/*!
@fileoverview gl-matrix - High performance matrix and vector operations
@author Brandon Jones
@author Colin MacKenzie IV
@version 3.0.0

Copyright (c) 2015-2019, Brandon Jones, Colin MacKenzie IV.

Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.

*/
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r=n[0],u=n[1],e=n[2],o=n[3],i=a[0],c=a[1];return t[0]=r*i,t[1]=u*i,t[2]=e*c,t[3]=o*c,t},fromRotation:function(t,n){var a=Math.sin(n),r=Math.cos(n);return t[0]=r,t[1]=a,t[2]=-a,t[3]=r,t},fromScaling:function(t,n){return t[0]=n[0],t[1]=0,t[2]=0,t[3]=n[1],t},str:function(t){return"mat2("+t[0]+", "+t[1]+", "+t[2]+", "+t[3]+")"},frob:function(t){return Math.hypot(t[0],t[1],t[2],t[3])},LDU:function(t,n,a,r){return t[2]=r[2]/r[0],a[0]=r[0],a[1]=r[1],a[3]=r[3]-t[2]*a[1],[t,n,a]},add:function(t,n,a){return t[0]=n[0]+a[0],t[1]=n[1]+a[1],t[2]=n[2]+a[2],t[3]=n[3]+a[3],t},subtract:i,exactEquals:function(t,n){return t[0]===n[0]&&t[1]===n[1]&&t[2]===n[2]&&t[3]===n[3]},equals:function(t,a){var r=t[0],u=t[1],e=t[2],o=t[3],i=a[0],c=a[1],h=a[2],s=a[3];return 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t[0]=n[0],t[1]=n[3],t[2]=n[6],t[3]=n[1],t[4]=n[4],t[5]=n[7],t[6]=n[2],t[7]=n[5],t[8]=n[8];return t},invert:function(t,n){var a=n[0],r=n[1],u=n[2],e=n[3],o=n[4],i=n[5],c=n[6],h=n[7],s=n[8],M=s*o-i*h,f=-s*e+i*c,l=h*e-o*c,v=a*M+r*f+u*l;return v?(v=1/v,t[0]=M*v,t[1]=(-s*r+u*h)*v,t[2]=(i*r-u*o)*v,t[3]=f*v,t[4]=(s*a-u*c)*v,t[5]=(-i*a+u*e)*v,t[6]=l*v,t[7]=(-h*a+r*c)*v,t[8]=(o*a-r*e)*v,t):null},adjoint:function(t,n){var a=n[0],r=n[1],u=n[2],e=n[3],o=n[4],i=n[5],c=n[6],h=n[7],s=n[8];return t[0]=o*s-i*h,t[1]=u*h-r*s,t[2]=r*i-u*o,t[3]=i*c-e*s,t[4]=a*s-u*c,t[5]=u*e-a*i,t[6]=e*h-o*c,t[7]=r*c-a*h,t[8]=a*o-r*e,t},determinant:function(t){var n=t[0],a=t[1],r=t[2],u=t[3],e=t[4],o=t[5],i=t[6],c=t[7],h=t[8];return n*(h*e-o*c)+a*(-h*u+o*i)+r*(c*u-e*i)},multiply:d,translate:function(t,n,a){var r=n[0],u=n[1],e=n[2],o=n[3],i=n[4],c=n[5],h=n[6],s=n[7],M=n[8],f=a[0],l=a[1];return t[0]=r,t[1]=u,t[2]=e,t[3]=o,t[4]=i,t[5]=c,t[6]=f*r+l*o+h,t[7]=f*u+l*i+s,t[8]=f*e+l*c+M,t},rotate:function(t,n,a){var r=n[0],u=n[1],e=n[2],o=n[3],i=n[4],c=n[5],h=n[6],s=n[7],M=n[8],f=Math.sin(a),l=Math.cos(a);return t[0]=l*r+f*o,t[1]=l*u+f*i,t[2]=l*e+f*c,t[3]=l*o-f*r,t[4]=l*i-f*u,t[5]=l*c-f*e,t[6]=h,t[7]=s,t[8]=M,t},scale:function(t,n,a){var r=a[0],u=a[1];return t[0]=r*n[0],t[1]=r*n[1],t[2]=r*n[2],t[3]=u*n[3],t[4]=u*n[4],t[5]=u*n[5],t[6]=n[6],t[7]=n[7],t[8]=n[8],t},fromTranslation:function(t,n){return t[0]=1,t[1]=0,t[2]=0,t[3]=0,t[4]=1,t[5]=0,t[6]=n[0],t[7]=n[1],t[8]=1,t},fromRotation:function(t,n){var a=Math.sin(n),r=Math.cos(n);return t[0]=r,t[1]=a,t[2]=0,t[3]=-a,t[4]=r,t[5]=0,t[6]=0,t[7]=0,t[8]=1,t},fromScaling:function(t,n){return t[0]=n[0],t[1]=0,t[2]=0,t[3]=0,t[4]=n[1],t[5]=0,t[6]=0,t[7]=0,t[8]=1,t},fromMat2d:function(t,n){return t[0]=n[0],t[1]=n[1],t[2]=0,t[3]=n[2],t[4]=n[3],t[5]=0,t[6]=n[4],t[7]=n[5],t[8]=1,t},fromQuat:function(t,n){var a=n[0],r=n[1],u=n[2],e=n[3],o=a+a,i=r+r,c=u+u,h=a*o,s=r*o,M=r*i,f=u*o,l=u*i,v=u*c,b=e*o,m=e*i,d=e*c;return t[0]=1-M-v,t[3]=s-d,t[6]=f+m,t[1]=s+d,t[4]=1-h-v,t[7]=l-b,t[2]=f-m,t[5]=l+b,t[8]=1-h-M,t},normalFromMat4:function(t,n){var a=n[0],r=n[1],u=n[2],e=n[3],o=n[4],i=n[5],c=n[6],h=n[7],s=n[8],M=n[9],f=n[10],l=n[11],v=n[12],b=n[13],m=n[14],d=n[15],x=a*i-r*o,p=a*c-u*o,y=a*h-e*o,q=r*c-u*i,g=r*h-e*i,A=u*h-e*c,w=s*b-M*v,R=s*m-f*v,z=s*d-l*v,P=M*m-f*b,j=M*d-l*b,I=f*d-l*m,S=x*I-p*j+y*P+q*z-g*R+A*w;return S?(S=1/S,t[0]=(i*I-c*j+h*P)*S,t[1]=(c*z-o*I-h*R)*S,t[2]=(o*j-i*z+h*w)*S,t[3]=(u*j-r*I-e*P)*S,t[4]=(a*I-u*z+e*R)*S,t[5]=(r*z-a*j-e*w)*S,t[6]=(b*A-m*g+d*q)*S,t[7]=(m*y-v*A-d*p)*S,t[8]=(v*g-b*y+d*x)*S,t):null},projection:function(t,n,a){return t[0]=2/n,t[1]=0,t[2]=0,t[3]=0,t[4]=-2/a,t[5]=0,t[6]=-1,t[7]=1,t[8]=1,t},str:function(t){return"mat3("+t[0]+", "+t[1]+", "+t[2]+", "+t[3]+", "+t[4]+", "+t[5]+", "+t[6]+", "+t[7]+", "+t[8]+")"},frob:function(t){return Math.hypot(t[0],t[1],t[2],t[3],t[4],t[5],t[6],t[7],t[8])},add:function(t,n,a){return t[0]=n[0]+a[0],t[1]=n[1]+a[1],t[2]=n[2]+a[2],t[3]=n[3]+a[3],t[4]=n[4]+a[4],t[5]=n[5]+a[5],t[6]=n[6]+a[6],t[7]=n[7]+a[7],t[8]=n[8]+a[8],t},subtract:x,multiplyScalar:function(t,n,a){return t[0]=n[0]*a,t[1]=n[1]*a,t[2]=n[2]*a,t[3]=n[3]*a,t[4]=n[4]*a,t[5]=n[5]*a,t[6]=n[6]*a,t[7]=n[7]*a,t[8]=n[8]*a,t},multiplyScalarAndAdd:function(t,n,a,r){return t[0]=n[0]+a[0]*r,t[1]=n[1]+a[1]*r,t[2]=n[2]+a[2]*r,t[3]=n[3]+a[3]*r,t[4]=n[4]+a[4]*r,t[5]=n[5]+a[5]*r,t[6]=n[6]+a[6]*r,t[7]=n[7]+a[7]*r,t[8]=n[8]+a[8]*r,t},exactEquals:function(t,n){return t[0]===n[0]&&t[1]===n[1]&&t[2]===n[2]&&t[3]===n[3]&&t[4]===n[4]&&t[5]===n[5]&&t[6]===n[6]&&t[7]===n[7]&&t[8]===n[8]},equals:function(t,a){var r=t[0],u=t[1],e=t[2],o=t[3],i=t[4],c=t[5],h=t[6],s=t[7],M=t[8],f=a[0],l=a[1],v=a[2],b=a[3],m=a[4],d=a[5],x=a[6],p=a[7],y=a[8];return Math.abs(r-f)<=n*Math.max(1,Math.abs(r),Math.abs(f))&&Math.abs(u-l)<=n*Math.max(1,Math.abs(u),Math.abs(l))&&Math.abs(e-v)<=n*Math.max(1,Math.abs(e),Math.abs(v))&&Math.abs(o-b)<=n*Math.max(1,Math.abs(o),Math.abs(b))&&Math.abs(i-m)<=n*Math.max(1,Math.abs(i),Math.abs(m))&&Math.abs(c-d)<=n*Math.max(1,Math.abs(c),Math.abs(d))&&Math.abs(h-x)<=n*Math.max(1,Math.abs(h),Math.abs(x))&&Math.abs(s-p)<=n*Math.max(1,Math.abs(s),Math.abs(p))&&Math.abs(M-y)<=n*Math.max(1,Math.abs(M),Math.abs(y))},mul:p,sub:y});function g(t){return t[0]=1,t[1]=0,t[2]=0,t[3]=0,t[4]=0,t[5]=1,t[6]=0,t[7]=0,t[8]=0,t[9]=0,t[10]=1,t[11]=0,t[12]=0,t[13]=0,t[14]=0,t[15]=1,t}function A(t,n,a){var r=n[0],u=n[1],e=n[2],o=n[3],i=n[4],c=n[5],h=n[6],s=n[7],M=n[8],f=n[9],l=n[10],v=n[11],b=n[12],m=n[13],d=n[14],x=n[15],p=a[0],y=a[1],q=a[2],g=a[3];return t[0]=p*r+y*i+q*M+g*b,t[1]=p*u+y*c+q*f+g*m,t[2]=p*e+y*h+q*l+g*d,t[3]=p*o+y*s+q*v+g*x,p=a[4],y=a[5],q=a[6],g=a[7],t[4]=p*r+y*i+q*M+g*b,t[5]=p*u+y*c+q*f+g*m,t[6]=p*e+y*h+q*l+g*d,t[7]=p*o+y*s+q*v+g*x,p=a[8],y=a[9],q=a[10],g=a[11],t[8]=p*r+y*i+q*M+g*b,t[9]=p*u+y*c+q*f+g*m,t[10]=p*e+y*h+q*l+g*d,t[11]=p*o+y*s+q*v+g*x,p=a[12],y=a[13],q=a[14],g=a[15],t[12]=p*r+y*i+q*M+g*b,t[13]=p*u+y*c+q*f+g*m,t[14]=p*e+y*h+q*l+g*d,t[15]=p*o+y*s+q*v+g*x,t}function w(t,n,a){var r=n[0],u=n[1],e=n[2],o=n[3],i=r+r,c=u+u,h=e+e,s=r*i,M=r*c,f=r*h,l=u*c,v=u*h,b=e*h,m=o*i,d=o*c,x=o*h;return t[0]=1-(l+b),t[1]=M+x,t[2]=f-d,t[3]=0,t[4]=M-x,t[5]=1-(s+b),t[6]=v+m,t[7]=0,t[8]=f+d,t[9]=v-m,t[10]=1-(s+l),t[11]=0,t[12]=a[0],t[13]=a[1],t[14]=a[2],t[15]=1,t}function R(t,n){return t[0]=n[12],t[1]=n[13],t[2]=n[14],t}function z(t,n){var a=n[0],r=n[1],u=n[2],e=n[4],o=n[5],i=n[6],c=n[8],h=n[9],s=n[10];return t[0]=Math.hypot(a,r,u),t[1]=Math.hypot(e,o,i),t[2]=Math.hypot(c,h,s),t}function P(t,n){var r=new a(3);z(r,n);var u=1/r[0],e=1/r[1],o=1/r[2],i=n[0]*u,c=n[1]*e,h=n[2]*o,s=n[4]*u,M=n[5]*e,f=n[6]*o,l=n[8]*u,v=n[9]*e,b=n[10]*o,m=i+M+b,d=0;return m>0?(d=2*Math.sqrt(m+1),t[3]=.25*d,t[0]=(f-v)/d,t[1]=(l-h)/d,t[2]=(c-s)/d):i>M&&i>b?(d=2*Math.sqrt(1+i-M-b),t[3]=(f-v)/d,t[0]=.25*d,t[1]=(c+s)/d,t[2]=(l+h)/d):M>b?(d=2*Math.sqrt(1+M-i-b),t[3]=(l-h)/d,t[0]=(c+s)/d,t[1]=.25*d,t[2]=(f+v)/d):(d=2*Math.sqrt(1+b-i-M),t[3]=(c-s)/d,t[0]=(l+h)/d,t[1]=(f+v)/d,t[2]=.25*d),t}function j(t,n,a){return t[0]=n[0]-a[0],t[1]=n[1]-a[1],t[2]=n[2]-a[2],t[3]=n[3]-a[3],t[4]=n[4]-a[4],t[5]=n[5]-a[5],t[6]=n[6]-a[6],t[7]=n[7]-a[7],t[8]=n[8]-a[8],t[9]=n[9]-a[9],t[10]=n[10]-a[10],t[11]=n[11]-a[11],t[12]=n[12]-a[12],t[13]=n[13]-a[13],t[14]=n[14]-a[14],t[15]=n[15]-a[15],t}var I=A,S=j,E=Object.freeze({create:function(){var t=new a(16);return a!=Float32Array&&(t[1]=0,t[2]=0,t[3]=0,t[4]=0,t[6]=0,t[7]=0,t[8]=0,t[9]=0,t[11]=0,t[12]=0,t[13]=0,t[14]=0),t[0]=1,t[5]=1,t[10]=1,t[15]=1,t},clone:function(t){var n=new a(16);return n[0]=t[0],n[1]=t[1],n[2]=t[2],n[3]=t[3],n[4]=t[4],n[5]=t[5],n[6]=t[6],n[7]=t[7],n[8]=t[8],n[9]=t[9],n[10]=t[10],n[11]=t[11],n[12]=t[12],n[13]=t[13],n[14]=t[14],n[15]=t[15],n},copy:function(t,n){return t[0]=n[0],t[1]=n[1],t[2]=n[2],t[3]=n[3],t[4]=n[4],t[5]=n[5],t[6]=n[6],t[7]=n[7],t[8]=n[8],t[9]=n[9],t[10]=n[10],t[11]=n[11],t[12]=n[12],t[13]=n[13],t[14]=n[14],t[15]=n[15],t},fromValues:function(t,n,r,u,e,o,i,c,h,s,M,f,l,v,b,m){var d=new a(16);return d[0]=t,d[1]=n,d[2]=r,d[3]=u,d[4]=e,d[5]=o,d[6]=i,d[7]=c,d[8]=h,d[9]=s,d[10]=M,d[11]=f,d[12]=l,d[13]=v,d[14]=b,d[15]=m,d},set:function(t,n,a,r,u,e,o,i,c,h,s,M,f,l,v,b,m){return t[0]=n,t[1]=a,t[2]=r,t[3]=u,t[4]=e,t[5]=o,t[6]=i,t[7]=c,t[8]=h,t[9]=s,t[10]=M,t[11]=f,t[12]=l,t[13]=v,t[14]=b,t[15]=m,t},identity:g,transpose:function(t,n){if(t===n){var a=n[1],r=n[2],u=n[3],e=n[6],o=n[7],i=n[11];t[1]=n[4],t[2]=n[8],t[3]=n[12],t[4]=a,t[6]=n[9],t[7]=n[13],t[8]=r,t[9]=e,t[11]=n[14],t[12]=u,t[13]=o,t[14]=i}else t[0]=n[0],t[1]=n[4],t[2]=n[8],t[3]=n[12],t[4]=n[1],t[5]=n[5],t[6]=n[9],t[7]=n[13],t[8]=n[2],t[9]=n[6],t[10]=n[10],t[11]=n[14],t[12]=n[3],t[13]=n[7],t[14]=n[11],t[15]=n[15];return t},invert:function(t,n){var a=n[0],r=n[1],u=n[2],e=n[3],o=n[4],i=n[5],c=n[6],h=n[7],s=n[8],M=n[9],f=n[10],l=n[11],v=n[12],b=n[13],m=n[14],d=n[15],x=a*i-r*o,p=a*c-u*o,y=a*h-e*o,q=r*c-u*i,g=r*h-e*i,A=u*h-e*c,w=s*b-M*v,R=s*m-f*v,z=s*d-l*v,P=M*m-f*b,j=M*d-l*b,I=f*d-l*m,S=x*I-p*j+y*P+q*z-g*R+A*w;return S?(S=1/S,t[0]=(i*I-c*j+h*P)*S,t[1]=(u*j-r*I-e*P)*S,t[2]=(b*A-m*g+d*q)*S,t[3]=(f*g-M*A-l*q)*S,t[4]=(c*z-o*I-h*R)*S,t[5]=(a*I-u*z+e*R)*S,t[6]=(m*y-v*A-d*p)*S,t[7]=(s*A-f*y+l*p)*S,t[8]=(o*j-i*z+h*w)*S,t[9]=(r*z-a*j-e*w)*S,t[10]=(v*g-b*y+d*x)*S,t[11]=(M*y-s*g-l*x)*S,t[12]=(i*R-o*P-c*w)*S,t[13]=(a*P-r*R+u*w)*S,t[14]=(b*p-v*q-m*x)*S,t[15]=(s*q-M*p+f*x)*S,t):null},adjoint:function(t,n){var a=n[0],r=n[1],u=n[2],e=n[3],o=n[4],i=n[5],c=n[6],h=n[7],s=n[8],M=n[9],f=n[10],l=n[11],v=n[12],b=n[13],m=n[14],d=n[15];return t[0]=i*(f*d-l*m)-M*(c*d-h*m)+b*(c*l-h*f),t[1]=-(r*(f*d-l*m)-M*(u*d-e*m)+b*(u*l-e*f)),t[2]=r*(c*d-h*m)-i*(u*d-e*m)+b*(u*h-e*c),t[3]=-(r*(c*l-h*f)-i*(u*l-e*f)+M*(u*h-e*c)),t[4]=-(o*(f*d-l*m)-s*(c*d-h*m)+v*(c*l-h*f)),t[5]=a*(f*d-l*m)-s*(u*d-e*m)+v*(u*l-e*f),t[6]=-(a*(c*d-h*m)-o*(u*d-e*m)+v*(u*h-e*c)),t[7]=a*(c*l-h*f)-o*(u*l-e*f)+s*(u*h-e*c),t[8]=o*(M*d-l*b)-s*(i*d-h*b)+v*(i*l-h*M),t[9]=-(a*(M*d-l*b)-s*(r*d-e*b)+v*(r*l-e*M)),t[10]=a*(i*d-h*b)-o*(r*d-e*b)+v*(r*h-e*i),t[11]=-(a*(i*l-h*M)-o*(r*l-e*M)+s*(r*h-e*i)),t[12]=-(o*(M*m-f*b)-s*(i*m-c*b)+v*(i*f-c*M)),t[13]=a*(M*m-f*b)-s*(r*m-u*b)+v*(r*f-u*M),t[14]=-(a*(i*m-c*b)-o*(r*m-u*b)+v*(r*c-u*i)),t[15]=a*(i*f-c*M)-o*(r*f-u*M)+s*(r*c-u*i),t},determinant:function(t){var n=t[0],a=t[1],r=t[2],u=t[3],e=t[4],o=t[5],i=t[6],c=t[7],h=t[8],s=t[9],M=t[10],f=t[11],l=t[12],v=t[13],b=t[14],m=t[15];return(n*o-a*e)*(M*m-f*b)-(n*i-r*e)*(s*m-f*v)+(n*c-u*e)*(s*b-M*v)+(a*i-r*o)*(h*m-f*l)-(a*c-u*o)*(h*b-M*l)+(r*c-u*i)*(h*v-s*l)},multiply:A,translate:function(t,n,a){var r,u,e,o,i,c,h,s,M,f,l,v,b=a[0],m=a[1],d=a[2];return n===t?(t[12]=n[0]*b+n[4]*m+n[8]*d+n[12],t[13]=n[1]*b+n[5]*m+n[9]*d+n[13],t[14]=n[2]*b+n[6]*m+n[10]*d+n[14],t[15]=n[3]*b+n[7]*m+n[11]*d+n[15]):(r=n[0],u=n[1],e=n[2],o=n[3],i=n[4],c=n[5],h=n[6],s=n[7],M=n[8],f=n[9],l=n[10],v=n[11],t[0]=r,t[1]=u,t[2]=e,t[3]=o,t[4]=i,t[5]=c,t[6]=h,t[7]=s,t[8]=M,t[9]=f,t[10]=l,t[11]=v,t[12]=r*b+i*m+M*d+n[12],t[13]=u*b+c*m+f*d+n[13],t[14]=e*b+h*m+l*d+n[14],t[15]=o*b+s*m+v*d+n[15]),t},scale:function(t,n,a){var r=a[0],u=a[1],e=a[2];return t[0]=n[0]*r,t[1]=n[1]*r,t[2]=n[2]*r,t[3]=n[3]*r,t[4]=n[4]*u,t[5]=n[5]*u,t[6]=n[6]*u,t[7]=n[7]*u,t[8]=n[8]*e,t[9]=n[9]*e,t[10]=n[10]*e,t[11]=n[11]*e,t[12]=n[12],t[13]=n[13],t[14]=n[14],t[15]=n[15],t},rotate:function(t,a,r,u){var e,o,i,c,h,s,M,f,l,v,b,m,d,x,p,y,q,g,A,w,R,z,P,j,I=u[0],S=u[1],E=u[2],O=Math.hypot(I,S,E);return O<n?null:(I*=O=1/O,S*=O,E*=O,e=Math.sin(r),i=1-(o=Math.cos(r)),c=a[0],h=a[1],s=a[2],M=a[3],f=a[4],l=a[5],v=a[6],b=a[7],m=a[8],d=a[9],x=a[10],p=a[11],y=I*I*i+o,q=S*I*i+E*e,g=E*I*i-S*e,A=I*S*i-E*e,w=S*S*i+o,R=E*S*i+I*e,z=I*E*i+S*e,P=S*E*i-I*e,j=E*E*i+o,t[0]=c*y+f*q+m*g,t[1]=h*y+l*q+d*g,t[2]=s*y+v*q+x*g,t[3]=M*y+b*q+p*g,t[4]=c*A+f*w+m*R,t[5]=h*A+l*w+d*R,t[6]=s*A+v*w+x*R,t[7]=M*A+b*w+p*R,t[8]=c*z+f*P+m*j,t[9]=h*z+l*P+d*j,t[10]=s*z+v*P+x*j,t[11]=M*z+b*P+p*j,a!==t&&(t[12]=a[12],t[13]=a[13],t[14]=a[14],t[15]=a[15]),t)},rotateX:function(t,n,a){var r=Math.sin(a),u=Math.cos(a),e=n[4],o=n[5],i=n[6],c=n[7],h=n[8],s=n[9],M=n[10],f=n[11];return 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t[0]=1,t[1]=0,t[2]=0,t[3]=0,t[4]=0,t[5]=1,t[6]=0,t[7]=0,t[8]=0,t[9]=0,t[10]=1,t[11]=0,t[12]=n[0],t[13]=n[1],t[14]=n[2],t[15]=1,t},fromScaling:function(t,n){return t[0]=n[0],t[1]=0,t[2]=0,t[3]=0,t[4]=0,t[5]=n[1],t[6]=0,t[7]=0,t[8]=0,t[9]=0,t[10]=n[2],t[11]=0,t[12]=0,t[13]=0,t[14]=0,t[15]=1,t},fromRotation:function(t,a,r){var u,e,o,i=r[0],c=r[1],h=r[2],s=Math.hypot(i,c,h);return s<n?null:(i*=s=1/s,c*=s,h*=s,u=Math.sin(a),o=1-(e=Math.cos(a)),t[0]=i*i*o+e,t[1]=c*i*o+h*u,t[2]=h*i*o-c*u,t[3]=0,t[4]=i*c*o-h*u,t[5]=c*c*o+e,t[6]=h*c*o+i*u,t[7]=0,t[8]=i*h*o+c*u,t[9]=c*h*o-i*u,t[10]=h*h*o+e,t[11]=0,t[12]=0,t[13]=0,t[14]=0,t[15]=1,t)},fromXRotation:function(t,n){var a=Math.sin(n),r=Math.cos(n);return t[0]=1,t[1]=0,t[2]=0,t[3]=0,t[4]=0,t[5]=r,t[6]=a,t[7]=0,t[8]=0,t[9]=-a,t[10]=r,t[11]=0,t[12]=0,t[13]=0,t[14]=0,t[15]=1,t},fromYRotation:function(t,n){var a=Math.sin(n),r=Math.cos(n);return 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