// Type definitions for gl-matrix 2.2.2
// Project: https://github.com/toji/gl-matrix
// Definitions by: Mattijs Kneppers <https://github.com/mattijskneppers>, based on definitions by Tat <https://github.com/tatchx>
// Definitions: https://github.com/DefinitelyTyped/DefinitelyTyped

// Common
export class glMatrix {
    /**
     * Convert Degree To Radian
     *
     * @param a Angle in Degrees
     */
    public static toRadian(a: number): number;
}

// vec2
export class vec2 extends Float32Array {
    private typeVec2:number;

    /**
     * Creates a new, empty vec2
     *
     * @returns a new 2D vector
     */
    public static create(): vec2;

    /**
     * Creates a new vec2 initialized with values from an existing vector
     *
     * @param a a vector to clone
     * @returns a new 2D vector
     */
    public static clone(a: vec2): vec2;

    /**
     * Creates a new vec2 initialized with the given values
     *
     * @param x X component
     * @param y Y component
     * @returns a new 2D vector
     */
    public static fromValues(x: number, y: number): vec2;

    /**
     * Copy the values from one vec2 to another
     *
     * @param out the receiving vector
     * @param a the source vector
     * @returns out
     */
    public static copy(out: vec2, a: vec2): vec2;

    /**
     * Set the components of a vec2 to the given values
     *
     * @param out the receiving vector
     * @param x X component
     * @param y Y component
     * @returns out
     */
    public static set(out: vec2, x: number, y: number): vec2;

    /**
     * Adds two vec2's
     *
     * @param out the receiving vector
     * @param a the first operand
     * @param b the second operand
     * @returns out
     */
    public static add(out: vec2, a: vec2, b: vec2): vec2;

    /**
     * Subtracts vector b from vector a
     *
     * @param out the receiving vector
     * @param a the first operand
     * @param b the second operand
     * @returns out
     */
    public static subtract(out: vec2, a: vec2, b: vec2): vec2;

    /**
     * Subtracts vector b from vector a
     *
     * @param out the receiving vector
     * @param a the first operand
     * @param b the second operand
     * @returns out
     */
    public static sub(out: vec2, a: vec2, b: vec2): vec2;

    /**
     * Multiplies two vec2's
     *
     * @param out the receiving vector
     * @param a the first operand
     * @param b the second operand
     * @returns out
     */
    public static multiply(out: vec2, a: vec2, b: vec2): vec2;

    /**
     * Multiplies two vec2's
     *
     * @param out the receiving vector
     * @param a the first operand
     * @param b the second operand
     * @returns out
     */
    public static mul(out: vec2, a: vec2, b: vec2): vec2;

    /**
     * Divides two vec2's
     *
     * @param out the receiving vector
     * @param a the first operand
     * @param b the second operand
     * @returns out
     */
    public static divide(out: vec2, a: vec2, b: vec2): vec2;

    /**
     * Divides two vec2's
     *
     * @param out the receiving vector
     * @param a the first operand
     * @param b the second operand
     * @returns out
     */
    public static div(out: vec2, a: vec2, b: vec2): vec2;

    /**
     * Math.ceil the components of a vec2
     *
     * @param {vec2} out the receiving vector
     * @param {vec2} a vector to ceil
     * @returns {vec2} out
     */
    public static ceil(out:vec2, a:vec2):vec2;

    /**
     * Math.floor the components of a vec2
     *
     * @param {vec2} out the receiving vector
     * @param {vec2} a vector to floor
     * @returns {vec2} out
     */
    public static floor (out:vec2, a:vec2):vec2;

    /**
     * Returns the minimum of two vec2's
     *
     * @param out the receiving vector
     * @param a the first operand
     * @param b the second operand
     * @returns out
     */
    public static min(out: vec2, a: vec2, b: vec2): vec2;

    /**
     * Returns the maximum of two vec2's
     *
     * @param out the receiving vector
     * @param a the first operand
     * @param b the second operand
     * @returns out
     */
    public static max(out: vec2, a: vec2, b: vec2): vec2;

    /**
     * Math.round the components of a vec2
     *
     * @param {vec2} out the receiving vector
     * @param {vec2} a vector to round
     * @returns {vec2} out
     */
    public static round(out:vec2, a:vec2):vec2;


    /**
     * Scales a vec2 by a scalar number
     *
     * @param out the receiving vector
     * @param a the vector to scale
     * @param b amount to scale the vector by
     * @returns out
     */
    public static scale(out: vec2, a: vec2, b: number): vec2;

    /**
     * Adds two vec2's after scaling the second operand by a scalar value
     *
     * @param out the receiving vector
     * @param a the first operand
     * @param b the second operand
     * @param scale the amount to scale b by before adding
     * @returns out
     */
    public static scaleAndAdd(out: vec2, a: vec2, b: vec2, scale: number): vec2;

    /**
     * Calculates the euclidian distance between two vec2's
     *
     * @param a the first operand
     * @param b the second operand
     * @returns distance between a and b
     */
    public static distance(a: vec2, b: vec2): number;

    /**
     * Calculates the euclidian distance between two vec2's
     *
     * @param a the first operand
     * @param b the second operand
     * @returns distance between a and b
     */
    public static dist(a: vec2, b: vec2): number;

    /**
     * Calculates the squared euclidian distance between two vec2's
     *
     * @param a the first operand
     * @param b the second operand
     * @returns squared distance between a and b
     */
    public static squaredDistance(a: vec2, b: vec2): number;

    /**
     * Calculates the squared euclidian distance between two vec2's
     *
     * @param a the first operand
     * @param b the second operand
     * @returns squared distance between a and b
     */
    public static sqrDist(a: vec2, b: vec2): number;

    /**
     * Calculates the length of a vec2
     *
     * @param a vector to calculate length of
     * @returns length of a
     */
    public static length(a: vec2): number;

    /**
     * Calculates the length of a vec2
     *
     * @param a vector to calculate length of
     * @returns length of a
     */
    public static len(a: vec2): number;

    /**
     * Calculates the squared length of a vec2
     *
     * @param a vector to calculate squared length of
     * @returns squared length of a
     */
    public static squaredLength(a: vec2): number;

    /**
     * Calculates the squared length of a vec2
     *
     * @param a vector to calculate squared length of
     * @returns squared length of a
     */
    public static sqrLen(a: vec2): number;

    /**
     * Negates the components of a vec2
     *
     * @param out the receiving vector
     * @param a vector to negate
     * @returns out
     */
    public static negate(out: vec2, a: vec2): vec2;

    /**
     * Returns the inverse of the components of a vec2
     *
     * @param out the receiving vector
     * @param a vector to invert
     * @returns out
     */
    public static inverse(out: vec2, a: vec2): vec2;

    /**
     * Normalize a vec2
     *
     * @param out the receiving vector
     * @param a vector to normalize
     * @returns out
     */
    public static normalize(out: vec2, a: vec2): vec2;

    /**
     * Calculates the dot product of two vec2's
     *
     * @param a the first operand
     * @param b the second operand
     * @returns dot product of a and b
     */
    public static dot(a: vec2, b: vec2): number;

    /**
     * Computes the cross product of two vec2's
     * Note that the cross product must by definition produce a 3D vector
     *
     * @param out the receiving vector
     * @param a the first operand
     * @param b the second operand
     * @returns out
     */
    public static cross(out: vec2, a: vec2, b: vec2): vec2;

    /**
     * Performs a linear interpolation between two vec2's
     *
     * @param out the receiving vector
     * @param a the first operand
     * @param b the second operand
     * @param t interpolation amount between the two inputs
     * @returns out
     */
    public static lerp(out: vec2, a: vec2, b: vec2, t: number): vec2;

    /**
     * Generates a random unit vector
     *
     * @param out the receiving vector
     * @returns out
     */
    public static random(out: vec2): vec2;

    /**
     * Generates a random vector with the given scale
     *
     * @param out the receiving vector
     * @param scale Length of the resulting vector. If ommitted, a unit vector will be returned
     * @returns out
     */
    public static random(out: vec2, scale: number): vec2;

    /**
     * Transforms the vec2 with a mat2
     *
     * @param out the receiving vector
     * @param a the vector to transform
     * @param m matrix to transform with
     * @returns out
     */
    public static transformMat2(out: vec2, a: vec2, m: mat2): vec2;

    /**
     * Transforms the vec2 with a mat2d
     *
     * @param out the receiving vector
     * @param a the vector to transform
     * @param m matrix to transform with
     * @returns out
     */
    public static transformMat2d(out: vec2, a: vec2, m: mat2d): vec2;

    /**
     * Transforms the vec2 with a mat3
     * 3rd vector component is implicitly '1'
     *
     * @param out the receiving vector
     * @param a the vector to transform
     * @param m matrix to transform with
     * @returns out
     */
    public static transformMat3(out: vec2, a: vec2, m: mat3): vec2;

    /**
     * Transforms the vec2 with a mat4
     * 3rd vector component is implicitly '0'
     * 4th vector component is implicitly '1'
     *
     * @param out the receiving vector
     * @param a the vector to transform
     * @param m matrix to transform with
     * @returns out
     */
    public static transformMat4(out: vec2, a: vec2, m: mat4): vec2;

    /**
     * Perform some operation over an array of vec2s.
     *
     * @param a the array of vectors to iterate over
     * @param stride Number of elements between the start of each vec2. If 0 assumes tightly packed
     * @param offset Number of elements to skip at the beginning of the array
     * @param count Number of vec2s to iterate over. If 0 iterates over entire array
     * @param fn Function to call for each vector in the array
     * @param arg additional argument to pass to fn
     * @returns a
     */
    public static forEach(a: Float32Array, stride: number, offset: number, count: number,
                          fn: (a: vec2, b: vec2, arg: any) => void, arg: any): Float32Array;

    /**
     * Perform some operation over an array of vec2s.
     *
     * @param a the array of vectors to iterate over
     * @param stride Number of elements between the start of each vec2. If 0 assumes tightly packed
     * @param offset Number of elements to skip at the beginning of the array
     * @param count Number of vec2s to iterate over. If 0 iterates over entire array
     * @param fn Function to call for each vector in the array
     * @returns a
     */
    public static forEach(a: Float32Array, stride: number, offset: number, count: number,
                          fn: (a: vec2, b: vec2) => void): Float32Array;

    /**
     * Returns a string representation of a vector
     *
     * @param a vector to represent as a string
     * @returns string representation of the vector
     */
    public static str(a: vec2): string;

    /**
     * Returns whether or not the vectors exactly have the same elements in the same position (when compared with ===)
     *
     * @param {vec2} a The first vector.
     * @param {vec2} b The second vector.
     * @returns {boolean} True if the vectors are equal, false otherwise.
     */
    public static exactEquals (a:vec2, b:vec2): boolean;

    /**
     * Returns whether or not the vectors have approximately the same elements in the same position.
     *
     * @param {vec2} a The first vector.
     * @param {vec2} b The second vector.
     * @returns {boolean} True if the vectors are equal, false otherwise.
     */
    public static equals (a:vec2, b:vec2) : boolean;
}

// vec3
export class vec3 extends Float32Array {
    private typeVec3:number;

    /**
     * Creates a new, empty vec3
     *
     * @returns a new 3D vector
     */
    public static create(): vec3;

    /**
     * Creates a new vec3 initialized with values from an existing vector
     *
     * @param a vector to clone
     * @returns a new 3D vector
     */
    public static clone(a: vec3): vec3;

    /**
     * Creates a new vec3 initialized with the given values
     *
     * @param x X component
     * @param y Y component
     * @param z Z component
     * @returns a new 3D vector
     */
    public static fromValues(x: number, y: number, z: number): vec3;

    /**
     * Copy the values from one vec3 to another
     *
     * @param out the receiving vector
     * @param a the source vector
     * @returns out
     */
    public static copy(out: vec3, a: vec3): vec3;

    /**
     * Set the components of a vec3 to the given values
     *
     * @param out the receiving vector
     * @param x X component
     * @param y Y component
     * @param z Z component
     * @returns out
     */
    public static set(out: vec3, x: number, y: number, z: number): vec3;

    /**
     * Adds two vec3's
     *
     * @param out the receiving vector
     * @param a the first operand
     * @param b the second operand
     * @returns out
     */
    public static add(out: vec3, a: vec3, b: vec3): vec3;

    /**
     * Subtracts vector b from vector a
     *
     * @param out the receiving vector
     * @param a the first operand
     * @param b the second operand
     * @returns out
     */
    public static subtract(out: vec3, a: vec3, b: vec3): vec3;

    /**
     * Subtracts vector b from vector a
     *
     * @param out the receiving vector
     * @param a the first operand
     * @param b the second operand
     * @returns out
     */
    public static sub(out: vec3, a: vec3, b: vec3): vec3

    /**
     * Multiplies two vec3's
     *
     * @param out the receiving vector
     * @param a the first operand
     * @param b the second operand
     * @returns out
     */
    public static multiply(out: vec3, a: vec3, b: vec3): vec3;

    /**
     * Multiplies two vec3's
     *
     * @param out the receiving vector
     * @param a the first operand
     * @param b the second operand
     * @returns out
     */
    public static mul(out: vec3, a: vec3, b: vec3): vec3;

    /**
     * Divides two vec3's
     *
     * @param out the receiving vector
     * @param a the first operand
     * @param b the second operand
     * @returns out
     */
    public static divide(out: vec3, a: vec3, b: vec3): vec3;

    /**
     * Divides two vec3's
     *
     * @param out the receiving vector
     * @param a the first operand
     * @param b the second operand
     * @returns out
     */
    public static div(out: vec3, a: vec3, b: vec3): vec3;

    /**
     * Math.ceil the components of a vec3
     *
     * @param {vec3} out the receiving vector
     * @param {vec3} a vector to ceil
     * @returns {vec3} out
     */
    public static ceil (out:vec3, a:vec3) : vec3;

    /**
     * Math.floor the components of a vec3
     *
     * @param {vec3} out the receiving vector
     * @param {vec3} a vector to floor
     * @returns {vec3} out
     */
    public static floor (out:vec3, a:vec3) :vec3;

    /**
     * Returns the minimum of two vec3's
     *
     * @param out the receiving vector
     * @param a the first operand
     * @param b the second operand
     * @returns out
     */
    public static min(out: vec3, a: vec3, b: vec3): vec3;

    /**
     * Returns the maximum of two vec3's
     *
     * @param out the receiving vector
     * @param a the first operand
     * @param b the second operand
     * @returns out
     */
    public static max(out: vec3, a: vec3, b: vec3): vec3;

    /**
     * Math.round the components of a vec3
     *
     * @param {vec3} out the receiving vector
     * @param {vec3} a vector to round
     * @returns {vec3} out
     */
    public static round (out:vec3, a:vec3) : vec3

    /**
     * Scales a vec3 by a scalar number
     *
     * @param out the receiving vector
     * @param a the vector to scale
     * @param b amount to scale the vector by
     * @returns out
     */
    public static scale(out: vec3, a: vec3, b: number): vec3;

    /**
     * Adds two vec3's after scaling the second operand by a scalar value
     *
     * @param out the receiving vector
     * @param a the first operand
     * @param b the second operand
     * @param scale the amount to scale b by before adding
     * @returns out
     */
    public static scaleAndAdd(out: vec3, a: vec3, b: vec3, scale: number): vec3;

    /**
     * Calculates the euclidian distance between two vec3's
     *
     * @param a the first operand
     * @param b the second operand
     * @returns distance between a and b
     */
    public static distance(a: vec3, b: vec3): number;

    /**
     * Calculates the euclidian distance between two vec3's
     *
     * @param a the first operand
     * @param b the second operand
     * @returns distance between a and b
     */
    public static dist(a: vec3, b: vec3): number;

    /**
     * Calculates the squared euclidian distance between two vec3's
     *
     * @param a the first operand
     * @param b the second operand
     * @returns squared distance between a and b
     */
    public static squaredDistance(a: vec3, b: vec3): number;

    /**
     * Calculates the squared euclidian distance between two vec3's
     *
     * @param a the first operand
     * @param b the second operand
     * @returns squared distance between a and b
     */
    public static sqrDist(a: vec3, b: vec3): number;

    /**
     * Calculates the length of a vec3
     *
     * @param a vector to calculate length of
     * @returns length of a
     */
    public static length(a: vec3): number;

    /**
     * Calculates the length of a vec3
     *
     * @param a vector to calculate length of
     * @returns length of a
     */
    public static len(a: vec3): number;

    /**
     * Calculates the squared length of a vec3
     *
     * @param a vector to calculate squared length of
     * @returns squared length of a
     */
    public static squaredLength(a: vec3): number;

    /**
     * Calculates the squared length of a vec3
     *
     * @param a vector to calculate squared length of
     * @returns squared length of a
     */
    public static sqrLen(a: vec3): number;

    /**
     * Negates the components of a vec3
     *
     * @param out the receiving vector
     * @param a vector to negate
     * @returns out
     */
    public static negate(out: vec3, a: vec3): vec3;

    /**
     * Returns the inverse of the components of a vec3
     *
     * @param out the receiving vector
     * @param a vector to invert
     * @returns out
     */
    public static inverse(out: vec3, a: vec3): vec3;

    /**
     * Normalize a vec3
     *
     * @param out the receiving vector
     * @param a vector to normalize
     * @returns out
     */
    public static normalize(out: vec3, a: vec3): vec3;

    /**
     * Calculates the dot product of two vec3's
     *
     * @param a the first operand
     * @param b the second operand
     * @returns dot product of a and b
     */
    public static dot(a: vec3, b: vec3): number;

    /**
     * Computes the cross product of two vec3's
     *
     * @param out the receiving vector
     * @param a the first operand
     * @param b the second operand
     * @returns out
     */
    public static cross(out: vec3, a: vec3, b: vec3): vec3;

    /**
     * Performs a linear interpolation between two vec3's
     *
     * @param out the receiving vector
     * @param a the first operand
     * @param b the second operand
     * @param t interpolation amount between the two inputs
     * @returns out
     */
    public static lerp(out: vec3, a: vec3, b: vec3, t: number): vec3;

    /**
     * Performs a hermite interpolation with two control points
     *
     * @param {vec3} out the receiving vector
     * @param {vec3} a the first operand
     * @param {vec3} b the second operand
     * @param {vec3} c the third operand
     * @param {vec3} d the fourth operand
     * @param {number} t interpolation amount between the two inputs
     * @returns {vec3} out
     */
    public static hermite (out:vec3, a:vec3, b:vec3, c:vec3, d:vec3, t:number) : vec3;

    /**
     * Performs a bezier interpolation with two control points
     *
     * @param {vec3} out the receiving vector
     * @param {vec3} a the first operand
     * @param {vec3} b the second operand
     * @param {vec3} c the third operand
     * @param {vec3} d the fourth operand
     * @param {number} t interpolation amount between the two inputs
     * @returns {vec3} out
     */
    public static bezier (out:vec3, a:vec3, b:vec3, c:vec3, d:vec3, t:number) :vec3;

    /**
     * Generates a random unit vector
     *
     * @param out the receiving vector
     * @returns out
     */
    public static random(out: vec3): vec3;

    /**
     * Generates a random vector with the given scale
     *
     * @param out the receiving vector
     * @param [scale] Length of the resulting vector. If omitted, a unit vector will be returned
     * @returns out
     */
    public static random(out: vec3, scale: number): vec3;

    /**
     * Transforms the vec3 with a mat3.
     *
     * @param out the receiving vector
     * @param a the vector to transform
     * @param m the 3x3 matrix to transform with
     * @returns out
     */
    public static transformMat3(out: vec3, a: vec3, m: mat3): vec3;

    /**
     * Transforms the vec3 with a mat4.
     * 4th vector component is implicitly '1'
     *
     * @param out the receiving vector
     * @param a the vector to transform
     * @param m matrix to transform with
     * @returns out
     */
    public static transformMat4(out: vec3, a: vec3, m: mat4): vec3;

     /**
     * Transforms the vec3 with a quat
     *
     * @param out the receiving vector
     * @param a the vector to transform
     * @param q quaternion to transform with
     * @returns out
     */
    public static transformQuat(out: vec3, a: vec3, q: quat): vec3;


    /**
     * Rotate a 3D vector around the x-axis
     * @param out The receiving vec3
     * @param a The vec3 point to rotate
     * @param b The origin of the rotation
     * @param c The angle of rotation
     * @returns out
     */
    public static rotateX(out: vec3, a: vec3, b: vec3, c: number): vec3;

    /**
     * Rotate a 3D vector around the y-axis
     * @param out The receiving vec3
     * @param a The vec3 point to rotate
     * @param b The origin of the rotation
     * @param c The angle of rotation
     * @returns out
     */
    public static rotateY(out: vec3, a: vec3, b: vec3, c: number): vec3;

    /**
     * Rotate a 3D vector around the z-axis
     * @param out The receiving vec3
     * @param a The vec3 point to rotate
     * @param b The origin of the rotation
     * @param c The angle of rotation
     * @returns out
     */
    public static rotateZ(out: vec3, a: vec3, b: vec3, c: number): vec3;

    /**
     * Perform some operation over an array of vec3s.
     *
     * @param a the array of vectors to iterate over
     * @param stride Number of elements between the start of each vec3. If 0 assumes tightly packed
     * @param offset Number of elements to skip at the beginning of the array
     * @param count Number of vec3s to iterate over. If 0 iterates over entire array
     * @param fn Function to call for each vector in the array
     * @param arg additional argument to pass to fn
     * @returns a
     * @function
     */
    public static forEach(a: Float32Array, stride: number, offset: number, count: number,
                          fn: (a: vec3, b: vec3, arg: any) => void, arg: any): Float32Array;

    /**
     * Perform some operation over an array of vec3s.
     *
     * @param a the array of vectors to iterate over
     * @param stride Number of elements between the start of each vec3. If 0 assumes tightly packed
     * @param offset Number of elements to skip at the beginning of the array
     * @param count Number of vec3s to iterate over. If 0 iterates over entire array
     * @param fn Function to call for each vector in the array
     * @returns a
     * @function
     */
    public static forEach(a: Float32Array, stride: number, offset: number, count: number,
                          fn: (a: vec3, b: vec3) => void): Float32Array;

    /**
     * Get the angle between two 3D vectors
     * @param a The first operand
     * @param b The second operand
     * @returns The angle in radians
     */
    public static angle(a: vec3, b: vec3): number;

    /**
     * Returns a string representation of a vector
     *
     * @param a vector to represent as a string
     * @returns string representation of the vector
     */
    public static str(a: vec3): string;

    /**
     * Returns whether or not the vectors have exactly the same elements in the same position (when compared with ===)
     *
     * @param {vec3} a The first vector.
     * @param {vec3} b The second vector.
     * @returns {boolean} True if the vectors are equal, false otherwise.
     */
    public static exactEquals (a:vec3, b:vec3): boolean

    /**
     * Returns whether or not the vectors have approximately the same elements in the same position.
     *
     * @param {vec3} a The first vector.
     * @param {vec3} b The second vector.
     * @returns {boolean} True if the vectors are equal, false otherwise.
     */
    public static equals (a:vec3, b:vec3) : boolean
}

// vec4
export class vec4 extends Float32Array {
    private typeVec3:number;

    /**
     * Creates a new, empty vec4
     *
     * @returns a new 4D vector
     */
    public static create(): vec4;

    /**
     * Creates a new vec4 initialized with values from an existing vector
     *
     * @param a vector to clone
     * @returns a new 4D vector
     */
    public static clone(a: vec4): vec4;

    /**
     * Creates a new vec4 initialized with the given values
     *
     * @param x X component
     * @param y Y component
     * @param z Z component
     * @param w W component
     * @returns a new 4D vector
     */
    public static fromValues(x: number, y: number, z: number, w: number): vec4;

    /**
     * Copy the values from one vec4 to another
     *
     * @param out the receiving vector
     * @param a the source vector
     * @returns out
     */
    public static copy(out: vec4, a: vec4): vec4;

    /**
     * Set the components of a vec4 to the given values
     *
     * @param out the receiving vector
     * @param x X component
     * @param y Y component
     * @param z Z component
     * @param w W component
     * @returns out
     */
    public static set(out: vec4, x: number, y: number, z: number, w: number): vec4;

    /**
     * Adds two vec4's
     *
     * @param out the receiving vector
     * @param a the first operand
     * @param b the second operand
     * @returns out
     */
    public static add(out: vec4, a: vec4, b: vec4): vec4;

    /**
     * Subtracts vector b from vector a
     *
     * @param out the receiving vector
     * @param a the first operand
     * @param b the second operand
     * @returns out
     */
    public static subtract(out: vec4, a: vec4, b: vec4): vec4;

    /**
     * Subtracts vector b from vector a
     *
     * @param out the receiving vector
     * @param a the first operand
     * @param b the second operand
     * @returns out
     */
    public static sub(out: vec4, a: vec4, b: vec4): vec4;

    /**
     * Multiplies two vec4's
     *
     * @param out the receiving vector
     * @param a the first operand
     * @param b the second operand
     * @returns out
     */
    public static multiply(out: vec4, a: vec4, b: vec4): vec4;

    /**
     * Multiplies two vec4's
     *
     * @param out the receiving vector
     * @param a the first operand
     * @param b the second operand
     * @returns out
     */
    public static mul(out: vec4, a: vec4, b: vec4): vec4;

    /**
     * Divides two vec4's
     *
     * @param out the receiving vector
     * @param a the first operand
     * @param b the second operand
     * @returns out
     */
    public static divide(out: vec4, a: vec4, b: vec4): vec4;

    /**
     * Divides two vec4's
     *
     * @param out the receiving vector
     * @param a the first operand
     * @param b the second operand
     * @returns out
     */
    public static div(out: vec4, a: vec4, b: vec4): vec4;

    /**
     * Math.ceil the components of a vec4
     *
     * @param {vec4} out the receiving vector
     * @param {vec4} a vector to ceil
     * @returns {vec4} out
     */
    public static ceil (out:vec4, a:vec4) : vec4;

    /**
     * Math.floor the components of a vec4
     *
     * @param {vec4} out the receiving vector
     * @param {vec4} a vector to floor
     * @returns {vec4} out
     */
    public static floor (out:vec4, a:vec4) : vec4;

    /**
     * Returns the minimum of two vec4's
     *
     * @param out the receiving vector
     * @param a the first operand
     * @param b the second operand
     * @returns out
     */
    public static min(out: vec4, a: vec4, b: vec4): vec4;

    /**
     * Returns the maximum of two vec4's
     *
     * @param out the receiving vector
     * @param a the first operand
     * @param b the second operand
     * @returns out
     */
    public static max(out: vec4, a: vec4, b: vec4): vec4;

    /**
     * Math.round the components of a vec4
     *
     * @param {vec4} out the receiving vector
     * @param {vec4} a vector to round
     * @returns {vec4} out
     */
    public static round (out:vec4, a:vec4): vec4;

    /**
     * Scales a vec4 by a scalar number
     *
     * @param out the receiving vector
     * @param a the vector to scale
     * @param b amount to scale the vector by
     * @returns out
     */
    public static scale(out: vec4, a: vec4, b: number): vec4;

    /**
     * Adds two vec4's after scaling the second operand by a scalar value
     *
     * @param out the receiving vector
     * @param a the first operand
     * @param b the second operand
     * @param scale the amount to scale b by before adding
     * @returns out
     */
    public static scaleAndAdd(out: vec4, a: vec4, b: vec4, scale: number): vec4;

    /**
     * Calculates the euclidian distance between two vec4's
     *
     * @param a the first operand
     * @param b the second operand
     * @returns distance between a and b
     */
    public static distance(a: vec4, b: vec4): number;

    /**
     * Calculates the euclidian distance between two vec4's
     *
     * @param a the first operand
     * @param b the second operand
     * @returns distance between a and b
     */
    public static dist(a: vec4, b: vec4): number;

    /**
     * Calculates the squared euclidian distance between two vec4's
     *
     * @param a the first operand
     * @param b the second operand
     * @returns squared distance between a and b
     */
    public static squaredDistance(a: vec4, b: vec4): number;

    /**
     * Calculates the squared euclidian distance between two vec4's
     *
     * @param a the first operand
     * @param b the second operand
     * @returns squared distance between a and b
     */
    public static sqrDist(a: vec4, b: vec4): number;

    /**
     * Calculates the length of a vec4
     *
     * @param a vector to calculate length of
     * @returns length of a
     */
    public static length(a: vec4): number;

    /**
     * Calculates the length of a vec4
     *
     * @param a vector to calculate length of
     * @returns length of a
     */
    public static len(a: vec4): number;

    /**
     * Calculates the squared length of a vec4
     *
     * @param a vector to calculate squared length of
     * @returns squared length of a
     */
    public static squaredLength(a: vec4): number;

    /**
     * Calculates the squared length of a vec4
     *
     * @param a vector to calculate squared length of
     * @returns squared length of a
     */
    public static sqrLen(a: vec4): number;

    /**
     * Negates the components of a vec4
     *
     * @param out the receiving vector
     * @param a vector to negate
     * @returns out
     */
    public static negate(out: vec4, a: vec4): vec4;

    /**
     * Returns the inverse of the components of a vec4
     *
     * @param out the receiving vector
     * @param a vector to invert
     * @returns out
     */
    public static inverse(out: vec4, a: vec4): vec4;

    /**
     * Normalize a vec4
     *
     * @param out the receiving vector
     * @param a vector to normalize
     * @returns out
     */
    public static normalize(out: vec4, a: vec4): vec4;

    /**
     * Calculates the dot product of two vec4's
     *
     * @param a the first operand
     * @param b the second operand
     * @returns dot product of a and b
     */
    public static dot(a: vec4, b: vec4): number;

    /**
     * Performs a linear interpolation between two vec4's
     *
     * @param out the receiving vector
     * @param a the first operand
     * @param b the second operand
     * @param t interpolation amount between the two inputs
     * @returns out
     */
    public static lerp(out: vec4, a: vec4, b: vec4, t: number): vec4;

    /**
     * Generates a random unit vector
     *
     * @param out the receiving vector
     * @returns out
     */
    public static random(out: vec4): vec4;

    /**
     * Generates a random vector with the given scale
     *
     * @param out the receiving vector
     * @param scale length of the resulting vector. If ommitted, a unit vector will be returned
     * @returns out
     */
    public static random(out: vec4, scale: number): vec4;

    /**
     * Transforms the vec4 with a mat4.
     *
     * @param out the receiving vector
     * @param a the vector to transform
     * @param m matrix to transform with
     * @returns out
     */
    public static transformMat4(out: vec4, a: vec4, m: mat4): vec4;

    /**
     * Transforms the vec4 with a quat
     *
     * @param out the receiving vector
     * @param a the vector to transform
     * @param q quaternion to transform with
     * @returns out
     */

    public static transformQuat(out: vec4, a: vec4, q: quat): vec4;

    /**
     * Perform some operation over an array of vec4s.
     *
     * @param a the array of vectors to iterate over
     * @param stride Number of elements between the start of each vec4. If 0 assumes tightly packed
     * @param offset Number of elements to skip at the beginning of the array
     * @param count Number of vec4s to iterate over. If 0 iterates over entire array
     * @param fn Function to call for each vector in the array
     * @param arg additional argument to pass to fn
     * @returns a
     * @function
     */
    public static forEach(a: Float32Array, stride: number, offset: number, count: number,
                          fn: (a: vec4, b: vec4, arg: any) => void, arg: any): Float32Array;

    /**
     * Perform some operation over an array of vec4s.
     *
     * @param a the array of vectors to iterate over
     * @param stride Number of elements between the start of each vec4. If 0 assumes tightly packed
     * @param offset Number of elements to skip at the beginning of the array
     * @param count Number of vec4s to iterate over. If 0 iterates over entire array
     * @param fn Function to call for each vector in the array
     * @returns a
     * @function
     */
    public static forEach(a: Float32Array, stride: number, offset: number, count: number,
                          fn: (a: vec4, b: vec4) => void): Float32Array;

    /**
     * Returns a string representation of a vector
     *
     * @param a vector to represent as a string
     * @returns string representation of the vector
     */
    public static str(a: vec4): string;

    /**
     * Returns whether or not the vectors have exactly the same elements in the same position (when compared with ===)
     *
     * @param {vec4} a The first vector.
     * @param {vec4} b The second vector.
     * @returns {boolean} True if the vectors are equal, false otherwise.
     */
    public static exactEquals (a:vec4, b:vec4) : boolean;

    /**
     * Returns whether or not the vectors have approximately the same elements in the same position.
     *
     * @param {vec4} a The first vector.
     * @param {vec4} b The second vector.
     * @returns {boolean} True if the vectors are equal, false otherwise.
     */
    public static equals (a:vec4, b:vec4) : boolean;
}

// mat2
export class mat2 extends Float32Array {
    private typeMat2:number;

    /**
     * Creates a new identity mat2
     *
     * @returns a new 2x2 matrix
     */
    public static create():mat2;

    /**
     * Creates a new mat2 initialized with values from an existing matrix
     *
     * @param a matrix to clone
     * @returns a new 2x2 matrix
     */
    public static clone(a:mat2):mat2;

    /**
     * Copy the values from one mat2 to another
     *
     * @param out the receiving matrix
     * @param a the source matrix
     * @returns out
     */
    public static copy(out:mat2, a:mat2):mat2;

    /**
     * Set a mat2 to the identity matrix
     *
     * @param out the receiving matrix
     * @returns out
     */
    public static identity(out:mat2):mat2;

    /**
     * Create a new mat2 with the given values
     *
     * @param {number} m00 Component in column 0, row 0 position (index 0)
     * @param {number} m01 Component in column 0, row 1 position (index 1)
     * @param {number} m10 Component in column 1, row 0 position (index 2)
     * @param {number} m11 Component in column 1, row 1 position (index 3)
     * @returns {mat2} out A new 2x2 matrix
     */
    public static fromValues(m00:number, m01:number, m10:number, m11:number):mat2;

    /**
     * Set the components of a mat2 to the given values
     *
     * @param {mat2} out the receiving matrix
     * @param {number} m00 Component in column 0, row 0 position (index 0)
     * @param {number} m01 Component in column 0, row 1 position (index 1)
     * @param {number} m10 Component in column 1, row 0 position (index 2)
     * @param {number} m11 Component in column 1, row 1 position (index 3)
     * @returns {mat2} out
     */
    public static set(out:mat2, m00:number, m01:number, m10:number, m11:number):mat2;

    /**
     * Transpose the values of a mat2
     *
     * @param out the receiving matrix
     * @param a the source matrix
     * @returns out
     */
    public static transpose(out:mat2, a:mat2):mat2;

    /**
     * Inverts a mat2
     *
     * @param out the receiving matrix
     * @param a the source matrix
     * @returns out
     */
    public static invert(out:mat2, a:mat2):mat2;

    /**
     * Calculates the adjugate of a mat2
     *
     * @param out the receiving matrix
     * @param a the source matrix
     * @returns out
     */
    public static adjoint(out:mat2, a:mat2):mat2;

    /**
     * Calculates the determinant of a mat2
     *
     * @param a the source matrix
     * @returns determinant of a
     */
    public static determinant(a:mat2):number;

    /**
     * Multiplies two mat2's
     *
     * @param out the receiving matrix
     * @param a the first operand
     * @param b the second operand
     * @returns out
     */
    public static multiply(out:mat2, a:mat2, b:mat2):mat2;

    /**
     * Multiplies two mat2's
     *
     * @param out the receiving matrix
     * @param a the first operand
     * @param b the second operand
     * @returns out
     */
    public static mul(out:mat2, a:mat2, b:mat2):mat2;

    /**
     * Rotates a mat2 by the given angle
     *
     * @param out the receiving matrix
     * @param a the matrix to rotate
     * @param rad the angle to rotate the matrix by
     * @returns out
     */
    public static rotate(out:mat2, a:mat2, rad:number):mat2;

    /**
     * Scales the mat2 by the dimensions in the given vec2
     *
     * @param out the receiving matrix
     * @param a the matrix to rotate
     * @param v the vec2 to scale the matrix by
     * @returns out
     **/
    public static scale(out:mat2, a:mat2, v:vec2):mat2;

    /**
     * Creates a matrix from a given angle
     * This is equivalent to (but much faster than):
     *
     *     mat2.identity(dest);
     *     mat2.rotate(dest, dest, rad);
     *
     * @param {mat2} out mat2 receiving operation result
     * @param {number} rad the angle to rotate the matrix by
     * @returns {mat2} out
     */
    public static fromRotation(out:mat2, rad:number):mat2;

    /**
     * Creates a matrix from a vector scaling
     * This is equivalent to (but much faster than):
     *
     *     mat2.identity(dest);
     *     mat2.scale(dest, dest, vec);
     *
     * @param {mat2} out mat2 receiving operation result
     * @param {vec2} v Scaling vector
     * @returns {mat2} out
     */
    public static fromScaling(out:mat2, v:vec2):mat2;

    /**
     * Returns a string representation of a mat2
     *
     * @param a matrix to represent as a string
     * @returns string representation of the matrix
     */
    public static str(a:mat2):string;

    /**
     * Returns Frobenius norm of a mat2
     *
     * @param a the matrix to calculate Frobenius norm of
     * @returns Frobenius norm
     */
    public static frob(a:mat2):number;

    /**
     * Returns L, D and U matrices (Lower triangular, Diagonal and Upper triangular) by factorizing the input matrix
     * @param L the lower triangular matrix
     * @param D the diagonal matrix
     * @param U the upper triangular matrix
     * @param a the input matrix to factorize
     */
    public static LDU(L:mat2, D:mat2, U:mat2, a:mat2):mat2;

    /**
     * Adds two mat2's
     *
     * @param {mat2} out the receiving matrix
     * @param {mat2} a the first operand
     * @param {mat2} b the second operand
     * @returns {mat2} out
     */
    public static add(out:mat2, a:mat2, b:mat2):mat2;

    /**
     * Subtracts matrix b from matrix a
     *
     * @param {mat2} out the receiving matrix
     * @param {mat2} a the first operand
     * @param {mat2} b the second operand
     * @returns {mat2} out
     */
    public static subtract (out:mat2, a:mat2, b:mat2):mat2;

    /**
     * Subtracts matrix b from matrix a
     *
     * @param {mat2} out the receiving matrix
     * @param {mat2} a the first operand
     * @param {mat2} b the second operand
     * @returns {mat2} out
     */
    public static sub (out:mat2, a:mat2, b:mat2):mat2;

    /**
     * Returns whether or not the matrices have exactly the same elements in the same position (when compared with ===)
     *
     * @param {mat2} a The first matrix.
     * @param {mat2} b The second matrix.
     * @returns {boolean} True if the matrices are equal, false otherwise.
     */
    public static exactEquals (a:mat2, b:mat2):boolean;

    /**
     * Returns whether or not the matrices have approximately the same elements in the same position.
     *
     * @param {mat2} a The first matrix.
     * @param {mat2} b The second matrix.
     * @returns {boolean} True if the matrices are equal, false otherwise.
     */
    public static equals (a:mat2, b:mat2) :boolean;

    /**
     * Multiply each element of the matrix by a scalar.
     *
     * @param {mat2} out the receiving matrix
     * @param {mat2} a the matrix to scale
     * @param {number} b amount to scale the matrix's elements by
     * @returns {mat2} out
     */
    public static multiplyScalar (out:mat2, a:mat2, b:number) :mat2

    /**
     * Adds two mat2's after multiplying each element of the second operand by a scalar value.
     *
     * @param {mat2} out the receiving vector
     * @param {mat2} a the first operand
     * @param {mat2} b the second operand
     * @param {number} scale the amount to scale b's elements by before adding
     * @returns {mat2} out
     */
    public static multiplyScalarAndAdd (out:mat2, a:mat2, b:mat2, scale:number): mat2



}

// mat2d
export class mat2d extends Float32Array {
    private typeMat2d:number;

    /**
     * Creates a new identity mat2d
     *
     * @returns a new 2x3 matrix
     */
    public static create(): mat2d;

    /**
     * Creates a new mat2d initialized with values from an existing matrix
     *
     * @param a matrix to clone
     * @returns a new 2x3 matrix
     */
    public static clone(a: mat2d): mat2d;

    /**
     * Copy the values from one mat2d to another
     *
     * @param out the receiving matrix
     * @param a the source matrix
     * @returns out
     */
    public static copy(out: mat2d, a: mat2d): mat2d;

    /**
     * Set a mat2d to the identity matrix
     *
     * @param out the receiving matrix
     * @returns out
     */
    public static identity(out: mat2d): mat2d;

    /**
     * Create a new mat2d with the given values
     *
     * @param {number} a Component A (index 0)
     * @param {number} b Component B (index 1)
     * @param {number} c Component C (index 2)
     * @param {number} d Component D (index 3)
     * @param {number} tx Component TX (index 4)
     * @param {number} ty Component TY (index 5)
     * @returns {mat2d} A new mat2d
     */
    public static fromValues (a:number, b:number, c:number, d:number, tx:number, ty:number) : mat2d


    /**
     * Set the components of a mat2d to the given values
     *
     * @param {mat2d} out the receiving matrix
     * @param {number} a Component A (index 0)
     * @param {number} b Component B (index 1)
     * @param {number} c Component C (index 2)
     * @param {number} d Component D (index 3)
     * @param {number} tx Component TX (index 4)
     * @param {number} ty Component TY (index 5)
     * @returns {mat2d} out
     */
    public static set (out:mat2d, a:number, b:number, c:number, d:number, tx:number, ty:number) :mat2d

    /**
     * Inverts a mat2d
     *
     * @param out the receiving matrix
     * @param a the source matrix
     * @returns out
     */
    public static invert(out: mat2d, a: mat2d): mat2d;

    /**
     * Calculates the determinant of a mat2d
     *
     * @param a the source matrix
     * @returns determinant of a
     */
    public static determinant(a: mat2d): number;

    /**
     * Multiplies two mat2d's
     *
     * @param out the receiving matrix
     * @param a the first operand
     * @param b the second operand
     * @returns out
     */
    public static multiply(out: mat2d, a: mat2d, b: mat2d): mat2d;

    /**
     * Multiplies two mat2d's
     *
     * @param out the receiving matrix
     * @param a the first operand
     * @param b the second operand
     * @returns out
     */
    public static mul(out: mat2d, a: mat2d, b: mat2d): mat2d;

    /**
     * Rotates a mat2d by the given angle
     *
     * @param out the receiving matrix
     * @param a the matrix to rotate
     * @param rad the angle to rotate the matrix by
     * @returns out
     */
    public static rotate(out: mat2d, a: mat2d, rad: number): mat2d;

    /**
     * Scales the mat2d by the dimensions in the given vec2
     *
     * @param out the receiving matrix
     * @param a the matrix to translate
     * @param v the vec2 to scale the matrix by
     * @returns out
     **/
    public static scale(out: mat2d, a: mat2d, v: vec2): mat2d;

    /**
     * Translates the mat2d by the dimensions in the given vec2
     *
     * @param out the receiving matrix
     * @param a the matrix to translate
     * @param v the vec2 to translate the matrix by
     * @returns out
     **/
    public static translate(out: mat2d, a: mat2d, v: vec2): mat2d;

    /**
     * Creates a matrix from a given angle
     * This is equivalent to (but much faster than):
     *
     *     mat2d.identity(dest);
     *     mat2d.rotate(dest, dest, rad);
     *
     * @param {mat2d} out mat2d receiving operation result
     * @param {number} rad the angle to rotate the matrix by
     * @returns {mat2d} out
     */
    public static fromRotation (out:mat2d, rad:number): mat2d;

    /**
     * Creates a matrix from a vector scaling
     * This is equivalent to (but much faster than):
     *
     *     mat2d.identity(dest);
     *     mat2d.scale(dest, dest, vec);
     *
     * @param {mat2d} out mat2d receiving operation result
     * @param {vec2} v Scaling vector
     * @returns {mat2d} out
     */
    public static fromScaling (out:mat2d, v:vec2):mat2d;

    /**
     * Creates a matrix from a vector translation
     * This is equivalent to (but much faster than):
     *
     *     mat2d.identity(dest);
     *     mat2d.translate(dest, dest, vec);
     *
     * @param {mat2d} out mat2d receiving operation result
     * @param {vec2} v Translation vector
     * @returns {mat2d} out
     */
    public static fromTranslation (out:mat2d, v:vec2):mat2d

    /**
     * Returns a string representation of a mat2d
     *
     * @param a matrix to represent as a string
     * @returns string representation of the matrix
     */
    public static str(a: mat2d): string;

    /**
     * Returns Frobenius norm of a mat2d
     *
     * @param a the matrix to calculate Frobenius norm of
     * @returns Frobenius norm
     */
    public static frob(a: mat2d): number;

    /**
     * Adds two mat2d's
     *
     * @param {mat2d} out the receiving matrix
     * @param {mat2d} a the first operand
     * @param {mat2d} b the second operand
     * @returns {mat2d} out
     */
    public static add (out: mat2d, a: mat2d, b: mat2d): mat2d

    /**
     * Subtracts matrix b from matrix a
     *
     * @param {mat2d} out the receiving matrix
     * @param {mat2d} a the first operand
     * @param {mat2d} b the second operand
     * @returns {mat2d} out
     */
    public static subtract(out: mat2d, a: mat2d, b: mat2d): mat2d

    /**
     * Subtracts matrix b from matrix a
     *
     * @param {mat2d} out the receiving matrix
     * @param {mat2d} a the first operand
     * @param {mat2d} b the second operand
     * @returns {mat2d} out
     */
    public static sub(out: mat2d, a: mat2d, b: mat2d): mat2d

    /**
     * Multiply each element of the matrix by a scalar.
     *
     * @param {mat2d} out the receiving matrix
     * @param {mat2d} a the matrix to scale
     * @param {number} b amount to scale the matrix's elements by
     * @returns {mat2d} out
     */
    public static multiplyScalar (out: mat2d, a: mat2d, b: number): mat2d;

    /**
     * Adds two mat2d's after multiplying each element of the second operand by a scalar value.
     *
     * @param {mat2d} out the receiving vector
     * @param {mat2d} a the first operand
     * @param {mat2d} b the second operand
     * @param {number} scale the amount to scale b's elements by before adding
     * @returns {mat2d} out
     */
    public static multiplyScalarAndAdd (out: mat2d, a: mat2d, b: mat2d, scale:number) : mat2d

    /**
     * Returns whether or not the matrices have exactly the same elements in the same position (when compared with ===)
     *
     * @param {mat2d} a The first matrix.
     * @param {mat2d} b The second matrix.
     * @returns {boolean} True if the matrices are equal, false otherwise.
     */
    public static exactEquals (a: mat2d, b: mat2d): boolean;

    /**
     * Returns whether or not the matrices have approximately the same elements in the same position.
     *
     * @param {mat2d} a The first matrix.
     * @param {mat2d} b The second matrix.
     * @returns {boolean} True if the matrices are equal, false otherwise.
     */
    public static equals (a: mat2d, b: mat2d): boolean
}

// mat3
export class mat3 extends Float32Array {
    private typeMat3:number;

    /**
     * Creates a new identity mat3
     *
     * @returns a new 3x3 matrix
     */
    public static create():mat3;

    /**
     * Copies the upper-left 3x3 values into the given mat3.
     *
     * @param {mat3} out the receiving 3x3 matrix
     * @param {mat4} a   the source 4x4 matrix
     * @returns {mat3} out
     */
    public static fromMat4(out:mat3, a:mat4):mat3

    /**
     * Creates a new mat3 initialized with values from an existing matrix
     *
     * @param a matrix to clone
     * @returns a new 3x3 matrix
     */
    public static clone(a:mat3):mat3;

    /**
     * Copy the values from one mat3 to another
     *
     * @param out the receiving matrix
     * @param a the source matrix
     * @returns out
     */
    public static copy(out:mat3, a:mat3):mat3;

    /**
     * Create a new mat3 with the given values
     *
     * @param {number} m00 Component in column 0, row 0 position (index 0)
     * @param {number} m01 Component in column 0, row 1 position (index 1)
     * @param {number} m02 Component in column 0, row 2 position (index 2)
     * @param {number} m10 Component in column 1, row 0 position (index 3)
     * @param {number} m11 Component in column 1, row 1 position (index 4)
     * @param {number} m12 Component in column 1, row 2 position (index 5)
     * @param {number} m20 Component in column 2, row 0 position (index 6)
     * @param {number} m21 Component in column 2, row 1 position (index 7)
     * @param {number} m22 Component in column 2, row 2 position (index 8)
     * @returns {mat3} A new mat3
     */
    public static fromValues(m00:number, m01:number, m02:number, m10:number, m11:number, m12:number, m20:number, m21:number, m22:number):mat3;


    /**
     * Set the components of a mat3 to the given values
     *
     * @param {mat3} out the receiving matrix
     * @param {number} m00 Component in column 0, row 0 position (index 0)
     * @param {number} m01 Component in column 0, row 1 position (index 1)
     * @param {number} m02 Component in column 0, row 2 position (index 2)
     * @param {number} m10 Component in column 1, row 0 position (index 3)
     * @param {number} m11 Component in column 1, row 1 position (index 4)
     * @param {number} m12 Component in column 1, row 2 position (index 5)
     * @param {number} m20 Component in column 2, row 0 position (index 6)
     * @param {number} m21 Component in column 2, row 1 position (index 7)
     * @param {number} m22 Component in column 2, row 2 position (index 8)
     * @returns {mat3} out
     */
    public static set(out:mat3, m00:number, m01:number, m02:number, m10:number, m11:number, m12:number, m20:number, m21:number, m22:number):mat3

    /**
     * Set a mat3 to the identity matrix
     *
     * @param out the receiving matrix
     * @returns out
     */
    public static identity(out:mat3):mat3;

    /**
     * Transpose the values of a mat3
     *
     * @param out the receiving matrix
     * @param a the source matrix
     * @returns out
     */
    public static transpose(out:mat3, a:mat3):mat3;

    /**
     * Inverts a mat3
     *
     * @param out the receiving matrix
     * @param a the source matrix
     * @returns out
     */
    public static invert(out:mat3, a:mat3):mat3;

    /**
     * Calculates the adjugate of a mat3
     *
     * @param out the receiving matrix
     * @param a the source matrix
     * @returns out
     */
    public static adjoint(out:mat3, a:mat3):mat3;

    /**
     * Calculates the determinant of a mat3
     *
     * @param a the source matrix
     * @returns determinant of a
     */
    public static determinant(a:mat3):number;

    /**
     * Multiplies two mat3's
     *
     * @param out the receiving matrix
     * @param a the first operand
     * @param b the second operand
     * @returns out
     */
    public static multiply(out:mat3, a:mat3, b:mat3):mat3;

    /**
     * Multiplies two mat3's
     *
     * @param out the receiving matrix
     * @param a the first operand
     * @param b the second operand
     * @returns out
     */
    public static mul(out:mat3, a:mat3, b:mat3):mat3;


    /**
     * Translate a mat3 by the given vector
     *
     * @param out the receiving matrix
     * @param a the matrix to translate
     * @param v vector to translate by
     * @returns out
     */
    public static translate(out:mat3, a:mat3, v:vec3):mat3;

    /**
     * Rotates a mat3 by the given angle
     *
     * @param out the receiving matrix
     * @param a the matrix to rotate
     * @param rad the angle to rotate the matrix by
     * @returns out
     */
    public static rotate(out:mat3, a:mat3, rad:number):mat3;

    /**
     * Scales the mat3 by the dimensions in the given vec2
     *
     * @param out the receiving matrix
     * @param a the matrix to rotate
     * @param v the vec2 to scale the matrix by
     * @returns out
     **/
    public static scale(out:mat3, a:mat3, v:vec2):mat3;

    /**
     * Creates a matrix from a vector translation
     * This is equivalent to (but much faster than):
     *
     *     mat3.identity(dest);
     *     mat3.translate(dest, dest, vec);
     *
     * @param {mat3} out mat3 receiving operation result
     * @param {vec2} v Translation vector
     * @returns {mat3} out
     */
    public static fromTranslation(out:mat3, v:vec2):mat3

    /**
     * Creates a matrix from a given angle
     * This is equivalent to (but much faster than):
     *
     *     mat3.identity(dest);
     *     mat3.rotate(dest, dest, rad);
     *
     * @param {mat3} out mat3 receiving operation result
     * @param {number} rad the angle to rotate the matrix by
     * @returns {mat3} out
     */
    public static fromRotation(out:mat3, rad:number):mat3

    /**
     * Creates a matrix from a vector scaling
     * This is equivalent to (but much faster than):
     *
     *     mat3.identity(dest);
     *     mat3.scale(dest, dest, vec);
     *
     * @param {mat3} out mat3 receiving operation result
     * @param {vec2} v Scaling vector
     * @returns {mat3} out
     */
    public static fromScaling(out:mat3, v:vec2):mat3

    /**
     * Copies the values from a mat2d into a mat3
     *
     * @param out the receiving matrix
     * @param {mat2d} a the matrix to copy
     * @returns out
     **/
    public static fromMat2d(out:mat3, a:mat2d):mat3;

    /**
     * Calculates a 3x3 matrix from the given quaternion
     *
     * @param out mat3 receiving operation result
     * @param q Quaternion to create matrix from
     *
     * @returns out
     */
    public static fromQuat(out:mat3, q:quat):mat3;

    /**
     * Calculates a 3x3 normal matrix (transpose inverse) from the 4x4 matrix
     *
     * @param out mat3 receiving operation result
     * @param a Mat4 to derive the normal matrix from
     *
     * @returns out
     */
    public static normalFromMat4(out:mat3, a:mat4):mat3;

    /**
     * Returns a string representation of a mat3
     *
     * @param mat matrix to represent as a string
     * @returns string representation of the matrix
     */
    public static str(mat:mat3):string;

    /**
     * Returns Frobenius norm of a mat3
     *
     * @param a the matrix to calculate Frobenius norm of
     * @returns Frobenius norm
     */
    public static frob(a:mat3):number;

    /**
     * Adds two mat3's
     *
     * @param {mat3} out the receiving matrix
     * @param {mat3} a the first operand
     * @param {mat3} b the second operand
     * @returns {mat3} out
     */
    public static add(out:mat3, a:mat3, b:mat3):mat3

    /**
     * Subtracts matrix b from matrix a
     *
     * @param {mat3} out the receiving matrix
     * @param {mat3} a the first operand
     * @param {mat3} b the second operand
     * @returns {mat3} out
     */
    public static subtract(out:mat3, a:mat3, b:mat3):mat3

    /**
     * Subtracts matrix b from matrix a
     *
     * @param {mat3} out the receiving matrix
     * @param {mat3} a the first operand
     * @param {mat3} b the second operand
     * @returns {mat3} out
     */
    public static sub(out:mat3, a:mat3, b:mat3):mat3

    /**
     * Multiply each element of the matrix by a scalar.
     *
     * @param {mat3} out the receiving matrix
     * @param {mat3} a the matrix to scale
     * @param {number} b amount to scale the matrix's elements by
     * @returns {mat3} out
     */
    public static multiplyScalar(out:mat3, a:mat3, b:number):mat3

    /**
     * Adds two mat3's after multiplying each element of the second operand by a scalar value.
     *
     * @param {mat3} out the receiving vector
     * @param {mat3} a the first operand
     * @param {mat3} b the second operand
     * @param {number} scale the amount to scale b's elements by before adding
     * @returns {mat3} out
     */
    public static multiplyScalarAndAdd(out:mat3, a:mat3, b:mat3, scale:number):mat3

    /**
     * Returns whether or not the matrices have exactly the same elements in the same position (when compared with ===)
     *
     * @param {mat3} a The first matrix.
     * @param {mat3} b The second matrix.
     * @returns {boolean} True if the matrices are equal, false otherwise.
     */
    public static exactEquals(a:mat3, b:mat3):boolean;

    /**
     * Returns whether or not the matrices have approximately the same elements in the same position.
     *
     * @param {mat3} a The first matrix.
     * @param {mat3} b The second matrix.
     * @returns {boolean} True if the matrices are equal, false otherwise.
     */
    public static equals(a:mat3, b:mat3):boolean
}

// mat4
export class mat4 extends Float32Array {
    private typeMat4:number;

    /**
     * Creates a new identity mat4
     *
     * @returns a new 4x4 matrix
     */
    public static create():mat4;

    /**
     * Creates a new mat4 initialized with values from an existing matrix
     *
     * @param a matrix to clone
     * @returns a new 4x4 matrix
     */
    public static clone(a:mat4):mat4;

    /**
     * Copy the values from one mat4 to another
     *
     * @param out the receiving matrix
     * @param a the source matrix
     * @returns out
     */
    public static copy(out:mat4, a:mat4):mat4;


    /**
     * Create a new mat4 with the given values
     *
     * @param {number} m00 Component in column 0, row 0 position (index 0)
     * @param {number} m01 Component in column 0, row 1 position (index 1)
     * @param {number} m02 Component in column 0, row 2 position (index 2)
     * @param {number} m03 Component in column 0, row 3 position (index 3)
     * @param {number} m10 Component in column 1, row 0 position (index 4)
     * @param {number} m11 Component in column 1, row 1 position (index 5)
     * @param {number} m12 Component in column 1, row 2 position (index 6)
     * @param {number} m13 Component in column 1, row 3 position (index 7)
     * @param {number} m20 Component in column 2, row 0 position (index 8)
     * @param {number} m21 Component in column 2, row 1 position (index 9)
     * @param {number} m22 Component in column 2, row 2 position (index 10)
     * @param {number} m23 Component in column 2, row 3 position (index 11)
     * @param {number} m30 Component in column 3, row 0 position (index 12)
     * @param {number} m31 Component in column 3, row 1 position (index 13)
     * @param {number} m32 Component in column 3, row 2 position (index 14)
     * @param {number} m33 Component in column 3, row 3 position (index 15)
     * @returns {mat4} A new mat4
     */
    public static fromValues(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):mat4;

    /**
     * Set the components of a mat4 to the given values
     *
     * @param {mat4} out the receiving matrix
     * @param {number} m00 Component in column 0, row 0 position (index 0)
     * @param {number} m01 Component in column 0, row 1 position (index 1)
     * @param {number} m02 Component in column 0, row 2 position (index 2)
     * @param {number} m03 Component in column 0, row 3 position (index 3)
     * @param {number} m10 Component in column 1, row 0 position (index 4)
     * @param {number} m11 Component in column 1, row 1 position (index 5)
     * @param {number} m12 Component in column 1, row 2 position (index 6)
     * @param {number} m13 Component in column 1, row 3 position (index 7)
     * @param {number} m20 Component in column 2, row 0 position (index 8)
     * @param {number} m21 Component in column 2, row 1 position (index 9)
     * @param {number} m22 Component in column 2, row 2 position (index 10)
     * @param {number} m23 Component in column 2, row 3 position (index 11)
     * @param {number} m30 Component in column 3, row 0 position (index 12)
     * @param {number} m31 Component in column 3, row 1 position (index 13)
     * @param {number} m32 Component in column 3, row 2 position (index 14)
     * @param {number} m33 Component in column 3, row 3 position (index 15)
     * @returns {mat4} out
     */
    public static set(out:mat4, 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):mat4;

    /**
     * Set a mat4 to the identity matrix
     *
     * @param out the receiving matrix
     * @returns out
     */
    public static identity(out:mat4):mat4;

    /**
     * Transpose the values of a mat4
     *
     * @param out the receiving matrix
     * @param a the source matrix
     * @returns out
     */
    public static transpose(out:mat4, a:mat4):mat4;

    /**
     * Inverts a mat4
     *
     * @param out the receiving matrix
     * @param a the source matrix
     * @returns out
     */
    public static invert(out:mat4, a:mat4):mat4;

    /**
     * Calculates the adjugate of a mat4
     *
     * @param out the receiving matrix
     * @param a the source matrix
     * @returns out
     */
    public static adjoint(out:mat4, a:mat4):mat4;

    /**
     * Calculates the determinant of a mat4
     *
     * @param a the source matrix
     * @returns determinant of a
     */
    public static determinant(a:mat4):number;

    /**
     * Multiplies two mat4's
     *
     * @param out the receiving matrix
     * @param a the first operand
     * @param b the second operand
     * @returns out
     */
    public static multiply(out:mat4, a:mat4, b:mat4):mat4;

    /**
     * Multiplies two mat4's
     *
     * @param out the receiving matrix
     * @param a the first operand
     * @param b the second operand
     * @returns out
     */
    public static mul(out:mat4, a:mat4, b:mat4):mat4;

    /**
     * Translate a mat4 by the given vector
     *
     * @param out the receiving matrix
     * @param a the matrix to translate
     * @param v vector to translate by
     * @returns out
     */
    public static translate(out:mat4, a:mat4, v:vec3):mat4;

    /**
     * Scales the mat4 by the dimensions in the given vec3
     *
     * @param out the receiving matrix
     * @param a the matrix to scale
     * @param v the vec3 to scale the matrix by
     * @returns out
     **/
    public static scale(out:mat4, a:mat4, v:vec3):mat4;

    /**
     * Rotates a mat4 by the given angle
     *
     * @param out the receiving matrix
     * @param a the matrix to rotate
     * @param rad the angle to rotate the matrix by
     * @param axis the axis to rotate around
     * @returns out
     */
    public static rotate(out:mat4, a:mat4, rad:number, axis:vec3):mat4;

    /**
     * Rotates a matrix by the given angle around the X axis
     *
     * @param out the receiving matrix
     * @param a the matrix to rotate
     * @param rad the angle to rotate the matrix by
     * @returns out
     */
    public static rotateX(out:mat4, a:mat4, rad:number):mat4;

    /**
     * Rotates a matrix by the given angle around the Y axis
     *
     * @param out the receiving matrix
     * @param a the matrix to rotate
     * @param rad the angle to rotate the matrix by
     * @returns out
     */
    public static rotateY(out:mat4, a:mat4, rad:number):mat4;

    /**
     * Rotates a matrix by the given angle around the Z axis
     *
     * @param out the receiving matrix
     * @param a the matrix to rotate
     * @param rad the angle to rotate the matrix by
     * @returns out
     */
    public static rotateZ(out:mat4, a:mat4, rad:number):mat4;

    /**
     * Creates a matrix from a vector translation
     * This is equivalent to (but much faster than):
     *
     *     mat4.identity(dest);
     *     mat4.translate(dest, dest, vec);
     *
     * @param {mat4} out mat4 receiving operation result
     * @param {vec3} v Translation vector
     * @returns {mat4} out
     */
    public static fromTranslation(out:mat4, v:vec3):mat4

    /**
     * Creates a matrix from a vector scaling
     * This is equivalent to (but much faster than):
     *
     *     mat4.identity(dest);
     *     mat4.scale(dest, dest, vec);
     *
     * @param {mat4} out mat4 receiving operation result
     * @param {vec3} v Scaling vector
     * @returns {mat4} out
     */
    public static fromScaling(out:mat4, v:vec3):mat4

    /**
     * Creates a matrix from a given angle around a given axis
     * This is equivalent to (but much faster than):
     *
     *     mat4.identity(dest);
     *     mat4.rotate(dest, dest, rad, axis);
     *
     * @param {mat4} out mat4 receiving operation result
     * @param {number} rad the angle to rotate the matrix by
     * @param {vec3} axis the axis to rotate around
     * @returns {mat4} out
     */
    public static fromRotation(out:mat4, rad:number, axis:vec3):mat4

    /**
     * Creates a matrix from the given angle around the X axis
     * This is equivalent to (but much faster than):
     *
     *     mat4.identity(dest);
     *     mat4.rotateX(dest, dest, rad);
     *
     * @param {mat4} out mat4 receiving operation result
     * @param {number} rad the angle to rotate the matrix by
     * @returns {mat4} out
     */
    public static fromXRotation(out:mat4, rad:number):mat4

    /**
     * Creates a matrix from the given angle around the Y axis
     * This is equivalent to (but much faster than):
     *
     *     mat4.identity(dest);
     *     mat4.rotateY(dest, dest, rad);
     *
     * @param {mat4} out mat4 receiving operation result
     * @param {number} rad the angle to rotate the matrix by
     * @returns {mat4} out
     */
    public static fromYRotation(out:mat4, rad:number):mat4


    /**
     * Creates a matrix from the given angle around the Z axis
     * This is equivalent to (but much faster than):
     *
     *     mat4.identity(dest);
     *     mat4.rotateZ(dest, dest, rad);
     *
     * @param {mat4} out mat4 receiving operation result
     * @param {number} rad the angle to rotate the matrix by
     * @returns {mat4} out
     */
    public static fromZRotation(out:mat4, rad:number):mat4

    /**
     * Creates a matrix from a quaternion rotation and vector translation
     * This is equivalent to (but much faster than):
     *
     *     mat4.identity(dest);
     *     mat4.translate(dest, vec);
     *     var quatMat = mat4.create();
     *     quat4.toMat4(quat, quatMat);
     *     mat4.multiply(dest, quatMat);
     *
     * @param out mat4 receiving operation result
     * @param q Rotation quaternion
     * @param v Translation vector
     * @returns out
     */
    public static fromRotationTranslation(out:mat4, q:quat, v:vec3):mat4;

    /**
     * Returns the translation vector component of a transformation
     *  matrix. If a matrix is built with fromRotationTranslation,
     *  the returned vector will be the same as the translation vector
     *  originally supplied.
     * @param  {vec3} out Vector to receive translation component
     * @param  {mat4} mat Matrix to be decomposed (input)
     * @return {vec3} out
     */
    public static getTranslation(out:vec3, mat:mat4):vec3;

    /**
     * Returns a quaternion representing the rotational component
     *  of a transformation matrix. If a matrix is built with
     *  fromRotationTranslation, the returned quaternion will be the
     *  same as the quaternion originally supplied.
     * @param {quat} out Quaternion to receive the rotation component
     * @param {mat4} mat Matrix to be decomposed (input)
     * @return {quat} out
     */
    public static getRotation(out:quat, mat:mat4):quat;

    /**
     * Creates a matrix from a quaternion rotation, vector translation and vector scale
     * This is equivalent to (but much faster than):
     *
     *     mat4.identity(dest);
     *     mat4.translate(dest, vec);
     *     var quatMat = mat4.create();
     *     quat4.toMat4(quat, quatMat);
     *     mat4.multiply(dest, quatMat);
     *     mat4.scale(dest, scale)
     *
     * @param out mat4 receiving operation result
     * @param q Rotation quaternion
     * @param v Translation vector
     * @param s Scaling vector
     * @returns out
     */
    public static fromRotationTranslationScale(out:mat4, q:quat, v:vec3, s:vec3):mat4;

    /**
     * Creates a matrix from a quaternion rotation, vector translation and vector scale, rotating and scaling around the given origin
     * This is equivalent to (but much faster than):
     *
     *     mat4.identity(dest);
     *     mat4.translate(dest, vec);
     *     mat4.translate(dest, origin);
     *     var quatMat = mat4.create();
     *     quat4.toMat4(quat, quatMat);
     *     mat4.multiply(dest, quatMat);
     *     mat4.scale(dest, scale)
     *     mat4.translate(dest, negativeOrigin);
     *
     * @param {mat4} out mat4 receiving operation result
     * @param {quat} q Rotation quaternion
     * @param {vec3} v Translation vector
     * @param {vec3} s Scaling vector
     * @param {vec3} o The origin vector around which to scale and rotate
     * @returns {mat4} out
     */
    public static fromRotationTranslationScaleOrigin(out:mat4, q:quat, v:vec3, s:vec3, o:vec3):mat4

    /**
     * Calculates a 4x4 matrix from the given quaternion
     *
     * @param {mat4} out mat4 receiving operation result
     * @param {quat} q Quaternion to create matrix from
     *
     * @returns {mat4} out
     */
    public static fromQuat(out:mat4, q:quat):mat4

    /**
     * Generates a frustum matrix with the given bounds
     *
     * @param out mat4 frustum matrix will be written into
     * @param left Left bound of the frustum
     * @param right Right bound of the frustum
     * @param bottom Bottom bound of the frustum
     * @param top Top bound of the frustum
     * @param near Near bound of the frustum
     * @param far Far bound of the frustum
     * @returns out
     */
    public static frustum(out:mat4, left:number, right:number,
                          bottom:number, top:number, near:number, far:number):mat4;

    /**
     * Generates a perspective projection matrix with the given bounds
     *
     * @param out mat4 frustum matrix will be written into
     * @param fovy Vertical field of view in radians
     * @param aspect Aspect ratio. typically viewport width/height
     * @param near Near bound of the frustum
     * @param far Far bound of the frustum
     * @returns out
     */
    public static perspective(out:mat4, fovy:number, aspect:number,
                              near:number, far:number):mat4;

    /**
     * Generates a perspective projection matrix with the given field of view.
     * This is primarily useful for generating projection matrices to be used
     * with the still experimental WebVR API.
     *
     * @param {mat4} out mat4 frustum matrix will be written into
     * @param {Object} fov Object containing the following values: upDegrees, downDegrees, leftDegrees, rightDegrees
     * @param {number} near Near bound of the frustum
     * @param {number} far Far bound of the frustum
     * @returns {mat4} out
     */
    public static perspectiveFromFieldOfView(out:mat4,
                                             fov:{upDegrees:number, downDegrees:number, leftDegrees:number, rightDegrees:number},
                                             near:number, far:number):mat4

    /**
     * Generates a orthogonal projection matrix with the given bounds
     *
     * @param out mat4 frustum matrix will be written into
     * @param left Left bound of the frustum
     * @param right Right bound of the frustum
     * @param bottom Bottom bound of the frustum
     * @param top Top bound of the frustum
     * @param near Near bound of the frustum
     * @param far Far bound of the frustum
     * @returns out
     */
    public static ortho(out:mat4, left:number, right:number,
                        bottom:number, top:number, near:number, far:number):mat4;

    /**
     * Generates a look-at matrix with the given eye position, focal point, and up axis
     *
     * @param out mat4 frustum matrix will be written into
     * @param eye Position of the viewer
     * @param center Point the viewer is looking at
     * @param up vec3 pointing up
     * @returns out
     */
    public static lookAt(out:mat4, eye:vec3, center:vec3, up:vec3):mat4;

    /**
     * Returns a string representation of a mat4
     *
     * @param mat matrix to represent as a string
     * @returns string representation of the matrix
     */
    public static str(mat:mat4):string;

    /**
     * Returns Frobenius norm of a mat4
     *
     * @param a the matrix to calculate Frobenius norm of
     * @returns Frobenius norm
     */
    public static frob(a:mat4):number;

    /**
     * Adds two mat4's
     *
     * @param {mat4} out the receiving matrix
     * @param {mat4} a the first operand
     * @param {mat4} b the second operand
     * @returns {mat4} out
     */
    public static add(out:mat4, a:mat4, b:mat4):mat4

    /**
     * Subtracts matrix b from matrix a
     *
     * @param {mat4} out the receiving matrix
     * @param {mat4} a the first operand
     * @param {mat4} b the second operand
     * @returns {mat4} out
     */
    public static subtract(out:mat4, a:mat4, b:mat4):mat4

    /**
     * Subtracts matrix b from matrix a
     *
     * @param {mat4} out the receiving matrix
     * @param {mat4} a the first operand
     * @param {mat4} b the second operand
     * @returns {mat4} out
     */
    public static sub(out:mat4, a:mat4, b:mat4):mat4

    /**
     * Multiply each element of the matrix by a scalar.
     *
     * @param {mat4} out the receiving matrix
     * @param {mat4} a the matrix to scale
     * @param {number} b amount to scale the matrix's elements by
     * @returns {mat4} out
     */
    public static multiplyScalar(out:mat4, a:mat4, b:number):mat4

    /**
     * Adds two mat4's after multiplying each element of the second operand by a scalar value.
     *
     * @param {mat4} out the receiving vector
     * @param {mat4} a the first operand
     * @param {mat4} b the second operand
     * @param {number} scale the amount to scale b's elements by before adding
     * @returns {mat4} out
     */
    public static multiplyScalarAndAdd (out:mat4, a:mat4, b:mat4, scale:number):mat4

    /**
     * Returns whether or not the matrices have exactly the same elements in the same position (when compared with ===)
     *
     * @param {mat4} a The first matrix.
     * @param {mat4} b The second matrix.
     * @returns {boolean} True if the matrices are equal, false otherwise.
     */
    public static exactEquals (a:mat4, b:mat4) :boolean

    /**
     * Returns whether or not the matrices have approximately the same elements in the same position.
     *
     * @param {mat4} a The first matrix.
     * @param {mat4} b The second matrix.
     * @returns {boolean} True if the matrices are equal, false otherwise.
     */
    public static equals (a:mat4, b:mat4): boolean

}

// quat
export class quat extends Float32Array {
    private typeQuat:number;

    /**
     * Creates a new identity quat
     *
     * @returns a new quaternion
     */
    public static create(): quat;

    /**
     * Creates a new quat initialized with values from an existing quaternion
     *
     * @param a quaternion to clone
     * @returns a new quaternion
     * @function
     */
    public static clone(a: quat): quat;

    /**
     * Creates a new quat initialized with the given values
     *
     * @param x X component
     * @param y Y component
     * @param z Z component
     * @param w W component
     * @returns a new quaternion
     * @function
     */
    public static fromValues(x: number, y: number, z: number, w: number): quat;

    /**
     * Copy the values from one quat to another
     *
     * @param out the receiving quaternion
     * @param a the source quaternion
     * @returns out
     * @function
     */
    public static copy(out: quat, a: quat): quat;

    /**
     * Set the components of a quat to the given values
     *
     * @param out the receiving quaternion
     * @param x X component
     * @param y Y component
     * @param z Z component
     * @param w W component
     * @returns out
     * @function
     */
    public static set(out: quat, x: number, y: number, z: number, w: number): quat;

    /**
     * Set a quat to the identity quaternion
     *
     * @param out the receiving quaternion
     * @returns out
     */
    public static identity(out: quat): quat;

    /**
     * Sets a quaternion to represent the shortest rotation from one
     * vector to another.
     *
     * Both vectors are assumed to be unit length.
     *
     * @param {quat} out the receiving quaternion.
     * @param {vec3} a the initial vector
     * @param {vec3} b the destination vector
     * @returns {quat} out
     */
    public static rotationTo (out:quat, a:vec3, b:vec3): quat;

    /**
     * Sets the specified quaternion with values corresponding to the given
     * axes. Each axis is a vec3 and is expected to be unit length and
     * perpendicular to all other specified axes.
     *
     * @param {vec3} view  the vector representing the viewing direction
     * @param {vec3} right the vector representing the local "right" direction
     * @param {vec3} up    the vector representing the local "up" direction
     * @returns {quat} out
     */
    public static setAxes (out:quat, view:vec3, right:vec3, up:vec3):quat



    /**
     * Sets a quat from the given angle and rotation axis,
     * then returns it.
     *
     * @param out the receiving quaternion
     * @param axis the axis around which to rotate
     * @param rad the angle in radians
     * @returns out
     **/
    public static setAxisAngle(out: quat, axis: vec3, rad: number): quat;

    /**
     * Gets the rotation axis and angle for a given
     *  quaternion. If a quaternion is created with
     *  setAxisAngle, this method will return the same
     *  values as providied in the original parameter list
     *  OR functionally equivalent values.
     * Example: The quaternion formed by axis [0, 0, 1] and
     *  angle -90 is the same as the quaternion formed by
     *  [0, 0, 1] and 270. This method favors the latter.
     * @param  {vec3} out_axis  Vector receiving the axis of rotation
     * @param  {quat} q     Quaternion to be decomposed
     * @return {number}     Angle, in radians, of the rotation
     */
    public static getAxisAngle (out_axis:vec3, q:quat) :number

    /**
     * Adds two quat's
     *
     * @param out the receiving quaternion
     * @param a the first operand
     * @param b the second operand
     * @returns out
     * @function
     */
    public static add(out: quat, a: quat, b: quat): quat;

    /**
     * Multiplies two quat's
     *
     * @param out the receiving quaternion
     * @param a the first operand
     * @param b the second operand
     * @returns out
     */
    public static multiply(out: quat, a: quat, b: quat): quat;

    /**
     * Multiplies two quat's
     *
     * @param out the receiving quaternion
     * @param a the first operand
     * @param b the second operand
     * @returns out
     */
    public static mul(out: quat, a: quat, b: quat): quat;

    /**
     * Scales a quat by a scalar number
     *
     * @param out the receiving vector
     * @param a the vector to scale
     * @param b amount to scale the vector by
     * @returns out
     * @function
     */
    public static scale(out: quat, a: quat, b: number): quat;

    /**
     * Calculates the length of a quat
     *
     * @param a vector to calculate length of
     * @returns length of a
     * @function
     */
    public static length(a: quat): number;

    /**
     * Calculates the length of a quat
     *
     * @param a vector to calculate length of
     * @returns length of a
     * @function
     */
    public static len(a: quat): number;

    /**
     * Calculates the squared length of a quat
     *
     * @param a vector to calculate squared length of
     * @returns squared length of a
     * @function
     */
    public static squaredLength(a: quat): number;

    /**
     * Calculates the squared length of a quat
     *
     * @param a vector to calculate squared length of
     * @returns squared length of a
     * @function
     */
    public static sqrLen(a: quat): number;

    /**
     * Normalize a quat
     *
     * @param out the receiving quaternion
     * @param a quaternion to normalize
     * @returns out
     * @function
     */
    public static normalize(out: quat, a: quat): quat;

    /**
     * Calculates the dot product of two quat's
     *
     * @param a the first operand
     * @param b the second operand
     * @returns dot product of a and b
     * @function
     */
    public static dot(a: quat, b: quat): number;

    /**
     * Performs a linear interpolation between two quat's
     *
     * @param out the receiving quaternion
     * @param a the first operand
     * @param b the second operand
     * @param t interpolation amount between the two inputs
     * @returns out
     * @function
     */
    public static lerp(out: quat, a: quat, b: quat, t: number): quat;

    /**
     * Performs a spherical linear interpolation between two quat
     *
     * @param out the receiving quaternion
     * @param a the first operand
     * @param b the second operand
     * @param t interpolation amount between the two inputs
     * @returns out
     */
    public static slerp(out:quat, a:quat, b:quat, t:number): quat;

    /**
     * Performs a spherical linear interpolation with two control points
     *
     * @param {quat} out the receiving quaternion
     * @param {quat} a the first operand
     * @param {quat} b the second operand
     * @param {quat} c the third operand
     * @param {quat} d the fourth operand
     * @param {number} t interpolation amount
     * @returns {quat} out
     */
    public static sqlerp(out: quat, a: quat, b: quat, c: quat, d: quat, t: number): quat;

    /**
     * Calculates the inverse of a quat
     *
     * @param out the receiving quaternion
     * @param a quat to calculate inverse of
     * @returns out
     */
    public static invert(out: quat, a: quat): quat;

    /**
     * Calculates the conjugate of a quat
     * If the quaternion is normalized, this function is faster than quat.inverse and produces the same result.
     *
     * @param out the receiving quaternion
     * @param a quat to calculate conjugate of
     * @returns out
     */
    public static conjugate(out: quat, a: quat): quat;

    /**
     * Returns a string representation of a quaternion
     *
     * @param a quat to represent as a string
     * @returns string representation of the quat
     */
    public static str(a: quat): string;

    /**
     * Rotates a quaternion by the given angle about the X axis
     *
     * @param out quat receiving operation result
     * @param a quat to rotate
     * @param rad angle (in radians) to rotate
     * @returns out
     */
    public static rotateX(out: quat, a: quat, rad: number): quat;

    /**
     * Rotates a quaternion by the given angle about the Y axis
     *
     * @param out quat receiving operation result
     * @param a quat to rotate
     * @param rad angle (in radians) to rotate
     * @returns out
     */
    public static rotateY(out: quat, a: quat, rad: number): quat;

    /**
     * Rotates a quaternion by the given angle about the Z axis
     *
     * @param out quat receiving operation result
     * @param a quat to rotate
     * @param rad angle (in radians) to rotate
     * @returns out
     */
    public static rotateZ(out: quat, a: quat, rad: number): quat;

    /**
     * Creates a quaternion from the given 3x3 rotation matrix.
     *
     * NOTE: The resultant quaternion is not normalized, so you should be sure
     * to renormalize the quaternion yourself where necessary.
     *
     * @param out the receiving quaternion
     * @param m rotation matrix
     * @returns out
     * @function
     */
    public static fromMat3(out: quat, m: mat3): quat;

    /**
     * Sets the specified quaternion with values corresponding to the given
     * axes. Each axis is a vec3 and is expected to be unit length and
     * perpendicular to all other specified axes.
     *
     * @param out the receiving quat
     * @param view  the vector representing the viewing direction
     * @param right the vector representing the local "right" direction
     * @param up    the vector representing the local "up" direction
     * @returns out
     */
    public static setAxes(out: quat, view: vec3, right: vec3, up: vec3): quat;

    /**
     * Sets a quaternion to represent the shortest rotation from one
     * vector to another.
     *
     * Both vectors are assumed to be unit length.
     *
     * @param out the receiving quaternion.
     * @param a the initial vector
     * @param b the destination vector
     * @returns out
     */
    public static rotationTo(out: quat, a: vec3, b: vec3): quat;

    /**
     * Calculates the W component of a quat from the X, Y, and Z components.
     * Assumes that quaternion is 1 unit in length.
     * Any existing W component will be ignored.
     *
     * @param out the receiving quaternion
     * @param a quat to calculate W component of
     * @returns out
     */
    public static calculateW(out: quat, a: quat): quat;

    /**
     * Returns whether or not the quaternions have exactly the same elements in the same position (when compared with ===)
     *
     * @param {quat} a The first vector.
     * @param {quat} b The second vector.
     * @returns {boolean} True if the quaternions are equal, false otherwise.
     */
    public static exactEquals (a:quat, b:quat) : boolean;

    /**
     * Returns whether or not the quaternions have approximately the same elements in the same position.
     *
     * @param {quat} a The first vector.
     * @param {quat} b The second vector.
     * @returns {boolean} True if the quaternions are equal, false otherwise.
     */
    public static equals (a:quat, b:quat) : boolean;
}