Replaces matrix math functions in o3d-webgl with a new library that uses 1-dimensional arrays to represent matrices instead of 2-dimensional arrays.

This is a duplicate of Daniel Horn's change http://codereview.chromium.org/3072008 for committal.

Review URL: http://codereview.chromium.org/3273004

git-svn-id: svn://svn.chromium.org/chrome/trunk/src@59268 0039d316-1c4b-4281-b951-d872f2087c98

25 files changed, 5513 insertions, 2053 deletions

diff --git a/o3d/samples/o3d-webgl-samples/2d.html b/o3d/samples/o3d-webgl-samples/2d.html
index 416c76c..2e7bd23 100644
--- a/o3d/samples/o3d-webgl-samples/2d.html
+++ b/o3d/samples/o3d-webgl-samples/2d.html
@@ -296,10 +296,10 @@ function initStep2(clientElements) {
       1,
       1,
       1,
-      [[1, 0, 0, 0],
-       [0, 0, 1, 0],
-       [0,-1, 0, 0],
-       [0, 0, 0, 1]]);
+      o3djs.math.makeMatrix4(1, 0, 0, 0,
+                             0, 0, 1, 0,
+                             0,-1, 0, 0,
+                             0, 0, 0, 1));
 
   // Load all the textures.
   var loader = o3djs.loader.createLoader(initStep3);
diff --git a/o3d/samples/o3d-webgl-samples/box2d-3d/demos/manager.js b/o3d/samples/o3d-webgl-samples/box2d-3d/demos/manager.js
index b780460..c8bb604 100644
--- a/o3d/samples/o3d-webgl-samples/box2d-3d/demos/manager.js
+++ b/o3d/samples/o3d-webgl-samples/box2d-3d/demos/manager.js
@@ -24,10 +24,10 @@ O3DManager.prototype.createCylinder = function(radius) {
     shape = o3djs.primitives.createCylinder(g.pack,
                                             g.materials[0],
                                             radius, 40, 20, 1,
-                                            [[1, 0, 0, 0],
-                                             [0, 0, 1, 0],
-                                             [0, -1, 0, 0],
-                                             [0, 0, 0, 1]]);
+                                            o3djs.math.makeMatrix4(1, 0, 0, 0,
+                                                                   0, 0, 1, 0,
+                                                                   0, -1, 0, 0,
+                                                                   0, 0, 0, 1));
     this.shapes[id] = shape;
   }
   return new O3DShape({shape: shape});
@@ -53,16 +53,16 @@ O3DManager.prototype.createCompoundCylinder = function(radius1,
   if (!shape) {
     shape = o3djs.primitives.createCylinder(
         g.pack, g.materials[0], radius1, 40, 20, 1,
-        [[1, 0, 0, 0],
-         [0, 0, 1, 0],
-         [0, -1, 0, 0],
-         [offset1, 0, 0, 1]]);
+        o3djs.math.makeMatrix4(1, 0, 0, 0,
+                               0, 0, 1, 0,
+                               0, -1, 0, 0,
+                               offset1, 0, 0, 1));
     shape2 = o3djs.primitives.createCylinder(
         g.pack, g.materials[0], radius2, 40, 20, 1,
-        [[1, 0, 0, 0],
-         [0, 0, 1, 0],
-         [0, -1, 0, 0],
-         [offset2, 0, 0, 1]]);
+        o3djs.math.makeMatrix4(1, 0, 0, 0,
+                               0, 0, 1, 0,
+                               0, -1, 0, 0,
+                               offset2, 0, 0, 1));
     shape2.elements[0].owner = shape;
     g.pack.removeObject(shape2);
     this.shapes[id] = shape;
diff --git a/o3d/samples/o3d-webgl-samples/hellocube.html b/o3d/samples/o3d-webgl-samples/hellocube.html
index 148183b..8655b62 100644
--- a/o3d/samples/o3d-webgl-samples/hellocube.html
+++ b/o3d/samples/o3d-webgl-samples/hellocube.html
@@ -207,8 +207,8 @@ function initStep2(clientElements) {
   // Set up our view transformation to look towards the world origin where the
   // cube is located.
   viewInfo.drawContext.view = g_math.matrix4.lookAt([0, 1, 5],  // eye
-                                            [0, 0, 0],  // target
-                                            [0, 1, 0]); // up
+                                                    [0, 0, 0],  // target
+                                                    [0, 1, 0]); // up
 
   // Create an Effect object and initialize it using the shaders from the
   // text area.
diff --git a/o3d/samples/o3d-webgl-samples/hud-2d-overlay.html b/o3d/samples/o3d-webgl-samples/hud-2d-overlay.html
index 0464b30..9d7b967 100644
--- a/o3d/samples/o3d-webgl-samples/hud-2d-overlay.html
+++ b/o3d/samples/o3d-webgl-samples/hud-2d-overlay.html
@@ -216,10 +216,10 @@ function initStep2(clientElements) {
       1,
       1,
       1,
-      [[1, 0, 0, 0],
-       [0, 0, 1, 0],
-       [0,-1, 0, 0],
-       [0, 0, 0, 1]]);
+      o3djs.math.makeMatrix4(1, 0, 0, 0,
+                             0, 0, 1, 0,
+                             0,-1, 0, 0,
+                             0, 0, 0, 1));
 
   // Create a ground plane
   g_groundShape = o3djs.primitives.createPlane(
@@ -235,10 +235,10 @@ function initStep2(clientElements) {
       g_pack,
       g_materials[1],
       1,
-      [[0.9, 0, 0, 0],
-       [0, 1, 0, 0],
-       [0, 0, 0.9, 0],
-       [0, 0.5, 0, 1]]);
+      o3djs.math.makeMatrix4(0.9, 0, 0, 0,
+                             0, 1, 0, 0,
+                             0, 0, 0.9, 0,
+                             0, 0.5, 0, 1));
 
   // Load all the textures.
   var loader = o3djs.loader.createLoader(initStep3);
diff --git a/o3d/samples/o3d-webgl-samples/pool.html b/o3d/samples/o3d-webgl-samples/pool.html
index 14eca54..f9e983f0 100644
--- a/o3d/samples/o3d-webgl-samples/pool.html
+++ b/o3d/samples/o3d-webgl-samples/pool.html
@@ -396,7 +396,7 @@ pool.Physics = function() {
                 [0, w / 2 - r, 0]];
 
     var angles = [0, Math.PI/2, Math.PI, Math.PI, 3 * Math.PI / 2, 0];
-    var translations = this.math.mulMatrixMatrix(
+    var translations = this.math.generalizedMulMatrixMatrix(
         [[-1, -1, 0], [0, -2, 0], [1, -1, 0], [1, 1, 0], [0, 2, 0], [-1, 1, 0]],
         [[w / 2, 0, 0], [0, w / 2, 0], [0, 0, 1]]);
 
@@ -624,9 +624,10 @@ pool.Physics = function() {
     var b = r[1];
     var c = r[2];
 
-    return [[1 / m + (b * b + c * c) / I, (-a * b) / I, (-a * c) / I],
-            [(-a * b) / I, 1 / m + (a * a + c * c) / I, (-b * c) / I],
-            [(-a * c) / I, (-b * c) / I, 1 / m + (a * a + b * b) / I]];
+    return o3djs.math
+         .makeMatrix3(1 / m + (b * b + c * c) / I, (-a * b) / I, (-a * c) / I,
+                      (-a * b) / I, 1 / m + (a * a + c * c) / I, (-b * c) / I,
+                      (-a * c) / I, (-b * c) / I, 1 / m + (a * a + b * b) / I);
   };
 
   this.applyImpulse = function(i, impulse, r) {
@@ -1269,11 +1270,11 @@ function initTable() {
                     Math.PI,
                     15)).concat([[-scaledWoodBreadth - 1, 0]]);
 
-  var m = g_math.mulScalarMatrix(g_tableWidth / 2, g_math.identity(2));
-  felt_polygon_A = g_math.mulMatrixMatrix(felt_polygon_A, m);
-  felt_polygon_B = g_math.mulMatrixMatrix(felt_polygon_B, m);
-  felt_polygon_C = g_math.mulMatrixMatrix(felt_polygon_C, m);
-  wood_polygon = g_math.mulMatrixMatrix(wood_polygon, m);
+  var m = [[g_tableWidth / 2, 0],[0,g_tableWidth / 2]];
+  felt_polygon_A = g_math.generalizedMulMatrixMatrix(felt_polygon_A, m);
+  felt_polygon_B = g_math.generalizedMulMatrixMatrix(felt_polygon_B, m);
+  felt_polygon_C = g_math.generalizedMulMatrixMatrix(felt_polygon_C, m);
+  wood_polygon = g_math.generalizedMulMatrixMatrix(wood_polygon, m);
 
   var felt_polygons = [];
   var wood_polygons = [];
@@ -1316,11 +1317,13 @@ function initTable() {
   var cushionSwoop = g_pocketRadius;
 
   var angles = [0, Math.PI/2, Math.PI, Math.PI, 3 * Math.PI / 2, 0];
-  var translations = g_math.mulMatrixMatrix(
+  var translations = g_math.generalizedMulMatrixMatrix(
       [[-1, -1, 0], [0, -2, 0], [1, -1, 0], [1, 1, 0], [0, 2, 0], [-1, 1, 0]],
       [[g_tableWidth / 2, 0, 0], [0, g_tableWidth / 2, 0], [0, 0, 1]]);
-  var shortenings = g_math.mulScalarMatrix(g_pocketRadius,
-      [[1, root2], [root2, root2], [root2, 1]])
+  var shortenings =
+      [[g_pocketRadius, g_pocketRadius*root2],
+       [g_pocketRadius*root2, g_pocketRadius*root2],
+       [g_pocketRadius*root2, g_pocketRadius]];
 
   var billiardThickness = 0.1;
   var billiardBreadth = 1;
@@ -1415,17 +1418,19 @@ function initHud() {
 
   var plane = o3djs.primitives.createPlane(
       g_pack, g_solidMaterial, 1, 1, 1, 1,
-      [[1, 0, 0, 0],
-       [0, 0, 1, 0],
-       [0,-1, 0, 0],
-       [0, 0, 0, 1]]);
+      o3djs.math.makeMatrix4(
+          1, 0, 0, 0,
+          0, 0, 1, 0,
+          0,-1, 0, 0,
+          0, 0, 0, 1));
 
   var backPlane = o3djs.primitives.createPlane(
       g_pack, g_solidMaterial, 1, 1, 1, 1,
-      [[1, 0, 0, 0],
-       [0, 0, 1, 0],
-       [0,-1, 0, 0],
-       [0, 0, 0, 1]]);
+      o3djs.math.makeMatrix4(
+          1, 0, 0, 0,
+          0, 0, 1, 0,
+          0,-1, 0, 0,
+          0, 0, 0, 1));
 
   barT2.addShape(plane);
   //backT2.addShape(backPlane);
diff --git a/o3d/samples/o3d-webgl-samples/shadow-map.html b/o3d/samples/o3d-webgl-samples/shadow-map.html
index 97defe2..77fca20 100644
--- a/o3d/samples/o3d-webgl-samples/shadow-map.html
+++ b/o3d/samples/o3d-webgl-samples/shadow-map.html
@@ -301,11 +301,6 @@ function updateLightMatrix() {
       4,                   // Near plane.
       20);                 // Far plane.
 
-  var adjustedProjection =
-          [[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 2, 0], [0, 0, -1, 1]];
-      o3d.Transform.compose(
-          adjustedProjection, lightProjection, adjustedProjection);
-
   // Make the light point toward the origin
   var lightView = g_math.matrix4.lookAt(
       g_lightWorldPos,   // light
@@ -384,17 +379,9 @@ function createShapes() {
 function createLightShape() {
   var inverseMatrix = g_math.matrix4.inverse(g_lightViewProjection);
 
-  // Scale and translate a cube of side length 2 to get a box
-  // that extends from [-1, -1, 0] to [1, 1, 1].
   var shape = o3djs.lineprimitives.createLineCube(
-                  g_pack,
-                  o3djs.material.createConstantMaterial(g_pack,
-                                                        g_colorViewInfo,
-                                                        [1, 0, 0, 1]),
-                  2,
-                  g_math.matrix4.compose(
-                      g_math.matrix4.translation([0, 0, 0.5]),
-                      g_math.matrix4.scaling([1, 1, 0.5])));
+      g_pack, o3djs.material.createConstantMaterial(g_pack, g_colorViewInfo,
+          [1, 0, 0, 1]), 2);
 
   g_lightFrustumTransform = g_pack.createObject('Transform');
   g_lightFrustumTransform.localMatrix = inverseMatrix;
diff --git a/o3d/samples/o3d-webgl-samples/skinning.html b/o3d/samples/o3d-webgl-samples/skinning.html
index f8450be..0b4e91e 100644
--- a/o3d/samples/o3d-webgl-samples/skinning.html
+++ b/o3d/samples/o3d-webgl-samples/skinning.html
@@ -122,10 +122,11 @@ function initStep2(clientElements) {
   // Create a cylinder.
   var vertexInfo = o3djs.primitives.createCylinderVertices(
       40, 200, 120, 200,
-      [[1, 0, 0, 0],
-       [0, 1, 0, 0],
-       [0, 0, 1, 0],
-       [0, 100, 0, 1]]);
+      o3djs.math.makeMatrix4(
+          1, 0, 0, 0,
+          0, 1, 0, 0,
+          0, 0, 1, 0,
+          0, 100, 0, 1));
   var shape = vertexInfo.createShape(g_pack, material);
 
   // Create an ParamArray to hold matrices for skinning.
diff --git a/o3d/samples/o3d-webgl/base.js b/o3d/samples/o3d-webgl/base.js
index b484e484..3572a25 100644
--- a/o3d/samples/o3d-webgl/base.js
+++ b/o3d/samples/o3d-webgl/base.js
@@ -246,6 +246,7 @@ o3d.include('named_object_base');
 o3d.include('named_object');
 o3d.include('param_object');
 o3d.include('param_array');
+o3d.include('transform');
 o3d.include('param');
 o3d.include('event');
 o3d.include('raw_data');
@@ -266,7 +267,6 @@ o3d.include('state');
 o3d.include('draw_context');
 o3d.include('ray_intersection_info');
 o3d.include('sampler');
-o3d.include('transform');
 o3d.include('pack');
 o3d.include('bounding_box');
 o3d.include('draw_element');
diff --git a/o3d/samples/o3d-webgl/bounding_box.js b/o3d/samples/o3d-webgl/bounding_box.js
index a3da9aa..8a88d78 100644
--- a/o3d/samples/o3d-webgl/bounding_box.js
+++ b/o3d/samples/o3d-webgl/bounding_box.js
@@ -129,7 +129,7 @@ o3d.BoundingBox.prototype.mul =
   var new_corners = [];
 
   for (var i = 0; i < corners.length; ++i) {
-    new_corners.push(o3d.Transform.transformPoint(matrix, corners[i]));
+    new_corners.push(o3d.Transform.transformPoint_(matrix, corners[i]));
   }
 
   return o3d.BoundingBox.fitBoxToPoints_(new_corners);
@@ -283,7 +283,7 @@ o3d.BoundingBox.prototype.inFrustum =
   var bb_test = 0x3f;
   for (var i = 0; i < corners.length; ++i) {
     var corner = corners[i];
-    var p = o3d.Transform.transformPoint(matrix, corner);
+    var p = o3d.Transform.transformPoint_(matrix, corner);
     bb_test &= (((p[0] > 1.0) << 0) |
                 ((p[0] < -1.0) << 1) |
                 ((p[1] > 1.0) << 2) |
diff --git a/o3d/samples/o3d-webgl/draw_context.js b/o3d/samples/o3d-webgl/draw_context.js
index 0b4967c..dde73e8 100644
--- a/o3d/samples/o3d-webgl/draw_context.js
+++ b/o3d/samples/o3d-webgl/draw_context.js
@@ -49,8 +49,7 @@ o3d.DrawContext = function(opt_view, opt_projection) {
    * take vertices from world space to view space.
    * @type {o3d.Matrix4}
    */
-  this.view = opt_view ||
-      [[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]];
+  this.view = opt_view || o3d.Transform.makeIdentityMatrix4_();
 
   /**
    * The projection matrix represents the projection transformation,
@@ -58,8 +57,7 @@ o3d.DrawContext = function(opt_view, opt_projection) {
    * matrix is usually an orthographic or perspective transformation.
    * @type {o3d.Matrix4}
    */
-  this.projection = opt_projection ||
-      [[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]];
+  this.projection = opt_projection || o3d.Transform.makeIdentityMatrix4_();
 };
 o3d.inherit('DrawContext', 'ParamObject');
 
diff --git a/o3d/samples/o3d-webgl/draw_list.js b/o3d/samples/o3d-webgl/draw_list.js
index 68f635d..33cc7fd 100644
--- a/o3d/samples/o3d-webgl/draw_list.js
+++ b/o3d/samples/o3d-webgl/draw_list.js
@@ -83,10 +83,10 @@ o3d.DrawList.comparePriority_ = function(drawElementInfoA, drawElementInfoB) {
  * @param {!o3d.DrawElement} drawElementInfoB
  */
 o3d.DrawList.compareZ_ = function(drawElementInfoA, drawElementInfoB) {
-  return o3d.Transform.transformPointZOnly(
+  return o3d.Transform.transformPointZOnly_(
             drawElementInfoB.worldViewProjection,
             drawElementInfoB.drawElement.owner.zSortPoint) -
-         o3d.Transform.transformPointZOnly(
+         o3d.Transform.transformPointZOnly_(
             drawElementInfoA.worldViewProjection,
             drawElementInfoA.drawElement.owner.zSortPoint);
 };
diff --git a/o3d/samples/o3d-webgl/param.js b/o3d/samples/o3d-webgl/param.js
index 9ea8bd0..66fca29 100644
--- a/o3d/samples/o3d-webgl/param.js
+++ b/o3d/samples/o3d-webgl/param.js
@@ -39,50 +39,50 @@
  * @constructor
  */
 o3d.Param = function(param_type_name) {
-  o3d.Param.prototype.output_connections = [];
+  /**
+   * If true, this param will make sure its input param is up to date when
+   * using it as a source. Default = true.
+   *
+   * This is for helping with Param cycles.
+   *
+   * If paramA gets its value from paramB and paramB gets its value from
+   * paramA:
+   * If you go paramA.value, paramB will evaluate then copy to paramA.
+   * If you go paramB.value, paramA will evaluate then copy to paramB.
+   * If you set paramB.updateInput = false, then:
+   * If you go paramA.value, paramB will evaluate then copy to paramA.
+   * If you go paramB.value, paramB just copy paramA. paramA will NOT evaluate
+   * when paramB asks for its value.
+   */
+  this.updateInput = true;
+
+  /**
+   * @type {o3d.Param}
+   */
+  this.inputConnection = null;
+
+  /**
+   * @type {Array.<!o3d.Param>}
+   */
   this.outputConnections = [];
+
+  /**
+   * The ParamObject that has this param as a param.
+   * @type {o3d.ParamObject}
+   * @private
+   */
+  o3d.Param.prototype.owner_ = null;
+
+  /**
+   * Private variable to store the value of the param.
+   * @type {*}
+   * @private
+   */
+  this.value_ = null;
 }
 o3d.inherit('Param', 'NamedObject');
 
 
-/**
- * If true, this param will make sure its input param is up to date when
- * using it as a source. Default = true.
- *
- * This is for helping with Param cycles.
- *
- * If paramA gets its value from paramB and paramB gets its value from
- * paramA:
- * If you go paramA.value, paramB will evaluate then copy to paramA.
- * If you go paramB.value, paramA will evaluate then copy to paramB.
- * If you set paramB.updateInput = false, then:
- * If you go paramA.value, paramB will evaluate then copy to paramA.
- * If you go paramB.value, paramB just copy paramA. paramA will NOT evaluate
- * when paramB asks for its value.
- */
-o3d.Param.prototype.update_input = true;
-
-/**
- * @type {o3d.Param}
- */
-o3d.Param.prototype.inputConnection = null;
-
-/**
- * @type {Array.<!o3d.Param>}
- */
-o3d.Param.prototype.outputConnections = [];
-
-
-/**
- * @type {o3d.ParamObject}
- */
-o3d.Param.prototype.owner_ = null;
-
-/**
- * @type {Object} The value of the parameter.
- */
-o3d.Param.prototype.value_ = null;
-
 o3d.Param.prototype.__defineSetter__('value',
     function(v) {
       if (this.inputConnection) {
@@ -267,7 +267,7 @@ o3d.inherit('ParamFloat', 'Param');
  */
 o3d.ParamFloat2 = function() {
   o3d.Param.call(this);
-  this.value = [0.0, 0.0];
+  this.value = o3d.Transform.makeVector2_(0.0, 0.0);
 };
 o3d.inherit('ParamFloat2', 'Param');
 
@@ -277,7 +277,7 @@ o3d.inherit('ParamFloat2', 'Param');
  */
 o3d.ParamFloat3 = function() {
   o3d.Param.call(this);
-  this.value = [0.0, 0.0, 0.0];
+  this.value = o3d.Transform.makeVector3_(0.0, 0.0, 0.0);
 };
 o3d.inherit('ParamFloat3', 'Param');
 
@@ -287,7 +287,7 @@ o3d.inherit('ParamFloat3', 'Param');
  */
 o3d.ParamFloat4 = function() {
   o3d.Param.call(this);
-  this.value = [0.0, 0.0, 0.0, 0.0];
+  this.value = o3d.Transform.makeVector4_(0.0, 0.0, 0.0, 0.0);
 };
 o3d.inherit('ParamFloat4', 'Param');
 
@@ -327,17 +327,18 @@ o3d.inherit('ParamMaterial', 'Param');
  */
 o3d.ParamMatrix4 = function() {
   o3d.Param.call(this);
-  this.value = [[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]];
+  this.value = o3d.Transform.makeMatrix4_(1, 0, 0, 0,
+                                          0, 1, 0, 0,
+                                          0, 0, 1, 0,
+                                          0, 0, 0, 1);
 };
 o3d.inherit('ParamMatrix4', 'Param');
 
-
 /**
  * @constructor
  */
 o3d.ParamParamArray = function() {
   o3d.Param.call(this);
-  this.value = null;
 };
 o3d.inherit('ParamParamArray', 'Param');
 
@@ -483,8 +484,10 @@ o3d.CompositionParamMatrix4 = function() {
   o3d.ParamMatrix4.call(this);
   this.matrix_names_ = [];
 };
+
 o3d.inherit('CompositionParamMatrix4', 'ParamMatrix4');
 
+
 /**
  * The array of names of matrix params for the matrices that are to be
  * composed to get the value.
@@ -508,15 +511,15 @@ o3d.CompositionParamMatrix4.prototype.transpose_ = false;
 o3d.CompositionParamMatrix4.prototype.__defineGetter__('value',
     // TODO(petersont): Cache the result if it hasn't changed.
     function() {
-      var product = [[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]];
+      var product = o3d.Transform.makeIdentityMatrix4_();
       for (var i = 0; i < this.matrix_names_.length; ++i) {
-        o3d.Transform.compose(product, o3d.Param.SAS[this.matrix_names_[i]]);
+        o3d.Transform.compose_(product, o3d.Param.SAS[this.matrix_names_[i]]);
       }
       if (this.inverse_) {
-        o3d.Transform.inverse(product);
+        o3d.Transform.inverse_(product);
       }
       if (this.transpose_) {
-        o3d.Transform.transpose(product);
+        o3d.Transform.transpose_(product);
       }
       return product;
     }
@@ -786,7 +789,6 @@ o3d.WorldViewProjectionTransposeParamMatrix4 = function() {
 o3d.inherit('WorldViewProjectionTransposeParamMatrix4',
     'CompositionParamMatrix4');
 
-
 /**
  * @constructor
  */
@@ -862,7 +864,7 @@ o3d.ParamFloat4.prototype.applyToLocation = function(gl, location) {
 o3d.ParamMatrix4.prototype.applyToLocation = function(gl, location) {
   gl.uniformMatrix4fv(location,
                       false,
-                      o3d.Transform.flattenMatrix4(this.value));
+                      this.value);
 };
 
 /**
diff --git a/o3d/samples/o3d-webgl/param_operation.js b/o3d/samples/o3d-webgl/param_operation.js
index 69ecea7..172f537 100644
--- a/o3d/samples/o3d-webgl/param_operation.js
+++ b/o3d/samples/o3d-webgl/param_operation.js
@@ -147,7 +147,7 @@ o3d.inherit('ParamOp2FloatsToFloat2', 'ParamObject');
 
 /**
  * Called by o3d.Param*Output whenever its value gets read.
- * @return {!Array.<number>} 2-element array equal to [input0,input1]
+ * @return {!Array.<number>} 2-element array equal to [input0, input1]
  */
 o3d.ParamOp2FloatsToFloat2.prototype.updateOutputs = function() {
   this.last_output_value_[0] = this.getParam("input0").value;
@@ -226,8 +226,7 @@ o3d.ParamOp4FloatsToFloat4.prototype.updateOutputs = function() {
  */
 o3d.ParamOp16FloatsToMatrix4 = function() {
   o3d.ParamObject.call(this);
-  this.last_output_value_ =
-      [[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]];
+  this.last_output_value_ = o3d.Transform.makeIdentityMatrix4_();
 };
 o3d.inherit('ParamOp16FloatsToMatrix4', 'ParamObject');
 
@@ -242,12 +241,12 @@ o3d.inherit('ParamOp16FloatsToMatrix4', 'ParamObject');
 
 /**
  * Called by o3d.Param*Output whenever its value gets read.
- * @return {!Array.<!Array.<number>>} 4x4 array equal to
- *     [[i0,i1,i2,i3],[i4,i5,i6,i7],[i8,i9,i10,i11],[i12,i13,i14,i15]]
+ * @return {!Array<!Array<number>>} 4x4 array equal to
+ *     [i0,i1,i2,i3,i4,i5,i6,i7,i8,i9,i10,i11,i12,i13,i14,i15]
  */
 o3d.ParamOp16FloatsToMatrix4.prototype.updateOutputs = function() {
   for (var i = 0; i < 16; i++) {
-    this.last_output_value_[Math.floor(i/4)][i%4] =
+    this.last_output_value_[i] =
         this.getParam("input"+i).value;
   }
   return this.last_output_value_;
@@ -282,8 +281,7 @@ o3d.TRSToMatrix4 = function() {
   this.scaleY = 1;
   this.scaleZ = 1;
 
-  this.last_output_value_ =
-      [[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]];
+  this.last_output_value_ = o3d.Transform.makeIdentityMatrix4_();
 };
 o3d.inherit('TRSToMatrix4', 'ParamObject');
 
@@ -320,22 +318,22 @@ o3d.TRSToMatrix4.prototype.updateOutputs = function () {
   var cosZSinY = cosZ * sinY;
   var sinZSinY = sinZ * sinY;
 
-  ret[0].splice(0, 4, cosZ * cosY * sX,
-                      sinZ * cosY * sX,
-                      -sinY * sX,
-                      0);
-  ret[1].splice(0, 4, (cosZSinY * sinX - sinZ * cosX) * sY,
-                      (sinZSinY * sinX + cosZ * cosX) * sY,
-                      cosY * sinX * sY,
-                      0);
-  ret[2].splice(0, 4, (cosZSinY * cosX + sinZ * sinX) * sZ,
-                      (sinZSinY * cosX - cosZ * sinX) * sZ,
-                      cosY * cosX * sZ,
-                      0);
-  ret[3].splice(0, 4, this.translateX,
-                      this.translateY,
-                      this.translateZ,
-                      1);
+  ret[0] = cosZ * cosY * sX;
+  ret[1] = sinZ * cosY * sX;
+  ret[2] = -sinY * sX;
+  ret[3] = 0;
+  ret[4] = (cosZSinY * sinX - sinZ * cosX) * sY;
+  ret[5] = (sinZSinY * sinX + cosZ * cosX) * sY;
+  ret[6] = cosY * sinX * sY,
+  ret[7] = 0;
+  ret[8] = (cosZSinY * cosX + sinZ * sinX) * sZ;
+  ret[9] = (sinZSinY * cosX - cosZ * sinX) * sZ;
+  ret[10] = cosY * cosX * sZ;
+  ret[11] = 0;
+  ret[12] = this.translateX;
+  ret[13] = this.translateY;
+  ret[14] = this.translateZ;
+  ret[15] = 1;
   return ret;
 };
 
@@ -347,8 +345,7 @@ o3d.TRSToMatrix4.prototype.updateOutputs = function () {
  */
 o3d.Matrix4Composition = function() {
   o3d.ParamObject.call(this);
-  this.last_output_value_ =
-      [[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]];
+  this.last_output_value_ = o3d.Transform.makeIdentityMatrix4_();
 };
 o3d.inherit('Matrix4Composition', 'ParamObject');
 
@@ -363,13 +360,13 @@ o3d.ParamObject.setUpO3DParam_(
 
 /**
  * Called by o3d.Param*Output whenever its value gets read.
- * @return {!Array.<!Array.<number>>} 4x4 array equal to
- *     inputMatrix * localMatrix
+ * @return {!Array<!Array<number>>} 4x4 array equal to
+ *     inputMatrix * localMatrix.
  */
 o3d.Matrix4Composition.prototype.updateOutputs = function() {
   var input = this.getParam("inputMatrix").value;
   var local = this.getParam("localMatrix").value;
-  o3d.Transform.compose(input, local, this.last_output_value_);
+  o3d.Transform.compose_(input, local, this.last_output_value_);
   return this.last_output_value_;
 };
 
@@ -408,7 +405,7 @@ o3d.Matrix4AxisRotation.prototype.updateOutputs = function() {
   var input = this.getParam("inputMatrix").value;
   var axis = this.getParam("axis").value;
   var angle = this.getParam("angle").value;
-  o3d.Transform.axisRotateMatrix(input, axis, angle, this.last_output_value_);
+  o3d.Transform.axisRotateMatrix_(input, axis, angle, this.last_output_value_);
   return this.last_output_value_;
 };
 
diff --git a/o3d/samples/o3d-webgl/shape.js b/o3d/samples/o3d-webgl/shape.js
index a0ad16e..8823f83 100644
--- a/o3d/samples/o3d-webgl/shape.js
+++ b/o3d/samples/o3d-webgl/shape.js
@@ -155,10 +155,10 @@ o3d.Shape.prototype.writeToDrawLists =
           var view = context.view;
           var projection = context.projection;
 
-          var worldViewProjection = [[], [], [], []];
-          var viewProjection = [[], [], [], []];
-          o3d.Transform.compose(projection, view, viewProjection);
-          o3d.Transform.compose(viewProjection, world, worldViewProjection);
+          var worldViewProjection = o3d.Transform.makeIdentityMatrix4_();
+          var viewProjection = o3d.Transform.makeIdentityMatrix4_();
+          o3d.Transform.compose_(projection, view, viewProjection);
+          o3d.Transform.compose_(viewProjection, world, worldViewProjection);
 
           if (element.cull && element.boundingBox) {
             if (!element.boundingBox.inFrustum(worldViewProjection)) {
diff --git a/o3d/samples/o3d-webgl/skin.js b/o3d/samples/o3d-webgl/skin.js
index cbec71f..1e9455c 100644
--- a/o3d/samples/o3d-webgl/skin.js
+++ b/o3d/samples/o3d-webgl/skin.js
@@ -307,14 +307,14 @@ o3d.SkinEval = function() {
    * The base matrix to subtract from the matrices before skinning.
    * @type {!Array<!Array<number>>}
    */
-  this.base = [[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]];
+  this.base = o3d.Transform.makeIdentityMatrix4_();
 
   /**
    * Temporary storage for matrix ops.
    * @type {!Array<!Array<number>>}
    * @private
    */
-  this.temp_matrix_ = [[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]];
+  this.temp_matrix_ = o3d.Transform.makeIdentityMatrix4_();
 
   /**
    * Array of matrices representing each bone.
@@ -325,7 +325,7 @@ o3d.SkinEval = function() {
 
   /**
    * Float32 array containing all matrices in 3x4 format.
-   * @type {Float32Array}
+   * @type {o3d.ParamArray}
    * @private
    */
   this.bone_array_ = null;
@@ -463,30 +463,9 @@ o3d.SkinEval.prototype.streamWasBound_ = function(
  * @private
  */
 o3d.SkinEval.prototype.multiplyAdd_ = function(input, weight, output) {
-  var a0 = input[0];
-  var a1 = input[1];
-  var a2 = input[2];
-  var a3 = input[3];
-  var b0 = output[0];
-  var b1 = output[1];
-  var b2 = output[2];
-  var b3 = output[3];
-  b0[0] += a0[0] * weight;
-  b0[1] += a0[1] * weight;
-  b0[2] += a0[2] * weight;
-  b0[3] += a0[3] * weight;
-  b1[0] += a1[0] * weight;
-  b1[1] += a1[1] * weight;
-  b1[2] += a1[2] * weight;
-  b1[3] += a1[3] * weight;
-  b2[0] += a2[0] * weight;
-  b2[1] += a2[1] * weight;
-  b2[2] += a2[2] * weight;
-  b2[3] += a2[3] * weight;
-  b3[0] += a3[0] * weight;
-  b3[1] += a3[1] * weight;
-  b3[2] += a3[2] * weight;
-  b3[3] += a3[3] * weight;
+  for (var i = 0; i < 16; ++i) {
+    output[i] += input[i] * weight;
+  }
 };
 
 /**
@@ -637,11 +616,11 @@ o3d.SkinEval.prototype.doSkinning_ = function() {
 
       // combine the matrixes for this vertex.
       var accumulated_matrix =
-          [[0, 0, 0, 0], [0, 0, 0, 0], [0, 0, 0, 0], [0, 0, 0, 0]];
+          o3d.Transform.makeNullMatrix4_();
       this.multiplyAdd_(this.bones_[this_matrix_index],
           this_weight, accumulated_matrix);
       var num_influences = influences.length;
-      for (jj = 2; jj < num_influences; jj+=2) {
+      for (jj = 2; jj < num_influences; jj += 2) {
         var influence_matrix_index = influences[jj];
         var influence_weight = influences[jj + 1];
         this.multiplyAdd_(this.bones_[influence_matrix_index],
@@ -707,7 +686,7 @@ o3d.SkinEval.prototype.updateBones_ = function() {
 
   // Get the inverse of our base to remove from the bones.
   var inverse_base = this.temp_matrix_;
-  o3d.Transform.inverse(this.base, inverse_base);
+  o3d.Transform.inverse_(this.base, inverse_base);
 
   for (var ii = 0; ii < param_array.length; ++ii) {
     var param = param_array.getParam(ii); // ParamMatrix4
@@ -718,10 +697,10 @@ o3d.SkinEval.prototype.updateBones_ = function() {
           + " is not a ParamMatrix4");
       return;
     }
-    this.bones_[ii] = [[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]];
-    o3d.Transform.compose(param.value, inverse_bind_pose_array[ii],
+    this.bones_[ii] = o3d.Transform.makeIdentityMatrix4_();
+    o3d.Transform.compose_(param.value, inverse_bind_pose_array[ii],
                           this.bones_[ii]);
-    o3d.Transform.compose(inverse_base, this.bones_[ii], this.bones_[ii]);
+    o3d.Transform.compose_(inverse_base, this.bones_[ii], this.bones_[ii]);
   }
 };
 
@@ -777,20 +756,20 @@ o3d.SkinEval.prototype.updateOutputs = function(param) {
     for (ii = 0; ii < this.bones_.length; ++ii) {
       var bone = this.bones_[ii];
       row = boneArray.getParam(ii*3);
-      row.value[0] = bone[0][0];
-      row.value[1] = bone[1][0];
-      row.value[2] = bone[2][0];
-      row.value[3] = bone[3][0];
+      row.value[0] = bone[0];
+      row.value[1] = bone[4];
+      row.value[2] = bone[8];
+      row.value[3] = bone[12];
       row = boneArray.getParam(ii*3 + 1);
-      row.value[0] = bone[0][1];
-      row.value[1] = bone[1][1];
-      row.value[2] = bone[2][1];
-      row.value[3] = bone[3][1];
+      row.value[0] = bone[1];
+      row.value[1] = bone[5];
+      row.value[2] = bone[9];
+      row.value[3] = bone[13];
       row = boneArray.getParam(ii*3 + 2);
-      row.value[0] = bone[0][2];
-      row.value[1] = bone[1][2];
-      row.value[2] = bone[2][2];
-      row.value[3] = bone[3][2];
+      row.value[0] = bone[2];
+      row.value[1] = bone[6];
+      row.value[2] = bone[10];
+      row.value[3] = bone[14];
     }
   }
   return boneArray;
@@ -884,7 +863,7 @@ o3d.SkinEval.StreamInfo.prototype.uninit = function() {
 o3d.SkinEval.StreamInfo.prototype.computeFloat3AsVector3 = function(matrix) {
   var ii = this.index_;
   var vec = [this.values_[ii], this.values_[ii + 1], this.values_[ii + 2], 0];
-  this.result_ = o3d.Transform.multiplyVector(matrix, vec);
+  this.result_ = o3d.Transform.multiplyVector_(matrix, vec);
   this.index_ = ii + this.stride_;
 };
 
@@ -898,10 +877,10 @@ o3d.SkinEval.StreamInfo.prototype.computeFloat3AsVector3 = function(matrix) {
 o3d.SkinEval.StreamInfo.prototype.computeFloat3AsPoint3 = function(matrix) {
   var ii = this.index_;
   // TODO: The C++ code just dropped element 3 of the return Vector4, while
-  // o3d.Transform.transformPoint divides by the last value to make it 1.
+  // o3d.Transform.transformPoint_ divides by the last value to make it 1.
   // Which is the right one to use?
   var point = [this.values_[ii], this.values_[ii + 1], this.values_[ii + 2], 1];
-  this.result_ = o3d.Transform.multiplyVector(matrix, point);
+  this.result_ = o3d.Transform.multiplyVector_(matrix, point);
   this.index_ = ii + this.stride_;
 };
 
@@ -916,7 +895,7 @@ o3d.SkinEval.StreamInfo.prototype.computeFloat4AsVector4 = function(matrix) {
   var ii = this.index_;
   var vec = [this.values_[ii], this.values_[ii + 1], this.values_[ii + 2],
              this.values_[ii + 3]];
-  this.result_ = o3d.Transform.multiplyVector(matrix, vec);
+  this.result_ = o3d.Transform.multiplyVector_(matrix, vec);
   this.index_ = ii + this.stride_;
 };
 
diff --git a/o3d/samples/o3d-webgl/transform.js b/o3d/samples/o3d-webgl/transform.js
index 677e36b..9d1a8f9 100644
--- a/o3d/samples/o3d-webgl/transform.js
+++ b/o3d/samples/o3d-webgl/transform.js
@@ -58,13 +58,13 @@ o3d.Transform =
    * Default = Identity.
    */
   this.localMatrix = opt_localMatrix ||
-      [[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]];
+      o3d.Transform.makeIdentityMatrix4_();
 
   /**
    * World (model) matrix as it was last computed.
    */
   this.worldMatrix = opt_worldMatrix ||
-      [[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]];
+      o3d.Transform.makeIdentityMatrix4_();
 
   /**
    * Sets the parent of the transform by re-parenting the transform under
@@ -230,11 +230,11 @@ o3d.Transform.prototype.getUpdatedWorldMatrix =
   var parentWorldMatrix;
   if (!this.parent) {
     parentWorldMatrix =
-        [[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]];
+        o3d.Transform.makeIdentityMatrix4_();
   } else {
     parentWorldMatrix = this.parent.getUpdatedWorldMatrix();
   }
-  o3d.Transform.compose(parentWorldMatrix, this.localMatrix, this.worldMatrix);
+  o3d.Transform.compose_(parentWorldMatrix, this.localMatrix, this.worldMatrix);
   return this.worldMatrix;
 };
 
@@ -295,238 +295,12 @@ o3d.Transform.prototype.identity = function() {
   var m = this.localMatrix;
   for (var i = 0; i < 4; ++i) {
     for (var j = 0; j < 4; ++j) {
-      m[i][j] = i==j ? 1 : 0;
+      m[i * 4 + j] = i == j ? 1 : 0;
     }
   }
 };
 
 
-/*
- * Utility function to copose a matrix with another matrix.
- * Precomposes b with a, changing a, or if the target matrix if
- * one is provided.
- *
- * @param {!Array.<!Array.<number>>} a
- * @param {!Array.<!Array.<number>>} b
- * @param {!Array.<!Array.<number>>} opt_target
- */
-o3d.Transform.compose = function(a, b, opt_target) {
-  var t = opt_target || a;
-  var a0 = a[0];
-  var a1 = a[1];
-  var a2 = a[2];
-  var a3 = a[3];
-  var b0 = b[0];
-  var b1 = b[1];
-  var b2 = b[2];
-  var b3 = b[3];
-  var a00 = a0[0];
-  var a01 = a0[1];
-  var a02 = a0[2];
-  var a03 = a0[3];
-  var a10 = a1[0];
-  var a11 = a1[1];
-  var a12 = a1[2];
-  var a13 = a1[3];
-  var a20 = a2[0];
-  var a21 = a2[1];
-  var a22 = a2[2];
-  var a23 = a2[3];
-  var a30 = a3[0];
-  var a31 = a3[1];
-  var a32 = a3[2];
-  var a33 = a3[3];
-  var b00 = b0[0];
-  var b01 = b0[1];
-  var b02 = b0[2];
-  var b03 = b0[3];
-  var b10 = b1[0];
-  var b11 = b1[1];
-  var b12 = b1[2];
-  var b13 = b1[3];
-  var b20 = b2[0];
-  var b21 = b2[1];
-  var b22 = b2[2];
-  var b23 = b2[3];
-  var b30 = b3[0];
-  var b31 = b3[1];
-  var b32 = b3[2];
-  var b33 = b3[3];
-  t[0].splice(0, 4, a00 * b00 + a10 * b01 + a20 * b02 + a30 * b03,
-                    a01 * b00 + a11 * b01 + a21 * b02 + a31 * b03,
-                    a02 * b00 + a12 * b01 + a22 * b02 + a32 * b03,
-                    a03 * b00 + a13 * b01 + a23 * b02 + a33 * b03);
-  t[1].splice(0, 4, a00 * b10 + a10 * b11 + a20 * b12 + a30 * b13,
-                    a01 * b10 + a11 * b11 + a21 * b12 + a31 * b13,
-                    a02 * b10 + a12 * b11 + a22 * b12 + a32 * b13,
-                    a03 * b10 + a13 * b11 + a23 * b12 + a33 * b13);
-  t[2].splice(0, 4, a00 * b20 + a10 * b21 + a20 * b22 + a30 * b23,
-                    a01 * b20 + a11 * b21 + a21 * b22 + a31 * b23,
-                    a02 * b20 + a12 * b21 + a22 * b22 + a32 * b23,
-                    a03 * b20 + a13 * b21 + a23 * b22 + a33 * b23);
-  t[3].splice(0, 4, a00 * b30 + a10 * b31 + a20 * b32 + a30 * b33,
-                    a01 * b30 + a11 * b31 + a21 * b32 + a31 * b33,
-                    a02 * b30 + a12 * b31 + a22 * b32 + a32 * b33,
-                    a03 * b30 + a13 * b31 + a23 * b32 + a33 * b33);
-};
-
-
-/**
- * Tests whether two matrices are either equal in the sense that they
- * refer to the same memory, or equal in the sense that they have equal
- * entries.
- *
- * @param {!Array.<!Array.<number>>} a A matrix.
- * @param {!Array.<!Array.<number>>} b Another matrix.
- * @return {boolean} Whether they are equal.
- */
-o3d.Transform.matricesEqual = function(a, b) {
-  if (a==b) {
-    return true;
-  }
-  for (var i = 0; i < 4; ++i) {
-    for (var j = 0; j < 4; ++j) {
-      if (a[i][j] != b[i][j]) {
-        return false;
-      }
-    }
-  }
-  return true;
-};
-
-
-/**
- * Computes the transpose of the matrix a in place if no target is provided.
- * Or if a target is provided, turns the target into the transpose of a.
- *
- * @param {!Array.<!Array.<number>>} m A matrix.
- * @param {Array.<!Array.<number>>} opt_target
- *     The matrix to become the transpose of m.
- */
-o3d.Transform.transpose = function(m, opt_target) {
-  var t = opt_target || m;
-  var m0 = m[0];
-  var m1 = m[1];
-  var m2 = m[2];
-  var m3 = m[3];
-  var m00 = m0[0];
-  var m01 = m0[1];
-  var m02 = m0[2];
-  var m03 = m0[3];
-  var m10 = m1[0];
-  var m11 = m1[1];
-  var m12 = m1[2];
-  var m13 = m1[3];
-  var m20 = m2[0];
-  var m21 = m2[1];
-  var m22 = m2[2];
-  var m23 = m2[3];
-  var m30 = m3[0];
-  var m31 = m3[1];
-  var m32 = m3[2];
-  var m33 = m3[3];
-  t[0].splice(0, 4, m00, m10, m20, m30);
-  t[1].splice(0, 4, m01, m11, m21, m31);
-  t[2].splice(0, 4, m02, m12, m22, m32);
-  t[3].splice(0, 4, m03, m13, m23, m33);
-};
-
-
-/**
- * Computes the inverse of the matrix a in place if no target is provided.
- * Or if a target is provided, turns the target into the transpose of a.
- *
- * @param {!Array.<!Array.<number>>} m A matrix.
- * @param {Array.<!Array.<number>>} opt_target The matrix to become the
- *     inverse of a.
- */
-o3d.Transform.inverse = function(m, opt_target) {
-  var t = opt_target || m;
-  var m0 = m[0];
-  var m1 = m[1];
-  var m2 = m[2];
-  var m3 = m[3];
-  var m00 = m0[0];
-  var m01 = m0[1];
-  var m02 = m0[2];
-  var m03 = m0[3];
-  var m10 = m1[0];
-  var m11 = m1[1];
-  var m12 = m1[2];
-  var m13 = m1[3];
-  var m20 = m2[0];
-  var m21 = m2[1];
-  var m22 = m2[2];
-  var m23 = m2[3];
-  var m30 = m3[0];
-  var m31 = m3[1];
-  var m32 = m3[2];
-  var m33 = m3[3];
-
-  var tmp_0 = m22 * m33;
-  var tmp_1 = m32 * m23;
-  var tmp_2 = m12 * m33;
-  var tmp_3 = m32 * m13;
-  var tmp_4 = m12 * m23;
-  var tmp_5 = m22 * m13;
-  var tmp_6 = m02 * m33;
-  var tmp_7 = m32 * m03;
-  var tmp_8 = m02 * m23;
-  var tmp_9 = m22 * m03;
-  var tmp_10 = m02 * m13;
-  var tmp_11 = m12 * m03;
-  var tmp_12 = m20 * m31;
-  var tmp_13 = m30 * m21;
-  var tmp_14 = m10 * m31;
-  var tmp_15 = m30 * m11;
-  var tmp_16 = m10 * m21;
-  var tmp_17 = m20 * m11;
-  var tmp_18 = m00 * m31;
-  var tmp_19 = m30 * m01;
-  var tmp_20 = m00 * m21;
-  var tmp_21 = m20 * m01;
-  var tmp_22 = m00 * m11;
-  var tmp_23 = m10 * m01;
-
-  var t0 = (tmp_0 * m11 + tmp_3 * m21 + tmp_4 * m31) -
-      (tmp_1 * m11 + tmp_2 * m21 + tmp_5 * m31);
-  var t1 = (tmp_1 * m01 + tmp_6 * m21 + tmp_9 * m31) -
-      (tmp_0 * m01 + tmp_7 * m21 + tmp_8 * m31);
-  var t2 = (tmp_2 * m01 + tmp_7 * m11 + tmp_10 * m31) -
-      (tmp_3 * m01 + tmp_6 * m11 + tmp_11 * m31);
-  var t3 = (tmp_5 * m01 + tmp_8 * m11 + tmp_11 * m21) -
-      (tmp_4 * m01 + tmp_9 * m11 + tmp_10 * m21);
-
-  var d = 1.0 / (m00 * t0 + m10 * t1 + m20 * t2 + m30 * t3);
-
-  t[0].splice(0, 4, d * t0, d * t1, d * t2, d * t3);
-  t[1].splice(0, 4, d * ((tmp_1 * m10 + tmp_2 * m20 + tmp_5 * m30) -
-          (tmp_0 * m10 + tmp_3 * m20 + tmp_4 * m30)),
-       d * ((tmp_0 * m00 + tmp_7 * m20 + tmp_8 * m30) -
-          (tmp_1 * m00 + tmp_6 * m20 + tmp_9 * m30)),
-       d * ((tmp_3 * m00 + tmp_6 * m10 + tmp_11 * m30) -
-          (tmp_2 * m00 + tmp_7 * m10 + tmp_10 * m30)),
-       d * ((tmp_4 * m00 + tmp_9 * m10 + tmp_10 * m20) -
-          (tmp_5 * m00 + tmp_8 * m10 + tmp_11 * m20)));
-  t[2].splice(0, 4, d * ((tmp_12 * m13 + tmp_15 * m23 + tmp_16 * m33) -
-          (tmp_13 * m13 + tmp_14 * m23 + tmp_17 * m33)),
-       d * ((tmp_13 * m03 + tmp_18 * m23 + tmp_21 * m33) -
-          (tmp_12 * m03 + tmp_19 * m23 + tmp_20 * m33)),
-       d * ((tmp_14 * m03 + tmp_19 * m13 + tmp_22 * m33) -
-          (tmp_15 * m03 + tmp_18 * m13 + tmp_23 * m33)),
-       d * ((tmp_17 * m03 + tmp_20 * m13 + tmp_23 * m23) -
-          (tmp_16 * m03 + tmp_21 * m13 + tmp_22 * m23)));
-  t[3].splice(0, 4, d * ((tmp_14 * m22 + tmp_17 * m32 + tmp_13 * m12) -
-          (tmp_16 * m32 + tmp_12 * m12 + tmp_15 * m22)),
-       d * ((tmp_20 * m32 + tmp_12 * m02 + tmp_19 * m22) -
-          (tmp_18 * m22 + tmp_21 * m32 + tmp_13 * m02)),
-       d * ((tmp_18 * m12 + tmp_23 * m32 + tmp_15 * m02) -
-          (tmp_22 * m32 + tmp_14 * m02 + tmp_19 * m12)),
-       d * ((tmp_22 * m22 + tmp_16 * m02 + tmp_21 * m12) -
-          (tmp_20 * m12 + tmp_23 * m22 + tmp_17 * m02)));
-};
-
-
 /**
  * Pre-composes the local matrix of this Transform with a translation.  For
  * example, if the local matrix is a rotation then new local matrix will
@@ -545,31 +319,28 @@ o3d.Transform.prototype.translate =
   var v0 = v[0];
   var v1 = v[1];
   var v2 = v[2];
-  var m0 = m[0];
-  var m1 = m[1];
-  var m2 = m[2];
-  var m3 = m[3];
-  var m00 = m0[0];
-  var m01 = m0[1];
-  var m02 = m0[2];
-  var m03 = m0[3];
-  var m10 = m1[0];
-  var m11 = m1[1];
-  var m12 = m1[2];
-  var m13 = m1[3];
-  var m20 = m2[0];
-  var m21 = m2[1];
-  var m22 = m2[2];
-  var m23 = m2[3];
-  var m30 = m3[0];
-  var m31 = m3[1];
-  var m32 = m3[2];
-  var m33 = m3[3];
-
-  m3.splice(0, 4, m00 * v0 + m10 * v1 + m20 * v2 + m30,
-                  m01 * v0 + m11 * v1 + m21 * v2 + m31,
-                  m02 * v0 + m12 * v1 + m22 * v2 + m32,
-                  m03 * v0 + m13 * v1 + m23 * v2 + m33);
+
+  var m00 = m[0];
+  var m01 = m[1];
+  var m02 = m[2];
+  var m03 = m[3];
+  var m10 = m[4];
+  var m11 = m[5];
+  var m12 = m[6];
+  var m13 = m[7];
+  var m20 = m[8];
+  var m21 = m[9];
+  var m22 = m[10];
+  var m23 = m[11];
+  var m30 = m[12];
+  var m31 = m[13];
+  var m32 = m[14];
+  var m33 = m[15];
+
+  m[12] = m00 * v0 + m10 * v1 + m20 * v2 + m30,
+  m[13] = m01 * v0 + m11 * v1 + m21 * v2 + m31,
+  m[14] = m02 * v0 + m12 * v1 + m22 * v2 + m32,
+  m[15] = m03 * v0 + m13 * v1 + m23 * v2 + m33;
 };
 
 
@@ -584,100 +355,26 @@ o3d.Transform.prototype.rotateX =
     function(angle) {
   var m = this.localMatrix;
 
-  var m0 = m[0];
-  var m1 = m[1];
-  var m2 = m[2];
-  var m3 = m[3];
-  var m10 = m1[0];
-  var m11 = m1[1];
-  var m12 = m1[2];
-  var m13 = m1[3];
-  var m20 = m2[0];
-  var m21 = m2[1];
-  var m22 = m2[2];
-  var m23 = m2[3];
+  var m10 = m[4];
+  var m11 = m[5];
+  var m12 = m[6];
+  var m13 = m[7];
+  var m20 = m[8];
+  var m21 = m[9];
+  var m22 = m[10];
+  var m23 = m[11];
+
   var c = Math.cos(angle);
   var s = Math.sin(angle);
 
-  m1.splice(0, 4, c * m10 + s * m20,
-                  c * m11 + s * m21,
-                  c * m12 + s * m22,
-                  c * m13 + s * m23);
-  m2.splice(0, 4, c * m20 - s * m10,
-                  c * m21 - s * m11,
-                  c * m22 - s * m12,
-                  c * m23 - s * m13);
-};
-
-
-/**
- * Takes a 4-by-4 matrix and a vector with 3 entries,
- * interprets the vector as a point, transforms that point by the matrix, and
- * returns the result as a vector with 3 entries.
- * @param {!o3djs.math.Matrix4} m The matrix.
- * @param {!o3djs.math.Vector3} v The point.
- * @return {!o3djs.math.Vector3} The transformed point.
- */
-o3d.Transform.transformPoint = function(m, v) {
-  var v0 = v[0];
-  var v1 = v[1];
-  var v2 = v[2];
-  var m0 = m[0];
-  var m1 = m[1];
-  var m2 = m[2];
-  var m3 = m[3];
-
-  var d = v0 * m0[3] + v1 * m1[3] + v2 * m2[3] + m3[3];
-  return [(v0 * m0[0] + v1 * m1[0] + v2 * m2[0] + m3[0]) / d,
-          (v0 * m0[1] + v1 * m1[1] + v2 * m2[1] + m3[1]) / d,
-          (v0 * m0[2] + v1 * m1[2] + v2 * m2[2] + m3[2]) / d];
-};
-
-
-/**
- * Takes a 4-by-4 matrix and a vector with 4 entries,
- * interprets the vector as a point, transforms that point by the matrix, and
- * returns the result as a vector with 4 entries.
- * @param {!o3djs.math.Matrix4} m The matrix.
- * @param {!o3djs.math.Vector4} v The vector.
- * @return {!o3djs.math.Vector4} The transformed vector.
- */
-o3d.Transform.multiplyVector = function(m, v) {
-  var v0 = v[0];
-  var v1 = v[1];
-  var v2 = v[2];
-  var v3 = v[3];
-  var m0 = m[0];
-  var m1 = m[1];
-  var m2 = m[2];
-  var m3 = m[3];
-
-  return [(v0 * m0[0] + v1 * m1[0] + v2 * m2[0] + v3 * m3[0]),
-          (v0 * m0[1] + v1 * m1[1] + v2 * m2[1] + v3 * m3[1]),
-          (v0 * m0[2] + v1 * m1[2] + v2 * m2[2] + v3 * m3[2]),
-          (v0 * m0[3] + v1 * m1[3] + v2 * m2[3] + v3 * m3[3])];
-};
-
-
-/**
- * Takes a 4-by-4 matrix and a vector with 3 entries,
- * interprets the vector as a point, transforms that point by the matrix,
- * returning the z-component of the result only.
- * @param {!o3djs.math.Matrix4} m The matrix.
- * @param {!o3djs.math.Vector3} v The point.
- * @return {number} The z coordinate of the transformed point.
- */
-o3d.Transform.transformPointZOnly = function(m, v) {
-  var v0 = v[0];
-  var v1 = v[1];
-  var v2 = v[2];
-  var m0 = m[0];
-  var m1 = m[1];
-  var m2 = m[2];
-  var m3 = m[3];
-
-  return (v0 * m0[2] + v1 * m1[2] + v2 * m2[2] + m3[2]) /
-      (v0 * m0[3] + v1 * m1[3] + v2 * m2[3] + m3[3]);
+  m[4] = c * m10 + s * m20;
+  m[5] = c * m11 + s * m21;
+  m[6] = c * m12 + s * m22;
+  m[7] = c * m13 + s * m23;
+  m[8] = c * m20 - s * m10;
+  m[9] = c * m21 - s * m11;
+  m[10] = c * m22 - s * m12;
+  m[11] = c * m23 - s * m13;
 };
 
 
@@ -692,29 +389,25 @@ o3d.Transform.prototype.rotateY =
     function(angle) {
   var m = this.localMatrix;
 
-  var m0 = m[0];
-  var m1 = m[1];
-  var m2 = m[2];
-  var m3 = m[3];
-  var m00 = m0[0];
-  var m01 = m0[1];
-  var m02 = m0[2];
-  var m03 = m0[3];
-  var m20 = m2[0];
-  var m21 = m2[1];
-  var m22 = m2[2];
-  var m23 = m2[3];
+  var m00 = m[0];
+  var m01 = m[1];
+  var m02 = m[2];
+  var m03 = m[3];
+  var m20 = m[8];
+  var m21 = m[9];
+  var m22 = m[10];
+  var m23 = m[11];
   var c = Math.cos(angle);
   var s = Math.sin(angle);
 
-  m0.splice(0, 4, c * m00 - s * m20,
-                  c * m01 - s * m21,
-                  c * m02 - s * m22,
-                  c * m03 - s * m23);
-  m2.splice(0, 4, c * m20 + s * m00,
-                  c * m21 + s * m01,
-                  c * m22 + s * m02,
-                  c * m23 + s * m03);
+  m[0] = c * m00 - s * m20;
+  m[1] = c * m01 - s * m21;
+  m[2] = c * m02 - s * m22;
+  m[3] = c * m03 - s * m23;
+  m[8] = c * m20 + s * m00;
+  m[9] = c * m21 + s * m01;
+  m[10] = c * m22 + s * m02;
+  m[11] = c * m23 + s * m03;
 };
 
 
@@ -729,29 +422,25 @@ o3d.Transform.prototype.rotateZ =
     function(angle) {
   var m = this.localMatrix;
 
-  var m0 = m[0];
-  var m1 = m[1];
-  var m2 = m[2];
-  var m3 = m[3];
-  var m00 = m0[0];
-  var m01 = m0[1];
-  var m02 = m0[2];
-  var m03 = m0[3];
-  var m10 = m1[0];
-  var m11 = m1[1];
-  var m12 = m1[2];
-  var m13 = m1[3];
+  var m00 = m[0];
+  var m01 = m[1];
+  var m02 = m[2];
+  var m03 = m[3];
+  var m10 = m[4];
+  var m11 = m[5];
+  var m12 = m[6];
+  var m13 = m[7];
   var c = Math.cos(angle);
   var s = Math.sin(angle);
 
-  m0.splice(0, 4, c * m00 + s * m10,
-                  c * m01 + s * m11,
-                  c * m02 + s * m12,
-                  c * m03 + s * m13);
-  m1.splice(0, 4, c * m10 - s * m00,
-                  c * m11 - s * m01,
-                  c * m12 - s * m02,
-                  c * m13 - s * m03);
+  m[0] = c * m00 + s * m10;
+  m[1] = c * m01 + s * m11;
+  m[2] = c * m02 + s * m12;
+  m[3] = c * m03 + s * m13;
+  m[4] = c * m10 - s * m00;
+  m[5] = c * m11 - s * m01;
+  m[6] = c * m12 - s * m02;
+  m[7] = c * m13 - s * m03;
 };
 
 
@@ -788,45 +477,37 @@ o3d.Transform.prototype.rotateZYX =
   var r21 = sinZSinY * cosX - cosZ * sinX;
   var r22 = cosY * cosX;
 
-  var m0 = m[0];
-  var m1 = m[1];
-  var m2 = m[2];
-  var m3 = m[3];
-
-  var m00 = m0[0];
-  var m01 = m0[1];
-  var m02 = m0[2];
-  var m03 = m0[3];
-  var m10 = m1[0];
-  var m11 = m1[1];
-  var m12 = m1[2];
-  var m13 = m1[3];
-  var m20 = m2[0];
-  var m21 = m2[1];
-  var m22 = m2[2];
-  var m23 = m2[3];
-  var m30 = m3[0];
-  var m31 = m3[1];
-  var m32 = m3[2];
-  var m33 = m3[3];
-
-  m0.splice(0, 4,
-      r00 * m00 + r01 * m10 + r02 * m20,
-      r00 * m01 + r01 * m11 + r02 * m21,
-      r00 * m02 + r01 * m12 + r02 * m22,
-      r00 * m03 + r01 * m13 + r02 * m23);
-
-  m1.splice(0, 4,
-      r10 * m00 + r11 * m10 + r12 * m20,
-      r10 * m01 + r11 * m11 + r12 * m21,
-      r10 * m02 + r11 * m12 + r12 * m22,
-      r10 * m03 + r11 * m13 + r12 * m23);
-
-  m2.splice(0, 4,
-      r20 * m00 + r21 * m10 + r22 * m20,
-      r20 * m01 + r21 * m11 + r22 * m21,
-      r20 * m02 + r21 * m12 + r22 * m22,
-      r20 * m03 + r21 * m13 + r22 * m23);
+  var m00 = m[0];
+  var m01 = m[1];
+  var m02 = m[2];
+  var m03 = m[3];
+  var m10 = m[4];
+  var m11 = m[5];
+  var m12 = m[6];
+  var m13 = m[7];
+  var m20 = m[8];
+  var m21 = m[9];
+  var m22 = m[10];
+  var m23 = m[11];
+  var m30 = m[12];
+  var m31 = m[13];
+  var m32 = m[14];
+  var m33 = m[15];
+
+  m[0] = r00 * m00 + r01 * m10 + r02 * m20;
+  m[1] = r00 * m01 + r01 * m11 + r02 * m21;
+  m[2] = r00 * m02 + r01 * m12 + r02 * m22;
+  m[3] =  r00 * m03 + r01 * m13 + r02 * m23;
+
+  m[4] = r10 * m00 + r11 * m10 + r12 * m20;
+  m[5] =  r10 * m01 + r11 * m11 + r12 * m21;
+  m[6] = r10 * m02 + r11 * m12 + r12 * m22;
+  m[7] = r10 * m03 + r11 * m13 + r12 * m23;
+
+  m[8] = r20 * m00 + r21 * m10 + r22 * m20;
+  m[9] = r20 * m01 + r21 * m11 + r22 * m21;
+  m[10] = r20 * m02 + r21 * m12 + r22 * m22;
+  m[11] = r20 * m03 + r21 * m13 + r22 * m23;
 };
 
 
@@ -871,47 +552,36 @@ o3d.Transform.axisRotateMatrix =
   var r21 = y * z * oneMinusCosine - x * s;
   var r22 = zz + (1 - zz) * c;
 
-  var m0 = m[0];
-  var m1 = m[1];
-  var m2 = m[2];
-  var m3 = m[3];
-
-  var m00 = m0[0];
-  var m01 = m0[1];
-  var m02 = m0[2];
-  var m03 = m0[3];
-  var m10 = m1[0];
-  var m11 = m1[1];
-  var m12 = m1[2];
-  var m13 = m1[3];
-  var m20 = m2[0];
-  var m21 = m2[1];
-  var m22 = m2[2];
-  var m23 = m2[3];
-  var m30 = m3[0];
-  var m31 = m3[1];
-  var m32 = m3[2];
-  var m33 = m3[3];
-
-  opt_target[0].splice(0, 4,
-      r00 * m00 + r01 * m10 + r02 * m20,
-      r00 * m01 + r01 * m11 + r02 * m21,
-      r00 * m02 + r01 * m12 + r02 * m22,
-      r00 * m03 + r01 * m13 + r02 * m23);
-
-  opt_target[1].splice(0, 4,
-      r10 * m00 + r11 * m10 + r12 * m20,
-      r10 * m01 + r11 * m11 + r12 * m21,
-      r10 * m02 + r11 * m12 + r12 * m22,
-      r10 * m03 + r11 * m13 + r12 * m23);
-
-  opt_target[2].splice(0, 4,
-      r20 * m00 + r21 * m10 + r22 * m20,
-      r20 * m01 + r21 * m11 + r22 * m21,
-      r20 * m02 + r21 * m12 + r22 * m22,
-      r20 * m03 + r21 * m13 + r22 * m23);
-
-  opt_target[3].splice(0, 4, m30, m31, m32, m33);
+  var m00 = m[0];
+  var m01 = m[1];
+  var m02 = m[2];
+  var m03 = m[3];
+  var m10 = m[4];
+  var m11 = m[5];
+  var m12 = m[6];
+  var m13 = m[7];
+  var m20 = m[8];
+  var m21 = m[9];
+  var m22 = m[10];
+  var m23 = m[11];
+  var m30 = m[12];
+  var m31 = m[13];
+  var m32 = m[14];
+  var m33 = m[15];
+
+  m[0] = r00 * m00 + r01 * m10 + r02 * m20;
+  m[1] = r00 * m01 + r01 * m11 + r02 * m21;
+  m[2] = r00 * m02 + r01 * m12 + r02 * m22;
+  m[3] =  r00 * m03 + r01 * m13 + r02 * m23;
+  m[4] = r10 * m00 + r11 * m10 + r12 * m20;
+  m[5] =  r10 * m01 + r11 * m11 + r12 * m21;
+  m[6] = r10 * m02 + r11 * m12 + r12 * m22;
+  m[7] = r10 * m03 + r11 * m13 + r12 * m23;
+
+  m[8] = r20 * m00 + r21 * m10 + r22 * m20;
+  m[9] = r20 * m01 + r21 * m11 + r22 * m21;
+  m[10] = r20 * m02 + r21 * m12 + r22 * m22;
+  m[11] = r20 * m03 + r21 * m13 + r22 * m23;
 };
 
 
@@ -950,17 +620,17 @@ o3d.Transform.prototype.quaternionRotate =
 
   var d = qWqW + qXqX + qYqY + qZqZ;
 
-  o3d.Transform.compose(this.localMatrix, [
-    [(qWqW + qXqX - qYqY - qZqZ) / d,
+  o3d.Transform.compose_(this.localMatrix, o3d.Transform.makeMatrix4_(
+    (qWqW + qXqX - qYqY - qZqZ) / d,
      2 * (qWqZ + qXqY) / d,
-     2 * (qXqZ - qWqY) / d, 0],
-    [2 * (qXqY - qWqZ) / d,
+     2 * (qXqZ - qWqY) / d, 0,
+    2 * (qXqY - qWqZ) / d,
      (qWqW - qXqX + qYqY - qZqZ) / d,
-     2 * (qWqX + qYqZ) / d, 0],
-    [2 * (qWqY + qXqZ) / d,
+     2 * (qWqX + qYqZ) / d, 0,
+    2 * (qWqY + qXqZ) / d,
      2 * (qYqZ - qWqX) / d,
-     (qWqW - qXqX - qYqY + qZqZ) / d, 0],
-    [0, 0, 0, 1]]);
+     (qWqW - qXqX - qYqY + qZqZ) / d, 0,
+    0, 0, 0, 1));
 };
 
 
@@ -984,32 +654,18 @@ o3d.Transform.prototype.scale =
   var v1 = v[1];
   var v2 = v[2];
 
-  var m0 = m[0];
-  var m1 = m[1];
-  var m2 = m[2];
-  var m3 = m[3];
-
-  m0.splice(0, 4, v0 * m0[0], v0 * m0[1], v0 * m0[2], v0 * m0[3]);
-  m1.splice(0, 4, v1 * m1[0], v1 * m1[1], v1 * m1[2], v1 * m1[3]);
-  m2.splice(0, 4, v2 * m2[0], v2 * m2[1], v2 * m2[2], v2 * m2[3]);
-};
-
-
-/**
- * Utility function to flatten an o3djs-style matrix
- * (which is an array of arrays) into one array of entries.
- * @param {Array.<Array.<number> >} m The o3djs-style matrix.
- * @return {Array.<number>} The flattened matrix.
- */
-o3d.Transform.flattenMatrix4 = function(m) {
-  var m0 = m[0];
-  var m1 = m[1];
-  var m2 = m[2];
-  var m3 = m[3];
-  return [m0[0], m0[1], m0[2], m0[3],
-          m1[0], m1[1], m1[2], m1[3],
-          m2[0], m2[1], m2[2], m2[3],
-          m3[0], m3[1], m3[2], m3[3]];
+  m[0] = v0 * m[0];
+  m[1] = v0 * m[1];
+  m[2] = v0 * m[2];
+  m[3] = v0 * m[3];
+  m[4] = v1 * m[4];
+  m[5] = v1 * m[5];
+  m[6] = v1 * m[6];
+  m[7] = v1 * m[7];
+  m[8] = v2 * m[8];
+  m[9] = v2 * m[9];
+  m[10] = v2 * m[10];
+  m[11] = v2 * m[11];
 };
 
 
@@ -1027,10 +683,9 @@ o3d.Transform.prototype.traverse =
     return;
   }
   opt_parentWorldMatrix =
-      opt_parentWorldMatrix ||
-          [[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]];
+      opt_parentWorldMatrix || o3d.Transform.makeIdentityMatrix4_();
 
-  o3d.Transform.compose(
+  o3d.Transform.compose_(
       opt_parentWorldMatrix, this.localMatrix, this.worldMatrix);
 
   var remainingDrawListInfos = [];
@@ -1040,10 +695,10 @@ o3d.Transform.prototype.traverse =
       for (var i = 0; i < drawListInfos.length; ++i) {
         var drawListInfo = drawListInfos[i];
 
-        var worldViewProjection = [[], [], [], []];
-        o3d.Transform.compose(drawListInfo.context.view,
+        var worldViewProjection = o3d.Transform.makeNullMatrix4_();
+        o3d.Transform.compose_(drawListInfo.context.view,
             this.worldMatrix, worldViewProjection);
-        o3d.Transform.compose(drawListInfo.context.projection,
+        o3d.Transform.compose_(drawListInfo.context.projection,
             worldViewProjection, worldViewProjection);
 
         if (this.boundingBox.inFrustum(worldViewProjection)) {
@@ -1073,3 +728,643 @@ o3d.Transform.prototype.traverse =
 };
 
 
+/**
+ * Tells the o3d-webgl subsection if it should use native javascript
+ * arrays or if it should switch to the newer Float32Array, which help the
+ * interpreter, once created, but can require a lot of gc work to allocate
+ * and deallocate.
+ * @type {boolean}
+ */
+o3d.Transform.useFloat32Array_  = false;
+
+
+/**
+ * This defines the type of any given Matrix4
+ * @type {!Array.<number>|!Float32Array}
+ */
+o3d.Transform.Matrix4 = goog.typedef;
+
+
+/**
+ * This returns an identity 4x4 matrix with
+ * the diagonal as 1's and everything else 0
+ * @return {!o3d.Transform.Matrix4}
+ * @private
+ */
+o3d.Transform.makeIdentityMatrix4_ = null;
+
+
+/**
+ * This returns a 4x4 matrix with all values set to zero
+ * @return {!o3d.Transform.Matrix4} the vector made up of the elements
+ * @private
+ */
+o3d.Transform.makeNullMatrix4_ = null;
+
+
+/**
+ * This returns a length 2 vector with values set to the passed in arguments
+ * @param {number} a the x element in the vector
+ * @param {number} b the y element in the vector
+ * @return {!Float32Array} the vector made up of the elements
+ * @private
+ */
+o3d.Transform.makeVector2_ = null;
+
+
+/**
+ * This returns a length 3 vector with values set to the passed in arguments
+ * @param {number} a the x element in the vector
+ * @param {number} b the y element in the vector
+ * @param {number} c the z element in the vector
+ * @return {!Float32Array} the vector made up of the elements
+ * @private
+ */
+o3d.Transform.makeVector3_ = null;
+
+
+/**
+ * This returns a length 4 vector with values set to the passed in arguments
+ * @param {number} a the x element in the vector
+ * @param {number} b the y element in the vector
+ * @param {number} c the z element in the vector
+ * @param {number} d the w element in the vector
+ * @return {!Float32Array} the vector made up of the elements
+ * @private
+ */
+o3d.Transform.makeVector4_ = null;
+
+
+/**
+ * This returns a 4x4 matrix in row major order
+ * with values set to the passed in arguments
+ * @param {number} a [0][0] element
+ * @param {number} b [0][1] element
+ * @param {number} c [0][2] element
+ * @param {number} d [0][3] element
+ * @param {number} e [1][0] element
+ * @param {number} f [1][1] element
+ * @param {number} g [1][2] element
+ * @param {number} h [1][3] element
+ * @param {number} i [2][0] element
+ * @param {number} j [2][1] element
+ * @param {number} k [2][2] element
+ * @param {number} l [2][3] element
+ * @param {number} m [3][0] element
+ * @param {number} n [3][1] element
+ * @param {number} o [3][2] element
+ * @param {number} p [3][3] element
+ * @return {!o3d.Transform.Matrix4}
+ */
+o3d.Transform.makeMatrix4_ = null;
+
+
+// If Float32Array isn't defined we might as well not bother including the
+// Float32Array functions.
+if (window.Float32Array != undefined) {
+  /**
+   * A namespace to hold Float32Array-specialized functions.
+   * @namespace
+   * @private
+   */
+  o3d.Transform.Float32Array_ = {};
+
+
+  /**
+   * This defines the type of any given Matrix4 in the Float32Array namespace
+   * @type {function}
+   * @private
+   */
+  o3d.Transform.Float32Array_.Matrix4 = Float32Array;
+
+
+  /**
+   * This returns an identity 4x4 matrix with
+   * the diagonal as 1's and everything else 0
+   * @return {!o3d.Transform.Matrix4}
+   * @private
+   */
+  o3d.Transform.Float32Array_.makeIdentityMatrix4_ = function() {
+      var r = new Float32Array(16);
+      r[0] = 1;
+      r[5] = 1;
+      r[10] = 1;
+      r[15] = 1;
+      return r;
+  };
+
+
+  /**
+   * This returns a 4x4 matrix with all values set to zero
+   * @return {!o3d.Transform.Matrix4} the vector made up of the elements
+   * @private
+   */
+  o3d.Transform.Float32Array_.makeNullMatrix4_ = function() {
+    return new Float32Array(16);
+  };
+
+
+  /**
+   * This returns a length 2 vector with values set to the passed in arguments
+   * @param {number} a the x element in the vector
+   * @param {number} b the y element in the vector
+   * @return {!Float32Array} the vector made up of the elements
+   * @private
+   */
+  o3d.Transform.Float32Array_.makeVector2_ = function(a, b) {
+    var f=new Float32Array(2);
+    f[0] = a;
+    f[1] = b;
+    return f;
+  };
+
+
+  /**
+   * This returns a length 3 vector with values set to the passed in arguments
+   * @param {number} a the x element in the vector
+   * @param {number} b the y element in the vector
+   * @param {number} c the z element in the vector
+   * @return {!Float32Array} the vector made up of the elements
+   * @private
+   */
+  o3d.Transform.Float32Array_.makeVector3_ = function(a, b, c) {
+    var f=new Float32Array(3);
+      f[0] = a;
+      f[1] = b;
+      f[2] = c;
+      return f;
+  };
+
+
+  /**
+   * This returns a length 4 vector with values set to the passed in arguments
+   * @param {number} a the x element in the vector
+   * @param {number} b the y element in the vector
+   * @param {number} c the z element in the vector
+   * @param {number} d the w element in the vector
+   * @return {!Float32Array} the vector made up of the elements
+   * @private
+   */
+  o3d.Transform.Float32Array_.makeVector4_ = function(a, b, c, d) {
+      var f = new Float32Array(4);
+      f[0] = a;
+      f[1] = b;
+      f[2] = c;
+      f[3] = d;
+      return f;
+  };
+
+
+  /**
+   * This returns a 4x4 matrix in row major order
+   * with values set to the passed in arguments
+   * @param {number} a [0][0] element
+   * @param {number} a [0][0] element
+   * @param {number} b [0][1] element
+   * @param {number} c [0][2] element
+   * @param {number} d [0][3] element
+   * @param {number} e [1][0] element
+   * @param {number} f [1][1] element
+   * @param {number} g [1][2] element
+   * @param {number} h [1][3] element
+   * @param {number} i [2][0] element
+   * @param {number} j [2][1] element
+   * @param {number} k [2][2] element
+   * @param {number} l [2][3] element
+   * @param {number} m [3][0] element
+   * @param {number} n [3][1] element
+   * @param {number} o [3][2] element
+   * @param {number} p [3][3] element
+   * @return {!o3d.Transform.Matrix4}
+   */
+  o3d.Transform.Float32Array_.makeMatrix4_ =
+      function(a, b, c, d, e, f, g, h, i, j, k, l, m, n, o, p) {
+    var m = new Float32Array(16);
+    m[0] = a;
+    m[1] = b;
+    m[2] = c;
+    m[3] = d;
+    m[4] = e;
+    m[5] = f;
+    m[6] = g;
+    m[7] = h;
+    m[8] = i;
+    m[9] = j;
+    m[10] = k;
+    m[11] = l;
+    m[12] = m;
+    m[13] = n;
+    m[14] = o;
+    m[15] = p;
+    return m;
+  };
+} else {
+  // If Float32Array doesn't exist, we cannot use that library.
+  o3d.Transform.useFloat32Array_ = false;
+}
+
+
+/**
+ * A namespace for Array specialized Transform functions that depend
+ * on what the matrix type of choice is
+ * @namespace
+ * @private
+ */
+o3d.Transform.Array_ = {};
+
+/**
+ * This returns a length 3 vector with values set to the passed in arguments
+ * @param {number} a the x element in the vector
+ * @param {number} b the y element in the vector
+ * @return {!Array} the vector made up of the elements
+ * @private
+ */
+o3d.Transform.Array_.makeVector2_ = function(a, b) {
+  return [a,b];
+};
+
+/**
+ * This returns a length 3 vector with values set to the passed in arguments
+ * @param {number} a the x element in the vector
+ * @param {number} b the y element in the vector
+ * @param {number} c the z element in the vector
+ * @return {!Array} the vector made up of the elements
+ * @private
+ */
+o3d.Transform.Array_.makeVector3_ = function(a, b, c) {
+  return [a, b, c];
+};
+
+/**
+ * This returns a length 4 vector with values set to the passed in arguments
+ * @param {number} a the x element in the vector
+ * @param {number} b the y element in the vector
+ * @param {number} c the z element in the vector
+ * @param {number} d the w element in the vector
+ * @return {!Array} the vector made up of the elements
+ * @private
+ */
+o3d.Transform.Array_.makeVector4_ = function(a, b, c, d) {
+  return [a, b, c, d];
+};
+
+/**
+ * This returns a 4x4 matrix in row major order
+ * with values set to the passed in arguments
+ * @param {number} a [0][0] element
+ * @param {number} b [0][1] element
+ * @param {number} c [0][2] element
+ * @param {number} d [0][3] element
+ * @param {number} e [1][0] element
+ * @param {number} f [1][1] element
+ * @param {number} g [1][2] element
+ * @param {number} h [1][3] element
+ * @param {number} i [2][0] element
+ * @param {number} j [2][1] element
+ * @param {number} k [2][2] element
+ * @param {number} l [2][3] element
+ * @param {number} m [3][0] element
+ * @param {number} n [3][1] element
+ * @param {number} o [3][2] element
+ * @param {number} p [3][3] element
+ * @return {!o3d.Transform.Matrix4}
+ * @private
+ */
+o3d.Transform.Array_.makeMatrix4_ =
+    function(a, b, c, d, e, f, g, h, i, j, k, l, m, n, o, p) {
+ return [a, b, c, d, e, f, g, h, i, j, k, l, m, n, o, p];
+};
+
+o3d.Transform.Array_.Matrix4_ = Array;
+
+/**
+ * This returns an identity 4x4 matrix with
+ * the diagonal as 1's and everything else 0
+ * @return {!o3d.Transform.Matrix4}
+ */
+o3d.Transform.Array_.makeIdentityMatrix4_ = function() {
+  return [1, 0, 0, 0,
+          0, 1, 0, 0,
+          0, 0, 1, 0,
+          0, 0, 0, 1];
+};
+
+
+/**
+ * This returns an identity 4x4 matrix with all values as 0
+ * @return {!o3d.Transform.Matrix4}
+ */
+o3d.Transform.Array_.makeNullMatrix4_ = function() {
+  return [0, 0, 0, 0,
+          0, 0, 0, 0,
+          0, 0, 0, 0,
+          0, 0, 0, 0];
+};
+
+
+if (o3d.Transform.useFloat32Array_) {
+  for (var i in o3d.Transform.Float32Array_) {
+    o3d.Transform[i] = o3d.Transform.Float32Array_[i];
+  }
+} else {
+  for (var i in o3d.Transform.Array_) {
+    o3d.Transform[i] = o3d.Transform.Array_[i];
+  }
+}
+
+
+/*
+ * Utility function to copose a matrix with another matrix.
+ * Precomposes b with a, changing a, or if the target matrix if
+ * one is provided.
+ *
+ * @param {!Array.<!Array.<number>>} a
+ * @param {!Array.<!Array.<number>>} b
+ * @param {!Array.<!Array.<number>>} opt_target
+ * @private
+ */
+o3d.Transform.compose_ = function(a, b, opt_target) {
+  var t = opt_target || a;
+
+  var a00 = a[0];
+  var a01 = a[1];
+  var a02 = a[2];
+  var a03 = a[3];
+  var a10 = a[4];
+  var a11 = a[5];
+  var a12 = a[6];
+  var a13 = a[7];
+  var a20 = a[8];
+  var a21 = a[9];
+  var a22 = a[10];
+  var a23 = a[11];
+  var a30 = a[12];
+  var a31 = a[13];
+  var a32 = a[14];
+  var a33 = a[15];
+  var b00 = b[0];
+  var b01 = b[1];
+  var b02 = b[2];
+  var b03 = b[3];
+  var b10 = b[4];
+  var b11 = b[5];
+  var b12 = b[6];
+  var b13 = b[7];
+  var b20 = b[8];
+  var b21 = b[9];
+  var b22 = b[10];
+  var b23 = b[11];
+  var b30 = b[12];
+  var b31 = b[13];
+  var b32 = b[14];
+  var b33 = b[15];
+  t[0] = a00 * b00 + a10 * b01 + a20 * b02 + a30 * b03;
+  t[1] = a01 * b00 + a11 * b01 + a21 * b02 + a31 * b03;
+  t[2] = a02 * b00 + a12 * b01 + a22 * b02 + a32 * b03;
+  t[3] = a03 * b00 + a13 * b01 + a23 * b02 + a33 * b03;
+  t[4] = a00 * b10 + a10 * b11 + a20 * b12 + a30 * b13;
+  t[5] = a01 * b10 + a11 * b11 + a21 * b12 + a31 * b13;
+  t[6] = a02 * b10 + a12 * b11 + a22 * b12 + a32 * b13;
+  t[7] = a03 * b10 + a13 * b11 + a23 * b12 + a33 * b13;
+  t[8] = a00 * b20 + a10 * b21 + a20 * b22 + a30 * b23;
+  t[9] = a01 * b20 + a11 * b21 + a21 * b22 + a31 * b23;
+  t[10] = a02 * b20 + a12 * b21 + a22 * b22 + a32 * b23;
+  t[11] = a03 * b20 + a13 * b21 + a23 * b22 + a33 * b23;
+  t[12] = a00 * b30 + a10 * b31 + a20 * b32 + a30 * b33;
+  t[13] = a01 * b30 + a11 * b31 + a21 * b32 + a31 * b33;
+  t[14] = a02 * b30 + a12 * b31 + a22 * b32 + a32 * b33;
+  t[15] = a03 * b30 + a13 * b31 + a23 * b32 + a33 * b33;
+};
+
+
+/**
+ * Tests whether two matrices are either equal in the sense that they
+ * refer to the same memory, or equal in the sense that they have equal
+ * entries.
+ *
+ * @param {!Array.<!Array.<number>>} a A matrix.
+ * @param {!Array.<!Array.<number>>} b Another matrix.
+ * @return {boolean} Whether they are equal.
+ * @private
+ */
+o3d.Transform.matricesEqual_ = function(a, b) {
+  if (a==b) {
+    return true;
+  }
+  for (var i = 0; i < 16; ++i) {
+      if (a[i] != b[i]) {
+        return false;
+      }
+  }
+
+  return true;
+};
+
+
+/**
+ * Computes the transpose of the matrix a in place if no target is provided.
+ * Or if a target is provided, turns the target into the transpose of a.
+ *
+ * @param {!Array.<!Array.<number>>} m A matrix.
+ * @param {Array.<!Array.<number>>} opt_target
+ *     The matrix to become the transpose of m.
+ * @private
+ */
+o3d.Transform.transpose_ = function(m, opt_target) {
+  var t = opt_target || m;
+
+  var m00 = m[0];
+  var m01 = m[1];
+  var m02 = m[2];
+  var m03 = m[3];
+  var m10 = m[4];
+  var m11 = m[5];
+  var m12 = m[6];
+  var m13 = m[7];
+  var m20 = m[8];
+  var m21 = m[9];
+  var m22 = m[10];
+  var m23 = m[11];
+  var m30 = m[12];
+  var m31 = m[13];
+  var m32 = m[14];
+  var m33 = m[15];
+  t[0] = m00;
+  t[1] = m10;
+  t[2] = m20;
+  t[3] = m30;
+
+  t[4] = m01;
+  t[5] = m11;
+  t[6] = m21;
+  t[7] = m31;
+
+  t[8] = m02;
+  t[9] = m12;
+  t[10] = m22;
+  t[11] = m32;
+
+  t[12] = m03;
+  t[13] = m13;
+  t[14] = m23;
+  t[15] = m33;
+};
+
+
+/**
+ * Computes the inverse of the matrix a in place if no target is provided.
+ * Or if a target is provided, turns the target into the transpose of a.
+ *
+ * @param {!Array.<!Array.<number>>} m A matrix.
+ * @param {Array.<!Array.<number>>} opt_target The matrix to become the
+ *     inverse of a.
+ */
+o3d.Transform.inverse_ = function(m, opt_target) {
+  var t = opt_target || m;
+
+  var m00 = m[0];
+  var m01 = m[1];
+  var m02 = m[2];
+  var m03 = m[3];
+  var m10 = m[4];
+  var m11 = m[5];
+  var m12 = m[6];
+  var m13 = m[7];
+  var m20 = m[8];
+  var m21 = m[9];
+  var m22 = m[10];
+  var m23 = m[11];
+  var m30 = m[12];
+  var m31 = m[13];
+  var m32 = m[14];
+  var m33 = m[15];
+
+  var tmp_0 = m22 * m33;
+  var tmp_1 = m32 * m23;
+  var tmp_2 = m12 * m33;
+  var tmp_3 = m32 * m13;
+  var tmp_4 = m12 * m23;
+  var tmp_5 = m22 * m13;
+  var tmp_6 = m02 * m33;
+  var tmp_7 = m32 * m03;
+  var tmp_8 = m02 * m23;
+  var tmp_9 = m22 * m03;
+  var tmp_10 = m02 * m13;
+  var tmp_11 = m12 * m03;
+  var tmp_12 = m20 * m31;
+  var tmp_13 = m30 * m21;
+  var tmp_14 = m10 * m31;
+  var tmp_15 = m30 * m11;
+  var tmp_16 = m10 * m21;
+  var tmp_17 = m20 * m11;
+  var tmp_18 = m00 * m31;
+  var tmp_19 = m30 * m01;
+  var tmp_20 = m00 * m21;
+  var tmp_21 = m20 * m01;
+  var tmp_22 = m00 * m11;
+  var tmp_23 = m10 * m01;
+
+  var t0 = (tmp_0 * m11 + tmp_3 * m21 + tmp_4 * m31) -
+      (tmp_1 * m11 + tmp_2 * m21 + tmp_5 * m31);
+  var t1 = (tmp_1 * m01 + tmp_6 * m21 + tmp_9 * m31) -
+      (tmp_0 * m01 + tmp_7 * m21 + tmp_8 * m31);
+  var t2 = (tmp_2 * m01 + tmp_7 * m11 + tmp_10 * m31) -
+      (tmp_3 * m01 + tmp_6 * m11 + tmp_11 * m31);
+  var t3 = (tmp_5 * m01 + tmp_8 * m11 + tmp_11 * m21) -
+      (tmp_4 * m01 + tmp_9 * m11 + tmp_10 * m21);
+
+  var d = 1.0 / (m00 * t0 + m10 * t1 + m20 * t2 + m30 * t3);
+
+  t[0] = d * t0;
+  t[1] = d * t1;
+  t[2] = d * t2;
+  t[3] = d * t3;
+  t[4] = d * ((tmp_1 * m10 + tmp_2 * m20 + tmp_5 * m30) -
+          (tmp_0 * m10 + tmp_3 * m20 + tmp_4 * m30));
+  t[5] = d * ((tmp_0 * m00 + tmp_7 * m20 + tmp_8 * m30) -
+          (tmp_1 * m00 + tmp_6 * m20 + tmp_9 * m30));
+  t[6] = d * ((tmp_3 * m00 + tmp_6 * m10 + tmp_11 * m30) -
+          (tmp_2 * m00 + tmp_7 * m10 + tmp_10 * m30));
+  t[7] = d * ((tmp_4 * m00 + tmp_9 * m10 + tmp_10 * m20) -
+          (tmp_5 * m00 + tmp_8 * m10 + tmp_11 * m20));
+  t[8] = d * ((tmp_12 * m13 + tmp_15 * m23 + tmp_16 * m33) -
+          (tmp_13 * m13 + tmp_14 * m23 + tmp_17 * m33));
+  t[9] = d * ((tmp_13 * m03 + tmp_18 * m23 + tmp_21 * m33) -
+          (tmp_12 * m03 + tmp_19 * m23 + tmp_20 * m33));
+  t[10] = d * ((tmp_14 * m03 + tmp_19 * m13 + tmp_22 * m33) -
+          (tmp_15 * m03 + tmp_18 * m13 + tmp_23 * m33));
+  t[11] = d * ((tmp_17 * m03 + tmp_20 * m13 + tmp_23 * m23) -
+          (tmp_16 * m03 + tmp_21 * m13 + tmp_22 * m23));
+  t[12] = d * ((tmp_14 * m22 + tmp_17 * m32 + tmp_13 * m12) -
+          (tmp_16 * m32 + tmp_12 * m12 + tmp_15 * m22));
+  t[13] = d * ((tmp_20 * m32 + tmp_12 * m02 + tmp_19 * m22) -
+          (tmp_18 * m22 + tmp_21 * m32 + tmp_13 * m02));
+  t[14] = d * ((tmp_18 * m12 + tmp_23 * m32 + tmp_15 * m02) -
+          (tmp_22 * m32 + tmp_14 * m02 + tmp_19 * m12));
+  t[15] = d * ((tmp_22 * m22 + tmp_16 * m02 + tmp_21 * m12) -
+          (tmp_20 * m12 + tmp_23 * m22 + tmp_17 * m02));
+};
+
+
+/**
+ * Takes a 4-by-4 matrix and a vector with 3 entries,
+ * interprets the vector as a point, transforms that point by the matrix, and
+ * returns the result as a vector with 3 entries.
+ * @param {!o3djs.math.Matrix4} m The matrix.
+ * @param {!o3djs.math.Vector3} v The point.
+ * @return {!o3djs.math.Vector3} The transformed point.
+ * @private
+ */
+o3d.Transform.transformPoint_ = function(m, v) {
+  var v0 = v[0];
+  var v1 = v[1];
+  var v2 = v[2];
+
+  var d = v0 * m[3] + v1 * m[7] + v2 * m[11] + m[15];
+  return o3d.Transform.makeVector3_(
+      (v0 * m[0] + v1 * m[4] + v2 * m[8] + m[12]) / d,
+      (v0 * m[1] + v1 * m[5] + v2 * m[9] + m[13]) / d,
+      (v0 * m[2] + v1 * m[6] + v2 * m[10] + m[14]) / d);
+};
+
+
+/**
+ * Takes a 4-by-4 matrix and a vector with 4 entries,
+ * interprets the vector as a point, transforms that point by the matrix, and
+ * returns the result as a vector with 4 entries.
+ * @param {!o3djs.math.Matrix4} m The matrix.
+ * @param {!o3djs.math.Vector4} v The vector.
+ * @return {!o3djs.math.Vector4} The transformed vector.
+ * @private
+ */
+o3d.Transform.multiplyVector_ = function(m, v) {
+  var v0 = v[0];
+  var v1 = v[1];
+  var v2 = v[2];
+  var v3 = v[3];
+
+  return o3d.Transform.makeVector4_(
+      (v0 * m[0] + v1 * m[4] + v2 * m[8] + v3 * m[12]),
+      (v0 * m[1] + v1 * m[5] + v2 * m[9] + v3 * m[13]),
+      (v0 * m[2] + v1 * m[6] + v2 * m[10] + v3 * m[14]),
+      (v0 * m[3] + v1 * m[7] + v2 * m[11] + v3 * m[15]));
+};
+
+
+/**
+ * Takes a 4-by-4 matrix and a vector with 3 entries,
+ * interprets the vector as a point, transforms that point by the matrix,
+ * returning the z-component of the result only.
+ * @param {!o3djs.math.Matrix4} m The matrix.
+ * @param {!o3djs.math.Vector3} v The point.
+ * @return {number} The z coordinate of the transformed point.
+ * @private
+ */
+o3d.Transform.transformPointZOnly_ = function(m, v) {
+  var v0 = v[0];
+  var v1 = v[1];
+  var v2 = v[2];
+
+  return (v0 * m[2] + v1 * m[6] + v2 * m[10] + m[14]) /
+      (v0 * m[3] + v1 * m[7] + v2 * m[11] + m[15]);
+};
diff --git a/o3d/samples/o3djs/canvas.js b/o3d/samples/o3djs/canvas.js
index 2d83718..fce83b4 100644
--- a/o3d/samples/o3djs/canvas.js
+++ b/o3d/samples/o3djs/canvas.js
@@ -241,10 +241,10 @@ o3djs.canvas.CanvasInfo = function(pack, root, viewInfo) {
       1,
       1,
       1,
-      [[1, 0, 0, 0],
-       [0, 0, 1, 0],
-       [0, -1, 0, 0],
-       [0, 0, 0, 1]]);
+      o3djs.math.makeMatrix4(1, 0, 0, 0,
+                             0, 0, 1, 0,
+                             0, -1, 0 ,0,
+                             0, 0, 0, 1));
 
   /**
    * A shape for opaque quads.
@@ -257,10 +257,10 @@ o3djs.canvas.CanvasInfo = function(pack, root, viewInfo) {
       1,
       1,
       1,
-      [[1, 0, 0, 0],
-       [0, 0, 1, 0],
-       [0, -1, 0, 0],
-       [0, 0, 0, 1]]);
+      o3djs.math.makeMatrix4(1, 0, 0, 0,
+                             0, 0, 1, 0,
+                             0, -1, 0 ,0,
+                             0, 0, 0, 1));
 };
 /**
  * The CanvasQuad object encapsulates a Transform, a rectangle Shape,
diff --git a/o3d/samples/o3djs/debug.js b/o3d/samples/o3djs/debug.js
index b1730ab..f646d90 100644
--- a/o3d/samples/o3djs/debug.js
+++ b/o3d/samples/o3djs/debug.js
@@ -258,10 +258,10 @@ o3djs.debug.DebugLine.prototype.update_ = function() {
     perp2 = math.cross(perp1, direction);
   }
   this.transform_.localMatrix =
-      [perp2.concat(0),
-       direction.concat(0),
-       perp1.concat(0),
-       this.start_.concat(1)];
+      o3djs.math.makeMatrix4(perp2[0], perp2[1], perp2[2], 0,
+                             direction[0], direction[1], direction[2], 0,
+                             perp1[0], perp1[1], perp1[2], 0,
+                             this.start_[0], this.start_[1], this.start_[2], 1);
   this.transform_.scale(1, math.length(vector), 1);
 };
 
@@ -517,16 +517,18 @@ o3djs.debug.DebugHelper = function(pack, viewInfo) {
     // Create the axis shape.
     for (var ii = 0; ii < O3D_DEBUG_AXIS_INFO_.length; ++ii) {
       var info = O3D_DEBUG_AXIS_INFO_[ii];
-      var cubeShape = o3djs.primitives.createCube(pack,
-                                                  material,
-                                                  1,
-                                                  [[1, 0, 0, 0],
-                                                   [0, 1, 0, 0],
-                                                   [0, 0, 1, 0],
-                                                   [info.offset[0] * 0.5,
-                                                    info.offset[1] * 0.5,
-                                                    info.offset[2] * 0.5,
-                                                    1]]);
+      var cubeShape = o3djs.primitives.createCube(
+          pack,
+          material,
+          1,
+          o3djs.math.makeMatrix4(1, 0, 0, 0,
+                                 0, 1, 0, 0,
+                                 0, 0, 1, 0,
+                                 info.offset[0] * 0.5,
+                                 info.offset[1] * 0.5,
+                                 info.offset[2] * 0.5,
+                                 1));
+
       var cube = cubeShape.elements[0];
       cube.owner = this.axisShape_;
       pack.removeObject(cubeShape);
diff --git a/o3d/samples/o3djs/fps.js b/o3d/samples/o3djs/fps.js
index c8e7888..51c233d 100644
--- a/o3d/samples/o3djs/fps.js
+++ b/o3d/samples/o3djs/fps.js
@@ -251,10 +251,10 @@ o3djs.fps.FPSManager = function(pack, clientWidth, clientHeight, opt_parent) {
      1,
      1,
      1,
-     [[1, 0, 0, 0],
-      [0, 0, 1, 0],
-      [0, -1, 0, 0],
-      [0.5, 0.5, 0, 1]]);
+     o3djs.math.makeMatrix4(1, 0, 0, 0,
+                            0, 0, 1, 0,
+                            0, -1, 0, 0,
+                            0.5, 0.5, 0, 1));
 
   var barXOffset = 10;
   var barYOffset = 2;
diff --git a/o3d/samples/o3djs/manipulators.js b/o3d/samples/o3djs/manipulators.js
index 8dc7278..4aa300f 100644
--- a/o3d/samples/o3djs/manipulators.js
+++ b/o3d/samples/o3djs/manipulators.js
@@ -244,8 +244,10 @@ o3djs.manipulators.Line_.prototype.closestPointToRay = function(startPoint,
   // value of u' is less than zero.
   var rayDirection = o3djs.math.subVector(endPoint, startPoint);
   var ddrd = o3djs.math.dot(this.direction_, rayDirection);
-  var A = [[-o3djs.math.lengthSquared(this.direction_), ddrd],
-           [ddrd, -o3djs.math.lengthSquared(rayDirection)]];
+  var A = o3djs.math.makeMatrix2(-o3djs.math.lengthSquared(this.direction_),
+                                 ddrd,
+                                 ddrd,
+                                 -o3djs.math.lengthSquared(rayDirection));
   var det = o3djs.math.det2(A);
   if (Math.abs(det) < o3djs.manipulators.EPSILON) {
     return null;
diff --git a/o3d/samples/o3djs/math.js b/o3d/samples/o3djs/math.js
index e840f23..c37ccb2 100644
--- a/o3d/samples/o3djs/math.js
+++ b/o3d/samples/o3djs/math.js
@@ -35,21 +35,20 @@
  * It adds them to the "math" module on the o3djs object.
  *
  * o3djs.math supports a row-major and a column-major mode.  In both
- * modes, vectors are stored as arrays of numbers, and matrices are stored as
- * arrays of arrays of numbers.
+ * modes, vectors are stored as arrays of numbers, and matrices are also.
  *
  * In row-major mode:
  *
- * - Rows of a matrix are sub-arrays.
- * - Individual entries of a matrix M get accessed in M[row][column] fashion.
- * - Tuples of coordinates are interpreted as row-vectors.
+ * - Rows of a matrix are neighboring <dimension> elements in the array.
+ * - Entries of a matrix M get accessed in M[row*dimension+column] fashion.
+ * - Tuples of coordinates adjacent are interpreted as row-vectors.
  * - A vector v gets transformed by a matrix M by multiplying in the order v*M.
  *
  * In column-major mode:
  *
- * - Columns of a matrix are sub-arrays.
- * - Individual entries of a matrix M get accessed in M[column][row] fashion.
- * - Tuples of coordinates are interpreted as column-vectors.
+ * - Columns of a matrix are neighboring <dimension> elements in the array.
+ * - Entries of a matrix M get accessed in M[column*dimension+row] fashion.
+ * - Tuples of coordinates adjacent are interpreted as column-vectors.
  * - A matrix M transforms a vector v by multiplying in the order M*v.
  *
  * When a function in o3djs.math requires separate row-major and
@@ -96,123 +95,483 @@
  * mean all sample code will work even if a line is added which switches major
  * modes, but it does mean that calls to o3djs still do what they are supposed
  * to.
- *
  */
 
-o3djs.provide('o3djs.math');
+
+var use_plugin_math = false;
+
+if ((typeof o3d != 'undefined') && o3d && o3d.Transform &&
+    o3d.Transform.makeIdentityMatrix4_) {
+  o3djs.provide('o3djs.math');
+} else {
+  use_plugin_math = true;
+  o3djs.require('o3djs.plugin_math');
+}
+
+o3djs.provide("o3djs.flat_math");
 
 /**
- * A module for math for o3djs.math.
+ * A module for math functions where a matrix is represented as a flat
+ * (1-dimensional) array.
  * @namespace
  */
-o3djs.math = o3djs.math || {};
+o3djs.flat_math = o3djs.flat_math || {};
 
 /**
  * A random seed for the pseudoRandom function.
  * @private
  * @type {number}
  */
-o3djs.math.randomSeed_ = 0;
+o3djs.flat_math.randomSeed_ = 0;
 
 /**
  * A constant for the pseudoRandom function
  * @private
  * @type {number}
  */
-o3djs.math.RANDOM_RANGE_ = Math.pow(2, 32);
+o3djs.flat_math.RANDOM_RANGE_ = Math.pow(2, 32);
 
 /**
  * Functions which deal with 4-by-4 transformation matrices are kept in their
  * own namespsace.
  * @namespace
  */
-o3djs.math.matrix4 = o3djs.math.matrix4 || {};
+o3djs.flat_math.matrix4 = o3djs.flat_math.matrix4 || {};
 
 /**
  * Functions that are specifically row major are kept in their own namespace.
  * @namespace
  */
-o3djs.math.rowMajor = o3djs.math.rowMajor || {};
+o3djs.flat_math.rowMajor = o3djs.flat_math.rowMajor || {};
 
 /**
  * Functions that are specifically column major are kept in their own namespace.
  * @namespace
  */
-o3djs.math.columnMajor = o3djs.math.columnMajor || {};
+o3djs.flat_math.columnMajor = o3djs.flat_math.columnMajor || {};
 
 /**
  * Functions that do error checking are stored in their own namespace.
  * @namespace
  */
-o3djs.math.errorCheck = o3djs.math.errorCheck || {};
+o3djs.flat_math.errorCheck = o3djs.flat_math.errorCheck || {};
 
 /**
  * Functions that do no error checking and have a separate version that does in
- * o3djs.math.errorCheck are stored in their own namespace.
+ * o3djs.flat_math.errorCheck are stored in their own namespace.
  * @namespace
  */
-o3djs.math.errorCheckFree = o3djs.math.errorCheckFree || {};
+o3djs.flat_math.errorCheckFree = o3djs.flat_math.errorCheckFree || {};
 
 /**
- * An Array of 2 floats
- * @type {(!Array.<number>|!o3d.Float2)}
+ * An Float32Array of 2 floats
+ * @type {(!Float32Array.<number>|!o3d.Float2)}
  */
-o3djs.math.Vector2 = goog.typedef;
+o3djs.flat_math.Vector2 = goog.typedef;
 
 /**
- * An Array of 3 floats
- * @type {(!Array.<number>|!o3d.Float3)}
+ * An Float32Array of 3 floats
+ * @type {(!Float32Array.<number>|!o3d.Float3)}
  */
-o3djs.math.Vector3 = goog.typedef;
+o3djs.flat_math.Vector3 = goog.typedef;
 
 /**
- * An Array of 4 floats
- * @type {(!Array.<number>|!o3d.Float4)}
+ * An Float32Array of 4 floats
+ * @type {(!Float32Array.<number>|!o3d.Float4)}
  */
-o3djs.math.Vector4 = goog.typedef;
+o3djs.flat_math.Vector4 = goog.typedef;
 
-/**
- * An Array of floats.
- * @type {!Array.<number>}
- */
-o3djs.math.Vector = goog.typedef;
 
 /**
  * A 1x1 Matrix of floats
- * @type {!Array.<!Array.<number>>}
+ * @type {!Array.<number>}
  */
-o3djs.math.Matrix1 = goog.typedef;
+o3djs.flat_math.Matrix1 = goog.typedef;
 
 /**
  * A 2x2 Matrix of floats
- * @type {!Array.<!Array.<number>>}
+ * @type {!Array.<number>}
  */
-o3djs.math.Matrix2 = goog.typedef;
+o3djs.flat_math.Matrix2 = goog.typedef;
 
 /**
  * A 3x3 Matrix of floats
- * @type {!Array.<!Array.<number>>}
+ * @type {!Array.<number>}
  */
-o3djs.math.Matrix3 = goog.typedef;
+o3djs.flat_math.Matrix3 = goog.typedef;
 
 /**
  * A 4x4 Matrix of floats
- * @type {(!Array.<!Array.<number>>|!o3d.Matrix4)}
+ * @type {(!Array.<number>|!o3d.Matrix4)}
+ */
+o3djs.flat_math.Matrix4 = goog.typedef;
+
+o3djs.flat_math.useFloat32Array_ = false;
+
+/**
+ * A arbitrary size Matrix of floats
+ * @type {(!Array.<number>|!o3d.Matrix4)}
  */
-o3djs.math.Matrix4 = goog.typedef;
+o3djs.flat_math.Matrix = goog.typedef;
+
+/**
+ * A arbitrary size Matrix of floats
+ * @type {(!Array.<number>)}
+ */
+o3djs.flat_math.Vector = goog.typedef;
+
+
+/**
+ * Namespace for Float32Array specific math functions
+ */
+o3djs.flat_math.Float32Array = {};
+
+/**
+ * A arbitrary size Matrix of floats
+ * @type {(!Array.<number>|!o3d.Matrix4)}
+ */
+o3djs.flat_math.Float32Array.Matrix =
+    (use_plugin_math ? goog.typedef : Float32Array);
+/**
+ * An Float32Array of floats.
+ * @type {!Array.<number>}
+ */
+o3djs.flat_math.Float32Array.Vector =
+    (use_plugin_math ? goog.typedef : Float32Array);
+
+/**
+ * If 16 arguments, this returns a 4x4 matrix
+ * with values set to the passed in arguments
+ * @param {number} a [0][0] element
+ * @param {number} b [0][1] element
+ * @param {number} c [0][2] element
+ * @param {number} d [0][3] element
+ * @param {number} e [1][0] element
+ * @param {number} f [1][1] element
+ * @param {number} g [1][2] element
+ * @param {number} h [1][3] element
+ * @param {number} i [2][0] element
+ * @param {number} j [2][1] element
+ * @param {number} k [2][2] element
+ * @param {number} l [2][3] element
+ * @param {number} m [3][0] element
+ * @param {number} n [3][1] element
+ * @param {number} o [3][2] element
+ * @param {number} p [3][3] element
+ *
+ * If 9 arguments returns a 3x3 matrix
+ * @param {number} a [0][0] element
+ * @param {number} b [0][1] element
+ * @param {number} c [0][2] element
+ * @param {number} d [1][0] element
+ * @param {number} e [1][1] element
+ * @param {number} f [1][2] element
+ * @param {number} g [2][0] element
+ * @param {number} h [2][1] element
+ * @param {number} i [2][2] element
+
+ * If 4 arguments returns a 2x2 matrix
+ * @param {number} a [0][0] element
+ * @param {number} b [0][1] element
+ * @param {number} c [1][0] element
+ * @param {number} d [1][1] element
+ * @returns {!o3djs.flat_math.Matrix}
+ */
+o3djs.flat_math.Float32Array.makeMatrix = function(
+    a, b, c, d,
+    e, f, g, h,
+    i, j, k, l,
+    m, n, o, p) {
+  if (p === undefined) {
+      if (i === undefined) {
+          var retval = new Float32Array(4);
+          retval[0] = a;
+          retval[1] = b;
+          retval[2] = c;
+          retval[3] = d;
+          return retval;
+      }
+      var retval = new Float32Array(9);
+      retval[0] = a;
+      retval[1] = b;
+      retval[2] = c;
+      retval[3] = d;
+      retval[4] = e;
+      retval[5] = f;
+      retval[6] = g;
+      retval[7] = h;
+      retval[8] = i;
+      return retval;
+  }
+  var retval = new Float32Array(16);
+  retval[0] = a;
+  retval[1] = b;
+  retval[2] = c;
+  retval[3] = d;
+  retval[4] = e;
+  retval[5] = f;
+  retval[6] = g;
+  retval[7] = h;
+  retval[8] = i;
+  retval[9] = j;
+  retval[10] = k;
+  retval[11] = l;
+  retval[12] = m;
+  retval[13] = n;
+  retval[14] = o;
+  retval[15] = p;
+  return retval;
+};
+
+/**
+ * returns a 2x2 matrix
+ * @param {number} a [0][0] element
+ * @param {number} b [0][1] element
+ * @param {number} c [1][0] element
+ * @param {number} d [1][1] element
+ * @returns {!o3djs.flat_math.Matrix}
+ */
+o3djs.flat_math.Float32Array.makeMatrix2 = function(a,b,
+                                               c,d) {
+          var retval = new Float32Array(4);
+          retval[0] = a;
+          retval[1] = b;
+          retval[2] = c;
+          retval[3] = d;
+          return retval;
+};
+
+/**
+ * If returns a 3x3 matrix
+ * @param {number} a [0][0] element
+ * @param {number} b [0][1] element
+ * @param {number} c [0][2] element
+ * @param {number} d [1][0] element
+ * @param {number} e [1][1] element
+ * @param {number} f [1][2] element
+ * @param {number} g [2][0] element
+ * @param {number} h [2][1] element
+ * @param {number} i [2][2] element
+ * @return {!o3djs.flat_math.Matrix} the matrix of the above elements
+ */
+o3djs.flat_math.Float32Array.makeMatrix3 = function(
+    a, b, c,
+    d, e, f,
+    g, h, i) {
+  var retval = new Float32Array(9);
+  retval[0] = a;
+  retval[1] = b;
+  retval[2] = c;
+  retval[3] = d;
+  retval[4] = e;
+  retval[5] = f;
+  retval[6] = g;
+  retval[7] = h;
+  retval[8] = i;
+  return retval;
+};
+
+/**
+ * returns a 4x4 matrix
+ * with values set to the passed in arguments
+ * @param {number} a [0][0] element
+ * @param {number} b [0][1] element
+ * @param {number} c [0][2] element
+ * @param {number} d [0][3] element
+ * @param {number} e [1][0] element
+ * @param {number} f [1][1] element
+ * @param {number} g [1][2] element
+ * @param {number} h [1][3] element
+ * @param {number} i [2][0] element
+ * @param {number} j [2][1] element
+ * @param {number} k [2][2] element
+ * @param {number} l [2][3] element
+ * @param {number} m [3][0] element
+ * @param {number} n [3][1] element
+ * @param {number} o [3][2] element
+ * @param {number} p [3][3] element
+ * @returns {o3djs.flat_math.Matrix} comprised of the above elements
+ */
+o3djs.flat_math.Float32Array.makeMatrix4 = function(
+    a, b, c, d,
+    e, f, g, h,
+    i, j, k, l,
+    m, n, o, p) {
+  var retval = new Float32Array(16);
+  retval[0] = a;
+  retval[1] = b;
+  retval[2] = c;
+  retval[3] = d;
+  retval[4] = e;
+  retval[5] = f;
+  retval[6] = g;
+  retval[7] = h;
+  retval[8] = i;
+  retval[9] = j;
+  retval[10] = k;
+  retval[11] = l;
+  retval[12] = m;
+  retval[13] = n;
+  retval[14] = o;
+  retval[15] = p;
+  return retval;
+};
+
+/**
+ * Namespace for Array specific math functions
+ */
+o3djs.flat_math.Array={};
 
 /**
  * A arbitrary size Matrix of floats
  * @type {(!Array.<!Array.<number>>|!o3d.Matrix4)}
  */
-o3djs.math.Matrix = goog.typedef;
+o3djs.flat_math.Array.Matrix = (use_plugin_math ? goog.typedef: Array);
+
+/**
+ * An Float32Array of floats.
+ * @type {!Float32Array.<number>}
+ */
+o3djs.flat_math.Array.Vector = (use_plugin_math ? goog.typedef: Array);
+
+/**
+ * If 16 arguments, this returns a 4x4 matrix
+ * with values set to the passed in arguments
+ * @param {number} a [0][0] element
+ * @param {number} b [0][1] element
+ * @param {number} c [0][2] element
+ * @param {number} d [0][3] element
+ * @param {number} e [1][0] element
+ * @param {number} f [1][1] element
+ * @param {number} g [1][2] element
+ * @param {number} h [1][3] element
+ * @param {number} i [2][0] element
+ * @param {number} j [2][1] element
+ * @param {number} k [2][2] element
+ * @param {number} l [2][3] element
+ * @param {number} m [3][0] element
+ * @param {number} n [3][1] element
+ * @param {number} o [3][2] element
+ * @param {number} p [3][3] element
+ *
+ * If 9 arguments returns a 3x3 matrix
+ * @param {number} a [0][0] element
+ * @param {number} b [0][1] element
+ * @param {number} c [0][2] element
+ * @param {number} d [1][0] element
+ * @param {number} e [1][1] element
+ * @param {number} f [1][2] element
+ * @param {number} g [2][0] element
+ * @param {number} h [2][1] element
+ * @param {number} i [2][2] element
+
+ * If 4 arguments returns a 2x2 matrix
+ * @param {number} a [0][0] element
+ * @param {number} b [0][1] element
+ * @param {number} c [1][0] element
+ * @param {number} d [1][1] element
+ * @returns {!o3djs.flat_math.Matrix}
+ */
+o3djs.flat_math.Array.makeMatrix = function(
+    a, b, c, d,
+    e, f, g, h,
+    i, j, k, l,
+    m, n, o, p) {
+  if (p === undefined) {
+    if (i === undefined) {
+      return [a,b,c,d];
+    }
+    return [a, b, c, d, e, f, g, h, i];
+  }
+  return [a, b, c, d, e, f, g, h, i, j, k, l, m, n, o, p];
+};
+
+/**
+ * returns a 2x2 matrix
+ * @param {number} a [0][0] element
+ * @param {number} b [0][1] element
+ * @param {number} c [1][0] element
+ * @param {number} d [1][1] element
+ * @returns {!o3djs.flat_math.Matrix}
+ */
+o3djs.flat_math.Array.makeMatrix2 = function(a, b, c, d) {
+  return [a, b, c, d];
+};
+
+/**
+ * If returns a 3x3 matrix
+ * @param {number} a [0][0] element
+ * @param {number} b [0][1] element
+ * @param {number} c [0][2] element
+ * @param {number} d [1][0] element
+ * @param {number} e [1][1] element
+ * @param {number} f [1][2] element
+ * @param {number} g [2][0] element
+ * @param {number} h [2][1] element
+ * @param {number} i [2][2] element
+ * @return {!o3djs.flat_math.Matrix} the matrix of the above elements
+ */
+o3djs.flat_math.Array.makeMatrix3 = function(
+    a, b, c,
+    d, e, f,
+    g, h, i) {
+  return [a, b, c, d, e, f, g, h, i];
+};
+
+/**
+ * returns a 4x4 matrix
+ * with values set to the passed in arguments
+ * @param {number} a [0][0] element
+ * @param {number} b [0][1] element
+ * @param {number} c [0][2] element
+ * @param {number} d [0][3] element
+ * @param {number} e [1][0] element
+ * @param {number} f [1][1] element
+ * @param {number} g [1][2] element
+ * @param {number} h [1][3] element
+ * @param {number} i [2][0] element
+ * @param {number} j [2][1] element
+ * @param {number} k [2][2] element
+ * @param {number} l [2][3] element
+ * @param {number} m [3][0] element
+ * @param {number} n [3][1] element
+ * @param {number} o [3][2] element
+ * @param {number} p [3][3] element
+ * @returns {o3djs.flat_math.Matrix} comprised of the above elements
+ */
+o3djs.flat_math.Array.makeMatrix4 = function(
+    a, b, c, d,
+    e, f, g, h,
+    i, j, k, l,
+    m, n, o, p) {
+  return [a, b, c, d, e, f, g, h, i, j, k, l, m, n, o, p];
+};
+
+if (o3djs.flat_math.useFloat32Array_) {
+    o3djs.flat_math.Matrix = o3djs.flat_math.Float32Array.Matrix;
+    o3djs.flat_math.Vector = o3djs.flat_math.Float32Array.Vector;
+    for (var i in o3djs.flat_math.Float32Array) {
+        if (o3djs.flat_math.Float32Array[i].call)
+            o3djs.flat_math[i]=o3djs.flat_math.Float32Array[i];
+    }
+} else {
+    o3djs.flat_math.Matrix = o3djs.flat_math.Array.Matrix;
+    o3djs.flat_math.Vector = o3djs.flat_math.Array.Vector;
+    for (var i in o3djs.flat_math.Array) {
+        if (o3djs.flat_math.Array[i].call)
+            o3djs.flat_math[i]=o3djs.flat_math.Array[i];
+    }
+}
+
+
+
 
 /**
  * Returns a deterministic pseudorandom number between 0 and 1
  * @return {number} a random number between 0 and 1
  */
-o3djs.math.pseudoRandom = function() {
-  var math = o3djs.math;
+o3djs.flat_math.pseudoRandom = function() {
+  var math = o3djs.flat_math;
   return (math.randomSeed_ =
           (134775813 * math.randomSeed_ + 1) %
           math.RANDOM_RANGE_) / math.RANDOM_RANGE_;
@@ -221,8 +580,8 @@ o3djs.math.pseudoRandom = function() {
 /**
  * Resets the pseudoRandom function sequence.
  */
-o3djs.math.resetPseudoRandom = function() {
-  o3djs.math.randomSeed_ = 0;
+o3djs.flat_math.resetPseudoRandom = function() {
+  o3djs.flat_math.randomSeed_ = 0;
 };
 
 /**
@@ -230,7 +589,7 @@ o3djs.math.resetPseudoRandom = function() {
  * @param {number} degrees A value in degrees.
  * @return {number} the value in radians.
  */
-o3djs.math.degToRad = function(degrees) {
+o3djs.flat_math.degToRad = function(degrees) {
   return degrees * Math.PI / 180;
 };
 
@@ -239,7 +598,7 @@ o3djs.math.degToRad = function(degrees) {
  * @param {number} radians A value in radians.
  * @return {number} the value in degrees.
  */
-o3djs.math.radToDeg = function(radians) {
+o3djs.flat_math.radToDeg = function(radians) {
   return radians * 180 / Math.PI;
 };
 
@@ -252,19 +611,19 @@ o3djs.math.radToDeg = function(radians) {
  * @param {number} t Interpolation coefficient.
  * @return {number} The weighted sum of a and b.
  */
-o3djs.math.lerpScalar = function(a, b, t) {
+o3djs.flat_math.lerpScalar = function(a, b, t) {
   return (1 - t) * a + t * b;
 };
 
 /**
  * Adds two vectors; assumes a and b have the same dimension.
- * @param {!o3djs.math.Vector} a Operand vector.
- * @param {!o3djs.math.Vector} b Operand vector.
- * @return {!o3djs.math.Vector} The sum of a and b.
+ * @param {!o3djs.flat_math.Vector} a Operand vector.
+ * @param {!o3djs.flat_math.Vector} b Operand vector.
+ * @return {!o3djs.flat_math.Vector} The sum of a and b.
  */
-o3djs.math.addVector = function(a, b) {
-  var r = [];
+o3djs.flat_math.addVector = function(a, b) {
   var aLength = a.length;
+  var r = new o3djs.flat_math.Vector(aLength);
   for (var i = 0; i < aLength; ++i)
     r[i] = a[i] + b[i];
   return r;
@@ -272,30 +631,43 @@ o3djs.math.addVector = function(a, b) {
 
 /**
  * Subtracts two vectors.
- * @param {!o3djs.math.Vector} a Operand vector.
- * @param {!o3djs.math.Vector} b Operand vector.
- * @return {!o3djs.math.Vector} The difference of a and b.
+ * @param {!o3djs.flat_math.Vector} a Operand vector.
+ * @param {!o3djs.flat_math.Vector} b Operand vector.
+ * @return {!o3djs.flat_math.Vector} The difference of a and b.
  */
-o3djs.math.subVector = function(a, b) {
-  var r = [];
+o3djs.flat_math.subVector = function(a, b) {
   var aLength = a.length;
+  var r = new o3djs.flat_math.Vector(aLength);
   for (var i = 0; i < aLength; ++i)
     r[i] = a[i] - b[i];
   return r;
 };
 
 /**
+ * Subtracts two 3d vectors.
+ * @param {!o3djs.flat_math.Vector3} a Operand vector.
+ * @param {!o3djs.flat_math.Vector3} b Operand vector.
+ * @return {!o3djs.flat_math.Vector3} The difference of a and b.
+ */
+o3djs.flat_math.subVector3 = function(a, b) {
+  var r = new o3djs.flat_math.Vector(3);
+  for (var i = 0; i < 3; ++i)
+    r[i] = a[i] - b[i];
+  return r;
+};
+
+/**
  * Performs linear interpolation on two vectors.
  * Given vectors a and b and interpolation coefficient t, returns
  * (1 - t) * a + t * b.
- * @param {!o3djs.math.Vector} a Operand vector.
- * @param {!o3djs.math.Vector} b Operand vector.
+ * @param {!o3djs.flat_math.Vector} a Operand vector.
+ * @param {!o3djs.flat_math.Vector} b Operand vector.
  * @param {number} t Interpolation coefficient.
- * @return {!o3djs.math.Vector} The weighted sum of a and b.
+ * @return {!o3djs.flat_math.Vector} The weighted sum of a and b.
  */
-o3djs.math.lerpVector = function(a, b, t) {
-  var r = [];
+o3djs.flat_math.lerpVector = function(a, b, t) {
   var aLength = a.length;
+  var r = new o3djs.flat_math.Vector(aLength);
   for (var i = 0; i < aLength; ++i)
     r[i] = (1 - t) * a[i] + t * b[i];
   return r;
@@ -308,7 +680,7 @@ o3djs.math.lerpVector = function(a, b, t) {
  * @param {number} opt_rangeStart start of range. Default = 0.
  * @return {number} Clamp modded value.
  */
-o3djs.math.modClamp = function(v, range, opt_rangeStart) {
+o3djs.flat_math.modClamp = function(v, range, opt_rangeStart) {
   var start = opt_rangeStart || 0;
   if (range < 0.00001) {
     return start;
@@ -332,9 +704,9 @@ o3djs.math.modClamp = function(v, range, opt_rangeStart) {
  * @param {number} range Range of circle.
  * @return {number} lerped result.
  */
-o3djs.math.lerpCircular = function(a, b, t, range) {
-  a = o3djs.math.modClamp(a, range);
-  b = o3djs.math.modClamp(b, range);
+o3djs.flat_math.lerpCircular = function(a, b, t, range) {
+  a = o3djs.flat_math.modClamp(a, range);
+  b = o3djs.flat_math.modClamp(b, range);
   var delta = b - a;
   if (Math.abs(delta) > range * 0.5) {
     if (delta > 0) {
@@ -343,7 +715,7 @@ o3djs.math.lerpCircular = function(a, b, t, range) {
       b += range;
     }
   }
-  return o3djs.math.modClamp(o3djs.math.lerpScalar(a, b, t), range);
+  return o3djs.flat_math.modClamp(o3djs.flat_math.lerpScalar(a, b, t), range);
 };
 
 /**
@@ -353,17 +725,17 @@ o3djs.math.lerpCircular = function(a, b, t, range) {
  * @param {number} t Amount to lerp (0 to 1).
  * @return {number} lerped result.
  */
-o3djs.math.lerpRadian = function(a, b, t) {
-  return o3djs.math.lerpCircular(a, b, t, Math.PI * 2);
+o3djs.flat_math.lerpRadian = function(a, b, t) {
+  return o3djs.flat_math.lerpCircular(a, b, t, Math.PI * 2);
 };
 
 /**
  * Divides a vector by a scalar.
- * @param {!o3djs.math.Vector} v The vector.
+ * @param {!o3djs.flat_math.Vector} v The vector.
  * @param {number} k The scalar.
- * @return {!o3djs.math.Vector} v The vector v divided by k.
+ * @return {!o3djs.flat_math.Vector} v The vector v divided by k.
  */
-o3djs.math.divVectorScalar = function(v, k) {
+o3djs.flat_math.divVectorScalar = function(v, k) {
   var r = [];
   var vLength = v.length;
   for (var i = 0; i < vLength; ++i)
@@ -374,11 +746,11 @@ o3djs.math.divVectorScalar = function(v, k) {
 /**
  * Computes the dot product of two vectors; assumes that a and b have
  * the same dimension.
- * @param {!o3djs.math.Vector} a Operand vector.
- * @param {!o3djs.math.Vector} b Operand vector.
+ * @param {!o3djs.flat_math.Vector} a Operand vector.
+ * @param {!o3djs.flat_math.Vector} b Operand vector.
  * @return {number} The dot product of a and b.
  */
-o3djs.math.dot = function(a, b) {
+o3djs.flat_math.dot = function(a, b) {
   var r = 0.0;
   var aLength = a.length;
   for (var i = 0; i < aLength; ++i)
@@ -389,23 +761,25 @@ o3djs.math.dot = function(a, b) {
 /**
  * Computes the cross product of two vectors; assumes both vectors have
  * three entries.
- * @param {!o3djs.math.Vector} a Operand vector.
- * @param {!o3djs.math.Vector} b Operand vector.
- * @return {!o3djs.math.Vector} The vector a cross b.
- */
-o3djs.math.cross = function(a, b) {
-  return [a[1] * b[2] - a[2] * b[1],
-          a[2] * b[0] - a[0] * b[2],
-          a[0] * b[1] - a[1] * b[0]];
+ * @param {!o3djs.flat_math.Vector} a Operand vector.
+ * @param {!o3djs.flat_math.Vector} b Operand vector.
+ * @return {!o3djs.flat_math.Vector} The vector a cross b.
+ */
+o3djs.flat_math.cross = function(a, b) {
+  var r = new o3djs.flat_math.Vector(3);
+  r[0] = a[1] * b[2] - a[2] * b[1];
+  r[1] = a[2] * b[0] - a[0] * b[2];
+  r[2] = a[0] * b[1] - a[1] * b[0];
+  return r;
 };
 
 /**
  * Computes the Euclidean length of a vector, i.e. the square root of the
  * sum of the squares of the entries.
- * @param {!o3djs.math.Vector} a The vector.
+ * @param {!o3djs.flat_math.Vector} a The vector.
  * @return {number} The length of a.
  */
-o3djs.math.length = function(a) {
+o3djs.flat_math.length = function(a) {
   var r = 0.0;
   var aLength = a.length;
   for (var i = 0; i < aLength; ++i)
@@ -416,10 +790,10 @@ o3djs.math.length = function(a) {
 /**
  * Computes the square of the Euclidean length of a vector, i.e. the sum
  * of the squares of the entries.
- * @param {!o3djs.math.Vector} a The vector.
+ * @param {!o3djs.flat_math.Vector} a The vector.
  * @return {number} The square of the length of a.
  */
-o3djs.math.lengthSquared = function(a) {
+o3djs.flat_math.lengthSquared = function(a) {
   var r = 0.0;
   var aLength = a.length;
   for (var i = 0; i < aLength; ++i)
@@ -429,11 +803,11 @@ o3djs.math.lengthSquared = function(a) {
 
 /**
  * Computes the Euclidean distance between two vectors.
- * @param {!o3djs.math.Vector} a A vector.
- * @param {!o3djs.math.Vector} b A vector.
+ * @param {!o3djs.flat_math.Vector} a A vector.
+ * @param {!o3djs.flat_math.Vector} b A vector.
  * @return {number} The distance between a and b.
  */
-o3djs.math.distance = function(a, b) {
+o3djs.flat_math.distance = function(a, b) {
   var r = 0.0;
   var aLength = a.length;
   for (var i = 0; i < aLength; ++i) {
@@ -445,11 +819,11 @@ o3djs.math.distance = function(a, b) {
 
 /**
  * Computes the square of the Euclidean distance between two vectors.
- * @param {!o3djs.math.Vector} a A vector.
- * @param {!o3djs.math.Vector} b A vector.
+ * @param {!o3djs.flat_math.Vector} a A vector.
+ * @param {!o3djs.flat_math.Vector} b A vector.
  * @return {number} The distance between a and b.
  */
-o3djs.math.distanceSquared = function(a, b) {
+o3djs.flat_math.distanceSquared = function(a, b) {
   var r = 0.0;
   var aLength = a.length;
   for (var i = 0; i < aLength; ++i) {
@@ -461,59 +835,48 @@ o3djs.math.distanceSquared = function(a, b) {
 
 /**
  * Divides a vector by its Euclidean length and returns the quotient.
- * @param {!o3djs.math.Vector} a The vector.
- * @return {!o3djs.math.Vector} The normalized vector.
+ * @param {!o3djs.flat_math.Vector} a The vector.
+ * @return {!o3djs.flat_math.Vector} The normalized vector.
  */
-o3djs.math.normalize = function(a) {
-  var r = [];
-  var n = 0.0;
+o3djs.flat_math.normalize = function(a) {
   var aLength = a.length;
-  for (var i = 0; i < aLength; ++i)
+  var r = new o3djs.flat_math.Vector(aLength);
+  var n = 0.0;
+  var i;
+  for (i = 0; i < aLength; ++i)
     n += a[i] * a[i];
   n = Math.sqrt(n);
-  for (var i = 0; i < aLength; ++i)
+  for (i = 0; i < aLength; ++i)
     r[i] = a[i] / n;
   return r;
 };
 
 /**
  * Adds two matrices; assumes a and b are the same size.
- * @param {!o3djs.math.Matrix} a Operand matrix.
- * @param {!o3djs.math.Matrix} b Operand matrix.
- * @return {!o3djs.math.Matrix} The sum of a and b.
+ * @param {!o3djs.flat_math.Matrix} a Operand matrix.
+ * @param {!o3djs.flat_math.Matrix} b Operand matrix.
+ * @return {!o3djs.flat_math.Matrix} The sum of a and b.
  */
-o3djs.math.addMatrix = function(a, b) {
-  var r = [];
+o3djs.flat_math.addMatrix = function(a, b) {
   var aLength = a.length;
-  var a0Length = a[0].length;
+  var r = new o3djs.flat_math.Matrix(aLength);
   for (var i = 0; i < aLength; ++i) {
-    var row = [];
-    var ai = a[i];
-    var bi = b[i];
-    for (var j = 0; j < a0Length; ++j)
-      row[j] = ai[j] + bi[j];
-    r[i] = row;
+      r[i] = a[i] + b[i];
   }
   return r;
 };
 
 /**
  * Subtracts two matrices; assumes a and b are the same size.
- * @param {!o3djs.math.Matrix} a Operand matrix.
- * @param {!o3djs.math.Matrix} b Operand matrix.
- * @return {!o3djs.math.Matrix} The sum of a and b.
+ * @param {!o3djs.flat_math.Matrix} a Operand matrix.
+ * @param {!o3djs.flat_math.Matrix} b Operand matrix.
+ * @return {!o3djs.flat_math.Matrix} The sum of a and b.
  */
-o3djs.math.subMatrix = function(a, b) {
-  var r = [];
+o3djs.flat_math.subMatrix = function(a, b) {
   var aLength = a.length;
-  var a0Length = a[0].length;
+  var r = new o3djs.flat_math.Matrix(aLength);
   for (var i = 0; i < aLength; ++i) {
-    var row = [];
-    var ai = a[i];
-    var bi = b[i];
-    for (var j = 0; j < a0Length; ++j)
-      row[j] = ai[j] - bi[j];
-    r[i] = row;
+      r[i] = a[i] - b[i];
   }
   return r;
 };
@@ -522,40 +885,31 @@ o3djs.math.subMatrix = function(a, b) {
  * Performs linear interpolation on two matrices.
  * Given matrices a and b and interpolation coefficient t, returns
  * (1 - t) * a + t * b.
- * @param {!o3djs.math.Matrix} a Operand matrix.
- * @param {!o3djs.math.Matrix} b Operand matrix.
+ * @param {!o3djs.flat_math.Matrix} a Operand matrix.
+ * @param {!o3djs.flat_math.Matrix} b Operand matrix.
  * @param {number} t Interpolation coefficient.
- * @return {!o3djs.math.Matrix} The weighted of a and b.
+ * @return {!o3djs.flat_math.Matrix} Interpolated a and b.
  */
-o3djs.math.lerpMatrix = function(a, b, t) {
-  var r = [];
+o3djs.flat_math.lerpMatrix = function(a, b, t) {
   var aLength = a.length;
-  var a0Length = a[0].length;
+  var r = new o3djs.flat_math.Matrix(aLength);
   for (var i = 0; i < aLength; ++i) {
-    var row = [];
-    var ai = a[i];
-    var bi = b[i];
-    for (var j = 0; j < a0Length; ++j)
-      row[j] = (1 - t) * ai[j] + t * bi[j];
-    r[i] = row;
+      r[i] = (1 - t) * a[i] + t * b[i];
   }
   return r;
 };
 
 /**
- * Divides a matrix by a scalar.
- * @param {!o3djs.math.Matrix} m The matrix.
- * @param {number} k The scalar.
- * @return {!o3djs.math.Matrix} The matrix m divided by k.
+ * Divides a matrix by a scalar; assumes a and b are the same size.
+ * @param {!o3djs.flat_math.Matrix} a Operand matrix.
+ * @param {number} b scalar
+ * @return {!o3djs.flat_math.Matrix} The division of a by b.
  */
-o3djs.math.divMatrixScalar = function(m, k) {
-  var r = [];
-  var mLength = m.length;
-  var m0Length = m[0].length;
-  for (var i = 0; i < mLength; ++i) {
-    r[i] = [];
-    for (var j = 0; j < m0Length; ++j)
-      r[i][j] = m[i][j] / k;
+o3djs.flat_math.divMatrixScalar = function(a, b) {
+  var aLength = a.length;
+  var r = new o3djs.flat_math.Matrix(aLength);
+  for (var i = 0; i < aLength; ++i) {
+      r[i] = a[i] / b;
   }
   return r;
 };
@@ -565,18 +919,18 @@ o3djs.math.divMatrixScalar = function(m, k) {
  * @param {number} a The scalar.
  * @return {number} -a.
  */
-o3djs.math.negativeScalar = function(a) {
+o3djs.flat_math.negativeScalar = function(a) {
  return -a;
 };
 
 /**
  * Negates a vector.
- * @param {!o3djs.math.Vector} v The vector.
- * @return {!o3djs.math.Vector} -v.
+ * @param {!o3djs.flat_math.Vector} v The vector.
+ * @return {!o3djs.flat_math.Vector} -v.
  */
-o3djs.math.negativeVector = function(v) {
- var r = [];
+o3djs.flat_math.negativeVector = function(v) {
  var vLength = v.length;
+ var r = new o3djs.flat_math.Vector(vLength);
  for (var i = 0; i < vLength; ++i) {
    r[i] = -v[i];
  }
@@ -585,17 +939,14 @@ o3djs.math.negativeVector = function(v) {
 
 /**
  * Negates a matrix.
- * @param {!o3djs.math.Matrix} m The matrix.
- * @return {!o3djs.math.Matrix} -m.
+ * @param {!o3djs.flat_math.Matrix} m The matrix.
+ * @return {!o3djs.flat_math.Matrix} -m.
  */
-o3djs.math.negativeMatrix = function(m) {
- var r = [];
+o3djs.flat_math.negativeMatrix = function(m) {
  var mLength = m.length;
- var m0Length = m[0].length;
+ var r = new o3djs.flat_math.Matrix(mLength);
  for (var i = 0; i < mLength; ++i) {
-   r[i] = [];
-   for (var j = 0; j < m0Length; ++j)
-     r[i][j] = -m[i][j];
+     r[i] = -m[i];
  }
  return r;
 };
@@ -605,57 +956,56 @@ o3djs.math.negativeMatrix = function(m) {
  * @param {number} a The scalar.
  * @return {number} a.
  */
-o3djs.math.copyScalar = function(a) {
+o3djs.flat_math.copyScalar = function(a) {
   return a;
 };
 
 /**
  * Copies a vector.
- * @param {!o3djs.math.Vector} v The vector.
- * @return {!o3djs.math.Vector} A copy of v.
+ * @param {!o3djs.flat_math.Vector} v The vector.
+ * @return {!o3djs.flat_math.Vector} A copy of v.
  */
-o3djs.math.copyVector = function(v) {
-  var r = [];
-  for (var i = 0; i < v.length; i++)
+o3djs.flat_math.copyVector = function(v) {
+  var vLength = v.length;
+  var r = new o3djs.flat_math.Vector(vLength);
+  for (var i = 0; i < vLength; i++)
     r[i] = v[i];
   return r;
 };
 
 /**
- * Copies a matrix.
- * @param {!o3djs.math.Matrix} m The matrix.
- * @return {!o3djs.math.Matrix} A copy of m.
+ * Copies a vector.
+ * @param {!o3djs.flat_math.Vector} v The vector.
+ * @param {!o3djs.flat_math.Vector} r Set to a copy of v.
  */
-o3djs.math.copyMatrix = function(m) {
-  var r = [];
-  var mLength = m.length;
-  for (var i = 0; i < mLength; ++i) {
-    r[i] = [];
-    for (var j = 0; j < m[i].length; j++) {
-      r[i][j] = m[i][j];
-    }
-  }
-  return r;
+o3djs.flat_math.copyVectorTo = function(v, r) {
+  var vLength = v.length;
+  for (var i = 0; i < vLength; i++)
+    r[i] = v[i];
 };
 
 /**
- * Returns the elements of a matrix as a one-dimensional array. The
+ * Copies a matrix.
+ * @param {!o3djs.flat_math.Matrix} m The matrix.
+ * @return {!o3djs.flat_math.Matrix} A copy of m.
+ */
+o3djs.flat_math.copyMatrix = o3djs.flat_math.copyVector;
+
+/**
+ * Copies a matrix.
+ * @param {!o3djs.flat_math.Matrix} m The matrix.
+ * @return {!o3djs.flat_math.Matrix} A copy of m.
+ */
+o3djs.flat_math.copyMatrixTo = o3djs.flat_math.copyVectorTo;
+
+/**
+ * Returns the elements of a matrix as a copied one-dimensional array. The
  * rows or columns (depending on whether the matrix is row-major or
  * column-major) are concatenated.
- * @param {!o3djs.math.Matrix} m The matrix.
+ * @param {!o3djs.flat_math.Matrix} m The matrix.
  * @return {!Array.<number>} The matrix's elements as a one-dimensional array.
  */
-o3djs.math.getMatrixElements = function(m) {
-  var r = [];
-  var mLength = m.length;
-  var k = 0;
-  for (var i = 0; i < mLength; i++) {
-    for (var j = 0; j < m[i].length; j++) {
-      r[k++] = m[i][j];
-    }
-  }
-  return r;
-};
+o3djs.flat_math.getMatrixElements = o3djs.flat_math.copyMatrix;
 
 /**
  * Multiplies two scalars.
@@ -663,19 +1013,19 @@ o3djs.math.getMatrixElements = function(m) {
  * @param {number} b Operand scalar.
  * @return {number} The product of a and b.
  */
-o3djs.math.mulScalarScalar = function(a, b) {
+o3djs.flat_math.mulScalarScalar = function(a, b) {
   return a * b;
 };
 
 /**
  * Multiplies a scalar by a vector.
  * @param {number} k The scalar.
- * @param {!o3djs.math.Vector} v The vector.
- * @return {!o3djs.math.Vector} The product of k and v.
+ * @param {!o3djs.flat_math.Vector} v The vector.
+ * @return {!o3djs.flat_math.Vector} The product of k and v.
  */
-o3djs.math.mulScalarVector = function(k, v) {
-  var r = [];
+o3djs.flat_math.mulScalarVector = function(k, v) {
   var vLength = v.length;
+  var r = new o3djs.flat_math.Vector(vLength);
   for (var i = 0; i < vLength; ++i) {
     r[i] = k * v[i];
   }
@@ -684,53 +1034,41 @@ o3djs.math.mulScalarVector = function(k, v) {
 
 /**
  * Multiplies a vector by a scalar.
- * @param {!o3djs.math.Vector} v The vector.
+ * @param {!o3djs.flat_math.Vector} v The vector.
  * @param {number} k The scalar.
- * @return {!o3djs.math.Vector} The product of k and v.
+ * @return {!o3djs.flat_math.Vector} The product of k and v.
  */
-o3djs.math.mulVectorScalar = function(v, k) {
-  return o3djs.math.mulScalarVector(k, v);
+o3djs.flat_math.mulVectorScalar = function(v, k) {
+  return o3djs.flat_math.mulScalarVector(k, v);
 };
 
 /**
  * Multiplies a scalar by a matrix.
  * @param {number} k The scalar.
- * @param {!o3djs.math.Matrix} m The matrix.
- * @return {!o3djs.math.Matrix} The product of m and k.
+ * @param {!o3djs.flat_math.Matrix} m The matrix.
+ * @return {!o3djs.flat_math.Matrix} The product of m and k.
  */
-o3djs.math.mulScalarMatrix = function(k, m) {
-  var r = [];
-  var mLength = m.length;
-  var m0Length = m[0].length;
-  for (var i = 0; i < mLength; ++i) {
-    r[i] = [];
-    for (var j = 0; j < m0Length; ++j)
-      r[i][j] = k * m[i][j];
-  }
-  return r;
-};
+o3djs.flat_math.mulScalarMatrix = o3djs.flat_math.mulScalarVector;
 
 /**
  * Multiplies a matrix by a scalar.
- * @param {!o3djs.math.Matrix} m The matrix.
+ * @param {!o3djs.flat_math.Matrix} m The matrix.
  * @param {number} k The scalar.
- * @return {!o3djs.math.Matrix} The product of m and k.
+ * @return {!o3djs.flat_math.Matrix} The product of m and k.
  */
-o3djs.math.mulMatrixScalar = function(m, k) {
-  return o3djs.math.mulScalarMatrix(k, m);
-};
+o3djs.flat_math.mulMatrixScalar = o3djs.flat_math.mulVectorScalar;
 
 /**
  * Multiplies a vector by another vector (component-wise); assumes a and
  * b have the same length.
- * @param {!o3djs.math.Vector} a Operand vector.
- * @param {!o3djs.math.Vector} b Operand vector.
- * @return {!o3djs.math.Vector} The vector of products of entries of a and
+ * @param {!o3djs.flat_math.Vector} a Operand vector.
+ * @param {!o3djs.flat_math.Vector} b Operand vector.
+ * @return {!o3djs.flat_math.Vector} The vector of products of entries of a and
  *     b.
  */
-o3djs.math.mulVectorVector = function(a, b) {
-  var r = [];
+o3djs.flat_math.mulVectorVector = function(a, b) {
   var aLength = a.length;
+  var r = new o3djs.flat_math.Vector(aLength);
   for (var i = 0; i < aLength; ++i)
     r[i] = a[i] * b[i];
   return r;
@@ -739,14 +1077,14 @@ o3djs.math.mulVectorVector = function(a, b) {
 /**
  * Divides a vector by another vector (component-wise); assumes a and
  * b have the same length.
- * @param {!o3djs.math.Vector} a Operand vector.
- * @param {!o3djs.math.Vector} b Operand vector.
- * @return {!o3djs.math.Vector} The vector of quotients of entries of a and
+ * @param {!o3djs.flat_math.Vector} a Operand vector.
+ * @param {!o3djs.flat_math.Vector} b Operand vector.
+ * @return {!o3djs.flat_math.Vector} The vector of quotients of entries of a and
  *     b.
  */
-o3djs.math.divVectorVector = function(a, b) {
-  var r = [];
+o3djs.flat_math.divVectorVector = function(a, b) {
   var aLength = a.length;
+  var r = new o3djs.flat_math.Vector(aLength);
   for (var i = 0; i < aLength; ++i)
     r[i] = a[i] / b[i];
   return r;
@@ -754,398 +1092,490 @@ o3djs.math.divVectorVector = function(a, b) {
 
 /**
  * Multiplies a vector by a matrix; treats the vector as a row vector; assumes
- * matrix entries are accessed in [row][column] fashion.
- * @param {!o3djs.math.Vector} v The vector.
- * @param {!o3djs.math.Matrix} m The matrix.
- * @return {!o3djs.math.Vector} The product of v and m as a row vector.
+ * matrix entries are accessed in [row*4+column] fashion.
+ * @param {!o3djs.flat_math.Vector} v The vector.
+ * @param {!o3djs.flat_math.Matrix} m The matrix.
+ * @return {!o3djs.flat_math.Vector} The product of v and m as a row vector.
+ */
+o3djs.flat_math.rowMajor.mulVectorMatrix4 = function(v, m) {
+  var r = new o3djs.flat_math.Vector(16);
+  for (var i = 0; i < 4; ++i) {
+    r[i] = 0.0;
+    for (var j = 0; j < 4; ++j)
+      r[i] += v[j] * m[j * 4 + i];
+  }
+  return r;
+};
+
+/**
+ * Multiplies a vector by a matrix; treats the vector as a row vector; assumes
+ * matrix entries are accessed in [row*2+column] fashion.
+ * @param {!o3djs.flat_math.Vector} v The vector.
+ * @param {!o3djs.flat_math.Matrix} m The matrix.
+ * @returns {!o3djs.flat_math.Vector} The product of v and m as a row vector.
+ */
+o3djs.flat_math.rowMajor.mulVectorMatrix2 = function(v, m) {
+  var r = new o3djs.flat_math.Vector(4);
+  for (var i = 0; i < 2; ++i) {
+    r[i] = 0.0;
+    for (var j = 0; j < 2; ++j)
+      r[i] += v[j] * m[j * 2 + i];
+  }
+  return r;
+};
+
+
+/**
+ * Multiplies a vector by a matrix; treats the vector as a row vector; assumes
+ * matrix entries are accessed in [row*3+column] fashion.
+ * @param {!o3djs.flat_math.Vector} v The vector.
+ * @param {!o3djs.flat_math.Matrix} m The matrix.
+ * @returns {!o3djs.flat_math.Vector} The product of v and m as a row vector.
+ */
+o3djs.flat_math.rowMajor.mulVectorMatrix3 = function(v, m) {
+  var r = new o3djs.flat_math.Vector(9);
+  for (var i = 0; i < 3; ++i) {
+    r[i] = 0.0;
+    for (var j = 0; j < 3; ++j)
+      r[i] += v[j] * m[j * 3 + i];
+  }
+  return r;
+};
+
+
+/**
+ * Multiplies a vector by a matrix; treats the vector as a row vector; assumes
+ * matrix entries are accessed in [row*dimension+column] fashion.
+ * @param {!o3djs.flat_math.Vector} v The vector.
+ * @param {!o3djs.flat_math.Matrix} m The matrix.
+ * @return {!o3djs.flat_math.Vector} The product of v and m as a row vector.
+ */
+o3djs.flat_math.rowMajor.mulVectorMatrix = function(v, m) {
+  switch(m.length) {
+    case 4:
+      return o3djs.flat_math.rowMajor.mulVectorMatrix2(v, m);
+    case 9:
+      return o3djs.flat_math.rowMajor.mulVectorMatrix3(v, m);
+    case 16:
+      return o3djs.flat_math.rowMajor.mulVectorMatrix4(v, m);
+    default:
+      throw "Cannot handle matrices of size other than 3x3 or 4x4";
+  }
+};
+
+
+
+/**
+ * Multiplies a vector by a matrix; treats the vector as a row vector; assumes
+ * matrix entries are accessed in [column*4+row] fashion.
+ * @param {!o3djs.flat_math.Vector} v The vector.
+ * @param {!o3djs.flat_math.Matrix} m The matrix.
+ * @param {!o3djs.flat_math.Vector} r The product of v and m as a row vector.
+ */
+o3djs.flat_math.rowMajor.mulMatrixVector4 = function(m, v) {
+  var r = new o3djs.flat_math.Vector(4);
+  var vLength = v.length;
+  for (var i = 0; i < 4; ++i) {
+    r[i] = 0.0;
+    for (var j = 0; j < 4; ++j)
+      r[i] += v[j] * m[i * 4 + j];
+  }
+  return r;
+};
+
+
+/**
+ * Multiplies a vector by a matrix; treats the vector as a row vector; assumes
+ * matrix entries are accessed in [column*3+row] fashion.
+ * @param {!o3djs.flat_math.Vector} v The vector.
+ * @param {!o3djs.flat_math.Matrix} m The matrix.
+ * @param {!o3djs.flat_math.Vector} r The product of v and m as a row vector.
  */
-o3djs.math.rowMajor.mulVectorMatrix = function(v, m) {
-  var r = [];
-  var m0Length = m[0].length;
+o3djs.flat_math.rowMajor.mulMatrixVector3 = function(m, v) {
+  var r = new o3djs.flat_math.Vector(3);
   var vLength = v.length;
-  for (var i = 0; i < m0Length; ++i) {
+  for (var i = 0; i < 3; ++i) {
     r[i] = 0.0;
-    for (var j = 0; j < vLength; ++j)
-      r[i] += v[j] * m[j][i];
+    for (var j = 0; j < 3; ++j)
+      r[i] += v[j] * m[i * 3 + j];
   }
   return r;
 };
 
 /**
  * Multiplies a vector by a matrix; treats the vector as a row vector; assumes
- * matrix entries are accessed in [column][row] fashion.
- * @param {!o3djs.math.Vector} v The vector.
- * @param {!o3djs.math.Matrix} m The matrix.
- * @return {!o3djs.math.Vector} The product of v and m as a row vector.
+ * matrix entries are accessed in [column*2+row] fashion.
+ * @param {!o3djs.flat_math.Vector} v The vector.
+ * @param {!o3djs.flat_math.Matrix} m The matrix.
+ * @param {!o3djs.flat_math.Vector} r The product of v and m as a row vector.
  */
-o3djs.math.columnMajor.mulVectorMatrix = function(v, m) {
-  var r = [];
-  var mLength = m.length;
+o3djs.flat_math.rowMajor.mulMatrixVector2 = function(m, v) {
+  var r = new o3djs.flat_math.Vector(2);
+
   var vLength = v.length;
-  for (var i = 0; i < mLength; ++i) {
+  for (var i = 0; i < 2; ++i) {
     r[i] = 0.0;
-    var column = m[i];
-    for (var j = 0; j < vLength; ++j)
-      r[i] += v[j] * column[j];
+    for (var j = 0; j < 2; ++j)
+      r[i] += v[j] * m[i * 2 + j];
   }
   return r;
 };
 
+
+/**
+ * Multiplies a vector by a matrix; treats the vector as a row vector; assumes
+ * matrix entries are accessed in [column*dimension+row] fashion.
+ * @param {!o3djs.flat_math.Vector} v The vector.
+ * @param {!o3djs.flat_math.Matrix} m The matrix.
+ * @return {!o3djs.flat_math.Vector} The product of v and m as a row vector.
+ */
+o3djs.flat_math.rowMajor.mulMatrixVector = function(m, v) {
+  switch(m.length) {
+    case 4:
+      return o3djs.flat_math.rowMajor.mulMatrixVector2(m, v);
+    case 9:
+      return o3djs.flat_math.rowMajor.mulMatrixVector3(m, v);
+    case 16:
+      return o3djs.flat_math.rowMajor.mulMatrixVector4(m, v);
+    default:
+      throw "Cannot handle matrices of size other than 3x3 or 4x4";
+  }
+};
+
 /**
  * Multiplies a vector by a matrix; treats the vector as a row vector.
- * @param {!o3djs.math.Matrix} m The matrix.
- * @param {!o3djs.math.Vector} v The vector.
- * @return {!o3djs.math.Vector} The product of m and v as a row vector.
+ * @param {!o3djs.flat_math.Matrix} m The matrix.
+ * @param {!o3djs.flat_math.Vector} v The vector.
+ * @return {!o3djs.flat_math.Vector} The product of m and v as a row vector.
  */
-o3djs.math.mulVectorMatrix = null;
+o3djs.flat_math.mulVectorMatrix = null;
 
 /**
  * Multiplies a matrix by a vector; treats the vector as a column vector.
  * assumes matrix entries are accessed in [row][column] fashion.
- * @param {!o3djs.math.Matrix} m The matrix.
- * @param {!o3djs.math.Vector} v The vector.
- * @return {!o3djs.math.Vector} The product of m and v as a column vector.
+ * @param {!o3djs.flat_math.Matrix} m The matrix.
+ * @param {!o3djs.flat_math.Vector} v The vector.
+ * @return {!o3djs.flat_math.Vector} The product of m and v as a column vector.
  */
-o3djs.math.rowMajor.mulMatrixVector = function(m, v) {
-  var r = [];
-  var mLength = m.length;
-  var m0Length = m[0].length;
-  for (var i = 0; i < mLength; ++i) {
-    r[i] = 0.0;
-    var row = m[i];
-    for (var j = 0; j < m0Length; ++j)
-      r[i] += row[j] * v[j];
-  }
-  return r;
+o3djs.flat_math.columnMajor.mulVectorMatrix = function (v, m) {
+    return o3djs.flat_math.rowMajor.mulMatrixVector(m, v);
 };
 
 /**
  * Multiplies a matrix by a vector; treats the vector as a column vector;
  * assumes matrix entries are accessed in [column][row] fashion.
- * @param {!o3djs.math.Matrix} m The matrix.
- * @param {!o3djs.math.Vector} v The vector.
- * @return {!o3djs.math.Vector} The product of m and v as a column vector.
+ * @param {!o3djs.flat_math.Matrix} m The matrix.
+ * @param {!o3djs.flat_math.Vector} v The vector.
+ * @return {!o3djs.flat_math.Vector} The product of m and v as a column vector.
  */
-o3djs.math.columnMajor.mulMatrixVector = function(m, v) {
-  var r = [];
-  var m0Length = m[0].length;
-  var vLength = v.length;
-  for (var i = 0; i < m0Length; ++i) {
-    r[i] = 0.0;
-    for (var j = 0; j < vLength; ++j)
-      r[i] += v[j] * m[j][i];
-  }
-  return r;
+o3djs.flat_math.columnMajor.mulMatrixVector = function(m, v) {
+    return o3djs.flat_math.rowMajor.mulVectorMatrix(v, m);
 };
 
 /**
  * Multiplies a matrix by a vector; treats the vector as a column vector.
- * @param {!o3djs.math.Matrix} m The matrix.
- * @param {!o3djs.math.Vector} v The vector.
- * @return {!o3djs.math.Vector} The product of m and v as a column vector.
+ * @param {!o3djs.flat_math.Matrix} m The matrix.
+ * @param {!o3djs.flat_math.Vector} v The vector.
+ * @return {!o3djs.flat_math.Vector} The product of m and v as a column vector.
  */
-o3djs.math.mulMatrixVector = null;
+o3djs.flat_math.mulMatrixVector = null;
 
 /**
  * Multiplies two 2-by-2 matrices; assumes that the given matrices are 2-by-2;
  * assumes matrix entries are accessed in [row][column] fashion.
- * @param {!o3djs.math.Matrix2} a The matrix on the left.
- * @param {!o3djs.math.Matrix2} b The matrix on the right.
- * @return {!o3djs.math.Matrix2} The matrix product of a and b.
+ * @param {!o3djs.flat_math.Matrix2} a The matrix on the left.
+ * @param {!o3djs.flat_math.Matrix2} b The matrix on the right.
+ * @return {!o3djs.flat_math.Matrix2} The matrix product of a and b.
  */
-o3djs.math.rowMajor.mulMatrixMatrix2 = function(a, b) {
+o3djs.flat_math.rowMajor.mulMatrixMatrix2 = function(a, b) {
   var a0 = a[0];
   var a1 = a[1];
   var b0 = b[0];
   var b1 = b[1];
-  var a00 = a0[0];
-  var a01 = a0[1];
-  var a10 = a1[0];
-  var a11 = a1[1];
-  var b00 = b0[0];
-  var b01 = b0[1];
-  var b10 = b1[0];
-  var b11 = b1[1];
-  return [[a00 * b00 + a01 * b10, a00 * b01 + a01 * b11],
-          [a10 * b00 + a11 * b10, a10 * b01 + a11 * b11]];
+  var a00 = a[0];
+  var a01 = a[1];
+  var a10 = a[2];
+  var a11 = a[3];
+  var b00 = b[0];
+  var b01 = b[1];
+  var b10 = b[2];
+  var b11 = b[3];
+  return o3djs.flat_math.makeMatrix2(a00 * b00 + a01 * b10, a00 * b01 + a01 * b11,
+          a10 * b00 + a11 * b10, a10 * b01 + a11 * b11);
 };
 
 /**
  * Multiplies two 2-by-2 matrices; assumes that the given matrices are 2-by-2;
  * assumes matrix entries are accessed in [column][row] fashion.
- * @param {!o3djs.math.Matrix2} a The matrix on the left.
- * @param {!o3djs.math.Matrix2} b The matrix on the right.
- * @return {!o3djs.math.Matrix2} The matrix product of a and b.
+ * @param {!o3djs.flat_math.Matrix2} a The matrix on the left.
+ * @param {!o3djs.flat_math.Matrix2} b The matrix on the right.
+ * @return {!o3djs.flat_math.Matrix2} The matrix product of a and b.
  */
-o3djs.math.columnMajor.mulMatrixMatrix2 = function(a, b) {
+o3djs.flat_math.columnMajor.mulMatrixMatrix2 = function(a, b) {
   var a0 = a[0];
   var a1 = a[1];
   var b0 = b[0];
   var b1 = b[1];
-  var a00 = a0[0];
-  var a01 = a0[1];
-  var a10 = a1[0];
-  var a11 = a1[1];
-  var b00 = b0[0];
-  var b01 = b0[1];
-  var b10 = b1[0];
-  var b11 = b1[1];
-  return [[a00 * b00 + a10 * b01, a01 * b00 + a11 * b01],
-          [a00 * b10 + a10 * b11, a01 * b10 + a11 * b11]];
+  var a00 = a[0];
+  var a01 = a[1];
+  var a10 = a[2];
+  var a11 = a[3];
+  var b00 = b[0];
+  var b01 = b[1];
+  var b10 = b[2];
+  var b11 = b[3];
+  return o3djs.flat_math.makeMatrix2(a00 * b00 + a10 * b01, a01 * b00 + a11 * b01,
+          a00 * b10 + a10 * b11, a01 * b10 + a11 * b11);
 };
 
 /**
  * Multiplies two 2-by-2 matrices.
- * @param {!o3djs.math.Matrix2} a The matrix on the left.
- * @param {!o3djs.math.Matrix2} b The matrix on the right.
- * @return {!o3djs.math.Matrix2} The matrix product of a and b.
+ * @param {!o3djs.flat_math.Matrix2} a The matrix on the left.
+ * @param {!o3djs.flat_math.Matrix2} b The matrix on the right.
+ * @return {!o3djs.flat_math.Matrix2} The matrix product of a and b.
  */
-o3djs.math.mulMatrixMatrix2 = null;
+o3djs.flat_math.mulMatrixMatrix2 = null;
 
 
 /**
  * Multiplies two 3-by-3 matrices; assumes that the given matrices are 3-by-3;
  * assumes matrix entries are accessed in [row][column] fashion.
- * @param {!o3djs.math.Matrix3} a The matrix on the left.
- * @param {!o3djs.math.Matrix3} b The matrix on the right.
- * @return {!o3djs.math.Matrix3} The matrix product of a and b.
+ * @param {!o3djs.flat_math.Matrix3} a The matrix on the left.
+ * @param {!o3djs.flat_math.Matrix3} b The matrix on the right.
+ * @return {!o3djs.flat_math.Matrix3} The matrix product of a and b.
  */
-o3djs.math.rowMajor.mulMatrixMatrix3 = function(a, b) {
+o3djs.flat_math.rowMajor.mulMatrixMatrix3 = function(a, b) {
   var a0 = a[0];
   var a1 = a[1];
   var a2 = a[2];
   var b0 = b[0];
   var b1 = b[1];
   var b2 = b[2];
-  var a00 = a0[0];
-  var a01 = a0[1];
-  var a02 = a0[2];
-  var a10 = a1[0];
-  var a11 = a1[1];
-  var a12 = a1[2];
-  var a20 = a2[0];
-  var a21 = a2[1];
-  var a22 = a2[2];
-  var b00 = b0[0];
-  var b01 = b0[1];
-  var b02 = b0[2];
-  var b10 = b1[0];
-  var b11 = b1[1];
-  var b12 = b1[2];
-  var b20 = b2[0];
-  var b21 = b2[1];
-  var b22 = b2[2];
-  return [[a00 * b00 + a01 * b10 + a02 * b20,
+  var a00 = a[0];
+  var a01 = a[1];
+  var a02 = a[2];
+  var a10 = a[3];
+  var a11 = a[4];
+  var a12 = a[5];
+  var a20 = a[6];
+  var a21 = a[7];
+  var a22 = a[8];
+  var b00 = b[0];
+  var b01 = b[1];
+  var b02 = b[2];
+  var b10 = b[3];
+  var b11 = b[4];
+  var b12 = b[5];
+  var b20 = b[6];
+  var b21 = b[7];
+  var b22 = b[8];
+  return o3djs.flat_math.makeMatrix3(a00 * b00 + a01 * b10 + a02 * b20,
            a00 * b01 + a01 * b11 + a02 * b21,
-           a00 * b02 + a01 * b12 + a02 * b22],
-          [a10 * b00 + a11 * b10 + a12 * b20,
+           a00 * b02 + a01 * b12 + a02 * b22,
+          a10 * b00 + a11 * b10 + a12 * b20,
            a10 * b01 + a11 * b11 + a12 * b21,
-           a10 * b02 + a11 * b12 + a12 * b22],
-          [a20 * b00 + a21 * b10 + a22 * b20,
+           a10 * b02 + a11 * b12 + a12 * b22,
+          a20 * b00 + a21 * b10 + a22 * b20,
            a20 * b01 + a21 * b11 + a22 * b21,
-           a20 * b02 + a21 * b12 + a22 * b22]];
+           a20 * b02 + a21 * b12 + a22 * b22);
 };
 
 /**
  * Multiplies two 3-by-3 matrices; assumes that the given matrices are 3-by-3;
  * assumes matrix entries are accessed in [column][row] fashion.
- * @param {!o3djs.math.Matrix3} a The matrix on the left.
- * @param {!o3djs.math.Matrix3} b The matrix on the right.
- * @return {!o3djs.math.Matrix3} The matrix product of a and b.
- */
-o3djs.math.columnMajor.mulMatrixMatrix3 = function(a, b) {
-  var a0 = a[0];
-  var a1 = a[1];
-  var a2 = a[2];
-  var b0 = b[0];
-  var b1 = b[1];
-  var b2 = b[2];
-  var a00 = a0[0];
-  var a01 = a0[1];
-  var a02 = a0[2];
-  var a10 = a1[0];
-  var a11 = a1[1];
-  var a12 = a1[2];
-  var a20 = a2[0];
-  var a21 = a2[1];
-  var a22 = a2[2];
-  var b00 = b0[0];
-  var b01 = b0[1];
-  var b02 = b0[2];
-  var b10 = b1[0];
-  var b11 = b1[1];
-  var b12 = b1[2];
-  var b20 = b2[0];
-  var b21 = b2[1];
-  var b22 = b2[2];
-  return [[a00 * b00 + a10 * b01 + a20 * b02,
+ * @param {!o3djs.flat_math.Matrix3} a The matrix on the left.
+ * @param {!o3djs.flat_math.Matrix3} b The matrix on the right.
+ * @return {!o3djs.flat_math.Matrix3} The matrix product of a and b.
+ */
+o3djs.flat_math.columnMajor.mulMatrixMatrix3 = function(a, b) {
+
+  var a00 = a[0];
+  var a01 = a[1];
+  var a02 = a[2];
+  var a10 = a[3];
+  var a11 = a[4];
+  var a12 = a[5];
+  var a20 = a[6];
+  var a21 = a[7];
+  var a22 = a[8];
+  var b00 = b[0];
+  var b01 = b[1];
+  var b02 = b[2];
+  var b10 = b[3];
+  var b11 = b[4];
+  var b12 = b[5];
+  var b20 = b[6];
+  var b21 = b[7];
+  var b22 = b[8];
+
+  return o3djs.flat_math.makeMatrix4(a00 * b00 + a10 * b01 + a20 * b02,
            a01 * b00 + a11 * b01 + a21 * b02,
-           a02 * b00 + a12 * b01 + a22 * b02],
-          [a00 * b10 + a10 * b11 + a20 * b12,
+           a02 * b00 + a12 * b01 + a22 * b02,
+          a00 * b10 + a10 * b11 + a20 * b12,
            a01 * b10 + a11 * b11 + a21 * b12,
-           a02 * b10 + a12 * b11 + a22 * b12],
-          [a00 * b20 + a10 * b21 + a20 * b22,
+           a02 * b10 + a12 * b11 + a22 * b12,
+          a00 * b20 + a10 * b21 + a20 * b22,
            a01 * b20 + a11 * b21 + a21 * b22,
-           a02 * b20 + a12 * b21 + a22 * b22]];
+           a02 * b20 + a12 * b21 + a22 * b22);
 };
 
 /**
  * Multiplies two 3-by-3 matrices; assumes that the given matrices are 3-by-3.
- * @param {!o3djs.math.Matrix3} a The matrix on the left.
- * @param {!o3djs.math.Matrix3} b The matrix on the right.
- * @return {!o3djs.math.Matrix3} The matrix product of a and b.
+ * @param {!o3djs.flat_math.Matrix3} a The matrix on the left.
+ * @param {!o3djs.flat_math.Matrix3} b The matrix on the right.
+ * @return {!o3djs.flat_math.Matrix3} The matrix product of a and b.
  */
-o3djs.math.mulMatrixMatrix3 = null;
+o3djs.flat_math.mulMatrixMatrix3 = null;
 
 /**
  * Multiplies two 4-by-4 matrices; assumes that the given matrices are 4-by-4;
  * assumes matrix entries are accessed in [row][column] fashion.
- * @param {!o3djs.math.Matrix4} a The matrix on the left.
- * @param {!o3djs.math.Matrix4} b The matrix on the right.
- * @return {!o3djs.math.Matrix4} The matrix product of a and b.
- */
-o3djs.math.rowMajor.mulMatrixMatrix4 = function(a, b) {
-  var a0 = a[0];
-  var a1 = a[1];
-  var a2 = a[2];
-  var a3 = a[3];
-  var b0 = b[0];
-  var b1 = b[1];
-  var b2 = b[2];
-  var b3 = b[3];
-  var a00 = a0[0];
-  var a01 = a0[1];
-  var a02 = a0[2];
-  var a03 = a0[3];
-  var a10 = a1[0];
-  var a11 = a1[1];
-  var a12 = a1[2];
-  var a13 = a1[3];
-  var a20 = a2[0];
-  var a21 = a2[1];
-  var a22 = a2[2];
-  var a23 = a2[3];
-  var a30 = a3[0];
-  var a31 = a3[1];
-  var a32 = a3[2];
-  var a33 = a3[3];
-  var b00 = b0[0];
-  var b01 = b0[1];
-  var b02 = b0[2];
-  var b03 = b0[3];
-  var b10 = b1[0];
-  var b11 = b1[1];
-  var b12 = b1[2];
-  var b13 = b1[3];
-  var b20 = b2[0];
-  var b21 = b2[1];
-  var b22 = b2[2];
-  var b23 = b2[3];
-  var b30 = b3[0];
-  var b31 = b3[1];
-  var b32 = b3[2];
-  var b33 = b3[3];
-  return [[a00 * b00 + a01 * b10 + a02 * b20 + a03 * b30,
+ * @param {!o3djs.flat_math.Matrix4} a The matrix on the left.
+ * @param {!o3djs.flat_math.Matrix4} b The matrix on the right.
+ * @return {!o3djs.flat_math.Matrix4} The matrix product of a and b.
+ */
+o3djs.flat_math.rowMajor.mulMatrixMatrix4 = function(a, b) {
+
+  var a00 = a[0];
+  var a01 = a[1];
+  var a02 = a[2];
+  var a03 = a[3];
+  var a10 = a[4];
+  var a11 = a[5];
+  var a12 = a[6];
+  var a13 = a[7];
+  var a20 = a[8];
+  var a21 = a[9];
+  var a22 = a[10];
+  var a23 = a[11];
+  var a30 = a[12];
+  var a31 = a[13];
+  var a32 = a[14];
+  var a33 = a[15];
+  var b00 = b[0];
+  var b01 = b[1];
+  var b02 = b[2];
+  var b03 = b[3];
+  var b10 = b[4];
+  var b11 = b[5];
+  var b12 = b[6];
+  var b13 = b[7];
+  var b20 = b[8];
+  var b21 = b[9];
+  var b22 = b[10];
+  var b23 = b[11];
+  var b30 = b[12];
+  var b31 = b[13];
+  var b32 = b[14];
+  var b33 = b[15];
+  return o3djs.flat_math.makeMatrix4(a00 * b00 + a01 * b10 + a02 * b20 + a03 * b30,
            a00 * b01 + a01 * b11 + a02 * b21 + a03 * b31,
            a00 * b02 + a01 * b12 + a02 * b22 + a03 * b32,
-           a00 * b03 + a01 * b13 + a02 * b23 + a03 * b33],
-          [a10 * b00 + a11 * b10 + a12 * b20 + a13 * b30,
+           a00 * b03 + a01 * b13 + a02 * b23 + a03 * b33,
+          a10 * b00 + a11 * b10 + a12 * b20 + a13 * b30,
            a10 * b01 + a11 * b11 + a12 * b21 + a13 * b31,
            a10 * b02 + a11 * b12 + a12 * b22 + a13 * b32,
-           a10 * b03 + a11 * b13 + a12 * b23 + a13 * b33],
-          [a20 * b00 + a21 * b10 + a22 * b20 + a23 * b30,
+           a10 * b03 + a11 * b13 + a12 * b23 + a13 * b33,
+          a20 * b00 + a21 * b10 + a22 * b20 + a23 * b30,
            a20 * b01 + a21 * b11 + a22 * b21 + a23 * b31,
            a20 * b02 + a21 * b12 + a22 * b22 + a23 * b32,
-           a20 * b03 + a21 * b13 + a22 * b23 + a23 * b33],
-          [a30 * b00 + a31 * b10 + a32 * b20 + a33 * b30,
+           a20 * b03 + a21 * b13 + a22 * b23 + a23 * b33,
+          a30 * b00 + a31 * b10 + a32 * b20 + a33 * b30,
            a30 * b01 + a31 * b11 + a32 * b21 + a33 * b31,
            a30 * b02 + a31 * b12 + a32 * b22 + a33 * b32,
-           a30 * b03 + a31 * b13 + a32 * b23 + a33 * b33]];
+           a30 * b03 + a31 * b13 + a32 * b23 + a33 * b33);
 };
 
 /**
  * Multiplies two 4-by-4 matrices; assumes that the given matrices are 4-by-4;
  * assumes matrix entries are accessed in [column][row] fashion.
- * @param {!o3djs.math.Matrix4} a The matrix on the left.
- * @param {!o3djs.math.Matrix4} b The matrix on the right.
- * @return {!o3djs.math.Matrix4} The matrix product of a and b.
- */
-o3djs.math.columnMajor.mulMatrixMatrix4 = function(a, b) {
-  var a0 = a[0];
-  var a1 = a[1];
-  var a2 = a[2];
-  var a3 = a[3];
-  var b0 = b[0];
-  var b1 = b[1];
-  var b2 = b[2];
-  var b3 = b[3];
-  var a00 = a0[0];
-  var a01 = a0[1];
-  var a02 = a0[2];
-  var a03 = a0[3];
-  var a10 = a1[0];
-  var a11 = a1[1];
-  var a12 = a1[2];
-  var a13 = a1[3];
-  var a20 = a2[0];
-  var a21 = a2[1];
-  var a22 = a2[2];
-  var a23 = a2[3];
-  var a30 = a3[0];
-  var a31 = a3[1];
-  var a32 = a3[2];
-  var a33 = a3[3];
-  var b00 = b0[0];
-  var b01 = b0[1];
-  var b02 = b0[2];
-  var b03 = b0[3];
-  var b10 = b1[0];
-  var b11 = b1[1];
-  var b12 = b1[2];
-  var b13 = b1[3];
-  var b20 = b2[0];
-  var b21 = b2[1];
-  var b22 = b2[2];
-  var b23 = b2[3];
-  var b30 = b3[0];
-  var b31 = b3[1];
-  var b32 = b3[2];
-  var b33 = b3[3];
-  return [[a00 * b00 + a10 * b01 + a20 * b02 + a30 * b03,
-           a01 * b00 + a11 * b01 + a21 * b02 + a31 * b03,
-           a02 * b00 + a12 * b01 + a22 * b02 + a32 * b03,
-           a03 * b00 + a13 * b01 + a23 * b02 + a33 * b03],
-          [a00 * b10 + a10 * b11 + a20 * b12 + a30 * b13,
-           a01 * b10 + a11 * b11 + a21 * b12 + a31 * b13,
-           a02 * b10 + a12 * b11 + a22 * b12 + a32 * b13,
-           a03 * b10 + a13 * b11 + a23 * b12 + a33 * b13],
-          [a00 * b20 + a10 * b21 + a20 * b22 + a30 * b23,
-           a01 * b20 + a11 * b21 + a21 * b22 + a31 * b23,
-           a02 * b20 + a12 * b21 + a22 * b22 + a32 * b23,
-           a03 * b20 + a13 * b21 + a23 * b22 + a33 * b23],
-          [a00 * b30 + a10 * b31 + a20 * b32 + a30 * b33,
-           a01 * b30 + a11 * b31 + a21 * b32 + a31 * b33,
-           a02 * b30 + a12 * b31 + a22 * b32 + a32 * b33,
-           a03 * b30 + a13 * b31 + a23 * b32 + a33 * b33]];
+ * @param {!o3djs.flat_math.Matrix4} a The matrix on the left.
+ * @param {!o3djs.flat_math.Matrix4} b The matrix on the right.
+ * @return {!o3djs.flat_math.Matrix4} The matrix product of a and b.
+ */
+o3djs.flat_math.columnMajor.mulMatrixMatrix4 = function(a, b) {
+
+  var a00 = a[0];
+  var a01 = a[1];
+  var a02 = a[2];
+  var a03 = a[3];
+  var a10 = a[4];
+  var a11 = a[5];
+  var a12 = a[6];
+  var a13 = a[7];
+  var a20 = a[8];
+  var a21 = a[9];
+  var a22 = a[10];
+  var a23 = a[11];
+  var a30 = a[12];
+  var a31 = a[13];
+  var a32 = a[14];
+  var a33 = a[15];
+  var b00 = b[0];
+  var b01 = b[1];
+  var b02 = b[2];
+  var b03 = b[3];
+  var b10 = b[4];
+  var b11 = b[5];
+  var b12 = b[6];
+  var b13 = b[7];
+  var b20 = b[8];
+  var b21 = b[9];
+  var b22 = b[10];
+  var b23 = b[11];
+  var b30 = b[12];
+  var b31 = b[13];
+  var b32 = b[14];
+  var b33 = b[15];
+  return o3djs.flat_math.makeMatrix4(
+      a00 * b00 + a10 * b01 + a20 * b02 + a30 * b03,
+      a01 * b00 + a11 * b01 + a21 * b02 + a31 * b03,
+      a02 * b00 + a12 * b01 + a22 * b02 + a32 * b03,
+      a03 * b00 + a13 * b01 + a23 * b02 + a33 * b03,
+      a00 * b10 + a10 * b11 + a20 * b12 + a30 * b13,
+      a01 * b10 + a11 * b11 + a21 * b12 + a31 * b13,
+      a02 * b10 + a12 * b11 + a22 * b12 + a32 * b13,
+      a03 * b10 + a13 * b11 + a23 * b12 + a33 * b13,
+      a00 * b20 + a10 * b21 + a20 * b22 + a30 * b23,
+      a01 * b20 + a11 * b21 + a21 * b22 + a31 * b23,
+      a02 * b20 + a12 * b21 + a22 * b22 + a32 * b23,
+      a03 * b20 + a13 * b21 + a23 * b22 + a33 * b23,
+      a00 * b30 + a10 * b31 + a20 * b32 + a30 * b33,
+      a01 * b30 + a11 * b31 + a21 * b32 + a31 * b33,
+      a02 * b30 + a12 * b31 + a22 * b32 + a32 * b33,
+      a03 * b30 + a13 * b31 + a23 * b32 + a33 * b33);
 };
 
 /**
  * Multiplies two 4-by-4 matrices; assumes that the given matrices are 4-by-4.
- * @param {!o3djs.math.Matrix4} a The matrix on the left.
- * @param {!o3djs.math.Matrix4} b The matrix on the right.
- * @return {!o3djs.math.Matrix4} The matrix product of a and b.
+ * @param {!o3djs.flat_math.Matrix4} a The matrix on the left.
+ * @param {!o3djs.flat_math.Matrix4} b The matrix on the right.
+ * @return {!o3djs.flat_math.Matrix4} The matrix product of a and b.
  */
-o3djs.math.mulMatrixMatrix4 = null;
+o3djs.flat_math.mulMatrixMatrix4 = null;
 
 /**
  * Multiplies two matrices; assumes that the sizes of the matrices are
  * appropriately compatible; assumes matrix entries are accessed in
  * [row][column] fashion.
- * @param {!o3djs.math.Matrix} a The matrix on the left.
- * @param {!o3djs.math.Matrix} b The matrix on the right.
- * @return {!o3djs.math.Matrix} The matrix product of a and b.
- */
-o3djs.math.rowMajor.mulMatrixMatrix = function(a, b) {
+ * @param {!o3djs.flat_math.Matrix} a The matrix on the left.
+ * @param {!o3djs.flat_math.Matrix} b The matrix on the right.
+ * @return {!o3djs.flat_math.Matrix} The matrix product of a and b.
+ */
+o3djs.flat_math.rowMajor.mulMatrixMatrix = function(a, b) {
+  switch(a.length) {
+    case 4:
+      return o3djs.flat_math.rowMajor.mulMatrixMatrix2(a,b);
+    case 9:
+      return o3djs.flat_math.rowMajor.mulMatrixMatrix3(a,b);
+    case 16:
+      return o3djs.flat_math.rowMajor.mulMatrixMatrix4(a,b);
+    default:
+      throw "Unable to handle irregular matrices or matrices of dim > 4 or < 2";
+  }
+  };
+
+o3djs.flat_math.rowMajor.generalizedMulMatrixMatrix= function(a, b) {
   var r = [];
   var aRows = a.length;
   var bColumns = b[0].length;
@@ -1167,49 +1597,56 @@ o3djs.math.rowMajor.mulMatrixMatrix = function(a, b) {
  * Multiplies two matrices; assumes that the sizes of the matrices are
  * appropriately compatible; assumes matrix entries are accessed in
  * [row][column] fashion.
- * @param {!o3djs.math.Matrix} a The matrix on the left.
- * @param {!o3djs.math.Matrix} b The matrix on the right.
- * @return {!o3djs.math.Matrix} The matrix product of a and b.
- */
-o3djs.math.columnMajor.mulMatrixMatrix = function(a, b) {
-  var r = [];
-  var bColumns = b.length;
-  var aRows = a[0].length;
-  var aColumns = a.length;
-  for (var i = 0; i < bColumns; ++i) {
-    var v = [];    // v becomes a column of the answer.
-    var bi = b[i]; // ith column of b.
-    for (var j = 0; j < aRows; ++j) {
-      v[j] = 0.0;
-      for (var k = 0; k < aColumns; ++k)
-        v[j] += bi[k] * a[k][j]; // kth column, jth row.
-    }
-    r[i] = v;
+ * @param {!o3djs.flat_math.Matrix} a The matrix on the left.
+ * @param {!o3djs.flat_math.Matrix} b The matrix on the right.
+ * @return {!o3djs.flat_math.Matrix} The matrix product of a and b.
+ */
+o3djs.flat_math.columnMajor.mulMatrixMatrix = function(a, b) {
+  switch(a.length) {
+    case 4:
+      return o3djs.flat_math.columnMajor.mulMatrixMatrix2(a,b);
+    case 9:
+      return o3djs.flat_math.columnMajor.mulMatrixMatrix3(a,b);
+    case 16:
+      return o3djs.flat_math.columnMajor.mulMatrixMatrix4(a,b);
+    default:
+      throw "Unable to handle irregular matrices or matrices of dim > 4 or < 2";
   }
-  return r;
 };
 
 /**
  * Multiplies two matrices; assumes that the sizes of the matrices are
  * appropriately compatible.
- * @param {!o3djs.math.Matrix} a The matrix on the left.
- * @param {!o3djs.math.Matrix} b The matrix on the right.
- * @return {!o3djs.math.Matrix} The matrix product of a and b.
+ * @param {!o3djs.flat_math.Matrix} a The matrix on the left.
+ * @param {!o3djs.flat_math.Matrix} b The matrix on the right.
+ * @return {!o3djs.flat_math.Matrix} The matrix product of a and b.
  */
-o3djs.math.mulMatrixMatrix = null;
+o3djs.flat_math.mulMatrixMatrix = null;
 
 /**
  * Gets the jth column of the given matrix m; assumes matrix entries are
- * accessed in [row][column] fashion.
- * @param {!o3djs.math.Matrix} m The matrix.
+ * accessed in [row*dimension+column] fashion.
+ * @param {!o3djs.flat_math.Matrix} m The matrix.
  * @param {number} j The index of the desired column.
- * @return {!o3djs.math.Vector} The jth column of m as a vector.
+ * @return {!o3djs.flat_math.Vector} The jth column of m as a vector.
  */
-o3djs.math.rowMajor.column = function(m, j) {
-  var r = [];
+o3djs.flat_math.rowMajor.column = function(m, j) {
   var mLength = m.length;
-  for (var i = 0; i < mLength; ++i) {
-    r[i] = m[i][j];
+  var dimension;
+  switch (mLength){
+    case 4:
+      dimension = 2;
+      break;
+    case 9:
+      dimension = 3;
+      break;
+    case 16:
+      dimension = 4;
+      break;
+  }
+  var r = new o3djs.flat_math.Vector(dimension);
+  for (var i = 0; i < dimension; ++i) {
+    r[i] = m[i * dimension + j];
   }
   return r;
 };
@@ -1217,85 +1654,110 @@ o3djs.math.rowMajor.column = function(m, j) {
 /**
  * Gets the jth column of the given matrix m; assumes matrix entries are
  * accessed in [column][row] fashion.
- * @param {!o3djs.math.Matrix} m The matrix.
+ * @param {!o3djs.flat_math.Matrix} m The matrix.
  * @param {number} j The index of the desired column.
- * @return {!o3djs.math.Vector} The jth column of m as a vector.
+ * @return {!o3djs.flat_math.Vector} The jth column of m as a vector.
  */
-o3djs.math.columnMajor.column = function(m, j) {
-  return m[j].slice();
+o3djs.flat_math.columnMajor.column = function(m, j) {
+  var dimension;
+  var mLength = m.length;
+  switch (mLength){
+  case 4:
+    dimension = 2;
+    break;
+  case 9:
+    dimension = 3;
+    break;
+  case 16:
+    dimension = 4;
+    break;
+  default:
+      dimension = Math.sqrt(dimension);
+      if (Math.round(dimension) * Math.round(dimension) != mLength) {
+        throw "Calling column on nonsquare matrix";
+      }
+  }
+  return m.slice(j * dimension, j * dimension + dimension);
 };
 
 /**
  * Gets the jth column of the given matrix m.
- * @param {!o3djs.math.Matrix} m The matrix.
+ * @param {!o3djs.flat_math.Matrix} m The matrix.
  * @param {number} j The index of the desired column.
- * @return {!o3djs.math.Vector} The jth column of m as a vector.
+ * @return {!o3djs.flat_math.Vector} The jth column of m as a vector.
  */
-o3djs.math.column = null;
+o3djs.flat_math.column = null;
 
 /**
  * Gets the ith row of the given matrix m; assumes matrix entries are
  * accessed in [row][column] fashion.
- * @param {!o3djs.math.Matrix} m The matrix.
+ * @param {!o3djs.flat_math.Matrix} m The matrix.
  * @param {number} i The index of the desired row.
- * @return {!o3djs.math.Vector} The ith row of m.
+ * @return {!o3djs.flat_math.Vector} The ith row of m.
  */
-o3djs.math.rowMajor.row = function(m, i) {
-  return m[i].slice();
-};
+o3djs.flat_math.rowMajor.row = o3djs.flat_math.columnMajor.column;
 
 /**
  * Gets the ith row of the given matrix m; assumes matrix entries are
  * accessed in [column][row] fashion.
- * @param {!o3djs.math.Matrix} m The matrix.
+ * @param {!o3djs.flat_math.Matrix} m The matrix.
  * @param {number} i The index of the desired row.
- * @return {!o3djs.math.Vector} The ith row of m.
+ * @return {!o3djs.flat_math.Vector} The ith row of m.
  */
-o3djs.math.columnMajor.row = function(m, i) {
-  var r = [];
-  var mLength = m.length;
-  for (var j = 0; j < mLength; ++j) {
-    r[j] = m[j][i];
-  }
-  return r;
-};
+o3djs.flat_math.columnMajor.row = o3djs.flat_math.rowMajor.column;
 
 /**
  * Gets the ith row of the given matrix m.
- * @param {!o3djs.math.Matrix} m The matrix.
+ * @param {!o3djs.flat_math.Matrix} m The matrix.
  * @param {number} i The index of the desired row.
- * @return {!o3djs.math.Vector} The ith row of m.
+ * @return {!o3djs.flat_math.Vector} The ith row of m.
  */
-o3djs.math.row = null;
+o3djs.flat_math.row = null;
 
 /**
  * Creates an n-by-n identity matrix.
  * @param {number} n The dimension of the identity matrix required.
- * @return {!o3djs.math.Matrix} An n-by-n identity matrix.
+ * @return {!o3djs.flat_math.Matrix} An n-by-n identity matrix.
  */
-o3djs.math.identity = function(n) {
-  var r = [];
+o3djs.flat_math.identity = function(n) {
+  var r = new o3djs.flat_math.Matrix(n*n);
+
   for (var j = 0; j < n; ++j) {
-    r[j] = [];
     for (var i = 0; i < n; ++i)
-      r[j][i] = (i == j) ? 1 : 0;
+      r[j * n + i] = (i == j) ? 1 : 0;
   }
   return r;
 };
 
 /**
  * Takes the transpose of a matrix.
- * @param {!o3djs.math.Matrix} m The matrix.
- * @return {!o3djs.math.Matrix} The transpose of m.
+ * @param {!o3djs.flat_math.Matrix} m The matrix.
+ * @return {!o3djs.flat_math.Matrix} The transpose of m.
  */
-o3djs.math.transpose = function(m) {
-  var r = [];
-  var m0Length = m[0].length;
+o3djs.flat_math.transpose = function(m) {
   var mLength = m.length;
-  for (var j = 0; j < m0Length; ++j) {
-    r[j] = [];
-    for (var i = 0; i < mLength; ++i)
-      r[j][i] = m[i][j];
+  var r = new o3djs.flat_math.Matrix(mLength);
+  var dimension;
+  switch (mLength){
+  case 4:
+      dimension = 2;
+      break;
+  case 9:
+      dimension = 3;
+      break;
+  case 16:
+      dimension = 4;
+      break;
+  default:
+      dimension = Math.sqrt(dimension);
+      if (Math.round(dimension) * Math.round(dimension) != mLength) {
+        throw "Calling transpose on nonsquare matrix";
+      }
+  }
+
+  for (var j = 0; j < dimension; ++j) {
+    for (var i = 0; i < dimension; ++i)
+      r[j * dimension + i] = m[i * dimension + j];
   }
   return r;
 };
@@ -1303,218 +1765,259 @@ o3djs.math.transpose = function(m) {
 /**
  * Computes the trace (sum of the diagonal entries) of a square matrix;
  * assumes m is square.
- * @param {!o3djs.math.Matrix} m The matrix.
+ * @param {!o3djs.flat_math.Matrix} m The matrix.
  * @return {number} The trace of m.
  */
-o3djs.math.trace = function(m) {
+o3djs.flat_math.trace = function(m) {
   var r = 0.0;
-  var mLength = m.length;
+  var dimension;
+  switch (mLength){
+  case 4:
+      dimension = 2;
+      break;
+  case 9:
+      dimension = 3;
+      break;
+  case 16:
+      dimension = 4;
+      break;
+  }
+  var mLength = dimension;
   for (var i = 0; i < mLength; ++i)
-    r += m[i][i];
+    r += m[i * dimension + i];
   return r;
 };
 
 /**
  * Computes the determinant of a 1-by-1 matrix.
- * @param {!o3djs.math.Matrix1} m The matrix.
+ * @param {!o3djs.flat_math.Matrix1} m The matrix.
  * @return {number} The determinant of m.
  */
-o3djs.math.det1 = function(m) {
-  return m[0][0];
+o3djs.flat_math.det1 = function(m) {
+  return m[0];
 };
 
 /**
  * Computes the determinant of a 2-by-2 matrix.
- * @param {!o3djs.math.Matrix2} m The matrix.
+ * @param {!o3djs.flat_math.Matrix2} m The matrix.
  * @return {number} The determinant of m.
  */
-o3djs.math.det2 = function(m) {
-  return m[0][0] * m[1][1] - m[0][1] * m[1][0];
+o3djs.flat_math.det2 = function(m) {
+  return m[0] * m[3] - m[1] * m[2];
 };
 
 /**
  * Computes the determinant of a 3-by-3 matrix.
- * @param {!o3djs.math.Matrix3} m The matrix.
+ * @param {!o3djs.flat_math.Matrix3} m The matrix.
  * @return {number} The determinant of m.
  */
-o3djs.math.det3 = function(m) {
-  return m[2][2] * (m[0][0] * m[1][1] - m[0][1] * m[1][0]) -
-         m[2][1] * (m[0][0] * m[1][2] - m[0][2] * m[1][0]) +
-         m[2][0] * (m[0][1] * m[1][2] - m[0][2] * m[1][1]);
+o3djs.flat_math.det3 = function(m) {
+  return m[8] * (m[0 * 3] * m[4] - m[1] * m[1 * 3]) -
+         m[7] * (m[0 * 3] * m[5] - m[2] * m[1 * 3]) +
+         m[2 * 3] * (m[1] * m[5] - m[2] * m[4]);
 };
 
 /**
  * Computes the determinant of a 4-by-4 matrix.
- * @param {!o3djs.math.Matrix4} m The matrix.
+ * @param {!o3djs.flat_math.Matrix4} m The matrix.
  * @return {number} The determinant of m.
  */
-o3djs.math.det4 = function(m) {
-  var t01 = m[0][0] * m[1][1] - m[0][1] * m[1][0];
-  var t02 = m[0][0] * m[1][2] - m[0][2] * m[1][0];
-  var t03 = m[0][0] * m[1][3] - m[0][3] * m[1][0];
-  var t12 = m[0][1] * m[1][2] - m[0][2] * m[1][1];
-  var t13 = m[0][1] * m[1][3] - m[0][3] * m[1][1];
-  var t23 = m[0][2] * m[1][3] - m[0][3] * m[1][2];
-  return m[3][3] * (m[2][2] * t01 - m[2][1] * t02 + m[2][0] * t12) -
-         m[3][2] * (m[2][3] * t01 - m[2][1] * t03 + m[2][0] * t13) +
-         m[3][1] * (m[2][3] * t02 - m[2][2] * t03 + m[2][0] * t23) -
-         m[3][0] * (m[2][3] * t12 - m[2][2] * t13 + m[2][1] * t23);
+o3djs.flat_math.det4 = function(m) {
+  var t01 = m[0] * m[5] - m[1] * m[4];
+  var t02 = m[0] * m[6] - m[2] * m[4];
+  var t03 = m[0] * m[7] - m[3] * m[4];
+  var t12 = m[1] * m[6] - m[2] * m[5];
+  var t13 = m[1] * m[7] - m[3] * m[5];
+  var t23 = m[2] * m[7] - m[3] * m[6];
+  return m[15] * (m[10] * t01 - m[9] * t02 + m[8] * t12) -
+         m[14] * (m[11] * t01 - m[9] * t03 + m[8] * t13) +
+         m[13] * (m[11] * t02 - m[10] * t03 + m[8] * t23) -
+         m[12] * (m[11] * t12 - m[10] * t13 + m[9] * t23);
 };
 
 /**
  * Computes the inverse of a 1-by-1 matrix.
- * @param {!o3djs.math.Matrix1} m The matrix.
- * @return {!o3djs.math.Matrix1} The inverse of m.
+ * @param {!o3djs.flat_math.Matrix1} m The matrix.
+ * @return {!o3djs.flat_math.Matrix1} The inverse of m.
  */
-o3djs.math.inverse1 = function(m) {
-  return [[1.0 / m[0][0]]];
+o3djs.flat_math.inverse1 = function(m) {
+  var retval = new o3djs.flat_math.Matrix(1);
+  retval[0] = 1.0 / m[0];
+  return retval;
 };
 
 /**
  * Computes the inverse of a 2-by-2 matrix.
- * @param {!o3djs.math.Matrix2} m The matrix.
- * @return {!o3djs.math.Matrix2} The inverse of m.
+ * @param {!o3djs.flat_math.Matrix2} m The matrix.
+ * @return {!o3djs.flat_math.Matrix2} The inverse of m.
  */
-o3djs.math.inverse2 = function(m) {
-  var d = 1.0 / (m[0][0] * m[1][1] - m[0][1] * m[1][0]);
-  return [[d * m[1][1], -d * m[0][1]], [-d * m[1][0], d * m[0][0]]];
+o3djs.flat_math.inverse2 = function(m) {
+  var d = 1.0 / (m[0] * m[3] - m[1] * m[2]);
+  return o3djs.flat_math.makeMatrix2(d * m[3], -d * m[1],
+                                -d * m[2], d * m[0]);
 };
 
 /**
  * Computes the inverse of a 3-by-3 matrix.
- * @param {!o3djs.math.Matrix3} m The matrix.
- * @return {!o3djs.math.Matrix3} The inverse of m.
+ * @param {!o3djs.flat_math.Matrix3} m The matrix.
+ * @return {!o3djs.flat_math.Matrix3} The inverse of m.
  */
-o3djs.math.inverse3 = function(m) {
-  var t00 = m[1][1] * m[2][2] - m[1][2] * m[2][1];
-  var t10 = m[0][1] * m[2][2] - m[0][2] * m[2][1];
-  var t20 = m[0][1] * m[1][2] - m[0][2] * m[1][1];
-  var d = 1.0 / (m[0][0] * t00 - m[1][0] * t10 + m[2][0] * t20);
-  return [[d * t00, -d * t10, d * t20],
-          [-d * (m[1][0] * m[2][2] - m[1][2] * m[2][0]),
-            d * (m[0][0] * m[2][2] - m[0][2] * m[2][0]),
-           -d * (m[0][0] * m[1][2] - m[0][2] * m[1][0])],
-          [d * (m[1][0] * m[2][1] - m[1][1] * m[2][0]),
-          -d * (m[0][0] * m[2][1] - m[0][1] * m[2][0]),
-           d * (m[0][0] * m[1][1] - m[0][1] * m[1][0])]];
+o3djs.flat_math.inverse3 = function(m) {
+  var t00 = m[4] * m[8] - m[5] * m[7];
+  var t10 = m[1] * m[8] - m[2] * m[7];
+  var t20 = m[1] * m[5] - m[2] * m[4];
+  var d = 1.0 / (m[0] * t00 - m[3] * t10 + m[6] * t20);
+  return o3djs.flat_math.makeMatrix3(d * t00, -d * t10, d * t20,
+          -d * (m[3] * m[8] - m[5] * m[6]),
+            d * (m[0] * m[8] - m[2] * m[6]),
+           -d * (m[0] * m[5] - m[2] * m[3]),
+          d * (m[3] * m[7] - m[4] * m[6]),
+          -d * (m[0] * m[7] - m[1] * m[6]),
+           d * (m[0] * m[4] - m[1] * m[3]));
 };
 
 /**
  * Computes the inverse of a 4-by-4 matrix.
- * @param {!o3djs.math.Matrix4} m The matrix.
- * @return {!o3djs.math.Matrix4} The inverse of m.
- */
-o3djs.math.inverse4 = function(m) {
-  var tmp_0 = m[2][2] * m[3][3];
-  var tmp_1 = m[3][2] * m[2][3];
-  var tmp_2 = m[1][2] * m[3][3];
-  var tmp_3 = m[3][2] * m[1][3];
-  var tmp_4 = m[1][2] * m[2][3];
-  var tmp_5 = m[2][2] * m[1][3];
-  var tmp_6 = m[0][2] * m[3][3];
-  var tmp_7 = m[3][2] * m[0][3];
-  var tmp_8 = m[0][2] * m[2][3];
-  var tmp_9 = m[2][2] * m[0][3];
-  var tmp_10 = m[0][2] * m[1][3];
-  var tmp_11 = m[1][2] * m[0][3];
-  var tmp_12 = m[2][0] * m[3][1];
-  var tmp_13 = m[3][0] * m[2][1];
-  var tmp_14 = m[1][0] * m[3][1];
-  var tmp_15 = m[3][0] * m[1][1];
-  var tmp_16 = m[1][0] * m[2][1];
-  var tmp_17 = m[2][0] * m[1][1];
-  var tmp_18 = m[0][0] * m[3][1];
-  var tmp_19 = m[3][0] * m[0][1];
-  var tmp_20 = m[0][0] * m[2][1];
-  var tmp_21 = m[2][0] * m[0][1];
-  var tmp_22 = m[0][0] * m[1][1];
-  var tmp_23 = m[1][0] * m[0][1];
-
-  var t0 = (tmp_0 * m[1][1] + tmp_3 * m[2][1] + tmp_4 * m[3][1]) -
-      (tmp_1 * m[1][1] + tmp_2 * m[2][1] + tmp_5 * m[3][1]);
-  var t1 = (tmp_1 * m[0][1] + tmp_6 * m[2][1] + tmp_9 * m[3][1]) -
-      (tmp_0 * m[0][1] + tmp_7 * m[2][1] + tmp_8 * m[3][1]);
-  var t2 = (tmp_2 * m[0][1] + tmp_7 * m[1][1] + tmp_10 * m[3][1]) -
-      (tmp_3 * m[0][1] + tmp_6 * m[1][1] + tmp_11 * m[3][1]);
-  var t3 = (tmp_5 * m[0][1] + tmp_8 * m[1][1] + tmp_11 * m[2][1]) -
-      (tmp_4 * m[0][1] + tmp_9 * m[1][1] + tmp_10 * m[2][1]);
-
-  var d = 1.0 / (m[0][0] * t0 + m[1][0] * t1 + m[2][0] * t2 + m[3][0] * t3);
-
-  var row0 = [d * t0, d * t1, d * t2, d * t3];
-  var row1 = [d * ((tmp_1 * m[1][0] + tmp_2 * m[2][0] + tmp_5 * m[3][0]) -
-          (tmp_0 * m[1][0] + tmp_3 * m[2][0] + tmp_4 * m[3][0])),
-       d * ((tmp_0 * m[0][0] + tmp_7 * m[2][0] + tmp_8 * m[3][0]) -
-          (tmp_1 * m[0][0] + tmp_6 * m[2][0] + tmp_9 * m[3][0])),
-       d * ((tmp_3 * m[0][0] + tmp_6 * m[1][0] + tmp_11 * m[3][0]) -
-          (tmp_2 * m[0][0] + tmp_7 * m[1][0] + tmp_10 * m[3][0])),
-       d * ((tmp_4 * m[0][0] + tmp_9 * m[1][0] + tmp_10 * m[2][0]) -
-          (tmp_5 * m[0][0] + tmp_8 * m[1][0] + tmp_11 * m[2][0]))];
-  var row2 =[d * ((tmp_12 * m[1][3] + tmp_15 * m[2][3] + tmp_16 * m[3][3]) -
-          (tmp_13 * m[1][3] + tmp_14 * m[2][3] + tmp_17 * m[3][3])),
-       d * ((tmp_13 * m[0][3] + tmp_18 * m[2][3] + tmp_21 * m[3][3]) -
-          (tmp_12 * m[0][3] + tmp_19 * m[2][3] + tmp_20 * m[3][3])),
-       d * ((tmp_14 * m[0][3] + tmp_19 * m[1][3] + tmp_22 * m[3][3]) -
-          (tmp_15 * m[0][3] + tmp_18 * m[1][3] + tmp_23 * m[3][3])),
-       d * ((tmp_17 * m[0][3] + tmp_20 * m[1][3] + tmp_23 * m[2][3]) -
-          (tmp_16 * m[0][3] + tmp_21 * m[1][3] + tmp_22 * m[2][3]))];
-  var row3 = [d * ((tmp_14 * m[2][2] + tmp_17 * m[3][2] + tmp_13 * m[1][2]) -
-          (tmp_16 * m[3][2] + tmp_12 * m[1][2] + tmp_15 * m[2][2])),
-       d * ((tmp_20 * m[3][2] + tmp_12 * m[0][2] + tmp_19 * m[2][2]) -
-          (tmp_18 * m[2][2] + tmp_21 * m[3][2] + tmp_13 * m[0][2])),
-       d * ((tmp_18 * m[1][2] + tmp_23 * m[3][2] + tmp_15 * m[0][2]) -
-          (tmp_22 * m[3][2] + tmp_14 * m[0][2] + tmp_19 * m[1][2])),
-       d * ((tmp_22 * m[2][2] + tmp_16 * m[0][2] + tmp_21 * m[1][2]) -
-          (tmp_20 * m[1][2] + tmp_23 * m[2][2] + tmp_17 * m[0][2]))];
-  return [row0, row1, row2, row3];
+ * @param {!o3djs.flat_math.Matrix4} m The matrix.
+ * @return {!o3djs.flat_math.Matrix4} The inverse of m.
+ */
+o3djs.flat_math.inverse4 = function(m) {
+  var tmp_0 = m[10] * m[15];
+  var tmp_1 = m[14] * m[11];
+  var tmp_2 = m[6] * m[15];
+  var tmp_3 = m[14] * m[7];
+  var tmp_4 = m[6] * m[11];
+  var tmp_5 = m[10] * m[7];
+  var tmp_6 = m[2] * m[15];
+  var tmp_7 = m[14] * m[3];
+  var tmp_8 = m[2] * m[11];
+  var tmp_9 = m[10] * m[3];
+  var tmp_10 = m[2] * m[7];
+  var tmp_11 = m[6] * m[3];
+  var tmp_12 = m[8] * m[13];
+  var tmp_13 = m[12] * m[9];
+  var tmp_14 = m[4] * m[13];
+  var tmp_15 = m[12] * m[5];
+  var tmp_16 = m[4] * m[9];
+  var tmp_17 = m[8] * m[5];
+  var tmp_18 = m[0] * m[13];
+  var tmp_19 = m[12] * m[1];
+  var tmp_20 = m[0] * m[9];
+  var tmp_21 = m[8] * m[1];
+  var tmp_22 = m[0] * m[5];
+  var tmp_23 = m[4] * m[1];
+
+  var t0 = tmp_0 * m[5] + tmp_3 * m[9] + tmp_4 * m[13] -
+      (tmp_1 * m[5] + tmp_2 * m[9] + tmp_5 * m[13]);
+  var t1 = tmp_1 * m[1] + tmp_6 * m[9] + tmp_9 * m[13] -
+      (tmp_0 * m[1] + tmp_7 * m[9] + tmp_8 * m[13]);
+  var t2 = tmp_2 * m[1] + tmp_7 * m[5] + tmp_10 * m[13] -
+      (tmp_3 * m[1] + tmp_6 * m[5] + tmp_11 * m[13]);
+  var t3 = (tmp_5 * m[1] + tmp_8 * m[5] + tmp_11 * m[9]) -
+      (tmp_4 * m[1] + tmp_9 * m[5] + tmp_10 * m[9]);
+
+  var d = 1.0 / (m[0] * t0 + m[1 * 4] * t1 + m[8] * t2 + m[12] * t3);
+
+  return o3djs.flat_math.makeMatrix4(d * t0, d * t1, d * t2, d * t3,
+      d * ((tmp_1 * m[1 * 4] + tmp_2 * m[8] + tmp_5 * m[12]) -
+          (tmp_0 * m[1 * 4] + tmp_3 * m[8] + tmp_4 * m[12])),
+      d * ((tmp_0 * m[0 * 4] + tmp_7 * m[8] + tmp_8 * m[12]) -
+         (tmp_1 * m[0 * 4] + tmp_6 * m[8] + tmp_9 * m[12])),
+      d * ((tmp_3 * m[0 * 4] + tmp_6 * m[1 * 4] + tmp_11 * m[12]) -
+          (tmp_2 * m[0 * 4] + tmp_7 * m[1 * 4] + tmp_10 * m[12])),
+      d * ((tmp_4 * m[0 * 4] + tmp_9 * m[1 * 4] + tmp_10 * m[8]) -
+          (tmp_5 * m[0 * 4] + tmp_8 * m[1 * 4] + tmp_11 * m[8])),
+     d * ((tmp_12 * m[4 + 3] + tmp_15 * m[11] + tmp_16 * m[15]) -
+          (tmp_13 * m[4 + 3] + tmp_14 * m[11] + tmp_17 * m[15])),
+      d * ((tmp_13 * m[3] + tmp_18 * m[11] + tmp_21 * m[15]) -
+          (tmp_12 * m[3] + tmp_19 * m[11] + tmp_20 * m[15])),
+       d * ((tmp_14 * m[3] + tmp_19 * m[7] + tmp_22 * m[15]) -
+          (tmp_15 * m[3] + tmp_18 * m[7] + tmp_23 * m[15])),
+       d * ((tmp_17 * m[3] + tmp_20 * m[7] + tmp_23 * m[11]) -
+          (tmp_16 * m[3] + tmp_21 * m[7] + tmp_22 * m[11])),
+     d * ((tmp_14 * m[10] + tmp_17 * m[14] + tmp_13 * m[4 + 2]) -
+          (tmp_16 * m[14] + tmp_12 * m[4 + 2] + tmp_15 * m[10])),
+       d * ((tmp_20 * m[14] + tmp_12 * m[2] + tmp_19 * m[10]) -
+          (tmp_18 * m[10] + tmp_21 * m[14] + tmp_13 * m[2])),
+       d * ((tmp_18 * m[6] + tmp_23 * m[14] + tmp_15 * m[2]) -
+          (tmp_22 * m[14] + tmp_14 * m[2] + tmp_19 * m[6])),
+       d * ((tmp_22 * m[10] + tmp_16 * m[2] + tmp_21 * m[6]) -
+          (tmp_20 * m[6] + tmp_23 * m[10] + tmp_17 * m[2])));
 };
 
 /**
  * Computes the determinant of the cofactor matrix obtained by removal
  * of a specified row and column.  This is a helper function for the general
  * determinant and matrix inversion functions.
- * @param {!o3djs.math.Matrix} a The original matrix.
+ * @param {!o3djs.flat_math.Matrix} a The original matrix.
  * @param {number} x The row to be removed.
  * @param {number} y The column to be removed.
  * @return {number} The determinant of the matrix obtained by removing
  *     row x and column y from a.
  */
-o3djs.math.codet = function(a, x, y) {
-  var size = a.length;
-  var b = [];
+o3djs.flat_math.codet = function(a, x, y) {
+  var aLength = a.length;
+  var size;
+  switch (aLength) {
+  case 4:
+      size = 2;
+      break;
+  case 9:
+      size = 3;
+      break;
+  case 16:
+      size = 4;
+      break;
+  default:
+      size=Math.sqrt(aLength);
+      if (Math.round(size) * Math.round(size) != aLength) {
+          throw "Calling codet on nonsquare matrix";
+      }
+  }
+  var b = new o3djs.flat_math.Matrix(aLength);
   var ai = 0;
   for (var bi = 0; bi < size - 1; ++bi) {
     if (ai == x)
       ai++;
-    b[bi] = [];
     var aj = 0;
     for (var bj = 0; bj < size - 1; ++bj) {
       if (aj == y)
         aj++;
-      b[bi][bj] = a[ai][aj];
+      b[bi*size+bj] = a[ai*size+aj];
       aj++;
     }
     ai++;
   }
-  return o3djs.math.det(b);
+  return o3djs.flat_math.det(b);
 };
 
 /**
  * Computes the determinant of an arbitrary square matrix.
- * @param {!o3djs.math.Matrix} m The matrix.
+ * @param {!o3djs.flat_math.Matrix} m The matrix.
  * @return {number} the determinant of m.
  */
-o3djs.math.det = function(m) {
+o3djs.flat_math.det = function(m) {
   var d = m.length;
-  if (d <= 4) {
-    return o3djs.math['det' + d](m);
+  switch (d) {
+    case 4:
+        return o3djs.flat_math.det2(m);
+    case 9:
+        return o3djs.flat_math.det3(m);
+    case 16:
+        return o3djs.flat_math.det4(m);
+    default:
+        d = Math.sqrt(d);
+        if (Math.round(d) * Math.round(d) != m.length) {
+          throw "Calling det on nonsquare matrix";
+        }
+        break;
   }
   var r = 0.0;
   var sign = 1;
-  var row = m[0];
+  var row = m;
   var mLength = m.length;
   for (var y = 0; y < mLength; y++) {
-    r += sign * row[y] * o3djs.math.codet(m, 0, y);
+    r += sign * m[0] * o3djs.flat_math.codet(m, 0, y);
     sign *= -1;
   }
   return r;
@@ -1522,22 +2025,34 @@ o3djs.math.det = function(m) {
 
 /**
  * Computes the inverse of an arbitrary square matrix.
- * @param {!o3djs.math.Matrix} m The matrix.
- * @return {!o3djs.math.Matrix} The inverse of m.
+ * @param {!o3djs.flat_math.Matrix} m The matrix.
+ * @return {!o3djs.flat_math.Matrix} The inverse of m.
  */
-o3djs.math.inverse = function(m) {
+o3djs.flat_math.inverse = function(m) {
   var d = m.length;
-  if (d <= 4) {
-    return o3djs.math['inverse' + d](m);
+  switch (d) {
+    case 4:
+        return o3djs.flat_math.inverse2(m);
+    case 9:
+        return o3djs.flat_math.inverse3(m);
+    case 16:
+        return o3djs.flat_math.inverse4(m);
+    default:
+        d = Math.sqrt(d);
+        if (Math.round(d) * Math.round(d) != m.length) {
+          throw "Calling inverse on nonsquare matrix";
+        }
+        break;
   }
-  var r = [];
+  var r = new o3djs.flat_math.Matrix(m.length);
   var size = m.length;
+  var det = o3djs.flat_math.det(m);
   for (var j = 0; j < size; ++j) {
-    r[j] = [];
     for (var i = 0; i < size; ++i)
-      r[j][i] = ((i + j) % 2 ? -1 : 1) * o3djs.math.codet(m, i, j);
+      r[j * d + i] =
+          ((i + j) % 2 ? -1 : 1) * o3djs.flat_math.codet(m, i, j) / det;
   }
-  return o3djs.math.divMatrixScalar(r, o3djs.math.det(m));
+  return r;
 };
 
 /**
@@ -1546,80 +2061,99 @@ o3djs.math.inverse = function(m) {
  * multiplying many orthogonal matrices together, errors can accumulate causing
  * the product to fail to be orthogonal.  This function can be used to correct
  * that.
- * @param {!o3djs.math.Matrix} m The matrix.
- * @return {!o3djs.math.Matrix} A matrix whose rows are obtained from the
+ * @param {!o3djs.flat_math.Matrix} m The matrix.
+ * @return {!o3djs.flat_math.Matrix} A matrix whose rows are obtained from the
  *     rows of m by the Graham-Schmidt process.
  */
-o3djs.math.orthonormalize = function(m) {
-  var r = [];
-  var mLength = m.length;
-  for (var i = 0; i < mLength; ++i) {
-    var v = m[i];
+o3djs.flat_math.orthonormalize = function(m) {
+  var d = m.length;
+  var r = new o3djs.flat_math.Matrix(d);
+  switch (d) {
+    case 4:
+        d = 2; break;
+    case 9:
+        d = 3; break;
+    case 16:
+        d = 4; break;
+    default:
+        d = Math.sqrt(d);
+        if (Math.round(d) * Math.round(d) != m.length) {
+          throw "Calling orthonormalize on nonsquare matrix";
+        }
+        break;
+  }
+  for (var i = 0; i < d; ++i) {
+    var v = m.slice(i*d,i*d+d);
     for (var j = 0; j < i; ++j) {
-      v = o3djs.math.subVector(v, o3djs.math.mulScalarVector(
-          o3djs.math.dot(r[j], m[i]), r[j]));
+      v = o3djs.flat_math.subVector(v, o3djs.flat_math.mulScalarVector(
+          o3djs.flat_math.dot(r[j], v), r[j]));
+    }
+    var ri = o3djs.flat_math.normalize(v);
+    for (var k = 0; k < d; ++ k) {
+        r[i * d +k ] = ri[k];
     }
-    r[i] = o3djs.math.normalize(v);
   }
   return r;
 };
 
 /**
  * Computes the inverse of a 4-by-4 matrix.
- * Note: It is faster to call this than o3djs.math.inverse.
- * @param {!o3djs.math.Matrix4} m The matrix.
- * @return {!o3djs.math.Matrix4} The inverse of m.
+ * Note: It is faster to call this than o3djs.flat_math.inverse.
+ * @param {!o3djs.flat_math.Matrix4} m The matrix.
+ * @return {!o3djs.flat_math.Matrix4} The inverse of m.
  */
-o3djs.math.matrix4.inverse = function(m) {
-  return o3djs.math.inverse4(m);
+o3djs.flat_math.matrix4.inverse = function(m) {
+  return o3djs.flat_math.inverse4(m);
 };
 
 /**
  * Multiplies two 4-by-4 matrices; assumes that the given matrices are 4-by-4.
- * Note: It is faster to call this than o3djs.math.mul.
- * @param {!o3djs.math.Matrix4} a The matrix on the left.
- * @param {!o3djs.math.Matrix4} b The matrix on the right.
- * @return {!o3djs.math.Matrix4} The matrix product of a and b.
+ * Note: It is faster to call this than o3djs.flat_math.mul.
+ * @param {!o3djs.flat_math.Matrix4} a The matrix on the left.
+ * @param {!o3djs.flat_math.Matrix4} b The matrix on the right.
+ * @return {!o3djs.flat_math.Matrix4} The matrix product of a and b.
  */
-o3djs.math.matrix4.mul = function(a, b) {
-  return o3djs.math.mulMatrixMatrix4(a, b);
+o3djs.flat_math.matrix4.mul = function(a, b) {
+  return o3djs.flat_math.mulMatrixMatrix4(a, b);
 };
 
 /**
  * Computes the determinant of a 4-by-4 matrix.
- * Note: It is faster to call this than o3djs.math.det.
- * @param {!o3djs.math.Matrix4} m The matrix.
+ * Note: It is faster to call this than o3djs.flat_math.det.
+ * @param {!o3djs.flat_math.Matrix4} m The matrix.
  * @return {number} The determinant of m.
  */
-o3djs.math.matrix4.det = function(m) {
-  return o3djs.math.det4(m);
+o3djs.flat_math.matrix4.det = function(m) {
+  return o3djs.flat_math.det4(m);
 };
 
 /**
  * Copies a Matrix4.
- * Note: It is faster to call this than o3djs.math.copy.
- * @param {!o3djs.math.Matrix4} m The matrix.
- * @return {!o3djs.math.Matrix4} A copy of m.
+ * Note: It is faster to call this than o3djs.flat_math.copy.
+ * @param {!o3djs.flat_math.Matrix4} m The matrix.
+ * @return {!o3djs.flat_math.Matrix4} A copy of m.
  */
-o3djs.math.matrix4.copy = function(m) {
-  return o3djs.math.copyMatrix(m);
+o3djs.flat_math.matrix4.copy = function(m) {
+  return o3djs.flat_math.copyMatrix(m);
 };
 
 /**
  * Sets the upper 3-by-3 block of matrix a to the upper 3-by-3 block of matrix
  * b; assumes that a and b are big enough to contain an upper 3-by-3 block.
- * @param {!o3djs.math.Matrix4} a A matrix.
- * @param {!o3djs.math.Matrix3} b A 3-by-3 matrix.
- * @return {!o3djs.math.Matrix4} a once modified.
- */
-o3djs.math.matrix4.setUpper3x3 = function(a, b) {
-  var b0 = b[0];
-  var b1 = b[1];
-  var b2 = b[2];
-
-  a[0].splice(0, 3, b0[0], b0[1], b0[2]);
-  a[1].splice(0, 3, b1[0], b1[1], b1[2]);
-  a[2].splice(0, 3, b2[0], b2[1], b2[2]);
+ * @param {!o3djs.flat_math.Matrix4} a A matrix.
+ * @param {!o3djs.flat_math.Matrix3} b A 3-by-3 matrix.
+ * @return {!o3djs.flat_math.Matrix4} a once modified.
+ */
+o3djs.flat_math.matrix4.setUpper3x3 = function(a, b) {
+  a[0] = b[0];
+  a[1] = b[1];
+  a[2] = b[2];
+  a[4] = b[4];
+  a[5] = b[5];
+  a[6] = b[6];
+  a[8] = b[8];
+  a[9] = b[9];
+  a[10] = b[10];
 
   return a;
 };
@@ -1627,80 +2161,107 @@ o3djs.math.matrix4.setUpper3x3 = function(a, b) {
 /**
  * Returns a 3-by-3 matrix mimicking the upper 3-by-3 block of m; assumes m
  * is big enough to contain an upper 3-by-3 block.
- * @param {!o3djs.math.Matrix4} m The matrix.
- * @return {!o3djs.math.Matrix3} The upper 3-by-3 block of m.
+ * @param {!o3djs.flat_math.Matrix4} m The matrix.
+ * @return {!o3djs.flat_math.Matrix3} The upper 3-by-3 block of m.
  */
-o3djs.math.matrix4.getUpper3x3 = function(m) {
-  return [m[0].slice(0, 3), m[1].slice(0, 3), m[2].slice(0, 3)];
+o3djs.flat_math.matrix4.getUpper3x3 = function(m) {
+  return o3djs.flat_math.makeMatrix3(
+      m[0], m[1], m[2],
+      m[4], m[5], m[6],
+      m[8], m[9], m[10]);
 };
 
 /**
  * Sets the translation component of a 4-by-4 matrix to the given
  * vector.
- * @param {!o3djs.math.Matrix4} a The matrix.
- * @param {(!o3djs.math.Vector3|!o3djs.math.Vector4)} v The vector.
- * @return {!o3djs.math.Matrix4} a once modified.
- */
-o3djs.math.matrix4.setTranslation = function(a, v) {
-  a[3].splice(0, 4, v[0], v[1], v[2], 1);
+ * @param {!o3djs.flat_math.Matrix4} a The matrix.
+ * @param {(!o3djs.flat_math.Vector3|!o3djs.flat_math.Vector4)} v The vector.
+ * @return {!o3djs.flat_math.Matrix4} a once modified.
+ */
+o3djs.flat_math.matrix4.setTranslation = function(a, v) {
+  a[12] = v[0];
+  a[13] = v[1];
+  a[14] = v[2];
   return a;
 };
 
 /**
  * Returns the translation component of a 4-by-4 matrix as a vector with 3
  * entries.
- * @param {!o3djs.math.Matrix4} m The matrix.
- * @return {!o3djs.math.Vector3} The translation component of m.
+ * @param {!o3djs.flat_math.Matrix4} m The matrix.
+ * @return {!o3djs.flat_math.Vector3} The translation component of m.
  */
-o3djs.math.matrix4.getTranslation = function(m) {
-  return m[3].slice(0, 3);
+o3djs.flat_math.matrix4.getTranslation = function(m) {
+  var retval =new o3djs.flat_math.Vector(3);
+  retval[0] = m[12];
+  retval[1] = m[13];
+  retval[2] = m[14];
+  return retval;
 };
 
 /**
  * Takes a 4-by-4 matrix and a vector with 3 entries,
  * interprets the vector as a point, transforms that point by the matrix, and
  * returns the result as a vector with 3 entries.
- * @param {!o3djs.math.Matrix4} m The matrix.
- * @param {!o3djs.math.Vector3} v The point.
- * @return {!o3djs.math.Vector3} The transformed point.
+ * @param {!o3djs.flat_math.Matrix4} m The matrix.
+ * @param {!o3djs.flat_math.Vector3} v The point.
+ * @return {!o3djs.flat_math.Vector3} The transformed point.
  */
-o3djs.math.matrix4.transformPoint = function(m, v) {
+o3djs.flat_math.matrix4.transformPoint = function(m, v) {
   var v0 = v[0];
   var v1 = v[1];
   var v2 = v[2];
-  var m0 = m[0];
-  var m1 = m[1];
-  var m2 = m[2];
-  var m3 = m[3];
 
-  var d = v0 * m0[3] + v1 * m1[3] + v2 * m2[3] + m3[3];
-  return [(v0 * m0[0] + v1 * m1[0] + v2 * m2[0] + m3[0]) / d,
-          (v0 * m0[1] + v1 * m1[1] + v2 * m2[1] + m3[1]) / d,
-          (v0 * m0[2] + v1 * m1[2] + v2 * m2[2] + m3[2]) / d];
+  var d = v0 * m[3] +
+          v1 * m[7] +
+          v2 * m[11] +
+               m[15];
+  var retval = new o3djs.flat_math.Vector(3);
+  retval[0] = (v0 * m[0] +
+               v1 * m[4] +
+               v2 * m[8] +
+                    m[12]) / d;
+  retval[1] = (v0 * m[1] +
+               v1 * m[5] +
+               v2 * m[9] +
+                    m[13]) / d;
+  retval[2] = (v0 * m[2] +
+               v1 * m[6] +
+               v2 * m[10] +
+                    m[14]) / d;
+  return retval;
 };
 
 /**
  * Takes a 4-by-4 matrix and a vector with 4 entries, transforms that vector by
  * the matrix, and returns the result as a vector with 4 entries.
- * @param {!o3djs.math.Matrix4} m The matrix.
- * @param {!o3djs.math.Vector4} v The point in homogenous coordinates.
- * @return {!o3djs.math.Vector4} The transformed point in homogenous
+ * @param {!o3djs.flat_math.Matrix4} m The matrix.
+ * @param {!o3djs.flat_math.Vector4} v The point in homogenous coordinates.
+ * @return {!o3djs.flat_math.Vector4} The transformed point in homogenous
  *     coordinates.
  */
-o3djs.math.matrix4.transformVector4 = function(m, v) {
+o3djs.flat_math.matrix4.transformVector4 = function(m, v) {
   var v0 = v[0];
   var v1 = v[1];
   var v2 = v[2];
   var v3 = v[3];
-  var m0 = m[0];
-  var m1 = m[1];
-  var m2 = m[2];
-  var m3 = m[3];
 
-  return [v0 * m0[0] + v1 * m1[0] + v2 * m2[0] + v3 * m3[0],
-          v0 * m0[1] + v1 * m1[1] + v2 * m2[1] + v3 * m3[1],
-          v0 * m0[2] + v1 * m1[2] + v2 * m2[2] + v3 * m3[2],
-          v0 * m0[3] + v1 * m1[3] + v2 * m2[3] + v3 * m3[3]];
+  return [v0 * m[0] +
+          v1 * m[4] +
+          v2 * m[8] +
+          v3 * m[12],
+          v0 * m[1] +
+          v1 * m[5] +
+          v2 * m[9] +
+          v3 * m[13],
+          v0 * m[2] +
+          v1 * m[6] +
+          v2 * m[10] +
+          v3 * m[14],
+          v0 * m[3] +
+          v1 * m[7] +
+          v2 * m[11] +
+          v3 * m[15]];
 };
 
 /**
@@ -1710,22 +2271,24 @@ o3djs.math.matrix4.transformVector4 = function(m, v) {
  * is parallel-preserving, i.e. any combination of rotation, scaling and
  * translation, but not a perspective distortion. Returns a vector with 3
  * entries.
- * @param {!o3djs.math.Matrix4} m The matrix.
- * @param {!o3djs.math.Vector3} v The direction.
- * @return {!o3djs.math.Vector3} The transformed direction.
+ * @param {!o3djs.flat_math.Matrix4} m The matrix.
+ * @param {!o3djs.flat_math.Vector3} v The direction.
+ * @return {!o3djs.flat_math.Vector3} The transformed direction.
  */
-o3djs.math.matrix4.transformDirection = function(m, v) {
+o3djs.flat_math.matrix4.transformDirection = function(m, v) {
   var v0 = v[0];
   var v1 = v[1];
   var v2 = v[2];
-  var m0 = m[0];
-  var m1 = m[1];
-  var m2 = m[2];
-  var m3 = m[3];
 
-  return [v0 * m0[0] + v1 * m1[0] + v2 * m2[0],
-          v0 * m0[1] + v1 * m1[1] + v2 * m2[1],
-          v0 * m0[2] + v1 * m1[2] + v2 * m2[2]];
+  return [v0 * m[0] +
+          v1 * m[4] +
+          v2 * m[8],
+          v0 * m[1] +
+          v1 * m[5] +
+          v2 * m[9],
+          v0 * m[2] +
+          v1 * m[6] +
+          v2 * m[10]];
 };
 
 /**
@@ -1737,50 +2300,49 @@ o3djs.math.matrix4.transformDirection = function(m, v) {
  * matrix is parallel-preserving, i.e. any combination of rotation, scaling and
  * translation, but not a perspective distortion.  Returns a vector with 3
  * entries.
- * @param {!o3djs.math.Matrix4} m The matrix.
- * @param {!o3djs.math.Vector3} v The normal.
- * @return {!o3djs.math.Vector3} The transformed normal.
+ * @param {!o3djs.flat_math.Matrix4} m The matrix.
+ * @param {!o3djs.flat_math.Vector3} v The normal.
+ * @return {!o3djs.flat_math.Vector3} The transformed normal.
  */
-o3djs.math.matrix4.transformNormal = function(m, v) {
-  var mInverse = o3djs.math.inverse4(m);
+o3djs.flat_math.matrix4.transformNormal = function(m, v) {
+  var mInverse = o3djs.flat_math.inverse4(m);
   var v0 = v[0];
   var v1 = v[1];
   var v2 = v[2];
-  var mi0 = mInverse[0];
-  var mi1 = mInverse[1];
-  var mi2 = mInverse[2];
-  var mi3 = mInverse[3];
 
-  return [v0 * mi0[0] + v1 * mi0[1] + v2 * mi0[2],
-          v0 * mi1[0] + v1 * mi1[1] + v2 * mi1[2],
-          v0 * mi2[0] + v1 * mi2[1] + v2 * mi2[2]];
+  return [v0 * mInverse[0] + v1 * mInverse[1] + v2 * mInverse[2],
+          v0 * mInverse[4] +
+          v1 * mInverse[5] +
+          v2 * mInverse[6],
+          v0 * mInverse[8] +
+          v1 * mInverse[9] +
+          v2 * mInverse[10]];
 };
 
 /**
  * Creates a 4-by-4 identity matrix.
- * @return {!o3djs.math.Matrix4} The 4-by-4 identity.
+ * @return {!o3djs.flat_math.Matrix4} The 4-by-4 identity.
  */
-o3djs.math.matrix4.identity = function() {
-  return [
-    [1, 0, 0, 0],
-    [0, 1, 0, 0],
-    [0, 0, 1, 0],
-    [0, 0, 0, 1]
-  ];
+o3djs.flat_math.matrix4.identity = function() {
+  return o3djs.flat_math.makeMatrix4(
+    1, 0, 0, 0,
+    0, 1, 0, 0,
+    0, 0, 1, 0,
+    0, 0, 0, 1);
 };
 
 /**
  * Sets the given 4-by-4 matrix to the identity matrix.
- * @param {!o3djs.math.Matrix4} m The matrix to set to identity.
- * @return {!o3djs.math.Matrix4} m once modified.
+ * @param {!o3djs.flat_math.Matrix4} m The matrix to set to identity.
+ * @return {!o3djs.flat_math.Matrix4} m once modified.
  */
-o3djs.math.matrix4.setIdentity = function(m) {
+o3djs.flat_math.matrix4.setIdentity = function(m) {
   for (var i = 0; i < 4; i++) {
     for (var j = 0; j < 4; j++) {
       if (i == j) {
-        m[i][j] = 1;
+        m[i * 4 + j] = 1;
       } else {
-        m[i][j] = 0;
+        m[i * 4 + j] = 0;
       }
     }
   }
@@ -1804,18 +2366,18 @@ o3djs.math.matrix4.setIdentity = function(m) {
  *     of the near clipping plane.
  * @param {number} far The depth (negative z coordinate)
  *     of the far clipping plane.
- * @return {!o3djs.math.Matrix4} The perspective matrix.
+ * @return {!o3djs.flat_math.Matrix4} The perspective matrix.
  */
-o3djs.math.matrix4.perspective = function(angle, aspect, near, far) {
+o3djs.flat_math.matrix4.perspective = function(angle, aspect, near, far) {
   var f = Math.tan(0.5 * (Math.PI - angle));
   var range = near - far;
 
-  return [
-    [f / aspect, 0, 0, 0],
-    [0, f, 0, 0],
-    [0, 0, far / range, -1],
-    [0, 0, near * far / range, 0]
-  ];
+  return o3djs.flat_math.makeMatrix4 (
+    f / aspect, 0, 0, 0,
+    0, f, 0, 0,
+    0, 0, 2 * far / range + 1, -1,
+    0, 0, 2 * near * far / range, 0
+  );
 };
 
 /**
@@ -1832,18 +2394,17 @@ o3djs.math.matrix4.perspective = function(angle, aspect, near, far) {
  * @param {number} top The y coordinate of the right plane of the box.
  * @param {number} near The negative z coordinate of the near plane of the box.
  * @param {number} far The negative z coordinate of the far plane of the box.
- * @return {!o3djs.math.Matrix4} The orthographic projection matrix.
+ * @return {!o3djs.flat_math.Matrix4} The orthographic projection matrix.
  */
-o3djs.math.matrix4.orthographic =
+o3djs.flat_math.matrix4.orthographic =
     function(left, right, bottom, top, near, far) {
-  return [
-    [2 / (right - left), 0, 0, 0],
-    [0, 2 / (top - bottom), 0, 0],
-    [0, 0, 1 / (near - far), 0],
-    [(left + right) / (left - right),
-     (bottom + top) / (bottom - top),
-     near / (near - far), 1]
-  ];
+  return o3djs.flat_math.makeMatrix4 (
+    2 / (right - left), 0, 0, 0,
+    0, 2 / (top - bottom), 0, 0,
+    0, 0, 2 / (near - far), 0,
+    (left + right) / (left - right),
+    (bottom + top) / (bottom - top),
+    (near + far) / (near - far), 1);
 };
 
 /**
@@ -1861,17 +2422,17 @@ o3djs.math.matrix4.orthographic =
  * @param {number} top The y coordinate of the right plane of the box.
  * @param {number} near The negative z coordinate of the near plane of the box.
  * @param {number} far The negative z coordinate of the far plane of the box.
- * @return {!o3djs.math.Matrix4} The perspective projection matrix.
+ * @return {!o3djs.flat_math.Matrix4} The perspective projection matrix.
  */
-o3djs.math.matrix4.frustum = function(left, right, bottom, top, near, far) {
+o3djs.flat_math.matrix4.frustum = function(left, right, bottom, top, near, far) {
   var dx = (right - left);
   var dy = (top - bottom);
   var dz = (near - far);
-  return [
-    [2 * near / dx, 0, 0, 0],
-    [0, 2 * near / dy, 0, 0],
-    [(left + right) / dx, (top + bottom) / dy, far / dz, -1],
-    [0, 0, near * far / dz, 0]];
+  return o3djs.flat_math.makeMatrix4(
+    2 * near / dx, 0, 0, 0,
+    0, 2 * near / dy, 0, 0,
+    (left + right) / dx, (top + bottom) / dy, far / dz, -1,
+    0, 0, near * far / dz, 0);
 };
 
 /**
@@ -1881,22 +2442,25 @@ o3djs.math.matrix4.frustum = function(left, right, bottom, top, near, far) {
  * vector pointing from the eye to the target to a vector pointing in the
  * negative z direction, and also sends the up vector into the upper half of
  * the yz plane.
- * @param {(!o3djs.math.Vector3|!o3djs.math.Vector4)} eye The position
+ * @param {(!o3djs.flat_math.Vector3|!o3djs.flat_math.Vector4)} eye The position
  *     of the eye.
- * @param {(!o3djs.math.Vector3|!o3djs.math.Vector4)} target The
+ * @param {(!o3djs.flat_math.Vector3|!o3djs.flat_math.Vector4)} target The
  *     position meant to be viewed.
- * @param {(!o3djs.math.Vector3|!o3djs.math.Vector4)} up A vector
+ * @param {(!o3djs.flat_math.Vector3|!o3djs.flat_math.Vector4)} up A vector
  *     pointing up.
- * @return {!o3djs.math.Matrix4} The look-at matrix.
+ * @return {!o3djs.flat_math.Matrix4} The look-at matrix.
  */
-o3djs.math.matrix4.lookAt = function(eye, target, up) {
-  var vz = o3djs.math.normalize(
-      o3djs.math.subVector(eye, target).slice(0, 3)).concat(0);
-  var vx = o3djs.math.normalize(
-      o3djs.math.cross(up, vz)).concat(0);
-  var vy = o3djs.math.cross(vz, vx).concat(0);
-
-  return o3djs.math.inverse([vx, vy, vz, eye.concat(1)]);
+o3djs.flat_math.matrix4.lookAt = function(eye, target, up) {
+  var vz = o3djs.flat_math.normalize(
+      o3djs.flat_math.subVector(eye, target).slice(0, 3));
+  var vx = o3djs.flat_math.normalize(
+      o3djs.flat_math.cross(up, vz));
+  var vy = o3djs.flat_math.cross(vz, vx);
+  return o3djs.flat_math.inverse4(o3djs.flat_math.makeMatrix4(
+      vx[0], vx[1], vx[2], 0,
+      vy[0], vy[1], vy[2], 0,
+      vz[0], vz[1], vz[2], 0,
+      eye[0], eye[1], eye[2], 1));
 };
 
 /**
@@ -1905,67 +2469,60 @@ o3djs.math.matrix4.lookAt = function(eye, target, up) {
  * transform by b first and then a.  Note this is subtly different from just
  * multiplying the matrices together.  For given a and b, this function returns
  * the same object in both row-major and column-major mode.
- * @param {!o3djs.math.Matrix4} a A 4-by-4 matrix.
- * @param {!o3djs.math.Matrix4} b A 4-by-4 matrix.
- * @return {!o3djs.math.Matrix4} the composition of a and b, b first then a.
- */
-o3djs.math.matrix4.composition = function(a, b) {
-  var a0 = a[0];
-  var a1 = a[1];
-  var a2 = a[2];
-  var a3 = a[3];
-  var b0 = b[0];
-  var b1 = b[1];
-  var b2 = b[2];
-  var b3 = b[3];
-  var a00 = a0[0];
-  var a01 = a0[1];
-  var a02 = a0[2];
-  var a03 = a0[3];
-  var a10 = a1[0];
-  var a11 = a1[1];
-  var a12 = a1[2];
-  var a13 = a1[3];
-  var a20 = a2[0];
-  var a21 = a2[1];
-  var a22 = a2[2];
-  var a23 = a2[3];
-  var a30 = a3[0];
-  var a31 = a3[1];
-  var a32 = a3[2];
-  var a33 = a3[3];
-  var b00 = b0[0];
-  var b01 = b0[1];
-  var b02 = b0[2];
-  var b03 = b0[3];
-  var b10 = b1[0];
-  var b11 = b1[1];
-  var b12 = b1[2];
-  var b13 = b1[3];
-  var b20 = b2[0];
-  var b21 = b2[1];
-  var b22 = b2[2];
-  var b23 = b2[3];
-  var b30 = b3[0];
-  var b31 = b3[1];
-  var b32 = b3[2];
-  var b33 = b3[3];
-  return [[a00 * b00 + a10 * b01 + a20 * b02 + a30 * b03,
-           a01 * b00 + a11 * b01 + a21 * b02 + a31 * b03,
-           a02 * b00 + a12 * b01 + a22 * b02 + a32 * b03,
-           a03 * b00 + a13 * b01 + a23 * b02 + a33 * b03],
-          [a00 * b10 + a10 * b11 + a20 * b12 + a30 * b13,
-           a01 * b10 + a11 * b11 + a21 * b12 + a31 * b13,
-           a02 * b10 + a12 * b11 + a22 * b12 + a32 * b13,
-           a03 * b10 + a13 * b11 + a23 * b12 + a33 * b13],
-          [a00 * b20 + a10 * b21 + a20 * b22 + a30 * b23,
-           a01 * b20 + a11 * b21 + a21 * b22 + a31 * b23,
-           a02 * b20 + a12 * b21 + a22 * b22 + a32 * b23,
-           a03 * b20 + a13 * b21 + a23 * b22 + a33 * b23],
-          [a00 * b30 + a10 * b31 + a20 * b32 + a30 * b33,
-           a01 * b30 + a11 * b31 + a21 * b32 + a31 * b33,
-           a02 * b30 + a12 * b31 + a22 * b32 + a32 * b33,
-           a03 * b30 + a13 * b31 + a23 * b32 + a33 * b33]];
+ * @param {!o3djs.flat_math.Matrix4} a A 4-by-4 matrix.
+ * @param {!o3djs.flat_math.Matrix4} b A 4-by-4 matrix.
+ * @return {!o3djs.flat_math.Matrix4} the composition of a and b, b first then a.
+ */
+o3djs.flat_math.matrix4.composition = function(a, b) {
+  var a00 = a[0];
+  var a01 = a[1];
+  var a02 = a[2];
+  var a03 = a[3];
+  var a10 = a[4];
+  var a11 = a[5];
+  var a12 = a[6];
+  var a13 = a[7];
+  var a20 = a[8];
+  var a21 = a[9];
+  var a22 = a[10];
+  var a23 = a[11];
+  var a30 = a[12];
+  var a31 = a[13];
+  var a32 = a[14];
+  var a33 = a[15];
+  var b00 = b[0];
+  var b01 = b[1];
+  var b02 = b[2];
+  var b03 = b[3];
+  var b10 = b[4];
+  var b11 = b[5];
+  var b12 = b[6];
+  var b13 = b[7];
+  var b20 = b[8];
+  var b21 = b[9];
+  var b22 = b[10];
+  var b23 = b[11];
+  var b30 = b[12];
+  var b31 = b[13];
+  var b32 = b[14];
+  var b33 = b[15];
+  return o3djs.flat_math.makeMatrix(
+      a00 * b00 + a10 * b01 + a20 * b02 + a30 * b03,
+      a01 * b00 + a11 * b01 + a21 * b02 + a31 * b03,
+      a02 * b00 + a12 * b01 + a22 * b02 + a32 * b03,
+      a03 * b00 + a13 * b01 + a23 * b02 + a33 * b03,
+      a00 * b10 + a10 * b11 + a20 * b12 + a30 * b13,
+      a01 * b10 + a11 * b11 + a21 * b12 + a31 * b13,
+      a02 * b10 + a12 * b11 + a22 * b12 + a32 * b13,
+      a03 * b10 + a13 * b11 + a23 * b12 + a33 * b13,
+      a00 * b20 + a10 * b21 + a20 * b22 + a30 * b23,
+      a01 * b20 + a11 * b21 + a21 * b22 + a31 * b23,
+      a02 * b20 + a12 * b21 + a22 * b22 + a32 * b23,
+      a03 * b20 + a13 * b21 + a23 * b22 + a33 * b23,
+      a00 * b30 + a10 * b31 + a20 * b32 + a30 * b33,
+      a01 * b30 + a11 * b31 + a21 * b32 + a31 * b33,
+      a02 * b30 + a12 * b31 + a22 * b32 + a32 * b33,
+      a03 * b30 + a13 * b31 + a23 * b32 + a33 * b33);
 };
 
 /**
@@ -1974,121 +2531,105 @@ o3djs.math.matrix4.composition = function(a, b) {
  * transform by b first and then a.  Note this is subtly different from just
  * multiplying the matrices together.  For given a and b, a, upon modification,
  * will be the same object in both row-major and column-major mode.
- * @param {!o3djs.math.Matrix4} a A 4-by-4 matrix.
- * @param {!o3djs.math.Matrix4} b A 4-by-4 matrix.
- * @return {!o3djs.math.Matrix4} a once modified.
- */
-o3djs.math.matrix4.compose = function(a, b) {
-  var a0 = a[0];
-  var a1 = a[1];
-  var a2 = a[2];
-  var a3 = a[3];
-  var b0 = b[0];
-  var b1 = b[1];
-  var b2 = b[2];
-  var b3 = b[3];
-  var a00 = a0[0];
-  var a01 = a0[1];
-  var a02 = a0[2];
-  var a03 = a0[3];
-  var a10 = a1[0];
-  var a11 = a1[1];
-  var a12 = a1[2];
-  var a13 = a1[3];
-  var a20 = a2[0];
-  var a21 = a2[1];
-  var a22 = a2[2];
-  var a23 = a2[3];
-  var a30 = a3[0];
-  var a31 = a3[1];
-  var a32 = a3[2];
-  var a33 = a3[3];
-  var b00 = b0[0];
-  var b01 = b0[1];
-  var b02 = b0[2];
-  var b03 = b0[3];
-  var b10 = b1[0];
-  var b11 = b1[1];
-  var b12 = b1[2];
-  var b13 = b1[3];
-  var b20 = b2[0];
-  var b21 = b2[1];
-  var b22 = b2[2];
-  var b23 = b2[3];
-  var b30 = b3[0];
-  var b31 = b3[1];
-  var b32 = b3[2];
-  var b33 = b3[3];
-  a[0].splice(0, 4, a00 * b00 + a10 * b01 + a20 * b02 + a30 * b03,
-                    a01 * b00 + a11 * b01 + a21 * b02 + a31 * b03,
-                    a02 * b00 + a12 * b01 + a22 * b02 + a32 * b03,
-                    a03 * b00 + a13 * b01 + a23 * b02 + a33 * b03);
-  a[1].splice(0, 4, a00 * b10 + a10 * b11 + a20 * b12 + a30 * b13,
-                    a01 * b10 + a11 * b11 + a21 * b12 + a31 * b13,
-                    a02 * b10 + a12 * b11 + a22 * b12 + a32 * b13,
-                    a03 * b10 + a13 * b11 + a23 * b12 + a33 * b13);
-  a[2].splice(0, 4, a00 * b20 + a10 * b21 + a20 * b22 + a30 * b23,
-                    a01 * b20 + a11 * b21 + a21 * b22 + a31 * b23,
-                    a02 * b20 + a12 * b21 + a22 * b22 + a32 * b23,
-                    a03 * b20 + a13 * b21 + a23 * b22 + a33 * b23),
-  a[3].splice(0, 4, a00 * b30 + a10 * b31 + a20 * b32 + a30 * b33,
-                    a01 * b30 + a11 * b31 + a21 * b32 + a31 * b33,
-                    a02 * b30 + a12 * b31 + a22 * b32 + a32 * b33,
-                    a03 * b30 + a13 * b31 + a23 * b32 + a33 * b33);
+ * @param {!o3djs.flat_math.Matrix4} a A 4-by-4 matrix.
+ * @param {!o3djs.flat_math.Matrix4} b A 4-by-4 matrix.
+ * @return {!o3djs.flat_math.Matrix4} a once modified.
+ */
+o3djs.flat_math.matrix4.compose = function(a, b) {
+  var a00 = a[0];
+  var a01 = a[1];
+  var a02 = a[2];
+  var a03 = a[3];
+  var a10 = a[4];
+  var a11 = a[5];
+  var a12 = a[6];
+  var a13 = a[7];
+  var a20 = a[8];
+  var a21 = a[9];
+  var a22 = a[10];
+  var a23 = a[11];
+  var a30 = a[12];
+  var a31 = a[13];
+  var a32 = a[14];
+  var a33 = a[15];
+  var b00 = b[0];
+  var b01 = b[1];
+  var b02 = b[2];
+  var b03 = b[3];
+  var b10 = b[4];
+  var b11 = b[5];
+  var b12 = b[6];
+  var b13 = b[7];
+  var b20 = b[8];
+  var b21 = b[9];
+  var b22 = b[10];
+  var b23 = b[11];
+  var b30 = b[12];
+  var b31 = b[13];
+  var b32 = b[14];
+  var b33 = b[15];
+  a[0] = a00 * b00 + a10 * b01 + a20 * b02 + a30 * b03;
+  a[1] = a01 * b00 + a11 * b01 + a21 * b02 + a31 * b03;
+  a[2] = a02 * b00 + a12 * b01 + a22 * b02 + a32 * b03;
+  a[3] = a03 * b00 + a13 * b01 + a23 * b02 + a33 * b03;
+  a[4] = a00 * b10 + a10 * b11 + a20 * b12 + a30 * b13;
+  a[5] = a01 * b10 + a11 * b11 + a21 * b12 + a31 * b13;
+  a[6] = a02 * b10 + a12 * b11 + a22 * b12 + a32 * b13;
+  a[7] = a03 * b10 + a13 * b11 + a23 * b12 + a33 * b13;
+  a[8] = a00 * b20 + a10 * b21 + a20 * b22 + a30 * b23;
+  a[9] =  a01 * b20 + a11 * b21 + a21 * b22 + a31 * b23;
+  a[10] = a02 * b20 + a12 * b21 + a22 * b22 + a32 * b23;
+  a[11] = a03 * b20 + a13 * b21 + a23 * b22 + a33 * b23;
+  a[12] = a00 * b30 + a10 * b31 + a20 * b32 + a30 * b33;
+  a[13] = a01 * b30 + a11 * b31 + a21 * b32 + a31 * b33;
+  a[14] = a02 * b30 + a12 * b31 + a22 * b32 + a32 * b33;
+  a[15] = a03 * b30 + a13 * b31 + a23 * b32 + a33 * b33;
   return a;
 };
 
 /**
  * Creates a 4-by-4 matrix which translates by the given vector v.
- * @param {(!o3djs.math.Vector3|!o3djs.math.Vector4)} v The vector by
+ * @param {(!o3djs.flat_math.Vector3|!o3djs.flat_math.Vector4)} v The vector by
  *     which to translate.
- * @return {!o3djs.math.Matrix4} The translation matrix.
+ * @return {!o3djs.flat_math.Matrix4} The translation matrix.
  */
-o3djs.math.matrix4.translation = function(v) {
-  return [
-    [1, 0, 0, 0],
-    [0, 1, 0, 0],
-    [0, 0, 1, 0],
-    [v[0], v[1], v[2], 1]
-  ];
+o3djs.flat_math.matrix4.translation = function(v) {
+  return o3djs.flat_math.makeMatrix4(
+    1, 0, 0, 0,
+    0, 1, 0, 0,
+    0, 0, 1, 0,
+    v[0], v[1], v[2], 1);
 };
 
 /**
  * Modifies the given 4-by-4 matrix by translation by the given vector v.
- * @param {!o3djs.math.Matrix4} m The matrix.
- * @param {(!o3djs.math.Vector3|!o3djs.math.Vector4)} v The vector by
+ * @param {!o3djs.flat_math.Matrix4} m The matrix.
+ * @param {(!o3djs.flat_math.Vector3|!o3djs.flat_math.Vector4)} v The vector by
  *     which to translate.
- * @return {!o3djs.math.Matrix4} m once modified.
- */
-o3djs.math.matrix4.translate = function(m, v) {
-  var v0 = v[0];
-  var v1 = v[1];
-  var v2 = v[2];
-  var m0 = m[0];
-  var m1 = m[1];
-  var m2 = m[2];
-  var m3 = m[3];
-  var m00 = m0[0];
-  var m01 = m0[1];
-  var m02 = m0[2];
-  var m03 = m0[3];
-  var m10 = m1[0];
-  var m11 = m1[1];
-  var m12 = m1[2];
-  var m13 = m1[3];
-  var m20 = m2[0];
-  var m21 = m2[1];
-  var m22 = m2[2];
-  var m23 = m2[3];
-  var m30 = m3[0];
-  var m31 = m3[1];
-  var m32 = m3[2];
-  var m33 = m3[3];
-
-  m3.splice(0, 4, m00 * v0 + m10 * v1 + m20 * v2 + m30,
-                  m01 * v0 + m11 * v1 + m21 * v2 + m31,
-                  m02 * v0 + m12 * v1 + m22 * v2 + m32,
-                  m03 * v0 + m13 * v1 + m23 * v2 + m33);
+ * @return {!o3djs.flat_math.Matrix4} m once modified.
+ */
+o3djs.flat_math.matrix4.translate = function(m, v) {
+  var m00 = m[0];
+  var m01 = m[1];
+  var m02 = m[2];
+  var m03 = m[3];
+  var m10 = m[4];
+  var m11 = m[5];
+  var m12 = m[6];
+  var m13 = m[7];
+  var m20 = m[8];
+  var m21 = m[9];
+  var m22 = m[10];
+  var m23 = m[11];
+  var m30 = m[12];
+  var m31 = m[13];
+  var m32 = m[14];
+  var m33 = m[15];
+
+  m[12] = m00 * v0 + m10 * v1 + m20 * v2 + m30;
+  m[13] = m01 * v0 + m11 * v1 + m21 * v2 + m31;
+  m[14] = m02 * v0 + m12 * v1 + m22 * v2 + m32;
+  m[15] = m03 * v0 + m13 * v1 + m23 * v2 + m33;
 
   return m;
 };
@@ -2097,41 +2638,38 @@ o3djs.math.matrix4.translate = function(m, v) {
  * Creates a 4-by-4 matrix which scales in each dimension by an amount given by
  * the corresponding entry in the given vector; assumes the vector has three
  * entries.
- * @param {!o3djs.math.Vector3} v A vector of
+ * @param {!o3djs.flat_math.Vector3} v A vector of
  *     three entries specifying the factor by which to scale in each dimension.
- * @return {!o3djs.math.Matrix4} The scaling matrix.
+ * @return {!o3djs.flat_math.Matrix4} The scaling matrix.
  */
-o3djs.math.matrix4.scaling = function(v) {
-  return [
-    [v[0], 0, 0, 0],
-    [0, v[1], 0, 0],
-    [0, 0, v[2], 0],
-    [0, 0, 0, 1]
-  ];
+o3djs.flat_math.matrix4.scaling = function(v) {
+  return o3djs.flat_math.makeMatrix(
+    v[0], 0, 0, 0,
+    0, v[1], 0, 0,
+    0, 0, v[2], 0,
+    0, 0, 0, 1
+  );
 };
 
 /**
  * Modifies the given 4-by-4 matrix, scaling in each dimension by an amount
  * given by the corresponding entry in the given vector; assumes the vector has
  * three entries.
- * @param {!o3djs.math.Matrix4} m The matrix to be modified.
- * @param {!o3djs.math.Vector3} v A vector of three entries specifying the
+ * @param {!o3djs.flat_math.Matrix4} m The matrix to be modified.
+ * @param {!o3djs.flat_math.Vector3} v A vector of three entries specifying the
  *     factor by which to scale in each dimension.
- * @return {!o3djs.math.Matrix4} m once modified.
+ * @return {!o3djs.flat_math.Matrix4} m once modified.
  */
-o3djs.math.matrix4.scale = function(m, v) {
+o3djs.flat_math.matrix4.scale = function(m, v) {
   var v0 = v[0];
   var v1 = v[1];
   var v2 = v[2];
 
-  var m0 = m[0];
-  var m1 = m[1];
-  var m2 = m[2];
-  var m3 = m[3];
-
-  m0.splice(0, 4, v0 * m0[0], v0 * m0[1], v0 * m0[2], v0 * m0[3]);
-  m1.splice(0, 4, v1 * m1[0], v1 * m1[1], v1 * m1[2], v1 * m1[3]);
-  m2.splice(0, 4, v2 * m2[0], v2 * m2[1], v2 * m2[2], v2 * m2[3]);
+  for (var i = 0; i < 4; ++i) {
+    m[i] *= v0;
+    m[4 + i] *= v1;
+    m[8 + i] *= v2;
+  }
 
   return m;
 };
@@ -2139,51 +2677,46 @@ o3djs.math.matrix4.scale = function(m, v) {
 /**
  * Creates a 4-by-4 matrix which rotates around the x-axis by the given angle.
  * @param {number} angle The angle by which to rotate (in radians).
- * @return {!o3djs.math.Matrix4} The rotation matrix.
+ * @return {!o3djs.flat_math.Matrix4} The rotation matrix.
  */
-o3djs.math.matrix4.rotationX = function(angle) {
+o3djs.flat_math.matrix4.rotationX = function(angle) {
   var c = Math.cos(angle);
   var s = Math.sin(angle);
 
-  return [
-    [1, 0, 0, 0],
-    [0, c, s, 0],
-    [0, -s, c, 0],
-    [0, 0, 0, 1]
-  ];
+  return o3djs.flat_math.makeMatrix(
+    1, 0, 0, 0,
+    0, c, s, 0,
+    0, -s, c, 0,
+    0, 0, 0, 1);
 };
 
 /**
  * Modifies the given 4-by-4 matrix by a rotation around the x-axis by the given
  * angle.
- * @param {!o3djs.math.Matrix4} m The matrix.
+ * @param {!o3djs.flat_math.Matrix4} m The matrix.
  * @param {number} angle The angle by which to rotate (in radians).
- * @return {!o3djs.math.Matrix4} m once modified.
- */
-o3djs.math.matrix4.rotateX = function(m, angle) {
-  var m0 = m[0];
-  var m1 = m[1];
-  var m2 = m[2];
-  var m3 = m[3];
-  var m10 = m1[0];
-  var m11 = m1[1];
-  var m12 = m1[2];
-  var m13 = m1[3];
-  var m20 = m2[0];
-  var m21 = m2[1];
-  var m22 = m2[2];
-  var m23 = m2[3];
+ * @return {!o3djs.flat_math.Matrix4} m once modified.
+ */
+o3djs.flat_math.matrix4.rotateX = function(m, angle) {
+  var m10 = m[4];
+  var m11 = m[5];
+  var m12 = m[6];
+  var m13 = m[7];
+  var m20 = m[8];
+  var m21 = m[9];
+  var m22 = m[10];
+  var m23 = m[11];
   var c = Math.cos(angle);
   var s = Math.sin(angle);
 
-  m1.splice(0, 4, c * m10 + s * m20,
-                  c * m11 + s * m21,
-                  c * m12 + s * m22,
-                  c * m13 + s * m23);
-  m2.splice(0, 4, c * m20 - s * m10,
-                  c * m21 - s * m11,
-                  c * m22 - s * m12,
-                  c * m23 - s * m13);
+  m[4] = c * m10 + s * m20;
+  m[5] = c * m11 + s * m21;
+  m[6] = c * m12 + s * m22;
+  m[7] = c * m13 + s * m23;
+  m[8] = c * m20 - s * m10;
+  m[9] = c * m21 - s * m11;
+  m[10] = c * m22 - s * m12;
+  m[11] = c * m23 - s * m13;
 
   return m;
 };
@@ -2191,51 +2724,46 @@ o3djs.math.matrix4.rotateX = function(m, angle) {
 /**
  * Creates a 4-by-4 matrix which rotates around the y-axis by the given angle.
  * @param {number} angle The angle by which to rotate (in radians).
- * @return {!o3djs.math.Matrix4} The rotation matrix.
+ * @return {!o3djs.flat_math.Matrix4} The rotation matrix.
  */
-o3djs.math.matrix4.rotationY = function(angle) {
+o3djs.flat_math.matrix4.rotationY = function(angle) {
   var c = Math.cos(angle);
   var s = Math.sin(angle);
 
-  return [
-    [c, 0, -s, 0],
-    [0, 1, 0, 0],
-    [s, 0, c, 0],
-    [0, 0, 0, 1]
-  ];
+  return o3djs.flat_math.makeMatrix(
+    c, 0, -s, 0,
+    0, 1, 0, 0,
+    s, 0, c, 0,
+    0, 0, 0, 1);
 };
 
 /**
  * Modifies the given 4-by-4 matrix by a rotation around the y-axis by the given
  * angle.
- * @param {!o3djs.math.Matrix4} m The matrix.
+ * @param {!o3djs.flat_math.Matrix4} m The matrix.
  * @param {number} angle The angle by which to rotate (in radians).
- * @return {!o3djs.math.Matrix4} m once modified.
- */
-o3djs.math.matrix4.rotateY = function(m, angle) {
-  var m0 = m[0];
-  var m1 = m[1];
-  var m2 = m[2];
-  var m3 = m[3];
-  var m00 = m0[0];
-  var m01 = m0[1];
-  var m02 = m0[2];
-  var m03 = m0[3];
-  var m20 = m2[0];
-  var m21 = m2[1];
-  var m22 = m2[2];
-  var m23 = m2[3];
+ * @return {!o3djs.flat_math.Matrix4} m once modified.
+ */
+o3djs.flat_math.matrix4.rotateY = function(m, angle) {
+  var m00 = m[0];
+  var m01 = m[1];
+  var m02 = m[2];
+  var m03 = m[3];
+  var m20 = m[8];
+  var m21 = m[9];
+  var m22 = m[10];
+  var m23 = m[11];
   var c = Math.cos(angle);
   var s = Math.sin(angle);
 
-  m0.splice(0, 4, c * m00 - s * m20,
-                  c * m01 - s * m21,
-                  c * m02 - s * m22,
-                  c * m03 - s * m23);
-  m2.splice(0, 4, c * m20 + s * m00,
-                  c * m21 + s * m01,
-                  c * m22 + s * m02,
-                  c * m23 + s * m03);
+  m[0] = c * m00 - s * m20;
+  m[1] = c * m01 - s * m21;
+  m[2] = c * m02 - s * m22;
+  m[3] = c * m03 - s * m23;
+  m[8] = c * m20 + s * m00;
+  m[9] = c * m21 + s * m01;
+  m[10] = c * m22 + s * m02;
+  m[11] = c * m23 + s * m03;
 
   return m;
 };
@@ -2243,51 +2771,46 @@ o3djs.math.matrix4.rotateY = function(m, angle) {
 /**
  * Creates a 4-by-4 matrix which rotates around the z-axis by the given angle.
  * @param {number} angle The angle by which to rotate (in radians).
- * @return {!o3djs.math.Matrix4} The rotation matrix.
+ * @return {!o3djs.flat_math.Matrix4} The rotation matrix.
  */
-o3djs.math.matrix4.rotationZ = function(angle) {
+o3djs.flat_math.matrix4.rotationZ = function(angle) {
   var c = Math.cos(angle);
   var s = Math.sin(angle);
 
-  return [
-    [c, s, 0, 0],
-    [-s, c, 0, 0],
-    [0, 0, 1, 0],
-    [0, 0, 0, 1]
-  ];
+  return o3djs.flat_math.makeMatrix(
+    c, s, 0, 0,
+    -s, c, 0, 0,
+    0, 0, 1, 0,
+    0, 0, 0, 1);
 };
 
 /**
  * Modifies the given 4-by-4 matrix by a rotation around the z-axis by the given
  * angle.
- * @param {!o3djs.math.Matrix4} m The matrix.
+ * @param {!o3djs.flat_math.Matrix4} m The matrix.
  * @param {number} angle The angle by which to rotate (in radians).
- * @return {!o3djs.math.Matrix4} m once modified.
- */
-o3djs.math.matrix4.rotateZ = function(m, angle) {
-  var m0 = m[0];
-  var m1 = m[1];
-  var m2 = m[2];
-  var m3 = m[3];
-  var m00 = m0[0];
-  var m01 = m0[1];
-  var m02 = m0[2];
-  var m03 = m0[3];
-  var m10 = m1[0];
-  var m11 = m1[1];
-  var m12 = m1[2];
-  var m13 = m1[3];
+ * @return {!o3djs.flat_math.Matrix4} m once modified.
+ */
+o3djs.flat_math.matrix4.rotateZ = function(m, angle) {
+  var m00 = m[0];
+  var m01 = m[1];
+  var m02 = m[2];
+  var m03 = m[3];
+  var m10 = m[4];
+  var m11 = m[5];
+  var m12 = m[6];
+  var m13 = m[7];
   var c = Math.cos(angle);
   var s = Math.sin(angle);
 
-  m0.splice(0, 4, c * m00 + s * m10,
-                  c * m01 + s * m11,
-                  c * m02 + s * m12,
-                  c * m03 + s * m13);
-  m1.splice(0, 4, c * m10 - s * m00,
-                  c * m11 - s * m01,
-                  c * m12 - s * m02,
-                  c * m13 - s * m03);
+  m[0] = c * m00 + s * m10;
+  m[1] = c * m01 + s * m11;
+  m[2] = c * m02 + s * m12;
+  m[3] = c * m03 + s * m13;
+  m[4] = c * m10 - s * m00;
+  m[5] = c * m11 - s * m01;
+  m[6] = c * m12 - s * m02;
+  m[7] = c * m13 - s * m03;
 
   return m;
 };
@@ -2297,10 +2820,10 @@ o3djs.math.matrix4.rotateZ = function(m, angle) {
  * vector as angles by which to rotate around the x, y and z axes, returns a
  * a matrix which rotates around the x-axis first, then the y-axis, then the
  * z-axis.
- * @param {!o3djs.math.Vector3} v A vector of angles (in radians).
- * @return {!o3djs.math.Matrix4} The rotation matrix.
+ * @param {!o3djs.flat_math.Vector3} v A vector of angles (in radians).
+ * @return {!o3djs.flat_math.Matrix4} The rotation matrix.
  */
-o3djs.math.matrix4.rotationZYX = function(v) {
+o3djs.flat_math.matrix4.rotationZYX = function(v) {
   var sinx = Math.sin(v[0]);
   var cosx = Math.cos(v[0]);
   var siny = Math.sin(v[1]);
@@ -2311,29 +2834,22 @@ o3djs.math.matrix4.rotationZYX = function(v) {
   var coszsiny = cosz * siny;
   var sinzsiny = sinz * siny;
 
-  return [
-    [cosz * cosy, sinz * cosy, -siny, 0],
-    [coszsiny * sinx - sinz * cosx,
-     sinzsiny * sinx + cosz * cosx,
-     cosy * sinx,
-     0],
-    [coszsiny * cosx + sinz * sinx,
-     sinzsiny * cosx - cosz * sinx,
-     cosy * cosx,
-     0],
-    [0, 0, 0, 1]
-  ];
+  return o3djs.flat_math.makeMatrix(
+    cosz * cosy, sinz * cosy, -siny, 0, coszsiny * sinx - sinz * cosx,
+    sinzsiny * sinx + cosz * cosx, cosy * sinx, 0,
+    coszsiny * cosx + sinz * sinx, sinzsiny * cosx - cosz * sinx, cosy * cosx,
+    0, 0, 0, 0, 1);
 };
 
 /**
  * Modifies a 4-by-4 matrix by a rotation.  Interprets the coordinates of the
  * given vector as angles by which to rotate around the x, y and z axes, rotates
  * around the x-axis first, then the y-axis, then the z-axis.
- * @param {!o3djs.math.Matrix4} m The matrix.
- * @param {!o3djs.math.Vector3} v A vector of angles (in radians).
- * @return {!o3djs.math.Matrix4} m once modified.
+ * @param {!o3djs.flat_math.Matrix4} m The matrix.
+ * @param {!o3djs.flat_math.Vector3} v A vector of angles (in radians).
+ * @return {!o3djs.flat_math.Matrix4} m once modified.
  */
-o3djs.math.matrix4.rotateZYX = function(m, v) {
+o3djs.flat_math.matrix4.rotateZYX = function(m, v) {
   var sinX = Math.sin(v[0]);
   var cosX = Math.cos(v[0]);
   var sinY = Math.sin(v[1]);
@@ -2354,45 +2870,37 @@ o3djs.math.matrix4.rotateZYX = function(m, v) {
   var r21 = sinZSinY * cosX - cosZ * sinX;
   var r22 = cosY * cosX;
 
-  var m0 = m[0];
-  var m1 = m[1];
-  var m2 = m[2];
-  var m3 = m[3];
-
-  var m00 = m0[0];
-  var m01 = m0[1];
-  var m02 = m0[2];
-  var m03 = m0[3];
-  var m10 = m1[0];
-  var m11 = m1[1];
-  var m12 = m1[2];
-  var m13 = m1[3];
-  var m20 = m2[0];
-  var m21 = m2[1];
-  var m22 = m2[2];
-  var m23 = m2[3];
-  var m30 = m3[0];
-  var m31 = m3[1];
-  var m32 = m3[2];
-  var m33 = m3[3];
-
-  m0.splice(0, 4,
-      r00 * m00 + r01 * m10 + r02 * m20,
-      r00 * m01 + r01 * m11 + r02 * m21,
-      r00 * m02 + r01 * m12 + r02 * m22,
-      r00 * m03 + r01 * m13 + r02 * m23);
-
-  m1.splice(0, 4,
-      r10 * m00 + r11 * m10 + r12 * m20,
-      r10 * m01 + r11 * m11 + r12 * m21,
-      r10 * m02 + r11 * m12 + r12 * m22,
-      r10 * m03 + r11 * m13 + r12 * m23);
-
-  m2.splice(0, 4,
-      r20 * m00 + r21 * m10 + r22 * m20,
-      r20 * m01 + r21 * m11 + r22 * m21,
-      r20 * m02 + r21 * m12 + r22 * m22,
-      r20 * m03 + r21 * m13 + r22 * m23);
+  var m00 = m[0];
+  var m01 = m[1];
+  var m02 = m[2];
+  var m03 = m[3];
+  var m10 = m[4];
+  var m11 = m[5];
+  var m12 = m[6];
+  var m13 = m[7];
+  var m20 = m[8];
+  var m21 = m[9];
+  var m22 = m[10];
+  var m23 = m[11];
+  var m30 = m[12];
+  var m31 = m[13];
+  var m32 = m[14];
+  var m33 = m[15];
+
+  m[0] = r00 * m00 + r01 * m10 + r02 * m20;
+  m[1] = r00 * m01 + r01 * m11 + r02 * m21;
+  m[2] = r00 * m02 + r01 * m12 + r02 * m22;
+  m[3] = r00 * m03 + r01 * m13 + r02 * m23;
+
+  m[4] = r10 * m00 + r11 * m10 + r12 * m20;
+  m[5] = r10 * m01 + r11 * m11 + r12 * m21;
+  m[6] = r10 * m02 + r11 * m12 + r12 * m22;
+  m[7] = r10 * m03 + r11 * m13 + r12 * m23;
+
+  m[8] = r20 * m00 + r21 * m10 + r22 * m20;
+  m[9] = r20 * m01 + r21 * m11 + r22 * m21;
+  m[10] = r20 * m02 + r21 * m12 + r22 * m22;
+  m[11] = r20 * m03 + r21 * m13 + r22 * m23;
 
   return m;
 };
@@ -2400,13 +2908,13 @@ o3djs.math.matrix4.rotateZYX = function(m, v) {
 /**
  * Creates a 4-by-4 matrix which rotates around the given axis by the given
  * angle.
- * @param {(!o3djs.math.Vector3|!o3djs.math.Vector4)} axis The axis
+ * @param {(!o3djs.flat_math.Vector3|!o3djs.flat_math.Vector4)} axis The axis
  *     about which to rotate.
  * @param {number} angle The angle by which to rotate (in radians).
- * @return {!o3djs.math.Matrix4} A matrix which rotates angle radians
+ * @return {!o3djs.flat_math.Matrix4} A matrix which rotates angle radians
  *     around the axis.
  */
-o3djs.math.matrix4.axisRotation = function(axis, angle) {
+o3djs.flat_math.matrix4.axisRotation = function(axis, angle) {
   var x = axis[0];
   var y = axis[1];
   var z = axis[2];
@@ -2421,33 +2929,33 @@ o3djs.math.matrix4.axisRotation = function(axis, angle) {
   var s = Math.sin(angle);
   var oneMinusCosine = 1 - c;
 
-  return [
-    [xx + (1 - xx) * c,
+  return o3djs.flat_math.makeMatrix(
+    xx + (1 - xx) * c,
      x * y * oneMinusCosine + z * s,
      x * z * oneMinusCosine - y * s,
-     0],
-    [x * y * oneMinusCosine - z * s,
+     0,
+    x * y * oneMinusCosine - z * s,
      yy + (1 - yy) * c,
      y * z * oneMinusCosine + x * s,
-     0],
-    [x * z * oneMinusCosine + y * s,
+     0,
+    x * z * oneMinusCosine + y * s,
      y * z * oneMinusCosine - x * s,
      zz + (1 - zz) * c,
-     0],
-    [0, 0, 0, 1]
-  ];
+     0,
+    0, 0, 0, 1
+  );
 };
 
 /**
  * Modifies the given 4-by-4 matrix by rotation around the given axis by the
  * given angle.
- * @param {!o3djs.math.Matrix4} m The matrix.
- * @param {(!o3djs.math.Vector3|!o3djs.math.Vector4)} axis The axis
+ * @param {!o3djs.flat_math.Matrix4} m The matrix.
+ * @param {(!o3djs.flat_math.Vector3|!o3djs.flat_math.Vector4)} axis The axis
  *     about which to rotate.
  * @param {number} angle The angle by which to rotate (in radians).
- * @return {!o3djs.math.Matrix4} m once modified.
+ * @return {!o3djs.flat_math.Matrix4} m once modified.
  */
-o3djs.math.matrix4.axisRotate = function(m, axis, angle) {
+o3djs.flat_math.matrix4.axisRotate = function(m, axis, angle) {
   var x = axis[0];
   var y = axis[1];
   var z = axis[2];
@@ -2472,97 +2980,105 @@ o3djs.math.matrix4.axisRotate = function(m, axis, angle) {
   var r21 = y * z * oneMinusCosine - x * s;
   var r22 = zz + (1 - zz) * c;
 
-  var m0 = m[0];
-  var m1 = m[1];
-  var m2 = m[2];
-  var m3 = m[3];
-
-  var m00 = m0[0];
-  var m01 = m0[1];
-  var m02 = m0[2];
-  var m03 = m0[3];
-  var m10 = m1[0];
-  var m11 = m1[1];
-  var m12 = m1[2];
-  var m13 = m1[3];
-  var m20 = m2[0];
-  var m21 = m2[1];
-  var m22 = m2[2];
-  var m23 = m2[3];
-  var m30 = m3[0];
-  var m31 = m3[1];
-  var m32 = m3[2];
-  var m33 = m3[3];
-
-  m0.splice(0, 4,
-      r00 * m00 + r01 * m10 + r02 * m20,
-      r00 * m01 + r01 * m11 + r02 * m21,
-      r00 * m02 + r01 * m12 + r02 * m22,
-      r00 * m03 + r01 * m13 + r02 * m23);
-
-  m1.splice(0, 4,
-      r10 * m00 + r11 * m10 + r12 * m20,
-      r10 * m01 + r11 * m11 + r12 * m21,
-      r10 * m02 + r11 * m12 + r12 * m22,
-      r10 * m03 + r11 * m13 + r12 * m23);
-
-  m2.splice(0, 4,
-      r20 * m00 + r21 * m10 + r22 * m20,
-      r20 * m01 + r21 * m11 + r22 * m21,
-      r20 * m02 + r21 * m12 + r22 * m22,
-      r20 * m03 + r21 * m13 + r22 * m23);
+  var m00 = m[0];
+  var m01 = m[1];
+  var m02 = m[2];
+  var m03 = m[3];
+  var m10 = m[4];
+  var m11 = m[5];
+  var m12 = m[6];
+  var m13 = m[7];
+  var m20 = m[8];
+  var m21 = m[9];
+  var m22 = m[10];
+  var m23 = m[11];
+  var m30 = m[12];
+  var m31 = m[13];
+  var m32 = m[14];
+  var m33 = m[15];
+
+  m[0] = r00 * m00 + r01 * m10 + r02 * m20;
+  m[1] = r00 * m01 + r01 * m11 + r02 * m21;
+  m[2] = r00 * m02 + r01 * m12 + r02 * m22;
+  m[3] = r00 * m03 + r01 * m13 + r02 * m23;
+
+  m[4] = r10 * m00 + r11 * m10 + r12 * m20;
+  m[5] = r10 * m01 + r11 * m11 + r12 * m21;
+  m[6] = r10 * m02 + r11 * m12 + r12 * m22;
+  m[7] = r10 * m03 + r11 * m13 + r12 * m23;
+
+  m[8] = r20 * m00 + r21 * m10 + r22 * m20;
+  m[9] = r20 * m01 + r21 * m11 + r22 * m21;
+  m[10] = r20 * m02 + r21 * m12 + r22 * m22;
+  m[11] = r20 * m03 + r21 * m13 + r22 * m23;
 
   return m;
 };
 
 /**
- * Sets each function in the namespace o3djs.math to the row major
- * version in o3djs.math.rowMajor (provided such a function exists in
- * o3djs.math.rowMajor).  Call this function to establish the row major
+ * Sets each function in the namespace o3djs.flat_math to the row major
+ * version in o3djs.flat_math.rowMajor (provided such a function exists in
+ * o3djs.flat_math.rowMajor).  Call this function to establish the row major
  * convention.
  */
-o3djs.math.installRowMajorFunctions = function() {
-  for (var f in o3djs.math.rowMajor) {
-    o3djs.math[f] = o3djs.math.rowMajor[f];
+o3djs.flat_math.installRowMajorFunctions = function() {
+  for (var f in o3djs.flat_math.rowMajor) {
+    o3djs.flat_math[f] = o3djs.flat_math.rowMajor[f];
   }
 };
 
 /**
- * Sets each function in the namespace o3djs.math to the column major
- * version in o3djs.math.columnMajor (provided such a function exists in
- * o3djs.math.columnMajor).  Call this function to establish the column
+ * Sets each function in the namespace o3djs.flat_math to the column major
+ * version in o3djs.flat_math.columnMajor (provided such a function exists in
+ * o3djs.flat_math.columnMajor).  Call this function to establish the column
  * major convention.
  */
-o3djs.math.installColumnMajorFunctions = function() {
-  for (var f in o3djs.math.columnMajor) {
-    o3djs.math[f] = o3djs.math.columnMajor[f];
+o3djs.flat_math.installColumnMajorFunctions = function() {
+  for (var f in o3djs.flat_math.columnMajor) {
+    o3djs.flat_math[f] = o3djs.flat_math.columnMajor[f];
   }
 };
 
 /**
- * Sets each function in the namespace o3djs.math to the error checking
- * version in o3djs.math.errorCheck (provided such a function exists in
- * o3djs.math.errorCheck).
+ * Sets each function in the namespace o3djs.flat_math to the error checking
+ * version in o3djs.flat_math.errorCheck (provided such a function exists in
+ * o3djs.flat_math.errorCheck).
  */
-o3djs.math.installErrorCheckFunctions = function() {
-  for (var f in o3djs.math.errorCheck) {
-    o3djs.math[f] = o3djs.math.errorCheck[f];
+o3djs.flat_math.installErrorCheckFunctions = function() {
+  for (var f in o3djs.flat_math.errorCheck) {
+    o3djs.flat_math[f] = o3djs.flat_math.errorCheck[f];
   }
 };
 
 /**
- * Sets each function in the namespace o3djs.math to the error checking free
- * version in o3djs.math.errorCheckFree (provided such a function exists in
- * o3djs.math.errorCheckFree).
+ * Sets each function in the namespace o3djs.flat_math to the error checking free
+ * version in o3djs.flat_math.errorCheckFree (provided such a function exists in
+ * o3djs.flat_math.errorCheckFree).
  */
-o3djs.math.installErrorCheckFreeFunctions = function() {
-  for (var f in o3djs.math.errorCheckFree) {
-    o3djs.math[f] = o3djs.math.errorCheckFree[f];
+o3djs.flat_math.installErrorCheckFreeFunctions = function() {
+  for (var f in o3djs.flat_math.errorCheckFree) {
+    o3djs.flat_math[f] = o3djs.flat_math.errorCheckFree[f];
   }
-}
+};
 
 // By default, install the row-major functions.
-o3djs.math.installRowMajorFunctions();
+o3djs.flat_math.installRowMajorFunctions();
 
 // By default, install prechecking.
-o3djs.math.installErrorCheckFunctions();
+o3djs.flat_math.installErrorCheckFunctions();
+
+if (!use_plugin_math) {
+  for (var i in o3djs.flat_math) {
+    o3djs.math[i] = o3djs.flat_math[i];
+  }
+}
+
+
+/**
+ * True if we are using the plugin math library in which matrices are
+ * represented by 2-dimensional arrays.
+ * @type {boolean}
+ * @private
+ */
+o3djs.math.usePluginMath_ = true;
+
diff --git a/o3d/samples/o3djs/plugin_math.js b/o3d/samples/o3djs/plugin_math.js
new file mode 100644
index 0000000..799ce78
--- /dev/null
+++ b/o3d/samples/o3djs/plugin_math.js
@@ -0,0 +1,2621 @@
+/*
+ * Copyright 2009, Google Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are
+ * met:
+ *
+ *     * Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above
+ * copyright notice, this list of conditions and the following disclaimer
+ * in the documentation and/or other materials provided with the
+ * distribution.
+ *     * Neither the name of Google Inc. nor the names of its
+ * contributors may be used to endorse or promote products derived from
+ * this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+ * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+
+/**
+ * @fileoverview This file contains matrix/vector math functions.
+ * It adds them to the "math" module on the o3djs object.
+ *
+ * o3djs.math supports a row-major and a column-major mode.  In both
+ * modes, vectors are stored as arrays of numbers, and matrices are stored as
+ * arrays of arrays of numbers.
+ *
+ * In row-major mode:
+ *
+ * - Rows of a matrix are sub-arrays.
+ * - Individual entries of a matrix M get accessed in M[row][column] fashion.
+ * - Tuples of coordinates are interpreted as row-vectors.
+ * - A vector v gets transformed by a matrix M by multiplying in the order v*M.
+ *
+ * In column-major mode:
+ *
+ * - Columns of a matrix are sub-arrays.
+ * - Individual entries of a matrix M get accessed in M[column][row] fashion.
+ * - Tuples of coordinates are interpreted as column-vectors.
+ * - A matrix M transforms a vector v by multiplying in the order M*v.
+ *
+ * When a function in o3djs.math requires separate row-major and
+ * column-major versions, a function with the same name gets added to each of
+ * the namespaces o3djs.math.rowMajor and o3djs.math.columnMajor. The
+ * function installRowMajorFunctions() or the function
+ * installColumnMajorFunctions() should get called during initialization to
+ * establish the mode.  installRowMajorFunctions() works by iterating through
+ * the o3djs.math.rowMajor namespace and for each function foo, setting
+ * o3djs.math.foo equal to o3djs.math.rowMajor.foo.
+ * installRowMajorFunctions() works the same way, iterating over the columnMajor
+ * namespace.  At the end of this file, we call installRowMajorFunctions().
+ *
+ * Switching modes changes two things.  It changes how a matrix is encoded as an
+ * array, and it changes how the entries of a matrix get interpreted.  Because
+ * those two things change together, the matrix representing a given
+ * transformation of space is the same JavaScript object in either mode.
+ * One consequence of this is that very few functions require separate row-major
+ * and column-major versions.  Typically, a function requires separate versions
+ * only if it makes matrix multiplication order explicit, like
+ * mulMatrixMatrix(), mulMatrixVector(), or mulVectorMatrix().  Functions which
+ * create a new matrix, like scaling(), rotationZYX(), and translation() return
+ * the same JavaScript object in either mode, and functions which implicitly
+ * multiply like scale(), rotateZYX() and translate() modify the matrix in the
+ * same way in either mode.
+ *
+ * The convention choice made for math functions in this library is independent
+ * of the convention choice for how matrices get loaded into shaders.  That
+ * convention is determined on a per-shader basis.
+ *
+ * Other utilities in o3djs should avoid making calls to functions that make
+ * multiplication order explicit.  Instead they should appeal to functions like:
+ *
+ * o3djs.math.matrix4.transformPoint
+ * o3djs.math.matrix4.transformDirection
+ * o3djs.math.matrix4.transformNormal
+ * o3djs.math.matrix4.transformVector4
+ * o3djs.math.matrix4.composition
+ * o3djs.math.matrix4.compose
+ *
+ * These functions multiply matrices implicitly and internally choose the
+ * multiplication order to get the right result.  That way, utilities which use
+ * o3djs.math work in either major mode.  Note that this does not necessarily
+ * mean all sample code will work even if a line is added which switches major
+ * modes, but it does mean that calls to o3djs still do what they are supposed
+ * to.
+ *
+ */
+
+o3djs.provide('o3djs.math');
+
+/**
+ * A module for math for o3djs.math.
+ * @namespace
+ */
+o3djs.math = o3djs.math || {};
+
+/**
+ * A random seed for the pseudoRandom function.
+ * @private
+ * @type {number}
+ */
+o3djs.math.randomSeed_ = 0;
+
+/**
+ * A constant for the pseudoRandom function
+ * @private
+ * @type {number}
+ */
+o3djs.math.RANDOM_RANGE_ = Math.pow(2, 32);
+
+/**
+ * Functions which deal with 4-by-4 transformation matrices are kept in their
+ * own namespsace.
+ * @namespace
+ */
+o3djs.math.matrix4 = o3djs.math.matrix4 || {};
+
+/**
+ * Functions that are specifically row major are kept in their own namespace.
+ * @namespace
+ */
+o3djs.math.rowMajor = o3djs.math.rowMajor || {};
+
+/**
+ * Functions that are specifically column major are kept in their own namespace.
+ * @namespace
+ */
+o3djs.math.columnMajor = o3djs.math.columnMajor || {};
+
+/**
+ * Functions that do error checking are stored in their own namespace.
+ * @namespace
+ */
+o3djs.math.errorCheck = o3djs.math.errorCheck || {};
+
+/**
+ * Functions that do no error checking and have a separate version that does in
+ * o3djs.math.errorCheck are stored in their own namespace.
+ * @namespace
+ */
+o3djs.math.errorCheckFree = o3djs.math.errorCheckFree || {};
+
+/**
+ * An Array of 2 floats
+ * @type {(!Array.<number>|!o3d.Float2)}
+ */
+o3djs.math.Vector2 = goog.typedef;
+
+/**
+ * An Array of 3 floats
+ * @type {(!Array.<number>|!o3d.Float3)}
+ */
+o3djs.math.Vector3 = goog.typedef;
+
+/**
+ * An Array of 4 floats
+ * @type {(!Array.<number>|!o3d.Float4)}
+ */
+o3djs.math.Vector4 = goog.typedef;
+
+/**
+ * An Array of floats.
+ * @type {!Array.<number>}
+ */
+o3djs.math.Vector = goog.typedef;
+
+/**
+ * A 1x1 Matrix of floats
+ * @type {!Array.<!Array.<number>>}
+ */
+o3djs.math.Matrix1 = goog.typedef;
+
+/**
+ * A 2x2 Matrix of floats
+ * @type {!Array.<!Array.<number>>}
+ */
+o3djs.math.Matrix2 = goog.typedef;
+
+/**
+ * A 3x3 Matrix of floats
+ * @type {!Array.<!Array.<number>>}
+ */
+o3djs.math.Matrix3 = goog.typedef;
+
+/**
+ * A 4x4 Matrix of floats
+ * @type {(!Array.<!Array.<number>>|!o3d.Matrix4)}
+ */
+o3djs.math.Matrix4 = goog.typedef;
+
+/**
+ * A arbitrary size Matrix of floats
+ * @type {(!Array.<!Array.<number>>|!o3d.Matrix4)}
+ */
+o3djs.math.Matrix = goog.typedef;
+
+
+o3djs.math.makeMatrix = function(a,b,c,d,
+                                 e,f,g,h,
+                                 i,j,k,l,
+                                 m,n,o,p) {
+  if (p===undefined) {
+    if (i===undefined) {
+        return [[a,b],
+                [c,d]];
+    }
+    return [[a,b,c],
+            [d,e,f],
+            [g,h,i]];
+  }
+  return [[a,b,c,d],
+          [e,f,g,h],
+          [i,j,k,l],
+          [m,n,o,p]];
+};
+
+o3djs.math.makeMatrix2 = function(a,b,
+                                  c,d) {
+  return [[a,b],
+          [c,d]];
+};
+o3djs.math.makeMatrix3 = function(a,b,c,
+                                  d,e,f,
+                                  g,h,i) {
+    return [[a,b,c],
+            [d,e,f],
+            [g,h,i]];
+};
+o3djs.math.makeMatrix4 = function(a,b,c,d,
+                                  e,f,g,h,
+                                  i,j,k,l,
+                                  m,n,o,p) {
+  return [[a,b,c,d],
+          [e,f,g,h],
+          [i,j,k,l],
+          [m,n,o,p]];
+};
+
+
+
+/**
+ * Returns a deterministic pseudorandom number between 0 and 1
+ * @return {number} a random number between 0 and 1
+ */
+o3djs.math.pseudoRandom = function() {
+  var math = o3djs.math;
+  return (math.randomSeed_ =
+          (134775813 * math.randomSeed_ + 1) %
+          math.RANDOM_RANGE_) / math.RANDOM_RANGE_;
+};
+
+/**
+ * Resets the pseudoRandom function sequence.
+ */
+o3djs.math.resetPseudoRandom = function() {
+  o3djs.math.randomSeed_ = 0;
+};
+
+/**
+ * Converts degrees to radians.
+ * @param {number} degrees A value in degrees.
+ * @return {number} the value in radians.
+ */
+o3djs.math.degToRad = function(degrees) {
+  return degrees * Math.PI / 180;
+};
+
+/**
+ * Converts radians to degrees.
+ * @param {number} radians A value in radians.
+ * @return {number} the value in degrees.
+ */
+o3djs.math.radToDeg = function(radians) {
+  return radians * 180 / Math.PI;
+};
+
+/**
+ * Performs linear interpolation on two scalars.
+ * Given scalars a and b and interpolation coefficient t, returns
+ * (1 - t) * a + t * b.
+ * @param {number} a Operand scalar.
+ * @param {number} b Operand scalar.
+ * @param {number} t Interpolation coefficient.
+ * @return {number} The weighted sum of a and b.
+ */
+o3djs.math.lerpScalar = function(a, b, t) {
+  return (1 - t) * a + t * b;
+};
+
+/**
+ * Adds two vectors; assumes a and b have the same dimension.
+ * @param {!o3djs.math.Vector} a Operand vector.
+ * @param {!o3djs.math.Vector} b Operand vector.
+ * @return {!o3djs.math.Vector} The sum of a and b.
+ */
+o3djs.math.addVector = function(a, b) {
+  var r = [];
+  var aLength = a.length;
+  for (var i = 0; i < aLength; ++i)
+    r[i] = a[i] + b[i];
+  return r;
+};
+
+/**
+ * Subtracts two vectors.
+ * @param {!o3djs.math.Vector} a Operand vector.
+ * @param {!o3djs.math.Vector} b Operand vector.
+ * @return {!o3djs.math.Vector} The difference of a and b.
+ */
+o3djs.math.subVector = function(a, b) {
+  var r = [];
+  var aLength = a.length;
+  for (var i = 0; i < aLength; ++i)
+    r[i] = a[i] - b[i];
+  return r;
+};
+
+/**
+ * Performs linear interpolation on two vectors.
+ * Given vectors a and b and interpolation coefficient t, returns
+ * (1 - t) * a + t * b.
+ * @param {!o3djs.math.Vector} a Operand vector.
+ * @param {!o3djs.math.Vector} b Operand vector.
+ * @param {number} t Interpolation coefficient.
+ * @return {!o3djs.math.Vector} The weighted sum of a and b.
+ */
+o3djs.math.lerpVector = function(a, b, t) {
+  var r = [];
+  var aLength = a.length;
+  for (var i = 0; i < aLength; ++i)
+    r[i] = (1 - t) * a[i] + t * b[i];
+  return r;
+};
+
+/**
+ * Clamps a value between 0 and range using a modulo.
+ * @param {number} v Value to clamp mod.
+ * @param {number} range Range to clamp to.
+ * @param {number} opt_rangeStart start of range. Default = 0.
+ * @return {number} Clamp modded value.
+ */
+o3djs.math.modClamp = function(v, range, opt_rangeStart) {
+  var start = opt_rangeStart || 0;
+  if (range < 0.00001) {
+    return start;
+  }
+  v -= start;
+  if (v < 0) {
+    v -= Math.floor(v / range) * range;
+  } else {
+    v = v % range;
+  }
+  return v + start;
+};
+
+/**
+ * Lerps in a circle.
+ * Does a lerp between a and b but inside range so for example if
+ * range is 100, a is 95 and b is 5 lerping will go in the positive direction.
+ * @param {number} a Start value.
+ * @param {number} b Target value.
+ * @param {number} t Amount to lerp (0 to 1).
+ * @param {number} range Range of circle.
+ * @return {number} lerped result.
+ */
+o3djs.math.lerpCircular = function(a, b, t, range) {
+  a = o3djs.math.modClamp(a, range);
+  b = o3djs.math.modClamp(b, range);
+  var delta = b - a;
+  if (Math.abs(delta) > range * 0.5) {
+    if (delta > 0) {
+      b -= range;
+    } else {
+      b += range;
+    }
+  }
+  return o3djs.math.modClamp(o3djs.math.lerpScalar(a, b, t), range);
+};
+
+/**
+ * Lerps radians.
+ * @param {number} a Start value.
+ * @param {number} b Target value.
+ * @param {number} t Amount to lerp (0 to 1).
+ * @return {number} lerped result.
+ */
+o3djs.math.lerpRadian = function(a, b, t) {
+  return o3djs.math.lerpCircular(a, b, t, Math.PI * 2);
+};
+
+/**
+ * Divides a vector by a scalar.
+ * @param {!o3djs.math.Vector} v The vector.
+ * @param {number} k The scalar.
+ * @return {!o3djs.math.Vector} v The vector v divided by k.
+ */
+o3djs.math.divVectorScalar = function(v, k) {
+  var r = [];
+  var vLength = v.length;
+  for (var i = 0; i < vLength; ++i)
+    r[i] = v[i] / k;
+  return r;
+};
+
+/**
+ * Computes the dot product of two vectors; assumes that a and b have
+ * the same dimension.
+ * @param {!o3djs.math.Vector} a Operand vector.
+ * @param {!o3djs.math.Vector} b Operand vector.
+ * @return {number} The dot product of a and b.
+ */
+o3djs.math.dot = function(a, b) {
+  var r = 0.0;
+  var aLength = a.length;
+  for (var i = 0; i < aLength; ++i)
+    r += a[i] * b[i];
+  return r;
+};
+
+/**
+ * Computes the cross product of two vectors; assumes both vectors have
+ * three entries.
+ * @param {!o3djs.math.Vector} a Operand vector.
+ * @param {!o3djs.math.Vector} b Operand vector.
+ * @return {!o3djs.math.Vector} The vector a cross b.
+ */
+o3djs.math.cross = function(a, b) {
+  return [a[1] * b[2] - a[2] * b[1],
+          a[2] * b[0] - a[0] * b[2],
+          a[0] * b[1] - a[1] * b[0]];
+};
+
+/**
+ * Computes the Euclidean length of a vector, i.e. the square root of the
+ * sum of the squares of the entries.
+ * @param {!o3djs.math.Vector} a The vector.
+ * @return {number} The length of a.
+ */
+o3djs.math.length = function(a) {
+  var r = 0.0;
+  var aLength = a.length;
+  for (var i = 0; i < aLength; ++i)
+    r += a[i] * a[i];
+  return Math.sqrt(r);
+};
+
+/**
+ * Computes the square of the Euclidean length of a vector, i.e. the sum
+ * of the squares of the entries.
+ * @param {!o3djs.math.Vector} a The vector.
+ * @return {number} The square of the length of a.
+ */
+o3djs.math.lengthSquared = function(a) {
+  var r = 0.0;
+  var aLength = a.length;
+  for (var i = 0; i < aLength; ++i)
+    r += a[i] * a[i];
+  return r;
+};
+
+/**
+ * Computes the Euclidean distance between two vectors.
+ * @param {!o3djs.math.Vector} a A vector.
+ * @param {!o3djs.math.Vector} b A vector.
+ * @return {number} The distance between a and b.
+ */
+o3djs.math.distance = function(a, b) {
+  var r = 0.0;
+  var aLength = a.length;
+  for (var i = 0; i < aLength; ++i) {
+    var t = a[i] - b[i];
+    r += t * t;
+  }
+  return Math.sqrt(r);
+};
+
+/**
+ * Computes the square of the Euclidean distance between two vectors.
+ * @param {!o3djs.math.Vector} a A vector.
+ * @param {!o3djs.math.Vector} b A vector.
+ * @return {number} The distance between a and b.
+ */
+o3djs.math.distanceSquared = function(a, b) {
+  var r = 0.0;
+  var aLength = a.length;
+  for (var i = 0; i < aLength; ++i) {
+    var t = a[i] - b[i];
+    r += t * t;
+  }
+  return r;
+};
+
+/**
+ * Divides a vector by its Euclidean length and returns the quotient.
+ * @param {!o3djs.math.Vector} a The vector.
+ * @return {!o3djs.math.Vector} The normalized vector.
+ */
+o3djs.math.normalize = function(a) {
+  var r = [];
+  var n = 0.0;
+  var aLength = a.length;
+  for (var i = 0; i < aLength; ++i)
+    n += a[i] * a[i];
+  n = Math.sqrt(n);
+  for (var i = 0; i < aLength; ++i)
+    r[i] = a[i] / n;
+  return r;
+};
+
+/**
+ * Adds two matrices; assumes a and b are the same size.
+ * @param {!o3djs.math.Matrix} a Operand matrix.
+ * @param {!o3djs.math.Matrix} b Operand matrix.
+ * @return {!o3djs.math.Matrix} The sum of a and b.
+ */
+o3djs.math.addMatrix = function(a, b) {
+  var r = [];
+  var aLength = a.length;
+  var a0Length = a[0].length;
+  for (var i = 0; i < aLength; ++i) {
+    var row = [];
+    var ai = a[i];
+    var bi = b[i];
+    for (var j = 0; j < a0Length; ++j)
+      row[j] = ai[j] + bi[j];
+    r[i] = row;
+  }
+  return r;
+};
+
+/**
+ * Subtracts two matrices; assumes a and b are the same size.
+ * @param {!o3djs.math.Matrix} a Operand matrix.
+ * @param {!o3djs.math.Matrix} b Operand matrix.
+ * @return {!o3djs.math.Matrix} The sum of a and b.
+ */
+o3djs.math.subMatrix = function(a, b) {
+  var r = [];
+  var aLength = a.length;
+  var a0Length = a[0].length;
+  for (var i = 0; i < aLength; ++i) {
+    var row = [];
+    var ai = a[i];
+    var bi = b[i];
+    for (var j = 0; j < a0Length; ++j)
+      row[j] = ai[j] - bi[j];
+    r[i] = row;
+  }
+  return r;
+};
+
+/**
+ * Performs linear interpolation on two matrices.
+ * Given matrices a and b and interpolation coefficient t, returns
+ * (1 - t) * a + t * b.
+ * @param {!o3djs.math.Matrix} a Operand matrix.
+ * @param {!o3djs.math.Matrix} b Operand matrix.
+ * @param {number} t Interpolation coefficient.
+ * @return {!o3djs.math.Matrix} The weighted of a and b.
+ */
+o3djs.math.lerpMatrix = function(a, b, t) {
+  var r = [];
+  var aLength = a.length;
+  var a0Length = a[0].length;
+  for (var i = 0; i < aLength; ++i) {
+    var row = [];
+    var ai = a[i];
+    var bi = b[i];
+    for (var j = 0; j < a0Length; ++j)
+      row[j] = (1 - t) * ai[j] + t * bi[j];
+    r[i] = row;
+  }
+  return r;
+};
+
+/**
+ * Divides a matrix by a scalar.
+ * @param {!o3djs.math.Matrix} m The matrix.
+ * @param {number} k The scalar.
+ * @return {!o3djs.math.Matrix} The matrix m divided by k.
+ */
+o3djs.math.divMatrixScalar = function(m, k) {
+  var r = [];
+  var mLength = m.length;
+  var m0Length = m[0].length;
+  for (var i = 0; i < mLength; ++i) {
+    r[i] = [];
+    for (var j = 0; j < m0Length; ++j)
+      r[i][j] = m[i][j] / k;
+  }
+  return r;
+};
+
+/**
+ * Negates a scalar.
+ * @param {number} a The scalar.
+ * @return {number} -a.
+ */
+o3djs.math.negativeScalar = function(a) {
+ return -a;
+};
+
+/**
+ * Negates a vector.
+ * @param {!o3djs.math.Vector} v The vector.
+ * @return {!o3djs.math.Vector} -v.
+ */
+o3djs.math.negativeVector = function(v) {
+ var r = [];
+ var vLength = v.length;
+ for (var i = 0; i < vLength; ++i) {
+   r[i] = -v[i];
+ }
+ return r;
+};
+
+/**
+ * Negates a matrix.
+ * @param {!o3djs.math.Matrix} m The matrix.
+ * @return {!o3djs.math.Matrix} -m.
+ */
+o3djs.math.negativeMatrix = function(m) {
+ var r = [];
+ var mLength = m.length;
+ var m0Length = m[0].length;
+ for (var i = 0; i < mLength; ++i) {
+   r[i] = [];
+   for (var j = 0; j < m0Length; ++j)
+     r[i][j] = -m[i][j];
+ }
+ return r;
+};
+
+/**
+ * Copies a scalar.
+ * @param {number} a The scalar.
+ * @return {number} a.
+ */
+o3djs.math.copyScalar = function(a) {
+  return a;
+};
+
+/**
+ * Copies a vector.
+ * @param {!o3djs.math.Vector} v The vector.
+ * @return {!o3djs.math.Vector} A copy of v.
+ */
+o3djs.math.copyVector = function(v) {
+  var r = [];
+  for (var i = 0; i < v.length; i++)
+    r[i] = v[i];
+  return r;
+};
+
+/**
+ * Copies a matrix.
+ * @param {!o3djs.math.Matrix} m The matrix.
+ * @return {!o3djs.math.Matrix} A copy of m.
+ */
+o3djs.math.copyMatrix = function(m) {
+  var r = [];
+  var mLength = m.length;
+  for (var i = 0; i < mLength; ++i) {
+    r[i] = [];
+    for (var j = 0; j < m[i].length; j++) {
+      r[i][j] = m[i][j];
+    }
+  }
+  return r;
+};
+
+/**
+ * Returns the elements of a matrix as a one-dimensional array. The
+ * rows or columns (depending on whether the matrix is row-major or
+ * column-major) are concatenated.
+ * @param {!o3djs.math.Matrix} m The matrix.
+ * @return {!Array.<number>} The matrix's elements as a one-dimensional array.
+ */
+o3djs.math.getMatrixElements = function(m) {
+  var r = [];
+  var mLength = m.length;
+  var k = 0;
+  for (var i = 0; i < mLength; i++) {
+    for (var j = 0; j < m[i].length; j++) {
+      r[k++] = m[i][j];
+    }
+  }
+  return r;
+};
+
+/**
+ * Multiplies two scalars.
+ * @param {number} a Operand scalar.
+ * @param {number} b Operand scalar.
+ * @return {number} The product of a and b.
+ */
+o3djs.math.mulScalarScalar = function(a, b) {
+  return a * b;
+};
+
+/**
+ * Multiplies a scalar by a vector.
+ * @param {number} k The scalar.
+ * @param {!o3djs.math.Vector} v The vector.
+ * @return {!o3djs.math.Vector} The product of k and v.
+ */
+o3djs.math.mulScalarVector = function(k, v) {
+  var r = [];
+  var vLength = v.length;
+  for (var i = 0; i < vLength; ++i) {
+    r[i] = k * v[i];
+  }
+  return r;
+};
+
+/**
+ * Multiplies a vector by a scalar.
+ * @param {!o3djs.math.Vector} v The vector.
+ * @param {number} k The scalar.
+ * @return {!o3djs.math.Vector} The product of k and v.
+ */
+o3djs.math.mulVectorScalar = function(v, k) {
+  return o3djs.math.mulScalarVector(k, v);
+};
+
+/**
+ * Multiplies a scalar by a matrix.
+ * @param {number} k The scalar.
+ * @param {!o3djs.math.Matrix} m The matrix.
+ * @return {!o3djs.math.Matrix} The product of m and k.
+ */
+o3djs.math.mulScalarMatrix = function(k, m) {
+  var r = [];
+  var mLength = m.length;
+  var m0Length = m[0].length;
+  for (var i = 0; i < mLength; ++i) {
+    r[i] = [];
+    for (var j = 0; j < m0Length; ++j)
+      r[i][j] = k * m[i][j];
+  }
+  return r;
+};
+
+/**
+ * Multiplies a matrix by a scalar.
+ * @param {!o3djs.math.Matrix} m The matrix.
+ * @param {number} k The scalar.
+ * @return {!o3djs.math.Matrix} The product of m and k.
+ */
+o3djs.math.mulMatrixScalar = function(m, k) {
+  return o3djs.math.mulScalarMatrix(k, m);
+};
+
+/**
+ * Multiplies a vector by another vector (component-wise); assumes a and
+ * b have the same length.
+ * @param {!o3djs.math.Vector} a Operand vector.
+ * @param {!o3djs.math.Vector} b Operand vector.
+ * @return {!o3djs.math.Vector} The vector of products of entries of a and
+ *     b.
+ */
+o3djs.math.mulVectorVector = function(a, b) {
+  var r = [];
+  var aLength = a.length;
+  for (var i = 0; i < aLength; ++i)
+    r[i] = a[i] * b[i];
+  return r;
+};
+
+/**
+ * Divides a vector by another vector (component-wise); assumes a and
+ * b have the same length.
+ * @param {!o3djs.math.Vector} a Operand vector.
+ * @param {!o3djs.math.Vector} b Operand vector.
+ * @return {!o3djs.math.Vector} The vector of quotients of entries of a and
+ *     b.
+ */
+o3djs.math.divVectorVector = function(a, b) {
+  var r = [];
+  var aLength = a.length;
+  for (var i = 0; i < aLength; ++i)
+    r[i] = a[i] / b[i];
+  return r;
+};
+
+/**
+ * Multiplies a vector by a matrix; treats the vector as a row vector; assumes
+ * matrix entries are accessed in [row][column] fashion.
+ * @param {!o3djs.math.Vector} v The vector.
+ * @param {!o3djs.math.Matrix} m The matrix.
+ * @return {!o3djs.math.Vector} The product of v and m as a row vector.
+ */
+o3djs.math.rowMajor.mulVectorMatrix = function(v, m) {
+  var r = [];
+  var m0Length = m[0].length;
+  var vLength = v.length;
+  for (var i = 0; i < m0Length; ++i) {
+    r[i] = 0.0;
+    for (var j = 0; j < vLength; ++j)
+      r[i] += v[j] * m[j][i];
+  }
+  return r;
+};
+
+/**
+ * Multiplies a vector by a matrix; treats the vector as a row vector; assumes
+ * matrix entries are accessed in [column][row] fashion.
+ * @param {!o3djs.math.Vector} v The vector.
+ * @param {!o3djs.math.Matrix} m The matrix.
+ * @return {!o3djs.math.Vector} The product of v and m as a row vector.
+ */
+o3djs.math.columnMajor.mulVectorMatrix = function(v, m) {
+  var r = [];
+  var mLength = m.length;
+  var vLength = v.length;
+  for (var i = 0; i < mLength; ++i) {
+    r[i] = 0.0;
+    var column = m[i];
+    for (var j = 0; j < vLength; ++j)
+      r[i] += v[j] * column[j];
+  }
+  return r;
+};
+
+/**
+ * Multiplies a vector by a matrix; treats the vector as a row vector.
+ * @param {!o3djs.math.Matrix} m The matrix.
+ * @param {!o3djs.math.Vector} v The vector.
+ * @return {!o3djs.math.Vector} The product of m and v as a row vector.
+ */
+o3djs.math.mulVectorMatrix = null;
+
+/**
+ * Multiplies a matrix by a vector; treats the vector as a column vector.
+ * assumes matrix entries are accessed in [row][column] fashion.
+ * @param {!o3djs.math.Matrix} m The matrix.
+ * @param {!o3djs.math.Vector} v The vector.
+ * @return {!o3djs.math.Vector} The product of m and v as a column vector.
+ */
+o3djs.math.rowMajor.mulMatrixVector = function(m, v) {
+  var r = [];
+  var mLength = m.length;
+  var m0Length = m[0].length;
+  for (var i = 0; i < mLength; ++i) {
+    r[i] = 0.0;
+    var row = m[i];
+    for (var j = 0; j < m0Length; ++j)
+      r[i] += row[j] * v[j];
+  }
+  return r;
+};
+
+/**
+ * Multiplies a matrix by a vector; treats the vector as a column vector;
+ * assumes matrix entries are accessed in [column][row] fashion.
+ * @param {!o3djs.math.Matrix} m The matrix.
+ * @param {!o3djs.math.Vector} v The vector.
+ * @return {!o3djs.math.Vector} The product of m and v as a column vector.
+ */
+o3djs.math.columnMajor.mulMatrixVector = function(m, v) {
+  var r = [];
+  var m0Length = m[0].length;
+  var vLength = v.length;
+  for (var i = 0; i < m0Length; ++i) {
+    r[i] = 0.0;
+    for (var j = 0; j < vLength; ++j)
+      r[i] += v[j] * m[j][i];
+  }
+  return r;
+};
+
+/**
+ * Multiplies a matrix by a vector; treats the vector as a column vector.
+ * @param {!o3djs.math.Matrix} m The matrix.
+ * @param {!o3djs.math.Vector} v The vector.
+ * @return {!o3djs.math.Vector} The product of m and v as a column vector.
+ */
+o3djs.math.mulMatrixVector = null;
+
+/**
+ * Multiplies two 2-by-2 matrices; assumes that the given matrices are 2-by-2;
+ * assumes matrix entries are accessed in [row][column] fashion.
+ * @param {!o3djs.math.Matrix2} a The matrix on the left.
+ * @param {!o3djs.math.Matrix2} b The matrix on the right.
+ * @return {!o3djs.math.Matrix2} The matrix product of a and b.
+ */
+o3djs.math.rowMajor.mulMatrixMatrix2 = function(a, b) {
+  var a0 = a[0];
+  var a1 = a[1];
+  var b0 = b[0];
+  var b1 = b[1];
+  var a00 = a0[0];
+  var a01 = a0[1];
+  var a10 = a1[0];
+  var a11 = a1[1];
+  var b00 = b0[0];
+  var b01 = b0[1];
+  var b10 = b1[0];
+  var b11 = b1[1];
+  return [[a00 * b00 + a01 * b10, a00 * b01 + a01 * b11],
+          [a10 * b00 + a11 * b10, a10 * b01 + a11 * b11]];
+};
+
+/**
+ * Multiplies two 2-by-2 matrices; assumes that the given matrices are 2-by-2;
+ * assumes matrix entries are accessed in [column][row] fashion.
+ * @param {!o3djs.math.Matrix2} a The matrix on the left.
+ * @param {!o3djs.math.Matrix2} b The matrix on the right.
+ * @return {!o3djs.math.Matrix2} The matrix product of a and b.
+ */
+o3djs.math.columnMajor.mulMatrixMatrix2 = function(a, b) {
+  var a0 = a[0];
+  var a1 = a[1];
+  var b0 = b[0];
+  var b1 = b[1];
+  var a00 = a0[0];
+  var a01 = a0[1];
+  var a10 = a1[0];
+  var a11 = a1[1];
+  var b00 = b0[0];
+  var b01 = b0[1];
+  var b10 = b1[0];
+  var b11 = b1[1];
+  return [[a00 * b00 + a10 * b01, a01 * b00 + a11 * b01],
+          [a00 * b10 + a10 * b11, a01 * b10 + a11 * b11]];
+};
+
+/**
+ * Multiplies two 2-by-2 matrices.
+ * @param {!o3djs.math.Matrix2} a The matrix on the left.
+ * @param {!o3djs.math.Matrix2} b The matrix on the right.
+ * @return {!o3djs.math.Matrix2} The matrix product of a and b.
+ */
+o3djs.math.mulMatrixMatrix2 = null;
+
+
+/**
+ * Multiplies two 3-by-3 matrices; assumes that the given matrices are 3-by-3;
+ * assumes matrix entries are accessed in [row][column] fashion.
+ * @param {!o3djs.math.Matrix3} a The matrix on the left.
+ * @param {!o3djs.math.Matrix3} b The matrix on the right.
+ * @return {!o3djs.math.Matrix3} The matrix product of a and b.
+ */
+o3djs.math.rowMajor.mulMatrixMatrix3 = function(a, b) {
+  var a0 = a[0];
+  var a1 = a[1];
+  var a2 = a[2];
+  var b0 = b[0];
+  var b1 = b[1];
+  var b2 = b[2];
+  var a00 = a0[0];
+  var a01 = a0[1];
+  var a02 = a0[2];
+  var a10 = a1[0];
+  var a11 = a1[1];
+  var a12 = a1[2];
+  var a20 = a2[0];
+  var a21 = a2[1];
+  var a22 = a2[2];
+  var b00 = b0[0];
+  var b01 = b0[1];
+  var b02 = b0[2];
+  var b10 = b1[0];
+  var b11 = b1[1];
+  var b12 = b1[2];
+  var b20 = b2[0];
+  var b21 = b2[1];
+  var b22 = b2[2];
+  return [[a00 * b00 + a01 * b10 + a02 * b20,
+           a00 * b01 + a01 * b11 + a02 * b21,
+           a00 * b02 + a01 * b12 + a02 * b22],
+          [a10 * b00 + a11 * b10 + a12 * b20,
+           a10 * b01 + a11 * b11 + a12 * b21,
+           a10 * b02 + a11 * b12 + a12 * b22],
+          [a20 * b00 + a21 * b10 + a22 * b20,
+           a20 * b01 + a21 * b11 + a22 * b21,
+           a20 * b02 + a21 * b12 + a22 * b22]];
+};
+
+/**
+ * Multiplies two 3-by-3 matrices; assumes that the given matrices are 3-by-3;
+ * assumes matrix entries are accessed in [column][row] fashion.
+ * @param {!o3djs.math.Matrix3} a The matrix on the left.
+ * @param {!o3djs.math.Matrix3} b The matrix on the right.
+ * @return {!o3djs.math.Matrix3} The matrix product of a and b.
+ */
+o3djs.math.columnMajor.mulMatrixMatrix3 = function(a, b) {
+  var a0 = a[0];
+  var a1 = a[1];
+  var a2 = a[2];
+  var b0 = b[0];
+  var b1 = b[1];
+  var b2 = b[2];
+  var a00 = a0[0];
+  var a01 = a0[1];
+  var a02 = a0[2];
+  var a10 = a1[0];
+  var a11 = a1[1];
+  var a12 = a1[2];
+  var a20 = a2[0];
+  var a21 = a2[1];
+  var a22 = a2[2];
+  var b00 = b0[0];
+  var b01 = b0[1];
+  var b02 = b0[2];
+  var b10 = b1[0];
+  var b11 = b1[1];
+  var b12 = b1[2];
+  var b20 = b2[0];
+  var b21 = b2[1];
+  var b22 = b2[2];
+  return [[a00 * b00 + a10 * b01 + a20 * b02,
+           a01 * b00 + a11 * b01 + a21 * b02,
+           a02 * b00 + a12 * b01 + a22 * b02],
+          [a00 * b10 + a10 * b11 + a20 * b12,
+           a01 * b10 + a11 * b11 + a21 * b12,
+           a02 * b10 + a12 * b11 + a22 * b12],
+          [a00 * b20 + a10 * b21 + a20 * b22,
+           a01 * b20 + a11 * b21 + a21 * b22,
+           a02 * b20 + a12 * b21 + a22 * b22]];
+};
+
+/**
+ * Multiplies two 3-by-3 matrices; assumes that the given matrices are 3-by-3.
+ * @param {!o3djs.math.Matrix3} a The matrix on the left.
+ * @param {!o3djs.math.Matrix3} b The matrix on the right.
+ * @return {!o3djs.math.Matrix3} The matrix product of a and b.
+ */
+o3djs.math.mulMatrixMatrix3 = null;
+
+/**
+ * Multiplies two 4-by-4 matrices; assumes that the given matrices are 4-by-4;
+ * assumes matrix entries are accessed in [row][column] fashion.
+ * @param {!o3djs.math.Matrix4} a The matrix on the left.
+ * @param {!o3djs.math.Matrix4} b The matrix on the right.
+ * @return {!o3djs.math.Matrix4} The matrix product of a and b.
+ */
+o3djs.math.rowMajor.mulMatrixMatrix4 = function(a, b) {
+  var a0 = a[0];
+  var a1 = a[1];
+  var a2 = a[2];
+  var a3 = a[3];
+  var b0 = b[0];
+  var b1 = b[1];
+  var b2 = b[2];
+  var b3 = b[3];
+  var a00 = a0[0];
+  var a01 = a0[1];
+  var a02 = a0[2];
+  var a03 = a0[3];
+  var a10 = a1[0];
+  var a11 = a1[1];
+  var a12 = a1[2];
+  var a13 = a1[3];
+  var a20 = a2[0];
+  var a21 = a2[1];
+  var a22 = a2[2];
+  var a23 = a2[3];
+  var a30 = a3[0];
+  var a31 = a3[1];
+  var a32 = a3[2];
+  var a33 = a3[3];
+  var b00 = b0[0];
+  var b01 = b0[1];
+  var b02 = b0[2];
+  var b03 = b0[3];
+  var b10 = b1[0];
+  var b11 = b1[1];
+  var b12 = b1[2];
+  var b13 = b1[3];
+  var b20 = b2[0];
+  var b21 = b2[1];
+  var b22 = b2[2];
+  var b23 = b2[3];
+  var b30 = b3[0];
+  var b31 = b3[1];
+  var b32 = b3[2];
+  var b33 = b3[3];
+  return [[a00 * b00 + a01 * b10 + a02 * b20 + a03 * b30,
+           a00 * b01 + a01 * b11 + a02 * b21 + a03 * b31,
+           a00 * b02 + a01 * b12 + a02 * b22 + a03 * b32,
+           a00 * b03 + a01 * b13 + a02 * b23 + a03 * b33],
+          [a10 * b00 + a11 * b10 + a12 * b20 + a13 * b30,
+           a10 * b01 + a11 * b11 + a12 * b21 + a13 * b31,
+           a10 * b02 + a11 * b12 + a12 * b22 + a13 * b32,
+           a10 * b03 + a11 * b13 + a12 * b23 + a13 * b33],
+          [a20 * b00 + a21 * b10 + a22 * b20 + a23 * b30,
+           a20 * b01 + a21 * b11 + a22 * b21 + a23 * b31,
+           a20 * b02 + a21 * b12 + a22 * b22 + a23 * b32,
+           a20 * b03 + a21 * b13 + a22 * b23 + a23 * b33],
+          [a30 * b00 + a31 * b10 + a32 * b20 + a33 * b30,
+           a30 * b01 + a31 * b11 + a32 * b21 + a33 * b31,
+           a30 * b02 + a31 * b12 + a32 * b22 + a33 * b32,
+           a30 * b03 + a31 * b13 + a32 * b23 + a33 * b33]];
+};
+
+/**
+ * Multiplies two 4-by-4 matrices; assumes that the given matrices are 4-by-4;
+ * assumes matrix entries are accessed in [column][row] fashion.
+ * @param {!o3djs.math.Matrix4} a The matrix on the left.
+ * @param {!o3djs.math.Matrix4} b The matrix on the right.
+ * @return {!o3djs.math.Matrix4} The matrix product of a and b.
+ */
+o3djs.math.columnMajor.mulMatrixMatrix4 = function(a, b) {
+  var a0 = a[0];
+  var a1 = a[1];
+  var a2 = a[2];
+  var a3 = a[3];
+  var b0 = b[0];
+  var b1 = b[1];
+  var b2 = b[2];
+  var b3 = b[3];
+  var a00 = a0[0];
+  var a01 = a0[1];
+  var a02 = a0[2];
+  var a03 = a0[3];
+  var a10 = a1[0];
+  var a11 = a1[1];
+  var a12 = a1[2];
+  var a13 = a1[3];
+  var a20 = a2[0];
+  var a21 = a2[1];
+  var a22 = a2[2];
+  var a23 = a2[3];
+  var a30 = a3[0];
+  var a31 = a3[1];
+  var a32 = a3[2];
+  var a33 = a3[3];
+  var b00 = b0[0];
+  var b01 = b0[1];
+  var b02 = b0[2];
+  var b03 = b0[3];
+  var b10 = b1[0];
+  var b11 = b1[1];
+  var b12 = b1[2];
+  var b13 = b1[3];
+  var b20 = b2[0];
+  var b21 = b2[1];
+  var b22 = b2[2];
+  var b23 = b2[3];
+  var b30 = b3[0];
+  var b31 = b3[1];
+  var b32 = b3[2];
+  var b33 = b3[3];
+  return [[a00 * b00 + a10 * b01 + a20 * b02 + a30 * b03,
+           a01 * b00 + a11 * b01 + a21 * b02 + a31 * b03,
+           a02 * b00 + a12 * b01 + a22 * b02 + a32 * b03,
+           a03 * b00 + a13 * b01 + a23 * b02 + a33 * b03],
+          [a00 * b10 + a10 * b11 + a20 * b12 + a30 * b13,
+           a01 * b10 + a11 * b11 + a21 * b12 + a31 * b13,
+           a02 * b10 + a12 * b11 + a22 * b12 + a32 * b13,
+           a03 * b10 + a13 * b11 + a23 * b12 + a33 * b13],
+          [a00 * b20 + a10 * b21 + a20 * b22 + a30 * b23,
+           a01 * b20 + a11 * b21 + a21 * b22 + a31 * b23,
+           a02 * b20 + a12 * b21 + a22 * b22 + a32 * b23,
+           a03 * b20 + a13 * b21 + a23 * b22 + a33 * b23],
+          [a00 * b30 + a10 * b31 + a20 * b32 + a30 * b33,
+           a01 * b30 + a11 * b31 + a21 * b32 + a31 * b33,
+           a02 * b30 + a12 * b31 + a22 * b32 + a32 * b33,
+           a03 * b30 + a13 * b31 + a23 * b32 + a33 * b33]];
+};
+
+/**
+ * Multiplies two 4-by-4 matrices; assumes that the given matrices are 4-by-4.
+ * @param {!o3djs.math.Matrix4} a The matrix on the left.
+ * @param {!o3djs.math.Matrix4} b The matrix on the right.
+ * @return {!o3djs.math.Matrix4} The matrix product of a and b.
+ */
+o3djs.math.mulMatrixMatrix4 = null;
+
+/**
+ * Multiplies two matrices; assumes that the sizes of the matrices are
+ * appropriately compatible; assumes matrix entries are accessed in
+ * [row][column] fashion.
+ * @param {!o3djs.math.Matrix} a The matrix on the left.
+ * @param {!o3djs.math.Matrix} b The matrix on the right.
+ * @return {!o3djs.math.Matrix} The matrix product of a and b.
+ */
+o3djs.math.rowMajor.mulMatrixMatrix = function(a, b) {
+  var r = [];
+  var aRows = a.length;
+  var bColumns = b[0].length;
+  var bRows = b.length;
+  for (var i = 0; i < aRows; ++i) {
+    var v = [];    // v becomes a row of the answer.
+    var ai = a[i]; // ith row of a.
+    for (var j = 0; j < bColumns; ++j) {
+      v[j] = 0.0;
+      for (var k = 0; k < bRows; ++k)
+        v[j] += ai[k] * b[k][j]; // kth row, jth column.
+    }
+    r[i] = v;
+  }
+  return r;
+};
+
+/**
+ * Multiplies two matrices; assumes that the sizes of the matrices are
+ * appropriately compatible; assumes matrix entries are accessed in
+ * [row][column] fashion.
+ * @param {!o3djs.math.Matrix} a The matrix on the left.
+ * @param {!o3djs.math.Matrix} b The matrix on the right.
+ * @return {!o3djs.math.Matrix} The matrix product of a and b.
+ */
+o3djs.math.columnMajor.mulMatrixMatrix = function(a, b) {
+  var r = [];
+  var bColumns = b.length;
+  var aRows = a[0].length;
+  var aColumns = a.length;
+  for (var i = 0; i < bColumns; ++i) {
+    var v = [];    // v becomes a column of the answer.
+    var bi = b[i]; // ith column of b.
+    for (var j = 0; j < aRows; ++j) {
+      v[j] = 0.0;
+      for (var k = 0; k < aColumns; ++k)
+        v[j] += bi[k] * a[k][j]; // kth column, jth row.
+    }
+    r[i] = v;
+  }
+  return r;
+};
+
+/**
+ * Multiplies two matrices; assumes that the sizes of the matrices are
+ * appropriately compatible.
+ * @param {!o3djs.math.Matrix} a The matrix on the left.
+ * @param {!o3djs.math.Matrix} b The matrix on the right.
+ * @return {!o3djs.math.Matrix} The matrix product of a and b.
+ */
+o3djs.math.mulMatrixMatrix = null;
+
+/**
+ * Gets the jth column of the given matrix m; assumes matrix entries are
+ * accessed in [row][column] fashion.
+ * @param {!o3djs.math.Matrix} m The matrix.
+ * @param {number} j The index of the desired column.
+ * @return {!o3djs.math.Vector} The jth column of m as a vector.
+ */
+o3djs.math.rowMajor.column = function(m, j) {
+  var r = [];
+  var mLength = m.length;
+  for (var i = 0; i < mLength; ++i) {
+    r[i] = m[i][j];
+  }
+  return r;
+};
+
+/**
+ * Gets the jth column of the given matrix m; assumes matrix entries are
+ * accessed in [column][row] fashion.
+ * @param {!o3djs.math.Matrix} m The matrix.
+ * @param {number} j The index of the desired column.
+ * @return {!o3djs.math.Vector} The jth column of m as a vector.
+ */
+o3djs.math.columnMajor.column = function(m, j) {
+  return m[j].slice();
+};
+
+/**
+ * Gets the jth column of the given matrix m.
+ * @param {!o3djs.math.Matrix} m The matrix.
+ * @param {number} j The index of the desired column.
+ * @return {!o3djs.math.Vector} The jth column of m as a vector.
+ */
+o3djs.math.column = null;
+
+/**
+ * Gets the ith row of the given matrix m; assumes matrix entries are
+ * accessed in [row][column] fashion.
+ * @param {!o3djs.math.Matrix} m The matrix.
+ * @param {number} i The index of the desired row.
+ * @return {!o3djs.math.Vector} The ith row of m.
+ */
+o3djs.math.rowMajor.row = function(m, i) {
+  return m[i].slice();
+};
+
+/**
+ * Gets the ith row of the given matrix m; assumes matrix entries are
+ * accessed in [column][row] fashion.
+ * @param {!o3djs.math.Matrix} m The matrix.
+ * @param {number} i The index of the desired row.
+ * @return {!o3djs.math.Vector} The ith row of m.
+ */
+o3djs.math.columnMajor.row = function(m, i) {
+  var r = [];
+  var mLength = m.length;
+  for (var j = 0; j < mLength; ++j) {
+    r[j] = m[j][i];
+  }
+  return r;
+};
+
+/**
+ * Gets the ith row of the given matrix m.
+ * @param {!o3djs.math.Matrix} m The matrix.
+ * @param {number} i The index of the desired row.
+ * @return {!o3djs.math.Vector} The ith row of m.
+ */
+o3djs.math.row = null;
+
+/**
+ * Creates an n-by-n identity matrix.
+ * @param {number} n The dimension of the identity matrix required.
+ * @return {!o3djs.math.Matrix} An n-by-n identity matrix.
+ */
+o3djs.math.identity = function(n) {
+  var r = [];
+  for (var j = 0; j < n; ++j) {
+    r[j] = [];
+    for (var i = 0; i < n; ++i)
+      r[j][i] = (i == j) ? 1 : 0;
+  }
+  return r;
+};
+
+/**
+ * Takes the transpose of a matrix.
+ * @param {!o3djs.math.Matrix} m The matrix.
+ * @return {!o3djs.math.Matrix} The transpose of m.
+ */
+o3djs.math.transpose = function(m) {
+  var r = [];
+  var m0Length = m[0].length;
+  var mLength = m.length;
+  for (var j = 0; j < m0Length; ++j) {
+    r[j] = [];
+    for (var i = 0; i < mLength; ++i)
+      r[j][i] = m[i][j];
+  }
+  return r;
+};
+
+/**
+ * Computes the trace (sum of the diagonal entries) of a square matrix;
+ * assumes m is square.
+ * @param {!o3djs.math.Matrix} m The matrix.
+ * @return {number} The trace of m.
+ */
+o3djs.math.trace = function(m) {
+  var r = 0.0;
+  var mLength = m.length;
+  for (var i = 0; i < mLength; ++i)
+    r += m[i][i];
+  return r;
+};
+
+/**
+ * Computes the determinant of a 1-by-1 matrix.
+ * @param {!o3djs.math.Matrix1} m The matrix.
+ * @return {number} The determinant of m.
+ */
+o3djs.math.det1 = function(m) {
+  return m[0][0];
+};
+
+/**
+ * Computes the determinant of a 2-by-2 matrix.
+ * @param {!o3djs.math.Matrix2} m The matrix.
+ * @return {number} The determinant of m.
+ */
+o3djs.math.det2 = function(m) {
+  return m[0][0] * m[1][1] - m[0][1] * m[1][0];
+};
+
+/**
+ * Computes the determinant of a 3-by-3 matrix.
+ * @param {!o3djs.math.Matrix3} m The matrix.
+ * @return {number} The determinant of m.
+ */
+o3djs.math.det3 = function(m) {
+  return m[2][2] * (m[0][0] * m[1][1] - m[0][1] * m[1][0]) -
+         m[2][1] * (m[0][0] * m[1][2] - m[0][2] * m[1][0]) +
+         m[2][0] * (m[0][1] * m[1][2] - m[0][2] * m[1][1]);
+};
+
+/**
+ * Computes the determinant of a 4-by-4 matrix.
+ * @param {!o3djs.math.Matrix4} m The matrix.
+ * @return {number} The determinant of m.
+ */
+o3djs.math.det4 = function(m) {
+  var t01 = m[0][0] * m[1][1] - m[0][1] * m[1][0];
+  var t02 = m[0][0] * m[1][2] - m[0][2] * m[1][0];
+  var t03 = m[0][0] * m[1][3] - m[0][3] * m[1][0];
+  var t12 = m[0][1] * m[1][2] - m[0][2] * m[1][1];
+  var t13 = m[0][1] * m[1][3] - m[0][3] * m[1][1];
+  var t23 = m[0][2] * m[1][3] - m[0][3] * m[1][2];
+  return m[3][3] * (m[2][2] * t01 - m[2][1] * t02 + m[2][0] * t12) -
+         m[3][2] * (m[2][3] * t01 - m[2][1] * t03 + m[2][0] * t13) +
+         m[3][1] * (m[2][3] * t02 - m[2][2] * t03 + m[2][0] * t23) -
+         m[3][0] * (m[2][3] * t12 - m[2][2] * t13 + m[2][1] * t23);
+};
+
+/**
+ * Computes the inverse of a 1-by-1 matrix.
+ * @param {!o3djs.math.Matrix1} m The matrix.
+ * @return {!o3djs.math.Matrix1} The inverse of m.
+ */
+o3djs.math.inverse1 = function(m) {
+  return [[1.0 / m[0][0]]];
+};
+
+/**
+ * Computes the inverse of a 2-by-2 matrix.
+ * @param {!o3djs.math.Matrix2} m The matrix.
+ * @return {!o3djs.math.Matrix2} The inverse of m.
+ */
+o3djs.math.inverse2 = function(m) {
+  var d = 1.0 / (m[0][0] * m[1][1] - m[0][1] * m[1][0]);
+  return [[d * m[1][1], -d * m[0][1]], [-d * m[1][0], d * m[0][0]]];
+};
+
+/**
+ * Computes the inverse of a 3-by-3 matrix.
+ * @param {!o3djs.math.Matrix3} m The matrix.
+ * @return {!o3djs.math.Matrix3} The inverse of m.
+ */
+o3djs.math.inverse3 = function(m) {
+  var t00 = m[1][1] * m[2][2] - m[1][2] * m[2][1];
+  var t10 = m[0][1] * m[2][2] - m[0][2] * m[2][1];
+  var t20 = m[0][1] * m[1][2] - m[0][2] * m[1][1];
+  var d = 1.0 / (m[0][0] * t00 - m[1][0] * t10 + m[2][0] * t20);
+  return [[d * t00, -d * t10, d * t20],
+          [-d * (m[1][0] * m[2][2] - m[1][2] * m[2][0]),
+            d * (m[0][0] * m[2][2] - m[0][2] * m[2][0]),
+           -d * (m[0][0] * m[1][2] - m[0][2] * m[1][0])],
+          [d * (m[1][0] * m[2][1] - m[1][1] * m[2][0]),
+          -d * (m[0][0] * m[2][1] - m[0][1] * m[2][0]),
+           d * (m[0][0] * m[1][1] - m[0][1] * m[1][0])]];
+};
+
+/**
+ * Computes the inverse of a 4-by-4 matrix.
+ * @param {!o3djs.math.Matrix4} m The matrix.
+ * @return {!o3djs.math.Matrix4} The inverse of m.
+ */
+o3djs.math.inverse4 = function(m) {
+  var tmp_0 = m[2][2] * m[3][3];
+  var tmp_1 = m[3][2] * m[2][3];
+  var tmp_2 = m[1][2] * m[3][3];
+  var tmp_3 = m[3][2] * m[1][3];
+  var tmp_4 = m[1][2] * m[2][3];
+  var tmp_5 = m[2][2] * m[1][3];
+  var tmp_6 = m[0][2] * m[3][3];
+  var tmp_7 = m[3][2] * m[0][3];
+  var tmp_8 = m[0][2] * m[2][3];
+  var tmp_9 = m[2][2] * m[0][3];
+  var tmp_10 = m[0][2] * m[1][3];
+  var tmp_11 = m[1][2] * m[0][3];
+  var tmp_12 = m[2][0] * m[3][1];
+  var tmp_13 = m[3][0] * m[2][1];
+  var tmp_14 = m[1][0] * m[3][1];
+  var tmp_15 = m[3][0] * m[1][1];
+  var tmp_16 = m[1][0] * m[2][1];
+  var tmp_17 = m[2][0] * m[1][1];
+  var tmp_18 = m[0][0] * m[3][1];
+  var tmp_19 = m[3][0] * m[0][1];
+  var tmp_20 = m[0][0] * m[2][1];
+  var tmp_21 = m[2][0] * m[0][1];
+  var tmp_22 = m[0][0] * m[1][1];
+  var tmp_23 = m[1][0] * m[0][1];
+
+  var t0 = (tmp_0 * m[1][1] + tmp_3 * m[2][1] + tmp_4 * m[3][1]) -
+      (tmp_1 * m[1][1] + tmp_2 * m[2][1] + tmp_5 * m[3][1]);
+  var t1 = (tmp_1 * m[0][1] + tmp_6 * m[2][1] + tmp_9 * m[3][1]) -
+      (tmp_0 * m[0][1] + tmp_7 * m[2][1] + tmp_8 * m[3][1]);
+  var t2 = (tmp_2 * m[0][1] + tmp_7 * m[1][1] + tmp_10 * m[3][1]) -
+      (tmp_3 * m[0][1] + tmp_6 * m[1][1] + tmp_11 * m[3][1]);
+  var t3 = (tmp_5 * m[0][1] + tmp_8 * m[1][1] + tmp_11 * m[2][1]) -
+      (tmp_4 * m[0][1] + tmp_9 * m[1][1] + tmp_10 * m[2][1]);
+
+  var d = 1.0 / (m[0][0] * t0 + m[1][0] * t1 + m[2][0] * t2 + m[3][0] * t3);
+
+  var row0 = [d * t0, d * t1, d * t2, d * t3];
+  var row1 = [d * ((tmp_1 * m[1][0] + tmp_2 * m[2][0] + tmp_5 * m[3][0]) -
+          (tmp_0 * m[1][0] + tmp_3 * m[2][0] + tmp_4 * m[3][0])),
+       d * ((tmp_0 * m[0][0] + tmp_7 * m[2][0] + tmp_8 * m[3][0]) -
+          (tmp_1 * m[0][0] + tmp_6 * m[2][0] + tmp_9 * m[3][0])),
+       d * ((tmp_3 * m[0][0] + tmp_6 * m[1][0] + tmp_11 * m[3][0]) -
+          (tmp_2 * m[0][0] + tmp_7 * m[1][0] + tmp_10 * m[3][0])),
+       d * ((tmp_4 * m[0][0] + tmp_9 * m[1][0] + tmp_10 * m[2][0]) -
+          (tmp_5 * m[0][0] + tmp_8 * m[1][0] + tmp_11 * m[2][0]))];
+  var row2 =[d * ((tmp_12 * m[1][3] + tmp_15 * m[2][3] + tmp_16 * m[3][3]) -
+          (tmp_13 * m[1][3] + tmp_14 * m[2][3] + tmp_17 * m[3][3])),
+       d * ((tmp_13 * m[0][3] + tmp_18 * m[2][3] + tmp_21 * m[3][3]) -
+          (tmp_12 * m[0][3] + tmp_19 * m[2][3] + tmp_20 * m[3][3])),
+       d * ((tmp_14 * m[0][3] + tmp_19 * m[1][3] + tmp_22 * m[3][3]) -
+          (tmp_15 * m[0][3] + tmp_18 * m[1][3] + tmp_23 * m[3][3])),
+       d * ((tmp_17 * m[0][3] + tmp_20 * m[1][3] + tmp_23 * m[2][3]) -
+          (tmp_16 * m[0][3] + tmp_21 * m[1][3] + tmp_22 * m[2][3]))];
+  var row3 = [d * ((tmp_14 * m[2][2] + tmp_17 * m[3][2] + tmp_13 * m[1][2]) -
+          (tmp_16 * m[3][2] + tmp_12 * m[1][2] + tmp_15 * m[2][2])),
+       d * ((tmp_20 * m[3][2] + tmp_12 * m[0][2] + tmp_19 * m[2][2]) -
+          (tmp_18 * m[2][2] + tmp_21 * m[3][2] + tmp_13 * m[0][2])),
+       d * ((tmp_18 * m[1][2] + tmp_23 * m[3][2] + tmp_15 * m[0][2]) -
+          (tmp_22 * m[3][2] + tmp_14 * m[0][2] + tmp_19 * m[1][2])),
+       d * ((tmp_22 * m[2][2] + tmp_16 * m[0][2] + tmp_21 * m[1][2]) -
+          (tmp_20 * m[1][2] + tmp_23 * m[2][2] + tmp_17 * m[0][2]))];
+  return [row0, row1, row2, row3];
+};
+
+/**
+ * Computes the determinant of the cofactor matrix obtained by removal
+ * of a specified row and column.  This is a helper function for the general
+ * determinant and matrix inversion functions.
+ * @param {!o3djs.math.Matrix} a The original matrix.
+ * @param {number} x The row to be removed.
+ * @param {number} y The column to be removed.
+ * @return {number} The determinant of the matrix obtained by removing
+ *     row x and column y from a.
+ */
+o3djs.math.codet = function(a, x, y) {
+  var size = a.length;
+  var b = [];
+  var ai = 0;
+  for (var bi = 0; bi < size - 1; ++bi) {
+    if (ai == x)
+      ai++;
+    b[bi] = [];
+    var aj = 0;
+    for (var bj = 0; bj < size - 1; ++bj) {
+      if (aj == y)
+        aj++;
+      b[bi][bj] = a[ai][aj];
+      aj++;
+    }
+    ai++;
+  }
+  return o3djs.math.det(b);
+};
+
+/**
+ * Computes the determinant of an arbitrary square matrix.
+ * @param {!o3djs.math.Matrix} m The matrix.
+ * @return {number} the determinant of m.
+ */
+o3djs.math.det = function(m) {
+  var d = m.length;
+  if (d <= 4) {
+    return o3djs.math['det' + d](m);
+  }
+  var r = 0.0;
+  var sign = 1;
+  var row = m[0];
+  var mLength = m.length;
+  for (var y = 0; y < mLength; y++) {
+    r += sign * row[y] * o3djs.math.codet(m, 0, y);
+    sign *= -1;
+  }
+  return r;
+};
+
+/**
+ * Computes the inverse of an arbitrary square matrix.
+ * @param {!o3djs.math.Matrix} m The matrix.
+ * @return {!o3djs.math.Matrix} The inverse of m.
+ */
+o3djs.math.inverse = function(m) {
+  var d = m.length;
+  if (d <= 4) {
+    return o3djs.math['inverse' + d](m);
+  }
+  var r = [];
+  var size = m.length;
+  for (var j = 0; j < size; ++j) {
+    r[j] = [];
+    for (var i = 0; i < size; ++i)
+      r[j][i] = ((i + j) % 2 ? -1 : 1) * o3djs.math.codet(m, i, j);
+  }
+  return o3djs.math.divMatrixScalar(r, o3djs.math.det(m));
+};
+
+/**
+ * Performs Graham-Schmidt orthogonalization on the vectors which make up the
+ * given matrix and returns the result in the rows of a new matrix.  When
+ * multiplying many orthogonal matrices together, errors can accumulate causing
+ * the product to fail to be orthogonal.  This function can be used to correct
+ * that.
+ * @param {!o3djs.math.Matrix} m The matrix.
+ * @return {!o3djs.math.Matrix} A matrix whose rows are obtained from the
+ *     rows of m by the Graham-Schmidt process.
+ */
+o3djs.math.orthonormalize = function(m) {
+  var r = [];
+  var mLength = m.length;
+  for (var i = 0; i < mLength; ++i) {
+    var v = m[i];
+    for (var j = 0; j < i; ++j) {
+      v = o3djs.math.subVector(v, o3djs.math.mulScalarVector(
+          o3djs.math.dot(r[j], m[i]), r[j]));
+    }
+    r[i] = o3djs.math.normalize(v);
+  }
+  return r;
+};
+
+/**
+ * Computes the inverse of a 4-by-4 matrix.
+ * Note: It is faster to call this than o3djs.math.inverse.
+ * @param {!o3djs.math.Matrix4} m The matrix.
+ * @return {!o3djs.math.Matrix4} The inverse of m.
+ */
+o3djs.math.matrix4.inverse = function(m) {
+  return o3djs.math.inverse4(m);
+};
+
+/**
+ * Multiplies two 4-by-4 matrices; assumes that the given matrices are 4-by-4.
+ * Note: It is faster to call this than o3djs.math.mul.
+ * @param {!o3djs.math.Matrix4} a The matrix on the left.
+ * @param {!o3djs.math.Matrix4} b The matrix on the right.
+ * @return {!o3djs.math.Matrix4} The matrix product of a and b.
+ */
+o3djs.math.matrix4.mul = function(a, b) {
+  return o3djs.math.mulMatrixMatrix4(a, b);
+};
+
+/**
+ * Computes the determinant of a 4-by-4 matrix.
+ * Note: It is faster to call this than o3djs.math.det.
+ * @param {!o3djs.math.Matrix4} m The matrix.
+ * @return {number} The determinant of m.
+ */
+o3djs.math.matrix4.det = function(m) {
+  return o3djs.math.det4(m);
+};
+
+/**
+ * Copies a Matrix4.
+ * Note: It is faster to call this than o3djs.math.copy.
+ * @param {!o3djs.math.Matrix4} m The matrix.
+ * @return {!o3djs.math.Matrix4} A copy of m.
+ */
+o3djs.math.matrix4.copy = function(m) {
+  return o3djs.math.copyMatrix(m);
+};
+
+/**
+ * Sets the upper 3-by-3 block of matrix a to the upper 3-by-3 block of matrix
+ * b; assumes that a and b are big enough to contain an upper 3-by-3 block.
+ * @param {!o3djs.math.Matrix4} a A matrix.
+ * @param {!o3djs.math.Matrix3} b A 3-by-3 matrix.
+ * @return {!o3djs.math.Matrix4} a once modified.
+ */
+o3djs.math.matrix4.setUpper3x3 = function(a, b) {
+  var b0 = b[0];
+  var b1 = b[1];
+  var b2 = b[2];
+
+  a[0].splice(0, 3, b0[0], b0[1], b0[2]);
+  a[1].splice(0, 3, b1[0], b1[1], b1[2]);
+  a[2].splice(0, 3, b2[0], b2[1], b2[2]);
+
+  return a;
+};
+
+/**
+ * Returns a 3-by-3 matrix mimicking the upper 3-by-3 block of m; assumes m
+ * is big enough to contain an upper 3-by-3 block.
+ * @param {!o3djs.math.Matrix4} m The matrix.
+ * @return {!o3djs.math.Matrix3} The upper 3-by-3 block of m.
+ */
+o3djs.math.matrix4.getUpper3x3 = function(m) {
+  return [m[0].slice(0, 3), m[1].slice(0, 3), m[2].slice(0, 3)];
+};
+
+/**
+ * Sets the translation component of a 4-by-4 matrix to the given
+ * vector.
+ * @param {!o3djs.math.Matrix4} a The matrix.
+ * @param {(!o3djs.math.Vector3|!o3djs.math.Vector4)} v The vector.
+ * @return {!o3djs.math.Matrix4} a once modified.
+ */
+o3djs.math.matrix4.setTranslation = function(a, v) {
+  a[3].splice(0, 4, v[0], v[1], v[2], 1);
+  return a;
+};
+
+/**
+ * Returns the translation component of a 4-by-4 matrix as a vector with 3
+ * entries.
+ * @param {!o3djs.math.Matrix4} m The matrix.
+ * @return {!o3djs.math.Vector3} The translation component of m.
+ */
+o3djs.math.matrix4.getTranslation = function(m) {
+  return m[3].slice(0, 3);
+};
+
+/**
+ * Takes a 4-by-4 matrix and a vector with 3 entries,
+ * interprets the vector as a point, transforms that point by the matrix, and
+ * returns the result as a vector with 3 entries.
+ * @param {!o3djs.math.Matrix4} m The matrix.
+ * @param {!o3djs.math.Vector3} v The point.
+ * @return {!o3djs.math.Vector3} The transformed point.
+ */
+o3djs.math.matrix4.transformPoint = function(m, v) {
+  var v0 = v[0];
+  var v1 = v[1];
+  var v2 = v[2];
+  var m0 = m[0];
+  var m1 = m[1];
+  var m2 = m[2];
+  var m3 = m[3];
+
+  var d = v0 * m0[3] + v1 * m1[3] + v2 * m2[3] + m3[3];
+  return [(v0 * m0[0] + v1 * m1[0] + v2 * m2[0] + m3[0]) / d,
+          (v0 * m0[1] + v1 * m1[1] + v2 * m2[1] + m3[1]) / d,
+          (v0 * m0[2] + v1 * m1[2] + v2 * m2[2] + m3[2]) / d];
+};
+
+/**
+ * Takes a 4-by-4 matrix and a vector with 4 entries, transforms that vector by
+ * the matrix, and returns the result as a vector with 4 entries.
+ * @param {!o3djs.math.Matrix4} m The matrix.
+ * @param {!o3djs.math.Vector4} v The point in homogenous coordinates.
+ * @return {!o3djs.math.Vector4} The transformed point in homogenous
+ *     coordinates.
+ */
+o3djs.math.matrix4.transformVector4 = function(m, v) {
+  var v0 = v[0];
+  var v1 = v[1];
+  var v2 = v[2];
+  var v3 = v[3];
+  var m0 = m[0];
+  var m1 = m[1];
+  var m2 = m[2];
+  var m3 = m[3];
+
+  return [v0 * m0[0] + v1 * m1[0] + v2 * m2[0] + v3 * m3[0],
+          v0 * m0[1] + v1 * m1[1] + v2 * m2[1] + v3 * m3[1],
+          v0 * m0[2] + v1 * m1[2] + v2 * m2[2] + v3 * m3[2],
+          v0 * m0[3] + v1 * m1[3] + v2 * m2[3] + v3 * m3[3]];
+};
+
+/**
+ * Takes a 4-by-4 matrix and a vector with 3 entries, interprets the vector as a
+ * direction, transforms that direction by the matrix, and returns the result;
+ * assumes the transformation of 3-dimensional space represented by the matrix
+ * is parallel-preserving, i.e. any combination of rotation, scaling and
+ * translation, but not a perspective distortion. Returns a vector with 3
+ * entries.
+ * @param {!o3djs.math.Matrix4} m The matrix.
+ * @param {!o3djs.math.Vector3} v The direction.
+ * @return {!o3djs.math.Vector3} The transformed direction.
+ */
+o3djs.math.matrix4.transformDirection = function(m, v) {
+  var v0 = v[0];
+  var v1 = v[1];
+  var v2 = v[2];
+  var m0 = m[0];
+  var m1 = m[1];
+  var m2 = m[2];
+  var m3 = m[3];
+
+  return [v0 * m0[0] + v1 * m1[0] + v2 * m2[0],
+          v0 * m0[1] + v1 * m1[1] + v2 * m2[1],
+          v0 * m0[2] + v1 * m1[2] + v2 * m2[2]];
+};
+
+/**
+ * Takes a 4-by-4 matrix m and a vector v with 3 entries, interprets the vector
+ * as a normal to a surface, and computes a vector which is normal upon
+ * transforming that surface by the matrix. The effect of this function is the
+ * same as transforming v (as a direction) by the inverse-transpose of m.  This
+ * function assumes the transformation of 3-dimensional space represented by the
+ * matrix is parallel-preserving, i.e. any combination of rotation, scaling and
+ * translation, but not a perspective distortion.  Returns a vector with 3
+ * entries.
+ * @param {!o3djs.math.Matrix4} m The matrix.
+ * @param {!o3djs.math.Vector3} v The normal.
+ * @return {!o3djs.math.Vector3} The transformed normal.
+ */
+o3djs.math.matrix4.transformNormal = function(m, v) {
+  var mInverse = o3djs.math.inverse4(m);
+  var v0 = v[0];
+  var v1 = v[1];
+  var v2 = v[2];
+  var mi0 = mInverse[0];
+  var mi1 = mInverse[1];
+  var mi2 = mInverse[2];
+  var mi3 = mInverse[3];
+
+  return [v0 * mi0[0] + v1 * mi0[1] + v2 * mi0[2],
+          v0 * mi1[0] + v1 * mi1[1] + v2 * mi1[2],
+          v0 * mi2[0] + v1 * mi2[1] + v2 * mi2[2]];
+};
+
+/**
+ * Creates a 4-by-4 identity matrix.
+ * @return {!o3djs.math.Matrix4} The 4-by-4 identity.
+ */
+o3djs.math.matrix4.identity = function() {
+  return [
+    [1, 0, 0, 0],
+    [0, 1, 0, 0],
+    [0, 0, 1, 0],
+    [0, 0, 0, 1]
+  ];
+};
+
+/**
+ * Sets the given 4-by-4 matrix to the identity matrix.
+ * @param {!o3djs.math.Matrix4} m The matrix to set to identity.
+ * @return {!o3djs.math.Matrix4} m once modified.
+ */
+o3djs.math.matrix4.setIdentity = function(m) {
+  for (var i = 0; i < 4; i++) {
+    for (var j = 0; j < 4; j++) {
+      if (i == j) {
+        m[i][j] = 1;
+      } else {
+        m[i][j] = 0;
+      }
+    }
+  }
+  return m;
+};
+
+/**
+ * Computes a 4-by-4 perspective transformation matrix given the angular height
+ * of the frustum, the aspect ratio, and the near and far clipping planes.  The
+ * arguments define a frustum extending in the negative z direction.  The given
+ * angle is the vertical angle of the frustum, and the horizontal angle is
+ * determined to produce the given aspect ratio.  The arguments near and far are
+ * the distances to the near and far clipping planes.  Note that near and far
+ * are not z coordinates, but rather they are distances along the negative
+ * z-axis.  The matrix generated sends the viewing frustum to the unit box.
+ * We assume a unit box extending from -1 to 1 in the x and y dimensions and
+ * from 0 to 1 in the z dimension.
+ * @param {number} angle The camera angle from top to bottom (in radians).
+ * @param {number} aspect The aspect ratio width / height.
+ * @param {number} near The depth (negative z coordinate)
+ *     of the near clipping plane.
+ * @param {number} far The depth (negative z coordinate)
+ *     of the far clipping plane.
+ * @return {!o3djs.math.Matrix4} The perspective matrix.
+ */
+o3djs.math.matrix4.perspective = function(angle, aspect, near, far) {
+  var f = Math.tan(0.5 * (Math.PI - angle));
+  var range = near - far;
+
+  return [
+    [f / aspect, 0, 0, 0],
+    [0, f, 0, 0],
+    [0, 0, far / range, -1],
+    [0, 0, near * far / range, 0]
+  ];
+};
+
+/**
+ * Computes a 4-by-4 orthographic projection matrix given the coordinates of the
+ * planes defining the axis-aligned, box-shaped viewing volume.  The matrix
+ * generated sends that box to the unit box.  Note that although left and right
+ * are x coordinates and bottom and top are y coordinates, near and far
+ * are not z coordinates, but rather they are distances along the negative
+ * z-axis.  We assume a unit box extending from -1 to 1 in the x and y
+ * dimensions and from 0 to 1 in the z dimension.
+ * @param {number} left The x coordinate of the left plane of the box.
+ * @param {number} right The x coordinate of the right plane of the box.
+ * @param {number} bottom The y coordinate of the bottom plane of the box.
+ * @param {number} top The y coordinate of the right plane of the box.
+ * @param {number} near The negative z coordinate of the near plane of the box.
+ * @param {number} far The negative z coordinate of the far plane of the box.
+ * @return {!o3djs.math.Matrix4} The orthographic projection matrix.
+ */
+o3djs.math.matrix4.orthographic =
+    function(left, right, bottom, top, near, far) {
+  return [
+    [2 / (right - left), 0, 0, 0],
+    [0, 2 / (top - bottom), 0, 0],
+    [0, 0, 1 / (near - far), 0],
+    [(left + right) / (left - right),
+     (bottom + top) / (bottom - top),
+     near / (near - far), 1]
+  ];
+};
+
+/**
+ * Computes a 4-by-4 perspective transformation matrix given the left, right,
+ * top, bottom, near and far clipping planes. The arguments define a frustum
+ * extending in the negative z direction. The arguments near and far are the
+ * distances to the near and far clipping planes. Note that near and far are not
+ * z coordinates, but rather they are distances along the negative z-axis. The
+ * matrix generated sends the viewing frustum to the unit box. We assume a unit
+ * box extending from -1 to 1 in the x and y dimensions and from 0 to 1 in the z
+ * dimension.
+ * @param {number} left The x coordinate of the left plane of the box.
+ * @param {number} right The x coordinate of the right plane of the box.
+ * @param {number} bottom The y coordinate of the bottom plane of the box.
+ * @param {number} top The y coordinate of the right plane of the box.
+ * @param {number} near The negative z coordinate of the near plane of the box.
+ * @param {number} far The negative z coordinate of the far plane of the box.
+ * @return {!o3djs.math.Matrix4} The perspective projection matrix.
+ */
+o3djs.math.matrix4.frustum = function(left, right, bottom, top, near, far) {
+  var dx = (right - left);
+  var dy = (top - bottom);
+  var dz = (near - far);
+  return [
+    [2 * near / dx, 0, 0, 0],
+    [0, 2 * near / dy, 0, 0],
+    [(left + right) / dx, (top + bottom) / dy, far / dz, -1],
+    [0, 0, near * far / dz, 0]];
+};
+
+/**
+ * Computes a 4-by-4 look-at transformation.  The transformation generated is
+ * an orthogonal rotation matrix with translation component.  The translation
+ * component sends the eye to the origin.  The rotation component sends the
+ * vector pointing from the eye to the target to a vector pointing in the
+ * negative z direction, and also sends the up vector into the upper half of
+ * the yz plane.
+ * @param {(!o3djs.math.Vector3|!o3djs.math.Vector4)} eye The position
+ *     of the eye.
+ * @param {(!o3djs.math.Vector3|!o3djs.math.Vector4)} target The
+ *     position meant to be viewed.
+ * @param {(!o3djs.math.Vector3|!o3djs.math.Vector4)} up A vector
+ *     pointing up.
+ * @return {!o3djs.math.Matrix4} The look-at matrix.
+ */
+o3djs.math.matrix4.lookAt = function(eye, target, up) {
+  var vz = o3djs.math.normalize(
+      o3djs.math.subVector(eye, target).slice(0, 3)).concat(0);
+  var vx = o3djs.math.normalize(
+      o3djs.math.cross(up, vz)).concat(0);
+  var vy = o3djs.math.cross(vz, vx).concat(0);
+
+  return o3djs.math.inverse([vx, vy, vz, eye.concat(1)]);
+};
+
+/**
+ * Takes two 4-by-4 matrices, a and b, and computes the product in the order
+ * that pre-composes b with a.  In other words, the matrix returned will
+ * transform by b first and then a.  Note this is subtly different from just
+ * multiplying the matrices together.  For given a and b, this function returns
+ * the same object in both row-major and column-major mode.
+ * @param {!o3djs.math.Matrix4} a A 4-by-4 matrix.
+ * @param {!o3djs.math.Matrix4} b A 4-by-4 matrix.
+ * @return {!o3djs.math.Matrix4} the composition of a and b, b first then a.
+ */
+o3djs.math.matrix4.composition = function(a, b) {
+  var a0 = a[0];
+  var a1 = a[1];
+  var a2 = a[2];
+  var a3 = a[3];
+  var b0 = b[0];
+  var b1 = b[1];
+  var b2 = b[2];
+  var b3 = b[3];
+  var a00 = a0[0];
+  var a01 = a0[1];
+  var a02 = a0[2];
+  var a03 = a0[3];
+  var a10 = a1[0];
+  var a11 = a1[1];
+  var a12 = a1[2];
+  var a13 = a1[3];
+  var a20 = a2[0];
+  var a21 = a2[1];
+  var a22 = a2[2];
+  var a23 = a2[3];
+  var a30 = a3[0];
+  var a31 = a3[1];
+  var a32 = a3[2];
+  var a33 = a3[3];
+  var b00 = b0[0];
+  var b01 = b0[1];
+  var b02 = b0[2];
+  var b03 = b0[3];
+  var b10 = b1[0];
+  var b11 = b1[1];
+  var b12 = b1[2];
+  var b13 = b1[3];
+  var b20 = b2[0];
+  var b21 = b2[1];
+  var b22 = b2[2];
+  var b23 = b2[3];
+  var b30 = b3[0];
+  var b31 = b3[1];
+  var b32 = b3[2];
+  var b33 = b3[3];
+  return [[a00 * b00 + a10 * b01 + a20 * b02 + a30 * b03,
+           a01 * b00 + a11 * b01 + a21 * b02 + a31 * b03,
+           a02 * b00 + a12 * b01 + a22 * b02 + a32 * b03,
+           a03 * b00 + a13 * b01 + a23 * b02 + a33 * b03],
+          [a00 * b10 + a10 * b11 + a20 * b12 + a30 * b13,
+           a01 * b10 + a11 * b11 + a21 * b12 + a31 * b13,
+           a02 * b10 + a12 * b11 + a22 * b12 + a32 * b13,
+           a03 * b10 + a13 * b11 + a23 * b12 + a33 * b13],
+          [a00 * b20 + a10 * b21 + a20 * b22 + a30 * b23,
+           a01 * b20 + a11 * b21 + a21 * b22 + a31 * b23,
+           a02 * b20 + a12 * b21 + a22 * b22 + a32 * b23,
+           a03 * b20 + a13 * b21 + a23 * b22 + a33 * b23],
+          [a00 * b30 + a10 * b31 + a20 * b32 + a30 * b33,
+           a01 * b30 + a11 * b31 + a21 * b32 + a31 * b33,
+           a02 * b30 + a12 * b31 + a22 * b32 + a32 * b33,
+           a03 * b30 + a13 * b31 + a23 * b32 + a33 * b33]];
+};
+
+/**
+ * Takes two 4-by-4 matrices, a and b, and modifies a to be the product in the
+ * order that pre-composes b with a.  The matrix a, upon modification will
+ * transform by b first and then a.  Note this is subtly different from just
+ * multiplying the matrices together.  For given a and b, a, upon modification,
+ * will be the same object in both row-major and column-major mode.
+ * @param {!o3djs.math.Matrix4} a A 4-by-4 matrix.
+ * @param {!o3djs.math.Matrix4} b A 4-by-4 matrix.
+ * @return {!o3djs.math.Matrix4} a once modified.
+ */
+o3djs.math.matrix4.compose = function(a, b) {
+  var a0 = a[0];
+  var a1 = a[1];
+  var a2 = a[2];
+  var a3 = a[3];
+  var b0 = b[0];
+  var b1 = b[1];
+  var b2 = b[2];
+  var b3 = b[3];
+  var a00 = a0[0];
+  var a01 = a0[1];
+  var a02 = a0[2];
+  var a03 = a0[3];
+  var a10 = a1[0];
+  var a11 = a1[1];
+  var a12 = a1[2];
+  var a13 = a1[3];
+  var a20 = a2[0];
+  var a21 = a2[1];
+  var a22 = a2[2];
+  var a23 = a2[3];
+  var a30 = a3[0];
+  var a31 = a3[1];
+  var a32 = a3[2];
+  var a33 = a3[3];
+  var b00 = b0[0];
+  var b01 = b0[1];
+  var b02 = b0[2];
+  var b03 = b0[3];
+  var b10 = b1[0];
+  var b11 = b1[1];
+  var b12 = b1[2];
+  var b13 = b1[3];
+  var b20 = b2[0];
+  var b21 = b2[1];
+  var b22 = b2[2];
+  var b23 = b2[3];
+  var b30 = b3[0];
+  var b31 = b3[1];
+  var b32 = b3[2];
+  var b33 = b3[3];
+  a[0].splice(0, 4, a00 * b00 + a10 * b01 + a20 * b02 + a30 * b03,
+                    a01 * b00 + a11 * b01 + a21 * b02 + a31 * b03,
+                    a02 * b00 + a12 * b01 + a22 * b02 + a32 * b03,
+                    a03 * b00 + a13 * b01 + a23 * b02 + a33 * b03);
+  a[1].splice(0, 4, a00 * b10 + a10 * b11 + a20 * b12 + a30 * b13,
+                    a01 * b10 + a11 * b11 + a21 * b12 + a31 * b13,
+                    a02 * b10 + a12 * b11 + a22 * b12 + a32 * b13,
+                    a03 * b10 + a13 * b11 + a23 * b12 + a33 * b13);
+  a[2].splice(0, 4, a00 * b20 + a10 * b21 + a20 * b22 + a30 * b23,
+                    a01 * b20 + a11 * b21 + a21 * b22 + a31 * b23,
+                    a02 * b20 + a12 * b21 + a22 * b22 + a32 * b23,
+                    a03 * b20 + a13 * b21 + a23 * b22 + a33 * b23),
+  a[3].splice(0, 4, a00 * b30 + a10 * b31 + a20 * b32 + a30 * b33,
+                    a01 * b30 + a11 * b31 + a21 * b32 + a31 * b33,
+                    a02 * b30 + a12 * b31 + a22 * b32 + a32 * b33,
+                    a03 * b30 + a13 * b31 + a23 * b32 + a33 * b33);
+  return a;
+};
+
+/**
+ * Creates a 4-by-4 matrix which translates by the given vector v.
+ * @param {(!o3djs.math.Vector3|!o3djs.math.Vector4)} v The vector by
+ *     which to translate.
+ * @return {!o3djs.math.Matrix4} The translation matrix.
+ */
+o3djs.math.matrix4.translation = function(v) {
+  return [
+    [1, 0, 0, 0],
+    [0, 1, 0, 0],
+    [0, 0, 1, 0],
+    [v[0], v[1], v[2], 1]
+  ];
+};
+
+/**
+ * Modifies the given 4-by-4 matrix by translation by the given vector v.
+ * @param {!o3djs.math.Matrix4} m The matrix.
+ * @param {(!o3djs.math.Vector3|!o3djs.math.Vector4)} v The vector by
+ *     which to translate.
+ * @return {!o3djs.math.Matrix4} m once modified.
+ */
+o3djs.math.matrix4.translate = function(m, v) {
+  var v0 = v[0];
+  var v1 = v[1];
+  var v2 = v[2];
+  var m0 = m[0];
+  var m1 = m[1];
+  var m2 = m[2];
+  var m3 = m[3];
+  var m00 = m0[0];
+  var m01 = m0[1];
+  var m02 = m0[2];
+  var m03 = m0[3];
+  var m10 = m1[0];
+  var m11 = m1[1];
+  var m12 = m1[2];
+  var m13 = m1[3];
+  var m20 = m2[0];
+  var m21 = m2[1];
+  var m22 = m2[2];
+  var m23 = m2[3];
+  var m30 = m3[0];
+  var m31 = m3[1];
+  var m32 = m3[2];
+  var m33 = m3[3];
+
+  m3.splice(0, 4, m00 * v0 + m10 * v1 + m20 * v2 + m30,
+                  m01 * v0 + m11 * v1 + m21 * v2 + m31,
+                  m02 * v0 + m12 * v1 + m22 * v2 + m32,
+                  m03 * v0 + m13 * v1 + m23 * v2 + m33);
+
+  return m;
+};
+
+/**
+ * Creates a 4-by-4 matrix which scales in each dimension by an amount given by
+ * the corresponding entry in the given vector; assumes the vector has three
+ * entries.
+ * @param {!o3djs.math.Vector3} v A vector of
+ *     three entries specifying the factor by which to scale in each dimension.
+ * @return {!o3djs.math.Matrix4} The scaling matrix.
+ */
+o3djs.math.matrix4.scaling = function(v) {
+  return [
+    [v[0], 0, 0, 0],
+    [0, v[1], 0, 0],
+    [0, 0, v[2], 0],
+    [0, 0, 0, 1]
+  ];
+};
+
+/**
+ * Modifies the given 4-by-4 matrix, scaling in each dimension by an amount
+ * given by the corresponding entry in the given vector; assumes the vector has
+ * three entries.
+ * @param {!o3djs.math.Matrix4} m The matrix to be modified.
+ * @param {!o3djs.math.Vector3} v A vector of three entries specifying the
+ *     factor by which to scale in each dimension.
+ * @return {!o3djs.math.Matrix4} m once modified.
+ */
+o3djs.math.matrix4.scale = function(m, v) {
+  var v0 = v[0];
+  var v1 = v[1];
+  var v2 = v[2];
+
+  var m0 = m[0];
+  var m1 = m[1];
+  var m2 = m[2];
+  var m3 = m[3];
+
+  m0.splice(0, 4, v0 * m0[0], v0 * m0[1], v0 * m0[2], v0 * m0[3]);
+  m1.splice(0, 4, v1 * m1[0], v1 * m1[1], v1 * m1[2], v1 * m1[3]);
+  m2.splice(0, 4, v2 * m2[0], v2 * m2[1], v2 * m2[2], v2 * m2[3]);
+
+  return m;
+};
+
+/**
+ * Creates a 4-by-4 matrix which rotates around the x-axis by the given angle.
+ * @param {number} angle The angle by which to rotate (in radians).
+ * @return {!o3djs.math.Matrix4} The rotation matrix.
+ */
+o3djs.math.matrix4.rotationX = function(angle) {
+  var c = Math.cos(angle);
+  var s = Math.sin(angle);
+
+  return [
+    [1, 0, 0, 0],
+    [0, c, s, 0],
+    [0, -s, c, 0],
+    [0, 0, 0, 1]
+  ];
+};
+
+/**
+ * Modifies the given 4-by-4 matrix by a rotation around the x-axis by the given
+ * angle.
+ * @param {!o3djs.math.Matrix4} m The matrix.
+ * @param {number} angle The angle by which to rotate (in radians).
+ * @return {!o3djs.math.Matrix4} m once modified.
+ */
+o3djs.math.matrix4.rotateX = function(m, angle) {
+  var m0 = m[0];
+  var m1 = m[1];
+  var m2 = m[2];
+  var m3 = m[3];
+  var m10 = m1[0];
+  var m11 = m1[1];
+  var m12 = m1[2];
+  var m13 = m1[3];
+  var m20 = m2[0];
+  var m21 = m2[1];
+  var m22 = m2[2];
+  var m23 = m2[3];
+  var c = Math.cos(angle);
+  var s = Math.sin(angle);
+
+  m1.splice(0, 4, c * m10 + s * m20,
+                  c * m11 + s * m21,
+                  c * m12 + s * m22,
+                  c * m13 + s * m23);
+  m2.splice(0, 4, c * m20 - s * m10,
+                  c * m21 - s * m11,
+                  c * m22 - s * m12,
+                  c * m23 - s * m13);
+
+  return m;
+};
+
+/**
+ * Creates a 4-by-4 matrix which rotates around the y-axis by the given angle.
+ * @param {number} angle The angle by which to rotate (in radians).
+ * @return {!o3djs.math.Matrix4} The rotation matrix.
+ */
+o3djs.math.matrix4.rotationY = function(angle) {
+  var c = Math.cos(angle);
+  var s = Math.sin(angle);
+
+  return [
+    [c, 0, -s, 0],
+    [0, 1, 0, 0],
+    [s, 0, c, 0],
+    [0, 0, 0, 1]
+  ];
+};
+
+/**
+ * Modifies the given 4-by-4 matrix by a rotation around the y-axis by the given
+ * angle.
+ * @param {!o3djs.math.Matrix4} m The matrix.
+ * @param {number} angle The angle by which to rotate (in radians).
+ * @return {!o3djs.math.Matrix4} m once modified.
+ */
+o3djs.math.matrix4.rotateY = function(m, angle) {
+  var m0 = m[0];
+  var m1 = m[1];
+  var m2 = m[2];
+  var m3 = m[3];
+  var m00 = m0[0];
+  var m01 = m0[1];
+  var m02 = m0[2];
+  var m03 = m0[3];
+  var m20 = m2[0];
+  var m21 = m2[1];
+  var m22 = m2[2];
+  var m23 = m2[3];
+  var c = Math.cos(angle);
+  var s = Math.sin(angle);
+
+  m0.splice(0, 4, c * m00 - s * m20,
+                  c * m01 - s * m21,
+                  c * m02 - s * m22,
+                  c * m03 - s * m23);
+  m2.splice(0, 4, c * m20 + s * m00,
+                  c * m21 + s * m01,
+                  c * m22 + s * m02,
+                  c * m23 + s * m03);
+
+  return m;
+};
+
+/**
+ * Creates a 4-by-4 matrix which rotates around the z-axis by the given angle.
+ * @param {number} angle The angle by which to rotate (in radians).
+ * @return {!o3djs.math.Matrix4} The rotation matrix.
+ */
+o3djs.math.matrix4.rotationZ = function(angle) {
+  var c = Math.cos(angle);
+  var s = Math.sin(angle);
+
+  return [
+    [c, s, 0, 0],
+    [-s, c, 0, 0],
+    [0, 0, 1, 0],
+    [0, 0, 0, 1]
+  ];
+};
+
+/**
+ * Modifies the given 4-by-4 matrix by a rotation around the z-axis by the given
+ * angle.
+ * @param {!o3djs.math.Matrix4} m The matrix.
+ * @param {number} angle The angle by which to rotate (in radians).
+ * @return {!o3djs.math.Matrix4} m once modified.
+ */
+o3djs.math.matrix4.rotateZ = function(m, angle) {
+  var m0 = m[0];
+  var m1 = m[1];
+  var m2 = m[2];
+  var m3 = m[3];
+  var m00 = m0[0];
+  var m01 = m0[1];
+  var m02 = m0[2];
+  var m03 = m0[3];
+  var m10 = m1[0];
+  var m11 = m1[1];
+  var m12 = m1[2];
+  var m13 = m1[3];
+  var c = Math.cos(angle);
+  var s = Math.sin(angle);
+
+  m0.splice(0, 4, c * m00 + s * m10,
+                  c * m01 + s * m11,
+                  c * m02 + s * m12,
+                  c * m03 + s * m13);
+  m1.splice(0, 4, c * m10 - s * m00,
+                  c * m11 - s * m01,
+                  c * m12 - s * m02,
+                  c * m13 - s * m03);
+
+  return m;
+};
+
+/**
+ * Creates a 4-by-4 rotation matrix.  Interprets the entries of the given
+ * vector as angles by which to rotate around the x, y and z axes, returns a
+ * a matrix which rotates around the x-axis first, then the y-axis, then the
+ * z-axis.
+ * @param {!o3djs.math.Vector3} v A vector of angles (in radians).
+ * @return {!o3djs.math.Matrix4} The rotation matrix.
+ */
+o3djs.math.matrix4.rotationZYX = function(v) {
+  var sinx = Math.sin(v[0]);
+  var cosx = Math.cos(v[0]);
+  var siny = Math.sin(v[1]);
+  var cosy = Math.cos(v[1]);
+  var sinz = Math.sin(v[2]);
+  var cosz = Math.cos(v[2]);
+
+  var coszsiny = cosz * siny;
+  var sinzsiny = sinz * siny;
+
+  return [
+    [cosz * cosy, sinz * cosy, -siny, 0],
+    [coszsiny * sinx - sinz * cosx,
+     sinzsiny * sinx + cosz * cosx,
+     cosy * sinx,
+     0],
+    [coszsiny * cosx + sinz * sinx,
+     sinzsiny * cosx - cosz * sinx,
+     cosy * cosx,
+     0],
+    [0, 0, 0, 1]
+  ];
+};
+
+/**
+ * Modifies a 4-by-4 matrix by a rotation.  Interprets the coordinates of the
+ * given vector as angles by which to rotate around the x, y and z axes, rotates
+ * around the x-axis first, then the y-axis, then the z-axis.
+ * @param {!o3djs.math.Matrix4} m The matrix.
+ * @param {!o3djs.math.Vector3} v A vector of angles (in radians).
+ * @return {!o3djs.math.Matrix4} m once modified.
+ */
+o3djs.math.matrix4.rotateZYX = function(m, v) {
+  var sinX = Math.sin(v[0]);
+  var cosX = Math.cos(v[0]);
+  var sinY = Math.sin(v[1]);
+  var cosY = Math.cos(v[1]);
+  var sinZ = Math.sin(v[2]);
+  var cosZ = Math.cos(v[2]);
+
+  var cosZSinY = cosZ * sinY;
+  var sinZSinY = sinZ * sinY;
+
+  var r00 = cosZ * cosY;
+  var r01 = sinZ * cosY;
+  var r02 = -sinY;
+  var r10 = cosZSinY * sinX - sinZ * cosX;
+  var r11 = sinZSinY * sinX + cosZ * cosX;
+  var r12 = cosY * sinX;
+  var r20 = cosZSinY * cosX + sinZ * sinX;
+  var r21 = sinZSinY * cosX - cosZ * sinX;
+  var r22 = cosY * cosX;
+
+  var m0 = m[0];
+  var m1 = m[1];
+  var m2 = m[2];
+  var m3 = m[3];
+
+  var m00 = m0[0];
+  var m01 = m0[1];
+  var m02 = m0[2];
+  var m03 = m0[3];
+  var m10 = m1[0];
+  var m11 = m1[1];
+  var m12 = m1[2];
+  var m13 = m1[3];
+  var m20 = m2[0];
+  var m21 = m2[1];
+  var m22 = m2[2];
+  var m23 = m2[3];
+  var m30 = m3[0];
+  var m31 = m3[1];
+  var m32 = m3[2];
+  var m33 = m3[3];
+
+  m0.splice(0, 4,
+      r00 * m00 + r01 * m10 + r02 * m20,
+      r00 * m01 + r01 * m11 + r02 * m21,
+      r00 * m02 + r01 * m12 + r02 * m22,
+      r00 * m03 + r01 * m13 + r02 * m23);
+
+  m1.splice(0, 4,
+      r10 * m00 + r11 * m10 + r12 * m20,
+      r10 * m01 + r11 * m11 + r12 * m21,
+      r10 * m02 + r11 * m12 + r12 * m22,
+      r10 * m03 + r11 * m13 + r12 * m23);
+
+  m2.splice(0, 4,
+      r20 * m00 + r21 * m10 + r22 * m20,
+      r20 * m01 + r21 * m11 + r22 * m21,
+      r20 * m02 + r21 * m12 + r22 * m22,
+      r20 * m03 + r21 * m13 + r22 * m23);
+
+  return m;
+};
+
+/**
+ * Creates a 4-by-4 matrix which rotates around the given axis by the given
+ * angle.
+ * @param {(!o3djs.math.Vector3|!o3djs.math.Vector4)} axis The axis
+ *     about which to rotate.
+ * @param {number} angle The angle by which to rotate (in radians).
+ * @return {!o3djs.math.Matrix4} A matrix which rotates angle radians
+ *     around the axis.
+ */
+o3djs.math.matrix4.axisRotation = function(axis, angle) {
+  var x = axis[0];
+  var y = axis[1];
+  var z = axis[2];
+  var n = Math.sqrt(x * x + y * y + z * z);
+  x /= n;
+  y /= n;
+  z /= n;
+  var xx = x * x;
+  var yy = y * y;
+  var zz = z * z;
+  var c = Math.cos(angle);
+  var s = Math.sin(angle);
+  var oneMinusCosine = 1 - c;
+
+  return [
+    [xx + (1 - xx) * c,
+     x * y * oneMinusCosine + z * s,
+     x * z * oneMinusCosine - y * s,
+     0],
+    [x * y * oneMinusCosine - z * s,
+     yy + (1 - yy) * c,
+     y * z * oneMinusCosine + x * s,
+     0],
+    [x * z * oneMinusCosine + y * s,
+     y * z * oneMinusCosine - x * s,
+     zz + (1 - zz) * c,
+     0],
+    [0, 0, 0, 1]
+  ];
+};
+
+/**
+ * Modifies the given 4-by-4 matrix by rotation around the given axis by the
+ * given angle.
+ * @param {!o3djs.math.Matrix4} m The matrix.
+ * @param {(!o3djs.math.Vector3|!o3djs.math.Vector4)} axis The axis
+ *     about which to rotate.
+ * @param {number} angle The angle by which to rotate (in radians).
+ * @return {!o3djs.math.Matrix4} m once modified.
+ */
+o3djs.math.matrix4.axisRotate = function(m, axis, angle) {
+  var x = axis[0];
+  var y = axis[1];
+  var z = axis[2];
+  var n = Math.sqrt(x * x + y * y + z * z);
+  x /= n;
+  y /= n;
+  z /= n;
+  var xx = x * x;
+  var yy = y * y;
+  var zz = z * z;
+  var c = Math.cos(angle);
+  var s = Math.sin(angle);
+  var oneMinusCosine = 1 - c;
+
+  var r00 = xx + (1 - xx) * c;
+  var r01 = x * y * oneMinusCosine + z * s;
+  var r02 = x * z * oneMinusCosine - y * s;
+  var r10 = x * y * oneMinusCosine - z * s;
+  var r11 = yy + (1 - yy) * c;
+  var r12 = y * z * oneMinusCosine + x * s;
+  var r20 = x * z * oneMinusCosine + y * s;
+  var r21 = y * z * oneMinusCosine - x * s;
+  var r22 = zz + (1 - zz) * c;
+
+  var m0 = m[0];
+  var m1 = m[1];
+  var m2 = m[2];
+  var m3 = m[3];
+
+  var m00 = m0[0];
+  var m01 = m0[1];
+  var m02 = m0[2];
+  var m03 = m0[3];
+  var m10 = m1[0];
+  var m11 = m1[1];
+  var m12 = m1[2];
+  var m13 = m1[3];
+  var m20 = m2[0];
+  var m21 = m2[1];
+  var m22 = m2[2];
+  var m23 = m2[3];
+  var m30 = m3[0];
+  var m31 = m3[1];
+  var m32 = m3[2];
+  var m33 = m3[3];
+
+  m0.splice(0, 4,
+      r00 * m00 + r01 * m10 + r02 * m20,
+      r00 * m01 + r01 * m11 + r02 * m21,
+      r00 * m02 + r01 * m12 + r02 * m22,
+      r00 * m03 + r01 * m13 + r02 * m23);
+
+  m1.splice(0, 4,
+      r10 * m00 + r11 * m10 + r12 * m20,
+      r10 * m01 + r11 * m11 + r12 * m21,
+      r10 * m02 + r11 * m12 + r12 * m22,
+      r10 * m03 + r11 * m13 + r12 * m23);
+
+  m2.splice(0, 4,
+      r20 * m00 + r21 * m10 + r22 * m20,
+      r20 * m01 + r21 * m11 + r22 * m21,
+      r20 * m02 + r21 * m12 + r22 * m22,
+      r20 * m03 + r21 * m13 + r22 * m23);
+
+  return m;
+};
+
+/**
+ * Sets each function in the namespace o3djs.math to the row major
+ * version in o3djs.math.rowMajor (provided such a function exists in
+ * o3djs.math.rowMajor).  Call this function to establish the row major
+ * convention.
+ */
+o3djs.math.installRowMajorFunctions = function() {
+  for (var f in o3djs.math.rowMajor) {
+    o3djs.math[f] = o3djs.math.rowMajor[f];
+  }
+};
+
+/**
+ * Sets each function in the namespace o3djs.math to the column major
+ * version in o3djs.math.columnMajor (provided such a function exists in
+ * o3djs.math.columnMajor).  Call this function to establish the column
+ * major convention.
+ */
+o3djs.math.installColumnMajorFunctions = function() {
+  for (var f in o3djs.math.columnMajor) {
+    o3djs.math[f] = o3djs.math.columnMajor[f];
+  }
+};
+
+/**
+ * Sets each function in the namespace o3djs.math to the error checking
+ * version in o3djs.math.errorCheck (provided such a function exists in
+ * o3djs.math.errorCheck).
+ */
+o3djs.math.installErrorCheckFunctions = function() {
+  for (var f in o3djs.math.errorCheck) {
+    o3djs.math[f] = o3djs.math.errorCheck[f];
+  }
+};
+
+/**
+ * Sets each function in the namespace o3djs.math to the error checking free
+ * version in o3djs.math.errorCheckFree (provided such a function exists in
+ * o3djs.math.errorCheckFree).
+ */
+o3djs.math.installErrorCheckFreeFunctions = function() {
+  for (var f in o3djs.math.errorCheckFree) {
+    o3djs.math[f] = o3djs.math.errorCheckFree[f];
+  }
+}
+
+// By default, install the row-major functions.
+o3djs.math.installRowMajorFunctions();
+
+// By default, install prechecking.
+o3djs.math.installErrorCheckFunctions();
+
+
+/**
+ * True if we are using the plugin math library in which matrices are
+ * represented by 2-dimensional arrays.
+ * @type {boolean}
+ * @private
+ */
+o3djs.math.usePluginMath_ = true;
diff --git a/o3d/samples/o3djs/primitives.js b/o3d/samples/o3djs/primitives.js
index f736305..34d058d 100644
--- a/o3d/samples/o3djs/primitives.js
+++ b/o3d/samples/o3djs/primitives.js
@@ -707,7 +707,8 @@ o3djs.primitives.VertexInfo.prototype.addTangentStreams =
     if (!frame) {
       frame = [[0, 0, 0], [0, 0, 0]];
     }
-    frame = math.addMatrix(frame, [tangent, binormal]);
+    math.addVector3To(frame[0], tangent, frame[0]);
+    math.addVector3To(frame[1], binormal, frame[1]);
     tangentFrames[key] = frame;
   }
 
@@ -1054,10 +1055,10 @@ o3djs.primitives.createBox = function(pack,
                                       depth,
                                       opt_matrix) {
   var vertexInfo = o3djs.primitives.createCubeVertices(1);
-  vertexInfo.reorient([[width, 0, 0, 0],
-                       [0, height, 0, 0],
-                       [0, 0, depth, 0],
-                       [0, 0, 0, 1]]);
+  vertexInfo.reorient(o3djs.math.makeMatrix4(width, 0, 0, 0,
+                                            0, height, 0, 0,
+                                            0, 0, depth, 0,
+                                            0, 0, 0, 1));
 
   if (opt_matrix) {
     vertexInfo.reorient(opt_matrix);
diff --git a/o3d/samples/o3djs/quaternions.js b/o3d/samples/o3djs/quaternions.js
index fe9c406..24d9d65 100644
--- a/o3d/samples/o3djs/quaternions.js
+++ b/o3d/samples/o3djs/quaternions.js
@@ -426,17 +426,17 @@ o3djs.quaternions.quaternionToRotation = function(q) {
 
   var d = qWqW + qXqX + qYqY + qZqZ;
 
-  return [
-    [(qWqW + qXqX - qYqY - qZqZ) / d,
+  return o3djs.math.makeMatrix4(
+    (qWqW + qXqX - qYqY - qZqZ) / d,
      2 * (qWqZ + qXqY) / d,
-     2 * (qXqZ - qWqY) / d, 0],
-    [2 * (qXqY - qWqZ) / d,
+     2 * (qXqZ - qWqY) / d, 0,
+    2 * (qXqY - qWqZ) / d,
      (qWqW - qXqX + qYqY - qZqZ) / d,
-     2 * (qWqX + qYqZ) / d, 0],
-    [2 * (qWqY + qXqZ) / d,
+     2 * (qWqX + qYqZ) / d, 0,
+    2 * (qWqY + qXqZ) / d,
      2 * (qYqZ - qWqX) / d,
-     (qWqW - qXqX - qYqY + qZqZ) / d, 0],
-    [0, 0, 0, 1]];
+     (qWqW - qXqX - qYqY + qZqZ) / d, 0,
+    0, 0, 0, 1);
 };
 
 /**
@@ -453,10 +453,16 @@ o3djs.quaternions.rotationToQuaternion = function(m) {
   var w;
 
   var q = [];
-
-  var m0 = m[0];
-  var m1 = m[1];
-  var m2 = m[2];
+  var m0,m1,m2;
+  if (m.length==9) {
+    m0 = [m[0], m[1], m[2]];
+    m1 = [m[3], m[4], m[5]];
+    m2 = [m[6], m[7], m[8]];            
+  }else {
+    m0 = [m[0], m[1], m[2]];
+    m1 = [m[4], m[5], m[6]];
+    m2 = [m[8], m[9], m[10]];      
+  }
 
   var m00 = m0[0];
   var m11 = m1[1];
diff --git a/o3d/samples/o3djs/serialization.js b/o3d/samples/o3djs/serialization.js
index c300023..9a5ed29 100644
--- a/o3d/samples/o3djs/serialization.js
+++ b/o3d/samples/o3djs/serialization.js
@@ -38,6 +38,7 @@
 
 o3djs.provide('o3djs.serialization');
 
+o3djs.require('o3djs.math');
 o3djs.require('o3djs.error');
 o3djs.require('o3djs.texture');
 
@@ -447,7 +448,10 @@ o3djs.serialization.Deserializer.prototype.deserializeValue = function(
       for (var i = 0; i != valueAsObject.length; ++i) {
         valueAsObject[i] = this.deserializeValue(valueAsObject[i]);
       }
-      return valueAsObject;
+      if (o3djs.math.usePluginMath_) {
+        return valueAsObject;
+      }
+      return o3djs.serialization.fixMatrices(valueAsObject);
     }
 
     var refId = valueAsObject['ref'];
@@ -746,6 +750,50 @@ o3djs.serialization.deserialize = function(pack, json) {
 };
 
 /**
+ * This function looks at a given data type, determines if it is an old style
+ * matrix that is a 2d doubly nested array.  If so, it flattens the matrix in
+ * place so that it may be handled by the code.
+ * @param {object} parsed a potential array that will be repaired
+ */
+o3djs.serialization.fixMatrices = function(parsed) {
+  function isMatrix(m) {
+    var len = m && m.length;
+    if (len && len <= 4) {
+      for (var i = 0; i < len; ++i) {
+        var mi = m[i];
+        var mlen = mi.length;
+        if (mlen != len) {
+          return false;
+        }
+        for(var j = 0; j < len; ++j) {
+          if (Number(mi[j]) == NaN){
+            return false;
+          }
+        }
+      }
+      return true;
+    } else {
+      return false;
+    }
+  }
+
+  function flatten(m) {
+    var len = m.length;
+    var retval = new o3djs.math.makeMatrix4(len * len);
+    for (var i = 0; i < len; ++i) {
+      for (var j = 0; j < len; ++j) {
+        retval[i * len + j] = m[i][j];
+      }
+    }
+    return retval;
+  }
+  if (isMatrix(parsed)) {
+    return flatten(parsed);
+  }
+  return parsed;
+};
+
+/**
  * Deserializes a single json object named 'scene.json' from a loaded
  * o3djs.io.ArchiveInfo.
  * @param {!o3djs.io.ArchiveInfo} archiveInfo Archive to load from.