win, msvc: enable FMA macro for MSVC

Add CMake interface library target

CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.8.2)
-project(cglm VERSION 0.8.0 LANGUAGES C)
+project(cglm VERSION 0.8.1 LANGUAGES C)
 
 set(CMAKE_C_STANDARD 11)
 set(CMAKE_C_STANDARD_REQUIRED YES)
@@ -18,7 +18,7 @@ else(CGLM_STATIC)
 endif()
 
 if(CGLM_USE_C99)
-  set(C_STANDARD 99)
+  set(CMAKE_C_STANDARD 99)
 endif()
 
 if(MSVC)
@@ -93,6 +93,11 @@ target_include_directories(${PROJECT_NAME}
         ${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)
@@ -117,6 +122,7 @@ export(TARGETS ${PROJECT_NAME}
 )
 
 install(EXPORT      ${PROJECT_NAME}
+        FILE        "${PROJECT_NAME}Config.cmake"
         NAMESPACE   ${PROJECT_NAME}::
-        DESTINATION ${CMAKE_INSTALL_LIBDIR}/${PROJECT_NAME}/cmake)
+        DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/${PROJECT_NAME})
 

README.md

@@ -168,6 +168,24 @@ 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

cglm.podspec

@@ -2,7 +2,7 @@ Pod::Spec.new do |s|
 
   # Description
   s.name         = "cglm"
-  s.version      = "0.7.9"
+  s.version      = "0.8.0"
   s.summary      = "📽 Highly Optimized Graphics Math (glm) for C"
   s.description  = <<-DESC
 cglm is math library for graphics programming for C. See the documentation or README for all features.

configure.ac

@@ -7,7 +7,7 @@
 #*****************************************************************************
 
 AC_PREREQ([2.69])
-AC_INIT([cglm], [0.8.0], [info@recp.me])
+AC_INIT([cglm], [0.8.1], [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/build.rst

@@ -32,6 +32,22 @@ If you don't want to install **cglm** to your system's folder you can get static
   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

docs/source/conf.py

@@ -62,9 +62,9 @@ author = u'Recep Aslantas'
 # built documents.
 #
 # The short X.Y version.
-version = u'0.8.0'
+version = u'0.8.1'
 # The full version, including alpha/beta/rc tags.
-release = u'0.8.0'
+release = u'0.8.1'
 
 # The language for content autogenerated by Sphinx. Refer to documentation
 # for a list of supported languages.

include/cglm/affine.h

@@ -425,7 +425,7 @@ bool
 glm_uniscaled(mat4 m) {
   CGLM_ALIGN(8) vec3 s;
   glm_decompose_scalev(m, s);
-  return glm_vec3_eq_eps(s, s[0]);
+  return glm_vec3_eq_all(s);
 }
 
 /*!
@@ -455,7 +455,7 @@ 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/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];
-  b = s[1] >= box[0][1];
-  c = s[2] >= box[0][2];
+  a = (s[0] < box[0][0]) + (s[0] > box[1][0]);
+  b = (s[1] < box[0][1]) + (s[1] > box[1][1]);
+  c = (s[2] < box[0][2]) + (s[2] > box[1][2]);
 
-  dmin  = glm_pow2(s[0] - box[a][0])
-        + glm_pow2(s[1] - box[b][1])
-        + glm_pow2(s[2] - box[c][2]);
+  dmin  = glm_pow2((s[0] - box[!(a - 1)][0]) * (a != 0))
+        + glm_pow2((s[1] - box[!(b - 1)][1]) * (b != 0))
+        + glm_pow2((s[2] - box[!(c - 1)][2]) * (c != 0));
 
   return dmin <= glm_pow2(s[3]);
 }

include/cglm/common.h

@@ -42,18 +42,12 @@
 #include "types.h"
 #include "simd/intrin.h"
 
-/** CGLM_USE_DEFAULT_EPSILON is removed, to override float epsilon,
- *  just define GLM_FLT_EPSILON with epsilon value like below
- *
- *  #define GLM_FLT_EPSILON 1e-6f
- */
-
-#ifndef GLM_FLT_EPSILON
-#  ifndef FLT_EPSILON
-#    define GLM_FLT_EPSILON 1e-6f
-#  else
-#    define GLM_FLT_EPSILON FLT_EPSILON
+#ifndef CGLM_USE_DEFAULT_EPSILON
+#  ifndef GLM_FLT_EPSILON
+#    define GLM_FLT_EPSILON 1e-6
 #  endif
+#else
+#  define GLM_FLT_EPSILON FLT_EPSILON
 #endif
 
 #endif /* cglm_common_h */

include/cglm/mat4.h

@@ -539,7 +539,9 @@ 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)
   glm_mat4_scale_neon(m, s);

include/cglm/simd/arm.h

@@ -79,5 +79,41 @@ glmm_norm_inf(float32x4_t a) {
   return glmm_hmax(glmm_abs(a));
 }
 
+static inline
+float32x4_t
+glmm_fmadd(float32x4_t a, float32x4_t b, float32x4_t c) {
+#if defined(__aarch64__)
+  return vfmaq_f32(c, a, b);
+#else
+  return vmlaq_f32(c, a, b);
+#endif
+}
+
+static inline
+float32x4_t
+glmm_fnmadd(float32x4_t a, float32x4_t b, float32x4_t c) {
+#if defined(__aarch64__)
+  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 defined(__aarch64__)
+  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/sse2/affine.h

@@ -22,31 +22,32 @@ glm_mul_sse2(mat4 m1, mat4 m2, mat4 dest) {
   l1 = glmm_load(m1[1]);
   l2 = glmm_load(m1[2]);
   l3 = glmm_load(m1[3]);
-
+  
   r = glmm_load(m2[0]);
   glmm_store(dest[0],
-             _mm_add_ps(_mm_add_ps(_mm_mul_ps(glmm_shuff1x(r, 0), l0),
-                                   _mm_mul_ps(glmm_shuff1x(r, 1), l1)),
-                        _mm_mul_ps(glmm_shuff1x(r, 2), l2)));
-
+             glmm_fmadd(glmm_shuff1x(r, 0), l0,
+                        glmm_fmadd(glmm_shuff1x(r, 1), l1,
+                                   _mm_mul_ps(glmm_shuff1x(r, 2), l2))));
+  
   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_mul_ps(glmm_shuff1x(r, 2), l2)));
+             glmm_fmadd(glmm_shuff1x(r, 0), l0,
+                        glmm_fmadd(glmm_shuff1x(r, 1), l1,
+                                   _mm_mul_ps(glmm_shuff1x(r, 2), l2))));
 
   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_mul_ps(glmm_shuff1x(r, 2), l2)));
+             glmm_fmadd(glmm_shuff1x(r, 0), l0,
+                        glmm_fmadd(glmm_shuff1x(r, 1), l1,
+                                   _mm_mul_ps(glmm_shuff1x(r, 2), l2))));
 
   r = glmm_load(m2[3]);
   glmm_store(dest[3],
-             _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))));
+             glmm_fmadd(glmm_shuff1x(r, 0), l0,
+                        glmm_fmadd(glmm_shuff1x(r, 1), l1,
+                                   glmm_fmadd(glmm_shuff1x(r, 2), l2,
+                                              _mm_mul_ps(glmm_shuff1x(r, 3),
+                                                         l3)))));
 }
 
 CGLM_INLINE
@@ -62,21 +63,22 @@ glm_mul_rot_sse2(mat4 m1, mat4 m2, mat4 dest) {
 
   r = glmm_load(m2[0]);
   glmm_store(dest[0],
-             _mm_add_ps(_mm_add_ps(_mm_mul_ps(glmm_shuff1x(r, 0), l0),
-                                   _mm_mul_ps(glmm_shuff1x(r, 1), l1)),
-                        _mm_mul_ps(glmm_shuff1x(r, 2), l2)));
-
+             glmm_fmadd(glmm_shuff1x(r, 0), l0,
+                        glmm_fmadd(glmm_shuff1x(r, 1), l1,
+                                   _mm_mul_ps(glmm_shuff1x(r, 2), l2))));
+  
   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_mul_ps(glmm_shuff1x(r, 2), l2)));
-
+             glmm_fmadd(glmm_shuff1x(r, 0), l0,
+                        glmm_fmadd(glmm_shuff1x(r, 1), l1,
+                                   _mm_mul_ps(glmm_shuff1x(r, 2), l2))));
+  
+  
   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_mul_ps(glmm_shuff1x(r, 2), l2)));
+             glmm_fmadd(glmm_shuff1x(r, 0), l0,
+                        glmm_fmadd(glmm_shuff1x(r, 1), l1,
+                                   _mm_mul_ps(glmm_shuff1x(r, 2), l2))));
 
   glmm_store(dest[3], l3);
 }
@@ -94,9 +96,9 @@ 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)),
-                  _mm_mul_ps(r1, glmm_shuff1(r3, 1, 1, 1, 1)));
-  x0 = _mm_add_ps(x0, _mm_mul_ps(r2, glmm_shuff1(r3, 2, 2, 2, 2)));
+  x0 = glmm_fmadd(r0, glmm_shuff1(r3, 0, 0, 0, 0),
+             glmm_fmadd(r1, glmm_shuff1(r3, 1, 1, 1, 1),
+                        _mm_mul_ps(r2, glmm_shuff1(r3, 2, 2, 2, 2))));
   x0 = _mm_xor_ps(x0, _mm_set1_ps(-0.f));
 
   x0 = _mm_add_ps(x0, x1);

include/cglm/simd/sse2/mat2.h

@@ -26,11 +26,11 @@ glm_mat2_mul_sse2(mat2 m1, mat2 m2, mat2 dest) {
    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));
-  x1 = _mm_mul_ps(_mm_movehl_ps(x1, x1), glmm_shuff1(x2, 3, 3, 1, 1));
-  x1 = _mm_add_ps(x0, x1);
+  x0 = glmm_fmadd(_mm_movelh_ps(x1, x1), glmm_shuff1(x2, 2, 2, 0, 0),
+                  _mm_mul_ps(_mm_movehl_ps(x1, x1),
+                             glmm_shuff1(x2, 3, 3, 1, 1)));
 
-  glmm_store(dest[0], x1);
+  glmm_store(dest[0], x0);
 }
 
 CGLM_INLINE

include/cglm/simd/sse2/mat3.h

@@ -30,24 +30,17 @@ glm_mat3_mul_sse2(mat3 m1, mat3 m2, mat3 dest) {
   x1 = glmm_shuff2(l0, l1, 1, 0, 3, 3, 0, 3, 2, 0);
   x2 = glmm_shuff2(l1, l2, 0, 0, 3, 2, 0, 2, 1, 0);
 
-  x0 = _mm_add_ps(_mm_mul_ps(glmm_shuff1(l0, 0, 2, 1, 0),
-                             glmm_shuff1(r0, 3, 0, 0, 0)),
-                  _mm_mul_ps(x1, glmm_shuff2(r0, r1, 0, 0, 1, 1, 2, 0, 0, 0)));
-
-  x0 = _mm_add_ps(x0,
-                  _mm_mul_ps(x2, glmm_shuff2(r0, r1, 1, 1, 2, 2, 2, 0, 0, 0)));
+  x0 = glmm_fmadd(glmm_shuff1(l0, 0, 2, 1, 0), glmm_shuff1(r0, 3, 0, 0, 0),
+                  glmm_fmadd(x1, glmm_shuff2(r0, r1, 0, 0, 1, 1, 2, 0, 0, 0),
+                             _mm_mul_ps(x2, glmm_shuff2(r0, r1, 1, 1, 2, 2, 2, 0, 0, 0))));
 
   _mm_storeu_ps(dest[0], x0);
 
-  x0 = _mm_add_ps(_mm_mul_ps(glmm_shuff1(l0, 1, 0, 2, 1),
-                             _mm_shuffle_ps(r0, r1, _MM_SHUFFLE(2, 2, 3, 3))),
-                  _mm_mul_ps(glmm_shuff1(x1, 1, 0, 2, 1),
-                             glmm_shuff1(r1, 3, 3, 0, 0)));
-
-  x0 = _mm_add_ps(x0,
-                  _mm_mul_ps(glmm_shuff1(x2, 1, 0, 2, 1),
-                             _mm_shuffle_ps(r1, r2, _MM_SHUFFLE(0, 0, 1, 1))));
-
+  x0 = glmm_fmadd(glmm_shuff1(l0, 1, 0, 2, 1), _mm_shuffle_ps(r0, r1, _MM_SHUFFLE(2, 2, 3, 3)),
+                  glmm_fmadd(glmm_shuff1(x1, 1, 0, 2, 1), glmm_shuff1(r1, 3, 3, 0, 0),
+                             _mm_mul_ps(glmm_shuff1(x2, 1, 0, 2, 1),
+                                        _mm_shuffle_ps(r1, r2, _MM_SHUFFLE(0, 0, 1, 1)))));
+  
   _mm_storeu_ps(&dest[1][1], x0);
 
   dest[2][2] = m1[0][2] * m2[2][0]

include/cglm/simd/sse2/mat4.h

@@ -55,47 +55,38 @@ glm_mat4_mul_sse2(mat4 m1, mat4 m2, mat4 dest) {
   l1 = glmm_load(m1[1]);
   l2 = glmm_load(m1[2]);
   l3 = glmm_load(m1[3]);
+  
+#define XX(C)                                                                 \
+                                                                              \
+  r = glmm_load(m2[C]);                                                       \
+  glmm_store(dest[C],                                                         \
+             glmm_fmadd(glmm_shuff1x(r, 0), l0,                               \
+                        glmm_fmadd(glmm_shuff1x(r, 1), l1,                    \
+                                   glmm_fmadd(glmm_shuff1x(r, 2), l2,         \
+                                              _mm_mul_ps(glmm_shuff1x(r, 3),  \
+                                                         l3)))));
 
-  r = glmm_load(m2[0]);
-  glmm_store(dest[0],
-             _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[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))));
+  XX(0);
+  XX(1);
+  XX(2);
+  XX(3);
 
-  r = glmm_load(m2[3]);
-  glmm_store(dest[3],
-             _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))));
+#undef XX
 }
 
 CGLM_INLINE
 void
 glm_mat4_mulv_sse2(mat4 m, vec4 v, vec4 dest) {
-  __m128 x0, x1, x2;
-
+  __m128 x0, x1;
+  
   x0 = glmm_load(v);
-  x1 = _mm_add_ps(_mm_mul_ps(glmm_load(m[0]), glmm_shuff1x(x0, 0)),
-                  _mm_mul_ps(glmm_load(m[1]), glmm_shuff1x(x0, 1)));
-
-  x2 = _mm_add_ps(_mm_mul_ps(glmm_load(m[2]), glmm_shuff1x(x0, 2)),
-                  _mm_mul_ps(glmm_load(m[3]), glmm_shuff1x(x0, 3)));
-
-  glmm_store(dest, _mm_add_ps(x1, x2));
+  x1 = glmm_fmadd(glmm_load(m[0]), glmm_shuff1x(x0, 0),
+                  glmm_fmadd(glmm_load(m[1]), glmm_shuff1x(x0, 1),
+                             glmm_fmadd(glmm_load(m[2]), glmm_shuff1x(x0, 2),
+                                        _mm_mul_ps(glmm_load(m[3]),
+                                                   glmm_shuff1x(x0, 3)))));
+  
+  glmm_store(dest, x1);
 }
 
 CGLM_INLINE
@@ -115,20 +106,18 @@ 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),
-                             glmm_shuff1(r3, 2, 3, 2, 3)),
-                  _mm_mul_ps(glmm_shuff1(r3, 0, 0, 1, 1),
-                             glmm_shuff1(r2, 2, 3, 2, 3)));
+  x0 = glmm_fnmadd(glmm_shuff1(r3, 0, 0, 1, 1), glmm_shuff1(r2, 2, 3, 2, 3),
+                   _mm_mul_ps(glmm_shuff1(r2, 0, 0, 1, 1),
+                              glmm_shuff1(r3, 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),
-                             glmm_shuff1(r3, 1, 1, 3, 3)),
-                  _mm_mul_ps(glmm_shuff1(r3, 0, 0, 2, 2),
-                             glmm_shuff1(r2, 1, 1, 3, 3)));
+  x1 = glmm_fnmadd(glmm_shuff1(r3, 0, 0, 2, 2), glmm_shuff1(r2, 1, 1, 3, 3),
+                   _mm_mul_ps(glmm_shuff1(r2, 0, 0, 2, 2),
+                              glmm_shuff1(r3, 1, 1, 3, 3)));
 
   /*
      a * (f * t[0] - g * t[1] + h * t[2])
@@ -136,21 +125,16 @@ 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),
-                             _mm_shuffle_ps(x1, x0, _MM_SHUFFLE(1, 0, 0, 0))),
-                  _mm_mul_ps(glmm_shuff1(r1, 1, 1, 2, 2),
-                             glmm_shuff1(x0, 3, 2, 2, 0)));
-
-  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 = glmm_fnmadd(glmm_shuff1(r1, 1, 1, 2, 2), glmm_shuff1(x0, 3, 2, 2, 0),
+                   _mm_mul_ps(glmm_shuff1(r1, 0, 0, 0, 1),
+                              _mm_shuffle_ps(x1, x0, _MM_SHUFFLE(1, 0, 0, 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_xor_ps(x2, _mm_set_ps(-0.f, 0.f, -0.f, 0.f));
-
-  x0 = _mm_mul_ps(r0, x2);
-  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);
+  
+  return glmm_hadd(_mm_mul_ps(x2, r0));
 }
 
 CGLM_INLINE
@@ -159,8 +143,11 @@ 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 */
   r1 = glmm_load(mat[1]); /* h g f e */
@@ -177,8 +164,8 @@ glm_mat4_inv_fast_sse2(mat4 mat, mat4 dest) {
      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, _mm_mul_ps(x3, x1));
+  
   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 */
@@ -187,14 +174,14 @@ glm_mat4_inv_fast_sse2(mat4 mat, mat4 dest) {
      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, _mm_mul_ps(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 = _mm_sub_ps(_mm_mul_ps(x5, x2), _mm_mul_ps(x4, x3));
-
+  t2 = glmm_fnmadd(x4, x3, _mm_mul_ps(x5, x2));
+  
   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 */
 
@@ -202,20 +189,20 @@ glm_mat4_inv_fast_sse2(mat4 mat, mat4 dest) {
      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, _mm_mul_ps(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 = _mm_sub_ps(_mm_mul_ps(x6, x2), _mm_mul_ps(x7, x3));
-
+  t4 = glmm_fnmadd(x7, x3, _mm_mul_ps(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 = _mm_sub_ps(_mm_mul_ps(x6, x4), _mm_mul_ps(x7, x5));
-
+  t5 = glmm_fnmadd(x7, x5, _mm_mul_ps(x6, x4));
+  
   x0 = glmm_shuff2(r1, r0, 0, 0, 0, 0, 2, 2, 2, 0); /* a a a e */
   x1 = glmm_shuff2(r1, r0, 1, 1, 1, 1, 2, 2, 2, 0); /* b b b f */
   x2 = glmm_shuff2(r1, r0, 2, 2, 2, 2, 2, 2, 2, 0); /* c c c g */
@@ -226,50 +213,35 @@ glm_mat4_inv_fast_sse2(mat4 mat, mat4 dest) {
    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),
-                  _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));
+  v0 = _mm_xor_ps(glmm_fmadd(x3, t2, glmm_fnmadd(x2, t1, _mm_mul_ps(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 = _mm_xor_ps(glmm_fmadd(x3, t5, glmm_fnmadd(x1, t3, _mm_mul_ps(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 = _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),
-                  _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));
+  v1 = _mm_xor_ps(glmm_fmadd(x3, t4, glmm_fnmadd(x2, t3, _mm_mul_ps(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 = _mm_add_ps(_mm_mul_ps(x2, t5),
-                  _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));
+  v3 = _mm_xor_ps(glmm_fmadd(x2, t5, glmm_fnmadd(x1, t4, _mm_mul_ps(x0, t2))), x9);
 
   /* 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_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);
+  x0 = _mm_rcp_ps(glmm_vhadd(_mm_mul_ps(x0, r0)));
 
   glmm_store(dest[0], _mm_mul_ps(v0, x0));
   glmm_store(dest[1], _mm_mul_ps(v1, x0));
@@ -283,8 +255,11 @@ 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 */
   r1 = glmm_load(mat[1]); /* h g f e */
@@ -301,8 +276,8 @@ glm_mat4_inv_sse2(mat4 mat, mat4 dest) {
      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, _mm_mul_ps(x3, x1));
+  
   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 */
@@ -311,14 +286,14 @@ glm_mat4_inv_sse2(mat4 mat, mat4 dest) {
      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, _mm_mul_ps(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 = _mm_sub_ps(_mm_mul_ps(x5, x2), _mm_mul_ps(x4, x3));
-
+  t2 = glmm_fnmadd(x4, x3, _mm_mul_ps(x5, x2));
+  
   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 */
 
@@ -326,20 +301,20 @@ glm_mat4_inv_sse2(mat4 mat, mat4 dest) {
      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, _mm_mul_ps(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 = _mm_sub_ps(_mm_mul_ps(x6, x2), _mm_mul_ps(x7, x3));
-
+  t4 = glmm_fnmadd(x7, x3, _mm_mul_ps(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 = _mm_sub_ps(_mm_mul_ps(x6, x4), _mm_mul_ps(x7, x5));
-
+  t5 = glmm_fnmadd(x7, x5, _mm_mul_ps(x6, x4));
+  
   x0 = glmm_shuff2(r1, r0, 0, 0, 0, 0, 2, 2, 2, 0); /* a a a e */
   x1 = glmm_shuff2(r1, r0, 1, 1, 1, 1, 2, 2, 2, 0); /* b b b f */
   x2 = glmm_shuff2(r1, r0, 2, 2, 2, 2, 2, 2, 2, 0); /* c c c g */
@@ -350,50 +325,35 @@ glm_mat4_inv_sse2(mat4 mat, mat4 dest) {
    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),
-                  _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));
+  v0 = _mm_xor_ps(glmm_fmadd(x3, t2, glmm_fnmadd(x2, t1, _mm_mul_ps(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 = _mm_xor_ps(glmm_fmadd(x3, t5, glmm_fnmadd(x1, t3, _mm_mul_ps(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 = _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),
-                  _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));
+  v1 = _mm_xor_ps(glmm_fmadd(x3, t4, glmm_fnmadd(x2, t3, _mm_mul_ps(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 = _mm_add_ps(_mm_mul_ps(x2, t5),
-                  _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));
+  v3 = _mm_xor_ps(glmm_fmadd(x2, t5, glmm_fnmadd(x1, t4, _mm_mul_ps(x0, t2))), x9);
 
   /* 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_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);
+  x0 = _mm_div_ps(_mm_set1_ps(1.0f), glmm_vhadd(_mm_mul_ps(x0, r0)));
 
   glmm_store(dest[0], _mm_mul_ps(v0, x0));
   glmm_store(dest[1], _mm_mul_ps(v1, x0));

include/cglm/simd/x86.h

@@ -48,6 +48,15 @@ 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) {
@@ -188,5 +197,93 @@ glmm_store3(float v[3], __m128 vx) {
   _mm_store_ss(&v[2], glmm_shuff1(vx, 2, 2, 2, 2));
 }
 
+/* enable FMA macro for MSVC? */
+#if !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/vec3-ext.h

@@ -237,9 +237,9 @@ glm_vec3_abs(vec3 v, vec3 dest) {
 CGLM_INLINE
 void
 glm_vec3_fract(vec3 v, vec3 dest) {
-  dest[0] = fminf(v[0] - floorf(v[0]), 0x1.fffffep-1f);
-  dest[1] = fminf(v[1] - floorf(v[1]), 0x1.fffffep-1f);
-  dest[2] = fminf(v[2] - floorf(v[2]), 0x1.fffffep-1f);
+  dest[0] = fminf(v[0] - floorf(v[0]), 0.999999940395355224609375f);
+  dest[1] = fminf(v[1] - floorf(v[1]), 0.999999940395355224609375f);
+  dest[2] = fminf(v[2] - floorf(v[2]), 0.999999940395355224609375f);
 }
 
 /*!

include/cglm/vec4-ext.h

@@ -268,10 +268,10 @@ glm_vec4_abs(vec4 v, vec4 dest) {
 CGLM_INLINE
 void
 glm_vec4_fract(vec4 v, vec4 dest) {
-  dest[0] = fminf(v[0] - floorf(v[0]), 0x1.fffffep-1f);
-  dest[1] = fminf(v[1] - floorf(v[1]), 0x1.fffffep-1f);
-  dest[2] = fminf(v[2] - floorf(v[2]), 0x1.fffffep-1f);
-  dest[3] = fminf(v[3] - floorf(v[3]), 0x1.fffffep-1f);
+  dest[0] = fminf(v[0] - floorf(v[0]), 0.999999940395355224609375f);
+  dest[1] = fminf(v[1] - floorf(v[1]), 0.999999940395355224609375f);
+  dest[2] = fminf(v[2] - floorf(v[2]), 0.999999940395355224609375f);
+  dest[3] = fminf(v[3] - floorf(v[3]), 0.999999940395355224609375f);
 }
 
 /*!

include/cglm/vec4.h

@@ -568,14 +568,8 @@ glm_vec4_subadd(vec4 a, vec4 b, vec4 dest) {
 CGLM_INLINE
 void
 glm_vec4_muladd(vec4 a, vec4 b, vec4 dest) {
-#if defined( __SSE__ ) || defined( __SSE2__ )
-  glmm_store(dest, _mm_add_ps(glmm_load(dest),
-                              _mm_mul_ps(glmm_load(a),
-                                         glmm_load(b))));
-#elif defined(CGLM_NEON_FP)
-  vst1q_f32(dest, vaddq_f32(vld1q_f32(dest),
-                            vmulq_f32(vld1q_f32(a),
-                                      vld1q_f32(b))));
+#if defined(CGLM_SIMD)
+  glmm_store(dest, glmm_fmadd(glmm_load(a), glmm_load(b), glmm_load(dest)));
 #else
   dest[0] += a[0] * b[0];
   dest[1] += a[1] * b[1];
@@ -597,13 +591,9 @@ CGLM_INLINE
 void
 glm_vec4_muladds(vec4 a, float s, vec4 dest) {
 #if defined( __SSE__ ) || defined( __SSE2__ )
-  glmm_store(dest, _mm_add_ps(glmm_load(dest),
-                              _mm_mul_ps(glmm_load(a),
-                                         _mm_set1_ps(s))));
+  glmm_store(dest, glmm_fmadd(glmm_load(a), _mm_set1_ps(s), glmm_load(dest)));
 #elif defined(CGLM_NEON_FP)
-  vst1q_f32(dest, vaddq_f32(vld1q_f32(dest),
-                            vmulq_f32(vld1q_f32(a),
-                                      vdupq_n_f32(s))));
+  glmm_store(dest, glmm_fmadd(glmm_load(a), vdupq_n_f32(s), glmm_load(dest)));
 #else
   dest[0] += a[0] * s;
   dest[1] += a[1] * s;

include/cglm/version.h

@@ -10,6 +10,6 @@
 
 #define CGLM_VERSION_MAJOR 0
 #define CGLM_VERSION_MINOR 8
-#define CGLM_VERSION_PATCH 0
+#define CGLM_VERSION_PATCH 1
 
 #endif /* cglm_version_h */

meson.build

@@ -1,5 +1,5 @@
 project('cglm', 'c',
-    version : '0.8.0', 
+    version : '0.8.1', 
     license : 'mit',
     default_options : [
         'c_std=c11',

test/src/test_cam.c

@@ -35,9 +35,9 @@ TEST_IMPL(camera_decomp) {
   farVal  = 100.0f;
 
   glm_perspective(fovy, aspect, nearVal, farVal, proj);
-  ASSERT(fabsf(aspect  - glm_persp_aspect(proj)) < 1e-5f)
-  ASSERT(fabsf(fovy    - glm_persp_fovy(proj))   < 1e-5f)
-  ASSERT(fabsf(49.984f - glm_deg(glm_persp_fovy(proj))) < 1e-5f)
+  ASSERT(fabsf(aspect  - glm_persp_aspect(proj)) < GLM_FLT_EPSILON)
+  ASSERT(fabsf(fovy    - glm_persp_fovy(proj))   < GLM_FLT_EPSILON)
+  ASSERT(fabsf(49.984f - glm_deg(glm_persp_fovy(proj))) < GLM_FLT_EPSILON)
 
   glm_persp_sizes(proj, fovy, sizes);
 

test/src/test_common.h

@@ -106,7 +106,7 @@ test_rand_quat(versor q);
 CGLM_INLINE
 bool
 test_eq(float a, float b) {
-  return fabsf(a - b) <= 1e-5f;
+  return fabsf(a - b) <= GLM_FLT_EPSILON * 10;
 }
 
 CGLM_INLINE