Mat4.ts

import Vec3 from "./Vec3";
import Mat3 from "./Mat3";

export default class Mat4 {
	public values: Float64Array;

	public constructor(values: Float64Array = new Float64Array(16)) {
		this.values = values;
	}

	public static identity(): Mat4 {
		const matrix = new Mat4();
		const dst = matrix.values;

		dst[0] = 1;
		dst[1] = 0;
		dst[2] = 0;
		dst[3] = 0;
		dst[4] = 0;
		dst[5] = 1;
		dst[6] = 0;
		dst[7] = 0;
		dst[8] = 0;
		dst[9] = 0;
		dst[10] = 1;
		dst[11] = 0;
		dst[12] = 0;
		dst[13] = 0;
		dst[14] = 0;
		dst[15] = 1;

		return matrix;
	}

	public static inverse(mat: Mat4): Mat4 {
		const matrix = new Mat4();
		const dst = matrix.values;

		const m = mat.values;

		const m00 = m[0 * 4 + 0];
		const m01 = m[0 * 4 + 1];
		const m02 = m[0 * 4 + 2];
		const m03 = m[0 * 4 + 3];
		const m10 = m[1 * 4 + 0];
		const m11 = m[1 * 4 + 1];
		const m12 = m[1 * 4 + 2];
		const m13 = m[1 * 4 + 3];
		const m20 = m[2 * 4 + 0];
		const m21 = m[2 * 4 + 1];
		const m22 = m[2 * 4 + 2];
		const m23 = m[2 * 4 + 3];
		const m30 = m[3 * 4 + 0];
		const m31 = m[3 * 4 + 1];
		const m32 = m[3 * 4 + 2];
		const m33 = m[3 * 4 + 3];
		const tmp_0 = m22 * m33;
		const tmp_1 = m32 * m23;
		const tmp_2 = m12 * m33;
		const tmp_3 = m32 * m13;
		const tmp_4 = m12 * m23;
		const tmp_5 = m22 * m13;
		const tmp_6 = m02 * m33;
		const tmp_7 = m32 * m03;
		const tmp_8 = m02 * m23;
		const tmp_9 = m22 * m03;
		const tmp_10 = m02 * m13;
		const tmp_11 = m12 * m03;
		const tmp_12 = m20 * m31;
		const tmp_13 = m30 * m21;
		const tmp_14 = m10 * m31;
		const tmp_15 = m30 * m11;
		const tmp_16 = m10 * m21;
		const tmp_17 = m20 * m11;
		const tmp_18 = m00 * m31;
		const tmp_19 = m30 * m01;
		const tmp_20 = m00 * m21;
		const tmp_21 = m20 * m01;
		const tmp_22 = m00 * m11;
		const tmp_23 = m10 * m01;

		const t0 = (tmp_0 * m11 + tmp_3 * m21 + tmp_4 * m31) - (tmp_1 * m11 + tmp_2 * m21 + tmp_5 * m31);
		const t1 = (tmp_1 * m01 + tmp_6 * m21 + tmp_9 * m31) - (tmp_0 * m01 + tmp_7 * m21 + tmp_8 * m31);
		const t2 = (tmp_2 * m01 + tmp_7 * m11 + tmp_10 * m31) - (tmp_3 * m01 + tmp_6 * m11 + tmp_11 * m31);
		const t3 = (tmp_5 * m01 + tmp_8 * m11 + tmp_11 * m21) - (tmp_4 * m01 + tmp_9 * m11 + tmp_10 * m21);

		const d = 1.0 / (m00 * t0 + m10 * t1 + m20 * t2 + m30 * t3);

		dst[0] = d * t0;
		dst[1] = d * t1;
		dst[2] = d * t2;
		dst[3] = d * t3;
		dst[4] = d * ((tmp_1 * m10 + tmp_2 * m20 + tmp_5 * m30) -
			(tmp_0 * m10 + tmp_3 * m20 + tmp_4 * m30));
		dst[5] = d * ((tmp_0 * m00 + tmp_7 * m20 + tmp_8 * m30) -
			(tmp_1 * m00 + tmp_6 * m20 + tmp_9 * m30));
		dst[6] = d * ((tmp_3 * m00 + tmp_6 * m10 + tmp_11 * m30) -
			(tmp_2 * m00 + tmp_7 * m10 + tmp_10 * m30));
		dst[7] = d * ((tmp_4 * m00 + tmp_9 * m10 + tmp_10 * m20) -
			(tmp_5 * m00 + tmp_8 * m10 + tmp_11 * m20));
		dst[8] = d * ((tmp_12 * m13 + tmp_15 * m23 + tmp_16 * m33) -
			(tmp_13 * m13 + tmp_14 * m23 + tmp_17 * m33));
		dst[9] = d * ((tmp_13 * m03 + tmp_18 * m23 + tmp_21 * m33) -
			(tmp_12 * m03 + tmp_19 * m23 + tmp_20 * m33));
		dst[10] = d * ((tmp_14 * m03 + tmp_19 * m13 + tmp_22 * m33) -
			(tmp_15 * m03 + tmp_18 * m13 + tmp_23 * m33));
		dst[11] = d * ((tmp_17 * m03 + tmp_20 * m13 + tmp_23 * m23) -
			(tmp_16 * m03 + tmp_21 * m13 + tmp_22 * m23));
		dst[12] = d * ((tmp_14 * m22 + tmp_17 * m32 + tmp_13 * m12) -
			(tmp_16 * m32 + tmp_12 * m12 + tmp_15 * m22));
		dst[13] = d * ((tmp_20 * m32 + tmp_12 * m02 + tmp_19 * m22) -
			(tmp_18 * m22 + tmp_21 * m32 + tmp_13 * m02));
		dst[14] = d * ((tmp_18 * m12 + tmp_23 * m32 + tmp_15 * m02) -
			(tmp_22 * m32 + tmp_14 * m02 + tmp_19 * m12));
		dst[15] = d * ((tmp_22 * m22 + tmp_16 * m02 + tmp_21 * m12) -
			(tmp_20 * m12 + tmp_23 * m22 + tmp_17 * m02));

		return matrix;
	}

	public static multiply(mat1: Mat4, mat2: Mat4): Mat4 {
		const matrix = new Mat4();
		const dst = matrix.values;

		const a = mat1.values;
		const b = mat2.values;

		const b00 = b[0 * 4 + 0];
		const b01 = b[0 * 4 + 1];
		const b02 = b[0 * 4 + 2];
		const b03 = b[0 * 4 + 3];
		const b10 = b[1 * 4 + 0];
		const b11 = b[1 * 4 + 1];
		const b12 = b[1 * 4 + 2];
		const b13 = b[1 * 4 + 3];
		const b20 = b[2 * 4 + 0];
		const b21 = b[2 * 4 + 1];
		const b22 = b[2 * 4 + 2];
		const b23 = b[2 * 4 + 3];
		const b30 = b[3 * 4 + 0];
		const b31 = b[3 * 4 + 1];
		const b32 = b[3 * 4 + 2];
		const b33 = b[3 * 4 + 3];
		const a00 = a[0 * 4 + 0];
		const a01 = a[0 * 4 + 1];
		const a02 = a[0 * 4 + 2];
		const a03 = a[0 * 4 + 3];
		const a10 = a[1 * 4 + 0];
		const a11 = a[1 * 4 + 1];
		const a12 = a[1 * 4 + 2];
		const a13 = a[1 * 4 + 3];
		const a20 = a[2 * 4 + 0];
		const a21 = a[2 * 4 + 1];
		const a22 = a[2 * 4 + 2];
		const a23 = a[2 * 4 + 3];
		const a30 = a[3 * 4 + 0];
		const a31 = a[3 * 4 + 1];
		const a32 = a[3 * 4 + 2];
		const a33 = a[3 * 4 + 3];
		dst[0] = b00 * a00 + b01 * a10 + b02 * a20 + b03 * a30;
		dst[1] = b00 * a01 + b01 * a11 + b02 * a21 + b03 * a31;
		dst[2] = b00 * a02 + b01 * a12 + b02 * a22 + b03 * a32;
		dst[3] = b00 * a03 + b01 * a13 + b02 * a23 + b03 * a33;
		dst[4] = b10 * a00 + b11 * a10 + b12 * a20 + b13 * a30;
		dst[5] = b10 * a01 + b11 * a11 + b12 * a21 + b13 * a31;
		dst[6] = b10 * a02 + b11 * a12 + b12 * a22 + b13 * a32;
		dst[7] = b10 * a03 + b11 * a13 + b12 * a23 + b13 * a33;
		dst[8] = b20 * a00 + b21 * a10 + b22 * a20 + b23 * a30;
		dst[9] = b20 * a01 + b21 * a11 + b22 * a21 + b23 * a31;
		dst[10] = b20 * a02 + b21 * a12 + b22 * a22 + b23 * a32;
		dst[11] = b20 * a03 + b21 * a13 + b22 * a23 + b23 * a33;
		dst[12] = b30 * a00 + b31 * a10 + b32 * a20 + b33 * a30;
		dst[13] = b30 * a01 + b31 * a11 + b32 * a21 + b33 * a31;
		dst[14] = b30 * a02 + b31 * a12 + b32 * a22 + b33 * a32;
		dst[15] = b30 * a03 + b31 * a13 + b32 * a23 + b33 * a33;

		return matrix;
	}

	public static transpose(mat: Mat4): Mat4 {
		const matrix = new Mat4();
		const dst = matrix.values;

		const a = mat.values;

		dst[0] = a[0];
		dst[1] = a[4];
		dst[2] = a[8];
		dst[3] = a[12];
		dst[4] = a[1];
		dst[5] = a[5];
		dst[6] = a[9];
		dst[7] = a[13];
		dst[8] = a[2];
		dst[9] = a[6];
		dst[10] = a[10];
		dst[11] = a[14];
		dst[12] = a[3];
		dst[13] = a[7];
		dst[14] = a[11];
		dst[15] = a[15];

		return matrix;
	}

	public static perspective(fieldOfViewInRadians: number, aspect: number, near: number, far: number): Mat4 {
		const matrix = new Mat4();
		const dst = matrix.values;

		const f = Math.tan(Math.PI * 0.5 - 0.5 * fieldOfViewInRadians);
		const rangeInv = 1.0 / (near - far);

		dst[0] = f / aspect;
		dst[1] = 0;
		dst[2] = 0;
		dst[3] = 0;
		dst[4] = 0;
		dst[5] = f;
		dst[6] = 0;
		dst[7] = 0;
		dst[8] = 0;
		dst[9] = 0;
		dst[10] = (near + far) * rangeInv;
		dst[11] = -1;
		dst[12] = 0;
		dst[13] = 0;
		dst[14] = near * far * rangeInv * 2;
		dst[15] = 0;

		return matrix;
	}

	public static orthographic(left: number, right: number, bottom: number, top: number, near: number, far: number): Mat4 {
		const matrix = new Mat4();
		const dst = matrix.values;

		dst[0] = 2 / (right - left);
		dst[1] = 0;
		dst[2] = 0;
		dst[3] = 0;
		dst[4] = 0;
		dst[5] = 2 / (top - bottom);
		dst[6] = 0;
		dst[7] = 0;
		dst[8] = 0;
		dst[9] = 0;
		dst[10] = 2 / (near - far);
		dst[11] = 0;
		dst[12] = (left + right) / (left - right);
		dst[13] = (bottom + top) / (bottom - top);
		dst[14] = (near + far) / (near - far);
		dst[15] = 1;

		return matrix;
	}

	public static normalMatrix(mat: Mat4): Mat3 {
		const matrix = new Mat3();
		const out = matrix.values;

		const a = mat.values;

		const a00 = a[0], a01 = a[1], a02 = a[2], a03 = a[3];
		const a10 = a[4], a11 = a[5], a12 = a[6], a13 = a[7];
		const a20 = a[8], a21 = a[9], a22 = a[10], a23 = a[11];
		const a30 = a[12], a31 = a[13], a32 = a[14], a33 = a[15];

		const b00 = a00 * a11 - a01 * a10;
		const b01 = a00 * a12 - a02 * a10;
		const b02 = a00 * a13 - a03 * a10;
		const b03 = a01 * a12 - a02 * a11;
		const b04 = a01 * a13 - a03 * a11;
		const b05 = a02 * a13 - a03 * a12;
		const b06 = a20 * a31 - a21 * a30;
		const b07 = a20 * a32 - a22 * a30;
		const b08 = a20 * a33 - a23 * a30;
		const b09 = a21 * a32 - a22 * a31;
		const b10 = a21 * a33 - a23 * a31;
		const b11 = a22 * a33 - a23 * a32;

		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] = (a12 * b08 - a10 * b11 - a13 * b07) * det;
		out[2] = (a10 * b10 - a11 * b08 + a13 * b06) * det;

		out[3] = (a02 * b10 - a01 * b11 - a03 * b09) * det;
		out[4] = (a00 * b11 - a02 * b08 + a03 * b07) * det;
		out[5] = (a01 * b08 - a00 * b10 - a03 * b06) * det;

		out[6] = (a31 * b05 - a32 * b04 + a33 * b03) * det;
		out[7] = (a32 * b02 - a30 * b05 - a33 * b01) * det;
		out[8] = (a30 * b04 - a31 * b02 + a33 * b00) * det;

		return matrix;
	}

	public static lookAt(cameraPosition: Vec3, target: Vec3, up: Vec3): Mat4 {
		const matrix = new Mat4();
		const dst = matrix.values;

		const zAxis = Vec3.normalize(Vec3.sub(cameraPosition, target));
		const xAxis = Vec3.normalize(Vec3.cross(up, zAxis));
		const yAxis = Vec3.normalize(Vec3.cross(zAxis, xAxis));

		dst[0] = xAxis.x;
		dst[1] = xAxis.y;
		dst[2] = xAxis.z;
		dst[3] = 0;
		dst[4] = yAxis.x;
		dst[5] = yAxis.y;
		dst[6] = yAxis.z;
		dst[7] = 0;
		dst[8] = zAxis.x;
		dst[9] = zAxis.y;
		dst[10] = zAxis.z;
		dst[11] = 0;
		dst[12] = cameraPosition.x;
		dst[13] = cameraPosition.y;
		dst[14] = cameraPosition.z;
		dst[15] = 1;

		return matrix;
	}

	public static translation(tx: number, ty: number, tz: number): Mat4 {
		const matrix = new Mat4();
		const dst = matrix.values;

		dst[0] = 1;
		dst[1] = 0;
		dst[2] = 0;
		dst[3] = 0;
		dst[4] = 0;
		dst[5] = 1;
		dst[6] = 0;
		dst[7] = 0;
		dst[8] = 0;
		dst[9] = 0;
		dst[10] = 1;
		dst[11] = 0;
		dst[12] = tx;
		dst[13] = ty;
		dst[14] = tz;
		dst[15] = 1;

		return matrix;
	}

	public static translate(mat: Mat4, tx: number, ty: number, tz: number): Mat4 {
		const matrix = new Mat4();
		const dst = matrix.values;

		const m = mat.values;

		const m00 = m[0];
		const m01 = m[1];
		const m02 = m[2];
		const m03 = m[3];
		const m10 = m[1 * 4 + 0];
		const m11 = m[1 * 4 + 1];
		const m12 = m[1 * 4 + 2];
		const m13 = m[1 * 4 + 3];
		const m20 = m[2 * 4 + 0];
		const m21 = m[2 * 4 + 1];
		const m22 = m[2 * 4 + 2];
		const m23 = m[2 * 4 + 3];
		const m30 = m[3 * 4 + 0];
		const m31 = m[3 * 4 + 1];
		const m32 = m[3 * 4 + 2];
		const m33 = m[3 * 4 + 3];

		dst[0] = m00;
		dst[1] = m01;
		dst[2] = m02;
		dst[3] = m03;
		dst[4] = m10;
		dst[5] = m11;
		dst[6] = m12;
		dst[7] = m13;
		dst[8] = m20;
		dst[9] = m21;
		dst[10] = m22;
		dst[11] = m23;
		dst[12] = m00 * tx + m10 * ty + m20 * tz + m30;
		dst[13] = m01 * tx + m11 * ty + m21 * tz + m31;
		dst[14] = m02 * tx + m12 * ty + m22 * tz + m32;
		dst[15] = m03 * tx + m13 * ty + m23 * tz + m33;

		return matrix;
	}

	public static xRotation(angle: number): Mat4 {
		const matrix = new Mat4();
		const dst = matrix.values;

		const c = Math.cos(angle);
		const s = Math.sin(angle);

		dst[0] = 1;
		dst[1] = 0;
		dst[2] = 0;
		dst[3] = 0;
		dst[4] = 0;
		dst[5] = c;
		dst[6] = s;
		dst[7] = 0;
		dst[8] = 0;
		dst[9] = -s;
		dst[10] = c;
		dst[11] = 0;
		dst[12] = 0;
		dst[13] = 0;
		dst[14] = 0;
		dst[15] = 1;

		return matrix;
	}

	public static xRotate(mat: Mat4, angle: number): Mat4 {
		const matrix = new Mat4();
		const dst = matrix.values;

		const m = mat.values;

		const m10 = m[4];
		const m11 = m[5];
		const m12 = m[6];
		const m13 = m[7];
		const m20 = m[8];
		const m21 = m[9];
		const m22 = m[10];
		const m23 = m[11];
		const c = Math.cos(angle);
		const s = Math.sin(angle);

		dst[4] = c * m10 + s * m20;
		dst[5] = c * m11 + s * m21;
		dst[6] = c * m12 + s * m22;
		dst[7] = c * m13 + s * m23;
		dst[8] = c * m20 - s * m10;
		dst[9] = c * m21 - s * m11;
		dst[10] = c * m22 - s * m12;
		dst[11] = c * m23 - s * m13;

		dst[0] = m[0];
		dst[1] = m[1];
		dst[2] = m[2];
		dst[3] = m[3];
		dst[12] = m[12];
		dst[13] = m[13];
		dst[14] = m[14];
		dst[15] = m[15];

		return matrix;
	}

	public static yRotation(angle: number): Mat4 {
		const matrix = new Mat4();
		const dst = matrix.values;

		const c = Math.cos(angle);
		const s = Math.sin(angle);

		dst[0] = c;
		dst[1] = 0;
		dst[2] = -s;
		dst[3] = 0;
		dst[4] = 0;
		dst[5] = 1;
		dst[6] = 0;
		dst[7] = 0;
		dst[8] = s;
		dst[9] = 0;
		dst[10] = c;
		dst[11] = 0;
		dst[12] = 0;
		dst[13] = 0;
		dst[14] = 0;
		dst[15] = 1;

		return matrix;
	}

	public static yRotate(mat: Mat4, angle: number): Mat4 {
		const matrix = new Mat4();
		const dst = matrix.values;

		const m = mat.values;

		const m00 = m[0 * 4 + 0];
		const m01 = m[0 * 4 + 1];
		const m02 = m[0 * 4 + 2];
		const m03 = m[0 * 4 + 3];
		const m20 = m[2 * 4 + 0];
		const m21 = m[2 * 4 + 1];
		const m22 = m[2 * 4 + 2];
		const m23 = m[2 * 4 + 3];
		const c = Math.cos(angle);
		const s = Math.sin(angle);

		dst[0] = c * m00 - s * m20;
		dst[1] = c * m01 - s * m21;
		dst[2] = c * m02 - s * m22;
		dst[3] = c * m03 - s * m23;
		dst[8] = c * m20 + s * m00;
		dst[9] = c * m21 + s * m01;
		dst[10] = c * m22 + s * m02;
		dst[11] = c * m23 + s * m03;

		dst[4] = m[4];
		dst[5] = m[5];
		dst[6] = m[6];
		dst[7] = m[7];
		dst[12] = m[12];
		dst[13] = m[13];
		dst[14] = m[14];
		dst[15] = m[15];

		return matrix;
	}

	public static zRotation(angle: number): Mat4 {
		const matrix = new Mat4();
		const dst = matrix.values;

		const c = Math.cos(angle);
		const s = Math.sin(angle);

		dst[0] = c;
		dst[1] = s;
		dst[2] = 0;
		dst[3] = 0;
		dst[4] = -s;
		dst[5] = c;
		dst[6] = 0;
		dst[7] = 0;
		dst[8] = 0;
		dst[9] = 0;
		dst[10] = 1;
		dst[11] = 0;
		dst[12] = 0;
		dst[13] = 0;
		dst[14] = 0;
		dst[15] = 1;

		return matrix;
	}

	public static zRotate(mat: Mat4, angle: number): Mat4 {
		const matrix = new Mat4();
		const dst = matrix.values;

		const m = mat.values;

		const m00 = m[0 * 4 + 0];
		const m01 = m[0 * 4 + 1];
		const m02 = m[0 * 4 + 2];
		const m03 = m[0 * 4 + 3];
		const m10 = m[1 * 4 + 0];
		const m11 = m[1 * 4 + 1];
		const m12 = m[1 * 4 + 2];
		const m13 = m[1 * 4 + 3];
		const c = Math.cos(angle);
		const s = Math.sin(angle);

		dst[0] = c * m00 + s * m10;
		dst[1] = c * m01 + s * m11;
		dst[2] = c * m02 + s * m12;
		dst[3] = c * m03 + s * m13;
		dst[4] = c * m10 - s * m00;
		dst[5] = c * m11 - s * m01;
		dst[6] = c * m12 - s * m02;
		dst[7] = c * m13 - s * m03;

		dst[8] = m[8];
		dst[9] = m[9];
		dst[10] = m[10];
		dst[11] = m[11];
		dst[12] = m[12];
		dst[13] = m[13];
		dst[14] = m[14];
		dst[15] = m[15];

		return matrix;
	}

	public static axisRotation(axis: Vec3, angle: number): Mat4 {
		const matrix = new Mat4();
		const dst = matrix.values;

		let x = axis.x;
		let y = axis.y;
		let z = axis.z;
		const n = Math.sqrt(x * x + y * y + z * z);
		x /= n;
		y /= n;
		z /= n;
		const xx = x * x;
		const yy = y * y;
		const zz = z * z;
		const c = Math.cos(angle);
		const s = Math.sin(angle);
		const oneMinusCosine = 1 - c;

		dst[0] = xx + (1 - xx) * c;
		dst[1] = x * y * oneMinusCosine + z * s;
		dst[2] = x * z * oneMinusCosine - y * s;
		dst[3] = 0;
		dst[4] = x * y * oneMinusCosine - z * s;
		dst[5] = yy + (1 - yy) * c;
		dst[6] = y * z * oneMinusCosine + x * s;
		dst[7] = 0;
		dst[8] = x * z * oneMinusCosine + y * s;
		dst[9] = y * z * oneMinusCosine - x * s;
		dst[10] = zz + (1 - zz) * c;
		dst[11] = 0;
		dst[12] = 0;
		dst[13] = 0;
		dst[14] = 0;
		dst[15] = 1;

		return matrix;
	}

	public static axisRotate(mat: Mat4, axis: Vec3, angle: number): Mat4 {
		const matrix = new Mat4();
		const dst = matrix.values;

		const m = mat.values;

		let x = axis.x;
		let y = axis.y;
		let z = axis.z;
		const n = Math.sqrt(x * x + y * y + z * z);
		x /= n;
		y /= n;
		z /= n;
		const xx = x * x;
		const yy = y * y;
		const zz = z * z;
		const c = Math.cos(angle);
		const s = Math.sin(angle);
		const oneMinusCosine = 1 - c;

		const r00 = xx + (1 - xx) * c;
		const r01 = x * y * oneMinusCosine + z * s;
		const r02 = x * z * oneMinusCosine - y * s;
		const r10 = x * y * oneMinusCosine - z * s;
		const r11 = yy + (1 - yy) * c;
		const r12 = y * z * oneMinusCosine + x * s;
		const r20 = x * z * oneMinusCosine + y * s;
		const r21 = y * z * oneMinusCosine - x * s;
		const r22 = zz + (1 - zz) * c;

		const m00 = m[0];
		const m01 = m[1];
		const m02 = m[2];
		const m03 = m[3];
		const m10 = m[4];
		const m11 = m[5];
		const m12 = m[6];
		const m13 = m[7];
		const m20 = m[8];
		const m21 = m[9];
		const m22 = m[10];
		const m23 = m[11];

		dst[0] = r00 * m00 + r01 * m10 + r02 * m20;
		dst[1] = r00 * m01 + r01 * m11 + r02 * m21;
		dst[2] = r00 * m02 + r01 * m12 + r02 * m22;
		dst[3] = r00 * m03 + r01 * m13 + r02 * m23;
		dst[4] = r10 * m00 + r11 * m10 + r12 * m20;
		dst[5] = r10 * m01 + r11 * m11 + r12 * m21;
		dst[6] = r10 * m02 + r11 * m12 + r12 * m22;
		dst[7] = r10 * m03 + r11 * m13 + r12 * m23;
		dst[8] = r20 * m00 + r21 * m10 + r22 * m20;
		dst[9] = r20 * m01 + r21 * m11 + r22 * m21;
		dst[10] = r20 * m02 + r21 * m12 + r22 * m22;
		dst[11] = r20 * m03 + r21 * m13 + r22 * m23;

		dst[12] = m[12];
		dst[13] = m[13];
		dst[14] = m[14];
		dst[15] = m[15];

		return matrix;
	}

	public static scaling(sx: number, sy: number, sz: number): Mat4 {
		const matrix = new Mat4();
		const dst = matrix.values;

		dst[0] = sx;
		dst[1] = 0;
		dst[2] = 0;
		dst[3] = 0;
		dst[4] = 0;
		dst[5] = sy;
		dst[6] = 0;
		dst[7] = 0;
		dst[8] = 0;
		dst[9] = 0;
		dst[10] = sz;
		dst[11] = 0;
		dst[12] = 0;
		dst[13] = 0;
		dst[14] = 0;
		dst[15] = 1;

		return matrix;
	}

	public static scale(mat: Mat4, sx: number, sy: number, sz: number): Mat4 {
		const matrix = new Mat4();
		const dst = matrix.values;
		const m = mat.values;

		dst[0] = sx * m[0 * 4 + 0];
		dst[1] = sx * m[0 * 4 + 1];
		dst[2] = sx * m[0 * 4 + 2];
		dst[3] = sx * m[0 * 4 + 3];
		dst[4] = sy * m[1 * 4 + 0];
		dst[5] = sy * m[1 * 4 + 1];
		dst[6] = sy * m[1 * 4 + 2];
		dst[7] = sy * m[1 * 4 + 3];
		dst[8] = sz * m[2 * 4 + 0];
		dst[9] = sz * m[2 * 4 + 1];
		dst[10] = sz * m[2 * 4 + 2];
		dst[11] = sz * m[2 * 4 + 3];

		dst[12] = m[12];
		dst[13] = m[13];
		dst[14] = m[14];
		dst[15] = m[15];

		return matrix;
	}

	public static copy(m: Mat4): Mat4 {
		return new Mat4(new Float64Array(m.values));
	}
}