return dst;\n}\n\n/**\n * Divides a vector by another vector (component-wise); assumes a and\n * b have the same length. (same as divide)\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The vector of quotients of entries of a and b.\n */\nexport const div = divide;\n\n/**\n * Creates a random vector\n * @param scale - Default 1\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The random vector.\n */\nexport function random(scale = 1, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  const angle = Math.random() * 2 * Math.PI;\n  const z = Math.random() * 2 - 1;\n  const zScale = Math.sqrt(1 - z * z) * scale;\n  dst[0] = Math.cos(angle) * zScale;\n  dst[1] = Math.sin(angle) * zScale;\n  dst[2] = z * scale;\n\n  return dst;\n}\n\n/**\n * Zero's a vector\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The zeroed vector.\n */\nexport function zero(dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  dst[0] = 0;\n  dst[1] = 0;\n  dst[2] = 0;\n\n  return dst;\n}\n\n\n/**\n * transform vec3 by 4x4 matrix\n * @param v - the vector\n * @param m - The matrix.\n * @param dst - optional vec3 to store result. If not passed a new one is created.\n * @returns the transformed vector\n */\nexport function transformMat4(v: Vec3, m: Mat4, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  const x = v[0];\n  const y = v[1];\n  const z = v[2];\n  const w = (m[3] * x + m[7] * y + m[11] * z + m[15]) || 1;\n\n  dst[0] = (m[0] * x + m[4] * y + m[8] * z + m[12]) / w;\n  dst[1] = (m[1] * x + m[5] * y + m[9] * z + m[13]) / w;\n  dst[2] = (m[2] * x + m[6] * y + m[10] * z + m[14]) / w;\n\n  return dst;\n}\n\n/**\n * Transform vec4 by upper 3x3 matrix inside 4x4 matrix.\n * @param v - The direction.\n * @param m - The matrix.\n * @param dst - optional Vec3 to store result. If not passed a new one is created.\n * @returns The transformed vector.\n */\nexport function transformMat4Upper3x3(v: Vec3, m: Mat4, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  const v0 = v[0];\n  const v1 = v[1];\n  const v2 = v[2];\n\n  dst[0] = v0 * m[0 * 4 + 0] + v1 * m[1 * 4 + 0] + v2 * m[2 * 4 + 0];\n  dst[1] = v0 * m[0 * 4 + 1] + v1 * m[1 * 4 + 1] + v2 * m[2 * 4 + 1];\n  dst[2] = v0 * m[0 * 4 + 2] + v1 * m[1 * 4 + 2] + v2 * m[2 * 4 + 2];\n\n  return dst;\n}\n\n/**\n * Transforms vec3 by 3x3 matrix\n *\n * @param v - the vector\n * @param m - The matrix.\n * @param dst - optional vec3 to store result. If not passed a new one is created.\n * @returns the transformed vector\n */\nexport function transformMat3(v: Vec3, m: Mat3, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  const x = v[0];\n  const y = v[1];\n  const z = v[2];\n\n  dst[0] = x * m[0] + y * m[4] + z * m[8];\n  dst[1] = x * m[1] + y * m[5] + z * m[9];\n  dst[2] = x * m[2] + y * m[6] + z * m[10];\n\n  return dst;\n}\n\n/**\n * Transforms vec3 by Quaternion\n * @param v - the vector to transform\n * @param q - the quaternion to transform by\n * @param dst - optional vec3 to store result. If not passed a new one is created.\n * @returns the transformed\n */\nexport function transformQuat(v: Vec3, q: Quat, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  const qx = q[0];\n  const qy = q[1];\n  const qz = q[2];\n  const w2 = q[3] * 2;\n\n  const x = v[0];\n  const y = v[1];\n  const z = v[2];\n\n  const uvX = qy * z - qz * y;\n  const uvY = qz * x - qx * z;\n  const uvZ = qx * y - qy * x;\n\n  dst[0] = x + uvX * w2 + (qy * uvZ - qz * uvY) * 2;\n  dst[1] = y + uvY * w2 + (qz * uvX - qx * uvZ) * 2;\n  dst[2] = z + uvZ * w2 + (qx * uvY - qy * uvX) * 2;\n\n  return dst;\n}\n\n/**\n * Returns the translation component of a 4-by-4 matrix as a vector with 3\n * entries.\n * @param m - The matrix.\n * @param dst - vector to hold result. If not passed a new one is created.\n * @returns The translation component of m.\n */\nexport function getTranslation(m: Mat3, dst?: Vec3) {\n    dst = dst || new VecType(3);\n    dst[0] = m[12];\n    dst[1] = m[13];\n    dst[2] = m[14];\n    return dst;\n}\n/**\n * Returns an axis of a 4x4 matrix as a vector with 3 entries\n * @param m - The matrix.\n * @param axis - The axis 0 = x, 1 = y, 2 = z;\n * @returns The axis component of m.\n */\nexport function getAxis(m: Mat4, axis: number, dst?: Vec3) {\n    dst = dst || new VecType(3);\n    const off = axis * 4;\n    dst[0] = m[off + 0];\n    dst[1] = m[off + 1];\n    dst[2] = m[off + 2];\n    return dst;\n}\n/**\n * Returns the scaling component of the matrix\n * @param m - The Matrix\n * @param dst - The vector to set. If not passed a new one is created.\n */\nexport function getScaling(m: Mat4, dst: Vec3) {\n    dst = dst || new VecType(3);\n    const xx = m[0];\n    const xy = m[1];\n    const xz = m[2];\n    const yx = m[4];\n    const yy = m[5];\n    const yz = m[6];\n    const zx = m[8];\n    const zy = m[9];\n    const zz = m[10];\n    dst[0] = Math.sqrt(xx * xx + xy * xy + xz * xz);\n    dst[1] = Math.sqrt(yx * yx + yy * yy + yz * yz);\n    dst[2] = Math.sqrt(zx * zx + zy * zy + zz * zz);\n    return dst;\n}\n\n/**\n * Rotate a 3D vector around the x-axis\n *\n * @param {ReadonlyVec3} a The vec3 point to rotate\n * @param {ReadonlyVec3} b The origin of the rotation\n * @param {Number} rad The angle of rotation in radians\n * @param dst - The vector to set. If not passed a new one is created.\n * @returns the rotated vector\n */\nexport function rotateX(a: Vec3, b: Vec3, rad: number, dst?: Vec3) {\n  dst = dst || new VecType(3);\n  const p = [];\n  const r = [];\n\n  //Translate point to the origin\n  p[0] = a[0] - b[0];\n  p[1] = a[1] - b[1];\n  p[2] = a[2] - b[2];\n\n  //perform rotation\n  r[0] = p[0];\n  r[1] = p[1] * Math.cos(rad) - p[2] * Math.sin(rad);\n  r[2] = p[1] * Math.sin(rad) + p[2] * Math.cos(rad);\n\n  //translate to correct position\n  dst[0] = r[0] + b[0];\n  dst[1] = r[1] + b[1];\n  dst[2] = r[2] + b[2];\n\n  return dst;\n}\n\n/**\n * Rotate a 3D vector around the y-axis\n *\n * @param {ReadonlyVec3} a The vec3 point to rotate\n * @param {ReadonlyVec3} b The origin of the rotation\n * @param {Number} rad The angle of rotation in radians\n * @param dst - The vector to set. If not passed a new one is created.\n * @returns the rotated vector\n */\nexport function rotateY(a: Vec3, b: Vec3, rad: number, dst?: Vec3) {\n  dst = dst || new VecType(3);\n  const p = [];\n  const r = [];\n\n  // translate point to the origin\n  p[0] = a[0] - b[0];\n  p[1] = a[1] - b[1];\n  p[2] = a[2] - b[2];\n\n  // perform rotation\n  r[0] = p[2] * Math.sin(rad) + p[0] * Math.cos(rad);\n  r[1] = p[1];\n  r[2] = p[2] * Math.cos(rad) - p[0] * Math.sin(rad);\n\n  // translate to correct position\n  dst[0] = r[0] + b[0];\n  dst[1] = r[1] + b[1];\n  dst[2] = r[2] + b[2];\n\n  return dst;\n}\n\n/**\n * Rotate a 3D vector around the z-axis\n *\n * @param {ReadonlyVec3} a The vec3 point to rotate\n * @param {ReadonlyVec3} b The origin of the rotation\n * @param {Number} rad The angle of rotation in radians\n * @param dst - The vector to set. If not passed a new one is created.\n * @returns {vec3} out\n */\nexport function rotateZ(a: Vec3, b: Vec3, rad: number, dst?: Vec3) {\n  dst = dst || new VecType(3);\n  const p = [];\n  const r = [];\n\n  // translate point to the origin\n  p[0] = a[0] - b[0];\n  p[1] = a[1] - b[1];\n  p[2] = a[2] - b[2];\n\n  // perform rotation\n  r[0] = p[0] * Math.cos(rad) - p[1] * Math.sin(rad);\n  r[1] = p[0] * Math.sin(rad) + p[1] * Math.cos(rad);\n  r[2] = p[2];\n\n  // translate to correct position\n  dst[0] = r[0] + b[0];\n  dst[1] = r[1] + b[1];\n  dst[2] = r[2] + b[2];\n\n  return dst;\n}\n\n/**\n * Treat a 3D vector as a direction and set it's length\n *\n * @param a The vec3 to lengthen\n * @param len The length of the resulting vector\n * @returns The lengthened vector\n */\nexport function setLength(a: Vec3, len: number, dst?: Vec3) {\n  dst = dst || new VecType(3);\n  normalize(a, dst);\n  return mulScalar(dst, len, dst);\n}\n\n/**\n * Ensure a vector is not longer than a max length\n *\n * @param a The vec3 to limit\n * @param maxLen The longest length of the resulting vector\n * @returns The vector, shortened to maxLen if it's too long\n */\nexport function truncate(a: Vec3, maxLen: number, dst?: Vec3) {\n  dst = dst || new VecType(3);\n\n  if (length(a) > maxLen) {\n    return setLength(a, maxLen, dst);\n  }\n\n  return copy(a, dst);\n}\n\n/**\n * Return the vector exactly between 2 endpoint vectors\n *\n * @param a Endpoint 1\n * @param b Endpoint 2\n * @returns The vector exactly residing between endpoints 1 and 2\n */\nexport function midpoint(a: Vec3, b: Vec3, dst?: Vec3) {\n  dst = dst || new VecType(3);\n  return lerp(a, b, 0.5, dst);\n}\n","\nimport { Mat3 } from './mat3';\nimport { Mat4 } from './mat4';\nimport { Quat } from './quat';\nimport Vec3, * as vec3 from './vec3-impl';\nimport * as utils from './utils';\n\nexport default Mat4;\n\nexport type Mat4LikeCtor = new (n: number) => Mat4;\n\n/**\n * 4x4 Matrix math math functions.\n *\n * Almost all functions take an optional `dst` argument. If it is not passed in the\n * functions will create a new matrix. In other words you can do this\n *\n *     const mat = mat4.translation([1, 2, 3]);  // Creates a new translation matrix\n *\n * or\n *\n *     const mat = mat4.create();\n *     mat4.translation([1, 2, 3], mat);  // Puts translation matrix in mat.\n *\n * The first style is often easier but depending on where it's used it generates garbage where\n * as there is almost never allocation with the second style.\n *\n * It is always save to pass any matrix as the destination. So for example\n *\n *     const mat = mat4.identity();\n *     const trans = mat4.translation([1, 2, 3]);\n *     mat4.multiply(mat, trans, mat);  // Multiplies mat * trans and puts result in mat.\n *\n */\nlet MatType: Mat4LikeCtor = Float32Array;\n\n/**\n * Sets the type this library creates for a Mat4\n * @param ctor - the constructor for the type. Either `Float32Array`, `Float64Array`, or `Array`\n * @returns previous constructor for Mat4\n */\nexport function setDefaultType(ctor: new (n: number) => Mat4) {\n  const oldType = MatType;\n  MatType = ctor;\n  return oldType;\n}\n\n/**\n * Create a Mat4 from values\n *\n * Note: Since passing in a raw JavaScript array\n * is valid in all circumstances, if you want to\n * force a JavaScript array into a Mat4's specified type\n * it would be faster to use\n *\n * ```\n * const m = mat4.clone(someJSArray);\n * ```\n *\n * Note: a consequence of the implementation is if your Mat4Type = `Array`\n * instead of `Float32Array` or `Float64Array` then any values you\n * don't pass in will be undefined. Usually this is not an issue since\n * (a) using `Array` is rare and (b) using `mat4.create` is usually used\n * to create a Mat4 to be filled out as in\n *\n * ```\n * const m = mat4.create();\n * mat4.perspective(fov, aspect, near, far, m);\n * ```\n *\n * @param v0 - value for element 0\n * @param v1 - value for element 1\n * @param v2 - value for element 2\n * @param v3 - value for element 3\n * @param v4 - value for element 4\n * @param v5 - value for element 5\n * @param v6 - value for element 6\n * @param v7 - value for element 7\n * @param v8 - value for element 8\n * @param v9 - value for element 9\n * @param v10 - value for element 10\n * @param v11 - value for element 11\n * @param v12 - value for element 12\n * @param v13 - value for element 13\n * @param v14 - value for element 14\n * @param v15 - value for element 15\n * @returns created from values.\n */\nexport function create(\n    v0?: number, v1?: number, v2?: number, v3?: number,\n    v4?: number, v5?: number, v6?: number, v7?: number,\n    v8?: number, v9?: number, v10?: number, v11?: number,\n    v12?: number, v13?: number, v14?: number, v15?: number): Mat4 {\n  const dst = new MatType(16);\n  if (v0 !== undefined) {\n    dst[0] = v0;\n    if (v1 !== undefined) {\n      dst[1] = v1;\n      if (v2 !== undefined) {\n        dst[2] = v2;\n        if (v3 !== undefined) {\n          dst[3] = v3;\n          if (v4 !== undefined) {\n            dst[4] = v4;\n            if (v5 !== undefined) {\n              dst[5] = v5;\n              if (v6 !== undefined) {\n                dst[6] = v6;\n                if (v7 !== undefined) {\n                  dst[7] = v7;\n                  if (v8 !== undefined) {\n                    dst[8] = v8;\n                    if (v9 !== undefined) {\n                      dst[9] = v9;\n                      if (v10 !== undefined) {\n                        dst[10] = v10;\n                        if (v11 !== undefined) {\n                          dst[11] = v11;\n                          if (v12 !== undefined) {\n                            dst[12] = v12;\n                            if (v13 !== undefined) {\n                              dst[13] = v13;\n                              if (v14 !== undefined) {\n                                dst[14] = v14;\n                                if (v15 !== undefined) {\n                                  dst[15] = v15;\n                                }\n                              }\n                            }\n                          }\n                        }\n                      }\n                    }\n                  }\n                }\n              }\n            }\n          }\n        }\n      }\n    }\n  }\n  return dst;\n}\n\n/**\n * Sets the values of a Mat4\n * Also see {@link mat4.create} and {@link mat4.copy}\n *\n * @param v0 - value for element 0\n * @param v1 - value for element 1\n * @param v2 - value for element 2\n * @param v3 - value for element 3\n * @param v4 - value for element 4\n * @param v5 - value for element 5\n * @param v6 - value for element 6\n * @param v7 - value for element 7\n * @param v8 - value for element 8\n * @param v9 - value for element 9\n * @param v10 - value for element 10\n * @param v11 - value for element 11\n * @param v12 - value for element 12\n * @param v13 - value for element 13\n * @param v14 - value for element 14\n * @param v15 - value for element 15\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns Mat4 created from values.\n */\nexport function set(\n    v0: number, v1: number, v2: number, v3: number,\n    v4: number, v5: number, v6: number, v7: number,\n    v8: number, v9: number, v10: number, v11: number,\n    v12: number, v13: number, v14: number, v15: number,\n    dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  dst[ 0] = v0;   dst[ 1] = v1;   dst[ 2] = v2;   dst[ 3] = v3;\n  dst[ 4] = v4;   dst[ 5] = v5;   dst[ 6] = v6;   dst[ 7] = v7;\n  dst[ 8] = v8;   dst[ 9] = v9;   dst[10] = v10;  dst[11] = v11;\n  dst[12] = v12;  dst[13] = v13;  dst[14] = v14;  dst[15] = v15;\n\n  return dst;\n}\n\n/**\n * Creates a Mat4 from a Mat3\n * @param m3 - source matrix\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns Mat4 made from m3\n */\nexport function fromMat3(m3: Mat3, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  dst[ 0] = m3[0];  dst[ 1] = m3[1];  dst[ 2] = m3[ 2];  dst[ 3] = 0;\n  dst[ 4] = m3[4];  dst[ 5] = m3[5];  dst[ 6] = m3[ 6];  dst[ 7] = 0;\n  dst[ 8] = m3[8];  dst[ 9] = m3[9];  dst[10] = m3[10];  dst[11] = 0;\n  dst[12] = 0;      dst[13] = 0;      dst[14] = 0;       dst[15] = 1;\n\n  return dst;\n}\n\n/**\n * Creates a Mat4 rotation matrix from a quaternion\n * @param q - quaternion to create matrix from\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns Mat4 made from q\n */\nexport function fromQuat(q: Quat, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  const x = q[0]; const y = q[1]; const z = q[2]; const w = q[3];\n  const x2 = x + x; const y2 = y + y; const z2 = z + z;\n\n  const xx = x * x2;\n  const yx = y * x2;\n  const yy = y * y2;\n  const zx = z * x2;\n  const zy = z * y2;\n  const zz = z * z2;\n  const wx = w * x2;\n  const wy = w * y2;\n  const wz = w * z2;\n\n  dst[ 0] = 1 - yy - zz;  dst[ 1] = yx + wz;      dst[ 2] = zx - wy;      dst[ 3] = 0;\n  dst[ 4] = yx - wz;      dst[ 5] = 1 - xx - zz;  dst[ 6] = zy + wx;      dst[ 7] = 0;\n  dst[ 8] = zx + wy;      dst[ 9] = zy - wx;      dst[10] = 1 - xx - yy;  dst[11] = 0;\n  dst[12] = 0;            dst[13] = 0;            dst[14] = 0;            dst[15] = 1;\n\n  return dst;\n}\n\n/**\n * Negates a matrix.\n * @param m - The matrix.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns -m.\n */\nexport function negate(m: Mat4, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  dst[ 0] = -m[ 0];  dst[ 1] = -m[ 1];  dst[ 2] = -m[ 2];  dst[ 3] = -m[ 3];\n  dst[ 4] = -m[ 4];  dst[ 5] = -m[ 5];  dst[ 6] = -m[ 6];  dst[ 7] = -m[ 7];\n  dst[ 8] = -m[ 8];  dst[ 9] = -m[ 9];  dst[10] = -m[10];  dst[11] = -m[11];\n  dst[12] = -m[12];  dst[13] = -m[13];  dst[14] = -m[14];  dst[15] = -m[15];\n\n  return dst;\n}\n\n/**\n * Copies a matrix. (same as {@link mat4.clone})\n * Also see {@link mat4.create} and {@link mat4.set}\n * @param m - The matrix.\n * @param dst - The matrix. If not passed a new one is created.\n * @returns A copy of m.\n */\nexport function copy(m: Mat4, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  dst[ 0] = m[ 0];  dst[ 1] = m[ 1];  dst[ 2] = m[ 2];  dst[ 3] = m[ 3];\n  dst[ 4] = m[ 4];  dst[ 5] = m[ 5];  dst[ 6] = m[ 6];  dst[ 7] = m[ 7];\n  dst[ 8] = m[ 8];  dst[ 9] = m[ 9];  dst[10] = m[10];  dst[11] = m[11];\n  dst[12] = m[12];  dst[13] = m[13];  dst[14] = m[14];  dst[15] = m[15];\n\n  return dst;\n}\n\n/**\n * Copies a matrix (same as {@link mat4.copy})\n * Also see {@link mat4.create} and {@link mat4.set}\n * @param m - The matrix.\n * @param dst - The matrix. If not passed a new one is created.\n * @returns A copy of m.\n */\nexport const clone = copy;\n\n/**\n * Check if 2 matrices are approximately equal\n * @param a - Operand matrix.\n * @param b - Operand matrix.\n * @returns true if matrices are approximately equal\n */\nexport function equalsApproximately(a: Mat4, b: Mat4): boolean {\n  return Math.abs(a[ 0] - b[ 0]) < utils.EPSILON &&\n         Math.abs(a[ 1] - b[ 1]) < utils.EPSILON &&\n         Math.abs(a[ 2] - b[ 2]) < utils.EPSILON &&\n         Math.abs(a[ 3] - b[ 3]) < utils.EPSILON &&\n         Math.abs(a[ 4] - b[ 4]) < utils.EPSILON &&\n         Math.abs(a[ 5] - b[ 5]) < utils.EPSILON &&\n         Math.abs(a[ 6] - b[ 6]) < utils.EPSILON &&\n         Math.abs(a[ 7] - b[ 7]) < utils.EPSILON &&\n         Math.abs(a[ 8] - b[ 8]) < utils.EPSILON &&\n         Math.abs(a[ 9] - b[ 9]) < utils.EPSILON &&\n         Math.abs(a[10] - b[10]) < utils.EPSILON &&\n         Math.abs(a[11] - b[11]) < utils.EPSILON &&\n         Math.abs(a[12] - b[12]) < utils.EPSILON &&\n         Math.abs(a[13] - b[13]) < utils.EPSILON &&\n         Math.abs(a[14] - b[14]) < utils.EPSILON &&\n         Math.abs(a[15] - b[15]) < utils.EPSILON;\n}\n\n/**\n * Check if 2 matrices are exactly equal\n * @param a - Operand matrix.\n * @param b - Operand matrix.\n * @returns true if matrices are exactly equal\n */\nexport function equals(a: Mat4, b: Mat4): boolean {\n  return a[ 0] === b[ 0] &&\n         a[ 1] === b[ 1] &&\n         a[ 2] === b[ 2] &&\n         a[ 3] === b[ 3] &&\n         a[ 4] === b[ 4] &&\n         a[ 5] === b[ 5] &&\n         a[ 6] === b[ 6] &&\n         a[ 7] === b[ 7] &&\n         a[ 8] === b[ 8] &&\n         a[ 9] === b[ 9] &&\n         a[10] === b[10] &&\n         a[11] === b[11] &&\n         a[12] === b[12] &&\n         a[13] === b[13] &&\n         a[14] === b[14] &&\n         a[15] === b[15];\n}\n\n/**\n * Creates a 4-by-4 identity matrix.\n *\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns A 4-by-4 identity matrix.\n */\nexport function identity(dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  dst[ 0] = 1;  dst[ 1] = 0;  dst[ 2] = 0;  dst[ 3] = 0;\n  dst[ 4] = 0;  dst[ 5] = 1;  dst[ 6] = 0;  dst[ 7] = 0;\n  dst[ 8] = 0;  dst[ 9] = 0;  dst[10] = 1;  dst[11] = 0;\n  dst[12] = 0;  dst[13] = 0;  dst[14] = 0;  dst[15] = 1;\n\n  return dst;\n}\n\n/**\n * Takes the transpose of a matrix.\n * @param m - The matrix.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The transpose of m.\n */\nexport function transpose(m: Mat4, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n  if (dst === m) {\n    let t;\n\n    t = m[1];\n    m[1] = m[4];\n    m[4] = t;\n\n    t = m[2];\n    m[2] = m[8];\n    m[8] = t;\n\n    t = m[3];\n    m[3] = m[12];\n    m[12] = t;\n\n    t = m[6];\n    m[6] = m[9];\n    m[9] = t;\n\n    t = m[7];\n    m[7] = m[13];\n    m[13] = t;\n\n    t = m[11];\n    m[11] = m[14];\n    m[14] = t;\n    return dst;\n  }\n\n  const m00 = m[0 * 4 + 0];\n  const m01 = m[0 * 4 + 1];\n  const m02 = m[0 * 4 + 2];\n  const m03 = m[0 * 4 + 3];\n  const m10 = m[1 * 4 + 0];\n  const m11 = m[1 * 4 + 1];\n  const m12 = m[1 * 4 + 2];\n  const m13 = m[1 * 4 + 3];\n  const m20 = m[2 * 4 + 0];\n  const m21 = m[2 * 4 + 1];\n  const m22 = m[2 * 4 + 2];\n  const m23 = m[2 * 4 + 3];\n  const m30 = m[3 * 4 + 0];\n  const m31 = m[3 * 4 + 1];\n  const m32 = m[3 * 4 + 2];\n  const m33 = m[3 * 4 + 3];\n\n  dst[ 0] = m00;  dst[ 1] = m10;  dst[ 2] = m20;  dst[ 3] = m30;\n  dst[ 4] = m01;  dst[ 5] = m11;  dst[ 6] = m21;  dst[ 7] = m31;\n  dst[ 8] = m02;  dst[ 9] = m12;  dst[10] = m22;  dst[11] = m32;\n  dst[12] = m03;  dst[13] = m13;  dst[14] = m23;  dst[15] = m33;\n\n  return dst;\n}\n\n/**\n * Computes the inverse of a 4-by-4 matrix.\n * @param m - The matrix.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The inverse of m.\n */\nexport function inverse(m: Mat4, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  const m00 = m[0 * 4 + 0];\n  const m01 = m[0 * 4 + 1];\n  const m02 = m[0 * 4 + 2];\n  const m03 = m[0 * 4 + 3];\n  const m10 = m[1 * 4 + 0];\n  const m11 = m[1 * 4 + 1];\n  const m12 = m[1 * 4 + 2];\n  const m13 = m[1 * 4 + 3];\n  const m20 = m[2 * 4 + 0];\n  const m21 = m[2 * 4 + 1];\n  const m22 = m[2 * 4 + 2];\n  const m23 = m[2 * 4 + 3];\n  const m30 = m[3 * 4 + 0];\n  const m31 = m[3 * 4 + 1];\n  const m32 = m[3 * 4 + 2];\n  const m33 = m[3 * 4 + 3];\n  const tmp0  = m22 * m33;\n  const tmp1  = m32 * m23;\n  const tmp2  = m12 * m33;\n  const tmp3  = m32 * m13;\n  const tmp4  = m12 * m23;\n  const tmp5  = m22 * m13;\n  const tmp6  = m02 * m33;\n  const tmp7  = m32 * m03;\n  const tmp8  = m02 * m23;\n  const tmp9  = m22 * m03;\n  const tmp10 = m02 * m13;\n  const tmp11 = m12 * m03;\n  const tmp12 = m20 * m31;\n  const tmp13 = m30 * m21;\n  const tmp14 = m10 * m31;\n  const tmp15 = m30 * m11;\n  const tmp16 = m10 * m21;\n  const tmp17 = m20 * m11;\n  const tmp18 = m00 * m31;\n  const tmp19 = m30 * m01;\n  const tmp20 = m00 * m21;\n  const tmp21 = m20 * m01;\n  const tmp22 = m00 * m11;\n  const tmp23 = m10 * m01;\n\n  const t0 = (tmp0 * m11 + tmp3 * m21 + tmp4 * m31) -\n      (tmp1 * m11 + tmp2 * m21 + tmp5 * m31);\n  const t1 = (tmp1 * m01 + tmp6 * m21 + tmp9 * m31) -\n      (tmp0 * m01 + tmp7 * m21 + tmp8 * m31);\n  const t2 = (tmp2 * m01 + tmp7 * m11 + tmp10 * m31) -\n      (tmp3 * m01 + tmp6 * m11 + tmp11 * m31);\n  const t3 = (tmp5 * m01 + tmp8 * m11 + tmp11 * m21) -\n      (tmp4 * m01 + tmp9 * m11 + tmp10 * m21);\n\n  const d = 1 / (m00 * t0 + m10 * t1 + m20 * t2 + m30 * t3);\n\n  dst[ 0] = d * t0;\n  dst[ 1] = d * t1;\n  dst[ 2] = d * t2;\n  dst[ 3] = d * t3;\n  dst[ 4] = d * ((tmp1 * m10 + tmp2 * m20 + tmp5 * m30) -\n          (tmp0 * m10 + tmp3 * m20 + tmp4 * m30));\n  dst[ 5] = d * ((tmp0 * m00 + tmp7 * m20 + tmp8 * m30) -\n          (tmp1 * m00 + tmp6 * m20 + tmp9 * m30));\n  dst[ 6] = d * ((tmp3 * m00 + tmp6 * m10 + tmp11 * m30) -\n          (tmp2 * m00 + tmp7 * m10 + tmp10 * m30));\n  dst[ 7] = d * ((tmp4 * m00 + tmp9 * m10 + tmp10 * m20) -\n          (tmp5 * m00 + tmp8 * m10 + tmp11 * m20));\n  dst[ 8] = d * ((tmp12 * m13 + tmp15 * m23 + tmp16 * m33) -\n          (tmp13 * m13 + tmp14 * m23 + tmp17 * m33));\n  dst[ 9] = d * ((tmp13 * m03 + tmp18 * m23 + tmp21 * m33) -\n          (tmp12 * m03 + tmp19 * m23 + tmp20 * m33));\n  dst[10] = d * ((tmp14 * m03 + tmp19 * m13 + tmp22 * m33) -\n          (tmp15 * m03 + tmp18 * m13 + tmp23 * m33));\n  dst[11] = d * ((tmp17 * m03 + tmp20 * m13 + tmp23 * m23) -\n          (tmp16 * m03 + tmp21 * m13 + tmp22 * m23));\n  dst[12] = d * ((tmp14 * m22 + tmp17 * m32 + tmp13 * m12) -\n          (tmp16 * m32 + tmp12 * m12 + tmp15 * m22));\n  dst[13] = d * ((tmp20 * m32 + tmp12 * m02 + tmp19 * m22) -\n          (tmp18 * m22 + tmp21 * m32 + tmp13 * m02));\n  dst[14] = d * ((tmp18 * m12 + tmp23 * m32 + tmp15 * m02) -\n          (tmp22 * m32 + tmp14 * m02 + tmp19 * m12));\n  dst[15] = d * ((tmp22 * m22 + tmp16 * m02 + tmp21 * m12) -\n          (tmp20 * m12 + tmp23 * m22 + tmp17 * m02));\n\n  return dst;\n}\n\n/**\n * Compute the determinant of a matrix\n * @param m - the matrix\n * @returns the determinant\n */\nexport function determinant(m: Mat4): number {\n  const m00 = m[0 * 4 + 0];\n  const m01 = m[0 * 4 + 1];\n  const m02 = m[0 * 4 + 2];\n  const m03 = m[0 * 4 + 3];\n  const m10 = m[1 * 4 + 0];\n  const m11 = m[1 * 4 + 1];\n  const m12 = m[1 * 4 + 2];\n  const m13 = m[1 * 4 + 3];\n  const m20 = m[2 * 4 + 0];\n  const m21 = m[2 * 4 + 1];\n  const m22 = m[2 * 4 + 2];\n  const m23 = m[2 * 4 + 3];\n  const m30 = m[3 * 4 + 0];\n  const m31 = m[3 * 4 + 1];\n  const m32 = m[3 * 4 + 2];\n  const m33 = m[3 * 4 + 3];\n\n  const tmp0  = m22 * m33;\n  const tmp1  = m32 * m23;\n  const tmp2  = m12 * m33;\n  const tmp3  = m32 * m13;\n  const tmp4  = m12 * m23;\n  const tmp5  = m22 * m13;\n  const tmp6  = m02 * m33;\n  const tmp7  = m32 * m03;\n  const tmp8  = m02 * m23;\n  const tmp9  = m22 * m03;\n  const tmp10 = m02 * m13;\n  const tmp11 = m12 * m03;\n\n  const t0 = (tmp0 * m11 + tmp3 * m21 + tmp4 * m31) -\n             (tmp1 * m11 + tmp2 * m21 + tmp5 * m31);\n  const t1 = (tmp1 * m01 + tmp6 * m21 + tmp9 * m31) -\n             (tmp0 * m01 + tmp7 * m21 + tmp8 * m31);\n  const t2 = (tmp2 * m01 + tmp7 * m11 + tmp10 * m31) -\n             (tmp3 * m01 + tmp6 * m11 + tmp11 * m31);\n  const t3 = (tmp5 * m01 + tmp8 * m11 + tmp11 * m21) -\n             (tmp4 * m01 + tmp9 * m11 + tmp10 * m21);\n\n  return m00 * t0 + m10 * t1 + m20 * t2 + m30 * t3;\n}\n\n/**\n * Computes the inverse of a 4-by-4 matrix. (same as inverse)\n * @param m - The matrix.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The inverse of m.\n */\nexport const invert = inverse;\n\n/**\n * Multiplies two 4-by-4 matrices with a on the left and b on the right\n * @param a - The matrix on the left.\n * @param b - The matrix on the right.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The matrix product of a and b.\n */\nexport function multiply(a: Mat4, b: Mat4, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  const a00 = a[0];\n  const a01 = a[1];\n  const a02 = a[2];\n  const a03 = a[3];\n  const a10 = a[ 4 + 0];\n  const a11 = a[ 4 + 1];\n  const a12 = a[ 4 + 2];\n  const a13 = a[ 4 + 3];\n  const a20 = a[ 8 + 0];\n  const a21 = a[ 8 + 1];\n  const a22 = a[ 8 + 2];\n  const a23 = a[ 8 + 3];\n  const a30 = a[12 + 0];\n  const a31 = a[12 + 1];\n  const a32 = a[12 + 2];\n  const a33 = a[12 + 3];\n  const b00 = b[0];\n  const b01 = b[1];\n  const b02 = b[2];\n  const b03 = b[3];\n  const b10 = b[ 4 + 0];\n  const b11 = b[ 4 + 1];\n  const b12 = b[ 4 + 2];\n  const b13 = b[ 4 + 3];\n  const b20 = b[ 8 + 0];\n  const b21 = b[ 8 + 1];\n  const b22 = b[ 8 + 2];\n  const b23 = b[ 8 + 3];\n  const b30 = b[12 + 0];\n  const b31 = b[12 + 1];\n  const b32 = b[12 + 2];\n  const b33 = b[12 + 3];\n\n  dst[ 0] = a00 * b00 + a10 * b01 + a20 * b02 + a30 * b03;\n  dst[ 1] = a01 * b00 + a11 * b01 + a21 * b02 + a31 * b03;\n  dst[ 2] = a02 * b00 + a12 * b01 + a22 * b02 + a32 * b03;\n  dst[ 3] = a03 * b00 + a13 * b01 + a23 * b02 + a33 * b03;\n  dst[ 4] = a00 * b10 + a10 * b11 + a20 * b12 + a30 * b13;\n  dst[ 5] = a01 * b10 + a11 * b11 + a21 * b12 + a31 * b13;\n  dst[ 6] = a02 * b10 + a12 * b11 + a22 * b12 + a32 * b13;\n  dst[ 7] = a03 * b10 + a13 * b11 + a23 * b12 + a33 * b13;\n  dst[ 8] = a00 * b20 + a10 * b21 + a20 * b22 + a30 * b23;\n  dst[ 9] = a01 * b20 + a11 * b21 + a21 * b22 + a31 * b23;\n  dst[10] = a02 * b20 + a12 * b21 + a22 * b22 + a32 * b23;\n  dst[11] = a03 * b20 + a13 * b21 + a23 * b22 + a33 * b23;\n  dst[12] = a00 * b30 + a10 * b31 + a20 * b32 + a30 * b33;\n  dst[13] = a01 * b30 + a11 * b31 + a21 * b32 + a31 * b33;\n  dst[14] = a02 * b30 + a12 * b31 + a22 * b32 + a32 * b33;\n  dst[15] = a03 * b30 + a13 * b31 + a23 * b32 + a33 * b33;\n\n  return dst;\n}\n\n/**\n * Multiplies two 4-by-4 matrices with a on the left and b on the right (same as multiply)\n * @param a - The matrix on the left.\n * @param b - The matrix on the right.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The matrix product of a and b.\n */\nexport const mul = multiply;\n\n/**\n * Sets the translation component of a 4-by-4 matrix to the given\n * vector.\n * @param a - The matrix.\n * @param v - The vector.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The matrix with translation set.\n */\nexport function setTranslation(a: Mat4, v: Vec3, dst?: Mat4): Mat4 {\n  dst = dst || identity();\n  if (a !== dst) {\n    dst[ 0] = a[ 0];\n    dst[ 1] = a[ 1];\n    dst[ 2] = a[ 2];\n    dst[ 3] = a[ 3];\n    dst[ 4] = a[ 4];\n    dst[ 5] = a[ 5];\n    dst[ 6] = a[ 6];\n    dst[ 7] = a[ 7];\n    dst[ 8] = a[ 8];\n    dst[ 9] = a[ 9];\n    dst[10] = a[10];\n    dst[11] = a[11];\n  }\n  dst[12] = v[0];\n  dst[13] = v[1];\n  dst[14] = v[2];\n  dst[15] = 1;\n  return dst;\n}\n\n/**\n * Returns the translation component of a 4-by-4 matrix as a vector with 3\n * entries.\n * @param m - The matrix.\n * @param dst - vector to hold result. If not passed a new one is created.\n * @returns The translation component of m.\n */\nexport function getTranslation(m: Mat4, dst?: Vec3): Vec3 {\n  dst = dst || vec3.create();\n  dst[0] = m[12];\n  dst[1] = m[13];\n  dst[2] = m[14];\n  return dst;\n}\n\n/**\n * Returns an axis of a 4x4 matrix as a vector with 3 entries\n * @param m - The matrix.\n * @param axis - The axis 0 = x, 1 = y, 2 = z;\n * @returns The axis component of m.\n */\nexport function getAxis(m: Mat4, axis: number, dst?: Vec3): Vec3 {\n  dst = dst || vec3.create();\n  const off = axis * 4;\n  dst[0] = m[off + 0];\n  dst[1] = m[off + 1];\n  dst[2] = m[off + 2];\n  return dst;\n}\n\n/**\n * Sets an axis of a 4x4 matrix as a vector with 3 entries\n * @param m - The matrix.\n * @param v - the axis vector\n * @param axis - The axis  0 = x, 1 = y, 2 = z;\n * @param dst - The matrix to set. If not passed a new one is created.\n * @returns The matrix with axis set.\n */\nexport function setAxis(a: Mat4, v: Vec3, axis: number, dst: Mat4): Mat4 {\n  if (dst !== a) {\n    dst = copy(a, dst);\n  }\n  const off = axis * 4;\n  dst[off + 0] = v[0];\n  dst[off + 1] = v[1];\n  dst[off + 2] = v[2];\n  return dst;\n}\n\n/**\n * Returns the scaling component of the matrix\n * @param m - The Matrix\n * @param dst - The vector to set. If not passed a new one is created.\n */\nexport function getScaling(m: Mat4, dst?: Vec3): Vec3 {\n  dst = dst || vec3.create();\n\n  const xx = m[0];\n  const xy = m[1];\n  const xz = m[2];\n  const yx = m[4];\n  const yy = m[5];\n  const yz = m[6];\n  const zx = m[8];\n  const zy = m[9];\n  const zz = m[10];\n\n  dst[0] = Math.sqrt(xx * xx + xy * xy + xz * xz);\n  dst[1] = Math.sqrt(yx * yx + yy * yy + yz * yz);\n  dst[2] = Math.sqrt(zx * zx + zy * zy + zz * zz);\n\n  return dst;\n}\n\n/**\n * Computes a 4-by-4 perspective transformation matrix given the angular height\n * of the frustum, the aspect ratio, and the near and far clipping planes.  The\n * arguments define a frustum extending in the negative z direction.  The given\n * angle is the vertical angle of the frustum, and the horizontal angle is\n * determined to produce the given aspect ratio.  The arguments near and far are\n * the distances to the near and far clipping planes.  Note that near and far\n * are not z coordinates, but rather they are distances along the negative\n * z-axis.  The matrix generated sends the viewing frustum to the unit box.\n * We assume a unit box extending from -1 to 1 in the x and y dimensions and\n * from 0 to 1 in the z dimension.\n *\n * Note: If you pass `Infinity` for zFar then it will produce a projection matrix\n * returns -Infinity for Z when transforming coordinates with Z <= 0 and +Infinity for Z\n * otherwise.\n *\n * @param fieldOfViewYInRadians - The camera angle from top to bottom (in radians).\n * @param aspect - The aspect ratio width / height.\n * @param zNear - The depth (negative z coordinate)\n *     of the near clipping plane.\n * @param zFar - The depth (negative z coordinate)\n *     of the far clipping plane.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The perspective matrix.\n */\nexport function perspective(fieldOfViewYInRadians: number, aspect: number, zNear: number, zFar: number, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  const f = Math.tan(Math.PI * 0.5 - 0.5 * fieldOfViewYInRadians);\n\n  dst[0]  = f / aspect;\n  dst[1]  = 0;\n  dst[2]  = 0;\n  dst[3]  = 0;\n\n  dst[4]  = 0;\n  dst[5]  = f;\n  dst[6]  = 0;\n  dst[7]  = 0;\n\n  dst[8]  = 0;\n  dst[9]  = 0;\n  dst[11] = -1;\n\n  dst[12] = 0;\n  dst[13] = 0;\n  dst[15] = 0;\n\n  if (zFar === Infinity) {\n    dst[10] = -1;\n    dst[14] = -zNear;\n  } else {\n    const rangeInv = 1 / (zNear - zFar);\n    dst[10] = zFar * rangeInv;\n    dst[14] = zFar * zNear * rangeInv;\n  }\n\n  return dst;\n}\n\n/**\n * Computes a 4-by-4 orthogonal transformation matrix that transforms from\n * the given the left, right, bottom, and top dimensions to -1 +1 in x, and y\n * and 0 to +1 in z.\n * @param left - Left side of the near clipping plane viewport.\n * @param right - Right side of the near clipping plane viewport.\n * @param bottom - Bottom of the near clipping plane viewport.\n * @param top - Top of the near clipping plane viewport.\n * @param near - The depth (negative z coordinate)\n *     of the near clipping plane.\n * @param far - The depth (negative z coordinate)\n *     of the far clipping plane.\n * @param dst - Output matrix. If not passed a new one is created.\n * @returns The orthographic projection matrix.\n */\nexport function ortho(left: number, right: number, bottom: number, top: number, near: number, far: number, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  dst[0]  = 2 / (right - left);\n  dst[1]  = 0;\n  dst[2]  = 0;\n  dst[3]  = 0;\n\n  dst[4]  = 0;\n  dst[5]  = 2 / (top - bottom);\n  dst[6]  = 0;\n  dst[7]  = 0;\n\n  dst[8]  = 0;\n  dst[9]  = 0;\n  dst[10] = 1 / (near - far);\n  dst[11] = 0;\n\n  dst[12] = (right + left) / (left - right);\n  dst[13] = (top + bottom) / (bottom - top);\n  dst[14] = near / (near - far);\n  dst[15] = 1;\n\n  return dst;\n}\n\n/**\n * Computes a 4-by-4 perspective transformation matrix given the left, right,\n * top, bottom, near and far clipping planes. The arguments define a frustum\n * extending in the negative z direction. The arguments near and far are the\n * distances to the near and far clipping planes. Note that near and far are not\n * z coordinates, but rather they are distances along the negative z-axis. The\n * matrix generated sends the viewing frustum to the unit box. We assume a unit\n * box extending from -1 to 1 in the x and y dimensions and from 0 to 1 in the z\n * dimension.\n * @param left - The x coordinate of the left plane of the box.\n * @param right - The x coordinate of the right plane of the box.\n * @param bottom - The y coordinate of the bottom plane of the box.\n * @param top - The y coordinate of the right plane of the box.\n * @param near - The negative z coordinate of the near plane of the box.\n * @param far - The negative z coordinate of the far plane of the box.\n * @param dst - Output matrix. If not passed a new one is created.\n * @returns The perspective projection matrix.\n */\nexport function frustum(left: number, right: number, bottom: number, top: number, near: number, far: number, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  const dx = (right - left);\n  const dy = (top - bottom);\n  const dz = (near - far);\n\n  dst[ 0] = 2 * near / dx;\n  dst[ 1] = 0;\n  dst[ 2] = 0;\n  dst[ 3] = 0;\n  dst[ 4] = 0;\n  dst[ 5] = 2 * near / dy;\n  dst[ 6] = 0;\n  dst[ 7] = 0;\n  dst[ 8] = (left + right) / dx;\n  dst[ 9] = (top + bottom) / dy;\n  dst[10] = far / dz;\n  dst[11] = -1;\n  dst[12] = 0;\n  dst[13] = 0;\n  dst[14] = near * far / dz;\n  dst[15] = 0;\n\n  return dst;\n}\n\nlet xAxis: Vec3;\nlet yAxis: Vec3;\nlet zAxis: Vec3;\n\n/**\n * Computes a 4-by-4 aim transformation.\n *\n * This is a matrix which positions an object aiming down positive Z.\n * toward the target.\n *\n * Note: this is **NOT** the inverse of lookAt as lookAt looks at negative Z.\n *\n * @param position - The position of the object.\n * @param target - The position meant to be aimed at.\n * @param up - A vector pointing up.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The aim matrix.\n */\nexport function aim(position: Vec3, target: Vec3, up: Vec3, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  xAxis = xAxis || vec3.create();\n  yAxis = yAxis || vec3.create();\n  zAxis = zAxis || vec3.create();\n\n  vec3.normalize(vec3.subtract(target, position, zAxis), zAxis);\n  vec3.normalize(vec3.cross(up, zAxis, xAxis), xAxis);\n  vec3.normalize(vec3.cross(zAxis, xAxis, yAxis), yAxis);\n\n  dst[ 0] = xAxis[0];     dst[ 1] = xAxis[1];     dst[ 2] = xAxis[2];     dst[ 3] = 0;\n  dst[ 4] = yAxis[0];     dst[ 5] = yAxis[1];     dst[ 6] = yAxis[2];     dst[ 7] = 0;\n  dst[ 8] = zAxis[0];     dst[ 9] = zAxis[1];     dst[10] = zAxis[2];     dst[11] = 0;\n  dst[12] = position[0];  dst[13] = position[1];  dst[14] = position[2];  dst[15] = 1;\n\n  return dst;\n}\n\n/**\n * Computes a 4-by-4 camera aim transformation.\n *\n * This is a matrix which positions an object aiming down negative Z.\n * toward the target.\n *\n * Note: this is the inverse of `lookAt`\n *\n * @param eye - The position of the object.\n * @param target - The position meant to be aimed at.\n * @param up - A vector pointing up.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The aim matrix.\n */\nexport function cameraAim(eye: Vec3, target: Vec3, up: Vec3, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  xAxis = xAxis || vec3.create();\n  yAxis = yAxis || vec3.create();\n  zAxis = zAxis || vec3.create();\n\n  vec3.normalize(vec3.subtract(eye, target, zAxis), zAxis);\n  vec3.normalize(vec3.cross(up, zAxis, xAxis), xAxis);\n  vec3.normalize(vec3.cross(zAxis, xAxis, yAxis), yAxis);\n\n  dst[ 0] = xAxis[0];     dst[ 1] = xAxis[1];     dst[ 2] = xAxis[2];     dst[ 3] = 0;\n  dst[ 4] = yAxis[0];     dst[ 5] = yAxis[1];     dst[ 6] = yAxis[2];     dst[ 7] = 0;\n  dst[ 8] = zAxis[0];     dst[ 9] = zAxis[1];     dst[10] = zAxis[2];     dst[11] = 0;\n  dst[12] = eye[0];  dst[13] = eye[1];  dst[14] = eye[2];  dst[15] = 1;\n\n  return dst;\n}\n\n/**\n * Computes a 4-by-4 view transformation.\n *\n * This is a view matrix which transforms all other objects\n * to be in the space of the view defined by the parameters.\n *\n * @param eye - The position of the object.\n * @param target - The position meant to be aimed at.\n * @param up - A vector pointing up.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The look-at matrix.\n */\nexport function lookAt(eye: Vec3, target: Vec3, up: Vec3, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  xAxis = xAxis || vec3.create();\n  yAxis = yAxis || vec3.create();\n  zAxis = zAxis || vec3.create();\n\n  vec3.normalize(vec3.subtract(eye, target, zAxis), zAxis);\n  vec3.normalize(vec3.cross(up, zAxis, xAxis), xAxis);\n  vec3.normalize(vec3.cross(zAxis, xAxis, yAxis), yAxis);\n\n  dst[ 0] = xAxis[0];  dst[ 1] = yAxis[0];  dst[ 2] = zAxis[0];  dst[ 3] = 0;\n  dst[ 4] = xAxis[1];  dst[ 5] = yAxis[1];  dst[ 6] = zAxis[1];  dst[ 7] = 0;\n  dst[ 8] = xAxis[2];  dst[ 9] = yAxis[2];  dst[10] = zAxis[2];  dst[11] = 0;\n\n  dst[12] = -(xAxis[0] * eye[0] + xAxis[1] * eye[1] + xAxis[2] * eye[2]);\n  dst[13] = -(yAxis[0] * eye[0] + yAxis[1] * eye[1] + yAxis[2] * eye[2]);\n  dst[14] = -(zAxis[0] * eye[0] + zAxis[1] * eye[1] + zAxis[2] * eye[2]);\n  dst[15] = 1;\n\n  return dst;\n}\n\n/**\n * Creates a 4-by-4 matrix which translates by the given vector v.\n * @param v - The vector by\n *     which to translate.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The translation matrix.\n */\nexport function translation(v: Vec3, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  dst[ 0] = 1;     dst[ 1] = 0;     dst[ 2] = 0;     dst[ 3] = 0;\n  dst[ 4] = 0;     dst[ 5] = 1;     dst[ 6] = 0;     dst[ 7] = 0;\n  dst[ 8] = 0;     dst[ 9] = 0;     dst[10] = 1;     dst[11] = 0;\n  dst[12] = v[0];  dst[13] = v[1];  dst[14] = v[2];  dst[15] = 1;\n\n  return dst;\n}\n\n/**\n * Translates the given 4-by-4 matrix by the given vector v.\n * @param m - The matrix.\n * @param v - The vector by\n *     which to translate.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The translated matrix.\n */\nexport function translate(m: Mat4, v: Vec3, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  const v0 = v[0];\n  const v1 = v[1];\n  const v2 = v[2];\n  const m00 = m[0];\n  const m01 = m[1];\n  const m02 = m[2];\n  const m03 = m[3];\n  const m10 = m[1 * 4 + 0];\n  const m11 = m[1 * 4 + 1];\n  const m12 = m[1 * 4 + 2];\n  const m13 = m[1 * 4 + 3];\n  const m20 = m[2 * 4 + 0];\n  const m21 = m[2 * 4 + 1];\n  const m22 = m[2 * 4 + 2];\n  const m23 = m[2 * 4 + 3];\n  const m30 = m[3 * 4 + 0];\n  const m31 = m[3 * 4 + 1];\n  const m32 = m[3 * 4 + 2];\n  const m33 = m[3 * 4 + 3];\n\n  if (m !== dst) {\n    dst[ 0] = m00;\n    dst[ 1] = m01;\n    dst[ 2] = m02;\n    dst[ 3] = m03;\n    dst[ 4] = m10;\n    dst[ 5] = m11;\n    dst[ 6] = m12;\n    dst[ 7] = m13;\n    dst[ 8] = m20;\n    dst[ 9] = m21;\n    dst[10] = m22;\n    dst[11] = m23;\n  }\n\n  dst[12] = m00 * v0 + m10 * v1 + m20 * v2 + m30;\n  dst[13] = m01 * v0 + m11 * v1 + m21 * v2 + m31;\n  dst[14] = m02 * v0 + m12 * v1 + m22 * v2 + m32;\n  dst[15] = m03 * v0 + m13 * v1 + m23 * v2 + m33;\n\n  return dst;\n}\n\n/**\n * Creates a 4-by-4 matrix which rotates around the x-axis by the given angle.\n * @param angleInRadians - The angle by which to rotate (in radians).\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The rotation matrix.\n */\nexport function rotationX(angleInRadians: number, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  const c = Math.cos(angleInRadians);\n  const s = Math.sin(angleInRadians);\n\n  dst[ 0] = 1;  dst[ 1] =  0;  dst[ 2] = 0;  dst[ 3] = 0;\n  dst[ 4] = 0;  dst[ 5] =  c;  dst[ 6] = s;  dst[ 7] = 0;\n  dst[ 8] = 0;  dst[ 9] = -s;  dst[10] = c;  dst[11] = 0;\n  dst[12] = 0;  dst[13] =  0;  dst[14] = 0;  dst[15] = 1;\n\n  return dst;\n}\n\n/**\n * Rotates the given 4-by-4 matrix around the x-axis by the given\n * angle.\n * @param m - The matrix.\n * @param angleInRadians - The angle by which to rotate (in radians).\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The rotated matrix.\n */\nexport function rotateX(m: Mat4, angleInRadians: number, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  const m10 = m[4];\n  const m11 = m[5];\n  const m12 = m[6];\n  const m13 = m[7];\n  const m20 = m[8];\n  const m21 = m[9];\n  const m22 = m[10];\n  const m23 = m[11];\n  const c = Math.cos(angleInRadians);\n  const s = Math.sin(angleInRadians);\n\n  dst[4]  = c * m10 + s * m20;\n  dst[5]  = c * m11 + s * m21;\n  dst[6]  = c * m12 + s * m22;\n  dst[7]  = c * m13 + s * m23;\n  dst[8]  = c * m20 - s * m10;\n  dst[9]  = c * m21 - s * m11;\n  dst[10] = c * m22 - s * m12;\n  dst[11] = c * m23 - s * m13;\n\n  if (m !== dst) {\n    dst[ 0] = m[ 0];\n    dst[ 1] = m[ 1];\n    dst[ 2] = m[ 2];\n    dst[ 3] = m[ 3];\n    dst[12] = m[12];\n    dst[13] = m[13];\n    dst[14] = m[14];\n    dst[15] = m[15];\n  }\n\n  return dst;\n}\n\n/**\n * Creates a 4-by-4 matrix which rotates around the y-axis by the given angle.\n * @param angleInRadians - The angle by which to rotate (in radians).\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The rotation matrix.\n */\nexport function rotationY(angleInRadians: number, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  const c = Math.cos(angleInRadians);\n  const s = Math.sin(angleInRadians);\n\n  dst[ 0] = c;  dst[ 1] = 0;  dst[ 2] = -s;  dst[ 3] = 0;\n  dst[ 4] = 0;  dst[ 5] = 1;  dst[ 6] =  0;  dst[ 7] = 0;\n  dst[ 8] = s;  dst[ 9] = 0;  dst[10] =  c;  dst[11] = 0;\n  dst[12] = 0;  dst[13] = 0;  dst[14] =  0;  dst[15] = 1;\n\n  return dst;\n}\n\n/**\n * Rotates the given 4-by-4 matrix around the y-axis by the given\n * angle.\n * @param m - The matrix.\n * @param angleInRadians - The angle by which to rotate (in radians).\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The rotated matrix.\n */\nexport function rotateY(m: Mat4, angleInRadians: number, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  const m00 = m[0 * 4 + 0];\n  const m01 = m[0 * 4 + 1];\n  const m02 = m[0 * 4 + 2];\n  const m03 = m[0 * 4 + 3];\n  const m20 = m[2 * 4 + 0];\n  const m21 = m[2 * 4 + 1];\n  const m22 = m[2 * 4 + 2];\n  const m23 = m[2 * 4 + 3];\n  const c = Math.cos(angleInRadians);\n  const s = Math.sin(angleInRadians);\n\n  dst[ 0] = c * m00 - s * m20;\n  dst[ 1] = c * m01 - s * m21;\n  dst[ 2] = c * m02 - s * m22;\n  dst[ 3] = c * m03 - s * m23;\n  dst[ 8] = c * m20 + s * m00;\n  dst[ 9] = c * m21 + s * m01;\n  dst[10] = c * m22 + s * m02;\n  dst[11] = c * m23 + s * m03;\n\n  if (m !== dst) {\n    dst[ 4] = m[ 4];\n    dst[ 5] = m[ 5];\n    dst[ 6] = m[ 6];\n    dst[ 7] = m[ 7];\n    dst[12] = m[12];\n    dst[13] = m[13];\n    dst[14] = m[14];\n    dst[15] = m[15];\n  }\n\n  return dst;\n}\n\n/**\n * Creates a 4-by-4 matrix which rotates around the z-axis by the given angle.\n * @param angleInRadians - The angle by which to rotate (in radians).\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The rotation matrix.\n */\nexport function rotationZ(angleInRadians: number, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  const c = Math.cos(angleInRadians);\n  const s = Math.sin(angleInRadians);\n\n  dst[ 0] =  c;  dst[ 1] = s;  dst[ 2] = 0;  dst[ 3] = 0;\n  dst[ 4] = -s;  dst[ 5] = c;  dst[ 6] = 0;  dst[ 7] = 0;\n  dst[ 8] =  0;  dst[ 9] = 0;  dst[10] = 1;  dst[11] = 0;\n  dst[12] =  0;  dst[13] = 0;  dst[14] = 0;  dst[15] = 1;\n\n  return dst;\n}\n\n/**\n * Rotates the given 4-by-4 matrix around the z-axis by the given\n * angle.\n * @param m - The matrix.\n * @param angleInRadians - The angle by which to rotate (in radians).\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The rotated matrix.\n */\nexport function rotateZ(m: Mat4, angleInRadians: number, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  const m00 = m[0 * 4 + 0];\n  const m01 = m[0 * 4 + 1];\n  const m02 = m[0 * 4 + 2];\n  const m03 = m[0 * 4 + 3];\n  const m10 = m[1 * 4 + 0];\n  const m11 = m[1 * 4 + 1];\n  const m12 = m[1 * 4 + 2];\n  const m13 = m[1 * 4 + 3];\n  const c = Math.cos(angleInRadians);\n  const s = Math.sin(angleInRadians);\n\n  dst[ 0] = c * m00 + s * m10;\n  dst[ 1] = c * m01 + s * m11;\n  dst[ 2] = c * m02 + s * m12;\n  dst[ 3] = c * m03 + s * m13;\n  dst[ 4] = c * m10 - s * m00;\n  dst[ 5] = c * m11 - s * m01;\n  dst[ 6] = c * m12 - s * m02;\n  dst[ 7] = c * m13 - s * m03;\n\n  if (m !== dst) {\n    dst[ 8] = m[ 8];\n    dst[ 9] = m[ 9];\n    dst[10] = m[10];\n    dst[11] = m[11];\n    dst[12] = m[12];\n    dst[13] = m[13];\n    dst[14] = m[14];\n    dst[15] = m[15];\n  }\n\n  return dst;\n}\n\n/**\n * Creates a 4-by-4 matrix which rotates around the given axis by the given\n * angle.\n * @param axis - The axis\n *     about which to rotate.\n * @param angleInRadians - The angle by which to rotate (in radians).\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns A matrix which rotates angle radians\n *     around the axis.\n */\nexport function axisRotation(axis: Vec3, angleInRadians: number, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  let x = axis[0];\n  let y = axis[1];\n  let z = axis[2];\n  const n = Math.sqrt(x * x + y * y + z * z);\n  x /= n;\n  y /= n;\n  z /= n;\n  const xx = x * x;\n  const yy = y * y;\n  const zz = z * z;\n  const c = Math.cos(angleInRadians);\n  const s = Math.sin(angleInRadians);\n  const oneMinusCosine = 1 - c;\n\n  dst[ 0] = xx + (1 - xx) * c;\n  dst[ 1] = x * y * oneMinusCosine + z * s;\n  dst[ 2] = x * z * oneMinusCosine - y * s;\n  dst[ 3] = 0;\n  dst[ 4] = x * y * oneMinusCosine - z * s;\n  dst[ 5] = yy + (1 - yy) * c;\n  dst[ 6] = y * z * oneMinusCosine + x * s;\n  dst[ 7] = 0;\n  dst[ 8] = x * z * oneMinusCosine + y * s;\n  dst[ 9] = y * z * oneMinusCosine - x * s;\n  dst[10] = zz + (1 - zz) * c;\n  dst[11] = 0;\n  dst[12] = 0;\n  dst[13] = 0;\n  dst[14] = 0;\n  dst[15] = 1;\n\n  return dst;\n}\n\n/**\n * Creates a 4-by-4 matrix which rotates around the given axis by the given\n * angle. (same as axisRotation)\n * @param axis - The axis\n *     about which to rotate.\n * @param angleInRadians - The angle by which to rotate (in radians).\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns A matrix which rotates angle radians\n *     around the axis.\n */\nexport const rotation = axisRotation;\n\n/**\n * Rotates the given 4-by-4 matrix around the given axis by the\n * given angle.\n * @param m - The matrix.\n * @param axis - The axis\n *     about which to rotate.\n * @param angleInRadians - The angle by which to rotate (in radians).\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The rotated matrix.\n */\nexport function axisRotate(m: Mat4, axis: Vec3, angleInRadians: number, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  let x = axis[0];\n  let y = axis[1];\n  let z = axis[2];\n  const n = Math.sqrt(x * x + y * y + z * z);\n  x /= n;\n  y /= n;\n  z /= n;\n  const xx = x * x;\n  const yy = y * y;\n  const zz = z * z;\n  const c = Math.cos(angleInRadians);\n  const s = Math.sin(angleInRadians);\n  const oneMinusCosine = 1 - c;\n\n  const r00 = xx + (1 - xx) * c;\n  const r01 = x * y * oneMinusCosine + z * s;\n  const r02 = x * z * oneMinusCosine - y * s;\n  const r10 = x * y * oneMinusCosine - z * s;\n  const r11 = yy + (1 - yy) * c;\n  const r12 = y * z * oneMinusCosine + x * s;\n  const r20 = x * z * oneMinusCosine + y * s;\n  const r21 = y * z * oneMinusCosine - x * s;\n  const r22 = zz + (1 - zz) * c;\n\n  const m00 = m[0];\n  const m01 = m[1];\n  const m02 = m[2];\n  const m03 = m[3];\n  const m10 = m[4];\n  const m11 = m[5];\n  const m12 = m[6];\n  const m13 = m[7];\n  const m20 = m[8];\n  const m21 = m[9];\n  const m22 = m[10];\n  const m23 = m[11];\n\n  dst[ 0] = r00 * m00 + r01 * m10 + r02 * m20;\n  dst[ 1] = r00 * m01 + r01 * m11 + r02 * m21;\n  dst[ 2] = r00 * m02 + r01 * m12 + r02 * m22;\n  dst[ 3] = r00 * m03 + r01 * m13 + r02 * m23;\n  dst[ 4] = r10 * m00 + r11 * m10 + r12 * m20;\n  dst[ 5] = r10 * m01 + r11 * m11 + r12 * m21;\n  dst[ 6] = r10 * m02 + r11 * m12 + r12 * m22;\n  dst[ 7] = r10 * m03 + r11 * m13 + r12 * m23;\n  dst[ 8] = r20 * m00 + r21 * m10 + r22 * m20;\n  dst[ 9] = r20 * m01 + r21 * m11 + r22 * m21;\n  dst[10] = r20 * m02 + r21 * m12 + r22 * m22;\n  dst[11] = r20 * m03 + r21 * m13 + r22 * m23;\n\n  if (m !== dst) {\n    dst[12] = m[12];\n    dst[13] = m[13];\n    dst[14] = m[14];\n    dst[15] = m[15];\n  }\n\n  return dst;\n}\n\n/**\n * Rotates the given 4-by-4 matrix around the given axis by the\n * given angle. (same as rotate)\n * @param m - The matrix.\n * @param axis - The axis\n *     about which to rotate.\n * @param angleInRadians - The angle by which to rotate (in radians).\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The rotated matrix.\n */\nexport const rotate = axisRotate;\n\n/**\n * Creates a 4-by-4 matrix which scales in each dimension by an amount given by\n * the corresponding entry in the given vector; assumes the vector has three\n * entries.\n * @param v - A vector of\n *     three entries specifying the factor by which to scale in each dimension.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The scaling matrix.\n */\nexport function scaling(v: Vec3, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  dst[ 0] = v[0];  dst[ 1] = 0;     dst[ 2] = 0;     dst[ 3] = 0;\n  dst[ 4] = 0;     dst[ 5] = v[1];  dst[ 6] = 0;     dst[ 7] = 0;\n  dst[ 8] = 0;     dst[ 9] = 0;     dst[10] = v[2];  dst[11] = 0;\n  dst[12] = 0;     dst[13] = 0;     dst[14] = 0;     dst[15] = 1;\n\n  return dst;\n}\n\n/**\n * Scales the given 4-by-4 matrix in each dimension by an amount\n * given by the corresponding entry in the given vector; assumes the vector has\n * three entries.\n * @param m - The matrix to be modified.\n * @param v - A vector of three entries specifying the\n *     factor by which to scale in each dimension.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The scaled matrix.\n */\nexport function scale(m: Mat4, v: Vec3, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  const v0 = v[0];\n  const v1 = v[1];\n  const v2 = v[2];\n\n  dst[ 0] = v0 * m[0 * 4 + 0];\n  dst[ 1] = v0 * m[0 * 4 + 1];\n  dst[ 2] = v0 * m[0 * 4 + 2];\n  dst[ 3] = v0 * m[0 * 4 + 3];\n  dst[ 4] = v1 * m[1 * 4 + 0];\n  dst[ 5] = v1 * m[1 * 4 + 1];\n  dst[ 6] = v1 * m[1 * 4 + 2];\n  dst[ 7] = v1 * m[1 * 4 + 3];\n  dst[ 8] = v2 * m[2 * 4 + 0];\n  dst[ 9] = v2 * m[2 * 4 + 1];\n  dst[10] = v2 * m[2 * 4 + 2];\n  dst[11] = v2 * m[2 * 4 + 3];\n\n  if (m !== dst) {\n    dst[12] = m[12];\n    dst[13] = m[13];\n    dst[14] = m[14];\n    dst[15] = m[15];\n  }\n\n  return dst;\n}\n\n/**\n * Creates a 4-by-4 matrix which scales a uniform amount in each dimension.\n * @param s - the amount to scale\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The scaling matrix.\n */\nexport function uniformScaling(s: number, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  dst[ 0] = s;  dst[ 1] = 0;  dst[ 2] = 0;  dst[ 3] = 0;\n  dst[ 4] = 0;  dst[ 5] = s;  dst[ 6] = 0;  dst[ 7] = 0;\n  dst[ 8] = 0;  dst[ 9] = 0;  dst[10] = s;  dst[11] = 0;\n  dst[12] = 0;  dst[13] = 0;  dst[14] = 0;  dst[15] = 1;\n\n  return dst;\n}\n\n/**\n * Scales the given 4-by-4 matrix in each dimension by a uniform scale.\n * @param m - The matrix to be modified.\n * @param s - The amount to scale.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The scaled matrix.\n */\nexport function uniformScale(m: Mat4, s: number, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  dst[ 0] = s * m[0 * 4 + 0];\n  dst[ 1] = s * m[0 * 4 + 1];\n  dst[ 2] = s * m[0 * 4 + 2];\n  dst[ 3] = s * m[0 * 4 + 3];\n  dst[ 4] = s * m[1 * 4 + 0];\n  dst[ 5] = s * m[1 * 4 + 1];\n  dst[ 6] = s * m[1 * 4 + 2];\n  dst[ 7] = s * m[1 * 4 + 3];\n  dst[ 8] = s * m[2 * 4 + 0];\n  dst[ 9] = s * m[2 * 4 + 1];\n  dst[10] = s * m[2 * 4 + 2];\n  dst[11] = s * m[2 * 4 + 3];\n\n  if (m !== dst) {\n    dst[12] = m[12];\n    dst[13] = m[13];\n    dst[14] = m[14];\n    dst[15] = m[15];\n  }\n\n  return dst;\n}","/*\n * Copyright 2022 Gregg Tavares\n *\n * Permission is hereby granted, free of charge, to any person obtaining a\n * copy of this software and associated documentation files (the \"Software\"),\n * to deal in the Software without restriction, including without limitation\n * the rights to use, copy, modify, merge, publish, distribute, sublicense,\n * and/or sell copies of the Software, and to permit persons to whom the\n * Software is furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL\n * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER\n * DEALINGS IN THE SOFTWARE.\n */\n\n/**\n * A JavaScript array with 4 values, Float32Array with 4 values, or a Float64Array with 4 values.\n * When created by the library will create the default type which is `Float32Array`\n * but can be set by calling {@link quat.setDefaultType}.\n */\nexport type Quat = number[] | Float32Array | Float64Array;\n\n/**\n *\n * Quat4 math functions.\n *\n * Almost all functions take an optional `dst` argument. If it is not passed in the\n * functions will create a new `Quat4`. In other words you can do this\n *\n *     const v = quat4.cross(v1, v2);  // Creates a new Quat4 with the cross product of v1 x v2.\n *\n * or\n *\n *     const v = quat4.create();\n *     quat4.cross(v1, v2, v);  // Puts the cross product of v1 x v2 in v\n *\n * The first style is often easier but depending on where it's used it generates garbage where\n * as there is almost never allocation with the second style.\n *\n * It is always safe to pass any vector as the destination. So for example\n *\n *     quat4.cross(v1, v2, v1);  // Puts the cross product of v1 x v2 in v1\n *\n */\n\nexport let QuatType: new (n: number) => Quat = Float32Array;\n\n/**\n * Sets the type this library creates for a Quat4\n * @param ctor - the constructor for the type. Either `Float32Array`, `Float64Array`, or `Array`\n * @returns previous constructor for Quat4\n */\nexport function setDefaultType(ctor: new (n: number) => Quat) {\n  const oldType = QuatType;\n  QuatType = ctor;\n  return oldType;\n}\n\n/**\n * Creates a quat4; may be called with x, y, z to set initial values.\n * @param x - Initial x value.\n * @param y - Initial y value.\n * @param z - Initial z value.\n * @param w - Initial w value.\n * @returns the created vector\n */\nexport function create(x?: number, y?: number, z?: number, w?: number): Quat {\n  const dst = new QuatType(4);\n  if (x !== undefined) {\n    dst[0] = x;\n    if (y !== undefined) {\n      dst[1] = y;\n      if (z !== undefined) {\n        dst[2] = z;\n        if (w !== undefined) {\n          dst[3] = w;\n        }\n      }\n    }\n  }\n  return dst;\n}","/*\n * Copyright 2022 Gregg Tavares\n *\n * Permission is hereby granted, free of charge, to any person obtaining a\n * copy of this software and associated documentation files (the \"Software\"),\n * to deal in the Software without restriction, including without limitation\n * the rights to use, copy, modify, merge, publish, distribute, sublicense,\n * and/or sell copies of the Software, and to permit persons to whom the\n * Software is furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL\n * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER\n * DEALINGS IN THE SOFTWARE.\n */\nimport * as utils from './utils.js';\nimport { Quat, create, setDefaultType, QuatType } from './quat';\nimport { Mat3 } from './mat3.js';\nimport { Mat4 } from './mat4.js';\nimport { Vec3 } from './vec3.js';\nimport * as vec3 from './vec3-impl.js';\n\nexport type RotationOrder =  'xyz' |  'xzy' |  'yxz' |  'yzx' |  'zxy' |  'zyx';\n\nexport default Quat;\nexport { create, setDefaultType };\n\n/**\n * Creates a Quat; may be called with x, y, z to set initial values. (same as create)\n * @param x - Initial x value.\n * @param y - Initial y value.\n * @param z - Initial z value.\n * @param z - Initial w value.\n * @returns the created vector\n */\nexport const fromValues = create;\n\n/**\n * Sets the values of a Quat\n * Also see {@link quat.create} and {@link quat.copy}\n *\n * @param x first value\n * @param y second value\n * @param z third value\n * @param w fourth value\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector with its elements set.\n */\nexport function set(x: number, y: number, z: number, w: number, dst?: Quat) {\n  dst = dst || new QuatType(4);\n\n  dst[0] = x;\n  dst[1] = y;\n  dst[2] = z;\n  dst[3] = w;\n\n  return dst;\n}\n\n/**\n * Sets a quaternion from the given angle and  axis,\n * then returns it.\n *\n * @param axis - the axis to rotate around\n * @param angleInRadians - the angle\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns The quaternion that represents the given axis and angle\n **/\nexport function fromAxisAngle(axis: Vec3, angleInRadians: number, dst?: Quat): Quat {\n  dst = dst || new QuatType(4);\n\n  const halfAngle = angleInRadians * 0.5;\n  const s = Math.sin(halfAngle);\n\n  dst[0] = s * axis[0];\n  dst[1] = s * axis[1];\n  dst[2] = s * axis[2];\n  dst[3] = Math.cos(halfAngle);\n\n  return dst;\n}\n\n/**\n * Gets the rotation axis and angle\n * @param q - quaternion to compute from\n * @param dst - Vec3 to hold result. If not passed in a new one is created.\n * @return angle and axis\n */\nexport function toAxisAngle(q: Quat, dst?: Vec3): { angle: number, axis: Vec3 } {\n  dst = dst || vec3.create(4);\n\n  const angle = Math.acos(q[3]) * 2;\n  const s = Math.sin(angle * 0.5);\n  if (s > utils.EPSILON) {\n    dst[0] = q[0] / s;\n    dst[1] = q[1] / s;\n    dst[2] = q[2] / s;\n  } else {\n    dst[0] = 1;\n    dst[1] = 0;\n    dst[2] = 0;\n  }\n\n  return { angle, axis: dst };\n}\n\n/**\n * Returns the angle in degrees between two rotations a and b.\n * @param a - quaternion a\n * @param b - quaternion b\n * @return angle in radians between the two quaternions\n */\nexport function angle(a: Quat, b: Quat) {\n  const d = dot(a, b);\n  return Math.acos(2 * d * d - 1);\n}\n\n/**\n * Multiplies two quaternions\n *\n * @param a - the first quaternion\n * @param b - the second quaternion\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns A quaternion that is the result of a * b\n */\nexport function multiply(a: Quat, b: Quat, dst?: Quat): Quat {\n  dst = dst || new QuatType(4);\n\n  const ax = a[0];\n  const ay = a[1];\n  const az = a[2];\n  const aw = a[3];\n\n  const bx = b[0];\n  const by = b[1];\n  const bz = b[2];\n  const bw = b[3];\n\n  dst[0] = ax * bw + aw * bx + ay * bz - az * by;\n  dst[1] = ay * bw + aw * by + az * bx - ax * bz;\n  dst[2] = az * bw + aw * bz + ax * by - ay * bx;\n  dst[3] = aw * bw - ax * bx - ay * by - az * bz;\n\n  return dst;\n}\n\n/**\n * Multiplies two quaternions\n *\n * @param a - the first quaternion\n * @param b - the second quaternion\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns A quaternion that is the result of a * b\n */\nexport const mul = multiply;\n\n/**\n * Rotates the given quaternion around the X axis by the given angle.\n * @param q - quaternion to rotate\n * @param angleInRadians - The angle by which to rotate\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns A quaternion that is the result of a * b\n */\nexport function rotateX(q: Quat, angleInRadians: number, dst?: Quat): Quat {\n  dst = dst || new QuatType(4);\n\n  const halfAngle = angleInRadians * 0.5;\n\n  const qx = q[0];\n  const qy = q[1];\n  const qz = q[2];\n  const qw = q[3];\n\n  const bx = Math.sin(halfAngle);\n  const bw = Math.cos(halfAngle);\n\n  dst[0] = qx * bw + qw * bx;\n  dst[1] = qy * bw + qz * bx;\n  dst[2] = qz * bw - qy * bx;\n  dst[3] = qw * bw - qx * bx;\n\n  return dst;\n}\n\n/**\n * Rotates the given quaternion around the Y axis by the given angle.\n * @param q - quaternion to rotate\n * @param angleInRadians - The angle by which to rotate\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns A quaternion that is the result of a * b\n */\nexport function rotateY(q: Quat, angleInRadians: number, dst?: Quat): Quat {\n  dst = dst || new QuatType(4);\n\n  const halfAngle = angleInRadians * 0.5;\n\n  const qx = q[0];\n  const qy = q[1];\n  const qz = q[2];\n  const qw = q[3];\n\n  const by = Math.sin(halfAngle);\n  const bw = Math.cos(halfAngle);\n\n  dst[0] = qx * bw - qz * by;\n  dst[1] = qy * bw + qw * by;\n  dst[2] = qz * bw + qx * by;\n  dst[3] = qw * bw - qy * by;\n\n  return dst;\n}\n\n/**\n * Rotates the given quaternion around the Z axis by the given angle.\n * @param q - quaternion to rotate\n * @param angleInRadians - The angle by which to rotate\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns A quaternion that is the result of a * b\n */\nexport function rotateZ(q: Quat, angleInRadians: number, dst?: Quat): Quat {\n  dst = dst || new QuatType(4);\n\n  const halfAngle = angleInRadians * 0.5;\n\n  const qx = q[0];\n  const qy = q[1];\n  const qz = q[2];\n  const qw = q[3];\n\n  const bz = Math.sin(halfAngle);\n  const bw = Math.cos(halfAngle);\n\n  dst[0] = qx * bw + qy * bz;\n  dst[1] = qy * bw - qx * bz;\n  dst[2] = qz * bw + qw * bz;\n  dst[3] = qw * bw - qz * bz;\n\n  return dst;\n}\n\n/**\n * Spherically linear interpolate between two quaternions\n *\n * @param a - starting value\n * @param b - ending value\n * @param t - value where 0 = a and 1 = b\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns A quaternion that is the result of a * b\n */\nexport function slerp(a: Quat, b: Quat, t: number, dst?: Quat): Quat {\n  dst = dst || new QuatType(4);\n\n  const ax = a[0];\n  const ay = a[1];\n  const az = a[2];\n  const aw = a[3];\n\n  let bx = b[0];\n  let by = b[1];\n  let bz = b[2];\n  let bw = b[3];\n\n  let cosOmega = ax * bx + ay * by + az * bz + aw * bw;\n\n  if (cosOmega < 0) {\n    cosOmega = -cosOmega;\n    bx = -bx;\n    by = -by;\n    bz = -bz;\n    bw = -bw;\n  }\n\n  let scale0;\n  let scale1;\n\n  if (1.0 - cosOmega > utils.EPSILON) {\n    const omega = Math.acos(cosOmega);\n    const sinOmega = Math.sin(omega);\n    scale0 = Math.sin((1 - t) * omega) / sinOmega;\n    scale1 = Math.sin(t * omega) / sinOmega;\n  } else {\n    scale0 = 1.0 - t;\n    scale1 = t;\n  }\n\n  dst[0] = scale0 * ax + scale1 * bx;\n  dst[1] = scale0 * ay + scale1 * by;\n  dst[2] = scale0 * az + scale1 * bz;\n  dst[3] = scale0 * aw + scale1 * bw;\n\n  return dst;\n}\n\n/**\n * Compute the inverse of a quaternion\n *\n * @param q - quaternion to compute the inverse of\n * @returns A quaternion that is the result of a * b\n */\nexport function inverse(q: Quat, dst?: Quat): Quat {\n  dst = dst || new QuatType(4);\n\n  const a0 = q[0];\n  const a1 = q[1];\n  const a2 = q[2];\n  const a3 = q[3];\n\n  const dot = a0 * a0 + a1 * a1 + a2 * a2 + a3 * a3;\n  const invDot = dot ? 1 / dot : 0;\n\n  dst[0] = -a0 * invDot;\n  dst[1] = -a1 * invDot;\n  dst[2] = -a2 * invDot;\n  dst[3] =  a3 * invDot;\n\n  return dst;\n}\n\n/**\n * Compute the conjugate of a quaternion\n * For quaternions with a magnitude of 1 (a unit quaternion)\n * this returns the same as the inverse but is faster to calculate.\n *\n * @param q - quaternion to compute the conjugate of.\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns The conjugate of q\n */\nexport function conjugate(q: Quat, dst?: Quat): Quat {\n  dst = dst || new QuatType(4);\n\n  dst[0] = -q[0];\n  dst[1] = -q[1];\n  dst[2] = -q[2];\n  dst[3] =  q[3];\n\n  return dst;\n}\n\n/**\n * Creates a quaternion from the given rotation matrix.\n *\n * The created quaternion is not normalized.\n *\n * @param m - rotation matrix\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns the result\n */\nexport function fromMat(m: Mat3 | Mat4, dst?: Quat): Quat {\n  dst = dst || new QuatType(4);\n\n  /*\n  0 1 2\n  3 4 5\n  6 7 8\n\n  0 1 2\n  4 5 6\n  8 9 10\n   */\n\n  // Algorithm in Ken Shoemake's article in 1987 SIGGRAPH course notes\n  // article \"Quaternion Calculus and Fast Animation\".\n  const trace = m[0] + m[5] + m[10];\n\n  if (trace > 0.0) {\n    // |w| > 1/2, may as well choose w > 1/2\n    const root = Math.sqrt(trace + 1); // 2w\n    dst[3] = 0.5 * root;\n    const invRoot = 0.5 / root; // 1/(4w)\n\n    dst[0] = (m[6] - m[9]) * invRoot;\n    dst[1] = (m[8] - m[2]) * invRoot;\n    dst[2] = (m[1] - m[4]) * invRoot;\n  } else {\n    // |w| <= 1/2\n    let i = 0;\n\n    if (m[5] > m[0]) {\n      i = 1;\n    }\n    if (m[10] > m[i * 4 + i]) {\n      i = 2;\n    }\n\n    const j = (i + 1) % 3;\n    const k = (i + 2) % 3;\n\n    const root = Math.sqrt(m[i * 4 + i] - m[j * 4 + j] - m[k * 4 + k] + 1.0);\n    dst[i] = 0.5 * root;\n\n    const invRoot = 0.5 / root;\n\n    dst[3] = (m[j * 4 + k] - m[k * 4 + j]) * invRoot;\n    dst[j] = (m[j * 4 + i] + m[i * 4 + j]) * invRoot;\n    dst[k] = (m[k * 4 + i] + m[i * 4 + k]) * invRoot;\n  }\n\n  return dst;\n}\n\n/**\n * Creates a quaternion from the given euler angle x, y, z using the provided intrinsic order for the conversion.\n *\n * @param xAngleInRadians - angle to rotate around X axis in radians.\n * @param yAngleInRadians - angle to rotate around Y axis in radians.\n * @param zAngleInRadians - angle to rotate around Z axis in radians.\n * @param order - order to apply euler angles\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns A quaternion representing the same rotation as the euler angles applied in the given order\n */\nexport function fromEuler(\n    xAngleInRadians: number,\n    yAngleInRadians: number,\n    zAngleInRadians: number,\n    order: RotationOrder,\n    dst?: Quat) {\n  dst = dst || new QuatType(4);\n\n  const xHalfAngle = xAngleInRadians * 0.5;\n  const yHalfAngle = yAngleInRadians * 0.5;\n  const zHalfAngle = zAngleInRadians * 0.5;\n\n  const sx = Math.sin(xHalfAngle);\n  const cx = Math.cos(xHalfAngle);\n  const sy = Math.sin(yHalfAngle);\n  const cy = Math.cos(yHalfAngle);\n  const sz = Math.sin(zHalfAngle);\n  const cz = Math.cos(zHalfAngle);\n\n  switch (order) {\n    case 'xyz':\n      dst[0] = sx * cy * cz + cx * sy * sz;\n      dst[1] = cx * sy * cz - sx * cy * sz;\n      dst[2] = cx * cy * sz + sx * sy * cz;\n      dst[3] = cx * cy * cz - sx * sy * sz;\n      break;\n\n    case 'xzy':\n      dst[0] = sx * cy * cz - cx * sy * sz;\n      dst[1] = cx * sy * cz - sx * cy * sz;\n      dst[2] = cx * cy * sz + sx * sy * cz;\n      dst[3] = cx * cy * cz + sx * sy * sz;\n      break;\n\n    case 'yxz':\n      dst[0] = sx * cy * cz + cx * sy * sz;\n      dst[1] = cx * sy * cz - sx * cy * sz;\n      dst[2] = cx * cy * sz - sx * sy * cz;\n      dst[3] = cx * cy * cz + sx * sy * sz;\n      break;\n\n    case 'yzx':\n      dst[0] = sx * cy * cz + cx * sy * sz;\n      dst[1] = cx * sy * cz + sx * cy * sz;\n      dst[2] = cx * cy * sz - sx * sy * cz;\n      dst[3] = cx * cy * cz - sx * sy * sz;\n      break;\n\n    case 'zxy':\n      dst[0] = sx * cy * cz - cx * sy * sz;\n      dst[1] = cx * sy * cz + sx * cy * sz;\n      dst[2] = cx * cy * sz + sx * sy * cz;\n      dst[3] = cx * cy * cz - sx * sy * sz;\n      break;\n\n    case 'zyx':\n      dst[0] = sx * cy * cz - cx * sy * sz;\n      dst[1] = cx * sy * cz + sx * cy * sz;\n      dst[2] = cx * cy * sz - sx * sy * cz;\n      dst[3] = cx * cy * cz + sx * sy * sz;\n      break;\n\n    default:\n      throw new Error(`Unknown rotation order: ${order}`);\n  }\n\n  return dst;\n}\n\n/**\n * Copies a quaternion. (same as {@link quat.clone})\n * Also see {@link quat.create} and {@link quat.set}\n * @param q - The quaternion.\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns A quaternion that is a copy of q\n */\nexport function copy(q: Quat, dst?: Quat): Quat {\n  dst = dst || new QuatType(4);\n\n  dst[0] = q[0];\n  dst[1] = q[1];\n  dst[2] = q[2];\n  dst[3] = q[3];\n\n  return dst;\n}\n\n/**\n * Clones a quaternion. (same as {@link quat.copy})\n * Also see {@link quat.create} and {@link quat.set}\n * @param q - The quaternion.\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns A copy of q.\n */\nexport const clone = copy;\n\n/**\n * Adds two quaternions; assumes a and b have the same dimension.\n * @param a - Operand quaternion.\n * @param b - Operand quaternion.\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns A quaternion that is the sum of a and b.\n */\nexport function add(a: Quat, b: Quat, dst?: Quat): Quat {\n  dst = dst || new QuatType(4);\n\n  dst[0] = a[0] + b[0];\n  dst[1] = a[1] + b[1];\n  dst[2] = a[2] + b[2];\n  dst[3] = a[3] + b[3];\n\n  return dst;\n}\n\n/**\n * Subtracts two quaternions.\n * @param a - Operand quaternion.\n * @param b - Operand quaternion.\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns A quaternion that is the difference of a and b.\n */\nexport function subtract(a: Quat, b: Quat, dst?: Quat): Quat {\n  dst = dst || new QuatType(4);\n\n  dst[0] = a[0] - b[0];\n  dst[1] = a[1] - b[1];\n  dst[2] = a[2] - b[2];\n  dst[3] = a[3] - b[3];\n\n  return dst;\n}\n\n/**\n * Subtracts two quaternions.\n * @param a - Operand quaternion.\n * @param b - Operand quaternion.\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns A quaternion that is the difference of a and b.\n */\nexport const sub = subtract;\n\n/**\n * Multiplies a quaternion by a scalar.\n * @param v - The quaternion.\n * @param k - The scalar.\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns The scaled quaternion.\n */\nexport function mulScalar(v: Quat, k: number, dst?: Quat): Quat {\n  dst = dst || new QuatType(4);\n\n  dst[0] = v[0] * k;\n  dst[1] = v[1] * k;\n  dst[2] = v[2] * k;\n  dst[3] = v[3] * k;\n\n  return dst;\n}\n\n/**\n * Multiplies a quaternion by a scalar. (same as mulScalar)\n * @param v - The quaternion.\n * @param k - The scalar.\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns The scaled quaternion.\n */\nexport const scale = mulScalar;\n\n/**\n * Divides a vector by a scalar.\n * @param v - The vector.\n * @param k - The scalar.\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns The scaled quaternion.\n */\nexport function divScalar(v: Quat, k: number, dst?: Quat): Quat {\n  dst = dst || new QuatType(4);\n\n  dst[0] = v[0] / k;\n  dst[1] = v[1] / k;\n  dst[2] = v[2] / k;\n  dst[3] = v[3] / k;\n\n  return dst;\n}\n\n/**\n * Computes the dot product of two quaternions\n * @param a - Operand quaternion.\n * @param b - Operand quaternion.\n * @returns dot product\n */\nexport function dot(a: Quat, b: Quat): number {\n  return (a[0] * b[0]) + (a[1] * b[1]) + (a[2] * b[2]) + (a[3] * b[3]);\n}\n\n/**\n * Performs linear interpolation on two quaternions.\n * Given quaternions a and b and interpolation coefficient t, returns\n * a + t * (b - a).\n * @param a - Operand quaternion.\n * @param b - Operand quaternion.\n * @param t - Interpolation coefficient.\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns The linear interpolated result.\n */\nexport function lerp(a: Quat, b: Quat, t: number, dst?: Quat): Quat {\n  dst = dst || new QuatType(4);\n\n  dst[0] = a[0] + t * (b[0] - a[0]);\n  dst[1] = a[1] + t * (b[1] - a[1]);\n  dst[2] = a[2] + t * (b[2] - a[2]);\n  dst[3] = a[3] + t * (b[3] - a[3]);\n\n  return dst;\n}\n\n/**\n * Computes the length of quaternion\n * @param v - quaternion.\n * @returns length of quaternion.\n */\nexport function length(v: Quat): number {\n  const v0 = v[0];\n  const v1 = v[1];\n  const v2 = v[2];\n  const v3 = v[3];\n  return Math.sqrt(v0 * v0 + v1 * v1 + v2 * v2 + v3 * v3);\n}\n\n/**\n * Computes the length of quaternion (same as length)\n * @param v - quaternion.\n * @returns length of quaternion.\n */\nexport const len = length;\n\n/**\n * Computes the square of the length of quaternion\n * @param v - quaternion.\n * @returns square of the length of quaternion.\n */\nexport function lengthSq(v: Quat): number {\n  const v0 = v[0];\n  const v1 = v[1];\n  const v2 = v[2];\n  const v3 = v[3];\n  return v0 * v0 + v1 * v1 + v2 * v2 + v3 * v3;\n}\n\n/**\n * Computes the square of the length of quaternion (same as lengthSq)\n * @param v - quaternion.\n * @returns square of the length of quaternion.\n */\nexport const lenSq = lengthSq;\n\n/**\n * Divides a quaternion by its Euclidean length and returns the quotient.\n * @param v - The quaternion.\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns The normalized quaternion.\n */\nexport function normalize(v: Quat, dst?: Quat): Quat {\n  dst = dst || new QuatType(4);\n\n  const v0 = v[0];\n  const v1 = v[1];\n  const v2 = v[2];\n  const v3 = v[3];\n  const len = Math.sqrt(v0 * v0 + v1 * v1 + v2 * v2 + v3 * v3);\n\n  if (len > 0.00001) {\n    dst[0] = v0 / len;\n    dst[1] = v1 / len;\n    dst[2] = v2 / len;\n    dst[3] = v3 / len;\n  } else {\n    dst[0] = 0;\n    dst[1] = 0;\n    dst[2] = 0;\n    dst[3] = 0;\n  }\n\n  return dst;\n}\n\n/**\n * Check if 2 quaternions are approximately equal\n * @param a - Operand quaternion.\n * @param b - Operand quaternion.\n * @returns true if quaternions are approximately equal\n */\nexport function equalsApproximately(a: Quat, b: Quat): boolean {\n  return Math.abs(a[0] - b[0]) < utils.EPSILON &&\n         Math.abs(a[1] - b[1]) < utils.EPSILON &&\n         Math.abs(a[2] - b[2]) < utils.EPSILON &&\n         Math.abs(a[3] - b[3]) < utils.EPSILON;\n}\n\n/**\n * Check if 2 quaternions are exactly equal\n * @param a - Operand quaternion.\n * @param b - Operand quaternion.\n * @returns true if quaternions are exactly equal\n */\nexport function equals(a: Quat, b: Quat): boolean {\n  return a[0] === b[0] && a[1] === b[1] && a[2] === b[2] && a[3] === b[3];\n}\n\n/**\n * Creates an identity quaternion\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns an identity quaternion\n */\nexport function identity(dst?: Quat): Quat {\n  dst = dst || new QuatType(4);\n\n  dst[0] = 0;\n  dst[1] = 0;\n  dst[2] = 0;\n  dst[3] = 1;\n\n  return dst;\n}\n\nlet tempVec3: Vec3;\nlet xUnitVec3: Vec3;\nlet yUnitVec3: Vec3;\n\n/**\n * Computes a quaternion to represent the shortest rotation from one vector to another.\n *\n * @param aUnit - the start vector\n * @param bUnit - the end vector\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns the result\n */\nexport function rotationTo(aUnit: Vec3, bUnit: Vec3, dst?: Quat): Quat {\n  dst = dst || new QuatType(4);\n\n  tempVec3 = tempVec3 || vec3.create();\n  xUnitVec3 = xUnitVec3 || vec3.create(1, 0, 0);\n  yUnitVec3 = yUnitVec3 || vec3.create(0, 1, 0);\n\n  const dot = vec3.dot(aUnit, bUnit);\n  if (dot < -0.999999) {\n    vec3.cross(xUnitVec3, aUnit, tempVec3);\n    if (vec3.len(tempVec3) < 0.000001) {\n      vec3.cross(yUnitVec3, aUnit, tempVec3);\n    }\n\n    vec3.normalize(tempVec3, tempVec3);\n    fromAxisAngle(tempVec3, Math.PI, dst);\n\n    return dst;\n  } else if (dot > 0.999999) {\n    dst[0] = 0;\n    dst[1] = 0;\n    dst[2] = 0;\n    dst[3] = 1;\n\n    return dst;\n  } else {\n    vec3.cross(aUnit, bUnit, tempVec3);\n\n    dst[0] = tempVec3[0];\n    dst[1] = tempVec3[1];\n    dst[2] = tempVec3[2];\n    dst[3] = 1 + dot;\n\n    return normalize(dst, dst);\n  }\n}\n\nlet tempQuat1: Quat;\nlet tempQuat2: Quat;\n\n/**\n * Performs a spherical linear interpolation with two control points\n *\n * @param a - the first quaternion\n * @param b - the second quaternion\n * @param c - the third quaternion\n * @param d - the fourth quaternion\n * @param t - Interpolation coefficient 0 to 1\n * @returns result\n */\nexport function sqlerp(\n    a: Quat,\n    b: Quat,\n    c: Quat,\n    d: Quat,\n    t: number,\n    dst?: Quat): Quat {\n  dst = dst || new QuatType(4);\n\n  tempQuat1 = tempQuat1 || new QuatType(4);\n  tempQuat2 = tempQuat2 || new QuatType(4);\n\n  slerp(a, d, t, tempQuat1);\n  slerp(b, c, t, tempQuat2);\n  slerp(tempQuat1, tempQuat2, 2 * t * (1 - t), dst);\n\n  return dst;\n}\n","/*\n * Copyright 2022 Gregg Tavares\n *\n * Permission is hereby granted, free of charge, to any person obtaining a\n * copy of this software and associated documentation files (the \"Software\"),\n * to deal in the Software without restriction, including without limitation\n * the rights to use, copy, modify, merge, publish, distribute, sublicense,\n * and/or sell copies of the Software, and to permit persons to whom the\n * Software is furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL\n * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER\n * DEALINGS IN THE SOFTWARE.\n */\n\n/**\n * A JavaScript array with 4 values, Float32Array with 4 values, or a Float64Array with 4 values.\n * When created by the library will create the default type which is `Float32Array`\n * but can be set by calling {@link vec4.setDefaultType}.\n */\nexport type Vec4 = number[] | Float32Array | Float64Array;\n\n/**\n *\n * Vec4 math functions.\n *\n * Almost all functions take an optional `dst` argument. If it is not passed in the\n * functions will create a new `Vec4`. In other words you can do this\n *\n *     const v = vec4.cross(v1, v2);  // Creates a new Vec4 with the cross product of v1 x v2.\n *\n * or\n *\n *     const v = vec4.create();\n *     vec4.cross(v1, v2, v);  // Puts the cross product of v1 x v2 in v\n *\n * The first style is often easier but depending on where it's used it generates garbage where\n * as there is almost never allocation with the second style.\n *\n * It is always safe to pass any vector as the destination. So for example\n *\n *     vec4.cross(v1, v2, v1);  // Puts the cross product of v1 x v2 in v1\n *\n */\n\nexport let VecType: new (n: number) => Vec4 = Float32Array;\n\n/**\n * Sets the type this library creates for a Vec4\n * @param ctor - the constructor for the type. Either `Float32Array`, `Float64Array`, or `Array`\n * @returns previous constructor for Vec4\n */\nexport function setDefaultType(ctor: new (n: number) => Vec4) {\n  const oldType = VecType;\n  VecType = ctor;\n  return oldType;\n}\n\n/**\n * Creates a vec4; may be called with x, y, z to set initial values.\n * @param x - Initial x value.\n * @param y - Initial y value.\n * @param z - Initial z value.\n * @param w - Initial w value.\n * @returns the created vector\n */\nexport function create(x?: number, y?: number, z?: number, w?: number): Vec4 {\n  const dst = new VecType(4);\n  if (x !== undefined) {\n    dst[0] = x;\n    if (y !== undefined) {\n      dst[1] = y;\n      if (z !== undefined) {\n        dst[2] = z;\n        if (w !== undefined) {\n          dst[3] = w;\n        }\n      }\n    }\n  }\n  return dst;\n}","/*\n * Copyright 2022 Gregg Tavares\n *\n * Permission is hereby granted, free of charge, to any person obtaining a\n * copy of this software and associated documentation files (the \"Software\"),\n * to deal in the Software without restriction, including without limitation\n * the rights to use, copy, modify, merge, publish, distribute, sublicense,\n * and/or sell copies of the Software, and to permit persons to whom the\n * Software is furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL\n * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER\n * DEALINGS IN THE SOFTWARE.\n */\nimport * as utils from './utils.js';\nimport { Vec4, create, setDefaultType, VecType } from './vec4';\nimport { Mat4 } from './mat4';\n\nexport default Vec4;\nexport { create, setDefaultType };\n\n/**\n * Creates a vec4; may be called with x, y, z to set initial values. (same as create)\n * @param x - Initial x value.\n * @param y - Initial y value.\n * @param z - Initial z value.\n * @param z - Initial w value.\n * @returns the created vector\n */\nexport const fromValues = create;\n\n/**\n * Sets the values of a Vec4\n * Also see {@link vec4.create} and {@link vec4.copy}\n *\n * @param x first value\n * @param y second value\n * @param z third value\n * @param w fourth value\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector with its elements set.\n */\nexport function set(x: number, y: number, z: number, w: number, dst?: Vec4) {\n  dst = dst || new VecType(4);\n\n  dst[0] = x;\n  dst[1] = y;\n  dst[2] = z;\n  dst[3] = w;\n\n  return dst;\n}\n\n/**\n * Applies Math.ceil to each element of vector\n * @param v - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the ceil of each element of v.\n */\nexport function ceil(v: Vec4, dst?: Vec4): Vec4 {\n  dst = dst || new VecType(4);\n\n  dst[0] = Math.ceil(v[0]);\n  dst[1] = Math.ceil(v[1]);\n  dst[2] = Math.ceil(v[2]);\n  dst[3] = Math.ceil(v[3]);\n\n  return dst;\n}\n\n/**\n * Applies Math.floor to each element of vector\n * @param v - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the floor of each element of v.\n */\nexport function floor(v: Vec4, dst?: Vec4): Vec4 {\n  dst = dst || new VecType(4);\n\n  dst[0] = Math.floor(v[0]);\n  dst[1] = Math.floor(v[1]);\n  dst[2] = Math.floor(v[2]);\n  dst[3] = Math.floor(v[3]);\n\n  return dst;\n}\n\n/**\n * Applies Math.round to each element of vector\n * @param v - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the round of each element of v.\n */\nexport function round(v: Vec4, dst?: Vec4): Vec4 {\n  dst = dst || new VecType(4);\n\n  dst[0] = Math.round(v[0]);\n  dst[1] = Math.round(v[1]);\n  dst[2] = Math.round(v[2]);\n  dst[3] = Math.round(v[3]);\n\n  return dst;\n}\n\n/**\n * Clamp each element of vector between min and max\n * @param v - Operand vector.\n * @param max - Min value, default 0\n * @param min - Max value, default 1\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that the clamped value of each element of v.\n */\nexport function clamp(v: Vec4, min = 0, max = 1, dst?: Vec4): Vec4 {\n  dst = dst || new VecType(4);\n\n  dst[0] = Math.min(max, Math.max(min, v[0]));\n  dst[1] = Math.min(max, Math.max(min, v[1]));\n  dst[2] = Math.min(max, Math.max(min, v[2]));\n  dst[3] = Math.min(max, Math.max(min, v[3]));\n\n  return dst;\n}\n\n/**\n * Adds two vectors; assumes a and b have the same dimension.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the sum of a and b.\n */\nexport function add(a: Vec4, b: Vec4, dst?: Vec4): Vec4 {\n  dst = dst || new VecType(4);\n\n  dst[0] = a[0] + b[0];\n  dst[1] = a[1] + b[1];\n  dst[2] = a[2] + b[2];\n  dst[3] = a[3] + b[3];\n\n  return dst;\n}\n\n/**\n * Adds two vectors, scaling the 2nd; assumes a and b have the same dimension.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param scale - Amount to scale b\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the sum of a + b * scale.\n */\nexport function addScaled(a: Vec4, b: Vec4, scale: number, dst?: Vec4): Vec4 {\n  dst = dst || new VecType(4);\n\n  dst[0] = a[0] + b[0] * scale;\n  dst[1] = a[1] + b[1] * scale;\n  dst[2] = a[2] + b[2] * scale;\n  dst[3] = a[3] + b[3] * scale;\n\n  return dst;\n}\n\n/**\n * Subtracts two vectors.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the difference of a and b.\n */\nexport function subtract(a: Vec4, b: Vec4, dst?: Vec4): Vec4 {\n  dst = dst || new VecType(4);\n\n  dst[0] = a[0] - b[0];\n  dst[1] = a[1] - b[1];\n  dst[2] = a[2] - b[2];\n  dst[3] = a[3] - b[3];\n\n  return dst;\n}\n\n/**\n * Subtracts two vectors.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the difference of a and b.\n */\nexport const sub = subtract;\n\n/**\n * Check if 2 vectors are approximately equal\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @returns true if vectors are approximately equal\n */\nexport function equalsApproximately(a: Vec4, b: Vec4): boolean {\n  return Math.abs(a[0] - b[0]) < utils.EPSILON &&\n         Math.abs(a[1] - b[1]) < utils.EPSILON &&\n         Math.abs(a[2] - b[2]) < utils.EPSILON &&\n         Math.abs(a[3] - b[3]) < utils.EPSILON;\n}\n\n/**\n * Check if 2 vectors are exactly equal\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @returns true if vectors are exactly equal\n */\nexport function equals(a: Vec4, b: Vec4): boolean {\n  return a[0] === b[0] && a[1] === b[1] && a[2] === b[2] && a[3] === b[3];\n}\n\n/**\n * Performs linear interpolation on two vectors.\n * Given vectors a and b and interpolation coefficient t, returns\n * a + t * (b - a).\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param t - Interpolation coefficient.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The linear interpolated result.\n */\nexport function lerp(a: Vec4, b: Vec4, t: number, dst?: Vec4): Vec4 {\n  dst = dst || new VecType(4);\n\n  dst[0] = a[0] + t * (b[0] - a[0]);\n  dst[1] = a[1] + t * (b[1] - a[1]);\n  dst[2] = a[2] + t * (b[2] - a[2]);\n  dst[3] = a[3] + t * (b[3] - a[3]);\n\n  return dst;\n}\n\n/**\n * Performs linear interpolation on two vectors.\n * Given vectors a and b and interpolation coefficient vector t, returns\n * a + t * (b - a).\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param t - Interpolation coefficients vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns the linear interpolated result.\n */\nexport function lerpV(a: Vec4, b: Vec4, t: Vec4, dst?: Vec4): Vec4 {\n  dst = dst || new VecType(4);\n\n  dst[0] = a[0] + t[0] * (b[0] - a[0]);\n  dst[1] = a[1] + t[1] * (b[1] - a[1]);\n  dst[2] = a[2] + t[2] * (b[2] - a[2]);\n  dst[3] = a[3] + t[3] * (b[3] - a[3]);\n\n  return dst;\n}\n\n/**\n * Return max values of two vectors.\n * Given vectors a and b returns\n * [max(a[0], b[0]), max(a[1], b[1]), max(a[2], b[2])].\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The max components vector.\n */\nexport function max(a: Vec4, b: Vec4, dst?: Vec4): Vec4 {\n  dst = dst || new VecType(4);\n\n  dst[0] = Math.max(a[0], b[0]);\n  dst[1] = Math.max(a[1], b[1]);\n  dst[2] = Math.max(a[2], b[2]);\n  dst[3] = Math.max(a[3], b[3]);\n\n  return dst;\n}\n\n/**\n * Return min values of two vectors.\n * Given vectors a and b returns\n * [min(a[0], b[0]), min(a[1], b[1]), min(a[2], b[2])].\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The min components vector.\n */\nexport function min(a: Vec4, b: Vec4, dst?: Vec4): Vec4 {\n  dst = dst || new VecType(4);\n\n  dst[0] = Math.min(a[0], b[0]);\n  dst[1] = Math.min(a[1], b[1]);\n  dst[2] = Math.min(a[2], b[2]);\n  dst[3] = Math.min(a[3], b[3]);\n\n  return dst;\n}\n\n/**\n * Multiplies a vector by a scalar.\n * @param v - The vector.\n * @param k - The scalar.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The scaled vector.\n */\nexport function mulScalar(v: Vec4, k: number, dst?: Vec4): Vec4 {\n  dst = dst || new VecType(4);\n\n  dst[0] = v[0] * k;\n  dst[1] = v[1] * k;\n  dst[2] = v[2] * k;\n  dst[3] = v[3] * k;\n\n  return dst;\n}\n\n/**\n * Multiplies a vector by a scalar. (same as mulScalar)\n * @param v - The vector.\n * @param k - The scalar.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The scaled vector.\n */\nexport const scale = mulScalar;\n\n/**\n * Divides a vector by a scalar.\n * @param v - The vector.\n * @param k - The scalar.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The scaled vector.\n */\nexport function divScalar(v: Vec4, k: number, dst?: Vec4): Vec4 {\n  dst = dst || new VecType(4);\n\n  dst[0] = v[0] / k;\n  dst[1] = v[1] / k;\n  dst[2] = v[2] / k;\n  dst[3] = v[3] / k;\n\n  return dst;\n}\n\n/**\n * Inverse a vector.\n * @param v - The vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The inverted vector.\n */\nexport function inverse(v: Vec4, dst?: Vec4): Vec4 {\n  dst = dst || new VecType(4);\n\n  dst[0] = 1 / v[0];\n  dst[1] = 1 / v[1];\n  dst[2] = 1 / v[2];\n  dst[3] = 1 / v[3];\n\n  return dst;\n}\n\n/**\n * Invert a vector. (same as inverse)\n * @param v - The vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The inverted vector.\n */\nexport const invert = inverse;\n\n/**\n * Computes the dot product of two vectors\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @returns dot product\n */\nexport function dot(a: Vec4, b: Vec4): number {\n  return (a[0] * b[0]) + (a[1] * b[1]) + (a[2] * b[2]) + (a[3] * b[3]);\n}\n\n/**\n * Computes the length of vector\n * @param v - vector.\n * @returns length of vector.\n */\nexport function length(v: Vec4): number {\n  const v0 = v[0];\n  const v1 = v[1];\n  const v2 = v[2];\n  const v3 = v[3];\n  return Math.sqrt(v0 * v0 + v1 * v1 + v2 * v2 + v3 * v3);\n}\n\n/**\n * Computes the length of vector (same as length)\n * @param v - vector.\n * @returns length of vector.\n */\nexport const len = length;\n\n/**\n * Computes the square of the length of vector\n * @param v - vector.\n * @returns square of the length of vector.\n */\nexport function lengthSq(v: Vec4): number {\n  const v0 = v[0];\n  const v1 = v[1];\n  const v2 = v[2];\n  const v3 = v[3];\n  return v0 * v0 + v1 * v1 + v2 * v2 + v3 * v3;\n}\n\n/**\n * Computes the square of the length of vector (same as lengthSq)\n * @param v - vector.\n * @returns square of the length of vector.\n */\nexport const lenSq = lengthSq;\n\n/**\n * Computes the distance between 2 points\n * @param a - vector.\n * @param b - vector.\n * @returns distance between a and b\n */\nexport function distance(a: Vec4, b: Vec4): number {\n  const dx = a[0] - b[0];\n  const dy = a[1] - b[1];\n  const dz = a[2] - b[2];\n  const dw = a[3] - b[3];\n  return Math.sqrt(dx * dx + dy * dy + dz * dz + dw * dw);\n}\n\n/**\n * Computes the distance between 2 points (same as distance)\n * @param a - vector.\n * @param b - vector.\n * @returns distance between a and b\n */\nexport const dist = distance;\n\n/**\n * Computes the square of the distance between 2 points\n * @param a - vector.\n * @param b - vector.\n * @returns square of the distance between a and b\n */\nexport function distanceSq(a: Vec4, b: Vec4): number {\n  const dx = a[0] - b[0];\n  const dy = a[1] - b[1];\n  const dz = a[2] - b[2];\n  const dw = a[3] - b[3];\n  return dx * dx + dy * dy + dz * dz + dw * dw;\n}\n\n/**\n * Computes the square of the distance between 2 points (same as distanceSq)\n * @param a - vector.\n * @param b - vector.\n * @returns square of the distance between a and b\n */\nexport const distSq = distanceSq;\n\n/**\n * Divides a vector by its Euclidean length and returns the quotient.\n * @param v - The vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The normalized vector.\n */\nexport function normalize(v: Vec4, dst?: Vec4): Vec4 {\n  dst = dst || new VecType(4);\n\n  const v0 = v[0];\n  const v1 = v[1];\n  const v2 = v[2];\n  const v3 = v[3];\n  const len = Math.sqrt(v0 * v0 + v1 * v1 + v2 * v2 + v3 * v3);\n\n  if (len > 0.00001) {\n    dst[0] = v0 / len;\n    dst[1] = v1 / len;\n    dst[2] = v2 / len;\n    dst[3] = v3 / len;\n  } else {\n    dst[0] = 0;\n    dst[1] = 0;\n    dst[2] = 0;\n    dst[3] = 0;\n  }\n\n  return dst;\n}\n\n/**\n * Negates a vector.\n * @param v - The vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns -v.\n */\nexport function negate(v: Vec4, dst?: Vec4): Vec4 {\n  dst = dst || new VecType(4);\n\n  dst[0] = -v[0];\n  dst[1] = -v[1];\n  dst[2] = -v[2];\n  dst[3] = -v[3];\n\n  return dst;\n}\n\n/**\n * Copies a vector. (same as {@link vec4.clone})\n * Also see {@link vec4.create} and {@link vec4.set}\n * @param v - The vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A copy of v.\n */\nexport function copy(v: Vec4, dst?: Vec4): Vec4 {\n  dst = dst || new VecType(4);\n\n  dst[0] = v[0];\n  dst[1] = v[1];\n  dst[2] = v[2];\n  dst[3] = v[3];\n\n  return dst;\n}\n\n/**\n * Clones a vector. (same as {@link vec4.copy})\n * Also see {@link vec4.create} and {@link vec4.set}\n * @param v - The vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A copy of v.\n */\nexport const clone = copy;\n\n/**\n * Multiplies a vector by another vector (component-wise); assumes a and\n * b have the same length.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The vector of products of entries of a and b.\n */\nexport function multiply(a: Vec4, b: Vec4, dst?: Vec4): Vec4 {\n  dst = dst || new VecType(4);\n\n  dst[0] = a[0] * b[0];\n  dst[1] = a[1] * b[1];\n  dst[2] = a[2] * b[2];\n  dst[3] = a[3] * b[3];\n\n  return dst;\n}\n\n/**\n * Multiplies a vector by another vector (component-wise); assumes a and\n * b have the same length. (same as mul)\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The vector of products of entries of a and b.\n */\nexport const mul = multiply;\n\n/**\n * Divides a vector by another vector (component-wise); assumes a and\n * b have the same length.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The vector of quotients of entries of a and b.\n */\nexport function divide(a: Vec4, b: Vec4, dst?: Vec4) {\n  dst = dst || new VecType(4);\n\n  dst[0] = a[0] / b[0];\n  dst[1] = a[1] / b[1];\n  dst[2] = a[2] / b[2];\n  dst[3] = a[3] / b[3];\n\n  return dst;\n}\n\n/**\n * Divides a vector by another vector (component-wise); assumes a and\n * b have the same length. (same as divide)\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The vector of quotients of entries of a and b.\n */\nexport const div = divide;\n\n/**\n * Zero's a vector\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The zeroed vector.\n */\nexport function zero(dst?: Vec4): Vec4 {\n  dst = dst || new VecType(4);\n\n  dst[0] = 0;\n  dst[1] = 0;\n  dst[2] = 0;\n  dst[3] = 0;\n\n  return dst;\n}\n\n\n/**\n * transform vec4 by 4x4 matrix\n * @param v - the vector\n * @param m - The matrix.\n * @param dst - optional vec4 to store result. If not passed a new one is created.\n * @returns the transformed vector\n */\nexport function transformMat4(v: Vec4, m: Mat4, dst?: Vec4): Vec4 {\n  dst = dst || new VecType(4);\n\n  const x = v[0];\n  const y = v[1];\n  const z = v[2];\n  const w = v[3];\n\n  dst[0] = m[0] * x + m[4] * y + m[ 8] * z + m[12] * w;\n  dst[1] = m[1] * x + m[5] * y + m[ 9] * z + m[13] * w;\n  dst[2] = m[2] * x + m[6] * y + m[10] * z + m[14] * w;\n  dst[3] = m[3] * x + m[7] * y + m[11] * z + m[15] * w;\n\n  return dst;\n}\n\n\n/**\n * Treat a 4D vector as a direction and set it's length\n *\n * @param a The vec4 to lengthen\n * @param len The length of the resulting vector\n * @returns The lengthened vector\n */\nexport function setLength(a: Vec4, len: number, dst?: Vec4) {\n  dst = dst || new VecType(4);\n  normalize(a, dst);\n  return mulScalar(dst, len, dst);\n}\n\n/**\n * Ensure a vector is not longer than a max length\n *\n * @param a The vec4 to limit\n * @param maxLen The longest length of the resulting vector\n * @returns The vector, shortened to maxLen if it's too long\n */\nexport function truncate(a: Vec4, maxLen: number, dst?: Vec4) {\n  dst = dst || new VecType(4);\n\n  if (length(a) > maxLen) {\n    return setLength(a, maxLen, dst);\n  }\n\n  return copy(a, dst);\n}\n\n/**\n * Return the vector exactly between 2 endpoint vectors\n *\n * @param a Endpoint 1\n * @param b Endpoint 2\n * @returns The vector exactly residing between endpoints 1 and 2\n */\nexport function midpoint(a: Vec4, b: Vec4, dst?: Vec4) {\n  dst = dst || new VecType(4);\n  return lerp(a, b, 0.5, dst);\n}\n","import Mat3, * as mat3 from './mat3-impl';\nimport Mat4, * as mat4 from './mat4-impl';\nimport Quat, * as quat from './quat-impl';\nimport Vec2, * as vec2 from './vec2-impl';\nimport Vec3, * as vec3 from './vec3-impl';\nimport Vec4, * as vec4 from './vec4-impl';\nimport * as utils from './utils';\n\n/**\n * Sets the type this library creates for all types\n *\n * example:\n *\n * ```\n * setDefaultType(Float64Array);\n * ```\n *\n * @param ctor - the constructor for the type. Either `Float32Array`, `Float64Array`, or `Array`\n */\nexport function setDefaultType(ctor: new (n: number) => Float32Array | Float64Array | number[]) {\n  mat3.setDefaultType(ctor);\n  mat4.setDefaultType(ctor);\n  quat.setDefaultType(ctor);\n  vec2.setDefaultType(ctor);\n  vec3.setDefaultType(ctor);\n  vec4.setDefaultType(ctor);\n}\n\nexport {\n  Mat3,\n  mat3,\n  Mat4,\n  mat4,\n  Quat,\n  quat,\n  utils,\n  Vec2,\n  vec2,\n  Vec3,\n  vec3,\n  Vec4,\n  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\ No newline at end of file
+{"version":3,"file":"wgpu-matrix.module.js","sources":["../../../src/utils.ts","../../../src/vec2.ts","../../../src/vec3.ts","../../../src/vec2-impl.ts","../../../src/mat3-impl.ts","../../../src/vec3-impl.ts","../../../src/mat4-impl.ts","../../../src/quat.ts","../../../src/quat-impl.ts","../../../src/vec4.ts","../../../src/vec4-impl.ts","../../../src/wgpu-matrix.ts"],"sourcesContent":["/*\n * Copyright 2022 Gregg Tavares\n *\n * Permission is hereby granted, free of charge, to any person obtaining a\n * copy of this software and associated documentation files (the \"Software\"),\n * to deal in the Software without restriction, including without limitation\n * the rights to use, copy, modify, merge, publish, distribute, sublicense,\n * and/or sell copies of the Software, and to permit persons to whom the\n * Software is furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL\n * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER\n * DEALINGS IN THE SOFTWARE.\n */\n\nexport let EPSILON = 0.000001;\n\n/**\n * Set the value for EPSILON for various checks\n * @param v - Value to use for EPSILON.\n * @returns previous value of EPSILON;\n */\nexport function setEpsilon(v: number): number {\n  const old = EPSILON;\n  EPSILON = v;\n  return old;\n}\n\n/**\n * Convert degrees to radians\n * @param degrees - Angle in degrees\n * @returns angle converted to radians\n */\nexport function degToRad(degrees: number): number {\n  return degrees * Math.PI / 180;\n}\n\n/**\n * Convert radians to degrees\n * @param radians - Angle in radians\n * @returns angle converted to degrees\n */\nexport function radToDeg(radians: number): number {\n  return radians * 180 / Math.PI;\n}\n\n/**\n * Lerps between a and b via t\n * @param a - starting value\n * @param b - ending value\n * @param t - value where 0 = a and 1 = b\n * @returns a + (b - a) * t\n */\nexport function lerp(a: number, b: number, t: number): number {\n  return a + (b - a) * t;\n}\n\n/**\n * Compute the opposite of lerp. Given a and b and a value between\n * a and b returns a value between 0 and 1. 0 if a, 1 if b.\n * Note: no clamping is done.\n * @param a - start value\n * @param b - end value\n * @param v - value between a and b\n * @returns (v - a) / (b - a)\n */\nexport function inverseLerp(a: number, b: number, v: number): number {\n  const d = b - a;\n  return (Math.abs(b - a) < EPSILON)\n     ? a\n     : (v - a) / d;\n}\n\n/**\n * Compute the euclidean modulo\n *\n * ```\n * // table for n / 3\n * -5, -4, -3, -2, -1,  0,  1,  2,  3,  4,  5   <- n\n * ------------------------------------\n * -2  -1  -0  -2  -1   0,  1,  2,  0,  1,  2   <- n % 3\n *  1   2   0   1   2   0,  1,  2,  0,  1,  2   <- euclideanModule(n, 3)\n * ```\n *\n * @param n - dividend\n * @param m - divisor\n * @returns the euclidean modulo of n / m\n */\nexport function euclideanModulo(n: number, m: number) {\n  return ((n % m) + m) % m;\n}","/*\n * Copyright 2022 Gregg Tavares\n *\n * Permission is hereby granted, free of charge, to any person obtaining a\n * copy of this software and associated documentation files (the \"Software\"),\n * to deal in the Software without restriction, including without limitation\n * the rights to use, copy, modify, merge, publish, distribute, sublicense,\n * and/or sell copies of the Software, and to permit persons to whom the\n * Software is furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL\n * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER\n * DEALINGS IN THE SOFTWARE.\n */\n\n/**\n * A JavaScript array with 2 values, Float32Array with 2 values, or a Float64Array with 2 values.\n * When created by the library will create the default type which is `Float32Array`\n * but can be set by calling {@link vec2.setDefaultType}.\n */\nexport type Vec2 = number[] | Float32Array | Float64Array;\n\n/**\n *\n * Vec2 math functions.\n *\n * Almost all functions take an optional `dst` argument. If it is not passed in the\n * functions will create a new Vec2. In other words you can do this\n *\n *     const v = vec2.cross(v1, v2);  // Creates a new Vec2 with the cross product of v1 x v2.\n *\n * or\n *\n *     const v = vec2.create();\n *     vec2.cross(v1, v2, v);  // Puts the cross product of v1 x v2 in v\n *\n * The first style is often easier but depending on where it's used it generates garbage where\n * as there is almost never allocation with the second style.\n *\n * It is always safe to pass any vector as the destination. So for example\n *\n *     vec2.cross(v1, v2, v1);  // Puts the cross product of v1 x v2 in v1\n *\n */\n\nexport let VecType: new (n: number) => Vec2 = Float32Array;\n\n/**\n * Sets the type this library creates for a Vec2\n * @param ctor - the constructor for the type. Either `Float32Array`, `Float64Array`, or `Array`\n * @returns previous constructor for Vec2\n */\nexport function setDefaultType(ctor: new (n: number) => Vec2) {\n  const oldType = VecType;\n  VecType = ctor;\n  return oldType;\n}\n\n/**\n * Creates a Vec2; may be called with x, y, z to set initial values.\n *\n * Note: Since passing in a raw JavaScript array\n * is valid in all circumstances, if you want to\n * force a JavaScript array into a Vec2's specified type\n * it would be faster to use\n *\n * ```\n * const v = vec2.clone(someJSArray);\n * ```\n *\n * Note: a consequence of the implementation is if your Vec2Type = `Array`\n * instead of `Float32Array` or `Float64Array` then any values you\n * don't pass in will be undefined. Usually this is not an issue since\n * (a) using `Array` is rare and (b) using `vec2.create` is usually used\n * to create a Vec2 to be filled out as in\n *\n * ```\n * const sum = vec2.create();\n * vec2.add(v1, v2, sum);\n * ```\n *\n * @param x - Initial x value.\n * @param y - Initial y value.\n * @returns the created vector\n */\nexport function create(x = 0, y = 0): Vec2 {\n  const dst = new VecType(2);\n  if (x !== undefined) {\n    dst[0] = x;\n    if (y !== undefined) {\n      dst[1] = y;\n    }\n  }\n  return dst;\n}\n","/*\n * Copyright 2022 Gregg Tavares\n *\n * Permission is hereby granted, free of charge, to any person obtaining a\n * copy of this software and associated documentation files (the \"Software\"),\n * to deal in the Software without restriction, including without limitation\n * the rights to use, copy, modify, merge, publish, distribute, sublicense,\n * and/or sell copies of the Software, and to permit persons to whom the\n * Software is furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL\n * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER\n * DEALINGS IN THE SOFTWARE.\n */\n\n/**\n * A JavaScript array with 3 values, Float32Array with 3 values, or a Float64Array with 3 values.\n * When created by the library will create the default type which is `Float32Array`\n * but can be set by calling {@link vec3.setDefaultType}.\n */\nexport type Vec3 = number[] | Float32Array | Float64Array;\n\n/**\n *\n * Vec3 math functions.\n *\n * Almost all functions take an optional `dst` argument. If it is not passed in the\n * functions will create a new `Vec3`. In other words you can do this\n *\n *     const v = vec3.cross(v1, v2);  // Creates a new Vec3 with the cross product of v1 x v2.\n *\n * or\n *\n *     const v = vec3.create();\n *     vec3.cross(v1, v2, v);  // Puts the cross product of v1 x v2 in v\n *\n * The first style is often easier but depending on where it's used it generates garbage where\n * as there is almost never allocation with the second style.\n *\n * It is always safe to pass any vector as the destination. So for example\n *\n *     vec3.cross(v1, v2, v1);  // Puts the cross product of v1 x v2 in v1\n *\n */\n\nexport let VecType: new (n: number) => Vec3 = Float32Array;\n\n/**\n * Sets the type this library creates for a Vec3\n * @param ctor - the constructor for the type. Either `Float32Array`, `Float64Array`, or `Array`\n * @returns previous constructor for Vec3\n */\nexport function setDefaultType(ctor: new (n: number) => Vec3) {\n  const oldType = VecType;\n  VecType = ctor;\n  return oldType;\n}\n\n/**\n * Creates a vec3; may be called with x, y, z to set initial values.\n * @param x - Initial x value.\n * @param y - Initial y value.\n * @param z - Initial z value.\n * @returns the created vector\n */\nexport function create(x?: number, y?: number, z?: number): Vec3 {\n  const dst = new VecType(3);\n  if (x !== undefined) {\n    dst[0] = x;\n    if (y !== undefined) {\n      dst[1] = y;\n      if (z !== undefined) {\n        dst[2] = z;\n      }\n    }\n  }\n  return dst;\n}","/*\n * Copyright 2022 Gregg Tavares\n *\n * Permission is hereby granted, free of charge, to any person obtaining a\n * copy of this software and associated documentation files (the \"Software\"),\n * to deal in the Software without restriction, including without limitation\n * the rights to use, copy, modify, merge, publish, distribute, sublicense,\n * and/or sell copies of the Software, and to permit persons to whom the\n * Software is furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL\n * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER\n * DEALINGS IN THE SOFTWARE.\n */\nimport * as utils from './utils.js';\nimport { Mat3 } from './mat3';\nimport { Mat4 } from './mat4';\nimport { Vec2, create, setDefaultType, VecType } from './vec2';\nimport { Vec3, VecType as Vec3Type } from './vec3';\n\nexport default Vec2;\nexport { create, setDefaultType };\n\n/**\n * Creates a Vec2; may be called with x, y, z to set initial values. (same as create)\n * @param x - Initial x value.\n * @param y - Initial y value.\n * @returns the created vector\n */\nexport const fromValues = create;\n\n/**\n * Sets the values of a Vec2\n * Also see {@link vec2.create} and {@link vec2.copy}\n *\n * @param x first value\n * @param y second value\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector with its elements set.\n */\nexport function set(x: number, y: number, dst?: Vec2) {\n  dst = dst || new VecType(2);\n\n  dst[0] = x;\n  dst[1] = y;\n\n  return dst;\n}\n\n/**\n * Applies Math.ceil to each element of vector\n * @param v - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the ceil of each element of v.\n */\nexport function ceil(v: Vec2, dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  dst[0] = Math.ceil(v[0]);\n  dst[1] = Math.ceil(v[1]);\n\n  return dst;\n}\n\n/**\n * Applies Math.floor to each element of vector\n * @param v - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the floor of each element of v.\n */\nexport function floor(v: Vec2, dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  dst[0] = Math.floor(v[0]);\n  dst[1] = Math.floor(v[1]);\n\n  return dst;\n}\n\n/**\n * Applies Math.round to each element of vector\n * @param v - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the round of each element of v.\n */\nexport function round(v: Vec2, dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  dst[0] = Math.round(v[0]);\n  dst[1] = Math.round(v[1]);\n\n  return dst;\n}\n\n/**\n * Clamp each element of vector between min and max\n * @param v - Operand vector.\n * @param max - Min value, default 0\n * @param min - Max value, default 1\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that the clamped value of each element of v.\n */\nexport function clamp(v: Vec2, min = 0, max = 1, dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  dst[0] = Math.min(max, Math.max(min, v[0]));\n  dst[1] = Math.min(max, Math.max(min, v[1]));\n\n  return dst;\n}\n\n/**\n * Adds two vectors; assumes a and b have the same dimension.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the sum of a and b.\n */\nexport function add(a: Vec2, b: Vec2, dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  dst[0] = a[0] + b[0];\n  dst[1] = a[1] + b[1];\n\n  return dst;\n}\n\n/**\n * Adds two vectors, scaling the 2nd; assumes a and b have the same dimension.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param scale - Amount to scale b\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the sum of a + b * scale.\n */\nexport function addScaled(a: Vec2, b: Vec2, scale: number, dst?: Vec2) {\n  dst = dst || new VecType(2);\n\n  dst[0] = a[0] + b[0] * scale;\n  dst[1] = a[1] + b[1] * scale;\n\n  return dst;\n}\n\n/**\n * Returns the angle in radians between two vectors.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @returns The angle in radians between the 2 vectors.\n */\nexport function angle(a: Vec2, b: Vec2): number {\n  const ax = a[0];\n  const ay = a[1];\n  const bx = b[0];\n  const by = b[1];\n  const mag1 = Math.sqrt(ax * ax + ay * ay);\n  const mag2 = Math.sqrt(bx * bx + by * by);\n  const mag = mag1 * mag2;\n  const cosine = mag && dot(a, b) / mag;\n  return Math.acos(cosine);\n}\n\n/**\n * Subtracts two vectors.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the difference of a and b.\n */\nexport function subtract(a: Vec2, b: Vec2, dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  dst[0] = a[0] - b[0];\n  dst[1] = a[1] - b[1];\n\n  return dst;\n}\n\n/**\n * Subtracts two vectors.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the difference of a and b.\n */\nexport const sub = subtract;\n\n/**\n * Check if 2 vectors are approximately equal\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @returns true if vectors are approximately equal\n */\nexport function equalsApproximately(a: Vec2, b: Vec2): boolean {\n  return Math.abs(a[0] - b[0]) < utils.EPSILON &&\n         Math.abs(a[1] - b[1]) < utils.EPSILON;\n}\n\n/**\n * Check if 2 vectors are exactly equal\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @returns true if vectors are exactly equal\n */\nexport function equals(a: Vec2, b: Vec2): boolean {\n  return a[0] === b[0] && a[1] === b[1];\n}\n\n/**\n * Performs linear interpolation on two vectors.\n * Given vectors a and b and interpolation coefficient t, returns\n * a + t * (b - a).\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param t - Interpolation coefficient.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The linear interpolated result.\n */\nexport function lerp(a: Vec2, b: Vec2, t: number, dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  dst[0] = a[0] + t * (b[0] - a[0]);\n  dst[1] = a[1] + t * (b[1] - a[1]);\n\n  return dst;\n}\n\n/**\n * Performs linear interpolation on two vectors.\n * Given vectors a and b and interpolation coefficient vector t, returns\n * a + t * (b - a).\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param t - Interpolation coefficients vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns the linear interpolated result.\n */\nexport function lerpV(a: Vec2, b: Vec2, t: Vec2, dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  dst[0] = a[0] + t[0] * (b[0] - a[0]);\n  dst[1] = a[1] + t[1] * (b[1] - a[1]);\n\n  return dst;\n}\n\n/**\n * Return max values of two vectors.\n * Given vectors a and b returns\n * [max(a[0], b[0]), max(a[1], b[1]), max(a[2], b[2])].\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The max components vector.\n */\nexport function max(a: Vec2, b: Vec2, dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  dst[0] = Math.max(a[0], b[0]);\n  dst[1] = Math.max(a[1], b[1]);\n\n  return dst;\n}\n\n/**\n * Return min values of two vectors.\n * Given vectors a and b returns\n * [min(a[0], b[0]), min(a[1], b[1]), min(a[2], b[2])].\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The min components vector.\n */\nexport function min(a: Vec2, b: Vec2, dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  dst[0] = Math.min(a[0], b[0]);\n  dst[1] = Math.min(a[1], b[1]);\n\n  return dst;\n}\n\n/**\n * Multiplies a vector by a scalar.\n * @param v - The vector.\n * @param k - The scalar.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The scaled vector.\n */\nexport function mulScalar(v: Vec2, k: number, dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  dst[0] = v[0] * k;\n  dst[1] = v[1] * k;\n\n  return dst;\n}\n\n/**\n * Multiplies a vector by a scalar. (same as mulScalar)\n * @param v - The vector.\n * @param k - The scalar.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The scaled vector.\n */\nexport const scale = mulScalar;\n\n/**\n * Divides a vector by a scalar.\n * @param v - The vector.\n * @param k - The scalar.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The scaled vector.\n */\nexport function divScalar(v: Vec2, k: number, dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  dst[0] = v[0] / k;\n  dst[1] = v[1] / k;\n\n  return dst;\n}\n\n/**\n * Inverse a vector.\n * @param v - The vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The inverted vector.\n */\nexport function inverse(v: Vec2, dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  dst[0] = 1 / v[0];\n  dst[1] = 1 / v[1];\n\n  return dst;\n}\n\n/**\n * Invert a vector. (same as inverse)\n * @param v - The vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The inverted vector.\n */\nexport const invert = inverse;\n\n/**\n * Computes the cross product of two vectors; assumes both vectors have\n * three entries.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The vector of a cross b.\n */\nexport function cross(a: Vec2, b: Vec2, dst?: Vec3): Vec3 {\n  dst = dst || new Vec3Type(3);\n  const z = a[0] * b[1] - a[1] * b[0];\n  dst[0] = 0;\n  dst[1] = 0;\n  dst[2] = z;\n\n  return dst;\n}\n\n/**\n * Computes the dot product of two vectors; assumes both vectors have\n * three entries.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @returns dot product\n */\nexport function dot(a: Vec2, b: Vec2): number {\n  return a[0] * b[0] + a[1] * b[1];\n}\n\n/**\n * Computes the length of vector\n * @param v - vector.\n * @returns length of vector.\n */\nexport function length(v: Vec2): number {\n  const v0 = v[0];\n  const v1 = v[1];\n  return Math.sqrt(v0 * v0 + v1 * v1);\n}\n\n/**\n * Computes the length of vector (same as length)\n * @param v - vector.\n * @returns length of vector.\n */\nexport const len = length;\n\n/**\n * Computes the square of the length of vector\n * @param v - vector.\n * @returns square of the length of vector.\n */\nexport function lengthSq(v: Vec2): number {\n  const v0 = v[0];\n  const v1 = v[1];\n  return v0 * v0 + v1 * v1;\n}\n\n/**\n * Computes the square of the length of vector (same as lengthSq)\n * @param v - vector.\n * @returns square of the length of vector.\n */\nexport const lenSq = lengthSq;\n\n/**\n * Computes the distance between 2 points\n * @param a - vector.\n * @param b - vector.\n * @returns distance between a and b\n */\nexport function distance(a: Vec2, b: Vec2): number {\n  const dx = a[0] - b[0];\n  const dy = a[1] - b[1];\n  return Math.sqrt(dx * dx + dy * dy);\n}\n\n/**\n * Computes the distance between 2 points (same as distance)\n * @param a - vector.\n * @param b - vector.\n * @returns distance between a and b\n */\nexport const dist = distance;\n\n/**\n * Computes the square of the distance between 2 points\n * @param a - vector.\n * @param b - vector.\n * @returns square of the distance between a and b\n */\nexport function distanceSq(a: Vec2, b: Vec2): number {\n  const dx = a[0] - b[0];\n  const dy = a[1] - b[1];\n  return dx * dx + dy * dy;\n}\n\n/**\n * Computes the square of the distance between 2 points (same as distanceSq)\n * @param a - vector.\n * @param b - vector.\n * @returns square of the distance between a and b\n */\nexport const distSq = distanceSq;\n\n/**\n * Divides a vector by its Euclidean length and returns the quotient.\n * @param v - The vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The normalized vector.\n */\nexport function normalize(v: Vec2, dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  const v0 = v[0];\n  const v1 = v[1];\n  const len = Math.sqrt(v0 * v0 + v1 * v1);\n\n  if (len > 0.00001) {\n    dst[0] = v0 / len;\n    dst[1] = v1 / len;\n  } else {\n    dst[0] = 0;\n    dst[1] = 0;\n  }\n\n  return dst;\n}\n\n/**\n * Negates a vector.\n * @param v - The vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns -v.\n */\nexport function negate(v: Vec2, dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  dst[0] = -v[0];\n  dst[1] = -v[1];\n\n  return dst;\n}\n\n/**\n * Copies a vector. (same as {@link vec2.clone})\n * Also see {@link vec2.create} and {@link vec2.set}\n * @param v - The vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A copy of v.\n */\nexport function copy(v: Vec2, dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  dst[0] = v[0];\n  dst[1] = v[1];\n\n  return dst;\n}\n\n/**\n * Clones a vector. (same as {@link vec2.copy})\n * Also see {@link vec2.create} and {@link vec2.set}\n * @param v - The vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A copy of v.\n */\nexport const clone = copy;\n\n/**\n * Multiplies a vector by another vector (component-wise); assumes a and\n * b have the same length.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The vector of products of entries of a and b.\n */\nexport function multiply(a: Vec2, b: Vec2, dst?: Vec2) {\n  dst = dst || new VecType(2);\n\n  dst[0] = a[0] * b[0];\n  dst[1] = a[1] * b[1];\n\n  return dst;\n}\n\n/**\n * Multiplies a vector by another vector (component-wise); assumes a and\n * b have the same length. (same as mul)\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The vector of products of entries of a and b.\n */\nexport const mul = multiply;\n\n/**\n * Divides a vector by another vector (component-wise); assumes a and\n * b have the same length.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The vector of quotients of entries of a and b.\n */\nexport function divide(a: Vec2, b: Vec2, dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  dst[0] = a[0] / b[0];\n  dst[1] = a[1] / b[1];\n\n  return dst;\n}\n\n/**\n * Divides a vector by another vector (component-wise); assumes a and\n * b have the same length. (same as divide)\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The vector of quotients of entries of a and b.\n */\nexport const div = divide;\n\n/**\n * Creates a random unit vector * scale\n * @param scale - Default 1\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The random vector.\n */\nexport function random(scale = 1, dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  const angle = Math.random() * 2 * Math.PI;\n  dst[0] = Math.cos(angle) * scale;\n  dst[1] = Math.sin(angle) * scale;\n\n  return dst;\n}\n\n/**\n * Zero's a vector\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The zeroed vector.\n */\nexport function zero(dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  dst[0] = 0;\n  dst[1] = 0;\n\n  return dst;\n}\n\n\n/**\n * transform Vec2 by 4x4 matrix\n * @param v - the vector\n * @param m - The matrix.\n * @param dst - optional Vec2 to store result. If not passed a new one is created.\n * @returns the transformed vector\n */\nexport function transformMat4(v: Vec2, m: Mat4, dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  const x = v[0];\n  const y = v[1];\n\n  dst[0] = x * m[0] + y * m[4] + m[12];\n  dst[1] = x * m[1] + y * m[5] + m[13];\n\n  return dst;\n}\n\n/**\n * Transforms vec4 by 3x3 matrix\n *\n * @param v - the vector\n * @param m - The matrix.\n * @param dst - optional Vec2 to store result. If not passed a new one is created.\n * @returns the transformed vector\n */\nexport function transformMat3(v: Vec2, m: Mat3, dst?: Vec2): Vec2 {\n  dst = dst || new VecType(2);\n\n  const x = v[0];\n  const y = v[1];\n\n  dst[0] = m[0] * x + m[4] * y + m[8];\n  dst[1] = m[1] * x + m[5] * y + m[9];\n\n  return dst;\n}\n\n/**\n * Rotate a 2D vector\n *\n * @param a The vec2 point to rotate\n * @param b The origin of the rotation\n * @param rad The angle of rotation in radians\n * @returns the rotated vector\n */\nexport function rotate(a: Vec2, b: Vec2, rad: number, dst?: Vec2) {\n  dst = dst || new VecType(2);\n\n  // Translate point to the origin\n  const p0 = a[0] - b[0];\n  const p1 = a[1] - b[1];\n  const sinC = Math.sin(rad);\n  const cosC = Math.cos(rad);\n\n  //perform rotation and translate to correct position\n  dst[0] = p0 * cosC - p1 * sinC + b[0];\n  dst[1] = p0 * sinC + p1 * cosC + b[1];\n\n  return dst;\n}\n\n/**\n * Treat a 2D vector as a direction and set it's length\n *\n * @param a The vec2 to lengthen\n * @param len The length of the resulting vector\n * @returns The lengthened vector\n */\nexport function setLength(a: Vec2, len: number, dst?: Vec2) {\n  dst = dst || new VecType(2);\n  normalize(a, dst);\n  return mulScalar(dst, len, dst);\n}\n\n/**\n * Ensure a vector is not longer than a max length\n *\n * @param a The vec2 to limit\n * @param maxLen The longest length of the resulting vector\n * @returns The vector, shortened to maxLen if it's too long\n */\nexport function truncate(a: Vec2, maxLen: number, dst?: Vec2) {\n  dst = dst || new VecType(2);\n\n  if (length(a) > maxLen) {\n    return setLength(a, maxLen, dst);\n  }\n\n  return copy(a, dst);\n}\n\n/**\n * Return the vector exactly between 2 endpoint vectors\n *\n * @param a Endpoint 1\n * @param b Endpoint 2\n * @returns The vector exactly residing between endpoints 1 and 2\n */\nexport function midpoint(a: Vec2, b: Vec2, dst?: Vec2) {\n  dst = dst || new VecType(2);\n  return lerp(a, b, 0.5, dst);\n}\n","/*\n * Copyright 2022 Gregg Tavares\n *\n * Permission is hereby granted, free of charge, to any person obtaining a\n * copy of this software and associated documentation files (the \"Software\"),\n * to deal in the Software without restriction, including without limitation\n * the rights to use, copy, modify, merge, publish, distribute, sublicense,\n * and/or sell copies of the Software, and to permit persons to whom the\n * Software is furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL\n * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER\n * DEALINGS IN THE SOFTWARE.\n */\n\nimport * as utils from './utils.js';\nimport { Quat } from './quat';\nimport { Mat3 } from './mat3';\nimport { Mat4 } from './mat4';\nimport Vec2, * as vec2 from './vec2-impl';\n\nexport default Mat3;\n\nexport type Mat3LikeCtor = new (n: number) => Mat3;\n\n/**\n * 3x3 Matrix math math functions.\n *\n * Almost all functions take an optional `dst` argument. If it is not passed in the\n * functions will create a new matrix. In other words you can do this\n *\n *     const mat = mat3.translation([1, 2, 3]);  // Creates a new translation matrix\n *\n * or\n *\n *     const mat = mat3.create();\n *     mat3.translation([1, 2, 3], mat);  // Puts translation matrix in mat.\n *\n * The first style is often easier but depending on where it's used it generates garbage where\n * as there is almost never allocation with the second style.\n *\n * It is always save to pass any matrix as the destination. So for example\n *\n *     const mat = mat3.identity();\n *     const trans = mat3.translation([1, 2, 3]);\n *     mat3.multiply(mat, trans, mat);  // Multiplies mat * trans and puts result in mat.\n *\n */\nlet MatType: Mat3LikeCtor = Float32Array;\n\n// This mess is because with Mat3 we have 3 unused elements.\n// For Float32Array and Float64Array that's not an issue\n// but for Array it's troublesome\nconst ctorMap = new Map<Mat3LikeCtor,() => Mat3>([\n  [Float32Array, () => new Float32Array(12)],\n  [Float64Array, () => new Float64Array(12)],\n  [Array, () => new Array(12).fill(0)],\n]);\nlet newMat3: () => Mat3 = ctorMap.get(Float32Array)!;\n\n/**\n * Sets the type this library creates for a Mat3\n * @param ctor - the constructor for the type. Either `Float32Array`, `Float64Array`, or `Array`\n * @returns previous constructor for Mat3\n */\nexport function setDefaultType(ctor: new (n: number) => Mat3) {\n  const oldType = MatType;\n  MatType = ctor;\n  newMat3 = ctorMap.get(ctor)!;\n  return oldType;\n}\n\n/**\n * Create a Mat3 from values\n *\n * Note: Since passing in a raw JavaScript array\n * is valid in all circumstances, if you want to\n * force a JavaScript array into a Mat3's specified type\n * it would be faster to use\n *\n * ```\n * const m = mat3.clone(someJSArray);\n * ```\n *\n * Note: a consequence of the implementation is if your Mat3Type = `Array`\n * instead of `Float32Array` or `Float64Array` then any values you\n * don't pass in will be undefined. Usually this is not an issue since\n * (a) using `Array` is rare and (b) using `mat3.create` is usually used\n * to create a Mat3 to be filled out as in\n *\n * ```\n * const m = mat3.create();\n * mat3.perspective(fov, aspect, near, far, m);\n * ```\n *\n * @param v0 - value for element 0\n * @param v1 - value for element 1\n * @param v2 - value for element 2\n * @param v3 - value for element 3\n * @param v4 - value for element 4\n * @param v5 - value for element 5\n * @param v6 - value for element 6\n * @param v7 - value for element 7\n * @param v8 - value for element 8\n * @returns matrix created from values.\n */\nexport function create(\n    v0?: number, v1?: number, v2?: number,\n    v3?: number, v4?: number, v5?: number,\n    v6?: number, v7?: number, v8?: number): Mat3 {\n  const dst = newMat3();\n  // to make the array homogenous\n  dst[3] = 0;\n  dst[7] = 0;\n  dst[11] = 0;\n\n  if (v0 !== undefined) {\n    dst[0] = v0;\n    if (v1 !== undefined) {\n      dst[1] = v1;\n      if (v2 !== undefined) {\n        dst[2] = v2;\n        if (v3 !== undefined) {\n          dst[4] = v3;\n          if (v4 !== undefined) {\n            dst[5] = v4;\n            if (v5 !== undefined) {\n              dst[6] = v5;\n              if (v6 !== undefined) {\n                dst[8] = v6;\n                if (v7 !== undefined) {\n                  dst[9] = v7;\n                  if (v8 !== undefined) {\n                    dst[10] = v8;\n                  }\n                }\n              }\n            }\n          }\n        }\n      }\n    }\n  }\n\n  return dst;\n}\n\n/**\n * Sets the values of a Mat3\n * Also see {@link mat3.create} and {@link mat3.copy}\n *\n * @param v0 - value for element 0\n * @param v1 - value for element 1\n * @param v2 - value for element 2\n * @param v3 - value for element 3\n * @param v4 - value for element 4\n * @param v5 - value for element 5\n * @param v6 - value for element 6\n * @param v7 - value for element 7\n * @param v8 - value for element 8\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns Mat3 set from values.\n */\nexport function set(\n    v0: number, v1: number, v2: number,\n    v3: number, v4: number, v5: number,\n    v6: number, v7: number, v8: number, dst?: Mat3) {\n  dst = dst || newMat3();\n\n  dst[0] = v0;  dst[1] = v1;  dst[ 2] = v2;  dst[ 3] = 0;\n  dst[4] = v3;  dst[5] = v4;  dst[ 6] = v5;  dst[ 7] = 0;\n  dst[8] = v6;  dst[9] = v7;  dst[10] = v8;  dst[11] = 0;\n\n  return dst;\n}\n\n/**\n * Creates a Mat3 from the upper left 3x3 part of a Mat4\n * @param m4 - source matrix\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns Mat3 made from m4\n */\nexport function fromMat4(m4: Mat4, dst?: Mat3): Mat3 {\n  dst = dst || newMat3();\n  dst[0] = m4[0];  dst[1] = m4[1];  dst[ 2] = m4[ 2];  dst[ 3] = 0;\n  dst[4] = m4[4];  dst[5] = m4[5];  dst[ 6] = m4[ 6];  dst[ 7] = 0;\n  dst[8] = m4[8];  dst[9] = m4[9];  dst[10] = m4[10];  dst[11] = 0;\n  return dst;\n}\n\n/**\n * Creates a Mat3 rotation matrix from a quaternion\n * @param q - quaternion to create matrix from\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns Mat3 made from q\n */\nexport function fromQuat(q: Quat, dst?: Mat3): Mat3 {\n  dst = dst || newMat3();\n\n  const x = q[0]; const y = q[1]; const z = q[2]; const w = q[3];\n  const x2 = x + x; const y2 = y + y; const z2 = z + z;\n\n  const xx = x * x2;\n  const yx = y * x2;\n  const yy = y * y2;\n  const zx = z * x2;\n  const zy = z * y2;\n  const zz = z * z2;\n  const wx = w * x2;\n  const wy = w * y2;\n  const wz = w * z2;\n\n  dst[ 0] = 1 - yy - zz;  dst[ 1] = yx + wz;      dst[ 2] = zx - wy;      dst[ 3] = 0;\n  dst[ 4] = yx - wz;      dst[ 5] = 1 - xx - zz;  dst[ 6] = zy + wx;      dst[ 7] = 0;\n  dst[ 8] = zx + wy;      dst[ 9] = zy - wx;      dst[10] = 1 - xx - yy;  dst[11] = 0;\n\n  return dst;\n}\n\n/**\n * Negates a matrix.\n * @param m - The matrix.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns -m.\n */\nexport function negate(m: Mat3, dst?: Mat3): Mat3 {\n  dst = dst || newMat3();\n\n  dst[ 0] = -m[ 0];  dst[ 1] = -m[ 1];  dst[ 2] = -m[ 2];\n  dst[ 4] = -m[ 4];  dst[ 5] = -m[ 5];  dst[ 6] = -m[ 6];\n  dst[ 8] = -m[ 8];  dst[ 9] = -m[ 9];  dst[10] = -m[10];\n\n  return dst;\n}\n\n/**\n * Copies a matrix. (same as {@link mat3.clone})\n * Also see {@link mat3.create} and {@link mat3.set}\n * @param m - The matrix.\n * @param dst - The matrix. If not passed a new one is created.\n * @returns A copy of m.\n */\nexport function copy(m: Mat3, dst?: Mat3): Mat3 {\n  dst = dst || newMat3();\n\n  dst[ 0] = m[ 0];  dst[ 1] = m[ 1];  dst[ 2] = m[ 2];\n  dst[ 4] = m[ 4];  dst[ 5] = m[ 5];  dst[ 6] = m[ 6];\n  dst[ 8] = m[ 8];  dst[ 9] = m[ 9];  dst[10] = m[10];\n\n  return dst;\n}\n\n/**\n * Copies a matrix (same as {@link mat3.copy})\n * Also see {@link mat3.create} and {@link mat3.set}\n * @param m - The matrix.\n * @param dst - The matrix. If not passed a new one is created.\n * @returns A copy of m.\n */\nexport const clone = copy;\n\n/**\n * Check if 2 matrices are approximately equal\n * @param a Operand matrix.\n * @param b Operand matrix.\n * @returns true if matrices are approximately equal\n */\nexport function equalsApproximately(a: Mat3, b: Mat3): boolean {\n  return Math.abs(a[ 0] - b[ 0]) < utils.EPSILON &&\n         Math.abs(a[ 1] - b[ 1]) < utils.EPSILON &&\n         Math.abs(a[ 2] - b[ 2]) < utils.EPSILON &&\n         Math.abs(a[ 4] - b[ 4]) < utils.EPSILON &&\n         Math.abs(a[ 5] - b[ 5]) < utils.EPSILON &&\n         Math.abs(a[ 6] - b[ 6]) < utils.EPSILON &&\n         Math.abs(a[ 8] - b[ 8]) < utils.EPSILON &&\n         Math.abs(a[ 9] - b[ 9]) < utils.EPSILON &&\n         Math.abs(a[10] - b[10]) < utils.EPSILON;\n}\n\n/**\n * Check if 2 matrices are exactly equal\n * @param a Operand matrix.\n * @param b Operand matrix.\n * @returns true if matrices are exactly equal\n */\nexport function equals(a: Mat3, b: Mat3): boolean {\n  return a[ 0] === b[ 0] &&\n         a[ 1] === b[ 1] &&\n         a[ 2] === b[ 2] &&\n         a[ 4] === b[ 4] &&\n         a[ 5] === b[ 5] &&\n         a[ 6] === b[ 6] &&\n         a[ 8] === b[ 8] &&\n         a[ 9] === b[ 9] &&\n         a[10] === b[10];\n}\n\n/**\n * Creates a 3-by-3 identity matrix.\n *\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns A 3-by-3 identity matrix.\n */\nexport function identity(dst?: Mat3): Mat3 {\n  dst = dst || newMat3();\n\n  dst[ 0] = 1;  dst[ 1] = 0;  dst[ 2] = 0;\n  dst[ 4] = 0;  dst[ 5] = 1;  dst[ 6] = 0;\n  dst[ 8] = 0;  dst[ 9] = 0;  dst[10] = 1;\n\n  return dst;\n}\n\n/**\n * Takes the transpose of a matrix.\n * @param m - The matrix.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The transpose of m.\n */\nexport function transpose(m: Mat3, dst?: Mat3): Mat3 {\n  dst = dst || newMat3();\n  if (dst === m) {\n    let t: number;\n\n    // 0 1 2\n    // 4 5 6\n    // 8 9 10\n\n    t = m[1];\n    m[1] = m[4];\n    m[4] = t;\n\n    t = m[2];\n    m[2] = m[8];\n    m[8] = t;\n\n    t = m[6];\n    m[6] = m[9];\n    m[9] = t;\n\n    return dst;\n  }\n\n  const m00 = m[0 * 4 + 0];\n  const m01 = m[0 * 4 + 1];\n  const m02 = m[0 * 4 + 2];\n  const m10 = m[1 * 4 + 0];\n  const m11 = m[1 * 4 + 1];\n  const m12 = m[1 * 4 + 2];\n  const m20 = m[2 * 4 + 0];\n  const m21 = m[2 * 4 + 1];\n  const m22 = m[2 * 4 + 2];\n\n  dst[ 0] = m00;  dst[ 1] = m10;  dst[ 2] = m20;\n  dst[ 4] = m01;  dst[ 5] = m11;  dst[ 6] = m21;\n  dst[ 8] = m02;  dst[ 9] = m12;  dst[10] = m22;\n\n  return dst;\n}\n\n/**\n * Computes the inverse of a 3-by-3 matrix.\n * @param m - The matrix.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The inverse of m.\n */\nexport function inverse(m: Mat3, dst?: Mat3): Mat3 {\n  dst = dst || newMat3();\n\n  const m00 = m[0 * 4 + 0];\n  const m01 = m[0 * 4 + 1];\n  const m02 = m[0 * 4 + 2];\n  const m10 = m[1 * 4 + 0];\n  const m11 = m[1 * 4 + 1];\n  const m12 = m[1 * 4 + 2];\n  const m20 = m[2 * 4 + 0];\n  const m21 = m[2 * 4 + 1];\n  const m22 = m[2 * 4 + 2];\n\n  const b01 =  m22 * m11 - m12 * m21;\n  const b11 = -m22 * m10 + m12 * m20;\n  const b21 =  m21 * m10 - m11 * m20;\n\n  const invDet = 1 / (m00 * b01 + m01 * b11 + m02 * b21);\n\n  dst[ 0] = b01 * invDet;\n  dst[ 1] = (-m22 * m01 + m02 * m21) * invDet;\n  dst[ 2] = ( m12 * m01 - m02 * m11) * invDet;\n  dst[ 4] = b11 * invDet;\n  dst[ 5] = ( m22 * m00 - m02 * m20) * invDet;\n  dst[ 6] = (-m12 * m00 + m02 * m10) * invDet;\n  dst[ 8] = b21 * invDet;\n  dst[ 9] = (-m21 * m00 + m01 * m20) * invDet;\n  dst[10] = ( m11 * m00 - m01 * m10) * invDet;\n\n  return dst;\n}\n\n/**\n * Compute the determinant of a matrix\n * @param m - the matrix\n * @returns the determinant\n */\nexport function determinant(m: Mat3): number {\n  const m00 = m[0 * 4 + 0];\n  const m01 = m[0 * 4 + 1];\n  const m02 = m[0 * 4 + 2];\n  const m10 = m[1 * 4 + 0];\n  const m11 = m[1 * 4 + 1];\n  const m12 = m[1 * 4 + 2];\n  const m20 = m[2 * 4 + 0];\n  const m21 = m[2 * 4 + 1];\n  const m22 = m[2 * 4 + 2];\n\n  return m00 * (m11 * m22 - m21 * m12) -\n         m10 * (m01 * m22 - m21 * m02) +\n         m20 * (m01 * m12 - m11 * m02);\n}\n\n/**\n * Computes the inverse of a 3-by-3 matrix. (same as inverse)\n * @param m - The matrix.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The inverse of m.\n */\nexport const invert = inverse;\n\n/**\n * Multiplies two 3-by-3 matrices with a on the left and b on the right\n * @param a - The matrix on the left.\n * @param b - The matrix on the right.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The matrix product of a and b.\n */\nexport function multiply(a: Mat3, b: Mat3, dst?: Mat3): Mat3 {\n  dst = dst || newMat3();\n\n  const a00 = a[0];\n  const a01 = a[1];\n  const a02 = a[2];\n  const a10 = a[ 4 + 0];\n  const a11 = a[ 4 + 1];\n  const a12 = a[ 4 + 2];\n  const a20 = a[ 8 + 0];\n  const a21 = a[ 8 + 1];\n  const a22 = a[ 8 + 2];\n  const b00 = b[0];\n  const b01 = b[1];\n  const b02 = b[2];\n  const b10 = b[ 4 + 0];\n  const b11 = b[ 4 + 1];\n  const b12 = b[ 4 + 2];\n  const b20 = b[ 8 + 0];\n  const b21 = b[ 8 + 1];\n  const b22 = b[ 8 + 2];\n\n  dst[ 0] = a00 * b00 + a10 * b01 + a20 * b02;\n  dst[ 1] = a01 * b00 + a11 * b01 + a21 * b02;\n  dst[ 2] = a02 * b00 + a12 * b01 + a22 * b02;\n  dst[ 4] = a00 * b10 + a10 * b11 + a20 * b12;\n  dst[ 5] = a01 * b10 + a11 * b11 + a21 * b12;\n  dst[ 6] = a02 * b10 + a12 * b11 + a22 * b12;\n  dst[ 8] = a00 * b20 + a10 * b21 + a20 * b22;\n  dst[ 9] = a01 * b20 + a11 * b21 + a21 * b22;\n  dst[10] = a02 * b20 + a12 * b21 + a22 * b22;\n\n  return dst;\n}\n\n/**\n * Multiplies two 3-by-3 matrices with a on the left and b on the right (same as multiply)\n * @param a - The matrix on the left.\n * @param b - The matrix on the right.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The matrix product of a and b.\n */\nexport const mul = multiply;\n\n/**\n * Sets the translation component of a 3-by-3 matrix to the given\n * vector.\n * @param a - The matrix.\n * @param v - The vector.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The matrix with translation set.\n */\nexport function setTranslation(a: Mat3, v: Vec2, dst?: Mat3): Mat3 {\n  dst = dst || identity();\n  if (a !== dst) {\n    dst[ 0] = a[ 0];\n    dst[ 1] = a[ 1];\n    dst[ 2] = a[ 2];\n    dst[ 4] = a[ 4];\n    dst[ 5] = a[ 5];\n    dst[ 6] = a[ 6];\n  }\n  dst[ 8] = v[0];\n  dst[ 9] = v[1];\n  dst[10] = 1;\n  return dst;\n}\n\n/**\n * Returns the translation component of a 3-by-3 matrix as a vector with 3\n * entries.\n * @param m - The matrix.\n * @param dst - vector to hold result. If not passed a new one is created.\n * @returns The translation component of m.\n */\nexport function getTranslation(m: Mat3, dst?: Vec2): Vec2 {\n  dst = dst || vec2.create();\n  dst[0] = m[8];\n  dst[1] = m[9];\n  return dst;\n}\n\n/**\n * Returns an axis of a 3x3 matrix as a vector with 2 entries\n * @param m - The matrix.\n * @param axis - The axis 0 = x, 1 = y,\n * @returns The axis component of m.\n */\nexport function getAxis(m: Mat3, axis: number, dst?: Vec2): Vec2 {\n  dst = dst || vec2.create();\n  const off = axis * 4;\n  dst[0] = m[off + 0];\n  dst[1] = m[off + 1];\n  return dst;\n}\n\n/**\n * Sets an axis of a 3x3 matrix as a vector with 2 entries\n * @param m - The matrix.\n * @param v - the axis vector\n * @param axis - The axis  0 = x, 1 = y;\n * @param dst - The matrix to set. If not passed a new one is created.\n * @returns The matrix with axis set.\n */\nexport function setAxis(m: Mat3, v: Vec2, axis: number, dst?: Mat3): Mat3 {\n  if (dst !== m) {\n    dst = copy(m, dst);\n  }\n  const off = axis * 4;\n  dst[off + 0] = v[0];\n  dst[off + 1] = v[1];\n  return dst;\n}\n\n/**\n * Returns the scaling component of the matrix\n * @param m - The Matrix\n * @param dst - The vector to set. If not passed a new one is created.\n */\nexport function getScaling(m: Mat3, dst?: Vec2): Vec2 {\n  dst = dst || vec2.create();\n\n  const xx = m[0];\n  const xy = m[1];\n  const yx = m[4];\n  const yy = m[5];\n\n  dst[0] = Math.sqrt(xx * xx + xy * xy);\n  dst[1] = Math.sqrt(yx * yx + yy * yy);\n\n  return dst;\n}\n\n/**\n * Creates a 3-by-3 matrix which translates by the given vector v.\n * @param v - The vector by which to translate.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The translation matrix.\n */\nexport function translation(v: Vec2, dst?: Mat3): Mat3 {\n  dst = dst || newMat3();\n\n  dst[ 0] = 1;     dst[ 1] = 0;     dst[ 2] = 0;\n  dst[ 4] = 0;     dst[ 5] = 1;     dst[ 6] = 0;\n  dst[ 8] = v[0];  dst[ 9] = v[1];  dst[10] = 1;\n\n  return dst;\n}\n\n/**\n * Translates the given 3-by-3 matrix by the given vector v.\n * @param m - The matrix.\n * @param v - The vector by which to translate.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The translated matrix.\n */\nexport function translate(m: Mat3, v: Vec2, dst?: Mat3): Mat3 {\n  dst = dst || newMat3();\n\n  const v0 = v[0];\n  const v1 = v[1];\n\n  const m00 = m[0];\n  const m01 = m[1];\n  const m02 = m[2];\n  const m10 = m[1 * 4 + 0];\n  const m11 = m[1 * 4 + 1];\n  const m12 = m[1 * 4 + 2];\n  const m20 = m[2 * 4 + 0];\n  const m21 = m[2 * 4 + 1];\n  const m22 = m[2 * 4 + 2];\n\n  if (m !== dst) {\n    dst[ 0] = m00;\n    dst[ 1] = m01;\n    dst[ 2] = m02;\n    dst[ 4] = m10;\n    dst[ 5] = m11;\n    dst[ 6] = m12;\n  }\n\n  dst[ 8] = m00 * v0 + m10 * v1 + m20;\n  dst[ 9] = m01 * v0 + m11 * v1 + m21;\n  dst[10] = m02 * v0 + m12 * v1 + m22;\n\n  return dst;\n}\n\n/**\n * Creates a 3-by-3 matrix which rotates  by the given angle.\n * @param angleInRadians - The angle by which to rotate (in radians).\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The rotation matrix.\n */\nexport function rotation(angleInRadians: number, dst?: Mat3): Mat3 {\n  dst = dst || newMat3();\n\n  const c = Math.cos(angleInRadians);\n  const s = Math.sin(angleInRadians);\n\n  dst[ 0] =  c;  dst[ 1] = s;  dst[ 2] = 0;\n  dst[ 4] = -s;  dst[ 5] = c;  dst[ 6] = 0;\n  dst[ 8] =  0;  dst[ 9] = 0;  dst[10] = 1;\n\n  return dst;\n}\n\n/**\n * Rotates the given 3-by-3 matrix  by the given angle.\n * @param m - The matrix.\n * @param angleInRadians - The angle by which to rotate (in radians).\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The rotated matrix.\n */\nexport function rotate(m: Mat3, angleInRadians: number, dst?: Mat3): Mat3 {\n  dst = dst || newMat3();\n\n  const m00 = m[0 * 4 + 0];\n  const m01 = m[0 * 4 + 1];\n  const m02 = m[0 * 4 + 2];\n  const m10 = m[1 * 4 + 0];\n  const m11 = m[1 * 4 + 1];\n  const m12 = m[1 * 4 + 2];\n  const c = Math.cos(angleInRadians);\n  const s = Math.sin(angleInRadians);\n\n  dst[ 0] = c * m00 + s * m10;\n  dst[ 1] = c * m01 + s * m11;\n  dst[ 2] = c * m02 + s * m12;\n\n  dst[ 4] = c * m10 - s * m00;\n  dst[ 5] = c * m11 - s * m01;\n  dst[ 6] = c * m12 - s * m02;\n\n\n  if (m !== dst) {\n    dst[ 8] = m[ 8];\n    dst[ 9] = m[ 9];\n    dst[10] = m[10];\n  }\n\n  return dst;\n}\n\n/**\n * Creates a 3-by-3 matrix which scales in each dimension by an amount given by\n * the corresponding entry in the given vector; assumes the vector has three\n * entries.\n * @param v - A vector of\n *     2 entries specifying the factor by which to scale in each dimension.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The scaling matrix.\n */\nexport function scaling(v: Vec2, dst?: Mat3): Mat3 {\n  dst = dst || newMat3();\n\n  dst[ 0] = v[0];  dst[ 1] = 0;     dst[ 2] = 0;\n  dst[ 4] = 0;     dst[ 5] = v[1];  dst[ 6] = 0;\n  dst[ 8] = 0;     dst[ 9] = 0;     dst[10] = 1;\n\n  return dst;\n}\n\n/**\n * Scales the given 3-by-3 matrix in each dimension by an amount\n * given by the corresponding entry in the given vector; assumes the vector has\n * three entries.\n * @param m - The matrix to be modified.\n * @param v - A vector of 2 entries specifying the\n *     factor by which to scale in each dimension.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The scaled matrix.\n */\nexport function scale(m: Mat3, v: Vec2, dst?: Mat3): Mat3 {\n  dst = dst || newMat3();\n\n  const v0 = v[0];\n  const v1 = v[1];\n\n  dst[ 0] = v0 * m[0 * 4 + 0];\n  dst[ 1] = v0 * m[0 * 4 + 1];\n  dst[ 2] = v0 * m[0 * 4 + 2];\n\n  dst[ 4] = v1 * m[1 * 4 + 0];\n  dst[ 5] = v1 * m[1 * 4 + 1];\n  dst[ 6] = v1 * m[1 * 4 + 2];\n\n  if (m !== dst) {\n    dst[ 8] = m[ 8];\n    dst[ 9] = m[ 9];\n    dst[10] = m[10];\n  }\n\n  return dst;\n}\n\n/**\n * Creates a 3-by-3 matrix which scales uniformly in each dimension\n * @param s - Amount to scale\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The scaling matrix.\n */\nexport function uniformScaling(s: number, dst?: Mat3): Mat3 {\n  dst = dst || newMat3();\n\n  dst[ 0] = s;  dst[ 1] = 0;  dst[ 2] = 0;\n  dst[ 4] = 0;  dst[ 5] = s;  dst[ 6] = 0;\n  dst[ 8] = 0;  dst[ 9] = 0;  dst[10] = 1;\n\n  return dst;\n}\n\n/**\n * Scales the given 3-by-3 matrix in each dimension by an amount\n * given.\n * @param m - The matrix to be modified.\n * @param s - Amount to scale.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The scaled matrix.\n */\nexport function uniformScale(m: Mat3, s: number, dst?: Mat3): Mat3 {\n  dst = dst || newMat3();\n\n  dst[ 0] = s * m[0 * 4 + 0];\n  dst[ 1] = s * m[0 * 4 + 1];\n  dst[ 2] = s * m[0 * 4 + 2];\n\n  dst[ 4] = s * m[1 * 4 + 0];\n  dst[ 5] = s * m[1 * 4 + 1];\n  dst[ 6] = s * m[1 * 4 + 2];\n\n  if (m !== dst) {\n    dst[ 8] = m[ 8];\n    dst[ 9] = m[ 9];\n    dst[10] = m[10];\n  }\n\n  return dst;\n}\n","/*\n * Copyright 2022 Gregg Tavares\n *\n * Permission is hereby granted, free of charge, to any person obtaining a\n * copy of this software and associated documentation files (the \"Software\"),\n * to deal in the Software without restriction, including without limitation\n * the rights to use, copy, modify, merge, publish, distribute, sublicense,\n * and/or sell copies of the Software, and to permit persons to whom the\n * Software is furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL\n * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER\n * DEALINGS IN THE SOFTWARE.\n */\nimport * as utils from './utils.js';\nimport { Vec3, create, setDefaultType, VecType } from './vec3';\nimport { Mat3 } from './mat3';\nimport { Mat4 } from './mat4';\nimport { Quat } from './quat';\n\nexport default Vec3;\nexport { create, setDefaultType };\n\n/**\n * Creates a vec3; may be called with x, y, z to set initial values. (same as create)\n * @param x - Initial x value.\n * @param y - Initial y value.\n * @param z - Initial z value.\n * @returns the created vector\n */\nexport const fromValues = create;\n\n/**\n * Sets the values of a Vec3\n * Also see {@link vec3.create} and {@link vec3.copy}\n *\n * @param x first value\n * @param y second value\n * @param z third value\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector with its elements set.\n */\nexport function set(x: number, y: number, z: number, dst?: Vec3) {\n  dst = dst || new VecType(3);\n\n  dst[0] = x;\n  dst[1] = y;\n  dst[2] = z;\n\n  return dst;\n}\n\n/**\n * Applies Math.ceil to each element of vector\n * @param v - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the ceil of each element of v.\n */\nexport function ceil(v: Vec3, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  dst[0] = Math.ceil(v[0]);\n  dst[1] = Math.ceil(v[1]);\n  dst[2] = Math.ceil(v[2]);\n\n  return dst;\n}\n\n/**\n * Applies Math.floor to each element of vector\n * @param v - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the floor of each element of v.\n */\nexport function floor(v: Vec3, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  dst[0] = Math.floor(v[0]);\n  dst[1] = Math.floor(v[1]);\n  dst[2] = Math.floor(v[2]);\n\n  return dst;\n}\n\n/**\n * Applies Math.round to each element of vector\n * @param v - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the round of each element of v.\n */\nexport function round(v: Vec3, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  dst[0] = Math.round(v[0]);\n  dst[1] = Math.round(v[1]);\n  dst[2] = Math.round(v[2]);\n\n  return dst;\n}\n\n/**\n * Clamp each element of vector between min and max\n * @param v - Operand vector.\n * @param max - Min value, default 0\n * @param min - Max value, default 1\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that the clamped value of each element of v.\n */\nexport function clamp(v: Vec3, min = 0, max = 1, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  dst[0] = Math.min(max, Math.max(min, v[0]));\n  dst[1] = Math.min(max, Math.max(min, v[1]));\n  dst[2] = Math.min(max, Math.max(min, v[2]));\n\n  return dst;\n}\n\n/**\n * Adds two vectors; assumes a and b have the same dimension.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the sum of a and b.\n */\nexport function add(a: Vec3, b: Vec3, dst?: Vec3) {\n  dst = dst || new VecType(3);\n\n  dst[0] = a[0] + b[0];\n  dst[1] = a[1] + b[1];\n  dst[2] = a[2] + b[2];\n\n  return dst;\n}\n\n/**\n * Adds two vectors, scaling the 2nd; assumes a and b have the same dimension.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param scale - Amount to scale b\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the sum of a + b * scale.\n */\nexport function addScaled(a: Vec3, b: Vec3, scale: number, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  dst[0] = a[0] + b[0] * scale;\n  dst[1] = a[1] + b[1] * scale;\n  dst[2] = a[2] + b[2] * scale;\n\n  return dst;\n}\n\n/**\n * Returns the angle in radians between two vectors.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @returns The angle in radians between the 2 vectors.\n */\nexport function angle(a: Vec3, b: Vec3): number {\n  const ax = a[0];\n  const ay = a[1];\n  const az = a[2];\n  const bx = b[0];\n  const by = b[1];\n  const bz = b[2];\n  const mag1 = Math.sqrt(ax * ax + ay * ay + az * az);\n  const mag2 = Math.sqrt(bx * bx + by * by + bz * bz);\n  const mag = mag1 * mag2;\n  const cosine = mag && dot(a, b) / mag;\n  return Math.acos(cosine);\n}\n\n/**\n * Subtracts two vectors.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the difference of a and b.\n */\nexport function subtract(a: Vec3, b: Vec3, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  dst[0] = a[0] - b[0];\n  dst[1] = a[1] - b[1];\n  dst[2] = a[2] - b[2];\n\n  return dst;\n}\n\n/**\n * Subtracts two vectors.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the difference of a and b.\n */\nexport const sub = subtract;\n\n/**\n * Check if 2 vectors are approximately equal\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @returns true if vectors are approximately equal\n */\nexport function equalsApproximately(a: Vec3, b: Vec3): boolean {\n  return Math.abs(a[0] - b[0]) < utils.EPSILON &&\n         Math.abs(a[1] - b[1]) < utils.EPSILON &&\n         Math.abs(a[2] - b[2]) < utils.EPSILON;\n}\n\n/**\n * Check if 2 vectors are exactly equal\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @returns true if vectors are exactly equal\n */\nexport function equals(a: Vec3, b: Vec3): boolean {\n  return a[0] === b[0] && a[1] === b[1] && a[2] === b[2];\n}\n\n/**\n * Performs linear interpolation on two vectors.\n * Given vectors a and b and interpolation coefficient t, returns\n * a + t * (b - a).\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param t - Interpolation coefficient.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The linear interpolated result.\n */\nexport function lerp(a: Vec3, b: Vec3, t: number, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  dst[0] = a[0] + t * (b[0] - a[0]);\n  dst[1] = a[1] + t * (b[1] - a[1]);\n  dst[2] = a[2] + t * (b[2] - a[2]);\n\n  return dst;\n}\n\n/**\n * Performs linear interpolation on two vectors.\n * Given vectors a and b and interpolation coefficient vector t, returns\n * a + t * (b - a).\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param t - Interpolation coefficients vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns the linear interpolated result.\n */\nexport function lerpV(a: Vec3, b: Vec3, t: Vec3, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  dst[0] = a[0] + t[0] * (b[0] - a[0]);\n  dst[1] = a[1] + t[1] * (b[1] - a[1]);\n  dst[2] = a[2] + t[2] * (b[2] - a[2]);\n\n  return dst;\n}\n\n/**\n * Return max values of two vectors.\n * Given vectors a and b returns\n * [max(a[0], b[0]), max(a[1], b[1]), max(a[2], b[2])].\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The max components vector.\n */\nexport function max(a: Vec3, b: Vec3, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  dst[0] = Math.max(a[0], b[0]);\n  dst[1] = Math.max(a[1], b[1]);\n  dst[2] = Math.max(a[2], b[2]);\n\n  return dst;\n}\n\n/**\n * Return min values of two vectors.\n * Given vectors a and b returns\n * [min(a[0], b[0]), min(a[1], b[1]), min(a[2], b[2])].\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The min components vector.\n */\nexport function min(a: Vec3, b: Vec3, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  dst[0] = Math.min(a[0], b[0]);\n  dst[1] = Math.min(a[1], b[1]);\n  dst[2] = Math.min(a[2], b[2]);\n\n  return dst;\n}\n\n/**\n * Multiplies a vector by a scalar.\n * @param v - The vector.\n * @param k - The scalar.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The scaled vector.\n */\nexport function mulScalar(v: Vec3, k: number, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  dst[0] = v[0] * k;\n  dst[1] = v[1] * k;\n  dst[2] = v[2] * k;\n\n  return dst;\n}\n\n/**\n * Multiplies a vector by a scalar. (same as mulScalar)\n * @param v - The vector.\n * @param k - The scalar.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The scaled vector.\n */\nexport const scale = mulScalar;\n\n/**\n * Divides a vector by a scalar.\n * @param v - The vector.\n * @param k - The scalar.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The scaled vector.\n */\nexport function divScalar(v: Vec3, k: number, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  dst[0] = v[0] / k;\n  dst[1] = v[1] / k;\n  dst[2] = v[2] / k;\n\n  return dst;\n}\n\n/**\n * Inverse a vector.\n * @param v - The vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The inverted vector.\n */\nexport function inverse(v: Vec3, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  dst[0] = 1 / v[0];\n  dst[1] = 1 / v[1];\n  dst[2] = 1 / v[2];\n\n  return dst;\n}\n\n/**\n * Invert a vector. (same as inverse)\n * @param v - The vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The inverted vector.\n */\nexport const invert = inverse;\n\n/**\n * Computes the cross product of two vectors; assumes both vectors have\n * three entries.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The vector of a cross b.\n */\nexport function cross(a: Vec3, b: Vec3, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  const t1 = a[2] * b[0] - a[0] * b[2];\n  const t2 = a[0] * b[1] - a[1] * b[0];\n  dst[0] = a[1] * b[2] - a[2] * b[1];\n  dst[1] = t1;\n  dst[2] = t2;\n\n  return dst;\n}\n\n/**\n * Computes the dot product of two vectors; assumes both vectors have\n * three entries.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @returns dot product\n */\nexport function dot(a: Vec3, b: Vec3): number {\n  return (a[0] * b[0]) + (a[1] * b[1]) + (a[2] * b[2]);\n}\n\n/**\n * Computes the length of vector\n * @param v - vector.\n * @returns length of vector.\n */\nexport function length(v: Vec3): number {\n  const v0 = v[0];\n  const v1 = v[1];\n  const v2 = v[2];\n  return Math.sqrt(v0 * v0 + v1 * v1 + v2 * v2);\n}\n\n/**\n * Computes the length of vector (same as length)\n * @param v - vector.\n * @returns length of vector.\n */\nexport const len = length;\n\n/**\n * Computes the square of the length of vector\n * @param v - vector.\n * @returns square of the length of vector.\n */\nexport function lengthSq(v: Vec3): number {\n  const v0 = v[0];\n  const v1 = v[1];\n  const v2 = v[2];\n  return v0 * v0 + v1 * v1 + v2 * v2;\n}\n\n/**\n * Computes the square of the length of vector (same as lengthSq)\n * @param v - vector.\n * @returns square of the length of vector.\n */\nexport const lenSq = lengthSq;\n\n/**\n * Computes the distance between 2 points\n * @param a - vector.\n * @param b - vector.\n * @returns distance between a and b\n */\nexport function distance(a: Vec3, b: Vec3): number {\n  const dx = a[0] - b[0];\n  const dy = a[1] - b[1];\n  const dz = a[2] - b[2];\n  return Math.sqrt(dx * dx + dy * dy + dz * dz);\n}\n\n/**\n * Computes the distance between 2 points (same as distance)\n * @param a - vector.\n * @param b - vector.\n * @returns distance between a and b\n */\nexport const dist = distance;\n\n/**\n * Computes the square of the distance between 2 points\n * @param a - vector.\n * @param b - vector.\n * @returns square of the distance between a and b\n */\nexport function distanceSq(a: Vec3, b: Vec3): number {\n  const dx = a[0] - b[0];\n  const dy = a[1] - b[1];\n  const dz = a[2] - b[2];\n  return dx * dx + dy * dy + dz * dz;\n}\n\n/**\n * Computes the square of the distance between 2 points (same as distanceSq)\n * @param a - vector.\n * @param b - vector.\n * @returns square of the distance between a and b\n */\nexport const distSq = distanceSq;\n\n/**\n * Divides a vector by its Euclidean length and returns the quotient.\n * @param v - The vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The normalized vector.\n */\nexport function normalize(v: Vec3, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  const v0 = v[0];\n  const v1 = v[1];\n  const v2 = v[2];\n  const len = Math.sqrt(v0 * v0 + v1 * v1 + v2 * v2);\n\n  if (len > 0.00001) {\n    dst[0] = v0 / len;\n    dst[1] = v1 / len;\n    dst[2] = v2 / len;\n  } else {\n    dst[0] = 0;\n    dst[1] = 0;\n    dst[2] = 0;\n  }\n\n\n  return dst;\n}\n\n/**\n * Negates a vector.\n * @param v - The vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns -v.\n */\nexport function negate(v: Vec3, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  dst[0] = -v[0];\n  dst[1] = -v[1];\n  dst[2] = -v[2];\n\n  return dst;\n}\n\n/**\n * Copies a vector. (same as {@link vec3.clone})\n * Also see {@link vec3.create} and {@link vec3.set}\n * @param v - The vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A copy of v.\n */\nexport function copy(v: Vec3, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  dst[0] = v[0];\n  dst[1] = v[1];\n  dst[2] = v[2];\n\n  return dst;\n}\n\n/**\n * Clones a vector. (same as {@link vec3.copy})\n * Also see {@link vec3.create} and {@link vec3.set}\n * @param v - The vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A copy of v.\n */\nexport const clone = copy;\n\n/**\n * Multiplies a vector by another vector (component-wise); assumes a and\n * b have the same length.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The vector of products of entries of a and b.\n */\nexport function multiply(a: Vec3, b: Vec3, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  dst[0] = a[0] * b[0];\n  dst[1] = a[1] * b[1];\n  dst[2] = a[2] * b[2];\n\n  return dst;\n}\n\n/**\n * Multiplies a vector by another vector (component-wise); assumes a and\n * b have the same length. (same as mul)\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The vector of products of entries of a and b.\n */\nexport const mul = multiply;\n\n/**\n * Divides a vector by another vector (component-wise); assumes a and\n * b have the same length.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The vector of quotients of entries of a and b.\n */\nexport function divide(a: Vec3, b: Vec3, dst?: Vec3) {\n  dst = dst || new VecType(3);\n\n  dst[0] = a[0] / b[0];\n  dst[1] = a[1] / b[1];\n  dst[2] = a[2] / b[2];\n\n  return dst;\n}\n\n/**\n * Divides a vector by another vector (component-wise); assumes a and\n * b have the same length. (same as divide)\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The vector of quotients of entries of a and b.\n */\nexport const div = divide;\n\n/**\n * Creates a random vector\n * @param scale - Default 1\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The random vector.\n */\nexport function random(scale = 1, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  const angle = Math.random() * 2 * Math.PI;\n  const z = Math.random() * 2 - 1;\n  const zScale = Math.sqrt(1 - z * z) * scale;\n  dst[0] = Math.cos(angle) * zScale;\n  dst[1] = Math.sin(angle) * zScale;\n  dst[2] = z * scale;\n\n  return dst;\n}\n\n/**\n * Zero's a vector\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The zeroed vector.\n */\nexport function zero(dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  dst[0] = 0;\n  dst[1] = 0;\n  dst[2] = 0;\n\n  return dst;\n}\n\n\n/**\n * transform vec3 by 4x4 matrix\n * @param v - the vector\n * @param m - The matrix.\n * @param dst - optional vec3 to store result. If not passed a new one is created.\n * @returns the transformed vector\n */\nexport function transformMat4(v: Vec3, m: Mat4, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  const x = v[0];\n  const y = v[1];\n  const z = v[2];\n  const w = (m[3] * x + m[7] * y + m[11] * z + m[15]) || 1;\n\n  dst[0] = (m[0] * x + m[4] * y + m[8] * z + m[12]) / w;\n  dst[1] = (m[1] * x + m[5] * y + m[9] * z + m[13]) / w;\n  dst[2] = (m[2] * x + m[6] * y + m[10] * z + m[14]) / w;\n\n  return dst;\n}\n\n/**\n * Transform vec4 by upper 3x3 matrix inside 4x4 matrix.\n * @param v - The direction.\n * @param m - The matrix.\n * @param dst - optional Vec3 to store result. If not passed a new one is created.\n * @returns The transformed vector.\n */\nexport function transformMat4Upper3x3(v: Vec3, m: Mat4, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  const v0 = v[0];\n  const v1 = v[1];\n  const v2 = v[2];\n\n  dst[0] = v0 * m[0 * 4 + 0] + v1 * m[1 * 4 + 0] + v2 * m[2 * 4 + 0];\n  dst[1] = v0 * m[0 * 4 + 1] + v1 * m[1 * 4 + 1] + v2 * m[2 * 4 + 1];\n  dst[2] = v0 * m[0 * 4 + 2] + v1 * m[1 * 4 + 2] + v2 * m[2 * 4 + 2];\n\n  return dst;\n}\n\n/**\n * Transforms vec3 by 3x3 matrix\n *\n * @param v - the vector\n * @param m - The matrix.\n * @param dst - optional vec3 to store result. If not passed a new one is created.\n * @returns the transformed vector\n */\nexport function transformMat3(v: Vec3, m: Mat3, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  const x = v[0];\n  const y = v[1];\n  const z = v[2];\n\n  dst[0] = x * m[0] + y * m[4] + z * m[8];\n  dst[1] = x * m[1] + y * m[5] + z * m[9];\n  dst[2] = x * m[2] + y * m[6] + z * m[10];\n\n  return dst;\n}\n\n/**\n * Transforms vec3 by Quaternion\n * @param v - the vector to transform\n * @param q - the quaternion to transform by\n * @param dst - optional vec3 to store result. If not passed a new one is created.\n * @returns the transformed\n */\nexport function transformQuat(v: Vec3, q: Quat, dst?: Vec3): Vec3 {\n  dst = dst || new VecType(3);\n\n  const qx = q[0];\n  const qy = q[1];\n  const qz = q[2];\n  const w2 = q[3] * 2;\n\n  const x = v[0];\n  const y = v[1];\n  const z = v[2];\n\n  const uvX = qy * z - qz * y;\n  const uvY = qz * x - qx * z;\n  const uvZ = qx * y - qy * x;\n\n  dst[0] = x + uvX * w2 + (qy * uvZ - qz * uvY) * 2;\n  dst[1] = y + uvY * w2 + (qz * uvX - qx * uvZ) * 2;\n  dst[2] = z + uvZ * w2 + (qx * uvY - qy * uvX) * 2;\n\n  return dst;\n}\n\n/**\n * Returns the translation component of a 4-by-4 matrix as a vector with 3\n * entries.\n * @param m - The matrix.\n * @param dst - vector to hold result. If not passed a new one is created.\n * @returns The translation component of m.\n */\nexport function getTranslation(m: Mat3, dst?: Vec3) {\n    dst = dst || new VecType(3);\n    dst[0] = m[12];\n    dst[1] = m[13];\n    dst[2] = m[14];\n    return dst;\n}\n/**\n * Returns an axis of a 4x4 matrix as a vector with 3 entries\n * @param m - The matrix.\n * @param axis - The axis 0 = x, 1 = y, 2 = z;\n * @returns The axis component of m.\n */\nexport function getAxis(m: Mat4, axis: number, dst?: Vec3) {\n    dst = dst || new VecType(3);\n    const off = axis * 4;\n    dst[0] = m[off + 0];\n    dst[1] = m[off + 1];\n    dst[2] = m[off + 2];\n    return dst;\n}\n/**\n * Returns the scaling component of the matrix\n * @param m - The Matrix\n * @param dst - The vector to set. If not passed a new one is created.\n */\nexport function getScaling(m: Mat4, dst: Vec3) {\n    dst = dst || new VecType(3);\n    const xx = m[0];\n    const xy = m[1];\n    const xz = m[2];\n    const yx = m[4];\n    const yy = m[5];\n    const yz = m[6];\n    const zx = m[8];\n    const zy = m[9];\n    const zz = m[10];\n    dst[0] = Math.sqrt(xx * xx + xy * xy + xz * xz);\n    dst[1] = Math.sqrt(yx * yx + yy * yy + yz * yz);\n    dst[2] = Math.sqrt(zx * zx + zy * zy + zz * zz);\n    return dst;\n}\n\n/**\n * Rotate a 3D vector around the x-axis\n *\n * @param {ReadonlyVec3} a The vec3 point to rotate\n * @param {ReadonlyVec3} b The origin of the rotation\n * @param {Number} rad The angle of rotation in radians\n * @param dst - The vector to set. If not passed a new one is created.\n * @returns the rotated vector\n */\nexport function rotateX(a: Vec3, b: Vec3, rad: number, dst?: Vec3) {\n  dst = dst || new VecType(3);\n  const p = [];\n  const r = [];\n\n  //Translate point to the origin\n  p[0] = a[0] - b[0];\n  p[1] = a[1] - b[1];\n  p[2] = a[2] - b[2];\n\n  //perform rotation\n  r[0] = p[0];\n  r[1] = p[1] * Math.cos(rad) - p[2] * Math.sin(rad);\n  r[2] = p[1] * Math.sin(rad) + p[2] * Math.cos(rad);\n\n  //translate to correct position\n  dst[0] = r[0] + b[0];\n  dst[1] = r[1] + b[1];\n  dst[2] = r[2] + b[2];\n\n  return dst;\n}\n\n/**\n * Rotate a 3D vector around the y-axis\n *\n * @param {ReadonlyVec3} a The vec3 point to rotate\n * @param {ReadonlyVec3} b The origin of the rotation\n * @param {Number} rad The angle of rotation in radians\n * @param dst - The vector to set. If not passed a new one is created.\n * @returns the rotated vector\n */\nexport function rotateY(a: Vec3, b: Vec3, rad: number, dst?: Vec3) {\n  dst = dst || new VecType(3);\n  const p = [];\n  const r = [];\n\n  // translate point to the origin\n  p[0] = a[0] - b[0];\n  p[1] = a[1] - b[1];\n  p[2] = a[2] - b[2];\n\n  // perform rotation\n  r[0] = p[2] * Math.sin(rad) + p[0] * Math.cos(rad);\n  r[1] = p[1];\n  r[2] = p[2] * Math.cos(rad) - p[0] * Math.sin(rad);\n\n  // translate to correct position\n  dst[0] = r[0] + b[0];\n  dst[1] = r[1] + b[1];\n  dst[2] = r[2] + b[2];\n\n  return dst;\n}\n\n/**\n * Rotate a 3D vector around the z-axis\n *\n * @param {ReadonlyVec3} a The vec3 point to rotate\n * @param {ReadonlyVec3} b The origin of the rotation\n * @param {Number} rad The angle of rotation in radians\n * @param dst - The vector to set. If not passed a new one is created.\n * @returns {vec3} out\n */\nexport function rotateZ(a: Vec3, b: Vec3, rad: number, dst?: Vec3) {\n  dst = dst || new VecType(3);\n  const p = [];\n  const r = [];\n\n  // translate point to the origin\n  p[0] = a[0] - b[0];\n  p[1] = a[1] - b[1];\n  p[2] = a[2] - b[2];\n\n  // perform rotation\n  r[0] = p[0] * Math.cos(rad) - p[1] * Math.sin(rad);\n  r[1] = p[0] * Math.sin(rad) + p[1] * Math.cos(rad);\n  r[2] = p[2];\n\n  // translate to correct position\n  dst[0] = r[0] + b[0];\n  dst[1] = r[1] + b[1];\n  dst[2] = r[2] + b[2];\n\n  return dst;\n}\n\n/**\n * Treat a 3D vector as a direction and set it's length\n *\n * @param a The vec3 to lengthen\n * @param len The length of the resulting vector\n * @returns The lengthened vector\n */\nexport function setLength(a: Vec3, len: number, dst?: Vec3) {\n  dst = dst || new VecType(3);\n  normalize(a, dst);\n  return mulScalar(dst, len, dst);\n}\n\n/**\n * Ensure a vector is not longer than a max length\n *\n * @param a The vec3 to limit\n * @param maxLen The longest length of the resulting vector\n * @returns The vector, shortened to maxLen if it's too long\n */\nexport function truncate(a: Vec3, maxLen: number, dst?: Vec3) {\n  dst = dst || new VecType(3);\n\n  if (length(a) > maxLen) {\n    return setLength(a, maxLen, dst);\n  }\n\n  return copy(a, dst);\n}\n\n/**\n * Return the vector exactly between 2 endpoint vectors\n *\n * @param a Endpoint 1\n * @param b Endpoint 2\n * @returns The vector exactly residing between endpoints 1 and 2\n */\nexport function midpoint(a: Vec3, b: Vec3, dst?: Vec3) {\n  dst = dst || new VecType(3);\n  return lerp(a, b, 0.5, dst);\n}\n","\nimport { Mat3 } from './mat3';\nimport { Mat4 } from './mat4';\nimport { Quat } from './quat';\nimport Vec3, * as vec3 from './vec3-impl';\nimport * as utils from './utils';\n\nexport default Mat4;\n\nexport type Mat4LikeCtor = new (n: number) => Mat4;\n\n/**\n * 4x4 Matrix math math functions.\n *\n * Almost all functions take an optional `dst` argument. If it is not passed in the\n * functions will create a new matrix. In other words you can do this\n *\n *     const mat = mat4.translation([1, 2, 3]);  // Creates a new translation matrix\n *\n * or\n *\n *     const mat = mat4.create();\n *     mat4.translation([1, 2, 3], mat);  // Puts translation matrix in mat.\n *\n * The first style is often easier but depending on where it's used it generates garbage where\n * as there is almost never allocation with the second style.\n *\n * It is always save to pass any matrix as the destination. So for example\n *\n *     const mat = mat4.identity();\n *     const trans = mat4.translation([1, 2, 3]);\n *     mat4.multiply(mat, trans, mat);  // Multiplies mat * trans and puts result in mat.\n *\n */\nlet MatType: Mat4LikeCtor = Float32Array;\n\n/**\n * Sets the type this library creates for a Mat4\n * @param ctor - the constructor for the type. Either `Float32Array`, `Float64Array`, or `Array`\n * @returns previous constructor for Mat4\n */\nexport function setDefaultType(ctor: new (n: number) => Mat4) {\n  const oldType = MatType;\n  MatType = ctor;\n  return oldType;\n}\n\n/**\n * Create a Mat4 from values\n *\n * Note: Since passing in a raw JavaScript array\n * is valid in all circumstances, if you want to\n * force a JavaScript array into a Mat4's specified type\n * it would be faster to use\n *\n * ```\n * const m = mat4.clone(someJSArray);\n * ```\n *\n * Note: a consequence of the implementation is if your Mat4Type = `Array`\n * instead of `Float32Array` or `Float64Array` then any values you\n * don't pass in will be undefined. Usually this is not an issue since\n * (a) using `Array` is rare and (b) using `mat4.create` is usually used\n * to create a Mat4 to be filled out as in\n *\n * ```\n * const m = mat4.create();\n * mat4.perspective(fov, aspect, near, far, m);\n * ```\n *\n * @param v0 - value for element 0\n * @param v1 - value for element 1\n * @param v2 - value for element 2\n * @param v3 - value for element 3\n * @param v4 - value for element 4\n * @param v5 - value for element 5\n * @param v6 - value for element 6\n * @param v7 - value for element 7\n * @param v8 - value for element 8\n * @param v9 - value for element 9\n * @param v10 - value for element 10\n * @param v11 - value for element 11\n * @param v12 - value for element 12\n * @param v13 - value for element 13\n * @param v14 - value for element 14\n * @param v15 - value for element 15\n * @returns created from values.\n */\nexport function create(\n    v0?: number, v1?: number, v2?: number, v3?: number,\n    v4?: number, v5?: number, v6?: number, v7?: number,\n    v8?: number, v9?: number, v10?: number, v11?: number,\n    v12?: number, v13?: number, v14?: number, v15?: number): Mat4 {\n  const dst = new MatType(16);\n  if (v0 !== undefined) {\n    dst[0] = v0;\n    if (v1 !== undefined) {\n      dst[1] = v1;\n      if (v2 !== undefined) {\n        dst[2] = v2;\n        if (v3 !== undefined) {\n          dst[3] = v3;\n          if (v4 !== undefined) {\n            dst[4] = v4;\n            if (v5 !== undefined) {\n              dst[5] = v5;\n              if (v6 !== undefined) {\n                dst[6] = v6;\n                if (v7 !== undefined) {\n                  dst[7] = v7;\n                  if (v8 !== undefined) {\n                    dst[8] = v8;\n                    if (v9 !== undefined) {\n                      dst[9] = v9;\n                      if (v10 !== undefined) {\n                        dst[10] = v10;\n                        if (v11 !== undefined) {\n                          dst[11] = v11;\n                          if (v12 !== undefined) {\n                            dst[12] = v12;\n                            if (v13 !== undefined) {\n                              dst[13] = v13;\n                              if (v14 !== undefined) {\n                                dst[14] = v14;\n                                if (v15 !== undefined) {\n                                  dst[15] = v15;\n                                }\n                              }\n                            }\n                          }\n                        }\n                      }\n                    }\n                  }\n                }\n              }\n            }\n          }\n        }\n      }\n    }\n  }\n  return dst;\n}\n\n/**\n * Sets the values of a Mat4\n * Also see {@link mat4.create} and {@link mat4.copy}\n *\n * @param v0 - value for element 0\n * @param v1 - value for element 1\n * @param v2 - value for element 2\n * @param v3 - value for element 3\n * @param v4 - value for element 4\n * @param v5 - value for element 5\n * @param v6 - value for element 6\n * @param v7 - value for element 7\n * @param v8 - value for element 8\n * @param v9 - value for element 9\n * @param v10 - value for element 10\n * @param v11 - value for element 11\n * @param v12 - value for element 12\n * @param v13 - value for element 13\n * @param v14 - value for element 14\n * @param v15 - value for element 15\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns Mat4 created from values.\n */\nexport function set(\n    v0: number, v1: number, v2: number, v3: number,\n    v4: number, v5: number, v6: number, v7: number,\n    v8: number, v9: number, v10: number, v11: number,\n    v12: number, v13: number, v14: number, v15: number,\n    dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  dst[ 0] = v0;   dst[ 1] = v1;   dst[ 2] = v2;   dst[ 3] = v3;\n  dst[ 4] = v4;   dst[ 5] = v5;   dst[ 6] = v6;   dst[ 7] = v7;\n  dst[ 8] = v8;   dst[ 9] = v9;   dst[10] = v10;  dst[11] = v11;\n  dst[12] = v12;  dst[13] = v13;  dst[14] = v14;  dst[15] = v15;\n\n  return dst;\n}\n\n/**\n * Creates a Mat4 from a Mat3\n * @param m3 - source matrix\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns Mat4 made from m3\n */\nexport function fromMat3(m3: Mat3, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  dst[ 0] = m3[0];  dst[ 1] = m3[1];  dst[ 2] = m3[ 2];  dst[ 3] = 0;\n  dst[ 4] = m3[4];  dst[ 5] = m3[5];  dst[ 6] = m3[ 6];  dst[ 7] = 0;\n  dst[ 8] = m3[8];  dst[ 9] = m3[9];  dst[10] = m3[10];  dst[11] = 0;\n  dst[12] = 0;      dst[13] = 0;      dst[14] = 0;       dst[15] = 1;\n\n  return dst;\n}\n\n/**\n * Creates a Mat4 rotation matrix from a quaternion\n * @param q - quaternion to create matrix from\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns Mat4 made from q\n */\nexport function fromQuat(q: Quat, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  const x = q[0]; const y = q[1]; const z = q[2]; const w = q[3];\n  const x2 = x + x; const y2 = y + y; const z2 = z + z;\n\n  const xx = x * x2;\n  const yx = y * x2;\n  const yy = y * y2;\n  const zx = z * x2;\n  const zy = z * y2;\n  const zz = z * z2;\n  const wx = w * x2;\n  const wy = w * y2;\n  const wz = w * z2;\n\n  dst[ 0] = 1 - yy - zz;  dst[ 1] = yx + wz;      dst[ 2] = zx - wy;      dst[ 3] = 0;\n  dst[ 4] = yx - wz;      dst[ 5] = 1 - xx - zz;  dst[ 6] = zy + wx;      dst[ 7] = 0;\n  dst[ 8] = zx + wy;      dst[ 9] = zy - wx;      dst[10] = 1 - xx - yy;  dst[11] = 0;\n  dst[12] = 0;            dst[13] = 0;            dst[14] = 0;            dst[15] = 1;\n\n  return dst;\n}\n\n/**\n * Negates a matrix.\n * @param m - The matrix.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns -m.\n */\nexport function negate(m: Mat4, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  dst[ 0] = -m[ 0];  dst[ 1] = -m[ 1];  dst[ 2] = -m[ 2];  dst[ 3] = -m[ 3];\n  dst[ 4] = -m[ 4];  dst[ 5] = -m[ 5];  dst[ 6] = -m[ 6];  dst[ 7] = -m[ 7];\n  dst[ 8] = -m[ 8];  dst[ 9] = -m[ 9];  dst[10] = -m[10];  dst[11] = -m[11];\n  dst[12] = -m[12];  dst[13] = -m[13];  dst[14] = -m[14];  dst[15] = -m[15];\n\n  return dst;\n}\n\n/**\n * Copies a matrix. (same as {@link mat4.clone})\n * Also see {@link mat4.create} and {@link mat4.set}\n * @param m - The matrix.\n * @param dst - The matrix. If not passed a new one is created.\n * @returns A copy of m.\n */\nexport function copy(m: Mat4, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  dst[ 0] = m[ 0];  dst[ 1] = m[ 1];  dst[ 2] = m[ 2];  dst[ 3] = m[ 3];\n  dst[ 4] = m[ 4];  dst[ 5] = m[ 5];  dst[ 6] = m[ 6];  dst[ 7] = m[ 7];\n  dst[ 8] = m[ 8];  dst[ 9] = m[ 9];  dst[10] = m[10];  dst[11] = m[11];\n  dst[12] = m[12];  dst[13] = m[13];  dst[14] = m[14];  dst[15] = m[15];\n\n  return dst;\n}\n\n/**\n * Copies a matrix (same as {@link mat4.copy})\n * Also see {@link mat4.create} and {@link mat4.set}\n * @param m - The matrix.\n * @param dst - The matrix. If not passed a new one is created.\n * @returns A copy of m.\n */\nexport const clone = copy;\n\n/**\n * Check if 2 matrices are approximately equal\n * @param a - Operand matrix.\n * @param b - Operand matrix.\n * @returns true if matrices are approximately equal\n */\nexport function equalsApproximately(a: Mat4, b: Mat4): boolean {\n  return Math.abs(a[ 0] - b[ 0]) < utils.EPSILON &&\n         Math.abs(a[ 1] - b[ 1]) < utils.EPSILON &&\n         Math.abs(a[ 2] - b[ 2]) < utils.EPSILON &&\n         Math.abs(a[ 3] - b[ 3]) < utils.EPSILON &&\n         Math.abs(a[ 4] - b[ 4]) < utils.EPSILON &&\n         Math.abs(a[ 5] - b[ 5]) < utils.EPSILON &&\n         Math.abs(a[ 6] - b[ 6]) < utils.EPSILON &&\n         Math.abs(a[ 7] - b[ 7]) < utils.EPSILON &&\n         Math.abs(a[ 8] - b[ 8]) < utils.EPSILON &&\n         Math.abs(a[ 9] - b[ 9]) < utils.EPSILON &&\n         Math.abs(a[10] - b[10]) < utils.EPSILON &&\n         Math.abs(a[11] - b[11]) < utils.EPSILON &&\n         Math.abs(a[12] - b[12]) < utils.EPSILON &&\n         Math.abs(a[13] - b[13]) < utils.EPSILON &&\n         Math.abs(a[14] - b[14]) < utils.EPSILON &&\n         Math.abs(a[15] - b[15]) < utils.EPSILON;\n}\n\n/**\n * Check if 2 matrices are exactly equal\n * @param a - Operand matrix.\n * @param b - Operand matrix.\n * @returns true if matrices are exactly equal\n */\nexport function equals(a: Mat4, b: Mat4): boolean {\n  return a[ 0] === b[ 0] &&\n         a[ 1] === b[ 1] &&\n         a[ 2] === b[ 2] &&\n         a[ 3] === b[ 3] &&\n         a[ 4] === b[ 4] &&\n         a[ 5] === b[ 5] &&\n         a[ 6] === b[ 6] &&\n         a[ 7] === b[ 7] &&\n         a[ 8] === b[ 8] &&\n         a[ 9] === b[ 9] &&\n         a[10] === b[10] &&\n         a[11] === b[11] &&\n         a[12] === b[12] &&\n         a[13] === b[13] &&\n         a[14] === b[14] &&\n         a[15] === b[15];\n}\n\n/**\n * Creates a 4-by-4 identity matrix.\n *\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns A 4-by-4 identity matrix.\n */\nexport function identity(dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  dst[ 0] = 1;  dst[ 1] = 0;  dst[ 2] = 0;  dst[ 3] = 0;\n  dst[ 4] = 0;  dst[ 5] = 1;  dst[ 6] = 0;  dst[ 7] = 0;\n  dst[ 8] = 0;  dst[ 9] = 0;  dst[10] = 1;  dst[11] = 0;\n  dst[12] = 0;  dst[13] = 0;  dst[14] = 0;  dst[15] = 1;\n\n  return dst;\n}\n\n/**\n * Takes the transpose of a matrix.\n * @param m - The matrix.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The transpose of m.\n */\nexport function transpose(m: Mat4, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n  if (dst === m) {\n    let t;\n\n    t = m[1];\n    m[1] = m[4];\n    m[4] = t;\n\n    t = m[2];\n    m[2] = m[8];\n    m[8] = t;\n\n    t = m[3];\n    m[3] = m[12];\n    m[12] = t;\n\n    t = m[6];\n    m[6] = m[9];\n    m[9] = t;\n\n    t = m[7];\n    m[7] = m[13];\n    m[13] = t;\n\n    t = m[11];\n    m[11] = m[14];\n    m[14] = t;\n    return dst;\n  }\n\n  const m00 = m[0 * 4 + 0];\n  const m01 = m[0 * 4 + 1];\n  const m02 = m[0 * 4 + 2];\n  const m03 = m[0 * 4 + 3];\n  const m10 = m[1 * 4 + 0];\n  const m11 = m[1 * 4 + 1];\n  const m12 = m[1 * 4 + 2];\n  const m13 = m[1 * 4 + 3];\n  const m20 = m[2 * 4 + 0];\n  const m21 = m[2 * 4 + 1];\n  const m22 = m[2 * 4 + 2];\n  const m23 = m[2 * 4 + 3];\n  const m30 = m[3 * 4 + 0];\n  const m31 = m[3 * 4 + 1];\n  const m32 = m[3 * 4 + 2];\n  const m33 = m[3 * 4 + 3];\n\n  dst[ 0] = m00;  dst[ 1] = m10;  dst[ 2] = m20;  dst[ 3] = m30;\n  dst[ 4] = m01;  dst[ 5] = m11;  dst[ 6] = m21;  dst[ 7] = m31;\n  dst[ 8] = m02;  dst[ 9] = m12;  dst[10] = m22;  dst[11] = m32;\n  dst[12] = m03;  dst[13] = m13;  dst[14] = m23;  dst[15] = m33;\n\n  return dst;\n}\n\n/**\n * Computes the inverse of a 4-by-4 matrix.\n * @param m - The matrix.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The inverse of m.\n */\nexport function inverse(m: Mat4, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  const m00 = m[0 * 4 + 0];\n  const m01 = m[0 * 4 + 1];\n  const m02 = m[0 * 4 + 2];\n  const m03 = m[0 * 4 + 3];\n  const m10 = m[1 * 4 + 0];\n  const m11 = m[1 * 4 + 1];\n  const m12 = m[1 * 4 + 2];\n  const m13 = m[1 * 4 + 3];\n  const m20 = m[2 * 4 + 0];\n  const m21 = m[2 * 4 + 1];\n  const m22 = m[2 * 4 + 2];\n  const m23 = m[2 * 4 + 3];\n  const m30 = m[3 * 4 + 0];\n  const m31 = m[3 * 4 + 1];\n  const m32 = m[3 * 4 + 2];\n  const m33 = m[3 * 4 + 3];\n  const tmp0  = m22 * m33;\n  const tmp1  = m32 * m23;\n  const tmp2  = m12 * m33;\n  const tmp3  = m32 * m13;\n  const tmp4  = m12 * m23;\n  const tmp5  = m22 * m13;\n  const tmp6  = m02 * m33;\n  const tmp7  = m32 * m03;\n  const tmp8  = m02 * m23;\n  const tmp9  = m22 * m03;\n  const tmp10 = m02 * m13;\n  const tmp11 = m12 * m03;\n  const tmp12 = m20 * m31;\n  const tmp13 = m30 * m21;\n  const tmp14 = m10 * m31;\n  const tmp15 = m30 * m11;\n  const tmp16 = m10 * m21;\n  const tmp17 = m20 * m11;\n  const tmp18 = m00 * m31;\n  const tmp19 = m30 * m01;\n  const tmp20 = m00 * m21;\n  const tmp21 = m20 * m01;\n  const tmp22 = m00 * m11;\n  const tmp23 = m10 * m01;\n\n  const t0 = (tmp0 * m11 + tmp3 * m21 + tmp4 * m31) -\n      (tmp1 * m11 + tmp2 * m21 + tmp5 * m31);\n  const t1 = (tmp1 * m01 + tmp6 * m21 + tmp9 * m31) -\n      (tmp0 * m01 + tmp7 * m21 + tmp8 * m31);\n  const t2 = (tmp2 * m01 + tmp7 * m11 + tmp10 * m31) -\n      (tmp3 * m01 + tmp6 * m11 + tmp11 * m31);\n  const t3 = (tmp5 * m01 + tmp8 * m11 + tmp11 * m21) -\n      (tmp4 * m01 + tmp9 * m11 + tmp10 * m21);\n\n  const d = 1 / (m00 * t0 + m10 * t1 + m20 * t2 + m30 * t3);\n\n  dst[ 0] = d * t0;\n  dst[ 1] = d * t1;\n  dst[ 2] = d * t2;\n  dst[ 3] = d * t3;\n  dst[ 4] = d * ((tmp1 * m10 + tmp2 * m20 + tmp5 * m30) -\n          (tmp0 * m10 + tmp3 * m20 + tmp4 * m30));\n  dst[ 5] = d * ((tmp0 * m00 + tmp7 * m20 + tmp8 * m30) -\n          (tmp1 * m00 + tmp6 * m20 + tmp9 * m30));\n  dst[ 6] = d * ((tmp3 * m00 + tmp6 * m10 + tmp11 * m30) -\n          (tmp2 * m00 + tmp7 * m10 + tmp10 * m30));\n  dst[ 7] = d * ((tmp4 * m00 + tmp9 * m10 + tmp10 * m20) -\n          (tmp5 * m00 + tmp8 * m10 + tmp11 * m20));\n  dst[ 8] = d * ((tmp12 * m13 + tmp15 * m23 + tmp16 * m33) -\n          (tmp13 * m13 + tmp14 * m23 + tmp17 * m33));\n  dst[ 9] = d * ((tmp13 * m03 + tmp18 * m23 + tmp21 * m33) -\n          (tmp12 * m03 + tmp19 * m23 + tmp20 * m33));\n  dst[10] = d * ((tmp14 * m03 + tmp19 * m13 + tmp22 * m33) -\n          (tmp15 * m03 + tmp18 * m13 + tmp23 * m33));\n  dst[11] = d * ((tmp17 * m03 + tmp20 * m13 + tmp23 * m23) -\n          (tmp16 * m03 + tmp21 * m13 + tmp22 * m23));\n  dst[12] = d * ((tmp14 * m22 + tmp17 * m32 + tmp13 * m12) -\n          (tmp16 * m32 + tmp12 * m12 + tmp15 * m22));\n  dst[13] = d * ((tmp20 * m32 + tmp12 * m02 + tmp19 * m22) -\n          (tmp18 * m22 + tmp21 * m32 + tmp13 * m02));\n  dst[14] = d * ((tmp18 * m12 + tmp23 * m32 + tmp15 * m02) -\n          (tmp22 * m32 + tmp14 * m02 + tmp19 * m12));\n  dst[15] = d * ((tmp22 * m22 + tmp16 * m02 + tmp21 * m12) -\n          (tmp20 * m12 + tmp23 * m22 + tmp17 * m02));\n\n  return dst;\n}\n\n/**\n * Compute the determinant of a matrix\n * @param m - the matrix\n * @returns the determinant\n */\nexport function determinant(m: Mat4): number {\n  const m00 = m[0 * 4 + 0];\n  const m01 = m[0 * 4 + 1];\n  const m02 = m[0 * 4 + 2];\n  const m03 = m[0 * 4 + 3];\n  const m10 = m[1 * 4 + 0];\n  const m11 = m[1 * 4 + 1];\n  const m12 = m[1 * 4 + 2];\n  const m13 = m[1 * 4 + 3];\n  const m20 = m[2 * 4 + 0];\n  const m21 = m[2 * 4 + 1];\n  const m22 = m[2 * 4 + 2];\n  const m23 = m[2 * 4 + 3];\n  const m30 = m[3 * 4 + 0];\n  const m31 = m[3 * 4 + 1];\n  const m32 = m[3 * 4 + 2];\n  const m33 = m[3 * 4 + 3];\n\n  const tmp0  = m22 * m33;\n  const tmp1  = m32 * m23;\n  const tmp2  = m12 * m33;\n  const tmp3  = m32 * m13;\n  const tmp4  = m12 * m23;\n  const tmp5  = m22 * m13;\n  const tmp6  = m02 * m33;\n  const tmp7  = m32 * m03;\n  const tmp8  = m02 * m23;\n  const tmp9  = m22 * m03;\n  const tmp10 = m02 * m13;\n  const tmp11 = m12 * m03;\n\n  const t0 = (tmp0 * m11 + tmp3 * m21 + tmp4 * m31) -\n             (tmp1 * m11 + tmp2 * m21 + tmp5 * m31);\n  const t1 = (tmp1 * m01 + tmp6 * m21 + tmp9 * m31) -\n             (tmp0 * m01 + tmp7 * m21 + tmp8 * m31);\n  const t2 = (tmp2 * m01 + tmp7 * m11 + tmp10 * m31) -\n             (tmp3 * m01 + tmp6 * m11 + tmp11 * m31);\n  const t3 = (tmp5 * m01 + tmp8 * m11 + tmp11 * m21) -\n             (tmp4 * m01 + tmp9 * m11 + tmp10 * m21);\n\n  return m00 * t0 + m10 * t1 + m20 * t2 + m30 * t3;\n}\n\n/**\n * Computes the inverse of a 4-by-4 matrix. (same as inverse)\n * @param m - The matrix.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The inverse of m.\n */\nexport const invert = inverse;\n\n/**\n * Multiplies two 4-by-4 matrices with a on the left and b on the right\n * @param a - The matrix on the left.\n * @param b - The matrix on the right.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The matrix product of a and b.\n */\nexport function multiply(a: Mat4, b: Mat4, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  const a00 = a[0];\n  const a01 = a[1];\n  const a02 = a[2];\n  const a03 = a[3];\n  const a10 = a[ 4 + 0];\n  const a11 = a[ 4 + 1];\n  const a12 = a[ 4 + 2];\n  const a13 = a[ 4 + 3];\n  const a20 = a[ 8 + 0];\n  const a21 = a[ 8 + 1];\n  const a22 = a[ 8 + 2];\n  const a23 = a[ 8 + 3];\n  const a30 = a[12 + 0];\n  const a31 = a[12 + 1];\n  const a32 = a[12 + 2];\n  const a33 = a[12 + 3];\n  const b00 = b[0];\n  const b01 = b[1];\n  const b02 = b[2];\n  const b03 = b[3];\n  const b10 = b[ 4 + 0];\n  const b11 = b[ 4 + 1];\n  const b12 = b[ 4 + 2];\n  const b13 = b[ 4 + 3];\n  const b20 = b[ 8 + 0];\n  const b21 = b[ 8 + 1];\n  const b22 = b[ 8 + 2];\n  const b23 = b[ 8 + 3];\n  const b30 = b[12 + 0];\n  const b31 = b[12 + 1];\n  const b32 = b[12 + 2];\n  const b33 = b[12 + 3];\n\n  dst[ 0] = a00 * b00 + a10 * b01 + a20 * b02 + a30 * b03;\n  dst[ 1] = a01 * b00 + a11 * b01 + a21 * b02 + a31 * b03;\n  dst[ 2] = a02 * b00 + a12 * b01 + a22 * b02 + a32 * b03;\n  dst[ 3] = a03 * b00 + a13 * b01 + a23 * b02 + a33 * b03;\n  dst[ 4] = a00 * b10 + a10 * b11 + a20 * b12 + a30 * b13;\n  dst[ 5] = a01 * b10 + a11 * b11 + a21 * b12 + a31 * b13;\n  dst[ 6] = a02 * b10 + a12 * b11 + a22 * b12 + a32 * b13;\n  dst[ 7] = a03 * b10 + a13 * b11 + a23 * b12 + a33 * b13;\n  dst[ 8] = a00 * b20 + a10 * b21 + a20 * b22 + a30 * b23;\n  dst[ 9] = a01 * b20 + a11 * b21 + a21 * b22 + a31 * b23;\n  dst[10] = a02 * b20 + a12 * b21 + a22 * b22 + a32 * b23;\n  dst[11] = a03 * b20 + a13 * b21 + a23 * b22 + a33 * b23;\n  dst[12] = a00 * b30 + a10 * b31 + a20 * b32 + a30 * b33;\n  dst[13] = a01 * b30 + a11 * b31 + a21 * b32 + a31 * b33;\n  dst[14] = a02 * b30 + a12 * b31 + a22 * b32 + a32 * b33;\n  dst[15] = a03 * b30 + a13 * b31 + a23 * b32 + a33 * b33;\n\n  return dst;\n}\n\n/**\n * Multiplies two 4-by-4 matrices with a on the left and b on the right (same as multiply)\n * @param a - The matrix on the left.\n * @param b - The matrix on the right.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The matrix product of a and b.\n */\nexport const mul = multiply;\n\n/**\n * Sets the translation component of a 4-by-4 matrix to the given\n * vector.\n * @param a - The matrix.\n * @param v - The vector.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The matrix with translation set.\n */\nexport function setTranslation(a: Mat4, v: Vec3, dst?: Mat4): Mat4 {\n  dst = dst || identity();\n  if (a !== dst) {\n    dst[ 0] = a[ 0];\n    dst[ 1] = a[ 1];\n    dst[ 2] = a[ 2];\n    dst[ 3] = a[ 3];\n    dst[ 4] = a[ 4];\n    dst[ 5] = a[ 5];\n    dst[ 6] = a[ 6];\n    dst[ 7] = a[ 7];\n    dst[ 8] = a[ 8];\n    dst[ 9] = a[ 9];\n    dst[10] = a[10];\n    dst[11] = a[11];\n  }\n  dst[12] = v[0];\n  dst[13] = v[1];\n  dst[14] = v[2];\n  dst[15] = 1;\n  return dst;\n}\n\n/**\n * Returns the translation component of a 4-by-4 matrix as a vector with 3\n * entries.\n * @param m - The matrix.\n * @param dst - vector to hold result. If not passed a new one is created.\n * @returns The translation component of m.\n */\nexport function getTranslation(m: Mat4, dst?: Vec3): Vec3 {\n  dst = dst || vec3.create();\n  dst[0] = m[12];\n  dst[1] = m[13];\n  dst[2] = m[14];\n  return dst;\n}\n\n/**\n * Returns an axis of a 4x4 matrix as a vector with 3 entries\n * @param m - The matrix.\n * @param axis - The axis 0 = x, 1 = y, 2 = z;\n * @returns The axis component of m.\n */\nexport function getAxis(m: Mat4, axis: number, dst?: Vec3): Vec3 {\n  dst = dst || vec3.create();\n  const off = axis * 4;\n  dst[0] = m[off + 0];\n  dst[1] = m[off + 1];\n  dst[2] = m[off + 2];\n  return dst;\n}\n\n/**\n * Sets an axis of a 4x4 matrix as a vector with 3 entries\n * @param m - The matrix.\n * @param v - the axis vector\n * @param axis - The axis  0 = x, 1 = y, 2 = z;\n * @param dst - The matrix to set. If not passed a new one is created.\n * @returns The matrix with axis set.\n */\nexport function setAxis(a: Mat4, v: Vec3, axis: number, dst: Mat4): Mat4 {\n  if (dst !== a) {\n    dst = copy(a, dst);\n  }\n  const off = axis * 4;\n  dst[off + 0] = v[0];\n  dst[off + 1] = v[1];\n  dst[off + 2] = v[2];\n  return dst;\n}\n\n/**\n * Returns the scaling component of the matrix\n * @param m - The Matrix\n * @param dst - The vector to set. If not passed a new one is created.\n */\nexport function getScaling(m: Mat4, dst?: Vec3): Vec3 {\n  dst = dst || vec3.create();\n\n  const xx = m[0];\n  const xy = m[1];\n  const xz = m[2];\n  const yx = m[4];\n  const yy = m[5];\n  const yz = m[6];\n  const zx = m[8];\n  const zy = m[9];\n  const zz = m[10];\n\n  dst[0] = Math.sqrt(xx * xx + xy * xy + xz * xz);\n  dst[1] = Math.sqrt(yx * yx + yy * yy + yz * yz);\n  dst[2] = Math.sqrt(zx * zx + zy * zy + zz * zz);\n\n  return dst;\n}\n\n/**\n * Computes a 4-by-4 perspective transformation matrix given the angular height\n * of the frustum, the aspect ratio, and the near and far clipping planes.  The\n * arguments define a frustum extending in the negative z direction.  The given\n * angle is the vertical angle of the frustum, and the horizontal angle is\n * determined to produce the given aspect ratio.  The arguments near and far are\n * the distances to the near and far clipping planes.  Note that near and far\n * are not z coordinates, but rather they are distances along the negative\n * z-axis.  The matrix generated sends the viewing frustum to the unit box.\n * We assume a unit box extending from -1 to 1 in the x and y dimensions and\n * from 0 to 1 in the z dimension.\n *\n * Note: If you pass `Infinity` for zFar then it will produce a projection matrix\n * returns -Infinity for Z when transforming coordinates with Z <= 0 and +Infinity for Z\n * otherwise.\n *\n * @param fieldOfViewYInRadians - The camera angle from top to bottom (in radians).\n * @param aspect - The aspect ratio width / height.\n * @param zNear - The depth (negative z coordinate)\n *     of the near clipping plane.\n * @param zFar - The depth (negative z coordinate)\n *     of the far clipping plane.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The perspective matrix.\n */\nexport function perspective(fieldOfViewYInRadians: number, aspect: number, zNear: number, zFar: number, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  const f = Math.tan(Math.PI * 0.5 - 0.5 * fieldOfViewYInRadians);\n\n  dst[0]  = f / aspect;\n  dst[1]  = 0;\n  dst[2]  = 0;\n  dst[3]  = 0;\n\n  dst[4]  = 0;\n  dst[5]  = f;\n  dst[6]  = 0;\n  dst[7]  = 0;\n\n  dst[8]  = 0;\n  dst[9]  = 0;\n  dst[11] = -1;\n\n  dst[12] = 0;\n  dst[13] = 0;\n  dst[15] = 0;\n\n  if (zFar === Infinity) {\n    dst[10] = -1;\n    dst[14] = -zNear;\n  } else {\n    const rangeInv = 1 / (zNear - zFar);\n    dst[10] = zFar * rangeInv;\n    dst[14] = zFar * zNear * rangeInv;\n  }\n\n  return dst;\n}\n\n/**\n * Computes a 4-by-4 orthogonal transformation matrix that transforms from\n * the given the left, right, bottom, and top dimensions to -1 +1 in x, and y\n * and 0 to +1 in z.\n * @param left - Left side of the near clipping plane viewport.\n * @param right - Right side of the near clipping plane viewport.\n * @param bottom - Bottom of the near clipping plane viewport.\n * @param top - Top of the near clipping plane viewport.\n * @param near - The depth (negative z coordinate)\n *     of the near clipping plane.\n * @param far - The depth (negative z coordinate)\n *     of the far clipping plane.\n * @param dst - Output matrix. If not passed a new one is created.\n * @returns The orthographic projection matrix.\n */\nexport function ortho(left: number, right: number, bottom: number, top: number, near: number, far: number, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  dst[0]  = 2 / (right - left);\n  dst[1]  = 0;\n  dst[2]  = 0;\n  dst[3]  = 0;\n\n  dst[4]  = 0;\n  dst[5]  = 2 / (top - bottom);\n  dst[6]  = 0;\n  dst[7]  = 0;\n\n  dst[8]  = 0;\n  dst[9]  = 0;\n  dst[10] = 1 / (near - far);\n  dst[11] = 0;\n\n  dst[12] = (right + left) / (left - right);\n  dst[13] = (top + bottom) / (bottom - top);\n  dst[14] = near / (near - far);\n  dst[15] = 1;\n\n  return dst;\n}\n\n/**\n * Computes a 4-by-4 perspective transformation matrix given the left, right,\n * top, bottom, near and far clipping planes. The arguments define a frustum\n * extending in the negative z direction. The arguments near and far are the\n * distances to the near and far clipping planes. Note that near and far are not\n * z coordinates, but rather they are distances along the negative z-axis. The\n * matrix generated sends the viewing frustum to the unit box. We assume a unit\n * box extending from -1 to 1 in the x and y dimensions and from 0 to 1 in the z\n * dimension.\n * @param left - The x coordinate of the left plane of the box.\n * @param right - The x coordinate of the right plane of the box.\n * @param bottom - The y coordinate of the bottom plane of the box.\n * @param top - The y coordinate of the right plane of the box.\n * @param near - The negative z coordinate of the near plane of the box.\n * @param far - The negative z coordinate of the far plane of the box.\n * @param dst - Output matrix. If not passed a new one is created.\n * @returns The perspective projection matrix.\n */\nexport function frustum(left: number, right: number, bottom: number, top: number, near: number, far: number, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  const dx = (right - left);\n  const dy = (top - bottom);\n  const dz = (near - far);\n\n  dst[ 0] = 2 * near / dx;\n  dst[ 1] = 0;\n  dst[ 2] = 0;\n  dst[ 3] = 0;\n  dst[ 4] = 0;\n  dst[ 5] = 2 * near / dy;\n  dst[ 6] = 0;\n  dst[ 7] = 0;\n  dst[ 8] = (left + right) / dx;\n  dst[ 9] = (top + bottom) / dy;\n  dst[10] = far / dz;\n  dst[11] = -1;\n  dst[12] = 0;\n  dst[13] = 0;\n  dst[14] = near * far / dz;\n  dst[15] = 0;\n\n  return dst;\n}\n\nlet xAxis: Vec3;\nlet yAxis: Vec3;\nlet zAxis: Vec3;\n\n/**\n * Computes a 4-by-4 aim transformation.\n *\n * This is a matrix which positions an object aiming down positive Z.\n * toward the target.\n *\n * Note: this is **NOT** the inverse of lookAt as lookAt looks at negative Z.\n *\n * @param position - The position of the object.\n * @param target - The position meant to be aimed at.\n * @param up - A vector pointing up.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The aim matrix.\n */\nexport function aim(position: Vec3, target: Vec3, up: Vec3, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  xAxis = xAxis || vec3.create();\n  yAxis = yAxis || vec3.create();\n  zAxis = zAxis || vec3.create();\n\n  vec3.normalize(vec3.subtract(target, position, zAxis), zAxis);\n  vec3.normalize(vec3.cross(up, zAxis, xAxis), xAxis);\n  vec3.normalize(vec3.cross(zAxis, xAxis, yAxis), yAxis);\n\n  dst[ 0] = xAxis[0];     dst[ 1] = xAxis[1];     dst[ 2] = xAxis[2];     dst[ 3] = 0;\n  dst[ 4] = yAxis[0];     dst[ 5] = yAxis[1];     dst[ 6] = yAxis[2];     dst[ 7] = 0;\n  dst[ 8] = zAxis[0];     dst[ 9] = zAxis[1];     dst[10] = zAxis[2];     dst[11] = 0;\n  dst[12] = position[0];  dst[13] = position[1];  dst[14] = position[2];  dst[15] = 1;\n\n  return dst;\n}\n\n/**\n * Computes a 4-by-4 camera aim transformation.\n *\n * This is a matrix which positions an object aiming down negative Z.\n * toward the target.\n *\n * Note: this is the inverse of `lookAt`\n *\n * @param eye - The position of the object.\n * @param target - The position meant to be aimed at.\n * @param up - A vector pointing up.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The aim matrix.\n */\nexport function cameraAim(eye: Vec3, target: Vec3, up: Vec3, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  xAxis = xAxis || vec3.create();\n  yAxis = yAxis || vec3.create();\n  zAxis = zAxis || vec3.create();\n\n  vec3.normalize(vec3.subtract(eye, target, zAxis), zAxis);\n  vec3.normalize(vec3.cross(up, zAxis, xAxis), xAxis);\n  vec3.normalize(vec3.cross(zAxis, xAxis, yAxis), yAxis);\n\n  dst[ 0] = xAxis[0];     dst[ 1] = xAxis[1];     dst[ 2] = xAxis[2];     dst[ 3] = 0;\n  dst[ 4] = yAxis[0];     dst[ 5] = yAxis[1];     dst[ 6] = yAxis[2];     dst[ 7] = 0;\n  dst[ 8] = zAxis[0];     dst[ 9] = zAxis[1];     dst[10] = zAxis[2];     dst[11] = 0;\n  dst[12] = eye[0];  dst[13] = eye[1];  dst[14] = eye[2];  dst[15] = 1;\n\n  return dst;\n}\n\n/**\n * Computes a 4-by-4 view transformation.\n *\n * This is a view matrix which transforms all other objects\n * to be in the space of the view defined by the parameters.\n *\n * @param eye - The position of the object.\n * @param target - The position meant to be aimed at.\n * @param up - A vector pointing up.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The look-at matrix.\n */\nexport function lookAt(eye: Vec3, target: Vec3, up: Vec3, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  xAxis = xAxis || vec3.create();\n  yAxis = yAxis || vec3.create();\n  zAxis = zAxis || vec3.create();\n\n  vec3.normalize(vec3.subtract(eye, target, zAxis), zAxis);\n  vec3.normalize(vec3.cross(up, zAxis, xAxis), xAxis);\n  vec3.normalize(vec3.cross(zAxis, xAxis, yAxis), yAxis);\n\n  dst[ 0] = xAxis[0];  dst[ 1] = yAxis[0];  dst[ 2] = zAxis[0];  dst[ 3] = 0;\n  dst[ 4] = xAxis[1];  dst[ 5] = yAxis[1];  dst[ 6] = zAxis[1];  dst[ 7] = 0;\n  dst[ 8] = xAxis[2];  dst[ 9] = yAxis[2];  dst[10] = zAxis[2];  dst[11] = 0;\n\n  dst[12] = -(xAxis[0] * eye[0] + xAxis[1] * eye[1] + xAxis[2] * eye[2]);\n  dst[13] = -(yAxis[0] * eye[0] + yAxis[1] * eye[1] + yAxis[2] * eye[2]);\n  dst[14] = -(zAxis[0] * eye[0] + zAxis[1] * eye[1] + zAxis[2] * eye[2]);\n  dst[15] = 1;\n\n  return dst;\n}\n\n/**\n * Creates a 4-by-4 matrix which translates by the given vector v.\n * @param v - The vector by\n *     which to translate.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The translation matrix.\n */\nexport function translation(v: Vec3, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  dst[ 0] = 1;     dst[ 1] = 0;     dst[ 2] = 0;     dst[ 3] = 0;\n  dst[ 4] = 0;     dst[ 5] = 1;     dst[ 6] = 0;     dst[ 7] = 0;\n  dst[ 8] = 0;     dst[ 9] = 0;     dst[10] = 1;     dst[11] = 0;\n  dst[12] = v[0];  dst[13] = v[1];  dst[14] = v[2];  dst[15] = 1;\n\n  return dst;\n}\n\n/**\n * Translates the given 4-by-4 matrix by the given vector v.\n * @param m - The matrix.\n * @param v - The vector by\n *     which to translate.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The translated matrix.\n */\nexport function translate(m: Mat4, v: Vec3, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  const v0 = v[0];\n  const v1 = v[1];\n  const v2 = v[2];\n  const m00 = m[0];\n  const m01 = m[1];\n  const m02 = m[2];\n  const m03 = m[3];\n  const m10 = m[1 * 4 + 0];\n  const m11 = m[1 * 4 + 1];\n  const m12 = m[1 * 4 + 2];\n  const m13 = m[1 * 4 + 3];\n  const m20 = m[2 * 4 + 0];\n  const m21 = m[2 * 4 + 1];\n  const m22 = m[2 * 4 + 2];\n  const m23 = m[2 * 4 + 3];\n  const m30 = m[3 * 4 + 0];\n  const m31 = m[3 * 4 + 1];\n  const m32 = m[3 * 4 + 2];\n  const m33 = m[3 * 4 + 3];\n\n  if (m !== dst) {\n    dst[ 0] = m00;\n    dst[ 1] = m01;\n    dst[ 2] = m02;\n    dst[ 3] = m03;\n    dst[ 4] = m10;\n    dst[ 5] = m11;\n    dst[ 6] = m12;\n    dst[ 7] = m13;\n    dst[ 8] = m20;\n    dst[ 9] = m21;\n    dst[10] = m22;\n    dst[11] = m23;\n  }\n\n  dst[12] = m00 * v0 + m10 * v1 + m20 * v2 + m30;\n  dst[13] = m01 * v0 + m11 * v1 + m21 * v2 + m31;\n  dst[14] = m02 * v0 + m12 * v1 + m22 * v2 + m32;\n  dst[15] = m03 * v0 + m13 * v1 + m23 * v2 + m33;\n\n  return dst;\n}\n\n/**\n * Creates a 4-by-4 matrix which rotates around the x-axis by the given angle.\n * @param angleInRadians - The angle by which to rotate (in radians).\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The rotation matrix.\n */\nexport function rotationX(angleInRadians: number, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  const c = Math.cos(angleInRadians);\n  const s = Math.sin(angleInRadians);\n\n  dst[ 0] = 1;  dst[ 1] =  0;  dst[ 2] = 0;  dst[ 3] = 0;\n  dst[ 4] = 0;  dst[ 5] =  c;  dst[ 6] = s;  dst[ 7] = 0;\n  dst[ 8] = 0;  dst[ 9] = -s;  dst[10] = c;  dst[11] = 0;\n  dst[12] = 0;  dst[13] =  0;  dst[14] = 0;  dst[15] = 1;\n\n  return dst;\n}\n\n/**\n * Rotates the given 4-by-4 matrix around the x-axis by the given\n * angle.\n * @param m - The matrix.\n * @param angleInRadians - The angle by which to rotate (in radians).\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The rotated matrix.\n */\nexport function rotateX(m: Mat4, angleInRadians: number, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  const m10 = m[4];\n  const m11 = m[5];\n  const m12 = m[6];\n  const m13 = m[7];\n  const m20 = m[8];\n  const m21 = m[9];\n  const m22 = m[10];\n  const m23 = m[11];\n  const c = Math.cos(angleInRadians);\n  const s = Math.sin(angleInRadians);\n\n  dst[4]  = c * m10 + s * m20;\n  dst[5]  = c * m11 + s * m21;\n  dst[6]  = c * m12 + s * m22;\n  dst[7]  = c * m13 + s * m23;\n  dst[8]  = c * m20 - s * m10;\n  dst[9]  = c * m21 - s * m11;\n  dst[10] = c * m22 - s * m12;\n  dst[11] = c * m23 - s * m13;\n\n  if (m !== dst) {\n    dst[ 0] = m[ 0];\n    dst[ 1] = m[ 1];\n    dst[ 2] = m[ 2];\n    dst[ 3] = m[ 3];\n    dst[12] = m[12];\n    dst[13] = m[13];\n    dst[14] = m[14];\n    dst[15] = m[15];\n  }\n\n  return dst;\n}\n\n/**\n * Creates a 4-by-4 matrix which rotates around the y-axis by the given angle.\n * @param angleInRadians - The angle by which to rotate (in radians).\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The rotation matrix.\n */\nexport function rotationY(angleInRadians: number, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  const c = Math.cos(angleInRadians);\n  const s = Math.sin(angleInRadians);\n\n  dst[ 0] = c;  dst[ 1] = 0;  dst[ 2] = -s;  dst[ 3] = 0;\n  dst[ 4] = 0;  dst[ 5] = 1;  dst[ 6] =  0;  dst[ 7] = 0;\n  dst[ 8] = s;  dst[ 9] = 0;  dst[10] =  c;  dst[11] = 0;\n  dst[12] = 0;  dst[13] = 0;  dst[14] =  0;  dst[15] = 1;\n\n  return dst;\n}\n\n/**\n * Rotates the given 4-by-4 matrix around the y-axis by the given\n * angle.\n * @param m - The matrix.\n * @param angleInRadians - The angle by which to rotate (in radians).\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The rotated matrix.\n */\nexport function rotateY(m: Mat4, angleInRadians: number, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  const m00 = m[0 * 4 + 0];\n  const m01 = m[0 * 4 + 1];\n  const m02 = m[0 * 4 + 2];\n  const m03 = m[0 * 4 + 3];\n  const m20 = m[2 * 4 + 0];\n  const m21 = m[2 * 4 + 1];\n  const m22 = m[2 * 4 + 2];\n  const m23 = m[2 * 4 + 3];\n  const c = Math.cos(angleInRadians);\n  const s = Math.sin(angleInRadians);\n\n  dst[ 0] = c * m00 - s * m20;\n  dst[ 1] = c * m01 - s * m21;\n  dst[ 2] = c * m02 - s * m22;\n  dst[ 3] = c * m03 - s * m23;\n  dst[ 8] = c * m20 + s * m00;\n  dst[ 9] = c * m21 + s * m01;\n  dst[10] = c * m22 + s * m02;\n  dst[11] = c * m23 + s * m03;\n\n  if (m !== dst) {\n    dst[ 4] = m[ 4];\n    dst[ 5] = m[ 5];\n    dst[ 6] = m[ 6];\n    dst[ 7] = m[ 7];\n    dst[12] = m[12];\n    dst[13] = m[13];\n    dst[14] = m[14];\n    dst[15] = m[15];\n  }\n\n  return dst;\n}\n\n/**\n * Creates a 4-by-4 matrix which rotates around the z-axis by the given angle.\n * @param angleInRadians - The angle by which to rotate (in radians).\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The rotation matrix.\n */\nexport function rotationZ(angleInRadians: number, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  const c = Math.cos(angleInRadians);\n  const s = Math.sin(angleInRadians);\n\n  dst[ 0] =  c;  dst[ 1] = s;  dst[ 2] = 0;  dst[ 3] = 0;\n  dst[ 4] = -s;  dst[ 5] = c;  dst[ 6] = 0;  dst[ 7] = 0;\n  dst[ 8] =  0;  dst[ 9] = 0;  dst[10] = 1;  dst[11] = 0;\n  dst[12] =  0;  dst[13] = 0;  dst[14] = 0;  dst[15] = 1;\n\n  return dst;\n}\n\n/**\n * Rotates the given 4-by-4 matrix around the z-axis by the given\n * angle.\n * @param m - The matrix.\n * @param angleInRadians - The angle by which to rotate (in radians).\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The rotated matrix.\n */\nexport function rotateZ(m: Mat4, angleInRadians: number, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  const m00 = m[0 * 4 + 0];\n  const m01 = m[0 * 4 + 1];\n  const m02 = m[0 * 4 + 2];\n  const m03 = m[0 * 4 + 3];\n  const m10 = m[1 * 4 + 0];\n  const m11 = m[1 * 4 + 1];\n  const m12 = m[1 * 4 + 2];\n  const m13 = m[1 * 4 + 3];\n  const c = Math.cos(angleInRadians);\n  const s = Math.sin(angleInRadians);\n\n  dst[ 0] = c * m00 + s * m10;\n  dst[ 1] = c * m01 + s * m11;\n  dst[ 2] = c * m02 + s * m12;\n  dst[ 3] = c * m03 + s * m13;\n  dst[ 4] = c * m10 - s * m00;\n  dst[ 5] = c * m11 - s * m01;\n  dst[ 6] = c * m12 - s * m02;\n  dst[ 7] = c * m13 - s * m03;\n\n  if (m !== dst) {\n    dst[ 8] = m[ 8];\n    dst[ 9] = m[ 9];\n    dst[10] = m[10];\n    dst[11] = m[11];\n    dst[12] = m[12];\n    dst[13] = m[13];\n    dst[14] = m[14];\n    dst[15] = m[15];\n  }\n\n  return dst;\n}\n\n/**\n * Creates a 4-by-4 matrix which rotates around the given axis by the given\n * angle.\n * @param axis - The axis\n *     about which to rotate.\n * @param angleInRadians - The angle by which to rotate (in radians).\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns A matrix which rotates angle radians\n *     around the axis.\n */\nexport function axisRotation(axis: Vec3, angleInRadians: number, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  let x = axis[0];\n  let y = axis[1];\n  let z = axis[2];\n  const n = Math.sqrt(x * x + y * y + z * z);\n  x /= n;\n  y /= n;\n  z /= n;\n  const xx = x * x;\n  const yy = y * y;\n  const zz = z * z;\n  const c = Math.cos(angleInRadians);\n  const s = Math.sin(angleInRadians);\n  const oneMinusCosine = 1 - c;\n\n  dst[ 0] = xx + (1 - xx) * c;\n  dst[ 1] = x * y * oneMinusCosine + z * s;\n  dst[ 2] = x * z * oneMinusCosine - y * s;\n  dst[ 3] = 0;\n  dst[ 4] = x * y * oneMinusCosine - z * s;\n  dst[ 5] = yy + (1 - yy) * c;\n  dst[ 6] = y * z * oneMinusCosine + x * s;\n  dst[ 7] = 0;\n  dst[ 8] = x * z * oneMinusCosine + y * s;\n  dst[ 9] = y * z * oneMinusCosine - x * s;\n  dst[10] = zz + (1 - zz) * c;\n  dst[11] = 0;\n  dst[12] = 0;\n  dst[13] = 0;\n  dst[14] = 0;\n  dst[15] = 1;\n\n  return dst;\n}\n\n/**\n * Creates a 4-by-4 matrix which rotates around the given axis by the given\n * angle. (same as axisRotation)\n * @param axis - The axis\n *     about which to rotate.\n * @param angleInRadians - The angle by which to rotate (in radians).\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns A matrix which rotates angle radians\n *     around the axis.\n */\nexport const rotation = axisRotation;\n\n/**\n * Rotates the given 4-by-4 matrix around the given axis by the\n * given angle.\n * @param m - The matrix.\n * @param axis - The axis\n *     about which to rotate.\n * @param angleInRadians - The angle by which to rotate (in radians).\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The rotated matrix.\n */\nexport function axisRotate(m: Mat4, axis: Vec3, angleInRadians: number, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  let x = axis[0];\n  let y = axis[1];\n  let z = axis[2];\n  const n = Math.sqrt(x * x + y * y + z * z);\n  x /= n;\n  y /= n;\n  z /= n;\n  const xx = x * x;\n  const yy = y * y;\n  const zz = z * z;\n  const c = Math.cos(angleInRadians);\n  const s = Math.sin(angleInRadians);\n  const oneMinusCosine = 1 - c;\n\n  const r00 = xx + (1 - xx) * c;\n  const r01 = x * y * oneMinusCosine + z * s;\n  const r02 = x * z * oneMinusCosine - y * s;\n  const r10 = x * y * oneMinusCosine - z * s;\n  const r11 = yy + (1 - yy) * c;\n  const r12 = y * z * oneMinusCosine + x * s;\n  const r20 = x * z * oneMinusCosine + y * s;\n  const r21 = y * z * oneMinusCosine - x * s;\n  const r22 = zz + (1 - zz) * c;\n\n  const m00 = m[0];\n  const m01 = m[1];\n  const m02 = m[2];\n  const m03 = m[3];\n  const m10 = m[4];\n  const m11 = m[5];\n  const m12 = m[6];\n  const m13 = m[7];\n  const m20 = m[8];\n  const m21 = m[9];\n  const m22 = m[10];\n  const m23 = m[11];\n\n  dst[ 0] = r00 * m00 + r01 * m10 + r02 * m20;\n  dst[ 1] = r00 * m01 + r01 * m11 + r02 * m21;\n  dst[ 2] = r00 * m02 + r01 * m12 + r02 * m22;\n  dst[ 3] = r00 * m03 + r01 * m13 + r02 * m23;\n  dst[ 4] = r10 * m00 + r11 * m10 + r12 * m20;\n  dst[ 5] = r10 * m01 + r11 * m11 + r12 * m21;\n  dst[ 6] = r10 * m02 + r11 * m12 + r12 * m22;\n  dst[ 7] = r10 * m03 + r11 * m13 + r12 * m23;\n  dst[ 8] = r20 * m00 + r21 * m10 + r22 * m20;\n  dst[ 9] = r20 * m01 + r21 * m11 + r22 * m21;\n  dst[10] = r20 * m02 + r21 * m12 + r22 * m22;\n  dst[11] = r20 * m03 + r21 * m13 + r22 * m23;\n\n  if (m !== dst) {\n    dst[12] = m[12];\n    dst[13] = m[13];\n    dst[14] = m[14];\n    dst[15] = m[15];\n  }\n\n  return dst;\n}\n\n/**\n * Rotates the given 4-by-4 matrix around the given axis by the\n * given angle. (same as rotate)\n * @param m - The matrix.\n * @param axis - The axis\n *     about which to rotate.\n * @param angleInRadians - The angle by which to rotate (in radians).\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The rotated matrix.\n */\nexport const rotate = axisRotate;\n\n/**\n * Creates a 4-by-4 matrix which scales in each dimension by an amount given by\n * the corresponding entry in the given vector; assumes the vector has three\n * entries.\n * @param v - A vector of\n *     three entries specifying the factor by which to scale in each dimension.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The scaling matrix.\n */\nexport function scaling(v: Vec3, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  dst[ 0] = v[0];  dst[ 1] = 0;     dst[ 2] = 0;     dst[ 3] = 0;\n  dst[ 4] = 0;     dst[ 5] = v[1];  dst[ 6] = 0;     dst[ 7] = 0;\n  dst[ 8] = 0;     dst[ 9] = 0;     dst[10] = v[2];  dst[11] = 0;\n  dst[12] = 0;     dst[13] = 0;     dst[14] = 0;     dst[15] = 1;\n\n  return dst;\n}\n\n/**\n * Scales the given 4-by-4 matrix in each dimension by an amount\n * given by the corresponding entry in the given vector; assumes the vector has\n * three entries.\n * @param m - The matrix to be modified.\n * @param v - A vector of three entries specifying the\n *     factor by which to scale in each dimension.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The scaled matrix.\n */\nexport function scale(m: Mat4, v: Vec3, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  const v0 = v[0];\n  const v1 = v[1];\n  const v2 = v[2];\n\n  dst[ 0] = v0 * m[0 * 4 + 0];\n  dst[ 1] = v0 * m[0 * 4 + 1];\n  dst[ 2] = v0 * m[0 * 4 + 2];\n  dst[ 3] = v0 * m[0 * 4 + 3];\n  dst[ 4] = v1 * m[1 * 4 + 0];\n  dst[ 5] = v1 * m[1 * 4 + 1];\n  dst[ 6] = v1 * m[1 * 4 + 2];\n  dst[ 7] = v1 * m[1 * 4 + 3];\n  dst[ 8] = v2 * m[2 * 4 + 0];\n  dst[ 9] = v2 * m[2 * 4 + 1];\n  dst[10] = v2 * m[2 * 4 + 2];\n  dst[11] = v2 * m[2 * 4 + 3];\n\n  if (m !== dst) {\n    dst[12] = m[12];\n    dst[13] = m[13];\n    dst[14] = m[14];\n    dst[15] = m[15];\n  }\n\n  return dst;\n}\n\n/**\n * Creates a 4-by-4 matrix which scales a uniform amount in each dimension.\n * @param s - the amount to scale\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The scaling matrix.\n */\nexport function uniformScaling(s: number, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  dst[ 0] = s;  dst[ 1] = 0;  dst[ 2] = 0;  dst[ 3] = 0;\n  dst[ 4] = 0;  dst[ 5] = s;  dst[ 6] = 0;  dst[ 7] = 0;\n  dst[ 8] = 0;  dst[ 9] = 0;  dst[10] = s;  dst[11] = 0;\n  dst[12] = 0;  dst[13] = 0;  dst[14] = 0;  dst[15] = 1;\n\n  return dst;\n}\n\n/**\n * Scales the given 4-by-4 matrix in each dimension by a uniform scale.\n * @param m - The matrix to be modified.\n * @param s - The amount to scale.\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The scaled matrix.\n */\nexport function uniformScale(m: Mat4, s: number, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  dst[ 0] = s * m[0 * 4 + 0];\n  dst[ 1] = s * m[0 * 4 + 1];\n  dst[ 2] = s * m[0 * 4 + 2];\n  dst[ 3] = s * m[0 * 4 + 3];\n  dst[ 4] = s * m[1 * 4 + 0];\n  dst[ 5] = s * m[1 * 4 + 1];\n  dst[ 6] = s * m[1 * 4 + 2];\n  dst[ 7] = s * m[1 * 4 + 3];\n  dst[ 8] = s * m[2 * 4 + 0];\n  dst[ 9] = s * m[2 * 4 + 1];\n  dst[10] = s * m[2 * 4 + 2];\n  dst[11] = s * m[2 * 4 + 3];\n\n  if (m !== dst) {\n    dst[12] = m[12];\n    dst[13] = m[13];\n    dst[14] = m[14];\n    dst[15] = m[15];\n  }\n\n  return dst;\n}","/*\n * Copyright 2022 Gregg Tavares\n *\n * Permission is hereby granted, free of charge, to any person obtaining a\n * copy of this software and associated documentation files (the \"Software\"),\n * to deal in the Software without restriction, including without limitation\n * the rights to use, copy, modify, merge, publish, distribute, sublicense,\n * and/or sell copies of the Software, and to permit persons to whom the\n * Software is furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL\n * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER\n * DEALINGS IN THE SOFTWARE.\n */\n\n/**\n * A JavaScript array with 4 values, Float32Array with 4 values, or a Float64Array with 4 values.\n * When created by the library will create the default type which is `Float32Array`\n * but can be set by calling {@link quat.setDefaultType}.\n */\nexport type Quat = number[] | Float32Array | Float64Array;\n\n/**\n *\n * Quat4 math functions.\n *\n * Almost all functions take an optional `dst` argument. If it is not passed in the\n * functions will create a new `Quat4`. In other words you can do this\n *\n *     const v = quat4.cross(v1, v2);  // Creates a new Quat4 with the cross product of v1 x v2.\n *\n * or\n *\n *     const v = quat4.create();\n *     quat4.cross(v1, v2, v);  // Puts the cross product of v1 x v2 in v\n *\n * The first style is often easier but depending on where it's used it generates garbage where\n * as there is almost never allocation with the second style.\n *\n * It is always safe to pass any vector as the destination. So for example\n *\n *     quat4.cross(v1, v2, v1);  // Puts the cross product of v1 x v2 in v1\n *\n */\n\nexport let QuatType: new (n: number) => Quat = Float32Array;\n\n/**\n * Sets the type this library creates for a Quat4\n * @param ctor - the constructor for the type. Either `Float32Array`, `Float64Array`, or `Array`\n * @returns previous constructor for Quat4\n */\nexport function setDefaultType(ctor: new (n: number) => Quat) {\n  const oldType = QuatType;\n  QuatType = ctor;\n  return oldType;\n}\n\n/**\n * Creates a quat4; may be called with x, y, z to set initial values.\n * @param x - Initial x value.\n * @param y - Initial y value.\n * @param z - Initial z value.\n * @param w - Initial w value.\n * @returns the created vector\n */\nexport function create(x?: number, y?: number, z?: number, w?: number): Quat {\n  const dst = new QuatType(4);\n  if (x !== undefined) {\n    dst[0] = x;\n    if (y !== undefined) {\n      dst[1] = y;\n      if (z !== undefined) {\n        dst[2] = z;\n        if (w !== undefined) {\n          dst[3] = w;\n        }\n      }\n    }\n  }\n  return dst;\n}","/*\n * Copyright 2022 Gregg Tavares\n *\n * Permission is hereby granted, free of charge, to any person obtaining a\n * copy of this software and associated documentation files (the \"Software\"),\n * to deal in the Software without restriction, including without limitation\n * the rights to use, copy, modify, merge, publish, distribute, sublicense,\n * and/or sell copies of the Software, and to permit persons to whom the\n * Software is furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL\n * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER\n * DEALINGS IN THE SOFTWARE.\n */\nimport * as utils from './utils.js';\nimport { Quat, create, setDefaultType, QuatType } from './quat';\nimport { Mat3 } from './mat3.js';\nimport { Mat4 } from './mat4.js';\nimport { Vec3 } from './vec3.js';\nimport * as vec3 from './vec3-impl.js';\n\nexport type RotationOrder =  'xyz' |  'xzy' |  'yxz' |  'yzx' |  'zxy' |  'zyx';\n\nexport default Quat;\nexport { create, setDefaultType };\n\n/**\n * Creates a Quat; may be called with x, y, z to set initial values. (same as create)\n * @param x - Initial x value.\n * @param y - Initial y value.\n * @param z - Initial z value.\n * @param z - Initial w value.\n * @returns the created vector\n */\nexport const fromValues = create;\n\n/**\n * Sets the values of a Quat\n * Also see {@link quat.create} and {@link quat.copy}\n *\n * @param x first value\n * @param y second value\n * @param z third value\n * @param w fourth value\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector with its elements set.\n */\nexport function set(x: number, y: number, z: number, w: number, dst?: Quat) {\n  dst = dst || new QuatType(4);\n\n  dst[0] = x;\n  dst[1] = y;\n  dst[2] = z;\n  dst[3] = w;\n\n  return dst;\n}\n\n/**\n * Sets a quaternion from the given angle and  axis,\n * then returns it.\n *\n * @param axis - the axis to rotate around\n * @param angleInRadians - the angle\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns The quaternion that represents the given axis and angle\n **/\nexport function fromAxisAngle(axis: Vec3, angleInRadians: number, dst?: Quat): Quat {\n  dst = dst || new QuatType(4);\n\n  const halfAngle = angleInRadians * 0.5;\n  const s = Math.sin(halfAngle);\n\n  dst[0] = s * axis[0];\n  dst[1] = s * axis[1];\n  dst[2] = s * axis[2];\n  dst[3] = Math.cos(halfAngle);\n\n  return dst;\n}\n\n/**\n * Gets the rotation axis and angle\n * @param q - quaternion to compute from\n * @param dst - Vec3 to hold result. If not passed in a new one is created.\n * @return angle and axis\n */\nexport function toAxisAngle(q: Quat, dst?: Vec3): { angle: number, axis: Vec3 } {\n  dst = dst || vec3.create(4);\n\n  const angle = Math.acos(q[3]) * 2;\n  const s = Math.sin(angle * 0.5);\n  if (s > utils.EPSILON) {\n    dst[0] = q[0] / s;\n    dst[1] = q[1] / s;\n    dst[2] = q[2] / s;\n  } else {\n    dst[0] = 1;\n    dst[1] = 0;\n    dst[2] = 0;\n  }\n\n  return { angle, axis: dst };\n}\n\n/**\n * Returns the angle in degrees between two rotations a and b.\n * @param a - quaternion a\n * @param b - quaternion b\n * @return angle in radians between the two quaternions\n */\nexport function angle(a: Quat, b: Quat) {\n  const d = dot(a, b);\n  return Math.acos(2 * d * d - 1);\n}\n\n/**\n * Multiplies two quaternions\n *\n * @param a - the first quaternion\n * @param b - the second quaternion\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns A quaternion that is the result of a * b\n */\nexport function multiply(a: Quat, b: Quat, dst?: Quat): Quat {\n  dst = dst || new QuatType(4);\n\n  const ax = a[0];\n  const ay = a[1];\n  const az = a[2];\n  const aw = a[3];\n\n  const bx = b[0];\n  const by = b[1];\n  const bz = b[2];\n  const bw = b[3];\n\n  dst[0] = ax * bw + aw * bx + ay * bz - az * by;\n  dst[1] = ay * bw + aw * by + az * bx - ax * bz;\n  dst[2] = az * bw + aw * bz + ax * by - ay * bx;\n  dst[3] = aw * bw - ax * bx - ay * by - az * bz;\n\n  return dst;\n}\n\n/**\n * Multiplies two quaternions\n *\n * @param a - the first quaternion\n * @param b - the second quaternion\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns A quaternion that is the result of a * b\n */\nexport const mul = multiply;\n\n/**\n * Rotates the given quaternion around the X axis by the given angle.\n * @param q - quaternion to rotate\n * @param angleInRadians - The angle by which to rotate\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns A quaternion that is the result of a * b\n */\nexport function rotateX(q: Quat, angleInRadians: number, dst?: Quat): Quat {\n  dst = dst || new QuatType(4);\n\n  const halfAngle = angleInRadians * 0.5;\n\n  const qx = q[0];\n  const qy = q[1];\n  const qz = q[2];\n  const qw = q[3];\n\n  const bx = Math.sin(halfAngle);\n  const bw = Math.cos(halfAngle);\n\n  dst[0] = qx * bw + qw * bx;\n  dst[1] = qy * bw + qz * bx;\n  dst[2] = qz * bw - qy * bx;\n  dst[3] = qw * bw - qx * bx;\n\n  return dst;\n}\n\n/**\n * Rotates the given quaternion around the Y axis by the given angle.\n * @param q - quaternion to rotate\n * @param angleInRadians - The angle by which to rotate\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns A quaternion that is the result of a * b\n */\nexport function rotateY(q: Quat, angleInRadians: number, dst?: Quat): Quat {\n  dst = dst || new QuatType(4);\n\n  const halfAngle = angleInRadians * 0.5;\n\n  const qx = q[0];\n  const qy = q[1];\n  const qz = q[2];\n  const qw = q[3];\n\n  const by = Math.sin(halfAngle);\n  const bw = Math.cos(halfAngle);\n\n  dst[0] = qx * bw - qz * by;\n  dst[1] = qy * bw + qw * by;\n  dst[2] = qz * bw + qx * by;\n  dst[3] = qw * bw - qy * by;\n\n  return dst;\n}\n\n/**\n * Rotates the given quaternion around the Z axis by the given angle.\n * @param q - quaternion to rotate\n * @param angleInRadians - The angle by which to rotate\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns A quaternion that is the result of a * b\n */\nexport function rotateZ(q: Quat, angleInRadians: number, dst?: Quat): Quat {\n  dst = dst || new QuatType(4);\n\n  const halfAngle = angleInRadians * 0.5;\n\n  const qx = q[0];\n  const qy = q[1];\n  const qz = q[2];\n  const qw = q[3];\n\n  const bz = Math.sin(halfAngle);\n  const bw = Math.cos(halfAngle);\n\n  dst[0] = qx * bw + qy * bz;\n  dst[1] = qy * bw - qx * bz;\n  dst[2] = qz * bw + qw * bz;\n  dst[3] = qw * bw - qz * bz;\n\n  return dst;\n}\n\n/**\n * Spherically linear interpolate between two quaternions\n *\n * @param a - starting value\n * @param b - ending value\n * @param t - value where 0 = a and 1 = b\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns A quaternion that is the result of a * b\n */\nexport function slerp(a: Quat, b: Quat, t: number, dst?: Quat): Quat {\n  dst = dst || new QuatType(4);\n\n  const ax = a[0];\n  const ay = a[1];\n  const az = a[2];\n  const aw = a[3];\n\n  let bx = b[0];\n  let by = b[1];\n  let bz = b[2];\n  let bw = b[3];\n\n  let cosOmega = ax * bx + ay * by + az * bz + aw * bw;\n\n  if (cosOmega < 0) {\n    cosOmega = -cosOmega;\n    bx = -bx;\n    by = -by;\n    bz = -bz;\n    bw = -bw;\n  }\n\n  let scale0;\n  let scale1;\n\n  if (1.0 - cosOmega > utils.EPSILON) {\n    const omega = Math.acos(cosOmega);\n    const sinOmega = Math.sin(omega);\n    scale0 = Math.sin((1 - t) * omega) / sinOmega;\n    scale1 = Math.sin(t * omega) / sinOmega;\n  } else {\n    scale0 = 1.0 - t;\n    scale1 = t;\n  }\n\n  dst[0] = scale0 * ax + scale1 * bx;\n  dst[1] = scale0 * ay + scale1 * by;\n  dst[2] = scale0 * az + scale1 * bz;\n  dst[3] = scale0 * aw + scale1 * bw;\n\n  return dst;\n}\n\n/**\n * Compute the inverse of a quaternion\n *\n * @param q - quaternion to compute the inverse of\n * @returns A quaternion that is the result of a * b\n */\nexport function inverse(q: Quat, dst?: Quat): Quat {\n  dst = dst || new QuatType(4);\n\n  const a0 = q[0];\n  const a1 = q[1];\n  const a2 = q[2];\n  const a3 = q[3];\n\n  const dot = a0 * a0 + a1 * a1 + a2 * a2 + a3 * a3;\n  const invDot = dot ? 1 / dot : 0;\n\n  dst[0] = -a0 * invDot;\n  dst[1] = -a1 * invDot;\n  dst[2] = -a2 * invDot;\n  dst[3] =  a3 * invDot;\n\n  return dst;\n}\n\n/**\n * Compute the conjugate of a quaternion\n * For quaternions with a magnitude of 1 (a unit quaternion)\n * this returns the same as the inverse but is faster to calculate.\n *\n * @param q - quaternion to compute the conjugate of.\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns The conjugate of q\n */\nexport function conjugate(q: Quat, dst?: Quat): Quat {\n  dst = dst || new QuatType(4);\n\n  dst[0] = -q[0];\n  dst[1] = -q[1];\n  dst[2] = -q[2];\n  dst[3] =  q[3];\n\n  return dst;\n}\n\n/**\n * Creates a quaternion from the given rotation matrix.\n *\n * The created quaternion is not normalized.\n *\n * @param m - rotation matrix\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns the result\n */\nexport function fromMat(m: Mat3 | Mat4, dst?: Quat): Quat {\n  dst = dst || new QuatType(4);\n\n  /*\n  0 1 2\n  3 4 5\n  6 7 8\n\n  0 1 2\n  4 5 6\n  8 9 10\n   */\n\n  // Algorithm in Ken Shoemake's article in 1987 SIGGRAPH course notes\n  // article \"Quaternion Calculus and Fast Animation\".\n  const trace = m[0] + m[5] + m[10];\n\n  if (trace > 0.0) {\n    // |w| > 1/2, may as well choose w > 1/2\n    const root = Math.sqrt(trace + 1); // 2w\n    dst[3] = 0.5 * root;\n    const invRoot = 0.5 / root; // 1/(4w)\n\n    dst[0] = (m[6] - m[9]) * invRoot;\n    dst[1] = (m[8] - m[2]) * invRoot;\n    dst[2] = (m[1] - m[4]) * invRoot;\n  } else {\n    // |w| <= 1/2\n    let i = 0;\n\n    if (m[5] > m[0]) {\n      i = 1;\n    }\n    if (m[10] > m[i * 4 + i]) {\n      i = 2;\n    }\n\n    const j = (i + 1) % 3;\n    const k = (i + 2) % 3;\n\n    const root = Math.sqrt(m[i * 4 + i] - m[j * 4 + j] - m[k * 4 + k] + 1.0);\n    dst[i] = 0.5 * root;\n\n    const invRoot = 0.5 / root;\n\n    dst[3] = (m[j * 4 + k] - m[k * 4 + j]) * invRoot;\n    dst[j] = (m[j * 4 + i] + m[i * 4 + j]) * invRoot;\n    dst[k] = (m[k * 4 + i] + m[i * 4 + k]) * invRoot;\n  }\n\n  return dst;\n}\n\n/**\n * Creates a quaternion from the given euler angle x, y, z using the provided intrinsic order for the conversion.\n *\n * @param xAngleInRadians - angle to rotate around X axis in radians.\n * @param yAngleInRadians - angle to rotate around Y axis in radians.\n * @param zAngleInRadians - angle to rotate around Z axis in radians.\n * @param order - order to apply euler angles\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns A quaternion representing the same rotation as the euler angles applied in the given order\n */\nexport function fromEuler(\n    xAngleInRadians: number,\n    yAngleInRadians: number,\n    zAngleInRadians: number,\n    order: RotationOrder,\n    dst?: Quat) {\n  dst = dst || new QuatType(4);\n\n  const xHalfAngle = xAngleInRadians * 0.5;\n  const yHalfAngle = yAngleInRadians * 0.5;\n  const zHalfAngle = zAngleInRadians * 0.5;\n\n  const sx = Math.sin(xHalfAngle);\n  const cx = Math.cos(xHalfAngle);\n  const sy = Math.sin(yHalfAngle);\n  const cy = Math.cos(yHalfAngle);\n  const sz = Math.sin(zHalfAngle);\n  const cz = Math.cos(zHalfAngle);\n\n  switch (order) {\n    case 'xyz':\n      dst[0] = sx * cy * cz + cx * sy * sz;\n      dst[1] = cx * sy * cz - sx * cy * sz;\n      dst[2] = cx * cy * sz + sx * sy * cz;\n      dst[3] = cx * cy * cz - sx * sy * sz;\n      break;\n\n    case 'xzy':\n      dst[0] = sx * cy * cz - cx * sy * sz;\n      dst[1] = cx * sy * cz - sx * cy * sz;\n      dst[2] = cx * cy * sz + sx * sy * cz;\n      dst[3] = cx * cy * cz + sx * sy * sz;\n      break;\n\n    case 'yxz':\n      dst[0] = sx * cy * cz + cx * sy * sz;\n      dst[1] = cx * sy * cz - sx * cy * sz;\n      dst[2] = cx * cy * sz - sx * sy * cz;\n      dst[3] = cx * cy * cz + sx * sy * sz;\n      break;\n\n    case 'yzx':\n      dst[0] = sx * cy * cz + cx * sy * sz;\n      dst[1] = cx * sy * cz + sx * cy * sz;\n      dst[2] = cx * cy * sz - sx * sy * cz;\n      dst[3] = cx * cy * cz - sx * sy * sz;\n      break;\n\n    case 'zxy':\n      dst[0] = sx * cy * cz - cx * sy * sz;\n      dst[1] = cx * sy * cz + sx * cy * sz;\n      dst[2] = cx * cy * sz + sx * sy * cz;\n      dst[3] = cx * cy * cz - sx * sy * sz;\n      break;\n\n    case 'zyx':\n      dst[0] = sx * cy * cz - cx * sy * sz;\n      dst[1] = cx * sy * cz + sx * cy * sz;\n      dst[2] = cx * cy * sz - sx * sy * cz;\n      dst[3] = cx * cy * cz + sx * sy * sz;\n      break;\n\n    default:\n      throw new Error(`Unknown rotation order: ${order}`);\n  }\n\n  return dst;\n}\n\n/**\n * Copies a quaternion. (same as {@link quat.clone})\n * Also see {@link quat.create} and {@link quat.set}\n * @param q - The quaternion.\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns A quaternion that is a copy of q\n */\nexport function copy(q: Quat, dst?: Quat): Quat {\n  dst = dst || new QuatType(4);\n\n  dst[0] = q[0];\n  dst[1] = q[1];\n  dst[2] = q[2];\n  dst[3] = q[3];\n\n  return dst;\n}\n\n/**\n * Clones a quaternion. (same as {@link quat.copy})\n * Also see {@link quat.create} and {@link quat.set}\n * @param q - The quaternion.\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns A copy of q.\n */\nexport const clone = copy;\n\n/**\n * Adds two quaternions; assumes a and b have the same dimension.\n * @param a - Operand quaternion.\n * @param b - Operand quaternion.\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns A quaternion that is the sum of a and b.\n */\nexport function add(a: Quat, b: Quat, dst?: Quat): Quat {\n  dst = dst || new QuatType(4);\n\n  dst[0] = a[0] + b[0];\n  dst[1] = a[1] + b[1];\n  dst[2] = a[2] + b[2];\n  dst[3] = a[3] + b[3];\n\n  return dst;\n}\n\n/**\n * Subtracts two quaternions.\n * @param a - Operand quaternion.\n * @param b - Operand quaternion.\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns A quaternion that is the difference of a and b.\n */\nexport function subtract(a: Quat, b: Quat, dst?: Quat): Quat {\n  dst = dst || new QuatType(4);\n\n  dst[0] = a[0] - b[0];\n  dst[1] = a[1] - b[1];\n  dst[2] = a[2] - b[2];\n  dst[3] = a[3] - b[3];\n\n  return dst;\n}\n\n/**\n * Subtracts two quaternions.\n * @param a - Operand quaternion.\n * @param b - Operand quaternion.\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns A quaternion that is the difference of a and b.\n */\nexport const sub = subtract;\n\n/**\n * Multiplies a quaternion by a scalar.\n * @param v - The quaternion.\n * @param k - The scalar.\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns The scaled quaternion.\n */\nexport function mulScalar(v: Quat, k: number, dst?: Quat): Quat {\n  dst = dst || new QuatType(4);\n\n  dst[0] = v[0] * k;\n  dst[1] = v[1] * k;\n  dst[2] = v[2] * k;\n  dst[3] = v[3] * k;\n\n  return dst;\n}\n\n/**\n * Multiplies a quaternion by a scalar. (same as mulScalar)\n * @param v - The quaternion.\n * @param k - The scalar.\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns The scaled quaternion.\n */\nexport const scale = mulScalar;\n\n/**\n * Divides a vector by a scalar.\n * @param v - The vector.\n * @param k - The scalar.\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns The scaled quaternion.\n */\nexport function divScalar(v: Quat, k: number, dst?: Quat): Quat {\n  dst = dst || new QuatType(4);\n\n  dst[0] = v[0] / k;\n  dst[1] = v[1] / k;\n  dst[2] = v[2] / k;\n  dst[3] = v[3] / k;\n\n  return dst;\n}\n\n/**\n * Computes the dot product of two quaternions\n * @param a - Operand quaternion.\n * @param b - Operand quaternion.\n * @returns dot product\n */\nexport function dot(a: Quat, b: Quat): number {\n  return (a[0] * b[0]) + (a[1] * b[1]) + (a[2] * b[2]) + (a[3] * b[3]);\n}\n\n/**\n * Performs linear interpolation on two quaternions.\n * Given quaternions a and b and interpolation coefficient t, returns\n * a + t * (b - a).\n * @param a - Operand quaternion.\n * @param b - Operand quaternion.\n * @param t - Interpolation coefficient.\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns The linear interpolated result.\n */\nexport function lerp(a: Quat, b: Quat, t: number, dst?: Quat): Quat {\n  dst = dst || new QuatType(4);\n\n  dst[0] = a[0] + t * (b[0] - a[0]);\n  dst[1] = a[1] + t * (b[1] - a[1]);\n  dst[2] = a[2] + t * (b[2] - a[2]);\n  dst[3] = a[3] + t * (b[3] - a[3]);\n\n  return dst;\n}\n\n/**\n * Computes the length of quaternion\n * @param v - quaternion.\n * @returns length of quaternion.\n */\nexport function length(v: Quat): number {\n  const v0 = v[0];\n  const v1 = v[1];\n  const v2 = v[2];\n  const v3 = v[3];\n  return Math.sqrt(v0 * v0 + v1 * v1 + v2 * v2 + v3 * v3);\n}\n\n/**\n * Computes the length of quaternion (same as length)\n * @param v - quaternion.\n * @returns length of quaternion.\n */\nexport const len = length;\n\n/**\n * Computes the square of the length of quaternion\n * @param v - quaternion.\n * @returns square of the length of quaternion.\n */\nexport function lengthSq(v: Quat): number {\n  const v0 = v[0];\n  const v1 = v[1];\n  const v2 = v[2];\n  const v3 = v[3];\n  return v0 * v0 + v1 * v1 + v2 * v2 + v3 * v3;\n}\n\n/**\n * Computes the square of the length of quaternion (same as lengthSq)\n * @param v - quaternion.\n * @returns square of the length of quaternion.\n */\nexport const lenSq = lengthSq;\n\n/**\n * Divides a quaternion by its Euclidean length and returns the quotient.\n * @param v - The quaternion.\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns The normalized quaternion.\n */\nexport function normalize(v: Quat, dst?: Quat): Quat {\n  dst = dst || new QuatType(4);\n\n  const v0 = v[0];\n  const v1 = v[1];\n  const v2 = v[2];\n  const v3 = v[3];\n  const len = Math.sqrt(v0 * v0 + v1 * v1 + v2 * v2 + v3 * v3);\n\n  if (len > 0.00001) {\n    dst[0] = v0 / len;\n    dst[1] = v1 / len;\n    dst[2] = v2 / len;\n    dst[3] = v3 / len;\n  } else {\n    dst[0] = 0;\n    dst[1] = 0;\n    dst[2] = 0;\n    dst[3] = 0;\n  }\n\n  return dst;\n}\n\n/**\n * Check if 2 quaternions are approximately equal\n * @param a - Operand quaternion.\n * @param b - Operand quaternion.\n * @returns true if quaternions are approximately equal\n */\nexport function equalsApproximately(a: Quat, b: Quat): boolean {\n  return Math.abs(a[0] - b[0]) < utils.EPSILON &&\n         Math.abs(a[1] - b[1]) < utils.EPSILON &&\n         Math.abs(a[2] - b[2]) < utils.EPSILON &&\n         Math.abs(a[3] - b[3]) < utils.EPSILON;\n}\n\n/**\n * Check if 2 quaternions are exactly equal\n * @param a - Operand quaternion.\n * @param b - Operand quaternion.\n * @returns true if quaternions are exactly equal\n */\nexport function equals(a: Quat, b: Quat): boolean {\n  return a[0] === b[0] && a[1] === b[1] && a[2] === b[2] && a[3] === b[3];\n}\n\n/**\n * Creates an identity quaternion\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns an identity quaternion\n */\nexport function identity(dst?: Quat): Quat {\n  dst = dst || new QuatType(4);\n\n  dst[0] = 0;\n  dst[1] = 0;\n  dst[2] = 0;\n  dst[3] = 1;\n\n  return dst;\n}\n\nlet tempVec3: Vec3;\nlet xUnitVec3: Vec3;\nlet yUnitVec3: Vec3;\n\n/**\n * Computes a quaternion to represent the shortest rotation from one vector to another.\n *\n * @param aUnit - the start vector\n * @param bUnit - the end vector\n * @param dst - quaternion to hold result. If not passed in a new one is created.\n * @returns the result\n */\nexport function rotationTo(aUnit: Vec3, bUnit: Vec3, dst?: Quat): Quat {\n  dst = dst || new QuatType(4);\n\n  tempVec3 = tempVec3 || vec3.create();\n  xUnitVec3 = xUnitVec3 || vec3.create(1, 0, 0);\n  yUnitVec3 = yUnitVec3 || vec3.create(0, 1, 0);\n\n  const dot = vec3.dot(aUnit, bUnit);\n  if (dot < -0.999999) {\n    vec3.cross(xUnitVec3, aUnit, tempVec3);\n    if (vec3.len(tempVec3) < 0.000001) {\n      vec3.cross(yUnitVec3, aUnit, tempVec3);\n    }\n\n    vec3.normalize(tempVec3, tempVec3);\n    fromAxisAngle(tempVec3, Math.PI, dst);\n\n    return dst;\n  } else if (dot > 0.999999) {\n    dst[0] = 0;\n    dst[1] = 0;\n    dst[2] = 0;\n    dst[3] = 1;\n\n    return dst;\n  } else {\n    vec3.cross(aUnit, bUnit, tempVec3);\n\n    dst[0] = tempVec3[0];\n    dst[1] = tempVec3[1];\n    dst[2] = tempVec3[2];\n    dst[3] = 1 + dot;\n\n    return normalize(dst, dst);\n  }\n}\n\nlet tempQuat1: Quat;\nlet tempQuat2: Quat;\n\n/**\n * Performs a spherical linear interpolation with two control points\n *\n * @param a - the first quaternion\n * @param b - the second quaternion\n * @param c - the third quaternion\n * @param d - the fourth quaternion\n * @param t - Interpolation coefficient 0 to 1\n * @returns result\n */\nexport function sqlerp(\n    a: Quat,\n    b: Quat,\n    c: Quat,\n    d: Quat,\n    t: number,\n    dst?: Quat): Quat {\n  dst = dst || new QuatType(4);\n\n  tempQuat1 = tempQuat1 || new QuatType(4);\n  tempQuat2 = tempQuat2 || new QuatType(4);\n\n  slerp(a, d, t, tempQuat1);\n  slerp(b, c, t, tempQuat2);\n  slerp(tempQuat1, tempQuat2, 2 * t * (1 - t), dst);\n\n  return dst;\n}\n","/*\n * Copyright 2022 Gregg Tavares\n *\n * Permission is hereby granted, free of charge, to any person obtaining a\n * copy of this software and associated documentation files (the \"Software\"),\n * to deal in the Software without restriction, including without limitation\n * the rights to use, copy, modify, merge, publish, distribute, sublicense,\n * and/or sell copies of the Software, and to permit persons to whom the\n * Software is furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL\n * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER\n * DEALINGS IN THE SOFTWARE.\n */\n\n/**\n * A JavaScript array with 4 values, Float32Array with 4 values, or a Float64Array with 4 values.\n * When created by the library will create the default type which is `Float32Array`\n * but can be set by calling {@link vec4.setDefaultType}.\n */\nexport type Vec4 = number[] | Float32Array | Float64Array;\n\n/**\n *\n * Vec4 math functions.\n *\n * Almost all functions take an optional `dst` argument. If it is not passed in the\n * functions will create a new `Vec4`. In other words you can do this\n *\n *     const v = vec4.cross(v1, v2);  // Creates a new Vec4 with the cross product of v1 x v2.\n *\n * or\n *\n *     const v = vec4.create();\n *     vec4.cross(v1, v2, v);  // Puts the cross product of v1 x v2 in v\n *\n * The first style is often easier but depending on where it's used it generates garbage where\n * as there is almost never allocation with the second style.\n *\n * It is always safe to pass any vector as the destination. So for example\n *\n *     vec4.cross(v1, v2, v1);  // Puts the cross product of v1 x v2 in v1\n *\n */\n\nexport let VecType: new (n: number) => Vec4 = Float32Array;\n\n/**\n * Sets the type this library creates for a Vec4\n * @param ctor - the constructor for the type. Either `Float32Array`, `Float64Array`, or `Array`\n * @returns previous constructor for Vec4\n */\nexport function setDefaultType(ctor: new (n: number) => Vec4) {\n  const oldType = VecType;\n  VecType = ctor;\n  return oldType;\n}\n\n/**\n * Creates a vec4; may be called with x, y, z to set initial values.\n * @param x - Initial x value.\n * @param y - Initial y value.\n * @param z - Initial z value.\n * @param w - Initial w value.\n * @returns the created vector\n */\nexport function create(x?: number, y?: number, z?: number, w?: number): Vec4 {\n  const dst = new VecType(4);\n  if (x !== undefined) {\n    dst[0] = x;\n    if (y !== undefined) {\n      dst[1] = y;\n      if (z !== undefined) {\n        dst[2] = z;\n        if (w !== undefined) {\n          dst[3] = w;\n        }\n      }\n    }\n  }\n  return dst;\n}","/*\n * Copyright 2022 Gregg Tavares\n *\n * Permission is hereby granted, free of charge, to any person obtaining a\n * copy of this software and associated documentation files (the \"Software\"),\n * to deal in the Software without restriction, including without limitation\n * the rights to use, copy, modify, merge, publish, distribute, sublicense,\n * and/or sell copies of the Software, and to permit persons to whom the\n * Software is furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL\n * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER\n * DEALINGS IN THE SOFTWARE.\n */\nimport * as utils from './utils.js';\nimport { Vec4, create, setDefaultType, VecType } from './vec4';\nimport { Mat4 } from './mat4';\n\nexport default Vec4;\nexport { create, setDefaultType };\n\n/**\n * Creates a vec4; may be called with x, y, z to set initial values. (same as create)\n * @param x - Initial x value.\n * @param y - Initial y value.\n * @param z - Initial z value.\n * @param z - Initial w value.\n * @returns the created vector\n */\nexport const fromValues = create;\n\n/**\n * Sets the values of a Vec4\n * Also see {@link vec4.create} and {@link vec4.copy}\n *\n * @param x first value\n * @param y second value\n * @param z third value\n * @param w fourth value\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector with its elements set.\n */\nexport function set(x: number, y: number, z: number, w: number, dst?: Vec4) {\n  dst = dst || new VecType(4);\n\n  dst[0] = x;\n  dst[1] = y;\n  dst[2] = z;\n  dst[3] = w;\n\n  return dst;\n}\n\n/**\n * Applies Math.ceil to each element of vector\n * @param v - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the ceil of each element of v.\n */\nexport function ceil(v: Vec4, dst?: Vec4): Vec4 {\n  dst = dst || new VecType(4);\n\n  dst[0] = Math.ceil(v[0]);\n  dst[1] = Math.ceil(v[1]);\n  dst[2] = Math.ceil(v[2]);\n  dst[3] = Math.ceil(v[3]);\n\n  return dst;\n}\n\n/**\n * Applies Math.floor to each element of vector\n * @param v - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the floor of each element of v.\n */\nexport function floor(v: Vec4, dst?: Vec4): Vec4 {\n  dst = dst || new VecType(4);\n\n  dst[0] = Math.floor(v[0]);\n  dst[1] = Math.floor(v[1]);\n  dst[2] = Math.floor(v[2]);\n  dst[3] = Math.floor(v[3]);\n\n  return dst;\n}\n\n/**\n * Applies Math.round to each element of vector\n * @param v - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the round of each element of v.\n */\nexport function round(v: Vec4, dst?: Vec4): Vec4 {\n  dst = dst || new VecType(4);\n\n  dst[0] = Math.round(v[0]);\n  dst[1] = Math.round(v[1]);\n  dst[2] = Math.round(v[2]);\n  dst[3] = Math.round(v[3]);\n\n  return dst;\n}\n\n/**\n * Clamp each element of vector between min and max\n * @param v - Operand vector.\n * @param max - Min value, default 0\n * @param min - Max value, default 1\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that the clamped value of each element of v.\n */\nexport function clamp(v: Vec4, min = 0, max = 1, dst?: Vec4): Vec4 {\n  dst = dst || new VecType(4);\n\n  dst[0] = Math.min(max, Math.max(min, v[0]));\n  dst[1] = Math.min(max, Math.max(min, v[1]));\n  dst[2] = Math.min(max, Math.max(min, v[2]));\n  dst[3] = Math.min(max, Math.max(min, v[3]));\n\n  return dst;\n}\n\n/**\n * Adds two vectors; assumes a and b have the same dimension.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the sum of a and b.\n */\nexport function add(a: Vec4, b: Vec4, dst?: Vec4): Vec4 {\n  dst = dst || new VecType(4);\n\n  dst[0] = a[0] + b[0];\n  dst[1] = a[1] + b[1];\n  dst[2] = a[2] + b[2];\n  dst[3] = a[3] + b[3];\n\n  return dst;\n}\n\n/**\n * Adds two vectors, scaling the 2nd; assumes a and b have the same dimension.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param scale - Amount to scale b\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the sum of a + b * scale.\n */\nexport function addScaled(a: Vec4, b: Vec4, scale: number, dst?: Vec4): Vec4 {\n  dst = dst || new VecType(4);\n\n  dst[0] = a[0] + b[0] * scale;\n  dst[1] = a[1] + b[1] * scale;\n  dst[2] = a[2] + b[2] * scale;\n  dst[3] = a[3] + b[3] * scale;\n\n  return dst;\n}\n\n/**\n * Subtracts two vectors.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the difference of a and b.\n */\nexport function subtract(a: Vec4, b: Vec4, dst?: Vec4): Vec4 {\n  dst = dst || new VecType(4);\n\n  dst[0] = a[0] - b[0];\n  dst[1] = a[1] - b[1];\n  dst[2] = a[2] - b[2];\n  dst[3] = a[3] - b[3];\n\n  return dst;\n}\n\n/**\n * Subtracts two vectors.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A vector that is the difference of a and b.\n */\nexport const sub = subtract;\n\n/**\n * Check if 2 vectors are approximately equal\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @returns true if vectors are approximately equal\n */\nexport function equalsApproximately(a: Vec4, b: Vec4): boolean {\n  return Math.abs(a[0] - b[0]) < utils.EPSILON &&\n         Math.abs(a[1] - b[1]) < utils.EPSILON &&\n         Math.abs(a[2] - b[2]) < utils.EPSILON &&\n         Math.abs(a[3] - b[3]) < utils.EPSILON;\n}\n\n/**\n * Check if 2 vectors are exactly equal\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @returns true if vectors are exactly equal\n */\nexport function equals(a: Vec4, b: Vec4): boolean {\n  return a[0] === b[0] && a[1] === b[1] && a[2] === b[2] && a[3] === b[3];\n}\n\n/**\n * Performs linear interpolation on two vectors.\n * Given vectors a and b and interpolation coefficient t, returns\n * a + t * (b - a).\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param t - Interpolation coefficient.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The linear interpolated result.\n */\nexport function lerp(a: Vec4, b: Vec4, t: number, dst?: Vec4): Vec4 {\n  dst = dst || new VecType(4);\n\n  dst[0] = a[0] + t * (b[0] - a[0]);\n  dst[1] = a[1] + t * (b[1] - a[1]);\n  dst[2] = a[2] + t * (b[2] - a[2]);\n  dst[3] = a[3] + t * (b[3] - a[3]);\n\n  return dst;\n}\n\n/**\n * Performs linear interpolation on two vectors.\n * Given vectors a and b and interpolation coefficient vector t, returns\n * a + t * (b - a).\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param t - Interpolation coefficients vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns the linear interpolated result.\n */\nexport function lerpV(a: Vec4, b: Vec4, t: Vec4, dst?: Vec4): Vec4 {\n  dst = dst || new VecType(4);\n\n  dst[0] = a[0] + t[0] * (b[0] - a[0]);\n  dst[1] = a[1] + t[1] * (b[1] - a[1]);\n  dst[2] = a[2] + t[2] * (b[2] - a[2]);\n  dst[3] = a[3] + t[3] * (b[3] - a[3]);\n\n  return dst;\n}\n\n/**\n * Return max values of two vectors.\n * Given vectors a and b returns\n * [max(a[0], b[0]), max(a[1], b[1]), max(a[2], b[2])].\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The max components vector.\n */\nexport function max(a: Vec4, b: Vec4, dst?: Vec4): Vec4 {\n  dst = dst || new VecType(4);\n\n  dst[0] = Math.max(a[0], b[0]);\n  dst[1] = Math.max(a[1], b[1]);\n  dst[2] = Math.max(a[2], b[2]);\n  dst[3] = Math.max(a[3], b[3]);\n\n  return dst;\n}\n\n/**\n * Return min values of two vectors.\n * Given vectors a and b returns\n * [min(a[0], b[0]), min(a[1], b[1]), min(a[2], b[2])].\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The min components vector.\n */\nexport function min(a: Vec4, b: Vec4, dst?: Vec4): Vec4 {\n  dst = dst || new VecType(4);\n\n  dst[0] = Math.min(a[0], b[0]);\n  dst[1] = Math.min(a[1], b[1]);\n  dst[2] = Math.min(a[2], b[2]);\n  dst[3] = Math.min(a[3], b[3]);\n\n  return dst;\n}\n\n/**\n * Multiplies a vector by a scalar.\n * @param v - The vector.\n * @param k - The scalar.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The scaled vector.\n */\nexport function mulScalar(v: Vec4, k: number, dst?: Vec4): Vec4 {\n  dst = dst || new VecType(4);\n\n  dst[0] = v[0] * k;\n  dst[1] = v[1] * k;\n  dst[2] = v[2] * k;\n  dst[3] = v[3] * k;\n\n  return dst;\n}\n\n/**\n * Multiplies a vector by a scalar. (same as mulScalar)\n * @param v - The vector.\n * @param k - The scalar.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The scaled vector.\n */\nexport const scale = mulScalar;\n\n/**\n * Divides a vector by a scalar.\n * @param v - The vector.\n * @param k - The scalar.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The scaled vector.\n */\nexport function divScalar(v: Vec4, k: number, dst?: Vec4): Vec4 {\n  dst = dst || new VecType(4);\n\n  dst[0] = v[0] / k;\n  dst[1] = v[1] / k;\n  dst[2] = v[2] / k;\n  dst[3] = v[3] / k;\n\n  return dst;\n}\n\n/**\n * Inverse a vector.\n * @param v - The vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The inverted vector.\n */\nexport function inverse(v: Vec4, dst?: Vec4): Vec4 {\n  dst = dst || new VecType(4);\n\n  dst[0] = 1 / v[0];\n  dst[1] = 1 / v[1];\n  dst[2] = 1 / v[2];\n  dst[3] = 1 / v[3];\n\n  return dst;\n}\n\n/**\n * Invert a vector. (same as inverse)\n * @param v - The vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The inverted vector.\n */\nexport const invert = inverse;\n\n/**\n * Computes the dot product of two vectors\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @returns dot product\n */\nexport function dot(a: Vec4, b: Vec4): number {\n  return (a[0] * b[0]) + (a[1] * b[1]) + (a[2] * b[2]) + (a[3] * b[3]);\n}\n\n/**\n * Computes the length of vector\n * @param v - vector.\n * @returns length of vector.\n */\nexport function length(v: Vec4): number {\n  const v0 = v[0];\n  const v1 = v[1];\n  const v2 = v[2];\n  const v3 = v[3];\n  return Math.sqrt(v0 * v0 + v1 * v1 + v2 * v2 + v3 * v3);\n}\n\n/**\n * Computes the length of vector (same as length)\n * @param v - vector.\n * @returns length of vector.\n */\nexport const len = length;\n\n/**\n * Computes the square of the length of vector\n * @param v - vector.\n * @returns square of the length of vector.\n */\nexport function lengthSq(v: Vec4): number {\n  const v0 = v[0];\n  const v1 = v[1];\n  const v2 = v[2];\n  const v3 = v[3];\n  return v0 * v0 + v1 * v1 + v2 * v2 + v3 * v3;\n}\n\n/**\n * Computes the square of the length of vector (same as lengthSq)\n * @param v - vector.\n * @returns square of the length of vector.\n */\nexport const lenSq = lengthSq;\n\n/**\n * Computes the distance between 2 points\n * @param a - vector.\n * @param b - vector.\n * @returns distance between a and b\n */\nexport function distance(a: Vec4, b: Vec4): number {\n  const dx = a[0] - b[0];\n  const dy = a[1] - b[1];\n  const dz = a[2] - b[2];\n  const dw = a[3] - b[3];\n  return Math.sqrt(dx * dx + dy * dy + dz * dz + dw * dw);\n}\n\n/**\n * Computes the distance between 2 points (same as distance)\n * @param a - vector.\n * @param b - vector.\n * @returns distance between a and b\n */\nexport const dist = distance;\n\n/**\n * Computes the square of the distance between 2 points\n * @param a - vector.\n * @param b - vector.\n * @returns square of the distance between a and b\n */\nexport function distanceSq(a: Vec4, b: Vec4): number {\n  const dx = a[0] - b[0];\n  const dy = a[1] - b[1];\n  const dz = a[2] - b[2];\n  const dw = a[3] - b[3];\n  return dx * dx + dy * dy + dz * dz + dw * dw;\n}\n\n/**\n * Computes the square of the distance between 2 points (same as distanceSq)\n * @param a - vector.\n * @param b - vector.\n * @returns square of the distance between a and b\n */\nexport const distSq = distanceSq;\n\n/**\n * Divides a vector by its Euclidean length and returns the quotient.\n * @param v - The vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The normalized vector.\n */\nexport function normalize(v: Vec4, dst?: Vec4): Vec4 {\n  dst = dst || new VecType(4);\n\n  const v0 = v[0];\n  const v1 = v[1];\n  const v2 = v[2];\n  const v3 = v[3];\n  const len = Math.sqrt(v0 * v0 + v1 * v1 + v2 * v2 + v3 * v3);\n\n  if (len > 0.00001) {\n    dst[0] = v0 / len;\n    dst[1] = v1 / len;\n    dst[2] = v2 / len;\n    dst[3] = v3 / len;\n  } else {\n    dst[0] = 0;\n    dst[1] = 0;\n    dst[2] = 0;\n    dst[3] = 0;\n  }\n\n  return dst;\n}\n\n/**\n * Negates a vector.\n * @param v - The vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns -v.\n */\nexport function negate(v: Vec4, dst?: Vec4): Vec4 {\n  dst = dst || new VecType(4);\n\n  dst[0] = -v[0];\n  dst[1] = -v[1];\n  dst[2] = -v[2];\n  dst[3] = -v[3];\n\n  return dst;\n}\n\n/**\n * Copies a vector. (same as {@link vec4.clone})\n * Also see {@link vec4.create} and {@link vec4.set}\n * @param v - The vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A copy of v.\n */\nexport function copy(v: Vec4, dst?: Vec4): Vec4 {\n  dst = dst || new VecType(4);\n\n  dst[0] = v[0];\n  dst[1] = v[1];\n  dst[2] = v[2];\n  dst[3] = v[3];\n\n  return dst;\n}\n\n/**\n * Clones a vector. (same as {@link vec4.copy})\n * Also see {@link vec4.create} and {@link vec4.set}\n * @param v - The vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns A copy of v.\n */\nexport const clone = copy;\n\n/**\n * Multiplies a vector by another vector (component-wise); assumes a and\n * b have the same length.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The vector of products of entries of a and b.\n */\nexport function multiply(a: Vec4, b: Vec4, dst?: Vec4): Vec4 {\n  dst = dst || new VecType(4);\n\n  dst[0] = a[0] * b[0];\n  dst[1] = a[1] * b[1];\n  dst[2] = a[2] * b[2];\n  dst[3] = a[3] * b[3];\n\n  return dst;\n}\n\n/**\n * Multiplies a vector by another vector (component-wise); assumes a and\n * b have the same length. (same as mul)\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The vector of products of entries of a and b.\n */\nexport const mul = multiply;\n\n/**\n * Divides a vector by another vector (component-wise); assumes a and\n * b have the same length.\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The vector of quotients of entries of a and b.\n */\nexport function divide(a: Vec4, b: Vec4, dst?: Vec4) {\n  dst = dst || new VecType(4);\n\n  dst[0] = a[0] / b[0];\n  dst[1] = a[1] / b[1];\n  dst[2] = a[2] / b[2];\n  dst[3] = a[3] / b[3];\n\n  return dst;\n}\n\n/**\n * Divides a vector by another vector (component-wise); assumes a and\n * b have the same length. (same as divide)\n * @param a - Operand vector.\n * @param b - Operand vector.\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The vector of quotients of entries of a and b.\n */\nexport const div = divide;\n\n/**\n * Zero's a vector\n * @param dst - vector to hold result. If not passed in a new one is created.\n * @returns The zeroed vector.\n */\nexport function zero(dst?: Vec4): Vec4 {\n  dst = dst || new VecType(4);\n\n  dst[0] = 0;\n  dst[1] = 0;\n  dst[2] = 0;\n  dst[3] = 0;\n\n  return dst;\n}\n\n\n/**\n * transform vec4 by 4x4 matrix\n * @param v - the vector\n * @param m - The matrix.\n * @param dst - optional vec4 to store result. If not passed a new one is created.\n * @returns the transformed vector\n */\nexport function transformMat4(v: Vec4, m: Mat4, dst?: Vec4): Vec4 {\n  dst = dst || new VecType(4);\n\n  const x = v[0];\n  const y = v[1];\n  const z = v[2];\n  const w = v[3];\n\n  dst[0] = m[0] * x + m[4] * y + m[ 8] * z + m[12] * w;\n  dst[1] = m[1] * x + m[5] * y + m[ 9] * z + m[13] * w;\n  dst[2] = m[2] * x + m[6] * y + m[10] * z + m[14] * w;\n  dst[3] = m[3] * x + m[7] * y + m[11] * z + m[15] * w;\n\n  return dst;\n}\n\n\n/**\n * Treat a 4D vector as a direction and set it's length\n *\n * @param a The vec4 to lengthen\n * @param len The length of the resulting vector\n * @returns The lengthened vector\n */\nexport function setLength(a: Vec4, len: number, dst?: Vec4) {\n  dst = dst || new VecType(4);\n  normalize(a, dst);\n  return mulScalar(dst, len, dst);\n}\n\n/**\n * Ensure a vector is not longer than a max length\n *\n * @param a The vec4 to limit\n * @param maxLen The longest length of the resulting vector\n * @returns The vector, shortened to maxLen if it's too long\n */\nexport function truncate(a: Vec4, maxLen: number, dst?: Vec4) {\n  dst = dst || new VecType(4);\n\n  if (length(a) > maxLen) {\n    return setLength(a, maxLen, dst);\n  }\n\n  return copy(a, dst);\n}\n\n/**\n * Return the vector exactly between 2 endpoint vectors\n *\n * @param a Endpoint 1\n * @param b Endpoint 2\n * @returns The vector exactly residing between endpoints 1 and 2\n */\nexport function midpoint(a: Vec4, b: Vec4, dst?: Vec4) {\n  dst = dst || new VecType(4);\n  return lerp(a, b, 0.5, dst);\n}\n","import Mat3, * as mat3 from './mat3-impl';\nimport Mat4, * as mat4 from './mat4-impl';\nimport Quat, * as quat from './quat-impl';\nimport Vec2, * as vec2 from './vec2-impl';\nimport Vec3, * as vec3 from './vec3-impl';\nimport Vec4, * as vec4 from './vec4-impl';\nimport * as utils from './utils';\n\n/**\n * Sets the type this library creates for all types\n *\n * example:\n *\n * ```\n * setDefaultType(Float64Array);\n * ```\n *\n * @param ctor - the constructor for the type. 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diff --git a/docs/index.html b/docs/index.html
index 120292e..5108b69 100644
--- a/docs/index.html
+++ b/docs/index.html
@@ -51,7 +51,7 @@ <h2>wgpu-matrix</h2></div>
 <pre><code class="language-js"><span class="hl-1">const</span><span class="hl-2"> </span><span class="hl-3">m</span><span class="hl-2"> = </span><span class="hl-4">mat4</span><span class="hl-2">.</span><span class="hl-5">create</span><span class="hl-2">();            </span><span class="hl-0">// m = new mat4</span><br/><span class="hl-4">mat4</span><span class="hl-2">.</span><span class="hl-5">identity</span><span class="hl-2">(</span><span class="hl-4">m</span><span class="hl-2">);                   </span><span class="hl-0">// m = identity</span><br/><span class="hl-4">mat4</span><span class="hl-2">.</span><span class="hl-5">translate</span><span class="hl-2">(</span><span class="hl-4">m</span><span class="hl-2">, [</span><span class="hl-8">1</span><span class="hl-2">, </span><span class="hl-8">2</span><span class="hl-2">, </span><span class="hl-8">3</span><span class="hl-2">], </span><span class="hl-4">m</span><span class="hl-2">);    </span><span class="hl-0">// m *= translation([1, 2, 3])</span><br/><span class="hl-4">mat4</span><span class="hl-2">.</span><span class="hl-5">rotateX</span><span class="hl-2">(</span><span class="hl-4">m</span><span class="hl-2">, </span><span class="hl-4">Math</span><span class="hl-2">.</span><span class="hl-3">PI</span><span class="hl-2"> * </span><span class="hl-8">0.5</span><span class="hl-2">, </span><span class="hl-4">m</span><span class="hl-2">);  </span><span class="hl-0">// m *= rotationX(Math.PI * 0.5)</span><br/><span class="hl-4">mat4</span><span class="hl-2">.</span><span class="hl-5">scale</span><span class="hl-2">(</span><span class="hl-4">m</span><span class="hl-2">, [</span><span class="hl-8">1</span><span class="hl-2">, </span><span class="hl-8">2</span><span class="hl-2">, </span><span class="hl-8">3</span><span class="hl-2">], </span><span class="hl-4">m</span><span class="hl-2">);        </span><span class="hl-0">// m *= scaling([1, 2, 3])</span>
 </code><button>Copy</button></pre>
 <p>There is also the minified version</p>
-<pre><code class="language-js"><span class="hl-6">import</span><span class="hl-2"> {</span><br/><span class="hl-2">  </span><span class="hl-4">vec3</span><span class="hl-2">,</span><br/><span class="hl-2">  </span><span class="hl-4">mat4</span><span class="hl-2">,</span><br/><span class="hl-2">} </span><span class="hl-6">from</span><span class="hl-2"> </span><span class="hl-7">&#39;https://wgpu-matrix.org/dist/2.x/wgpu-matrix.module.min.js&#39;</span><span class="hl-2">;</span><br/><br/><span class="hl-0">// ... etc ...</span>
+<pre><code class="language-js"><span class="hl-6">import</span><span class="hl-2"> {</span><br/><span class="hl-2">  </span><span class="hl-4">vec3</span><span class="hl-2">,</span><br/><span class="hl-2">  </span><span class="hl-4">mat4</span><span class="hl-2">,</span><br/><span class="hl-2">} </span><span class="hl-6">from</span><span class="hl-2"> </span><span class="hl-7">&#39;https://wgpu-matrix.org/dist/2.x/wgpu-matrix.module.js&#39;</span><span class="hl-2">;</span><br/><br/><span class="hl-0">// ... etc ...</span>
 </code><button>Copy</button></pre>
 <p>or via npm</p>
 <pre><code class="language-sh"><span class="hl-5">npm</span><span class="hl-2"> </span><span class="hl-7">install</span><span class="hl-2"> </span><span class="hl-1">--save</span><span class="hl-2"> </span><span class="hl-7">wgpu-matrix</span>
diff --git a/package-lock.json b/package-lock.json
index 703233d..722f9e8 100644
--- a/package-lock.json
+++ b/package-lock.json
@@ -1,12 +1,12 @@
 {
   "name": "wgpu-matrix",
-  "version": "2.8.0",
+  "version": "2.8.1",
   "lockfileVersion": 2,
   "requires": true,
   "packages": {
     "": {
       "name": "wgpu-matrix",
-      "version": "2.8.0",
+      "version": "2.8.1",
       "license": "MIT",
       "devDependencies": {
         "@rollup/plugin-typescript": "^11.1.1",
diff --git a/package.json b/package.json
index 4ff7765..532789a 100644
--- a/package.json
+++ b/package.json
@@ -1,6 +1,6 @@
 {
   "name": "wgpu-matrix",
-  "version": "2.8.0",
+  "version": "2.8.1",
   "description": "fast matrix math library for WebGPU",
   "main": "dist/2.x/wgpu-matrix.module.js",
   "module": "dist/2.x/wgpu-matrix.module.js",
diff --git a/src/vec2-impl.ts b/src/vec2-impl.ts
index 2011d27..d22113e 100644
--- a/src/vec2-impl.ts
+++ b/src/vec2-impl.ts
@@ -158,8 +158,8 @@ export function addScaled(a: Vec2, b: Vec2, scale: number, dst?: Vec2) {
 export function angle(a: Vec2, b: Vec2): number {
   const ax = a[0];
   const ay = a[1];
-  const bx = a[0];
-  const by = a[1];
+  const bx = b[0];
+  const by = b[1];
   const mag1 = Math.sqrt(ax * ax + ay * ay);
   const mag2 = Math.sqrt(bx * bx + by * by);
   const mag = mag1 * mag2;
diff --git a/src/vec3-impl.ts b/src/vec3-impl.ts
index 7a9b564..34d43a0 100644
--- a/src/vec3-impl.ts
+++ b/src/vec3-impl.ts
@@ -168,9 +168,9 @@ export function angle(a: Vec3, b: Vec3): number {
   const ax = a[0];
   const ay = a[1];
   const az = a[2];
-  const bx = a[0];
-  const by = a[1];
-  const bz = a[2];
+  const bx = b[0];
+  const by = b[1];
+  const bz = b[2];
   const mag1 = Math.sqrt(ax * ax + ay * ay + az * az);
   const mag2 = Math.sqrt(bx * bx + by * by + bz * bz);
   const mag = mag1 * mag2;
diff --git a/test/tests/vec2-test.js b/test/tests/vec2-test.js
index 93090a3..187cf8a 100644
--- a/test/tests/vec2-test.js
+++ b/test/tests/vec2-test.js
@@ -102,7 +102,7 @@ function check(Type) {
         { a: [1, 0], b: [ 0, 1], expected: Math.PI / 2, },
         { a: [1, 0], b: [-1, 0], expected: Math.PI, },
         { a: [1, 0], b: [ 1, 0], expected: 0, },
-        { a: [1, 2], b: [ 4, 5], expected: 0.225726 },
+        { a: [1, 2], b: [ 4, 5], expected: 0.2110933, },
         { a: [1, 0], b: [ 0, Number.POSITIVE_INFINITY], expected: Math.PI / 2, },
       ];
       for (const {a, b, expected} of tests) {
diff --git a/test/tests/vec3-test.js b/test/tests/vec3-test.js
index b054cd4..ce1eadb 100644
--- a/test/tests/vec3-test.js
+++ b/test/tests/vec3-test.js
@@ -102,7 +102,7 @@ function check(Type) {
         { a: [1, 0, 0], b: [ 0, 1, 0], expected: Math.PI / 2, },
         { a: [1, 0, 0], b: [-1, 0, 0], expected: Math.PI, },
         { a: [1, 0, 0], b: [ 1, 0, 0], expected: 0, },
-        { a: [1, 2, 3], b: [ 4, 5, 6], expected: 0.225726 },
+        { a: [1, 2, 3], b: [ 4, 5, 6], expected: 0.2257261 },
         { a: [1, 0, 0], b: [ 0, Number.POSITIVE_INFINITY, 0], expected: Math.PI / 2, },
       ];
       for (const {a, b, expected} of tests) {