Matrix toolbox — `Mat3` · `Mat4` · `Vec*` · `Quat`

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The linear-algebra toolbox (gl-matrix, column-major), available at runtime as the Matrix global. Mat3 is the workhorse for 2-D transforms — its estimateSimilarity / estimateAffine / estimateHomography statics fit a transform to point pairs and return a matrix you can pass straight into img.warpPerspective(). Also includes Mat4, Vec2/Vec3/Vec4, Quat/Quat2, Mat2/Mat2d.

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---

Classes

Mat2

2x2 Matrix (4 float32)

Extends

• Float32Array

Indexable

[index: number]: number

Constructors

Constructor

new Mat2(): Mat2;

Creates a new identity mat2

Returns

Mat2

Overrides

Float32Array.constructor

Methods

add()

add(b): this;

Adds two mat2's

Parameters

Parameter	Type	Description
b	ReadonlyMat2	the second operand

Returns

this

this

adjoint()

adjoint(): this;

Calculates the adjugate of a mat2

Returns

this

this

copy()

copy(a): this;

Copy the values from one mat2 to another

Parameters

Parameter	Type	Description
a	ReadonlyMat2	the source matrix

Returns

this

this

determinant()

determinant(): number;

Calculates the determinant of a mat2

Returns

number

determinant of this

equals()

equals(b): boolean;

Returns whether or not the matrices have approximately the same elements in the same position.

Parameters

Parameter	Type	Description
b	ReadonlyMat2	The second matrix.

Returns

boolean

True if the matrices are equal, false otherwise.

exactEquals()

exactEquals(b): boolean;

Returns whether or not the matrices have exactly the same elements in the same position (when compared with ===)

Parameters

Parameter	Type	Description
b	ReadonlyMat2	The second matrix.

Returns

boolean

True if the matrices are equal, false otherwise.

frob()

frob(): number;

Returns Frobenius norm of a mat2

Returns

number

Frobenius norm

fromRotation()

fromRotation(rad): this;

Creates a matrix from a given angle

Parameters

Parameter	Type	Description
rad	number	the angle to rotate the matrix by

Returns

this

this

fromScaling()

fromScaling(v): this;

Creates a matrix from a vector scaling

Parameters

Parameter	Type	Description
v	ReadonlyVec2	Scaling vector

Returns

this

this

identity()

identity(): this;

Set a mat2 to the identity matrix

Returns

this

this

invert()

invert(): Mat2 | null;

Inverts a mat2

Returns

Mat2 | null

this, or null if source matrix is not invertible

LDU()

LDU(
   L, 
   D, 
   U): [mat2, mat2, mat2];

Returns L, D and U matrices (Lower triangular, Diagonal and Upper triangular) by factorizing the input matrix

Parameters

Parameter	Type	Description
L	mat2	the lower triangular matrix
D	mat2	the diagonal matrix
U	mat2	the upper triangular matrix

Returns

[mat2, mat2, mat2]

multiply()

multiply(b): this;

Multiplies two mat2's

Parameters

Parameter	Type	Description
b	ReadonlyMat2	the second operand

Returns

this

this

multiplyScalar()

multiplyScalar(b): this;

Multiply each element of the matrix by a scalar.

Parameters

Parameter	Type	Description
b	number	amount to scale the matrix's elements by

Returns

this

this

multiplyScalarAndAdd()

multiplyScalarAndAdd(b, scale): this;

Adds two mat2's after multiplying each element of the second operand by a scalar value.

Parameters

Parameter	Type	Description
b	ReadonlyMat2	the second operand
scale	number	the amount to scale b's elements by before adding

Returns

this

this

rotate()

rotate(rad): this;

Rotates a mat2 by the given angle

Parameters

Parameter	Type	Description
rad	number	the angle to rotate the matrix by

Returns

this

this

scale()

scale(v): this;

Scales the mat2 by the dimensions in the given vec2

Parameters

Parameter	Type	Description
v	ReadonlyVec2	the vec2 to scale the matrix by

Returns

this

this

setValues()

setValues(
   m00, 
   m01, 
   m10, 
   m11): this;

Set the components of a mat2 to the given values

Parameters

Parameter	Type
m00	number
m01	number
m10	number
m11	number

Returns

this

this

str()

str(): string;

Returns a string representation of a mat2

Returns

string

string representation of the matrix

subtract()

subtract(b): this;

Subtracts matrix b from this

Parameters

Parameter	Type	Description
b	ReadonlyMat2	the second operand

Returns

this

this

transpose()

transpose(): this;

Transpose the values of a mat2

Returns

this

this

clone()

static clone(a): Mat2;

Creates a new mat2 initialized with values from an existing matrix

Parameters

Parameter	Type	Description
a	ReadonlyMat2	matrix to clone

Returns

Mat2

a new 2x2 matrix

fromValues()

static fromValues(
   m00, 
   m01, 
   m10, 
   m11): Mat2;

Create a new mat2 with the given values

Parameters

Parameter	Type
m00	number
m01	number
m10	number
m11	number

Returns

Mat2

A new mat2

Mat2d

2x3 Matrix

A mat2d contains six elements defined as:

This is a short form for the 3x3 matrix:

Extends

• Float32Array

Indexable

[index: number]: number

Constructors

Constructor

new Mat2d(): Mat2d;

Creates a new identity mat2d

Returns

Mat2d

Overrides

Float32Array.constructor

Methods

add()

add(b): this;

Adds two mat2d's

Parameters

Parameter	Type	Description
b	ReadonlyMat2d	the second operand

Returns

this

this

copy()

copy(a): this;

Copy the values from one mat2d to another

Parameters

Parameter	Type	Description
a	ReadonlyMat2d	the source matrix

Returns

this

this

determinant()

determinant(): number;

Calculates the determinant of a mat2d

Returns

number

determinant of this

equals()

equals(b): boolean;

Returns whether or not the matrices have approximately the same elements in the same position.

Parameters

Parameter	Type	Description
b	ReadonlyMat2d	The second matrix.

Returns

boolean

True if the matrices are equal, false otherwise.

exactEquals()

exactEquals(b): boolean;

Returns whether or not the matrices have exactly the same elements in the same position (when compared with ===)

Parameters

Parameter	Type	Description
b	ReadonlyMat2d	The second matrix.

Returns

boolean

True if the matrices are equal, false otherwise.

frob()

frob(): number;

Returns Frobenius norm of a mat2d

Returns

number

Frobenius norm

fromRotation()

fromRotation(rad): this;

Creates a matrix from a given angle

Parameters

Parameter	Type	Description
rad	number	the angle to rotate the matrix by

Returns

this

this

fromScaling()

fromScaling(v): this;

Creates a matrix from a vector scaling

Parameters

Parameter	Type	Description
v	ReadonlyVec2	Scaling vector

Returns

this

this

fromTranslation()

fromTranslation(v): this;

Creates a matrix from a vector translation

Parameters

Parameter	Type	Description
v	ReadonlyVec2	Translation vector

Returns

this

this

identity()

identity(): this;

Set a mat2d to the identity matrix

Returns

this

this

invert()

invert(): Mat2d | null;

Inverts a mat2d

Returns

Mat2d | null

this, or null if source matrix is not invertible

multiply()

multiply(b): this;

Multiplies two mat2d's

Parameters

Parameter	Type	Description
b	ReadonlyMat2d	the second operand

Returns

this

this

multiplyScalar()

multiplyScalar(b): this;

Multiply each element of the matrix by a scalar.

Parameters

Parameter	Type	Description
b	number	amount to scale the matrix's elements by

Returns

this

this

multiplyScalarAndAdd()

multiplyScalarAndAdd(b, scale): this;

Adds two mat2d's after multiplying each element of the second operand by a scalar value.

Parameters

Parameter	Type	Description
b	ReadonlyMat2d	the second operand
scale	number	the amount to scale b's elements by before adding

Returns

this

this

rotate()

rotate(rad): this;

Rotates a mat2d by the given angle

Parameters

Parameter	Type	Description
rad	number	the angle to rotate the matrix by

Returns

this

this

scale()

scale(v): this;

Scales the mat2d by the dimensions in the given vec2

Parameters

Parameter	Type	Description
v	ReadonlyVec2	the vec2 to scale the matrix by

Returns

this

this

setValues()

setValues(
   a, 
   b, 
   c, 
   d, 
   tx, 
   ty): this;

Set the components of a mat2d to the given values

Parameters

Parameter	Type
a	number
b	number
c	number
d	number
tx	number
ty	number

Returns

this

this

str()

str(): string;

Returns a string representation of a mat2d

Returns

string

string representation of the matrix

subtract()

subtract(b): this;

Subtracts matrix b from this

Parameters

Parameter	Type	Description
b	ReadonlyMat2d	the second operand

Returns

this

this

translate()

translate(v): this;

Translates the mat2d by the dimensions in the given vec2

Parameters

Parameter	Type	Description
v	ReadonlyVec2	the vec2 to translate the matrix by

Returns

this

this

clone()

static clone(a): Mat2d;

Creates a new mat2d initialized with values from an existing matrix

Parameters

Parameter	Type	Description
a	ReadonlyMat2d	matrix to clone

Returns

Mat2d

a new 2x3 matrix

fromValues()

static fromValues(
   a, 
   b, 
   c, 
   d, 
   tx, 
   ty): Mat2d;

Create a new mat2d with the given values

Parameters

Parameter	Type
a	number
b	number
c	number
d	number
tx	number
ty	number

Returns

Mat2d

A new mat2d

---

Mat3

3x3 Matrix.

Storage layout — read this once

Mat3 is column-major (the gl-matrix convention). The flat 9-element backing array stores columns, not rows:

  index:   0  1  2   3  4  5   6  7  8
  column:  └ col 0 ┘ └ col 1 ┘ └ col 2 ┘

The logical transform it represents — the one that actually moves a point — maps a 2-D point (x, y) to (x', y') like this:

  x' = m[0]·x + m[3]·y + m[6]
  y' = m[1]·x + m[4]·y + m[7]

So translation (tx, ty) lives at indices 6 and 7, not 2 and 5. That surprises everyone coming from a row-major / textbook background — it is correct and consistent across every gl-matrix type here.

Talking to the engine

The Rust image ops (warpPerspective, stampAt) speak row-major src→dst. You never convert by hand: pass a Mat3 straight into img.warpPerspective(...) and the prelude transposes it for you. The Mat3.estimateSimilarity, Mat3.estimateAffine and Mat3.estimateHomography fitters return ready-to-use Mat3 instances representing the src→dst forward transform.

Extends

• Float32Array

Indexable

[index: number]: number

Constructors

Constructor

new Mat3(): Mat3;

Creates a new identity mat3

Returns

Mat3

Overrides

Float32Array.constructor

Methods

add()

add(b): this;

Adds two mat3's

Parameters

Parameter	Type	Description
b	ReadonlyMat3	the second operand

Returns

this

this

adjoint()

adjoint(): this;

Calculates the adjugate of a mat3

Returns

this

this

copy()

copy(a): this;

Copy the values from one mat3 to another

Parameters

Parameter	Type	Description
a	ReadonlyMat3	the source matrix

Returns

this

this

determinant()

determinant(): number;

Calculates the determinant of a mat3

Returns

number

determinant of this

equals()

equals(b): boolean;

Returns whether or not the matrices have approximately the same elements in the same position.

Parameters

Parameter	Type	Description
b	ReadonlyMat3	The second matrix.

Returns

boolean

True if the matrices are equal, false otherwise.

exactEquals()

exactEquals(b): boolean;

Returns whether or not the matrices have exactly the same elements in the same position (when compared with ===)

Parameters

Parameter	Type	Description
b	ReadonlyMat3	The second matrix.

Returns

boolean

True if the matrices are equal, false otherwise.

frob()

frob(): number;

Returns Frobenius norm of a mat3

Returns

number

Frobenius norm

fromMat2d()

fromMat2d(a): this;

Copies the values from a mat2d into a mat3

Parameters

Parameter	Type	Description
a	ReadonlyMat2d	the matrix to copy

Returns

this

this

fromQuat()

fromQuat(q): this;

Calculates a 3x3 matrix from the given quaternion

Parameters

Parameter	Type	Description
q	ReadonlyQuat	Quaternion to create matrix from

Returns

this

this

fromRotation()

fromRotation(rad): this;

Creates a matrix from a given angle

Parameters

Parameter	Type	Description
rad	number	the angle to rotate the matrix by

Returns

this

this

fromScaling()

fromScaling(v): this;

Creates a matrix from a vector scaling

Parameters

Parameter	Type	Description
v	ReadonlyVec2	Scaling vector

Returns

this

this

fromTranslation()

fromTranslation(v): this;

Creates a matrix from a vector translation

Parameters

Parameter	Type	Description
v	ReadonlyVec2	Translation vector

Returns

this

this

identity()

identity(): this;

Set a mat3 to the identity matrix

Returns

this

this

invert()

invert(): Mat3 | null;

Inverts a mat3

Returns

Mat3 | null

this, or null if source matrix is not invertible

multiply()

multiply(b): this;

Multiplies two mat3's

Parameters

Parameter	Type	Description
b	ReadonlyMat3	the second operand

Returns

this

this

multiplyScalar()

multiplyScalar(b): this;

Multiply each element of the matrix by a scalar.

Parameters

Parameter	Type	Description
b	number	amount to scale the matrix's elements by

Returns

this

this

multiplyScalarAndAdd()

multiplyScalarAndAdd(b, scale): this;

Adds two mat3's after multiplying each element of the second operand by a scalar value.

Parameters

Parameter	Type	Description
b	ReadonlyMat3	the second operand
scale	number	the amount to scale b's elements by before adding

Returns

this

this

normalFromMat4()

normalFromMat4(a): Mat3 | null;

Calculates a 3x3 normal matrix (transpose inverse) from the 4x4 matrix

Parameters

Parameter	Type	Description
a	ReadonlyMat4	Mat4 to derive the normal matrix from

Returns

Mat3 | null

this

projection()

projection(width, height): this;

Generates a 2D projection matrix with the given bounds

Parameters

Parameter	Type	Description
width	number	Width of your gl context
height	number	Height of gl context

Returns

this

this

rotate()

rotate(rad): this;

Rotates a mat3 by the given angle

Parameters

Parameter	Type	Description
rad	number	the angle to rotate the matrix by

Returns

this

this

scale()

scale(v): this;

Scales the mat3 by the dimensions in the given vec2

Parameters

Parameter	Type	Description
v	ReadonlyVec2	the vec2 to scale the matrix by

Returns

this

this

setValues()

setValues(
   m00, 
   m01, 
   m02, 
   m10, 
   m11, 
   m12, 
   m20, 
   m21, 
   m22): this;

Set the components of a mat3 to the given values

Parameters

Parameter	Type
m00	number
m01	number
m02	number
m10	number
m11	number
m12	number
m20	number
m21	number
m22	number

Returns

this

this

str()

str(): string;

Returns a string representation of a mat3

Returns

string

string representation of the matrix

subtract()

subtract(b): this;

Subtracts matrix b from this

Parameters

Parameter	Type	Description
b	ReadonlyMat3	the second operand

Returns

this

this

toRowMajor()

toRowMajor(): number[];

Export this matrix as a row-major flat array [a, b, c, d, e, f, g, h, i] — the layout the Rust engine ops (warpPerspective, stampAt) expect.

You rarely need this directly: img.warpPerspective(w, h, mat3) accepts a Mat3 and calls this for you.

Returns

number[]

translate()

translate(v): this;

Translate a mat3 by the given vector

Parameters

Parameter	Type	Description
v	ReadonlyVec2	vector to translate by

Returns

this

this

transpose()

transpose(): this;

Transpose the values of a mat3

Returns

this

this

clone()

static clone(a): Mat3;

Creates a new mat3 initialized with values from an existing matrix

Parameters

Parameter	Type	Description
a	ReadonlyMat3	matrix to clone

Returns

Mat3

a new 3x3 matrix

estimateAffine()

static estimateAffine(srcPts, dstPts): Mat3;

Fit a full affine transform (scale + rotation + shear + translation — 6 DOF) to corresponding point pairs.

Solved via least-squares; needs ≥ 3 pairs. The returned Mat3 is the src→dst forward transform. Unlike Mat3.estimateSimilarity this allows non-uniform scale and shear, so parallel lines stay parallel but angles may change.

Parameters

Parameter	Type	Description
srcPts	readonly PointPair[]	Source points, each [x, y].
dstPts	readonly PointPair[]	Destination points, each [x, y]. Must match srcPts length.

Returns

Mat3

A new Mat3 (src→dst forward transform).

Throws

If the lists differ in length, have < 3 pairs, or the points are collinear (degenerate).

estimateHomography()

static estimateHomography(srcPts, dstPts): Mat3;

Fit a perspective homography (8 DOF) to corresponding point pairs.

Needs ≥ 4 pairs — exactly 4 gives an exact fit, more gives a least-squares fit. Coordinates are normalised internally so the solve stays stable even for large images (> 1000 px). The returned Mat3 is the src→dst forward transform.

This is the general case: it can represent any straight-line- preserving warp, including keystone / perspective distortion.

Parameters

Parameter	Type	Description
srcPts	readonly PointPair[]	Source points, each [x, y].
dstPts	readonly PointPair[]	Destination points, each [x, y]. Must match srcPts length.

Returns

Mat3

A new Mat3 (src→dst forward transform).

Example

const src = [[0,0],[w,0],[w,h],[0,h]];
const H = Matrix.Mat3.estimateHomography(src, dstQuad);
img.warpPerspective(canvasW, canvasH, H);

Throws

If the lists differ in length, have < 4 pairs, or the points are degenerate (collinear / coincident).

estimateSimilarity()

static estimateSimilarity(srcPts, dstPts): Mat3;

Fit a similarity transform (uniform scale + rotation + translation — 4 DOF, no shear) to corresponding point pairs.

Solved via Procrustes least-squares; needs ≥ 2 pairs (more pairs → best-fit average). The returned Mat3 is the src→dst forward transform — feed it straight to img.warpPerspective(...), or call .invert() for dst→src.

Parameters

Parameter	Type	Description
srcPts	readonly PointPair[]	Source points, each [x, y].
dstPts	readonly PointPair[]	Destination points, each [x, y]. Must match srcPts length.

Returns

Mat3

A new Mat3 (src→dst forward transform).

Example

const fwd = Matrix.Mat3.estimateSimilarity(faceLandmarks, TEMPLATE);
const aligned = orig.clone().warpPerspective(512, 512, fwd);
const backToOrig = Matrix.Mat3.clone(fwd).invert();

Throws

If the lists differ in length, have < 2 pairs, or the source points are coincident (degenerate).

fromValues()

static fromValues(
   m00, 
   m01, 
   m02, 
   m10, 
   m11, 
   m12, 
   m20, 
   m21, 
   m22): Mat3;

Create a new mat3 with the given values

Parameters

Parameter	Type
m00	number
m01	number
m02	number
m10	number
m11	number
m12	number
m20	number
m21	number
m22	number

Returns

Mat3

A new mat3

---

Mat4

4x4 Matrix

Extends

• Float32Array

Indexable

[index: number]: number

Constructors

Constructor

new Mat4(): Mat4;

Creates a new identity mat4

Returns

Mat4

Overrides

Float32Array.constructor

Methods

add()

add(b): this;

Adds two mat4's

Parameters

Parameter	Type	Description
b	ReadonlyMat4	the second operand

Returns

this

this

adjoint()

adjoint(): this;

Calculates the adjugate of a mat4

Returns

this

this

copy()

copy(a): this;

Copy the values from one mat4 to another

Parameters

Parameter	Type	Description
a	ReadonlyMat4	the source matrix

Returns

this

this

decompose()

decompose(
   out_r, 
   out_t, 
   out_s): quat;

Decomposes a transformation matrix into its rotation, translation and scale components.

Parameters

Parameter	Type	Description
out_r	quat	Quaternion to receive the rotation component
out_t	vec3	Vector to receive the translation vector
out_s	vec3	Vector to receive the scaling factor

Returns

quat

out_r

determinant()

determinant(): number;

Calculates the determinant of a mat4

Returns

number

determinant of a

equals()

equals(b): boolean;

Returns whether or not the matrices have approximately the same elements in the same position.

Parameters

Parameter	Type	Description
b	ReadonlyMat4	The second matrix.

Returns

boolean

True if the matrices are equal, false otherwise.

exactEquals()

exactEquals(b): boolean;

Returns whether or not the matrices have exactly the same elements in the same position (when compared with ===)

Parameters

Parameter	Type	Description
b	ReadonlyMat4	The second matrix.

Returns

boolean

True if the matrices are equal, false otherwise.

frob()

frob(): number;

Returns Frobenius norm of a mat4

Returns

number

Frobenius norm

fromQuat()

fromQuat(q): this;

Calculates a 4x4 matrix from the given quaternion

Parameters

Parameter	Type	Description
q	ReadonlyQuat	Quaternion to create matrix from

Returns

this

this

fromQuat2()

fromQuat2(a): this;

Creates a new mat4 from a dual quat.

Parameters

Parameter	Type	Description
a	ReadonlyQuat2	Dual Quaternion

Returns

this

this

fromRotation()

fromRotation(rad, axis): Mat4 | null;

Creates a matrix from a given angle around a given axis

Parameters

Parameter	Type	Description
rad	number	the angle to rotate the matrix by
axis	ReadonlyVec3	the axis to rotate around

Returns

Mat4 | null

this

fromRotationTranslation()

fromRotationTranslation(q, v): this;

Creates a matrix from a quaternion rotation and vector translation

Parameters

Parameter	Type	Description
q	ReadonlyQuat	Rotation quaternion
v	ReadonlyVec3	Translation vector

Returns

this

this

fromRotationTranslationScale()

fromRotationTranslationScale(
   q, 
   v, 
   s): this;

Creates a matrix from a quaternion rotation, vector translation and vector scale

Parameters

Parameter	Type	Description
q	ReadonlyQuat	Rotation quaternion
v	ReadonlyVec3	Translation vector
s	ReadonlyVec3	Scaling vector

Returns

this

this

fromRotationTranslationScaleOrigin()

fromRotationTranslationScaleOrigin(
   q, 
   v, 
   s, 
   o): this;

Creates a matrix from a quaternion rotation, vector translation and vector scale, rotating and scaling around the given origin

Parameters

Parameter	Type	Description
q	ReadonlyQuat	Rotation quaternion
v	ReadonlyVec3	Translation vector
s	ReadonlyVec3	Scaling vector
o	ReadonlyVec3	The origin vector around which to scale and rotate

Returns

this

this

fromScaling()

fromScaling(v): this;

Creates a matrix from a vector scaling

Parameters

Parameter	Type	Description
v	ReadonlyVec3	Scaling vector

Returns

this

this

fromTranslation()

fromTranslation(v): this;

Creates a matrix from a vector translation

Parameters

Parameter	Type	Description
v	ReadonlyVec3	Translation vector

Returns

this

this

fromXRotation()

fromXRotation(rad): this;

Creates a matrix from the given angle around the X axis

Parameters

Parameter	Type	Description
rad	number	the angle to rotate the matrix by

Returns

this

this

fromYRotation()

fromYRotation(rad): this;

Creates a matrix from the given angle around the Y axis

Parameters

Parameter	Type	Description
rad	number	the angle to rotate the matrix by

Returns

this

this

fromZRotation()

fromZRotation(rad): this;

Creates a matrix from the given angle around the Z axis

Parameters

Parameter	Type	Description
rad	number	the angle to rotate the matrix by

Returns

this

this

frustum()

frustum(
   left, 
   right, 
   bottom, 
   top, 
   near, 
   far): this;

Generates a frustum matrix with the given bounds

Parameters

Parameter	Type
left	number
right	number
bottom	number
top	number
near	number
far	number

Returns

this

this

getRotation()

getRotation(out): quat;

Returns a quaternion representing the rotational component of a transformation matrix.

Parameters

Parameter	Type	Description
out	quat	Quaternion to receive the rotation component

Returns

quat

out

getScaling()

getScaling(out): vec3;

Returns the scaling factor component of a transformation matrix.

Parameters

Parameter	Type	Description
out	vec3	Vector to receive scaling factor component

Returns

vec3

out

getTranslation()

getTranslation(out): vec3;

Returns the translation vector component of a transformation matrix.

Parameters

Parameter	Type	Description
out	vec3	Vector to receive translation component

Returns

vec3

out

identity()

identity(): this;

Set a mat4 to the identity matrix

Returns

this

this

invert()

invert(): Mat4 | null;

Inverts a mat4

Returns

Mat4 | null

this, or null if source matrix is not invertible

lookAt()

lookAt(
   eye, 
   center, 
   up): this;

Generates a look-at matrix with the given eye position, focal point, and up axis.

Parameters

Parameter	Type
eye	ReadonlyVec3
center	ReadonlyVec3
up	ReadonlyVec3

Returns

this

this

multiply()

multiply(b): this;

Multiplies two mat4s

Parameters

Parameter	Type	Description
b	ReadonlyMat4	the second operand

Returns

this

this

multiplyScalar()

multiplyScalar(b): this;

Multiply each element of the matrix by a scalar.

Parameters

Parameter	Type	Description
b	number	amount to scale the matrix's elements by

Returns

this

this

multiplyScalarAndAdd()

multiplyScalarAndAdd(b, scale): this;

Adds two mat4's after multiplying each element of the second operand by a scalar value.

Parameters

Parameter	Type	Description
b	ReadonlyMat4	the second operand
scale	number	the amount to scale b's elements by before adding

Returns

this

this

orthoNO()

orthoNO(
   left, 
   right, 
   bottom, 
   top, 
   near, 
   far): this;

Generates a orthogonal projection matrix with the given bounds.

Parameters

Parameter	Type
left	number
right	number
bottom	number
top	number
near	number
far	number

Returns

this

this

orthoZO()

orthoZO(
   left, 
   right, 
   bottom, 
   top, 
   near, 
   far): this;

Generates a orthogonal projection matrix with the given bounds.

Parameters

Parameter	Type
left	number
right	number
bottom	number
top	number
near	number
far	number

Returns

this

this

perspectiveFromFieldOfView()

perspectiveFromFieldOfView(
   fov, 
   near, 
   far): this;

Generates a perspective projection matrix with the given field of view.

Parameters

Parameter	Type
fov	{ downDegrees: number; leftDegrees: number; rightDegrees: number; upDegrees: number; }
fov.downDegrees	number
fov.leftDegrees	number
fov.rightDegrees	number
fov.upDegrees	number
near	number
far	number

Returns

this

this

perspectiveNO()

perspectiveNO(
   fovy, 
   aspect, 
   near, 
   far?): this;

Generates a perspective projection matrix with the given bounds.

Parameters

Parameter	Type	Default value
fovy	number	undefined
aspect	number	undefined
near	number	undefined
far	number | null	null

Returns

this

this

perspectiveZO()

perspectiveZO(
   fovy, 
   aspect, 
   near, 
   far?): this;

Generates a perspective projection matrix suitable for WebGPU with the given bounds.

Parameters

Parameter	Type	Default value
fovy	number	undefined
aspect	number	undefined
near	number	undefined
far	number | null	null

Returns

this

this

rotate()

rotate(rad, axis): Mat4 | null;

Rotates a mat4 by the given angle around the given axis

Parameters

Parameter	Type	Description
rad	number	the angle to rotate the matrix by
axis	ReadonlyVec3	the axis to rotate around

Returns

Mat4 | null

this

rotateX()

rotateX(rad): this;

Rotates a matrix by the given angle around the X axis

Parameters

Parameter	Type	Description
rad	number	the angle to rotate the matrix by

Returns

this

this

rotateY()

rotateY(rad): this;

Rotates a matrix by the given angle around the Y axis

Parameters

Parameter	Type	Description
rad	number	the angle to rotate the matrix by

Returns

this

this

rotateZ()

rotateZ(rad): this;

Rotates a matrix by the given angle around the Z axis

Parameters

Parameter	Type	Description
rad	number	the angle to rotate the matrix by

Returns

this

this

scale()

scale(v): this;

Scales the mat4 by the dimensions in the given vec3

Parameters

Parameter	Type	Description
v	ReadonlyVec3	the vec3 to scale the matrix by

Returns

this

this

str()

str(): string;

Returns a string representation of a mat4

Returns

string

string representation of the matrix

subtract()

subtract(b): this;

Subtracts matrix b from this

Parameters

Parameter	Type	Description
b	ReadonlyMat4	the second operand

Returns

this

this

targetTo()

targetTo(
   eye, 
   target, 
   up): this;

Generates a matrix that makes something look at something else.

Parameters

Parameter	Type
eye	ReadonlyVec3
target	ReadonlyVec3
up	ReadonlyVec3

Returns

this

this

translate()

translate(v): this;

Translate a mat4 by the given vector

Parameters

Parameter	Type	Description
v	ReadonlyVec3	vector to translate by

Returns

this

this

transpose()

transpose(): this;

Transpose the values of a mat4

Returns

this

this

clone()

static clone(a): Mat4;

Creates a new mat4 initialized with values from an existing matrix

Parameters

Parameter	Type	Description
a	ReadonlyMat4	matrix to clone

Returns

Mat4

a new 4x4 matrix

fromValues()

static fromValues(
   m00, 
   m01, 
   m02, 
   m03, 
   m10, 
   m11, 
   m12, 
   m13, 
   m20, 
   m21, 
   m22, 
   m23, 
   m30, 
   m31, 
   m32, 
   m33): Mat4;

Create a new mat4 with the given values

Parameters

Parameter	Type
m00	number
m01	number
m02	number
m03	number
m10	number
m11	number
m12	number
m13	number
m20	number
m21	number
m22	number
m23	number
m30	number
m31	number
m32	number
m33	number

Returns

Mat4

A new mat4

---

Quat

Quaternion

Extends

• Vec4

Indexable

[index: number]: number

Accessors

w

Get Signature

get w(): number;

W component

Returns

number

Set Signature

set w(v): void;

Parameters

Parameter	Type
v	number

Returns

void

Inherited from

Vec4.w

x

Get Signature

get x(): number;

X component

Returns

number

Set Signature

set x(v): void;

Parameters

Parameter	Type
v	number

Returns

void

Inherited from

Vec4.x

y

Get Signature

get y(): number;

Y component

Returns

number

Set Signature

set y(v): void;

Parameters

Parameter	Type
v	number

Returns

void

Inherited from

Vec4.y

z

Get Signature

get z(): number;

Z component

Returns

number

Set Signature

set z(v): void;

Parameters

Parameter	Type
v	number

Returns

void

Inherited from

Vec4.z

Constructors

Constructor

new Quat(): Quat;

Creates a new identity quat

Returns

Quat

Overrides

Vec4.constructor

Methods

add()

add(b): this;

Adds another vec4 to this

Parameters

Parameter	Type	Description
b	ReadonlyVec4	the second operand

Returns

this

this

Inherited from

Vec4.add

calculateW()

calculateW(): this;

Calculates the W component from the X, Y, and Z components.

Returns

this

this

ceil()

ceil(): this;

Math.ceil the components of this vec4

Returns

this

this

Inherited from

Vec4.ceil

conjugate()

conjugate(): this;

Calculates the conjugate of a quat

Returns

this

this

copy()

copy(a): this;

Copy the values from one vec4 to another

Parameters

Parameter	Type	Description
a	ReadonlyVec4	the source vector

Returns

this

this

Inherited from

Vec4.copy

cross()

cross(
   u, 
   v, 
   w): this;

Returns the cross-product of three vectors in a 4-dimensional space

Parameters

Parameter	Type	Description
u	ReadonlyVec4	the first vector
v	ReadonlyVec4	the second vector
w	ReadonlyVec4	the third vector

Returns

this

this

Inherited from

Vec4.cross

distance()

distance(b): number;

Calculates the euclidian distance between this vec4 and another

Parameters

Parameter	Type	Description
b	ReadonlyVec4	the second operand

Returns

number

distance between this and b

Inherited from

Vec4.distance

divide()

divide(b): this;

Divides this by another vec4

Parameters

Parameter	Type	Description
b	ReadonlyVec4	the second operand

Returns

this

this

Inherited from

Vec4.divide

dot()

dot(b): number;

Calculates the dot product of this vec4 and another

Parameters

Parameter	Type	Description
b	ReadonlyVec4	the second operand

Returns

number

dot product of this and b

Inherited from

Vec4.dot

equals()

equals(b): boolean;

Returns whether or not the quaternions point approximately to the same direction. Both quaternions are assumed to be unit length.

Parameters

Parameter	Type	Description
b	ReadonlyQuat	The second unit quaternion.

Returns

boolean

True if the quaternions are equal, false otherwise.

Overrides

Vec4.equals

exactEquals()

exactEquals(b): boolean;

Returns whether or not this vector and another exactly have the same elements in the same position (when compared with ===)

Parameters

Parameter	Type	Description
b	ReadonlyVec4	The second vector.

Returns

boolean

True if the vectors are equal, false otherwise.

Inherited from

Vec4.exactEquals

exp()

exp(): this;

Calculate the exponential of a unit quaternion.

Returns

this

this

floor()

floor(): this;

Math.floor the components of this vec4

Returns

this

this

Inherited from

Vec4.floor

fromEuler()

fromEuler(
   x, 
   y, 
   z, 
   order?): this;

Creates a quaternion from the given euler angle x, y, z

Parameters

Parameter	Type	Default value	Description
x	number	undefined	Angle to rotate around X axis in degrees.
y	number	undefined	Angle to rotate around Y axis in degrees.
z	number	undefined	Angle to rotate around Z axis in degrees.
order	"xyz" | "xzy" | "yxz" | "yzx" | "zxy" | "zyx"	glMatrix.ANGLE_ORDER	Intrinsic order for conversion, default is zyx.

Returns

this

this

fromMat3()

fromMat3(m): this;

Creates a quaternion from the given 3x3 rotation matrix.

Parameters

Parameter	Type	Description
m	ReadonlyMat3	rotation matrix

Returns

this

this

getAngle()

getAngle(b): number;

Gets the angular distance between two unit quaternions

Parameters

Parameter	Type	Description
b	ReadonlyQuat	Destination unit quaternion

Returns

number

Angle, in radians, between the two quaternions

getAxisAngle()

getAxisAngle(out_axis): number;

Gets the rotation axis and angle for a given quaternion

Parameters

Parameter	Type	Description
out_axis	vec3	Vector receiving the axis of rotation

Returns

number

Angle, in radians, of the rotation

identity()

identity(): this;

Set a quat to the identity quaternion

Returns

this

this

inverse()

inverse(): this;

Returns the inverse of the components of this vec4

Returns

this

this

Inherited from

Vec4.inverse

invert()

invert(): this;

Calculates the inverse of a quat

Returns

this

this

lerp()

lerp(b, t): this;

Performs a linear interpolation between this vec4 and another

Parameters

Parameter	Type	Description
b	ReadonlyVec4	the second operand
t	number	interpolation amount, in the range [0-1], between the two inputs

Returns

this

this

Inherited from

Vec4.lerp

ln()

ln(): this;

Calculate the natural logarithm of a unit quaternion.

Returns

this

this

magnitude()

magnitude(): number;

Calculates the magnitude of this vec4

Returns

number

magnitude of this

Inherited from

Vec4.magnitude

max()

max(b): this;

Returns the maximum of this vec4 and another

Parameters

Parameter	Type	Description
b	ReadonlyVec4	the second operand

Returns

this

this

Inherited from

Vec4.max

min()

min(b): this;

Returns the minimum of this vec4 and another

Parameters

Parameter	Type	Description
b	ReadonlyVec4	the second operand

Returns

this

this

Inherited from

Vec4.min

multiply()

multiply(b): this;

Multiplies two quat's

Parameters

Parameter	Type	Description
b	ReadonlyQuat	the second operand

Returns

this

this

Overrides

Vec4.multiply

negate()

negate(): this;

Negates the components of this vec4

Returns

this

this

Inherited from

Vec4.negate

normalize()

normalize(): this;

Normalize this vec4

Returns

this

this

Inherited from

Vec4.normalize

pow()

pow(b): this;

Calculate the scalar power of a unit quaternion.

Parameters

Parameter	Type	Description
b	number	amount to scale the quaternion by

Returns

this

this

random()

random(): this;

Generates a random unit quaternion

Returns

this

this

Overrides

Vec4.random

rotateX()

rotateX(rad): this;

Rotates a quaternion by the given angle about the X axis

Parameters

Parameter	Type	Description
rad	number	angle (in radians) to rotate

Returns

this

this

rotateY()

rotateY(rad): this;

Rotates a quaternion by the given angle about the Y axis

Parameters

Parameter	Type	Description
rad	number	angle (in radians) to rotate

Returns

this

this

rotateZ()

rotateZ(rad): this;

Rotates a quaternion by the given angle about the Z axis

Parameters

Parameter	Type	Description
rad	number	angle (in radians) to rotate

Returns

this

this

rotationTo()

rotationTo(a, b): this;

Sets a quaternion to represent the shortest rotation from one vector to another. Both vectors are assumed to be unit length.

Parameters

Parameter	Type	Description
a	ReadonlyVec3	the initial vector
b	ReadonlyVec3	the destination vector

Returns

this

this

round()

round(): this;

symmetric round the components of this vec4

Returns

this

this

Inherited from

Vec4.round

scale()

scale(b): this;

Scales this vec4 by a scalar number

Parameters

Parameter	Type	Description
b	number	amount to scale the vector by

Returns

this

this

Inherited from

Vec4.scale

scaleAndAdd()

scaleAndAdd(b, scale): this;

Adds another vec4 to this after scaling the second operand by a scalar value

Parameters

Parameter	Type	Description
b	ReadonlyVec4	the second operand
scale	number	the amount to scale b by before adding

Returns

this

this

Inherited from

Vec4.scaleAndAdd

setAxes()

setAxes(
   view, 
   right, 
   up): this;

Sets the specified quaternion with values corresponding to the given axes.

Parameters

Parameter	Type	Description
view	ReadonlyVec3	the vector representing the viewing direction
right	ReadonlyVec3	the vector representing the local "right" direction
up	ReadonlyVec3	the vector representing the local "up" direction

Returns

this

this

setAxisAngle()

setAxisAngle(axis, rad): this;

Sets a quat from the given angle and rotation axis

Parameters

Parameter	Type	Description
axis	ReadonlyVec3	the axis around which to rotate
rad	number	the angle in radians

Returns

this

this

setVec4()

setVec4(
   x, 
   y, 
   z, 
   w): this;

Set the components of a vec4 to the given values

Parameters

Parameter	Type	Description
x	number	X component
y	number	Y component
z	number	Z component
w	number	W component

Returns

this

this

Inherited from

Vec4.setVec4

slerp()

slerp(b, t): this;

Performs a spherical linear interpolation between this and another quat

Parameters

Parameter	Type	Description
b	ReadonlyQuat	the second operand
t	number	interpolation amount, in the range [0-1], between the two inputs

Returns

this

this

sqlerp()

sqlerp(
   a, 
   b, 
   c, 
   d, 
   t): this;

Performs a spherical linear interpolation with two control points

Parameters

Parameter	Type	Description
a	ReadonlyQuat	the first operand
b	ReadonlyQuat	the second operand
c	ReadonlyQuat	the third operand
d	ReadonlyQuat	the fourth operand
t	number	interpolation amount, in the range [0-1], between the two inputs

Returns

this

this

squaredDistance()

squaredDistance(b): number;

Calculates the squared euclidian distance between this vec4 and another

Parameters

Parameter	Type	Description
b	ReadonlyVec4	the second operand

Returns

number

squared distance between this and b

Inherited from

Vec4.squaredDistance

squaredMagnitude()

squaredMagnitude(): number;

Calculates the squared magnitude of this vec4

Returns

number

squared magnitude of this

Inherited from

Vec4.squaredMagnitude

str()

str(): string;

Returns a string representation of a quaternion

Returns

string

string representation of the vector

Overrides

Vec4.str

subtract()

subtract(b): this;

Subtracts another vec4 from this

Parameters

Parameter	Type	Description
b	ReadonlyVec4	the second operand

Returns

this

this

Inherited from

Vec4.subtract

transformMat4()

transformMat4(m): this;

Transforms this vec4 with a mat4.

Parameters

Parameter	Type	Description
m	ReadonlyMat4	matrix to transform with

Returns

this

this

Inherited from

Vec4.transformMat4

transformQuat()

transformQuat(q): this;

Transforms this vec4 with a quat

Parameters

Parameter	Type	Description
q	ReadonlyQuat	normalized quaternion to transform with

Returns

this

this

Inherited from

Vec4.transformQuat

zero()

zero(): this;

Set the components of this vec4 to zero

Returns

this

this

Inherited from

Vec4.zero

clone()

static clone(a): Vec4;

Creates a new vec4 initialized with values from an existing vector

Parameters

Parameter	Type	Description
a	ReadonlyVec4	vector to clone

Returns

Vec4

a new 4D vector

Inherited from

Vec4.clone

forEach()

static forEach(
   a, 
   stride, 
   offset, 
   count, 
   fn, 
arg?): number[] | Float32Array<ArrayBufferLike>;

Perform some operation over an array of vec4s.

Parameters

Parameter	Type	Description
a	number[] | Float32Array<ArrayBufferLike>	the array of vectors to iterate over
stride	number	Number of elements between the start of each vec4. If 0, stride retrieves the next vec4
offset	number	Number of elements to skip before the first vec4
count	number	Number of vec4s to iterate over. If 0, iterates over entire array
fn	(out, a, arg) => void	Function to call for each vector in the array
arg?	any	Additional argument to pass to fn

Returns

number[] | Float32Array<ArrayBufferLike>

a

Inherited from

Vec4.forEach

fromValues()

static fromValues(
   x, 
   y, 
   z, 
   w): Vec4;

Creates a new vec4 initialized with the given values

Parameters

Parameter	Type	Description
x	number	X component
y	number	Y component
z	number	Z component
w	number	W component

Returns

Vec4

a new 4D vector

Inherited from

Vec4.fromValues

---

Quat2

Dual Quaternion

Extends

• Float32Array

Indexable

[index: number]: number

Constructors

Constructor

new Quat2(): Quat2;

Creates a new identity dual quat

Returns

Quat2

Overrides

Float32Array.constructor

Methods

add()

add(b): this;

Adds two dual quat's

Parameters

Parameter	Type	Description
b	ReadonlyQuat2	the second operand

Returns

this

this

conjugate()

conjugate(): this;

Calculates the conjugate of a dual quat

Returns

this

this

copy()

copy(a): this;

Copy the values from one dual quat to another

Parameters

Parameter	Type	Description
a	ReadonlyQuat2	the source dual quaternion

Returns

this

this

dot()

dot(b): number;

Calculates the dot product of two dual quat's (The dot product of the real parts)

Parameters

Parameter	Type	Description
b	ReadonlyQuat2	the second operand

Returns

number

dot product of this and b

equals()

equals(b): boolean;

Returns whether or not the dual quaternions have approximately the same elements in the same position.

Parameters

Parameter	Type	Description
b	ReadonlyQuat2	the second dual quat.

Returns

boolean

true if the dual quats are equal, false otherwise.

exactEquals()

exactEquals(b): boolean;

Returns whether or not the dual quaternions have exactly the same elements in the same position (when compared with ===)

Parameters

Parameter	Type	Description
b	ReadonlyQuat2	the second dual quaternion.

Returns

boolean

true if the dual quaternions are equal, false otherwise.

fromMat4()

fromMat4(a): this;

Creates a new dual quat from a matrix (4x4)

Parameters

Parameter	Type	Description
a	ReadonlyMat4	the matrix

Returns

this

this

fromRotation()

fromRotation(q): this;

Creates a dual quat from a quaternion

Parameters

Parameter	Type	Description
q	ReadonlyQuat	the quaternion

Returns

this

this

fromRotationTranslation()

fromRotationTranslation(q, t): this;

Creates a dual quat from a quaternion and a translation

Parameters

Parameter	Type	Description
q	ReadonlyQuat	a normalized quaternion
t	ReadonlyVec3	translation vector

Returns

this

this

fromTranslation()

fromTranslation(t): this;

Creates a dual quat from a translation

Parameters

Parameter	Type	Description
t	ReadonlyVec3	translation vector

Returns

this

this

getTranslation()

getTranslation(out): vec3;

Gets the translation of a normalized dual quat

Parameters

Parameter	Type	Description
out	vec3	translation

Returns

vec3

translation

identity()

identity(): this;

Set a dual quat to the identity dual quaternion

Returns

this

this

invert()

invert(): this;

Calculates the inverse of a dual quat.

Returns

this

this

lerp()

lerp(b, t): this;

Performs a linear interpolation between two dual quats's

Parameters

Parameter	Type	Description
b	ReadonlyQuat2	the second operand
t	number	interpolation amount, in the range [0-1], between the two inputs

Returns

this

this

multiply()

multiply(b): this;

Multiplies two dual quat's

Parameters

Parameter	Type	Description
b	ReadonlyQuat2	the second operand

Returns

this

this

normalize()

normalize(): this;

Normalize a dual quat

Returns

this

this

rotateAroundAxis()

rotateAroundAxis(axis, rad): this;

Rotates a dual quat around a given axis.

Parameters

Parameter	Type	Description
axis	ReadonlyVec3	the axis to rotate around
rad	number	how far the rotation should be

Returns

this

this

rotateByQuatAppend()

rotateByQuatAppend(q): this;

Rotates a dual quat by a given quaternion (a * q)

Parameters

Parameter	Type	Description
q	ReadonlyQuat	quaternion to rotate by

Returns

this

this

rotateByQuatPrepend()

rotateByQuatPrepend(q): this;

Rotates a dual quat by a given quaternion (q * a)

Parameters

Parameter	Type	Description
q	ReadonlyQuat	quaternion to rotate by

Returns

this

this

rotateX()

rotateX(rad): this;

Rotates a dual quat around the X axis

Parameters

Parameter	Type	Description
rad	number	how far should the rotation be

Returns

this

this

rotateY()

rotateY(rad): this;

Rotates a dual quat around the Y axis

Parameters

Parameter	Type	Description
rad	number	how far should the rotation be

Returns

this

this

rotateZ()

rotateZ(rad): this;

Rotates a dual quat around the Z axis

Parameters

Parameter	Type	Description
rad	number	how far should the rotation be

Returns

this

this

scale()

scale(b): this;

Scales a dual quat by a scalar number

Parameters

Parameter	Type	Description
b	number	amount to scale the dual quat by

Returns

this

this

setValues()

setValues(
   x1, 
   y1, 
   z1, 
   w1, 
   x2, 
   y2, 
   z2, 
   w2): this;

Set the components of a dual quat to the given values

Parameters

Parameter	Type
x1	number
y1	number
z1	number
w1	number
x2	number
y2	number
z2	number
w2	number

Returns

this

this

str()

str(): string;

Returns a string representation of a dual quaternion

Returns

string

string representation of the dual quat

translate()

translate(v): this;

Translates a dual quat by the given vector

Parameters

Parameter	Type	Description
v	ReadonlyVec3	vector to translate by

Returns

this

this

clone()

static clone(a): Quat2;

Creates a new dual quat initialized with values from an existing quaternion

Parameters

Parameter	Type	Description
a	ReadonlyQuat2	dual quaternion to clone

Returns

Quat2

new dual quaternion

fromRotationTranslationValues()

static fromRotationTranslationValues(
   x1, 
   y1, 
   z1, 
   w1, 
   x2, 
   y2, 
   z2): Quat2;

Creates a new dual quat from the given values (quat and translation)

Parameters

Parameter	Type
x1	number
y1	number
z1	number
w1	number
x2	number
y2	number
z2	number

Returns

Quat2

new dual quaternion

fromValues()

static fromValues(
   x1, 
   y1, 
   z1, 
   w1, 
   x2, 
   y2, 
   z2, 
   w2): Quat2;

Creates a new dual quat initialized with the given values

Parameters

Parameter	Type
x1	number
y1	number
z1	number
w1	number
x2	number
y2	number
z2	number
w2	number

Returns

Quat2

new dual quaternion

---

Vec2

2 Dimensional Vector

Extends

• Float32Array

Indexable

[index: number]: number

Accessors

x

Get Signature

get x(): number;

X component

Returns

number

Set Signature

set x(v): void;

Parameters

Parameter	Type
v	number

Returns

void

y

Get Signature

get y(): number;

Y component

Returns

number

Set Signature

set y(v): void;

Parameters

Parameter	Type
v	number

Returns

void

Constructors

Constructor

new Vec2(x?, y?): Vec2;

Creates a new vec2

Parameters

Parameter	Type	Default value	Description
x	number	0	X component
y	number	0	Y component

Returns

Vec2

Overrides

Float32Array.constructor

Methods

add()

add(b): this;

Adds another vec2 to this

Parameters

Parameter	Type	Description
b	ReadonlyVec2	the second operand

Returns

this

this

angle()

angle(b): number;

Get the smallest angle between this vec2 and another

Parameters

Parameter	Type	Description
b	ReadonlyVec2	The second operand

Returns

number

The angle in radians

ceil()

ceil(): this;

Math.ceil the components of this vec2

Returns

this

this

copy()

copy(a): this;

Copy the values from one vec2 to another

Parameters

Parameter	Type	Description
a	ReadonlyVec2	the source vector

Returns

this

this

cross()

cross(b, out): vec3;

Computes the cross product of this vec2 and another Note that the cross product must by definition produce a 3D vector

Parameters

Parameter	Type	Description
b	ReadonlyVec2	the second operand
out	vec3	the receiving vector

Returns

vec3

out

distance()

distance(b): number;

Calculates the euclidian distance between this vec2 and another

Parameters

Parameter	Type	Description
b	ReadonlyVec2	the second operand

Returns

number

distance between this and b

divide()

divide(b): this;

Divides this by another vec2

Parameters

Parameter	Type	Description
b	ReadonlyVec2	the second operand

Returns

this

this

dot()

dot(b): number;

Calculates the dot product of this vec2 and another

Parameters

Parameter	Type	Description
b	ReadonlyVec2	the second operand

Returns

number

dot product of this and b

equals()

equals(b): boolean;

Returns whether or not this vector and another have approximately the same elements in the same position.

Parameters

Parameter	Type	Description
b	ReadonlyVec2	The second vector.

Returns

boolean

True if the vectors are equal, false otherwise.

exactEquals()

exactEquals(b): boolean;

Returns whether or not this vector and another exactly have the same elements in the same position (when compared with ===)

Parameters

Parameter	Type	Description
b	ReadonlyVec2	The second vector.

Returns

boolean

True if the vectors are equal, false otherwise.

floor()

floor(): this;

Math.floor the components of this vec2

Returns

this

this

inverse()

inverse(): this;

Returns the inverse of the components of this vec2

Returns

this

this

lerp()

lerp(b, t): this;

Performs a spherical linear interpolation between this vec2 and another

Parameters

Parameter	Type	Description
b	ReadonlyVec2	the second operand
t	number	interpolation amount, in the range [0-1], between the two inputs

Returns

this

this

magnitude()

magnitude(): number;

Calculates the magnitude of this vec2

Returns

number

magnitude of this

max()

max(b): this;

Returns the maximum of this vec2 and another

Parameters

Parameter	Type	Description
b	ReadonlyVec2	the second operand

Returns

this

this

min()

min(b): this;

Returns the minimum of this vec2 and another

Parameters

Parameter	Type	Description
b	ReadonlyVec2	the second operand

Returns

this

this

multiply()

multiply(b): this;

Multiplies another vec2 with this

Parameters

Parameter	Type	Description
b	ReadonlyVec2	the second operand

Returns

this

this

negate()

negate(): this;

Negates the components of this vec2

Returns

this

this

normalize()

normalize(): this;

Normalize this vec2

Returns

this

this

random()

random(scale?): this;

Generates a random vector with the given scale

Parameters

Parameter	Type	Default value	Description
scale?	number	1.0	Length of the resulting vector. If omitted, a unit vector will be returned

Returns

this

this

rotate()

rotate(origin, rad): this;

Rotate this 2D vector

Parameters

Parameter	Type	Description
origin	ReadonlyVec2	The origin of the rotation
rad	number	The angle of rotation in radians

Returns

this

this

round()

round(): this;

symmetric round the components of this vec2

Returns

this

this

scale()

scale(b): this;

Scales this vec2 by a scalar number

Parameters

Parameter	Type	Description
b	number	amount to scale the vector by

Returns

this

this

scaleAndAdd()

scaleAndAdd(b, scale): this;

Adds another vec2 to this after scaling the second operand by a scalar value

Parameters

Parameter	Type	Description
b	ReadonlyVec2	the second operand
scale	number	the amount to scale b by before adding

Returns

this

this

setValues()

setValues(x, y): this;

Set the components of a vec2 to the given values

Parameters

Parameter	Type	Description
x	number	X component
y	number	Y component

Returns

this

this

signedAngle()

signedAngle(b): number;

Get the signed angle in the interval [-pi,pi] between this vec2 and another (positive if this is to the right of b)

Parameters

Parameter	Type	Description
b	ReadonlyVec2	The second vector

Returns

number

The signed angle in radians

squaredDistance()

squaredDistance(b): number;

Calculates the squared euclidian distance between this vec2 and another

Parameters

Parameter	Type	Description
b	ReadonlyVec2	the second operand

Returns

number

squared distance between this and b

squaredMagnitude()

squaredMagnitude(): number;

Calculates the squared magnitude of this vec2

Returns

number

squared magnitude of this

str()

str(): string;

Returns a string representation of this vector

Returns

string

string representation of the vector

subtract()

subtract(b): this;

Subtracts another vec2 from this

Parameters

Parameter	Type	Description
b	ReadonlyVec2	the second operand

Returns

this

this

transformMat2()

transformMat2(m): this;

Transforms this vec2 with a mat2

Parameters

Parameter	Type	Description
m	ReadonlyMat2	matrix to transform with

Returns

this

this

transformMat2d()

transformMat2d(m): this;

Transforms this vec2 with a mat2d

Parameters

Parameter	Type	Description
m	ReadonlyMat2d	matrix to transform with

Returns

this

this

transformMat3()

transformMat3(m): this;

Transforms this vec2 with a mat3 3rd vector component is implicitly '1'

Parameters

Parameter	Type	Description
m	ReadonlyMat3	matrix to transform with

Returns

this

this

transformMat4()

transformMat4(m): this;

Transforms this vec2 with a mat4 3rd vector component is implicitly '0' 4th vector component is implicitly '1'

Parameters

Parameter	Type	Description
m	ReadonlyMat4	matrix to transform with

Returns

this

this

zero()

zero(): this;

Set the components of this vec2 to zero

Returns

this

this

clone()

static clone(a): Vec2;

Creates a new vec2 initialized with values from an existing vector

Parameters

Parameter	Type	Description
a	ReadonlyVec2	vector to clone

Returns

Vec2

a new 2D vector

forEach()

static forEach(
   a, 
   stride, 
   offset, 
   count, 
   fn, 
arg?): number[] | Float32Array<ArrayBufferLike>;

Perform some operation over an array of vec2s.

Parameters

Parameter	Type	Description
a	number[] | Float32Array<ArrayBufferLike>	the array of vectors to iterate over
stride	number	Number of elements between the start of each vec2. If 0, stride retrieves the next vec2
offset	number	Number of elements to skip before the first vec2
count	number	Number of vec2s to iterate over. If 0, iterates over entire array
fn	(out, a, arg) => void	Function to call for each vector in the array
arg?	any	Additional argument to pass to fn

Returns

number[] | Float32Array<ArrayBufferLike>

a

fromValues()

static fromValues(x, y): Vec2;

Creates a new vec2 initialized with the given values

Parameters

Parameter	Type	Description
x	number	X component
y	number	Y component

Returns

Vec2

a new 2D vector

---

Vec3

3 Dimensional Vector

Extends

• Float32Array

Indexable

[index: number]: number

Accessors

x

Get Signature

get x(): number;

X component

Returns

number

Set Signature

set x(v): void;

Parameters

Parameter	Type
v	number

Returns

void

y

Get Signature

get y(): number;

Y component

Returns

number

Set Signature

set y(v): void;

Parameters

Parameter	Type
v	number

Returns

void

z

Get Signature

get z(): number;

Z component

Returns

number

Set Signature

set z(v): void;

Parameters

Parameter	Type
v	number

Returns

void

Constructors

Constructor

new Vec3(
   x?, 
   y?, 
   z?): Vec3;

Creates a new vec3

Parameters

Parameter	Type	Default value	Description
x	number	0	X component
y	number	0	Y component
z	number	0	Z component

Returns

Vec3

Overrides

Float32Array.constructor

Methods

add()

add(b): this;

Adds another vec3 to this

Parameters

Parameter	Type	Description
b	ReadonlyVec3	the second operand

Returns

this

this

angle()

angle(b): number;

Get the angle between this vec3 and another

Parameters

Parameter	Type	Description
b	ReadonlyVec3	The second operand

Returns

number

The angle in radians

bezier()

bezier(
   b, 
   c, 
   d, 
   t): this;

Performs a bezier interpolation with two control points

Parameters

Parameter	Type	Description
b	ReadonlyVec3	the second operand
c	ReadonlyVec3	the third operand
d	ReadonlyVec3	the fourth operand
t	number	interpolation amount, in the range [0-1], between the two inputs

Returns

this

this

ceil()

ceil(): this;

Math.ceil the components of this vec3

Returns

this

this

copy()

copy(a): this;

Copy the values from one vec3 to another

Parameters

Parameter	Type	Description
a	ReadonlyVec3	the source vector

Returns

this

this

cross()

cross(b): this;

Computes the cross product of this vec3 and another

Parameters

Parameter	Type	Description
b	ReadonlyVec3	the second operand

Returns

this

this

distance()

distance(b): number;

Calculates the euclidian distance between this vec3 and another

Parameters

Parameter	Type	Description
b	ReadonlyVec3	the second operand

Returns

number

distance between this and b

divide()

divide(b): this;

Divides this by another vec3

Parameters

Parameter	Type	Description
b	ReadonlyVec3	the second operand

Returns

this

this

dot()

dot(b): number;

Calculates the dot product of this vec3 and another

Parameters

Parameter	Type	Description
b	ReadonlyVec3	the second operand

Returns

number

dot product of this and b

equals()

equals(b): boolean;

Returns whether or not this vector and another have approximately the same elements in the same position.

Parameters

Parameter	Type	Description
b	ReadonlyVec3	The second vector.

Returns

boolean

True if the vectors are equal, false otherwise.

exactEquals()

exactEquals(b): boolean;

Returns whether or not this vector and another exactly have the same elements in the same position (when compared with ===)

Parameters

Parameter	Type	Description
b	ReadonlyVec3	The second vector.

Returns

boolean

True if the vectors are equal, false otherwise.

floor()

floor(): this;

Math.floor the components of this vec3

Returns

this

this

hermite()

hermite(
   b, 
   c, 
   d, 
   t): this;

Performs a hermite interpolation with two control points

Parameters

Parameter	Type	Description
b	ReadonlyVec3	the second operand
c	ReadonlyVec3	the third operand
d	ReadonlyVec3	the fourth operand
t	number	interpolation amount, in the range [0-1], between the two inputs

Returns

this

this

inverse()

inverse(): this;

Returns the inverse of the components of this vec3

Returns

this

this

lerp()

lerp(b, t): this;

Performs a linear interpolation between this vec3 and another

Parameters

Parameter	Type	Description
b	ReadonlyVec3	the second operand
t	number	interpolation amount, in the range [0-1], between the two inputs

Returns

this

this

magnitude()

magnitude(): number;

Calculates the magnitude of this vec3

Returns

number

magnitude of this

max()

max(b): this;

Returns the maximum of this vec3 and another

Parameters

Parameter	Type	Description
b	ReadonlyVec3	the second operand

Returns

this

this

min()

min(b): this;

Returns the minimum of this vec3 and another

Parameters

Parameter	Type	Description
b	ReadonlyVec3	the second operand

Returns

this

this

multiply()

multiply(b): this;

Multiplies another vec3 with this

Parameters

Parameter	Type	Description
b	ReadonlyVec3	the second operand

Returns

this

this

negate()

negate(): this;

Negates the components of this vec3

Returns

this

this

normalize()

normalize(): this;

Normalize this vec3

Returns

this

this

random()

random(scale?): this;

Generates a random vector with the given scale

Parameters

Parameter	Type	Default value	Description
scale?	number	1.0	Length of the resulting vector. If omitted, a unit vector will be returned

Returns

this

this

rotateX()

rotateX(origin, rad): this;

Rotate this 3D vector around the x-axis

Parameters

Parameter	Type	Description
origin	ReadonlyVec3	The origin of the rotation
rad	number	The angle of rotation in radians

Returns

this

this

rotateY()

rotateY(origin, rad): this;

Rotate this 3D vector around the y-axis

Parameters

Parameter	Type	Description
origin	ReadonlyVec3	The origin of the rotation
rad	number	The angle of rotation in radians

Returns

this

this

rotateZ()

rotateZ(origin, rad): this;

Rotate this 3D vector around the z-axis

Parameters

Parameter	Type	Description
origin	ReadonlyVec3	The origin of the rotation
rad	number	The angle of rotation in radians

Returns

this

this

round()

round(): this;

symmetric round the components of this vec3

Returns

this

this

scale()

scale(b): this;

Scales this vec3 by a scalar number

Parameters

Parameter	Type	Description
b	number	amount to scale the vector by

Returns

this

this

scaleAndAdd()

scaleAndAdd(b, scale): this;

Adds another vec3 to this after scaling the second operand by a scalar value

Parameters

Parameter	Type	Description
b	ReadonlyVec3	the second operand
scale	number	the amount to scale b by before adding

Returns

this

this

setVec3()

setVec3(
   x, 
   y, 
   z): this;

Set the components of a vec3 to the given values

Parameters

Parameter	Type	Description
x	number	X component
y	number	Y component
z	number	Z component

Returns

this

this

slerp()

slerp(b, t): this;

Performs a spherical linear interpolation between this vec3 and another

Parameters

Parameter	Type	Description
b	ReadonlyVec3	the second operand
t	number	interpolation amount, in the range [0-1], between the two inputs

Returns

this

this

squaredDistance()

squaredDistance(b): number;

Calculates the squared euclidian distance between this vec3 and another

Parameters

Parameter	Type	Description
b	ReadonlyVec3	the second operand

Returns

number

squared distance between this and b

squaredMagnitude()

squaredMagnitude(): number;

Calculates the squared magnitude of this vec3

Returns

number

squared magnitude of this

str()

str(): string;

Returns a string representation of this vector

Returns

string

string representation of the vector

subtract()

subtract(b): this;

Subtracts another vec3 from this

Parameters

Parameter	Type	Description
b	ReadonlyVec3	the second operand

Returns

this

this

transformMat3()

transformMat3(m): this;

Transforms this vec3 with a mat3.

Parameters

Parameter	Type	Description
m	ReadonlyMat3	the 3x3 matrix to transform with

Returns

this

this

transformMat4()

transformMat4(m): this;

Transforms this vec3 with a mat4. 4th vector component is implicitly '1'

Parameters

Parameter	Type	Description
m	ReadonlyMat4	matrix to transform with

Returns

this

this

transformQuat()

transformQuat(q): this;

Transforms this vec3 with a quat

Parameters

Parameter	Type	Description
q	ReadonlyQuat	normalized quaternion to transform with

Returns

this

this

zero()

zero(): this;

Set the components of this vec3 to zero

Returns

this

this

clone()

static clone(a): Vec3;

Creates a new vec3 initialized with values from an existing vector

Parameters

Parameter	Type	Description
a	ReadonlyVec3	vector to clone

Returns

Vec3

a new 3D vector

forEach()

static forEach(
   a, 
   stride, 
   offset, 
   count, 
   fn, 
arg?): number[] | Float32Array<ArrayBufferLike>;

Perform some operation over an array of vec3s.

Parameters

Parameter	Type	Description
a	number[] | Float32Array<ArrayBufferLike>	the array of vectors to iterate over
stride	number	Number of elements between the start of each vec3. If 0, stride retrieves the next vec3
offset	number	Number of elements to skip before the first vec3
count	number	Number of vec3s to iterate over. If 0, iterates over entire array
fn	(out, a, arg) => void	Function to call for each vector in the array
arg?	any	Additional argument to pass to fn

Returns

number[] | Float32Array<ArrayBufferLike>

a

fromValues()

static fromValues(
   x, 
   y, 
   z): Vec3;

Creates a new vec3 initialized with the given values

Parameters

Parameter	Type	Description
x	number	X component
y	number	Y component
z	number	Z component

Returns

Vec3

a new 3D vector

---

Vec4

4 Dimensional Vector

Extends

• Float32Array

Extended by

• Quat

Indexable

[index: number]: number

Accessors

w

Get Signature

get w(): number;

W component

Returns

number

Set Signature

set w(v): void;

Parameters

Parameter	Type
v	number

Returns

void

x

Get Signature

get x(): number;

X component

Returns

number

Set Signature

set x(v): void;

Parameters

Parameter	Type
v	number

Returns

void

y

Get Signature

get y(): number;

Y component

Returns

number

Set Signature

set y(v): void;

Parameters

Parameter	Type
v	number

Returns

void

z

Get Signature

get z(): number;

Z component

Returns

number

Set Signature

set z(v): void;

Parameters

Parameter	Type
v	number

Returns

void

Constructors

Constructor

new Vec4(
   x?, 
   y?, 
   z?, 
   w?): Vec4;

Creates a new vec4

Parameters

Parameter	Type	Default value	Description
x	number	0	X component
y	number	0	Y component
z	number	0	Z component
w	number	0	W component

Returns

Vec4

Overrides

Float32Array.constructor

Methods

add()

add(b): this;

Adds another vec4 to this

Parameters

Parameter	Type	Description
b	ReadonlyVec4	the second operand

Returns

this

this

ceil()

ceil(): this;

Math.ceil the components of this vec4

Returns

this

this

copy()

copy(a): this;

Copy the values from one vec4 to another

Parameters

Parameter	Type	Description
a	ReadonlyVec4	the source vector

Returns

this

this

cross()

cross(
   u, 
   v, 
   w): this;

Returns the cross-product of three vectors in a 4-dimensional space

Parameters

Parameter	Type	Description
u	ReadonlyVec4	the first vector
v	ReadonlyVec4	the second vector
w	ReadonlyVec4	the third vector

Returns

this

this

distance()

distance(b): number;

Calculates the euclidian distance between this vec4 and another

Parameters

Parameter	Type	Description
b	ReadonlyVec4	the second operand

Returns

number

distance between this and b

divide()

divide(b): this;

Divides this by another vec4

Parameters

Parameter	Type	Description
b	ReadonlyVec4	the second operand

Returns

this

this

dot()

dot(b): number;

Calculates the dot product of this vec4 and another

Parameters

Parameter	Type	Description
b	ReadonlyVec4	the second operand

Returns

number

dot product of this and b

equals()

equals(b): boolean;

Returns whether or not this vector and another have approximately the same elements in the same position.

Parameters

Parameter	Type	Description
b	ReadonlyVec4	The second vector.

Returns

boolean

True if the vectors are equal, false otherwise.

exactEquals()

exactEquals(b): boolean;

Returns whether or not this vector and another exactly have the same elements in the same position (when compared with ===)

Parameters

Parameter	Type	Description
b	ReadonlyVec4	The second vector.

Returns

boolean

True if the vectors are equal, false otherwise.

floor()

floor(): this;

Math.floor the components of this vec4

Returns

this

this

inverse()

inverse(): this;

Returns the inverse of the components of this vec4

Returns

this

this

lerp()

lerp(b, t): this;

Performs a linear interpolation between this vec4 and another

Parameters

Parameter	Type	Description
b	ReadonlyVec4	the second operand
t	number	interpolation amount, in the range [0-1], between the two inputs

Returns

this

this

magnitude()

magnitude(): number;

Calculates the magnitude of this vec4

Returns

number

magnitude of this

max()

max(b): this;

Returns the maximum of this vec4 and another

Parameters

Parameter	Type	Description
b	ReadonlyVec4	the second operand

Returns

this

this

min()

min(b): this;

Returns the minimum of this vec4 and another

Parameters

Parameter	Type	Description
b	ReadonlyVec4	the second operand

Returns

this

this

multiply()

multiply(b): this;

Multiplies another vec4 with this

Parameters

Parameter	Type	Description
b	ReadonlyVec4	the second operand

Returns

this

this

negate()

negate(): this;

Negates the components of this vec4

Returns

this

this

normalize()

normalize(): this;

Normalize this vec4

Returns

this

this

random()

random(scale?): this;

Generates a random vector with the given scale

Parameters

Parameter	Type	Default value	Description
scale?	number	1.0	Length of the resulting vector. If omitted, a unit vector will be returned

Returns

this

this

round()

round(): this;

symmetric round the components of this vec4

Returns

this

this

scale()

scale(b): this;

Scales this vec4 by a scalar number

Parameters

Parameter	Type	Description
b	number	amount to scale the vector by

Returns

this

this

scaleAndAdd()

scaleAndAdd(b, scale): this;

Adds another vec4 to this after scaling the second operand by a scalar value

Parameters

Parameter	Type	Description
b	ReadonlyVec4	the second operand
scale	number	the amount to scale b by before adding

Returns

this

this

setVec4()

setVec4(
   x, 
   y, 
   z, 
   w): this;

Set the components of a vec4 to the given values

Parameters

Parameter	Type	Description
x	number	X component
y	number	Y component
z	number	Z component
w	number	W component

Returns

this

this

squaredDistance()

squaredDistance(b): number;

Calculates the squared euclidian distance between this vec4 and another

Parameters

Parameter	Type	Description
b	ReadonlyVec4	the second operand

Returns

number

squared distance between this and b

squaredMagnitude()

squaredMagnitude(): number;

Calculates the squared magnitude of this vec4

Returns

number

squared magnitude of this

str()

str(): string;

Returns a string representation of this vector

Returns

string

string representation of the vector

subtract()

subtract(b): this;

Subtracts another vec4 from this

Parameters

Parameter	Type	Description
b	ReadonlyVec4	the second operand

Returns

this

this

transformMat4()

transformMat4(m): this;

Transforms this vec4 with a mat4.

Parameters

Parameter	Type	Description
m	ReadonlyMat4	matrix to transform with

Returns

this

this

transformQuat()

transformQuat(q): this;

Transforms this vec4 with a quat

Parameters

Parameter	Type	Description
q	ReadonlyQuat	normalized quaternion to transform with

Returns

this

this

zero()

zero(): this;

Set the components of this vec4 to zero

Returns

this

this

clone()

static clone(a): Vec4;

Creates a new vec4 initialized with values from an existing vector

Parameters

Parameter	Type	Description
a	ReadonlyVec4	vector to clone

Returns

Vec4

a new 4D vector

forEach()

static forEach(
   a, 
   stride, 
   offset, 
   count, 
   fn, 
arg?): number[] | Float32Array<ArrayBufferLike>;

Perform some operation over an array of vec4s.

Parameters

Parameter	Type	Description
a	number[] | Float32Array<ArrayBufferLike>	the array of vectors to iterate over
stride	number	Number of elements between the start of each vec4. If 0, stride retrieves the next vec4
offset	number	Number of elements to skip before the first vec4
count	number	Number of vec4s to iterate over. If 0, iterates over entire array
fn	(out, a, arg) => void	Function to call for each vector in the array
arg?	any	Additional argument to pass to fn

Returns

number[] | Float32Array<ArrayBufferLike>

a

fromValues()

static fromValues(
   x, 
   y, 
   z, 
   w): Vec4;

Creates a new vec4 initialized with the given values

Parameters

Parameter	Type	Description
x	number	X component
y	number	Y component
z	number	Z component
w	number	W component

Returns

Vec4

a new 4D vector

Variables

ANGLE_ORDER

const ANGLE_ORDER: "xyz" | "xzy" | "yxz" | "yzx" | "zxy" | "zyx" = "zyx";