@gltf-transform/functions/dist/functions.cjs.map

Functions for common glTF modifications, written using the core API

{"version":3,"file":"functions.cjs","sources":["../src/utils.ts","../src/center.ts","../src/list-node-scenes.ts","../src/clear-node-parent.ts","../../../node_modules/gl-matrix/esm/common.js","../../../node_modules/gl-matrix/esm/mat4.js","../../../node_modules/gl-matrix/esm/mat3.js","../../../node_modules/gl-matrix/esm/vec3.js","../src/dedup.ts","../../../node_modules/gl-matrix/esm/vec4.js","../src/get-texture-color-space.ts","../src/list-texture-info.ts","../src/list-texture-slots.ts","../src/prune.ts","../src/hash-table.ts","../src/get-vertex-count.ts","../src/compact-primitive.ts","../src/weld.ts","../src/transform-primitive.ts","../src/transform-mesh.ts","../src/clear-node-transform.ts","../src/convert-primitive-mode.ts","../src/dequantize.ts","../src/document-utils.ts","../src/draco.ts","../src/flatten.ts","../src/get-bounds.ts","../src/inspect.ts","../src/instance.ts","../src/join-primitives.ts","../src/join.ts","../src/list-texture-channels.ts","../src/reorder.ts","../src/sort-primitive-weights.ts","../src/quantize.ts","../src/meshopt.ts","../src/metal-rough.ts","../src/unweld.ts","../src/normals.ts","../src/palette.ts","../src/partition.ts","../../../node_modules/keyframe-resample/dist/keyframe-resample-browser.modern.js","../src/resample.ts","../src/sequence.ts","../src/simplify.ts","../src/sparse.ts","../src/texture-compress.ts","../src/tangents.ts","../src/uninstance.ts","../src/unlit.ts","../src/unpartition.ts","../src/unwrap.ts","../src/vertex-color-space.ts"],"sourcesContent":["import type { NdArray } from 'ndarray';\nimport { getPixels, savePixels } from 'ndarray-pixels';\nimport {\n\tAccessor,\n\tDocument,\n\tGLTF,\n\tPrimitive,\n\tProperty,\n\tPropertyType,\n\tTexture,\n\tTransform,\n\tTransformContext,\n\tvec2,\n} from '@gltf-transform/core';\n\nconst { POINTS, LINES, LINE_STRIP, LINE_LOOP, TRIANGLES, TRIANGLE_STRIP, TRIANGLE_FAN } = Primitive.Mode;\n\n/**\n * Prepares a function used in an {@link Document#transform} pipeline. Use of this wrapper is\n * optional, and plain functions may be used in transform pipelines just as well. The wrapper is\n * used internally so earlier pipeline stages can detect and optimize based on later stages.\n * @hidden\n */\nexport function createTransform(name: string, fn: Transform): Transform {\n\tObject.defineProperty(fn, 'name', { value: name });\n\treturn fn;\n}\n\n/** @hidden */\nexport function isTransformPending(context: TransformContext | undefined, initial: string, pending: string): boolean {\n\tif (!context) return false;\n\tconst initialIndex = context.stack.lastIndexOf(initial);\n\tconst pendingIndex = context.stack.lastIndexOf(pending);\n\treturn initialIndex < pendingIndex;\n}\n\n/**\n * Performs a shallow merge on an 'options' object and a 'defaults' object.\n * Equivalent to `{...defaults, ...options}` _except_ that `undefined` values\n * in the 'options' object are ignored.\n *\n * @hidden\n */\nexport function assignDefaults<Defaults, Options>(defaults: Defaults, options: Options): Defaults & Options {\n\tconst result = { ...defaults } as Defaults & Partial<Options>;\n\tfor (const key in options) {\n\t\tif (options[key] !== undefined) {\n\t\t\t// biome-ignore lint/suspicious/noExplicitAny: TODO\n\t\t\tresult[key] = options[key] as any;\n\t\t}\n\t}\n\treturn result as Defaults & Options;\n}\n\n/**\n * Maps pixels from source to target textures, with a per-pixel callback.\n * @hidden\n */\nexport async function rewriteTexture(\n\tsource: Texture,\n\ttarget: Texture,\n\tfn: (pixels: NdArray, i: number, j: number) => void,\n): Promise<Texture | null> {\n\tif (!source) return null;\n\n\tconst srcImage = source.getImage();\n\tif (!srcImage) return null;\n\n\tconst pixels = await getPixels(srcImage, source.getMimeType());\n\n\tfor (let i = 0; i < pixels.shape[0]; ++i) {\n\t\tfor (let j = 0; j < pixels.shape[1]; ++j) {\n\t\t\tfn(pixels, i, j);\n\t\t}\n\t}\n\n\tconst dstImage = await savePixels(pixels, 'image/png');\n\treturn target.setImage(dstImage).setMimeType('image/png');\n}\n\n/** @hidden */\nexport function getGLPrimitiveCount(prim: Primitive): number {\n\tconst indices = prim.getIndices();\n\tconst position = prim.getAttribute('POSITION')!;\n\n\t// Reference: https://www.khronos.org/opengl/wiki/Primitive\n\tswitch (prim.getMode()) {\n\t\tcase Primitive.Mode.POINTS:\n\t\t\treturn indices ? indices.getCount() : position.getCount();\n\t\tcase Primitive.Mode.LINES:\n\t\t\treturn indices ? indices.getCount() / 2 : position.getCount() / 2;\n\t\tcase Primitive.Mode.LINE_LOOP:\n\t\t\treturn indices ? indices.getCount() : position.getCount();\n\t\tcase Primitive.Mode.LINE_STRIP:\n\t\t\treturn indices ? indices.getCount() - 1 : position.getCount() - 1;\n\t\tcase Primitive.Mode.TRIANGLES:\n\t\t\treturn indices ? indices.getCount() / 3 : position.getCount() / 3;\n\t\tcase Primitive.Mode.TRIANGLE_STRIP:\n\t\tcase Primitive.Mode.TRIANGLE_FAN:\n\t\t\treturn indices ? indices.getCount() - 2 : position.getCount() - 2;\n\t\tdefault:\n\t\t\tthrow new Error('Unexpected mode: ' + prim.getMode());\n\t}\n}\n\n/** @hidden */\nexport class SetMap<K, V> {\n\tprivate _map = new Map<K, Set<V>>();\n\tpublic get size(): number {\n\t\treturn this._map.size;\n\t}\n\tpublic has(k: K): boolean {\n\t\treturn this._map.has(k);\n\t}\n\tpublic add(k: K, v: V): this {\n\t\tlet entry = this._map.get(k);\n\t\tif (!entry) {\n\t\t\tentry = new Set();\n\t\t\tthis._map.set(k, entry);\n\t\t}\n\t\tentry.add(v);\n\t\treturn this;\n\t}\n\tpublic get(k: K): Set<V> {\n\t\treturn this._map.get(k) || new Set();\n\t}\n\tpublic keys(): Iterable<K> {\n\t\treturn this._map.keys();\n\t}\n}\n\n/** @hidden */\nexport function formatBytes(bytes: number, decimals = 2): string {\n\tif (bytes === 0) return '0 Bytes';\n\n\tconst k = 1000;\n\tconst dm = decimals < 0 ? 0 : decimals;\n\tconst sizes = ['Bytes', 'KB', 'MB', 'GB', 'TB', 'PB', 'EB', 'ZB', 'YB'];\n\n\tconst i = Math.floor(Math.log(bytes) / Math.log(k));\n\n\treturn parseFloat((bytes / Math.pow(k, i)).toFixed(dm)) + ' ' + sizes[i];\n}\n\nconst _longFormatter = new Intl.NumberFormat(undefined, { maximumFractionDigits: 0 });\n\n/** @hidden */\nexport function formatLong(x: number): string {\n\treturn _longFormatter.format(x);\n}\n\n/** @hidden */\nexport function formatDelta(a: number, b: number, decimals = 2): string {\n\tconst prefix = a > b ? '–' : '+';\n\tconst suffix = '%';\n\treturn prefix + ((Math.abs(a - b) / a) * 100).toFixed(decimals) + suffix;\n}\n\n/** @hidden */\nexport function formatDeltaOp(a: number, b: number) {\n\treturn `${formatLong(a)} → ${formatLong(b)} (${formatDelta(a, b)})`;\n}\n\n/**\n * Returns a list of all unique vertex attributes on the given primitive and\n * its morph targets.\n * @hidden\n */\nexport function deepListAttributes(prim: Primitive): Accessor[] {\n\tconst accessors: Accessor[] = [];\n\n\tfor (const attribute of prim.listAttributes()) {\n\t\taccessors.push(attribute);\n\t}\n\tfor (const target of prim.listTargets()) {\n\t\tfor (const attribute of target.listAttributes()) {\n\t\t\taccessors.push(attribute);\n\t\t}\n\t}\n\n\treturn Array.from(new Set(accessors));\n}\n\n/** @hidden */\nexport function deepSwapAttribute(prim: Primitive, src: Accessor, dst: Accessor): void {\n\tprim.swap(src, dst);\n\tfor (const target of prim.listTargets()) {\n\t\ttarget.swap(src, dst);\n\t}\n}\n\n/** @hidden */\nexport function shallowEqualsArray(a: ArrayLike<unknown> | null, b: ArrayLike<unknown> | null) {\n\tif (a == null && b == null) return true;\n\tif (a == null || b == null) return false;\n\tif (a.length !== b.length) return false;\n\tfor (let i = 0; i < a.length; i++) {\n\t\tif (a[i] !== b[i]) return false;\n\t}\n\treturn true;\n}\n\n/** Clones an {@link Accessor} without creating a copy of its underlying TypedArray data. */\nexport function shallowCloneAccessor(document: Document, accessor: Accessor): Accessor {\n\treturn document\n\t\t.createAccessor(accessor.getName())\n\t\t.setArray(accessor.getArray())\n\t\t.setType(accessor.getType())\n\t\t.setBuffer(accessor.getBuffer())\n\t\t.setNormalized(accessor.getNormalized())\n\t\t.setSparse(accessor.getSparse());\n}\n\n/** @hidden */\nexport function createIndices(count: number, maxIndex = count): Uint16Array | Uint32Array {\n\tconst array = createIndicesEmpty(count, maxIndex);\n\tfor (let i = 0; i < array.length; i++) array[i] = i;\n\treturn array;\n}\n\n/** @hidden */\nexport function createIndicesEmpty(count: number, maxIndex = count): Uint16Array | Uint32Array {\n\treturn maxIndex <= 65534 ? new Uint16Array(count) : new Uint32Array(count);\n}\n\n/** @hidden */\nexport function isUsed(prop: Property): boolean {\n\treturn prop.listParents().some((parent) => parent.propertyType !== PropertyType.ROOT);\n}\n\n/** @hidden */\nexport function isEmptyObject(object: Record<string, unknown>): boolean {\n\tfor (const key in object) return false;\n\treturn true;\n}\n\n/**\n * Creates a unique key associated with the structure and draw call characteristics of\n * a {@link Primitive}, independent of its vertex content. Helper method, used to\n * identify candidate Primitives for joining.\n * @hidden\n */\nexport function createPrimGroupKey(prim: Primitive): string {\n\tconst document = Document.fromGraph(prim.getGraph())!;\n\tconst material = prim.getMaterial();\n\tconst materialIndex = document.getRoot().listMaterials().indexOf(material!);\n\tconst mode = BASIC_MODE_MAPPING[prim.getMode()];\n\tconst indices = !!prim.getIndices();\n\n\tconst attributes = prim\n\t\t.listSemantics()\n\t\t.sort()\n\t\t.map((semantic) => {\n\t\t\tconst attribute = prim.getAttribute(semantic)!;\n\t\t\tconst elementSize = attribute.getElementSize();\n\t\t\tconst componentType = attribute.getComponentType();\n\t\t\treturn `${semantic}:${elementSize}:${componentType}`;\n\t\t})\n\t\t.join('+');\n\n\tconst targets = prim\n\t\t.listTargets()\n\t\t.map((target) => {\n\t\t\treturn target\n\t\t\t\t.listSemantics()\n\t\t\t\t.sort()\n\t\t\t\t.map((semantic) => {\n\t\t\t\t\tconst attribute = prim.getAttribute(semantic)!;\n\t\t\t\t\tconst elementSize = attribute.getElementSize();\n\t\t\t\t\tconst componentType = attribute.getComponentType();\n\t\t\t\t\treturn `${semantic}:${elementSize}:${componentType}`;\n\t\t\t\t})\n\t\t\t\t.join('+');\n\t\t})\n\t\t.join('~');\n\n\treturn `${materialIndex}|${mode}|${indices}|${attributes}|${targets}`;\n}\n\n/**\n * Scales `size` NxN dimensions to fit within `limit` NxN dimensions, without\n * changing aspect ratio. If `size` <= `limit` in all dimensions, returns `size`.\n * @hidden\n */\nexport function fitWithin(size: vec2, limit: vec2): vec2 {\n\tconst [maxWidth, maxHeight] = limit;\n\tconst [srcWidth, srcHeight] = size;\n\n\tif (srcWidth <= maxWidth && srcHeight <= maxHeight) return size;\n\n\tlet dstWidth = srcWidth;\n\tlet dstHeight = srcHeight;\n\n\tif (dstWidth > maxWidth) {\n\t\tdstHeight = Math.floor(dstHeight * (maxWidth / dstWidth));\n\t\tdstWidth = maxWidth;\n\t}\n\n\tif (dstHeight > maxHeight) {\n\t\tdstWidth = Math.floor(dstWidth * (maxHeight / dstHeight));\n\t\tdstHeight = maxHeight;\n\t}\n\n\treturn [dstWidth, dstHeight];\n}\n\ntype ResizePreset = 'nearest-pot' | 'ceil-pot' | 'floor-pot';\n\n/**\n * Scales `size` NxN dimensions to the specified power of two.\n * @hidden\n */\nexport function fitPowerOfTwo(size: vec2, method: ResizePreset): vec2 {\n\tif (isPowerOfTwo(size[0]) && isPowerOfTwo(size[1])) {\n\t\treturn size;\n\t}\n\n\tswitch (method) {\n\t\tcase 'nearest-pot':\n\t\t\treturn size.map(nearestPowerOfTwo) as vec2;\n\t\tcase 'ceil-pot':\n\t\t\treturn size.map(ceilPowerOfTwo) as vec2;\n\t\tcase 'floor-pot':\n\t\t\treturn size.map(floorPowerOfTwo) as vec2;\n\t}\n}\n\nfunction isPowerOfTwo(value: number): boolean {\n\tif (value <= 2) return true;\n\treturn (value & (value - 1)) === 0 && value !== 0;\n}\n\nfunction nearestPowerOfTwo(value: number): number {\n\tif (value <= 4) return 4;\n\n\tconst lo = floorPowerOfTwo(value);\n\tconst hi = ceilPowerOfTwo(value);\n\n\tif (hi - value > value - lo) return lo;\n\treturn hi;\n}\n\nexport function floorPowerOfTwo(value: number): number {\n\treturn Math.pow(2, Math.floor(Math.log(value) / Math.LN2));\n}\n\nexport function ceilPowerOfTwo(value: number): number {\n\treturn Math.pow(2, Math.ceil(Math.log(value) / Math.LN2));\n}\n\n/**\n * Mapping from any glTF primitive mode to its equivalent basic mode, as returned by\n * {@link convertPrimitiveMode}.\n * @hidden\n */\nexport const BASIC_MODE_MAPPING = {\n\t[POINTS]: POINTS,\n\t[LINES]: LINES,\n\t[LINE_STRIP]: LINES,\n\t[LINE_LOOP]: LINES,\n\t[TRIANGLES]: TRIANGLES,\n\t[TRIANGLE_STRIP]: TRIANGLES,\n\t[TRIANGLE_FAN]: TRIANGLES,\n} as Record<GLTF.MeshPrimitiveMode, GLTF.MeshPrimitiveMode>;\n","import type { Document, Transform, vec3 } from '@gltf-transform/core';\nimport { getBounds } from '@gltf-transform/core';\nimport { assignDefaults, createTransform } from './utils.js';\n\nconst NAME = 'center';\n\n/** Options for the {@link center} function. */\nexport interface CenterOptions {\n\t/** Location on the model to be considered the pivot, and recentered at the origin. */\n\tpivot?: 'center' | 'above' | 'below' | vec3;\n}\n\nconst CENTER_DEFAULTS: Required<CenterOptions> = { pivot: 'center' };\n\n/**\n * Centers the {@link Scene} at the origin, or above/below it. Transformations from animation,\n * skinning, and morph targets are not taken into account.\n *\n * Example:\n *\n * ```ts\n * await document.transform(center({pivot: 'below'}));\n * ```\n *\n * @category Transforms\n */\nexport function center(_options: CenterOptions = CENTER_DEFAULTS): Transform {\n\tconst options = assignDefaults(CENTER_DEFAULTS, _options);\n\n\treturn createTransform(NAME, (doc: Document): void => {\n\t\tconst logger = doc.getLogger();\n\t\tconst root = doc.getRoot();\n\t\tconst isAnimated = root.listAnimations().length > 0 || root.listSkins().length > 0;\n\n\t\tdoc.getRoot()\n\t\t\t.listScenes()\n\t\t\t.forEach((scene, index) => {\n\t\t\t\tlogger.debug(`${NAME}: Scene ${index + 1} / ${root.listScenes().length}.`);\n\n\t\t\t\tlet pivot: vec3;\n\t\t\t\tif (typeof options.pivot === 'string') {\n\t\t\t\t\tconst bbox = getBounds(scene);\n\t\t\t\t\tpivot = [\n\t\t\t\t\t\t(bbox.max[0] - bbox.min[0]) / 2 + bbox.min[0],\n\t\t\t\t\t\t(bbox.max[1] - bbox.min[1]) / 2 + bbox.min[1],\n\t\t\t\t\t\t(bbox.max[2] - bbox.min[2]) / 2 + bbox.min[2],\n\t\t\t\t\t];\n\t\t\t\t\tif (options.pivot === 'above') pivot[1] = bbox.max[1];\n\t\t\t\t\tif (options.pivot === 'below') pivot[1] = bbox.min[1];\n\t\t\t\t} else {\n\t\t\t\t\tpivot = options.pivot as vec3;\n\t\t\t\t}\n\n\t\t\t\tlogger.debug(`${NAME}: Pivot \"${pivot.join(', ')}\".`);\n\n\t\t\t\tconst offset: vec3 = [-1 * pivot[0], -1 * pivot[1], -1 * pivot[2]];\n\n\t\t\t\tif (isAnimated) {\n\t\t\t\t\tlogger.debug(`${NAME}: Model contains animation or skin. Adding a wrapper node.`);\n\t\t\t\t\tconst offsetNode = doc.createNode('Pivot').setTranslation(offset);\n\t\t\t\t\tscene.listChildren().forEach((child) => offsetNode.addChild(child));\n\t\t\t\t\tscene.addChild(offsetNode);\n\t\t\t\t} else {\n\t\t\t\t\tlogger.debug(`${NAME}: Skipping wrapper, offsetting all root nodes.`);\n\t\t\t\t\tscene.listChildren().forEach((child) => {\n\t\t\t\t\t\tconst t = child.getTranslation();\n\t\t\t\t\t\tchild.setTranslation([t[0] + offset[0], t[1] + offset[1], t[2] + offset[2]]);\n\t\t\t\t\t});\n\t\t\t\t}\n\t\t\t});\n\n\t\tlogger.debug(`${NAME}: Complete.`);\n\t});\n}\n","import { Node, Scene } from '@gltf-transform/core';\n\n/**\n * Finds the parent {@link Scene Scenes} associated with the given {@link Node}.\n * In most cases a Node is associated with only one Scene, but it is possible\n * for a Node to be located in two or more Scenes, or none at all.\n *\n * Example:\n *\n * ```typescript\n * import { listNodeScenes } from '@gltf-transform/functions';\n *\n * const node = document.getRoot().listNodes()\n *  .find((node) => node.getName() === 'MyNode');\n *\n * const scenes = listNodeScenes(node);\n * ```\n */\nexport function listNodeScenes(node: Node): Scene[] {\n\tconst visited = new Set<Node>();\n\n\tlet child = node;\n\tlet parent: Node | null;\n\n\twhile ((parent = child.getParentNode() as Node | null)) {\n\t\tif (visited.has(parent)) {\n\t\t\tthrow new Error('Circular dependency in scene graph.');\n\t\t}\n\t\tvisited.add(parent);\n\t\tchild = parent;\n\t}\n\n\treturn child.listParents().filter((parent) => parent instanceof Scene) as Scene[];\n}\n","import type { Node } from '@gltf-transform/core';\nimport { listNodeScenes } from './list-node-scenes.js';\n\n/**\n * Clears the parent of the given {@link Node}, leaving it attached\n * directly to its {@link Scene}. Inherited transforms will be applied\n * to the Node. This operation changes the Node's local transform,\n * but leaves its world transform unchanged.\n *\n * Example:\n *\n * ```typescript\n * import { clearNodeParent } from '@gltf-transform/functions';\n *\n * scene.traverse((node) => { ... }); // Scene → … → Node\n *\n * clearNodeParent(node);\n *\n * scene.traverse((node) => { ... }); // Scene → Node\n * ```\n *\n * To clear _all_ transforms of a Node, first clear its inherited transforms with\n * {@link clearNodeParent}, then clear the local transform with {@link clearNodeTransform}.\n */\nexport function clearNodeParent(node: Node): Node {\n\tconst scenes = listNodeScenes(node);\n\tconst parent = node.getParentNode();\n\n\tif (!parent) return node;\n\n\t// Apply inherited transforms to local matrix. Skinned meshes are not affected\n\t// by the node parent's transform, and can be ignored. Updates to IBMs and TRS\n\t// animations are out of scope in this context.\n\tnode.setMatrix(node.getWorldMatrix());\n\n\t// Add to Scene roots.\n\tparent.removeChild(node);\n\tfor (const scene of scenes) scene.addChild(node);\n\n\treturn node;\n}\n","/**\n * Common utilities\n * @module glMatrix\n */\n// Configuration Constants\nexport var EPSILON = 0.000001;\nexport var ARRAY_TYPE = typeof Float32Array !== 'undefined' ? Float32Array : Array;\nexport var RANDOM = Math.random;\n/**\n * Sets the type of array used when creating new vectors and matrices\n *\n * @param {Float32ArrayConstructor | ArrayConstructor} type Array type, such as Float32Array or Array\n */\n\nexport function setMatrixArrayType(type) {\n  ARRAY_TYPE = type;\n}\nvar degree = Math.PI / 180;\n/**\n * Convert Degree To Radian\n *\n * @param {Number} a Angle in Degrees\n */\n\nexport function toRadian(a) {\n  return a * degree;\n}\n/**\n * Tests whether or not the arguments have approximately the same value, within an absolute\n * or relative tolerance of glMatrix.EPSILON (an absolute tolerance is used for values less\n * than or equal to 1.0, and a relative tolerance is used for larger values)\n *\n * @param {Number} a The first number to test.\n * @param {Number} b The second number to test.\n * @returns {Boolean} True if the numbers are approximately equal, false otherwise.\n */\n\nexport function equals(a, b) {\n  return Math.abs(a - b) <= EPSILON * Math.max(1.0, Math.abs(a), Math.abs(b));\n}\nif (!Math.hypot) Math.hypot = function () {\n  var y = 0,\n      i = arguments.length;\n\n  while (i--) {\n    y += arguments[i] * arguments[i];\n  }\n\n  return Math.sqrt(y);\n};","import * as glMatrix from \"./common.js\";\n/**\n * 4x4 Matrix<br>Format: column-major, when typed out it looks like row-major<br>The matrices are being post multiplied.\n * @module mat4\n */\n\n/**\n * Creates a new identity mat4\n *\n * @returns {mat4} a new 4x4 matrix\n */\n\nexport function create() {\n  var out = new glMatrix.ARRAY_TYPE(16);\n\n  if (glMatrix.ARRAY_TYPE != Float32Array) {\n    out[1] = 0;\n    out[2] = 0;\n    out[3] = 0;\n    out[4] = 0;\n    out[6] = 0;\n    out[7] = 0;\n    out[8] = 0;\n    out[9] = 0;\n    out[11] = 0;\n    out[12] = 0;\n    out[13] = 0;\n    out[14] = 0;\n  }\n\n  out[0] = 1;\n  out[5] = 1;\n  out[10] = 1;\n  out[15] = 1;\n  return out;\n}\n/**\n * Creates a new mat4 initialized with values from an existing matrix\n *\n * @param {ReadonlyMat4} a matrix to clone\n * @returns {mat4} a new 4x4 matrix\n */\n\nexport function clone(a) {\n  var out = new glMatrix.ARRAY_TYPE(16);\n  out[0] = a[0];\n  out[1] = a[1];\n  out[2] = a[2];\n  out[3] = a[3];\n  out[4] = a[4];\n  out[5] = a[5];\n  out[6] = a[6];\n  out[7] = a[7];\n  out[8] = a[8];\n  out[9] = a[9];\n  out[10] = a[10];\n  out[11] = a[11];\n  out[12] = a[12];\n  out[13] = a[13];\n  out[14] = a[14];\n  out[15] = a[15];\n  return out;\n}\n/**\n * Copy the values from one mat4 to another\n *\n * @param {mat4} out the receiving matrix\n * @param {ReadonlyMat4} a the source matrix\n * @returns {mat4} out\n */\n\nexport function copy(out, a) {\n  out[0] = a[0];\n  out[1] = a[1];\n  out[2] = a[2];\n  out[3] = a[3];\n  out[4] = a[4];\n  out[5] = a[5];\n  out[6] = a[6];\n  out[7] = a[7];\n  out[8] = a[8];\n  out[9] = a[9];\n  out[10] = a[10];\n  out[11] = a[11];\n  out[12] = a[12];\n  out[13] = a[13];\n  out[14] = a[14];\n  out[15] = a[15];\n  return out;\n}\n/**\n * Create a new mat4 with the given values\n *\n * @param {Number} m00 Component in column 0, row 0 position (index 0)\n * @param {Number} m01 Component in column 0, row 1 position (index 1)\n * @param {Number} m02 Component in column 0, row 2 position (index 2)\n * @param {Number} m03 Component in column 0, row 3 position (index 3)\n * @param {Number} m10 Component in column 1, row 0 position (index 4)\n * @param {Number} m11 Component in column 1, row 1 position (index 5)\n * @param {Number} m12 Component in column 1, row 2 position (index 6)\n * @param {Number} m13 Component in column 1, row 3 position (index 7)\n * @param {Number} m20 Component in column 2, row 0 position (index 8)\n * @param {Number} m21 Component in column 2, row 1 position (index 9)\n * @param {Number} m22 Component in column 2, row 2 position (index 10)\n * @param {Number} m23 Component in column 2, row 3 position (index 11)\n * @param {Number} m30 Component in column 3, row 0 position (index 12)\n * @param {Number} m31 Component in column 3, row 1 position (index 13)\n * @param {Number} m32 Component in column 3, row 2 position (index 14)\n * @param {Number} m33 Component in column 3, row 3 position (index 15)\n * @returns {mat4} A new mat4\n */\n\nexport function fromValues(m00, m01, m02, m03, m10, m11, m12, m13, m20, m21, m22, m23, m30, m31, m32, m33) {\n  var out = new glMatrix.ARRAY_TYPE(16);\n  out[0] = m00;\n  out[1] = m01;\n  out[2] = m02;\n  out[3] = m03;\n  out[4] = m10;\n  out[5] = m11;\n  out[6] = m12;\n  out[7] = m13;\n  out[8] = m20;\n  out[9] = m21;\n  out[10] = m22;\n  out[11] = m23;\n  out[12] = m30;\n  out[13] = m31;\n  out[14] = m32;\n  out[15] = m33;\n  return out;\n}\n/**\n * Set the components of a mat4 to the given values\n *\n * @param {mat4} out the receiving matrix\n * @param {Number} m00 Component in column 0, row 0 position (index 0)\n * @param {Number} m01 Component in column 0, row 1 position (index 1)\n * @param {Number} m02 Component in column 0, row 2 position (index 2)\n * @param {Number} m03 Component in column 0, row 3 position (index 3)\n * @param {Number} m10 Component in column 1, row 0 position (index 4)\n * @param {Number} m11 Component in column 1, row 1 position (index 5)\n * @param {Number} m12 Component in column 1, row 2 position (index 6)\n * @param {Number} m13 Component in column 1, row 3 position (index 7)\n * @param {Number} m20 Component in column 2, row 0 position (index 8)\n * @param {Number} m21 Component in column 2, row 1 position (index 9)\n * @param {Number} m22 Component in column 2, row 2 position (index 10)\n * @param {Number} m23 Component in column 2, row 3 position (index 11)\n * @param {Number} m30 Component in column 3, row 0 position (index 12)\n * @param {Number} m31 Component in column 3, row 1 position (index 13)\n * @param {Number} m32 Component in column 3, row 2 position (index 14)\n * @param {Number} m33 Component in column 3, row 3 position (index 15)\n * @returns {mat4} out\n */\n\nexport function set(out, m00, m01, m02, m03, m10, m11, m12, m13, m20, m21, m22, m23, m30, m31, m32, m33) {\n  out[0] = m00;\n  out[1] = m01;\n  out[2] = m02;\n  out[3] = m03;\n  out[4] = m10;\n  out[5] = m11;\n  out[6] = m12;\n  out[7] = m13;\n  out[8] = m20;\n  out[9] = m21;\n  out[10] = m22;\n  out[11] = m23;\n  out[12] = m30;\n  out[13] = m31;\n  out[14] = m32;\n  out[15] = m33;\n  return out;\n}\n/**\n * Set a mat4 to the identity matrix\n *\n * @param {mat4} out the receiving matrix\n * @returns {mat4} out\n */\n\nexport function identity(out) {\n  out[0] = 1;\n  out[1] = 0;\n  out[2] = 0;\n  out[3] = 0;\n  out[4] = 0;\n  out[5] = 1;\n  out[6] = 0;\n  out[7] = 0;\n  out[8] = 0;\n  out[9] = 0;\n  out[10] = 1;\n  out[11] = 0;\n  out[12] = 0;\n  out[13] = 0;\n  out[14] = 0;\n  out[15] = 1;\n  return out;\n}\n/**\n * Transpose the values of a mat4\n *\n * @param {mat4} out the receiving matrix\n * @param {ReadonlyMat4} a the source matrix\n * @returns {mat4} out\n */\n\nexport function transpose(out, a) {\n  // If we are transposing ourselves we can skip a few steps but have to cache some values\n  if (out === a) {\n    var a01 = a[1],\n        a02 = a[2],\n        a03 = a[3];\n    var a12 = a[6],\n        a13 = a[7];\n    var a23 = a[11];\n    out[1] = a[4];\n    out[2] = a[8];\n    out[3] = a[12];\n    out[4] = a01;\n    out[6] = a[9];\n    out[7] = a[13];\n    out[8] = a02;\n    out[9] = a12;\n    out[11] = a[14];\n    out[12] = a03;\n    out[13] = a13;\n    out[14] = a23;\n  } else {\n    out[0] = a[0];\n    out[1] = a[4];\n    out[2] = a[8];\n    out[3] = a[12];\n    out[4] = a[1];\n    out[5] = a[5];\n    out[6] = a[9];\n    out[7] = a[13];\n    out[8] = a[2];\n    out[9] = a[6];\n    out[10] = a[10];\n    out[11] = a[14];\n    out[12] = a[3];\n    out[13] = a[7];\n    out[14] = a[11];\n    out[15] = a[15];\n  }\n\n  return out;\n}\n/**\n * Inverts a mat4\n *\n * @param {mat4} out the receiving matrix\n * @param {ReadonlyMat4} a the source matrix\n * @returns {mat4} out\n */\n\nexport function invert(out, a) {\n  var a00 = a[0],\n      a01 = a[1],\n      a02 = a[2],\n      a03 = a[3];\n  var a10 = a[4],\n      a11 = a[5],\n      a12 = a[6],\n      a13 = a[7];\n  var a20 = a[8],\n      a21 = a[9],\n      a22 = a[10],\n      a23 = a[11];\n  var a30 = a[12],\n      a31 = a[13],\n      a32 = a[14],\n      a33 = a[15];\n  var b00 = a00 * a11 - a01 * a10;\n  var b01 = a00 * a12 - a02 * a10;\n  var b02 = a00 * a13 - a03 * a10;\n  var b03 = a01 * a12 - a02 * a11;\n  var b04 = a01 * a13 - a03 * a11;\n  var b05 = a02 * a13 - a03 * a12;\n  var b06 = a20 * a31 - a21 * a30;\n  var b07 = a20 * a32 - a22 * a30;\n  var b08 = a20 * a33 - a23 * a30;\n  var b09 = a21 * a32 - a22 * a31;\n  var b10 = a21 * a33 - a23 * a31;\n  var b11 = a22 * a33 - a23 * a32; // Calculate the determinant\n\n  var det = b00 * b11 - b01 * b10 + b02 * b09 + b03 * b08 - b04 * b07 + b05 * b06;\n\n  if (!det) {\n    return null;\n  }\n\n  det = 1.0 / det;\n  out[0] = (a11 * b11 - a12 * b10 + a13 * b09) * det;\n  out[1] = (a02 * b10 - a01 * b11 - a03 * b09) * det;\n  out[2] = (a31 * b05 - a32 * b04 + a33 * b03) * det;\n  out[3] = (a22 * b04 - a21 * b05 - a23 * b03) * det;\n  out[4] = (a12 * b08 - a10 * b11 - a13 * b07) * det;\n  out[5] = (a00 * b11 - a02 * b08 + a03 * b07) * det;\n  out[6] = (a32 * b02 - a30 * b05 - a33 * b01) * det;\n  out[7] = (a20 * b05 - a22 * b02 + a23 * b01) * det;\n  out[8] = (a10 * b10 - a11 * b08 + a13 * b06) * det;\n  out[9] = (a01 * b08 - a00 * b10 - a03 * b06) * det;\n  out[10] = (a30 * b04 - a31 * b02 + a33 * b00) * det;\n  out[11] = (a21 * b02 - a20 * b04 - a23 * b00) * det;\n  out[12] = (a11 * b07 - a10 * b09 - a12 * b06) * det;\n  out[13] = (a00 * b09 - a01 * b07 + a02 * b06) * det;\n  out[14] = (a31 * b01 - a30 * b03 - a32 * b00) * det;\n  out[15] = (a20 * b03 - a21 * b01 + a22 * b00) * det;\n  return out;\n}\n/**\n * Calculates the adjugate of a mat4\n *\n * @param {mat4} out the receiving matrix\n * @param {ReadonlyMat4} a the source matrix\n * @returns {mat4} out\n */\n\nexport function adjoint(out, a) {\n  var a00 = a[0],\n      a01 = a[1],\n      a02 = a[2],\n      a03 = a[3];\n  var a10 = a[4],\n      a11 = a[5],\n      a12 = a[6],\n      a13 = a[7];\n  var a20 = a[8],\n      a21 = a[9],\n      a22 = a[10],\n      a23 = a[11];\n  var a30 = a[12],\n      a31 = a[13],\n      a32 = a[14],\n      a33 = a[15];\n  out[0] = a11 * (a22 * a33 - a23 * a32) - a21 * (a12 * a33 - a13 * a32) + a31 * (a12 * a23 - a13 * a22);\n  out[1] = -(a01 * (a22 * a33 - a23 * a32) - a21 * (a02 * a33 - a03 * a32) + a31 * (a02 * a23 - a03 * a22));\n  out[2] = a01 * (a12 * a33 - a13 * a32) - a11 * (a02 * a33 - a03 * a32) + a31 * (a02 * a13 - a03 * a12);\n  out[3] = -(a01 * (a12 * a23 - a13 * a22) - a11 * (a02 * a23 - a03 * a22) + a21 * (a02 * a13 - a03 * a12));\n  out[4] = -(a10 * (a22 * a33 - a23 * a32) - a20 * (a12 * a33 - a13 * a32) + a30 * (a12 * a23 - a13 * a22));\n  out[5] = a00 * (a22 * a33 - a23 * a32) - a20 * (a02 * a33 - a03 * a32) + a30 * (a02 * a23 - a03 * a22);\n  out[6] = -(a00 * (a12 * a33 - a13 * a32) - a10 * (a02 * a33 - a03 * a32) + a30 * (a02 * a13 - a03 * a12));\n  out[7] = a00 * (a12 * a23 - a13 * a22) - a10 * (a02 * a23 - a03 * a22) + a20 * (a02 * a13 - a03 * a12);\n  out[8] = a10 * (a21 * a33 - a23 * a31) - a20 * (a11 * a33 - a13 * a31) + a30 * (a11 * a23 - a13 * a21);\n  out[9] = -(a00 * (a21 * a33 - a23 * a31) - a20 * (a01 * a33 - a03 * a31) + a30 * (a01 * a23 - a03 * a21));\n  out[10] = a00 * (a11 * a33 - a13 * a31) - a10 * (a01 * a33 - a03 * a31) + a30 * (a01 * a13 - a03 * a11);\n  out[11] = -(a00 * (a11 * a23 - a13 * a21) - a10 * (a01 * a23 - a03 * a21) + a20 * (a01 * a13 - a03 * a11));\n  out[12] = -(a10 * (a21 * a32 - a22 * a31) - a20 * (a11 * a32 - a12 * a31) + a30 * (a11 * a22 - a12 * a21));\n  out[13] = a00 * (a21 * a32 - a22 * a31) - a20 * (a01 * a32 - a02 * a31) + a30 * (a01 * a22 - a02 * a21);\n  out[14] = -(a00 * (a11 * a32 - a12 * a31) - a10 * (a01 * a32 - a02 * a31) + a30 * (a01 * a12 - a02 * a11));\n  out[15] = a00 * (a11 * a22 - a12 * a21) - a10 * (a01 * a22 - a02 * a21) + a20 * (a01 * a12 - a02 * a11);\n  return out;\n}\n/**\n * Calculates the determinant of a mat4\n *\n * @param {ReadonlyMat4} a the source matrix\n * @returns {Number} determinant of a\n */\n\nexport function determinant(a) {\n  var a00 = a[0],\n      a01 = a[1],\n      a02 = a[2],\n      a03 = a[3];\n  var a10 = a[4],\n      a11 = a[5],\n      a12 = a[6],\n      a13 = a[7];\n  var a20 = a[8],\n      a21 = a[9],\n      a22 = a[10],\n      a23 = a[11];\n  var a30 = a[12],\n      a31 = a[13],\n      a32 = a[14],\n      a33 = a[15];\n  var b00 = a00 * a11 - a01 * a10;\n  var b01 = a00 * a12 - a02 * a10;\n  var b02 = a00 * a13 - a03 * a10;\n  var b03 = a01 * a12 - a02 * a11;\n  var b04 = a01 * a13 - a03 * a11;\n  var b05 = a02 * a13 - a03 * a12;\n  var b06 = a20 * a31 - a21 * a30;\n  var b07 = a20 * a32 - a22 * a30;\n  var b08 = a20 * a33 - a23 * a30;\n  var b09 = a21 * a32 - a22 * a31;\n  var b10 = a21 * a33 - a23 * a31;\n  var b11 = a22 * a33 - a23 * a32; // Calculate the determinant\n\n  return b00 * b11 - b01 * b10 + b02 * b09 + b03 * b08 - b04 * b07 + b05 * b06;\n}\n/**\n * Multiplies two mat4s\n *\n * @param {mat4} out the receiving matrix\n * @param {ReadonlyMat4} a the first operand\n * @param {ReadonlyMat4} b the second operand\n * @returns {mat4} out\n */\n\nexport function multiply(out, a, b) {\n  var a00 = a[0],\n      a01 = a[1],\n      a02 = a[2],\n      a03 = a[3];\n  var a10 = a[4],\n      a11 = a[5],\n      a12 = a[6],\n      a13 = a[7];\n  var a20 = a[8],\n      a21 = a[9],\n      a22 = a[10],\n      a23 = a[11];\n  var a30 = a[12],\n      a31 = a[13],\n      a32 = a[14],\n      a33 = a[15]; // Cache only the current line of the second matrix\n\n  var b0 = b[0],\n      b1 = b[1],\n      b2 = b[2],\n      b3 = b[3];\n  out[0] = b0 * a00 + b1 * a10 + b2 * a20 + b3 * a30;\n  out[1] = b0 * a01 + b1 * a11 + b2 * a21 + b3 * a31;\n  out[2] = b0 * a02 + b1 * a12 + b2 * a22 + b3 * a32;\n  out[3] = b0 * a03 + b1 * a13 + b2 * a23 + b3 * a33;\n  b0 = b[4];\n  b1 = b[5];\n  b2 = b[6];\n  b3 = b[7];\n  out[4] = b0 * a00 + b1 * a10 + b2 * a20 + b3 * a30;\n  out[5] = b0 * a01 + b1 * a11 + b2 * a21 + b3 * a31;\n  out[6] = b0 * a02 + b1 * a12 + b2 * a22 + b3 * a32;\n  out[7] = b0 * a03 + b1 * a13 + b2 * a23 + b3 * a33;\n  b0 = b[8];\n  b1 = b[9];\n  b2 = b[10];\n  b3 = b[11];\n  out[8] = b0 * a00 + b1 * a10 + b2 * a20 + b3 * a30;\n  out[9] = b0 * a01 + b1 * a11 + b2 * a21 + b3 * a31;\n  out[10] = b0 * a02 + b1 * a12 + b2 * a22 + b3 * a32;\n  out[11] = b0 * a03 + b1 * a13 + b2 * a23 + b3 * a33;\n  b0 = b[12];\n  b1 = b[13];\n  b2 = b[14];\n  b3 = b[15];\n  out[12] = b0 * a00 + b1 * a10 + b2 * a20 + b3 * a30;\n  out[13] = b0 * a01 + b1 * a11 + b2 * a21 + b3 * a31;\n  out[14] = b0 * a02 + b1 * a12 + b2 * a22 + b3 * a32;\n  out[15] = b0 * a03 + b1 * a13 + b2 * a23 + b3 * a33;\n  return out;\n}\n/**\n * Translate a mat4 by the given vector\n *\n * @param {mat4} out the receiving matrix\n * @param {ReadonlyMat4} a the matrix to translate\n * @param {ReadonlyVec3} v vector to translate by\n * @returns {mat4} out\n */\n\nexport function translate(out, a, v) {\n  var x = v[0],\n      y = v[1],\n      z = v[2];\n  var a00, a01, a02, a03;\n  var a10, a11, a12, a13;\n  var a20, a21, a22, a23;\n\n  if (a === out) {\n    out[12] = a[0] * x + a[4] * y + a[8] * z + a[12];\n    out[13] = a[1] * x + a[5] * y + a[9] * z + a[13];\n    out[14] = a[2] * x + a[6] * y + a[10] * z + a[14];\n    out[15] = a[3] * x + a[7] * y + a[11] * z + a[15];\n  } else {\n    a00 = a[0];\n    a01 = a[1];\n    a02 = a[2];\n    a03 = a[3];\n    a10 = a[4];\n    a11 = a[5];\n    a12 = a[6];\n    a13 = a[7];\n    a20 = a[8];\n    a21 = a[9];\n    a22 = a[10];\n    a23 = a[11];\n    out[0] = a00;\n    out[1] = a01;\n    out[2] = a02;\n    out[3] = a03;\n    out[4] = a10;\n    out[5] = a11;\n    out[6] = a12;\n    out[7] = a13;\n    out[8] = a20;\n    out[9] = a21;\n    out[10] = a22;\n    out[11] = a23;\n    out[12] = a00 * x + a10 * y + a20 * z + a[12];\n    out[13] = a01 * x + a11 * y + a21 * z + a[13];\n    out[14] = a02 * x + a12 * y + a22 * z + a[14];\n    out[15] = a03 * x + a13 * y + a23 * z + a[15];\n  }\n\n  return out;\n}\n/**\n * Scales the mat4 by the dimensions in the given vec3 not using vectorization\n *\n * @param {mat4} out the receiving matrix\n * @param {ReadonlyMat4} a the matrix to scale\n * @param {ReadonlyVec3} v the vec3 to scale the matrix by\n * @returns {mat4} out\n **/\n\nexport function scale(out, a, v) {\n  var x = v[0],\n      y = v[1],\n      z = v[2];\n  out[0] = a[0] * x;\n  out[1] = a[1] * x;\n  out[2] = a[2] * x;\n  out[3] = a[3] * x;\n  out[4] = a[4] * y;\n  out[5] = a[5] * y;\n  out[6] = a[6] * y;\n  out[7] = a[7] * y;\n  out[8] = a[8] * z;\n  out[9] = a[9] * z;\n  out[10] = a[10] * z;\n  out[11] = a[11] * z;\n  out[12] = a[12];\n  out[13] = a[13];\n  out[14] = a[14];\n  out[15] = a[15];\n  return out;\n}\n/**\n * Rotates a mat4 by the given angle around the given axis\n *\n * @param {mat4} out the receiving matrix\n * @param {ReadonlyMat4} a the matrix to rotate\n * @param {Number} rad the angle to rotate the matrix by\n * @param {ReadonlyVec3} axis the axis to rotate around\n * @returns {mat4} out\n */\n\nexport function rotate(out, a, rad, axis) {\n  var x = axis[0],\n      y = axis[1],\n      z = axis[2];\n  var len = Math.hypot(x, y, z);\n  var s, c, t;\n  var a00, a01, a02, a03;\n  var a10, a11, a12, a13;\n  var a20, a21, a22, a23;\n  var b00, b01, b02;\n  var b10, b11, b12;\n  var b20, b21, b22;\n\n  if (len < glMatrix.EPSILON) {\n    return null;\n  }\n\n  len = 1 / len;\n  x *= len;\n  y *= len;\n  z *= len;\n  s = Math.sin(rad);\n  c = Math.cos(rad);\n  t = 1 - c;\n  a00 = a[0];\n  a01 = a[1];\n  a02 = a[2];\n  a03 = a[3];\n  a10 = a[4];\n  a11 = a[5];\n  a12 = a[6];\n  a13 = a[7];\n  a20 = a[8];\n  a21 = a[9];\n  a22 = a[10];\n  a23 = a[11]; // Construct the elements of the rotation matrix\n\n  b00 = x * x * t + c;\n  b01 = y * x * t + z * s;\n  b02 = z * x * t - y * s;\n  b10 = x * y * t - z * s;\n  b11 = y * y * t + c;\n  b12 = z * y * t + x * s;\n  b20 = x * z * t + y * s;\n  b21 = y * z * t - x * s;\n  b22 = z * z * t + c; // Perform rotation-specific matrix multiplication\n\n  out[0] = a00 * b00 + a10 * b01 + a20 * b02;\n  out[1] = a01 * b00 + a11 * b01 + a21 * b02;\n  out[2] = a02 * b00 + a12 * b01 + a22 * b02;\n  out[3] = a03 * b00 + a13 * b01 + a23 * b02;\n  out[4] = a00 * b10 + a10 * b11 + a20 * b12;\n  out[5] = a01 * b10 + a11 * b11 + a21 * b12;\n  out[6] = a02 * b10 + a12 * b11 + a22 * b12;\n  out[7] = a03 * b10 + a13 * b11 + a23 * b12;\n  out[8] = a00 * b20 + a10 * b21 + a20 * b22;\n  out[9] = a01 * b20 + a11 * b21 + a21 * b22;\n  out[10] = a02 * b20 + a12 * b21 + a22 * b22;\n  out[11] = a03 * b20 + a13 * b21 + a23 * b22;\n\n  if (a !== out) {\n    // If the source and destination differ, copy the unchanged last row\n    out[12] = a[12];\n    out[13] = a[13];\n    out[14] = a[14];\n    out[15] = a[15];\n  }\n\n  return out;\n}\n/**\n * Rotates a matrix by the given angle around the X axis\n *\n * @param {mat4} out the receiving matrix\n * @param {ReadonlyMat4} a the matrix to rotate\n * @param {Number} rad the angle to rotate the matrix by\n * @returns {mat4} out\n */\n\nexport function rotateX(out, a, rad) {\n  var s = Math.sin(rad);\n  var c = Math.cos(rad);\n  var a10 = a[4];\n  var a11 = a[5];\n  var a12 = a[6];\n  var a13 = a[7];\n  var a20 = a[8];\n  var a21 = a[9];\n  var a22 = a[10];\n  var a23 = a[11];\n\n  if (a !== out) {\n    // If the source and destination differ, copy the unchanged rows\n    out[0] = a[0];\n    out[1] = a[1];\n    out[2] = a[2];\n    out[3] = a[3];\n    out[12] = a[12];\n    out[13] = a[13];\n    out[14] = a[14];\n    out[15] = a[15];\n  } // Perform axis-specific matrix multiplication\n\n\n  out[4] = a10 * c + a20 * s;\n  out[5] = a11 * c + a21 * s;\n  out[6] = a12 * c + a22 * s;\n  out[7] = a13 * c + a23 * s;\n  out[8] = a20 * c - a10 * s;\n  out[9] = a21 * c - a11 * s;\n  out[10] = a22 * c - a12 * s;\n  out[11] = a23 * c - a13 * s;\n  return out;\n}\n/**\n * Rotates a matrix by the given angle around the Y axis\n *\n * @param {mat4} out the receiving matrix\n * @param {ReadonlyMat4} a the matrix to rotate\n * @param {Number} rad the angle to rotate the matrix by\n * @returns {mat4} out\n */\n\nexport function rotateY(out, a, rad) {\n  var s = Math.sin(rad);\n  var c = Math.cos(rad);\n  var a00 = a[0];\n  var a01 = a[1];\n  var a02 = a[2];\n  var a03 = a[3];\n  var a20 = a[8];\n  var a21 = a[9];\n  var a22 = a[10];\n  var a23 = a[11];\n\n  if (a !== out) {\n    // If the source and destination differ, copy the unchanged rows\n    out[4] = a[4];\n    out[5] = a[5];\n    out[6] = a[6];\n    out[7] = a[7];\n    out[12] = a[12];\n    out[13] = a[13];\n    out[14] = a[14];\n    out[15] = a[15];\n  } // Perform axis-specific matrix multiplication\n\n\n  out[0] = a00 * c - a20 * s;\n  out[1] = a01 * c - a21 * s;\n  out[2] = a02 * c - a22 * s;\n  out[3] = a03 * c - a23 * s;\n  out[8] = a00 * s + a20 * c;\n  out[9] = a01 * s + a21 * c;\n  out[10] = a02 * s + a22 * c;\n  out[11] = a03 * s + a23 * c;\n  return out;\n}\n/**\n * Rotates a matrix by the given angle around the Z axis\n *\n * @param {mat4} out the receiving matrix\n * @param {ReadonlyMat4} a the matrix to rotate\n * @param {Number} rad the angle to rotate the matrix by\n * @returns {mat4} out\n */\n\nexport function rotateZ(out, a, rad) {\n  var s = Math.sin(rad);\n  var c = Math.cos(rad);\n  var a00 = a[0];\n  var a01 = a[1];\n  var a02 = a[2];\n  var a03 = a[3];\n  var a10 = a[4];\n  var a11 = a[5];\n  var a12 = a[6];\n  var a13 = a[7];\n\n  if (a !== out) {\n    // If the source and destination differ, copy the unchanged last row\n    out[8] = a[8];\n    out[9] = a[9];\n    out[10] = a[10];\n    out[11] = a[11];\n    out[12] = a[12];\n    out[13] = a[13];\n    out[14] = a[14];\n    out[15] = a[15];\n  } // Perform axis-specific matrix multiplication\n\n\n  out[0] = a00 * c + a10 * s;\n  out[1] = a01 * c + a11 * s;\n  out[2] = a02 * c + a12 * s;\n  out[3] = a03 * c + a13 * s;\n  out[4] = a10 * c - a00 * s;\n  out[5] = a11 * c - a01 * s;\n  out[6] = a12 * c - a02 * s;\n  out[7] = a13 * c - a03 * s;\n  return out;\n}\n/**\n * Creates a matrix from a vector translation\n * This is equivalent to (but much faster than):\n *\n *     mat4.identity(dest);\n *     mat4.translate(dest, dest, vec);\n *\n * @param {mat4} out mat4 receiving operation result\n * @param {ReadonlyVec3} v Translation vector\n * @returns {mat4} out\n */\n\nexport function fromTranslation(out, v) {\n  out[0] = 1;\n  out[1] = 0;\n  out[2] = 0;\n  out[3] = 0;\n  out[4] = 0;\n  out[5] = 1;\n  out[6] = 0;\n  out[7] = 0;\n  out[8] = 0;\n  out[9] = 0;\n  out[10] = 1;\n  out[11] = 0;\n  out[12] = v[0];\n  out[13] = v[1];\n  out[14] = v[2];\n  out[15] = 1;\n  return out;\n}\n/**\n * Creates a matrix from a vector scaling\n * This is equivalent to (but much faster than):\n *\n *     mat4.identity(dest);\n *     mat4.scale(dest, dest, vec);\n *\n * @param {mat4} out mat4 receiving operation result\n * @param {ReadonlyVec3} v Scaling vector\n * @returns {mat4} out\n */\n\nexport function fromScaling(out, v) {\n  out[0] = v[0];\n  out[1] = 0;\n  out[2] = 0;\n  out[3] = 0;\n  out[4] = 0;\n  out[5] = v[1];\n  out[6] = 0;\n  out[7] = 0;\n  out[8] = 0;\n  out[9] = 0;\n  out[10] = v[2];\n  out[11] = 0;\n  out[12] = 0;\n  out[13] = 0;\n  out[14] = 0;\n  out[15] = 1;\n  return out;\n}\n/**\n * Creates a matrix from a given angle around a given axis\n * This is equivalent to (but much faster than):\n *\n *     mat4.identity(dest);\n *     mat4.rotate(dest, dest, rad, axis);\n *\n * @param {mat4} out mat4 receiving operation result\n * @param {Number} rad the angle to rotate the matrix by\n * @param {ReadonlyVec3} axis the axis to rotate around\n * @returns {mat4} out\n */\n\nexport function fromRotation(out, rad, axis) {\n  var x = axis[0],\n      y = axis[1],\n      z = axis[2];\n  var len = Math.hypot(x, y, z);\n  var s, c, t;\n\n  if (len < glMatrix.EPSILON) {\n    return null;\n  }\n\n  len = 1 / len;\n  x *= len;\n  y *= len;\n  z *= len;\n  s = Math.sin(rad);\n  c = Math.cos(rad);\n  t = 1 - c; // Perform rotation-specific matrix multiplication\n\n  out[0] = x * x * t + c;\n  out[1] = y * x * t + z * s;\n  out[2] = z * x * t - y * s;\n  out[3] = 0;\n  out[4] = x * y * t - z * s;\n  out[5] = y * y * t + c;\n  out[6] = z * y * t + x * s;\n  out[7] = 0;\n  out[8] = x * z * t + y * s;\n  out[9] = y * z * t - x * s;\n  out[10] = z * z * t + c;\n  out[11] = 0;\n  out[12] = 0;\n  out[13] = 0;\n  out[14] = 0;\n  out[15] = 1;\n  return out;\n}\n/**\n * Creates a matrix from the given angle around the X axis\n * This is equivalent to (but much faster than):\n *\n *     mat4.identity(dest);\n *     mat4.rotateX(dest, dest, rad);\n *\n * @param {mat4} out mat4 receiving operation result\n * @param {Number} rad the angle to rotate the matrix by\n * @returns {mat4} out\n */\n\nexport function fromXRotation(out, rad) {\n  var s = Math.sin(rad);\n  var c = Math.cos(rad); // Perform axis-specific matrix multiplication\n\n  out[0] = 1;\n  out[1] = 0;\n  out[2] = 0;\n  out[3] = 0;\n  out[4] = 0;\n  out[5] = c;\n  out[6] = s;\n  out[7] = 0;\n  out[8] = 0;\n  out[9] = -s;\n  out[10] = c;\n  out[11] = 0;\n  out[12] = 0;\n  out[13] = 0;\n  out[14] = 0;\n  out[15] = 1;\n  return out;\n}\n/**\n * Creates a matrix from the given angle around the Y axis\n * This is equivalent to (but much faster than):\n *\n *     mat4.identity(dest);\n *     mat4.rotateY(dest, dest, rad);\n *\n * @param {mat4} out mat4 receiving operation result\n * @param {Number} rad the angle to rotate the matrix by\n * @returns {mat4} out\n */\n\nexport function fromYRotation(out, rad) {\n  var s = Math.sin(rad);\n  var c = Math.cos(rad); // Perform axis-specific matrix multiplication\n\n  out[0] = c;\n  out[1] = 0;\n  out[2] = -s;\n  out[3] = 0;\n  out[4] = 0;\n  out[5] = 1;\n  out[6] = 0;\n  out[7] = 0;\n  out[8] = s;\n  out[9] = 0;\n  out[10] = c;\n  out[11] = 0;\n  out[12] = 0;\n  out[13] = 0;\n  out[14] = 0;\n  out[15] = 1;\n  return out;\n}\n/**\n * Creates a matrix from the given angle around the Z axis\n * This is equivalent to (but much faster than):\n *\n *     mat4.identity(dest);\n *     mat4.rotateZ(dest, dest, rad);\n *\n * @param {mat4} out mat4 receiving operation result\n * @param {Number} rad the angle to rotate the matrix by\n * @returns {mat4} out\n */\n\nexport function fromZRotation(out, rad) {\n  var s = Math.sin(rad);\n  var c = Math.cos(rad); // Perform axis-specific matrix multiplication\n\n  out[0] = c;\n  out[1] = s;\n  out[2] = 0;\n  out[3] = 0;\n  out[4] = -s;\n  out[5] = c;\n  out[6] = 0;\n  out[7] = 0;\n  out[8] = 0;\n  out[9] = 0;\n  out[10] = 1;\n  out[11] = 0;\n  out[12] = 0;\n  out[13] = 0;\n  out[14] = 0;\n  out[15] = 1;\n  return out;\n}\n/**\n * Creates a matrix from a quaternion rotation and vector translation\n * This is equivalent to (but much faster than):\n *\n *     mat4.identity(dest);\n *     mat4.translate(dest, vec);\n *     let quatMat = mat4.create();\n *     quat4.toMat4(quat, quatMat);\n *     mat4.multiply(dest, quatMat);\n *\n * @param {mat4} out mat4 receiving operation result\n * @param {quat4} q Rotation quaternion\n * @param {ReadonlyVec3} v Translation vector\n * @returns {mat4} out\n */\n\nexport function fromRotationTranslation(out, q, v) {\n  // Quaternion math\n  var x = q[0],\n      y = q[1],\n      z = q[2],\n      w = q[3];\n  var x2 = x + x;\n  var y2 = y + y;\n  var z2 = z + z;\n  var xx = x * x2;\n  var xy = x * y2;\n  var xz = x * z2;\n  var yy = y * y2;\n  var yz = y * z2;\n  var zz = z * z2;\n  var wx = w * x2;\n  var wy = w * y2;\n  var wz = w * z2;\n  out[0] = 1 - (yy + zz);\n  out[1] = xy + wz;\n  out[2] = xz - wy;\n  out[3] = 0;\n  out[4] = xy - wz;\n  out[5] = 1 - (xx + zz);\n  out[6] = yz + wx;\n  out[7] = 0;\n  out[8] = xz + wy;\n  out[9] = yz - wx;\n  out[10] = 1 - (xx + yy);\n  out[11] = 0;\n  out[12] = v[0];\n  out[13] = v[1];\n  out[14] = v[2];\n  out[15] = 1;\n  return out;\n}\n/**\n * Creates a new mat4 from a dual quat.\n *\n * @param {mat4} out Matrix\n * @param {ReadonlyQuat2} a Dual Quaternion\n * @returns {mat4} mat4 receiving operation result\n */\n\nexport function fromQuat2(out, a) {\n  var translation = new glMatrix.ARRAY_TYPE(3);\n  var bx = -a[0],\n      by = -a[1],\n      bz = -a[2],\n      bw = a[3],\n      ax = a[4],\n      ay = a[5],\n      az = a[6],\n      aw = a[7];\n  var magnitude = bx * bx + by * by + bz * bz + bw * bw; //Only scale if it makes sense\n\n  if (magnitude > 0) {\n    translation[0] = (ax * bw + aw * bx + ay * bz - az * by) * 2 / magnitude;\n    translation[1] = (ay * bw + aw * by + az * bx - ax * bz) * 2 / magnitude;\n    translation[2] = (az * bw + aw * bz + ax * by - ay * bx) * 2 / magnitude;\n  } else {\n    translation[0] = (ax * bw + aw * bx + ay * bz - az * by) * 2;\n    translation[1] = (ay * bw + aw * by + az * bx - ax * bz) * 2;\n    translation[2] = (az * bw + aw * bz + ax * by - ay * bx) * 2;\n  }\n\n  fromRotationTranslation(out, a, translation);\n  return out;\n}\n/**\n * Returns the translation vector component of a transformation\n *  matrix. If a matrix is built with fromRotationTranslation,\n *  the returned vector will be the same as the translation vector\n *  originally supplied.\n * @param  {vec3} out Vector to receive translation component\n * @param  {ReadonlyMat4} mat Matrix to be decomposed (input)\n * @return {vec3} out\n */\n\nexport function getTranslation(out, mat) {\n  out[0] = mat[12];\n  out[1] = mat[13];\n  out[2] = mat[14];\n  return out;\n}\n/**\n * Returns the scaling factor component of a transformation\n *  matrix. If a matrix is built with fromRotationTranslationScale\n *  with a normalized Quaternion paramter, the returned vector will be\n *  the same as the scaling vector\n *  originally supplied.\n * @param  {vec3} out Vector to receive scaling factor component\n * @param  {ReadonlyMat4} mat Matrix to be decomposed (input)\n * @return {vec3} out\n */\n\nexport function getScaling(out, mat) {\n  var m11 = mat[0];\n  var m12 = mat[1];\n  var m13 = mat[2];\n  var m21 = mat[4];\n  var m22 = mat[5];\n  var m23 = mat[6];\n  var m31 = mat[8];\n  var m32 = mat[9];\n  var m33 = mat[10];\n  out[0] = Math.hypot(m11, m12, m13);\n  out[1] = Math.hypot(m21, m22, m23);\n  out[2] = Math.hypot(m31, m32, m33);\n  return out;\n}\n/**\n * Returns a quaternion representing the rotational component\n *  of a transformation matrix. If a matrix is built with\n *  fromRotationTranslation, the returned quaternion will be the\n *  same as the quaternion originally supplied.\n * @param {quat} out Quaternion to receive the rotation component\n * @param {ReadonlyMat4} mat Matrix to be decomposed (input)\n * @return {quat} out\n */\n\nexport function getRotation(out, mat) {\n  var scaling = new glMatrix.ARRAY_TYPE(3);\n  getScaling(scaling, mat);\n  var is1 = 1 / scaling[0];\n  var is2 = 1 / scaling[1];\n  var is3 = 1 / scaling[2];\n  var sm11 = mat[0] * is1;\n  var sm12 = mat[1] * is2;\n  var sm13 = mat[2] * is3;\n  var sm21 = mat[4] * is1;\n  var sm22 = mat[5] * is2;\n  var sm23 = mat[6] * is3;\n  var sm31 = mat[8] * is1;\n  var sm32 = mat[9] * is2;\n  var sm33 = mat[10] * is3;\n  var trace = sm11 + sm22 + sm33;\n  var S = 0;\n\n  if (trace > 0) {\n    S = Math.sqrt(trace + 1.0) * 2;\n    out[3] = 0.25 * S;\n    out[0] = (sm23 - sm32) / S;\n    out[1] = (sm31 - sm13) / S;\n    out[2] = (sm12 - sm21) / S;\n  } else if (sm11 > sm22 && sm11 > sm33) {\n    S = Math.sqrt(1.0 + sm11 - sm22 - sm33) * 2;\n    out[3] = (sm23 - sm32) / S;\n    out[0] = 0.25 * S;\n    out[1] = (sm12 + sm21) / S;\n    out[2] = (sm31 + sm13) / S;\n  } else if (sm22 > sm33) {\n    S = Math.sqrt(1.0 + sm22 - sm11 - sm33) * 2;\n    out[3] = (sm31 - sm13) / S;\n    out[0] = (sm12 + sm21) / S;\n    out[1] = 0.25 * S;\n    out[2] = (sm23 + sm32) / S;\n  } else {\n    S =