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gl-matrix

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Javascript Matrix and Vector library for High Performance WebGL apps

glmatrix.net

toji/gl-matrix

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/** * @fileoverview gl-matrix - High performance matrix and vector operations * @author Brandon Jones * @author Colin MacKenzie IV * @version 2.4.0 */ /* Copyright (c) 2015, Brandon Jones, Colin MacKenzie IV. Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ !function(t,n){if("object"==typeof exports&&"object"==typeof module)module.exports=n();else if("function"==typeof define&&define.amd)define([],n);else{var r=n();for(var a in r)("object"==typeof exports?exports:t)[a]=r[a]}}("undefined"!=typeof self?self:this,function(){return function(t){function n(a){if(r[a])return r[a].exports;var e=r[a]={i:a,l:!1,exports:{}};return t[a].call(e.exports,e,e.exports,n),e.l=!0,e.exports}var r={};return n.m=t,n.c=r,n.d=function(t,r,a){n.o(t,r)||Object.defineProperty(t,r,{configurable:!1,enumerable:!0,get:a})},n.n=function(t){var r=t&&t.__esModule?function(){return t.default}:function(){return t};return n.d(r,"a",r),r},n.o=function(t,n){return Object.prototype.hasOwnProperty.call(t,n)},n.p="",n(n.s=6)}([function(t,n,r){"use strict";function a(t){n.ARRAY_TYPE=i=t}function e(t){return t*s}function u(t,n){return Math.abs(t-n)<=o*Math.max(1,Math.abs(t),Math.abs(n))}Object.defineProperty(n,"__esModule",{value:!0}),n.setMatrixArrayType=a,n.toRadian=e,n.equals=u;var o=n.EPSILON=1e-6,i=n.ARRAY_TYPE="undefined"!=typeof Float32Array?Float32Array:Array,s=(n.RANDOM=Math.random,Math.PI/180)},function(t,n,r){"use strict";function a(){var t=new g.ARRAY_TYPE(9);return t[0]=1,t[1]=0,t[2]=0,t[3]=0,t[4]=1,t[5]=0,t[6]=0,t[7]=0,t[8]=1,t}function e(t,n){return t[0]=n[0],t[1]=n[1],t[2]=n[2],t[3]=n[4],t[4]=n[5],t[5]=n[6],t[6]=n[8],t[7]=n[9],t[8]=n[10],t}function u(t){var n=new g.ARRAY_TYPE(9);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}function o(t,n){return t[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}function i(t,n,r,a,e,u,o,i,s){var c=new g.ARRAY_TYPE(9);return c[0]=t,c[1]=n,c[2]=r,c[3]=a,c[4]=e,c[5]=u,c[6]=o,c[7]=i,c[8]=s,c}function s(t,n,r,a,e,u,o,i,s,c){return t[0]=n,t[1]=r,t[2]=a,t[3]=e,t[4]=u,t[5]=o,t[6]=i,t[7]=s,t[8]=c,t}function c(t){return t[0]=1,t[1]=0,t[2]=0,t[3]=0,t[4]=1,t[5]=0,t[6]=0,t[7]=0,t[8]=1,t}function f(t,n){if(t===n){var r=n[1],a=n[2],e=n[5];t[1]=n[3],t[2]=n[6],t[3]=r,t[5]=n[7],t[6]=a,t[7]=e}else t[0]=n[0],t[1]=n[3],t[2]=n[6],t[3]=n[1],t[4]=n[4],t[5]=n[7],t[6]=n[2],t[7]=n[5],t[8]=n[8];return t}function h(t,n){var r=n[0],a=n[1],e=n[2],u=n[3],o=n[4],i=n[5],s=n[6],c=n[7],f=n[8],h=f*o-i*c,M=-f*u+i*s,l=c*u-o*s,v=r*h+a*M+e*l;return v?(v=1/v,t[0]=h*v,t[1]=(-f*a+e*c)*v,t[2]=(i*a-e*o)*v,t[3]=M*v,t[4]=(f*r-e*s)*v,t[5]=(-i*r+e*u)*v,t[6]=l*v,t[7]=(-c*r+a*s)*v,t[8]=(o*r-a*u)*v,t):null}function M(t,n){var r=n[0],a=n[1],e=n[2],u=n[3],o=n[4],i=n[5],s=n[6],c=n[7],f=n[8];return t[0]=o*f-i*c,t[1]=e*c-a*f,t[2]=a*i-e*o,t[3]=i*s-u*f,t[4]=r*f-e*s,t[5]=e*u-r*i,t[6]=u*c-o*s,t[7]=a*s-r*c,t[8]=r*o-a*u,t}function l(t){var n=t[0],r=t[1],a=t[2],e=t[3],u=t[4],o=t[5],i=t[6],s=t[7],c=t[8];return n*(c*u-o*s)+r*(-c*e+o*i)+a*(s*e-u*i)}function v(t,n,r){var a=n[0],e=n[1],u=n[2],o=n[3],i=n[4],s=n[5],c=n[6],f=n[7],h=n[8],M=r[0],l=r[1],v=r[2],d=r[3],b=r[4],m=r[5],p=r[6],P=r[7],E=r[8];return t[0]=M*a+l*o+v*c,t[1]=M*e+l*i+v*f,t[2]=M*u+l*s+v*h,t[3]=d*a+b*o+m*c,t[4]=d*e+b*i+m*f,t[5]=d*u+b*s+m*h,t[6]=p*a+P*o+E*c,t[7]=p*e+P*i+E*f,t[8]=p*u+P*s+E*h,t}function d(t,n,r){var a=n[0],e=n[1],u=n[2],o=n[3],i=n[4],s=n[5],c=n[6],f=n[7],h=n[8],M=r[0],l=r[1];return t[0]=a,t[1]=e,t[2]=u,t[3]=o,t[4]=i,t[5]=s,t[6]=M*a+l*o+c,t[7]=M*e+l*i+f,t[8]=M*u+l*s+h,t}function b(t,n,r){var a=n[0],e=n[1],u=n[2],o=n[3],i=n[4],s=n[5],c=n[6],f=n[7],h=n[8],M=Math.sin(r),l=Math.cos(r);return t[0]=l*a+M*o,t[1]=l*e+M*i,t[2]=l*u+M*s,t[3]=l*o-M*a,t[4]=l*i-M*e,t[5]=l*s-M*u,t[6]=c,t[7]=f,t[8]=h,t}function m(t,n,r){var a=r[0],e=r[1];return t[0]=a*n[0],t[1]=a*n[1],t[2]=a*n[2],t[3]=e*n[3],t[4]=e*n[4],t[5]=e*n[5],t[6]=n[6],t[7]=n[7],t[8]=n[8],t}function p(t,n){return t[0]=1,t[1]=0,t[2]=0,t[3]=0,t[4]=1,t[5]=0,t[6]=n[0],t[7]=n[1],t[8]=1,t}function P(t,n){var r=Math.sin(n),a=Math.cos(n);return t[0]=a,t[1]=r,t[2]=0,t[3]=-r,t[4]=a,t[5]=0,t[6]=0,t[7]=0,t[8]=1,t}function E(t,n){return t[0]=n[0],t[1]=0,t[2]=0,t[3]=0,t[4]=n[1],t[5]=0,t[6]=0,t[7]=0,t[8]=1,t}function O(t,n){return t[0]=n[0],t[1]=n[1],t[2]=0,t[3]=n[2],t[4]=n[3],t[5]=0,t[6]=n[4],t[7]=n[5],t[8]=1,t}function A(t,n){var r=n[0],a=n[1],e=n[2],u=n[3],o=r+r,i=a+a,s=e+e,c=r*o,f=a*o,h=a*i,M=e*o,l=e*i,v=e*s,d=u*o,b=u*i,m=u*s;return t[0]=1-h-v,t[3]=f-m,t[6]=M+b,t[1]=f+m,t[4]=1-c-v,t[7]=l-d,t[2]=M-b,t[5]=l+d,t[8]=1-c-h,t}function x(t,n){var r=n[0],a=n[1],e=n[2],u=n[3],o=n[4],i=n[5],s=n[6],c=n[7],f=n[8],h=n[9],M=n[10],l=n[11],v=n[12],d=n[13],b=n[14],m=n[15],p=r*i-a*o,P=r*s-e*o,E=r*c-u*o,O=a*s-e*i,A=a*c-u*i,x=e*c-u*s,q=f*d-h*v,R=f*b-M*v,y=f*m-l*v,L=h*b-M*d,w=h*m-l*d,S=M*m-l*b,_=p*S-P*w+E*L+O*y-A*R+x*q;return _?(_=1/_,t[0]=(i*S-s*w+c*L)*_,t[1]=(s*y-o*S-c*R)*_,t[2]=(o*w-i*y+c*q)*_,t[3]=(e*w-a*S-u*L)*_,t[4]=(r*S-e*y+u*R)*_,t[5]=(a*y-r*w-u*q)*_,t[6]=(d*x-b*A+m*O)*_,t[7]=(b*E-v*x-m*P)*_,t[8]=(v*A-d*E+m*p)*_,t):null}function q(t,n,r){return t[0]=2/n,t[1]=0,t[2]=0,t[3]=0,t[4]=-2/r,t[5]=0,t[6]=-1,t[7]=1,t[8]=1,t}function R(t){return"mat3("+t[0]+", "+t[1]+", "+t[2]+", "+t[3]+", "+t[4]+", "+t[5]+", "+t[6]+", "+t[7]+", "+t[8]+")"}function y(t){return Math.sqrt(Math.pow(t[0],2)+Math.pow(t[1],2)+Math.pow(t[2],2)+Math.pow(t[3],2)+Math.pow(t[4],2)+Math.pow(t[5],2)+Math.pow(t[6],2)+Math.pow(t[7],2)+Math.pow(t[8],2))}function L(t,n,r){return t[0]=n[0]+r[0],t[1]=n[1]+r[1],t[2]=n[2]+r[2],t[3]=n[3]+r[3],t[4]=n[4]+r[4],t[5]=n[5]+r[5],t[6]=n[6]+r[6],t[7]=n[7]+r[7],t[8]=n[8]+r[8],t}function w(t,n,r){return t[0]=n[0]-r[0],t[1]=n[1]-r[1],t[2]=n[2]-r[2],t[3]=n[3]-r[3],t[4]=n[4]-r[4],t[5]=n[5]-r[5],t[6]=n[6]-r[6],t[7]=n[7]-r[7],t[8]=n[8]-r[8],t}function S(t,n,r){return t[0]=n[0]*r,t[1]=n[1]*r,t[2]=n[2]*r,t[3]=n[3]*r,t[4]=n[4]*r,t[5]=n[5]*r,t[6]=n[6]*r,t[7]=n[7]*r,t[8]=n[8]*r,t}function _(t,n,r,a){return t[0]=n[0]+r[0]*a,t[1]=n[1]+r[1]*a,t[2]=n[2]+r[2]*a,t[3]=n[3]+r[3]*a,t[4]=n[4]+r[4]*a,t[5]=n[5]+r[5]*a,t[6]=n[6]+r[6]*a,t[7]=n[7]+r[7]*a,t[8]=n[8]+r[8]*a,t}function I(t,n){return t[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]}function N(t,n){var r=t[0],a=t[1],e=t[2],u=t[3],o=t[4],i=t[5],s=t[6],c=t[7],f=t[8],h=n[0],M=n[1],l=n[2],v=n[3],d=n[4],b=n[5],m=n[6],p=n[7],P=n[8];return Math.abs(r-h)<=g.EPSILON*Math.max(1,Math.abs(r),Math.abs(h))&&Math.abs(a-M)<=g.EPSILON*Math.max(1,Math.abs(a),Math.abs(M))&&Math.abs(e-l)<=g.EPSILON*Math.max(1,Math.abs(e),Math.abs(l))&&Math.abs(u-v)<=g.EPSILON*Math.max(1,Math.abs(u),Math.abs(v))&&Math.abs(o-d)<=g.EPSILON*Math.max(1,Math.abs(o),Math.abs(d))&&Math.abs(i-b)<=g.EPSILON*Math.max(1,Math.abs(i),Math.abs(b))&&Math.abs(s-m)<=g.EPSILON*Math.max(1,Math.abs(s),Math.abs(m))&&Math.abs(c-p)<=g.EPSILON*Math.max(1,Math.abs(c),Math.abs(p))&&Math.abs(f-P)<=g.EPSILON*Math.max(1,Math.abs(f),Math.abs(P))}Object.defineProperty(n,"__esModule",{value:!0}),n.sub=n.mul=void 0,n.create=a,n.fromMat4=e,n.clone=u,n.copy=o,n.fromValues=i,n.set=s,n.identity=c,n.transpose=f,n.invert=h,n.adjoint=M,n.determinant=l,n.multiply=v,n.translate=d,n.rotate=b,n.scale=m,n.fromTranslation=p,n.fromRotation=P,n.fromScaling=E,n.fromMat2d=O,n.fromQuat=A,n.normalFromMat4=x,n.projection=q,n.str=R,n.frob=y,n.add=L,n.subtract=w,n.multiplyScalar=S,n.multiplyScalarAndAdd=_,n.exactEquals=I,n.equals=N;var Y=r(0),g=function(t){if(t&&t.__esModule)return t;var n={};if(null!=t)for(var r in t)Object.prototype.hasOwnProperty.call(t,r)&&(n[r]=t[r]);return n.default=t,n}(Y);n.mul=v,n.sub=w},function(t,n,r){"use strict";function a(){var t=new G.ARRAY_TYPE(16);return t[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]=0,t[13]=0,t[14]=0,t[15]=1,t}function e(t){var n=new G.ARRAY_TYPE(16);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],n}function u(t,n){return t[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}function o(t,n,r,a,e,u,o,i,s,c,f,h,M,l,v,d){var b=new G.ARRAY_TYPE(16);return b[0]=t,b[1]=n,b[2]=r,b[3]=a,b[4]=e,b[5]=u,b[6]=o,b[7]=i,b[8]=s,b[9]=c,b[10]=f,b[11]=h,b[12]=M,b[13]=l,b[14]=v,b[15]=d,b}function i(t,n,r,a,e,u,o,i,s,c,f,h,M,l,v,d,b){return t[0]=n,t[1]=r,t[2]=a,t[3]=e,t[4]=u,t[5]=o,t[6]=i,t[7]=s,t[8]=c,t[9]=f,t[10]=h,t[11]=M,t[12]=l,t[13]=v,t[14]=d,t[15]=b,t}function s(t){return t[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]=0,t[13]=0,t[14]=0,t[15]=1,t}function c(t,n){if(t===n){var r=n[1],a=n[2],e=n[3],u=n[6],o=n[7],i=n[11];t[1]=n[4],t[2]=n[8],t[3]=n[12],t[4]=r,t[6]=n[9],t[7]=n[13],t[8]=a,t[9]=u,t[11]=n[14],t[12]=e,t[13]=o,t[14]=i}else t[0]=n[0],t[1]=n[4],t[2]=n[8],t[3]=n[12],t[4]=n[1],t[5]=n[5],t[6]=n[9],t[7]=n[13],t[8]=n[2],t[9]=n[6],t[10]=n[10],t[11]=n[14],t[12]=n[3],t[13]=n[7],t[14]=n[11],t[15]=n[15];return t}function f(t,n){var r=n[0],a=n[1],e=n[2],u=n[3],o=n[4],i=n[5],s=n[6],c=n[7],f=n[8],h=n[9],M=n[10],l=n[11],v=n[12],d=n[13],b=n[14],m=n[15],p=r*i-a*o,P=r*s-e*o,E=r*c-u*o,O=a*s-e*i,A=a*c-u*i,x=e*c-u*s,q=f*d-h*v,R=f*b-M*v,y=f*m-l*v,L=h*b-M*d,w=h*m-l*d,S=M*m-l*b,_=p*S-P*w+E*L+O*y-A*R+x*q;return _?(_=1/_,t[0]=(i*S-s*w+c*L)*_,t[1]=(e*w-a*S-u*L)*_,t[2]=(d*x-b*A+m*O)*_,t[3]=(M*A-h*x-l*O)*_,t[4]=(s*y-o*S-c*R)*_,t[5]=(r*S-e*y+u*R)*_,t[6]=(b*E-v*x-m*P)*_,t[7]=(f*x-M*E+l*P)*_,t[8]=(o*w-i*y+c*q)*_,t[9]=(a*y-r*w-u*q)*_,t[10]=(v*A-d*E+m*p)*_,t[11]=(h*E-f*A-l*p)*_,t[12]=(i*R-o*L-s*q)*_,t[13]=(r*L-a*R+e*q)*_,t[14]=(d*P-v*O-b*p)*_,t[15]=(f*O-h*P+M*p)*_,t):null}function h(t,n){var r=n[0],a=n[1],e=n[2],u=n[3],o=n[4],i=n[5],s=n[6],c=n[7],f=n[8],h=n[9],M=n[10],l=n[11],v=n[12],d=n[13],b=n[14],m=n[15];return t[0]=i*(M*m-l*b)-h*(s*m-c*b)+d*(s*l-c*M),t[1]=-(a*(M*m-l*b)-h*(e*m-u*b)+d*(e*l-u*M)),t[2]=a*(s*m-c*b)-i*(e*m-u*b)+d*(e*c-u*s),t[3]=-(a*(s*l-c*M)-i*(e*l-u*M)+h*(e*c-u*s)),t[4]=-(o*(M*m-l*b)-f*(s*m-c*b)+v*(s*l-c*M)),t[5]=r*(M*m-l*b)-f*(e*m-u*b)+v*(e*l-u*M),t[6]=-(r*(s*m-c*b)-o*(e*m-u*b)+v*(e*c-u*s)),t[7]=r*(s*l-c*M)-o*(e*l-u*M)+f*(e*c-u*s),t[8]=o*(h*m-l*d)-f*(i*m-c*d)+v*(i*l-c*h),t[9]=-(r*(h*m-l*d)-f*(a*m-u*d)+v*(a*l-u*h)),t[10]=r*(i*m-c*d)-o*(a*m-u*d)+v*(a*c-u*i),t[11]=-(r*(i*l-c*h)-o*(a*l-u*h)+f*(a*c-u*i)),t[12]=-(o*(h*b-M*d)-f*(i*b-s*d)+v*(i*M-s*h)),t[13]=r*(h*b-M*d)-f*(a*b-e*d)+v*(a*M-e*h),t[14]=-(r*(i*b-s*d)-o*(a*b-e*d)+v*(a*s-e*i)),t[15]=r*(i*M-s*h)-o*(a*M-e*h)+f*(a*s-e*i),t}function M(t){var n=t[0],r=t[1],a=t[2],e=t[3],u=t[4],o=t[5],i=t[6],s=t[7],c=t[8],f=t[9],h=t[10],M=t[11],l=t[12],v=t[13],d=t[14],b=t[15];return(n*o-r*u)*(h*b-M*d)-(n*i-a*u)*(f*b-M*v)+(n*s-e*u)*(f*d-h*v)+(r*i-a*o)*(c*b-M*l)-(r*s-e*o)*(c*d-h*l)+(a*s-e*i)*(c*v-f*l)}function l(t,n,r){var a=n[0],e=n[1],u=n[2],o=n[3],i=n[4],s=n[5],c=n[6],f=n[7],h=n[8],M=n[9],l=n[10],v=n[11],d=n[12],b=n[13],m=n[14],p=n[15],P=r[0],E=r[1],O=r[2],A=r[3];return t[0]=P*a+E*i+O*h+A*d,t[1]=P*e+E*s+O*M+A*b,t[2]=P*u+E*c+O*l+A*m,t[3]=P*o+E*f+O*v+A*p,P=r[4],E=r[5],O=r[6],A=r[7],t[4]=P*a+E*i+O*h+A*d,t[5]=P*e+E*s+O*M+A*b,t[6]=P*u+E*c+O*l+A*m,t[7]=P*o+E*f+O*v+A*p,P=r[8],E=r[9],O=r[10],A=r[11],t[8]=P*a+E*i+O*h+A*d,t[9]=P*e+E*s+O*M+A*b,t[10]=P*u+E*c+O*l+A*m,t[11]=P*o+E*f+O*v+A*p,P=r[12],E=r[13],O=r[14],A=r[15],t[12]=P*a+E*i+O*h+A*d,t[13]=P*e+E*s+O*M+A*b,t[14]=P*u+E*c+O*l+A*m,t[15]=P*o+E*f+O*v+A*p,t}function v(t,n,r){var a=r[0],e=r[1],u=r[2],o=void 0,i=void 0,s=void 0,c=void 0,f=void 0,h=void 0,M=void 0,l=void 0,v=void 0,d=void 0,b=void 0,m=void 0;return n===t?(t[12]=n[0]*a+n[4]*e+n[8]*u+n[12],t[13]=n[1]*a+n[5]*e+n[9]*u+n[13],t[14]=n[2]*a+n[6]*e+n[10]*u+n[14],t[15]=n[3]*a+n[7]*e+n[11]*u+n[15]):(o=n[0],i=n[1],s=n[2],c=n[3],f=n[4],h=n[5],M=n[6],l=n[7],v=n[8],d=n[9],b=n[10],m=n[11],t[0]=o,t[1]=i,t[2]=s,t[3]=c,t[4]=f,t[5]=h,t[6]=M,t[7]=l,t[8]=v,t[9]=d,t[10]=b,t[11]=m,t[12]=o*a+f*e+v*u+n[12],t[13]=i*a+h*e+d*u+n[13],t[14]=s*a+M*e+b*u+n[14],t[15]=c*a+l*e+m*u+n[15]),t}function d(t,n,r){var a=r[0],e=r[1],u=r[2];return t[0]=n[0]*a,t[1]=n[1]*a,t[2]=n[2]*a,t[3]=n[3]*a,t[4]=n[4]*e,t[5]=n[5]*e,t[6]=n[6]*e,t[7]=n[7]*e,t[8]=n[8]*u,t[9]=n[9]*u,t[10]=n[10]*u,t[11]=n[11]*u,t[12]=n[12],t[13]=n[13],t[14]=n[14],t[15]=n[15],t}function b(t,n,r,a){var e=a[0],u=a[1],o=a[2],i=Math.sqrt(e*e+u*u+o*o),s=void 0,c=void 0,f=void 0,h=void 0,M=void 0,l=void 0,v=void 0,d=void 0,b=void 0,m=void 0,p=void 0,P=void 0,E=void 0,O=void 0,A=void 0,x=void 0,q=void 0,R=void 0,y=void 0,L=void 0,w=void 0,S=void 0,_=void 0,I=void 0;return Math.abs(i)<G.EPSILON?null:(i=1/i,e*=i,u*=i,o*=i,s=Math.sin(r),c=Math.cos(r),f=1-c,h=n[0],M=n[1],l=n[2],v=n[3],d=n[4],b=n[5],m=n[6],p=n[7],P=n[8],E=n[9],O=n[10],A=n[11],x=e*e*f+c,q=u*e*f+o*s,R=o*e*f-u*s,y=e*u*f-o*s,L=u*u*f+c,w=o*u*f+e*s,S=e*o*f+u*s,_=u*o*f-e*s,I=o*o*f+c,t[0]=h*x+d*q+P*R,t[1]=M*x+b*q+E*R,t[2]=l*x+m*q+O*R,t[3]=v*x+p*q+A*R,t[4]=h*y+d*L+P*w,t[5]=M*y+b*L+E*w,t[6]=l*y+m*L+O*w,t[7]=v*y+p*L+A*w,t[8]=h*S+d*_+P*I,t[9]=M*S+b*_+E*I,t[10]=l*S+m*_+O*I,t[11]=v*S+p*_+A*I,n!==t&&(t[12]=n[12],t[13]=n[13],t[14]=n[14],t[15]=n[15]),t)}function m(t,n,r){var a=Math.sin(r),e=Math.cos(r),u=n[4],o=n[5],i=n[6],s=n[7],c=n[8],f=n[9],h=n[10],M=n[11];return n!==t&&(t[0]=n[0],t[1]=n[1],t[2]=n[2],t[3]=n[3],t[12]=n[12],t[13]=n[13],t[14]=n[14],t[15]=n[15]),t[4]=u*e+c*a,t[5]=o*e+f*a,t[6]=i*e+h*a,t[7]=s*e+M*a,t[8]=c*e-u*a,t[9]=f*e-o*a,t[10]=h*e-i*a,t[11]=M*e-s*a,t}function p(t,n,r){var a=Math.sin(r),e=Math.cos(r),u=n[0],o=n[1],i=n[2],s=n[3],c=n[8],f=n[9],h=n[10],M=n[11];return n!==t&&(t[4]=n[4],t[5]=n[5],t[6]=n[6],t[7]=n[7],t[12]=n[12],t[13]=n[13],t[14]=n[14],t[15]=n[15]),t[0]=u*e-c*a,t[1]=o*e-f*a,t[2]=i*e-h*a,t[3]=s*e-M*a,t[8]=u*a+c*e,t[9]=o*a+f*e,t[10]=i*a+h*e,t[11]=s*a+M*e,t}function P(t,n,r){var a=Math.sin(r),e=Math.cos(r),u=n[0],o=n[1],i=n[2],s=n[3],c=n[4],f=n[5],h=n[6],M=n[7];return n!==t&&(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[0]=u*e+c*a,t[1]=o*e+f*a,t[2]=i*e+h*a,t[3]=s*e+M*a,t[4]=c*e-u*a,t[5]=f*e-o*a,t[6]=h*e-i*a,t[7]=M*e-s*a,t}function E(t,n){return t[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}function O(t,n){return t[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}function A(t,n,r){var a=r[0],e=r[1],u=r[2],o=Math.sqrt(a*a+e*e+u*u),i=void 0,s=void 0,c=void 0;return Math.abs(o)<G.EPSILON?null:(o=1/o,a*=o,e*=o,u*=o,i=Math.sin(n),s=Math.cos(n),c=1-s,t[0]=a*a*c+s,t[1]=e*a*c+u*i,t[2]=u*a*c-e*i,t[3]=0,t[4]=a*e*c-u*i,t[5]=e*e*c+s,t[6]=u*e*c+a*i,t[7]=0,t[8]=a*u*c+e*i,t[9]=e*u*c-a*i,t[10]=u*u*c+s,t[11]=0,t[12]=0,t[13]=0,t[14]=0,t[15]=1,t)}function x(t,n){var r=Math.sin(n),a=Math.cos(n);return t[0]=1,t[1]=0,t[2]=0,t[3]=0,t[4]=0,t[5]=a,t[6]=r,t[7]=0,t[8]=0,t[9]=-r,t[10]=a,t[11]=0,t[12]=0,t[13]=0,t[14]=0,t[15]=1,t}function q(t,n){var r=Math.sin(n),a=Math.cos(n);return t[0]=a,t[1]=0,t[2]=-r,t[3]=0,t[4]=0,t[5]=1,t[6]=0,t[7]=0,t[8]=r,t[9]=0,t[10]=a,t[11]=0,t[12]=0,t[13]=0,t[14]=0,t[15]=1,t}function R(t,n){var r=Math.sin(n),a=Math.cos(n);return t[0]=a,t[1]=r,t[2]=0,t[3]=0,t[4]=-r,t[5]=a,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}function y(t,n,r){var a=n[0],e=n[1],u=n[2],o=n[3],i=a+a,s=e+e,c=u+u,f=a*i,h=a*s,M=a*c,l=e*s,v=e*c,d=u*c,b=o*i,m=o*s,p=o*c;return t[0]=1-(l+d),t[1]=h+p,t[2]=M-m,t[3]=0,t[4]=h-p,t[5]=1-(f+d),t[6]=v+b,t[7]=0,t[8]=M+m,t[9]=v-b,t[10]=1-(f+l),t[11]=0,t[12]=r[0],t[13]=r[1],t[14]=r[2],t[15]=1,t}function L(t,n){var r=new G.ARRAY_TYPE(3),a=-n[0],e=-n[1],u=-n[2],o=n[3],i=n[4],s=n[5],c=n[6],f=n[7],h=a*a+e*e+u*u+o*o;return h>0?(r[0]=2*(i*o+f*a+s*u-c*e)/h,r[1]=2*(s*o+f*e+c*a-i*u)/h,r[2]=2*(c*o+f*u+i*e-s*a)/h):(r[0]=2*(i*o+f*a+s*u-c*e),r[1]=2*(s*o+f*e+c*a-i*u),r[2]=2*(c*o+f*u+i*e-s*a)),y(t,n,r),t}function w(t,n){return t[0]=n[12],t[1]=n[13],t[2]=n[14],t}function S(t,n){var r=n[0],a=n[1],e=n[2],u=n[4],o=n[5],i=n[6],s=n[8],c=n[9],f=n[10];return t[0]=Math.sqrt(r*r+a*a+e*e),t[1]=Math.sqrt(u*u+o*o+i*i),t[2]=Math.sqrt(s*s+c*c+f*f),t}function _(t,n){var r=n[0]+n[5]+n[10],a=0;return r>0?(a=2*Math.sqrt(r+1),t[3]=.25*a,t[0]=(n[6]-n[9])/a,t[1]=(n[8]-n[2])/a,t[2]=(n[1]-n[4])/a):n[0]>n[5]&&n[0]>n[10]?(a=2*Math.sqrt(1+n[0]-n[5]-n[10]),t[3]=(n[6]-n[9])/a,t[0]=.25*a,t[1]=(n[1]+n[4])/a,t[2]=(n[8]+n[2])/a):n[5]>n[10]?(a=2*Math.sqrt(1+n[5]-n[0]-n[10]),t[3]=(n[8]-n[2])/a,t[0]=(n[1]+n[4])/a,t[1]=.25*a,t[2]=(n[6]+n[9])/a):(a=2*Math.sqrt(1+n[10]-n[0]-n[5]),t[3]=(n[1]-n[4])/a,t[0]=(n[8]+n[2])/a,t[1]=(n[6]+n[9])/a,t[2]=.25*a),t}function I(t,n,r,a){var e=n[0],u=n[1],o=n[2],i=n[3],s=e+e,c=u+u,f=o+o,h=e*s,M=e*c,l=e*f,v=u*c,d=u*f,b=o*f,m=i*s,p=i*c,P=i*f,E=a[0],O=a[1],A=a[2];return t[0]=(1-(v+b))*E,t[1]=(M+P)*E,t[2]=(l-p)*E,t[3]=0,t[4]=(M-P)*O,t[5]=(1-(h+b))*O,t[6]=(d+m)*O,t[7]=0,t[8]=(l+p)*A,t[9]=(d-m)*A,t[10]=(1-(h+v))*A,t[11]=0,t[12]=r[0],t[13]=r[1],t[14]=r[2],t[15]=1,t}function N(t,n,r,a,e){var u=n[0],o=n[1],i=n[2],s=n[3],c=u+u,f=o+o,h=i+i,M=u*c,l=u*f,v=u*h,d=o*f,b=o*h,m=i*h,p=s*c,P=s*f,E=s*h,O=a[0],A=a[1],x=a[2],q=e[0],R=e[1],y=e[2],L=(1-(d+m))*O,w=(l+E)*O,S=(v-P)*O,_=(l-E)*A,I=(1-(M+m))*A,N=(b+p)*A,Y=(v+P)*x,g=(b-p)*x,T=(1-(M+d))*x;return t[0]=L,t[1]=w,t[2]=S,t[3]=0,t[4]=_,t[5]=I,t[6]=N,t[7]=0,t[8]=Y,t[9]=g,t[10]=T,t[11]=0,t[12]=r[0]+q-(L*q+_*R+Y*y),t[13]=r[1]+R-(w*q+I*R+g*y),t[14]=r[2]+y-(S*q+N*R+T*y),t[15]=1,t}function Y(t,n){var r=n[0],a=n[1],e=n[2],u=n[3],o=r+r,i=a+a,s=e+e,c=r*o,f=a*o,h=a*i,M=e*o,l=e*i,v=e*s,d=u*o,b=u*i,m=u*s;return t[0]=1-h-v,t[1]=f+m,t[2]=M-b,t[3]=0,t[4]=f-m,t[5]=1-c-v,t[6]=l+d,t[7]=0,t[8]=M+b,t[9]=l-d,t[10]=1-c-h,t[11]=0,t[12]=0,t[13]=0,t[14]=0,t[15]=1,t}function g(t,n,r,a,e,u,o){var i=1/(r-n),s=1/(e-a),c=1/(u-o);return t[0]=2*u*i,t[1]=0,t[2]=0,t[3]=0,t[4]=0,t[5]=2*u*s,t[6]=0,t[7]=0,t[8]=(r+n)*i,t[9]=(e+a)*s,t[10]=(o+u)*c,t[11]=-1,t[12]=0,t[13]=0,t[14]=o*u*2*c,t[15]=0,t}function T(t,n,r,a,e){var u=1/Math.tan(n/2),o=1/(a-e);return t[0]=u/r,t[1]=0,t[2]=0,t[3]=0,t[4]=0,t[5]=u,t[6]=0,t[7]=0,t[8]=0,t[9]=0,t[10]=(e+a)*o,t[11]=-1,t[12]=0,t[13]=0,t[14]=2*e*a*o,t[15]=0,t}function j(t,n,r,a){var e=Math.tan(n.upDegrees*Math.PI/180),u=Math.tan(n.downDegrees*Math.PI/180),o=Math.tan(n.leftDegrees*Math.PI/180),i=Math.tan(n.rightDegrees*Math.PI/180),s=2/(o+i),c=2/(e+u);return t[0]=s,t[1]=0,t[2]=0,t[3]=0,t[4]=0,t[5]=c,t[6]=0,t[7]=0,t[8]=-(o-i)*s*.5,t[9]=(e-u)*c*.5,t[10]=a/(r-a),t[11]=-1,t[12]=0,t[13]=0,t[14]=a*r/(r-a),t[15]=0,t}function D(t,n,r,a,e,u,o){var i=1/(n-r),s=1/(a-e),c=1/(u-o);return t[0]=-2*i,t[1]=0,t[2]=0,t[3]=0,t[4]=0,t[5]=-2*s,t[6]=0,t[7]=0,t[8]=0,t[9]=0,t[10]=2*c,t[11]=0,t[12]=(n+r)*i,t[13]=(e+a)*s,t[14]=(o+u)*c,t[15]=1,t}function V(t,n,r,a){var e=void 0,u=void 0,o=void 0,i=void 0,c=void 0,f=void 0,h=void 0,M=void 0,l=void 0,v=void 0,d=n[0],b=n[1],m=n[2],p=a[0],P=a[1],E=a[2],O=r[0],A=r[1],x=r[2];return 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a=-n[0],e=-n[1],u=-n[2],o=n[3],i=n[4],s=n[5],c=n[6],f=n[7],h=i*o+f*a+s*u-c*e,M=s*o+f*e+c*a-i*u,l=c*o+f*u+i*e-s*a,v=f*o-i*a-s*e-c*u;return V.rotateY(t,n,r),a=t[0],e=t[1],u=t[2],o=t[3],t[4]=h*o+v*a+M*u-l*e,t[5]=M*o+v*e+l*a-h*u,t[6]=l*o+v*u+h*e-M*a,t[7]=v*o-h*a-M*e-l*u,t}function O(t,n,r){var a=-n[0],e=-n[1],u=-n[2],o=n[3],i=n[4],s=n[5],c=n[6],f=n[7],h=i*o+f*a+s*u-c*e,M=s*o+f*e+c*a-i*u,l=c*o+f*u+i*e-s*a,v=f*o-i*a-s*e-c*u;return V.rotateZ(t,n,r),a=t[0],e=t[1],u=t[2],o=t[3],t[4]=h*o+v*a+M*u-l*e,t[5]=M*o+v*e+l*a-h*u,t[6]=l*o+v*u+h*e-M*a,t[7]=v*o-h*a-M*e-l*u,t}function A(t,n,r){var a=r[0],e=r[1],u=r[2],o=r[3],i=n[0],s=n[1],c=n[2],f=n[3];return t[0]=i*o+f*a+s*u-c*e,t[1]=s*o+f*e+c*a-i*u,t[2]=c*o+f*u+i*e-s*a,t[3]=f*o-i*a-s*e-c*u,i=n[4],s=n[5],c=n[6],f=n[7],t[4]=i*o+f*a+s*u-c*e,t[5]=s*o+f*e+c*a-i*u,t[6]=c*o+f*u+i*e-s*a,t[7]=f*o-i*a-s*e-c*u,t}function x(t,n,r){var a=n[0],e=n[1],u=n[2],o=n[3],i=r[0],s=r[1],c=r[2],f=r[3];return t[0]=a*f+o*i+e*c-u*s,t[1]=e*f+o*s+u*i-a*c,t[2]=u*f+o*c+a*s-e*i,t[3]=o*f-a*i-e*s-u*c,i=r[4],s=r[5],c=r[6],f=r[7],t[4]=a*f+o*i+e*c-u*s,t[5]=e*f+o*s+u*i-a*c,t[6]=u*f+o*c+a*s-e*i,t[7]=o*f-a*i-e*s-u*c,t}function q(t,n,r,a){if(Math.abs(a)<j.EPSILON)return M(t,n);var e=Math.sqrt(r[0]*r[0]+r[1]*r[1]+r[2]*r[2]);a*=.5;var u=Math.sin(a),o=u*r[0]/e,i=u*r[1]/e,s=u*r[2]/e,c=Math.cos(a),f=n[0],h=n[1],l=n[2],v=n[3];t[0]=f*c+v*o+h*s-l*i,t[1]=h*c+v*i+l*o-f*s,t[2]=l*c+v*s+f*i-h*o,t[3]=v*c-f*o-h*i-l*s;var d=n[4],b=n[5],m=n[6],p=n[7];return t[4]=d*c+p*o+b*s-m*i,t[5]=b*c+p*i+m*o-d*s,t[6]=m*c+p*s+d*i-b*o,t[7]=p*c-d*o-b*i-m*s,t}function R(t,n,r){return t[0]=n[0]+r[0],t[1]=n[1]+r[1],t[2]=n[2]+r[2],t[3]=n[3]+r[3],t[4]=n[4]+r[4],t[5]=n[5]+r[5],t[6]=n[6]+r[6],t[7]=n[7]+r[7],t}function y(t,n,r){var a=n[0],e=n[1],u=n[2],o=n[3],i=r[4],s=r[5],c=r[6],f=r[7],h=n[4],M=n[5],l=n[6],v=n[7],d=r[0],b=r[1],m=r[2],p=r[3];return t[0]=a*p+o*d+e*m-u*b,t[1]=e*p+o*b+u*d-a*m,t[2]=u*p+o*m+a*b-e*d,t[3]=o*p-a*d-e*b-u*m,t[4]=a*f+o*i+e*c-u*s+h*p+v*d+M*m-l*b,t[5]=e*f+o*s+u*i-a*c+M*p+v*b+l*d-h*m,t[6]=u*f+o*c+a*s-e*i+l*p+v*m+h*b-M*d,t[7]=o*f-a*i-e*s-u*c+v*p-h*d-M*b-l*m,t}function L(t,n,r){return t[0]=n[0]*r,t[1]=n[1]*r,t[2]=n[2]*r,t[3]=n[3]*r,t[4]=n[4]*r,t[5]=n[5]*r,t[6]=n[6]*r,t[7]=n[7]*r,t}function w(t,n,r,a){var e=1-a;return X(n,r)<0&&(a=-a),t[0]=n[0]*e+r[0]*a,t[1]=n[1]*e+r[1]*a,t[2]=n[2]*e+r[2]*a,t[3]=n[3]*e+r[3]*a,t[4]=n[4]*e+r[4]*a,t[5]=n[5]*e+r[5]*a,t[6]=n[6]*e+r[6]*a,t[7]=n[7]*e+r[7]*a,t}function S(t,n){var r=F(n);return t[0]=-n[0]/r,t[1]=-n[1]/r,t[2]=-n[2]/r,t[3]=n[3]/r,t[4]=-n[4]/r,t[5]=-n[5]/r,t[6]=-n[6]/r,t[7]=n[7]/r,t}fun