"use strict";
var __importDefault = (this && this.__importDefault) || function (mod) {
    return (mod && mod.__esModule) ? mod : { "default": mod };
};
Object.defineProperty(exports, "__esModule", { value: true });
exports.glmatrix_vec4 = exports.glmatrix_matrix4 = exports.GL_EPSILLON = void 0;
const Vector3_1 = __importDefault(require("./Vector3"));
const vec_1 = require("../Sylvain/vec");
exports.GL_EPSILLON = 0.0001;
class glmatrix_matrix4 {
    /**
    * 4x4 Matrix<br>Format: column-major, when typed out it looks like row-major<br>The matrices are being post multiplied.
    * @module mat4
    */
    /**
     * Creates a new identity mat4
     *
     * @returns {mat4} a new 4x4 matrix
     */
    static create() {
        let out = new Array(16);
        out[0] = 1;
        out[5] = 1;
        out[10] = 1;
        out[15] = 1;
        return out;
    }
    /**
     * Creates a new mat4 initialized with values from an existing matrix
     *
     * @param {ReadonlyMat4} a matrix to clone
     * @returns {mat4} a new 4x4 matrix
     */
    static clone(a) {
        let out = new Array(16);
        out[0] = a[0];
        out[1] = a[1];
        out[2] = a[2];
        out[3] = a[3];
        out[4] = a[4];
        out[5] = a[5];
        out[6] = a[6];
        out[7] = a[7];
        out[8] = a[8];
        out[9] = a[9];
        out[10] = a[10];
        out[11] = a[11];
        out[12] = a[12];
        out[13] = a[13];
        out[14] = a[14];
        out[15] = a[15];
        return out;
    }
    /**
     * Copy the values from one mat4 to another
     *
     * @param {mat4} out the receiving matrix
     * @param {ReadonlyMat4} a the source matrix
     * @returns {mat4} out
     */
    static copy(out, a) {
        out[0] = a[0];
        out[1] = a[1];
        out[2] = a[2];
        out[3] = a[3];
        out[4] = a[4];
        out[5] = a[5];
        out[6] = a[6];
        out[7] = a[7];
        out[8] = a[8];
        out[9] = a[9];
        out[10] = a[10];
        out[11] = a[11];
        out[12] = a[12];
        out[13] = a[13];
        out[14] = a[14];
        out[15] = a[15];
        return out;
    }
    /**
     * Create a new mat4 with the given values
     *
     * @param {Number} m00 Component in column 0, row 0 position (index 0)
     * @param {Number} m01 Component in column 0, row 1 position (index 1)
     * @param {Number} m02 Component in column 0, row 2 position (index 2)
     * @param {Number} m03 Component in column 0, row 3 position (index 3)
     * @param {Number} m10 Component in column 1, row 0 position (index 4)
     * @param {Number} m11 Component in column 1, row 1 position (index 5)
     * @param {Number} m12 Component in column 1, row 2 position (index 6)
     * @param {Number} m13 Component in column 1, row 3 position (index 7)
     * @param {Number} m20 Component in column 2, row 0 position (index 8)
     * @param {Number} m21 Component in column 2, row 1 position (index 9)
     * @param {Number} m22 Component in column 2, row 2 position (index 10)
     * @param {Number} m23 Component in column 2, row 3 position (index 11)
     * @param {Number} m30 Component in column 3, row 0 position (index 12)
     * @param {Number} m31 Component in column 3, row 1 position (index 13)
     * @param {Number} m32 Component in column 3, row 2 position (index 14)
     * @param {Number} m33 Component in column 3, row 3 position (index 15)
     * @returns {mat4} A new mat4
     */
    static fromValues(m00, m01, m02, m03, m10, m11, m12, m13, m20, m21, m22, m23, m30, m31, m32, m33) {
        let out = new Array(16);
        out[0] = m00;
        out[1] = m01;
        out[2] = m02;
        out[3] = m03;
        out[4] = m10;
        out[5] = m11;
        out[6] = m12;
        out[7] = m13;
        out[8] = m20;
        out[9] = m21;
        out[10] = m22;
        out[11] = m23;
        out[12] = m30;
        out[13] = m31;
        out[14] = m32;
        out[15] = m33;
        return out;
    }
    /**
     * Set the components of a mat4 to the given values
     *
     * @param {mat4} out the receiving matrix
     * @param {Number} m00 Component in column 0, row 0 position (index 0)
     * @param {Number} m01 Component in column 0, row 1 position (index 1)
     * @param {Number} m02 Component in column 0, row 2 position (index 2)
     * @param {Number} m03 Component in column 0, row 3 position (index 3)
     * @param {Number} m10 Component in column 1, row 0 position (index 4)
     * @param {Number} m11 Component in column 1, row 1 position (index 5)
     * @param {Number} m12 Component in column 1, row 2 position (index 6)
     * @param {Number} m13 Component in column 1, row 3 position (index 7)
     * @param {Number} m20 Component in column 2, row 0 position (index 8)
     * @param {Number} m21 Component in column 2, row 1 position (index 9)
     * @param {Number} m22 Component in column 2, row 2 position (index 10)
     * @param {Number} m23 Component in column 2, row 3 position (index 11)
     * @param {Number} m30 Component in column 3, row 0 position (index 12)
     * @param {Number} m31 Component in column 3, row 1 position (index 13)
     * @param {Number} m32 Component in column 3, row 2 position (index 14)
     * @param {Number} m33 Component in column 3, row 3 position (index 15)
     * @returns {mat4} out
     */
    static set(out, m00, m01, m02, m03, m10, m11, m12, m13, m20, m21, m22, m23, m30, m31, m32, m33) {
        out[0] = m00;
        out[1] = m01;
        out[2] = m02;
        out[3] = m03;
        out[4] = m10;
        out[5] = m11;
        out[6] = m12;
        out[7] = m13;
        out[8] = m20;
        out[9] = m21;
        out[10] = m22;
        out[11] = m23;
        out[12] = m30;
        out[13] = m31;
        out[14] = m32;
        out[15] = m33;
        return out;
    }
    /**
     * Set a mat4 to the identity matrix
     *
     * @param {mat4} out the receiving matrix
     * @returns {mat4} out
     */
    static identity(out) {
        out[0] = 1;
        out[1] = 0;
        out[2] = 0;
        out[3] = 0;
        out[4] = 0;
        out[5] = 1;
        out[6] = 0;
        out[7] = 0;
        out[8] = 0;
        out[9] = 0;
        out[10] = 1;
        out[11] = 0;
        out[12] = 0;
        out[13] = 0;
        out[14] = 0;
        out[15] = 1;
        return out;
    }
    /**
     * Transpose the values of a mat4
     *
     * @param {mat4} out the receiving matrix
     * @param {ReadonlyMat4} a the source matrix
     * @returns {mat4} out
     */
    static transpose(out, a) {
        // If we are transposing ourselves we can skip a few steps but have to cache some values
        if (out === a) {
            let a01 = a[1], a02 = a[2], a03 = a[3];
            let a12 = a[6], a13 = a[7];
            let a23 = a[11];
            out[1] = a[4];
            out[2] = a[8];
            out[3] = a[12];
            out[4] = a01;
            out[6] = a[9];
            out[7] = a[13];
            out[8] = a02;
            out[9] = a12;
            out[11] = a[14];
            out[12] = a03;
            out[13] = a13;
            out[14] = a23;
        }
        else {
            out[0] = a[0];
            out[1] = a[4];
            out[2] = a[8];
            out[3] = a[12];
            out[4] = a[1];
            out[5] = a[5];
            out[6] = a[9];
            out[7] = a[13];
            out[8] = a[2];
            out[9] = a[6];
            out[10] = a[10];
            out[11] = a[14];
            out[12] = a[3];
            out[13] = a[7];
            out[14] = a[11];
            out[15] = a[15];
        }
        return out;
    }
    /**
     * Inverts a mat4
     *
     * @param {mat4} out the receiving matrix
     * @param {ReadonlyMat4} a the source matrix
     * @returns {mat4} out
     */
    static invert(out, a) {
        let a00 = a[0], a01 = a[1], a02 = a[2], a03 = a[3];
        let a10 = a[4], a11 = a[5], a12 = a[6], a13 = a[7];
        let a20 = a[8], a21 = a[9], a22 = a[10], a23 = a[11];
        let a30 = a[12], a31 = a[13], a32 = a[14], a33 = a[15];
        let b00 = a00 * a11 - a01 * a10;
        let b01 = a00 * a12 - a02 * a10;
        let b02 = a00 * a13 - a03 * a10;
        let b03 = a01 * a12 - a02 * a11;
        let b04 = a01 * a13 - a03 * a11;
        let b05 = a02 * a13 - a03 * a12;
        let b06 = a20 * a31 - a21 * a30;
        let b07 = a20 * a32 - a22 * a30;
        let b08 = a20 * a33 - a23 * a30;
        let b09 = a21 * a32 - a22 * a31;
        let b10 = a21 * a33 - a23 * a31;
        let b11 = a22 * a33 - a23 * a32;
        // Calculate the determinant
        let det = b00 * b11 - b01 * b10 + b02 * b09 + b03 * b08 - b04 * b07 + b05 * b06;
        if (!det) {
            return null;
        }
        det = 1.0 / det;
        out[0] = (a11 * b11 - a12 * b10 + a13 * b09) * det;
        out[1] = (a02 * b10 - a01 * b11 - a03 * b09) * det;
        out[2] = (a31 * b05 - a32 * b04 + a33 * b03) * det;
        out[3] = (a22 * b04 - a21 * b05 - a23 * b03) * det;
        out[4] = (a12 * b08 - a10 * b11 - a13 * b07) * det;
        out[5] = (a00 * b11 - a02 * b08 + a03 * b07) * det;
        out[6] = (a32 * b02 - a30 * b05 - a33 * b01) * det;
        out[7] = (a20 * b05 - a22 * b02 + a23 * b01) * det;
        out[8] = (a10 * b10 - a11 * b08 + a13 * b06) * det;
        out[9] = (a01 * b08 - a00 * b10 - a03 * b06) * det;
        out[10] = (a30 * b04 - a31 * b02 + a33 * b00) * det;
        out[11] = (a21 * b02 - a20 * b04 - a23 * b00) * det;
        out[12] = (a11 * b07 - a10 * b09 - a12 * b06) * det;
        out[13] = (a00 * b09 - a01 * b07 + a02 * b06) * det;
        out[14] = (a31 * b01 - a30 * b03 - a32 * b00) * det;
        out[15] = (a20 * b03 - a21 * b01 + a22 * b00) * det;
        return out;
    }
    /**
     * Calculates the adjugate of a mat4
     *
     * @param {mat4} out the receiving matrix
     * @param {ReadonlyMat4} a the source matrix
     * @returns {mat4} out
     */
    static adjoint(out, a) {
        let a00 = a[0], a01 = a[1], a02 = a[2], a03 = a[3];
        let a10 = a[4], a11 = a[5], a12 = a[6], a13 = a[7];
        let a20 = a[8], a21 = a[9], a22 = a[10], a23 = a[11];
        let a30 = a[12], a31 = a[13], a32 = a[14], a33 = a[15];
        let b00 = a00 * a11 - a01 * a10;
        let b01 = a00 * a12 - a02 * a10;
        let b02 = a00 * a13 - a03 * a10;
        let b03 = a01 * a12 - a02 * a11;
        let b04 = a01 * a13 - a03 * a11;
        let b05 = a02 * a13 - a03 * a12;
        let b06 = a20 * a31 - a21 * a30;
        let b07 = a20 * a32 - a22 * a30;
        let b08 = a20 * a33 - a23 * a30;
        let b09 = a21 * a32 - a22 * a31;
        let b10 = a21 * a33 - a23 * a31;
        let b11 = a22 * a33 - a23 * a32;
        out[0] = a11 * b11 - a12 * b10 + a13 * b09;
        out[1] = a02 * b10 - a01 * b11 - a03 * b09;
        out[2] = a31 * b05 - a32 * b04 + a33 * b03;
        out[3] = a22 * b04 - a21 * b05 - a23 * b03;
        out[4] = a12 * b08 - a10 * b11 - a13 * b07;
        out[5] = a00 * b11 - a02 * b08 + a03 * b07;
        out[6] = a32 * b02 - a30 * b05 - a33 * b01;
        out[7] = a20 * b05 - a22 * b02 + a23 * b01;
        out[8] = a10 * b10 - a11 * b08 + a13 * b06;
        out[9] = a01 * b08 - a00 * b10 - a03 * b06;
        out[10] = a30 * b04 - a31 * b02 + a33 * b00;
        out[11] = a21 * b02 - a20 * b04 - a23 * b00;
        out[12] = a11 * b07 - a10 * b09 - a12 * b06;
        out[13] = a00 * b09 - a01 * b07 + a02 * b06;
        out[14] = a31 * b01 - a30 * b03 - a32 * b00;
        out[15] = a20 * b03 - a21 * b01 + a22 * b00;
        return out;
    }
    /**
     * Calculates the determinant of a mat4
     *
     * @param {ReadonlyMat4} a the source matrix
     * @returns {Number} determinant of a
     */
    static eterminant(a) {
        let a00 = a[0], a01 = a[1], a02 = a[2], a03 = a[3];
        let a10 = a[4], a11 = a[5], a12 = a[6], a13 = a[7];
        let a20 = a[8], a21 = a[9], a22 = a[10], a23 = a[11];
        let a30 = a[12], a31 = a[13], a32 = a[14], a33 = a[15];
        let b0 = a00 * a11 - a01 * a10;
        let b1 = a00 * a12 - a02 * a10;
        let b2 = a01 * a12 - a02 * a11;
        let b3 = a20 * a31 - a21 * a30;
        let b4 = a20 * a32 - a22 * a30;
        let b5 = a21 * a32 - a22 * a31;
        let b6 = a00 * b5 - a01 * b4 + a02 * b3;
        let b7 = a10 * b5 - a11 * b4 + a12 * b3;
        let b8 = a20 * b2 - a21 * b1 + a22 * b0;
        let b9 = a30 * b2 - a31 * b1 + a32 * b0;
        // Calculate the determinant
        return a13 * b6 - a03 * b7 + a33 * b8 - a23 * b9;
    }
    /**
     * Multiplies two mat4s
     *
     * @param {mat4} out the receiving matrix
     * @param {ReadonlyMat4} a the first operand
     * @param {ReadonlyMat4} b the second operand
     * @returns {mat4} out
     */
    static multiply(out, a, b) {
        let a00 = a[0], a01 = a[1], a02 = a[2], a03 = a[3];
        let a10 = a[4], a11 = a[5], a12 = a[6], a13 = a[7];
        let a20 = a[8], a21 = a[9], a22 = a[10], a23 = a[11];
        let a30 = a[12], a31 = a[13], a32 = a[14], a33 = a[15];
        // Cache only the current line of the second matrix
        let b0 = b[0], b1 = b[1], b2 = b[2], b3 = b[3];
        out[0] = b0 * a00 + b1 * a10 + b2 * a20 + b3 * a30;
        out[1] = b0 * a01 + b1 * a11 + b2 * a21 + b3 * a31;
        out[2] = b0 * a02 + b1 * a12 + b2 * a22 + b3 * a32;
        out[3] = b0 * a03 + b1 * a13 + b2 * a23 + b3 * a33;
        b0 = b[4];
        b1 = b[5];
        b2 = b[6];
        b3 = b[7];
        out[4] = b0 * a00 + b1 * a10 + b2 * a20 + b3 * a30;
        out[5] = b0 * a01 + b1 * a11 + b2 * a21 + b3 * a31;
        out[6] = b0 * a02 + b1 * a12 + b2 * a22 + b3 * a32;
        out[7] = b0 * a03 + b1 * a13 + b2 * a23 + b3 * a33;
        b0 = b[8];
        b1 = b[9];
        b2 = b[10];
        b3 = b[11];
        out[8] = b0 * a00 + b1 * a10 + b2 * a20 + b3 * a30;
        out[9] = b0 * a01 + b1 * a11 + b2 * a21 + b3 * a31;
        out[10] = b0 * a02 + b1 * a12 + b2 * a22 + b3 * a32;
        out[11] = b0 * a03 + b1 * a13 + b2 * a23 + b3 * a33;
        b0 = b[12];
        b1 = b[13];
        b2 = b[14];
        b3 = b[15];
        out[12] = b0 * a00 + b1 * a10 + b2 * a20 + b3 * a30;
        out[13] = b0 * a01 + b1 * a11 + b2 * a21 + b3 * a31;
        out[14] = b0 * a02 + b1 * a12 + b2 * a22 + b3 * a32;
        out[15] = b0 * a03 + b1 * a13 + b2 * a23 + b3 * a33;
        return out;
    }
    /**
     * Translate a mat4 by the given vector
     *
     * @param {mat4} out the receiving matrix
     * @param {ReadonlyMat4} a the matrix to translate
     * @param {ReadonlyVec3} v vector to translate by
     * @returns {mat4} out
     */
    static anslate(out, a, v) {
        let x = v.x, y = v.y, z = v.z;
        let a00, a01, a02, a03;
        let a10, a11, a12, a13;
        let a20, a21, a22, a23;
        if (a === out) {
            out[12] = a[0] * x + a[4] * y + a[8] * z + a[12];
            out[13] = a[1] * x + a[5] * y + a[9] * z + a[13];
            out[14] = a[2] * x + a[6] * y + a[10] * z + a[14];
            out[15] = a[3] * x + a[7] * y + a[11] * z + a[15];
        }
        else {
            a00 = a[0];
            a01 = a[1];
            a02 = a[2];
            a03 = a[3];
            a10 = a[4];
            a11 = a[5];
            a12 = a[6];
            a13 = a[7];
            a20 = a[8];
            a21 = a[9];
            a22 = a[10];
            a23 = a[11];
            out[0] = a00;
            out[1] = a01;
            out[2] = a02;
            out[3] = a03;
            out[4] = a10;
            out[5] = a11;
            out[6] = a12;
            out[7] = a13;
            out[8] = a20;
            out[9] = a21;
            out[10] = a22;
            out[11] = a23;
            out[12] = a00 * x + a10 * y + a20 * z + a[12];
            out[13] = a01 * x + a11 * y + a21 * z + a[13];
            out[14] = a02 * x + a12 * y + a22 * z + a[14];
            out[15] = a03 * x + a13 * y + a23 * z + a[15];
        }
        return out;
    }
    /**
     * Scales the mat4 by the dimensions in the given vec3 not using vectorization
     *
     * @param {mat4} out the receiving matrix
     * @param {ReadonlyMat4} a the matrix to scale
     * @param {ReadonlyVec3} v the vec3 to scale the matrix by
     * @returns {mat4} out
     **/
    static scale(out, a, v) {
        let x = v.x, y = v.y, z = v.z;
        out[0] = a[0] * x;
        out[1] = a[1] * x;
        out[2] = a[2] * x;
        out[3] = a[3] * x;
        out[4] = a[4] * y;
        out[5] = a[5] * y;
        out[6] = a[6] * y;
        out[7] = a[7] * y;
        out[8] = a[8] * z;
        out[9] = a[9] * z;
        out[10] = a[10] * z;
        out[11] = a[11] * z;
        out[12] = a[12];
        out[13] = a[13];
        out[14] = a[14];
        out[15] = a[15];
        return out;
    }
    /**
     * Rotates a mat4 by the given angle around the given axis
     *
     * @param {mat4} out the receiving matrix
     * @param {ReadonlyMat4} a the matrix to rotate
     * @param {Number} rad the angle to rotate the matrix by
     * @param {ReadonlyVec3} axis the axis to rotate around
     * @returns {mat4} out
     */
    static rotate(out, a, rad, axis) {
        let x = axis.x, y = axis.y, z = axis.z;
        let len = Math.hypot(x, y, z);
        let s, c, t;
        let a00, a01, a02, a03;
        let a10, a11, a12, a13;
        let a20, a21, a22, a23;
        let b00, b01, b02;
        let b10, b11, b12;
        let b20, b21, b22;
        /*         if (len < GL_EPSILLON) {
                    return null;
                } */
        len = 1 / len;
        x *= len;
        y *= len;
        z *= len;
        s = Math.sin(rad);
        c = Math.cos(rad);
        t = 1 - c;
        a00 = a[0];
        a01 = a[1];
        a02 = a[2];
        a03 = a[3];
        a10 = a[4];
        a11 = a[5];
        a12 = a[6];
        a13 = a[7];
        a20 = a[8];
        a21 = a[9];
        a22 = a[10];
        a23 = a[11];
        // Construct the elements of the rotation matrix
        b00 = x * x * t + c;
        b01 = y * x * t + z * s;
        b02 = z * x * t - y * s;
        b10 = x * y * t - z * s;
        b11 = y * y * t + c;
        b12 = z * y * t + x * s;
        b20 = x * z * t + y * s;
        b21 = y * z * t - x * s;
        b22 = z * z * t + c;
        // Perform rotation-specific matrix multiplication
        out[0] = a00 * b00 + a10 * b01 + a20 * b02;
        out[1] = a01 * b00 + a11 * b01 + a21 * b02;
        out[2] = a02 * b00 + a12 * b01 + a22 * b02;
        out[3] = a03 * b00 + a13 * b01 + a23 * b02;
        out[4] = a00 * b10 + a10 * b11 + a20 * b12;
        out[5] = a01 * b10 + a11 * b11 + a21 * b12;
        out[6] = a02 * b10 + a12 * b11 + a22 * b12;
        out[7] = a03 * b10 + a13 * b11 + a23 * b12;
        out[8] = a00 * b20 + a10 * b21 + a20 * b22;
        out[9] = a01 * b20 + a11 * b21 + a21 * b22;
        out[10] = a02 * b20 + a12 * b21 + a22 * b22;
        out[11] = a03 * b20 + a13 * b21 + a23 * b22;
        if (a !== out) {
            // If the source and destination differ, copy the unchanged last row
            out[12] = a[12];
            out[13] = a[13];
            out[14] = a[14];
            out[15] = a[15];
        }
        return out;
    }
    /**
     * Rotates a matrix by the given angle around the X axis
     *
     * @param {mat4} out the receiving matrix
     * @param {ReadonlyMat4} a the matrix to rotate
     * @param {Number} rad the angle to rotate the matrix by
     * @returns {mat4} out
     */
    static rotateX(out, a, rad) {
        let s = Math.sin(rad);
        let c = Math.cos(rad);
        let a10 = a[4];
        let a11 = a[5];
        let a12 = a[6];
        let a13 = a[7];
        let a20 = a[8];
        let a21 = a[9];
        let a22 = a[10];
        let a23 = a[11];
        if (a !== out) {
            // If the source and destination differ, copy the unchanged rows
            out[0] = a[0];
            out[1] = a[1];
            out[2] = a[2];
            out[3] = a[3];
            out[12] = a[12];
            out[13] = a[13];
            out[14] = a[14];
            out[15] = a[15];
        }
        // Perform axis-specific matrix multiplication
        out[4] = a10 * c + a20 * s;
        out[5] = a11 * c + a21 * s;
        out[6] = a12 * c + a22 * s;
        out[7] = a13 * c + a23 * s;
        out[8] = a20 * c - a10 * s;
        out[9] = a21 * c - a11 * s;
        out[10] = a22 * c - a12 * s;
        out[11] = a23 * c - a13 * s;
        return out;
    }
    /**
     * Rotates a matrix by the given angle around the Y axis
     *
     * @param {mat4} out the receiving matrix
     * @param {ReadonlyMat4} a the matrix to rotate
     * @param {Number} rad the angle to rotate the matrix by
     * @returns {mat4} out
     */
    static rotateY(out, a, rad) {
        let s = Math.sin(rad);
        let c = Math.cos(rad);
        let a00 = a[0];
        let a01 = a[1];
        let a02 = a[2];
        let a03 = a[3];
        let a20 = a[8];
        let a21 = a[9];
        let a22 = a[10];
        let a23 = a[11];
        if (a !== out) {
            // If the source and destination differ, copy the unchanged rows
            out[4] = a[4];
            out[5] = a[5];
            out[6] = a[6];
            out[7] = a[7];
            out[12] = a[12];
            out[13] = a[13];
            out[14] = a[14];
            out[15] = a[15];
        }
        // Perform axis-specific matrix multiplication
        out[0] = a00 * c - a20 * s;
        out[1] = a01 * c - a21 * s;
        out[2] = a02 * c - a22 * s;
        out[3] = a03 * c - a23 * s;
        out[8] = a00 * s + a20 * c;
        out[9] = a01 * s + a21 * c;
        out[10] = a02 * s + a22 * c;
        out[11] = a03 * s + a23 * c;
        return out;
    }
    /**
     * Rotates a matrix by the given angle around the Z axis
     *
     * @param {mat4} out the receiving matrix
     * @param {ReadonlyMat4} a the matrix to rotate
     * @param {Number} rad the angle to rotate the matrix by
     * @returns {mat4} out
     */
    static rotateZ(out, a, rad) {
        let s = Math.sin(rad);
        let c = Math.cos(rad);
        let a00 = a[0];
        let a01 = a[1];
        let a02 = a[2];
        let a03 = a[3];
        let a10 = a[4];
        let a11 = a[5];
        let a12 = a[6];
        let a13 = a[7];
        if (a !== out) {
            // If the source and destination differ, copy the unchanged last row
            out[8] = a[8];
            out[9] = a[9];
            out[10] = a[10];
            out[11] = a[11];
            out[12] = a[12];
            out[13] = a[13];
            out[14] = a[14];
            out[15] = a[15];
        }
        // Perform axis-specific matrix multiplication
        out[0] = a00 * c + a10 * s;
        out[1] = a01 * c + a11 * s;
        out[2] = a02 * c + a12 * s;
        out[3] = a03 * c + a13 * s;
        out[4] = a10 * c - a00 * s;
        out[5] = a11 * c - a01 * s;
        out[6] = a12 * c - a02 * s;
        out[7] = a13 * c - a03 * s;
        return out;
    }
    /**
     * Creates a matrix from a vector translation
     * This is equivalent to (but much faster than):
     *
     *     mat4.identity(dest);
     *     mat4.translate(dest, dest, vec);
     *
     * @param {mat4} out mat4 receiving operation result
     * @param {ReadonlyVec3} v Translation vector
     * @returns {mat4} out
     */
    static fromTranslation(out, v) {
        out[0] = 1;
        out[1] = 0;
        out[2] = 0;
        out[3] = 0;
        out[4] = 0;
        out[5] = 1;
        out[6] = 0;
        out[7] = 0;
        out[8] = 0;
        out[9] = 0;
        out[10] = 1;
        out[11] = 0;
        out[12] = v.x;
        out[13] = v.y;
        out[14] = v.z;
        out[15] = 1;
        return out;
    }
    /**
     * Creates a matrix from a vector scaling
     * This is equivalent to (but much faster than):
     *
     *     mat4.identity(dest);
     *     mat4.scale(dest, dest, vec);
     *
     * @param {mat4} out mat4 receiving operation result
     * @param {ReadonlyVec3} v Scaling vector
     * @returns {mat4} out
     */
    static fromScaling(out, v) {
        out[0] = v.x;
        out[1] = 0;
        out[2] = 0;
        out[3] = 0;
        out[4] = 0;
        out[5] = v.x;
        out[6] = 0;
        out[7] = 0;
        out[8] = 0;
        out[9] = 0;
        out[10] = v.z;
        out[11] = 0;
        out[12] = 0;
        out[13] = 0;
        out[14] = 0;
        out[15] = 1;
        return out;
    }
    /**
     * Creates a matrix from a given angle around a given axis
     * This is equivalent to (but much faster than):
     *
     *     mat4.identity(dest);
     *     mat4.rotate(dest, dest, rad: number, axis);
     *
     * @param {mat4} out mat4 receiving operation result
     * @param {Number} rad the angle to rotate the matrix by
     * @param {ReadonlyVec3} axis the axis to rotate around
     * @returns {mat4} out
     */
    static fromRotation(out, rad, axis) {
        let x = axis.x, y = axis.y, z = axis.z;
        let len = Math.hypot(x, y, z);
        let s, c, t;
        /*         if (len < GL_EPSILLON) {
                    return null;
                } */
        len = 1 / len;
        x *= len;
        y *= len;
        z *= len;
        s = Math.sin(rad);
        c = Math.cos(rad);
        t = 1 - c;
        // Perform rotation-specific matrix multiplication
        out[0] = x * x * t + c;
        out[1] = y * x * t + z * s;
        out[2] = z * x * t - y * s;
        out[3] = 0;
        out[4] = x * y * t - z * s;
        out[5] = y * y * t + c;
        out[6] = z * y * t + x * s;
        out[7] = 0;
        out[8] = x * z * t + y * s;
        out[9] = y * z * t - x * s;
        out[10] = z * z * t + c;
        out[11] = 0;
        out[12] = 0;
        out[13] = 0;
        out[14] = 0;
        out[15] = 1;
        return out;
    }
    /**
     * Creates a matrix from the given angle around the X axis
     * This is equivalent to (but much faster than):
     *
     *     mat4.identity(dest);
     *     mat4.rotateX(dest, dest, rad: number);
     *
     * @param {mat4} out mat4 receiving operation result
     * @param {Number} rad the angle to rotate the matrix by
     * @returns {mat4} out
     */
    static fromXRotation(out, rad) {
        let s = Math.sin(rad);
        let c = Math.cos(rad);
        // Perform axis-specific matrix multiplication
        out[0] = 1;
        out[1] = 0;
        out[2] = 0;
        out[3] = 0;
        out[4] = 0;
        out[5] = c;
        out[6] = s;
        out[7] = 0;
        out[8] = 0;
        out[9] = -s;
        out[10] = c;
        out[11] = 0;
        out[12] = 0;
        out[13] = 0;
        out[14] = 0;
        out[15] = 1;
        return out;
    }
    /**
     * Creates a matrix from the given angle around the Y axis
     * This is equivalent to (but much faster than):
     *
     *     mat4.identity(dest);
     *     mat4.rotateY(dest, dest, rad: number);
     *
     * @param {mat4} out mat4 receiving operation result
     * @param {Number} rad the angle to rotate the matrix by
     * @returns {mat4} out
     */
    static fromYRotation(out, rad) {
        let s = Math.sin(rad);
        let c = Math.cos(rad);
        // Perform axis-specific matrix multiplication
        out[0] = c;
        out[1] = 0;
        out[2] = -s;
        out[3] = 0;
        out[4] = 0;
        out[5] = 1;
        out[6] = 0;
        out[7] = 0;
        out[8] = s;
        out[9] = 0;
        out[10] = c;
        out[11] = 0;
        out[12] = 0;
        out[13] = 0;
        out[14] = 0;
        out[15] = 1;
        return out;
    }
    /**
     * Creates a matrix from the given angle around the Z axis
     * This is equivalent to (but much faster than):
     *
     *     mat4.identity(dest);
     *     mat4.rotateZ(dest, dest, rad: number);
     *
     * @param {mat4} out mat4 receiving operation result
     * @param {Number} rad the angle to rotate the matrix by
     * @returns {mat4} out
     */
    static fromZRotation(out, rad) {
        let s = Math.sin(rad);
        let c = Math.cos(rad);
        // Perform axis-specific matrix multiplication
        out[0] = c;
        out[1] = s;
        out[2] = 0;
        out[3] = 0;
        out[4] = -s;
        out[5] = c;
        out[6] = 0;
        out[7] = 0;
        out[8] = 0;
        out[9] = 0;
        out[10] = 1;
        out[11] = 0;
        out[12] = 0;
        out[13] = 0;
        out[14] = 0;
        out[15] = 1;
        return out;
    }
    /**
     * Creates a matrix from a quaternion rotation and vector translation
     * This is equivalent to (but much faster than):
     *
     *     mat4.identity(dest);
     *     mat4.translate(dest, vec);
     *     let quatMat = mat4.create();
     *     quat4.toMat4(quat, quatMat);
     *     mat4.multiply(dest, quatMat);
     *
     * @param {mat4} out mat4 receiving operation result
     * @param {quat4} q Rotation quaternion
     * @param {ReadonlyVec3} v Translation vector
     * @returns {mat4} out
     */
    static fromRotationTranslation(out, q, v) {
        // Quaternion math
        let x = q[0], y = q[1], z = q[2], w = q[3];
        let x2 = x + x;
        let y2 = y + y;
        let z2 = z + z;
        let xx = x * x2;
        let xy = x * y2;
        let xz = x * z2;
        let yy = y * y2;
        let yz = y * z2;
        let zz = z * z2;
        let wx = w * x2;
        let wy = w * y2;
        let wz = w * z2;
        out[0] = 1 - (yy + zz);
        out[1] = xy + wz;
        out[2] = xz - wy;
        out[3] = 0;
        out[4] = xy - wz;
        out[5] = 1 - (xx + zz);
        out[6] = yz + wx;
        out[7] = 0;
        out[8] = xz + wy;
        out[9] = yz - wx;
        out[10] = 1 - (xx + yy);
        out[11] = 0;
        out[12] = v.x;
        out[13] = v.y;
        out[14] = v.z;
        out[15] = 1;
        return out;
    }
    /**
     * Creates a new mat4 from a dual quat.
     *
     * @param {mat4} out Matrix
     * @param {ReadonlyQuat2} a Dual Quaternion
     * @returns {mat4} mat4 receiving operation result
     */
    static fromQuat2(out, a) {
        let translation = new Vector3_1.default();
        let bx = -a[0], by = -a[1], bz = -a[2], bw = a[3], ax = a[4], ay = a[5], az = a[6], aw = a[7];
        let magnitude = bx * bx + by * by + bz * bz + bw * bw;
        //Only scale if it makes sense
        if (magnitude > 0) {
            translation.x = ((ax * bw + aw * bx + ay * bz - az * by) * 2) / magnitude;
            translation.y = ((ay * bw + aw * by + az * bx - ax * bz) * 2) / magnitude;
            translation.z = ((az * bw + aw * bz + ax * by - ay * bx) * 2) / magnitude;
        }
        else {
            translation.x = (ax * bw + aw * bx + ay * bz - az * by) * 2;
            translation.y = (ay * bw + aw * by + az * bx - ax * bz) * 2;
            translation.z = (az * bw + aw * bz + ax * by - ay * bx) * 2;
        }
        glmatrix_matrix4.fromRotationTranslation(out, a, translation);
        return out;
    }
    /**
     * Returns the translation vector component of a transformation
     *  matrix. If a matrix is built with fromRotationTranslation,
     *  the returned vector will be the same as the translation vector
     *  originally supplied.
     * @param  {vec3} out Vector to receive translation component
     * @param  {ReadonlyMat4} mat Matrix to be decomposed (input)
     * @return {vec3} out
     */
    static getTranslation(out, mat) {
        out.x = mat[12];
        out.y = mat[13];
        out.z = mat[14];
        return out;
    }
    /**
     * Returns the scaling factor component of a transformation
     *  matrix. If a matrix is built with fromRotationTranslationScale
     *  with a normalized Quaternion paramter, the returned vector will be
     *  the same as the scaling vector
     *  originally supplied.
     * @param  {vec3} out Vector to receive scaling factor component
     * @param  {ReadonlyMat4} mat Matrix to be decomposed (input)
     * @return {vec3} out
     */
    static getScaling(out, mat) {
        let m11 = mat[0];
        let m12 = mat[1];
        let m13 = mat[2];
        let m21 = mat[4];
        let m22 = mat[5];
        let m23 = mat[6];
        let m31 = mat[8];
        let m32 = mat[9];
        let m33 = mat[10];
        out.x = Math.hypot(m11, m12, m13);
        out.y = Math.hypot(m21, m22, m23);
        out.z = Math.hypot(m31, m32, m33);
        return out;
    }
    /**
     * Returns a quaternion representing the rotational component
     *  of a transformation matrix. If a matrix is built with
     *  fromRotationTranslation, the returned quaternion will be the
     *  same as the quaternion originally supplied.
     * @param {quat} out Quaternion to receive the rotation component
     * @param {ReadonlyMat4} mat Matrix to be decomposed (input)
     * @return {quat} out
     */
    static getRotation(out, mat) {
        let scaling = new Vector3_1.default();
        glmatrix_matrix4.getScaling(scaling, mat);
        let is1 = 1 / scaling.x;
        let is2 = 1 / scaling.y;
        let is3 = 1 / scaling.z;
        let sm11 = mat[0] * is1;
        let sm12 = mat[1] * is2;
        let sm13 = mat[2] * is3;
        let sm21 = mat[4] * is1;
        let sm22 = mat[5] * is2;
        let sm23 = mat[6] * is3;
        let sm31 = mat[8] * is1;
        let sm32 = mat[9] * is2;
        let sm33 = mat[10] * is3;
        let trace = sm11 + sm22 + sm33;
        let S = 0;
        if (trace > 0) {
            S = Math.sqrt(trace + 1.0) * 2;
            out[3] = 0.25 * S;
            out[0] = (sm23 - sm32) / S;
            out[1] = (sm31 - sm13) / S;
            out[2] = (sm12 - sm21) / S;
        }
        else if (sm11 > sm22 && sm11 > sm33) {
            S = Math.sqrt(1.0 + sm11 - sm22 - sm33) * 2;
            out[3] = (sm23 - sm32) / S;
            out[0] = 0.25 * S;
            out[1] = (sm12 + sm21) / S;
            out[2] = (sm31 + sm13) / S;
        }
        else if (sm22 > sm33) {
            S = Math.sqrt(1.0 + sm22 - sm11 - sm33) * 2;
            out[3] = (sm31 - sm13) / S;
            out[0] = (sm12 + sm21) / S;
            out[1] = 0.25 * S;
            out[2] = (sm23 + sm32) / S;
        }
        else {
            S = Math.sqrt(1.0 + sm33 - sm11 - sm22) * 2;
            out[3] = (sm12 - sm21) / S;
            out[0] = (sm31 + sm13) / S;
            out[1] = (sm23 + sm32) / S;
            out[2] = 0.25 * S;
        }
        return out;
    }
    /**
     * Decomposes a transformation matrix into its rotation, translation
     * and scale components. Returns only the rotation component
     * @param  {quat} out_r Quaternion to receive the rotation component
     * @param  {vec3} out_t Vector to receive the translation vector
     * @param  {vec3} out_s Vector to receive the scaling factor
     * @param  {ReadonlyMat4} mat Matrix to be decomposed (input)
     * @returns {quat} out_r
     */
    static decompose(out_r, out_t, out_s, mat) {
        out_t.x = mat[12];
        out_t.y = mat[13];
        out_t.z = mat[14];
        let m11 = mat[0];
        let m12 = mat[1];
        let m13 = mat[2];
        let m21 = mat[4];
        let m22 = mat[5];
        let m23 = mat[6];
        let m31 = mat[8];
        let m32 = mat[9];
        let m33 = mat[10];
        out_s.x = Math.hypot(m11, m12, m13);
        out_s.y = Math.hypot(m21, m22, m23);
        out_s.z = Math.hypot(m31, m32, m33);
        let is1 = 1 / out_s.x;
        let is2 = 1 / out_s.y;
        let is3 = 1 / out_s.z;
        let sm11 = m11 * is1;
        let sm12 = m12 * is2;
        let sm13 = m13 * is3;
        let sm21 = m21 * is1;
        let sm22 = m22 * is2;
        let sm23 = m23 * is3;
        let sm31 = m31 * is1;
        let sm32 = m32 * is2;
        let sm33 = m33 * is3;
        let trace = sm11 + sm22 + sm33;
        let S = 0;
        if (trace > 0) {
            S = Math.sqrt(trace + 1.0) * 2;
            out_r[3] = 0.25 * S;
            out_r[0] = (sm23 - sm32) / S;
            out_r[1] = (sm31 - sm13) / S;
            out_r[2] = (sm12 - sm21) / S;
        }
        else if (sm11 > sm22 && sm11 > sm33) {
            S = Math.sqrt(1.0 + sm11 - sm22 - sm33) * 2;
            out_r[3] = (sm23 - sm32) / S;
            out_r[0] = 0.25 * S;
            out_r[1] = (sm12 + sm21) / S;
            out_r[2] = (sm31 + sm13) / S;
        }
        else if (sm22 > sm33) {
            S = Math.sqrt(1.0 + sm22 - sm11 - sm33) * 2;
            out_r[3] = (sm31 - sm13) / S;
            out_r[0] = (sm12 + sm21) / S;
            out_r[1] = 0.25 * S;
            out_r[2] = (sm23 + sm32) / S;
        }
        else {
            S = Math.sqrt(1.0 + sm33 - sm11 - sm22) * 2;
            out_r[3] = (sm12 - sm21) / S;
            out_r[0] = (sm31 + sm13) / S;
            out_r[1] = (sm23 + sm32) / S;
            out_r[2] = 0.25 * S;
        }
        return out_r;
    }
    /**
     * Creates a matrix from a quaternion rotation, vector translation and vector scale
     * This is equivalent to (but much faster than):
     *
     *     mat4.identity(dest);
     *     mat4.translate(dest, vec);
     *     let quatMat = mat4.create();
     *     quat4.toMat4(quat, quatMat);
     *     mat4.multiply(dest, quatMat);
     *     mat4.scale(dest, scale)
     *
     * @param {mat4} out mat4 receiving operation result
     * @param {quat4} q Rotation quaternion
     * @param {ReadonlyVec3} v Translation vector
     * @param {ReadonlyVec3} s Scaling vector
     * @returns {mat4} out
     */
    static fromRotationTranslationScale(out, q, v, s) {
        // Quaternion math
        let x = q[0], y = q[1], z = q[2], w = q[3];
        let x2 = x + x;
        let y2 = y + y;
        let z2 = z + z;
        let xx = x * x2;
        let xy = x * y2;
        let xz = x * z2;
        let yy = y * y2;
        let yz = y * z2;
        let zz = z * z2;
        let wx = w * x2;
        let wy = w * y2;
        let wz = w * z2;
        let sx = s.x;
        let sy = s.y;
        let sz = s.z;
        out[0] = (1 - (yy + zz)) * sx;
        out[1] = (xy + wz) * sx;
        out[2] = (xz - wy) * sx;
        out[3] = 0;
        out[4] = (xy - wz) * sy;
        out[5] = (1 - (xx + zz)) * sy;
        out[6] = (yz + wx) * sy;
        out[7] = 0;
        out[8] = (xz + wy) * sz;
        out[9] = (yz - wx) * sz;
        out[10] = (1 - (xx + yy)) * sz;
        out[11] = 0;
        out[12] = v.x;
        out[13] = v.z;
        out[14] = v.y;
        out[15] = 1;
        return out;
    }
    /**
     * Creates a matrix from a quaternion rotation, vector translation and vector scale, rotating and scaling around the given origin
     * This is equivalent to (but much faster than):
     *
     *     mat4.identity(dest);
     *     mat4.translate(dest, vec);
     *     mat4.translate(dest, origin);
     *     let quatMat = mat4.create();
     *     quat4.toMat4(quat, quatMat);
     *     mat4.multiply(dest, quatMat);
     *     mat4.scale(dest, scale)
     *     mat4.translate(dest, negativeOrigin);
     *
     * @param {mat4} out mat4 receiving operation result
     * @param {quat4} q Rotation quaternion
     * @param {ReadonlyVec3} v Translation vector
     * @param {ReadonlyVec3} s Scaling vector
     * @param {ReadonlyVec3} o The origin vector around which to scale and rotate
     * @returns {mat4} out
     */
    static fromRotationTranslationScaleOrigin(out, q, v, s, o) {
        // Quaternion math
        let x = q[0], y = q[1], z = q[2], w = q[3];
        let x2 = x + x;
        let y2 = y + y;
        let z2 = z + z;
        let xx = x * x2;
        let xy = x * y2;
        let xz = x * z2;
        let yy = y * y2;
        let yz = y * z2;
        let zz = z * z2;
        let wx = w * x2;
        let wy = w * y2;
        let wz = w * z2;
        let sx = s.x;
        let sy = s.y;
        let sz = s.z;
        let ox = o.x;
        let oy = o.y;
        let oz = o.z;
        let out0 = (1 - (yy + zz)) * sx;
        let out1 = (xy + wz) * sx;
        let out2 = (xz - wy) * sx;
        let out4 = (xy - wz) * sy;
        let out5 = (1 - (xx + zz)) * sy;
        let out6 = (yz + wx) * sy;
        let out8 = (xz + wy) * sz;
        let out9 = (yz - wx) * sz;
        let out10 = (1 - (xx + yy)) * sz;
        out[0] = out0;
        out[1] = out1;
        out[2] = out2;
        out[3] = 0;
        out[4] = out4;
        out[5] = out5;
        out[6] = out6;
        out[7] = 0;
        out[8] = out8;
        out[9] = out9;
        out[10] = out10;
        out[11] = 0;
        out[12] = v.x + ox - (out0 * ox + out4 * oy + out8 * oz);
        out[13] = v.y + oy - (out1 * ox + out5 * oy + out9 * oz);
        out[14] = v.z + oz - (out2 * ox + out6 * oy + out10 * oz);
        out[15] = 1;
        return out;
    }
    /**
     * Calculates a 4x4 matrix from the given quaternion
     *
     * @param {mat4} out mat4 receiving operation result
     * @param {ReadonlyQuat} q Quaternion to create matrix from
     *
     * @returns {mat4} out
     */
    static fromQuat(out, q) {
        let x = q[0], y = q[1], z = q[2], w = q[3];
        let x2 = x + x;
        let y2 = y + y;
        let z2 = z + z;
        let xx = x * x2;
        let yx = y * x2;
        let yy = y * y2;
        let zx = z * x2;
        let zy = z * y2;
        let zz = z * z2;
        let wx = w * x2;
        let wy = w * y2;
        let wz = w * z2;
        out[0] = 1 - yy - zz;
        out[1] = yx + wz;
        out[2] = zx - wy;
        out[3] = 0;
        out[4] = yx - wz;
        out[5] = 1 - xx - zz;
        out[6] = zy + wx;
        out[7] = 0;
        out[8] = zx + wy;
        out[9] = zy - wx;
        out[10] = 1 - xx - yy;
        out[11] = 0;
        out[12] = 0;
        out[13] = 0;
        out[14] = 0;
        out[15] = 1;
        return out;
    }
    /**
     * Generates a frustum matrix with the given bounds
     *
     * @param {mat4} out mat4 frustum matrix will be written into
     * @param {Number} left Left bound of the frustum
     * @param {Number} right Right bound of the frustum
     * @param {Number} bottom Bottom bound of the frustum
     * @param {Number} top Top bound of the frustum
     * @param {Number} near Near bound of the frustum
     * @param {Number} far Far bound of the frustum
     * @returns {mat4} out
     */
    static frustum(out, left, right, bottom, top, near, far) {
        let rl = 1 / (right - left);
        let tb = 1 / (top - bottom);
        let nf = 1 / (near - far);
        out[0] = near * 2 * rl;
        out[1] = 0;
        out[2] = 0;
        out[3] = 0;
        out[4] = 0;
        out[5] = near * 2 * tb;
        out[6] = 0;
        out[7] = 0;
        out[8] = (right + left) * rl;
        out[9] = (top + bottom) * tb;
        out[10] = (far + near) * nf;
        out[11] = -1;
        out[12] = 0;
        out[13] = 0;
        out[14] = far * near * 2 * nf;
        out[15] = 0;
        return out;
    }
    /**
     * Generates a perspective projection matrix with the given bounds.
     * Passing null/undefined/no value for far will generate infinite projection matrix.
     *
     * @param {mat4} out mat4 frustum matrix will be written into
     * @param {number} fovy Vertical field of view in radians
     * @param {number} aspect Aspect ratio. typically viewport width/height
     * @param {number} near Near bound of the frustum
     * @param {number} far Far bound of the frustum, can be null or Infinity
     * @returns {mat4} out
     */
    static perspective(out, fovy, aspect, near, far) {
        let f = 1.0 / Math.tan(fovy / 2), nf;
        out[0] = f / aspect;
        out[1] = 0;
        out[2] = 0;
        out[3] = 0;
        out[4] = 0;
        out[5] = f;
        out[6] = 0;
        out[7] = 0;
        out[8] = 0;
        out[9] = 0;
        out[11] = -1;
        out[12] = 0;
        out[13] = 0;
        out[15] = 0;
        if (far != null && far !== Infinity) {
            nf = 1 / (near - far);
            out[10] = (far + near) * nf;
            out[14] = 2 * far * near * nf;
        }
        else {
            out[10] = -1;
            out[14] = -2 * near;
        }
        return out;
    }
    /**
     * Generates a perspective projection matrix with the given field of view.
     * This is primarily useful for generating projection matrices to be used
     * with the still experiemental WebVR API.
     *
     * @param {mat4} out mat4 frustum matrix will be written into
     * @param {Object} fov Object containing the following values: upDegrees, downDegrees, leftDegrees, rightDegrees
     * @param {number} near Near bound of the frustum
     * @param {number} far Far bound of the frustum
     * @returns {mat4} out
     */
    static perspectiveFromFieldOfView(out, fov, near, far) {
        let upTan = Math.tan((fov.upDegrees * Math.PI) / 180.0);
        let downTan = Math.tan((fov.downDegrees * Math.PI) / 180.0);
        let leftTan = Math.tan((fov.leftDegrees * Math.PI) / 180.0);
        let rightTan = Math.tan((fov.rightDegrees * Math.PI) / 180.0);
        let xScale = 2.0 / (leftTan + rightTan);
        let yScale = 2.0 / (upTan + downTan);
        out[0] = xScale;
        out[1] = 0.0;
        out[2] = 0.0;
        out[3] = 0.0;
        out[4] = 0.0;
        out[5] = yScale;
        out[6] = 0.0;
        out[7] = 0.0;
        out[8] = -((leftTan - rightTan) * xScale * 0.5);
        out[9] = (upTan - downTan) * yScale * 0.5;
        out[10] = far / (near - far);
        out[11] = -1.0;
        out[12] = 0.0;
        out[13] = 0.0;
        out[14] = (far * near) / (near - far);
        out[15] = 0.0;
        return out;
    }
    /**
     * Generates a orthogonal projection matrix with the given bounds
     *
     * @param {mat4} out mat4 frustum matrix will be written into
     * @param {number} left Left bound of the frustum
     * @param {number} right Right bound of the frustum
     * @param {number} bottom Bottom bound of the frustum
     * @param {number} top Top bound of the frustum
     * @param {number} near Near bound of the frustum
     * @param {number} far Far bound of the frustum
     * @returns {mat4} out
     */
    static ortho(out, left, right, bottom, top, near, far) {
        let lr = 1 / (left - right);
        let bt = 1 / (bottom - top);
        let nf = 1 / (near - far);
        out[0] = -2 * lr;
        out[1] = 0;
        out[2] = 0;
        out[3] = 0;
        out[4] = 0;
        out[5] = -2 * bt;
        out[6] = 0;
        out[7] = 0;
        out[8] = 0;
        out[9] = 0;
        out[10] = 2 * nf;
        out[11] = 0;
        out[12] = (left + right) * lr;
        out[13] = (top + bottom) * bt;
        out[14] = (far + near) * nf;
        out[15] = 1;
        return out;
    }
    /**
     * Generates a look-at matrix with the given eye position, focal point, and up axis.
     * If you want a matrix that actually makes an object look at another object, you should use targetTo instead.
     *
     * @param {mat4} out mat4 frustum matrix will be written into
     * @param {ReadonlyVec3} eye Position of the viewer
     * @param {ReadonlyVec3} center Point the viewer is looking at
     * @param {ReadonlyVec3} up vec3 pointing up
     * @returns {mat4} out
     */
    static lookAt(out, eye, center, up) {
        let x0, x1, x2, y0, y1, y2, z0, z1, z2, len;
        let eyex = eye.x;
        let eyey = eye.y;
        let eyez = eye.z;
        let upx = up.x;
        let upy = up.y;
        let upz = up.z;
        let centerx = center.x;
        let centery = center.y;
        let centerz = center.z;
        if (Math.abs(eyex - centerx) < exports.GL_EPSILLON &&
            Math.abs(eyey - centery) < exports.GL_EPSILLON &&
            Math.abs(eyez - centerz) < exports.GL_EPSILLON) {
            return glmatrix_matrix4.identity(out);
        }
        z0 = eyex - centerx;
        z1 = eyey - centery;
        z2 = eyez - centerz;
        len = 1 / Math.hypot(z0, z1, z2);
        z0 *= len;
        z1 *= len;
        z2 *= len;
        x0 = upy * z2 - upz * z1;
        x1 = upz * z0 - upx * z2;
        x2 = upx * z1 - upy * z0;
        len = Math.hypot(x0, x1, x2);
        if (!len) {
            x0 = 0;
            x1 = 0;
            x2 = 0;
        }
        else {
            len = 1 / len;
            x0 *= len;
            x1 *= len;
            x2 *= len;
        }
        y0 = z1 * x2 - z2 * x1;
        y1 = z2 * x0 - z0 * x2;
        y2 = z0 * x1 - z1 * x0;
        len = Math.hypot(y0, y1, y2);
        if (!len) {
            y0 = 0;
            y1 = 0;
            y2 = 0;
        }
        else {
            len = 1 / len;
            y0 *= len;
            y1 *= len;
            y2 *= len;
        }
        out[0] = x0;
        out[1] = y0;
        out[2] = z0;
        out[3] = 0;
        out[4] = x1;
        out[5] = y1;
        out[6] = z1;
        out[7] = 0;
        out[8] = x2;
        out[9] = y2;
        out[10] = z2;
        out[11] = 0;
        out[12] = -(x0 * eyex + x1 * eyey + x2 * eyez);
        out[13] = -(y0 * eyex + y1 * eyey + y2 * eyez);
        out[14] = -(z0 * eyex + z1 * eyey + z2 * eyez);
        out[15] = 1;
        return out;
    }
    /**
     * Generates a matrix that makes something look at something else.
     *
     * @param {mat4} out mat4 frustum matrix will be written into
     * @param {ReadonlyVec3} eye Position of the viewer
     * @param {ReadonlyVec3} center Point the viewer is looking at
     * @param {ReadonlyVec3} up vec3 pointing up
     * @returns {mat4} out
     */
    static targetTo(out, eye, target, up) {
        let eyex = eye.x, eyey = eye.y, eyez = eye.z, upx = up.x, upy = up.y, upz = up.z;
        let z0 = eyex - target.x, z1 = eyey - target.y, z2 = eyez - target.z;
        let len = z0 * z0 + z1 * z1 + z2 * z2;
        if (len > 0) {
            len = 1 / Math.sqrt(len);
            z0 *= len;
            z1 *= len;
            z2 *= len;
        }
        let x0 = upy * z2 - upz * z1, x1 = upz * z0 - upx * z2, x2 = upx * z1 - upy * z0;
        len = x0 * x0 + x1 * x1 + x2 * x2;
        if (len > 0) {
            len = 1 / Math.sqrt(len);
            x0 *= len;
            x1 *= len;
            x2 *= len;
        }
        out[0] = x0;
        out[1] = x1;
        out[2] = x2;
        out[3] = 0;
        out[4] = z1 * x2 - z2 * x1;
        out[5] = z2 * x0 - z0 * x2;
        out[6] = z0 * x1 - z1 * x0;
        out[7] = 0;
        out[8] = z0;
        out[9] = z1;
        out[10] = z2;
        out[11] = 0;
        out[12] = eyex;
        out[13] = eyey;
        out[14] = eyez;
        out[15] = 1;
        return out;
    }
    /**
     * Returns a string representation of a mat4
     *
     * @param {ReadonlyMat4} a matrix to represent as a string
     * @returns {String} string representation of the matrix
     */
    statstr(a) {
        return ("mat4(" +
            a[0] +
            ", " +
            a[1] +
            ", " +
            a[2] +
            ", " +
            a[3] +
            ", " +
            a[4] +
            ", " +
            a[5] +
            ", " +
            a[6] +
            ", " +
            a[7] +
            ", " +
            a[8] +
            ", " +
            a[9] +
            ", " +
            a[10] +
            ", " +
            a[11] +
            ", " +
            a[12] +
            ", " +
            a[13] +
            ", " +
            a[14] +
            ", " +
            a[15] +
            ")");
    }
    /**
     * Returns Frobenius norm of a mat4
     *
     * @param {ReadonlyMat4} a the matrix to calculate Frobenius norm of
     * @returns {Number} Frobenius norm
     */
    static frob(a) {
        return Math.hypot(a[0], a[1], a[2], a[3], a[4], a[5], a[6], a[7], a[8], a[9], a[10], a[11], a[12], a[13], a[14], a[15]);
    }
    /**
     * Adds two mat4's
     *
     * @param {mat4} out the receiving matrix
     * @param {ReadonlyMat4} a the first operand
     * @param {ReadonlyMat4} b the second operand
     * @returns {mat4} out
     */
    static add(out, a, b) {
        out[0] = a[0] + b[0];
        out[1] = a[1] + b[1];
        out[2] = a[2] + b[2];
        out[3] = a[3] + b[3];
        out[4] = a[4] + b[4];
        out[5] = a[5] + b[5];
        out[6] = a[6] + b[6];
        out[7] = a[7] + b[7];
        out[8] = a[8] + b[8];
        out[9] = a[9] + b[9];
        out[10] = a[10] + b[10];
        out[11] = a[11] + b[11];
        out[12] = a[12] + b[12];
        out[13] = a[13] + b[13];
        out[14] = a[14] + b[14];
        out[15] = a[15] + b[15];
        return out;
    }
    /**
     * Subtracts matrix b from matrix a
     *
     * @param {mat4} out the receiving matrix
     * @param {ReadonlyMat4} a the first operand
     * @param {ReadonlyMat4} b the second operand
     * @returns {mat4} out
     */
    static subtract(out, a, b) {
        out[0] = a[0] - b[0];
        out[1] = a[1] - b[1];
        out[2] = a[2] - b[2];
        out[3] = a[3] - b[3];
        out[4] = a[4] - b[4];
        out[5] = a[5] - b[5];
        out[6] = a[6] - b[6];
        out[7] = a[7] - b[7];
        out[8] = a[8] - b[8];
        out[9] = a[9] - b[9];
        out[10] = a[10] - b[10];
        out[11] = a[11] - b[11];
        out[12] = a[12] - b[12];
        out[13] = a[13] - b[13];
        out[14] = a[14] - b[14];
        out[15] = a[15] - b[15];
        return out;
    }
    /**
     * Multiply each element of the matrix by a scalar.
     *
     * @param {mat4} out the receiving matrix
     * @param {ReadonlyMat4} a the matrix to scale
     * @param {Number} b amount to scale the matrix's elements by
     * @returns {mat4} out
     */
    static multiplyScalar(out, a, b) {
        out[0] = a[0] * b;
        out[1] = a[1] * b;
        out[2] = a[2] * b;
        out[3] = a[3] * b;
        out[4] = a[4] * b;
        out[5] = a[5] * b;
        out[6] = a[6] * b;
        out[7] = a[7] * b;
        out[8] = a[8] * b;
        out[9] = a[9] * b;
        out[10] = a[10] * b;
        out[11] = a[11] * b;
        out[12] = a[12] * b;
        out[13] = a[13] * b;
        out[14] = a[14] * b;
        out[15] = a[15] * b;
        return out;
    }
    /**
     * Adds two mat4's after multiplying each element of the second operand by a scalar value.
     *
     * @param {mat4} out the receiving vector
     * @param {ReadonlyMat4} a the first operand
     * @param {ReadonlyMat4} b the second operand
     * @param {Number} scale the amount to scale b's elements by before adding
     * @returns {mat4} out
     */
    static multiplyScalarAndAdd(out, a, b, scale) {
        out[0] = a[0] + b[0] * scale;
        out[1] = a[1] + b[1] * scale;
        out[2] = a[2] + b[2] * scale;
        out[3] = a[3] + b[3] * scale;
        out[4] = a[4] + b[4] * scale;
        out[5] = a[5] + b[5] * scale;
        out[6] = a[6] + b[6] * scale;
        out[7] = a[7] + b[7] * scale;
        out[8] = a[8] + b[8] * scale;
        out[9] = a[9] + b[9] * scale;
        out[10] = a[10] + b[10] * scale;
        out[11] = a[11] + b[11] * scale;
        out[12] = a[12] + b[12] * scale;
        out[13] = a[13] + b[13] * scale;
        out[14] = a[14] + b[14] * scale;
        out[15] = a[15] + b[15] * scale;
        return out;
    }
    /**
     * Returns whether or not the matrices have exactly the same elements in the same position (when compared with ===)
     *
     * @param {ReadonlyMat4} a The first matrix.
     * @param {ReadonlyMat4} b The second matrix.
     * @returns {Boolean} True if the matrices are equal, false otherwise.
     */
    static exactEquals(a, b) {
        return (a[0] === b[0] &&
            a[1] === b[1] &&
            a[2] === b[2] &&
            a[3] === b[3] &&
            a[4] === b[4] &&
            a[5] === b[5] &&
            a[6] === b[6] &&
            a[7] === b[7] &&
            a[8] === b[8] &&
            a[9] === b[9] &&
            a[10] === b[10] &&
            a[11] === b[11] &&
            a[12] === b[12] &&
            a[13] === b[13] &&
            a[14] === b[14] &&
            a[15] === b[15]);
    }
    /**
     * Returns whether or not the matrices have approximately the same elements in the same position.
     *
     * @param {ReadonlyMat4} a The first matrix.
     * @param {ReadonlyMat4} b The second matrix.
     * @returns {Boolean} True if the matrices are equal, false otherwise.
     */
    static equals(a, b) {
        let a0 = a[0], a1 = a[1], a2 = a[2], a3 = a[3];
        let a4 = a[4], a5 = a[5], a6 = a[6], a7 = a[7];
        let a8 = a[8], a9 = a[9], a10 = a[10], a11 = a[11];
        let a12 = a[12], a13 = a[13], a14 = a[14], a15 = a[15];
        let b0 = b[0], b1 = b[1], b2 = b[2], b3 = b[3];
        let b4 = b[4], b5 = b[5], b6 = b[6], b7 = b[7];
        let b8 = b[8], b9 = b[9], b10 = b[10], b11 = b[11];
        let b12 = b[12], b13 = b[13], b14 = b[14], b15 = b[15];
        return (Math.abs(a0 - b0) <=
            exports.GL_EPSILLON * Math.max(1.0, Math.abs(a0), Math.abs(b0)) &&
            Math.abs(a1 - b1) <=
                exports.GL_EPSILLON * Math.max(1.0, Math.abs(a1), Math.abs(b1)) &&
            Math.abs(a2 - b2) <=
                exports.GL_EPSILLON * Math.max(1.0, Math.abs(a2), Math.abs(b2)) &&
            Math.abs(a3 - b3) <=
                exports.GL_EPSILLON * Math.max(1.0, Math.abs(a3), Math.abs(b3)) &&
            Math.abs(a4 - b4) <=
                exports.GL_EPSILLON * Math.max(1.0, Math.abs(a4), Math.abs(b4)) &&
            Math.abs(a5 - b5) <=
                exports.GL_EPSILLON * Math.max(1.0, Math.abs(a5), Math.abs(b5)) &&
            Math.abs(a6 - b6) <=
                exports.GL_EPSILLON * Math.max(1.0, Math.abs(a6), Math.abs(b6)) &&
            Math.abs(a7 - b7) <=
                exports.GL_EPSILLON * Math.max(1.0, Math.abs(a7), Math.abs(b7)) &&
            Math.abs(a8 - b8) <=
                exports.GL_EPSILLON * Math.max(1.0, Math.abs(a8), Math.abs(b8)) &&
            Math.abs(a9 - b9) <=
                exports.GL_EPSILLON * Math.max(1.0, Math.abs(a9), Math.abs(b9)) &&
            Math.abs(a10 - b10) <=
                exports.GL_EPSILLON * Math.max(1.0, Math.abs(a10), Math.abs(b10)) &&
            Math.abs(a11 - b11) <=
                exports.GL_EPSILLON * Math.max(1.0, Math.abs(a11), Math.abs(b11)) &&
            Math.abs(a12 - b12) <=
                exports.GL_EPSILLON * Math.max(1.0, Math.abs(a12), Math.abs(b12)) &&
            Math.abs(a13 - b13) <=
                exports.GL_EPSILLON * Math.max(1.0, Math.abs(a13), Math.abs(b13)) &&
            Math.abs(a14 - b14) <=
                exports.GL_EPSILLON * Math.max(1.0, Math.abs(a14), Math.abs(b14)) &&
            Math.abs(a15 - b15) <=
                exports.GL_EPSILLON * Math.max(1.0, Math.abs(a15), Math.abs(b15)));
    }
}
exports.glmatrix_matrix4 = glmatrix_matrix4;
class glmatrix_vec4 {
    /**
     * 4 Dimensional Vector
     * @module vec4
     */
    /**
     * Creates a new, empty vec4
     *
     * @returns {vec4} a new 4D vector
     */
    static create() {
        let out = vec_1.xywh(0, 0, 0, 0);
        return out;
    }
    /**
     * Creates a new vec4 initialized with values from an existing vector
     *
     * @param {ReadonlyVec4} a vector to clone
     * @returns {vec4} a new 4D vector
     */
    static clone(a) {
        let out = vec_1.xywh(a.x, a.y, a.z, a.w);
        return out;
    }
    /**
     * Creates a new vec4 initialized with the given values
     *
     * @param {Number} x X component
     * @param {Number} y Y component
     * @param {Number} z Z component
     * @param {Number} w W component
     * @returns {vec4} a new 4D vector
     */
    static fromValues(x, y, z, w) {
        let out = vec_1.xywh(x, y, z, w);
        return out;
    }
    /**
     * Copy the values from one vec4 to another
     *
     * @param {vec4} out the receiving vector
     * @param {ReadonlyVec4} a the source vector
     * @returns {vec4} out
     */
    static copy(out, a) {
        out.x = a.x;
        out.y = a.y;
        out.z = a.z;
        out.w = a.w;
        return out;
    }
    /**
     * Set the components of a vec4 to the given values
     *
     * @param {vec4} out the receiving vector
     * @param {Number} x X component
     * @param {Number} y Y component
     * @param {Number} z Z component
     * @param {Number} w W component
     * @returns {vec4} out
     */
    static set(out, x, y, z, w) {
        out.x = x;
        out.y = y;
        out.z = z;
        out.w = w;
        return out;
    }
    /**
     * Adds two vec4's
     *
     * @param {vec4} out the receiving vector
     * @param {ReadonlyVec4} a the first operand
     * @param {ReadonlyVec4} b the second operand
     * @returns {vec4} out
     */
    static add(out, a, b) {
        out.x = a.x + b.x;
        out.y = a.y + b.y;
        out.z = a.z + b.z;
        out.w = a.w + b.w;
        return out;
    }
    /**
     * Subtracts vector b from vector a
     *
     * @param {vec4} out the receiving vector
     * @param {ReadonlyVec4} a the first operand
     * @param {ReadonlyVec4} b the second operand
     * @returns {vec4} out
     */
    static subtract(out, a, b) {
        out.x = a.x - b.x;
        out.y = a.y - b.y;
        out.z = a.z - b.z;
        out.w = a.w - b.w;
        return out;
    }
    /**
     * Multiplies two vec4's
     *
     * @param {vec4} out the receiving vector
     * @param {ReadonlyVec4} a the first operand
     * @param {ReadonlyVec4} b the second operand
     * @returns {vec4} out
     */
    static multiply(out, a, b) {
        out.x = a.x * b.x;
        out.y = a.y * b.y;
        out.z = a.z * b.z;
        out.w = a.w * b.w;
        return out;
    }
    /**
     * Divides two vec4's
     *
     * @param {vec4} out the receiving vector
     * @param {ReadonlyVec4} a the first operand
     * @param {ReadonlyVec4} b the second operand
     * @returns {vec4} out
     */
    static divide(out, a, b) {
        out.x = a.x / b.x;
        out.y = a.y / b.y;
        out.z = a.z / b.z;
        out.w = a.w / b.w;
        return out;
    }
    /**
     * Math.ceil the components of a vec4
     *
     * @param {vec4} out the receiving vector
     * @param {ReadonlyVec4} a vector to ceil
     * @returns {vec4} out
     */
    static ceil(out, a) {
        out.x = Math.ceil(a.x);
        out.y = Math.ceil(a.y);
        out.z = Math.ceil(a.z);
        out.w = Math.ceil(a.w);
        return out;
    }
    /**
     * Math.floor the components of a vec4
     *
     * @param {vec4} out the receiving vector
     * @param {ReadonlyVec4} a vector to floor
     * @returns {vec4} out
     */
    static floor(out, a) {
        out.x = Math.floor(a.x);
        out.y = Math.floor(a.y);
        out.z = Math.floor(a.z);
        out.w = Math.floor(a.w);
        return out;
    }
    /**
     * Returns the minimum of two vec4's
     *
     * @param {vec4} out the receiving vector
     * @param {ReadonlyVec4} a the first operand
     * @param {ReadonlyVec4} b the second operand
     * @returns {vec4} out
     */
    static min(out, a, b) {
        out.x = Math.min(a.x, b.x);
        out.y = Math.min(a.y, b.y);
        out.z = Math.min(a.z, b.z);
        out.w = Math.min(a.w, b.w);
        return out;
    }
    /**
     * Returns the maximum of two vec4's
     *
     * @param {vec4} out the receiving vector
     * @param {ReadonlyVec4} a the first operand
     * @param {ReadonlyVec4} b the second operand
     * @returns {vec4} out
     */
    static max(out, a, b) {
        out.x = Math.max(a.x, b.x);
        out.y = Math.max(a.y, b.y);
        out.z = Math.max(a.z, b.z);
        out.w = Math.max(a.w, b.w);
        return out;
    }
    /**
     * Math.round the components of a vec4
     *
     * @param {vec4} out the receiving vector
     * @param {ReadonlyVec4} a vector to round
     * @returns {vec4} out
     */
    static round(out, a) {
        out.x = Math.round(a.x);
        out.y = Math.round(a.y);
        out.z = Math.round(a.z);
        out.w = Math.round(a.w);
        return out;
    }
    /**
     * Scales a vec4 by a scalar number
     *
     * @param {vec4} out the receiving vector
     * @param {ReadonlyVec4} a the vector to scale
     * @param {Number} b amount to scale the vector by
     * @returns {vec4} out
     */
    static scale(out, a, b) {
        out.x = a.x * b;
        out.y = a.y * b;
        out.z = a.z * b;
        out.w = a.w * b;
        return out;
    }
    /**
     * Adds two vec4's after scaling the second operand by a scalar value
     *
     * @param {vec4} out the receiving vector
     * @param {ReadonlyVec4} a the first operand
     * @param {ReadonlyVec4} b the second operand
     * @param {Number} scale the amount to scale b by before adding
     * @returns {vec4} out
     */
    static scaleAndAdd(out, a, b, scale) {
        out.x = a.x + b.x * scale;
        out.y = a.y + b.y * scale;
        out.z = a.z + b.z * scale;
        out.w = a.w + b.w * scale;
        return out;
    }
    /**
     * Calculates the euclidian distance between two vec4's
     *
     * @param {ReadonlyVec4} a the first operand
     * @param {ReadonlyVec4} b the second operand
     * @returns {Number} distance between a and b
     */
    static distance(a, b) {
        let x = b.x - a.x;
        let y = b.y - a.y;
        let z = b.z - a.z;
        let w = b.w - a.w;
        return Math.hypot(x, y, z, w);
    }
    /**
     * Calculates the squared euclidian distance between two vec4's
     *
     * @param {ReadonlyVec4} a the first operand
     * @param {ReadonlyVec4} b the second operand
     * @returns {Number} squared distance between a and b
     */
    static squaredDistance(a, b) {
        let x = b.x - a.x;
        let y = b.y - a.y;
        let z = b.z - a.z;
        let w = b.w - a.w;
        return x * x + y * y + z * z + w * w;
    }
    /**
     * Calculates the length of a vec4
     *
     * @param {ReadonlyVec4} a vector to calculate length of
     * @returns {Number} length of a
     */
    static _length(a) {
        let x = a.x;
        let y = a.y;
        let z = a.z;
        let w = a.w;
        return Math.hypot(x, y, z, w);
    }
    /**
     * Calculates the squared length of a vec4
     *
     * @param {ReadonlyVec4} a vector to calculate squared length of
     * @returns {Number} squared length of a
     */
    static squaredLength(a) {
        let x = a.x;
        let y = a.y;
        let z = a.z;
        let w = a.w;
        return x * x + y * y + z * z + w * w;
    }
    /**
     * Negates the components of a vec4
     *
     * @param {vec4} out the receiving vector
     * @param {ReadonlyVec4} a vector to negate
     * @returns {vec4} out
     */
    static negate(out, a) {
        out.x = -a.x;
        out.y = -a.y;
        out.z = -a.z;
        out.w = -a.w;
        return out;
    }
    /**
     * Returns the inverse of the components of a vec4
     *
     * @param {vec4} out the receiving vector
     * @param {ReadonlyVec4} a vector to invert
     * @returns {vec4} out
     */
    static inverse(out, a) {
        out.x = 1.0 / a.x;
        out.y = 1.0 / a.y;
        out.z = 1.0 / a.z;
        out.w = 1.0 / a.w;
        return out;
    }
    /**
     * Normalize a vec4
     *
     * @param {vec4} out the receiving vector
     * @param {ReadonlyVec4} a vector to normalize
     * @returns {vec4} out
     */
    static normalize(out, a) {
        let x = a.x;
        let y = a.y;
        let z = a.z;
        let w = a.w;
        let len = x * x + y * y + z * z + w * w;
        if (len > 0) {
            len = 1 / Math.sqrt(len);
        }
        out.x = x * len;
        out.y = y * len;
        out.z = z * len;
        out.w = w * len;
        return out;
    }
    /**
     * Calculates the dot product of two vec4's
     *
     * @param {ReadonlyVec4} a the first operand
     * @param {ReadonlyVec4} b the second operand
     * @returns {Number} dot product of a and b
     */
    static dot(a, b) {
        return a.x * b.x + a.y * b.y + a.z * b.z + a.w * b.w;
    }
    /**
     * Returns the cross-product of three vectors in a 4-dimensional space
     *
     * @param {ReadonlyVec4} result the receiving vector
     * @param {ReadonlyVec4} U the first vector
     * @param {ReadonlyVec4} V the second vector
     * @param {ReadonlyVec4} W the third vector
     * @returns {vec4} result
     */
    /*
let A = v[0] * w[1] - v[1] * w[0],
   B = v[0] * w[2] - v[2] * w[0],
   C = v[0] * w[3] - v[3] * w[0],
   D = v[1] * w[2] - v[2] * w[1],
   E = v[1] * w[3] - v[3] * w[1],
   F = v[2] * w[3] - v[3] * w[2];
    */
    static cross(out, u, v, w) {
        let A = v.x * w.y - v.y * w.x, B = v.x * w.z - v.z * w.x, C = v.x * w.w - v.w * w.x, D = v.y * w.z - v.z * w.y, E = v.x * w.w - v.w * w.y, F = v.z * w.w - v.w * w.z;
        let G = u.x;
        let H = u.y;
        let I = u.z;
        let J = u.w;
        out.x = H * F - I * E + J * D;
        out.y = -(G * F) + I * C - J * B;
        out.z = G * E - H * C + J * A;
        out.w = -(G * D) + H * B - I * A;
        return out;
    }
    /**
     * Performs a linear interpolation between two vec4's
     *
     * @param {vec4} out the receiving vector
     * @param {ReadonlyVec4} a the first operand
     * @param {ReadonlyVec4} b the second operand
     * @param {Number} t interpolation amount, in the range [0-1], between the two inputs
     * @returns {vec4} out
     */
    static lerp(out, a, b, t) {
        let ax = a.x;
        let ay = a.y;
        let az = a.z;
        let aw = a.w;
        out.x = ax + t * (b.x - ax);
        out.y = ay + t * (b.y - ay);
        out.z = az + t * (b.z - az);
        out.w = aw + t * (b.w - aw);
        return out;
    }
    /**
     * Generates a random vector with the given scale
     *
     * @param {vec4} out the receiving vector
     * @param {Number} [scale] Length of the resulting vector. If ommitted, a unit vector will be returned
     * @returns {vec4} out
     */
    static random(out, scale) {
        scale = scale || 1.0;
        // Marsaglia, George. Choosing a Point from the Surface of a
        // Sphere. Ann. Math. Statist. 43 (1972), no. 2, 645--646.
        // http://projecteuclid.org/euclid.aoms/1177692644;
        var v1, v2, v3, v4;
        var s1, s2;
        do {
            v1 = Math.random() * 2 - 1;
            v2 = Math.random() * 2 - 1;
            s1 = v1 * v1 + v2 * v2;
        } while (s1 >= 1);
        do {
            v3 = Math.random() * 2 - 1;
            v4 = Math.random() * 2 - 1;
            s2 = v3 * v3 + v4 * v4;
        } while (s2 >= 1);
        var d = Math.sqrt((1 - s1) / s2);
        out.x = scale * v1;
        out.y = scale * v2;
        out.z = scale * v3 * d;
        out.w = scale * v4 * d;
        return out;
    }
    /**
     * Transforms the vec4 with a mat4.
     *
     * @param {vec4} out the receiving vector
     * @param {ReadonlyVec4} a the vector to transform
     * @param {ReadonlyMat4} m matrix to transform with
     * @returns {vec4} out
     */
    static transformMat4(out, a, m) {
        let x = a.x, y = a.y, z = a.z, w = a.w;
        out.x = m[0] * x + m[4] * y + m[8] * z + m[12] * w;
        out.y = m[1] * x + m[5] * y + m[9] * z + m[13] * w;
        out.z = m[2] * x + m[6] * y + m[10] * z + m[14] * w;
        out.w = m[3] * x + m[7] * y + m[11] * z + m[15] * w;
        return out;
    }
    /**
     * Transforms the vec4 with a quat
     *
     * @param {vec4} out the receiving vector
     * @param {ReadonlyVec4} a the vector to transform
     * @param {ReadonlyQuat} q quaternion to transform with
     * @returns {vec4} out
     */
    static transformQuat(out, a, q) {
        let x = a.x, y = a.y, z = a.z;
        let qx = q.x, qy = q.y, qz = q.z, qw = q.w;
        // calculate quat * vec
        let ix = qw * x + qy * z - qz * y;
        let iy = qw * y + qz * x - qx * z;
        let iz = qw * z + qx * y - qy * x;
        let iw = -qx * x - qy * y - qz * z;
        // calculate result * inverse quat
        out.x = ix * qw + iw * -qx + iy * -qz - iz * -qy;
        out.y = iy * qw + iw * -qy + iz * -qx - ix * -qz;
        out.z = iz * qw + iw * -qz + ix * -qy - iy * -qx;
        out.w = a.w;
        return out;
    }
    /**
     * Set the components of a vec4 to zero
     *
     * @param {vec4} out the receiving vector
     * @returns {vec4} out
     */
    static zero(out) {
        out.x = 0.0;
        out.y = 0.0;
        out.z = 0.0;
        out.w = 0.0;
        return out;
    }
    /**
     * Returns a string representation of a vector
     *
     * @param {ReadonlyVec4} a vector to represent as a string
     * @returns {String} string representation of the vector
     */
    static str(a) {
        return "vec4(" + a.x + ", " + a.y + ", " + a.z + ", " + a.w + ")";
    }
    /**
     * Returns whether or not the vectors have exactly the same elements in the same position (when compared with ===)
     *
     * @param {ReadonlyVec4} a The first vector.
     * @param {ReadonlyVec4} b The second vector.
     * @returns {Boolean} True if the vectors are equal, false otherwise.
     */
    static exactEquals(a, b) {
        return a.x === b.x && a.y === b.y && a.z === b.z && a.w === b.w;
    }
    /**
     * Returns whether or not the vectors have approximately the same elements in the same position.
     *
     * @param {ReadonlyVec4} a The first vector.
     * @param {ReadonlyVec4} b The second vector.
     * @returns {Boolean} True if the vectors are equal, false otherwise.
     */
    static equals(a, b) {
        let a0 = a.x, a1 = a.y, a2 = a.z, a3 = a.w;
        let b0 = b.x, b1 = b.y, b2 = b.z, b3 = b.w;
        return (Math.abs(a0 - b0) <=
            exports.GL_EPSILLON * Math.max(1.0, Math.abs(a0), Math.abs(b0)) &&
            Math.abs(a1 - b1) <=
                exports.GL_EPSILLON * Math.max(1.0, Math.abs(a1), Math.abs(b1)) &&
            Math.abs(a2 - b2) <=
                exports.GL_EPSILLON * Math.max(1.0, Math.abs(a2), Math.abs(b2)) &&
            Math.abs(a3 - b3) <=
                exports.GL_EPSILLON * Math.max(1.0, Math.abs(a3), Math.abs(b3)));
    }
}
exports.glmatrix_vec4 = glmatrix_vec4;
//# sourceMappingURL=glmatrix.js.map