Update README.md

since struct param is copy-by-value, result was noop

.gitattributes

@@ -0,0 +1 @@
+*.h linguist-language=C

.gitignore

@@ -72,3 +72,9 @@ cglm-test-ios*
 /cglm.pc
 test-driver
 Default-568h@2x.png
+build/
+conftest.dir/*
+confdefs.h
+*.xcuserdatad
+.idea
+cmake-build-debug

.travis.yml

@@ -4,6 +4,12 @@ os:
   - linux
   - osx
 
+arch:
+  - amd64
+  - ppc64le
+  - s390x
+  - arm64
+
 sudo: required
 dist: trusty
 

.vscode/settings.json

@@ -0,0 +1,4 @@
+{
+  "C_Cpp.default.configurationProvider": "vector-of-bool.cmake-tools",
+  "restructuredtext.confPath": "${workspaceFolder}/docs/source"
+}

CMakeLists.txt

@@ -0,0 +1,149 @@
+cmake_minimum_required(VERSION 3.8.2)
+project(cglm VERSION 0.8.3 LANGUAGES C)
+
+set(CMAKE_C_STANDARD 11)
+set(CMAKE_C_STANDARD_REQUIRED YES)
+set(DEFAULT_BUILD_TYPE "Release")
+
+set(CGLM_BUILD)
+option(CGLM_SHARED "Shared build" ON)
+option(CGLM_STATIC "Static build" OFF)
+option(CGLM_USE_C99 "" OFF)
+option(CGLM_USE_TEST "Enable Tests" OFF)
+
+if(NOT CGLM_STATIC AND CGLM_SHARED)
+  set(CGLM_BUILD SHARED)
+else(CGLM_STATIC)
+  set(CGLM_BUILD STATIC)
+endif()
+
+if(CGLM_USE_C99)
+  set(CMAKE_C_STANDARD 99)
+endif()
+
+if(MSVC)
+  add_definitions(-DNDEBUG -D_WINDOWS -D_USRDLL)
+  add_compile_options(/W3 /Ox /Gy /Oi /TC)
+  
+  # Ref: https://skia.googlesource.com/third_party/sdl/+/refs/heads/master/CMakeLists.txt#225
+  # Make sure /RTC1 is disabled, otherwise it will use functions from the CRT
+  foreach(flag_var
+      CMAKE_C_FLAGS CMAKE_C_FLAGS_DEBUG CMAKE_C_FLAGS_RELEASE
+      CMAKE_C_FLAGS_MINSIZEREL CMAKE_C_FLAGS_RELWITHDEBINFO)
+    string(REGEX REPLACE "/RTC(su|[1su])" "" ${flag_var} "${${flag_var}}")
+  endforeach(flag_var)
+else()
+  add_compile_options(-Wall -Werror -O3)
+endif()
+
+if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
+  message(STATUS "Setting build type to '${DEFAULT_BUILD_TYPE}' as none was specified.")
+  set(CMAKE_BUILD_TYPE "${DEFAULT_BUILD_TYPE}" CACHE STRING "Choose the type of build." FORCE)
+  # Set the possible values of build type for cmake-gui
+  set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug" "Release" "MinSizeRel" "RelWithDebInfo")
+endif()
+
+include(GNUInstallDirs)
+
+set(CPACK_PROJECT_NAME ${PROJECT_NAME})
+set(CPACK_PROJECT_VERSION ${PROJECT_VERSION})
+include(CPack)
+
+# Target Start
+add_library(${PROJECT_NAME}
+  ${CGLM_BUILD}
+  src/euler.c
+  src/affine.c
+  src/io.c
+  src/quat.c
+  src/cam.c
+  src/vec2.c
+  src/vec3.c
+  src/vec4.c
+  src/mat2.c
+  src/mat3.c
+  src/mat4.c
+  src/plane.c
+  src/frustum.c
+  src/box.c
+  src/project.c
+  src/sphere.c
+  src/ease.c
+  src/curve.c
+  src/bezier.c
+  src/ray.c
+  src/affine2d.c
+  src/clipspace/persp_lh_zo.c
+  src/clipspace/persp_rh_zo.c
+  src/clipspace/persp_lh_no.c
+  src/clipspace/persp_rh_no.c
+  src/clipspace/ortho_lh_zo.c
+  src/clipspace/ortho_rh_zo.c
+  src/clipspace/ortho_lh_no.c
+  src/clipspace/ortho_rh_no.c
+  src/clipspace/view_lh_zo.c
+  src/clipspace/view_rh_zo.c
+  src/clipspace/view_lh_no.c
+  src/clipspace/view_rh_no.c
+  )
+
+if(CGLM_SHARED)
+  add_definitions(-DCGLM_EXPORTS)
+else()
+  target_compile_definitions(${PROJECT_NAME} PUBLIC -DCGLM_STATIC)
+endif()
+
+set_target_properties(${PROJECT_NAME} PROPERTIES
+                              VERSION ${PROJECT_VERSION} 
+                            SOVERSION ${PROJECT_VERSION_MAJOR})
+
+target_include_directories(${PROJECT_NAME}
+    PUBLIC 
+        $<INSTALL_INTERFACE:include>    
+        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+    PRIVATE
+        ${CMAKE_CURRENT_SOURCE_DIR}/src
+)
+
+# Target for header-only usage
+add_library(${PROJECT_NAME}_headers INTERFACE)
+target_include_directories(${PROJECT_NAME}_headers INTERFACE
+  ${CMAKE_CURRENT_SOURCE_DIR}/include)
+
+# Test Configuration
+if(CGLM_USE_TEST)
+  include(CTest)
+  enable_testing()
+  add_subdirectory(test)
+endif()
+
+# Install 
+install(TARGETS ${PROJECT_NAME}
+        EXPORT  ${PROJECT_NAME}
+        LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
+        ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
+        RUNTIME DESTINATION ${CMAKE_INSTALL_LIBDIR})
+
+install(DIRECTORY include/${PROJECT_NAME} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
+        PATTERN ".*" EXCLUDE)
+
+# Config
+export(TARGETS ${PROJECT_NAME}
+       NAMESPACE ${PROJECT_NAME}::
+       FILE "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake"
+)
+
+install(EXPORT      ${PROJECT_NAME}
+        FILE        "${PROJECT_NAME}Config.cmake"
+        NAMESPACE   ${PROJECT_NAME}::
+        DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/${PROJECT_NAME})
+
+set(PACKAGE_NAME ${PROJECT_NAME})
+set(prefix ${CMAKE_INSTALL_PREFIX})
+set(exec_prefix ${CMAKE_INSTALL_PREFIX})
+set(includedir "\${prefix}/${CMAKE_INSTALL_INCLUDEDIR}")
+set(libdir "\${prefix}/${CMAKE_INSTALL_LIBDIR}")
+configure_file(${CMAKE_CURRENT_LIST_DIR}/cglm.pc.in ${CMAKE_BINARY_DIR}/cglm.pc @ONLY)
+
+install(FILES ${CMAKE_BINARY_DIR}/cglm.pc
+  DESTINATION ${CMAKE_INSTALL_LIBDIR}/pkgconfig)

CREDITS

@@ -65,3 +65,16 @@ https://forums.khronos.org/showthread.php/10651-Animation-TCB-Spline-Interpolati
 12. vec2 cross product
 http://allenchou.net/2013/07/cross-product-of-2d-vectors/
 
+13. Ray triangle intersect
+Möller–Trumbore ray-triangle intersection algorithm, from "Fast, Minimum Storage Ray/Triangle Intersection"
+Authors:
+  Thomas Möller (tompa@clarus.se)
+  Ben Trumbore (wbt@graphics.cornell.edu)
+Link to paper: http://webserver2.tecgraf.puc-rio.br/~mgattass/cg/trbRR/Fast%20MinimumStorage%20RayTriangle%20Intersection.pdf
+
+14. ARM NEON: Matrix Vector Multiplication
+https://stackoverflow.com/a/57793352/2676533
+
+16. ARM NEON Div
+
+http://github.com/microsoft/DirectXMath

Makefile.am

@@ -12,7 +12,6 @@ AM_CFLAGS = -Wall \
             -O3 \
             -Wstrict-aliasing=2 \
             -fstrict-aliasing \
-            -pedantic \
             -Werror=strict-prototypes
 
 lib_LTLIBRARIES = libcglm.la
@@ -22,6 +21,9 @@ checkLDFLAGS = -L./.libs \
                -lm \
                -lcglm
 checkCFLAGS = $(AM_CFLAGS) \
+               -std=gnu11 \
+               -O3 \
+               -DCGLM_DEFINE_PRINTS \
                -I./include
 
 check_PROGRAMS = test/tests
@@ -63,7 +65,26 @@ cglm_HEADERS = include/cglm/version.h \
                include/cglm/ease.h \
                include/cglm/curve.h \
                include/cglm/bezier.h \
-               include/cglm/applesimd.h
+               include/cglm/applesimd.h \
+               include/cglm/ray.h \
+               include/cglm/affine2d.h
+
+cglm_clipspacedir=$(includedir)/cglm/clipspace
+cglm_clipspace_HEADERS = include/cglm/clipspace/persp.h \
+                         include/cglm/clipspace/persp_lh_zo.h \
+                         include/cglm/clipspace/persp_rh_zo.h \
+                         include/cglm/clipspace/persp_lh_no.h \
+                         include/cglm/clipspace/persp_rh_no.h \
+                         include/cglm/clipspace/ortho_lh_zo.h \
+                         include/cglm/clipspace/ortho_rh_zo.h \
+                         include/cglm/clipspace/ortho_lh_no.h \
+                         include/cglm/clipspace/ortho_rh_no.h \
+                         include/cglm/clipspace/view_lh.h \
+                         include/cglm/clipspace/view_rh.h \
+                         include/cglm/clipspace/view_lh_zo.h \
+                         include/cglm/clipspace/view_rh_zo.h \
+                         include/cglm/clipspace/view_lh_no.h \
+                         include/cglm/clipspace/view_rh_no.h
 
 cglm_calldir=$(includedir)/cglm/call
 cglm_call_HEADERS = include/cglm/call/mat4.h \
@@ -84,7 +105,9 @@ cglm_call_HEADERS = include/cglm/call/mat4.h \
                     include/cglm/call/sphere.h \
                     include/cglm/call/ease.h \
                     include/cglm/call/curve.h \
-                    include/cglm/call/bezier.h
+                    include/cglm/call/bezier.h \
+                    include/cglm/call/ray.h \
+                    include/cglm/call/affine2d.h
 
 cglm_simddir=$(includedir)/cglm/simd
 cglm_simd_HEADERS = include/cglm/simd/intrin.h \
@@ -95,6 +118,7 @@ cglm_simd_sse2dir=$(includedir)/cglm/simd/sse2
 cglm_simd_sse2_HEADERS = include/cglm/simd/sse2/affine.h \
                          include/cglm/simd/sse2/mat4.h \
                          include/cglm/simd/sse2/mat3.h \
+                         include/cglm/simd/sse2/mat2.h \
                          include/cglm/simd/sse2/quat.h
 
 cglm_simd_avxdir=$(includedir)/cglm/simd/avx
@@ -102,11 +126,15 @@ cglm_simd_avx_HEADERS = include/cglm/simd/avx/mat4.h \
                         include/cglm/simd/avx/affine.h
 
 cglm_simd_neondir=$(includedir)/cglm/simd/neon
-cglm_simd_neon_HEADERS = include/cglm/simd/neon/mat4.h
+cglm_simd_neon_HEADERS = include/cglm/simd/neon/mat4.h \
+                         include/cglm/simd/neon/mat2.h \
+                         include/cglm/simd/neon/affine.h \
+                         include/cglm/simd/neon/quat.h
 
 cglm_structdir=$(includedir)/cglm/struct
 cglm_struct_HEADERS = include/cglm/struct/mat4.h \
                       include/cglm/struct/mat3.h \
+                      include/cglm/struct/mat2.h \
                       include/cglm/struct/vec2.h \
                       include/cglm/struct/vec2-ext.h \
                       include/cglm/struct/vec3.h \
@@ -124,7 +152,22 @@ cglm_struct_HEADERS = include/cglm/struct/mat4.h \
                       include/cglm/struct/project.h \
                       include/cglm/struct/sphere.h \
                       include/cglm/struct/color.h \
-                      include/cglm/struct/curve.h
+                      include/cglm/struct/curve.h \
+                      include/cglm/struct/affine2d.h
+
+cglm_struct_clipspacedir=$(includedir)/cglm/struct/clipspace
+cglm_struct_clipspace_HEADERS = include/cglm/struct/clipspace/persp_lh_zo.h \
+                                include/cglm/struct/clipspace/persp_rh_zo.h \
+                                include/cglm/struct/clipspace/persp_lh_no.h \
+                                include/cglm/struct/clipspace/persp_rh_no.h \
+                                include/cglm/struct/clipspace/ortho_lh_zo.h \
+                                include/cglm/struct/clipspace/ortho_rh_zo.h \
+                                include/cglm/struct/clipspace/ortho_lh_no.h \
+                                include/cglm/struct/clipspace/ortho_rh_no.h \
+                                include/cglm/struct/clipspace/view_lh_zo.h \
+                                include/cglm/struct/clipspace/view_rh_zo.h \
+                                include/cglm/struct/clipspace/view_lh_no.h \
+                                include/cglm/struct/clipspace/view_rh_no.h
 
 libcglm_la_SOURCES=\
     src/euler.c \
@@ -145,13 +188,31 @@ libcglm_la_SOURCES=\
     src/sphere.c \
     src/ease.c \
     src/curve.c \
-    src/bezier.c
+    src/bezier.c \
+    src/ray.c \
+    src/affine2d.c \
+    src/clipspace/ortho_lh_no.c \
+    src/clipspace/ortho_lh_zo.c \
+    src/clipspace/ortho_rh_no.c \
+    src/clipspace/ortho_rh_zo.c \
+    src/clipspace/persp_lh_no.c \
+    src/clipspace/persp_lh_zo.c \
+    src/clipspace/persp_rh_no.c \
+    src/clipspace/persp_rh_zo.c \
+    src/clipspace/view_lh_no.c \
+    src/clipspace/view_lh_zo.c \
+    src/clipspace/view_rh_no.c \
+    src/clipspace/view_rh_zo.c
 
 test_tests_SOURCES=\
     test/runner.c \
     test/src/test_common.c \
     test/src/tests.c \
     test/src/test_cam.c \
+    test/src/test_cam_lh_zo.c \
+    test/src/test_cam_rh_zo.c \
+    test/src/test_cam_lh_no.c \
+    test/src/test_cam_rh_no.c \
     test/src/test_clamp.c \
     test/src/test_euler.c \
     test/src/test_bezier.c \

Package.swift

@@ -0,0 +1,44 @@
+// swift-tools-version:5.2
+
+import PackageDescription
+
+let package = Package(
+    name: "cglm",
+    products: [
+        .library(name: "cglm", type: .static, targets: ["cglmHeader"]),
+        .library(name: "cglmc", targets: ["cglmCompiled"]),
+    ],
+    dependencies: [],
+    targets: [
+        .target(
+            name: "cglmCompiled",
+            path: "./",
+            exclude: [
+                "./docs",
+                "./src/swift",
+                "./include",
+                "./test",
+                "./win",
+            ],
+            sources: [
+                "./src",
+            ],
+            publicHeadersPath: "./include"
+        ),
+        .target(
+            name: "cglmHeader",
+            path: "./",
+            exclude: [
+                "./docs",
+                "./include",
+                "./test",
+                "./win",
+            ],
+            sources: [
+                "./src/swift",
+            ],
+            publicHeadersPath: "./include"
+        ),
+    ],
+    cLanguageStandard: .c11
+)

README.md

@@ -1,5 +1,5 @@
 # 🎥 OpenGL Mathematics (glm) for `C`
-[![Build Status](https://travis-ci.org/recp/cglm.svg?branch=master)](https://travis-ci.org/recp/cglm)
+[![Build Status](https://travis-ci.com/recp/cglm.svg?branch=master)](https://travis-ci.com/recp/cglm)
 [![Build status](https://ci.appveyor.com/api/projects/status/av7l3gc0yhfex8y4/branch/master?svg=true)](https://ci.appveyor.com/project/recp/cglm/branch/master)
 [![Documentation Status](https://readthedocs.org/projects/cglm/badge/?version=latest)](http://cglm.readthedocs.io/en/latest/?badge=latest)
 [![Coverage Status](https://coveralls.io/repos/github/recp/cglm/badge.svg?branch=master)](https://coveralls.io/github/recp/cglm?branch=master)
@@ -25,6 +25,8 @@ you have the latest version
 - **[new option]** by starting v0.4.5, you can disable alignment requirement, check options in docs.  
 - **[major change]** by starting v0.5.0, vec3 functions use **glm_vec3_** namespace, it was **glm_vec_** until v0.5.0
 - **[major change]** by starting v0.5.1, built-in alignment is removed from **vec3** and **mat3** types
+- **[major change]** by starting v0.7.3, inline print functions are disabled in release/production mode to eliminate print costs (see options in documentation). Print output also improved. You can disable colors if you need  (see documentation)
+- **[major change]** by starting v0.8.3, **cglm** supports alternative clipspace configuations e.g. Left Handed, Zero-to-One (_zo)... `CGLM_FORCE_DEPTH_ZERO_TO_ONE` and `CGLM_FORCE_LEFT_HANDED` is provided to control clipspace. You should be able to use **cglm** with Vulkan, DirectX and Metal now... see https://cglm.readthedocs.io/en/latest/opt.html#clipspace-option-s
 
 #### Note for C++ developers:
 If you are not aware of the original GLM library yet, you may also want to look at:
@@ -68,6 +70,8 @@ Currently *cglm* uses default clip space configuration (-1, 1) for camera functi
 </table>
 
 ## Features
+- **scalar** and **simd** (sse, avx, neon...) optimizations
+- option to use different clipspaces e.g. Left Handed, Zero-to-One... (currrently right handed negative-one is default)
 - array api and struct api, you can use arrays or structs.
 - general purpose matrix operations (mat4, mat3)
 - chain matrix multiplication (square only)
@@ -89,13 +93,14 @@ Currently *cglm* uses default clip space configuration (-1, 1) for camera functi
 - curves
 - curve interpolation helpers (S*M*C, deCasteljau...)
 - helpers to convert cglm types to Apple's simd library to pass cglm types to Metal GL without packing them on both sides
+- ray intersection helpers
 - and others...
 
 <hr />
 
-You have two option to call a function/operation: inline or library call (link)
+You have two options to call a function/operation: inline or library call (link)
 Almost all functions are marked inline (always_inline) so compiler will probably inline.
-To call pre-compiled version, just use `glmc_` (c stands for 'call') instead of `glm_`.
+To call pre-compiled versions, just use `glmc_` (c stands for 'call') instead of `glm_`.
 
 ```C
   #include <cglm/cglm.h>   /* for inline */
@@ -148,6 +153,119 @@ The types used are actually unions that allow access to the same data multiple w
 
 ## Build
 
+### CMake (All platforms)
+```bash
+$ mkdir build
+$ cd build
+$ cmake .. # [Optional] -DCGLM_SHARED=ON
+$ make
+$ sudo make install # [Optional]
+```
+
+##### Cmake options with Defaults:
+
+```CMake
+option(CGLM_SHARED "Shared build" ON)
+option(CGLM_STATIC "Static build" OFF)
+option(CGLM_USE_C99 "" OFF) # C11 
+option(CGLM_USE_TEST "Enable Tests" OFF) # for make check - make test
+```
+
+#### Use as header-only library with your CMake project
+
+This requires no building or installation of cglm.
+
+* Example:
+
+``` cmake
+cmake_minimum_required(VERSION 3.8.2)
+
+project(<Your Project Name>)
+
+add_executable(${PROJECT_NAME} src/main.c)
+target_link_libraries(${LIBRARY_NAME} PRIVATE
+  cglm_headers)
+
+add_subdirectory(external/cglm/ EXCLUDE_FROM_ALL)
+```
+
+#### Use with your CMake project
+* Example:
+```cmake
+cmake_minimum_required(VERSION 3.8.2)
+
+project(<Your Project Name>)
+
+add_executable(${PROJECT_NAME} src/main.c)
+target_link_libraries(${LIBRARY_NAME} PRIVATE
+  cglm)
+
+add_subdirectory(external/cglm/)
+
+# or you can use find_package to configure cglm
+```
+
+### Meson (All platforms)
+
+```bash
+$ meson build # [Optional] --default-library=static
+$ cd build
+$ ninja
+$ sudo ninja install # [Optional]
+```
+
+##### Meson options with Defaults:
+
+```meson
+c_std=c11
+buildtype=release
+default_library=shared
+enable_tests=false # to run tests: ninja test
+```
+#### Use with your Meson project
+* Example:
+```meson
+# Clone cglm or create a cglm.wrap under <source_root>/subprojects
+project('name', 'c')
+
+cglm_dep = dependency('cglm', fallback : 'cglm', 'cglm_dep')
+
+executable('exe', 'src/main.c', dependencies : cglm_dep)
+```
+
+### Swift (Swift Package Manager)
+
+Currently only default build options are supported. Add **cglm** dependency to your project:
+
+```swift
+...
+Package( 
+  ...
+  dependencies: [
+    ...
+    .package(url: "https://github.com/recp/cglm", .branch("master")),
+  ]
+  ...
+)
+```
+
+Now add **cgml** as a dependency to your target. Product choices are:
+- **cglm** for inlined version of the library which can be linked only statically
+- **cglmc** for a compiled version of the library with no linking limitation
+
+```swift
+...
+.target(
+  ...
+  dependencies: [
+    ...
+    .product(name: "cglm", package: "cglm"),
+  ]
+  ...
+)
+...
+```
+
 ### Unix (Autotools)
 
 ```bash
@@ -291,7 +409,7 @@ You can pass matrices the same way to other APIs e.g. Vulkan, DX...
 ## Contributors
 
 This project exists thanks to all the people who contribute. [[Contribute](CONTRIBUTING.md)].
-<a href="graphs/contributors"><img src="https://opencollective.com/cglm/contributors.svg?width=890&button=false" /></a>
+<a href="https://github.com/recp/cglm/graphs/contributors"><img src="https://opencollective.com/cglm/contributors.svg?width=890&button=false" /></a>
 
 
 ## Backers

cglm.podspec

@@ -2,10 +2,10 @@ Pod::Spec.new do |s|
 
   # Description
   s.name         = "cglm"
-  s.version      = "0.6.1"
+  s.version      = "0.8.2"
-  s.summary      = "📽 Optimized OpenGL/Graphics Math (glm) for C"
+  s.summary      = "📽 Highly Optimized Graphics Math (glm) for C"
   s.description  = <<-DESC
-cglm is math library for graphics programming for C. It is similar to original glm but it is written for C instead of C++ (you can use here too). See the documentation or README for all features.
+cglm is math library for graphics programming for C. See the documentation or README for all features.
                    DESC
 
   s.documentation_url = "http://cglm.readthedocs.io"
@@ -25,4 +25,13 @@ cglm is math library for graphics programming for C. It is similar to original g
 
   # Linking
   s.library = "m"
+
+  # Configuration
+  s.pod_target_xcconfig = {
+    'CLANG_ENABLE_MODULES' => 'NO',
+    'CLANG_ALLOW_NON_MODULAR_INCLUDES_IN_FRAMEWORK_MODULES' => 'YES',
+    'CLANG_WARN_DOCUMENTATION_COMMENTS' => 'NO',
+    'GCC_C_LANGUAGE_STANDARD' => 'gnu11',
+    'GCC_PREPROCESSOR_DEFINITIONS' => '$(inherited) GLM_TESTS_NO_COLORFUL_OUTPUT'
+  }
 end

configure.ac

@@ -7,7 +7,7 @@
 #*****************************************************************************
 
 AC_PREREQ([2.69])
-AC_INIT([cglm], [0.7.1], [info@recp.me])
+AC_INIT([cglm], [0.8.3], [info@recp.me])
 AM_INIT_AUTOMAKE([-Wall -Werror foreign subdir-objects serial-tests])
 
 # Don't use the default cflags (-O2 -g), we set ours manually in Makefile.am.

docs/source/affine-mat.rst

@@ -1,6 +1,6 @@
 .. default-domain:: C
 
-affine transform matrix (specialized functions)
+3D Affine Transform Matrix (specialized functions)
 ================================================================================
 
 Header: cglm/affine-mat.h

docs/source/affine.rst

@@ -1,6 +1,6 @@
 .. default-domain:: C
 
-affine transforms
+3D Affine Transforms
 ================================================================================
 
 Header: cglm/affine.h
@@ -45,6 +45,8 @@ The implementation would be:
   glm_rotate(m, angle, axis);
   glm_translate(m, pivotInv); /* pivotInv = -pivot */
 
+.. _TransformsOrder:
+
 Transforms Order
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 

docs/source/affine2d.rst

@@ -0,0 +1,140 @@
+.. default-domain:: C
+
+2D Affine Transforms
+================================================================================
+
+Header: cglm/affine2d.h
+
+2D Transforms uses `2d` suffix for naming. If there is no 2D suffix it is 3D function.
+
+Initialize Transform Matrices
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+Functions with **_make** prefix expect you don't have a matrix and they create
+a matrix for you. You don't need to pass identity matrix.
+
+But other functions expect you have a matrix and you want to transform them. If
+you didn't have any existing matrix you have to initialize matrix to identity
+before sending to transfrom functions.
+
+Transforms Order
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+See :ref:`TransformsOrder` to read similar section.
+
+
+Table of contents (click to go):
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+Functions:
+
+1. :c:func:`glm_translate2d`
+#. :c:func:`glm_translate2d_to`
+#. :c:func:`glm_translate2d_x`
+#. :c:func:`glm_translate2d_y`
+#. :c:func:`glm_translate2d_make`
+#. :c:func:`glm_scale2d_to`
+#. :c:func:`glm_scale2d_make`
+#. :c:func:`glm_scale2d`
+#. :c:func:`glm_scale2d_uni`
+#. :c:func:`glm_rotate2d_make`
+#. :c:func:`glm_rotate2d`
+#. :c:func:`glm_rotate2d_to`
+
+.. c:function:: void glm_translate2d(mat3 m, vec2 v)
+
+    translate existing 2d transform matrix by *v* vector and stores result in same matrix
+
+    Parameters:
+      | *[in, out]*  **m**    2d affine transfrom
+      | *[in]*       **v**    translate vector [x, y]
+
+.. c:function:: void glm_translate2d_to(mat3 m, vec2 v, mat3 dest)
+
+    translate existing 2d transform matrix by *v* vector and store result in dest
+
+    Parameters:
+      | *[in]*  **m**    2d affine transfrom
+      | *[in]*  **v**    translate vector [x, y]
+      | *[out]* **dest** translated matrix
+
+.. c:function:: void glm_translate2d_x(mat3 m, float x)
+
+    translate existing 2d transform matrix by x factor
+
+    Parameters:
+      | *[in, out]*  **m**    2d affine transfrom
+      | *[in]*       **x**    x factor
+
+.. c:function:: void glm_translate2d_y(mat3 m, float y)
+
+    translate existing 2d transform matrix by y factor
+
+    Parameters:
+      | *[in, out]*  **m**    2d affine transfrom
+      | *[in]*       **y**    y factor
+
+.. c:function:: void glm_translate2d_make(mat3 m, vec2 v)
+
+    creates NEW translate 2d transform matrix by *v* vector
+
+    Parameters:
+      | *[in, out]*  **m**    affine transfrom
+      | *[in]*       **v**    translate vector [x, y]
+
+.. c:function:: void glm_scale2d_to(mat3 m, vec2 v, mat3 dest)
+
+    scale existing 2d transform matrix by *v* vector and store result in dest
+
+    Parameters:
+      | *[in]*  **m**    affine transfrom
+      | *[in]*  **v**    scale vector [x, y]
+      | *[out]* **dest** scaled matrix
+
+.. c:function:: void glm_scale2d_make(mat3 m, vec2 v)
+
+    creates NEW 2d scale matrix by *v* vector
+
+    Parameters:
+      | *[in, out]*  **m**    affine transfrom
+      | *[in]*       **v**    scale vector [x, y]
+
+.. c:function:: void glm_scale2d(mat3 m, vec2 v)
+
+    scales existing 2d transform matrix by *v* vector and stores result in same matrix
+
+    Parameters:
+      | *[in, out]*  **m**    affine transfrom
+      | *[in]*       **v**    translate vector [x, y]
+
+.. c:function:: void glm_scale2d_uni(mat3 m, float s)
+
+    applies uniform scale to existing 2d transform matrix v = [s, s] and stores result in same matrix
+
+    Parameters:
+      | *[in, out]*  **m**  affine transfrom
+      | *[in]*       **s**  scale factor
+
+.. c:function:: void glm_rotate2d_make(mat3 m, float angle)
+
+    creates NEW rotation matrix by angle around *Z* axis
+
+    Parameters:
+      | *[in, out]*  **m**      affine transfrom
+      | *[in]*       **angle**  angle (radians)
+
+.. c:function:: void glm_rotate2d(mat3 m, float angle)
+
+    rotate existing 2d transform matrix around *Z* axis by angle and store result in same matrix
+
+    Parameters:
+      | *[in, out]*  **m**      affine transfrom
+      | *[in]*       **angle**  angle (radians)
+
+.. c:function:: void glm_rotate2d_to(mat3 m, float angle, mat3 dest)
+
+    rotate existing 2d transform matrix around *Z* axis by angle and store result in dest
+
+    Parameters:
+      | *[in]*  **m**      affine transfrom
+      | *[in]*  **angle**  angle (radians)
+      | *[out]* **dest**   rotated matrix

docs/source/api.rst

@@ -28,6 +28,7 @@ Follow the :doc:`build` documentation for this
 
    affine
    affine-mat
+   affine2d
    cam
    frustum
    box
@@ -51,3 +52,5 @@ Follow the :doc:`build` documentation for this
    sphere
    curve
    bezier
+   version
+   ray

docs/source/build.rst

@@ -7,6 +7,97 @@ Build cglm
 If you only need to inline versions, you don't need to build **cglm**, you don't need to link it to your program.
 Just import cglm to your project as dependency / external lib by copy-paste then use it as usual
 
+CMake (All platforms):
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. code-block:: bash
+  :linenos:
+
+  $ mkdir build
+  $ cd build
+  $ cmake .. # [Optional] -DCGLM_SHARED=ON
+  $ make
+  $ sudo make install # [Optional]
+
+**make** will build cglm to **build** folder.
+If you don't want to install **cglm** to your system's folder you can get static and dynamic libs in this folder.
+
+**CMake Options:**
+
+.. code-block:: CMake
+  :linenos:
+
+  option(CGLM_SHARED "Shared build" ON)
+  option(CGLM_STATIC "Static build" OFF)
+  option(CGLM_USE_C99 "" OFF) # C11 
+  option(CGLM_USE_TEST "Enable Tests" OFF) # for make check - make test
+
+**Use as header-only library with your CMake project example**
+This requires no building or installation of cglm.
+
+.. code-block:: CMake
+  :linenos:
+
+  cmake_minimum_required(VERSION 3.8.2)
+  
+  project(<Your Project Name>)
+  
+  add_executable(${PROJECT_NAME} src/main.c)
+  target_link_libraries(${LIBRARY_NAME} PRIVATE
+    cglm_headers)
+  
+  add_subdirectory(external/cglm/ EXCLUDE_FROM_ALL)
+
+**Use with your CMake project example**
+
+.. code-block:: CMake
+  :linenos:
+
+  cmake_minimum_required(VERSION 3.8.2)
+  
+  project(<Your Project Name>)
+  
+  add_executable(${PROJECT_NAME} src/main.c)
+  target_link_libraries(${LIBRARY_NAME} PRIVATE
+    cglm)
+  
+  add_subdirectory(external/cglm/)
+
+Meson (All platforms):
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. code-block::
+  :linenos:
+
+  $ meson build # [Optional] --default-library=static
+  $ cd build
+  $ ninja
+  $ sudo ninja install # [Optional]
+
+**Meson Options:**
+
+.. code-block:: 
+  :linenos:
+
+  c_std=c11
+  buildtype=release
+  default_library=shared
+  enable_tests=false # to run tests: ninja test
+
+
+**Use with your Meson project**
+
+.. code-block::
+  :linenos:
+
+  # Clone cglm or create a cglm.wrap under <source_root>/subprojects
+  project('name', 'c')
+  
+  cglm_dep = dependency('cglm', fallback : 'cglm', 'cglm_dep')
+  
+  executable('exe', 'src/main.c', dependencies : cglm_dep)
+
+
 Unix (Autotools):
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 

docs/source/cam.rst

@@ -198,7 +198,7 @@ Functions documentation
 
     Parameters:
       | *[in]*  **eye**     eye vector
-      | *[in]*  **center**  direction vector
+      | *[in]*  **dir**     direction vector
       | *[in]*  **up**      up vector
       | *[out]* **dest**    result matrix
 
@@ -212,7 +212,7 @@ Functions documentation
 
     Parameters:
       | *[in]*  **eye**     eye vector
-      | *[in]*  **center**  direction vector
+      | *[in]*  **dir**     direction vector
       | *[out]* **dest**    result matrix
 
 .. c:function:: void  glm_persp_decomp(mat4 proj, float *nearVal, float *farVal, float *top, float *bottom, float *left, float *right)

docs/source/conf.py

@@ -25,7 +25,7 @@
 
 # If your documentation needs a minimal Sphinx version, state it here.
 #
-# needs_sphinx = '1.0'
+# needs_sphinx = '3.0'
 
 # Add any Sphinx extension module names here, as strings. They can be
 # extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
@@ -62,9 +62,9 @@ author = u'Recep Aslantas'
 # built documents.
 #
 # The short X.Y version.
-version = u'0.7.1'
+version = u'0.8.3'
 # The full version, including alpha/beta/rc tags.
-release = u'0.7.1'
+release = u'0.8.3'
 
 # The language for content autogenerated by Sphinx. Refer to documentation
 # for a list of supported languages.
@@ -197,3 +197,7 @@ epub_exclude_files = ['search.html']
 
 # If true, `todo` and `todoList` produce output, else they produce nothing.
 todo_include_todos = True
+
+# -- Options for the C domain ------------------------------------------------
+
+c_id_attributes = ['__restrict']

docs/source/features.rst

@@ -1,10 +1,13 @@
 Features
 ================================================================================
 
+* **scalar** and **simd** (sse, avx, neon...) optimizations
+* option to use different clipspaces e.g. Left Handed, Zero-to-One... (currrently right handed negative-one is default)
+* array api and struct api, you can use arrays or structs.
 * general purpose matrix operations (mat4, mat3)
 * chain matrix multiplication (square only)
 * general purpose vector operations (cross, dot, rotate, proj, angle...)
-* affine transforms
+* affine transformations
 * matrix decomposition (extract rotation, scaling factor)
 * optimized affine transform matrices (mul, rigid-body inverse)
 * camera (lookat)
@@ -20,4 +23,6 @@ Features
 * easing functions
 * curves
 * curve interpolation helpers (SMC, deCasteljau...)
-* and other...
+* helpers to convert cglm types to Apple's simd library to pass cglm types to Metal GL without packing them on both sides
+* ray intersection helpers
+* and others...

docs/source/io.rst

@@ -28,6 +28,23 @@ Example to print mat4 matrix:
 (you probably will in some cases), you can change it temporary.
 cglm may provide precision parameter in the future
 
+Changes since **v0.7.3**:
+* Now mis-alignment of columns are fixed: larger numbers are printed via %g and others are printed via %f. Column withs are calculated before print.
+* Now values are colorful ;)
+* Some print improvements
+* New options with default values:
+
+.. code-block:: c
+
+    #define CGLM_PRINT_PRECISION    5
+    #define CGLM_PRINT_MAX_TO_SHORT 1e5
+    #define CGLM_PRINT_COLOR        "\033[36m"
+    #define CGLM_PRINT_COLOR_RESET  "\033[0m"
+
+* Inline prints are only enabled in DEBUG mode and if **CGLM_DEFINE_PRINTS** is defined.
+
+Check options page.
+
 Table of contents (click to go):
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 

docs/source/mat4.rst

@@ -156,16 +156,22 @@ Functions documentation
     Parameters:
       | *[in]*  **m**     mat4 (left)
       | *[in]*  **v**     vec4 (right, column vector)
+      | *[in]*  **last**  4th item to make it vec4
       | *[out]* **dest**  vec4 (result, column vector)
 
-.. c:function:: void  glm_mat4_mulv3(mat4 m, vec3 v, vec3 dest)
+.. c:function:: void  glm_mat4_mulv3(mat4 m, vec3 v, float last, vec3 dest)
 
-    multiply vector with mat4's mat3 part(rotation)
+    | multiply **vec3** with **mat4** and get **vec3** as result
+    |
+    | actually the result is **vec4**, after multiplication, 
+      the last component is trimmed, if you need the result's last component 
+      then don't use this function and consider to use **glm_mat4_mulv()**
 
     Parameters:
-    | *[in]*  **m**     mat4 (left)
+      | *[in]*  **m**     mat4(affine transform)
-    | *[in]*  **v**     vec3 (right, column vector)
+      | *[in]*  **v**     vec3
-    | *[out]* **dest**  vec3 (result, column vector)
+      | *[in]*  **last**  4th item to make it vec4
+      | *[out]* **dest**  result vector (vec3)
 
 .. c:function:: void  glm_mat4_trace(mat4 m)
 

docs/source/opengl.rst

@@ -2,7 +2,7 @@ How to send vector or matrix to OpenGL like API
 ==================================================
 
 *cglm*'s vector and matrix types are arrays. So you can send them directly to a
-function which accecpts pointer. But you may got warnings for matrix because it is
+function which accepts pointer. But you may got warnings for matrix because it is
 two dimensional array.
 
 Passing / Uniforming Matrix to OpenGL:

docs/source/opt.rst

@@ -18,7 +18,7 @@ versor: 16 byte
 By starting **v0.4.5** cglm provides an option to disable alignment requirement.
 To enable this option define **CGLM_ALL_UNALIGNED** macro before all headers.
 You can define it in Xcode, Visual Studio (or other IDEs) or you can also prefer
-to define it in build system. If you use pre-compiled verisons then you
+to define it in build system. If you use pre-compiled versions then you
 have to compile cglm with **CGLM_ALL_UNALIGNED** macro.
 
 **VERY VERY IMPORTANT:** If you use cglm in multiple projects and
@@ -35,6 +35,45 @@ have to compile cglm with **CGLM_ALL_UNALIGNED** macro.
 
  For instance if you set CGLM_ALL_UNALIGNED in a project then set it in other projects too
 
+Clipspace Option[s]
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+By starting **v0.8.3** cglm provides options to switch between clipspace configurations.
+
+Clipspace related files are located at `include/cglm/[struct]/clipspace.h` but 
+these are included in related files like `cam.h`. If you don't want to change your existing 
+clipspace configuration and want to use different clipspace function like `glm_lookat_zo` or `glm_lookat_lh_zo`...
+then you can include individual headers or just define `CGLM_CLIPSPACE_INCLUDE_ALL` which will iclude all headers for you.
+
+1. **CGLM_CLIPSPACE_INCLUDE_ALL**
+2. **CGLM_FORCE_DEPTH_ZERO_TO_ONE**
+3. **CGLM_FORCE_LEFT_HANDED**
+
+
+1. **CGLM_CLIPSPACE_INCLUDE_ALL**:
+
+By defining this macro, **cglm** will include all clipspace functions for you by just using
+`#include cglm/cglm.h` or `#include cglm/struct.h` or `#include cglm/call.h`
+
+Otherwise you need to include header you want manually e.g. `#include cglm/clipspace/view_rh_zo.h`
+
+2. **CGLM_FORCE_DEPTH_ZERO_TO_ONE**
+
+This is similar to **GLM**'s **GLM_FORCE_DEPTH_ZERO_TO_ONE** option. 
+This will set clip space between 0 to 1 which makes **cglm** Vulkan, Metal friendly. 
+
+You can use functions like `glm_lookat_lh_zo()` individually. By setting **CGLM_FORCE_DEPTH_ZERO_TO_ONE**
+functions in cam.h for instance will use `_zo` versions.
+
+3. **CGLM_FORCE_LEFT_HANDED**
+
+Force **cglm** to use the left handed coordinate system by default, currently **cglm** uses right handed coordinate system as default,
+you can change this behavior with this option.
+
+**VERY VERY IMPORTANT:**
+
+Be careful if you include **cglm** in multiple projects.
+
 SSE and SSE2 Shuffle Option
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 **_mm_shuffle_ps** generates **shufps** instruction even if registers are same.
@@ -50,3 +89,36 @@ You have to extra options for dot product: **CGLM_SSE4_DOT** and **CGLM_SSE3_DOT
 - If **SSE3** is enabled then you can define **CGLM_SSE3_DOT** to force cglm to use **_mm_hadd_ps** instructions.
 
 otherwise cglm will use custom cglm's hadd functions which are optimized too.
+
+Print Options
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+1. **CGLM_DEFINE_PRINTS**
+2. **CGLM_NO_PRINTS_NOOP** (use CGLM_DEFINE_PRINTS)
+
+Inline prints are only enabled in **DEBUG** mode or if **CGLM_DEFINE_PRINTS** is defined.
+**glmc_** versions will always print too.
+
+Because **cglm** tried to enable print functions in debug mode and disable them in
+release/production mode to eliminate printing costs when we do not need them.
+
+**cglm** checks **DEBUG** or **_DEBUG** macros to test debug mode, if these are not working for you then you can use 
+**CGLM_DEFINE_PRINTS** to force enable, or create a PR to introduce new macro to test against debugging mode.
+
+If DEBUG mode is not enabled then print functions will be emptied to eliminate print function calls.
+You can disable this feature too by defining **CGLM_DEFINE_PRINTS** macro top of cglm header 
+or in project/build settings...
+
+3. **CGLM_PRINT_PRECISION**    5
+
+precision.
+
+4. **CGLM_PRINT_MAX_TO_SHORT** 1e5
+
+if a number is greater than this value then %g will be used, since this is shorten print you won't be able to see high precision.
+
+5. **CGLM_PRINT_COLOR**        "\033[36m"
+6. **CGLM_PRINT_COLOR_RESET**  "\033[0m"
+
+You can disable colorful print output by defining **CGLM_PRINT_COLOR** and **CGLM_PRINT_COLOR_RESET** as empty macro.
+Because some terminals may not support colors.

docs/source/quat.rst

@@ -52,6 +52,7 @@ Functions:
 #. :c:func:`glm_quat_mat3`
 #. :c:func:`glm_quat_mat3t`
 #. :c:func:`glm_quat_lerp`
+#. :c:func:`glm_quat_nlerp`
 #. :c:func:`glm_quat_slerp`
 #. :c:func:`glm_quat_look`
 #. :c:func:`glm_quat_for`
@@ -304,6 +305,25 @@ Functions documentation
       | *[in]*  **t**     interpolant (amount) clamped between 0 and 1
       | *[out]* **dest**  result quaternion
 
+.. c:function:: void glm_quat_nlerp(versor q, versor r, float  t, versor dest)
+
+    | interpolates between two quaternions
+    | taking the shortest rotation path using
+    | normalized linear interpolation (NLERP)
+
+    | This is a cheaper alternative to slerp; most games use nlerp
+    | for animations as it visually makes little difference.
+
+    References:
+      * `Understanding Slerp, Then Not Using it <http://number-none.com/product/Understanding%20Slerp,%20Then%20Not%20Using%20It>`_
+      * `Lerp, Slerp and Nlerp <https://keithmaggio.wordpress.com/2011/02/15/math-magician-lerp-slerp-and-nlerp/>`_
+
+    Parameters:
+      | *[in]*  **from**  from
+      | *[in]*  **to**    to
+      | *[in]*  **t**     interpolant (amount) clamped between 0 and 1
+      | *[out]* **dest**  result quaternion
+
 .. c:function:: void glm_quat_slerp(versor q, versor r, float  t, versor dest)
 
     | interpolates between two quaternions
@@ -374,7 +394,7 @@ Functions documentation
       | *[in]*       **q**      quaternion
       | *[in]*       **pivot**  pivot
 
-.. c:function:: void glm_quat_rotate(mat4 m, versor q, mat4 dest)
+.. c:function:: void glm_quat_rotate_atm(mat4 m, versor q, vec3 pivot)
 
     | rotate NEW transform matrix using quaternion at pivot point
     | this creates rotation matrix, it assumes you don't have a matrix

docs/source/ray.rst

@@ -0,0 +1,31 @@
+.. default-domain:: C
+
+ray
+====
+
+Header: cglm/ray.h
+
+This is for collision-checks used by ray-tracers and the like.
+
+Table of contents (click to go):
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+Functions:
+
+1. :c:func:`glm_ray_triangle`
+
+Functions documentation
+~~~~~~~~~~~~~~~~~~~~~~~
+
+.. c:function:: bool  glm_ray_triangle(vec3 origin, vec3 direction, vec3 v0, vec3 v1, vec3 v2, float *d)
+
+    Möller–Trumbore ray-triangle intersection algorithm
+
+    Parameters:
+      | *[in]*       **origin**        origin of ray
+      | *[in]*       **direction**     direction of ray
+      | *[in]*       **v0**            first vertex of triangle
+      | *[in]*       **v1**            second vertex of triangle
+      | *[in]*       **v2**            third vertex of triangle
+      | *[in, out]*  **d**             float pointer to save distance to intersection
+      | *[out]*      **intersection**  whether there is intersection

docs/source/troubleshooting.rst

@@ -80,6 +80,19 @@ So be carefull, when your IDE (Xcode, Visual Studio ...) tried to autocomplete f
 
 **Also implementation may be wrong please let us know by creating an issue on Github.**
 
+BAD_ACCESS : Thread 1: EXC_BAD_ACCESS (code=EXC_I386_GPFLT) or Similar Errors/Crashes
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+This is similar issue with alignment. For instance if you compiled **cglm** with 
+AVX (**-mavx**, intentionally or not) and if you use **cglm** in an environment that doesn't 
+support AVX (or if AVX is disabled intentionally) e.g. environment that max support SSE2/3/4, 
+then you probably get **BAD ACCESS** or similar...
+
+Because if you compile **cglm** with AVX it aligns **mat4** with 32 byte boundary, 
+and your project aligns that as 16 byte boundary...
+
+Check alignment, supported vector extension or simd in **cglm** and linked projects...
+
 Other Issues?
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 

docs/source/util.rst

@@ -23,6 +23,7 @@ Functions:
 #. :c:func:`glm_max`
 #. :c:func:`glm_clamp`
 #. :c:func:`glm_lerp`
+#. :c:func:`glm_swapf`
 
 Functions documentation
 ~~~~~~~~~~~~~~~~~~~~~~~
@@ -146,7 +147,7 @@ Functions documentation
       | *[in]*  **b**   b
 
     Returns:
-       true if a and b equals
+       true if a and b are equal
 
 .. c:function:: float glm_percent(float from, float to, float current)
 
@@ -158,7 +159,7 @@ Functions documentation
       | *[in]*  **current**   value between from and to values
 
     Returns:
-       clamped normalized percent (0-100 in 0-1)
+       percentage of current value
 
 .. c:function:: float glm_percentc(float from, float to, float current)
 
@@ -171,3 +172,11 @@ Functions documentation
 
     Returns:
        clamped normalized percent (0-100 in 0-1)
+
+.. c:function:: void glm_swapf(float *a, float *b) 
+
+    swap two float values
+
+    Parameters:
+      | *[in]*  **a**      float 1
+      | *[in]*  **b**      float 2

docs/source/vec2.rst

@@ -55,12 +55,12 @@ Functions:
 Functions documentation
 ~~~~~~~~~~~~~~~~~~~~~~~
 
-.. c:function:: void glm_vec2(vec4 v4, vec2 dest)
+.. c:function:: void glm_vec2(float * v, vec2 dest)
 
-    init vec2 using vec3
+    init vec2 using vec3 or vec4
 
     Parameters:
-      | *[in]*  **v3**    vector3
+      | *[in]*  **v**     vector
       | *[out]* **dest**  destination
 
 .. c:function:: void glm_vec2_copy(vec2 a, vec2 dest)

docs/source/vec3.rst

@@ -392,7 +392,7 @@ Functions documentation
     Parameters:
       | *[in, out]*  **v**      vector
       | *[in]*       **axis**   axis vector (will be normalized)
-      | *[out]*      **angle**  angle (radians)
+      | *[in]*       **angle**  angle (radians)
 
 .. c:function:: void  glm_vec3_rotate_m4(mat4 m, vec3 v, vec3 dest)
 
@@ -435,8 +435,8 @@ Functions documentation
     squared distance between two vectors
 
     Parameters:
-      | *[in]*  **mat**   vector1
+      | *[in]*  **v1**  vector1
-      | *[in]*  **row1**  vector2
+      | *[in]*  **v2**  vector2
 
     Returns:
       | squared distance (distance * distance)
@@ -446,8 +446,8 @@ Functions documentation
     distance between two vectors
 
     Parameters:
-      | *[in]*  **mat**   vector1
+      | *[in]*  **v1**  vector1
-      | *[in]*  **row1**  vector2
+      | *[in]*  **v2**  vector2
 
     Returns:
       | distance
@@ -475,7 +475,7 @@ Functions documentation
     possible orthogonal/perpendicular vector
 
     Parameters:
-      | *[in]*  **mat**   vector
+      | *[in]*  **v**     vector
       | *[out]* **dest**  orthogonal/perpendicular vector
 
 .. c:function:: void  glm_vec3_clamp(vec3 v, float minVal, float maxVal)

docs/source/version.rst

@@ -0,0 +1,15 @@
+.. default-domain:: C
+
+version
+================================================================================
+
+Header: cglm/version.h
+
+**cglm** uses semantic versioning (http://semver.org) which is MAJOR.MINOR.PATCH 
+
+| **CGLM_VERSION_MAJOR** is major number of the version.
+| **CGLM_VERSION_MINOR** is minor number of the version.
+| **CGLM_VERSION_PATCH** is patch number of the version.
+
+every release increases these numbers. You can check existing version by 
+including `cglm/version.h`

include/cglm/affine-mat.h

@@ -26,6 +26,10 @@
 #  include "simd/avx/affine.h"
 #endif
 
+#ifdef CGLM_NEON_FP
+#  include "simd/neon/affine.h"
+#endif
+
 /*!
  * @brief this is similar to glm_mat4_mul but specialized to affine transform
  *
@@ -49,6 +53,8 @@ glm_mul(mat4 m1, mat4 m2, mat4 dest) {
   glm_mul_avx(m1, m2, dest);
 #elif defined( __SSE__ ) || defined( __SSE2__ )
   glm_mul_sse2(m1, m2, dest);
+#elif defined(CGLM_NEON_FP)
+  glm_mul_neon(m1, m2, dest);
 #else
   float a00 = m1[0][0], a01 = m1[0][1], a02 = m1[0][2], a03 = m1[0][3],
         a10 = m1[1][0], a11 = m1[1][1], a12 = m1[1][2], a13 = m1[1][3],
@@ -103,6 +109,8 @@ void
 glm_mul_rot(mat4 m1, mat4 m2, mat4 dest) {
 #if defined( __SSE__ ) || defined( __SSE2__ )
   glm_mul_rot_sse2(m1, m2, dest);
+#elif defined(CGLM_NEON_FP)
+  glm_mul_rot_neon(m1, m2, dest);
 #else
   float a00 = m1[0][0], a01 = m1[0][1], a02 = m1[0][2], a03 = m1[0][3],
         a10 = m1[1][0], a11 = m1[1][1], a12 = m1[1][2], a13 = m1[1][3],
@@ -150,6 +158,8 @@ void
 glm_inv_tr(mat4 mat) {
 #if defined( __SSE__ ) || defined( __SSE2__ )
   glm_inv_tr_sse2(mat);
+#elif defined(CGLM_NEON_FP)
+  glm_inv_tr_neon(mat);
 #else
   CGLM_ALIGN_MAT mat3 r;
   CGLM_ALIGN(8)  vec3 t;

include/cglm/affine.h

@@ -40,10 +40,6 @@
 #include "mat4.h"
 #include "affine-mat.h"
 
-CGLM_INLINE
-void
-glm_mat4_mul(mat4 m1, mat4 m2, mat4 dest);
-
 /*!
  * @brief translate existing transform matrix by v vector
  *        and stores result in same matrix
@@ -54,26 +50,22 @@ glm_mat4_mul(mat4 m1, mat4 m2, mat4 dest);
 CGLM_INLINE
 void
 glm_translate(mat4 m, vec3 v) {
-#if defined( __SSE__ ) || defined( __SSE2__ )
+#if defined(CGLM_SIMD)
+  glmm_128 m0, m1, m2, m3;
+
+  m0 = glmm_load(m[0]);
+  m1 = glmm_load(m[1]);
+  m2 = glmm_load(m[2]);
+  m3 = glmm_load(m[3]);
+
   glmm_store(m[3],
-             _mm_add_ps(_mm_add_ps(_mm_mul_ps(glmm_load(m[0]),
+             glmm_fmadd(m0, glmm_set1(v[0]),
-                                              _mm_set1_ps(v[0])),
+                        glmm_fmadd(m1, glmm_set1(v[1]),
-                                   _mm_mul_ps(glmm_load(m[1]),
+                                   glmm_fmadd(m2, glmm_set1(v[2]), m3))));
-                                              _mm_set1_ps(v[1]))),
-                        _mm_add_ps(_mm_mul_ps(glmm_load(m[2]),
-                                              _mm_set1_ps(v[2])),
-                                   glmm_load(m[3]))))
-  ;
 #else
-  vec4 v1, v2, v3;
+  glm_vec4_muladds(m[0], v[0], m[3]);
-
+  glm_vec4_muladds(m[1], v[1], m[3]);
-  glm_vec4_scale(m[0], v[0], v1);
+  glm_vec4_muladds(m[2], v[2], m[3]);
-  glm_vec4_scale(m[1], v[1], v2);
-  glm_vec4_scale(m[2], v[2], v3);
-
-  glm_vec4_add(v1, m[3], m[3]);
-  glm_vec4_add(v2, m[3], m[3]);
-  glm_vec4_add(v3, m[3], m[3]);
 #endif
 }
 
@@ -103,12 +95,8 @@ glm_translate_to(mat4 m, vec3 v, mat4 dest) {
 CGLM_INLINE
 void
 glm_translate_x(mat4 m, float x) {
-#if defined( __SSE__ ) || defined( __SSE2__ )
+#if defined(CGLM_SIMD)
-  glmm_store(m[3],
+  glmm_store(m[3], glmm_fmadd(glmm_load(m[0]), glmm_set1(x), glmm_load(m[3])));
-             _mm_add_ps(_mm_mul_ps(glmm_load(m[0]),
-                                   _mm_set1_ps(x)),
-                        glmm_load(m[3])))
-  ;
 #else
   vec4 v1;
   glm_vec4_scale(m[0], x, v1);
@@ -125,12 +113,8 @@ glm_translate_x(mat4 m, float x) {
 CGLM_INLINE
 void
 glm_translate_y(mat4 m, float y) {
-#if defined( __SSE__ ) || defined( __SSE2__ )
+#if defined(CGLM_SIMD)
-  glmm_store(m[3],
+  glmm_store(m[3], glmm_fmadd(glmm_load(m[1]), glmm_set1(y), glmm_load(m[3])));
-             _mm_add_ps(_mm_mul_ps(glmm_load(m[1]),
-                                   _mm_set1_ps(y)),
-                        glmm_load(m[3])))
-  ;
 #else
   vec4 v1;
   glm_vec4_scale(m[1], y, v1);
@@ -147,12 +131,8 @@ glm_translate_y(mat4 m, float y) {
 CGLM_INLINE
 void
 glm_translate_z(mat4 m, float z) {
-#if defined( __SSE__ ) || defined( __SSE2__ )
+#if defined(CGLM_SIMD)
-  glmm_store(m[3],
+  glmm_store(m[3], glmm_fmadd(glmm_load(m[2]), glmm_set1(z), glmm_load(m[3])));
-             _mm_add_ps(_mm_mul_ps(glmm_load(m[2]),
-                                   _mm_set1_ps(z)),
-                        glmm_load(m[3])))
-  ;
 #else
   vec4 v1;
   glm_vec4_scale(m[2], z, v1);
@@ -459,7 +439,7 @@ glm_decompose_rs(mat4 m, mat4 r, vec3 s) {
   glm_vec4_scale(r[1], 1.0f/s[1], r[1]);
   glm_vec4_scale(r[2], 1.0f/s[2], r[2]);
 
-  /* Note from Apple Open Source (asume that the matrix is orthonormal):
+  /* Note from Apple Open Source (assume that the matrix is orthonormal):
      check for a coordinate system flip.  If the determinant
      is -1, then negate the matrix and the scaling factors. */
   glm_vec3_cross(m[0], m[1], v);

include/cglm/affine2d.h

@@ -0,0 +1,268 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), http://opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+/*
+ Functions:
+   CGLM_INLINE void glm_translate2d(mat3 m, vec2 v)
+   CGLM_INLINE void glm_translate2d_to(mat3 m, vec2 v, mat3 dest)
+   CGLM_INLINE void glm_translate2d_x(mat3 m, float x)
+   CGLM_INLINE void glm_translate2d_y(mat3 m, float y)
+   CGLM_INLINE void glm_translate2d_make(mat3 m, vec2 v)
+   CGLM_INLINE void glm_scale2d_to(mat3 m, vec2 v, mat3 dest)
+   CGLM_INLINE void glm_scale2d_make(mat3 m, vec2 v)
+   CGLM_INLINE void glm_scale2d(mat3 m, vec2 v)
+   CGLM_INLINE void glm_scale2d_uni(mat3 m, float s)
+   CGLM_INLINE void glm_rotate2d_make(mat3 m, float angle)
+   CGLM_INLINE void glm_rotate2d(mat3 m, float angle)
+   CGLM_INLINE void glm_rotate2d_to(mat3 m, float angle, mat3 dest)
+ */
+
+#ifndef cglm_affine2d_h
+#define cglm_affine2d_h
+
+#include "common.h"
+#include "util.h"
+#include "vec2.h"
+#include "mat3.h"
+
+/*!
+ * @brief translate existing 2d transform matrix by v vector
+ *        and stores result in same matrix
+ *
+ * @param[in, out]  m  affine transfrom
+ * @param[in]       v  translate vector [x, y]
+ */
+CGLM_INLINE
+void
+glm_translate2d(mat3 m, vec2 v) {
+  m[2][0] = m[0][0] * v[0] + m[1][0] * v[1] + m[2][0];
+  m[2][1] = m[0][1] * v[0] + m[1][1] * v[1] + m[2][1];
+  m[2][2] = m[0][2] * v[0] + m[1][2] * v[1] + m[2][2];
+}
+
+/*!
+ * @brief translate existing 2d transform matrix by v vector
+ *        and store result in dest
+ *
+ * source matrix will remain same
+ *
+ * @param[in]  m    affine transfrom
+ * @param[in]  v    translate vector [x, y]
+ * @param[out] dest translated matrix
+ */
+CGLM_INLINE
+void
+glm_translate2d_to(mat3 m, vec2 v, mat3 dest) {
+  glm_mat3_copy(m, dest);
+  glm_translate2d(dest, v);
+}
+
+/*!
+ * @brief translate existing 2d transform matrix by x factor
+ *
+ * @param[in, out]  m  affine transfrom
+ * @param[in]       x  x factor
+ */
+CGLM_INLINE
+void
+glm_translate2d_x(mat3 m, float x) {
+  m[2][0] = m[0][0] * x + m[2][0];
+  m[2][1] = m[0][1] * x + m[2][1];
+  m[2][2] = m[0][2] * x + m[2][2];
+}
+
+/*!
+ * @brief translate existing 2d transform matrix by y factor
+ *
+ * @param[in, out]  m  affine transfrom
+ * @param[in]       y  y factor
+ */
+CGLM_INLINE
+void
+glm_translate2d_y(mat3 m, float y) {
+  m[2][0] = m[1][0] * y + m[2][0];
+  m[2][1] = m[1][1] * y + m[2][1];
+  m[2][2] = m[1][2] * y + m[2][2];
+}
+
+/*!
+ * @brief creates NEW translate 2d transform matrix by v vector
+ *
+ * @param[out]  m  affine transfrom
+ * @param[in]   v  translate vector [x, y]
+ */
+CGLM_INLINE
+void
+glm_translate2d_make(mat3 m, vec2 v) {
+  glm_mat3_identity(m);
+  m[2][0] = v[0];
+  m[2][1] = v[1];
+}
+
+/*!
+ * @brief scale existing 2d transform matrix by v vector
+ *        and store result in dest
+ *
+ * @param[in]  m    affine transfrom
+ * @param[in]  v    scale vector [x, y]
+ * @param[out] dest scaled matrix
+ */
+CGLM_INLINE
+void
+glm_scale2d_to(mat3 m, vec2 v, mat3 dest) {
+  dest[0][0] = m[0][0] * v[0];
+  dest[0][1] = m[0][1] * v[0];
+  dest[0][2] = m[0][2] * v[0];
+  
+  dest[1][0] = m[1][0] * v[1];
+  dest[1][1] = m[1][1] * v[1];
+  dest[1][2] = m[1][2] * v[1];
+  
+  dest[2][0] = m[2][0];
+  dest[2][1] = m[2][1];
+  dest[2][2] = m[2][2];
+}
+
+/*!
+ * @brief creates NEW 2d scale matrix by v vector
+ *
+ * @param[out]  m  affine transfrom
+ * @param[in]   v  scale vector [x, y]
+ */
+CGLM_INLINE
+void
+glm_scale2d_make(mat3 m, vec2 v) {
+  glm_mat3_identity(m);
+  m[0][0] = v[0];
+  m[1][1] = v[1];
+}
+
+/*!
+ * @brief scales existing 2d transform matrix by v vector
+ *        and stores result in same matrix
+ *
+ * @param[in, out]  m  affine transfrom
+ * @param[in]       v  scale vector [x, y]
+ */
+CGLM_INLINE
+void
+glm_scale2d(mat3 m, vec2 v) {
+  m[0][0] = m[0][0] * v[0];
+  m[0][1] = m[0][1] * v[0];
+  m[0][2] = m[0][2] * v[0];
+
+  m[1][0] = m[1][0] * v[1];
+  m[1][1] = m[1][1] * v[1];
+  m[1][2] = m[1][2] * v[1];
+}
+
+/*!
+ * @brief applies uniform scale to existing 2d transform matrix v = [s, s]
+ *        and stores result in same matrix
+ *
+ * @param[in, out]  m  affine transfrom
+ * @param[in]       s  scale factor
+ */
+CGLM_INLINE
+void
+glm_scale2d_uni(mat3 m, float s) {
+  m[0][0] = m[0][0] * s;
+  m[0][1] = m[0][1] * s;
+  m[0][2] = m[0][2] * s;
+
+  m[1][0] = m[1][0] * s;
+  m[1][1] = m[1][1] * s;
+  m[1][2] = m[1][2] * s;
+}
+
+/*!
+ * @brief creates NEW rotation matrix by angle around Z axis
+ *
+ * @param[out] m     affine transfrom
+ * @param[in]  angle angle (radians)
+ */
+CGLM_INLINE
+void
+glm_rotate2d_make(mat3 m, float angle) {
+  float c, s;
+
+  s = sinf(angle);
+  c = cosf(angle);
+  
+  m[0][0] = c;
+  m[0][1] = s;
+  m[0][2] = 0;
+
+  m[1][0] = -s;
+  m[1][1] = c;
+  m[1][2] = 0;
+  
+  m[2][0] = 0.0f;
+  m[2][1] = 0.0f;
+  m[2][2] = 1.0f;
+}
+
+/*!
+ * @brief rotate existing 2d transform matrix around Z axis by angle
+ *         and store result in same matrix
+ *
+ * @param[in, out]  m      affine transfrom
+ * @param[in]       angle  angle (radians)
+ */
+CGLM_INLINE
+void
+glm_rotate2d(mat3 m, float angle) {
+  float m00 = m[0][0],  m10 = m[1][0],
+        m01 = m[0][1],  m11 = m[1][1],
+        m02 = m[0][2],  m12 = m[1][2];
+  float c, s;
+
+  s = sinf(angle);
+  c = cosf(angle);
+  
+  m[0][0] = m00 * c + m10 * s;
+  m[0][1] = m01 * c + m11 * s;
+  m[0][2] = m02 * c + m12 * s;
+
+  m[1][0] = m00 * -s + m10 * c;
+  m[1][1] = m01 * -s + m11 * c;
+  m[1][2] = m02 * -s + m12 * c;
+}
+
+/*!
+ * @brief rotate existing 2d transform matrix around Z axis by angle
+ *        and store result in dest
+ *
+ * @param[in]  m      affine transfrom
+ * @param[in]  angle  angle (radians)
+ * @param[out] dest   destination
+ */
+CGLM_INLINE
+void
+glm_rotate2d_to(mat3 m, float angle, mat3 dest) {
+  float m00 = m[0][0],  m10 = m[1][0],
+        m01 = m[0][1],  m11 = m[1][1],
+        m02 = m[0][2],  m12 = m[1][2];
+  float c, s;
+
+  s = sinf(angle);
+  c = cosf(angle);
+  
+  dest[0][0] = m00 * c + m10 * s;
+  dest[0][1] = m01 * c + m11 * s;
+  dest[0][2] = m02 * c + m12 * s;
+
+  dest[1][0] = m00 * -s + m10 * c;
+  dest[1][1] = m01 * -s + m11 * c;
+  dest[1][2] = m02 * -s + m12 * c;
+  
+  dest[2][0] = m[2][0];
+  dest[2][1] = m[2][1];
+  dest[2][2] = m[2][2];
+}
+
+#endif /* cglm_affine2d_h */

include/cglm/box.h

@@ -228,6 +228,8 @@ glm_aabb_aabb(vec3 box[2], vec3 other[2]) {
  * https://github.com/erich666/GraphicsGems/blob/master/gems/BoxSphere.c
  * Solid Box - Solid Sphere test.
  *
+ * Sphere Representation in cglm: [center.x, center.y, center.z, radii]
+ *
  * @param[in]   box    solid bounding box
  * @param[in]   s      solid sphere
  */
@@ -237,13 +239,13 @@ glm_aabb_sphere(vec3 box[2], vec4 s) {
   float dmin;
   int   a, b, c;
 
-  a = s[0] >= box[0][0];
+  a = (s[0] < box[0][0]) + (s[0] > box[1][0]);
-  b = s[1] >= box[0][1];
+  b = (s[1] < box[0][1]) + (s[1] > box[1][1]);
-  c = s[2] >= box[0][2];
+  c = (s[2] < box[0][2]) + (s[2] > box[1][2]);
 
-  dmin  = glm_pow2(s[0] - box[a][0])
+  dmin  = glm_pow2((s[0] - box[!(a - 1)][0]) * (a != 0))
-        + glm_pow2(s[1] - box[b][1])
+        + glm_pow2((s[1] - box[!(b - 1)][1]) * (b != 0))
-        + glm_pow2(s[2] - box[c][2]);
+        + glm_pow2((s[2] - box[!(c - 1)][2]) * (c != 0));
 
   return dmin <= glm_pow2(s[3]);
 }

include/cglm/call.h

@@ -31,6 +31,8 @@ extern "C" {
 #include "call/ease.h"
 #include "call/curve.h"
 #include "call/bezier.h"
+#include "call/ray.h"
+#include "call/affine2d.h"
 
 #ifdef __cplusplus
 }

include/cglm/call/affine2d.h

@@ -0,0 +1,67 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), http://opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+#ifndef cglmc_affine2d_h
+#define cglmc_affine2d_h
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "../cglm.h"
+
+CGLM_EXPORT
+void
+glmc_translate2d_make(mat3 m, vec2 v);
+
+CGLM_EXPORT
+void
+glmc_translate2d_to(mat3 m, vec2 v, mat3 dest);
+
+CGLM_EXPORT
+void
+glmc_translate2d(mat3 m, vec2 v);
+
+CGLM_EXPORT
+void
+glmc_translate2d_x(mat3 m, float to);
+
+CGLM_EXPORT
+void
+glmc_translate2d_y(mat3 m, float to);
+
+CGLM_EXPORT
+void
+glmc_scale2d_to(mat3 m, vec2 v, mat3 dest);
+
+CGLM_EXPORT
+void
+glmc_scale2d_make(mat3 m, vec2 v);
+
+CGLM_EXPORT
+void
+glmc_scale2d(mat3 m, vec2 v);
+
+CGLM_EXPORT
+void
+glmc_scale2d_uni(mat3 m, float s);
+
+CGLM_EXPORT
+void
+glmc_rotate2d_make(mat3 m, float angle);
+
+CGLM_EXPORT
+void
+glmc_rotate2d(mat3 m, float angle);
+
+CGLM_EXPORT
+void
+glmc_rotate2d_to(mat3 m, float angle, mat3 dest);
+
+#ifdef __cplusplus
+}
+#endif
+#endif /* cglmc_affine2d_h */

include/cglm/call/cam.h

@@ -15,22 +15,16 @@ extern "C" {
 
 CGLM_EXPORT
 void
-glmc_frustum(float left,
+glmc_frustum(float left,   float right,
-             float right,
+             float bottom, float top,
-             float bottom,
+             float nearZ,  float farZ,
-             float top,
-             float nearVal,
-             float farVal,
              mat4  dest);
 
 CGLM_EXPORT
 void
-glmc_ortho(float left,
+glmc_ortho(float left,   float right,
-           float right,
+           float bottom, float top,
-           float bottom,
+           float nearZ,  float farZ,
-           float top,
-           float nearVal,
-           float farVal,
            mat4  dest);
 
 CGLM_EXPORT
@@ -55,11 +49,7 @@ glmc_ortho_default_s(float aspect, float size, mat4 dest);
 
 CGLM_EXPORT
 void
-glmc_perspective(float fovy,
+glmc_perspective(float fovy, float aspect, float nearZ, float farZ, mat4 dest);
-                 float aspect,
-                 float nearVal,
-                 float farVal,
-                 mat4 dest);
 
 CGLM_EXPORT
 void
@@ -88,8 +78,8 @@ glmc_look_anyup(vec3 eye, vec3 dir, mat4 dest);
 CGLM_EXPORT
 void
 glmc_persp_decomp(mat4 proj,
-                  float * __restrict nearVal,
+                  float * __restrict nearZ,
-                  float * __restrict farVal,
+                  float * __restrict farZ,
                   float * __restrict top,
                   float * __restrict bottom,
                   float * __restrict left,
@@ -114,16 +104,16 @@ glmc_persp_decomp_y(mat4 proj,
 CGLM_EXPORT
 void
 glmc_persp_decomp_z(mat4 proj,
-                    float * __restrict nearVal,
+                    float * __restrict nearZ,
-                    float * __restrict farVal);
+                    float * __restrict farZ);
 
 CGLM_EXPORT
 void
-glmc_persp_decomp_far(mat4 proj, float * __restrict farVal);
+glmc_persp_decomp_far(mat4 proj, float * __restrict farZ);
 
 CGLM_EXPORT
 void
-glmc_persp_decomp_near(mat4 proj, float * __restrict nearVal);
+glmc_persp_decomp_near(mat4 proj, float * __restrict nearZ);
 
 CGLM_EXPORT
 float

include/cglm/call/clipspace/ortho_lh_no.h

@@ -0,0 +1,46 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), http://opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+#ifndef cglmc_ortho_lh_no_h
+#define cglmc_ortho_lh_no_h
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "../cglm.h"
+
+CGLM_EXPORT
+void
+glmc_ortho_lh_no(float left,    float right,
+                 float bottom,  float top,
+                 float nearZ,   float farZ,
+                 mat4  dest);
+
+CGLM_EXPORT
+void
+glmc_ortho_aabb_lh_no(vec3 box[2], mat4 dest);
+
+CGLM_EXPORT
+void
+glmc_ortho_aabb_p_lh_no(vec3 box[2], float padding, mat4 dest);
+
+CGLM_EXPORT
+void
+glmc_ortho_aabb_pz_lh_no(vec3 box[2], float padding, mat4 dest);
+
+CGLM_EXPORT
+void
+glmc_ortho_default_lh_no(float aspect, mat4 dest);
+
+CGLM_EXPORT
+void
+glmc_ortho_default_s_lh_no(float aspect, float size, mat4 dest);
+
+#ifdef __cplusplus
+}
+#endif
+#endif /* cglmc_ortho_lh_no_h */

include/cglm/call/clipspace/ortho_lh_zo.h

@@ -0,0 +1,46 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), http://opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+#ifndef cglmc_ortho_lh_zo_h
+#define cglmc_ortho_lh_zo_h
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "../cglm.h"
+
+CGLM_EXPORT
+void
+glmc_ortho_lh_zo(float left,    float right,
+                 float bottom,  float top,
+                 float nearZ,   float farZ,
+                 mat4  dest);
+
+CGLM_EXPORT
+void
+glmc_ortho_aabb_lh_zo(vec3 box[2], mat4 dest);
+
+CGLM_EXPORT
+void
+glmc_ortho_aabb_p_lh_zo(vec3 box[2], float padding, mat4 dest);
+
+CGLM_EXPORT
+void
+glmc_ortho_aabb_pz_lh_zo(vec3 box[2], float padding, mat4 dest);
+
+CGLM_EXPORT
+void
+glmc_ortho_default_lh_zo(float aspect, mat4 dest);
+
+CGLM_EXPORT
+void
+glmc_ortho_default_s_lh_zo(float aspect, float size, mat4 dest);
+
+#ifdef __cplusplus
+}
+#endif
+#endif /* cglmc_ortho_lh_zo_h */

include/cglm/call/clipspace/ortho_rh_no.h

@@ -0,0 +1,46 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), http://opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+#ifndef cglmc_ortho_rh_no_h
+#define cglmc_ortho_rh_no_h
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "../cglm.h"
+
+CGLM_EXPORT
+void
+glmc_ortho_rh_no(float left,    float right,
+                 float bottom,  float top,
+                 float nearZ,   float farZ,
+                 mat4  dest);
+
+CGLM_EXPORT
+void
+glmc_ortho_aabb_rh_no(vec3 box[2], mat4 dest);
+
+CGLM_EXPORT
+void
+glmc_ortho_aabb_p_rh_no(vec3 box[2], float padding, mat4 dest);
+
+CGLM_EXPORT
+void
+glmc_ortho_aabb_pz_rh_no(vec3 box[2], float padding, mat4 dest);
+
+CGLM_EXPORT
+void
+glmc_ortho_default_rh_no(float aspect, mat4 dest);
+
+CGLM_EXPORT
+void
+glmc_ortho_default_s_rh_no(float aspect, float size, mat4 dest);
+
+#ifdef __cplusplus
+}
+#endif
+#endif /* cglmc_ortho_rh_no_h */

include/cglm/call/clipspace/ortho_rh_zo.h

@@ -0,0 +1,46 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), http://opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+#ifndef cglmc_ortho_rh_zo_h
+#define cglmc_ortho_rh_zo_h
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "../cglm.h"
+
+CGLM_EXPORT
+void
+glmc_ortho_rh_zo(float left,    float right,
+                 float bottom,  float top,
+                 float nearZ,   float farZ,
+                 mat4  dest);
+
+CGLM_EXPORT
+void
+glmc_ortho_aabb_rh_zo(vec3 box[2], mat4 dest);
+
+CGLM_EXPORT
+void
+glmc_ortho_aabb_p_rh_zo(vec3 box[2], float padding, mat4 dest);
+
+CGLM_EXPORT
+void
+glmc_ortho_aabb_pz_rh_zo(vec3 box[2], float padding, mat4 dest);
+
+CGLM_EXPORT
+void
+glmc_ortho_default_rh_zo(float aspect, mat4 dest);
+
+CGLM_EXPORT
+void
+glmc_ortho_default_s_rh_zo(float aspect, float size, mat4 dest);
+
+#ifdef __cplusplus
+}
+#endif
+#endif /* cglmc_ortho_rh_zo_h */

include/cglm/call/clipspace/persp_lh_no.h

@@ -0,0 +1,87 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), http://opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+#ifndef cglmc_persp_lh_no_h
+#define cglmc_persp_lh_no_h
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "../cglm.h"
+
+CGLM_EXPORT
+void
+glmc_frustum_lh_no(float left,    float right,
+                   float bottom,  float top,
+                   float nearZ,   float farZ,
+                   mat4  dest);
+
+CGLM_EXPORT
+void
+glmc_perspective_lh_no(float fovy,
+                       float aspect,
+                       float nearVal,
+                       float farVal,
+                       mat4 dest);
+
+CGLM_EXPORT
+void
+glmc_persp_move_far_lh_no(mat4 proj, float deltaFar);
+
+CGLM_EXPORT
+void
+glmc_persp_decomp_lh_no(mat4 proj,
+                        float * __restrict nearZ, float * __restrict farZ,
+                        float * __restrict top,   float * __restrict bottom,
+                        float * __restrict left,  float * __restrict right);
+
+CGLM_EXPORT
+void
+glmc_persp_decompv_lh_no(mat4 proj, float dest[6]);
+
+CGLM_EXPORT
+void
+glmc_persp_decomp_x_lh_no(mat4 proj,
+                          float * __restrict left,
+                          float * __restrict right);
+
+CGLM_EXPORT
+void
+glmc_persp_decomp_y_lh_no(mat4 proj,
+                          float * __restrict top,
+                          float * __restrict bottom);
+
+CGLM_EXPORT
+void
+glmc_persp_decomp_z_lh_no(mat4 proj,
+                          float * __restrict nearZ,
+                          float * __restrict farZ);
+
+CGLM_EXPORT
+void
+glmc_persp_decomp_far_lh_no(mat4 proj, float * __restrict farZ);
+
+CGLM_EXPORT
+void
+glmc_persp_decomp_near_lh_no(mat4 proj, float * __restrict nearZ);
+
+CGLM_EXPORT
+void
+glmc_persp_sizes_lh_no(mat4 proj, float fovy, vec4 dest);
+
+CGLM_EXPORT
+float
+glmc_persp_fovy_lh_no(mat4 proj);
+
+CGLM_EXPORT
+float
+glmc_persp_aspect_lh_no(mat4 proj);
+
+#ifdef __cplusplus
+}
+#endif
+#endif /* cglmc_persp_lh_no_h */

include/cglm/call/clipspace/persp_lh_zo.h

@@ -0,0 +1,87 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), http://opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+#ifndef cglmc_persp_lh_zo_h
+#define cglmc_persp_lh_zo_h
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "../cglm.h"
+
+CGLM_EXPORT
+void
+glmc_frustum_lh_zo(float left,    float right,
+                   float bottom,  float top,
+                   float nearZ,   float farZ,
+                   mat4  dest);
+
+CGLM_EXPORT
+void
+glmc_perspective_lh_zo(float fovy,
+                       float aspect,
+                       float nearVal,
+                       float farVal,
+                       mat4 dest);
+
+CGLM_EXPORT
+void
+glmc_persp_move_far_lh_zo(mat4 proj, float deltaFar);
+
+CGLM_EXPORT
+void
+glmc_persp_decomp_lh_zo(mat4 proj,
+                        float * __restrict nearZ, float * __restrict farZ,
+                        float * __restrict top,   float * __restrict bottom,
+                        float * __restrict left,  float * __restrict right);
+
+CGLM_EXPORT
+void
+glmc_persp_decompv_lh_zo(mat4 proj, float dest[6]);
+
+CGLM_EXPORT
+void
+glmc_persp_decomp_x_lh_zo(mat4 proj,
+                          float * __restrict left,
+                          float * __restrict right);
+
+CGLM_EXPORT
+void
+glmc_persp_decomp_y_lh_zo(mat4 proj,
+                          float * __restrict top,
+                          float * __restrict bottom);
+
+CGLM_EXPORT
+void
+glmc_persp_decomp_z_lh_zo(mat4 proj,
+                          float * __restrict nearZ,
+                          float * __restrict farZ);
+
+CGLM_EXPORT
+void
+glmc_persp_decomp_far_lh_zo(mat4 proj, float * __restrict farZ);
+
+CGLM_EXPORT
+void
+glmc_persp_decomp_near_lh_zo(mat4 proj, float * __restrict nearZ);
+
+CGLM_EXPORT
+void
+glmc_persp_sizes_lh_zo(mat4 proj, float fovy, vec4 dest);
+
+CGLM_EXPORT
+float
+glmc_persp_fovy_lh_zo(mat4 proj);
+
+CGLM_EXPORT
+float
+glmc_persp_aspect_lh_zo(mat4 proj);
+
+#ifdef __cplusplus
+}
+#endif
+#endif /* cglmc_persp_lh_zo_h */

include/cglm/call/clipspace/persp_rh_no.h

@@ -0,0 +1,87 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), http://opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+#ifndef cglmc_persp_rh_no_h
+#define cglmc_persp_rh_no_h
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "../cglm.h"
+
+CGLM_EXPORT
+void
+glmc_frustum_rh_no(float left,    float right,
+                   float bottom,  float top,
+                   float nearZ,   float farZ,
+                   mat4  dest);
+
+CGLM_EXPORT
+void
+glmc_perspective_rh_no(float fovy,
+                       float aspect,
+                       float nearVal,
+                       float farVal,
+                       mat4 dest);
+
+CGLM_EXPORT
+void
+glmc_persp_move_far_rh_no(mat4 proj, float deltaFar);
+
+CGLM_EXPORT
+void
+glmc_persp_decomp_rh_no(mat4 proj,
+                        float * __restrict nearZ, float * __restrict farZ,
+                        float * __restrict top,   float * __restrict bottom,
+                        float * __restrict left,  float * __restrict right);
+
+CGLM_EXPORT
+void
+glmc_persp_decompv_rh_no(mat4 proj, float dest[6]);
+
+CGLM_EXPORT
+void
+glmc_persp_decomp_x_rh_no(mat4 proj,
+                          float * __restrict left,
+                          float * __restrict right);
+
+CGLM_EXPORT
+void
+glmc_persp_decomp_y_rh_no(mat4 proj,
+                          float * __restrict top,
+                          float * __restrict bottom);
+
+CGLM_EXPORT
+void
+glmc_persp_decomp_z_rh_no(mat4 proj,
+                          float * __restrict nearZ,
+                          float * __restrict farZ);
+
+CGLM_EXPORT
+void
+glmc_persp_decomp_far_rh_no(mat4 proj, float * __restrict farZ);
+
+CGLM_EXPORT
+void
+glmc_persp_decomp_near_rh_no(mat4 proj, float * __restrict nearZ);
+
+CGLM_EXPORT
+void
+glmc_persp_sizes_rh_no(mat4 proj, float fovy, vec4 dest);
+
+CGLM_EXPORT
+float
+glmc_persp_fovy_rh_no(mat4 proj);
+
+CGLM_EXPORT
+float
+glmc_persp_aspect_rh_no(mat4 proj);
+
+#ifdef __cplusplus
+}
+#endif
+#endif /* cglmc_persp_rh_no_h */

include/cglm/call/clipspace/persp_rh_zo.h

@@ -0,0 +1,87 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), http://opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+#ifndef cglmc_persp_rh_zo_h
+#define cglmc_persp_rh_zo_h
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "../cglm.h"
+
+CGLM_EXPORT
+void
+glmc_frustum_rh_zo(float left,    float right,
+                   float bottom,  float top,
+                   float nearZ,   float farZ,
+                   mat4  dest);
+
+CGLM_EXPORT
+void
+glmc_perspective_rh_zo(float fovy,
+                       float aspect,
+                       float nearVal,
+                       float farVal,
+                       mat4 dest);
+
+CGLM_EXPORT
+void
+glmc_persp_move_far_rh_zo(mat4 proj, float deltaFar);
+
+CGLM_EXPORT
+void
+glmc_persp_decomp_rh_zo(mat4 proj,
+                        float * __restrict nearZ, float * __restrict farZ,
+                        float * __restrict top,   float * __restrict bottom,
+                        float * __restrict left,  float * __restrict right);
+
+CGLM_EXPORT
+void
+glmc_persp_decompv_rh_zo(mat4 proj, float dest[6]);
+
+CGLM_EXPORT
+void
+glmc_persp_decomp_x_rh_zo(mat4 proj,
+                          float * __restrict left,
+                          float * __restrict right);
+
+CGLM_EXPORT
+void
+glmc_persp_decomp_y_rh_zo(mat4 proj,
+                          float * __restrict top,
+                          float * __restrict bottom);
+
+CGLM_EXPORT
+void
+glmc_persp_decomp_z_rh_zo(mat4 proj,
+                          float * __restrict nearZ,
+                          float * __restrict farZ);
+
+CGLM_EXPORT
+void
+glmc_persp_decomp_far_rh_zo(mat4 proj, float * __restrict farZ);
+
+CGLM_EXPORT
+void
+glmc_persp_decomp_near_rh_zo(mat4 proj, float * __restrict nearZ);
+
+CGLM_EXPORT
+void
+glmc_persp_sizes_rh_zo(mat4 proj, float fovy, vec4 dest);
+
+CGLM_EXPORT
+float
+glmc_persp_fovy_rh_zo(mat4 proj);
+
+CGLM_EXPORT
+float
+glmc_persp_aspect_rh_zo(mat4 proj);
+
+#ifdef __cplusplus
+}
+#endif
+#endif /* cglmc_persp_rh_zo_h */

include/cglm/call/clipspace/view_lh_no.h

@@ -0,0 +1,31 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), http://opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+#ifndef cglmc_view_lh_no_h
+#define cglmc_view_lh_no_h
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "../cglm.h"
+
+CGLM_EXPORT
+void
+glmc_lookat_lh_no(vec3 eye, vec3 center, vec3 up, mat4 dest);
+
+CGLM_EXPORT
+void
+glmc_look_lh_no(vec3 eye, vec3 dir, vec3 up, mat4 dest);
+
+CGLM_EXPORT
+void
+glmc_look_anyup_lh_no(vec3 eye, vec3 dir, mat4 dest);
+
+#ifdef __cplusplus
+}
+#endif
+#endif /* cglmc_view_lh_no_h */

include/cglm/call/clipspace/view_lh_zo.h

@@ -0,0 +1,31 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), http://opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+#ifndef cglmc_view_lh_zo_h
+#define cglmc_view_lh_zo_h
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "../cglm.h"
+
+CGLM_EXPORT
+void
+glmc_lookat_lh_zo(vec3 eye, vec3 center, vec3 up, mat4 dest);
+
+CGLM_EXPORT
+void
+glmc_look_lh_zo(vec3 eye, vec3 dir, vec3 up, mat4 dest);
+
+CGLM_EXPORT
+void
+glmc_look_anyup_lh_zo(vec3 eye, vec3 dir, mat4 dest);
+
+#ifdef __cplusplus
+}
+#endif
+#endif /* cglmc_view_lh_zo_h */

include/cglm/call/clipspace/view_rh_no.h

@@ -0,0 +1,31 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), http://opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+#ifndef cglmc_view_rh_no_h
+#define cglmc_view_rh_no_h
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "../cglm.h"
+
+CGLM_EXPORT
+void
+glmc_lookat_rh_no(vec3 eye, vec3 center, vec3 up, mat4 dest);
+
+CGLM_EXPORT
+void
+glmc_look_rh_no(vec3 eye, vec3 dir, vec3 up, mat4 dest);
+
+CGLM_EXPORT
+void
+glmc_look_anyup_rh_no(vec3 eye, vec3 dir, mat4 dest);
+
+#ifdef __cplusplus
+}
+#endif
+#endif /* cglmc_view_rh_no_h */

include/cglm/call/clipspace/view_rh_zo.h

@@ -0,0 +1,31 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), http://opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+#ifndef cglmc_view_rh_zo_h
+#define cglmc_view_rh_zo_h
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "../cglm.h"
+
+CGLM_EXPORT
+void
+glmc_lookat_rh_zo(vec3 eye, vec3 center, vec3 up, mat4 dest);
+
+CGLM_EXPORT
+void
+glmc_look_rh_zo(vec3 eye, vec3 dir, vec3 up, mat4 dest);
+
+CGLM_EXPORT
+void
+glmc_look_anyup_rh_zo(vec3 eye, vec3 dir, mat4 dest);
+
+#ifdef __cplusplus
+}
+#endif
+#endif /* cglmc_view_rh_zo_h */

include/cglm/call/io.h

@@ -7,6 +7,7 @@
 
 #ifndef cglmc_io_h
 #define cglmc_io_h
+
 #ifdef __cplusplus
 extern "C" {
 #endif

include/cglm/call/quat.h

@@ -121,6 +121,10 @@ CGLM_EXPORT
 void
 glmc_quat_lerpc(versor from, versor to, float t, versor dest);
 
+CGLM_EXPORT
+void
+glmc_quat_nlerp(versor q, versor r, float t, versor dest);
+
 CGLM_EXPORT
 void
 glmc_quat_slerp(versor q, versor r, float t, versor dest);

include/cglm/call/ray.h

@@ -0,0 +1,27 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), http://opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+#ifndef cglmc_ray_h
+#define cglmc_ray_h
+#ifdef __cplusplus
+extern "C" {
+#endif
+#include "../cglm.h"
+
+CGLM_EXPORT
+bool
+glmc_ray_triangle(vec3   origin,
+                  vec3   direction,
+                  vec3   v0,
+                  vec3   v1,
+                  vec3   v2,
+                  float *d);
+    
+#ifdef __cplusplus
+}
+#endif
+#endif /* cglmc_ray_h */

include/cglm/call/vec4.h

@@ -99,7 +99,7 @@ glmc_vec4_scale(vec4 v, float s, vec4 dest);
 
 CGLM_EXPORT
 void
-glmc_vec4_scale_as(vec3 v, float s, vec3 dest);
+glmc_vec4_scale_as(vec4 v, float s, vec4 dest);
 
 CGLM_EXPORT
 void

include/cglm/cam.h

@@ -9,11 +9,11 @@
  Functions:
    CGLM_INLINE void  glm_frustum(float left,   float right,
                                  float bottom, float top,
-                                 float nearVal, float farVal,
+                                 float nearZ,  float farZ,
                                  mat4  dest)
    CGLM_INLINE void  glm_ortho(float left,   float right,
                                float bottom, float top,
-                               float nearVal, float farVal,
+                               float nearZ,  float farZ,
                                mat4  dest)
    CGLM_INLINE void  glm_ortho_aabb(vec3 box[2], mat4 dest)
    CGLM_INLINE void  glm_ortho_aabb_p(vec3 box[2],  float padding, mat4 dest)
@@ -22,8 +22,8 @@
    CGLM_INLINE void  glm_ortho_default_s(float aspect, float size, mat4 dest)
    CGLM_INLINE void  glm_perspective(float fovy,
                                      float aspect,
-                                     float nearVal,
+                                     float nearZ,
-                                     float farVal,
+                                     float farZ,
                                      mat4  dest)
    CGLM_INLINE void  glm_perspective_default(float aspect, mat4 dest)
    CGLM_INLINE void  glm_perspective_resize(float aspect, mat4 proj)
@@ -31,26 +31,61 @@
    CGLM_INLINE void  glm_look(vec3 eye, vec3 dir, vec3 up, mat4 dest)
    CGLM_INLINE void  glm_look_anyup(vec3 eye, vec3 dir, mat4 dest)
    CGLM_INLINE void  glm_persp_decomp(mat4   proj,
-                                      float *nearVal, float *farVal,
+                                      float *nearZ, float *farZ,
                                       float *top,   float *bottom,
                                       float *left,  float *right)
    CGLM_INLINE void  glm_persp_decompv(mat4 proj, float dest[6])
    CGLM_INLINE void  glm_persp_decomp_x(mat4 proj, float *left, float *right)
    CGLM_INLINE void  glm_persp_decomp_y(mat4 proj, float *top,  float *bottom)
    CGLM_INLINE void  glm_persp_decomp_z(mat4 proj, float *nearv, float *farv)
-   CGLM_INLINE void  glm_persp_decomp_far(mat4 proj, float *farVal)
+   CGLM_INLINE void  glm_persp_decomp_far(mat4 proj, float *farZ)
-   CGLM_INLINE void  glm_persp_decomp_near(mat4 proj, float *nearVal)
+   CGLM_INLINE void  glm_persp_decomp_near(mat4 proj, float *nearZ)
    CGLM_INLINE float glm_persp_fovy(mat4 proj)
    CGLM_INLINE float glm_persp_aspect(mat4 proj)
    CGLM_INLINE void  glm_persp_sizes(mat4 proj, float fovy, vec4 dest)
  */
 
-#ifndef cglm_vcam_h
+#ifndef cglm_cam_h
-#define cglm_vcam_h
+#define cglm_cam_h
 
 #include "common.h"
 #include "plane.h"
 
+#include "clipspace/persp.h"
+
+#ifndef CGLM_CLIPSPACE_INCLUDE_ALL
+#  if CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_ZO
+#    include "clipspace/ortho_lh_zo.h"
+#    include "clipspace/persp_lh_zo.h"
+#    include "clipspace/view_lh_zo.h"
+#  elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_NO
+#    include "clipspace/ortho_lh_no.h"
+#    include "clipspace/persp_lh_no.h"
+#    include "clipspace/view_lh_no.h"
+#  elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_ZO
+#    include "clipspace/ortho_rh_zo.h"
+#    include "clipspace/persp_rh_zo.h"
+#    include "clipspace/view_rh_zo.h"
+#  elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_NO
+#    include "clipspace/ortho_rh_no.h"
+#    include "clipspace/persp_rh_no.h"
+#    include "clipspace/view_rh_no.h"
+#  endif
+#else
+#  include "clipspace/ortho_lh_zo.h"
+#  include "clipspace/persp_lh_zo.h"
+#  include "clipspace/ortho_lh_no.h"
+#  include "clipspace/persp_lh_no.h"
+#  include "clipspace/ortho_rh_zo.h"
+#  include "clipspace/persp_rh_zo.h"
+#  include "clipspace/ortho_rh_no.h"
+#  include "clipspace/persp_rh_no.h"
+#  include "clipspace/view_lh_zo.h"
+#  include "clipspace/view_lh_no.h"
+#  include "clipspace/view_rh_zo.h"
+#  include "clipspace/view_rh_no.h"
+#endif
+
 /*!
  * @brief set up perspective peprojection matrix
  *
@@ -58,32 +93,25 @@
  * @param[in]  right   viewport.right
  * @param[in]  bottom  viewport.bottom
  * @param[in]  top     viewport.top
- * @param[in]  nearVal near clipping plane
+ * @param[in]  nearZ   near clipping plane
- * @param[in]  farVal  far clipping plane
+ * @param[in]  farZ    far clipping plane
  * @param[out] dest    result matrix
  */
 CGLM_INLINE
 void
 glm_frustum(float left,    float right,
             float bottom,  float top,
-            float nearVal, float farVal,
+            float nearZ,   float farZ,
             mat4  dest) {
-  float rl, tb, fn, nv;
+#if CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_ZO
-
+  glm_frustum_lh_zo(left, right, bottom, top, nearZ, farZ, dest);
-  glm_mat4_zero(dest);
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_NO
-
+  glm_frustum_lh_no(left, right, bottom, top, nearZ, farZ, dest);
-  rl = 1.0f / (right  - left);
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_ZO
-  tb = 1.0f / (top    - bottom);
+  glm_frustum_rh_zo(left, right, bottom, top, nearZ, farZ, dest);
-  fn =-1.0f / (farVal - nearVal);
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_NO
-  nv = 2.0f * nearVal;
+  glm_frustum_rh_no(left, right, bottom, top, nearZ, farZ, dest);
-
+#endif
-  dest[0][0] = nv * rl;
-  dest[1][1] = nv * tb;
-  dest[2][0] = (right  + left)    * rl;
-  dest[2][1] = (top    + bottom)  * tb;
-  dest[2][2] = (farVal + nearVal) * fn;
-  dest[2][3] =-1.0f;
-  dest[3][2] = farVal * nv * fn;
 }
 
 /*!
@@ -93,31 +121,25 @@ glm_frustum(float left,    float right,
  * @param[in]  right   viewport.right
  * @param[in]  bottom  viewport.bottom
  * @param[in]  top     viewport.top
- * @param[in]  nearVal near clipping plane
+ * @param[in]  nearZ   near clipping plane
- * @param[in]  farVal  far clipping plane
+ * @param[in]  farZ    far clipping plane
  * @param[out] dest    result matrix
  */
 CGLM_INLINE
 void
 glm_ortho(float left,    float right,
           float bottom,  float top,
-          float nearVal, float farVal,
+          float nearZ,   float farZ,
           mat4  dest) {
-  float rl, tb, fn;
+#if CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_ZO
-
+  glm_ortho_lh_zo(left, right, bottom, top, nearZ, farZ, dest);
-  glm_mat4_zero(dest);
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_NO
-
+  glm_ortho_lh_no(left, right, bottom, top, nearZ, farZ, dest);
-  rl = 1.0f / (right  - left);
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_ZO
-  tb = 1.0f / (top    - bottom);
+  glm_ortho_rh_zo(left, right, bottom, top, nearZ, farZ, dest);
-  fn =-1.0f / (farVal - nearVal);
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_NO
-
+  glm_ortho_rh_no(left, right, bottom, top, nearZ, farZ, dest);
-  dest[0][0] = 2.0f * rl;
+#endif
-  dest[1][1] = 2.0f * tb;
-  dest[2][2] = 2.0f * fn;
-  dest[3][0] =-(right  + left)    * rl;
-  dest[3][1] =-(top    + bottom)  * tb;
-  dest[3][2] = (farVal + nearVal) * fn;
-  dest[3][3] = 1.0f;
 }
 
 /*!
@@ -131,10 +153,15 @@ glm_ortho(float left,    float right,
 CGLM_INLINE
 void
 glm_ortho_aabb(vec3 box[2], mat4 dest) {
-  glm_ortho(box[0][0],  box[1][0],
+#if CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_ZO
-            box[0][1],  box[1][1],
+  glm_ortho_aabb_lh_zo(box, dest);
-           -box[1][2], -box[0][2],
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_NO
-            dest);
+  glm_ortho_aabb_lh_no(box, dest);
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_ZO
+  glm_ortho_aabb_rh_zo(box, dest);
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_NO
+  glm_ortho_aabb_rh_no(box, dest);
+#endif
 }
 
 /*!
@@ -149,10 +176,15 @@ glm_ortho_aabb(vec3 box[2], mat4 dest) {
 CGLM_INLINE
 void
 glm_ortho_aabb_p(vec3 box[2], float padding, mat4 dest) {
-  glm_ortho(box[0][0] - padding,    box[1][0] + padding,
+#if CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_ZO
-            box[0][1] - padding,    box[1][1] + padding,
+  glm_ortho_aabb_p_lh_zo(box, padding, dest);
-          -(box[1][2] + padding), -(box[0][2] - padding),
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_NO
-            dest);
+  glm_ortho_aabb_p_lh_no(box, padding, dest);
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_ZO
+  glm_ortho_aabb_p_rh_zo(box, padding, dest);
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_NO
+  glm_ortho_aabb_p_rh_no(box, padding, dest);
+#endif
 }
 
 /*!
@@ -167,10 +199,15 @@ glm_ortho_aabb_p(vec3 box[2], float padding, mat4 dest) {
 CGLM_INLINE
 void
 glm_ortho_aabb_pz(vec3 box[2], float padding, mat4 dest) {
-  glm_ortho(box[0][0],              box[1][0],
+#if CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_ZO
-            box[0][1],              box[1][1],
+  glm_ortho_aabb_pz_lh_zo(box, padding, dest);
-          -(box[1][2] + padding), -(box[0][2] - padding),
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_NO
-            dest);
+  glm_ortho_aabb_pz_lh_no(box, padding, dest);
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_ZO
+  glm_ortho_aabb_pz_rh_zo(box, padding, dest);
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_NO
+  glm_ortho_aabb_pz_rh_no(box, padding, dest);
+#endif
 }
 
 /*!
@@ -182,14 +219,15 @@ glm_ortho_aabb_pz(vec3 box[2], float padding, mat4 dest) {
 CGLM_INLINE
 void
 glm_ortho_default(float aspect, mat4 dest) {
-  if (aspect >= 1.0f) {
+#if CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_ZO
-    glm_ortho(-aspect, aspect, -1.0f, 1.0f, -100.0f, 100.0f, dest);
+  glm_ortho_default_lh_zo(aspect, dest);
-    return;
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_NO
-  }
+  glm_ortho_default_lh_no(aspect, dest);
-
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_ZO
-  aspect = 1.0f / aspect;
+  glm_ortho_default_rh_zo(aspect, dest);
-
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_NO
-  glm_ortho(-1.0f, 1.0f, -aspect, aspect, -100.0f, 100.0f, dest);
+  glm_ortho_default_rh_no(aspect, dest);
+#endif
 }
 
 /*!
@@ -202,24 +240,15 @@ glm_ortho_default(float aspect, mat4 dest) {
 CGLM_INLINE
 void
 glm_ortho_default_s(float aspect, float size, mat4 dest) {
-  if (aspect >= 1.0f) {
+#if CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_ZO
-    glm_ortho(-size * aspect,
+  glm_ortho_default_s_lh_zo(aspect, size, dest);
-               size * aspect,
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_NO
-              -size,
+  glm_ortho_default_s_lh_no(aspect, size, dest);
-               size,
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_ZO
-              -size - 100.0f,
+  glm_ortho_default_s_rh_zo(aspect, size, dest);
-               size + 100.0f,
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_NO
-               dest);
+  glm_ortho_default_s_rh_no(aspect, size, dest);
-    return;
+#endif
-  }
-
-  glm_ortho(-size,
-             size,
-            -size / aspect,
-             size / aspect,
-            -size - 100.0f,
-             size + 100.0f,
-             dest);
 }
 
 /*!
@@ -227,29 +256,22 @@ glm_ortho_default_s(float aspect, float size, mat4 dest) {
  *
  * @param[in]  fovy    field of view angle
  * @param[in]  aspect  aspect ratio ( width / height )
- * @param[in]  nearVal near clipping plane
+ * @param[in]  nearZ   near clipping plane
- * @param[in]  farVal  far clipping planes
+ * @param[in]  farZ    far clipping planes
  * @param[out] dest    result matrix
  */
 CGLM_INLINE
 void
-glm_perspective(float fovy,
+glm_perspective(float fovy, float aspect, float nearZ, float farZ, mat4 dest) {
-                float aspect,
+#if CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_ZO
-                float nearVal,
+  glm_perspective_lh_zo(fovy, aspect, nearZ, farZ, dest);
-                float farVal,
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_NO
-                mat4  dest) {
+  glm_perspective_lh_no(fovy, aspect, nearZ, farZ, dest);
-  float f, fn;
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_ZO
-
+  glm_perspective_rh_zo(fovy, aspect, nearZ, farZ, dest);
-  glm_mat4_zero(dest);
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_NO
-
+  glm_perspective_rh_no(fovy, aspect, nearZ, farZ, dest);
-  f  = 1.0f / tanf(fovy * 0.5f);
+#endif
-  fn = 1.0f / (nearVal - farVal);
-
-  dest[0][0] = f / aspect;
-  dest[1][1] = f;
-  dest[2][2] = (nearVal + farVal) * fn;
-  dest[2][3] =-1.0f;
-  dest[3][2] = 2.0f * nearVal * farVal * fn;
 }
 
 /*!
@@ -263,17 +285,15 @@ glm_perspective(float fovy,
 CGLM_INLINE
 void
 glm_persp_move_far(mat4 proj, float deltaFar) {
-  float fn, farVal, nearVal, p22, p32;
+#if CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_ZO
-
+  glm_persp_move_far_lh_zo(proj, deltaFar);
-  p22        = proj[2][2];
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_NO
-  p32        = proj[3][2];
+  glm_persp_move_far_lh_no(proj, deltaFar);
-
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_ZO
-  nearVal    = p32 / (p22 - 1.0f);
+  glm_persp_move_far_rh_zo(proj, deltaFar);
-  farVal     = p32 / (p22 + 1.0f) + deltaFar;
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_NO
-  fn         = 1.0f / (nearVal - farVal);
+  glm_persp_move_far_rh_no(proj, deltaFar);
-
+#endif
-  proj[2][2] = (nearVal + farVal) * fn;
-  proj[3][2] = 2.0f * nearVal * farVal * fn;
 }
 
 /*!
@@ -286,7 +306,15 @@ glm_persp_move_far(mat4 proj, float deltaFar) {
 CGLM_INLINE
 void
 glm_perspective_default(float aspect, mat4 dest) {
-  glm_perspective(GLM_PI_4f, aspect, 0.01f, 100.0f, dest);
+#if CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_ZO
+  glm_perspective_default_lh_zo(aspect, dest);
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_NO
+  glm_perspective_default_lh_no(aspect, dest);
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_ZO
+  glm_perspective_default_rh_zo(aspect, dest);
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_NO
+  glm_perspective_default_rh_no(aspect, dest);
+#endif
 }
 
 /*!
@@ -320,28 +348,11 @@ glm_perspective_resize(float aspect, mat4 proj) {
 CGLM_INLINE
 void
 glm_lookat(vec3 eye, vec3 center, vec3 up, mat4 dest) {
-  CGLM_ALIGN(8) vec3 f, u, s;
+#if CGLM_CONFIG_CLIP_CONTROL & CGLM_CLIP_CONTROL_LH_BIT
-
+  glm_lookat_lh(eye, center, up, dest);
-  glm_vec3_sub(center, eye, f);
+#elif CGLM_CONFIG_CLIP_CONTROL & CGLM_CLIP_CONTROL_RH_BIT
-  glm_vec3_normalize(f);
+  glm_lookat_rh(eye, center, up, dest);
-
+#endif
-  glm_vec3_crossn(f, up, s);
-  glm_vec3_cross(s, f, u);
-
-  dest[0][0] = s[0];
-  dest[0][1] = u[0];
-  dest[0][2] =-f[0];
-  dest[1][0] = s[1];
-  dest[1][1] = u[1];
-  dest[1][2] =-f[1];
-  dest[2][0] = s[2];
-  dest[2][1] = u[2];
-  dest[2][2] =-f[2];
-  dest[3][0] =-glm_vec3_dot(s, eye);
-  dest[3][1] =-glm_vec3_dot(u, eye);
-  dest[3][2] = glm_vec3_dot(f, eye);
-  dest[0][3] = dest[1][3] = dest[2][3] = 0.0f;
-  dest[3][3] = 1.0f;
 }
 
 /*!
@@ -361,9 +372,11 @@ glm_lookat(vec3 eye, vec3 center, vec3 up, mat4 dest) {
 CGLM_INLINE
 void
 glm_look(vec3 eye, vec3 dir, vec3 up, mat4 dest) {
-  CGLM_ALIGN(8) vec3 target;
+#if CGLM_CONFIG_CLIP_CONTROL & CGLM_CLIP_CONTROL_LH_BIT
-  glm_vec3_add(eye, dir, target);
+  glm_look_lh(eye, dir, up, dest);
-  glm_lookat(eye, target, up, dest);
+#elif CGLM_CONFIG_CLIP_CONTROL & CGLM_CLIP_CONTROL_RH_BIT
+  glm_look_rh(eye, dir, up, dest);
+#endif
 }
 
 /*!
@@ -379,17 +392,19 @@ glm_look(vec3 eye, vec3 dir, vec3 up, mat4 dest) {
 CGLM_INLINE
 void
 glm_look_anyup(vec3 eye, vec3 dir, mat4 dest) {
-  CGLM_ALIGN(8) vec3 up;
+#if CGLM_CONFIG_CLIP_CONTROL & CGLM_CLIP_CONTROL_LH_BIT
-  glm_vec3_ortho(dir, up);
+  glm_look_anyup_lh(eye, dir, dest);
-  glm_look(eye, dir, up, dest);
+#elif CGLM_CONFIG_CLIP_CONTROL & CGLM_CLIP_CONTROL_RH_BIT
+  glm_look_anyup_rh(eye, dir, dest);
+#endif
 }
 
 /*!
  * @brief decomposes frustum values of perspective projection.
  *
  * @param[in]  proj    perspective projection matrix
- * @param[out] nearVal near
+ * @param[out] nearZ   near
- * @param[out] farVal  far
+ * @param[out] farZ    far
  * @param[out] top     top
  * @param[out] bottom  bottom
  * @param[out] left    left
@@ -398,31 +413,18 @@ glm_look_anyup(vec3 eye, vec3 dir, mat4 dest) {
 CGLM_INLINE
 void
 glm_persp_decomp(mat4 proj,
-                 float * __restrict nearVal, float * __restrict farVal,
+                 float * __restrict nearZ, float * __restrict farZ,
                  float * __restrict top,   float * __restrict bottom,
                  float * __restrict left,  float * __restrict right) {
-  float m00, m11, m20, m21, m22, m32, n, f;
+#if CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_ZO
-  float n_m11, n_m00;
+  glm_persp_decomp_lh_zo(proj, nearZ, farZ, top, bottom, left, right);
-
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_NO
-  m00 = proj[0][0];
+  glm_persp_decomp_lh_no(proj, nearZ, farZ, top, bottom, left, right);
-  m11 = proj[1][1];
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_ZO
-  m20 = proj[2][0];
+  glm_persp_decomp_rh_zo(proj, nearZ, farZ, top, bottom, left, right);
-  m21 = proj[2][1];
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_NO
-  m22 = proj[2][2];
+  glm_persp_decomp_rh_no(proj, nearZ, farZ, top, bottom, left, right);
-  m32 = proj[3][2];
+#endif
-
-  n = m32 / (m22 - 1.0f);
-  f = m32 / (m22 + 1.0f);
-
-  n_m11 = n / m11;
-  n_m00 = n / m00;
-
-  *nearVal = n;
-  *farVal  = f;
-  *bottom  = n_m11 * (m21 - 1.0f);
-  *top     = n_m11 * (m21 + 1.0f);
-  *left    = n_m00 * (m20 - 1.0f);
-  *right   = n_m00 * (m20 + 1.0f);
 }
 
 /*!
@@ -435,8 +437,15 @@ glm_persp_decomp(mat4 proj,
 CGLM_INLINE
 void
 glm_persp_decompv(mat4 proj, float dest[6]) {
-  glm_persp_decomp(proj, &dest[0], &dest[1], &dest[2],
+#if CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_ZO
-                         &dest[3], &dest[4], &dest[5]);
+  glm_persp_decompv_lh_zo(proj, dest);
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_NO
+  glm_persp_decompv_lh_no(proj, dest);
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_ZO
+  glm_persp_decompv_rh_zo(proj, dest);
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_NO
+  glm_persp_decompv_rh_no(proj, dest);
+#endif
 }
 
 /*!
@@ -452,14 +461,15 @@ void
 glm_persp_decomp_x(mat4 proj,
                    float * __restrict left,
                    float * __restrict right) {
-  float nearVal, m20, m00;
+#if CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_ZO
-
+  glm_persp_decomp_x_lh_zo(proj, left, right);
-  m00 = proj[0][0];
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_NO
-  m20 = proj[2][0];
+  glm_persp_decomp_x_lh_no(proj, left, right);
-
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_ZO
-  nearVal = proj[3][2] / (proj[3][3] - 1.0f);
+  glm_persp_decomp_x_rh_zo(proj, left, right);
-  *left   = nearVal * (m20 - 1.0f) / m00;
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_NO
-  *right  = nearVal * (m20 + 1.0f) / m00;
+  glm_persp_decomp_x_rh_no(proj, left, right);
+#endif
 }
 
 /*!
@@ -475,14 +485,15 @@ void
 glm_persp_decomp_y(mat4 proj,
                    float * __restrict top,
                    float * __restrict bottom) {
-  float nearVal, m21, m11;
+#if CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_ZO
-
+  glm_persp_decomp_y_lh_zo(proj, top, bottom);
-  m21 = proj[2][1];
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_NO
-  m11 = proj[1][1];
+  glm_persp_decomp_y_lh_no(proj, top, bottom);
-
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_ZO
-  nearVal = proj[3][2] / (proj[3][3] - 1.0f);
+  glm_persp_decomp_y_rh_zo(proj, top, bottom);
-  *bottom = nearVal * (m21 - 1) / m11;
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_NO
-  *top    = nearVal * (m21 + 1) / m11;
+  glm_persp_decomp_y_rh_no(proj, top, bottom);
+#endif
 }
 
 /*!
@@ -490,70 +501,61 @@ glm_persp_decomp_y(mat4 proj,
  *        z stands for z axis (near / far axis)
  *
  * @param[in]  proj    perspective projection matrix
- * @param[out] nearVal near
+ * @param[out] nearZ   near
- * @param[out] farVal  far
+ * @param[out] farZ    far
  */
 CGLM_INLINE
 void
-glm_persp_decomp_z(mat4 proj,
+glm_persp_decomp_z(mat4 proj, float * __restrict nearZ, float * __restrict farZ) {
-                   float * __restrict nearVal,
+#if CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_ZO
-                   float * __restrict farVal) {
+  glm_persp_decomp_z_lh_zo(proj, nearZ, farZ);
-  float m32, m22;
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_NO
-
+  glm_persp_decomp_z_lh_no(proj, nearZ, farZ);
-  m32 = proj[3][2];
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_ZO
-  m22 = proj[2][2];
+  glm_persp_decomp_z_rh_zo(proj, nearZ, farZ);
-
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_NO
-  *nearVal = m32 / (m22 - 1.0f);
+  glm_persp_decomp_z_rh_no(proj, nearZ, farZ);
-  *farVal  = m32 / (m22 + 1.0f);
+#endif
 }
 
 /*!
  * @brief decomposes far value of perspective projection.
  *
  * @param[in]  proj   perspective projection matrix
- * @param[out] farVal far
+ * @param[out] farZ   far
  */
 CGLM_INLINE
 void
-glm_persp_decomp_far(mat4 proj, float * __restrict farVal) {
+glm_persp_decomp_far(mat4 proj, float * __restrict farZ) {
-  *farVal = proj[3][2] / (proj[2][2] + 1.0f);
+#if CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_ZO
+  glm_persp_decomp_far_lh_zo(proj, farZ);
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_NO
+  glm_persp_decomp_far_lh_no(proj, farZ);
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_ZO
+  glm_persp_decomp_far_rh_zo(proj, farZ);
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_NO
+  glm_persp_decomp_far_rh_no(proj, farZ);
+#endif
 }
 
 /*!
  * @brief decomposes near value of perspective projection.
  *
  * @param[in]  proj   perspective projection matrix
- * @param[out] nearVal near
+ * @param[out] nearZ  near
  */
 CGLM_INLINE
 void
-glm_persp_decomp_near(mat4 proj, float * __restrict nearVal) {
+glm_persp_decomp_near(mat4 proj, float * __restrict nearZ) {
-  *nearVal = proj[3][2] / (proj[2][2] - 1.0f);
+#if CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_ZO
-}
+  glm_persp_decomp_near_lh_zo(proj, nearZ);
-
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_NO
-/*!
+  glm_persp_decomp_near_lh_no(proj, nearZ);
- * @brief returns field of view angle along the Y-axis (in radians)
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_ZO
- *
+  glm_persp_decomp_near_rh_zo(proj, nearZ);
- * if you need to degrees, use glm_deg to convert it or use this:
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_NO
- * fovy_deg = glm_deg(glm_persp_fovy(projMatrix))
+  glm_persp_decomp_near_rh_no(proj, nearZ);
- *
+#endif
- * @param[in] proj perspective projection matrix
- */
-CGLM_INLINE
-float
-glm_persp_fovy(mat4 proj) {
-  return 2.0f * atanf(1.0f / proj[1][1]);
-}
-
-/*!
- * @brief returns aspect ratio of perspective projection
- *
- * @param[in] proj perspective projection matrix
- */
-CGLM_INLINE
-float
-glm_persp_aspect(mat4 proj) {
-  return proj[1][1] / proj[0][0];
 }
 
 /*!
@@ -566,17 +568,15 @@ glm_persp_aspect(mat4 proj) {
 CGLM_INLINE
 void
 glm_persp_sizes(mat4 proj, float fovy, vec4 dest) {
-  float t, a, nearVal, farVal;
+#if CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_ZO
-
+  glm_persp_sizes_lh_zo(proj, fovy, dest);
-  t = 2.0f * tanf(fovy * 0.5f);
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_NO
-  a = glm_persp_aspect(proj);
+  glm_persp_sizes_lh_no(proj, fovy, dest);
-
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_ZO
-  glm_persp_decomp_z(proj, &nearVal, &farVal);
+  glm_persp_sizes_rh_zo(proj, fovy, dest);
-
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_NO
-  dest[1]  = t * nearVal;
+  glm_persp_sizes_rh_no(proj, fovy, dest);
-  dest[3]  = t * farVal;
+#endif
-  dest[0]  = a * dest[1];
-  dest[2]  = a * dest[3];
 }
 
-#endif /* cglm_vcam_h */
+#endif /* cglm_cam_h */

include/cglm/cglm.h

@@ -30,5 +30,7 @@
 #include "ease.h"
 #include "curve.h"
 #include "bezier.h"
+#include "ray.h"
+#include "affine2d.h"
 
 #endif /* cglm_h */

include/cglm/clipspace/ortho_lh_no.h

@@ -0,0 +1,182 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), http://opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+/*
+ Functions:
+   CGLM_INLINE void glm_ortho_lh_no(float left,    float right,
+                                    float bottom,  float top,
+                                    float nearZ, float farZ,
+                                    mat4  dest)
+   CGLM_INLINE void glm_ortho_aabb_lh_no(vec3 box[2], mat4 dest)
+   CGLM_INLINE void glm_ortho_aabb_p_lh_no(vec3 box[2],
+                                           float padding,
+                                           mat4 dest)
+   CGLM_INLINE void glm_ortho_aabb_pz_lh_no(vec3 box[2],
+                                            float padding,
+                                            mat4 dest)
+   CGLM_INLINE void glm_ortho_default_lh_no(float aspect,
+                                            mat4 dest)
+   CGLM_INLINE void glm_ortho_default_s_lh_no(float aspect,
+                                              float size,
+                                              mat4 dest)
+ */
+
+#ifndef cglm_ortho_lh_no_h
+#define cglm_ortho_lh_no_h
+
+#include "../common.h"
+#include "../plane.h"
+
+/*!
+ * @brief set up orthographic projection matrix
+ *        with a left-hand coordinate system and a
+ *        clip-space of [-1, 1].
+ *
+ * @param[in]  left    viewport.left
+ * @param[in]  right   viewport.right
+ * @param[in]  bottom  viewport.bottom
+ * @param[in]  top     viewport.top
+ * @param[in]  nearZ   near clipping plane
+ * @param[in]  farZ    far clipping plane
+ * @param[out] dest    result matrix
+ */
+CGLM_INLINE
+void
+glm_ortho_lh_no(float left,    float right,
+                float bottom,  float top,
+                float nearZ, float farZ,
+                mat4  dest) {
+  float rl, tb, fn;
+
+  glm_mat4_zero(dest);
+
+  rl = 1.0f / (right  - left);
+  tb = 1.0f / (top    - bottom);
+  fn =-1.0f / (farZ - nearZ);
+
+  dest[0][0] = 2.0f * rl;
+  dest[1][1] = 2.0f * tb;
+  dest[2][2] =-2.0f * fn;
+  dest[3][0] =-(right  + left)    * rl;
+  dest[3][1] =-(top    + bottom)  * tb;
+  dest[3][2] = (farZ + nearZ) * fn;
+  dest[3][3] = 1.0f;
+}
+
+/*!
+ * @brief set up orthographic projection matrix using bounding box
+ *        with a left-hand coordinate system and a
+ *        clip-space of [-1, 1].
+ *
+ * bounding box (AABB) must be in view space
+ *
+ * @param[in]  box   AABB
+ * @param[out] dest  result matrix
+ */
+CGLM_INLINE
+void
+glm_ortho_aabb_lh_no(vec3 box[2], mat4 dest) {
+  glm_ortho_lh_no(box[0][0],  box[1][0],
+                  box[0][1],  box[1][1],
+                 -box[1][2], -box[0][2],
+                  dest);
+}
+
+/*!
+ * @brief set up orthographic projection matrix using bounding box
+ *        with a left-hand coordinate system and a
+ *        clip-space of [-1, 1].
+ *
+ * bounding box (AABB) must be in view space
+ *
+ * @param[in]  box     AABB
+ * @param[in]  padding padding
+ * @param[out] dest    result matrix
+ */
+CGLM_INLINE
+void
+glm_ortho_aabb_p_lh_no(vec3 box[2], float padding, mat4 dest) {
+  glm_ortho_lh_no(box[0][0] - padding,    box[1][0] + padding,
+                  box[0][1] - padding,    box[1][1] + padding,
+                -(box[1][2] + padding), -(box[0][2] - padding),
+                  dest);
+}
+
+/*!
+ * @brief set up orthographic projection matrix using bounding box
+ *        with a left-hand coordinate system and a
+ *        clip-space of [-1, 1].
+ *
+ * bounding box (AABB) must be in view space
+ *
+ * @param[in]  box     AABB
+ * @param[in]  padding padding for near and far
+ * @param[out] dest    result matrix
+ */
+CGLM_INLINE
+void
+glm_ortho_aabb_pz_lh_no(vec3 box[2], float padding, mat4 dest) {
+  glm_ortho_lh_no(box[0][0],              box[1][0],
+                  box[0][1],              box[1][1],
+                -(box[1][2] + padding), -(box[0][2] - padding),
+                  dest);
+}
+
+/*!
+ * @brief set up unit orthographic projection matrix
+ *        with a left-hand coordinate system and a
+ *        clip-space of [-1, 1].
+ *
+ * @param[in]  aspect aspect ration ( width / height )
+ * @param[out] dest   result matrix
+ */
+CGLM_INLINE
+void
+glm_ortho_default_lh_no(float aspect, mat4 dest) {
+  if (aspect >= 1.0f) {
+    glm_ortho_lh_no(-aspect, aspect, -1.0f, 1.0f, -100.0f, 100.0f, dest);
+    return;
+  }
+
+  aspect = 1.0f / aspect;
+
+  glm_ortho_lh_no(-1.0f, 1.0f, -aspect, aspect, -100.0f, 100.0f, dest);
+}
+
+/*!
+ * @brief set up orthographic projection matrix with given CUBE size
+ *        with a left-hand coordinate system and a
+ *        clip-space of [-1, 1].
+ *
+ * @param[in]  aspect aspect ratio ( width / height )
+ * @param[in]  size   cube size
+ * @param[out] dest   result matrix
+ */
+CGLM_INLINE
+void
+glm_ortho_default_s_lh_no(float aspect, float size, mat4 dest) {
+  if (aspect >= 1.0f) {
+    glm_ortho_lh_no(-size * aspect,
+                     size * aspect,
+                    -size,
+                     size,
+                    -size - 100.0f,
+                     size + 100.0f,
+                     dest);
+    return;
+  }
+
+  glm_ortho_lh_no(-size,
+                   size,
+                  -size / aspect,
+                   size / aspect,
+                  -size - 100.0f,
+                   size + 100.0f,
+                   dest);
+}
+
+#endif /*cglm_ortho_lh_no_h*/

include/cglm/clipspace/ortho_lh_zo.h

@@ -0,0 +1,176 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), http://opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+/*
+ Functions:
+   CGLM_INLINE void glm_ortho_lh_zo(float left,    float right,
+                                    float bottom,  float top,
+                                    float nearZ, float farZ,
+                                    mat4  dest)
+   CGLM_INLINE void glm_ortho_aabb_lh_zo(vec3 box[2], mat4 dest)
+   CGLM_INLINE void glm_ortho_aabb_p_lh_zo(vec3 box[2],
+                                           float padding,
+                                           mat4 dest)
+   CGLM_INLINE void glm_ortho_aabb_pz_lh_zo(vec3 box[2],
+                                            float padding,
+                                            mat4 dest)
+   CGLM_INLINE void glm_ortho_default_lh_zo(float aspect,
+                                            mat4 dest)
+   CGLM_INLINE void glm_ortho_default_s_lh_zo(float aspect,
+                                              float size,
+                                              mat4 dest)
+ */
+
+#ifndef cglm_ortho_lh_zo_h
+#define cglm_ortho_lh_zo_h
+
+#include "../common.h"
+#include "../plane.h"
+
+/*!
+ * @brief set up orthographic projection matrix with a left-hand coordinate
+ *        system and a clip-space of [0, 1].
+ *
+ * @param[in]  left    viewport.left
+ * @param[in]  right   viewport.right
+ * @param[in]  bottom  viewport.bottom
+ * @param[in]  top     viewport.top
+ * @param[in]  nearZ   near clipping plane
+ * @param[in]  farZ    far clipping plane
+ * @param[out] dest    result matrix
+ */
+CGLM_INLINE
+void
+glm_ortho_lh_zo(float left,    float right,
+                float bottom,  float top,
+                float nearZ, float farZ,
+                mat4  dest) {
+  float rl, tb, fn;
+
+  glm_mat4_zero(dest);
+
+  rl = 1.0f / (right  - left);
+  tb = 1.0f / (top    - bottom);
+  fn =-1.0f / (farZ - nearZ);
+
+  dest[0][0] = 2.0f * rl;
+  dest[1][1] = 2.0f * tb;
+  dest[2][2] =-fn;
+  dest[3][0] =-(right  + left)    * rl;
+  dest[3][1] =-(top    + bottom)  * tb;
+  dest[3][2] = nearZ * fn;
+  dest[3][3] = 1.0f;
+}
+
+/*!
+ * @brief set up orthographic projection matrix using bounding box
+ *        with a left-hand coordinate system and a clip-space of [0, 1].
+ *
+ * bounding box (AABB) must be in view space
+ *
+ * @param[in]  box   AABB
+ * @param[out] dest  result matrix
+ */
+CGLM_INLINE
+void
+glm_ortho_aabb_lh_zo(vec3 box[2], mat4 dest) {
+  glm_ortho_lh_zo(box[0][0],  box[1][0],
+                  box[0][1],  box[1][1],
+                 -box[1][2], -box[0][2],
+                  dest);
+}
+
+/*!
+ * @brief set up orthographic projection matrix using bounding box
+ *        with a left-hand coordinate system and a clip-space of [0, 1].
+ *
+ * bounding box (AABB) must be in view space
+ *
+ * @param[in]  box     AABB
+ * @param[in]  padding padding
+ * @param[out] dest    result matrix
+ */
+CGLM_INLINE
+void
+glm_ortho_aabb_p_lh_zo(vec3 box[2], float padding, mat4 dest) {
+  glm_ortho_lh_zo(box[0][0] - padding,    box[1][0] + padding,
+                  box[0][1] - padding,    box[1][1] + padding,
+                -(box[1][2] + padding), -(box[0][2] - padding),
+                  dest);
+}
+
+/*!
+ * @brief set up orthographic projection matrix using bounding box
+ *        with a left-hand coordinate system and a clip-space of [0, 1].
+ *
+ * bounding box (AABB) must be in view space
+ *
+ * @param[in]  box     AABB
+ * @param[in]  padding padding for near and far
+ * @param[out] dest    result matrix
+ */
+CGLM_INLINE
+void
+glm_ortho_aabb_pz_lh_zo(vec3 box[2], float padding, mat4 dest) {
+  glm_ortho_lh_zo(box[0][0],              box[1][0],
+                  box[0][1],              box[1][1],
+                -(box[1][2] + padding), -(box[0][2] - padding),
+                  dest);
+}
+
+/*!
+ * @brief set up unit orthographic projection matrix
+ *        with a left-hand coordinate system and a clip-space of [0, 1].
+ *
+ * @param[in]  aspect aspect ration ( width / height )
+ * @param[out] dest   result matrix
+ */
+CGLM_INLINE
+void
+glm_ortho_default_lh_zo(float aspect, mat4 dest) {
+  if (aspect >= 1.0f) {
+    glm_ortho_lh_zo(-aspect, aspect, -1.0f, 1.0f, -100.0f, 100.0f, dest);
+    return;
+  }
+
+  aspect = 1.0f / aspect;
+
+  glm_ortho_lh_zo(-1.0f, 1.0f, -aspect, aspect, -100.0f, 100.0f, dest);
+}
+
+/*!
+ * @brief set up orthographic projection matrix with given CUBE size
+ *        with a left-hand coordinate system and a clip-space of [0, 1].
+ *
+ * @param[in]  aspect aspect ratio ( width / height )
+ * @param[in]  size   cube size
+ * @param[out] dest   result matrix
+ */
+CGLM_INLINE
+void
+glm_ortho_default_s_lh_zo(float aspect, float size, mat4 dest) {
+  if (aspect >= 1.0f) {
+    glm_ortho_lh_zo(-size * aspect,
+                     size * aspect,
+                    -size,
+                     size,
+                    -size - 100.0f,
+                     size + 100.0f,
+                     dest);
+    return;
+  }
+
+  glm_ortho_lh_zo(-size,
+                   size,
+                  -size / aspect,
+                   size / aspect,
+                  -size - 100.0f,
+                   size + 100.0f,
+                   dest);
+}
+
+#endif /*cglm_ortho_lh_zo_h*/

include/cglm/clipspace/ortho_rh_no.h

@@ -0,0 +1,182 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), http://opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+/*
+ Functions:
+   CGLM_INLINE void glm_ortho_rh_no(float left,    float right,
+                                    float bottom,  float top,
+                                    float nearZ, float farZ,
+                                    mat4  dest)
+   CGLM_INLINE void glm_ortho_aabb_rh_no(vec3 box[2], mat4 dest)
+   CGLM_INLINE void glm_ortho_aabb_p_rh_no(vec3 box[2],
+                                           float padding,
+                                           mat4 dest)
+   CGLM_INLINE void glm_ortho_aabb_pz_rh_no(vec3 box[2],
+                                            float padding,
+                                            mat4 dest)
+   CGLM_INLINE void glm_ortho_default_rh_no(float aspect,
+                                            mat4 dest)
+   CGLM_INLINE void glm_ortho_default_s_rh_no(float aspect,
+                                              float size,
+                                              mat4 dest)
+ */
+
+#ifndef cglm_ortho_rh_no_h
+#define cglm_ortho_rh_no_h
+
+#include "../common.h"
+#include "../plane.h"
+
+/*!
+ * @brief set up orthographic projection matrix
+ *        with a right-hand coordinate system and a
+ *        clip-space of [-1, 1].
+ *
+ * @param[in]  left    viewport.left
+ * @param[in]  right   viewport.right
+ * @param[in]  bottom  viewport.bottom
+ * @param[in]  top     viewport.top
+ * @param[in]  nearZ   near clipping plane
+ * @param[in]  farZ    far clipping plane
+ * @param[out] dest    result matrix
+ */
+CGLM_INLINE
+void
+glm_ortho_rh_no(float left,    float right,
+                float bottom,  float top,
+                float nearZ, float farZ,
+                mat4  dest) {
+  float rl, tb, fn;
+
+  glm_mat4_zero(dest);
+
+  rl = 1.0f / (right  - left);
+  tb = 1.0f / (top    - bottom);
+  fn =-1.0f / (farZ - nearZ);
+
+  dest[0][0] = 2.0f * rl;
+  dest[1][1] = 2.0f * tb;
+  dest[2][2] = 2.0f * fn;
+  dest[3][0] =-(right  + left)    * rl;
+  dest[3][1] =-(top    + bottom)  * tb;
+  dest[3][2] = (farZ + nearZ) * fn;
+  dest[3][3] = 1.0f;
+}
+
+/*!
+ * @brief set up orthographic projection matrix using bounding box
+ *        with a right-hand coordinate system and a
+ *        clip-space of [-1, 1].
+ *
+ * bounding box (AABB) must be in view space
+ *
+ * @param[in]  box   AABB
+ * @param[out] dest  result matrix
+ */
+CGLM_INLINE
+void
+glm_ortho_aabb_rh_no(vec3 box[2], mat4 dest) {
+  glm_ortho_rh_no(box[0][0],  box[1][0],
+                  box[0][1],  box[1][1],
+                 -box[1][2], -box[0][2],
+                  dest);
+}
+
+/*!
+ * @brief set up orthographic projection matrix using bounding box
+ *        with a right-hand coordinate system and a
+ *        clip-space of [-1, 1].
+ *
+ * bounding box (AABB) must be in view space
+ *
+ * @param[in]  box     AABB
+ * @param[in]  padding padding
+ * @param[out] dest    result matrix
+ */
+CGLM_INLINE
+void
+glm_ortho_aabb_p_rh_no(vec3 box[2], float padding, mat4 dest) {
+  glm_ortho_rh_no(box[0][0] - padding,    box[1][0] + padding,
+                  box[0][1] - padding,    box[1][1] + padding,
+                -(box[1][2] + padding), -(box[0][2] - padding),
+                  dest);
+}
+
+/*!
+ * @brief set up orthographic projection matrix using bounding box
+ *        with a right-hand coordinate system and a
+ *        clip-space of [-1, 1].
+ *
+ * bounding box (AABB) must be in view space
+ *
+ * @param[in]  box     AABB
+ * @param[in]  padding padding for near and far
+ * @param[out] dest    result matrix
+ */
+CGLM_INLINE
+void
+glm_ortho_aabb_pz_rh_no(vec3 box[2], float padding, mat4 dest) {
+  glm_ortho_rh_no(box[0][0],              box[1][0],
+                  box[0][1],              box[1][1],
+                -(box[1][2] + padding), -(box[0][2] - padding),
+                  dest);
+}
+
+/*!
+ * @brief set up unit orthographic projection matrix
+ *        with a right-hand coordinate system and a
+ *        clip-space of [-1, 1].
+ *
+ * @param[in]  aspect aspect ration ( width / height )
+ * @param[out] dest   result matrix
+ */
+CGLM_INLINE
+void
+glm_ortho_default_rh_no(float aspect, mat4 dest) {
+  if (aspect >= 1.0f) {
+    glm_ortho_rh_no(-aspect, aspect, -1.0f, 1.0f, -100.0f, 100.0f, dest);
+    return;
+  }
+
+  aspect = 1.0f / aspect;
+
+  glm_ortho_rh_no(-1.0f, 1.0f, -aspect, aspect, -100.0f, 100.0f, dest);
+}
+
+/*!
+ * @brief set up orthographic projection matrix with given CUBE size
+ *        with a right-hand coordinate system and a
+ *        clip-space of [-1, 1].
+ *
+ * @param[in]  aspect aspect ratio ( width / height )
+ * @param[in]  size   cube size
+ * @param[out] dest   result matrix
+ */
+CGLM_INLINE
+void
+glm_ortho_default_s_rh_no(float aspect, float size, mat4 dest) {
+  if (aspect >= 1.0f) {
+    glm_ortho_rh_no(-size * aspect,
+                     size * aspect,
+                    -size,
+                     size,
+                    -size - 100.0f,
+                     size + 100.0f,
+                     dest);
+    return;
+  }
+
+  glm_ortho_rh_no(-size,
+                   size,
+                  -size / aspect,
+                   size / aspect,
+                  -size - 100.0f,
+                   size + 100.0f,
+                   dest);
+}
+
+#endif /*cglm_ortho_rh_no_h*/

include/cglm/clipspace/ortho_rh_zo.h

@@ -0,0 +1,180 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), http://opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+/*
+ Functions:
+   CGLM_INLINE void glm_ortho_rh_zo(float left,    float right,
+                                    float bottom,  float top,
+                                    float nearZ, float farZ,
+                                    mat4  dest)
+   CGLM_INLINE void glm_ortho_aabb_rh_zo(vec3 box[2], mat4 dest)
+   CGLM_INLINE void glm_ortho_aabb_p_rh_zo(vec3 box[2],
+                                           float padding,
+                                           mat4 dest)
+   CGLM_INLINE void glm_ortho_aabb_pz_rh_zo(vec3 box[2],
+                                            float padding,
+                                            mat4 dest)
+   CGLM_INLINE void glm_ortho_default_rh_zo(float aspect,
+                                            mat4 dest)
+   CGLM_INLINE void glm_ortho_default_s_rh_zo(float aspect,
+                                              float size,
+                                              mat4 dest)
+ */
+
+#ifndef cglm_ortho_rh_zo_h
+#define cglm_ortho_rh_zo_h
+
+#include "../common.h"
+#include "../plane.h"
+
+/*!
+ * @brief set up orthographic projection matrix with a right-hand coordinate
+ *        system and a clip-space of [0, 1].
+ *
+ * @param[in]  left    viewport.left
+ * @param[in]  right   viewport.right
+ * @param[in]  bottom  viewport.bottom
+ * @param[in]  top     viewport.top
+ * @param[in]  nearZ   near clipping plane
+ * @param[in]  farZ    far clipping plane
+ * @param[out] dest    result matrix
+ */
+CGLM_INLINE
+void
+glm_ortho_rh_zo(float left,    float right,
+                float bottom,  float top,
+                float nearZ, float farZ,
+                mat4  dest) {
+  float rl, tb, fn;
+
+  glm_mat4_zero(dest);
+
+  rl = 1.0f / (right  - left);
+  tb = 1.0f / (top    - bottom);
+  fn =-1.0f / (farZ - nearZ);
+
+  dest[0][0] = 2.0f * rl;
+  dest[1][1] = 2.0f * tb;
+  dest[2][2] = fn;
+  dest[3][0] =-(right  + left)    * rl;
+  dest[3][1] =-(top    + bottom)  * tb;
+  dest[3][2] = nearZ * fn;
+  dest[3][3] = 1.0f;
+}
+
+/*!
+ * @brief set up orthographic projection matrix using bounding box
+ *        with a right-hand coordinate system and a clip-space with depth
+ *        values from zero to one.
+ *
+ * bounding box (AABB) must be in view space
+ *
+ * @param[in]  box   AABB
+ * @param[out] dest  result matrix
+ */
+CGLM_INLINE
+void
+glm_ortho_aabb_rh_zo(vec3 box[2], mat4 dest) {
+  glm_ortho_rh_zo(box[0][0],  box[1][0],
+                  box[0][1],  box[1][1],
+                 -box[1][2], -box[0][2],
+                  dest);
+}
+
+/*!
+ * @brief set up orthographic projection matrix using bounding box
+ *        with a right-hand coordinate system and a clip-space with depth
+ *        values from zero to one.
+ *
+ * bounding box (AABB) must be in view space
+ *
+ * @param[in]  box     AABB
+ * @param[in]  padding padding
+ * @param[out] dest    result matrix
+ */
+CGLM_INLINE
+void
+glm_ortho_aabb_p_rh_zo(vec3 box[2], float padding, mat4 dest) {
+  glm_ortho_rh_zo(box[0][0] - padding,    box[1][0] + padding,
+                  box[0][1] - padding,    box[1][1] + padding,
+                -(box[1][2] + padding), -(box[0][2] - padding),
+                  dest);
+}
+
+/*!
+ * @brief set up orthographic projection matrix using bounding box
+ *        with a right-hand coordinate system and a clip-space with depth
+ *        values from zero to one.
+ *
+ * bounding box (AABB) must be in view space
+ *
+ * @param[in]  box     AABB
+ * @param[in]  padding padding for near and far
+ * @param[out] dest    result matrix
+ */
+CGLM_INLINE
+void
+glm_ortho_aabb_pz_rh_zo(vec3 box[2], float padding, mat4 dest) {
+  glm_ortho_rh_zo(box[0][0],              box[1][0],
+                  box[0][1],              box[1][1],
+                -(box[1][2] + padding), -(box[0][2] - padding),
+                  dest);
+}
+
+/*!
+ * @brief set up unit orthographic projection matrix with a right-hand
+ *        coordinate system and a clip-space of [0, 1].
+ *
+ * @param[in]  aspect aspect ration ( width / height )
+ * @param[out] dest   result matrix
+ */
+CGLM_INLINE
+void
+glm_ortho_default_rh_zo(float aspect, mat4 dest) {
+  if (aspect >= 1.0f) {
+    glm_ortho_rh_zo(-aspect, aspect, -1.0f, 1.0f, -100.0f, 100.0f, dest);
+    return;
+  }
+
+  aspect = 1.0f / aspect;
+
+  glm_ortho_rh_zo(-1.0f, 1.0f, -aspect, aspect, -100.0f, 100.0f, dest);
+}
+
+/*!
+ * @brief set up orthographic projection matrix with given CUBE size
+ *        with a right-hand coordinate system and a clip-space with depth
+ *        values from zero to one.
+ *
+ * @param[in]  aspect aspect ratio ( width / height )
+ * @param[in]  size   cube size
+ * @param[out] dest   result matrix
+ */
+CGLM_INLINE
+void
+glm_ortho_default_s_rh_zo(float aspect, float size, mat4 dest) {
+  if (aspect >= 1.0f) {
+    glm_ortho_rh_zo(-size * aspect,
+                     size * aspect,
+                    -size,
+                     size,
+                    -size - 100.0f,
+                     size + 100.0f,
+                     dest);
+    return;
+  }
+
+  glm_ortho_rh_zo(-size,
+                   size,
+                  -size / aspect,
+                   size / aspect,
+                  -size - 100.0f,
+                   size + 100.0f,
+                   dest);
+}
+
+#endif /*cglm_ortho_rh_zo_h*/

include/cglm/clipspace/persp.h

@@ -0,0 +1,48 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), http://opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+/*
+ Functions:
+   CGLM_INLINE void  glm_persp_decomp_far(mat4 proj, float *farZ)
+   CGLM_INLINE float glm_persp_fovy(mat4 proj)
+   CGLM_INLINE float glm_persp_aspect(mat4 proj)
+   CGLM_INLINE void  glm_persp_sizes(mat4 proj, float fovy, vec4 dest)
+ */
+
+#ifndef cglm_persp_h
+#define cglm_persp_h
+
+#include "../common.h"
+#include "../plane.h"
+#include "../mat4.h"
+
+/*!
+ * @brief returns field of view angle along the Y-axis (in radians)
+ *
+ * if you need to degrees, use glm_deg to convert it or use this:
+ * fovy_deg = glm_deg(glm_persp_fovy(projMatrix))
+ *
+ * @param[in] proj perspective projection matrix
+ */
+CGLM_INLINE
+float
+glm_persp_fovy(mat4 proj) {
+  return 2.0f * atanf(1.0f / proj[1][1]);
+}
+
+/*!
+ * @brief returns aspect ratio of perspective projection
+ *
+ * @param[in] proj perspective projection matrix
+ */
+CGLM_INLINE
+float
+glm_persp_aspect(mat4 proj) {
+  return proj[1][1] / proj[0][0];
+}
+
+#endif /* cglm_persp_h */

include/cglm/clipspace/persp_lh_no.h

@@ -0,0 +1,396 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), http://opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+/*
+ Functions:
+   CGLM_INLINE void glm_frustum_lh_no(float left,    float right,
+                                       float bottom,  float top,
+                                       float nearZ, float farZ,
+                                       mat4  dest)
+   CGLM_INLINE void glm_perspective_lh_no(float fovy,
+                                          float aspect,
+                                          float nearZ,
+                                          float farZ,
+                                          mat4  dest)
+   CGLM_INLINE void glm_perspective_default_lh_no(float aspect, mat4 dest)
+   CGLM_INLINE void glm_perspective_resize_lh_no(float aspect, mat4 proj)
+   CGLM_INLINE void glm_persp_move_far_lh_no(mat4 proj,
+                                             float deltaFar)
+   CGLM_INLINE void glm_persp_decomp_lh_no(mat4 proj,
+                                           float * __restrict nearZ,
+                                           float * __restrict farZ,
+                                           float * __restrict top,
+                                           float * __restrict bottom,
+                                           float * __restrict left,
+                                           float * __restrict right)
+  CGLM_INLINE void glm_persp_decompv_lh_no(mat4 proj,
+                                           float dest[6])
+  CGLM_INLINE void glm_persp_decomp_x_lh_no(mat4 proj,
+                                            float * __restrict left,
+                                            float * __restrict right)
+  CGLM_INLINE void glm_persp_decomp_y_lh_no(mat4 proj,
+                                            float * __restrict top,
+                                            float * __restrict bottom)
+  CGLM_INLINE void glm_persp_decomp_z_lh_no(mat4 proj,
+                                            float * __restrict nearZ,
+                                            float * __restrict farZ)
+  CGLM_INLINE void glm_persp_decomp_far_lh_no(mat4 proj, float * __restrict farZ)
+  CGLM_INLINE void glm_persp_decomp_near_lh_no(mat4 proj, float * __restrict nearZ)
+  CGLM_INLINE void glm_persp_sizes_lh_no(mat4 proj, float fovy, vec4 dest)
+ */
+
+#ifndef cglm_persp_lh_no_h
+#define cglm_persp_lh_no_h
+
+#include "../common.h"
+#include "../plane.h"
+#include "persp.h"
+
+/*!
+ * @brief set up perspective peprojection matrix
+ *        with a left-hand coordinate system and a
+ *        clip-space of [-1, 1].
+ *
+ * @param[in]  left    viewport.left
+ * @param[in]  right   viewport.right
+ * @param[in]  bottom  viewport.bottom
+ * @param[in]  top     viewport.top
+ * @param[in]  nearZ   near clipping plane
+ * @param[in]  farZ    far clipping plane
+ * @param[out] dest    result matrix
+ */
+CGLM_INLINE
+void
+glm_frustum_lh_no(float left,    float right,
+                  float bottom,  float top,
+                  float nearZ, float farZ,
+                  mat4  dest) {
+  float rl, tb, fn, nv;
+
+  glm_mat4_zero(dest);
+
+  rl = 1.0f / (right  - left);
+  tb = 1.0f / (top    - bottom);
+  fn =-1.0f / (farZ - nearZ);
+  nv = 2.0f * nearZ;
+
+  dest[0][0] = nv * rl;
+  dest[1][1] = nv * tb;
+  dest[2][0] = (right  + left)    * rl;
+  dest[2][1] = (top    + bottom)  * tb;
+  dest[2][2] =-(farZ + nearZ) * fn;
+  dest[2][3] = 1.0f;
+  dest[3][2] = farZ * nv * fn;
+}
+
+/*!
+ * @brief set up perspective projection matrix
+ *        with a left-hand coordinate system and a
+ *        clip-space of [-1, 1].
+ *
+ * @param[in]  fovy    field of view angle
+ * @param[in]  aspect  aspect ratio ( width / height )
+ * @param[in]  nearZ   near clipping plane
+ * @param[in]  farZ    far clipping planes
+ * @param[out] dest    result matrix
+ */
+CGLM_INLINE
+void
+glm_perspective_lh_no(float fovy,
+                      float aspect,
+                      float nearZ,
+                      float farZ,
+                      mat4  dest) {
+  float f, fn;
+
+  glm_mat4_zero(dest);
+
+  f  = 1.0f / tanf(fovy * 0.5f);
+  fn = 1.0f / (nearZ - farZ);
+
+  dest[0][0] = f / aspect;
+  dest[1][1] = f;
+  dest[2][2] =-(nearZ + farZ) * fn;
+  dest[2][3] = 1.0f;
+  dest[3][2] = 2.0f * nearZ * farZ * fn;
+
+}
+
+/*!
+ * @brief set up perspective projection matrix with default near/far
+ *        and angle values with a left-hand coordinate system and a
+ *        clip-space of [-1, 1].
+ *
+ * @param[in]  aspect aspect ratio ( width / height )
+ * @param[out] dest   result matrix
+ */
+CGLM_INLINE
+void
+glm_perspective_default_lh_no(float aspect, mat4 dest) {
+  glm_perspective_lh_no(GLM_PI_4f, aspect, 0.01f, 100.0f, dest);
+}
+
+/*!
+ * @brief resize perspective matrix by aspect ratio ( width / height )
+ *        this makes very easy to resize proj matrix when window /viewport
+ *        resized with a left-hand coordinate system and a
+ *        clip-space of [-1, 1].
+ *
+ * @param[in]      aspect aspect ratio ( width / height )
+ * @param[in, out] proj   perspective projection matrix
+ */
+CGLM_INLINE
+void
+glm_perspective_resize_lh_no(float aspect, mat4 proj) {
+  if (proj[0][0] == 0.0f)
+    return;
+
+  proj[0][0] = proj[1][1] / aspect;
+}
+
+/*!
+ * @brief extend perspective projection matrix's far distance
+ *        with a left-hand coordinate system and a
+ *        clip-space of [-1, 1].
+ *
+ * this function does not guarantee far >= near, be aware of that!
+ *
+ * @param[in, out] proj      projection matrix to extend
+ * @param[in]      deltaFar  distance from existing far (negative to shink)
+ */
+CGLM_INLINE
+void
+glm_persp_move_far_lh_no(mat4 proj, float deltaFar) {
+  float fn, farZ, nearZ, p22, p32;
+
+  p22        = -proj[2][2];
+  p32        = proj[3][2];
+
+  nearZ    = p32 / (p22 - 1.0f);
+  farZ     = p32 / (p22 + 1.0f) + deltaFar;
+  fn         = 1.0f / (nearZ - farZ);
+
+  proj[2][2] = -(farZ + nearZ) * fn;
+  proj[3][2] = 2.0f * nearZ * farZ * fn;
+}
+
+/*!
+ * @brief decomposes frustum values of perspective projection
+ *        with a left-hand coordinate system and a
+ *        clip-space of [-1, 1].
+ *
+ * @param[in]  proj    perspective projection matrix
+ * @param[out] nearZ   near
+ * @param[out] farZ    far
+ * @param[out] top     top
+ * @param[out] bottom  bottom
+ * @param[out] left    left
+ * @param[out] right   right
+ */
+CGLM_INLINE
+void
+glm_persp_decomp_lh_no(mat4 proj,
+                       float * __restrict nearZ, float * __restrict farZ,
+                       float * __restrict top,   float * __restrict bottom,
+                       float * __restrict left,  float * __restrict right) {
+  float m00, m11, m20, m21, m22, m32, n, f;
+  float n_m11, n_m00;
+
+  m00 = proj[0][0];
+  m11 = proj[1][1];
+  m20 = proj[2][0];
+  m21 = proj[2][1];
+  m22 =-proj[2][2];
+  m32 = proj[3][2];
+
+  n = m32 / (m22 - 1.0f);
+  f = m32 / (m22 + 1.0f);
+
+  n_m11 = n / m11;
+  n_m00 = n / m00;
+
+  *nearZ = n;
+  *farZ  = f;
+  *bottom  = n_m11 * (m21 - 1.0f);
+  *top     = n_m11 * (m21 + 1.0f);
+  *left    = n_m00 * (m20 - 1.0f);
+  *right   = n_m00 * (m20 + 1.0f);
+}
+
+/*!
+ * @brief decomposes frustum values of perspective projection
+ *        with a left-hand coordinate system and a
+ *        clip-space of [-1, 1].
+ *        this makes easy to get all values at once
+ *
+ * @param[in]  proj   perspective projection matrix
+ * @param[out] dest   array
+ */
+CGLM_INLINE
+void
+glm_persp_decompv_lh_no(mat4 proj, float dest[6]) {
+  glm_persp_decomp_lh_no(proj, &dest[0], &dest[1], &dest[2],
+                               &dest[3], &dest[4], &dest[5]);
+}
+
+/*!
+ * @brief decomposes left and right values of perspective projection
+ *        with a left-hand coordinate system and a
+ *        clip-space of [-1, 1].
+ *        x stands for x axis (left / right axis)
+ *
+ * @param[in]  proj  perspective projection matrix
+ * @param[out] left  left
+ * @param[out] right right
+ */
+CGLM_INLINE
+void
+glm_persp_decomp_x_lh_no(mat4 proj,
+                         float * __restrict left,
+                         float * __restrict right) {
+  float nearZ, m20, m00, m22;
+
+  m00 = proj[0][0];
+  m20 = proj[2][0];
+  m22 =-proj[2][2];
+
+  nearZ = proj[3][2] / (m22 - 1.0f);
+  *left   = nearZ * (m20 - 1.0f) / m00;
+  *right  = nearZ * (m20 + 1.0f) / m00;
+}
+
+/*!
+ * @brief decomposes top and bottom values of perspective projection
+ *        with a left-hand coordinate system and a
+ *        clip-space of [-1, 1].
+ *        y stands for y axis (top / botom axis)
+ *
+ * @param[in]  proj   perspective projection matrix
+ * @param[out] top    top
+ * @param[out] bottom bottom
+ */
+CGLM_INLINE
+void
+glm_persp_decomp_y_lh_no(mat4 proj,
+                         float * __restrict top,
+                         float * __restrict bottom) {
+  float nearZ, m21, m11, m22;
+
+  m21 = proj[2][1];
+  m11 = proj[1][1];
+  m22 =-proj[2][2];
+
+  nearZ = proj[3][2] / (m22 - 1.0f);
+  *bottom = nearZ * (m21 - 1.0f) / m11;
+  *top    = nearZ * (m21 + 1.0f) / m11;
+}
+
+/*!
+ * @brief decomposes near and far values of perspective projection
+ *        with a left-hand coordinate system and a
+ *        clip-space of [-1, 1].
+ *        z stands for z axis (near / far axis)
+ *
+ * @param[in]  proj    perspective projection matrix
+ * @param[out] nearZ   near
+ * @param[out] farZ    far
+ */
+CGLM_INLINE
+void
+glm_persp_decomp_z_lh_no(mat4 proj,
+                         float * __restrict nearZ,
+                         float * __restrict farZ) {
+  float m32, m22;
+
+  m32 = proj[3][2];
+  m22 =-proj[2][2];
+
+  *nearZ = m32 / (m22 - 1.0f);
+  *farZ  = m32 / (m22 + 1.0f);
+}
+
+/*!
+ * @brief decomposes far value of perspective projection
+ *        with a left-hand coordinate system and a
+ *        clip-space of [-1, 1].
+ *
+ * @param[in]  proj   perspective projection matrix
+ * @param[out] farZ   far
+ */
+CGLM_INLINE
+void
+glm_persp_decomp_far_lh_no(mat4 proj, float * __restrict farZ) {
+  *farZ = proj[3][2] / (-proj[2][2] + 1.0f);
+}
+
+/*!
+ * @brief decomposes near value of perspective projection
+ *        with a left-hand coordinate system and a
+ *        clip-space of [-1, 1].
+ *
+ * @param[in]  proj    perspective projection matrix
+ * @param[out] nearZ   near
+ */
+CGLM_INLINE
+void
+glm_persp_decomp_near_lh_no(mat4 proj, float * __restrict nearZ) {
+  *nearZ = proj[3][2] / (-proj[2][2] - 1.0f);
+}
+
+/*!
+ * @brief returns sizes of near and far planes of perspective projection
+ *        with a left-hand coordinate system and a
+ *        clip-space of [-1, 1].
+ *
+ * @param[in]  proj perspective projection matrix
+ * @param[in]  fovy fovy (see brief)
+ * @param[out] dest sizes order: [Wnear, Hnear, Wfar, Hfar]
+ */
+CGLM_INLINE
+void
+glm_persp_sizes_lh_no(mat4 proj, float fovy, vec4 dest) {
+  float t, a, nearZ, farZ;
+
+  t = 2.0f * tanf(fovy * 0.5f);
+  a = glm_persp_aspect(proj);
+
+  glm_persp_decomp_z_lh_no(proj, &nearZ, &farZ);
+
+  dest[1]  = t * nearZ;
+  dest[3]  = t * farZ;
+  dest[0]  = a * dest[1];
+  dest[2]  = a * dest[3];
+}
+
+/*!
+ * @brief returns field of view angle along the Y-axis (in radians)
+ *        with a left-hand coordinate system and a clip-space of [-1, 1].
+ *
+ * if you need to degrees, use glm_deg to convert it or use this:
+ * fovy_deg = glm_deg(glm_persp_fovy(projMatrix))
+ *
+ * @param[in] proj perspective projection matrix
+ */
+CGLM_INLINE
+float
+glm_persp_fovy_lh_no(mat4 proj) {
+  return glm_persp_fovy(proj);
+}
+
+/*!
+ * @brief returns aspect ratio of perspective projection
+ *        with a left-hand coordinate system and a clip-space of [-1, 1].
+ *
+ * @param[in] proj perspective projection matrix
+ */
+CGLM_INLINE
+float
+glm_persp_aspect_lh_no(mat4 proj) {
+  return glm_persp_aspect(proj);
+}
+
+#endif /*cglm_cam_lh_no_h*/

include/cglm/clipspace/persp_lh_zo.h

@@ -0,0 +1,388 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), http://opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+/*
+ Functions:
+   CGLM_INLINE void glm_frustum_lh_zo(float left,    float right,
+                                      float bottom,  float top,
+                                      float nearZ, float farZ,
+                                      mat4  dest)
+   CGLM_INLINE void glm_perspective_lh_zo(float fovy,
+                                          float aspect,
+                                          float nearZ,
+                                          float farZ,
+                                          mat4  dest)
+   CGLM_INLINE void glm_perspective_default_lh_zo(float aspect, mat4 dest)
+   CGLM_INLINE void glm_perspective_resize_lh_zo(float aspect, mat4 proj)
+   CGLM_INLINE void glm_persp_move_far_lh_zo(mat4 proj,
+                                             float deltaFar)
+   CGLM_INLINE void glm_persp_decomp_lh_zo(mat4 proj,
+                                           float * __restrict nearZ,
+                                           float * __restrict farZ,
+                                           float * __restrict top,
+                                           float * __restrict bottom,
+                                           float * __restrict left,
+                                           float * __restrict right)
+  CGLM_INLINE void glm_persp_decompv_lh_zo(mat4 proj,
+                                           float dest[6])
+  CGLM_INLINE void glm_persp_decomp_x_lh_zo(mat4 proj,
+                                            float * __restrict left,
+                                            float * __restrict right)
+  CGLM_INLINE void glm_persp_decomp_y_lh_zo(mat4 proj,
+                                            float * __restrict top,
+                                            float * __restrict bottom)
+  CGLM_INLINE void glm_persp_decomp_z_lh_zo(mat4 proj,
+                                            float * __restrict nearZ,
+                                            float * __restrict farZ)
+  CGLM_INLINE void glm_persp_decomp_far_lh_zo(mat4 proj, float * __restrict farZ)
+  CGLM_INLINE void glm_persp_decomp_near_lh_zo(mat4 proj, float * __restrict nearZ)
+  CGLM_INLINE void glm_persp_sizes_lh_zo(mat4 proj, float fovy, vec4 dest)
+ */
+
+#ifndef cglm_persp_lh_zo_h
+#define cglm_persp_lh_zo_h
+
+#include "../common.h"
+#include "../plane.h"
+#include "persp.h"
+
+/*!
+ * @brief set up perspective peprojection matrix with a left-hand coordinate
+ *        system and a clip-space of [0, 1].
+ *
+ * @param[in]  left    viewport.left
+ * @param[in]  right   viewport.right
+ * @param[in]  bottom  viewport.bottom
+ * @param[in]  top     viewport.top
+ * @param[in]  nearZ   near clipping plane
+ * @param[in]  farZ    far clipping plane
+ * @param[out] dest    result matrix
+ */
+CGLM_INLINE
+void
+glm_frustum_lh_zo(float left,    float right,
+                  float bottom,  float top,
+                  float nearZ, float farZ,
+                  mat4  dest) {
+  float rl, tb, fn, nv;
+
+  glm_mat4_zero(dest);
+
+  rl = 1.0f / (right  - left);
+  tb = 1.0f / (top    - bottom);
+  fn =-1.0f / (farZ - nearZ);
+  nv = 2.0f * nearZ;
+
+  dest[0][0] = nv * rl;
+  dest[1][1] = nv * tb;
+  dest[2][0] = (right  + left)    * rl;
+  dest[2][1] = (top    + bottom)  * tb;
+  dest[2][2] =-farZ * fn;
+  dest[2][3] = 1.0f;
+  dest[3][2] = farZ * nearZ * fn;
+}
+
+/*!
+ * @brief set up perspective projection matrix with a left-hand coordinate
+ * system and a clip-space of [0, 1].
+ *
+ * @param[in]  fovy    field of view angle
+ * @param[in]  aspect  aspect ratio ( width / height )
+ * @param[in]  nearZ   near clipping plane
+ * @param[in]  farZ    far clipping planes
+ * @param[out] dest    result matrix
+ */
+CGLM_INLINE
+void
+glm_perspective_lh_zo(float fovy,
+                      float aspect,
+                      float nearZ,
+                      float farZ,
+                      mat4  dest) {
+  float f, fn;
+
+  glm_mat4_zero(dest);
+
+  f  = 1.0f / tanf(fovy * 0.5f);
+  fn = 1.0f / (nearZ - farZ);
+
+  dest[0][0] = f / aspect;
+  dest[1][1] = f;
+  dest[2][2] =-farZ * fn;
+  dest[2][3] = 1.0f;
+  dest[3][2] = nearZ * farZ * fn;
+}
+
+/*!
+ * @brief extend perspective projection matrix's far distance with a
+ *        left-hand coordinate system and a clip-space with depth values
+ *        from zero to one.
+ *
+ * this function does not guarantee far >= near, be aware of that!
+ *
+ * @param[in, out] proj      projection matrix to extend
+ * @param[in]      deltaFar  distance from existing far (negative to shink)
+ */
+CGLM_INLINE
+void
+glm_persp_move_far_lh_zo(mat4 proj, float deltaFar) {
+  float fn, farZ, nearZ, p22, p32;
+
+  p22        = -proj[2][2];
+  p32        = proj[3][2];
+
+  nearZ    = p32 / p22;
+  farZ     = p32 / (p22 + 1.0f) + deltaFar;
+  fn         = 1.0f / (nearZ - farZ);
+
+  proj[2][2] = -farZ * fn;
+  proj[3][2] = nearZ * farZ * fn;
+}
+
+/*!
+ * @brief set up perspective projection matrix with default near/far
+ *        and angle values with a left-hand coordinate system and a 
+ *        clip-space of [0, 1].
+ *
+ * @param[in]  aspect aspect ratio ( width / height )
+ * @param[out] dest   result matrix
+ */
+CGLM_INLINE
+void
+glm_perspective_default_lh_zo(float aspect, mat4 dest) {
+  glm_perspective_lh_zo(GLM_PI_4f, aspect, 0.01f, 100.0f, dest);
+}
+
+/*!
+ * @brief resize perspective matrix by aspect ratio ( width / height )
+ *        this makes very easy to resize proj matrix when window /viewport
+ *        reized
+ *
+ * @param[in]      aspect aspect ratio ( width / height )
+ * @param[in, out] proj   perspective projection matrix
+ */
+CGLM_INLINE
+void
+glm_perspective_resize_lh_zo(float aspect, mat4 proj) {
+  if (proj[0][0] == 0.0f)
+    return;
+
+  proj[0][0] = proj[1][1] / aspect;
+}
+
+/*!
+ * @brief decomposes frustum values of perspective projection
+ *        with angle values with a left-hand coordinate system and a 
+ *        clip-space of [0, 1].
+ *
+ * @param[in]  proj    perspective projection matrix
+ * @param[out] nearZ   near
+ * @param[out] farZ    far
+ * @param[out] top     top
+ * @param[out] bottom  bottom
+ * @param[out] left    left
+ * @param[out] right   right
+ */
+CGLM_INLINE
+void
+glm_persp_decomp_lh_zo(mat4 proj,
+                    float * __restrict nearZ, float * __restrict farZ,
+                    float * __restrict top,     float * __restrict bottom,
+                    float * __restrict left,    float * __restrict right) {
+  float m00, m11, m20, m21, m22, m32, n, f;
+  float n_m11, n_m00;
+
+  m00 = proj[0][0];
+  m11 = proj[1][1];
+  m20 = proj[2][0];
+  m21 = proj[2][1];
+  m22 =-proj[2][2];
+  m32 = proj[3][2];
+
+  n = m32 / m22;
+  f = m32 / (m22 + 1.0f);
+
+  n_m11 = n / m11;
+  n_m00 = n / m00;
+
+  *nearZ = n;
+  *farZ  = f;
+  *bottom  = n_m11 * (m21 - 1.0f);
+  *top     = n_m11 * (m21 + 1.0f);
+  *left    = n_m00 * (m20 - 1.0f);
+  *right   = n_m00 * (m20 + 1.0f);
+}
+
+/*!
+ * @brief decomposes frustum values of perspective projection
+ *        with angle values with a left-hand coordinate system and a 
+ *        clip-space of [0, 1].
+ *        this makes easy to get all values at once
+ *
+ * @param[in]  proj   perspective projection matrix
+ * @param[out] dest   array
+ */
+CGLM_INLINE
+void
+glm_persp_decompv_lh_zo(mat4 proj, float dest[6]) {
+  glm_persp_decomp_lh_zo(proj, &dest[0], &dest[1], &dest[2],
+                               &dest[3], &dest[4], &dest[5]);
+}
+
+/*!
+ * @brief decomposes left and right values of perspective projection (ZO).
+ *        x stands for x axis (left / right axis)
+ *
+ * @param[in]  proj  perspective projection matrix
+ * @param[out] left  left
+ * @param[out] right right
+ */
+CGLM_INLINE
+void
+glm_persp_decomp_x_lh_zo(mat4 proj,
+                         float * __restrict left,
+                         float * __restrict right) {
+  float nearZ, m20, m00;
+
+  m00 = proj[0][0];
+  m20 = proj[2][0];
+
+  nearZ = proj[3][2] / (proj[3][3]);
+  *left   = nearZ * (m20 - 1.0f) / m00;
+  *right  = nearZ * (m20 + 1.0f) / m00;
+}
+
+/*!
+ * @brief decomposes top and bottom values of perspective projection
+ *        with angle values with a left-hand coordinate system and a 
+ *        clip-space of [0, 1].
+ *        y stands for y axis (top / bottom axis)
+ *
+ * @param[in]  proj   perspective projection matrix
+ * @param[out] top    top
+ * @param[out] bottom bottom
+ */
+CGLM_INLINE
+void
+glm_persp_decomp_y_lh_zo(mat4 proj,
+                         float * __restrict top,
+                         float * __restrict bottom) {
+  float nearZ, m21, m11;
+
+  m21 = proj[2][1];
+  m11 = proj[1][1];
+
+  nearZ = proj[3][2] / (proj[3][3]);
+  *bottom = nearZ * (m21 - 1) / m11;
+  *top    = nearZ * (m21 + 1) / m11;
+}
+
+/*!
+ * @brief decomposes near and far values of perspective projection
+ *        with angle values with a left-hand coordinate system and a 
+ *        clip-space of [0, 1].
+ *        z stands for z axis (near / far axis)
+ *
+ * @param[in]  proj    perspective projection matrix
+ * @param[out] nearZ   near
+ * @param[out] farZ    far
+ */
+CGLM_INLINE
+void
+glm_persp_decomp_z_lh_zo(mat4 proj,
+                         float * __restrict nearZ,
+                         float * __restrict farZ) {
+  float m32, m22;
+
+  m32 = proj[3][2];
+  m22 = -proj[2][2];
+
+  *nearZ = m32 / m22;
+  *farZ  = m32 / (m22 + 1.0f);
+}
+
+/*!
+ * @brief decomposes far value of perspective projection
+ *        with angle values with a left-hand coordinate system and a 
+ *        clip-space of [0, 1].
+ *
+ * @param[in]  proj   perspective projection matrix
+ * @param[out] farZ   far
+ */
+CGLM_INLINE
+void
+glm_persp_decomp_far_lh_zo(mat4 proj, float * __restrict farZ) {
+  *farZ = proj[3][2] / (-proj[2][2] + 1.0f);
+}
+
+/*!
+ * @brief decomposes near value of perspective projection
+ *        with angle values with a left-hand coordinate system and a 
+ *        clip-space of [0, 1].
+ *
+ * @param[in]  proj    perspective projection matrix
+ * @param[out] nearZ   near
+ */
+CGLM_INLINE
+void
+glm_persp_decomp_near_lh_zo(mat4 proj, float * __restrict nearZ) {
+  *nearZ = proj[3][2] / -proj[2][2];
+}
+
+/*!
+ * @brief returns sizes of near and far planes of perspective projection
+ *        with a left-hand coordinate system and a
+ *        clip-space of [0, 1].
+ *
+ * @param[in]  proj perspective projection matrix
+ * @param[in]  fovy fovy (see brief)
+ * @param[out] dest sizes order: [Wnear, Hnear, Wfar, Hfar]
+ */
+CGLM_INLINE
+void
+glm_persp_sizes_lh_zo(mat4 proj, float fovy, vec4 dest) {
+  float t, a, nearZ, farZ;
+
+  t = 2.0f * tanf(fovy * 0.5f);
+  a = glm_persp_aspect(proj);
+
+  glm_persp_decomp_z_lh_zo(proj, &nearZ, &farZ);
+
+  dest[1]  = t * nearZ;
+  dest[3]  = t * farZ;
+  dest[0]  = a * dest[1];
+  dest[2]  = a * dest[3];
+}
+
+/*!
+ * @brief returns field of view angle along the Y-axis (in radians)
+ *        with a left-hand coordinate system and a clip-space of [0, 1].
+ *
+ * if you need to degrees, use glm_deg to convert it or use this:
+ * fovy_deg = glm_deg(glm_persp_fovy(projMatrix))
+ *
+ * @param[in] proj perspective projection matrix
+ */
+CGLM_INLINE
+float
+glm_persp_fovy_lh_zo(mat4 proj) {
+  return glm_persp_fovy(proj);
+}
+
+/*!
+ * @brief returns aspect ratio of perspective projection
+ *        with a left-hand coordinate system and a clip-space of [0, 1].
+ *
+ * @param[in] proj perspective projection matrix
+ */
+CGLM_INLINE
+float
+glm_persp_aspect_lh_zo(mat4 proj) {
+  return glm_persp_aspect(proj);
+}
+
+#endif /*cglm_persp_lh_zo_h*/

include/cglm/clipspace/persp_rh_no.h

@@ -0,0 +1,396 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), http://opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+/*
+ Functions:
+   CGLM_INLINE void glm_frustum_rh_no(float left,    float right,
+                                      float bottom,  float top,
+                                      float nearZ, float farZ,
+                                      mat4  dest)
+   CGLM_INLINE void glm_perspective_rh_no(float fovy,
+                                          float aspect,
+                                          float nearZ,
+                                          float farZ,
+                                          mat4  dest)
+   CGLM_INLINE void glm_perspective_default_rh_no(float aspect, mat4 dest)
+   CGLM_INLINE void glm_perspective_resize_rh_no(float aspect, mat4 proj)
+   CGLM_INLINE void glm_persp_move_far_rh_no(mat4 proj,
+                                             float deltaFar)
+   CGLM_INLINE void glm_persp_decomp_rh_no(mat4 proj,
+                                           float * __restrict nearZ,
+                                           float * __restrict farZ,
+                                           float * __restrict top,
+                                           float * __restrict bottom,
+                                           float * __restrict left,
+                                           float * __restrict right)
+  CGLM_INLINE void glm_persp_decompv_rh_no(mat4 proj,
+                                           float dest[6])
+  CGLM_INLINE void glm_persp_decomp_x_rh_no(mat4 proj,
+                                            float * __restrict left,
+                                            float * __restrict right)
+  CGLM_INLINE void glm_persp_decomp_y_rh_no(mat4 proj,
+                                            float * __restrict top,
+                                            float * __restrict bottom)
+  CGLM_INLINE void glm_persp_decomp_z_rh_no(mat4 proj,
+                                            float * __restrict nearZ,
+                                            float * __restrict farZ)
+  CGLM_INLINE void glm_persp_decomp_far_rh_no(mat4 proj, float * __restrict farZ)
+  CGLM_INLINE void glm_persp_decomp_near_rh_no(mat4 proj, float * __restrict nearZ)
+  CGLM_INLINE void glm_persp_sizes_rh_no(mat4 proj, float fovy, vec4 dest)
+ */
+
+#ifndef cglm_persp_rh_no_h
+#define cglm_persp_rh_no_h
+
+#include "../common.h"
+#include "../plane.h"
+#include "persp.h"
+
+/*!
+ * @brief set up perspective peprojection matrix
+ *        with a right-hand coordinate system and a
+ *        clip-space of [-1, 1].
+ *
+ * @param[in]  left    viewport.left
+ * @param[in]  right   viewport.right
+ * @param[in]  bottom  viewport.bottom
+ * @param[in]  top     viewport.top
+ * @param[in]  nearZ   near clipping plane
+ * @param[in]  farZ    far clipping plane
+ * @param[out] dest    result matrix
+ */
+CGLM_INLINE
+void
+glm_frustum_rh_no(float left,    float right,
+                  float bottom,  float top,
+                  float nearZ, float farZ,
+                  mat4  dest) {
+  float rl, tb, fn, nv;
+
+  glm_mat4_zero(dest);
+
+  rl = 1.0f / (right  - left);
+  tb = 1.0f / (top    - bottom);
+  fn =-1.0f / (farZ - nearZ);
+  nv = 2.0f * nearZ;
+
+  dest[0][0] = nv * rl;
+  dest[1][1] = nv * tb;
+  dest[2][0] = (right  + left)    * rl;
+  dest[2][1] = (top    + bottom)  * tb;
+  dest[2][2] = (farZ + nearZ) * fn;
+  dest[2][3] =-1.0f;
+  dest[3][2] = farZ * nv * fn;
+}
+
+/*!
+ * @brief set up perspective projection matrix
+ *        with a right-hand coordinate system and a
+ *        clip-space of [-1, 1].
+ *
+ * @param[in]  fovy    field of view angle
+ * @param[in]  aspect  aspect ratio ( width / height )
+ * @param[in]  nearZ   near clipping plane
+ * @param[in]  farZ    far clipping planes
+ * @param[out] dest    result matrix
+ */
+CGLM_INLINE
+void
+glm_perspective_rh_no(float fovy,
+                      float aspect,
+                      float nearZ,
+                      float farZ,
+                      mat4  dest) {
+  float f, fn;
+
+  glm_mat4_zero(dest);
+
+  f  = 1.0f / tanf(fovy * 0.5f);
+  fn = 1.0f / (nearZ - farZ);
+
+  dest[0][0] = f / aspect;
+  dest[1][1] = f;
+  dest[2][2] = (nearZ + farZ) * fn;
+  dest[2][3] =-1.0f;
+  dest[3][2] = 2.0f * nearZ * farZ * fn;
+
+}
+
+/*!
+ * @brief set up perspective projection matrix with default near/far
+ *        and angle values with a right-hand coordinate system and a
+ *        clip-space of [-1, 1].
+ *
+ * @param[in]  aspect aspect ratio ( width / height )
+ * @param[out] dest   result matrix
+ */
+CGLM_INLINE
+void
+glm_perspective_default_rh_no(float aspect, mat4 dest) {
+  glm_perspective_rh_no(GLM_PI_4f, aspect, 0.01f, 100.0f, dest);
+}
+
+/*!
+ * @brief resize perspective matrix by aspect ratio ( width / height )
+ *        this makes very easy to resize proj matrix when window /viewport
+ *        resized with a right-hand coordinate system and a
+ *        clip-space of [-1, 1].
+ *
+ * @param[in]      aspect aspect ratio ( width / height )
+ * @param[in, out] proj   perspective projection matrix
+ */
+CGLM_INLINE
+void
+glm_perspective_resize_rh_no(float aspect, mat4 proj) {
+  if (proj[0][0] == 0.0f)
+    return;
+
+  proj[0][0] = proj[1][1] / aspect;
+}
+
+/*!
+ * @brief extend perspective projection matrix's far distance
+ *        with a right-hand coordinate system and a
+ *        clip-space of [-1, 1].
+ *
+ * this function does not guarantee far >= near, be aware of that!
+ *
+ * @param[in, out] proj      projection matrix to extend
+ * @param[in]      deltaFar  distance from existing far (negative to shink)
+ */
+CGLM_INLINE
+void
+glm_persp_move_far_rh_no(mat4 proj, float deltaFar) {
+  float fn, farZ, nearZ, p22, p32;
+
+  p22        = proj[2][2];
+  p32        = proj[3][2];
+
+  nearZ    = p32 / (p22 - 1.0f);
+  farZ     = p32 / (p22 + 1.0f) + deltaFar;
+  fn         = 1.0f / (nearZ - farZ);
+
+  proj[2][2] = (farZ + nearZ) * fn;
+  proj[3][2] = 2.0f * nearZ * farZ * fn;
+}
+
+/*!
+ * @brief decomposes frustum values of perspective projection
+ *        with a right-hand coordinate system and a
+ *        clip-space of [-1, 1].
+ *
+ * @param[in]  proj    perspective projection matrix
+ * @param[out] nearZ   near
+ * @param[out] farZ    far
+ * @param[out] top     top
+ * @param[out] bottom  bottom
+ * @param[out] left    left
+ * @param[out] right   right
+ */
+CGLM_INLINE
+void
+glm_persp_decomp_rh_no(mat4 proj,
+                       float * __restrict nearZ, float * __restrict farZ,
+                       float * __restrict top,     float * __restrict bottom,
+                       float * __restrict left,    float * __restrict right) {
+  float m00, m11, m20, m21, m22, m32, n, f;
+  float n_m11, n_m00;
+
+  m00 = proj[0][0];
+  m11 = proj[1][1];
+  m20 = proj[2][0];
+  m21 = proj[2][1];
+  m22 = proj[2][2];
+  m32 = proj[3][2];
+
+  n = m32 / (m22 - 1.0f);
+  f = m32 / (m22 + 1.0f);
+
+  n_m11 = n / m11;
+  n_m00 = n / m00;
+
+  *nearZ = n;
+  *farZ  = f;
+  *bottom  = n_m11 * (m21 - 1.0f);
+  *top     = n_m11 * (m21 + 1.0f);
+  *left    = n_m00 * (m20 - 1.0f);
+  *right   = n_m00 * (m20 + 1.0f);
+}
+
+/*!
+ * @brief decomposes frustum values of perspective projection
+ *        with a right-hand coordinate system and a
+ *        clip-space of [-1, 1].
+ *        this makes easy to get all values at once
+ *
+ * @param[in]  proj   perspective projection matrix
+ * @param[out] dest   array
+ */
+CGLM_INLINE
+void
+glm_persp_decompv_rh_no(mat4 proj, float dest[6]) {
+  glm_persp_decomp_rh_no(proj, &dest[0], &dest[1], &dest[2],
+                               &dest[3], &dest[4], &dest[5]);
+}
+
+/*!
+ * @brief decomposes left and right values of perspective projection
+ *        with a right-hand coordinate system and a
+ *        clip-space of [-1, 1].
+ *        x stands for x axis (left / right axis)
+ *
+ * @param[in]  proj  perspective projection matrix
+ * @param[out] left  left
+ * @param[out] right right
+ */
+CGLM_INLINE
+void
+glm_persp_decomp_x_rh_no(mat4 proj,
+                         float * __restrict left,
+                         float * __restrict right) {
+  float nearZ, m20, m00, m22;
+
+  m00 = proj[0][0];
+  m20 = proj[2][0];
+  m22 = proj[2][2];
+
+  nearZ = proj[3][2] / (m22 - 1.0f);
+  *left   = nearZ * (m20 - 1.0f) / m00;
+  *right  = nearZ * (m20 + 1.0f) / m00;
+}
+
+/*!
+ * @brief decomposes top and bottom values of perspective projection
+ *        with a right-hand coordinate system and a
+ *        clip-space of [-1, 1].
+ *        y stands for y axis (top / botom axis)
+ *
+ * @param[in]  proj   perspective projection matrix
+ * @param[out] top    top
+ * @param[out] bottom bottom
+ */
+CGLM_INLINE
+void
+glm_persp_decomp_y_rh_no(mat4 proj,
+                         float * __restrict top,
+                         float * __restrict bottom) {
+  float nearZ, m21, m11, m22;
+
+  m21 = proj[2][1];
+  m11 = proj[1][1];
+  m22 = proj[2][2];
+
+  nearZ = proj[3][2] / (m22 - 1.0f);
+  *bottom = nearZ * (m21 - 1.0f) / m11;
+  *top    = nearZ * (m21 + 1.0f) / m11;
+}
+
+/*!
+ * @brief decomposes near and far values of perspective projection
+ *        with a right-hand coordinate system and a
+ *        clip-space of [-1, 1].
+ *        z stands for z axis (near / far axis)
+ *
+ * @param[in]  proj    perspective projection matrix
+ * @param[out] nearZ   near
+ * @param[out] farZ    far
+ */
+CGLM_INLINE
+void
+glm_persp_decomp_z_rh_no(mat4 proj,
+                      float * __restrict nearZ,
+                      float * __restrict farZ) {
+  float m32, m22;
+
+  m32 = proj[3][2];
+  m22 = proj[2][2];
+
+  *nearZ = m32 / (m22 - 1.0f);
+  *farZ  = m32 / (m22 + 1.0f);
+}
+
+/*!
+ * @brief decomposes far value of perspective projection
+ *        with a right-hand coordinate system and a
+ *        clip-space of [-1, 1].
+ *
+ * @param[in]  proj   perspective projection matrix
+ * @param[out] farZ   far
+ */
+CGLM_INLINE
+void
+glm_persp_decomp_far_rh_no(mat4 proj, float * __restrict farZ) {
+  *farZ = proj[3][2] / (proj[2][2] + 1.0f);
+}
+
+/*!
+ * @brief decomposes near value of perspective projection
+ *        with a right-hand coordinate system and a
+ *        clip-space of [-1, 1].
+ *
+ * @param[in]  proj    perspective projection matrix
+ * @param[out] nearZ near
+ */
+CGLM_INLINE
+void
+glm_persp_decomp_near_rh_no(mat4 proj, float * __restrict nearZ) {
+  *nearZ = proj[3][2] / (proj[2][2] - 1.0f);
+}
+
+/*!
+ * @brief returns sizes of near and far planes of perspective projection
+ *        with a right-hand coordinate system and a
+ *        clip-space of [-1, 1].
+ *
+ * @param[in]  proj perspective projection matrix
+ * @param[in]  fovy fovy (see brief)
+ * @param[out] dest sizes order: [Wnear, Hnear, Wfar, Hfar]
+ */
+CGLM_INLINE
+void
+glm_persp_sizes_rh_no(mat4 proj, float fovy, vec4 dest) {
+  float t, a, nearZ, farZ;
+
+  t = 2.0f * tanf(fovy * 0.5f);
+  a = glm_persp_aspect(proj);
+
+  glm_persp_decomp_z_rh_no(proj, &nearZ, &farZ);
+
+  dest[1]  = t * nearZ;
+  dest[3]  = t * farZ;
+  dest[0]  = a * dest[1];
+  dest[2]  = a * dest[3];
+}
+
+/*!
+ * @brief returns field of view angle along the Y-axis (in radians)
+ *        with a right-hand coordinate system and a clip-space of [-1, 1].
+ *
+ * if you need to degrees, use glm_deg to convert it or use this:
+ * fovy_deg = glm_deg(glm_persp_fovy(projMatrix))
+ *
+ * @param[in] proj perspective projection matrix
+ */
+CGLM_INLINE
+float
+glm_persp_fovy_rh_no(mat4 proj) {
+  return glm_persp_fovy(proj);
+}
+
+/*!
+ * @brief returns aspect ratio of perspective projection
+ *        with a right-hand coordinate system and a clip-space of [-1, 1].
+ *
+ * @param[in] proj perspective projection matrix
+ */
+CGLM_INLINE
+float
+glm_persp_aspect_rh_no(mat4 proj) {
+  return glm_persp_aspect(proj);
+}
+
+#endif /*cglm_cam_rh_no_h*/

include/cglm/clipspace/persp_rh_zo.h

@@ -0,0 +1,390 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), http://opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+/*
+ Functions:
+   CGLM_INLINE void glm_frustum_rh_zo(float left,    float right,
+                                      float bottom,  float top,
+                                      float nearZ, float farZ,
+                                      mat4  dest)
+   CGLM_INLINE void glm_perspective_rh_zo(float fovy,
+                                          float aspect,
+                                          float nearZ,
+                                          float farZ,
+                                          mat4  dest)
+   CGLM_INLINE void glm_perspective_default_rh_zo(float aspect, mat4 dest)
+   CGLM_INLINE void glm_perspective_resize_rh_zo(float aspect, mat4 proj)
+   CGLM_INLINE void glm_persp_move_far_rh_zo(mat4 proj,
+                                             float deltaFar)
+   CGLM_INLINE void glm_persp_decomp_rh_zo(mat4 proj,
+                                           float * __restrict nearZ,
+                                           float * __restrict farZ,
+                                           float * __restrict top,
+                                           float * __restrict bottom,
+                                           float * __restrict left,
+                                           float * __restrict right)
+  CGLM_INLINE void glm_persp_decompv_rh_zo(mat4 proj,
+                                           float dest[6])
+  CGLM_INLINE void glm_persp_decomp_x_rh_zo(mat4 proj,
+                                            float * __restrict left,
+                                            float * __restrict right)
+  CGLM_INLINE void glm_persp_decomp_y_rh_zo(mat4 proj,
+                                            float * __restrict top,
+                                            float * __restrict bottom)
+  CGLM_INLINE void glm_persp_decomp_z_rh_zo(mat4 proj,
+                                            float * __restrict nearZ,
+                                            float * __restrict farZ)
+  CGLM_INLINE void glm_persp_decomp_far_rh_zo(mat4 proj, float * __restrict farZ)
+  CGLM_INLINE void glm_persp_decomp_near_rh_zo(mat4 proj, float * __restrict nearZ)
+  CGLM_INLINE void glm_persp_sizes_rh_zo(mat4 proj, float fovy, vec4 dest)
+ */
+
+#ifndef cglm_persp_rh_zo_h
+#define cglm_persp_rh_zo_h
+
+#include "../common.h"
+#include "../plane.h"
+#include "persp.h"
+
+/*!
+ * @brief set up perspective peprojection matrix with a right-hand coordinate
+ *        system and a clip-space of [0, 1].
+ *
+ * @param[in]  left    viewport.left
+ * @param[in]  right   viewport.right
+ * @param[in]  bottom  viewport.bottom
+ * @param[in]  top     viewport.top
+ * @param[in]  nearZ   near clipping plane
+ * @param[in]  farZ    far clipping plane
+ * @param[out] dest    result matrix
+ */
+CGLM_INLINE
+void
+glm_frustum_rh_zo(float left,    float right,
+                  float bottom,  float top,
+                  float nearZ, float farZ,
+                  mat4  dest) {
+  float rl, tb, fn, nv;
+
+  glm_mat4_zero(dest);
+
+  rl = 1.0f / (right  - left);
+  tb = 1.0f / (top    - bottom);
+  fn =-1.0f / (farZ - nearZ);
+  nv = 2.0f * nearZ;
+
+  dest[0][0] = nv * rl;
+  dest[1][1] = nv * tb;
+  dest[2][0] = (right  + left)    * rl;
+  dest[2][1] = (top    + bottom)  * tb;
+  dest[2][2] = farZ * fn;
+  dest[2][3] =-1.0f;
+  dest[3][2] = farZ * nearZ * fn;
+}
+
+/*!
+ * @brief set up perspective projection matrix with a right-hand coordinate
+ *        system and a clip-space of [0, 1].
+ *
+ * @param[in]  fovy    field of view angle
+ * @param[in]  aspect  aspect ratio ( width / height )
+ * @param[in]  nearZ near clipping plane
+ * @param[in]  farZ  far clipping planes
+ * @param[out] dest    result matrix
+ */
+CGLM_INLINE
+void
+glm_perspective_rh_zo(float fovy,
+                      float aspect,
+                      float nearZ,
+                      float farZ,
+                      mat4  dest) {
+  float f, fn;
+
+  glm_mat4_zero(dest);
+
+  f  = 1.0f / tanf(fovy * 0.5f);
+  fn = 1.0f / (nearZ - farZ);
+
+  dest[0][0] = f / aspect;
+  dest[1][1] = f;
+  dest[2][2] = farZ * fn;
+  dest[2][3] =-1.0f;
+  dest[3][2] = nearZ * farZ * fn;
+}
+
+/*!
+ * @brief set up perspective projection matrix with default near/far
+ *        and angle values with a right-hand coordinate system and a
+ *        clip-space of [0, 1].
+ *
+ * @param[in]  aspect aspect ratio ( width / height )
+ * @param[out] dest   result matrix
+ */
+CGLM_INLINE
+void
+glm_perspective_default_rh_zo(float aspect, mat4 dest) {
+  glm_perspective_rh_zo(GLM_PI_4f, aspect, 0.01f, 100.0f, dest);
+}
+
+/*!
+ * @brief resize perspective matrix by aspect ratio ( width / height )
+ *        this makes very easy to resize proj matrix when window /viewport
+ *        resized with a right-hand coordinate system and a clip-space of
+ *        [0, 1].
+ *
+ * @param[in]      aspect aspect ratio ( width / height )
+ * @param[in, out] proj   perspective projection matrix
+ */
+CGLM_INLINE
+void
+glm_perspective_resize_rh_zo(float aspect, mat4 proj) {
+  if (proj[0][0] == 0.0f)
+    return;
+
+  proj[0][0] = proj[1][1] / aspect;
+}
+
+/*!
+ * @brief extend perspective projection matrix's far distance with a
+ *        right-hand coordinate system and a clip-space of [0, 1].
+ *
+ * this function does not guarantee far >= near, be aware of that!
+ *
+ * @param[in, out] proj      projection matrix to extend
+ * @param[in]      deltaFar  distance from existing far (negative to shink)
+ */
+CGLM_INLINE
+void
+glm_persp_move_far_rh_zo(mat4 proj, float deltaFar) {
+  float fn, farZ, nearZ, p22, p32;
+
+  p22        = proj[2][2];
+  p32        = proj[3][2];
+
+  nearZ    = p32 / p22;
+  farZ     = p32 / (p22 + 1.0f) + deltaFar;
+  fn         = 1.0f / (nearZ - farZ);
+
+  proj[2][2] = farZ * fn;
+  proj[3][2] = nearZ * farZ * fn;
+}
+
+/*!
+ * @brief decomposes frustum values of perspective projection
+ *        with angle values with a right-hand coordinate system and a 
+ *        clip-space of [0, 1].
+ *
+ * @param[in]  proj    perspective projection matrix
+ * @param[out] nearZ   near
+ * @param[out] farZ    far
+ * @param[out] top     top
+ * @param[out] bottom  bottom
+ * @param[out] left    left
+ * @param[out] right   right
+ */
+CGLM_INLINE
+void
+glm_persp_decomp_rh_zo(mat4 proj,
+                    float * __restrict nearZ, float * __restrict farZ,
+                    float * __restrict top,     float * __restrict bottom,
+                    float * __restrict left,    float * __restrict right) {
+  float m00, m11, m20, m21, m22, m32, n, f;
+  float n_m11, n_m00;
+
+  m00 = proj[0][0];
+  m11 = proj[1][1];
+  m20 = proj[2][0];
+  m21 = proj[2][1];
+  m22 = proj[2][2];
+  m32 = proj[3][2];
+
+  n = m32 / m22;
+  f = m32 / (m22 + 1.0f);
+
+  n_m11 = n / m11;
+  n_m00 = n / m00;
+
+  *nearZ = n;
+  *farZ  = f;
+  *bottom  = n_m11 * (m21 - 1.0f);
+  *top     = n_m11 * (m21 + 1.0f);
+  *left    = n_m00 * (m20 - 1.0f);
+  *right   = n_m00 * (m20 + 1.0f);
+}
+
+/*!
+ * @brief decomposes frustum values of perspective projection
+ *        with angle values with a right-hand coordinate system and a 
+ *        clip-space of [0, 1].
+ *        this makes easy to get all values at once
+ *
+ * @param[in]  proj   perspective projection matrix
+ * @param[out] dest   array
+ */
+CGLM_INLINE
+void
+glm_persp_decompv_rh_zo(mat4 proj, float dest[6]) {
+  glm_persp_decomp_rh_zo(proj, &dest[0], &dest[1], &dest[2],
+                               &dest[3], &dest[4], &dest[5]);
+}
+
+/*!
+ * @brief decomposes left and right values of perspective projection (ZO).
+ *        x stands for x axis (left / right axis)
+ *
+ * @param[in]  proj  perspective projection matrix
+ * @param[out] left  left
+ * @param[out] right right
+ */
+CGLM_INLINE
+void
+glm_persp_decomp_x_rh_zo(mat4 proj,
+                         float * __restrict left,
+                         float * __restrict right) {
+  float nearZ, m20, m00, m22;
+
+  m00 = proj[0][0];
+  m20 = proj[2][0];
+  m22 = proj[2][2];
+
+  nearZ = proj[3][2] / m22;
+  *left   = nearZ * (m20 - 1.0f) / m00;
+  *right  = nearZ * (m20 + 1.0f) / m00;
+}
+
+/*!
+ * @brief decomposes top and bottom values of perspective projection
+ *        with angle values with a right-hand coordinate system and a 
+ *        clip-space of [0, 1].
+ *        y stands for y axis (top / bottom axis)
+ *
+ * @param[in]  proj   perspective projection matrix
+ * @param[out] top    top
+ * @param[out] bottom bottom
+ */
+CGLM_INLINE
+void
+glm_persp_decomp_y_rh_zo(mat4 proj,
+                         float * __restrict top,
+                         float * __restrict bottom) {
+  float nearZ, m21, m11, m22;
+
+  m21 = proj[2][1];
+  m11 = proj[1][1];
+  m22 = proj[2][2];
+
+  nearZ = proj[3][2] / m22;
+  *bottom = nearZ * (m21 - 1) / m11;
+  *top    = nearZ * (m21 + 1) / m11;
+}
+
+/*!
+ * @brief decomposes near and far values of perspective projection
+ *        with angle values with a right-hand coordinate system and a 
+ *        clip-space of [0, 1].
+ *        z stands for z axis (near / far axis)
+ *
+ * @param[in]  proj    perspective projection matrix
+ * @param[out] nearZ   near
+ * @param[out] farZ    far
+ */
+CGLM_INLINE
+void
+glm_persp_decomp_z_rh_zo(mat4 proj,
+                         float * __restrict nearZ,
+                         float * __restrict farZ) {
+  float m32, m22;
+
+  m32 = proj[3][2];
+  m22 = proj[2][2];
+
+  *nearZ = m32 / m22;
+  *farZ  = m32 / (m22 + 1.0f);
+}
+
+/*!
+ * @brief decomposes far value of perspective projection
+ *        with angle values with a right-hand coordinate system and a 
+ *        clip-space of [0, 1].
+ *
+ * @param[in]  proj   perspective projection matrix
+ * @param[out] farZ   far
+ */
+CGLM_INLINE
+void
+glm_persp_decomp_far_rh_zo(mat4 proj, float * __restrict farZ) {
+  *farZ = proj[3][2] / (proj[2][2] + 1.0f);
+}
+
+/*!
+ * @brief decomposes near value of perspective projection
+ *        with angle values with a right-hand coordinate system and a 
+ *        clip-space of [0, 1].
+ *
+ * @param[in]  proj    perspective projection matrix
+ * @param[out] nearZ   near
+ */
+CGLM_INLINE
+void
+glm_persp_decomp_near_rh_zo(mat4 proj, float * __restrict nearZ) {
+  *nearZ = proj[3][2] / proj[2][2];
+}
+
+/*!
+ * @brief returns sizes of near and far planes of perspective projection
+ *        with a right-hand coordinate system and a
+ *        clip-space of [0, 1].
+ *
+ * @param[in]  proj perspective projection matrix
+ * @param[in]  fovy fovy (see brief)
+ * @param[out] dest sizes order: [Wnear, Hnear, Wfar, Hfar]
+ */
+CGLM_INLINE
+void
+glm_persp_sizes_rh_zo(mat4 proj, float fovy, vec4 dest) {
+  float t, a, nearZ, farZ;
+
+  t = 2.0f * tanf(fovy * 0.5f);
+  a = glm_persp_aspect(proj);
+
+  glm_persp_decomp_z_rh_zo(proj, &nearZ, &farZ);
+
+  dest[1]  = t * nearZ;
+  dest[3]  = t * farZ;
+  dest[0]  = a * dest[1];
+  dest[2]  = a * dest[3];
+}
+
+/*!
+ * @brief returns field of view angle along the Y-axis (in radians)
+ *        with a right-hand coordinate system and a clip-space of [0, 1].
+ *
+ * if you need to degrees, use glm_deg to convert it or use this:
+ * fovy_deg = glm_deg(glm_persp_fovy(projMatrix))
+ *
+ * @param[in] proj perspective projection matrix
+ */
+CGLM_INLINE
+float
+glm_persp_fovy_rh_zo(mat4 proj) {
+  return glm_persp_fovy(proj);
+}
+
+/*!
+ * @brief returns aspect ratio of perspective projection
+ *        with a right-hand coordinate system and a clip-space of [0, 1].
+ *
+ * @param[in] proj perspective projection matrix
+ */
+CGLM_INLINE
+float
+glm_persp_aspect_rh_zo(mat4 proj) {
+  return glm_persp_aspect(proj);
+}
+
+#endif /*cglm_persp_rh_zo_h*/

include/cglm/clipspace/view_lh.h

@@ -0,0 +1,99 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), http://opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+/*
+ Functions:
+   CGLM_INLINE void glm_lookat_lh(vec3 eye, vec3 center, vec3 up, mat4 dest)
+   CGLM_INLINE void glm_look_lh(vec3 eye, vec3 dir, vec3 up, mat4 dest)
+   CGLM_INLINE void glm_look_anyup_lh(vec3 eye, vec3 dir, mat4 dest)
+ */
+
+#ifndef cglm_view_lh_h
+#define cglm_view_lh_h
+
+#include "../common.h"
+#include "../plane.h"
+
+/*!
+ * @brief set up view matrix (LH)
+ *
+ * NOTE: The UP vector must not be parallel to the line of sight from
+ *       the eye point to the reference point
+ *
+ * @param[in]  eye    eye vector
+ * @param[in]  center center vector
+ * @param[in]  up     up vector
+ * @param[out] dest   result matrix
+ */
+CGLM_INLINE
+void
+glm_lookat_lh(vec3 eye, vec3 center, vec3 up, mat4 dest) {
+  CGLM_ALIGN(8) vec3 f, u, s;
+
+  glm_vec3_sub(center, eye, f);
+  glm_vec3_normalize(f);
+
+  glm_vec3_crossn(f, up, s);
+  glm_vec3_cross(s, f, u);
+
+  dest[0][0] = s[0];
+  dest[0][1] = u[0];
+  dest[0][2] = f[0];
+  dest[1][0] = s[1];
+  dest[1][1] = u[1];
+  dest[1][2] = f[1];
+  dest[2][0] = s[2];
+  dest[2][1] = u[2];
+  dest[2][2] = f[2];
+  dest[3][0] =-glm_vec3_dot(s, eye);
+  dest[3][1] =-glm_vec3_dot(u, eye);
+  dest[3][2] =-glm_vec3_dot(f, eye);
+  dest[0][3] = dest[1][3] = dest[2][3] = 0.0f;
+  dest[3][3] = 1.0f;
+}
+
+/*!
+ * @brief set up view matrix with left handed coordinate system
+ *
+ * convenient wrapper for lookat: if you only have direction not target self
+ * then this might be useful. Because you need to get target from direction.
+ *
+ * NOTE: The UP vector must not be parallel to the line of sight from
+ *       the eye point to the reference point
+ *
+ * @param[in]  eye    eye vector
+ * @param[in]  dir    direction vector
+ * @param[in]  up     up vector
+ * @param[out] dest   result matrix
+ */
+CGLM_INLINE
+void
+glm_look_lh(vec3 eye, vec3 dir, vec3 up, mat4 dest) {
+  CGLM_ALIGN(8) vec3 target;
+  glm_vec3_add(eye, dir, target);
+  glm_lookat_lh(eye, target, up, dest);
+}
+
+/*!
+ * @brief set up view matrix with left handed coordinate system
+ *
+ * convenient wrapper for look: if you only have direction and if you don't
+ * care what UP vector is then this might be useful to create view matrix
+ *
+ * @param[in]  eye    eye vector
+ * @param[in]  dir    direction vector
+ * @param[out] dest   result matrix
+ */
+CGLM_INLINE
+void
+glm_look_anyup_lh(vec3 eye, vec3 dir, mat4 dest) {
+  CGLM_ALIGN(8) vec3 up;
+  glm_vec3_ortho(dir, up);
+  glm_look_lh(eye, dir, up, dest);
+}
+
+#endif /*cglm_view_lh_h*/

include/cglm/clipspace/view_lh_no.h

@@ -0,0 +1,73 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), http://opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+/*
+ Functions:
+   CGLM_INLINE void glm_lookat_lh_no(vec3 eye, vec3 center, vec3 up, mat4 dest)
+   CGLM_INLINE void glm_look_lh_no(vec3 eye, vec3 dir, vec3 up, mat4 dest)
+   CGLM_INLINE void glm_look_anyup_lh_no(vec3 eye, vec3 dir, mat4 dest)
+ */
+
+#ifndef cglm_view_lh_no_h
+#define cglm_view_lh_no_h
+
+#include "view_lh.h"
+
+/*!
+ * @brief set up view matrix with left handed coordinate system.
+ *
+ * NOTE: The UP vector must not be parallel to the line of sight from
+ *       the eye point to the reference point
+ *
+ * @param[in]  eye    eye vector
+ * @param[in]  center center vector
+ * @param[in]  up     up vector
+ * @param[out] dest   result matrix
+ */
+CGLM_INLINE
+void
+glm_lookat_lh_no(vec3 eye, vec3 center, vec3 up, mat4 dest) {
+  glm_lookat_lh(eye, center, up, dest);
+}
+
+/*!
+ * @brief set up view matrix with left handed coordinate system.
+ *
+ * convenient wrapper for lookat: if you only have direction not target self
+ * then this might be useful. Because you need to get target from direction.
+ *
+ * NOTE: The UP vector must not be parallel to the line of sight from
+ *       the eye point to the reference point
+ *
+ * @param[in]  eye    eye vector
+ * @param[in]  dir    direction vector
+ * @param[in]  up     up vector
+ * @param[out] dest   result matrix
+ */
+CGLM_INLINE
+void
+glm_look_lh_no(vec3 eye, vec3 dir, vec3 up, mat4 dest) {
+  glm_look_lh(eye, dir, up, dest);
+}
+
+/*!
+ * @brief set up view matrix with left handed coordinate system.
+ *
+ * convenient wrapper for look: if you only have direction and if you don't
+ * care what UP vector is then this might be useful to create view matrix
+ *
+ * @param[in]  eye    eye vector
+ * @param[in]  dir    direction vector
+ * @param[out] dest   result matrix
+ */
+CGLM_INLINE
+void
+glm_look_anyup_lh_no(vec3 eye, vec3 dir, mat4 dest) {
+  glm_look_anyup_lh(eye, dir, dest);
+}
+
+#endif /*cglm_view_lh_no_h*/

include/cglm/clipspace/view_lh_zo.h

@@ -0,0 +1,73 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), http://opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+/*
+ Functions:
+   CGLM_INLINE void glm_lookat_lh_zo(vec3 eye, vec3 center, vec3 up, mat4 dest)
+   CGLM_INLINE void glm_look_lh_zo(vec3 eye, vec3 dir, vec3 up, mat4 dest)
+   CGLM_INLINE void glm_look_anyup_lh_zo(vec3 eye, vec3 dir, mat4 dest)
+ */
+
+#ifndef cglm_view_lh_zo_h
+#define cglm_view_lh_zo_h
+
+#include "view_lh.h"
+
+/*!
+ * @brief set up view matrix with left handed coordinate system.
+ *
+ * NOTE: The UP vector must not be parallel to the line of sight from
+ *       the eye point to the reference point
+ *
+ * @param[in]  eye    eye vector
+ * @param[in]  center center vector
+ * @param[in]  up     up vector
+ * @param[out] dest   result matrix
+ */
+CGLM_INLINE
+void
+glm_lookat_lh_zo(vec3 eye, vec3 center, vec3 up, mat4 dest) {
+  glm_lookat_lh(eye, center, up, dest);
+}
+
+/*!
+ * @brief set up view matrix with left handed coordinate system.
+ *
+ * convenient wrapper for lookat: if you only have direction not target self
+ * then this might be useful. Because you need to get target from direction.
+ *
+ * NOTE: The UP vector must not be parallel to the line of sight from
+ *       the eye point to the reference point
+ *
+ * @param[in]  eye    eye vector
+ * @param[in]  dir    direction vector
+ * @param[in]  up     up vector
+ * @param[out] dest   result matrix
+ */
+CGLM_INLINE
+void
+glm_look_lh_zo(vec3 eye, vec3 dir, vec3 up, mat4 dest) {
+  glm_look_lh(eye, dir, up, dest);
+}
+
+/*!
+ * @brief set up view matrix with left handed coordinate system.
+ *
+ * convenient wrapper for look: if you only have direction and if you don't
+ * care what UP vector is then this might be useful to create view matrix
+ *
+ * @param[in]  eye    eye vector
+ * @param[in]  dir    direction vector
+ * @param[out] dest   result matrix
+ */
+CGLM_INLINE
+void
+glm_look_anyup_lh_zo(vec3 eye, vec3 dir, mat4 dest) {
+  glm_look_anyup_lh(eye, dir, dest);
+}
+
+#endif /*cglm_view_lh_zo_h*/

include/cglm/clipspace/view_rh.h

@@ -0,0 +1,99 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), http://opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+/*
+ Functions:
+   CGLM_INLINE void glm_lookat_rh(vec3 eye, vec3 center, vec3 up, mat4 dest)
+   CGLM_INLINE void glm_look_rh(vec3 eye, vec3 dir, vec3 up, mat4 dest)
+   CGLM_INLINE void glm_look_anyup_rh(vec3 eye, vec3 dir, mat4 dest)
+ */
+
+#ifndef cglm_view_rh_h
+#define cglm_view_rh_h
+
+#include "../common.h"
+#include "../plane.h"
+
+/*!
+ * @brief set up view matrix with right handed coordinate system.
+ *
+ * NOTE: The UP vector must not be parallel to the line of sight from
+ *       the eye point to the reference point
+ *
+ * @param[in]  eye    eye vector
+ * @param[in]  center center vector
+ * @param[in]  up     up vector
+ * @param[out] dest   result matrix
+ */
+CGLM_INLINE
+void
+glm_lookat_rh(vec3 eye, vec3 center, vec3 up, mat4 dest) {
+  CGLM_ALIGN(8) vec3 f, u, s;
+
+  glm_vec3_sub(center, eye, f);
+  glm_vec3_normalize(f);
+
+  glm_vec3_crossn(f, up, s);
+  glm_vec3_cross(s, f, u);
+
+  dest[0][0] = s[0];
+  dest[0][1] = u[0];
+  dest[0][2] =-f[0];
+  dest[1][0] = s[1];
+  dest[1][1] = u[1];
+  dest[1][2] =-f[1];
+  dest[2][0] = s[2];
+  dest[2][1] = u[2];
+  dest[2][2] =-f[2];
+  dest[3][0] =-glm_vec3_dot(s, eye);
+  dest[3][1] =-glm_vec3_dot(u, eye);
+  dest[3][2] = glm_vec3_dot(f, eye);
+  dest[0][3] = dest[1][3] = dest[2][3] = 0.0f;
+  dest[3][3] = 1.0f;
+}
+
+/*!
+ * @brief set up view matrix with right handed coordinate system.
+ *
+ * convenient wrapper for lookat: if you only have direction not target self
+ * then this might be useful. Because you need to get target from direction.
+ *
+ * NOTE: The UP vector must not be parallel to the line of sight from
+ *       the eye point to the reference point
+ *
+ * @param[in]  eye    eye vector
+ * @param[in]  dir    direction vector
+ * @param[in]  up     up vector
+ * @param[out] dest   result matrix
+ */
+CGLM_INLINE
+void
+glm_look_rh(vec3 eye, vec3 dir, vec3 up, mat4 dest) {
+  CGLM_ALIGN(8) vec3 target;
+  glm_vec3_add(eye, dir, target);
+  glm_lookat_rh(eye, target, up, dest);
+}
+
+/*!
+ * @brief set up view matrix with right handed coordinate system.
+ *
+ * convenient wrapper for look: if you only have direction and if you don't
+ * care what UP vector is then this might be useful to create view matrix
+ *
+ * @param[in]  eye    eye vector
+ * @param[in]  dir    direction vector
+ * @param[out] dest   result matrix
+ */
+CGLM_INLINE
+void
+glm_look_anyup_rh(vec3 eye, vec3 dir, mat4 dest) {
+  CGLM_ALIGN(8) vec3 up;
+  glm_vec3_ortho(dir, up);
+  glm_look_rh(eye, dir, up, dest);
+}
+
+#endif /*cglm_view_rh_h*/

include/cglm/clipspace/view_rh_no.h

@@ -0,0 +1,73 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), http://opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+/*
+ Functions:
+   CGLM_INLINE void glm_lookat_rh_no(vec3 eye, vec3 center, vec3 up, mat4 dest)
+   CGLM_INLINE void glm_look_rh_no(vec3 eye, vec3 dir, vec3 up, mat4 dest)
+   CGLM_INLINE void glm_look_anyup_rh_no(vec3 eye, vec3 dir, mat4 dest)
+ */
+
+#ifndef cglm_view_rh_no_h
+#define cglm_view_rh_no_h
+
+#include "view_rh.h"
+
+/*!
+ * @brief set up view matrix with right handed coordinate system.
+ *
+ * NOTE: The UP vector must not be parallel to the line of sight from
+ *       the eye point to the reference point
+ *
+ * @param[in]  eye    eye vector
+ * @param[in]  center center vector
+ * @param[in]  up     up vector
+ * @param[out] dest   result matrix
+ */
+CGLM_INLINE
+void
+glm_lookat_rh_no(vec3 eye, vec3 center, vec3 up, mat4 dest) {
+  glm_lookat_rh(eye, center, up, dest);
+}
+
+/*!
+ * @brief set up view matrix with right handed coordinate system.
+ *
+ * convenient wrapper for lookat: if you only have direction not target self
+ * then this might be useful. Because you need to get target from direction.
+ *
+ * NOTE: The UP vector must not be parallel to the line of sight from
+ *       the eye point to the reference point
+ *
+ * @param[in]  eye    eye vector
+ * @param[in]  dir    direction vector
+ * @param[in]  up     up vector
+ * @param[out] dest   result matrix
+ */
+CGLM_INLINE
+void
+glm_look_rh_no(vec3 eye, vec3 dir, vec3 up, mat4 dest) {
+  glm_look_rh(eye, dir, up, dest);
+}
+
+/*!
+ * @brief set up view matrix with right handed coordinate system.
+ *
+ * convenient wrapper for look: if you only have direction and if you don't
+ * care what UP vector is then this might be useful to create view matrix
+ *
+ * @param[in]  eye    eye vector
+ * @param[in]  dir    direction vector
+ * @param[out] dest   result matrix
+ */
+CGLM_INLINE
+void
+glm_look_anyup_rh_no(vec3 eye, vec3 dir, mat4 dest) {
+  glm_look_anyup_rh(eye, dir, dest);
+}
+
+#endif /*cglm_view_rh_no_h*/

include/cglm/clipspace/view_rh_zo.h

@@ -0,0 +1,73 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), http://opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+/*
+ Functions:
+   CGLM_INLINE void glm_lookat_rh_zo(vec3 eye, vec3 center, vec3 up, mat4 dest)
+   CGLM_INLINE void glm_look_rh_zo(vec3 eye, vec3 dir, vec3 up, mat4 dest)
+   CGLM_INLINE void glm_look_anyup_rh_zo(vec3 eye, vec3 dir, mat4 dest)
+ */
+
+#ifndef cglm_view_rh_zo_h
+#define cglm_view_rh_zo_h
+
+#include "view_rh.h"
+
+/*!
+ * @brief set up view matrix with right handed coordinate system.
+ *
+ * NOTE: The UP vector must not be parallel to the line of sight from
+ *       the eye point to the reference point
+ *
+ * @param[in]  eye    eye vector
+ * @param[in]  center center vector
+ * @param[in]  up     up vector
+ * @param[out] dest   result matrix
+ */
+CGLM_INLINE
+void
+glm_lookat_rh_zo(vec3 eye, vec3 center, vec3 up, mat4 dest) {
+  glm_lookat_rh(eye, center, up, dest);
+}
+
+/*!
+ * @brief set up view matrix with right handed coordinate system.
+ *
+ * convenient wrapper for lookat: if you only have direction not target self
+ * then this might be useful. Because you need to get target from direction.
+ *
+ * NOTE: The UP vector must not be parallel to the line of sight from
+ *       the eye point to the reference point
+ *
+ * @param[in]  eye    eye vector
+ * @param[in]  dir    direction vector
+ * @param[in]  up     up vector
+ * @param[out] dest   result matrix
+ */
+CGLM_INLINE
+void
+glm_look_rh_zo(vec3 eye, vec3 dir, vec3 up, mat4 dest) {
+  glm_look_rh(eye, dir, up, dest);
+}
+
+/*!
+ * @brief set up view matrix with right handed coordinate system.
+ *
+ * convenient wrapper for look: if you only have direction and if you don't
+ * care what UP vector is then this might be useful to create view matrix
+ *
+ * @param[in]  eye    eye vector
+ * @param[in]  dir    direction vector
+ * @param[out] dest   result matrix
+ */
+CGLM_INLINE
+void
+glm_look_anyup_rh_zo(vec3 eye, vec3 dir, mat4 dest) {
+  glm_look_anyup_rh(eye, dir, dest);
+}
+
+#endif /*cglm_view_rh_zo_h*/

include/cglm/common.h

@@ -8,7 +8,13 @@
 #ifndef cglm_common_h
 #define cglm_common_h
 
+#ifndef _USE_MATH_DEFINES
 #  define _USE_MATH_DEFINES       /* for windows */
+#endif
+
+#ifndef _CRT_SECURE_NO_WARNINGS
+#  define _CRT_SECURE_NO_WARNINGS /* for windows */
+#endif
 
 #include <stdint.h>
 #include <stddef.h>
@@ -17,7 +23,9 @@
 #include <stdbool.h>
 
 #if defined(_MSC_VER)
-#  ifdef CGLM_DLL
+#  ifdef CGLM_STATIC
+#    define CGLM_EXPORT
+#  elif defined(CGLM_EXPORTS)
 #    define CGLM_EXPORT __declspec(dllexport)
 #  else
 #    define CGLM_EXPORT __declspec(dllimport)
@@ -34,4 +42,43 @@
 #include "types.h"
 #include "simd/intrin.h"
 
+#ifndef CGLM_USE_DEFAULT_EPSILON
+#  ifndef GLM_FLT_EPSILON
+#    define GLM_FLT_EPSILON 1e-6
+#  endif
+#else
+#  define GLM_FLT_EPSILON FLT_EPSILON
+#endif
+
+/*
+ * Clip control: define GLM_FORCE_DEPTH_ZERO_TO_ONE before including
+ * CGLM to use a clip space between 0 to 1.
+ * Coordinate system: define GLM_FORCE_LEFT_HANDED before including
+ * CGLM to use the left handed coordinate system by default.
+ */
+
+#define CGLM_CLIP_CONTROL_ZO_BIT (1 << 0) /* ZERO_TO_ONE */
+#define CGLM_CLIP_CONTROL_NO_BIT (1 << 1) /* NEGATIVE_ONE_TO_ONE */
+#define CGLM_CLIP_CONTROL_LH_BIT (1 << 2) /* LEFT_HANDED, For DirectX, Metal, Vulkan */
+#define CGLM_CLIP_CONTROL_RH_BIT (1 << 3) /* RIGHT_HANDED, For OpenGL, default in GLM */
+
+#define CGLM_CLIP_CONTROL_LH_ZO (CGLM_CLIP_CONTROL_LH_BIT | CGLM_CLIP_CONTROL_ZO_BIT)
+#define CGLM_CLIP_CONTROL_LH_NO (CGLM_CLIP_CONTROL_LH_BIT | CGLM_CLIP_CONTROL_NO_BIT)
+#define CGLM_CLIP_CONTROL_RH_ZO (CGLM_CLIP_CONTROL_RH_BIT | CGLM_CLIP_CONTROL_ZO_BIT)
+#define CGLM_CLIP_CONTROL_RH_NO (CGLM_CLIP_CONTROL_RH_BIT | CGLM_CLIP_CONTROL_NO_BIT)
+
+#ifdef CGLM_FORCE_DEPTH_ZERO_TO_ONE
+#  ifdef CGLM_FORCE_LEFT_HANDED
+#    define CGLM_CONFIG_CLIP_CONTROL CGLM_CLIP_CONTROL_LH_ZO
+#  else
+#    define CGLM_CONFIG_CLIP_CONTROL CGLM_CLIP_CONTROL_RH_ZO
+#  endif
+#else
+#  ifdef CGLM_FORCE_LEFT_HANDED
+#    define CGLM_CONFIG_CLIP_CONTROL CGLM_CLIP_CONTROL_LH_NO
+#  else
+#    define CGLM_CONFIG_CLIP_CONTROL CGLM_CLIP_CONTROL_RH_NO
+#  endif
+#endif
+
 #endif /* cglm_common_h */

include/cglm/euler.h

@@ -55,8 +55,6 @@ typedef enum glm_euler_seq {
   GLM_EULER_ZYX = 2 << 0 | 1 << 2 | 0 << 4
 } glm_euler_seq;
 
-typedef glm_euler_seq glm_euler_sq;
-
 CGLM_INLINE
 glm_euler_seq
 glm_euler_order(int ord[3]) {

include/cglm/io.h

@@ -15,69 +15,130 @@
    CGLM_INLINE void glm_versor_print(versor vec, FILE *ostream);
  */
 
+/*
+ cglm tried to enable print functions in debug mode and disable them in
+ release/production mode to eliminate printing costs.
+ 
+ if you need to force enable then define CGLM_DEFINE_PRINTS macro not DEBUG one
+ 
+ Print functions are enabled if:
+ 
+ - DEBUG or _DEBUG macro is defined (mostly defined automatically in debugging)
+ - CGLM_DEFINE_PRINTS macro is defined including release/production
+   which makes enabled printing always
+ - glmc_ calls for io are always prints
+
+ */
+
+/* DEPRECATED: CGLM_NO_PRINTS_NOOP (use CGLM_DEFINE_PRINTS) */
+
 #ifndef cglm_io_h
 #define cglm_io_h
+#if defined(DEBUG) || defined(_DEBUG) \
+   || defined(CGLM_DEFINE_PRINTS) || defined(CGLM_LIB_SRC) \
+   || defined(CGLM_NO_PRINTS_NOOP)
 
 #include "common.h"
 
 #include <stdio.h>
 #include <stdlib.h>
 
+#ifndef CGLM_PRINT_PRECISION
+#  define CGLM_PRINT_PRECISION    5
+#endif
+
+#ifndef CGLM_PRINT_MAX_TO_SHORT
+#  define CGLM_PRINT_MAX_TO_SHORT 1e5
+#endif
+
+#ifndef CGLM_PRINT_COLOR
+#  define CGLM_PRINT_COLOR        "\033[36m"
+#endif
+
+#ifndef CGLM_PRINT_COLOR_RESET
+#  define CGLM_PRINT_COLOR_RESET  "\033[0m"
+#endif
+
 CGLM_INLINE
 void
 glm_mat4_print(mat4              matrix,
                FILE * __restrict ostream) {
-  int i;
+  char buff[16];
-  int j;
+  int  i, j, cw[4], cwi;
 
 #define m 4
 #define n 4
 
-  fprintf(ostream, "Matrix (float%dx%d):\n", m, n);
+  fprintf(ostream, "Matrix (float%dx%d): " CGLM_PRINT_COLOR "\n" , m, n);
+
+  cw[0] = cw[1] = cw[2] = cw[3] = 0;
 
   for (i = 0; i < m; i++) {
-    fprintf(ostream, "\t|");
     for (j = 0; j < n; j++) {
-      fprintf(ostream, "%0.4f", matrix[j][i]);;
+      if (matrix[i][j] < CGLM_PRINT_MAX_TO_SHORT)
-
+        cwi = sprintf(buff, "% .*f", CGLM_PRINT_PRECISION, matrix[i][j]);
-      if (j != n - 1)
+      else
-        fprintf(ostream, "\t");
+        cwi = sprintf(buff, "% g", matrix[i][j]);
+      cw[i] = GLM_MAX(cw[i], cwi);
     }
+  }
+
+  for (i = 0; i < m; i++) {
+    fprintf(ostream, "  |");
+
+    for (j = 0; j < n; j++)
+      if (matrix[i][j] < CGLM_PRINT_MAX_TO_SHORT)
+        fprintf(ostream, " % *.*f", cw[j], CGLM_PRINT_PRECISION, matrix[j][i]);
+      else
+        fprintf(ostream, " % *g", cw[j], matrix[j][i]);
 
     fprintf(ostream, "  |\n");
   }
 
-  fprintf(ostream, "\n");
+  fprintf(ostream, CGLM_PRINT_COLOR_RESET "\n");
 
 #undef m
 #undef n
 }
 
+
 CGLM_INLINE
 void
 glm_mat3_print(mat3              matrix,
                FILE * __restrict ostream) {
-  int i;
+  char buff[16];
-  int j;
+  int  i, j, cw[4], cwi;
 
 #define m 3
 #define n 3
 
-  fprintf(ostream, "Matrix (float%dx%d):\n", m, n);
+  fprintf(ostream, "Matrix (float%dx%d): " CGLM_PRINT_COLOR "\n", m, n);
+
+  cw[0] = cw[1] = cw[2] = 0;
 
   for (i = 0; i < m; i++) {
-    fprintf(ostream, "\t|");
     for (j = 0; j < n; j++) {
-      fprintf(ostream, "%0.4f", matrix[j][i]);;
+      if (matrix[i][j] < CGLM_PRINT_MAX_TO_SHORT)
-
+        cwi = sprintf(buff, "% .*f", CGLM_PRINT_PRECISION, matrix[i][j]);
-      if (j != n - 1)
+      else
-        fprintf(ostream, "\t");
+        cwi = sprintf(buff, "% g", matrix[i][j]);
+      cw[i] = GLM_MAX(cw[i], cwi);
     }
+  }
+
+  for (i = 0; i < m; i++) {
+    fprintf(ostream, "  |");
+    
+    for (j = 0; j < n; j++)
+      if (matrix[i][j] < CGLM_PRINT_MAX_TO_SHORT)
+        fprintf(ostream, " % *.*f", cw[j], CGLM_PRINT_PRECISION, matrix[j][i]);
+      else
+        fprintf(ostream, " % *g", cw[j], matrix[j][i]);
     
     fprintf(ostream, "  |\n");
   }
 
-  fprintf(ostream, "\n");
+  fprintf(ostream, CGLM_PRINT_COLOR_RESET "\n");
 
 #undef m
 #undef n
@@ -87,27 +148,39 @@ CGLM_INLINE
 void
 glm_mat2_print(mat2              matrix,
                FILE * __restrict ostream) {
-  int i;
+  char buff[16];
-  int j;
+  int  i, j, cw[4], cwi;
 
 #define m 2
 #define n 2
 
-  fprintf(ostream, "Matrix (float%dx%d):\n", m, n);
+  fprintf(ostream, "Matrix (float%dx%d): " CGLM_PRINT_COLOR "\n", m, n);
+
+  cw[0] = cw[1] = 0;
 
   for (i = 0; i < m; i++) {
-    fprintf(ostream, "\t|");
     for (j = 0; j < n; j++) {
-      fprintf(ostream, "%0.4f", matrix[j][i]);;
+      if (matrix[i][j] < CGLM_PRINT_MAX_TO_SHORT)
-
+        cwi = sprintf(buff, "% .*f", CGLM_PRINT_PRECISION, matrix[i][j]);
-      if (j != n - 1)
+      else
-        fprintf(ostream, "\t");
+        cwi = sprintf(buff, "% g", matrix[i][j]);
+      cw[i] = GLM_MAX(cw[i], cwi);
     }
+  }
+
+  for (i = 0; i < m; i++) {
+    fprintf(ostream, "  |");
+    
+    for (j = 0; j < n; j++)
+      if (matrix[i][j] < CGLM_PRINT_MAX_TO_SHORT)
+        fprintf(ostream, " % *.*f", cw[j], CGLM_PRINT_PRECISION, matrix[j][i]);
+      else
+        fprintf(ostream, " % *g", cw[j], matrix[j][i]);
     
     fprintf(ostream, "  |\n");
   }
 
-  fprintf(ostream, "\n");
+  fprintf(ostream, CGLM_PRINT_COLOR_RESET "\n");
 
 #undef m
 #undef n
@@ -121,16 +194,16 @@ glm_vec4_print(vec4              vec,
 
 #define m 4
 
-  fprintf(ostream, "Vector (float%d):\n\t|", m);
+  fprintf(ostream, "Vector (float%d): " CGLM_PRINT_COLOR "\n  (", m);
 
   for (i = 0; i < m; i++) {
-    fprintf(ostream, "%0.4f", vec[i]);
+    if (vec[i] < CGLM_PRINT_MAX_TO_SHORT)
-
+      fprintf(ostream, " % .*f", CGLM_PRINT_PRECISION, vec[i]);
-    if (i != m - 1)
+    else
-      fprintf(ostream, "\t");
+      fprintf(ostream, " % g", vec[i]);
   }
 
-  fprintf(ostream, "|\n\n");
+  fprintf(ostream, "  )" CGLM_PRINT_COLOR_RESET "\n\n");
 
 #undef m
 }
@@ -143,16 +216,16 @@ glm_vec3_print(vec3              vec,
 
 #define m 3
 
-  fprintf(ostream, "Vector (float%d):\n\t|", m);
+  fprintf(ostream, "Vector (float%d): " CGLM_PRINT_COLOR "\n  (", m);
 
   for (i = 0; i < m; i++) {
-    fprintf(ostream, "%0.4f", vec[i]);
+    if (vec[i] < CGLM_PRINT_MAX_TO_SHORT)
-
+      fprintf(ostream, " % .*f", CGLM_PRINT_PRECISION, vec[i]);
-    if (i != m - 1)
+    else
-      fprintf(ostream, "\t");
+      fprintf(ostream, " % g", vec[i]);
   }
 
-  fprintf(ostream, "|\n\n");
+  fprintf(ostream, "  )" CGLM_PRINT_COLOR_RESET "\n\n");
 
 #undef m
 }
@@ -165,16 +238,12 @@ glm_ivec3_print(ivec3             vec,
 
 #define m 3
 
-  fprintf(ostream, "Vector (int%d):\n\t|", m);
+  fprintf(ostream, "Vector (int%d): " CGLM_PRINT_COLOR "\n  (", m);
 
-  for (i = 0; i < m; i++) {
+  for (i = 0; i < m; i++)
     fprintf(ostream, " % d", vec[i]);
 
-    if (i != m - 1)
+  fprintf(ostream, "  )" CGLM_PRINT_COLOR_RESET "\n\n");
-      fprintf(ostream, "\t");
-  }
-
-  fprintf(ostream, "|\n\n");
   
 #undef m
 }
@@ -187,16 +256,16 @@ glm_vec2_print(vec2              vec,
 
 #define m 2
 
-  fprintf(ostream, "Vector (float%d):\n\t|", m);
+  fprintf(ostream, "Vector (float%d): " CGLM_PRINT_COLOR "\n  (", m);
 
   for (i = 0; i < m; i++) {
-    fprintf(ostream, "%0.4f", vec[i]);
+    if (vec[i] < CGLM_PRINT_MAX_TO_SHORT)
-
+      fprintf(ostream, " % .*f", CGLM_PRINT_PRECISION, vec[i]);
-    if (i != m - 1)
+    else
-      fprintf(ostream, "\t");
+      fprintf(ostream, " % g", vec[i]);
   }
 
-  fprintf(ostream, "|\n\n");
+  fprintf(ostream, "  )" CGLM_PRINT_COLOR_RESET "\n\n");
 
 #undef m
 }
@@ -209,16 +278,17 @@ glm_versor_print(versor            vec,
 
 #define m 4
 
-  fprintf(ostream, "Versor (float%d):\n\t|", m);
+  fprintf(ostream, "Quaternion (float%d): " CGLM_PRINT_COLOR "\n  (", m);
 
   for (i = 0; i < m; i++) {
-    fprintf(ostream, "%0.4f", vec[i]);
+    if (vec[i] < CGLM_PRINT_MAX_TO_SHORT)
-
+      fprintf(ostream, " % .*f", CGLM_PRINT_PRECISION, vec[i]);
-    if (i != m - 1)
+    else
-      fprintf(ostream, "\t");
+      fprintf(ostream, " % g", vec[i]);
   }
 
-  fprintf(ostream, "|\n\n");
+
+  fprintf(ostream, "  )" CGLM_PRINT_COLOR_RESET "\n\n");
 
 #undef m
 }
@@ -232,24 +302,43 @@ glm_aabb_print(vec3                    bbox[2],
 
 #define m 3
 
-  fprintf(ostream, "AABB (%s):\n", tag ? tag: "float");
+  fprintf(ostream, "AABB (%s): " CGLM_PRINT_COLOR "\n", tag ? tag: "float");
 
   for (i = 0; i < 2; i++) {
-    fprintf(ostream, "\t|");
+    fprintf(ostream, "  (");
     
     for (j = 0; j < m; j++) {
-      fprintf(ostream, "%0.4f", bbox[i][j]);
+      if (bbox[i][j] < CGLM_PRINT_MAX_TO_SHORT)
-
+        fprintf(ostream, " % .*f", CGLM_PRINT_PRECISION, bbox[i][j]);
-      if (j != m - 1)
+      else
-        fprintf(ostream, "\t");
+        fprintf(ostream, " % g", bbox[i][j]);
     }
 
-    fprintf(ostream, "|\n");
+    fprintf(ostream, "  )\n");
   }
 
-  fprintf(ostream, "\n");
+  fprintf(ostream, CGLM_PRINT_COLOR_RESET "\n");
 
 #undef m
 }
 
+#else
+
+#include "common.h"
+
+#include <stdio.h>
+#include <stdlib.h>
+
+/* NOOP: Remove print from DEBUG */
+#define glm_mat4_print(v, s) (void)v; (void)s;
+#define glm_mat3_print(v, s) (void)v; (void)s;
+#define glm_mat2_print(v, s) (void)v; (void)s;
+#define glm_vec4_print(v, s) (void)v; (void)s;
+#define glm_vec3_print(v, s) (void)v; (void)s;
+#define glm_ivec3_print(v, s) (void)v; (void)s;
+#define glm_vec2_print(v, s) (void)v; (void)s;
+#define glm_versor_print(v, s) (void)v; (void)s;
+#define glm_aabb_print(v, t, s) (void)v; (void)t; (void)s;
+
+#endif
 #endif /* cglm_io_h */

include/cglm/mat2.h

@@ -40,6 +40,10 @@
 #  include "simd/sse2/mat2.h"
 #endif
 
+#ifdef CGLM_NEON_FP
+#  include "simd/neon/mat2.h"
+#endif
+
 #define GLM_MAT2_IDENTITY_INIT  {{1.0f, 0.0f}, {0.0f, 1.0f}}
 #define GLM_MAT2_ZERO_INIT      {{0.0f, 0.0f}, {0.0f, 0.0f}}
 
@@ -56,7 +60,7 @@
 CGLM_INLINE
 void
 glm_mat2_copy(mat2 mat, mat2 dest) {
-  glm_vec4_copy(mat[0], dest[0]);
+  glm_vec4_ucopy(mat[0], dest[0]);
 }
 
 /*!
@@ -130,6 +134,8 @@ void
 glm_mat2_mul(mat2 m1, mat2 m2, mat2 dest) {
 #if defined( __SSE__ ) || defined( __SSE2__ )
   glm_mat2_mul_sse2(m1, m2, dest);
+#elif defined(CGLM_NEON_FP)
+  glm_mat2_mul_neon(m1, m2, dest);
 #else
   float a00 = m1[0][0], a01 = m1[0][1],
         a10 = m1[1][0], a11 = m1[1][1],
@@ -216,7 +222,16 @@ glm_mat2_trace(mat2 m) {
 CGLM_INLINE
 void
 glm_mat2_scale(mat2 m, float s) {
-  glm_vec4_scale(m[0], s, m[0]);
+#if defined( __SSE__ ) || defined( __SSE2__ )
+  glmm_store(m[0], _mm_mul_ps(_mm_loadu_ps(m[0]), _mm_set1_ps(s)));
+#elif defined(CGLM_NEON_FP)
+  vst1q_f32(m[0], vmulq_f32(vld1q_f32(m[0]), vdupq_n_f32(s)));
+#else
+  m[0][0] = m[0][0] * s;
+  m[0][1] = m[0][1] * s;
+  m[1][0] = m[1][0] * s;
+  m[1][1] = m[1][1] * s;
+#endif
 }
 
 /*!

include/cglm/mat3.h

@@ -228,9 +228,11 @@ glm_mat3_transpose(mat3 m) {
 CGLM_INLINE
 void
 glm_mat3_mulv(mat3 m, vec3 v, vec3 dest) {
-  dest[0] = m[0][0] * v[0] + m[1][0] * v[1] + m[2][0] * v[2];
+  vec3 res;
-  dest[1] = m[0][1] * v[0] + m[1][1] * v[1] + m[2][1] * v[2];
+  res[0] = m[0][0] * v[0] + m[1][0] * v[1] + m[2][0] * v[2];
-  dest[2] = m[0][2] * v[0] + m[1][2] * v[1] + m[2][2] * v[2];
+  res[1] = m[0][1] * v[0] + m[1][1] * v[1] + m[2][1] * v[2];
+  res[2] = m[0][2] * v[0] + m[1][2] * v[1] + m[2][2] * v[2];
+  glm_vec3_copy(res, dest);
 }
 
 /*!

include/cglm/mat4.h

@@ -187,8 +187,29 @@ glm_mat4_identity_array(mat4 * __restrict mat, size_t count) {
 CGLM_INLINE
 void
 glm_mat4_zero(mat4 mat) {
+#ifdef __AVX__
+  __m256 y0;
+  y0 = _mm256_setzero_ps();
+  glmm_store256(mat[0], y0);
+  glmm_store256(mat[2], y0);
+#elif defined( __SSE__ ) || defined( __SSE2__ )
+  glmm_128 x0;
+  x0 = _mm_setzero_ps();
+  glmm_store(mat[0], x0);
+  glmm_store(mat[1], x0);
+  glmm_store(mat[2], x0);
+  glmm_store(mat[3], x0);
+#elif defined(CGLM_NEON_FP)
+  glmm_128 x0;
+  x0 = vdupq_n_f32(0.0f);
+  vst1q_f32(mat[0], x0);
+  vst1q_f32(mat[1], x0);
+  vst1q_f32(mat[2], x0);
+  vst1q_f32(mat[3], x0);
+#else
   CGLM_ALIGN_MAT mat4 t = GLM_MAT4_ZERO_INIT;
   glm_mat4_copy(t, mat);
+#endif
 }
 
 /*!
@@ -358,6 +379,8 @@ void
 glm_mat4_mulv(mat4 m, vec4 v, vec4 dest) {
 #if defined( __SSE__ ) || defined( __SSE2__ )
   glm_mat4_mulv_sse2(m, v, dest);
+#elif defined(CGLM_NEON_FP)
+  glm_mat4_mulv_neon(m, v, dest);
 #else
   vec4 res;
   res[0] = m[0][0] * v[0] + m[1][0] * v[1] + m[2][0] * v[2] + m[3][0] * v[3];
@@ -476,6 +499,8 @@ void
 glm_mat4_transpose_to(mat4 m, mat4 dest) {
 #if defined( __SSE__ ) || defined( __SSE2__ )
   glm_mat4_transp_sse2(m, dest);
+#elif defined(CGLM_NEON_FP)
+  glm_mat4_transp_neon(m, dest);
 #else
   dest[0][0] = m[0][0]; dest[1][0] = m[0][1];
   dest[0][1] = m[1][0]; dest[1][1] = m[1][1];
@@ -498,6 +523,8 @@ void
 glm_mat4_transpose(mat4 m) {
 #if defined( __SSE__ ) || defined( __SSE2__ )
   glm_mat4_transp_sse2(m, m);
+#elif defined(CGLM_NEON_FP)
+  glm_mat4_transp_neon(m, m);
 #else
   mat4 d;
   glm_mat4_transpose_to(m, d);
@@ -533,15 +560,12 @@ glm_mat4_scale_p(mat4 m, float s) {
 CGLM_INLINE
 void
 glm_mat4_scale(mat4 m, float s) {
-#if defined( __SSE__ ) || defined( __SSE2__ )
+#ifdef __AVX__
+  glm_mat4_scale_avx(m, s);
+#elif defined( __SSE__ ) || defined( __SSE2__ )
   glm_mat4_scale_sse2(m, s);
 #elif defined(CGLM_NEON_FP)
-  float32x4_t v0;
+  glm_mat4_scale_neon(m, s);
-  v0 = vdupq_n_f32(s);
-  vst1q_f32(m[0], vmulq_f32(vld1q_f32(m[0]), v0));
-  vst1q_f32(m[1], vmulq_f32(vld1q_f32(m[1]), v0));
-  vst1q_f32(m[2], vmulq_f32(vld1q_f32(m[2]), v0));
-  vst1q_f32(m[3], vmulq_f32(vld1q_f32(m[3]), v0));
 #else
   glm_mat4_scale_p(m, s);
 #endif
@@ -559,6 +583,8 @@ float
 glm_mat4_det(mat4 mat) {
 #if defined( __SSE__ ) || defined( __SSE2__ )
   return glm_mat4_det_sse2(mat);
+#elif defined(CGLM_NEON_FP)
+  return glm_mat4_det_neon(mat);
 #else
   /* [square] det(A) = det(At) */
   float t[6];
@@ -592,6 +618,8 @@ void
 glm_mat4_inv(mat4 mat, mat4 dest) {
 #if defined( __SSE__ ) || defined( __SSE2__ )
   glm_mat4_inv_sse2(mat, dest);
+#elif defined(CGLM_NEON_FP)
+  glm_mat4_inv_neon(mat, dest);
 #else
   float t[6];
   float det;

include/cglm/plane.h

@@ -9,6 +9,7 @@
 #define cglm_plane_h
 
 #include "common.h"
+#include "vec3.h"
 #include "vec4.h"
 
 /*

include/cglm/quat.h

@@ -38,6 +38,7 @@
    CGLM_INLINE void glm_quat_lerp(versor from, versor to, float t, versor dest);
    CGLM_INLINE void glm_quat_lerpc(versor from, versor to, float t, versor dest);
    CGLM_INLINE void glm_quat_slerp(versor q, versor r, float t, versor dest);
+   CGLM_INLINE void glm_quat_nlerp(versor q, versor r, float t, versor dest);
    CGLM_INLINE void glm_quat_look(vec3 eye, versor ori, mat4 dest);
    CGLM_INLINE void glm_quat_for(vec3 dir, vec3 fwd, vec3 up, versor dest);
    CGLM_INLINE void glm_quat_forp(vec3 from,
@@ -63,9 +64,9 @@
 #  include "simd/sse2/quat.h"
 #endif
 
-CGLM_INLINE
+#ifdef CGLM_NEON_FP
-void
+#  include "simd/neon/quat.h"
-glm_mat4_identity(mat4 mat);
+#endif
 
 CGLM_INLINE
 void
@@ -416,6 +417,8 @@ glm_quat_mul(versor p, versor q, versor dest) {
    */
 #if defined( __SSE__ ) || defined( __SSE2__ )
   glm_quat_mul_sse2(p, q, dest);
+#elif defined(CGLM_NEON_FP)
+  glm_quat_mul_neon(p, q, dest);
 #else
   dest[0] = p[3] * q[0] + p[0] * q[3] + p[1] * q[2] - p[2] * q[1];
   dest[1] = p[3] * q[1] - p[0] * q[2] + p[1] * q[3] + p[2] * q[0];
@@ -626,6 +629,29 @@ glm_quat_lerpc(versor from, versor to, float t, versor dest) {
   glm_vec4_lerpc(from, to, t, dest);
 }
 
+/*!
+ * @brief interpolates between two quaternions
+ *        taking the shortest rotation path using
+ *        normalized linear interpolation (NLERP)
+ *
+ * @param[in]   from  from
+ * @param[in]   to    to
+ * @param[in]   t     interpolant (amount)
+ * @param[out]  dest  result quaternion
+ */
+CGLM_INLINE
+void
+glm_quat_nlerp(versor from, versor to, float t, versor dest) {
+  versor target;
+  float  dot;
+  
+  dot = glm_vec4_dot(from, to);
+  
+  glm_vec4_scale(to, (dot >= 0) ? 1.0f : -1.0f, target);
+  glm_quat_lerp(from, target, t, dest);
+  glm_quat_normalize(dest);
+}
+
 /*!
  * @brief interpolates between two quaternions
  *        using spherical linear interpolation (SLERP)

include/cglm/ray.h

@@ -0,0 +1,77 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), http://opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+/*
+ Functions:
+   CGLM_INLINE bool glm_line_triangle_intersect(vec3   origin,
+                                                vec3   direction,
+                                                vec3   v0,
+                                                vec3   v1,
+                                                vec3   v2,
+                                                float *d);
+*/
+
+#ifndef cglm_ray_h
+#define cglm_ray_h
+
+#include "vec3.h"
+
+/*!
+ * @brief Möller–Trumbore ray-triangle intersection algorithm
+ * 
+ * @param[in] origin         origin of ray
+ * @param[in] direction      direction of ray
+ * @param[in] v0             first vertex of triangle
+ * @param[in] v1             second vertex of triangle
+ * @param[in] v2             third vertex of triangle
+ * @param[in, out] d         distance to intersection
+ * @return whether there is intersection
+ */
+
+CGLM_INLINE
+bool
+glm_ray_triangle(vec3   origin,
+                 vec3   direction,
+                 vec3   v0,
+                 vec3   v1,
+                 vec3   v2,
+                 float *d) {
+  vec3        edge1, edge2, p, t, q;
+  float       det, inv_det, u, v, dist;
+  const float epsilon = 0.000001f;
+
+  glm_vec3_sub(v1, v0, edge1);
+  glm_vec3_sub(v2, v0, edge2);
+  glm_vec3_cross(direction, edge2, p);
+
+  det = glm_vec3_dot(edge1, p);
+  if (det > -epsilon && det < epsilon)
+    return false;
+
+  inv_det = 1.0f / det;
+  
+  glm_vec3_sub(origin, v0, t);
+
+  u = inv_det * glm_vec3_dot(t, p);
+  if (u < 0.0f || u > 1.0f)
+    return false;
+
+  glm_vec3_cross(t, edge1, q);
+
+  v = inv_det * glm_vec3_dot(direction, q);
+  if (v < 0.0f || u + v > 1.0f)
+    return false;
+
+  dist = inv_det * glm_vec3_dot(edge2, q);
+
+  if (d)
+    *d = dist;
+
+  return dist > epsilon;
+}
+
+#endif

include/cglm/simd/arm.h

@@ -10,19 +10,56 @@
 #include "intrin.h"
 #ifdef CGLM_SIMD_ARM
 
+#if defined(_M_ARM64) || defined(_M_HYBRID_X86_ARM64) || defined(_M_ARM64EC) || defined(__aarch64__)
+# define CGLM_ARM64 1
+#endif
+
 #define glmm_load(p)      vld1q_f32(p)
 #define glmm_store(p, a)  vst1q_f32(p, a)
 
+#define glmm_set1(x) vdupq_n_f32(x)
+#define glmm_128     float32x4_t
+
+#define glmm_splat_x(x) vdupq_lane_f32(vget_low_f32(x),  0)
+#define glmm_splat_y(x) vdupq_lane_f32(vget_low_f32(x),  1)
+#define glmm_splat_z(x) vdupq_lane_f32(vget_high_f32(x), 0)
+#define glmm_splat_w(x) vdupq_lane_f32(vget_high_f32(x), 1)
+
+#define glmm_xor(a, b)                                                        \
+  vreinterpretq_f32_s32(veorq_s32(vreinterpretq_s32_f32(a),                   \
+                                  vreinterpretq_s32_f32(b)))
+
+#define glmm_swplane(v) vextq_f32(v, v, 2)
+#define glmm_low(x)     vget_low_f32(x)
+#define glmm_high(x)    vget_high_f32(x)
+
+#define glmm_combine_ll(x, y) vcombine_f32(vget_low_f32(x),  vget_low_f32(y))
+#define glmm_combine_hl(x, y) vcombine_f32(vget_high_f32(x), vget_low_f32(y))
+#define glmm_combine_lh(x, y) vcombine_f32(vget_low_f32(x),  vget_high_f32(y))
+#define glmm_combine_hh(x, y) vcombine_f32(vget_high_f32(x), vget_high_f32(y))
+
 static inline
 float32x4_t
 glmm_abs(float32x4_t v) {
   return vabsq_f32(v);
 }
 
+static inline
+float32x4_t
+glmm_vhadd(float32x4_t v) {
+  return vaddq_f32(vaddq_f32(glmm_splat_x(v), glmm_splat_y(v)),
+                   vaddq_f32(glmm_splat_z(v), glmm_splat_w(v)));
+  /*
+   this seems slower:
+   v = vaddq_f32(v, vrev64q_f32(v));
+   return vaddq_f32(v, vcombine_f32(vget_high_f32(v), vget_low_f32(v)));
+   */
+}
+
 static inline
 float
 glmm_hadd(float32x4_t v) {
-#if defined(__aarch64__)
+#if CGLM_ARM64
   return vaddvq_f32(v);
 #else
   v = vaddq_f32(v, vrev64q_f32(v));
@@ -79,5 +116,58 @@ glmm_norm_inf(float32x4_t a) {
   return glmm_hmax(glmm_abs(a));
 }
 
+static inline
+float32x4_t
+glmm_div(float32x4_t a, float32x4_t b) {
+#if CGLM_ARM64
+  return vdivq_f32(a, b);
+#else
+  /* 2 iterations of Newton-Raphson refinement of reciprocal */
+  float32x4_t r0, r1;
+  r0 = vrecpeq_f32(b);
+  r1 = vrecpsq_f32(r0, b);
+  r0 = vmulq_f32(r1, r0);
+  r1 = vrecpsq_f32(r0, b);
+  r0 = vmulq_f32(r1, r0);
+  return vmulq_f32(a, r0);
+#endif
+}
+
+static inline
+float32x4_t
+glmm_fmadd(float32x4_t a, float32x4_t b, float32x4_t c) {
+#if CGLM_ARM64
+  return vfmaq_f32(c, a, b); /* why vfmaq_f32 is slower than vmlaq_f32 ??? */
+#else
+  return vmlaq_f32(c, a, b);
+#endif
+}
+
+static inline
+float32x4_t
+glmm_fnmadd(float32x4_t a, float32x4_t b, float32x4_t c) {
+#if CGLM_ARM64
+  return vfmsq_f32(c, a, b);
+#else
+  return vmlsq_f32(c, a, b);
+#endif
+}
+
+static inline
+float32x4_t
+glmm_fmsub(float32x4_t a, float32x4_t b, float32x4_t c) {
+#if CGLM_ARM64
+  return vfmsq_f32(c, a, b);
+#else
+  return vmlsq_f32(c, a, b);
+#endif
+}
+
+static inline
+float32x4_t
+glmm_fnmsub(float32x4_t a, float32x4_t b, float32x4_t c) {
+  return vsubq_f32(vdupq_n_f32(0.0f), glmm_fmadd(a, b, c));
+}
+
 #endif
 #endif /* cglm_simd_arm_h */

include/cglm/simd/avx/mat4.h

@@ -14,6 +14,16 @@
 
 #include <immintrin.h>
 
+CGLM_INLINE
+void
+glm_mat4_scale_avx(mat4 m, float s) {
+  __m256 y0;
+  y0 = _mm256_set1_ps(s);
+  
+  glmm_store256(m[0], _mm256_mul_ps(y0, glmm_load256(m[0])));
+  glmm_store256(m[2], _mm256_mul_ps(y0, glmm_load256(m[2])));
+}
+
 CGLM_INLINE
 void
 glm_mat4_mul_avx(mat4 m1, mat4 m2, mat4 dest) {

include/cglm/simd/neon/affine.h

@@ -0,0 +1,122 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), http://opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+#ifndef cglm_affine_neon_h
+#define cglm_affine_neon_h
+#if defined(__ARM_NEON_FP)
+
+#include "../../common.h"
+#include "../intrin.h"
+
+CGLM_INLINE
+void
+glm_mul_neon(mat4 m1, mat4 m2, mat4 dest) {
+  /* D = R * L (Column-Major) */
+
+  glmm_128 l, r0, r1, r2, r3, v0, v1, v2, v3;
+
+  l  = glmm_load(m1[0]);
+  r0 = glmm_load(m2[0]);
+  r1 = glmm_load(m2[1]);
+  r2 = glmm_load(m2[2]);
+  r3 = glmm_load(m2[3]);
+
+  v0 = vmulq_f32(glmm_splat_x(r0), l);
+  v1 = vmulq_f32(glmm_splat_x(r1), l);
+  v2 = vmulq_f32(glmm_splat_x(r2), l);
+  v3 = vmulq_f32(glmm_splat_x(r3), l);
+
+  l  = glmm_load(m1[1]);
+  v0 = glmm_fmadd(glmm_splat_y(r0), l, v0);
+  v1 = glmm_fmadd(glmm_splat_y(r1), l, v1);
+  v2 = glmm_fmadd(glmm_splat_y(r2), l, v2);
+  v3 = glmm_fmadd(glmm_splat_y(r3), l, v3);
+
+  l  = glmm_load(m1[2]);
+  v0 = glmm_fmadd(glmm_splat_z(r0), l, v0);
+  v1 = glmm_fmadd(glmm_splat_z(r1), l, v1);
+  v2 = glmm_fmadd(glmm_splat_z(r2), l, v2);
+  v3 = glmm_fmadd(glmm_splat_z(r3), l, v3);
+
+  v3 = glmm_fmadd(glmm_splat_w(r3), glmm_load(m1[3]), v3);
+
+  glmm_store(dest[0], v0);
+  glmm_store(dest[1], v1);
+  glmm_store(dest[2], v2);
+  glmm_store(dest[3], v3);
+}
+
+CGLM_INLINE
+void
+glm_mul_rot_neon(mat4 m1, mat4 m2, mat4 dest) {
+  /* D = R * L (Column-Major) */
+
+  glmm_128 l, r0, r1, r2, v0, v1, v2;
+
+  l  = glmm_load(m1[0]);
+  r0 = glmm_load(m2[0]);
+  r1 = glmm_load(m2[1]);
+  r2 = glmm_load(m2[2]);
+
+  v0 = vmulq_f32(glmm_splat_x(r0), l);
+  v1 = vmulq_f32(glmm_splat_x(r1), l);
+  v2 = vmulq_f32(glmm_splat_x(r2), l);
+
+  l  = glmm_load(m1[1]);
+  v0 = glmm_fmadd(glmm_splat_y(r0), l, v0);
+  v1 = glmm_fmadd(glmm_splat_y(r1), l, v1);
+  v2 = glmm_fmadd(glmm_splat_y(r2), l, v2);
+  
+  l  = glmm_load(m1[2]);
+  v0 = glmm_fmadd(glmm_splat_z(r0), l, v0);
+  v1 = glmm_fmadd(glmm_splat_z(r1), l, v1);
+  v2 = glmm_fmadd(glmm_splat_z(r2), l, v2);
+
+  glmm_store(dest[0], v0);
+  glmm_store(dest[1], v1);
+  glmm_store(dest[2], v2);
+  glmm_store(dest[3], glmm_load(m1[3]));
+}
+
+CGLM_INLINE
+void
+glm_inv_tr_neon(mat4 mat) {
+  float32x4x4_t vmat;
+  glmm_128      r0, r1, r2, r3, x0;
+
+  vmat = vld4q_f32(mat[0]);
+  r0   = vmat.val[0];
+  r1   = vmat.val[1];
+  r2   = vmat.val[2];
+  r3   = vmat.val[3];
+
+  x0 = glmm_fmadd(r0, glmm_splat_w(r0),
+                  glmm_fmadd(r1, glmm_splat_w(r1),
+                             vmulq_f32(r2, glmm_splat_w(r2))));
+  x0 = vnegq_f32(x0);
+
+  glmm_store(mat[0], r0);
+  glmm_store(mat[1], r1);
+  glmm_store(mat[2], r2);
+  glmm_store(mat[3], x0);
+  
+  mat[0][3] = 0.0f;
+  mat[1][3] = 0.0f;
+  mat[2][3] = 0.0f;
+  mat[3][3] = 1.0f;
+
+  /* TODO: ?
+  zo   = vget_high_f32(r3);
+  vst1_lane_f32(&mat[0][3], zo, 0);
+  vst1_lane_f32(&mat[1][3], zo, 0);
+  vst1_lane_f32(&mat[2][3], zo, 0);
+  vst1_lane_f32(&mat[3][3], zo, 1);
+  */
+}
+
+#endif
+#endif /* cglm_affine_neon_h */

include/cglm/simd/neon/mat2.h

@@ -0,0 +1,44 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), http://opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+#ifndef cglm_mat2_neon_h
+#define cglm_mat2_neon_h
+#if defined(__ARM_NEON_FP)
+
+#include "../../common.h"
+#include "../intrin.h"
+
+CGLM_INLINE
+void
+glm_mat2_mul_neon(mat2 m1, mat2 m2, mat2 dest) {
+  float32x4x2_t a1;
+  glmm_128 x0,  x1, x2;
+  float32x2_t   dc, ba;
+
+  x1 = glmm_load(m1[0]); /* d c b a */
+  x2 = glmm_load(m2[0]); /* h g f e */
+  
+  dc = vget_high_f32(x1);
+  ba = vget_low_f32(x1);
+
+  /* g g e e, h h f f */
+  a1 = vtrnq_f32(x2, x2);
+  
+  /*
+   dest[0][0] = a * e + c * f;
+   dest[0][1] = b * e + d * f;
+   dest[1][0] = a * g + c * h;
+   dest[1][1] = b * g + d * h;
+   */
+  x0 = glmm_fmadd(vcombine_f32(ba, ba), a1.val[0],
+                  vmulq_f32(vcombine_f32(dc, dc), a1.val[1]));
+
+  glmm_store(dest[0], x0);
+}
+
+#endif
+#endif /* cglm_mat2_neon_h */

include/cglm/simd/neon/mat4.h

@@ -12,45 +12,305 @@
 #include "../../common.h"
 #include "../intrin.h"
 
+CGLM_INLINE
+void
+glm_mat4_scale_neon(mat4 m, float s) {
+  float32x4_t v0;
+  
+  v0 = vdupq_n_f32(s);
+
+  vst1q_f32(m[0], vmulq_f32(vld1q_f32(m[0]), v0));
+  vst1q_f32(m[1], vmulq_f32(vld1q_f32(m[1]), v0));
+  vst1q_f32(m[2], vmulq_f32(vld1q_f32(m[2]), v0));
+  vst1q_f32(m[3], vmulq_f32(vld1q_f32(m[3]), v0));
+}
+
+CGLM_INLINE
+void
+glm_mat4_transp_neon(mat4 m, mat4 dest) {
+  float32x4x4_t vmat;
+  
+  vmat = vld4q_f32(m[0]);
+
+  vst1q_f32(dest[0], vmat.val[0]);
+  vst1q_f32(dest[1], vmat.val[1]);
+  vst1q_f32(dest[2], vmat.val[2]);
+  vst1q_f32(dest[3], vmat.val[3]);
+}
+
 CGLM_INLINE
 void
 glm_mat4_mul_neon(mat4 m1, mat4 m2, mat4 dest) {
   /* D = R * L (Column-Major) */
-  float32x4_t l0, l1, l2, l3, r, d0, d1, d2, d3;
 
-  l0 = vld1q_f32(m2[0]);
+  glmm_128 l, r0, r1, r2, r3, v0, v1, v2, v3;
-  l1 = vld1q_f32(m2[1]);
-  l2 = vld1q_f32(m2[2]);
-  l3 = vld1q_f32(m2[3]);
 
-  r  = vld1q_f32(m1[0]);
+  l  = glmm_load(m1[0]);
-  d0 = vmulq_lane_f32(r, vget_low_f32(l0), 0);
+  r0 = glmm_load(m2[0]);
-  d1 = vmulq_lane_f32(r, vget_low_f32(l1), 0);
+  r1 = glmm_load(m2[1]);
-  d2 = vmulq_lane_f32(r, vget_low_f32(l2), 0);
+  r2 = glmm_load(m2[2]);
-  d3 = vmulq_lane_f32(r, vget_low_f32(l3), 0);
+  r3 = glmm_load(m2[3]);
 
-  r  = vld1q_f32(m1[1]);
+  v0 = vmulq_f32(glmm_splat_x(r0), l);
-  d0 = vmlaq_lane_f32(d0, r, vget_low_f32(l0), 1);
+  v1 = vmulq_f32(glmm_splat_x(r1), l);
-  d1 = vmlaq_lane_f32(d1, r, vget_low_f32(l1), 1);
+  v2 = vmulq_f32(glmm_splat_x(r2), l);
-  d2 = vmlaq_lane_f32(d2, r, vget_low_f32(l2), 1);
+  v3 = vmulq_f32(glmm_splat_x(r3), l);
-  d3 = vmlaq_lane_f32(d3, r, vget_low_f32(l3), 1);
 
-  r  = vld1q_f32(m1[2]);
+  l  = glmm_load(m1[1]);
-  d0 = vmlaq_lane_f32(d0, r, vget_high_f32(l0), 0);
+  v0 = glmm_fmadd(glmm_splat_y(r0), l, v0);
-  d1 = vmlaq_lane_f32(d1, r, vget_high_f32(l1), 0);
+  v1 = glmm_fmadd(glmm_splat_y(r1), l, v1);
-  d2 = vmlaq_lane_f32(d2, r, vget_high_f32(l2), 0);
+  v2 = glmm_fmadd(glmm_splat_y(r2), l, v2);
-  d3 = vmlaq_lane_f32(d3, r, vget_high_f32(l3), 0);
+  v3 = glmm_fmadd(glmm_splat_y(r3), l, v3);
 
-  r  = vld1q_f32(m1[3]);
+  l  = glmm_load(m1[2]);
-  d0 = vmlaq_lane_f32(d0, r, vget_high_f32(l0), 1);
+  v0 = glmm_fmadd(glmm_splat_z(r0), l, v0);
-  d1 = vmlaq_lane_f32(d1, r, vget_high_f32(l1), 1);
+  v1 = glmm_fmadd(glmm_splat_z(r1), l, v1);
-  d2 = vmlaq_lane_f32(d2, r, vget_high_f32(l2), 1);
+  v2 = glmm_fmadd(glmm_splat_z(r2), l, v2);
-  d3 = vmlaq_lane_f32(d3, r, vget_high_f32(l3), 1);
+  v3 = glmm_fmadd(glmm_splat_z(r3), l, v3);
 
-  vst1q_f32(dest[0], d0);
+  l  = glmm_load(m1[3]);
-  vst1q_f32(dest[1], d1);
+  v0 = glmm_fmadd(glmm_splat_w(r0), l, v0);
-  vst1q_f32(dest[2], d2);
+  v1 = glmm_fmadd(glmm_splat_w(r1), l, v1);
-  vst1q_f32(dest[3], d3);
+  v2 = glmm_fmadd(glmm_splat_w(r2), l, v2);
+  v3 = glmm_fmadd(glmm_splat_w(r3), l, v3);
+
+  glmm_store(dest[0], v0);
+  glmm_store(dest[1], v1);
+  glmm_store(dest[2], v2);
+  glmm_store(dest[3], v3);
+}
+
+CGLM_INLINE
+void
+glm_mat4_mulv_neon(mat4 m, vec4 v, vec4 dest) {
+  float32x4_t l0, l1, l2, l3;
+  float32x2_t vlo, vhi;
+  
+  l0  = vld1q_f32(m[0]);
+  l1  = vld1q_f32(m[1]);
+  l2  = vld1q_f32(m[2]);
+  l3  = vld1q_f32(m[3]);
+
+  vlo = vld1_f32(&v[0]);
+  vhi = vld1_f32(&v[2]);
+
+  l0  = vmulq_lane_f32(l0, vlo, 0);
+  l0  = vmlaq_lane_f32(l0, l1, vlo, 1);
+  l0  = vmlaq_lane_f32(l0, l2, vhi, 0);
+  l0  = vmlaq_lane_f32(l0, l3, vhi, 1);
+
+  vst1q_f32(dest, l0);
+}
+
+CGLM_INLINE
+float
+glm_mat4_det_neon(mat4 mat) {
+  float32x4_t   r0, r1, r2, r3, x0, x1, x2;
+  float32x2_t   ij, op, mn, kl, nn, mm, jj, ii, gh, ef, t12, t34;
+  float32x4x2_t a1;
+  float32x4_t   x3 = { 0.f, -0.f, 0.f, -0.f };
+
+  /* 127 <- 0, [square] det(A) = det(At) */
+  r0 = glmm_load(mat[0]);              /* d c b a */
+  r1 = vrev64q_f32(glmm_load(mat[1])); /* g h e f */
+  r2 = vrev64q_f32(glmm_load(mat[2])); /* l k i j */
+  r3 = vrev64q_f32(glmm_load(mat[3])); /* o p m n */
+
+  gh = vget_high_f32(r1);
+  ef = vget_low_f32(r1);
+  kl = vget_high_f32(r2);
+  ij = vget_low_f32(r2);
+  op = vget_high_f32(r3);
+  mn = vget_low_f32(r3);
+  mm = vdup_lane_f32(mn, 1);
+  nn = vdup_lane_f32(mn, 0);
+  ii = vdup_lane_f32(ij, 1);
+  jj = vdup_lane_f32(ij, 0);
+  
+  /*
+   t[1] = j * p - n * l;
+   t[2] = j * o - n * k;
+   t[3] = i * p - m * l;
+   t[4] = i * o - m * k;
+   */
+  x0 = glmm_fnmadd(vcombine_f32(kl, kl), vcombine_f32(nn, mm),
+                   vmulq_f32(vcombine_f32(op, op), vcombine_f32(jj, ii)));
+
+  t12 = vget_low_f32(x0);
+  t34 = vget_high_f32(x0);
+  
+  /* 1 3 1 3 2 4 2 4 */
+  a1 = vuzpq_f32(x0, x0);
+  
+  /*
+   t[0] = k * p - o * l;
+   t[0] = k * p - o * l;
+   t[5] = i * n - m * j;
+   t[5] = i * n - m * j;
+   */
+  x1 = glmm_fnmadd(vcombine_f32(vdup_lane_f32(kl, 0), jj),
+                   vcombine_f32(vdup_lane_f32(op, 1), mm),
+                   vmulq_f32(vcombine_f32(vdup_lane_f32(op, 0), nn),
+                             vcombine_f32(vdup_lane_f32(kl, 1), ii)));
+
+  /*
+     a * (f * t[0] - g * t[1] + h * t[2])
+   - b * (e * t[0] - g * t[3] + h * t[4])
+   + c * (e * t[1] - f * t[3] + h * t[5])
+   - d * (e * t[2] - f * t[4] + g * t[5])
+   */
+  x2 = glmm_fnmadd(vcombine_f32(vdup_lane_f32(gh, 1), vdup_lane_f32(ef, 0)),
+                   vcombine_f32(vget_low_f32(a1.val[0]), t34),
+                   vmulq_f32(vcombine_f32(ef, vdup_lane_f32(ef, 1)),
+                             vcombine_f32(vget_low_f32(x1), t12)));
+
+  x2 = glmm_fmadd(vcombine_f32(vdup_lane_f32(gh, 0), gh),
+                  vcombine_f32(vget_low_f32(a1.val[1]), vget_high_f32(x1)), x2);
+
+  x2 = glmm_xor(x2, x3);
+
+  return glmm_hadd(vmulq_f32(x2, r0));
+}
+
+CGLM_INLINE
+void
+glm_mat4_inv_neon(mat4 mat, mat4 dest) {
+  float32x4_t   r0, r1, r2, r3,
+                v0, v1, v2, v3,
+                t0, t1, t2, t3, t4, t5,
+                x0, x1, x2, x3, x4, x5, x6, x7, x8;
+  float32x4x2_t a1;
+  float32x2_t   lp, ko, hg, jn, im, fe, ae, bf, cg, dh;
+  float32x4_t   x9 = { -0.f, 0.f, -0.f, 0.f };
+
+  x8 = vrev64q_f32(x9);
+
+  /* 127 <- 0 */
+  r0 = glmm_load(mat[0]); /* d c b a */
+  r1 = glmm_load(mat[1]); /* h g f e */
+  r2 = glmm_load(mat[2]); /* l k j i */
+  r3 = glmm_load(mat[3]); /* p o n m */
+  
+  /* l p k o, j n i m */
+  a1  = vzipq_f32(r3, r2);
+  
+  jn  = vget_high_f32(a1.val[0]);
+  im  = vget_low_f32(a1.val[0]);
+  lp  = vget_high_f32(a1.val[1]);
+  ko  = vget_low_f32(a1.val[1]);
+  hg  = vget_high_f32(r1);
+
+  x1  = vcombine_f32(vdup_lane_f32(lp, 0), lp);                   /* l p p p */
+  x2  = vcombine_f32(vdup_lane_f32(ko, 0), ko);                   /* k o o o */
+  x0  = vcombine_f32(vdup_lane_f32(lp, 1), vdup_lane_f32(hg, 1)); /* h h l l */
+  x3  = vcombine_f32(vdup_lane_f32(ko, 1), vdup_lane_f32(hg, 0)); /* g g k k */
+  
+  /* t1[0] = k * p - o * l;
+     t1[0] = k * p - o * l;
+     t2[0] = g * p - o * h;
+     t3[0] = g * l - k * h; */
+  t0 = glmm_fnmadd(x2, x0, vmulq_f32(x3, x1));
+
+  fe = vget_low_f32(r1);
+  x4 = vcombine_f32(vdup_lane_f32(jn, 0), jn);                   /* j n n n */
+  x5 = vcombine_f32(vdup_lane_f32(jn, 1), vdup_lane_f32(fe, 1)); /* f f j j */
+  
+  /* t1[1] = j * p - n * l;
+     t1[1] = j * p - n * l;
+     t2[1] = f * p - n * h;
+     t3[1] = f * l - j * h; */
+   t1 = glmm_fnmadd(x4, x0, vmulq_f32(x5, x1));
+  
+  /* t1[2] = j * o - n * k
+     t1[2] = j * o - n * k;
+     t2[2] = f * o - n * g;
+     t3[2] = f * k - j * g; */
+  t2 = glmm_fnmadd(x4, x3, vmulq_f32(x5, x2));
+  
+  x6 = vcombine_f32(vdup_lane_f32(im, 1), vdup_lane_f32(fe, 0)); /* e e i i */
+  x7 = vcombine_f32(vdup_lane_f32(im, 0), im);                   /* i m m m */
+  
+  /* t1[3] = i * p - m * l;
+     t1[3] = i * p - m * l;
+     t2[3] = e * p - m * h;
+     t3[3] = e * l - i * h; */
+  t3 = glmm_fnmadd(x7, x0, vmulq_f32(x6, x1));
+  
+  /* t1[4] = i * o - m * k;
+     t1[4] = i * o - m * k;
+     t2[4] = e * o - m * g;
+     t3[4] = e * k - i * g; */
+  t4 = glmm_fnmadd(x7, x3, vmulq_f32(x6, x2));
+  
+  /* t1[5] = i * n - m * j;
+     t1[5] = i * n - m * j;
+     t2[5] = e * n - m * f;
+     t3[5] = e * j - i * f; */
+  t5 = glmm_fnmadd(x7, x5, vmulq_f32(x6, x4));
+  
+  /* h d f b, g c e a */
+  a1 = vtrnq_f32(r0, r1);
+  
+  x4 = vrev64q_f32(a1.val[0]); /* c g a e */
+  x5 = vrev64q_f32(a1.val[1]); /* d h b f */
+
+  ae = vget_low_f32(x4);
+  cg = vget_high_f32(x4);
+  bf = vget_low_f32(x5);
+  dh = vget_high_f32(x5);
+  
+  x0 = vcombine_f32(ae, vdup_lane_f32(ae, 1)); /* a a a e */
+  x1 = vcombine_f32(bf, vdup_lane_f32(bf, 1)); /* b b b f */
+  x2 = vcombine_f32(cg, vdup_lane_f32(cg, 1)); /* c c c g */
+  x3 = vcombine_f32(dh, vdup_lane_f32(dh, 1)); /* d d d h */
+  
+  /*
+   dest[0][0] =  f * t1[0] - g * t1[1] + h * t1[2];
+   dest[0][1] =-(b * t1[0] - c * t1[1] + d * t1[2]);
+   dest[0][2] =  b * t2[0] - c * t2[1] + d * t2[2];
+   dest[0][3] =-(b * t3[0] - c * t3[1] + d * t3[2]); */
+  v0 = glmm_xor(glmm_fmadd(x3, t2, glmm_fnmadd(x2, t1, vmulq_f32(x1, t0))), x8);
+  
+  /*
+   dest[2][0] =  e * t1[1] - f * t1[3] + h * t1[5];
+   dest[2][1] =-(a * t1[1] - b * t1[3] + d * t1[5]);
+   dest[2][2] =  a * t2[1] - b * t2[3] + d * t2[5];
+   dest[2][3] =-(a * t3[1] - b * t3[3] + d * t3[5]);*/
+  v2 = glmm_xor(glmm_fmadd(x3, t5, glmm_fnmadd(x1, t3, vmulq_f32(x0, t1))), x8);
+
+  /*
+   dest[1][0] =-(e * t1[0] - g * t1[3] + h * t1[4]);
+   dest[1][1] =  a * t1[0] - c * t1[3] + d * t1[4];
+   dest[1][2] =-(a * t2[0] - c * t2[3] + d * t2[4]);
+   dest[1][3] =  a * t3[0] - c * t3[3] + d * t3[4]; */
+  v1 = glmm_xor(glmm_fmadd(x3, t4, glmm_fnmadd(x2, t3, vmulq_f32(x0, t0))), x9);
+  
+  /*
+   dest[3][0] =-(e * t1[2] - f * t1[4] + g * t1[5]);
+   dest[3][1] =  a * t1[2] - b * t1[4] + c * t1[5];
+   dest[3][2] =-(a * t2[2] - b * t2[4] + c * t2[5]);
+   dest[3][3] =  a * t3[2] - b * t3[4] + c * t3[5]; */
+  v3 = glmm_xor(glmm_fmadd(x2, t5, glmm_fnmadd(x1, t4, vmulq_f32(x0, t2))), x9);
+
+  /* determinant */
+  x0 = vcombine_f32(vget_low_f32(vzipq_f32(v0, v1).val[0]),
+                    vget_low_f32(vzipq_f32(v2, v3).val[0]));
+
+  /*
+  x0 = glmm_div(glmm_set1(1.0f), glmm_vhadd(vmulq_f32(x0, r0)));
+
+  glmm_store(dest[0], vmulq_f32(v0, x0));
+  glmm_store(dest[1], vmulq_f32(v1, x0));
+  glmm_store(dest[2], vmulq_f32(v2, x0));
+  glmm_store(dest[3], vmulq_f32(v3, x0));
+  */
+
+  x0 = glmm_vhadd(vmulq_f32(x0, r0));
+
+  glmm_store(dest[0], glmm_div(v0, x0));
+  glmm_store(dest[1], glmm_div(v1, x0));
+  glmm_store(dest[2], glmm_div(v2, x0));
+  glmm_store(dest[3], glmm_div(v3, x0));
 }
 
 #endif

include/cglm/simd/neon/quat.h

@@ -0,0 +1,56 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), http://opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+#ifndef cglm_quat_neon_h
+#define cglm_quat_neon_h
+#if defined(__ARM_NEON_FP)
+
+#include "../../common.h"
+#include "../intrin.h"
+
+CGLM_INLINE
+void
+glm_quat_mul_neon(versor p, versor q, versor dest) {
+  /*
+   + (a1 b2 + b1 a2 + c1 d2 − d1 c2)i
+   + (a1 c2 − b1 d2 + c1 a2 + d1 b2)j
+   + (a1 d2 + b1 c2 − c1 b2 + d1 a2)k
+     a1 a2 − b1 b2 − c1 c2 − d1 d2
+   */
+
+  glmm_128 xp, xq, xqr, r, x, y, z, s2, s3;
+  glmm_128 s1 = {-0.f, 0.f, 0.f, -0.f};
+  float32x2_t   qh, ql;
+  
+  xp  = glmm_load(p); /* 3 2 1 0 */
+  xq  = glmm_load(q);
+
+  r   = vmulq_f32(glmm_splat_w(xp), xq);
+  x   = glmm_splat_x(xp);
+  y   = glmm_splat_y(xp);
+  z   = glmm_splat_z(xp);
+
+  ql  = vget_high_f32(s1);
+  s3  = vcombine_f32(ql, ql);
+  s2  = vzipq_f32(s3, s3).val[0];
+
+  xqr = vrev64q_f32(xq);
+  qh  = vget_high_f32(xqr);
+  ql  = vget_low_f32(xqr);
+
+  r = glmm_fmadd(glmm_xor(x, s3), vcombine_f32(qh, ql), r);
+  
+  r = glmm_fmadd(glmm_xor(y, s2), vcombine_f32(vget_high_f32(xq),
+                                               vget_low_f32(xq)), r);
+  
+  r = glmm_fmadd(glmm_xor(z, s1), vcombine_f32(ql, qh), r);
+
+  glmm_store(dest, r);
+}
+
+#endif
+#endif /* cglm_quat_neon_h */

include/cglm/simd/sse2/affine.h

@@ -16,75 +16,76 @@ CGLM_INLINE
 void
 glm_mul_sse2(mat4 m1, mat4 m2, mat4 dest) {
   /* D = R * L (Column-Major) */
-  __m128 l0, l1, l2, l3, r;
+  glmm_128 l, r0, r1, r2, r3, v0, v1, v2, v3;
 
-  l0 = glmm_load(m1[0]);
+  l  = glmm_load(m1[0]);
-  l1 = glmm_load(m1[1]);
+  r0 = glmm_load(m2[0]);
-  l2 = glmm_load(m1[2]);
+  r1 = glmm_load(m2[1]);
-  l3 = glmm_load(m1[3]);
+  r2 = glmm_load(m2[2]);
+  r3 = glmm_load(m2[3]);
 
-  r = glmm_load(m2[0]);
+  v0 = _mm_mul_ps(glmm_splat_x(r0), l);
-  glmm_store(dest[0],
+  v1 = _mm_mul_ps(glmm_splat_x(r1), l);
-             _mm_add_ps(_mm_add_ps(_mm_mul_ps(glmm_shuff1x(r, 0), l0),
+  v2 = _mm_mul_ps(glmm_splat_x(r2), l);
-                                   _mm_mul_ps(glmm_shuff1x(r, 1), l1)),
+  v3 = _mm_mul_ps(glmm_splat_x(r3), l);
-                        _mm_mul_ps(glmm_shuff1x(r, 2), l2)));
 
-  r = glmm_load(m2[1]);
+  l  = glmm_load(m1[1]);
-  glmm_store(dest[1],
+  v0 = glmm_fmadd(glmm_splat_y(r0), l, v0);
-             _mm_add_ps(_mm_add_ps(_mm_mul_ps(glmm_shuff1x(r, 0), l0),
+  v1 = glmm_fmadd(glmm_splat_y(r1), l, v1);
-                                   _mm_mul_ps(glmm_shuff1x(r, 1), l1)),
+  v2 = glmm_fmadd(glmm_splat_y(r2), l, v2);
-                        _mm_mul_ps(glmm_shuff1x(r, 2), l2)));
+  v3 = glmm_fmadd(glmm_splat_y(r3), l, v3);
 
-  r = glmm_load(m2[2]);
+  l  = glmm_load(m1[2]);
-  glmm_store(dest[2],
+  v0 = glmm_fmadd(glmm_splat_z(r0), l, v0);
-             _mm_add_ps(_mm_add_ps(_mm_mul_ps(glmm_shuff1x(r, 0), l0),
+  v1 = glmm_fmadd(glmm_splat_z(r1), l, v1);
-                                   _mm_mul_ps(glmm_shuff1x(r, 1), l1)),
+  v2 = glmm_fmadd(glmm_splat_z(r2), l, v2);
-                        _mm_mul_ps(glmm_shuff1x(r, 2), l2)));
+  v3 = glmm_fmadd(glmm_splat_z(r3), l, v3);
 
-  r = glmm_load(m2[3]);
+  l  = glmm_load(m1[3]);
-  glmm_store(dest[3],
+  v3 = glmm_fmadd(glmm_splat_w(r3), l, v3);
-             _mm_add_ps(_mm_add_ps(_mm_mul_ps(glmm_shuff1x(r, 0), l0),
+
-                                   _mm_mul_ps(glmm_shuff1x(r, 1), l1)),
+  glmm_store(dest[0], v0);
-                        _mm_add_ps(_mm_mul_ps(glmm_shuff1x(r, 2), l2),
+  glmm_store(dest[1], v1);
-                                   _mm_mul_ps(glmm_shuff1x(r, 3), l3))));
+  glmm_store(dest[2], v2);
+  glmm_store(dest[3], v3);
 }
 
 CGLM_INLINE
 void
 glm_mul_rot_sse2(mat4 m1, mat4 m2, mat4 dest) {
   /* D = R * L (Column-Major) */
-  __m128 l0, l1, l2, l3, r;
 
-  l0 = glmm_load(m1[0]);
+  glmm_128 l, r0, r1, r2, v0, v1, v2;
-  l1 = glmm_load(m1[1]);
-  l2 = glmm_load(m1[2]);
-  l3 = glmm_load(m1[3]);
 
-  r = glmm_load(m2[0]);
+  l  = glmm_load(m1[0]);
-  glmm_store(dest[0],
+  r0 = glmm_load(m2[0]);
-             _mm_add_ps(_mm_add_ps(_mm_mul_ps(glmm_shuff1x(r, 0), l0),
+  r1 = glmm_load(m2[1]);
-                                   _mm_mul_ps(glmm_shuff1x(r, 1), l1)),
+  r2 = glmm_load(m2[2]);
-                        _mm_mul_ps(glmm_shuff1x(r, 2), l2)));
 
-  r = glmm_load(m2[1]);
+  v0 = _mm_mul_ps(glmm_splat_x(r0), l);
-  glmm_store(dest[1],
+  v1 = _mm_mul_ps(glmm_splat_x(r1), l);
-             _mm_add_ps(_mm_add_ps(_mm_mul_ps(glmm_shuff1x(r, 0), l0),
+  v2 = _mm_mul_ps(glmm_splat_x(r2), l);
-                                   _mm_mul_ps(glmm_shuff1x(r, 1), l1)),
-                        _mm_mul_ps(glmm_shuff1x(r, 2), l2)));
 
-  r = glmm_load(m2[2]);
+  l  = glmm_load(m1[1]);
-  glmm_store(dest[2],
+  v0 = glmm_fmadd(glmm_splat_y(r0), l, v0);
-             _mm_add_ps(_mm_add_ps(_mm_mul_ps(glmm_shuff1x(r, 0), l0),
+  v1 = glmm_fmadd(glmm_splat_y(r1), l, v1);
-                                   _mm_mul_ps(glmm_shuff1x(r, 1), l1)),
+  v2 = glmm_fmadd(glmm_splat_y(r2), l, v2);
-                        _mm_mul_ps(glmm_shuff1x(r, 2), l2)));
 
-  glmm_store(dest[3], l3);
+  l  = glmm_load(m1[2]);
+  v0 = glmm_fmadd(glmm_splat_z(r0), l, v0);
+  v1 = glmm_fmadd(glmm_splat_z(r1), l, v1);
+  v2 = glmm_fmadd(glmm_splat_z(r2), l, v2);
+
+  glmm_store(dest[0], v0);
+  glmm_store(dest[1], v1);
+  glmm_store(dest[2], v2);
+  glmm_store(dest[3], glmm_load(m1[3]));
 }
 
 CGLM_INLINE
 void
 glm_inv_tr_sse2(mat4 mat) {
-  __m128 r0, r1, r2, r3, x0, x1;
+  __m128 r0, r1, r2, r3, x0, x1, x2, x3, x4, x5;
 
   r0 = glmm_load(mat[0]);
   r1 = glmm_load(mat[1]);
@@ -94,10 +95,13 @@ glm_inv_tr_sse2(mat4 mat) {
 
   _MM_TRANSPOSE4_PS(r0, r1, r2, x1);
 
-  x0 = _mm_add_ps(_mm_mul_ps(r0, glmm_shuff1(r3, 0, 0, 0, 0)),
+  x2 = glmm_shuff1(r3, 0, 0, 0, 0);
-                  _mm_mul_ps(r1, glmm_shuff1(r3, 1, 1, 1, 1)));
+  x3 = glmm_shuff1(r3, 1, 1, 1, 1);
-  x0 = _mm_add_ps(x0, _mm_mul_ps(r2, glmm_shuff1(r3, 2, 2, 2, 2)));
+  x4 = glmm_shuff1(r3, 2, 2, 2, 2);
-  x0 = _mm_xor_ps(x0, _mm_set1_ps(-0.f));
+  x5 = _mm_set1_ps(-0.f);
+
+  x0 = glmm_fmadd(r0, x2, glmm_fmadd(r1, x3, _mm_mul_ps(r2, x4)));
+  x0 = _mm_xor_ps(x0, x5);
 
   x0 = _mm_add_ps(x0, x1);
 

include/cglm/simd/sse2/mat2.h

@@ -15,22 +15,25 @@
 CGLM_INLINE
 void
 glm_mat2_mul_sse2(mat2 m1, mat2 m2, mat2 dest) {
-  __m128 x0, x1, x2;
+  __m128 x0, x1, x2, x3, x4;
 
   x1 = glmm_load(m1[0]); /* d c b a */
   x2 = glmm_load(m2[0]); /* h g f e */
 
+  x3 = glmm_shuff1(x2, 2, 2, 0, 0);
+  x4 = glmm_shuff1(x2, 3, 3, 1, 1);
+  x0 = _mm_movelh_ps(x1, x1);
+  x2 = _mm_movehl_ps(x1, x1);
+
   /*
    dest[0][0] = a * e + c * f;
    dest[0][1] = b * e + d * f;
    dest[1][0] = a * g + c * h;
    dest[1][1] = b * g + d * h;
    */
-  x0 = _mm_mul_ps(_mm_movelh_ps(x1, x1), glmm_shuff1(x2, 2, 2, 0, 0));
+  x0 = glmm_fmadd(x0, x3, _mm_mul_ps(x2, x4));
-  x1 = _mm_mul_ps(_mm_movehl_ps(x1, x1), glmm_shuff1(x2, 3, 3, 1, 1));
-  x1 = _mm_add_ps(x0, x1);
 
-  glmm_store(dest[0], x1);
+  glmm_store(dest[0], x0);
 }
 
 CGLM_INLINE

include/cglm/simd/sse2/mat3.h

@@ -15,44 +15,61 @@
 CGLM_INLINE
 void
 glm_mat3_mul_sse2(mat3 m1, mat3 m2, mat3 dest) {
-  __m128 l0, l1, l2;
+  __m128 l0, l1, l2, r0, r1, r2, x0, x1, x2, x3, x4, x5, x6, x7, x8, x9;
-  __m128 r0, r1, r2;
-  __m128 x0, x1, x2;
   
   l0 = _mm_loadu_ps(m1[0]);
   l1 = _mm_loadu_ps(&m1[1][1]);
-  l2 = _mm_set1_ps(m1[2][2]);
 
   r0 = _mm_loadu_ps(m2[0]);
   r1 = _mm_loadu_ps(&m2[1][1]);
-  r2 = _mm_set1_ps(m2[2][2]);
 
-  x1 = glmm_shuff2(l0, l1, 1, 0, 3, 3, 0, 3, 2, 0);
+  x8 = glmm_shuff1(l0, 0, 2, 1, 0);                     /* a00 a02 a01 a00 */
-  x2 = glmm_shuff2(l1, l2, 0, 0, 3, 2, 0, 2, 1, 0);
+  x1 = glmm_shuff1(r0, 3, 0, 0, 0);                     /* b10 b00 b00 b00 */
+  x2 = _mm_shuffle_ps(l0, l1, _MM_SHUFFLE(1, 0, 3, 3)); /* a12 a11 a10 a10 */
+  x3 = _mm_shuffle_ps(r0, r1, _MM_SHUFFLE(2, 0, 3, 1)); /* b20 b11 b10 b01 */
+  x0 = _mm_mul_ps(x8, x1);
 
-  x0 = _mm_add_ps(_mm_mul_ps(glmm_shuff1(l0, 0, 2, 1, 0),
+  x6 = glmm_shuff1(l0, 1, 0, 2, 1);                     /* a01 a00 a02 a01 */
-                             glmm_shuff1(r0, 3, 0, 0, 0)),
+  x7 = glmm_shuff1(x3, 3, 3, 1, 1);                     /* b20 b20 b10 b10 */
-                  _mm_mul_ps(x1, glmm_shuff2(r0, r1, 0, 0, 1, 1, 2, 0, 0, 0)));
+  l2 = _mm_load_ss(&m1[2][2]);
+  r2 = _mm_load_ss(&m2[2][2]);
+  x1 = _mm_mul_ps(x6, x7);
+  l2 = glmm_shuff1(l2, 0, 0, 1, 0);                     /* a22 a22 0.f a22 */
+  r2 = glmm_shuff1(r2, 0, 0, 1, 0);                     /* b22 b22 0.f b22 */
 
-  x0 = _mm_add_ps(x0,
+  x4 = glmm_shuff1(x2, 0, 3, 2, 0);                     /* a10 a12 a11 a10 */
-                  _mm_mul_ps(x2, glmm_shuff2(r0, r1, 1, 1, 2, 2, 2, 0, 0, 0)));
+  x5 = glmm_shuff1(x2, 2, 0, 3, 2);                     /* a11 a10 a12 a11 */
+  x6 = glmm_shuff1(x3, 2, 0, 0, 0);                     /* b11 b01 b01 b01 */
+  x2 = glmm_shuff1(r1, 3, 3, 0, 0);                     /* b21 b21 b11 b11 */
 
-  _mm_storeu_ps(dest[0], x0);
+  x8 = _mm_unpackhi_ps(x8, x4);                         /* a10 a00 a12 a02 */
+  x9 = _mm_unpackhi_ps(x7, x2);                         /* b21 b20 b21 b20 */
 
-  x0 = _mm_add_ps(_mm_mul_ps(glmm_shuff1(l0, 1, 0, 2, 1),
+  x0 = glmm_fmadd(x4, x6, x0);
-                             _mm_shuffle_ps(r0, r1, _MM_SHUFFLE(2, 2, 3, 3))),
+  x1 = glmm_fmadd(x5, x2, x1);
-                  _mm_mul_ps(glmm_shuff1(x1, 1, 0, 2, 1),
-                             glmm_shuff1(r1, 3, 3, 0, 0)));
 
-  x0 = _mm_add_ps(x0,
+  x2 = _mm_movehl_ps(l2, l1);                           /* a22 a22 a21 a20 */
-                  _mm_mul_ps(glmm_shuff1(x2, 1, 0, 2, 1),
+  x3 = glmm_shuff1(x2, 0, 2, 1, 0);                     /* a20 a22 a21 a20 */
-                             _mm_shuffle_ps(r1, r2, _MM_SHUFFLE(0, 0, 1, 1))));
+  x2 = glmm_shuff1(x2, 1, 0, 2, 1);                     /* a21 a20 a22 a21 */
+  x4 = _mm_shuffle_ps(r0, r1, _MM_SHUFFLE(1, 1, 2, 2)); /* b12 b12 b02 b02 */
   
-  _mm_storeu_ps(&dest[1][1], x0);
+  x5 = glmm_shuff1(x4, 3, 0, 0, 0);                     /* b12 b02 b02 b02 */
+  x4 = _mm_movehl_ps(r2, x4);                           /* b22 b22 b12 b12 */
+  x0 = glmm_fmadd(x3, x5, x0);
+  x1 = glmm_fmadd(x2, x4, x1);
 
-  dest[2][2] = m1[0][2] * m2[2][0]
+  /*
-             + m1[1][2] * m2[2][1]
+   Dot Product : dest[2][2] =  a02 * b20 +
-             + m1[2][2] * m2[2][2];
+                               a12 * b21 +
+                               a22 * b22 +
+                               0   * 00                                    */
+  x2 = _mm_movelh_ps(x8, l2);                           /* 0.f a22 a12 a02 */
+  x3 = _mm_movelh_ps(x9, r2);                           /* 0.f b22 b21 b20 */
+  x2 = glmm_vdots(x2, x3);
+
+  _mm_storeu_ps(&dest[0][0], x0);
+  _mm_storeu_ps(&dest[1][1], x1);
+  _mm_store_ss (&dest[2][2], x2);
 }
 
 #endif

include/cglm/simd/sse2/mat4.h

@@ -49,53 +49,65 @@ void
 glm_mat4_mul_sse2(mat4 m1, mat4 m2, mat4 dest) {
   /* D = R * L (Column-Major) */
 
-  __m128 l0, l1, l2, l3, r;
+  glmm_128 l, r0, r1, r2, r3, v0, v1, v2, v3;
 
-  l0 = glmm_load(m1[0]);
+  l  = glmm_load(m1[0]);
-  l1 = glmm_load(m1[1]);
+  r0 = glmm_load(m2[0]);
-  l2 = glmm_load(m1[2]);
+  r1 = glmm_load(m2[1]);
-  l3 = glmm_load(m1[3]);
+  r2 = glmm_load(m2[2]);
+  r3 = glmm_load(m2[3]);
 
-  r = glmm_load(m2[0]);
+  v0 = _mm_mul_ps(glmm_splat_x(r0), l);
-  glmm_store(dest[0],
+  v1 = _mm_mul_ps(glmm_splat_x(r1), l);
-             _mm_add_ps(_mm_add_ps(_mm_mul_ps(glmm_shuff1x(r, 0), l0),
+  v2 = _mm_mul_ps(glmm_splat_x(r2), l);
-                                   _mm_mul_ps(glmm_shuff1x(r, 1), l1)),
+  v3 = _mm_mul_ps(glmm_splat_x(r3), l);
-                        _mm_add_ps(_mm_mul_ps(glmm_shuff1x(r, 2), l2),
-                                   _mm_mul_ps(glmm_shuff1x(r, 3), l3))));
-  r = glmm_load(m2[1]);
-  glmm_store(dest[1],
-             _mm_add_ps(_mm_add_ps(_mm_mul_ps(glmm_shuff1x(r, 0), l0),
-                                   _mm_mul_ps(glmm_shuff1x(r, 1), l1)),
-                        _mm_add_ps(_mm_mul_ps(glmm_shuff1x(r, 2), l2),
-                                   _mm_mul_ps(glmm_shuff1x(r, 3), l3))));
-  r = glmm_load(m2[2]);
-  glmm_store(dest[2],
-             _mm_add_ps(_mm_add_ps(_mm_mul_ps(glmm_shuff1x(r, 0), l0),
-                                   _mm_mul_ps(glmm_shuff1x(r, 1), l1)),
-                        _mm_add_ps(_mm_mul_ps(glmm_shuff1x(r, 2), l2),
-                                   _mm_mul_ps(glmm_shuff1x(r, 3), l3))));
 
-  r = glmm_load(m2[3]);
+  l  = glmm_load(m1[1]);
-  glmm_store(dest[3],
+  v0 = glmm_fmadd(glmm_splat_y(r0), l, v0);
-             _mm_add_ps(_mm_add_ps(_mm_mul_ps(glmm_shuff1x(r, 0), l0),
+  v1 = glmm_fmadd(glmm_splat_y(r1), l, v1);
-                                   _mm_mul_ps(glmm_shuff1x(r, 1), l1)),
+  v2 = glmm_fmadd(glmm_splat_y(r2), l, v2);
-                        _mm_add_ps(_mm_mul_ps(glmm_shuff1x(r, 2), l2),
+  v3 = glmm_fmadd(glmm_splat_y(r3), l, v3);
-                                   _mm_mul_ps(glmm_shuff1x(r, 3), l3))));
+
+  l  = glmm_load(m1[2]);
+  v0 = glmm_fmadd(glmm_splat_z(r0), l, v0);
+  v1 = glmm_fmadd(glmm_splat_z(r1), l, v1);
+  v2 = glmm_fmadd(glmm_splat_z(r2), l, v2);
+  v3 = glmm_fmadd(glmm_splat_z(r3), l, v3);
+
+  l  = glmm_load(m1[3]);
+  v0 = glmm_fmadd(glmm_splat_w(r0), l, v0);
+  v1 = glmm_fmadd(glmm_splat_w(r1), l, v1);
+  v2 = glmm_fmadd(glmm_splat_w(r2), l, v2);
+  v3 = glmm_fmadd(glmm_splat_w(r3), l, v3);
+
+  glmm_store(dest[0], v0);
+  glmm_store(dest[1], v1);
+  glmm_store(dest[2], v2);
+  glmm_store(dest[3], v3);
 }
 
 CGLM_INLINE
 void
 glm_mat4_mulv_sse2(mat4 m, vec4 v, vec4 dest) {
-  __m128 x0, x1, x2;
+  __m128 x0, x1, m0, m1, m2, m3, v0, v1, v2, v3;
+
+  m0 = glmm_load(m[0]);
+  m1 = glmm_load(m[1]);
+  m2 = glmm_load(m[2]);
+  m3 = glmm_load(m[3]);
 
   x0 = glmm_load(v);
-  x1 = _mm_add_ps(_mm_mul_ps(glmm_load(m[0]), glmm_shuff1x(x0, 0)),
+  v0 = glmm_splat_x(x0);
-                  _mm_mul_ps(glmm_load(m[1]), glmm_shuff1x(x0, 1)));
+  v1 = glmm_splat_y(x0);
+  v2 = glmm_splat_z(x0);
+  v3 = glmm_splat_w(x0);
 
-  x2 = _mm_add_ps(_mm_mul_ps(glmm_load(m[2]), glmm_shuff1x(x0, 2)),
+  x1 = _mm_mul_ps(m3, v3);
-                  _mm_mul_ps(glmm_load(m[3]), glmm_shuff1x(x0, 3)));
+  x1 = glmm_fmadd(m2, v2, x1);
+  x1 = glmm_fmadd(m1, v1, x1);
+  x1 = glmm_fmadd(m0, v0, x1);
 
-  glmm_store(dest, _mm_add_ps(x1, x2));
+  glmm_store(dest, x1);
 }
 
 CGLM_INLINE
@@ -115,20 +127,18 @@ glm_mat4_det_sse2(mat4 mat) {
    t[3] = i * p - m * l;
    t[4] = i * o - m * k;
    */
-  x0 = _mm_sub_ps(_mm_mul_ps(glmm_shuff1(r2, 0, 0, 1, 1),
+  x0 = glmm_fnmadd(glmm_shuff1(r3, 0, 0, 1, 1), glmm_shuff1(r2, 2, 3, 2, 3),
-                             glmm_shuff1(r3, 2, 3, 2, 3)),
+                   _mm_mul_ps(glmm_shuff1(r2, 0, 0, 1, 1),
-                  _mm_mul_ps(glmm_shuff1(r3, 0, 0, 1, 1),
+                              glmm_shuff1(r3, 2, 3, 2, 3)));
-                             glmm_shuff1(r2, 2, 3, 2, 3)));
   /*
    t[0] = k * p - o * l;
    t[0] = k * p - o * l;
    t[5] = i * n - m * j;
    t[5] = i * n - m * j;
    */
-  x1 = _mm_sub_ps(_mm_mul_ps(glmm_shuff1(r2, 0, 0, 2, 2),
+  x1 = glmm_fnmadd(glmm_shuff1(r3, 0, 0, 2, 2), glmm_shuff1(r2, 1, 1, 3, 3),
-                             glmm_shuff1(r3, 1, 1, 3, 3)),
+                   _mm_mul_ps(glmm_shuff1(r2, 0, 0, 2, 2),
-                  _mm_mul_ps(glmm_shuff1(r3, 0, 0, 2, 2),
+                              glmm_shuff1(r3, 1, 1, 3, 3)));
-                             glmm_shuff1(r2, 1, 1, 3, 3)));
 
   /*
      a * (f * t[0] - g * t[1] + h * t[2])
@@ -136,21 +146,16 @@ glm_mat4_det_sse2(mat4 mat) {
    + c * (e * t[1] - f * t[3] + h * t[5])
    - d * (e * t[2] - f * t[4] + g * t[5])
    */
-  x2 = _mm_sub_ps(_mm_mul_ps(glmm_shuff1(r1, 0, 0, 0, 1),
+  x2 = glmm_fnmadd(glmm_shuff1(r1, 1, 1, 2, 2), glmm_shuff1(x0, 3, 2, 2, 0),
-                             _mm_shuffle_ps(x1, x0, _MM_SHUFFLE(1, 0, 0, 0))),
+                   _mm_mul_ps(glmm_shuff1(r1, 0, 0, 0, 1),
-                  _mm_mul_ps(glmm_shuff1(r1, 1, 1, 2, 2),
+                              _mm_shuffle_ps(x1, x0, _MM_SHUFFLE(1, 0, 0, 0))));
-                             glmm_shuff1(x0, 3, 2, 2, 0)));
+  x2 = glmm_fmadd(glmm_shuff1(r1, 2, 3, 3, 3),
+                  _mm_shuffle_ps(x0, x1, _MM_SHUFFLE(2, 2, 3, 1)),
+                  x2);
   
-  x2 = _mm_add_ps(x2,
-                  _mm_mul_ps(glmm_shuff1(r1, 2, 3, 3, 3),
-                             _mm_shuffle_ps(x0, x1, _MM_SHUFFLE(2, 2, 3, 1))));
   x2 = _mm_xor_ps(x2, _mm_set_ps(-0.f, 0.f, -0.f, 0.f));
   
-  x0 = _mm_mul_ps(r0, x2);
+  return glmm_hadd(_mm_mul_ps(x2, r0));
-  x0 = _mm_add_ps(x0, glmm_shuff1(x0, 0, 1, 2, 3));
-  x0 = _mm_add_ps(x0, glmm_shuff1(x0, 1, 3, 3, 1));
-
-  return _mm_cvtss_f32(x0);
 }
 
 CGLM_INLINE
@@ -159,7 +164,10 @@ glm_mat4_inv_fast_sse2(mat4 mat, mat4 dest) {
   __m128 r0, r1, r2, r3,
          v0, v1, v2, v3,
          t0, t1, t2, t3, t4, t5,
-         x0, x1, x2, x3, x4, x5, x6, x7;
+         x0, x1, x2, x3, x4, x5, x6, x7, x8, x9;
+
+  x8 = _mm_set_ps(-0.f, 0.f, -0.f, 0.f);
+  x9 = glmm_shuff1(x8, 2, 1, 2, 1);
 
   /* 127 <- 0 */
   r0 = glmm_load(mat[0]); /* d c b a */
@@ -167,109 +175,118 @@ glm_mat4_inv_fast_sse2(mat4 mat, mat4 dest) {
   r2 = glmm_load(mat[2]); /* l k j i */
   r3 = glmm_load(mat[3]); /* p o n m */
   
-  x0 = _mm_shuffle_ps(r2, r3, _MM_SHUFFLE(3, 2, 3, 2));  /* p o l k */
+  x0 = _mm_movehl_ps(r3, r2);                            /* p o l k */
+  x3 = _mm_movelh_ps(r2, r3);                            /* n m j i */
   x1 = glmm_shuff1(x0, 1, 3, 3 ,3);                      /* l p p p */
   x2 = glmm_shuff1(x0, 0, 2, 2, 2);                      /* k o o o */
-  x0 = _mm_shuffle_ps(r2, r1, _MM_SHUFFLE(3, 3, 3, 3));  /* h h l l */
+  x4 = glmm_shuff1(x3, 1, 3, 3, 3);                      /* j n n n */
+  x7 = glmm_shuff1(x3, 0, 2, 2, 2);                      /* i m m m */
+
+  x6 = _mm_shuffle_ps(r2, r1, _MM_SHUFFLE(0, 0, 0, 0));  /* e e i i */
+  x5 = _mm_shuffle_ps(r2, r1, _MM_SHUFFLE(1, 1, 1, 1));  /* f f j j */
   x3 = _mm_shuffle_ps(r2, r1, _MM_SHUFFLE(2, 2, 2, 2));  /* g g k k */
+  x0 = _mm_shuffle_ps(r2, r1, _MM_SHUFFLE(3, 3, 3, 3));  /* h h l l */
+  
+  t0 = _mm_mul_ps(x3, x1);
+  t1 = _mm_mul_ps(x5, x1);
+  t2 = _mm_mul_ps(x5, x2);
+  t3 = _mm_mul_ps(x6, x1);
+  t4 = _mm_mul_ps(x6, x2);
+  t5 = _mm_mul_ps(x6, x4);
   
   /* t1[0] = k * p - o * l;
      t1[0] = k * p - o * l;
      t2[0] = g * p - o * h;
      t3[0] = g * l - k * h; */
-  t0 = _mm_sub_ps(_mm_mul_ps(x3, x1), _mm_mul_ps(x2, x0));
+  t0 = glmm_fnmadd(x2, x0, t0);
-
-  x4 = _mm_shuffle_ps(r2, r3, _MM_SHUFFLE(2, 1, 2, 1)); /* o n k j */
-  x4 = glmm_shuff1(x4, 0, 2, 2, 2);                     /* j n n n */
-  x5 = _mm_shuffle_ps(r2, r1, _MM_SHUFFLE(1, 1, 1, 1)); /* f f j j */
   
   /* t1[1] = j * p - n * l;
      t1[1] = j * p - n * l;
      t2[1] = f * p - n * h;
      t3[1] = f * l - j * h; */
-  t1 = _mm_sub_ps(_mm_mul_ps(x5, x1), _mm_mul_ps(x4, x0));
+   t1 = glmm_fnmadd(x4, x0, t1);
   
   /* t1[2] = j * o - n * k
      t1[2] = j * o - n * k;
      t2[2] = f * o - n * g;
      t3[2] = f * k - j * g; */
-  t2 = _mm_sub_ps(_mm_mul_ps(x5, x2), _mm_mul_ps(x4, x3));
+  t2 = glmm_fnmadd(x4, x3, t2);
-
-  x6 = _mm_shuffle_ps(r2, r1, _MM_SHUFFLE(0, 0, 0, 0)); /* e e i i */
-  x7 = glmm_shuff2(r3, r2, 0, 0, 0, 0, 2, 0, 0, 0);     /* i m m m */
   
   /* t1[3] = i * p - m * l;
      t1[3] = i * p - m * l;
      t2[3] = e * p - m * h;
      t3[3] = e * l - i * h; */
-  t3 = _mm_sub_ps(_mm_mul_ps(x6, x1), _mm_mul_ps(x7, x0));
+  t3 = glmm_fnmadd(x7, x0, t3);
   
   /* t1[4] = i * o - m * k;
      t1[4] = i * o - m * k;
      t2[4] = e * o - m * g;
      t3[4] = e * k - i * g; */
-  t4 = _mm_sub_ps(_mm_mul_ps(x6, x2), _mm_mul_ps(x7, x3));
+  t4 = glmm_fnmadd(x7, x3, t4);
   
   /* t1[5] = i * n - m * j;
      t1[5] = i * n - m * j;
      t2[5] = e * n - m * f;
      t3[5] = e * j - i * f; */
-  t5 = _mm_sub_ps(_mm_mul_ps(x6, x4), _mm_mul_ps(x7, x5));
+  t5 = glmm_fnmadd(x7, x5, t5);
   
-  x0 = glmm_shuff2(r1, r0, 0, 0, 0, 0, 2, 2, 2, 0); /* a a a e */
+  x4 = _mm_movelh_ps(r0, r1);        /* f e b a */
-  x1 = glmm_shuff2(r1, r0, 1, 1, 1, 1, 2, 2, 2, 0); /* b b b f */
+  x5 = _mm_movehl_ps(r1, r0);        /* h g d c */
-  x2 = glmm_shuff2(r1, r0, 2, 2, 2, 2, 2, 2, 2, 0); /* c c c g */
+  
-  x3 = glmm_shuff2(r1, r0, 3, 3, 3, 3, 2, 2, 2, 0); /* d d d h */
+  x0 = glmm_shuff1(x4, 0, 0, 0, 2);  /* a a a e */
+  x1 = glmm_shuff1(x4, 1, 1, 1, 3);  /* b b b f */
+  x2 = glmm_shuff1(x5, 0, 0, 0, 2);  /* c c c g */
+  x3 = glmm_shuff1(x5, 1, 1, 1, 3);  /* d d d h */
+  
+  v2 = _mm_mul_ps(x0, t1);
+  v1 = _mm_mul_ps(x0, t0);
+  v3 = _mm_mul_ps(x0, t2);
+  v0 = _mm_mul_ps(x1, t0);
+  
+  v2 = glmm_fnmadd(x1, t3, v2);
+  v3 = glmm_fnmadd(x1, t4, v3);
+  v0 = glmm_fnmadd(x2, t1, v0);
+  v1 = glmm_fnmadd(x2, t3, v1);
+  
+  v3 = glmm_fmadd(x2, t5, v3);
+  v0 = glmm_fmadd(x3, t2, v0);
+  v2 = glmm_fmadd(x3, t5, v2);
+  v1 = glmm_fmadd(x3, t4, v1);
 
   /*
    dest[0][0] =  f * t1[0] - g * t1[1] + h * t1[2];
    dest[0][1] =-(b * t1[0] - c * t1[1] + d * t1[2]);
    dest[0][2] =  b * t2[0] - c * t2[1] + d * t2[2];
    dest[0][3] =-(b * t3[0] - c * t3[1] + d * t3[2]); */
-  v0 = _mm_add_ps(_mm_mul_ps(x3, t2),
+  v0 = _mm_xor_ps(v0, x8);
-                  _mm_sub_ps(_mm_mul_ps(x1, t0),
-                             _mm_mul_ps(x2, t1)));
-  v0 = _mm_xor_ps(v0, _mm_set_ps(-0.f, 0.f, -0.f, 0.f));
-
-  /*
-   dest[1][0] =-(e * t1[0] - g * t1[3] + h * t1[4]);
-   dest[1][1] =  a * t1[0] - c * t1[3] + d * t1[4];
-   dest[1][2] =-(a * t2[0] - c * t2[3] + d * t2[4]);
-   dest[1][3] =  a * t3[0] - c * t3[3] + d * t3[4]; */
-  v1 = _mm_add_ps(_mm_mul_ps(x3, t4),
-                  _mm_sub_ps(_mm_mul_ps(x0, t0),
-                             _mm_mul_ps(x2, t3)));
-  v1 = _mm_xor_ps(v1, _mm_set_ps(0.f, -0.f, 0.f, -0.f));
   
   /*
    dest[2][0] =  e * t1[1] - f * t1[3] + h * t1[5];
    dest[2][1] =-(a * t1[1] - b * t1[3] + d * t1[5]);
    dest[2][2] =  a * t2[1] - b * t2[3] + d * t2[5];
    dest[2][3] =-(a * t3[1] - b * t3[3] + d * t3[5]);*/
-  v2 = _mm_add_ps(_mm_mul_ps(x3, t5),
+  v2 = _mm_xor_ps(v2, x8);
-                  _mm_sub_ps(_mm_mul_ps(x0, t1),
+
-                             _mm_mul_ps(x1, t3)));
+  /*
-  v2 = _mm_xor_ps(v2, _mm_set_ps(-0.f, 0.f, -0.f, 0.f));
+   dest[1][0] =-(e * t1[0] - g * t1[3] + h * t1[4]);
+   dest[1][1] =  a * t1[0] - c * t1[3] + d * t1[4];
+   dest[1][2] =-(a * t2[0] - c * t2[3] + d * t2[4]);
+   dest[1][3] =  a * t3[0] - c * t3[3] + d * t3[4]; */
+  v1 = _mm_xor_ps(v1, x9);
 
   /*
    dest[3][0] =-(e * t1[2] - f * t1[4] + g * t1[5]);
    dest[3][1] =  a * t1[2] - b * t1[4] + c * t1[5];
    dest[3][2] =-(a * t2[2] - b * t2[4] + c * t2[5]);
    dest[3][3] =  a * t3[2] - b * t3[4] + c * t3[5]; */
-  v3 = _mm_add_ps(_mm_mul_ps(x2, t5),
+  v3 = _mm_xor_ps(v3, x9);
-                  _mm_sub_ps(_mm_mul_ps(x0, t2),
-                             _mm_mul_ps(x1, t4)));
-  v3 = _mm_xor_ps(v3, _mm_set_ps(0.f, -0.f, 0.f, -0.f));
 
   /* determinant */
   x0 = _mm_shuffle_ps(v0, v1, _MM_SHUFFLE(0, 0, 0, 0));
   x1 = _mm_shuffle_ps(v2, v3, _MM_SHUFFLE(0, 0, 0, 0));
   x0 = _mm_shuffle_ps(x0, x1, _MM_SHUFFLE(2, 0, 2, 0));
 
-  x0 = _mm_mul_ps(x0, r0);
+  x0 = _mm_rcp_ps(glmm_vhadd(_mm_mul_ps(x0, r0)));
-  x0 = _mm_add_ps(x0, glmm_shuff1(x0, 0, 1, 2, 3));
-  x0 = _mm_add_ps(x0, glmm_shuff1(x0, 1, 0, 0, 1));
-  x0 = _mm_rcp_ps(x0);
 
   glmm_store(dest[0], _mm_mul_ps(v0, x0));
   glmm_store(dest[1], _mm_mul_ps(v1, x0));
@@ -283,7 +300,10 @@ glm_mat4_inv_sse2(mat4 mat, mat4 dest) {
   __m128 r0, r1, r2, r3,
          v0, v1, v2, v3,
          t0, t1, t2, t3, t4, t5,
-         x0, x1, x2, x3, x4, x5, x6, x7;
+         x0, x1, x2, x3, x4, x5, x6, x7, x8, x9;
+
+  x8 = _mm_set_ps(-0.f, 0.f, -0.f, 0.f);
+  x9 = glmm_shuff1(x8, 2, 1, 2, 1);
 
   /* 127 <- 0 */
   r0 = glmm_load(mat[0]); /* d c b a */
@@ -291,109 +311,118 @@ glm_mat4_inv_sse2(mat4 mat, mat4 dest) {
   r2 = glmm_load(mat[2]); /* l k j i */
   r3 = glmm_load(mat[3]); /* p o n m */
   
-  x0 = _mm_shuffle_ps(r2, r3, _MM_SHUFFLE(3, 2, 3, 2));  /* p o l k */
+  x0 = _mm_movehl_ps(r3, r2);                            /* p o l k */
+  x3 = _mm_movelh_ps(r2, r3);                            /* n m j i */
   x1 = glmm_shuff1(x0, 1, 3, 3 ,3);                      /* l p p p */
   x2 = glmm_shuff1(x0, 0, 2, 2, 2);                      /* k o o o */
-  x0 = _mm_shuffle_ps(r2, r1, _MM_SHUFFLE(3, 3, 3, 3));  /* h h l l */
+  x4 = glmm_shuff1(x3, 1, 3, 3, 3);                      /* j n n n */
+  x7 = glmm_shuff1(x3, 0, 2, 2, 2);                      /* i m m m */
+
+  x6 = _mm_shuffle_ps(r2, r1, _MM_SHUFFLE(0, 0, 0, 0));  /* e e i i */
+  x5 = _mm_shuffle_ps(r2, r1, _MM_SHUFFLE(1, 1, 1, 1));  /* f f j j */
   x3 = _mm_shuffle_ps(r2, r1, _MM_SHUFFLE(2, 2, 2, 2));  /* g g k k */
+  x0 = _mm_shuffle_ps(r2, r1, _MM_SHUFFLE(3, 3, 3, 3));  /* h h l l */
+  
+  t0 = _mm_mul_ps(x3, x1);
+  t1 = _mm_mul_ps(x5, x1);
+  t2 = _mm_mul_ps(x5, x2);
+  t3 = _mm_mul_ps(x6, x1);
+  t4 = _mm_mul_ps(x6, x2);
+  t5 = _mm_mul_ps(x6, x4);
   
   /* t1[0] = k * p - o * l;
      t1[0] = k * p - o * l;
      t2[0] = g * p - o * h;
      t3[0] = g * l - k * h; */
-  t0 = _mm_sub_ps(_mm_mul_ps(x3, x1), _mm_mul_ps(x2, x0));
+  t0 = glmm_fnmadd(x2, x0, t0);
-
-  x4 = _mm_shuffle_ps(r2, r3, _MM_SHUFFLE(2, 1, 2, 1)); /* o n k j */
-  x4 = glmm_shuff1(x4, 0, 2, 2, 2);                     /* j n n n */
-  x5 = _mm_shuffle_ps(r2, r1, _MM_SHUFFLE(1, 1, 1, 1)); /* f f j j */
   
   /* t1[1] = j * p - n * l;
      t1[1] = j * p - n * l;
      t2[1] = f * p - n * h;
      t3[1] = f * l - j * h; */
-  t1 = _mm_sub_ps(_mm_mul_ps(x5, x1), _mm_mul_ps(x4, x0));
+   t1 = glmm_fnmadd(x4, x0, t1);
   
   /* t1[2] = j * o - n * k
      t1[2] = j * o - n * k;
      t2[2] = f * o - n * g;
      t3[2] = f * k - j * g; */
-  t2 = _mm_sub_ps(_mm_mul_ps(x5, x2), _mm_mul_ps(x4, x3));
+  t2 = glmm_fnmadd(x4, x3, t2);
-
-  x6 = _mm_shuffle_ps(r2, r1, _MM_SHUFFLE(0, 0, 0, 0)); /* e e i i */
-  x7 = glmm_shuff2(r3, r2, 0, 0, 0, 0, 2, 0, 0, 0);     /* i m m m */
   
   /* t1[3] = i * p - m * l;
      t1[3] = i * p - m * l;
      t2[3] = e * p - m * h;
      t3[3] = e * l - i * h; */
-  t3 = _mm_sub_ps(_mm_mul_ps(x6, x1), _mm_mul_ps(x7, x0));
+  t3 = glmm_fnmadd(x7, x0, t3);
   
   /* t1[4] = i * o - m * k;
      t1[4] = i * o - m * k;
      t2[4] = e * o - m * g;
      t3[4] = e * k - i * g; */
-  t4 = _mm_sub_ps(_mm_mul_ps(x6, x2), _mm_mul_ps(x7, x3));
+  t4 = glmm_fnmadd(x7, x3, t4);
   
   /* t1[5] = i * n - m * j;
      t1[5] = i * n - m * j;
      t2[5] = e * n - m * f;
      t3[5] = e * j - i * f; */
-  t5 = _mm_sub_ps(_mm_mul_ps(x6, x4), _mm_mul_ps(x7, x5));
+  t5 = glmm_fnmadd(x7, x5, t5);
   
-  x0 = glmm_shuff2(r1, r0, 0, 0, 0, 0, 2, 2, 2, 0); /* a a a e */
+  x4 = _mm_movelh_ps(r0, r1);        /* f e b a */
-  x1 = glmm_shuff2(r1, r0, 1, 1, 1, 1, 2, 2, 2, 0); /* b b b f */
+  x5 = _mm_movehl_ps(r1, r0);        /* h g d c */
-  x2 = glmm_shuff2(r1, r0, 2, 2, 2, 2, 2, 2, 2, 0); /* c c c g */
+  
-  x3 = glmm_shuff2(r1, r0, 3, 3, 3, 3, 2, 2, 2, 0); /* d d d h */
+  x0 = glmm_shuff1(x4, 0, 0, 0, 2);  /* a a a e */
+  x1 = glmm_shuff1(x4, 1, 1, 1, 3);  /* b b b f */
+  x2 = glmm_shuff1(x5, 0, 0, 0, 2);  /* c c c g */
+  x3 = glmm_shuff1(x5, 1, 1, 1, 3);  /* d d d h */
+  
+  v2 = _mm_mul_ps(x0, t1);
+  v1 = _mm_mul_ps(x0, t0);
+  v3 = _mm_mul_ps(x0, t2);
+  v0 = _mm_mul_ps(x1, t0);
+  
+  v2 = glmm_fnmadd(x1, t3, v2);
+  v3 = glmm_fnmadd(x1, t4, v3);
+  v0 = glmm_fnmadd(x2, t1, v0);
+  v1 = glmm_fnmadd(x2, t3, v1);
+  
+  v3 = glmm_fmadd(x2, t5, v3);
+  v0 = glmm_fmadd(x3, t2, v0);
+  v2 = glmm_fmadd(x3, t5, v2);
+  v1 = glmm_fmadd(x3, t4, v1);
 
   /*
    dest[0][0] =  f * t1[0] - g * t1[1] + h * t1[2];
    dest[0][1] =-(b * t1[0] - c * t1[1] + d * t1[2]);
    dest[0][2] =  b * t2[0] - c * t2[1] + d * t2[2];
    dest[0][3] =-(b * t3[0] - c * t3[1] + d * t3[2]); */
-  v0 = _mm_add_ps(_mm_mul_ps(x3, t2),
+  v0 = _mm_xor_ps(v0, x8);
-                  _mm_sub_ps(_mm_mul_ps(x1, t0),
-                             _mm_mul_ps(x2, t1)));
-  v0 = _mm_xor_ps(v0, _mm_set_ps(-0.f, 0.f, -0.f, 0.f));
-
-  /*
-   dest[1][0] =-(e * t1[0] - g * t1[3] + h * t1[4]);
-   dest[1][1] =  a * t1[0] - c * t1[3] + d * t1[4];
-   dest[1][2] =-(a * t2[0] - c * t2[3] + d * t2[4]);
-   dest[1][3] =  a * t3[0] - c * t3[3] + d * t3[4]; */
-  v1 = _mm_add_ps(_mm_mul_ps(x3, t4),
-                  _mm_sub_ps(_mm_mul_ps(x0, t0),
-                             _mm_mul_ps(x2, t3)));
-  v1 = _mm_xor_ps(v1, _mm_set_ps(0.f, -0.f, 0.f, -0.f));
   
   /*
    dest[2][0] =  e * t1[1] - f * t1[3] + h * t1[5];
    dest[2][1] =-(a * t1[1] - b * t1[3] + d * t1[5]);
    dest[2][2] =  a * t2[1] - b * t2[3] + d * t2[5];
    dest[2][3] =-(a * t3[1] - b * t3[3] + d * t3[5]);*/
-  v2 = _mm_add_ps(_mm_mul_ps(x3, t5),
+  v2 = _mm_xor_ps(v2, x8);
-                  _mm_sub_ps(_mm_mul_ps(x0, t1),
+
-                             _mm_mul_ps(x1, t3)));
+  /*
-  v2 = _mm_xor_ps(v2, _mm_set_ps(-0.f, 0.f, -0.f, 0.f));
+   dest[1][0] =-(e * t1[0] - g * t1[3] + h * t1[4]);
+   dest[1][1] =  a * t1[0] - c * t1[3] + d * t1[4];
+   dest[1][2] =-(a * t2[0] - c * t2[3] + d * t2[4]);
+   dest[1][3] =  a * t3[0] - c * t3[3] + d * t3[4]; */
+  v1 = _mm_xor_ps(v1, x9);
 
   /*
    dest[3][0] =-(e * t1[2] - f * t1[4] + g * t1[5]);
    dest[3][1] =  a * t1[2] - b * t1[4] + c * t1[5];
    dest[3][2] =-(a * t2[2] - b * t2[4] + c * t2[5]);
    dest[3][3] =  a * t3[2] - b * t3[4] + c * t3[5]; */
-  v3 = _mm_add_ps(_mm_mul_ps(x2, t5),
+  v3 = _mm_xor_ps(v3, x9);
-                  _mm_sub_ps(_mm_mul_ps(x0, t2),
-                             _mm_mul_ps(x1, t4)));
-  v3 = _mm_xor_ps(v3, _mm_set_ps(0.f, -0.f, 0.f, -0.f));
 
   /* determinant */
   x0 = _mm_shuffle_ps(v0, v1, _MM_SHUFFLE(0, 0, 0, 0));
   x1 = _mm_shuffle_ps(v2, v3, _MM_SHUFFLE(0, 0, 0, 0));
   x0 = _mm_shuffle_ps(x0, x1, _MM_SHUFFLE(2, 0, 2, 0));
 
-  x0 = _mm_mul_ps(x0, r0);
+  x0 = _mm_div_ps(_mm_set1_ps(1.0f), glmm_vhadd(_mm_mul_ps(x0, r0)));
-  x0 = _mm_add_ps(x0, glmm_shuff1(x0, 0, 1, 2, 3));
-  x0 = _mm_add_ps(x0, glmm_shuff1(x0, 1, 0, 0, 1));
-  x0 = _mm_div_ps(_mm_set1_ps(1.0f), x0);
 
   glmm_store(dest[0], _mm_mul_ps(v0, x0));
   glmm_store(dest[1], _mm_mul_ps(v1, x0));

include/cglm/simd/sse2/quat.h

@@ -22,25 +22,33 @@ glm_quat_mul_sse2(versor p, versor q, versor dest) {
      a1 a2 − b1 b2 − c1 c2 − d1 d2
    */
 
-  __m128 xp, xq, x0, r;
+  __m128 xp, xq, x1, x2, x3, r, x, y, z;
 
   xp = glmm_load(p); /* 3 2 1 0 */
   xq = glmm_load(q);
+  x1 = _mm_set_ps(-0.f, 0.f, -0.f, 0.f); /* TODO: _mm_set1_ss() + shuff ? */
+  r  = _mm_mul_ps(glmm_splat_w(xp), xq);
   
-  r  = _mm_mul_ps(glmm_shuff1x(xp, 3), xq);
+  x2 = _mm_unpackhi_ps(x1, x1);
+  x3 = glmm_shuff1(x1, 3, 2, 0, 1);
+  x  = glmm_splat_x(xp);
+  y  = glmm_splat_y(xp);
+  z  = glmm_splat_z(xp);
 
-  x0 = _mm_xor_ps(glmm_shuff1x(xp, 0), _mm_set_ps(-0.f, 0.f, -0.f, 0.f));
+  x  = _mm_xor_ps(x, x1);
-  r  = _mm_add_ps(r, _mm_mul_ps(x0, glmm_shuff1(xq, 0, 1, 2, 3)));
+  y  = _mm_xor_ps(y, x2);
+  z  = _mm_xor_ps(z, x3);
   
-  x0 = _mm_xor_ps(glmm_shuff1x(xp, 1), _mm_set_ps(-0.f, -0.f, 0.f, 0.f));
+  x1 = glmm_shuff1(xq, 0, 1, 2, 3);
-  r  = _mm_add_ps(r, _mm_mul_ps(x0, glmm_shuff1(xq, 1, 0, 3, 2)));
+  x2 = glmm_shuff1(xq, 1, 0, 3, 2);
+  x3 = glmm_shuff1(xq, 2, 3, 0, 1);
   
-  x0 = _mm_xor_ps(glmm_shuff1x(xp, 2), _mm_set_ps(-0.f, 0.f, 0.f, -0.f));
+  r  = glmm_fmadd(x, x1, r);
-  r  = _mm_add_ps(r, _mm_mul_ps(x0, glmm_shuff1(xq, 2, 3, 0, 1)));
+  r  = glmm_fmadd(y, x2, r);
+  r  = glmm_fmadd(z, x3, r);
 
   glmm_store(dest, r);
 }
 
-
 #endif
 #endif /* cglm_quat_simd_h */

include/cglm/simd/x86.h

@@ -18,6 +18,9 @@
 #  define glmm_store(p, a)  _mm_store_ps(p, a)
 #endif
 
+#define glmm_set1(x) _mm_set1_ps(x)
+#define glmm_128     __m128
+
 #ifdef CGLM_USE_INT_DOMAIN
 #  define glmm_shuff1(xmm, z, y, x, w)                                        \
      _mm_castsi128_ps(_mm_shuffle_epi32(_mm_castps_si128(xmm),                \
@@ -27,7 +30,16 @@
        _mm_shuffle_ps(xmm, xmm, _MM_SHUFFLE(z, y, x, w))
 #endif
 
+#define glmm_splat(x, lane) glmm_shuff1(x, lane, lane, lane, lane)
+
+#define glmm_splat_x(x) glmm_splat(x, 0)
+#define glmm_splat_y(x) glmm_splat(x, 1)
+#define glmm_splat_z(x) glmm_splat(x, 2)
+#define glmm_splat_w(x) glmm_splat(x, 3)
+
+/* glmm_shuff1x() is DEPRECATED!, use glmm_splat() */
 #define glmm_shuff1x(xmm, x) glmm_shuff1(xmm, x, x, x, x)
+
 #define glmm_shuff2(a, b, z0, y0, x0, w0, z1, y1, x1, w1)                     \
      glmm_shuff1(_mm_shuffle_ps(a, b, _MM_SHUFFLE(z0, y0, x0, w0)),           \
                  z1, y1, x1, w1)
@@ -48,6 +60,15 @@ glmm_abs(__m128 x) {
   return _mm_andnot_ps(_mm_set1_ps(-0.0f), x);
 }
 
+static inline
+__m128
+glmm_vhadd(__m128 v) {
+  __m128 x0;
+  x0 = _mm_add_ps(v,  glmm_shuff1(v, 0, 1, 2, 3));
+  x0 = _mm_add_ps(x0, glmm_shuff1(x0, 1, 0, 0, 1));
+  return x0;
+}
+
 static inline
 __m128
 glmm_vhadds(__m128 v) {
@@ -80,7 +101,7 @@ glmm_vhmin(__m128 v) {
   __m128 x0, x1, x2;
   x0 = _mm_movehl_ps(v, v);     /* [2, 3, 2, 3] */
   x1 = _mm_min_ps(x0, v);       /* [0|2, 1|3, 2|2, 3|3] */
-  x2 = glmm_shuff1x(x1, 1);     /* [1|3, 1|3, 1|3, 1|3] */
+  x2 = glmm_splat(x1, 1);       /* [1|3, 1|3, 1|3, 1|3] */
   return _mm_min_ss(x1, x2);
 }
 
@@ -96,7 +117,7 @@ glmm_vhmax(__m128 v) {
   __m128 x0, x1, x2;
   x0 = _mm_movehl_ps(v, v);     /* [2, 3, 2, 3] */
   x1 = _mm_max_ps(x0, v);       /* [0|2, 1|3, 2|2, 3|3] */
-  x2 = glmm_shuff1x(x1, 1);     /* [1|3, 1|3, 1|3, 1|3] */
+  x2 = glmm_splat(x1, 1);       /* [1|3, 1|3, 1|3, 1|3] */
   return _mm_max_ss(x1, x2);
 }
 
@@ -175,7 +196,7 @@ glmm_load3(float v[3]) {
   __m128i xy;
   __m128  z;
 
-  xy = _mm_loadl_epi64((const __m128i *)v);
+  xy = _mm_loadl_epi64(CGLM_CASTPTR_ASSUME_ALIGNED(v, const __m128i));
   z  = _mm_load_ss(&v[2]);
 
   return _mm_movelh_ps(_mm_castsi128_ps(xy), z);
@@ -184,9 +205,103 @@ glmm_load3(float v[3]) {
 static inline
 void
 glmm_store3(float v[3], __m128 vx) {
-  _mm_storel_pi((__m64 *)&v[0], vx);
+  _mm_storel_pi(CGLM_CASTPTR_ASSUME_ALIGNED(v, __m64), vx);
   _mm_store_ss(&v[2], glmm_shuff1(vx, 2, 2, 2, 2));
 }
 
+static inline
+__m128
+glmm_div(__m128 a, __m128 b) {
+  return _mm_div_ps(a, b);
+}
+
+/* enable FMA macro for MSVC? */
+#if defined(_MSC_VER) && !defined(__FMA__) && defined(__AVX2__)
+#  define __FMA__ 1
+#endif
+
+static inline
+__m128
+glmm_fmadd(__m128 a, __m128 b, __m128 c) {
+#ifdef __FMA__
+  return _mm_fmadd_ps(a, b, c);
+#else
+  return _mm_add_ps(c, _mm_mul_ps(a, b));
+#endif
+}
+
+static inline
+__m128
+glmm_fnmadd(__m128 a, __m128 b, __m128 c) {
+#ifdef __FMA__
+  return _mm_fnmadd_ps(a, b, c);
+#else
+  return _mm_sub_ps(c, _mm_mul_ps(a, b));
+#endif
+}
+
+static inline
+__m128
+glmm_fmsub(__m128 a, __m128 b, __m128 c) {
+#ifdef __FMA__
+  return _mm_fmsub_ps(a, b, c);
+#else
+  return _mm_sub_ps(_mm_mul_ps(a, b), c);
+#endif
+}
+
+static inline
+__m128
+glmm_fnmsub(__m128 a, __m128 b, __m128 c) {
+#ifdef __FMA__
+  return _mm_fnmsub_ps(a, b, c);
+#else
+  return _mm_xor_ps(_mm_add_ps(_mm_mul_ps(a, b), c), _mm_set1_ps(-0.0f));
+#endif
+}
+
+#if defined(__AVX__)
+static inline
+__m256
+glmm256_fmadd(__m256 a, __m256 b, __m256 c) {
+#ifdef __FMA__
+  return _mm256_fmadd_ps(a, b, c);
+#else
+  return _mm256_add_ps(c, _mm256_mul_ps(a, b));
+#endif
+}
+
+static inline
+__m256
+glmm256_fnmadd(__m256 a, __m256 b, __m256 c) {
+#ifdef __FMA__
+  return _mm256_fnmadd_ps(a, b, c);
+#else
+  return _mm256_sub_ps(c, _mm256_mul_ps(a, b));
+#endif
+}
+
+static inline
+__m256
+glmm256_fmsub(__m256 a, __m256 b, __m256 c) {
+#ifdef __FMA__
+  return _mm256_fmsub_ps(a, b, c);
+#else
+  return _mm256_sub_ps(_mm256_mul_ps(a, b), c);
+#endif
+}
+
+static inline
+__m256
+glmm256_fnmsub(__m256 a, __m256 b, __m256 c) {
+#ifdef __FMA__
+  return _mm256_fmsub_ps(a, b, c);
+#else
+  return _mm256_xor_ps(_mm256_sub_ps(_mm256_mul_ps(a, b), c),
+                       _mm256_set1_ps(-0.0f));
+#endif
+}
+#endif
+
 #endif
 #endif /* cglm_simd_x86_h */

include/cglm/struct.h

@@ -31,6 +31,7 @@ extern "C" {
 #include "struct/project.h"
 #include "struct/sphere.h"
 #include "struct/curve.h"
+#include "struct/affine2d.h"
 
 #ifdef __cplusplus
 }

include/cglm/struct/affine.h

@@ -39,10 +39,6 @@
 #include "vec4.h"
 #include "mat4.h"
 
-CGLM_INLINE
-mat4s
-glms_mat4_mul(mat4s m1, mat4s m2);
-
 /*!
  * @brief translate existing transform matrix by v vector
  *        and stores result in same matrix

include/cglm/struct/affine2d.h

@@ -0,0 +1,177 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), http://opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+/*
+ Functions:
+   CGLM_INLINE mat3s glms_translate2d(mat3 m, vec2 v)
+   CGLM_INLINE mat3s glms_translate2d_x(mat3s m, float x)
+   CGLM_INLINE mat3s glms_translate2d_y(mat3s m, float y)
+   CGLM_INLINE mat3s glms_translate2d_make(vec2s v)
+   CGLM_INLINE mat3s glms_scale2d_make(vec2s v)
+   CGLM_INLINE mat3s glms_scale2d(mat3s m, vec2s v)
+   CGLM_INLINE mat3s glms_scale2d_uni(mat3s m, float s)
+   CGLM_INLINE mat3s glms_rotate2d_make(float angle)
+   CGLM_INLINE mat3s glms_rotate2d(mat3s m, float angle)
+   CGLM_INLINE mat3s glms_rotate2d_to(mat3s m, float angle)
+ */
+
+#ifndef cglms_affine2ds_h
+#define cglms_affine2ds_h
+
+#include "../common.h"
+#include "../types-struct.h"
+#include "../affine2d.h"
+#include "vec3.h"
+#include "mat3.h"
+
+/*!
+ * @brief translate existing 2d transform matrix by v vector
+ *        and stores result in same matrix
+ *
+ * @param[in] m  affine transfrom
+ * @param[in] v  translate vector [x, y]
+ * @returns      affine transfrom
+ */
+CGLM_INLINE
+mat3s
+glms_translate2d(mat3s m, vec2s v) {
+  glm_translate2d(m.raw, v.raw);
+  return m;
+}
+
+/*!
+ * @brief translate existing 2d transform matrix by x factor
+ *
+ * @param[in] m  affine transfrom
+ * @param[in] x  x factor
+ * @returns      affine transfrom
+ */
+CGLM_INLINE
+mat3s
+glms_translate2d_x(mat3s m, float x) {
+  glm_translate2d_x(m.raw, x);
+  return m;
+}
+
+/*!
+ * @brief translate existing 2d transform matrix by y factor
+ *
+ * @param[in] m  affine transfrom
+ * @param[in] y  y factor
+ * @returns      affine transfrom
+ */
+CGLM_INLINE
+mat3s
+glms_translate2d_y(mat3s m, float y) {
+  glm_translate2d_y(m.raw, y);
+  return m;
+}
+
+/*!
+ * @brief creates NEW translate 2d transform matrix by v vector
+ *
+ * @param[in] v  translate vector [x, y]
+ * @returns      affine transfrom
+ */
+CGLM_INLINE
+mat3s
+glms_translate2d_make(vec2s v) {
+  mat3s m;
+  glm_translate2d_make(m.raw, v.raw);
+  return m;
+}
+
+/*!
+ * @brief creates NEW 2d scale matrix by v vector
+ *
+ * @param[in]   v  scale vector [x, y]
+ * @returns affine transfrom
+ */
+CGLM_INLINE
+mat3s
+glms_scale2d_make(vec2s v) {
+  mat3s m;
+  glm_scale2d_make(m.raw, v.raw);
+  return m;
+}
+
+/*!
+ * @brief scales existing 2d transform matrix by v vector
+ *        and stores result in same matrix
+ *
+ * @param[in]  m  affine transfrom
+ * @param[in]  v  scale vector [x, y, z]
+ * @returns       affine transfrom
+ */
+CGLM_INLINE
+mat3s
+glms_scale2d(mat3s m, vec2s v) {
+  mat3s r;
+  glm_scale2d_to(m.raw, v.raw, r.raw);
+  return r;
+}
+
+/*!
+ * @brief applies uniform scale to existing 2d transform matrix v = [s, s, s]
+ *        and stores result in same matrix
+ *
+ * @param[in] m  affine transfrom
+ * @param[in] s  scale factor
+ * @returns      affine transfrom
+ */
+CGLM_INLINE
+mat3s
+glms_scale2d_uni(mat3s m, float s) {
+  glm_scale2d_uni(m.raw, s);
+  return m;
+}
+
+/*!
+ * @brief creates NEW 2d rotation matrix by angle and axis
+ *
+ * axis will be normalized so you don't need to normalize it
+ *
+ * @param[in]  angle  angle (radians)
+ * @returns           affine transfrom
+ */
+CGLM_INLINE
+mat3s
+glms_rotate2d_make(float angle) {
+  mat3s m;
+  glm_rotate2d_make(m.raw, angle);
+  return m;
+}
+
+/*!
+ * @brief rotate existing 2d transform matrix around given axis by angle
+ *
+ * @param[in] m      affine transfrom
+ * @param[in] angle  angle (radians)
+ * @returns          affine transfrom
+ */
+CGLM_INLINE
+mat3s
+glms_rotate2d(mat3s m, float angle) {
+  glm_rotate2d(m.raw, angle);
+  return m;
+}
+
+/*!
+ * @brief rotate existing 2d transform matrix around given axis by angle
+ *
+ * @param[in] m      affine transfrom
+ * @param[in] angle  angle (radians)
+ * @returns          affine transfrom
+ */
+CGLM_INLINE
+mat3s
+glms_rotate2d_to(mat3s m, float angle) {
+  glm_rotate2d(m.raw, angle);
+  return m;
+}
+
+#endif /* cglms_affine2ds_h */

include/cglm/struct/cam.h

@@ -9,10 +9,10 @@
  Functions:
    CGLM_INLINE mat4s glms_frustum(float left,    float right,
                                   float bottom,  float top,
-                                  float nearVal, float farVal)
+                                  float nearZ,   float farZ)
    CGLM_INLINE mat4s glms_ortho(float left,    float right,
                                 float bottom,  float top,
-                                float nearVal, float farVal)
+                                float nearZ,   float farZ)
    CGLM_INLINE mat4s glms_ortho_aabb(vec3s box[2]);
    CGLM_INLINE mat4s glms_ortho_aabb_p(vec3s box[2],  float padding);
    CGLM_INLINE mat4s glms_ortho_aabb_pz(vec3s box[2], float padding);
@@ -20,8 +20,8 @@
    CGLM_INLINE mat4s glms_ortho_default_s(float aspect, float size)
    CGLM_INLINE mat4s glms_perspective(float fovy,
                                       float aspect,
-                                      float nearVal,
+                                      float nearZ,
-                                      float farVal)
+                                      float farZ)
    CGLM_INLINE void  glms_persp_move_far(mat4s proj, float deltaFar)
    CGLM_INLINE mat4s glms_perspective_default(float aspect)
    CGLM_INLINE void  glms_perspective_resize(mat4s proj, float aspect)
@@ -36,8 +36,8 @@
    CGLM_INLINE void  glms_persp_decomp_x(mat4s proj, float *left, float *right)
    CGLM_INLINE void  glms_persp_decomp_y(mat4s proj, float *top, float *bottom)
    CGLM_INLINE void  glms_persp_decomp_z(mat4s proj, float *nearv, float *farv)
-   CGLM_INLINE void  glms_persp_decomp_far(mat4s proj, float *farVal)
+   CGLM_INLINE void  glms_persp_decomp_far(mat4s proj, float *farZ)
-   CGLM_INLINE void  glms_persp_decomp_near(mat4s proj, float *nearVal)
+   CGLM_INLINE void  glms_persp_decomp_near(mat4s proj, float *nearZ)
    CGLM_INLINE float glms_persp_fovy(mat4s proj)
    CGLM_INLINE float glms_persp_aspect(mat4s proj)
    CGLM_INLINE vec4s glms_persp_sizes(mat4s proj, float fovy)
@@ -51,6 +51,39 @@
 #include "../plane.h"
 #include "../cam.h"
 
+#ifndef CGLM_CLIPSPACE_INCLUDE_ALL
+#  if CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_ZO
+#    include "clipspace/ortho_lh_zo.h"
+#    include "clipspace/persp_lh_zo.h"
+#    include "clipspace/view_lh_zo.h"
+#  elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_NO
+#    include "clipspace/ortho_lh_no.h"
+#    include "clipspace/persp_lh_no.h"
+#    include "clipspace/view_lh_no.h"
+#  elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_ZO
+#    include "clipspace/ortho_rh_zo.h"
+#    include "clipspace/persp_rh_zo.h"
+#    include "clipspace/view_rh_zo.h"
+#  elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_NO
+#    include "clipspace/ortho_rh_no.h"
+#    include "clipspace/persp_rh_no.h"
+#    include "clipspace/view_rh_no.h"
+#  endif
+#else
+#  include "clipspace/ortho_lh_zo.h"
+#  include "clipspace/persp_lh_zo.h"
+#  include "clipspace/ortho_lh_no.h"
+#  include "clipspace/persp_lh_no.h"
+#  include "clipspace/ortho_rh_zo.h"
+#  include "clipspace/persp_rh_zo.h"
+#  include "clipspace/ortho_rh_no.h"
+#  include "clipspace/persp_rh_no.h"
+#  include "clipspace/view_lh_zo.h"
+#  include "clipspace/view_lh_no.h"
+#  include "clipspace/view_rh_zo.h"
+#  include "clipspace/view_rh_no.h"
+#endif
+
 /*!
  * @brief set up perspective peprojection matrix
  *
@@ -58,18 +91,24 @@
  * @param[in]  right   viewport.right
  * @param[in]  bottom  viewport.bottom
  * @param[in]  top     viewport.top
- * @param[in]  nearVal near clipping plane
+ * @param[in]  nearZ   near clipping plane
- * @param[in]  farVal  far clipping plane
+ * @param[in]  farZ    far clipping plane
  * @returns    result matrix
  */
 CGLM_INLINE
 mat4s
 glms_frustum(float left,   float right,
              float bottom, float top,
-             float nearVal, float farVal) {
+             float nearZ,  float farZ) {
-  mat4s dest;
+#if CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_ZO
-  glm_frustum(left, right, bottom, top, nearVal, farVal, dest.raw);
+  return glms_frustum_lh_zo(left, right, bottom, top, nearZ, farZ);
-  return dest;
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_NO
+  return glms_frustum_lh_no(left, right, bottom, top, nearZ, farZ);
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_ZO
+  return glms_frustum_rh_zo(left, right, bottom, top, nearZ, farZ);
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_NO
+  return glms_frustum_rh_no(left, right, bottom, top, nearZ, farZ);
+#endif
 }
 
 /*!
@@ -79,18 +118,24 @@ glms_frustum(float left,    float right,
  * @param[in]  right   viewport.right
  * @param[in]  bottom  viewport.bottom
  * @param[in]  top     viewport.top
- * @param[in]  nearVal near clipping plane
+ * @param[in]  nearZ   near clipping plane
- * @param[in]  farVal  far clipping plane
+ * @param[in]  farZ    far clipping plane
  * @returns    result matrix
  */
 CGLM_INLINE
 mat4s
 glms_ortho(float left,   float right,
            float bottom, float top,
-           float nearVal, float farVal) {
+           float nearZ,  float farZ) {
-  mat4s dest;
+#if CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_ZO
-  glm_ortho(left, right, bottom, top, nearVal, farVal, dest.raw);
+  return glms_ortho_lh_zo(left, right, bottom, top, nearZ, farZ);
-  return dest;
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_NO
+  return glms_ortho_lh_no(left, right, bottom, top, nearZ, farZ);
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_ZO
+  return glms_ortho_rh_zo(left, right, bottom, top, nearZ, farZ);
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_NO
+  return glms_ortho_rh_no(left, right, bottom, top, nearZ, farZ);
+#endif
 }
 
 /*!
@@ -104,13 +149,15 @@ glms_ortho(float left,    float right,
 CGLM_INLINE
 mat4s
 glms_ortho_aabb(vec3s box[2]) {
-  mat4s dest;
+#if CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_ZO
-  vec3  rawBox[2];
+  return glms_ortho_aabb_lh_zo(box);
-
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_NO
-  glms_vec3_unpack(rawBox, box, 2);
+  return glms_ortho_aabb_lh_no(box);
-  glm_ortho_aabb(rawBox, dest.raw);
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_ZO
-
+  return glms_ortho_aabb_rh_zo(box);
-  return dest;
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_NO
+  return glms_ortho_aabb_rh_no(box);
+#endif
 }
 
 /*!
@@ -125,13 +172,15 @@ glms_ortho_aabb(vec3s box[2]) {
 CGLM_INLINE
 mat4s
 glms_ortho_aabb_p(vec3s box[2], float padding) {
-  mat4s dest;
+#if CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_ZO
-  vec3  rawBox[2];
+  return glms_ortho_aabb_p_lh_zo(box, padding);
-
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_NO
-  glms_vec3_unpack(rawBox, box, 2);
+  return glms_ortho_aabb_p_lh_no(box, padding);
-  glm_ortho_aabb_p(rawBox, padding, dest.raw);
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_ZO
-
+  return glms_ortho_aabb_p_rh_zo(box, padding);
-  return dest;
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_NO
+  return glms_ortho_aabb_p_rh_no(box, padding);
+#endif
 }
 
 /*!
@@ -146,13 +195,15 @@ glms_ortho_aabb_p(vec3s box[2], float padding) {
 CGLM_INLINE
 mat4s
 glms_ortho_aabb_pz(vec3s box[2], float padding) {
-  mat4s dest;
+#if CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_ZO
-  vec3  rawBox[2];
+  return glms_ortho_aabb_pz_lh_zo(box, padding);
-
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_NO
-  glms_vec3_unpack(rawBox, box, 2);
+  return glms_ortho_aabb_pz_lh_no(box, padding);
-  glm_ortho_aabb_pz(rawBox, padding, dest.raw);
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_ZO
-
+  return glms_ortho_aabb_pz_rh_zo(box, padding);
-  return dest;
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_NO
+  return glms_ortho_aabb_pz_rh_no(box, padding);
+#endif
 }
 
 /*!
@@ -164,9 +215,15 @@ glms_ortho_aabb_pz(vec3s box[2], float padding) {
 CGLM_INLINE
 mat4s
 glms_ortho_default(float aspect) {
-  mat4s dest;
+#if CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_ZO
-  glm_ortho_default(aspect, dest.raw);
+  return glms_ortho_default_lh_zo(aspect);
-  return dest;
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_NO
+  return glms_ortho_default_lh_no(aspect);
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_ZO
+  return glms_ortho_default_rh_zo(aspect);
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_NO
+  return glms_ortho_default_rh_no(aspect);
+#endif
 }
 
 /*!
@@ -179,9 +236,15 @@ glms_ortho_default(float aspect) {
 CGLM_INLINE
 mat4s
 glms_ortho_default_s(float aspect, float size) {
-  mat4s dest;
+#if CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_ZO
-  glm_ortho_default_s(aspect, size, dest.raw);
+  return glms_ortho_default_s_lh_zo(aspect, size);
-  return dest;
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_NO
+  return glms_ortho_default_s_lh_no(aspect, size);
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_ZO
+  return glms_ortho_default_s_rh_zo(aspect, size);
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_NO
+  return glms_ortho_default_s_rh_no(aspect, size);
+#endif
 }
 
 /*!
@@ -189,30 +252,48 @@ glms_ortho_default_s(float aspect, float size) {
  *
  * @param[in]  fovy    field of view angle
  * @param[in]  aspect  aspect ratio ( width / height )
- * @param[in]  nearVal near clipping plane
+ * @param[in]  nearZ   near clipping plane
- * @param[in]  farVal  far clipping planes
+ * @param[in]  farZ    far clipping planes
  * @returns    result matrix
  */
 CGLM_INLINE
 mat4s
-glms_perspective(float fovy, float aspect, float nearVal, float farVal) {
+glms_perspective(float fovy, float aspect, float nearZ, float farZ) {
-  mat4s dest;
+#if CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_ZO
-  glm_perspective(fovy, aspect, nearVal, farVal, dest.raw);
+  return glms_perspective_lh_zo(fovy, aspect, nearZ, farZ);
-  return dest;
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_NO
+  return glms_perspective_lh_no(fovy, aspect, nearZ, farZ);
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_ZO
+  return glms_perspective_rh_zo(fovy, aspect, nearZ, farZ);
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_NO
+  return glms_perspective_rh_no(fovy, aspect, nearZ, farZ);
+#endif
 }
 
 /*!
  * @brief extend perspective projection matrix's far distance
  *
+ * NOTE: if you dodn't want to create new matrix then use array api on struct.raw
+ *       like glm_persp_move_far(prooj.raw, deltaFar) to avoid create new mat4
+ *       each time
+ *
  * this function does not guarantee far >= near, be aware of that!
  *
  * @param[in, out] proj      projection matrix to extend
  * @param[in]      deltaFar  distance from existing far (negative to shink)
  */
 CGLM_INLINE
-void
+mat4s
 glms_persp_move_far(mat4s proj, float deltaFar) {
-  glm_persp_move_far(proj.raw, deltaFar);
+#if CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_ZO
+  return glms_persp_move_far_lh_zo(proj, deltaFar);
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_NO
+  return glms_persp_move_far_lh_no(proj, deltaFar);
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_ZO
+  return glms_persp_move_far_rh_zo(proj, deltaFar);
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_NO
+  return glms_persp_move_far_rh_no(proj, deltaFar);
+#endif
 }
 
 /*!
@@ -225,9 +306,15 @@ glms_persp_move_far(mat4s proj, float deltaFar) {
 CGLM_INLINE
 mat4s
 glms_perspective_default(float aspect) {
-  mat4s dest;
+#if CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_ZO
-  glm_perspective_default(aspect, dest.raw);
+  return glms_perspective_default_lh_zo(aspect);
-  return dest;
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_NO
+  return glms_perspective_default_lh_no(aspect);
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_ZO
+  return glms_perspective_default_rh_zo(aspect);
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_NO
+  return glms_perspective_default_rh_no(aspect);
+#endif
 }
 
 /*!
@@ -235,13 +322,25 @@ glms_perspective_default(float aspect) {
  *        this makes very easy to resize proj matrix when window /viewport
  *        reized
  *
+ * NOTE: if you dodn't want to create new matrix then use array api on struct.raw
+ *       like glms_perspective_resize(proj.raw, aspect) to avoid create new mat4
+ *       each time
+ *
  * @param[in, out] proj   perspective projection matrix
  * @param[in]      aspect aspect ratio ( width / height )
  */
 CGLM_INLINE
-void
+mat4s
 glms_perspective_resize(mat4s proj, float aspect) {
-  glm_perspective_resize(aspect, proj.raw);
+#if CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_ZO
+  return glms_perspective_resize_lh_zo(proj, aspect);
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_NO
+  return glms_perspective_resize_lh_no(proj, aspect);
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_ZO
+  return glms_perspective_resize_rh_zo(proj, aspect);
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_NO
+  return glms_perspective_resize_rh_no(proj, aspect);
+#endif
 }
 
 /*!
@@ -258,9 +357,15 @@ glms_perspective_resize(mat4s proj, float aspect) {
 CGLM_INLINE
 mat4s
 glms_lookat(vec3s eye, vec3s center, vec3s up) {
-  mat4s dest;
+#if CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_ZO
-  glm_lookat(eye.raw, center.raw, up.raw, dest.raw);
+  return glms_lookat_lh_zo(eye, center, up);
-  return dest;
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_NO
+  return glms_lookat_lh_no(eye, center, up);
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_ZO
+  return glms_lookat_rh_zo(eye, center, up);
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_NO
+  return glms_lookat_rh_no(eye, center, up);
+#endif
 }
 
 /*!
@@ -280,9 +385,15 @@ glms_lookat(vec3s eye, vec3s center, vec3s up) {
 CGLM_INLINE
 mat4s
 glms_look(vec3s eye, vec3s dir, vec3s up) {
-  mat4s dest;
+#if CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_ZO
-  glm_look(eye.raw, dir.raw, up.raw, dest.raw);
+  return glms_look_lh_zo(eye, dir, up);
-  return dest;
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_NO
+  return glms_look_lh_no(eye, dir, up);
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_ZO
+  return glms_look_rh_zo(eye, dir, up);
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_NO
+  return glms_look_rh_no(eye, dir, up);
+#endif
 }
 
 /*!
@@ -298,17 +409,23 @@ glms_look(vec3s eye, vec3s dir, vec3s up) {
 CGLM_INLINE
 mat4s
 glms_look_anyup(vec3s eye, vec3s dir) {
-  mat4s dest;
+#if CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_ZO
-  glm_look_anyup(eye.raw, dir.raw, dest.raw);
+  return glms_look_anyup_lh_zo(eye, dir);
-  return dest;
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_NO
+  return glms_look_anyup_lh_no(eye, dir);
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_ZO
+  return glms_look_anyup_rh_zo(eye, dir);
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_NO
+  return glms_look_anyup_rh_no(eye, dir);
+#endif
 }
 
 /*!
  * @brief decomposes frustum values of perspective projection.
  *
  * @param[in]  proj    perspective projection matrix
- * @param[out] nearVal near
+ * @param[out] nearZ   near
- * @param[out] farVal  far
+ * @param[out] farZ    far
  * @param[out] top     top
  * @param[out] bottom  bottom
  * @param[out] left    left
@@ -317,10 +434,18 @@ glms_look_anyup(vec3s eye, vec3s dir) {
 CGLM_INLINE
 void
 glms_persp_decomp(mat4s proj,
-                  float * __restrict nearVal, float * __restrict farVal,
+                  float * __restrict nearZ, float * __restrict farZ,
                   float * __restrict top,   float * __restrict bottom,
                   float * __restrict left,  float * __restrict right) {
-  glm_persp_decomp(proj.raw, nearVal, farVal, top, bottom, left, right);
+#if CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_ZO
+  glms_persp_decomp_lh_zo(proj, nearZ, farZ, top, bottom, left, right);
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_NO
+  glms_persp_decomp_lh_no(proj, nearZ, farZ, top, bottom, left, right);
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_ZO
+  glms_persp_decomp_rh_zo(proj, nearZ, farZ, top, bottom, left, right);
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_NO
+  glms_persp_decomp_rh_no(proj, nearZ, farZ, top, bottom, left, right);
+#endif
 }
 
 /*!
@@ -333,7 +458,15 @@ glms_persp_decomp(mat4s proj,
 CGLM_INLINE
 void
 glms_persp_decompv(mat4s proj, float dest[6]) {
-  glm_persp_decompv(proj.raw, dest);
+#if CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_ZO
+  glms_persp_decompv_lh_zo(proj, dest);
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_NO
+  glms_persp_decompv_lh_no(proj, dest);
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_ZO
+  glms_persp_decompv_rh_zo(proj, dest);
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_NO
+  glms_persp_decompv_rh_no(proj, dest);
+#endif
 }
 
 /*!
@@ -349,7 +482,15 @@ void
 glms_persp_decomp_x(mat4s proj,
                     float * __restrict left,
                     float * __restrict right) {
-  glm_persp_decomp_x(proj.raw, left, right);
+#if CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_ZO
+  glms_persp_decomp_x_lh_zo(proj, left, right);
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_NO
+  glms_persp_decomp_x_lh_no(proj, left, right);
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_ZO
+  glms_persp_decomp_x_rh_zo(proj, left, right);
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_NO
+  glms_persp_decomp_x_rh_no(proj, left, right);
+#endif
 }
 
 /*!
@@ -365,7 +506,15 @@ void
 glms_persp_decomp_y(mat4s proj,
                     float * __restrict top,
                     float * __restrict bottom) {
-  glm_persp_decomp_y(proj.raw, top, bottom);
+#if CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_ZO
+  glms_persp_decomp_y_lh_zo(proj, top, bottom);
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_NO
+  glms_persp_decomp_y_lh_no(proj, top, bottom);
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_ZO
+  glms_persp_decomp_y_rh_zo(proj, top, bottom);
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_NO
+  glms_persp_decomp_y_rh_no(proj, top, bottom);
+#endif
 }
 
 /*!
@@ -373,39 +522,63 @@ glms_persp_decomp_y(mat4s proj,
  *        z stands for z axis (near / far axis)
  *
  * @param[in]  proj    perspective projection matrix
- * @param[out] nearVal near
+ * @param[out] nearZ   near
- * @param[out] farVal  far
+ * @param[out] farZ    far
  */
 CGLM_INLINE
 void
 glms_persp_decomp_z(mat4s proj,
-                    float * __restrict nearVal,
+                    float * __restrict nearZ,
-                    float * __restrict farVal) {
+                    float * __restrict farZ) {
-  glm_persp_decomp_z(proj.raw, nearVal, farVal);
+#if CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_ZO
+  glms_persp_decomp_z_lh_zo(proj, nearZ, farZ);
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_NO
+  glms_persp_decomp_z_lh_no(proj, nearZ, farZ);
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_ZO
+  glms_persp_decomp_z_rh_zo(proj, nearZ, farZ);
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_NO
+  glms_persp_decomp_z_rh_no(proj, nearZ, farZ);
+#endif
 }
 
 /*!
  * @brief decomposes far value of perspective projection.
  *
  * @param[in]  proj   perspective projection matrix
- * @param[out] farVal far
+ * @param[out] farZ   far
  */
 CGLM_INLINE
 void
-glms_persp_decomp_far(mat4s proj, float * __restrict farVal) {
+glms_persp_decomp_far(mat4s proj, float * __restrict farZ) {
-  glm_persp_decomp_far(proj.raw, farVal);
+#if CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_ZO
+  glms_persp_decomp_far_lh_zo(proj, farZ);
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_NO
+  glms_persp_decomp_far_lh_no(proj, farZ);
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_ZO
+  glms_persp_decomp_far_rh_zo(proj, farZ);
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_NO
+  glms_persp_decomp_far_rh_no(proj, farZ);
+#endif
 }
 
 /*!
  * @brief decomposes near value of perspective projection.
  *
  * @param[in]  proj  perspective projection matrix
- * @param[out] nearVal near
+ * @param[out] nearZ near
  */
 CGLM_INLINE
 void
-glms_persp_decomp_near(mat4s proj, float * __restrict nearVal) {
+glms_persp_decomp_near(mat4s proj, float * __restrict nearZ) {
-  glm_persp_decomp_near(proj.raw, nearVal);
+#if CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_ZO
+  glms_persp_decomp_near_lh_zo(proj, nearZ);
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_NO
+  glms_persp_decomp_near_lh_no(proj, nearZ);
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_ZO
+  glms_persp_decomp_near_rh_zo(proj, nearZ);
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_NO
+  glms_persp_decomp_near_rh_no(proj, nearZ);
+#endif
 }
 
 /*!
@@ -419,7 +592,15 @@ glms_persp_decomp_near(mat4s proj, float * __restrict nearVal) {
 CGLM_INLINE
 float
 glms_persp_fovy(mat4s proj) {
-  return glm_persp_fovy(proj.raw);
+#if CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_ZO
+  return glms_persp_fovy_lh_zo(proj);
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_NO
+  return glms_persp_fovy_lh_no(proj);
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_ZO
+  return glms_persp_fovy_rh_zo(proj);
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_NO
+  return glms_persp_fovy_rh_no(proj);
+#endif
 }
 
 /*!
@@ -430,7 +611,15 @@ glms_persp_fovy(mat4s proj) {
 CGLM_INLINE
 float
 glms_persp_aspect(mat4s proj) {
-  return glm_persp_aspect(proj.raw);
+#if CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_ZO
+  return glms_persp_aspect_lh_zo(proj);
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_NO
+  return glms_persp_aspect_lh_no(proj);
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_ZO
+  return glms_persp_aspect_rh_zo(proj);
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_NO
+  return glms_persp_aspect_rh_no(proj);
+#endif
 }
 
 /*!
@@ -443,9 +632,15 @@ glms_persp_aspect(mat4s proj) {
 CGLM_INLINE
 vec4s
 glms_persp_sizes(mat4s proj, float fovy) {
-  vec4s dest;
+#if CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_ZO
-  glm_persp_sizes(proj.raw, fovy, dest.raw);
+  return glms_persp_sizes_lh_zo(proj, fovy);
-  return dest;
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_NO
+  return glms_persp_sizes_lh_no(proj, fovy);
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_ZO
+  return glms_persp_sizes_rh_zo(proj, fovy);
+#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_NO
+  return glms_persp_sizes_rh_no(proj, fovy);
+#endif
 }
 
 #endif /* cglms_cam_h */

include/cglm/struct/clipspace/ortho_lh_no.h

@@ -0,0 +1,152 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), htt../opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+/*
+ Functions:
+   CGLM_INLINE mat4s glms_ortho_lh_no(float left,    float right,
+                                      float bottom,  float top,
+                                      float nearZ,   float farZ)
+   CGLM_INLINE mat4s glms_ortho_aabb_lh_no(vec3s box[2]);
+   CGLM_INLINE mat4s glms_ortho_aabb_p_lh_no(vec3s box[2],  float padding);
+   CGLM_INLINE mat4s glms_ortho_aabb_pz_lh_no(vec3s box[2], float padding);
+   CGLM_INLINE mat4s glms_ortho_default_lh_no(float aspect)
+   CGLM_INLINE mat4s glms_ortho_default_s_lh_no(float aspect, float size)
+ */
+
+#ifndef cglms_ortho_lh_no_h
+#define cglms_ortho_lh_no_h
+
+#include "../../common.h"
+#include "../../types-struct.h"
+#include "../../plane.h"
+#include "../../cam.h"
+
+/*!
+ * @brief set up orthographic projection matrix
+ *        with a left-hand coordinate system and a
+ *        clip-space of [-1, 1].
+ *
+ * @param[in]  left    viewport.left
+ * @param[in]  right   viewport.right
+ * @param[in]  bottom  viewport.bottom
+ * @param[in]  top     viewport.top
+ * @param[in]  nearZ   near clipping plane
+ * @param[in]  farZ    far clipping plane
+ * @returns    result matrix
+ */
+CGLM_INLINE
+mat4s
+glms_ortho_lh_no(float left,   float right,
+                 float bottom, float top,
+                 float nearZ,  float farZ) {
+  mat4s dest;
+  glm_ortho_lh_no(left, right, bottom, top, nearZ, farZ, dest.raw);
+  return dest;
+}
+
+/*!
+ * @brief set up orthographic projection matrix using bounding box
+ *        with a left-hand coordinate system and a
+ *        clip-space of [-1, 1].
+ *
+ * bounding box (AABB) must be in view space
+ *
+ * @param[in]  box   AABB
+ * @returns    result matrix
+ */
+CGLM_INLINE
+mat4s
+glms_ortho_aabb_lh_no(vec3s box[2]) {
+  mat4s dest;
+  vec3  rawBox[2];
+
+  glms_vec3_unpack(rawBox, box, 2);
+  glm_ortho_aabb_lh_no(rawBox, dest.raw);
+
+  return dest;
+}
+
+/*!
+ * @brief set up orthographic projection matrix using bounding box
+ *        with a left-hand coordinate system and a
+ *        clip-space of [-1, 1].
+ *
+ * bounding box (AABB) must be in view space
+ *
+ * @param[in]  box     AABB
+ * @param[in]  padding padding
+ * @returns    result matrix
+ */
+CGLM_INLINE
+mat4s
+glms_ortho_aabb_p_lh_no(vec3s box[2], float padding) {
+  mat4s dest;
+  vec3  rawBox[2];
+
+  glms_vec3_unpack(rawBox, box, 2);
+  glm_ortho_aabb_p_lh_no(rawBox, padding, dest.raw);
+
+  return dest;
+}
+
+/*!
+ * @brief set up orthographic projection matrix using bounding box
+ *        with a left-hand coordinate system and a
+ *        clip-space of [-1, 1].
+ *
+ * bounding box (AABB) must be in view space
+ *
+ * @param[in]  box     AABB
+ * @param[in]  padding padding for near and far
+ * @returns    result matrix
+ */
+CGLM_INLINE
+mat4s
+glms_ortho_aabb_pz_lh_no(vec3s box[2], float padding) {
+  mat4s dest;
+  vec3  rawBox[2];
+
+  glms_vec3_unpack(rawBox, box, 2);
+  glm_ortho_aabb_pz_lh_no(rawBox, padding, dest.raw);
+
+  return dest;
+}
+
+/*!
+ * @brief set up unit orthographic projection matrix
+ *        with a left-hand coordinate system and a
+ *        clip-space of [-1, 1].
+ *
+ * @param[in]  aspect aspect ration ( width / height )
+ * @returns    result matrix
+ */
+CGLM_INLINE
+mat4s
+glms_ortho_default_lh_no(float aspect) {
+  mat4s dest;
+  glm_ortho_default_lh_no(aspect, dest.raw);
+  return dest;
+}
+
+/*!
+ * @brief set up orthographic projection matrix with given CUBE size
+ *        with a left-hand coordinate system and a
+ *        clip-space of [-1, 1].
+ *
+ * @param[in]  aspect aspect ratio ( width / height )
+ * @param[in]  size   cube size
+ * @returns    result matrix
+ */
+CGLM_INLINE
+mat4s
+glms_ortho_default_s_lh_no(float aspect, float size) {
+  mat4s dest;
+  glm_ortho_default_s_lh_no(aspect, size, dest.raw);
+  return dest;
+}
+
+#endif /* cglms_ortho_lh_no_h */

include/cglm/struct/clipspace/ortho_lh_zo.h

@@ -0,0 +1,152 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), htt../opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+/*
+ Functions:
+   CGLM_INLINE mat4s glms_ortho_lh_zo(float left,    float right,
+                                      float bottom,  float top,
+                                      float nearZ,   float farZ)
+   CGLM_INLINE mat4s glms_ortho_aabb_lh_zo(vec3s box[2]);
+   CGLM_INLINE mat4s glms_ortho_aabb_p_lh_zo(vec3s box[2],  float padding);
+   CGLM_INLINE mat4s glms_ortho_aabb_pz_lh_zo(vec3s box[2], float padding);
+   CGLM_INLINE mat4s glms_ortho_default_lh_zo(float aspect)
+   CGLM_INLINE mat4s glms_ortho_default_s_lh_zo(float aspect, float size)
+ */
+
+#ifndef cglms_ortho_lh_zo_h
+#define cglms_ortho_lh_zo_h
+
+#include "../../common.h"
+#include "../../types-struct.h"
+#include "../../plane.h"
+#include "../../cam.h"
+
+/*!
+ * @brief set up orthographic projection matrix
+ *        with a left-hand coordinate system and a
+ *        clip-space of [0, 1].
+ *
+ * @param[in]  left    viewport.left
+ * @param[in]  right   viewport.right
+ * @param[in]  bottom  viewport.bottom
+ * @param[in]  top     viewport.top
+ * @param[in]  nearZ   near clipping plane
+ * @param[in]  farZ    far clipping plane
+ * @returns    result matrix
+ */
+CGLM_INLINE
+mat4s
+glms_ortho_lh_zo(float left,   float right,
+                 float bottom, float top,
+                 float nearZ,  float farZ) {
+  mat4s dest;
+  glm_ortho_lh_zo(left, right, bottom, top, nearZ, farZ, dest.raw);
+  return dest;
+}
+
+/*!
+ * @brief set up orthographic projection matrix using bounding box
+ *        with a left-hand coordinate system and a
+ *        clip-space of [0, 1].
+ *
+ * bounding box (AABB) must be in view space
+ *
+ * @param[in]  box   AABB
+ * @returns    result matrix
+ */
+CGLM_INLINE
+mat4s
+glms_ortho_aabb_lh_zo(vec3s box[2]) {
+  mat4s dest;
+  vec3  rawBox[2];
+
+  glms_vec3_unpack(rawBox, box, 2);
+  glm_ortho_aabb_lh_zo(rawBox, dest.raw);
+
+  return dest;
+}
+
+/*!
+ * @brief set up orthographic projection matrix using bounding box
+ *        with a left-hand coordinate system and a
+ *        clip-space of [0, 1].
+ *
+ * bounding box (AABB) must be in view space
+ *
+ * @param[in]  box     AABB
+ * @param[in]  padding padding
+ * @returns    result matrix
+ */
+CGLM_INLINE
+mat4s
+glms_ortho_aabb_p_lh_zo(vec3s box[2], float padding) {
+  mat4s dest;
+  vec3  rawBox[2];
+
+  glms_vec3_unpack(rawBox, box, 2);
+  glm_ortho_aabb_p_lh_zo(rawBox, padding, dest.raw);
+
+  return dest;
+}
+
+/*!
+ * @brief set up orthographic projection matrix using bounding box
+ *        with a left-hand coordinate system and a
+ *        clip-space of [0, 1].
+ *
+ * bounding box (AABB) must be in view space
+ *
+ * @param[in]  box     AABB
+ * @param[in]  padding padding for near and far
+ * @returns    result matrix
+ */
+CGLM_INLINE
+mat4s
+glms_ortho_aabb_pz_lh_zo(vec3s box[2], float padding) {
+  mat4s dest;
+  vec3  rawBox[2];
+
+  glms_vec3_unpack(rawBox, box, 2);
+  glm_ortho_aabb_pz_lh_zo(rawBox, padding, dest.raw);
+
+  return dest;
+}
+
+/*!
+ * @brief set up unit orthographic projection matrix
+ *        with a left-hand coordinate system and a
+ *        clip-space of [0, 1].
+ *
+ * @param[in]  aspect aspect ration ( width / height )
+ * @returns    result matrix
+ */
+CGLM_INLINE
+mat4s
+glms_ortho_default_lh_zo(float aspect) {
+  mat4s dest;
+  glm_ortho_default_lh_zo(aspect, dest.raw);
+  return dest;
+}
+
+/*!
+ * @brief set up orthographic projection matrix with given CUBE size
+ *        with a left-hand coordinate system and a
+ *        clip-space of [0, 1].
+ *
+ * @param[in]  aspect aspect ratio ( width / height )
+ * @param[in]  size   cube size
+ * @returns    result matrix
+ */
+CGLM_INLINE
+mat4s
+glms_ortho_default_s_lh_zo(float aspect, float size) {
+  mat4s dest;
+  glm_ortho_default_s_lh_zo(aspect, size, dest.raw);
+  return dest;
+}
+
+#endif /* cglms_ortho_lh_zo_h */

include/cglm/struct/clipspace/ortho_rh_no.h

@@ -0,0 +1,152 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), htt../opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+/*
+ Functions:
+   CGLM_INLINE mat4s glms_ortho_rh_no(float left,    float right,
+                                      float bottom,  float top,
+                                      float nearZ,   float farZ)
+   CGLM_INLINE mat4s glms_ortho_aabb_rh_no(vec3s box[2]);
+   CGLM_INLINE mat4s glms_ortho_aabb_p_rh_no(vec3s box[2],  float padding);
+   CGLM_INLINE mat4s glms_ortho_aabb_pz_rh_no(vec3s box[2], float padding);
+   CGLM_INLINE mat4s glms_ortho_default_rh_no(float aspect)
+   CGLM_INLINE mat4s glms_ortho_default_s_rh_no(float aspect, float size)
+ */
+
+#ifndef cglms_ortho_rh_no_h
+#define cglms_ortho_rh_no_h
+
+#include "../../common.h"
+#include "../../types-struct.h"
+#include "../../plane.h"
+#include "../../cam.h"
+
+/*!
+ * @brief set up orthographic projection matrix
+ *        with a right-hand coordinate system and a
+ *        clip-space of [-1, 1].
+ *
+ * @param[in]  left    viewport.left
+ * @param[in]  right   viewport.right
+ * @param[in]  bottom  viewport.bottom
+ * @param[in]  top     viewport.top
+ * @param[in]  nearZ   near clipping plane
+ * @param[in]  farZ    far clipping plane
+ * @returns    result matrix
+ */
+CGLM_INLINE
+mat4s
+glms_ortho_rh_no(float left,   float right,
+                 float bottom, float top,
+                 float nearZ,  float farZ) {
+  mat4s dest;
+  glm_ortho_rh_no(left, right, bottom, top, nearZ, farZ, dest.raw);
+  return dest;
+}
+
+/*!
+ * @brief set up orthographic projection matrix using bounding box
+ *        with a right-hand coordinate system and a
+ *        clip-space of [-1, 1].
+ *
+ * bounding box (AABB) must be in view space
+ *
+ * @param[in]  box   AABB
+ * @returns    result matrix
+ */
+CGLM_INLINE
+mat4s
+glms_ortho_aabb_rh_no(vec3s box[2]) {
+  mat4s dest;
+  vec3  rawBox[2];
+
+  glms_vec3_unpack(rawBox, box, 2);
+  glm_ortho_aabb_rh_no(rawBox, dest.raw);
+
+  return dest;
+}
+
+/*!
+ * @brief set up orthographic projection matrix using bounding box
+ *        with a right-hand coordinate system and a
+ *        clip-space of [-1, 1].
+ *
+ * bounding box (AABB) must be in view space
+ *
+ * @param[in]  box     AABB
+ * @param[in]  padding padding
+ * @returns    result matrix
+ */
+CGLM_INLINE
+mat4s
+glms_ortho_aabb_p_rh_no(vec3s box[2], float padding) {
+  mat4s dest;
+  vec3  rawBox[2];
+
+  glms_vec3_unpack(rawBox, box, 2);
+  glm_ortho_aabb_p_rh_no(rawBox, padding, dest.raw);
+
+  return dest;
+}
+
+/*!
+ * @brief set up orthographic projection matrix using bounding box
+ *        with a right-hand coordinate system and a
+ *        clip-space of [-1, 1].
+ *
+ * bounding box (AABB) must be in view space
+ *
+ * @param[in]  box     AABB
+ * @param[in]  padding padding for near and far
+ * @returns    result matrix
+ */
+CGLM_INLINE
+mat4s
+glms_ortho_aabb_pz_rh_no(vec3s box[2], float padding) {
+  mat4s dest;
+  vec3  rawBox[2];
+
+  glms_vec3_unpack(rawBox, box, 2);
+  glm_ortho_aabb_pz_rh_no(rawBox, padding, dest.raw);
+
+  return dest;
+}
+
+/*!
+ * @brief set up unit orthographic projection matrix
+ *        with a right-hand coordinate system and a
+ *        clip-space of [-1, 1].
+ *
+ * @param[in]  aspect aspect ration ( width / height )
+ * @returns    result matrix
+ */
+CGLM_INLINE
+mat4s
+glms_ortho_default_rh_no(float aspect) {
+  mat4s dest;
+  glm_ortho_default_rh_no(aspect, dest.raw);
+  return dest;
+}
+
+/*!
+ * @brief set up orthographic projection matrix with given CUBE size
+ *        with a right-hand coordinate system and a
+ *        clip-space of [-1, 1].
+ *
+ * @param[in]  aspect aspect ratio ( width / height )
+ * @param[in]  size   cube size
+ * @returns    result matrix
+ */
+CGLM_INLINE
+mat4s
+glms_ortho_default_s_rh_no(float aspect, float size) {
+  mat4s dest;
+  glm_ortho_default_s_rh_no(aspect, size, dest.raw);
+  return dest;
+}
+
+#endif /* cglms_ortho_rh_no_h */

include/cglm/struct/clipspace/ortho_rh_zo.h

@@ -0,0 +1,152 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), htt../opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+/*
+ Functions:
+   CGLM_INLINE mat4s glms_ortho_rh_zo(float left,    float right,
+                                      float bottom,  float top,
+                                      float nearZ,   float farZ)
+   CGLM_INLINE mat4s glms_ortho_aabb_rh_zo(vec3s box[2]);
+   CGLM_INLINE mat4s glms_ortho_aabb_p_rh_zo(vec3s box[2],  float padding);
+   CGLM_INLINE mat4s glms_ortho_aabb_pz_rh_zo(vec3s box[2], float padding);
+   CGLM_INLINE mat4s glms_ortho_default_rh_zo(float aspect)
+   CGLM_INLINE mat4s glms_ortho_default_s_rh_zo(float aspect, float size)
+ */
+
+#ifndef cglms_ortho_rh_zo_h
+#define cglms_ortho_rh_zo_h
+
+#include "../../common.h"
+#include "../../types-struct.h"
+#include "../../plane.h"
+#include "../../cam.h"
+
+/*!
+ * @brief set up orthographic projection matrix
+ *        with a right-hand coordinate system and a
+ *        clip-space of [0, 1].
+ *
+ * @param[in]  left    viewport.left
+ * @param[in]  right   viewport.right
+ * @param[in]  bottom  viewport.bottom
+ * @param[in]  top     viewport.top
+ * @param[in]  nearZ   near clipping plane
+ * @param[in]  farZ    far clipping plane
+ * @returns    result matrix
+ */
+CGLM_INLINE
+mat4s
+glms_ortho_rh_zo(float left,   float right,
+                 float bottom, float top,
+                 float nearZ,  float farZ) {
+  mat4s dest;
+  glm_ortho_rh_zo(left, right, bottom, top, nearZ, farZ, dest.raw);
+  return dest;
+}
+
+/*!
+ * @brief set up orthographic projection matrix using bounding box
+ *        with a right-hand coordinate system and a
+ *        clip-space of [0, 1].
+ *
+ * bounding box (AABB) must be in view space
+ *
+ * @param[in]  box   AABB
+ * @returns    result matrix
+ */
+CGLM_INLINE
+mat4s
+glms_ortho_aabb_rh_zo(vec3s box[2]) {
+  mat4s dest;
+  vec3  rawBox[2];
+
+  glms_vec3_unpack(rawBox, box, 2);
+  glm_ortho_aabb_rh_zo(rawBox, dest.raw);
+
+  return dest;
+}
+
+/*!
+ * @brief set up orthographic projection matrix using bounding box
+ *        with a right-hand coordinate system and a
+ *        clip-space of [0, 1].
+ *
+ * bounding box (AABB) must be in view space
+ *
+ * @param[in]  box     AABB
+ * @param[in]  padding padding
+ * @returns    result matrix
+ */
+CGLM_INLINE
+mat4s
+glms_ortho_aabb_p_rh_zo(vec3s box[2], float padding) {
+  mat4s dest;
+  vec3  rawBox[2];
+
+  glms_vec3_unpack(rawBox, box, 2);
+  glm_ortho_aabb_p_rh_zo(rawBox, padding, dest.raw);
+
+  return dest;
+}
+
+/*!
+ * @brief set up orthographic projection matrix using bounding box
+ *        with a right-hand coordinate system and a
+ *        clip-space of [0, 1].
+ *
+ * bounding box (AABB) must be in view space
+ *
+ * @param[in]  box     AABB
+ * @param[in]  padding padding for near and far
+ * @returns    result matrix
+ */
+CGLM_INLINE
+mat4s
+glms_ortho_aabb_pz_rh_zo(vec3s box[2], float padding) {
+  mat4s dest;
+  vec3  rawBox[2];
+
+  glms_vec3_unpack(rawBox, box, 2);
+  glm_ortho_aabb_pz_rh_zo(rawBox, padding, dest.raw);
+
+  return dest;
+}
+
+/*!
+ * @brief set up unit orthographic projection matrix
+ *        with a right-hand coordinate system and a
+ *        clip-space of [0, 1].
+ *
+ * @param[in]  aspect aspect ration ( width / height )
+ * @returns    result matrix
+ */
+CGLM_INLINE
+mat4s
+glms_ortho_default_rh_zo(float aspect) {
+  mat4s dest;
+  glm_ortho_default_rh_zo(aspect, dest.raw);
+  return dest;
+}
+
+/*!
+ * @brief set up orthographic projection matrix with given CUBE size
+ *        with a right-hand coordinate system and a
+ *        clip-space of [0, 1].
+ *
+ * @param[in]  aspect aspect ratio ( width / height )
+ * @param[in]  size   cube size
+ * @returns    result matrix
+ */
+CGLM_INLINE
+mat4s
+glms_ortho_default_s_rh_zo(float aspect, float size) {
+  mat4s dest;
+  glm_ortho_default_s_rh_zo(aspect, size, dest.raw);
+  return dest;
+}
+
+#endif /* cglms_ortho_rh_zo_h */

include/cglm/struct/clipspace/persp_lh_no.h

@@ -0,0 +1,311 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), htt../opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+/*
+ Functions:
+   CGLM_INLINE mat4s glms_frustum_lh_no(float left,    float right,
+                                        float bottom,  float top,
+                                        float nearZ,   float farZ)
+   CGLM_INLINE mat4s glms_perspective_lh_no(float fovy,
+                                            float aspect,
+                                            float nearZ,
+                                            float farZ)
+   CGLM_INLINE void  glms_persp_move_far_lh_no(mat4s proj, float deltaFar)
+   CGLM_INLINE mat4s glms_perspective_default_lh_no(float aspect)
+   CGLM_INLINE void  glms_perspective_resize_lh_no(mat4s proj, float aspect)
+   CGLM_INLINE void  glms_persp_decomp_lh_no(mat4s  proj,
+                                             float *nearv, float *farv,
+                                             float *top,   float *bottom,
+                                             float *left,  float *right)
+   CGLM_INLINE void  glms_persp_decompv_lh_no(mat4s proj, float dest[6])
+   CGLM_INLINE void  glms_persp_decomp_x_lh_no(mat4s proj, float *left, float *right)
+   CGLM_INLINE void  glms_persp_decomp_y_lh_no(mat4s proj, float *top, float *bottom)
+   CGLM_INLINE void  glms_persp_decomp_z_lh_no(mat4s proj, float *nearv, float *farv)
+   CGLM_INLINE void  glms_persp_decomp_far_lh_no(mat4s proj, float *farZ)
+   CGLM_INLINE void  glms_persp_decomp_near_lh_no(mat4s proj, float *nearZ)
+   CGLM_INLINE float glms_persp_fovy_lh_no(mat4s proj)
+   CGLM_INLINE float glms_persp_aspect_lh_no(mat4s proj)
+   CGLM_INLINE vec4s glms_persp_sizes_lh_no(mat4s proj, float fovy)
+ */
+
+#ifndef cglms_persp_lh_no_h
+#define cglms_persp_lh_no_h
+
+#include "../../common.h"
+#include "../../types-struct.h"
+#include "../../plane.h"
+#include "../../cam.h"
+
+/*!
+ * @brief set up perspective peprojection matrix
+ *        with a left-hand coordinate system and a
+ *        clip-space of [-1, 1].
+ *
+ * @param[in]  left    viewport.left
+ * @param[in]  right   viewport.right
+ * @param[in]  bottom  viewport.bottom
+ * @param[in]  top     viewport.top
+ * @param[in]  nearZ   near clipping plane
+ * @param[in]  farZ    far clipping plane
+ * @returns    result matrix
+ */
+CGLM_INLINE
+mat4s
+glms_frustum_lh_no(float left,   float right,
+                   float bottom, float top,
+                   float nearZ,  float farZ) {
+  mat4s dest;
+  glm_frustum_lh_no(left, right, bottom, top, nearZ, farZ, dest.raw);
+  return dest;
+}
+
+/*!
+ * @brief set up perspective projection matrix
+ *        with a left-hand coordinate system and a
+ *        clip-space of [-1, 1].
+ *
+ * @param[in]  fovy    field of view angle
+ * @param[in]  aspect  aspect ratio ( width / height )
+ * @param[in]  nearZ   near clipping plane
+ * @param[in]  farZ    far clipping planes
+ * @returns    result matrix
+ */
+CGLM_INLINE
+mat4s
+glms_perspective_lh_no(float fovy, float aspect, float nearZ, float farZ) {
+  mat4s dest;
+  glm_perspective_lh_no(fovy, aspect, nearZ, farZ, dest.raw);
+  return dest;
+}
+
+/*!
+ * @brief extend perspective projection matrix's far distance
+ *        with a left-hand coordinate system and a
+ *        clip-space of [-1, 1].
+ *
+ * NOTE: if you dodn't want to create new matrix then use array api on struct.raw
+ *       like glms_persp_move_far_lh_no(prooj.raw, deltaFar) to avoid create new mat4
+ *       each time
+ *       
+ * this function does not guarantee far >= near, be aware of that!
+ *
+ * @param[in, out] proj      projection matrix to extend
+ * @param[in]      deltaFar  distance from existing far (negative to shink)
+ */
+CGLM_INLINE
+mat4s
+glms_persp_move_far_lh_no(mat4s proj, float deltaFar) {
+  mat4s dest;
+  dest = proj;
+  glm_persp_move_far_lh_no(dest.raw, deltaFar);
+  return dest;
+}
+
+/*!
+ * @brief set up perspective projection matrix with default near/far
+ *        and angle values with a left-hand coordinate system and a
+ *        clip-space of [-1, 1].
+ *
+ * @param[in]  aspect aspect ratio ( width / height )
+ * @returns    result matrix
+ */
+CGLM_INLINE
+mat4s
+glms_perspective_default_lh_no(float aspect) {
+  mat4s dest;
+  glm_perspective_default_lh_no(aspect, dest.raw);
+  return dest;
+}
+
+/*!
+ * @brief resize perspective matrix by aspect ratio ( width / height )
+ *        this makes very easy to resize proj matrix when window /viewport
+ *        reized with a left-hand coordinate system and a
+ *        clip-space of [-1, 1].
+ *
+ * NOTE: if you dodn't want to create new matrix then use array api on struct.raw
+ *       like glm_perspective_resize_lh_no(proj.raw, aspect) to avoid create new mat4
+ *       each time
+ *       
+ * @param[in, out] proj   perspective projection matrix
+ * @param[in]      aspect aspect ratio ( width / height )
+ */
+CGLM_INLINE
+mat4s
+glms_perspective_resize_lh_no(mat4s proj, float aspect) {
+  mat4s dest;
+  dest = proj;
+  glm_perspective_resize_lh_no(aspect, dest.raw);
+  return dest;
+}
+
+/*!
+ * @brief decomposes frustum values of perspective projection.
+ *        with a left-hand coordinate system and a
+ *        clip-space of [-1, 1].
+ *
+ * @param[in]  proj    perspective projection matrix
+ * @param[out] nearZ   near
+ * @param[out] farZ    far
+ * @param[out] top     top
+ * @param[out] bottom  bottom
+ * @param[out] left    left
+ * @param[out] right   right
+ */
+CGLM_INLINE
+void
+glms_persp_decomp_lh_no(mat4s proj,
+                        float * __restrict nearZ, float * __restrict farZ,
+                        float * __restrict top,   float * __restrict bottom,
+                        float * __restrict left,  float * __restrict right) {
+  glm_persp_decomp_lh_no(proj.raw, nearZ, farZ, top, bottom, left, right);
+}
+
+/*!
+ * @brief decomposes frustum values of perspective projection.
+ *        this makes easy to get all values at once
+ *        with a left-hand coordinate system and a
+ *        clip-space of [-1, 1].
+ *
+ * @param[in]  proj   perspective projection matrix
+ * @param[out] dest   array
+ */
+CGLM_INLINE
+void
+glms_persp_decompv_lh_no(mat4s proj, float dest[6]) {
+  glm_persp_decompv_lh_no(proj.raw, dest);
+}
+
+/*!
+ * @brief decomposes left and right values of perspective projection
+ *        with a left-hand coordinate system and a
+ *        clip-space of [-1, 1].
+ *        x stands for x axis (left / right axis)
+ *
+ * @param[in]  proj  perspective projection matrix
+ * @param[out] left  left
+ * @param[out] right right
+ */
+CGLM_INLINE
+void
+glms_persp_decomp_x_lh_no(mat4s proj,
+                          float * __restrict left,
+                          float * __restrict right) {
+  glm_persp_decomp_x_lh_no(proj.raw, left, right);
+}
+
+/*!
+ * @brief decomposes top and bottom values of perspective projection
+ *        with a left-hand coordinate system and a
+ *        clip-space of [-1, 1].
+ *        y stands for y axis (top / botom axis)
+ *
+ * @param[in]  proj   perspective projection matrix
+ * @param[out] top    top
+ * @param[out] bottom bottom
+ */
+CGLM_INLINE
+void
+glms_persp_decomp_y_lh_no(mat4s proj,
+                          float * __restrict top,
+                          float * __restrict bottom) {
+  glm_persp_decomp_y_lh_no(proj.raw, top, bottom);
+}
+
+/*!
+ * @brief decomposes near and far values of perspective projection
+ *        with a left-hand coordinate system and a
+ *        clip-space of [-1, 1].
+ *        z stands for z axis (near / far axis)
+ *
+ * @param[in]  proj    perspective projection matrix
+ * @param[out] nearZ   near
+ * @param[out] farZ    far
+ */
+CGLM_INLINE
+void
+glms_persp_decomp_z_lh_no(mat4s proj,
+                          float * __restrict nearZ,
+                          float * __restrict farZ) {
+  glm_persp_decomp_z_lh_no(proj.raw, nearZ, farZ);
+}
+
+/*!
+ * @brief decomposes far value of perspective projection
+ *        with a left-hand coordinate system and a
+ *        clip-space of [-1, 1].
+ *
+ * @param[in]  proj   perspective projection matrix
+ * @param[out] farZ   far
+ */
+CGLM_INLINE
+void
+glms_persp_decomp_far_lh_no(mat4s proj, float * __restrict farZ) {
+  glm_persp_decomp_far_lh_no(proj.raw, farZ);
+}
+
+/*!
+ * @brief decomposes near value of perspective projection
+ *        with a left-hand coordinate system and a
+ *        clip-space of [-1, 1].
+ *
+ * @param[in]  proj  perspective projection matrix
+ * @param[out] nearZ near
+ */
+CGLM_INLINE
+void
+glms_persp_decomp_near_lh_no(mat4s proj, float * __restrict nearZ) {
+  glm_persp_decomp_near_lh_no(proj.raw, nearZ);
+}
+
+/*!
+ * @brief returns field of view angle along the Y-axis (in radians)
+ *        with a left-hand coordinate system and a
+ *        clip-space of [-1, 1].
+ *
+ * if you need to degrees, use glm_deg to convert it or use this:
+ * fovy_deg = glm_deg(glm_persp_fovy(projMatrix))
+ *
+ * @param[in] proj perspective projection matrix
+ */
+CGLM_INLINE
+float
+glms_persp_fovy_lh_no(mat4s proj) {
+  return glm_persp_fovy_lh_no(proj.raw);
+}
+
+/*!
+ * @brief returns aspect ratio of perspective projection
+ *        with a left-hand coordinate system and a
+ *        clip-space of [-1, 1].
+ *
+ * @param[in] proj perspective projection matrix
+ */
+CGLM_INLINE
+float
+glms_persp_aspect_lh_no(mat4s proj) {
+  return glm_persp_aspect_lh_no(proj.raw);
+}
+
+/*!
+ * @brief returns sizes of near and far planes of perspective projection
+ *        with a left-hand coordinate system and a
+ *        clip-space of [-1, 1].
+ *
+ * @param[in]  proj perspective projection matrix
+ * @param[in]  fovy fovy (see brief)
+ * @returns    sizes as vector, sizes order: [Wnear, Hnear, Wfar, Hfar]
+ */
+CGLM_INLINE
+vec4s
+glms_persp_sizes_lh_no(mat4s proj, float fovy) {
+  vec4s dest;
+  glm_persp_sizes_lh_no(proj.raw, fovy, dest.raw);
+  return dest;
+}
+
+#endif /* cglms_persp_lh_no_h */