diff --git a/package.json b/package.json
index 27ef767f0..ae3904740 100644
--- a/package.json
+++ b/package.json
@@ -27,7 +27,6 @@
   },
   "devDependencies": {
     "@types/command-exists": "^1.2.0",
-    "@types/gl-matrix": "^3.2.0",
     "@types/markdown-table": "^2.0.0",
     "@types/ndarray": "^1.0.8",
     "@types/node": "^14.14.37",
diff --git a/packages/core/src/utils/math-utils.ts b/packages/core/src/utils/math-utils.ts
index 2a302fba8..c94697ded 100644
--- a/packages/core/src/utils/math-utils.ts
+++ b/packages/core/src/utils/math-utils.ts
@@ -1,4 +1,5 @@
-import { ReadonlyMat4, mat4 as glMat4, vec3 as glVec3 } from 'gl-matrix';
+import { determinant, getRotation } from 'gl-matrix/mat4';
+import { length } from 'gl-matrix/vec3';
 import { mat4, vec3, vec4 } from '../constants';
 import { GLTF } from '../types/gltf';
 
@@ -72,12 +73,12 @@ export class MathUtils {
 			dstTranslation: vec3,
 			dstRotation: vec4,
 			dstScale: vec3): void {
-		let sx = glVec3.length([srcMat[0], srcMat[1], srcMat[2]]);
-		const sy = glVec3.length([srcMat[4], srcMat[5], srcMat[6]]);
-		const sz = glVec3.length([srcMat[8], srcMat[9], srcMat[10]]);
+		let sx = length([srcMat[0], srcMat[1], srcMat[2]]);
+		const sy = length([srcMat[4], srcMat[5], srcMat[6]]);
+		const sz = length([srcMat[8], srcMat[9], srcMat[10]]);
 
 		// if determine is negative, we need to invert one scale
-		const det = glMat4.determinant(srcMat);
+		const det = determinant(srcMat);
 		if (det < 0) sx = - sx;
 
 		dstTranslation[0] = srcMat[12];
@@ -103,7 +104,7 @@ export class MathUtils {
 		_m1[9] *= invSZ;
 		_m1[10] *= invSZ;
 
-		glMat4.getRotation(dstRotation, _m1 as unknown as ReadonlyMat4);
+		getRotation(dstRotation, _m1);
 
 		dstScale[0] = sx;
 		dstScale[1] = sy;
diff --git a/yarn.lock b/yarn.lock
index eda04646c..d20a511db 100644
--- a/yarn.lock
+++ b/yarn.lock
@@ -1938,13 +1938,6 @@
   resolved "https://registry.yarnpkg.com/@types/estree/-/estree-0.0.39.tgz#e177e699ee1b8c22d23174caaa7422644389509f"
   integrity sha512-EYNwp3bU+98cpU4lAWYYL7Zz+2gryWH1qbdDTidVd6hkiR6weksdbMadyXKXNPEkQFhXM+hVO9ZygomHXp+AIw==
 
-"@types/gl-matrix@^3.2.0":
-  version "3.2.0"
-  resolved "https://registry.yarnpkg.com/@types/gl-matrix/-/gl-matrix-3.2.0.tgz#a62e0f26be4ab6fa55284a29eec631c8641438a1"
-  integrity sha512-CY4JAtSOGQX7rVgqVuOk7ZfaLv8VeadDMPj3smMOy8Hp/YiHONa3Mr0mEUgbo0eEwV7+Owpf6BwspcA7hv4NXg==
-  dependencies:
-    gl-matrix "*"
-
 "@types/glob@^7.1.1":
   version "7.1.3"
   resolved "https://registry.yarnpkg.com/@types/glob/-/glob-7.1.3.tgz#e6ba80f36b7daad2c685acd9266382e68985c183"
@@ -4713,16 +4706,16 @@ gl-mat4@^1.1.4:
   resolved "https://registry.yarnpkg.com/gl-mat4/-/gl-mat4-1.2.0.tgz#49d8a7636b70aa00819216635f4a3fd3f4669b26"
   integrity sha512-sT5C0pwB1/e9G9AvAoLsoaJtbMGjfd/jfxo8jMCKqYYEnjZuFvqV5rehqar0538EmssjdDeiEWnKyBSTw7quoA==
 
-gl-matrix@*, gl-matrix@^3.3.0:
-  version "3.3.0"
-  resolved "https://registry.yarnpkg.com/gl-matrix/-/gl-matrix-3.3.0.tgz#232eef60b1c8b30a28cbbe75b2caf6c48fd6358b"
-  integrity sha512-COb7LDz+SXaHtl/h4LeaFcNdJdAQSDeVqjiIihSXNrkWObZLhDI4hIkZC11Aeqp7bcE72clzB0BnDXr2SmslRA==
-
 gl-matrix@^2.4.0:
   version "2.8.1"
   resolved "https://registry.yarnpkg.com/gl-matrix/-/gl-matrix-2.8.1.tgz#1c7873448eac61d2cd25803a074e837bd42581a3"
   integrity sha512-0YCjVpE3pS5XWlN3J4X7AiAx65+nqAI54LndtVFnQZB6G/FVLkZH8y8V6R3cIoOQR4pUdfwQGd1iwyoXHJ4Qfw==
 
+gl-matrix@^3.3.0:
+  version "3.3.0"
+  resolved "https://registry.yarnpkg.com/gl-matrix/-/gl-matrix-3.3.0.tgz#232eef60b1c8b30a28cbbe75b2caf6c48fd6358b"
+  integrity sha512-COb7LDz+SXaHtl/h4LeaFcNdJdAQSDeVqjiIihSXNrkWObZLhDI4hIkZC11Aeqp7bcE72clzB0BnDXr2SmslRA==
+
 gl-vec3@^1.0.3:
   version "1.1.3"
   resolved "https://registry.yarnpkg.com/gl-vec3/-/gl-vec3-1.1.3.tgz#a47c62f918774a06cbed1b65bcd0288ecbb03826"