Improve matrix and vector types

[mourner]

A follow-up to #11400 — there are still multiple ways we could make those types stricter and more useful:

• Currently we often use [] as an input type for vector/matrix calculations, resolved as Array<number>. The problem with this is that we can't type-check array length of resulting objects (vec/mat2/3/4 can all be interchangeably interpreted as the same type), and arrays are not compatible with tuples that we use for typing uniform inputs like uniform3f. We should probably exclude Array<number> as input type for these methods and replace them with tuples that have explicit length.
• We use either Float64Array, Float32Array or Array for matrices inconsistently throughout the codebase. Ideally we would settle on one way of doing this — either always using Float64Array for intermediary calculations and then converting to Float32Array which WebGL expects at the end, or switching to arrays everywhere so that we never loose precision.

cc @ansis