"use strict";
Object.defineProperty(exports, "__esModule", { value: true });
exports.m4 = exports.Mat4 = void 0;
var Vec3_1 = require("./Vec3");
var Mat4 = /** @class */ (function () {
    function Mat4() {
        this.elements = [1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1];
        this.isMat4 = true;
        if (arguments.length > 0) {
            console.error(" Mat4: the constructor no longer reads arguments. use .set() instead.");
        }
    }
    Mat4.prototype.set = function (n11, n12, n13, n14, n21, n22, n23, n24, n31, n32, n33, n34, n41, n42, n43, n44) {
        var te = this.elements;
        te[0] = n11;
        te[4] = n12;
        te[8] = n13;
        te[12] = n14;
        te[1] = n21;
        te[5] = n22;
        te[9] = n23;
        te[13] = n24;
        te[2] = n31;
        te[6] = n32;
        te[10] = n33;
        te[14] = n34;
        te[3] = n41;
        te[7] = n42;
        te[11] = n43;
        te[15] = n44;
        return this;
    };
    Object.defineProperty(Mat4, "Identity", {
        get: function () {
            return new Mat4();
        },
        enumerable: false,
        configurable: true
    });
    Mat4.prototype.identity = function () {
        this.set(1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1);
        return this;
    };
    Mat4.prototype.clone = function () {
        return new Mat4().fromArray(this.elements);
    };
    Mat4.prototype.copy = function (m) {
        var te = this.elements;
        var me = m.elements;
        te[0] = me[0];
        te[1] = me[1];
        te[2] = me[2];
        te[3] = me[3];
        te[4] = me[4];
        te[5] = me[5];
        te[6] = me[6];
        te[7] = me[7];
        te[8] = me[8];
        te[9] = me[9];
        te[10] = me[10];
        te[11] = me[11];
        te[12] = me[12];
        te[13] = me[13];
        te[14] = me[14];
        te[15] = me[15];
        return this;
    };
    Mat4.prototype.copyPosition = function (m) {
        var te = this.elements, me = m.elements;
        te[12] = me[12];
        te[13] = me[13];
        te[14] = me[14];
        return this;
    };
    Mat4.prototype.extractBasis = function (xAxis, yAxis, zAxis) {
        xAxis.setFromMatColumn(this, 0);
        yAxis.setFromMatColumn(this, 1);
        zAxis.setFromMatColumn(this, 2);
        return this;
    };
    Mat4.prototype.makeBasis = function (xAxis, yAxis, zAxis) {
        this.set(xAxis.x, yAxis.x, zAxis.x, 0, xAxis.y, yAxis.y, zAxis.y, 0, xAxis.z, yAxis.z, zAxis.z, 0, 0, 0, 0, 1);
        return this;
    };
    Mat4.prototype.extractRotation = function (m) {
        // this method does not support reflection matrices
        var te = this.elements;
        var me = m.elements;
        var scaleX = 1 / _v1.setFromMatColumn(m, 0).length();
        var scaleY = 1 / _v1.setFromMatColumn(m, 1).length();
        var scaleZ = 1 / _v1.setFromMatColumn(m, 2).length();
        te[0] = me[0] * scaleX;
        te[1] = me[1] * scaleX;
        te[2] = me[2] * scaleX;
        te[3] = 0;
        te[4] = me[4] * scaleY;
        te[5] = me[5] * scaleY;
        te[6] = me[6] * scaleY;
        te[7] = 0;
        te[8] = me[8] * scaleZ;
        te[9] = me[9] * scaleZ;
        te[10] = me[10] * scaleZ;
        te[11] = 0;
        te[12] = 0;
        te[13] = 0;
        te[14] = 0;
        te[15] = 1;
        return this;
    };
    Mat4.prototype.makeRotationFromEuler = function (euler) {
        if (!(euler && euler.isEuler)) {
            console.error(" Mat4: .makeRotationFromEuler() now expects a Euler rotation rather than a Vec3 and order.");
        }
        var te = this.elements;
        var x = euler.x, y = euler.y, z = euler.z;
        var a = Math.cos(x), b = Math.sin(x);
        var c = Math.cos(y), d = Math.sin(y);
        var e = Math.cos(z), f = Math.sin(z);
        if (euler.order === "XYZ") {
            var ae = a * e, af = a * f, be = b * e, bf = b * f;
            te[0] = c * e;
            te[4] = -c * f;
            te[8] = d;
            te[1] = af + be * d;
            te[5] = ae - bf * d;
            te[9] = -b * c;
            te[2] = bf - ae * d;
            te[6] = be + af * d;
            te[10] = a * c;
        }
        else if (euler.order === "YXZ") {
            var ce = c * e, cf = c * f, de = d * e, df = d * f;
            te[0] = ce + df * b;
            te[4] = de * b - cf;
            te[8] = a * d;
            te[1] = a * f;
            te[5] = a * e;
            te[9] = -b;
            te[2] = cf * b - de;
            te[6] = df + ce * b;
            te[10] = a * c;
        }
        else if (euler.order === "ZXY") {
            var ce = c * e, cf = c * f, de = d * e, df = d * f;
            te[0] = ce - df * b;
            te[4] = -a * f;
            te[8] = de + cf * b;
            te[1] = cf + de * b;
            te[5] = a * e;
            te[9] = df - ce * b;
            te[2] = -a * d;
            te[6] = b;
            te[10] = a * c;
        }
        else if (euler.order === "ZYX") {
            var ae = a * e, af = a * f, be = b * e, bf = b * f;
            te[0] = c * e;
            te[4] = be * d - af;
            te[8] = ae * d + bf;
            te[1] = c * f;
            te[5] = bf * d + ae;
            te[9] = af * d - be;
            te[2] = -d;
            te[6] = b * c;
            te[10] = a * c;
        }
        else if (euler.order === "YZX") {
            var ac = a * c, ad = a * d, bc = b * c, bd = b * d;
            te[0] = c * e;
            te[4] = bd - ac * f;
            te[8] = bc * f + ad;
            te[1] = f;
            te[5] = a * e;
            te[9] = -b * e;
            te[2] = -d * e;
            te[6] = ad * f + bc;
            te[10] = ac - bd * f;
        }
        else if (euler.order === "XZY") {
            var ac = a * c, ad = a * d, bc = b * c, bd = b * d;
            te[0] = c * e;
            te[4] = -f;
            te[8] = d * e;
            te[1] = ac * f + bd;
            te[5] = a * e;
            te[9] = ad * f - bc;
            te[2] = bc * f - ad;
            te[6] = b * e;
            te[10] = bd * f + ac;
        }
        // bottom row
        te[3] = 0;
        te[7] = 0;
        te[11] = 0;
        // last column
        te[12] = 0;
        te[13] = 0;
        te[14] = 0;
        te[15] = 1;
        return this;
    };
    Mat4.prototype.makeRotationFromQuat = function (q) {
        return this.compose(_zero, q, _one);
    };
    Mat4.prototype.lookAt = function (eye, target, up) {
        var te = this.elements;
        _z.subVecs(eye, target);
        if (_z.lengthSq() === 0) {
            // eye and target are in the same position
            _z.z = 1;
        }
        _z.normalize();
        _x.crossVecs(up, _z);
        if (_x.lengthSq() === 0) {
            // up and z are parallel
            if (Math.abs(up.z) === 1) {
                _z.x += 0.0001;
            }
            else {
                _z.z += 0.0001;
            }
            _z.normalize();
            _x.crossVecs(up, _z);
        }
        _x.normalize();
        _y.crossVecs(_z, _x);
        te[0] = _x.x;
        te[4] = _y.x;
        te[8] = _z.x;
        te[1] = _x.y;
        te[5] = _y.y;
        te[9] = _z.y;
        te[2] = _x.z;
        te[6] = _y.z;
        te[10] = _z.z;
        return this;
    };
    Mat4.prototype.multiply = function (m, n) {
        if (n !== undefined) {
            return this.multiplyMats(m, n);
        }
        return this.multiplyMats(this, m);
    };
    Mat4.prototype.premultiply = function (m) {
        return this.multiplyMats(m, this);
    };
    Mat4.prototype.multiplyMats = function (a, b) {
        var ae = a.elements;
        var be = b.elements;
        var te = this.elements;
        var a11 = ae[0], a12 = ae[4], a13 = ae[8], a14 = ae[12];
        var a21 = ae[1], a22 = ae[5], a23 = ae[9], a24 = ae[13];
        var a31 = ae[2], a32 = ae[6], a33 = ae[10], a34 = ae[14];
        var a41 = ae[3], a42 = ae[7], a43 = ae[11], a44 = ae[15];
        var b11 = be[0], b12 = be[4], b13 = be[8], b14 = be[12];
        var b21 = be[1], b22 = be[5], b23 = be[9], b24 = be[13];
        var b31 = be[2], b32 = be[6], b33 = be[10], b34 = be[14];
        var b41 = be[3], b42 = be[7], b43 = be[11], b44 = be[15];
        te[0] = a11 * b11 + a12 * b21 + a13 * b31 + a14 * b41;
        te[4] = a11 * b12 + a12 * b22 + a13 * b32 + a14 * b42;
        te[8] = a11 * b13 + a12 * b23 + a13 * b33 + a14 * b43;
        te[12] = a11 * b14 + a12 * b24 + a13 * b34 + a14 * b44;
        te[1] = a21 * b11 + a22 * b21 + a23 * b31 + a24 * b41;
        te[5] = a21 * b12 + a22 * b22 + a23 * b32 + a24 * b42;
        te[9] = a21 * b13 + a22 * b23 + a23 * b33 + a24 * b43;
        te[13] = a21 * b14 + a22 * b24 + a23 * b34 + a24 * b44;
        te[2] = a31 * b11 + a32 * b21 + a33 * b31 + a34 * b41;
        te[6] = a31 * b12 + a32 * b22 + a33 * b32 + a34 * b42;
        te[10] = a31 * b13 + a32 * b23 + a33 * b33 + a34 * b43;
        te[14] = a31 * b14 + a32 * b24 + a33 * b34 + a34 * b44;
        te[3] = a41 * b11 + a42 * b21 + a43 * b31 + a44 * b41;
        te[7] = a41 * b12 + a42 * b22 + a43 * b32 + a44 * b42;
        te[11] = a41 * b13 + a42 * b23 + a43 * b33 + a44 * b43;
        te[15] = a41 * b14 + a42 * b24 + a43 * b34 + a44 * b44;
        return this;
    };
    Mat4.prototype.multiplyScalar = function (s) {
        var te = this.elements;
        te[0] *= s;
        te[4] *= s;
        te[8] *= s;
        te[12] *= s;
        te[1] *= s;
        te[5] *= s;
        te[9] *= s;
        te[13] *= s;
        te[2] *= s;
        te[6] *= s;
        te[10] *= s;
        te[14] *= s;
        te[3] *= s;
        te[7] *= s;
        te[11] *= s;
        te[15] *= s;
        return this;
    };
    Mat4.prototype.applyToBufferAttribute = function (attribute) {
        for (var i = 0, l = attribute.count; i < l; i++) {
            _v1.x = attribute.getX(i);
            _v1.y = attribute.getY(i);
            _v1.z = attribute.getZ(i);
            _v1.applyMat4(this);
            attribute.setXYZ(i, _v1.x, _v1.y, _v1.z);
        }
        return attribute;
    };
    Mat4.prototype.determinant = function () {
        var te = this.elements;
        var n11 = te[0], n12 = te[4], n13 = te[8], n14 = te[12];
        var n21 = te[1], n22 = te[5], n23 = te[9], n24 = te[13];
        var n31 = te[2], n32 = te[6], n33 = te[10], n34 = te[14];
        var n41 = te[3], n42 = te[7], n43 = te[11], n44 = te[15];
        //TODO: make this more efficient
        //( based on http://www.euclideanspace.com/maths/algebra/matrix/functions/inverse/fourD/index.htm )
        return (n41 *
            (+n14 * n23 * n32 -
                n13 * n24 * n32 -
                n14 * n22 * n33 +
                n12 * n24 * n33 +
                n13 * n22 * n34 -
                n12 * n23 * n34) +
            n42 *
                (+n11 * n23 * n34 -
                    n11 * n24 * n33 +
                    n14 * n21 * n33 -
                    n13 * n21 * n34 +
                    n13 * n24 * n31 -
                    n14 * n23 * n31) +
            n43 *
                (+n11 * n24 * n32 -
                    n11 * n22 * n34 -
                    n14 * n21 * n32 +
                    n12 * n21 * n34 +
                    n14 * n22 * n31 -
                    n12 * n24 * n31) +
            n44 *
                (-n13 * n22 * n31 -
                    n11 * n23 * n32 +
                    n11 * n22 * n33 +
                    n13 * n21 * n32 -
                    n12 * n21 * n33 +
                    n12 * n23 * n31));
    };
    Mat4.prototype.transpose = function () {
        var te = this.elements;
        var tmp;
        tmp = te[1];
        te[1] = te[4];
        te[4] = tmp;
        tmp = te[2];
        te[2] = te[8];
        te[8] = tmp;
        tmp = te[6];
        te[6] = te[9];
        te[9] = tmp;
        tmp = te[3];
        te[3] = te[12];
        te[12] = tmp;
        tmp = te[7];
        te[7] = te[13];
        te[13] = tmp;
        tmp = te[11];
        te[11] = te[14];
        te[14] = tmp;
        return this;
    };
    Mat4.prototype.setPosition = function (x, y, z) {
        var te = this.elements;
        if (x.isVec3) {
            te[12] = x.x;
            te[13] = x.y;
            te[14] = x.z;
        }
        else if (y !== undefined && z !== undefined) {
            te[12] = x;
            te[13] = y;
            te[14] = z;
        }
        else {
            if (x.x !== undefined && x.y !== undefined && x.z !== undefined) {
                te[12] = x.x;
                te[13] = x.y;
                te[14] = x.z;
            }
        }
        return this;
    };
    /**
     * 矩阵求逆
     * @returns  自己
     */
    Mat4.prototype.invert = function () {
        // based on http://www.euclideanspace.com/maths/algebra/matrix/functions/inverse/fourD/index.htm
        var te = this.elements, n11 = te[0], n21 = te[1], n31 = te[2], n41 = te[3], n12 = te[4], n22 = te[5], n32 = te[6], n42 = te[7], n13 = te[8], n23 = te[9], n33 = te[10], n43 = te[11], n14 = te[12], n24 = te[13], n34 = te[14], n44 = te[15], t11 = n23 * n34 * n42 - n24 * n33 * n42 + n24 * n32 * n43 - n22 * n34 * n43 - n23 * n32 * n44 + n22 * n33 * n44, t12 = n14 * n33 * n42 - n13 * n34 * n42 - n14 * n32 * n43 + n12 * n34 * n43 + n13 * n32 * n44 - n12 * n33 * n44, t13 = n13 * n24 * n42 - n14 * n23 * n42 + n14 * n22 * n43 - n12 * n24 * n43 - n13 * n22 * n44 + n12 * n23 * n44, t14 = n14 * n23 * n32 - n13 * n24 * n32 - n14 * n22 * n33 + n12 * n24 * n33 + n13 * n22 * n34 - n12 * n23 * n34;
        var det = n11 * t11 + n21 * t12 + n31 * t13 + n41 * t14;
        if (det === 0)
            return this.set(0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0);
        var detInv = 1 / det;
        te[0] = t11 * detInv;
        te[1] = (n24 * n33 * n41 - n23 * n34 * n41 - n24 * n31 * n43 + n21 * n34 * n43 + n23 * n31 * n44 - n21 * n33 * n44) * detInv;
        te[2] = (n22 * n34 * n41 - n24 * n32 * n41 + n24 * n31 * n42 - n21 * n34 * n42 - n22 * n31 * n44 + n21 * n32 * n44) * detInv;
        te[3] = (n23 * n32 * n41 - n22 * n33 * n41 - n23 * n31 * n42 + n21 * n33 * n42 + n22 * n31 * n43 - n21 * n32 * n43) * detInv;
        te[4] = t12 * detInv;
        te[5] = (n13 * n34 * n41 - n14 * n33 * n41 + n14 * n31 * n43 - n11 * n34 * n43 - n13 * n31 * n44 + n11 * n33 * n44) * detInv;
        te[6] = (n14 * n32 * n41 - n12 * n34 * n41 - n14 * n31 * n42 + n11 * n34 * n42 + n12 * n31 * n44 - n11 * n32 * n44) * detInv;
        te[7] = (n12 * n33 * n41 - n13 * n32 * n41 + n13 * n31 * n42 - n11 * n33 * n42 - n12 * n31 * n43 + n11 * n32 * n43) * detInv;
        te[8] = t13 * detInv;
        te[9] = (n14 * n23 * n41 - n13 * n24 * n41 - n14 * n21 * n43 + n11 * n24 * n43 + n13 * n21 * n44 - n11 * n23 * n44) * detInv;
        te[10] = (n12 * n24 * n41 - n14 * n22 * n41 + n14 * n21 * n42 - n11 * n24 * n42 - n12 * n21 * n44 + n11 * n22 * n44) * detInv;
        te[11] = (n13 * n22 * n41 - n12 * n23 * n41 - n13 * n21 * n42 + n11 * n23 * n42 + n12 * n21 * n43 - n11 * n22 * n43) * detInv;
        te[12] = t14 * detInv;
        te[13] = (n13 * n24 * n31 - n14 * n23 * n31 + n14 * n21 * n33 - n11 * n24 * n33 - n13 * n21 * n34 + n11 * n23 * n34) * detInv;
        te[14] = (n14 * n22 * n31 - n12 * n24 * n31 - n14 * n21 * n32 + n11 * n24 * n32 + n12 * n21 * n34 - n11 * n22 * n34) * detInv;
        te[15] = (n12 * n23 * n31 - n13 * n22 * n31 + n13 * n21 * n32 - n11 * n23 * n32 - n12 * n21 * n33 + n11 * n22 * n33) * detInv;
        return this;
    };
    Mat4.prototype.getInverse = function (m, throwOnDegenerate) {
        if (throwOnDegenerate === void 0) { throwOnDegenerate = true; }
        // based on http://www.euclideanspace.com/maths/algebra/matrix/functions/inverse/fourD/index.htm
        var te = this.elements, me = m.elements, n11 = me[0], n21 = me[1], n31 = me[2], n41 = me[3], n12 = me[4], n22 = me[5], n32 = me[6], n42 = me[7], n13 = me[8], n23 = me[9], n33 = me[10], n43 = me[11], n14 = me[12], n24 = me[13], n34 = me[14], n44 = me[15], t11 = n23 * n34 * n42 -
            n24 * n33 * n42 +
            n24 * n32 * n43 -
            n22 * n34 * n43 -
            n23 * n32 * n44 +
            n22 * n33 * n44, t12 = n14 * n33 * n42 -
            n13 * n34 * n42 -
            n14 * n32 * n43 +
            n12 * n34 * n43 +
            n13 * n32 * n44 -
            n12 * n33 * n44, t13 = n13 * n24 * n42 -
            n14 * n23 * n42 +
            n14 * n22 * n43 -
            n12 * n24 * n43 -
            n13 * n22 * n44 +
            n12 * n23 * n44, t14 = n14 * n23 * n32 -
            n13 * n24 * n32 -
            n14 * n22 * n33 +
            n12 * n24 * n33 +
            n13 * n22 * n34 -
            n12 * n23 * n34;
        var det = n11 * t11 + n21 * t12 + n31 * t13 + n41 * t14;
        if (det === 0) {
            var msg = " Mat4: .getInverse() can't invert matrix, determinant is 0";
            if (throwOnDegenerate === true) {
                throw new Error(msg);
            }
            else {
                console.warn(msg);
            }
            return this.identity();
        }
        var detInv = 1 / det;
        te[0] = t11 * detInv;
        te[1] =
            (n24 * n33 * n41 -
                n23 * n34 * n41 -
                n24 * n31 * n43 +
                n21 * n34 * n43 +
                n23 * n31 * n44 -
                n21 * n33 * n44) *
                detInv;
        te[2] =
            (n22 * n34 * n41 -
                n24 * n32 * n41 +
                n24 * n31 * n42 -
                n21 * n34 * n42 -
                n22 * n31 * n44 +
                n21 * n32 * n44) *
                detInv;
        te[3] =
            (n23 * n32 * n41 -
                n22 * n33 * n41 -
                n23 * n31 * n42 +
                n21 * n33 * n42 +
                n22 * n31 * n43 -
                n21 * n32 * n43) *
                detInv;
        te[4] = t12 * detInv;
        te[5] =
            (n13 * n34 * n41 -
                n14 * n33 * n41 +
                n14 * n31 * n43 -
                n11 * n34 * n43 -
                n13 * n31 * n44 +
                n11 * n33 * n44) *
                detInv;
        te[6] =
            (n14 * n32 * n41 -
                n12 * n34 * n41 -
                n14 * n31 * n42 +
                n11 * n34 * n42 +
                n12 * n31 * n44 -
                n11 * n32 * n44) *
                detInv;
        te[7] =
            (n12 * n33 * n41 -
                n13 * n32 * n41 +
                n13 * n31 * n42 -
                n11 * n33 * n42 -
                n12 * n31 * n43 +
                n11 * n32 * n43) *
                detInv;
        te[8] = t13 * detInv;
        te[9] =
            (n14 * n23 * n41 -
                n13 * n24 * n41 -
                n14 * n21 * n43 +
                n11 * n24 * n43 +
                n13 * n21 * n44 -
                n11 * n23 * n44) *
                detInv;
        te[10] =
            (n12 * n24 * n41 -
                n14 * n22 * n41 +
                n14 * n21 * n42 -
                n11 * n24 * n42 -
                n12 * n21 * n44 +
                n11 * n22 * n44) *
                detInv;
        te[11] =
            (n13 * n22 * n41 -
                n12 * n23 * n41 -
                n13 * n21 * n42 +
                n11 * n23 * n42 +
                n12 * n21 * n43 -
                n11 * n22 * n43) *
                detInv;
        te[12] = t14 * detInv;
        te[13] =
            (n13 * n24 * n31 -
                n14 * n23 * n31 +
                n14 * n21 * n33 -
                n11 * n24 * n33 -
                n13 * n21 * n34 +
                n11 * n23 * n34) *
                detInv;
        te[14] =
            (n14 * n22 * n31 -
                n12 * n24 * n31 -
                n14 * n21 * n32 +
                n11 * n24 * n32 +
                n12 * n21 * n34 -
                n11 * n22 * n34) *
                detInv;
        te[15] =
            (n12 * n23 * n31 -
                n13 * n22 * n31 +
                n13 * n21 * n32 -
                n11 * n23 * n32 -
                n12 * n21 * n33 +
                n11 * n22 * n33) *
                detInv;
        return this;
    };
    Mat4.prototype.scale = function (v) {
        var te = this.elements;
        var x = v.x, y = v.y, z = v.z;
        te[0] *= x;
        te[4] *= y;
        te[8] *= z;
        te[1] *= x;
        te[5] *= y;
        te[9] *= z;
        te[2] *= x;
        te[6] *= y;
        te[10] *= z;
        te[3] *= x;
        te[7] *= y;
        te[11] *= z;
        return this;
    };
    Mat4.prototype.getMaxScaleOnAxis = function () {
        var te = this.elements;
        var scaleXSq = te[0] * te[0] + te[1] * te[1] + te[2] * te[2];
        var scaleYSq = te[4] * te[4] + te[5] * te[5] + te[6] * te[6];
        var scaleZSq = te[8] * te[8] + te[9] * te[9] + te[10] * te[10];
        return Math.sqrt(Math.max(scaleXSq, scaleYSq, scaleZSq));
    };
    Mat4.prototype.makeTranslation = function (x, y, z) {
        this.set(1, 0, 0, x, 0, 1, 0, y, 0, 0, 1, z, 0, 0, 0, 1);
        return this;
    };
    Mat4.prototype.makeRotationX = function (theta) {
        var c = Math.cos(theta), s = Math.sin(theta);
        this.set(1, 0, 0, 0, 0, c, -s, 0, 0, s, c, 0, 0, 0, 0, 1);
        return this;
    };
    Mat4.prototype.makeRotationY = function (theta) {
        var c = Math.cos(theta), s = Math.sin(theta);
        this.set(c, 0, s, 0, 0, 1, 0, 0, -s, 0, c, 0, 0, 0, 0, 1);
        return this;
    };
    Mat4.prototype.makeRotationZ = function (theta) {
        var c = Math.cos(theta), s = Math.sin(theta);
        this.set(c, -s, 0, 0, s, c, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1);
        return this;
    };
    Mat4.prototype.makeRotationAxis = function (axis, angle) {
        // Based on http://www.gamedev.net/reference/articles/article1199.asp
        var c = Math.cos(angle);
        var s = Math.sin(angle);
        var t = 1 - c;
        var x = axis.x, y = axis.y, z = axis.z;
        var tx = t * x, ty = t * y;
        this.set(tx * x + c, tx * y - s * z, tx * z + s * y, 0, tx * y + s * z, ty * y + c, ty * z - s * x, 0, tx * z - s * y, ty * z + s * x, t * z * z + c, 0, 0, 0, 0, 1);
        return this;
    };
    Mat4.prototype.makeScale = function (x, y, z) {
        this.set(x, 0, 0, 0, 0, y, 0, 0, 0, 0, z, 0, 0, 0, 0, 1);
        return this;
    };
    /**
     *  6个参数 都是由两个值来影响  [v1][v2]  v1表示v2轴在v1轴产生效果
     * @param xy
     * @param xz
     * @param yx
     * @param yz
     * @param zx
     * @param zy
     * @returns
     */
    Mat4.prototype.makeShear = function (xy, xz, yx, yz, zx, zy) {
        this.set(1, yx, zx, 0, xy, 1, zy, 0, xz, yz, 1, 0, 0, 0, 0, 1);
        return this;
    };
    Mat4.prototype.compose = function (position, quat, scale) {
        var te = this.elements;
        var x = quat._x, y = quat._y, z = quat._z, w = quat._w;
        var x2 = x + x, y2 = y + y, z2 = z + z;
        var xx = x * x2, xy = x * y2, xz = x * z2;
        var yy = y * y2, yz = y * z2, zz = z * z2;
        var wx = w * x2, wy = w * y2, wz = w * z2;
        var sx = scale.x, sy = scale.y, sz = scale.z;
        te[0] = (1 - (yy + zz)) * sx;
        te[1] = (xy + wz) * sx;
        te[2] = (xz - wy) * sx;
        te[3] = 0;
        te[4] = (xy - wz) * sy;
        te[5] = (1 - (xx + zz)) * sy;
        te[6] = (yz + wx) * sy;
        te[7] = 0;
        te[8] = (xz + wy) * sz;
        te[9] = (yz - wx) * sz;
        te[10] = (1 - (xx + yy)) * sz;
        te[11] = 0;
        te[12] = position.x;
        te[13] = position.y;
        te[14] = position.z;
        te[15] = 1;
        return this;
    };
    Mat4.prototype.decompose = function (position, quat, scale) {
        var te = this.elements;
        var sx = _v1.set(te[0], te[1], te[2]).length();
        var sy = _v1.set(te[4], te[5], te[6]).length();
        var sz = _v1.set(te[8], te[9], te[10]).length();
        // if determine is negative, we need to invert one scale
        var det = this.determinant();
        if (det < 0)
            sx = -sx;
        position.x = te[12];
        position.y = te[13];
        position.z = te[14];
        // scale the rotation part
        _m1.copy(this);
        var invSX = 1 / sx;
        var invSY = 1 / sy;
        var invSZ = 1 / sz;
        _m1.elements[0] *= invSX;
        _m1.elements[1] *= invSX;
        _m1.elements[2] *= invSX;
        _m1.elements[4] *= invSY;
        _m1.elements[5] *= invSY;
        _m1.elements[6] *= invSY;
        _m1.elements[8] *= invSZ;
        _m1.elements[9] *= invSZ;
        _m1.elements[10] *= invSZ;
        quat.setFromRotationMat(_m1);
        scale.x = sx;
        scale.y = sy;
        scale.z = sz;
        return this;
    };
    Mat4.prototype.makePerspective = function (left, right, top, bottom, near, far) {
        if (far === undefined) {
            console.warn(" Mat4: .makePerspective() has been redefined and has a new signature. Please check the docs.");
        }
        var te = this.elements;
        var x = (2 * near) / (right - left);
        var y = (2 * near) / (top - bottom);
        var a = (right + left) / (right - left);
        var b = (top + bottom) / (top - bottom);
        var c = -(far + near) / (far - near);
        var d = (-2 * far * near) / (far - near);
        te[0] = x;
        te[4] = 0;
        te[8] = a;
        te[12] = 0;
        te[1] = 0;
        te[5] = y;
        te[9] = b;
        te[13] = 0;
        te[2] = 0;
        te[6] = 0;
        te[10] = c;
        te[14] = d;
        te[3] = 0;
        te[7] = 0;
        te[11] = -1;
        te[15] = 0;
        return this;
    };
    Mat4.prototype.makeOrthographic = function (left, right, top, bottom, near, far) {
        var te = this.elements;
        var w = 1.0 / (right - left);
        var h = 1.0 / (top - bottom);
        var p = 1.0 / (far - near);
        var x = (right + left) * w;
        var y = (top + bottom) * h;
        var z = (far + near) * p;
        te[0] = 2 * w;
        te[4] = 0;
        te[8] = 0;
        te[12] = -x;
        te[1] = 0;
        te[5] = 2 * h;
        te[9] = 0;
        te[13] = -y;
        te[2] = 0;
        te[6] = 0;
        te[10] = -2 * p;
        te[14] = -z;
        te[3] = 0;
        te[7] = 0;
        te[11] = 0;
        te[15] = 1;
        return this;
    };
    Mat4.prototype.equals = function (matrix) {
        var te = this.elements;
        var me = matrix.elements;
        for (var i = 0; i < 16; i++) {
            if (te[i] !== me[i])
                return false;
        }
        return true;
    };
    Mat4.prototype.fromArray = function (array, offset) {
        if (offset === void 0) { offset = 0; }
        for (var i = 0; i < 16; i++) {
            this.elements[i] = array[i + offset];
        }
        return this;
    };
    Mat4.prototype.toArray = function (array, offset) {
        if (array === void 0) { array = []; }
        if (offset === void 0) { offset = 0; }
        var te = this.elements;
        array[offset] = te[0];
        array[offset + 1] = te[1];
        array[offset + 2] = te[2];
        array[offset + 3] = te[3];
        array[offset + 4] = te[4];
        array[offset + 5] = te[5];
        array[offset + 6] = te[6];
        array[offset + 7] = te[7];
        array[offset + 8] = te[8];
        array[offset + 9] = te[9];
        array[offset + 10] = te[10];
        array[offset + 11] = te[11];
        array[offset + 12] = te[12];
        array[offset + 13] = te[13];
        array[offset + 14] = te[14];
        array[offset + 15] = te[15];
        return array;
    };
    return Mat4;
}());
exports.Mat4 = Mat4;
var _v1 = (0, Vec3_1.v3)();
var _m1 = m4();
var _m2 = m4();
var _zero = (0, Vec3_1.v3)(0, 0, 0);
var _one = (0, Vec3_1.v3)(1, 1, 1);
var _x = (0, Vec3_1.v3)();
var _y = (0, Vec3_1.v3)();
var _z = (0, Vec3_1.v3)();
function m4() {
    return new Mat4();
}
exports.m4 = m4;
