Merge branch 'master' into const

mark readonly parameters as const (continue)
buil: fix linking cmocka
2026-02-17 03:39:05 +00:00 · 2019-04-28 21:55:23 +03:00 · 2019-04-28 21:48:19 +03:00 · 2019-04-28 19:43:58 +03:00 · 2019-04-28 19:24:09 +03:00 · 2019-04-28 19:21:13 +03:00
107 changed files with 3033 additions and 1711 deletions
--- a/.gitignore
+++ b/.gitignore
@@ -69,3 +69,4 @@ win/cglm_test_*
 win/x64
 win/x85
 win/Debug
+cglm-test-ios*
--- a/.travis.yml
+++ b/.travis.yml
@@ -57,3 +57,6 @@ after_success:
        --gcov-options '\-lp'
        --verbose;
    fi
+
+after_failure:
+  - cat ./test-suite.log
--- a/9
+++ b/9
@@ -52,3 +52,12 @@ https://gamedev.stackexchange.com/questions/28395/rotating-vector3-by-a-quaterni

 9. Sphere AABB intersect
 https://github.com/erich666/GraphicsGems/blob/master/gems/BoxSphere.c
+
+10. Horizontal add
+https://stackoverflow.com/questions/6996764/fastest-way-to-do-horizontal-float-vector-sum-on-x86
+
+11. de casteljau implementation and comments
+https://forums.khronos.org/showthread.php/10264-Animations-in-1-4-1-release-notes-revision-A/page2?highlight=bezier
+https://forums.khronos.org/showthread.php/10644-Animation-Bezier-interpolation
+https://forums.khronos.org/showthread.php/10387-2D-Tangents-in-Bezier-Splines?p=34164&viewfull=1#post34164
+https://forums.khronos.org/showthread.php/10651-Animation-TCB-Spline-Interpolation-in-COLLADA?highlight=bezier
--- a/README.md
+++ b/README.md
@@ -16,7 +16,7 @@ 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
@@ -24,6 +24,8 @@ 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:
@@ -80,7 +82,12 @@ Currently *cglm* uses default clip space configuration (-1, 1) for camera functi
 - inline or pre-compiled function call
 - frustum (extract view frustum planes, corners...)
 - bounding box  (AABB in Frustum (culling), crop, merge...)
+- bounding sphere
 - project, unproject
+- easing functions
+- curves
+- curve interpolation helpers (S*M*C, deCasteljau...)
+- and other...

 <hr />

@@ -122,39 +129,6 @@ 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)
@@ -201,15 +175,15 @@ 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

@@ -220,7 +194,7 @@ 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:
@@ -284,3 +258,35 @@ 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/cglm.podspec
+++ b/cglm.podspec
@@ -2,7 +2,7 @@ Pod::Spec.new do |s|

  # Description
  s.name         = "cglm"
-  s.version      = "0.4.6"
+  s.version      = "0.5.1"
  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.
--- a/configure.ac
+++ b/configure.ac
@@ -7,7 +7,7 @@
 #*****************************************************************************

 AC_PREREQ([2.69])
-AC_INIT([cglm], [0.4.9], [info@recp.me])
+AC_INIT([cglm], [0.5.4], [info@recp.me])
 AM_INIT_AUTOMAKE([-Wall -Werror foreign subdir-objects])

 AC_CONFIG_MACRO_DIR([m4])
@@ -29,6 +29,7 @@ LT_INIT
 # Checks for libraries.
 AC_CHECK_LIB([m], [floor])

+m4_ifdef([AM_SILENT_RULES], [AM_SILENT_RULES([yes])])
 AC_SYS_LARGEFILE

 # Checks for header files.
--- 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
@@ -46,3 +46,5 @@ Follow the :doc:`build` documentation for this
   io
   call
   sphere
+   curve
+   bezier
--- a/docs/source/bezier.rst
+++ b/docs/source/bezier.rst
@@ -0,0 +1,89 @@
+.. default-domain:: C
+
+Bezier
+================================================================================
+
+Header: cglm/bezier.h
+
+Common helpers for cubic bezier and similar curves.
+
+Table of contents (click to go):
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+Functions:
+
+1. :c:func:`glm_bezier`
+2. :c:func:`glm_hermite`
+3. :c:func:`glm_decasteljau`
+
+Functions documentation
+~~~~~~~~~~~~~~~~~~~~~~~
+
+.. c:function:: float glm_bezier(float s, float p0, float c0, float c1, float p1)
+
+    | cubic bezier interpolation
+    | formula:
+
+    .. code-block:: text
+
+      B(s) = P0*(1-s)^3 + 3*C0*s*(1-s)^2 + 3*C1*s^2*(1-s) + P1*s^3
+
+    | similar result using matrix:
+
+    .. code-block:: text
+
+      B(s) = glm_smc(t, GLM_BEZIER_MAT, (vec4){p0, c0, c1, p1})
+
+    | glm_eq(glm_smc(...), glm_bezier(...)) should return TRUE
+
+    Parameters:
+      | *[in]*  **s**   parameter between 0 and 1
+      | *[in]*  **p0**  begin point
+      | *[in]*  **c0**  control point 1
+      | *[in]*  **c1**  control point 2
+      | *[in]*  **p1**  end point
+
+    Returns:
+        B(s)
+
+.. c:function:: float glm_hermite(float s, float p0, float t0, float t1, float p1)
+
+    | cubic hermite interpolation
+    | formula:
+
+    .. code-block:: text
+
+      H(s) = P0*(2*s^3 - 3*s^2 + 1) + T0*(s^3 - 2*s^2 + s) + P1*(-2*s^3 + 3*s^2) + T1*(s^3 - s^2)
+
+    | similar result using matrix:
+
+    .. code-block:: text
+
+      H(s) = glm_smc(t, GLM_HERMITE_MAT, (vec4){p0, p1, c0, c1})
+
+    | glm_eq(glm_smc(...), glm_hermite(...)) should return TRUE
+
+
+    Parameters:
+      | *[in]*  **s**   parameter between 0 and 1
+      | *[in]*  **p0**  begin point
+      | *[in]*  **t0**  tangent 1
+      | *[in]*  **t1**  tangent 2
+      | *[in]*  **p1**  end point
+
+    Returns:
+        B(s)
+
+.. c:function:: float glm_decasteljau(float prm, float p0, float c0, float c1, float p1)
+
+    | iterative way to solve cubic equation
+
+    Parameters:
+      | *[in]*  **prm** parameter between 0 and 1
+      | *[in]*  **p0**  begin point
+      | *[in]*  **c0**  control point 1
+      | *[in]*  **c1**  control point 2
+      | *[in]*  **p1**  end point
+
+    Returns:
+        parameter to use in cubic equation
--- a/docs/source/build.rst
+++ b/docs/source/build.rst
@@ -1,9 +1,7 @@
-Building cglm
+Build cglm
 ================================

-| **cglm** does not have external dependencies except for unit testing.
-| When you pulled cglm repo with submodules all dependencies will be pulled too.
-| `build-deps.sh` will pull all dependencies/submodules and build for you.
+| **cglm** does not have external dependencies except for unit testing. When you pulled **cglm** repo with submodules all dependencies will be pulled too. `build-deps.sh` will pull all dependencies/submodules and build for you.

 External dependencies:
  * cmocka - for unit testing
@@ -12,7 +10,8 @@ External dependencies:
 If you only need to inline versions, you don't need to build **cglm**, you don't need to link it to your program.
 Just import cglm to your project as dependency / external lib by copy-paste then use it as usual

-**Unix (Autotools):**
+Unix (Autotools):
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

 .. code-block:: bash
  :linenos:
@@ -26,11 +25,12 @@ Just import cglm to your project as dependency / external lib by copy-paste then
  $ [sudo] make install   # install to system (optional)

 **make** will build cglm to **.libs** sub folder in project folder.
-If you don't want to install cglm to your system's folder you can get static and dynamic libs in this folder.
+If you don't want to install **cglm** to your system's folder you can get static and dynamic libs in this folder.

-**Build dependencies (windows):**
+Windows (MSBuild):
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

-Windows related build files, project files are located in win folder,
+Windows related build files, project files are located in `win` folder,
 make sure you are inside in cglm/win folder.

 Code Analysis are enabled, it may take awhile to build.
@@ -50,3 +50,19 @@ then try to build with *devenv*:
  $ devenv cglm.sln /Build Release

 Currently tests are not available on Windows.
+
+Documentation (Sphinx):
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+**cglm** uses sphinx framework for documentation, it allows lot of formats for documentation. To see all options see sphinx build page:
+
+https://www.sphinx-doc.org/en/master/man/sphinx-build.html
+
+Example build:
+
+.. code-block:: bash
+  :linenos:
+
+  $ cd cglm/docs
+  $ sphinx-build source build
+
--- 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
--- 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'0.4.9'
+version = u'0.5.4'
 # The full version, including alpha/beta/rc tags.
-release = u'0.4.9'
+release = u'0.5.4'

 # The language for content autogenerated by Sphinx. Refer to documentation
 # for a list of supported languages.
@@ -90,7 +90,7 @@ todo_include_todos = False
 # The theme to use for HTML and HTML Help pages.  See the documentation for
 # a list of builtin themes.
 #
-html_theme = 'alabaster'
+html_theme = 'sphinx_rtd_theme'

 # Theme options are theme-specific and customize the look and feel of a theme
 # further.  For a list of options available for each theme, see the
@@ -99,13 +99,13 @@ html_theme = 'alabaster'
 # html_theme_options = {}

 html_theme_options = {
-    'github_banner': 'true',
-    'github_button': 'true',
-    'github_user': 'recp',
-    'github_repo': 'cglm',
-    'travis_button': 'true',
-    'show_related': 'true',
-    'fixed_sidebar': 'true'
+    # 'github_banner': 'true',
+    # 'github_button': 'true',
+    # 'github_user': 'recp',
+    # 'github_repo': 'cglm',
+    # 'travis_button': 'true',
+    # 'show_related': 'true',
+    # 'fixed_sidebar': 'true'
 }

 # Add any paths that contain custom static files (such as style sheets) here,
--- a/docs/source/curve.rst
+++ b/docs/source/curve.rst
@@ -0,0 +1,41 @@
+.. default-domain:: C
+
+Curve
+================================================================================
+
+Header: cglm/curve.h
+
+Common helpers for common curves. For specific curve see its header/doc
+e.g bezier
+
+Table of contents (click to go):
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+Functions:
+
+1. :c:func:`glm_smc`
+
+Functions documentation
+~~~~~~~~~~~~~~~~~~~~~~~
+
+.. c:function:: float  glm_smc(float s, mat4 m, vec4 c)
+
+    | helper function to calculate **S** * **M** * **C** multiplication for curves
+
+    | this function does not encourage you to use SMC, instead it is a helper if you use SMC.
+
+    | if you want to specify S as vector then use more generic glm_mat4_rmc() func.
+
+    | Example usage:
+
+    .. code-block:: c
+
+       Bs = glm_smc(s, GLM_BEZIER_MAT, (vec4){p0, c0, c1, p1})
+
+    Parameters:
+      | *[in]*  **s**  parameter between 0 and 1 (this will be [s3, s2, s, 1])
+      | *[in]*  **m**  basis matrix
+      | *[out]* **c**  position/control vector
+
+    Returns:
+        scalar value e.g. Bs
--- a/docs/source/features.rst
+++ b/docs/source/features.rst
@@ -0,0 +1,23 @@
+Features
+================================================================================
+
+* general purpose matrix operations (mat4, mat3)
+* chain matrix multiplication (square only)
+* general purpose vector operations (cross, dot, rotate, proj, angle...)
+* affine transforms
+* matrix decomposition (extract rotation, scaling factor)
+* optimized affine transform matrices (mul, rigid-body inverse)
+* camera (lookat)
+* projections (ortho, perspective)
+* quaternions
+* euler angles / yaw-pitch-roll to matrix
+* extract euler angles
+* inline or pre-compiled function call
+* frustum (extract view frustum planes, corners...)
+* bounding box (AABB in Frustum (culling), crop, merge...)
+* bounding sphere
+* project, unproject
+* easing functions
+* curves
+* curve interpolation helpers (SMC, deCasteljau...)
+* and other...
--- 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
@@ -9,23 +9,26 @@ Types:
 .. code-block:: c
  :linenos:

-   typedef float vec3[3];
-   typedef int  ivec3[3];
-   typedef CGLM_ALIGN(16) float vec4[4];
+  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];

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

 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*

-Alignment is Required:
+Alignment Is Required:
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

-**vec4** and **mat4** requires 16 byte alignment because vec4 and mat4 operations are
-vectorized by SIMD instructions (SSE/AVX).
+**vec4** and **mat4** requires 16 (32 for **mat4** if AVX is enabled) byte alignment because **vec4** and **mat4** operations are vectorized by SIMD instructions (SSE/AVX/NEON).

 **UPDATE:**
  By starting v0.4.5 cglm provides an option to disable alignment requirement, it is enabled as default
@@ -37,10 +40,9 @@ vectorized by SIMD instructions (SSE/AVX).
 Allocations:
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 *cglm* doesn't alloc any memory on heap. So it doesn't provide any allocator.
-You must allocate memory yourself. You should alloc memory for out parameters too if you pass pointer of memory location.
-When allocating memory don't forget that **vec4** and **mat4** requires alignment.
+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** require alignment.

-**NOTE:** Unaligned vec4 and unaligned mat4 operations will be supported in the future. Check todo list.
+**NOTE:** Unaligned **vec4** and unaligned **mat4** operations will be supported in the future. Check todo list.
 Because you may want to multiply a CGLM matrix with external matrix.
 There is no guarantee that non-CGLM matrix is aligned. Unaligned types will have *u* prefix e.g. **umat4**

--- a/docs/source/index.rst
+++ b/docs/source/index.rst
@@ -3,7 +3,7 @@
   You can adapt this file completely to your liking, but it should at least
   contain the root `toctree` directive.

-Welcome to cglm's documentation!
+cglm Documentation
 ================================

 **cglm** is optimized 3D math library written in C99 (compatible with C89).
@@ -14,33 +14,36 @@ is considered to be supported as optional.

 Also currently only **float** type is supported for most operations.

-**Features**
-
-* general purpose matrix operations (mat4, mat3)
-* chain matrix multiplication (square only)
-* general purpose vector operations (cross, dot, rotate, proj, angle...)
-* affine transforms
-* matrix decomposition (extract rotation, scaling factor)
-* optimized affine transform matrices (mul, rigid-body inverse)
-* camera (lookat)
-* projections (ortho, perspective)
-* quaternions
-* euler angles / yaw-pitch-roll to matrix
-* extract euler angles
-* inline or pre-compiled function call
-* frustum (extract view frustum planes, corners...)
-* bounding box (AABB in Frustum (culling), crop, merge...)
-
-
 .. toctree::
-   :maxdepth: 1
-   :caption: Table Of Contents:
+   :maxdepth: 2
+   :caption: Getting Started:

+   features
   build
   getting_started
+
+.. toctree::
+   :maxdepth: 2
+   :caption: How To:
+
   opengl
+
+.. toctree::
+   :maxdepth: 2
+   :caption: API:
+
   api
+
+.. toctree::
+   :maxdepth: 2
+   :caption: Options:
+
   opt
+
+.. toctree::
+   :maxdepth: 2
+   :caption: Troubleshooting:
+
   troubleshooting

 Indices and tables
--- a/docs/source/mat3.rst
+++ b/docs/source/mat3.rst
@@ -21,6 +21,7 @@ Functions:
 1. :c:func:`glm_mat3_copy`
 #. :c:func:`glm_mat3_identity`
 #. :c:func:`glm_mat3_identity_array`
+#. :c:func:`glm_mat3_zero`
 #. :c:func:`glm_mat3_mul`
 #. :c:func:`glm_mat3_transpose_to`
 #. :c:func:`glm_mat3_transpose`
@@ -29,8 +30,10 @@ Functions:
 #. :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`
+#. :c:func:`glm_mat3_rmc`

 Functions documentation
 ~~~~~~~~~~~~~~~~~~~~~~~
@@ -58,6 +61,13 @@ Functions documentation
      | *[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_zero(mat3 mat)
+
+    make given matrix zero
+
+    Parameters:
+      | *[in,out]* **mat**  matrix to
+
 .. c:function:: void  glm_mat3_mul(mat3 m1, mat3 m2, mat3 dest)

    multiply m1 and m2 to dest
@@ -133,6 +143,16 @@ 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
@@ -150,3 +170,20 @@ Functions documentation
      | *[in, out]*  **mat**   matrix
      | *[in]*       **row1**  row1
      | *[in]*       **row2**  row2
+
+.. c:function:: float  glm_mat3_rmc(vec3 r, mat3 m, vec3 c)
+
+    | **rmc** stands for **Row** * **Matrix** * **Column**
+
+    | helper for  R (row vector) * M (matrix) * C (column vector)
+
+    | the result is scalar because R * M = Matrix1x3 (row vector),
+    | then Matrix1x3 * Vec3 (column vector) = Matrix1x1 (Scalar)
+
+    Parameters:
+      | *[in]*  **r**  row vector or matrix1x3
+      | *[in]*  **m**  matrix3x3
+      | *[in]*  **c**  column vector or matrix3x1
+
+    Returns:
+        scalar value e.g. Matrix1x1
--- a/docs/source/mat4.rst
+++ b/docs/source/mat4.rst
@@ -26,6 +26,7 @@ Functions:
 #. :c:func:`glm_mat4_copy`
 #. :c:func:`glm_mat4_identity`
 #. :c:func:`glm_mat4_identity_array`
+#. :c:func:`glm_mat4_zero`
 #. :c:func:`glm_mat4_pick3`
 #. :c:func:`glm_mat4_pick3t`
 #. :c:func:`glm_mat4_ins3`
@@ -33,6 +34,8 @@ 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`
@@ -43,6 +46,7 @@ Functions:
 #. :c:func:`glm_mat4_inv_fast`
 #. :c:func:`glm_mat4_swap_col`
 #. :c:func:`glm_mat4_swap_row`
+#. :c:func:`glm_mat4_rmc`

 Functions documentation
 ~~~~~~~~~~~~~~~~~~~~~~~
@@ -78,6 +82,13 @@ Functions documentation
      | *[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_zero(mat4 mat)
+
+    make given matrix zero
+
+    Parameters:
+      | *[in,out]* **mat**  matrix to
+
 .. c:function:: void  glm_mat4_pick3(mat4 mat, mat3 dest)

    copy upper-left of mat4 to mat3
@@ -156,6 +167,27 @@ 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
@@ -247,3 +279,20 @@ Functions documentation
      | *[in, out]*  **mat**   matrix
      | *[in]*       **row1**  row1
      | *[in]*       **row2**  row2
+
+.. c:function:: float  glm_mat4_rmc(vec4 r, mat4 m, vec4 c)
+
+    | **rmc** stands for **Row** * **Matrix** * **Column**
+
+    | helper for  R (row vector) * M (matrix) * C (column vector)
+
+    | the result is scalar because R * M = Matrix1x4 (row vector),
+    | then Matrix1x4 * Vec4 (column vector) = Matrix1x1 (Scalar)
+
+    Parameters:
+      | *[in]*  **r**  row vector or matrix1x4
+      | *[in]*  **m**  matrix4x4
+      | *[in]*  **c**  column vector or matrix4x1
+
+    Returns:
+        scalar value e.g. Matrix1x1
--- a/docs/source/opengl.rst
+++ b/docs/source/opengl.rst
@@ -45,7 +45,7 @@ array of matrices:

 in this way, passing aray of matrices is same

-Passing / Uniforming Vectors to OpenGL:¶
+Passing / Uniforming Vectors to OpenGL:
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

 You don't need to do extra thing when passing cglm vectors to OpengL or other APIs.
--- a/docs/source/opt.rst
+++ b/docs/source/opt.rst
@@ -40,3 +40,13 @@ 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.
+
+SSE3 and SSE4 Dot Product Options
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+You have to extra options for dot product: **CGLM_SSE4_DOT** and **CGLM_SSE3_DOT**.
+
+- If **SSE4** is enabled then you can define **CGLM_SSE4_DOT** to force cglm to use **_mm_dp_ps** instruction.
+- If **SSE3** is enabled then you can define **CGLM_SSE3_DOT** to force cglm to use **_mm_hadd_ps** instructions.
+
+otherwise cglm will use custom cglm's hadd functions which are optimized too.
--- a/docs/source/troubleshooting.rst
+++ b/docs/source/troubleshooting.rst
@@ -62,7 +62,7 @@ Wrong Results:

 Again, you may used wrong function.

-For instance if you use **glm_normalize()** or **glm_vec_normalize()** for **vec4**,
+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.

--- 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
@@ -30,45 +35,50 @@ Macros:
 Functions:

 1. :c:func:`glm_vec3`
-#. :c:func:`glm_vec_copy`
-#. :c:func:`glm_vec_zero`
-#. :c:func:`glm_vec_one`
-#. :c:func:`glm_vec_dot`
-#. :c:func:`glm_vec_cross`
-#. :c:func:`glm_vec_norm2`
-#. :c:func:`glm_vec_norm`
-#. :c:func:`glm_vec_add`
-#. :c:func:`glm_vec_adds`
-#. :c:func:`glm_vec_sub`
-#. :c:func:`glm_vec_subs`
-#. :c:func:`glm_vec_mul`
-#. :c:func:`glm_vec_scale`
-#. :c:func:`glm_vec_scale_as`
-#. :c:func:`glm_vec_div`
-#. :c:func:`glm_vec_divs`
-#. :c:func:`glm_vec_addadd`
-#. :c:func:`glm_vec_subadd`
-#. :c:func:`glm_vec_muladd`
-#. :c:func:`glm_vec_muladds`
-#. :c:func:`glm_vec_flipsign`
-#. :c:func:`glm_vec_flipsign_to`
-#. :c:func:`glm_vec_inv`
-#. :c:func:`glm_vec_inv_to`
-#. :c:func:`glm_vec_normalize`
-#. :c:func:`glm_vec_normalize_to`
-#. :c:func:`glm_vec_distance2`
-#. :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_rotate_m3`
-#. :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
 ~~~~~~~~~~~~~~~~~~~~~~~
@@ -81,7 +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]

@@ -89,21 +99,21 @@ Functions documentation
      | *[in]*  **a**     source
      | *[out]* **dest**  destination

-.. c:function:: void  glm_vec_zero(vec3 v)
+.. c:function:: void  glm_vec3_zero(vec3 v)

    makes all members 0.0f (zero)

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

-.. c:function:: void  glm_vec_one(vec3 v)
+.. c:function:: void  glm_vec3_one(vec3 v)

    makes all members 1.0f (one)

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

-.. c:function:: float  glm_vec_dot(vec3 a, vec3 b)
+.. c:function:: float  glm_vec3_dot(vec3 a, vec3 b)

    dot product of vec3

@@ -114,16 +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

@@ -137,14 +156,14 @@ 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 a, vec3 b, vec3 dest)
+.. c:function:: void  glm_vec3_add(vec3 a, vec3 b, vec3 dest)

    add a vector to b vector store result in dest

@@ -153,7 +172,7 @@ Functions documentation
      | *[in]*  **b**     vector2
      | *[out]* **dest**  destination vector

-.. c:function:: void  glm_vec_adds(vec3 a, float s, vec3 dest)
+.. c:function:: void  glm_vec3_adds(vec3 a, float s, vec3 dest)

    add scalar to v vector store result in dest (d = v + vec(s))

@@ -162,7 +181,7 @@ Functions documentation
      | *[in]*  **s**     scalar
      | *[out]* **dest**  destination vector

-.. c:function:: void  glm_vec_sub(vec3 v1, vec3 v2, 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)

@@ -171,7 +190,7 @@ Functions documentation
      | *[in]*  **b**     vector2
      | *[out]* **dest**  destination vector

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

@@ -180,7 +199,7 @@ Functions documentation
      | *[in]*  **s**     scalar
      | *[out]* **dest**  destination vector

-.. c:function:: void  glm_vec_mul(vec3 a, vec3 b, vec3 d)
+.. c:function:: void  glm_vec3_mul(vec3 a, vec3 b, vec3 d)

    multiply two vector (component-wise multiplication)

@@ -189,7 +208,7 @@ Functions documentation
      | *[in]*  **b**     scalar
      | *[out]* **d**     result = (a[0] * b[0], a[1] * b[1], a[2] * b[2])

-.. c:function:: void glm_vec_scale(vec3 v, float s, vec3 dest)
+.. c:function:: void glm_vec3_scale(vec3 v, float s, vec3 dest)

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

@@ -199,7 +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

@@ -208,7 +227,7 @@ Functions documentation
      | *[in]*  **s**     scalar
      | *[out]* **dest**  destination vector

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

    div vector with another component-wise division: d = a / b

@@ -217,7 +236,7 @@ Functions documentation
      | *[in]*  **b**     vector 2
      | *[out]* **dest**  result = (a[0] / b[0], a[1] / b[1], a[2] / b[2])

-.. c:function:: void  glm_vec_divs(vec3 v, float s, vec3 dest)
+.. c:function:: void  glm_vec3_divs(vec3 v, float s, vec3 dest)

    div vector with scalar: d = v / s

@@ -226,7 +245,7 @@ Functions documentation
      | *[in]*  **s**     scalar
      | *[out]* **dest**  result = (a[0] / s, a[1] / s, a[2] / s])

-.. c:function:: void  glm_vec_addadd(vec3 a, vec3 b, vec3 dest)
+.. 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
@@ -236,7 +255,7 @@ Functions documentation
      | *[in]*  **b**     vector 2
      | *[out]* **dest**  dest += (a + b)

-.. c:function:: void  glm_vec_subadd(vec3 a, vec3 b, vec3 dest)
+.. 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
@@ -246,7 +265,7 @@ Functions documentation
      | *[in]*  **b**     vector 2
      | *[out]* **dest**  dest += (a - b)

-.. c:function:: void  glm_vec_muladd(vec3 a, vec3 b, vec3 dest)
+.. 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
@@ -256,7 +275,7 @@ Functions documentation
      | *[in]*  **b**     vector 2
      | *[out]* **dest**  dest += (a * b)

-.. c:function:: void  glm_vec_muladds(vec3 a, float s, vec3 dest)
+.. 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
@@ -266,44 +285,87 @@ Functions documentation
      | *[in]*  **s**     scalar
      | *[out]* **dest**  dest += (a * b)

-.. c:function:: void  glm_vec_flipsign(vec3 v)
+.. c:function:: void  glm_vec3_maxadd(vec3 a, vec3 b, vec3 dest)

-    flip sign of all vec3 members
+    | 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

@@ -311,7 +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

@@ -322,7 +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

@@ -331,7 +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

@@ -340,7 +402,7 @@ Functions documentation
      | *[in]*  **v**     vector
      | *[out]* **dest**  rotated vector

-.. c:function:: void  glm_vec_rotate_m3(mat3 m, vec3 v, vec3 dest)
+.. c:function:: void  glm_vec3_rotate_m3(mat3 m, vec3 v, vec3 dest)

    apply rotation matrix to vector

@@ -349,7 +411,7 @@ 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_proj(vec3 a, vec3 b, vec3 dest)

    project a vector onto b vector

@@ -358,7 +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

@@ -367,7 +429,7 @@ Functions documentation
      | *[in]*  **v2**    vector2
      | *[out]* **dest**  center point

-.. c:function:: float  glm_vec_distance2(vec3 v1, vec3 v2)
+.. c:function:: float  glm_vec3_distance2(vec3 v1, vec3 v2)

    squared distance between two vectors

@@ -378,7 +440,7 @@ Functions documentation
    Returns:
      | squared distance (distance * distance)

-.. c:function:: float  glm_vec_distance(vec3 v1, vec3 v2)
+.. c:function:: float  glm_vec3_distance(vec3 v1, vec3 v2)

    distance between two vectors

@@ -389,7 +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

@@ -398,7 +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

@@ -407,7 +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

@@ -415,7 +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

@@ -424,7 +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
@@ -43,10 +43,14 @@ Functions:
 #. :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`
@@ -54,11 +58,7 @@ Functions:
 #. :c:func:`glm_vec4_minv`
 #. :c:func:`glm_vec4_clamp`
 #. :c:func:`glm_vec4_lerp`
-#. :c:func:`glm_vec4_isnan`
-#. :c:func:`glm_vec4_isinf`
-#. :c:func:`glm_vec4_isvalid`
-#. :c:func:`glm_vec4_sign`
-#. :c:func:`glm_vec4_sqrt`
+#. :c:func:`glm_vec4_cubic`

 Functions documentation
 ~~~~~~~~~~~~~~~~~~~~~~~
@@ -260,16 +260,40 @@ Functions documentation
      | *[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
@@ -277,19 +301,38 @@ 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
@@ -354,3 +397,11 @@ Functions documentation
      | *[in]*  **to**     to value
      | *[in]*  **t**      interpolant (amount) clamped between 0 and 1
      | *[out]* **dest**   destination
+
+.. c:function:: void  glm_vec4_cubic(float s, vec4 dest)
+
+    helper to fill vec4 as [S^3, S^2, S, 1]
+
+    Parameters:
+      | *[in]*  **s**      parameter
+      | *[out]* **dest**   destination
--- a/include/cglm/affine-mat.h
+++ b/include/cglm/affine-mat.h
@@ -44,7 +44,7 @@
 */
 CGLM_INLINE
 void
-glm_mul(mat4 m1, mat4 m2, mat4 dest) {
+glm_mul(const mat4 m1, const mat4 m2, mat4 dest) {
 #ifdef __AVX__
  glm_mul_avx(m1, m2, dest);
 #elif defined( __SSE__ ) || defined( __SSE2__ )
@@ -100,7 +100,7 @@ glm_mul(mat4 m1, mat4 m2, mat4 dest) {
 */
 CGLM_INLINE
 void
-glm_mul_rot(mat4 m1, mat4 m2, mat4 dest) {
+glm_mul_rot(const mat4 m1, const mat4 m2, mat4 dest) {
 #if defined( __SSE__ ) || defined( __SSE2__ )
  glm_mul_rot_sse2(m1, m2, dest);
 #else
@@ -152,7 +152,7 @@ glm_inv_tr(mat4 mat) {
  glm_inv_tr_sse2(mat);
 #else
  CGLM_ALIGN_MAT mat3 r;
-  CGLM_ALIGN(16) vec3 t;
+  CGLM_ALIGN(8)  vec3 t;

  /* rotate */
  glm_mat4_pick3t(mat, r);
@@ -160,8 +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
@@ -42,7 +42,7 @@

 CGLM_INLINE
 void
-glm_mat4_mul(mat4 m1, mat4 m2, mat4 dest);
+glm_mat4_mul(const mat4 m1, const mat4 m2, mat4 dest);

 /*!
 * @brief translate existing transform matrix by v vector
@@ -53,7 +53,7 @@ glm_mat4_mul(mat4 m1, mat4 m2, mat4 dest);
 */
 CGLM_INLINE
 void
-glm_translate(mat4 m, vec3 v) {
+glm_translate(mat4 m, const vec3 v) {
 #if defined( __SSE__ ) || defined( __SSE2__ )
  glmm_store(m[3],
             _mm_add_ps(_mm_add_ps(_mm_mul_ps(glmm_load(m[0]),
@@ -89,7 +89,7 @@ glm_translate(mat4 m, vec3 v) {
 */
 CGLM_INLINE
 void
-glm_translate_to(mat4 m, vec3 v, mat4 dest) {
+glm_translate_to(const mat4 m, const vec3 v, mat4 dest) {
  glm_mat4_copy(m, dest);
  glm_translate(dest, v);
 }
@@ -168,9 +168,9 @@ glm_translate_z(mat4 m, float z) {
 */
 CGLM_INLINE
 void
-glm_translate_make(mat4 m, vec3 v) {
+glm_translate_make(mat4 m, const vec3 v) {
  glm_mat4_identity(m);
-  glm_vec_copy(v, m[3]);
+  glm_vec3_copy(v, m[3]);
 }

 /*!
@@ -183,7 +183,7 @@ glm_translate_make(mat4 m, vec3 v) {
 */
 CGLM_INLINE
 void
-glm_scale_to(mat4 m, vec3 v, mat4 dest) {
+glm_scale_to(const mat4 m, const vec3 v, mat4 dest) {
  glm_vec4_scale(m[0], v[0], dest[0]);
  glm_vec4_scale(m[1], v[1], dest[1]);
  glm_vec4_scale(m[2], v[2], dest[2]);
@@ -199,7 +199,7 @@ glm_scale_to(mat4 m, vec3 v, mat4 dest) {
 */
 CGLM_INLINE
 void
-glm_scale_make(mat4 m, vec3 v) {
+glm_scale_make(mat4 m, const vec3 v) {
  glm_mat4_identity(m);
  m[0][0] = v[0];
  m[1][1] = v[1];
@@ -215,7 +215,7 @@ glm_scale_make(mat4 m, vec3 v) {
 */
 CGLM_INLINE
 void
-glm_scale(mat4 m, vec3 v) {
+glm_scale(mat4 m, const vec3 v) {
  glm_scale_to(m, v, m);
 }

@@ -243,7 +243,7 @@ glm_scale_uni(mat4 m, float s) {
 */
 CGLM_INLINE
 void
-glm_rotate_x(mat4 m, float angle, mat4 dest) {
+glm_rotate_x(const mat4 m, float angle, mat4 dest) {
  CGLM_ALIGN_MAT mat4 t = GLM_MAT4_IDENTITY_INIT;
  float c, s;

@@ -268,7 +268,7 @@ glm_rotate_x(mat4 m, float angle, mat4 dest) {
 */
 CGLM_INLINE
 void
-glm_rotate_y(mat4 m, float angle, mat4 dest) {
+glm_rotate_y(const mat4 m, float angle, mat4 dest) {
  CGLM_ALIGN_MAT mat4 t = GLM_MAT4_IDENTITY_INIT;
  float c, s;

@@ -293,7 +293,7 @@ glm_rotate_y(mat4 m, float angle, mat4 dest) {
 */
 CGLM_INLINE
 void
-glm_rotate_z(mat4 m, float angle, mat4 dest) {
+glm_rotate_z(const mat4 m, float angle, mat4 dest) {
  CGLM_ALIGN_MAT mat4 t = GLM_MAT4_IDENTITY_INIT;
  float c, s;

@@ -319,19 +319,19 @@ glm_rotate_z(mat4 m, float angle, mat4 dest) {
 */
 CGLM_INLINE
 void
-glm_rotate_make(mat4 m, float angle, vec3 axis) {
+glm_rotate_make(mat4 m, float angle, const vec3 axis) {
  CGLM_ALIGN(8) vec3 axisn, v, vs;
  float c;

  c = cosf(angle);

-  glm_vec_normalize_to(axis, axisn);
-  glm_vec_scale(axisn, 1.0f - c, v);
-  glm_vec_scale(axisn, sinf(angle), vs);
+  glm_vec3_normalize_to(axis, axisn);
+  glm_vec3_scale(axisn, 1.0f - c, v);
+  glm_vec3_scale(axisn, sinf(angle), vs);

-  glm_vec_scale(axisn, v[0], m[0]);
-  glm_vec_scale(axisn, v[1], m[1]);
-  glm_vec_scale(axisn, v[2], m[2]);
+  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];
@@ -350,7 +350,7 @@ glm_rotate_make(mat4 m, float angle, vec3 axis) {
 */
 CGLM_INLINE
 void
-glm_rotate(mat4 m, float angle, vec3 axis) {
+glm_rotate(mat4 m, float angle, const vec3 axis) {
  CGLM_ALIGN_MAT mat4 rot;
  glm_rotate_make(rot, angle, axis);
  glm_mul_rot(m, rot, m);
@@ -367,10 +367,10 @@ glm_rotate(mat4 m, float angle, vec3 axis) {
 */
 CGLM_INLINE
 void
-glm_rotate_at(mat4 m, vec3 pivot, float angle, vec3 axis) {
+glm_rotate_at(mat4 m, const vec3 pivot, float angle, const vec3 axis) {
  CGLM_ALIGN(8) vec3 pivotInv;

-  glm_vec_inv_to(pivot, pivotInv);
+  glm_vec3_negate_to(pivot, pivotInv);

  glm_translate(m, pivot);
  glm_rotate(m, angle, axis);
@@ -392,10 +392,10 @@ 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) {
+glm_rotate_atm(mat4 m, const vec3 pivot, float angle, const vec3 axis) {
  CGLM_ALIGN(8) vec3 pivotInv;

-  glm_vec_inv_to(pivot, pivotInv);
+  glm_vec3_negate_to(pivot, pivotInv);

  glm_translate_make(m, pivot);
  glm_rotate(m, angle, axis);
@@ -410,10 +410,10 @@ glm_rotate_atm(mat4 m, vec3 pivot, 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]);
+glm_decompose_scalev(const mat4 m, vec3 s) {
+  s[0] = glm_vec3_norm(m[0]);
+  s[1] = glm_vec3_norm(m[1]);
+  s[2] = glm_vec3_norm(m[2]);
 }

 /*!
@@ -426,10 +426,10 @@ glm_decompose_scalev(mat4 m, vec3 s) {
 */
 CGLM_INLINE
 bool
-glm_uniscaled(mat4 m) {
+glm_uniscaled(const mat4 m) {
  CGLM_ALIGN(8) vec3 s;
  glm_decompose_scalev(m, s);
-  return glm_vec_eq_all(s);
+  return glm_vec3_eq_all(s);
 }

 /*!
@@ -442,7 +442,7 @@ glm_uniscaled(mat4 m) {
 */
 CGLM_INLINE
 void
-glm_decompose_rs(mat4 m, mat4 r, vec3 s) {
+glm_decompose_rs(const mat4 m, mat4 r, vec3 s) {
  CGLM_ALIGN(16) vec4 t = {0.0f, 0.0f, 0.0f, 1.0f};
  CGLM_ALIGN(8)  vec3 v;

@@ -451,9 +451,9 @@ glm_decompose_rs(mat4 m, mat4 r, vec3 s) {
  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]);
@@ -462,12 +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);
  }
 }

@@ -482,7 +482,7 @@ glm_decompose_rs(mat4 m, mat4 r, vec3 s) {
 */
 CGLM_INLINE
 void
-glm_decompose(mat4 m, vec4 t, mat4 r, vec3 s) {
+glm_decompose(const mat4 m, vec4 t, mat4 r, vec3 s) {
  glm_vec4_copy(m[3], t);
  glm_decompose_rs(m, r, s);
 }
--- a/include/cglm/bezier.h
+++ b/include/cglm/bezier.h
@@ -0,0 +1,154 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), http://opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+#ifndef cglm_bezier_h
+#define cglm_bezier_h
+
+#include "common.h"
+
+#define GLM_BEZIER_MAT_INIT  {{-1.0f,  3.0f, -3.0f,  1.0f},                   \
+                              { 3.0f, -6.0f,  3.0f,  0.0f},                   \
+                              {-3.0f,  3.0f,  0.0f,  0.0f},                   \
+                              { 1.0f,  0.0f,  0.0f,  0.0f}}
+#define GLM_HERMITE_MAT_INIT {{ 2.0f, -3.0f,  0.0f,  1.0f},                   \
+                              {-2.0f,  3.0f,  0.0f,  0.0f},                   \
+                              { 1.0f, -2.0f,  1.0f,  0.0f},                   \
+                              { 1.0f, -1.0f,  0.0f,  0.0f}}
+/* for C only */
+#define GLM_BEZIER_MAT  ((mat4)GLM_BEZIER_MAT_INIT)
+#define GLM_HERMITE_MAT ((mat4)GLM_HERMITE_MAT_INIT)
+
+#define CGLM_DECASTEL_EPS   1e-9
+#define CGLM_DECASTEL_MAX   1000
+#define CGLM_DECASTEL_SMALL 1e-20
+
+/*!
+ * @brief cubic bezier interpolation
+ *
+ * Formula:
+ *  B(s) = P0*(1-s)^3 + 3*C0*s*(1-s)^2 + 3*C1*s^2*(1-s) + P1*s^3
+ *
+ * similar result using matrix:
+ *  B(s) = glm_smc(t, GLM_BEZIER_MAT, (vec4){p0, c0, c1, p1})
+ *
+ * glm_eq(glm_smc(...), glm_bezier(...)) should return TRUE
+ *
+ * @param[in]  s    parameter between 0 and 1
+ * @param[in]  p0   begin point
+ * @param[in]  c0   control point 1
+ * @param[in]  c1   control point 2
+ * @param[in]  p1   end point
+ *
+ * @return B(s)
+ */
+CGLM_INLINE
+float
+glm_bezier(float s, float p0, float c0, float c1, float p1) {
+  float x, xx, ss, xs3, a;
+
+  x   = 1.0f - s;
+  xx  = x * x;
+  ss  = s * s;
+  xs3 = (s - ss) * 3.0f;
+  a   = p0 * xx + c0 * xs3;
+
+  return a + s * (c1 * xs3 + p1 * ss - a);
+}
+
+/*!
+ * @brief cubic hermite interpolation
+ *
+ * Formula:
+ *  H(s) = P0*(2*s^3 - 3*s^2 + 1) + T0*(s^3 - 2*s^2 + s)
+ *            + P1*(-2*s^3 + 3*s^2) + T1*(s^3 - s^2)
+ *
+ * similar result using matrix:
+ *  H(s) = glm_smc(t, GLM_HERMITE_MAT, (vec4){p0, p1, c0, c1})
+ *
+ * glm_eq(glm_smc(...), glm_hermite(...)) should return TRUE
+ *
+ * @param[in]  s    parameter between 0 and 1
+ * @param[in]  p0   begin point
+ * @param[in]  t0   tangent 1
+ * @param[in]  t1   tangent 2
+ * @param[in]  p1   end point
+ *
+ * @return H(s)
+ */
+CGLM_INLINE
+float
+glm_hermite(float s, float p0, float t0, float t1, float p1) {
+  float ss, d, a, b, c, e, f;
+
+  ss = s  * s;
+  a  = ss + ss;
+  c  = a  + ss;
+  b  = a  * s;
+  d  = s  * ss;
+  f  = d  - ss;
+  e  = b  - c;
+
+  return p0 * (e + 1.0f) + t0 * (f - ss + s) + t1 * f - p1 * e;
+}
+
+/*!
+ * @brief iterative way to solve cubic equation
+ *
+ * @param[in]  prm  parameter between 0 and 1
+ * @param[in]  p0   begin point
+ * @param[in]  c0   control point 1
+ * @param[in]  c1   control point 2
+ * @param[in]  p1   end point
+ *
+ * @return parameter to use in cubic equation
+ */
+CGLM_INLINE
+float
+glm_decasteljau(float prm, float p0, float c0, float c1, float p1) {
+  float u, v, a, b, c, d, e, f;
+  int   i;
+
+  if (prm - p0 < CGLM_DECASTEL_SMALL)
+    return 0.0f;
+
+  if (p1 - prm < CGLM_DECASTEL_SMALL)
+    return 1.0f;
+
+  u  = 0.0f;
+  v  = 1.0f;
+
+  for (i = 0; i < CGLM_DECASTEL_MAX; i++) {
+    /* de Casteljau Subdivision */
+    a  = (p0 + c0) * 0.5f;
+    b  = (c0 + c1) * 0.5f;
+    c  = (c1 + p1) * 0.5f;
+    d  = (a  + b)  * 0.5f;
+    e  = (b  + c)  * 0.5f;
+    f  = (d  + e)  * 0.5f; /* this one is on the curve! */
+
+    /* The curve point is close enough to our wanted t */
+    if (fabsf(f - prm) < CGLM_DECASTEL_EPS)
+      return glm_clamp_zo((u  + v) * 0.5f);
+
+    /* dichotomy */
+    if (f < prm) {
+      p0 = f;
+      c0 = e;
+      c1 = c;
+      u  = (u  + v) * 0.5f;
+    } else {
+      c0 = a;
+      c1 = d;
+      p1 = f;
+      v  = (u  + v) * 0.5f;
+    }
+  }
+
+  return glm_clamp_zo((u  + v) * 0.5f);
+}
+
+#endif /* cglm_bezier_h */
--- a/include/cglm/box.h
+++ b/include/cglm/box.h
@@ -22,36 +22,32 @@
 */
 CGLM_INLINE
 void
-glm_aabb_transform(vec3 box[2], mat4 m, vec3 dest[2]) {
-  vec3 v[2], xa, xb, ya, yb, za, zb, tmp;
+glm_aabb_transform(const vec3 box[2], const mat4 m, vec3 dest[2]) {
+  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]);
 }

 /*!
@@ -66,7 +62,7 @@ glm_aabb_transform(vec3 box[2], mat4 m, vec3 dest[2]) {
 */
 CGLM_INLINE
 void
-glm_aabb_merge(vec3 box1[2], vec3 box2[2], vec3 dest[2]) {
+glm_aabb_merge(const vec3 box1[2], const vec3 box2[2], vec3 dest[2]) {
  dest[0][0] = glm_min(box1[0][0], box2[0][0]);
  dest[0][1] = glm_min(box1[0][1], box2[0][1]);
  dest[0][2] = glm_min(box1[0][2], box2[0][2]);
@@ -89,7 +85,7 @@ glm_aabb_merge(vec3 box1[2], vec3 box2[2], vec3 dest[2]) {
 */
 CGLM_INLINE
 void
-glm_aabb_crop(vec3 box[2], vec3 cropBox[2], vec3 dest[2]) {
+glm_aabb_crop(const vec3 box[2], const vec3 cropBox[2], vec3 dest[2]) {
  dest[0][0] = glm_max(box[0][0], cropBox[0][0]);
  dest[0][1] = glm_max(box[0][1], cropBox[0][1]);
  dest[0][2] = glm_max(box[0][2], cropBox[0][2]);
@@ -113,10 +109,10 @@ glm_aabb_crop(vec3 box[2], vec3 cropBox[2], vec3 dest[2]) {
 */
 CGLM_INLINE
 void
-glm_aabb_crop_until(vec3 box[2],
-                    vec3 cropBox[2],
-                    vec3 clampBox[2],
-                    vec3 dest[2]) {
+glm_aabb_crop_until(const vec3 box[2],
+                    const vec3 cropBox[2],
+                    const vec3 clampBox[2],
+                    vec3       dest[2]) {
  glm_aabb_crop(box, cropBox, dest);
  glm_aabb_merge(clampBox, dest, dest);
 }
@@ -137,9 +133,10 @@ glm_aabb_crop_until(vec3 box[2],
 */
 CGLM_INLINE
 bool
-glm_aabb_frustum(vec3 box[2], vec4 planes[6]) {
-  float *p, dp;
-  int    i;
+glm_aabb_frustum(const vec3 box[2], const vec4 planes[6]) {
+  const float *p;
+  float       dp;
+  int         i;

  for (i = 0; i < 6; i++) {
    p  = planes[i];
@@ -162,8 +159,8 @@ 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]);
 }

 /*!
@@ -173,9 +170,9 @@ 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;
+glm_aabb_isvalid(const vec3 box[2]) {
+  return glm_vec3_max(box[0]) != FLT_MAX
+         && glm_vec3_min(box[1]) != -FLT_MAX;
 }

 /*!
@@ -185,8 +182,8 @@ glm_aabb_isvalid(vec3 box[2]) {
 */
 CGLM_INLINE
 float
-glm_aabb_size(vec3 box[2]) {
-  return glm_vec_distance(box[0], box[1]);
+glm_aabb_size(const vec3 box[2]) {
+  return glm_vec3_distance(box[0], box[1]);
 }

 /*!
@@ -196,7 +193,7 @@ glm_aabb_size(vec3 box[2]) {
 */
 CGLM_INLINE
 float
-glm_aabb_radius(vec3 box[2]) {
+glm_aabb_radius(const vec3 box[2]) {
  return glm_aabb_size(box) * 0.5f;
 }

@@ -208,8 +205,8 @@ glm_aabb_radius(vec3 box[2]) {
 */
 CGLM_INLINE
 void
-glm_aabb_center(vec3 box[2], vec3 dest) {
-  glm_vec_center(box[0], box[1], dest);
+glm_aabb_center(const vec3 box[2], vec3 dest) {
+  glm_vec3_center(box[0], box[1], dest);
 }

 /*!
@@ -220,7 +217,7 @@ glm_aabb_center(vec3 box[2], vec3 dest) {
 */
 CGLM_INLINE
 bool
-glm_aabb_aabb(vec3 box[2], vec3 other[2]) {
+glm_aabb_aabb(const vec3 box[2], const 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]);
@@ -237,7 +234,7 @@ glm_aabb_aabb(vec3 box[2], vec3 other[2]) {
 */
 CGLM_INLINE
 bool
-glm_aabb_sphere(vec3 box[2], vec4 s) {
+glm_aabb_sphere(const vec3 box[2], const vec4 s) {
  float dmin;
  int   a, b, c;

@@ -260,7 +257,7 @@ glm_aabb_sphere(vec3 box[2], vec4 s) {
 */
 CGLM_INLINE
 bool
-glm_aabb_point(vec3 box[2], vec3 point) {
+glm_aabb_point(const vec3 box[2], const 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]);
@@ -274,7 +271,7 @@ glm_aabb_point(vec3 box[2], vec3 point) {
 */
 CGLM_INLINE
 bool
-glm_aabb_contains(vec3 box[2], vec3 other[2]) {
+glm_aabb_contains(const vec3 box[2], const 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]);
--- a/include/cglm/call.h
+++ b/include/cglm/call.h
@@ -27,6 +27,8 @@ extern "C" {
 #include "call/project.h"
 #include "call/sphere.h"
 #include "call/ease.h"
+#include "call/curve.h"
+#include "call/bezier.h"

 #ifdef __cplusplus
 }
--- a/include/cglm/call/affine.h
+++ b/include/cglm/call/affine.h
@@ -15,15 +15,15 @@ extern "C" {

 CGLM_EXPORT
 void
-glmc_translate_make(mat4 m, vec3 v);
+glmc_translate_make(mat4 m, const vec3 v);

 CGLM_EXPORT
 void
-glmc_translate_to(mat4 m, vec3 v, mat4 dest);
+glmc_translate_to(const mat4 m, const vec3 v, mat4 dest);

 CGLM_EXPORT
 void
-glmc_translate(mat4 m, vec3 v);
+glmc_translate(mat4 m, const vec3 v);

 CGLM_EXPORT
 void
@@ -39,15 +39,15 @@ glmc_translate_z(mat4 m, float to);

 CGLM_EXPORT
 void
-glmc_scale_make(mat4 m, vec3 v);
+glmc_scale_make(mat4 m, const vec3 v);

 CGLM_EXPORT
 void
-glmc_scale_to(mat4 m, vec3 v, mat4 dest);
+glmc_scale_to(const mat4 m, const vec3 v, mat4 dest);

 CGLM_EXPORT
 void
-glmc_scale(mat4 m, vec3 v);
+glmc_scale(mat4 m, const vec3 v);

 CGLM_EXPORT
 void
@@ -55,57 +55,57 @@ glmc_scale_uni(mat4 m, float s);

 CGLM_EXPORT
 void
-glmc_rotate_x(mat4 m, float rad, mat4 dest);
+glmc_rotate_x(const mat4 m, float rad, mat4 dest);

 CGLM_EXPORT
 void
-glmc_rotate_y(mat4 m, float rad, mat4 dest);
+glmc_rotate_y(const mat4 m, float rad, mat4 dest);

 CGLM_EXPORT
 void
-glmc_rotate_z(mat4 m, float rad, mat4 dest);
+glmc_rotate_z(const mat4 m, float rad, mat4 dest);

 CGLM_EXPORT
 void
-glmc_rotate_make(mat4 m, float angle, vec3 axis);
+glmc_rotate_make(mat4 m, float angle, const vec3 axis);

 CGLM_EXPORT
 void
-glmc_rotate(mat4 m, float angle, vec3 axis);
+glmc_rotate(mat4 m, float angle, const vec3 axis);

 CGLM_EXPORT
 void
-glmc_rotate_at(mat4 m, vec3 pivot, float angle, vec3 axis);
+glmc_rotate_at(mat4 m, const vec3 pivot, float angle, const vec3 axis);

 CGLM_EXPORT
 void
-glmc_rotate_atm(mat4 m, vec3 pivot, float angle, vec3 axis);
+glmc_rotate_atm(mat4 m, const vec3 pivot, float angle, const vec3 axis);

 CGLM_EXPORT
 void
-glmc_decompose_scalev(mat4 m, vec3 s);
+glmc_decompose_scalev(const mat4 m, vec3 s);

 CGLM_EXPORT
 bool
-glmc_uniscaled(mat4 m);
+glmc_uniscaled(const mat4 m);

 CGLM_EXPORT
 void
-glmc_decompose_rs(mat4 m, mat4 r, vec3 s);
+glmc_decompose_rs(const mat4 m, mat4 r, vec3 s);

 CGLM_EXPORT
 void
-glmc_decompose(mat4 m, vec4 t, mat4 r, vec3 s);
+glmc_decompose(const mat4 m, vec4 t, mat4 r, vec3 s);

 /* affine-mat */

 CGLM_EXPORT
 void
-glmc_mul(mat4 m1, mat4 m2, mat4 dest);
+glmc_mul(const mat4 m1, const mat4 m2, mat4 dest);

 CGLM_EXPORT
 void
-glmc_mul_rot(mat4 m1, mat4 m2, mat4 dest);
+glmc_mul_rot(const mat4 m1, const mat4 m2, mat4 dest);

 CGLM_EXPORT
 void
--- a/include/cglm/call/bezier.h
+++ b/include/cglm/call/bezier.h
@@ -0,0 +1,31 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), http://opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+#ifndef cglmc_bezier_h
+#define cglmc_bezier_h
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "../cglm.h"
+
+CGLM_EXPORT
+float
+glmc_bezier(float s, float p0, float c0, float c1, float p1);
+
+CGLM_EXPORT
+float
+glmc_hermite(float s, float p0, float t0, float t1, float p1);
+
+CGLM_EXPORT
+float
+glmc_decasteljau(float prm, float p0, float c0, float c1, float p1);
+
+#ifdef __cplusplus
+}
+#endif
+#endif /* cglmc_bezier_h */
--- a/include/cglm/call/box.h
+++ b/include/cglm/call/box.h
@@ -15,26 +15,26 @@ extern "C" {

 CGLM_EXPORT
 void
-glmc_aabb_transform(vec3 box[2], mat4 m, vec3 dest[2]);
+glmc_aabb_transform(const vec3 box[2], const mat4 m, vec3 dest[2]);

 CGLM_EXPORT
 void
-glmc_aabb_merge(vec3 box1[2], vec3 box2[2], vec3 dest[2]);
+glmc_aabb_merge(const vec3 box1[2], const vec3 box2[2], vec3 dest[2]);

 CGLM_EXPORT
 void
-glmc_aabb_crop(vec3 box[2], vec3 cropBox[2], vec3 dest[2]);
+glmc_aabb_crop(const vec3 box[2], const vec3 cropBox[2], vec3 dest[2]);

 CGLM_EXPORT
 void
-glmc_aabb_crop_until(vec3 box[2],
-                     vec3 cropBox[2],
-                     vec3 clampBox[2],
-                     vec3 dest[2]);
+glmc_aabb_crop_until(const vec3 box[2],
+                     const vec3 cropBox[2],
+                     const vec3 clampBox[2],
+                     vec3       dest[2]);

 CGLM_EXPORT
 bool
-glmc_aabb_frustum(vec3 box[2], vec4 planes[6]);
+glmc_aabb_frustum(const vec3 box[2], vec4 planes[6]);

 CGLM_EXPORT
 void
@@ -42,35 +42,35 @@ glmc_aabb_invalidate(vec3 box[2]);

 CGLM_EXPORT
 bool
-glmc_aabb_isvalid(vec3 box[2]);
+glmc_aabb_isvalid(const vec3 box[2]);

 CGLM_EXPORT
 float
-glmc_aabb_size(vec3 box[2]);
+glmc_aabb_size(const vec3 box[2]);

 CGLM_EXPORT
 float
-glmc_aabb_radius(vec3 box[2]);
+glmc_aabb_radius(const vec3 box[2]);

 CGLM_EXPORT
 void
-glmc_aabb_center(vec3 box[2], vec3 dest);
+glmc_aabb_center(const vec3 box[2], vec3 dest);

 CGLM_EXPORT
 bool
-glmc_aabb_aabb(vec3 box[2], vec3 other[2]);
+glmc_aabb_aabb(const vec3 box[2], const vec3 other[2]);

 CGLM_EXPORT
 bool
-glmc_aabb_point(vec3 box[2], vec3 point);
+glmc_aabb_point(const vec3 box[2], const vec3 point);

 CGLM_EXPORT
 bool
-glmc_aabb_contains(vec3 box[2], vec3 other[2]);
+glmc_aabb_contains(const vec3 box[2], const vec3 other[2]);

 CGLM_EXPORT
 bool
-glmc_aabb_sphere(vec3 box[2], vec4 s);
+glmc_aabb_sphere(const vec3 box[2], const vec4 s);

 #ifdef __cplusplus
 }
--- a/include/cglm/call/cam.h
+++ b/include/cglm/call/cam.h
@@ -21,7 +21,7 @@ glmc_frustum(float left,
             float top,
             float nearVal,
             float farVal,
-             mat4 dest);
+             mat4  dest);

 CGLM_EXPORT
 void
@@ -31,19 +31,19 @@ glmc_ortho(float left,
           float top,
           float nearVal,
           float farVal,
-           mat4 dest);
+           mat4  dest);

 CGLM_EXPORT
 void
-glmc_ortho_aabb(vec3 box[2], mat4 dest);
+glmc_ortho_aabb(const vec3 box[2], mat4 dest);

 CGLM_EXPORT
 void
-glmc_ortho_aabb_p(vec3 box[2], float padding, mat4 dest);
+glmc_ortho_aabb_p(const vec3 box[2], float padding, mat4 dest);

 CGLM_EXPORT
 void
-glmc_ortho_aabb_pz(vec3 box[2], float padding, mat4 dest);
+glmc_ortho_aabb_pz(const vec3 box[2], float padding, mat4 dest);

 CGLM_EXPORT
 void
@@ -59,7 +59,11 @@ glmc_perspective(float fovy,
                 float aspect,
                 float nearVal,
                 float farVal,
-                 mat4 dest);
+                 mat4  dest);
+
+CGLM_EXPORT
+void
+glmc_persp_move_far(mat4 proj, float deltaFar);

 CGLM_EXPORT
 void
@@ -71,19 +75,19 @@ glmc_perspective_resize(float aspect, mat4 proj);

 CGLM_EXPORT
 void
-glmc_lookat(vec3 eye, vec3 center, vec3 up, mat4 dest);
+glmc_lookat(const vec3 eye, const vec3 center, const vec3 up, mat4 dest);

 CGLM_EXPORT
 void
-glmc_look(vec3 eye, vec3 dir, vec3 up, mat4 dest);
+glmc_look(const vec3 eye, const vec3 dir, const vec3 up, mat4 dest);

 CGLM_EXPORT
 void
-glmc_look_anyup(vec3 eye, vec3 dir, mat4 dest);
+glmc_look_anyup(const vec3 eye, const vec3 dir, mat4 dest);

 CGLM_EXPORT
 void
-glmc_persp_decomp(mat4 proj,
+glmc_persp_decomp(const mat4 proj,
                  float * __restrict nearVal,
                  float * __restrict farVal,
                  float * __restrict top,
@@ -93,45 +97,45 @@ glmc_persp_decomp(mat4 proj,

 CGLM_EXPORT
 void
-glmc_persp_decompv(mat4 proj, float dest[6]);
+glmc_persp_decompv(const mat4 proj, float dest[6]);

 CGLM_EXPORT
 void
-glmc_persp_decomp_x(mat4 proj,
+glmc_persp_decomp_x(const mat4 proj,
                    float * __restrict left,
                    float * __restrict right);

 CGLM_EXPORT
 void
-glmc_persp_decomp_y(mat4 proj,
+glmc_persp_decomp_y(const mat4 proj,
                    float * __restrict top,
                    float * __restrict bottom);

 CGLM_EXPORT
 void
-glmc_persp_decomp_z(mat4 proj,
+glmc_persp_decomp_z(const mat4 proj,
                    float * __restrict nearVal,
                    float * __restrict farVal);

 CGLM_EXPORT
 void
-glmc_persp_decomp_far(mat4 proj, float * __restrict farVal);
+glmc_persp_decomp_far(const mat4 proj, float * __restrict farVal);

 CGLM_EXPORT
 void
-glmc_persp_decomp_near(mat4 proj, float * __restrict nearVal);
+glmc_persp_decomp_near(const mat4 proj, float * __restrict nearVal);

 CGLM_EXPORT
 float
-glmc_persp_fovy(mat4 proj);
+glmc_persp_fovy(const mat4 proj);

 CGLM_EXPORT
 float
-glmc_persp_aspect(mat4 proj);
+glmc_persp_aspect(const mat4 proj);

 CGLM_EXPORT
 void
-glmc_persp_sizes(mat4 proj, float fovy, vec4 dest);
+glmc_persp_sizes(const mat4 proj, float fovy, vec4 dest);

 #ifdef __cplusplus
 }
--- a/include/cglm/call/curve.h
+++ b/include/cglm/call/curve.h
@@ -0,0 +1,23 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), http://opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+#ifndef cglmc_curve_h
+#define cglmc_curve_h
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "../cglm.h"
+
+CGLM_EXPORT
+float
+glmc_smc(float s, const mat4 m, const vec4 c);
+
+#ifdef __cplusplus
+}
+#endif
+#endif /* cglmc_curve_h */
--- a/include/cglm/call/ease.h
+++ b/include/cglm/call/ease.h
@@ -137,4 +137,7 @@ CGLM_EXPORT
 float
 glmc_ease_bounce_inout(float t);

+#ifdef __cplusplus
+}
+#endif
 #endif /* cglmc_ease_h */
--- a/include/cglm/call/euler.h
+++ b/include/cglm/call/euler.h
@@ -15,39 +15,39 @@ extern "C" {

 CGLM_EXPORT
 void
-glmc_euler_angles(mat4 m, vec3 dest);
+glmc_euler_angles(const mat4 m, vec3 dest);

 CGLM_EXPORT
 void
-glmc_euler(vec3 angles, mat4 dest);
+glmc_euler(const vec3 angles, mat4 dest);

 CGLM_EXPORT
 void
-glmc_euler_xyz(vec3 angles,  mat4 dest);
+glmc_euler_xyz(const vec3 angles,  mat4 dest);

 CGLM_EXPORT
 void
-glmc_euler_zyx(vec3 angles,  mat4 dest);
+glmc_euler_zyx(const vec3 angles,  mat4 dest);

 CGLM_EXPORT
 void
-glmc_euler_zxy(vec3 angles, mat4 dest);
+glmc_euler_zxy(const vec3 angles, mat4 dest);

 CGLM_EXPORT
 void
-glmc_euler_xzy(vec3 angles, mat4 dest);
+glmc_euler_xzy(const vec3 angles, mat4 dest);

 CGLM_EXPORT
 void
-glmc_euler_yzx(vec3 angles, mat4 dest);
+glmc_euler_yzx(const vec3 angles, mat4 dest);

 CGLM_EXPORT
 void
-glmc_euler_yxz(vec3 angles, mat4 dest);
+glmc_euler_yxz(const vec3 angles, mat4 dest);

 CGLM_EXPORT
 void
-glmc_euler_by_order(vec3 angles, glm_euler_sq axis, mat4 dest);
+glmc_euler_by_order(const vec3 angles, glm_euler_sq axis, mat4 dest);

 #ifdef __cplusplus
 }
--- a/include/cglm/call/frustum.h
+++ b/include/cglm/call/frustum.h
@@ -15,26 +15,26 @@ extern "C" {

 CGLM_EXPORT
 void
-glmc_frustum_planes(mat4 m, vec4 dest[6]);
+glmc_frustum_planes(const mat4 m, vec4 dest[6]);

 CGLM_EXPORT
 void
-glmc_frustum_corners(mat4 invMat, vec4 dest[8]);
+glmc_frustum_corners(const mat4 invMat, vec4 dest[8]);

 CGLM_EXPORT
 void
-glmc_frustum_center(vec4 corners[8], vec4 dest);
+glmc_frustum_center(const vec4 corners[8], vec4 dest);

 CGLM_EXPORT
 void
-glmc_frustum_box(vec4 corners[8], mat4 m, vec3 box[2]);
+glmc_frustum_box(const vec4 corners[8], const mat4 m, vec3 box[2]);

 CGLM_EXPORT
 void
-glmc_frustum_corners_at(vec4  corners[8],
-                        float splitDist,
-                        float farDist,
-                        vec4  planeCorners[4]);
+glmc_frustum_corners_at(const vec4 corners[8],
+                        float      splitDist,
+                        float      farDist,
+                        vec4       planeCorners[4]);
 #ifdef __cplusplus
 }
 #endif
--- a/include/cglm/call/io.h
+++ b/include/cglm/call/io.h
@@ -15,28 +15,28 @@ extern "C" {

 CGLM_EXPORT
 void
-glmc_mat4_print(mat4   matrix,
-                FILE * __restrict ostream);
+glmc_mat4_print(const mat4   matrix,
+                FILE * const __restrict ostream);

 CGLM_EXPORT
 void
-glmc_mat3_print(mat3 matrix,
-                FILE * __restrict ostream);
+glmc_mat3_print(const mat3 matrix,
+                FILE * const __restrict ostream);

 CGLM_EXPORT
 void
-glmc_vec4_print(vec4 vec,
-                FILE * __restrict ostream);
+glmc_vec4_print(const vec4 vec,
+                FILE * const __restrict ostream);

 CGLM_EXPORT
 void
-glmc_vec3_print(vec3 vec,
-                FILE * __restrict ostream);
+glmc_vec3_print(const vec3 vec,
+                FILE * const __restrict ostream);

 CGLM_EXPORT
 void
-glmc_versor_print(versor vec,
-                  FILE * __restrict ostream);
+glmc_versor_print(const versor vec,
+                  FILE * const __restrict ostream);

 #ifdef __cplusplus
 }
--- a/include/cglm/call/mat3.h
+++ b/include/cglm/call/mat3.h
@@ -18,7 +18,7 @@ extern "C" {

 CGLM_EXPORT
 void
-glmc_mat3_copy(mat3 mat, mat3 dest);
+glmc_mat3_copy(const mat3 mat, mat3 dest);

 CGLM_EXPORT
 void
@@ -26,15 +26,15 @@ glmc_mat3_identity(mat3 mat);

 CGLM_EXPORT
 void
-glmc_mat3_identity_array(mat3 * __restrict mat, size_t count);
+glmc_mat3_identity_array(mat3 * const __restrict mat, size_t count);

 CGLM_EXPORT
 void
-glmc_mat3_mul(mat3 m1, mat3 m2, mat3 dest);
+glmc_mat3_mul(const mat3 m1, const mat3 m2, mat3 dest);

 CGLM_EXPORT
 void
-glmc_mat3_transpose_to(mat3 m, mat3 dest);
+glmc_mat3_transpose_to(const mat3 m, mat3 dest);

 CGLM_EXPORT
 void
@@ -42,11 +42,15 @@ glmc_mat3_transpose(mat3 m);

 CGLM_EXPORT
 void
-glmc_mat3_mulv(mat3 m, vec3 v, vec3 dest);
+glmc_mat3_mulv(const mat3 m, const vec3 v, vec3 dest);
+
+CGLM_EXPORT
+float
+glmc_mat3_trace(const mat3 m);

 CGLM_EXPORT
 void
-glmc_mat3_quat(mat3 m, versor dest);
+glmc_mat3_quat(const mat3 m, versor dest);

 CGLM_EXPORT
 void
@@ -54,11 +58,11 @@ glmc_mat3_scale(mat3 m, float s);

 CGLM_EXPORT
 float
-glmc_mat3_det(mat3 mat);
+glmc_mat3_det(const mat3 mat);

 CGLM_EXPORT
 void
-glmc_mat3_inv(mat3 mat, mat3 dest);
+glmc_mat3_inv(const mat3 mat, mat3 dest);

 CGLM_EXPORT
 void
@@ -68,6 +72,10 @@ CGLM_EXPORT
 void
 glmc_mat3_swap_row(mat3 mat, int row1, int row2);

+CGLM_EXPORT
+float
+glmc_mat3_rmc(const vec3 r, const mat3 m, const vec3 c);
+
 #ifdef __cplusplus
 }
 #endif
--- a/include/cglm/call/mat4.h
+++ b/include/cglm/call/mat4.h
@@ -19,11 +19,11 @@ extern "C" {

 CGLM_EXPORT
 void
-glmc_mat4_ucopy(mat4 mat, mat4 dest);
+glmc_mat4_ucopy(const mat4 mat, mat4 dest);

 CGLM_EXPORT
 void
-glmc_mat4_copy(mat4 mat, mat4 dest);
+glmc_mat4_copy(const mat4 mat, mat4 dest);

 CGLM_EXPORT
 void
@@ -31,43 +31,51 @@ glmc_mat4_identity(mat4 mat);

 CGLM_EXPORT
 void
-glmc_mat4_identity_array(mat4 * __restrict mat, size_t count);
+glmc_mat4_identity_array(mat4 * const __restrict mat, size_t count);

 CGLM_EXPORT
 void
-glmc_mat4_pick3(mat4 mat, mat3 dest);
+glmc_mat4_pick3(const mat4 mat, mat3 dest);

 CGLM_EXPORT
 void
-glmc_mat4_pick3t(mat4 mat, mat3 dest);
+glmc_mat4_pick3t(const mat4 mat, mat3 dest);

 CGLM_EXPORT
 void
-glmc_mat4_ins3(mat3 mat, mat4 dest);
+glmc_mat4_ins3(const mat3 mat, mat4 dest);

 CGLM_EXPORT
 void
-glmc_mat4_mul(mat4 m1, mat4 m2, mat4 dest);
+glmc_mat4_mul(const mat4 m1, const mat4 m2, mat4 dest);

 CGLM_EXPORT
 void
-glmc_mat4_mulN(mat4 * __restrict matrices[], uint32_t len, mat4 dest);
+glmc_mat4_mulN(mat4 * const __restrict matrices[], uint32_t len, mat4 dest);

 CGLM_EXPORT
 void
-glmc_mat4_mulv(mat4 m, vec4 v, vec4 dest);
+glmc_mat4_mulv(const mat4 m, const vec4 v, vec4 dest);

 CGLM_EXPORT
 void
-glmc_mat4_mulv3(mat4 m, vec3 v, float last, vec3 dest);
+glmc_mat4_mulv3(const mat4 m, const vec3 v, float last, vec3 dest);
+
+CGLM_EXPORT
+float
+glmc_mat4_trace(const mat4 m);
+
+CGLM_EXPORT
+float
+glmc_mat4_trace3(const mat4 m);

 CGLM_EXPORT
 void
-glmc_mat4_quat(mat4 m, versor dest);
+glmc_mat4_quat(const mat4 m, versor dest);

 CGLM_EXPORT
 void
-glmc_mat4_transpose_to(mat4 m, mat4 dest);
+glmc_mat4_transpose_to(const mat4 m, mat4 dest);

 CGLM_EXPORT
 void
@@ -83,19 +91,19 @@ glmc_mat4_scale(mat4 m, float s);

 CGLM_EXPORT
 float
-glmc_mat4_det(mat4 mat);
+glmc_mat4_det(const mat4 mat);

 CGLM_EXPORT
 void
-glmc_mat4_inv(mat4 mat, mat4 dest);
+glmc_mat4_inv(const mat4 mat, mat4 dest);

 CGLM_EXPORT
 void
-glmc_mat4_inv_precise(mat4 mat, mat4 dest);
+glmc_mat4_inv_precise(const mat4 mat, mat4 dest);

 CGLM_EXPORT
 void
-glmc_mat4_inv_fast(mat4 mat, mat4 dest);
+glmc_mat4_inv_fast(const mat4 mat, mat4 dest);

 CGLM_EXPORT
 void
@@ -105,6 +113,10 @@ CGLM_EXPORT
 void
 glmc_mat4_swap_row(mat4 mat, int row1, int row2);

+CGLM_EXPORT
+float
+glmc_mat4_rmc(const vec4 r, const mat4 m, const vec4 c);
+
 #ifdef __cplusplus
 }
 #endif
--- a/include/cglm/call/project.h
+++ b/include/cglm/call/project.h
@@ -15,15 +15,15 @@ extern "C" {

 CGLM_EXPORT
 void
-glmc_unprojecti(vec3 pos, mat4 invMat, vec4 vp, vec3 dest);
+glmc_unprojecti(const vec3 pos, const mat4 invMat, const vec4 vp, vec3 dest);

 CGLM_EXPORT
 void
-glmc_unproject(vec3 pos, mat4 m, vec4 vp, vec3 dest);
+glmc_unproject(const vec3 pos, const mat4 m, const vec4 vp, vec3 dest);

 CGLM_EXPORT
 void
-glmc_project(vec3 pos, mat4 m, vec4 vp, vec3 dest);
+glmc_project(const vec3 pos, const mat4 m, const vec4 vp, vec3 dest);

 #ifdef __cplusplus
 }
--- a/include/cglm/call/quat.h
+++ b/include/cglm/call/quat.h
@@ -19,7 +19,7 @@ glmc_quat_identity(versor q);

 CGLM_EXPORT
 void
-glmc_quat_identity_array(versor * __restrict q, size_t count);
+glmc_quat_identity_array(versor * const __restrict q, size_t count);

 CGLM_EXPORT
 void
@@ -31,19 +31,19 @@ glmc_quat(versor q, float angle, float x, float y, float z);

 CGLM_EXPORT
 void
-glmc_quatv(versor q, float angle, vec3 axis);
+glmc_quatv(versor q, float angle, const vec3 axis);

 CGLM_EXPORT
 void
-glmc_quat_copy(versor q, versor dest);
+glmc_quat_copy(const versor q, versor dest);

 CGLM_EXPORT
 float
-glmc_quat_norm(versor q);
+glmc_quat_norm(const versor q);

 CGLM_EXPORT
 void
-glmc_quat_normalize_to(versor q, versor dest);
+glmc_quat_normalize_to(const versor q, versor dest);

 CGLM_EXPORT
 void
@@ -51,103 +51,107 @@ glmc_quat_normalize(versor q);

 CGLM_EXPORT
 float
-glmc_quat_dot(versor p, versor q);
+glmc_quat_dot(const versor p, const versor q);

 CGLM_EXPORT
 void
-glmc_quat_conjugate(versor q, versor dest);
+glmc_quat_conjugate(const versor q, versor dest);

 CGLM_EXPORT
 void
-glmc_quat_inv(versor q, versor dest);
+glmc_quat_inv(const versor q, versor dest);

 CGLM_EXPORT
 void
-glmc_quat_add(versor p, versor q, versor dest);
+glmc_quat_add(const versor p, const versor q, versor dest);

 CGLM_EXPORT
 void
-glmc_quat_sub(versor p, versor q, versor dest);
+glmc_quat_sub(const versor p, const versor q, versor dest);

 CGLM_EXPORT
 float
-glmc_quat_real(versor q);
+glmc_quat_real(const versor q);

 CGLM_EXPORT
 void
-glmc_quat_imag(versor q, vec3 dest);
+glmc_quat_imag(const versor q, vec3 dest);

 CGLM_EXPORT
 void
-glmc_quat_imagn(versor q, vec3 dest);
+glmc_quat_imagn(const versor q, vec3 dest);

 CGLM_EXPORT
 float
-glmc_quat_imaglen(versor q);
+glmc_quat_imaglen(const versor q);

 CGLM_EXPORT
 float
-glmc_quat_angle(versor q);
+glmc_quat_angle(const versor q);

 CGLM_EXPORT
 void
-glmc_quat_axis(versor q, versor dest);
+glmc_quat_axis(const versor q, versor dest);

 CGLM_EXPORT
 void
-glmc_quat_mul(versor p, versor q, versor dest);
+glmc_quat_mul(const versor p, const versor q, versor dest);

 CGLM_EXPORT
 void
-glmc_quat_mat4(versor q, mat4 dest);
+glmc_quat_mat4(const versor q, mat4 dest);

 CGLM_EXPORT
 void
-glmc_quat_mat4t(versor q, mat4 dest);
+glmc_quat_mat4t(const versor q, mat4 dest);

 CGLM_EXPORT
 void
-glmc_quat_mat3(versor q, mat3 dest);
+glmc_quat_mat3(const versor q, mat3 dest);

 CGLM_EXPORT
 void
-glmc_quat_mat3t(versor q, mat3 dest);
+glmc_quat_mat3t(const versor q, mat3 dest);

 CGLM_EXPORT
 void
-glmc_quat_lerp(versor from, versor to, float t, versor dest);
+glmc_quat_lerp(const versor from, const versor to, float t, versor dest);

 CGLM_EXPORT
 void
-glmc_quat_slerp(versor q, versor r, float t, versor dest);
+glmc_quat_slerp(const versor q, const versor r, float t, versor dest);

 CGLM_EXPORT
 void
-glmc_quat_look(vec3 eye, versor ori, mat4 dest);
+glmc_quat_look(const vec3 eye, const versor ori, mat4 dest);

 CGLM_EXPORT
 void
-glmc_quat_for(vec3 dir, vec3 fwd, vec3 up, versor dest);
+glmc_quat_for(const vec3 dir, const vec3 fwd, const vec3 up, versor dest);

 CGLM_EXPORT
 void
-glmc_quat_forp(vec3 from, vec3 to, vec3 fwd, vec3 up, versor dest);
+glmc_quat_forp(const vec3 from,
+               const vec3 to,
+               const vec3 fwd,
+               const vec3 up,
+               versor     dest);

 CGLM_EXPORT
 void
-glmc_quat_rotatev(versor from, vec3 to, vec3 dest);
+glmc_quat_rotatev(const versor from, const vec3 to, vec3 dest);

 CGLM_EXPORT
 void
-glmc_quat_rotate(mat4 m, versor q, mat4 dest);
+glmc_quat_rotate(const mat4 m, const versor q, mat4 dest);

 CGLM_EXPORT
 void
-glmc_quat_rotate_at(mat4 model, versor q, vec3 pivot);
+glmc_quat_rotate_at(mat4 model, const versor q, const vec3 pivot);

 CGLM_EXPORT
 void
-glmc_quat_rotate_atm(mat4 m, versor q, vec3 pivot);
+glmc_quat_rotate_atm(mat4 m, const versor q, const vec3 pivot);

 #ifdef __cplusplus
 }
--- a/include/cglm/call/sphere.h
+++ b/include/cglm/call/sphere.h
@@ -15,22 +15,25 @@ extern "C" {

 CGLM_EXPORT
 float
-glmc_sphere_radii(vec4 s);
+glmc_sphere_radii(const vec4 s);

 CGLM_EXPORT
 void
-glmc_sphere_transform(vec4 s, mat4 m, vec4 dest);
+glmc_sphere_transform(const vec4 s, const mat4 m, vec4 dest);

 CGLM_EXPORT
 void
-glmc_sphere_merge(vec4 s1, vec4 s2, vec4 dest);
+glmc_sphere_merge(const vec4 s1, const vec4 s2, vec4 dest);

 CGLM_EXPORT
 bool
-glmc_sphere_sphere(vec4 s1, vec4 s2);
+glmc_sphere_sphere(const vec4 s1, const vec4 s2);

 CGLM_EXPORT
 bool
-glmc_sphere_point(vec4 s, vec3 point);
+glmc_sphere_point(const vec4 s, const vec3 point);

+#ifdef __cplusplus
+}
+#endif
 #endif /* cglmc_sphere_h */
--- a/include/cglm/call/vec3.h
+++ b/include/cglm/call/vec3.h
@@ -14,225 +14,233 @@ 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
-glmc_vec3(vec4 v4, vec3 dest);
+glmc_vec3(const vec4 v4, vec3 dest);

 CGLM_EXPORT
 void
-glmc_vec_copy(vec3 a, vec3 dest);
+glmc_vec3_copy(const vec3 a, vec3 dest);

 CGLM_EXPORT
 void
-glmc_vec_zero(vec3 v);
+glmc_vec3_zero(vec3 v);

 CGLM_EXPORT
 void
-glmc_vec_one(vec3 v);
+glmc_vec3_one(vec3 v);

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

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

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

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

 CGLM_EXPORT
 void
-glmc_vec_normalize_to(vec3 vec, vec3 dest);
+glmc_vec3_normalize_to(const 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(const vec3 a, const vec3 b, vec3 dest);

 CGLM_EXPORT
 void
-glmc_vec_adds(vec3 v, float s, vec3 dest);
+glmc_vec3_adds(const vec3 v, float s, vec3 dest);

 CGLM_EXPORT
 void
-glmc_vec_sub(vec3 a, vec3 b, vec3 dest);
+glmc_vec3_sub(const vec3 a, const vec3 b, vec3 dest);

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

 CGLM_EXPORT
 void
-glmc_vec_mul(vec3 a, vec3 b, vec3 d);
+glmc_vec3_mul(const vec3 a, const vec3 b, vec3 d);

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

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

 CGLM_EXPORT
 void
-glmc_vec_div(vec3 a, vec3 b, vec3 dest);
+glmc_vec3_div(const vec3 a, const vec3 b, vec3 dest);

 CGLM_EXPORT
 void
-glmc_vec_divs(vec3 a, float s, vec3 dest);
+glmc_vec3_divs(const vec3 a, float s, vec3 dest);

 CGLM_EXPORT
 void
-glmc_vec_addadd(vec3 a, vec3 b, vec3 dest);
+glmc_vec3_addadd(const vec3 a, const vec3 b, vec3 dest);

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

 CGLM_EXPORT
 void
-glmc_vec_muladd(vec3 a, vec3 b, vec3 dest);
+glmc_vec3_muladd(const vec3 a, const vec3 b, vec3 dest);

 CGLM_EXPORT
 void
-glmc_vec_muladds(vec3 a, float s, vec3 dest);
+glmc_vec3_muladds(const vec3 a, float s, vec3 dest);

 CGLM_EXPORT
 void
-glmc_vec_flipsign(vec3 v);
+glmc_vec3_maxadd(const vec3 a, const vec3 b, vec3 dest);

 CGLM_EXPORT
 void
-glmc_vec_flipsign_to(vec3 v, vec3 dest);
+glmc_vec3_minadd(const vec3 a, const vec3 b, vec3 dest);

 CGLM_EXPORT
 void
-glmc_vec_inv(vec3 v);
+glmc_vec3_negate(vec3 v);

 CGLM_EXPORT
 void
-glmc_vec_inv_to(vec3 v, vec3 dest);
+glmc_vec3_negate_to(const vec3 v, vec3 dest);

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

 CGLM_EXPORT
 void
-glmc_vec_rotate(vec3 v, float angle, vec3 axis);
+glmc_vec3_rotate(vec3 v, float angle, const vec3 axis);

 CGLM_EXPORT
 void
-glmc_vec_rotate_m4(mat4 m, vec3 v, vec3 dest);
+glmc_vec3_rotate_m4(const mat4 m, const vec3 v, vec3 dest);

 CGLM_EXPORT
 void
-glmc_vec_rotate_m3(mat3 m, vec3 v, vec3 dest);
+glmc_vec3_rotate_m3(const mat3 m, const vec3 v, vec3 dest);

 CGLM_EXPORT
 void
-glmc_vec_proj(vec3 a, vec3 b, vec3 dest);
+glmc_vec3_proj(const vec3 a, const vec3 b, vec3 dest);

 CGLM_EXPORT
 void
-glmc_vec_center(vec3 v1, vec3 v2, vec3 dest);
+glmc_vec3_center(const vec3 a, const vec3 b, vec3 dest);

 CGLM_EXPORT
 float
-glmc_vec_distance2(vec3 v1, vec3 v2);
+glmc_vec3_distance2(const vec3 a, const vec3 b);

 CGLM_EXPORT
 float
-glmc_vec_distance(vec3 v1, vec3 v2);
+glmc_vec3_distance(const vec3 a, const vec3 b);

 CGLM_EXPORT
 void
-glmc_vec_maxv(vec3 v1, vec3 v2, vec3 dest);
+glmc_vec3_maxv(const vec3 a, const vec3 b, vec3 dest);

 CGLM_EXPORT
 void
-glmc_vec_minv(vec3 v1, vec3 v2, vec3 dest);
+glmc_vec3_minv(const vec3 a, const vec3 b, vec3 dest);

 CGLM_EXPORT
 void
-glmc_vec_clamp(vec3 v, float minVal, float maxVal);
+glmc_vec3_clamp(vec3 v, float minVal, float maxVal);

 CGLM_EXPORT
 void
-glmc_vec_ortho(vec3 v, vec3 dest);
+glmc_vec3_ortho(const vec3 v, vec3 dest);

 CGLM_EXPORT
 void
-glmc_vec_lerp(vec3 from, vec3 to, float t, vec3 dest);
+glmc_vec3_lerp(const vec3 from, const vec3 to, float t, vec3 dest);

 /* ext */

 CGLM_EXPORT
 void
-glmc_vec_mulv(vec3 a, vec3 b, vec3 d);
+glmc_vec3_mulv(const vec3 a, const 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(const vec3 v, float val);

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

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

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

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

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

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

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

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

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

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

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

 #ifdef __cplusplus
 }
--- a/include/cglm/call/vec4.h
+++ b/include/cglm/call/vec4.h
@@ -14,12 +14,16 @@ 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
-glmc_vec4(vec3 v3, float last, vec4 dest);
+glmc_vec4(const vec3 v3, float last, vec4 dest);

 CGLM_EXPORT
 void
@@ -31,31 +35,31 @@ glmc_vec4_one(vec4 v);

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

 CGLM_EXPORT
 void
-glmc_vec4_copy(vec4 v, vec4 dest);
+glmc_vec4_copy(const vec4 v, vec4 dest);

 CGLM_EXPORT
 void
-glmc_vec4_ucopy(vec4 v, vec4 dest);
+glmc_vec4_ucopy(const vec4 v, vec4 dest);

 CGLM_EXPORT
 float
-glmc_vec4_dot(vec4 a, vec4 b);
+glmc_vec4_dot(const vec4 a, const vec4 b);

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

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

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

 CGLM_EXPORT
 void
@@ -63,83 +67,83 @@ glmc_vec4_normalize(vec4 v);

 CGLM_EXPORT
 void
-glmc_vec4_add(vec4 a, vec4 b, vec4 dest);
+glmc_vec4_add(const vec4 a, const vec4 b, vec4 dest);

 CGLM_EXPORT
 void
-glmc_vec4_adds(vec4 v, float s, vec4 dest);
+glmc_vec4_adds(const vec4 v, float s, vec4 dest);

 CGLM_EXPORT
 void
-glmc_vec4_sub(vec4 a, vec4 b, vec4 dest);
+glmc_vec4_sub(const vec4 a, const vec4 b, vec4 dest);

 CGLM_EXPORT
 void
-glmc_vec4_subs(vec4 v, float s, vec4 dest);
+glmc_vec4_subs(const vec4 v, float s, vec4 dest);

 CGLM_EXPORT
 void
-glmc_vec4_mul(vec4 a, vec4 b, vec4 d);
+glmc_vec4_mul(const vec4 a, const vec4 b, vec4 d);

 CGLM_EXPORT
 void
-glmc_vec4_scale(vec4 v, float s, vec4 dest);
+glmc_vec4_scale(const vec4 v, float s, vec4 dest);

 CGLM_EXPORT
 void
-glmc_vec4_scale_as(vec3 v, float s, vec3 dest);
+glmc_vec4_scale_as(const vec3 v, float s, vec3 dest);

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

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

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

 CGLM_EXPORT
 void
-glmc_vec4_subadd(vec4 a, vec4 b, vec4 dest);
+glmc_vec4_subadd(const vec4 a, const vec4 b, vec4 dest);

 CGLM_EXPORT
 void
-glmc_vec4_muladd(vec4 a, vec4 b, vec4 dest);
+glmc_vec4_muladd(const vec4 a, const vec4 b, vec4 dest);

 CGLM_EXPORT
 void
-glmc_vec4_muladds(vec4 a, float s, vec4 dest);
+glmc_vec4_muladds(const vec4 a, float s, vec4 dest);

 CGLM_EXPORT
 void
-glmc_vec4_flipsign(vec4 v);
+glmc_vec4_maxadd(const vec4 a, const vec4 b, vec4 dest);

 CGLM_EXPORT
 void
-glmc_vec4_flipsign_to(vec4 v, vec4 dest);
+glmc_vec4_minadd(const vec4 a, const vec4 b, vec4 dest);

 CGLM_EXPORT
 void
-glmc_vec4_inv(vec4 v);
+glmc_vec4_negate(vec4 v);

 CGLM_EXPORT
 void
-glmc_vec4_inv_to(vec4 v, vec4 dest);
+glmc_vec4_negate_to(const vec4 v, vec4 dest);

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

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

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

 CGLM_EXPORT
 void
@@ -147,13 +151,17 @@ glmc_vec4_clamp(vec4 v, float minVal, float maxVal);

 CGLM_EXPORT
 void
-glmc_vec4_lerp(vec4 from, vec4 to, float t, vec4 dest);
+glmc_vec4_lerp(const vec4 from, const vec4 to, float t, vec4 dest);
+
+CGLM_EXPORT
+void
+glmc_vec4_cubic(float s, vec4 dest);

 /* ext */

 CGLM_EXPORT
 void
-glmc_vec4_mulv(vec4 a, vec4 b, vec4 d);
+glmc_vec4_mulv(const vec4 a, const vec4 b, vec4 d);

 CGLM_EXPORT
 void
@@ -161,51 +169,51 @@ glmc_vec4_broadcast(float val, vec4 d);

 CGLM_EXPORT
 bool
-glmc_vec4_eq(vec4 v, float val);
+glmc_vec4_eq(const vec4 v, float val);

 CGLM_EXPORT
 bool
-glmc_vec4_eq_eps(vec4 v, float val);
+glmc_vec4_eq_eps(const vec4 v, float val);

 CGLM_EXPORT
 bool
-glmc_vec4_eq_all(vec4 v);
+glmc_vec4_eq_all(const vec4 v);

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

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

 CGLM_EXPORT
 float
-glmc_vec4_max(vec4 v);
+glmc_vec4_max(const vec4 v);

 CGLM_EXPORT
 float
-glmc_vec4_min(vec4 v);
+glmc_vec4_min(const vec4 v);

 CGLM_EXPORT
 bool
-glmc_vec4_isnan(vec4 v);
+glmc_vec4_isnan(const vec4 v);

 CGLM_EXPORT
 bool
-glmc_vec4_isinf(vec4 v);
+glmc_vec4_isinf(const vec4 v);

 CGLM_EXPORT
 bool
-glmc_vec4_isvalid(vec4 v);
+glmc_vec4_isvalid(const vec4 v);

 CGLM_EXPORT
 void
-glmc_vec4_sign(vec4 v, vec4 dest);
+glmc_vec4_sign(const vec4 v, vec4 dest);

 CGLM_EXPORT
 void
-glmc_vec4_sqrt(vec4 v, vec4 dest);
+glmc_vec4_sqrt(const vec4 v, vec4 dest);

 #ifdef __cplusplus
 }
--- a/include/cglm/cam.h
+++ b/include/cglm/cam.h
@@ -84,7 +84,7 @@ glm_frustum(float left,
            mat4  dest) {
  float rl, tb, fn, nv;

-  glm__memzero(float, dest, sizeof(mat4));
+  glm_mat4_zero(dest);

  rl = 1.0f / (right  - left);
  tb = 1.0f / (top    - bottom);
@@ -122,7 +122,7 @@ glm_ortho(float left,
          mat4  dest) {
  float rl, tb, fn;

-  glm__memzero(float, dest, sizeof(mat4));
+  glm_mat4_zero(dest);

  rl = 1.0f / (right  - left);
  tb = 1.0f / (top    - bottom);
@@ -147,7 +147,7 @@ glm_ortho(float left,
 */
 CGLM_INLINE
 void
-glm_ortho_aabb(vec3 box[2], mat4 dest) {
+glm_ortho_aabb(const vec3 box[2], mat4 dest) {
  glm_ortho(box[0][0],  box[1][0],
            box[0][1],  box[1][1],
           -box[1][2], -box[0][2],
@@ -165,7 +165,7 @@ glm_ortho_aabb(vec3 box[2], mat4 dest) {
 */
 CGLM_INLINE
 void
-glm_ortho_aabb_p(vec3 box[2], float padding, mat4 dest) {
+glm_ortho_aabb_p(const vec3 box[2], float padding, mat4 dest) {
  glm_ortho(box[0][0] - padding,    box[1][0] + padding,
            box[0][1] - padding,    box[1][1] + padding,
          -(box[1][2] + padding), -(box[0][2] - padding),
@@ -183,7 +183,7 @@ glm_ortho_aabb_p(vec3 box[2], float padding, mat4 dest) {
 */
 CGLM_INLINE
 void
-glm_ortho_aabb_pz(vec3 box[2], float padding, mat4 dest) {
+glm_ortho_aabb_pz(const vec3 box[2], float padding, mat4 dest) {
  glm_ortho(box[0][0],              box[1][0],
            box[0][1],              box[1][1],
          -(box[1][2] + padding), -(box[0][2] - padding),
@@ -218,9 +218,7 @@ glm_ortho_default(float aspect, mat4 dest) {
 */
 CGLM_INLINE
 void
-glm_ortho_default_s(float aspect,
-                    float size,
-                    mat4  dest) {
+glm_ortho_default_s(float aspect, float size, mat4 dest) {
  if (aspect >= 1.0f) {
    glm_ortho(-size * aspect,
               size * aspect,
@@ -259,7 +257,7 @@ glm_perspective(float fovy,
                mat4  dest) {
  float f, fn;

-  glm__memzero(float, dest, sizeof(mat4));
+  glm_mat4_zero(dest);

  f  = 1.0f / tanf(fovy * 0.5f);
  fn = 1.0f / (nearVal - farVal);
@@ -271,6 +269,30 @@ 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
@@ -314,19 +336,17 @@ glm_perspective_resize(float aspect, mat4 proj) {
 */
 CGLM_INLINE
 void
-glm_lookat(vec3 eye,
-           vec3 center,
-           vec3 up,
-           mat4 dest) {
+glm_lookat(const vec3 eye,
+           const vec3 center,
+           const vec3 up,
+           mat4       dest) {
  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];
@@ -337,9 +357,9 @@ 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;
 }
@@ -360,9 +380,9 @@ glm_lookat(vec3 eye,
 */
 CGLM_INLINE
 void
-glm_look(vec3 eye, vec3 dir, vec3 up, mat4 dest) {
+glm_look(const vec3 eye, const vec3 dir, const vec3 up, mat4 dest) {
  CGLM_ALIGN(8) vec3 target;
-  glm_vec_add(eye, dir, target);
+  glm_vec3_add(eye, dir, target);
  glm_lookat(eye, target, up, dest);
 }

@@ -378,9 +398,9 @@ glm_look(vec3 eye, vec3 dir, vec3 up, mat4 dest) {
 */
 CGLM_INLINE
 void
-glm_look_anyup(vec3 eye, vec3 dir, mat4 dest) {
+glm_look_anyup(const vec3 eye, const vec3 dir, mat4 dest) {
  CGLM_ALIGN(8) vec3 up;
-  glm_vec_ortho(dir, up);
+  glm_vec3_ortho(dir, up);
  glm_look(eye, dir, up, dest);
 }

@@ -397,7 +417,7 @@ glm_look_anyup(vec3 eye, vec3 dir, mat4 dest) {
 */
 CGLM_INLINE
 void
-glm_persp_decomp(mat4 proj,
+glm_persp_decomp(const mat4 proj,
                 float * __restrict nearVal,
                 float * __restrict farVal,
                 float * __restrict top,
@@ -437,7 +457,7 @@ glm_persp_decomp(mat4 proj,
 */
 CGLM_INLINE
 void
-glm_persp_decompv(mat4 proj, float dest[6]) {
+glm_persp_decompv(const mat4 proj, float dest[6]) {
  glm_persp_decomp(proj, &dest[0], &dest[1], &dest[2],
                         &dest[3], &dest[4], &dest[5]);
 }
@@ -452,7 +472,7 @@ glm_persp_decompv(mat4 proj, float dest[6]) {
 */
 CGLM_INLINE
 void
-glm_persp_decomp_x(mat4 proj,
+glm_persp_decomp_x(const mat4 proj,
                   float * __restrict left,
                   float * __restrict right) {
  float nearVal, m20, m00;
@@ -475,7 +495,7 @@ glm_persp_decomp_x(mat4 proj,
 */
 CGLM_INLINE
 void
-glm_persp_decomp_y(mat4 proj,
+glm_persp_decomp_y(const mat4 proj,
                   float * __restrict top,
                   float * __restrict bottom) {
  float nearVal, m21, m11;
@@ -498,7 +518,7 @@ glm_persp_decomp_y(mat4 proj,
 */
 CGLM_INLINE
 void
-glm_persp_decomp_z(mat4 proj,
+glm_persp_decomp_z(const mat4 proj,
                   float * __restrict nearVal,
                   float * __restrict farVal) {
  float m32, m22;
@@ -518,7 +538,7 @@ glm_persp_decomp_z(mat4 proj,
 */
 CGLM_INLINE
 void
-glm_persp_decomp_far(mat4 proj, float * __restrict farVal) {
+glm_persp_decomp_far(const mat4 proj, float * __restrict farVal) {
  *farVal = proj[3][2] / (proj[2][2] + 1.0f);
 }

@@ -530,7 +550,7 @@ glm_persp_decomp_far(mat4 proj, float * __restrict farVal) {
 */
 CGLM_INLINE
 void
-glm_persp_decomp_near(mat4 proj, float * __restrict nearVal) {
+glm_persp_decomp_near(const mat4 proj, float * __restrict nearVal) {
  *nearVal = proj[3][2] / (proj[2][2] - 1.0f);
 }

@@ -544,7 +564,7 @@ glm_persp_decomp_near(mat4 proj, float * __restrict nearVal) {
 */
 CGLM_INLINE
 float
-glm_persp_fovy(mat4 proj) {
+glm_persp_fovy(const mat4 proj) {
  return 2.0f * atanf(1.0f / proj[1][1]);
 }

@@ -555,7 +575,7 @@ glm_persp_fovy(mat4 proj) {
 */
 CGLM_INLINE
 float
-glm_persp_aspect(mat4 proj) {
+glm_persp_aspect(const mat4 proj) {
  return proj[1][1] / proj[0][0];
 }

@@ -568,7 +588,7 @@ glm_persp_aspect(mat4 proj) {
 */
 CGLM_INLINE
 void
-glm_persp_sizes(mat4 proj, float fovy, vec4 dest) {
+glm_persp_sizes(const mat4 proj, float fovy, vec4 dest) {
  float t, a, nearVal, farVal;

  t = 2.0f * tanf(fovy * 0.5f);
--- a/include/cglm/cglm.h
+++ b/include/cglm/cglm.h
@@ -26,5 +26,7 @@
 #include "project.h"
 #include "sphere.h"
 #include "ease.h"
+#include "curve.h"
+#include "bezier.h"

 #endif /* cglm_h */
--- a/include/cglm/color.h
+++ b/include/cglm/color.h
@@ -18,7 +18,7 @@
 */
 CGLM_INLINE
 float
-glm_luminance(vec3 rgb) {
+glm_luminance(const vec3 rgb) {
  vec3 l = {0.212671f, 0.715160f, 0.072169f};
  return glm_dot(rgb, l);
 }
--- a/include/cglm/common.h
+++ b/include/cglm/common.h
@@ -11,8 +11,10 @@
 #define _USE_MATH_DEFINES /* for windows */

 #include <stdint.h>
+#include <stddef.h>
 #include <math.h>
 #include <float.h>
+#include <stdbool.h>

 #if defined(_MSC_VER)
 #  ifdef CGLM_DLL
@@ -26,34 +28,6 @@
 #  define CGLM_INLINE static inline __attribute((always_inline))
 #endif

-#define glm__memcpy(type, dest, src, size)                                    \
-  do {                                                                        \
-    type *srci;                                                               \
-    type *srci_end;                                                           \
-    type *desti;                                                              \
-                                                                              \
-    srci     = (type *)src;                                                   \
-    srci_end = (type *)((char *)srci + size);                                 \
-    desti    = (type *)dest;                                                  \
-                                                                              \
-    while (srci != srci_end)                                                  \
-      *desti++ = *srci++;                                                     \
-  } while (0)
-
-#define glm__memset(type, dest, size, val)                                    \
-  do {                                                                        \
-    type *desti;                                                              \
-    type *desti_end;                                                          \
-                                                                              \
-    desti     = (type *)dest;                                                 \
-    desti_end = (type *)((char *)desti + size);                               \
-                                                                              \
-    while (desti != desti_end)                                                \
-      *desti++ = val;                                                         \
-  } while (0)
-
-#define glm__memzero(type, dest, size) glm__memset(type, dest, size, 0)
-
 #include "types.h"
 #include "simd/intrin.h"

--- a/include/cglm/curve.h
+++ b/include/cglm/curve.h
@@ -0,0 +1,40 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), http://opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+#ifndef cglm_curve_h
+#define cglm_curve_h
+
+#include "common.h"
+#include "vec4.h"
+#include "mat4.h"
+
+/*!
+ * @brief helper function to calculate S*M*C multiplication for curves
+ *
+ * This function does not encourage you to use SMC,
+ * instead it is a helper if you use SMC.
+ *
+ * if you want to specify S as vector then use more generic glm_mat4_rmc() func.
+ *
+ * Example usage:
+ *  B(s) = glm_smc(s, GLM_BEZIER_MAT, (vec4){p0, c0, c1, p1})
+ *
+ * @param[in]  s  parameter between 0 and 1 (this will be [s3, s2, s, 1])
+ * @param[in]  m  basis matrix
+ * @param[in]  c  position/control vector
+ *
+ * @return B(s)
+ */
+CGLM_INLINE
+float
+glm_smc(float s, const mat4 m, const vec4 c) {
+  vec4 vs;
+  glm_vec4_cubic(s, vs);
+  return glm_mat4_rmc(vs, m, c);
+}
+
+#endif /* cglm_curve_h */
--- a/include/cglm/euler.h
+++ b/include/cglm/euler.h
@@ -57,7 +57,7 @@ typedef enum glm_euler_sq {

 CGLM_INLINE
 glm_euler_sq
-glm_euler_order(int ord[3]) {
+glm_euler_order(const int ord[3]) {
  return (glm_euler_sq)(ord[0] << 0 | ord[1] << 2 | ord[2] << 4);
 }

@@ -69,7 +69,7 @@ glm_euler_order(int ord[3]) {
 */
 CGLM_INLINE
 void
-glm_euler_angles(mat4 m, vec3 dest) {
+glm_euler_angles(const mat4 m, vec3 dest) {
  float m00, m01, m10, m11, m20, m21, m22;
  float thetaX, thetaY, thetaZ;

@@ -107,7 +107,7 @@ glm_euler_angles(mat4 m, vec3 dest) {
 */
 CGLM_INLINE
 void
-glm_euler_xyz(vec3 angles, mat4 dest) {
+glm_euler_xyz(const vec3 angles, mat4 dest) {
  float cx, cy, cz,
        sx, sy, sz, czsx, cxcz, sysz;

@@ -145,7 +145,7 @@ glm_euler_xyz(vec3 angles, mat4 dest) {
 */
 CGLM_INLINE
 void
-glm_euler(vec3 angles, mat4 dest) {
+glm_euler(const vec3 angles, mat4 dest) {
  glm_euler_xyz(angles, dest);
 }

@@ -157,7 +157,7 @@ glm_euler(vec3 angles, mat4 dest) {
 */
 CGLM_INLINE
 void
-glm_euler_xzy(vec3 angles, mat4 dest) {
+glm_euler_xzy(const vec3 angles, mat4 dest) {
  float cx, cy, cz,
  sx, sy, sz, sxsy, cysx, cxsy, cxcy;

@@ -197,7 +197,7 @@ glm_euler_xzy(vec3 angles, mat4 dest) {
 */
 CGLM_INLINE
 void
-glm_euler_yxz(vec3 angles, mat4 dest) {
+glm_euler_yxz(const vec3 angles, mat4 dest) {
  float cx, cy, cz,
        sx, sy, sz, cycz, sysz, czsy, cysz;

@@ -236,7 +236,7 @@ glm_euler_yxz(vec3 angles, mat4 dest) {
 */
 CGLM_INLINE
 void
-glm_euler_yzx(vec3 angles, mat4 dest) {
+glm_euler_yzx(const vec3 angles, mat4 dest) {
  float cx, cy, cz,
        sx, sy, sz, sxsy, cxcy, cysx, cxsy;

@@ -275,7 +275,7 @@ glm_euler_yzx(vec3 angles, mat4 dest) {
 */
 CGLM_INLINE
 void
-glm_euler_zxy(vec3 angles, mat4 dest) {
+glm_euler_zxy(const vec3 angles, mat4 dest) {
  float cx, cy, cz,
        sx, sy, sz, cycz, sxsy, cysz;

@@ -313,7 +313,7 @@ glm_euler_zxy(vec3 angles, mat4 dest) {
 */
 CGLM_INLINE
 void
-glm_euler_zyx(vec3 angles, mat4 dest) {
+glm_euler_zyx(const vec3 angles, mat4 dest) {
  float cx, cy, cz,
        sx, sy, sz, czsx, cxcz, sysz;

@@ -352,7 +352,7 @@ glm_euler_zyx(vec3 angles, mat4 dest) {
 */
 CGLM_INLINE
 void
-glm_euler_by_order(vec3 angles, glm_euler_sq ord, mat4 dest) {
+glm_euler_by_order(const vec3 angles, glm_euler_sq ord, mat4 dest) {
  float cx, cy, cz,
        sx, sy, sz;

--- a/include/cglm/frustum.h
+++ b/include/cglm/frustum.h
@@ -69,7 +69,7 @@
 */
 CGLM_INLINE
 void
-glm_frustum_planes(mat4 m, vec4 dest[6]) {
+glm_frustum_planes(const mat4 m, vec4 dest[6]) {
  mat4 t;

  glm_mat4_transpose_to(m, t);
@@ -106,7 +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)
@@ -114,7 +114,7 @@ glm_frustum_planes(mat4 m, vec4 dest[6]) {
 */
 CGLM_INLINE
 void
-glm_frustum_corners(mat4 invMat, vec4 dest[8]) {
+glm_frustum_corners(const mat4 invMat, vec4 dest[8]) {
  vec4 c[8];

  /* indexOf(nearCoord) = indexOf(farCoord) + 4 */
@@ -157,7 +157,7 @@ glm_frustum_corners(mat4 invMat, vec4 dest[8]) {
 */
 CGLM_INLINE
 void
-glm_frustum_center(vec4 corners[8], vec4 dest) {
+glm_frustum_center(const vec4 corners[8], vec4 dest) {
  vec4 center;

  glm_vec4_copy(corners[0], center);
@@ -182,13 +182,13 @@ glm_frustum_center(vec4 corners[8], vec4 dest) {
 */
 CGLM_INLINE
 void
-glm_frustum_box(vec4 corners[8], mat4 m, vec3 box[2]) {
+glm_frustum_box(const vec4 corners[8], const mat4 m, vec3 box[2]) {
  vec4 v;
  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);
@@ -202,8 +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]);
 }

 /*!
@@ -220,15 +220,15 @@ glm_frustum_box(vec4 corners[8], mat4 m, vec3 box[2]) {
 */
 CGLM_INLINE
 void
-glm_frustum_corners_at(vec4  corners[8],
-                       float splitDist,
-                       float farDist,
-                       vec4  planeCorners[4]) {
+glm_frustum_corners_at(const vec4 corners[8],
+                       float      splitDist,
+                       float      farDist,
+                       vec4       planeCorners[4]) {
  vec4  corner;
  float dist, sc;

  /* because distance and scale is same for all */
-  dist = glm_vec_distance(corners[GLM_RTF], corners[GLM_RTN]);
+  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
@@ -25,8 +25,8 @@

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

@@ -55,8 +55,8 @@ glm_mat4_print(mat4              matrix,

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

@@ -85,8 +85,8 @@ glm_mat3_print(mat3              matrix,

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

 #define m 4
@@ -107,8 +107,8 @@ glm_vec4_print(vec4              vec,

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

 #define m 3
@@ -129,8 +129,8 @@ glm_vec3_print(vec3              vec,

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

 #define m 3
@@ -151,8 +151,8 @@ glm_ivec3_print(ivec3             vec,

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

 #define m 4
@@ -173,9 +173,9 @@ glm_versor_print(versor            vec,

 CGLM_INLINE
 void
-glm_aabb_print(vec3                    bbox[2],
+glm_aabb_print(const vec3              bbox[2],
               const char * __restrict tag,
-               FILE       * __restrict ostream) {
+               FILE * const __restrict ostream) {
  int i, j;

 #define m 3
--- a/include/cglm/mat3.h
+++ b/include/cglm/mat3.h
@@ -17,15 +17,19 @@
   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_zero(mat3 mat);
   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_quat(mat3 m, versor dest);
   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);
   CGLM_INLINE void  glm_mat3_swap_col(mat3 mat, int col1, int col2);
   CGLM_INLINE void  glm_mat3_swap_row(mat3 mat, int row1, int row2);
+   CGLM_INLINE float glm_mat3_rmc(vec3 r, mat3 m, vec3 c);
 */

 #ifndef cglm_mat3_h
@@ -61,8 +65,18 @@
 */
 CGLM_INLINE
 void
-glm_mat3_copy(mat3 mat, mat3 dest) {
-  glm__memcpy(float, dest, mat, sizeof(mat3));
+glm_mat3_copy(const mat3 mat, mat3 dest) {
+  dest[0][0] = mat[0][0];
+  dest[0][1] = mat[0][1];
+  dest[0][2] = mat[0][2];
+
+  dest[1][0] = mat[1][0];
+  dest[1][1] = mat[1][1];
+  dest[1][2] = mat[1][2];
+
+  dest[2][0] = mat[2][0];
+  dest[2][1] = mat[2][1];
+  dest[2][2] = mat[2][2];
 }

 /*!
@@ -96,7 +110,7 @@ glm_mat3_identity(mat3 mat) {
 */
 CGLM_INLINE
 void
-glm_mat3_identity_array(mat3 * __restrict mat, size_t count) {
+glm_mat3_identity_array(mat3 * const __restrict mat, size_t count) {
  CGLM_ALIGN_MAT mat3 t = GLM_MAT3_IDENTITY_INIT;
  size_t i;

@@ -105,6 +119,18 @@ glm_mat3_identity_array(mat3 * __restrict mat, size_t count) {
  }
 }

+/*!
+ * @brief make given matrix zero.
+ *
+ * @param[in, out]  mat  matrix
+ */
+CGLM_INLINE
+void
+glm_mat3_zero(mat3 mat) {
+  CGLM_ALIGN_MAT mat3 t = GLM_MAT3_ZERO_INIT;
+  glm_mat3_copy(t, mat);
+}
+
 /*!
 * @brief multiply m1 and m2 to dest
 *
@@ -121,7 +147,7 @@ glm_mat3_identity_array(mat3 * __restrict mat, size_t count) {
 */
 CGLM_INLINE
 void
-glm_mat3_mul(mat3 m1, mat3 m2, mat3 dest) {
+glm_mat3_mul(const mat3 m1, const mat3 m2, mat3 dest) {
 #if defined( __SSE__ ) || defined( __SSE2__ )
  glm_mat3_mul_sse2(m1, m2, dest);
 #else
@@ -155,7 +181,7 @@ glm_mat3_mul(mat3 m1, mat3 m2, mat3 dest) {
 */
 CGLM_INLINE
 void
-glm_mat3_transpose_to(mat3 m, mat3 dest) {
+glm_mat3_transpose_to(const mat3 m, mat3 dest) {
  dest[0][0] = m[0][0];
  dest[0][1] = m[1][0];
  dest[0][2] = m[2][0];
@@ -201,12 +227,24 @@ glm_mat3_transpose(mat3 m) {
 */
 CGLM_INLINE
 void
-glm_mat3_mulv(mat3 m, vec3 v, vec3 dest) {
+glm_mat3_mulv(const mat3 m, const vec3 v, vec3 dest) {
  dest[0] = m[0][0] * v[0] + m[1][0] * v[1] + m[2][0] * v[2];
  dest[1] = m[0][1] * v[0] + m[1][1] * v[1] + m[2][1] * v[2];
  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(const mat3 m) {
+  return m[0][0] + m[1][1] + m[2][2];
+}

 /*!
 * @brief convert mat3 to quaternion
@@ -216,7 +254,7 @@ glm_mat3_mulv(mat3 m, vec3 v, vec3 dest) {
 */
 CGLM_INLINE
 void
-glm_mat3_quat(mat3 m, versor dest) {
+glm_mat3_quat(const mat3 m, versor dest) {
  float trace, r, rinv;

  /* it seems using like m12 instead of m[1][2] causes extra instructions */
@@ -282,7 +320,7 @@ glm_mat3_scale(mat3 m, float s) {
 */
 CGLM_INLINE
 float
-glm_mat3_det(mat3 mat) {
+glm_mat3_det(const mat3 mat) {
  float a = mat[0][0], b = mat[0][1], c = mat[0][2],
        d = mat[1][0], e = mat[1][1], f = mat[1][2],
        g = mat[2][0], h = mat[2][1], i = mat[2][2];
@@ -298,7 +336,7 @@ glm_mat3_det(mat3 mat) {
 */
 CGLM_INLINE
 void
-glm_mat3_inv(mat3 mat, mat3 dest) {
+glm_mat3_inv(const mat3 mat, mat3 dest) {
  float det;
  float a = mat[0][0], b = mat[0][1], c = mat[0][2],
        d = mat[1][0], e = mat[1][1], f = mat[1][2],
@@ -330,9 +368,9 @@ 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]);
 }

 /*!
@@ -359,4 +397,26 @@ glm_mat3_swap_row(mat3 mat, int row1, int row2) {
  mat[2][row2] = tmp[2];
 }

+/*!
+ * @brief helper for  R (row vector) * M (matrix) * C (column vector)
+ *
+ * rmc stands for Row * Matrix * Column
+ *
+ * the result is scalar because R * M = Matrix1x3 (row vector),
+ * then Matrix1x3 * Vec3 (column vector) = Matrix1x1 (Scalar)
+ *
+ * @param[in]  r   row vector or matrix1x3
+ * @param[in]  m   matrix3x3
+ * @param[in]  c   column vector or matrix3x1
+ *
+ * @return scalar value e.g. Matrix1x1
+ */
+CGLM_INLINE
+float
+glm_mat3_rmc(const vec3 r, const mat3 m, const vec3 c) {
+  vec3 tmp;
+  glm_mat3_mulv(m, c, tmp);
+  return glm_vec3_dot(r, tmp);
+}
+
 #endif /* cglm_mat3_h */
--- a/include/cglm/mat4.h
+++ b/include/cglm/mat4.h
@@ -16,14 +16,13 @@
   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_zero(mat4 mat);
   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);
@@ -31,6 +30,9 @@
   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_quat(mat4 m, versor dest) ;
   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);
@@ -40,6 +42,7 @@
   CGLM_INLINE void  glm_mat4_inv_fast(mat4 mat, mat4 dest);
   CGLM_INLINE void  glm_mat4_swap_col(mat4 mat, int col1, int col2);
   CGLM_INLINE void  glm_mat4_swap_row(mat4 mat, int row1, int row2);
+   CGLM_INLINE float glm_mat4_rmc(vec4 r, mat4 m, vec4 c);
 */

 #ifndef cglm_mat_h
@@ -97,8 +100,16 @@
 */
 CGLM_INLINE
 void
-glm_mat4_ucopy(mat4 mat, mat4 dest) {
-  glm__memcpy(float, dest, mat, sizeof(mat4));
+glm_mat4_ucopy(const mat4 mat, mat4 dest) {
+  dest[0][0] = mat[0][0];  dest[1][0] = mat[1][0];
+  dest[0][1] = mat[0][1];  dest[1][1] = mat[1][1];
+  dest[0][2] = mat[0][2];  dest[1][2] = mat[1][2];
+  dest[0][3] = mat[0][3];  dest[1][3] = mat[1][3];
+
+  dest[2][0] = mat[2][0];  dest[3][0] = mat[3][0];
+  dest[2][1] = mat[2][1];  dest[3][1] = mat[3][1];
+  dest[2][2] = mat[2][2];  dest[3][2] = mat[3][2];
+  dest[2][3] = mat[2][3];  dest[3][3] = mat[3][3];
 }

 /*!
@@ -109,7 +120,7 @@ glm_mat4_ucopy(mat4 mat, mat4 dest) {
 */
 CGLM_INLINE
 void
-glm_mat4_copy(mat4 mat, mat4 dest) {
+glm_mat4_copy(const mat4 mat, mat4 dest) {
 #ifdef __AVX__
  glmm_store256(dest[0], glmm_load256(mat[0]));
  glmm_store256(dest[2], glmm_load256(mat[2]));
@@ -118,6 +129,11 @@ glm_mat4_copy(mat4 mat, mat4 dest) {
  glmm_store(dest[1], glmm_load(mat[1]));
  glmm_store(dest[2], glmm_load(mat[2]));
  glmm_store(dest[3], glmm_load(mat[3]));
+#elif defined(CGLM_NEON_FP)
+  vst1q_f32(dest[0], vld1q_f32(mat[0]));
+  vst1q_f32(dest[1], vld1q_f32(mat[1]));
+  vst1q_f32(dest[2], vld1q_f32(mat[2]));
+  vst1q_f32(dest[3], vld1q_f32(mat[3]));
 #else
  glm_mat4_ucopy(mat, dest);
 #endif
@@ -154,7 +170,7 @@ glm_mat4_identity(mat4 mat) {
 */
 CGLM_INLINE
 void
-glm_mat4_identity_array(mat4 * __restrict mat, size_t count) {
+glm_mat4_identity_array(mat4 * const __restrict mat, size_t count) {
  CGLM_ALIGN_MAT mat4 t = GLM_MAT4_IDENTITY_INIT;
  size_t i;

@@ -163,6 +179,18 @@ glm_mat4_identity_array(mat4 * __restrict mat, size_t count) {
  }
 }

+/*!
+ * @brief make given matrix zero.
+ *
+ * @param[in, out]  mat  matrix
+ */
+CGLM_INLINE
+void
+glm_mat4_zero(mat4 mat) {
+  CGLM_ALIGN_MAT mat4 t = GLM_MAT4_ZERO_INIT;
+  glm_mat4_copy(t, mat);
+}
+
 /*!
 * @brief copy upper-left of mat4 to mat3
 *
@@ -171,7 +199,7 @@ glm_mat4_identity_array(mat4 * __restrict mat, size_t count) {
 */
 CGLM_INLINE
 void
-glm_mat4_pick3(mat4 mat, mat3 dest) {
+glm_mat4_pick3(const mat4 mat, mat3 dest) {
  dest[0][0] = mat[0][0];
  dest[0][1] = mat[0][1];
  dest[0][2] = mat[0][2];
@@ -195,7 +223,7 @@ glm_mat4_pick3(mat4 mat, mat3 dest) {
 */
 CGLM_INLINE
 void
-glm_mat4_pick3t(mat4 mat, mat3 dest) {
+glm_mat4_pick3t(const mat4 mat, mat3 dest) {
  dest[0][0] = mat[0][0];
  dest[0][1] = mat[1][0];
  dest[0][2] = mat[2][0];
@@ -217,7 +245,7 @@ glm_mat4_pick3t(mat4 mat, mat3 dest) {
 */
 CGLM_INLINE
 void
-glm_mat4_ins3(mat3 mat, mat4 dest) {
+glm_mat4_ins3(const mat3 mat, mat4 dest) {
  dest[0][0] = mat[0][0];
  dest[0][1] = mat[0][1];
  dest[0][2] = mat[0][2];
@@ -247,12 +275,12 @@ glm_mat4_ins3(mat3 mat, mat4 dest) {
 */
 CGLM_INLINE
 void
-glm_mat4_mul(mat4 m1, mat4 m2, mat4 dest) {
+glm_mat4_mul(const mat4 m1, const mat4 m2, mat4 dest) {
 #ifdef __AVX__
  glm_mat4_mul_avx(m1, m2, dest);
 #elif defined( __SSE__ ) || defined( __SSE2__ )
  glm_mat4_mul_sse2(m1, m2, dest);
-#elif defined( __ARM_NEON_FP )
+#elif defined(CGLM_NEON_FP)
  glm_mat4_mul_neon(m1, m2, dest);
 #else
  float a00 = m1[0][0], a01 = m1[0][1], a02 = m1[0][2], a03 = m1[0][3],
@@ -305,7 +333,7 @@ glm_mat4_mul(mat4 m1, mat4 m2, mat4 dest) {
 */
 CGLM_INLINE
 void
-glm_mat4_mulN(mat4 * __restrict matrices[], uint32_t len, mat4 dest) {
+glm_mat4_mulN(mat4 * const __restrict matrices[], uint32_t len, mat4 dest) {
  uint32_t i;

 #ifdef DEBUG
@@ -327,7 +355,7 @@ glm_mat4_mulN(mat4 * __restrict matrices[], uint32_t len, mat4 dest) {
 */
 CGLM_INLINE
 void
-glm_mat4_mulv(mat4 m, vec4 v, vec4 dest) {
+glm_mat4_mulv(const mat4 m, const vec4 v, vec4 dest) {
 #if defined( __SSE__ ) || defined( __SSE2__ )
  glm_mat4_mulv_sse2(m, v, dest);
 #else
@@ -340,6 +368,32 @@ 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(const 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(const mat4 m) {
+  return m[0][0] + m[1][1] + m[2][2];
+}
+
 /*!
 * @brief convert mat4's rotation part to quaternion
 *
@@ -348,7 +402,7 @@ glm_mat4_mulv(mat4 m, vec4 v, vec4 dest) {
 */
 CGLM_INLINE
 void
-glm_mat4_quat(mat4 m, versor dest) {
+glm_mat4_quat(const mat4 m, versor dest) {
  float trace, r, rinv;

  /* it seems using like m12 instead of m[1][2] causes extra instructions */
@@ -399,7 +453,7 @@ glm_mat4_quat(mat4 m, versor dest) {
 */
 CGLM_INLINE
 void
-glm_mat4_mulv3(mat4 m, vec3 v, float last, vec3 dest) {
+glm_mat4_mulv3(const mat4 m, const vec3 v, float last, vec3 dest) {
  vec4 res;
  glm_vec4(v, last, res);
  glm_mat4_mulv(m, res, res);
@@ -416,7 +470,7 @@ glm_mat4_mulv3(mat4 m, vec3 v, float last, vec3 dest) {
 */
 CGLM_INLINE
 void
-glm_mat4_transpose_to(mat4 m, mat4 dest) {
+glm_mat4_transpose_to(const mat4 m, mat4 dest) {
 #if defined( __SSE__ ) || defined( __SSE2__ )
  glm_mat4_transp_sse2(m, dest);
 #else
@@ -443,10 +497,8 @@ glm_mat4_transpose(mat4 m) {
  glm_mat4_transp_sse2(m, m);
 #else
  mat4 d;
-
  glm_mat4_transpose_to(m, d);
-
-  glm__memcpy(float, m, d, sizeof(mat4));
+  glm_mat4_ucopy(d, m);
 #endif
 }

@@ -480,6 +532,13 @@ void
 glm_mat4_scale(mat4 m, float s) {
 #if defined( __SSE__ ) || defined( __SSE2__ )
  glm_mat4_scale_sse2(m, s);
+#elif defined(CGLM_NEON_FP)
+  float32x4_t v0;
+  v0 = vdupq_n_f32(s);
+  vst1q_f32(m[0], vmulq_f32(vld1q_f32(m[0]), v0));
+  vst1q_f32(m[1], vmulq_f32(vld1q_f32(m[1]), v0));
+  vst1q_f32(m[2], vmulq_f32(vld1q_f32(m[2]), v0));
+  vst1q_f32(m[3], vmulq_f32(vld1q_f32(m[3]), v0));
 #else
  glm_mat4_scale_p(m, s);
 #endif
@@ -494,7 +553,7 @@ glm_mat4_scale(mat4 m, float s) {
 */
 CGLM_INLINE
 float
-glm_mat4_det(mat4 mat) {
+glm_mat4_det(const mat4 mat) {
 #if defined( __SSE__ ) || defined( __SSE2__ )
  return glm_mat4_det_sse2(mat);
 #else
@@ -527,7 +586,7 @@ glm_mat4_det(mat4 mat) {
 */
 CGLM_INLINE
 void
-glm_mat4_inv(mat4 mat, mat4 dest) {
+glm_mat4_inv(const mat4 mat, mat4 dest) {
 #if defined( __SSE__ ) || defined( __SSE2__ )
  glm_mat4_inv_sse2(mat, dest);
 #else
@@ -588,7 +647,7 @@ glm_mat4_inv(mat4 mat, mat4 dest) {
 */
 CGLM_INLINE
 void
-glm_mat4_inv_fast(mat4 mat, mat4 dest) {
+glm_mat4_inv_fast(const mat4 mat, mat4 dest) {
 #if defined( __SSE__ ) || defined( __SSE2__ )
  glm_mat4_inv_fast_sse2(mat, dest);
 #else
@@ -621,7 +680,7 @@ glm_mat4_swap_col(mat4 mat, int col1, int col2) {
 */
 CGLM_INLINE
 void
-glm_mat4_swap_row(mat4 mat, int row1, int row2) {
+glm_mat4_swap_row(mat4 mat, const int row1, const int row2) {
  CGLM_ALIGN(16) vec4 tmp;
  tmp[0] = mat[0][row1];
  tmp[1] = mat[1][row1];
@@ -639,4 +698,26 @@ glm_mat4_swap_row(mat4 mat, int row1, int row2) {
  mat[3][row2] = tmp[3];
 }

+/*!
+ * @brief helper for  R (row vector) * M (matrix) * C (column vector)
+ *
+ * rmc stands for Row * Matrix * Column
+ *
+ * the result is scalar because R * M = Matrix1x4 (row vector),
+ * then Matrix1x4 * Vec4 (column vector) = Matrix1x1 (Scalar)
+ *
+ * @param[in]  r   row vector or matrix1x4
+ * @param[in]  m   matrix4x4
+ * @param[in]  c   column vector or matrix4x1
+ *
+ * @return scalar value e.g. B(s)
+ */
+CGLM_INLINE
+float
+glm_mat4_rmc(const vec4 r, const mat4 m, const vec4 c) {
+  vec4 tmp;
+  glm_mat4_mulv(m, c, tmp);
+  return glm_vec4_dot(r, tmp);
+}
+
 #endif /* cglm_mat_h */
--- a/include/cglm/plane.h
+++ b/include/cglm/plane.h
@@ -30,7 +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
@@ -8,6 +8,7 @@
 #ifndef cglm_project_h
 #define cglm_project_h

+#include "common.h"
 #include "vec3.h"
 #include "vec4.h"
 #include "mat4.h"
@@ -40,7 +41,7 @@
 */
 CGLM_INLINE
 void
-glm_unprojecti(vec3 pos, mat4 invMat, vec4 vp, vec3 dest) {
+glm_unprojecti(const vec3 pos, const mat4 invMat, const vec4 vp, vec3 dest) {
  vec4 v;

  v[0] = 2.0f * (pos[0] - vp[0]) / vp[2] - 1.0f;
@@ -79,7 +80,7 @@ glm_unprojecti(vec3 pos, mat4 invMat, vec4 vp, vec3 dest) {
 */
 CGLM_INLINE
 void
-glm_unproject(vec3 pos, mat4 m, vec4 vp, vec3 dest) {
+glm_unproject(const vec3 pos, const mat4 m, const vec4 vp, vec3 dest) {
  mat4 inv;
  glm_mat4_inv(m, inv);
  glm_unprojecti(pos, inv, vp, dest);
@@ -99,7 +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) {
+glm_project(const vec3 pos, const mat4 m, const vec4 vp, vec3 dest) {
  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);
@@ -68,15 +68,15 @@ glm_mat4_identity(mat4 mat);

 CGLM_INLINE
 void
-glm_mat4_mulv(mat4 m, vec4 v, vec4 dest);
+glm_mat4_mulv(const mat4 m, const vec4 v, vec4 dest);

 CGLM_INLINE
 void
-glm_mul_rot(mat4 m1, mat4 m2, mat4 dest);
+glm_mul_rot(const mat4 m1, const mat4 m2, mat4 dest);

 CGLM_INLINE
 void
-glm_translate(mat4 m, vec3 v);
+glm_translate(mat4 m, const vec3 v);

 /*
 * IMPORTANT:
@@ -113,7 +113,7 @@ glm_quat_identity(versor q) {
 */
 CGLM_INLINE
 void
-glm_quat_identity_array(versor * __restrict q, size_t count) {
+glm_quat_identity_array(versor * const __restrict q, size_t count) {
  CGLM_ALIGN(16) versor v = GLM_QUAT_IDENTITY_INIT;
  size_t i;

@@ -149,7 +149,7 @@ glm_quat_init(versor q, float x, float y, float z, float w) {
 */
 CGLM_INLINE
 void
-glm_quatv(versor q, float angle, vec3 axis) {
+glm_quatv(versor q, float angle, const vec3 axis) {
  CGLM_ALIGN(8) vec3 k;
  float a, c, s;

@@ -189,7 +189,7 @@ glm_quat(versor q, float angle, float x, float y, float z) {
 */
 CGLM_INLINE
 void
-glm_quat_copy(versor q, versor dest) {
+glm_quat_copy(const versor q, versor dest) {
  glm_vec4_copy(q, dest);
 }

@@ -200,7 +200,7 @@ glm_quat_copy(versor q, versor dest) {
 */
 CGLM_INLINE
 float
-glm_quat_norm(versor q) {
+glm_quat_norm(const versor q) {
  return glm_vec4_norm(q);
 }

@@ -212,13 +212,13 @@ glm_quat_norm(versor q) {
 */
 CGLM_INLINE
 void
-glm_quat_normalize_to(versor q, versor dest) {
+glm_quat_normalize_to(const versor q, versor dest) {
 #if defined( __SSE2__ ) || defined( __SSE2__ )
  __m128 xdot, x0;
  float  dot;

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

  if (dot <= 0.0f) {
@@ -260,7 +260,7 @@ glm_quat_normalize(versor q) {
 */
 CGLM_INLINE
 float
-glm_quat_dot(versor p, versor q) {
+glm_quat_dot(const versor p, const versor q) {
  return glm_vec4_dot(p, q);
 }

@@ -272,8 +272,8 @@ glm_quat_dot(versor p, versor q) {
 */
 CGLM_INLINE
 void
-glm_quat_conjugate(versor q, versor dest) {
-  glm_vec4_flipsign_to(q, dest);
+glm_quat_conjugate(const versor q, versor dest) {
+  glm_vec4_negate_to(q, dest);
  dest[3] = -dest[3];
 }

@@ -285,8 +285,8 @@ glm_quat_conjugate(versor q, versor dest) {
 */
 CGLM_INLINE
 void
-glm_quat_inv(versor q, versor dest) {
-  CGLM_ALIGN(8) versor conj;
+glm_quat_inv(const versor q, versor dest) {
+  CGLM_ALIGN(16) versor conj;
  glm_quat_conjugate(q, conj);
  glm_vec4_scale(conj, 1.0f / glm_vec4_norm2(q), dest);
 }
@@ -300,7 +300,7 @@ glm_quat_inv(versor q, versor dest) {
 */
 CGLM_INLINE
 void
-glm_quat_add(versor p, versor q, versor dest) {
+glm_quat_add(const versor p, const versor q, versor dest) {
  glm_vec4_add(p, q, dest);
 }

@@ -313,7 +313,7 @@ glm_quat_add(versor p, versor q, versor dest) {
 */
 CGLM_INLINE
 void
-glm_quat_sub(versor p, versor q, versor dest) {
+glm_quat_sub(const versor p, const versor q, versor dest) {
  glm_vec4_sub(p, q, dest);
 }

@@ -324,7 +324,7 @@ glm_quat_sub(versor p, versor q, versor dest) {
 */
 CGLM_INLINE
 float
-glm_quat_real(versor q) {
+glm_quat_real(const versor q) {
  return q[3];
 }

@@ -336,7 +336,7 @@ glm_quat_real(versor q) {
 */
 CGLM_INLINE
 void
-glm_quat_imag(versor q, vec3 dest) {
+glm_quat_imag(const versor q, vec3 dest) {
  dest[0] = q[0];
  dest[1] = q[1];
  dest[2] = q[2];
@@ -349,7 +349,7 @@ glm_quat_imag(versor q, vec3 dest) {
 */
 CGLM_INLINE
 void
-glm_quat_imagn(versor q, vec3 dest) {
+glm_quat_imagn(const versor q, vec3 dest) {
  glm_normalize_to(q, dest);
 }

@@ -360,8 +360,8 @@ glm_quat_imagn(versor q, vec3 dest) {
 */
 CGLM_INLINE
 float
-glm_quat_imaglen(versor q) {
-  return glm_vec_norm(q);
+glm_quat_imaglen(const versor q) {
+  return glm_vec3_norm(q);
 }

 /*!
@@ -371,7 +371,7 @@ glm_quat_imaglen(versor q) {
 */
 CGLM_INLINE
 float
-glm_quat_angle(versor q) {
+glm_quat_angle(const versor q) {
  /*
   sin(theta / 2) = length(x*x + y*y + z*z)
   cos(theta / 2) = w
@@ -388,7 +388,7 @@ glm_quat_angle(versor q) {
 */
 CGLM_INLINE
 void
-glm_quat_axis(versor q, versor dest) {
+glm_quat_axis(const versor q, versor dest) {
  glm_quat_imagn(q, dest);
 }

@@ -406,7 +406,7 @@ glm_quat_axis(versor q, versor dest) {
 */
 CGLM_INLINE
 void
-glm_quat_mul(versor p, versor q, versor dest) {
+glm_quat_mul(const versor p, const versor q, versor dest) {
  /*
    + (a1 b2 + b1 a2 + c1 d2 − d1 c2)i
    + (a1 c2 − b1 d2 + c1 a2 + d1 b2)j
@@ -431,7 +431,7 @@ glm_quat_mul(versor p, versor q, versor dest) {
 */
 CGLM_INLINE
 void
-glm_quat_mat4(versor q, mat4 dest) {
+glm_quat_mat4(const versor q, mat4 dest) {
  float w, x, y, z,
        xx, yy, zz,
        xy, yz, xz,
@@ -478,7 +478,7 @@ glm_quat_mat4(versor q, mat4 dest) {
 */
 CGLM_INLINE
 void
-glm_quat_mat4t(versor q, mat4 dest) {
+glm_quat_mat4t(const versor q, mat4 dest) {
  float w, x, y, z,
        xx, yy, zz,
        xy, yz, xz,
@@ -525,7 +525,7 @@ glm_quat_mat4t(versor q, mat4 dest) {
 */
 CGLM_INLINE
 void
-glm_quat_mat3(versor q, mat3 dest) {
+glm_quat_mat3(const versor q, mat3 dest) {
  float w, x, y, z,
        xx, yy, zz,
        xy, yz, xz,
@@ -564,7 +564,7 @@ glm_quat_mat3(versor q, mat3 dest) {
 */
 CGLM_INLINE
 void
-glm_quat_mat3t(versor q, mat3 dest) {
+glm_quat_mat3t(const versor q, mat3 dest) {
  float w, x, y, z,
        xx, yy, zz,
        xy, yz, xz,
@@ -606,7 +606,7 @@ glm_quat_mat3t(versor q, mat3 dest) {
 */
 CGLM_INLINE
 void
-glm_quat_lerp(versor from, versor to, float t, versor dest) {
+glm_quat_lerp(const versor from, const versor to, float t, versor dest) {
  glm_vec4_lerp(from, to, t, dest);
 }

@@ -621,7 +621,7 @@ 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) {
+glm_quat_slerp(const versor from, const versor to, float t, versor dest) {
  CGLM_ALIGN(16) vec4 q1, q2;
  float cosTheta, sinTheta, angle;

@@ -634,7 +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;
  }

@@ -664,13 +664,13 @@ glm_quat_slerp(versor from, versor to, float t, versor dest) {
 */
 CGLM_INLINE
 void
-glm_quat_look(vec3 eye, versor ori, mat4 dest) {
+glm_quat_look(const vec3 eye, const versor ori, mat4 dest) {
  /* orientation */
  glm_quat_mat4t(ori, dest);

  /* translate */
  glm_mat4_mulv3(dest, eye, 1.0f, dest[3]);
-  glm_vec_flipsign(dest[3]);
+  glm_vec3_negate(dest[3]);
 }

 /*!
@@ -683,11 +683,11 @@ glm_quat_look(vec3 eye, versor ori, mat4 dest) {
 */
 CGLM_INLINE
 void
-glm_quat_for(vec3 dir, vec3 fwd, vec3 up, versor dest) {
+glm_quat_for(const vec3 dir, const vec3 fwd, const vec3 up, versor dest) {
  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], GLM_PIf);
    return;
@@ -717,9 +717,13 @@ 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) {
+glm_quat_forp(const vec3 from,
+              const vec3 to,
+              const vec3 fwd,
+              const vec3 up,
+              versor     dest) {
  CGLM_ALIGN(8) vec3 dir;
-  glm_vec_sub(to, from, dir);
+  glm_vec3_sub(to, from, dir);
  glm_quat_for(dir, fwd, up, dest);
 }

@@ -732,7 +736,7 @@ 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) {
+glm_quat_rotatev(const versor q, const vec3 v, vec3 dest) {
  CGLM_ALIGN(16) versor p;
  CGLM_ALIGN(8)  vec3   u, v1, v2;
  float s;
@@ -741,14 +745,14 @@ glm_quat_rotatev(versor q, vec3 v, vec3 dest) {
  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);
 }

 /*!
@@ -760,7 +764,7 @@ glm_quat_rotatev(versor q, vec3 v, vec3 dest) {
 */
 CGLM_INLINE
 void
-glm_quat_rotate(mat4 m, versor q, mat4 dest) {
+glm_quat_rotate(const mat4 m, const versor q, mat4 dest) {
  CGLM_ALIGN_MAT mat4 rot;
  glm_quat_mat4(q, rot);
  glm_mul_rot(m, rot, dest);
@@ -775,10 +779,10 @@ glm_quat_rotate(mat4 m, versor q, mat4 dest) {
 */
 CGLM_INLINE
 void
-glm_quat_rotate_at(mat4 m, versor q, vec3 pivot) {
+glm_quat_rotate_at(mat4 m, const versor q, const vec3 pivot) {
  CGLM_ALIGN(8) vec3 pivotInv;

-  glm_vec_inv_to(pivot, pivotInv);
+  glm_vec3_negate_to(pivot, pivotInv);

  glm_translate(m, pivot);
  glm_quat_rotate(m, q, m);
@@ -799,10 +803,10 @@ glm_quat_rotate_at(mat4 m, versor q, vec3 pivot) {
 */
 CGLM_INLINE
 void
-glm_quat_rotate_atm(mat4 m, versor q, vec3 pivot) {
+glm_quat_rotate_atm(mat4 m, const versor q, const vec3 pivot) {
  CGLM_ALIGN(8) vec3 pivotInv;

-  glm_vec_inv_to(pivot, pivotInv);
+  glm_vec3_negate_to(pivot, pivotInv);

  glm_translate_make(m, pivot);
  glm_quat_rotate(m, q, m);
--- a/include/cglm/simd/arm.h
+++ b/include/cglm/simd/arm.h
@@ -0,0 +1,41 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), http://opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+#ifndef cglm_simd_arm_h
+#define cglm_simd_arm_h
+#include "intrin.h"
+#ifdef CGLM_SIMD_ARM
+
+#define glmm_load(p)      vld1q_f32(p)
+#define glmm_store(p, a)  vst1q_f32(p, a)
+
+static inline
+float
+glmm_hadd(float32x4_t v) {
+#if defined(__aarch64__)
+  return vaddvq_f32(v);
+#else
+  v = vaddq_f32(v, vrev64q_f32(v));
+  v = vaddq_f32(v, vcombine_f32(vget_high_f32(v), vget_low_f32(v)));
+  return vgetq_lane_f32(v, 0);
+#endif
+}
+
+static inline
+float
+glmm_dot(float32x4_t a, float32x4_t b) {
+  return glmm_hadd(vmulq_f32(a, b));
+}
+
+static inline
+float
+glmm_norm(float32x4_t a) {
+  return sqrtf(glmm_dot(a, a));
+}
+
+#endif
+#endif /* cglm_simd_arm_h */
--- a/include/cglm/simd/avx/affine.h
+++ b/include/cglm/simd/avx/affine.h
@@ -16,7 +16,7 @@

 CGLM_INLINE
 void
-glm_mul_avx(mat4 m1, mat4 m2, mat4 dest) {
+glm_mul_avx(const mat4 m1, const mat4 m2, mat4 dest) {
  /* D = R * L (Column-Major) */

  __m256 y0, y1, y2, y3, y4, y5, y6, y7, y8, y9;
--- a/include/cglm/simd/avx/mat4.h
+++ b/include/cglm/simd/avx/mat4.h
@@ -16,7 +16,7 @@

 CGLM_INLINE
 void
-glm_mat4_mul_avx(mat4 m1, mat4 m2, mat4 dest) {
+glm_mat4_mul_avx(const mat4 m1, const mat4 m2, mat4 dest) {
  /* D = R * L (Column-Major) */

  __m256 y0, y1, y2, y3, y4, y5, y6, y7, y8, y9;
--- a/include/cglm/simd/intrin.h
+++ b/include/cglm/simd/intrin.h
@@ -27,90 +27,64 @@
 #if defined( __SSE__ ) || defined( __SSE2__ )
 #  include <xmmintrin.h>
 #  include <emmintrin.h>
-
-/* 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 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)
-
-static inline
-__m128
-glmm_dot(__m128 a, __m128 b) {
-  __m128 x0;
-  x0 = _mm_mul_ps(a, b);
-  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 */
-#if defined( __SSE__ ) || defined( __SSE2__ )
 #  define CGLM_SSE_FP 1
+#  ifndef CGLM_SIMD_x86
+#    define CGLM_SIMD_x86
+#  endif
+#endif
+
+#if defined(__SSE3__)
+#  include <x86intrin.h>
+#  ifndef CGLM_SIMD_x86
+#    define CGLM_SIMD_x86
+#  endif
+#endif
+
+#if defined(__SSE4_1__)
+#  include <smmintrin.h>
+#  ifndef CGLM_SIMD_x86
+#    define CGLM_SIMD_x86
+#  endif
+#endif
+
+#if defined(__SSE4_2__)
+#  include <nmmintrin.h>
+#  ifndef CGLM_SIMD_x86
+#    define CGLM_SIMD_x86
+#  endif
 #endif

 #ifdef __AVX__
+#  include <immintrin.h>
 #  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
-
+#  ifndef CGLM_SIMD_x86
+#    define CGLM_SIMD_x86
+#  endif
 #endif

 /* ARM Neon */
-#if defined(__ARM_NEON) && defined(__ARM_NEON_FP)
+#if defined(__ARM_NEON)
 #  include <arm_neon.h>
-#  define CGLM_NEON_FP 1
-#else
-#  undef  CGLM_NEON_FP
+#  if defined(__ARM_NEON_FP)
+#    define CGLM_NEON_FP 1
+#    ifndef CGLM_SIMD_ARM
+#      define CGLM_SIMD_ARM
+#    endif
+#  endif
+#endif
+
+#if defined(CGLM_SIMD_x86) || defined(CGLM_NEON_FP)
+#  ifndef CGLM_SIMD
+#    define CGLM_SIMD
+#  endif
+#endif
+
+#if defined(CGLM_SIMD_x86)
+#  include "x86.h"
+#endif
+
+#if defined(CGLM_SIMD_ARM)
+#  include "arm.h"
 #endif

 #endif /* cglm_intrin_h */
--- a/include/cglm/simd/neon/mat4.h
+++ b/include/cglm/simd/neon/mat4.h
@@ -14,7 +14,7 @@

 CGLM_INLINE
 void
-glm_mat4_mul_neon(mat4 m1, mat4 m2, mat4 dest) {
+glm_mat4_mul_neon(const mat4 m1, const mat4 m2, mat4 dest) {
  /* D = R * L (Column-Major) */
  float32x4_t l0, l1, l2, l3, r, d0, d1, d2, d3;

--- a/include/cglm/simd/sse2/affine.h
+++ b/include/cglm/simd/sse2/affine.h
@@ -14,7 +14,7 @@

 CGLM_INLINE
 void
-glm_mul_sse2(mat4 m1, mat4 m2, mat4 dest) {
+glm_mul_sse2(const mat4 m1, const mat4 m2, mat4 dest) {
  /* D = R * L (Column-Major) */
  __m128 l0, l1, l2, l3, r;

@@ -51,7 +51,7 @@ glm_mul_sse2(mat4 m1, mat4 m2, mat4 dest) {

 CGLM_INLINE
 void
-glm_mul_rot_sse2(mat4 m1, mat4 m2, mat4 dest) {
+glm_mul_rot_sse2(const mat4 m1, const mat4 m2, mat4 dest) {
  /* D = R * L (Column-Major) */
  __m128 l0, l1, l2, l3, r;

--- a/include/cglm/simd/sse2/mat3.h
+++ b/include/cglm/simd/sse2/mat3.h
@@ -14,7 +14,7 @@

 CGLM_INLINE
 void
-glm_mat3_mul_sse2(mat3 m1, mat3 m2, mat3 dest) {
+glm_mat3_mul_sse2(const mat3 m1, const mat3 m2, mat3 dest) {
  __m128 l0, l1, l2;
  __m128 r0, r1, r2;
  __m128 x0, x1, x2;
--- a/include/cglm/simd/sse2/mat4.h
+++ b/include/cglm/simd/sse2/mat4.h
@@ -28,7 +28,7 @@ glm_mat4_scale_sse2(mat4 m, float s) {

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

  r0 = glmm_load(m[0]);
@@ -46,7 +46,7 @@ glm_mat4_transp_sse2(mat4 m, mat4 dest) {

 CGLM_INLINE
 void
-glm_mat4_mul_sse2(mat4 m1, mat4 m2, mat4 dest) {
+glm_mat4_mul_sse2(const mat4 m1, const mat4 m2, mat4 dest) {
  /* D = R * L (Column-Major) */

  __m128 l0, l1, l2, l3, r;
@@ -85,7 +85,7 @@ glm_mat4_mul_sse2(mat4 m1, mat4 m2, mat4 dest) {

 CGLM_INLINE
 void
-glm_mat4_mulv_sse2(mat4 m, vec4 v, vec4 dest) {
+glm_mat4_mulv_sse2(const mat4 m, const vec4 v, vec4 dest) {
  __m128 x0, x1, x2;

  x0 = glmm_load(v);
@@ -100,7 +100,7 @@ glm_mat4_mulv_sse2(mat4 m, vec4 v, vec4 dest) {

 CGLM_INLINE
 float
-glm_mat4_det_sse2(mat4 mat) {
+glm_mat4_det_sse2(const mat4 mat) {
  __m128 r0, r1, r2, r3, x0, x1, x2;

  /* 127 <- 0, [square] det(A) = det(At) */
@@ -155,7 +155,7 @@ glm_mat4_det_sse2(mat4 mat) {

 CGLM_INLINE
 void
-glm_mat4_inv_fast_sse2(mat4 mat, mat4 dest) {
+glm_mat4_inv_fast_sse2(const mat4 mat, mat4 dest) {
  __m128 r0, r1, r2, r3,
         v0, v1, v2, v3,
         t0, t1, t2, t3, t4, t5,
@@ -279,7 +279,7 @@ glm_mat4_inv_fast_sse2(mat4 mat, mat4 dest) {

 CGLM_INLINE
 void
-glm_mat4_inv_sse2(mat4 mat, mat4 dest) {
+glm_mat4_inv_sse2(const mat4 mat, mat4 dest) {
  __m128 r0, r1, r2, r3,
         v0, v1, v2, v3,
         t0, t1, t2, t3, t4, t5,
--- a/include/cglm/simd/sse2/quat.h
+++ b/include/cglm/simd/sse2/quat.h
@@ -14,7 +14,7 @@

 CGLM_INLINE
 void
-glm_quat_mul_sse2(versor p, versor q, versor dest) {
+glm_quat_mul_sse2(const versor p, const versor q, versor dest) {
  /*
   + (a1 b2 + b1 a2 + c1 d2 − d1 c2)i
   + (a1 c2 − b1 d2 + c1 a2 + d1 b2)j
--- a/include/cglm/simd/x86.h
+++ b/include/cglm/simd/x86.h
@@ -0,0 +1,136 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), http://opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+#ifndef cglm_simd_x86_h
+#define cglm_simd_x86_h
+#include "intrin.h"
+#ifdef CGLM_SIMD_x86
+
+#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
+
+#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 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)
+
+#ifdef __AVX__
+#  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
+
+static inline
+__m128
+glmm_vhadds(__m128 v) {
+#if defined(__SSE3__)
+  __m128 shuf, sums;
+  shuf = _mm_movehdup_ps(v);
+  sums = _mm_add_ps(v, shuf);
+  shuf = _mm_movehl_ps(shuf, sums);
+  sums = _mm_add_ss(sums, shuf);
+  return sums;
+#else
+  __m128 shuf, sums;
+  shuf = glmm_shuff1(v, 2, 3, 0, 1);
+  sums = _mm_add_ps(v, shuf);
+  shuf = _mm_movehl_ps(shuf, sums);
+  sums = _mm_add_ss(sums, shuf);
+  return sums;
+#endif
+}
+
+static inline
+float
+glmm_hadd(__m128 v) {
+  return _mm_cvtss_f32(glmm_vhadds(v));
+}
+
+static inline
+__m128
+glmm_vdots(__m128 a, __m128 b) {
+#if (defined(__SSE4_1__) || defined(__SSE4_2__)) && defined(CGLM_SSE4_DOT)
+  return _mm_dp_ps(a, b, 0xFF);
+#elif defined(__SSE3__) && defined(CGLM_SSE3_DOT)
+  __m128 x0, x1;
+  x0 = _mm_mul_ps(a, b);
+  x1 = _mm_hadd_ps(x0, x0);
+  return _mm_hadd_ps(x1, x1);
+#else
+  return glmm_vhadds(_mm_mul_ps(a, b));
+#endif
+}
+
+static inline
+__m128
+glmm_vdot(__m128 a, __m128 b) {
+#if (defined(__SSE4_1__) || defined(__SSE4_2__)) && defined(CGLM_SSE4_DOT)
+  return _mm_dp_ps(a, b, 0xFF);
+#elif defined(__SSE3__) && defined(CGLM_SSE3_DOT)
+  __m128 x0, x1;
+  x0 = _mm_mul_ps(a, b);
+  x1 = _mm_hadd_ps(x0, x0);
+  return _mm_hadd_ps(x1, x1);
+#else
+  __m128 x0;
+  x0 = _mm_mul_ps(a, b);
+  x0 = _mm_add_ps(x0, glmm_shuff1(x0, 1, 0, 3, 2));
+  return _mm_add_ps(x0, glmm_shuff1(x0, 0, 1, 0, 1));
+#endif
+}
+
+static inline
+float
+glmm_dot(const __m128 a, const __m128 b) {
+  return _mm_cvtss_f32(glmm_vdots(a, b));
+}
+
+static inline
+float
+glmm_norm(__m128 a) {
+  return _mm_cvtss_f32(_mm_sqrt_ss(glmm_vhadds(_mm_mul_ps(a, a))));
+}
+
+static inline
+__m128
+glmm_load3(const 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));
+}
+
+#endif
+#endif /* cglm_simd_x86_h */
--- a/include/cglm/sphere.h
+++ b/include/cglm/sphere.h
@@ -27,7 +27,7 @@
 */
 CGLM_INLINE
 float
-glm_sphere_radii(vec4 s) {
+glm_sphere_radii(const vec4 s) {
  return s[3];
 }

@@ -40,7 +40,7 @@ glm_sphere_radii(vec4 s) {
 */
 CGLM_INLINE
 void
-glm_sphere_transform(vec4 s, mat4 m, vec4 dest) {
+glm_sphere_transform(const vec4 s, const mat4 m, vec4 dest) {
  glm_mat4_mulv3(m, s, 1.0f, dest);
  dest[3] = s[3];
 }
@@ -57,16 +57,16 @@ glm_sphere_transform(vec4 s, mat4 m, vec4 dest) {
 */
 CGLM_INLINE
 void
-glm_sphere_merge(vec4 s1, vec4 s2, vec4 dest) {
+glm_sphere_merge(const vec4 s1, const vec4 s2, vec4 dest) {
  float dist, radii;

-  dist  = glm_vec_distance(s1, s2);
+  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_vec_center(s1, s2, dest);
+  glm_vec3_center(s1, s2, dest);
  dest[3] = radii;
 }

@@ -78,8 +78,8 @@ glm_sphere_merge(vec4 s1, vec4 s2, vec4 dest) {
 */
 CGLM_INLINE
 bool
-glm_sphere_sphere(vec4 s1, vec4 s2) {
-  return glm_vec_distance2(s1, s2) <= glm_pow2(s1[3] + s2[3]);
+glm_sphere_sphere(const vec4 s1, const vec4 s2) {
+  return glm_vec3_distance2(s1, s2) <= glm_pow2(s1[3] + s2[3]);
 }

 /*!
@@ -90,10 +90,10 @@ glm_sphere_sphere(vec4 s1, vec4 s2) {
 */
 CGLM_INLINE
 bool
-glm_sphere_point(vec4 s, vec3 point) {
+glm_sphere_point(const vec4 s, const vec3 point) {
  float rr;
  rr = s[3] * s[3];
-  return glm_vec_distance2(point, s) <= rr;
+  return glm_vec3_distance2(point, s) <= rr;
 }

 #endif /* cglm_sphere_h */
--- a/include/cglm/types.h
+++ b/include/cglm/types.h
@@ -10,12 +10,12 @@

 #if defined(_MSC_VER)
 /* 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
+#  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
@@ -33,20 +33,18 @@
 #endif

 typedef float                   vec2[2];
-typedef CGLM_ALIGN_IF(8)  float vec3[3];
+typedef float                   vec3[3];
 typedef int                    ivec3[3];
 typedef CGLM_ALIGN_IF(16) float vec4[4];
+typedef vec4                    versor;
+typedef vec3                    mat3[3];

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

-typedef vec4                    versor;
-
 #define GLM_E         2.71828182845904523536028747135266250   /* e           */
 #define GLM_LOG2E     1.44269504088896340735992468100189214   /* log2(e)     */
 #define GLM_LOG10E    0.434294481903251827651128918916605082  /* log10(e)    */
--- a/include/cglm/util.h
+++ b/include/cglm/util.h
@@ -19,7 +19,6 @@
 #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))
--- 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
@@ -27,24 +31,6 @@

 #include "common.h"
 #include "util.h"
-#include <stdbool.h>
-#include <math.h>
-#include <float.h>
-
-/*!
- * @brief DEPRECATED! use glm_vec_mul
- *
- * @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 +40,7 @@ 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 +52,7 @@ glm_vec_broadcast(float val, vec3 d) {
 */
 CGLM_INLINE
 bool
-glm_vec_eq(vec3 v, float val) {
+glm_vec3_eq(const vec3 v, float val) {
  return v[0] == val && v[0] == v[1] && v[0] == v[2];
 }

@@ -78,7 +64,7 @@ glm_vec_eq(vec3 v, float val) {
 */
 CGLM_INLINE
 bool
-glm_vec_eq_eps(vec3 v, float val) {
+glm_vec3_eq_eps(const 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 +77,36 @@ glm_vec_eq_eps(vec3 v, float val) {
 */
 CGLM_INLINE
 bool
-glm_vec_eq_all(vec3 v) {
+glm_vec3_eq_all(const 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(const vec3 a, const 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(const vec3 a, const 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 +116,7 @@ glm_vec_eqv_eps(vec3 v1, vec3 v2) {
 */
 CGLM_INLINE
 float
-glm_vec_max(vec3 v) {
+glm_vec3_max(const vec3 v) {
  float max;

  max = v[0];
@@ -149,7 +135,7 @@ glm_vec_max(vec3 v) {
 */
 CGLM_INLINE
 float
-glm_vec_min(vec3 v) {
+glm_vec3_min(const vec3 v) {
  float min;

  min = v[0];
@@ -169,7 +155,7 @@ glm_vec_min(vec3 v) {
 */
 CGLM_INLINE
 bool
-glm_vec_isnan(vec3 v) {
+glm_vec3_isnan(const vec3 v) {
  return isnan(v[0]) || isnan(v[1]) || isnan(v[2]);
 }

@@ -181,7 +167,7 @@ glm_vec_isnan(vec3 v) {
 */
 CGLM_INLINE
 bool
-glm_vec_isinf(vec3 v) {
+glm_vec3_isinf(const vec3 v) {
  return isinf(v[0]) || isinf(v[1]) || isinf(v[2]);
 }

@@ -193,8 +179,8 @@ 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(const vec3 v) {
+  return !glm_vec3_isnan(v) && !glm_vec3_isinf(v);
 }

 /*!
@@ -206,7 +192,7 @@ glm_vec_isvalid(vec3 v) {
 */
 CGLM_INLINE
 void
-glm_vec_sign(vec3 v, vec3 dest) {
+glm_vec3_sign(const vec3 v, vec3 dest) {
  dest[0] = glm_signf(v[0]);
  dest[1] = glm_signf(v[1]);
  dest[2] = glm_signf(v[2]);
@@ -220,7 +206,7 @@ glm_vec_sign(vec3 v, vec3 dest) {
 */
 CGLM_INLINE
 void
-glm_vec_sqrt(vec3 v, vec3 dest) {
+glm_vec3_sqrt(const 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
@@ -23,44 +17,64 @@

 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 a, vec3 b, vec3 dest);
-   CGLM_INLINE void  glm_vec_adds(vec3 a, float s, vec3 dest);
-   CGLM_INLINE void  glm_vec_sub(vec3 a, vec3 b, vec3 dest);
-   CGLM_INLINE void  glm_vec_subs(vec3 a, float s, vec3 dest);
-   CGLM_INLINE void  glm_vec_mul(vec3 a, vec3 b, vec3 dest);
-   CGLM_INLINE void  glm_vec_scale(vec3 v, float s, vec3 dest);
-   CGLM_INLINE void  glm_vec_scale_as(vec3 v, float s, vec3 dest);
-   CGLM_INLINE void  glm_vec_div(vec3 a, vec3 b, vec3 dest);
-   CGLM_INLINE void  glm_vec_divs(vec3 a, float s, vec3 dest);
-   CGLM_INLINE void  glm_vec_addadd(vec3 a, vec3 b, vec3 dest);
-   CGLM_INLINE void  glm_vec_subadd(vec3 a, vec3 b, vec3 dest);
-   CGLM_INLINE void  glm_vec_muladd(vec3 a, vec3 b, vec3 dest);
-   CGLM_INLINE void  glm_vec_flipsign(vec3 v);
-   CGLM_INLINE void  glm_vec_inv(vec3 v);
-   CGLM_INLINE void  glm_vec_inv_to(vec3 v, vec3 dest);
-   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
@@ -72,7 +86,12 @@
 #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}
@@ -92,7 +111,7 @@
 */
 CGLM_INLINE
 void
-glm_vec3(vec4 v4, vec3 dest) {
+glm_vec3(const vec4 v4, vec3 dest) {
  dest[0] = v4[0];
  dest[1] = v4[1];
  dest[2] = v4[2];
@@ -106,7 +125,7 @@ glm_vec3(vec4 v4, vec3 dest) {
 */
 CGLM_INLINE
 void
-glm_vec_copy(vec3 a, vec3 dest) {
+glm_vec3_copy(const vec3 a, vec3 dest) {
  dest[0] = a[0];
  dest[1] = a[1];
  dest[2] = a[2];
@@ -119,10 +138,8 @@ glm_vec_copy(vec3 a, vec3 dest) {
 */
 CGLM_INLINE
 void
-glm_vec_zero(vec3 v) {
-  v[0] = 0.0f;
-  v[1] = 0.0f;
-  v[2] = 0.0f;
+glm_vec3_zero(vec3 v) {
+  v[0] = v[1] = v[2] = 0.0f;
 }

 /*!
@@ -132,10 +149,8 @@ glm_vec_zero(vec3 v) {
 */
 CGLM_INLINE
 void
-glm_vec_one(vec3 v) {
-  v[0] = 1.0f;
-  v[1] = 1.0f;
-  v[2] = 1.0f;
+glm_vec3_one(vec3 v) {
+  v[0] = v[1] = v[2] = 1.0f;
 }

 /*!
@@ -148,26 +163,10 @@ glm_vec_one(vec3 v) {
 */
 CGLM_INLINE
 float
-glm_vec_dot(vec3 a, vec3 b) {
+glm_vec3_dot(const vec3 a, const 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
 *
@@ -181,21 +180,21 @@ 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(const 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(const vec3 v) {
+  return sqrtf(glm_vec3_norm2(v));
 }

 /*!
@@ -207,7 +206,7 @@ glm_vec_norm(vec3 vec) {
 */
 CGLM_INLINE
 void
-glm_vec_add(vec3 a, vec3 b, vec3 dest) {
+glm_vec3_add(const vec3 a, const vec3 b, vec3 dest) {
  dest[0] = a[0] + b[0];
  dest[1] = a[1] + b[1];
  dest[2] = a[2] + b[2];
@@ -222,14 +221,14 @@ glm_vec_add(vec3 a, vec3 b, vec3 dest) {
 */
 CGLM_INLINE
 void
-glm_vec_adds(vec3 v, float s, vec3 dest) {
+glm_vec3_adds(const vec3 v, float s, vec3 dest) {
  dest[0] = v[0] + s;
  dest[1] = v[1] + s;
  dest[2] = v[2] + s;
 }

 /*!
- * @brief subtract v2 vector from v1 vector store result in dest
+ * @brief subtract b vector from a vector store result in dest
 *
 * @param[in]  a    vector1
 * @param[in]  b    vector2
@@ -237,7 +236,7 @@ glm_vec_adds(vec3 v, float s, vec3 dest) {
 */
 CGLM_INLINE
 void
-glm_vec_sub(vec3 a, vec3 b, vec3 dest) {
+glm_vec3_sub(const vec3 a, const vec3 b, vec3 dest) {
  dest[0] = a[0] - b[0];
  dest[1] = a[1] - b[1];
  dest[2] = a[2] - b[2];
@@ -252,7 +251,7 @@ glm_vec_sub(vec3 a, vec3 b, vec3 dest) {
 */
 CGLM_INLINE
 void
-glm_vec_subs(vec3 v, float s, vec3 dest) {
+glm_vec3_subs(const vec3 v, float s, vec3 dest) {
  dest[0] = v[0] - s;
  dest[1] = v[1] - s;
  dest[2] = v[2] - s;
@@ -261,16 +260,16 @@ glm_vec_subs(vec3 v, float s, vec3 dest) {
 /*!
 * @brief multiply two vector (component-wise multiplication)
 *
- * @param a v1
- * @param b v2
- * @param d v3 = (a[0] * b[0], a[1] * b[1], a[2] * b[2])
+ * @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_vec_mul(vec3 a, vec3 b, vec3 d) {
-  d[0] = a[0] * b[0];
-  d[1] = a[1] * b[1];
-  d[2] = a[2] * b[2];
+glm_vec3_mul(const vec3 a, const vec3 b, vec3 dest) {
+  dest[0] = a[0] * b[0];
+  dest[1] = a[1] * b[1];
+  dest[2] = a[2] * b[2];
 }

 /*!
@@ -282,7 +281,7 @@ glm_vec_mul(vec3 a, vec3 b, vec3 d) {
 */
 CGLM_INLINE
 void
-glm_vec_scale(vec3 v, float s, vec3 dest) {
+glm_vec3_scale(const vec3 v, float s, vec3 dest) {
  dest[0] = v[0] * s;
  dest[1] = v[1] * s;
  dest[2] = v[2] * s;
@@ -297,16 +296,16 @@ 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(const vec3 v, float s, vec3 dest) {
  float norm;
-  norm = glm_vec_norm(v);
+  norm = glm_vec3_norm(v);

  if (norm == 0.0f) {
-    glm_vec_zero(dest);
+    glm_vec3_zero(dest);
    return;
  }

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

 /*!
@@ -318,7 +317,7 @@ glm_vec_scale_as(vec3 v, float s, vec3 dest) {
 */
 CGLM_INLINE
 void
-glm_vec_div(vec3 a, vec3 b, vec3 dest) {
+glm_vec3_div(const vec3 a, const vec3 b, vec3 dest) {
  dest[0] = a[0] / b[0];
  dest[1] = a[1] / b[1];
  dest[2] = a[2] / b[2];
@@ -333,7 +332,7 @@ glm_vec_div(vec3 a, vec3 b, vec3 dest) {
 */
 CGLM_INLINE
 void
-glm_vec_divs(vec3 v, float s, vec3 dest) {
+glm_vec3_divs(const vec3 v, float s, vec3 dest) {
  dest[0] = v[0] / s;
  dest[1] = v[1] / s;
  dest[2] = v[2] / s;
@@ -350,7 +349,7 @@ glm_vec_divs(vec3 v, float s, vec3 dest) {
 */
 CGLM_INLINE
 void
-glm_vec_addadd(vec3 a, vec3 b, vec3 dest) {
+glm_vec3_addadd(const vec3 a, const vec3 b, vec3 dest) {
  dest[0] += a[0] + b[0];
  dest[1] += a[1] + b[1];
  dest[2] += a[2] + b[2];
@@ -367,7 +366,7 @@ glm_vec_addadd(vec3 a, vec3 b, vec3 dest) {
 */
 CGLM_INLINE
 void
-glm_vec_subadd(vec3 a, vec3 b, vec3 dest) {
+glm_vec3_subadd(const vec3 a, const vec3 b, vec3 dest) {
  dest[0] += a[0] - b[0];
  dest[1] += a[1] - b[1];
  dest[2] += a[2] - b[2];
@@ -384,7 +383,7 @@ glm_vec_subadd(vec3 a, vec3 b, vec3 dest) {
 */
 CGLM_INLINE
 void
-glm_vec_muladd(vec3 a, vec3 b, vec3 dest) {
+glm_vec3_muladd(const vec3 a, const vec3 b, vec3 dest) {
  dest[0] += a[0] * b[0];
  dest[1] += a[1] * b[1];
  dest[2] += a[2] * b[2];
@@ -401,60 +400,69 @@ glm_vec_muladd(vec3 a, vec3 b, vec3 dest) {
 */
 CGLM_INLINE
 void
-glm_vec_muladds(vec3 a, float s, vec3 dest) {
+glm_vec3_muladds(const vec3 a, float s, vec3 dest) {
  dest[0] += a[0] * s;
  dest[1] += a[1] * s;
  dest[2] += a[2] * s;
 }

 /*!
- * @brief flip sign of all vec3 members
+ * @brief add max of two vector to result/dest
 *
- * @param[in, out]  v  vector
+ * 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_vec_flipsign(vec3 v) {
-  v[0] = -v[0];
-  v[1] = -v[1];
-  v[2] = -v[2];
+glm_vec3_maxadd(const vec3 a, const 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 flip sign of all vec3 members and store result in dest
+ * @brief add min 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 += min(a, b)
+ */
+CGLM_INLINE
+void
+glm_vec3_minadd(const vec3 a, const 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(const 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_flipsign_to(v, dest);
+glm_vec3_negate(vec3 v) {
+  glm_vec3_negate_to(v, v);
 }

 /*!
@@ -464,56 +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(const vec3 v, vec3 dest) {
  float norm;

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

  if (norm == 0.0f) {
-    glm_vec_zero(dest);
+    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(const vec3 a, const 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(const vec3 a, const 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(const vec3 a, const 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);
 }

 /*!
@@ -525,27 +570,27 @@ 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, const 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);
 }

 /*!
@@ -563,7 +608,7 @@ glm_vec_rotate(vec3 v, float angle, vec3 axis) {
 */
 CGLM_INLINE
 void
-glm_vec_rotate_m4(mat4 m, vec3 v, vec3 dest) {
+glm_vec3_rotate_m4(const mat4 m, const vec3 v, vec3 dest) {
  vec4 x, y, z, res;

  glm_vec4_normalize_to(m[0], x);
@@ -586,7 +631,7 @@ glm_vec_rotate_m4(mat4 m, vec3 v, vec3 dest) {
 */
 CGLM_INLINE
 void
-glm_vec_rotate_m3(mat3 m, vec3 v, vec3 dest) {
+glm_vec3_rotate_m3(const mat3 m, const vec3 v, vec3 dest) {
  vec4 res, x, y, z;

  glm_vec4(m[0], 0.0f, x);
@@ -607,88 +652,88 @@ glm_vec_rotate_m3(mat3 m, vec3 v, vec3 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(const vec3 a, const 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(const vec3 a, const 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] v1 vector1
- * @param[in] v2 vector2
+ * @param[in] a vector1
+ * @param[in] b vector2
 * @return returns squared distance (distance * distance)
 */
 CGLM_INLINE
 float
-glm_vec_distance2(vec3 v1, vec3 v2) {
-  return glm_pow2(v2[0] - v1[0])
-       + glm_pow2(v2[1] - v1[1])
-       + glm_pow2(v2[2] - v1[2]);
+glm_vec3_distance2(const vec3 a, const 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_vec_distance2(v1, v2));
+glm_vec3_distance(const vec3 a, const 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(const vec3 a, const 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(const vec3 a, const 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]);
 }

 /*!
@@ -699,7 +744,7 @@ glm_vec_minv(vec3 v1, vec3 v2, vec3 dest) {
 */
 CGLM_INLINE
 void
-glm_vec_ortho(vec3 v, vec3 dest) {
+glm_vec3_ortho(const vec3 v, vec3 dest) {
  dest[0] = v[1] - v[2];
  dest[1] = v[2] - v[0];
  dest[2] = v[0] - v[1];
@@ -714,7 +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);
@@ -732,14 +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(const vec3 from, const vec3 to, float t, vec3 dest) {
  vec3 s, v;

  /* from + s * (to - from) */
-  glm_vec_broadcast(glm_clamp_zo(t), 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);
 }

 /*!
@@ -753,8 +798,8 @@ 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_cross(const vec3 a, const vec3 b, vec3 d) {
+  glm_vec3_cross(a, b, d);
 }

 /*!
@@ -769,8 +814,8 @@ glm_cross(vec3 a, vec3 b, vec3 d) {
 */
 CGLM_INLINE
 float
-glm_dot(vec3 a, vec3 b) {
-  return glm_vec_dot(a, b);
+glm_dot(const vec3 a, const vec3 b) {
+  return glm_vec3_dot(a, b);
 }

 /*!
@@ -783,7 +828,7 @@ glm_dot(vec3 a, vec3 b) {
 CGLM_INLINE
 void
 glm_normalize(vec3 v) {
-  glm_vec_normalize(v);
+  glm_vec3_normalize(v);
 }

 /*!
@@ -796,8 +841,8 @@ glm_normalize(vec3 v) {
 */
 CGLM_INLINE
 void
-glm_normalize_to(vec3 v, vec3 dest) {
-  glm_vec_normalize_to(v, dest);
+glm_normalize_to(const vec3 v, vec3 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
@@ -27,29 +31,6 @@

 #include "common.h"
 #include "vec3-ext.h"
-#include <stdbool.h>
-#include <math.h>
-#include <float.h>
-
-/*!
- * @brief DEPRECATED! use glm_vec4_mul
- *
- * @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__ )
-  glmm_store(d, _mm_mul_ps(glmm_load(a), glmm_load(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
@@ -75,7 +56,7 @@ glm_vec4_broadcast(float val, vec4 d) {
 */
 CGLM_INLINE
 bool
-glm_vec4_eq(vec4 v, float val) {
+glm_vec4_eq(const vec4 v, float val) {
  return v[0] == val
         && v[0] == v[1]
         && v[0] == v[2]
@@ -90,7 +71,7 @@ glm_vec4_eq(vec4 v, float val) {
 */
 CGLM_INLINE
 bool
-glm_vec4_eq_eps(vec4 v, float val) {
+glm_vec4_eq_eps(const vec4 v, float val) {
  return fabsf(v[0] - val) <= FLT_EPSILON
         && fabsf(v[1] - val) <= FLT_EPSILON
         && fabsf(v[2] - val) <= FLT_EPSILON
@@ -104,7 +85,7 @@ glm_vec4_eq_eps(vec4 v, float val) {
 */
 CGLM_INLINE
 bool
-glm_vec4_eq_all(vec4 v) {
+glm_vec4_eq_all(const vec4 v) {
  return v[0] == v[1]
         && v[0] == v[2]
         && v[0] == v[3];
@@ -113,31 +94,31 @@ 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(const vec4 a, const 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(const vec4 a, const 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;
 }

 /*!
@@ -147,10 +128,10 @@ glm_vec4_eqv_eps(vec4 v1, vec4 v2) {
 */
 CGLM_INLINE
 float
-glm_vec4_max(vec4 v) {
+glm_vec4_max(const vec4 v) {
  float max;

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

@@ -164,10 +145,10 @@ glm_vec4_max(vec4 v) {
 */
 CGLM_INLINE
 float
-glm_vec4_min(vec4 v) {
+glm_vec4_min(const vec4 v) {
  float min;

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

@@ -182,7 +163,7 @@ glm_vec4_min(vec4 v) {
 */
 CGLM_INLINE
 bool
-glm_vec4_isnan(vec4 v) {
+glm_vec4_isnan(const vec4 v) {
  return isnan(v[0]) || isnan(v[1]) || isnan(v[2]) || isnan(v[3]);
 }

@@ -194,7 +175,7 @@ glm_vec4_isnan(vec4 v) {
 */
 CGLM_INLINE
 bool
-glm_vec4_isinf(vec4 v) {
+glm_vec4_isinf(const vec4 v) {
  return isinf(v[0]) || isinf(v[1]) || isinf(v[2]) || isinf(v[3]);
 }

@@ -206,7 +187,7 @@ glm_vec4_isinf(vec4 v) {
 */
 CGLM_INLINE
 bool
-glm_vec4_isvalid(vec4 v) {
+glm_vec4_isvalid(const vec4 v) {
  return !glm_vec4_isnan(v) && !glm_vec4_isinf(v);
 }

@@ -219,7 +200,7 @@ glm_vec4_isvalid(vec4 v) {
 */
 CGLM_INLINE
 void
-glm_vec4_sign(vec4 v, vec4 dest) {
+glm_vec4_sign(const vec4 v, vec4 dest) {
 #if defined( __SSE2__ ) || defined( __SSE2__ )
  __m128 x0, x1, x2, x3, x4;

@@ -247,7 +228,7 @@ glm_vec4_sign(vec4 v, vec4 dest) {
 */
 CGLM_INLINE
 void
-glm_vec4_sqrt(vec4 v, vec4 dest) {
+glm_vec4_sqrt(const vec4 v, vec4 dest) {
 #if defined( __SSE__ ) || defined( __SSE2__ )
  glmm_store(dest, _mm_sqrt_ps(glmm_load(v)));
 #else
--- 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
@@ -28,7 +21,7 @@
   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 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);
@@ -41,16 +34,27 @@
   CGLM_INLINE void  glm_vec4_addadd(vec4 a, vec4 b, vec4 dest);
   CGLM_INLINE void  glm_vec4_subadd(vec4 a, vec4 b, vec4 dest);
   CGLM_INLINE void  glm_vec4_muladd(vec4 a, vec4 b, vec4 dest);
-   CGLM_INLINE void  glm_vec4_flipsign(vec4 v);
+   CGLM_INLINE void  glm_vec4_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
@@ -60,9 +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}
@@ -81,7 +90,7 @@
 */
 CGLM_INLINE
 void
-glm_vec4(vec3 v3, float last, vec4 dest) {
+glm_vec4(const vec3 v3, float last, vec4 dest) {
  dest[0] = v3[0];
  dest[1] = v3[1];
  dest[2] = v3[2];
@@ -96,7 +105,7 @@ glm_vec4(vec3 v3, float last, vec4 dest) {
 */
 CGLM_INLINE
 void
-glm_vec4_copy3(vec4 a, vec3 dest) {
+glm_vec4_copy3(const vec4 a, vec3 dest) {
  dest[0] = a[0];
  dest[1] = a[1];
  dest[2] = a[2];
@@ -110,9 +119,11 @@ glm_vec4_copy3(vec4 a, vec3 dest) {
 */
 CGLM_INLINE
 void
-glm_vec4_copy(vec4 v, vec4 dest) {
+glm_vec4_copy(const vec4 v, vec4 dest) {
 #if defined( __SSE__ ) || defined( __SSE2__ )
  glmm_store(dest, glmm_load(v));
+#elif defined(CGLM_NEON_FP)
+  vst1q_f32(dest, vld1q_f32(v));
 #else
  dest[0] = v[0];
  dest[1] = v[1];
@@ -131,7 +142,7 @@ glm_vec4_copy(vec4 v, vec4 dest) {
 */
 CGLM_INLINE
 void
-glm_vec4_ucopy(vec4 v, vec4 dest) {
+glm_vec4_ucopy(const vec4 v, vec4 dest) {
  dest[0] = v[0];
  dest[1] = v[1];
  dest[2] = v[2];
@@ -148,6 +159,8 @@ void
 glm_vec4_zero(vec4 v) {
 #if defined( __SSE__ ) || defined( __SSE2__ )
  glmm_store(v, _mm_setzero_ps());
+#elif defined(CGLM_NEON_FP)
+  vst1q_f32(v, vdupq_n_f32(0.0f));
 #else
  v[0] = 0.0f;
  v[1] = 0.0f;
@@ -166,6 +179,8 @@ void
 glm_vec4_one(vec4 v) {
 #if defined( __SSE__ ) || defined( __SSE2__ )
  glmm_store(v, _mm_set1_ps(1.0f));
+#elif defined(CGLM_NEON_FP)
+  vst1q_f32(v, vdupq_n_f32(1.0f));
 #else
  v[0] = 1.0f;
  v[1] = 1.0f;
@@ -184,12 +199,9 @@ glm_vec4_one(vec4 v) {
 */
 CGLM_INLINE
 float
-glm_vec4_dot(vec4 a, vec4 b) {
-#if defined( __SSE__ ) || defined( __SSE2__ )
-  __m128 x0;
-  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)));
+glm_vec4_dot(const vec4 a, const vec4 b) {
+#if defined(CGLM_SIMD)
+  return glmm_dot(glmm_load(a), glmm_load(b));
 #else
  return a[0] * b[0] + a[1] * b[1] + a[2] * b[2] + a[3] * b[3];
 #endif
@@ -208,39 +220,29 @@ glm_vec4_dot(vec4 a, vec4 b) {
 */
 CGLM_INLINE
 float
-glm_vec4_norm2(vec4 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
+glm_vec4_norm2(const vec4 v) {
+  return glm_vec4_dot(v, v);
 }

 /*!
 * @brief norm (magnitude) of vec4
 *
- * @param[in] vec vector
+ * @param[in] v vector
 *
 * @return norm
 */
 CGLM_INLINE
 float
-glm_vec4_norm(vec4 vec) {
-#if defined( __SSE__ ) || defined( __SSE2__ )
-  __m128 x0;
-  x0 = glmm_load(vec);
-  return _mm_cvtss_f32(_mm_sqrt_ss(glmm_dot(x0, x0)));
+glm_vec4_norm(const vec4 v) {
+#if defined(CGLM_SIMD)
+  return glmm_norm(glmm_load(v));
 #else
-  return sqrtf(glm_vec4_norm2(vec));
+  return sqrtf(glm_vec4_dot(v, v));
 #endif
 }

 /*!
- * @brief add v2 vector to v1 vector store result in dest
+ * @brief add b vector to a vector store result in dest
 *
 * @param[in]  a    vector1
 * @param[in]  b    vector2
@@ -248,9 +250,11 @@ glm_vec4_norm(vec4 vec) {
 */
 CGLM_INLINE
 void
-glm_vec4_add(vec4 a, vec4 b, vec4 dest) {
+glm_vec4_add(const vec4 a, const vec4 b, vec4 dest) {
 #if defined( __SSE__ ) || defined( __SSE2__ )
  glmm_store(dest, _mm_add_ps(glmm_load(a), glmm_load(b)));
+#elif defined(CGLM_NEON_FP)
+  vst1q_f32(dest, vaddq_f32(vld1q_f32(a), vld1q_f32(b)));
 #else
  dest[0] = a[0] + b[0];
  dest[1] = a[1] + b[1];
@@ -268,9 +272,11 @@ glm_vec4_add(vec4 a, vec4 b, vec4 dest) {
 */
 CGLM_INLINE
 void
-glm_vec4_adds(vec4 v, float s, vec4 dest) {
+glm_vec4_adds(const vec4 v, float s, vec4 dest) {
 #if defined( __SSE__ ) || defined( __SSE2__ )
  glmm_store(dest, _mm_add_ps(glmm_load(v), _mm_set1_ps(s)));
+#elif defined(CGLM_NEON_FP)
+  vst1q_f32(dest, vaddq_f32(vld1q_f32(v), vdupq_n_f32(s)));
 #else
  dest[0] = v[0] + s;
  dest[1] = v[1] + s;
@@ -280,7 +286,7 @@ glm_vec4_adds(vec4 v, float s, vec4 dest) {
 }

 /*!
- * @brief subtract b vector from a vector store result in dest (d = v1 - v2)
+ * @brief subtract b vector from a vector store result in dest (d = a - b)
 *
 * @param[in]  a    vector1
 * @param[in]  b    vector2
@@ -288,9 +294,11 @@ glm_vec4_adds(vec4 v, float s, vec4 dest) {
 */
 CGLM_INLINE
 void
-glm_vec4_sub(vec4 a, vec4 b, vec4 dest) {
+glm_vec4_sub(const vec4 a, const vec4 b, vec4 dest) {
 #if defined( __SSE__ ) || defined( __SSE2__ )
  glmm_store(dest, _mm_sub_ps(glmm_load(a), glmm_load(b)));
+#elif defined(CGLM_NEON_FP)
+  vst1q_f32(dest, vsubq_f32(vld1q_f32(a), vld1q_f32(b)));
 #else
  dest[0] = a[0] - b[0];
  dest[1] = a[1] - b[1];
@@ -308,9 +316,11 @@ glm_vec4_sub(vec4 a, vec4 b, vec4 dest) {
 */
 CGLM_INLINE
 void
-glm_vec4_subs(vec4 v, float s, vec4 dest) {
+glm_vec4_subs(const vec4 v, float s, vec4 dest) {
 #if defined( __SSE__ ) || defined( __SSE2__ )
  glmm_store(dest, _mm_sub_ps(glmm_load(v), _mm_set1_ps(s)));
+#elif defined(CGLM_NEON_FP)
+  vst1q_f32(dest, vsubq_f32(vld1q_f32(v), vdupq_n_f32(s)));
 #else
  dest[0] = v[0] - s;
  dest[1] = v[1] - s;
@@ -322,20 +332,22 @@ glm_vec4_subs(vec4 v, float s, vec4 dest) {
 /*!
 * @brief multiply two vector (component-wise multiplication)
 *
- * @param a v1
- * @param b v2
- * @param d v3 = (a[0] * b[0], a[1] * b[1], a[2] * b[2], a[3] * b[3])
+ * @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 d) {
+glm_vec4_mul(const vec4 a, const vec4 b, vec4 dest) {
 #if defined( __SSE__ ) || defined( __SSE2__ )
-  glmm_store(d, _mm_mul_ps(glmm_load(a), glmm_load(b)));
+  glmm_store(dest, _mm_mul_ps(glmm_load(a), glmm_load(b)));
+#elif defined(CGLM_NEON_FP)
+  vst1q_f32(dest, vmulq_f32(vld1q_f32(a), vld1q_f32(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];
+  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
 }

@@ -348,9 +360,11 @@ glm_vec4_mul(vec4 a, vec4 b, vec4 d) {
 */
 CGLM_INLINE
 void
-glm_vec4_scale(vec4 v, float s, vec4 dest) {
+glm_vec4_scale(const vec4 v, float s, vec4 dest) {
 #if defined( __SSE__ ) || defined( __SSE2__ )
  glmm_store(dest, _mm_mul_ps(glmm_load(v), _mm_set1_ps(s)));
+#elif defined(CGLM_NEON_FP)
+  vst1q_f32(dest, vmulq_f32(vld1q_f32(v), vdupq_n_f32(s)));
 #else
  dest[0] = v[0] * s;
  dest[1] = v[1] * s;
@@ -368,7 +382,7 @@ glm_vec4_scale(vec4 v, float s, vec4 dest) {
 */
 CGLM_INLINE
 void
-glm_vec4_scale_as(vec4 v, float s, vec4 dest) {
+glm_vec4_scale_as(const vec4 v, float s, vec4 dest) {
  float norm;
  norm = glm_vec4_norm(v);

@@ -381,7 +395,7 @@ glm_vec4_scale_as(vec4 v, float s, vec4 dest) {
 }

 /*!
- * @brief div vector with another component-wise division: d = v1 / v2
+ * @brief div vector with another component-wise division: d = a / b
 *
 * @param[in]  a    vector 1
 * @param[in]  b    vector 2
@@ -389,7 +403,7 @@ glm_vec4_scale_as(vec4 v, float s, vec4 dest) {
 */
 CGLM_INLINE
 void
-glm_vec4_div(vec4 a, vec4 b, vec4 dest) {
+glm_vec4_div(const vec4 a, const vec4 b, vec4 dest) {
 #if defined( __SSE__ ) || defined( __SSE2__ )
  glmm_store(dest, _mm_div_ps(glmm_load(a), glmm_load(b)));
 #else
@@ -409,7 +423,7 @@ glm_vec4_div(vec4 a, vec4 b, vec4 dest) {
 */
 CGLM_INLINE
 void
-glm_vec4_divs(vec4 v, float s, vec4 dest) {
+glm_vec4_divs(const vec4 v, float s, vec4 dest) {
 #if defined( __SSE__ ) || defined( __SSE2__ )
  glmm_store(dest, _mm_div_ps(glmm_load(v), _mm_set1_ps(s)));
 #else
@@ -417,7 +431,6 @@ glm_vec4_divs(vec4 v, float s, vec4 dest) {
 #endif
 }

-
 /*!
 * @brief add two vectors and add result to sum
 *
@@ -429,11 +442,15 @@ glm_vec4_divs(vec4 v, float s, vec4 dest) {
 */
 CGLM_INLINE
 void
-glm_vec4_addadd(vec4 a, vec4 b, vec4 dest) {
+glm_vec4_addadd(const vec4 a, const 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))));
+#elif defined(CGLM_NEON_FP)
+  vst1q_f32(dest, vaddq_f32(vld1q_f32(dest),
+                            vaddq_f32(vld1q_f32(a),
+                                      vld1q_f32(b))));
 #else
  dest[0] += a[0] + b[0];
  dest[1] += a[1] + b[1];
@@ -453,11 +470,15 @@ glm_vec4_addadd(vec4 a, vec4 b, vec4 dest) {
 */
 CGLM_INLINE
 void
-glm_vec4_subadd(vec4 a, vec4 b, vec4 dest) {
+glm_vec4_subadd(const vec4 a, const 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))));
+#elif defined(CGLM_NEON_FP)
+  vst1q_f32(dest, vaddq_f32(vld1q_f32(dest),
+                            vsubq_f32(vld1q_f32(a),
+                                      vld1q_f32(b))));
 #else
  dest[0] += a[0] - b[0];
  dest[1] += a[1] - b[1];
@@ -477,11 +498,15 @@ glm_vec4_subadd(vec4 a, vec4 b, vec4 dest) {
 */
 CGLM_INLINE
 void
-glm_vec4_muladd(vec4 a, vec4 b, vec4 dest) {
+glm_vec4_muladd(const vec4 a, const vec4 b, vec4 dest) {
 #if defined( __SSE__ ) || defined( __SSE2__ )
  glmm_store(dest, _mm_add_ps(glmm_load(dest),
                              _mm_mul_ps(glmm_load(a),
                                         glmm_load(b))));
+#elif defined(CGLM_NEON_FP)
+  vst1q_f32(dest, vaddq_f32(vld1q_f32(dest),
+                            vmulq_f32(vld1q_f32(a),
+                                      vld1q_f32(b))));
 #else
  dest[0] += a[0] * b[0];
  dest[1] += a[1] * b[1];
@@ -501,11 +526,15 @@ glm_vec4_muladd(vec4 a, vec4 b, vec4 dest) {
 */
 CGLM_INLINE
 void
-glm_vec4_muladds(vec4 a, float s, vec4 dest) {
+glm_vec4_muladds(const 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))));
+#elif defined(CGLM_NEON_FP)
+  vst1q_f32(dest, vaddq_f32(vld1q_f32(dest),
+                            vsubq_f32(vld1q_f32(a),
+                                      vdupq_n_f32(s))));
 #else
  dest[0] += a[0] * s;
  dest[1] += a[1] * s;
@@ -514,6 +543,83 @@ glm_vec4_muladds(vec4 a, float s, vec4 dest) {
 #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(const vec4 a, const 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))));
+#elif defined(CGLM_NEON_FP)
+  vst1q_f32(dest, vaddq_f32(vld1q_f32(dest),
+                            vmaxq_f32(vld1q_f32(a),
+                                      vld1q_f32(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 1
+ * @param[in]  b    vector 2
+ * @param[out] dest dest += min(a, b)
+ */
+CGLM_INLINE
+void
+glm_vec4_minadd(const vec4 a,const  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))));
+#elif defined(CGLM_NEON_FP)
+  vst1q_f32(dest, vaddq_f32(vld1q_f32(dest),
+                            vminq_f32(vld1q_f32(a),
+                                      vld1q_f32(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(const vec4 v, vec4 dest) {
+#if defined( __SSE__ ) || defined( __SSE2__ )
+  glmm_store(dest, _mm_xor_ps(glmm_load(v), _mm_set1_ps(-0.0f)));
+#elif defined(CGLM_NEON_FP)
+  vst1q_f32(dest, veorq_s32(vld1q_f32(v), vdupq_n_f32(-0.0f)));
+#else
+  dest[0] = -v[0];
+  dest[1] = -v[1];
+  dest[2] = -v[2];
+  dest[3] = -v[3];
+#endif
+}
+
 /*!
 * @brief flip sign of all vec4 members
 *
@@ -521,75 +627,25 @@ glm_vec4_muladds(vec4 a, float s, vec4 dest) {
 */
 CGLM_INLINE
 void
-glm_vec4_flipsign(vec4 v) {
-#if defined( __SSE__ ) || defined( __SSE2__ )
-  glmm_store(v, _mm_xor_ps(glmm_load(v), _mm_set1_ps(-0.0f)));
-#else
-  v[0] = -v[0];
-  v[1] = -v[1];
-  v[2] = -v[2];
-  v[3] = -v[3];
-#endif
+glm_vec4_negate(vec4 v) {
+  glm_vec4_negate_to(v, v);
 }

 /*!
- * @brief flip sign of all vec4 members and store result in dest
- *
- * @param[in]  v     vector
- * @param[out] dest  vector
- */
-CGLM_INLINE
-void
-glm_vec4_flipsign_to(vec4 v, vec4 dest) {
-#if defined( __SSE__ ) || defined( __SSE2__ )
-  glmm_store(dest, _mm_xor_ps(glmm_load(v), _mm_set1_ps(-0.0f)));
-#else
-  dest[0] = -v[0];
-  dest[1] = -v[1];
-  dest[2] = -v[2];
-  dest[3] = -v[3];
-#endif
-}
-
-/*!
- * @brief make vector as inverse/opposite of itself
- *
- * @param[in, out]  v  vector
- */
-CGLM_INLINE
-void
-glm_vec4_inv(vec4 v) {
-  glm_vec4_flipsign(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);
-}
-
-/*!
- * @brief normalize vec4 to dest
- *
- * @param[in]  vec  source
- * @param[out] dest destination
- */
-CGLM_INLINE
-void
-glm_vec4_normalize_to(vec4 vec, vec4 dest) {
+glm_vec4_normalize_to(const vec4 v, vec4 dest) {
 #if defined( __SSE__ ) || defined( __SSE2__ )
  __m128 xdot, x0;
  float  dot;

-  x0   = glmm_load(vec);
-  xdot = glmm_dot(x0, x0);
+  x0   = glmm_load(v);
+  xdot = glmm_vdot(x0, x0);
  dot  = _mm_cvtss_f32(xdot);

  if (dot == 0.0f) {
@@ -601,14 +657,14 @@ glm_vec4_normalize_to(vec4 vec, vec4 dest) {
 #else
  float norm;

-  norm = glm_vec4_norm(vec);
+  norm = glm_vec4_norm(v);

  if (norm == 0.0f) {
    glm_vec4_zero(dest);
    return;
  }

-  glm_vec4_scale(vec, 1.0f / norm, dest);
+  glm_vec4_scale(v, 1.0f / norm, dest);
 #endif
 }

@@ -626,56 +682,66 @@ glm_vec4_normalize(vec4 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(const vec4 a, const vec4 b) {
+#if defined( __SSE__ ) || defined( __SSE2__ )
+  return glmm_norm(_mm_sub_ps(glmm_load(b), glmm_load(a)));
+#elif defined(CGLM_NEON_FP)
+  return glmm_norm(vsubq_f32(glmm_load(a), glmm_load(b)));
+#else
+  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]));
+#endif
 }

 /*!
 * @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) {
+glm_vec4_maxv(const vec4 a, const vec4 b, vec4 dest) {
 #if defined( __SSE__ ) || defined( __SSE2__ )
-  glmm_store(dest, _mm_max_ps(glmm_load(v1), glmm_load(v2)));
+  glmm_store(dest, _mm_max_ps(glmm_load(a), glmm_load(b)));
+#elif defined(CGLM_NEON_FP)
+  vst1q_f32(dest, vmaxq_f32(vld1q_f32(a), vld1q_f32(b)));
 #else
-  dest[0] = glm_max(v1[0], v2[0]);
-  dest[1] = glm_max(v1[1], v2[1]);
-  dest[2] = glm_max(v1[2], v2[2]);
-  dest[3] = glm_max(v1[3], v2[3]);
+  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) {
+glm_vec4_minv(const vec4 a, const vec4 b, vec4 dest) {
 #if defined( __SSE__ ) || defined( __SSE2__ )
-  glmm_store(dest, _mm_min_ps(glmm_load(v1), glmm_load(v2)));
+  glmm_store(dest, _mm_min_ps(glmm_load(a), glmm_load(b)));
+#elif defined(CGLM_NEON_FP)
+  vst1q_f32(dest, vminq_f32(vld1q_f32(a), vld1q_f32(b)));
 #else
-  dest[0] = glm_min(v1[0], v2[0]);
-  dest[1] = glm_min(v1[1], v2[1]);
-  dest[2] = glm_min(v1[2], v2[2]);
-  dest[3] = glm_min(v1[3], v2[3]);
+  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
 }

@@ -692,6 +758,9 @@ 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)));
+#elif defined(CGLM_NEON_FP)
+  vst1q_f32(v, vminq_f32(vmaxq_f32(vld1q_f32(v), vdupq_n_f32(minVal)),
+                         vdupq_n_f32(maxVal)));
 #else
  v[0] = glm_clamp(v[0], minVal, maxVal);
  v[1] = glm_clamp(v[1], minVal, maxVal);
@@ -712,14 +781,33 @@ glm_vec4_clamp(vec4 v, float minVal, float maxVal) {
 */
 CGLM_INLINE
 void
-glm_vec4_lerp(vec4 from, vec4 to, float t, vec4 dest) {
+glm_vec4_lerp(const vec4 from, const vec4 to, float t, vec4 dest) {
  vec4 s, v;

  /* from + s * (to - from) */
  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);
 }

+/*!
+ * @brief helper to fill vec4 as [S^3, S^2, S, 1]
+ *
+ * @param[in]   s    parameter
+ * @param[out]  dest destination
+ */
+CGLM_INLINE
+void
+glm_vec4_cubic(float s, vec4 dest) {
+  float ss;
+
+  ss = s * s;
+
+  dest[0] = ss * s;
+  dest[1] = ss;
+  dest[2] = s;
+  dest[3] = 1.0f;
+}
+
 #endif /* cglm_vec4_h */
--- 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 9
+#define CGLM_VERSION_MINOR 5
+#define CGLM_VERSION_PATCH 4

 #endif /* cglm_version_h */
--- a/makefile.am
+++ b/makefile.am
@@ -34,30 +34,32 @@ test_tests_CFLAGS  = $(checkCFLAGS)

 cglmdir=$(includedir)/cglm
 cglm_HEADERS = include/cglm/version.h \
-                  include/cglm/cglm.h \
-                  include/cglm/call.h \
-                  include/cglm/cam.h \
-                  include/cglm/io.h \
-                  include/cglm/mat4.h \
-                  include/cglm/mat3.h \
-                  include/cglm/types.h \
-                  include/cglm/common.h \
-                  include/cglm/affine.h \
-                  include/cglm/vec3.h \
-                  include/cglm/vec3-ext.h \
-                  include/cglm/vec4.h \
-                  include/cglm/vec4-ext.h \
-                  include/cglm/euler.h \
-                  include/cglm/util.h \
-                  include/cglm/quat.h \
-                  include/cglm/affine-mat.h \
-                  include/cglm/plane.h \
-                  include/cglm/frustum.h \
-                  include/cglm/box.h \
-                  include/cglm/color.h \
-                  include/cglm/project.h \
-                  include/cglm/sphere.h \
-                  include/cglm/ease.h
+               include/cglm/cglm.h \
+               include/cglm/call.h \
+               include/cglm/cam.h \
+               include/cglm/io.h \
+               include/cglm/mat4.h \
+               include/cglm/mat3.h \
+               include/cglm/types.h \
+               include/cglm/common.h \
+               include/cglm/affine.h \
+               include/cglm/vec3.h \
+               include/cglm/vec3-ext.h \
+               include/cglm/vec4.h \
+               include/cglm/vec4-ext.h \
+               include/cglm/euler.h \
+               include/cglm/util.h \
+               include/cglm/quat.h \
+               include/cglm/affine-mat.h \
+               include/cglm/plane.h \
+               include/cglm/frustum.h \
+               include/cglm/box.h \
+               include/cglm/color.h \
+               include/cglm/project.h \
+               include/cglm/sphere.h \
+               include/cglm/ease.h \
+               include/cglm/curve.h \
+               include/cglm/bezier.h

 cglm_calldir=$(includedir)/cglm/call
 cglm_call_HEADERS = include/cglm/call/mat4.h \
@@ -74,10 +76,14 @@ cglm_call_HEADERS = include/cglm/call/mat4.h \
                    include/cglm/call/box.h \
                    include/cglm/call/project.h \
                    include/cglm/call/sphere.h \
-                    include/cglm/call/ease.h
+                    include/cglm/call/ease.h \
+                    include/cglm/call/curve.h \
+                    include/cglm/call/bezier.h

 cglm_simddir=$(includedir)/cglm/simd
-cglm_simd_HEADERS = include/cglm/simd/intrin.h
+cglm_simd_HEADERS = include/cglm/simd/intrin.h \
+                    include/cglm/simd/x86.h \
+                    include/cglm/simd/arm.h

 cglm_simd_sse2dir=$(includedir)/cglm/simd/sse2
 cglm_simd_sse2_HEADERS = include/cglm/simd/sse2/affine.h \
@@ -107,7 +113,9 @@ libcglm_la_SOURCES=\
    src/box.c \
    src/project.c \
    src/sphere.c \
-    src/ease.c
+    src/ease.c \
+    src/curve.c \
+    src/bezier.c

 test_tests_SOURCES=\
    test/src/test_common.c \
@@ -121,7 +129,8 @@ test_tests_SOURCES=\
    test/src/test_vec4.c \
    test/src/test_vec3.c \
    test/src/test_mat3.c \
-    test/src/test_affine.c
+    test/src/test_affine.c \
+    test/src/test_bezier.c

 all-local:
 	sh ./post-build.sh
--- a/post-build.sh
+++ b/post-build.sh
@@ -8,12 +8,17 @@

 cd $(dirname "$0")

-mkdir -p .libs
+mkdir -p "$(pwd)/.libs"
+
+libmocka_folder=$(pwd)/test/lib/cmocka/build/src/

 if [ "$(uname)" = "Darwin" ]; then
-  ln -sf $(pwd)/test/lib/cmocka/build/src/libcmocka.0.dylib \
-      .libs/libcmocka.0.dylib;
+  libcmocka=libcmocka.0.dylib
 else
-  ln -sf $(pwd)/test/lib/cmocka/build/src/libcmocka.so.0 \
-      .libs/libcmocka.so.0;
+  libcmocka=libcmocka.so.0
+fi
+
+libcmocka_path="$libmocka_folder$libcmocka"
+if [ -f "$libcmocka_path" ]; then
+  ln -sf "$libcmocka_path" "$(pwd)/.libs/$libcmocka";
 fi
--- a/src/affine.c
+++ b/src/affine.c
@@ -10,19 +10,19 @@

 CGLM_EXPORT
 void
-glmc_translate_make(mat4 m, vec3 v) {
+glmc_translate_make(mat4 m, const vec3 v) {
  glm_translate_make(m, v);
 }

 CGLM_EXPORT
 void
-glmc_translate_to(mat4 m, vec3 v, mat4 dest) {
+glmc_translate_to(const mat4 m, const vec3 v, mat4 dest) {
  glm_translate_to(m, v, dest);
 }

 CGLM_EXPORT
 void
-glmc_translate(mat4 m, vec3 v) {
+glmc_translate(mat4 m, const vec3 v) {
  glm_translate(m, v);
 }

@@ -46,19 +46,19 @@ glmc_translate_z(mat4 m, float to) {

 CGLM_EXPORT
 void
-glmc_scale_make(mat4 m, vec3 v) {
+glmc_scale_make(mat4 m, const vec3 v) {
  glm_scale_make(m, v);
 }

 CGLM_EXPORT
 void
-glmc_scale_to(mat4 m, vec3 v, mat4 dest) {
+glmc_scale_to(const mat4 m, const vec3 v, mat4 dest) {
  glm_scale_to(m, v, dest);
 }

 CGLM_EXPORT
 void
-glmc_scale(mat4 m, vec3 v) {
+glmc_scale(mat4 m, const vec3 v) {
  glm_scale(m, v);
 }

@@ -70,79 +70,79 @@ glmc_scale_uni(mat4 m, float s) {

 CGLM_EXPORT
 void
-glmc_rotate_x(mat4 m, float rad, mat4 dest) {
+glmc_rotate_x(const mat4 m, float rad, mat4 dest) {
  glm_rotate_x(m, rad, dest);
 }

 CGLM_EXPORT
 void
-glmc_rotate_y(mat4 m, float rad, mat4 dest) {
+glmc_rotate_y(const mat4 m, float rad, mat4 dest) {
  glm_rotate_y(m, rad, dest);
 }

 CGLM_EXPORT
 void
-glmc_rotate_z(mat4 m, float rad, mat4 dest) {
+glmc_rotate_z(const mat4 m, float rad, mat4 dest) {
  glm_rotate_z(m, rad, dest);
 }

 CGLM_EXPORT
 void
-glmc_rotate_make(mat4 m, float angle, vec3 axis) {
+glmc_rotate_make(mat4 m, float angle, const vec3 axis) {
  glm_rotate_make(m, angle, axis);
 }

 CGLM_EXPORT
 void
-glmc_rotate(mat4 m, float angle, vec3 axis) {
+glmc_rotate(mat4 m, float angle, const vec3 axis) {
  glm_rotate(m, angle, axis);
 }

 CGLM_EXPORT
 void
-glmc_rotate_at(mat4 m, vec3 pivot, float angle, vec3 axis) {
+glmc_rotate_at(mat4 m, const vec3 pivot, float angle, const vec3 axis) {
  glm_rotate_at(m, pivot, angle, axis);
 }

 CGLM_EXPORT
 void
-glmc_rotate_atm(mat4 m, vec3 pivot, float angle, vec3 axis) {
+glmc_rotate_atm(mat4 m, const vec3 pivot, float angle, const vec3 axis) {
  glm_rotate_atm(m, pivot, angle, axis);
 }

 CGLM_EXPORT
 void
-glmc_decompose_scalev(mat4 m, vec3 s) {
+glmc_decompose_scalev(const mat4 m, vec3 s) {
  glm_decompose_scalev(m, s);
 }

 CGLM_EXPORT
 bool
-glmc_uniscaled(mat4 m) {
+glmc_uniscaled(const mat4 m) {
  return glm_uniscaled(m);
 }

 CGLM_EXPORT
 void
-glmc_decompose_rs(mat4 m, mat4 r, vec3 s) {
+glmc_decompose_rs(const mat4 m, mat4 r, vec3 s) {
  glm_decompose_rs(m, r, s);
 }

 CGLM_EXPORT
 void
-glmc_decompose(mat4 m, vec4 t, mat4 r, vec3 s) {
+glmc_decompose(const 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) {
+glmc_mul(const mat4 m1, const mat4 m2, mat4 dest) {
  glm_mul(m1, m2, dest);
 }

 CGLM_EXPORT
 void
-glmc_mul_rot(mat4 m1, mat4 m2, mat4 dest) {
+glmc_mul_rot(const mat4 m1, const mat4 m2, mat4 dest) {
  glm_mul_rot(m1, m2, dest);
 }

--- a/src/bezier.c
+++ b/src/bezier.c
@@ -0,0 +1,27 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), http://opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+#include "../include/cglm/cglm.h"
+#include "../include/cglm/call.h"
+
+CGLM_EXPORT
+float
+glmc_bezier(float s, float p0, float c0, float c1, float p1) {
+  return glm_bezier(s, p0, c0, c1, p1);
+}
+
+CGLM_EXPORT
+float
+glmc_hermite(float s, float p0, float t0, float t1, float p1) {
+  return glm_hermite(s, p0, t0, t1, p1);
+}
+
+CGLM_EXPORT
+float
+glmc_decasteljau(float prm, float p0, float c0, float c1, float p1) {
+  return glm_decasteljau(prm, p0, c0, c1, p1);
+}
--- a/src/box.c
+++ b/src/box.c
@@ -10,34 +10,34 @@

 CGLM_EXPORT
 void
-glmc_aabb_transform(vec3 box[2], mat4 m, vec3 dest[2]) {
+glmc_aabb_transform(const vec3 box[2], const mat4 m, vec3 dest[2]) {
  glm_aabb_transform(box, m, dest);
 }

 CGLM_EXPORT
 void
-glmc_aabb_merge(vec3 box1[2], vec3 box2[2], vec3 dest[2]) {
+glmc_aabb_merge(const vec3 box1[2], const vec3 box2[2], vec3 dest[2]) {
  glm_aabb_merge(box1, box2, dest);
 }

 CGLM_EXPORT
 void
-glmc_aabb_crop(vec3 box[2], vec3 cropBox[2], vec3 dest[2]) {
+glmc_aabb_crop(const vec3 box[2], const vec3 cropBox[2], vec3 dest[2]) {
  glm_aabb_crop(box, cropBox, dest);
 }

 CGLM_EXPORT
 void
-glmc_aabb_crop_until(vec3 box[2],
-                     vec3 cropBox[2],
-                     vec3 clampBox[2],
-                     vec3 dest[2]) {
+glmc_aabb_crop_until(const vec3 box[2],
+                     const vec3 cropBox[2],
+                     const vec3 clampBox[2],
+                     vec3       dest[2]) {
  glm_aabb_crop_until(box, cropBox, clampBox, dest);
 }

 CGLM_EXPORT
 bool
-glmc_aabb_frustum(vec3 box[2], vec4 planes[6]) {
+glmc_aabb_frustum(const vec3 box[2], vec4 planes[6]) {
  return glm_aabb_frustum(box, planes);
 }

@@ -49,48 +49,48 @@ glmc_aabb_invalidate(vec3 box[2]) {

 CGLM_EXPORT
 bool
-glmc_aabb_isvalid(vec3 box[2]) {
+glmc_aabb_isvalid(const vec3 box[2]) {
  return glm_aabb_isvalid(box);
 }

 CGLM_EXPORT
 float
-glmc_aabb_size(vec3 box[2]) {
+glmc_aabb_size(const vec3 box[2]) {
  return glm_aabb_size(box);
 }

 CGLM_EXPORT
 float
-glmc_aabb_radius(vec3 box[2]) {
+glmc_aabb_radius(const vec3 box[2]) {
  return glm_aabb_radius(box);
 }

 CGLM_EXPORT
 void
-glmc_aabb_center(vec3 box[2], vec3 dest) {
+glmc_aabb_center(const vec3 box[2], vec3 dest) {
  glm_aabb_center(box, dest);
 }

 CGLM_EXPORT
 bool
-glmc_aabb_aabb(vec3 box[2], vec3 other[2]) {
+glmc_aabb_aabb(const vec3 box[2], const vec3 other[2]) {
  return glm_aabb_aabb(box, other);
 }

 CGLM_EXPORT
 bool
-glmc_aabb_point(vec3 box[2], vec3 point) {
+glmc_aabb_point(const vec3 box[2], const vec3 point) {
  return glm_aabb_point(box, point);
 }

 CGLM_EXPORT
 bool
-glmc_aabb_contains(vec3 box[2], vec3 other[2]) {
+glmc_aabb_contains(const vec3 box[2], const vec3 other[2]) {
  return glm_aabb_contains(box, other);
 }

 CGLM_EXPORT
 bool
-glmc_aabb_sphere(vec3 box[2], vec4 s) {
+glmc_aabb_sphere(const vec3 box[2], const vec4 s) {
  return glm_aabb_sphere(box, s);
 }
--- a/src/cam.c
+++ b/src/cam.c
@@ -16,7 +16,7 @@ glmc_frustum(float left,
             float top,
             float nearVal,
             float farVal,
-             mat4 dest) {
+             mat4  dest) {
  glm_frustum(left,
              right,
              bottom,
@@ -34,7 +34,7 @@ glmc_ortho(float left,
           float top,
           float nearVal,
           float farVal,
-           mat4 dest) {
+           mat4  dest) {
  glm_ortho(left,
            right,
            bottom,
@@ -46,19 +46,19 @@ glmc_ortho(float left,

 CGLM_EXPORT
 void
-glmc_ortho_aabb(vec3 box[2], mat4 dest) {
+glmc_ortho_aabb(const vec3 box[2], mat4 dest) {
  glm_ortho_aabb(box, dest);
 }

 CGLM_EXPORT
 void
-glmc_ortho_aabb_p(vec3 box[2], float padding, mat4 dest) {
+glmc_ortho_aabb_p(const 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) {
+glmc_ortho_aabb_pz(const vec3 box[2], float padding, mat4 dest) {
  glm_ortho_aabb_pz(box, padding, dest);
 }

@@ -80,7 +80,7 @@ glmc_perspective(float fovy,
                 float aspect,
                 float nearVal,
                 float farVal,
-                 mat4 dest) {
+                 mat4  dest) {
  glm_perspective(fovy,
                  aspect,
                  nearVal,
@@ -88,6 +88,12 @@ 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) {
@@ -102,28 +108,28 @@ glmc_perspective_resize(float aspect, mat4 proj) {

 CGLM_EXPORT
 void
-glmc_lookat(vec3 eye,
-            vec3 center,
-            vec3 up,
-            mat4 dest) {
+glmc_lookat(const vec3 eye,
+            const vec3 center,
+            const vec3 up,
+            mat4       dest) {
  glm_lookat(eye, center, up, dest);
 }

 CGLM_EXPORT
 void
-glmc_look(vec3 eye, vec3 dir, vec3 up, mat4 dest) {
+glmc_look(const vec3 eye, const vec3 dir, const vec3 up, mat4 dest) {
  glm_look(eye, dir, up, dest);
 }

 CGLM_EXPORT
 void
-glmc_look_anyup(vec3 eye, vec3 dir, mat4 dest) {
+glmc_look_anyup(const vec3 eye, const vec3 dir, mat4 dest) {
  glm_look_anyup(eye, dir, dest);
 }

 CGLM_EXPORT
 void
-glmc_persp_decomp(mat4 proj,
+glmc_persp_decomp(const mat4 proj,
                  float * __restrict nearVal,
                  float * __restrict farVal,
                  float * __restrict top,
@@ -135,13 +141,13 @@ glmc_persp_decomp(mat4 proj,

 CGLM_EXPORT
 void
-glmc_persp_decompv(mat4 proj, float dest[6]) {
+glmc_persp_decompv(const mat4 proj, float dest[6]) {
  glm_persp_decompv(proj, dest);
 }

 CGLM_EXPORT
 void
-glmc_persp_decomp_x(mat4 proj,
+glmc_persp_decomp_x(const mat4 proj,
                    float * __restrict left,
                    float * __restrict right) {
  glm_persp_decomp_x(proj, left, right);
@@ -149,7 +155,7 @@ glmc_persp_decomp_x(mat4 proj,

 CGLM_EXPORT
 void
-glmc_persp_decomp_y(mat4 proj,
+glmc_persp_decomp_y(const mat4 proj,
                    float * __restrict top,
                    float * __restrict bottom) {
  glm_persp_decomp_y(proj, top, bottom);
@@ -157,7 +163,7 @@ glmc_persp_decomp_y(mat4 proj,

 CGLM_EXPORT
 void
-glmc_persp_decomp_z(mat4 proj,
+glmc_persp_decomp_z(const mat4 proj,
                    float * __restrict nearVal,
                    float * __restrict farVal) {
  glm_persp_decomp_z(proj, nearVal, farVal);
@@ -165,30 +171,30 @@ glmc_persp_decomp_z(mat4 proj,

 CGLM_EXPORT
 void
-glmc_persp_decomp_far(mat4 proj, float * __restrict farVal) {
+glmc_persp_decomp_far(const mat4 proj, float * __restrict farVal) {
  glm_persp_decomp_far(proj, farVal);
 }

 CGLM_EXPORT
 void
-glmc_persp_decomp_near(mat4 proj, float * __restrict nearVal) {
+glmc_persp_decomp_near(const mat4 proj, float * __restrict nearVal) {
  glm_persp_decomp_near(proj, nearVal);
 }

 CGLM_EXPORT
 float
-glmc_persp_fovy(mat4 proj) {
+glmc_persp_fovy(const mat4 proj) {
  return glm_persp_fovy(proj);
 }

 CGLM_EXPORT
 float
-glmc_persp_aspect(mat4 proj) {
+glmc_persp_aspect(const mat4 proj) {
  return glm_persp_aspect(proj);
 }

 CGLM_EXPORT
 void
-glmc_persp_sizes(mat4 proj, float fovy, vec4 dest) {
+glmc_persp_sizes(const mat4 proj, float fovy, vec4 dest) {
  glm_persp_sizes(proj, fovy, dest);
 }
--- a/src/curve.c
+++ b/src/curve.c
@@ -0,0 +1,15 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), http://opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+#include "../include/cglm/cglm.h"
+#include "../include/cglm/call.h"
+
+CGLM_EXPORT
+float
+glmc_smc(float s, const mat4 m, const vec4 c) {
+  return glm_smc(s, m, c);
+}
--- a/src/euler.c
+++ b/src/euler.c
@@ -10,54 +10,54 @@

 CGLM_EXPORT
 void
-glmc_euler_angles(mat4 m, vec3 dest) {
+glmc_euler_angles(const mat4 m, vec3 dest) {
  glm_euler_angles(m, dest);
 }

 CGLM_EXPORT
 void
-glmc_euler(vec3 angles, mat4 dest) {
+glmc_euler(const vec3 angles, mat4 dest) {
  glm_euler(angles, dest);
 }

 CGLM_EXPORT
 void
-glmc_euler_xyz(vec3 angles,  mat4 dest) {
+glmc_euler_xyz(const vec3 angles,  mat4 dest) {
  glm_euler_xyz(angles, dest);
 }

 CGLM_EXPORT
 void
-glmc_euler_zyx(vec3 angles,  mat4 dest) {
+glmc_euler_zyx(const vec3 angles,  mat4 dest) {
  glm_euler_zyx(angles, dest);
 }

 CGLM_EXPORT
 void
-glmc_euler_zxy(vec3 angles, mat4 dest) {
+glmc_euler_zxy(const vec3 angles, mat4 dest) {
  glm_euler_zxy(angles, dest);
 }

 CGLM_EXPORT
 void
-glmc_euler_xzy(vec3 angles, mat4 dest) {
+glmc_euler_xzy(const vec3 angles, mat4 dest) {
  glm_euler_xzy(angles, dest);
 }

 CGLM_EXPORT
 void
-glmc_euler_yzx(vec3 angles, mat4 dest) {
+glmc_euler_yzx(const vec3 angles, mat4 dest) {
  glm_euler_yzx(angles, dest);
 }

 CGLM_EXPORT
 void
-glmc_euler_yxz(vec3 angles, mat4 dest) {
+glmc_euler_yxz(const vec3 angles, mat4 dest) {
  glm_euler_yxz(angles, dest);
 }

 CGLM_EXPORT
 void
-glmc_euler_by_order(vec3 angles, glm_euler_sq axis, mat4 dest) {
+glmc_euler_by_order(const vec3 angles, glm_euler_sq axis, mat4 dest) {
  glm_euler_by_order(angles, axis, dest);
 }
--- a/src/frustum.c
+++ b/src/frustum.c
@@ -10,33 +10,33 @@

 CGLM_EXPORT
 void
-glmc_frustum_planes(mat4 m, vec4 dest[6]) {
+glmc_frustum_planes(const mat4 m, vec4 dest[6]) {
  glm_frustum_planes(m, dest);
 }

 CGLM_EXPORT
 void
-glmc_frustum_corners(mat4 invMat, vec4 dest[8]) {
+glmc_frustum_corners(const mat4 invMat, vec4 dest[8]) {
  glm_frustum_corners(invMat, dest);
 }

 CGLM_EXPORT
 void
-glmc_frustum_center(vec4 corners[8], vec4 dest) {
+glmc_frustum_center(const vec4 corners[8], vec4 dest) {
  glm_frustum_center(corners, dest);
 }

 CGLM_EXPORT
 void
-glmc_frustum_box(vec4 corners[8], mat4 m, vec3 box[2]) {
+glmc_frustum_box(const vec4 corners[8], const mat4 m, vec3 box[2]) {
  glm_frustum_box(corners, m, box);
 }

 CGLM_EXPORT
 void
-glmc_frustum_corners_at(vec4  corners[8],
-                        float splitDist,
-                        float farDist,
-                        vec4  planeCorners[4]) {
+glmc_frustum_corners_at(const vec4 corners[8],
+                        float      splitDist,
+                        float      farDist,
+                        vec4       planeCorners[4]) {
  glm_frustum_corners_at(corners, splitDist, farDist, planeCorners);
 }
--- a/src/io.c
+++ b/src/io.c
@@ -10,35 +10,35 @@

 CGLM_EXPORT
 void
-glmc_mat4_print(mat4   matrix,
-                FILE * __restrict ostream) {
+glmc_mat4_print(const mat4   matrix,
+                FILE * const __restrict ostream) {
  glm_mat4_print(matrix, ostream);
 }

 CGLM_EXPORT
 void
-glmc_mat3_print(mat3 matrix,
-                FILE * __restrict ostream) {
+glmc_mat3_print(const mat3 matrix,
+                FILE * const __restrict ostream) {
  glm_mat3_print(matrix, ostream);
 }

 CGLM_EXPORT
 void
-glmc_vec4_print(vec4 vec,
-                FILE * __restrict ostream) {
+glmc_vec4_print(const vec4 vec,
+                FILE * const __restrict ostream) {
  glm_vec4_print(vec, ostream);
 }

 CGLM_EXPORT
 void
-glmc_vec3_print(vec3 vec,
-                FILE * __restrict ostream) {
+glmc_vec3_print(const vec3 vec,
+                FILE * const __restrict ostream) {
  glm_vec3_print(vec, ostream);
 }

 CGLM_EXPORT
 void
-glmc_versor_print(versor vec,
-                  FILE * __restrict ostream) {
+glmc_versor_print(const versor vec,
+                  FILE * const __restrict ostream) {
  glm_versor_print(vec, ostream);
 }
--- a/src/mat3.c
+++ b/src/mat3.c
@@ -10,7 +10,7 @@

 CGLM_EXPORT
 void
-glmc_mat3_copy(mat3 mat, mat3 dest) {
+glmc_mat3_copy(const mat3 mat, mat3 dest) {
  glm_mat3_copy(mat, dest);
 }

@@ -22,19 +22,19 @@ glmc_mat3_identity(mat3 mat) {

 CGLM_EXPORT
 void
-glmc_mat3_identity_array(mat3 * __restrict mat, size_t count) {
+glmc_mat3_identity_array(mat3 * const  __restrict mat, size_t count) {
  glm_mat3_identity_array(mat, count);
 }

 CGLM_EXPORT
 void
-glmc_mat3_mul(mat3 m1, mat3 m2, mat3 dest) {
+glmc_mat3_mul(const mat3 m1, const mat3 m2, mat3 dest) {
  glm_mat3_mul(m1, m2, dest);
 }

 CGLM_EXPORT
 void
-glmc_mat3_transpose_to(mat3 m, mat3 dest) {
+glmc_mat3_transpose_to(const mat3 m, mat3 dest) {
  glm_mat3_transpose_to(m, dest);
 }

@@ -46,13 +46,19 @@ glmc_mat3_transpose(mat3 m) {

 CGLM_EXPORT
 void
-glmc_mat3_mulv(mat3 m, vec3 v, vec3 dest) {
+glmc_mat3_mulv(const mat3 m, const vec3 v, vec3 dest) {
  glm_mat3_mulv(m, v, dest);
 }

+CGLM_EXPORT
+float
+glmc_mat3_trace(const mat3 m) {
+  return glm_mat3_trace(m);
+}
+
 CGLM_EXPORT
 void
-glmc_mat3_quat(mat3 m, versor dest) {
+glmc_mat3_quat(const mat3 m, versor dest) {
  glm_mat3_quat(m, dest);
 }

@@ -64,13 +70,13 @@ glmc_mat3_scale(mat3 m, float s) {

 CGLM_EXPORT
 float
-glmc_mat3_det(mat3 mat) {
+glmc_mat3_det(const mat3 mat) {
  return glm_mat3_det(mat);
 }

 CGLM_EXPORT
 void
-glmc_mat3_inv(mat3 mat, mat3 dest) {
+glmc_mat3_inv(const mat3 mat, mat3 dest) {
  glm_mat3_inv(mat, dest);
 }

@@ -85,3 +91,9 @@ void
 glmc_mat3_swap_row(mat3 mat, int row1, int row2) {
  glm_mat3_swap_row(mat, row1, row2);
 }
+
+CGLM_EXPORT
+float
+glmc_mat3_rmc(const vec3 r, const mat3 m, const vec3 c) {
+  return glm_mat3_rmc(r, m, c);
+}
--- a/src/mat4.c
+++ b/src/mat4.c
@@ -10,13 +10,13 @@

 CGLM_EXPORT
 void
-glmc_mat4_ucopy(mat4 mat, mat4 dest) {
+glmc_mat4_ucopy(const mat4 mat, mat4 dest) {
  glm_mat4_copy(mat, dest);
 }

 CGLM_EXPORT
 void
-glmc_mat4_copy(mat4 mat, mat4 dest) {
+glmc_mat4_copy(const mat4 mat, mat4 dest) {
  glm_mat4_copy(mat, dest);
 }

@@ -28,61 +28,73 @@ glmc_mat4_identity(mat4 mat) {

 CGLM_EXPORT
 void
-glmc_mat4_identity_array(mat4 * __restrict mat, size_t count) {
+glmc_mat4_identity_array(mat4 * const __restrict mat, size_t count) {
  glm_mat4_identity_array(mat, count);
 }

 CGLM_EXPORT
 void
-glmc_mat4_pick3(mat4 mat, mat3 dest) {
+glmc_mat4_pick3(const mat4 mat, mat3 dest) {
  glm_mat4_pick3(mat, dest);
 }

 CGLM_EXPORT
 void
-glmc_mat4_pick3t(mat4 mat, mat3 dest) {
+glmc_mat4_pick3t(const mat4 mat, mat3 dest) {
  glm_mat4_pick3t(mat, dest);
 }

 CGLM_EXPORT
 void
-glmc_mat4_ins3(mat3 mat, mat4 dest) {
+glmc_mat4_ins3(const mat3 mat, mat4 dest) {
  glm_mat4_ins3(mat, dest);
 }

 CGLM_EXPORT
 void
-glmc_mat4_mul(mat4 m1, mat4 m2, mat4 dest) {
+glmc_mat4_mul(const mat4 m1, const mat4 m2, mat4 dest) {
  glm_mat4_mul(m1, m2, dest);
 }

 CGLM_EXPORT
 void
-glmc_mat4_mulN(mat4 * __restrict matrices[], uint32_t len, mat4 dest) {
+glmc_mat4_mulN(mat4 * const __restrict matrices[], uint32_t len, mat4 dest) {
  glm_mat4_mulN(matrices, len, dest);
 }

 CGLM_EXPORT
 void
-glmc_mat4_mulv(mat4 m, vec4 v, vec4 dest) {
+glmc_mat4_mulv(const mat4 m, const vec4 v, vec4 dest) {
  glm_mat4_mulv(m, v, dest);
 }

 CGLM_EXPORT
 void
-glmc_mat4_mulv3(mat4 m, vec3 v, float last, vec3 dest) {
+glmc_mat4_mulv3(const mat4 m, const vec3 v, float last, vec3 dest) {
  glm_mat4_mulv3(m, v, last, dest);
 }

+CGLM_EXPORT
+float
+glmc_mat4_trace(const mat4 m) {
+  return glm_mat4_trace(m);
+}
+
+CGLM_EXPORT
+float
+glmc_mat4_trace3(const mat4 m) {
+  return glm_mat4_trace3(m);
+}
+
 CGLM_EXPORT
 void
-glmc_mat4_quat(mat4 m, versor dest) {
+glmc_mat4_quat(const mat4 m, versor dest) {
  glm_mat4_quat(m, dest);
 }

 CGLM_EXPORT
 void
-glmc_mat4_transpose_to(mat4 m, mat4 dest) {
+glmc_mat4_transpose_to(const mat4 m, mat4 dest) {
  glm_mat4_transpose_to(m, dest);
 }

@@ -106,25 +118,25 @@ glmc_mat4_scale(mat4 m, float s) {

 CGLM_EXPORT
 float
-glmc_mat4_det(mat4 mat) {
+glmc_mat4_det(const mat4 mat) {
  return glm_mat4_det(mat);
 }

 CGLM_EXPORT
 void
-glmc_mat4_inv(mat4 mat, mat4 dest) {
+glmc_mat4_inv(const mat4 mat, mat4 dest) {
  glm_mat4_inv(mat, dest);
 }

 CGLM_EXPORT
 void
-glmc_mat4_inv_precise(mat4 mat, mat4 dest) {
+glmc_mat4_inv_precise(const mat4 mat, mat4 dest) {
  glm_mat4_inv_precise(mat, dest);
 }

 CGLM_EXPORT
 void
-glmc_mat4_inv_fast(mat4 mat, mat4 dest) {
+glmc_mat4_inv_fast(const mat4 mat, mat4 dest) {
  glm_mat4_inv_fast(mat, dest);
 }

@@ -139,3 +151,9 @@ void
 glmc_mat4_swap_row(mat4 mat, int row1, int row2) {
  glm_mat4_swap_row(mat, row1, row2);
 }
+
+CGLM_EXPORT
+float
+glmc_mat4_rmc(const vec4 r, const mat4 m, const vec4 c) {
+  return glm_mat4_rmc(r, m, c);
+}
--- a/src/project.c
+++ b/src/project.c
@@ -10,18 +10,18 @@

 CGLM_EXPORT
 void
-glmc_unprojecti(vec3 pos, mat4 invMat, vec4 vp, vec3 dest) {
+glmc_unprojecti(const vec3 pos, const mat4 invMat, const vec4 vp, vec3 dest) {
  glm_unprojecti(pos, invMat, vp, dest);
 }

 CGLM_EXPORT
 void
-glmc_unproject(vec3 pos, mat4 m, vec4 vp, vec3 dest) {
+glmc_unproject(const vec3 pos, const mat4 m, const vec4 vp, vec3 dest) {
  glm_unproject(pos, m, vp, dest);
 }

 CGLM_EXPORT
 void
-glmc_project(vec3 pos, mat4 m, vec4 vp, vec3 dest) {
+glmc_project(const vec3 pos, const mat4 m, const vec4 vp, vec3 dest) {
  glm_project(pos, m, vp, dest);
 }
--- a/src/quat.c
+++ b/src/quat.c
@@ -16,7 +16,7 @@ glmc_quat_identity(versor q) {

 CGLM_EXPORT
 void
-glmc_quat_identity_array(versor * __restrict q, size_t count) {
+glmc_quat_identity_array(versor * const __restrict q, size_t count) {
  glm_quat_identity_array(q, count);
 }

@@ -34,25 +34,25 @@ glmc_quat(versor q, float angle, float x, float y, float z) {

 CGLM_EXPORT
 void
-glmc_quatv(versor q, float angle, vec3 axis) {
+glmc_quatv(versor q, float angle, const vec3 axis) {
  glm_quatv(q, angle, axis);
 }

 CGLM_EXPORT
 void
-glmc_quat_copy(versor q, versor dest) {
+glmc_quat_copy(const versor q, versor dest) {
  glm_quat_copy(q, dest);
 }

 CGLM_EXPORT
 float
-glmc_quat_norm(versor q) {
+glmc_quat_norm(const versor q) {
  return glm_quat_norm(q);
 }

 CGLM_EXPORT
 void
-glmc_quat_normalize_to(versor q, versor dest) {
+glmc_quat_normalize_to(const versor q, versor dest) {
  glm_quat_normalize_to(q, dest);
 }

@@ -64,150 +64,154 @@ glmc_quat_normalize(versor q) {

 CGLM_EXPORT
 float
-glmc_quat_dot(versor p, versor q) {
+glmc_quat_dot(const versor p, const versor q) {
  return glm_quat_dot(p, q);
 }

 CGLM_EXPORT
 void
-glmc_quat_conjugate(versor q, versor dest) {
+glmc_quat_conjugate(const versor q, versor dest) {
  glm_quat_conjugate(q, dest);
 }

 CGLM_EXPORT
 void
-glmc_quat_inv(versor q, versor dest) {
+glmc_quat_inv(const versor q, versor dest) {
  glm_quat_inv(q, dest);
 }

 CGLM_EXPORT
 void
-glmc_quat_add(versor p, versor q, versor dest) {
+glmc_quat_add(const versor p, const versor q, versor dest) {
  glm_quat_add(p, q, dest);
 }

 CGLM_EXPORT
 void
-glmc_quat_sub(versor p, versor q, versor dest) {
+glmc_quat_sub(const versor p, const versor q, versor dest) {
  glm_quat_sub(p, q, dest);
 }

 CGLM_EXPORT
 float
-glmc_quat_real(versor q) {
+glmc_quat_real(const versor q) {
  return glm_quat_real(q);
 }

 CGLM_EXPORT
 void
-glmc_quat_imag(versor q, vec3 dest) {
+glmc_quat_imag(const versor q, vec3 dest) {
  glm_quat_imag(q, dest);
 }

 CGLM_EXPORT
 void
-glmc_quat_imagn(versor q, vec3 dest) {
+glmc_quat_imagn(const versor q, vec3 dest) {
  glm_quat_imagn(q, dest);
 }

 CGLM_EXPORT
 float
-glmc_quat_imaglen(versor q) {
+glmc_quat_imaglen(const versor q) {
  return glm_quat_imaglen(q);
 }

 CGLM_EXPORT
 float
-glmc_quat_angle(versor q) {
+glmc_quat_angle(const versor q) {
  return glm_quat_angle(q);
 }

 CGLM_EXPORT
 void
-glmc_quat_axis(versor q, versor dest) {
+glmc_quat_axis(const versor q, versor dest) {
  glm_quat_axis(q, dest);
 }

 CGLM_EXPORT
 void
-glmc_quat_mul(versor p, versor q, versor dest) {
+glmc_quat_mul(const versor p, const versor q, versor dest) {
  glm_quat_mul(p, q, dest);
 }

 CGLM_EXPORT
 void
-glmc_quat_mat4(versor q, mat4 dest) {
+glmc_quat_mat4(const versor q, mat4 dest) {
  glm_quat_mat4(q, dest);
 }

 CGLM_EXPORT
 void
-glmc_quat_mat4t(versor q, mat4 dest) {
+glmc_quat_mat4t(const versor q, mat4 dest) {
  glm_quat_mat4t(q, dest);
 }

 CGLM_EXPORT
 void
-glmc_quat_mat3(versor q, mat3 dest) {
+glmc_quat_mat3(const versor q, mat3 dest) {
  glm_quat_mat3(q, dest);
 }

 CGLM_EXPORT
 void
-glmc_quat_mat3t(versor q, mat3 dest) {
+glmc_quat_mat3t(const versor q, mat3 dest) {
  glm_quat_mat3t(q, dest);
 }

 CGLM_EXPORT
 void
-glmc_quat_lerp(versor from, versor to, float t, versor dest) {
+glmc_quat_lerp(const versor from, const versor to, float t, versor dest) {
  glm_quat_lerp(from, to, t, dest);
 }

 CGLM_EXPORT
 void
-glmc_quat_slerp(versor from, versor to, float t, versor dest) {
+glmc_quat_slerp(const versor from, const versor to, float t, versor dest) {
  glm_quat_slerp(from, to, t, dest);
 }

 CGLM_EXPORT
 void
-glmc_quat_look(vec3 eye, versor ori, mat4 dest) {
+glmc_quat_look(const vec3 eye, const versor ori, mat4 dest) {
  glm_quat_look(eye, ori, dest);
 }

 CGLM_EXPORT
 void
-glmc_quat_for(vec3 dir, vec3 fwd, vec3 up, versor dest) {
+glmc_quat_for(const vec3 dir, const vec3 fwd, const vec3 up, versor dest) {
  glm_quat_for(dir, fwd, up, dest);
 }

 CGLM_EXPORT
 void
-glmc_quat_forp(vec3 from, vec3 to, vec3 fwd, vec3 up, versor dest) {
+glmc_quat_forp(const vec3 from,
+               const vec3 to,
+               const vec3 fwd,
+               const vec3 up,
+               versor     dest) {
  glm_quat_forp(from, to, fwd, up, dest);
 }

 CGLM_EXPORT
 void
-glmc_quat_rotatev(versor q, vec3 v, vec3 dest) {
+glmc_quat_rotatev(const versor q, const vec3 v, vec3 dest) {
  glm_quat_rotatev(q, v, dest);
 }

 CGLM_EXPORT
 void
-glmc_quat_rotate(mat4 m, versor q, mat4 dest) {
+glmc_quat_rotate(const mat4 m, const versor q, mat4 dest) {
  glm_quat_rotate(m, q, dest);
 }

 CGLM_EXPORT
 void
-glmc_quat_rotate_at(mat4 model, versor q, vec3 pivot) {
+glmc_quat_rotate_at(mat4 model, const versor q, const vec3 pivot) {
  glm_quat_rotate_at(model, q, pivot);
 }

 CGLM_EXPORT
 void
-glmc_quat_rotate_atm(mat4 m, versor q, vec3 pivot) {
+glmc_quat_rotate_atm(mat4 m, const versor q, const vec3 pivot) {
  glm_quat_rotate_atm(m, q, pivot);
 }
--- a/src/sphere.c
+++ b/src/sphere.c
@@ -10,30 +10,30 @@

 CGLM_EXPORT
 float
-glmc_sphere_radii(vec4 s) {
+glmc_sphere_radii(const vec4 s) {
  return glm_sphere_radii(s);
 }

 CGLM_EXPORT
 void
-glmc_sphere_transform(vec4 s, mat4 m, vec4 dest) {
+glmc_sphere_transform(const vec4 s, const mat4 m, vec4 dest) {
  glm_sphere_transform(s, m, dest);
 }

 CGLM_EXPORT
 void
-glmc_sphere_merge(vec4 s1, vec4 s2, vec4 dest) {
+glmc_sphere_merge(const vec4 s1, const vec4 s2, vec4 dest) {
  glm_sphere_merge(s1, s2, dest);
 }

 CGLM_EXPORT
 bool
-glmc_sphere_sphere(vec4 s1, vec4 s2) {
+glmc_sphere_sphere(const vec4 s1, const vec4 s2) {
  return glm_sphere_sphere(s1, s2);
 }

 CGLM_EXPORT
 bool
-glmc_sphere_point(vec4 s, vec3 point) {
+glmc_sphere_point(const vec4 s, const vec3 point) {
  return glm_sphere_point(s, point);
 }
--- a/src/vec3.c
+++ b/src/vec3.c
@@ -10,326 +10,332 @@

 CGLM_EXPORT
 void
-glmc_vec3(vec4 v4, vec3 dest) {
+glmc_vec3(const vec4 v4, vec3 dest) {
  glm_vec3(v4, dest);
 }

 CGLM_EXPORT
 void
-glmc_vec_copy(vec3 a, vec3 dest) {
-  glm_vec_copy(a, dest);
+glmc_vec3_copy(const vec3 a, vec3 dest) {
+  glm_vec3_copy(a, dest);
 }

 CGLM_EXPORT
 void
-glmc_vec_zero(vec3 v) {
-  glm_vec_zero(v);
+glmc_vec3_zero(vec3 v) {
+  glm_vec3_zero(v);
 }

 CGLM_EXPORT
 void
-glmc_vec_one(vec3 v) {
-  glm_vec_one(v);
+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(const vec3 a, const 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(const vec3 a, const vec3 b, vec3 dest) {
+  glm_vec3_cross(a, b, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_vec3_crossn(const vec3 a, const 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(const 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(const 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(const 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(const vec3 a, const vec3 b, vec3 dest) {
+  glm_vec3_add(a, b, dest);
 }

 CGLM_EXPORT
 void
-glmc_vec_adds(vec3 v, float s, vec3 dest) {
-  glm_vec_adds(v, s, dest);
+glmc_vec3_adds(const vec3 v, float s, vec3 dest) {
+  glm_vec3_adds(v, s, dest);
 }

 CGLM_EXPORT
 void
-glmc_vec_sub(vec3 a, vec3 b, vec3 dest) {
-  glm_vec_sub(a, b, dest);
+glmc_vec3_sub(const vec3 a, const vec3 b, vec3 dest) {
+  glm_vec3_sub(a, b, dest);
 }

 CGLM_EXPORT
 void
-glmc_vec_subs(vec3 v, float s, vec3 dest) {
-  glm_vec_subs(v, s, dest);
+glmc_vec3_subs(const vec3 v, float s, vec3 dest) {
+  glm_vec3_subs(v, s, dest);
 }

 CGLM_EXPORT
 void
-glmc_vec_mul(vec3 a, vec3 b, vec3 d) {
-  glm_vec_mul(a, b, d);
+glmc_vec3_mul(const vec3 a, const vec3 b, vec3 d) {
+  glm_vec3_mul(a, b, d);
 }

 CGLM_EXPORT
 void
-glmc_vec_scale(vec3 v, float s, vec3 dest) {
-  glm_vec_scale(v, s, dest);
+glmc_vec3_scale(const vec3 v, float s, vec3 dest) {
+  glm_vec3_scale(v, s, dest);
 }

 CGLM_EXPORT
 void
-glmc_vec_scale_as(vec3 v, float s, vec3 dest) {
-  glm_vec_scale_as(v, s, dest);
+glmc_vec3_scale_as(const vec3 v, float s, vec3 dest) {
+  glm_vec3_scale_as(v, s, dest);
 }

 CGLM_EXPORT
 void
-glmc_vec_div(vec3 a, vec3 b, vec3 dest) {
-  glm_vec_div(a, b, dest);
+glmc_vec3_div(const vec3 a, const vec3 b, vec3 dest) {
+  glm_vec3_div(a, b, dest);
 }

 CGLM_EXPORT
 void
-glmc_vec_divs(vec3 a, float s, vec3 dest) {
-  glm_vec_divs(a, s, dest);
+glmc_vec3_divs(const vec3 a, float s, vec3 dest) {
+  glm_vec3_divs(a, s, dest);
 }

 CGLM_EXPORT
 void
-glmc_vec_addadd(vec3 a, vec3 b, vec3 dest) {
-  glm_vec_addadd(a, b, dest);
+glmc_vec3_addadd(const vec3 a, const vec3 b, vec3 dest) {
+  glm_vec3_addadd(a, b, dest);
 }

 CGLM_EXPORT
 void
-glmc_vec_subadd(vec3 a, vec3 b, vec3 dest) {
-  glm_vec_subadd(a, b, dest);
+glmc_vec3_subadd(const vec3 a, const vec3 b, vec3 dest) {
+  glm_vec3_subadd(a, b, dest);
 }

 CGLM_EXPORT
 void
-glmc_vec_muladd(vec3 a, vec3 b, vec3 dest) {
-  glm_vec_muladd(a, b, dest);
+glmc_vec3_muladd(const vec3 a, const vec3 b, vec3 dest) {
+  glm_vec3_muladd(a, b, dest);
 }

 CGLM_EXPORT
 void
-glmc_vec_muladds(vec3 a, float s, vec3 dest) {
-  glm_vec_muladds(a, s, dest);
+glmc_vec3_muladds(const vec3 a, float s, vec3 dest) {
+  glm_vec3_muladds(a, s, dest);
 }

 CGLM_EXPORT
 void
-glmc_vec_flipsign(vec3 v) {
-  glm_vec_flipsign(v);
+glmc_vec3_maxadd(const vec3 a, const vec3 b, vec3 dest) {
+  glm_vec3_maxadd(a, b, dest);
 }

 CGLM_EXPORT
 void
-glmc_vec_flipsign_to(vec3 v, vec3 dest) {
-  glm_vec_flipsign_to(v, dest);
+glmc_vec3_minadd(const vec3 a, const vec3 b, vec3 dest) {
+  glm_vec3_minadd(a, b, dest);
 }

 CGLM_EXPORT
 void
-glmc_vec_inv(vec3 v) {
-  glm_vec_inv(v);
+glmc_vec3_negate(vec3 v) {
+  glm_vec3_negate(v);
 }

 CGLM_EXPORT
 void
-glmc_vec_inv_to(vec3 v, vec3 dest) {
-  glm_vec_inv_to(v, dest);
+glmc_vec3_negate_to(const 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(const vec3 a, const 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, const 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(const mat4 m, const vec3 v, vec3 dest) {
+  glm_vec3_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);
+glmc_vec3_rotate_m3(const mat3 m, const vec3 v, vec3 dest) {
+  glm_vec3_rotate_m3(m, v, dest);
 }

 CGLM_EXPORT
 void
-glmc_vec_proj(vec3 a, vec3 b, vec3 dest) {
-  glm_vec_proj(a, b, dest);
+glmc_vec3_proj(const vec3 a, const vec3 b, vec3 dest) {
+  glm_vec3_proj(a, b, dest);
 }

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

 CGLM_EXPORT
 float
-glmc_vec_distance2(vec3 v1, vec3 v2) {
-  return glm_vec_distance2(v1, v2);
+glmc_vec3_distance2(const vec3 a, const vec3 b) {
+  return glm_vec3_distance2(a, b);
 }

 CGLM_EXPORT
 float
-glmc_vec_distance(vec3 v1, vec3 v2) {
-  return glm_vec_distance(v1, v2);
+glmc_vec3_distance(const vec3 a, const 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(const vec3 a, const 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(const vec3 a, const 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(const 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(const vec3 from, const 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(const vec3 a, const 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(const 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(const 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(const 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(const vec3 a, const 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(const vec3 a, const 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(const vec3 v) {
+  return glm_vec3_max(v);
 }

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

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

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

 CGLM_EXPORT
 bool
-glmc_vec_isvalid(vec3 v) {
-  return glm_vec_isvalid(v);
+glmc_vec3_isvalid(const 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(const 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(const vec3 v, vec3 dest) {
+  glm_vec3_sqrt(v, dest);
 }
--- a/src/vec4.c
+++ b/src/vec4.c
@@ -10,7 +10,7 @@

 CGLM_EXPORT
 void
-glmc_vec4(vec3 v3, float last, vec4 dest) {
+glmc_vec4(const vec3 v3, float last, vec4 dest) {
  glm_vec4(v3, last, dest);
 }

@@ -28,38 +28,38 @@ glmc_vec4_one(vec4 v) {

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

 CGLM_EXPORT
 void
-glmc_vec4_copy(vec4 v, vec4 dest) {
+glmc_vec4_copy(const vec4 v, vec4 dest) {
  glm_vec4_copy(v, dest);
 }

 CGLM_EXPORT
 void
-glmc_vec4_ucopy(vec4 v, vec4 dest) {
+glmc_vec4_ucopy(const vec4 v, vec4 dest) {
  glm_vec4_ucopy(v, dest);
 }

 CGLM_EXPORT
 float
-glmc_vec4_dot(vec4 a, vec4 b) {
+glmc_vec4_dot(const vec4 a, const vec4 b) {
  return glm_vec4_dot(a, b);
 }

 CGLM_EXPORT
 float
-glmc_vec4_norm(vec4 vec) {
-  return glm_vec4_norm(vec);
+glmc_vec4_norm(const 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(const vec4 v, vec4 dest) {
+  glm_vec4_normalize_to(v, dest);
 }

 CGLM_EXPORT
@@ -70,128 +70,128 @@ glmc_vec4_normalize(vec4 v) {

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

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

 CGLM_EXPORT
 void
-glmc_vec4_adds(vec4 v, float s, vec4 dest) {
+glmc_vec4_adds(const vec4 v, float s, vec4 dest) {
  glm_vec4_adds(v, s, dest);
 }

 CGLM_EXPORT
 void
-glmc_vec4_sub(vec4 a, vec4 b, vec4 dest) {
+glmc_vec4_sub(const vec4 a, const vec4 b, vec4 dest) {
  glm_vec4_sub(a, b, dest);
 }

 CGLM_EXPORT
 void
-glmc_vec4_subs(vec4 v, float s, vec4 dest) {
+glmc_vec4_subs(const vec4 v, float s, vec4 dest) {
  glm_vec4_subs(v, s, dest);
 }

 CGLM_EXPORT
 void
-glmc_vec4_mul(vec4 a, vec4 b, vec4 d) {
+glmc_vec4_mul(const vec4 a, const vec4 b, vec4 d) {
  glm_vec4_mul(a, b, d);
 }

 CGLM_EXPORT
 void
-glmc_vec4_scale(vec4 v, float s, vec4 dest) {
+glmc_vec4_scale(const vec4 v, float s, vec4 dest) {
  glm_vec4_scale(v, s, dest);
 }

 CGLM_EXPORT
 void
-glmc_vec4_scale_as(vec4 v, float s, vec4 dest) {
+glmc_vec4_scale_as(const vec4 v, float s, vec4 dest) {
  glm_vec4_scale_as(v, s, dest);
 }

 CGLM_EXPORT
 void
-glmc_vec4_div(vec4 a, vec4 b, vec4 dest) {
+glmc_vec4_div(const vec4 a, const vec4 b, vec4 dest) {
  glm_vec4_div(a, b, dest);
 }

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

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

 CGLM_EXPORT
 void
-glmc_vec4_subadd(vec4 a, vec4 b, vec4 dest) {
+glmc_vec4_subadd(const vec4 a, const vec4 b, vec4 dest) {
  glm_vec4_subadd(a, b, dest);
 }

 CGLM_EXPORT
 void
-glmc_vec4_muladd(vec4 a, vec4 b, vec4 dest) {
+glmc_vec4_muladd(const vec4 a, const vec4 b, vec4 dest) {
  glm_vec4_muladd(a, b, dest);
 }

 CGLM_EXPORT
 void
-glmc_vec4_muladds(vec4 a, float s, vec4 dest) {
+glmc_vec4_muladds(const vec4 a, float s, vec4 dest) {
  glm_vec4_muladds(a, s, dest);
 }

 CGLM_EXPORT
 void
-glmc_vec4_flipsign(vec4 v) {
-  glm_vec4_flipsign(v);
+glmc_vec4_maxadd(const vec4 a, const vec4 b, vec4 dest) {
+  glm_vec4_maxadd(a, b, dest);
 }

 CGLM_EXPORT
 void
-glmc_vec4_flipsign_to(vec4 v, vec4 dest) {
-  glm_vec4_flipsign_to(v, dest);
+glmc_vec4_minadd(const vec4 a, const vec4 b, vec4 dest) {
+  glm_vec4_minadd(a, b, dest);
 }

 CGLM_EXPORT
 void
-glmc_vec4_inv(vec4 v) {
-  glm_vec4_inv(v);
+glmc_vec4_negate(vec4 v) {
+  glm_vec4_negate(v);
 }

 CGLM_EXPORT
 void
-glmc_vec4_inv_to(vec4 v, vec4 dest) {
-  glm_vec4_inv_to(v, dest);
+glmc_vec4_negate_to(const 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(const vec4 a, const 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(const vec4 a, const 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(const vec4 a, const vec4 b, vec4 dest) {
+  glm_vec4_maxv(a, b, dest);
 }

 CGLM_EXPORT
@@ -202,15 +202,21 @@ glmc_vec4_clamp(vec4 v, float minVal, float maxVal) {

 CGLM_EXPORT
 void
-glmc_vec4_lerp(vec4 from, vec4 to, float t, vec4 dest) {
+glmc_vec4_lerp(const vec4 from, const vec4 to, float t, vec4 dest) {
  glm_vec4_lerp(from, to, t, dest);
 }

+CGLM_EXPORT
+void
+glmc_vec4_cubic(float s, vec4 dest) {
+  glm_vec4_cubic(s, dest);
+}
+
 /* ext */

 CGLM_EXPORT
 void
-glmc_vec4_mulv(vec4 a, vec4 b, vec4 d) {
+glmc_vec4_mulv(const vec4 a, const vec4 b, vec4 d) {
  glm_vec4_mulv(a, b, d);
 }

@@ -222,72 +228,72 @@ glmc_vec4_broadcast(float val, vec4 d) {

 CGLM_EXPORT
 bool
-glmc_vec4_eq(vec4 v, float val) {
+glmc_vec4_eq(const vec4 v, float val) {
  return glm_vec4_eq(v, val);
 }

 CGLM_EXPORT
 bool
-glmc_vec4_eq_eps(vec4 v, float val) {
+glmc_vec4_eq_eps(const vec4 v, float val) {
  return glm_vec4_eq_eps(v, val);
 }

 CGLM_EXPORT
 bool
-glmc_vec4_eq_all(vec4 v) {
+glmc_vec4_eq_all(const vec4 v) {
  return glm_vec4_eq_all(v);
 }

 CGLM_EXPORT
 bool
-glmc_vec4_eqv(vec4 v1, vec4 v2) {
-  return glm_vec4_eqv(v1, v2);
+glmc_vec4_eqv(const vec4 a, const 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(const vec4 a, const vec4 b) {
+  return glm_vec4_eqv_eps(a, b);
 }

 CGLM_EXPORT
 float
-glmc_vec4_max(vec4 v) {
+glmc_vec4_max(const vec4 v) {
  return glm_vec4_max(v);
 }

 CGLM_EXPORT
 float
-glmc_vec4_min(vec4 v) {
+glmc_vec4_min(const vec4 v) {
  return glm_vec4_min(v);
 }

 CGLM_EXPORT
 bool
-glmc_vec4_isnan(vec4 v) {
+glmc_vec4_isnan(const vec4 v) {
  return glm_vec4_isnan(v);
 }

 CGLM_EXPORT
 bool
-glmc_vec4_isinf(vec4 v) {
+glmc_vec4_isinf(const vec4 v) {
  return glm_vec4_isinf(v);
 }

 CGLM_EXPORT
 bool
-glmc_vec4_isvalid(vec4 v) {
+glmc_vec4_isvalid(const vec4 v) {
  return glm_vec4_isvalid(v);
 }

 CGLM_EXPORT
 void
-glmc_vec4_sign(vec4 v, vec4 dest) {
+glmc_vec4_sign(const vec4 v, vec4 dest) {
  glm_vec4_sign(v, dest);
 }

 CGLM_EXPORT
 void
-glmc_vec4_sqrt(vec4 v, vec4 dest) {
+glmc_vec4_sqrt(const vec4 v, vec4 dest) {
  glm_vec4_sqrt(v, dest);
 }
--- a/test/src/test_bezier.c
+++ b/test/src/test_bezier.c
@@ -0,0 +1,65 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), http://opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+#include "test_common.h"
+
+CGLM_INLINE
+float
+test_bezier_plain(float s, float p0, float c0, float c1, float p1) {
+  float x, xx, xxx, ss, sss;
+
+  x   = 1.0f - s;
+  xx  = x * x;
+  xxx = xx * x;
+  ss  = s * s;
+  sss = ss * s;
+
+  return p0 * xxx + 3.0f * (c0 * s * xx + c1 * ss * x) + p1 * sss;
+}
+
+CGLM_INLINE
+float
+test_hermite_plain(float s, float p0, float t0, float t1, float p1) {
+  float ss, sss;
+
+  ss  = s  * s;
+  sss = ss * s;
+
+  return p0 * (2.0f * sss - 3.0f * ss + 1.0f)
+       + t0 * (sss - 2.0f * ss + s)
+       + p1 * (-2.0f * sss + 3.0f * ss)
+       + t1 * (sss - ss);
+}
+
+void
+test_bezier(void **state) {
+  float s, p0, p1, c0, c1, smc, Bs, Bs_plain;
+
+  s        = test_rand();
+  p0       = test_rand();
+  p1       = test_rand();
+  c0       = test_rand();
+  c1       = test_rand();
+
+  /* test cubic bezier */
+  smc      = glm_smc(s, GLM_BEZIER_MAT, (vec4){p0, c0, c1, p1});
+  Bs       = glm_bezier(s, p0, c0, c1, p1);
+  Bs_plain = test_bezier_plain(s, p0, c0, c1, p1);
+
+  assert_true(glm_eq(Bs,  Bs_plain));
+  test_assert_eqf(smc, Bs_plain);
+  test_assert_eqf(Bs,  smc);
+
+  /* test cubic hermite */
+  smc      = glm_smc(s, GLM_HERMITE_MAT, (vec4){p0, p1, c0, c1});
+  Bs       = glm_hermite(s, p0, c0, c1, p1);
+  Bs_plain = test_hermite_plain(s, p0, c0, c1, p1);
+
+  assert_true(glm_eq(Bs,  Bs_plain));
+  assert_true(glm_eq(smc, Bs_plain));
+  assert_true(glm_eq(Bs,  smc));
+}
--- 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
@@ -5,6 +5,7 @@

 #include "test_common.h"
 #include <stdlib.h>
+#include <math.h>

 #define m 4
 #define n 4
@@ -58,7 +59,7 @@ test_rand_vec4(vec4 dest) {
 }

 float
-test_rand_angle(void) {
+test_rand(void) {
  srand((unsigned int)time(NULL));
  return drand48();
 }
--- a/test/src/test_common.h
+++ b/test/src/test_common.h
@@ -59,7 +59,7 @@ void
 test_rand_vec4(vec4 dest) ;

 float
-test_rand_angle(void);
+test_rand(void);

 void
 test_rand_quat(versor q);
--- a/test/src/test_main.c
+++ b/test/src/test_main.c
@@ -38,7 +38,10 @@ main(int argc, const char * argv[]) {
    cmocka_unit_test(test_vec3),

    /* affine */
-    cmocka_unit_test(test_affine)
+    cmocka_unit_test(test_affine),
+
+    /* bezier */
+    cmocka_unit_test(test_bezier)
  };

  return cmocka_run_group_tests(tests, NULL, NULL);
--- a/test/src/test_mat3.c
+++ b/test/src/test_mat3.c
@@ -24,9 +24,9 @@ test_mat3(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/Show More
+++ b/Show More
Author	SHA1	Message	Date
Recep Aslantas	14f06a262f	Merge branch 'master' into const	2019-04-28 21:55:23 +03:00
Recep Aslantas	392565f920	mark readonly parameters as const (continue)	2019-04-28 21:48:19 +03:00
Recep Aslantas	120ae9ae99	buil: fix linking cmocka	2019-04-28 19:43:58 +03:00
Recep Aslantas	a5f1ed32af	build: don't link libcmocka if not exists	2019-04-28 19:24:09 +03:00
Recep Aslantas	010e887946	build: don't link libcmocka if not exists	2019-04-28 19:21:13 +03:00
Recep Aslantas	6e501ef1f6	build: don't link libcmocka if not exists	2019-04-28 19:15:55 +03:00
Recep Aslantas	6ed275734b	mark readonly parameters as const	2019-04-28 12:15:43 +03:00
Recep Aslantas	85ca81ce79	Merge pull request #84 from haxpor/fix_82 Resolve vec4 : glm_vec4_distance() to satisfy compiling on armv7	2019-04-27 10:09:44 +03:00
Recep Aslantas	e909c8268d	Merge branch 'master' into fix_82	2019-04-27 09:37:08 +03:00
Recep Aslantas	73e6b65da0	test: fix comparing floats in bezier tests	2019-04-27 09:36:15 +03:00
Recep Aslantas	ecbe36df6b	Merge branch 'master' into fix_82	2019-04-21 00:24:52 +03:00
Recep Aslantas	d85b5234a9	ci: print test logs after failure	2019-04-21 00:19:17 +03:00
Wasin Thonkaew	5b80e0e3c2	test cases for glm_vec4_distance	2019-04-19 03:04:00 +08:00
Wasin Thonkaew	461a4009ba	refactor vec4 : glm_vec4_distance for SSE/SSE2 According to suggestion by recp at https://github.com/recp/cglm/issues/82#issuecomment-483051704.	2019-04-19 02:07:57 +08:00
Wasin Thonkaew	8f2f2c5572	Fix to use armv7 compatible function for glm_vec4_distance Before it used armv8 only function thus it leads to build failed for Android with target of armv7 i.e. armeabi-v7a. This fixed that issue.	2019-04-19 01:47:50 +08:00
Recep Aslantas	81a74ba225	move 'stdbool.h' to common header, add missing common.h header to public headers	2019-03-31 18:58:20 +03:00
Recep Aslantas	6c0c5167b0	docs: fix some parameter docs	2019-03-31 18:53:31 +03:00
Alejandro Coto Gutiérrez	4c5451994f	Include `stddef.h` to ensure `size_t` and other dependent types (#79 )	2019-03-29 08:54:09 +03:00
Wasin Thonkaew	73226bd2fd	Fulfill #76 (#77 ) * Fulfill #76	2019-03-20 09:32:31 +03:00
Recep Aslantas	8fa21a1837	docs: use sphinx_rtd_theme theme dor documentation	2019-03-17 09:33:38 +03:00
Recep Aslantas	ee1937f28d	now working on v0.5.4	2019-03-17 09:29:36 +03:00
Recep Aslantas	b4efcefe7f	drop glm__memcpy, glm__memset and glm__memzero * implement mat3_zero and mat4_zero functions * copy matrix items manually in ucopy functions	2019-02-13 10:14:53 +03:00
Recep Aslantas	0d2e5a996a	docs: add SSE3 and SSE4 dot product options	2019-02-13 10:13:06 +03:00
Recep Aslantas	2b1eece9ac	mat3: add rmc for mat3	2019-02-13 10:12:49 +03:00
Recep Aslantas	c8b8f4f6f0	now working on v0.5.3	2019-02-13 10:00:57 +03:00
Recep Aslantas	1a34ffcf4b	Merge pull request #72 from recp/simd-update SIMD update (NEON, SSE3, SSE4) + Features	2019-02-03 17:18:54 +03:00
Recep Aslantas	af088a1059	Merge branch 'master' into simd-update	2019-02-02 15:58:57 +03:00
Recep Aslantas	18f06743ed	build: make automake build slient (less-verbose)	2019-02-02 15:54:09 +03:00
Recep Aslantas	60cfc87009	remove bezier_solve for now	2019-02-02 15:30:05 +03:00
Recep Aslantas	4e5879497e	update docs	2019-02-02 15:29:48 +03:00
Recep Aslantas	7848dda1dd	curve: cubic hermite intrpolation	2019-01-29 22:17:44 +03:00
Recep Aslantas	1e121a4855	mat4: fix rmc multiplication	2019-01-29 22:11:04 +03:00
Recep Aslantas	0f223db7d3	Merge pull request #74 from ccworld1000/patch-1 Update cglm.podspec	2019-01-29 14:48:46 +03:00
CC	a4e2c39c1d	Update cglm.podspec update pod version	2019-01-29 16:54:02 +08:00
Recep Aslantas	c22231f296	curve: de casteljau implementation for solving cubic bezier	2019-01-28 15:52:42 +03:00
Recep Aslantas	730cb1e9f7	add bezier helpers	2019-01-28 15:32:24 +03:00
Recep Aslantas	b0e48a56ca	test: rename test_rand_angle() to test_rand()	2019-01-28 15:31:03 +03:00
Recep Aslantas	11a6e4471e	fix vec4_cubic function	2019-01-28 14:26:02 +03:00
Recep Aslantas	60cb4beb0a	curve: helper for calculate result of SMC multiplication	2019-01-26 18:06:26 +03:00
Recep Aslantas	32ddf49756	mat4: helper for row * matrix * column	2019-01-26 18:05:05 +03:00
Recep Aslantas	807d5589b4	call: add missing end guard to call headers	2019-01-26 16:05:11 +03:00
Recep Aslantas	59b9e54879	vec4: helper to fill vec4 as [S^3, S^2, S, 1]	2019-01-26 15:54:10 +03:00
Recep Aslantas	fc7f958167	simd: remove re-load in SSE4 and SSE3	2019-01-25 21:56:17 +03:00
Recep Aslantas	31bb303c55	simd: organise SIMD-functions * optimize dot product	2019-01-24 10:17:49 +03:00
Recep Aslantas	be6aa9a89a	simd: optimize some mat4 operations with neon	2019-01-22 09:39:57 +03:00
Recep Aslantas	f65f1d491b	simd: optimize vec4_distance with sse and neon	2019-01-22 09:23:51 +03:00
Recep Aslantas	f0c2a2984e	simd, neon: add missing neon support for vec4	2019-01-22 09:05:38 +03:00
Recep Aslantas	b117f3bf80	neon: add neon support for most vec4 operations	2019-01-21 23:14:04 +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