var Class = require('../utils/Class'); 
var Vector3 = require('./Vector3'); 
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); 
} 
,
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 a = src.val; 
return this.setValues(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]); 
} 
,
fromArray: function (a){ 
return this.setValues(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]); 
} 
,
zero: function (){ 
return this.setValues(0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0); 
} 
,
transform: function (position, scale, rotation){ 
var rotMatrix = _tempMat1.fromQuat(rotation); 
var rm = rotMatrix.val; 
var sx = scale.x; 
var sy = scale.y; 
var sz = scale.z; 
return this.setValues(rm[0] * sx, rm[1] * sx, rm[2] * sx, 0, rm[4] * sy, rm[5] * sy, rm[6] * sy, 0, rm[8] * sz, rm[9] * sz, rm[10] * sz, 0, position.x, position.y, position.z, 1); 
} 
,
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 (){ 
return this.setValues(1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1); 
} 
,
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; 
} 
,
getInverse: function (m){ 
this.copy(m); 
return this.invert(); 
} 
,
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 this; 
} 
det = 1 / det; 
return this.setValues((a11 * b11 - a12 * b10 + a13 * b09) * det, (a02 * b10 - a01 * b11 - a03 * b09) * det, (a31 * b05 - a32 * b04 + a33 * b03) * det, (a22 * b04 - a21 * b05 - a23 * b03) * det, (a12 * b08 - a10 * b11 - a13 * b07) * det, (a00 * b11 - a02 * b08 + a03 * b07) * det, (a32 * b02 - a30 * b05 - a33 * b01) * det, (a20 * b05 - a22 * b02 + a23 * b01) * det, (a10 * b10 - a11 * b08 + a13 * b06) * det, (a01 * b08 - a00 * b10 - a03 * b06) * det, (a30 * b04 - a31 * b02 + a33 * b00) * det, (a21 * b02 - a20 * b04 - a23 * b00) * det, (a11 * b07 - a10 * b09 - a12 * b06) * det, (a00 * b09 - a01 * b07 + a02 * b06) * det, (a31 * b01 - a30 * b03 - a32 * b00) * det, (a20 * b03 - a21 * b01 + a22 * b00) * det); 
} 
,
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]; 
return this.setValues((a11 * (a22 * a33 - a23 * a32) - a21 * (a12 * a33 - a13 * a32) + a31 * (a12 * a23 - a13 * a22)), - (a01 * (a22 * a33 - a23 * a32) - a21 * (a02 * a33 - a03 * a32) + a31 * (a02 * a23 - a03 * a22)), (a01 * (a12 * a33 - a13 * a32) - a11 * (a02 * a33 - a03 * a32) + a31 * (a02 * a13 - a03 * a12)), - (a01 * (a12 * a23 - a13 * a22) - a11 * (a02 * a23 - a03 * a22) + a21 * (a02 * a13 - a03 * a12)), - (a10 * (a22 * a33 - a23 * a32) - a20 * (a12 * a33 - a13 * a32) + a30 * (a12 * a23 - a13 * a22)), (a00 * (a22 * a33 - a23 * a32) - a20 * (a02 * a33 - a03 * a32) + a30 * (a02 * a23 - a03 * a22)), - (a00 * (a12 * a33 - a13 * a32) - a10 * (a02 * a33 - a03 * a32) + a30 * (a02 * a13 - a03 * a12)), (a00 * (a12 * a23 - a13 * a22) - a10 * (a02 * a23 - a03 * a22) + a20 * (a02 * a13 - a03 * a12)), (a10 * (a21 * a33 - a23 * a31) - a20 * (a11 * a33 - a13 * a31) + a30 * (a11 * a23 - a13 * a21)), - (a00 * (a21 * a33 - a23 * a31) - a20 * (a01 * a33 - a03 * a31) + a30 * (a01 * a23 - a03 * a21)), (a00 * (a11 * a33 - a13 * a31) - a10 * (a01 * a33 - a03 * a31) + a30 * (a01 * a13 - a03 * a11)), - (a00 * (a11 * a23 - a13 * a21) - a10 * (a01 * a23 - a03 * a21) + a20 * (a01 * a13 - a03 * a11)), - (a10 * (a21 * a32 - a22 * a31) - a20 * (a11 * a32 - a12 * a31) + a30 * (a11 * a22 - a12 * a21)), (a00 * (a21 * a32 - a22 * a31) - a20 * (a01 * a32 - a02 * a31) + a30 * (a01 * a22 - a02 * a21)), - (a00 * (a11 * a32 - a12 * a31) - a10 * (a01 * a32 - a02 * a31) + a30 * (a01 * a12 - a02 * a11)), (a00 * (a11 * a22 - a12 * a21) - a10 * (a01 * a22 - a02 * a21) + a20 * (a01 * a12 - a02 * a11))); 
} 
,
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; 
} 
,
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 = this.val; 
var b = src.val; 
return this.setValues(a[0] * b[0] + a[1] * b[4] + a[2] * b[8] + a[3] * b[12], a[0] * b[1] + a[1] * b[5] + a[2] * b[9] + a[3] * b[13], a[0] * b[2] + a[1] * b[6] + a[2] * b[10] + a[3] * b[14], a[0] * b[3] + a[1] * b[7] + a[2] * b[11] + a[3] * b[15], a[4] * b[0] + a[5] * b[4] + a[6] * b[8] + a[7] * b[12], a[4] * b[1] + a[5] * b[5] + a[6] * b[9] + a[7] * b[13], a[4] * b[2] + a[5] * b[6] + a[6] * b[10] + a[7] * b[14], a[4] * b[3] + a[5] * b[7] + a[6] * b[11] + a[7] * b[15], a[8] * b[0] + a[9] * b[4] + a[10] * b[8] + a[11] * b[12], a[8] * b[1] + a[9] * b[5] + a[10] * b[9] + a[11] * b[13], a[8] * b[2] + a[9] * b[6] + a[10] * b[10] + a[11] * b[14], a[8] * b[3] + a[9] * b[7] + a[10] * b[11] + a[11] * b[15], a[12] * b[0] + a[13] * b[4] + a[14] * b[8] + a[15] * b[12], a[12] * b[1] + a[13] * b[5] + a[14] * b[9] + a[15] * b[13], a[12] * b[2] + a[13] * b[6] + a[14] * b[10] + a[15] * b[14], a[12] * b[3] + a[13] * b[7] + a[14] * b[11] + a[15] * b[15]); 
} 
,
premultiply: function (m){ 
return this.multiplyMatrices(m, this); 
} 
,
multiplyMatrices: function (a, b){ 
var am = a.val; 
var bm = b.val; 
var a11 = am[0]; 
var a12 = am[4]; 
var a13 = am[8]; 
var a14 = am[12]; 
var a21 = am[1]; 
var a22 = am[5]; 
var a23 = am[9]; 
var a24 = am[13]; 
var a31 = am[2]; 
var a32 = am[6]; 
var a33 = am[10]; 
var a34 = am[14]; 
var a41 = am[3]; 
var a42 = am[7]; 
var a43 = am[11]; 
var a44 = am[15]; 
var b11 = bm[0]; 
var b12 = bm[4]; 
var b13 = bm[8]; 
var b14 = bm[12]; 
var b21 = bm[1]; 
var b22 = bm[5]; 
var b23 = bm[9]; 
var b24 = bm[13]; 
var b31 = bm[2]; 
var b32 = bm[6]; 
var b33 = bm[10]; 
var b34 = bm[14]; 
var b41 = bm[3]; 
var b42 = bm[7]; 
var b43 = bm[11]; 
var b44 = bm[15]; 
return this.setValues(a11 * b11 + a12 * b21 + a13 * b31 + a14 * b41, a21 * b11 + a22 * b21 + a23 * b31 + a24 * b41, a31 * b11 + a32 * b21 + a33 * b31 + a34 * b41, a41 * b11 + a42 * b21 + a43 * b31 + a44 * b41, a11 * b12 + a12 * b22 + a13 * b32 + a14 * b42, a21 * b12 + a22 * b22 + a23 * b32 + a24 * b42, a31 * b12 + a32 * b22 + a33 * b32 + a34 * b42, a41 * b12 + a42 * b22 + a43 * b32 + a44 * b42, a11 * b13 + a12 * b23 + a13 * b33 + a14 * b43, a21 * b13 + a22 * b23 + a23 * b33 + a24 * b43, a31 * b13 + a32 * b23 + a33 * b33 + a34 * b43, a41 * b13 + a42 * b23 + a43 * b33 + a44 * b43, a11 * b14 + a12 * b24 + a13 * b34 + a14 * b44, a21 * b14 + a22 * b24 + a23 * b34 + a24 * b44, a31 * b14 + a32 * b24 + a33 * b34 + a34 * b44, a41 * b14 + a42 * b24 + a43 * b34 + a44 * b44); 
} 
,
translate: function (v){ 
return this.translateXYZ(v.x, v.y, v.z); 
} 
,
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){ 
return this.scaleXYZ(v.x, v.y, v.z); 
} 
,
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; 
return this.setValues(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); 
} 
,
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 this; 
} 
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 a30 = a[12]; 
var a31 = a[13]; 
var a32 = a[14]; 
var a33 = a[15]; 
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; 
return this.setValues(a00 * b00 + a10 * b01 + a20 * b02, a01 * b00 + a11 * b01 + a21 * b02, a02 * b00 + a12 * b01 + a22 * b02, a03 * b00 + a13 * b01 + a23 * b02, a00 * b10 + a10 * b11 + a20 * b12, a01 * b10 + a11 * b11 + a21 * b12, a02 * b10 + a12 * b11 + a22 * b12, a03 * b10 + a13 * b11 + a23 * b12, a00 * b20 + a10 * b21 + a20 * b22, a01 * b20 + a11 * b21 + a21 * b22, a02 * b20 + a12 * b21 + a22 * b22, a03 * b20 + a13 * b21 + a23 * b22, a30, a31, a32, a33); 
} 
,
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 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; 
return this.setValues(1 - (yy + zz), xy + wz, xz - wy, 0, xy - wz, 1 - (xx + zz), yz + wx, 0, xz + wy, yz - wx, 1 - (xx + yy), 0, v.x, v.y, v.z, 1); 
} 
,
fromQuat: function (q){ 
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; 
return this.setValues(1 - (yy + zz), xy + wz, xz - wy, 0, xy - wz, 1 - (xx + zz), yz + wx, 0, xz + wy, yz - wx, 1 - (xx + yy), 0, 0, 0, 0, 1); 
} 
,
frustum: function (left, right, bottom, top, near, far){ 
var rl = 1 / (right - left); 
var tb = 1 / (top - bottom); 
var nf = 1 / (near - far); 
return this.setValues((near * 2) * rl, 0, 0, 0, 0, (near * 2) * tb, 0, 0, (right + left) * rl, (top + bottom) * tb, (far + near) * nf, -1, 0, 0, (far * near * 2) * nf, 0); 
} 
,
perspective: function (fovy, aspect, near, far){ 
var f = 1 / Math.tan(fovy / 2); 
var nf = 1 / (near - far); 
return this.setValues(f / aspect, 0, 0, 0, 0, f, 0, 0, 0, 0, (far + near) * nf, -1, 0, 0, (2 * far * near) * nf, 0); 
} 
,
perspectiveLH: function (width, height, near, far){ 
return this.setValues((2 * near) / width, 0, 0, 0, 0, (2 * near) / height, 0, 0, 0, 0, - far / (near - far), 1, 0, 0, (near * far) / (near - far), 0); 
} 
,
ortho: function (left, right, bottom, top, near, far){ 
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; 
return this.setValues(-2 * lr, 0, 0, 0, 0, -2 * bt, 0, 0, 0, 0, 2 * nf, 0, (left + right) * lr, (top + bottom) * bt, (far + near) * nf, 1); 
} 
,
lookAtRH: function (eye, target, up){ 
var m = this.val; 
_z.subVectors(eye, target); 
if (_z.getLengthSquared() === 0) { 
_z.z = 1; 
} 
_z.normalize(); 
_x.crossVectors(up, _z); 
if (_x.getLengthSquared() === 0) { 
if (Math.abs(up.z) === 1) { 
_z.x += 0.0001; 
} 
 else { 
_z.z += 0.0001; 
} 
_z.normalize(); 
_x.crossVectors(up, _z); 
} 
_x.normalize(); 
_y.crossVectors(_z, _x); 
m[0] = _x.x; 
m[1] = _x.y; 
m[2] = _x.z; 
m[4] = _y.x; 
m[5] = _y.y; 
m[6] = _y.z; 
m[8] = _z.x; 
m[9] = _z.y; 
m[10] = _z.z; 
return this; 
} 
,
lookAt: function (eye, center, up){ 
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; 
} 
return this.setValues(x0, y0, z0, 0, x1, y1, z1, 0, x2, y2, z2, 0, - (x0 * eyex + x1 * eyey + x2 * eyez), - (y0 * eyex + y1 * eyey + y2 * eyez), - (z0 * eyex + z1 * eyey + z2 * eyez), 1); 
} 
,
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) { 
this.multiplyLocal(viewMatrix); 
} 
if (projectionMatrix) { 
this.multiplyLocal(projectionMatrix); 
} 
return this; 
} 
,
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); 
} 
,
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); 
} 
,
getMaxScaleOnAxis: function (){ 
var m = this.val; 
var scaleXSq = m[0] * m[0] + m[1] * m[1] + m[2] * m[2]; 
var scaleYSq = m[4] * m[4] + m[5] * m[5] + m[6] * m[6]; 
var scaleZSq = m[8] * m[8] + m[9] * m[9] + m[10] * m[10]; 
return Math.sqrt(Math.max(scaleXSq, scaleYSq, scaleZSq)); 
} 
}
); 
var _tempMat1 = new Matrix4(); 
var _tempMat2 = new Matrix4(); 
var _x = new Vector3(); 
var _y = new Vector3(); 
var _z = new Vector3(); 
module.exports = Matrix4;