this.set(1,0,0,0,0,1,0,0,0,0,1,0,0,0,0,1),this}clone(){return new Qo().fromArray(this.elements)}copy(e){let t=this.elements,n=e.elements;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],this}copyPosition(e){let t=this.elements,n=e.elements;return t[12]=n[12],t[13]=n[13],t[14]=n[14],this}setFromMatrix3(e){let t=e.elements;return this.set(t[0],t[3],t[6],0,t[1],t[4],t[7],0,t[2],t[5],t[8],0,0,0,0,1),this}extractBasis(e,t,n){return this.determinantAffine()===0?(e.set(1,0,0),t.set(0,1,0),n.set(0,0,1),this):(e.setFromMatrixColumn(this,0),t.setFromMatrixColumn(this,1),n.setFromMatrixColumn(this,2),this)}makeBasis(e,t,n){return this.set(e.x,t.x,n.x,0,e.y,t.y,n.y,0,e.z,t.z,n.z,0,0,0,0,1),this}extractRotation(e){if(e.determinantAffine()===0)return this.identity();let t=this.elements,n=e.elements,s=1/bs.setFromMatrixColumn(e,0).length(),r=1/bs.setFromMatrixColumn(e,1).length(),a=1/bs.setFromMatrixColumn(e,2).length();return t[0]=n[0]*s,t[1]=n[1]*s,t[2]=n[2]*s,t[3]=0,t[4]=n[4]*r,t[5]=n[5]*r,t[6]=n[6]*r,t[7]=0,t[8]=n[8]*a,t[9]=n[9]*a,t[10]=n[10]*a,t[11]=0,t[12]=0,t[13]=0,t[14]=0,t[15]=1,this}makeRotationFromEuler(e){let t=this.elements,n=e.x,s=e.y,r=e.z,a=Math.cos(n),o=Math.sin(n),l=Math.cos(s),c=Math.sin(s),h=Math.cos(r),f=Math.sin(r);if(e.order==="XYZ"){let u=a*h,d=a*f,g=o*h,M=o*f;t[0]=l*h,t[4]=-l*f,t[8]=c,t[1]=d+g*c,t[5]=u-M*c,t[9]=-o*l,t[2]=M-u*c,t[6]=g+d*c,t[10]=a*l}else if(e.order==="YXZ"){let u=l*h,d=l*f,g=c*h,M=c*f;t[0]=u+M*o,t[4]=g*o-d,t[8]=a*c,t[1]=a*f,t[5]=a*h,t[9]=-o,t[2]=d*o-g,t[6]=M+u*o,t[10]=a*l}else if(e.order==="ZXY"){let u=l*h,d=l*f,g=c*h,M=c*f;t[0]=u-M*o,t[4]=-a*f,t[8]=g+d*o,t[1]=d+g*o,t[5]=a*h,t[9]=M-u*o,t[2]=-a*c,t[6]=o,t[10]=a*l}else if(e.order==="ZYX"){let u=a*h,d=a*f,g=o*h,M=o*f;t[0]=l*h,t[4]=g*c-d,t[8]=u*c+M,t[1]=l*f,t[5]=M*c+u,t[9]=d*c-g,t[2]=-c,t[6]=o*l,t[10]=a*l}else if(e.order==="YZX"){let u=a*l,d=a*c,g=o*l,M=o*c;t[0]=l*h,t[4]=M-u*f,t[8]=g*f+d,t[1]=f,t[5]=a*h,t[9]=-o*h,t[2]=-c*h,t[6]=d*f+g,t[10]=u-M*f}else if(e.order==="XZY"){let u=a*l,d=a*c,g=o*l,M=o*c;t[0]=l*h,t[4]=-f,t[8]=c*h,t[1]=u*f+M,t[5]=a*h,t[9]=d*f-g,t[2]=g*f-d,t[6]=o*h,t[10]=M*f+u}return t[3]=0,t[7]=0,t[11]=0,t[12]=0,t[13]=0,t[14]=0,t[15]=1,this}makeRotationFromQuaternion(e){return this.compose(Cp,e,Ip)}lookAt(e,t,n){let s=this.elements;return Mn.subVectors(e,t),Mn.lengthSq()===0&&(Mn.z=1),Mn.normalize(),Ci.crossVectors(n,Mn),Ci.lengthSq()===0&&(Math.abs(n.z)===1?Mn.x+=1e-4:Mn.z+=1e-4,Mn.normalize(),Ci.crossVectors(n,Mn)),Ci.normalize(),Na.crossVectors(Mn,Ci),s[0]=Ci.x,s[4]=Na.x,s[8]=Mn.x,s[1]=Ci.y,s[5]=Na.y,s[9]=Mn.y,s[2]=Ci.z,s[6]=Na.z,s[10]=Mn.z,this}multiply(e){return this.multiplyMatrices(this,e)}premultiply(e){return this.multiplyMatrices(e,this)}multiplyMatrices(e,t){let n=e.elements,s=t.elements,r=this.elements,a=n[0],o=n[4],l=n[8],c=n[12],h=n[1],f=n[5],u=n[9],d=n[13],g=n[2],M=n[6],m=n[10],p=n[14],b=n[3],A=n[7],v=n[11],T=n[15],E=s[0],C=s[4],x=s[8],w=s[12],I=s[1],D=s[5],O=s[9],V=s[13],N=s[2],z=s[6],q=s[10],X=s[14],ie=s[3],Y=s[7],j=s[11],ne=s[15];return r[0]=a*E+o*I+l*N+c*ie,r[4]=a*C+o*D+l*z+c*Y,r[8]=a*x+o*O+l*q+c*j,r[12]=a*w+o*V+l*X+c*ne,r[1]=h*E+f*I+u*N+d*ie,r[5]=h*C+f*D+u*z+d*Y,r[9]=h*x+f*O+u*q+d*j,r[13]=h*w+f*V+u*X+d*ne,r[2]=g*E+M*I+m*N+p*ie,r[6]=g*C+M*D+m*z+p*Y,r[10]=g*x+M*O+m*q+p*j,r[14]=g*w+M*V+m*X+p*ne,r[3]=b*E+A*I+v*N+T*ie,r[7]=b*C+A*D+v*z+T*Y,r[11]=b*x+A*O+v*q+T*j,r[15]=b*w+A*V+v*X+T*ne,this}multiplyScalar(e){let t=this.elements;return t[0]*=e,t[4]*=e,t[8]*=e,t[12]*=e,t[1]*=e,t[5]*=e,t[9]*=e,t[13]*=e,t[2]*=e,t[6]*=e,t[10]*=e,t[14]*=e,t[3]*=e,t[7]*=e,t[11]*=e,t[15]*=e,this}determinant(){let e=this.elements,t=e[0],n=e[4],s=e[8],r=e[12],a=e[1],o=e[5],l=e[9],c=e[13],h=e[2],f=e[6],u=e[10],d=e[14],g=e[3],M=e[7],m=e[11],p=e[15],b=l*d-c*u,A=o*d-c*f,v=o*u-l*f,T=a*d-c*h,E=a*u-l*h,C=a*f-o*h;return t*(M*b-m*A+p*v)-n*(g*b-m*T+p*E)+s*(g*A-M*T+p*C)-r*(g*v-M*E+m*C)}determinantAffine(){let e=this.elements,t=e[0],n=e[4],s=e[8],r=e[1],a=e[5],o=e[9],l=e[2],c=e[6],h=e[10];return t*(a*h-o*c)-n*(r*h-o*l)+s*(r*c-a*l)}transpose(){let e=this.elements,t;return t=e[1],e[1]=e[4],e[4]=t,t=e[2],e[2]=e[8],e[8]=t,t=e[6],e[6]=e[9],e[9]=t,t=e[3],e[3]=e[12],e[12]=t,t=e[7],e[7]=e[13],e[13]=t,t=e[11],e[11]=e[14],e[14]=t,this}setPosition(e,t,n){let s=this.elements;return e.isVector3?(s[12]=e.x,s[13]=e.y,s[14]=e.z):(s[12]=e,s[13]=t,s[14]=n),this}invert(){let e=this.elements,t=e[0],n=e[1],s=e[2],r=e[3],a=e[4],o=e[5],l=e[6],c=e[7],h=e[8],f=e[9],u=e[10],d=e[11],g=e[12],M=e[13],m=e[14],p=e[15],b=t*o-n*a,A=t*l-s*a,v=t*c-r*a,T=n*l-s*o,E=n*c-r*o,C=s*c-r*l,x=h*M-f*g,w=h*m-u*g,I=h*p-d*g,D=f*m-u*M,O=f*p-d*M,V=u*p-d*m,N=b*V-A*O+v*D+T*I-E*w+C*x;if(N===0)return this.set(0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0);let z=1/N;return e[0]=(o*V-l*O+c*D)*z,e[1]=(s*O-n*V-r*D)*z,e[2]=(M*C-m*E+p*T)*z,e[3]=(u*E-f*C-d*T)*z,e[4]=(l*I-a*V-c*w)*z,e[5]=(t*V-s*I+r*w)*z,e[6]=(m*v-g*C-p*A)*z,e[7]=(h*C-u*v+d*A)*z,e[8]=(a*O-o*I+c*x)*z,e[9]