Update README.md

* Fix CMake compiler args.

- Replace -stdlib=libc++ with -std=gnu11 & apply it to clang too.
- Remove redundant -fstrict-aliasing.
- Remove warned and redundant -Weverything

.gitattributes

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

.gitignore

@@ -72,3 +72,4 @@ cglm-test-ios*
 /cglm.pc
 test-driver
 Default-568h@2x.png
+build/

CMakeLists.txt

@@ -0,0 +1,192 @@
+cmake_minimum_required(VERSION 3.8.2)
+project(cglm LANGUAGES C)
+
+set(C_STANDARD 11)
+set(C_STANDARD_REQUIRED YES)
+
+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(C_STANDARD 99)
+endif()
+
+if(MSVC)
+	add_definitions(-DNDEBUG -D_WINDOWS -D_USRDLL -DCGLM_EXPORTS -DCGLM_DLL)
+	add_compile_options("/W3" "/Ox" "/Gy" "/Oi" "/TC" "/analyze")
+else()
+    add_compile_options("-Wall" "-Werror" "-std=gnu11" "-O3")
+    if ("${CMAKE_C_COMPILER_ID}" STREQUAL "Clang")
+		  # Currently, nothing special to be seen here.
+    else()
+		  add_compile_options("-Werror=strict-prototypes")
+    endif()
+endif()
+
+set(HEADERS
+  include/cglm/version.h
+  include/cglm/common.h
+  include/cglm/types.h
+  include/cglm/types-struct.h
+  include/cglm/cglm.h
+  include/cglm/call.h
+  include/cglm/struct.h
+  include/cglm/cam.h
+  include/cglm/io.h
+  include/cglm/mat4.h
+  include/cglm/mat3.h
+  include/cglm/mat2.h
+  include/cglm/affine.h
+  include/cglm/vec2.h
+  include/cglm/vec2-ext.h
+  include/cglm/vec3.h
+  include/cglm/vec3-ext.h
+  include/cglm/vec4.h
+  include/cglm/vec4-ext.h
+  include/cglm/euler.h
+  include/cglm/util.h
+  include/cglm/quat.h
+  include/cglm/affine-mat.h
+  include/cglm/plane.h
+  include/cglm/frustum.h
+  include/cglm/box.h
+  include/cglm/color.h
+  include/cglm/project.h
+  include/cglm/sphere.h
+  include/cglm/ease.h
+  include/cglm/curve.h
+  include/cglm/bezier.h
+  include/cglm/applesimd.h
+  include/cglm/ray.h
+  )
+
+set(HEADERS_CALL
+  include/cglm/call/mat4.h
+  include/cglm/call/mat3.h
+  include/cglm/call/mat2.h
+  include/cglm/call/vec2.h
+  include/cglm/call/vec3.h
+  include/cglm/call/vec4.h
+  include/cglm/call/affine.h
+  include/cglm/call/io.h
+  include/cglm/call/cam.h
+  include/cglm/call/quat.h
+  include/cglm/call/euler.h
+  include/cglm/call/plane.h
+  include/cglm/call/frustum.h
+  include/cglm/call/box.h
+  include/cglm/call/project.h
+  include/cglm/call/sphere.h
+  include/cglm/call/ease.h
+  include/cglm/call/curve.h
+  include/cglm/call/bezier.h
+  include/cglm/call/ray.h
+  )
+
+set(HEADERS_SIMD
+  include/cglm/simd/intrin.h
+  include/cglm/simd/x86.h
+  include/cglm/simd/arm.h
+  )
+
+set(HEADERS_SIMD_SSE2
+  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
+  )
+
+set(HEADERS_SIMD_AVX
+   include/cglm/simd/avx/mat4.h
+   include/cglm/simd/avx/affine.h
+   )
+
+set(HEADERS_SIMD_NEON
+   include/cglm/simd/neon/mat4.h
+   )
+
+set(HEADERS_STRUCT
+  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
+  include/cglm/struct/vec3-ext.h
+  include/cglm/struct/vec4.h
+  include/cglm/struct/vec4-ext.h
+  include/cglm/struct/affine.h
+  include/cglm/struct/io.h
+  include/cglm/struct/cam.h
+  include/cglm/struct/quat.h
+  include/cglm/struct/euler.h
+  include/cglm/struct/plane.h
+  include/cglm/struct/frustum.h
+  include/cglm/struct/box.h
+  include/cglm/struct/project.h
+  include/cglm/struct/sphere.h
+  include/cglm/struct/color.h
+  include/cglm/struct/curve.h
+  )
+
+add_library(cglm
+  ${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
+  )
+
+target_include_directories(cglm PUBLIC
+  ${CMAKE_CURRENT_SOURCE_DIR}/include
+)
+
+install(
+	TARGETS	cglm
+	EXPORT cglm
+	ARCHIVE DESTINATION lib/ COMPONENT development
+	LIBRARY DESTINATION lib/ COMPONENT runtime NAMELINK_SKIP
+	RUNTIME DESTINATION ${CMAKE_INSTALL_NAME_DIR} COMPONENT runtime
+)
+
+if(CGLM_SHARED)
+	install(
+		TARGETS	cglm
+		EXPORT cglm
+		LIBRARY DESTINATION include/ COMPONENT development NAMELINK_ONLY
+	)
+endif()
+
+INSTALL(DIRECTORY include/ DESTINATION include)
+
+# Test Configuration
+if(CGLM_USE_TEST)
+  enable_testing()
+  add_subdirectory(test)
+endif()

CREDITS

@@ -65,19 +65,9 @@ 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. Ken Shoemake's algorithm Implementation and Euler
-Ken Shoemake's algorithm impl. is taken from this repo by permission:
-  https://github.com/erich666/GraphicsGems/blob/master/gemsiv/euler_angle
-
-* -------------------------- GraphicsGems EULA ----------------------------- *
-|   http://www.realtimerendering.com/resources/GraphicsGems/                 |
-|                                                                            |
-| EULA: The Graphics Gems code is copyright-protected. In other words, you   |
-| cannot claim the text of the code as your own and resell it. Using the     |
-| code is permitted in any program, product, or library, non-commercial or   |
-| commercial. Giving credit is not required, though is a nice gesture.       |
-| The code comes as-is, and if there are any flaws or problems with any Gems |
-| code, nobody involved with Gems - authors, editors, publishers, or         |
-| webmasters - are to be held responsible. Basically, don't be a jerk, and   |
-| remember that anything free comes with no guarantee.                       |
-* -------------------------------- END --------------------------------------*/
+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

Makefile.am

@@ -63,8 +63,9 @@ 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
+
 cglm_calldir=$(includedir)/cglm/call
 cglm_call_HEADERS = include/cglm/call/mat4.h \
                     include/cglm/call/mat3.h \
@@ -84,7 +85,8 @@ 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
 
 cglm_simddir=$(includedir)/cglm/simd
 cglm_simd_HEADERS = include/cglm/simd/intrin.h \
@@ -95,6 +97,7 @@ cglm_simd_sse2dir=$(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=$(includedir)/cglm/simd/avx
@@ -107,6 +110,7 @@ cglm_simd_neon_HEADERS = include/cglm/simd/neon/mat4.h
 cglm_structdir=$(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 \
@@ -145,7 +149,8 @@ libcglm_la_SOURCES=\
     src/sphere.c \
     src/ease.c \
     src/curve.c \
-    src/bezier.c
+    src/bezier.c \
+    src/ray.c
 
 test_tests_SOURCES=\
     test/runner.c \

README.md

@@ -89,6 +89,7 @@ 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 />
@@ -148,6 +149,38 @@ 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 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/)
+```
+
 ### Unix (Autotools)
 
 ```bash
@@ -291,7 +324,7 @@ 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

configure.ac

@@ -7,7 +7,7 @@
 #*****************************************************************************
 
 AC_PREREQ([2.69])
-AC_INIT([cglm], [0.7.1], [info@recp.me])
+AC_INIT([cglm], [0.7.2], [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/api.rst

@@ -51,3 +51,5 @@ Follow the :doc:`build` documentation for this
    sphere
    curve
    bezier
+   version
+   ray

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

@@ -62,9 +62,9 @@ author = u'Recep Aslantas'
 # built documents.
 #
 # The short X.Y version.
-version = u'0.7.1'
+version = u'0.7.2'
 # The full version, including alpha/beta/rc tags.
-release = u'0.7.1'
+release = u'0.7.2'
 
 # The language for content autogenerated by Sphinx. Refer to documentation
 # for a list of supported languages.

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/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/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]*  **row1**  vector2
+      | *[in]*  **v1**  vector1
+      | *[in]*  **v2**  vector2
 
     Returns:
       | squared distance (distance * distance)
@@ -446,8 +446,8 @@ Functions documentation
     distance between two vectors
 
     Parameters:
-      | *[in]*  **mat**   vector1
-      | *[in]*  **row1**  vector2
+      | *[in]*  **v1**  vector1
+      | *[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.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

include/cglm/call.h

@@ -31,6 +31,7 @@ extern "C" {
 #include "call/ease.h"
 #include "call/curve.h"
 #include "call/bezier.h"
+#include "call/ray.h"
 
 #ifdef __cplusplus
 }

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/cglm.h

@@ -30,5 +30,6 @@
 #include "ease.h"
 #include "curve.h"
 #include "bezier.h"
+#include "ray.h"
 
 #endif /* cglm_h */

include/cglm/euler.h

@@ -18,160 +18,24 @@
    enum glm_euler_seq
 
  Functions:
-   CGLM_INLINE glm_eul_mat4(vec3 ea, int order, mat4 dest)
+   CGLM_INLINE glm_euler_seq glm_euler_order(int newOrder[3]);
+   CGLM_INLINE void glm_euler_angles(mat4 m, vec3 dest);
+   CGLM_INLINE void glm_euler(vec3 angles, mat4 dest);
+   CGLM_INLINE void glm_euler_xyz(vec3 angles, mat4 dest);
+   CGLM_INLINE void glm_euler_zyx(vec3 angles, mat4 dest);
+   CGLM_INLINE void glm_euler_zxy(vec3 angles, mat4 dest);
+   CGLM_INLINE void glm_euler_xzy(vec3 angles, mat4 dest);
+   CGLM_INLINE void glm_euler_yzx(vec3 angles, mat4 dest);
+   CGLM_INLINE void glm_euler_yxz(vec3 angles, mat4 dest);
+   CGLM_INLINE void glm_euler_by_order(vec3         angles,
+                                       glm_euler_seq ord,
+                                       mat4         dest);
  */
 
 #ifndef cglm_euler_h
 #define cglm_euler_h
 
 #include "common.h"
-#include "util.h"
-
-/* ---------- Notice for Ken Shoemake's algorithm Implementation -------------*
- | Ken Shoemake's algorithm impl. is taken from this repo by permission:      |
- |   https://github.com/erich666/GraphicsGems/blob/master/gemsiv/euler_angle  |
- |                                                                            |
- | cglm doesn't claim the ownership of GraphicsGems source codes              |
- | and the algorithm itself. But cglm may change variable names or some piece |
- | of codes in order to apply optimizations or to make it usable in cglm.     |
- |                                                                            |
- | Related issue: https://github.com/recp/cglm/issues/30                      |
- |                                                                            |
- * -------------------------- GraphicsGems EULA ----------------------------- *
- | Related EULA for GraphicsGems can be found at below, plus in CREDITS:      |
- |   http://www.realtimerendering.com/resources/GraphicsGems/                 |
- |                                                                            |
- | EULA: The Graphics Gems code is copyright-protected. In other words, you   |
- | cannot claim the text of the code as your own and resell it. Using the     |
- | code is permitted in any program, product, or library, non-commercial or   |
- | commercial. Giving credit is not required, though is a nice gesture.       |
- | The code comes as-is, and if there are any flaws or problems with any Gems |
- | code, nobody involved with Gems - authors, editors, publishers, or         |
- | webmasters - are to be held responsible. Basically, don't be a jerk, and   |
- | remember that anything free comes with no guarantee.                       |
- * -------------------------------- END --------------------------------------*/
-
-/* Order type constants, constructors, extractors
- * There are 24 possible conventions, designated by:
- *	  o EulAxI = axis used initially
- *	  o EulPar = parity of axis permutation
- *	  o EulRep = repetition of initial axis as last
- *	  o EulFrm = frame from which axes are taken
- * Axes I,J,K will be a permutation of X,Y,Z.
- * Axis H will be either I or K, depending on EulRep.
- * Frame S takes axes from initial static frame.
- * If ord = (AxI=X, Par=Even, Rep=No, Frm=S), then
- * {a,b,c,ord} means Rz(c)Ry(b)Rx(a), where Rz(c)v
- * rotates v around Z by c radians.			    
-*/
-
-#define EulRep(ord)  (((unsigned)(ord)>>1)&1)
-#define EulFrm(ord)  ((unsigned)(ord)&1)
-#define EulPar(ord)  (((unsigned)(ord)>>2)&1)
-
-/*! this code is merely a quick (and legal!) way to set arrays,
-    EulSafe being 0,1,2,0 */
-#define EulSafe	     "\000\001\002\000"
-#define EulNext	     "\001\002\000\001"
-#define EulAxI(ord)  ((int)(EulSafe[(((unsigned)(ord)>>3)&3)]))
-#define EulAxJ(ord)  ((int)(EulNext[EulAxI(ord)+(EulPar(ord)==EulParOdd)]))
-#define EulAxK(ord)  ((int)(EulNext[EulAxI(ord)+(EulPar(ord)!=EulParOdd)]))
-#define EulAxH(ord)  ((EulRep(ord)==EulRepNo)?EulAxK(ord):EulAxI(ord))
-
-/*! EulGetOrd unpacks all useful information about order simultaneously. */
-#define EulGetOrd(ord,i,j,k,h,n,s,f)                                          \
-  {unsigned o=(unsigned)ord;f=o&1;o>>=1;s=o&1;o>>=1;\
-    n=o&1;o>>=1;i=EulSafe[o&3];j=EulNext[i+n];k=EulNext[i+1-n];h=s?k:i;}
-
-typedef enum glm_eul_order {
-  /*! Static axes */
-  GLM_EUL_XYZs  = 0,
-  GLM_EUL_XYXs  = 2,
-  GLM_EUL_XZYs  = 4,
-  GLM_EUL_XZXs  = 6,
-  GLM_EUL_YZXs  = 8,
-  GLM_EUL_YZYs  = 10,
-  GLM_EUL_YXZs  = 12,
-  GLM_EUL_YXYs  = 14,
-  GLM_EUL_ZXYs  = 16,
-  GLM_EUL_ZXZs  = 18,
-  GLM_EUL_ZYXs  = 20,
-  GLM_EUL_ZYZs  = 22,
-  
-  /*! Rotating axes */
-  GLM_EUL_ZYXr  = 1,
-  GLM_EUL_XYXr  = 3,
-  GLM_EUL_YZXr  = 5,
-  GLM_EUL_XZXr  = 7,
-  GLM_EUL_XZYr  = 9,
-  GLM_EUL_YZYr  = 11,
-  GLM_EUL_ZXYr  = 13,
-  GLM_EUL_YXYr  = 15,
-  GLM_EUL_YXZr  = 17,
-  GLM_EUL_ZXZr  = 19,
-  GLM_EUL_XYZr  = 21,
-  GLM_EUL_ZYZr  = 23
-} glm_eul_order;
-
-/*!
- * @brief build matrix from euler angles
- *
- * @param[in]  ea     [Xangle, Yangle, Zangle]
- * @param[out] dest   rotation matrix
- */
-CGLM_INLINE
-void
-glm_eul_mat4(vec3 ea, glm_eul_order order, mat4 dest) {
-  float ti, tj, th, ci, cj, ch, si, sj, sh, cc, cs, sc, ss;
-  int   i, j, k, h, parOdd, repYes, frmR;
-
-  EulGetOrd(order, i, j, k, h, parOdd, repYes, frmR);
-  
-  if (frmR == 1)
-    glm_swapf(&ea[0], &ea[2]);
-  
-  if (parOdd == 1)
-    glm_vec3_negate(ea);
-  
-  ti = ea[0]; tj = ea[1]; th = ea[2];
-  
-  ci = cosf(ti);  cj = cosf(tj);
-  ch = cosf(th);  si = sinf(ti);
-  sj = sinf(tj);  sh = sinf(th);
-  
-  cc = ci * ch;  cs = ci * sh;
-  sc = si * ch;  ss = si * sh;
-  
-  if (repYes == 1) {
-    dest[i][i] =  cj;
-    dest[i][j] =  sj * si;
-    dest[i][k] =  sj * ci;
-    dest[j][i] =  sj * sh;
-    dest[j][j] = -cj * ss + cc;
-    dest[j][k] = -cj * cs - sc;
-    dest[k][i] = -sj * ch;
-    dest[k][j] =  cj * sc + cs;
-    dest[k][k] =  cj * cc - ss;
-  } else {
-    dest[i][i] =  cj * ch;
-    dest[i][j] =  sj * sc - cs;
-    dest[i][k] =  sj * cc + ss;
-    dest[j][i] =  cj * sh;
-    dest[j][j] =  sj * ss + cc;
-    dest[j][k] =  sj * cs - sc;
-    dest[k][i] = -sj;
-    dest[k][j] =  cj * si;
-    dest[k][k] =  cj * ci;
-  }
-  
-  dest[3][0] = 0.f;
-  dest[3][1] = 0.f;
-  dest[3][2] = 0.f;
-  dest[0][3] = 0.f;
-  dest[1][3] = 0.f;
-  dest[2][3] = 0.f;
-  dest[3][3] = 1.f;
-}
 
 /*!
  * if you have axis order like vec3 orderVec = [0, 1, 2] or [0, 2, 1]...

include/cglm/quat.h

@@ -63,10 +63,6 @@
 #  include "simd/sse2/quat.h"
 #endif
 
-CGLM_INLINE
-void
-glm_mat4_identity(mat4 mat);
-
 CGLM_INLINE
 void
 glm_mat4_mulv(mat4 m, vec4 v, vec4 dest);

include/cglm/ray.h

@@ -0,0 +1,81 @@
+/*
+ * 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
+ * @param[out] intersection  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 0;
+
+  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 0;
+
+  glm_vec3_cross(t, edge1, q);
+
+  v = inv_det * glm_vec3_dot(direction, q);
+
+  if (v < 0.0f || u + v > 1.0f)
+    return 0;
+
+  dist = inv_det * glm_vec3_dot(edge2, q);
+
+  if (d)
+      *d = dist;
+
+  return dist > epsilon;
+}
+
+#endif

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/sphere.h

@@ -42,9 +42,9 @@ glms_sphere_radii(vec4s s) {
  */
 CGLM_INLINE
 vec4s
-glms_sphere_transform(vec4s s, mat4 m) {
+glms_sphere_transform(vec4s s, mat4s m) {
   vec4s r;
-  glm_sphere_transform(s.raw, m, r.raw);
+  glm_sphere_transform(s.raw, m.raw, r.raw);
   return r;
 }
 

include/cglm/struct/vec2.h

@@ -66,7 +66,7 @@
 /*!
  * @brief init vec2 using vec2
  *
- * @param[in]  v4   vector3
+ * @param[in]  v3   vector3
  * @returns         destination
  */
 CGLM_INLINE
@@ -455,18 +455,18 @@ glms_vec2_normalize(vec2s v) {
 }
 
 /*!
- * @brief rotate vec2 around axis by angle using Rodrigues' rotation formula
+ * @brief rotate vec2 by angle using Rodrigues' rotation formula
  *
  * @param[in]     v     vector
- * @param[in]     axis  axis vector (must be unit vector)
  * @param[in]     angle angle by radians
  * @returns             rotated vector
  */
 CGLM_INLINE
 vec2s
-glms_vec2_rotate(vec2s v, float angle, vec2s axis) {
-  glm_vec2_rotate(v.raw, angle, axis.raw);
-  return v;
+glms_vec2_rotate(vec2s v, float angle) {
+  vec2s r;
+  glm_vec2_rotate(v.raw, angle, r.raw);
+  return r;
 }
 
 /**

include/cglm/util.h

@@ -322,7 +322,7 @@ glm_percent(float from, float to, float current) {
 CGLM_INLINE
 float
 glm_percentc(float from, float to, float current) {
-  return glm_clamp(glm_percent(from, to, current), 0.0f, 1.0f);
+  return glm_clamp_zo(glm_percent(from, to, current));
 }
 
 /*!

include/cglm/version.h

@@ -10,6 +10,6 @@
 
 #define CGLM_VERSION_MAJOR 0
 #define CGLM_VERSION_MINOR 7
-#define CGLM_VERSION_PATCH 1
+#define CGLM_VERSION_PATCH 2
 
 #endif /* cglm_version_h */

src/ray.c

@@ -0,0 +1,13 @@
+#include "../include/cglm/cglm.h"
+#include "../include/cglm/call.h"
+
+CGLM_EXPORT
+bool
+glmc_ray_triangle(vec3   origin,
+                  vec3   direction,
+                  vec3   v0,
+                  vec3   v1,
+                  vec3   v2,
+                  float *d) {
+    return glm_ray_triangle(origin, direction, v0, v1, v2, d);
+}

test/CMakeLists.txt

@@ -0,0 +1,39 @@
+cmake_minimum_required(VERSION 3.8.2)
+
+# List all files containing tests. (Change as needed)
+set(TESTFILES
+  runner.c
+  src/test_euler.c
+  src/test_bezier.c
+  src/test_cam.c
+  src/test_struct.c
+  src/test_clamp.c
+  src/test_common.c
+  src/tests.c
+  )
+
+set(TEST_MAIN tests)
+set(TEST_RUNNER_PARAMS "")
+
+add_executable(${TEST_MAIN} ${TESTFILES})
+
+target_link_libraries(${TEST_MAIN} PRIVATE cglm m)
+target_include_directories(${TEST_MAIN} PRIVATE
+  ${CMAKE_CURRENT_LIST_DIR}/include
+  ${CMAKE_CURRENT_LIST_DIR}/src
+  )
+
+set_target_properties(${TEST_MAIN} PROPERTIES RUNTIME_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR})
+
+if(LDFLAGS)
+  target_compile_options(${TEST_MAIN} PRIVATE ${LDFLAGS})
+endif()
+
+add_test(
+    NAME cglm.${TEST_MAIN}
+    COMMAND ${TEST_MAIN} ${TEST_RUNNER_PARAMS})
+
+add_custom_target(check
+  make
+  COMMAND ${CMAKE_CTEST_COMMAND} -V
+  DEPENDS cglm)

test/src/test_ray.h

@@ -0,0 +1,34 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), http://opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+#include "test_common.h"
+
+TEST_IMPL(GLM_PREFIX, ray_triangle) {
+  /* Check whether a simple hit is recognized with the right distance */
+  vec3  origin    = { 0.0f,  0.0f,  0.0f};
+  vec3  direction = { 1.0f,  0.0f,  0.0f};
+  vec3  opposite  = {-1.0f,  0.0f,  0.0f};
+  vec3  v0        = { 5.0f, -1.0f,  1.0f};
+  vec3  v1        = { 5.0f, -1.0f, -1.0f};
+  vec3  v2        = { 5.0f,  1.0f,  0.0f};
+  float d;
+  bool  hit;
+
+  hit = GLM(ray_triangle)(origin, direction, v0, v1, v2, &d);
+  ASSERT(hit);
+  ASSERT(fabsf(d - 5.0f) <= 0.0000009);
+
+  /* Check whether a simple miss works */
+  hit = GLM(ray_triangle)(origin, opposite, v0, v1, v2, &d);
+  ASSERT(!hit);
+
+  /* Check that we can disregard distance and pass NULL pointer instead */
+  hit = GLM(ray_triangle)(origin, direction, v0, v1, v2, NULL);
+  ASSERT(hit);
+
+  TEST_SUCCESS
+}

test/src/tests.c

@@ -23,6 +23,7 @@
 #include "test_plane.h"
 #include "test_affine.h"
 #include "test_affine_mat.h"
+#include "test_ray.h"
 
 #undef GLM
 #undef GLM_PREFIX
@@ -44,6 +45,7 @@
 #include "test_plane.h"
 #include "test_affine.h"
 #include "test_affine_mat.h"
+#include "test_ray.h"
 
 #undef GLM
 #undef GLM_PREFIX

test/tests.h

@@ -218,6 +218,10 @@ TEST_DECLARE(clamp)
 /* euler */
 TEST_DECLARE(euler)
 
+/* ray */
+TEST_DECLARE(glm_ray_triangle)
+TEST_DECLARE(glmc_ray_triangle)
+
 /* quat */
 TEST_DECLARE(MACRO_GLM_QUAT_IDENTITY_INIT)
 TEST_DECLARE(MACRO_GLM_QUAT_IDENTITY)
@@ -905,6 +909,10 @@ TEST_LIST {
   /* euler */
   TEST_ENTRY(euler)
   
+  /* ray */
+  TEST_ENTRY(glm_ray_triangle)
+  TEST_ENTRY(glmc_ray_triangle)
+
   /* quat */
   TEST_ENTRY(MACRO_GLM_QUAT_IDENTITY_INIT)
   TEST_ENTRY(MACRO_GLM_QUAT_IDENTITY)

win/cglm-test.vcxproj

@@ -42,6 +42,7 @@
     <ClInclude Include="..\test\src\test_vec2.h" />
     <ClInclude Include="..\test\src\test_vec3.h" />
     <ClInclude Include="..\test\src\test_vec4.h" />
+    <ClInclude Include="..\test\src\test_ray.h" />
     <ClInclude Include="..\test\tests.h" />
   </ItemGroup>
   <ItemGroup>

win/cglm-test.vcxproj.filters

@@ -79,5 +79,8 @@
     <ClInclude Include="..\test\src\test_vec2.h">
       <Filter>src</Filter>
     </ClInclude>
+    <ClInclude Include="..\test\src\test_ray.h">
+      <Filter>src</Filter>
+    </ClInclude>
   </ItemGroup>
 </Project>

win/cglm.vcxproj

@@ -34,6 +34,7 @@
     <ClCompile Include="..\src\plane.c" />
     <ClCompile Include="..\src\project.c" />
     <ClCompile Include="..\src\quat.c" />
+    <ClCompile Include="..\src\ray.c" />
     <ClCompile Include="..\src\sphere.c" />
     <ClCompile Include="..\src\vec2.c" />
     <ClCompile Include="..\src\vec3.c" />
@@ -61,6 +62,7 @@
     <ClInclude Include="..\include\cglm\call\plane.h" />
     <ClInclude Include="..\include\cglm\call\project.h" />
     <ClInclude Include="..\include\cglm\call\quat.h" />
+    <ClInclude Include="..\include\cglm\call\ray.h" />
     <ClInclude Include="..\include\cglm\call\sphere.h" />
     <ClInclude Include="..\include\cglm\call\vec2.h" />
     <ClInclude Include="..\include\cglm\call\vec3.h" />
@@ -80,12 +82,14 @@
     <ClInclude Include="..\include\cglm\plane.h" />
     <ClInclude Include="..\include\cglm\project.h" />
     <ClInclude Include="..\include\cglm\quat.h" />
+    <ClInclude Include="..\include\cglm\ray.h" />
     <ClInclude Include="..\include\cglm\simd\arm.h" />
     <ClInclude Include="..\include\cglm\simd\avx\affine.h" />
     <ClInclude Include="..\include\cglm\simd\avx\mat4.h" />
     <ClInclude Include="..\include\cglm\simd\intrin.h" />
     <ClInclude Include="..\include\cglm\simd\neon\mat4.h" />
     <ClInclude Include="..\include\cglm\simd\sse2\affine.h" />
+    <ClInclude Include="..\include\cglm\simd\sse2\mat2.h" />
     <ClInclude Include="..\include\cglm\simd\sse2\mat3.h" />
     <ClInclude Include="..\include\cglm\simd\sse2\mat4.h" />
     <ClInclude Include="..\include\cglm\simd\sse2\quat.h" />

win/cglm.vcxproj.filters

@@ -92,6 +92,9 @@
     <ClCompile Include="..\src\vec2.c">
       <Filter>src</Filter>
     </ClCompile>
+    <ClCompile Include="..\src\ray.c">
+      <Filter>src</Filter>
+    </ClCompile>
   </ItemGroup>
   <ItemGroup>
     <ClInclude Include="..\src\config.h">
@@ -124,6 +127,9 @@
     <ClInclude Include="..\include\cglm\call\vec4.h">
       <Filter>include\cglm\call</Filter>
     </ClInclude>
+    <ClInclude Include="..\include\cglm\call\ray.h">
+      <Filter>include\cglm\call</Filter>
+    </ClInclude>
     <ClInclude Include="..\include\cglm\simd\avx\affine.h">
       <Filter>include\cglm\simd\avx</Filter>
     </ClInclude>
@@ -241,6 +247,9 @@
     <ClInclude Include="..\include\cglm\ease.h">
       <Filter>include\cglm</Filter>
     </ClInclude>
+    <ClInclude Include="..\include\cglm\ray.h">
+      <Filter>include\cglm</Filter>
+    </ClInclude>
     <ClInclude Include="..\include\cglm\simd\arm.h">
       <Filter>include\cglm\simd</Filter>
     </ClInclude>
@@ -346,5 +355,8 @@
     <ClInclude Include="..\include\cglm\struct\vec2-ext.h">
       <Filter>include\cglm\struct</Filter>
     </ClInclude>
+    <ClInclude Include="..\include\cglm\simd\sse2\mat2.h">
+      <Filter>include\cglm\simd\sse2</Filter>
+    </ClInclude>
   </ItemGroup>
 </Project>