update docs

* it is just wrapper of vec_center but it saves to access min and max values of AABB

cglm.podspec

@@ -2,7 +2,7 @@ Pod::Spec.new do |s|
 
   # Description
   s.name         = "cglm"
-  s.version      = "0.4.4"
+  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.

configure.ac

@@ -7,7 +7,7 @@
 #*****************************************************************************
 
 AC_PREREQ([2.69])
-AC_INIT([cglm], [0.4.5], [info@recp.me])
+AC_INIT([cglm], [0.4.6], [info@recp.me])
 AM_INIT_AUTOMAKE([-Wall -Werror foreign subdir-objects])
 
 AC_CONFIG_MACRO_DIR([m4])

docs/source/box.rst

@@ -28,6 +28,7 @@ Functions:
 #. :c:func:`glm_aabb_isvalid`
 #. :c:func:`glm_aabb_size`
 #. :c:func:`glm_aabb_radius`
+#. :c:func:`glm_aabb_center`
 
 Functions documentation
 ~~~~~~~~~~~~~~~~~~~~~~~
@@ -131,3 +132,11 @@ 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]*   **box**     center of bounding box

docs/source/conf.py

@@ -62,9 +62,9 @@ author = u'Recep Aslantas'
 # built documents.
 #
 # The short X.Y version.
-version = u'0.4.5'
+version = u'0.4.6'
 # The full version, including alpha/beta/rc tags.
-release = u'0.4.5'
+release = u'0.4.6'
 
 # The language for content autogenerated by Sphinx. Refer to documentation
 # for a list of supported languages.

docs/source/mat3.rst

@@ -24,6 +24,7 @@ Functions:
 #. :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`
@@ -89,6 +90,14 @@ 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

docs/source/mat4.rst

@@ -32,6 +32,7 @@ Functions:
 #. :c:func:`glm_mat4_mulN`
 #. :c:func:`glm_mat4_mulv`
 #. :c:func:`glm_mat4_mulv3`
+#. :c:func:`glm_mat4_quat`
 #. :c:func:`glm_mat4_transpose_to`
 #. :c:func:`glm_mat4_transpose`
 #. :c:func:`glm_mat4_scale_p`
@@ -146,6 +147,14 @@ Functions documentation
     | *[in]*  **v**     vec3 (right, column vector)
     | *[out]* **dest**  vec3 (result, column vector)
 
+.. 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

include/cglm/affine.h

@@ -44,48 +44,6 @@ CGLM_INLINE
 void
 glm_mat4_mul(mat4 m1, mat4 m2, mat4 dest);
 
-/*!
- * @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__ )
-  glmm_store(dest[3],
-             _mm_add_ps(_mm_add_ps(_mm_mul_ps(glmm_load(t[0]),
-                                              _mm_set1_ps(v[0])),
-                                   _mm_mul_ps(glmm_load(t[1]),
-                                              _mm_set1_ps(v[1]))),
-                        _mm_add_ps(_mm_mul_ps(glmm_load(t[2]),
-                                              _mm_set1_ps(v[2])),
-                                   glmm_load(t[3]))))
-  ;
-
-  glmm_store(dest[0], glmm_load(m[0]));
-  glmm_store(dest[1], glmm_load(m[1]));
-  glmm_store(dest[2], glmm_load(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
-}
-
 /*!
  * @brief translate existing transform matrix by v vector
  *        and stores result in same matrix
@@ -119,6 +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
  *
@@ -194,8 +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_vec_copy(v, m[3]);
 }
 
 /*!
@@ -225,8 +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];
 }
 
 /*!
@@ -252,7 +229,7 @@ glm_scale(mat4 m, vec3 v) {
 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);
 }
 
@@ -267,7 +244,7 @@ glm_scale_uni(mat4 m, float s) {
 CGLM_INLINE
 void
 glm_rotate_x(mat4 m, float angle, mat4 dest) {
-  mat4  t = GLM_MAT4_IDENTITY_INIT;
+  CGLM_ALIGN(16) mat4 t = GLM_MAT4_IDENTITY_INIT;
   float c, s;
 
   c = cosf(angle);
@@ -292,7 +269,7 @@ glm_rotate_x(mat4 m, float angle, mat4 dest) {
 CGLM_INLINE
 void
 glm_rotate_y(mat4 m, float angle, mat4 dest) {
-  mat4  t = GLM_MAT4_IDENTITY_INIT;
+  CGLM_ALIGN(16) mat4 t = GLM_MAT4_IDENTITY_INIT;
   float c, s;
 
   c = cosf(angle);
@@ -317,7 +294,7 @@ glm_rotate_y(mat4 m, float angle, mat4 dest) {
 CGLM_INLINE
 void
 glm_rotate_z(mat4 m, float angle, mat4 dest) {
-  mat4  t = GLM_MAT4_IDENTITY_INIT;
+  CGLM_ALIGN(16) mat4 t = GLM_MAT4_IDENTITY_INIT;
   float c, s;
 
   c = cosf(angle);
@@ -343,7 +320,7 @@ glm_rotate_z(mat4 m, float angle, mat4 dest) {
 CGLM_INLINE
 void
 glm_rotate_make(mat4 m, float angle, vec3 axis) {
-  vec3  axisn, v, vs;
+  CGLM_ALIGN(8) vec3 axisn, v, vs;
   float c;
 
   c = cosf(angle);
@@ -374,7 +351,7 @@ glm_rotate_make(mat4 m, float angle, vec3 axis) {
 CGLM_INLINE
 void
 glm_rotate(mat4 m, float angle, vec3 axis) {
-  mat4 rot;
+  CGLM_ALIGN(16) mat4 rot;
   glm_rotate_make(rot, angle, axis);
   glm_mul_rot(m, rot, m);
 }
@@ -391,7 +368,7 @@ glm_rotate(mat4 m, float angle, vec3 axis) {
 CGLM_INLINE
 void
 glm_rotate_at(mat4 m, vec3 pivot, float angle, vec3 axis) {
-  vec3 pivotInv;
+  CGLM_ALIGN(8) vec3 pivotInv;
 
   glm_vec_inv_to(pivot, pivotInv);
 
@@ -416,12 +393,11 @@ 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) {
-  vec3 pivotInv;
+  CGLM_ALIGN(8) vec3 pivotInv;
 
   glm_vec_inv_to(pivot, pivotInv);
 
-  glm_mat4_identity(m);
-  glm_vec_copy(pivot, m[3]);
+  glm_translate_make(m, pivot);
   glm_rotate(m, angle, axis);
   glm_translate(m, pivotInv);
 }
@@ -451,9 +427,8 @@ 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);
 }
 
@@ -468,8 +443,8 @@ 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]);

include/cglm/box.h

@@ -200,4 +200,16 @@ 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_vec_center(box[0], box[1], dest);
+}
+
 #endif /* cglm_box_h */

include/cglm/call/affine.h

@@ -97,6 +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

include/cglm/call/box.h

@@ -32,6 +32,30 @@ 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);
+
 #ifdef __cplusplus
 }
 #endif

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 +61,14 @@ glmc_perspective(float fovy,
                  float farVal,
                  mat4 dest);
 
+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 +81,58 @@ 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

include/cglm/call/mat3.h

@@ -40,6 +40,10 @@ CGLM_EXPORT
 void
 glmc_mat3_mulv(mat3 m, vec3 v, vec3 dest);
 
+CGLM_EXPORT
+void
+glmc_mat3_quat(mat3 m, versor dest);
+
 CGLM_EXPORT
 void
 glmc_mat3_scale(mat3 m, float s);

include/cglm/call/mat4.h

@@ -53,6 +53,10 @@ 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
 void
 glmc_mat4_quat(mat4 m, versor dest);
@@ -85,6 +89,10 @@ 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);

include/cglm/call/vec3.h

@@ -136,6 +136,10 @@ CGLM_EXPORT
 void
 glmc_vec_rotate_m4(mat4 m, vec3 v, vec3 dest);
 
+CGLM_EXPORT
+void
+glmc_vec_rotate_m3(mat3 m, vec3 v, vec3 dest);
+
 CGLM_EXPORT
 void
 glmc_vec_proj(vec3 a, vec3 b, vec3 dest);

include/cglm/cam.h

@@ -332,7 +332,7 @@ 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);
@@ -372,7 +372,7 @@ glm_lookat(vec3 eye,
 CGLM_INLINE
 void
 glm_look(vec3 eye, vec3 dir, vec3 up, mat4 dest) {
-  vec3 target;
+  CGLM_ALIGN(8) vec3 target;
   glm_vec_add(eye, dir, target);
   glm_lookat(eye, target, up, dest);
 }
@@ -390,7 +390,7 @@ glm_look(vec3 eye, vec3 dir, vec3 up, mat4 dest) {
 CGLM_INLINE
 void
 glm_look_anyup(vec3 eye, vec3 dir, mat4 dest) {
-  vec3 up;
+  CGLM_ALIGN(8) vec3 up;
   glm_vec_ortho(dir, up);
   glm_look(eye, dir, up, dest);
 }

include/cglm/mat3.h

@@ -81,7 +81,7 @@ glm_mat3_copy(mat3 mat, mat3 dest) {
 CGLM_INLINE
 void
 glm_mat3_identity(mat3 mat) {
-  mat3 t = GLM_MAT3_IDENTITY_INIT;
+  CGLM_ALIGN(16) mat3 t = GLM_MAT3_IDENTITY_INIT;
   glm_mat3_copy(t, mat);
 }
 
@@ -155,7 +155,7 @@ glm_mat3_transpose_to(mat3 m, mat3 dest) {
 CGLM_INLINE
 void
 glm_mat3_transpose(mat3 m) {
-  mat3 tmp;
+  CGLM_ALIGN(16) mat3 tmp;
 
   tmp[0][1] = m[1][0];
   tmp[0][2] = m[2][0];
@@ -189,9 +189,9 @@ glm_mat3_mulv(mat3 m, vec3 v, vec3 dest) {
 
 
 /*!
- * @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

include/cglm/mat4.h

@@ -139,7 +139,7 @@ glm_mat4_copy(mat4 mat, mat4 dest) {
 CGLM_INLINE
 void
 glm_mat4_identity(mat4 mat) {
-  mat4 t = GLM_MAT4_IDENTITY_INIT;
+  CGLM_ALIGN(16) mat4 t = GLM_MAT4_IDENTITY_INIT;
   glm_mat4_copy(t, mat);
 }
 
@@ -323,7 +323,7 @@ glm_mat4_mulv(mat4 m, vec4 v, vec4 dest) {
 /*!
  * @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
@@ -370,20 +370,20 @@ 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);
 }
 
 /*!
@@ -586,7 +586,7 @@ 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]);
@@ -602,7 +602,7 @@ 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];

include/cglm/project.h

@@ -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);
 

include/cglm/quat.h

@@ -99,7 +99,7 @@ glm_translate(mat4 m, vec3 v);
 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);
 }
 
@@ -131,7 +131,7 @@ 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;
@@ -158,7 +158,7 @@ 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);
 }
 
@@ -267,7 +267,7 @@ glm_quat_conjugate(versor q, versor dest) {
 CGLM_INLINE
 void
 glm_quat_inv(versor q, versor dest) {
-  versor conj;
+  CGLM_ALIGN(8) versor conj;
   glm_quat_conjugate(q, conj);
   glm_vec4_scale(conj, 1.0f / glm_vec4_norm2(q), dest);
 }
@@ -603,7 +603,7 @@ 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);
@@ -646,7 +646,7 @@ 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;
+  CGLM_ALIGN(16) vec4 t;
 
   /* orientation */
   glm_quat_mat4t(ori, dest);
@@ -668,7 +668,7 @@ 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);
@@ -702,7 +702,7 @@ 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;
+  CGLM_ALIGN(8) vec3 dir;
   glm_vec_sub(to, from, dir);
   glm_quat_for(dir, fwd, up, dest);
 }
@@ -717,9 +717,9 @@ 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);
@@ -745,7 +745,7 @@ 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(16) mat4 rot;
   glm_quat_mat4(q, rot);
   glm_mul_rot(m, rot, dest);
 }
@@ -760,7 +760,7 @@ glm_quat_rotate(mat4 m, versor q, mat4 dest) {
 CGLM_INLINE
 void
 glm_quat_rotate_at(mat4 m, versor q, vec3 pivot) {
-  vec3 pivotInv;
+  CGLM_ALIGN(8) vec3 pivotInv;
 
   glm_vec_inv_to(pivot, pivotInv);
 
@@ -784,12 +784,11 @@ glm_quat_rotate_at(mat4 m, versor q, vec3 pivot) {
 CGLM_INLINE
 void
 glm_quat_rotate_atm(mat4 m, versor q, vec3 pivot) {
-  vec3 pivotInv;
+  CGLM_ALIGN(8) vec3 pivotInv;
 
   glm_vec_inv_to(pivot, pivotInv);
 
-  glm_mat4_identity(m);
-  glm_vec_copy(pivot, m[3]);
+  glm_translate_make(m, pivot);
   glm_quat_rotate(m, q, m);
   glm_translate(m, pivotInv);
 }

include/cglm/vec3.h

@@ -454,8 +454,7 @@ glm_vec_inv(vec3 v) {
 CGLM_INLINE
 void
 glm_vec_inv_to(vec3 v, vec3 dest) {
-  glm_vec_copy(v, dest);
-  glm_vec_flipsign(dest);
+  glm_vec_flipsign_to(v, dest);
 }
 
 /*!

include/cglm/version.h

@@ -10,6 +10,6 @@
 
 #define CGLM_VERSION_MAJOR 0
 #define CGLM_VERSION_MINOR 4
-#define CGLM_VERSION_PATCH 5
+#define CGLM_VERSION_PATCH 6
 
 #endif /* cglm_version_h */

src/affine.c

@@ -133,3 +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);
+}

src/box.c

@@ -34,3 +34,39 @@ 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);
+}

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 +88,18 @@ glmc_perspective(float fovy,
                   dest);
 }
 
+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 +120,75 @@ 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);
+}

src/mat3.c

@@ -44,6 +44,12 @@ glmc_mat3_mulv(mat3 m, vec3 v, vec3 dest) {
   glm_mat3_mulv(m, v, dest);
 }
 
+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) {

src/mat4.c

@@ -62,6 +62,12 @@ 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
 void
 glmc_mat4_quat(mat4 m, versor dest) {
@@ -110,6 +116,12 @@ 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) {

src/vec3.c

@@ -188,6 +188,12 @@ glmc_vec_rotate_m4(mat4 m, vec3 v, vec3 dest) {
   glm_vec_rotate_m4(m, v, dest);
 }
 
+CGLM_EXPORT
+void
+glmc_vec_rotate_m3(mat3 m, vec3 v, vec3 dest) {
+  glm_vec_rotate_m3(m, v, dest);
+}
+
 CGLM_EXPORT
 void
 glmc_vec_proj(vec3 a, vec3 b, vec3 dest) {