build: update automake sources

affine transform update

.travis.yml

@@ -49,7 +49,7 @@ script:
 
 after_success:
   - if [[ "$CC" == "gcc" && "$CODE_COVERAGE" == "ON" ]]; then
-      pip install --user cpp-coveralls
+      pip install --user cpp-coveralls && 
       coveralls
         --build-root .
         --exclude lib

README.md

@@ -19,7 +19,9 @@ Complete documentation: http://cglm.readthedocs.io
 - _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
+- **[bugfix]** euler angles was implemented in reverse order (extrinsic) it was fixed, now they are intrinsic. Make sure that 
+you have the latest version
+- **[major change]** by starting v0.4.0, quaternions are stored as [x, y, z, w], it was [w, x, y, z] in v0.3.5 and earlier versions
 
 #### Note for C++ developers:
 If you don't aware about original GLM library yet, you may also want to look at:

autogen.sh

@@ -8,17 +8,14 @@
 
 cd $(dirname "$0")
 
-if [ "$(uname)" = "Darwin" ]; then
-libtoolBin=$(which glibtoolize)
-libtoolBinDir=$(dirname "${libtoolBin}")
-
-if [ ! -f "${libtoolBinDir}/libtoolize" ]; then
-ln -s $libtoolBin "${libtoolBinDir}/libtoolize"
-fi
-fi
-
 autoheader
-libtoolize
+
+if [ "$(uname)" = "Darwin" ]; then
+  glibtoolize
+else
+  libtoolize
+fi
+
 aclocal -I m4
 autoconf
 automake --add-missing --copy

configure.ac

@@ -7,7 +7,7 @@
 #*****************************************************************************
 
 AC_PREREQ([2.69])
-AC_INIT([cglm], [0.4.0], [info@recp.me])
+AC_INIT([cglm], [0.4.3], [info@recp.me])
 AM_INIT_AUTOMAKE([-Wall -Werror foreign subdir-objects])
 
 AC_CONFIG_MACRO_DIR([m4])

docs/source/affine-mat.rst

@@ -33,6 +33,7 @@ Table of contents (click func go):
 Functions:
 
 1. :c:func:`glm_mul`
+#. :c:func:`glm_mul_rot`
 #. :c:func:`glm_inv_tr`
 
 Functions documentation
@@ -59,6 +60,27 @@ Functions documentation
       | *[in]*  **m2**    affine matrix 2
       | *[out]* **dest**  result matrix
 
+.. c:function:: void  glm_mul_rot(mat4 m1, mat4 m2, mat4 dest)
+
+    | this is similar to glm_mat4_mul but specialized to rotation matrix
+
+    Right Matrix format should be (left is free):
+
+    .. code-block:: text
+
+       R  R  R  0
+       R  R  R  0
+       R  R  R  0
+       0  0  0  1
+
+    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)

docs/source/affine.rst

@@ -5,6 +5,8 @@ affine transforms
 
 Header: cglm/affine.h
 
+Initialize Transform Matrices
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 Functions with **_make** prefix expect you don't have a matrix and they create
 a matrix for you. You don't need to pass identity matrix.
 
@@ -15,6 +17,107 @@ before sending to transfrom functions.
 There are also functions to decompose transform matrix. These functions can't
 decompose matrix after projected.
 
+Rotation Center
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+Rotating functions uses origin as rotation center (pivot/anchor point),
+since scale factors are stored in rotation matrix, same may also true for scalling.
+cglm provides some functions for rotating around at given point e.g.
+**glm_rotate_at**, **glm_quat_rotate_at**. Use them or follow next section for algorihm ("Rotate or Scale around specific Point (Pivot Point / Anchor Point)").
+
+Rotate or Scale around specific Point (Anchor Point)
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+If you want to rotate model around arbibtrary point follow these steps:
+
+1. Move model from pivot point to origin: **translate(-pivot.x, -pivot.y, -pivot.z)**
+2. Apply rotation (or scaling maybe)
+3. Move model back from origin to pivot (reverse of step-1): **translate(pivot.x, pivot.y, pivot.z)**
+
+**glm_rotate_at**, **glm_quat_rotate_at** and their helper functions works that way.
+
+The implementation would be:
+
+.. code-block:: c
+  :linenos:
+
+  glm_translate(m, pivot);
+  glm_rotate(m, angle, axis);
+  glm_translate(m, pivotInv); /* pivotInv = -pivot */
+
+Transforms Order
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+It is important to understand this part especially if you call transform
+functions multiple times
+
+`glm_translate`, `glm_rotate`, `glm_scale` and `glm_quat_rotate` and their
+helpers functions works like this (cglm may provide reverse order too as alternative in the future):
+
+.. code-block:: c
+  :linenos:
+
+  TransformMatrix = TransformMatrix * TraslateMatrix; // glm_translate()
+  TransformMatrix = TransformMatrix * RotateMatrix;   // glm_rotate(), glm_quat_rotate()
+  TransformMatrix = TransformMatrix * ScaleMatrix;    // glm_scale()
+
+As you can see it is multipled as right matrix. For instance what will happen if you call `glm_translate` twice?
+
+.. code-block:: c
+  :linenos:
+
+  glm_translate(transform, translate1); /* transform = transform * translate1 */
+  glm_translate(transform, translate2); /* transform = transform * translate2 */
+  glm_rotate(transform, angle, axis)    /* transform = transform * rotation   */
+
+Now lets try to understand this:
+
+1. You call translate using `translate1` and you expect it will be first transform
+because you call it first, do you?
+
+Result will be **`transform = transform * translate1`**
+
+2. Then you call translate using `translate2` and you expect it will be second transform?
+
+Result will be **`transform = transform * translate2`**. Now lets expand transform,
+it was `transform * translate1` before second call.
+
+Now it is **`transform = transform * translate1 * translate2`**, now do you understand what I say?
+
+3. After last call transform will be:
+
+**`transform = transform * translate1 * translate2 * rotation`**
+
+The order will be; **rotation will be applied first**, then **translate2** then **translate1**
+
+It is all about matrix multiplication order. It is similar to MVP matrix:
+`MVP = Projection * View * Model`, model will be applied first, then view then projection.
+
+**Confused?**
+
+In the end the last function call applied first in shaders.
+
+As alternative way, you can create transform matrices individually then combine manually,
+but don't forget that `glm_translate`, `glm_rotate`, `glm_scale`... are optimized and should be faster (an smaller assembly output) than manual multiplication
+
+.. code-block:: c
+  :linenos:
+
+  mat4 transform1, transform2, transform3, finalTransform;
+
+  glm_translate_make(transform1, translate1);
+  glm_translate_make(transform2, translate2);
+  glm_rotate_make(transform3, angle, axis);
+
+  /* first apply transform1, then transform2, thentransform3 */
+  glm_mat4_mulN((mat4 *[]){&transform3, &transform2, &transform1}, 3, finalTransform);
+
+  /* if you don't want to use mulN, same as above */
+  glm_mat4_mul(transform3, transform2, finalTransform);
+  glm_mat4_mul(finalTransform, transform1, finalTransform);
+
+Now transform1 will be applied first, then transform2 then transform3
+
 Table of contents (click to go):
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
@@ -29,15 +132,14 @@ Functions:
 #. :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_rotate_at`
+#. :c:func:`glm_rotate_atm`
 #. :c:func:`glm_decompose_scalev`
 #. :c:func:`glm_uniscaled`
 #. :c:func:`glm_decompose_rs`
@@ -122,10 +224,6 @@ Functions documentation
       | *[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]
@@ -165,16 +263,6 @@ Functions documentation
       | *[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,
@@ -185,16 +273,6 @@ Functions documentation
       | *[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
@@ -204,6 +282,29 @@ Functions documentation
       | *[in]*      **angle** angle (radians)
       | *[in]*      **axis**  axis
 
+.. c:function:: void  glm_rotate_at(mat4 m, vec3 pivot, float angle, vec3 axis)
+
+    rotate existing transform around given axis by angle at given pivot point (rotation center)
+
+    Parameters:
+      | *[in, out]* **m**     affine transfrom
+      | *[in]*      **pivot** pivot, anchor point, rotation center
+      | *[in]*      **angle** angle (radians)
+      | *[in]*      **axis**  axis
+
+.. c:function:: void  glm_rotate_atm(mat4 m, vec3 pivot, float angle, vec3 axis)
+
+    | creates NEW rotation matrix by angle and axis at given point
+    | this creates rotation matrix, it assumes you don't have a matrix
+
+    | this should work faster than glm_rotate_at because it reduces one glm_translate.
+
+    Parameters:
+      | *[in, out]* **m**     affine transfrom
+      | *[in]*      **pivot** pivot, anchor point, rotation center
+      | *[in]*      **angle** angle (radians)
+      | *[in]*      **axis**  axis
+
 .. c:function:: void  glm_decompose_scalev(mat4 m, vec3 s)
 
     decompose scale vector

docs/source/conf.py

@@ -62,9 +62,9 @@ author = u'Recep Aslantas'
 # built documents.
 #
 # The short X.Y version.
-version = u'0.3.4'
+version = u'0.4.3'
 # The full version, including alpha/beta/rc tags.
-release = u'0.3.4'
+release = u'0.4.3'
 
 # The language for content autogenerated by Sphinx. Refer to documentation
 # for a list of supported languages.

docs/source/index.rst

@@ -40,6 +40,7 @@ Also currently only **float** type is supported for most operations.
    getting_started
    opengl
    api
+   troubleshooting
 
 Indices and tables
 ==================

docs/source/quat.rst

@@ -56,6 +56,9 @@ Functions:
 #. :c:func:`glm_quat_for`
 #. :c:func:`glm_quat_forp`
 #. :c:func:`glm_quat_rotatev`
+#. :c:func:`glm_quat_rotate`
+#. :c:func:`glm_quat_rotate_at`
+#. :c:func:`glm_quat_rotate_atm`
 
 Functions documentation
 ~~~~~~~~~~~~~~~~~~~~~~~
@@ -354,3 +357,24 @@ Functions documentation
       | *[in]*  **m**     existing transform matrix to rotate
       | *[in]*  **q**     quaternion
       | *[out]* **dest**  rotated matrix/transform
+
+.. c:function:: void glm_quat_rotate_at(mat4 m, versor q, vec3 pivot)
+
+    | rotate existing transform matrix using quaternion at pivot point
+
+    Parameters:
+      | *[in, out]*  **m**      existing transform matrix to rotate
+      | *[in]*       **q**      quaternion
+      | *[in]*       **pivot**  pivot
+
+.. c:function:: void glm_quat_rotate(mat4 m, versor q, mat4 dest)
+
+    | rotate NEW transform matrix using quaternion at pivot point
+    | this creates rotation matrix, it assumes you don't have a matrix
+
+    | this should work faster than glm_quat_rotate_at because it reduces one glm_translate.
+
+    Parameters:
+      | *[in, out]*  **m**      existing transform matrix to rotate
+      | *[in]*       **q**      quaternion
+      | *[in]*       **pivot**  pivot

docs/source/troubleshooting.rst

@@ -0,0 +1,76 @@
+.. default-domain:: C
+
+Troubleshooting
+================================================================================
+
+It is possible that sometimes you may get crashes or wrong results.
+Follow these topics
+
+Memory Allocation:
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+Again, **cglm** doesn't alloc any memory on heap.
+cglm functions works like memcpy; it copies data from src,
+makes calculations then copy the result to dest.
+
+You are responsible for allocation of **src** and **dest** parameters.
+
+Aligment:
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+**vec4** and **mat4** types requires 16 byte aligment aligment.
+These types are marked with align attribute to let compiler know about this
+requirement.
+
+But since MSVC (Windows) throws the error:
+
+**"formal parameter with requested alignment of 16 won't be aligned"**
+
+The aligment attribute has been commented for MSVC
+
+.. code-block:: c
+
+   #if defined(_MSC_VER)
+   #  define CGLM_ALIGN(X) /* __declspec(align(X)) */
+   #else
+   #  define CGLM_ALIGN(X) __attribute((aligned(X)))
+   #endif.
+
+So MSVC may not know about aligment requirements when creating variables.
+The interesting thing is that, if I remember correctly Visual Studio 2017
+doesn't throw the above error. So we may uncomment that line for Visual Studio 2017,
+you may do it yourself.
+
+**This MSVC issue is still in TODOs.**
+
+Crashes, Invalid Memory Access:
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+Probably you are trying to write to invalid memory location.
+
+You may used wrong function for what you want to do.
+
+For instance you may called **glm_vec4_** functions for **vec3** data type.
+It will try to write 32 byte but since **vec3** is 24 byte it should throw
+memory access error or exit the app without saying anything.
+
+Wrong Results:
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+Again, you may used wrong function.
+
+For instance if you use **glm_normalize()** or **glm_vec_normalize()** for **vec4**,
+it will assume that passed param is **vec3** and will normalize it for **vec3**.
+Since you need to **vec4** to be normalized in your case, you will get wrong results. 
+
+Accessing vec4 type with vec3 functions is valid, you will not get any error, exception or crash.
+You only get wrong results if you don't know what you are doing!
+
+So be carefull, when your IDE (Xcode, Visual Studio ...) tried to autocomplete function names, READ IT :)
+
+**Also implementation may be wrong please let us know by creating an issue on Github.**
+
+Other Issues?
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+**Please let us know by creating an issue on Github.**

docs/source/vec3.rst

@@ -31,14 +31,25 @@ Functions:
 
 1. :c:func:`glm_vec3`
 #. :c:func:`glm_vec_copy`
+#. :c:func:`glm_vec_zero`
+#. :c:func:`glm_vec_one`
 #. :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_adds`
 #. :c:func:`glm_vec_sub`
+#. :c:func:`glm_vec_subs`
+#. :c:func:`glm_vec_mul`
 #. :c:func:`glm_vec_scale`
 #. :c:func:`glm_vec_scale_as`
+#. :c:func:`glm_vec_div`
+#. :c:func:`glm_vec_divs`
+#. :c:func:`glm_vec_addadd`
+#. :c:func:`glm_vec_subadd`
+#. :c:func:`glm_vec_muladd`
+#. :c:func:`glm_vec_muladds`
 #. :c:func:`glm_vec_flipsign`
 #. :c:func:`glm_vec_flipsign_to`
 #. :c:func:`glm_vec_inv`
@@ -49,6 +60,7 @@ Functions:
 #. :c:func:`glm_vec_angle`
 #. :c:func:`glm_vec_rotate`
 #. :c:func:`glm_vec_rotate_m4`
+#. :c:func:`glm_vec_rotate_m3`
 #. :c:func:`glm_vec_proj`
 #. :c:func:`glm_vec_center`
 #. :c:func:`glm_vec_maxv`
@@ -76,6 +88,20 @@ Functions documentation
       | *[in]*  **a**     source
       | *[out]* **dest**  destination
 
+.. c:function:: void  glm_vec_zero(vec3 v)
+
+    makes all members 0.0f (zero)
+
+    Parameters:
+      | *[in, out]*  **v**     vector
+
+.. c:function:: void  glm_vec_one(vec3 v)
+
+    makes all members 1.0f (one)
+
+    Parameters:
+      | *[in, out]*  **v**     vector
+
 .. c:function:: float  glm_vec_dot(vec3 a, vec3 b)
 
     dot product of vec3
@@ -117,24 +143,51 @@ Functions documentation
     Parameters:
       | *[in]*  **vec**   vector
 
-.. c:function:: void  glm_vec_add(vec3 v1, vec3 v2, vec3 dest)
+.. c:function:: void  glm_vec_add(vec3 a, vec3 b, vec3 dest)
 
-    add v2 vector to v1 vector store result in dest
+    add a vector to b vector store result in dest
 
     Parameters:
-      | *[in]*  **v1**    vector1
+      | *[in]*  **a**     vector1
-      | *[in]*  **v2**    vector2
+      | *[in]*  **b**     vector2
+      | *[out]* **dest**  destination vector
+
+.. c:function:: void  glm_vec_adds(vec3 a, float s, vec3 dest)
+
+    add scalar to v vector store result in dest (d = v + vec(s))
+
+    Parameters:
+      | *[in]*  **v**     vector
+      | *[in]*  **s**     scalar
       | *[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
+    subtract b vector from a vector store result in dest (d = v1 - v2)
 
     Parameters:
-      | *[in]*  **v1**    vector1
+      | *[in]*  **a**     vector1
-      | *[in]*  **v2**    vector2
+      | *[in]*  **b**     vector2
       | *[out]* **dest**  destination vector
 
+.. c:function:: void  glm_vec_subs(vec3 v, float s, vec3 dest)
+
+    subtract scalar from v vector store result in dest (d = v - vec(s))
+
+    Parameters:
+      | *[in]*  **v**     vector
+      | *[in]*  **s**     scalar
+      | *[out]* **dest**  destination vector
+
+.. c:function:: void  glm_vec_mul(vec3 a, vec3 b, vec3 d)
+
+    multiply two vector (component-wise multiplication)
+
+    Parameters:
+      | *[in]*  **a**     vector
+      | *[in]*  **b**     scalar
+      | *[out]* **d**     result = (a[0] * b[0], a[1] * b[1], a[2] * b[2])
+
 .. c:function:: void glm_vec_scale(vec3 v, float s, vec3 dest)
 
      multiply/scale vec3 vector with scalar: result = v * s
@@ -154,6 +207,64 @@ Functions documentation
       | *[in]*  **s**     scalar
       | *[out]* **dest**  destination vector
 
+.. c:function:: void  glm_vec_div(vec3 a, vec3 b, vec3 dest)
+
+    div vector with another component-wise division: d = a / b
+
+    Parameters:
+      | *[in]*  **a**     vector 1
+      | *[in]*  **b**     vector 2
+      | *[out]* **dest**  result = (a[0] / b[0], a[1] / b[1], a[2] / b[2])
+
+.. c:function:: void  glm_vec_divs(vec3 v, float s, vec3 dest)
+
+    div vector with scalar: d = v / s
+
+    Parameters:
+      | *[in]*  **v**     vector
+      | *[in]*  **s**     scalar
+      | *[out]* **dest**  result = (a[0] / s, a[1] / s, a[2] / s])
+
+.. c:function:: void  glm_vec_addadd(vec3 a, vec3 b, vec3 dest)
+
+    | add two vectors and add result to sum
+    | it applies += operator so dest must be initialized
+
+    Parameters:
+      | *[in]*  **a**     vector 1
+      | *[in]*  **b**     vector 2
+      | *[out]* **dest**  dest += (a + b)
+
+.. c:function:: void  glm_vec_subadd(vec3 a, vec3 b, vec3 dest)
+
+    | sub two vectors and add result to sum
+    | it applies += operator so dest must be initialized
+
+    Parameters:
+      | *[in]*  **a**     vector 1
+      | *[in]*  **b**     vector 2
+      | *[out]* **dest**  dest += (a - b)
+
+.. c:function:: void  glm_vec_muladd(vec3 a, vec3 b, vec3 dest)
+
+    | mul two vectors and add result to sum
+    | it applies += operator so dest must be initialized
+
+    Parameters:
+      | *[in]*  **a**     vector 1
+      | *[in]*  **b**     vector 2
+      | *[out]* **dest**  dest += (a * b)
+
+.. c:function:: void  glm_vec_muladds(vec3 a, float s, vec3 dest)
+
+    | mul vector with scalar and add result to sum
+    | it applies += operator so dest must be initialized
+
+    Parameters:
+      | *[in]*  **a**     vector
+      | *[in]*  **s**     scalar
+      | *[out]* **dest**  dest += (a * b)
+
 .. c:function:: void  glm_vec_flipsign(vec3 v)
 
     flip sign of all vec3 members
@@ -228,6 +339,15 @@ Functions documentation
       | *[in]*  **v**     vector
       | *[out]* **dest**  rotated vector
 
+.. c:function:: void  glm_vec_rotate_m3(mat3 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

docs/source/vec4.rst

@@ -24,13 +24,24 @@ Functions:
 1. :c:func:`glm_vec4`
 #. :c:func:`glm_vec4_copy3`
 #. :c:func:`glm_vec4_copy`
+#. :c:func:`glm_vec4_zero`
+#. :c:func:`glm_vec4_one`
 #. :c:func:`glm_vec4_dot`
 #. :c:func:`glm_vec4_norm2`
 #. :c:func:`glm_vec4_norm`
 #. :c:func:`glm_vec4_add`
+#. :c:func:`glm_vec4_adds`
 #. :c:func:`glm_vec4_sub`
+#. :c:func:`glm_vec4_subs`
+#. :c:func:`glm_vec4_mul`
 #. :c:func:`glm_vec4_scale`
 #. :c:func:`glm_vec4_scale_as`
+#. :c:func:`glm_vec4_div`
+#. :c:func:`glm_vec4_divs`
+#. :c:func:`glm_vec4_addadd`
+#. :c:func:`glm_vec4_subadd`
+#. :c:func:`glm_vec4_muladd`
+#. :c:func:`glm_vec4_muladds`
 #. :c:func:`glm_vec4_flipsign`
 #. :c:func:`glm_vec_flipsign_to`
 #. :c:func:`glm_vec4_inv`
@@ -78,6 +89,13 @@ Functions documentation
       | *[in]*  **v**     source
       | *[in]*  **dest**  destination
 
+.. c:function:: void  glm_vec4_zero(vec4 v)
+
+    makes all members zero
+
+    Parameters:
+      | *[in, out]*  **v**     vector
+
 .. c:function:: float  glm_vec4_dot(vec4 a, vec4 b)
 
     dot product of vec4
@@ -110,24 +128,51 @@ Functions documentation
     Parameters:
       | *[in]*  **vec**   vector
 
-.. c:function:: void  glm_vec4_add(vec4 v1, vec4 v2, vec4 dest)
+.. c:function:: void  glm_vec4_add(vec4 a, vec4 b, vec4 dest)
 
-    add v2 vector to v1 vector store result in dest
+    add a vector to b vector store result in dest
 
     Parameters:
-      | *[in]*  **v1**    vector1
+      | *[in]*  **a**     vector1
-      | *[in]*  **v2**    vector2
+      | *[in]*  **b**     vector2
       | *[out]* **dest**  destination vector
 
-.. c:function:: void  glm_vec4_sub(vec4 v1, vec4 v2, vec4 dest)
+.. c:function:: void  glm_vec4_adds(vec4 v, float s, vec4 dest)
 
-    subtract v2 vector from v1 vector store result in dest
+    add scalar to v vector store result in dest (d = v + vec(s))
 
     Parameters:
-      | *[in]*  **v1**    vector1
+      | *[in]*  **v**     vector
-      | *[in]*  **v2**    vector2
+      | *[in]*  **s**     scalar
       | *[out]* **dest**  destination vector
 
+.. c:function:: void  glm_vec4_sub(vec4 a, vec4 b, vec4 dest)
+
+    subtract b vector from a vector store result in dest (d = v1 - v2)
+
+    Parameters:
+      | *[in]*  **a**     vector1
+      | *[in]*  **b**     vector2
+      | *[out]* **dest**  destination vector
+
+.. c:function:: void  glm_vec4_subs(vec4 v, float s, vec4 dest)
+
+    subtract scalar from v vector store result in dest (d = v - vec(s))
+
+    Parameters:
+      | *[in]*  **v**     vector
+      | *[in]*  **s**     scalar
+      | *[out]* **dest**  destination vector
+
+.. c:function:: void  glm_vec4_mul(vec4 a, vec4 b, vec4 d)
+
+    multiply two vector (component-wise multiplication)
+
+    Parameters:
+      | *[in]*  **a**     vector1
+      | *[in]*  **b**     vector2
+      | *[out]* **dest**  result = (a[0] * b[0], a[1] * b[1], a[2] * b[2], a[3] * b[3])
+
 .. c:function:: void glm_vec4_scale(vec4 v, float s, vec4 dest)
 
      multiply/scale vec4 vector with scalar: result = v * s
@@ -146,6 +191,64 @@ Functions documentation
       | *[in]*  **s**     scalar
       | *[out]* **dest**  destination vector
 
+.. c:function:: void  glm_vec4_div(vec4 a, vec4 b, vec4 dest)
+
+    div vector with another component-wise division: d = v1 / v2
+
+    Parameters:
+      | *[in]*  **a**     vector1
+      | *[in]*  **b**     vector2
+      | *[out]* **dest**  result = (a[0] / b[0], a[1] / b[1], a[2] / b[2], a[3] / b[3])
+
+.. c:function:: void  glm_vec4_divs(vec4 v, float s, vec4 dest)
+
+    div vector with scalar: d = v / s
+
+    Parameters:
+      | *[in]*  **v**     vector
+      | *[in]*  **s**     scalar
+      | *[out]* **dest**  result = (a[0] / s, a[1] / s, a[2] / s, a[3] / s)
+
+.. c:function:: void  glm_vec4_addadd(vec4 a, vec4 b, vec4 dest)
+
+    | add two vectors and add result to sum
+    | it applies += operator so dest must be initialized
+
+    Parameters:
+      | *[in]*  **a**     vector 1
+      | *[in]*  **b**     vector 2
+      | *[out]* **dest**  dest += (a + b)
+
+.. c:function:: void  glm_vec4_subadd(vec4 a, vec4 b, vec4 dest)
+
+    | sub two vectors and add result to sum
+    | it applies += operator so dest must be initialized
+
+    Parameters:
+      | *[in]*  **a**     vector 1
+      | *[in]*  **b**     vector 2
+      | *[out]* **dest**  dest += (a - b)
+
+.. c:function:: void  glm_vec4_muladd(vec4 a, vec4 b, vec4 dest)
+
+    | mul two vectors and add result to sum
+    | it applies += operator so dest must be initialized
+
+    Parameters:
+      | *[in]*  **a**     vector 1
+      | *[in]*  **b**     vector 2
+      | *[out]* **dest**  dest += (a * b)
+
+.. c:function:: void  glm_vec4_muladds(vec4 a, float s, vec4 dest)
+
+    | mul vector with scalar and add result to sum
+    | it applies += operator so dest must be initialized
+
+    Parameters:
+      | *[in]*  **a**     vector
+      | *[in]*  **s**     scalar
+      | *[out]* **dest**  dest += (a * b)
+
 .. c:function:: void  glm_vec4_flipsign(vec4 v)
 
     flip sign of all vec4 members

include/cglm/affine-mat.h

@@ -81,6 +81,59 @@ glm_mul(mat4 m1, mat4 m2, mat4 dest) {
 #endif
 }
 
+/*!
+ * @brief this is similar to glm_mat4_mul but specialized to affine transform
+ *
+ * Right Matrix format should be:
+ *   R  R  R  0
+ *   R  R  R  0
+ *   R  R  R  0
+ *   0  0  0  1
+ *
+ * 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_rot(mat4 m1, mat4 m2, mat4 dest) {
+#if defined( __SSE__ ) || defined( __SSE2__ )
+  glm_mul_rot_sse2(m1, m2, dest);
+#else
+  float a00 = m1[0][0], a01 = m1[0][1], a02 = m1[0][2], a03 = m1[0][3],
+        a10 = m1[1][0], a11 = m1[1][1], a12 = m1[1][2], a13 = m1[1][3],
+        a20 = m1[2][0], a21 = m1[2][1], a22 = m1[2][2], a23 = m1[2][3],
+        a30 = m1[3][0], a31 = m1[3][1], a32 = m1[3][2], a33 = m1[3][3],
+
+        b00 = m2[0][0], b01 = m2[0][1], b02 = m2[0][2],
+        b10 = m2[1][0], b11 = m2[1][1], b12 = m2[1][2],
+        b20 = m2[2][0], b21 = m2[2][1], b22 = m2[2][2];
+
+  dest[0][0] = a00 * b00 + a10 * b01 + a20 * b02;
+  dest[0][1] = a01 * b00 + a11 * b01 + a21 * b02;
+  dest[0][2] = a02 * b00 + a12 * b01 + a22 * b02;
+  dest[0][3] = a03 * b00 + a13 * b01 + a23 * b02;
+
+  dest[1][0] = a00 * b10 + a10 * b11 + a20 * b12;
+  dest[1][1] = a01 * b10 + a11 * b11 + a21 * b12;
+  dest[1][2] = a02 * b10 + a12 * b11 + a22 * b12;
+  dest[1][3] = a03 * b10 + a13 * b11 + a23 * b12;
+
+  dest[2][0] = a00 * b20 + a10 * b21 + a20 * b22;
+  dest[2][1] = a01 * b20 + a11 * b21 + a21 * b22;
+  dest[2][2] = a02 * b20 + a12 * b21 + a22 * b22;
+  dest[2][3] = a03 * b20 + a13 * b21 + a23 * b22;
+
+  dest[3][0] = a30;
+  dest[3][1] = a31;
+  dest[3][2] = a32;
+  dest[3][3] = a33;
+#endif
+}
+
 /*!
  * @brief inverse orthonormal rotation + translation matrix (ridig-body)
  *

include/cglm/affine.h

@@ -16,15 +16,14 @@
    CGLM_INLINE void glm_scale_to(mat4 m, vec3 v, mat4 dest);
    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_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);
    CGLM_INLINE void glm_rotate(mat4 m, float angle, vec3 axis);
+   CGLM_INLINE void glm_rotate_at(mat4 m, vec3 pivot, float angle, vec3 axis);
+   CGLM_INLINE void glm_rotate_atm(mat4 m, vec3 pivot, float angle, vec3 axis);
    CGLM_INLINE void glm_decompose_scalev(mat4 m, vec3 s);
    CGLM_INLINE bool glm_uniscaled(mat4 m);
    CGLM_INLINE void glm_decompose_rs(mat4 m, mat4 r, vec3 s);
@@ -38,6 +37,11 @@
 #include "vec4.h"
 #include "affine-mat.h"
 #include "util.h"
+#include "mat4.h"
+
+CGLM_INLINE
+void
+glm_mat4_mul(mat4 m1, mat4 m2, mat4 dest);
 
 /*!
  * @brief translate existing transform matrix by v vector
@@ -237,16 +241,6 @@ 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) {
-  vec3 v = { s, s, 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
@@ -272,19 +266,18 @@ glm_scale_uni(mat4 m, float s) {
 CGLM_INLINE
 void
 glm_rotate_x(mat4 m, float angle, mat4 dest) {
-  float cosVal;
-  float sinVal;
   mat4  t = GLM_MAT4_IDENTITY_INIT;
+  float c, s;
 
-  cosVal = cosf(angle);
+  c = cosf(angle);
-  sinVal = sinf(angle);
+  s = sinf(angle);
 
-  t[1][1] =  cosVal;
+  t[1][1] =  c;
-  t[1][2] =  sinVal;
+  t[1][2] =  s;
-  t[2][1] = -sinVal;
+  t[2][1] = -s;
-  t[2][2] =  cosVal;
+  t[2][2] =  c;
 
-  glm_mat4_mul(m, t, dest);
+  glm_mul_rot(m, t, dest);
 }
 
 /*!
@@ -298,19 +291,18 @@ glm_rotate_x(mat4 m, float angle, mat4 dest) {
 CGLM_INLINE
 void
 glm_rotate_y(mat4 m, float angle, mat4 dest) {
-  float cosVal;
-  float sinVal;
   mat4  t = GLM_MAT4_IDENTITY_INIT;
+  float c, s;
 
-  cosVal = cosf(angle);
+  c = cosf(angle);
-  sinVal = sinf(angle);
+  s = sinf(angle);
 
-  t[0][0] =  cosVal;
+  t[0][0] =  c;
-  t[0][2] = -sinVal;
+  t[0][2] = -s;
-  t[2][0] =  sinVal;
+  t[2][0] =  s;
-  t[2][2] =  cosVal;
+  t[2][2] =  c;
 
-  glm_mat4_mul(m, t, dest);
+  glm_mul_rot(m, t, dest);
 }
 
 /*!
@@ -324,61 +316,18 @@ glm_rotate_y(mat4 m, float angle, mat4 dest) {
 CGLM_INLINE
 void
 glm_rotate_z(mat4 m, float angle, mat4 dest) {
-  float cosVal;
-  float sinVal;
   mat4  t = GLM_MAT4_IDENTITY_INIT;
-
+  float c, s;
-  cosVal = cosf(angle);
-  sinVal = sinf(angle);
-
-  t[0][0] =  cosVal;
-  t[0][1] =  sinVal;
-  t[1][0] = -sinVal;
-  t[1][1] =  cosVal;
-
-  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) {
-  /* https://www.opengl.org/sdk/docs/man2/xhtml/glRotate.xml */
-
-  vec3 v, vs;
-  float c;
 
   c = cosf(angle);
+  s = sinf(angle);
 
-  glm_vec_scale(axis_ndc, 1.0f - c, v);
+  t[0][0] =  c;
-  glm_vec_scale(axis_ndc, sinf(angle), vs);
+  t[0][1] =  s;
+  t[1][0] = -s;
+  t[1][1] =  c;
 
-  glm_vec_scale(axis_ndc, v[0], m[0]);
+  glm_mul_rot(m, t, dest);
-  glm_vec_scale(axis_ndc, v[1], m[1]);
-  glm_vec_scale(axis_ndc, v[2], m[2]);
-
-  m[0][0] += c;
-  m[0][1] += vs[2];
-  m[0][2] -= vs[1];
-
-  m[1][0] -= vs[2];
-  m[1][1] += c;
-  m[1][2] += vs[0];
-
-  m[2][0] += vs[1];
-  m[2][1] -= vs[0];
-  m[2][2] += c;
-
-  m[0][3] = m[1][3] = m[2][3] = m[3][0] = m[3][1] = m[3][2] = 0.0f;
-  m[3][3] = 1.0f;
 }
 
 /*!
@@ -393,53 +342,29 @@ glm_rotate_ndc_make(mat4 m, float angle, vec3 axis_ndc) {
 CGLM_INLINE
 void
 glm_rotate_make(mat4 m, float angle, vec3 axis) {
-  vec3 axis_ndc;
+  vec3  axisn, v, vs;
+  float c;
 
-  glm_vec_normalize_to(axis, axis_ndc);
+  c = cosf(angle);
-  glm_rotate_ndc_make(m, angle, axis_ndc);
+
+  glm_vec_normalize_to(axis, axisn);
+  glm_vec_scale(axisn, 1.0f - c, v);
+  glm_vec_scale(axisn, sinf(angle), vs);
+
+  glm_vec_scale(axisn, v[0], m[0]);
+  glm_vec_scale(axisn, v[1], m[1]);
+  glm_vec_scale(axisn, v[2], m[2]);
+
+  m[0][0] += c;       m[1][0] -= vs[2];   m[2][0] += vs[1];
+  m[0][1] += vs[2];   m[1][1] += c;       m[2][1] -= vs[0];
+  m[0][2] -= vs[1];   m[1][2] += vs[0];   m[2][2] += c;
+
+  m[0][3] = m[1][3] = m[2][3] = m[3][0] = m[3][1] = m[3][2] = 0.0f;
+  m[3][3] = 1.0f;
 }
 
 /*!
- * @brief rotate existing transform matrix around Z axis by angle and axis
+ * @brief rotate existing transform matrix around given axis by angle
- *
- * 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) {
-  mat4 rot, tmp;
-
-  glm_rotate_ndc_make(rot, angle, axis_ndc);
-
-  glm_vec4_scale(m[0], rot[0][0], tmp[1]);
-  glm_vec4_scale(m[1], rot[0][1], tmp[0]);
-  glm_vec4_add(tmp[1], tmp[0],    tmp[1]);
-  glm_vec4_scale(m[2], rot[0][2], tmp[0]);
-  glm_vec4_add(tmp[1], tmp[0],    tmp[1]);
-
-  glm_vec4_scale(m[0], rot[1][0], tmp[2]);
-  glm_vec4_scale(m[1], rot[1][1], tmp[0]);
-  glm_vec4_add(tmp[2], tmp[0],    tmp[2]);
-  glm_vec4_scale(m[2], rot[1][2], tmp[0]);
-  glm_vec4_add(tmp[2], tmp[0],    tmp[2]);
-
-  glm_vec4_scale(m[0], rot[2][0], tmp[3]);
-  glm_vec4_scale(m[1], rot[2][1], tmp[0]);
-  glm_vec4_add(tmp[3], tmp[0],    tmp[3]);
-  glm_vec4_scale(m[2], rot[2][2], tmp[0]);
-  glm_vec4_add(tmp[3], tmp[0],    tmp[3]);
-
-  glm_vec4_copy(tmp[1], m[0]);
-  glm_vec4_copy(tmp[2], m[1]);
-  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)
@@ -448,10 +373,56 @@ glm_rotate_ndc(mat4 m, float angle, vec3 axis_ndc) {
 CGLM_INLINE
 void
 glm_rotate(mat4 m, float angle, vec3 axis) {
-  vec3 axis_ndc;
+  mat4 rot;
+  glm_rotate_make(rot, angle, axis);
+  glm_mul_rot(m, rot, m);
+}
 
-  glm_vec_normalize_to(axis, axis_ndc);
+/*!
-  glm_rotate_ndc(m, angle, axis_ndc);
+ * @brief rotate existing transform
+ *        around given axis by angle at given pivot point (rotation center)
+ *
+ * @param[in, out]  m      affine transfrom
+ * @param[in]       pivot  rotation center
+ * @param[in]       angle  angle (radians)
+ * @param[in]       axis   axis
+ */
+CGLM_INLINE
+void
+glm_rotate_at(mat4 m, vec3 pivot, float angle, vec3 axis) {
+  vec3 pivotInv;
+
+  glm_vec_inv_to(pivot, pivotInv);
+
+  glm_translate(m, pivot);
+  glm_rotate(m, angle, axis);
+  glm_translate(m, pivotInv);
+}
+
+/*!
+ * @brief creates NEW rotation matrix by angle and axis at given point
+ *
+ * this creates rotation matrix, it assumes you don't have a matrix
+ *
+ * this should work faster than glm_rotate_at because it reduces
+ * one glm_translate.
+ *
+ * @param[out] m      affine transfrom
+ * @param[in]  pivot  rotation center
+ * @param[in]  angle  angle (radians)
+ * @param[in]  axis   axis
+ */
+CGLM_INLINE
+void
+glm_rotate_atm(mat4 m, vec3 pivot, float angle, vec3 axis) {
+  vec3 pivotInv;
+
+  glm_vec_inv_to(pivot, pivotInv);
+
+  glm_mat4_identity(m);
+  glm_vec_copy(pivot, m[3]);
+  glm_rotate(m, angle, axis);
+  glm_translate(m, pivotInv);
 }
 
 /*!
@@ -469,7 +440,7 @@ glm_decompose_scalev(mat4 m, vec3 s) {
 }
 
 /*!
- * @brief returns true if matrix is uniform scaled. This is helpful for 
+ * @brief returns true if matrix is uniform scaled. This is helpful for
  *        creating normal matrix.
  *
  * @param[in] m m

include/cglm/call/affine.h

@@ -13,6 +13,10 @@ extern "C" {
 
 #include "../cglm.h"
 
+CGLM_EXPORT
+void
+glmc_translate_make(mat4 m, vec3 v);
+
 CGLM_EXPORT
 void
 glmc_translate_to(mat4 m, vec3 v, mat4 dest);
@@ -33,6 +37,10 @@ CGLM_EXPORT
 void
 glmc_translate_z(mat4 m, float to);
 
+CGLM_EXPORT
+void
+glmc_scale_make(mat4 m, vec3 v);
+
 CGLM_EXPORT
 void
 glmc_scale_to(mat4 m, vec3 v, mat4 dest);
@@ -43,7 +51,7 @@ glmc_scale(mat4 m, vec3 v);
 
 CGLM_EXPORT
 void
-glmc_scale1(mat4 m, float s);
+glmc_scale_uni(mat4 m, float s);
 
 CGLM_EXPORT
 void
@@ -57,26 +65,30 @@ CGLM_EXPORT
 void
 glmc_rotate_z(mat4 m, float rad, mat4 dest);
 
-CGLM_EXPORT
-void
-glmc_rotate_ndc_make(mat4 m, float angle, vec3 axis_ndc);
-
 CGLM_EXPORT
 void
 glmc_rotate_make(mat4 m, float angle, vec3 axis);
 
-CGLM_EXPORT
-void
-glmc_rotate_ndc(mat4 m, float angle, vec3 axis_ndc);
-
 CGLM_EXPORT
 void
 glmc_rotate(mat4 m, float angle, vec3 axis);
 
+CGLM_EXPORT
+void
+glmc_rotate_at(mat4 m, vec3 pivot, float angle, vec3 axis);
+
+CGLM_EXPORT
+void
+glmc_rotate_atm(mat4 m, vec3 pivot, float angle, vec3 axis);
+
 CGLM_EXPORT
 void
 glmc_decompose_scalev(mat4 m, vec3 s);
 
+CGLM_EXPORT
+bool
+glmc_uniscaled(mat4 m);
+
 CGLM_EXPORT
 void
 glmc_decompose_rs(mat4 m, mat4 r, vec3 s);

include/cglm/call/quat.h

@@ -137,6 +137,14 @@ CGLM_EXPORT
 void
 glmc_quat_rotate(mat4 m, versor q, mat4 dest);
 
+CGLM_EXPORT
+void
+glmc_quat_rotate_at(mat4 model, versor q, vec3 pivot);
+
+CGLM_EXPORT
+void
+glmc_quat_rotate_atm(mat4 m, versor q, vec3 pivot);
+
 #ifdef __cplusplus
 }
 #endif

include/cglm/call/vec3.h

@@ -24,6 +24,14 @@ CGLM_EXPORT
 void
 glmc_vec_copy(vec3 a, vec3 dest);
 
+CGLM_EXPORT
+void
+glmc_vec_zero(vec3 v);
+
+CGLM_EXPORT
+void
+glmc_vec_one(vec3 v);
+
 CGLM_EXPORT
 float
 glmc_vec_dot(vec3 a, vec3 b);
@@ -54,7 +62,19 @@ glmc_vec_add(vec3 v1, vec3 v2, vec3 dest);
 
 CGLM_EXPORT
 void
-glmc_vec_sub(vec3 v1, vec3 v2, vec3 dest);
+glmc_vec_adds(vec3 v, float s, vec3 dest);
+
+CGLM_EXPORT
+void
+glmc_vec_sub(vec3 a, vec3 b, vec3 dest);
+
+CGLM_EXPORT
+void
+glmc_vec_subs(vec3 v, float s, vec3 dest);
+
+CGLM_EXPORT
+void
+glmc_vec_mul(vec3 a, vec3 b, vec3 d);
 
 CGLM_EXPORT
 void
@@ -64,6 +84,30 @@ CGLM_EXPORT
 void
 glmc_vec_scale_as(vec3 v, float s, vec3 dest);
 
+CGLM_EXPORT
+void
+glmc_vec_div(vec3 a, vec3 b, vec3 dest);
+
+CGLM_EXPORT
+void
+glmc_vec_divs(vec3 a, float s, vec3 dest);
+
+CGLM_EXPORT
+void
+glmc_vec_addadd(vec3 a, vec3 b, vec3 dest);
+
+CGLM_EXPORT
+void
+glmc_vec_subadd(vec3 a, vec3 b, vec3 dest);
+
+CGLM_EXPORT
+void
+glmc_vec_muladd(vec3 a, vec3 b, vec3 dest);
+
+CGLM_EXPORT
+void
+glmc_vec_muladds(vec3 a, float s, vec3 dest);
+
 CGLM_EXPORT
 void
 glmc_vec_flipsign(vec3 v);

include/cglm/call/vec4.h

@@ -21,6 +21,14 @@ CGLM_EXPORT
 void
 glmc_vec4(vec3 v3, float last, vec4 dest);
 
+CGLM_EXPORT
+void
+glmc_vec4_zero(vec4 v);
+
+CGLM_EXPORT
+void
+glmc_vec4_one(vec4 v);
+
 CGLM_EXPORT
 void
 glmc_vec4_copy3(vec4 a, vec3 dest);
@@ -51,11 +59,23 @@ glmc_vec4_normalize(vec4 v);
 
 CGLM_EXPORT
 void
-glmc_vec4_add(vec4 v1, vec4 v2, vec4 dest);
+glmc_vec4_add(vec4 a, vec4 b, vec4 dest);
 
 CGLM_EXPORT
 void
-glmc_vec4_sub(vec4 v1, vec4 v2, vec4 dest);
+glmc_vec4_adds(vec4 v, float s, vec4 dest);
+
+CGLM_EXPORT
+void
+glmc_vec4_sub(vec4 a, vec4 b, vec4 dest);
+
+CGLM_EXPORT
+void
+glmc_vec4_subs(vec4 v, float s, vec4 dest);
+
+CGLM_EXPORT
+void
+glmc_vec4_mul(vec4 a, vec4 b, vec4 d);
 
 CGLM_EXPORT
 void
@@ -65,6 +85,30 @@ CGLM_EXPORT
 void
 glmc_vec4_scale_as(vec3 v, float s, vec3 dest);
 
+CGLM_EXPORT
+void
+glmc_vec4_div(vec4 a, vec4 b, vec4 dest);
+
+CGLM_EXPORT
+void
+glmc_vec4_divs(vec4 v, float s, vec4 dest);
+
+CGLM_EXPORT
+void
+glmc_vec4_addadd(vec4 a, vec4 b, vec4 dest);
+
+CGLM_EXPORT
+void
+glmc_vec4_subadd(vec4 a, vec4 b, vec4 dest);
+
+CGLM_EXPORT
+void
+glmc_vec4_muladd(vec4 a, vec4 b, vec4 dest);
+
+CGLM_EXPORT
+void
+glmc_vec4_muladds(vec4 a, float s, vec4 dest);
+
 CGLM_EXPORT
 void
 glmc_vec4_flipsign(vec4 v);

include/cglm/quat.h

@@ -55,18 +55,27 @@
 #include "vec4.h"
 #include "mat4.h"
 #include "mat3.h"
+#include "affine-mat.h"
 
 #ifdef CGLM_SSE_FP
 #  include "simd/sse2/quat.h"
 #endif
 
+CGLM_INLINE
+void
+glm_mat4_identity(mat4 mat);
+
 CGLM_INLINE
 void
 glm_mat4_mulv(mat4 m, vec4 v, vec4 dest);
 
 CGLM_INLINE
 void
-glm_mat4_mul(mat4 m1, mat4 m2, mat4 dest);
+glm_mul_rot(mat4 m1, mat4 m2, mat4 dest);
+
+CGLM_INLINE
+void
+glm_translate(mat4 m, vec3 v);
 
 /*
  * IMPORTANT:
@@ -737,7 +746,51 @@ void
 glm_quat_rotate(mat4 m, versor q, mat4 dest) {
   mat4 rot;
   glm_quat_mat4(q, rot);
-  glm_mat4_mul(m, rot, dest);
+  glm_mul_rot(m, rot, dest);
+}
+
+/*!
+ * @brief rotate existing transform matrix using quaternion at pivot point
+ *
+ * @param[in, out]   m     existing transform matrix
+ * @param[in]        q     quaternion
+ * @param[out]       pivot pivot
+ */
+CGLM_INLINE
+void
+glm_quat_rotate_at(mat4 m, versor q, vec3 pivot) {
+  vec3 pivotInv;
+
+  glm_vec_inv_to(pivot, pivotInv);
+
+  glm_translate(m, pivot);
+  glm_quat_rotate(m, q, m);
+  glm_translate(m, pivotInv);
+}
+
+/*!
+ * @brief rotate NEW transform matrix using quaternion at pivot point
+ *
+ * this creates rotation matrix, it assumes you don't have a matrix
+ *
+ * this should work faster than glm_quat_rotate_at because it reduces
+ * one glm_translate.
+ *
+ * @param[out]  m     existing transform matrix
+ * @param[in]   q     quaternion
+ * @param[in]   pivot pivot
+ */
+CGLM_INLINE
+void
+glm_quat_rotate_atm(mat4 m, versor q, vec3 pivot) {
+  vec3 pivotInv;
+
+  glm_vec_inv_to(pivot, pivotInv);
+
+  glm_mat4_identity(m);
+  glm_vec_copy(pivot, m[3]);
+  glm_quat_rotate(m, q, m);
+  glm_translate(m, pivotInv);
 }
 
 #endif /* cglm_quat_h */

include/cglm/simd/intrin.h

@@ -40,6 +40,31 @@ glm_simd_dot(__m128 a, __m128 b) {
   return _mm_add_ps(x0, _mm_shuffle1_ps(x0, 0, 1, 0, 1));
 }
 
+CGLM_INLINE
+__m128
+glm_simd_norm(__m128 a) {
+  return _mm_sqrt_ps(glm_simd_dot(a, a));
+}
+
+static inline
+__m128
+glm_simd_load_v3(vec3 v) {
+  __m128i xy;
+  __m128  z;
+
+  xy = _mm_loadl_epi64((const __m128i *)v);
+  z  = _mm_load_ss(&v[2]);
+
+  return _mm_movelh_ps(_mm_castsi128_ps(xy), z);
+}
+
+static inline
+void
+glm_simd_store_v3(__m128 vx, vec3 v) {
+  _mm_storel_pi((__m64 *)&v[0], vx);
+  _mm_store_ss(&v[2], _mm_shuffle1_ps(vx, 2, 2, 2, 2));
+}
+
 #endif
 
 /* x86, x64 */

include/cglm/simd/sse2/affine.h

@@ -49,6 +49,38 @@ glm_mul_sse2(mat4 m1, mat4 m2, mat4 dest) {
                                      _mm_mul_ps(_mm_shuffle1_ps1(r, 3), l3))));
 }
 
+CGLM_INLINE
+void
+glm_mul_rot_sse2(mat4 m1, mat4 m2, mat4 dest) {
+  /* D = R * L (Column-Major) */
+  __m128 l0, l1, l2, l3, r;
+
+  l0 = _mm_load_ps(m1[0]);
+  l1 = _mm_load_ps(m1[1]);
+  l2 = _mm_load_ps(m1[2]);
+  l3 = _mm_load_ps(m1[3]);
+
+  r = _mm_load_ps(m2[0]);
+  _mm_store_ps(dest[0],
+               _mm_add_ps(_mm_add_ps(_mm_mul_ps(_mm_shuffle1_ps1(r, 0), l0),
+                                     _mm_mul_ps(_mm_shuffle1_ps1(r, 1), l1)),
+                          _mm_mul_ps(_mm_shuffle1_ps1(r, 2), l2)));
+
+  r = _mm_load_ps(m2[1]);
+  _mm_store_ps(dest[1],
+               _mm_add_ps(_mm_add_ps(_mm_mul_ps(_mm_shuffle1_ps1(r, 0), l0),
+                                     _mm_mul_ps(_mm_shuffle1_ps1(r, 1), l1)),
+                          _mm_mul_ps(_mm_shuffle1_ps1(r, 2), l2)));
+
+  r = _mm_load_ps(m2[2]);
+  _mm_store_ps(dest[2],
+               _mm_add_ps(_mm_add_ps(_mm_mul_ps(_mm_shuffle1_ps1(r, 0), l0),
+                                     _mm_mul_ps(_mm_shuffle1_ps1(r, 1), l1)),
+                          _mm_mul_ps(_mm_shuffle1_ps1(r, 2), l2)));
+
+  _mm_store_ps(dest[3], l3);
+}
+
 CGLM_INLINE
 void
 glm_inv_tr_sse2(mat4 mat) {

include/cglm/types.h

@@ -15,12 +15,12 @@
 #endif
 
 typedef float vec2[2];
-typedef float vec3[3];
+typedef  CGLM_ALIGN(8) float vec3[3];
 typedef int  ivec3[3];
 typedef CGLM_ALIGN(16) float vec4[4];
 
 typedef vec3 mat3[3];
-typedef vec4 mat4[4];
+typedef CGLM_ALIGN(16) vec4 mat4[4];
 
 typedef vec4 versor;
 

include/cglm/vec3-ext.h

@@ -32,7 +32,7 @@
 #include <float.h>
 
 /*!
- * @brief multiplies individual items, just for convenient like SIMD
+ * @brief DEPRECATED! use glm_vec_mul
  *
  * @param[in]  a vec1
  * @param[in]  b vec2

include/cglm/vec3.h

@@ -28,10 +28,18 @@
    CGLM_INLINE void  glm_vec_cross(vec3 a, vec3 b, vec3 d);
    CGLM_INLINE float glm_vec_norm2(vec3 v);
    CGLM_INLINE float glm_vec_norm(vec3 vec);
-   CGLM_INLINE void  glm_vec_add(vec3 v1, vec3 v2, vec3 dest);
+   CGLM_INLINE void  glm_vec_add(vec3 a, vec3 b, vec3 dest);
-   CGLM_INLINE void  glm_vec_sub(vec3 v1, vec3 v2, vec3 dest);
+   CGLM_INLINE void  glm_vec_adds(vec3 a, float s, vec3 dest);
+   CGLM_INLINE void  glm_vec_sub(vec3 a, vec3 b, vec3 dest);
+   CGLM_INLINE void  glm_vec_subs(vec3 a, float s, vec3 dest);
+   CGLM_INLINE void  glm_vec_mul(vec3 a, vec3 b, vec3 dest);
    CGLM_INLINE void  glm_vec_scale(vec3 v, float s, vec3 dest);
    CGLM_INLINE void  glm_vec_scale_as(vec3 v, float s, vec3 dest);
+   CGLM_INLINE void  glm_vec_div(vec3 a, vec3 b, vec3 dest);
+   CGLM_INLINE void  glm_vec_divs(vec3 a, float s, vec3 dest);
+   CGLM_INLINE void  glm_vec_addadd(vec3 a, vec3 b, vec3 dest);
+   CGLM_INLINE void  glm_vec_subadd(vec3 a, vec3 b, vec3 dest);
+   CGLM_INLINE void  glm_vec_muladd(vec3 a, vec3 b, vec3 dest);
    CGLM_INLINE void  glm_vec_flipsign(vec3 v);
    CGLM_INLINE void  glm_vec_inv(vec3 v);
    CGLM_INLINE void  glm_vec_inv_to(vec3 v, vec3 dest);
@@ -59,6 +67,7 @@
 #define cglm_vec3_h
 
 #include "common.h"
+#include "vec4.h"
 #include "vec3-ext.h"
 #include "util.h"
 
@@ -103,6 +112,32 @@ glm_vec_copy(vec3 a, vec3 dest) {
   dest[2] = a[2];
 }
 
+/*!
+ * @brief make vector zero
+ *
+ * @param[in, out]  v vector
+ */
+CGLM_INLINE
+void
+glm_vec_zero(vec3 v) {
+  v[0] = 0.0f;
+  v[1] = 0.0f;
+  v[2] = 0.0f;
+}
+
+/*!
+ * @brief make vector one
+ *
+ * @param[in, out]  v vector
+ */
+CGLM_INLINE
+void
+glm_vec_one(vec3 v) {
+  v[0] = 1.0f;
+  v[1] = 1.0f;
+  v[2] = 1.0f;
+}
+
 /*!
  * @brief vec3 dot product
  *
@@ -164,33 +199,78 @@ glm_vec_norm(vec3 vec) {
 }
 
 /*!
- * @brief add v2 vector to v1 vector store result in dest
+ * @brief add a vector to b vector store result in dest
  *
- * @param[in]  v1 vector1
+ * @param[in]  a    vector1
- * @param[in]  v2 vector2
+ * @param[in]  b    vector2
  * @param[out] dest destination vector
  */
 CGLM_INLINE
 void
-glm_vec_add(vec3 v1, vec3 v2, vec3 dest) {
+glm_vec_add(vec3 a, vec3 b, vec3 dest) {
-  dest[0] = v1[0] + v2[0];
+  dest[0] = a[0] + b[0];
-  dest[1] = v1[1] + v2[1];
+  dest[1] = a[1] + b[1];
-  dest[2] = v1[2] + v2[2];
+  dest[2] = a[2] + b[2];
+}
+
+/*!
+ * @brief add scalar to v vector store result in dest (d = v + s)
+ *
+ * @param[in]  v    vector
+ * @param[in]  s    scalar
+ * @param[out] dest destination vector
+ */
+CGLM_INLINE
+void
+glm_vec_adds(vec3 v, float s, vec3 dest) {
+  dest[0] = v[0] + s;
+  dest[1] = v[1] + s;
+  dest[2] = v[2] + s;
 }
 
 /*!
  * @brief subtract v2 vector from v1 vector store result in dest
  *
- * @param[in]  v1 vector1
+ * @param[in]  a    vector1
- * @param[in]  v2 vector2
+ * @param[in]  b    vector2
  * @param[out] dest destination vector
  */
 CGLM_INLINE
 void
-glm_vec_sub(vec3 v1, vec3 v2, vec3 dest) {
+glm_vec_sub(vec3 a, vec3 b, vec3 dest) {
-  dest[0] = v1[0] - v2[0];
+  dest[0] = a[0] - b[0];
-  dest[1] = v1[1] - v2[1];
+  dest[1] = a[1] - b[1];
-  dest[2] = v1[2] - v2[2];
+  dest[2] = a[2] - b[2];
+}
+
+/*!
+ * @brief subtract scalar from v vector store result in dest (d = v - s)
+ *
+ * @param[in]  v    vector
+ * @param[in]  s    scalar
+ * @param[out] dest destination vector
+ */
+CGLM_INLINE
+void
+glm_vec_subs(vec3 v, float s, vec3 dest) {
+  dest[0] = v[0] - s;
+  dest[1] = v[1] - s;
+  dest[2] = v[2] - s;
+}
+
+/*!
+ * @brief multiply two vector (component-wise multiplication)
+ *
+ * @param a v1
+ * @param b v2
+ * @param d v3 = (a[0] * b[0], a[1] * b[1], a[2] * b[2])
+ */
+CGLM_INLINE
+void
+glm_vec_mul(vec3 a, vec3 b, vec3 d) {
+  d[0] = a[0] * b[0];
+  d[1] = a[1] * b[1];
+  d[2] = a[2] * b[2];
 }
 
 /*!
@@ -221,14 +301,112 @@ glm_vec_scale_as(vec3 v, float s, vec3 dest) {
   float norm;
   norm = glm_vec_norm(v);
 
-  if (norm == 0) {
+  if (norm == 0.0f) {
-    glm_vec_copy(v, dest);
+    glm_vec_zero(dest);
     return;
   }
 
   glm_vec_scale(v, s / norm, dest);
 }
 
+/*!
+ * @brief div vector with another component-wise division: d = a / b
+ *
+ * @param[in]  a    vector 1
+ * @param[in]  b    vector 2
+ * @param[out] dest result = (a[0]/b[0], a[1]/b[1], a[2]/b[2])
+ */
+CGLM_INLINE
+void
+glm_vec_div(vec3 a, vec3 b, vec3 dest) {
+  dest[0] = a[0] / b[0];
+  dest[1] = a[1] / b[1];
+  dest[2] = a[2] / b[2];
+}
+
+/*!
+ * @brief div vector with scalar: d = v / s
+ *
+ * @param[in]  v    vector
+ * @param[in]  s    scalar
+ * @param[out] dest result = (a[0]/s, a[1]/s, a[2]/s)
+ */
+CGLM_INLINE
+void
+glm_vec_divs(vec3 v, float s, vec3 dest) {
+  dest[0] = v[0] / s;
+  dest[1] = v[1] / s;
+  dest[2] = v[2] / s;
+}
+
+/*!
+ * @brief add two vectors and add result to sum
+ *
+ * it applies += operator so dest must be initialized
+ *
+ * @param[in]  a    vector 1
+ * @param[in]  b    vector 2
+ * @param[out] dest dest += (a + b)
+ */
+CGLM_INLINE
+void
+glm_vec_addadd(vec3 a, vec3 b, vec3 dest) {
+  dest[0] += a[0] + b[0];
+  dest[1] += a[1] + b[1];
+  dest[2] += a[2] + b[2];
+}
+
+/*!
+ * @brief sub two vectors and add result to dest
+ *
+ * it applies += operator so dest must be initialized
+ *
+ * @param[in]  a    vector 1
+ * @param[in]  b    vector 2
+ * @param[out] dest dest += (a + b)
+ */
+CGLM_INLINE
+void
+glm_vec_subadd(vec3 a, vec3 b, vec3 dest) {
+  dest[0] += a[0] - b[0];
+  dest[1] += a[1] - b[1];
+  dest[2] += a[2] - b[2];
+}
+
+/*!
+ * @brief mul two vectors and add result to dest
+ *
+ * it applies += operator so dest must be initialized
+ *
+ * @param[in]  a    vector 1
+ * @param[in]  b    vector 2
+ * @param[out] dest dest += (a * b)
+ */
+CGLM_INLINE
+void
+glm_vec_muladd(vec3 a, vec3 b, vec3 dest) {
+  dest[0] += a[0] * b[0];
+  dest[1] += a[1] * b[1];
+  dest[2] += a[2] * b[2];
+}
+
+/*!
+ * @brief mul vector with scalar and add result to sum
+ *
+ * it applies += operator so dest must be initialized
+ *
+ * @param[in]  a    vector
+ * @param[in]  s    scalar
+ * @param[out] dest dest += (a * b)
+ */
+CGLM_INLINE
+void
+glm_vec_muladds(vec3 a, float s, vec3 dest) {
+  dest[0] += a[0] * s;
+  dest[1] += a[1] * s;
+  dest[2] += a[2] * s;
+}
+
 /*!
  * @brief flip sign of all vec3 members
  *
@@ -314,7 +492,7 @@ glm_vec_normalize_to(vec3 vec, vec3 dest) {
   norm = glm_vec_norm(vec);
 
   if (norm == 0.0f) {
-    dest[0] = dest[1] = dest[2] = 0.0f;
+    glm_vec_zero(dest);
     return;
   }
 
@@ -374,6 +552,12 @@ glm_vec_rotate(vec3 v, float angle, vec3 axis) {
 /*!
  * @brief apply rotation matrix to vector
  *
+ *  matrix format should be (no perspective):
+ *   a  b  c  x
+ *   e  f  g  y
+ *   i  j  k  z
+ *   0  0  0  w
+ *
  * @param[in]  m    affine matrix or rot matrix
  * @param[in]  v    vector
  * @param[out] dest rotated vector
@@ -381,17 +565,44 @@ glm_vec_rotate(vec3 v, float angle, vec3 axis) {
 CGLM_INLINE
 void
 glm_vec_rotate_m4(mat4 m, vec3 v, vec3 dest) {
-  vec3 res, x, y, z;
+  vec4 x, y, z, res;
 
-  glm_vec_normalize_to(m[0], x);
+  glm_vec4_normalize_to(m[0], x);
-  glm_vec_normalize_to(m[1], y);
+  glm_vec4_normalize_to(m[1], y);
-  glm_vec_normalize_to(m[2], z);
+  glm_vec4_normalize_to(m[2], z);
 
-  res[0] = x[0] * v[0] + y[0] * v[1] + z[0] * v[2];
+  glm_vec4_scale(x,   v[0], res);
-  res[1] = x[1] * v[0] + y[1] * v[1] + z[1] * v[2];
+  glm_vec4_muladds(y, v[1], res);
-  res[2] = x[2] * v[0] + y[2] * v[1] + z[2] * v[2];
+  glm_vec4_muladds(z, v[2], res);
 
-  glm_vec_copy(res, dest);
+  glm_vec3(res, dest);
+}
+
+/*!
+ * @brief apply rotation matrix to vector
+ *
+ * @param[in]  m    affine matrix or rot matrix
+ * @param[in]  v    vector
+ * @param[out] dest rotated vector
+ */
+CGLM_INLINE
+void
+glm_vec_rotate_m3(mat3 m, vec3 v, vec3 dest) {
+  vec4 res, x, y, z;
+
+  glm_vec4(m[0], 0.0f, x);
+  glm_vec4(m[1], 0.0f, y);
+  glm_vec4(m[2], 0.0f, z);
+
+  glm_vec4_normalize(x);
+  glm_vec4_normalize(y);
+  glm_vec4_normalize(z);
+
+  glm_vec4_scale(x,   v[0], res);
+  glm_vec4_muladds(y, v[1], res);
+  glm_vec4_muladds(z, v[2], res);
+
+  glm_vec3(res, dest);
 }
 
 /*!

include/cglm/vec4-ext.h

@@ -32,7 +32,7 @@
 #include <float.h>
 
 /*!
- * @brief multiplies individual items, just for convenient like SIMD
+ * @brief DEPRECATED! use glm_vec4_mul
  *
  * @param a v1
  * @param b v2

include/cglm/vec4.h

@@ -28,10 +28,18 @@
    CGLM_INLINE float glm_vec4_dot(vec4 a, vec4 b);
    CGLM_INLINE float glm_vec4_norm2(vec4 v);
    CGLM_INLINE float glm_vec4_norm(vec4 vec);
-   CGLM_INLINE void  glm_vec4_add(vec4 v1, vec4 v2, vec4 dest);
+   CGLM_INLINE void  glm_vec4_add(vec4 a, vec4 b, vec4 dest);
-   CGLM_INLINE void  glm_vec4_sub(vec4 v1, vec4 v2, vec4 dest);
+   CGLM_INLINE void  glm_vec4_adds(vec4 v, float s, vec4 dest);
+   CGLM_INLINE void  glm_vec4_sub(vec4 a, vec4 b, vec4 dest);
+   CGLM_INLINE void  glm_vec4_subs(vec4 v, float s, vec4 dest);
+   CGLM_INLINE void  glm_vec4_mul(vec4 a, vec4 b, vec4 dest);
    CGLM_INLINE void  glm_vec4_scale(vec4 v, float s, vec4 dest);
    CGLM_INLINE void  glm_vec4_scale_as(vec4 v, float s, vec4 dest);
+   CGLM_INLINE void  glm_vec4_div(vec4 a, vec4 b, vec4 dest);
+   CGLM_INLINE void  glm_vec4_divs(vec4 v, float s, vec4 dest);
+   CGLM_INLINE void  glm_vec4_addadd(vec4 a, vec4 b, vec4 dest);
+   CGLM_INLINE void  glm_vec4_subadd(vec4 a, vec4 b, vec4 dest);
+   CGLM_INLINE void  glm_vec4_muladd(vec4 a, vec4 b, vec4 dest);
    CGLM_INLINE void  glm_vec4_flipsign(vec4 v);
    CGLM_INLINE void  glm_vec4_inv(vec4 v);
    CGLM_INLINE void  glm_vec4_inv_to(vec4 v, vec4 dest);
@@ -41,6 +49,7 @@
    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);
+   CGLM_INLINE void  glm_vec4_lerp(vec4 from, vec4 to, float t, vec4 dest)
  */
 
 #ifndef cglm_vec4_h
@@ -111,6 +120,42 @@ glm_vec4_copy(vec4 v, vec4 dest) {
 #endif
 }
 
+/*!
+ * @brief make vector zero
+ *
+ * @param[in, out]  v vector
+ */
+CGLM_INLINE
+void
+glm_vec4_zero(vec4 v) {
+#if defined( __SSE__ ) || defined( __SSE2__ )
+  _mm_store_ps(v, _mm_setzero_ps());
+#else
+  v[0] = 0.0f;
+  v[1] = 0.0f;
+  v[2] = 0.0f;
+  v[3] = 0.0f;
+#endif
+}
+
+/*!
+ * @brief make vector one
+ *
+ * @param[in, out]  v vector
+ */
+CGLM_INLINE
+void
+glm_vec4_one(vec4 v) {
+#if defined( __SSE__ ) || defined( __SSE2__ )
+  _mm_store_ps(v, _mm_set1_ps(1.0f));
+#else
+  v[0] = 1.0f;
+  v[1] = 1.0f;
+  v[2] = 1.0f;
+  v[3] = 1.0f;
+#endif
+}
+
 /*!
  * @brief vec4 dot product
  *
@@ -146,7 +191,15 @@ glm_vec4_dot(vec4 a, vec4 b) {
 CGLM_INLINE
 float
 glm_vec4_norm2(vec4 v) {
-  return glm_vec4_dot(v, v);
+#if defined( __SSE__ ) || defined( __SSE2__ )
+  __m128 x0;
+  x0 = _mm_load_ps(v);
+  x0 = _mm_mul_ps(x0, x0);
+  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 v[0] * v[0] + v[1] * v[1] + v[2] * v[2] + v[3] * v[3];
+#endif
 }
 
 /*!
@@ -159,50 +212,112 @@ glm_vec4_norm2(vec4 v) {
 CGLM_INLINE
 float
 glm_vec4_norm(vec4 vec) {
+#if defined( __SSE__ ) || defined( __SSE2__ )
+  __m128 x0;
+  x0 = _mm_load_ps(vec);
+  return _mm_cvtss_f32(_mm_sqrt_ss(glm_simd_dot(x0, x0)));
+#else
   return sqrtf(glm_vec4_norm2(vec));
+#endif
 }
 
 /*!
  * @brief add v2 vector to v1 vector store result in dest
  *
- * @param[in]  v1 vector1
+ * @param[in]  a    vector1
- * @param[in]  v2 vector2
+ * @param[in]  b    vector2
  * @param[out] dest destination vector
  */
 CGLM_INLINE
 void
-glm_vec4_add(vec4 v1, vec4 v2, vec4 dest) {
+glm_vec4_add(vec4 a, vec4 b, vec4 dest) {
 #if defined( __SSE__ ) || defined( __SSE2__ )
-  _mm_store_ps(dest,
+  _mm_store_ps(dest, _mm_add_ps(_mm_load_ps(a), _mm_load_ps(b)));
-               _mm_add_ps(_mm_load_ps(v1),
-                          _mm_load_ps(v2)));
 #else
-  dest[0] = v1[0] + v2[0];
+  dest[0] = a[0] + b[0];
-  dest[1] = v1[1] + v2[1];
+  dest[1] = a[1] + b[1];
-  dest[2] = v1[2] + v2[2];
+  dest[2] = a[2] + b[2];
-  dest[3] = v1[3] + v2[3];
+  dest[3] = a[3] + b[3];
 #endif
 }
 
 /*!
- * @brief subtract v2 vector from v1 vector store result in dest
+ * @brief add scalar to v vector store result in dest (d = v + vec(s))
  *
- * @param[in]  v1 vector1
+ * @param[in]  v    vector
- * @param[in]  v2 vector2
+ * @param[in]  s    scalar
  * @param[out] dest destination vector
  */
 CGLM_INLINE
 void
-glm_vec4_sub(vec4 v1, vec4 v2, vec4 dest) {
+glm_vec4_adds(vec4 v, float s, vec4 dest) {
 #if defined( __SSE__ ) || defined( __SSE2__ )
-  _mm_store_ps(dest,
+  _mm_store_ps(dest, _mm_add_ps(_mm_load_ps(v), _mm_set1_ps(s)));
-               _mm_sub_ps(_mm_load_ps(v1),
-                          _mm_load_ps(v2)));
 #else
-  dest[0] = v1[0] - v2[0];
+  dest[0] = v[0] + s;
-  dest[1] = v1[1] - v2[1];
+  dest[1] = v[1] + s;
-  dest[2] = v1[2] - v2[2];
+  dest[2] = v[2] + s;
-  dest[3] = v1[3] - v2[3];
+  dest[3] = v[3] + s;
+#endif
+}
+
+/*!
+ * @brief subtract b vector from a vector store result in dest (d = v1 - v2)
+ *
+ * @param[in]  a    vector1
+ * @param[in]  b    vector2
+ * @param[out] dest destination vector
+ */
+CGLM_INLINE
+void
+glm_vec4_sub(vec4 a, vec4 b, vec4 dest) {
+#if defined( __SSE__ ) || defined( __SSE2__ )
+  _mm_store_ps(dest, _mm_sub_ps(_mm_load_ps(a), _mm_load_ps(b)));
+#else
+  dest[0] = a[0] - b[0];
+  dest[1] = a[1] - b[1];
+  dest[2] = a[2] - b[2];
+  dest[3] = a[3] - b[3];
+#endif
+}
+
+/*!
+ * @brief subtract scalar from v vector store result in dest (d = v - vec(s))
+ *
+ * @param[in]  v    vector
+ * @param[in]  s    scalar
+ * @param[out] dest destination vector
+ */
+CGLM_INLINE
+void
+glm_vec4_subs(vec4 v, float s, vec4 dest) {
+#if defined( __SSE__ ) || defined( __SSE2__ )
+  _mm_store_ps(dest, _mm_sub_ps(_mm_load_ps(v), _mm_set1_ps(s)));
+#else
+  dest[0] = v[0] - s;
+  dest[1] = v[1] - s;
+  dest[2] = v[2] - s;
+  dest[3] = v[3] - s;
+#endif
+}
+
+/*!
+ * @brief multiply two vector (component-wise multiplication)
+ *
+ * @param a v1
+ * @param b v2
+ * @param d v3 = (a[0] * b[0], a[1] * b[1], a[2] * b[2], a[3] * b[3])
+ */
+CGLM_INLINE
+void
+glm_vec4_mul(vec4 a, vec4 b, vec4 d) {
+#if defined( __SSE__ ) || defined( __SSE2__ )
+  _mm_store_ps(d, _mm_mul_ps(_mm_load_ps(a), _mm_load_ps(b)));
+#else
+  d[0] = a[0] * b[0];
+  d[1] = a[1] * b[1];
+  d[2] = a[2] * b[2];
+  d[3] = a[3] * b[3];
 #endif
 }
 
@@ -217,9 +332,7 @@ CGLM_INLINE
 void
 glm_vec4_scale(vec4 v, float s, vec4 dest) {
 #if defined( __SSE__ ) || defined( __SSE2__ )
-  _mm_store_ps(dest,
+  _mm_store_ps(dest, _mm_mul_ps(_mm_load_ps(v), _mm_set1_ps(s)));
-               _mm_mul_ps(_mm_load_ps(v),
-                          _mm_set1_ps(s)));
 #else
   dest[0] = v[0] * s;
   dest[1] = v[1] * s;
@@ -241,14 +354,148 @@ glm_vec4_scale_as(vec4 v, float s, vec4 dest) {
   float norm;
   norm = glm_vec4_norm(v);
 
-  if (norm == 0) {
+  if (norm == 0.0f) {
-    glm_vec4_copy(v, dest);
+    glm_vec4_zero(dest);
     return;
   }
 
   glm_vec4_scale(v, s / norm, dest);
 }
 
+/*!
+ * @brief div vector with another component-wise division: d = v1 / v2
+ *
+ * @param[in]  a    vector 1
+ * @param[in]  b    vector 2
+ * @param[out] dest result = (a[0]/b[0], a[1]/b[1], a[2]/b[2], a[3]/b[3])
+ */
+CGLM_INLINE
+void
+glm_vec4_div(vec4 a, vec4 b, vec4 dest) {
+#if defined( __SSE__ ) || defined( __SSE2__ )
+  _mm_store_ps(dest, _mm_div_ps(_mm_load_ps(a), _mm_load_ps(b)));
+#else
+  dest[0] = a[0] / b[0];
+  dest[1] = a[1] / b[1];
+  dest[2] = a[2] / b[2];
+  dest[3] = a[3] / b[3];
+#endif
+}
+
+/*!
+ * @brief div vec4 vector with scalar: d = v / s
+ *
+ * @param[in]  v    vector
+ * @param[in]  s    scalar
+ * @param[out] dest destination vector
+ */
+CGLM_INLINE
+void
+glm_vec4_divs(vec4 v, float s, vec4 dest) {
+#if defined( __SSE__ ) || defined( __SSE2__ )
+  _mm_store_ps(dest, _mm_div_ps(_mm_load_ps(v), _mm_set1_ps(s)));
+#else
+  glm_vec4_scale(v, 1.0f / s, dest);
+#endif
+}
+
+
+/*!
+ * @brief add two vectors and add result to sum
+ *
+ * it applies += operator so dest must be initialized
+ *
+ * @param[in]  a    vector 1
+ * @param[in]  b    vector 2
+ * @param[out] dest dest += (a + b)
+ */
+CGLM_INLINE
+void
+glm_vec4_addadd(vec4 a, vec4 b, vec4 dest) {
+#if defined( __SSE__ ) || defined( __SSE2__ )
+  _mm_store_ps(dest, _mm_add_ps(_mm_load_ps(dest),
+                                _mm_add_ps(_mm_load_ps(a),
+                                           _mm_load_ps(b))));
+#else
+  dest[0] += a[0] + b[0];
+  dest[1] += a[1] + b[1];
+  dest[2] += a[2] + b[2];
+  dest[3] += a[3] + b[3];
+#endif
+}
+
+/*!
+ * @brief sub two vectors and add result to dest
+ *
+ * it applies += operator so dest must be initialized
+ *
+ * @param[in]  a    vector 1
+ * @param[in]  b    vector 2
+ * @param[out] dest dest += (a - b)
+ */
+CGLM_INLINE
+void
+glm_vec4_subadd(vec4 a, vec4 b, vec4 dest) {
+#if defined( __SSE__ ) || defined( __SSE2__ )
+  _mm_store_ps(dest, _mm_add_ps(_mm_load_ps(dest),
+                                _mm_sub_ps(_mm_load_ps(a),
+                                           _mm_load_ps(b))));
+#else
+  dest[0] += a[0] - b[0];
+  dest[1] += a[1] - b[1];
+  dest[2] += a[2] - b[2];
+  dest[3] += a[3] - b[3];
+#endif
+}
+
+/*!
+ * @brief mul two vectors and add result to dest
+ *
+ * it applies += operator so dest must be initialized
+ *
+ * @param[in]  a    vector 1
+ * @param[in]  b    vector 2
+ * @param[out] dest dest += (a * b)
+ */
+CGLM_INLINE
+void
+glm_vec4_muladd(vec4 a, vec4 b, vec4 dest) {
+#if defined( __SSE__ ) || defined( __SSE2__ )
+  _mm_store_ps(dest, _mm_add_ps(_mm_load_ps(dest),
+                                _mm_mul_ps(_mm_load_ps(a),
+                                           _mm_load_ps(b))));
+#else
+  dest[0] += a[0] * b[0];
+  dest[1] += a[1] * b[1];
+  dest[2] += a[2] * b[2];
+  dest[3] += a[3] * b[3];
+#endif
+}
+
+/*!
+ * @brief mul vector with scalar and add result to sum
+ *
+ * it applies += operator so dest must be initialized
+ *
+ * @param[in]  a    vector
+ * @param[in]  s    scalar
+ * @param[out] dest dest += (a * b)
+ */
+CGLM_INLINE
+void
+glm_vec4_muladds(vec4 a, float s, vec4 dest) {
+#if defined( __SSE__ ) || defined( __SSE2__ )
+  _mm_store_ps(dest, _mm_add_ps(_mm_load_ps(dest),
+                                _mm_mul_ps(_mm_load_ps(a),
+                                           _mm_set1_ps(s))));
+#else
+  dest[0] += a[0] * s;
+  dest[1] += a[1] * s;
+  dest[2] += a[2] * s;
+  dest[3] += a[3] * s;
+#endif
+}
+
 /*!
  * @brief flip sign of all vec4 members
  *
@@ -258,8 +505,7 @@ CGLM_INLINE
 void
 glm_vec4_flipsign(vec4 v) {
 #if defined( __SSE__ ) || defined( __SSE2__ )
-  _mm_store_ps(v, _mm_xor_ps(_mm_load_ps(v),
+  _mm_store_ps(v, _mm_xor_ps(_mm_load_ps(v), _mm_set1_ps(-0.0f)));
-                             _mm_set1_ps(-0.0f)));
 #else
   v[0] = -v[0];
   v[1] = -v[1];
@@ -312,26 +558,6 @@ glm_vec4_inv_to(vec4 v, vec4 dest) {
   glm_vec4_flipsign(dest);
 }
 
-/*!
- * @brief normalize vec4 and store result in same vec
- *
- * @param[in, out] v vector
- */
-CGLM_INLINE
-void
-glm_vec4_normalize(vec4 v) {
-  float norm;
-
-  norm = glm_vec4_norm(v);
-
-  if (norm == 0.0f) {
-    v[0] = v[1] = v[2] = v[3] = 0.0f;
-    return;
-  }
-
-  glm_vec4_scale(v, 1.0f / norm, v);
-}
-
 /*!
  * @brief normalize vec4 to dest
  *
@@ -341,16 +567,43 @@ glm_vec4_normalize(vec4 v) {
 CGLM_INLINE
 void
 glm_vec4_normalize_to(vec4 vec, vec4 dest) {
+#if defined( __SSE__ ) || defined( __SSE2__ )
+  __m128 xdot, x0;
+  float  dot;
+
+  x0   = _mm_load_ps(vec);
+  xdot = glm_simd_dot(x0, x0);
+  dot  = _mm_cvtss_f32(xdot);
+
+  if (dot == 0.0f) {
+    _mm_store_ps(dest, _mm_setzero_ps());
+    return;
+  }
+
+  _mm_store_ps(dest, _mm_div_ps(x0, _mm_sqrt_ps(xdot)));
+#else
   float norm;
 
   norm = glm_vec4_norm(vec);
 
   if (norm == 0.0f) {
-    dest[0] = dest[1] = dest[2] = dest[3] = 0.0f;
+    glm_vec4_zero(dest);
     return;
   }
 
   glm_vec4_scale(vec, 1.0f / norm, dest);
+#endif
+}
+
+/*!
+ * @brief normalize vec4 and store result in same vec
+ *
+ * @param[in, out] v vector
+ */
+CGLM_INLINE
+void
+glm_vec4_normalize(vec4 v) {
+  glm_vec4_normalize_to(v, v);
 }
 
 /**
@@ -379,10 +632,14 @@ glm_vec4_distance(vec4 v1, vec4 v2) {
 CGLM_INLINE
 void
 glm_vec4_maxv(vec4 v1, vec4 v2, vec4 dest) {
+#if defined( __SSE__ ) || defined( __SSE2__ )
+  _mm_store_ps(dest, _mm_max_ps(_mm_load_ps(v1), _mm_load_ps(v2)));
+#else
   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]);
+#endif
 }
 
 /*!
@@ -395,10 +652,14 @@ glm_vec4_maxv(vec4 v1, vec4 v2, vec4 dest) {
 CGLM_INLINE
 void
 glm_vec4_minv(vec4 v1, vec4 v2, vec4 dest) {
+#if defined( __SSE__ ) || defined( __SSE2__ )
+  _mm_store_ps(dest, _mm_min_ps(_mm_load_ps(v1), _mm_load_ps(v2)));
+#else
   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]);
+#endif
 }
 
 /*!
@@ -411,10 +672,15 @@ glm_vec4_minv(vec4 v1, vec4 v2, vec4 dest) {
 CGLM_INLINE
 void
 glm_vec4_clamp(vec4 v, float minVal, float maxVal) {
+#if defined( __SSE__ ) || defined( __SSE2__ )
+  _mm_store_ps(v, _mm_min_ps(_mm_max_ps(_mm_load_ps(v), _mm_set1_ps(minVal)),
+                             _mm_set1_ps(maxVal)));
+#else
   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);
+#endif
 }
 
 /*!

include/cglm/version.h

@@ -10,6 +10,6 @@
 
 #define CGLM_VERSION_MAJOR 0
 #define CGLM_VERSION_MINOR 4
-#define CGLM_VERSION_PATCH 0
+#define CGLM_VERSION_PATCH 3
 
 #endif /* cglm_version_h */

makefile.am

@@ -54,7 +54,8 @@ cglm_HEADERS = include/cglm/version.h \
                   include/cglm/plane.h \
                   include/cglm/frustum.h \
                   include/cglm/box.h \
-                  include/cglm/color.h
+                  include/cglm/color.h \
+                  include/cglm/project.h
 
 cglm_calldir=$(includedir)/cglm/call
 cglm_call_HEADERS = include/cglm/call/mat4.h \
@@ -68,7 +69,8 @@ cglm_call_HEADERS = include/cglm/call/mat4.h \
                     include/cglm/call/euler.h \
                     include/cglm/call/plane.h \
                     include/cglm/call/frustum.h \
-                    include/cglm/call/box.h
+                    include/cglm/call/box.h \
+                    include/cglm/call/project.h
 
 cglm_simddir=$(includedir)/cglm/simd
 cglm_simd_HEADERS = include/cglm/simd/intrin.h
@@ -110,7 +112,10 @@ test_tests_SOURCES=\
     test/src/test_clamp.c \
     test/src/test_euler.c \
     test/src/test_quat.c \
-    test/src/test_vec4.c
+    test/src/test_vec4.c \
+    test/src/test_vec3.c \
+    test/src/test_mat3.c \
+    test/src/test_affine.c
 
 all-local:
 	sh ./post-build.sh

src/affine.c

@@ -8,6 +8,12 @@
 #include "../include/cglm/cglm.h"
 #include "../include/cglm/call.h"
 
+CGLM_EXPORT
+void
+glmc_translate_make(mat4 m, vec3 v) {
+  glm_translate_make(m, v);
+}
+
 CGLM_EXPORT
 void
 glmc_translate_to(mat4 m, vec3 v, mat4 dest) {
@@ -38,6 +44,12 @@ glmc_translate_z(mat4 m, float to) {
   glm_translate_z(m, to);
 }
 
+CGLM_EXPORT
+void
+glmc_scale_make(mat4 m, vec3 v) {
+  glm_scale_make(m, v);
+}
+
 CGLM_EXPORT
 void
 glmc_scale_to(mat4 m, vec3 v, mat4 dest) {
@@ -52,8 +64,8 @@ glmc_scale(mat4 m, vec3 v) {
 
 CGLM_EXPORT
 void
-glmc_scale1(mat4 m, float s) {
+glmc_scale_uni(mat4 m, float s) {
-  glm_scale1(m, s);
+  glm_scale_uni(m, s);
 }
 
 CGLM_EXPORT
@@ -74,36 +86,42 @@ glmc_rotate_z(mat4 m, float rad, mat4 dest) {
   glm_rotate_z(m, rad, dest);
 }
 
-CGLM_EXPORT
-void
-glmc_rotate_ndc_make(mat4 m, float angle, vec3 axis_ndc) {
-  glm_rotate_ndc_make(m, angle, axis_ndc);
-}
-
 CGLM_EXPORT
 void
 glmc_rotate_make(mat4 m, float angle, vec3 axis) {
   glm_rotate_make(m, angle, axis);
 }
 
-CGLM_EXPORT
-void
-glmc_rotate_ndc(mat4 m, float angle, vec3 axis_ndc) {
-  glm_rotate_ndc(m, angle, axis_ndc);
-}
-
 CGLM_EXPORT
 void
 glmc_rotate(mat4 m, float angle, vec3 axis) {
   glm_rotate(m, angle, axis);
 }
 
+CGLM_EXPORT
+void
+glmc_rotate_at(mat4 m, vec3 pivot, float angle, vec3 axis) {
+  glm_rotate_at(m, pivot, angle, axis);
+}
+
+CGLM_EXPORT
+void
+glmc_rotate_atm(mat4 m, vec3 pivot, float angle, vec3 axis) {
+  glm_rotate_atm(m, pivot, angle, axis);
+}
+
 CGLM_EXPORT
 void
 glmc_decompose_scalev(mat4 m, vec3 s) {
   glm_decompose_scalev(m, s);
 }
 
+CGLM_EXPORT
+bool
+glmc_uniscaled(mat4 m) {
+  return glm_uniscaled(m);
+}
+
 CGLM_EXPORT
 void
 glmc_decompose_rs(mat4 m, mat4 r, vec3 s) {

src/quat.c

@@ -194,3 +194,15 @@ void
 glmc_quat_rotate(mat4 m, versor q, mat4 dest) {
   glm_quat_rotate(m, q, dest);
 }
+
+CGLM_EXPORT
+void
+glmc_quat_rotate_at(mat4 model, versor q, vec3 pivot) {
+  glm_quat_rotate_at(model, q, pivot);
+}
+
+CGLM_EXPORT
+void
+glmc_quat_rotate_atm(mat4 m, versor q, vec3 pivot) {
+  glm_quat_rotate_atm(m, q, pivot);
+}

src/vec3.c

@@ -20,6 +20,18 @@ glmc_vec_copy(vec3 a, vec3 dest) {
   glm_vec_copy(a, dest);
 }
 
+CGLM_EXPORT
+void
+glmc_vec_zero(vec3 v) {
+  glm_vec_zero(v);
+}
+
+CGLM_EXPORT
+void
+glmc_vec_one(vec3 v) {
+  glm_vec_one(v);
+}
+
 CGLM_EXPORT
 float
 glmc_vec_dot(vec3 a, vec3 b) {
@@ -64,8 +76,26 @@ glmc_vec_add(vec3 v1, vec3 v2, vec3 dest) {
 
 CGLM_EXPORT
 void
-glmc_vec_sub(vec3 v1, vec3 v2, vec3 dest) {
+glmc_vec_adds(vec3 v, float s, vec3 dest) {
-  glm_vec_sub(v1, v2, dest);
+  glm_vec_adds(v, s, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_vec_sub(vec3 a, vec3 b, vec3 dest) {
+  glm_vec_sub(a, b, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_vec_subs(vec3 v, float s, vec3 dest) {
+  glm_vec_subs(v, s, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_vec_mul(vec3 a, vec3 b, vec3 d) {
+  glm_vec_mul(a, b, d);
 }
 
 CGLM_EXPORT
@@ -80,6 +110,42 @@ glmc_vec_scale_as(vec3 v, float s, vec3 dest) {
   glm_vec_scale_as(v, s, dest);
 }
 
+CGLM_EXPORT
+void
+glmc_vec_div(vec3 a, vec3 b, vec3 dest) {
+  glm_vec_div(a, b, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_vec_divs(vec3 a, float s, vec3 dest) {
+  glm_vec_divs(a, s, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_vec_addadd(vec3 a, vec3 b, vec3 dest) {
+  glm_vec_addadd(a, b, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_vec_subadd(vec3 a, vec3 b, vec3 dest) {
+  glm_vec_subadd(a, b, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_vec_muladd(vec3 a, vec3 b, vec3 dest) {
+  glm_vec_muladd(a, b, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_vec_muladds(vec3 a, float s, vec3 dest) {
+  glm_vec_muladds(a, s, dest);
+}
+
 CGLM_EXPORT
 void
 glmc_vec_flipsign(vec3 v) {

src/vec4.c

@@ -14,6 +14,18 @@ glmc_vec4(vec3 v3, float last, vec4 dest) {
   glm_vec4(v3, last, dest);
 }
 
+CGLM_EXPORT
+void
+glmc_vec4_zero(vec4 v) {
+  glm_vec4_zero(v);
+}
+
+CGLM_EXPORT
+void
+glmc_vec4_one(vec4 v) {
+  glm_vec4_one(v);
+}
+
 CGLM_EXPORT
 void
 glmc_vec4_copy3(vec4 a, vec3 dest) {
@@ -58,14 +70,32 @@ glmc_vec4_norm2(vec4 vec) {
 
 CGLM_EXPORT
 void
-glmc_vec4_add(vec4 v1, vec4 v2, vec4 dest) {
+glmc_vec4_add(vec4 a, vec4 b, vec4 dest) {
-  glm_vec4_add(v1, v2, dest);
+  glm_vec4_add(a, b, dest);
 }
 
 CGLM_EXPORT
 void
-glmc_vec4_sub(vec4 v1, vec4 v2, vec4 dest) {
+glmc_vec4_adds(vec4 v, float s, vec4 dest) {
-  glm_vec4_sub(v1, v2, dest);
+  glm_vec4_adds(v, s, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_vec4_sub(vec4 a, vec4 b, vec4 dest) {
+  glm_vec4_sub(a, b, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_vec4_subs(vec4 v, float s, vec4 dest) {
+  glm_vec4_subs(v, s, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_vec4_mul(vec4 a, vec4 b, vec4 d) {
+  glm_vec4_mul(a, b, d);
 }
 
 CGLM_EXPORT
@@ -76,10 +106,46 @@ glmc_vec4_scale(vec4 v, float s, vec4 dest) {
 
 CGLM_EXPORT
 void
-glmc_vec4_scale_as(vec3 v, float s, vec3 dest) {
+glmc_vec4_scale_as(vec4 v, float s, vec4 dest) {
   glm_vec4_scale_as(v, s, dest);
 }
 
+CGLM_EXPORT
+void
+glmc_vec4_div(vec4 a, vec4 b, vec4 dest) {
+  glm_vec4_div(a, b, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_vec4_divs(vec4 v, float s, vec4 dest) {
+  glm_vec4_divs(v, s, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_vec4_addadd(vec4 a, vec4 b, vec4 dest) {
+  glm_vec4_addadd(a, b, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_vec4_subadd(vec4 a, vec4 b, vec4 dest) {
+  glm_vec4_subadd(a, b, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_vec4_muladd(vec4 a, vec4 b, vec4 dest) {
+  glm_vec4_muladd(a, b, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_vec4_muladds(vec4 a, float s, vec4 dest) {
+  glm_vec4_muladds(a, s, dest);
+}
+
 CGLM_EXPORT
 void
 glmc_vec4_flipsign(vec4 v) {

test/src/test_affine.c

@@ -0,0 +1,113 @@
+/*
+ * 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_affine(void **state) {
+  mat4 t1, t2, t3, t4, t5;
+
+  /* test translate is postmultiplied */
+  glmc_rotate_make(t1, M_PI_4, GLM_YUP);
+  glm_translate_make(t2, (vec3){34, 57, 36});
+
+  glmc_mat4_mul(t1, t2, t3); /* R * T */
+
+  glm_translate(t1, (vec3){34, 57, 36});
+  test_assert_mat4_eq(t1, t3);
+
+  /* test rotate is postmultiplied */
+  glmc_rotate_make(t1, M_PI_4, GLM_YUP);
+  glm_translate_make(t2, (vec3){34, 57, 36});
+
+  glmc_mat4_mul(t2, t1, t3); /* T * R */
+
+  glm_rotate(t2, M_PI_4, GLM_YUP);
+  test_assert_mat4_eq(t2, t3);
+
+  /* test scale is postmultiplied */
+  glmc_rotate_make(t1, M_PI_4, GLM_YUP);
+  glm_translate_make(t2, (vec3){34, 57, 36});
+  glm_scale_make(t4, (vec3){3, 5, 6});
+
+  glmc_mat4_mul(t2, t1, t3); /* T * R */
+  glmc_mat4_mul(t3, t4, t5); /* T * R * S */
+
+  glm_scale(t3, (vec3){3, 5, 6});
+  test_assert_mat4_eq(t3, t5);
+
+  /* test translate_x */
+  glmc_rotate_make(t1, M_PI_4, GLM_YUP);
+  glm_translate_make(t2, (vec3){34, 0, 0});
+
+  glmc_mat4_mul(t1, t2, t3); /* R * T */
+  glm_translate_x(t1, 34);
+  test_assert_mat4_eq(t1, t3);
+
+  /* test translate_y */
+  glmc_rotate_make(t1, M_PI_4, GLM_YUP);
+  glm_translate_make(t2, (vec3){0, 57, 0});
+
+  glmc_mat4_mul(t1, t2, t3); /* R * T */
+  glm_translate_y(t1, 57);
+  test_assert_mat4_eq(t1, t3);
+
+  /* test translate_z */
+  glmc_rotate_make(t1, M_PI_4, GLM_YUP);
+  glm_translate_make(t2, (vec3){0, 0, 36});
+
+  glmc_mat4_mul(t1, t2, t3); /* R * T */
+  glm_translate_z(t1, 36);
+  test_assert_mat4_eq(t1, t3);
+
+  /* test rotate_x */
+  glmc_rotate_make(t1, M_PI_4, (vec3){1, 0, 0});
+  glm_translate_make(t2, (vec3){34, 57, 36});
+
+  glmc_mat4_mul(t2, t1, t3); /* T * R */
+
+  glm_rotate_x(t2, M_PI_4, t2);
+  test_assert_mat4_eq(t2, t3);
+
+  /* test rotate_y */
+  glmc_rotate_make(t1, M_PI_4, (vec3){0, 1, 0});
+  glm_translate_make(t2, (vec3){34, 57, 36});
+
+  glmc_mat4_mul(t2, t1, t3); /* T * R */
+
+  glm_rotate_y(t2, M_PI_4, t2);
+  test_assert_mat4_eq(t2, t3);
+
+  /* test rotate_z */
+  glmc_rotate_make(t1, M_PI_4, (vec3){0, 0, 1});
+  glm_translate_make(t2, (vec3){34, 57, 36});
+
+  glmc_mat4_mul(t2, t1, t3); /* T * R */
+
+  glm_rotate_z(t2, M_PI_4, t2);
+  test_assert_mat4_eq(t2, t3);
+
+  /* test rotate */
+  glmc_rotate_make(t1, M_PI_4, (vec3){0, 0, 1});
+  glm_translate_make(t2, (vec3){34, 57, 36});
+
+  glmc_mat4_mul(t2, t1, t3); /* T * R */
+  glmc_rotate(t2, M_PI_4, (vec3){0, 0, 1});
+
+  test_assert_mat4_eq(t3, t2);
+
+  /* test scale_uni */
+  glmc_rotate_make(t1, M_PI_4, GLM_YUP);
+  glm_translate_make(t2, (vec3){34, 57, 36});
+  glm_scale_make(t4, (vec3){3, 3, 3});
+
+  glmc_mat4_mul(t2, t1, t3); /* T * R */
+  glmc_mat4_mul(t3, t4, t5); /* T * R * S */
+
+  glm_scale_uni(t3, 3);
+  test_assert_mat4_eq(t3, t5);
+}

test/src/test_common.c

@@ -27,6 +27,17 @@ test_rand_mat4(mat4 dest) {
   /* glm_scale(dest, (vec3){drand48(), drand48(), drand48()}); */
 }
 
+void
+test_rand_mat3(mat3 dest) {
+  mat4 m4;
+
+  srand((unsigned int)time(NULL));
+
+  /* random rotatation around random axis with random angle */
+  glm_rotate_make(m4, drand48(), (vec3){drand48(), drand48(), drand48()});
+  glm_mat4_pick3(m4, dest);
+}
+
 void
 test_rand_vec3(vec3 dest) {
   srand((unsigned int)time(NULL));
@@ -84,6 +95,23 @@ test_assert_mat4_eq2(mat4 m1, mat4 m2, float eps) {
   }
 }
 
+void
+test_assert_mat3_eq(mat3 m1, mat3 m2) {
+  int i, j, k;
+
+  for (i = 0; i < 3; i++) {
+    for (j = 0; j < 3; j++) {
+      for (k = 0; k < 3; k++)
+        assert_true(fabsf(m1[i][j] - m2[i][j]) <= 0.0000009);
+    }
+  }
+}
+
+void
+test_assert_eqf(float a, float b) {
+  assert_true(fabsf(a - b) <= 0.000009); /* rounding errors */
+}
+
 void
 test_assert_vec3_eq(vec3 v1, vec3 v2) {
   assert_true(fabsf(v1[0] - v2[0]) <= 0.000009); /* rounding errors */
@@ -91,6 +119,14 @@ test_assert_vec3_eq(vec3 v1, vec3 v2) {
   assert_true(fabsf(v1[2] - v2[2]) <= 0.000009);
 }
 
+void
+test_assert_vec4_eq(vec4 v1, vec4 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);
+}
+
 void
 test_assert_quat_eq_abs(versor v1, versor v2) {
   assert_true(fabsf(fabsf(v1[0]) - fabsf(v2[0])) <= 0.0009); /* rounding errors */

test/src/test_common.h

@@ -25,15 +25,27 @@
 void
 test_rand_mat4(mat4 dest);
 
+void
+test_rand_mat3(mat3 dest);
+
+void
+test_assert_eqf(float a, float b);
+
 void
 test_assert_mat4_eq(mat4 m1, mat4 m2);
 
 void
 test_assert_mat4_eq2(mat4 m1, mat4 m2, float eps);
 
+void
+test_assert_mat3_eq(mat3 m1, mat3 m2);
+
 void
 test_assert_vec3_eq(vec3 v1, vec3 v2);
 
+void
+test_assert_vec4_eq(vec4 v1, vec4 v2);
+
 void
 test_assert_quat_eq(versor v1, versor v2);
 

test/src/test_main.c

@@ -12,6 +12,9 @@ main(int argc, const char * argv[]) {
     /* mat4 */
     cmocka_unit_test(test_mat4),
 
+    /* mat3 */
+    cmocka_unit_test(test_mat3),
+
     /* camera */
     cmocka_unit_test(test_camera_lookat),
     cmocka_unit_test(test_camera_decomp),
@@ -29,7 +32,13 @@ main(int argc, const char * argv[]) {
     cmocka_unit_test(test_quat),
 
     /* vec4 */
-    cmocka_unit_test(test_vec4)
+    cmocka_unit_test(test_vec4),
+
+    /* vec3 */
+    cmocka_unit_test(test_vec3),
+
+    /* affine */
+    cmocka_unit_test(test_affine)
   };
 
   return cmocka_run_group_tests(tests, NULL, NULL);

test/src/test_mat3.c

@@ -0,0 +1,58 @@
+/*
+ * 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"
+
+#define m 3
+#define n 3
+
+void
+test_mat3(void **state) {
+  mat3  m1 = GLM_MAT3_IDENTITY_INIT;
+  mat3  m2 = GLM_MAT3_IDENTITY_INIT;
+  mat3  m3;
+  mat3  m4 = GLM_MAT3_ZERO_INIT;
+  mat3  m5;
+  int   i, j, k;
+
+  /* test identity matrix multiplication */
+  glmc_mat3_mul(m1, m2, m3);
+  for (i = 0; i < m; i++) {
+    for (j = 0; j < n; j++) {
+      if (i == j)
+        assert_true(m3[i][j] == 1.0f);
+      else
+        assert_true(m3[i][j] == 0.0f);
+    }
+  }
+
+  /* test random matrices */
+  /* random matrices */
+  test_rand_mat3(m1);
+  test_rand_mat3(m2);
+
+  glmc_mat3_mul(m1, m2, m3);
+  for (i = 0; i < m; i++) {
+    for (j = 0; j < n; j++) {
+      for (k = 0; k < m; k++)
+        /* column-major */
+        m4[i][j] += m1[k][j] * m2[i][k];
+    }
+  }
+
+  test_assert_mat3_eq(m3, m4);
+
+  for (i = 0; i < 100000; i++) {
+    test_rand_mat3(m3);
+    test_rand_mat3(m4);
+
+    /* test inverse precise */
+    glmc_mat3_inv(m3, m4);
+    glmc_mat3_inv(m4, m5);
+    test_assert_mat3_eq(m3, m5);
+  }
+}

test/src/test_tests.h

@@ -9,6 +9,9 @@
 /* mat4 */
 void test_mat4(void **state);
 
+/* mat3 */
+void test_mat3(void **state);
+
 /* camera */
 void
 test_camera_lookat(void **state);
@@ -31,4 +34,10 @@ test_quat(void **state);
 void
 test_vec4(void **state);
 
+void
+test_vec3(void **state);
+
+void
+test_affine(void **state);
+
 #endif /* test_tests_h */

test/src/test_vec3.c

@@ -0,0 +1,78 @@
+/*
+ * 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_vec3(void **state) {
+  mat3 rot1m3;
+  mat4 rot1;
+  vec3 v, v1, v2;
+
+  /* test zero */
+  glm_vec_zero(v);
+  test_assert_vec3_eq(GLM_VEC3_ZERO, v);
+
+  /* test one */
+  glm_vec_one(v);
+  test_assert_vec3_eq(GLM_VEC3_ONE, v);
+
+  /* adds, subs, div, divs, mul */
+  glm_vec_add(v, GLM_VEC3_ONE, v);
+  assert_true(glmc_vec_eq_eps(v, 2));
+
+  glm_vec_adds(v, 10, v);
+  assert_true(glmc_vec_eq_eps(v, 12));
+
+  glm_vec_sub(v, GLM_VEC3_ONE, v);
+  assert_true(glmc_vec_eq_eps(v, 11));
+
+  glm_vec_subs(v, 1, v);
+  assert_true(glmc_vec_eq_eps(v, 10));
+
+  glm_vec_broadcast(2, v1);
+  glm_vec_div(v, v1, v);
+  assert_true(glmc_vec_eq_eps(v, 5));
+
+  glm_vec_divs(v, 0.5, v);
+  assert_true(glmc_vec_eq_eps(v, 10));
+
+  glm_vec_mul(v, v1, v);
+  assert_true(glmc_vec_eq_eps(v, 20));
+
+  glm_vec_scale(v, 0.5, v);
+  assert_true(glmc_vec_eq_eps(v, 10));
+
+  glm_vec_normalize_to(v, v1);
+  glm_vec_scale(v1, 0.8, v1);
+  glm_vec_scale_as(v, 0.8, v);
+  test_assert_vec3_eq(v1, v);
+
+  /* addadd, subadd, muladd */
+  glm_vec_one(v);
+
+  glm_vec_addadd(GLM_VEC3_ONE, GLM_VEC3_ONE, v);
+  assert_true(glmc_vec_eq_eps(v, 3));
+
+  glm_vec_subadd(GLM_VEC3_ONE, GLM_VEC3_ZERO, v);
+  assert_true(glmc_vec_eq_eps(v, 4));
+
+  glm_vec_broadcast(2, v1);
+  glm_vec_broadcast(3, v2);
+  glm_vec_muladd(v1, v2, v);
+  assert_true(glmc_vec_eq_eps(v, 10));
+
+  /* rotate */
+  glm_vec_copy(GLM_YUP, v);
+  glm_rotate_make(rot1, glm_rad(90), GLM_XUP);
+  glm_vec_rotate_m4(rot1, v, v1);
+  glm_mat4_pick3(rot1, rot1m3);
+  glm_vec_rotate_m3(rot1m3, v, v2);
+
+  test_assert_vec3_eq(v1, v2);
+  test_assert_vec3_eq(v1, GLM_ZUP);
+}

test/src/test_vec4.c

@@ -13,18 +13,166 @@ test_vec4_dot(vec4 a, vec4 b) {
   return a[0] * b[0] + a[1] * b[1] + a[2] * b[2] + a[3] * b[3];
 }
 
+CGLM_INLINE
+void
+test_vec4_normalize_to(vec4 vec, vec4 dest) {
+  float norm;
+
+  norm = glm_vec4_norm(vec);
+
+  if (norm == 0.0f) {
+    dest[0] = dest[1] = dest[2] = dest[3] = 0.0f;
+    return;
+  }
+
+  glm_vec4_scale(vec, 1.0f / norm, dest);
+}
+
+float
+test_vec4_norm2(vec4 vec) {
+  return test_vec4_dot(vec, vec);
+}
+
+float
+test_vec4_norm(vec4 vec) {
+  return sqrtf(test_vec4_dot(vec, vec));
+}
+
+void
+test_vec4_maxv(vec4 v1, vec4 v2, vec4 dest) {
+  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]);
+}
+
+void
+test_vec4_minv(vec4 v1, vec4 v2, vec4 dest) {
+  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]);
+}
+
+void
+test_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);
+}
+
 void
 test_vec4(void **state) {
-  vec4  v;
+  vec4  v, v1, v2, v3, v4;
   int   i;
   float d1, d2;
 
-  /* test SSE/SIMD dot product */
+
-  for (i = 0; i < 100; i++) {
+  for (i = 0; i < 1000; i++) {
+    /* 1. test SSE/SIMD dot product */
     test_rand_vec4(v);
     d1 = glm_vec4_dot(v, v);
     d2 = test_vec4_dot(v, v);
 
     assert_true(fabsf(d1 - d2) <= 0.000009);
+
+    /* 2. test SIMD normalize */
+    test_vec4_normalize_to(v, v1);
+    glm_vec4_normalize_to(v, v2);
+    glm_vec4_normalize(v);
+
+    /* all must be same */
+    test_assert_vec4_eq(v1, v2);
+    test_assert_vec4_eq(v, v2);
+
+    /* 3. test SIMD norm */
+    test_rand_vec4(v);
+    test_assert_eqf(test_vec4_norm(v), glm_vec4_norm(v));
+
+    /* 3. test SIMD norm2 */
+    test_rand_vec4(v);
+    test_assert_eqf(test_vec4_norm2(v), glm_vec4_norm2(v));
   }
+
+  /* test zero */
+  glm_vec4_zero(v);
+  test_assert_vec4_eq(GLM_VEC4_ZERO, v);
+
+  /* test one */
+  glm_vec4_one(v);
+  test_assert_vec4_eq(GLM_VEC4_ONE, v);
+
+  /* adds, subs, div, divs, mul */
+  glm_vec4_add(v, GLM_VEC4_ONE, v);
+  assert_true(glmc_vec4_eq_eps(v, 2));
+
+  glm_vec4_adds(v, 10, v);
+  assert_true(glmc_vec4_eq_eps(v, 12));
+
+  glm_vec4_sub(v, GLM_VEC4_ONE, v);
+  assert_true(glmc_vec4_eq_eps(v, 11));
+
+  glm_vec4_subs(v, 1, v);
+  assert_true(glmc_vec4_eq_eps(v, 10));
+
+  glm_vec4_broadcast(2, v1);
+  glm_vec4_div(v, v1, v);
+  assert_true(glmc_vec4_eq_eps(v, 5));
+
+  glm_vec4_divs(v, 0.5, v);
+  assert_true(glmc_vec4_eq_eps(v, 10));
+
+  glm_vec4_mul(v, v1, v);
+  assert_true(glmc_vec4_eq_eps(v, 20));
+
+  glm_vec4_scale(v, 0.5, v);
+  assert_true(glmc_vec4_eq_eps(v, 10));
+
+  glm_vec4_normalize_to(v, v1);
+  glm_vec4_scale(v1, 0.8, v1);
+  glm_vec4_scale_as(v, 0.8, v);
+  test_assert_vec4_eq(v1, v);
+
+  /* addadd, subadd, muladd */
+  glm_vec4_one(v);
+
+  glm_vec4_addadd(GLM_VEC4_ONE, GLM_VEC4_ONE, v);
+  assert_true(glmc_vec4_eq_eps(v, 3));
+
+  glm_vec4_subadd(GLM_VEC4_ONE, GLM_VEC4_ZERO, v);
+  assert_true(glmc_vec4_eq_eps(v, 4));
+
+  glm_vec4_broadcast(2, v1);
+  glm_vec4_broadcast(3, v2);
+  glm_vec4_muladd(v1, v2, v);
+  assert_true(glmc_vec4_eq_eps(v, 10));
+
+  /* min, max */
+  test_rand_vec4(v1);
+  test_rand_vec4(v2);
+
+  glm_vec4_maxv(v1, v2, v3);
+  test_vec4_maxv(v1, v2, v4);
+  test_assert_vec4_eq(v3, v4);
+
+  glm_vec4_minv(v1, v2, v3);
+  test_vec4_minv(v1, v2, v4);
+  test_assert_vec4_eq(v3, v4);
+
+  glm_vec4_print(v3, stderr);
+  glm_vec4_print(v4, stderr);
+
+  /* clamp */
+  glm_vec4_clamp(v3, 0.1, 0.8);
+  test_vec4_clamp(v4, 0.1, 0.8);
+  test_assert_vec4_eq(v3, v4);
+
+  glm_vec4_print(v3, stderr);
+  glm_vec4_print(v4, stderr);
+
+  assert_true(v3[0] >= 0.0999 && v3[0] <= 0.80001); /* rounding erros */
+  assert_true(v3[1] >= 0.0999 && v3[1] <= 0.80001);
+  assert_true(v3[2] >= 0.0999 && v3[2] <= 0.80001);
+  assert_true(v3[3] >= 0.0999 && v3[3] <= 0.80001);
 }