quat: fix quaternion inverse and tests about it

* multiplication quaternion and its inverse must be identity

.gitignore

@@ -59,4 +59,5 @@ cglm_test_ios/*
 cglm_test_iosTests/*
 docs/build/*
 win/cglm_test_*
-* copy.*
+* copy.*
+*.o

CREDITS

@@ -0,0 +1,52 @@
+This library [initially] used some [piece of] implementations
+(may include codes) from these open source projects/resources:
+
+1. Affine Transforms
+The original glm repo (g-truc), url: https://github.com/g-truc/glm
+
+LICENSE[S]:
+  The Happy Bunny License (Modified MIT License)
+  The MIT License
+  Copyright (c) 2005 - 2016 G-Truc Creation
+
+FULL LICENSE: https://github.com/g-truc/glm/blob/master/copying.txt
+
+2. Quaternions
+Anton's OpenGL 4 Tutorials book source code:
+
+LICENSE:
+  OpenGL 4 Example Code.
+  Accompanies written series "Anton's OpenGL 4 Tutorials"
+  Email: anton at antongerdelan dot net
+  First version 27 Jan 2014
+  Copyright Dr Anton Gerdelan, Trinity College Dublin, Ireland.
+
+3. Euler Angles
+  David Eberly
+  Geometric Tools, LLC http://www.geometrictools.com/
+  Copyright (c) 1998-2016. All Rights Reserved.
+
+  Computing Euler angles from a rotation matrix (euler.pdf)
+  Gregory G. Slabaugh
+
+4. Extracting Planes
+Fast Extraction of Viewing Frustum Planes from the World-View-Projection Matrix
+Authors:
+  Gil Gribb (ggribb@ravensoft.com)
+  Klaus Hartmann (k_hartmann@osnabrueck.netsurf.de)
+
+5. Transform AABB
+Transform Axis Aligned Bounding Boxes:
+http://dev.theomader.com/transform-bounding-boxes/
+https://github.com/erich666/GraphicsGems/blob/master/gems/TransBox.c
+
+6. Cull frustum
+http://www.txutxi.com/?p=584
+http://old.cescg.org/CESCG-2002/DSykoraJJelinek/
+
+7. Quaternions
+Initial mat4_quat is borrowed from Apple's simd library
+
+
+8. Vector Rotation using Quaternion
+https://gamedev.stackexchange.com/questions/28395/rotating-vector3-by-a-quaternion

LICENSE

@@ -19,36 +19,3 @@ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 SOFTWARE.
-
--
-
-This library [initially] used some [piece of] implementations
-(may include codes) from these open source projects/resources:
-
-1. Affine Transforms
-The original glm repo (g-truc), url: https://github.com/g-truc/glm
-
-LICENSE[S]:
-  The Happy Bunny License (Modified MIT License)
-  The MIT License
-  Copyright (c) 2005 - 2016 G-Truc Creation
-
-FULL LICENSE: https://github.com/g-truc/glm/blob/master/copying.txt
-
-2. Quaternions
-Anton's OpenGL 4 Tutorials book source code:
-
-LICENSE:
-  OpenGL 4 Example Code.
-  Accompanies written series "Anton's OpenGL 4 Tutorials"
-  Email: anton at antongerdelan dot net
-  First version 27 Jan 2014
-  Copyright Dr Anton Gerdelan, Trinity College Dublin, Ireland.
-
-3. Euler Angles
-  David Eberly
-  Geometric Tools, LLC http://www.geometrictools.com/
-  Copyright (c) 1998-2016. All Rights Reserved.
-
-  Computing Euler angles from a rotation matrix (euler.pdf)
-  Gregory G. Slabaugh

README.md

@@ -1,26 +1,50 @@
 # 🎥 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://ci.appveyor.com/api/projects/status/av7l3gc0yhfex8y4/branch/master?svg=true)](https://ci.appveyor.com/project/recp/cglm/branch/master)
+ [![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)
 [![Codacy Badge](https://api.codacy.com/project/badge/Grade/6a62b37d5f214f178ebef269dc4a6bf1)](https://www.codacy.com/app/recp/cglm?utm_source=github.com&utm_medium=referral&utm_content=recp/cglm&utm_campaign=Badge_Grade)
+[![Backers on Open Collective](https://opencollective.com/cglm/backers/badge.svg)](#backers) 
+[![Sponsors on Open Collective](https://opencollective.com/cglm/sponsors/badge.svg)](#sponsors)
 
-The original glm library is for C++ only (templates, namespaces, classes...), this library targeted to C99 but currently you can use it for C89 safely by language extensions e.g `__register`
+The original glm library is for C++ only (templates, namespaces, classes...), this library targeted to C99 but currently you can use it for C89 safely by language extensions e.g `__restrict`
 
 #### Documentation
 
 Almost all functions (inline versions) and parameters are documented inside related headers. <br />
-Complete documentation is in progress: http://cglm.readthedocs.io
+Complete documentation: http://cglm.readthedocs.io
 
 #### Note for previous versions:
 
 - _dup (duplicate) is changed to _copy. For instance `glm_vec_dup -> glm_vec_copy`
 - OpenGL related functions are dropped to make this lib platform/third-party independent
 - make sure you have latest version and feel free to report bugs, troubles
+- **[bugfix]** euler angles was implemented in reverse order (extrinsic) it was fixed, now they are intrinsic. Make sure that you have the latest version
 
 #### Note for C++ developers:
 If you don't aware about original GLM library yet, you may also want to look at:
 https://github.com/g-truc/glm
 
+#### Note for new comers (Important):
+- `vec4` and `mat4` variables must be aligned. (There will be unaligned versions later)
+- **in** and **[in, out]** parameters must be initialized (please). But **[out]** parameters not, initializing out param is  also redundant
+- All functions are inline if you don't want to use pre-compiled versions with glmc_ prefix, you can ignore build process. Just incliude headers.
+- if your debugger takes you to cglm headers then make sure you are not trying to copy vec4 to vec3 or alig issues...
+- Welcome!
+
+#### Note for experienced developers:
+- Since I'm testing this library in my projects, sometimes bugs occurs; finding that bug[s] and making improvements would be more easy with multiple developer/contributor and their projects or knowledge. Consider to make some tests if you suspect something is wrong and any feedbacks, contributions and bug reports are always welcome.
+
+#### Allocations?
+`cglm` doesn't alloc any memory on heap. So it doesn't provide any allocator. You should alloc memory for **out** parameters too if you pass pointer of memory location. Don't forget that **vec4** (also quat/**versor**) and **mat4** must be aligned (16-bytes), because *cglm* uses SIMD instructions to optimize most operations if available.
+
+#### Returning vector or matrix... ?
+Since almost all types are arrays and **C** doesn't allow returning arrays, so **cglm** doesn't support this feature. In the future *cglm* may use **struct** for some types for this purpose.
+
+#### Other APIs like Vulkan, Metal, Dx?
+Currently *cglm* uses default clip space configuration (-1, 1) for camera functions (perspective, extract corners...), in the future other clip space configurations will be supported
+
+<hr/>
 
 <table>
   <tbody>
@@ -50,6 +74,9 @@ https://github.com/g-truc/glm
 - euler angles / yaw-pitch-roll to matrix
 - extract euler angles
 - inline or pre-compiled function call
+- frustum (extract view frustum planes, corners...)
+- bounding box  (AABB in Frustum (culling), crop, merge...)
+- project, unproject
 
 <hr />
 
@@ -91,6 +118,36 @@ glm_mul(T, R, modelMat);
 glm_inv_tr(modelMat);
 ```
 
+## 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>
+
+
+## Backers
+
+Thank you to all our backers! 🙏 [[Become a backer](https://opencollective.com/cglm#backer)]
+
+<a href="https://opencollective.com/cglm#backers" target="_blank"><img src="https://opencollective.com/cglm/backers.svg?width=890"></a>
+
+
+## Sponsors
+
+Support this project by becoming a sponsor. Your logo will show up here with a link to your website. [[Become a sponsor](https://opencollective.com/cglm#sponsor)]
+
+<a href="https://opencollective.com/cglm/sponsor/0/website" target="_blank"><img src="https://opencollective.com/cglm/sponsor/0/avatar.svg"></a>
+<a href="https://opencollective.com/cglm/sponsor/1/website" target="_blank"><img src="https://opencollective.com/cglm/sponsor/1/avatar.svg"></a>
+<a href="https://opencollective.com/cglm/sponsor/2/website" target="_blank"><img src="https://opencollective.com/cglm/sponsor/2/avatar.svg"></a>
+<a href="https://opencollective.com/cglm/sponsor/3/website" target="_blank"><img src="https://opencollective.com/cglm/sponsor/3/avatar.svg"></a>
+<a href="https://opencollective.com/cglm/sponsor/4/website" target="_blank"><img src="https://opencollective.com/cglm/sponsor/4/avatar.svg"></a>
+<a href="https://opencollective.com/cglm/sponsor/5/website" target="_blank"><img src="https://opencollective.com/cglm/sponsor/5/avatar.svg"></a>
+<a href="https://opencollective.com/cglm/sponsor/6/website" target="_blank"><img src="https://opencollective.com/cglm/sponsor/6/avatar.svg"></a>
+<a href="https://opencollective.com/cglm/sponsor/7/website" target="_blank"><img src="https://opencollective.com/cglm/sponsor/7/avatar.svg"></a>
+<a href="https://opencollective.com/cglm/sponsor/8/website" target="_blank"><img src="https://opencollective.com/cglm/sponsor/8/avatar.svg"></a>
+<a href="https://opencollective.com/cglm/sponsor/9/website" target="_blank"><img src="https://opencollective.com/cglm/sponsor/9/avatar.svg"></a>
+
+
+
 ## License
 MIT. check the LICENSE file
 
@@ -98,13 +155,15 @@ MIT. check the LICENSE file
 
 ### Unix (Autotools)
 
-```text
-$ sh ./build-deps.sh # run only once (dependencies)
+```bash
+$ sh ./build-deps.sh # run only once (dependencies) [Optional].
+$ # You can pass this step if you don't want to run `make check` for tests.
+$ # cglm uses cmocka for tests and it may reqiure cmake for building it
 $
 $ sh autogen.sh
 $ ./configure
 $ make
-$ make install
+$ make check # [Optional] (if you run `sh ./build-deps.sh`)
 $ [sudo] make install
 ```
 
@@ -122,12 +181,21 @@ if `msbuild` won't work (because of multi version VS) then try to build with `de
 $ devenv cglm.sln /Build Release
 ```
 
+### Building Docs
+First you need install Sphinx: http://www.sphinx-doc.org/en/master/usage/installation.html
+then:
+```bash
+$ cd docs
+$ sphinx-build source build
+```
+it will compile docs into build folder, you can run index.html inside that function.
+
 ## How to use
 If you want to use inline versions of funcstions then; include main header
 ```C
 #include <cglm/cglm.h>
 ```
-the haeder will include all headers. Then call func you want e.g. rotate vector by axis:
+the header will include all headers. Then call func you want e.g. rotate vector by axis:
 ```C
 glm_vec_rotate(v1, glm_rad(45), (vec3){1.0f, 0.0f, 0.0f});
 ```
@@ -146,12 +214,60 @@ to call pre-compiled versions include header with `c` postfix, c means call. Pre
 ```C
 #include <cglm/call.h>
 ```
-this header will include all heaers with c postfix. You need to call functions with c posfix:
+this header will include all headers with c postfix. You need to call functions with c posfix:
 ```C
 glmc_vec_normalize(vec);
 ```
 
-Function usage and parameters are documented inside related headers.
+Function usage and parameters are documented inside related headers. You may see same parameter passed twice in some examples like this:
+```C
+glm_mat4_mul(m1, m2, m1);
+
+/* or */
+glm_mat4_mul(m1, m1, m1);
+```
+the first two parameter are **[in]** and the last one is **[out]** parameter. After multiplied *m1* and *m2* the result is stored in *m1*. This is why we send *m1* twice. You may store result in different matrix, this just an example.
+
+### Example: Computing MVP matrix
+
+#### Option 1
+```C
+mat4 proj, view, model, mvp;
+
+/* init proj, view and model ... */
+
+glm_mat4_mul(proj, view, viewProj);
+glm_mat4_mul(viewProj, model, mvp);
+```
+
+#### Option 2
+```C
+mat4 proj, view, model, mvp;
+
+/* init proj, view and model ... */
+
+glm_mat4_mulN((mat4 *[]){&proj, &view, &model}, 3, mvp);
+```
+
+## How to send matrix to OpenGL
+
+mat4 is array of vec4 and vec4 is array of floats. `glUniformMatrix4fv` functions accecpts `float*` as `value` (last param), so you can cast mat4 to float* or you can pass first column of matrix as beginning of memory of matrix:
+
+Option 1: Send first column
+```C
+glUniformMatrix4fv(location, 1, GL_FALSE, matrix[0]);
+
+/* array of matrices */
+glUniformMatrix4fv(location, 1, GL_FALSE, matrix[0][0]);
+```
+
+Option 2: Cast matrix to pointer type (also valid for multiple dimensional arrays)
+```C
+glUniformMatrix4fv(location, 1, GL_FALSE, (float *)matrix);
+```
+
+You can pass same way to another APIs e.g. Vulkan, DX...
+
 ## Notes
 
 - This library uses float types only, does not support Integers, Double... yet
@@ -162,5 +278,5 @@ Function usage and parameters are documented inside related headers.
 - [ ] Unit tests for comparing cglm with glm results
 - [x] Add version info
 - [ ] Unaligned operations (e.g. `glm_umat4_mul`)
-- [ ] Extra documentation
+- [x] Extra documentation
 - [ ] ARM Neon Arch (In Progress)

build-deps.sh

@@ -16,14 +16,18 @@ cd $(dirname "$0")
 if [ "$(uname)" = "Darwin" ]; then
   libtoolBin=$(which glibtoolize)
   libtoolBinDir=$(dirname "${libtoolBin}")
-  ln -s $libtoolBin "${libtoolBinDir}/libtoolize"
+
+  if [ ! -f "${libtoolBinDir}/libtoolize" ]; then
+    ln -s $libtoolBin "${libtoolBinDir}/libtoolize"
+  fi
 fi
 
 # general deps: gcc make autoconf automake libtool cmake
 
 # test - cmocka
 cd ./test/lib/cmocka
-mkdir build
+rm -rf build
+mkdir -p build
 cd build
 cmake -DCMAKE_INSTALL_PREFIX=/usr -DCMAKE_BUILD_TYPE=Debug ..
 make -j8

configure.ac

@@ -7,7 +7,7 @@
 #*****************************************************************************
 
 AC_PREREQ([2.69])
-AC_INIT([cglm], [0.2.1], [info@recp.me])
+AC_INIT([cglm], [0.4.0], [info@recp.me])
 AM_INIT_AUTOMAKE([-Wall -Werror foreign subdir-objects])
 
 AC_CONFIG_MACRO_DIR([m4])

docs/source/affine-mat.rst

@@ -0,0 +1,77 @@
+.. default-domain:: C
+
+affine transform matrix (specialized functions)
+================================================================================
+
+Header: cglm/affine-mat.h
+
+We mostly use glm_mat4_* for 4x4 general and transform matrices. **cglm**
+provides optimized version of some functions. Because affine transform matrix is
+a known format, for instance all last item of first three columns is zero.
+
+You should be careful when using these functions. For instance :c:func:`glm_mul`
+assumes matrix will be this format:
+
+.. code-block:: text
+
+   R  R  R  X
+   R  R  R  Y
+   R  R  R  Z
+   0  0  0  W
+
+if you override zero values here then use :c:func:`glm_mat4_mul` version.
+You cannot use :c:func:`glm_mul` anymore.
+
+Same is also true for :c:func:`glm_inv_tr` if you only have rotation and
+translation then it will work as expected, otherwise you cannot use that.
+
+In the future it may accept scale factors too but currectly it does not.
+
+Table of contents (click func go):
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+Functions:
+
+1. :c:func:`glm_mul`
+#. :c:func:`glm_inv_tr`
+
+Functions documentation
+~~~~~~~~~~~~~~~~~~~~~~~
+
+.. c:function:: void  glm_mul(mat4 m1, mat4 m2, mat4 dest)
+
+    | this is similar to glm_mat4_mul but specialized to affine transform
+
+    Matrix format should be:
+
+    .. code-block:: text
+
+       R  R  R  X
+       R  R  R  Y
+       R  R  R  Z
+       0  0  0  W
+
+    this reduces some multiplications. It should be faster than mat4_mul.
+    if you are not sure about matrix format then DON'T use this! use mat4_mul
+
+    Parameters:
+      | *[in]*  **m1**    affine matrix 1
+      | *[in]*  **m2**    affine matrix 2
+      | *[out]* **dest**  result matrix
+
+.. c:function:: void  glm_inv_tr(mat4 mat)
+
+    | inverse orthonormal rotation + translation matrix (ridig-body)
+
+    .. code-block:: text
+
+       X = | R  T |   X' = | R' -R'T |
+           | 0  1 |        | 0     1 |
+
+    use this if you only have rotation + translation, this should work faster
+    than :c:func:`glm_mat4_inv`
+
+    Don't use this if your matrix includes other things e.g. scale, shear...
+
+    Parameters:
+      | *[in,out]*  **mat**  affine matrix

docs/source/affine.rst

@@ -0,0 +1,242 @@
+.. default-domain:: C
+
+affine transforms
+================================================================================
+
+Header: cglm/affine.h
+
+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.
+
+There are also functions to decompose transform matrix. These functions can't
+decompose matrix after projected.
+
+Table of contents (click to go):
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+Functions:
+
+1. :c:func:`glm_translate_to`
+#. :c:func:`glm_translate`
+#. :c:func:`glm_translate_x`
+#. :c:func:`glm_translate_y`
+#. :c:func:`glm_translate_z`
+#. :c:func:`glm_translate_make`
+#. :c:func:`glm_scale_to`
+#. :c:func:`glm_scale_make`
+#. :c:func:`glm_scale`
+#. :c:func:`glm_scale1`
+#. :c:func:`glm_scale_uni`
+#. :c:func:`glm_rotate_x`
+#. :c:func:`glm_rotate_y`
+#. :c:func:`glm_rotate_z`
+#. :c:func:`glm_rotate_ndc_make`
+#. :c:func:`glm_rotate_make`
+#. :c:func:`glm_rotate_ndc`
+#. :c:func:`glm_rotate`
+#. :c:func:`glm_decompose_scalev`
+#. :c:func:`glm_uniscaled`
+#. :c:func:`glm_decompose_rs`
+#. :c:func:`glm_decompose`
+
+Functions documentation
+~~~~~~~~~~~~~~~~~~~~~~~
+
+.. c:function:: void  glm_translate_to(mat4 m, vec3 v, mat4 dest)
+
+    translate existing transform matrix by *v* vector and store result in dest
+
+    Parameters:
+      | *[in]*  **m**    affine transfrom
+      | *[in]*  **v**    translate vector [x, y, z]
+      | *[out]* **dest** translated matrix
+
+.. c:function:: void  glm_translate(mat4 m, vec3 v)
+
+    translate existing transform matrix by *v* vector
+    and stores result in same matrix
+
+    Parameters:
+      | *[in, out]* **m**  affine transfrom
+      | *[in]*      **v**  translate vector [x, y, z]
+
+.. c:function:: void  glm_translate_x(mat4 m, float x)
+
+    translate existing transform matrix by x factor
+
+    Parameters:
+      | *[in, out]* **m**  affine transfrom
+      | *[in]*      **v**  x factor
+
+.. c:function:: void  glm_translate_y(mat4 m, float y)
+
+    translate existing transform matrix by *y* factor
+
+    Parameters:
+      | *[in, out]* **m**  affine transfrom
+      | *[in]*      **v**  y factor
+
+.. c:function:: void  glm_translate_z(mat4 m, float z)
+
+    translate existing transform matrix by *z* factor
+
+    Parameters:
+      | *[in, out]* **m**  affine transfrom
+      | *[in]*      **v**  z factor
+
+.. c:function:: void  glm_translate_make(mat4 m, vec3 v)
+
+    creates NEW translate transform matrix by *v* vector.
+
+    Parameters:
+      | *[in, out]* **m**  affine transfrom
+      | *[in]*      **v**  translate vector [x, y, z]
+
+.. c:function:: void  glm_scale_to(mat4 m, vec3 v, mat4 dest)
+
+    scale existing transform matrix by *v* vector and store result in dest
+
+    Parameters:
+      | *[in]*  **m**    affine transfrom
+      | *[in]*  **v**    scale vector [x, y, z]
+      | *[out]* **dest** scaled matrix
+
+.. c:function:: void  glm_scale_make(mat4 m, vec3 v)
+
+    creates NEW scale matrix by v vector
+
+    Parameters:
+      | *[out]* **m** affine transfrom
+      | *[in]*  **v** scale vector [x, y, z]
+
+.. c:function:: void  glm_scale(mat4 m, vec3 v)
+
+    scales existing transform matrix by v vector
+    and stores result in same matrix
+
+    Parameters:
+      | *[in, out]* **m** affine transfrom
+      | *[in]*      **v** scale vector [x, y, z]
+
+.. c:function:: void  glm_scale1(mat4 m, float s)
+
+    DEPRECATED! Use glm_scale_uni
+
+.. c:function:: void  glm_scale_uni(mat4 m, float s)
+
+    applies uniform scale to existing transform matrix v = [s, s, s]
+    and stores result in same matrix
+
+    Parameters:
+      | *[in, out]* **m** affine transfrom
+      | *[in]*      **v** scale factor
+
+.. c:function:: void  glm_rotate_x(mat4 m, float angle, mat4 dest)
+
+    rotate existing transform matrix around X axis by angle
+    and store result in dest
+
+    Parameters:
+      | *[in]*  **m**     affine transfrom
+      | *[in]*  **angle** angle (radians)
+      | *[out]* **dest**  rotated matrix
+
+.. c:function:: void  glm_rotate_y(mat4 m, float angle, mat4 dest)
+
+    rotate existing transform matrix around Y axis by angle
+    and store result in dest
+
+    Parameters:
+      | *[in]*  **m**     affine transfrom
+      | *[in]*  **angle** angle (radians)
+      | *[out]* **dest**  rotated matrix
+
+.. c:function:: void  glm_rotate_z(mat4 m, float angle, mat4 dest)
+
+    rotate existing 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
+
+.. c:function:: void  glm_rotate_ndc_make(mat4 m, float angle, vec3 axis_ndc)
+
+    creates NEW rotation matrix by angle and axis
+    this name may change in the future. axis must be is normalized
+
+    Parameters:
+      | *[out]* **m**        affine transfrom
+      | *[in]*  **angle**    angle (radians)
+      | *[in]*  **axis_ndc** normalized axis
+
+.. c:function:: void  glm_rotate_make(mat4 m, float angle, vec3 axis)
+
+    creates NEW rotation matrix by angle and axis,
+    axis will be normalized so you don't need to normalize it
+
+    Parameters:
+      | *[out]* **m**    affine transfrom
+      | *[in]*  **axis** angle (radians)
+      | *[in]*  **axis** axis
+
+.. c:function:: void  glm_rotate_ndc(mat4 m, float angle, vec3 axis_ndc)
+
+    rotate existing transform matrix around Z axis by angle and axis
+    this name may change in the future, axis must be normalized.
+
+    Parameters:
+      | *[out]* **m**        affine transfrom
+      | *[in]*  **angle**    angle (radians)
+      | *[in]*  **axis_ndc** normalized axis
+
+.. c:function:: void  glm_rotate(mat4 m, float angle, vec3 axis)
+
+    rotate existing transform matrix around Z axis by angle and axis
+
+    Parameters:
+      | *[in, out]* **m**     affine transfrom
+      | *[in]*      **angle** angle (radians)
+      | *[in]*      **axis**  axis
+
+.. c:function:: void  glm_decompose_scalev(mat4 m, vec3 s)
+
+    decompose scale vector
+
+    Parameters:
+      | *[in]*  **m**  affine transform
+      | *[out]* **s**  scale vector (Sx, Sy, Sz)
+
+.. c:function:: bool  glm_uniscaled(mat4 m)
+
+    returns true if matrix is uniform scaled.
+    This is helpful for creating normal matrix.
+
+    Parameters:
+      | *[in]*  **m**   matrix
+
+.. c:function:: void  glm_decompose_rs(mat4 m, mat4 r, vec3 s)
+
+    decompose rotation matrix (mat4) and scale vector [Sx, Sy, Sz]
+    DON'T pass projected matrix here
+
+    Parameters:
+      | *[in]*  **m** affine transform
+      | *[out]* **r** rotation matrix
+      | *[out]* **s** scale matrix
+
+.. c:function:: void  glm_decompose(mat4 m, vec4 t, mat4 r, vec3 s)
+
+    decompose affine transform, TODO: extract shear factors.
+    DON'T pass projected matrix here
+
+    Parameters:
+      | *[in]*  **m** affine transfrom
+      | *[out]* **t** translation vector
+      | *[out]* **r** rotation matrix (mat4)
+      | *[out]* **s** scaling vector [X, Y, Z]

docs/source/api.rst

@@ -0,0 +1,47 @@
+API documentation
+================================
+
+Some functions may exist twice,
+once for their namespace and once for global namespace
+to make easier to write very common functions
+
+For instance, in general we use :code:`glm_vec_dot` to get dot product
+of two **vec3**. Now we can also do this with :code:`glm_dot`,
+same for *_cross* and so on...
+
+The original function stays where it is, the function in global namespace
+of same name is just an alias, so there is no call version of those functions.
+e.g there is no func like :code:`glmc_dot` because *glm_dot* is just alias for
+:code:`glm_vec_dot`
+
+By including **cglm/cglm.h** header you will include all inline version
+of functions. Since functions in this header[s] are inline you don't need to
+build or link *cglm* against your project.
+
+But by including **cglm/call.h** header you will include all *non-inline*
+version of functions. You need to build *cglm* and link it.
+Follow the :doc:`build` documentation for this
+
+.. toctree::
+   :maxdepth: 1
+   :caption: API categories:
+
+   affine
+   affine-mat
+   cam
+   frustum
+   box
+   quat
+   euler
+   mat4
+   mat3
+   vec3
+   vec3-ext
+   vec4
+   vec4-ext
+   color
+   plane
+   project
+   util
+   io
+   call

docs/source/box.rst

@@ -0,0 +1,133 @@
+.. default-domain:: C
+
+axis aligned bounding box (AABB)
+================================================================================
+
+Header: cglm/box.h
+
+Some convenient functions provided for AABB.
+
+**Definition of box:**
+
+cglm defines box as two dimensional array of vec3.
+The first element is **min** point and the second one is **max** point.
+If you have another type e.g. struct or even another representation then you must
+convert it before and after call cglm box function.
+
+Table of contents (click to go):
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+Functions:
+
+1. :c:func:`glm_aabb_transform`
+#. :c:func:`glm_aabb_merge`
+#. :c:func:`glm_aabb_crop`
+#. :c:func:`glm_aabb_crop_until`
+#. :c:func:`glm_aabb_frustum`
+#. :c:func:`glm_aabb_invalidate`
+#. :c:func:`glm_aabb_isvalid`
+#. :c:func:`glm_aabb_size`
+#. :c:func:`glm_aabb_radius`
+
+Functions documentation
+~~~~~~~~~~~~~~~~~~~~~~~
+
+.. c:function:: void  glm_aabb_transform(vec3 box[2], mat4 m, vec3 dest[2])
+
+    | apply transform to Axis-Aligned Bounding Box
+
+    Parameters:
+      | *[in]*  **box**   bounding box
+      | *[in]*  **m**     transform matrix
+      | *[out]* **dest**  transformed bounding box
+
+.. c:function:: void  glm_aabb_merge(vec3 box1[2], vec3 box2[2], vec3 dest[2])
+
+    | merges two AABB bounding box and creates new one
+
+    two box must be in same space, if one of box is in different space then
+    you should consider to convert it's space by glm_box_space
+
+    Parameters:
+      | *[in]*  **box1** bounding box 1
+      | *[in]*  **box2** bounding box 2
+      | *[out]* **dest** merged bounding box
+
+.. c:function:: void  glm_aabb_crop(vec3 box[2], vec3 cropBox[2], vec3 dest[2])
+
+    | crops a bounding box with another one.
+
+    this could be useful for gettng a bbox which fits with view frustum and
+    object bounding boxes. In this case you crop view frustum box with objects
+    box
+
+    Parameters:
+      | *[in]*  **box**      bounding box 1
+      | *[in]*  **cropBox**  crop box
+      | *[out]* **dest**     cropped bounding box
+
+.. c:function:: void  glm_aabb_crop_until(vec3 box[2], vec3 cropBox[2], vec3 clampBox[2], vec3 dest[2])
+
+    | crops a bounding box with another one.
+
+    this could be useful for gettng a bbox which fits with view frustum and
+    object bounding boxes. In this case you crop view frustum box with objects
+    box
+
+    Parameters:
+      | *[in]*  **box**      bounding box
+      | *[in]*  **cropBox**  crop box
+      | *[in]*  **clampBox** miniumum box
+      | *[out]* **dest**     cropped bounding box
+
+.. c:function:: bool  glm_aabb_frustum(vec3 box[2], vec4 planes[6])
+
+    | check if AABB intersects with frustum planes
+
+    this could be useful for frustum culling using AABB.
+
+    OPTIMIZATION HINT:
+       if planes order is similar to LEFT, RIGHT, BOTTOM, TOP, NEAR, FAR
+       then this method should run even faster because it would only use two
+       planes if object is not inside the two planes
+       fortunately cglm extracts planes as this order! just pass what you got!
+
+    Parameters:
+      | *[in]*   **box**     bounding box
+      | *[out]*  **planes**  frustum planes
+
+.. c:function:: void  glm_aabb_invalidate(vec3 box[2])
+
+    | invalidate AABB min and max values
+
+    | It fills *max* values with -FLT_MAX and *min* values with +FLT_MAX
+
+    Parameters:
+      | *[in, out]*   **box**     bounding box
+
+.. c:function:: bool  glm_aabb_isvalid(vec3 box[2])
+
+    | check if AABB is valid or not
+
+    Parameters:
+      | *[in]*   **box**     bounding box
+
+    Returns:
+      returns true if aabb is valid otherwise false
+
+.. c:function:: float  glm_aabb_size(vec3 box[2])
+
+    | distance between of min and max
+
+    Parameters:
+      | *[in]*   **box**     bounding box
+
+    Returns:
+      distance between min - max
+
+.. c:function:: float  glm_aabb_radius(vec3 box[2])
+
+    | radius of sphere which surrounds AABB
+
+    Parameters:
+      | *[in]*   **box**     bounding box

docs/source/call.rst

@@ -0,0 +1,19 @@
+.. default-domain:: C
+
+precompiled functions (call)
+================================================================================
+
+All funcitons in **glm_** namespace are forced to **inline**.
+Most functions also have pre-compiled version.
+
+Precompiled versions are in **glmc_** namespace. *c* in the namespace stands for
+"call".
+
+Since precompiled functions are just wrapper for inline verisons,
+these functions are not documented individually.
+It would be duplicate documentation also it
+would be hard to sync documentation between inline and call verison for me.
+
+By including **clgm/cglm.h** you include all inline verisons. To get precompiled
+versions you need to include **cglm/call.h** header it also includes all
+call versions plus *clgm/cglm.h* (inline verisons)

docs/source/cam.rst

@@ -0,0 +1,298 @@
+.. default-domain:: C
+
+camera
+======
+
+Header: cglm/cam.h
+
+There are many convenient functions for camera. For instance :c:func:`glm_look`
+is just wrapper for :c:func:`glm_lookat`. Sometimes you only have direction
+instead of target, so that makes easy to build view matrix using direction.
+There is also :c:func:`glm_look_anyup` function which can help build view matrix
+without providing UP axis. It uses :c:func:`glm_vec_ortho` to get a UP axis and
+builds view matrix.
+
+You can also *_default* versions of ortho and perspective to build projection
+fast if you don't care specific projection values.
+
+*_decomp* means decompose; these function can help to decompose projection
+matrices.
+
+ **NOTE**: Be careful when working with high range (very small near, very large
+ far) projection matrices. You may not get exact value you gave.
+ **float** type cannot store very high precision so you will lose precision.
+ Also your projection matrix will be inaccurate due to losing precision
+
+Table of contents (click to go):
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+Functions:
+
+1. :c:func:`glm_frustum`
+#. :c:func:`glm_ortho`
+#. :c:func:`glm_ortho_aabb`
+#. :c:func:`glm_ortho_aabb_p`
+#. :c:func:`glm_ortho_aabb_pz`
+#. :c:func:`glm_ortho_default`
+#. :c:func:`glm_ortho_default_s`
+#. :c:func:`glm_perspective`
+#. :c:func:`glm_perspective_default`
+#. :c:func:`glm_perspective_resize`
+#. :c:func:`glm_lookat`
+#. :c:func:`glm_look`
+#. :c:func:`glm_look_anyup`
+#. :c:func:`glm_persp_decomp`
+#. :c:func:`glm_persp_decompv`
+#. :c:func:`glm_persp_decomp_x`
+#. :c:func:`glm_persp_decomp_y`
+#. :c:func:`glm_persp_decomp_z`
+#. :c:func:`glm_persp_decomp_far`
+#. :c:func:`glm_persp_decomp_near`
+#. :c:func:`glm_persp_fovy`
+#. :c:func:`glm_persp_aspect`
+#. :c:func:`glm_persp_sizes`
+
+Functions documentation
+~~~~~~~~~~~~~~~~~~~~~~~
+
+.. c:function:: void  glm_frustum(float left, float right, float bottom, float top, float nearVal, float farVal, mat4  dest)
+
+    | set up perspective peprojection matrix
+
+    Parameters:
+      | *[in]*  **left**      viewport.left
+      | *[in]*  **right**     viewport.right
+      | *[in]*  **bottom**    viewport.bottom
+      | *[in]*  **top**       viewport.top
+      | *[in]*  **nearVal**   near clipping plane
+      | *[in]*  **farVal**    far clipping plane
+      | *[out]* **dest**      result matrix
+
+.. c:function:: void  glm_ortho(float left, float right, float bottom, float top, float nearVal, float farVal, mat4  dest)
+
+    | set up orthographic projection matrix
+
+    Parameters:
+      | *[in]*  **left**      viewport.left
+      | *[in]*  **right**     viewport.right
+      | *[in]*  **bottom**    viewport.bottom
+      | *[in]*  **top**       viewport.top
+      | *[in]*  **nearVal**   near clipping plane
+      | *[in]*  **farVal**    far clipping plane
+      | *[out]* **dest**      result matrix
+
+.. c:function:: void  glm_ortho_aabb(vec3 box[2], mat4 dest)
+
+    | set up orthographic projection matrix using bounding box
+    | bounding box (AABB) must be in view space
+
+    Parameters:
+      | *[in]*  **box**   AABB
+      | *[in]*  **dest**  result matrix
+
+.. c:function:: void  glm_ortho_aabb_p(vec3 box[2], float padding, mat4 dest)
+
+    | set up orthographic projection matrix using bounding box
+    | bounding box (AABB) must be in view space
+
+    this version adds padding to box
+
+    Parameters:
+      | *[in]*  **box**      AABB
+      | *[in]*  **padding**  padding
+      | *[out]* **d**        result matrix
+
+.. c:function:: void  glm_ortho_aabb_pz(vec3 box[2], float padding, mat4 dest)
+
+    | set up orthographic projection matrix using bounding box
+    | bounding box (AABB) must be in view space
+
+    this version adds Z padding to box
+
+    Parameters:
+      | *[in]*  **box**      AABB
+      | *[in]*  **padding**  padding for near and far
+      | *[out]* **d**        result matrix
+
+    Returns:
+      square of norm / magnitude
+
+.. c:function:: void  glm_ortho_default(float aspect, mat4  dest)
+
+    | set up unit orthographic projection matrix
+
+    Parameters:
+      | *[in]*  **aspect** aspect ration ( width / height )
+      | *[out]* **dest**   result matrix
+
+.. c:function:: void  glm_ortho_default_s(float aspect, float size, mat4  dest)
+
+    | set up orthographic projection matrix with given CUBE size
+
+    Parameters:
+      | *[in]*  **aspect** aspect ration ( width / height )
+      | *[in]*  **size**   cube size
+      | *[out]* **dest**   result matrix
+
+.. c:function:: void  glm_perspective(float fovy, float aspect, float nearVal, float farVal, mat4  dest)
+
+    | set up perspective projection matrix
+
+    Parameters:
+      | *[in]*  **fovy**    field of view angle
+      | *[in]*  **aspect**  aspect ratio ( width / height )
+      | *[in]*  **nearVal** near clipping plane
+      | *[in]*  **farVal**  far clipping planes
+      | *[out]* **dest**    result matrix
+
+.. c:function:: void glm_perspective_default(float aspect, mat4 dest)
+
+     | set up perspective projection matrix with default near/far
+       and angle values
+
+    Parameters:
+      | *[in]*  **aspect** aspect aspect ratio ( width / height )
+      | *[out]* **dest**   result matrix
+
+.. c:function:: void  glm_perspective_resize(float aspect, mat4 proj)
+
+    | resize perspective matrix by aspect ratio ( width / height )
+      this makes very easy to resize proj matrix when window / viewport reized
+
+    Parameters:
+      | *[in]*      **aspect** aspect ratio ( width / height )
+      | *[in, out]* **proj**   perspective projection matrix
+
+.. c:function:: void  glm_lookat(vec3 eye, vec3 center, vec3 up, mat4 dest)
+
+    | set up view matrix
+
+    Parameters:
+    | *[in]*  **eye**     eye vector
+    | *[in]*  **center**  center vector
+    | *[in]*  **up**      up vector
+    | *[out]* **dest**    result matrix
+
+.. c:function:: void  glm_look(vec3 eye, vec3 dir, vec3 up, mat4 dest)
+
+    | set up view matrix
+
+    convenient wrapper for :c:func:`glm_lookat`: if you only have direction not
+    target self then this might be useful. Because you need to get target
+    from direction.
+
+    Parameters:
+      | *[in]*  **eye**     eye vector
+      | *[in]*  **center**  direction vector
+      | *[in]*  **up**      up vector
+      | *[out]* **dest**    result matrix
+
+.. c:function:: void  glm_look_anyup(vec3 eye, vec3 dir, mat4 dest)
+
+    | set up view matrix
+
+    convenient wrapper for :c:func:`glm_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
+
+    Parameters:
+      | *[in]*  **eye**     eye vector
+      | *[in]*  **center**  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)
+
+    | decomposes frustum values of perspective projection.
+
+    Parameters:
+      | *[in]*  **eye**       perspective projection matrix
+      | *[out]*  **nearVal**  near
+      | *[out]*  **farVal**   far
+      | *[out]*  **top**      top
+      | *[out]*  **bottom**   bottom
+      | *[out]*  **left**     left
+      | *[out]* **right**     right
+
+.. c:function:: void  glm_persp_decompv(mat4 proj, float dest[6])
+
+    | decomposes frustum values of perspective projection.
+    | this makes easy to get all values at once
+
+    Parameters:
+      | *[in]*   **proj**  perspective projection matrix
+      | *[out]*  **dest**  array
+
+.. c:function:: void  glm_persp_decomp_x(mat4 proj, float *left, float *right)
+
+    | decomposes left and right values of perspective projection.
+    | x stands for x axis (left / right axis)
+
+    Parameters:
+      | *[in]*   **proj**   perspective projection matrix
+      | *[out]*  **left**   left
+      | *[out]*  **right**  right
+
+.. c:function:: void  glm_persp_decomp_y(mat4 proj, float *top, float *bottom)
+
+    | decomposes top and bottom values of perspective projection.
+    | y stands for y axis (top / botom axis)
+
+    Parameters:
+      | *[in]*   **proj**    perspective projection matrix
+      | *[out]*  **top**     top
+      | *[out]*  **bottom**  bottom
+
+.. c:function:: void  glm_persp_decomp_z(mat4 proj, float *nearVal, float *farVal)
+
+    | decomposes near and far values of perspective projection.
+    | z stands for z axis (near / far axis)
+
+    Parameters:
+      | *[in]*   **proj**     perspective projection matrix
+      | *[out]*  **nearVal**  near
+      | *[out]*  **farVal**   far
+
+.. c:function:: void  glm_persp_decomp_far(mat4 proj, float * __restrict farVal)
+
+    | decomposes far value of perspective projection.
+
+    Parameters:
+      | *[in]*  **proj**    perspective projection matrix
+      | *[out]* **farVal**  far
+
+.. c:function:: void  glm_persp_decomp_near(mat4 proj, float * __restrict nearVal)
+
+    | decomposes near value of perspective projection.
+
+    Parameters:
+      | *[in]*  **proj**    perspective projection matrix
+      | *[out]* **nearVal** near
+
+.. c:function:: float  glm_persp_fovy(mat4 proj)
+
+    | 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))
+
+    Parameters:
+      | *[in]*  **proj**  perspective projection matrix
+
+    Returns:
+      | fovy in radians
+
+.. c:function:: float  glm_persp_aspect(mat4 proj)
+
+    | returns aspect ratio of perspective projection
+
+    Parameters:
+      | *[in]*  **proj**  perspective projection matrix
+
+.. c:function:: void  glm_persp_sizes(mat4 proj, float fovy, vec4 dest)
+
+    | returns sizes of near and far planes of perspective projection
+
+    Parameters:
+      | *[in]*  **proj**  perspective projection matrix
+      | *[in]*  **fovy**  fovy (see brief)
+      | *[out]* **dest**  sizes order: [Wnear, Hnear, Wfar, Hfar]

docs/source/color.rst

@@ -0,0 +1,34 @@
+.. default-domain:: C
+
+color
+================================================================================
+
+Header: cglm/color.h
+
+Table of contents (click to go):
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+Functions:
+
+1. :c:func:`glm_luminance`
+
+Functions documentation
+~~~~~~~~~~~~~~~~~~~~~~~
+
+.. c:function:: float  glm_luminance(vec3 rgb)
+
+    | averages the color channels into one value
+
+    This function uses formula in COLLADA 1.5 spec which is
+
+    .. code-block:: text
+
+       luminance = (color.r * 0.212671) +
+                   (color.g * 0.715160) +
+                   (color.b * 0.072169)
+
+    It is based on the ISO/CIE color standards (see ITU-R Recommendation BT.709-4),
+    that averages the color channels into one value
+
+    Parameters:
+      | *[in]*  **rgb**   RGB color

docs/source/conf.py

@@ -30,7 +30,15 @@
 # Add any Sphinx extension module names here, as strings. They can be
 # extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
 # ones.
-extensions = []
+extensions = [
+    'sphinx.ext.doctest',
+    'sphinx.ext.todo',
+    'sphinx.ext.coverage',
+    'sphinx.ext.mathjax',
+    'sphinx.ext.ifconfig',
+    'sphinx.ext.viewcode',
+    'sphinx.ext.githubpages'
+]
 
 # Add any paths that contain templates here, relative to this directory.
 templates_path = ['_templates']
@@ -54,9 +62,9 @@ author = u'Recep Aslantas'
 # built documents.
 #
 # The short X.Y version.
-version = u'0.2.1'
+version = u'0.3.4'
 # The full version, including alpha/beta/rc tags.
-release = u'0.2.1'
+release = u'0.3.4'
 
 # The language for content autogenerated by Sphinx. Refer to documentation
 # for a list of supported languages.
@@ -161,3 +169,31 @@ texinfo_documents = [
      author, 'cglm', 'One line description of project.',
      'Miscellaneous'),
 ]
+
+# -- Options for Epub output -------------------------------------------------
+
+# Bibliographic Dublin Core info.
+epub_title = project
+epub_author = author
+epub_publisher = author
+epub_copyright = copyright
+
+# The unique identifier of the text. This can be a ISBN number
+# or the project homepage.
+#
+# epub_identifier = ''
+
+# A unique identification for the text.
+#
+# epub_uid = ''
+
+# A list of files that should not be packed into the epub file.
+epub_exclude_files = ['search.html']
+
+
+# -- Extension configuration -------------------------------------------------
+
+# -- Options for todo extension ----------------------------------------------
+
+# If true, `todo` and `todoList` produce output, else they produce nothing.
+todo_include_todos = True

docs/source/euler.rst

@@ -0,0 +1,182 @@
+.. default-domain:: C
+
+euler angles
+============
+
+Header: cglm/euler.h
+
+You may wonder what **glm_euler_sq** type ( **_sq** stands for sequence ) and
+:c:func:`glm_euler_by_order` do.
+I used them to convert euler angles in one coordinate system to another. For
+instance if you have **Z_UP** euler angles and if you want to convert it
+to **Y_UP** axis then :c:func:`glm_euler_by_order` is your friend. For more
+information check :c:func:`glm_euler_order` documentation
+
+You must pass arrays as array, if you use C compiler then you can use something
+like this:
+
+.. code-block:: c
+
+   float pitch, yaw, roll;
+   mat4  rot;
+
+   /* pitch = ...; yaw = ...; roll = ... */
+   glm_euler((vec3){pitch, yaw, roll}, rot);
+
+Rotation Conveniention
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+Current *cglm*'s euler functions uses these convention:
+
+* Tait–Bryan angles (x-y-z convention)
+* Intrinsic rotations (pitch, yaw and roll).
+  This is reserve order of extrinsic (elevation, heading and bank) rotation
+* Right hand rule (actually all rotations in *cglm* use **RH**)
+* All angles used in *cglm* are **RADIANS** not degrees
+
+
+**NOTE**: The default :c:func:`glm_euler` function is the short name of
+:c:func:`glm_euler_xyz` this is why you can't see :c:func:`glm_euler_xyz`.
+When you see an euler function which doesn't have any X, Y, Z suffix then
+assume that uses **_xyz** (or instead it accept order as parameter).
+
+If rotation doesn't work properly, your options:
+
+1. If you use (or paste) degrees convert it to radians before calling an euler function
+
+.. code-block:: c
+
+   float pitch, yaw, roll;
+   mat4  rot;
+
+   /* pitch = degrees; yaw = degrees; roll = degrees */
+   glm_euler((vec3){glm_rad(pitch), glm_rad(yaw), glm_rad(roll)}, rot);
+
+2. Convention mismatch. You may have extrinsic angles,
+   if you do (if you must) then consider to use reverse order e.g if you have
+   **xyz** extrinsic then use **zyx**
+
+3. *cglm* may implemented it wrong, consider to create an issue to report it
+   or pull request to fix it
+
+Table of contents (click to go):
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+Types:
+
+1. glm_euler_sq
+
+Functions:
+
+1. :c:func:`glm_euler_order`
+#. :c:func:`glm_euler_angles`
+#. :c:func:`glm_euler`
+#. :c:func:`glm_euler_xyz`
+#. :c:func:`glm_euler_zyx`
+#. :c:func:`glm_euler_zxy`
+#. :c:func:`glm_euler_xzy`
+#. :c:func:`glm_euler_yzx`
+#. :c:func:`glm_euler_yxz`
+#. :c:func:`glm_euler_by_order`
+
+Functions documentation
+~~~~~~~~~~~~~~~~~~~~~~~
+
+.. c:function:: glm_euler_sq  glm_euler_order(int ord[3])
+
+    | packs euler angles order to glm_euler_sq enum.
+
+    To use :c:func:`glm_euler_by_order` function you need *glm_euler_sq*. You
+    can get it with this function.
+
+    You can build param like this:
+
+    | X = 0, Y = 1, Z = 2
+
+    if you have ZYX order then you pass this: [2, 1, 0] = ZYX.
+    if you have YXZ order then you pass this: [1, 0, 2] = YXZ
+
+    As you can see first item specifies which axis will be first then the
+    second one specifies which one will be next an so on.
+
+    Parameters:
+      | *[in]*  **ord**  euler angles order [Angle1, Angle2, Angle2]
+
+    Returns:
+      packed euler order
+
+.. c:function:: void  glm_euler_angles(mat4 m, vec3 dest)
+
+    | extract euler angles (in radians) using xyz order
+
+    Parameters:
+      | *[in]*  **m**     affine transform
+      | *[out]* **dest**  angles vector [x, y, z]
+
+.. c:function:: void  glm_euler(vec3 angles, mat4 dest)
+
+    | build rotation matrix from euler angles
+
+    this is alias of glm_euler_xyz function
+
+    Parameters:
+      | *[in]*  **angles**  angles as vector [Xangle, Yangle, Zangle]
+      | *[in]*  **dest**    rotation matrix
+
+.. c:function:: void  glm_euler_xyz(vec3 angles, mat4 dest)
+
+    | build rotation matrix from euler angles
+
+    Parameters:
+      | *[in]*  **angles**  angles as vector [Xangle, Yangle, Zangle]
+      | *[in]*  **dest**    rotation matrix
+
+.. c:function:: void  glm_euler_zyx(vec3 angles, mat4 dest)
+
+    | build rotation matrix from euler angles
+
+    Parameters:
+      | *[in]*  **angles**  angles as vector [Xangle, Yangle, Zangle]
+      | *[in]*  **dest**    rotation matrix
+
+.. c:function:: void  glm_euler_zxy(vec3 angles, mat4 dest)
+
+    | build rotation matrix from euler angles
+
+    Parameters:
+      | *[in]*  **angles**  angles as vector [Xangle, Yangle, Zangle]
+      | *[in]*  **dest**    rotation matrix
+
+.. c:function:: void  glm_euler_xzy(vec3 angles, mat4 dest)
+
+    | build rotation matrix from euler angles
+
+    Parameters:
+      | *[in]*  **angles**  angles as vector [Xangle, Yangle, Zangle]
+      | *[in]*  **dest**    rotation matrix
+
+.. c:function:: void  glm_euler_yzx(vec3 angles, mat4 dest)
+
+    build rotation matrix from euler angles
+
+    Parameters:
+      | *[in]*  **angles**  angles as vector [Xangle, Yangle, Zangle]
+      | *[in]*  **dest**    rotation matrix
+
+.. c:function:: void  glm_euler_yxz(vec3 angles, mat4 dest)
+
+    | build rotation matrix from euler angles
+
+    Parameters:
+      | *[in]*  **angles**  angles as vector [Xangle, Yangle, Zangle]
+      | *[in]*  **dest**    rotation matrix
+
+.. c:function:: void glm_euler_by_order(vec3 angles, glm_euler_sq ord, mat4 dest)
+
+    | build rotation matrix from euler angles with given euler order.
+
+    Use :c:func:`glm_euler_order` function to build *ord* parameter
+
+    Parameters:
+      | *[in]*  **angles**  angles as vector [Xangle, Yangle, Zangle]
+      | *[in]*  **ord**     euler order
+      | *[in]*  **dest**    rotation matrix

docs/source/frustum.rst

@@ -0,0 +1,168 @@
+.. default-domain:: C
+
+frustum
+=============
+
+Header: cglm/frustum.h
+
+cglm provides convenient functions to extract frustum planes, corners...
+All extracted corners are **vec4** so you must create array of **vec4**
+not **vec3**. If you want to store them to save space you msut convert them
+yourself.
+
+**vec4** is used to speed up functions need to corners. This is why frustum
+fucntions use *vec4* instead of *vec3*
+
+Currenty related-functions use [-1, 1] clip space configuration to extract
+corners but you can override it by prodiving **GLM_CUSTOM_CLIPSPACE** macro.
+If you provide it then you have to all bottom macros as *vec4*
+
+Current configuration:
+
+.. code-block:: c
+
+   /* near */
+   GLM_CSCOORD_LBN {-1.0f, -1.0f, -1.0f, 1.0f}
+   GLM_CSCOORD_LTN {-1.0f,  1.0f, -1.0f, 1.0f}
+   GLM_CSCOORD_RTN { 1.0f,  1.0f, -1.0f, 1.0f}
+   GLM_CSCOORD_RBN { 1.0f, -1.0f, -1.0f, 1.0f}
+
+   /* far */
+   GLM_CSCOORD_LBF {-1.0f, -1.0f,  1.0f, 1.0f}
+   GLM_CSCOORD_LTF {-1.0f,  1.0f,  1.0f, 1.0f}
+   GLM_CSCOORD_RTF { 1.0f,  1.0f,  1.0f, 1.0f}
+   GLM_CSCOORD_RBF { 1.0f, -1.0f,  1.0f, 1.0f}
+
+
+Explain of short names:
+  * **LBN**: left  bottom near
+  * **LTN**: left  top    near
+  * **RTN**: right top    near
+  * **RBN**: right bottom near
+  * **LBF**: left  bottom far
+  * **LTF**: left  top    far
+  * **RTF**: right top    far
+  * **RBF**: right bottom far
+
+Table of contents (click to go):
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+Macros:
+
+.. code-block:: c
+
+   GLM_LBN    0 /* left  bottom near */
+   GLM_LTN    1 /* left  top    near */
+   GLM_RTN    2 /* right top    near */
+   GLM_RBN    3 /* right bottom near */
+
+   GLM_LBF    4 /* left  bottom far  */
+   GLM_LTF    5 /* left  top    far  */
+   GLM_RTF    6 /* right top    far  */
+   GLM_RBF    7 /* right bottom far  */
+
+   GLM_LEFT   0
+   GLM_RIGHT  1
+   GLM_BOTTOM 2
+   GLM_TOP    3
+   GLM_NEAR   4
+   GLM_FAR    5
+
+Functions:
+
+1. :c:func:`glm_frustum_planes`
+#. :c:func:`glm_frustum_corners`
+#. :c:func:`glm_frustum_center`
+#. :c:func:`glm_frustum_box`
+#. :c:func:`glm_frustum_corners_at`
+
+Functions documentation
+~~~~~~~~~~~~~~~~~~~~~~~
+
+.. c:function:: void  glm_frustum_planes(mat4 m, vec4 dest[6])
+
+    | extracts view frustum planes
+
+    planes' space:
+     - if m = proj:     View Space
+     - if m = viewProj: World Space
+     - if m = MVP:      Object Space
+
+    You probably want to extract planes in world space so use viewProj as m
+    Computing viewProj:
+
+    .. code-block:: c
+
+       glm_mat4_mul(proj, view, viewProj);
+
+    Exracted planes order: [left, right, bottom, top, near, far]
+
+    Parameters:
+      | *[in]*  **m**     matrix
+      | *[out]* **dest**  exracted view frustum planes
+
+.. c:function:: void  glm_frustum_corners(mat4 invMat, vec4 dest[8])
+
+    | extracts view frustum corners using clip-space coordinates
+
+    corners' space:
+     - if m = invViewProj: World Space
+     - if m = invMVP:      Object Space
+
+    You probably want to extract corners in world space so use **invViewProj**
+    Computing invViewProj:
+
+    .. code-block:: c
+
+       glm_mat4_mul(proj, view, viewProj);
+       ...
+       glm_mat4_inv(viewProj, invViewProj);
+
+    if you have a near coord at **i** index,
+    you can get it's far coord by i + 4;
+    follow example below to understand that
+
+    For instance to find center coordinates between a near and its far coord:
+
+    .. code-block:: c
+
+       for (j = 0; j < 4; j++) {
+         glm_vec_center(corners[i], corners[i + 4], centerCorners[i]);
+       }
+
+    corners[i + 4] is far of corners[i] point.
+
+    Parameters:
+      | *[in]*  **invMat** matrix
+      | *[out]* **dest**   exracted view frustum corners
+
+.. c:function:: void  glm_frustum_center(vec4 corners[8], vec4 dest)
+
+    | finds center of view frustum
+
+    Parameters:
+      | *[in]*  **corners**  view frustum corners
+      | *[out]* **dest**     view frustum center
+
+.. c:function:: void  glm_frustum_box(vec4 corners[8], mat4 m, vec3 box[2])
+
+    | finds bounding box of frustum relative to given matrix e.g. view mat
+
+    Parameters:
+      | *[in]*  **corners**  view frustum corners
+      | *[in]*  **m**        matrix to convert existing conners
+      | *[out]* **box**      bounding box as array [min, max]
+
+.. c:function:: void  glm_frustum_corners_at(vec4  corners[8], float splitDist, float farDist, vec4  planeCorners[4])
+
+    | finds planes corners which is between near and far planes (parallel)
+
+    this will be helpful if you want to split a frustum e.g. CSM/PSSM. This will
+    find planes' corners but you will need to one more plane.
+    Actually you have it, it is near, far or created previously with this func ;)
+
+    Parameters:
+      | *[in]*   **corners**       frustum corners
+      | *[in]*   **splitDist**     split distance
+      | *[in]*   **farDist**       far distance (zFar)
+      | *[out]*  **planeCorners**  plane corners [LB, LT, RT, RB]

docs/source/getting_started.rst

@@ -1,6 +1,9 @@
 Getting Started
 ================================
 
+Types:
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
 **cglm** uses **glm** prefix for all functions e.g. glm_lookat. You can see supported types in common header file:
 
 .. code-block:: c
@@ -18,23 +21,50 @@ Getting Started
 As you can see types don't store extra informations in favor of space.
 You can send these values e.g. matrix to OpenGL directly without casting or calling a function like *value_ptr*
 
-*vec4* and *mat4* requires 16 byte aligment because vec4 and mat4 operations are
+Aligment is Required:
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+**vec4** and **mat4** requires 16 byte aligment because vec4 and mat4 operations are
 vectorized by SIMD instructions (SSE/AVX).
 
+Allocations:
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+*cglm* doesn't alloc any memory on heap. So it doesn't provide any allocator.
+You must allocate memory yourself. You should alloc memory for out parameters too if you pass pointer of memory location.
+When allocating memory don't forget that **vec4** and **mat4** requires aligment.
+
 **NOTE:** Unaligned vec4 and unaligned mat4 operations will be supported in the future. Check todo list.
 Because you may want to multiply a CGLM matrix with external matrix.
 There is no guarantee that non-CGLM matrix is aligned. Unaligned types will have *u* prefix e.g. **umat4**
 
+Array vs Struct:
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+*cglm* uses arrays for vector and matrix types. So you can't access individual
+elements like vec.x, vec.y, vec.z... You must use subscript to access vector elements
+e.g. vec[0], vec[1], vec[2].
+
+Also I think it is more meaningful to access matrix elements with subscript
+e.g **matrix[2][3]** instead of **matrix._23**. Since matrix is array of vectors,
+vectors are also defined as array. This makes types homogeneous.
+
+**Return arrays?**
+
+Since C doesn't support return arrays, cglm also doesn't support this feature.
+
+Function design:
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. image:: cglm-intro.png
+   :width: 492px 
+   :height: 297px
+   :align: center
+
 cglm provides a few way to call a function to do same operation.
 
 * Inline - *glm_, glm_u*
-   * aligned
-   * unaligned (todo)
 * Pre-compiled - *glmc_, glmc_u*
-   * aligned
-   * unaligned (todo)
 
-For instance **glm_mat4_mul** is inline (all *glm_* functions are inline), to make it non-inline (pre-compiled)
+For instance **glm_mat4_mul** is inline (all *glm_* functions are inline), to make it non-inline (pre-compiled),
 call it as **glmc_mat4_mul** from library, to use unaligned version use **glm_umat4_mul** (todo).
 
 Most functions have **dest** parameter for output. For instance mat4_mul func looks like this:

docs/source/index.rst

@@ -9,7 +9,7 @@ Welcome to cglm's documentation!
 **cglm** is optimized 3D math library written in C99 (compatible with C89).
 It is similar to original **glm** library except this is mainly for **C**
 
-This library stores matrices as row-major order but in the future column-major
+This library stores matrices as column-major order but in the future row-major
 is considered to be supported as optional.
 
 Also currently only **float** type is supported for most operations.
@@ -28,14 +28,18 @@ Also currently only **float** type is supported for most operations.
 * euler angles / yaw-pitch-roll to matrix
 * extract euler angles
 * inline or pre-compiled function call
-* more features (todo)
+* frustum (extract view frustum planes, corners...)
+* bounding box (AABB in Frustum (culling), crop, merge...)
+
 
 .. toctree::
-   :maxdepth: 2
+   :maxdepth: 1
    :caption: Table Of Contents:
 
    build
    getting_started
+   opengl
+   api
 
 Indices and tables
 ==================

docs/source/io.rst

@@ -0,0 +1,102 @@
+.. default-domain:: C
+
+io (input / output e.g. print)
+================================================================================
+
+Header: cglm/io.h
+
+There are some built-in print functions which may save your time,
+especially for debugging.
+
+All functions accept **FILE** parameter which makes very flexible.
+You can even print it to file on disk.
+
+In general you will want to print them to console to see results.
+You can use **stdout** and **stderr** to write results to console.
+Some programs may occupy **stdout** but you can still use **stderr**.
+Using **stderr** is suggested.
+
+Example to print mat4 matrix:
+
+.. code-block:: c
+
+   mat4 transform;
+   /* ... */
+   glm_mat4_print(transform, stderr);
+
+**NOTE:** print functions use **%0.4f** precision if you need more
+(you probably will in some cases), you can change it temporary.
+cglm may provide precision parameter in the future
+
+Table of contents (click to go):
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+Functions:
+
+1. :c:func:`glm_mat4_print`
+#. :c:func:`glm_mat3_print`
+#. :c:func:`glm_vec4_print`
+#. :c:func:`glm_vec3_print`
+#. :c:func:`glm_ivec3_print`
+#. :c:func:`glm_versor_print`
+#. :c:func:`glm_aabb_print`
+
+Functions documentation
+~~~~~~~~~~~~~~~~~~~~~~~
+
+.. c:function:: void  glm_mat4_print(mat4 matrix, FILE * __restrict ostream)
+
+    | print mat4 to given stream
+
+    Parameters:
+      | *[in]*  **matrix**   matrix
+      | *[in]*  **ostream**  FILE to write
+
+.. c:function:: void  glm_mat3_print(mat3 matrix, FILE * __restrict ostream)
+
+    | print mat3 to given stream
+
+    Parameters:
+      | *[in]*  **matrix**   matrix
+      | *[in]*  **ostream**  FILE to write
+
+.. c:function:: void  glm_vec4_print(vec4 vec, FILE * __restrict ostream)
+
+    | print vec4 to given stream
+
+    Parameters:
+      | *[in]*  **vec**      vector
+      | *[in]*  **ostream**  FILE to write
+
+.. c:function:: void  glm_vec3_print(vec3 vec, FILE * __restrict ostream)
+
+    | print vec3 to given stream
+
+    Parameters:
+      | *[in]*  **vec**      vector
+      | *[in]*  **ostream**  FILE to write
+
+.. c:function:: void  glm_ivec3_print(ivec3 vec, FILE * __restrict ostream)
+
+    | print ivec3 to given stream
+
+    Parameters:
+      | *[in]*  **vec**      vector
+      | *[in]*  **ostream**  FILE to write
+
+.. c:function:: void  glm_versor_print(versor vec, FILE * __restrict ostream)
+
+    | print quaternion to given stream
+
+    Parameters:
+      | *[in]*  **vec**      quaternion
+      | *[in]*  **ostream**  FILE to write
+
+.. c:function:: void  glm_aabb_print(versor vec, const char * __restrict tag, FILE * __restrict ostream)
+
+    | print aabb to given stream
+
+    Parameters:
+      | *[in]*  **vec**      aabb (axis-aligned bounding box)
+      | *[in]*  **tag**      tag to find it more easly in logs
+      | *[in]*  **ostream**  FILE to write

docs/source/mat3.rst

@@ -0,0 +1,134 @@
+.. default-domain:: C
+
+mat3
+====
+
+Header: cglm/mat3.h
+
+Table of contents (click to go):
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+Macros:
+
+1. GLM_MAT3_IDENTITY_INIT
+#. GLM_MAT3_ZERO_INIT
+#. GLM_MAT3_IDENTITY
+#. GLM_MAT3_ZERO
+#. glm_mat3_dup(mat, dest)
+
+Functions:
+
+1. :c:func:`glm_mat3_copy`
+#. :c:func:`glm_mat3_identity`
+#. :c:func:`glm_mat3_mul`
+#. :c:func:`glm_mat3_transpose_to`
+#. :c:func:`glm_mat3_transpose`
+#. :c:func:`glm_mat3_mulv`
+#. :c:func:`glm_mat3_scale`
+#. :c:func:`glm_mat3_det`
+#. :c:func:`glm_mat3_inv`
+#. :c:func:`glm_mat3_swap_col`
+#. :c:func:`glm_mat3_swap_row`
+
+Functions documentation
+~~~~~~~~~~~~~~~~~~~~~~~
+
+.. c:function:: void  glm_mat3_copy(mat3 mat, mat3 dest)
+
+    copy mat3 to another one (dest).
+
+    Parameters:
+      | *[in]*  **mat**   source
+      | *[out]* **dest**  destination
+
+.. c:function:: void  glm_mat3_identity(mat3 mat)
+
+    copy identity mat3 to mat, or makes mat to identiy
+
+    Parameters:
+      | *[out]* **mat**  matrix
+
+.. c:function:: void  glm_mat3_mul(mat3 m1, mat3 m2, mat3 dest)
+
+    multiply m1 and m2 to dest
+    m1, m2 and dest matrices can be same matrix, it is possible to write this:
+
+    .. code-block:: c
+
+       mat3 m = GLM_MAT3_IDENTITY_INIT;
+       glm_mat3_mul(m, m, m);
+
+    Parameters:
+      | *[in]*  **m1**    left matrix
+      | *[in]*  **m2**    right matrix
+      | *[out]* **dest**  destination matrix
+
+.. c:function:: void  glm_mat3_transpose_to(mat3 m, mat3 dest)
+
+    transpose mat4 and store in dest
+    source matrix will not be transposed unless dest is m
+
+    Parameters:
+      | *[in]*  **mat**   source
+      | *[out]* **dest**  destination
+
+.. c:function:: void  glm_mat3_transpose(mat3 m)
+
+    tranpose mat3 and store result in same matrix
+
+    Parameters:
+      | *[in]*  **mat**   source
+      | *[out]* **dest**  destination
+
+.. c:function:: void  glm_mat3_mulv(mat3 m, vec3 v, vec3 dest)
+
+    multiply mat4 with vec4 (column vector) and store in dest vector
+
+    Parameters:
+      | *[in]*  **mat**   mat3 (left)
+      | *[in]*  **v**     vec3 (right, column vector)
+      | *[out]* **dest**  destination (result, column vector)
+
+.. c:function:: void  glm_mat3_scale(mat3 m, float s)
+
+    multiply matrix with scalar
+
+    Parameters:
+      | *[in, out]* **mat**   matrix
+      | *[in]*      **dest**  scalar
+
+.. c:function:: float  glm_mat3_det(mat3 mat)
+
+    returns mat3 determinant
+
+    Parameters:
+      | *[in]*  **mat**   matrix
+
+    Returns:
+        mat3 determinant
+
+.. c:function:: void glm_mat3_inv(mat3 mat, mat3 dest)
+
+    inverse mat3 and store in dest
+
+    Parameters:
+      | *[in]*  **mat**  matrix
+      | *[out]* **dest** destination (inverse matrix)
+
+.. c:function:: void  glm_mat3_swap_col(mat3 mat, int col1, int col2)
+
+    swap two matrix columns
+
+    Parameters:
+      | *[in, out]*  **mat**   matrix
+      | *[in]*       **col1**  col1
+      | *[in]*       **col2**  col2
+
+.. c:function:: void  glm_mat3_swap_row(mat3 mat, int row1, int row2)
+
+    swap two matrix rows
+
+    Parameters:
+      | *[in, out]*  **mat**   matrix
+      | *[in]*       **row1**  row1
+      | *[in]*       **row2**  row2

docs/source/mat4.rst

@@ -0,0 +1,231 @@
+.. default-domain:: C
+
+mat4
+====
+
+Header: cglm/mat4.h
+
+Important: :c:func:`glm_mat4_scale` multiplies mat4 with scalar, if you need to
+apply scale transform use :c:func:`glm_scale` functions.
+
+Table of contents (click to go):
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+Macros:
+
+1. GLM_MAT4_IDENTITY_INIT
+#. GLM_MAT4_ZERO_INIT
+#. GLM_MAT4_IDENTITY
+#. GLM_MAT4_ZERO
+#. glm_mat4_udup(mat, dest)
+#. glm_mat4_dup(mat, dest)
+
+Functions:
+
+1. :c:func:`glm_mat4_ucopy`
+#. :c:func:`glm_mat4_copy`
+#. :c:func:`glm_mat4_identity`
+#. :c:func:`glm_mat4_pick3`
+#. :c:func:`glm_mat4_pick3t`
+#. :c:func:`glm_mat4_ins3`
+#. :c:func:`glm_mat4_mul`
+#. :c:func:`glm_mat4_mulN`
+#. :c:func:`glm_mat4_mulv`
+#. :c:func:`glm_mat4_mulv3`
+#. :c:func:`glm_mat4_transpose_to`
+#. :c:func:`glm_mat4_transpose`
+#. :c:func:`glm_mat4_scale_p`
+#. :c:func:`glm_mat4_scale`
+#. :c:func:`glm_mat4_det`
+#. :c:func:`glm_mat4_inv`
+#. :c:func:`glm_mat4_inv_fast`
+#. :c:func:`glm_mat4_swap_col`
+#. :c:func:`glm_mat4_swap_row`
+
+Functions documentation
+~~~~~~~~~~~~~~~~~~~~~~~
+
+.. c:function:: void  glm_mat4_ucopy(mat4 mat, mat4 dest)
+
+    copy mat4 to another one (dest). u means align is not required for dest
+
+    Parameters:
+      | *[in]*  **mat**   source
+      | *[out]* **dest**  destination
+
+.. c:function:: void  glm_mat4_copy(mat4 mat, mat4 dest)
+
+    copy mat4 to another one (dest).
+
+    Parameters:
+      | *[in]*  **mat**   source
+      | *[out]* **dest**  destination
+
+.. c:function:: void  glm_mat4_identity(mat4 mat)
+
+    copy identity mat4 to mat, or makes mat to identiy
+
+    Parameters:
+      | *[out]* **mat**  matrix
+
+.. c:function:: void  glm_mat4_pick3(mat4 mat, mat3 dest)
+
+    copy upper-left of mat4 to mat3
+
+    Parameters:
+      | *[in]*  **mat**   source
+      | *[out]* **dest**  destination
+
+.. c:function:: void  glm_mat4_pick3t(mat4 mat, mat4 dest)
+
+    copy upper-left of mat4 to mat3 (transposed)
+    the postfix t stands for transpose
+
+    Parameters:
+      | *[in]*  **mat**   source
+      | *[out]* **dest**  destination
+
+.. c:function:: void  glm_mat4_ins3(mat3 mat, mat4 dest)
+
+    copy mat3 to mat4's upper-left. this function does not fill mat4's other
+    elements. To do that use glm_mat4.
+
+    Parameters:
+      | *[in]*  **mat**   source
+      | *[out]* **dest**  destination
+
+.. c:function:: void  glm_mat4_mul(mat4 m1, mat4 m2, mat4 dest)
+
+    multiply m1 and m2 to dest
+    m1, m2 and dest matrices can be same matrix, it is possible to write this:
+
+    .. code-block:: c
+
+       mat4 m = GLM_MAT4_IDENTITY_INIT;
+       glm_mat4_mul(m, m, m);
+
+    Parameters:
+      | *[in]*  **m1**    left matrix
+      | *[in]*  **m2**    right matrix
+      | *[out]* **dest**  destination matrix
+
+.. c:function:: void glm_mat4_mulN(mat4 * __restrict matrices[], int len, mat4 dest)
+
+    mupliply N mat4 matrices and store result in dest
+    | this function lets you multiply multiple (more than two or more...)
+    | matrices
+
+    | multiplication will be done in loop, this may reduce instructions
+    | size but if **len** is too small then compiler may unroll whole loop
+
+    .. code-block:: c
+
+       mat m1, m2, m3, m4, res;
+       glm_mat4_mulN((mat4 *[]){&m1, &m2, &m3, &m4}, 4, res);
+
+    Parameters:
+      | *[in]*  **matrices** array of mat4
+      | *[in]*  **len**      matrices count
+      | *[out]* **dest**     destination matrix
+
+.. c:function:: void  glm_mat4_mulv(mat4 m, vec4 v, vec4 dest)
+
+    multiply mat4 with vec4 (column vector) and store in dest vector
+
+    Parameters:
+      | *[in]*  **m**     mat4 (left)
+      | *[in]*  **v**     vec4 (right, column vector)
+      | *[out]* **dest**  vec4 (result, column vector)
+
+.. c:function:: void  glm_mat4_mulv3(mat4 m, vec3 v, vec3 dest)
+
+    multiply vector with mat4's mat3 part(rotation)
+
+    Parameters:
+    | *[in]*  **m**     mat4 (left)
+    | *[in]*  **v**     vec3 (right, column vector)
+    | *[out]* **dest**  vec3 (result, column vector)
+
+.. c:function:: void  glm_mat4_transpose_to(mat4 m, mat4 dest)
+
+    transpose mat4 and store in dest
+    source matrix will not be transposed unless dest is m
+
+    Parameters:
+      | *[in]*  **m**     matrix
+      | *[out]* **dest**  destination matrix
+
+.. c:function:: void  glm_mat4_transpose(mat4 m)
+
+    tranpose mat4 and store result in same matrix
+
+    Parameters:
+      | *[in]*  **m**     source
+      | *[out]* **dest**  destination matrix
+
+.. c:function:: void  glm_mat4_scale_p(mat4 m, float s)
+
+    scale (multiply with scalar) matrix without simd optimization
+
+    Parameters:
+      | *[in, out]*  **m**  matrix
+      | *[in]*       **s**  scalar
+
+.. c:function:: void  glm_mat4_scale(mat4 m, float s)
+
+    scale (multiply with scalar) matrix
+    THIS IS NOT SCALE TRANSFORM, use glm_scale for that.
+
+    Parameters:
+      | *[in, out]*  **m**  matrix
+      | *[in]*       **s**  scalar
+
+.. c:function:: float  glm_mat4_det(mat4 mat)
+
+    mat4 determinant
+
+    Parameters:
+      | *[in]*  **mat**   matrix
+
+    Return:
+      | determinant
+
+.. c:function:: void  glm_mat4_inv(mat4 mat, mat4 dest)
+
+    inverse mat4 and store in dest
+
+    Parameters:
+      | *[in]*  **mat**   source
+      | *[out]* **dest**  destination matrix (inverse matrix)
+
+.. c:function:: void  glm_mat4_inv_fast(mat4 mat, mat4 dest)
+
+    inverse mat4 and store in dest
+
+    | this func uses reciprocal approximation without extra corrections
+    | e.g Newton-Raphson. this should work faster than normal,
+    | to get more precise use glm_mat4_inv version.
+
+    | NOTE: You will lose precision, glm_mat4_inv is more accurate
+
+    Parameters:
+      | *[in]*  **mat**   source
+      | *[out]* **dest**  destination
+
+.. c:function:: void  glm_mat4_swap_col(mat4 mat, int col1, int col2)
+
+    swap two matrix columns
+
+    Parameters:
+      | *[in, out]*  **mat**   matrix
+      | *[in]*       **col1**  col1
+      | *[in]*       **col2**  col2
+
+.. c:function:: void  glm_mat4_swap_row(mat4 mat, int row1, int row2)
+
+    swap two matrix rows
+
+    Parameters:
+      | *[in, out]*  **mat**   matrix
+      | *[in]*       **row1**  row1
+      | *[in]*       **row2**  row2

docs/source/opengl.rst

@@ -0,0 +1,61 @@
+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
+two dimensional array.
+
+Passing / Uniforming Matrix to OpenGL:
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+**glUniformMatrix4fv** accepts float pointer, you can pass matrix to that parameter
+and it should work but with warnings. "You can pass" doesn't mean that you must pass like that.
+
+**Correct options:**
+
+Correct doesn't mean correct way to use OpenGL it is just shows correct way to pass cglm type to it.
+
+1. Pass first column
+---------------------
+
+The goal is that pass address of matrix, first element of matrix is also address of matrix,
+because it is array of vectors and vector is array of floats.
+
+.. code-block:: c
+
+   mat4 matrix;
+   /* ... */
+   glUniformMatrix4fv(location, 1, GL_FALSE, matrix[0]);
+
+array of matrices:
+
+.. code-block:: c
+
+   mat4 matrix;
+   /* ... */
+   glUniformMatrix4fv(location, count, GL_FALSE, matrix[0][0]);
+
+1. Cast matrix to pointer
+--------------------------
+
+.. code-block:: c
+
+   mat4 matrix;
+   /* ... */
+   glUniformMatrix4fv(location, count, GL_FALSE, (float *)matrix);
+
+in this way, passing aray of matrices is same 
+
+Passing / Uniforming Vectors to OpenGL:¶
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+You don't need to do extra thing when passing cglm vectors to OpengL or other APIs.
+Because a function like **glUniform4fv** accepts vector as pointer. cglm's vectors
+are array of floats. So you can pass it directly ot those functions:
+
+.. code-block:: c
+
+   vec4 vec;
+   /* ... */
+   glUniform4fv(location, 1, vec);
+
+this show how to pass **vec4** others are same.

docs/source/plane.rst

@@ -0,0 +1,33 @@
+.. default-domain:: C
+
+plane
+================================================================================
+
+Header: cglm/plane.h
+
+Plane extract functions are in frustum header and documented
+in :doc:`frustum` page.
+
+**Definition of plane:**
+
+Plane equation:  **Ax + By + Cz + D = 0**
+
+Plan is stored in **vec4** as **[A, B, C, D]**. (A, B, C) is normal and D is distance
+
+Table of contents (click to go):
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+Functions:
+
+1. :c:func:`glm_plane_normalize`
+
+
+Functions documentation
+~~~~~~~~~~~~~~~~~~~~~~~
+
+.. c:function:: void  glm_plane_normalize(vec4 plane)
+
+    | normalizes a plane
+
+    Parameters:
+      | *[in, out]*  **plane**  pnale to normalize

docs/source/project.rst

@@ -0,0 +1,102 @@
+.. default-domain:: C
+
+Project / UnProject
+================================================================================
+
+Header: cglm/project.h
+
+Viewport is required as *vec4* **[X, Y, Width, Height]** but this doesn't mean
+that you should store it as **vec4**. You can convert your data representation
+to vec4 before passing it to related functions.
+
+Table of contents (click to go):
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+Functions:
+
+1. :c:func:`glm_unprojecti`
+#. :c:func:`glm_unproject`
+#. :c:func:`glm_project`
+
+Functions documentation
+~~~~~~~~~~~~~~~~~~~~~~~
+
+.. c:function:: void  glm_unprojecti(vec3 pos, mat4 invMat, vec4 vp, vec3 dest)
+
+    | maps the specified viewport coordinates into specified space [1]
+      the matrix should contain projection matrix.
+
+    if you don't have ( and don't want to have ) an inverse matrix then use
+    glm_unproject version. You may use existing inverse of matrix in somewhere
+    else, this is why glm_unprojecti exists to save save inversion cost
+
+    [1] space:
+      - if m = invProj:     View Space
+      - if m = invViewProj: World Space
+      - if m = invMVP:      Object Space
+
+    You probably want to map the coordinates into object space
+    so use invMVP as m
+
+    Computing viewProj:
+
+    .. code-block:: c
+
+       glm_mat4_mul(proj, view, viewProj);
+       glm_mat4_mul(viewProj, model, MVP);
+       glm_mat4_inv(viewProj, invMVP);
+
+    Parameters:
+      | *[in]*  **pos**     point/position in viewport coordinates
+      | *[in]*  **invMat**  matrix (see brief)
+      | *[in]*  **vp**      viewport as [x, y, width, height]
+      | *[out]* **dest**    unprojected coordinates
+
+.. c:function:: void  glm_unproject(vec3 pos, mat4 m, vec4 vp, vec3 dest)
+
+    | maps the specified viewport coordinates into specified space [1]
+      the matrix should contain projection matrix.
+
+    this is same as glm_unprojecti except this function get inverse matrix for
+    you.
+
+    [1] space:
+      - if m = proj:     View Space
+      - if m = viewProj: World Space
+      - if m = MVP:      Object Space
+
+    You probably want to map the coordinates into object space so use MVP as m
+
+    Computing viewProj and MVP:
+
+    .. code-block:: c
+
+       glm_mat4_mul(proj, view, viewProj);
+       glm_mat4_mul(viewProj, model, MVP);
+
+    Parameters:
+      | *[in]*  **pos**  point/position in viewport coordinates
+      | *[in]*  **m**    matrix (see brief)
+      | *[in]*  **vp**   viewport as [x, y, width, height]
+      | *[out]* **dest** unprojected coordinates
+
+.. c:function:: void  glm_project(vec3 pos, mat4 m, vec4 vp, vec3 dest)
+
+    | map object coordinates to window coordinates
+
+    Computing MVP:
+
+    .. code-block:: c
+
+       glm_mat4_mul(proj, view, viewProj);
+       glm_mat4_mul(viewProj, model, MVP);
+
+    this could be useful for gettng a bbox which fits with view frustum and
+    object bounding boxes. In this case you crop view frustum box with objects
+    box
+
+    Parameters:
+      | *[in]*  **pos**      object coordinates
+      | *[in]*  **m**        MVP matrix
+      | *[in]*  **vp**       viewport as [x, y, width, height]
+      | *[out]* **dest**     projected coordinates

docs/source/quat.rst

@@ -0,0 +1,356 @@
+.. default-domain:: C
+
+quaternions
+===========
+
+Header: cglm/quat.h
+
+ **Important:** *cglm* stores quaternion as **[x, y, z, w]** in memory
+ since **v0.4.0** it was **[w, x, y, z]**
+ before v0.4.0 ( **v0.3.5 and earlier** ). w is real part.
+
+What you can do with quaternions with existing functions is (Some of them):
+
+- You can rotate transform matrix using quaterion
+- You can rotate vector using quaterion
+- You can create view matrix using quaterion
+- You can create a lookrotation (from source point to dest)
+
+Table of contents (click to go):
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+Macros:
+
+1. GLM_QUAT_IDENTITY_INIT
+#. GLM_QUAT_IDENTITY
+
+Functions:
+
+1. :c:func:`glm_quat_identity`
+#. :c:func:`glm_quat_init`
+#. :c:func:`glm_quat`
+#. :c:func:`glm_quatv`
+#. :c:func:`glm_quat_copy`
+#. :c:func:`glm_quat_norm`
+#. :c:func:`glm_quat_normalize`
+#. :c:func:`glm_quat_normalize_to`
+#. :c:func:`glm_quat_dot`
+#. :c:func:`glm_quat_conjugate`
+#. :c:func:`glm_quat_inv`
+#. :c:func:`glm_quat_add`
+#. :c:func:`glm_quat_sub`
+#. :c:func:`glm_quat_real`
+#. :c:func:`glm_quat_imag`
+#. :c:func:`glm_quat_imagn`
+#. :c:func:`glm_quat_imaglen`
+#. :c:func:`glm_quat_angle`
+#. :c:func:`glm_quat_axis`
+#. :c:func:`glm_quat_mul`
+#. :c:func:`glm_quat_mat4`
+#. :c:func:`glm_quat_mat4t`
+#. :c:func:`glm_quat_mat3`
+#. :c:func:`glm_quat_mat3t`
+#. :c:func:`glm_quat_lerp`
+#. :c:func:`glm_quat_slerp`
+#. :c:func:`glm_quat_look`
+#. :c:func:`glm_quat_for`
+#. :c:func:`glm_quat_forp`
+#. :c:func:`glm_quat_rotatev`
+
+Functions documentation
+~~~~~~~~~~~~~~~~~~~~~~~
+
+.. c:function:: void  glm_quat_identity(versor q)
+
+    | makes given quat to identity
+
+    Parameters:
+      | *[in, out]*  **q**    quaternion
+
+.. c:function:: void  glm_quat_init(versor q, float x, float y, float z, float w)
+
+    | inits quaternion with given values
+
+    Parameters:
+      | *[out]* **q**      quaternion
+      | *[in]*  **x**      imag.x
+      | *[in]*  **y**      imag.y
+      | *[in]*  **z**      imag.z
+      | *[in]*  **w**      w (real part)
+
+.. c:function:: void  glm_quat(versor q, float  angle, float  x, float  y, float  z)
+
+    | creates NEW quaternion with individual axis components
+
+    | given axis will be normalized
+
+    Parameters:
+      | *[out]* **q**      quaternion
+      | *[in]*  **angle**  angle (radians)
+      | *[in]*  **x**      axis.x
+      | *[in]*  **y**      axis.y
+      | *[in]*  **z**      axis.z
+
+.. c:function:: void  glm_quatv(versor q, float  angle, vec3   axis)
+
+    | creates NEW quaternion with axis vector
+
+    | given axis will be normalized
+
+    Parameters:
+      | *[out]* **q**      quaternion
+      | *[in]*  **angle**  angle (radians)
+      | *[in]*  **axis**   axis (will be normalized)
+
+.. c:function:: void  glm_quat_copy(versor q, versor dest)
+
+    | copy quaternion to another one
+
+    Parameters:
+      | *[in]*  **q**     source quaternion
+      | *[out]* **dest**  destination quaternion
+
+.. c:function:: float  glm_quat_norm(versor q)
+
+    | returns norm (magnitude) of quaternion
+
+    Parameters:
+      | *[in]*  **a**  quaternion
+
+    Returns:
+      norm (magnitude)
+
+.. c:function:: void  glm_quat_normalize_to(versor q, versor dest)
+
+    | normalize quaternion and store result in dest, original one will not be normalized
+
+    Parameters:
+      | *[in]*  **q**    quaternion to normalize into
+      | *[out]* **dest** destination quaternion
+
+.. c:function:: void  glm_quat_normalize(versor q)
+
+    | normalize quaternion
+
+    Parameters:
+      | *[in, out]*  **q** quaternion
+
+.. c:function:: float  glm_quat_dot(versor p, versor q)
+
+    dot product of two quaternion
+
+    Parameters:
+      | *[in]*  **p**   quaternion 1
+      | *[in]*  **q**   quaternion 2
+
+    Returns:
+      dot product
+
+.. c:function:: void  glm_quat_conjugate(versor q, versor dest)
+
+    conjugate of quaternion
+
+    Parameters:
+      | *[in]*  **q**      quaternion
+      | *[in]*  **dest**   conjugate
+
+.. c:function:: void  glm_quat_inv(versor q, versor dest)
+
+    inverse of non-zero quaternion
+
+    Parameters:
+      | *[in]*  **q**      quaternion
+      | *[in]*  **dest**   inverse quaternion
+
+.. c:function:: void  glm_quat_add(versor p, versor q, versor dest)
+
+    add (componentwise) two quaternions and store result in dest
+
+    Parameters:
+      | *[in]*  **p**      quaternion 1
+      | *[in]*  **q**      quaternion 2
+      | *[in]*  **dest**   result quaternion
+
+.. c:function:: void  glm_quat_sub(versor p, versor q, versor dest)
+
+    subtract (componentwise) two quaternions and store result in dest
+
+    Parameters:
+      | *[in]*  **p**      quaternion 1
+      | *[in]*  **q**      quaternion 2
+      | *[in]*  **dest**   result quaternion
+
+.. c:function:: float  glm_quat_real(versor q)
+
+    returns real part of quaternion
+
+    Parameters:
+      | *[in]*  **q**   quaternion
+
+    Returns:
+      real part (quat.w)
+
+.. c:function:: void  glm_quat_imag(versor q, vec3 dest)
+
+    returns imaginary part of quaternion
+
+    Parameters:
+      | *[in]*   **q**      quaternion
+      | *[out]*  **dest**   imag
+
+.. c:function:: void  glm_quat_imagn(versor q, vec3 dest)
+
+    returns normalized imaginary part of quaternion
+
+    Parameters:
+      | *[in]*   **q**      quaternion
+      | *[out]*  **dest**   imag
+
+.. c:function:: float  glm_quat_imaglen(versor q)
+
+    returns length of imaginary part of quaternion
+
+    Parameters:
+      | *[in]*   **q**      quaternion
+
+    Returns:
+      norm of imaginary part
+
+.. c:function:: float  glm_quat_angle(versor q)
+
+    returns angle of quaternion
+
+    Parameters:
+      | *[in]*  **q**   quaternion
+
+    Returns:
+      angles of quat (radians)
+
+.. c:function:: void  glm_quat_axis(versor q, versor dest)
+
+    axis of quaternion
+
+    Parameters:
+      | *[in]*   **p**      quaternion
+      | *[out]*  **dest**   axis of quaternion
+
+.. c:function:: void  glm_quat_mul(versor p, versor q, versor dest)
+
+    | multiplies two quaternion and stores result in dest
+
+    | this is also called Hamilton Product
+
+    | According to WikiPedia:
+    | The product of two rotation quaternions [clarification needed] will be
+      equivalent to the rotation q followed by the rotation p
+
+    Parameters:
+      | *[in]*  **p**     quaternion 1 (first rotation)
+      | *[in]*  **q**     quaternion 2 (second rotation)
+      | *[out]* **dest**  result quaternion
+
+.. c:function:: void  glm_quat_mat4(versor q, mat4 dest)
+
+    | convert quaternion to mat4
+
+    Parameters:
+      | *[in]*  **q**     quaternion
+      | *[out]* **dest**  result matrix
+
+.. c:function:: void  glm_quat_mat4t(versor q, mat4 dest)
+
+    | convert quaternion to mat4 (transposed). This is transposed version of glm_quat_mat4
+
+    Parameters:
+      | *[in]*  **q**     quaternion
+      | *[out]* **dest**  result matrix
+
+.. c:function:: void  glm_quat_mat3(versor q, mat3 dest)
+
+    | convert quaternion to mat3
+
+    Parameters:
+      | *[in]*  **q**     quaternion
+      | *[out]* **dest**  result matrix
+
+.. c:function:: void  glm_quat_mat3t(versor q, mat3 dest)
+
+    | convert quaternion to mat3 (transposed). This is transposed version of glm_quat_mat3
+
+    Parameters:
+      | *[in]*  **q**     quaternion
+      | *[out]* **dest**  result matrix
+
+.. c:function:: void  glm_quat_lerp(versor from, versor to, float t, versor dest)
+
+    | interpolates between two quaternions
+    | using spherical linear interpolation (LERP)
+
+    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
+    | using spherical linear interpolation (SLERP)
+
+    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_look(vec3 eye, versor ori, mat4 dest)
+
+    | creates view matrix using quaternion as camera orientation
+
+    Parameters:
+      | *[in]*  **eye**   eye
+      | *[in]*  **ori**   orientation in world space as quaternion
+      | *[out]* **dest**  result matrix
+
+.. c:function:: void  glm_quat_for(vec3 dir, vec3 fwd, vec3 up, versor dest)
+
+    | creates look rotation quaternion
+
+    Parameters:
+      | *[in]*  **dir**   direction to look
+      | *[in]*  **fwd**   forward vector
+      | *[in]*  **up**    up vector
+      | *[out]* **dest**  result matrix
+
+.. c:function:: void  glm_quat_forp(vec3 from, vec3 to, vec3 fwd, vec3 up, versor dest)
+
+    | creates look rotation quaternion using source and  destination positions p suffix stands for position
+
+    | this is similar to glm_quat_for except this computes direction for glm_quat_for for you.
+
+    Parameters:
+      | *[in]*  **from**  source point
+      | *[in]*  **to**    destination point
+      | *[in]*  **fwd**   forward vector
+      | *[in]*  **up**    up vector
+      | *[out]* **dest**  result matrix
+
+.. c:function:: void  glm_quat_rotatev(versor q, vec3 v, vec3 dest)
+
+    | crotate vector using using quaternion
+
+    Parameters:
+      | *[in]*  **q**     quaternion
+      | *[in]*  **v**     vector to rotate
+      | *[out]* **dest**  rotated vector
+
+.. c:function:: void glm_quat_rotate(mat4 m, versor q, mat4 dest)
+
+    | rotate existing transform matrix using quaternion
+
+    instead of passing identity matrix, consider to use quat_mat4 functions
+
+    Parameters:
+      | *[in]*  **m**     existing transform matrix to rotate
+      | *[in]*  **q**     quaternion
+      | *[out]* **dest**  rotated matrix/transform

docs/source/util.rst

@@ -0,0 +1,138 @@
+.. default-domain:: C
+
+utils / helpers
+================================================================================
+
+Header: cglm/util.h
+
+
+
+Table of contents (click to go):
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+Functions:
+
+1. :c:func:`glm_sign`
+#. :c:func:`glm_signf`
+#. :c:func:`glm_rad`
+#. :c:func:`glm_deg`
+#. :c:func:`glm_make_rad`
+#. :c:func:`glm_make_deg`
+#. :c:func:`glm_pow2`
+#. :c:func:`glm_min`
+#. :c:func:`glm_max`
+#. :c:func:`glm_clamp`
+#. :c:func:`glm_lerp`
+
+Functions documentation
+~~~~~~~~~~~~~~~~~~~~~~~
+
+.. c:function:: int  glm_sign(int val)
+
+    | returns sign of 32 bit integer as +1, -1, 0
+
+    | **Important**: It returns 0 for zero input
+
+    Parameters:
+      | *[in]*  **val**   an integer
+
+    Returns:
+      sign of given number
+
+.. c:function:: float  glm_signf(float val)
+
+    | returns sign of 32 bit integer as +1.0, -1.0, 0.0
+
+    | **Important**: It returns 0.0f for zero input
+
+    Parameters:
+      | *[in]*  **val**   a float
+
+    Returns:
+      sign of given number
+
+.. c:function:: float  glm_rad(float deg)
+
+    | convert degree to radians
+
+    Parameters:
+      | *[in]*  **deg**   angle in degrees
+
+.. c:function:: float glm_deg(float rad)
+
+    | convert radians to degree
+
+    Parameters:
+      | *[in]*  **rad**      angle in radians
+
+.. c:function:: void  glm_make_rad(float *degm)
+
+    | convert exsisting degree to radians. this will override degrees value
+
+    Parameters:
+      | *[in, out]*  **deg**      pointer to angle in degrees
+
+.. c:function:: void  glm_make_deg(float *rad)
+
+    | convert exsisting radians to degree. this will override radians value
+
+    Parameters:
+      | *[in, out]*  **rad**      pointer to angle in radians
+
+.. c:function:: float  glm_pow2(float x)
+
+    | multiplies given parameter with itself = x * x or powf(x, 2)
+
+    Parameters:
+      | *[in]*  **x** value
+
+    Returns:
+      square of a given number
+
+.. c:function:: float  glm_min(float a, float b)
+
+    | returns minimum of given two values
+
+    Parameters:
+      | *[in]*  **a** number 1
+      | *[in]*  **b** number 2
+
+    Returns:
+      minimum value
+
+.. c:function:: float  glm_max(float a, float b)
+
+    | returns maximum of given two values
+
+    Parameters:
+      | *[in]*  **a** number 1
+      | *[in]*  **b** number 2
+
+    Returns:
+      maximum value
+
+.. c:function:: void  glm_clamp(float val, float minVal, float maxVal)
+
+    constrain a value to lie between two further values
+
+    Parameters:
+      | *[in]*  **val**     input value
+      | *[in]*  **minVal**  minimum value
+      | *[in]*  **maxVal**  maximum value
+
+    Returns:
+      clamped value
+
+.. c:function:: float  glm_lerp(float from, float to, float t)
+
+    linear interpolation between two number
+
+    | formula:  from + s * (to - from)
+
+    Parameters:
+      | *[in]*  **from**   from value
+      | *[in]*  **to**     to value
+      | *[in]*  **t**      interpolant (amount) clamped between 0 and 1
+
+    Returns:
+       interpolated value

docs/source/vec3-ext.rst

@@ -0,0 +1,143 @@
+.. default-domain:: C
+
+vec3 extra
+==========
+
+Header: cglm/vec3-ext.h
+
+There are some functions are in called in extra header. These are called extra
+because they are not used like other functions in vec3.h in the future some of
+these functions ma be moved to vec3 header.
+
+Table of contents (click to go):
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+Functions:
+
+1. :c:func:`glm_vec_mulv`
+#. :c:func:`glm_vec_broadcast`
+#. :c:func:`glm_vec_eq`
+#. :c:func:`glm_vec_eq_eps`
+#. :c:func:`glm_vec_eq_all`
+#. :c:func:`glm_vec_eqv`
+#. :c:func:`glm_vec_eqv_eps`
+#. :c:func:`glm_vec_max`
+#. :c:func:`glm_vec_min`
+#. :c:func:`glm_vec_isnan`
+#. :c:func:`glm_vec_isinf`
+#. :c:func:`glm_vec_isvalid`
+#. :c:func:`glm_vec_sign`
+#. :c:func:`glm_vec_sqrt`
+
+Functions documentation
+~~~~~~~~~~~~~~~~~~~~~~~
+
+.. c:function:: void  glm_vec_mulv(vec3 a, vec3 b, vec3 d)
+
+    multiplies individual items
+
+    Parameters:
+      | *[in]*  **a**  vec1
+      | *[in]*  **b**  vec2
+      | *[out]* **d**  destination (v1[0] * v2[0], v1[1] * v2[1], v1[2] * v2[2])
+
+.. c:function:: void  glm_vec_broadcast(float val, vec3 d)
+
+    fill a vector with specified value
+
+    Parameters:
+      | *[in]*  **val**   value
+      | *[out]* **dest**  destination
+
+.. c:function:: bool  glm_vec_eq(vec3 v, float val)
+
+    check if vector is equal to value (without epsilon)
+
+    Parameters:
+      | *[in]*  **v**    vector
+      | *[in]*  **val**  value
+
+.. c:function:: bool  glm_vec_eq_eps(vec3 v, float val)
+
+    check if vector is equal to value (with epsilon)
+
+    Parameters:
+      | *[in]*  **v**    vector
+      | *[in]*  **val**  value
+
+.. c:function:: bool  glm_vec_eq_all(vec3 v)
+
+    check if vectors members are equal (without epsilon)
+
+    Parameters:
+      | *[in]*  **v**   vector
+
+.. c:function:: bool  glm_vec_eqv(vec3 v1, vec3 v2)
+
+    check if vector is equal to another (without epsilon) vector
+
+    Parameters:
+      | *[in]*  **vec**   vector 1
+      | *[in]*  **vec**   vector 2
+
+.. c:function:: bool  glm_vec_eqv_eps(vec3 v1, vec3 v2)
+
+    check if vector is equal to another (with epsilon)
+
+    Parameters:
+      | *[in]*  **v1**    vector1
+      | *[in]*  **v2**    vector2
+
+.. c:function:: float  glm_vec_max(vec3 v)
+
+    max value of vector
+
+    Parameters:
+      | *[in]*  **v**    vector
+
+.. c:function:: float glm_vec_min(vec3 v)
+
+     min value of vector
+
+    Parameters:
+      | *[in]*  **v**  vector
+
+.. c:function:: bool glm_vec_isnan(vec3 v)
+
+    | check if one of items is NaN (not a number)
+    | you should only use this in DEBUG mode or very critical asserts
+
+    Parameters:
+      | *[in]*  **v**  vector
+
+.. c:function:: bool glm_vec_isinf(vec3 v)
+
+    | check if one of items is INFINITY
+    | you should only use this in DEBUG mode or very critical asserts
+
+    Parameters:
+      | *[in]*  **v**  vector
+
+.. c:function:: bool glm_vec_isvalid(vec3 v)
+
+    | check if all items are valid number
+    | you should only use this in DEBUG mode or very critical asserts
+
+    Parameters:
+      | *[in]*  **v**  vector
+
+.. c:function:: void glm_vec_sign(vec3 v, vec3 dest)
+
+    get sign of 32 bit float as +1, -1, 0
+
+    Parameters:
+      | *[in]*   **v**     vector
+      | *[out]*  **dest**  sign vector (only keeps signs as -1, 0, -1)
+
+.. c:function:: void glm_vec_sqrt(vec3 v, vec3 dest)
+
+    square root of each vector item
+
+    Parameters:
+      | *[in]*   **v**     vector
+      | *[out]*  **dest**  destination vector (sqrt(v))

docs/source/vec3.rst

@@ -0,0 +1,305 @@
+.. default-domain:: C
+
+vec3
+====
+
+Header: cglm/vec3.h
+
+We mostly use vectors in graphics math, to make writing code faster
+and easy to read, some *vec3* functions are aliased in global namespace.
+For instance :c:func:`glm_dot` is alias of :c:func:`glm_vec_dot`,
+alias means inline wrapper here. There is no call verison of alias functions
+
+There are also functions for rotating *vec3* vector. **_m4**, **_m3** prefixes
+rotate *vec3* with matrix.
+
+Table of contents (click to go):
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+Macros:
+
+1. glm_vec_dup(v, dest)
+#. GLM_VEC3_ONE_INIT
+#. GLM_VEC3_ZERO_INIT
+#. GLM_VEC3_ONE
+#. GLM_VEC3_ZERO
+#. GLM_YUP
+#. GLM_ZUP
+#. GLM_XUP
+
+Functions:
+
+1. :c:func:`glm_vec3`
+#. :c:func:`glm_vec_copy`
+#. :c:func:`glm_vec_dot`
+#. :c:func:`glm_vec_cross`
+#. :c:func:`glm_vec_norm2`
+#. :c:func:`glm_vec_norm`
+#. :c:func:`glm_vec_add`
+#. :c:func:`glm_vec_sub`
+#. :c:func:`glm_vec_scale`
+#. :c:func:`glm_vec_scale_as`
+#. :c:func:`glm_vec_flipsign`
+#. :c:func:`glm_vec_flipsign_to`
+#. :c:func:`glm_vec_inv`
+#. :c:func:`glm_vec_inv_to`
+#. :c:func:`glm_vec_normalize`
+#. :c:func:`glm_vec_normalize_to`
+#. :c:func:`glm_vec_distance`
+#. :c:func:`glm_vec_angle`
+#. :c:func:`glm_vec_rotate`
+#. :c:func:`glm_vec_rotate_m4`
+#. :c:func:`glm_vec_proj`
+#. :c:func:`glm_vec_center`
+#. :c:func:`glm_vec_maxv`
+#. :c:func:`glm_vec_minv`
+#. :c:func:`glm_vec_ortho`
+#. :c:func:`glm_vec_clamp`
+#. :c:func:`glm_vec_lerp`
+
+Functions documentation
+~~~~~~~~~~~~~~~~~~~~~~~
+
+.. c:function:: void  glm_vec3(vec4 v4, vec3 dest)
+
+    init vec3 using vec4
+
+    Parameters:
+      | *[in]*  **v4**    vector4
+      | *[out]* **dest**  destination
+
+.. c:function:: void  glm_vec_copy(vec3 a, vec3 dest)
+
+    copy all members of [a] to [dest]
+
+    Parameters:
+      | *[in]*  **a**     source
+      | *[out]* **dest**  destination
+
+.. c:function:: float  glm_vec_dot(vec3 a, vec3 b)
+
+    dot product of vec3
+
+    Parameters:
+      | *[in]*  **a**  vector1
+      | *[in]*  **b**  vector2
+
+    Returns:
+      dot product
+
+.. c:function:: void  glm_vec_cross(vec3 a, vec3 b, vec3 d)
+
+    cross product
+
+    Parameters:
+      | *[in]*  **a**  source 1
+      | *[in]*  **b**  source 2
+      | *[out]* **d**  destination
+
+.. c:function:: float  glm_vec_norm2(vec3 v)
+
+    norm * norm (magnitude) of vector
+
+    we can use this func instead of calling norm * norm, because it would call
+    sqrtf fuction twice but with this func we can avoid func call, maybe this is
+    not good name for this func
+
+    Parameters:
+      | *[in]*  **v**   vector
+
+    Returns:
+      square of norm / magnitude
+
+.. c:function:: float  glm_vec_norm(vec3 vec)
+
+    norm (magnitude) of vec3
+
+    Parameters:
+      | *[in]*  **vec**   vector
+
+.. c:function:: void  glm_vec_add(vec3 v1, vec3 v2, vec3 dest)
+
+    add v2 vector to v1 vector store result in dest
+
+    Parameters:
+      | *[in]*  **v1**    vector1
+      | *[in]*  **v2**    vector2
+      | *[out]* **dest**  destination vector
+
+.. c:function:: void  glm_vec_sub(vec3 v1, vec3 v2, vec3 dest)
+
+    subtract v2 vector from v1 vector store result in dest
+
+    Parameters:
+      | *[in]*  **v1**    vector1
+      | *[in]*  **v2**    vector2
+      | *[out]* **dest**  destination vector
+
+.. c:function:: void glm_vec_scale(vec3 v, float s, vec3 dest)
+
+     multiply/scale vec3 vector with scalar: result = v * s
+
+
+    Parameters:
+      | *[in]*  **v**     vector
+      | *[in]*  **s**     scalar
+      | *[out]* **dest**  destination vector
+
+.. c:function:: void  glm_vec_scale_as(vec3 v, float s, vec3 dest)
+
+    make vec3 vector scale as specified: result = unit(v) * s
+
+    Parameters:
+      | *[in]*  **v**     vector
+      | *[in]*  **s**     scalar
+      | *[out]* **dest**  destination vector
+
+.. c:function:: void  glm_vec_flipsign(vec3 v)
+
+    flip sign of all vec3 members
+
+    Parameters:
+      | *[in, out]*  **v**    vector
+
+.. c:function:: void  glm_vec_flipsign_to(vec3 v, vec3 dest)
+
+    flip sign of all vec3 members and store result in dest
+
+    Parameters:
+      | *[in]*  **v**       vector
+      | *[out]* **dest**    negated vector
+
+.. c:function:: void  glm_vec_inv(vec3 v)
+
+    make vector as inverse/opposite of itself
+
+    Parameters:
+      | *[in, out]*  **v**    vector
+
+.. c:function:: void  glm_vec_inv_to(vec3 v, vec3 dest)
+
+    inverse/opposite vector
+
+    Parameters:
+      | *[in]*  **v**     source
+      | *[out]* **dest**  destination
+
+.. c:function:: void  glm_vec_normalize(vec3 v)
+
+    normalize vec3 and store result in same vec
+
+    Parameters:
+      | *[in, out]*  **v**    vector
+
+.. c:function:: void  glm_vec_normalize_to(vec3 vec, vec3 dest)
+
+     normalize vec3 to dest
+
+    Parameters:
+      | *[in]*   **vec**   source
+      | *[out]*  **dest**  destination
+
+.. c:function:: float  glm_vec_angle(vec3 v1, vec3 v2)
+
+    angle betwen two vector
+
+    Parameters:
+      | *[in]*  **v1**   vector1
+      | *[in]*  **v2**   vector2
+
+    Return:
+      | angle as radians
+
+.. c:function:: void  glm_vec_rotate(vec3 v, float angle, vec3 axis)
+
+     rotate vec3 around axis by angle using Rodrigues' rotation formula
+
+    Parameters:
+      | *[in, out]*  **v**      vector
+      | *[in]*       **axis**   axis vector (will be normalized)
+      | *[out]*      **angle**  angle (radians)
+
+.. c:function:: void  glm_vec_rotate_m4(mat4 m, vec3 v, vec3 dest)
+
+    apply rotation matrix to vector
+
+    Parameters:
+      | *[in]*  **m**     affine matrix or rot matrix
+      | *[in]*  **v**     vector
+      | *[out]* **dest**  rotated vector
+
+.. c:function:: void  glm_vec_proj(vec3 a, vec3 b, vec3 dest)
+
+    project a vector onto b vector
+
+    Parameters:
+      | *[in]*  **a**     vector1
+      | *[in]*  **b**     vector2
+      | *[out]* **dest**  projected vector
+
+.. c:function:: void  glm_vec_center(vec3 v1, vec3 v2, vec3 dest)
+
+    find center point of two vector
+
+    Parameters:
+      | *[in]*  **v1**    vector1
+      | *[in]*  **v2**    vector2
+      | *[out]* **dest**  center point
+
+.. c:function:: float  glm_vec_distance(vec3 v1, vec3 v2)
+
+    distance between two vectors
+
+    Parameters:
+      | *[in]*  **mat**   vector1
+      | *[in]*  **row1**  vector2
+
+    Returns:
+      | distance
+
+.. c:function:: void  glm_vec_maxv(vec3 v1, vec3 v2, vec3 dest)
+
+    max values of vectors
+
+    Parameters:
+      | *[in]*  **v1**    vector1
+      | *[in]*  **v2**    vector2
+      | *[out]* **dest**  destination
+
+.. c:function:: void  glm_vec_minv(vec3 v1, vec3 v2, vec3 dest)
+
+    min values of vectors
+
+    Parameters:
+      | *[in]*  **v1**    vector1
+      | *[in]*  **v2**    vector2
+      | *[out]* **dest**  destination
+
+.. c:function:: void  glm_vec_ortho(vec3 v, vec3 dest)
+
+    possible orthogonal/perpendicular vector
+
+    Parameters:
+      | *[in]*  **mat**   vector
+      | *[out]* **dest**  orthogonal/perpendicular vector
+
+.. c:function:: void  glm_vec_clamp(vec3 v, float minVal, float maxVal)
+
+    constrain a value to lie between two further values
+
+    Parameters:
+      | *[in, out]*  **v**       vector
+      | *[in]*       **minVal**  minimum value
+      | *[in]*       **maxVal**  maximum value
+
+.. c:function:: void  glm_vec_lerp(vec3 from, vec3 to, float t, vec3 dest)
+
+    linear interpolation between two vector
+
+    | formula:  from + s * (to - from)
+
+    Parameters:
+      | *[in]*  **from**   from value
+      | *[in]*  **to**     to value
+      | *[in]*  **t**      interpolant (amount) clamped between 0 and 1
+      | *[out]* **dest**   destination

docs/source/vec4-ext.rst

@@ -0,0 +1,138 @@
+.. default-domain:: C
+
+vec4 extra
+==========
+
+Header: cglm/vec4-ext.h
+
+There are some functions are in called in extra header. These are called extra
+because they are not used like other functions in vec4.h in the future some of
+these functions ma be moved to vec4 header.
+
+Table of contents (click to go):
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+Functions:
+
+1. :c:func:`glm_vec4_mulv`
+#. :c:func:`glm_vec4_broadcast`
+#. :c:func:`glm_vec4_eq`
+#. :c:func:`glm_vec4_eq_eps`
+#. :c:func:`glm_vec4_eq_all`
+#. :c:func:`glm_vec4_eqv`
+#. :c:func:`glm_vec4_eqv_eps`
+#. :c:func:`glm_vec4_max`
+#. :c:func:`glm_vec4_min`
+
+Functions documentation
+~~~~~~~~~~~~~~~~~~~~~~~
+
+.. c:function:: void  glm_vec4_mulv(vec4 a, vec4 b, vec4 d)
+
+    multiplies individual items
+
+    Parameters:
+      | *[in]*  **a**  vec1
+      | *[in]*  **b**  vec2
+      | *[out]* **d**  destination
+
+.. c:function:: void  glm_vec4_broadcast(float val, vec4 d)
+
+    fill a vector with specified value
+
+    Parameters:
+      | *[in]*  **val**   value
+      | *[out]* **dest**  destination
+
+.. c:function:: bool  glm_vec4_eq(vec4 v, float val)
+
+    check if vector is equal to value (without epsilon)
+
+    Parameters:
+      | *[in]*  **v**    vector
+      | *[in]*  **val**  value
+
+.. c:function:: bool  glm_vec4_eq_eps(vec4 v, float val)
+
+    check if vector is equal to value (with epsilon)
+
+    Parameters:
+      | *[in]*  **v**    vector
+      | *[in]*  **val**  value
+
+.. c:function:: bool  glm_vec4_eq_all(vec4 v)
+
+    check if vectors members are equal (without epsilon)
+
+    Parameters:
+      | *[in]*  **v**   vector
+
+.. c:function:: bool  glm_vec4_eqv(vec4 v1, vec4 v2)
+
+    check if vector is equal to another (without epsilon) vector
+
+    Parameters:
+      | *[in]*  **vec**   vector 1
+      | *[in]*  **vec**   vector 2
+
+.. c:function:: bool  glm_vec4_eqv_eps(vec4 v1, vec4 v2)
+
+    check if vector is equal to another (with epsilon)
+
+    Parameters:
+      | *[in]*  **v1**    vector1
+      | *[in]*  **v2**    vector2
+
+.. c:function:: float  glm_vec4_max(vec4 v)
+
+    max value of vector
+
+    Parameters:
+      | *[in]*  **v**    vector
+
+.. c:function:: float glm_vec4_min(vec4 v)
+
+     min value of vector
+
+    Parameters:
+      | *[in]*  **v**  vector
+
+.. c:function:: bool glm_vec4_isnan(vec4 v)
+
+    | check if one of items is NaN (not a number)
+    | you should only use this in DEBUG mode or very critical asserts
+
+    Parameters:
+      | *[in]*  **v**  vector
+
+.. c:function:: bool glm_vec4_isinf(vec4 v)
+
+    | check if one of items is INFINITY
+    | you should only use this in DEBUG mode or very critical asserts
+
+    Parameters:
+      | *[in]*  **v**  vector
+
+.. c:function:: bool glm_vec4_isvalid(vec4 v)
+
+    | check if all items are valid number
+    | you should only use this in DEBUG mode or very critical asserts
+
+    Parameters:
+      | *[in]*  **v**  vector
+
+.. c:function:: void glm_vec4_sign(vec4 v, vec4 dest)
+
+    get sign of 32 bit float as +1, -1, 0
+
+    Parameters:
+      | *[in]*   **v**     vector
+      | *[out]*  **dest**  sign vector (only keeps signs as -1, 0, -1)
+
+.. c:function:: void glm_vec4_sqrt(vec4 v, vec4 dest)
+
+    square root of each vector item
+
+    Parameters:
+      | *[in]*   **v**     vector
+      | *[out]*  **dest**  destination vector (sqrt(v))

docs/source/vec4.rst

@@ -0,0 +1,242 @@
+.. default-domain:: C
+
+vec4
+====
+
+Header: cglm/vec4.h
+
+Table of contents (click to go):
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+Macros:
+
+1. glm_vec4_dup3(v, dest)
+#. glm_vec4_dup(v, dest)
+#. GLM_VEC4_ONE_INIT
+#. GLM_VEC4_BLACK_INIT
+#. GLM_VEC4_ZERO_INIT
+#. GLM_VEC4_ONE
+#. GLM_VEC4_BLACK
+#. GLM_VEC4_ZERO
+
+Functions:
+
+1. :c:func:`glm_vec4`
+#. :c:func:`glm_vec4_copy3`
+#. :c:func:`glm_vec4_copy`
+#. :c:func:`glm_vec4_dot`
+#. :c:func:`glm_vec4_norm2`
+#. :c:func:`glm_vec4_norm`
+#. :c:func:`glm_vec4_add`
+#. :c:func:`glm_vec4_sub`
+#. :c:func:`glm_vec4_scale`
+#. :c:func:`glm_vec4_scale_as`
+#. :c:func:`glm_vec4_flipsign`
+#. :c:func:`glm_vec_flipsign_to`
+#. :c:func:`glm_vec4_inv`
+#. :c:func:`glm_vec4_inv_to`
+#. :c:func:`glm_vec4_normalize`
+#. :c:func:`glm_vec4_normalize_to`
+#. :c:func:`glm_vec4_distance`
+#. :c:func:`glm_vec4_maxv`
+#. :c:func:`glm_vec4_minv`
+#. :c:func:`glm_vec4_clamp`
+#. :c:func:`glm_vec4_lerp`
+#. :c:func:`glm_vec4_isnan`
+#. :c:func:`glm_vec4_isinf`
+#. :c:func:`glm_vec4_isvalid`
+#. :c:func:`glm_vec4_sign`
+#. :c:func:`glm_vec4_sqrt`
+
+Functions documentation
+~~~~~~~~~~~~~~~~~~~~~~~
+
+.. c:function:: void  glm_vec4(vec3 v3, float last, vec4 dest)
+
+    init vec4 using vec3, since you are initializing vec4 with vec3
+    you need to set last item. cglm could set it zero but making it parameter
+    gives more control
+
+    Parameters:
+      | *[in]*  **v3**    vector4
+      | *[in]*  **last**  last item of vec4
+      | *[out]* **dest**  destination
+
+.. c:function:: void glm_vec4_copy3(vec4 a, vec3 dest)
+
+    copy first 3 members of [a] to [dest]
+
+    Parameters:
+      | *[in]*  **a**     source
+      | *[out]* **dest**  destination
+
+.. c:function:: void  glm_vec4_copy(vec4 v, vec4 dest)
+
+    copy all members of [a] to [dest]
+
+    Parameters:
+      | *[in]*  **v**     source
+      | *[in]*  **dest**  destination
+
+.. c:function:: float  glm_vec4_dot(vec4 a, vec4 b)
+
+    dot product of vec4
+
+    Parameters:
+      | *[in]*  **a**  vector1
+      | *[in]*  **b**  vector2
+
+    Returns:
+      dot product
+
+.. c:function:: float  glm_vec4_norm2(vec4 v)
+
+    norm * norm (magnitude) of vector
+
+    we can use this func instead of calling norm * norm, because it would call
+    sqrtf fuction twice but with this func we can avoid func call, maybe this is
+    not good name for this func
+
+    Parameters:
+      | *[in]*  **v**   vector
+
+    Returns:
+      square of norm / magnitude
+
+.. c:function:: float  glm_vec4_norm(vec4 vec)
+
+    norm (magnitude) of vec4
+
+    Parameters:
+      | *[in]*  **vec**   vector
+
+.. c:function:: void  glm_vec4_add(vec4 v1, vec4 v2, vec4 dest)
+
+    add v2 vector to v1 vector store result in dest
+
+    Parameters:
+      | *[in]*  **v1**    vector1
+      | *[in]*  **v2**    vector2
+      | *[out]* **dest**  destination vector
+
+.. c:function:: void  glm_vec4_sub(vec4 v1, vec4 v2, vec4 dest)
+
+    subtract v2 vector from v1 vector store result in dest
+
+    Parameters:
+      | *[in]*  **v1**    vector1
+      | *[in]*  **v2**    vector2
+      | *[out]* **dest**  destination vector
+
+.. c:function:: void glm_vec4_scale(vec4 v, float s, vec4 dest)
+
+     multiply/scale vec4 vector with scalar: result = v * s
+
+    Parameters:
+      | *[in]*  **v**     vector
+      | *[in]*  **s**     scalar
+      | *[out]* **dest**  destination vector
+
+.. c:function:: void  glm_vec4_scale_as(vec4 v, float s, vec4 dest)
+
+    make vec4 vector scale as specified: result = unit(v) * s
+
+    Parameters:
+      | *[in]*  **v**     vector
+      | *[in]*  **s**     scalar
+      | *[out]* **dest**  destination vector
+
+.. c:function:: void  glm_vec4_flipsign(vec4 v)
+
+    flip sign of all vec4 members
+
+    Parameters:
+    | *[in, out]*  **v**    vector
+
+.. c:function:: void  glm_vec4_flipsign_to(vec4 v, vec4 dest)
+
+    flip sign of all vec4 members and store result in dest
+
+    Parameters:
+      | *[in]*  **v**       vector
+      | *[out]* **dest**    negated vector
+
+.. c:function:: void  glm_vec4_inv(vec4 v)
+
+    make vector as inverse/opposite of itself
+
+    Parameters:
+      | *[in, out]*  **v**    vector
+
+.. c:function:: void  glm_vec4_inv_to(vec4 v, vec4 dest)
+
+    inverse/opposite vector
+
+    Parameters:
+      | *[in]*  **v**     source
+      | *[out]* **dest**  destination
+
+.. c:function:: void  glm_vec4_normalize(vec4 v)
+
+    normalize vec4 and store result in same vec
+
+    Parameters:
+      | *[in, out]*  **v**    vector
+
+.. c:function:: void  glm_vec4_normalize_to(vec4 vec, vec4 dest)
+
+    normalize vec4 to dest
+
+    Parameters:
+      | *[in]*   **vec**   source
+      | *[out]*  **dest**  destination
+
+.. c:function:: float  glm_vec4_distance(vec4 v1, vec4 v2)
+
+    distance between two vectors
+
+    Parameters:
+      | *[in]*  **mat**   vector1
+      | *[in]*  **row1**  vector2
+
+    Returns:
+      | distance
+
+.. c:function:: void  glm_vec4_maxv(vec4 v1, vec4 v2, vec4 dest)
+
+    max values of vectors
+
+    Parameters:
+      | *[in]*  **v1**    vector1
+      | *[in]*  **v2**    vector2
+      | *[out]* **dest**  destination
+
+.. c:function:: void  glm_vec4_minv(vec4 v1, vec4 v2, vec4 dest)
+
+    min values of vectors
+
+    Parameters:
+      | *[in]*  **v1**    vector1
+      | *[in]*  **v2**    vector2
+      | *[out]* **dest**  destination
+
+.. c:function:: void  glm_vec4_clamp(vec4 v, float minVal, float maxVal)
+
+    constrain a value to lie between two further values
+
+    Parameters:
+      | *[in, out]*  **v**       vector
+      | *[in]*       **minVal**  minimum value
+      | *[in]*       **maxVal**  maximum value
+
+.. c:function:: void  glm_vec4_lerp(vec4 from, vec4 to, float t, vec4 dest)
+
+    linear interpolation between two vector
+
+    | formula:  from + s * (to - from)
+
+    Parameters:
+      | *[in]*  **from**   from value
+      | *[in]*  **to**     to value
+      | *[in]*  **t**      interpolant (amount) clamped between 0 and 1
+      | *[out]* **dest**   destination

include/cglm/affine-mat.h

@@ -25,8 +25,22 @@
 #  include "simd/avx/affine.h"
 #endif
 
-#include <assert.h>
-
+/*!
+ * @brief this is similar to glm_mat4_mul but specialized to affine transform
+ *
+ * Matrix format should be:
+ *   R  R  R  X
+ *   R  R  R  Y
+ *   R  R  R  Z
+ *   0  0  0  W
+ *
+ * this reduces some multiplications. It should be faster than mat4_mul.
+ * if you are not sure about matrix format then DON'T use this! use mat4_mul
+ *
+ * @param[in]   m1    affine matrix 1
+ * @param[in]   m2    affine matrix 2
+ * @param[out]  dest  result matrix
+ */
 CGLM_INLINE
 void
 glm_mul(mat4 m1, mat4 m2, mat4 dest) {

include/cglm/affine.h

@@ -17,12 +17,13 @@
    CGLM_INLINE void glm_scale_make(mat4 m, vec3 v);
    CGLM_INLINE void glm_scale(mat4 m, vec3 v);
    CGLM_INLINE void glm_scale1(mat4 m, float s);
-   CGLM_INLINE void glm_rotate_x(mat4 m, float rad, mat4 dest);
-   CGLM_INLINE void glm_rotate_y(mat4 m, float rad, mat4 dest);
-   CGLM_INLINE void glm_rotate_z(mat4 m, float rad, mat4 dest);
+   CGLM_INLINE void glm_scale_uni(mat4 m, float s);
+   CGLM_INLINE void glm_rotate_x(mat4 m, float angle, mat4 dest);
+   CGLM_INLINE void glm_rotate_y(mat4 m, float angle, mat4 dest);
+   CGLM_INLINE void glm_rotate_z(mat4 m, float angle, mat4 dest);
    CGLM_INLINE void glm_rotate_ndc_make(mat4 m, float angle, vec3 axis_ndc);
    CGLM_INLINE void glm_rotate_make(mat4 m, float angle, vec3 axis);
-   CGLM_INLINE void glm_rotate_ndc(mat4 m, float angle, vec3 axis_ndc);
+   CGLM_INLINE void glm_rotate_ndc(mat4 m, float angle, vec3 axis);
    CGLM_INLINE void glm_rotate(mat4 m, float angle, vec3 axis);
    CGLM_INLINE void glm_decompose_scalev(mat4 m, vec3 s);
    CGLM_INLINE bool glm_uniscaled(mat4 m);
@@ -38,6 +39,14 @@
 #include "affine-mat.h"
 #include "util.h"
 
+/*!
+ * @brief translate existing transform matrix by v vector
+ *        and store result in dest
+ *
+ * @param[in]  m    affine transfrom
+ * @param[in]  v    translate vector [x, y, z]
+ * @param[out] dest translated matrix
+ */
 CGLM_INLINE
 void
 glm_translate_to(mat4 m, vec3 v, mat4 dest) {
@@ -72,6 +81,13 @@ glm_translate_to(mat4 m, vec3 v, mat4 dest) {
 #endif
 }
 
+/*!
+ * @brief translate existing transform matrix by v vector
+ *        and stores result in same matrix
+ *
+ * @param[in, out]  m  affine transfrom
+ * @param[in]       v  translate vector [x, y, z]
+ */
 CGLM_INLINE
 void
 glm_translate(mat4 m, vec3 v) {
@@ -98,54 +114,78 @@ glm_translate(mat4 m, vec3 v) {
 #endif
 }
 
+/*!
+ * @brief translate existing transform matrix by x factor
+ *
+ * @param[in, out]  m  affine transfrom
+ * @param[in]       x  x factor
+ */
 CGLM_INLINE
 void
-glm_translate_x(mat4 m, float to) {
+glm_translate_x(mat4 m, float x) {
 #if defined( __SSE__ ) || defined( __SSE2__ )
   _mm_store_ps(m[3],
                _mm_add_ps(_mm_mul_ps(_mm_load_ps(m[0]),
-                                     _mm_set1_ps(to)),
+                                     _mm_set1_ps(x)),
                           _mm_load_ps(m[3])))
   ;
 #else
   vec4 v1;
-  glm_vec4_scale(m[0], to, v1);
+  glm_vec4_scale(m[0], x, v1);
   glm_vec4_add(v1, m[3], m[3]);
 #endif
 }
 
+/*!
+ * @brief translate existing transform matrix by y factor
+ *
+ * @param[in, out]  m  affine transfrom
+ * @param[in]       y  y factor
+ */
 CGLM_INLINE
 void
-glm_translate_y(mat4 m, float to) {
+glm_translate_y(mat4 m, float y) {
 #if defined( __SSE__ ) || defined( __SSE2__ )
   _mm_store_ps(m[3],
                _mm_add_ps(_mm_mul_ps(_mm_load_ps(m[1]),
-                                     _mm_set1_ps(to)),
+                                     _mm_set1_ps(y)),
                           _mm_load_ps(m[3])))
   ;
 #else
   vec4 v1;
-  glm_vec4_scale(m[1], to, v1);
+  glm_vec4_scale(m[1], y, v1);
   glm_vec4_add(v1, m[3], m[3]);
 #endif
 }
 
+/*!
+ * @brief translate existing transform matrix by z factor
+ *
+ * @param[in, out]  m  affine transfrom
+ * @param[in]       z  z factor
+ */
 CGLM_INLINE
 void
-glm_translate_z(mat4 m, float to) {
+glm_translate_z(mat4 m, float z) {
 #if defined( __SSE__ ) || defined( __SSE2__ )
   _mm_store_ps(m[3],
                _mm_add_ps(_mm_mul_ps(_mm_load_ps(m[2]),
-                                     _mm_set1_ps(to)),
+                                     _mm_set1_ps(z)),
                           _mm_load_ps(m[3])))
   ;
 #else
   vec4 v1;
-  glm_vec4_scale(m[2], to, v1);
+  glm_vec4_scale(m[2], z, v1);
   glm_vec4_add(v1, m[3], m[3]);
 #endif
 }
 
+/*!
+ * @brief creates NEW translate transform matrix by v vector
+ *
+ * @param[out]  m  affine transfrom
+ * @param[in]   v  translate vector [x, y, z]
+ */
 CGLM_INLINE
 void
 glm_translate_make(mat4 m, vec3 v) {
@@ -153,8 +193,14 @@ glm_translate_make(mat4 m, vec3 v) {
   glm_translate_to(t, v, m);
 }
 
-/* scale */
-
+/*!
+ * @brief scale existing transform matrix by v vector
+ *        and store result in dest
+ *
+ * @param[in]  m    affine transfrom
+ * @param[in]  v    scale vector [x, y, z]
+ * @param[out] dest scaled matrix
+ */
 CGLM_INLINE
 void
 glm_scale_to(mat4 m, vec3 v, mat4 dest) {
@@ -165,6 +211,12 @@ glm_scale_to(mat4 m, vec3 v, mat4 dest) {
   glm_vec4_copy(m[3], dest[3]);
 }
 
+/*!
+ * @brief creates NEW scale matrix by v vector
+ *
+ * @param[out]  m  affine transfrom
+ * @param[in]   v  scale vector [x, y, z]
+ */
 CGLM_INLINE
 void
 glm_scale_make(mat4 m, vec3 v) {
@@ -172,12 +224,22 @@ glm_scale_make(mat4 m, vec3 v) {
   glm_scale_to(t, v, m);
 }
 
+/*!
+ * @brief scales existing transform matrix by v vector
+ *        and stores result in same matrix
+ *
+ * @param[in, out]  m  affine transfrom
+ * @param[in]       v  scale vector [x, y, z]
+ */
 CGLM_INLINE
 void
 glm_scale(mat4 m, vec3 v) {
   glm_scale_to(m, v, m);
 }
 
+/*!
+ * @brief DEPRECATED! Use glm_scale_uni
+ */
 CGLM_INLINE
 void
 glm_scale1(mat4 m, float s) {
@@ -185,15 +247,37 @@ glm_scale1(mat4 m, float s) {
   glm_scale_to(m, v, m);
 }
 
+/*!
+ * @brief applies uniform scale to existing transform matrix v = [s, s, s]
+ *        and stores result in same matrix
+ *
+ * @param[in, out]  m  affine transfrom
+ * @param[in]       s  scale factor
+ */
 CGLM_INLINE
 void
-glm_rotate_x(mat4 m, float rad, mat4 dest) {
+glm_scale_uni(mat4 m, float s) {
+  vec3 v = { s, s, s };
+  glm_scale_to(m, v, m);
+}
+
+/*!
+ * @brief rotate existing transform matrix around X axis by angle
+ *        and store result in dest
+ *
+ * @param[in]   m      affine transfrom
+ * @param[in]   angle  angle (radians)
+ * @param[out]  dest   rotated matrix
+ */
+CGLM_INLINE
+void
+glm_rotate_x(mat4 m, float angle, mat4 dest) {
   float cosVal;
   float sinVal;
   mat4  t = GLM_MAT4_IDENTITY_INIT;
 
-  cosVal = cosf(rad);
-  sinVal = sinf(rad);
+  cosVal = cosf(angle);
+  sinVal = sinf(angle);
 
   t[1][1] =  cosVal;
   t[1][2] =  sinVal;
@@ -203,15 +287,23 @@ glm_rotate_x(mat4 m, float rad, mat4 dest) {
   glm_mat4_mul(m, t, dest);
 }
 
+/*!
+ * @brief rotate existing transform matrix around Y axis by angle
+ *        and store result in dest
+ *
+ * @param[in]   m      affine transfrom
+ * @param[in]   angle  angle (radians)
+ * @param[out]  dest   rotated matrix
+ */
 CGLM_INLINE
 void
-glm_rotate_y(mat4 m, float rad, mat4 dest) {
+glm_rotate_y(mat4 m, float angle, mat4 dest) {
   float cosVal;
   float sinVal;
   mat4  t = GLM_MAT4_IDENTITY_INIT;
 
-  cosVal = cosf(rad);
-  sinVal = sinf(rad);
+  cosVal = cosf(angle);
+  sinVal = sinf(angle);
 
   t[0][0] =  cosVal;
   t[0][2] = -sinVal;
@@ -221,15 +313,23 @@ glm_rotate_y(mat4 m, float rad, mat4 dest) {
   glm_mat4_mul(m, t, dest);
 }
 
+/*!
+ * @brief rotate existing 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   rotated matrix
+ */
 CGLM_INLINE
 void
-glm_rotate_z(mat4 m, float rad, mat4 dest) {
+glm_rotate_z(mat4 m, float angle, mat4 dest) {
   float cosVal;
   float sinVal;
   mat4  t = GLM_MAT4_IDENTITY_INIT;
 
-  cosVal = cosf(rad);
-  sinVal = sinf(rad);
+  cosVal = cosf(angle);
+  sinVal = sinf(angle);
 
   t[0][0] =  cosVal;
   t[0][1] =  sinVal;
@@ -239,6 +339,15 @@ glm_rotate_z(mat4 m, float rad, mat4 dest) {
   glm_mat4_mul(m, t, dest);
 }
 
+/*!
+ * @brief creates NEW rotation matrix by angle and axis
+ *
+ * this name may change in the future. axis must be is normalized
+ *
+ * @param[out] m        affine transfrom
+ * @param[in]  angle    angle (radians)
+ * @param[in]  axis_ndc normalized axis
+ */
 CGLM_INLINE
 void
 glm_rotate_ndc_make(mat4 m, float angle, vec3 axis_ndc) {
@@ -272,6 +381,15 @@ glm_rotate_ndc_make(mat4 m, float angle, vec3 axis_ndc) {
   m[3][3] = 1.0f;
 }
 
+/*!
+ * @brief creates NEW rotation matrix by angle and axis
+ *
+ * axis will be normalized so you don't need to normalize it
+ *
+ * @param[out] m     affine transfrom
+ * @param[in]  angle angle (radians)
+ * @param[in]  axis  axis
+ */
 CGLM_INLINE
 void
 glm_rotate_make(mat4 m, float angle, vec3 axis) {
@@ -281,6 +399,15 @@ glm_rotate_make(mat4 m, float angle, vec3 axis) {
   glm_rotate_ndc_make(m, angle, axis_ndc);
 }
 
+/*!
+ * @brief rotate existing transform matrix around Z axis by angle and axis
+ *
+ * this name may change in the future, axis must be normalized.
+ *
+ * @param[in, out]  m         affine transfrom
+ * @param[in]       angle     angle (radians)
+ * @param[in]       axis_ndc  normalized axis
+ */
 CGLM_INLINE
 void
 glm_rotate_ndc(mat4 m, float angle, vec3 axis_ndc) {
@@ -311,6 +438,13 @@ glm_rotate_ndc(mat4 m, float angle, vec3 axis_ndc) {
   glm_vec4_copy(tmp[3], m[2]);
 }
 
+/*!
+ * @brief rotate existing transform matrix around Z axis by angle and axis
+ *
+ * @param[in, out]  m      affine transfrom
+ * @param[in]       angle  angle (radians)
+ * @param[in]       axis   axis
+ */
 CGLM_INLINE
 void
 glm_rotate(mat4 m, float angle, vec3 axis) {
@@ -323,8 +457,8 @@ glm_rotate(mat4 m, float angle, vec3 axis) {
 /*!
  * @brief decompose scale vector
  *
- * @param[in]  m     affine transform
- * @param[out] s     scale vector (Sx, Sy, Sz)
+ * @param[in]  m  affine transform
+ * @param[out] s  scale vector (Sx, Sy, Sz)
  */
 CGLM_INLINE
 void

include/cglm/box.h

@@ -0,0 +1,202 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), http://opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+#ifndef cglm_box_h
+#define cglm_box_h
+
+#include "common.h"
+#include "vec3.h"
+#include "vec4.h"
+
+/*!
+ * @brief apply transform to Axis-Aligned Bounding Box
+ *
+ * @param[in]  box  bounding box
+ * @param[in]  m    transform matrix
+ * @param[out] dest transformed bounding box
+ */
+CGLM_INLINE
+void
+glm_aabb_transform(vec3 box[2], mat4 m, vec3 dest[2]) {
+  vec3 v[2], xa, xb, ya, yb, za, zb, tmp;
+
+  glm_vec_scale(m[0], box[0][0], xa);
+  glm_vec_scale(m[0], box[1][0], xb);
+
+  glm_vec_scale(m[1], box[0][1], ya);
+  glm_vec_scale(m[1], box[1][1], yb);
+
+  glm_vec_scale(m[2], box[0][2], za);
+  glm_vec_scale(m[2], box[1][2], zb);
+
+  /* min(xa, xb) + min(ya, yb) + min(za, zb) + translation */
+  glm_vec_minv(xa, xb, v[0]);
+  glm_vec_minv(ya, yb, tmp);
+  glm_vec_add(v[0], tmp, v[0]);
+  glm_vec_minv(za, zb, tmp);
+  glm_vec_add(v[0], tmp, v[0]);
+  glm_vec_add(v[0], m[3], v[0]);
+
+  /* max(xa, xb) + max(ya, yb) + max(za, zb) + translation */
+  glm_vec_maxv(xa, xb, v[1]);
+  glm_vec_maxv(ya, yb, tmp);
+  glm_vec_add(v[1], tmp, v[1]);
+  glm_vec_maxv(za, zb, tmp);
+  glm_vec_add(v[1], tmp, v[1]);
+  glm_vec_add(v[1], m[3], v[1]);
+
+  glm_vec_copy(v[0], dest[0]);
+  glm_vec_copy(v[1], dest[1]);
+}
+
+/*!
+ * @brief merges two AABB bounding box and creates new one
+ *
+ * two box must be in same space, if one of box is in different space then
+ * you should consider to convert it's space by glm_box_space
+ *
+ * @param[in]  box1 bounding box 1
+ * @param[in]  box2 bounding box 2
+ * @param[out] dest merged bounding box
+ */
+CGLM_INLINE
+void
+glm_aabb_merge(vec3 box1[2], vec3 box2[2], vec3 dest[2]) {
+  dest[0][0] = glm_min(box1[0][0], box2[0][0]);
+  dest[0][1] = glm_min(box1[0][1], box2[0][1]);
+  dest[0][2] = glm_min(box1[0][2], box2[0][2]);
+
+  dest[1][0] = glm_max(box1[1][0], box2[1][0]);
+  dest[1][1] = glm_max(box1[1][1], box2[1][1]);
+  dest[1][2] = glm_max(box1[1][2], box2[1][2]);
+}
+
+/*!
+ * @brief crops a bounding box with another one.
+ *
+ * this could be useful for gettng a bbox which fits with view frustum and
+ * object bounding boxes. In this case you crop view frustum box with objects
+ * box
+ *
+ * @param[in]  box     bounding box 1
+ * @param[in]  cropBox crop box
+ * @param[out] dest    cropped bounding box
+ */
+CGLM_INLINE
+void
+glm_aabb_crop(vec3 box[2], vec3 cropBox[2], vec3 dest[2]) {
+  dest[0][0] = glm_max(box[0][0], cropBox[0][0]);
+  dest[0][1] = glm_max(box[0][1], cropBox[0][1]);
+  dest[0][2] = glm_max(box[0][2], cropBox[0][2]);
+
+  dest[1][0] = glm_min(box[1][0], cropBox[1][0]);
+  dest[1][1] = glm_min(box[1][1], cropBox[1][1]);
+  dest[1][2] = glm_min(box[1][2], cropBox[1][2]);
+}
+
+/*!
+ * @brief crops a bounding box with another one.
+ *
+ * this could be useful for gettng a bbox which fits with view frustum and
+ * object bounding boxes. In this case you crop view frustum box with objects
+ * box
+ *
+ * @param[in]  box      bounding box
+ * @param[in]  cropBox  crop box
+ * @param[in]  clampBox miniumum box
+ * @param[out] dest     cropped bounding box
+ */
+CGLM_INLINE
+void
+glm_aabb_crop_until(vec3 box[2],
+                    vec3 cropBox[2],
+                    vec3 clampBox[2],
+                    vec3 dest[2]) {
+  glm_aabb_crop(box, cropBox, dest);
+  glm_aabb_merge(clampBox, dest, dest);
+}
+
+/*!
+ * @brief check if AABB intersects with frustum planes
+ *
+ * this could be useful for frustum culling using AABB.
+ *
+ * OPTIMIZATION HINT:
+ *  if planes order is similar to LEFT, RIGHT, BOTTOM, TOP, NEAR, FAR
+ *  then this method should run even faster because it would only use two
+ *  planes if object is not inside the two planes
+ *  fortunately cglm extracts planes as this order! just pass what you got!
+ *
+ * @param[in]  box     bounding box
+ * @param[in]  planes  frustum planes
+ */
+CGLM_INLINE
+bool
+glm_aabb_frustum(vec3 box[2], vec4 planes[6]) {
+  float *p, dp;
+  int    i;
+
+  for (i = 0; i < 6; i++) {
+    p  = planes[i];
+    dp = p[0] * box[p[0] > 0.0f][0]
+       + p[1] * box[p[1] > 0.0f][1]
+       + p[2] * box[p[2] > 0.0f][2];
+
+    if (dp < -p[3])
+      return false;
+  }
+
+  return true;
+}
+
+/*!
+ * @brief invalidate AABB min and max values
+ *
+ * @param[in, out]  box bounding box
+ */
+CGLM_INLINE
+void
+glm_aabb_invalidate(vec3 box[2]) {
+  glm_vec_broadcast(FLT_MAX,  box[0]);
+  glm_vec_broadcast(-FLT_MAX, box[1]);
+}
+
+/*!
+ * @brief check if AABB is valid or not
+ *
+ * @param[in]  box bounding box
+ */
+CGLM_INLINE
+bool
+glm_aabb_isvalid(vec3 box[2]) {
+  return glm_vec_max(box[0]) != FLT_MAX
+         && glm_vec_min(box[1]) != -FLT_MAX;
+}
+
+/*!
+ * @brief distance between of min and max
+ *
+ * @param[in]  box bounding box
+ */
+CGLM_INLINE
+float
+glm_aabb_size(vec3 box[2]) {
+  return glm_vec_distance(box[0], box[1]);
+}
+
+/*!
+ * @brief radius of sphere which surrounds AABB
+ *
+ * @param[in]  box bounding box
+ */
+CGLM_INLINE
+float
+glm_aabb_radius(vec3 box[2]) {
+  return glm_aabb_size(box) * 0.5f;
+}
+
+#endif /* cglm_box_h */

include/cglm/call.h

@@ -20,7 +20,11 @@ extern "C" {
 #include "call/cam.h"
 #include "call/quat.h"
 #include "call/euler.h"
+#include "call/plane.h"
+#include "call/frustum.h"
+#include "call/box.h"
 #include "call/io.h"
+#include "call/project.h"
 
 #ifdef __cplusplus
 }

include/cglm/call/box.h

@@ -0,0 +1,39 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), http://opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+#ifndef cglmc_box_h
+#define cglmc_box_h
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "../cglm.h"
+
+CGLM_EXPORT
+void
+glmc_aabb_transform(vec3 box[2], mat4 m, vec3 dest[2]);
+
+CGLM_EXPORT
+void
+glmc_aabb_merge(vec3 box1[2], vec3 box2[2], vec3 dest[2]);
+
+CGLM_EXPORT
+void
+glmc_aabb_crop(vec3 box[2], vec3 cropBox[2], vec3 dest[2]);
+
+CGLM_EXPORT
+void
+glmc_aabb_crop_until(vec3 box[2],
+                     vec3 cropBox[2],
+                     vec3 clampBox[2],
+                     vec3 dest[2]);
+
+#ifdef __cplusplus
+}
+#endif
+#endif /* cglmc_box_h */
+

include/cglm/call/cam.h

@@ -43,10 +43,15 @@ glmc_perspective(float fovy,
 
 CGLM_EXPORT
 void
-glmc_lookat(vec3 eye,
-            vec3 center,
-            vec3 up,
-            mat4 dest);
+glmc_lookat(vec3 eye, vec3 center, vec3 up, mat4 dest);
+
+CGLM_EXPORT
+void
+glmc_look(vec3 eye, vec3 dir, vec3 up, mat4 dest);
+
+CGLM_EXPORT
+void
+glmc_look_anyup(vec3 eye, vec3 dir, mat4 dest);
 
 #ifdef __cplusplus
 }

include/cglm/call/euler.h

@@ -21,6 +21,10 @@ CGLM_EXPORT
 void
 glmc_euler(vec3 angles, mat4 dest);
 
+CGLM_EXPORT
+void
+glmc_euler_xyz(vec3 angles,  mat4 dest);
+
 CGLM_EXPORT
 void
 glmc_euler_zyx(vec3 angles,  mat4 dest);

include/cglm/call/frustum.h

@@ -0,0 +1,41 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), http://opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+#ifndef cglmc_frustum_h
+#define cglmc_frustum_h
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "../cglm.h"
+
+CGLM_EXPORT
+void
+glmc_frustum_planes(mat4 m, vec4 dest[6]);
+
+CGLM_EXPORT
+void
+glmc_frustum_corners(mat4 invMat, vec4 dest[8]);
+
+CGLM_EXPORT
+void
+glmc_frustum_center(vec4 corners[8], vec4 dest);
+
+CGLM_EXPORT
+void
+glmc_frustum_box(vec4 corners[8], mat4 m, vec3 box[2]);
+
+CGLM_EXPORT
+void
+glmc_frustum_corners_at(vec4  corners[8],
+                        float splitDist,
+                        float farDist,
+                        vec4  planeCorners[4]);
+#ifdef __cplusplus
+}
+#endif
+#endif /* cglmc_frustum_h */

include/cglm/call/mat4.h

@@ -47,12 +47,16 @@ glmc_mat4_mul(mat4 m1, mat4 m2, mat4 dest);
 
 CGLM_EXPORT
 void
-glmc_mat4_mulN(mat4 * __restrict matrices[], int len, mat4 dest);
+glmc_mat4_mulN(mat4 * __restrict matrices[], uint32_t len, mat4 dest);
 
 CGLM_EXPORT
 void
 glmc_mat4_mulv(mat4 m, vec4 v, vec4 dest);
 
+CGLM_EXPORT
+void
+glmc_mat4_quat(mat4 m, versor dest);
+
 CGLM_EXPORT
 void
 glmc_mat4_transpose_to(mat4 m, mat4 dest);

include/cglm/call/plane.h

@@ -0,0 +1,23 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), http://opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+#ifndef cglmc_plane_h
+#define cglmc_plane_h
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "../cglm.h"
+
+CGLM_EXPORT
+void
+glmc_plane_normalize(vec4 plane);
+
+#ifdef __cplusplus
+}
+#endif
+#endif /* cglmc_plane_h */

include/cglm/call/project.h

@@ -0,0 +1,33 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), http://opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+#ifndef cglmc_project_h
+#define cglmc_project_h
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "../cglm.h"
+
+CGLM_EXPORT
+void
+glmc_unprojecti(vec3 pos, mat4 invMat, vec4 vp, vec3 dest);
+
+CGLM_EXPORT
+void
+glmc_unproject(vec3 pos, mat4 m, vec4 vp, vec3 dest);
+
+CGLM_EXPORT
+void
+glmc_project(vec3 pos, mat4 m, vec4 vp, vec3 dest);
+
+#ifdef __cplusplus
+}
+#endif
+#endif /* cglmc_project_h */
+
+

include/cglm/call/quat.h

@@ -19,33 +19,79 @@ glmc_quat_identity(versor q);
 
 CGLM_EXPORT
 void
-glmc_quat(versor q,
-          float angle,
-          float x,
-          float y,
-          float z);
+glmc_quat_init(versor q, float x, float y, float z, float w);
 
 CGLM_EXPORT
 void
-glmc_quatv(versor q,
-          float  angle,
-          vec3   v);
+glmc_quat(versor q, float angle, float x, float y, float z);
+
+CGLM_EXPORT
+void
+glmc_quatv(versor q, float angle, vec3 axis);
+
+CGLM_EXPORT
+void
+glmc_quat_copy(versor q, versor dest);
 
 CGLM_EXPORT
 float
 glmc_quat_norm(versor q);
 
+CGLM_EXPORT
+void
+glmc_quat_normalize_to(versor q, versor dest);
+
 CGLM_EXPORT
 void
 glmc_quat_normalize(versor q);
 
 CGLM_EXPORT
 float
-glmc_quat_dot(versor q, versor r);
+glmc_quat_dot(versor p, versor q);
 
 CGLM_EXPORT
 void
-glmc_quat_mulv(versor q1, versor q2, versor dest);
+glmc_quat_conjugate(versor q, versor dest);
+
+CGLM_EXPORT
+void
+glmc_quat_inv(versor q, versor dest);
+
+CGLM_EXPORT
+void
+glmc_quat_add(versor p, versor q, versor dest);
+
+CGLM_EXPORT
+void
+glmc_quat_sub(versor p, versor q, versor dest);
+
+CGLM_EXPORT
+float
+glmc_quat_real(versor q);
+
+CGLM_EXPORT
+void
+glmc_quat_imag(versor q, vec3 dest);
+
+CGLM_EXPORT
+void
+glmc_quat_imagn(versor q, vec3 dest);
+
+CGLM_EXPORT
+float
+glmc_quat_imaglen(versor q);
+
+CGLM_EXPORT
+float
+glmc_quat_angle(versor q);
+
+CGLM_EXPORT
+void
+glmc_quat_axis(versor q, versor dest);
+
+CGLM_EXPORT
+void
+glmc_quat_mul(versor p, versor q, versor dest);
 
 CGLM_EXPORT
 void
@@ -53,10 +99,43 @@ glmc_quat_mat4(versor q, mat4 dest);
 
 CGLM_EXPORT
 void
-glmc_quat_slerp(versor q,
-                versor r,
-                float  t,
-                versor dest);
+glmc_quat_mat4t(versor q, mat4 dest);
+
+CGLM_EXPORT
+void
+glmc_quat_mat3(versor q, mat3 dest);
+
+CGLM_EXPORT
+void
+glmc_quat_mat3t(versor q, mat3 dest);
+
+CGLM_EXPORT
+void
+glmc_quat_lerp(versor from, versor to, float t, versor dest);
+
+CGLM_EXPORT
+void
+glmc_quat_slerp(versor q, versor r, float t, versor dest);
+
+CGLM_EXPORT
+void
+glmc_quat_look(vec3 eye, versor ori, mat4 dest);
+
+CGLM_EXPORT
+void
+glmc_quat_for(vec3 dir, vec3 fwd, vec3 up, versor dest);
+
+CGLM_EXPORT
+void
+glmc_quat_forp(vec3 from, vec3 to, vec3 fwd, vec3 up, versor dest);
+
+CGLM_EXPORT
+void
+glmc_quat_rotatev(versor from, vec3 to, vec3 dest);
+
+CGLM_EXPORT
+void
+glmc_quat_rotate(mat4 m, versor q, mat4 dest);
 
 #ifdef __cplusplus
 }

include/cglm/call/vec3.h

@@ -16,6 +16,10 @@ extern "C" {
 /* DEPRECATED! use _copy, _ucopy versions */
 #define glmc_vec_dup(v, dest) glmc_vec_copy(v, dest)
 
+CGLM_EXPORT
+void
+glmc_vec3(vec4 v4, vec3 dest);
+
 CGLM_EXPORT
 void
 glmc_vec_copy(vec3 a, vec3 dest);
@@ -64,6 +68,10 @@ CGLM_EXPORT
 void
 glmc_vec_flipsign(vec3 v);
 
+CGLM_EXPORT
+void
+glmc_vec_flipsign_to(vec3 v, vec3 dest);
+
 CGLM_EXPORT
 void
 glmc_vec_inv(vec3 v);
@@ -104,6 +112,76 @@ CGLM_EXPORT
 void
 glmc_vec_minv(vec3 v1, vec3 v2, vec3 dest);
 
+CGLM_EXPORT
+void
+glmc_vec_clamp(vec3 v, float minVal, float maxVal);
+
+CGLM_EXPORT
+void
+glmc_vec_ortho(vec3 v, vec3 dest);
+
+CGLM_EXPORT
+void
+glmc_vec_lerp(vec3 from, vec3 to, float t, vec3 dest);
+
+/* ext */
+
+CGLM_EXPORT
+void
+glmc_vec_mulv(vec3 a, vec3 b, vec3 d);
+
+CGLM_EXPORT
+void
+glmc_vec_broadcast(float val, vec3 d);
+
+CGLM_EXPORT
+bool
+glmc_vec_eq(vec3 v, float val);
+
+CGLM_EXPORT
+bool
+glmc_vec_eq_eps(vec3 v, float val);
+
+CGLM_EXPORT
+bool
+glmc_vec_eq_all(vec3 v);
+
+CGLM_EXPORT
+bool
+glmc_vec_eqv(vec3 v1, vec3 v2);
+
+CGLM_EXPORT
+bool
+glmc_vec_eqv_eps(vec3 v1, vec3 v2);
+
+CGLM_EXPORT
+float
+glmc_vec_max(vec3 v);
+
+CGLM_EXPORT
+float
+glmc_vec_min(vec3 v);
+
+CGLM_EXPORT
+bool
+glmc_vec_isnan(vec3 v);
+
+CGLM_EXPORT
+bool
+glmc_vec_isinf(vec3 v);
+
+CGLM_EXPORT
+bool
+glmc_vec_isvalid(vec3 v);
+
+CGLM_EXPORT
+void
+glmc_vec_sign(vec3 v, vec3 dest);
+
+CGLM_EXPORT
+void
+glmc_vec_sqrt(vec3 v, vec3 dest);
+
 #ifdef __cplusplus
 }
 #endif

include/cglm/call/vec4.h

@@ -17,6 +17,10 @@ extern "C" {
 #define glmc_vec4_dup3(v, dest) glmc_vec4_copy3(v, dest)
 #define glmc_vec4_dup(v, dest)  glmc_vec4_copy(v, dest)
 
+CGLM_EXPORT
+void
+glmc_vec4(vec3 v3, float last, vec4 dest);
+
 CGLM_EXPORT
 void
 glmc_vec4_copy3(vec4 a, vec3 dest);
@@ -65,6 +69,10 @@ CGLM_EXPORT
 void
 glmc_vec4_flipsign(vec4 v);
 
+CGLM_EXPORT
+void
+glmc_vec4_flipsign_to(vec4 v, vec4 dest);
+
 CGLM_EXPORT
 void
 glmc_vec4_inv(vec4 v);
@@ -85,6 +93,72 @@ CGLM_EXPORT
 void
 glmc_vec4_minv(vec4 v1, vec4 v2, vec4 dest);
 
+CGLM_EXPORT
+void
+glmc_vec4_clamp(vec4 v, float minVal, float maxVal);
+
+CGLM_EXPORT
+void
+glmc_vec4_lerp(vec4 from, vec4 to, float t, vec4 dest);
+
+/* ext */
+
+CGLM_EXPORT
+void
+glmc_vec4_mulv(vec4 a, vec4 b, vec4 d);
+
+CGLM_EXPORT
+void
+glmc_vec4_broadcast(float val, vec4 d);
+
+CGLM_EXPORT
+bool
+glmc_vec4_eq(vec4 v, float val);
+
+CGLM_EXPORT
+bool
+glmc_vec4_eq_eps(vec4 v, float val);
+
+CGLM_EXPORT
+bool
+glmc_vec4_eq_all(vec4 v);
+
+CGLM_EXPORT
+bool
+glmc_vec4_eqv(vec4 v1, vec4 v2);
+
+CGLM_EXPORT
+bool
+glmc_vec4_eqv_eps(vec4 v1, vec4 v2);
+
+CGLM_EXPORT
+float
+glmc_vec4_max(vec4 v);
+
+CGLM_EXPORT
+float
+glmc_vec4_min(vec4 v);
+
+CGLM_EXPORT
+bool
+glmc_vec4_isnan(vec4 v);
+
+CGLM_EXPORT
+bool
+glmc_vec4_isinf(vec4 v);
+
+CGLM_EXPORT
+bool
+glmc_vec4_isvalid(vec4 v);
+
+CGLM_EXPORT
+void
+glmc_vec4_sign(vec4 v, vec4 dest);
+
+CGLM_EXPORT
+void
+glmc_vec4_sqrt(vec4 v, vec4 dest);
+
 #ifdef __cplusplus
 }
 #endif

include/cglm/cam.h

@@ -7,55 +7,60 @@
 
 /*
  Functions:
-   CGLM_INLINE void glm_frustum(float left,
-                                float right,
-                                float bottom,
-                                float top,
-                                float nearVal,
-                                float farVal,
-                                mat4  dest);
-   CGLM_INLINE void glm_ortho(float left,
-                              float right,
-                              float bottom,
-                              float top,
-                              float nearVal,
-                              float farVal,
-                              mat4  dest);
-   CGLM_INLINE void glm_ortho_default(float aspect, mat4  dest);
-   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 farVal,
-                                    mat4  dest);
-   CGLM_INLINE void glm_perspective_default(float aspect, mat4  dest);
-   CGLM_INLINE void glm_perspective_resize(float aspect, mat4  proj);
-   CGLM_INLINE void glm_lookat(vec3 eye, vec3 center, vec3 up, mat4 dest);
-   CGLM_INLINE void glm_persp_decomp(mat4 proj,
-                                     float * __restrict nearVal,
-                                     float * __restrict farVal,
-                                     float * __restrict top,
-                                     float * __restrict bottom,
-                                     float * __restrict left,
-                                     float * __restrict right);
-   CGLM_INLINE void glm_persp_decompv(mat4  proj, float dest[6]);
-   CGLM_INLINE void glm_persp_decomp_x(mat4 proj,
-                                       float * __restrict left,
-                                       float * __restrict right);
-   CGLM_INLINE void glm_persp_decomp_y(mat4 proj,
-                                       float * __restrict top,
-                                       float * __restrict bottom);
-   CGLM_INLINE void glm_persp_decomp_z(mat4 proj,
-                                       float * __restrict nearVal,
-                                       float * __restrict farVal);
-   CGLM_INLINE void glm_persp_decomp_far(mat4 proj, float * __restrict farVal);
-   CGLM_INLINE void glm_persp_decomp_near(mat4 proj, float *__restrict nearVal);
+   CGLM_INLINE void  glm_frustum(float left,
+                                 float right,
+                                 float bottom,
+                                 float top,
+                                 float nearVal,
+                                 float farVal,
+                                 mat4  dest)
+   CGLM_INLINE void  glm_ortho(float left,
+                               float right,
+                               float bottom,
+                               float top,
+                               float nearVal,
+                               float farVal,
+                               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)
+   CGLM_INLINE void  glm_ortho_aabb_pz(vec3 box[2], float padding, mat4 dest)
+   CGLM_INLINE void  glm_ortho_default(float aspect, mat4  dest)
+   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 farVal,
+                                     mat4  dest)
+   CGLM_INLINE void  glm_perspective_default(float aspect, mat4  dest)
+   CGLM_INLINE void  glm_perspective_resize(float aspect, mat4  proj)
+   CGLM_INLINE void  glm_lookat(vec3 eye, vec3 center, vec3 up, mat4 dest)
+   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 *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 *nearVal,
+                                        float *farVal)
+   CGLM_INLINE void  glm_persp_decomp_far(mat4 proj, float *farVal)
+   CGLM_INLINE void  glm_persp_decomp_near(mat4 proj, float *nearVal)
+   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
 #define cglm_vcam_h
 
 #include "common.h"
+#include "plane.h"
 
 /*!
  * @brief set up perspective peprojection matrix
@@ -132,6 +137,59 @@ glm_ortho(float left,
   dest[3][3] = 1.0f;
 }
 
+/*!
+ * @brief set up orthographic projection matrix using bounding box
+ *
+ * bounding box (AABB) must be in view space
+ *
+ * @param[in]  box   AABB
+ * @param[out] dest  result matrix
+ */
+CGLM_INLINE
+void
+glm_ortho_aabb(vec3 box[2], mat4 dest) {
+  glm_ortho(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
+ *
+ * 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(vec3 box[2], float padding, mat4 dest) {
+  glm_ortho(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
+ *
+ * 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(vec3 box[2], float padding, mat4 dest) {
+  glm_ortho(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
  *
@@ -244,7 +302,7 @@ glm_perspective_default(float aspect,
 
 /*!
  * @brief resize perspective matrix by aspect ratio ( width / height )
- *        this very make easy to resize proj matrix when window, viewport
+ *        this makes very easy to resize proj matrix when window /viewport
  *        reized
  *
  * @param[in]      aspect aspect ratio ( width / height )
@@ -300,6 +358,43 @@ glm_lookat(vec3 eye,
   dest[3][3] = 1.0f;
 }
 
+/*!
+ * @brief set up view matrix
+ *
+ * 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.
+ *
+ * @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(vec3 eye, vec3 dir, vec3 up, mat4 dest) {
+  vec3 target;
+  glm_vec_add(eye, dir, target);
+  glm_lookat(eye, target, up, dest);
+}
+
+/*!
+ * @brief set up view matrix
+ *
+ * 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(vec3 eye, vec3 dir, mat4 dest) {
+  vec3 up;
+  glm_vec_ortho(dir, up);
+  glm_look(eye, dir, up, dest);
+}
+
 /*!
  * @brief decomposes frustum values of perspective projection.
  *
@@ -320,12 +415,28 @@ glm_persp_decomp(mat4 proj,
                  float * __restrict bottom,
                  float * __restrict left,
                  float * __restrict right) {
-  *nearVal = proj[3][2] / (proj[2][2] - 1);
-  *farVal  = proj[3][2] / (proj[2][2] + 1);
-  *bottom  = *nearVal * (proj[2][1] - 1) / proj[1][1];
-  *top     = *nearVal * (proj[2][1] + 1) / proj[1][1];
-  *left    = *nearVal * (proj[2][0] - 1) / proj[0][0];
-  *right   = *nearVal * (proj[2][0] + 1) / proj[0][0];
+  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;
+
+  *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);
 }
 
 /*!
@@ -346,7 +457,7 @@ glm_persp_decompv(mat4 proj, float dest[6]) {
  * @brief decomposes left and right values of perspective projection.
  *        x stands for x axis (left / right axis)
  *
- * @param[in]  proj perspective projection matrix
+ * @param[in]  proj  perspective projection matrix
  * @param[out] left  left
  * @param[out] right right
  */
@@ -355,11 +466,14 @@ void
 glm_persp_decomp_x(mat4 proj,
                    float * __restrict left,
                    float * __restrict right) {
-  float nearVal;
+  float nearVal, m20, m00;
 
-  nearVal = proj[3][2] / (proj[3][3] - 1);
-  *left   = nearVal * (proj[2][0] - 1) / proj[0][0];
-  *right  = nearVal * (proj[2][0] + 1) / proj[0][0];
+  m00 = proj[0][0];
+  m20 = proj[2][0];
+
+  nearVal = proj[3][2] / (proj[3][3] - 1.0f);
+  *left   = nearVal * (m20 - 1.0f) / m00;
+  *right  = nearVal * (m20 + 1.0f) / m00;
 }
 
 /*!
@@ -375,11 +489,14 @@ void
 glm_persp_decomp_y(mat4 proj,
                    float * __restrict top,
                    float * __restrict bottom) {
-  float nearVal;
+  float nearVal, m21, m11;
 
-  nearVal = proj[3][2] / (proj[3][3] - 1);
-  *bottom = nearVal * (proj[2][1] - 1) / proj[1][1];
-  *top    = nearVal * (proj[2][1] + 1) / proj[1][1];
+  m21 = proj[2][1];
+  m11 = proj[1][1];
+
+  nearVal = proj[3][2] / (proj[3][3] - 1.0f);
+  *bottom = nearVal * (m21 - 1) / m11;
+  *top    = nearVal * (m21 + 1) / m11;
 }
 
 /*!
@@ -395,8 +512,13 @@ void
 glm_persp_decomp_z(mat4 proj,
                    float * __restrict nearVal,
                    float * __restrict farVal) {
-  *nearVal = proj[3][2] / (proj[2][2] - 1);
-  *farVal  = proj[3][2] / (proj[2][2] + 1);
+  float m32, m22;
+
+  m32 = proj[3][2];
+  m22 = proj[2][2];
+
+  *nearVal = m32 / (m22 - 1.0f);
+  *farVal  = m32 / (m22 + 1.0f);
 }
 
 /*!
@@ -408,7 +530,7 @@ glm_persp_decomp_z(mat4 proj,
 CGLM_INLINE
 void
 glm_persp_decomp_far(mat4 proj, float * __restrict farVal) {
-  *farVal = proj[3][2] / (proj[2][2] + 1);
+  *farVal = proj[3][2] / (proj[2][2] + 1.0f);
 }
 
 /*!
@@ -420,6 +542,55 @@ glm_persp_decomp_far(mat4 proj, float * __restrict farVal) {
 CGLM_INLINE
 void
 glm_persp_decomp_near(mat4 proj, float * __restrict nearVal) {
-  *nearVal = proj[3][2] / (proj[2][2] - 1);
+  *nearVal = proj[3][2] / (proj[2][2] - 1.0f);
 }
+
+/*!
+ * @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];
+}
+
+/*!
+ * @brief returns sizes of near and far planes of perspective projection
+ *
+ * @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(mat4 proj, float fovy, vec4 dest) {
+  float t, a, nearVal, farVal;
+
+  t = 2.0f * tanf(fovy * 0.5f);
+  a = glm_persp_aspect(proj);
+
+  glm_persp_decomp_z(proj, &nearVal, &farVal);
+
+  dest[1]  = t * nearVal;
+  dest[3]  = t * farVal;
+  dest[0]  = a * dest[1];
+  dest[2]  = a * dest[3];
+}
+
 #endif /* cglm_vcam_h */

include/cglm/cglm.h

@@ -15,9 +15,14 @@
 #include "mat3.h"
 #include "affine.h"
 #include "cam.h"
+#include "frustum.h"
 #include "quat.h"
 #include "euler.h"
+#include "plane.h"
+#include "box.h"
+#include "color.h"
 #include "util.h"
 #include "io.h"
+#include "project.h"
 
 #endif /* cglm_h */

include/cglm/color.h

@@ -0,0 +1,26 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), http://opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+#ifndef cglm_color_h
+#define cglm_color_h
+
+#include "common.h"
+#include "vec3.h"
+
+/*!
+ * @brief averages the color channels into one value
+ *
+ * @param[in]  rgb RGB color
+ */
+CGLM_INLINE
+float
+glm_luminance(vec3 rgb) {
+  vec3 l = {0.212671f, 0.715160f, 0.072169f};
+  return glm_dot(rgb, l);
+}
+
+#endif /* cglm_color_h */

include/cglm/common.h

@@ -12,6 +12,7 @@
 
 #include <stdint.h>
 #include <math.h>
+#include <float.h>
 
 #if defined(_WIN32)
 #  ifdef CGLM_DLL

include/cglm/euler.h

@@ -5,21 +5,30 @@
  * Full license can be found in the LICENSE file
  */
 
+/*
+ NOTE:
+  angles must be passed as [X-Angle, Y-Angle, Z-angle] order
+  For instance you don't pass angles as [Z-Angle, X-Angle, Y-angle] to
+  glm_euler_zxy funciton, All RELATED functions accept angles same order
+  which is [X, Y, Z].
+ */
+
 /*
  Types:
    enum glm_euler_sq
- 
+
  Functions:
    CGLM_INLINE glm_euler_sq 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_sq axis,
+                                       glm_euler_sq ord,
                                        mat4         dest);
  */
 
@@ -48,12 +57,12 @@ typedef enum glm_euler_sq {
 
 CGLM_INLINE
 glm_euler_sq
-glm_euler_order(int newOrder[3]) {
-  return (glm_euler_sq)(newOrder[0] | newOrder[1] << 2 | newOrder[2] << 4);
+glm_euler_order(int ord[3]) {
+  return (glm_euler_sq)(ord[0] << 0 | ord[1] << 2 | ord[2] << 4);
 }
 
 /*!
- * @brief euler angles (in radian) using xyz sequence
+ * @brief extract euler angles (in radians) using xyz order
  *
  * @param[in]  m    affine transform
  * @param[out] dest angles vector [x, y, z]
@@ -61,225 +70,289 @@ glm_euler_order(int newOrder[3]) {
 CGLM_INLINE
 void
 glm_euler_angles(mat4 m, vec3 dest) {
-  if (m[0][2] < 1.0f) {
-    if (m[0][2] > -1.0f) {
-      vec3  a[2];
-      float cy1, cy2;
-      int   path;
-      
-      a[0][1] = asinf(-m[0][2]);
-      a[1][1] = CGLM_PI - a[0][1];
+  float m00, m01, m10, m11, m20, m21, m22;
+  float thetaX, thetaY, thetaZ;
 
-      cy1 = cosf(a[0][1]);
-      cy2 = cosf(a[1][1]);
+  m00 = m[0][0];  m10 = m[1][0];  m20 = m[2][0];
+  m01 = m[0][1];  m11 = m[1][1];  m21 = m[2][1];
+                                  m22 = m[2][2];
 
-      a[0][0] = atan2f(m[1][2] / cy1, m[2][2] / cy1);
-      a[1][0] = atan2f(m[1][2] / cy2, m[2][2] / cy2);
-
-      a[0][2] = atan2f(m[0][1] / cy1, m[0][0] / cy1);
-      a[1][2] = atan2f(m[0][1] / cy2, m[0][0] / cy2);
-
-      path = (fabsf(a[0][0]) + fabsf(a[0][1]) + fabsf(a[0][2])) >=
-               (fabsf(a[1][0]) + fabsf(a[1][1]) + fabsf(a[1][2]));
-
-      glm_vec_copy(a[path], dest);
-    } else {
-      dest[0] = atan2f(m[1][0], m[2][0]);
-      dest[1] = CGLM_PI_2;
-      dest[2] = 0.0f;
+  if (m20 < 1.0f) {
+    if (m20 > -1.0f) {
+      thetaY = asinf(m20);
+      thetaX = atan2f(-m21, m22);
+      thetaZ = atan2f(-m10, m00);
+    } else { /* m20 == -1 */
+      /* Not a unique solution */
+      thetaY = -CGLM_PI_2;
+      thetaX = -atan2f(m01, m11);
+      thetaZ =  0.0f;
     }
-  } else {
-    dest[0] = atan2f(-m[1][0], -m[2][0]);
-    dest[1] =-CGLM_PI_2;
-    dest[2] = 0.0f;
+  } else { /* m20 == +1 */
+    thetaY = CGLM_PI_2;
+    thetaX = atan2f(m01, m11);
+    thetaZ = 0.0f;
   }
+
+  dest[0] = thetaX;
+  dest[1] = thetaY;
+  dest[2] = thetaZ;
 }
 
 /*!
- * @brief build rotation matrix from euler angles(ExEyEz/RzRyRx)
+ * @brief build rotation matrix from euler angles
  *
- * @param[in]  angles angles as vector [Ex, Ey, Ez]
+ * @param[in]  angles angles as vector [Xangle, Yangle, Zangle]
+ * @param[out] dest   rotation matrix
+ */
+CGLM_INLINE
+void
+glm_euler_xyz(vec3 angles, mat4 dest) {
+  float cx, cy, cz,
+        sx, sy, sz, czsx, cxcz, sysz;
+
+  sx   = sinf(angles[0]); cx = cosf(angles[0]);
+  sy   = sinf(angles[1]); cy = cosf(angles[1]);
+  sz   = sinf(angles[2]); cz = cosf(angles[2]);
+
+  czsx = cz * sx;
+  cxcz = cx * cz;
+  sysz = sy * sz;
+
+  dest[0][0] =  cy * cz;
+  dest[0][1] =  czsx * sy + cx * sz;
+  dest[0][2] = -cxcz * sy + sx * sz;
+  dest[1][0] = -cy * sz;
+  dest[1][1] =  cxcz - sx * sysz;
+  dest[1][2] =  czsx + cx * sysz;
+  dest[2][0] =  sy;
+  dest[2][1] = -cy * sx;
+  dest[2][2] =  cx * cy;
+  dest[0][3] =  0.0f;
+  dest[1][3] =  0.0f;
+  dest[2][3] =  0.0f;
+  dest[3][0] =  0.0f;
+  dest[3][1] =  0.0f;
+  dest[3][2] =  0.0f;
+  dest[3][3] =  1.0f;
+}
+
+/*!
+ * @brief build rotation matrix from euler angles
+ *
+ * @param[in]  angles angles as vector [Xangle, Yangle, Zangle]
  * @param[out] dest   rotation matrix
  */
 CGLM_INLINE
 void
 glm_euler(vec3 angles, mat4 dest) {
-  float cx, cy, cz,
-        sx, sy, sz;
-
-  sx = sinf(angles[0]); cx = cosf(angles[0]);
-  sy = sinf(angles[1]); cy = cosf(angles[1]);
-  sz = sinf(angles[2]); cz = cosf(angles[2]);
-
-  dest[0][0] = cy * cz;
-  dest[0][1] = cy * sz;
-  dest[0][2] =-sy;
-  dest[1][0] = cz * sx * sy - cx * sz;
-  dest[1][1] = cx * cz + sx * sy * sz;
-  dest[1][2] = cy * sx;
-  dest[2][0] = cx * cz * sy + sx * sz;
-  dest[2][1] =-cz * sx + cx * sy * sz;
-  dest[2][2] = cx * cy;
-  dest[0][3] = 0.0f;
-  dest[1][3] = 0.0f;
-  dest[2][3] = 0.0f;
-  dest[3][0] = 0.0f;
-  dest[3][1] = 0.0f;
-  dest[3][2] = 0.0f;
-  dest[3][3] = 1.0f;
+  glm_euler_xyz(angles, dest);
 }
 
 /*!
- * @brief build rotation matrix from euler angles (EzEyEx/RxRyRz)
+ * @brief build rotation matrix from euler angles
+ *
+ * @param[in]  angles angles as vector [Xangle, Yangle, Zangle]
+ * @param[out] dest   rotation matrix
  */
 CGLM_INLINE
 void
-glm_euler_zyx(vec3 angles,
-              mat4 dest) {
+glm_euler_xzy(vec3 angles, mat4 dest) {
   float cx, cy, cz,
-        sx, sy, sz;
+  sx, sy, sz, sxsy, cysx, cxsy, cxcy;
 
-  sx = sinf(angles[0]); cx = cosf(angles[0]);
-  sy = sinf(angles[1]); cy = cosf(angles[1]);
-  sz = sinf(angles[2]); cz = cosf(angles[2]);
+  sx   = sinf(angles[0]); cx = cosf(angles[0]);
+  sy   = sinf(angles[1]); cy = cosf(angles[1]);
+  sz   = sinf(angles[2]); cz = cosf(angles[2]);
 
-  dest[0][0] = cy * cz;
-  dest[0][1] = cz * sx * sy + cx * sz;
-  dest[0][2] =-cx * cz * sy + sx * sz;
-  dest[1][0] =-cy * sz;
-  dest[1][1] = cx * cz - sx * sy * sz;
-  dest[1][2] = cz * sx + cx * sy * sz;
-  dest[2][0] = sy;
-  dest[2][1] =-cy * sx;
-  dest[2][2] = cx * cy;
-  dest[0][3] = 0.0f;
-  dest[1][3] = 0.0f;
-  dest[2][3] = 0.0f;
-  dest[3][0] = 0.0f;
-  dest[3][1] = 0.0f;
-  dest[3][2] = 0.0f;
-  dest[3][3] = 1.0f;
+  sxsy = sx * sy;
+  cysx = cy * sx;
+  cxsy = cx * sy;
+  cxcy = cx * cy;
+
+  dest[0][0] =  cy * cz;
+  dest[0][1] =  sxsy + cxcy * sz;
+  dest[0][2] = -cxsy + cysx * sz;
+  dest[1][0] = -sz;
+  dest[1][1] =  cx * cz;
+  dest[1][2] =  cz * sx;
+  dest[2][0] =  cz * sy;
+  dest[2][1] = -cysx + cxsy * sz;
+  dest[2][2] =  cxcy + sxsy * sz;
+  dest[0][3] =  0.0f;
+  dest[1][3] =  0.0f;
+  dest[2][3] =  0.0f;
+  dest[3][0] =  0.0f;
+  dest[3][1] =  0.0f;
+  dest[3][2] =  0.0f;
+  dest[3][3] =  1.0f;
 }
 
+
+/*!
+ * @brief build rotation matrix from euler angles
+ *
+ * @param[in]  angles angles as vector [Xangle, Yangle, Zangle]
+ * @param[out] dest   rotation matrix
+ */
 CGLM_INLINE
 void
-glm_euler_zxy(vec3 angles,
-              mat4 dest) {
+glm_euler_yxz(vec3 angles, mat4 dest) {
   float cx, cy, cz,
-        sx, sy, sz;
+        sx, sy, sz, cycz, sysz, czsy, cysz;
 
-  sx = sinf(angles[0]); cx = cosf(angles[0]);
-  sy = sinf(angles[1]); cy = cosf(angles[1]);
-  sz = sinf(angles[2]); cz = cosf(angles[2]);
+  sx   = sinf(angles[0]); cx = cosf(angles[0]);
+  sy   = sinf(angles[1]); cy = cosf(angles[1]);
+  sz   = sinf(angles[2]); cz = cosf(angles[2]);
 
-  dest[0][0] = cy * cz + sx * sy * sz;
-  dest[0][1] = cx * sz;
-  dest[0][2] =-cz * sy + cy * sx * sz;
-  dest[1][0] = cz * sx * sy - cy * sz;
-  dest[1][1] = cx * cz;
-  dest[1][2] = cy * cz * sx + sy * sz;
-  dest[2][0] = cx * sy;
-  dest[2][1] =-sx;
-  dest[2][2] = cx * cy;
-  dest[0][3] = 0.0f;
-  dest[1][3] = 0.0f;
-  dest[2][3] = 0.0f;
-  dest[3][0] = 0.0f;
-  dest[3][1] = 0.0f;
-  dest[3][2] = 0.0f;
-  dest[3][3] = 1.0f;
+  cycz = cy * cz;
+  sysz = sy * sz;
+  czsy = cz * sy;
+  cysz = cy * sz;
+
+  dest[0][0] =  cycz + sx * sysz;
+  dest[0][1] =  cx * sz;
+  dest[0][2] = -czsy + cysz * sx;
+  dest[1][0] = -cysz + czsy * sx;
+  dest[1][1] =  cx * cz;
+  dest[1][2] =  cycz * sx + sysz;
+  dest[2][0] =  cx * sy;
+  dest[2][1] = -sx;
+  dest[2][2] =  cx * cy;
+  dest[0][3] =  0.0f;
+  dest[1][3] =  0.0f;
+  dest[2][3] =  0.0f;
+  dest[3][0] =  0.0f;
+  dest[3][1] =  0.0f;
+  dest[3][2] =  0.0f;
+  dest[3][3] =  1.0f;
 }
 
+/*!
+ * @brief build rotation matrix from euler angles
+ *
+ * @param[in]  angles angles as vector [Xangle, Yangle, Zangle]
+ * @param[out] dest   rotation matrix
+ */
 CGLM_INLINE
 void
-glm_euler_xzy(vec3 angles,
-              mat4 dest) {
+glm_euler_yzx(vec3 angles, mat4 dest) {
   float cx, cy, cz,
-        sx, sy, sz;
+        sx, sy, sz, sxsy, cxcy, cysx, cxsy;
 
-  sx = sinf(angles[0]); cx = cosf(angles[0]);
-  sy = sinf(angles[1]); cy = cosf(angles[1]);
-  sz = sinf(angles[2]); cz = cosf(angles[2]);
+  sx   = sinf(angles[0]); cx = cosf(angles[0]);
+  sy   = sinf(angles[1]); cy = cosf(angles[1]);
+  sz   = sinf(angles[2]); cz = cosf(angles[2]);
 
-  dest[0][0] = cy * cz;
-  dest[0][1] = sz;
-  dest[0][2] =-cz * sy;
-  dest[1][0] = sx * sy - cx * cy * sz;
-  dest[1][1] = cx * cz;
-  dest[1][2] = cy * sx + cx * sy * sz;
-  dest[2][0] = cx * sy + cy * sx * sz;
-  dest[2][1] =-cz * sx;
-  dest[2][2] = cx * cy - sx * sy * sz;
-  dest[0][3] = 0.0f;
-  dest[1][3] = 0.0f;
-  dest[2][3] = 0.0f;
-  dest[3][0] = 0.0f;
-  dest[3][1] = 0.0f;
-  dest[3][2] = 0.0f;
-  dest[3][3] = 1.0f;
+  sxsy = sx * sy;
+  cxcy = cx * cy;
+  cysx = cy * sx;
+  cxsy = cx * sy;
+
+  dest[0][0] =  cy * cz;
+  dest[0][1] =  sz;
+  dest[0][2] = -cz * sy;
+  dest[1][0] =  sxsy - cxcy * sz;
+  dest[1][1] =  cx * cz;
+  dest[1][2] =  cysx + cxsy * sz;
+  dest[2][0] =  cxsy + cysx * sz;
+  dest[2][1] = -cz * sx;
+  dest[2][2] =  cxcy - sxsy * sz;
+  dest[0][3] =  0.0f;
+  dest[1][3] =  0.0f;
+  dest[2][3] =  0.0f;
+  dest[3][0] =  0.0f;
+  dest[3][1] =  0.0f;
+  dest[3][2] =  0.0f;
+  dest[3][3] =  1.0f;
 }
 
+/*!
+ * @brief build rotation matrix from euler angles
+ *
+ * @param[in]  angles angles as vector [Xangle, Yangle, Zangle]
+ * @param[out] dest   rotation matrix
+ */
 CGLM_INLINE
 void
-glm_euler_yzx(vec3 angles,
-              mat4 dest) {
+glm_euler_zxy(vec3 angles, mat4 dest) {
   float cx, cy, cz,
-        sx, sy, sz;
+        sx, sy, sz, cycz, sxsy, cysz;
 
-  sx = sinf(angles[0]); cx = cosf(angles[0]);
-  sy = sinf(angles[1]); cy = cosf(angles[1]);
-  sz = sinf(angles[2]); cz = cosf(angles[2]);
+  sx   = sinf(angles[0]); cx = cosf(angles[0]);
+  sy   = sinf(angles[1]); cy = cosf(angles[1]);
+  sz   = sinf(angles[2]); cz = cosf(angles[2]);
 
-  dest[0][0] = cy * cz;
-  dest[0][1] = sx * sy + cx * cy * sz;
-  dest[0][2] =-cx * sy + cy * sx * sz;
-  dest[1][0] =-sz;
-  dest[1][1] = cx * cz;
-  dest[1][2] = cz * sx;
-  dest[2][0] = cz * sy;
-  dest[2][1] =-cy * sx + cx * sy * sz;
-  dest[2][2] = cx * cy + sx * sy * sz;
-  dest[0][3] = 0.0f;
-  dest[1][3] = 0.0f;
-  dest[2][3] = 0.0f;
-  dest[3][0] = 0.0f;
-  dest[3][1] = 0.0f;
-  dest[3][2] = 0.0f;
-  dest[3][3] = 1.0f;
+  cycz = cy * cz;
+  sxsy = sx * sy;
+  cysz = cy * sz;
+
+  dest[0][0] =  cycz - sxsy * sz;
+  dest[0][1] =  cz * sxsy + cysz;
+  dest[0][2] = -cx * sy;
+  dest[1][0] = -cx * sz;
+  dest[1][1] =  cx * cz;
+  dest[1][2] =  sx;
+  dest[2][0] =  cz * sy + cysz * sx;
+  dest[2][1] = -cycz * sx + sy * sz;
+  dest[2][2] =  cx * cy;
+  dest[0][3] =  0.0f;
+  dest[1][3] =  0.0f;
+  dest[2][3] =  0.0f;
+  dest[3][0] =  0.0f;
+  dest[3][1] =  0.0f;
+  dest[3][2] =  0.0f;
+  dest[3][3] =  1.0f;
 }
 
+/*!
+ * @brief build rotation matrix from euler angles
+ *
+ * @param[in]  angles angles as vector [Xangle, Yangle, Zangle]
+ * @param[out] dest   rotation matrix
+ */
 CGLM_INLINE
 void
-glm_euler_yxz(vec3 angles,
-              mat4 dest) {
+glm_euler_zyx(vec3 angles, mat4 dest) {
   float cx, cy, cz,
-        sx, sy, sz;
+        sx, sy, sz, czsx, cxcz, sysz;
 
-  sx = sinf(angles[0]); cx = cosf(angles[0]);
-  sy = sinf(angles[1]); cy = cosf(angles[1]);
-  sz = sinf(angles[2]); cz = cosf(angles[2]);
+  sx   = sinf(angles[0]); cx = cosf(angles[0]);
+  sy   = sinf(angles[1]); cy = cosf(angles[1]);
+  sz   = sinf(angles[2]); cz = cosf(angles[2]);
 
-  dest[0][0] = cy * cz - sx * sy * sz;
-  dest[0][1] = cz * sx * sy + cy * sz;
-  dest[0][2] =-cx * sy;
-  dest[1][0] =-cx * sz;
-  dest[1][1] = cx * cz;
-  dest[1][2] = sx;
-  dest[2][0] = cz * sy + cy * sx * sz;
-  dest[2][1] =-cy * cz * sx + sy * sz;
-  dest[2][2] = cx * cy;
-  dest[0][3] = 0.0f;
-  dest[1][3] = 0.0f;
-  dest[2][3] = 0.0f;
-  dest[3][0] = 0.0f;
-  dest[3][1] = 0.0f;
-  dest[3][2] = 0.0f;
-  dest[3][3] = 1.0f;
+  czsx = cz * sx;
+  cxcz = cx * cz;
+  sysz = sy * sz;
+
+  dest[0][0] =  cy * cz;
+  dest[0][1] =  cy * sz;
+  dest[0][2] = -sy;
+  dest[1][0] =  czsx * sy - cx * sz;
+  dest[1][1] =  cxcz + sx * sysz;
+  dest[1][2] =  cy * sx;
+  dest[2][0] =  cxcz * sy + sx * sz;
+  dest[2][1] = -czsx + cx * sysz;
+  dest[2][2] =  cx * cy;
+  dest[0][3] =  0.0f;
+  dest[1][3] =  0.0f;
+  dest[2][3] =  0.0f;
+  dest[3][0] =  0.0f;
+  dest[3][1] =  0.0f;
+  dest[3][2] =  0.0f;
+  dest[3][3] =  1.0f;
 }
 
+/*!
+ * @brief build rotation matrix from euler angles
+ *
+ * @param[in]  angles angles as vector [Xangle, Yangle, Zangle]
+ * @param[in]  ord    euler order
+ * @param[out] dest   rotation matrix
+ */
 CGLM_INLINE
 void
-glm_euler_by_order(vec3 angles, glm_euler_sq axis, mat4 dest) {
+glm_euler_by_order(vec3 angles, glm_euler_sq ord, mat4 dest) {
   float cx, cy, cz,
         sx, sy, sz;
 
@@ -297,72 +370,72 @@ glm_euler_by_order(vec3 angles, glm_euler_sq axis, mat4 dest) {
   czsx = cz * sx; cxsz = cx * sz;
   sysz = sy * sz;
 
-  switch (axis) {
-    case GLM_EULER_XYZ:
-      dest[0][0] = cycz;
-      dest[0][1] = cysz;
-      dest[0][2] =-sy;
-      dest[1][0] = czsx * sy - cxsz;
-      dest[1][1] = cxcz + sx * sysz;
-      dest[1][2] = cysx;
-      dest[2][0] = cx * czsy + sx * sz;
-      dest[2][1] =-czsx + cx * sysz;
-      dest[2][2] = cxcy;
-      break;
+  switch (ord) {
     case GLM_EULER_XZY:
-      dest[0][0] = cycz;
-      dest[0][1] = sz;
-      dest[0][2] =-czsy;
-      dest[1][0] = sx * sy - cx * cysz;
-      dest[1][1] = cxcz;
-      dest[1][2] = cysx + cx * sysz;
-      dest[2][0] = cx * sy + cysx * sz;
-      dest[2][1] =-czsx;
-      dest[2][2] = cxcy - sx * sysz;
+      dest[0][0] =  cycz;
+      dest[0][1] =  sx * sy + cx * cysz;
+      dest[0][2] = -cx * sy + cysx * sz;
+      dest[1][0] = -sz;
+      dest[1][1] =  cxcz;
+      dest[1][2] =  czsx;
+      dest[2][0] =  czsy;
+      dest[2][1] = -cysx + cx * sysz;
+      dest[2][2] =  cxcy + sx * sysz;
       break;
-    case GLM_EULER_ZXY:
-      dest[0][0] = cycz + sx * sysz;
-      dest[0][1] = cxsz;
-      dest[0][2] =-czsy + cysx * sz;
-      dest[1][0] = czsx * sy - cysz;
-      dest[1][1] = cxcz;
-      dest[1][2] = cycz * sx + sysz;
-      dest[2][0] = cx * sy;
-      dest[2][1] =-sx;
-      dest[2][2] = cxcy;
-      break;
-    case GLM_EULER_ZYX:
-      dest[0][0] = cycz;
-      dest[0][1] = czsx * sy + cxsz;
-      dest[0][2] =-cx * czsy + sx * sz;
-      dest[1][0] =-cysz;
-      dest[1][1] = cxcz - sx * sysz;
-      dest[1][2] = czsx + cx * sysz;
-      dest[2][0] = sy;
-      dest[2][1] =-cysx;
-      dest[2][2] = cxcy;
+    case GLM_EULER_XYZ:
+      dest[0][0] =  cycz;
+      dest[0][1] =  czsx * sy + cxsz;
+      dest[0][2] = -cx * czsy + sx * sz;
+      dest[1][0] = -cysz;
+      dest[1][1] =  cxcz - sx * sysz;
+      dest[1][2] =  czsx + cx * sysz;
+      dest[2][0] =  sy;
+      dest[2][1] = -cysx;
+      dest[2][2] =  cxcy;
       break;
     case GLM_EULER_YXZ:
-      dest[0][0] = cycz - sx * sysz;
-      dest[0][1] = czsx * sy + cysz;
-      dest[0][2] =-cx * sy;
-      dest[1][0] =-cxsz;
-      dest[1][1] = cxcz;
-      dest[1][2] = sx;
-      dest[2][0] = czsy + cysx * sz;
-      dest[2][1] =-cycz * sx + sysz;
-      dest[2][2] = cxcy;
+      dest[0][0] =  cycz + sx * sysz;
+      dest[0][1] =  cxsz;
+      dest[0][2] = -czsy + cysx * sz;
+      dest[1][0] =  czsx * sy - cysz;
+      dest[1][1] =  cxcz;
+      dest[1][2] =  cycz * sx + sysz;
+      dest[2][0] =  cx * sy;
+      dest[2][1] = -sx;
+      dest[2][2] =  cxcy;
       break;
     case GLM_EULER_YZX:
-      dest[0][0] = cycz;
-      dest[0][1] = sx * sy + cx * cysz;
-      dest[0][2] =-cx * sy + cysx * sz;
-      dest[1][0] =-sz;
-      dest[1][1] = cxcz;
-      dest[1][2] = czsx;
-      dest[2][0] = czsy;
-      dest[2][1] =-cysx + cx * sysz;
-      dest[2][2] = cxcy + sx * sysz;
+      dest[0][0] =  cycz;
+      dest[0][1] =  sz;
+      dest[0][2] = -czsy;
+      dest[1][0] =  sx * sy - cx * cysz;
+      dest[1][1] =  cxcz;
+      dest[1][2] =  cysx + cx * sysz;
+      dest[2][0] =  cx * sy + cysx * sz;
+      dest[2][1] = -czsx;
+      dest[2][2] =  cxcy - sx * sysz;
+      break;
+    case GLM_EULER_ZXY:
+      dest[0][0] =  cycz - sx * sysz;
+      dest[0][1] =  czsx * sy + cysz;
+      dest[0][2] = -cx * sy;
+      dest[1][0] = -cxsz;
+      dest[1][1] =  cxcz;
+      dest[1][2] =  sx;
+      dest[2][0] =  czsy + cysx * sz;
+      dest[2][1] = -cycz * sx + sysz;
+      dest[2][2] =  cxcy;
+      break;
+    case GLM_EULER_ZYX:
+      dest[0][0] =  cycz;
+      dest[0][1] =  cysz;
+      dest[0][2] = -sy;
+      dest[1][0] =  czsx * sy - cxsz;
+      dest[1][1] =  cxcz + sx * sysz;
+      dest[1][2] =  cysx;
+      dest[2][0] =  cx * czsy + sx * sz;
+      dest[2][1] = -czsx + cx * sysz;
+      dest[2][2] =  cxcy;
       break;
   }
 

include/cglm/frustum.h

@@ -0,0 +1,252 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), http://opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+#ifndef cglm_frustum_h
+#define cglm_frustum_h
+
+#include "common.h"
+#include "plane.h"
+
+#define GLM_LBN 0 /* left  bottom near */
+#define GLM_LTN 1 /* left  top    near */
+#define GLM_RTN 2 /* right top    near */
+#define GLM_RBN 3 /* right bottom near */
+
+#define GLM_LBF 4 /* left  bottom far  */
+#define GLM_LTF 5 /* left  top    far  */
+#define GLM_RTF 6 /* right top    far  */
+#define GLM_RBF 7 /* right bottom far  */
+
+#define GLM_LEFT   0
+#define GLM_RIGHT  1
+#define GLM_BOTTOM 2
+#define GLM_TOP    3
+#define GLM_NEAR   4
+#define GLM_FAR    5
+
+/* you can override clip space coords
+   but you have to provide all with same name
+   e.g.: define GLM_CSCOORD_LBN {0.0f, 0.0f, 1.0f, 1.0f} */
+#ifndef GLM_CUSTOM_CLIPSPACE
+
+/* near */
+#define GLM_CSCOORD_LBN {-1.0f, -1.0f, -1.0f, 1.0f}
+#define GLM_CSCOORD_LTN {-1.0f,  1.0f, -1.0f, 1.0f}
+#define GLM_CSCOORD_RTN { 1.0f,  1.0f, -1.0f, 1.0f}
+#define GLM_CSCOORD_RBN { 1.0f, -1.0f, -1.0f, 1.0f}
+
+/* far */
+#define GLM_CSCOORD_LBF {-1.0f, -1.0f,  1.0f, 1.0f}
+#define GLM_CSCOORD_LTF {-1.0f,  1.0f,  1.0f, 1.0f}
+#define GLM_CSCOORD_RTF { 1.0f,  1.0f,  1.0f, 1.0f}
+#define GLM_CSCOORD_RBF { 1.0f, -1.0f,  1.0f, 1.0f}
+
+#endif
+
+/*!
+ * @brief extracts view frustum planes
+ *
+ * planes' space:
+ *  1- if m = proj:     View Space
+ *  2- if m = viewProj: World Space
+ *  3- if m = MVP:      Object Space
+ *
+ * You probably want to extract planes in world space so use viewProj as m
+ * Computing viewProj:
+ *   glm_mat4_mul(proj, view, viewProj);
+ *
+ * Exracted planes order: [left, right, bottom, top, near, far]
+ *
+ * @param[in]  m    matrix (see brief)
+ * @param[out] dest exracted view frustum planes (see brief)
+ */
+CGLM_INLINE
+void
+glm_frustum_planes(mat4 m, vec4 dest[6]) {
+  mat4 t;
+
+  glm_mat4_transpose_to(m, t);
+
+  glm_vec4_add(t[3], t[0], dest[0]); /* left   */
+  glm_vec4_sub(t[3], t[0], dest[1]); /* right  */
+  glm_vec4_add(t[3], t[1], dest[2]); /* bottom */
+  glm_vec4_sub(t[3], t[1], dest[3]); /* top    */
+  glm_vec4_add(t[3], t[2], dest[4]); /* near   */
+  glm_vec4_sub(t[3], t[2], dest[5]); /* far    */
+
+  glm_plane_normalize(dest[0]);
+  glm_plane_normalize(dest[1]);
+  glm_plane_normalize(dest[2]);
+  glm_plane_normalize(dest[3]);
+  glm_plane_normalize(dest[4]);
+  glm_plane_normalize(dest[5]);
+}
+
+/*!
+ * @brief extracts view frustum corners using clip-space coordinates
+ *
+ * corners' space:
+ *  1- if m = invViewProj: World Space
+ *  2- if m = invMVP:      Object Space
+ *
+ * You probably want to extract corners in world space so use invViewProj
+ * Computing invViewProj:
+ *   glm_mat4_mul(proj, view, viewProj);
+ *   ...
+ *   glm_mat4_inv(viewProj, invViewProj);
+ *
+ * if you have a near coord at i index, you can get it's far coord by i + 4
+ *
+ * Find center coordinates:
+ *   for (j = 0; j < 4; j++) {
+ *     glm_vec_center(corners[i], corners[i + 4], centerCorners[i]);
+ *   }
+ *
+ * @param[in]  invMat matrix (see brief)
+ * @param[out] dest   exracted view frustum corners (see brief)
+ */
+CGLM_INLINE
+void
+glm_frustum_corners(mat4 invMat, vec4 dest[8]) {
+  vec4 c[8];
+
+  /* indexOf(nearCoord) = indexOf(farCoord) + 4 */
+  vec4 csCoords[8] = {
+    GLM_CSCOORD_LBN,
+    GLM_CSCOORD_LTN,
+    GLM_CSCOORD_RTN,
+    GLM_CSCOORD_RBN,
+
+    GLM_CSCOORD_LBF,
+    GLM_CSCOORD_LTF,
+    GLM_CSCOORD_RTF,
+    GLM_CSCOORD_RBF
+  };
+
+  glm_mat4_mulv(invMat, csCoords[0], c[0]);
+  glm_mat4_mulv(invMat, csCoords[1], c[1]);
+  glm_mat4_mulv(invMat, csCoords[2], c[2]);
+  glm_mat4_mulv(invMat, csCoords[3], c[3]);
+  glm_mat4_mulv(invMat, csCoords[4], c[4]);
+  glm_mat4_mulv(invMat, csCoords[5], c[5]);
+  glm_mat4_mulv(invMat, csCoords[6], c[6]);
+  glm_mat4_mulv(invMat, csCoords[7], c[7]);
+
+  glm_vec4_scale(c[0], 1.0f / c[0][3], dest[0]);
+  glm_vec4_scale(c[1], 1.0f / c[1][3], dest[1]);
+  glm_vec4_scale(c[2], 1.0f / c[2][3], dest[2]);
+  glm_vec4_scale(c[3], 1.0f / c[3][3], dest[3]);
+  glm_vec4_scale(c[4], 1.0f / c[4][3], dest[4]);
+  glm_vec4_scale(c[5], 1.0f / c[5][3], dest[5]);
+  glm_vec4_scale(c[6], 1.0f / c[6][3], dest[6]);
+  glm_vec4_scale(c[7], 1.0f / c[7][3], dest[7]);
+}
+
+/*!
+ * @brief finds center of view frustum
+ *
+ * @param[in]  corners view frustum corners
+ * @param[out] dest    view frustum center
+ */
+CGLM_INLINE
+void
+glm_frustum_center(vec4 corners[8], vec4 dest) {
+  vec4 center;
+
+  glm_vec4_copy(corners[0], center);
+
+  glm_vec4_add(corners[1], center, center);
+  glm_vec4_add(corners[2], center, center);
+  glm_vec4_add(corners[3], center, center);
+  glm_vec4_add(corners[4], center, center);
+  glm_vec4_add(corners[5], center, center);
+  glm_vec4_add(corners[6], center, center);
+  glm_vec4_add(corners[7], center, center);
+
+  glm_vec4_scale(center, 0.125f, dest);
+}
+
+/*!
+ * @brief finds bounding box of frustum relative to given matrix e.g. view mat
+ *
+ * @param[in]  corners view frustum corners
+ * @param[in]  m       matrix to convert existing conners
+ * @param[out] box     bounding box as array [min, max]
+ */
+CGLM_INLINE
+void
+glm_frustum_box(vec4 corners[8], mat4 m, vec3 box[2]) {
+  vec4 v;
+  vec3 min, max;
+  int  i;
+
+  glm_vec_broadcast(FLT_MAX, min);
+  glm_vec_broadcast(-FLT_MAX, max);
+
+  for (i = 0; i < 8; i++) {
+    glm_mat4_mulv(m, corners[i], v);
+
+    min[0] = glm_min(min[0], v[0]);
+    min[1] = glm_min(min[1], v[1]);
+    min[2] = glm_min(min[2], v[2]);
+
+    max[0] = glm_max(max[0], v[0]);
+    max[1] = glm_max(max[1], v[1]);
+    max[2] = glm_max(max[2], v[2]);
+  }
+
+  glm_vec_copy(min, box[0]);
+  glm_vec_copy(max, box[1]);
+}
+
+/*!
+ * @brief finds planes corners which is between near and far planes (parallel)
+ *
+ * this will be helpful if you want to split a frustum e.g. CSM/PSSM. This will
+ * find planes' corners but you will need to one more plane.
+ * Actually you have it, it is near, far or created previously with this func ;)
+ *
+ * @param[in]  corners view  frustum corners
+ * @param[in]  splitDist     split distance
+ * @param[in]  farDist       far distance (zFar)
+ * @param[out] planeCorners  plane corners [LB, LT, RT, RB]
+ */
+CGLM_INLINE
+void
+glm_frustum_corners_at(vec4  corners[8],
+                       float splitDist,
+                       float farDist,
+                       vec4  planeCorners[4]) {
+  vec4  corner;
+  float dist, sc;
+
+  /* because distance and scale is same for all */
+  dist = glm_vec_distance(corners[GLM_RTF], corners[GLM_RTN]);
+  sc   = dist * (splitDist / farDist);
+
+  /* left bottom */
+  glm_vec4_sub(corners[GLM_LBF], corners[GLM_LBN], corner);
+  glm_vec4_scale_as(corner, sc, corner);
+  glm_vec4_add(corners[GLM_LBN], corner, planeCorners[0]);
+
+  /* left top */
+  glm_vec4_sub(corners[GLM_LTF], corners[GLM_LTN], corner);
+  glm_vec4_scale_as(corner, sc, corner);
+  glm_vec4_add(corners[GLM_LTN], corner, planeCorners[1]);
+
+  /* right top */
+  glm_vec4_sub(corners[GLM_RTF], corners[GLM_RTN], corner);
+  glm_vec4_scale_as(corner, sc, corner);
+  glm_vec4_add(corners[GLM_RTN], corner, planeCorners[2]);
+
+  /* right bottom */
+  glm_vec4_sub(corners[GLM_RBF], corners[GLM_RBN], corner);
+  glm_vec4_scale_as(corner, sc, corner);
+  glm_vec4_add(corners[GLM_RBN], corner, planeCorners[3]);
+}
+
+#endif /* cglm_frustum_h */

include/cglm/io.h

@@ -171,4 +171,33 @@ glm_versor_print(versor vec,
 #undef m
 }
 
+CGLM_INLINE
+void
+glm_aabb_print(vec3                    bbox[2],
+               const char * __restrict tag,
+               FILE       * __restrict ostream) {
+  int i, j;
+
+#define m 3
+
+  fprintf(ostream, "AABB (%s):\n", tag ? tag: "float");
+
+  for (i = 0; i < 2; i++) {
+    fprintf(ostream, "\t|");
+
+    for (j = 0; j < m; j++) {
+      fprintf(ostream, "%0.4f", bbox[i][j]);
+
+      if (j != m - 1)
+        fprintf(ostream, "\t");
+    }
+
+    fprintf(ostream, "|\n");
+  }
+
+  fprintf(ostream, "\n");
+
+#undef m
+}
+
 #endif /* cglm_io_h */

include/cglm/mat3.h

@@ -45,8 +45,8 @@
 
 
 /* for C only */
-#define GLM_MAT3_IDENTITY (mat3)GLM_MAT3_IDENTITY_INIT
-#define GLM_MAT3_ZERO     (mat3)GLM_MAT3_ZERO_INIT
+#define GLM_MAT3_IDENTITY ((mat3)GLM_MAT3_IDENTITY_INIT)
+#define GLM_MAT3_ZERO     ((mat3)GLM_MAT3_ZERO_INIT)
 
 /* DEPRECATED! use _copy, _ucopy versions */
 #define glm_mat3_dup(mat, dest) glm_mat3_copy(mat, dest)
@@ -186,6 +186,56 @@ glm_mat3_mulv(mat3 m, vec3 v, vec3 dest) {
   dest[2] = m[0][2] * v[0] + m[1][2] * v[1] + m[2][2] * v[2];
 }
 
+
+/*!
+ * @brief convert mat4's rotation part to quaternion
+ *
+ * @param[in]  m    left matrix
+ * @param[out] dest destination quaternion
+ */
+CGLM_INLINE
+void
+glm_mat3_quat(mat3 m, versor dest) {
+  float trace, r, rinv;
+
+  /* it seems using like m12 instead of m[1][2] causes extra instructions */
+
+  trace = m[0][0] + m[1][1] + m[2][2];
+  if (trace >= 0.0f) {
+    r       = sqrtf(1.0f + trace);
+    rinv    = 0.5f / r;
+
+    dest[0] = rinv * (m[1][2] - m[2][1]);
+    dest[1] = rinv * (m[2][0] - m[0][2]);
+    dest[2] = rinv * (m[0][1] - m[1][0]);
+    dest[3] = r    * 0.5f;
+  } else if (m[0][0] >= m[1][1] && m[0][0] >= m[2][2]) {
+    r       = sqrtf(1.0f - m[1][1] - m[2][2] + m[0][0]);
+    rinv    = 0.5f / r;
+
+    dest[0] = r    * 0.5f;
+    dest[1] = rinv * (m[0][1] + m[1][0]);
+    dest[2] = rinv * (m[0][2] + m[2][0]);
+    dest[3] = rinv * (m[1][2] - m[2][1]);
+  } else if (m[1][1] >= m[2][2]) {
+    r       = sqrtf(1.0f - m[0][0] - m[2][2] + m[1][1]);
+    rinv    = 0.5f / r;
+
+    dest[0] = rinv * (m[0][1] + m[1][0]);
+    dest[1] = r    * 0.5f;
+    dest[2] = rinv * (m[1][2] + m[2][1]);
+    dest[3] = rinv * (m[2][0] - m[0][2]);
+  } else {
+    r       = sqrtf(1.0f - m[0][0] - m[1][1] + m[2][2]);
+    rinv    = 0.5f / r;
+
+    dest[0] = rinv * (m[0][2] + m[2][0]);
+    dest[1] = rinv * (m[1][2] + m[2][1]);
+    dest[2] = r    * 0.5f;
+    dest[3] = rinv * (m[0][1] - m[1][0]);
+  }
+}
+
 /*!
  * @brief scale (multiply with scalar) matrix
  *

include/cglm/mat4.h

@@ -45,6 +45,7 @@
 #define cglm_mat_h
 
 #include "common.h"
+#include "quat.h"
 
 #ifdef CGLM_SSE_FP
 #  include "simd/sse2/mat4.h"
@@ -58,7 +59,9 @@
 #  include "simd/neon/mat4.h"
 #endif
 
-#include <assert.h>
+#ifdef DEBUG
+# include <assert.h>
+#endif
 
 #define GLM_MAT4_IDENTITY_INIT  {{1.0f, 0.0f, 0.0f, 0.0f},                    \
                                  {0.0f, 1.0f, 0.0f, 0.0f},                    \
@@ -71,8 +74,8 @@
                                  {0.0f, 0.0f, 0.0f, 0.0f}}
 
 /* for C only */
-#define GLM_MAT4_IDENTITY (mat4)GLM_MAT4_IDENTITY_INIT
-#define GLM_MAT4_ZERO     (mat4)GLM_MAT4_ZERO_INIT
+#define GLM_MAT4_IDENTITY ((mat4)GLM_MAT4_IDENTITY_INIT)
+#define GLM_MAT4_ZERO     ((mat4)GLM_MAT4_ZERO_INIT)
 
 /* DEPRECATED! use _copy, _ucopy versions */
 #define glm_mat4_udup(mat, dest) glm_mat4_ucopy(mat, dest)
@@ -281,19 +284,17 @@ glm_mat4_mul(mat4 m1, mat4 m2, mat4 dest) {
  */
 CGLM_INLINE
 void
-glm_mat4_mulN(mat4 * __restrict matrices[], int len, mat4 dest) {
-  int i;
+glm_mat4_mulN(mat4 * __restrict matrices[], uint32_t len, mat4 dest) {
+  uint32_t i;
 
+#ifdef DEBUG
   assert(len > 1 && "there must be least 2 matrices to go!");
+#endif
 
-  glm_mat4_mul(*matrices[0],
-               *matrices[1],
-               dest);
+  glm_mat4_mul(*matrices[0], *matrices[1], dest);
 
   for (i = 2; i < len; i++)
-    glm_mat4_mul(dest,
-                 *matrices[i],
-                 dest);
+    glm_mat4_mul(dest, *matrices[i], dest);
 }
 
 /*!
@@ -318,6 +319,55 @@ glm_mat4_mulv(mat4 m, vec4 v, vec4 dest) {
 #endif
 }
 
+/*!
+ * @brief convert mat4's rotation part to quaternion
+ *
+ * @param[in]  m    left matrix
+ * @param[out] dest destination quaternion
+ */
+CGLM_INLINE
+void
+glm_mat4_quat(mat4 m, versor dest) {
+  float trace, r, rinv;
+
+  /* it seems using like m12 instead of m[1][2] causes extra instructions */
+
+  trace = m[0][0] + m[1][1] + m[2][2];
+  if (trace >= 0.0f) {
+    r       = sqrtf(1.0f + trace);
+    rinv    = 0.5f / r;
+
+    dest[0] = rinv * (m[1][2] - m[2][1]);
+    dest[1] = rinv * (m[2][0] - m[0][2]);
+    dest[2] = rinv * (m[0][1] - m[1][0]);
+    dest[3] = r    * 0.5f;
+  } else if (m[0][0] >= m[1][1] && m[0][0] >= m[2][2]) {
+    r       = sqrtf(1.0f - m[1][1] - m[2][2] + m[0][0]);
+    rinv    = 0.5f / r;
+
+    dest[0] = r    * 0.5f;
+    dest[1] = rinv * (m[0][1] + m[1][0]);
+    dest[2] = rinv * (m[0][2] + m[2][0]);
+    dest[3] = rinv * (m[1][2] - m[2][1]);
+  } else if (m[1][1] >= m[2][2]) {
+    r       = sqrtf(1.0f - m[0][0] - m[2][2] + m[1][1]);
+    rinv    = 0.5f / r;
+
+    dest[0] = rinv * (m[0][1] + m[1][0]);
+    dest[1] = r    * 0.5f;
+    dest[2] = rinv * (m[1][2] + m[2][1]);
+    dest[3] = rinv * (m[2][0] - m[0][2]);
+  } else {
+    r       = sqrtf(1.0f - m[0][0] - m[1][1] + m[2][2]);
+    rinv    = 0.5f / r;
+
+    dest[0] = rinv * (m[0][2] + m[2][0]);
+    dest[1] = rinv * (m[1][2] + m[2][1]);
+    dest[2] = r    * 0.5f;
+    dest[3] = rinv * (m[0][1] - m[1][0]);
+  }
+}
+
 /*!
  * @brief multiply vector with mat4's mat3 part(rotation)
  *
@@ -568,5 +618,4 @@ glm_mat4_swap_row(mat4 mat, int row1, int row2) {
   mat[3][row2] = tmp[3];
 }
 
-#else
 #endif /* cglm_mat_h */

include/cglm/plane.h

@@ -0,0 +1,38 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), http://opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+#ifndef cglm_plane_h
+#define cglm_plane_h
+
+#include "common.h"
+#include "mat4.h"
+#include "vec4.h"
+#include "vec3.h"
+
+/*
+ Plane equation:  Ax + By + Cz + D = 0;
+
+ It stored in vec4 as [A, B, C, D]. (A, B, C) is normal and D is distance
+*/
+
+/*
+ Functions:
+   CGLM_INLINE void  glm_plane_normalize(vec4 plane);
+ */
+
+/*!
+ * @brief normalizes a plane
+ *
+ * @param[in, out] plane pnale to normalize
+ */
+CGLM_INLINE
+void
+glm_plane_normalize(vec4 plane) {
+  glm_vec4_scale(plane, 1.0f / glm_vec_norm(plane), plane);
+}
+
+#endif /* cglm_plane_h */

include/cglm/project.h

@@ -0,0 +1,117 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), http://opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+#ifndef cglm_project_h
+#define cglm_project_h
+
+#include "mat4.h"
+#include "vec3.h"
+#include "vec4.h"
+
+/*!
+ * @brief maps the specified viewport coordinates into specified space [1]
+ *        the matrix should contain projection matrix.
+ *
+ * if you don't have ( and don't want to have ) an inverse matrix then use
+ * glm_unproject version. You may use existing inverse of matrix in somewhere
+ * else, this is why glm_unprojecti exists to save save inversion cost
+ *
+ * [1] space:
+ *  1- if m = invProj:     View Space
+ *  2- if m = invViewProj: World Space
+ *  3- if m = invMVP:      Object Space
+ *
+ * You probably want to map the coordinates into object space
+ * so use invMVP as m
+ *
+ * Computing viewProj:
+ *   glm_mat4_mul(proj, view, viewProj);
+ *   glm_mat4_mul(viewProj, model, MVP);
+ *   glm_mat4_inv(viewProj, invMVP);
+ *
+ * @param[in]  pos      point/position in viewport coordinates
+ * @param[in]  invMat   matrix (see brief)
+ * @param[in]  vp       viewport as [x, y, width, height]
+ * @param[out] dest     unprojected coordinates
+ */
+CGLM_INLINE
+void
+glm_unprojecti(vec3 pos, mat4 invMat, vec4 vp, vec3 dest) {
+  vec4 v;
+
+  v[0] = 2.0f * (pos[0] - vp[0]) / vp[2] - 1.0f;
+  v[1] = 2.0f * (pos[1] - vp[1]) / vp[3] - 1.0f;
+  v[2] = 2.0f *  pos[2]                  - 1.0f;
+  v[3] = 1.0f;
+
+  glm_mat4_mulv(invMat, v, v);
+  glm_vec4_scale(v, 1.0f / v[3], v);
+  glm_vec3(v, dest);
+}
+
+/*!
+ * @brief maps the specified viewport coordinates into specified space [1]
+ *        the matrix should contain projection matrix.
+ *
+ * this is same as glm_unprojecti except this function get inverse matrix for
+ * you.
+ *
+ * [1] space:
+ *  1- if m = proj:     View Space
+ *  2- if m = viewProj: World Space
+ *  3- if m = MVP:      Object Space
+ *
+ * You probably want to map the coordinates into object space
+ * so use MVP as m
+ *
+ * Computing viewProj and MVP:
+ *   glm_mat4_mul(proj, view, viewProj);
+ *   glm_mat4_mul(viewProj, model, MVP);
+ *
+ * @param[in]  pos      point/position in viewport coordinates
+ * @param[in]  m        matrix (see brief)
+ * @param[in]  vp       viewport as [x, y, width, height]
+ * @param[out] dest     unprojected coordinates
+ */
+CGLM_INLINE
+void
+glm_unproject(vec3 pos, mat4 m, vec4 vp, vec3 dest) {
+  mat4 inv;
+  glm_mat4_inv(m, inv);
+  glm_unprojecti(pos, inv, vp, dest);
+}
+
+/*!
+ * @brief map object coordinates to window coordinates
+ *
+ * Computing MVP:
+ *   glm_mat4_mul(proj, view, viewProj);
+ *   glm_mat4_mul(viewProj, model, MVP);
+ *
+ * @param[in]  pos      object coordinates
+ * @param[in]  m        MVP matrix
+ * @param[in]  vp       viewport as [x, y, width, height]
+ * @param[out] dest     projected coordinates
+ */
+CGLM_INLINE
+void
+glm_project(vec3 pos, mat4 m, vec4 vp, vec3 dest) {
+  vec4 pos4, vone = GLM_VEC4_ONE_INIT;
+
+  glm_vec4(pos, 1.0f, pos4);
+
+  glm_mat4_mulv(m, pos4, pos4);
+  glm_vec4_scale(pos4, 1.0f / pos4[3], pos4); /* pos = pos / pos.w */
+  glm_vec4_add(pos4, vone, pos4);
+  glm_vec4_scale(pos4, 0.5f, pos4);
+
+  dest[0] = pos4[0] * vp[2] + vp[0];
+  dest[1] = pos4[1] * vp[3] + vp[1];
+  dest[2] = pos4[2];
+}
+
+#endif /* cglm_project_h */

include/cglm/quat.h

@@ -11,15 +11,41 @@
    GLM_QUAT_IDENTITY
 
  Functions:
-   CGLM_INLINE void  glm_quat_identity(versor q);
-   CGLM_INLINE void  glm_quat(versor q, float angle, float x, float y, float z);
-   CGLM_INLINE void  glm_quatv(versor q, float angle, vec3 v);
+   CGLM_INLINE void glm_quat_identity(versor q);
+   CGLM_INLINE void glm_quat_init(versor q, float x, float y, float z, float w);
+   CGLM_INLINE void glm_quat(versor q, float angle, float x, float y, float z);
+   CGLM_INLINE void glm_quatv(versor q, float angle, vec3 axis);
+   CGLM_INLINE void glm_quat_copy(versor q, versor dest);
    CGLM_INLINE float glm_quat_norm(versor q);
-   CGLM_INLINE void  glm_quat_normalize(versor q);
-   CGLM_INLINE float glm_quat_dot(versor q, versor r);
-   CGLM_INLINE void  glm_quat_mulv(versor q1, versor q2, versor dest);
-   CGLM_INLINE void  glm_quat_mat4(versor q, mat4 dest);
-   CGLM_INLINE void  glm_quat_slerp(versor q, versor r, float t, versor dest);
+   CGLM_INLINE void glm_quat_normalize(versor q);
+   CGLM_INLINE void glm_quat_normalize_to(versor q, versor dest);
+   CGLM_INLINE float glm_quat_dot(versor q1, versor q2);
+   CGLM_INLINE void glm_quat_conjugate(versor q, versor dest);
+   CGLM_INLINE void glm_quat_inv(versor q, versor dest);
+   CGLM_INLINE void glm_quat_add(versor p, versor q, versor dest);
+   CGLM_INLINE void glm_quat_sub(versor p, versor q, versor dest);
+   CGLM_INLINE float glm_quat_real(versor q);
+   CGLM_INLINE void glm_quat_imag(versor q, vec3 dest);
+   CGLM_INLINE void glm_quat_imagn(versor q, vec3 dest);
+   CGLM_INLINE float glm_quat_imaglen(versor q);
+   CGLM_INLINE float glm_quat_angle(versor q);
+   CGLM_INLINE void glm_quat_axis(versor q, versor dest);
+   CGLM_INLINE void glm_quat_mul(versor p, versor q, versor dest);
+   CGLM_INLINE void glm_quat_mat4(versor q, mat4 dest);
+   CGLM_INLINE void glm_quat_mat4t(versor q, mat4 dest);
+   CGLM_INLINE void glm_quat_mat3(versor q, mat3 dest);
+   CGLM_INLINE void glm_quat_mat3t(versor q, mat3 dest);
+   CGLM_INLINE void glm_quat_lerp(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_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,
+                                  vec3 to,
+                                  vec3 fwd,
+                                  vec3 up,
+                                  versor dest);
+   CGLM_INLINE void glm_quat_rotatev(versor q, vec3 v, vec3 dest);
+   CGLM_INLINE void glm_quat_rotate(mat4 m, versor q, mat4 dest);
  */
 
 #ifndef cglm_quat_h
@@ -27,14 +53,39 @@
 
 #include "common.h"
 #include "vec4.h"
+#include "mat4.h"
+#include "mat3.h"
 
 #ifdef CGLM_SSE_FP
 #  include "simd/sse2/quat.h"
 #endif
 
-#define GLM_QUAT_IDENTITY_INIT  {1.0f, 0.0f, 0.0f, 0.0f}
-#define GLM_QUAT_IDENTITY       (versor){1.0f, 0.0f, 0.0f, 0.0f}
+CGLM_INLINE
+void
+glm_mat4_mulv(mat4 m, vec4 v, vec4 dest);
 
+CGLM_INLINE
+void
+glm_mat4_mul(mat4 m1, mat4 m2, mat4 dest);
+
+/*
+ * IMPORTANT:
+ * ----------------------------------------------------------------------------
+ * cglm stores quat as [x, y, z, w] since v0.3.6
+ *
+ * it was [w, x, y, z] before v0.3.6 it has been changed to [x, y, z, w]
+ * with v0.3.6 version.
+ * ----------------------------------------------------------------------------
+ */
+
+#define GLM_QUAT_IDENTITY_INIT  {0.0f, 0.0f, 0.0f, 1.0f}
+#define GLM_QUAT_IDENTITY       ((versor)GLM_QUAT_IDENTITY_INIT)
+
+/*!
+ * @brief makes given quat to identity
+ *
+ * @param[in, out]  q  quaternion
+ */
 CGLM_INLINE
 void
 glm_quat_identity(versor q) {
@@ -42,95 +93,332 @@ glm_quat_identity(versor q) {
   glm_vec4_copy(v, q);
 }
 
+/*!
+ * @brief inits quaterion with raw values
+ *
+ * @param[out]  q     quaternion
+ * @param[in]   x     x
+ * @param[in]   y     y
+ * @param[in]   z     z
+ * @param[in]   w     w (real part)
+ */
 CGLM_INLINE
 void
-glm_quat(versor q,
-         float  angle,
-         float  x,
-         float  y,
-         float  z) {
+glm_quat_init(versor q, float x, float y, float z, float w) {
+  q[0] = x;
+  q[1] = y;
+  q[2] = z;
+  q[3] = w;
+}
+
+/*!
+ * @brief creates NEW quaternion with axis vector
+ *
+ * @param[out]  q     quaternion
+ * @param[in]   angle angle (radians)
+ * @param[in]   axis  axis
+ */
+CGLM_INLINE
+void
+glm_quatv(versor q, float angle, vec3 axis) {
+  vec3  k;
   float a, c, s;
 
   a = angle * 0.5f;
   c = cosf(a);
   s = sinf(a);
 
-  q[0] = c;
-  q[1] = s * x;
-  q[2] = s * y;
-  q[3] = s * z;
+  glm_normalize_to(axis, k);
+
+  q[0] = s * k[0];
+  q[1] = s * k[1];
+  q[2] = s * k[2];
+  q[3] = c;
 }
 
+/*!
+ * @brief creates NEW quaternion with individual axis components
+ *
+ * @param[out]  q     quaternion
+ * @param[in]   angle angle (radians)
+ * @param[in]   x     axis.x
+ * @param[in]   y     axis.y
+ * @param[in]   z     axis.z
+ */
 CGLM_INLINE
 void
-glm_quatv(versor q,
-          float  angle,
-          vec3   v) {
-  float a, c, s;
-
-  a = angle * 0.5f;
-  c = cosf(a);
-  s = sinf(a);
-
-  q[0] = c;
-  q[1] = s * v[0];
-  q[2] = s * v[1];
-  q[3] = s * v[2];
+glm_quat(versor q, float angle, float x, float y, float z) {
+  vec3 axis = {x, y, z};
+  glm_quatv(q, angle, axis);
 }
 
+/*!
+ * @brief copy quaternion to another one
+ *
+ * @param[in]  q     quaternion
+ * @param[out] dest  destination
+ */
+CGLM_INLINE
+void
+glm_quat_copy(versor q, versor dest) {
+  glm_vec4_copy(q, dest);
+}
+
+/*!
+ * @brief returns norm (magnitude) of quaternion
+ *
+ * @param[out]  q  quaternion
+ */
 CGLM_INLINE
 float
 glm_quat_norm(versor q) {
   return glm_vec4_norm(q);
 }
 
+/*!
+ * @brief normalize quaternion and store result in dest
+ *
+ * @param[in]   q     quaternion to normalze
+ * @param[out]  dest  destination quaternion
+ */
+CGLM_INLINE
+void
+glm_quat_normalize_to(versor q, versor dest) {
+#if defined( __SSE2__ ) || defined( __SSE2__ )
+  __m128 xdot, x0;
+  float  dot;
+
+  x0   = _mm_load_ps(q);
+  xdot = glm_simd_dot(x0, x0);
+  dot  = _mm_cvtss_f32(xdot);
+
+  if (dot <= 0.0f) {
+    glm_quat_identity(dest);
+    return;
+  }
+
+  _mm_store_ps(dest, _mm_div_ps(x0, _mm_sqrt_ps(xdot)));
+#else
+  float dot;
+
+  dot = glm_vec4_norm2(q);
+
+  if (dot <= 0.0f) {
+    glm_quat_identity(q);
+    return;
+  }
+
+  glm_vec4_scale(q, 1.0f / sqrtf(dot), dest);
+#endif
+}
+
+/*!
+ * @brief normalize quaternion
+ *
+ * @param[in, out]  q  quaternion
+ */
 CGLM_INLINE
 void
 glm_quat_normalize(versor q) {
-  float sum;
-
-  sum = q[0] * q[0] + q[1] * q[1]
-          + q[2] * q[2] + q[3] * q[3];
-
-  if (fabs(1.0f - sum) < 0.0001f)
-    return;
-
-  glm_vec4_scale(q, 1.0f / sqrtf(sum), q);
+  glm_quat_normalize_to(q, q);
 }
 
+/*!
+ * @brief dot product of two quaternion
+ *
+ * @param[in]  p  quaternion 1
+ * @param[in]  q  quaternion 2
+ */
 CGLM_INLINE
 float
-glm_quat_dot(versor q, versor r) {
-  return glm_vec4_dot(q, r);
+glm_quat_dot(versor p, versor q) {
+  return glm_vec4_dot(p, q);
 }
 
+/*!
+ * @brief conjugate of quaternion
+ *
+ * @param[in]   q     quaternion
+ * @param[out]  dest  conjugate
+ */
 CGLM_INLINE
 void
-glm_quat_mulv(versor q1, versor q2, versor dest) {
-  dest[0] = q2[0] * q1[0] - q2[1] * q1[1] - q2[2] * q1[2] - q2[3] * q1[3];
-  dest[1] = q2[0] * q1[1] + q2[1] * q1[0] - q2[2] * q1[3] + q2[3] * q1[2];
-  dest[2] = q2[0] * q1[2] + q2[1] * q1[3] + q2[2] * q1[0] - q2[3] * q1[1];
-  dest[3] = q2[0] * q1[3] - q2[1] * q1[2] + q2[2] * q1[1] + q2[3] * q1[0];
-
-  glm_quat_normalize(dest);
+glm_quat_conjugate(versor q, versor dest) {
+  glm_vec4_flipsign_to(q, dest);
+  dest[3] = -dest[3];
 }
 
+/*!
+ * @brief inverse of non-zero quaternion
+ *
+ * @param[in]   q    quaternion
+ * @param[out]  dest inverse quaternion
+ */
+CGLM_INLINE
+void
+glm_quat_inv(versor q, versor dest) {
+  versor conj;
+  glm_quat_conjugate(q, conj);
+  glm_vec4_scale(conj, 1.0f / glm_vec4_norm2(q), dest);
+}
+
+/*!
+ * @brief add (componentwise) two quaternions and store result in dest
+ *
+ * @param[in]   p    quaternion 1
+ * @param[in]   q    quaternion 2
+ * @param[out]  dest result quaternion
+ */
+CGLM_INLINE
+void
+glm_quat_add(versor p, versor q, versor dest) {
+  glm_vec4_add(p, q, dest);
+}
+
+/*!
+ * @brief subtract (componentwise) two quaternions and store result in dest
+ *
+ * @param[in]   p    quaternion 1
+ * @param[in]   q    quaternion 2
+ * @param[out]  dest result quaternion
+ */
+CGLM_INLINE
+void
+glm_quat_sub(versor p, versor q, versor dest) {
+  glm_vec4_sub(p, q, dest);
+}
+
+/*!
+ * @brief returns real part of quaternion
+ *
+ * @param[in]   q    quaternion
+ */
+CGLM_INLINE
+float
+glm_quat_real(versor q) {
+  return q[3];
+}
+
+/*!
+ * @brief returns imaginary part of quaternion
+ *
+ * @param[in]   q    quaternion
+ * @param[out]  dest imag
+ */
+CGLM_INLINE
+void
+glm_quat_imag(versor q, vec3 dest) {
+  dest[0] = q[0];
+  dest[1] = q[1];
+  dest[2] = q[2];
+}
+
+/*!
+ * @brief returns normalized imaginary part of quaternion
+ *
+ * @param[in]   q    quaternion
+ */
+CGLM_INLINE
+void
+glm_quat_imagn(versor q, vec3 dest) {
+  glm_normalize_to(q, dest);
+}
+
+/*!
+ * @brief returns length of imaginary part of quaternion
+ *
+ * @param[in]   q    quaternion
+ */
+CGLM_INLINE
+float
+glm_quat_imaglen(versor q) {
+  return glm_vec_norm(q);
+}
+
+/*!
+ * @brief returns angle of quaternion
+ *
+ * @param[in]   q    quaternion
+ */
+CGLM_INLINE
+float
+glm_quat_angle(versor q) {
+  /*
+   sin(theta / 2) = length(x*x + y*y + z*z)
+   cos(theta / 2) = w
+   theta          = 2 * atan(sin(theta / 2) / cos(theta / 2))
+   */
+  return 2.0f * atan2f(glm_quat_imaglen(q), glm_quat_real(q));
+}
+
+/*!
+ * @brief axis of quaternion
+ *
+ * @param[in]   q    quaternion
+ * @param[out]  dest axis of quaternion
+ */
+CGLM_INLINE
+void
+glm_quat_axis(versor q, versor dest) {
+  glm_quat_imagn(q, dest);
+}
+
+/*!
+ * @brief multiplies two quaternion and stores result in dest
+ *        this is also called Hamilton Product
+ *
+ * According to WikiPedia:
+ * The product of two rotation quaternions [clarification needed] will be
+ * equivalent to the rotation q followed by the rotation p
+ *
+ * @param[in]   p     quaternion 1
+ * @param[in]   q     quaternion 2
+ * @param[out]  dest  result quaternion
+ */
+CGLM_INLINE
+void
+glm_quat_mul(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
+   */
+#if defined( __SSE__ ) || defined( __SSE2__ )
+  glm_quat_mul_sse2(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];
+  dest[2] = p[3] * q[2] + p[0] * q[1] - p[1] * q[0] + p[2] * q[3];
+  dest[3] = p[3] * q[3] - p[0] * q[0] - p[1] * q[1] - p[2] * q[2];
+#endif
+}
+
+/*!
+ * @brief convert quaternion to mat4
+ *
+ * @param[in]   q     quaternion
+ * @param[out]  dest  result matrix
+ */
 CGLM_INLINE
 void
 glm_quat_mat4(versor q, mat4 dest) {
-  float w, x, y, z;
-  float xx, yy, zz;
-  float xy, yz, xz;
-  float wx, wy, wz;
+  float w, x, y, z,
+        xx, yy, zz,
+        xy, yz, xz,
+        wx, wy, wz, norm, s;
 
-  w = q[0];
-  x = q[1];
-  y = q[2];
-  z = q[3];
+  norm = glm_quat_norm(q);
+  s    = norm > 0.0f ? 2.0f / norm : 0.0f;
 
-  xx = 2.0f * x * x;   xy = 2.0f * x * y;   wx = 2.0f * w * x;
-  yy = 2.0f * y * y;   yz = 2.0f * y * z;   wy = 2.0f * w * y;
-  zz = 2.0f * z * z;   xz = 2.0f * x * z;   wz = 2.0f * w * z;
+  x = q[0];
+  y = q[1];
+  z = q[2];
+  w = q[3];
+
+  xx = s * x * x;   xy = s * x * y;   wx = s * w * x;
+  yy = s * y * y;   yz = s * y * z;   wy = s * w * y;
+  zz = s * z * z;   xz = s * x * z;   wz = s * w * z;
 
   dest[0][0] = 1.0f - yy - zz;
   dest[1][1] = 1.0f - xx - zz;
@@ -144,8 +432,8 @@ glm_quat_mat4(versor q, mat4 dest) {
   dest[2][1] = yz - wx;
   dest[0][2] = xz - wy;
 
-  dest[1][3] = 0.0f;
   dest[0][3] = 0.0f;
+  dest[1][3] = 0.0f;
   dest[2][3] = 0.0f;
   dest[3][0] = 0.0f;
   dest[3][1] = 0.0f;
@@ -153,60 +441,303 @@ glm_quat_mat4(versor q, mat4 dest) {
   dest[3][3] = 1.0f;
 }
 
+/*!
+ * @brief convert quaternion to mat4 (transposed)
+ *
+ * @param[in]   q     quaternion
+ * @param[out]  dest  result matrix as transposed
+ */
 CGLM_INLINE
 void
-glm_quat_slerp(versor q,
-               versor r,
-               float  t,
-               versor dest) {
-  /* https://en.wikipedia.org/wiki/Slerp */
-#if defined( __SSE__ ) || defined( __SSE2__ )
-  glm_quat_slerp_sse2(q, r, t, dest);
-#else
-  float cosTheta, sinTheta, angle, a, b, c;
+glm_quat_mat4t(versor q, mat4 dest) {
+  float w, x, y, z,
+        xx, yy, zz,
+        xy, yz, xz,
+        wx, wy, wz, norm, s;
 
-  cosTheta = glm_quat_dot(q, r);
-  if (cosTheta < 0.0f) {
-    q[0] *= -1.0f;
-    q[1] *= -1.0f;
-    q[2] *= -1.0f;
-    q[3] *= -1.0f;
+  norm = glm_quat_norm(q);
+  s    = norm > 0.0f ? 2.0f / norm : 0.0f;
 
-    cosTheta = -cosTheta;
-  }
+  x = q[0];
+  y = q[1];
+  z = q[2];
+  w = q[3];
 
-  if (fabs(cosTheta) >= 1.0f) {
-    dest[0] = q[0];
-    dest[1] = q[1];
-    dest[2] = q[2];
-    dest[3] = q[3];
+  xx = s * x * x;   xy = s * x * y;   wx = s * w * x;
+  yy = s * y * y;   yz = s * y * z;   wy = s * w * y;
+  zz = s * z * z;   xz = s * x * z;   wz = s * w * z;
+
+  dest[0][0] = 1.0f - yy - zz;
+  dest[1][1] = 1.0f - xx - zz;
+  dest[2][2] = 1.0f - xx - yy;
+
+  dest[1][0] = xy + wz;
+  dest[2][1] = yz + wx;
+  dest[0][2] = xz + wy;
+
+  dest[0][1] = xy - wz;
+  dest[1][2] = yz - wx;
+  dest[2][0] = xz - wy;
+
+  dest[0][3] = 0.0f;
+  dest[1][3] = 0.0f;
+  dest[2][3] = 0.0f;
+  dest[3][0] = 0.0f;
+  dest[3][1] = 0.0f;
+  dest[3][2] = 0.0f;
+  dest[3][3] = 1.0f;
+}
+
+/*!
+ * @brief convert quaternion to mat3
+ *
+ * @param[in]   q     quaternion
+ * @param[out]  dest  result matrix
+ */
+CGLM_INLINE
+void
+glm_quat_mat3(versor q, mat3 dest) {
+  float w, x, y, z,
+        xx, yy, zz,
+        xy, yz, xz,
+        wx, wy, wz, norm, s;
+
+  norm = glm_quat_norm(q);
+  s    = norm > 0.0f ? 2.0f / norm : 0.0f;
+
+  x = q[0];
+  y = q[1];
+  z = q[2];
+  w = q[3];
+
+  xx = s * x * x;   xy = s * x * y;   wx = s * w * x;
+  yy = s * y * y;   yz = s * y * z;   wy = s * w * y;
+  zz = s * z * z;   xz = s * x * z;   wz = s * w * z;
+
+  dest[0][0] = 1.0f - yy - zz;
+  dest[1][1] = 1.0f - xx - zz;
+  dest[2][2] = 1.0f - xx - yy;
+
+  dest[0][1] = xy + wz;
+  dest[1][2] = yz + wx;
+  dest[2][0] = xz + wy;
+
+  dest[1][0] = xy - wz;
+  dest[2][1] = yz - wx;
+  dest[0][2] = xz - wy;
+}
+
+/*!
+ * @brief convert quaternion to mat3 (transposed)
+ *
+ * @param[in]   q     quaternion
+ * @param[out]  dest  result matrix
+ */
+CGLM_INLINE
+void
+glm_quat_mat3t(versor q, mat3 dest) {
+  float w, x, y, z,
+        xx, yy, zz,
+        xy, yz, xz,
+        wx, wy, wz, norm, s;
+
+  norm = glm_quat_norm(q);
+  s    = norm > 0.0f ? 2.0f / norm : 0.0f;
+
+  x = q[0];
+  y = q[1];
+  z = q[2];
+  w = q[3];
+
+  xx = s * x * x;   xy = s * x * y;   wx = s * w * x;
+  yy = s * y * y;   yz = s * y * z;   wy = s * w * y;
+  zz = s * z * z;   xz = s * x * z;   wz = s * w * z;
+
+  dest[0][0] = 1.0f - yy - zz;
+  dest[1][1] = 1.0f - xx - zz;
+  dest[2][2] = 1.0f - xx - yy;
+
+  dest[1][0] = xy + wz;
+  dest[2][1] = yz + wx;
+  dest[0][2] = xz + wy;
+
+  dest[0][1] = xy - wz;
+  dest[1][2] = yz - wx;
+  dest[2][0] = xz - wy;
+}
+
+/*!
+ * @brief interpolates between two quaternions
+ *        using linear interpolation (LERP)
+ *
+ * @param[in]   from  from
+ * @param[in]   to    to
+ * @param[in]   t     interpolant (amount) clamped between 0 and 1
+ * @param[out]  dest  result quaternion
+ */
+CGLM_INLINE
+void
+glm_quat_lerp(versor from, versor to, float t, versor dest) {
+  glm_vec4_lerp(from, to, t, dest);
+}
+
+/*!
+ * @brief interpolates between two quaternions
+ *        using spherical linear interpolation (SLERP)
+ *
+ * @param[in]   from  from
+ * @param[in]   to    to
+ * @param[in]   t     amout
+ * @param[out]  dest  result quaternion
+ */
+CGLM_INLINE
+void
+glm_quat_slerp(versor from, versor to, float t, versor dest) {
+  vec4  q1, q2;
+  float cosTheta, sinTheta, angle;
+
+  cosTheta = glm_quat_dot(from, to);
+  glm_quat_copy(from, q1);
+
+  if (fabsf(cosTheta) >= 1.0f) {
+    glm_quat_copy(q1, dest);
     return;
   }
 
-  sinTheta = sqrt(1.0f - cosTheta * cosTheta);
+  if (cosTheta < 0.0f) {
+    glm_vec4_flipsign(q1);
+    cosTheta = -cosTheta;
+  }
 
-  c = 1.0f - t;
+  sinTheta = sqrtf(1.0f - cosTheta * cosTheta);
 
-  /* LERP */
-  /* TODO: FLT_EPSILON vs 0.001? */
-  if (sinTheta < 0.001f) {
-    dest[0] = c * q[0] + t * r[0];
-    dest[1] = c * q[1] + t * r[1];
-    dest[2] = c * q[2] + t * r[2];
-    dest[3] = c * q[3] + t * r[3];
+  /* LERP to avoid zero division */
+  if (fabsf(sinTheta) < 0.001f) {
+    glm_quat_lerp(from, to, t, dest);
     return;
   }
 
   /* SLERP */
   angle = acosf(cosTheta);
-  a = sinf(c * angle);
-  b = sinf(t * angle);
+  glm_vec4_scale(q1, sinf((1.0f - t) * angle), q1);
+  glm_vec4_scale(to, sinf(t * angle), q2);
 
-  dest[0] = (q[0] * a + r[0] * b) / sinTheta;
-  dest[1] = (q[1] * a + r[1] * b) / sinTheta;
-  dest[2] = (q[2] * a + r[2] * b) / sinTheta;
-  dest[3] = (q[3] * a + r[3] * b) / sinTheta;
-#endif
+  glm_vec4_add(q1, q2, q1);
+  glm_vec4_scale(q1, 1.0f / sinTheta, dest);
+}
+
+/*!
+ * @brief creates view matrix using quaternion as camera orientation
+ *
+ * @param[in]   eye   eye
+ * @param[in]   ori   orientation in world space as quaternion
+ * @param[out]  dest  view matrix
+ */
+CGLM_INLINE
+void
+glm_quat_look(vec3 eye, versor ori, mat4 dest) {
+  vec4 t;
+
+  /* orientation */
+  glm_quat_mat4t(ori, dest);
+
+  /* translate */
+  glm_vec4(eye, 1.0f, t);
+  glm_mat4_mulv(dest, t, t);
+  glm_vec_flipsign_to(t, dest[3]);
+}
+
+/*!
+ * @brief creates look rotation quaternion
+ *
+ * @param[in]   dir   direction to look
+ * @param[in]   fwd   forward vector
+ * @param[in]   up    up vector
+ * @param[out]  dest  destination quaternion
+ */
+CGLM_INLINE
+void
+glm_quat_for(vec3 dir, vec3 fwd, vec3 up, versor dest) {
+  vec3  axis;
+  float dot, angle;
+
+  dot = glm_vec_dot(dir, fwd);
+  if (fabsf(dot + 1.0f)  < 0.000001f) {
+    glm_quat_init(dest, up[0], up[1], up[2], CGLM_PI);
+    return;
+  }
+
+  if (fabsf(dot - 1.0f) < 0.000001f) {
+    glm_quat_identity(dest);
+    return;
+  }
+
+  angle = acosf(dot);
+  glm_cross(fwd, dir, axis);
+  glm_normalize(axis);
+
+  glm_quatv(dest, angle, axis);
+}
+
+/*!
+ * @brief creates look rotation quaternion using source and
+ *        destination positions p suffix stands for position
+ *
+ * @param[in]   from  source point
+ * @param[in]   to    destination point
+ * @param[in]   fwd   forward vector
+ * @param[in]   up    up vector
+ * @param[out]  dest  destination quaternion
+ */
+CGLM_INLINE
+void
+glm_quat_forp(vec3 from, vec3 to, vec3 fwd, vec3 up, versor dest) {
+  vec3 dir;
+  glm_vec_sub(to, from, dir);
+  glm_quat_for(dir, fwd, up, dest);
+}
+
+/*!
+ * @brief rotate vector using using quaternion
+ *
+ * @param[in]   q     quaternion
+ * @param[in]   v     vector to rotate
+ * @param[out]  dest  rotated vector
+ */
+CGLM_INLINE
+void
+glm_quat_rotatev(versor q, vec3 v, vec3 dest) {
+  versor p;
+  vec3   u, v1, v2;
+  float  s;
+
+  glm_quat_normalize_to(q, p);
+  glm_quat_imag(p, u);
+  s = glm_quat_real(p);
+
+  glm_vec_scale(u, 2.0f * glm_vec_dot(u, v), v1);
+  glm_vec_scale(v, s * s - glm_vec_dot(u, u), v2);
+  glm_vec_add(v1, v2, v1);
+
+  glm_vec_cross(u, v, v2);
+  glm_vec_scale(v2, 2.0f * s, v2);
+
+  glm_vec_add(v1, v2, dest);
+}
+
+/*!
+ * @brief rotate existing transform matrix using quaternion
+ *
+ * @param[in]   m     existing transform matrix
+ * @param[in]   q     quaternion
+ * @param[out]  dest  rotated matrix/transform
+ */
+CGLM_INLINE
+void
+glm_quat_rotate(mat4 m, versor q, mat4 dest) {
+  mat4 rot;
+  glm_quat_mat4(q, rot);
+  glm_mat4_mul(m, rot, dest);
 }
 
 #endif /* cglm_quat_h */

include/cglm/simd/intrin.h

@@ -30,6 +30,16 @@
 #  define _mm_shuffle2_ps(a, b, z0, y0, x0, w0, z1, y1, x1, w1)                \
      _mm_shuffle1_ps(_mm_shuffle_ps(a, b, _MM_SHUFFLE(z0, y0, x0, w0)),        \
                                     z1, y1, x1, w1)
+
+CGLM_INLINE
+__m128
+glm_simd_dot(__m128 a, __m128 b) {
+  __m128 x0;
+  x0 = _mm_mul_ps(a, b);
+  x0 = _mm_add_ps(x0, _mm_shuffle1_ps(x0, 1, 0, 3, 2));
+  return _mm_add_ps(x0, _mm_shuffle1_ps(x0, 0, 1, 0, 1));
+}
+
 #endif
 
 /* x86, x64 */

include/cglm/simd/sse2/quat.h

@@ -14,56 +14,33 @@
 
 CGLM_INLINE
 void
-glm_quat_slerp_sse2(versor q,
-                    versor r,
-                    float  t,
-                    versor dest) {
-  /* https://en.wikipedia.org/wiki/Slerp */
-  float cosTheta, sinTheta, angle, a, b, c;
+glm_quat_mul_sse2(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
+   */
 
-  __m128 xmm_q;
+  __m128 xp, xq, x0, r;
 
-  xmm_q = _mm_load_ps(q);
+  xp = _mm_load_ps(p); /* 3 2 1 0 */
+  xq = _mm_load_ps(q);
 
-  cosTheta = glm_vec4_dot(q, r);
-  if (cosTheta < 0.0f) {
-    _mm_store_ps(q,
-                 _mm_xor_ps(xmm_q,
-                            _mm_set1_ps(-0.f))) ;
+  r  = _mm_mul_ps(_mm_shuffle1_ps1(xp, 3), xq);
 
-    cosTheta = -cosTheta;
-  }
+  x0 = _mm_xor_ps(_mm_shuffle1_ps1(xp, 0), _mm_set_ps(-0.f, 0.f, -0.f, 0.f));
+  r  = _mm_add_ps(r, _mm_mul_ps(x0, _mm_shuffle1_ps(xq, 0, 1, 2, 3)));
 
-  if (cosTheta >= 1.0f) {
-    _mm_store_ps(dest, xmm_q);
-    return;
-  }
+  x0 = _mm_xor_ps(_mm_shuffle1_ps1(xp, 1), _mm_set_ps(-0.f, -0.f, 0.f, 0.f));
+  r  = _mm_add_ps(r, _mm_mul_ps(x0, _mm_shuffle1_ps(xq, 1, 0, 3, 2)));
 
-  sinTheta = sqrtf(1.0f - cosTheta * cosTheta);
+  x0 = _mm_xor_ps(_mm_shuffle1_ps1(xp, 2), _mm_set_ps(-0.f, 0.f, 0.f, -0.f));
+  r  = _mm_add_ps(r, _mm_mul_ps(x0, _mm_shuffle1_ps(xq, 2, 3, 0, 1)));
 
-  c = 1.0f - t;
-
-  /* LERP */
-  if (sinTheta < 0.001f) {
-    _mm_store_ps(dest, _mm_add_ps(_mm_mul_ps(_mm_set1_ps(c),
-                                             xmm_q),
-                                  _mm_mul_ps(_mm_set1_ps(t),
-                                             _mm_load_ps(r))));
-    return;
-  }
-
-  /* SLERP */
-  angle = acosf(cosTheta);
-  a = sinf(c * angle);
-  b = sinf(t * angle);
-
-  _mm_store_ps(dest,
-               _mm_div_ps(_mm_add_ps(_mm_mul_ps(_mm_set1_ps(a),
-                                                xmm_q),
-                                     _mm_mul_ps(_mm_set1_ps(b),
-                                                _mm_load_ps(r))),
-                          _mm_set1_ps(sinTheta)));
+  _mm_store_ps(dest, r);
 }
 
+
 #endif
 #endif /* cglm_quat_simd_h */

include/cglm/types.h

@@ -14,6 +14,7 @@
 #  define CGLM_ALIGN(X) __attribute((aligned(X)))
 #endif
 
+typedef float vec2[2];
 typedef float vec3[3];
 typedef int  ivec3[3];
 typedef CGLM_ALIGN(16) float vec4[4];

include/cglm/util.h

@@ -21,7 +21,9 @@
 #include "common.h"
 
 /*!
- * @brief get sign of 32 bit integer as +1 or -1
+ * @brief get sign of 32 bit integer as +1, -1, 0
+ *
+ * Important: It returns 0 for zero input
  *
  * @param val integer value
  */
@@ -31,34 +33,129 @@ glm_sign(int val) {
   return ((val >> 31) - (-val >> 31));
 }
 
+/*!
+ * @brief get sign of 32 bit float as +1, -1, 0
+ *
+ * Important: It returns 0 for zero/NaN input
+ *
+ * @param val float value
+ */
+CGLM_INLINE
+float
+glm_signf(float val) {
+  return (float)((val > 0.0f) - (val < 0.0f));
+}
+
+/*!
+ * @brief convert degree to radians
+ *
+ * @param[in] deg angle in degrees
+ */
 CGLM_INLINE
 float
 glm_rad(float deg) {
   return deg * CGLM_PI / 180.0f;
 }
 
+/*!
+ * @brief convert radians to degree
+ *
+ * @param[in] rad angle in radians
+ */
 CGLM_INLINE
 float
 glm_deg(float rad) {
   return rad * 180.0f / CGLM_PI;
 }
 
+/*!
+ * @brief convert exsisting degree to radians. this will override degrees value
+ *
+ * @param[in, out] deg pointer to angle in degrees
+ */
 CGLM_INLINE
 void
 glm_make_rad(float *deg) {
   *deg = *deg * CGLM_PI / 180.0f;
 }
 
+/*!
+ * @brief convert exsisting radians to degree. this will override radians value
+ *
+ * @param[in, out] rad pointer to angle in radians
+ */
 CGLM_INLINE
 void
 glm_make_deg(float *rad) {
   *rad = *rad * 180.0f / CGLM_PI;
 }
 
+/*!
+ * @brief multiplies given parameter with itself = x * x or powf(x, 2)
+ *
+ * @param[in] x x
+ */
 CGLM_INLINE
 float
 glm_pow2(float x) {
+
   return x * x;
 }
 
+/*!
+ * @brief find minimum of given two values
+ *
+ * @param[in] a number 1
+ * @param[in] b number 2
+ */
+CGLM_INLINE
+float
+glm_min(float a, float b) {
+  if (a < b)
+    return a;
+  return b;
+}
+
+/*!
+ * @brief find maximum of given two values
+ *
+ * @param[in] a number 1
+ * @param[in] b number 2
+ */
+CGLM_INLINE
+float
+glm_max(float a, float b) {
+  if (a > b)
+    return a;
+  return b;
+}
+
+/*!
+ * @brief clamp a number between min and max
+ *
+ * @param[in] val    value to clamp
+ * @param[in] minVal minimum value
+ * @param[in] maxVal maximum value
+ */
+CGLM_INLINE
+float
+glm_clamp(float val, float minVal, float maxVal) {
+  return glm_min(glm_max(val, minVal), maxVal);
+}
+
+/*!
+ * @brief linear interpolation between two number
+ *
+ * formula:  from + s * (to - from)
+ *
+ * @param[in]   from from value
+ * @param[in]   to   to value
+ * @param[in]   t    interpolant (amount) clamped between 0 and 1
+ */
+CGLM_INLINE
+float
+glm_lerp(float from, float to, float t) {
+  return from + glm_clamp(t, 0.0f, 1.0f) * (to - from);
+}
+
 #endif /* cglm_util_h */

include/cglm/vec3-ext.h

@@ -14,7 +14,7 @@
    CGLM_INLINE void  glm_vec_mulv(vec3 a, vec3 b, vec3 d);
    CGLM_INLINE void  glm_vec_broadcast(float val, vec3 d);
    CGLM_INLINE bool  glm_vec_eq(vec3 v, float val);
-   CGLM_INLINE bool  glm_vec_eq_eps(vec4 v, float val);
+   CGLM_INLINE bool  glm_vec_eq_eps(vec3 v, float val);
    CGLM_INLINE bool  glm_vec_eq_all(vec3 v);
    CGLM_INLINE bool  glm_vec_eqv(vec3 v1, vec3 v2);
    CGLM_INLINE bool  glm_vec_eqv_eps(vec3 v1, vec3 v2);
@@ -26,6 +26,7 @@
 #define cglm_vec3_ext_h
 
 #include "common.h"
+#include "util.h"
 #include <stdbool.h>
 #include <math.h>
 #include <float.h>
@@ -33,9 +34,9 @@
 /*!
  * @brief multiplies individual items, just for convenient like SIMD
  *
- * @param a vec1
- * @param b vec2
- * @param d vec3 = (v1[0] * v2[0],  v1[1] * v2[1], v1[2] * v2[2])
+ * @param[in]  a vec1
+ * @param[in]  b vec2
+ * @param[out] d vec3 = (v1[0] * v2[0],  v1[1] * v2[1], v1[2] * v2[2])
  */
 CGLM_INLINE
 void
@@ -48,8 +49,8 @@ glm_vec_mulv(vec3 a, vec3 b, vec3 d) {
 /*!
  * @brief fill a vector with specified value
  *
- * @param val value
- * @param d   dest
+ * @param[in]  val value
+ * @param[out] d   dest
  */
 CGLM_INLINE
 void
@@ -60,8 +61,8 @@ glm_vec_broadcast(float val, vec3 d) {
 /*!
  * @brief check if vector is equal to value (without epsilon)
  *
- * @param v   vector
- * @param val value
+ * @param[in] v   vector
+ * @param[in] val value
  */
 CGLM_INLINE
 bool
@@ -72,12 +73,12 @@ glm_vec_eq(vec3 v, float val) {
 /*!
  * @brief check if vector is equal to value (with epsilon)
  *
- * @param v   vector
- * @param val value
+ * @param[in] v   vector
+ * @param[in] val value
  */
 CGLM_INLINE
 bool
-glm_vec_eq_eps(vec4 v, float val) {
+glm_vec_eq_eps(vec3 v, float val) {
   return fabsf(v[0] - val) <= FLT_EPSILON
          && fabsf(v[1] - val) <= FLT_EPSILON
          && fabsf(v[2] - val) <= FLT_EPSILON;
@@ -86,7 +87,7 @@ glm_vec_eq_eps(vec4 v, float val) {
 /*!
  * @brief check if vectors members are equal (without epsilon)
  *
- * @param v   vector
+ * @param[in] v   vector
  */
 CGLM_INLINE
 bool
@@ -97,8 +98,8 @@ glm_vec_eq_all(vec3 v) {
 /*!
  * @brief check if vector is equal to another (without epsilon)
  *
- * @param v1 vector
- * @param v2 vector
+ * @param[in] v1 vector
+ * @param[in] v2 vector
  */
 CGLM_INLINE
 bool
@@ -111,8 +112,8 @@ glm_vec_eqv(vec3 v1, vec3 v2) {
 /*!
  * @brief check if vector is equal to another (with epsilon)
  *
- * @param v1 vector
- * @param v2 vector
+ * @param[in] v1 vector
+ * @param[in] v2 vector
  */
 CGLM_INLINE
 bool
@@ -125,7 +126,7 @@ glm_vec_eqv_eps(vec3 v1, vec3 v2) {
 /*!
  * @brief max value of vector
  *
- * @param v vector
+ * @param[in] v vector
  */
 CGLM_INLINE
 float
@@ -144,7 +145,7 @@ glm_vec_max(vec3 v) {
 /*!
  * @brief min value of vector
  *
- * @param v vector
+ * @param[in] v vector
  */
 CGLM_INLINE
 float
@@ -160,4 +161,69 @@ glm_vec_min(vec3 v) {
   return min;
 }
 
+/*!
+ * @brief check if all items are NaN (not a number)
+ *        you should only use this in DEBUG mode or very critical asserts
+ *
+ * @param[in] v vector
+ */
+CGLM_INLINE
+bool
+glm_vec_isnan(vec3 v) {
+  return isnan(v[0]) || isnan(v[1]) || isnan(v[2]);
+}
+
+/*!
+ * @brief check if all items are INFINITY
+ *        you should only use this in DEBUG mode or very critical asserts
+ *
+ * @param[in] v vector
+ */
+CGLM_INLINE
+bool
+glm_vec_isinf(vec3 v) {
+  return isinf(v[0]) || isinf(v[1]) || isinf(v[2]);
+}
+
+/*!
+ * @brief check if all items are valid number
+ *        you should only use this in DEBUG mode or very critical asserts
+ *
+ * @param[in] v vector
+ */
+CGLM_INLINE
+bool
+glm_vec_isvalid(vec3 v) {
+  return !glm_vec_isnan(v) && !glm_vec_isinf(v);
+}
+
+/*!
+ * @brief get sign of 32 bit float as +1, -1, 0
+ *
+ * Important: It returns 0 for zero/NaN input
+ *
+ * @param v vector
+ */
+CGLM_INLINE
+void
+glm_vec_sign(vec3 v, vec3 dest) {
+  dest[0] = glm_signf(v[0]);
+  dest[1] = glm_signf(v[1]);
+  dest[2] = glm_signf(v[2]);
+}
+
+/*!
+ * @brief square root of each vector item
+ *
+ * @param[in]  v    vector
+ * @param[out] dest destination vector
+ */
+CGLM_INLINE
+void
+glm_vec_sqrt(vec3 v, vec3 dest) {
+  dest[0] = sqrtf(v[0]);
+  dest[1] = sqrtf(v[1]);
+  dest[2] = sqrtf(v[2]);
+}
+
 #endif /* cglm_vec3_ext_h */

include/cglm/vec3.h

@@ -14,12 +14,15 @@
  Macros:
    glm_vec_dup(v, dest)
    GLM_VEC3_ONE_INIT
+   GLM_VEC3_ZERO_INIT
    GLM_VEC3_ONE
+   GLM_VEC3_ZERO
    GLM_YUP
    GLM_ZUP
    GLM_XUP
 
  Functions:
+   CGLM_INLINE void  glm_vec3(vec4 v4, vec3 dest);
    CGLM_INLINE void  glm_vec_copy(vec3 a, vec3 dest);
    CGLM_INLINE float glm_vec_dot(vec3 a, vec3 b);
    CGLM_INLINE void  glm_vec_cross(vec3 a, vec3 b, vec3 d);
@@ -42,6 +45,14 @@
    CGLM_INLINE void  glm_vec_center(vec3 v1, vec3 v2, vec3 dest);
    CGLM_INLINE void  glm_vec_maxv(vec3 v1, vec3 v2, vec3 dest);
    CGLM_INLINE void  glm_vec_minv(vec3 v1, vec3 v2, vec3 dest);
+   CGLM_INLINE void  glm_vec_ortho(vec3 v, vec3 dest);
+   CGLM_INLINE void  glm_vec_clamp(vec3 v, float minVal, float maxVal);
+
+ Convenient:
+   CGLM_INLINE void  glm_cross(vec3 a, vec3 b, vec3 d);
+   CGLM_INLINE float glm_dot(vec3 a, vec3 b);
+   CGLM_INLINE void  glm_normalize(vec3 v);
+   CGLM_INLINE void  glm_normalize_to(vec3 v, vec3 dest);
  */
 
 #ifndef cglm_vec3_h
@@ -54,12 +65,29 @@
 /* DEPRECATED! use _copy, _ucopy versions */
 #define glm_vec_dup(v, dest) glm_vec_copy(v, dest)
 
-#define GLM_VEC3_ONE_INIT  {1.0f, 1.0f, 1.0f}
-#define GLM_VEC3_ONE  (vec3)GLM_VEC3_ONE_INIT
+#define GLM_VEC3_ONE_INIT   {1.0f, 1.0f, 1.0f}
+#define GLM_VEC3_ZERO_INIT  {0.0f, 0.0f, 0.0f}
 
-#define GLM_YUP  (vec3){0.0f, 1.0f, 0.0f}
-#define GLM_ZUP  (vec3){0.0f, 0.0f, 1.0f}
-#define GLM_XUP  (vec3){1.0f, 0.0f, 0.0f}
+#define GLM_VEC3_ONE  ((vec3)GLM_VEC3_ONE_INIT)
+#define GLM_VEC3_ZERO ((vec3)GLM_VEC3_ZERO_INIT)
+
+#define GLM_YUP  ((vec3){0.0f, 1.0f, 0.0f})
+#define GLM_ZUP  ((vec3){0.0f, 0.0f, 1.0f})
+#define GLM_XUP  ((vec3){1.0f, 0.0f, 0.0f})
+
+/*!
+ * @brief init vec3 using vec4
+ *
+ * @param[in]  v4   vector4
+ * @param[out] dest destination
+ */
+CGLM_INLINE
+void
+glm_vec3(vec4 v4, vec3 dest) {
+  dest[0] = v4[0];
+  dest[1] = v4[1];
+  dest[2] = v4[2];
+}
 
 /*!
  * @brief copy all members of [a] to [dest]
@@ -108,8 +136,8 @@ glm_vec_cross(vec3 a, vec3 b, vec3 d) {
 /*!
  * @brief norm * norm (magnitude) of vec
  *
- * we can use this func instead of calling norm * norm, because it would call 
- * sqrtf fuction twice but with this func we can avoid func call, maybe this is 
+ * we can use this func instead of calling norm * norm, because it would call
+ * sqrtf fuction twice but with this func we can avoid func call, maybe this is
  * not good name for this func
  *
  * @param[in] v vector
@@ -119,7 +147,7 @@ glm_vec_cross(vec3 a, vec3 b, vec3 d) {
 CGLM_INLINE
 float
 glm_vec_norm2(vec3 v) {
-  return v[0] * v[0] + v[1] * v[1] + v[2] * v[2];
+  return glm_vec_dot(v, v);
 }
 
 /*!
@@ -214,6 +242,20 @@ glm_vec_flipsign(vec3 v) {
   v[2] = -v[2];
 }
 
+/*!
+ * @brief flip sign of all vec3 members and store result in dest
+ *
+ * @param[in]   v     vector
+ * @param[out]  dest  result vector
+ */
+CGLM_INLINE
+void
+glm_vec_flipsign_to(vec3 v, vec3 dest) {
+  dest[0] = -v[0];
+  dest[1] = -v[1];
+  dest[2] = -v[2];
+}
+
 /*!
  * @brief make vector as inverse/opposite of itself
  *
@@ -282,24 +324,21 @@ glm_vec_normalize_to(vec3 vec, vec3 dest) {
 /*!
  * @brief angle betwen two vector
  *
+ * @param[in] v1  vector1
+ * @param[in] v2  vector2
+ *
  * @return angle as radians
  */
 CGLM_INLINE
 float
 glm_vec_angle(vec3 v1, vec3 v2) {
   float norm;
-  
+
   /* maybe compiler generate approximation instruction (rcp) */
   norm = 1.0f / (glm_vec_norm(v1) * glm_vec_norm(v2));
   return acosf(glm_vec_dot(v1, v2) * norm);
 }
 
-CGLM_INLINE
-void
-glm_quatv(versor q,
-          float  angle,
-          vec3   v);
-
 /*!
  * @brief rotate vec3 around axis by angle using Rodrigues' rotation formula
  *
@@ -310,31 +349,26 @@ glm_quatv(versor q,
 CGLM_INLINE
 void
 glm_vec_rotate(vec3 v, float angle, vec3 axis) {
-  versor q;
-  vec3   v1, v2, v3;
+  vec3   v1, v2, k;
   float  c, s;
 
   c = cosf(angle);
   s = sinf(angle);
 
+  glm_vec_normalize_to(axis, k);
+
   /* Right Hand, Rodrigues' rotation formula:
         v = v*cos(t) + (kxv)sin(t) + k*(k.v)(1 - cos(t))
    */
-
-  /* quaternion */
-  glm_quatv(q, angle, v);
-
   glm_vec_scale(v, c, v1);
 
-  glm_vec_cross(axis, v, v2);
+  glm_vec_cross(k, v, v2);
   glm_vec_scale(v2, s, v2);
 
-  glm_vec_scale(axis,
-                glm_vec_dot(axis, v) * (1.0f - c),
-                v3);
-
   glm_vec_add(v1, v2, v1);
-  glm_vec_add(v1, v3, v);
+
+  glm_vec_scale(k, glm_vec_dot(k, v) * (1.0f - c), v2);
+  glm_vec_add(v1, v2, v);
 }
 
 /*!
@@ -400,8 +434,8 @@ CGLM_INLINE
 float
 glm_vec_distance(vec3 v1, vec3 v2) {
   return sqrtf(glm_pow2(v2[0] - v1[0])
-               + glm_pow2(v2[1] - v1[1])
-               + glm_pow2(v2[2] - v1[2]));
+             + glm_pow2(v2[1] - v1[1])
+             + glm_pow2(v2[2] - v1[2]));
 }
 
 /*!
@@ -414,20 +448,9 @@ glm_vec_distance(vec3 v1, vec3 v2) {
 CGLM_INLINE
 void
 glm_vec_maxv(vec3 v1, vec3 v2, vec3 dest) {
-  if (v1[0] > v2[0])
-    dest[0] = v1[0];
-  else
-    dest[0] = v2[0];
-
-  if (v1[1] > v2[1])
-    dest[1] = v1[1];
-  else
-    dest[1] = v2[1];
-
-  if (v1[2] > v2[2])
-    dest[2] = v1[2];
-  else
-    dest[2] = v2[2];
+  dest[0] = glm_max(v1[0], v2[0]);
+  dest[1] = glm_max(v1[1], v2[1]);
+  dest[2] = glm_max(v1[2], v2[2]);
 }
 
 /*!
@@ -440,20 +463,118 @@ glm_vec_maxv(vec3 v1, vec3 v2, vec3 dest) {
 CGLM_INLINE
 void
 glm_vec_minv(vec3 v1, vec3 v2, vec3 dest) {
-  if (v1[0] < v2[0])
-    dest[0] = v1[0];
-  else
-    dest[0] = v2[0];
+  dest[0] = glm_min(v1[0], v2[0]);
+  dest[1] = glm_min(v1[1], v2[1]);
+  dest[2] = glm_min(v1[2], v2[2]);
+}
 
-  if (v1[1] < v2[1])
-    dest[1] = v1[1];
-  else
-    dest[1] = v2[1];
+/*!
+ * @brief possible orthogonal/perpendicular vector
+ *
+ * @param[in]  v    vector
+ * @param[out] dest orthogonal/perpendicular vector
+ */
+CGLM_INLINE
+void
+glm_vec_ortho(vec3 v, vec3 dest) {
+  dest[0] = v[1] - v[2];
+  dest[1] = v[2] - v[0];
+  dest[2] = v[0] - v[1];
+}
 
-  if (v1[2] < v2[2])
-    dest[2] = v1[2];
-  else
-    dest[2] = v2[2];
+/*!
+ * @brief clamp vector's individual members between min and max values
+ *
+ * @param[in, out]  v      vector
+ * @param[in]       minVal minimum value
+ * @param[in]       maxVal maximum value
+ */
+CGLM_INLINE
+void
+glm_vec_clamp(vec3 v, float minVal, float maxVal) {
+  v[0] = glm_clamp(v[0], minVal, maxVal);
+  v[1] = glm_clamp(v[1], minVal, maxVal);
+  v[2] = glm_clamp(v[2], minVal, maxVal);
+}
+
+/*!
+ * @brief linear interpolation between two vector
+ *
+ * formula:  from + s * (to - from)
+ *
+ * @param[in]   from from value
+ * @param[in]   to   to value
+ * @param[in]   t    interpolant (amount) clamped between 0 and 1
+ * @param[out]  dest destination
+ */
+CGLM_INLINE
+void
+glm_vec_lerp(vec3 from, vec3 to, float t, vec3 dest) {
+  vec3 s, v;
+
+  /* from + s * (to - from) */
+  glm_vec_broadcast(glm_clamp(t, 0.0f, 1.0f), s);
+  glm_vec_sub(to, from, v);
+  glm_vec_mulv(s, v, v);
+  glm_vec_add(from, v, dest);
+}
+
+/*!
+ * @brief vec3 cross product
+ *
+ * this is just convenient wrapper
+ *
+ * @param[in]  a source 1
+ * @param[in]  b source 2
+ * @param[out] d destination
+ */
+CGLM_INLINE
+void
+glm_cross(vec3 a, vec3 b, vec3 d) {
+  glm_vec_cross(a, b, d);
+}
+
+/*!
+ * @brief vec3 dot product
+ *
+ * this is just convenient wrapper
+ *
+ * @param[in] a vector1
+ * @param[in] b vector2
+ *
+ * @return dot product
+ */
+CGLM_INLINE
+float
+glm_dot(vec3 a, vec3 b) {
+  return glm_vec_dot(a, b);
+}
+
+/*!
+ * @brief normalize vec3 and store result in same vec
+ *
+ * this is just convenient wrapper
+ *
+ * @param[in, out] v vector
+ */
+CGLM_INLINE
+void
+glm_normalize(vec3 v) {
+  glm_vec_normalize(v);
+}
+
+/*!
+ * @brief normalize vec3 to dest
+ *
+ * this is just convenient wrapper
+ *
+ * @param[in]  v    source
+ * @param[out] dest destination
+ */
+CGLM_INLINE
+void
+glm_normalize_to(vec3 v, vec3 dest) {
+  glm_vec_normalize_to(v, dest);
 }
 
 #endif /* cglm_vec3_h */

include/cglm/vec4-ext.h

@@ -17,7 +17,7 @@
    CGLM_INLINE bool  glm_vec4_eq_eps(vec4 v, float val);
    CGLM_INLINE bool  glm_vec4_eq_all(vec4 v);
    CGLM_INLINE bool  glm_vec4_eqv(vec4 v1, vec4 v2);
-   CGLM_INLINE bool  glm_vec4_eqv_eps(vec3 v1, vec3 v2);
+   CGLM_INLINE bool  glm_vec4_eqv_eps(vec4 v1, vec4 v2);
    CGLM_INLINE float glm_vec4_max(vec4 v);
    CGLM_INLINE float glm_vec4_min(vec4 v);
  */
@@ -133,7 +133,7 @@ glm_vec4_eqv(vec4 v1, vec4 v2) {
  */
 CGLM_INLINE
 bool
-glm_vec4_eqv_eps(vec3 v1, vec3 v2) {
+glm_vec4_eqv_eps(vec4 v1, vec4 v2) {
   return fabsf(v1[0] - v2[0]) <= FLT_EPSILON
          && fabsf(v1[1] - v2[1]) <= FLT_EPSILON
          && fabsf(v1[2] - v2[2]) <= FLT_EPSILON
@@ -174,5 +174,88 @@ glm_vec4_min(vec4 v) {
   return min;
 }
 
-#endif /* cglm_vec4_ext_h */
+/*!
+ * @brief check if one of items is NaN (not a number)
+ *        you should only use this in DEBUG mode or very critical asserts
+ *
+ * @param[in] v vector
+ */
+CGLM_INLINE
+bool
+glm_vec4_isnan(vec4 v) {
+  return isnan(v[0]) || isnan(v[1]) || isnan(v[2]) || isnan(v[3]);
+}
 
+/*!
+ * @brief check if one of items is INFINITY
+ *        you should only use this in DEBUG mode or very critical asserts
+ *
+ * @param[in] v vector
+ */
+CGLM_INLINE
+bool
+glm_vec4_isinf(vec4 v) {
+  return isinf(v[0]) || isinf(v[1]) || isinf(v[2]) || isinf(v[3]);
+}
+
+/*!
+ * @brief check if all items are valid number
+ *        you should only use this in DEBUG mode or very critical asserts
+ *
+ * @param[in] v vector
+ */
+CGLM_INLINE
+bool
+glm_vec4_isvalid(vec4 v) {
+  return !glm_vec4_isnan(v) && !glm_vec4_isinf(v);
+}
+
+/*!
+ * @brief get sign of 32 bit float as +1, -1, 0
+ *
+ * Important: It returns 0 for zero/NaN input
+ *
+ * @param v vector
+ */
+CGLM_INLINE
+void
+glm_vec4_sign(vec4 v, vec4 dest) {
+#if defined( __SSE2__ ) || defined( __SSE2__ )
+  __m128 x0, x1, x2, x3, x4;
+
+  x0 = _mm_load_ps(v);
+  x1 = _mm_set_ps(0.0f, 0.0f, 1.0f, -1.0f);
+  x2 = _mm_shuffle1_ps1(x1, 2);
+
+  x3 = _mm_and_ps(_mm_cmpgt_ps(x0, x2), _mm_shuffle1_ps1(x1, 1));
+  x4 = _mm_and_ps(_mm_cmplt_ps(x0, x2), _mm_shuffle1_ps1(x1, 0));
+
+  _mm_store_ps(dest, _mm_or_ps(x3, x4));
+#else
+  dest[0] = glm_signf(v[0]);
+  dest[1] = glm_signf(v[1]);
+  dest[2] = glm_signf(v[2]);
+  dest[3] = glm_signf(v[3]);
+#endif
+}
+
+/*!
+ * @brief square root of each vector item
+ *
+ * @param[in]  v    vector
+ * @param[out] dest destination vector
+ */
+CGLM_INLINE
+void
+glm_vec4_sqrt(vec4 v, vec4 dest) {
+#if defined( __SSE__ ) || defined( __SSE2__ )
+  _mm_store_ps(dest, _mm_sqrt_ps(_mm_load_ps(v)));
+#else
+  dest[0] = sqrtf(v[0]);
+  dest[1] = sqrtf(v[1]);
+  dest[2] = sqrtf(v[2]);
+  dest[3] = sqrtf(v[3]);
+#endif
+}
+
+#endif /* cglm_vec4_ext_h */

include/cglm/vec4.h

@@ -16,10 +16,13 @@
    glm_vec4_dup(v, dest)
    GLM_VEC4_ONE_INIT
    GLM_VEC4_BLACK_INIT
+   GLM_VEC4_ZERO_INIT
    GLM_VEC4_ONE
    GLM_VEC4_BLACK
- 
+   GLM_VEC4_ZERO
+
  Functions:
+   CGLM_INLINE void  glm_vec4(vec3 v3, float last, vec4 dest);
    CGLM_INLINE void  glm_vec4_copy3(vec4 a, vec3 dest);
    CGLM_INLINE void  glm_vec4_copy(vec4 v, vec4 dest);
    CGLM_INLINE float glm_vec4_dot(vec4 a, vec4 b);
@@ -37,6 +40,7 @@
    CGLM_INLINE float glm_vec4_distance(vec4 v1, vec4 v2);
    CGLM_INLINE void  glm_vec4_maxv(vec4 v1, vec4 v2, vec4 dest);
    CGLM_INLINE void  glm_vec4_minv(vec4 v1, vec4 v2, vec4 dest);
+   CGLM_INLINE void  glm_vec4_clamp(vec4 v, float minVal, float maxVal);
  */
 
 #ifndef cglm_vec4_h
@@ -52,9 +56,27 @@
 
 #define GLM_VEC4_ONE_INIT   {1.0f, 1.0f, 1.0f, 1.0f}
 #define GLM_VEC4_BLACK_INIT {0.0f, 0.0f, 0.0f, 1.0f}
+#define GLM_VEC4_ZERO_INIT  {0.0f, 0.0f, 0.0f, 0.0f}
 
-#define GLM_VEC4_ONE        (vec4)GLM_VEC4_ONE_INIT
-#define GLM_VEC4_BLACK      (vec4)GLM_VEC4_BLACK_INIT
+#define GLM_VEC4_ONE        ((vec4)GLM_VEC4_ONE_INIT)
+#define GLM_VEC4_BLACK      ((vec4)GLM_VEC4_BLACK_INIT)
+#define GLM_VEC4_ZERO       ((vec4)GLM_VEC4_ZERO_INIT)
+
+/*!
+ * @brief init vec4 using vec3
+ *
+ * @param[in]  v3   vector3
+ * @param[in]  last last item
+ * @param[out] dest destination
+ */
+CGLM_INLINE
+void
+glm_vec4(vec3 v3, float last, vec4 dest) {
+  dest[0] = v3[0];
+  dest[1] = v3[1];
+  dest[2] = v3[2];
+  dest[3] = last;
+}
 
 /*!
  * @brief copy first 3 members of [a] to [dest]
@@ -100,7 +122,14 @@ glm_vec4_copy(vec4 v, vec4 dest) {
 CGLM_INLINE
 float
 glm_vec4_dot(vec4 a, vec4 b) {
+#if defined( __SSE__ ) || defined( __SSE2__ )
+  __m128 x0;
+  x0 = _mm_mul_ps(_mm_load_ps(a), _mm_load_ps(b));
+  x0 = _mm_add_ps(x0, _mm_shuffle1_ps(x0, 1, 0, 3, 2));
+  return _mm_cvtss_f32(_mm_add_ss(x0, _mm_shuffle1_ps(x0, 0, 1, 0, 1)));
+#else
   return a[0] * b[0] + a[1] * b[1] + a[2] * b[2] + a[3] * b[3];
+#endif
 }
 
 /*!
@@ -117,7 +146,7 @@ glm_vec4_dot(vec4 a, vec4 b) {
 CGLM_INLINE
 float
 glm_vec4_norm2(vec4 v) {
-  return v[0] * v[0] + v[1] * v[1] + v[2] * v[2] + v[3] * v[3];
+  return glm_vec4_dot(v, v);
 }
 
 /*!
@@ -239,6 +268,26 @@ glm_vec4_flipsign(vec4 v) {
 #endif
 }
 
+/*!
+ * @brief flip sign of all vec4 members and store result in dest
+ *
+ * @param[in]  v     vector
+ * @param[out] dest  vector
+ */
+CGLM_INLINE
+void
+glm_vec4_flipsign_to(vec4 v, vec4 dest) {
+#if defined( __SSE__ ) || defined( __SSE2__ )
+  _mm_store_ps(dest, _mm_xor_ps(_mm_load_ps(v),
+                                _mm_set1_ps(-0.0f)));
+#else
+  dest[0] = -v[0];
+  dest[1] = -v[1];
+  dest[2] = -v[2];
+  dest[3] = -v[3];
+#endif
+}
+
 /*!
  * @brief make vector as inverse/opposite of itself
  *
@@ -315,9 +364,9 @@ CGLM_INLINE
 float
 glm_vec4_distance(vec4 v1, vec4 v2) {
   return sqrtf(glm_pow2(v2[0] - v1[0])
-               + glm_pow2(v2[1] - v1[1])
-               + glm_pow2(v2[2] - v1[2])
-               + glm_pow2(v2[3] - v1[3]));
+             + glm_pow2(v2[1] - v1[1])
+             + glm_pow2(v2[2] - v1[2])
+             + glm_pow2(v2[3] - v1[3]));
 }
 
 /*!
@@ -330,25 +379,10 @@ glm_vec4_distance(vec4 v1, vec4 v2) {
 CGLM_INLINE
 void
 glm_vec4_maxv(vec4 v1, vec4 v2, vec4 dest) {
-  if (v1[0] > v2[0])
-    dest[0] = v1[0];
-  else
-    dest[0] = v2[0];
-
-  if (v1[1] > v2[1])
-    dest[1] = v1[1];
-  else
-    dest[1] = v2[1];
-
-  if (v1[2] > v2[2])
-    dest[2] = v1[2];
-  else
-    dest[2] = v2[2];
-
-  if (v1[3] > v2[3])
-    dest[3] = v1[3];
-  else
-    dest[3] = v2[3];
+  dest[0] = glm_max(v1[0], v2[0]);
+  dest[1] = glm_max(v1[1], v2[1]);
+  dest[2] = glm_max(v1[2], v2[2]);
+  dest[3] = glm_max(v1[3], v2[3]);
 }
 
 /*!
@@ -361,25 +395,48 @@ glm_vec4_maxv(vec4 v1, vec4 v2, vec4 dest) {
 CGLM_INLINE
 void
 glm_vec4_minv(vec4 v1, vec4 v2, vec4 dest) {
-  if (v1[0] < v2[0])
-    dest[0] = v1[0];
-  else
-    dest[0] = v2[0];
+  dest[0] = glm_min(v1[0], v2[0]);
+  dest[1] = glm_min(v1[1], v2[1]);
+  dest[2] = glm_min(v1[2], v2[2]);
+  dest[3] = glm_min(v1[3], v2[3]);
+}
 
-  if (v1[1] < v2[1])
-    dest[1] = v1[1];
-  else
-    dest[1] = v2[1];
+/*!
+ * @brief clamp vector's individual members between min and max values
+ *
+ * @param[in, out]  v      vector
+ * @param[in]       minVal minimum value
+ * @param[in]       maxVal maximum value
+ */
+CGLM_INLINE
+void
+glm_vec4_clamp(vec4 v, float minVal, float maxVal) {
+  v[0] = glm_clamp(v[0], minVal, maxVal);
+  v[1] = glm_clamp(v[1], minVal, maxVal);
+  v[2] = glm_clamp(v[2], minVal, maxVal);
+  v[3] = glm_clamp(v[3], minVal, maxVal);
+}
 
-  if (v1[2] < v2[2])
-    dest[2] = v1[2];
-  else
-    dest[2] = v2[2];
+/*!
+ * @brief linear interpolation between two vector
+ *
+ * formula:  from + s * (to - from)
+ *
+ * @param[in]   from from value
+ * @param[in]   to   to value
+ * @param[in]   t    interpolant (amount) clamped between 0 and 1
+ * @param[out]  dest destination
+ */
+CGLM_INLINE
+void
+glm_vec4_lerp(vec4 from, vec4 to, float t, vec4 dest) {
+  vec4 s, v;
 
-  if (v1[3] < v2[3])
-    dest[3] = v1[3];
-  else
-    dest[3] = v2[3];
+  /* from + s * (to - from) */
+  glm_vec4_broadcast(glm_clamp(t, 0.0f, 1.0f), s);
+  glm_vec4_sub(to, from, v);
+  glm_vec4_mulv(s, v, v);
+  glm_vec4_add(from, v, dest);
 }
 
 #endif /* cglm_vec4_h */

include/cglm/version.h

@@ -9,7 +9,7 @@
 #define cglm_version_h
 
 #define CGLM_VERSION_MAJOR 0
-#define CGLM_VERSION_MINOR 3
-#define CGLM_VERSION_PATCH 3
+#define CGLM_VERSION_MINOR 4
+#define CGLM_VERSION_PATCH 0
 
 #endif /* cglm_version_h */

makefile.am

@@ -13,7 +13,7 @@ AM_CFLAGS = -Wall \
             -O3 \
             -Wstrict-aliasing=2 \
             -fstrict-aliasing \
-            -Wpedantic
+            -pedantic
 
 lib_LTLIBRARIES = libcglm.la
 libcglm_la_LDFLAGS = -no-undefined -version-info 0:1:0
@@ -50,7 +50,11 @@ cglm_HEADERS = include/cglm/version.h \
                   include/cglm/euler.h \
                   include/cglm/util.h \
                   include/cglm/quat.h \
-                  include/cglm/affine-mat.h
+                  include/cglm/affine-mat.h \
+                  include/cglm/plane.h \
+                  include/cglm/frustum.h \
+                  include/cglm/box.h \
+                  include/cglm/color.h
 
 cglm_calldir=$(includedir)/cglm/call
 cglm_call_HEADERS = include/cglm/call/mat4.h \
@@ -61,7 +65,10 @@ cglm_call_HEADERS = include/cglm/call/mat4.h \
                     include/cglm/call/io.h \
                     include/cglm/call/cam.h \
                     include/cglm/call/quat.h \
-                    include/cglm/call/euler.h
+                    include/cglm/call/euler.h \
+                    include/cglm/call/plane.h \
+                    include/cglm/call/frustum.h \
+                    include/cglm/call/box.h
 
 cglm_simddir=$(includedir)/cglm/simd
 cglm_simd_HEADERS = include/cglm/simd/intrin.h
@@ -88,12 +95,22 @@ libcglm_la_SOURCES=\
     src/vec3.c \
     src/vec4.c \
     src/mat3.c \
-    src/mat4.c
+    src/mat4.c \
+    src/plane.c \
+    src/frustum.c \
+    src/box.c \
+    src/project.c
 
 test_tests_SOURCES=\
     test/src/test_common.c \
     test/src/test_main.c \
-    test/src/test_mat4.c
+    test/src/test_mat4.c \
+    test/src/test_cam.c \
+    test/src/test_project.c \
+    test/src/test_clamp.c \
+    test/src/test_euler.c \
+    test/src/test_quat.c \
+    test/src/test_vec4.c
 
 all-local:
 	sh ./post-build.sh

src/box.c

@@ -0,0 +1,36 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), http://opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+#include "../include/cglm/cglm.h"
+#include "../include/cglm/call.h"
+
+CGLM_EXPORT
+void
+glmc_aabb_transform(vec3 box[2], mat4 m, vec3 dest[2]) {
+  glm_aabb_transform(box, m, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_aabb_merge(vec3 box1[2], vec3 box2[2], vec3 dest[2]) {
+  glm_aabb_merge(box1, box2, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_aabb_crop(vec3 box[2], vec3 cropBox[2], vec3 dest[2]) {
+  glm_aabb_crop(box, cropBox, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_aabb_crop_until(vec3 box[2],
+                     vec3 cropBox[2],
+                     vec3 clampBox[2],
+                     vec3 dest[2]) {
+  glm_aabb_crop_until(box, cropBox, clampBox, dest);
+}

src/cam.c

@@ -66,3 +66,15 @@ glmc_lookat(vec3 eye,
             mat4 dest) {
   glm_lookat(eye, center, up, dest);
 }
+
+CGLM_EXPORT
+void
+glmc_look(vec3 eye, vec3 dir, vec3 up, mat4 dest) {
+  glm_look(eye, dir, up, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_look_anyup(vec3 eye, vec3 dir, mat4 dest) {
+  glm_look_anyup(eye, dir, dest);
+}

src/euler.c

@@ -20,6 +20,12 @@ glmc_euler(vec3 angles, mat4 dest) {
   glm_euler(angles, dest);
 }
 
+CGLM_EXPORT
+void
+glmc_euler_xyz(vec3 angles,  mat4 dest) {
+  glm_euler_xyz(angles, dest);
+}
+
 CGLM_EXPORT
 void
 glmc_euler_zyx(vec3 angles,  mat4 dest) {

src/frustum.c

@@ -0,0 +1,42 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), http://opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+#include "../include/cglm/cglm.h"
+#include "../include/cglm/call.h"
+
+CGLM_EXPORT
+void
+glmc_frustum_planes(mat4 m, vec4 dest[6]) {
+  glm_frustum_planes(m, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_frustum_corners(mat4 invMat, vec4 dest[8]) {
+  glm_frustum_corners(invMat, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_frustum_center(vec4 corners[8], vec4 dest) {
+  glm_frustum_center(corners, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_frustum_box(vec4 corners[8], mat4 m, vec3 box[2]) {
+  glm_frustum_box(corners, m, box);
+}
+
+CGLM_EXPORT
+void
+glmc_frustum_corners_at(vec4  corners[8],
+                        float splitDist,
+                        float farDist,
+                        vec4  planeCorners[4]) {
+  glm_frustum_corners_at(corners, splitDist, farDist, planeCorners);
+}

src/mat4.c

@@ -52,7 +52,7 @@ glmc_mat4_mul(mat4 m1, mat4 m2, mat4 dest) {
 
 CGLM_EXPORT
 void
-glmc_mat4_mulN(mat4 * __restrict matrices[], int len, mat4 dest) {
+glmc_mat4_mulN(mat4 * __restrict matrices[], uint32_t len, mat4 dest) {
   glm_mat4_mulN(matrices, len, dest);
 }
 
@@ -62,6 +62,12 @@ glmc_mat4_mulv(mat4 m, vec4 v, vec4 dest) {
   glm_mat4_mulv(m, v, dest);
 }
 
+CGLM_EXPORT
+void
+glmc_mat4_quat(mat4 m, versor dest) {
+  glm_mat4_quat(m, dest);
+}
+
 CGLM_EXPORT
 void
 glmc_mat4_transpose_to(mat4 m, mat4 dest) {

src/plane.c

@@ -0,0 +1,15 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), http://opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+#include "../include/cglm/cglm.h"
+#include "../include/cglm/call.h"
+
+CGLM_EXPORT
+void
+glmc_plane_normalize(vec4 plane) {
+  glm_plane_normalize(plane);
+}

src/project.c

@@ -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
+ */
+
+#include "../include/cglm/cglm.h"
+#include "../include/cglm/call.h"
+
+CGLM_EXPORT
+void
+glmc_unprojecti(vec3 pos, mat4 invMat, vec4 vp, vec3 dest) {
+  glm_unprojecti(pos, invMat, vp, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_unproject(vec3 pos, mat4 m, vec4 vp, vec3 dest) {
+  glm_unproject(pos, m, vp, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_project(vec3 pos, mat4 m, vec4 vp, vec3 dest) {
+  glm_project(pos, m, vp, dest);
+}

src/quat.c

@@ -8,6 +8,7 @@
 #include "../include/cglm/cglm.h"
 #include "../include/cglm/call.h"
 
+
 CGLM_EXPORT
 void
 glmc_quat_identity(versor q) {
@@ -16,20 +17,26 @@ glmc_quat_identity(versor q) {
 
 CGLM_EXPORT
 void
-glmc_quat(versor q,
-               float angle,
-               float x,
-               float y,
-               float z) {
+glmc_quat_init(versor q, float x, float y, float z, float w) {
+  glm_quat_init(q, x, y, z, w);
+}
+
+CGLM_EXPORT
+void
+glmc_quat(versor q, float angle, float x, float y, float z) {
   glm_quat(q, angle, x, y, z);
 }
 
 CGLM_EXPORT
 void
-glmc_quatv(versor q,
-           float  angle,
-           vec3   v) {
-  glm_quatv(q, angle, v);
+glmc_quatv(versor q, float angle, vec3 axis) {
+  glm_quatv(q, angle, axis);
+}
+
+CGLM_EXPORT
+void
+glmc_quat_copy(versor q, versor dest) {
+  glm_quat_copy(q, dest);
 }
 
 CGLM_EXPORT
@@ -40,20 +47,86 @@ glmc_quat_norm(versor q) {
 
 CGLM_EXPORT
 void
-glmc_quat_normalize(versor q) {
-  glm_quat_normalize(q);
-}
-
-CGLM_EXPORT
-float
-glmc_quat_dot(versor q, versor r) {
-  return glm_quat_dot(q, r);
+glmc_quat_normalize_to(versor q, versor dest) {
+  glm_quat_normalize_to(q, dest);
 }
 
 CGLM_EXPORT
 void
-glmc_quat_mulv(versor q1, versor q2, versor dest) {
-  glm_quat_mulv(q1, q2, dest);
+glmc_quat_normalize(versor q) {
+  glm_quat_norm(q);
+}
+
+CGLM_EXPORT
+float
+glmc_quat_dot(versor p, versor q) {
+  return glm_quat_dot(p, q);
+}
+
+CGLM_EXPORT
+void
+glmc_quat_conjugate(versor q, versor dest) {
+  glm_quat_conjugate(q, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_quat_inv(versor q, versor dest) {
+  glm_quat_inv(q, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_quat_add(versor p, versor q, versor dest) {
+  glm_quat_add(p, q, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_quat_sub(versor p, versor q, versor dest) {
+  glm_quat_sub(p, q, dest);
+}
+
+CGLM_EXPORT
+float
+glmc_quat_real(versor q) {
+  return glm_quat_real(q);
+}
+
+CGLM_EXPORT
+void
+glmc_quat_imag(versor q, vec3 dest) {
+  glm_quat_imag(q, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_quat_imagn(versor q, vec3 dest) {
+  glm_quat_imagn(q, dest);
+}
+
+CGLM_EXPORT
+float
+glmc_quat_imaglen(versor q) {
+  return glm_quat_imaglen(q);
+}
+
+CGLM_EXPORT
+float
+glmc_quat_angle(versor q) {
+  return glm_quat_angle(q);
+}
+
+CGLM_EXPORT
+void
+glmc_quat_axis(versor q, versor dest) {
+  glm_quat_axis(q, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_quat_mul(versor p, versor q, versor dest) {
+  glm_quat_mul(p, q, dest);
 }
 
 CGLM_EXPORT
@@ -64,9 +137,60 @@ glmc_quat_mat4(versor q, mat4 dest) {
 
 CGLM_EXPORT
 void
-glmc_quat_slerp(versor q,
-                versor r,
-                float  t,
-                versor dest) {
-  glm_quat_slerp(q, r, t, dest);
+glmc_quat_mat4t(versor q, mat4 dest) {
+  glm_quat_mat4t(q, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_quat_mat3(versor q, mat3 dest) {
+  glm_quat_mat3(q, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_quat_mat3t(versor q, mat3 dest) {
+  glm_quat_mat3t(q, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_quat_lerp(versor from, versor to, float t, versor dest) {
+  glm_quat_lerp(from, to, t, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_quat_slerp(versor from, versor to, float t, versor dest) {
+  glm_quat_slerp(from, to, t, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_quat_look(vec3 eye, versor ori, mat4 dest) {
+  glm_quat_look(eye, ori, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_quat_for(vec3 dir, vec3 fwd, vec3 up, versor dest) {
+  glm_quat_for(dir, fwd, up, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_quat_forp(vec3 from, vec3 to, vec3 fwd, vec3 up, versor dest) {
+  glm_quat_forp(from, to, fwd, up, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_quat_rotatev(versor q, vec3 v, vec3 dest) {
+  glm_quat_rotatev(q, v, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_quat_rotate(mat4 m, versor q, mat4 dest) {
+  glm_quat_rotate(m, q, dest);
 }

src/vec3.c

@@ -8,6 +8,12 @@
 #include "../include/cglm/cglm.h"
 #include "../include/cglm/call.h"
 
+CGLM_EXPORT
+void
+glmc_vec3(vec4 v4, vec3 dest) {
+  glm_vec3(v4, dest);
+}
+
 CGLM_EXPORT
 void
 glmc_vec_copy(vec3 a, vec3 dest) {
@@ -80,6 +86,12 @@ glmc_vec_flipsign(vec3 v) {
   glm_vec_flipsign(v);
 }
 
+CGLM_EXPORT
+void
+glmc_vec_flipsign_to(vec3 v, vec3 dest) {
+  glm_vec_flipsign_to(v, dest);
+}
+
 CGLM_EXPORT
 void
 glmc_vec_inv(vec3 v) {
@@ -139,3 +151,107 @@ void
 glmc_vec_minv(vec3 v1, vec3 v2, vec3 dest) {
   glm_vec_maxv(v1, v2, dest);
 }
+
+CGLM_EXPORT
+void
+glmc_vec_clamp(vec3 v, float minVal, float maxVal) {
+  glm_vec_clamp(v, minVal, maxVal);
+}
+
+CGLM_EXPORT
+void
+glmc_vec_ortho(vec3 v, vec3 dest) {
+  glm_vec_ortho(v, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_vec_lerp(vec3 from, vec3 to, float t, vec3 dest) {
+  glm_vec_lerp(from, to, t, dest);
+}
+
+/* ext */
+
+CGLM_EXPORT
+void
+glmc_vec_mulv(vec3 a, vec3 b, vec3 d) {
+  glm_vec_mulv(a, b, d);
+}
+
+CGLM_EXPORT
+void
+glmc_vec_broadcast(float val, vec3 d) {
+  glm_vec_broadcast(val, d);
+}
+
+CGLM_EXPORT
+bool
+glmc_vec_eq(vec3 v, float val) {
+  return glm_vec_eq(v, val);
+}
+
+CGLM_EXPORT
+bool
+glmc_vec_eq_eps(vec3 v, float val) {
+  return glm_vec_eq_eps(v, val);
+}
+
+CGLM_EXPORT
+bool
+glmc_vec_eq_all(vec3 v) {
+  return glm_vec_eq_all(v);
+}
+
+CGLM_EXPORT
+bool
+glmc_vec_eqv(vec3 v1, vec3 v2) {
+  return glm_vec_eqv(v1, v2);
+}
+
+CGLM_EXPORT
+bool
+glmc_vec_eqv_eps(vec3 v1, vec3 v2) {
+  return glm_vec_eqv_eps(v1, v2);
+}
+
+CGLM_EXPORT
+float
+glmc_vec_max(vec3 v) {
+  return glm_vec_max(v);
+}
+
+CGLM_EXPORT
+float
+glmc_vec_min(vec3 v) {
+  return glm_vec_min(v);
+}
+
+CGLM_EXPORT
+bool
+glmc_vec_isnan(vec3 v) {
+  return glm_vec_isnan(v);
+}
+
+CGLM_EXPORT
+bool
+glmc_vec_isinf(vec3 v) {
+  return glm_vec_isinf(v);
+}
+
+CGLM_EXPORT
+bool
+glmc_vec_isvalid(vec3 v) {
+  return glm_vec_isvalid(v);
+}
+
+CGLM_EXPORT
+void
+glmc_vec_sign(vec3 v, vec3 dest) {
+  glm_vec_sign(v, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_vec_sqrt(vec3 v, vec3 dest) {
+  glm_vec_sqrt(v, dest);
+}

src/vec4.c

@@ -8,6 +8,12 @@
 #include "../include/cglm/cglm.h"
 #include "../include/cglm/call.h"
 
+CGLM_EXPORT
+void
+glmc_vec4(vec3 v3, float last, vec4 dest) {
+  glm_vec4(v3, last, dest);
+}
+
 CGLM_EXPORT
 void
 glmc_vec4_copy3(vec4 a, vec3 dest) {
@@ -80,6 +86,12 @@ glmc_vec4_flipsign(vec4 v) {
   glm_vec4_flipsign(v);
 }
 
+CGLM_EXPORT
+void
+glmc_vec4_flipsign_to(vec4 v, vec4 dest) {
+  glm_vec4_flipsign_to(v, dest);
+}
+
 CGLM_EXPORT
 void
 glmc_vec4_inv(vec4 v) {
@@ -109,3 +121,101 @@ void
 glmc_vec4_minv(vec4 v1, vec4 v2, vec4 dest) {
   glm_vec4_maxv(v1, v2, dest);
 }
+
+CGLM_EXPORT
+void
+glmc_vec4_clamp(vec4 v, float minVal, float maxVal) {
+  glm_vec4_clamp(v, minVal, maxVal);
+}
+
+CGLM_EXPORT
+void
+glmc_vec4_lerp(vec4 from, vec4 to, float t, vec4 dest) {
+  glm_vec4_lerp(from, to, t, dest);
+}
+
+/* ext */
+
+CGLM_EXPORT
+void
+glmc_vec4_mulv(vec4 a, vec4 b, vec4 d) {
+  glm_vec4_mulv(a, b, d);
+}
+
+CGLM_EXPORT
+void
+glmc_vec4_broadcast(float val, vec4 d) {
+  glm_vec4_broadcast(val, d);
+}
+
+CGLM_EXPORT
+bool
+glmc_vec4_eq(vec4 v, float val) {
+  return glm_vec4_eq(v, val);
+}
+
+CGLM_EXPORT
+bool
+glmc_vec4_eq_eps(vec4 v, float val) {
+  return glm_vec4_eq_eps(v, val);
+}
+
+CGLM_EXPORT
+bool
+glmc_vec4_eq_all(vec4 v) {
+  return glm_vec4_eq_all(v);
+}
+
+CGLM_EXPORT
+bool
+glmc_vec4_eqv(vec4 v1, vec4 v2) {
+  return glm_vec4_eqv(v1, v2);
+}
+
+CGLM_EXPORT
+bool
+glmc_vec4_eqv_eps(vec4 v1, vec4 v2) {
+  return glm_vec4_eqv_eps(v1, v2);
+}
+
+CGLM_EXPORT
+float
+glmc_vec4_max(vec4 v) {
+  return glm_vec4_max(v);
+}
+
+CGLM_EXPORT
+float
+glmc_vec4_min(vec4 v) {
+  return glm_vec4_min(v);
+}
+
+CGLM_EXPORT
+bool
+glmc_vec4_isnan(vec4 v) {
+  return glm_vec4_isnan(v);
+}
+
+CGLM_EXPORT
+bool
+glmc_vec4_isinf(vec4 v) {
+  return glm_vec4_isinf(v);
+}
+
+CGLM_EXPORT
+bool
+glmc_vec4_isvalid(vec4 v) {
+  return glm_vec4_isvalid(v);
+}
+
+CGLM_EXPORT
+void
+glmc_vec4_sign(vec4 v, vec4 dest) {
+  glm_vec4_sign(v, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_vec4_sqrt(vec4 v, vec4 dest) {
+  glm_vec4_sqrt(v, dest);
+}

test/src/test_cam.c

@@ -0,0 +1,54 @@
+/*
+ * 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"
+
+void
+test_camera_lookat(void **state) {
+  mat4  view1, view2;
+  vec3 center,
+       eye    = {0.024f, 14.6f, 67.04f},
+       dir    = {0.0f, 0.0f, -1.0f},
+       up     = {0.0f, 1.0f, 0.0f}
+  ;
+
+  glm_vec_add(eye, dir, center);
+  glm_lookat(eye, center, up, view1);
+
+  glm_look(eye, dir, up, view2);
+
+  test_assert_mat4_eq(view1, view2);
+}
+
+void
+test_camera_decomp(void **state) {
+  mat4  proj, proj2;
+  vec4  sizes;
+  float aspect, fovy, nearVal, farVal;
+
+  aspect  = 0.782f;
+  fovy    = glm_rad(49.984f);
+  nearVal = 0.1f;
+  farVal  = 100.0f;
+
+  glm_perspective(fovy, aspect, nearVal, farVal, proj);
+  assert_true(fabsf(aspect  - glm_persp_aspect(proj)) < FLT_EPSILON);
+  assert_true(fabsf(fovy    - glm_persp_fovy(proj))   < FLT_EPSILON);
+  assert_true(fabsf(49.984f - glm_deg(glm_persp_fovy(proj))) < FLT_EPSILON);
+
+  glm_persp_sizes(proj, fovy, sizes);
+
+  glm_frustum(-sizes[0] * 0.5,
+               sizes[0] * 0.5,
+              -sizes[1] * 0.5,
+               sizes[1] * 0.5,
+               nearVal,
+               farVal,
+               proj2);
+
+  test_assert_mat4_eq(proj, proj2);
+}

test/src/test_clamp.c

@@ -0,0 +1,30 @@
+/*
+ * 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"
+
+void
+test_clamp(void **state) {
+  vec3 v3 = {15.07, 0.4, 17.3};
+  vec4 v4 = {5.07,  2.3, 1.3, 1.4};
+
+  assert_true(glm_clamp(1.6f, 0.0f, 1.0f)  == 1.0f);
+  assert_true(glm_clamp(-1.6f, 0.0f, 1.0f) == 0.0f);
+  assert_true(glm_clamp(0.6f, 0.0f, 1.0f)  == 0.6f);
+
+  glm_vec_clamp(v3, 0.0, 1.0);
+  glm_vec4_clamp(v4, 1.5, 3.0);
+
+  assert_true(v3[0] == 1.0f);
+  assert_true(v3[1] == 0.4f);
+  assert_true(v3[2] == 1.0f);
+
+  assert_true(v4[0] == 3.0f);
+  assert_true(v4[1] == 2.3f);
+  assert_true(v4[2] == 1.5f);
+  assert_true(v4[3] == 1.5f);
+}

test/src/test_common.c

@@ -27,6 +27,39 @@ test_rand_mat4(mat4 dest) {
   /* glm_scale(dest, (vec3){drand48(), drand48(), drand48()}); */
 }
 
+void
+test_rand_vec3(vec3 dest) {
+  srand((unsigned int)time(NULL));
+
+  dest[0] = drand48();
+  dest[1] = drand48();
+  dest[2] = drand48();
+}
+
+void
+test_rand_vec4(vec4 dest) {
+  srand((unsigned int)time(NULL));
+
+  dest[0] = drand48();
+  dest[1] = drand48();
+  dest[2] = drand48();
+  dest[3] = drand48();
+}
+
+float
+test_rand_angle(void) {
+  srand((unsigned int)time(NULL));
+  return drand48();
+}
+
+void
+test_rand_quat(versor q) {
+  srand((unsigned int)time(NULL));
+
+  glm_quat(q, drand48(), drand48(), drand48(), drand48());
+  glm_quat_normalize(q);
+}
+
 void
 test_assert_mat4_eq(mat4 m1, mat4 m2) {
   int i, j, k;
@@ -50,3 +83,27 @@ test_assert_mat4_eq2(mat4 m1, mat4 m2, float eps) {
     }
   }
 }
+
+void
+test_assert_vec3_eq(vec3 v1, vec3 v2) {
+  assert_true(fabsf(v1[0] - v2[0]) <= 0.000009); /* rounding errors */
+  assert_true(fabsf(v1[1] - v2[1]) <= 0.000009);
+  assert_true(fabsf(v1[2] - v2[2]) <= 0.000009);
+}
+
+void
+test_assert_quat_eq_abs(versor v1, versor v2) {
+  assert_true(fabsf(fabsf(v1[0]) - fabsf(v2[0])) <= 0.0009); /* rounding errors */
+  assert_true(fabsf(fabsf(v1[1]) - fabsf(v2[1])) <= 0.0009);
+  assert_true(fabsf(fabsf(v1[2]) - fabsf(v2[2])) <= 0.0009);
+  assert_true(fabsf(fabsf(v1[3]) - fabsf(v2[3])) <= 0.0009);
+}
+
+void
+test_assert_quat_eq(versor v1, versor v2) {
+  assert_true(fabsf(v1[0] - v2[0]) <= 0.000009); /* rounding errors */
+  assert_true(fabsf(v1[1] - v2[1]) <= 0.000009);
+  assert_true(fabsf(v1[2] - v2[2]) <= 0.000009);
+  assert_true(fabsf(v1[3] - v2[3]) <= 0.000009);
+}
+

test/src/test_common.h

@@ -31,4 +31,25 @@ test_assert_mat4_eq(mat4 m1, mat4 m2);
 void
 test_assert_mat4_eq2(mat4 m1, mat4 m2, float eps);
 
+void
+test_assert_vec3_eq(vec3 v1, vec3 v2);
+
+void
+test_assert_quat_eq(versor v1, versor v2);
+
+void
+test_assert_quat_eq_abs(versor v1, versor v2);
+
+void
+test_rand_vec3(vec3 dest);
+
+void
+test_rand_vec4(vec4 dest) ;
+
+float
+test_rand_angle(void);
+
+void
+test_rand_quat(versor q);
+
 #endif /* test_common_h */

test/src/test_euler.c

@@ -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
+ */
+
+#include "test_common.h"
+
+void
+test_euler(void **state) {
+  mat4  rot1, rot2;
+  vec3  inAngles, outAngles;
+
+  inAngles[0] = glm_rad(-45.0f);  /* X angle */
+  inAngles[1] = glm_rad(88.0f);   /* Y angle */
+  inAngles[2] = glm_rad(18.0f);   /* Z angle */
+
+  glm_euler_xyz(inAngles, rot1);
+
+  /* extract angles */
+  glmc_euler_angles(rot1, outAngles);
+
+  /* angles must be equal in that range */
+  test_assert_vec3_eq(inAngles, outAngles);
+
+  /* matrices must be equal */
+  glmc_euler_xyz(outAngles, rot2);
+  test_assert_mat4_eq(rot1, rot2);
+
+  /* change range */
+  inAngles[0] = glm_rad(-145.0f);  /* X angle */
+  inAngles[1] = glm_rad(818.0f);   /* Y angle */
+  inAngles[2] = glm_rad(181.0f);   /* Z angle */
+
+  glm_euler_xyz(inAngles, rot1);
+  glmc_euler_angles(rot1, outAngles);
+
+  /* angles may not be equal but matrices MUST! */
+
+  /* matrices must be equal */
+  glmc_euler_xyz(outAngles, rot2);
+  test_assert_mat4_eq(rot1, rot2);
+}

test/src/test_main.c

@@ -11,9 +11,26 @@ main(int argc, const char * argv[]) {
   const struct CMUnitTest tests[] = {
     /* mat4 */
     cmocka_unit_test(test_mat4),
+
+    /* camera */
+    cmocka_unit_test(test_camera_lookat),
+    cmocka_unit_test(test_camera_decomp),
+
+    /* project */
+    cmocka_unit_test(test_project),
+
+    /* vector */
+    cmocka_unit_test(test_clamp),
+
+    /* euler */
+    cmocka_unit_test(test_euler),
+
+    /* quaternion */
+    cmocka_unit_test(test_quat),
+
+    /* vec4 */
+    cmocka_unit_test(test_vec4)
   };
 
-  return cmocka_run_group_tests(tests,
-                                NULL,
-                                NULL);
+  return cmocka_run_group_tests(tests, NULL, NULL);
 }

test/src/test_project.c

@@ -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
+ */
+
+#include "test_common.h"
+
+void
+test_project(void **state) {
+  mat4 model, view, proj, mvp;
+  vec4 viewport = {0.0f, 0.0f, 800.0f, 600.0f};
+  vec3 pos      = {13.0f, 45.0f, 0.74f};
+  vec3 projected, unprojected;
+
+  glm_translate_make(model, (vec3){0.0f, 0.0f, -10.0f});
+  glm_lookat((vec3){0.0f, 0.0f, 0.0f}, pos, GLM_YUP, view);
+
+  glm_perspective_default(0.5f, proj);
+  glm_mat4_mulN((mat4 *[]){&proj, &view, &model}, 3, mvp);
+
+  glmc_project(pos, mvp, viewport, projected);
+  glmc_unproject(projected, mvp, viewport, unprojected);
+
+  /* unprojected of projected vector must be same as original one */
+  /* we used 0.01 because of projection floating point errors */
+  assert_true(fabsf(pos[0] - unprojected[0]) < 0.01);
+  assert_true(fabsf(pos[1] - unprojected[1]) < 0.01);
+  assert_true(fabsf(pos[2] - unprojected[2]) < 0.01);
+}

test/src/test_quat.c

@@ -0,0 +1,199 @@
+/*
+ * 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"
+
+CGLM_INLINE
+void
+test_quat_mul_raw(versor p, versor q, versor dest) {
+  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];
+  dest[2] = p[3] * q[2] + p[0] * q[1] - p[1] * q[0] + p[2] * q[3];
+  dest[3] = p[3] * q[3] - p[0] * q[0] - p[1] * q[1] - p[2] * q[2];
+}
+
+void
+test_quat(void **state) {
+  mat4   inRot, outRot, view1, view2, rot1, rot2;
+  versor inQuat, outQuat, q3, q4, q5;
+  vec3   eye, axis, imag, v1, v2;
+  int    i;
+
+  /* 0. test identiy quat */
+  glm_quat_identity(q4);
+  assert_true(glm_quat_real(q4) == cosf(glm_rad(0.0f) * 0.5f));
+  glm_quat_mat4(q4, rot1);
+  test_assert_mat4_eq2(rot1, GLM_MAT4_IDENTITY, 0.000009);
+
+  /* 1. test quat to mat and mat to quat */
+  for (i = 0; i < 1000; i++) {
+    test_rand_quat(inQuat);
+
+    glmc_quat_mat4(inQuat, inRot);
+    glmc_mat4_quat(inRot, outQuat);
+    glmc_quat_mat4(outQuat, outRot);
+
+    /* 2. test first quat and generated one equality */
+    test_assert_quat_eq_abs(inQuat, outQuat);
+
+    /* 3. test first rot and second rotation */
+    test_assert_mat4_eq2(inRot, outRot, 0.000009); /* almost equal */
+
+    /* 4. test SSE mul and raw mul */
+    test_quat_mul_raw(inQuat, outQuat, q3);
+    glm_quat_mul_sse2(inQuat, outQuat, q4);
+    test_assert_quat_eq(q3, q4);
+  }
+
+  /* 5. test lookat */
+  test_rand_vec3(eye);
+  glm_quatv(q3, glm_rad(-90.0f), GLM_YUP);
+
+  /* now X axis must be forward axis, Z must be right axis */
+  glm_look(eye, GLM_XUP, GLM_YUP, view1);
+
+  /* create view matrix with quaternion */
+  glm_quat_look(eye, q3, view2);
+
+  test_assert_mat4_eq2(view1, view2, 0.000009);
+
+  /* 6. test quaternion rotation matrix result */
+  test_rand_quat(q3);
+  glm_quat_mat4(q3, rot1);
+
+  /* 6.1 test axis and angle of quat */
+  glm_quat_axis(q3, axis);
+  glm_rotate_make(rot2, glm_quat_angle(q3), axis);
+
+  test_assert_mat4_eq2(rot1, rot2, 0.000009);
+
+  /* 7. test quaternion multiplication (hamilton product),
+        final rotation = first rotation + second = quat1 * quat2
+   */
+  test_rand_quat(q3);
+  test_rand_quat(q4);
+
+  glm_quat_mul(q3, q4, q5);
+
+  glm_quat_axis(q3, axis);
+  glm_rotate_make(rot1, glm_quat_angle(q3), axis);
+
+  glm_quat_axis(q4, axis);
+  glm_rotate(rot1, glm_quat_angle(q4), axis);
+
+  /* rot2 is combine of two rotation now test with quaternion result */
+  glm_quat_mat4(q5, rot2);
+
+  /* result must be same (almost) */
+  test_assert_mat4_eq2(rot1, rot2, 0.000009);
+
+  /* 8. test quaternion for look rotation */
+
+  /* 8.1 same direction */
+  /* look at from 0, 0, 1 to zero, direction = 0, 0, -1 */
+  glm_quat_for((vec3){0, 0, -1}, (vec3){0, 0, -1}, GLM_YUP, q3);
+
+  /* result must be identity */
+  glm_quat_identity(q4);
+  test_assert_quat_eq(q3, q4);
+
+  /* look at from 0, 0, 1 to zero, direction = 0, 0, -1 */
+  glm_quat_forp(GLM_ZUP, GLM_VEC3_ZERO, (vec3){0, 0, -1}, GLM_YUP, q3);
+
+  /* result must be identity */
+  glm_quat_identity(q4);
+  test_assert_quat_eq(q3, q4);
+
+  /* 8.2 perpendicular */
+  glm_quat_for(GLM_XUP, (vec3){0, 0, -1}, GLM_YUP, q3);
+
+  /* result must be -90 */
+  glm_quatv(q4, glm_rad(-90.0f), GLM_YUP);
+  test_assert_quat_eq(q3, q4);
+
+  /* 9. test imag, real */
+
+  /* 9.1 real */
+  assert_true(glm_quat_real(q4) == cosf(glm_rad(-90.0f) * 0.5f));
+
+  /* 9.1 imag */
+  glm_quat_imag(q4, imag);
+
+  /* axis = Y_UP * sinf(angle * 0.5), YUP = 0, 1, 0 */
+  axis[0] = 0.0f;
+  axis[1] = sinf(glm_rad(-90.0f) * 0.5f) * 1.0f;
+  axis[2] = 0.0f;
+
+  assert_true(glm_vec_eqv_eps(imag, axis));
+
+  /* 9.2 axis */
+  glm_quat_axis(q4, axis);
+  imag[0] =  0.0f;
+  imag[1] = -1.0f;
+  imag[2] =  0.0f;
+
+  test_assert_vec3_eq(imag, axis);
+
+  /* 10. test rotate vector using quat */
+  /* (0,0,-1) around (1,0,0) must give (0,1,0) */
+  v1[0] = 0.0f; v1[1] = 0.0f; v1[2] = -1.0f;
+  v2[0] = 0.0f; v2[1] = 0.0f; v2[2] = -1.0f;
+
+  glm_vec_rotate(v1, glm_rad(90.0f), (vec3){1.0f, 0.0f, 0.0f});
+  glm_quatv(q3, glm_rad(90.0f), (vec3){1.0f, 0.0f, 0.0f});
+
+  glm_vec4_scale(q3, 1.5, q3);
+  glm_quat_rotatev(q3, v2, v2);
+
+  /* result must be : (0,1,0) */
+  assert_true(fabsf(v1[0]) <= 0.00009f
+              && fabsf(v1[1] - 1.0f) <= 0.00009f
+              && fabsf(v1[2]) <= 0.00009f);
+
+  test_assert_vec3_eq(v1, v2);
+
+  /* 11. test rotate transform */
+  glm_translate_make(rot1, (vec3){-10.0, 45.0f, 8.0f});
+  glm_rotate(rot1, glm_rad(-90), GLM_ZUP);
+
+  glm_quatv(q3, glm_rad(-90.0f), GLM_ZUP);
+  glm_translate_make(rot2, (vec3){-10.0, 45.0f, 8.0f});
+  glm_quat_rotate(rot2, q3, rot2);
+
+  /* result must be same (almost) */
+  test_assert_mat4_eq2(rot1, rot2, 0.000009);
+
+  glm_rotate_make(rot1, glm_rad(-90), GLM_ZUP);
+  glm_translate(rot1, (vec3){-10.0, 45.0f, 8.0f});
+
+  glm_quatv(q3, glm_rad(-90.0f), GLM_ZUP);
+  glm_mat4_identity(rot2);
+  glm_quat_rotate(rot2, q3, rot2);
+  glm_translate(rot2, (vec3){-10.0, 45.0f, 8.0f});
+
+  /* result must be same (almost) */
+  test_assert_mat4_eq2(rot1, rot2, 0.000009);
+
+  /* reverse */
+  glm_rotate_make(rot1, glm_rad(-90), GLM_ZUP);
+  glm_quatv(q3, glm_rad(90.0f), GLM_ZUP);
+  glm_quat_rotate(rot1, q3, rot1);
+
+  /* result must be identity */
+  test_assert_mat4_eq2(rot1, GLM_MAT4_IDENTITY, 0.000009);
+
+  test_rand_quat(q3);
+
+  /* 12. inverse of quat, multiplication must be IDENTITY */
+  glm_quat_inv(q3, q4);
+  glm_quat_mul(q3, q4, q5);
+
+  glm_quat_identity(q3);
+  test_assert_quat_eq(q3, q5);
+
+  /* TODO: add tests for slerp, lerp */
+}

test/src/test_tests.h

@@ -9,4 +9,26 @@
 /* mat4 */
 void test_mat4(void **state);
 
+/* camera */
+void
+test_camera_lookat(void **state);
+
+void
+test_camera_decomp(void **state);
+
+void
+test_project(void **state);
+
+void
+test_clamp(void **state);
+
+void
+test_euler(void **state);
+
+void
+test_quat(void **state);
+
+void
+test_vec4(void **state);
+
 #endif /* test_tests_h */

test/src/test_vec4.c

@@ -0,0 +1,30 @@
+/*
+ * 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"
+
+CGLM_INLINE
+float
+test_vec4_dot(vec4 a, vec4 b) {
+  return a[0] * b[0] + a[1] * b[1] + a[2] * b[2] + a[3] * b[3];
+}
+
+void
+test_vec4(void **state) {
+  vec4  v;
+  int   i;
+  float d1, d2;
+
+  /* test SSE/SIMD dot product */
+  for (i = 0; i < 100; i++) {
+    test_rand_vec4(v);
+    d1 = glm_vec4_dot(v, v);
+    d2 = test_vec4_dot(v, v);
+
+    assert_true(fabsf(d1 - d2) <= 0.000009);
+  }
+}

win/cglm.vcxproj

@@ -20,12 +20,16 @@
   </ItemGroup>
   <ItemGroup>
     <ClCompile Include="..\src\affine.c" />
+    <ClCompile Include="..\src\box.c" />
     <ClCompile Include="..\src\cam.c" />
     <ClCompile Include="..\src\dllmain.c" />
     <ClCompile Include="..\src\euler.c" />
+    <ClCompile Include="..\src\frustum.c" />
     <ClCompile Include="..\src\io.c" />
     <ClCompile Include="..\src\mat3.c" />
     <ClCompile Include="..\src\mat4.c" />
+    <ClCompile Include="..\src\plane.c" />
+    <ClCompile Include="..\src\project.c" />
     <ClCompile Include="..\src\quat.c" />
     <ClCompile Include="..\src\vec3.c" />
     <ClCompile Include="..\src\vec4.c" />
@@ -33,23 +37,32 @@
   <ItemGroup>
     <ClInclude Include="..\include\cglm\affine-mat.h" />
     <ClInclude Include="..\include\cglm\affine.h" />
+    <ClInclude Include="..\include\cglm\box.h" />
     <ClInclude Include="..\include\cglm\call.h" />
     <ClInclude Include="..\include\cglm\call\affine.h" />
+    <ClInclude Include="..\include\cglm\call\box.h" />
     <ClInclude Include="..\include\cglm\call\cam.h" />
     <ClInclude Include="..\include\cglm\call\euler.h" />
+    <ClInclude Include="..\include\cglm\call\frustum.h" />
     <ClInclude Include="..\include\cglm\call\io.h" />
     <ClInclude Include="..\include\cglm\call\mat3.h" />
     <ClInclude Include="..\include\cglm\call\mat4.h" />
+    <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\vec3.h" />
     <ClInclude Include="..\include\cglm\call\vec4.h" />
     <ClInclude Include="..\include\cglm\cam.h" />
     <ClInclude Include="..\include\cglm\cglm.h" />
+    <ClInclude Include="..\include\cglm\color.h" />
     <ClInclude Include="..\include\cglm\common.h" />
     <ClInclude Include="..\include\cglm\euler.h" />
+    <ClInclude Include="..\include\cglm\frustum.h" />
     <ClInclude Include="..\include\cglm\io.h" />
     <ClInclude Include="..\include\cglm\mat3.h" />
     <ClInclude Include="..\include\cglm\mat4.h" />
+    <ClInclude Include="..\include\cglm\plane.h" />
+    <ClInclude Include="..\include\cglm\project.h" />
     <ClInclude Include="..\include\cglm\quat.h" />
     <ClInclude Include="..\include\cglm\simd\avx\affine.h" />
     <ClInclude Include="..\include\cglm\simd\avx\mat4.h" />
@@ -73,7 +86,7 @@
     <ProjectGuid>{CA8BCAF9-CD25-4133-8F62-3D1449B5D2FC}</ProjectGuid>
     <Keyword>Win32Proj</Keyword>
     <RootNamespace>cglm</RootNamespace>
-    <WindowsTargetPlatformVersion>10.0.14393.0</WindowsTargetPlatformVersion>
+    <WindowsTargetPlatformVersion>10.0.16299.0</WindowsTargetPlatformVersion>
   </PropertyGroup>
   <Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">

win/cglm.vcxproj.filters

@@ -66,6 +66,18 @@
     <ClCompile Include="..\src\vec4.c">
       <Filter>src</Filter>
     </ClCompile>
+    <ClCompile Include="..\src\frustum.c">
+      <Filter>src</Filter>
+    </ClCompile>
+    <ClCompile Include="..\src\plane.c">
+      <Filter>src</Filter>
+    </ClCompile>
+    <ClCompile Include="..\src\box.c">
+      <Filter>src</Filter>
+    </ClCompile>
+    <ClCompile Include="..\src\project.c">
+      <Filter>src</Filter>
+    </ClCompile>
   </ItemGroup>
   <ItemGroup>
     <ClInclude Include="..\src\config.h">
@@ -176,5 +188,32 @@
     <ClInclude Include="..\include\cglm\version.h">
       <Filter>include\cglm</Filter>
     </ClInclude>
+    <ClInclude Include="..\include\cglm\call\frustum.h">
+      <Filter>include\cglm\call</Filter>
+    </ClInclude>
+    <ClInclude Include="..\include\cglm\call\plane.h">
+      <Filter>include\cglm\call</Filter>
+    </ClInclude>
+    <ClInclude Include="..\include\cglm\frustum.h">
+      <Filter>include\cglm</Filter>
+    </ClInclude>
+    <ClInclude Include="..\include\cglm\plane.h">
+      <Filter>include\cglm</Filter>
+    </ClInclude>
+    <ClInclude Include="..\include\cglm\call\box.h">
+      <Filter>include\cglm\call</Filter>
+    </ClInclude>
+    <ClInclude Include="..\include\cglm\box.h">
+      <Filter>include\cglm</Filter>
+    </ClInclude>
+    <ClInclude Include="..\include\cglm\color.h">
+      <Filter>include\cglm</Filter>
+    </ClInclude>
+    <ClInclude Include="..\include\cglm\project.h">
+      <Filter>include\cglm</Filter>
+    </ClInclude>
+    <ClInclude Include="..\include\cglm\call\project.h">
+      <Filter>include\cglm\call</Filter>
+    </ClInclude>
   </ItemGroup>
 </Project>