Merge branch 'master' into simd

cam: extend frustum's far distance helper (#71 )
* this will help to implement zoom easily
2026-02-17 03:39:05 +00:00 · 2019-01-21 22:43:15 +03:00 · 2019-01-16 14:59:58 +03:00 · 2019-01-15 12:08:54 +03:00 · 2018-12-26 09:57:52 +03:00 · 2018-12-26 09:54:48 +03:00
93 changed files with 5789 additions and 1440 deletions
--- a/.gitignore
+++ b/.gitignore
@@ -61,3 +61,11 @@ docs/build/*
 win/cglm_test_*
 * copy.*
 *.o
+*.obj
+*codeanalysis.*.xml
+*codeanalysis.xml
+*.lib
+*.tlog
+win/x64
+win/x85
+win/Debug
--- a/.travis.yml
+++ b/.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
--- a/8
+++ b/8
@@ -1,7 +1,7 @@
 This library [initially] used some [piece of] implementations
 (may include codes) from these open source projects/resources:

-1. Affine Transforms
+1. Initial Affine Transforms
 The original glm repo (g-truc), url: https://github.com/g-truc/glm

 LICENSE[S]:
@@ -11,7 +11,7 @@ LICENSE[S]:

 FULL LICENSE: https://github.com/g-truc/glm/blob/master/copying.txt

-2. Quaternions
+2. Initial Quaternions
 Anton's OpenGL 4 Tutorials book source code:

 LICENSE:
@@ -47,6 +47,8 @@ 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
+
+9. Sphere AABB intersect
+https://github.com/erich666/GraphicsGems/blob/master/gems/BoxSphere.c
--- a/README.md
+++ b/README.md
@@ -4,7 +4,7 @@
 [![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&amp;utm_medium=referral&amp;utm_content=recp/cglm&amp;utm_campaign=Badge_Grade)
-[![Backers on Open Collective](https://opencollective.com/cglm/backers/badge.svg)](#backers) 
+[![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 `__restrict`
@@ -16,10 +16,16 @@ Complete documentation: http://cglm.readthedocs.io

 #### Note for previous versions:

- _dup (duplicate) is changed to _copy. For instance `glm_vec_dup -> glm_vec_copy`
+- _dup (duplicate) is changed to _copy. For instance `glm_vec_dup -> glm_vec3_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
+- **[api rename]** by starting v0.4.5, **glm_simd** functions are renamed to **glmm_**  
+- **[new option]** by starting v0.4.5, you can disable alignment requirement, check options in docs.  
+- **[major change]** by starting v0.5.0, vec3 functions use **glm_vec3_** namespace, it was **glm_vec_** until v0.5.0
+- **[major change]** by starting v0.5.1, built-in alignment is removed from **vec3** and **mat3** types

 #### Note for C++ developers:
 If you don't aware about original GLM library yet, you may also want to look at:
@@ -77,6 +83,7 @@ Currently *cglm* uses default clip space configuration (-1, 1) for camera functi
 - frustum (extract view frustum planes, corners...)
 - bounding box  (AABB in Frustum (culling), crop, merge...)
 - project, unproject
+- and other...

 <hr />

@@ -118,39 +125,6 @@ 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
-
 ## Build

 ### Unix (Autotools)
@@ -197,15 +171,15 @@ If you want to use inline versions of funcstions then; include main header
 ```
 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});
+glm_vec3_rotate(v1, glm_rad(45), (vec3){1.0f, 0.0f, 0.0f});
 ```
 some functions are overloaded :) e.g you can normalize vector:
 ```C
-glm_vec_normalize(vec);
+glm_vec3_normalize(vec);
 ```
 this will normalize vec and store normalized vector into `vec` but if you will store normalized vector into another vector do this:
 ```C
-glm_vec_normalize_to(vec, result);
+glm_vec3_normalize_to(vec, result);
 ```
 like this function you may see `_to` postfix, this functions store results to another variables and save temp memory

@@ -216,7 +190,7 @@ to call pre-compiled versions include header with `c` postfix, c means call. Pre
 ```
 this header will include all headers with c postfix. You need to call functions with c posfix:
 ```C
-glmc_vec_normalize(vec);
+glmc_vec3_normalize(vec);
 ```

 Function usage and parameters are documented inside related headers. You may see same parameter passed twice in some examples like this:
@@ -280,3 +254,35 @@ You can pass same way to another APIs e.g. Vulkan, DX...
 - [ ] Unaligned operations (e.g. `glm_umat4_mul`)
 - [x] Extra documentation
 - [ ] ARM Neon Arch (In Progress)
+
+
+## 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
--- a/autogen.sh
+++ b/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
--- a/build-deps.sh
+++ b/build-deps.sh
@@ -9,19 +9,8 @@
 # check if deps are pulled
 git submodule update --init --recursive

-# fix glibtoolize
-
 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
-
 # general deps: gcc make autoconf automake libtool cmake

 # test - cmocka
--- a/cglm.podspec
+++ b/cglm.podspec
@@ -0,0 +1,28 @@
+Pod::Spec.new do |s|
+
+  # Description
+  s.name         = "cglm"
+  s.version      = "0.4.6"
+  s.summary      = "📽 Optimized OpenGL/Graphics Math (glm) for C"
+  s.description  = <<-DESC
+cglm is math library for graphics programming for C. It is similar to original glm but it is written for C instead of C++ (you can use here too). See the documentation or README for all features.
+                   DESC
+
+  s.documentation_url = "http://cglm.readthedocs.io"
+
+  # Home
+  s.homepage     = "https://github.com/recp/cglm"
+  s.license      = { :type => "MIT", :file => "LICENSE" }
+  s.author       = { "Recep Aslantas" => "recp@acm.org" }
+
+  # Sources
+  s.source               = { :git => "https://github.com/recp/cglm.git", :tag => "v#{s.version}" }
+  s.source_files         = "src", "include/cglm/**/*.h"
+  s.public_header_files  = "include", "include/cglm/**/*.h"
+  s.exclude_files        = "src/win/*", "src/dllmain.c", "src/**/*.h"
+  s.preserve_paths       = "include", "src"
+  s.header_mappings_dir  = "include"
+
+  # Linking
+  s.library = "m"
+end
--- a/configure.ac
+++ b/configure.ac
@@ -7,7 +7,7 @@
 #*****************************************************************************

 AC_PREREQ([2.69])
-AC_INIT([cglm], [0.4.0], [info@recp.me])
+AC_INIT([cglm], [0.5.2], [info@recp.me])
 AM_INIT_AUTOMAKE([-Wall -Werror foreign subdir-objects])

 AC_CONFIG_MACRO_DIR([m4])
--- a/docs/source/affine-mat.rst
+++ b/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)
--- a/docs/source/affine.rst
+++ b/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
--- a/docs/source/api.rst
+++ b/docs/source/api.rst
@@ -5,14 +5,14 @@ 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
+For instance, in general we use :code:`glm_vec3_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`
+:code:`glm_vec3_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
@@ -45,3 +45,4 @@ Follow the :doc:`build` documentation for this
   util
   io
   call
+   sphere
--- a/docs/source/box.rst
+++ b/docs/source/box.rst
@@ -28,6 +28,11 @@ Functions:
 #. :c:func:`glm_aabb_isvalid`
 #. :c:func:`glm_aabb_size`
 #. :c:func:`glm_aabb_radius`
+#. :c:func:`glm_aabb_center`
+#. :c:func:`glm_aabb_aabb`
+#. :c:func:`glm_aabb_sphere`
+#. :c:func:`glm_aabb_point`
+#. :c:func:`glm_aabb_contains`

 Functions documentation
 ~~~~~~~~~~~~~~~~~~~~~~~
@@ -131,3 +136,46 @@ Functions documentation

    Parameters:
      | *[in]*   **box**     bounding box
+
+.. c:function:: void  glm_aabb_center(vec3 box[2], vec3 dest)
+
+    | computes center point of AABB
+
+    Parameters:
+      | *[in]*    **box**      bounding box
+      | *[out]*   **dest**     center of bounding box
+
+.. c:function:: bool  glm_aabb_aabb(vec3 box[2], vec3 other[2])
+
+    | check if two AABB intersects
+
+    Parameters:
+      | *[in]*    **box**     bounding box
+      | *[out]*   **other**   other bounding box
+
+.. c:function:: bool  glm_aabb_sphere(vec3 box[2], vec4 s)
+
+    | check if AABB intersects with sphere
+
+    | https://github.com/erich666/GraphicsGems/blob/master/gems/BoxSphere.c
+    | Solid Box - Solid Sphere test.
+
+    Parameters:
+      | *[in]*    **box**     solid bounding box
+      | *[out]*   **s**       solid sphere
+
+.. c:function:: bool  glm_aabb_point(vec3 box[2], vec3 point)
+
+    | check if point is inside of AABB
+
+    Parameters:
+      | *[in]*    **box**     bounding box
+      | *[out]*   **point**   point
+
+.. c:function:: bool  glm_aabb_contains(vec3 box[2], vec3 other[2])
+
+    | check if AABB contains other AABB
+
+    Parameters:
+      | *[in]*    **box**     bounding box
+      | *[out]*   **other**   other bounding box
--- a/docs/source/cam.rst
+++ b/docs/source/cam.rst
@@ -9,7 +9,7 @@ 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
+without providing UP axis. It uses :c:func:`glm_vec3_ortho` to get a UP axis and
 builds view matrix.

 You can also *_default* versions of ortho and perspective to build projection
@@ -36,6 +36,7 @@ Functions:
 #. :c:func:`glm_ortho_default`
 #. :c:func:`glm_ortho_default_s`
 #. :c:func:`glm_perspective`
+#. :c:func:`glm_persp_move_far`
 #. :c:func:`glm_perspective_default`
 #. :c:func:`glm_perspective_resize`
 #. :c:func:`glm_lookat`
@@ -145,6 +146,16 @@ Functions documentation
      | *[in]*  **farVal**  far clipping planes
      | *[out]* **dest**    result matrix

+.. c:function:: void  glm_persp_move_far(mat4 proj, float deltaFar)
+
+    | extend perspective projection matrix's far distance
+
+    | this function does not guarantee far >= near, be aware of that!
+
+    Parameters:
+      | *[in, out]*  **proj**      projection matrix to extend
+      | *[in]*       **deltaFar**  distance from existing far (negative to shink)
+
 .. c:function:: void glm_perspective_default(float aspect, mat4 dest)

     | set up perspective projection matrix with default near/far
@@ -167,11 +178,13 @@ Functions documentation

    | set up view matrix

+    **NOTE:** The UP vector must not be parallel to the line of sight from the eye point to the reference point.
+
    Parameters:
-    | *[in]*  **eye**     eye vector
-    | *[in]*  **center**  center vector
-    | *[in]*  **up**      up vector
-    | *[out]* **dest**    result matrix
+      | *[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)

@@ -181,6 +194,8 @@ Functions documentation
    target self then this might be useful. Because you need to get target
    from direction.

+    **NOTE:** The UP vector must not be parallel to the line of sight from the eye point to the reference point.
+
    Parameters:
      | *[in]*  **eye**     eye vector
      | *[in]*  **center**  direction vector
--- a/docs/source/conf.py
+++ b/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'0.5.2'
 # The full version, including alpha/beta/rc tags.
-release = u'0.3.4'
+release = u'0.5.2'

 # The language for content autogenerated by Sphinx. Refer to documentation
 # for a list of supported languages.
--- a/docs/source/frustum.rst
+++ b/docs/source/frustum.rst
@@ -127,7 +127,7 @@ Functions documentation
    .. code-block:: c

       for (j = 0; j < 4; j++) {
-         glm_vec_center(corners[i], corners[i + 4], centerCorners[i]);
+         glm_vec3_center(corners[i], corners[i + 4], centerCorners[i]);
       }

    corners[i + 4] is far of corners[i] point.
--- a/docs/source/getting_started.rst
+++ b/docs/source/getting_started.rst
@@ -21,17 +21,24 @@ Types:
 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*

-Aligment is Required:
+Alignment is Required:
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

-**vec4** and **mat4** requires 16 byte aligment because vec4 and mat4 operations are
+**vec4** and **mat4** requires 16 byte alignment because vec4 and mat4 operations are
 vectorized by SIMD instructions (SSE/AVX).

+**UPDATE:**
+  By starting v0.4.5 cglm provides an option to disable alignment requirement, it is enabled as default
+
+  | Check :doc:`opt` page for more details
+
+  Also alignment is disabled for older msvc verisons as default. Now alignment is only required in Visual Studio 2017 version 15.6+ if CGLM_ALL_UNALIGNED macro is not defined.
+
 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.
+When allocating memory don't forget that **vec4** and **mat4** requires alignment.

 **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.
--- a/docs/source/index.rst
+++ b/docs/source/index.rst
@@ -40,6 +40,8 @@ Also currently only **float** type is supported for most operations.
   getting_started
   opengl
   api
+   opt
+   troubleshooting

 Indices and tables
 ==================
--- a/docs/source/mat3.rst
+++ b/docs/source/mat3.rst
@@ -20,13 +20,16 @@ Functions:

 1. :c:func:`glm_mat3_copy`
 #. :c:func:`glm_mat3_identity`
+#. :c:func:`glm_mat3_identity_array`
 #. :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_quat`
 #. :c:func:`glm_mat3_scale`
 #. :c:func:`glm_mat3_det`
 #. :c:func:`glm_mat3_inv`
+#. :c:func:`glm_mat3_trace`
 #. :c:func:`glm_mat3_swap_col`
 #. :c:func:`glm_mat3_swap_row`

@@ -48,6 +51,14 @@ Functions documentation
    Parameters:
      | *[out]* **mat**  matrix

+.. c:function:: void  glm_mat3_identity_array(mat3 * __restrict mat, size_t count)
+
+    make given matrix array's each element identity matrix
+
+    Parameters:
+      | *[in,out]* **mat**  matrix array (must be aligned (16/32) if alignment is not disabled)
+      | *[in]* **count**  count of matrices
+
 .. c:function:: void  glm_mat3_mul(mat3 m1, mat3 m2, mat3 dest)

    multiply m1 and m2 to dest
@@ -89,6 +100,14 @@ Functions documentation
      | *[in]*  **v**     vec3 (right, column vector)
      | *[out]* **dest**  destination (result, column vector)

+.. c:function:: void  glm_mat3_quat(mat3 m, versor dest)
+
+    convert mat3 to quaternion
+
+    Parameters:
+      | *[in]*  **m**     rotation matrix
+      | *[out]* **dest**  destination quaternion
+
 .. c:function:: void  glm_mat3_scale(mat3 m, float s)

    multiply matrix with scalar
@@ -115,6 +134,16 @@ Functions documentation
      | *[in]*  **mat**  matrix
      | *[out]* **dest** destination (inverse matrix)

+.. c:function:: void glm_mat3_trace(mat3 m)
+
+    | sum of the elements on the main diagonal from upper left to the lower right
+
+    Parameters:
+      | *[in]*  **m**  matrix
+
+    Returns:
+        trace of matrix
+
 .. c:function:: void  glm_mat3_swap_col(mat3 mat, int col1, int col2)

    swap two matrix columns
--- a/docs/source/mat4.rst
+++ b/docs/source/mat4.rst
@@ -25,6 +25,7 @@ Functions:
 1. :c:func:`glm_mat4_ucopy`
 #. :c:func:`glm_mat4_copy`
 #. :c:func:`glm_mat4_identity`
+#. :c:func:`glm_mat4_identity_array`
 #. :c:func:`glm_mat4_pick3`
 #. :c:func:`glm_mat4_pick3t`
 #. :c:func:`glm_mat4_ins3`
@@ -32,6 +33,9 @@ Functions:
 #. :c:func:`glm_mat4_mulN`
 #. :c:func:`glm_mat4_mulv`
 #. :c:func:`glm_mat4_mulv3`
+#. :c:func:`glm_mat3_trace`
+#. :c:func:`glm_mat3_trace3`
+#. :c:func:`glm_mat4_quat`
 #. :c:func:`glm_mat4_transpose_to`
 #. :c:func:`glm_mat4_transpose`
 #. :c:func:`glm_mat4_scale_p`
@@ -68,6 +72,14 @@ Functions documentation
    Parameters:
      | *[out]* **mat**  matrix

+.. c:function:: void  glm_mat4_identity_array(mat4 * __restrict mat, size_t count)
+
+    make given matrix array's each element identity matrix
+
+    Parameters:
+      | *[in,out]* **mat**  matrix array (must be aligned (16/32) if alignment is not disabled)
+      | *[in]* **count**  count of matrices
+
 .. c:function:: void  glm_mat4_pick3(mat4 mat, mat3 dest)

    copy upper-left of mat4 to mat3
@@ -146,6 +158,35 @@ Functions documentation
    | *[in]*  **v**     vec3 (right, column vector)
    | *[out]* **dest**  vec3 (result, column vector)

+.. c:function:: void  glm_mat4_trace(mat4 m)
+
+    | sum of the elements on the main diagonal from upper left to the lower right
+
+    Parameters:
+      | *[in]*  **m**  matrix
+
+    Returns:
+        trace of matrix
+
+.. c:function:: void  glm_mat4_trace3(mat4 m)
+
+    | trace of matrix (rotation part)
+    | sum of the elements on the main diagonal from upper left to the lower right
+
+    Parameters:
+      | *[in]*  **m**  matrix
+
+    Returns:
+        trace of matrix
+
+.. c:function:: void  glm_mat4_quat(mat4 m, versor dest)
+
+    convert mat4's rotation part to quaternion
+
+    Parameters:
+    | *[in]*  **m**     affine matrix
+    | *[out]* **dest**  destination quaternion
+
 .. c:function:: void  glm_mat4_transpose_to(mat4 m, mat4 dest)

    transpose mat4 and store in dest
--- a/docs/source/opt.rst
+++ b/docs/source/opt.rst
@@ -0,0 +1,42 @@
+.. default-domain:: C
+
+Options
+===============================================================================
+
+A few options are provided via macros.
+
+Alignment Option
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+As default, cglm requires types to be aligned. Alignment requirements:
+
+vec3:   8 byte
+vec4:   16 byte
+mat4:   16 byte
+versor: 16 byte
+
+By starting **v0.4.5** cglm provides an option to disable alignment requirement.
+To enable this option define **CGLM_ALL_UNALIGNED** macro before all headers.
+You can define it in Xcode, Visual Studio (or other IDEs) or you can also prefer
+to define it in build system. If you use pre-compiled verisons then you
+have to compile cglm with **CGLM_ALL_UNALIGNED** macro.
+
+**VERY VERY IMPORTANT:** If you use cglm in multiple projects and
+ those projects are depends on each other, then
+
+ | *ALWAYS* or *NEVER USE* **CGLM_ALL_UNALIGNED** macro in linked projects
+
+ if you do not know what you are doing. Because a cglm header included
+ via 'project A' may force types to be aligned and another cglm header
+ included via 'project B' may not require alignment. In this case
+ cglm functions will read from and write to **INVALID MEMORY LOCATIONs**.
+
+ ALWAYS USE SAME CONFIGURATION / OPTION for **cglm** if you have multiple projects.
+
+ For instance if you set CGLM_ALL_UNALIGNED in a project then set it in other projects too
+
+SSE and SSE2 Shuffle Option
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+**_mm_shuffle_ps** generates **shufps** instruction even if registers are same.
+You can force it to generate **pshufd** instruction by defining
+**CGLM_USE_INT_DOMAIN** macro. As default it is not defined.
--- a/docs/source/quat.rst
+++ b/docs/source/quat.rst
@@ -27,6 +27,7 @@ Macros:
 Functions:

 1. :c:func:`glm_quat_identity`
+#. :c:func:`glm_quat_identity_array`
 #. :c:func:`glm_quat_init`
 #. :c:func:`glm_quat`
 #. :c:func:`glm_quatv`
@@ -56,6 +57,9 @@ 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
 ~~~~~~~~~~~~~~~~~~~~~~~
@@ -67,6 +71,14 @@ Functions documentation
    Parameters:
      | *[in, out]*  **q**    quaternion

+.. c:function:: void  glm_quat_identity_array(versor * __restrict q, size_t count)
+
+    | make given quaternion array's each element identity quaternion
+
+    Parameters:
+      | *[in, out]*  **q**   quat array (must be aligned (16) if alignment is not disabled)
+      | *[in]*  **count**    count of quaternions
+
 .. c:function:: void  glm_quat_init(versor q, float x, float y, float z, float w)

    | inits quaternion with given values
@@ -354,3 +366,24 @@ 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
--- a/docs/source/sphere.rst
+++ b/docs/source/sphere.rst
@@ -0,0 +1,74 @@
+.. default-domain:: C
+
+Sphere
+================================================================================
+
+Header: cglm/sphere.h
+
+**Definition of sphere:**
+
+Sphere Representation in cglm is *vec4*: **[center.x, center.y, center.z, radii]**
+
+You can call any vec3 function by pasing sphere. Because first three elements
+defines center of sphere.
+
+Table of contents (click to go):
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+Functions:
+
+1. :c:func:`glm_sphere_radii`
+#. :c:func:`glm_sphere_transform`
+#. :c:func:`glm_sphere_merge`
+#. :c:func:`glm_sphere_sphere`
+#. :c:func:`glm_sphere_point`
+
+Functions documentation
+~~~~~~~~~~~~~~~~~~~~~~~
+
+.. c:function:: float  glm_sphere_radii(vec4 s)
+
+    | helper for getting sphere radius
+
+    Parameters:
+      | *[in]*  **s**   sphere
+
+    Returns:
+       returns radii
+
+.. c:function:: void  glm_sphere_transform(vec4 s, mat4 m, vec4 dest)
+
+    | apply transform to sphere, it is just wrapper for glm_mat4_mulv3
+
+    Parameters:
+      | *[in]*  **s**    sphere
+      | *[in]*  **m**    transform matrix
+      | *[out]* **dest** transformed sphere
+
+.. c:function:: void  glm_sphere_merge(vec4 s1, vec4 s2, vec4 dest)
+
+    | merges two spheres and creates a new one
+
+    two sphere must be in same space, for instance if one in world space then
+    the other must be in world space too, not in local space.
+
+    Parameters:
+      | *[in]*  **s1**      sphere 1
+      | *[in]*  **s2**      sphere 2
+      | *[out]* **dest**    merged/extended sphere
+
+.. c:function:: bool  glm_sphere_sphere(vec4 s1, vec4 s2)
+
+    | check if two sphere intersects
+
+    Parameters:
+      | *[in]*  **s1**      sphere
+      | *[in]*  **s2**      other sphere
+
+.. c:function:: bool  glm_sphere_point(vec4 s, vec3 point)
+
+    | check if sphere intersects with point
+
+    Parameters:
+      | *[in]*  **s**       sphere
+      | *[in]*  **point**   point
--- a/docs/source/troubleshooting.rst
+++ b/docs/source/troubleshooting.rst
@@ -0,0 +1,79 @@
+.. 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.
+
+Alignment:
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+**vec4** and **mat4** types requires 16 byte alignment.
+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 alignment 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 alignment 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.**
+
+**UPDATE:** By starting v0.4.5 cglm provides an option to disable alignment requirement.
+Also alignment is disabled for older msvc verisons as default. Now alignment is only required in Visual Studio 2017 version 15.6+ if CGLM_ALL_UNALIGNED macro is not defined.
+
+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_vec3_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.**
--- a/docs/source/util.rst
+++ b/docs/source/util.rst
@@ -136,3 +136,38 @@ Functions documentation

    Returns:
       interpolated value
+
+.. c:function:: bool glm_eq(float a, float b)
+
+    check if two float equal with using EPSILON
+
+    Parameters:
+      | *[in]*  **a**   a
+      | *[in]*  **b**   b
+
+    Returns:
+       true if a and b equals
+
+.. c:function:: float glm_percent(float from, float to, float current)
+
+    percentage of current value between start and end value
+
+    Parameters:
+      | *[in]*  **from**   from value
+      | *[in]*  **to**     to value
+      | *[in]*  **current**   value between from and to values
+
+    Returns:
+       clamped normalized percent (0-100 in 0-1)
+
+.. c:function:: float glm_percentc(float from, float to, float current)
+
+    clamped percentage of current value between start and end value
+
+    Parameters:
+      | *[in]*  **from**      from value
+      | *[in]*  **to**        to value
+      | *[in]*  **current**   value between from and to values
+
+    Returns:
+       clamped normalized percent (0-100 in 0-1)
--- a/docs/source/vec3-ext.rst
+++ b/docs/source/vec3-ext.rst
@@ -14,25 +14,25 @@ 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`
+1. :c:func:`glm_vec3_mulv`
+#. :c:func:`glm_vec3_broadcast`
+#. :c:func:`glm_vec3_eq`
+#. :c:func:`glm_vec3_eq_eps`
+#. :c:func:`glm_vec3_eq_all`
+#. :c:func:`glm_vec3_eqv`
+#. :c:func:`glm_vec3_eqv_eps`
+#. :c:func:`glm_vec3_max`
+#. :c:func:`glm_vec3_min`
+#. :c:func:`glm_vec3_isnan`
+#. :c:func:`glm_vec3_isinf`
+#. :c:func:`glm_vec3_isvalid`
+#. :c:func:`glm_vec3_sign`
+#. :c:func:`glm_vec3_sqrt`

 Functions documentation
 ~~~~~~~~~~~~~~~~~~~~~~~

-.. c:function:: void  glm_vec_mulv(vec3 a, vec3 b, vec3 d)
+.. c:function:: void  glm_vec3_mulv(vec3 a, vec3 b, vec3 d)

    multiplies individual items

@@ -41,7 +41,7 @@ Functions documentation
      | *[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)
+.. c:function:: void  glm_vec3_broadcast(float val, vec3 d)

    fill a vector with specified value

@@ -49,7 +49,7 @@ Functions documentation
      | *[in]*  **val**   value
      | *[out]* **dest**  destination

-.. c:function:: bool  glm_vec_eq(vec3 v, float val)
+.. c:function:: bool  glm_vec3_eq(vec3 v, float val)

    check if vector is equal to value (without epsilon)

@@ -57,7 +57,7 @@ Functions documentation
      | *[in]*  **v**    vector
      | *[in]*  **val**  value

-.. c:function:: bool  glm_vec_eq_eps(vec3 v, float val)
+.. c:function:: bool  glm_vec3_eq_eps(vec3 v, float val)

    check if vector is equal to value (with epsilon)

@@ -65,14 +65,14 @@ Functions documentation
      | *[in]*  **v**    vector
      | *[in]*  **val**  value

-.. c:function:: bool  glm_vec_eq_all(vec3 v)
+.. c:function:: bool  glm_vec3_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)
+.. c:function:: bool  glm_vec3_eqv(vec3 v1, vec3 v2)

    check if vector is equal to another (without epsilon) vector

@@ -80,7 +80,7 @@ Functions documentation
      | *[in]*  **vec**   vector 1
      | *[in]*  **vec**   vector 2

-.. c:function:: bool  glm_vec_eqv_eps(vec3 v1, vec3 v2)
+.. c:function:: bool  glm_vec3_eqv_eps(vec3 v1, vec3 v2)

    check if vector is equal to another (with epsilon)

@@ -88,21 +88,21 @@ Functions documentation
      | *[in]*  **v1**    vector1
      | *[in]*  **v2**    vector2

-.. c:function:: float  glm_vec_max(vec3 v)
+.. c:function:: float  glm_vec3_max(vec3 v)

    max value of vector

    Parameters:
      | *[in]*  **v**    vector

-.. c:function:: float glm_vec_min(vec3 v)
+.. c:function:: float glm_vec3_min(vec3 v)

     min value of vector

    Parameters:
      | *[in]*  **v**  vector

-.. c:function:: bool glm_vec_isnan(vec3 v)
+.. c:function:: bool glm_vec3_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
@@ -110,7 +110,7 @@ Functions documentation
    Parameters:
      | *[in]*  **v**  vector

-.. c:function:: bool glm_vec_isinf(vec3 v)
+.. c:function:: bool glm_vec3_isinf(vec3 v)

    | check if one of items is INFINITY
    | you should only use this in DEBUG mode or very critical asserts
@@ -118,7 +118,7 @@ Functions documentation
    Parameters:
      | *[in]*  **v**  vector

-.. c:function:: bool glm_vec_isvalid(vec3 v)
+.. c:function:: bool glm_vec3_isvalid(vec3 v)

    | check if all items are valid number
    | you should only use this in DEBUG mode or very critical asserts
@@ -126,7 +126,7 @@ Functions documentation
    Parameters:
      | *[in]*  **v**  vector

-.. c:function:: void glm_vec_sign(vec3 v, vec3 dest)
+.. c:function:: void glm_vec3_sign(vec3 v, vec3 dest)

    get sign of 32 bit float as +1, -1, 0

@@ -134,7 +134,7 @@ Functions documentation
      | *[in]*   **v**     vector
      | *[out]*  **dest**  sign vector (only keeps signs as -1, 0, -1)

-.. c:function:: void glm_vec_sqrt(vec3 v, vec3 dest)
+.. c:function:: void glm_vec3_sqrt(vec3 v, vec3 dest)

    square root of each vector item

--- a/docs/source/vec3.rst
+++ b/docs/source/vec3.rst
@@ -5,9 +5,14 @@ vec3

 Header: cglm/vec3.h

+ **Important:** *cglm* was used **glm_vec_** namespace for vec3 functions until
+ **v0.5.0**, since **v0.5.0** cglm uses **glm_vec3_** namespace for vec3.
+
+ Also `glm_vec3_flipsign` has been renamed to `glm_vec3_negate`
+
 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`,
+For instance :c:func:`glm_dot` is alias of :c:func:`glm_vec3_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
@@ -18,7 +23,7 @@ Table of contents (click to go):

 Macros:

-1. glm_vec_dup(v, dest)
+1. glm_vec3_dup(v, dest)
 #. GLM_VEC3_ONE_INIT
 #. GLM_VEC3_ZERO_INIT
 #. GLM_VEC3_ONE
@@ -30,32 +35,50 @@ Macros:
 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`
+#. :c:func:`glm_vec3_copy`
+#. :c:func:`glm_vec3_zero`
+#. :c:func:`glm_vec3_one`
+#. :c:func:`glm_vec3_dot`
+#. :c:func:`glm_vec3_norm2`
+#. :c:func:`glm_vec3_norm`
+#. :c:func:`glm_vec3_add`
+#. :c:func:`glm_vec3_adds`
+#. :c:func:`glm_vec3_sub`
+#. :c:func:`glm_vec3_subs`
+#. :c:func:`glm_vec3_mul`
+#. :c:func:`glm_vec3_scale`
+#. :c:func:`glm_vec3_scale_as`
+#. :c:func:`glm_vec3_div`
+#. :c:func:`glm_vec3_divs`
+#. :c:func:`glm_vec3_addadd`
+#. :c:func:`glm_vec3_subadd`
+#. :c:func:`glm_vec3_muladd`
+#. :c:func:`glm_vec3_muladds`
+#. :c:func:`glm_vec3_maxadd`
+#. :c:func:`glm_vec3_minadd`
+#. :c:func:`glm_vec3_flipsign`
+#. :c:func:`glm_vec3_flipsign_to`
+#. :c:func:`glm_vec3_inv`
+#. :c:func:`glm_vec3_inv_to`
+#. :c:func:`glm_vec3_negate`
+#. :c:func:`glm_vec3_negate_to`
+#. :c:func:`glm_vec3_normalize`
+#. :c:func:`glm_vec3_normalize_to`
+#. :c:func:`glm_vec3_cross`
+#. :c:func:`glm_vec3_crossn`
+#. :c:func:`glm_vec3_distance2`
+#. :c:func:`glm_vec3_distance`
+#. :c:func:`glm_vec3_angle`
+#. :c:func:`glm_vec3_rotate`
+#. :c:func:`glm_vec3_rotate_m4`
+#. :c:func:`glm_vec3_rotate_m3`
+#. :c:func:`glm_vec3_proj`
+#. :c:func:`glm_vec3_center`
+#. :c:func:`glm_vec3_maxv`
+#. :c:func:`glm_vec3_minv`
+#. :c:func:`glm_vec3_ortho`
+#. :c:func:`glm_vec3_clamp`
+#. :c:func:`glm_vec3_lerp`

 Functions documentation
 ~~~~~~~~~~~~~~~~~~~~~~~
@@ -68,7 +91,7 @@ Functions documentation
      | *[in]*  **v4**    vector4
      | *[out]* **dest**  destination

-.. c:function:: void  glm_vec_copy(vec3 a, vec3 dest)
+.. c:function:: void  glm_vec3_copy(vec3 a, vec3 dest)

    copy all members of [a] to [dest]

@@ -76,7 +99,21 @@ Functions documentation
      | *[in]*  **a**     source
      | *[out]* **dest**  destination

-.. c:function:: float  glm_vec_dot(vec3 a, vec3 b)
+.. c:function:: void  glm_vec3_zero(vec3 v)
+
+    makes all members 0.0f (zero)
+
+    Parameters:
+      | *[in, out]*  **v**     vector
+
+.. c:function:: void  glm_vec3_one(vec3 v)
+
+    makes all members 1.0f (one)
+
+    Parameters:
+      | *[in, out]*  **v**     vector
+
+.. c:function:: float  glm_vec3_dot(vec3 a, vec3 b)

    dot product of vec3

@@ -87,16 +124,25 @@ Functions documentation
    Returns:
      dot product

-.. c:function:: void  glm_vec_cross(vec3 a, vec3 b, vec3 d)
+.. c:function:: void  glm_vec3_cross(vec3 a, vec3 b, vec3 d)

-    cross product
+    cross product of two vector (RH)

    Parameters:
-      | *[in]*  **a**  source 1
-      | *[in]*  **b**  source 2
-      | *[out]* **d**  destination
+      | *[in]*  **a**     vector 1
+      | *[in]*  **b**     vector 2
+      | *[out]* **dest**  destination

-.. c:function:: float  glm_vec_norm2(vec3 v)
+.. c:function:: void  glm_vec3_crossn(vec3 a, vec3 b, vec3 dest)
+
+    cross product of two vector (RH) and normalize the result
+
+    Parameters:
+      | *[in]*  **a**     vector 1
+      | *[in]*  **b**     vector 2
+      | *[out]* **dest**  destination
+
+.. c:function:: float  glm_vec3_norm2(vec3 v)

    norm * norm (magnitude) of vector

@@ -110,32 +156,59 @@ Functions documentation
    Returns:
      square of norm / magnitude

-.. c:function:: float  glm_vec_norm(vec3 vec)
+.. c:function:: float  glm_vec3_norm(vec3 vec)

    norm (magnitude) of vec3

    Parameters:
      | *[in]*  **vec**   vector

-.. c:function:: void  glm_vec_add(vec3 v1, vec3 v2, vec3 dest)
+.. c:function:: void  glm_vec3_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]*  **v2**    vector2
+      | *[in]*  **a**     vector1
+      | *[in]*  **b**     vector2
      | *[out]* **dest**  destination vector

-.. c:function:: void  glm_vec_sub(vec3 v1, vec3 v2, vec3 dest)
+.. c:function:: void  glm_vec3_adds(vec3 a, float s, vec3 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]*  **v2**    vector2
+      | *[in]*  **v**     vector
+      | *[in]*  **s**     scalar
      | *[out]* **dest**  destination vector

-.. c:function:: void glm_vec_scale(vec3 v, float s, vec3 dest)
+.. c:function:: void  glm_vec3_sub(vec3 v1, vec3 v2, vec3 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_vec3_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_vec3_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_vec3_scale(vec3 v, float s, vec3 dest)

     multiply/scale vec3 vector with scalar: result = v * s

@@ -145,7 +218,7 @@ Functions documentation
      | *[in]*  **s**     scalar
      | *[out]* **dest**  destination vector

-.. c:function:: void  glm_vec_scale_as(vec3 v, float s, vec3 dest)
+.. c:function:: void  glm_vec3_scale_as(vec3 v, float s, vec3 dest)

    make vec3 vector scale as specified: result = unit(v) * s

@@ -154,44 +227,145 @@ Functions documentation
      | *[in]*  **s**     scalar
      | *[out]* **dest**  destination vector

-.. c:function:: void  glm_vec_flipsign(vec3 v)
+.. c:function:: void  glm_vec3_div(vec3 a, vec3 b, vec3 dest)

-    flip sign of all vec3 members
+    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_vec3_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_vec3_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_vec3_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_vec3_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_vec3_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_vec3_maxadd(vec3 a, vec3 b, vec3 dest)
+
+    | add max of two vector to result/dest
+    | 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_vec3_minadd(vec3 a, vec3 b, vec3 dest)
+
+    | add min of two vector to result/dest
+    | 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_vec3_flipsign(vec3 v)
+
+    **DEPRACATED!**
+
+    use :c:func:`glm_vec3_negate`

    Parameters:
      | *[in, out]*  **v**    vector

-.. c:function:: void  glm_vec_flipsign_to(vec3 v, vec3 dest)
+.. c:function:: void  glm_vec3_flipsign_to(vec3 v, vec3 dest)

-    flip sign of all vec3 members and store result in dest
+    **DEPRACATED!**
+
+    use :c:func:`glm_vec3_negate_to`

    Parameters:
      | *[in]*  **v**       vector
      | *[out]* **dest**    negated vector

-.. c:function:: void  glm_vec_inv(vec3 v)
+.. c:function:: void  glm_vec3_inv(vec3 v)

-    make vector as inverse/opposite of itself
+    **DEPRACATED!**
+
+    use :c:func:`glm_vec3_negate`

    Parameters:
      | *[in, out]*  **v**    vector

-.. c:function:: void  glm_vec_inv_to(vec3 v, vec3 dest)
+.. c:function:: void  glm_vec3_inv_to(vec3 v, vec3 dest)

-    inverse/opposite vector
+    **DEPRACATED!**
+
+    use :c:func:`glm_vec3_negate_to`

    Parameters:
      | *[in]*  **v**     source
      | *[out]* **dest**  destination

-.. c:function:: void  glm_vec_normalize(vec3 v)
+.. c:function:: void  glm_vec3_negate(vec3 v)
+
+    negate vector components
+
+    Parameters:
+      | *[in, out]*  **v**    vector
+
+.. c:function:: void  glm_vec3_negate_to(vec3 v, vec3 dest)
+
+    negate vector components and store result in dest
+
+    Parameters:
+      | *[in]*  **v**       vector
+      | *[out]* **dest**    negated vector
+
+.. c:function:: void  glm_vec3_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)
+.. c:function:: void  glm_vec3_normalize_to(vec3 vec, vec3 dest)

     normalize vec3 to dest

@@ -199,7 +373,7 @@ Functions documentation
      | *[in]*   **vec**   source
      | *[out]*  **dest**  destination

-.. c:function:: float  glm_vec_angle(vec3 v1, vec3 v2)
+.. c:function:: float  glm_vec3_angle(vec3 v1, vec3 v2)

    angle betwen two vector

@@ -210,7 +384,7 @@ Functions documentation
    Return:
      | angle as radians

-.. c:function:: void  glm_vec_rotate(vec3 v, float angle, vec3 axis)
+.. c:function:: void  glm_vec3_rotate(vec3 v, float angle, vec3 axis)

     rotate vec3 around axis by angle using Rodrigues' rotation formula

@@ -219,7 +393,7 @@ Functions documentation
      | *[in]*       **axis**   axis vector (will be normalized)
      | *[out]*      **angle**  angle (radians)

-.. c:function:: void  glm_vec_rotate_m4(mat4 m, vec3 v, vec3 dest)
+.. c:function:: void  glm_vec3_rotate_m4(mat4 m, vec3 v, vec3 dest)

    apply rotation matrix to vector

@@ -228,7 +402,16 @@ Functions documentation
      | *[in]*  **v**     vector
      | *[out]* **dest**  rotated vector

-.. c:function:: void  glm_vec_proj(vec3 a, vec3 b, vec3 dest)
+.. c:function:: void  glm_vec3_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_vec3_proj(vec3 a, vec3 b, vec3 dest)

    project a vector onto b vector

@@ -237,7 +420,7 @@ Functions documentation
      | *[in]*  **b**     vector2
      | *[out]* **dest**  projected vector

-.. c:function:: void  glm_vec_center(vec3 v1, vec3 v2, vec3 dest)
+.. c:function:: void  glm_vec3_center(vec3 v1, vec3 v2, vec3 dest)

    find center point of two vector

@@ -246,7 +429,18 @@ Functions documentation
      | *[in]*  **v2**    vector2
      | *[out]* **dest**  center point

-.. c:function:: float  glm_vec_distance(vec3 v1, vec3 v2)
+.. c:function:: float  glm_vec3_distance2(vec3 v1, vec3 v2)
+
+    squared distance between two vectors
+
+    Parameters:
+      | *[in]*  **mat**   vector1
+      | *[in]*  **row1**  vector2
+
+    Returns:
+      | squared distance (distance * distance)
+
+.. c:function:: float  glm_vec3_distance(vec3 v1, vec3 v2)

    distance between two vectors

@@ -257,7 +451,7 @@ Functions documentation
    Returns:
      | distance

-.. c:function:: void  glm_vec_maxv(vec3 v1, vec3 v2, vec3 dest)
+.. c:function:: void  glm_vec3_maxv(vec3 v1, vec3 v2, vec3 dest)

    max values of vectors

@@ -266,7 +460,7 @@ Functions documentation
      | *[in]*  **v2**    vector2
      | *[out]* **dest**  destination

-.. c:function:: void  glm_vec_minv(vec3 v1, vec3 v2, vec3 dest)
+.. c:function:: void  glm_vec3_minv(vec3 v1, vec3 v2, vec3 dest)

    min values of vectors

@@ -275,7 +469,7 @@ Functions documentation
      | *[in]*  **v2**    vector2
      | *[out]* **dest**  destination

-.. c:function:: void  glm_vec_ortho(vec3 v, vec3 dest)
+.. c:function:: void  glm_vec3_ortho(vec3 v, vec3 dest)

    possible orthogonal/perpendicular vector

@@ -283,7 +477,7 @@ Functions documentation
      | *[in]*  **mat**   vector
      | *[out]* **dest**  orthogonal/perpendicular vector

-.. c:function:: void  glm_vec_clamp(vec3 v, float minVal, float maxVal)
+.. c:function:: void  glm_vec3_clamp(vec3 v, float minVal, float maxVal)

    constrain a value to lie between two further values

@@ -292,7 +486,7 @@ Functions documentation
      | *[in]*       **minVal**  minimum value
      | *[in]*       **maxVal**  maximum value

-.. c:function:: void  glm_vec_lerp(vec3 from, vec3 to, float t, vec3 dest)
+.. c:function:: void  glm_vec3_lerp(vec3 from, vec3 to, float t, vec3 dest)

    linear interpolation between two vector

--- a/docs/source/vec4.rst
+++ b/docs/source/vec4.rst
@@ -24,17 +24,33 @@ Functions:
 1. :c:func:`glm_vec4`
 #. :c:func:`glm_vec4_copy3`
 #. :c:func:`glm_vec4_copy`
+#. :c:func:`glm_vec4_ucopy`
+#. :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_maxadd`
+#. :c:func:`glm_vec4_minadd`
 #. :c:func:`glm_vec4_flipsign`
-#. :c:func:`glm_vec_flipsign_to`
+#. :c:func:`glm_vec4_flipsign_to`
 #. :c:func:`glm_vec4_inv`
 #. :c:func:`glm_vec4_inv_to`
+#. :c:func:`glm_vec4_negate`
+#. :c:func:`glm_vec4_negate_to`
 #. :c:func:`glm_vec4_normalize`
 #. :c:func:`glm_vec4_normalize_to`
 #. :c:func:`glm_vec4_distance`
@@ -78,6 +94,23 @@ Functions documentation
      | *[in]*  **v**     source
      | *[in]*  **dest**  destination

+.. c:function:: void  glm_vec4_ucopy(vec4 v, vec4 dest)
+
+    copy all members of [a] to [dest]
+
+    | alignment is not required
+
+    Parameters:
+      | *[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 +143,51 @@ 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]*  **v2**    vector2
+      | *[in]*  **a**     vector1
+      | *[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]*  **v2**    vector2
+      | *[in]*  **v**     vector
+      | *[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
@@ -146,16 +206,98 @@ 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_maxadd(vec4 a, vec4 b, vec4 dest)
+
+    | add max of two vector to result/dest
+    | 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_minadd(vec4 a, vec4 b, vec4 dest)
+
+    | add min of two vector to result/dest
+    | 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_flipsign(vec4 v)

-    flip sign of all vec4 members
+    **DEPRACATED!**
+
+    use :c:func:`glm_vec4_negate`

    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
+    **DEPRACATED!**
+
+    use :c:func:`glm_vec4_negate_to`

    Parameters:
      | *[in]*  **v**       vector
@@ -163,19 +305,38 @@ Functions documentation

 .. c:function:: void  glm_vec4_inv(vec4 v)

-    make vector as inverse/opposite of itself
+    **DEPRACATED!**
+
+    use :c:func:`glm_vec4_negate`

    Parameters:
      | *[in, out]*  **v**    vector

 .. c:function:: void  glm_vec4_inv_to(vec4 v, vec4 dest)

-    inverse/opposite vector
+    **DEPRACATED!**
+
+    use :c:func:`glm_vec4_negate_to`

    Parameters:
      | *[in]*  **v**     source
      | *[out]* **dest**  destination

+.. c:function:: void  glm_vec4_negate(vec4 v)
+
+    negate vector components
+
+    Parameters:
+    | *[in, out]*  **v**    vector
+
+.. c:function:: void  glm_vec4_negate_to(vec4 v, vec4 dest)
+
+    negate vector components and store result in dest
+
+    Parameters:
+      | *[in]*  **v**       vector
+      | *[out]* **dest**    negated vector
+
 .. c:function:: void  glm_vec4_normalize(vec4 v)

    normalize vec4 and store result in same vec
--- a/include/cglm/affine-mat.h
+++ b/include/cglm/affine-mat.h
@@ -16,6 +16,7 @@

 #include "common.h"
 #include "mat4.h"
+#include "mat3.h"

 #ifdef CGLM_SSE_FP
 #  include "simd/sse2/affine.h"
@@ -81,6 +82,59 @@ 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)
 *
@@ -97,7 +151,7 @@ glm_inv_tr(mat4 mat) {
 #if defined( __SSE__ ) || defined( __SSE2__ )
  glm_inv_tr_sse2(mat);
 #else
-  CGLM_ALIGN(16) mat3 r;
+  CGLM_ALIGN_MAT mat3 r;
  CGLM_ALIGN(16) vec3 t;

  /* rotate */
@@ -106,8 +160,8 @@ glm_inv_tr(mat4 mat) {

  /* translate */
  glm_mat3_mulv(r, mat[3], t);
-  glm_vec_flipsign(t);
-  glm_vec_copy(t, mat[3]);
+  glm_vec3_negate(t);
+  glm_vec3_copy(t, mat[3]);
 #endif
 }

--- a/include/cglm/affine.h
+++ b/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);
@@ -35,51 +34,15 @@
 #define cglm_affine_h

 #include "common.h"
-#include "vec4.h"
-#include "affine-mat.h"
 #include "util.h"
+#include "vec3.h"
+#include "vec4.h"
+#include "mat4.h"
+#include "affine-mat.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) {
-  mat4 t = GLM_MAT4_IDENTITY_INIT;
-
-#if defined( __SSE__ ) || defined( __SSE2__ )
-  _mm_store_ps(dest[3],
-               _mm_add_ps(_mm_add_ps(_mm_mul_ps(_mm_load_ps(t[0]),
-                                                _mm_set1_ps(v[0])),
-                                     _mm_mul_ps(_mm_load_ps(t[1]),
-                                                _mm_set1_ps(v[1]))),
-                          _mm_add_ps(_mm_mul_ps(_mm_load_ps(t[2]),
-                                                _mm_set1_ps(v[2])),
-                                     _mm_load_ps(t[3]))))
-  ;
-
-  _mm_store_ps(dest[0], _mm_load_ps(m[0]));
-  _mm_store_ps(dest[1], _mm_load_ps(m[1]));
-  _mm_store_ps(dest[2], _mm_load_ps(m[2]));
-#else
-  vec4 v1, v2, v3;
-
-  glm_vec4_scale(t[0], v[0], v1);
-  glm_vec4_scale(t[1], v[1], v2);
-  glm_vec4_scale(t[2], v[2], v3);
-
-  glm_vec4_add(v1, t[3], t[3]);
-  glm_vec4_add(v2, t[3], t[3]);
-  glm_vec4_add(v3, t[3], t[3]);
-
-  glm__memcpy(float, dest, t, sizeof(mat4));
-#endif
-}
+glm_mat4_mul(mat4 m1, mat4 m2, mat4 dest);

 /*!
 * @brief translate existing transform matrix by v vector
@@ -92,14 +55,14 @@ CGLM_INLINE
 void
 glm_translate(mat4 m, vec3 v) {
 #if defined( __SSE__ ) || defined( __SSE2__ )
-  _mm_store_ps(m[3],
-               _mm_add_ps(_mm_add_ps(_mm_mul_ps(_mm_load_ps(m[0]),
-                                                _mm_set1_ps(v[0])),
-                                     _mm_mul_ps(_mm_load_ps(m[1]),
-                                                _mm_set1_ps(v[1]))),
-                          _mm_add_ps(_mm_mul_ps(_mm_load_ps(m[2]),
-                                                _mm_set1_ps(v[2])),
-                                     _mm_load_ps(m[3]))))
+  glmm_store(m[3],
+             _mm_add_ps(_mm_add_ps(_mm_mul_ps(glmm_load(m[0]),
+                                              _mm_set1_ps(v[0])),
+                                   _mm_mul_ps(glmm_load(m[1]),
+                                              _mm_set1_ps(v[1]))),
+                        _mm_add_ps(_mm_mul_ps(glmm_load(m[2]),
+                                              _mm_set1_ps(v[2])),
+                                   glmm_load(m[3]))))
  ;
 #else
  vec4 v1, v2, v3;
@@ -114,6 +77,23 @@ glm_translate(mat4 m, vec3 v) {
 #endif
 }

+/*!
+ * @brief translate existing transform matrix by v vector
+ *        and store result in dest
+ *
+ * source matrix will remain same
+ *
+ * @param[in]  m    affine transfrom
+ * @param[in]  v    translate vector [x, y, z]
+ * @param[out] dest translated matrix
+ */
+CGLM_INLINE
+void
+glm_translate_to(mat4 m, vec3 v, mat4 dest) {
+  glm_mat4_copy(m, dest);
+  glm_translate(dest, v);
+}
+
 /*!
 * @brief translate existing transform matrix by x factor
 *
@@ -124,10 +104,10 @@ CGLM_INLINE
 void
 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(x)),
-                          _mm_load_ps(m[3])))
+  glmm_store(m[3],
+             _mm_add_ps(_mm_mul_ps(glmm_load(m[0]),
+                                   _mm_set1_ps(x)),
+                        glmm_load(m[3])))
  ;
 #else
  vec4 v1;
@@ -146,10 +126,10 @@ CGLM_INLINE
 void
 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(y)),
-                          _mm_load_ps(m[3])))
+  glmm_store(m[3],
+             _mm_add_ps(_mm_mul_ps(glmm_load(m[1]),
+                                   _mm_set1_ps(y)),
+                        glmm_load(m[3])))
  ;
 #else
  vec4 v1;
@@ -168,10 +148,10 @@ CGLM_INLINE
 void
 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(z)),
-                          _mm_load_ps(m[3])))
+  glmm_store(m[3],
+             _mm_add_ps(_mm_mul_ps(glmm_load(m[2]),
+                                   _mm_set1_ps(z)),
+                        glmm_load(m[3])))
  ;
 #else
  vec4 v1;
@@ -189,8 +169,8 @@ glm_translate_z(mat4 m, float z) {
 CGLM_INLINE
 void
 glm_translate_make(mat4 m, vec3 v) {
-  mat4 t = GLM_MAT4_IDENTITY_INIT;
-  glm_translate_to(t, v, m);
+  glm_mat4_identity(m);
+  glm_vec3_copy(v, m[3]);
 }

 /*!
@@ -220,8 +200,10 @@ glm_scale_to(mat4 m, vec3 v, mat4 dest) {
 CGLM_INLINE
 void
 glm_scale_make(mat4 m, vec3 v) {
-  mat4 t = GLM_MAT4_IDENTITY_INIT;
-  glm_scale_to(t, v, m);
+  glm_mat4_identity(m);
+  m[0][0] = v[0];
+  m[1][1] = v[1];
+  m[2][2] = v[2];
 }

 /*!
@@ -237,16 +219,6 @@ 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
@@ -257,7 +229,7 @@ glm_scale1(mat4 m, float s) {
 CGLM_INLINE
 void
 glm_scale_uni(mat4 m, float s) {
-  vec3 v = { s, s, s };
+  CGLM_ALIGN(8) vec3 v = { s, s, s };
  glm_scale_to(m, v, m);
 }

@@ -272,19 +244,18 @@ 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;
+  CGLM_ALIGN_MAT mat4 t = GLM_MAT4_IDENTITY_INIT;
+  float c, s;

-  cosVal = cosf(angle);
-  sinVal = sinf(angle);
+  c = cosf(angle);
+  s = sinf(angle);

-  t[1][1] =  cosVal;
-  t[1][2] =  sinVal;
-  t[2][1] = -sinVal;
-  t[2][2] =  cosVal;
+  t[1][1] =  c;
+  t[1][2] =  s;
+  t[2][1] = -s;
+  t[2][2] =  c;

-  glm_mat4_mul(m, t, dest);
+  glm_mul_rot(m, t, dest);
 }

 /*!
@@ -298,19 +269,18 @@ 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;
+  CGLM_ALIGN_MAT mat4 t = GLM_MAT4_IDENTITY_INIT;
+  float c, s;

-  cosVal = cosf(angle);
-  sinVal = sinf(angle);
+  c = cosf(angle);
+  s = sinf(angle);

-  t[0][0] =  cosVal;
-  t[0][2] = -sinVal;
-  t[2][0] =  sinVal;
-  t[2][2] =  cosVal;
+  t[0][0] =  c;
+  t[0][2] = -s;
+  t[2][0] =  s;
+  t[2][2] =  c;

-  glm_mat4_mul(m, t, dest);
+  glm_mul_rot(m, t, dest);
 }

 /*!
@@ -324,61 +294,18 @@ 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;
-
-  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;
+  CGLM_ALIGN_MAT mat4 t = GLM_MAT4_IDENTITY_INIT;
+  float c, s;

  c = cosf(angle);
+  s = sinf(angle);

-  glm_vec_scale(axis_ndc, 1.0f - c, v);
-  glm_vec_scale(axis_ndc, sinf(angle), vs);
+  t[0][0] =  c;
+  t[0][1] =  s;
+  t[1][0] = -s;
+  t[1][1] =  c;

-  glm_vec_scale(axis_ndc, v[0], m[0]);
-  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;
+  glm_mul_rot(m, t, dest);
 }

 /*!
@@ -393,53 +320,29 @@ 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;
+  CGLM_ALIGN(8) vec3 axisn, v, vs;
+  float c;

-  glm_vec_normalize_to(axis, axis_ndc);
-  glm_rotate_ndc_make(m, angle, axis_ndc);
+  c = cosf(angle);
+
+  glm_vec3_normalize_to(axis, axisn);
+  glm_vec3_scale(axisn, 1.0f - c, v);
+  glm_vec3_scale(axisn, sinf(angle), vs);
+
+  glm_vec3_scale(axisn, v[0], m[0]);
+  glm_vec3_scale(axisn, v[1], m[1]);
+  glm_vec3_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
- *
- * 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
+ * @brief rotate existing transform matrix around given axis by angle
 *
 * @param[in, out]  m      affine transfrom
 * @param[in]       angle  angle (radians)
@@ -448,10 +351,55 @@ glm_rotate_ndc(mat4 m, float angle, vec3 axis_ndc) {
 CGLM_INLINE
 void
 glm_rotate(mat4 m, float angle, vec3 axis) {
-  vec3 axis_ndc;
+  CGLM_ALIGN_MAT 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) {
+  CGLM_ALIGN(8) vec3 pivotInv;
+
+  glm_vec3_negate_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) {
+  CGLM_ALIGN(8) vec3 pivotInv;
+
+  glm_vec3_negate_to(pivot, pivotInv);
+
+  glm_translate_make(m, pivot);
+  glm_rotate(m, angle, axis);
+  glm_translate(m, pivotInv);
 }

 /*!
@@ -463,13 +411,13 @@ glm_rotate(mat4 m, float angle, vec3 axis) {
 CGLM_INLINE
 void
 glm_decompose_scalev(mat4 m, vec3 s) {
-  s[0] = glm_vec_norm(m[0]);
-  s[1] = glm_vec_norm(m[1]);
-  s[2] = glm_vec_norm(m[2]);
+  s[0] = glm_vec3_norm(m[0]);
+  s[1] = glm_vec3_norm(m[1]);
+  s[2] = glm_vec3_norm(m[2]);
 }

 /*!
- * @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
@@ -479,10 +427,9 @@ glm_decompose_scalev(mat4 m, vec3 s) {
 CGLM_INLINE
 bool
 glm_uniscaled(mat4 m) {
-  vec3 s;
+  CGLM_ALIGN(8) vec3 s;
  glm_decompose_scalev(m, s);
-
-  return glm_vec_eq_all(s);
+  return glm_vec3_eq_all(s);
 }

 /*!
@@ -496,17 +443,17 @@ glm_uniscaled(mat4 m) {
 CGLM_INLINE
 void
 glm_decompose_rs(mat4 m, mat4 r, vec3 s) {
-  vec4 t = {0.0f, 0.0f, 0.0f, 1.0f};
-  vec3 v;
+  CGLM_ALIGN(16) vec4 t = {0.0f, 0.0f, 0.0f, 1.0f};
+  CGLM_ALIGN(8)  vec3 v;

  glm_vec4_copy(m[0], r[0]);
  glm_vec4_copy(m[1], r[1]);
  glm_vec4_copy(m[2], r[2]);
  glm_vec4_copy(t,    r[3]);

-  s[0] = glm_vec_norm(m[0]);
-  s[1] = glm_vec_norm(m[1]);
-  s[2] = glm_vec_norm(m[2]);
+  s[0] = glm_vec3_norm(m[0]);
+  s[1] = glm_vec3_norm(m[1]);
+  s[2] = glm_vec3_norm(m[2]);

  glm_vec4_scale(r[0], 1.0f/s[0], r[0]);
  glm_vec4_scale(r[1], 1.0f/s[1], r[1]);
@@ -515,12 +462,12 @@ glm_decompose_rs(mat4 m, mat4 r, vec3 s) {
  /* Note from Apple Open Source (asume that the matrix is orthonormal):
     check for a coordinate system flip.  If the determinant
     is -1, then negate the matrix and the scaling factors. */
-  glm_vec_cross(m[0], m[1], v);
-  if (glm_vec_dot(v, m[2]) < 0.0f) {
-    glm_vec4_flipsign(r[0]);
-    glm_vec4_flipsign(r[1]);
-    glm_vec4_flipsign(r[2]);
-    glm_vec_flipsign(s);
+  glm_vec3_cross(m[0], m[1], v);
+  if (glm_vec3_dot(v, m[2]) < 0.0f) {
+    glm_vec4_negate(r[0]);
+    glm_vec4_negate(r[1]);
+    glm_vec4_negate(r[2]);
+    glm_vec3_negate(s);
  }
 }

--- a/include/cglm/box.h
+++ b/include/cglm/box.h
@@ -11,6 +11,7 @@
 #include "common.h"
 #include "vec3.h"
 #include "vec4.h"
+#include "util.h"

 /*!
 * @brief apply transform to Axis-Aligned Bounding Box
@@ -22,35 +23,31 @@
 CGLM_INLINE
 void
 glm_aabb_transform(vec3 box[2], mat4 m, vec3 dest[2]) {
-  vec3 v[2], xa, xb, ya, yb, za, zb, tmp;
+  vec3 v[2], xa, xb, ya, yb, za, zb;

-  glm_vec_scale(m[0], box[0][0], xa);
-  glm_vec_scale(m[0], box[1][0], xb);
+  glm_vec3_scale(m[0], box[0][0], xa);
+  glm_vec3_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_vec3_scale(m[1], box[0][1], ya);
+  glm_vec3_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);
+  glm_vec3_scale(m[2], box[0][2], za);
+  glm_vec3_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]);
+  /* translation + min(xa, xb) + min(ya, yb) + min(za, zb) */
+  glm_vec3(m[3], v[0]);
+  glm_vec3_minadd(xa, xb, v[0]);
+  glm_vec3_minadd(ya, yb, v[0]);
+  glm_vec3_minadd(za, zb, 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]);
+  /* translation + max(xa, xb) + max(ya, yb) + max(za, zb) */
+  glm_vec3(m[3], v[1]);
+  glm_vec3_maxadd(xa, xb, v[1]);
+  glm_vec3_maxadd(ya, yb, v[1]);
+  glm_vec3_maxadd(za, zb, v[1]);

-  glm_vec_copy(v[0], dest[0]);
-  glm_vec_copy(v[1], dest[1]);
+  glm_vec3_copy(v[0], dest[0]);
+  glm_vec3_copy(v[1], dest[1]);
 }

 /*!
@@ -161,8 +158,8 @@ glm_aabb_frustum(vec3 box[2], vec4 planes[6]) {
 CGLM_INLINE
 void
 glm_aabb_invalidate(vec3 box[2]) {
-  glm_vec_broadcast(FLT_MAX,  box[0]);
-  glm_vec_broadcast(-FLT_MAX, box[1]);
+  glm_vec3_broadcast(FLT_MAX,  box[0]);
+  glm_vec3_broadcast(-FLT_MAX, box[1]);
 }

 /*!
@@ -173,8 +170,8 @@ glm_aabb_invalidate(vec3 box[2]) {
 CGLM_INLINE
 bool
 glm_aabb_isvalid(vec3 box[2]) {
-  return glm_vec_max(box[0]) != FLT_MAX
-         && glm_vec_min(box[1]) != -FLT_MAX;
+  return glm_vec3_max(box[0]) != FLT_MAX
+         && glm_vec3_min(box[1]) != -FLT_MAX;
 }

 /*!
@@ -185,7 +182,7 @@ glm_aabb_isvalid(vec3 box[2]) {
 CGLM_INLINE
 float
 glm_aabb_size(vec3 box[2]) {
-  return glm_vec_distance(box[0], box[1]);
+  return glm_vec3_distance(box[0], box[1]);
 }

 /*!
@@ -199,4 +196,84 @@ glm_aabb_radius(vec3 box[2]) {
  return glm_aabb_size(box) * 0.5f;
 }

+/*!
+ * @brief computes center point of AABB
+ *
+ * @param[in]   box  bounding box
+ * @param[out]  dest center of bounding box
+ */
+CGLM_INLINE
+void
+glm_aabb_center(vec3 box[2], vec3 dest) {
+  glm_vec3_center(box[0], box[1], dest);
+}
+
+/*!
+ * @brief check if two AABB intersects
+ *
+ * @param[in]   box    bounding box
+ * @param[in]   other  other bounding box
+ */
+CGLM_INLINE
+bool
+glm_aabb_aabb(vec3 box[2], vec3 other[2]) {
+  return (box[0][0] <= other[1][0] && box[1][0] >= other[0][0])
+      && (box[0][1] <= other[1][1] && box[1][1] >= other[0][1])
+      && (box[0][2] <= other[1][2] && box[1][2] >= other[0][2]);
+}
+
+/*!
+ * @brief check if AABB intersects with sphere
+ *
+ * https://github.com/erich666/GraphicsGems/blob/master/gems/BoxSphere.c
+ * Solid Box - Solid Sphere test.
+ *
+ * @param[in]   box    solid bounding box
+ * @param[in]   s      solid sphere
+ */
+CGLM_INLINE
+bool
+glm_aabb_sphere(vec3 box[2], vec4 s) {
+  float dmin;
+  int   a, b, c;
+
+  a = s[0] >= box[0][0];
+  b = s[1] >= box[0][1];
+  c = s[2] >= box[0][2];
+
+  dmin  = glm_pow2(s[0] - box[a][0])
+        + glm_pow2(s[1] - box[b][1])
+        + glm_pow2(s[2] - box[c][2]);
+
+  return dmin <= glm_pow2(s[3]);
+}
+
+/*!
+ * @brief check if point is inside of AABB
+ *
+ * @param[in]   box    bounding box
+ * @param[in]   point  point
+ */
+CGLM_INLINE
+bool
+glm_aabb_point(vec3 box[2], vec3 point) {
+  return (point[0] >= box[0][0] && point[0] <= box[1][0])
+      && (point[1] >= box[0][1] && point[1] <= box[1][1])
+      && (point[2] >= box[0][2] && point[2] <= box[1][2]);
+}
+
+/*!
+ * @brief check if AABB contains other AABB
+ *
+ * @param[in]   box    bounding box
+ * @param[in]   other  other bounding box
+ */
+CGLM_INLINE
+bool
+glm_aabb_contains(vec3 box[2], vec3 other[2]) {
+  return (box[0][0] <= other[0][0] && box[1][0] >= other[1][0])
+      && (box[0][1] <= other[0][1] && box[1][1] >= other[1][1])
+      && (box[0][2] <= other[0][2] && box[1][2] >= other[1][2]);
+}
+
 #endif /* cglm_box_h */
--- a/include/cglm/call.h
+++ b/include/cglm/call.h
@@ -25,6 +25,8 @@ extern "C" {
 #include "call/box.h"
 #include "call/io.h"
 #include "call/project.h"
+#include "call/sphere.h"
+#include "call/ease.h"

 #ifdef __cplusplus
 }
--- a/include/cglm/call/affine.h
+++ b/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);
@@ -85,6 +97,20 @@ CGLM_EXPORT
 void
 glmc_decompose(mat4 m, vec4 t, mat4 r, vec3 s);

+/* affine-mat */
+
+CGLM_EXPORT
+void
+glmc_mul(mat4 m1, mat4 m2, mat4 dest);
+
+CGLM_EXPORT
+void
+glmc_mul_rot(mat4 m1, mat4 m2, mat4 dest);
+
+CGLM_EXPORT
+void
+glmc_inv_tr(mat4 mat);
+
 #ifdef __cplusplus
 }
 #endif
--- a/include/cglm/call/box.h
+++ b/include/cglm/call/box.h
@@ -32,6 +32,46 @@ glmc_aabb_crop_until(vec3 box[2],
                     vec3 clampBox[2],
                     vec3 dest[2]);

+CGLM_EXPORT
+bool
+glmc_aabb_frustum(vec3 box[2], vec4 planes[6]);
+
+CGLM_EXPORT
+void
+glmc_aabb_invalidate(vec3 box[2]);
+
+CGLM_EXPORT
+bool
+glmc_aabb_isvalid(vec3 box[2]);
+
+CGLM_EXPORT
+float
+glmc_aabb_size(vec3 box[2]);
+
+CGLM_EXPORT
+float
+glmc_aabb_radius(vec3 box[2]);
+
+CGLM_EXPORT
+void
+glmc_aabb_center(vec3 box[2], vec3 dest);
+
+CGLM_EXPORT
+bool
+glmc_aabb_aabb(vec3 box[2], vec3 other[2]);
+
+CGLM_EXPORT
+bool
+glmc_aabb_point(vec3 box[2], vec3 point);
+
+CGLM_EXPORT
+bool
+glmc_aabb_contains(vec3 box[2], vec3 other[2]);
+
+CGLM_EXPORT
+bool
+glmc_aabb_sphere(vec3 box[2], vec4 s);
+
 #ifdef __cplusplus
 }
 #endif
--- a/include/cglm/call/cam.h
+++ b/include/cglm/call/cam.h
@@ -33,6 +33,26 @@ glmc_ortho(float left,
           float farVal,
           mat4 dest);

+CGLM_EXPORT
+void
+glmc_ortho_aabb(vec3 box[2], mat4 dest);
+
+CGLM_EXPORT
+void
+glmc_ortho_aabb_p(vec3 box[2], float padding, mat4 dest);
+
+CGLM_EXPORT
+void
+glmc_ortho_aabb_pz(vec3 box[2], float padding, mat4 dest);
+
+CGLM_EXPORT
+void
+glmc_ortho_default(float aspect, mat4 dest);
+
+CGLM_EXPORT
+void
+glmc_ortho_default_s(float aspect, float size, mat4 dest);
+
 CGLM_EXPORT
 void
 glmc_perspective(float fovy,
@@ -41,6 +61,18 @@ glmc_perspective(float fovy,
                 float farVal,
                 mat4 dest);

+CGLM_EXPORT
+void
+glmc_persp_move_far(mat4 proj, float deltaFar);
+
+CGLM_EXPORT
+void
+glmc_perspective_default(float aspect, mat4 dest);
+
+CGLM_EXPORT
+void
+glmc_perspective_resize(float aspect, mat4 proj);
+
 CGLM_EXPORT
 void
 glmc_lookat(vec3 eye, vec3 center, vec3 up, mat4 dest);
@@ -53,6 +85,58 @@ CGLM_EXPORT
 void
 glmc_look_anyup(vec3 eye, vec3 dir, mat4 dest);

+CGLM_EXPORT
+void
+glmc_persp_decomp(mat4 proj,
+                  float * __restrict nearVal,
+                  float * __restrict farVal,
+                  float * __restrict top,
+                  float * __restrict bottom,
+                  float * __restrict left,
+                  float * __restrict right);
+
+CGLM_EXPORT
+void
+glmc_persp_decompv(mat4 proj, float dest[6]);
+
+CGLM_EXPORT
+void
+glmc_persp_decomp_x(mat4 proj,
+                    float * __restrict left,
+                    float * __restrict right);
+
+CGLM_EXPORT
+void
+glmc_persp_decomp_y(mat4 proj,
+                    float * __restrict top,
+                    float * __restrict bottom);
+
+CGLM_EXPORT
+void
+glmc_persp_decomp_z(mat4 proj,
+                    float * __restrict nearVal,
+                    float * __restrict farVal);
+
+CGLM_EXPORT
+void
+glmc_persp_decomp_far(mat4 proj, float * __restrict farVal);
+
+CGLM_EXPORT
+void
+glmc_persp_decomp_near(mat4 proj, float * __restrict nearVal);
+
+CGLM_EXPORT
+float
+glmc_persp_fovy(mat4 proj);
+
+CGLM_EXPORT
+float
+glmc_persp_aspect(mat4 proj);
+
+CGLM_EXPORT
+void
+glmc_persp_sizes(mat4 proj, float fovy, vec4 dest);
+
 #ifdef __cplusplus
 }
 #endif
--- a/include/cglm/call/ease.h
+++ b/include/cglm/call/ease.h
@@ -0,0 +1,140 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), http://opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+#ifndef cglmc_ease_h
+#define cglmc_ease_h
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "../cglm.h"
+
+CGLM_EXPORT
+float
+glmc_ease_linear(float t);
+
+CGLM_EXPORT
+float
+glmc_ease_sine_in(float t);
+
+CGLM_EXPORT
+float
+glmc_ease_sine_out(float t);
+
+CGLM_EXPORT
+float
+glmc_ease_sine_inout(float t);
+
+CGLM_EXPORT
+float
+glmc_ease_quad_in(float t);
+
+CGLM_EXPORT
+float
+glmc_ease_quad_out(float t);
+
+CGLM_EXPORT
+float
+glmc_ease_quad_inout(float t);
+
+CGLM_EXPORT
+float
+glmc_ease_cubic_in(float t);
+
+CGLM_EXPORT
+float
+glmc_ease_cubic_out(float t);
+
+CGLM_EXPORT
+float
+glmc_ease_cubic_inout(float t);
+
+CGLM_EXPORT
+float
+glmc_ease_quart_in(float t);
+
+CGLM_EXPORT
+float
+glmc_ease_quart_out(float t);
+
+CGLM_EXPORT
+float
+glmc_ease_quart_inout(float t);
+
+CGLM_EXPORT
+float
+glmc_ease_quint_in(float t);
+
+CGLM_EXPORT
+float
+glmc_ease_quint_out(float t);
+
+CGLM_EXPORT
+float
+glmc_ease_quint_inout(float t);
+
+CGLM_EXPORT
+float
+glmc_ease_exp_in(float t);
+
+CGLM_EXPORT
+float
+glmc_ease_exp_out(float t);
+
+CGLM_EXPORT
+float
+glmc_ease_exp_inout(float t);
+
+CGLM_EXPORT
+float
+glmc_ease_circ_in(float t);
+
+CGLM_EXPORT
+float
+glmc_ease_circ_out(float t);
+
+CGLM_EXPORT
+float
+glmc_ease_circ_inout(float t);
+
+CGLM_EXPORT
+float
+glmc_ease_back_in(float t);
+
+CGLM_EXPORT
+float
+glmc_ease_back_out(float t);
+
+CGLM_EXPORT
+float
+glmc_ease_back_inout(float t);
+
+CGLM_EXPORT
+float
+glmc_ease_elast_in(float t);
+
+CGLM_EXPORT
+float
+glmc_ease_elast_out(float t);
+
+CGLM_EXPORT
+float
+glmc_ease_elast_inout(float t);
+
+CGLM_EXPORT
+float
+glmc_ease_bounce_out(float t);
+
+CGLM_EXPORT
+float
+glmc_ease_bounce_in(float t);
+
+CGLM_EXPORT
+float
+glmc_ease_bounce_inout(float t);
+
+#endif /* cglmc_ease_h */
--- a/include/cglm/call/mat3.h
+++ b/include/cglm/call/mat3.h
@@ -24,6 +24,10 @@ CGLM_EXPORT
 void
 glmc_mat3_identity(mat3 mat);

+CGLM_EXPORT
+void
+glmc_mat3_identity_array(mat3 * __restrict mat, size_t count);
+
 CGLM_EXPORT
 void
 glmc_mat3_mul(mat3 m1, mat3 m2, mat3 dest);
@@ -40,6 +44,14 @@ CGLM_EXPORT
 void
 glmc_mat3_mulv(mat3 m, vec3 v, vec3 dest);

+CGLM_EXPORT
+float
+glmc_mat3_trace(mat3 m);
+
+CGLM_EXPORT
+void
+glmc_mat3_quat(mat3 m, versor dest);
+
 CGLM_EXPORT
 void
 glmc_mat3_scale(mat3 m, float s);
--- a/include/cglm/call/mat4.h
+++ b/include/cglm/call/mat4.h
@@ -29,6 +29,10 @@ CGLM_EXPORT
 void
 glmc_mat4_identity(mat4 mat);

+CGLM_EXPORT
+void
+glmc_mat4_identity_array(mat4 * __restrict mat, size_t count);
+
 CGLM_EXPORT
 void
 glmc_mat4_pick3(mat4 mat, mat3 dest);
@@ -53,6 +57,18 @@ CGLM_EXPORT
 void
 glmc_mat4_mulv(mat4 m, vec4 v, vec4 dest);

+CGLM_EXPORT
+void
+glmc_mat4_mulv3(mat4 m, vec3 v, float last, vec3 dest);
+
+CGLM_EXPORT
+float
+glmc_mat4_trace(mat4 m);
+
+CGLM_EXPORT
+float
+glmc_mat4_trace3(mat4 m);
+
 CGLM_EXPORT
 void
 glmc_mat4_quat(mat4 m, versor dest);
@@ -85,6 +101,10 @@ CGLM_EXPORT
 void
 glmc_mat4_inv_precise(mat4 mat, mat4 dest);

+CGLM_EXPORT
+void
+glmc_mat4_inv_fast(mat4 mat, mat4 dest);
+
 CGLM_EXPORT
 void
 glmc_mat4_swap_col(mat4 mat, int col1, int col2);
--- a/include/cglm/call/quat.h
+++ b/include/cglm/call/quat.h
@@ -17,6 +17,10 @@ CGLM_EXPORT
 void
 glmc_quat_identity(versor q);

+CGLM_EXPORT
+void
+glmc_quat_identity_array(versor * __restrict q, size_t count);
+
 CGLM_EXPORT
 void
 glmc_quat_init(versor q, float x, float y, float z, float w);
@@ -137,6 +141,14 @@ 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
--- a/include/cglm/call/sphere.h
+++ b/include/cglm/call/sphere.h
@@ -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
+ */
+
+#ifndef cglmc_sphere_h
+#define cglmc_sphere_h
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "../cglm.h"
+
+CGLM_EXPORT
+float
+glmc_sphere_radii(vec4 s);
+
+CGLM_EXPORT
+void
+glmc_sphere_transform(vec4 s, mat4 m, vec4 dest);
+
+CGLM_EXPORT
+void
+glmc_sphere_merge(vec4 s1, vec4 s2, vec4 dest);
+
+CGLM_EXPORT
+bool
+glmc_sphere_sphere(vec4 s1, vec4 s2);
+
+CGLM_EXPORT
+bool
+glmc_sphere_point(vec4 s, vec3 point);
+
+#endif /* cglmc_sphere_h */
--- a/include/cglm/call/vec3.h
+++ b/include/cglm/call/vec3.h
@@ -14,7 +14,11 @@ extern "C" {
 #include "../cglm.h"

 /* DEPRECATED! use _copy, _ucopy versions */
-#define glmc_vec_dup(v, dest) glmc_vec_copy(v, dest)
+#define glmc_vec_dup(v, dest)          glmc_vec3_copy(v, dest)
+#define glmc_vec3_flipsign(v)          glmc_vec3_negate(v)
+#define glmc_vec3_flipsign_to(v, dest) glmc_vec3_negate_to(v, dest)
+#define glmc_vec3_inv(v)               glmc_vec3_negate(v)
+#define glmc_vec3_inv_to(v, dest)      glmc_vec3_negate_to(v, dest)

 CGLM_EXPORT
 void
@@ -22,165 +26,221 @@ glmc_vec3(vec4 v4, vec3 dest);

 CGLM_EXPORT
 void
-glmc_vec_copy(vec3 a, vec3 dest);
+glmc_vec3_copy(vec3 a, vec3 dest);
+
+CGLM_EXPORT
+void
+glmc_vec3_zero(vec3 v);
+
+CGLM_EXPORT
+void
+glmc_vec3_one(vec3 v);

 CGLM_EXPORT
 float
-glmc_vec_dot(vec3 a, vec3 b);
+glmc_vec3_dot(vec3 a, vec3 b);

 CGLM_EXPORT
 void
-glmc_vec_cross(vec3 a, vec3 b, vec3 d);
+glmc_vec3_cross(vec3 a, vec3 b, vec3 dest);
+
+CGLM_EXPORT
+void
+glmc_vec3_crossn(vec3 a, vec3 b, vec3 dest);

 CGLM_EXPORT
 float
-glmc_vec_norm(vec3 vec);
+glmc_vec3_norm(vec3 v);

 CGLM_EXPORT
 float
-glmc_vec_norm2(vec3 vec);
+glmc_vec3_norm2(vec3 v);

 CGLM_EXPORT
 void
-glmc_vec_normalize_to(vec3 vec, vec3 dest);
+glmc_vec3_normalize_to(vec3 v, vec3 dest);

 CGLM_EXPORT
 void
-glmc_vec_normalize(vec3 v);
+glmc_vec3_normalize(vec3 v);

 CGLM_EXPORT
 void
-glmc_vec_add(vec3 v1, vec3 v2, vec3 dest);
+glmc_vec3_add(vec3 a, vec3 b, vec3 dest);

 CGLM_EXPORT
 void
-glmc_vec_sub(vec3 v1, vec3 v2, vec3 dest);
+glmc_vec3_adds(vec3 v, float s, vec3 dest);

 CGLM_EXPORT
 void
-glmc_vec_scale(vec3 v, float s, vec3 dest);
+glmc_vec3_sub(vec3 a, vec3 b, vec3 dest);

 CGLM_EXPORT
 void
-glmc_vec_scale_as(vec3 v, float s, vec3 dest);
+glmc_vec3_subs(vec3 v, float s, vec3 dest);

 CGLM_EXPORT
 void
-glmc_vec_flipsign(vec3 v);
+glmc_vec3_mul(vec3 a, vec3 b, vec3 d);

 CGLM_EXPORT
 void
-glmc_vec_flipsign_to(vec3 v, vec3 dest);
+glmc_vec3_scale(vec3 v, float s, vec3 dest);

 CGLM_EXPORT
 void
-glmc_vec_inv(vec3 v);
+glmc_vec3_scale_as(vec3 v, float s, vec3 dest);

 CGLM_EXPORT
 void
-glmc_vec_inv_to(vec3 v, vec3 dest);
-  
-CGLM_EXPORT
-float
-glmc_vec_angle(vec3 v1, vec3 v2);
+glmc_vec3_div(vec3 a, vec3 b, vec3 dest);

 CGLM_EXPORT
 void
-glmc_vec_rotate(vec3 v, float angle, vec3 axis);
+glmc_vec3_divs(vec3 a, float s, vec3 dest);

 CGLM_EXPORT
 void
-glmc_vec_rotate_m4(mat4 m, vec3 v, vec3 dest);
+glmc_vec3_addadd(vec3 a, vec3 b, vec3 dest);

 CGLM_EXPORT
 void
-glmc_vec_proj(vec3 a, vec3 b, vec3 dest);
+glmc_vec3_subadd(vec3 a, vec3 b, vec3 dest);

 CGLM_EXPORT
 void
-glmc_vec_center(vec3 v1, vec3 v2, vec3 dest);
+glmc_vec3_muladd(vec3 a, vec3 b, vec3 dest);
+
+CGLM_EXPORT
+void
+glmc_vec3_muladds(vec3 a, float s, vec3 dest);
+
+CGLM_EXPORT
+void
+glmc_vec3_maxadd(vec3 a, vec3 b, vec3 dest);
+
+CGLM_EXPORT
+void
+glmc_vec3_minadd(vec3 a, vec3 b, vec3 dest);
+
+CGLM_EXPORT
+void
+glmc_vec3_negate(vec3 v);
+
+CGLM_EXPORT
+void
+glmc_vec3_negate_to(vec3 v, vec3 dest);

 CGLM_EXPORT
 float
-glmc_vec_distance(vec3 v1, vec3 v2);
+glmc_vec3_angle(vec3 a, vec3 b);

 CGLM_EXPORT
 void
-glmc_vec_maxv(vec3 v1, vec3 v2, vec3 dest);
+glmc_vec3_rotate(vec3 v, float angle, vec3 axis);

 CGLM_EXPORT
 void
-glmc_vec_minv(vec3 v1, vec3 v2, vec3 dest);
+glmc_vec3_rotate_m4(mat4 m, vec3 v, vec3 dest);

 CGLM_EXPORT
 void
-glmc_vec_clamp(vec3 v, float minVal, float maxVal);
+glmc_vec3_rotate_m3(mat3 m, vec3 v, vec3 dest);

 CGLM_EXPORT
 void
-glmc_vec_ortho(vec3 v, vec3 dest);
+glmc_vec3_proj(vec3 a, vec3 b, vec3 dest);

 CGLM_EXPORT
 void
-glmc_vec_lerp(vec3 from, vec3 to, float t, vec3 dest);
+glmc_vec3_center(vec3 a, vec3 b, vec3 dest);
+
+CGLM_EXPORT
+float
+glmc_vec3_distance2(vec3 a, vec3 b);
+
+CGLM_EXPORT
+float
+glmc_vec3_distance(vec3 a, vec3 b);
+
+CGLM_EXPORT
+void
+glmc_vec3_maxv(vec3 a, vec3 b, vec3 dest);
+
+CGLM_EXPORT
+void
+glmc_vec3_minv(vec3 a, vec3 b, vec3 dest);
+
+CGLM_EXPORT
+void
+glmc_vec3_clamp(vec3 v, float minVal, float maxVal);
+
+CGLM_EXPORT
+void
+glmc_vec3_ortho(vec3 v, vec3 dest);
+
+CGLM_EXPORT
+void
+glmc_vec3_lerp(vec3 from, vec3 to, float t, vec3 dest);

 /* ext */

 CGLM_EXPORT
 void
-glmc_vec_mulv(vec3 a, vec3 b, vec3 d);
+glmc_vec3_mulv(vec3 a, vec3 b, vec3 d);

 CGLM_EXPORT
 void
-glmc_vec_broadcast(float val, vec3 d);
+glmc_vec3_broadcast(float val, vec3 d);

 CGLM_EXPORT
 bool
-glmc_vec_eq(vec3 v, float val);
+glmc_vec3_eq(vec3 v, float val);

 CGLM_EXPORT
 bool
-glmc_vec_eq_eps(vec3 v, float val);
+glmc_vec3_eq_eps(vec3 v, float val);

 CGLM_EXPORT
 bool
-glmc_vec_eq_all(vec3 v);
+glmc_vec3_eq_all(vec3 v);

 CGLM_EXPORT
 bool
-glmc_vec_eqv(vec3 v1, vec3 v2);
+glmc_vec3_eqv(vec3 a, vec3 b);

 CGLM_EXPORT
 bool
-glmc_vec_eqv_eps(vec3 v1, vec3 v2);
+glmc_vec3_eqv_eps(vec3 a, vec3 b);

 CGLM_EXPORT
 float
-glmc_vec_max(vec3 v);
+glmc_vec3_max(vec3 v);

 CGLM_EXPORT
 float
-glmc_vec_min(vec3 v);
+glmc_vec3_min(vec3 v);

 CGLM_EXPORT
 bool
-glmc_vec_isnan(vec3 v);
+glmc_vec3_isnan(vec3 v);

 CGLM_EXPORT
 bool
-glmc_vec_isinf(vec3 v);
+glmc_vec3_isinf(vec3 v);

 CGLM_EXPORT
 bool
-glmc_vec_isvalid(vec3 v);
+glmc_vec3_isvalid(vec3 v);

 CGLM_EXPORT
 void
-glmc_vec_sign(vec3 v, vec3 dest);
+glmc_vec3_sign(vec3 v, vec3 dest);

 CGLM_EXPORT
 void
-glmc_vec_sqrt(vec3 v, vec3 dest);
+glmc_vec3_sqrt(vec3 v, vec3 dest);

 #ifdef __cplusplus
 }
--- a/include/cglm/call/vec4.h
+++ b/include/cglm/call/vec4.h
@@ -14,8 +14,12 @@ extern "C" {
 #include "../cglm.h"

 /* DEPRECATED! use _copy, _ucopy versions */
-#define glmc_vec4_dup3(v, dest) glmc_vec4_copy3(v, dest)
-#define glmc_vec4_dup(v, dest)  glmc_vec4_copy(v, dest)
+#define glmc_vec4_dup3(v, dest)         glmc_vec4_copy3(v, dest)
+#define glmc_vec4_dup(v, dest)          glmc_vec4_copy(v, dest)
+#define glmc_vec4_flipsign(v)           glmc_vec4_negate(v)
+#define glmc_vec4_flipsign_to(v, dest)  glmc_vec4_negate_to(v, dest)
+#define glmc_vec4_inv(v)                glmc_vec4_negate(v)
+#define glmc_vec4_inv_to(v, dest)       glmc_vec4_negate_to(v, dest)

 CGLM_EXPORT
 void
@@ -23,27 +27,39 @@ glmc_vec4(vec3 v3, float last, vec4 dest);

 CGLM_EXPORT
 void
-glmc_vec4_copy3(vec4 a, vec3 dest);
+glmc_vec4_zero(vec4 v);
+
+CGLM_EXPORT
+void
+glmc_vec4_one(vec4 v);
+
+CGLM_EXPORT
+void
+glmc_vec4_copy3(vec4 v, vec3 dest);

 CGLM_EXPORT
 void
 glmc_vec4_copy(vec4 v, vec4 dest);

+CGLM_EXPORT
+void
+glmc_vec4_ucopy(vec4 v, vec4 dest);
+
 CGLM_EXPORT
 float
 glmc_vec4_dot(vec4 a, vec4 b);

 CGLM_EXPORT
 float
-glmc_vec4_norm(vec4 vec);
+glmc_vec4_norm(vec4 v);

 CGLM_EXPORT
 float
-glmc_vec4_norm2(vec4 vec);
+glmc_vec4_norm2(vec4 v);

 CGLM_EXPORT
 void
-glmc_vec4_normalize_to(vec4 vec, vec4 dest);
+glmc_vec4_normalize_to(vec4 v, vec4 dest);

 CGLM_EXPORT
 void
@@ -51,11 +67,23 @@ 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
@@ -67,31 +95,55 @@ glmc_vec4_scale_as(vec3 v, float s, vec3 dest);

 CGLM_EXPORT
 void
-glmc_vec4_flipsign(vec4 v);
+glmc_vec4_div(vec4 a, vec4 b, vec4 dest);

 CGLM_EXPORT
 void
-glmc_vec4_flipsign_to(vec4 v, vec4 dest);
+glmc_vec4_divs(vec4 v, float s, vec4 dest);

 CGLM_EXPORT
 void
-glmc_vec4_inv(vec4 v);
+glmc_vec4_addadd(vec4 a, vec4 b, vec4 dest);

 CGLM_EXPORT
 void
-glmc_vec4_inv_to(vec4 v, vec4 dest);
+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_maxadd(vec4 a, vec4 b, vec4 dest);
+
+CGLM_EXPORT
+void
+glmc_vec4_minadd(vec4 a, vec4 b, vec4 dest);
+
+CGLM_EXPORT
+void
+glmc_vec4_negate(vec4 v);
+
+CGLM_EXPORT
+void
+glmc_vec4_negate_to(vec4 v, vec4 dest);

 CGLM_EXPORT
 float
-glmc_vec4_distance(vec4 v1, vec4 v2);
+glmc_vec4_distance(vec4 a, vec4 b);

 CGLM_EXPORT
 void
-glmc_vec4_maxv(vec4 v1, vec4 v2, vec4 dest);
+glmc_vec4_maxv(vec4 a, vec4 b, vec4 dest);

 CGLM_EXPORT
 void
-glmc_vec4_minv(vec4 v1, vec4 v2, vec4 dest);
+glmc_vec4_minv(vec4 a, vec4 b, vec4 dest);

 CGLM_EXPORT
 void
@@ -125,11 +177,11 @@ glmc_vec4_eq_all(vec4 v);

 CGLM_EXPORT
 bool
-glmc_vec4_eqv(vec4 v1, vec4 v2);
+glmc_vec4_eqv(vec4 a, vec4 b);

 CGLM_EXPORT
 bool
-glmc_vec4_eqv_eps(vec4 v1, vec4 v2);
+glmc_vec4_eqv_eps(vec4 a, vec4 b);

 CGLM_EXPORT
 float
--- a/include/cglm/cam.h
+++ b/include/cglm/cam.h
@@ -198,26 +198,15 @@ glm_ortho_aabb_pz(vec3 box[2], float padding, mat4 dest) {
 */
 CGLM_INLINE
 void
-glm_ortho_default(float aspect,
-                  mat4  dest) {
+glm_ortho_default(float aspect, mat4 dest) {
  if (aspect >= 1.0f) {
-    glm_ortho(-1.0f * aspect,
-               1.0f * aspect,
-              -1.0f,
-               1.0f,
-              -100.0f,
-               100.0f,
-               dest);
-	  return;
+    glm_ortho(-aspect, aspect, -1.0f, 1.0f, -100.0f, 100.0f, dest);
+    return;
  }

-  glm_ortho(-1.0f,
-             1.0f,
-            -1.0f / aspect,
-             1.0f / aspect,
-            -100.0f,
-             100.0f,
-             dest);
+  aspect = 1.0f / aspect;
+
+  glm_ortho(-1.0f, 1.0f, -aspect, aspect, -100.0f, 100.0f, dest);
 }

 /*!
@@ -240,7 +229,7 @@ glm_ortho_default_s(float aspect,
              -size - 100.0f,
               size + 100.0f,
               dest);
-	  return;
+    return;
  }

  glm_ortho(-size,
@@ -282,6 +271,30 @@ glm_perspective(float fovy,
  dest[3][2] = 2.0f * nearVal * farVal * fn;
 }

+/*!
+ * @brief extend perspective projection matrix's far distance
+ *
+ * this function does not guarantee far >= near, be aware of that!
+ *
+ * @param[in, out] proj      projection matrix to extend
+ * @param[in]      deltaFar  distance from existing far (negative to shink)
+ */
+CGLM_INLINE
+void
+glm_persp_move_far(mat4 proj, float deltaFar) {
+  float fn, farVal, nearVal, p22, p32;
+
+  p22        = proj[2][2];
+  p32        = proj[3][2];
+
+  nearVal    = p32 / (p22 - 1.0f);
+  farVal     = p32 / (p22 + 1.0f) + deltaFar;
+  fn         = 1.0f / (nearVal - farVal);
+
+  proj[2][2] = (nearVal + farVal) * fn;
+  proj[3][2] = 2.0f * nearVal * farVal * fn;
+}
+
 /*!
 * @brief set up perspective projection matrix with default near/far
 *        and angle values
@@ -291,13 +304,8 @@ glm_perspective(float fovy,
 */
 CGLM_INLINE
 void
-glm_perspective_default(float aspect,
-                        mat4  dest) {
-  glm_perspective((float)CGLM_PI_4,
-                  aspect,
-                  0.01f,
-                  100.0f,
-                  dest);
+glm_perspective_default(float aspect, mat4 dest) {
+  glm_perspective(GLM_PI_4f, aspect, 0.01f, 100.0f, dest);
 }

 /*!
@@ -310,8 +318,7 @@ glm_perspective_default(float aspect,
 */
 CGLM_INLINE
 void
-glm_perspective_resize(float aspect,
-                       mat4  proj) {
+glm_perspective_resize(float aspect, mat4 proj) {
  if (proj[0][0] == 0.0f)
    return;

@@ -321,6 +328,9 @@ glm_perspective_resize(float aspect,
 /*!
 * @brief set up view matrix
 *
+ * NOTE: The UP vector must not be parallel to the line of sight from
+ *       the eye point to the reference point
+ *
 * @param[in]  eye    eye vector
 * @param[in]  center center vector
 * @param[in]  up     up vector
@@ -332,15 +342,13 @@ glm_lookat(vec3 eye,
           vec3 center,
           vec3 up,
           mat4 dest) {
-  vec3 f, u, s;
+  CGLM_ALIGN(8) vec3 f, u, s;

-  glm_vec_sub(center, eye, f);
-  glm_vec_normalize(f);
+  glm_vec3_sub(center, eye, f);
+  glm_vec3_normalize(f);

-  glm_vec_cross(f, up, s);
-  glm_vec_normalize(s);
-
-  glm_vec_cross(s, f, u);
+  glm_vec3_crossn(f, up, s);
+  glm_vec3_cross(s, f, u);

  dest[0][0] = s[0];
  dest[0][1] = u[0];
@@ -351,9 +359,9 @@ glm_lookat(vec3 eye,
  dest[2][0] = s[2];
  dest[2][1] = u[2];
  dest[2][2] =-f[2];
-  dest[3][0] =-glm_vec_dot(s, eye);
-  dest[3][1] =-glm_vec_dot(u, eye);
-  dest[3][2] = glm_vec_dot(f, eye);
+  dest[3][0] =-glm_vec3_dot(s, eye);
+  dest[3][1] =-glm_vec3_dot(u, eye);
+  dest[3][2] = glm_vec3_dot(f, eye);
  dest[0][3] = dest[1][3] = dest[2][3] = 0.0f;
  dest[3][3] = 1.0f;
 }
@@ -364,6 +372,9 @@ glm_lookat(vec3 eye,
 * convenient wrapper for lookat: if you only have direction not target self
 * then this might be useful. Because you need to get target from direction.
 *
+ * NOTE: The UP vector must not be parallel to the line of sight from
+ *       the eye point to the reference point
+ *
 * @param[in]  eye    eye vector
 * @param[in]  dir    direction vector
 * @param[in]  up     up vector
@@ -372,8 +383,8 @@ glm_lookat(vec3 eye,
 CGLM_INLINE
 void
 glm_look(vec3 eye, vec3 dir, vec3 up, mat4 dest) {
-  vec3 target;
-  glm_vec_add(eye, dir, target);
+  CGLM_ALIGN(8) vec3 target;
+  glm_vec3_add(eye, dir, target);
  glm_lookat(eye, target, up, dest);
 }

@@ -390,8 +401,8 @@ glm_look(vec3 eye, vec3 dir, vec3 up, mat4 dest) {
 CGLM_INLINE
 void
 glm_look_anyup(vec3 eye, vec3 dir, mat4 dest) {
-  vec3 up;
-  glm_vec_ortho(dir, up);
+  CGLM_ALIGN(8) vec3 up;
+  glm_vec3_ortho(dir, up);
  glm_look(eye, dir, up, dest);
 }

--- a/include/cglm/cglm.h
+++ b/include/cglm/cglm.h
@@ -24,5 +24,7 @@
 #include "util.h"
 #include "io.h"
 #include "project.h"
+#include "sphere.h"
+#include "ease.h"

 #endif /* cglm_h */
--- a/include/cglm/common.h
+++ b/include/cglm/common.h
@@ -14,7 +14,7 @@
 #include <math.h>
 #include <float.h>

-#if defined(_WIN32)
+#if defined(_MSC_VER)
 #  ifdef CGLM_DLL
 #    define CGLM_EXPORT __declspec(dllexport)
 #  else
--- a/include/cglm/ease.h
+++ b/include/cglm/ease.h
@@ -0,0 +1,317 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), http://opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+#ifndef cglm_ease_h
+#define cglm_ease_h
+
+#include "common.h"
+
+CGLM_INLINE
+float
+glm_ease_linear(float t) {
+  return t;
+}
+
+CGLM_INLINE
+float
+glm_ease_sine_in(float t) {
+  return sinf((t - 1.0f) * GLM_PI_2f) + 1.0f;
+}
+
+CGLM_INLINE
+float
+glm_ease_sine_out(float t) {
+  return sinf(t * GLM_PI_2f);
+}
+
+CGLM_INLINE
+float
+glm_ease_sine_inout(float t) {
+  return 0.5f * (1.0f - cosf(t * GLM_PIf));
+}
+
+CGLM_INLINE
+float
+glm_ease_quad_in(float t) {
+  return t * t;
+}
+
+CGLM_INLINE
+float
+glm_ease_quad_out(float t) {
+  return -(t * (t - 2.0f));
+}
+
+CGLM_INLINE
+float
+glm_ease_quad_inout(float t) {
+  float tt;
+
+  tt = t * t;
+  if (t < 0.5f)
+    return 2.0f * tt;
+
+  return (-2.0f * tt) + (4.0f * t) - 1.0f;
+}
+
+CGLM_INLINE
+float
+glm_ease_cubic_in(float t) {
+  return t * t * t;
+}
+
+CGLM_INLINE
+float
+glm_ease_cubic_out(float t) {
+  float f;
+  f = t - 1.0f;
+  return f * f * f + 1.0f;
+}
+
+CGLM_INLINE
+float
+glm_ease_cubic_inout(float t) {
+  float f;
+
+  if (t < 0.5f)
+    return 4.0f * t * t * t;
+
+  f = 2.0f * t - 2.0f;
+
+  return 0.5f * f * f * f + 1.0f;
+}
+
+CGLM_INLINE
+float
+glm_ease_quart_in(float t) {
+  float f;
+  f = t * t;
+  return f * f;
+}
+
+CGLM_INLINE
+float
+glm_ease_quart_out(float t) {
+  float f;
+
+  f = t - 1.0f;
+
+  return f * f * f * (1.0f - t) + 1.0f;
+}
+
+CGLM_INLINE
+float
+glm_ease_quart_inout(float t) {
+  float f, g;
+
+  if (t < 0.5f) {
+    f = t * t;
+    return 8.0f * f * f;
+  }
+
+  f = t - 1.0f;
+  g = f * f;
+
+  return -8.0f * g * g + 1.0f;
+}
+
+CGLM_INLINE
+float
+glm_ease_quint_in(float t) {
+  float f;
+  f = t * t;
+  return f * f * t;
+}
+
+CGLM_INLINE
+float
+glm_ease_quint_out(float t) {
+  float f, g;
+
+  f = t - 1.0f;
+  g = f * f;
+
+  return g * g * f + 1.0f;
+}
+
+CGLM_INLINE
+float
+glm_ease_quint_inout(float t) {
+  float f, g;
+
+  if (t < 0.5f) {
+    f = t * t;
+    return 16.0f * f * f * t;
+  }
+
+  f = 2.0f * t - 2.0f;
+  g = f * f;
+
+  return 0.5f * g * g * f + 1.0f;
+}
+
+CGLM_INLINE
+float
+glm_ease_exp_in(float t) {
+  if (t == 0.0f)
+    return t;
+
+  return powf(2.0f,  10.0f * (t - 1.0f));
+}
+
+CGLM_INLINE
+float
+glm_ease_exp_out(float t) {
+  if (t == 1.0f)
+    return t;
+
+  return 1.0f - powf(2.0f, -10.0f * t);
+}
+
+CGLM_INLINE
+float
+glm_ease_exp_inout(float t) {
+  if (t == 0.0f || t == 1.0f)
+    return t;
+
+  if (t < 0.5f)
+    return 0.5f * powf(2.0f, (20.0f * t) - 10.0f);
+
+  return -0.5f * powf(2.0f, (-20.0f * t) + 10.0f) + 1.0f;
+}
+
+CGLM_INLINE
+float
+glm_ease_circ_in(float t) {
+  return 1.0f - sqrtf(1.0f - (t * t));
+}
+
+CGLM_INLINE
+float
+glm_ease_circ_out(float t) {
+  return sqrtf((2.0f - t) * t);
+}
+
+CGLM_INLINE
+float
+glm_ease_circ_inout(float t) {
+  if (t < 0.5f)
+    return 0.5f * (1.0f - sqrtf(1.0f - 4.0f * (t * t)));
+
+  return 0.5f * (sqrtf(-((2.0f * t) - 3.0f) * ((2.0f * t) - 1.0f)) + 1.0f);
+}
+
+CGLM_INLINE
+float
+glm_ease_back_in(float t) {
+  float o, z;
+
+  o = 1.70158f;
+  z = ((o + 1.0f) * t) - o;
+
+  return t * t * z;
+}
+
+CGLM_INLINE
+float
+glm_ease_back_out(float t) {
+  float o, z, n;
+
+  o = 1.70158f;
+  n = t - 1.0f;
+  z = (o + 1.0f) * n + o;
+
+  return n * n * z + 1.0f;
+}
+
+CGLM_INLINE
+float
+glm_ease_back_inout(float t) {
+  float o, z, n, m, s, x;
+
+  o = 1.70158f;
+  s = o * 1.525f;
+  x = 0.5;
+  n = t / 0.5f;
+
+  if (n < 1.0f) {
+    z = (s + 1) * n - s;
+    m = n * n * z;
+    return x * m;
+  }
+
+  n -= 2.0f;
+  z  = (s + 1.0f) * n + s;
+  m  = (n * n * z) + 2;
+
+  return x * m;
+}
+
+CGLM_INLINE
+float
+glm_ease_elast_in(float t) {
+  return sinf(13.0f * GLM_PI_2f * t) * powf(2.0f, 10.0f * (t - 1.0f));
+}
+
+CGLM_INLINE
+float
+glm_ease_elast_out(float t) {
+  return sinf(-13.0f * GLM_PI_2f * (t + 1.0f)) * powf(2.0f, -10.0f * t) + 1.0f;
+}
+
+CGLM_INLINE
+float
+glm_ease_elast_inout(float t) {
+  float a;
+
+  a = 2.0f * t;
+
+  if (t < 0.5f)
+    return 0.5f * sinf(13.0f * GLM_PI_2f * a)
+                * powf(2.0f, 10.0f * (a - 1.0f));
+
+  return 0.5f * (sinf(-13.0f * GLM_PI_2f * a)
+                 * powf(2.0f, -10.0f * (a - 1.0f)) + 2.0f);
+}
+
+CGLM_INLINE
+float
+glm_ease_bounce_out(float t) {
+  float tt;
+
+  tt = t * t;
+
+  if (t < (4.0f / 11.0f))
+    return (121.0f * tt) / 16.0f;
+
+  if (t < 8.0f / 11.0f)
+    return ((363.0f / 40.0f) * tt) - ((99.0f / 10.0f) * t) + (17.0f / 5.0f);
+
+  if (t < (9.0f / 10.0f))
+    return (4356.0f / 361.0f) * tt
+            - (35442.0f / 1805.0f) * t
+            + (16061.0f / 1805.0f);
+
+  return ((54.0f / 5.0f) * tt) - ((513.0f / 25.0f) * t) + (268.0f / 25.0f);
+}
+
+CGLM_INLINE
+float
+glm_ease_bounce_in(float t) {
+  return 1.0f - glm_ease_bounce_out(1.0f - t);
+}
+
+CGLM_INLINE
+float
+glm_ease_bounce_inout(float t) {
+  if (t < 0.5f)
+    return 0.5f * (1.0f - glm_ease_bounce_out(t * 2.0f));
+
+  return 0.5f * glm_ease_bounce_out(t * 2.0f - 1.0f) + 0.5f;
+}
+
+#endif /* cglm_ease_h */
--- a/include/cglm/euler.h
+++ b/include/cglm/euler.h
@@ -84,12 +84,12 @@ glm_euler_angles(mat4 m, vec3 dest) {
      thetaZ = atan2f(-m10, m00);
    } else { /* m20 == -1 */
      /* Not a unique solution */
-      thetaY = -CGLM_PI_2;
+      thetaY = -GLM_PI_2f;
      thetaX = -atan2f(m01, m11);
      thetaZ =  0.0f;
    }
  } else { /* m20 == +1 */
-    thetaY = CGLM_PI_2;
+    thetaY = GLM_PI_2f;
    thetaX = atan2f(m01, m11);
    thetaZ = 0.0f;
  }
--- a/include/cglm/frustum.h
+++ b/include/cglm/frustum.h
@@ -10,6 +10,9 @@

 #include "common.h"
 #include "plane.h"
+#include "vec3.h"
+#include "vec4.h"
+#include "mat4.h"

 #define GLM_LBN 0 /* left  bottom near */
 #define GLM_LTN 1 /* left  top    near */
@@ -103,7 +106,7 @@ glm_frustum_planes(mat4 m, vec4 dest[6]) {
 *
 * Find center coordinates:
 *   for (j = 0; j < 4; j++) {
- *     glm_vec_center(corners[i], corners[i + 4], centerCorners[i]);
+ *     glm_vec3_center(corners[i], corners[i + 4], centerCorners[i]);
 *   }
 *
 * @param[in]  invMat matrix (see brief)
@@ -184,8 +187,8 @@ glm_frustum_box(vec4 corners[8], mat4 m, vec3 box[2]) {
  vec3 min, max;
  int  i;

-  glm_vec_broadcast(FLT_MAX, min);
-  glm_vec_broadcast(-FLT_MAX, max);
+  glm_vec3_broadcast(FLT_MAX, min);
+  glm_vec3_broadcast(-FLT_MAX, max);

  for (i = 0; i < 8; i++) {
    glm_mat4_mulv(m, corners[i], v);
@@ -199,8 +202,8 @@ glm_frustum_box(vec4 corners[8], mat4 m, vec3 box[2]) {
    max[2] = glm_max(max[2], v[2]);
  }

-  glm_vec_copy(min, box[0]);
-  glm_vec_copy(max, box[1]);
+  glm_vec3_copy(min, box[0]);
+  glm_vec3_copy(max, box[1]);
 }

 /*!
@@ -225,7 +228,7 @@ glm_frustum_corners_at(vec4  corners[8],
  float dist, sc;

  /* because distance and scale is same for all */
-  dist = glm_vec_distance(corners[GLM_RTF], corners[GLM_RTN]);
+  dist = glm_vec3_distance(corners[GLM_RTF], corners[GLM_RTN]);
  sc   = dist * (splitDist / farDist);

  /* left bottom */
--- a/include/cglm/io.h
+++ b/include/cglm/io.h
@@ -25,7 +25,7 @@

 CGLM_INLINE
 void
-glm_mat4_print(mat4   matrix,
+glm_mat4_print(mat4              matrix,
               FILE * __restrict ostream) {
  int i;
  int j;
@@ -55,7 +55,7 @@ glm_mat4_print(mat4   matrix,

 CGLM_INLINE
 void
-glm_mat3_print(mat3 matrix,
+glm_mat3_print(mat3              matrix,
               FILE * __restrict ostream) {
  int i;
  int j;
@@ -85,7 +85,7 @@ glm_mat3_print(mat3 matrix,

 CGLM_INLINE
 void
-glm_vec4_print(vec4 vec,
+glm_vec4_print(vec4              vec,
               FILE * __restrict ostream) {
  int i;

@@ -107,7 +107,7 @@ glm_vec4_print(vec4 vec,

 CGLM_INLINE
 void
-glm_vec3_print(vec3 vec,
+glm_vec3_print(vec3              vec,
               FILE * __restrict ostream) {
  int i;

@@ -129,7 +129,7 @@ glm_vec3_print(vec3 vec,

 CGLM_INLINE
 void
-glm_ivec3_print(ivec3 vec,
+glm_ivec3_print(ivec3             vec,
                FILE * __restrict ostream) {
  int i;

@@ -151,7 +151,7 @@ glm_ivec3_print(ivec3 vec,

 CGLM_INLINE
 void
-glm_versor_print(versor vec,
+glm_versor_print(versor            vec,
                 FILE * __restrict ostream) {
  int i;

--- a/include/cglm/mat3.h
+++ b/include/cglm/mat3.h
@@ -16,10 +16,12 @@
 Functions:
   CGLM_INLINE void  glm_mat3_copy(mat3 mat, mat3 dest);
   CGLM_INLINE void  glm_mat3_identity(mat3 mat);
+   CGLM_INLINE void  glm_mat3_identity_array(mat3 * restrict mat, size_t count);
   CGLM_INLINE void  glm_mat3_mul(mat3 m1, mat3 m2, mat3 dest);
   CGLM_INLINE void  glm_mat3_transpose_to(mat3 m, mat3 dest);
   CGLM_INLINE void  glm_mat3_transpose(mat3 m);
   CGLM_INLINE void  glm_mat3_mulv(mat3 m, vec3 v, vec3 dest);
+   CGLM_INLINE float glm_mat3_trace(mat3 m);
   CGLM_INLINE void  glm_mat3_scale(mat3 m, float s);
   CGLM_INLINE float glm_mat3_det(mat3 mat);
   CGLM_INLINE void  glm_mat3_inv(mat3 mat, mat3 dest);
@@ -31,6 +33,7 @@
 #define cglm_mat3_h

 #include "common.h"
+#include "vec3.h"

 #ifdef CGLM_SSE_FP
 #  include "simd/sse2/mat3.h"
@@ -80,10 +83,29 @@ glm_mat3_copy(mat3 mat, mat3 dest) {
 CGLM_INLINE
 void
 glm_mat3_identity(mat3 mat) {
-  mat3 t = GLM_MAT3_IDENTITY_INIT;
+  CGLM_ALIGN_MAT mat3 t = GLM_MAT3_IDENTITY_INIT;
  glm_mat3_copy(t, mat);
 }

+/*!
+ * @brief make given matrix array's each element identity matrix
+ *
+ * @param[in, out]  mat   matrix array (must be aligned (16/32)
+ *                        if alignment is not disabled)
+ *
+ * @param[in]       count count of matrices
+ */
+CGLM_INLINE
+void
+glm_mat3_identity_array(mat3 * __restrict mat, size_t count) {
+  CGLM_ALIGN_MAT mat3 t = GLM_MAT3_IDENTITY_INIT;
+  size_t i;
+
+  for (i = 0; i < count; i++) {
+    glm_mat3_copy(t, mat[i]);
+  }
+}
+
 /*!
 * @brief multiply m1 and m2 to dest
 *
@@ -154,7 +176,7 @@ glm_mat3_transpose_to(mat3 m, mat3 dest) {
 CGLM_INLINE
 void
 glm_mat3_transpose(mat3 m) {
-  mat3 tmp;
+  CGLM_ALIGN_MAT mat3 tmp;

  tmp[0][1] = m[1][0];
  tmp[0][2] = m[2][0];
@@ -186,11 +208,23 @@ 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 trace of matrix
+ *
+ * sum of the elements on the main diagonal from upper left to the lower right
+ *
+ * @param[in]  m matrix
+ */
+CGLM_INLINE
+float
+glm_mat3_trace(mat3 m) {
+  return m[0][0] + m[1][1] + m[2][2];
+}

 /*!
- * @brief convert mat4's rotation part to quaternion
+ * @brief convert mat3 to quaternion
 *
- * @param[in]  m    left matrix
+ * @param[in]  m    rotation matrix
 * @param[out] dest destination quaternion
 */
 CGLM_INLINE
@@ -309,9 +343,9 @@ CGLM_INLINE
 void
 glm_mat3_swap_col(mat3 mat, int col1, int col2) {
  vec3 tmp;
-  glm_vec_copy(mat[col1], tmp);
-  glm_vec_copy(mat[col2], mat[col1]);
-  glm_vec_copy(tmp, mat[col2]);
+  glm_vec3_copy(mat[col1], tmp);
+  glm_vec3_copy(mat[col2], mat[col1]);
+  glm_vec3_copy(tmp, mat[col2]);
 }

 /*!
--- a/include/cglm/mat4.h
+++ b/include/cglm/mat4.h
@@ -16,13 +16,12 @@
   GLM_MAT4_ZERO_INIT
   GLM_MAT4_IDENTITY
   GLM_MAT4_ZERO
-   glm_mat4_udup(mat, dest)
-   glm_mat4_dup(mat, dest)

 Functions:
   CGLM_INLINE void  glm_mat4_ucopy(mat4 mat, mat4 dest);
   CGLM_INLINE void  glm_mat4_copy(mat4 mat, mat4 dest);
   CGLM_INLINE void  glm_mat4_identity(mat4 mat);
+   CGLM_INLINE void  glm_mat4_identity_array(mat4 * restrict mat, size_t count);
   CGLM_INLINE void  glm_mat4_pick3(mat4 mat, mat3 dest);
   CGLM_INLINE void  glm_mat4_pick3t(mat4 mat, mat3 dest);
   CGLM_INLINE void  glm_mat4_ins3(mat3 mat, mat4 dest);
@@ -30,6 +29,8 @@
   CGLM_INLINE void  glm_mat4_mulN(mat4 *matrices[], int len, mat4 dest);
   CGLM_INLINE void  glm_mat4_mulv(mat4 m, vec4 v, vec4 dest);
   CGLM_INLINE void  glm_mat4_mulv3(mat4 m, vec3 v, vec3 dest);
+   CGLM_INLINE float glm_mat4_trace(mat4 m);
+   CGLM_INLINE float glm_mat4_trace3(mat4 m);
   CGLM_INLINE void  glm_mat4_transpose_to(mat4 m, mat4 dest);
   CGLM_INLINE void  glm_mat4_transpose(mat4 m);
   CGLM_INLINE void  glm_mat4_scale_p(mat4 m, float s);
@@ -45,7 +46,8 @@
 #define cglm_mat_h

 #include "common.h"
-#include "quat.h"
+#include "vec4.h"
+#include "vec3.h"

 #ifdef CGLM_SSE_FP
 #  include "simd/sse2/mat4.h"
@@ -109,13 +111,13 @@ CGLM_INLINE
 void
 glm_mat4_copy(mat4 mat, mat4 dest) {
 #ifdef __AVX__
-  _mm256_store_ps(dest[0], _mm256_load_ps(mat[0]));
-  _mm256_store_ps(dest[2], _mm256_load_ps(mat[2]));
+  glmm_store256(dest[0], glmm_load256(mat[0]));
+  glmm_store256(dest[2], glmm_load256(mat[2]));
 #elif defined( __SSE__ ) || defined( __SSE2__ )
-  _mm_store_ps(dest[0], _mm_load_ps(mat[0]));
-  _mm_store_ps(dest[1], _mm_load_ps(mat[1]));
-  _mm_store_ps(dest[2], _mm_load_ps(mat[2]));
-  _mm_store_ps(dest[3], _mm_load_ps(mat[3]));
+  glmm_store(dest[0], glmm_load(mat[0]));
+  glmm_store(dest[1], glmm_load(mat[1]));
+  glmm_store(dest[2], glmm_load(mat[2]));
+  glmm_store(dest[3], glmm_load(mat[3]));
 #else
  glm_mat4_ucopy(mat, dest);
 #endif
@@ -138,10 +140,29 @@ glm_mat4_copy(mat4 mat, mat4 dest) {
 CGLM_INLINE
 void
 glm_mat4_identity(mat4 mat) {
-  mat4 t = GLM_MAT4_IDENTITY_INIT;
+  CGLM_ALIGN_MAT mat4 t = GLM_MAT4_IDENTITY_INIT;
  glm_mat4_copy(t, mat);
 }

+/*!
+ * @brief make given matrix array's each element identity matrix
+ *
+ * @param[in, out]  mat   matrix array (must be aligned (16/32)
+ *                        if alignment is not disabled)
+ *
+ * @param[in]       count count of matrices
+ */
+CGLM_INLINE
+void
+glm_mat4_identity_array(mat4 * __restrict mat, size_t count) {
+  CGLM_ALIGN_MAT mat4 t = GLM_MAT4_IDENTITY_INIT;
+  size_t i;
+
+  for (i = 0; i < count; i++) {
+    glm_mat4_copy(t, mat[i]);
+  }
+}
+
 /*!
 * @brief copy upper-left of mat4 to mat3
 *
@@ -319,10 +340,36 @@ glm_mat4_mulv(mat4 m, vec4 v, vec4 dest) {
 #endif
 }

+/*!
+ * @brief trace of matrix
+ *
+ * sum of the elements on the main diagonal from upper left to the lower right
+ *
+ * @param[in]  m matrix
+ */
+CGLM_INLINE
+float
+glm_mat4_trace(mat4 m) {
+  return m[0][0] + m[1][1] + m[2][2] + m[3][3];
+}
+
+/*!
+ * @brief trace of matrix (rotation part)
+ *
+ * sum of the elements on the main diagonal from upper left to the lower right
+ *
+ * @param[in]  m matrix
+ */
+CGLM_INLINE
+float
+glm_mat4_trace3(mat4 m) {
+  return m[0][0] + m[1][1] + m[2][2];
+}
+
 /*!
 * @brief convert mat4's rotation part to quaternion
 *
- * @param[in]  m    left matrix
+ * @param[in]  m    affine matrix
 * @param[out] dest destination quaternion
 */
 CGLM_INLINE
@@ -369,20 +416,20 @@ glm_mat4_quat(mat4 m, versor dest) {
 }

 /*!
- * @brief multiply vector with mat4's mat3 part(rotation)
+ * @brief multiply vector with mat4
 *
 * @param[in]  m    mat4(affine transform)
 * @param[in]  v    vec3
- * @param[out] dest vec3
+ * @param[in]  last 4th item to make it vec4
+ * @param[out] dest result vector (vec3)
 */
 CGLM_INLINE
 void
-glm_mat4_mulv3(mat4 m, vec3 v, vec3 dest) {
-  vec3 res;
-  res[0] = m[0][0] * v[0] + m[1][0] * v[1] + m[2][0] * v[2];
-  res[1] = m[0][1] * v[0] + m[1][1] * v[1] + m[2][1] * v[2];
-  res[2] = m[0][2] * v[0] + m[1][2] * v[1] + m[2][2] * v[2];
-  glm_vec_copy(res, dest);
+glm_mat4_mulv3(mat4 m, vec3 v, float last, vec3 dest) {
+  vec4 res;
+  glm_vec4(v, last, res);
+  glm_mat4_mulv(m, res, res);
+  glm_vec3(res, dest);
 }

 /*!
@@ -457,7 +504,9 @@ glm_mat4_scale_p(mat4 m, float s) {
 CGLM_INLINE
 void
 glm_mat4_scale(mat4 m, float s) {
-#if defined( __SSE__ ) || defined( __SSE2__ )
+#ifdef __AVX__
+  glm_mat4_scale_avx(m, s);
+#elif defined( __SSE__ ) || defined( __SSE2__ )
  glm_mat4_scale_sse2(m, s);
 #else
  glm_mat4_scale_p(m, s);
@@ -507,7 +556,9 @@ glm_mat4_det(mat4 mat) {
 CGLM_INLINE
 void
 glm_mat4_inv(mat4 mat, mat4 dest) {
-#if defined( __SSE__ ) || defined( __SSE2__ )
+#ifdef __AVX__
+  glm_mat4_inv_avx(mat, dest);
+#elif defined( __SSE__ ) || defined( __SSE2__ )
  glm_mat4_inv_sse2(mat, dest);
 #else
  float t[6];
@@ -568,7 +619,9 @@ glm_mat4_inv(mat4 mat, mat4 dest) {
 CGLM_INLINE
 void
 glm_mat4_inv_fast(mat4 mat, mat4 dest) {
-#if defined( __SSE__ ) || defined( __SSE2__ )
+#ifdef __AVX__
+  glm_mat4_inv_fast_avx(mat, dest);
+#elif defined( __SSE__ ) || defined( __SSE2__ )
  glm_mat4_inv_fast_sse2(mat, dest);
 #else
  glm_mat4_inv(mat, dest);
@@ -585,7 +638,7 @@ glm_mat4_inv_fast(mat4 mat, mat4 dest) {
 CGLM_INLINE
 void
 glm_mat4_swap_col(mat4 mat, int col1, int col2) {
-  vec4 tmp;
+  CGLM_ALIGN(16) vec4 tmp;
  glm_vec4_copy(mat[col1], tmp);
  glm_vec4_copy(mat[col2], mat[col1]);
  glm_vec4_copy(tmp, mat[col2]);
@@ -601,7 +654,7 @@ glm_mat4_swap_col(mat4 mat, int col1, int col2) {
 CGLM_INLINE
 void
 glm_mat4_swap_row(mat4 mat, int row1, int row2) {
-  vec4 tmp;
+  CGLM_ALIGN(16) vec4 tmp;
  tmp[0] = mat[0][row1];
  tmp[1] = mat[1][row1];
  tmp[2] = mat[2][row1];
--- a/include/cglm/plane.h
+++ b/include/cglm/plane.h
@@ -9,9 +9,7 @@
 #define cglm_plane_h

 #include "common.h"
-#include "mat4.h"
 #include "vec4.h"
-#include "vec3.h"

 /*
 Plane equation:  Ax + By + Cz + D = 0;
@@ -32,7 +30,7 @@
 CGLM_INLINE
 void
 glm_plane_normalize(vec4 plane) {
-  glm_vec4_scale(plane, 1.0f / glm_vec_norm(plane), plane);
+  glm_vec4_scale(plane, 1.0f / glm_vec3_norm(plane), plane);
 }

 #endif /* cglm_plane_h */
--- a/include/cglm/project.h
+++ b/include/cglm/project.h
@@ -8,9 +8,9 @@
 #ifndef cglm_project_h
 #define cglm_project_h

-#include "mat4.h"
 #include "vec3.h"
 #include "vec4.h"
+#include "mat4.h"

 /*!
 * @brief maps the specified viewport coordinates into specified space [1]
@@ -100,7 +100,7 @@ glm_unproject(vec3 pos, mat4 m, vec4 vp, vec3 dest) {
 CGLM_INLINE
 void
 glm_project(vec3 pos, mat4 m, vec4 vp, vec3 dest) {
-  vec4 pos4, vone = GLM_VEC4_ONE_INIT;
+  CGLM_ALIGN(16) vec4 pos4, vone = GLM_VEC4_ONE_INIT;

  glm_vec4(pos, 1.0f, pos4);

--- a/include/cglm/quat.h
+++ b/include/cglm/quat.h
@@ -19,7 +19,7 @@
   CGLM_INLINE float glm_quat_norm(versor q);
   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 float glm_quat_dot(versor p, versor q);
   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);
@@ -52,21 +52,31 @@
 #define cglm_quat_h

 #include "common.h"
+#include "vec3.h"
 #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:
@@ -89,10 +99,29 @@ glm_mat4_mul(mat4 m1, mat4 m2, mat4 dest);
 CGLM_INLINE
 void
 glm_quat_identity(versor q) {
-  versor v = GLM_QUAT_IDENTITY_INIT;
+  CGLM_ALIGN(16) versor v = GLM_QUAT_IDENTITY_INIT;
  glm_vec4_copy(v, q);
 }

+/*!
+ * @brief make given quaternion array's each element identity quaternion
+ *
+ * @param[in, out]  q     quat array (must be aligned (16)
+ *                        if alignment is not disabled)
+ *
+ * @param[in]       count count of quaternions
+ */
+CGLM_INLINE
+void
+glm_quat_identity_array(versor * __restrict q, size_t count) {
+  CGLM_ALIGN(16) versor v = GLM_QUAT_IDENTITY_INIT;
+  size_t i;
+
+  for (i = 0; i < count; i++) {
+    glm_vec4_copy(v, q[i]);
+  }
+}
+
 /*!
 * @brief inits quaterion with raw values
 *
@@ -121,7 +150,7 @@ glm_quat_init(versor q, float x, float y, float z, float w) {
 CGLM_INLINE
 void
 glm_quatv(versor q, float angle, vec3 axis) {
-  vec3  k;
+  CGLM_ALIGN(8) vec3 k;
  float a, c, s;

  a = angle * 0.5f;
@@ -148,7 +177,7 @@ glm_quatv(versor q, float angle, vec3 axis) {
 CGLM_INLINE
 void
 glm_quat(versor q, float angle, float x, float y, float z) {
-  vec3 axis = {x, y, z};
+  CGLM_ALIGN(8) vec3 axis = {x, y, z};
  glm_quatv(q, angle, axis);
 }

@@ -188,8 +217,8 @@ glm_quat_normalize_to(versor q, versor dest) {
  __m128 xdot, x0;
  float  dot;

-  x0   = _mm_load_ps(q);
-  xdot = glm_simd_dot(x0, x0);
+  x0   = glmm_load(q);
+  xdot = glmm_dot(x0, x0);
  dot  = _mm_cvtss_f32(xdot);

  if (dot <= 0.0f) {
@@ -197,7 +226,7 @@ glm_quat_normalize_to(versor q, versor dest) {
    return;
  }

-  _mm_store_ps(dest, _mm_div_ps(x0, _mm_sqrt_ps(xdot)));
+  glmm_store(dest, _mm_div_ps(x0, _mm_sqrt_ps(xdot)));
 #else
  float dot;

@@ -244,7 +273,7 @@ glm_quat_dot(versor p, versor q) {
 CGLM_INLINE
 void
 glm_quat_conjugate(versor q, versor dest) {
-  glm_vec4_flipsign_to(q, dest);
+  glm_vec4_negate_to(q, dest);
  dest[3] = -dest[3];
 }

@@ -257,7 +286,7 @@ glm_quat_conjugate(versor q, versor dest) {
 CGLM_INLINE
 void
 glm_quat_inv(versor q, versor dest) {
-  versor conj;
+  CGLM_ALIGN(16) versor conj;
  glm_quat_conjugate(q, conj);
  glm_vec4_scale(conj, 1.0f / glm_vec4_norm2(q), dest);
 }
@@ -332,7 +361,7 @@ glm_quat_imagn(versor q, vec3 dest) {
 CGLM_INLINE
 float
 glm_quat_imaglen(versor q) {
-  return glm_vec_norm(q);
+  return glm_vec3_norm(q);
 }

 /*!
@@ -593,7 +622,7 @@ glm_quat_lerp(versor from, versor to, float t, versor dest) {
 CGLM_INLINE
 void
 glm_quat_slerp(versor from, versor to, float t, versor dest) {
-  vec4  q1, q2;
+  CGLM_ALIGN(16) vec4 q1, q2;
  float cosTheta, sinTheta, angle;

  cosTheta = glm_quat_dot(from, to);
@@ -605,7 +634,7 @@ glm_quat_slerp(versor from, versor to, float t, versor dest) {
  }

  if (cosTheta < 0.0f) {
-    glm_vec4_flipsign(q1);
+    glm_vec4_negate(q1);
    cosTheta = -cosTheta;
  }

@@ -636,15 +665,12 @@ glm_quat_slerp(versor from, versor to, float t, versor dest) {
 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]);
+  glm_mat4_mulv3(dest, eye, 1.0f, dest[3]);
+  glm_vec3_negate(dest[3]);
 }

 /*!
@@ -658,12 +684,12 @@ glm_quat_look(vec3 eye, versor ori, mat4 dest) {
 CGLM_INLINE
 void
 glm_quat_for(vec3 dir, vec3 fwd, vec3 up, versor dest) {
-  vec3  axis;
+  CGLM_ALIGN(8) vec3 axis;
  float dot, angle;

-  dot = glm_vec_dot(dir, fwd);
+  dot = glm_vec3_dot(dir, fwd);
  if (fabsf(dot + 1.0f)  < 0.000001f) {
-    glm_quat_init(dest, up[0], up[1], up[2], CGLM_PI);
+    glm_quat_init(dest, up[0], up[1], up[2], GLM_PIf);
    return;
  }

@@ -692,8 +718,8 @@ 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) {
-  vec3 dir;
-  glm_vec_sub(to, from, dir);
+  CGLM_ALIGN(8) vec3 dir;
+  glm_vec3_sub(to, from, dir);
  glm_quat_for(dir, fwd, up, dest);
 }

@@ -707,22 +733,22 @@ 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) {
-  versor p;
-  vec3   u, v1, v2;
-  float  s;
+  CGLM_ALIGN(16) versor p;
+  CGLM_ALIGN(8)  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_vec3_scale(u, 2.0f * glm_vec3_dot(u, v), v1);
+  glm_vec3_scale(v, s * s - glm_vec3_dot(u, u), v2);
+  glm_vec3_add(v1, v2, v1);

-  glm_vec_cross(u, v, v2);
-  glm_vec_scale(v2, 2.0f * s, v2);
+  glm_vec3_cross(u, v, v2);
+  glm_vec3_scale(v2, 2.0f * s, v2);

-  glm_vec_add(v1, v2, dest);
+  glm_vec3_add(v1, v2, dest);
 }

 /*!
@@ -735,9 +761,52 @@ glm_quat_rotatev(versor q, vec3 v, vec3 dest) {
 CGLM_INLINE
 void
 glm_quat_rotate(mat4 m, versor q, mat4 dest) {
-  mat4 rot;
+  CGLM_ALIGN_MAT 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) {
+  CGLM_ALIGN(8) vec3 pivotInv;
+
+  glm_vec3_negate_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) {
+  CGLM_ALIGN(8) vec3 pivotInv;
+
+  glm_vec3_negate_to(pivot, pivotInv);
+
+  glm_translate_make(m, pivot);
+  glm_quat_rotate(m, q, m);
+  glm_translate(m, pivotInv);
 }

 #endif /* cglm_quat_h */
--- a/include/cglm/simd/avx/affine.h
+++ b/include/cglm/simd/avx/affine.h
@@ -21,27 +21,30 @@ glm_mul_avx(mat4 m1, mat4 m2, mat4 dest) {

  __m256 y0, y1, y2, y3, y4, y5, y6, y7, y8, y9;

-  y0 = _mm256_load_ps(m2[0]); /* h g f e d c b a */
-  y1 = _mm256_load_ps(m2[2]); /* p o n m l k j i */
+  y0 = glmm_load256(m2[0]); /* h g f e d c b a */
+  y1 = glmm_load256(m2[2]); /* p o n m l k j i */

-  y2 = _mm256_load_ps(m1[0]); /* h g f e d c b a */
-  y3 = _mm256_load_ps(m1[2]); /* p o n m l k j i */
+  y2 = glmm_load256(m1[0]); /* h g f e d c b a */
+  y3 = glmm_load256(m1[2]); /* p o n m l k j i */

-  y4 = _mm256_permute2f128_ps(y2, y2, 0b00000011); /* d c b a h g f e */
-  y5 = _mm256_permute2f128_ps(y3, y3, 0b00000000); /* l k j i l k j i */
+  /* 0x03: 0b00000011 */
+  y4 = _mm256_permute2f128_ps(y2, y2, 0x03); /* d c b a h g f e */
+  y5 = _mm256_permute2f128_ps(y3, y3, 0x03); /* l k j i p o n m */

  /* f f f f a a a a */
-  /* g g g g c c c c */
+  /* h h h h c c c c */
  /* e e e e b b b b */
-  y7 = _mm256_permute_ps(y0, 0b10101010);
+  /* g g g g d d d d */
  y6 = _mm256_permutevar_ps(y0, _mm256_set_epi32(1, 1, 1, 1, 0, 0, 0, 0));
+  y7 = _mm256_permutevar_ps(y0, _mm256_set_epi32(3, 3, 3, 3, 2, 2, 2, 2));
  y8 = _mm256_permutevar_ps(y0, _mm256_set_epi32(0, 0, 0, 0, 1, 1, 1, 1));
+  y9 = _mm256_permutevar_ps(y0, _mm256_set_epi32(2, 2, 2, 2, 3, 3, 3, 3));

-  _mm256_store_ps(dest[0],
-                  _mm256_add_ps(_mm256_add_ps(_mm256_mul_ps(y2, y6),
-                                              _mm256_mul_ps(y4, y8)),
-                                _mm256_mul_ps(y5, y7)));
-
+  glmm_store256(dest[0],
+                _mm256_add_ps(_mm256_add_ps(_mm256_mul_ps(y2, y6),
+                                            _mm256_mul_ps(y3, y7)),
+                              _mm256_add_ps(_mm256_mul_ps(y4, y8),
+                                            _mm256_mul_ps(y5, y9))));

  /* n n n n i i i i */
  /* p p p p k k k k */
@@ -52,11 +55,11 @@ glm_mul_avx(mat4 m1, mat4 m2, mat4 dest) {
  y8 = _mm256_permutevar_ps(y1, _mm256_set_epi32(0, 0, 0, 0, 1, 1, 1, 1));
  y9 = _mm256_permutevar_ps(y1, _mm256_set_epi32(2, 2, 2, 2, 3, 3, 3, 3));

-  _mm256_store_ps(dest[2],
-                  _mm256_add_ps(_mm256_add_ps(_mm256_mul_ps(y2, y6),
-                                              _mm256_mul_ps(y3, y7)),
-                                _mm256_add_ps(_mm256_mul_ps(y4, y8),
-                                              _mm256_mul_ps(y5, y9))));
+  glmm_store256(dest[2],
+                _mm256_add_ps(_mm256_add_ps(_mm256_mul_ps(y2, y6),
+                                            _mm256_mul_ps(y3, y7)),
+                              _mm256_add_ps(_mm256_mul_ps(y4, y8),
+                                            _mm256_mul_ps(y5, y9))));
 }

 #endif
--- a/include/cglm/simd/avx/mat4.h
+++ b/include/cglm/simd/avx/mat4.h
@@ -14,51 +14,428 @@

 #include <immintrin.h>

+CGLM_INLINE
+void
+glm_mat4_scale_avx(mat4 m, float s) {
+  __m256 y0;
+  y0 = _mm256_set1_ps(s);
+
+  glmm_store256(m[0], _mm256_mul_ps(y0, glmm_load256(m[0])));
+  glmm_store256(m[2], _mm256_mul_ps(y0, glmm_load256(m[2])));
+}
+
 CGLM_INLINE
 void
 glm_mat4_mul_avx(mat4 m1, mat4 m2, mat4 dest) {
  /* D = R * L (Column-Major) */

-  __m256 y0, y1, y2, y3, y4, y5, y6, y7, y8, y9;
+  __m256  y0, y1, y2, y3, y4, y5, y6, y7, y8, y9;
+  __m256i yi0, yi1, yi2, yi3;

-  y0 = _mm256_load_ps(m2[0]); /* h g f e d c b a */
-  y1 = _mm256_load_ps(m2[2]); /* p o n m l k j i */
+  y0  = glmm_load256(m2[0]); /* h g f e d c b a */
+  y1  = glmm_load256(m2[2]); /* p o n m l k j i */

-  y2 = _mm256_load_ps(m1[0]); /* h g f e d c b a */
-  y3 = _mm256_load_ps(m1[2]); /* p o n m l k j i */
+  y2  = glmm_load256(m1[0]); /* h g f e d c b a */
+  y3  = glmm_load256(m1[2]); /* p o n m l k j i */

-  y4 = _mm256_permute2f128_ps(y2, y2, 0b00000011); /* d c b a h g f e */
-  y5 = _mm256_permute2f128_ps(y3, y3, 0b00000011); /* l k j i p o n m */
+  /* 0x03: 0b00000011 */
+  y4  = _mm256_permute2f128_ps(y2, y2, 0x03); /* d c b a h g f e */
+  y5  = _mm256_permute2f128_ps(y3, y3, 0x03); /* l k j i p o n m */
+
+  yi0 = _mm256_set_epi32(1, 1, 1, 1, 0, 0, 0, 0);
+  yi1 = _mm256_set_epi32(3, 3, 3, 3, 2, 2, 2, 2);
+  yi2 = _mm256_set_epi32(0, 0, 0, 0, 1, 1, 1, 1);
+  yi3 = _mm256_set_epi32(2, 2, 2, 2, 3, 3, 3, 3);

  /* f f f f a a a a */
  /* h h h h c c c c */
  /* e e e e b b b b */
  /* g g g g d d d d */
-  y6 = _mm256_permutevar_ps(y0, _mm256_set_epi32(1, 1, 1, 1, 0, 0, 0, 0));
-  y7 = _mm256_permutevar_ps(y0, _mm256_set_epi32(3, 3, 3, 3, 2, 2, 2, 2));
-  y8 = _mm256_permutevar_ps(y0, _mm256_set_epi32(0, 0, 0, 0, 1, 1, 1, 1));
-  y9 = _mm256_permutevar_ps(y0, _mm256_set_epi32(2, 2, 2, 2, 3, 3, 3, 3));
+  y6 = _mm256_permutevar_ps(y0, yi0);
+  y7 = _mm256_permutevar_ps(y0, yi1);
+  y8 = _mm256_permutevar_ps(y0, yi2);
+  y9 = _mm256_permutevar_ps(y0, yi3);

-  _mm256_store_ps(dest[0],
-                  _mm256_add_ps(_mm256_add_ps(_mm256_mul_ps(y2, y6),
-                                              _mm256_mul_ps(y3, y7)),
-                                _mm256_add_ps(_mm256_mul_ps(y4, y8),
-                                              _mm256_mul_ps(y5, y9))));
+  glmm_store256(dest[0],
+                _mm256_add_ps(_mm256_add_ps(_mm256_mul_ps(y2, y6),
+                                            _mm256_mul_ps(y3, y7)),
+                              _mm256_add_ps(_mm256_mul_ps(y4, y8),
+                                            _mm256_mul_ps(y5, y9))));

  /* n n n n i i i i */
  /* p p p p k k k k */
  /* m m m m j j j j */
  /* o o o o l l l l */
-  y6 = _mm256_permutevar_ps(y1, _mm256_set_epi32(1, 1, 1, 1, 0, 0, 0, 0));
-  y7 = _mm256_permutevar_ps(y1, _mm256_set_epi32(3, 3, 3, 3, 2, 2, 2, 2));
-  y8 = _mm256_permutevar_ps(y1, _mm256_set_epi32(0, 0, 0, 0, 1, 1, 1, 1));
-  y9 = _mm256_permutevar_ps(y1, _mm256_set_epi32(2, 2, 2, 2, 3, 3, 3, 3));
+  y6 = _mm256_permutevar_ps(y1, yi0);
+  y7 = _mm256_permutevar_ps(y1, yi1);
+  y8 = _mm256_permutevar_ps(y1, yi2);
+  y9 = _mm256_permutevar_ps(y1, yi3);

-  _mm256_store_ps(dest[2],
-                  _mm256_add_ps(_mm256_add_ps(_mm256_mul_ps(y2, y6),
-                                              _mm256_mul_ps(y3, y7)),
-                                _mm256_add_ps(_mm256_mul_ps(y4, y8),
-                                              _mm256_mul_ps(y5, y9))));
+  glmm_store256(dest[2],
+                _mm256_add_ps(_mm256_add_ps(_mm256_mul_ps(y2, y6),
+                                            _mm256_mul_ps(y3, y7)),
+                              _mm256_add_ps(_mm256_mul_ps(y4, y8),
+                                            _mm256_mul_ps(y5, y9))));
+}
+
+CGLM_INLINE
+void
+glm_mat4_inv_avx(mat4 mat, mat4 dest) {
+  __m256  y0, y1, y2, y3, y4, y5, y6, y7, y8, y9, y10, y11, y12, y13;
+  __m256  yt0, yt1, yt2;
+  __m256  t0, t1, t2;
+  __m256  r1, r2;
+  __m256  flpsign;
+  __m256i yi1, yi2, yi3;
+
+  y0  = glmm_load256(mat[0]); /* h g f e d c b a */
+  y1  = glmm_load256(mat[2]); /* p o n m l k j i */
+
+  y2  = _mm256_permute2f128_ps(y1, y1, 0x00); /* l k j i l k j i */
+  y3  = _mm256_permute2f128_ps(y1, y1, 0x11); /* p o n m p o n m */
+  y4  = _mm256_permute2f128_ps(y0, y0, 0x03); /* d c b a h g f e */
+  y13 = _mm256_permute2f128_ps(y4, y4, 0x00); /* h g f e h g f e */
+
+  yi1     = _mm256_set_epi32(0, 0, 0, 0, 0, 1, 1, 2);
+  yi2     = _mm256_set_epi32(1, 1, 1, 2, 3, 2, 3, 3);
+  flpsign = _mm256_set_ps(0.f, -0.f, 0.f, -0.f, -0.f, 0.f, -0.f, 0.f);
+
+  /* i i i i i j j k */
+  /* n n n o p o p p */
+  /* m m m m m n n o */
+  /* j j j k l k l l */
+  /* e e e e e f f g */
+  /* f f f g h g h h */
+  y5  = _mm256_permutevar_ps(y2, yi1);
+  y6  = _mm256_permutevar_ps(y3, yi2);
+  y7  = _mm256_permutevar_ps(y3, yi1);
+  y8  = _mm256_permutevar_ps(y2, yi2);
+  y2  = _mm256_permutevar_ps(y13, yi1);
+  y3  = _mm256_permutevar_ps(y13, yi2);
+
+  yi1 = _mm256_set_epi32(2, 1, 0, 0, 2, 1, 0, 0);
+  yi2 = _mm256_set_epi32(2, 1, 1, 0, 2, 1, 1, 0);
+  yi3 = _mm256_set_epi32(3, 3, 2, 0, 3, 3, 2, 0);
+
+  /*
+   t0[0] = k * p - o * l;    t1[0] = g * p - o * h;    t2[0] = g * l - k * h;
+   t0[1] = j * p - n * l;    t1[1] = f * p - n * h;    t2[1] = f * l - j * h;
+   t0[2] = j * o - n * k;    t1[2] = f * o - n * g;    t2[2] = f * k - j * g;
+   t0[3] = i * p - m * l;    t1[3] = e * p - m * h;    t2[3] = e * l - i * h;
+   t0[4] = i * o - m * k;    t1[4] = e * o - m * g;    t2[4] = e * k - i * g;
+   t0[5] = i * n - m * j;    t1[5] = e * n - m * f;    t2[5] = e * j - i * f;
+   */
+  yt0 = _mm256_sub_ps(_mm256_mul_ps(y5, y6), _mm256_mul_ps(y7, y8));
+  yt1 = _mm256_sub_ps(_mm256_mul_ps(y2, y6), _mm256_mul_ps(y7, y3));
+  yt2 = _mm256_sub_ps(_mm256_mul_ps(y2, y8), _mm256_mul_ps(y5, y3));
+
+  /* t3 t2 t1 t0 t3 t2 t1 t0 */
+  /* t5 t5 t5 t4 t5 t5 t5 t4 */
+  y9  = _mm256_permute2f128_ps(yt0, yt0, 0x00);
+  y10 = _mm256_permute2f128_ps(yt0, yt0, 0x11);
+//
+  /* t2 t1 t0 t0 t2 t1 t0 t0 */
+  t0  = _mm256_permutevar_ps(y9, yi1);
+
+  /* t4 t3 t3 t1 t4 t3 t3 t1 */
+  y11 = _mm256_shuffle_ps(y9, y10, 0x4D);
+  y12 = _mm256_permutevar_ps(y11, yi2);
+  t1  = _mm256_permute2f128_ps(y12, y9, 0x00);
+
+  /* t5 t5 t4 t2 t5 t5 t4 t2 */
+  y11 = _mm256_shuffle_ps(y9, y10, 0x4A);
+  y12 = _mm256_permutevar_ps(y11, yi3);
+  t2  = _mm256_permute2f128_ps(y12, y12, 0x00);
+
+  /* a a a b e e e f */
+  /* b b c c f f g g */
+  /* c d d d g h h h */
+  y9  = _mm256_permute_ps(y4, 0x01);
+  y10 = _mm256_permute_ps(y4, 0x5A);
+  y11 = _mm256_permute_ps(y4, 0xBF);
+
+  /*
+   dest[0][0] =  f * t[0] - g * t[1] + h * t[2];
+   dest[1][0] =-(e * t[0] - g * t[3] + h * t[4]);
+   dest[2][0] =  e * t[1] - f * t[3] + h * t[5];
+   dest[3][0] =-(e * t[2] - f * t[4] + g * t[5]);
+
+   dest[0][1] =-(b * t[0] - c * t[1] + d * t[2]);
+   dest[1][1] =  a * t[0] - c * t[3] + d * t[4];
+   dest[2][1] =-(a * t[1] - b * t[3] + d * t[5]);
+   dest[3][1] =  a * t[2] - b * t[4] + c * t[5];
+   */
+  r1 = _mm256_xor_ps(_mm256_add_ps(_mm256_sub_ps(_mm256_mul_ps(y9, t0),
+                                                 _mm256_mul_ps(y10, t1)),
+                                   _mm256_mul_ps(y11, t2)),
+                     flpsign);
+
+  /* d c b a d c b a */
+  y2 = _mm256_permute2f128_ps(y0, y0, 0x0);
+
+  /* a a a b a a a b */
+  /* b b c c b b c c */
+  /* c d d d c d d d */
+  y3 = _mm256_permutevar_ps(y2, _mm256_set_epi32(0, 0, 0, 1, 0, 0, 0, 1));
+  y4 = _mm256_permutevar_ps(y2, _mm256_set_epi32(1, 1, 2, 2, 1, 1, 2, 2));
+  y5 = _mm256_permutevar_ps(y2, _mm256_set_epi32(2, 3, 3, 3, 2, 3, 3, 3));
+
+  /* t2[3] t2[2] t2[1] t2[0] t1[3] t1[2] t1[1] t1[0] */
+  /* t2[5] t2[5] t2[5] t2[4] t1[5] t1[5] t1[5] t1[4] */
+  y6 = _mm256_permute2f128_ps(yt1, yt2, 0x20);
+  y7 = _mm256_permute2f128_ps(yt1, yt2, 0x31);
+
+  /* t2[2] t2[1] t2[0] t2[0] t1[2] t1[1] t1[0] t1[0] */
+  t0 = _mm256_permutevar_ps(y6, yi1);
+
+  /* t1[4] t1[3] t1[3] t1[1] t1[4] t1[3] t1[3] t1[1] */
+
+  /* t1[4] t1[3] t1[3] t1[1] t1[4] t1[3] t1[3] t1[1] */
+  y11 = _mm256_shuffle_ps(y6, y7, 0x4D);
+  t1  = _mm256_permutevar_ps(y11, yi2);
+
+
+  /* t2[5] t2[5] t2[4] t2[2] t1[5] t1[5] t1[4] t1[2] */
+  y11 = _mm256_shuffle_ps(y6, y7, 0x4A);
+  t2  = _mm256_permutevar_ps(y11, yi3);
+
+  /*
+   dest[0][2] =  b * t1[0] - c * t1[1] + d * t1[2];
+   dest[1][2] =-(a * t1[0] - c * t1[3] + d * t1[4]);
+   dest[2][2] =  a * t1[1] - b * t1[3] + d * t1[5];
+   dest[3][2] =-(a * t1[2] - b * t1[4] + c * t1[5]);
+
+   dest[0][3] =-(b * t2[0] - c * t2[1] + d * t2[2]);
+   dest[1][3] =  a * t2[0] - c * t2[3] + d * t2[4];
+   dest[2][3] =-(a * t2[1] - b * t2[3] + d * t2[5]);
+   dest[3][3] =  a * t2[2] - b * t2[4] + c * t2[5];
+   */
+  r2 = _mm256_xor_ps(_mm256_add_ps(_mm256_sub_ps(_mm256_mul_ps(y3, t0),
+                                                 _mm256_mul_ps(y4, t1)),
+                                   _mm256_mul_ps(y5, t2)),
+                     flpsign);
+
+  /* determinant */
+
+  y4 = _mm256_mul_ps(y0, r1);
+  y4 = _mm256_permute2f128_ps(y4, y4, 0x30);
+  y4 = _mm256_dp_ps(y0, r1, 0xff);
+
+  y5 = _mm256_div_ps(_mm256_set1_ps(1.0f), y4);
+  r1 = _mm256_mul_ps(r1, y5);
+  r2 = _mm256_mul_ps(r2, y5);
+
+  /* transpose */
+
+  /* d c b a h g f e */
+  /* l k j i p o n m */
+  y0 = _mm256_permute2f128_ps(r1, r1, 0x03);
+  y1 = _mm256_permute2f128_ps(r2, r2, 0x03);
+
+  /* b a f e f e b a */
+  /* j i n m n m j i */
+  /* i m a e m i e a */
+  /* j n b f n j f b */
+  /* n j f b m i e a */
+  y2 = _mm256_shuffle_ps(r1, y0, 0x44);
+  y3 = _mm256_shuffle_ps(r2, y1, 0x44);
+  y4 = _mm256_shuffle_ps(y2, y3, 0x88);
+  y5 = _mm256_shuffle_ps(y2, y3, 0xDD);
+  y6 = _mm256_permute2f128_ps(y4, y5, 0x20);
+
+  /* d c h g h g d c */
+  /* l k p o p o l k */
+  /* k o c g o k g c */
+  /* l p d h p l h d */
+  /* p l h d o k g c */
+  y2 = _mm256_shuffle_ps(r1, y0, 0xEE);
+  y3 = _mm256_shuffle_ps(r2, y1, 0xEE);
+  y4 = _mm256_shuffle_ps(y2, y3, 0x88);
+  y5 = _mm256_shuffle_ps(y2, y3, 0xDD);
+  y7 = _mm256_permute2f128_ps(y4, y5, 0x20);
+
+  glmm_store256(dest[0], y6);
+  glmm_store256(dest[2], y7);
+}
+
+CGLM_INLINE
+void
+glm_mat4_inv_fast_avx(mat4 mat, mat4 dest) {
+  __m256  y0, y1, y2, y3, y4, y5, y6, y7, y8, y9, y10, y11, y12, y13;
+  __m256  yt0, yt1, yt2;
+  __m256  t0, t1, t2;
+  __m256  r1, r2;
+  __m256  flpsign;
+  __m256i yi1, yi2, yi3;
+
+  y0  = glmm_load256(mat[0]); /* h g f e d c b a */
+  y1  = glmm_load256(mat[2]); /* p o n m l k j i */
+
+  y2  = _mm256_permute2f128_ps(y1, y1, 0x00); /* l k j i l k j i */
+  y3  = _mm256_permute2f128_ps(y1, y1, 0x11); /* p o n m p o n m */
+  y4  = _mm256_permute2f128_ps(y0, y0, 0x03); /* d c b a h g f e */
+  y13 = _mm256_permute2f128_ps(y4, y4, 0x00); /* h g f e h g f e */
+
+  yi1     = _mm256_set_epi32(0, 0, 0, 0, 0, 1, 1, 2);
+  yi2     = _mm256_set_epi32(1, 1, 1, 2, 3, 2, 3, 3);
+  flpsign = _mm256_set_ps(0.f, -0.f, 0.f, -0.f, -0.f, 0.f, -0.f, 0.f);
+
+  /* i i i i i j j k */
+  /* n n n o p o p p */
+  /* m m m m m n n o */
+  /* j j j k l k l l */
+  /* e e e e e f f g */
+  /* f f f g h g h h */
+  y5  = _mm256_permutevar_ps(y2, yi1);
+  y6  = _mm256_permutevar_ps(y3, yi2);
+  y7  = _mm256_permutevar_ps(y3, yi1);
+  y8  = _mm256_permutevar_ps(y2, yi2);
+  y2  = _mm256_permutevar_ps(y13, yi1);
+  y3  = _mm256_permutevar_ps(y13, yi2);
+
+  yi1 = _mm256_set_epi32(2, 1, 0, 0, 2, 1, 0, 0);
+  yi2 = _mm256_set_epi32(2, 1, 1, 0, 2, 1, 1, 0);
+  yi3 = _mm256_set_epi32(3, 3, 2, 0, 3, 3, 2, 0);
+
+  /*
+   t0[0] = k * p - o * l;    t1[0] = g * p - o * h;    t2[0] = g * l - k * h;
+   t0[1] = j * p - n * l;    t1[1] = f * p - n * h;    t2[1] = f * l - j * h;
+   t0[2] = j * o - n * k;    t1[2] = f * o - n * g;    t2[2] = f * k - j * g;
+   t0[3] = i * p - m * l;    t1[3] = e * p - m * h;    t2[3] = e * l - i * h;
+   t0[4] = i * o - m * k;    t1[4] = e * o - m * g;    t2[4] = e * k - i * g;
+   t0[5] = i * n - m * j;    t1[5] = e * n - m * f;    t2[5] = e * j - i * f;
+   */
+  yt0 = _mm256_sub_ps(_mm256_mul_ps(y5, y6), _mm256_mul_ps(y7, y8));
+  yt1 = _mm256_sub_ps(_mm256_mul_ps(y2, y6), _mm256_mul_ps(y7, y3));
+  yt2 = _mm256_sub_ps(_mm256_mul_ps(y2, y8), _mm256_mul_ps(y5, y3));
+
+  /* t3 t2 t1 t0 t3 t2 t1 t0 */
+  /* t5 t5 t5 t4 t5 t5 t5 t4 */
+  y9  = _mm256_permute2f128_ps(yt0, yt0, 0x00);
+  y10 = _mm256_permute2f128_ps(yt0, yt0, 0x11);
+
+  /* t2 t1 t0 t0 t2 t1 t0 t0 */
+  t0  = _mm256_permutevar_ps(y9, yi1);
+
+  /* t4 t3 t3 t1 t4 t3 t3 t1 */
+  y11 = _mm256_shuffle_ps(y9, y10, 0x4D);
+  y12 = _mm256_permutevar_ps(y11, yi2);
+  t1  = _mm256_permute2f128_ps(y12, y9, 0x00);
+
+  /* t5 t5 t4 t2 t5 t5 t4 t2 */
+  y11 = _mm256_shuffle_ps(y9, y10, 0x4A);
+  y12 = _mm256_permutevar_ps(y11, yi3);
+  t2  = _mm256_permute2f128_ps(y12, y12, 0x00);
+
+  /* a a a b e e e f */
+  /* b b c c f f g g */
+  /* c d d d g h h h */
+  y9  = _mm256_permute_ps(y4, 0x01);
+  y10 = _mm256_permute_ps(y4, 0x5A);
+  y11 = _mm256_permute_ps(y4, 0xBF);
+
+  /*
+   dest[0][0] =  f * t[0] - g * t[1] + h * t[2];
+   dest[1][0] =-(e * t[0] - g * t[3] + h * t[4]);
+   dest[2][0] =  e * t[1] - f * t[3] + h * t[5];
+   dest[3][0] =-(e * t[2] - f * t[4] + g * t[5]);
+
+   dest[0][1] =-(b * t[0] - c * t[1] + d * t[2]);
+   dest[1][1] =  a * t[0] - c * t[3] + d * t[4];
+   dest[2][1] =-(a * t[1] - b * t[3] + d * t[5]);
+   dest[3][1] =  a * t[2] - b * t[4] + c * t[5];
+   */
+  r1 = _mm256_xor_ps(_mm256_add_ps(_mm256_sub_ps(_mm256_mul_ps(y9, t0),
+                                                 _mm256_mul_ps(y10, t1)),
+                                   _mm256_mul_ps(y11, t2)),
+                     flpsign);
+
+  /* d c b a d c b a */
+  y2 = _mm256_permute2f128_ps(y0, y0, 0x0);
+
+  /* a a a b a a a b */
+  /* b b c c b b c c */
+  /* c d d d c d d d */
+  y3 = _mm256_permutevar_ps(y2, _mm256_set_epi32(0, 0, 0, 1, 0, 0, 0, 1));
+  y4 = _mm256_permutevar_ps(y2, _mm256_set_epi32(1, 1, 2, 2, 1, 1, 2, 2));
+  y5 = _mm256_permutevar_ps(y2, _mm256_set_epi32(2, 3, 3, 3, 2, 3, 3, 3));
+
+  /* t2[3] t2[2] t2[1] t2[0] t1[3] t1[2] t1[1] t1[0] */
+  /* t2[5] t2[5] t2[5] t2[4] t1[5] t1[5] t1[5] t1[4] */
+  y6 = _mm256_permute2f128_ps(yt1, yt2, 0x20);
+  y7 = _mm256_permute2f128_ps(yt1, yt2, 0x31);
+
+  /* t2[2] t2[1] t2[0] t2[0] t1[2] t1[1] t1[0] t1[0] */
+  t0 = _mm256_permutevar_ps(y6, yi1);
+
+  /* t1[4] t1[3] t1[3] t1[1] t1[4] t1[3] t1[3] t1[1] */
+
+  /* t1[4] t1[3] t1[3] t1[1] t1[4] t1[3] t1[3] t1[1] */
+  y11 = _mm256_shuffle_ps(y6, y7, 0x4D);
+  t1  = _mm256_permutevar_ps(y11, yi2);
+
+
+  /* t2[5] t2[5] t2[4] t2[2] t1[5] t1[5] t1[4] t1[2] */
+  y11 = _mm256_shuffle_ps(y6, y7, 0x4A);
+  t2  = _mm256_permutevar_ps(y11, yi3);
+
+  /*
+   dest[0][2] =  b * t1[0] - c * t1[1] + d * t1[2];
+   dest[1][2] =-(a * t1[0] - c * t1[3] + d * t1[4]);
+   dest[2][2] =  a * t1[1] - b * t1[3] + d * t1[5];
+   dest[3][2] =-(a * t1[2] - b * t1[4] + c * t1[5]);
+
+   dest[0][3] =-(b * t2[0] - c * t2[1] + d * t2[2]);
+   dest[1][3] =  a * t2[0] - c * t2[3] + d * t2[4];
+   dest[2][3] =-(a * t2[1] - b * t2[3] + d * t2[5]);
+   dest[3][3] =  a * t2[2] - b * t2[4] + c * t2[5];
+   */
+  r2 = _mm256_xor_ps(_mm256_add_ps(_mm256_sub_ps(_mm256_mul_ps(y3, t0),
+                                                 _mm256_mul_ps(y4, t1)),
+                                   _mm256_mul_ps(y5, t2)),
+                     flpsign);
+
+  /* determinant */
+
+  y4 = _mm256_mul_ps(y0, r1);
+  y4 = _mm256_permute2f128_ps(y4, y4, 0x30);
+  y4 = _mm256_dp_ps(y0, r1, 0xff);
+
+  y5 = _mm256_rcp_ps(y4);
+  r1 = _mm256_mul_ps(r1, y5);
+  r2 = _mm256_mul_ps(r2, y5);
+
+  /* transpose */
+
+  /* d c b a h g f e */
+  /* l k j i p o n m */
+  y0 = _mm256_permute2f128_ps(r1, r1, 0x03);
+  y1 = _mm256_permute2f128_ps(r2, r2, 0x03);
+
+  /* b a f e f e b a */
+  /* j i n m n m j i */
+  /* i m a e m i e a */
+  /* j n b f n j f b */
+  /* n j f b m i e a */
+  y2 = _mm256_shuffle_ps(r1, y0, 0x44);
+  y3 = _mm256_shuffle_ps(r2, y1, 0x44);
+  y4 = _mm256_shuffle_ps(y2, y3, 0x88);
+  y5 = _mm256_shuffle_ps(y2, y3, 0xDD);
+  y6 = _mm256_permute2f128_ps(y4, y5, 0x20);
+
+  /* d c h g h g d c */
+  /* l k p o p o l k */
+  /* k o c g o k g c */
+  /* l p d h p l h d */
+  /* p l h d o k g c */
+  y2 = _mm256_shuffle_ps(r1, y0, 0xEE);
+  y3 = _mm256_shuffle_ps(r2, y1, 0xEE);
+  y4 = _mm256_shuffle_ps(y2, y3, 0x88);
+  y5 = _mm256_shuffle_ps(y2, y3, 0xDD);
+  y7 = _mm256_permute2f128_ps(y4, y5, 0x20);
+
+  glmm_store256(dest[0], y6);
+  glmm_store256(dest[2], y7);
 }

 #endif
--- a/include/cglm/simd/intrin.h
+++ b/include/cglm/simd/intrin.h
@@ -8,11 +8,19 @@
 #ifndef cglm_intrin_h
 #define cglm_intrin_h

-#if defined( _WIN32 )
+#if defined( _MSC_VER )
 #  if (defined(_M_AMD64) || defined(_M_X64)) || _M_IX86_FP == 2
-#    define __SSE2__
+#    ifndef __SSE2__
+#      define __SSE2__
+#    endif
 #  elif _M_IX86_FP == 1
-#    define __SSE__
+#    ifndef __SSE__
+#      define __SSE__
+#    endif
+#  endif
+/* do not use alignment for older visual studio versions */
+#  if _MSC_VER < 1913     /* Visual Studio 2017 version 15.6 */
+#    define CGLM_ALL_UNALIGNED
 #  endif
 #endif

@@ -20,26 +28,63 @@
 #  include <xmmintrin.h>
 #  include <emmintrin.h>

-/* float */
-#  define _mm_shuffle1_ps(a, z, y, x, w)                                       \
-     _mm_shuffle_ps(a, a, _MM_SHUFFLE(z, y, x, w))
+/* OPTIONAL: You may save some instructions but latency (not sure) */
+#ifdef CGLM_USE_INT_DOMAIN
+#  define glmm_shuff1(xmm, z, y, x, w)                                        \
+     _mm_castsi128_ps(_mm_shuffle_epi32(_mm_castps_si128(xmm),                \
+                                        _MM_SHUFFLE(z, y, x, w)))
+#else
+#  define glmm_shuff1(xmm, z, y, x, w)                                        \
+     _mm_shuffle_ps(xmm, xmm, _MM_SHUFFLE(z, y, x, w))
+#endif

-#  define _mm_shuffle1_ps1(a, x)                                               \
-     _mm_shuffle_ps(a, a, _MM_SHUFFLE(x, x, x, x))
+#define glmm_shuff1x(xmm, x) glmm_shuff1(xmm, x, x, x, x)
+#define glmm_shuff2(a, b, z0, y0, x0, w0, z1, y1, x1, w1)                     \
+     glmm_shuff1(_mm_shuffle_ps(a, b, _MM_SHUFFLE(z0, y0, x0, w0)),           \
+                 z1, y1, x1, w1)

-#  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
+static inline
 __m128
-glm_simd_dot(__m128 a, __m128 b) {
+glmm_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));
+  x0 = _mm_add_ps(x0, glmm_shuff1(x0, 1, 0, 3, 2));
+  return _mm_add_ps(x0, glmm_shuff1(x0, 0, 1, 0, 1));
 }

+static inline
+__m128
+glmm_norm(__m128 a) {
+  return _mm_sqrt_ps(glmm_dot(a, a));
+}
+
+static inline
+__m128
+glmm_load3(float v[3]) {
+  __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
+glmm_store3(__m128 vx, float v[3]) {
+  _mm_storel_pi((__m64 *)&v[0], vx);
+  _mm_store_ss(&v[2], glmm_shuff1(vx, 2, 2, 2, 2));
+}
+
+#ifdef CGLM_ALL_UNALIGNED
+#  define glmm_load(p)      _mm_loadu_ps(p)
+#  define glmm_store(p, a)  _mm_storeu_ps(p, a)
+#else
+#  define glmm_load(p)      _mm_load_ps(p)
+#  define glmm_store(p, a)  _mm_store_ps(p, a)
+#endif
+
 #endif

 /* x86, x64 */
@@ -49,6 +94,15 @@ glm_simd_dot(__m128 a, __m128 b) {

 #ifdef __AVX__
 #  define CGLM_AVX_FP 1
+
+#ifdef CGLM_ALL_UNALIGNED
+#  define glmm_load256(p)      _mm256_loadu_ps(p)
+#  define glmm_store256(p, a)  _mm256_storeu_ps(p, a)
+#else
+#  define glmm_load256(p)      _mm256_load_ps(p)
+#  define glmm_store256(p, a)  _mm256_store_ps(p, a)
+#endif
+
 #endif

 /* ARM Neon */
--- a/include/cglm/simd/sse2/affine.h
+++ b/include/cglm/simd/sse2/affine.h
@@ -18,35 +18,67 @@ glm_mul_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]);
+  l0 = glmm_load(m1[0]);
+  l1 = glmm_load(m1[1]);
+  l2 = glmm_load(m1[2]);
+  l3 = glmm_load(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 = glmm_load(m2[0]);
+  glmm_store(dest[0],
+             _mm_add_ps(_mm_add_ps(_mm_mul_ps(glmm_shuff1x(r, 0), l0),
+                                   _mm_mul_ps(glmm_shuff1x(r, 1), l1)),
+                        _mm_mul_ps(glmm_shuff1x(r, 2), l2)));

-  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 = glmm_load(m2[1]);
+  glmm_store(dest[1],
+             _mm_add_ps(_mm_add_ps(_mm_mul_ps(glmm_shuff1x(r, 0), l0),
+                                   _mm_mul_ps(glmm_shuff1x(r, 1), l1)),
+                        _mm_mul_ps(glmm_shuff1x(r, 2), l2)));

-  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)));
+  r = glmm_load(m2[2]);
+  glmm_store(dest[2],
+             _mm_add_ps(_mm_add_ps(_mm_mul_ps(glmm_shuff1x(r, 0), l0),
+                                   _mm_mul_ps(glmm_shuff1x(r, 1), l1)),
+                        _mm_mul_ps(glmm_shuff1x(r, 2), l2)));

-  r = _mm_load_ps(m2[3]);
-  _mm_store_ps(dest[3],
-               _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_add_ps(_mm_mul_ps(_mm_shuffle1_ps1(r, 2), l2),
-                                     _mm_mul_ps(_mm_shuffle1_ps1(r, 3), l3))));
+  r = glmm_load(m2[3]);
+  glmm_store(dest[3],
+             _mm_add_ps(_mm_add_ps(_mm_mul_ps(glmm_shuff1x(r, 0), l0),
+                                   _mm_mul_ps(glmm_shuff1x(r, 1), l1)),
+                        _mm_add_ps(_mm_mul_ps(glmm_shuff1x(r, 2), l2),
+                                   _mm_mul_ps(glmm_shuff1x(r, 3), l3))));
+}
+
+CGLM_INLINE
+void
+glm_mul_rot_sse2(mat4 m1, mat4 m2, mat4 dest) {
+  /* D = R * L (Column-Major) */
+  __m128 l0, l1, l2, l3, r;
+
+  l0 = glmm_load(m1[0]);
+  l1 = glmm_load(m1[1]);
+  l2 = glmm_load(m1[2]);
+  l3 = glmm_load(m1[3]);
+
+  r = glmm_load(m2[0]);
+  glmm_store(dest[0],
+             _mm_add_ps(_mm_add_ps(_mm_mul_ps(glmm_shuff1x(r, 0), l0),
+                                   _mm_mul_ps(glmm_shuff1x(r, 1), l1)),
+                        _mm_mul_ps(glmm_shuff1x(r, 2), l2)));
+
+  r = glmm_load(m2[1]);
+  glmm_store(dest[1],
+             _mm_add_ps(_mm_add_ps(_mm_mul_ps(glmm_shuff1x(r, 0), l0),
+                                   _mm_mul_ps(glmm_shuff1x(r, 1), l1)),
+                        _mm_mul_ps(glmm_shuff1x(r, 2), l2)));
+
+  r = glmm_load(m2[2]);
+  glmm_store(dest[2],
+             _mm_add_ps(_mm_add_ps(_mm_mul_ps(glmm_shuff1x(r, 0), l0),
+                                   _mm_mul_ps(glmm_shuff1x(r, 1), l1)),
+                        _mm_mul_ps(glmm_shuff1x(r, 2), l2)));
+
+  glmm_store(dest[3], l3);
 }

 CGLM_INLINE
@@ -54,25 +86,25 @@ void
 glm_inv_tr_sse2(mat4 mat) {
  __m128 r0, r1, r2, r3, x0, x1;

-  r0 = _mm_load_ps(mat[0]);
-  r1 = _mm_load_ps(mat[1]);
-  r2 = _mm_load_ps(mat[2]);
-  r3 = _mm_load_ps(mat[3]);
-  x1  = _mm_set_ps(1.0f, 0.0f, 0.0f, 0.0f);
+  r0 = glmm_load(mat[0]);
+  r1 = glmm_load(mat[1]);
+  r2 = glmm_load(mat[2]);
+  r3 = glmm_load(mat[3]);
+  x1 = _mm_set_ps(1.0f, 0.0f, 0.0f, 0.0f);

  _MM_TRANSPOSE4_PS(r0, r1, r2, x1);

-  x0 = _mm_add_ps(_mm_mul_ps(r0, _mm_shuffle1_ps(r3, 0, 0, 0, 0)),
-                  _mm_mul_ps(r1, _mm_shuffle1_ps(r3, 1, 1, 1, 1)));
-  x0 = _mm_add_ps(x0, _mm_mul_ps(r2, _mm_shuffle1_ps(r3, 2, 2, 2, 2)));
+  x0 = _mm_add_ps(_mm_mul_ps(r0, glmm_shuff1(r3, 0, 0, 0, 0)),
+                  _mm_mul_ps(r1, glmm_shuff1(r3, 1, 1, 1, 1)));
+  x0 = _mm_add_ps(x0, _mm_mul_ps(r2, glmm_shuff1(r3, 2, 2, 2, 2)));
  x0 = _mm_xor_ps(x0, _mm_set1_ps(-0.f));

  x0 = _mm_add_ps(x0, x1);

-  _mm_store_ps(mat[0], r0);
-  _mm_store_ps(mat[1], r1);
-  _mm_store_ps(mat[2], r2);
-  _mm_store_ps(mat[3], x0);
+  glmm_store(mat[0], r0);
+  glmm_store(mat[1], r1);
+  glmm_store(mat[2], r2);
+  glmm_store(mat[3], x0);
 }

 #endif
--- a/include/cglm/simd/sse2/mat3.h
+++ b/include/cglm/simd/sse2/mat3.h
@@ -27,27 +27,25 @@ glm_mat3_mul_sse2(mat3 m1, mat3 m2, mat3 dest) {
  r1 = _mm_loadu_ps(&m2[1][1]);
  r2 = _mm_set1_ps(m2[2][2]);

-  x1 = _mm_shuffle2_ps(l0, l1, 1, 0, 3, 3, 0, 3, 2, 0);
-  x2 = _mm_shuffle2_ps(l1, l2, 0, 0, 3, 2, 0, 2, 1, 0);
+  x1 = glmm_shuff2(l0, l1, 1, 0, 3, 3, 0, 3, 2, 0);
+  x2 = glmm_shuff2(l1, l2, 0, 0, 3, 2, 0, 2, 1, 0);

-  x0 = _mm_add_ps(_mm_mul_ps(_mm_shuffle1_ps(l0, 0, 2, 1, 0),
-                             _mm_shuffle1_ps(r0, 3, 0, 0, 0)),
-                  _mm_mul_ps(x1,
-                             _mm_shuffle2_ps(r0, r1, 0, 0, 1, 1, 2, 0, 0, 0)));
+  x0 = _mm_add_ps(_mm_mul_ps(glmm_shuff1(l0, 0, 2, 1, 0),
+                             glmm_shuff1(r0, 3, 0, 0, 0)),
+                  _mm_mul_ps(x1, glmm_shuff2(r0, r1, 0, 0, 1, 1, 2, 0, 0, 0)));

  x0 = _mm_add_ps(x0,
-                  _mm_mul_ps(x2,
-                             _mm_shuffle2_ps(r0, r1, 1, 1, 2, 2, 2, 0, 0, 0)));
+                  _mm_mul_ps(x2, glmm_shuff2(r0, r1, 1, 1, 2, 2, 2, 0, 0, 0)));

  _mm_storeu_ps(dest[0], x0);

-  x0 = _mm_add_ps(_mm_mul_ps(_mm_shuffle1_ps(l0, 1, 0, 2, 1),
+  x0 = _mm_add_ps(_mm_mul_ps(glmm_shuff1(l0, 1, 0, 2, 1),
                             _mm_shuffle_ps(r0, r1, _MM_SHUFFLE(2, 2, 3, 3))),
-                  _mm_mul_ps(_mm_shuffle1_ps(x1, 1, 0, 2, 1),
-                             _mm_shuffle1_ps(r1, 3, 3, 0, 0)));
+                  _mm_mul_ps(glmm_shuff1(x1, 1, 0, 2, 1),
+                             glmm_shuff1(r1, 3, 3, 0, 0)));

  x0 = _mm_add_ps(x0,
-                  _mm_mul_ps(_mm_shuffle1_ps(x2, 1, 0, 2, 1),
+                  _mm_mul_ps(glmm_shuff1(x2, 1, 0, 2, 1),
                             _mm_shuffle_ps(r1, r2, _MM_SHUFFLE(0, 0, 1, 1))));

  _mm_storeu_ps(&dest[1][1], x0);
--- a/include/cglm/simd/sse2/mat4.h
+++ b/include/cglm/simd/sse2/mat4.h
@@ -16,32 +16,32 @@

 CGLM_INLINE
 void
-glm_mat4_scale_sse2(mat4 m, float s){
+glm_mat4_scale_sse2(mat4 m, float s) {
  __m128 x0;
  x0 = _mm_set1_ps(s);

-  _mm_store_ps(m[0], _mm_mul_ps(_mm_load_ps(m[0]), x0));
-  _mm_store_ps(m[1], _mm_mul_ps(_mm_load_ps(m[1]), x0));
-  _mm_store_ps(m[2], _mm_mul_ps(_mm_load_ps(m[2]), x0));
-  _mm_store_ps(m[3], _mm_mul_ps(_mm_load_ps(m[3]), x0));
+  glmm_store(m[0], _mm_mul_ps(glmm_load(m[0]), x0));
+  glmm_store(m[1], _mm_mul_ps(glmm_load(m[1]), x0));
+  glmm_store(m[2], _mm_mul_ps(glmm_load(m[2]), x0));
+  glmm_store(m[3], _mm_mul_ps(glmm_load(m[3]), x0));
 }

 CGLM_INLINE
 void
-glm_mat4_transp_sse2(mat4 m, mat4 dest){
+glm_mat4_transp_sse2(mat4 m, mat4 dest) {
  __m128 r0, r1, r2, r3;

-  r0 = _mm_load_ps(m[0]);
-  r1 = _mm_load_ps(m[1]);
-  r2 = _mm_load_ps(m[2]);
-  r3 = _mm_load_ps(m[3]);
+  r0 = glmm_load(m[0]);
+  r1 = glmm_load(m[1]);
+  r2 = glmm_load(m[2]);
+  r3 = glmm_load(m[3]);

  _MM_TRANSPOSE4_PS(r0, r1, r2, r3);

-  _mm_store_ps(dest[0], r0);
-  _mm_store_ps(dest[1], r1);
-  _mm_store_ps(dest[2], r2);
-  _mm_store_ps(dest[3], r3);
+  glmm_store(dest[0], r0);
+  glmm_store(dest[1], r1);
+  glmm_store(dest[2], r2);
+  glmm_store(dest[3], r3);
 }

 CGLM_INLINE
@@ -51,36 +51,36 @@ glm_mat4_mul_sse2(mat4 m1, mat4 m2, mat4 dest) {

  __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]);
+  l0 = glmm_load(m1[0]);
+  l1 = glmm_load(m1[1]);
+  l2 = glmm_load(m1[2]);
+  l3 = glmm_load(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_add_ps(_mm_mul_ps(_mm_shuffle1_ps1(r, 2), l2),
-                                     _mm_mul_ps(_mm_shuffle1_ps1(r, 3), l3))));
-  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_add_ps(_mm_mul_ps(_mm_shuffle1_ps1(r, 2), l2),
-                                     _mm_mul_ps(_mm_shuffle1_ps1(r, 3), l3))));
-  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_add_ps(_mm_mul_ps(_mm_shuffle1_ps1(r, 2), l2),
-                                     _mm_mul_ps(_mm_shuffle1_ps1(r, 3), l3))));
+  r = glmm_load(m2[0]);
+  glmm_store(dest[0],
+             _mm_add_ps(_mm_add_ps(_mm_mul_ps(glmm_shuff1x(r, 0), l0),
+                                   _mm_mul_ps(glmm_shuff1x(r, 1), l1)),
+                        _mm_add_ps(_mm_mul_ps(glmm_shuff1x(r, 2), l2),
+                                   _mm_mul_ps(glmm_shuff1x(r, 3), l3))));
+  r = glmm_load(m2[1]);
+  glmm_store(dest[1],
+             _mm_add_ps(_mm_add_ps(_mm_mul_ps(glmm_shuff1x(r, 0), l0),
+                                   _mm_mul_ps(glmm_shuff1x(r, 1), l1)),
+                        _mm_add_ps(_mm_mul_ps(glmm_shuff1x(r, 2), l2),
+                                   _mm_mul_ps(glmm_shuff1x(r, 3), l3))));
+  r = glmm_load(m2[2]);
+  glmm_store(dest[2],
+             _mm_add_ps(_mm_add_ps(_mm_mul_ps(glmm_shuff1x(r, 0), l0),
+                                   _mm_mul_ps(glmm_shuff1x(r, 1), l1)),
+                        _mm_add_ps(_mm_mul_ps(glmm_shuff1x(r, 2), l2),
+                                   _mm_mul_ps(glmm_shuff1x(r, 3), l3))));

-  r = _mm_load_ps(m2[3]);
-  _mm_store_ps(dest[3],
-               _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_add_ps(_mm_mul_ps(_mm_shuffle1_ps1(r, 2), l2),
-                                     _mm_mul_ps(_mm_shuffle1_ps1(r, 3), l3))));
+  r = glmm_load(m2[3]);
+  glmm_store(dest[3],
+             _mm_add_ps(_mm_add_ps(_mm_mul_ps(glmm_shuff1x(r, 0), l0),
+                                   _mm_mul_ps(glmm_shuff1x(r, 1), l1)),
+                        _mm_add_ps(_mm_mul_ps(glmm_shuff1x(r, 2), l2),
+                                   _mm_mul_ps(glmm_shuff1x(r, 3), l3))));
 }

 CGLM_INLINE
@@ -88,18 +88,14 @@ void
 glm_mat4_mulv_sse2(mat4 m, vec4 v, vec4 dest) {
  __m128 x0, x1, x2;

-  x0 = _mm_load_ps(v);
-  x1 = _mm_add_ps(_mm_mul_ps(_mm_load_ps(m[0]),
-                             _mm_shuffle1_ps1(x0, 0)),
-                  _mm_mul_ps(_mm_load_ps(m[1]),
-                             _mm_shuffle1_ps1(x0, 1)));
+  x0 = glmm_load(v);
+  x1 = _mm_add_ps(_mm_mul_ps(glmm_load(m[0]), glmm_shuff1x(x0, 0)),
+                  _mm_mul_ps(glmm_load(m[1]), glmm_shuff1x(x0, 1)));

-  x2 = _mm_add_ps(_mm_mul_ps(_mm_load_ps(m[2]),
-                             _mm_shuffle1_ps1(x0, 2)),
-                  _mm_mul_ps(_mm_load_ps(m[3]),
-                             _mm_shuffle1_ps1(x0, 3)));
+  x2 = _mm_add_ps(_mm_mul_ps(glmm_load(m[2]), glmm_shuff1x(x0, 2)),
+                  _mm_mul_ps(glmm_load(m[3]), glmm_shuff1x(x0, 3)));

-  _mm_store_ps(dest, _mm_add_ps(x1, x2));
+  glmm_store(dest, _mm_add_ps(x1, x2));
 }

 CGLM_INLINE
@@ -108,10 +104,10 @@ glm_mat4_det_sse2(mat4 mat) {
  __m128 r0, r1, r2, r3, x0, x1, x2;

  /* 127 <- 0, [square] det(A) = det(At) */
-  r0 = _mm_load_ps(mat[0]); /* d c b a */
-  r1 = _mm_load_ps(mat[1]); /* h g f e */
-  r2 = _mm_load_ps(mat[2]); /* l k j i */
-  r3 = _mm_load_ps(mat[3]); /* p o n m */
+  r0 = glmm_load(mat[0]); /* d c b a */
+  r1 = glmm_load(mat[1]); /* h g f e */
+  r2 = glmm_load(mat[2]); /* l k j i */
+  r3 = glmm_load(mat[3]); /* p o n m */

  /*
   t[1] = j * p - n * l;
@@ -119,20 +115,20 @@ glm_mat4_det_sse2(mat4 mat) {
   t[3] = i * p - m * l;
   t[4] = i * o - m * k;
   */
-  x0 = _mm_sub_ps(_mm_mul_ps(_mm_shuffle1_ps(r2, 0, 0, 1, 1),
-                             _mm_shuffle1_ps(r3, 2, 3, 2, 3)),
-                  _mm_mul_ps(_mm_shuffle1_ps(r3, 0, 0, 1, 1),
-                             _mm_shuffle1_ps(r2, 2, 3, 2, 3)));
+  x0 = _mm_sub_ps(_mm_mul_ps(glmm_shuff1(r2, 0, 0, 1, 1),
+                             glmm_shuff1(r3, 2, 3, 2, 3)),
+                  _mm_mul_ps(glmm_shuff1(r3, 0, 0, 1, 1),
+                             glmm_shuff1(r2, 2, 3, 2, 3)));
  /*
   t[0] = k * p - o * l;
   t[0] = k * p - o * l;
   t[5] = i * n - m * j;
   t[5] = i * n - m * j;
   */
-  x1 = _mm_sub_ps(_mm_mul_ps(_mm_shuffle1_ps(r2, 0, 0, 2, 2),
-                             _mm_shuffle1_ps(r3, 1, 1, 3, 3)),
-                  _mm_mul_ps(_mm_shuffle1_ps(r3, 0, 0, 2, 2),
-                             _mm_shuffle1_ps(r2, 1, 1, 3, 3)));
+  x1 = _mm_sub_ps(_mm_mul_ps(glmm_shuff1(r2, 0, 0, 2, 2),
+                             glmm_shuff1(r3, 1, 1, 3, 3)),
+                  _mm_mul_ps(glmm_shuff1(r3, 0, 0, 2, 2),
+                             glmm_shuff1(r2, 1, 1, 3, 3)));

  /*
     a * (f * t[0] - g * t[1] + h * t[2])
@@ -140,19 +136,19 @@ glm_mat4_det_sse2(mat4 mat) {
   + c * (e * t[1] - f * t[3] + h * t[5])
   - d * (e * t[2] - f * t[4] + g * t[5])
   */
-  x2 = _mm_sub_ps(_mm_mul_ps(_mm_shuffle1_ps(r1, 0, 0, 0, 1),
+  x2 = _mm_sub_ps(_mm_mul_ps(glmm_shuff1(r1, 0, 0, 0, 1),
                             _mm_shuffle_ps(x1, x0, _MM_SHUFFLE(1, 0, 0, 0))),
-                  _mm_mul_ps(_mm_shuffle1_ps(r1, 1, 1, 2, 2),
-                             _mm_shuffle1_ps(x0, 3, 2, 2, 0)));
+                  _mm_mul_ps(glmm_shuff1(r1, 1, 1, 2, 2),
+                             glmm_shuff1(x0, 3, 2, 2, 0)));

  x2 = _mm_add_ps(x2,
-                  _mm_mul_ps(_mm_shuffle1_ps(r1, 2, 3, 3, 3),
+                  _mm_mul_ps(glmm_shuff1(r1, 2, 3, 3, 3),
                             _mm_shuffle_ps(x0, x1, _MM_SHUFFLE(2, 2, 3, 1))));
  x2 = _mm_xor_ps(x2, _mm_set_ps(-0.f, 0.f, -0.f, 0.f));

  x0 = _mm_mul_ps(r0, x2);
-  x0 = _mm_add_ps(x0, _mm_shuffle1_ps(x0, 0, 1, 2, 3));
-  x0 = _mm_add_ps(x0, _mm_shuffle1_ps(x0, 1, 3, 3, 1));
+  x0 = _mm_add_ps(x0, glmm_shuff1(x0, 0, 1, 2, 3));
+  x0 = _mm_add_ps(x0, glmm_shuff1(x0, 1, 3, 3, 1));

  return _mm_cvtss_f32(x0);
 }
@@ -166,14 +162,14 @@ glm_mat4_inv_fast_sse2(mat4 mat, mat4 dest) {
         x0, x1, x2, x3, x4, x5, x6, x7;

  /* 127 <- 0 */
-  r0 = _mm_load_ps(mat[0]); /* d c b a */
-  r1 = _mm_load_ps(mat[1]); /* h g f e */
-  r2 = _mm_load_ps(mat[2]); /* l k j i */
-  r3 = _mm_load_ps(mat[3]); /* p o n m */
+  r0 = glmm_load(mat[0]); /* d c b a */
+  r1 = glmm_load(mat[1]); /* h g f e */
+  r2 = glmm_load(mat[2]); /* l k j i */
+  r3 = glmm_load(mat[3]); /* p o n m */

  x0 = _mm_shuffle_ps(r2, r3, _MM_SHUFFLE(3, 2, 3, 2));  /* p o l k */
-  x1 = _mm_shuffle1_ps(x0, 1, 3, 3, 3);                  /* l p p p */
-  x2 = _mm_shuffle1_ps(x0, 0, 2, 2, 2);                  /* k o o o */
+  x1 = glmm_shuff1(x0, 1, 3, 3, 3);                      /* l p p p */
+  x2 = glmm_shuff1(x0, 0, 2, 2, 2);                      /* k o o o */
  x0 = _mm_shuffle_ps(r2, r1, _MM_SHUFFLE(3, 3, 3, 3));  /* h h l l */
  x3 = _mm_shuffle_ps(r2, r1, _MM_SHUFFLE(2, 2, 2, 2));  /* g g k k */

@@ -184,7 +180,7 @@ glm_mat4_inv_fast_sse2(mat4 mat, mat4 dest) {
  t0 = _mm_sub_ps(_mm_mul_ps(x3, x1), _mm_mul_ps(x2, x0));

  x4 = _mm_shuffle_ps(r2, r3, _MM_SHUFFLE(2, 1, 2, 1)); /* o n k j */
-  x4 = _mm_shuffle1_ps(x4, 0, 2, 2, 2);                 /* j n n n */
+  x4 = glmm_shuff1(x4, 0, 2, 2, 2);                     /* j n n n */
  x5 = _mm_shuffle_ps(r2, r1, _MM_SHUFFLE(1, 1, 1, 1)); /* f f j j */

  /* t1[1] = j * p - n * l;
@@ -200,7 +196,7 @@ glm_mat4_inv_fast_sse2(mat4 mat, mat4 dest) {
  t2 = _mm_sub_ps(_mm_mul_ps(x5, x2), _mm_mul_ps(x4, x3));

  x6 = _mm_shuffle_ps(r2, r1, _MM_SHUFFLE(0, 0, 0, 0)); /* e e i i */
-  x7 = _mm_shuffle2_ps(r3, r2, 0, 0, 0, 0, 2, 0, 0, 0); /* i m m m */
+  x7 = glmm_shuff2(r3, r2, 0, 0, 0, 0, 2, 0, 0, 0);     /* i m m m */

  /* t1[3] = i * p - m * l;
     t1[3] = i * p - m * l;
@@ -220,10 +216,10 @@ glm_mat4_inv_fast_sse2(mat4 mat, mat4 dest) {
     t3[5] = e * j - i * f; */
  t5 = _mm_sub_ps(_mm_mul_ps(x6, x4), _mm_mul_ps(x7, x5));

-  x0 = _mm_shuffle2_ps(r1, r0, 0, 0, 0, 0, 2, 2, 2, 0); /* a a a e */
-  x1 = _mm_shuffle2_ps(r1, r0, 1, 1, 1, 1, 2, 2, 2, 0); /* b b b f */
-  x2 = _mm_shuffle2_ps(r1, r0, 2, 2, 2, 2, 2, 2, 2, 0); /* c c c g */
-  x3 = _mm_shuffle2_ps(r1, r0, 3, 3, 3, 3, 2, 2, 2, 0); /* d d d h */
+  x0 = glmm_shuff2(r1, r0, 0, 0, 0, 0, 2, 2, 2, 0); /* a a a e */
+  x1 = glmm_shuff2(r1, r0, 1, 1, 1, 1, 2, 2, 2, 0); /* b b b f */
+  x2 = glmm_shuff2(r1, r0, 2, 2, 2, 2, 2, 2, 2, 0); /* c c c g */
+  x3 = glmm_shuff2(r1, r0, 3, 3, 3, 3, 2, 2, 2, 0); /* d d d h */

  /*
   dest[0][0] =  f * t1[0] - g * t1[1] + h * t1[2];
@@ -271,14 +267,14 @@ glm_mat4_inv_fast_sse2(mat4 mat, mat4 dest) {
  x0 = _mm_shuffle_ps(x0, x1, _MM_SHUFFLE(2, 0, 2, 0));

  x0 = _mm_mul_ps(x0, r0);
-  x0 = _mm_add_ps(x0, _mm_shuffle1_ps(x0, 0, 1, 2, 3));
-  x0 = _mm_add_ps(x0, _mm_shuffle1_ps(x0, 1, 0, 0, 1));
+  x0 = _mm_add_ps(x0, glmm_shuff1(x0, 0, 1, 2, 3));
+  x0 = _mm_add_ps(x0, glmm_shuff1(x0, 1, 0, 0, 1));
  x0 = _mm_rcp_ps(x0);

-  _mm_store_ps(dest[0], _mm_mul_ps(v0, x0));
-  _mm_store_ps(dest[1], _mm_mul_ps(v1, x0));
-  _mm_store_ps(dest[2], _mm_mul_ps(v2, x0));
-  _mm_store_ps(dest[3], _mm_mul_ps(v3, x0));
+  glmm_store(dest[0], _mm_mul_ps(v0, x0));
+  glmm_store(dest[1], _mm_mul_ps(v1, x0));
+  glmm_store(dest[2], _mm_mul_ps(v2, x0));
+  glmm_store(dest[3], _mm_mul_ps(v3, x0));
 }

 CGLM_INLINE
@@ -290,14 +286,14 @@ glm_mat4_inv_sse2(mat4 mat, mat4 dest) {
         x0, x1, x2, x3, x4, x5, x6, x7;

  /* 127 <- 0 */
-  r0 = _mm_load_ps(mat[0]); /* d c b a */
-  r1 = _mm_load_ps(mat[1]); /* h g f e */
-  r2 = _mm_load_ps(mat[2]); /* l k j i */
-  r3 = _mm_load_ps(mat[3]); /* p o n m */
+  r0 = glmm_load(mat[0]); /* d c b a */
+  r1 = glmm_load(mat[1]); /* h g f e */
+  r2 = glmm_load(mat[2]); /* l k j i */
+  r3 = glmm_load(mat[3]); /* p o n m */

  x0 = _mm_shuffle_ps(r2, r3, _MM_SHUFFLE(3, 2, 3, 2));  /* p o l k */
-  x1 = _mm_shuffle1_ps(x0, 1, 3, 3, 3);                  /* l p p p */
-  x2 = _mm_shuffle1_ps(x0, 0, 2, 2, 2);                  /* k o o o */
+  x1 = glmm_shuff1(x0, 1, 3, 3, 3);                      /* l p p p */
+  x2 = glmm_shuff1(x0, 0, 2, 2, 2);                      /* k o o o */
  x0 = _mm_shuffle_ps(r2, r1, _MM_SHUFFLE(3, 3, 3, 3));  /* h h l l */
  x3 = _mm_shuffle_ps(r2, r1, _MM_SHUFFLE(2, 2, 2, 2));  /* g g k k */

@@ -308,7 +304,7 @@ glm_mat4_inv_sse2(mat4 mat, mat4 dest) {
  t0 = _mm_sub_ps(_mm_mul_ps(x3, x1), _mm_mul_ps(x2, x0));

  x4 = _mm_shuffle_ps(r2, r3, _MM_SHUFFLE(2, 1, 2, 1)); /* o n k j */
-  x4 = _mm_shuffle1_ps(x4, 0, 2, 2, 2);                 /* j n n n */
+  x4 = glmm_shuff1(x4, 0, 2, 2, 2);                     /* j n n n */
  x5 = _mm_shuffle_ps(r2, r1, _MM_SHUFFLE(1, 1, 1, 1)); /* f f j j */

  /* t1[1] = j * p - n * l;
@@ -324,7 +320,7 @@ glm_mat4_inv_sse2(mat4 mat, mat4 dest) {
  t2 = _mm_sub_ps(_mm_mul_ps(x5, x2), _mm_mul_ps(x4, x3));

  x6 = _mm_shuffle_ps(r2, r1, _MM_SHUFFLE(0, 0, 0, 0)); /* e e i i */
-  x7 = _mm_shuffle2_ps(r3, r2, 0, 0, 0, 0, 2, 0, 0, 0); /* i m m m */
+  x7 = glmm_shuff2(r3, r2, 0, 0, 0, 0, 2, 0, 0, 0);     /* i m m m */

  /* t1[3] = i * p - m * l;
     t1[3] = i * p - m * l;
@@ -344,10 +340,10 @@ glm_mat4_inv_sse2(mat4 mat, mat4 dest) {
     t3[5] = e * j - i * f; */
  t5 = _mm_sub_ps(_mm_mul_ps(x6, x4), _mm_mul_ps(x7, x5));

-  x0 = _mm_shuffle2_ps(r1, r0, 0, 0, 0, 0, 2, 2, 2, 0); /* a a a e */
-  x1 = _mm_shuffle2_ps(r1, r0, 1, 1, 1, 1, 2, 2, 2, 0); /* b b b f */
-  x2 = _mm_shuffle2_ps(r1, r0, 2, 2, 2, 2, 2, 2, 2, 0); /* c c c g */
-  x3 = _mm_shuffle2_ps(r1, r0, 3, 3, 3, 3, 2, 2, 2, 0); /* d d d h */
+  x0 = glmm_shuff2(r1, r0, 0, 0, 0, 0, 2, 2, 2, 0); /* a a a e */
+  x1 = glmm_shuff2(r1, r0, 1, 1, 1, 1, 2, 2, 2, 0); /* b b b f */
+  x2 = glmm_shuff2(r1, r0, 2, 2, 2, 2, 2, 2, 2, 0); /* c c c g */
+  x3 = glmm_shuff2(r1, r0, 3, 3, 3, 3, 2, 2, 2, 0); /* d d d h */

  /*
   dest[0][0] =  f * t1[0] - g * t1[1] + h * t1[2];
@@ -395,14 +391,14 @@ glm_mat4_inv_sse2(mat4 mat, mat4 dest) {
  x0 = _mm_shuffle_ps(x0, x1, _MM_SHUFFLE(2, 0, 2, 0));

  x0 = _mm_mul_ps(x0, r0);
-  x0 = _mm_add_ps(x0, _mm_shuffle1_ps(x0, 0, 1, 2, 3));
-  x0 = _mm_add_ps(x0, _mm_shuffle1_ps(x0, 1, 0, 0, 1));
+  x0 = _mm_add_ps(x0, glmm_shuff1(x0, 0, 1, 2, 3));
+  x0 = _mm_add_ps(x0, glmm_shuff1(x0, 1, 0, 0, 1));
  x0 = _mm_div_ps(_mm_set1_ps(1.0f), x0);

-  _mm_store_ps(dest[0], _mm_mul_ps(v0, x0));
-  _mm_store_ps(dest[1], _mm_mul_ps(v1, x0));
-  _mm_store_ps(dest[2], _mm_mul_ps(v2, x0));
-  _mm_store_ps(dest[3], _mm_mul_ps(v3, x0));
+  glmm_store(dest[0], _mm_mul_ps(v0, x0));
+  glmm_store(dest[1], _mm_mul_ps(v1, x0));
+  glmm_store(dest[2], _mm_mul_ps(v2, x0));
+  glmm_store(dest[3], _mm_mul_ps(v3, x0));
 }

 #endif
--- a/include/cglm/simd/sse2/quat.h
+++ b/include/cglm/simd/sse2/quat.h
@@ -24,21 +24,21 @@ glm_quat_mul_sse2(versor p, versor q, versor dest) {

  __m128 xp, xq, x0, r;

-  xp = _mm_load_ps(p); /* 3 2 1 0 */
-  xq = _mm_load_ps(q);
+  xp = glmm_load(p); /* 3 2 1 0 */
+  xq = glmm_load(q);

-  r  = _mm_mul_ps(_mm_shuffle1_ps1(xp, 3), xq);
+  r  = _mm_mul_ps(glmm_shuff1x(xp, 3), xq);

-  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)));
+  x0 = _mm_xor_ps(glmm_shuff1x(xp, 0), _mm_set_ps(-0.f, 0.f, -0.f, 0.f));
+  r  = _mm_add_ps(r, _mm_mul_ps(x0, glmm_shuff1(xq, 0, 1, 2, 3)));

-  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)));
+  x0 = _mm_xor_ps(glmm_shuff1x(xp, 1), _mm_set_ps(-0.f, -0.f, 0.f, 0.f));
+  r  = _mm_add_ps(r, _mm_mul_ps(x0, glmm_shuff1(xq, 1, 0, 3, 2)));

-  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)));
+  x0 = _mm_xor_ps(glmm_shuff1x(xp, 2), _mm_set_ps(-0.f, 0.f, 0.f, -0.f));
+  r  = _mm_add_ps(r, _mm_mul_ps(x0, glmm_shuff1(xq, 2, 3, 0, 1)));

-  _mm_store_ps(dest, r);
+  glmm_store(dest, r);
 }


--- a/include/cglm/sphere.h
+++ b/include/cglm/sphere.h
@@ -0,0 +1,99 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), http://opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+#ifndef cglm_sphere_h
+#define cglm_sphere_h
+
+#include "common.h"
+#include "mat4.h"
+
+/*
+  Sphere Representation in cglm: [center.x, center.y, center.z, radii]
+
+  You could use this representation or you can convert it to vec4 before call
+  any function
+ */
+
+/*!
+ * @brief helper for getting sphere radius
+ *
+ * @param[in]   s  sphere
+ *
+ * @return returns radii
+ */
+CGLM_INLINE
+float
+glm_sphere_radii(vec4 s) {
+  return s[3];
+}
+
+/*!
+ * @brief apply transform to sphere, it is just wrapper for glm_mat4_mulv3
+ *
+ * @param[in]  s    sphere
+ * @param[in]  m    transform matrix
+ * @param[out] dest transformed sphere
+ */
+CGLM_INLINE
+void
+glm_sphere_transform(vec4 s, mat4 m, vec4 dest) {
+  glm_mat4_mulv3(m, s, 1.0f, dest);
+  dest[3] = s[3];
+}
+
+/*!
+ * @brief merges two spheres and creates a new one
+ *
+ * two sphere must be in same space, for instance if one in world space then
+ * the other must be in world space too, not in local space.
+ *
+ * @param[in]  s1   sphere 1
+ * @param[in]  s2   sphere 2
+ * @param[out] dest merged/extended sphere
+ */
+CGLM_INLINE
+void
+glm_sphere_merge(vec4 s1, vec4 s2, vec4 dest) {
+  float dist, radii;
+
+  dist  = glm_vec3_distance(s1, s2);
+  radii = dist + s1[3] + s2[3];
+
+  radii = glm_max(radii, s1[3]);
+  radii = glm_max(radii, s2[3]);
+
+  glm_vec3_center(s1, s2, dest);
+  dest[3] = radii;
+}
+
+/*!
+ * @brief check if two sphere intersects
+ *
+ * @param[in]   s1  sphere
+ * @param[in]   s2  other sphere
+ */
+CGLM_INLINE
+bool
+glm_sphere_sphere(vec4 s1, vec4 s2) {
+  return glm_vec3_distance2(s1, s2) <= glm_pow2(s1[3] + s2[3]);
+}
+
+/*!
+ * @brief check if sphere intersects with point
+ *
+ * @param[in]   s      sphere
+ * @param[in]   point  point
+ */
+CGLM_INLINE
+bool
+glm_sphere_point(vec4 s, vec3 point) {
+  float rr;
+  rr = s[3] * s[3];
+  return glm_vec3_distance2(point, s) <= rr;
+}
+
+#endif /* cglm_sphere_h */
--- a/include/cglm/types.h
+++ b/include/cglm/types.h
@@ -9,23 +9,73 @@
 #define cglm_types_h

 #if defined(_MSC_VER)
-#  define CGLM_ALIGN(X) /* __declspec(align(X)) */
+/* do not use alignment for older visual studio versions */
+#  if _MSC_VER < 1913 /*  Visual Studio 2017 version 15.6  */
+#    define CGLM_ALL_UNALIGNED
+#    define CGLM_ALIGN(X) /* no alignment */
+#  else
+#    define CGLM_ALIGN(X) __declspec(align(X))
+#  endif
 #else
 #  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];
+#ifndef CGLM_ALL_UNALIGNED
+#  define CGLM_ALIGN_IF(X) CGLM_ALIGN(X)
+#else
+#  define CGLM_ALIGN_IF(X) /* no alignment */
+#endif

-typedef vec3 mat3[3];
-typedef vec4 mat4[4];
+#ifdef __AVX__
+#  define CGLM_ALIGN_MAT CGLM_ALIGN(32)
+#else
+#  define CGLM_ALIGN_MAT CGLM_ALIGN(16)
+#endif

-typedef vec4 versor;
+typedef float                   vec2[2];
+typedef float                   vec3[3];
+typedef int                    ivec3[3];
+typedef CGLM_ALIGN_IF(16) float vec4[4];
+typedef vec4                    versor;
+typedef vec3                    mat3[3];

-#define CGLM_PI    (float)M_PI
-#define CGLM_PI_2  (float)M_PI_2
-#define CGLM_PI_4  (float)M_PI_4
+#ifdef __AVX__
+typedef CGLM_ALIGN_IF(32) vec4  mat4[4];
+#else
+typedef CGLM_ALIGN_IF(16) vec4  mat4[4];
+#endif
+
+#define GLM_E         2.71828182845904523536028747135266250   /* e           */
+#define GLM_LOG2E     1.44269504088896340735992468100189214   /* log2(e)     */
+#define GLM_LOG10E    0.434294481903251827651128918916605082  /* log10(e)    */
+#define GLM_LN2       0.693147180559945309417232121458176568  /* loge(2)     */
+#define GLM_LN10      2.30258509299404568401799145468436421   /* loge(10)    */
+#define GLM_PI        3.14159265358979323846264338327950288   /* pi          */
+#define GLM_PI_2      1.57079632679489661923132169163975144   /* pi/2        */
+#define GLM_PI_4      0.785398163397448309615660845819875721  /* pi/4        */
+#define GLM_1_PI      0.318309886183790671537767526745028724  /* 1/pi        */
+#define GLM_2_PI      0.636619772367581343075535053490057448  /* 2/pi        */
+#define GLM_2_SQRTPI  1.12837916709551257389615890312154517   /* 2/sqrt(pi)  */
+#define GLM_SQRT2     1.41421356237309504880168872420969808   /* sqrt(2)     */
+#define GLM_SQRT1_2   0.707106781186547524400844362104849039  /* 1/sqrt(2)   */
+
+#define GLM_Ef        ((float)GLM_E)
+#define GLM_LOG2Ef    ((float)GLM_LOG2E)
+#define GLM_LOG10Ef   ((float)GLM_LOG10E)
+#define GLM_LN2f      ((float)GLM_LN2)
+#define GLM_LN10f     ((float)GLM_LN10)
+#define GLM_PIf       ((float)GLM_PI)
+#define GLM_PI_2f     ((float)GLM_PI_2)
+#define GLM_PI_4f     ((float)GLM_PI_4)
+#define GLM_1_PIf     ((float)GLM_1_PI)
+#define GLM_2_PIf     ((float)GLM_2_PI)
+#define GLM_2_SQRTPIf ((float)GLM_2_SQRTPI)
+#define GLM_SQRT2f    ((float)GLM_SQRT2)
+#define GLM_SQRT1_2f  ((float)GLM_SQRT1_2)
+
+/* DEPRECATED! use GLM_PI and friends */
+#define CGLM_PI       GLM_PIf
+#define CGLM_PI_2     GLM_PI_2f
+#define CGLM_PI_4     GLM_PI_4f

 #endif /* cglm_types_h */
--- a/include/cglm/util.h
+++ b/include/cglm/util.h
@@ -19,6 +19,10 @@
 #define cglm_util_h

 #include "common.h"
+#include <stdbool.h>
+
+#define GLM_MIN(X, Y) (((X) < (Y)) ? (X) : (Y))
+#define GLM_MAX(X, Y) (((X) > (Y)) ? (X) : (Y))

 /*!
 * @brief get sign of 32 bit integer as +1, -1, 0
@@ -54,7 +58,7 @@ glm_signf(float val) {
 CGLM_INLINE
 float
 glm_rad(float deg) {
-  return deg * CGLM_PI / 180.0f;
+  return deg * GLM_PIf / 180.0f;
 }

 /*!
@@ -65,7 +69,7 @@ glm_rad(float deg) {
 CGLM_INLINE
 float
 glm_deg(float rad) {
-  return rad * 180.0f / CGLM_PI;
+  return rad * 180.0f / GLM_PIf;
 }

 /*!
@@ -76,7 +80,7 @@ glm_deg(float rad) {
 CGLM_INLINE
 void
 glm_make_rad(float *deg) {
-  *deg = *deg * CGLM_PI / 180.0f;
+  *deg = *deg * GLM_PIf / 180.0f;
 }

 /*!
@@ -87,7 +91,7 @@ glm_make_rad(float *deg) {
 CGLM_INLINE
 void
 glm_make_deg(float *rad) {
-  *rad = *rad * 180.0f / CGLM_PI;
+  *rad = *rad * 180.0f / GLM_PIf;
 }

 /*!
@@ -98,7 +102,6 @@ glm_make_deg(float *rad) {
 CGLM_INLINE
 float
 glm_pow2(float x) {
-
  return x * x;
 }

@@ -143,6 +146,17 @@ glm_clamp(float val, float minVal, float maxVal) {
  return glm_min(glm_max(val, minVal), maxVal);
 }

+/*!
+ * @brief clamp a number to zero and one
+ *
+ * @param[in] val value to clamp
+ */
+CGLM_INLINE
+float
+glm_clamp_zo(float val) {
+  return glm_clamp(val, 0.0f, 1.0f);
+}
+
 /*!
 * @brief linear interpolation between two number
 *
@@ -155,7 +169,52 @@ glm_clamp(float val, float minVal, float maxVal) {
 CGLM_INLINE
 float
 glm_lerp(float from, float to, float t) {
-  return from + glm_clamp(t, 0.0f, 1.0f) * (to - from);
+  return from + glm_clamp_zo(t) * (to - from);
+}
+
+/*!
+ * @brief check if two float equal with using EPSILON
+ *
+ * @param[in]   a   a
+ * @param[in]   b   b
+ */
+CGLM_INLINE
+bool
+glm_eq(float a, float b) {
+  return fabsf(a - b) <= FLT_EPSILON;
+}
+
+/*!
+ * @brief percentage of current value between start and end value
+ *
+ * maybe fraction could be alternative name.
+ *
+ * @param[in]   from    from value
+ * @param[in]   to      to value
+ * @param[in]   current current value
+ */
+CGLM_INLINE
+float
+glm_percent(float from, float to, float current) {
+  float t;
+
+  if ((t = to - from) == 0.0f)
+    return 1.0f;
+
+  return (current - from) / t;
+}
+
+/*!
+ * @brief clamped percentage of current value between start and end value
+ *
+ * @param[in]   from    from value
+ * @param[in]   to      to value
+ * @param[in]   current current value
+ */
+CGLM_INLINE
+float
+glm_percentc(float from, float to, float current) {
+  return glm_clamp(glm_percent(from, to, current), 0.0f, 1.0f);
 }

 #endif /* cglm_util_h */
--- a/include/cglm/vec3-ext.h
+++ b/include/cglm/vec3-ext.h
@@ -11,15 +11,19 @@

 /*
 Functions:
-   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(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);
-   CGLM_INLINE float glm_vec_max(vec3 v);
-   CGLM_INLINE float glm_vec_min(vec3 v);
+   CGLM_INLINE void  glm_vec3_broadcast(float val, vec3 d);
+   CGLM_INLINE bool  glm_vec3_eq(vec3 v, float val);
+   CGLM_INLINE bool  glm_vec3_eq_eps(vec3 v, float val);
+   CGLM_INLINE bool  glm_vec3_eq_all(vec3 v);
+   CGLM_INLINE bool  glm_vec3_eqv(vec3 a, vec3 b);
+   CGLM_INLINE bool  glm_vec3_eqv_eps(vec3 a, vec3 b);
+   CGLM_INLINE float glm_vec3_max(vec3 v);
+   CGLM_INLINE float glm_vec3_min(vec3 v);
+   CGLM_INLINE bool  glm_vec3_isnan(vec3 v);
+   CGLM_INLINE bool  glm_vec3_isinf(vec3 v);
+   CGLM_INLINE bool  glm_vec3_isvalid(vec3 v);
+   CGLM_INLINE void  glm_vec3_sign(vec3 v, vec3 dest);
+   CGLM_INLINE void  glm_vec3_sqrt(vec3 v, vec3 dest);
 */

 #ifndef cglm_vec3_ext_h
@@ -31,21 +35,6 @@
 #include <math.h>
 #include <float.h>

-/*!
- * @brief multiplies individual items, just for convenient like SIMD
- *
- * @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
-glm_vec_mulv(vec3 a, vec3 b, vec3 d) {
-  d[0] = a[0] * b[0];
-  d[1] = a[1] * b[1];
-  d[2] = a[2] * b[2];
-}
-
 /*!
 * @brief fill a vector with specified value
 *
@@ -54,7 +43,7 @@ glm_vec_mulv(vec3 a, vec3 b, vec3 d) {
 */
 CGLM_INLINE
 void
-glm_vec_broadcast(float val, vec3 d) {
+glm_vec3_broadcast(float val, vec3 d) {
  d[0] = d[1] = d[2] = val;
 }

@@ -66,7 +55,7 @@ glm_vec_broadcast(float val, vec3 d) {
 */
 CGLM_INLINE
 bool
-glm_vec_eq(vec3 v, float val) {
+glm_vec3_eq(vec3 v, float val) {
  return v[0] == val && v[0] == v[1] && v[0] == v[2];
 }

@@ -78,7 +67,7 @@ glm_vec_eq(vec3 v, float val) {
 */
 CGLM_INLINE
 bool
-glm_vec_eq_eps(vec3 v, float val) {
+glm_vec3_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;
@@ -91,36 +80,36 @@ glm_vec_eq_eps(vec3 v, float val) {
 */
 CGLM_INLINE
 bool
-glm_vec_eq_all(vec3 v) {
+glm_vec3_eq_all(vec3 v) {
  return v[0] == v[1] && v[0] == v[2];
 }

 /*!
 * @brief check if vector is equal to another (without epsilon)
 *
- * @param[in] v1 vector
- * @param[in] v2 vector
+ * @param[in] a vector
+ * @param[in] b vector
 */
 CGLM_INLINE
 bool
-glm_vec_eqv(vec3 v1, vec3 v2) {
-  return v1[0] == v2[0]
-        && v1[1] == v2[1]
-        && v1[2] == v2[2];
+glm_vec3_eqv(vec3 a, vec3 b) {
+  return a[0] == b[0]
+         && a[1] == b[1]
+         && a[2] == b[2];
 }

 /*!
 * @brief check if vector is equal to another (with epsilon)
 *
- * @param[in] v1 vector
- * @param[in] v2 vector
+ * @param[in] a vector
+ * @param[in] b vector
 */
 CGLM_INLINE
 bool
-glm_vec_eqv_eps(vec3 v1, vec3 v2) {
-  return fabsf(v1[0] - v2[0]) <= FLT_EPSILON
-         && fabsf(v1[1] - v2[1]) <= FLT_EPSILON
-         && fabsf(v1[2] - v2[2]) <= FLT_EPSILON;
+glm_vec3_eqv_eps(vec3 a, vec3 b) {
+  return fabsf(a[0] - b[0]) <= FLT_EPSILON
+         && fabsf(a[1] - b[1]) <= FLT_EPSILON
+         && fabsf(a[2] - b[2]) <= FLT_EPSILON;
 }

 /*!
@@ -130,7 +119,7 @@ glm_vec_eqv_eps(vec3 v1, vec3 v2) {
 */
 CGLM_INLINE
 float
-glm_vec_max(vec3 v) {
+glm_vec3_max(vec3 v) {
  float max;

  max = v[0];
@@ -149,7 +138,7 @@ glm_vec_max(vec3 v) {
 */
 CGLM_INLINE
 float
-glm_vec_min(vec3 v) {
+glm_vec3_min(vec3 v) {
  float min;

  min = v[0];
@@ -169,7 +158,7 @@ glm_vec_min(vec3 v) {
 */
 CGLM_INLINE
 bool
-glm_vec_isnan(vec3 v) {
+glm_vec3_isnan(vec3 v) {
  return isnan(v[0]) || isnan(v[1]) || isnan(v[2]);
 }

@@ -181,7 +170,7 @@ glm_vec_isnan(vec3 v) {
 */
 CGLM_INLINE
 bool
-glm_vec_isinf(vec3 v) {
+glm_vec3_isinf(vec3 v) {
  return isinf(v[0]) || isinf(v[1]) || isinf(v[2]);
 }

@@ -193,8 +182,8 @@ glm_vec_isinf(vec3 v) {
 */
 CGLM_INLINE
 bool
-glm_vec_isvalid(vec3 v) {
-  return !glm_vec_isnan(v) && !glm_vec_isinf(v);
+glm_vec3_isvalid(vec3 v) {
+  return !glm_vec3_isnan(v) && !glm_vec3_isinf(v);
 }

 /*!
@@ -206,7 +195,7 @@ glm_vec_isvalid(vec3 v) {
 */
 CGLM_INLINE
 void
-glm_vec_sign(vec3 v, vec3 dest) {
+glm_vec3_sign(vec3 v, vec3 dest) {
  dest[0] = glm_signf(v[0]);
  dest[1] = glm_signf(v[1]);
  dest[2] = glm_signf(v[2]);
@@ -220,7 +209,7 @@ glm_vec_sign(vec3 v, vec3 dest) {
 */
 CGLM_INLINE
 void
-glm_vec_sqrt(vec3 v, vec3 dest) {
+glm_vec3_sqrt(vec3 v, vec3 dest) {
  dest[0] = sqrtf(v[0]);
  dest[1] = sqrtf(v[1]);
  dest[2] = sqrtf(v[2]);
--- a/include/cglm/vec3.h
+++ b/include/cglm/vec3.h
@@ -5,14 +5,8 @@
 * Full license can be found in the LICENSE file
 */

-/*!
- * vec3 functions dont have suffix e.g glm_vec_dot (not glm_vec3_dot)
- * all functions without suffix are vec3 functions
- */
-
 /*
 Macros:
-   glm_vec_dup(v, dest)
   GLM_VEC3_ONE_INIT
   GLM_VEC3_ZERO_INIT
   GLM_VEC3_ONE
@@ -23,47 +17,81 @@

 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);
-   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_sub(vec3 v1, vec3 v2, 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_flipsign(vec3 v);
-   CGLM_INLINE void  glm_vec_inv(vec3 v);
-   CGLM_INLINE void  glm_vec_inv_to(vec3 v, vec3 dest);
-   CGLM_INLINE void  glm_vec_normalize(vec3 v);
-   CGLM_INLINE void  glm_vec_normalize_to(vec3 vec, vec3 dest);
-   CGLM_INLINE float glm_vec_distance(vec3 v1, vec3 v2);
-   CGLM_INLINE float glm_vec_angle(vec3 v1, vec3 v2);
-   CGLM_INLINE void  glm_vec_rotate(vec3 v, float angle, vec3 axis);
-   CGLM_INLINE void  glm_vec_rotate_m4(mat4 m, vec3 v, vec3 dest);
-   CGLM_INLINE void  glm_vec_proj(vec3 a, vec3 b, vec3 dest);
-   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);
+   CGLM_INLINE void  glm_vec3_copy(vec3 a, vec3 dest);
+   CGLM_INLINE void  glm_vec3_zero(vec3 v);
+   CGLM_INLINE void  glm_vec3_one(vec3 v);
+   CGLM_INLINE float glm_vec3_dot(vec3 a, vec3 b);
+   CGLM_INLINE float glm_vec3_norm2(vec3 v);
+   CGLM_INLINE float glm_vec3_norm(vec3 v);
+   CGLM_INLINE void  glm_vec3_add(vec3 a, vec3 b, vec3 dest);
+   CGLM_INLINE void  glm_vec3_adds(vec3 a, float s, vec3 dest);
+   CGLM_INLINE void  glm_vec3_sub(vec3 a, vec3 b, vec3 dest);
+   CGLM_INLINE void  glm_vec3_subs(vec3 a, float s, vec3 dest);
+   CGLM_INLINE void  glm_vec3_mul(vec3 a, vec3 b, vec3 dest);
+   CGLM_INLINE void  glm_vec3_scale(vec3 v, float s, vec3 dest);
+   CGLM_INLINE void  glm_vec3_scale_as(vec3 v, float s, vec3 dest);
+   CGLM_INLINE void  glm_vec3_div(vec3 a, vec3 b, vec3 dest);
+   CGLM_INLINE void  glm_vec3_divs(vec3 a, float s, vec3 dest);
+   CGLM_INLINE void  glm_vec3_addadd(vec3 a, vec3 b, vec3 dest);
+   CGLM_INLINE void  glm_vec3_subadd(vec3 a, vec3 b, vec3 dest);
+   CGLM_INLINE void  glm_vec3_muladd(vec3 a, vec3 b, vec3 dest);
+   CGLM_INLINE void  glm_vec3_muladds(vec3 a, float s, vec3 dest);
+   CGLM_INLINE void  glm_vec3_maxadd(vec3 a, vec3 b, vec3 dest);
+   CGLM_INLINE void  glm_vec3_minadd(vec3 a, vec3 b, vec3 dest);
+   CGLM_INLINE void  glm_vec3_flipsign(vec3 v);
+   CGLM_INLINE void  glm_vec3_flipsign_to(vec3 v, vec3 dest);
+   CGLM_INLINE void  glm_vec3_negate_to(vec3 v, vec3 dest);
+   CGLM_INLINE void  glm_vec3_negate(vec3 v);
+   CGLM_INLINE void  glm_vec3_inv(vec3 v);
+   CGLM_INLINE void  glm_vec3_inv_to(vec3 v, vec3 dest);
+   CGLM_INLINE void  glm_vec3_normalize(vec3 v);
+   CGLM_INLINE void  glm_vec3_normalize_to(vec3 v, vec3 dest);
+   CGLM_INLINE void  glm_vec3_cross(vec3 a, vec3 b, vec3 d);
+   CGLM_INLINE void  glm_vec3_crossn(vec3 a, vec3 b, vec3 dest);
+   CGLM_INLINE float glm_vec3_distance(vec3 a, vec3 b);
+   CGLM_INLINE float glm_vec3_angle(vec3 a, vec3 b);
+   CGLM_INLINE void  glm_vec3_rotate(vec3 v, float angle, vec3 axis);
+   CGLM_INLINE void  glm_vec3_rotate_m4(mat4 m, vec3 v, vec3 dest);
+   CGLM_INLINE void  glm_vec3_rotate_m3(mat3 m, vec3 v, vec3 dest);
+   CGLM_INLINE void  glm_vec3_proj(vec3 a, vec3 b, vec3 dest);
+   CGLM_INLINE void  glm_vec3_center(vec3 a, vec3 b, vec3 dest);
+   CGLM_INLINE float glm_vec3_distance2(vec3 a, vec3 b);
+   CGLM_INLINE void  glm_vec3_maxv(vec3 a, vec3 b, vec3 dest);
+   CGLM_INLINE void  glm_vec3_minv(vec3 a, vec3 b, vec3 dest);
+   CGLM_INLINE void  glm_vec3_ortho(vec3 v, vec3 dest);
+   CGLM_INLINE void  glm_vec3_clamp(vec3 v, float minVal, float maxVal);
+   CGLM_INLINE void  glm_vec3_lerp(vec3 from, vec3 to, float t, vec3 dest);

 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);
+
+ DEPRECATED:
+   glm_vec3_dup
+   glm_vec3_flipsign
+   glm_vec3_flipsign_to
+   glm_vec3_inv
+   glm_vec3_inv_to
+   glm_vec3_mulv
 */

 #ifndef cglm_vec3_h
 #define cglm_vec3_h

 #include "common.h"
+#include "vec4.h"
 #include "vec3-ext.h"
 #include "util.h"

 /* DEPRECATED! use _copy, _ucopy versions */
-#define glm_vec_dup(v, dest) glm_vec_copy(v, dest)
+#define glm_vec3_dup(v, dest)         glm_vec3_copy(v, dest)
+#define glm_vec3_flipsign(v)          glm_vec3_negate(v)
+#define glm_vec3_flipsign_to(v, dest) glm_vec3_negate_to(v, dest)
+#define glm_vec3_inv(v)               glm_vec3_negate(v)
+#define glm_vec3_inv_to(v, dest)      glm_vec3_negate_to(v, dest)
+#define glm_vec3_mulv(a, b, d)        glm_vec3_mul(a, b, d)

 #define GLM_VEC3_ONE_INIT   {1.0f, 1.0f, 1.0f}
 #define GLM_VEC3_ZERO_INIT  {0.0f, 0.0f, 0.0f}
@@ -97,12 +125,34 @@ glm_vec3(vec4 v4, vec3 dest) {
 */
 CGLM_INLINE
 void
-glm_vec_copy(vec3 a, vec3 dest) {
+glm_vec3_copy(vec3 a, vec3 dest) {
  dest[0] = a[0];
  dest[1] = a[1];
  dest[2] = a[2];
 }

+/*!
+ * @brief make vector zero
+ *
+ * @param[in, out]  v vector
+ */
+CGLM_INLINE
+void
+glm_vec3_zero(vec3 v) {
+  v[0] = v[1] = v[2] = 0.0f;
+}
+
+/*!
+ * @brief make vector one
+ *
+ * @param[in, out]  v vector
+ */
+CGLM_INLINE
+void
+glm_vec3_one(vec3 v) {
+  v[0] = v[1] = v[2] = 1.0f;
+}
+
 /*!
 * @brief vec3 dot product
 *
@@ -113,26 +163,10 @@ glm_vec_copy(vec3 a, vec3 dest) {
 */
 CGLM_INLINE
 float
-glm_vec_dot(vec3 a, vec3 b) {
+glm_vec3_dot(vec3 a, vec3 b) {
  return a[0] * b[0] + a[1] * b[1] + a[2] * b[2];
 }

-/*!
- * @brief vec3 cross product
- *
- * @param[in]  a source 1
- * @param[in]  b source 2
- * @param[out] d destination
- */
-CGLM_INLINE
-void
-glm_vec_cross(vec3 a, vec3 b, vec3 d) {
-  /* (u2.v3 - u3.v2, u3.v1 - u1.v3, u1.v2 - u2.v1) */
-  d[0] = a[1] * b[2] - a[2] * b[1];
-  d[1] = a[2] * b[0] - a[0] * b[2];
-  d[2] = a[0] * b[1] - a[1] * b[0];
-}
-
 /*!
 * @brief norm * norm (magnitude) of vec
 *
@@ -146,51 +180,96 @@ glm_vec_cross(vec3 a, vec3 b, vec3 d) {
 */
 CGLM_INLINE
 float
-glm_vec_norm2(vec3 v) {
-  return glm_vec_dot(v, v);
+glm_vec3_norm2(vec3 v) {
+  return glm_vec3_dot(v, v);
 }

 /*!
 * @brief norm (magnitude) of vec3
 *
- * @param[in] vec vector
+ * @param[in] v vector
 *
 * @return norm
 */
 CGLM_INLINE
 float
-glm_vec_norm(vec3 vec) {
-  return sqrtf(glm_vec_norm2(vec));
+glm_vec3_norm(vec3 v) {
+  return sqrtf(glm_vec3_norm2(v));
 }

 /*!
- * @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]  v2 vector2
+ * @param[in]  a    vector1
+ * @param[in]  b    vector2
 * @param[out] dest destination vector
 */
 CGLM_INLINE
 void
-glm_vec_add(vec3 v1, vec3 v2, vec3 dest) {
-  dest[0] = v1[0] + v2[0];
-  dest[1] = v1[1] + v2[1];
-  dest[2] = v1[2] + v2[2];
+glm_vec3_add(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 subtract v2 vector from v1 vector store result in dest
+ * @brief add scalar to v vector store result in dest (d = v + s)
 *
- * @param[in]  v1 vector1
- * @param[in]  v2 vector2
+ * @param[in]  v    vector
+ * @param[in]  s    scalar
 * @param[out] dest destination vector
 */
 CGLM_INLINE
 void
-glm_vec_sub(vec3 v1, vec3 v2, vec3 dest) {
-  dest[0] = v1[0] - v2[0];
-  dest[1] = v1[1] - v2[1];
-  dest[2] = v1[2] - v2[2];
+glm_vec3_adds(vec3 v, float s, vec3 dest) {
+  dest[0] = v[0] + s;
+  dest[1] = v[1] + s;
+  dest[2] = v[2] + s;
+}
+
+/*!
+ * @brief subtract b vector from a vector store result in dest
+ *
+ * @param[in]  a    vector1
+ * @param[in]  b    vector2
+ * @param[out] dest destination vector
+ */
+CGLM_INLINE
+void
+glm_vec3_sub(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 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_vec3_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    vector1
+ * @param b    vector2
+ * @param dest v3 = (a[0] * b[0], a[1] * b[1], a[2] * b[2])
+ */
+CGLM_INLINE
+void
+glm_vec3_mul(vec3 a, vec3 b, vec3 dest) {
+  dest[0] = a[0] * b[0];
+  dest[1] = a[1] * b[1];
+  dest[2] = a[2] * b[2];
 }

 /*!
@@ -202,7 +281,7 @@ glm_vec_sub(vec3 v1, vec3 v2, vec3 dest) {
 */
 CGLM_INLINE
 void
-glm_vec_scale(vec3 v, float s, vec3 dest) {
+glm_vec3_scale(vec3 v, float s, vec3 dest) {
  dest[0] = v[0] * s;
  dest[1] = v[1] * s;
  dest[2] = v[2] * s;
@@ -217,67 +296,173 @@ glm_vec_scale(vec3 v, float s, vec3 dest) {
 */
 CGLM_INLINE
 void
-glm_vec_scale_as(vec3 v, float s, vec3 dest) {
+glm_vec3_scale_as(vec3 v, float s, vec3 dest) {
  float norm;
-  norm = glm_vec_norm(v);
+  norm = glm_vec3_norm(v);

-  if (norm == 0) {
-    glm_vec_copy(v, dest);
+  if (norm == 0.0f) {
+    glm_vec3_zero(dest);
    return;
  }

-  glm_vec_scale(v, s / norm, dest);
+  glm_vec3_scale(v, s / norm, dest);
 }

 /*!
- * @brief flip sign of all vec3 members
+ * @brief div vector with another component-wise division: d = a / b
 *
- * @param[in, out]  v  vector
+ * @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_flipsign(vec3 v) {
-  v[0] = -v[0];
-  v[1] = -v[1];
-  v[2] = -v[2];
+glm_vec3_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 flip sign of all vec3 members and store result in dest
+ * @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_vec3_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_vec3_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_vec3_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_vec3_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_vec3_muladds(vec3 a, float s, vec3 dest) {
+  dest[0] += a[0] * s;
+  dest[1] += a[1] * s;
+  dest[2] += a[2] * s;
+}
+
+/*!
+ * @brief add max of two vector to result/dest
+ *
+ * it applies += operator so dest must be initialized
+ *
+ * @param[in]  a    vector 1
+ * @param[in]  b    vector 2
+ * @param[out] dest dest += max(a, b)
+ */
+CGLM_INLINE
+void
+glm_vec3_maxadd(vec3 a, vec3 b, vec3 dest) {
+  dest[0] += glm_max(a[0], b[0]);
+  dest[1] += glm_max(a[1], b[1]);
+  dest[2] += glm_max(a[2], b[2]);
+}
+
+/*!
+ * @brief add min of two vector to result/dest
+ *
+ * it applies += operator so dest must be initialized
+ *
+ * @param[in]  a    vector
+ * @param[in]  b    scalar
+ * @param[out] dest dest += min(a, b)
+ */
+CGLM_INLINE
+void
+glm_vec3_minadd(vec3 a, vec3 b, vec3 dest) {
+  dest[0] += glm_min(a[0], b[0]);
+  dest[1] += glm_min(a[1], b[1]);
+  dest[2] += glm_min(a[2], b[2]);
+}
+
+/*!
+ * @brief negate vector components 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) {
+glm_vec3_negate_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
+ * @brief negate vector components
 *
 * @param[in, out]  v  vector
 */
 CGLM_INLINE
 void
-glm_vec_inv(vec3 v) {
-  glm_vec_flipsign(v);
-}
-
-/*!
- * @brief inverse/opposite vector
- *
- * @param[in]  v    source
- * @param[out] dest destination
- */
-CGLM_INLINE
-void
-glm_vec_inv_to(vec3 v, vec3 dest) {
-  glm_vec_copy(v, dest);
-  glm_vec_flipsign(dest);
+glm_vec3_negate(vec3 v) {
+  glm_vec3_negate_to(v, v);
 }

 /*!
@@ -287,56 +472,93 @@ glm_vec_inv_to(vec3 v, vec3 dest) {
 */
 CGLM_INLINE
 void
-glm_vec_normalize(vec3 v) {
+glm_vec3_normalize(vec3 v) {
  float norm;

-  norm = glm_vec_norm(v);
+  norm = glm_vec3_norm(v);

  if (norm == 0.0f) {
    v[0] = v[1] = v[2] = 0.0f;
    return;
  }

-  glm_vec_scale(v, 1.0f / norm, v);
+  glm_vec3_scale(v, 1.0f / norm, v);
 }

 /*!
 * @brief normalize vec3 to dest
 *
- * @param[in]  vec  source
+ * @param[in]  v    source
 * @param[out] dest destination
 */
 CGLM_INLINE
 void
-glm_vec_normalize_to(vec3 vec, vec3 dest) {
+glm_vec3_normalize_to(vec3 v, vec3 dest) {
  float norm;

-  norm = glm_vec_norm(vec);
+  norm = glm_vec3_norm(v);

  if (norm == 0.0f) {
-    dest[0] = dest[1] = dest[2] = 0.0f;
+    glm_vec3_zero(dest);
    return;
  }

-  glm_vec_scale(vec, 1.0f / norm, dest);
+  glm_vec3_scale(v, 1.0f / norm, dest);
+}
+
+/*!
+ * @brief cross product of two vector (RH)
+ *
+ * @param[in]  a    vector 1
+ * @param[in]  b    vector 2
+ * @param[out] dest destination
+ */
+CGLM_INLINE
+void
+glm_vec3_cross(vec3 a, vec3 b, vec3 dest) {
+  /* (u2.v3 - u3.v2, u3.v1 - u1.v3, u1.v2 - u2.v1) */
+  dest[0] = a[1] * b[2] - a[2] * b[1];
+  dest[1] = a[2] * b[0] - a[0] * b[2];
+  dest[2] = a[0] * b[1] - a[1] * b[0];
+}
+
+/*!
+ * @brief cross product of two vector (RH) and normalize the result
+ *
+ * @param[in]  a    vector 1
+ * @param[in]  b    vector 2
+ * @param[out] dest destination
+ */
+CGLM_INLINE
+void
+glm_vec3_crossn(vec3 a, vec3 b, vec3 dest) {
+  glm_vec3_cross(a, b, dest);
+  glm_vec3_normalize(dest);
 }

 /*!
 * @brief angle betwen two vector
 *
- * @param[in] v1  vector1
- * @param[in] v2  vector2
+ * @param[in] a  vector1
+ * @param[in] b  vector2
 *
 * @return angle as radians
 */
 CGLM_INLINE
 float
-glm_vec_angle(vec3 v1, vec3 v2) {
-  float norm;
+glm_vec3_angle(vec3 a, vec3 b) {
+  float norm, dot;

  /* 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);
+  norm = 1.0f / (glm_vec3_norm(a) * glm_vec3_norm(b));
+  dot  = glm_vec3_dot(a, b) * norm;
+
+  if (dot > 1.0f)
+    return 0.0f;
+  else if (dot < -1.0f)
+    return CGLM_PI;
+
+  return acosf(dot);
 }

 /*!
@@ -348,27 +570,56 @@ glm_vec_angle(vec3 v1, vec3 v2) {
 */
 CGLM_INLINE
 void
-glm_vec_rotate(vec3 v, float angle, vec3 axis) {
+glm_vec3_rotate(vec3 v, float angle, vec3 axis) {
  vec3   v1, v2, k;
  float  c, s;

  c = cosf(angle);
  s = sinf(angle);

-  glm_vec_normalize_to(axis, k);
+  glm_vec3_normalize_to(axis, k);

  /* Right Hand, Rodrigues' rotation formula:
        v = v*cos(t) + (kxv)sin(t) + k*(k.v)(1 - cos(t))
   */
-  glm_vec_scale(v, c, v1);
+  glm_vec3_scale(v, c, v1);

-  glm_vec_cross(k, v, v2);
-  glm_vec_scale(v2, s, v2);
+  glm_vec3_cross(k, v, v2);
+  glm_vec3_scale(v2, s, v2);

-  glm_vec_add(v1, v2, v1);
+  glm_vec3_add(v1, v2, v1);

-  glm_vec_scale(k, glm_vec_dot(k, v) * (1.0f - c), v2);
-  glm_vec_add(v1, v2, v);
+  glm_vec3_scale(k, glm_vec3_dot(k, v) * (1.0f - c), v2);
+  glm_vec3_add(v1, v2, v);
+}
+
+/*!
+ * @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
+ */
+CGLM_INLINE
+void
+glm_vec3_rotate_m4(mat4 m, vec3 v, vec3 dest) {
+  vec4 x, y, z, res;
+
+  glm_vec4_normalize_to(m[0], x);
+  glm_vec4_normalize_to(m[1], y);
+  glm_vec4_normalize_to(m[2], 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);
 }

 /*!
@@ -380,92 +631,109 @@ 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;
+glm_vec3_rotate_m3(mat3 m, vec3 v, vec3 dest) {
+  vec4 res, x, y, z;

-  glm_vec_normalize_to(m[0], x);
-  glm_vec_normalize_to(m[1], y);
-  glm_vec_normalize_to(m[2], z);
+  glm_vec4(m[0], 0.0f, x);
+  glm_vec4(m[1], 0.0f, y);
+  glm_vec4(m[2], 0.0f, z);

-  res[0] = x[0] * v[0] + y[0] * v[1] + z[0] * v[2];
-  res[1] = x[1] * v[0] + y[1] * v[1] + z[1] * v[2];
-  res[2] = x[2] * v[0] + y[2] * v[1] + z[2] * v[2];
+  glm_vec4_normalize(x);
+  glm_vec4_normalize(y);
+  glm_vec4_normalize(z);

-  glm_vec_copy(res, dest);
+  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);
 }

 /*!
 * @brief project a vector onto b vector
 *
- * @param[in]  a vector1
- * @param[in]  b vector2
+ * @param[in]  a    vector1
+ * @param[in]  b    vector2
 * @param[out] dest projected vector
 */
 CGLM_INLINE
 void
-glm_vec_proj(vec3 a, vec3 b, vec3 dest) {
-  glm_vec_scale(b,
-                glm_vec_dot(a, b) / glm_vec_norm2(b),
-                dest);
+glm_vec3_proj(vec3 a, vec3 b, vec3 dest) {
+  glm_vec3_scale(b,
+                 glm_vec3_dot(a, b) / glm_vec3_norm2(b),
+                 dest);
 }

 /**
 * @brief find center point of two vector
 *
- * @param[in]  v1 vector1
- * @param[in]  v2 vector2
+ * @param[in]  a    vector1
+ * @param[in]  b    vector2
 * @param[out] dest center point
 */
 CGLM_INLINE
 void
-glm_vec_center(vec3 v1, vec3 v2, vec3 dest) {
-  glm_vec_add(v1, v2, dest);
-  glm_vec_scale(dest, 0.5f, dest);
+glm_vec3_center(vec3 a, vec3 b, vec3 dest) {
+  glm_vec3_add(a, b, dest);
+  glm_vec3_scale(dest, 0.5f, dest);
+}
+
+/**
+ * @brief squared distance between two vectors
+ *
+ * @param[in] a vector1
+ * @param[in] b vector2
+ * @return returns squared distance (distance * distance)
+ */
+CGLM_INLINE
+float
+glm_vec3_distance2(vec3 a, vec3 b) {
+  return glm_pow2(b[0] - a[0])
+       + glm_pow2(b[1] - a[1])
+       + glm_pow2(b[2] - a[2]);
 }

 /**
 * @brief distance between two vectors
 *
- * @param[in] v1 vector1
- * @param[in] v2 vector2
+ * @param[in] a vector1
+ * @param[in] b vector2
 * @return returns distance
 */
 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_vec3_distance(vec3 a, vec3 b) {
+  return sqrtf(glm_vec3_distance2(a, b));
 }

 /*!
 * @brief max values of vectors
 *
- * @param[in]  v1   vector1
- * @param[in]  v2   vector2
+ * @param[in]  a    vector1
+ * @param[in]  b    vector2
 * @param[out] dest destination
 */
 CGLM_INLINE
 void
-glm_vec_maxv(vec3 v1, vec3 v2, vec3 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]);
+glm_vec3_maxv(vec3 a, vec3 b, vec3 dest) {
+  dest[0] = glm_max(a[0], b[0]);
+  dest[1] = glm_max(a[1], b[1]);
+  dest[2] = glm_max(a[2], b[2]);
 }

 /*!
 * @brief min values of vectors
 *
- * @param[in]  v1   vector1
- * @param[in]  v2   vector2
+ * @param[in]  a    vector1
+ * @param[in]  b    vector2
 * @param[out] dest destination
 */
 CGLM_INLINE
 void
-glm_vec_minv(vec3 v1, vec3 v2, vec3 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]);
+glm_vec3_minv(vec3 a, vec3 b, vec3 dest) {
+  dest[0] = glm_min(a[0], b[0]);
+  dest[1] = glm_min(a[1], b[1]);
+  dest[2] = glm_min(a[2], b[2]);
 }

 /*!
@@ -476,7 +744,7 @@ glm_vec_minv(vec3 v1, vec3 v2, vec3 dest) {
 */
 CGLM_INLINE
 void
-glm_vec_ortho(vec3 v, vec3 dest) {
+glm_vec3_ortho(vec3 v, vec3 dest) {
  dest[0] = v[1] - v[2];
  dest[1] = v[2] - v[0];
  dest[2] = v[0] - v[1];
@@ -491,7 +759,7 @@ glm_vec_ortho(vec3 v, vec3 dest) {
 */
 CGLM_INLINE
 void
-glm_vec_clamp(vec3 v, float minVal, float maxVal) {
+glm_vec3_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);
@@ -509,14 +777,14 @@ glm_vec_clamp(vec3 v, float minVal, float maxVal) {
 */
 CGLM_INLINE
 void
-glm_vec_lerp(vec3 from, vec3 to, float t, vec3 dest) {
+glm_vec3_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);
+  glm_vec3_broadcast(glm_clamp_zo(t), s);
+  glm_vec3_sub(to, from, v);
+  glm_vec3_mul(s, v, v);
+  glm_vec3_add(from, v, dest);
 }

 /*!
@@ -531,7 +799,7 @@ glm_vec_lerp(vec3 from, vec3 to, float t, vec3 dest) {
 CGLM_INLINE
 void
 glm_cross(vec3 a, vec3 b, vec3 d) {
-  glm_vec_cross(a, b, d);
+  glm_vec3_cross(a, b, d);
 }

 /*!
@@ -547,7 +815,7 @@ glm_cross(vec3 a, vec3 b, vec3 d) {
 CGLM_INLINE
 float
 glm_dot(vec3 a, vec3 b) {
-  return glm_vec_dot(a, b);
+  return glm_vec3_dot(a, b);
 }

 /*!
@@ -560,7 +828,7 @@ glm_dot(vec3 a, vec3 b) {
 CGLM_INLINE
 void
 glm_normalize(vec3 v) {
-  glm_vec_normalize(v);
+  glm_vec3_normalize(v);
 }

 /*!
@@ -574,7 +842,7 @@ glm_normalize(vec3 v) {
 CGLM_INLINE
 void
 glm_normalize_to(vec3 v, vec3 dest) {
-  glm_vec_normalize_to(v, dest);
+  glm_vec3_normalize_to(v, dest);
 }

 #endif /* cglm_vec3_h */
--- a/include/cglm/vec4-ext.h
+++ b/include/cglm/vec4-ext.h
@@ -11,15 +11,19 @@

 /*
 Functions:
-   CGLM_INLINE void  glm_vec4_mulv(vec4 a, vec4 b, vec4 d);
   CGLM_INLINE void  glm_vec4_broadcast(float val, vec4 d);
   CGLM_INLINE bool  glm_vec4_eq(vec4 v, float val);
   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(vec4 v1, vec4 v2);
+   CGLM_INLINE bool  glm_vec4_eqv(vec4 a, vec4 b);
+   CGLM_INLINE bool  glm_vec4_eqv_eps(vec4 a, vec4 b);
   CGLM_INLINE float glm_vec4_max(vec4 v);
   CGLM_INLINE float glm_vec4_min(vec4 v);
+   CGLM_INLINE bool  glm_vec4_isnan(vec4 v);
+   CGLM_INLINE bool  glm_vec4_isinf(vec4 v);
+   CGLM_INLINE bool  glm_vec4_isvalid(vec4 v);
+   CGLM_INLINE void  glm_vec4_sign(vec4 v, vec4 dest);
+   CGLM_INLINE void  glm_vec4_sqrt(vec4 v, vec4 dest);
 */

 #ifndef cglm_vec4_ext_h
@@ -31,26 +35,6 @@
 #include <math.h>
 #include <float.h>

-/*!
- * @brief multiplies individual items, just for convenient like SIMD
- *
- * @param a v1
- * @param b v2
- * @param d v3 = (v1[0] * v2[0],  v1[1] * v2[1], v1[2] * v2[2], v1[3] * v2[3])
- */
-CGLM_INLINE
-void
-glm_vec4_mulv(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
-}
-
 /*!
 * @brief fill a vector with specified value
 *
@@ -61,7 +45,7 @@ CGLM_INLINE
 void
 glm_vec4_broadcast(float val, vec4 d) {
 #if defined( __SSE__ ) || defined( __SSE2__ )
-  _mm_store_ps(d, _mm_set1_ps(val));
+  glmm_store(d, _mm_set1_ps(val));
 #else
  d[0] = d[1] = d[2] = d[3] = val;
 #endif
@@ -113,31 +97,31 @@ glm_vec4_eq_all(vec4 v) {
 /*!
 * @brief check if vector is equal to another (without epsilon)
 *
- * @param v1 vector
- * @param v2 vector
+ * @param a vector
+ * @param b vector
 */
 CGLM_INLINE
 bool
-glm_vec4_eqv(vec4 v1, vec4 v2) {
-  return v1[0] == v2[0]
-         && v1[1] == v2[1]
-         && v1[2] == v2[2]
-         && v1[3] == v2[3];
+glm_vec4_eqv(vec4 a, vec4 b) {
+  return a[0] == b[0]
+         && a[1] == b[1]
+         && a[2] == b[2]
+         && a[3] == b[3];
 }

 /*!
 * @brief check if vector is equal to another (with epsilon)
 *
- * @param v1 vector
- * @param v2 vector
+ * @param a vector
+ * @param b vector
 */
 CGLM_INLINE
 bool
-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
-         && fabsf(v1[3] - v2[3]) <= FLT_EPSILON;
+glm_vec4_eqv_eps(vec4 a, vec4 b) {
+  return fabsf(a[0] - b[0]) <= FLT_EPSILON
+         && fabsf(a[1] - b[1]) <= FLT_EPSILON
+         && fabsf(a[2] - b[2]) <= FLT_EPSILON
+         && fabsf(a[3] - b[3]) <= FLT_EPSILON;
 }

 /*!
@@ -150,7 +134,7 @@ float
 glm_vec4_max(vec4 v) {
  float max;

-  max = glm_vec_max(v);
+  max = glm_vec3_max(v);
  if (v[3] > max)
    max = v[3];

@@ -167,7 +151,7 @@ float
 glm_vec4_min(vec4 v) {
  float min;

-  min = glm_vec_min(v);
+  min = glm_vec3_min(v);
  if (v[3] < min)
    min = v[3];

@@ -223,14 +207,14 @@ glm_vec4_sign(vec4 v, vec4 dest) {
 #if defined( __SSE2__ ) || defined( __SSE2__ )
  __m128 x0, x1, x2, x3, x4;

-  x0 = _mm_load_ps(v);
+  x0 = glmm_load(v);
  x1 = _mm_set_ps(0.0f, 0.0f, 1.0f, -1.0f);
-  x2 = _mm_shuffle1_ps1(x1, 2);
+  x2 = glmm_shuff1x(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));
+  x3 = _mm_and_ps(_mm_cmpgt_ps(x0, x2), glmm_shuff1x(x1, 1));
+  x4 = _mm_and_ps(_mm_cmplt_ps(x0, x2), glmm_shuff1x(x1, 0));

-  _mm_store_ps(dest, _mm_or_ps(x3, x4));
+  glmm_store(dest, _mm_or_ps(x3, x4));
 #else
  dest[0] = glm_signf(v[0]);
  dest[1] = glm_signf(v[1]);
@@ -249,7 +233,7 @@ 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)));
+  glmm_store(dest, _mm_sqrt_ps(glmm_load(v)));
 #else
  dest[0] = sqrtf(v[0]);
  dest[1] = sqrtf(v[1]);
--- a/include/cglm/vec4.h
+++ b/include/cglm/vec4.h
@@ -5,15 +5,8 @@
 * Full license can be found in the LICENSE file
 */

-/*!
- * vec3 functions dont have suffix e.g glm_vec_dot (not glm_vec3_dot)
- * all functions without suffix are vec3 functions
- */
-
 /*
 Macros:
-   glm_vec4_dup3(v, dest)
-   glm_vec4_dup(v, dest)
   GLM_VEC4_ONE_INIT
   GLM_VEC4_BLACK_INIT
   GLM_VEC4_ZERO_INIT
@@ -25,22 +18,43 @@
   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 void  glm_vec4_ucopy(vec4 v, vec4 dest);
   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_sub(vec4 v1, vec4 v2, vec4 dest);
+   CGLM_INLINE float glm_vec4_norm(vec4 v);
+   CGLM_INLINE void  glm_vec4_add(vec4 a, vec4 b, 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_flipsign(vec4 v);
+   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_muladds(vec4 a, float s, vec4 dest);
+   CGLM_INLINE void  glm_vec4_maxadd(vec4 a, vec4 b, vec4 dest);
+   CGLM_INLINE void  glm_vec4_minadd(vec4 a, vec4 b, vec4 dest);
+   CGLM_INLINE void  glm_vec4_negate(vec4 v);
   CGLM_INLINE void  glm_vec4_inv(vec4 v);
   CGLM_INLINE void  glm_vec4_inv_to(vec4 v, vec4 dest);
   CGLM_INLINE void  glm_vec4_normalize(vec4 v);
   CGLM_INLINE void  glm_vec4_normalize_to(vec4 vec, vec4 dest);
-   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 float glm_vec4_distance(vec4 a, vec4 b);
+   CGLM_INLINE void  glm_vec4_maxv(vec4 a, vec4 b, vec4 dest);
+   CGLM_INLINE void  glm_vec4_minv(vec4 a, vec4 b, 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)
+
+ DEPRECATED:
+   glm_vec4_dup
+   glm_vec4_flipsign
+   glm_vec4_flipsign_to
+   glm_vec4_inv
+   glm_vec4_inv_to
+   glm_vec4_mulv
 */

 #ifndef cglm_vec4_h
@@ -50,9 +64,14 @@
 #include "vec4-ext.h"
 #include "util.h"

-/* DEPRECATED! use _copy, _ucopy versions */
-#define glm_vec4_dup3(v, dest) glm_vec4_copy3(v, dest)
-#define glm_vec4_dup(v, dest)  glm_vec4_copy(v, dest)
+/* DEPRECATED! functions */
+#define glm_vec4_dup3(v, dest)         glm_vec4_copy3(v, dest)
+#define glm_vec4_dup(v, dest)          glm_vec4_copy(v, dest)
+#define glm_vec4_flipsign(v)           glm_vec4_negate(v)
+#define glm_vec4_flipsign_to(v, dest)  glm_vec4_negate_to(v, dest)
+#define glm_vec4_inv(v)                glm_vec4_negate(v)
+#define glm_vec4_inv_to(v, dest)       glm_vec4_negate_to(v, dest)
+#define glm_vec4_mulv(a, b, d)         glm_vec4_mul(a, b, d)

 #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}
@@ -102,7 +121,7 @@ CGLM_INLINE
 void
 glm_vec4_copy(vec4 v, vec4 dest) {
 #if defined( __SSE__ ) || defined( __SSE2__ )
-  _mm_store_ps(dest, _mm_load_ps(v));
+  glmm_store(dest, glmm_load(v));
 #else
  dest[0] = v[0];
  dest[1] = v[1];
@@ -111,6 +130,59 @@ glm_vec4_copy(vec4 v, vec4 dest) {
 #endif
 }

+/*!
+ * @brief copy all members of [a] to [dest]
+ *
+ * alignment is not required
+ *
+ * @param[in]  v    source
+ * @param[out] dest destination
+ */
+CGLM_INLINE
+void
+glm_vec4_ucopy(vec4 v, vec4 dest) {
+  dest[0] = v[0];
+  dest[1] = v[1];
+  dest[2] = v[2];
+  dest[3] = v[3];
+}
+
+/*!
+ * @brief make vector zero
+ *
+ * @param[in, out]  v vector
+ */
+CGLM_INLINE
+void
+glm_vec4_zero(vec4 v) {
+#if defined( __SSE__ ) || defined( __SSE2__ )
+  glmm_store(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__ )
+  glmm_store(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
 *
@@ -124,9 +196,9 @@ 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)));
+  x0 = _mm_mul_ps(glmm_load(a), glmm_load(b));
+  x0 = _mm_add_ps(x0, glmm_shuff1(x0, 1, 0, 3, 2));
+  return _mm_cvtss_f32(_mm_add_ss(x0, glmm_shuff1(x0, 0, 1, 0, 1)));
 #else
  return a[0] * b[0] + a[1] * b[1] + a[2] * b[2] + a[3] * b[3];
 #endif
@@ -146,63 +218,133 @@ 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 = glmm_load(v);
+  x0 = _mm_mul_ps(x0, x0);
+  x0 = _mm_add_ps(x0, glmm_shuff1(x0, 1, 0, 3, 2));
+  return _mm_cvtss_f32(_mm_add_ss(x0, glmm_shuff1(x0, 0, 1, 0, 1)));
+#else
+  return v[0] * v[0] + v[1] * v[1] + v[2] * v[2] + v[3] * v[3];
+#endif
 }

 /*!
 * @brief norm (magnitude) of vec4
 *
- * @param[in] vec vector
+ * @param[in] v vector
 *
 * @return norm
 */
 CGLM_INLINE
 float
-glm_vec4_norm(vec4 vec) {
-  return sqrtf(glm_vec4_norm2(vec));
-}
-
-/*!
- * @brief add v2 vector to v1 vector store result in dest
- *
- * @param[in]  v1 vector1
- * @param[in]  v2 vector2
- * @param[out] dest destination vector
- */
-CGLM_INLINE
-void
-glm_vec4_add(vec4 v1, vec4 v2, vec4 dest) {
+glm_vec4_norm(vec4 v) {
 #if defined( __SSE__ ) || defined( __SSE2__ )
-  _mm_store_ps(dest,
-               _mm_add_ps(_mm_load_ps(v1),
-                          _mm_load_ps(v2)));
+  __m128 x0;
+  x0 = glmm_load(v);
+  return _mm_cvtss_f32(_mm_sqrt_ss(glmm_dot(x0, x0)));
 #else
-  dest[0] = v1[0] + v2[0];
-  dest[1] = v1[1] + v2[1];
-  dest[2] = v1[2] + v2[2];
-  dest[3] = v1[3] + v2[3];
+  return sqrtf(glm_vec4_norm2(v));
 #endif
 }

 /*!
- * @brief subtract v2 vector from v1 vector store result in dest
+ * @brief add b vector to a vector store result in dest
 *
- * @param[in]  v1 vector1
- * @param[in]  v2 vector2
+ * @param[in]  a    vector1
+ * @param[in]  b    vector2
 * @param[out] dest destination vector
 */
 CGLM_INLINE
 void
-glm_vec4_sub(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_sub_ps(_mm_load_ps(v1),
-                          _mm_load_ps(v2)));
+  glmm_store(dest, _mm_add_ps(glmm_load(a), glmm_load(b)));
 #else
-  dest[0] = v1[0] - v2[0];
-  dest[1] = v1[1] - v2[1];
-  dest[2] = v1[2] - v2[2];
-  dest[3] = v1[3] - v2[3];
+  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 add scalar to 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_adds(vec4 v, float s, vec4 dest) {
+#if defined( __SSE__ ) || defined( __SSE2__ )
+  glmm_store(dest, _mm_add_ps(glmm_load(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 subtract b vector from a vector store result in dest (d = a - b)
+ *
+ * @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__ )
+  glmm_store(dest, _mm_sub_ps(glmm_load(a), glmm_load(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__ )
+  glmm_store(dest, _mm_sub_ps(glmm_load(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    vector1
+ * @param b    vector2
+ * @param dest dest = (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 dest) {
+#if defined( __SSE__ ) || defined( __SSE2__ )
+  glmm_store(dest, _mm_mul_ps(glmm_load(a), glmm_load(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
 }

@@ -217,9 +359,7 @@ CGLM_INLINE
 void
 glm_vec4_scale(vec4 v, float s, vec4 dest) {
 #if defined( __SSE__ ) || defined( __SSE2__ )
-  _mm_store_ps(dest,
-               _mm_mul_ps(_mm_load_ps(v),
-                          _mm_set1_ps(s)));
+  glmm_store(dest, _mm_mul_ps(glmm_load(v), _mm_set1_ps(s)));
 #else
  dest[0] = v[0] * s;
  dest[1] = v[1] * s;
@@ -241,8 +381,8 @@ glm_vec4_scale_as(vec4 v, float s, vec4 dest) {
  float norm;
  norm = glm_vec4_norm(v);

-  if (norm == 0) {
-    glm_vec4_copy(v, dest);
+  if (norm == 0.0f) {
+    glm_vec4_zero(dest);
    return;
  }

@@ -250,36 +390,197 @@ glm_vec4_scale_as(vec4 v, float s, vec4 dest) {
 }

 /*!
- * @brief flip sign of all vec4 members
+ * @brief div vector with another component-wise division: d = a / b
 *
- * @param[in, out]  v  vector
+ * @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_flipsign(vec4 v) {
+glm_vec4_div(vec4 a, vec4 b, vec4 dest) {
 #if defined( __SSE__ ) || defined( __SSE2__ )
-  _mm_store_ps(v, _mm_xor_ps(_mm_load_ps(v),
-                             _mm_set1_ps(-0.0f)));
+  glmm_store(dest, _mm_div_ps(glmm_load(a), glmm_load(b)));
 #else
-  v[0] = -v[0];
-  v[1] = -v[1];
-  v[2] = -v[2];
-  v[3] = -v[3];
+  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 flip sign of all vec4 members and store result in dest
+ * @brief div vec4 vector with scalar: d = v / s
 *
- * @param[in]  v     vector
- * @param[out] dest  vector
+ * @param[in]  v    vector
+ * @param[in]  s    scalar
+ * @param[out] dest destination vector
 */
 CGLM_INLINE
 void
-glm_vec4_flipsign_to(vec4 v, vec4 dest) {
+glm_vec4_divs(vec4 v, float s, vec4 dest) {
 #if defined( __SSE__ ) || defined( __SSE2__ )
-  _mm_store_ps(dest, _mm_xor_ps(_mm_load_ps(v),
-                                _mm_set1_ps(-0.0f)));
+  glmm_store(dest, _mm_div_ps(glmm_load(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__ )
+  glmm_store(dest, _mm_add_ps(glmm_load(dest),
+                              _mm_add_ps(glmm_load(a),
+                                         glmm_load(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__ )
+  glmm_store(dest, _mm_add_ps(glmm_load(dest),
+                              _mm_sub_ps(glmm_load(a),
+                                         glmm_load(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__ )
+  glmm_store(dest, _mm_add_ps(glmm_load(dest),
+                              _mm_mul_ps(glmm_load(a),
+                                         glmm_load(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__ )
+  glmm_store(dest, _mm_add_ps(glmm_load(dest),
+                              _mm_mul_ps(glmm_load(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 add max of two vector to result/dest
+ *
+ * it applies += operator so dest must be initialized
+ *
+ * @param[in]  a    vector 1
+ * @param[in]  b    vector 2
+ * @param[out] dest dest += max(a, b)
+ */
+CGLM_INLINE
+void
+glm_vec4_maxadd(vec4 a, vec4 b, vec4 dest) {
+#if defined( __SSE__ ) || defined( __SSE2__ )
+  glmm_store(dest, _mm_add_ps(glmm_load(dest),
+                              _mm_max_ps(glmm_load(a),
+                                         glmm_load(b))));
+#else
+  dest[0] += glm_max(a[0], b[0]);
+  dest[1] += glm_max(a[1], b[1]);
+  dest[2] += glm_max(a[2], b[2]);
+  dest[3] += glm_max(a[3], b[3]);
+#endif
+}
+
+/*!
+ * @brief add min of two vector to result/dest
+ *
+ * it applies += operator so dest must be initialized
+ *
+ * @param[in]  a    vector
+ * @param[in]  b    scalar
+ * @param[out] dest dest += min(a, b)
+ */
+CGLM_INLINE
+void
+glm_vec4_minadd(vec4 a, vec4 b, vec4 dest) {
+#if defined( __SSE__ ) || defined( __SSE2__ )
+  glmm_store(dest, _mm_add_ps(glmm_load(dest),
+                              _mm_min_ps(glmm_load(a),
+                                         glmm_load(b))));
+#else
+  dest[0] += glm_min(a[0], b[0]);
+  dest[1] += glm_min(a[1], b[1]);
+  dest[2] += glm_min(a[2], b[2]);
+  dest[3] += glm_min(a[3], b[3]);
+#endif
+}
+
+/*!
+ * @brief negate vector components and store result in dest
+ *
+ * @param[in]  v     vector
+ * @param[out] dest  result vector
+ */
+CGLM_INLINE
+void
+glm_vec4_negate_to(vec4 v, vec4 dest) {
+#if defined( __SSE__ ) || defined( __SSE2__ )
+  glmm_store(dest, _mm_xor_ps(glmm_load(v), _mm_set1_ps(-0.0f)));
 #else
  dest[0] = -v[0];
  dest[1] = -v[1];
@@ -289,27 +590,51 @@ glm_vec4_flipsign_to(vec4 v, vec4 dest) {
 }

 /*!
- * @brief make vector as inverse/opposite of itself
+ * @brief flip sign of all vec4 members
 *
 * @param[in, out]  v  vector
 */
 CGLM_INLINE
 void
-glm_vec4_inv(vec4 v) {
-  glm_vec4_flipsign(v);
+glm_vec4_negate(vec4 v) {
+  glm_vec4_negate_to(v, v);
 }

 /*!
- * @brief inverse/opposite vector
+ * @brief normalize vec4 to dest
 *
 * @param[in]  v    source
 * @param[out] dest destination
 */
 CGLM_INLINE
 void
-glm_vec4_inv_to(vec4 v, vec4 dest) {
-  glm_vec4_copy(v, dest);
-  glm_vec4_flipsign(dest);
+glm_vec4_normalize_to(vec4 v, vec4 dest) {
+#if defined( __SSE__ ) || defined( __SSE2__ )
+  __m128 xdot, x0;
+  float  dot;
+
+  x0   = glmm_load(v);
+  xdot = glmm_dot(x0, x0);
+  dot  = _mm_cvtss_f32(xdot);
+
+  if (dot == 0.0f) {
+    glmm_store(dest, _mm_setzero_ps());
+    return;
+  }
+
+  glmm_store(dest, _mm_div_ps(x0, _mm_sqrt_ps(xdot)));
+#else
+  float norm;
+
+  norm = glm_vec4_norm(v);
+
+  if (norm == 0.0f) {
+    glm_vec4_zero(dest);
+    return;
+  }
+
+  glm_vec4_scale(v, 1.0f / norm, dest);
+#endif
 }

 /*!
@@ -320,85 +645,63 @@ glm_vec4_inv_to(vec4 v, vec4 dest) {
 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
- *
- * @param[in]  vec  source
- * @param[out] dest destination
- */
-CGLM_INLINE
-void
-glm_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);
+  glm_vec4_normalize_to(v, v);
 }

 /**
 * @brief distance between two vectors
 *
- * @param[in] v1 vector1
- * @param[in] v2 vector2
+ * @param[in] a vector1
+ * @param[in] b vector2
 * @return returns distance
 */
 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_vec4_distance(vec4 a, vec4 b) {
+  return sqrtf(glm_pow2(b[0] - a[0])
+             + glm_pow2(b[1] - a[1])
+             + glm_pow2(b[2] - a[2])
+             + glm_pow2(b[3] - a[3]));
 }

 /*!
 * @brief max values of vectors
 *
- * @param[in]  v1   vector1
- * @param[in]  v2   vector2
+ * @param[in]  a    vector1
+ * @param[in]  b    vector2
 * @param[out] dest destination
 */
 CGLM_INLINE
 void
-glm_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]);
+glm_vec4_maxv(vec4 a, vec4 b, vec4 dest) {
+#if defined( __SSE__ ) || defined( __SSE2__ )
+  glmm_store(dest, _mm_max_ps(glmm_load(a), glmm_load(b)));
+#else
+  dest[0] = glm_max(a[0], b[0]);
+  dest[1] = glm_max(a[1], b[1]);
+  dest[2] = glm_max(a[2], b[2]);
+  dest[3] = glm_max(a[3], b[3]);
+#endif
 }

 /*!
 * @brief min values of vectors
 *
- * @param[in]  v1   vector1
- * @param[in]  v2   vector2
+ * @param[in]  a    vector1
+ * @param[in]  b    vector2
 * @param[out] dest destination
 */
 CGLM_INLINE
 void
-glm_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]);
+glm_vec4_minv(vec4 a, vec4 b, vec4 dest) {
+#if defined( __SSE__ ) || defined( __SSE2__ )
+  glmm_store(dest, _mm_min_ps(glmm_load(a), glmm_load(b)));
+#else
+  dest[0] = glm_min(a[0], b[0]);
+  dest[1] = glm_min(a[1], b[1]);
+  dest[2] = glm_min(a[2], b[2]);
+  dest[3] = glm_min(a[3], b[3]);
+#endif
 }

 /*!
@@ -411,10 +714,15 @@ 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__ )
+  glmm_store(v, _mm_min_ps(_mm_max_ps(glmm_load(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
 }

 /*!
@@ -433,9 +741,9 @@ glm_vec4_lerp(vec4 from, vec4 to, float t, vec4 dest) {
  vec4 s, v;

  /* from + s * (to - from) */
-  glm_vec4_broadcast(glm_clamp(t, 0.0f, 1.0f), s);
+  glm_vec4_broadcast(glm_clamp_zo(t), s);
  glm_vec4_sub(to, from, v);
-  glm_vec4_mulv(s, v, v);
+  glm_vec4_mul(s, v, v);
  glm_vec4_add(from, v, dest);
 }

--- a/include/cglm/version.h
+++ b/include/cglm/version.h
@@ -9,7 +9,7 @@
 #define cglm_version_h

 #define CGLM_VERSION_MAJOR 0
-#define CGLM_VERSION_MINOR 4
-#define CGLM_VERSION_PATCH 0
+#define CGLM_VERSION_MINOR 5
+#define CGLM_VERSION_PATCH 2

 #endif /* cglm_version_h */
--- a/makefile.am
+++ b/makefile.am
@@ -54,7 +54,10 @@ 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 \
+                  include/cglm/sphere.h \
+                  include/cglm/ease.h

 cglm_calldir=$(includedir)/cglm/call
 cglm_call_HEADERS = include/cglm/call/mat4.h \
@@ -68,7 +71,10 @@ 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 \
+                    include/cglm/call/sphere.h \
+                    include/cglm/call/ease.h

 cglm_simddir=$(includedir)/cglm/simd
 cglm_simd_HEADERS = include/cglm/simd/intrin.h
@@ -99,7 +105,9 @@ libcglm_la_SOURCES=\
    src/plane.c \
    src/frustum.c \
    src/box.c \
-    src/project.c
+    src/project.c \
+    src/sphere.c \
+    src/ease.c

 test_tests_SOURCES=\
    test/src/test_common.c \
@@ -110,7 +118,10 @@ 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
--- a/src/affine.c
+++ b/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) {
-  glm_scale1(m, s);
+glmc_scale_uni(mat4 m, float 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) {
@@ -115,3 +133,21 @@ void
 glmc_decompose(mat4 m, vec4 t, mat4 r, vec3 s) {
  glm_decompose(m, t, r, s);
 }
+
+CGLM_EXPORT
+void
+glmc_mul(mat4 m1, mat4 m2, mat4 dest) {
+  glm_mul(m1, m2, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_mul_rot(mat4 m1, mat4 m2, mat4 dest) {
+  glm_mul_rot(m1, m2, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_inv_tr(mat4 mat) {
+  glm_inv_tr(mat);
+}
--- a/src/box.c
+++ b/src/box.c
@@ -34,3 +34,63 @@ glmc_aabb_crop_until(vec3 box[2],
                     vec3 dest[2]) {
  glm_aabb_crop_until(box, cropBox, clampBox, dest);
 }
+
+CGLM_EXPORT
+bool
+glmc_aabb_frustum(vec3 box[2], vec4 planes[6]) {
+  return glm_aabb_frustum(box, planes);
+}
+
+CGLM_EXPORT
+void
+glmc_aabb_invalidate(vec3 box[2]) {
+  glm_aabb_invalidate(box);
+}
+
+CGLM_EXPORT
+bool
+glmc_aabb_isvalid(vec3 box[2]) {
+  return glm_aabb_isvalid(box);
+}
+
+CGLM_EXPORT
+float
+glmc_aabb_size(vec3 box[2]) {
+  return glm_aabb_size(box);
+}
+
+CGLM_EXPORT
+float
+glmc_aabb_radius(vec3 box[2]) {
+  return glm_aabb_radius(box);
+}
+
+CGLM_EXPORT
+void
+glmc_aabb_center(vec3 box[2], vec3 dest) {
+  glm_aabb_center(box, dest);
+}
+
+CGLM_EXPORT
+bool
+glmc_aabb_aabb(vec3 box[2], vec3 other[2]) {
+  return glm_aabb_aabb(box, other);
+}
+
+CGLM_EXPORT
+bool
+glmc_aabb_point(vec3 box[2], vec3 point) {
+  return glm_aabb_point(box, point);
+}
+
+CGLM_EXPORT
+bool
+glmc_aabb_contains(vec3 box[2], vec3 other[2]) {
+  return glm_aabb_contains(box, other);
+}
+
+CGLM_EXPORT
+bool
+glmc_aabb_sphere(vec3 box[2], vec4 s) {
+  return glm_aabb_sphere(box, s);
+}
--- a/src/cam.c
+++ b/src/cam.c
@@ -44,6 +44,36 @@ glmc_ortho(float left,
            dest);
 }

+CGLM_EXPORT
+void
+glmc_ortho_aabb(vec3 box[2], mat4 dest) {
+  glm_ortho_aabb(box, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_ortho_aabb_p(vec3 box[2], float padding, mat4 dest) {
+  glm_ortho_aabb_p(box, padding, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_ortho_aabb_pz(vec3 box[2], float padding, mat4 dest) {
+  glm_ortho_aabb_pz(box, padding, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_ortho_default(float aspect, mat4 dest) {
+  glm_ortho_default(aspect, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_ortho_default_s(float aspect, float size, mat4 dest) {
+  glm_ortho_default_s(aspect, size, dest);
+}
+
 CGLM_EXPORT
 void
 glmc_perspective(float fovy,
@@ -58,6 +88,24 @@ glmc_perspective(float fovy,
                  dest);
 }

+CGLM_EXPORT
+void
+glmc_persp_move_far(mat4 proj, float deltaFar) {
+  glm_persp_move_far(proj, deltaFar);
+}
+
+CGLM_EXPORT
+void
+glmc_perspective_default(float aspect, mat4 dest) {
+  glm_perspective_default(aspect, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_perspective_resize(float aspect, mat4 proj) {
+  glm_perspective_resize(aspect, proj);
+}
+
 CGLM_EXPORT
 void
 glmc_lookat(vec3 eye,
@@ -78,3 +126,75 @@ void
 glmc_look_anyup(vec3 eye, vec3 dir, mat4 dest) {
  glm_look_anyup(eye, dir, dest);
 }
+
+CGLM_EXPORT
+void
+glmc_persp_decomp(mat4 proj,
+                  float * __restrict nearVal,
+                  float * __restrict farVal,
+                  float * __restrict top,
+                  float * __restrict bottom,
+                  float * __restrict left,
+                  float * __restrict right) {
+  glm_persp_decomp(proj, nearVal, farVal, top, bottom, left, right);
+}
+
+CGLM_EXPORT
+void
+glmc_persp_decompv(mat4 proj, float dest[6]) {
+  glm_persp_decompv(proj, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_persp_decomp_x(mat4 proj,
+                    float * __restrict left,
+                    float * __restrict right) {
+  glm_persp_decomp_x(proj, left, right);
+}
+
+CGLM_EXPORT
+void
+glmc_persp_decomp_y(mat4 proj,
+                    float * __restrict top,
+                    float * __restrict bottom) {
+  glm_persp_decomp_y(proj, top, bottom);
+}
+
+CGLM_EXPORT
+void
+glmc_persp_decomp_z(mat4 proj,
+                    float * __restrict nearVal,
+                    float * __restrict farVal) {
+  glm_persp_decomp_z(proj, nearVal, farVal);
+}
+
+CGLM_EXPORT
+void
+glmc_persp_decomp_far(mat4 proj, float * __restrict farVal) {
+  glm_persp_decomp_far(proj, farVal);
+}
+
+CGLM_EXPORT
+void
+glmc_persp_decomp_near(mat4 proj, float * __restrict nearVal) {
+  glm_persp_decomp_near(proj, nearVal);
+}
+
+CGLM_EXPORT
+float
+glmc_persp_fovy(mat4 proj) {
+  return glm_persp_fovy(proj);
+}
+
+CGLM_EXPORT
+float
+glmc_persp_aspect(mat4 proj) {
+  return glm_persp_aspect(proj);
+}
+
+CGLM_EXPORT
+void
+glmc_persp_sizes(mat4 proj, float fovy, vec4 dest) {
+  glm_persp_sizes(proj, fovy, dest);
+}
--- a/src/ease.c
+++ b/src/ease.c
@@ -0,0 +1,195 @@
+/*
+ * 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
+float
+glmc_ease_linear(float t) {
+  return glm_ease_linear(t);
+}
+
+CGLM_EXPORT
+float
+glmc_ease_sine_in(float t) {
+  return glm_ease_sine_in(t);
+}
+
+CGLM_EXPORT
+float
+glmc_ease_sine_out(float t) {
+  return glm_ease_sine_out(t);
+}
+
+CGLM_EXPORT
+float
+glmc_ease_sine_inout(float t) {
+  return glm_ease_sine_inout(t);
+}
+
+CGLM_EXPORT
+float
+glmc_ease_quad_in(float t) {
+  return glm_ease_quad_in(t);
+}
+
+CGLM_EXPORT
+float
+glmc_ease_quad_out(float t) {
+  return glm_ease_quad_out(t);
+}
+
+CGLM_EXPORT
+float
+glmc_ease_quad_inout(float t) {
+  return glm_ease_quad_inout(t);
+}
+
+CGLM_EXPORT
+float
+glmc_ease_cubic_in(float t) {
+  return glm_ease_cubic_in(t);
+}
+
+CGLM_EXPORT
+float
+glmc_ease_cubic_out(float t) {
+  return glm_ease_cubic_out(t);
+}
+
+CGLM_EXPORT
+float
+glmc_ease_cubic_inout(float t) {
+  return glm_ease_cubic_inout(t);
+}
+
+CGLM_EXPORT
+float
+glmc_ease_quart_in(float t) {
+  return glm_ease_quart_in(t);
+}
+
+CGLM_EXPORT
+float
+glmc_ease_quart_out(float t) {
+  return glm_ease_quart_out(t);
+}
+
+CGLM_EXPORT
+float
+glmc_ease_quart_inout(float t) {
+  return glm_ease_quart_inout(t);
+}
+
+CGLM_EXPORT
+float
+glmc_ease_quint_in(float t) {
+  return glm_ease_quint_in(t);
+}
+
+CGLM_EXPORT
+float
+glmc_ease_quint_out(float t) {
+  return glm_ease_quint_out(t);
+}
+
+CGLM_EXPORT
+float
+glmc_ease_quint_inout(float t) {
+  return glm_ease_quint_inout(t);
+}
+
+CGLM_EXPORT
+float
+glmc_ease_exp_in(float t) {
+  return glm_ease_exp_in(t);
+}
+
+CGLM_EXPORT
+float
+glmc_ease_exp_out(float t) {
+  return glm_ease_exp_out(t);
+}
+
+CGLM_EXPORT
+float
+glmc_ease_exp_inout(float t) {
+  return glm_ease_exp_inout(t);
+}
+
+CGLM_EXPORT
+float
+glmc_ease_circ_in(float t) {
+  return glm_ease_circ_in(t);
+}
+
+CGLM_EXPORT
+float
+glmc_ease_circ_out(float t) {
+  return glm_ease_circ_out(t);
+}
+
+CGLM_EXPORT
+float
+glmc_ease_circ_inout(float t) {
+  return glm_ease_circ_inout(t);
+}
+
+CGLM_EXPORT
+float
+glmc_ease_back_in(float t) {
+  return glm_ease_back_in(t);
+}
+
+CGLM_EXPORT
+float
+glmc_ease_back_out(float t) {
+  return glm_ease_back_out(t);
+}
+
+CGLM_EXPORT
+float
+glmc_ease_back_inout(float t) {
+  return glm_ease_back_inout(t);
+}
+
+CGLM_EXPORT
+float
+glmc_ease_elast_in(float t) {
+  return glm_ease_elast_in(t);
+}
+
+CGLM_EXPORT
+float
+glmc_ease_elast_out(float t) {
+  return glm_ease_elast_out(t);
+}
+
+CGLM_EXPORT
+float
+glmc_ease_elast_inout(float t) {
+  return glm_ease_elast_inout(t);
+}
+
+CGLM_EXPORT
+float
+glmc_ease_bounce_out(float t) {
+  return glm_ease_bounce_out(t);
+}
+
+CGLM_EXPORT
+float
+glmc_ease_bounce_in(float t) {
+  return glm_ease_bounce_in(t);
+}
+
+CGLM_EXPORT
+float
+glmc_ease_bounce_inout(float t) {
+  return glm_ease_bounce_inout(t);
+}
--- a/src/mat3.c
+++ b/src/mat3.c
@@ -20,6 +20,12 @@ glmc_mat3_identity(mat3 mat) {
  glm_mat3_identity(mat);
 }

+CGLM_EXPORT
+void
+glmc_mat3_identity_array(mat3 * __restrict mat, size_t count) {
+  glm_mat3_identity_array(mat, count);
+}
+
 CGLM_EXPORT
 void
 glmc_mat3_mul(mat3 m1, mat3 m2, mat3 dest) {
@@ -44,6 +50,18 @@ glmc_mat3_mulv(mat3 m, vec3 v, vec3 dest) {
  glm_mat3_mulv(m, v, dest);
 }

+CGLM_EXPORT
+float
+glmc_mat3_trace(mat3 m) {
+  return glm_mat3_trace(m);
+}
+
+CGLM_EXPORT
+void
+glmc_mat3_quat(mat3 m, versor dest) {
+  glm_mat3_quat(m, dest);
+}
+
 CGLM_EXPORT
 void
 glmc_mat3_scale(mat3 m, float s) {
--- a/src/mat4.c
+++ b/src/mat4.c
@@ -26,6 +26,12 @@ glmc_mat4_identity(mat4 mat) {
  glm_mat4_identity(mat);
 }

+CGLM_EXPORT
+void
+glmc_mat4_identity_array(mat4 * __restrict mat, size_t count) {
+  glm_mat4_identity_array(mat, count);
+}
+
 CGLM_EXPORT
 void
 glmc_mat4_pick3(mat4 mat, mat3 dest) {
@@ -62,6 +68,24 @@ glmc_mat4_mulv(mat4 m, vec4 v, vec4 dest) {
  glm_mat4_mulv(m, v, dest);
 }

+CGLM_EXPORT
+void
+glmc_mat4_mulv3(mat4 m, vec3 v, float last, vec3 dest) {
+  glm_mat4_mulv3(m, v, last, dest);
+}
+
+CGLM_EXPORT
+float
+glmc_mat4_trace(mat4 m) {
+  return glm_mat4_trace(m);
+}
+
+CGLM_EXPORT
+float
+glmc_mat4_trace3(mat4 m) {
+  return glm_mat4_trace3(m);
+}
+
 CGLM_EXPORT
 void
 glmc_mat4_quat(mat4 m, versor dest) {
@@ -110,6 +134,12 @@ glmc_mat4_inv_precise(mat4 mat, mat4 dest) {
  glm_mat4_inv_precise(mat, dest);
 }

+CGLM_EXPORT
+void
+glmc_mat4_inv_fast(mat4 mat, mat4 dest) {
+  glm_mat4_inv_fast(mat, dest);
+}
+
 CGLM_EXPORT
 void
 glmc_mat4_swap_col(mat4 mat, int col1, int col2) {
--- a/src/quat.c
+++ b/src/quat.c
@@ -8,13 +8,18 @@
 #include "../include/cglm/cglm.h"
 #include "../include/cglm/call.h"

-
 CGLM_EXPORT
 void
 glmc_quat_identity(versor q) {
  glm_quat_identity(q);
 }

+CGLM_EXPORT
+void
+glmc_quat_identity_array(versor * __restrict q, size_t count) {
+  glm_quat_identity_array(q, count);
+}
+
 CGLM_EXPORT
 void
 glmc_quat_init(versor q, float x, float y, float z, float w) {
@@ -194,3 +199,15 @@ 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);
+}
--- a/src/sphere.c
+++ b/src/sphere.c
@@ -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
+ */
+
+#include "../include/cglm/cglm.h"
+#include "../include/cglm/call.h"
+
+CGLM_EXPORT
+float
+glmc_sphere_radii(vec4 s) {
+  return glm_sphere_radii(s);
+}
+
+CGLM_EXPORT
+void
+glmc_sphere_transform(vec4 s, mat4 m, vec4 dest) {
+  glm_sphere_transform(s, m, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_sphere_merge(vec4 s1, vec4 s2, vec4 dest) {
+  glm_sphere_merge(s1, s2, dest);
+}
+
+CGLM_EXPORT
+bool
+glmc_sphere_sphere(vec4 s1, vec4 s2) {
+  return glm_sphere_sphere(s1, s2);
+}
+
+CGLM_EXPORT
+bool
+glmc_sphere_point(vec4 s, vec3 point) {
+  return glm_sphere_point(s, point);
+}
--- a/src/vec3.c
+++ b/src/vec3.c
@@ -16,242 +16,326 @@ glmc_vec3(vec4 v4, vec3 dest) {

 CGLM_EXPORT
 void
-glmc_vec_copy(vec3 a, vec3 dest) {
-  glm_vec_copy(a, dest);
+glmc_vec3_copy(vec3 a, vec3 dest) {
+  glm_vec3_copy(a, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_vec3_zero(vec3 v) {
+  glm_vec3_zero(v);
+}
+
+CGLM_EXPORT
+void
+glmc_vec3_one(vec3 v) {
+  glm_vec3_one(v);
 }

 CGLM_EXPORT
 float
-glmc_vec_dot(vec3 a, vec3 b) {
-  return glm_vec_dot(a, b);
+glmc_vec3_dot(vec3 a, vec3 b) {
+  return glm_vec3_dot(a, b);
 }

 CGLM_EXPORT
 void
-glmc_vec_cross(vec3 a, vec3 b, vec3 d) {
-  glm_vec_cross(a, b, d);
+glmc_vec3_cross(vec3 a, vec3 b, vec3 dest) {
+  glm_vec3_cross(a, b, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_vec3_crossn(vec3 a, vec3 b, vec3 dest) {
+  glm_vec3_crossn(a, b, dest);
 }

 CGLM_EXPORT
 float
-glmc_vec_norm(vec3 vec) {
-  return glm_vec_norm(vec);
+glmc_vec3_norm(vec3 v) {
+  return glm_vec3_norm(v);
 }

 CGLM_EXPORT
 void
-glmc_vec_normalize_to(vec3 vec, vec3 dest) {
-  glm_vec_normalize_to(vec, dest);
+glmc_vec3_normalize_to(vec3 v, vec3 dest) {
+  glm_vec3_normalize_to(v, dest);
 }

 CGLM_EXPORT
 void
-glmc_vec_normalize(vec3 v) {
-  glm_vec_normalize(v);
+glmc_vec3_normalize(vec3 v) {
+  glm_vec3_normalize(v);
 }

 CGLM_EXPORT
 float
-glmc_vec_norm2(vec3 vec) {
-  return glm_vec_norm2(vec);
+glmc_vec3_norm2(vec3 v) {
+  return glm_vec3_norm2(v);
 }

 CGLM_EXPORT
 void
-glmc_vec_add(vec3 v1, vec3 v2, vec3 dest) {
-  glm_vec_add(v1, v2, dest);
+glmc_vec3_add(vec3 a, vec3 b, vec3 dest) {
+  glm_vec3_add(a, b, dest);
 }

 CGLM_EXPORT
 void
-glmc_vec_sub(vec3 v1, vec3 v2, vec3 dest) {
-  glm_vec_sub(v1, v2, dest);
+glmc_vec3_adds(vec3 v, float s, vec3 dest) {
+  glm_vec3_adds(v, s, dest);
 }

 CGLM_EXPORT
 void
-glmc_vec_scale(vec3 v, float s, vec3 dest) {
-  glm_vec_scale(v, s, dest);
+glmc_vec3_sub(vec3 a, vec3 b, vec3 dest) {
+  glm_vec3_sub(a, b, dest);
 }

 CGLM_EXPORT
 void
-glmc_vec_scale_as(vec3 v, float s, vec3 dest) {
-  glm_vec_scale_as(v, s, dest);
+glmc_vec3_subs(vec3 v, float s, vec3 dest) {
+  glm_vec3_subs(v, s, dest);
 }

 CGLM_EXPORT
 void
-glmc_vec_flipsign(vec3 v) {
-  glm_vec_flipsign(v);
+glmc_vec3_mul(vec3 a, vec3 b, vec3 d) {
+  glm_vec3_mul(a, b, d);
 }

 CGLM_EXPORT
 void
-glmc_vec_flipsign_to(vec3 v, vec3 dest) {
-  glm_vec_flipsign_to(v, dest);
+glmc_vec3_scale(vec3 v, float s, vec3 dest) {
+  glm_vec3_scale(v, s, dest);
 }

 CGLM_EXPORT
 void
-glmc_vec_inv(vec3 v) {
-  glm_vec_inv(v);
+glmc_vec3_scale_as(vec3 v, float s, vec3 dest) {
+  glm_vec3_scale_as(v, s, dest);
 }

 CGLM_EXPORT
 void
-glmc_vec_inv_to(vec3 v, vec3 dest) {
-  glm_vec_inv_to(v, dest);
+glmc_vec3_div(vec3 a, vec3 b, vec3 dest) {
+  glm_vec3_div(a, b, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_vec3_divs(vec3 a, float s, vec3 dest) {
+  glm_vec3_divs(a, s, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_vec3_addadd(vec3 a, vec3 b, vec3 dest) {
+  glm_vec3_addadd(a, b, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_vec3_subadd(vec3 a, vec3 b, vec3 dest) {
+  glm_vec3_subadd(a, b, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_vec3_muladd(vec3 a, vec3 b, vec3 dest) {
+  glm_vec3_muladd(a, b, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_vec3_muladds(vec3 a, float s, vec3 dest) {
+  glm_vec3_muladds(a, s, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_vec3_maxadd(vec3 a, vec3 b, vec3 dest) {
+  glm_vec3_maxadd(a, b, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_vec3_minadd(vec3 a, vec3 b, vec3 dest) {
+  glm_vec3_minadd(a, b, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_vec3_negate(vec3 v) {
+  glm_vec3_negate(v);
+}
+
+CGLM_EXPORT
+void
+glmc_vec3_negate_to(vec3 v, vec3 dest) {
+  glm_vec3_negate_to(v, dest);
 }

 CGLM_EXPORT
 float
-glmc_vec_angle(vec3 v1, vec3 v2) {
-  return glm_vec_angle(v1, v2);
+glmc_vec3_angle(vec3 a, vec3 b) {
+  return glm_vec3_angle(a, b);
 }

 CGLM_EXPORT
 void
-glmc_vec_rotate(vec3 v, float angle, vec3 axis) {
-  glm_vec_rotate(v, angle, axis);
+glmc_vec3_rotate(vec3 v, float angle, vec3 axis) {
+  glm_vec3_rotate(v, angle, axis);
 }

 CGLM_EXPORT
 void
-glmc_vec_rotate_m4(mat4 m, vec3 v, vec3 dest) {
-  glm_vec_rotate_m4(m, v, dest);
+glmc_vec3_rotate_m4(mat4 m, vec3 v, vec3 dest) {
+  glm_vec3_rotate_m4(m, v, dest);
 }

 CGLM_EXPORT
 void
-glmc_vec_proj(vec3 a, vec3 b, vec3 dest) {
-  glm_vec_proj(a, b, dest);
+glmc_vec3_rotate_m3(mat3 m, vec3 v, vec3 dest) {
+  glm_vec3_rotate_m3(m, v, dest);
 }

 CGLM_EXPORT
 void
-glmc_vec_center(vec3 v1, vec3 v2, vec3 dest) {
-  glm_vec_center(v1, v2, dest);
+glmc_vec3_proj(vec3 a, vec3 b, vec3 dest) {
+  glm_vec3_proj(a, b, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_vec3_center(vec3 a, vec3 b, vec3 dest) {
+  glm_vec3_center(a, b, dest);
 }

 CGLM_EXPORT
 float
-glmc_vec_distance(vec3 v1, vec3 v2) {
-  return glm_vec_distance(v1, v2);
+glmc_vec3_distance2(vec3 a, vec3 b) {
+  return glm_vec3_distance2(a, b);
+}
+
+CGLM_EXPORT
+float
+glmc_vec3_distance(vec3 a, vec3 b) {
+  return glm_vec3_distance(a, b);
 }

 CGLM_EXPORT
 void
-glmc_vec_maxv(vec3 v1, vec3 v2, vec3 dest) {
-  glm_vec_minv(v1, v2, dest);
+glmc_vec3_maxv(vec3 a, vec3 b, vec3 dest) {
+  glm_vec3_minv(a, b, dest);
 }

 CGLM_EXPORT
 void
-glmc_vec_minv(vec3 v1, vec3 v2, vec3 dest) {
-  glm_vec_maxv(v1, v2, dest);
+glmc_vec3_minv(vec3 a, vec3 b, vec3 dest) {
+  glm_vec3_maxv(a, b, dest);
 }

 CGLM_EXPORT
 void
-glmc_vec_clamp(vec3 v, float minVal, float maxVal) {
-  glm_vec_clamp(v, minVal, maxVal);
+glmc_vec3_clamp(vec3 v, float minVal, float maxVal) {
+  glm_vec3_clamp(v, minVal, maxVal);
 }

 CGLM_EXPORT
 void
-glmc_vec_ortho(vec3 v, vec3 dest) {
-  glm_vec_ortho(v, dest);
+glmc_vec3_ortho(vec3 v, vec3 dest) {
+  glm_vec3_ortho(v, dest);
 }

 CGLM_EXPORT
 void
-glmc_vec_lerp(vec3 from, vec3 to, float t, vec3 dest) {
-  glm_vec_lerp(from, to, t, dest);
+glmc_vec3_lerp(vec3 from, vec3 to, float t, vec3 dest) {
+  glm_vec3_lerp(from, to, t, dest);
 }

 /* ext */

 CGLM_EXPORT
 void
-glmc_vec_mulv(vec3 a, vec3 b, vec3 d) {
-  glm_vec_mulv(a, b, d);
+glmc_vec3_mulv(vec3 a, vec3 b, vec3 d) {
+  glm_vec3_mulv(a, b, d);
 }

 CGLM_EXPORT
 void
-glmc_vec_broadcast(float val, vec3 d) {
-  glm_vec_broadcast(val, d);
+glmc_vec3_broadcast(float val, vec3 d) {
+  glm_vec3_broadcast(val, d);
 }

 CGLM_EXPORT
 bool
-glmc_vec_eq(vec3 v, float val) {
-  return glm_vec_eq(v, val);
+glmc_vec3_eq(vec3 v, float val) {
+  return glm_vec3_eq(v, val);
 }

 CGLM_EXPORT
 bool
-glmc_vec_eq_eps(vec3 v, float val) {
-  return glm_vec_eq_eps(v, val);
+glmc_vec3_eq_eps(vec3 v, float val) {
+  return glm_vec3_eq_eps(v, val);
 }

 CGLM_EXPORT
 bool
-glmc_vec_eq_all(vec3 v) {
-  return glm_vec_eq_all(v);
+glmc_vec3_eq_all(vec3 v) {
+  return glm_vec3_eq_all(v);
 }

 CGLM_EXPORT
 bool
-glmc_vec_eqv(vec3 v1, vec3 v2) {
-  return glm_vec_eqv(v1, v2);
+glmc_vec3_eqv(vec3 a, vec3 b) {
+  return glm_vec3_eqv(a, b);
 }

 CGLM_EXPORT
 bool
-glmc_vec_eqv_eps(vec3 v1, vec3 v2) {
-  return glm_vec_eqv_eps(v1, v2);
+glmc_vec3_eqv_eps(vec3 a, vec3 b) {
+  return glm_vec3_eqv_eps(a, b);
 }

 CGLM_EXPORT
 float
-glmc_vec_max(vec3 v) {
-  return glm_vec_max(v);
+glmc_vec3_max(vec3 v) {
+  return glm_vec3_max(v);
 }

 CGLM_EXPORT
 float
-glmc_vec_min(vec3 v) {
-  return glm_vec_min(v);
+glmc_vec3_min(vec3 v) {
+  return glm_vec3_min(v);
 }

 CGLM_EXPORT
 bool
-glmc_vec_isnan(vec3 v) {
-  return glm_vec_isnan(v);
+glmc_vec3_isnan(vec3 v) {
+  return glm_vec3_isnan(v);
 }

 CGLM_EXPORT
 bool
-glmc_vec_isinf(vec3 v) {
-  return glm_vec_isinf(v);
+glmc_vec3_isinf(vec3 v) {
+  return glm_vec3_isinf(v);
 }

 CGLM_EXPORT
 bool
-glmc_vec_isvalid(vec3 v) {
-  return glm_vec_isvalid(v);
+glmc_vec3_isvalid(vec3 v) {
+  return glm_vec3_isvalid(v);
 }

 CGLM_EXPORT
 void
-glmc_vec_sign(vec3 v, vec3 dest) {
-  glm_vec_sign(v, dest);
+glmc_vec3_sign(vec3 v, vec3 dest) {
+  glm_vec3_sign(v, dest);
 }

 CGLM_EXPORT
 void
-glmc_vec_sqrt(vec3 v, vec3 dest) {
-  glm_vec_sqrt(v, dest);
+glmc_vec3_sqrt(vec3 v, vec3 dest) {
+  glm_vec3_sqrt(v, dest);
 }
--- a/src/vec4.c
+++ b/src/vec4.c
@@ -16,8 +16,20 @@ glmc_vec4(vec3 v3, float last, vec4 dest) {

 CGLM_EXPORT
 void
-glmc_vec4_copy3(vec4 a, vec3 dest) {
-  glm_vec4_copy3(a, dest);
+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 v, vec3 dest) {
+  glm_vec4_copy3(v, dest);
 }

 CGLM_EXPORT
@@ -26,6 +38,12 @@ glmc_vec4_copy(vec4 v, vec4 dest) {
  glm_vec4_copy(v, dest);
 }

+CGLM_EXPORT
+void
+glmc_vec4_ucopy(vec4 v, vec4 dest) {
+  glm_vec4_ucopy(v, dest);
+}
+
 CGLM_EXPORT
 float
 glmc_vec4_dot(vec4 a, vec4 b) {
@@ -34,14 +52,14 @@ glmc_vec4_dot(vec4 a, vec4 b) {

 CGLM_EXPORT
 float
-glmc_vec4_norm(vec4 vec) {
-  return glm_vec4_norm(vec);
+glmc_vec4_norm(vec4 v) {
+  return glm_vec4_norm(v);
 }

 CGLM_EXPORT
 void
-glmc_vec4_normalize_to(vec4 vec, vec4 dest) {
-  glm_vec4_normalize_to(vec, dest);
+glmc_vec4_normalize_to(vec4 v, vec4 dest) {
+  glm_vec4_normalize_to(v, dest);
 }

 CGLM_EXPORT
@@ -52,20 +70,38 @@ glmc_vec4_normalize(vec4 v) {

 CGLM_EXPORT
 float
-glmc_vec4_norm2(vec4 vec) {
-  return glm_vec4_norm2(vec);
+glmc_vec4_norm2(vec4 v) {
+  return glm_vec4_norm2(v);
 }

 CGLM_EXPORT
 void
-glmc_vec4_add(vec4 v1, vec4 v2, vec4 dest) {
-  glm_vec4_add(v1, v2, dest);
+glmc_vec4_add(vec4 a, vec4 b, vec4 dest) {
+  glm_vec4_add(a, b, dest);
 }

 CGLM_EXPORT
 void
-glmc_vec4_sub(vec4 v1, vec4 v2, vec4 dest) {
-  glm_vec4_sub(v1, v2, dest);
+glmc_vec4_adds(vec4 v, float s, vec4 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
@@ -76,50 +112,86 @@ 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_flipsign(vec4 v) {
-  glm_vec4_flipsign(v);
+glmc_vec4_div(vec4 a, vec4 b, vec4 dest) {
+  glm_vec4_div(a, b, dest);
 }

 CGLM_EXPORT
 void
-glmc_vec4_flipsign_to(vec4 v, vec4 dest) {
-  glm_vec4_flipsign_to(v, dest);
+glmc_vec4_divs(vec4 v, float s, vec4 dest) {
+  glm_vec4_divs(v, s, dest);
 }

 CGLM_EXPORT
 void
-glmc_vec4_inv(vec4 v) {
-  glm_vec4_inv(v);
+glmc_vec4_addadd(vec4 a, vec4 b, vec4 dest) {
+  glm_vec4_addadd(a, b, dest);
 }

 CGLM_EXPORT
 void
-glmc_vec4_inv_to(vec4 v, vec4 dest) {
-  glm_vec4_inv_to(v, dest);
+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_maxadd(vec4 a, vec4 b, vec4 dest) {
+  glm_vec4_maxadd(a, b, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_vec4_minadd(vec4 a, vec4 b, vec4 dest) {
+  glm_vec4_minadd(a, b, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_vec4_negate(vec4 v) {
+  glm_vec4_negate(v);
+}
+
+CGLM_EXPORT
+void
+glmc_vec4_negate_to(vec4 v, vec4 dest) {
+  glm_vec4_negate_to(v, dest);
 }

 CGLM_EXPORT
 float
-glmc_vec4_distance(vec4 v1, vec4 v2) {
-  return glm_vec4_distance(v1, v2);
+glmc_vec4_distance(vec4 a, vec4 b) {
+  return glm_vec4_distance(a, b);
 }

 CGLM_EXPORT
 void
-glmc_vec4_maxv(vec4 v1, vec4 v2, vec4 dest) {
-  glm_vec4_minv(v1, v2, dest);
+glmc_vec4_maxv(vec4 a, vec4 b, vec4 dest) {
+  glm_vec4_minv(a, b, dest);
 }

 CGLM_EXPORT
 void
-glmc_vec4_minv(vec4 v1, vec4 v2, vec4 dest) {
-  glm_vec4_maxv(v1, v2, dest);
+glmc_vec4_minv(vec4 a, vec4 b, vec4 dest) {
+  glm_vec4_maxv(a, b, dest);
 }

 CGLM_EXPORT
@@ -168,14 +240,14 @@ glmc_vec4_eq_all(vec4 v) {

 CGLM_EXPORT
 bool
-glmc_vec4_eqv(vec4 v1, vec4 v2) {
-  return glm_vec4_eqv(v1, v2);
+glmc_vec4_eqv(vec4 a, vec4 b) {
+  return glm_vec4_eqv(a, b);
 }

 CGLM_EXPORT
 bool
-glmc_vec4_eqv_eps(vec4 v1, vec4 v2) {
-  return glm_vec4_eqv_eps(v1, v2);
+glmc_vec4_eqv_eps(vec4 a, vec4 b) {
+  return glm_vec4_eqv_eps(a, b);
 }

 CGLM_EXPORT
--- a/test/src/test_affine.c
+++ b/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, GLM_PI_4f, 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, GLM_PI_4f, GLM_YUP);
+  glm_translate_make(t2, (vec3){34, 57, 36});
+
+  glmc_mat4_mul(t2, t1, t3); /* T * R */
+
+  glm_rotate(t2, GLM_PI_4f, GLM_YUP);
+  test_assert_mat4_eq(t2, t3);
+
+  /* test scale is postmultiplied */
+  glmc_rotate_make(t1, GLM_PI_4f, 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, GLM_PI_4f, 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, GLM_PI_4f, 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, GLM_PI_4f, 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, GLM_PI_4f, (vec3){1, 0, 0});
+  glm_translate_make(t2, (vec3){34, 57, 36});
+
+  glmc_mat4_mul(t2, t1, t3); /* T * R */
+
+  glm_rotate_x(t2, GLM_PI_4f, t2);
+  test_assert_mat4_eq(t2, t3);
+
+  /* test rotate_y */
+  glmc_rotate_make(t1, GLM_PI_4f, (vec3){0, 1, 0});
+  glm_translate_make(t2, (vec3){34, 57, 36});
+
+  glmc_mat4_mul(t2, t1, t3); /* T * R */
+
+  glm_rotate_y(t2, GLM_PI_4f, t2);
+  test_assert_mat4_eq(t2, t3);
+
+  /* test rotate_z */
+  glmc_rotate_make(t1, GLM_PI_4f, (vec3){0, 0, 1});
+  glm_translate_make(t2, (vec3){34, 57, 36});
+
+  glmc_mat4_mul(t2, t1, t3); /* T * R */
+
+  glm_rotate_z(t2, GLM_PI_4f, t2);
+  test_assert_mat4_eq(t2, t3);
+
+  /* test rotate */
+  glmc_rotate_make(t1, GLM_PI_4f, (vec3){0, 0, 1});
+  glm_translate_make(t2, (vec3){34, 57, 36});
+
+  glmc_mat4_mul(t2, t1, t3); /* T * R */
+  glmc_rotate(t2, GLM_PI_4f, (vec3){0, 0, 1});
+
+  test_assert_mat4_eq(t3, t2);
+
+  /* test scale_uni */
+  glmc_rotate_make(t1, GLM_PI_4f, 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);
+}
--- a/test/src/test_cam.c
+++ b/test/src/test_cam.c
@@ -16,7 +16,7 @@ test_camera_lookat(void **state) {
       up     = {0.0f, 1.0f, 0.0f}
  ;

-  glm_vec_add(eye, dir, center);
+  glm_vec3_add(eye, dir, center);
  glm_lookat(eye, center, up, view1);

  glm_look(eye, dir, up, view2);
--- a/test/src/test_clamp.c
+++ b/test/src/test_clamp.c
@@ -16,7 +16,7 @@ test_clamp(void **state) {
  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_vec3_clamp(v3, 0.0, 1.0);
  glm_vec4_clamp(v4, 1.5, 3.0);

  assert_true(v3[0] == 1.0f);
--- a/test/src/test_common.c
+++ b/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 */
--- a/test/src/test_common.h
+++ b/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);

--- a/test/src/test_main.c
+++ b/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);
--- a/test/src/test_mat3.c
+++ b/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(glm_eq(m3[i][j], 1.0f));
+      else
+        assert_true(glm_eq(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);
+  }
+}
--- a/test/src/test_mat4.c
+++ b/test/src/test_mat4.c
@@ -24,9 +24,9 @@ test_mat4(void **state) {
  for (i = 0; i < m; i++) {
    for (j = 0; j < n; j++) {
      if (i == j)
-        assert_true(m3[i][j] == 1.0f);
+        assert_true(glm_eq(m3[i][j], 1.0f));
      else
-        assert_true(m3[i][j] == 0.0f);
+        assert_true(glm_eq(m3[i][j], 0.0f));
    }
  }

--- a/test/src/test_quat.c
+++ b/test/src/test_quat.c
@@ -25,7 +25,7 @@ test_quat(void **state) {

  /* 0. test identiy quat */
  glm_quat_identity(q4);
-  assert_true(glm_quat_real(q4) == cosf(glm_rad(0.0f) * 0.5f));
+  assert_true(glm_eq(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);

@@ -118,7 +118,7 @@ test_quat(void **state) {
  /* 9. test imag, real */

  /* 9.1 real */
-  assert_true(glm_quat_real(q4) == cosf(glm_rad(-90.0f) * 0.5f));
+  assert_true(glm_eq(glm_quat_real(q4), cosf(glm_rad(-90.0f) * 0.5f)));

  /* 9.1 imag */
  glm_quat_imag(q4, imag);
@@ -128,7 +128,7 @@ test_quat(void **state) {
  axis[1] = sinf(glm_rad(-90.0f) * 0.5f) * 1.0f;
  axis[2] = 0.0f;

-  assert_true(glm_vec_eqv_eps(imag, axis));
+  assert_true(glm_vec3_eqv_eps(imag, axis));

  /* 9.2 axis */
  glm_quat_axis(q4, axis);
@@ -143,7 +143,7 @@ test_quat(void **state) {
  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_vec3_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);
--- a/test/src/test_tests.h
+++ b/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 */
--- a/test/src/test_vec3.c
+++ b/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_vec3_zero(v);
+  test_assert_vec3_eq(GLM_VEC3_ZERO, v);
+
+  /* test one */
+  glm_vec3_one(v);
+  test_assert_vec3_eq(GLM_VEC3_ONE, v);
+
+  /* adds, subs, div, divs, mul */
+  glm_vec3_add(v, GLM_VEC3_ONE, v);
+  assert_true(glmc_vec3_eq_eps(v, 2));
+
+  glm_vec3_adds(v, 10, v);
+  assert_true(glmc_vec3_eq_eps(v, 12));
+
+  glm_vec3_sub(v, GLM_VEC3_ONE, v);
+  assert_true(glmc_vec3_eq_eps(v, 11));
+
+  glm_vec3_subs(v, 1, v);
+  assert_true(glmc_vec3_eq_eps(v, 10));
+
+  glm_vec3_broadcast(2, v1);
+  glm_vec3_div(v, v1, v);
+  assert_true(glmc_vec3_eq_eps(v, 5));
+
+  glm_vec3_divs(v, 0.5, v);
+  assert_true(glmc_vec3_eq_eps(v, 10));
+
+  glm_vec3_mul(v, v1, v);
+  assert_true(glmc_vec3_eq_eps(v, 20));
+
+  glm_vec3_scale(v, 0.5, v);
+  assert_true(glmc_vec3_eq_eps(v, 10));
+
+  glm_vec3_normalize_to(v, v1);
+  glm_vec3_scale(v1, 0.8, v1);
+  glm_vec3_scale_as(v, 0.8, v);
+  test_assert_vec3_eq(v1, v);
+
+  /* addadd, subadd, muladd */
+  glm_vec3_one(v);
+
+  glm_vec3_addadd(GLM_VEC3_ONE, GLM_VEC3_ONE, v);
+  assert_true(glmc_vec3_eq_eps(v, 3));
+
+  glm_vec3_subadd(GLM_VEC3_ONE, GLM_VEC3_ZERO, v);
+  assert_true(glmc_vec3_eq_eps(v, 4));
+
+  glm_vec3_broadcast(2, v1);
+  glm_vec3_broadcast(3, v2);
+  glm_vec3_muladd(v1, v2, v);
+  assert_true(glmc_vec3_eq_eps(v, 10));
+
+  /* rotate */
+  glm_vec3_copy(GLM_YUP, v);
+  glm_rotate_make(rot1, glm_rad(90), GLM_XUP);
+  glm_vec3_rotate_m4(rot1, v, v1);
+  glm_mat4_pick3(rot1, rot1m3);
+  glm_vec3_rotate_m3(rot1m3, v, v2);
+
+  test_assert_vec3_eq(v1, v2);
+  test_assert_vec3_eq(v1, GLM_ZUP);
+}
--- a/test/src/test_vec4.c
+++ b/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);
 }
--- a/win/cglm.vcxproj
+++ b/win/cglm.vcxproj
@@ -23,6 +23,7 @@
    <ClCompile Include="..\src\box.c" />
    <ClCompile Include="..\src\cam.c" />
    <ClCompile Include="..\src\dllmain.c" />
+    <ClCompile Include="..\src\ease.c" />
    <ClCompile Include="..\src\euler.c" />
    <ClCompile Include="..\src\frustum.c" />
    <ClCompile Include="..\src\io.c" />
@@ -31,6 +32,7 @@
    <ClCompile Include="..\src\plane.c" />
    <ClCompile Include="..\src\project.c" />
    <ClCompile Include="..\src\quat.c" />
+    <ClCompile Include="..\src\sphere.c" />
    <ClCompile Include="..\src\vec3.c" />
    <ClCompile Include="..\src\vec4.c" />
  </ItemGroup>
@@ -42,6 +44,7 @@
    <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\ease.h" />
    <ClInclude Include="..\include\cglm\call\euler.h" />
    <ClInclude Include="..\include\cglm\call\frustum.h" />
    <ClInclude Include="..\include\cglm\call\io.h" />
@@ -50,12 +53,14 @@
    <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\sphere.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\ease.h" />
    <ClInclude Include="..\include\cglm\euler.h" />
    <ClInclude Include="..\include\cglm\frustum.h" />
    <ClInclude Include="..\include\cglm\io.h" />
@@ -72,6 +77,7 @@
    <ClInclude Include="..\include\cglm\simd\sse2\mat3.h" />
    <ClInclude Include="..\include\cglm\simd\sse2\mat4.h" />
    <ClInclude Include="..\include\cglm\simd\sse2\quat.h" />
+    <ClInclude Include="..\include\cglm\sphere.h" />
    <ClInclude Include="..\include\cglm\types.h" />
    <ClInclude Include="..\include\cglm\util.h" />
    <ClInclude Include="..\include\cglm\vec3-ext.h" />
--- a/win/cglm.vcxproj.filters
+++ b/win/cglm.vcxproj.filters
@@ -78,6 +78,12 @@
    <ClCompile Include="..\src\project.c">
      <Filter>src</Filter>
    </ClCompile>
+    <ClCompile Include="..\src\sphere.c">
+      <Filter>src</Filter>
+    </ClCompile>
+    <ClCompile Include="..\src\ease.c">
+      <Filter>src</Filter>
+    </ClCompile>
  </ItemGroup>
  <ItemGroup>
    <ClInclude Include="..\src\config.h">
@@ -215,5 +221,17 @@
    <ClInclude Include="..\include\cglm\call\project.h">
      <Filter>include\cglm\call</Filter>
    </ClInclude>
+    <ClInclude Include="..\include\cglm\call\sphere.h">
+      <Filter>include\cglm\call</Filter>
+    </ClInclude>
+    <ClInclude Include="..\include\cglm\sphere.h">
+      <Filter>include\cglm</Filter>
+    </ClInclude>
+    <ClInclude Include="..\include\cglm\call\ease.h">
+      <Filter>include\cglm\call</Filter>
+    </ClInclude>
+    <ClInclude Include="..\include\cglm\ease.h">
+      <Filter>include\cglm</Filter>
+    </ClInclude>
  </ItemGroup>
 </Project>
Author	SHA1	Message	Date
Recep Aslantas	01b93b0409	Merge branch 'master' into simd	2019-01-21 22:43:15 +03:00
Recep Aslantas	07e60bd098	cam: extend frustum's far distance helper (#71 ) * this will help to implement zoom easily	2019-01-16 14:59:58 +03:00
Recep Aslantas	e3d3cd8ab8	now working on v0.5.2	2019-01-15 12:08:54 +03:00
Recep Aslantas	d17c99215d	Update README.md	2018-12-26 09:57:52 +03:00
Recep Aslantas	dc6eb492c1	Merge pull request #70 from recp/vec3-mat3 remove builtin alignment from vec3 and mat3 types	2018-12-26 09:54:48 +03:00
Recep Aslantas	7219b02d23	remove alignment from vec3 and mat3	2018-12-25 10:08:36 +03:00
Recep Aslantas	21834b4ffb	matrix: trace of matrix	2018-12-06 18:17:02 +03:00
Recep Aslantas	2ef9c23a6c	vec: normalize cross product helper	2018-12-06 18:01:52 +03:00
Recep Aslantas	92605f845a	test: fix comparing two float values in tests	2018-12-05 16:34:22 +03:00
Recep Aslantas	b23d65bef5	now working on v0.5.1	2018-12-05 16:32:13 +03:00
Recep Aslantas	2f632c6311	Update README.md	2018-12-02 21:35:50 +03:00
Recep Aslantas	b47d148b81	Update README.md	2018-12-02 21:35:31 +03:00
Recep Aslantas	a5bc2f710e	Merge pull request #68 from recp/vec-update major vector update	2018-12-02 21:24:14 +03:00
Recep Aslantas	6d6954b208	vec: `minnadd` and `maxadd` helpers	2018-11-29 10:50:24 +03:00
Recep Aslantas	4e08b7e335	vec: rename parameter names	2018-11-29 09:55:27 +03:00
Recep Aslantas	aee381d869	vec: deprecate `glm_vec_inv` and `glm_vec4_inv` * because in the current implementation, `glm_vec3_negate` does same thing. It is duplicate.	2018-11-29 09:23:14 +03:00
Recep Aslantas	b4bf8f3537	vec: rename `glm_vec_` to `glm_vec3_` (continue) * add missing functions to vec4 * update docs	2018-11-29 09:07:48 +03:00
Recep Aslantas	0b8c63a90e	vec: rename `glm_vec_` namespace to `glm_vec3_`	2018-11-28 23:22:30 +03:00
Recep Aslantas	ef6134263e	vec: improve angle between two vector * because `acosf()` may return NaN if cosine/dot is out of range	2018-11-28 14:48:12 +03:00
Recep Aslantas	9af61d2101	vec: use `_negate` instead of `_flipsign` and `_inv`	2018-11-28 10:50:21 +03:00
Recep Aslantas	463099350a	vec: use `_negate` instead of `_flipsign` and `_inv` * negate is better and common name, flipsign is deprecated now.	2018-11-28 10:28:00 +03:00
Recep Aslantas	89f64f0794	Merge pull request #65 from sinisterchipmunk/fix-versor-alignment fix versor alignment	2018-11-17 22:36:12 +03:00
Recep Aslantas	d794f17e51	Merge branch 'master' into fix-versor-alignment	2018-11-17 22:32:48 +03:00
Recep Aslantas	a7cdbcec2b	now working on v0.5.0	2018-11-17 22:31:51 +03:00
Colin MacKenzie IV	20a2312351	fix versor alignment	2018-11-16 19:25:44 -05:00
Recep Aslantas	9aebdc76b3	avx: implement scale matrix using AVX	2018-10-30 09:58:11 +03:00
Recep Aslantas	e9b51fc07a	avx: implement mat4_inv for AVX1	2018-10-30 09:28:15 +03:00
Recep Aslantas	abfa355b84	avx: optimize (re-use) mat4_mul registers	2018-10-30 09:27:55 +03:00
Recep Aslantas	08479f38ce	Merge pull request #63 from recp/avx avx: replace binary constants (resolve https://github.com/recp/cglm/issues/62) with hex and fix glm_mul_avx	2018-10-19 09:52:32 +03:00
Recep Aslantas	dadae4b773	avx: fix glm_mul_avx * use glm_mat4_mul_avx here. because it seems there is no big difference for now.	2018-10-19 09:40:40 +03:00
Recep Aslantas	20360f2296	avx: replace binary constants with hex	2018-10-12 09:05:42 +03:00
Recep Aslantas	aa2b0f2631	code style and minor optimization[s]	2018-09-22 00:10:50 +03:00
Recep Aslantas	280ac72fd8	Merge pull request #61 from hartenfels/master Replace non-standard M_PI* constants	2018-09-21 23:39:10 +03:00
Recep Aslantas	7405d5e1d0	Update types.h	2018-09-21 23:33:42 +03:00
Carsten Hartenfels	eefafefbae	Also add a load of other number constants These are all missing from standard C, so we might as well define em. See https://github.com/recp/cglm/pull/61#discussion_r219406859	2018-09-21 20:03:28 +02:00
Carsten Hartenfels	b9021978cb	Replace the use of deprecated CGLM_PI* constants	2018-09-21 19:59:23 +02:00
Carsten Hartenfels	3fd12032e6	Clean up pi constants, deprecating the old names GLM_PI* is now used for the double versions, GLM_PI*f for the float versions. The CGLM_ prefixed versions are now deprecated, since that prefix is kinda only used for constants. See https://github.com/recp/cglm/pull/61#issuecomment-423069770	2018-09-21 07:29:54 +02:00
Carsten Hartenfels	59ee8c1fd2	Use even more precise definitions for pi constants See https://github.com/recp/cglm/pull/61#issuecomment-422955122	2018-09-21 07:26:55 +02:00
Carsten Hartenfels	b00f2b9ccc	Replace M_PI_4 in test_affine with CGLM_PI_4 As in the previous commit, because it's non-standard and depending on your settings it can fail to compile because of it.	2018-09-19 20:46:37 +02:00
Carsten Hartenfels	d3c50147cb	Replace non-standard M_PI* constants with literals M_PI, M_PI_2 and M_PI_4 aren't part of the C standard. If you put your gcc into strict standards mode, like `-std=c11`, you won't get these constants and including cglm.h will fail. This commit replaces those constants with their literal values. The cast to a float remains, to keep exactly the same behavior as before.	2018-09-19 20:42:05 +02:00
Recep Aslantas	98da3daf82	identiy helper for arrays (matrix/quaternion) this helpers makes all array elements identity	2018-09-12 12:44:11 +03:00
Recep Aslantas	2e1790ccf9	Merge pull request #59 from jonathanplatzer/avx Fix alignment issue when using AVX	2018-07-19 11:38:55 +03:00
Jonathan Platzer	cc5f533fc9	Add macro for automatic alignment of matrices	2018-07-19 10:14:30 +02:00
Jonathan Platzer	2d63d7e0cd	Fix alignment issue when using AVX	2018-07-18 12:03:38 +02:00
Recep Aslantas	3738499927	update doc for vec4_ucopy	2018-07-14 12:12:15 +03:00
Recep Aslantas	1d527dc2f0	unalignned version for vec4_copy	2018-07-14 12:03:42 +03:00
Recep Aslantas	43c4d05d4a	new version for clamp: clamp to zero and one	2018-07-12 11:39:56 +03:00
Recep Aslantas	c5f5032fcc	fix function params docs	2018-07-10 11:42:18 +03:00
Recep Aslantas	5d605ce372	avoid zero division for percent * two value may be same, in this case now returns 1. * to must be >= from and current <= to && current >= from	2018-07-10 10:54:31 +03:00
Recep Aslantas	c216c0cb7e	add MIN and MAX macros because we could use min/max for intergers too. it may not guarantee that MIN and MAX macros will always be defined by compiler	2018-06-26 15:27:53 +03:00
Recep Aslantas	eb8e0df6df	update version	2018-06-21 10:54:53 +03:00
Recep Aslantas	1775bf7458	Merge pull request #57 from recp/anim Animation Utils	2018-06-21 10:48:19 +03:00
Recep Aslantas	3adeac06f8	update build files	2018-06-21 10:07:51 +03:00
Recep Aslantas	669777eb37	additional utils	2018-06-18 17:55:25 +03:00
Recep Aslantas	02f6c67393	improve easing funcs	2018-06-15 08:55:59 +03:00
Recep Aslantas	564324f5d2	easing functions	2018-06-10 10:29:02 +03:00
Recep Aslantas	93e6c3c102	Merge pull request #56 from recp/sphere aabb and sphere intersect functions	2018-06-09 18:43:54 +03:00
Recep Aslantas	857265b892	sphere point intersection	2018-06-09 18:21:29 +03:00
Recep Aslantas	fc14cedf89	update version	2018-06-09 18:10:54 +03:00
Recep Aslantas	7a80178357	improve quat_look	2018-06-09 18:10:44 +03:00
Recep Aslantas	720b617ee0	sphere and aabb	2018-05-30 23:42:22 +03:00
Recep Aslantas	3dc9070909	squared distance for vec3	2018-05-30 23:35:59 +03:00
Recep Aslantas	6b2b4b4f12	implement glm_aabb_sphere as GraphicsGems Solid Box - Solid Sphere test	2018-05-30 23:00:18 +03:00
Recep Aslantas	c8fc460ba1	add support for spheres	2018-05-29 23:29:09 +03:00
Recep Aslantas	5b3aabc103	aabb intersect functions * AABB vs AABB * AABB vs Point * AABB vs Sphere * AABB contains AABB	2018-05-29 23:19:39 +03:00
Recep Aslantas	af812e86eb	add a note to clarify up vector restriction for glm_lookat and glm_look	2018-05-29 11:30:38 +03:00
Recep Aslantas	059bdfdd4b	update docs	2018-05-27 11:54:05 +03:00
Recep Aslantas	ef0653640f	update cocoapod version tag	2018-05-27 11:53:48 +03:00
Recep Aslantas	e5d61b3433	update mat4_mulv3 api to include translation	2018-05-27 11:46:27 +03:00
Recep Aslantas	73c073cf32	add missing call functions	2018-05-27 11:44:06 +03:00
Recep Aslantas	1362bef50f	fix glm_translate_to	2018-05-23 23:13:41 +03:00
Recep Aslantas	7d783eeace	align local variables on stack	2018-05-23 23:04:06 +03:00
Recep Aslantas	e12e79b1a5	improve scale_make	2018-05-23 22:11:44 +03:00
Recep Aslantas	6cd3d52dc5	improve translate_make	2018-05-23 22:08:12 +03:00
Recep Aslantas	fb2cac9816	aabb: center of AABB helper * it is just wrapper of vec_center but it saves to access min and max values of AABB	2018-05-22 17:45:37 +03:00
Recep Aslantas	4e63325f55	aabb: add missing call versions	2018-05-22 17:44:36 +03:00
Recep Aslantas	96c3e604ff	now working on v0.4.6	2018-05-22 17:43:46 +03:00
Recep Aslantas	077e304fc5	Merge pull request #42 from recp/optimizations simd: optional shuffle configuration to save move instructions	2018-05-10 16:47:00 +03:00
Recep Aslantas	599524dacf	docs: add new option to docs	2018-05-10 16:42:13 +03:00
Recep Aslantas	da5ad69863	simd: rename _mm_ extensions to glmm_	2018-05-10 14:27:53 +03:00
Recep Aslantas	9fc2ead8ef	Merge branch 'master' into optimizations	2018-05-10 13:59:10 +03:00
Recep Aslantas	48d33c16cb	Merge pull request #53 from recp/simd simd: Make alignment OPTIONAL	2018-05-10 13:57:31 +03:00
Recep Aslantas	464bd917d0	update readme	2018-05-10 12:21:33 +03:00
Recep Aslantas	c6d07bb6eb	surround PI with parentheses + code style + update docs	2018-05-10 12:18:54 +03:00
Recep Aslantas	94b286f1f9	docs: add new alignment option to docs	2018-05-09 16:43:42 +03:00
Recep Aslantas	f774925e8a	win, simd: make sure that CGLM_ALL_UNALIGNED is defined for older visual studios	2018-05-09 15:30:54 +03:00
Recep Aslantas	0e49e95161	win: update visual studio version for align requirement	2018-05-08 18:29:02 +03:00
Recep Aslantas	b277357800	update gitignore	2018-05-08 18:28:31 +03:00
Recep Aslantas	835cec2ccb	drop alignment requirement if CGLM_ALL_UNALIGNED defined * bring alignment back for visual studio 2017	2018-05-08 16:26:33 +03:00
Recep Aslantas	5dbbd0826d	simd: replace glm_simd_ with glmm_ * now glmm_ is used as global simd namescape	2018-05-08 15:55:36 +03:00
Recep Aslantas	56f0bb0928	simd, avx: make alignment optional for load/store operations	2018-05-08 15:35:17 +03:00
Recep Aslantas	568001d26a	simd, sse2: make alignment optional for store operations	2018-05-08 15:31:09 +03:00
Recep Aslantas	252bf925fc	simd, sse2: make alignment optional for load operations	2018-05-08 15:25:23 +03:00
Recep Aslantas	0f339c5c03	fix header dependencies	2018-05-07 21:12:29 +03:00
Recep Aslantas	a9d56f2dae	docs: fix typos	2018-05-04 00:50:56 +03:00
Recep Aslantas	dd60496ffc	Merge pull request #49 from Yatima1460/master replace _WIN32 with _MSC_VER	2018-04-30 19:08:59 +03:00
Federico Santamorena	7c0e9e99c6	_WIN32 to _MSC_VER	2018-04-30 17:17:06 +02:00
Federico Santamorena	064209c917	replaced _WIN32 with _MSC_VER	2018-04-30 17:13:16 +02:00
Recep Aslantas	94d6036c38	suppress warnings for Mingw	2018-04-30 11:09:42 +03:00
Recep Aslantas	6c01eff056	now working on v0.4.5	2018-04-30 10:59:40 +03:00
Recep Aslantas	ada69a7c43	fix cocoapods validation errors	2018-04-22 10:14:17 +03:00
Recep Aslantas	cef97fca3e	add cocoapods spec	2018-04-22 01:03:17 +03:00
Recep Aslantas	498a33fac5	fix public header's includes	2018-04-21 22:36:25 +03:00
Recep Aslantas	3c7a729729	build: remove making symbolic link for libtoolize	2018-04-20 15:19:06 +03:00
Recep Aslantas	a6a37995e9	build: update automake sources	2018-04-18 23:02:15 +03:00
Recep Aslantas	6202179c23	update version	2018-04-18 22:30:20 +03:00
Recep Aslantas	22b699174c	build: improve calling libtoolize	2018-04-18 21:47:53 +03:00
Recep Aslantas	016c0a71a6	Merge pull request #46 from recp/affine affine transform update	2018-04-18 15:25:40 +03:00
Recep Aslantas	e28cf1d3f6	remove unused variable	2018-04-18 15:23:07 +03:00
Recep Aslantas	63966ee5c0	quat: use the new "glm_mul_rot" for quaternion * this should be faster than mat4_mul	2018-04-18 15:16:24 +03:00
Recep Aslantas	a723ecdb7e	add troubleshooting to docs	2018-04-18 15:11:06 +03:00
Recep Aslantas	065f93ab3c	update docs, drop scale1	2018-04-18 14:30:44 +03:00
Recep Aslantas	4dbcd28fdb	use mul_rot for rotations to make thrm faster	2018-04-18 14:12:56 +03:00
Recep Aslantas	be0e3fc9f2	new matrix multiplication helper for rotation matrices	2018-04-18 14:05:09 +03:00
Recep Aslantas	d648f5772d	affine: drop rotate_ndc functions	2018-04-18 10:57:35 +03:00
Recep Aslantas	f163fcd043	simd: load vec3 helpers for sse/sse2	2018-04-18 00:00:47 +03:00
Recep Aslantas	27ab6a7dd0	update docs, add clarifications for affine transforms	2018-04-17 15:42:24 +03:00
Recep Aslantas	33e951fe2e	implement rotate_at for quat and provide make version	2018-04-17 12:17:04 +03:00
Recep Aslantas	c63c6c90ac	implement rotate_at	2018-04-17 11:12:18 +03:00
Recep Aslantas	a2792178db	add missing call funcs for affine transforms	2018-04-17 11:07:57 +03:00
Recep Aslantas	cefd5fb53d	test: add some tests for affine transforms	2018-04-17 10:33:52 +03:00
Recep Aslantas	821c79572f	test: add some tests for mat3	2018-04-15 20:47:38 +03:00
Recep Aslantas	f0a27d0ce2	now working on v0.4.2	2018-04-15 20:46:46 +03:00
Recep Aslantas	007ae62e06	update docs version	2018-04-15 13:10:07 +03:00
Recep Aslantas	826ddf0f5b	improve normalize vectors	2018-04-15 12:46:29 +03:00
Recep Aslantas	b09b5f260b	vec: fix rotate vector using mat4 and mat3 rotation matrices	2018-04-15 12:44:50 +03:00
Recep Aslantas	59aacee968	optimize clamp for vec4	2018-04-14 12:49:37 +03:00
Recep Aslantas	429aff087f	optimize min and max for vec4	2018-04-14 11:35:28 +03:00
Recep Aslantas	ca9f61dd74	Merge pull request #44 from recp/vector new vector functions and optimizations	2018-04-14 09:19:51 +03:00
Recep Aslantas	d6395d4fb8	vec: optimize rotate vector using matrix * add mat3 version	2018-04-13 22:33:32 +03:00
Recep Aslantas	7f7007574b	vec: implement muladd's scalar version	2018-04-13 22:30:44 +03:00
Recep Aslantas	13345f06c1	fix vec4 scalar ops	2018-04-13 15:50:05 +03:00
Recep Aslantas	725fac75d0	now working on v0.4.1	2018-04-13 15:47:45 +03:00
Recep Aslantas	c05f58a169	vec: add addadd, subadd and muladd helpers	2018-04-13 15:46:43 +03:00
Recep Aslantas	d841f8809d	vec: add some new functions for vector * _mul: multiply two vector (replacement for _mulv) * _div: div two vector * _divs: div vector with scalar * adds: add scalar to each components of vec * subs: sub scalar from each components of vec	2018-04-13 15:12:56 +03:00
Recep Aslantas	af5a2627b4	fix scale_as for zero length vector * return zero if vector length is zero	2018-04-13 11:57:34 +03:00
Recep Aslantas	25fc3d0284	vec: add one and zero helpers for vectors	2018-04-13 11:57:14 +03:00
Recep Aslantas	c489955b00	add simd norm helper	2018-04-13 11:39:14 +03:00
Recep Aslantas	79f8b1ebf8	vec4: optimize vec4 norm and norm2	2018-04-13 11:18:42 +03:00
Recep Aslantas	0eb37da8bb	vec4: optimize vec4 normalize with SIMD	2018-04-13 11:01:07 +03:00
Recep Aslantas	44728c536b	ci: update travis ci	2018-04-12 15:52:06 +03:00
Recep Aslantas	c8ed8acbed	Update README.md	2018-04-12 14:47:14 +03:00
Recep Aslantas	cfd3600107	simd: optional shuffle configuration to save move instructions	2018-04-04 22:42:21 +03:00