function lookAt(out, eye, center, up) {
    var x0, x1, x2, y0, y1, y2, z0, z1, z2, len,
        eyex = eye[0],
        eyey = eye[1],
        eyez = eye[2],
        upx = up[0],
        upy = up[1],
        upz = up[2],
        centerx = center[0],
        centery = center[1],
        centerz = center[2];

    if (Math.abs(eyex - centerx) < 0.000001 &&
        Math.abs(eyey - centery) < 0.000001 &&
        Math.abs(eyez - centerz) < 0.000001) {
        return identity(out);
    }

    z0 = eyex - centerx;
    z1 = eyey - centery;
    z2 = eyez - centerz;

    len = 1 / Math.sqrt(z0 * z0 + z1 * z1 + z2 * z2);
    z0 *= len;
    z1 *= len;
    z2 *= len;

    x0 = upy * z2 - upz * z1;
    x1 = upz * z0 - upx * z2;
    x2 = upx * z1 - upy * z0;
    len = Math.sqrt(x0 * x0 + x1 * x1 + x2 * x2);
    if (!len) {
        x0 = 0;
        x1 = 0;
        x2 = 0;
    } else {
        len = 1 / len;
        x0 *= len;
        x1 *= len;
        x2 *= len;
    }

    y0 = z1 * x2 - z2 * x1;
    y1 = z2 * x0 - z0 * x2;
    y2 = z0 * x1 - z1 * x0;

    len = Math.sqrt(y0 * y0 + y1 * y1 + y2 * y2);
    if (!len) {
        y0 = 0;
        y1 = 0;
        y2 = 0;
    } else {
        len = 1 / len;
        y0 *= len;
        y1 *= len;
        y2 *= len;
    }

    out[0] = x0;
    out[1] = y0;
    out[2] = z0;
    out[3] = 0;
    out[4] = x1;
    out[5] = y1;
    out[6] = z1;
    out[7] = 0;
    out[8] = x2;
    out[9] = y2;
    out[10] = z2;
    out[11] = 0;
    out[12] = -(x0 * eyex + x1 * eyey + x2 * eyez);
    out[13] = -(y0 * eyex + y1 * eyey + y2 * eyez);
    out[14] = -(z0 * eyex + z1 * eyey + z2 * eyez);
    out[15] = 1;

    return out;
}
Generates a look-at matrix with the given eye position, focal point, and up axis

@param {mat4} out mat4 frustum matrix will be written into
@param {vec3} eye Position of the viewer
@param {vec3} center Point the viewer is looking at
@param {vec3} up vec3 pointing up
@returns {mat4} out