gets upper-left of a 4x4 matrix into a 3x3 of vectors
function mat3from4(out, mat4x4) {
    out[0][0] = mat4x4[0]
    out[0][1] = mat4x4[1]
    out[0][2] = mat4x4[2]
    
    out[1][0] = mat4x4[4]
    out[1][1] = mat4x4[5]
    out[1][2] = mat4x4[6]

    out[2][0] = mat4x4[8]
    out[2][1] = mat4x4[9]
    out[2][2] = mat4x4[10]
}