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pull merged 4 commits into from
Jan 3, 2026
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[pull] dev from mrdoob:dev #1053

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e80951c
GLTFLoader: Update documentation to include KHR_meshopt_compression (…
donmccurdy Jan 3, 2026
1c2a5aa
Matrix4: Optimize invert() calculation (#32657)
mrdoob Jan 3, 2026
42726e3
Update copyright year in LICENSE file
mrdoob Jan 3, 2026
06be002
Updated builds.
mrdoob Jan 3, 2026
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2 changes: 1 addition & 1 deletion LICENSE
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
The MIT License

Copyright © 2010-2025 three.js authors
Copyright © 2010-2026 three.js authors

Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
Expand Down
63 changes: 36 additions & 27 deletions build/three.cjs
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Expand Up @@ -12142,44 +12142,52 @@ class Matrix4 {
*/
invert() {

// based on http://www.euclideanspace.com/maths/algebra/matrix/functions/inverse/fourD/index.htm
// based on https://github.com/toji/gl-matrix
const te = this.elements,

n11 = te[ 0 ], n21 = te[ 1 ], n31 = te[ 2 ], n41 = te[ 3 ],
n12 = te[ 4 ], n22 = te[ 5 ], n32 = te[ 6 ], n42 = te[ 7 ],
n13 = te[ 8 ], n23 = te[ 9 ], n33 = te[ 10 ], n43 = te[ 11 ],
n14 = te[ 12 ], n24 = te[ 13 ], n34 = te[ 14 ], n44 = te[ 15 ],

t11 = n23 * n34 * n42 - n24 * n33 * n42 + n24 * n32 * n43 - n22 * n34 * n43 - n23 * n32 * n44 + n22 * n33 * n44,
t12 = n14 * n33 * n42 - n13 * n34 * n42 - n14 * n32 * n43 + n12 * n34 * n43 + n13 * n32 * n44 - n12 * n33 * n44,
t13 = n13 * n24 * n42 - n14 * n23 * n42 + n14 * n22 * n43 - n12 * n24 * n43 - n13 * n22 * n44 + n12 * n23 * n44,
t14 = n14 * n23 * n32 - n13 * n24 * n32 - n14 * n22 * n33 + n12 * n24 * n33 + n13 * n22 * n34 - n12 * n23 * n34;

const det = n11 * t11 + n21 * t12 + n31 * t13 + n41 * t14;
t1 = n11 * n22 - n21 * n12,
t2 = n11 * n32 - n31 * n12,
t3 = n11 * n42 - n41 * n12,
t4 = n21 * n32 - n31 * n22,
t5 = n21 * n42 - n41 * n22,
t6 = n31 * n42 - n41 * n32,
t7 = n13 * n24 - n23 * n14,
t8 = n13 * n34 - n33 * n14,
t9 = n13 * n44 - n43 * n14,
t10 = n23 * n34 - n33 * n24,
t11 = n23 * n44 - n43 * n24,
t12 = n33 * n44 - n43 * n34;

const det = t1 * t12 - t2 * t11 + t3 * t10 + t4 * t9 - t5 * t8 + t6 * t7;

if ( det === 0 ) return this.set( 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 );

const detInv = 1 / det;

te[ 0 ] = t11 * detInv;
te[ 1 ] = ( n24 * n33 * n41 - n23 * n34 * n41 - n24 * n31 * n43 + n21 * n34 * n43 + n23 * n31 * n44 - n21 * n33 * n44 ) * detInv;
te[ 2 ] = ( n22 * n34 * n41 - n24 * n32 * n41 + n24 * n31 * n42 - n21 * n34 * n42 - n22 * n31 * n44 + n21 * n32 * n44 ) * detInv;
te[ 3 ] = ( n23 * n32 * n41 - n22 * n33 * n41 - n23 * n31 * n42 + n21 * n33 * n42 + n22 * n31 * n43 - n21 * n32 * n43 ) * detInv;
te[ 0 ] = ( n22 * t12 - n32 * t11 + n42 * t10 ) * detInv;
te[ 1 ] = ( n31 * t11 - n21 * t12 - n41 * t10 ) * detInv;
te[ 2 ] = ( n24 * t6 - n34 * t5 + n44 * t4 ) * detInv;
te[ 3 ] = ( n33 * t5 - n23 * t6 - n43 * t4 ) * detInv;

te[ 4 ] = t12 * detInv;
te[ 5 ] = ( n13 * n34 * n41 - n14 * n33 * n41 + n14 * n31 * n43 - n11 * n34 * n43 - n13 * n31 * n44 + n11 * n33 * n44 ) * detInv;
te[ 6 ] = ( n14 * n32 * n41 - n12 * n34 * n41 - n14 * n31 * n42 + n11 * n34 * n42 + n12 * n31 * n44 - n11 * n32 * n44 ) * detInv;
te[ 7 ] = ( n12 * n33 * n41 - n13 * n32 * n41 + n13 * n31 * n42 - n11 * n33 * n42 - n12 * n31 * n43 + n11 * n32 * n43 ) * detInv;
te[ 4 ] = ( n32 * t9 - n12 * t12 - n42 * t8 ) * detInv;
te[ 5 ] = ( n11 * t12 - n31 * t9 + n41 * t8 ) * detInv;
te[ 6 ] = ( n34 * t3 - n14 * t6 - n44 * t2 ) * detInv;
te[ 7 ] = ( n13 * t6 - n33 * t3 + n43 * t2 ) * detInv;

te[ 8 ] = t13 * detInv;
te[ 9 ] = ( n14 * n23 * n41 - n13 * n24 * n41 - n14 * n21 * n43 + n11 * n24 * n43 + n13 * n21 * n44 - n11 * n23 * n44 ) * detInv;
te[ 10 ] = ( n12 * n24 * n41 - n14 * n22 * n41 + n14 * n21 * n42 - n11 * n24 * n42 - n12 * n21 * n44 + n11 * n22 * n44 ) * detInv;
te[ 11 ] = ( n13 * n22 * n41 - n12 * n23 * n41 - n13 * n21 * n42 + n11 * n23 * n42 + n12 * n21 * n43 - n11 * n22 * n43 ) * detInv;
te[ 8 ] = ( n12 * t11 - n22 * t9 + n42 * t7 ) * detInv;
te[ 9 ] = ( n21 * t9 - n11 * t11 - n41 * t7 ) * detInv;
te[ 10 ] = ( n14 * t5 - n24 * t3 + n44 * t1 ) * detInv;
te[ 11 ] = ( n23 * t3 - n13 * t5 - n43 * t1 ) * detInv;

te[ 12 ] = t14 * detInv;
te[ 13 ] = ( n13 * n24 * n31 - n14 * n23 * n31 + n14 * n21 * n33 - n11 * n24 * n33 - n13 * n21 * n34 + n11 * n23 * n34 ) * detInv;
te[ 14 ] = ( n14 * n22 * n31 - n12 * n24 * n31 - n14 * n21 * n32 + n11 * n24 * n32 + n12 * n21 * n34 - n11 * n22 * n34 ) * detInv;
te[ 15 ] = ( n12 * n23 * n31 - n13 * n22 * n31 + n13 * n21 * n32 - n11 * n23 * n32 - n12 * n21 * n33 + n11 * n22 * n33 ) * detInv;
te[ 12 ] = ( n22 * t8 - n12 * t10 - n32 * t7 ) * detInv;
te[ 13 ] = ( n11 * t10 - n21 * t8 + n31 * t7 ) * detInv;
te[ 14 ] = ( n24 * t2 - n14 * t4 - n34 * t1 ) * detInv;
te[ 15 ] = ( n13 * t4 - n23 * t2 + n33 * t1 ) * detInv;

return this;

Expand Down Expand Up @@ -12481,7 +12489,9 @@ class Matrix4 {
position.y = te[ 13 ];
position.z = te[ 14 ];

if ( this.determinant() === 0 ) {
const det = this.determinant();

if ( det === 0 ) {

scale.set( 1, 1, 1 );
quaternion.identity();
Expand All @@ -12494,8 +12504,7 @@ class Matrix4 {
const sy = _v1$5.set( te[ 4 ], te[ 5 ], te[ 6 ] ).length();
const sz = _v1$5.set( te[ 8 ], te[ 9 ], te[ 10 ] ).length();

// if determine is negative, we need to invert one scale
const det = this.determinant();
// if determinant is negative, we need to invert one scale
if ( det < 0 ) sx = - sx;

// scale the rotation part
Expand Down Expand Up @@ -13931,7 +13940,7 @@ class Object3D extends EventDispatcher {
}

/**
* Converts the given vector from this 3D object's word space to local space.
* Converts the given vector from this 3D object's world space to local space.
*
* @param {Vector3} vector - The vector to convert.
* @return {Vector3} The converted vector.
Expand Down
63 changes: 36 additions & 27 deletions build/three.core.js
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Original file line number Diff line number Diff line change
Expand Up @@ -12140,44 +12140,52 @@ class Matrix4 {
*/
invert() {

// based on http://www.euclideanspace.com/maths/algebra/matrix/functions/inverse/fourD/index.htm
// based on https://github.com/toji/gl-matrix
const te = this.elements,

n11 = te[ 0 ], n21 = te[ 1 ], n31 = te[ 2 ], n41 = te[ 3 ],
n12 = te[ 4 ], n22 = te[ 5 ], n32 = te[ 6 ], n42 = te[ 7 ],
n13 = te[ 8 ], n23 = te[ 9 ], n33 = te[ 10 ], n43 = te[ 11 ],
n14 = te[ 12 ], n24 = te[ 13 ], n34 = te[ 14 ], n44 = te[ 15 ],

t11 = n23 * n34 * n42 - n24 * n33 * n42 + n24 * n32 * n43 - n22 * n34 * n43 - n23 * n32 * n44 + n22 * n33 * n44,
t12 = n14 * n33 * n42 - n13 * n34 * n42 - n14 * n32 * n43 + n12 * n34 * n43 + n13 * n32 * n44 - n12 * n33 * n44,
t13 = n13 * n24 * n42 - n14 * n23 * n42 + n14 * n22 * n43 - n12 * n24 * n43 - n13 * n22 * n44 + n12 * n23 * n44,
t14 = n14 * n23 * n32 - n13 * n24 * n32 - n14 * n22 * n33 + n12 * n24 * n33 + n13 * n22 * n34 - n12 * n23 * n34;

const det = n11 * t11 + n21 * t12 + n31 * t13 + n41 * t14;
t1 = n11 * n22 - n21 * n12,
t2 = n11 * n32 - n31 * n12,
t3 = n11 * n42 - n41 * n12,
t4 = n21 * n32 - n31 * n22,
t5 = n21 * n42 - n41 * n22,
t6 = n31 * n42 - n41 * n32,
t7 = n13 * n24 - n23 * n14,
t8 = n13 * n34 - n33 * n14,
t9 = n13 * n44 - n43 * n14,
t10 = n23 * n34 - n33 * n24,
t11 = n23 * n44 - n43 * n24,
t12 = n33 * n44 - n43 * n34;

const det = t1 * t12 - t2 * t11 + t3 * t10 + t4 * t9 - t5 * t8 + t6 * t7;

if ( det === 0 ) return this.set( 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 );

const detInv = 1 / det;

te[ 0 ] = t11 * detInv;
te[ 1 ] = ( n24 * n33 * n41 - n23 * n34 * n41 - n24 * n31 * n43 + n21 * n34 * n43 + n23 * n31 * n44 - n21 * n33 * n44 ) * detInv;
te[ 2 ] = ( n22 * n34 * n41 - n24 * n32 * n41 + n24 * n31 * n42 - n21 * n34 * n42 - n22 * n31 * n44 + n21 * n32 * n44 ) * detInv;
te[ 3 ] = ( n23 * n32 * n41 - n22 * n33 * n41 - n23 * n31 * n42 + n21 * n33 * n42 + n22 * n31 * n43 - n21 * n32 * n43 ) * detInv;
te[ 0 ] = ( n22 * t12 - n32 * t11 + n42 * t10 ) * detInv;
te[ 1 ] = ( n31 * t11 - n21 * t12 - n41 * t10 ) * detInv;
te[ 2 ] = ( n24 * t6 - n34 * t5 + n44 * t4 ) * detInv;
te[ 3 ] = ( n33 * t5 - n23 * t6 - n43 * t4 ) * detInv;

te[ 4 ] = t12 * detInv;
te[ 5 ] = ( n13 * n34 * n41 - n14 * n33 * n41 + n14 * n31 * n43 - n11 * n34 * n43 - n13 * n31 * n44 + n11 * n33 * n44 ) * detInv;
te[ 6 ] = ( n14 * n32 * n41 - n12 * n34 * n41 - n14 * n31 * n42 + n11 * n34 * n42 + n12 * n31 * n44 - n11 * n32 * n44 ) * detInv;
te[ 7 ] = ( n12 * n33 * n41 - n13 * n32 * n41 + n13 * n31 * n42 - n11 * n33 * n42 - n12 * n31 * n43 + n11 * n32 * n43 ) * detInv;
te[ 4 ] = ( n32 * t9 - n12 * t12 - n42 * t8 ) * detInv;
te[ 5 ] = ( n11 * t12 - n31 * t9 + n41 * t8 ) * detInv;
te[ 6 ] = ( n34 * t3 - n14 * t6 - n44 * t2 ) * detInv;
te[ 7 ] = ( n13 * t6 - n33 * t3 + n43 * t2 ) * detInv;

te[ 8 ] = t13 * detInv;
te[ 9 ] = ( n14 * n23 * n41 - n13 * n24 * n41 - n14 * n21 * n43 + n11 * n24 * n43 + n13 * n21 * n44 - n11 * n23 * n44 ) * detInv;
te[ 10 ] = ( n12 * n24 * n41 - n14 * n22 * n41 + n14 * n21 * n42 - n11 * n24 * n42 - n12 * n21 * n44 + n11 * n22 * n44 ) * detInv;
te[ 11 ] = ( n13 * n22 * n41 - n12 * n23 * n41 - n13 * n21 * n42 + n11 * n23 * n42 + n12 * n21 * n43 - n11 * n22 * n43 ) * detInv;
te[ 8 ] = ( n12 * t11 - n22 * t9 + n42 * t7 ) * detInv;
te[ 9 ] = ( n21 * t9 - n11 * t11 - n41 * t7 ) * detInv;
te[ 10 ] = ( n14 * t5 - n24 * t3 + n44 * t1 ) * detInv;
te[ 11 ] = ( n23 * t3 - n13 * t5 - n43 * t1 ) * detInv;

te[ 12 ] = t14 * detInv;
te[ 13 ] = ( n13 * n24 * n31 - n14 * n23 * n31 + n14 * n21 * n33 - n11 * n24 * n33 - n13 * n21 * n34 + n11 * n23 * n34 ) * detInv;
te[ 14 ] = ( n14 * n22 * n31 - n12 * n24 * n31 - n14 * n21 * n32 + n11 * n24 * n32 + n12 * n21 * n34 - n11 * n22 * n34 ) * detInv;
te[ 15 ] = ( n12 * n23 * n31 - n13 * n22 * n31 + n13 * n21 * n32 - n11 * n23 * n32 - n12 * n21 * n33 + n11 * n22 * n33 ) * detInv;
te[ 12 ] = ( n22 * t8 - n12 * t10 - n32 * t7 ) * detInv;
te[ 13 ] = ( n11 * t10 - n21 * t8 + n31 * t7 ) * detInv;
te[ 14 ] = ( n24 * t2 - n14 * t4 - n34 * t1 ) * detInv;
te[ 15 ] = ( n13 * t4 - n23 * t2 + n33 * t1 ) * detInv;

return this;

Expand Down Expand Up @@ -12479,7 +12487,9 @@ class Matrix4 {
position.y = te[ 13 ];
position.z = te[ 14 ];

if ( this.determinant() === 0 ) {
const det = this.determinant();

if ( det === 0 ) {

scale.set( 1, 1, 1 );
quaternion.identity();
Expand All @@ -12492,8 +12502,7 @@ class Matrix4 {
const sy = _v1$5.set( te[ 4 ], te[ 5 ], te[ 6 ] ).length();
const sz = _v1$5.set( te[ 8 ], te[ 9 ], te[ 10 ] ).length();

// if determine is negative, we need to invert one scale
const det = this.determinant();
// if determinant is negative, we need to invert one scale
if ( det < 0 ) sx = - sx;

// scale the rotation part
Expand Down Expand Up @@ -13929,7 +13938,7 @@ class Object3D extends EventDispatcher {
}

/**
* Converts the given vector from this 3D object's word space to local space.
* Converts the given vector from this 3D object's world space to local space.
*
* @param {Vector3} vector - The vector to convert.
* @return {Vector3} The converted vector.
Expand Down
2 changes: 1 addition & 1 deletion build/three.core.min.js
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1 change: 1 addition & 0 deletions examples/jsm/loaders/GLTFLoader.js
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Original file line number Diff line number Diff line change
Expand Up @@ -92,6 +92,7 @@ import { clone } from '../utils/SkeletonUtils.js';
* - KHR_materials_unlit
* - KHR_materials_volume
* - KHR_mesh_quantization
* - KHR_meshopt_compression
* - KHR_lights_punctual
* - KHR_texture_basisu
* - KHR_texture_transform
Expand Down
60 changes: 34 additions & 26 deletions src/math/Matrix4.js
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Expand Up @@ -707,44 +707,52 @@ class Matrix4 {
*/
invert() {

// based on http://www.euclideanspace.com/maths/algebra/matrix/functions/inverse/fourD/index.htm
// based on https://github.com/toji/gl-matrix
const te = this.elements,

n11 = te[ 0 ], n21 = te[ 1 ], n31 = te[ 2 ], n41 = te[ 3 ],
n12 = te[ 4 ], n22 = te[ 5 ], n32 = te[ 6 ], n42 = te[ 7 ],
n13 = te[ 8 ], n23 = te[ 9 ], n33 = te[ 10 ], n43 = te[ 11 ],
n14 = te[ 12 ], n24 = te[ 13 ], n34 = te[ 14 ], n44 = te[ 15 ],

t11 = n23 * n34 * n42 - n24 * n33 * n42 + n24 * n32 * n43 - n22 * n34 * n43 - n23 * n32 * n44 + n22 * n33 * n44,
t12 = n14 * n33 * n42 - n13 * n34 * n42 - n14 * n32 * n43 + n12 * n34 * n43 + n13 * n32 * n44 - n12 * n33 * n44,
t13 = n13 * n24 * n42 - n14 * n23 * n42 + n14 * n22 * n43 - n12 * n24 * n43 - n13 * n22 * n44 + n12 * n23 * n44,
t14 = n14 * n23 * n32 - n13 * n24 * n32 - n14 * n22 * n33 + n12 * n24 * n33 + n13 * n22 * n34 - n12 * n23 * n34;

const det = n11 * t11 + n21 * t12 + n31 * t13 + n41 * t14;
t1 = n11 * n22 - n21 * n12,
t2 = n11 * n32 - n31 * n12,
t3 = n11 * n42 - n41 * n12,
t4 = n21 * n32 - n31 * n22,
t5 = n21 * n42 - n41 * n22,
t6 = n31 * n42 - n41 * n32,
t7 = n13 * n24 - n23 * n14,
t8 = n13 * n34 - n33 * n14,
t9 = n13 * n44 - n43 * n14,
t10 = n23 * n34 - n33 * n24,
t11 = n23 * n44 - n43 * n24,
t12 = n33 * n44 - n43 * n34;

const det = t1 * t12 - t2 * t11 + t3 * t10 + t4 * t9 - t5 * t8 + t6 * t7;

if ( det === 0 ) return this.set( 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 );

const detInv = 1 / det;

te[ 0 ] = t11 * detInv;
te[ 1 ] = ( n24 * n33 * n41 - n23 * n34 * n41 - n24 * n31 * n43 + n21 * n34 * n43 + n23 * n31 * n44 - n21 * n33 * n44 ) * detInv;
te[ 2 ] = ( n22 * n34 * n41 - n24 * n32 * n41 + n24 * n31 * n42 - n21 * n34 * n42 - n22 * n31 * n44 + n21 * n32 * n44 ) * detInv;
te[ 3 ] = ( n23 * n32 * n41 - n22 * n33 * n41 - n23 * n31 * n42 + n21 * n33 * n42 + n22 * n31 * n43 - n21 * n32 * n43 ) * detInv;

te[ 4 ] = t12 * detInv;
te[ 5 ] = ( n13 * n34 * n41 - n14 * n33 * n41 + n14 * n31 * n43 - n11 * n34 * n43 - n13 * n31 * n44 + n11 * n33 * n44 ) * detInv;
te[ 6 ] = ( n14 * n32 * n41 - n12 * n34 * n41 - n14 * n31 * n42 + n11 * n34 * n42 + n12 * n31 * n44 - n11 * n32 * n44 ) * detInv;
te[ 7 ] = ( n12 * n33 * n41 - n13 * n32 * n41 + n13 * n31 * n42 - n11 * n33 * n42 - n12 * n31 * n43 + n11 * n32 * n43 ) * detInv;

te[ 8 ] = t13 * detInv;
te[ 9 ] = ( n14 * n23 * n41 - n13 * n24 * n41 - n14 * n21 * n43 + n11 * n24 * n43 + n13 * n21 * n44 - n11 * n23 * n44 ) * detInv;
te[ 10 ] = ( n12 * n24 * n41 - n14 * n22 * n41 + n14 * n21 * n42 - n11 * n24 * n42 - n12 * n21 * n44 + n11 * n22 * n44 ) * detInv;
te[ 11 ] = ( n13 * n22 * n41 - n12 * n23 * n41 - n13 * n21 * n42 + n11 * n23 * n42 + n12 * n21 * n43 - n11 * n22 * n43 ) * detInv;

te[ 12 ] = t14 * detInv;
te[ 13 ] = ( n13 * n24 * n31 - n14 * n23 * n31 + n14 * n21 * n33 - n11 * n24 * n33 - n13 * n21 * n34 + n11 * n23 * n34 ) * detInv;
te[ 14 ] = ( n14 * n22 * n31 - n12 * n24 * n31 - n14 * n21 * n32 + n11 * n24 * n32 + n12 * n21 * n34 - n11 * n22 * n34 ) * detInv;
te[ 15 ] = ( n12 * n23 * n31 - n13 * n22 * n31 + n13 * n21 * n32 - n11 * n23 * n32 - n12 * n21 * n33 + n11 * n22 * n33 ) * detInv;
te[ 0 ] = ( n22 * t12 - n32 * t11 + n42 * t10 ) * detInv;
te[ 1 ] = ( n31 * t11 - n21 * t12 - n41 * t10 ) * detInv;
te[ 2 ] = ( n24 * t6 - n34 * t5 + n44 * t4 ) * detInv;
te[ 3 ] = ( n33 * t5 - n23 * t6 - n43 * t4 ) * detInv;

te[ 4 ] = ( n32 * t9 - n12 * t12 - n42 * t8 ) * detInv;
te[ 5 ] = ( n11 * t12 - n31 * t9 + n41 * t8 ) * detInv;
te[ 6 ] = ( n34 * t3 - n14 * t6 - n44 * t2 ) * detInv;
te[ 7 ] = ( n13 * t6 - n33 * t3 + n43 * t2 ) * detInv;

te[ 8 ] = ( n12 * t11 - n22 * t9 + n42 * t7 ) * detInv;
te[ 9 ] = ( n21 * t9 - n11 * t11 - n41 * t7 ) * detInv;
te[ 10 ] = ( n14 * t5 - n24 * t3 + n44 * t1 ) * detInv;
te[ 11 ] = ( n23 * t3 - n13 * t5 - n43 * t1 ) * detInv;

te[ 12 ] = ( n22 * t8 - n12 * t10 - n32 * t7 ) * detInv;
te[ 13 ] = ( n11 * t10 - n21 * t8 + n31 * t7 ) * detInv;
te[ 14 ] = ( n24 * t2 - n14 * t4 - n34 * t1 ) * detInv;
te[ 15 ] = ( n13 * t4 - n23 * t2 + n33 * t1 ) * detInv;

return this;

Expand Down
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