diff --git a/README.md b/README.md
index d269584..30b2b9e 100644
--- a/README.md
+++ b/README.md
@@ -101,11 +101,29 @@ There is also the minified version
 import {
   vec3,
   mat4,
-} from 'https://wgpu-matrix.org/dist/2.x/wgpu-matrix.module.js';
+} from 'https://wgpu-matrix.org/dist/2.x/wgpu-matrix.module.min.js';
 
 // ... etc ...
 ```
 
+and a UMD version
+
+```html
+<script src="https://wgpu-matrix.org/dist/2.x/wgpu-matrix.js"></script>
+<script>
+const { mat4, vec3 } = wgpuMatrix;
+const m = mat4.identity();
+...
+</script>
+```
+
+or UDM min version
+
+```html
+<script src="https://wgpu-matrix.org/dist/2.x/wgpu-matrix.min.js"></script>
+...
+```
+
 or via npm
 
 ```sh
diff --git a/dist/2.x/wgpu-matrix.js b/dist/2.x/wgpu-matrix.js
index 2f7dc21..54a0628 100644
--- a/dist/2.x/wgpu-matrix.js
+++ b/dist/2.x/wgpu-matrix.js
@@ -1,4 +1,4 @@
-/* wgpu-matrix@2.9.0, license MIT */
+/* wgpu-matrix@2.9.1, license MIT */
 (function (global, factory) {
     typeof exports === 'object' && typeof module !== 'undefined' ? factory(exports) :
     typeof define === 'function' && define.amd ? define(['exports'], factory) :
diff --git a/dist/2.x/wgpu-matrix.min.js b/dist/2.x/wgpu-matrix.min.js
index 918b224..27518d3 100644
--- a/dist/2.x/wgpu-matrix.min.js
+++ b/dist/2.x/wgpu-matrix.min.js
@@ -1,72 +1,2 @@
-/* wgpu-matrix@2.9.0, license MIT */
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H(16);let o=t[0],u=t[1],a=t[2];const i=Math.sqrt(o*o+u*u+a*a);o/=i,u/=i,a/=i;const c=o*o,s=u*u,f=a*a,h=Math.cos(r),l=Math.sin(r),M=1-h,w=c+(1-c)*h,d=o*u*M+a*l,m=o*a*M-u*l,v=o*u*M-a*l,p=s+(1-s)*h,b=u*a*M+o*l,q=o*a*M+u*l,y=u*a*M-o*l,x=f+(1-f)*h,g=n[0],S=n[1],A=n[2],_=n[3],T=n[4],z=n[5],F=n[6],k=n[7],D=n[8],I=n[9],P=n[10],V=n[11];return e[0]=w*g+d*T+m*D,e[1]=w*S+d*z+m*I,e[2]=w*A+d*F+m*P,e[3]=w*_+d*k+m*V,e[4]=v*g+p*T+b*D,e[5]=v*S+p*z+b*I,e[6]=v*A+p*F+b*P,e[7]=v*_+p*k+b*V,e[8]=q*g+y*T+x*D,e[9]=q*S+y*z+x*I,e[10]=q*A+y*F+x*P,e[11]=q*_+y*k+x*V,n!==e&&(e[12]=n[12],e[13]=n[13],e[14]=n[14],e[15]=n[15]),e}var cn={__proto__:null,aim:function(n,t,r,e){return e=e||new H(16),rn=rn||c(),en=en||c(),on=on||c(),U(P(t,n,on),on),U(R(r,on,rn),rn),U(R(on,rn,en),en),e[0]=rn[0],e[1]=rn[1],e[2]=rn[2],e[3]=0,e[4]=en[0],e[5]=en[1],e[6]=en[2],e[7]=0,e[8]=on[0],e[9]=on[1],e[10]=on[2],e[11]=0,e[12]=n[0],e[13]=n[1],e[14]=n[2],e[15]=1,e},axisRotate:an,axisRotation:un,cameraAim:function(n,t,r,e){return e=e||new H(16),rn=rn||c(),en=en||c(),on=on||c(),U(P(n,t,on),on),U(R(r,on,rn),rn),U(R(on,rn,en),en),e[0]=rn[0],e[1]=rn[1],e[2]=rn[2],e[3]=0,e[4]=en[0],e[5]=en[1],e[6]=en[2],e[7]=0,e[8]=on[0],e[9]=on[1],e[10]=on[2],e[11]=0,e[12]=n[0],e[13]=n[1],e[14]=n[2],e[15]=1,e},clone:K,copy:K,create:function(n,t,r,e,o,u,a,i,c,s,f,h,l,M,w,d){const m=new H(16);return void 0!==n&&(m[0]=n,void 0!==t&&(m[1]=t,void 0!==r&&(m[2]=r,void 0!==e&&(m[3]=e,void 0!==o&&(m[4]=o,void 0!==u&&(m[5]=u,void 0!==a&&(m[6]=a,void 0!==i&&(m[7]=i,void 0!==c&&(m[8]=c,void 0!==s&&(m[9]=s,void 0!==f&&(m[10]=f,void 0!==h&&(m[11]=h,void 0!==l&&(m[12]=l,void 0!==M&&(m[13]=M,void 0!==w&&(m[14]=w,void 0!==d&&(m[15]=d)))))))))))))))),m},determinant:function(n){const t=n[0],r=n[1],e=n[2],o=n[3],u=n[4],a=n[5],i=n[6],c=n[7],s=n[8],f=n[9],h=n[10],l=n[11],M=n[12],w=n[13],d=n[14],m=n[15],v=h*m,p=d*l,b=i*m,q=d*c,y=i*l,x=h*c,g=e*m,S=d*o,A=e*l,_=h*o,T=e*c,z=i*o;return t*(v*a+q*f+y*w-(p*a+b*f+x*w))+u*(p*r+g*f+_*w-(v*r+S*f+A*w))+s*(b*r+S*a+T*w-(q*r+g*a+z*w))+M*(x*r+A*a+z*f-(y*r+_*a+T*f))},equals:function(n,t){return n[0]===t[0]&&n[1]===t[1]&&n[2]===t[2]&&n[3]===t[3]&&n[4]===t[4]&&n[5]===t[5]&&n[6]===t[6]&&n[7]===t[7]&&n[8]===t[8]&&n[9]===t[9]&&n[10]===t[10]&&n[11]===t[11]&&n[12]===t[12]&&n[13]===t[13]&&n[14]===t[14]&&n[15]===t[15]},equalsApproximately:function(n,r){return Math.abs(n[0]-r[0])<t&&Math.abs(n[1]-r[1])<t&&Math.abs(n[2]-r[2])<t&&Math.abs(n[3]-r[3])<t&&Math.abs(n[4]-r[4])<t&&Math.abs(n[5]-r[5])<t&&Math.abs(n[6]-r[6])<t&&Math.abs(n[7]-r[7])<t&&Math.abs(n[8]-r[8])<t&&Math.abs(n[9]-r[9])<t&&Math.abs(n[10]-r[10])<t&&Math.abs(n[11]-r[11])<t&&Math.abs(n[12]-r[12])<t&&Math.abs(n[13]-r[13])<t&&Math.abs(n[14]-r[14])<t&&Math.abs(n[15]-r[15])<t},fromMat3:function(n,t){return(t=t||new H(16))[0]=n[0],t[1]=n[1],t[2]=n[2],t[3]=0,t[4]=n[4],t[5]=n[5],t[6]=n[6],t[7]=0,t[8]=n[8],t[9]=n[9],t[10]=n[10],t[11]=0,t[12]=0,t[13]=0,t[14]=0,t[15]=1,t},fromQuat:function(n,t){t=t||new H(16);const r=n[0],e=n[1],o=n[2],u=n[3],a=r+r,i=e+e,c=o+o,s=r*a,f=e*a,h=e*i,l=o*a,M=o*i,w=o*c,d=u*a,m=u*i,v=u*c;return t[0]=1-h-w,t[1]=f+v,t[2]=l-m,t[3]=0,t[4]=f-v,t[5]=1-s-w,t[6]=M+d,t[7]=0,t[8]=l+m,t[9]=M-d,t[10]=1-s-h,t[11]=0,t[12]=0,t[13]=0,t[14]=0,t[15]=1,t},frustum:function(n,t,r,e,o,u,a){const i=t-n,c=e-r,s=o-u;return(a=a||new H(16))[0]=2*o/i,a[1]=0,a[2]=0,a[3]=0,a[4]=0,a[5]=2*o/c,a[6]=0,a[7]=0,a[8]=(n+t)/i,a[9]=(e+r)/c,a[10]=u/s,a[11]=-1,a[12]=0,a[13]=0,a[14]=o*u/s,a[15]=0,a},frustumReverseZ:function(n,t,r,e,o,u=1/0,a){const i=t-n,c=e-r;if((a=a||new H(16))[0]=2*o/i,a[1]=0,a[2]=0,a[3]=0,a[4]=0,a[5]=2*o/c,a[6]=0,a[7]=0,a[8]=(n+t)/i,a[9]=(e+r)/c,a[11]=-1,a[12]=0,a[13]=0,a[15]=0,u===1/0)a[10]=0,a[14]=o;else{const n=1/(u-o);a[10]=o*n,a[14]=u*o*n}return a},getAxis:function(n,t,r){const e=4*t;return(r=r||c())[0]=n[e+0],r[1]=n[e+1],r[2]=n[e+2],r},getScaling:function(n,t){t=t||c();const r=n[0],e=n[1],o=n[2],u=n[4],a=n[5],i=n[6],s=n[8],f=n[9],h=n[10];return t[0]=Math.sqrt(r*r+e*e+o*o),t[1]=Math.sqrt(u*u+a*a+i*i),t[2]=Math.sqrt(s*s+f*f+h*h),t},getTranslation:function(n,t){return(t=t||c())[0]=n[12],t[1]=n[13],t[2]=n[14],t},identity:W,inverse:nn,invert:nn,lookAt:function(n,t,r,e){return e=e||new H(16),rn=rn||c(),en=en||c(),on=on||c(),U(P(n,t,on),on),U(R(r,on,rn),rn),U(R(on,rn,en),en),e[0]=rn[0],e[1]=en[0],e[2]=on[0],e[3]=0,e[4]=rn[1],e[5]=en[1],e[6]=on[1],e[7]=0,e[8]=rn[2],e[9]=en[2],e[10]=on[2],e[11]=0,e[12]=-(rn[0]*n[0]+rn[1]*n[1]+rn[2]*n[2]),e[13]=-(en[0]*n[0]+en[1]*n[1]+en[2]*n[2]),e[14]=-(on[0]*n[0]+on[1]*n[1]+on[2]*n[2]),e[15]=1,e},mul:tn,multiply:tn,negate:function(n,t){return(t=t||new H(16))[0]=-n[0],t[1]=-n[1],t[2]=-n[2],t[3]=-n[3],t[4]=-n[4],t[5]=-n[5],t[6]=-n[6],t[7]=-n[7],t[8]=-n[8],t[9]=-n[9],t[10]=-n[10],t[11]=-n[11],t[12]=-n[12],t[13]=-n[13],t[14]=-n[14],t[15]=-n[15],t},ortho:function(n,t,r,e,o,u,a){return(a=a||new H(16))[0]=2/(t-n),a[1]=0,a[2]=0,a[3]=0,a[4]=0,a[5]=2/(e-r),a[6]=0,a[7]=0,a[8]=0,a[9]=0,a[10]=1/(o-u),a[11]=0,a[12]=(t+n)/(n-t),a[13]=(e+r)/(r-e),a[14]=o/(o-u),a[15]=1,a},perspective:function(n,t,r,e,o){o=o||new H(16);const u=Math.tan(.5*Math.PI-.5*n);if(o[0]=u/t,o[1]=0,o[2]=0,o[3]=0,o[4]=0,o[5]=u,o[6]=0,o[7]=0,o[8]=0,o[9]=0,o[11]=-1,o[12]=0,o[13]=0,o[15]=0,Number.isFinite(e)){const n=1/(r-e);o[10]=e*n,o[14]=e*r*n}else o[10]=-1,o[14]=-r;return o},perspectiveReverseZ:function(n,t,r,e=1/0,o){o=o||new H(16);const u=1/Math.tan(.5*n);if(o[0]=u/t,o[1]=0,o[2]=0,o[3]=0,o[4]=0,o[5]=u,o[6]=0,o[7]=0,o[8]=0,o[9]=0,o[11]=-1,o[12]=0,o[13]=0,o[15]=0,e===1/0)o[10]=0,o[14]=r;else{const n=1/(e-r);o[10]=r*n,o[14]=e*r*n}return o},rotate:an,rotateX:function(n,t,r){r=r||new H(16);const e=n[4],o=n[5],u=n[6],a=n[7],i=n[8],c=n[9],s=n[10],f=n[11],h=Math.cos(t),l=Math.sin(t);return r[4]=h*e+l*i,r[5]=h*o+l*c,r[6]=h*u+l*s,r[7]=h*a+l*f,r[8]=h*i-l*e,r[9]=h*c-l*o,r[10]=h*s-l*u,r[11]=h*f-l*a,n!==r&&(r[0]=n[0],r[1]=n[1],r[2]=n[2],r[3]=n[3],r[12]=n[12],r[13]=n[13],r[14]=n[14],r[15]=n[15]),r},rotateY:function(n,t,r){r=r||new H(16);const e=n[0],o=n[1],u=n[2],a=n[3],i=n[8],c=n[9],s=n[10],f=n[11],h=Math.cos(t),l=Math.sin(t);return r[0]=h*e-l*i,r[1]=h*o-l*c,r[2]=h*u-l*s,r[3]=h*a-l*f,r[8]=h*i+l*e,r[9]=h*c+l*o,r[10]=h*s+l*u,r[11]=h*f+l*a,n!==r&&(r[4]=n[4],r[5]=n[5],r[6]=n[6],r[7]=n[7],r[12]=n[12],r[13]=n[13],r[14]=n[14],r[15]=n[15]),r},rotateZ:function(n,t,r){r=r||new H(16);const e=n[0],o=n[1],u=n[2],a=n[3],i=n[4],c=n[5],s=n[6],f=n[7],h=Math.cos(t),l=Math.sin(t);return r[0]=h*e+l*i,r[1]=h*o+l*c,r[2]=h*u+l*s,r[3]=h*a+l*f,r[4]=h*i-l*e,r[5]=h*c-l*o,r[6]=h*s-l*u,r[7]=h*f-l*a,n!==r&&(r[8]=n[8],r[9]=n[9],r[10]=n[10],r[11]=n[11],r[12]=n[12],r[13]=n[13],r[14]=n[14],r[15]=n[15]),r},rotation:un,rotationX:function(n,t){t=t||new H(16);const r=Math.cos(n),e=Math.sin(n);return t[0]=1,t[1]=0,t[2]=0,t[3]=0,t[4]=0,t[5]=r,t[6]=e,t[7]=0,t[8]=0,t[9]=-e,t[10]=r,t[11]=0,t[12]=0,t[13]=0,t[14]=0,t[15]=1,t},rotationY:function(n,t){t=t||new H(16);const r=Math.cos(n),e=Math.sin(n);return t[0]=r,t[1]=0,t[2]=-e,t[3]=0,t[4]=0,t[5]=1,t[6]=0,t[7]=0,t[8]=e,t[9]=0,t[10]=r,t[11]=0,t[12]=0,t[13]=0,t[14]=0,t[15]=1,t},rotationZ:function(n,t){t=t||new H(16);const r=Math.cos(n),e=Math.sin(n);return t[0]=r,t[1]=e,t[2]=0,t[3]=0,t[4]=-e,t[5]=r,t[6]=0,t[7]=0,t[8]=0,t[9]=0,t[10]=1,t[11]=0,t[12]=0,t[13]=0,t[14]=0,t[15]=1,t},scale:function(n,t,r){r=r||new H(16);const e=t[0],o=t[1],u=t[2];return r[0]=e*n[0],r[1]=e*n[1],r[2]=e*n[2],r[3]=e*n[3],r[4]=o*n[4],r[5]=o*n[5],r[6]=o*n[6],r[7]=o*n[7],r[8]=u*n[8],r[9]=u*n[9],r[10]=u*n[10],r[11]=u*n[11],n!==r&&(r[12]=n[12],r[13]=n[13],r[14]=n[14],r[15]=n[15]),r},scaling:function(n,t){return(t=t||new H(16))[0]=n[0],t[1]=0,t[2]=0,t[3]=0,t[4]=0,t[5]=n[1],t[6]=0,t[7]=0,t[8]=0,t[9]=0,t[10]=n[2],t[11]=0,t[12]=0,t[13]=0,t[14]=0,t[15]=1,t},set:function(n,t,r,e,o,u,a,i,c,s,f,h,l,M,w,d,m){return(m=m||new H(16))[0]=n,m[1]=t,m[2]=r,m[3]=e,m[4]=o,m[5]=u,m[6]=a,m[7]=i,m[8]=c,m[9]=s,m[10]=f,m[11]=h,m[12]=l,m[13]=M,m[14]=w,m[15]=d,m},setAxis:function(n,t,r,e){e!==n&&(e=K(n,e));const o=4*r;return e[o+0]=t[0],e[o+1]=t[1],e[o+2]=t[2],e},setDefaultType:J,setTranslation:function(n,t,r){return n!==(r=r||W())&&(r[0]=n[0],r[1]=n[1],r[2]=n[2],r[3]=n[3],r[4]=n[4],r[5]=n[5],r[6]=n[6],r[7]=n[7],r[8]=n[8],r[9]=n[9],r[10]=n[10],r[11]=n[11]),r[12]=t[0],r[13]=t[1],r[14]=t[2],r[15]=1,r},translate:function(n,t,r){r=r||new H(16);const e=t[0],o=t[1],u=t[2],a=n[0],i=n[1],c=n[2],s=n[3],f=n[4],h=n[5],l=n[6],M=n[7],w=n[8],d=n[9],m=n[10],v=n[11],p=n[12],b=n[13],q=n[14],y=n[15];return n!==r&&(r[0]=a,r[1]=i,r[2]=c,r[3]=s,r[4]=f,r[5]=h,r[6]=l,r[7]=M,r[8]=w,r[9]=d,r[10]=m,r[11]=v),r[12]=a*e+f*o+w*u+p,r[13]=i*e+h*o+d*u+b,r[14]=c*e+l*o+m*u+q,r[15]=s*e+M*o+v*u+y,r},translation:function(n,t){return(t=t||new H(16))[0]=1,t[1]=0,t[2]=0,t[3]=0,t[4]=0,t[5]=1,t[6]=0,t[7]=0,t[8]=0,t[9]=0,t[10]=1,t[11]=0,t[12]=n[0],t[13]=n[1],t[14]=n[2],t[15]=1,t},transpose:function(n,t){if((t=t||new H(16))===n){let r;return r=n[1],n[1]=n[4],n[4]=r,r=n[2],n[2]=n[8],n[8]=r,r=n[3],n[3]=n[12],n[12]=r,r=n[6],n[6]=n[9],n[9]=r,r=n[7],n[7]=n[13],n[13]=r,r=n[11],n[11]=n[14],n[14]=r,t}const r=n[0],e=n[1],o=n[2],u=n[3],a=n[4],i=n[5],c=n[6],s=n[7],f=n[8],h=n[9],l=n[10],M=n[11],w=n[12],d=n[13],m=n[14],v=n[15];return t[0]=r,t[1]=a,t[2]=f,t[3]=w,t[4]=e,t[5]=i,t[6]=h,t[7]=d,t[8]=o,t[9]=c,t[10]=l,t[11]=m,t[12]=u,t[13]=s,t[14]=M,t[15]=v,t},uniformScale:function(n,t,r){return(r=r||new H(16))[0]=t*n[0],r[1]=t*n[1],r[2]=t*n[2],r[3]=t*n[3],r[4]=t*n[4],r[5]=t*n[5],r[6]=t*n[6],r[7]=t*n[7],r[8]=t*n[8],r[9]=t*n[9],r[10]=t*n[10],r[11]=t*n[11],n!==r&&(r[12]=n[12],r[13]=n[13],r[14]=n[14],r[15]=n[15]),r},uniformScaling:function(n,t){return(t=t||new H(16))[0]=n,t[1]=0,t[2]=0,t[3]=0,t[4]=0,t[5]=n,t[6]=0,t[7]=0,t[8]=0,t[9]=0,t[10]=n,t[11]=0,t[12]=0,t[13]=0,t[14]=0,t[15]=1,t}};let sn=Float32Array;function fn(n){const t=sn;return sn=n,t}function hn(n,t,r,e){const o=new sn(4);return void 0!==n&&(o[0]=n,void 0!==t&&(o[1]=t,void 0!==r&&(o[2]=r,void 0!==e&&(o[3]=e)))),o}function ln(n,t,r){r=r||new sn(4);const e=.5*t,o=Math.sin(e);return r[0]=o*n[0],r[1]=o*n[1],r[2]=o*n[2],r[3]=Math.cos(e),r}function Mn(n,t,r){r=r||new sn(4);const e=n[0],o=n[1],u=n[2],a=n[3],i=t[0],c=t[1],s=t[2],f=t[3];return r[0]=e*f+a*i+o*s-u*c,r[1]=o*f+a*c+u*i-e*s,r[2]=u*f+a*s+e*c-o*i,r[3]=a*f-e*i-o*c-u*s,r}function wn(n,r,e,o){o=o||new sn(4);const u=n[0],a=n[1],i=n[2],c=n[3];let s,f,h=r[0],l=r[1],M=r[2],w=r[3],d=u*h+a*l+i*M+c*w;if(d<0&&(d=-d,h=-h,l=-l,M=-M,w=-w),1-d>t){const n=Math.acos(d),t=Math.sin(n);s=Math.sin((1-e)*n)/t,f=Math.sin(e*n)/t}else s=1-e,f=e;return o[0]=s*u+f*h,o[1]=s*a+f*l,o[2]=s*i+f*M,o[3]=s*c+f*w,o}function dn(n,t){return(t=t||new sn(4))[0]=n[0],t[1]=n[1],t[2]=n[2],t[3]=n[3],t}function mn(n,t,r){return(r=r||new sn(4))[0]=n[0]-t[0],r[1]=n[1]-t[1],r[2]=n[2]-t[2],r[3]=n[3]-t[3],r}function vn(n,t,r){return(r=r||new sn(4))[0]=n[0]*t,r[1]=n[1]*t,r[2]=n[2]*t,r[3]=n[3]*t,r}function pn(n,t){return n[0]*t[0]+n[1]*t[1]+n[2]*t[2]+n[3]*t[3]}function bn(n){const t=n[0],r=n[1],e=n[2],o=n[3];return Math.sqrt(t*t+r*r+e*e+o*o)}function qn(n){const t=n[0],r=n[1],e=n[2],o=n[3];return t*t+r*r+e*e+o*o}function yn(n,t){t=t||new sn(4);const r=n[0],e=n[1],o=n[2],u=n[3],a=Math.sqrt(r*r+e*e+o*o+u*u);return 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r[0]=t[0]*e+t[4]*o+t[8]*u+t[12]*a,r[1]=t[1]*e+t[5]*o+t[9]*u+t[13]*a,r[2]=t[2]*e+t[6]*o+t[10]*u+t[14]*a,r[3]=t[3]*e+t[7]*o+t[11]*u+t[15]*a,r},truncate:function(n,t,r){return r=r||new zn(4),Zn(n)>t?Nn(n,t,r):Yn(n,r)},zero:function(n){return(n=n||new zn(4))[0]=0,n[1]=0,n[2]=0,n[3]=0,n}};n.mat3=I,n.mat4=cn,n.quat=Tn,n.setDefaultType=function(n){T(n),J(n),fn(n),o(n),i(n),Fn(n)},n.utils=r,n.vec2=g,n.vec3=G,n.vec4=Un}));
+//# sourceMappingURL=wgpu-matrix.min.js.map
diff --git a/dist/2.x/wgpu-matrix.min.js.map b/dist/2.x/wgpu-matrix.min.js.map
new file mode 100644
index 0000000..6ef0d74
--- /dev/null
+++ b/dist/2.x/wgpu-matrix.min.js.map
@@ -0,0 +1 @@
+{"version":3,"file":"wgpu-matrix.min.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(m: Mat4, v: Vec3, axis: number, dst: Mat4): Mat4 {\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  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 (Number.isFinite(zFar)) {\n    const rangeInv = 1 / (zNear - zFar);\n    dst[10] = zFar * rangeInv;\n    dst[14] = zFar * zNear * rangeInv;\n  } else {\n    dst[10] = -1;\n    dst[14] = -zNear;\n  }\n\n  return dst;\n}\n\n/**\n * Computes a 4-by-4 reverse-z 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 1 (at -zNear) to 0 (at -zFar) in the z dimension.\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. (default = Infinity)\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The perspective matrix.\n */export function perspectiveReverseZ(fieldOfViewYInRadians: number, aspect: number, zNear: number, zFar = Infinity, dst?: Mat4) {\n  dst = dst || new MatType(16);\n\n  const f = 1 / Math.tan(fieldOfViewYInRadians * 0.5);\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] = 0;\n    dst[14] = zNear;\n  } else {\n    const rangeInv = 1 / (zFar - zNear);\n    dst[10] = zNear * 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\n/**\n * Computes a 4-by-4 reverse-z 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 1 (-near) to 0 (-far) 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 frustumReverseZ(left: number, right: number, bottom: number, top: number, near: number, far = Infinity, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  const dx = (right - left);\n  const dy = (top - bottom);\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[11] = -1;\n  dst[12] = 0;\n  dst[13] = 0;\n  dst[15] = 0;\n\n  if (far === Infinity) {\n    dst[10] = 0;\n    dst[14] = near;\n  } else {\n    const rangeInv = 1 / (far - near);\n    dst[10] = near * rangeInv;\n    dst[14] = far * near * rangeInv;\n  }\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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diff --git a/dist/2.x/wgpu-matrix.module.js b/dist/2.x/wgpu-matrix.module.js
index c05fa92..4b5d5c9 100644
--- a/dist/2.x/wgpu-matrix.module.js
+++ b/dist/2.x/wgpu-matrix.module.js
@@ -1,4 +1,4 @@
-/* wgpu-matrix@2.9.0, license MIT */
+/* wgpu-matrix@2.9.1, license MIT */
 /*
  * Copyright 2022 Gregg Tavares
  *
diff --git a/dist/2.x/wgpu-matrix.module.min.js b/dist/2.x/wgpu-matrix.module.min.js
new file mode 100644
index 0000000..6ff2975
--- /dev/null
+++ b/dist/2.x/wgpu-matrix.module.min.js
@@ -0,0 +1,2 @@
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r=n[0],e=n[1],o=n[2],u=n[3],a=n[4],c=n[5],i=n[6],s=n[7],f=n[8],h=n[9],M=n[10],l=n[11],w=n[12],d=n[13],m=n[14],v=n[15],p=M*v,q=m*l,b=i*v,y=m*s,x=i*l,g=M*s,S=o*v,A=m*u,_=o*l,T=M*u,z=o*s,F=i*u,k=f*d,D=w*h,I=a*d,P=w*c,V=a*h,Z=f*c,L=r*d,R=w*e,E=r*h,X=f*e,Y=r*c,Q=a*e,N=p*c+y*h+x*d-(q*c+b*h+g*d),U=q*e+S*h+T*d-(p*e+A*h+_*d),j=b*e+A*c+z*d-(y*e+S*c+F*d),O=g*e+_*c+F*h-(x*e+T*c+z*h),$=1/(r*N+a*U+f*j+w*O);return t[0]=$*N,t[1]=$*U,t[2]=$*j,t[3]=$*O,t[4]=$*(q*a+b*f+g*w-(p*a+y*f+x*w)),t[5]=$*(p*r+A*f+_*w-(q*r+S*f+T*w)),t[6]=$*(y*r+S*a+F*w-(b*r+A*a+z*w)),t[7]=$*(x*r+T*a+z*f-(g*r+_*a+F*f)),t[8]=$*(k*s+P*l+V*v-(D*s+I*l+Z*v)),t[9]=$*(D*u+L*l+X*v-(k*u+R*l+E*v)),t[10]=$*(I*u+R*s+Y*v-(P*u+L*s+Q*v)),t[11]=$*(Z*u+E*s+Q*l-(V*u+X*s+Y*l)),t[12]=$*(I*M+Z*m+D*i-(V*m+k*i+P*M)),t[13]=$*(E*m+k*o+R*M-(L*M+X*m+D*o)),t[14]=$*(L*i+Q*m+P*o-(Y*m+I*o+R*i)),t[15]=$*(Y*M+V*o+X*i-(E*i+Q*M+Z*o)),t}function nn(n,t,r){r=r||new G(16);const e=n[0],o=n[1],u=n[2],a=n[3],c=n[4],i=n[5],s=n[6],f=n[7],h=n[8],M=n[9],l=n[10],w=n[11],d=n[12],m=n[13],v=n[14],p=n[15],q=t[0],b=t[1],y=t[2],x=t[3],g=t[4],S=t[5],A=t[6],_=t[7],T=t[8],z=t[9],F=t[10],k=t[11],D=t[12],I=t[13],P=t[14],V=t[15];return r[0]=e*q+c*b+h*y+d*x,r[1]=o*q+i*b+M*y+m*x,r[2]=u*q+s*b+l*y+v*x,r[3]=a*q+f*b+w*y+p*x,r[4]=e*g+c*S+h*A+d*_,r[5]=o*g+i*S+M*A+m*_,r[6]=u*g+s*S+l*A+v*_,r[7]=a*g+f*S+w*A+p*_,r[8]=e*T+c*z+h*F+d*k,r[9]=o*T+i*z+M*F+m*k,r[10]=u*T+s*z+l*F+v*k,r[11]=a*T+f*z+w*F+p*k,r[12]=e*D+c*I+h*P+d*V,r[13]=o*D+i*I+M*P+m*V,r[14]=u*D+s*I+l*P+v*V,r[15]=a*D+f*I+w*P+p*V,r}let tn,rn,en;function on(n,t,r){r=r||new G(16);let e=n[0],o=n[1],u=n[2];const a=Math.sqrt(e*e+o*o+u*u);e/=a,o/=a,u/=a;const c=e*e,i=o*o,s=u*u,f=Math.cos(t),h=Math.sin(t),M=1-f;return r[0]=c+(1-c)*f,r[1]=e*o*M+u*h,r[2]=e*u*M-o*h,r[3]=0,r[4]=e*o*M-u*h,r[5]=i+(1-i)*f,r[6]=o*u*M+e*h,r[7]=0,r[8]=e*u*M+o*h,r[9]=o*u*M-e*h,r[10]=s+(1-s)*f,r[11]=0,r[12]=0,r[13]=0,r[14]=0,r[15]=1,r}function un(n,t,r,e){e=e||new G(16);let o=t[0],u=t[1],a=t[2];const c=Math.sqrt(o*o+u*u+a*a);o/=c,u/=c,a/=c;const i=o*o,s=u*u,f=a*a,h=Math.cos(r),M=Math.sin(r),l=1-h,w=i+(1-i)*h,d=o*u*l+a*M,m=o*a*l-u*M,v=o*u*l-a*M,p=s+(1-s)*h,q=u*a*l+o*M,b=o*a*l+u*M,y=u*a*l-o*M,x=f+(1-f)*h,g=n[0],S=n[1],A=n[2],_=n[3],T=n[4],z=n[5],F=n[6],k=n[7],D=n[8],I=n[9],P=n[10],V=n[11];return e[0]=w*g+d*T+m*D,e[1]=w*S+d*z+m*I,e[2]=w*A+d*F+m*P,e[3]=w*_+d*k+m*V,e[4]=v*g+p*T+q*D,e[5]=v*S+p*z+q*I,e[6]=v*A+p*F+q*P,e[7]=v*_+p*k+q*V,e[8]=b*g+y*T+x*D,e[9]=b*S+y*z+x*I,e[10]=b*A+y*F+x*P,e[11]=b*_+y*k+x*V,n!==e&&(e[12]=n[12],e[13]=n[13],e[14]=n[14],e[15]=n[15]),e}var an={__proto__:null,aim:function(n,t,r,e){return e=e||new G(16),tn=tn||c(),rn=rn||c(),en=en||c(),U(I(t,n,en),en),U(L(r,en,tn),tn),U(L(en,tn,rn),rn),e[0]=tn[0],e[1]=tn[1],e[2]=tn[2],e[3]=0,e[4]=rn[0],e[5]=rn[1],e[6]=rn[2],e[7]=0,e[8]=en[0],e[9]=en[1],e[10]=en[2],e[11]=0,e[12]=n[0],e[13]=n[1],e[14]=n[2],e[15]=1,e},axisRotate:un,axisRotation:on,cameraAim:function(n,t,r,e){return e=e||new G(16),tn=tn||c(),rn=rn||c(),en=en||c(),U(I(n,t,en),en),U(L(r,en,tn),tn),U(L(en,tn,rn),rn),e[0]=tn[0],e[1]=tn[1],e[2]=tn[2],e[3]=0,e[4]=rn[0],e[5]=rn[1],e[6]=rn[2],e[7]=0,e[8]=en[0],e[9]=en[1],e[10]=en[2],e[11]=0,e[12]=n[0],e[13]=n[1],e[14]=n[2],e[15]=1,e},clone:J,copy:J,create:function(n,t,r,e,o,u,a,c,i,s,f,h,M,l,w,d){const m=new G(16);return void 0!==n&&(m[0]=n,void 0!==t&&(m[1]=t,void 0!==r&&(m[2]=r,void 0!==e&&(m[3]=e,void 0!==o&&(m[4]=o,void 0!==u&&(m[5]=u,void 0!==a&&(m[6]=a,void 0!==c&&(m[7]=c,void 0!==i&&(m[8]=i,void 0!==s&&(m[9]=s,void 0!==f&&(m[10]=f,void 0!==h&&(m[11]=h,void 0!==M&&(m[12]=M,void 0!==l&&(m[13]=l,void 0!==w&&(m[14]=w,void 0!==d&&(m[15]=d)))))))))))))))),m},determinant:function(n){const t=n[0],r=n[1],e=n[2],o=n[3],u=n[4],a=n[5],c=n[6],i=n[7],s=n[8],f=n[9],h=n[10],M=n[11],l=n[12],w=n[13],d=n[14],m=n[15],v=h*m,p=d*M,q=c*m,b=d*i,y=c*M,x=h*i,g=e*m,S=d*o,A=e*M,_=h*o,T=e*i,z=c*o;return t*(v*a+b*f+y*w-(p*a+q*f+x*w))+u*(p*r+g*f+_*w-(v*r+S*f+A*w))+s*(q*r+S*a+T*w-(b*r+g*a+z*w))+l*(x*r+A*a+z*f-(y*r+_*a+T*f))},equals:function(n,t){return n[0]===t[0]&&n[1]===t[1]&&n[2]===t[2]&&n[3]===t[3]&&n[4]===t[4]&&n[5]===t[5]&&n[6]===t[6]&&n[7]===t[7]&&n[8]===t[8]&&n[9]===t[9]&&n[10]===t[10]&&n[11]===t[11]&&n[12]===t[12]&&n[13]===t[13]&&n[14]===t[14]&&n[15]===t[15]},equalsApproximately:function(t,r){return Math.abs(t[0]-r[0])<n&&Math.abs(t[1]-r[1])<n&&Math.abs(t[2]-r[2])<n&&Math.abs(t[3]-r[3])<n&&Math.abs(t[4]-r[4])<n&&Math.abs(t[5]-r[5])<n&&Math.abs(t[6]-r[6])<n&&Math.abs(t[7]-r[7])<n&&Math.abs(t[8]-r[8])<n&&Math.abs(t[9]-r[9])<n&&Math.abs(t[10]-r[10])<n&&Math.abs(t[11]-r[11])<n&&Math.abs(t[12]-r[12])<n&&Math.abs(t[13]-r[13])<n&&Math.abs(t[14]-r[14])<n&&Math.abs(t[15]-r[15])<n},fromMat3:function(n,t){return(t=t||new G(16))[0]=n[0],t[1]=n[1],t[2]=n[2],t[3]=0,t[4]=n[4],t[5]=n[5],t[6]=n[6],t[7]=0,t[8]=n[8],t[9]=n[9],t[10]=n[10],t[11]=0,t[12]=0,t[13]=0,t[14]=0,t[15]=1,t},fromQuat:function(n,t){t=t||new G(16);const r=n[0],e=n[1],o=n[2],u=n[3],a=r+r,c=e+e,i=o+o,s=r*a,f=e*a,h=e*c,M=o*a,l=o*c,w=o*i,d=u*a,m=u*c,v=u*i;return t[0]=1-h-w,t[1]=f+v,t[2]=M-m,t[3]=0,t[4]=f-v,t[5]=1-s-w,t[6]=l+d,t[7]=0,t[8]=M+m,t[9]=l-d,t[10]=1-s-h,t[11]=0,t[12]=0,t[13]=0,t[14]=0,t[15]=1,t},frustum:function(n,t,r,e,o,u,a){const c=t-n,i=e-r,s=o-u;return(a=a||new G(16))[0]=2*o/c,a[1]=0,a[2]=0,a[3]=0,a[4]=0,a[5]=2*o/i,a[6]=0,a[7]=0,a[8]=(n+t)/c,a[9]=(e+r)/i,a[10]=u/s,a[11]=-1,a[12]=0,a[13]=0,a[14]=o*u/s,a[15]=0,a},frustumReverseZ:function(n,t,r,e,o,u=1/0,a){const c=t-n,i=e-r;if((a=a||new G(16))[0]=2*o/c,a[1]=0,a[2]=0,a[3]=0,a[4]=0,a[5]=2*o/i,a[6]=0,a[7]=0,a[8]=(n+t)/c,a[9]=(e+r)/i,a[11]=-1,a[12]=0,a[13]=0,a[15]=0,u===1/0)a[10]=0,a[14]=o;else{const n=1/(u-o);a[10]=o*n,a[14]=u*o*n}return a},getAxis:function(n,t,r){const e=4*t;return(r=r||c())[0]=n[e+0],r[1]=n[e+1],r[2]=n[e+2],r},getScaling:function(n,t){t=t||c();const r=n[0],e=n[1],o=n[2],u=n[4],a=n[5],i=n[6],s=n[8],f=n[9],h=n[10];return t[0]=Math.sqrt(r*r+e*e+o*o),t[1]=Math.sqrt(u*u+a*a+i*i),t[2]=Math.sqrt(s*s+f*f+h*h),t},getTranslation:function(n,t){return(t=t||c())[0]=n[12],t[1]=n[13],t[2]=n[14],t},identity:K,inverse:W,invert:W,lookAt:function(n,t,r,e){return e=e||new G(16),tn=tn||c(),rn=rn||c(),en=en||c(),U(I(n,t,en),en),U(L(r,en,tn),tn),U(L(en,tn,rn),rn),e[0]=tn[0],e[1]=rn[0],e[2]=en[0],e[3]=0,e[4]=tn[1],e[5]=rn[1],e[6]=en[1],e[7]=0,e[8]=tn[2],e[9]=rn[2],e[10]=en[2],e[11]=0,e[12]=-(tn[0]*n[0]+tn[1]*n[1]+tn[2]*n[2]),e[13]=-(rn[0]*n[0]+rn[1]*n[1]+rn[2]*n[2]),e[14]=-(en[0]*n[0]+en[1]*n[1]+en[2]*n[2]),e[15]=1,e},mul:nn,multiply:nn,negate:function(n,t){return(t=t||new G(16))[0]=-n[0],t[1]=-n[1],t[2]=-n[2],t[3]=-n[3],t[4]=-n[4],t[5]=-n[5],t[6]=-n[6],t[7]=-n[7],t[8]=-n[8],t[9]=-n[9],t[10]=-n[10],t[11]=-n[11],t[12]=-n[12],t[13]=-n[13],t[14]=-n[14],t[15]=-n[15],t},ortho:function(n,t,r,e,o,u,a){return(a=a||new G(16))[0]=2/(t-n),a[1]=0,a[2]=0,a[3]=0,a[4]=0,a[5]=2/(e-r),a[6]=0,a[7]=0,a[8]=0,a[9]=0,a[10]=1/(o-u),a[11]=0,a[12]=(t+n)/(n-t),a[13]=(e+r)/(r-e),a[14]=o/(o-u),a[15]=1,a},perspective:function(n,t,r,e,o){o=o||new G(16);const u=Math.tan(.5*Math.PI-.5*n);if(o[0]=u/t,o[1]=0,o[2]=0,o[3]=0,o[4]=0,o[5]=u,o[6]=0,o[7]=0,o[8]=0,o[9]=0,o[11]=-1,o[12]=0,o[13]=0,o[15]=0,Number.isFinite(e)){const n=1/(r-e);o[10]=e*n,o[14]=e*r*n}else o[10]=-1,o[14]=-r;return o},perspectiveReverseZ:function(n,t,r,e=1/0,o){o=o||new G(16);const u=1/Math.tan(.5*n);if(o[0]=u/t,o[1]=0,o[2]=0,o[3]=0,o[4]=0,o[5]=u,o[6]=0,o[7]=0,o[8]=0,o[9]=0,o[11]=-1,o[12]=0,o[13]=0,o[15]=0,e===1/0)o[10]=0,o[14]=r;else{const n=1/(e-r);o[10]=r*n,o[14]=e*r*n}return o},rotate:un,rotateX:function(n,t,r){r=r||new G(16);const e=n[4],o=n[5],u=n[6],a=n[7],c=n[8],i=n[9],s=n[10],f=n[11],h=Math.cos(t),M=Math.sin(t);return r[4]=h*e+M*c,r[5]=h*o+M*i,r[6]=h*u+M*s,r[7]=h*a+M*f,r[8]=h*c-M*e,r[9]=h*i-M*o,r[10]=h*s-M*u,r[11]=h*f-M*a,n!==r&&(r[0]=n[0],r[1]=n[1],r[2]=n[2],r[3]=n[3],r[12]=n[12],r[13]=n[13],r[14]=n[14],r[15]=n[15]),r},rotateY:function(n,t,r){r=r||new G(16);const e=n[0],o=n[1],u=n[2],a=n[3],c=n[8],i=n[9],s=n[10],f=n[11],h=Math.cos(t),M=Math.sin(t);return r[0]=h*e-M*c,r[1]=h*o-M*i,r[2]=h*u-M*s,r[3]=h*a-M*f,r[8]=h*c+M*e,r[9]=h*i+M*o,r[10]=h*s+M*u,r[11]=h*f+M*a,n!==r&&(r[4]=n[4],r[5]=n[5],r[6]=n[6],r[7]=n[7],r[12]=n[12],r[13]=n[13],r[14]=n[14],r[15]=n[15]),r},rotateZ:function(n,t,r){r=r||new G(16);const e=n[0],o=n[1],u=n[2],a=n[3],c=n[4],i=n[5],s=n[6],f=n[7],h=Math.cos(t),M=Math.sin(t);return r[0]=h*e+M*c,r[1]=h*o+M*i,r[2]=h*u+M*s,r[3]=h*a+M*f,r[4]=h*c-M*e,r[5]=h*i-M*o,r[6]=h*s-M*u,r[7]=h*f-M*a,n!==r&&(r[8]=n[8],r[9]=n[9],r[10]=n[10],r[11]=n[11],r[12]=n[12],r[13]=n[13],r[14]=n[14],r[15]=n[15]),r},rotation:on,rotationX:function(n,t){t=t||new G(16);const r=Math.cos(n),e=Math.sin(n);return t[0]=1,t[1]=0,t[2]=0,t[3]=0,t[4]=0,t[5]=r,t[6]=e,t[7]=0,t[8]=0,t[9]=-e,t[10]=r,t[11]=0,t[12]=0,t[13]=0,t[14]=0,t[15]=1,t},rotationY:function(n,t){t=t||new G(16);const r=Math.cos(n),e=Math.sin(n);return t[0]=r,t[1]=0,t[2]=-e,t[3]=0,t[4]=0,t[5]=1,t[6]=0,t[7]=0,t[8]=e,t[9]=0,t[10]=r,t[11]=0,t[12]=0,t[13]=0,t[14]=0,t[15]=1,t},rotationZ:function(n,t){t=t||new G(16);const r=Math.cos(n),e=Math.sin(n);return t[0]=r,t[1]=e,t[2]=0,t[3]=0,t[4]=-e,t[5]=r,t[6]=0,t[7]=0,t[8]=0,t[9]=0,t[10]=1,t[11]=0,t[12]=0,t[13]=0,t[14]=0,t[15]=1,t},scale:function(n,t,r){r=r||new G(16);const e=t[0],o=t[1],u=t[2];return r[0]=e*n[0],r[1]=e*n[1],r[2]=e*n[2],r[3]=e*n[3],r[4]=o*n[4],r[5]=o*n[5],r[6]=o*n[6],r[7]=o*n[7],r[8]=u*n[8],r[9]=u*n[9],r[10]=u*n[10],r[11]=u*n[11],n!==r&&(r[12]=n[12],r[13]=n[13],r[14]=n[14],r[15]=n[15]),r},scaling:function(n,t){return(t=t||new G(16))[0]=n[0],t[1]=0,t[2]=0,t[3]=0,t[4]=0,t[5]=n[1],t[6]=0,t[7]=0,t[8]=0,t[9]=0,t[10]=n[2],t[11]=0,t[12]=0,t[13]=0,t[14]=0,t[15]=1,t},set:function(n,t,r,e,o,u,a,c,i,s,f,h,M,l,w,d,m){return(m=m||new G(16))[0]=n,m[1]=t,m[2]=r,m[3]=e,m[4]=o,m[5]=u,m[6]=a,m[7]=c,m[8]=i,m[9]=s,m[10]=f,m[11]=h,m[12]=M,m[13]=l,m[14]=w,m[15]=d,m},setAxis:function(n,t,r,e){e!==n&&(e=J(n,e));const o=4*r;return e[o+0]=t[0],e[o+1]=t[1],e[o+2]=t[2],e},setDefaultType:H,setTranslation:function(n,t,r){return n!==(r=r||K())&&(r[0]=n[0],r[1]=n[1],r[2]=n[2],r[3]=n[3],r[4]=n[4],r[5]=n[5],r[6]=n[6],r[7]=n[7],r[8]=n[8],r[9]=n[9],r[10]=n[10],r[11]=n[11]),r[12]=t[0],r[13]=t[1],r[14]=t[2],r[15]=1,r},translate:function(n,t,r){r=r||new G(16);const e=t[0],o=t[1],u=t[2],a=n[0],c=n[1],i=n[2],s=n[3],f=n[4],h=n[5],M=n[6],l=n[7],w=n[8],d=n[9],m=n[10],v=n[11],p=n[12],q=n[13],b=n[14],y=n[15];return n!==r&&(r[0]=a,r[1]=c,r[2]=i,r[3]=s,r[4]=f,r[5]=h,r[6]=M,r[7]=l,r[8]=w,r[9]=d,r[10]=m,r[11]=v),r[12]=a*e+f*o+w*u+p,r[13]=c*e+h*o+d*u+q,r[14]=i*e+M*o+m*u+b,r[15]=s*e+l*o+v*u+y,r},translation:function(n,t){return(t=t||new G(16))[0]=1,t[1]=0,t[2]=0,t[3]=0,t[4]=0,t[5]=1,t[6]=0,t[7]=0,t[8]=0,t[9]=0,t[10]=1,t[11]=0,t[12]=n[0],t[13]=n[1],t[14]=n[2],t[15]=1,t},transpose:function(n,t){if((t=t||new G(16))===n){let r;return r=n[1],n[1]=n[4],n[4]=r,r=n[2],n[2]=n[8],n[8]=r,r=n[3],n[3]=n[12],n[12]=r,r=n[6],n[6]=n[9],n[9]=r,r=n[7],n[7]=n[13],n[13]=r,r=n[11],n[11]=n[14],n[14]=r,t}const r=n[0],e=n[1],o=n[2],u=n[3],a=n[4],c=n[5],i=n[6],s=n[7],f=n[8],h=n[9],M=n[10],l=n[11],w=n[12],d=n[13],m=n[14],v=n[15];return t[0]=r,t[1]=a,t[2]=f,t[3]=w,t[4]=e,t[5]=c,t[6]=h,t[7]=d,t[8]=o,t[9]=i,t[10]=M,t[11]=m,t[12]=u,t[13]=s,t[14]=l,t[15]=v,t},uniformScale:function(n,t,r){return(r=r||new G(16))[0]=t*n[0],r[1]=t*n[1],r[2]=t*n[2],r[3]=t*n[3],r[4]=t*n[4],r[5]=t*n[5],r[6]=t*n[6],r[7]=t*n[7],r[8]=t*n[8],r[9]=t*n[9],r[10]=t*n[10],r[11]=t*n[11],n!==r&&(r[12]=n[12],r[13]=n[13],r[14]=n[14],r[15]=n[15]),r},uniformScaling:function(n,t){return(t=t||new G(16))[0]=n,t[1]=0,t[2]=0,t[3]=0,t[4]=0,t[5]=n,t[6]=0,t[7]=0,t[8]=0,t[9]=0,t[10]=n,t[11]=0,t[12]=0,t[13]=0,t[14]=0,t[15]=1,t}};let cn=Float32Array;function sn(n){const t=cn;return cn=n,t}function fn(n,t,r,e){const o=new cn(4);return void 0!==n&&(o[0]=n,void 0!==t&&(o[1]=t,void 0!==r&&(o[2]=r,void 0!==e&&(o[3]=e)))),o}function hn(n,t,r){r=r||new cn(4);const e=.5*t,o=Math.sin(e);return r[0]=o*n[0],r[1]=o*n[1],r[2]=o*n[2],r[3]=Math.cos(e),r}function Mn(n,t,r){r=r||new cn(4);const e=n[0],o=n[1],u=n[2],a=n[3],c=t[0],i=t[1],s=t[2],f=t[3];return r[0]=e*f+a*c+o*s-u*i,r[1]=o*f+a*i+u*c-e*s,r[2]=u*f+a*s+e*i-o*c,r[3]=a*f-e*c-o*i-u*s,r}function ln(t,r,e,o){o=o||new cn(4);const u=t[0],a=t[1],c=t[2],i=t[3];let s,f,h=r[0],M=r[1],l=r[2],w=r[3],d=u*h+a*M+c*l+i*w;if(d<0&&(d=-d,h=-h,M=-M,l=-l,w=-w),1-d>n){const n=Math.acos(d),t=Math.sin(n);s=Math.sin((1-e)*n)/t,f=Math.sin(e*n)/t}else s=1-e,f=e;return o[0]=s*u+f*h,o[1]=s*a+f*M,o[2]=s*c+f*l,o[3]=s*i+f*w,o}function wn(n,t){return(t=t||new cn(4))[0]=n[0],t[1]=n[1],t[2]=n[2],t[3]=n[3],t}function dn(n,t,r){return(r=r||new cn(4))[0]=n[0]-t[0],r[1]=n[1]-t[1],r[2]=n[2]-t[2],r[3]=n[3]-t[3],r}function mn(n,t,r){return(r=r||new cn(4))[0]=n[0]*t,r[1]=n[1]*t,r[2]=n[2]*t,r[3]=n[3]*t,r}function vn(n,t){return n[0]*t[0]+n[1]*t[1]+n[2]*t[2]+n[3]*t[3]}function pn(n){const t=n[0],r=n[1],e=n[2],o=n[3];return Math.sqrt(t*t+r*r+e*e+o*o)}function qn(n){const t=n[0],r=n[1],e=n[2],o=n[3];return t*t+r*r+e*e+o*o}function bn(n,t){t=t||new cn(4);const r=n[0],e=n[1],o=n[2],u=n[3],a=Math.sqrt(r*r+e*e+o*o+u*u);return a>1e-5?(t[0]=r/a,t[1]=e/a,t[2]=o/a,t[3]=u/a):(t[0]=0,t[1]=0,t[2]=0,t[3]=0),t}let yn,xn,gn,Sn,An;var _n={__proto__:null,add:function(n,t,r){return(r=r||new cn(4))[0]=n[0]+t[0],r[1]=n[1]+t[1],r[2]=n[2]+t[2],r[3]=n[3]+t[3],r},angle:function(n,t){const r=vn(n,t);return Math.acos(2*r*r-1)},clone:wn,conjugate:function(n,t){return(t=t||new cn(4))[0]=-n[0],t[1]=-n[1],t[2]=-n[2],t[3]=n[3],t},copy:wn,create:fn,divScalar:function(n,t,r){return(r=r||new cn(4))[0]=n[0]/t,r[1]=n[1]/t,r[2]=n[2]/t,r[3]=n[3]/t,r},dot:vn,equals:function(n,t){return n[0]===t[0]&&n[1]===t[1]&&n[2]===t[2]&&n[3]===t[3]},equalsApproximately:function(t,r){return Math.abs(t[0]-r[0])<n&&Math.abs(t[1]-r[1])<n&&Math.abs(t[2]-r[2])<n&&Math.abs(t[3]-r[3])<n},fromAxisAngle:hn,fromEuler:function(n,t,r,e,o){o=o||new cn(4);const u=.5*n,a=.5*t,c=.5*r,i=Math.sin(u),s=Math.cos(u),f=Math.sin(a),h=Math.cos(a),M=Math.sin(c),l=Math.cos(c);switch(e){case"xyz":o[0]=i*h*l+s*f*M,o[1]=s*f*l-i*h*M,o[2]=s*h*M+i*f*l,o[3]=s*h*l-i*f*M;break;case"xzy":o[0]=i*h*l-s*f*M,o[1]=s*f*l-i*h*M,o[2]=s*h*M+i*f*l,o[3]=s*h*l+i*f*M;break;case"yxz":o[0]=i*h*l+s*f*M,o[1]=s*f*l-i*h*M,o[2]=s*h*M-i*f*l,o[3]=s*h*l+i*f*M;break;case"yzx":o[0]=i*h*l+s*f*M,o[1]=s*f*l+i*h*M,o[2]=s*h*M-i*f*l,o[3]=s*h*l-i*f*M;break;case"zxy":o[0]=i*h*l-s*f*M,o[1]=s*f*l+i*h*M,o[2]=s*h*M+i*f*l,o[3]=s*h*l-i*f*M;break;case"zyx":o[0]=i*h*l-s*f*M,o[1]=s*f*l+i*h*M,o[2]=s*h*M-i*f*l,o[3]=s*h*l+i*f*M;break;default:throw new Error(`Unknown rotation order: ${e}`)}return o},fromMat:function(n,t){t=t||new cn(4);const r=n[0]+n[5]+n[10];if(r>0){const e=Math.sqrt(r+1);t[3]=.5*e;const o=.5/e;t[0]=(n[6]-n[9])*o,t[1]=(n[8]-n[2])*o,t[2]=(n[1]-n[4])*o}else{let r=0;n[5]>n[0]&&(r=1),n[10]>n[4*r+r]&&(r=2);const e=(r+1)%3,o=(r+2)%3,u=Math.sqrt(n[4*r+r]-n[4*e+e]-n[4*o+o]+1);t[r]=.5*u;const a=.5/u;t[3]=(n[4*e+o]-n[4*o+e])*a,t[e]=(n[4*e+r]+n[4*r+e])*a,t[o]=(n[4*o+r]+n[4*r+o])*a}return t},fromValues:fn,identity:function(n){return(n=n||new cn(4))[0]=0,n[1]=0,n[2]=0,n[3]=1,n},inverse:function(n,t){t=t||new cn(4);const r=n[0],e=n[1],o=n[2],u=n[3],a=r*r+e*e+o*o+u*u,c=a?1/a:0;return t[0]=-r*c,t[1]=-e*c,t[2]=-o*c,t[3]=u*c,t},len:pn,lenSq:qn,length:pn,lengthSq:qn,lerp:function(n,t,r,e){return(e=e||new cn(4))[0]=n[0]+r*(t[0]-n[0]),e[1]=n[1]+r*(t[1]-n[1]),e[2]=n[2]+r*(t[2]-n[2]),e[3]=n[3]+r*(t[3]-n[3]),e},mul:Mn,mulScalar:mn,multiply:Mn,normalize:bn,rotateX:function(n,t,r){r=r||new cn(4);const e=.5*t,o=n[0],u=n[1],a=n[2],c=n[3],i=Math.sin(e),s=Math.cos(e);return r[0]=o*s+c*i,r[1]=u*s+a*i,r[2]=a*s-u*i,r[3]=c*s-o*i,r},rotateY:function(n,t,r){r=r||new cn(4);const e=.5*t,o=n[0],u=n[1],a=n[2],c=n[3],i=Math.sin(e),s=Math.cos(e);return r[0]=o*s-a*i,r[1]=u*s+c*i,r[2]=a*s+o*i,r[3]=c*s-u*i,r},rotateZ:function(n,t,r){r=r||new cn(4);const e=.5*t,o=n[0],u=n[1],a=n[2],c=n[3],i=Math.sin(e),s=Math.cos(e);return r[0]=o*s+u*i,r[1]=u*s-o*i,r[2]=a*s+c*i,r[3]=c*s-a*i,r},rotationTo:function(n,t,r){r=r||new cn(4),yn=yn||c(),xn=xn||c(1,0,0),gn=gn||c(0,1,0);const e=R(n,t);return e<-.999999?(L(xn,n,yn),X(yn)<1e-6&&L(gn,n,yn),U(yn,yn),hn(yn,Math.PI,r),r):e>.999999?(r[0]=0,r[1]=0,r[2]=0,r[3]=1,r):(L(n,t,yn),r[0]=yn[0],r[1]=yn[1],r[2]=yn[2],r[3]=1+e,bn(r,r))},scale:mn,set:function(n,t,r,e,o){return(o=o||new cn(4))[0]=n,o[1]=t,o[2]=r,o[3]=e,o},setDefaultType:sn,slerp:ln,sqlerp:function(n,t,r,e,o,u){return u=u||new cn(4),Sn=Sn||new cn(4),An=An||new cn(4),ln(n,e,o,Sn),ln(t,r,o,An),ln(Sn,An,2*o*(1-o),u),u},sub:dn,subtract:dn,toAxisAngle:function(t,r){r=r||c(4);const e=2*Math.acos(t[3]),o=Math.sin(.5*e);return o>n?(r[0]=t[0]/o,r[1]=t[1]/o,r[2]=t[2]/o):(r[0]=1,r[1]=0,r[2]=0),{angle:e,axis:r}}};let Tn=Float32Array;function zn(n){const t=Tn;return Tn=n,t}function Fn(n,t,r,e){const o=new Tn(4);return void 0!==n&&(o[0]=n,void 0!==t&&(o[1]=t,void 0!==r&&(o[2]=r,void 0!==e&&(o[3]=e)))),o}function kn(n,t,r){return(r=r||new Tn(4))[0]=n[0]-t[0],r[1]=n[1]-t[1],r[2]=n[2]-t[2],r[3]=n[3]-t[3],r}function Dn(n,t,r,e){return(e=e||new Tn(4))[0]=n[0]+r*(t[0]-n[0]),e[1]=n[1]+r*(t[1]-n[1]),e[2]=n[2]+r*(t[2]-n[2]),e[3]=n[3]+r*(t[3]-n[3]),e}function In(n,t,r){return(r=r||new Tn(4))[0]=n[0]*t,r[1]=n[1]*t,r[2]=n[2]*t,r[3]=n[3]*t,r}function Pn(n,t){return(t=t||new Tn(4))[0]=1/n[0],t[1]=1/n[1],t[2]=1/n[2],t[3]=1/n[3],t}function Vn(n){const t=n[0],r=n[1],e=n[2],o=n[3];return Math.sqrt(t*t+r*r+e*e+o*o)}function Zn(n){const t=n[0],r=n[1],e=n[2],o=n[3];return t*t+r*r+e*e+o*o}function Ln(n,t){const r=n[0]-t[0],e=n[1]-t[1],o=n[2]-t[2],u=n[3]-t[3];return Math.sqrt(r*r+e*e+o*o+u*u)}function Rn(n,t){const r=n[0]-t[0],e=n[1]-t[1],o=n[2]-t[2],u=n[3]-t[3];return r*r+e*e+o*o+u*u}function En(n,t){t=t||new Tn(4);const r=n[0],e=n[1],o=n[2],u=n[3],a=Math.sqrt(r*r+e*e+o*o+u*u);return a>1e-5?(t[0]=r/a,t[1]=e/a,t[2]=o/a,t[3]=u/a):(t[0]=0,t[1]=0,t[2]=0,t[3]=0),t}function Xn(n,t){return(t=t||new Tn(4))[0]=n[0],t[1]=n[1],t[2]=n[2],t[3]=n[3],t}function Yn(n,t,r){return(r=r||new Tn(4))[0]=n[0]*t[0],r[1]=n[1]*t[1],r[2]=n[2]*t[2],r[3]=n[3]*t[3],r}function Qn(n,t,r){return(r=r||new Tn(4))[0]=n[0]/t[0],r[1]=n[1]/t[1],r[2]=n[2]/t[2],r[3]=n[3]/t[3],r}function Nn(n,t,r){return En(n,r=r||new Tn(4)),In(r,t,r)}var Un={__proto__:null,add:function(n,t,r){return(r=r||new Tn(4))[0]=n[0]+t[0],r[1]=n[1]+t[1],r[2]=n[2]+t[2],r[3]=n[3]+t[3],r},addScaled:function(n,t,r,e){return(e=e||new Tn(4))[0]=n[0]+t[0]*r,e[1]=n[1]+t[1]*r,e[2]=n[2]+t[2]*r,e[3]=n[3]+t[3]*r,e},ceil:function(n,t){return(t=t||new Tn(4))[0]=Math.ceil(n[0]),t[1]=Math.ceil(n[1]),t[2]=Math.ceil(n[2]),t[3]=Math.ceil(n[3]),t},clamp:function(n,t=0,r=1,e){return(e=e||new Tn(4))[0]=Math.min(r,Math.max(t,n[0])),e[1]=Math.min(r,Math.max(t,n[1])),e[2]=Math.min(r,Math.max(t,n[2])),e[3]=Math.min(r,Math.max(t,n[3])),e},clone:Xn,copy:Xn,create:Fn,dist:Ln,distSq:Rn,distance:Ln,distanceSq:Rn,div:Qn,divScalar:function(n,t,r){return(r=r||new Tn(4))[0]=n[0]/t,r[1]=n[1]/t,r[2]=n[2]/t,r[3]=n[3]/t,r},divide:Qn,dot:function(n,t){return n[0]*t[0]+n[1]*t[1]+n[2]*t[2]+n[3]*t[3]},equals:function(n,t){return n[0]===t[0]&&n[1]===t[1]&&n[2]===t[2]&&n[3]===t[3]},equalsApproximately:function(t,r){return Math.abs(t[0]-r[0])<n&&Math.abs(t[1]-r[1])<n&&Math.abs(t[2]-r[2])<n&&Math.abs(t[3]-r[3])<n},floor:function(n,t){return(t=t||new Tn(4))[0]=Math.floor(n[0]),t[1]=Math.floor(n[1]),t[2]=Math.floor(n[2]),t[3]=Math.floor(n[3]),t},fromValues:Fn,inverse:Pn,invert:Pn,len:Vn,lenSq:Zn,length:Vn,lengthSq:Zn,lerp:Dn,lerpV:function(n,t,r,e){return(e=e||new Tn(4))[0]=n[0]+r[0]*(t[0]-n[0]),e[1]=n[1]+r[1]*(t[1]-n[1]),e[2]=n[2]+r[2]*(t[2]-n[2]),e[3]=n[3]+r[3]*(t[3]-n[3]),e},max:function(n,t,r){return(r=r||new Tn(4))[0]=Math.max(n[0],t[0]),r[1]=Math.max(n[1],t[1]),r[2]=Math.max(n[2],t[2]),r[3]=Math.max(n[3],t[3]),r},midpoint:function(n,t,r){return Dn(n,t,.5,r=r||new Tn(4))},min:function(n,t,r){return(r=r||new Tn(4))[0]=Math.min(n[0],t[0]),r[1]=Math.min(n[1],t[1]),r[2]=Math.min(n[2],t[2]),r[3]=Math.min(n[3],t[3]),r},mul:Yn,mulScalar:In,multiply:Yn,negate:function(n,t){return(t=t||new Tn(4))[0]=-n[0],t[1]=-n[1],t[2]=-n[2],t[3]=-n[3],t},normalize:En,round:function(n,t){return(t=t||new Tn(4))[0]=Math.round(n[0]),t[1]=Math.round(n[1]),t[2]=Math.round(n[2]),t[3]=Math.round(n[3]),t},scale:In,set:function(n,t,r,e,o){return(o=o||new Tn(4))[0]=n,o[1]=t,o[2]=r,o[3]=e,o},setDefaultType:zn,setLength:Nn,sub:kn,subtract:kn,transformMat4:function(n,t,r){r=r||new Tn(4);const e=n[0],o=n[1],u=n[2],a=n[3];return r[0]=t[0]*e+t[4]*o+t[8]*u+t[12]*a,r[1]=t[1]*e+t[5]*o+t[9]*u+t[13]*a,r[2]=t[2]*e+t[6]*o+t[10]*u+t[14]*a,r[3]=t[3]*e+t[7]*o+t[11]*u+t[15]*a,r},truncate:function(n,t,r){return r=r||new Tn(4),Vn(n)>t?Nn(n,t,r):Xn(n,r)},zero:function(n){return(n=n||new Tn(4))[0]=0,n[1]=0,n[2]=0,n[3]=0,n}};function jn(n){_(n),H(n),sn(n),e(n),a(n),zn(n)}export{D as mat3,an as mat4,_n as quat,jn as setDefaultType,t as utils,x as vec2,C as vec3,Un as vec4};
+//# sourceMappingURL=wgpu-matrix.module.min.js.map
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@@ -0,0 +1 @@
+{"version":3,"file":"wgpu-matrix.module.min.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(m: Mat4, v: Vec3, axis: number, dst: Mat4): Mat4 {\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  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 (Number.isFinite(zFar)) {\n    const rangeInv = 1 / (zNear - zFar);\n    dst[10] = zFar * rangeInv;\n    dst[14] = zFar * zNear * rangeInv;\n  } else {\n    dst[10] = -1;\n    dst[14] = -zNear;\n  }\n\n  return dst;\n}\n\n/**\n * Computes a 4-by-4 reverse-z 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 1 (at -zNear) to 0 (at -zFar) in the z dimension.\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. (default = Infinity)\n * @param dst - matrix to hold result. If not passed a new one is created.\n * @returns The perspective matrix.\n */export function perspectiveReverseZ(fieldOfViewYInRadians: number, aspect: number, zNear: number, zFar = Infinity, dst?: Mat4) {\n  dst = dst || new MatType(16);\n\n  const f = 1 / Math.tan(fieldOfViewYInRadians * 0.5);\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] = 0;\n    dst[14] = zNear;\n  } else {\n    const rangeInv = 1 / (zFar - zNear);\n    dst[10] = zNear * 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\n/**\n * Computes a 4-by-4 reverse-z 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 1 (-near) to 0 (-far) 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 frustumReverseZ(left: number, right: number, bottom: number, top: number, near: number, far = Infinity, dst?: Mat4): Mat4 {\n  dst = dst || new MatType(16);\n\n  const dx = (right - left);\n  const dy = (top - bottom);\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[11] = -1;\n  dst[12] = 0;\n  dst[13] = 0;\n  dst[15] = 0;\n\n  if (far === Infinity) {\n    dst[10] = 0;\n    dst[14] = near;\n  } else {\n    const rangeInv = 1 / (far - near);\n    dst[10] = near * rangeInv;\n    dst[14] = far * near * rangeInv;\n  }\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
diff --git a/docs/assets/highlight.css b/docs/assets/highlight.css
index 7fb83ae..a886fb5 100644
--- a/docs/assets/highlight.css
+++ b/docs/assets/highlight.css
@@ -17,8 +17,18 @@
     --dark-hl-7: #CE9178;
     --light-hl-8: #098658;
     --dark-hl-8: #B5CEA8;
-    --light-hl-9: #000000;
-    --dark-hl-9: #C8C8C8;
+    --light-hl-9: #800000;
+    --dark-hl-9: #808080;
+    --light-hl-10: #800000;
+    --dark-hl-10: #569CD6;
+    --light-hl-11: #000000FF;
+    --dark-hl-11: #D4D4D4;
+    --light-hl-12: #E50000;
+    --dark-hl-12: #9CDCFE;
+    --light-hl-13: #0000FF;
+    --dark-hl-13: #CE9178;
+    --light-hl-14: #000000;
+    --dark-hl-14: #C8C8C8;
     --light-code-background: #FFFFFF;
     --dark-code-background: #1E1E1E;
 }
@@ -34,6 +44,11 @@
     --hl-7: var(--light-hl-7);
     --hl-8: var(--light-hl-8);
     --hl-9: var(--light-hl-9);
+    --hl-10: var(--light-hl-10);
+    --hl-11: var(--light-hl-11);
+    --hl-12: var(--light-hl-12);
+    --hl-13: var(--light-hl-13);
+    --hl-14: var(--light-hl-14);
     --code-background: var(--light-code-background);
 } }
 
@@ -48,6 +63,11 @@
     --hl-7: var(--dark-hl-7);
     --hl-8: var(--dark-hl-8);
     --hl-9: var(--dark-hl-9);
+    --hl-10: var(--dark-hl-10);
+    --hl-11: var(--dark-hl-11);
+    --hl-12: var(--dark-hl-12);
+    --hl-13: var(--dark-hl-13);
+    --hl-14: var(--dark-hl-14);
     --code-background: var(--dark-code-background);
 } }
 
@@ -62,6 +82,11 @@
     --hl-7: var(--light-hl-7);
     --hl-8: var(--light-hl-8);
     --hl-9: var(--light-hl-9);
+    --hl-10: var(--light-hl-10);
+    --hl-11: var(--light-hl-11);
+    --hl-12: var(--light-hl-12);
+    --hl-13: var(--light-hl-13);
+    --hl-14: var(--light-hl-14);
     --code-background: var(--light-code-background);
 }
 
@@ -76,6 +101,11 @@
     --hl-7: var(--dark-hl-7);
     --hl-8: var(--dark-hl-8);
     --hl-9: var(--dark-hl-9);
+    --hl-10: var(--dark-hl-10);
+    --hl-11: var(--dark-hl-11);
+    --hl-12: var(--dark-hl-12);
+    --hl-13: var(--dark-hl-13);
+    --hl-14: var(--dark-hl-14);
     --code-background: var(--dark-code-background);
 }
 
@@ -89,4 +119,9 @@
 .hl-7 { color: var(--hl-7); }
 .hl-8 { color: var(--hl-8); }
 .hl-9 { color: var(--hl-9); }
+.hl-10 { color: var(--hl-10); }
+.hl-11 { color: var(--hl-11); }
+.hl-12 { color: var(--hl-12); }
+.hl-13 { color: var(--hl-13); }
+.hl-14 { color: var(--hl-14); }
 pre, code { background: var(--code-background); }
diff --git a/docs/index.html b/docs/index.html
index ae74ddd..073f887 100644
--- a/docs/index.html
+++ b/docs/index.html
@@ -37,7 +37,13 @@
 <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.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.min.js&#39;</span><span class="hl-2">;</span><br/><br/><span class="hl-0">// ... etc ...</span>
+</code><button>Copy</button></pre>
+<p>and a UMD version</p>
+<pre><code class="language-html"><span class="hl-9">&lt;</span><span class="hl-10">script</span><span class="hl-11"> </span><span class="hl-12">src</span><span class="hl-11">=</span><span class="hl-13">&quot;https://wgpu-matrix.org/dist/2.x/wgpu-matrix.js&quot;</span><span class="hl-9">&gt;&lt;/</span><span class="hl-10">script</span><span class="hl-9">&gt;</span><br/><span class="hl-9">&lt;</span><span class="hl-10">script</span><span class="hl-9">&gt;</span><br/><span class="hl-1">const</span><span class="hl-11"> { </span><span class="hl-3">mat4</span><span class="hl-11">, </span><span class="hl-3">vec3</span><span class="hl-11"> } </span><span class="hl-2">=</span><span class="hl-11"> </span><span class="hl-4">wgpuMatrix</span><span class="hl-11">;</span><br/><span class="hl-1">const</span><span class="hl-11"> </span><span class="hl-3">m</span><span class="hl-11"> </span><span class="hl-2">=</span><span class="hl-11"> </span><span class="hl-4">mat4</span><span class="hl-11">.</span><span class="hl-5">identity</span><span class="hl-11">();</span><br/><span class="hl-2">...</span><br/><span class="hl-9">&lt;/</span><span class="hl-10">script</span><span class="hl-9">&gt;</span>
+</code><button>Copy</button></pre>
+<p>or UDM min version</p>
+<pre><code class="language-html"><span class="hl-9">&lt;</span><span class="hl-10">script</span><span class="hl-11"> </span><span class="hl-12">src</span><span class="hl-11">=</span><span class="hl-13">&quot;https://wgpu-matrix.org/dist/2.x/wgpu-matrix.min.js&quot;</span><span class="hl-9">&gt;&lt;/</span><span class="hl-10">script</span><span class="hl-9">&gt;</span><br/><span class="hl-2">...</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>
@@ -66,7 +72,7 @@
 <p><code>vec3</code> in this library uses 3 floats per but be aware that an array of
 <code>vec3</code> in a Uniform Block or other structure in WGSL, each vec3 is
 padded to 4 floats! In other words, if you declare</p>
-<pre><code><span class="hl-4">struct</span><span class="hl-2"> </span><span class="hl-4">Foo</span><span class="hl-2"> {</span><br/><span class="hl-2">  </span><span class="hl-9">bar</span><span class="hl-2">: </span><span class="hl-4">vec3</span><span class="hl-2">&lt;</span><span class="hl-4">f32</span><span class="hl-2">&gt;[</span><span class="hl-8">3</span><span class="hl-2">];</span><br/><span class="hl-2">};</span>
+<pre><code><span class="hl-4">struct</span><span class="hl-2"> </span><span class="hl-4">Foo</span><span class="hl-2"> {</span><br/><span class="hl-2">  </span><span class="hl-14">bar</span><span class="hl-2">: </span><span class="hl-4">vec3</span><span class="hl-2">&lt;</span><span class="hl-4">f32</span><span class="hl-2">&gt;[</span><span class="hl-8">3</span><span class="hl-2">];</span><br/><span class="hl-2">};</span>
 </code><button>Copy</button></pre>
 <p>then bar[0] is at byte offset 0, bar[1] at byte offset 16, bar[2] at byte offset 32.</p>
 <p>See <a href="https://www.w3.org/TR/WGSL/#alignment-and-size">the WGSL spec on alignment and size</a>.</p>
diff --git a/package-lock.json b/package-lock.json
index e931ed7..d7ba985 100644
--- a/package-lock.json
+++ b/package-lock.json
@@ -1,14 +1,15 @@
 {
   "name": "wgpu-matrix",
-  "version": "2.9.0",
+  "version": "2.9.1",
   "lockfileVersion": 3,
   "requires": true,
   "packages": {
     "": {
       "name": "wgpu-matrix",
-      "version": "2.9.0",
+      "version": "2.9.1",
       "license": "MIT",
       "devDependencies": {
+        "@rollup/plugin-terser": "^0.4.4",
         "@rollup/plugin-typescript": "^11.1.6",
         "@tsconfig/recommended": "^1.0.6",
         "@typescript-eslint/eslint-plugin": "^5.62.0",
@@ -117,6 +118,64 @@
       "integrity": "sha512-93zYdMES/c1D69yZiKDBj0V24vqNzB/koF26KPaagAfd3P/4gUlh3Dys5ogAK+Exi9QyzlD8x/08Zt7wIKcDcA==",
       "dev": true
     },
+    "node_modules/@jridgewell/gen-mapping": {
+      "version": "0.3.5",
+      "resolved": "https://registry.npmjs.org/@jridgewell/gen-mapping/-/gen-mapping-0.3.5.tgz",
+      "integrity": "sha512-IzL8ZoEDIBRWEzlCcRhOaCupYyN5gdIK+Q6fbFdPDg6HqX6jpkItn7DFIpW9LQzXG6Df9sA7+OKnq0qlz/GaQg==",
+      "dev": true,
+      "dependencies": {
+        "@jridgewell/set-array": "^1.2.1",
+        "@jridgewell/sourcemap-codec": "^1.4.10",
+        "@jridgewell/trace-mapping": "^0.3.24"
+      },
+      "engines": {
+        "node": ">=6.0.0"
+      }
+    },
+    "node_modules/@jridgewell/resolve-uri": {
+      "version": "3.1.2",
+      "resolved": "https://registry.npmjs.org/@jridgewell/resolve-uri/-/resolve-uri-3.1.2.tgz",
+      "integrity": "sha512-bRISgCIjP20/tbWSPWMEi54QVPRZExkuD9lJL+UIxUKtwVJA8wW1Trb1jMs1RFXo1CBTNZ/5hpC9QvmKWdopKw==",
+      "dev": true,
+      "engines": {
+        "node": ">=6.0.0"
+      }
+    },
+    "node_modules/@jridgewell/set-array": {
+      "version": "1.2.1",
+      "resolved": "https://registry.npmjs.org/@jridgewell/set-array/-/set-array-1.2.1.tgz",
+      "integrity": "sha512-R8gLRTZeyp03ymzP/6Lil/28tGeGEzhx1q2k703KGWRAI1VdvPIXdG70VJc2pAMw3NA6JKL5hhFu1sJX0Mnn/A==",
+      "dev": true,
+      "engines": {
+        "node": ">=6.0.0"
+      }
+    },
+    "node_modules/@jridgewell/source-map": {
+      "version": "0.3.6",
+      "resolved": "https://registry.npmjs.org/@jridgewell/source-map/-/source-map-0.3.6.tgz",
+      "integrity": "sha512-1ZJTZebgqllO79ue2bm3rIGud/bOe0pP5BjSRCRxxYkEZS8STV7zN84UBbiYu7jy+eCKSnVIUgoWWE/tt+shMQ==",
+      "dev": true,
+      "dependencies": {
+        "@jridgewell/gen-mapping": "^0.3.5",
+        "@jridgewell/trace-mapping": "^0.3.25"
+      }
+    },
+    "node_modules/@jridgewell/sourcemap-codec": {
+      "version": "1.4.15",
+      "resolved": "https://registry.npmjs.org/@jridgewell/sourcemap-codec/-/sourcemap-codec-1.4.15.tgz",
+      "integrity": "sha512-eF2rxCRulEKXHTRiDrDy6erMYWqNw4LPdQ8UQA4huuxaQsVeRPFl2oM8oDGxMFhJUWZf9McpLtJasDDZb/Bpeg==",
+      "dev": true
+    },
+    "node_modules/@jridgewell/trace-mapping": {
+      "version": "0.3.25",
+      "resolved": "https://registry.npmjs.org/@jridgewell/trace-mapping/-/trace-mapping-0.3.25.tgz",
+      "integrity": "sha512-vNk6aEwybGtawWmy/PzwnGDOjCkLWSD2wqvjGGAgOAwCGWySYXfYoxt00IJkTF+8Lb57DwOb3Aa0o9CApepiYQ==",
+      "dev": true,
+      "dependencies": {
+        "@jridgewell/resolve-uri": "^3.1.0",
+        "@jridgewell/sourcemap-codec": "^1.4.14"
+      }
+    },
     "node_modules/@nodelib/fs.scandir": {
       "version": "2.1.5",
       "resolved": "https://registry.npmjs.org/@nodelib/fs.scandir/-/fs.scandir-2.1.5.tgz",
@@ -152,6 +211,37 @@
         "node": ">= 8"
       }
     },
+    "node_modules/@rollup/plugin-terser": {
+      "version": "0.4.4",
+      "resolved": "https://registry.npmjs.org/@rollup/plugin-terser/-/plugin-terser-0.4.4.tgz",
+      "integrity": "sha512-XHeJC5Bgvs8LfukDwWZp7yeqin6ns8RTl2B9avbejt6tZqsqvVoWI7ZTQrcNsfKEDWBTnTxM8nMDkO2IFFbd0A==",
+      "dev": true,
+      "dependencies": {
+        "serialize-javascript": "^6.0.1",
+        "smob": "^1.0.0",
+        "terser": "^5.17.4"
+      },
+      "engines": {
+        "node": ">=14.0.0"
+      },
+      "peerDependencies": {
+        "rollup": "^2.0.0||^3.0.0||^4.0.0"
+      },
+      "peerDependenciesMeta": {
+        "rollup": {
+          "optional": true
+        }
+      }
+    },
+    "node_modules/@rollup/plugin-terser/node_modules/serialize-javascript": {
+      "version": "6.0.2",
+      "resolved": "https://registry.npmjs.org/serialize-javascript/-/serialize-javascript-6.0.2.tgz",
+      "integrity": "sha512-Saa1xPByTTq2gdeFZYLLo+RFE35NHZkAbqZeWNd3BpzppeVisAqpDjcp8dyf6uIvEqJRd46jemmyA4iFIeVk8g==",
+      "dev": true,
+      "dependencies": {
+        "randombytes": "^2.1.0"
+      }
+    },
     "node_modules/@rollup/plugin-typescript": {
       "version": "11.1.6",
       "resolved": "https://registry.npmjs.org/@rollup/plugin-typescript/-/plugin-typescript-11.1.6.tgz",
@@ -834,6 +924,12 @@
       "integrity": "sha512-qhAVI1+Av2X7qelOfAIYwXONood6XlZE/fXaBSmW/T5SzLAmCgzi+eiWE7fUvbHaeNBQH13UftjpXxsfLkMpgw==",
       "dev": true
     },
+    "node_modules/buffer-from": {
+      "version": "1.1.2",
+      "resolved": "https://registry.npmjs.org/buffer-from/-/buffer-from-1.1.2.tgz",
+      "integrity": "sha512-E+XQCRwSbaaiChtv6k6Dwgc+bx+Bs6vuKJHHl5kox/BaKbhiXzqQOwK4cO22yElGp2OCmjwVhT3HmxgyPGnJfQ==",
+      "dev": true
+    },
     "node_modules/bytes": {
       "version": "3.1.2",
       "resolved": "https://registry.npmjs.org/bytes/-/bytes-3.1.2.tgz",
@@ -3271,6 +3367,12 @@
         "node": ">=8"
       }
     },
+    "node_modules/smob": {
+      "version": "1.5.0",
+      "resolved": "https://registry.npmjs.org/smob/-/smob-1.5.0.tgz",
+      "integrity": "sha512-g6T+p7QO8npa+/hNx9ohv1E5pVCmWrVCUzUXJyLdMmftX6ER0oiWY/w9knEonLpnOp6b6FenKnMfR8gqwWdwig==",
+      "dev": true
+    },
     "node_modules/source-map": {
       "version": "0.5.7",
       "resolved": "https://registry.npmjs.org/source-map/-/source-map-0.5.7.tgz",
@@ -3280,6 +3382,25 @@
         "node": ">=0.10.0"
       }
     },
+    "node_modules/source-map-support": {
+      "version": "0.5.21",
+      "resolved": "https://registry.npmjs.org/source-map-support/-/source-map-support-0.5.21.tgz",
+      "integrity": "sha512-uBHU3L3czsIyYXKX88fdrGovxdSCoTGDRZ6SYXtSRxLZUzHg5P/66Ht6uoUlHu9EZod+inXhKo3qQgwXUT/y1w==",
+      "dev": true,
+      "dependencies": {
+        "buffer-from": "^1.0.0",
+        "source-map": "^0.6.0"
+      }
+    },
+    "node_modules/source-map-support/node_modules/source-map": {
+      "version": "0.6.1",
+      "resolved": "https://registry.npmjs.org/source-map/-/source-map-0.6.1.tgz",
+      "integrity": "sha512-UjgapumWlbMhkBgzT7Ykc5YXUT46F0iKu8SGXq0bcwP5dz/h0Plj6enJqjz1Zbq2l5WaqYnrVbwWOWMyF3F47g==",
+      "dev": true,
+      "engines": {
+        "node": ">=0.10.0"
+      }
+    },
     "node_modules/statuses": {
       "version": "2.0.1",
       "resolved": "https://registry.npmjs.org/statuses/-/statuses-2.0.1.tgz",
@@ -3366,6 +3487,30 @@
         "url": "https://github.com/sponsors/ljharb"
       }
     },
+    "node_modules/terser": {
+      "version": "5.31.0",
+      "resolved": "https://registry.npmjs.org/terser/-/terser-5.31.0.tgz",
+      "integrity": "sha512-Q1JFAoUKE5IMfI4Z/lkE/E6+SwgzO+x4tq4v1AyBLRj8VSYvRO6A/rQrPg1yud4g0En9EKI1TvFRF2tQFcoUkg==",
+      "dev": true,
+      "dependencies": {
+        "@jridgewell/source-map": "^0.3.3",
+        "acorn": "^8.8.2",
+        "commander": "^2.20.0",
+        "source-map-support": "~0.5.20"
+      },
+      "bin": {
+        "terser": "bin/terser"
+      },
+      "engines": {
+        "node": ">=10"
+      }
+    },
+    "node_modules/terser/node_modules/commander": {
+      "version": "2.20.3",
+      "resolved": "https://registry.npmjs.org/commander/-/commander-2.20.3.tgz",
+      "integrity": "sha512-GpVkmM8vF2vQUkj2LvZmD35JxeJOLCwJ9cUkugyk2nuhbv3+mJvpLYYt+0+USMxE+oj+ey/lJEnhZw75x/OMcQ==",
+      "dev": true
+    },
     "node_modules/text-table": {
       "version": "0.2.0",
       "resolved": "https://registry.npmjs.org/text-table/-/text-table-0.2.0.tgz",
diff --git a/package.json b/package.json
index 04e43aa..3d10215 100644
--- a/package.json
+++ b/package.json
@@ -1,6 +1,6 @@
 {
   "name": "wgpu-matrix",
-  "version": "2.9.0",
+  "version": "2.9.1",
   "description": "fast matrix math library for WebGPU",
   "main": "dist/2.x/wgpu-matrix.module.js",
   "module": "dist/2.x/wgpu-matrix.module.js",
@@ -11,9 +11,7 @@
     "test": "test"
   },
   "scripts": {
-    "build": "npm run build-min",
-    "build-normal": "rollup -c && tsc --emitDeclarationOnly --declaration",
-    "build-min": "npm run build-normal && google-closure-compiler --warning_level=VERBOSE --jscomp_off=globalThis --jscomp_off=checkTypes --externs build/externs.js --language_in=ECMASCRIPT_2019 --language_out=ECMASCRIPT_2019 --js dist/2.x/wgpu-matrix.js --js_output_file dist/2.x/wgpu-matrix.min.js && node ./build/tools/append-banner.js dist/2.x/wgpu-matrix.min.js",
+    "build": "rollup -c && tsc --emitDeclarationOnly --declaration",
     "build-ci": "npm run pre-push && node build/tools/prep-for-deploy.js",
     "check": "npm run lint",
     "check-ci": "npm run pre-push",
@@ -48,6 +46,7 @@
   },
   "homepage": "https://github.com/greggman/wgpu-matrix#readme",
   "devDependencies": {
+    "@rollup/plugin-terser": "^0.4.4",
     "@rollup/plugin-typescript": "^11.1.6",
     "@tsconfig/recommended": "^1.0.6",
     "@typescript-eslint/eslint-plugin": "^5.62.0",
diff --git a/rollup.config.js b/rollup.config.js
index 420207b..a201a2d 100644
--- a/rollup.config.js
+++ b/rollup.config.js
@@ -1,4 +1,5 @@
 import typescript from '@rollup/plugin-typescript';
+import terser from '@rollup/plugin-terser';
 import fs from 'fs';
 
 const pkg = JSON.parse(fs.readFileSync('package.json', {encoding: 'utf8'}));
@@ -9,6 +10,11 @@ const plugins = [
     typescript({ tsconfig: './tsconfig.json' }),
 ];
 
+const minPlugins = [
+    ...plugins,
+    terser(),
+];
+
 export default [
     {
         input: 'src/wgpu-matrix.ts',
@@ -37,4 +43,31 @@ export default [
         ],
         plugins,
     },
+    {
+        input: 'src/wgpu-matrix.ts',
+        output: [
+            {
+                file: `dist/${ver}/wgpu-matrix.module.min.js`,
+                format: 'esm',
+                sourcemap: true,
+                banner,
+                freeze: false,
+            },
+        ],
+        plugins: minPlugins,
+    },
+    {
+        input: 'src/wgpu-matrix.ts',
+        output: [
+            {
+                name: 'wgpuMatrix',
+                file: `dist/${ver}/wgpu-matrix.min.js`,
+                format: 'umd',
+                sourcemap: true,
+                banner,
+                freeze: false,
+            },
+        ],
+        plugins: minPlugins,
+    },
 ];