var Class = require('../utils/Class'); 
var EPSILON = 1e-06; 
var Matrix4 = new Class({ 
initialize: function Matrix4(m){ 
this.val = new Float32Array(16); 
if (m) { 
this.copy(m); 
} 
 else { 
this.identity(); 
} 
} 
,
clone: function (){ 
return new Matrix4(this); 
} 
,
set: function (src){ 
return this.copy(src); 
} 
,
fromRotationXYTranslation: function (rotation, position, translateFirst){ 
var x = position.x; 
var y = position.y; 
var z = position.z; 
var sx = Math.sin(rotation.x); 
var cx = Math.cos(rotation.x); 
var sy = Math.sin(rotation.y); 
var cy = Math.cos(rotation.y); 
var a30 = x; 
var a31 = y; 
var a32 = z; 
var b21 = - sx; 
var c01 = 0 - b21 * sy; 
var c02 = 0 - cx * sy; 
var c21 = b21 * cy; 
var c22 = cx * cy; 
if (!translateFirst) { 
a30 = cy * x + sy * z; 
a31 = c01 * x + cx * y + c21 * z; 
a32 = c02 * x + sx * y + c22 * z; 
} 
return this.setValues(cy, c01, c02, 0, 0, cx, sx, 0, sy, c21, c22, 0, a30, a31, a32, 1); 
} 
,
setValues: function (m00, m01, m02, m03, m10, m11, m12, m13, m20, m21, m22, m23, m30, m31, m32, m33){ 
var out = this.val; 
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 this; 
} 
,
copy: function (src){ 
var out = this.val; 
var a = src.val; 
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 this; 
} 
,
fromArray: function (a){ 
var out = this.val; 
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 this; 
} 
,
zero: function (){ 
var out = this.val; 
out[0] = 0; 
out[1] = 0; 
out[2] = 0; 
out[3] = 0; 
out[4] = 0; 
out[5] = 0; 
out[6] = 0; 
out[7] = 0; 
out[8] = 0; 
out[9] = 0; 
out[10] = 0; 
out[11] = 0; 
out[12] = 0; 
out[13] = 0; 
out[14] = 0; 
out[15] = 0; 
return this; 
} 
,
xyz: function (x, y, z){ 
this.identity(); 
var out = this.val; 
out[12] = x; 
out[13] = y; 
out[14] = z; 
return this; 
} 
,
scaling: function (x, y, z){ 
this.zero(); 
var out = this.val; 
out[0] = x; 
out[5] = y; 
out[10] = z; 
out[15] = 1; 
return this; 
} 
,
identity: function (){ 
var out = this.val; 
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 this; 
} 
,
transpose: function (){ 
var a = this.val; 
var a01 = a[1]; 
var a02 = a[2]; 
var a03 = a[3]; 
var a12 = a[6]; 
var a13 = a[7]; 
var a23 = a[11]; 
a[1] = a[4]; 
a[2] = a[8]; 
a[3] = a[12]; 
a[4] = a01; 
a[6] = a[9]; 
a[7] = a[13]; 
a[8] = a02; 
a[9] = a12; 
a[11] = a[14]; 
a[12] = a03; 
a[13] = a13; 
a[14] = a23; 
return this; 
} 
,
invert: function (){ 
var a = this.val; 
var a00 = a[0]; 
var a01 = a[1]; 
var a02 = a[2]; 
var a03 = a[3]; 
var a10 = a[4]; 
var a11 = a[5]; 
var a12 = a[6]; 
var a13 = a[7]; 
var a20 = a[8]; 
var a21 = a[9]; 
var a22 = a[10]; 
var a23 = a[11]; 
var a30 = a[12]; 
var a31 = a[13]; 
var a32 = a[14]; 
var a33 = a[15]; 
var b00 = a00 * a11 - a01 * a10; 
var b01 = a00 * a12 - a02 * a10; 
var b02 = a00 * a13 - a03 * a10; 
var b03 = a01 * a12 - a02 * a11; 
var b04 = a01 * a13 - a03 * a11; 
var b05 = a02 * a13 - a03 * a12; 
var b06 = a20 * a31 - a21 * a30; 
var b07 = a20 * a32 - a22 * a30; 
var b08 = a20 * a33 - a23 * a30; 
var b09 = a21 * a32 - a22 * a31; 
var b10 = a21 * a33 - a23 * a31; 
var b11 = a22 * a33 - a23 * a32; 
var det = b00 * b11 - b01 * b10 + b02 * b09 + b03 * b08 - b04 * b07 + b05 * b06; 
if (!det) { 
return null ; 
} 
det = 1 / det; 
a[0] = (a11 * b11 - a12 * b10 + a13 * b09) * det; 
a[1] = (a02 * b10 - a01 * b11 - a03 * b09) * det; 
a[2] = (a31 * b05 - a32 * b04 + a33 * b03) * det; 
a[3] = (a22 * b04 - a21 * b05 - a23 * b03) * det; 
a[4] = (a12 * b08 - a10 * b11 - a13 * b07) * det; 
a[5] = (a00 * b11 - a02 * b08 + a03 * b07) * det; 
a[6] = (a32 * b02 - a30 * b05 - a33 * b01) * det; 
a[7] = (a20 * b05 - a22 * b02 + a23 * b01) * det; 
a[8] = (a10 * b10 - a11 * b08 + a13 * b06) * det; 
a[9] = (a01 * b08 - a00 * b10 - a03 * b06) * det; 
a[10] = (a30 * b04 - a31 * b02 + a33 * b00) * det; 
a[11] = (a21 * b02 - a20 * b04 - a23 * b00) * det; 
a[12] = (a11 * b07 - a10 * b09 - a12 * b06) * det; 
a[13] = (a00 * b09 - a01 * b07 + a02 * b06) * det; 
a[14] = (a31 * b01 - a30 * b03 - a32 * b00) * det; 
a[15] = (a20 * b03 - a21 * b01 + a22 * b00) * det; 
return this; 
} 
,
adjoint: function (){ 
var a = this.val; 
var a00 = a[0]; 
var a01 = a[1]; 
var a02 = a[2]; 
var a03 = a[3]; 
var a10 = a[4]; 
var a11 = a[5]; 
var a12 = a[6]; 
var a13 = a[7]; 
var a20 = a[8]; 
var a21 = a[9]; 
var a22 = a[10]; 
var a23 = a[11]; 
var a30 = a[12]; 
var a31 = a[13]; 
var a32 = a[14]; 
var a33 = a[15]; 
a[0] = (a11 * (a22 * a33 - a23 * a32) - a21 * (a12 * a33 - a13 * a32) + a31 * (a12 * a23 - a13 * a22)); 
a[1] = - (a01 * (a22 * a33 - a23 * a32) - a21 * (a02 * a33 - a03 * a32) + a31 * (a02 * a23 - a03 * a22)); 
a[2] = (a01 * (a12 * a33 - a13 * a32) - a11 * (a02 * a33 - a03 * a32) + a31 * (a02 * a13 - a03 * a12)); 
a[3] = - (a01 * (a12 * a23 - a13 * a22) - a11 * (a02 * a23 - a03 * a22) + a21 * (a02 * a13 - a03 * a12)); 
a[4] = - (a10 * (a22 * a33 - a23 * a32) - a20 * (a12 * a33 - a13 * a32) + a30 * (a12 * a23 - a13 * a22)); 
a[5] = (a00 * (a22 * a33 - a23 * a32) - a20 * (a02 * a33 - a03 * a32) + a30 * (a02 * a23 - a03 * a22)); 
a[6] = - (a00 * (a12 * a33 - a13 * a32) - a10 * (a02 * a33 - a03 * a32) + a30 * (a02 * a13 - a03 * a12)); 
a[7] = (a00 * (a12 * a23 - a13 * a22) - a10 * (a02 * a23 - a03 * a22) + a20 * (a02 * a13 - a03 * a12)); 
a[8] = (a10 * (a21 * a33 - a23 * a31) - a20 * (a11 * a33 - a13 * a31) + a30 * (a11 * a23 - a13 * a21)); 
a[9] = - (a00 * (a21 * a33 - a23 * a31) - a20 * (a01 * a33 - a03 * a31) + a30 * (a01 * a23 - a03 * a21)); 
a[10] = (a00 * (a11 * a33 - a13 * a31) - a10 * (a01 * a33 - a03 * a31) + a30 * (a01 * a13 - a03 * a11)); 
a[11] = - (a00 * (a11 * a23 - a13 * a21) - a10 * (a01 * a23 - a03 * a21) + a20 * (a01 * a13 - a03 * a11)); 
a[12] = - (a10 * (a21 * a32 - a22 * a31) - a20 * (a11 * a32 - a12 * a31) + a30 * (a11 * a22 - a12 * a21)); 
a[13] = (a00 * (a21 * a32 - a22 * a31) - a20 * (a01 * a32 - a02 * a31) + a30 * (a01 * a22 - a02 * a21)); 
a[14] = - (a00 * (a11 * a32 - a12 * a31) - a10 * (a01 * a32 - a02 * a31) + a30 * (a01 * a12 - a02 * a11)); 
a[15] = (a00 * (a11 * a22 - a12 * a21) - a10 * (a01 * a22 - a02 * a21) + a20 * (a01 * a12 - a02 * a11)); 
return this; 
} 
,
determinant: function (){ 
var a = this.val; 
var a00 = a[0]; 
var a01 = a[1]; 
var a02 = a[2]; 
var a03 = a[3]; 
var a10 = a[4]; 
var a11 = a[5]; 
var a12 = a[6]; 
var a13 = a[7]; 
var a20 = a[8]; 
var a21 = a[9]; 
var a22 = a[10]; 
var a23 = a[11]; 
var a30 = a[12]; 
var a31 = a[13]; 
var a32 = a[14]; 
var a33 = a[15]; 
var b00 = a00 * a11 - a01 * a10; 
var b01 = a00 * a12 - a02 * a10; 
var b02 = a00 * a13 - a03 * a10; 
var b03 = a01 * a12 - a02 * a11; 
var b04 = a01 * a13 - a03 * a11; 
var b05 = a02 * a13 - a03 * a12; 
var b06 = a20 * a31 - a21 * a30; 
var b07 = a20 * a32 - a22 * a30; 
var b08 = a20 * a33 - a23 * a30; 
var b09 = a21 * a32 - a22 * a31; 
var b10 = a21 * a33 - a23 * a31; 
var b11 = a22 * a33 - a23 * a32; 
return b00 * b11 - b01 * b10 + b02 * b09 + b03 * b08 - b04 * b07 + b05 * b06; 
} 
,
multiplyToMat4: function (src, out){ 
var a = this.val; 
var b = src.val; 
var a00 = a[0]; 
var a01 = a[1]; 
var a02 = a[2]; 
var a03 = a[3]; 
var a10 = a[4]; 
var a11 = a[5]; 
var a12 = a[6]; 
var a13 = a[7]; 
var a20 = a[8]; 
var a21 = a[9]; 
var a22 = a[10]; 
var a23 = a[11]; 
var a30 = a[12]; 
var a31 = a[13]; 
var a32 = a[14]; 
var a33 = a[15]; 
var b00 = b[0]; 
var b01 = b[1]; 
var b02 = b[2]; 
var b03 = b[3]; 
var b10 = b[4]; 
var b11 = b[5]; 
var b12 = b[6]; 
var b13 = b[7]; 
var b20 = b[8]; 
var b21 = b[9]; 
var b22 = b[10]; 
var b23 = b[11]; 
var b30 = b[12]; 
var b31 = b[13]; 
var b32 = b[14]; 
var b33 = b[15]; 
return out.setValues(b00 * a00 + b01 * a10 + b02 * a20 + b03 * a30, b01 * a01 + b01 * a11 + b02 * a21 + b03 * a31, b02 * a02 + b01 * a12 + b02 * a22 + b03 * a32, b03 * a03 + b01 * a13 + b02 * a23 + b03 * a33, b10 * a00 + b11 * a10 + b12 * a20 + b13 * a30, b10 * a01 + b11 * a11 + b12 * a21 + b13 * a31, b10 * a02 + b11 * a12 + b12 * a22 + b13 * a32, b10 * a03 + b11 * a13 + b12 * a23 + b13 * a33, b20 * a00 + b21 * a10 + b22 * a20 + b23 * a30, b20 * a01 + b21 * a11 + b22 * a21 + b23 * a31, b20 * a02 + b21 * a12 + b22 * a22 + b23 * a32, b20 * a03 + b21 * a13 + b22 * a23 + b23 * a33, b30 * a00 + b31 * a10 + b32 * a20 + b33 * a30, b30 * a01 + b31 * a11 + b32 * a21 + b33 * a31, b30 * a02 + b31 * a12 + b32 * a22 + b33 * a32, b30 * a03 + b31 * a13 + b32 * a23 + b33 * a33); 
} 
,
multiply: function (src){ 
var a = this.val; 
var a00 = a[0]; 
var a01 = a[1]; 
var a02 = a[2]; 
var a03 = a[3]; 
var a10 = a[4]; 
var a11 = a[5]; 
var a12 = a[6]; 
var a13 = a[7]; 
var a20 = a[8]; 
var a21 = a[9]; 
var a22 = a[10]; 
var a23 = a[11]; 
var a30 = a[12]; 
var a31 = a[13]; 
var a32 = a[14]; 
var a33 = a[15]; 
var b = src.val; 
var b0 = b[0]; 
var b1 = b[1]; 
var b2 = b[2]; 
var b3 = b[3]; 
a[0] = b0 * a00 + b1 * a10 + b2 * a20 + b3 * a30; 
a[1] = b0 * a01 + b1 * a11 + b2 * a21 + b3 * a31; 
a[2] = b0 * a02 + b1 * a12 + b2 * a22 + b3 * a32; 
a[3] = b0 * a03 + b1 * a13 + b2 * a23 + b3 * a33; 
b0 = b[4]; 
b1 = b[5]; 
b2 = b[6]; 
b3 = b[7]; 
a[4] = b0 * a00 + b1 * a10 + b2 * a20 + b3 * a30; 
a[5] = b0 * a01 + b1 * a11 + b2 * a21 + b3 * a31; 
a[6] = b0 * a02 + b1 * a12 + b2 * a22 + b3 * a32; 
a[7] = b0 * a03 + b1 * a13 + b2 * a23 + b3 * a33; 
b0 = b[8]; 
b1 = b[9]; 
b2 = b[10]; 
b3 = b[11]; 
a[8] = b0 * a00 + b1 * a10 + b2 * a20 + b3 * a30; 
a[9] = b0 * a01 + b1 * a11 + b2 * a21 + b3 * a31; 
a[10] = b0 * a02 + b1 * a12 + b2 * a22 + b3 * a32; 
a[11] = b0 * a03 + b1 * a13 + b2 * a23 + b3 * a33; 
b0 = b[12]; 
b1 = b[13]; 
b2 = b[14]; 
b3 = b[15]; 
a[12] = b0 * a00 + b1 * a10 + b2 * a20 + b3 * a30; 
a[13] = b0 * a01 + b1 * a11 + b2 * a21 + b3 * a31; 
a[14] = b0 * a02 + b1 * a12 + b2 * a22 + b3 * a32; 
a[15] = b0 * a03 + b1 * a13 + b2 * a23 + b3 * a33; 
return this; 
} 
,
multiplyLocal: function (src){ 
var a = [] ; 
var m1 = this.val; 
var m2 = src.val; 
a[0] = m1[0] * m2[0] + m1[1] * m2[4] + m1[2] * m2[8] + m1[3] * m2[12]; 
a[1] = m1[0] * m2[1] + m1[1] * m2[5] + m1[2] * m2[9] + m1[3] * m2[13]; 
a[2] = m1[0] * m2[2] + m1[1] * m2[6] + m1[2] * m2[10] + m1[3] * m2[14]; 
a[3] = m1[0] * m2[3] + m1[1] * m2[7] + m1[2] * m2[11] + m1[3] * m2[15]; 
a[4] = m1[4] * m2[0] + m1[5] * m2[4] + m1[6] * m2[8] + m1[7] * m2[12]; 
a[5] = m1[4] * m2[1] + m1[5] * m2[5] + m1[6] * m2[9] + m1[7] * m2[13]; 
a[6] = m1[4] * m2[2] + m1[5] * m2[6] + m1[6] * m2[10] + m1[7] * m2[14]; 
a[7] = m1[4] * m2[3] + m1[5] * m2[7] + m1[6] * m2[11] + m1[7] * m2[15]; 
a[8] = m1[8] * m2[0] + m1[9] * m2[4] + m1[10] * m2[8] + m1[11] * m2[12]; 
a[9] = m1[8] * m2[1] + m1[9] * m2[5] + m1[10] * m2[9] + m1[11] * m2[13]; 
a[10] = m1[8] * m2[2] + m1[9] * m2[6] + m1[10] * m2[10] + m1[11] * m2[14]; 
a[11] = m1[8] * m2[3] + m1[9] * m2[7] + m1[10] * m2[11] + m1[11] * m2[15]; 
a[12] = m1[12] * m2[0] + m1[13] * m2[4] + m1[14] * m2[8] + m1[15] * m2[12]; 
a[13] = m1[12] * m2[1] + m1[13] * m2[5] + m1[14] * m2[9] + m1[15] * m2[13]; 
a[14] = m1[12] * m2[2] + m1[13] * m2[6] + m1[14] * m2[10] + m1[15] * m2[14]; 
a[15] = m1[12] * m2[3] + m1[13] * m2[7] + m1[14] * m2[11] + m1[15] * m2[15]; 
return this.fromArray(a); 
} 
,
translate: function (v){ 
var x = v.x; 
var y = v.y; 
var z = v.z; 
var a = this.val; 
a[12] = a[0] * x + a[4] * y + a[8] * z + a[12]; 
a[13] = a[1] * x + a[5] * y + a[9] * z + a[13]; 
a[14] = a[2] * x + a[6] * y + a[10] * z + a[14]; 
a[15] = a[3] * x + a[7] * y + a[11] * z + a[15]; 
return this; 
} 
,
translateXYZ: function (x, y, z){ 
var a = this.val; 
a[12] = a[0] * x + a[4] * y + a[8] * z + a[12]; 
a[13] = a[1] * x + a[5] * y + a[9] * z + a[13]; 
a[14] = a[2] * x + a[6] * y + a[10] * z + a[14]; 
a[15] = a[3] * x + a[7] * y + a[11] * z + a[15]; 
return this; 
} 
,
scale: function (v){ 
var x = v.x; 
var y = v.y; 
var z = v.z; 
var a = this.val; 
a[0] = a[0] * x; 
a[1] = a[1] * x; 
a[2] = a[2] * x; 
a[3] = a[3] * x; 
a[4] = a[4] * y; 
a[5] = a[5] * y; 
a[6] = a[6] * y; 
a[7] = a[7] * y; 
a[8] = a[8] * z; 
a[9] = a[9] * z; 
a[10] = a[10] * z; 
a[11] = a[11] * z; 
return this; 
} 
,
scaleXYZ: function (x, y, z){ 
var a = this.val; 
a[0] = a[0] * x; 
a[1] = a[1] * x; 
a[2] = a[2] * x; 
a[3] = a[3] * x; 
a[4] = a[4] * y; 
a[5] = a[5] * y; 
a[6] = a[6] * y; 
a[7] = a[7] * y; 
a[8] = a[8] * z; 
a[9] = a[9] * z; 
a[10] = a[10] * z; 
a[11] = a[11] * z; 
return this; 
} 
,
makeRotationAxis: function (axis, angle){ 
var c = Math.cos(angle); 
var s = Math.sin(angle); 
var t = 1 - c; 
var x = axis.x; 
var y = axis.y; 
var z = axis.z; 
var tx = t * x; 
var ty = t * y; 
this.fromArray([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; 
} 
,
rotate: function (rad, axis){ 
var a = this.val; 
var x = axis.x; 
var y = axis.y; 
var z = axis.z; 
var len = Math.sqrt(x * x + y * y + z * z); 
if (Math.abs(len) < EPSILON) { 
return null ; 
} 
len = 1 / len; 
x *= len; 
y *= len; 
z *= len; 
var s = Math.sin(rad); 
var c = Math.cos(rad); 
var t = 1 - c; 
var a00 = a[0]; 
var a01 = a[1]; 
var a02 = a[2]; 
var a03 = a[3]; 
var a10 = a[4]; 
var a11 = a[5]; 
var a12 = a[6]; 
var a13 = a[7]; 
var a20 = a[8]; 
var a21 = a[9]; 
var a22 = a[10]; 
var a23 = a[11]; 
var b00 = x * x * t + c; 
var b01 = y * x * t + z * s; 
var b02 = z * x * t - y * s; 
var b10 = x * y * t - z * s; 
var b11 = y * y * t + c; 
var b12 = z * y * t + x * s; 
var b20 = x * z * t + y * s; 
var b21 = y * z * t - x * s; 
var b22 = z * z * t + c; 
a[0] = a00 * b00 + a10 * b01 + a20 * b02; 
a[1] = a01 * b00 + a11 * b01 + a21 * b02; 
a[2] = a02 * b00 + a12 * b01 + a22 * b02; 
a[3] = a03 * b00 + a13 * b01 + a23 * b02; 
a[4] = a00 * b10 + a10 * b11 + a20 * b12; 
a[5] = a01 * b10 + a11 * b11 + a21 * b12; 
a[6] = a02 * b10 + a12 * b11 + a22 * b12; 
a[7] = a03 * b10 + a13 * b11 + a23 * b12; 
a[8] = a00 * b20 + a10 * b21 + a20 * b22; 
a[9] = a01 * b20 + a11 * b21 + a21 * b22; 
a[10] = a02 * b20 + a12 * b21 + a22 * b22; 
a[11] = a03 * b20 + a13 * b21 + a23 * b22; 
return this; 
} 
,
rotateX: function (rad){ 
var a = this.val; 
var s = Math.sin(rad); 
var c = Math.cos(rad); 
var a10 = a[4]; 
var a11 = a[5]; 
var a12 = a[6]; 
var a13 = a[7]; 
var a20 = a[8]; 
var a21 = a[9]; 
var a22 = a[10]; 
var a23 = a[11]; 
a[4] = a10 * c + a20 * s; 
a[5] = a11 * c + a21 * s; 
a[6] = a12 * c + a22 * s; 
a[7] = a13 * c + a23 * s; 
a[8] = a20 * c - a10 * s; 
a[9] = a21 * c - a11 * s; 
a[10] = a22 * c - a12 * s; 
a[11] = a23 * c - a13 * s; 
return this; 
} 
,
rotateY: function (rad){ 
var a = this.val; 
var s = Math.sin(rad); 
var c = Math.cos(rad); 
var a00 = a[0]; 
var a01 = a[1]; 
var a02 = a[2]; 
var a03 = a[3]; 
var a20 = a[8]; 
var a21 = a[9]; 
var a22 = a[10]; 
var a23 = a[11]; 
a[0] = a00 * c - a20 * s; 
a[1] = a01 * c - a21 * s; 
a[2] = a02 * c - a22 * s; 
a[3] = a03 * c - a23 * s; 
a[8] = a00 * s + a20 * c; 
a[9] = a01 * s + a21 * c; 
a[10] = a02 * s + a22 * c; 
a[11] = a03 * s + a23 * c; 
return this; 
} 
,
rotateZ: function (rad){ 
var a = this.val; 
var s = Math.sin(rad); 
var c = Math.cos(rad); 
var a00 = a[0]; 
var a01 = a[1]; 
var a02 = a[2]; 
var a03 = a[3]; 
var a10 = a[4]; 
var a11 = a[5]; 
var a12 = a[6]; 
var a13 = a[7]; 
a[0] = a00 * c + a10 * s; 
a[1] = a01 * c + a11 * s; 
a[2] = a02 * c + a12 * s; 
a[3] = a03 * c + a13 * s; 
a[4] = a10 * c - a00 * s; 
a[5] = a11 * c - a01 * s; 
a[6] = a12 * c - a02 * s; 
a[7] = a13 * c - a03 * s; 
return this; 
} 
,
fromRotationTranslation: function (q, v){ 
var out = this.val; 
var x = q.x; 
var y = q.y; 
var z = q.z; 
var w = q.w; 
var x2 = x + x; 
var y2 = y + y; 
var z2 = z + z; 
var xx = x * x2; 
var xy = x * y2; 
var xz = x * z2; 
var yy = y * y2; 
var yz = y * z2; 
var zz = z * z2; 
var wx = w * x2; 
var wy = w * y2; 
var 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 this; 
} 
,
fromQuat: function (q){ 
var out = this.val; 
var x = q.x; 
var y = q.y; 
var z = q.z; 
var w = q.w; 
var x2 = x + x; 
var y2 = y + y; 
var z2 = z + z; 
var xx = x * x2; 
var xy = x * y2; 
var xz = x * z2; 
var yy = y * y2; 
var yz = y * z2; 
var zz = z * z2; 
var wx = w * x2; 
var wy = w * y2; 
var 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] = 0; 
out[13] = 0; 
out[14] = 0; 
out[15] = 1; 
return this; 
} 
,
frustum: function (left, right, bottom, top, near, far){ 
var out = this.val; 
var rl = 1 / (right - left); 
var tb = 1 / (top - bottom); 
var 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 this; 
} 
,
perspective: function (fovy, aspect, near, far){ 
var out = this.val; 
var f = 1 / Math.tan(fovy / 2); 
var nf = 1 / (near - far); 
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[10] = (far + near) * nf; 
out[11] = -1; 
out[12] = 0; 
out[13] = 0; 
out[14] = (2 * far * near) * nf; 
out[15] = 0; 
return this; 
} 
,
perspectiveLH: function (width, height, near, far){ 
var out = this.val; 
out[0] = (2 * near) / width; 
out[1] = 0; 
out[2] = 0; 
out[3] = 0; 
out[4] = 0; 
out[5] = (2 * near) / height; 
out[6] = 0; 
out[7] = 0; 
out[8] = 0; 
out[9] = 0; 
out[10] = - far / (near - far); 
out[11] = 1; 
out[12] = 0; 
out[13] = 0; 
out[14] = (near * far) / (near - far); 
out[15] = 0; 
return this; 
} 
,
ortho: function (left, right, bottom, top, near, far){ 
var out = this.val; 
var lr = left - right; 
var bt = bottom - top; 
var nf = near - far; 
lr = (lr === 0)? lr: 1 / lr; 
bt = (bt === 0)? bt: 1 / bt; 
nf = (nf === 0)? nf: 1 / nf; 
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 this; 
} 
,
lookAt: function (eye, center, up){ 
var out = this.val; 
var eyex = eye.x; 
var eyey = eye.y; 
var eyez = eye.z; 
var upx = up.x; 
var upy = up.y; 
var upz = up.z; 
var centerx = center.x; 
var centery = center.y; 
var centerz = center.z; 
if (Math.abs(eyex - centerx) < EPSILON && Math.abs(eyey - centery) < EPSILON && Math.abs(eyez - centerz) < EPSILON) { 
return this.identity(); 
} 
var z0 = eyex - centerx; 
var z1 = eyey - centery; 
var z2 = eyez - centerz; 
var len = 1 / Math.sqrt(z0 * z0 + z1 * z1 + z2 * z2); 
z0 *= len; 
z1 *= len; 
z2 *= len; 
var x0 = upy * z2 - upz * z1; 
var x1 = upz * z0 - upx * z2; 
var x2 = upx * z1 - upy * z0; 
len = Math.sqrt(x0 * x0 + x1 * x1 + x2 * x2); 
if (!len) { 
x0 = 0; 
x1 = 0; 
x2 = 0; 
} 
 else { 
len = 1 / len; 
x0 *= len; 
x1 *= len; 
x2 *= len; 
} 
var y0 = z1 * x2 - z2 * x1; 
var y1 = z2 * x0 - z0 * x2; 
var y2 = z0 * x1 - z1 * x0; 
len = Math.sqrt(y0 * y0 + y1 * y1 + y2 * 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 this; 
} 
,
yawPitchRoll: function (yaw, pitch, roll){ 
this.zero(); 
_tempMat1.zero(); 
_tempMat2.zero(); 
var m0 = this.val; 
var m1 = _tempMat1.val; 
var m2 = _tempMat2.val; 
var s = Math.sin(roll); 
var c = Math.cos(roll); 
m0[10] = 1; 
m0[15] = 1; 
m0[0] = c; 
m0[1] = s; 
m0[4] = - s; 
m0[5] = c; 
s = Math.sin(pitch); 
c = Math.cos(pitch); 
m1[0] = 1; 
m1[15] = 1; 
m1[5] = c; 
m1[10] = c; 
m1[9] = - s; 
m1[6] = s; 
s = Math.sin(yaw); 
c = Math.cos(yaw); 
m2[5] = 1; 
m2[15] = 1; 
m2[0] = c; 
m2[2] = - s; 
m2[8] = s; 
m2[10] = c; 
this.multiplyLocal(_tempMat1); 
this.multiplyLocal(_tempMat2); 
return this; 
} 
,
setWorldMatrix: function (rotation, position, scale, viewMatrix, projectionMatrix){ 
this.yawPitchRoll(rotation.y, rotation.x, rotation.z); 
_tempMat1.scaling(scale.x, scale.y, scale.z); 
_tempMat2.xyz(position.x, position.y, position.z); 
this.multiplyLocal(_tempMat1); 
this.multiplyLocal(_tempMat2); 
if (viewMatrix !== undefined) { 
this.multiplyLocal(viewMatrix); 
} 
if (projectionMatrix !== undefined) { 
this.multiplyLocal(projectionMatrix); 
} 
return this; 
} 
}
); 
var _tempMat1 = new Matrix4(); 
var _tempMat2 = new Matrix4(); 
module.exports = Matrix4;