fungi.core.js

var Fungi = (function(){
	/*>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>
	Private Scope Variables and Constants
	<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
	const DEG2RAD = Math.PI/180;		//Cache result, one less operation to do for each update.

	var	gl = null,
		CULLING_STATE = true,			//Global state if the feature is enabled
		BLENDING_STATE = false,			//Same---
		DEPTHTEST_STATE = true,
		SAMPLE_ALPHA_COV_STATE = false;

	/*>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>
	<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
	function Init(canvasID){
		if(Fungi.gl != null) return Fungi.gl;

		var canvas = document.getElementById(canvasID);
		gl = canvas.getContext("webgl2");
		if(!gl){ console.error("WebGL context is not available."); return null; }

		//...................................................
		//Setup GL, Set all the default configurations we need.
		gl.cullFace(gl.BACK);								//Back is also default
		gl.frontFace(gl.CCW);								//Dont really need to set it, its ccw by default.
		gl.enable(gl.DEPTH_TEST);							//Shouldn't use this, use something else to add depth detection
		gl.enable(gl.CULL_FACE);							//Cull back face, so only show triangles that are created clockwise
		gl.depthFunc(gl.LEQUAL);							//Near things obscure far things
		gl.blendFunc(gl.SRC_ALPHA, gl.ONE_MINUS_SRC_ALPHA);	//Setup default alpha blending
		//gl.clearColor(1.0,1.0,1.0,1.0);	//Set clear color

		//...................................................
		//Methods
		//Reset the canvas with our set background color.	
		gl.fClear = function(){ this.clear(this.COLOR_BUFFER_BIT | this.DEPTH_BUFFER_BIT); return this; };
		gl.fClearColor = function(hex){
			var a = Util.rgbArray(hex);
			gl.clearColor(a[0],a[1],a[2],1.0);
			return this;
		}

		//Create and fill our Array buffer.
		gl.fCreateArrayBuffer = function(floatAry,isStatic,isUnbind){
			if(isStatic === undefined) isStatic = true; //So we can call this function without setting isStatic

			var buf = this.createBuffer();
			this.bindBuffer(this.ARRAY_BUFFER,buf);
			this.bufferData(this.ARRAY_BUFFER, floatAry, (isStatic)? this.STATIC_DRAW : this.DYNAMIC_DRAW );
			if(isUnbind != false) this.bindBuffer(this.ARRAY_BUFFER,null);
			return buf;
		};

		//Textures
		gl.fLoadTexture = function(name,img,doYFlip,noMips){ var tex = Fungi.Res.Textures[name] = this.createTexture();  return this.fUpdateTexture(name,img,doYFlip,noMips); };
		gl.fUpdateTexture = function(name,img,doYFlip,noMips){
			var tex = this.mTextureCache[name];	
			if(doYFlip == true) this.pixelStorei(this.UNPACK_FLIP_Y_WEBGL, true);	//Flip the texture by the Y Position, So 0,0 is bottom left corner.

			this.bindTexture(this.TEXTURE_2D, tex);														//Set text buffer for work
			this.texImage2D(this.TEXTURE_2D, 0, this.RGBA, this.RGBA, this.UNSIGNED_BYTE, img);			//Push image to GPU.
			
			if(noMips === undefined || noMips == false){
				this.texParameteri(this.TEXTURE_2D, this.TEXTURE_MAG_FILTER, this.LINEAR);					//Setup up scaling
				this.texParameteri(this.TEXTURE_2D, this.TEXTURE_MIN_FILTER, this.LINEAR_MIPMAP_NEAREST);	//Setup down scaling
				this.generateMipmap(this.TEXTURE_2D);	//Precalc different sizes of texture for better quality rendering.
			}else{
				this.texParameteri(this.TEXTURE_2D, this.TEXTURE_MAG_FILTER, this.NEAREST);
				this.texParameteri(this.TEXTURE_2D, this.TEXTURE_MIN_FILTER, this.NEAREST);
				this.texParameteri(this.TEXTURE_2D, this.TEXTURE_WRAP_S, this.CLAMP_TO_EDGE);
				this.texParameteri(this.TEXTURE_2D, this.TEXTURE_WRAP_T, this.CLAMP_TO_EDGE);
			}

			this.bindTexture(this.TEXTURE_2D,null);									//Unbind
			
			if(doYFlip == true) this.pixelStorei(this.UNPACK_FLIP_Y_WEBGL, false);	//Stop flipping textures
			return tex;	
		}

		//imgAry must be 6 elements long and images placed in the right order
		//RIGHT,LEFT,TOP,BOTTOM,BACK,FRONT
		gl.fLoadCubeMap = function(name,imgAry){
			if(imgAry.length != 6) return null;

			//Cube Constants values increment, so easy to start with right and just add 1 in a loop
			//To make the code easier costs by making the imgAry coming into the function to have
			//the images sorted in the same way the constants are set.
			//	TEXTURE_CUBE_MAP_POSITIVE_X - Right	:: TEXTURE_CUBE_MAP_NEGATIVE_X - Left
			//	TEXTURE_CUBE_MAP_POSITIVE_Y - Top 	:: TEXTURE_CUBE_MAP_NEGATIVE_Y - Bottom
			//	TEXTURE_CUBE_MAP_POSITIVE_Z - Back	:: TEXTURE_CUBE_MAP_NEGATIVE_Z - Front

			var tex = this.createTexture();
			this.bindTexture(this.TEXTURE_CUBE_MAP,tex);

			//push image to specific spot in the cube map.
			for(var i=0; i < 6; i++){
				this.texImage2D(this.TEXTURE_CUBE_MAP_POSITIVE_X + i, 0, this.RGBA, this.RGBA, this.UNSIGNED_BYTE, imgAry[i]);
			}

			this.texParameteri(this.TEXTURE_CUBE_MAP, this.TEXTURE_MAG_FILTER, this.LINEAR);	//Setup up scaling
			this.texParameteri(this.TEXTURE_CUBE_MAP, this.TEXTURE_MIN_FILTER, this.LINEAR);	//Setup down scaling
			this.texParameteri(this.TEXTURE_CUBE_MAP, this.TEXTURE_WRAP_S, this.CLAMP_TO_EDGE);	//Stretch image to X position
			this.texParameteri(this.TEXTURE_CUBE_MAP, this.TEXTURE_WRAP_T, this.CLAMP_TO_EDGE);	//Stretch image to Y position
			this.texParameteri(this.TEXTURE_CUBE_MAP, this.TEXTURE_WRAP_R, this.CLAMP_TO_EDGE);	//Stretch image to Z position
			//this.generateMipmap(this.TEXTURE_CUBE_MAP);

			this.bindTexture(this.TEXTURE_CUBE_MAP,null);
			Fungi.Res.Textures[name] = tex;
			return tex;
		};

		//...................................................
		//Setters - Getters

		//Set the size of the canvas html element and the rendering view port
		gl.fSetSize = function(w,h){
			//set the size of the canvas, on chrome we need to set it 3 ways to make it work perfectly.
			this.canvas.style.width = w + "px";
			this.canvas.style.height = h + "px";
			this.canvas.width = w;
			this.canvas.height = h;

			//when updating the canvas size, must reset the viewport of the canvas 
			//else the resolution webgl renders at will not change
			this.viewport(0,0,w,h);
			this.fWidth = w;	//Need to save Width and Height to resize viewport for WebVR
			this.fHeight = h;
			return this;
		}

		//Set the size of the canvas to fill a % of the total screen.
		gl.fFitScreen = function(wp,hp){ return this.fSetSize(window.innerWidth * (wp || 1),window.innerHeight * (hp || 1)); }

		return Fungi.gl = gl;
	}


	/*>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>
	
	<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
	class Util{
		//Convert Hex colors to float arrays, can batch process a list into one big array.
		//example : Fungi.Util.rgbArray("#FF0000","00FF00","#0000FF");
		static rgbArray(){
			if(arguments.length == 0) return null;
			var rtn = [];

			for(var i=0,c,p; i < arguments.length; i++){
				if(arguments[i].length < 6) continue;
				c = arguments[i];		//Just an alias(copy really) of the color text, make code smaller.
				p = (c[0] == "#")?1:0;	//Determine starting position in char array to start pulling from

				rtn.push(
					parseInt(c[p]	+c[p+1],16)	/ 255.0,
					parseInt(c[p+2]	+c[p+3],16)	/ 255.0,
					parseInt(c[p+4]	+c[p+5],16)	/ 255.0
				);
			}
			return rtn;
		}

		//Normalize x value to x range, then normalize to lerp the z range.
		static map(x, xMin,xMax, zMin,zMax){ return (x - xMin) / (xMax - xMin) * (zMax-zMin) + zMin; }

		static clamp(v,min,max){ return Math.max(min,Math.min(max,v)); }

		static smoothStep(edge1, edge2, val){ //https://en.wikipedia.org/wiki/Smoothstep
			var x = Math.max(0, Math.min(1, (val-edge1)/(edge2-edge1)));
			return x*x*(3-2*x);
		}

		//Get a number between A and B from a normalized number.
		static lerp(a,b,t){ return a + t * (b-a); }

		static pointCloseToLine(x0,y0,x1,y1,px,py){
			var dx	= x1 - x0,
				dy	= y1 - y0,
				t	= ((px-x0)*dx + (py-y0)*dy) / (dx*dx+dy*dy),
				x	= Util.lerp(x0, x1, t),
				y	= Util.lerp(y0, y1, t);
			return [x,y]
		}

		//static viewportSpace(xCanvas,yCanvas){ return [ xCanvas*2 / gl.fWidth - 1,  1 - yCanvas*2/ gl.fHeight ]; }
	}


	/*>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>
	Transform is like our Rendering container and a base class.
	We extend Transform with Renderable which handles things that will get renders to the screen.
	Then we have a camera which shapes how our renderables render had moves us around the world.
	<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
	class Transform{
		constructor(){
			//Transformation Data
			this.position = new Vec3(0);
			this.scale = new Vec3(1);
			this.rotation = new Quaternion();
			this.localMatrix = new Matrix4();
			this.worldMatrix = new Matrix4();

			//Parent / Child Relations
			this.children = [];
			this._parent = null;

			this.visible = true;
		}

		//----------------------------------------------
		//region Setters/Getters
			//R  T  F  T    
			//00 04 08 12
			//01 05 09 13
			//02 06 10 14
			//03 07 11 15
			left(v,d){		return this._getDirection(0,1,2,d,v);	}
			up(v,d){		return this._getDirection(4,5,6,d,v);	}
			forward(v,d){	return this._getDirection(8,9,10,d,v);	}
			_getDirection(xi,yi,zi,d,v){
				this.updateMatrix();
				if(d == undefined) d = 1; //Distance
				//d = d || 1; //Distance
				v = v || new Vec3();

				var x = this.localMatrix[xi], y = this.localMatrix[yi], z = this.localMatrix[zi],
					m =  Math.sqrt( x*x + y*y + z*z );

				v[0] = x/m*d;
				v[1] = y/m*d;
				v[2] = z/m*d;
				return v;
			}

			get parent(){ this._parent; }
			set parent(p){
				if(this._parent != null){ this._parent.removeChild(this); }
				if(p != null) p.addChild(this); //addChild also sets parent
			}

			//Chaining functions, useful for initializing
			setPosition(x,y,z){	this.position.set(x,y,z);	return this; }
			setScale(x,y,z){	this.scale.set(x,y,z);		return this; }
		//endregion

		//----------------------------------------------
		//region Methods
			updateMatrixOLD(){
				//Only Update the Matrix if its needed.
				if(!this.position.isModified && !this.scale.isModified && !this.rotation.isModified) return this.localMatrix;

				//Update our local Matrix
				Matrix4.fromQuaternionTranslationScale(this.localMatrix, this.rotation, this.position, this.scale);

				//Set the modified indicator to false on all the transforms.
				this.position.isModified	= false;
				this.scale.isModified		= false;
				this.rotation.isModified	= false;
				return this.localMatrix;
			}

			updateMatrix(forceWorldUpdate){
				var isDirty = (this.position.isModified || this.scale.isModified || this.rotation.isModified);

				if(!isDirty && !forceWorldUpdate) return false;
				else if(isDirty){
					//Update our local Matrix
					Matrix4.fromQuaternionTranslationScale(this.localMatrix, this.rotation, this.position, this.scale);

					//Set the modified indicator to false on all the transforms.
					this.position.isModified	= false;
					this.scale.isModified		= false;
					this.rotation.isModified	= false;
				}

				//Figure out the world matrix.
				if(this._parent != null){
					Matrix4.mult(this.worldMatrix, this._parent.worldMatrix, this.localMatrix);
				}else this.worldMatrix.copy(this.localMatrix); //if not parent, localMatrix is worldMatrix

				return true;
			}


			addChild(c){
				if(this.children.indexOf(c) == -1){ //check if child already exists
					c._parent = this;
					this.children.push(c);
				}
				return this;
			}

			removeChild(c){ 
				var i = this.children.indexOf(c);
				if(i != -1){
					this.children[i]._parent = null;
					this.children.splice(i,1);
				}

				return this;
			}
		//endregion
	}

	class Renderable extends Transform{
		constructor(vao,matName){
			super();
			this.vao = vao;
			
			this.material = (matName != null && matName !== undefined)? Fungi.Res.Materials[matName] : null;
		}

		setMaterial(matName){ this.material = Fungi.Res.Materials[matName]; }

		draw(){
			if(this.vao.count == 0) return;

			gl.bindVertexArray(this.vao.id);
			if(this.vao.isIndexed)	gl.drawElements(this.material.drawMode, this.vao.count, gl.UNSIGNED_SHORT, 0); 
			else					gl.drawArrays(this.material.drawMode, 0, this.vao.count);
		}
	}

	class CameraOrbit extends Transform{
		constructor(fov,near,far){
			super();
			//Setup the projection and invert matrices
			this.ubo = Fungi.Res.Ubo[Fungi.UBO_TRANSFORM];
			this.projectionMatrix = new Float32Array(16);
			this.invertedLocalMatrix = new Float32Array(16);

			var ratio = gl.canvas.width / gl.canvas.height;
			Matrix4.perspective(this.projectionMatrix, fov || 45, ratio, near || 0.1, far || 100.0);
			this.ubo.update("matProjection",this.projectionMatrix); //Initialize The Transform UBO.

			//Orbit Camera will control things based on euler, its cheating but not ready for quaternions
			this.euler = new Vec3();
		}

		//Override how this transfer creates the localMatrix : Call Update, not this function in render loop.
		updateMatrix(){
			//Only Update the Matrix if its needed.
			//if(!this.position.isModified && !this.rotation.isModified && !this.euler.isModified) return this.localMatrix;
			
			Quaternion.setFromEuler(this.rotation,this.euler.x,this.euler.y,this.euler.z,"YXZ");
			Matrix4.fromQuaternion(this.localMatrix,this.rotation);
			this.localMatrix.resetTranslation().translate(this.position);

			//Set the modified indicator to false on all the transforms.
			this.position.isModified	= false;
			this.rotation.isModified	= false;
			this.euler.isModified		= false;
			return this.localMatrix;
		}

		//Update the Matrices and UBO.
		update(){
			if(this.position.isModified || this.scale.isModified || this.euler.isModified) this.updateMatrix();
			
			Matrix4.invert(this.invertedLocalMatrix,this.localMatrix);
			this.ubo.update("matCameraView",this.invertedLocalMatrix,"posCamera",this.position);
		}

		setEulerDegrees(x,y,z){ this.euler.set(x * DEG2RAD,y * DEG2RAD,z * DEG2RAD); return this; }
	}


	/*>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>
	Fungi.Maths
	<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
	class Vec3 extends Float32Array{
		constructor(ini){
			super(3);
			if(ini instanceof Vec3 || (ini && ini.length == 3)){
				this[0] = ini[0]; this[1] = ini[1]; this[2] = ini[2];
			}else if(arguments.length == 3){
				this[0] = arguments[0]; this[1] = arguments[1]; this[2] = arguments[2];
			}else{
				this[0] = this[1] = this[2] = ini || 0;
			}
			this.isModified = true;
		}

		//----------------------------------------------
		//region XYZ Setters
			set(x,y,z){ this[0] = x; this[1] = y; this[2] = z; this.isModified = true; return this;}

			get x(){ return this[0]; }	set x(val){ this[0] = val; this.isModified = true; }
			get y(){ return this[1]; }	set y(val){ this[1] = val; this.isModified = true; }
			get z(){ return this[2]; }	set z(val){ this[2] = val; this.isModified = true; }
		//endregion

		//----------------------------------------------
		//region Methods
			magnitude(v){
				//Only get the magnitude of this vector
				if(v === undefined) return Math.sqrt( this[0]*this[0] + this[1]*this[1] + this[2]*this[2] );

				//Get magnitude based on another vector
				var x = this[0] - v[0],
					y = this[1] - v[1],
					z = this[2] - v[2];

				return Math.sqrt( x*x + y*y + z*z );
			}
			
			sqrMag(v){
				//Only get the squared magnitude of this vector
				if(v === undefined) return this[0]*this[0] + this[1]*this[1] + this[2]*this[2];

				//Get squared magnitude based on another vector
				var x = this[0] - v[0],
					y = this[1] - v[1],
					z = this[2] - v[2];

				return x*x + y*y + z*z;
			}

			normalize(out){
				var mag = Math.sqrt( this[0]*this[0] + this[1]*this[1] + this[2]*this[2] );
				if(mag == 0) return this;

				out = out || this;
				out[0] = this[0] / mag;
				out[1] = this[1] / mag;
				out[2] = this[2] / mag;
				if(out === this) this.isModified = true;
				return this;
			}

			multi(v,out){
				out = out || this;
				out[0] = this[0] * v;
				out[1] = this[1] * v;
				out[2] = this[2] * v;
				if(out === this) this.isModified = true;
				return this;
			}

			add(v,out){
				out = out || this;
				out[0] = this[0] + v[0];
				out[1] = this[1] + v[1];
				out[2] = this[2] + v[2];
				if(out === this) this.isModified = true;
				return this;
			}

			sub(v,out){
				out = out || this;
				out[0] = this[0] - v[0];
				out[1] = this[1] - v[1];
				out[2] = this[2] - v[2];
				if(out === this) this.isModified = true;
				return this;
			}

			clone(){ return new Vec3().set(this.x,this.y,this.z); }
			
			copy(v){
				this[0] = v[0]; this[1] = v[1]; this[2] = v[2];
				this.isModified = true;
				return this;
			}

			transformMat3(m,out){
				var x = this[0], y = this[1], z = this[2];
				out = out || this;
				out[0] = x * m[0] + y * m[3] + z * m[6];
				out[1] = x * m[1] + y * m[4] + z * m[7];
				out[2] = x * m[2] + y * m[5] + z * m[8];
				return out;
			}

			transformMat4(m,out){
			    var x = this[0], y = this[1], z = this[2],
			        w = m[3] * x + m[7] * y + m[11] * z + m[15];
			    w = w || 1.0;

			    out = out || this;
			    out[0] = (m[0] * x + m[4] * y + m[8] * z + m[12]) / w;
			    out[1] = (m[1] * x + m[5] * y + m[9] * z + m[13]) / w;
			    out[2] = (m[2] * x + m[6] * y + m[10] * z + m[14]) / w;
			    return out;
			}

			static scalar(v,s,out){
				out[0] = v[0] * s;
				out[1] = v[1] * s;
				out[2] = v[2] * s;
				return out;
			}
			static scalarRev(v,s,out){
				out[0] = s * v[0];
				out[1] = s * v[1];
				out[2] = s * v[2];
				return out;
			}

			static dot(a,b){ return a[0] * b[0] + a[1] * b[1] + a[2] * b[2]; }

			static cross(a,b,out){
				var ax = a[0], ay = a[1], az = a[2],
					bx = b[0], by = b[1], bz = b[2];

				out[0] = ay * bz - az * by;
				out[1] = az * bx - ax * bz;
				out[2] = ax * by - ay * bx;
				return out;
			}
		//endregion
	}

	class Quaternion extends Float32Array{
		constructor(){
			super(4);
			this[0] = this[1] = this[2] = 0;
			this[3] = 1;
			this.isModified = false;
		}
		//http://in2gpu.com/2016/03/14/opengl-fps-camera-quaternion/
		//----------------------------------------------
		//region Setter/Getters
			reset(){ this[0] = this[1] = this[2] = 0; this[3] = 1; this.isModified = false; return this; }

			get x(){ return this[0]; }	set x(val){ this[0] = val; this.isModified = true; }
			get y(){ return this[1]; }	set y(val){ this[1] = val; this.isModified = true; }
			get z(){ return this[2]; }	set z(val){ this[2] = val; this.isModified = true; }
			get w(){ return this[3]; }	set w(val){ this[3] = val; this.isModified = true; }

			rx(rad){ Quaternion.rotateX(this,this,rad); this.isModified = true; return this; }
			ry(rad){ Quaternion.rotateY(this,this,rad); this.isModified = true; return this; }
			rz(rad){ Quaternion.rotateZ(this,this,rad); this.isModified = true; return this; }
			
			setAxisAngle(axis, angle){ //AXIS MUST BE NORMALIZED.
				var halfAngle = angle * .5;
				var s = Math.sin(halfAngle);

				this[0] = axis[0] * s;
				this[1] = axis[1] * s;
				this[2] = axis[2] * s;
				this[3] = Math.cos(halfAngle);

				this.isModified = true;
				return this;
			}

			copy(q){
				this[0] = q[0];
				this[1] = q[1];
				this[2] = q[2];
				this[3] = q[3];
				this.isModified = true;
				return this;
			}

			//ex(deg){ Quaternion.rotateX(this,this,deg * DEG2RAD); this.isModified = true; return this; }
			//ey(deg){ Quaternion.rotateY(this,this,deg * DEG2RAD); this.isModified = true; return this; }
			//ez(deg){ Quaternion.rotateZ(this,this,deg * DEG2RAD); this.isModified = true; return this; }
		//endregion
		
		normalize(out){
			var len =  this[0]*this[0] + this[1]*this[1] + this[2]*this[2] + this[3]*this[3];
			if(len > 0){
				len = 1 / Math.sqrt(len);
				out = out || this;
				out[0] = this[0] * len;
				out[1] = this[1] * len;
				out[2] = this[2] * len;
				out[3] = this[3] * len;
				if(out === this) this.isModified = true;
			}
			return this;
		}

		//----------------------------------------------
		//region Static Methods
			static multi(out,a,b){
				var ax = a[0], ay = a[1], az = a[2], aw = a[3],
				bx = b[0], by = b[1], bz = b[2], bw = b[3];

				out[0] = ax * bw + aw * bx + ay * bz - az * by;
				out[1] = ay * bw + aw * by + az * bx - ax * bz;
				out[2] = az * bw + aw * bz + ax * by - ay * bx;
				out[3] = aw * bw - ax * bx - ay * by - az * bz;
				return out;
			}

			static multiVec3(out,q,v){
				var ax = q[0], ay = q[1], az = q[2], aw = q[3],
					bx = v[0], by = v[1], bz = v[2];

				out[0] = ax + aw * bx + ay * bz - az * by;
				out[1] = ay + aw * by + az * bx - ax * bz;
				out[2] = az + aw * bz + ax * by - ay * bx;
				return out;
			}

			static rotateVec3(qa,va,out){
				out = out || va;

				//https://gamedev.stackexchange.com/questions/28395/rotating-vector3-by-a-quaternion
				//vprime = 2.0f * dot(u, v) * u
				//			+ (s*s - dot(u, u)) * v
				//			+ 2.0f * s * cross(u, v);
				var q = [qa[0],qa[1],qa[2]],		//Save the vector part of the Quaternion
					v = [va[0],va[1],va[2]],		//Make a copy of the vector, going to chg its value
					s = qa[3],						//Save Quaternion Scalar (W)
					d = Fungi.Maths.Vec3.dot(q,v),	// U DOT V
					dq = Fungi.Maths.Vec3.dot(q,q),	// U DOT U
					cqv = Fungi.Maths.Vec3.cross(q,v,[0,0,0]);	// Cross Product for Q,V

				Fungi.Maths.Vec3.scalarRev(q,2.0 * d,q);
				Fungi.Maths.Vec3.scalarRev(v,s*s - dq,v);
				Fungi.Maths.Vec3.scalarRev(cqv,2.0 * s,cqv);

				out[0] = q[0] + v[0] + cqv[0];
				out[1] = q[1] + v[1] + cqv[1];
				out[2] = q[2] + v[2] + cqv[2];
				return out;
			}

			//Ported to JS from C# example at https://pastebin.com/ubATCxJY
			//Note, if Dir and Up are equal, a roll happends. Need to find a way to fix this.
			static lookRotation(vDir, vUp, out){
				var zAxis	= new Vec3(vDir),	//Forward
					up		= new Vec3(vUp),
					xAxis	= new Vec3(),		//Right
					yAxis	= new Vec3();

				zAxis.normalize();
				Vec3.cross(up,zAxis,xAxis);
				xAxis.normalize();
				Vec3.cross(zAxis,xAxis,yAxis); //new up

				//fromAxis - Mat3 to Quaternion
				var m00 = xAxis.x, m01 = xAxis.y, m02 = xAxis.z,
					m10 = yAxis.x, m11 = yAxis.y, m12 = yAxis.z,
					m20 = zAxis.x, m21 = zAxis.y, m22 = zAxis.z,
					t = m00 + m11 + m22,
					x, y, z, w, s;

				if(t > 0.0){
					s = Math.sqrt(t + 1.0);
					w = s * 0.5 ; // |w| >= 0.5
					s = 0.5 / s;
					x = (m12 - m21) * s;
					y = (m20 - m02) * s;
					z = (m01 - m10) * s;
				}else if((m00 >= m11) && (m00 >= m22)){
					s = Math.sqrt(1.0 + m00 - m11 - m22);
					x = 0.5 * s;// |x| >= 0.5
					s = 0.5 / s;
					y = (m01 + m10) * s;
					z = (m02 + m20) * s;
					w = (m12 - m21) * s;
				}else if(m11 > m22){
					s = Math.sqrt(1.0 + m11 - m00 - m22);
					y = 0.5 * s; // |y| >= 0.5
					s = 0.5 / s;
					x = (m10 + m01) * s;
					z = (m21 + m12) * s;
					w = (m20 - m02) * s;
				}else{
					s = Math.sqrt(1.0 + m22 - m00 - m11);
					z = 0.5 * s; // |z| >= 0.5
					s = 0.5 / s;
					x = (m20 + m02) * s;
					y = (m21 + m12) * s;
					w = (m01 - m10) * s;
				}
				out[0] = x;
				out[1] = y;
				out[2] = z;
				out[3] = w;

				/*
				var num8 = (m00 + m11) + m22;
				if (num8 > 0.0){
					var num = Math.sqrt(num8 + 1.0);
					out.w = num * 0.5;
					num = 0.5 / num;
					out.x = (m12 - m21) * num;
					out.y = (m20 - m02) * num;
					out.z = (m01 - m10) * num;
					return out;
				}

				if((m00 >= m11) && (m00 >= m22)){
					var num7 = Math.sqrt(1.0 + m00 - m11 - m22);
					var num4 = 0.5 / num7;
					out.x = 0.5 * num7;
					out.y = (m01 + m10) * num4;
					out.z = (m02 + m20) * num4;
					out.w = (m12 - m21) * num4;
					return out;
				}

				if(m11 > m22){
					var num6 = Math.sqrt(((1.0 + m11) - m00) - m22);
					var num3 = 0.5 / num6;
					out.x = (m10 + m01) * num3;
					out.y = 0.5 * num6;
					out.z = (m21 + m12) * num3;
					out.w = (m20 - m02) * num3;
					return out;
				}

				var num5 = Math.sqrt(((1.0 + m22) - m00) - m11);
				var num2 = 0.5 / num5;
				out.x = (m20 + m02) * num2;
				out.y = (m21 + m12) * num2;
				out.z = 0.5 * num5;
				out.w = (m01 - m10) * num2;
				return out;
				*/
			}

			//https://github.com/toji/gl-matrix/blob/master/src/gl-matrix/quat.js
			static rotateX(out, a, rad){
				rad *= 0.5; 

				var ax = a[0], ay = a[1], az = a[2], aw = a[3],
					bx = Math.sin(rad), bw = Math.cos(rad);

				out[0] = ax * bw + aw * bx;
				out[1] = ay * bw + az * bx;
				out[2] = az * bw - ay * bx;
				out[3] = aw * bw - ax * bx;
				return out;
			}

			static rotateY(out, a, rad) {
				rad *= 0.5; 

				var ax = a[0], ay = a[1], az = a[2], aw = a[3],
					by = Math.sin(rad), bw = Math.cos(rad);

				out[0] = ax * bw - az * by;
				out[1] = ay * bw + aw * by;
				out[2] = az * bw + ax * by;
				out[3] = aw * bw - ay * by;
				return out;
			}

			static rotateZ(out, a, rad){
				rad *= 0.5; 

				var ax = a[0], ay = a[1], az = a[2], aw = a[3],
				bz = Math.sin(rad), bw = Math.cos(rad);

				out[0] = ax * bw + ay * bz;
				out[1] = ay * bw - ax * bz;
				out[2] = az * bw + aw * bz;
				out[3] = aw * bw - az * bz;
				return out;
			}

			//https://github.com/mrdoob/three.js/blob/dev/src/math/Quaternion.js
			static setFromEuler(out,x,y,z,order){
				var c1 = Math.cos(x/2),
					c2 = Math.cos(y/2),
					c3 = Math.cos(z/2),
					s1 = Math.sin(x/2),
					s2 = Math.sin(y/2),
					s3 = Math.sin(z/2);

				switch(order){
					case 'XYZ':			
						out[0] = s1 * c2 * c3 + c1 * s2 * s3;
						out[1] = c1 * s2 * c3 - s1 * c2 * s3;
						out[2] = c1 * c2 * s3 + s1 * s2 * c3;
						out[3] = c1 * c2 * c3 - s1 * s2 * s3;
						break;
					case 'YXZ':
						out[0] = s1 * c2 * c3 + c1 * s2 * s3;
						out[1] = c1 * s2 * c3 - s1 * c2 * s3;
						out[2] = c1 * c2 * s3 - s1 * s2 * c3;
						out[3] = c1 * c2 * c3 + s1 * s2 * s3;
						break;
					case 'ZXY':
						out[0] = s1 * c2 * c3 - c1 * s2 * s3;
						out[1] = c1 * s2 * c3 + s1 * c2 * s3;
						out[2] = c1 * c2 * s3 + s1 * s2 * c3;
						out[3] = c1 * c2 * c3 - s1 * s2 * s3;
						break;
					case 'ZYX':
						out[0] = s1 * c2 * c3 - c1 * s2 * s3;
						out[1] = c1 * s2 * c3 + s1 * c2 * s3;
						out[2] = c1 * c2 * s3 - s1 * s2 * c3;
						out[3] = c1 * c2 * c3 + s1 * s2 * s3;
						break;
					case 'YZX':
						out[0] = s1 * c2 * c3 + c1 * s2 * s3;
						out[1] = c1 * s2 * c3 + s1 * c2 * s3;
						out[2] = c1 * c2 * s3 - s1 * s2 * c3;
						out[3] = c1 * c2 * c3 - s1 * s2 * s3;
						break;
					case 'XZY':
						out[0] = s1 * c2 * c3 - c1 * s2 * s3;
						out[1] = c1 * s2 * c3 - s1 * c2 * s3;
						out[2] = c1 * c2 * s3 + s1 * s2 * c3;
						out[3] = c1 * c2 * c3 + s1 * s2 * s3;
						break;
				}
			}

			static lerp(out,a,b,t){
				var ax = a[0],
					ay = a[1],
					az = a[2],
					aw = a[3];
				out[0] = ax + t * (b[0] - ax);
				out[1] = ay + t * (b[1] - ay);
				out[2] = az + t * (b[2] - az);
				out[3] = aw + t * (b[3] - aw);
				return out;
			}

			//https://github.com/toji/gl-matrix/blob/master/src/gl-matrix/quat.js
			static invert(out, a) {
  				let a0 = a[0], a1 = a[1], a2 = a[2], a3 = a[3];
  				let dot = a0*a0 + a1*a1 + a2*a2 + a3*a3;
  				let invDot = dot ? 1.0/dot : 0;
  				// TODO: Would be faster to return [0,0,0,0] immediately if dot == 0

				out[0] = -a0*invDot;
				out[1] = -a1*invDot;
				out[2] = -a2*invDot;
				out[3] = a3*invDot;
				return out;
			}
		//endregion
	}

	class Matrix4 extends Float32Array{
		constructor(){ super(16); this[0] = this[5] = this[10] = this[15] = 1; }  //Setup Identity

		//----------------------------------------------
		//region Methods
			translate(ary){	Matrix4.translate(this,ary[0],ary[1],ary[2]); return this;}
			resetTranslation(){ this[12] = this[13] = this[14] = 0; this[15] = 1; return this; }

			//reset data back to identity.
			reset(){ 
				for(var i=0; i <= this.length; i++) this[i] = (i % 5 == 0)? 1 : 0; //only positions 0,5,10,15 need to be 1 else 0
				return this;
			}
 
			//copy another matrix's data to this one.
			copy(mat){
				for(var i=0; i < 16; i++) this[i] = mat[i];
				return this;
			}
		//endregion

		//----------------------------------------------
		//region Static
			static identity(out){
				for(var i=0; i <= out.length; i++) out[i] = (i % 5 == 0)? 1 : 0; //only positions 0,5,10,15 need to be 1 else 0
			}

			static perspective(out, fovy, aspect, near, far){
				var f = 1.0 / Math.tan(fovy / 2),
					nf = 1 / (near - far);
				out[0] = f / aspect;
				out[1] = 0;
				out[2] = 0;
				out[3] = 0;
				out[4] = 0;
				out[5] = f;
				out[6] = 0;
				out[7] = 0;
				out[8] = 0;
				out[9] = 0;
				out[10] = (far + near) * nf;
				out[11] = -1;
				out[12] = 0;
				out[13] = 0;
				out[14] = (2 * far * near) * nf;
				out[15] = 0;
			}

			static ortho(out, left, right, bottom, top, near, far) {
				var lr = 1 / (left - right),
					bt = 1 / (bottom - top),
					nf = 1 / (near - far);
				out[0] = -2 * lr;
				out[1] = 0;
				out[2] = 0;
				out[3] = 0;
				out[4] = 0;
				out[5] = -2 * bt;
				out[6] = 0;
				out[7] = 0;
				out[8] = 0;
				out[9] = 0;
				out[10] = 2 * nf;
				out[11] = 0;
				out[12] = (left + right) * lr;
				out[13] = (top + bottom) * bt;
				out[14] = (far + near) * nf;
				out[15] = 1;
			};

			//make the rows into the columns
			static transpose(out, a){
				//If we are transposing ourselves we can skip a few steps but have to cache some values
				if (out === a) {
					var a01 = a[1], a02 = a[2], a03 = a[3], a12 = a[6], a13 = a[7], a23 = a[11];
					out[1] = a[4];
					out[2] = a[8];
					out[3] = a[12];
					out[4] = a01;
					out[6] = a[9];
					out[7] = a[13];
					out[8] = a02;
					out[9] = a12;
					out[11] = a[14];
					out[12] = a03;
					out[13] = a13;
					out[14] = a23;
				}else{
					out[0] = a[0];
					out[1] = a[4];
					out[2] = a[8];
					out[3] = a[12];
					out[4] = a[1];
					out[5] = a[5];
					out[6] = a[9];
					out[7] = a[13];
					out[8] = a[2];
					out[9] = a[6];
					out[10] = a[10];
					out[11] = a[14];
					out[12] = a[3];
					out[13] = a[7];
					out[14] = a[11];
					out[15] = a[15];
				}

				return out;
			}

			//Calculates a 3x3 normal matrix (transpose inverse) from the 4x4 matrix
			static normalMat3(out,a){
				var a00 = a[0], a01 = a[1], a02 = a[2], a03 = a[3],
					a10 = a[4], a11 = a[5], a12 = a[6], a13 = a[7],
					a20 = a[8], a21 = a[9], a22 = a[10], a23 = a[11],
					a30 = a[12], a31 = a[13], a32 = a[14], a33 = a[15],

					b00 = a00 * a11 - a01 * a10,
					b01 = a00 * a12 - a02 * a10,
					b02 = a00 * a13 - a03 * a10,
					b03 = a01 * a12 - a02 * a11,
					b04 = a01 * a13 - a03 * a11,
					b05 = a02 * a13 - a03 * a12,
					b06 = a20 * a31 - a21 * a30,
					b07 = a20 * a32 - a22 * a30,
					b08 = a20 * a33 - a23 * a30,
					b09 = a21 * a32 - a22 * a31,
					b10 = a21 * a33 - a23 * a31,
					b11 = a22 * a33 - a23 * a32,

				// Calculate the determinant
				det = b00 * b11 - b01 * b10 + b02 * b09 + b03 * b08 - b04 * b07 + b05 * b06;

				if (!det) return null;

				det = 1.0 / det;

				out[0] = (a11 * b11 - a12 * b10 + a13 * b09) * det;
				out[1] = (a12 * b08 - a10 * b11 - a13 * b07) * det;
				out[2] = (a10 * b10 - a11 * b08 + a13 * b06) * det;

				out[3] = (a02 * b10 - a01 * b11 - a03 * b09) * det;
				out[4] = (a00 * b11 - a02 * b08 + a03 * b07) * det;
				out[5] = (a01 * b08 - a00 * b10 - a03 * b06) * det;

				out[6] = (a31 * b05 - a32 * b04 + a33 * b03) * det;
				out[7] = (a32 * b02 - a30 * b05 - a33 * b01) * det;
				out[8] = (a30 * b04 - a31 * b02 + a33 * b00) * det;
				return out;
			}

			//New function derived from fromRotationTranslation, just took out the translation stuff.
			static fromQuaternion(out, q){
				// Quaternion math
				var x = q[0], y = q[1], z = q[2], w = q[3],
					x2 = x + x,
					y2 = y + y,
					z2 = z + z,

					xx = x * x2,
					xy = x * y2,
					xz = x * z2,
					yy = y * y2,
					yz = y * z2,
					zz = z * z2,
					wx = w * x2,
					wy = w * y2,
					wz = w * z2;

				out[0] = 1 - (yy + zz);
				out[1] = xy + wz;
				out[2] = xz - wy;
				out[3] = 0;
				out[4] = xy - wz;
				out[5] = 1 - (xx + zz);
				out[6] = yz + wx;
				out[7] = 0;
				out[8] = xz + wy;
				out[9] = yz - wx;
				out[10] = 1 - (xx + yy);
				out[11] = 0;
				return out;
			}

			//https://github.com/toji/gl-matrix/blob/master/src/gl-matrix/mat4.js
			static fromQuaternionTranslation(out, q, v){
				// Quaternion math
				var x = q[0], y = q[1], z = q[2], w = q[3],
					x2 = x + x,
					y2 = y + y,
					z2 = z + z,

					xx = x * x2,
					xy = x * y2,
					xz = x * z2,
					yy = y * y2,
					yz = y * z2,
					zz = z * z2,
					wx = w * x2,
					wy = w * y2,
					wz = w * z2;

				out[0] = 1 - (yy + zz);
				out[1] = xy + wz;
				out[2] = xz - wy;
				out[3] = 0;
				out[4] = xy - wz;
				out[5] = 1 - (xx + zz);
				out[6] = yz + wx;
				out[7] = 0;
				out[8] = xz + wy;
				out[9] = yz - wx;
				out[10] = 1 - (xx + yy);
				out[11] = 0;
				out[12] = v[0];
				out[13] = v[1];
				out[14] = v[2];
				out[15] = 1;
				return out;
			}

			static fromQuaternionTranslationScale(out, q, v, s){
				// Quaternion math
				var x = q[0], y = q[1], z = q[2], w = q[3],
				x2 = x + x,
				y2 = y + y,
				z2 = z + z,

				xx = x * x2,
				xy = x * y2,
				xz = x * z2,
				yy = y * y2,
				yz = y * z2,
				zz = z * z2,
				wx = w * x2,
				wy = w * y2,
				wz = w * z2,
				sx = s[0],
				sy = s[1],
				sz = s[2];

				out[0] = (1 - (yy + zz)) * sx;
				out[1] = (xy + wz) * sx;
				out[2] = (xz - wy) * sx;
				out[3] = 0;
				out[4] = (xy - wz) * sy;
				out[5] = (1 - (xx + zz)) * sy;
				out[6] = (yz + wx) * sy;
				out[7] = 0;
				out[8] = (xz + wy) * sz;
				out[9] = (yz - wx) * sz;
				out[10] = (1 - (xx + yy)) * sz;
				out[11] = 0;
				out[12] = v[0];
				out[13] = v[1];
				out[14] = v[2];
				out[15] = 1;

				return out;
			}

			static getTranslation(out, mat){
				out[0] = mat[12];
				out[1] = mat[13];
				out[2] = mat[14];
				return out;
			}

			static getScaling(out, mat){
				var m11 = mat[0],
					m12 = mat[1],
					m13 = mat[2],
					m21 = mat[4],
					m22 = mat[5],
					m23 = mat[6],
					m31 = mat[8],
					m32 = mat[9],
					m33 = mat[10];
				out[0] = Math.sqrt(m11 * m11 + m12 * m12 + m13 * m13);
				out[1] = Math.sqrt(m21 * m21 + m22 * m22 + m23 * m23);
				out[2] = Math.sqrt(m31 * m31 + m32 * m32 + m33 * m33);
				return out;
			}

			//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
			static getRotation(out, mat){
				// Algorithm taken from http://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToQuaternion/index.htm
				var trace = mat[0] + mat[5] + mat[10],
					S = 0;

				if(trace > 0){
					S = Math.sqrt(trace + 1.0) * 2;
					out[3] = 0.25 * S;
					out[0] = (mat[6] - mat[9]) / S;
					out[1] = (mat[8] - mat[2]) / S; 
					out[2] = (mat[1] - mat[4]) / S; 
				}else if( (mat[0] > mat[5]) & (mat[0] > mat[10]) ){ 
					S = Math.sqrt(1.0 + mat[0] - mat[5] - mat[10]) * 2;
					out[3] = (mat[6] - mat[9]) / S;
					out[0] = 0.25 * S;
					out[1] = (mat[1] + mat[4]) / S; 
					out[2] = (mat[8] + mat[2]) / S; 
				}else if(mat[5] > mat[10]){ 
					S = Math.sqrt(1.0 + mat[5] - mat[0] - mat[10]) * 2;
					out[3] = (mat[8] - mat[2]) / S;
					out[0] = (mat[1] + mat[4]) / S; 
					out[1] = 0.25 * S;
					out[2] = (mat[6] + mat[9]) / S; 
				}else{ 
					S = Math.sqrt(1.0 + mat[10] - mat[0] - mat[5]) * 2;
					out[3] = (mat[1] - mat[4]) / S;
					out[0] = (mat[8] + mat[2]) / S;
					out[1] = (mat[6] + mat[9]) / S;
					out[2] = 0.25 * S;
				}
				return out;
			}

			//....................................................................
			//Static Operation

			//https://github.com/gregtatum/mdn-model-view-projection/blob/master/shared/matrices.js
			static multiplyVector(mat4, v) {
				var x = v[0], y = v[1], z = v[2], w = v[3];
				var c1r1 = mat4[ 0], c2r1 = mat4[ 1], c3r1 = mat4[ 2], c4r1 = mat4[ 3],
					c1r2 = mat4[ 4], c2r2 = mat4[ 5], c3r2 = mat4[ 6], c4r2 = mat4[ 7],
					c1r3 = mat4[ 8], c2r3 = mat4[ 9], c3r3 = mat4[10], c4r3 = mat4[11],
					c1r4 = mat4[12], c2r4 = mat4[13], c3r4 = mat4[14], c4r4 = mat4[15];

				return [
					x*c1r1 + y*c1r2 + z*c1r3 + w*c1r4,
					x*c2r1 + y*c2r2 + z*c2r3 + w*c2r4,
					x*c3r1 + y*c3r2 + z*c3r3 + w*c3r4,
					x*c4r1 + y*c4r2 + z*c4r3 + w*c4r4
				];
			}

			//https://github.com/toji/gl-matrix/blob/master/src/gl-matrix/vec4.js, vec4.transformMat4
			static transformVec4(out, v, m){
				out[0] = m[0] * v[0] + m[4] * v[1] + m[8]	* v[2] + m[12] * v[3];
				out[1] = m[1] * v[0] + m[5] * v[1] + m[9]	* v[2] + m[13] * v[3];
				out[2] = m[2] * v[0] + m[6] * v[1] + m[10]	* v[2] + m[14] * v[3];
				out[3] = m[3] * v[0] + m[7] * v[1] + m[11]	* v[2] + m[15] * v[3];
				return out;
			}

			//From glMatrix
			//Multiple two mat4 together
			static mult(out, a, b){ 
				var a00 = a[0], a01 = a[1], a02 = a[2], a03 = a[3],
					a10 = a[4], a11 = a[5], a12 = a[6], a13 = a[7],
					a20 = a[8], a21 = a[9], a22 = a[10], a23 = a[11],
					a30 = a[12], a31 = a[13], a32 = a[14], a33 = a[15];

				// Cache only the current line of the second matrix
				var b0  = b[0], b1 = b[1], b2 = b[2], b3 = b[3];
				out[0] = b0*a00 + b1*a10 + b2*a20 + b3*a30;
				out[1] = b0*a01 + b1*a11 + b2*a21 + b3*a31;
				out[2] = b0*a02 + b1*a12 + b2*a22 + b3*a32;
				out[3] = b0*a03 + b1*a13 + b2*a23 + b3*a33;

				b0 = b[4]; b1 = b[5]; b2 = b[6]; b3 = b[7];
				out[4] = b0*a00 + b1*a10 + b2*a20 + b3*a30;
				out[5] = b0*a01 + b1*a11 + b2*a21 + b3*a31;
				out[6] = b0*a02 + b1*a12 + b2*a22 + b3*a32;
				out[7] = b0*a03 + b1*a13 + b2*a23 + b3*a33;

				b0 = b[8]; b1 = b[9]; b2 = b[10]; b3 = b[11];
				out[8] = b0*a00 + b1*a10 + b2*a20 + b3*a30;
				out[9] = b0*a01 + b1*a11 + b2*a21 + b3*a31;
				out[10] = b0*a02 + b1*a12 + b2*a22 + b3*a32;
				out[11] = b0*a03 + b1*a13 + b2*a23 + b3*a33;

				b0 = b[12]; b1 = b[13]; b2 = b[14]; b3 = b[15];
				out[12] = b0*a00 + b1*a10 + b2*a20 + b3*a30;
				out[13] = b0*a01 + b1*a11 + b2*a21 + b3*a31;
				out[14] = b0*a02 + b1*a12 + b2*a22 + b3*a32;
				out[15] = b0*a03 + b1*a13 + b2*a23 + b3*a33;
				return out;	
			}

			//....................................................................
			//Static Transformation
			static scale(out,x,y,z){
				out[0] *= x;
				out[1] *= x;
				out[2] *= x;
				out[3] *= x;
				out[4] *= y;
				out[5] *= y;
				out[6] *= y;
				out[7] *= y;
				out[8] *= z;
				out[9] *= z;
				out[10] *= z;
				out[11] *= z;
				return out;
			};

			static rotateY(out,rad) {
				var s = Math.sin(rad),
					c = Math.cos(rad),
					a00 = out[0],
					a01 = out[1],
					a02 = out[2],
					a03 = out[3],
					a20 = out[8],
					a21 = out[9],
					a22 = out[10],
					a23 = out[11];

				// Perform axis-specific matrix multiplication
				out[0] = a00 * c - a20 * s;
				out[1] = a01 * c - a21 * s;
				out[2] = a02 * c - a22 * s;
				out[3] = a03 * c - a23 * s;
				out[8] = a00 * s + a20 * c;
				out[9] = a01 * s + a21 * c;
				out[10] = a02 * s + a22 * c;
				out[11] = a03 * s + a23 * c;
				return out;
			}

			static rotateX(out,rad) {
				var s = Math.sin(rad),
					c = Math.cos(rad),
					a10 = out[4],
					a11 = out[5],
					a12 = out[6],
					a13 = out[7],
					a20 = out[8],
					a21 = out[9],
					a22 = out[10],
					a23 = out[11];

				// Perform axis-specific matrix multiplication
				out[4] = a10 * c + a20 * s;
				out[5] = a11 * c + a21 * s;
				out[6] = a12 * c + a22 * s;
				out[7] = a13 * c + a23 * s;
				out[8] = a20 * c - a10 * s;
				out[9] = a21 * c - a11 * s;
				out[10] = a22 * c - a12 * s;
				out[11] = a23 * c - a13 * s;
				return out;
			}

			static rotateZ(out,rad){
				var s = Math.sin(rad),
					c = Math.cos(rad),
					a00 = out[0],
					a01 = out[1],
					a02 = out[2],
					a03 = out[3],
					a10 = out[4],
					a11 = out[5],
					a12 = out[6],
					a13 = out[7];

				// Perform axis-specific matrix multiplication
				out[0] = a00 * c + a10 * s;
				out[1] = a01 * c + a11 * s;
				out[2] = a02 * c + a12 * s;
				out[3] = a03 * c + a13 * s;
				out[4] = a10 * c - a00 * s;
				out[5] = a11 * c - a01 * s;
				out[6] = a12 * c - a02 * s;
				out[7] = a13 * c - a03 * s;
				return out;
			}

			static rotate(out, rad, axis){
				var x = axis[0], y = axis[1], z = axis[2],
					len = Math.sqrt(x * x + y * y + z * z),
					s, c, t,
					a00, a01, a02, a03,
					a10, a11, a12, a13,
					a20, a21, a22, a23,
					b00, b01, b02,
					b10, b11, b12,
					b20, b21, b22;

				if (Math.abs(len) < 0.000001) { return null; }

				len = 1 / len;
				x *= len;
				y *= len;
				z *= len;

				s = Math.sin(rad);
				c = Math.cos(rad);
				t = 1 - c;

				a00 = out[0]; a01 = out[1]; a02 = out[2]; a03 = out[3];
				a10 = out[4]; a11 = out[5]; a12 = out[6]; a13 = out[7];
				a20 = out[8]; a21 = out[9]; a22 = out[10]; a23 = out[11];

				// Construct the elements of the rotation matrix
				b00 = x * x * t + c; b01 = y * x * t + z * s; b02 = z * x * t - y * s;
				b10 = x * y * t - z * s; b11 = y * y * t + c; b12 = z * y * t + x * s;
				b20 = x * z * t + y * s; b21 = y * z * t - x * s; b22 = z * z * t + c;

				// Perform rotation-specific matrix multiplication
				out[0] = a00 * b00 + a10 * b01 + a20 * b02;
				out[1] = a01 * b00 + a11 * b01 + a21 * b02;
				out[2] = a02 * b00 + a12 * b01 + a22 * b02;
				out[3] = a03 * b00 + a13 * b01 + a23 * b02;
				out[4] = a00 * b10 + a10 * b11 + a20 * b12;
				out[5] = a01 * b10 + a11 * b11 + a21 * b12;
				out[6] = a02 * b10 + a12 * b11 + a22 * b12;
				out[7] = a03 * b10 + a13 * b11 + a23 * b12;
				out[8] = a00 * b20 + a10 * b21 + a20 * b22;
				out[9] = a01 * b20 + a11 * b21 + a21 * b22;
				out[10] = a02 * b20 + a12 * b21 + a22 * b22;
				out[11] = a03 * b20 + a13 * b21 + a23 * b22;
			}

			static invert(out,mat) {
				if(mat === undefined) mat = out; //If input isn't sent, then output is also input

				var a00 = mat[0], a01 = mat[1], a02 = mat[2], a03 = mat[3],
					a10 = mat[4], a11 = mat[5], a12 = mat[6], a13 = mat[7],
					a20 = mat[8], a21 = mat[9], a22 = mat[10], a23 = mat[11],
					a30 = mat[12], a31 = mat[13], a32 = mat[14], a33 = mat[15],

					b00 = a00 * a11 - a01 * a10,
					b01 = a00 * a12 - a02 * a10,
					b02 = a00 * a13 - a03 * a10,
					b03 = a01 * a12 - a02 * a11,
					b04 = a01 * a13 - a03 * a11,
					b05 = a02 * a13 - a03 * a12,
					b06 = a20 * a31 - a21 * a30,
					b07 = a20 * a32 - a22 * a30,
					b08 = a20 * a33 - a23 * a30,
					b09 = a21 * a32 - a22 * a31,
					b10 = a21 * a33 - a23 * a31,
					b11 = a22 * a33 - a23 * a32,

					// Calculate the determinant
					det = b00 * b11 - b01 * b10 + b02 * b09 + b03 * b08 - b04 * b07 + b05 * b06;

				if (!det) return false;
				det = 1.0 / det;

				out[0] = (a11 * b11 - a12 * b10 + a13 * b09) * det;
				out[1] = (a02 * b10 - a01 * b11 - a03 * b09) * det;
				out[2] = (a31 * b05 - a32 * b04 + a33 * b03) * det;
				out[3] = (a22 * b04 - a21 * b05 - a23 * b03) * det;
				out[4] = (a12 * b08 - a10 * b11 - a13 * b07) * det;
				out[5] = (a00 * b11 - a02 * b08 + a03 * b07) * det;
				out[6] = (a32 * b02 - a30 * b05 - a33 * b01) * det;
				out[7] = (a20 * b05 - a22 * b02 + a23 * b01) * det;
				out[8] = (a10 * b10 - a11 * b08 + a13 * b06) * det;
				out[9] = (a01 * b08 - a00 * b10 - a03 * b06) * det;
				out[10] = (a30 * b04 - a31 * b02 + a33 * b00) * det;
				out[11] = (a21 * b02 - a20 * b04 - a23 * b00) * det;
				out[12] = (a11 * b07 - a10 * b09 - a12 * b06) * det;
				out[13] = (a00 * b09 - a01 * b07 + a02 * b06) * det;
				out[14] = (a31 * b01 - a30 * b03 - a32 * b00) * det;
				out[15] = (a20 * b03 - a21 * b01 + a22 * b00) * det;

				return true;
			}

			//https://github.com/toji/gl-matrix/blob/master/src/gl-matrix/mat4.js  mat4.scalar.translate = function (out, a, v) {
			static translate(out,x,y,z){
				out[12] = out[0] * x + out[4] * y + out[8]	* z + out[12];
				out[13] = out[1] * x + out[5] * y + out[9]	* z + out[13];
				out[14] = out[2] * x + out[6] * y + out[10]	* z + out[14];
				out[15] = out[3] * x + out[7] * y + out[11]	* z + out[15];
			}
		//endregion
	}

	class Mat3 extends Float32Array{
		constructor(){ super(9); this[0] = this[4] = this[8] = 1; }  //Setup Identity

		static lookRotation(vDir, vUp, out){
			var zAxis	= new Vec3(vDir),	//Forward
				up		= new Vec3(vUp),
				xAxis	= new Vec3(),		//Right
				yAxis	= new Vec3();

			zAxis.normalize();
			Vec3.cross(up,zAxis,xAxis);
			xAxis.normalize();
			Vec3.cross(zAxis,xAxis,yAxis); //new up

			var m00 = xAxis.x, m01 = xAxis.y, m02 = xAxis.z,
				m10 = yAxis.x, m11 = yAxis.y, m12 = yAxis.z,
				m20 = zAxis.x, m21 = zAxis.y, m22 = zAxis.z;

			out[0] = m00;
			out[1] = m01;
			out[2] = m02;
			out[3] = m10;
			out[4] = m11;
			out[5] = m12;
			out[6] = m20;
			out[7] = m21;
			out[8] = m22;
		}
	}

	//http://wscg.zcu.cz/wscg2012/short/A29-full.pdf
	//https://github.com/toji/gl-matrix/issues/221
	//https://github.com/stefnotch/gl-matrix/blob/master/src/gl-matrix/quat2.js
	class DualQuat extends Float32Array{
		constructor(q,t){
			super(8);
			this.set(q,t);
		}

		copy(a){
			this[0] = a[0];
			this[1] = a[1];
			this[2] = a[2];
			this[3] = a[3];
			this[4] = a[4];
			this[5] = a[5];
			this[6] = a[6];
			this[7] = a[7];
			return this;
		}

		//Adds two dual quat's
		add(q,out){
			out = out || this;
			out[0] = this[0] + q[0];
			out[1] = this[1] + q[1];
			out[2] = this[2] + q[2];
			out[3] = this[3] + q[3];
			out[4] = this[4] + q[4];
			out[5] = this[5] + q[5];
			out[6] = this[6] + q[6];
			out[7] = this[7] + q[7];
			return this;
		}

		//Multiplies two dual quat's
		mul(q,out){
			out = out || this;

			var ax0 = this[0], ay0 = this[1], az0 = this[2], aw0 = this[3],
				ax1 = this[4], ay1 = this[5], az1 = this[6], aw1 = this[7],
				bx0 = q[0], by0 = q[1], bz0 = q[2], bw0 = q[3],
				bx1 = q[4], by1 = q[5], bz1 = q[6], bw1 = q[7];

			out[0] = ax0 * bw0 + aw0 * bx0 + ay0 * bz0 - az0 * by0;
			out[1] = ay0 * bw0 + aw0 * by0 + az0 * bx0 - ax0 * bz0;
			out[2] = az0 * bw0 + aw0 * bz0 + ax0 * by0 - ay0 * bx0;
			out[3] = aw0 * bw0 - ax0 * bx0 - ay0 * by0 - az0 * bz0;
			out[4] = ax0 * bw1 + aw0 * bx1 + ay0 * bz1 - az0 * by1 + ax1 * bw0 + aw1 * bx0 + ay1 * bz0 - az1 * by0;
			out[5] = ay0 * bw1 + aw0 * by1 + az0 * bx1 - ax0 * bz1 + ay1 * bw0 + aw1 * by0 + az1 * bx0 - ax1 * bz0;
			out[6] = az0 * bw1 + aw0 * bz1 + ax0 * by1 - ay0 * bx1 + az1 * bw0 + aw1 * bz0 + ax1 * by0 - ay1 * bx0;
			out[7] = aw0 * bw1 - ax0 * bx1 - ay0 * by1 - az0 * bz1 + aw1 * bw0 - ax1 * bx0 - ay1 * by0 - az1 * bz0;
			return this;
		}

		scale(s,out){
			out = out || this;
			out[0] = this[0] * s;
			out[1] = this[1] * s;
			out[2] = this[2] * s;
			out[3] = this[3] * s;
			out[4] = this[4] * s;
			out[5] = this[5] * s;
			out[6] = this[6] * s;
			out[7] = this[7] * s;
			return this;
		}

		//Calculates the inverse of a dual quat. If they are normalized, conjugate is cheaper
		invert(out){
			out = out || this;
			var sqlen = this.squaredLength(); //Todo, do 1/sqlen then mul the value

			out[0] = -this[0] / sqlen;
			out[1] = -this[1] / sqlen;
			out[2] = -this[2] / sqlen;
			out[3] =  this[3] / sqlen;
			out[4] = -this[4] / sqlen;
			out[5] = -this[5] / sqlen;
			out[6] = -this[6] / sqlen;
			out[7] =  this[7] / sqlen;
			return this;
		}

		squaredLength(){ return this[0]*this[0] + this[1]*this[1] + this[2]*this[2] + this[3]*this[3]; }

		set(q,v){
			var nq = null;
			if(q != undefined && q != null){
				nq = [0,0,0,1];
				q.normalize(nq);
			}

			v = v || null;

			if(nq != null & v != null)			DualQuat.fromRotationTranslation(this,nq,v);
			else if(nq != null && v == null)	DualQuat.fromRotation(this,nq);
			else if(nq == null && v != null)	DualQuat.fromTranslation(this,v);
			else{								//identity
				this[0] = 0;
				this[1] = 0;
				this[2] = 0;
				this[3] = 1;
				this[4] = 0;
				this[5] = 0;
				this[6] = 0;
				this[7] = 0;
			}

			return this;
		}

		//Creates a dual quat from a quaternion and a translation
		static fromRotationTranslation(out,q,t){
			var ax = t[0] * 0.5, ay = t[1] * 0.5, az = t[2] * 0.5,
				bx = q[0], by = q[1], bz = q[2], bw = q[3];

			out[0] = bx;
			out[1] = by;
			out[2] = bz;
			out[3] = bw;
			out[4] =  ax * bw + ay * bz - az * by;
			out[5] =  ay * bw + az * bx - ax * bz;
			out[6] =  az * bw + ax * by - ay * bx;
			out[7] = -ax * bx - ay * by - az * bz;
			return out;
		}

		static fromTranslation(out,t){
			out[0] = 0;
			out[1] = 0;
			out[2] = 0;
			out[3] = 1;
			out[4] = t[0] * 0.5;
			out[5] = t[1] * 0.5;
			out[6] = t[2] * 0.5;
			out[7] = 0;
			return out;
		}

		static fromRotation(out,q){
			out[0] = q[0];
			out[1] = q[1];
			out[2] = q[2];
			out[3] = q[3];
			out[4] = 0;
			out[5] = 0;
			out[6] = 0;
			out[7] = 0;
			return out;
		}

		static getTranslation(out,a){    
			var ax =  a[4], ay =  a[5], az =  a[6], aw = a[7],
				bx = -a[0], by = -a[1], bz = -a[2], bw = a[3];

			out[0] = (ax * bw + aw * bx + ay * bz - az * by)*2;
			out[1] = (ay * bw + aw * by + az * bx - ax * bz)*2;
			out[2] = (az * bw + aw * bz + ax * by - ay * bx)*2;
			return out;
		}

		//Multiplies two dual quat's
		static multi(out,a,b){
			var ax0 = a[0], ay0 = a[1], az0 = a[2], aw0 = a[3],
				ax1 = a[4], ay1 = a[5], az1 = a[6], aw1 = a[7],
				bx0 = b[0], by0 = b[1], bz0 = b[2], bw0 = b[3],
				bx1 = b[4], by1 = b[5], bz1 = b[6], bw1 = b[7];
			out[0] = ax0 * bw0 + aw0 * bx0 + ay0 * bz0 - az0 * by0;
			out[1] = ay0 * bw0 + aw0 * by0 + az0 * bx0 - ax0 * bz0;
			out[2] = az0 * bw0 + aw0 * bz0 + ax0 * by0 - ay0 * bx0;
			out[3] = aw0 * bw0 - ax0 * bx0 - ay0 * by0 - az0 * bz0;
			out[4] = ax0 * bw1 + aw0 * bx1 + ay0 * bz1 - az0 * by1 + ax1 * bw0 + aw1 * bx0 + ay1 * bz0 - az1 * by0;
			out[5] = ay0 * bw1 + aw0 * by1 + az0 * bx1 - ax0 * bz1 + ay1 * bw0 + aw1 * by0 + az1 * bx0 - ax1 * bz0;
			out[6] = az0 * bw1 + aw0 * bz1 + ax0 * by1 - ay0 * bx1 + az1 * bw0 + aw1 * bz0 + ax1 * by0 - ay1 * bx0;
			out[7] = aw0 * bw1 - ax0 * bx1 - ay0 * by1 - az0 * bz1 + aw1 * bw0 - ax1 * bx0 - ay1 * by0 - az1 * bz0;
			return out;
		}

		//Translates a dual quat by the given vector
		static translate(out,a,v){
			var ax1 = a[0], ay1 = a[1], az1 = a[2], aw1 = a[3],
				ax2 = a[4], ay2 = a[5], az2 = a[6], aw2 = a[7],
				bx1 = v[0] * 0.5, by1 = v[1] * 0.5, bz1 = v[2] * 0.5;

			out[0] = ax1;
			out[1] = ay1;
			out[2] = az1;
			out[3] = aw1;
			out[4] =  aw1 * bx1 + ay1 * bz1 - az1 * by1 + ax2;
			out[5] =  aw1 * by1 + az1 * bx1 - ax1 * bz1 + ay2;
			out[6] =  aw1 * bz1 + ax1 * by1 - ay1 * bx1 + az2;
			out[7] = -ax1 * bx1 - ay1 * by1 - az1 * bz1 + aw2;
			return out;
		}

		//Rotates a dual quat around the X axis
		static rotateX(out,a,rad){
			var bx = -a[0], by = -a[1], bz = -a[2], bw = a[3],
				ax =  a[4], ay =  a[5], az =  a[6], aw = a[7];
			//Trans
			var ax1 = ax * bw + aw * bx + ay * bz - az * by,
			ay1 = ay * bw + aw * by + az * bx - ax * bz,
			az1 = az * bw + aw * bz + ax * by - ay * bx,
			aw1 = aw * bw - ax * bx - ay * by - az * bz;

			//Rotate it 
			quat.rotateX(out, a, rad);

			bx = out[0]; by = out[1]; bz = out[2]; bw = out[3];
			out[4] = ax1 * bw + aw1 * bx + ay1 * bz - az1 * by;
			out[5] = ay1 * bw + aw1 * by + az1 * bx - ax1 * bz;
			out[6] = az1 * bw + aw1 * bz + ax1 * by - ay1 * bx;
			out[7] = aw1 * bw - ax1 * bx - ay1 * by - az1 * bz;
			return out;
		}

		static rotateY(out,a,rad){
			var bx = -a[0], by = -a[1], bz = -a[2], bw = a[3],
				ax =  a[4], ay =  a[5], az =  a[6], aw = a[7];
			
			//Trans
			var ax1 = ax * bw + aw * bx + ay * bz - az * by,
			ay1 = ay * bw + aw * by + az * bx - ax * bz,
			az1 = az * bw + aw * bz + ax * by - ay * bx,
			aw1 = aw * bw - ax * bx - ay * by - az * bz;

			//Rotate it 
			quat.rotateY(out, a, rad);

			bx = out[0]; by = out[1]; bz = out[2]; bw = out[3];
			out[4] = ax1 * bw + aw1 * bx + ay1 * bz - az1 * by;
			out[5] = ay1 * bw + aw1 * by + az1 * bx - ax1 * bz;
			out[6] = az1 * bw + aw1 * bz + ax1 * by - ay1 * bx;
			out[7] = aw1 * bw - ax1 * bx - ay1 * by - az1 * bz;
			return out;
		}

		static rotateZ(out,a,rad){
			//Get the translation
			var bx = -a[0], by = -a[1], bz = -a[2], bw = a[3],
			ax =  a[4], ay =  a[5], az =  a[6], aw = a[7];

			//Trans
			var ax1 = ax * bw + aw * bx + ay * bz - az * by,
			ay1 = ay * bw + aw * by + az * bx - ax * bz,
			az1 = az * bw + aw * bz + ax * by - ay * bx,
			aw1 = aw * bw - ax * bx - ay * by - az * bz;

			//Rotate it 
			quat.rotateZ(out, a, rad);

			bx = out[0]; by = out[1]; bz = out[2]; bw = out[3];
			out[4] = ax1 * bw + aw1 * bx + ay1 * bz - az1 * by;
			out[5] = ay1 * bw + aw1 * by + az1 * bx - ax1 * bz;
			out[6] = az1 * bw + aw1 * bz + ax1 * by - ay1 * bx;
			out[7] = aw1 * bw - ax1 * bx - ay1 * by - az1 * bz;
			return out;
		}

		//Rotates a dual quat by a given quaternion (a * q)
		static rotateByQuatAppend(out,a,q){
			var qx = q[0], qy = q[1], qz = q[2], qw = q[3],
				ax = a[0], ay = a[1], az = a[2], aw = a[3];

			out[0] = ax * qw + aw * qx + ay * qz - az * qy;
			out[1] = ay * qw + aw * qy + az * qx - ax * qz;
			out[2] = az * qw + aw * qz + ax * qy - ay * qx;
			out[3] = aw * qw - ax * qx - ay * qy - az * qz;
			
			ax = a[4]; ay = a[5]; az = a[6]; aw = a[7];
			out[4] = ax * qw + aw * qx + ay * qz - az * qy;
			out[5] = ay * qw + aw * qy + az * qx - ax * qz;
			out[6] = az * qw + aw * qz + ax * qy - ay * qx;
			out[7] = aw * qw - ax * qx - ay * qy - az * qz;
			return out;
		}

		//Rotates a dual quat by a given quaternion (q * a)
		static rotateByQuatPrepend(out,q,a){
			var qx = q[0], qy = q[1], qz = q[2], qw = q[3],
			bx = a[0], by = a[1], bz = a[2], bw = a[3];

			out[0] = qx * bw + qw * bx + qy * bz - qz * by;
			out[1] = qy * bw + qw * by + qz * bx - qx * bz;
			out[2] = qz * bw + qw * bz + qx * by - qy * bx;
			out[3] = qw * bw - qx * bx - qy * by - qz * bz;

			bx = a[4]; by = a[5]; bz = a[6]; bw = a[7];
			out[4] = qx * bw + qw * bx + qy * bz - qz * by;
			out[5] = qy * bw + qw * by + qz * bx - qx * bz;
			out[6] = qz * bw + qw * bz + qx * by - qy * bx;
			out[7] = qw * bw - qx * bx - qy * by - qz * bz;
			return out;
		}

		//Rotates a dual quat around a given axis. Does the normalisation automatically
		static rotateAroundAxis(out,a,axis,rad){
			//Special case for rad = 0
			if(Math.abs(rad) < glMatrix.EPSILON){ return dualquat.copy(out, a); } //TODO VOR- get Epsilon

			var axisLength = Math.sqrt(axis[0] * axis[0] + axis[1] * axis[1] + axis[2] * axis[2]);

			rad = rad * 0.5;
			var s = Math.sin(rad);
			var bx = s * axis[0] / axisLength;
			var by = s * axis[1] / axisLength;
			var bz = s * axis[2] / axisLength;
			var bw = Math.cos(rad);

			var ax1 = a[0], ay1 = a[1], az1 = a[2], aw1 = a[3];
			out[0] = ax1 * bw + aw1 * bx + ay1 * bz - az1 * by;
			out[1] = ay1 * bw + aw1 * by + az1 * bx - ax1 * bz;
			out[2] = az1 * bw + aw1 * bz + ax1 * by - ay1 * bx;
			out[3] = aw1 * bw - ax1 * bx - ay1 * by - az1 * bz;

			var ax = a[4], ay = a[5], az = a[6], aw = a[7];
			out[4] = ax * bw + aw * bx + ay * bz - az * by;
			out[5] = ay * bw + aw * by + az * bx - ax * bz;
			out[6] = az * bw + aw * bz + ax * by - ay * bx;
			out[7] = aw * bw - ax * bx - ay * by - az * bz;

			return out;
		}
	}

	/*
	//https://github.com/mrdoob/three.js/blob/dev/src/math/Euler.js
	class Euler extends Float32Array{
		constructor(order){
			super(3);
			this[0] = this[1] = this[2] = 0;
			this.isModified = true;
			this.order = order || "YXZ";

			this._matrix = null;
		}

		//----------------------------------------------
		//region XYZ Setters
			set(x,y,z){ this[0] = x; this[1] = y; this[2] = z; return this; this.isModified = true; }

			get x(){ return this[0]; }	set x(val){ this[0] = val; this.isModified = true; }
			get y(){ return this[1]; }	set y(val){ this[1] = val; this.isModified = true; }
			get z(){ return this[2]; }	set z(val){ this[2] = val; this.isModified = true; }
		//endregion

		setFromRotationMatrix(m,order){

			// assumes the upper 3x3 of m is a pure rotation matrix (i.e, unscaled)
			var m11 = m[0], m12 = m[4], m13 = m[8];
			var m21 = m[1], m22 = m[5], m23 = m[9];
			var m31 = m[2], m32 = m[6], m33 = m[10];

			order = order || this.order;
			switch(order){
				case 'XYZ': //--------------------------------
					this.y = Math.asin(Util.clamp(m13,-1,1));
					if(Math.abs(m13)< 0.99999){
						this.x = Math.atan2(-m23, m33);
						this.z = Math.atan2(-m12, m11);
					}else{
						this.x = Math.atan2(m32, m22);
						this.z = 0;
					}break;

				case 'YXZ': //--------------------------------
					this.x = Math.asin( -Util.clamp(m23, -1, 1));
					if(Math.abs(m23) < 0.99999){
						this.y = Math.atan2(m13, m33);
						this.z = Math.atan2(m21, m22);
					} else {
						this.y = Math.atan2(-m31,m11);
						this.z = 0;
					}break;

				case 'ZXY': //--------------------------------
					this.x = Math.asin(Util.clamp(m32, -1, 1));
					if(Math.abs(m32) < 0.99999) {
						this.y = Math.atan2( -m31, m33);
						this.z = Math.atan2( -m12, m22);
					}else{
						this.y = 0;
						this.z = Math.atan2(m21, m11);
					}break;

				case 'ZYX': //--------------------------------
					this.y = Math.asin( -Util.clamp(m31, -1, 1));
					if(Math.abs(m31) < 0.99999){
						this.x = Math.atan2(m32, m33);
						this.z = Math.atan2(m21, m11);
					}else{
						this.x = 0;
						this.z = Math.atan2(-m12, m22);
					}break;

				case 'YZX': //--------------------------------
					this.z = Math.asin( Util.clamp(m21, -1, 1));
					if(Math.abs( m21 ) < 0.99999){
						this.x = Math.atan2( -m23, m22);
						this.y = Math.atan2( -m31, m11);
					}else{
						this.x = 0;
						this.y = Math.atan2(m13, m33);
					}break;

				case 'XZY':
					this.z = Math.asin( -Util.clamp(m12, -1, 1));
					if(Math.abs(m12) < 0.99999){
						this.x = Math.atan2(m32, m22);
						this.y = Math.atan2(m13, m11);
					}else{
						this.x = Math.atan2(-m23, m33);
						this.y = 0;
					}break;
				default:
					console.warn( 'THREE.Euler: .setFromRotationMatrix() given unsupported order: ' + order );
					break;
			}
			this.order = order;
			return this;
		}

		setFromQuaternion(q,order){
			if (this._matrix == null){
				this._matrix = new Float32Array(16);
				Matrix4.identity(this._matrix);
			}
			Matrix4.fromQuaternion(this._matrix,q);
			this.setFromRotationMatrix(this._matrix,order);
		}
	}
	Euler.RotationOrders	= ['XYZ','YZX','ZXY','XZY','YXZ','ZYX'];
	Euler.DefaultOrder		= 'XYZ';
	*/

	/*>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>
	Fungi.Shaders
	<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
	function NewShader(name,vert,frag){
		var shader = new ShaderBuilder(vert,frag);
		Fungi.Res.Shaders[name] = shader;
		return shader;
	}

	class Material{
		static create(name,shaderName){
			var m = new Material();
			m.shader = Fungi.Res.Shaders[shaderName];

			Fungi.Res.Materials[name] = m;
			return m;
		}

		constructor(){
			this.shader = null;
			this.uniforms = [];
			
			this.useCulling = true;			//TODO, Move to Renderabale			
			this.useBlending = false;		
			this.useDepthTest = true;		//TODO, Move to Renderable
			this.useModelMatrix = true;
			this.useNormalMatrix = false;
			this.useSampleAlphaCoverage = false;

			this.drawMode = gl.TRIANGLES;	//TODO, Move to Renderable
		}

		setUniforms(uName,uValue){ for(var i=0; i < arguments.length; i+=2) this.uniforms[arguments[i]] = arguments[i+1];  return this; }
		applyUniforms(){
			for(var n in this.uniforms){
				this.shader.setUniforms(n,this.uniforms[n]);
			}
			return this;
		}
	}

	class ShaderBuilder{
		constructor(vertShader,fragShader){
			//If the text is small, then its most likely DOM names (very hack) else its actual Source.
			//TODO, Maybe check for new line instead of length, Dom names will never have new lines but source will.
			if(vertShader.length < 20)	this.program = ShaderUtil.domShaderProgram(vertShader,fragShader,true);
			else						this.program = ShaderUtil.createProgramFromText(vertShader,fragShader,true);
			
			if(this.program != null){
				gl.useProgram(this.program);
				this._UniformList = [];		//List of Uniforms that have been loaded in. Key=UNIFORM_NAME {loc,type}
				this._TextureList = [];		//List of texture uniforms, Indexed {loc,tex}
			}
		}

		//---------------------------------------------------
		// Methods For Shader Prep.
		//---------------------------------------------------
		//Takes in unlimited arguments. Its grouped by two so for example (UniformName,UniformType): "uColors","3fv"
		prepareUniforms(uName,uType){
			if(arguments.length % 2 != 0 ){ console.log("prepareUniforms needs arguments to be in pairs."); return this; }
			
			var loc = 0;
			for(var i=0; i < arguments.length; i+=2){
				loc = gl.getUniformLocation(this.program,arguments[i]);
				if(loc != null) this._UniformList[arguments[i]] = {loc:loc,type:arguments[i+1]};
				else console.log("Uniform not found " + arguments[i]);
			}
			return this;
		}

		prepareUniformBlocks(ubo,blockIndex){
			var ind = 0;
			for(var i=0; i < arguments.length; i+=2){
				//ind = this.gl.getUniformBlockIndex(this.program,arguments[i].blockName); //TODO This function does not return block index, need to pass that value in param
				//console.log("Uniform Block Index",ind,ubo.blockName,ubo.blockPoint);

				gl.uniformBlockBinding(this.program, arguments[i+1], arguments[i].blockPoint);
				
				//console.log(this.gl.getActiveUniformBlockParameter(this.program, 0, this.gl.UNIFORM_BLOCK_DATA_SIZE)); //Get Size of Uniform Block
				//console.log(this.gl.getActiveUniformBlockParameter(this.program, 0, this.gl.UNIFORM_BLOCK_ACTIVE_UNIFORM_INDICES));
				//console.log(this.gl.getActiveUniformBlockParameter(this.program, 0, this.gl.UNIFORM_BLOCK_ACTIVE_UNIFORMS));
				//console.log(this.gl.getActiveUniformBlockParameter(this.program, 0, this.gl.UNIFORM_BLOCK_BINDING));
			}
			return this;
		}

		//Takes in unlimited arguments. Its grouped by two so for example (UniformName,CacheTextureName): "uMask01","tex001";
		prepareTextures(uName,TextureCacheName){
			if(arguments.length % 2 != 0){ console.log("prepareTextures needs arguments to be in pairs."); return this; }
			
			var loc = 0,tex = "";
			for(var i=0; i < arguments.length; i+=2){
				tex = Fungi.Textures[arguments[i+1]];
				if(tex === undefined){ console.log("Texture not found in cache " + arguments[i+1]); continue; }

				loc = gl.getUniformLocation(this.program,arguments[i]);
				if(loc != null) _TextureList.push({loc:loc,tex:tex});
			}
			return this;
		}

		//---------------------------------------------------
		// Setters Getters
		//---------------------------------------------------
		//Uses a 2 item group argument array. Uniform_Name, Uniform_Value;
		setUniforms(uName,uValue){
			if(arguments.length % 2 != 0){ console.log("setUniforms needs arguments to be in pairs."); return this; }

			var texCnt = 0,
				name;

			for(var i=0; i < arguments.length; i+=2){
				name = arguments[i];
				if(this._UniformList[name] === undefined){ console.log("uniform not found " + name); return this; }

				switch(this._UniformList[name].type){
					case "vec2":	gl.uniform2fv(this._UniformList[name].loc, arguments[i+1]); break;
					case "vec3":	gl.uniform3fv(this._UniformList[name].loc, arguments[i+1]); break;
					case "vec4":	gl.uniform4fv(this._UniformList[name].loc, arguments[i+1]); break;
					case "mat4":	gl.uniformMatrix4fv(this._UniformList[name].loc,false,arguments[i+1]); break;
					case "mat2x4": 	gl.uniformMatrix2x4fv(this._UniformList[name].loc,false,arguments[i+1]); break;
					case "tex":
						gl.activeTexture(gl["TEXTURE" + texCnt]);
						gl.bindTexture(gl.TEXTURE_2D,uValue);
						gl.uniform1i(this._UniformList[name].loc,texCnt);
						texCnt++;
						break;
					default: console.log("unknown uniform type for " + name); break;
				}
			}
			return this;
		}

		//---------------------------------------------------
		// Methods
		//---------------------------------------------------
		activate(){ gl.useProgram(this.program); return this; }
		deactivate(){ gl.useProgram(null); return this; }

		//function helps clean up resources when shader is no longer needed.
		dispose(){
			//unbind the program if its currently active
			if(this.gl.getParameter(this.gl.CURRENT_PROGRAM) === this.program) this.gl.useProgram(null);
			gl.deleteProgram(this.program);
		}

		preRender(){
			gl.useProgram(this.program); //Save a function call and just activate this shader program on preRender

			//If passing in arguments, then lets push that to setUniforms for handling. Make less line needed in the main program by having preRender handle Uniforms
			if(arguments.length > 0) this.setUniforms.apply(this,arguments);

			//..........................................
			//Prepare textures that might be loaded up.
			//TODO, After done rendering need to deactivate the texture slots
			if(this._TextureList.length > 0){
				var texSlot;
				for(var i=0; i < this._TextureList.length; i++){
					texSlot = gl["TEXTURE" + i];
					gl.activeTexture(texSlot);
					gl.bindTexture(gl.TEXTURE_2D,this._TextureList[i].tex);
					gl.uniform1i(this._TextureList[i].loc,i);
				}
			}

			return this;
		}
	}

	class ShaderUtil{
		//get the text of a script tag that are storing shader code.
		static domShaderSrc(elmID){
			var elm = document.getElementById(elmID);
			if(!elm || elm.text == ""){ console.log(elmID + " shader not found or no text."); return null; }
			
			return elm.text;
		}

		//Create a shader by passing in its code and what type
		static createShader(src,type){
			var shader = gl.createShader(type);
			gl.shaderSource(shader,src);
			gl.compileShader(shader);

			//Get Error data if shader failed compiling
			if(!gl.getShaderParameter(shader, gl.COMPILE_STATUS)){
				console.error("Error compiling shader : " + src, gl.getShaderInfoLog(shader));
				gl.deleteShader(shader);
				return null;
			}

			return shader;
		}

		//Link two compiled shaders to create a program for rendering.
		static createProgram(vShader,fShader,doValidate){
			//Link shaders together
			var prog = gl.createProgram();
			gl.attachShader(prog,vShader);
			gl.attachShader(prog,fShader);

			//Force predefined locations for specific attributes. If the attibute isn't used in the shader its location will default to -1
			//gl.bindAttribLocation(prog,ATTR_POSITION_LOC,ATTR_POSITION_NAME);
			//gl.bindAttribLocation(prog,ATTR_NORMAL_LOC,ATTR_NORMAL_NAME);
			//gl.bindAttribLocation(prog,ATTR_UV_LOC,ATTR_UV_NAME);

			gl.linkProgram(prog);

			//Check if successful
			if(!gl.getProgramParameter(prog, gl.LINK_STATUS)){
				console.error("Error creating shader program.",gl.getProgramInfoLog(prog));
				gl.deleteProgram(prog); return null;
			}

			//Only do this for additional debugging.
			if(doValidate){
				gl.validateProgram(prog);
				if(!gl.getProgramParameter(prog,gl.VALIDATE_STATUS)){
					console.error("Error validating program", gl.getProgramInfoLog(prog));
					gl.deleteProgram(prog); return null;
				}
			}
			
			//Can delete the shaders since the program has been made.
			gl.detachShader(prog,vShader); //TODO, detaching might cause issues on some browsers, Might only need to delete.
			gl.detachShader(prog,fShader);
			gl.deleteShader(fShader);
			gl.deleteShader(vShader);

			return prog;
		}

		//-------------------------------------------------
		// Helper functions
		//-------------------------------------------------
		
		//Pass in Script Tag IDs for our two shaders and create a program from it.
		static domShaderProgram(vectID,fragID,doValidate){
			var vShaderTxt	= ShaderUtil.domShaderSrc(vectID);							if(!vShaderTxt)	return null;
			var fShaderTxt	= ShaderUtil.domShaderSrc(fragID);							if(!fShaderTxt)	return null;
			var vShader		= ShaderUtil.createShader(vShaderTxt,gl.VERTEX_SHADER);		if(!vShader)	return null;
			var fShader		= ShaderUtil.createShader(fShaderTxt,gl.FRAGMENT_SHADER);	if(!fShader){	gl.deleteShader(vShader); return null; }
			return ShaderUtil.createProgram(vShader,fShader,true);
		}

		static createProgramFromText(vShaderTxt,fShaderTxt,doValidate){
			var vShader		= ShaderUtil.createShader(vShaderTxt,gl.VERTEX_SHADER);		if(!vShader)	return null;
			var fShader		= ShaderUtil.createShader(fShaderTxt,gl.FRAGMENT_SHADER);	if(!fShader){	gl.deleteShader(vShader); return null; }			
			return ShaderUtil.createProgram(vShader,fShader,true);
		}
	}

	//Uniform Buffer Object
	class UBO{
		constructor(blockName,blockPoint,bufSize,aryCalc){
			//Build name indexed array of Buffer Components for quick access when updating.
			this.items = [];	//Key Indexed array of structs that define each component
			this.keys = [];		//The order is important for the struct, keep the order of the uniform names with this array.
			
			for(var i=0; i < aryCalc.length; i++){
				this.items[aryCalc[i].name]	= {offset: aryCalc[i].offset,dataLen: aryCalc[i].dataLen,chunkLen:aryCalc[i].chunkLen};
				this.keys[i]				= aryCalc[i].name;
			}
			
			//Save some extra bits of data
			this.blockName = blockName;
			this.blockPoint = blockPoint;

			//Create Buffer to store the struct data.
			this.buf = gl.createBuffer();									//Create Standard Buffer
			gl.bindBuffer(gl.UNIFORM_BUFFER,this.buf);						//Bind it for work
			gl.bufferData(gl.UNIFORM_BUFFER,bufSize,gl.DYNAMIC_DRAW);		//Allocate Space needed
			gl.bindBuffer(gl.UNIFORM_BUFFER,null);							//Unbind
			gl.bindBufferBase(gl.UNIFORM_BUFFER, blockPoint, this.buf);		//Assign to Block Point
		}

		update(name,data){
			//If not float32array, make it so
			//if(! (data instanceof Float32Array)){
			//	if(Array.isArray(data))	data = new Float32Array(data);		//already an array, just convert to float32
			//	else 					data = new Float32Array([data]);	//Single value most likely,Turn to -> Array -> Float32Ary
			//}

			gl.bindBuffer(gl.UNIFORM_BUFFER,this.buf);
			for(var i=0; i < arguments.length; i+=2){
				gl.bufferSubData(gl.UNIFORM_BUFFER, this.items[ arguments[i] ].offset, arguments[i+1], 0, null);
			}
			gl.bindBuffer(gl.UNIFORM_BUFFER,null);
			return this;
		}

		static createTransformUBO(){
			return UBO.create(Fungi.UBO_TRANSFORM,0,[ {name:"matProjection",type:"mat4"}, {name:"matCameraView",type:"mat4"}, {name:"posCamera",type:"vec3"} ]);
		}

		static create(blockName,blockPoint,ary){
			var bufSize = UBO.calculate(ary);
			Fungi.Res.Ubo[blockName] = new UBO(blockName,blockPoint,bufSize,ary);
			//UBO.debugVisualize(Fungi.Res.Ubo[blockName]);
			return Fungi.Res.Ubo[blockName];
		}

		static getSize(type){ //[Alignment,Size]
			switch(type){
				case "f": case "i": case "b": return [4,4];
				case "mat4": return [64,64]; //16*4
				case "mat3": return [48,48]; //16*3
				case "vec2": return [8,8];
				case "vec3": return [16,12]; //Special Case
				case "vec4": return [16,16];
				default: return [0,0];
			}
		}

		static calculate(ary){
			var chunk = 16,	//Data size in Bytes, UBO using layout std140 needs to build out the struct in chunks of 16 bytes.
				tsize = 0,	//Temp Size, How much of the chunk is available after removing the data size from it
				offset = 0,	//Offset in the buffer allocation
				size;		//Data Size of the current type

			for(var i=0; i < ary.length; i++){
				//When dealing with arrays, Each element takes up 16 bytes regardless of type.
				if(!ary[i].arylen || ary[i].arylen == 0) size = UBO.getSize(ary[i].type);
				else size = [ary[i].arylen * 16,ary[i].arylen * 16];

				tsize = chunk-size[0];	//How much of the chunk exists after taking the size of the data.

				//Chunk has been overdrawn when it already has some data resurved for it.
				if(tsize < 0 && chunk < 16){
					offset += chunk;						//Add Remaining Chunk to offset...
					if(i > 0) ary[i-1].chunkLen += chunk;	//So the remaining chunk can be used by the last variable
					chunk = 16;								//Reset Chunk
				}else if(tsize < 0 && chunk == 16){
					//Do nothing incase data length is >= to unused chunk size.
					//Do not want to change the chunk size at all when this happens.
				}else if(tsize == 0){ //If evenly closes out the chunk, reset
					
					if(ary[i].type == "vec3" && chunk == 16) chunk -= size[1];	//If Vec3 is the first var in the chunk, subtract size since size and alignment is different.
					else chunk = 16;

				}else chunk -= size[1];	//Chunk isn't filled, just remove a piece

				//Add some data of how the chunk will exist in the buffer.
				ary[i].offset	= offset;
				ary[i].chunkLen	= size[1];
				ary[i].dataLen	= size[1];

				offset += size[1];
			}

			//Check if the final offset is divisiable by 16, if not add remaining chunk space to last element.
			//if(offset % 16 != 0){
				//ary[ary.length-1].chunkLen += 16 - offset % 16;
				//offset += 16 - offset % 16;
			//}

			//console.log("UBO Buffer Size ",offset);
			return offset;
		}

		static debugVisualize(ubo){
			var str = "",
				chunk = 0,
				tchunk = 0,
				itm = null;

			for(var i=0; i < ubo.keys.length; i++){
				itm = ubo.items[ubo.keys[i]];
				//console.log(ubo.keys[i],itm);

				chunk = itm.chunkLen / 4;
				for(var x = 0; x < chunk; x++){
					str += (x==0 || x == chunk-1)? "|."+i+"." : "|...";	//Display the index
					tchunk++;
					if(tchunk % 4 == 0) str += "| ~ ";
				}
			}

			if(tchunk % 4 != 0) str += "|";

			//console.log(str);
			//for(var i=0; i < ary.length; i++) console.log(ary[i]);
		}
	}

	//Vertex Array Object
	class VAO{
		static create(out){
			out.buffers = [];
			out.id = gl.createVertexArray();
			out.isIndexed = false;
			out.count = 0;

			gl.bindVertexArray(out.id);
			return VAO;
		}

		static finalize(out,name){
			if(out.count == 0 && out.buffers["vert"] !== undefined) out.count = out.buffers["vert"].count;

			gl.bindVertexArray(null);
			gl.bindBuffer(gl.ARRAY_BUFFER,null);
			gl.bindBuffer(gl.ELEMENT_ARRAY_BUFFER,null);
			Fungi.Res.Vao[name] = out;
		}

		static emptyFloatArrayBuffer(out,name,aryCount,attrLoc,size,stride,offset,isStatic){
			var rtn = {
				buf:gl.createBuffer(),
				size:size,
				stride:stride,
				offset:offset,
				count:0
			};

			gl.bindBuffer(gl.ARRAY_BUFFER, rtn.buf);
			gl.bufferData(gl.ARRAY_BUFFER,aryCount,(isStatic != false)? gl.STATIC_DRAW : gl.DYNAMIC_DRAW);		//Allocate Space needed
			gl.enableVertexAttribArray(attrLoc);
			gl.vertexAttribPointer(attrLoc,size,gl.FLOAT,false,stride || 0,offset || 0);

			out.buffers[name] = rtn;
			return VAO;
		}

		static partitionBuffer(attrLoc,size,stride,offset,isInstance){
			gl.enableVertexAttribArray(attrLoc);
			gl.vertexAttribPointer(attrLoc,size,gl.FLOAT,false,stride,offset);

			if(isInstance == true) gl.vertexAttribDivisor(attrLoc, 1);
			
			return VAO;
		}

		static floatArrayBuffer(out,name,aryFloat,attrLoc,size,stride,offset,isStatic,keepData,isInstance){
			var rtn = {
				buf:gl.createBuffer(),
				size:size,
				stride:stride,
				offset:offset,
				count:aryFloat.length / size
			};
			if(keepData == true) rtn.data = aryFloat;
			var ary = (aryFloat instanceof Float32Array)? aryFloat : new Float32Array(aryFloat);

			gl.bindBuffer(gl.ARRAY_BUFFER, rtn.buf);
			gl.bufferData(gl.ARRAY_BUFFER, ary, (isStatic != false)? gl.STATIC_DRAW : gl.DYNAMIC_DRAW );
			gl.enableVertexAttribArray(attrLoc);
			gl.vertexAttribPointer(attrLoc,size,gl.FLOAT,false,stride || 0,offset || 0);

			if(isInstance == true) gl.vertexAttribDivisor(attrLoc, 1);

			out.buffers[name] = rtn;
			return VAO;
		}

		static mat4ArrayBuffer(out,name,aryFloat,attrLoc,isStatic,keepData,isInstance){
			var rtn = {
				buf:gl.createBuffer(),
				size:4,
				stride:64,
				offset:0,
				count:aryFloat.length / 16
			};
			if(keepData == true) rtn.data = aryFloat;
			var ary = (aryFloat instanceof Float32Array)? aryFloat : new Float32Array(aryFloat);

			gl.bindBuffer(gl.ARRAY_BUFFER, rtn.buf);
			gl.bufferData(gl.ARRAY_BUFFER, ary, (isStatic != false)? gl.STATIC_DRAW : gl.DYNAMIC_DRAW );
			
			//Matrix is treated like an array of vec4, So there is actually 4 attributes to setup that
			//actually makes up a single mat4.
			gl.enableVertexAttribArray(attrLoc);
			gl.vertexAttribPointer(attrLoc,4,gl.FLOAT,false,64,0);

			gl.enableVertexAttribArray(attrLoc+1);
			gl.vertexAttribPointer(attrLoc+1,4,gl.FLOAT,false,64,16);
			
			gl.enableVertexAttribArray(attrLoc+2);
			gl.vertexAttribPointer(attrLoc+2,4,gl.FLOAT,false,64,32);
			
			gl.enableVertexAttribArray(attrLoc+3);
			gl.vertexAttribPointer(attrLoc+3,4,gl.FLOAT,false,64,48);
			
			if(isInstance == true){
				gl.vertexAttribDivisor(attrLoc, 1);
				gl.vertexAttribDivisor(attrLoc+1, 1);
				gl.vertexAttribDivisor(attrLoc+2, 1);
				gl.vertexAttribDivisor(attrLoc+3, 1);
			}

			out.buffers[name] = rtn;
			return VAO;
		}


		static emptyIndexBuffer(out,name,aryCount,isStatic){
			var rtn = { buf:gl.createBuffer(), count:0 };

			gl.bindBuffer(gl.ELEMENT_ARRAY_BUFFER, rtn.buf );  
			gl.bufferData(gl.ELEMENT_ARRAY_BUFFER, aryCount, (isStatic != false)? gl.STATIC_DRAW : gl.DYNAMIC_DRAW );

			out.buffers[name] = rtn;
			out.isIndexed = true;

			return VAO;
		}

		static indexBuffer(out,name,aryUInt,isStatic,keepData){
			var rtn = { buf:gl.createBuffer(), count:aryUInt.length };
			if(keepData == true) rtn.data = aryUInt;

			var ary = (aryUInt instanceof Uint16Array)? aryUInt : new Uint16Array(aryUInt);

			gl.bindBuffer(gl.ELEMENT_ARRAY_BUFFER, rtn.buf );  
			gl.bufferData(gl.ELEMENT_ARRAY_BUFFER, ary, (isStatic != false)? gl.STATIC_DRAW : gl.DYNAMIC_DRAW );

			out.buffers[name] = rtn;
			out.isIndexed = true;
			out.count = aryUInt.length;

			return VAO;
		}

		static standardMesh(name,vertSize,aryVert,aryNorm,aryUV,aryInd,keepData){
			var rtn = {};
			VAO.create(rtn).floatArrayBuffer(rtn,"vert",aryVert,Fungi.ATTR_POSITION_LOC,vertSize,0,0,true,keepData);
			rtn.count = rtn.buffers["vert"].count;

			if(aryNorm)	VAO.floatArrayBuffer(rtn,"norm",aryNorm,Fungi.ATTR_NORM_LOC,3,0,0,true,keepData);
			if(aryUV)	VAO.floatArrayBuffer(rtn,"uv",aryUV,Fungi.ATTR_UV_LOC,2,0,0,true,keepData);
			if(aryInd)	VAO.indexBuffer(rtn,"index",aryInd,true,keepData);

			if(rtn.count == 0) rtn.count = aryVert.length / vertSize;

			VAO.finalize(rtn);
			return rtn;
		}

		static updateAryBufSubData(bufID,offset,data){
			gl.bindBuffer(gl.ARRAY_BUFFER, bufID);
			gl.bufferSubData(gl.ARRAY_BUFFER, offset, data, 0, null);
			gl.bindBuffer(gl.ARRAY_BUFFER, null);
		}
	}

	//FrameBuffer Object
	class FBO{
		static build(name,colorCnt,useDepth,wSize,hSize){
			var rtn = {}
			if(wSize === undefined || wSize == null) wSize = gl.fWidth;
			if(hSize === undefined || wSize == null) hSize = gl.fHeight;

			//Create and Set Depth
			FBO.create(rtn);
			if(useDepth == true) FBO.depthBuffer(rtn,wSize,hSize);

			//Build color buffers
			var cBufAry = [];
			for(var i=0; i < colorCnt; i++){
				cBufAry.push( gl.COLOR_ATTACHMENT0 + i );
				FBO.texColorBuffer(rtn,i,wSize,hSize);
			}
			if(cBufAry.length > 1)gl.drawBuffers(cBufAry);
			
			//All Done.
			FBO.finalize(rtn,name);
			return rtn;
		}

		static create(out){
			out.colorBuf = [];
			out.id = gl.createFramebuffer();
			gl.bindFramebuffer(gl.FRAMEBUFFER, out.id);
			return this;
		}

		static texColorBuffer(out,cAttachNum,w,h){
			//Up to 16 texture attachments 0 to 15
			out.colorBuf[cAttachNum] = gl.createTexture();
			gl.bindTexture(gl.TEXTURE_2D, out.colorBuf[cAttachNum]);
			gl.texImage2D(gl.TEXTURE_2D,0, gl.RGBA, w, h, 0, gl.RGBA, gl.UNSIGNED_BYTE, null);
			gl.texParameteri(gl.TEXTURE_2D, gl.TEXTURE_MIN_FILTER, gl.LINEAR);
			gl.texParameteri(gl.TEXTURE_2D, gl.TEXTURE_MAG_FILTER, gl.LINEAR);
			gl.texParameteri(gl.TEXTURE_2D, gl.TEXTURE_WRAP_S, gl.CLAMP_TO_EDGE);	//Stretch image to X position
			gl.texParameteri(gl.TEXTURE_2D, gl.TEXTURE_WRAP_T, gl.CLAMP_TO_EDGE);	//Stretch image to Y position

			gl.framebufferTexture2D(gl.FRAMEBUFFER, gl.COLOR_ATTACHMENT0 + cAttachNum, gl.TEXTURE_2D, out.colorBuf[cAttachNum], 0);
			return this;
		}

		static depthBuffer(out,w,h){
			out.depth = gl.createRenderbuffer();
			gl.bindRenderbuffer(gl.RENDERBUFFER, out.depth);
			gl.renderbufferStorage(gl.RENDERBUFFER, gl.DEPTH_COMPONENT16, w, h);
			gl.framebufferRenderbuffer(gl.FRAMEBUFFER, gl.DEPTH_ATTACHMENT, gl.RENDERBUFFER, out.depth);
			return this;
		}

		static finalize(out,name){
			switch(gl.checkFramebufferStatus(gl.FRAMEBUFFER)){
				case gl.FRAMEBUFFER_COMPLETE: break;
				case gl.FRAMEBUFFER_INCOMPLETE_ATTACHMENT: console.log("FRAMEBUFFER_INCOMPLETE_ATTACHMENT"); break;
				case gl.FRAMEBUFFER_INCOMPLETE_MISSING_ATTACHMENT: console.log("FRAMEBUFFER_INCOMPLETE_MISSING_ATTACHMENT"); break;
				case gl.FRAMEBUFFER_INCOMPLETE_DIMENSIONS: console.log("FRAMEBUFFER_INCOMPLETE_DIMENSIONS"); break;
				case gl.FRAMEBUFFER_UNSUPPORTED: console.log("FRAMEBUFFER_UNSUPPORTED"); break;
				case gl.FRAMEBUFFER_INCOMPLETE_MULTISAMPLE: console.log("FRAMEBUFFER_INCOMPLETE_MULTISAMPLE"); break;
				case gl.RENDERBUFFER_SAMPLES: console.log("RENDERBUFFER_SAMPLES"); break;
			}
			
			gl.bindTexture(gl.TEXTURE_2D, null);
			gl.bindRenderbuffer(gl.RENDERBUFFER, null);
			gl.bindFramebuffer(gl.FRAMEBUFFER, null);
			Fungi.Res.Fbo[name] = out;

			return out;
		}

		static colorDepthFBO(name){
			var rtn = {};
			return FBO.create(rtn)
				.texColorBuffer(rtn,0)
				.depthBuffer(rtn)
				.finalize(rtn,name);
		}

		static readPixel(fbo,x,y,cAttachNum){
			var p = new Uint8Array(4);
			gl.bindFramebuffer(gl.READ_FRAMEBUFFER, fbo.id);
			gl.readBuffer(gl.COLOR_ATTACHMENT0 + cAttachNum);
			gl.readPixels(x, y, 1, 1, gl.RGBA, gl.UNSIGNED_BYTE, p);
			gl.bindFramebuffer(gl.READ_FRAMEBUFFER, null);
			return p;
		}

		static activate(fbo){ gl.bindFramebuffer(gl.FRAMEBUFFER,fbo.id); return this; }
		static deactivate(){ gl.bindFramebuffer(gl.FRAMEBUFFER,null); return this; }
		static clear(fbo){
			gl.bindFramebuffer(gl.FRAMEBUFFER,fbo.id);
			gl.clear(gl.COLOR_BUFFER_BIT | gl.DEPTH_BUFFER_BIT); 
			gl.bindFramebuffer(gl.FRAMEBUFFER,null);
		}

		static delete(fbo){
			//TODO, Delete using the Cache name, then remove it from cache.
			gl.deleteRenderbuffer(fbo.depth);
			gl.deleteTexture(fbo.texColor);
			gl.deleteFramebuffer(fbo.id);
		}
	}


	/*>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>
	<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
	class RenderLoop{
		constructor(callback,fps){
			this.isActive		= false;	//Control the On/Off state of the render loop
			this.fps			= 0;		//Save the value of how fast the loop is going.

			this._startTime		= 0;
			this._lastFrame		= null;		//The time in Miliseconds of the last frame.
			this._callBack		= callback;	//What function to call for each frame
			this._frameCaller	= window;	//Normally we'll call window's requestAnimationFrame, but for VR we need to use its HMD reference for that call.
			this._fpsLimit		= 0;		//Limit how many frames per second the loop should do.
			this._runPtr 		= null;		//Pointer to a run function that has this class's scope attached

			this._fpsLast		= null;		//Track time last FPS value was reported
			this._fpsCnt		= 0;		//Constant count of how many frames have been rendered.

			this.setFPSLimit( (fps != undefined && fps > 0)?fps:0  );
		}

		stop(){ this.isActive = false; }
		start(){
			this.isActive = true;
			
			this._startTime = 
				this._LastFrame = 
					this._fpsLast = performance.now();

			this._frameCaller.requestAnimationFrame(this._runPtr);
			return this;
		}

		setFrameCaller(fc){ this.frameCaller = fc; return this; }
		setFPSLimit(v){
			if(v <= 0){
				this._fpsLimit = 0;
				this._runPtr = this.runFull.bind(this);
			}else{
				this._fpsLimit = 1000/v; //Calc how many milliseconds per frame in one second of time.
				this._runPtr = this.runLimit.bind(this);
			}
		}

		runLimit(){
			//Calculate Deltatime between frames and the FPS currently.
			var msCurrent	= performance.now(),
				msDelta		= (msCurrent - this._lastFrame),
				deltaTime	= msDelta / 1000.0,		//What fraction of a single second is the delta time
				sinceStart	= msCurrent - this._startTime;
			
			if(msDelta >= this._fpsLimit){ //Now execute frame since the time has elapsed.
				this.fps		= Math.floor(1/deltaTime);
				this._lastFrame	= msCurrent;
				this._callBack(deltaTime,sinceStart);
			}

			if(this.isActive) this._frameCaller.requestAnimationFrame(this._runPtr);
		}

		runFull(){
			//Calculate Deltatime between frames and the FPS currently.
			var msCurrent	= performance.now(),	//Gives you the whole number of how many milliseconds since the dawn of time :)
				deltaTime	= (msCurrent - this._lastFrame) / 1000.0,	//ms between frames, Then / by 1 second to get the fraction of a second.
				sinceStart	= msCurrent - this._startTime;

			this.timeSinceStart = msCurrent - this._startTime;

			//Track how my frames have passed in one second of time.
			this._fpsCnt++;
			if(msCurrent - this._fpsLast >= 1000){
				this.fps		= this._fpsCnt;
				this._fpsCnt	= 0;
				this._fpsLast	= msCurrent;
			}

			//Now execute frame since the time has elapsed.
			//this.fps			= Math.floor(1/deltaTime); //Time it took to generate one frame, divide 1 by that to get how many frames in one second.
			this._lastFrame		= msCurrent;
			this._callBack(deltaTime,sinceStart);
			if(this.isActive)	this._frameCaller.requestAnimationFrame(this._runPtr);
		}
	}

	//TODO : Other Optimization, Even if Material Changes, Check if dif material but the same shader.
	// Also try to sort the Renderables by Material, Shaders, etc to make sure we shift Shaders/uniforms as little as possible.
	// Also try to find a way to filter out renderables that are not in the line of sight OR beyond our viewing range, no point rendering what we can't see.
	var Renderer = (function(){
		var f = function(ary){
			if(f.onPreRender != null) f.onPreRender(f);

			f.processList(ary,false);
			/*
			for(var i=0; i < ary.length; i++){
				if(ary[i].visible == false) continue;

				f.prepareNext(ary[i]).draw();

				if(f.onItemRendered != null) f.onItemRendered(ary[i]);
			}
			*/

			if(f.onPostRender != null) f.onPostRender(f);

			//...................................
			//Cleanup
			gl.bindVertexArray(null); //After all done rendering, unbind VAO
		};

		f.onItemRendered	= null;	//Event After an Item has been rendered
		f.onPreRender		= null;	//Before Rendering starts
		f.onPostRender		= null;	//After Rendering is complete
		f.material			= null;
		f.shader			= null;

		//process an array of transforms in a recursive fashion. Also forces world matrix update on items if needed
		f.processList = function(ary,forceWorldUpdate){
			var isUpdated;
			for(var i=0; i < ary.length; i++){
				if(ary[i].visible == false) continue;
				isUpdated = ary[i].updateMatrix(forceWorldUpdate);
				
				//if this transform is a renderable, start drawing
				if(ary[i].draw != undefined){
					f.prepareNext(ary[i]).draw();
					if(f.onItemRendered != null) f.onItemRendered(ary[i]);
				}

				//If transform has any children, then process that list next.
				if(ary[i].children.length > 0) f.processList(ary[i].children, isUpdated || forceWorldUpdate);
			}
		}

		//Prepares the shader for the next item for rendering by dealing with the shader and gl features
		f.prepareNext = function(itm){
			//Check if the next materal to use is different from the last
			if(f.material !== itm.material){
				f.material = itm.material;

				//Multiple materials can share the same shader, if new shader, turn it on.
				if(f.material.shader !== f.shader) f.shader = f.material.shader.activate();

				//Turn on/off any gl features
				if(f.material.useCulling != CULLING_STATE)		gl[ ( (CULLING_STATE = (!CULLING_STATE))  )?"enable":"disable" ](gl.CULL_FACE);
				if(f.material.useBlending != BLENDING_STATE)	gl[ ( (BLENDING_STATE = (!BLENDING_STATE)) )?"enable":"disable" ](gl.BLEND);
				if(f.material.useDepthTest != DEPTHTEST_STATE)	gl[ ( (DEPTHTEST_STATE = (!DEPTHTEST_STATE)) )?"enable":"disable" ](gl.DEPTH_TEST);
				if(f.material.useSampleAlphaCoverage != SAMPLE_ALPHA_COV_STATE) gl[ ( (SAMPLE_ALPHA_COV_STATE = (!SAMPLE_ALPHA_COV_STATE)) )?"enable":"disable" ](gl.SAMPLE_ALPHA_TO_COVERAGE);

				f.material.applyUniforms();
			}

			//Prepare Buffers and Uniforms.
			//gl.bindVertexArray(itm.vao.id);
			if(f.material.useModelMatrix) f.material.shader.setUniforms(Fungi.UNI_MODEL_MAT_NAME,itm.worldMatrix);

			return itm;
		}

		return f;
	})();



	/*>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>
	Final Build
	<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
	return{
		Init:Init, gl:null, Util:Util,
		
		//RESOURCE CACHE
		Res:{ Textures:[], Videos:[], Images:[], Shaders:[], Ubo:[], Vao:[], Fbo:[], Materials:[] },

		//MATH OBJECTS
		Maths:{ Vec3:Vec3, Quaternion:Quaternion, Matrix4:Matrix4, Mat3:Mat3, DualQuat:DualQuat },

		//SHADERS
		Shaders:{Material:Material, New:NewShader, Builder:ShaderBuilder, Util:ShaderUtil, VAO:VAO, UBO:UBO, FBO:FBO },
		
		//TRANSFORM AND ITS EXTENSIONS
		Transform:Transform, Renderable:Renderable, CameraOrbit:CameraOrbit,

		//OTHER OBJECTS
		RenderLoop:RenderLoop,
		Render:Renderer,

		//.........................................
		//CONSTANTS
		ATTR_POSITION_LOC:0,
		ATTR_NORM_LOC:1,
		ATTR_UV_LOC:2,
		UBO_TRANSFORM:"UBOTransform",
		UNI_MODEL_MAT_NAME:"uModalMatrix",
	};
})();