/*!
@fileoverview gl-matrix - High performance matrix and vector operations
@author Brandon Jones
@author Colin MacKenzie IV
@version 3.4.3

Copyright (c) 2015-2021, 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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a!=Float32Array&&(t[1]=0,t[2]=0),t[0]=1,t[3]=1,t},clone:function(t){var n=new a(4);return n[0]=t[0],n[1]=t[1],n[2]=t[2],n[3]=t[3],n},copy:function(t,n){return t[0]=n[0],t[1]=n[1],t[2]=n[2],t[3]=n[3],t},identity:function(t){return t[0]=1,t[1]=0,t[2]=0,t[3]=1,t},fromValues:function(t,n,r,u){var e=new a(4);return e[0]=t,e[1]=n,e[2]=r,e[3]=u,e},set:function(t,n,a,r,u){return t[0]=n,t[1]=a,t[2]=r,t[3]=u,t},transpose:function(t,n){if(t===n){var a=n[1];t[1]=n[2],t[2]=a}else t[0]=n[0],t[1]=n[2],t[2]=n[1],t[3]=n[3];return t},invert:function(t,n){var a=n[0],r=n[1],u=n[2],e=n[3],o=a*e-u*r;return o?(o=1/o,t[0]=e*o,t[1]=-r*o,t[2]=-u*o,t[3]=a*o,t):null},adjoint:function(t,n){var a=n[0];return t[0]=n[3],t[1]=-n[1],t[2]=-n[2],t[3]=a,t},determinant:function(t){return t[0]*t[3]-t[2]*t[1]},multiply:o,rotate:function(t,n,a){var r=n[0],u=n[1],e=n[2],o=n[3],i=Math.sin(a),h=Math.cos(a);return t[0]=r*h+e*i,t[1]=u*h+o*i,t[2]=r*-i+e*h,t[3]=u*-i+o*h,t},scale:function(t,n,a){var r=n[0],u=n[1],e=n[2],o=n[3],i=a[0],h=a[1];return t[0]=r*i,t[1]=u*i,t[2]=e*h,t[3]=o*h,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],h=a[1],c=a[2],s=a[3];return 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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},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},identity:function(t){return t[0]=1,t[1]=0,t[2]=0,t[3]=1,t[4]=0,t[5]=0,t},fromValues:function(t,n,r,u,e,o){var i=new a(6);return i[0]=t,i[1]=n,i[2]=r,i[3]=u,i[4]=e,i[5]=o,i},set:function(t,n,a,r,u,e,o){return t[0]=n,t[1]=a,t[2]=r,t[3]=u,t[4]=e,t[5]=o,t},invert:function(t,n){var a=n[0],r=n[1],u=n[2],e=n[3],o=n[4],i=n[5],h=a*e-r*u;return h?(h=1/h,t[0]=e*h,t[1]=-r*h,t[2]=-u*h,t[3]=a*h,t[4]=(u*i-e*o)*h,t[5]=(r*o-a*i)*h,t):null},determinant:function(t){return t[0]*t[3]-t[1]*t[2]},multiply:M,rotate:function(t,n,a){var r=n[0],u=n[1],e=n[2],o=n[3],i=n[4],h=n[5],c=Math.sin(a),s=Math.cos(a);return t[0]=r*s+e*c,t[1]=u*s+o*c,t[2]=r*-c+e*s,t[3]=u*-c+o*s,t[4]=i,t[5]=h,t},scale:function(t,n,a){var r=n[0],u=n[1],e=n[2],o=n[3],i=n[4],h=n[5],c=a[0],s=a[1];return t[0]=r*c,t[1]=u*c,t[2]=e*s,t[3]=o*s,t[4]=i,t[5]=h,t},translate:function(t,n,a){var r=n[0],u=n[1],e=n[2],o=n[3],i=n[4],h=n[5],c=a[0],s=a[1];return t[0]=r,t[1]=u,t[2]=e,t[3]=o,t[4]=r*c+e*s+i,t[5]=u*c+o*s+h,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[4]=0,t[5]=0,t},fromScaling:function(t,n){return t[0]=n[0],t[1]=0,t[2]=0,t[3]=n[1],t[4]=0,t[5]=0,t},fromTranslation:function(t,n){return t[0]=1,t[1]=0,t[2]=0,t[3]=1,t[4]=n[0],t[5]=n[1],t},str:function(t){return"mat2d("+t[0]+", "+t[1]+", "+t[2]+", "+t[3]+", "+t[4]+", "+t[5]+")"},frob:function(t){return Math.hypot(t[0],t[1],t[2],t[3],t[4],t[5],1)},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},subtract:f,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},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},exactEquals:function(t,n){return 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a=n[1],r=n[2],u=n[5];t[1]=n[3],t[2]=n[6],t[3]=a,t[5]=n[7],t[6]=r,t[7]=u}else 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],h=n[6],c=n[7],s=n[8],M=s*o-i*c,f=-s*e+i*h,l=c*e-o*h,v=a*M+r*f+u*l;return v?(v=1/v,t[0]=M*v,t[1]=(-s*r+u*c)*v,t[2]=(i*r-u*o)*v,t[3]=f*v,t[4]=(s*a-u*h)*v,t[5]=(-i*a+u*e)*v,t[6]=l*v,t[7]=(-c*a+r*h)*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],h=n[6],c=n[7],s=n[8];return t[0]=o*s-i*c,t[1]=u*c-r*s,t[2]=r*i-u*o,t[3]=i*h-e*s,t[4]=a*s-u*h,t[5]=u*e-a*i,t[6]=e*c-o*h,t[7]=r*h-a*c,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],h=t[7],c=t[8];return n*(c*e-o*h)+a*(-c*u+o*i)+r*(h*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],h=n[5],c=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]=h,t[6]=f*r+l*o+c,t[7]=f*u+l*i+s,t[8]=f*e+l*h+M,t},rotate:function(t,n,a){var r=n[0],u=n[1],e=n[2],o=n[3],i=n[4],h=n[5],c=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*h,t[3]=l*o-f*r,t[4]=l*i-f*u,t[5]=l*h-f*e,t[6]=c,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,h=u+u,c=a*o,s=r*o,M=r*i,f=u*o,l=u*i,v=u*h,b=e*o,m=e*i,d=e*h;return t[0]=1-M-v,t[3]=s-d,t[6]=f+m,t[1]=s+d,t[4]=1-c-v,t[7]=l-b,t[2]=f-m,t[5]=l+b,t[8]=1-c-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],h=n[6],c=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],p=a*i-r*o,x=a*h-u*o,y=a*c-e*o,q=r*h-u*i,g=r*c-e*i,_=u*c-e*h,A=s*b-M*v,w=s*m-f*v,R=s*d-l*v,z=M*m-f*b,O=M*d-l*b,j=f*d-l*m,P=p*j-x*O+y*z+q*R-g*w+_*A;return P?(P=1/P,t[0]=(i*j-h*O+c*z)*P,t[1]=(h*R-o*j-c*w)*P,t[2]=(o*O-i*R+c*A)*P,t[3]=(u*O-r*j-e*z)*P,t[4]=(a*j-u*R+e*w)*P,t[5]=(r*R-a*O-e*A)*P,t[6]=(b*_-m*g+d*q)*P,t[7]=(m*y-v*_-d*x)*P,t[8]=(v*g-b*y+d*p)*P,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:p,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],h=t[5],c=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],p=a[6],x=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(h-d)<=n*Math.max(1,Math.abs(h),Math.abs(d))&&Math.abs(c-p)<=n*Math.max(1,Math.abs(c),Math.abs(p))&&Math.abs(s-x)<=n*Math.max(1,Math.abs(s),Math.abs(x))&&Math.abs(M-y)<=n*Math.max(1,Math.abs(M),Math.abs(y))},mul:x,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 _(t,n,a){var r=n[0],u=n[1],e=n[2],o=n[3],i=n[4],h=n[5],c=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],p=n[15],x=a[0],y=a[1],q=a[2],g=a[3];return t[0]=x*r+y*i+q*M+g*b,t[1]=x*u+y*h+q*f+g*m,t[2]=x*e+y*c+q*l+g*d,t[3]=x*o+y*s+q*v+g*p,x=a[4],y=a[5],q=a[6],g=a[7],t[4]=x*r+y*i+q*M+g*b,t[5]=x*u+y*h+q*f+g*m,t[6]=x*e+y*c+q*l+g*d,t[7]=x*o+y*s+q*v+g*p,x=a[8],y=a[9],q=a[10],g=a[11],t[8]=x*r+y*i+q*M+g*b,t[9]=x*u+y*h+q*f+g*m,t[10]=x*e+y*c+q*l+g*d,t[11]=x*o+y*s+q*v+g*p,x=a[12],y=a[13],q=a[14],g=a[15],t[12]=x*r+y*i+q*M+g*b,t[13]=x*u+y*h+q*f+g*m,t[14]=x*e+y*c+q*l+g*d,t[15]=x*o+y*s+q*v+g*p,t}function A(t,n,a){var r=n[0],u=n[1],e=n[2],o=n[3],i=r+r,h=u+u,c=e+e,s=r*i,M=r*h,f=r*c,l=u*h,v=u*c,b=e*c,m=o*i,d=o*h,p=o*c;return t[0]=1-(l+b),t[1]=M+p,t[2]=f-d,t[3]=0,t[4]=M-p,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 w(t,n){return t[0]=n[12],t[1]=n[13],t[2]=n[14],t}function R(t,n){var a=n[0],r=n[1],u=n[2],e=n[4],o=n[5],i=n[6],h=n[8],c=n[9],s=n[10];return t[0]=Math.hypot(a,r,u),t[1]=Math.hypot(e,o,i),t[2]=Math.hypot(h,c,s),t}function z(t,n){var r=new a(3);R(r,n);var u=1/r[0],e=1/r[1],o=1/r[2],i=n[0]*u,h=n[1]*e,c=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-c)/d,t[2]=(h-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]=(h+s)/d,t[2]=(l+c)/d):M>b?(d=2*Math.sqrt(1+M-i-b),t[3]=(l-c)/d,t[0]=(h+s)/d,t[1]=.25*d,t[2]=(f+v)/d):(d=2*Math.sqrt(1+b-i-M),t[3]=(h-s)/d,t[0]=(l+c)/d,t[1]=(f+v)/d,t[2]=.25*d),t}function O(t,n,a,r,u){var e,o=1/Math.tan(n/2);return t[0]=o/a,t[1]=0,t[2]=0,t[3]=0,t[4]=0,t[5]=o,t[6]=0,t[7]=0,t[8]=0,t[9]=0,t[11]=-1,t[12]=0,t[13]=0,t[15]=0,null!=u&&u!==1/0?(e=1/(r-u),t[10]=(u+r)*e,t[14]=2*u*r*e):(t[10]=-1,t[14]=-2*r),t}var j=O;function P(t,n,a,r,u,e,o){var i=1/(n-a),h=1/(r-u),c=1/(e-o);return t[0]=-2*i,t[1]=0,t[2]=0,t[3]=0,t[4]=0,t[5]=-2*h,t[6]=0,t[7]=0,t[8]=0,t[9]=0,t[10]=2*c,t[11]=0,t[12]=(n+a)*i,t[13]=(u+r)*h,t[14]=(o+e)*c,t[15]=1,t}var S=P;function E(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 T=_,D=E,F=Object.freeze({__proto__:null,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,h,c,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]=h,d[8]=c,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,h,c,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]=h,t[8]=c,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],h=n[6],c=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],p=a*i-r*o,x=a*h-u*o,y=a*c-e*o,q=r*h-u*i,g=r*c-e*i,_=u*c-e*h,A=s*b-M*v,w=s*m-f*v,R=s*d-l*v,z=M*m-f*b,O=M*d-l*b,j=f*d-l*m,P=p*j-x*O+y*z+q*R-g*w+_*A;return P?(P=1/P,t[0]=(i*j-h*O+c*z)*P,t[1]=(u*O-r*j-e*z)*P,t[2]=(b*_-m*g+d*q)*P,t[3]=(f*g-M*_-l*q)*P,t[4]=(h*R-o*j-c*w)*P,t[5]=(a*j-u*R+e*w)*P,t[6]=(m*y-v*_-d*x)*P,t[7]=(s*_-f*y+l*x)*P,t[8]=(o*O-i*R+c*A)*P,t[9]=(r*R-a*O-e*A)*P,t[10]=(v*g-b*y+d*p)*P,t[11]=(M*y-s*g-l*p)*P,t[12]=(i*w-o*z-h*A)*P,t[13]=(a*z-r*w+u*A)*P,t[14]=(b*x-v*q-m*p)*P,t[15]=(s*q-M*x+f*p)*P,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],h=n[6],c=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*(h*d-c*m)+b*(h*l-c*f),t[1]=-(r*(f*d-l*m)-M*(u*d-e*m)+b*(u*l-e*f)),t[2]=r*(h*d-c*m)-i*(u*d-e*m)+b*(u*c-e*h),t[3]=-(r*(h*l-c*f)-i*(u*l-e*f)+M*(u*c-e*h)),t[4]=-(o*(f*d-l*m)-s*(h*d-c*m)+v*(h*l-c*f)),t[5]=a*(f*d-l*m)-s*(u*d-e*m)+v*(u*l-e*f),t[6]=-(a*(h*d-c*m)-o*(u*d-e*m)+v*(u*c-e*h)),t[7]=a*(h*l-c*f)-o*(u*l-e*f)+s*(u*c-e*h),t[8]=o*(M*d-l*b)-s*(i*d-c*b)+v*(i*l-c*M),t[9]=-(a*(M*d-l*b)-s*(r*d-e*b)+v*(r*l-e*M)),t[10]=a*(i*d-c*b)-o*(r*d-e*b)+v*(r*c-e*i),t[11]=-(a*(i*l-c*M)-o*(r*l-e*M)+s*(r*c-e*i)),t[12]=-(o*(M*m-f*b)-s*(i*m-h*b)+v*(i*f-h*M)),t[13]=a*(M*m-f*b)-s*(r*m-u*b)+v*(r*f-u*M),t[14]=-(a*(i*m-h*b)-o*(r*m-u*b)+v*(r*h-u*i)),t[15]=a*(i*f-h*M)-o*(r*f-u*M)+s*(r*h-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],h=t[7],c=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*h-u*e)*(s*b-M*v)+(a*i-r*o)*(c*m-f*l)-(a*h-u*o)*(c*b-M*l)+(r*h-u*i)*(c*v-s*l)},multiply:_,translate:function(t,n,a){var r,u,e,o,i,h,c,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],h=n[5],c=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]=h,t[6]=c,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+h*m+f*d+n[13],t[14]=e*b+c*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,h,c,s,M,f,l,v,b,m,d,p,x,y,q,g,_,A,w,R,z,O,j=u[0],P=u[1],S=u[2],E=Math.hypot(j,P,S);return E<n?null:(j*=E=1/E,P*=E,S*=E,e=Math.sin(r),i=1-(o=Math.cos(r)),h=a[0],c=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],p=a[10],x=a[11],y=j*j*i+o,q=P*j*i+S*e,g=S*j*i-P*e,_=j*P*i-S*e,A=P*P*i+o,w=S*P*i+j*e,R=j*S*i+P*e,z=P*S*i-j*e,O=S*S*i+o,t[0]=h*y+f*q+m*g,t[1]=c*y+l*q+d*g,t[2]=s*y+v*q+p*g,t[3]=M*y+b*q+x*g,t[4]=h*_+f*A+m*w,t[5]=c*_+l*A+d*w,t[6]=s*_+v*A+p*w,t[7]=M*_+b*A+x*w,t[8]=h*R+f*z+m*O,t[9]=c*R+l*z+d*O,t[10]=s*R+v*z+p*O,t[11]=M*R+b*z+x*O,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],h=n[7],c=n[8],s=n[9],M=n[10],f=n[11];return n!==t&&(t[0]=n[0],t[1]=n[1],t[2]=n[2],t[3]=n[3],t[12]=n[12],t[13]=n[13],t[14]=n[14],t[15]=n[15]),t[4]=e*u+c*r,t[5]=o*u+s*r,t[6]=i*u+M*r,t[7]=h*u+f*r,t[8]=c*u-e*r,t[9]=s*u-o*r,t[10]=M*u-i*r,t[11]=f*u-h*r,t},rotateY:function(t,n,a){var r=Math.sin(a),u=Math.cos(a),e=n[0],o=n[1],i=n[2],h=n[3],c=n[8],s=n[9],M=n[10],f=n[11];return n!==t&&(t[4]=n[4],t[5]=n[5],t[6]=n[6],t[7]=n[7],t[12]=n[12],t[13]=n[13],t[14]=n[14],t[15]=n[15]),t[0]=e*u-c*r,t[1]=o*u-s*r,t[2]=i*u-M*r,t[3]=h*u-f*r,t[8]=e*r+c*u,t[9]=o*r+s*u,t[10]=i*r+M*u,t[11]=h*r+f*u,t},rotateZ:function(t,n,a){var r=Math.sin(a),u=Math.cos(a),e=n[0],o=n[1],i=n[2],h=n[3],c=n[4],s=n[5],M=n[6],f=n[7];return n!==t&&(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[0]=e*u+c*r,t[1]=o*u+s*r,t[2]=i*u+M*r,t[3]=h*u+f*r,t[4]=c*u-e*r,t[5]=s*u-o*r,t[6]=M*u-i*r,t[7]=f*u-h*r,t},fromTranslation:function(t,n){return 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