euler: use enum and static values for EULER ORDER, remove some macros

this must be more robust and flexible api

.gitattributes

@@ -1 +0,0 @@
-*.h linguist-language=C

.gitignore

@@ -72,6 +72,3 @@ cglm-test-ios*
 /cglm.pc
 test-driver
 Default-568h@2x.png
-build/
-conftest.dir/*
-confdefs.h

.vscode/settings.json

@@ -1,4 +0,0 @@
-{
-  "C_Cpp.default.configurationProvider": "vector-of-bool.cmake-tools",
-  "restructuredtext.confPath": "${workspaceFolder}/docs/source"
-}

CMakeLists.txt

@@ -1,195 +0,0 @@
-cmake_minimum_required(VERSION 3.8.2)
-project(cglm VERSION 0.7.4 LANGUAGES C)
-
-set(C_STANDARD 11)
-set(C_STANDARD_REQUIRED YES)
-
-set(CGLM_BUILD)
-option(CGLM_SHARED "Shared build" ON)
-option(CGLM_STATIC "Static build" OFF)
-option(CGLM_USE_C99 "" OFF)
-option(CGLM_USE_TEST "Enable Tests" OFF)
-
-if(NOT CGLM_STATIC AND CGLM_SHARED)
-  set(CGLM_BUILD SHARED)
-else(CGLM_STATIC)
-  set(CGLM_BUILD STATIC)
-endif()
-
-if(CGLM_USE_C99)
-  set(C_STANDARD 99)
-endif()
-
-if(MSVC)
-	add_definitions(-DNDEBUG -D_WINDOWS -D_USRDLL -DCGLM_EXPORTS -DCGLM_DLL)
-	add_compile_options("/W3" "/Ox" "/Gy" "/Oi" "/TC" "/analyze")
-else()
-    add_compile_options("-Wall" "-Werror" "-std=gnu11" "-O3")
-    if ("${CMAKE_C_COMPILER_ID}" STREQUAL "Clang")
-		  # Currently, nothing special to be seen here.
-    else()
-		  add_compile_options("-Werror=strict-prototypes")
-    endif()
-endif()
-
-set(HEADERS
-  include/cglm/version.h
-  include/cglm/common.h
-  include/cglm/types.h
-  include/cglm/types-struct.h
-  include/cglm/cglm.h
-  include/cglm/call.h
-  include/cglm/struct.h
-  include/cglm/cam.h
-  include/cglm/io.h
-  include/cglm/mat4.h
-  include/cglm/mat3.h
-  include/cglm/mat2.h
-  include/cglm/affine.h
-  include/cglm/vec2.h
-  include/cglm/vec2-ext.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
-  include/cglm/applesimd.h
-  include/cglm/ray.h
-  )
-
-set(HEADERS_CALL
-  include/cglm/call/mat4.h
-  include/cglm/call/mat3.h
-  include/cglm/call/mat2.h
-  include/cglm/call/vec2.h
-  include/cglm/call/vec3.h
-  include/cglm/call/vec4.h
-  include/cglm/call/affine.h
-  include/cglm/call/io.h
-  include/cglm/call/cam.h
-  include/cglm/call/quat.h
-  include/cglm/call/euler.h
-  include/cglm/call/plane.h
-  include/cglm/call/frustum.h
-  include/cglm/call/box.h
-  include/cglm/call/project.h
-  include/cglm/call/sphere.h
-  include/cglm/call/ease.h
-  include/cglm/call/curve.h
-  include/cglm/call/bezier.h
-  include/cglm/call/ray.h
-  )
-
-set(HEADERS_SIMD
-  include/cglm/simd/intrin.h
-  include/cglm/simd/x86.h
-  include/cglm/simd/arm.h
-  )
-
-set(HEADERS_SIMD_SSE2
-  include/cglm/simd/sse2/affine.h
-  include/cglm/simd/sse2/mat4.h
-  include/cglm/simd/sse2/mat3.h
-  include/cglm/simd/sse2/mat2.h
-  include/cglm/simd/sse2/quat.h
-  )
-
-set(HEADERS_SIMD_AVX
-   include/cglm/simd/avx/mat4.h
-   include/cglm/simd/avx/affine.h
-   )
-
-set(HEADERS_SIMD_NEON
-   include/cglm/simd/neon/mat4.h
-   )
-
-set(HEADERS_STRUCT
-  include/cglm/struct/mat4.h
-  include/cglm/struct/mat3.h
-  include/cglm/struct/mat2.h
-  include/cglm/struct/vec2.h
-  include/cglm/struct/vec2-ext.h
-  include/cglm/struct/vec3.h
-  include/cglm/struct/vec3-ext.h
-  include/cglm/struct/vec4.h
-  include/cglm/struct/vec4-ext.h
-  include/cglm/struct/affine.h
-  include/cglm/struct/io.h
-  include/cglm/struct/cam.h
-  include/cglm/struct/quat.h
-  include/cglm/struct/euler.h
-  include/cglm/struct/plane.h
-  include/cglm/struct/frustum.h
-  include/cglm/struct/box.h
-  include/cglm/struct/project.h
-  include/cglm/struct/sphere.h
-  include/cglm/struct/color.h
-  include/cglm/struct/curve.h
-  )
-
-add_library(cglm
-  ${CGLM_BUILD}
-  src/euler.c
-  src/affine.c
-  src/io.c
-  src/quat.c
-  src/cam.c
-  src/vec2.c
-  src/vec3.c
-  src/vec4.c
-  src/mat2.c
-  src/mat3.c
-  src/mat4.c
-  src/plane.c
-  src/frustum.c
-  src/box.c
-  src/project.c
-  src/sphere.c
-  src/ease.c
-  src/curve.c
-  src/bezier.c
-  src/ray.c
-  )
-
-set_target_properties(cglm PROPERTIES VERSION ${PROJECT_VERSION} 
-                                    SOVERSION ${PROJECT_VERSION_MAJOR})
-
-target_include_directories(cglm PUBLIC
-  ${CMAKE_CURRENT_SOURCE_DIR}/include
-)
-
-install(
-	TARGETS	cglm
-	EXPORT cglm
-	ARCHIVE DESTINATION lib/ COMPONENT development
-	LIBRARY DESTINATION lib/ COMPONENT runtime NAMELINK_SKIP
-	RUNTIME DESTINATION ${CMAKE_INSTALL_NAME_DIR} COMPONENT runtime
-)
-
-if(CGLM_SHARED)
-	install(
-		TARGETS	cglm
-		EXPORT cglm
-		LIBRARY DESTINATION include/ COMPONENT development NAMELINK_ONLY
-	)
-endif()
-
-INSTALL(DIRECTORY include/ DESTINATION include)
-
-# Test Configuration
-if(CGLM_USE_TEST)
-  enable_testing()
-  add_subdirectory(test)
-endif()

CREDITS

@@ -65,9 +65,19 @@ https://forums.khronos.org/showthread.php/10651-Animation-TCB-Spline-Interpolati
 12. vec2 cross product
 http://allenchou.net/2013/07/cross-product-of-2d-vectors/
 
-13. Ray triangle intersect
-Möller–Trumbore ray-triangle intersection algorithm, from "Fast, Minimum Storage Ray/Triangle Intersection"
-Authors:
-  Thomas Möller (tompa@clarus.se)
-  Ben Trumbore (wbt@graphics.cornell.edu)
-Link to paper: http://webserver2.tecgraf.puc-rio.br/~mgattass/cg/trbRR/Fast%20MinimumStorage%20RayTriangle%20Intersection.pdf
+13. Ken Shoemake's algorithm Implementation and Euler
+Ken Shoemake's algorithm impl. is taken from this repo by permission:
+  https://github.com/erich666/GraphicsGems/blob/master/gemsiv/euler_angle
+
+* -------------------------- GraphicsGems EULA ----------------------------- *
+|   http://www.realtimerendering.com/resources/GraphicsGems/                 |
+|                                                                            |
+| EULA: The Graphics Gems code is copyright-protected. In other words, you   |
+| cannot claim the text of the code as your own and resell it. Using the     |
+| code is permitted in any program, product, or library, non-commercial or   |
+| commercial. Giving credit is not required, though is a nice gesture.       |
+| The code comes as-is, and if there are any flaws or problems with any Gems |
+| code, nobody involved with Gems - authors, editors, publishers, or         |
+| webmasters - are to be held responsible. Basically, don't be a jerk, and   |
+| remember that anything free comes with no guarantee.                       |
+* -------------------------------- END --------------------------------------*/

Makefile.am

@@ -63,8 +63,7 @@ cglm_HEADERS = include/cglm/version.h \
                include/cglm/ease.h \
                include/cglm/curve.h \
                include/cglm/bezier.h \
-               include/cglm/applesimd.h \
-               include/cglm/ray.h
+               include/cglm/applesimd.h
                
 cglm_calldir=$(includedir)/cglm/call
 cglm_call_HEADERS = include/cglm/call/mat4.h \
@@ -85,8 +84,7 @@ cglm_call_HEADERS = include/cglm/call/mat4.h \
                     include/cglm/call/sphere.h \
                     include/cglm/call/ease.h \
                     include/cglm/call/curve.h \
-                    include/cglm/call/bezier.h \
-                    include/cglm/call/ray.h
+                    include/cglm/call/bezier.h
 
 cglm_simddir=$(includedir)/cglm/simd
 cglm_simd_HEADERS = include/cglm/simd/intrin.h \
@@ -97,7 +95,6 @@ cglm_simd_sse2dir=$(includedir)/cglm/simd/sse2
 cglm_simd_sse2_HEADERS = include/cglm/simd/sse2/affine.h \
                          include/cglm/simd/sse2/mat4.h \
                          include/cglm/simd/sse2/mat3.h \
-                         include/cglm/simd/sse2/mat2.h \
                          include/cglm/simd/sse2/quat.h
 
 cglm_simd_avxdir=$(includedir)/cglm/simd/avx
@@ -110,7 +107,6 @@ cglm_simd_neon_HEADERS = include/cglm/simd/neon/mat4.h
 cglm_structdir=$(includedir)/cglm/struct
 cglm_struct_HEADERS = include/cglm/struct/mat4.h \
                       include/cglm/struct/mat3.h \
-                      include/cglm/struct/mat2.h \
                       include/cglm/struct/vec2.h \
                       include/cglm/struct/vec2-ext.h \
                       include/cglm/struct/vec3.h \
@@ -149,8 +145,7 @@ libcglm_la_SOURCES=\
     src/sphere.c \
     src/ease.c \
     src/curve.c \
-    src/bezier.c \
-    src/ray.c
+    src/bezier.c
 
 test_tests_SOURCES=\
     test/runner.c \

README.md

@@ -89,7 +89,6 @@ Currently *cglm* uses default clip space configuration (-1, 1) for camera functi
 - curves
 - curve interpolation helpers (S*M*C, deCasteljau...)
 - helpers to convert cglm types to Apple's simd library to pass cglm types to Metal GL without packing them on both sides
-- ray intersection helpers
 - and others...
 
 <hr />
@@ -149,38 +148,6 @@ The types used are actually unions that allow access to the same data multiple w
 
 ## Build
 
-### CMake (All platforms)
-```bash
-$ mkdir build
-$ cd build
-$ cmake .. # [Optional] -DCGLM_SHARED=ON
-$ make
-$ sudo make install # [Optional]
-```
-
-##### Cmake options with Defaults:
-
-```CMake
-option(CGLM_SHARED "Shared build" ON)
-option(CGLM_STATIC "Static build" OFF)
-option(CGLM_USE_C99 "" OFF) # C11 
-option(CGLM_USE_TEST "Enable Tests" OFF) # for make check - make test
-```
-
-#### Use with your CMake project
-* Example:
-```cmake
-cmake_minimum_required(VERSION 3.8.2)
-
-project(<Your Project Name>)
-
-add_executable(${PROJECT_NAME} src/main.c)
-target_link_libraries(${LIBRARY_NAME} PRIVATE
-  cglm)
-
-add_subdirectory(external/cglm/)
-```
-
 ### Unix (Autotools)
 
 ```bash
@@ -324,7 +291,7 @@ You can pass matrices the same way to other APIs e.g. Vulkan, DX...
 ## Contributors
 
 This project exists thanks to all the people who contribute. [[Contribute](CONTRIBUTING.md)].
-<a href="https://github.com/recp/cglm/graphs/contributors"><img src="https://opencollective.com/cglm/contributors.svg?width=890&button=false" /></a>
+<a href="graphs/contributors"><img src="https://opencollective.com/cglm/contributors.svg?width=890&button=false" /></a>
 
 
 ## Backers

cglm.podspec

@@ -2,7 +2,7 @@ Pod::Spec.new do |s|
 
   # Description
   s.name         = "cglm"
-  s.version      = "0.7.2"
+  s.version      = "0.6.1"
   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.

configure.ac

@@ -7,7 +7,7 @@
 #*****************************************************************************
 
 AC_PREREQ([2.69])
-AC_INIT([cglm], [0.7.4], [info@recp.me])
+AC_INIT([cglm], [0.7.1], [info@recp.me])
 AM_INIT_AUTOMAKE([-Wall -Werror foreign subdir-objects serial-tests])
 
 # Don't use the default cflags (-O2 -g), we set ours manually in Makefile.am.

docs/source/api.rst

@@ -51,5 +51,3 @@ Follow the :doc:`build` documentation for this
    sphere
    curve
    bezier
-   version
-   ray

docs/source/build.rst

@@ -7,46 +7,6 @@ Build cglm
 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
 
-CMake (All platforms):
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. code-block:: bash
-  :linenos:
-
-  $ mkdir build
-  $ cd build
-  $ cmake .. # [Optional] -DCGLM_SHARED=ON
-  $ make
-  $ sudo make install # [Optional]
-
-**make** will build cglm to **build** folder.
-If you don't want to install **cglm** to your system's folder you can get static and dynamic libs in this folder.
-
-**CMake Options:**
-
-.. code-block:: CMake
-  :linenos:
-
-  option(CGLM_SHARED "Shared build" ON)
-  option(CGLM_STATIC "Static build" OFF)
-  option(CGLM_USE_C99 "" OFF) # C11 
-  option(CGLM_USE_TEST "Enable Tests" OFF) # for make check - make test
-
-**Use with your CMake project example**
-
-.. code-block:: CMake
-  :linenos:
-
-  cmake_minimum_required(VERSION 3.8.2)
-  
-  project(<Your Project Name>)
-  
-  add_executable(${PROJECT_NAME} src/main.c)
-  target_link_libraries(${LIBRARY_NAME} PRIVATE
-    cglm)
-  
-  add_subdirectory(external/cglm/)
-
 Unix (Autotools):
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 

docs/source/cam.rst

@@ -198,7 +198,7 @@ Functions documentation
 
     Parameters:
       | *[in]*  **eye**     eye vector
-      | *[in]*  **dir**     direction vector
+      | *[in]*  **center**  direction vector
       | *[in]*  **up**      up vector
       | *[out]* **dest**    result matrix
 
@@ -212,7 +212,7 @@ Functions documentation
 
     Parameters:
       | *[in]*  **eye**     eye vector
-      | *[in]*  **dir**     direction vector
+      | *[in]*  **center**  direction vector
       | *[out]* **dest**    result matrix
 
 .. c:function:: void  glm_persp_decomp(mat4 proj, float *nearVal, float *farVal, float *top, float *bottom, float *left, float *right)

docs/source/conf.py

@@ -62,9 +62,9 @@ author = u'Recep Aslantas'
 # built documents.
 #
 # The short X.Y version.
-version = u'0.7.4'
+version = u'0.7.1'
 # The full version, including alpha/beta/rc tags.
-release = u'0.7.4'
+release = u'0.7.1'
 
 # The language for content autogenerated by Sphinx. Refer to documentation
 # for a list of supported languages.

docs/source/features.rst

@@ -1,11 +1,10 @@
 Features
 ================================================================================
 
-* array api and struct api, you can use arrays or structs.
 * general purpose matrix operations (mat4, mat3)
 * chain matrix multiplication (square only)
 * general purpose vector operations (cross, dot, rotate, proj, angle...)
-* affine transformations
+* affine transforms
 * matrix decomposition (extract rotation, scaling factor)
 * optimized affine transform matrices (mul, rigid-body inverse)
 * camera (lookat)
@@ -21,6 +20,4 @@ Features
 * easing functions
 * curves
 * curve interpolation helpers (SMC, deCasteljau...)
-* helpers to convert cglm types to Apple's simd library to pass cglm types to Metal GL without packing them on both sides
-* ray intersection helpers
-* and others...
+* and other...

docs/source/io.rst

@@ -28,23 +28,6 @@ Example to print mat4 matrix:
 (you probably will in some cases), you can change it temporary.
 cglm may provide precision parameter in the future
 
-Changes since **v0.7.3**:
-* Now mis-alignment of columns are fixed: larger numbers are printed via %g and others are printed via %f. Column withs are calculated before print.
-* Now values are colorful ;)
-* Some print improvements
-* New options with default values:
-
-.. code-block:: c
-
-    #define CGLM_PRINT_PRECISION    5
-    #define CGLM_PRINT_MAX_TO_SHORT 1e5
-    #define CGLM_PRINT_COLOR        "\033[36m"
-    #define CGLM_PRINT_COLOR_RESET  "\033[0m"
-
-* Inline prints are only enabled in DEBUG mode and if **CGLM_DEFINE_PRINTS** is defined.
-
-Check options page.
-
 Table of contents (click to go):
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 

docs/source/opt.rst

@@ -50,24 +50,3 @@ You have to extra options for dot product: **CGLM_SSE4_DOT** and **CGLM_SSE3_DOT
 - 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.
-
-Print Options
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-1. **CGLM_DEFINE_PRINTS**
-2. **CGLM_NO_PRINTS_NOOP**
-
-Inline prints are only enabled in DEBUG mode and if **CGLM_DEFINE_PRINTS** is defined.
-If DEBUG is not enabled then print function bodies will be emptied to eliminate print function calls.
-You can disable this feature too by defining **CGLM_NO_PRINTS_NOOP** macro top of cglm headers.
-
-3. **CGLM_PRINT_PRECISION**    5
-
-precision.
-
-4. **CGLM_PRINT_MAX_TO_SHORT** 1e5
-
-if a number is greater than this value then %g will be used, since this is shorten print you won't be able to see high precision.
-
-5. **CGLM_PRINT_COLOR**        "\033[36m"
-6. **CGLM_PRINT_COLOR_RESET**  "\033[0m"

docs/source/ray.rst

@@ -1,31 +0,0 @@
-.. default-domain:: C
-
-ray
-====
-
-Header: cglm/ray.h
-
-This is for collision-checks used by ray-tracers and the like.
-
-Table of contents (click to go):
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-Functions:
-
-1. :c:func:`glm_ray_triangle`
-
-Functions documentation
-~~~~~~~~~~~~~~~~~~~~~~~
-
-.. c:function:: bool  glm_ray_triangle(vec3 origin, vec3 direction, vec3 v0, vec3 v1, vec3 v2, float *d)
-
-    Möller–Trumbore ray-triangle intersection algorithm
-
-    Parameters:
-      | *[in]*       **origin**        origin of ray
-      | *[in]*       **direction**     direction of ray
-      | *[in]*       **v0**            first vertex of triangle
-      | *[in]*       **v1**            second vertex of triangle
-      | *[in]*       **v2**            third vertex of triangle
-      | *[in, out]*  **d**             float pointer to save distance to intersection
-      | *[out]*      **intersection**  whether there is intersection

docs/source/util.rst

@@ -23,7 +23,6 @@ Functions:
 #. :c:func:`glm_max`
 #. :c:func:`glm_clamp`
 #. :c:func:`glm_lerp`
-#. :c:func:`glm_swapf`
 
 Functions documentation
 ~~~~~~~~~~~~~~~~~~~~~~~
@@ -147,7 +146,7 @@ Functions documentation
       | *[in]*  **b**   b
 
     Returns:
-       true if a and b are equal
+       true if a and b equals
 
 .. c:function:: float glm_percent(float from, float to, float current)
 
@@ -159,7 +158,7 @@ Functions documentation
       | *[in]*  **current**   value between from and to values
 
     Returns:
-       percentage of current value
+       clamped normalized percent (0-100 in 0-1)
 
 .. c:function:: float glm_percentc(float from, float to, float current)
 
@@ -172,11 +171,3 @@ Functions documentation
 
     Returns:
        clamped normalized percent (0-100 in 0-1)
-
-.. c:function:: void glm_swapf(float *a, float *b) 
-
-    swap two float values
-
-    Parameters:
-      | *[in]*  **a**      float 1
-      | *[in]*  **b**      float 2

docs/source/vec3.rst

@@ -392,7 +392,7 @@ Functions documentation
     Parameters:
       | *[in, out]*  **v**      vector
       | *[in]*       **axis**   axis vector (will be normalized)
-      | *[in]*       **angle**  angle (radians)
+      | *[out]*      **angle**  angle (radians)
 
 .. c:function:: void  glm_vec3_rotate_m4(mat4 m, vec3 v, vec3 dest)
 
@@ -435,8 +435,8 @@ Functions documentation
     squared distance between two vectors
 
     Parameters:
-      | *[in]*  **v1**  vector1
-      | *[in]*  **v2**  vector2
+      | *[in]*  **mat**   vector1
+      | *[in]*  **row1**  vector2
 
     Returns:
       | squared distance (distance * distance)
@@ -446,8 +446,8 @@ Functions documentation
     distance between two vectors
 
     Parameters:
-      | *[in]*  **v1**  vector1
-      | *[in]*  **v2**  vector2
+      | *[in]*  **mat**   vector1
+      | *[in]*  **row1**  vector2
 
     Returns:
       | distance
@@ -475,7 +475,7 @@ Functions documentation
     possible orthogonal/perpendicular vector
 
     Parameters:
-      | *[in]*  **v**     vector
+      | *[in]*  **mat**   vector
       | *[out]* **dest**  orthogonal/perpendicular vector
 
 .. c:function:: void  glm_vec3_clamp(vec3 v, float minVal, float maxVal)

docs/source/version.rst

@@ -1,15 +0,0 @@
-.. default-domain:: C
-
-version
-================================================================================
-
-Header: cglm/version.h
-
-**cglm** uses semantic versioning (http://semver.org) which is MAJOR.MINOR.PATCH 
-
-| **CGLM_VERSION_MAJOR** is major number of the version.
-| **CGLM_VERSION_MINOR** is minor number of the version.
-| **CGLM_VERSION_PATCH** is patch number of the version.
-
-every release increases these numbers. You can check existing version by 
-including `cglm/version.h`

include/cglm/affine.h

@@ -40,6 +40,10 @@
 #include "mat4.h"
 #include "affine-mat.h"
 
+CGLM_INLINE
+void
+glm_mat4_mul(mat4 m1, mat4 m2, mat4 dest);
+
 /*!
  * @brief translate existing transform matrix by v vector
  *        and stores result in same matrix

include/cglm/call.h

@@ -31,7 +31,6 @@ extern "C" {
 #include "call/ease.h"
 #include "call/curve.h"
 #include "call/bezier.h"
-#include "call/ray.h"
 
 #ifdef __cplusplus
 }

include/cglm/call/io.h

@@ -7,7 +7,6 @@
 
 #ifndef cglmc_io_h
 #define cglmc_io_h
-
 #ifdef __cplusplus
 extern "C" {
 #endif

include/cglm/call/ray.h

@@ -1,27 +0,0 @@
-/*
- * Copyright (c), Recep Aslantas.
- *
- * MIT License (MIT), http://opensource.org/licenses/MIT
- * Full license can be found in the LICENSE file
- */
-
-#ifndef cglmc_ray_h
-#define cglmc_ray_h
-#ifdef __cplusplus
-extern "C" {
-#endif
-#include "../cglm.h"
-
-CGLM_EXPORT
-bool
-glmc_ray_triangle(vec3   origin,
-                  vec3   direction,
-                  vec3   v0,
-                  vec3   v1,
-                  vec3   v2,
-                  float *d);
-    
-#ifdef __cplusplus
-}
-#endif
-#endif /* cglmc_ray_h */

include/cglm/cglm.h

@@ -30,6 +30,5 @@
 #include "ease.h"
 #include "curve.h"
 #include "bezier.h"
-#include "ray.h"
 
 #endif /* cglm_h */

include/cglm/common.h

@@ -8,8 +8,7 @@
 #ifndef cglm_common_h
 #define cglm_common_h
 
-#define _USE_MATH_DEFINES       /* for windows */
-#define _CRT_SECURE_NO_WARNINGS /* for windows */
+#define _USE_MATH_DEFINES /* for windows */
 
 #include <stdint.h>
 #include <stddef.h>

include/cglm/euler.h

@@ -18,24 +18,160 @@
    enum glm_euler_seq
 
  Functions:
-   CGLM_INLINE glm_euler_seq glm_euler_order(int newOrder[3]);
-   CGLM_INLINE void glm_euler_angles(mat4 m, vec3 dest);
-   CGLM_INLINE void glm_euler(vec3 angles, mat4 dest);
-   CGLM_INLINE void glm_euler_xyz(vec3 angles, mat4 dest);
-   CGLM_INLINE void glm_euler_zyx(vec3 angles, mat4 dest);
-   CGLM_INLINE void glm_euler_zxy(vec3 angles, mat4 dest);
-   CGLM_INLINE void glm_euler_xzy(vec3 angles, mat4 dest);
-   CGLM_INLINE void glm_euler_yzx(vec3 angles, mat4 dest);
-   CGLM_INLINE void glm_euler_yxz(vec3 angles, mat4 dest);
-   CGLM_INLINE void glm_euler_by_order(vec3         angles,
-                                       glm_euler_seq ord,
-                                       mat4         dest);
+   CGLM_INLINE glm_eul_mat4(vec3 ea, int order, mat4 dest)
  */
 
 #ifndef cglm_euler_h
 #define cglm_euler_h
 
 #include "common.h"
+#include "util.h"
+
+/* ---------- Notice for Ken Shoemake's algorithm Implementation -------------*
+ | Ken Shoemake's algorithm impl. is taken from this repo by permission:      |
+ |   https://github.com/erich666/GraphicsGems/blob/master/gemsiv/euler_angle  |
+ |                                                                            |
+ | cglm doesn't claim the ownership of GraphicsGems source codes              |
+ | and the algorithm itself. But cglm may change variable names or some piece |
+ | of codes in order to apply optimizations or to make it usable in cglm.     |
+ |                                                                            |
+ | Related issue: https://github.com/recp/cglm/issues/30                      |
+ |                                                                            |
+ * -------------------------- GraphicsGems EULA ----------------------------- *
+ | Related EULA for GraphicsGems can be found at below, plus in CREDITS:      |
+ |   http://www.realtimerendering.com/resources/GraphicsGems/                 |
+ |                                                                            |
+ | EULA: The Graphics Gems code is copyright-protected. In other words, you   |
+ | cannot claim the text of the code as your own and resell it. Using the     |
+ | code is permitted in any program, product, or library, non-commercial or   |
+ | commercial. Giving credit is not required, though is a nice gesture.       |
+ | The code comes as-is, and if there are any flaws or problems with any Gems |
+ | code, nobody involved with Gems - authors, editors, publishers, or         |
+ | webmasters - are to be held responsible. Basically, don't be a jerk, and   |
+ | remember that anything free comes with no guarantee.                       |
+ * -------------------------------- END --------------------------------------*/
+
+/* Order type constants, constructors, extractors
+ * There are 24 possible conventions, designated by:
+ *	  o EulAxI = axis used initially
+ *	  o EulPar = parity of axis permutation
+ *	  o EulRep = repetition of initial axis as last
+ *	  o EulFrm = frame from which axes are taken
+ * Axes I,J,K will be a permutation of X,Y,Z.
+ * Axis H will be either I or K, depending on EulRep.
+ * Frame S takes axes from initial static frame.
+ * If ord = (AxI=X, Par=Even, Rep=No, Frm=S), then
+ * {a,b,c,ord} means Rz(c)Ry(b)Rx(a), where Rz(c)v
+ * rotates v around Z by c radians.			    
+*/
+
+#define EulRep(ord)  (((unsigned)(ord)>>1)&1)
+#define EulFrm(ord)  ((unsigned)(ord)&1)
+#define EulPar(ord)  (((unsigned)(ord)>>2)&1)
+
+/*! this code is merely a quick (and legal!) way to set arrays,
+    EulSafe being 0,1,2,0 */
+#define EulSafe	     "\000\001\002\000"
+#define EulNext	     "\001\002\000\001"
+#define EulAxI(ord)  ((int)(EulSafe[(((unsigned)(ord)>>3)&3)]))
+#define EulAxJ(ord)  ((int)(EulNext[EulAxI(ord)+(EulPar(ord)==EulParOdd)]))
+#define EulAxK(ord)  ((int)(EulNext[EulAxI(ord)+(EulPar(ord)!=EulParOdd)]))
+#define EulAxH(ord)  ((EulRep(ord)==EulRepNo)?EulAxK(ord):EulAxI(ord))
+
+/*! EulGetOrd unpacks all useful information about order simultaneously. */
+#define EulGetOrd(ord,i,j,k,h,n,s,f)                                          \
+  {unsigned o=(unsigned)ord;f=o&1;o>>=1;s=o&1;o>>=1;\
+    n=o&1;o>>=1;i=EulSafe[o&3];j=EulNext[i+n];k=EulNext[i+1-n];h=s?k:i;}
+
+typedef enum glm_eul_order {
+  /*! Static axes */
+  GLM_EUL_XYZs  = 0,
+  GLM_EUL_XYXs  = 2,
+  GLM_EUL_XZYs  = 4,
+  GLM_EUL_XZXs  = 6,
+  GLM_EUL_YZXs  = 8,
+  GLM_EUL_YZYs  = 10,
+  GLM_EUL_YXZs  = 12,
+  GLM_EUL_YXYs  = 14,
+  GLM_EUL_ZXYs  = 16,
+  GLM_EUL_ZXZs  = 18,
+  GLM_EUL_ZYXs  = 20,
+  GLM_EUL_ZYZs  = 22,
+  
+  /*! Rotating axes */
+  GLM_EUL_ZYXr  = 1,
+  GLM_EUL_XYXr  = 3,
+  GLM_EUL_YZXr  = 5,
+  GLM_EUL_XZXr  = 7,
+  GLM_EUL_XZYr  = 9,
+  GLM_EUL_YZYr  = 11,
+  GLM_EUL_ZXYr  = 13,
+  GLM_EUL_YXYr  = 15,
+  GLM_EUL_YXZr  = 17,
+  GLM_EUL_ZXZr  = 19,
+  GLM_EUL_XYZr  = 21,
+  GLM_EUL_ZYZr  = 23
+} glm_eul_order;
+
+/*!
+ * @brief build matrix from euler angles
+ *
+ * @param[in]  ea     [Xangle, Yangle, Zangle]
+ * @param[out] dest   rotation matrix
+ */
+CGLM_INLINE
+void
+glm_eul_mat4(vec3 ea, glm_eul_order order, mat4 dest) {
+  float ti, tj, th, ci, cj, ch, si, sj, sh, cc, cs, sc, ss;
+  int   i, j, k, h, parOdd, repYes, frmR;
+
+  EulGetOrd(order, i, j, k, h, parOdd, repYes, frmR);
+  
+  if (frmR == 1)
+    glm_swapf(&ea[0], &ea[2]);
+  
+  if (parOdd == 1)
+    glm_vec3_negate(ea);
+  
+  ti = ea[0]; tj = ea[1]; th = ea[2];
+  
+  ci = cosf(ti);  cj = cosf(tj);
+  ch = cosf(th);  si = sinf(ti);
+  sj = sinf(tj);  sh = sinf(th);
+  
+  cc = ci * ch;  cs = ci * sh;
+  sc = si * ch;  ss = si * sh;
+  
+  if (repYes == 1) {
+    dest[i][i] =  cj;
+    dest[i][j] =  sj * si;
+    dest[i][k] =  sj * ci;
+    dest[j][i] =  sj * sh;
+    dest[j][j] = -cj * ss + cc;
+    dest[j][k] = -cj * cs - sc;
+    dest[k][i] = -sj * ch;
+    dest[k][j] =  cj * sc + cs;
+    dest[k][k] =  cj * cc - ss;
+  } else {
+    dest[i][i] =  cj * ch;
+    dest[i][j] =  sj * sc - cs;
+    dest[i][k] =  sj * cc + ss;
+    dest[j][i] =  cj * sh;
+    dest[j][j] =  sj * ss + cc;
+    dest[j][k] =  sj * cs - sc;
+    dest[k][i] = -sj;
+    dest[k][j] =  cj * si;
+    dest[k][k] =  cj * ci;
+  }
+  
+  dest[3][0] = 0.f;
+  dest[3][1] = 0.f;
+  dest[3][2] = 0.f;
+  dest[0][3] = 0.f;
+  dest[1][3] = 0.f;
+  dest[2][3] = 0.f;
+  dest[3][3] = 1.f;
+}
 
 /*!
  * if you have axis order like vec3 orderVec = [0, 1, 2] or [0, 2, 1]...
@@ -55,6 +191,8 @@ typedef enum glm_euler_seq {
   GLM_EULER_ZYX = 2 << 0 | 1 << 2 | 0 << 4
 } glm_euler_seq;
 
+typedef glm_euler_seq glm_euler_sq;
+
 CGLM_INLINE
 glm_euler_seq
 glm_euler_order(int ord[3]) {

include/cglm/io.h

@@ -17,99 +17,67 @@
 
 #ifndef cglm_io_h
 #define cglm_io_h
-#if defined(DEBUG) || defined(_DEBUG) \
-   || defined(CGLM_DEFINE_PRINTS) || defined(CGLM_LIB_SRC)
 
 #include "common.h"
 
 #include <stdio.h>
 #include <stdlib.h>
 
-#define CGLM_PRINT_PRECISION    5
-#define CGLM_PRINT_MAX_TO_SHORT 1e5
-#define CGLM_PRINT_COLOR        "\033[36m"
-#define CGLM_PRINT_COLOR_RESET  "\033[0m"
-
 CGLM_INLINE
 void
 glm_mat4_print(mat4              matrix,
                FILE * __restrict ostream) {
-  char buff[16];
-  int  i, j, cw[4], cwi;
+  int i;
+  int j;
 
 #define m 4
 #define n 4
 
-  fprintf(ostream, "Matrix (float%dx%d): " CGLM_PRINT_COLOR "\n" , m, n);
-
-  cw[0] = cw[1] = cw[2] = cw[3] = 0;
+  fprintf(ostream, "Matrix (float%dx%d):\n", m, n);
 
   for (i = 0; i < m; i++) {
+    fprintf(ostream, "\t|");
     for (j = 0; j < n; j++) {
-      if (matrix[i][j] < CGLM_PRINT_MAX_TO_SHORT)
-        cwi = sprintf(buff, "% .*f", CGLM_PRINT_PRECISION, matrix[i][j]);
-      else
-        cwi = sprintf(buff, "% g", matrix[i][j]);
-      cw[i] = GLM_MAX(cw[i], cwi);
+      fprintf(ostream, "%0.4f", matrix[j][i]);;
+
+      if (j != n - 1)
+        fprintf(ostream, "\t");
     }
+
+    fprintf(ostream, "|\n");
   }
 
-  for (i = 0; i < m; i++) {
-    fprintf(ostream, "  |");
-
-    for (j = 0; j < n; j++)
-      if (matrix[i][j] < CGLM_PRINT_MAX_TO_SHORT)
-        fprintf(ostream, " % *.*f", cw[j], CGLM_PRINT_PRECISION, matrix[j][i]);
-      else
-        fprintf(ostream, " % *g", cw[j], matrix[j][i]);
-
-    fprintf(ostream, "  |\n");
-  }
-
-  fprintf(ostream, CGLM_PRINT_COLOR_RESET "\n");
+  fprintf(ostream, "\n");
 
 #undef m
 #undef n
 }
 
-
 CGLM_INLINE
 void
 glm_mat3_print(mat3              matrix,
                FILE * __restrict ostream) {
-  char buff[16];
-  int  i, j, cw[4], cwi;
+  int i;
+  int j;
 
 #define m 3
 #define n 3
 
-  fprintf(ostream, "Matrix (float%dx%d): " CGLM_PRINT_COLOR "\n", m, n);
-
-  cw[0] = cw[1] = cw[2] = 0;
+  fprintf(ostream, "Matrix (float%dx%d):\n", m, n);
 
   for (i = 0; i < m; i++) {
+    fprintf(ostream, "\t|");
     for (j = 0; j < n; j++) {
-      if (matrix[i][j] < CGLM_PRINT_MAX_TO_SHORT)
-        cwi = sprintf(buff, "% .*f", CGLM_PRINT_PRECISION, matrix[i][j]);
-      else
-        cwi = sprintf(buff, "% g", matrix[i][j]);
-      cw[i] = GLM_MAX(cw[i], cwi);
+      fprintf(ostream, "%0.4f", matrix[j][i]);;
+
+      if (j != n - 1)
+        fprintf(ostream, "\t");
     }
+
+    fprintf(ostream, "|\n");
   }
 
-  for (i = 0; i < m; i++) {
-    fprintf(ostream, "  |");
-    
-    for (j = 0; j < n; j++)
-      if (matrix[i][j] < CGLM_PRINT_MAX_TO_SHORT)
-        fprintf(ostream, " % *.*f", cw[j], CGLM_PRINT_PRECISION, matrix[j][i]);
-      else
-        fprintf(ostream, " % *g", cw[j], matrix[j][i]);
-    
-    fprintf(ostream, "  |\n");
-  }
-
-  fprintf(ostream, CGLM_PRINT_COLOR_RESET "\n");
+  fprintf(ostream, "\n");
 
 #undef m
 #undef n
@@ -119,39 +87,27 @@ CGLM_INLINE
 void
 glm_mat2_print(mat2              matrix,
                FILE * __restrict ostream) {
-  char buff[16];
-  int  i, j, cw[4], cwi;
+  int i;
+  int j;
 
 #define m 2
 #define n 2
 
-  fprintf(ostream, "Matrix (float%dx%d): " CGLM_PRINT_COLOR "\n", m, n);
-
-  cw[0] = cw[1] = 0;
+  fprintf(ostream, "Matrix (float%dx%d):\n", m, n);
 
   for (i = 0; i < m; i++) {
+    fprintf(ostream, "\t|");
     for (j = 0; j < n; j++) {
-      if (matrix[i][j] < CGLM_PRINT_MAX_TO_SHORT)
-        cwi = sprintf(buff, "% .*f", CGLM_PRINT_PRECISION, matrix[i][j]);
-      else
-        cwi = sprintf(buff, "% g", matrix[i][j]);
-      cw[i] = GLM_MAX(cw[i], cwi);
+      fprintf(ostream, "%0.4f", matrix[j][i]);;
+
+      if (j != n - 1)
+        fprintf(ostream, "\t");
     }
+
+    fprintf(ostream, "|\n");
   }
 
-  for (i = 0; i < m; i++) {
-    fprintf(ostream, "  |");
-    
-    for (j = 0; j < n; j++)
-      if (matrix[i][j] < CGLM_PRINT_MAX_TO_SHORT)
-        fprintf(ostream, " % *.*f", cw[j], CGLM_PRINT_PRECISION, matrix[j][i]);
-      else
-        fprintf(ostream, " % *g", cw[j], matrix[j][i]);
-    
-    fprintf(ostream, "  |\n");
-  }
-
-  fprintf(ostream, CGLM_PRINT_COLOR_RESET "\n");
+  fprintf(ostream, "\n");
 
 #undef m
 #undef n
@@ -165,16 +121,16 @@ glm_vec4_print(vec4              vec,
 
 #define m 4
 
-  fprintf(ostream, "Vector (float%d): " CGLM_PRINT_COLOR "\n  (", m);
+  fprintf(ostream, "Vector (float%d):\n\t|", m);
 
   for (i = 0; i < m; i++) {
-    if (vec[i] < CGLM_PRINT_MAX_TO_SHORT)
-      fprintf(ostream, " % .*f", CGLM_PRINT_PRECISION, vec[i]);
-    else
-      fprintf(ostream, " % g", vec[i]);
+    fprintf(ostream, "%0.4f", vec[i]);
+
+    if (i != m - 1)
+      fprintf(ostream, "\t");
   }
 
-  fprintf(ostream, "  )" CGLM_PRINT_COLOR_RESET "\n\n");
+  fprintf(ostream, "|\n\n");
 
 #undef m
 }
@@ -187,16 +143,16 @@ glm_vec3_print(vec3              vec,
 
 #define m 3
 
-  fprintf(ostream, "Vector (float%d): " CGLM_PRINT_COLOR "\n  (", m);
+  fprintf(ostream, "Vector (float%d):\n\t|", m);
 
   for (i = 0; i < m; i++) {
-    if (vec[i] < CGLM_PRINT_MAX_TO_SHORT)
-      fprintf(ostream, " % .*f", CGLM_PRINT_PRECISION, vec[i]);
-    else
-      fprintf(ostream, " % g", vec[i]);
+    fprintf(ostream, "%0.4f", vec[i]);
+
+    if (i != m - 1)
+      fprintf(ostream, "\t");
   }
 
-  fprintf(ostream, "  )" CGLM_PRINT_COLOR_RESET "\n\n");
+  fprintf(ostream, "|\n\n");
 
 #undef m
 }
@@ -209,12 +165,16 @@ glm_ivec3_print(ivec3             vec,
 
 #define m 3
 
-  fprintf(ostream, "Vector (int%d): " CGLM_PRINT_COLOR "\n  (", m);
+  fprintf(ostream, "Vector (int%d):\n\t|", m);
 
-  for (i = 0; i < m; i++)
-    fprintf(ostream, " % d", vec[i]);
+  for (i = 0; i < m; i++) {
+    fprintf(ostream, "%d", vec[i]);
 
-  fprintf(ostream, "  )" CGLM_PRINT_COLOR_RESET "\n\n");
+    if (i != m - 1)
+      fprintf(ostream, "\t");
+  }
+
+  fprintf(ostream, "|\n\n");
   
 #undef m
 }
@@ -227,16 +187,16 @@ glm_vec2_print(vec2              vec,
 
 #define m 2
 
-  fprintf(ostream, "Vector (float%d): " CGLM_PRINT_COLOR "\n  (", m);
+  fprintf(ostream, "Vector (float%d):\n\t|", m);
 
   for (i = 0; i < m; i++) {
-    if (vec[i] < CGLM_PRINT_MAX_TO_SHORT)
-      fprintf(ostream, " % .*f", CGLM_PRINT_PRECISION, vec[i]);
-    else
-      fprintf(ostream, " % g", vec[i]);
+    fprintf(ostream, "%0.4f", vec[i]);
+
+    if (i != m - 1)
+      fprintf(ostream, "\t");
   }
 
-  fprintf(ostream, "  )" CGLM_PRINT_COLOR_RESET "\n\n");
+  fprintf(ostream, "|\n\n");
 
 #undef m
 }
@@ -249,17 +209,16 @@ glm_versor_print(versor            vec,
 
 #define m 4
 
-  fprintf(ostream, "Quaternion (float%d): " CGLM_PRINT_COLOR "\n  (", m);
+  fprintf(ostream, "Versor (float%d):\n\t|", m);
 
   for (i = 0; i < m; i++) {
-    if (vec[i] < CGLM_PRINT_MAX_TO_SHORT)
-      fprintf(ostream, " % .*f", CGLM_PRINT_PRECISION, vec[i]);
-    else
-      fprintf(ostream, " % g", vec[i]);
+    fprintf(ostream, "%0.4f", vec[i]);
+
+    if (i != m - 1)
+      fprintf(ostream, "\t");
   }
 
-
-  fprintf(ostream, "  )" CGLM_PRINT_COLOR_RESET "\n\n");
+  fprintf(ostream, "|\n\n");
 
 #undef m
 }
@@ -273,43 +232,24 @@ glm_aabb_print(vec3                    bbox[2],
 
 #define m 3
 
-  fprintf(ostream, "AABB (%s): " CGLM_PRINT_COLOR "\n", tag ? tag: "float");
+  fprintf(ostream, "AABB (%s):\n", tag ? tag: "float");
 
   for (i = 0; i < 2; i++) {
-    fprintf(ostream, "  (");
+    fprintf(ostream, "\t|");
 
     for (j = 0; j < m; j++) {
-      if (bbox[i][j] < CGLM_PRINT_MAX_TO_SHORT)
-        fprintf(ostream, " % .*f", CGLM_PRINT_PRECISION, bbox[i][j]);
-      else
-        fprintf(ostream, " % g", bbox[i][j]);
+      fprintf(ostream, "%0.4f", bbox[i][j]);
+
+      if (j != m - 1)
+        fprintf(ostream, "\t");
     }
 
-    fprintf(ostream, "  )\n");
+    fprintf(ostream, "|\n");
   }
 
-  fprintf(ostream, CGLM_PRINT_COLOR_RESET "\n");
+  fprintf(ostream, "\n");
 
 #undef m
 }
 
-#elif !defined(CGLM_NO_PRINTS_NOOP)
-
-#include "common.h"
-
-#include <stdio.h>
-#include <stdlib.h>
-
-/* NOOP: Remove print from DEBUG */
-#define glm_mat4_print(...)
-#define glm_mat3_print(...)
-#define glm_mat2_print(...)
-#define glm_vec4_print(...)
-#define glm_vec3_print(...)
-#define glm_ivec3_print(...)
-#define glm_vec2_print(...)
-#define glm_versor_print(...)
-#define glm_aabb_print(...)
-
-#endif
 #endif /* cglm_io_h */

include/cglm/quat.h

@@ -63,6 +63,10 @@
 #  include "simd/sse2/quat.h"
 #endif
 
+CGLM_INLINE
+void
+glm_mat4_identity(mat4 mat);
+
 CGLM_INLINE
 void
 glm_mat4_mulv(mat4 m, vec4 v, vec4 dest);

include/cglm/ray.h

@@ -1,77 +0,0 @@
-/*
- * Copyright (c), Recep Aslantas.
- *
- * MIT License (MIT), http://opensource.org/licenses/MIT
- * Full license can be found in the LICENSE file
- */
-
-/*
- Functions:
-   CGLM_INLINE bool glm_line_triangle_intersect(vec3   origin,
-                                                vec3   direction,
-                                                vec3   v0,
-                                                vec3   v1,
-                                                vec3   v2,
-                                                float *d);
-*/
-
-#ifndef cglm_ray_h
-#define cglm_ray_h
-
-#include "vec3.h"
-
-/*!
- * @brief Möller–Trumbore ray-triangle intersection algorithm
- * 
- * @param[in] origin         origin of ray
- * @param[in] direction      direction of ray
- * @param[in] v0             first vertex of triangle
- * @param[in] v1             second vertex of triangle
- * @param[in] v2             third vertex of triangle
- * @param[in, out] d         distance to intersection
- * @return whether there is intersection
- */
-
-CGLM_INLINE
-bool
-glm_ray_triangle(vec3   origin,
-                 vec3   direction,
-                 vec3   v0,
-                 vec3   v1,
-                 vec3   v2,
-                 float *d) {
-  vec3        edge1, edge2, p, t, q;
-  float       det, inv_det, u, v, dist;
-  const float epsilon = 0.000001f;
-
-  glm_vec3_sub(v1, v0, edge1);
-  glm_vec3_sub(v2, v0, edge2);
-  glm_vec3_cross(direction, edge2, p);
-
-  det = glm_vec3_dot(edge1, p);
-  if (det > -epsilon && det < epsilon)
-    return false;
-
-  inv_det = 1.0f / det;
-  
-  glm_vec3_sub(origin, v0, t);
-
-  u = inv_det * glm_vec3_dot(t, p);
-  if (u < 0.0f || u > 1.0f)
-    return false;
-
-  glm_vec3_cross(t, edge1, q);
-
-  v = inv_det * glm_vec3_dot(direction, q);
-  if (v < 0.0f || u + v > 1.0f)
-    return false;
-
-  dist = inv_det * glm_vec3_dot(edge2, q);
-
-  if (d)
-    *d = dist;
-
-  return dist > epsilon;
-}
-
-#endif

include/cglm/struct/affine.h

@@ -39,6 +39,10 @@
 #include "vec4.h"
 #include "mat4.h"
 
+CGLM_INLINE
+mat4s
+glms_mat4_mul(mat4s m1, mat4s m2);
+
 /*!
  * @brief translate existing transform matrix by v vector
  *        and stores result in same matrix

include/cglm/struct/sphere.h

@@ -42,9 +42,9 @@ glms_sphere_radii(vec4s s) {
  */
 CGLM_INLINE
 vec4s
-glms_sphere_transform(vec4s s, mat4s m) {
+glms_sphere_transform(vec4s s, mat4 m) {
   vec4s r;
-  glm_sphere_transform(s.raw, m.raw, r.raw);
+  glm_sphere_transform(s.raw, m, r.raw);
   return r;
 }
 

include/cglm/struct/vec2.h

@@ -66,7 +66,7 @@
 /*!
  * @brief init vec2 using vec2
  *
- * @param[in]  v3   vector3
+ * @param[in]  v4   vector3
  * @returns         destination
  */
 CGLM_INLINE
@@ -455,18 +455,18 @@ glms_vec2_normalize(vec2s v) {
 }
 
 /*!
- * @brief rotate vec2 by angle using Rodrigues' rotation formula
+ * @brief rotate vec2 around axis by angle using Rodrigues' rotation formula
  *
  * @param[in]     v     vector
+ * @param[in]     axis  axis vector (must be unit vector)
  * @param[in]     angle angle by radians
  * @returns             rotated vector
  */
 CGLM_INLINE
 vec2s
-glms_vec2_rotate(vec2s v, float angle) {
-  vec2s r;
-  glm_vec2_rotate(v.raw, angle, r.raw);
-  return r;
+glms_vec2_rotate(vec2s v, float angle, vec2s axis) {
+  glm_vec2_rotate(v.raw, angle, axis.raw);
+  return v;
 }
 
 /**

include/cglm/util.h

@@ -322,7 +322,7 @@ glm_percent(float from, float to, float current) {
 CGLM_INLINE
 float
 glm_percentc(float from, float to, float current) {
-  return glm_clamp_zo(glm_percent(from, to, current));
+  return glm_clamp(glm_percent(from, to, current), 0.0f, 1.0f);
 }
 
 /*!

include/cglm/vec4.h

@@ -680,7 +680,7 @@ glm_vec4_negate_to(vec4 v, vec4 dest) {
 #if defined( __SSE__ ) || defined( __SSE2__ )
   glmm_store(dest, _mm_xor_ps(glmm_load(v), _mm_set1_ps(-0.0f)));
 #elif defined(CGLM_NEON_FP)
-  vst1q_f32(dest, vnegq_f32(vld1q_f32(v)));
+  vst1q_f32(dest, veorq_s32(vld1q_f32(v), vdupq_n_f32(-0.0f)));
 #else
   dest[0] = -v[0];
   dest[1] = -v[1];

include/cglm/version.h

@@ -10,6 +10,6 @@
 
 #define CGLM_VERSION_MAJOR 0
 #define CGLM_VERSION_MINOR 7
-#define CGLM_VERSION_PATCH 4
+#define CGLM_VERSION_PATCH 1
 
 #endif /* cglm_version_h */

src/config.h

@@ -1,9 +1,9 @@
 /*
- * Copyright (c), Recep Aslantas.
- *
- * MIT License (MIT), http://opensource.org/licenses/MIT
- * Full license can be found in the LICENSE file
- */
+* Copyright (c), Recep Aslantas.
+*
+* MIT License (MIT), http://opensource.org/licenses/MIT
+* Full license can be found in the LICENSE file
+*/
 
 #ifndef cglm__config__h_
 #define cglm__config__h_

src/io.c

@@ -5,8 +5,6 @@
  * Full license can be found in the LICENSE file
  */
 
-#define CGLM_LIB_SRC
-
 #include "../include/cglm/cglm.h"
 #include "../include/cglm/call.h"
 

src/ray.c

@@ -1,13 +0,0 @@
-#include "../include/cglm/cglm.h"
-#include "../include/cglm/call.h"
-
-CGLM_EXPORT
-bool
-glmc_ray_triangle(vec3   origin,
-                  vec3   direction,
-                  vec3   v0,
-                  vec3   v1,
-                  vec3   v2,
-                  float *d) {
-    return glm_ray_triangle(origin, direction, v0, v1, v2, d);
-}

test/CMakeLists.txt

@@ -1,39 +0,0 @@
-cmake_minimum_required(VERSION 3.8.2)
-
-# List all files containing tests. (Change as needed)
-set(TESTFILES
-  runner.c
-  src/test_euler.c
-  src/test_bezier.c
-  src/test_cam.c
-  src/test_struct.c
-  src/test_clamp.c
-  src/test_common.c
-  src/tests.c
-  )
-
-set(TEST_MAIN tests)
-set(TEST_RUNNER_PARAMS "")
-
-add_executable(${TEST_MAIN} ${TESTFILES})
-
-target_link_libraries(${TEST_MAIN} PRIVATE cglm m)
-target_include_directories(${TEST_MAIN} PRIVATE
-  ${CMAKE_CURRENT_LIST_DIR}/include
-  ${CMAKE_CURRENT_LIST_DIR}/src
-  )
-
-set_target_properties(${TEST_MAIN} PROPERTIES RUNTIME_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR})
-
-if(LDFLAGS)
-  target_compile_options(${TEST_MAIN} PRIVATE ${LDFLAGS})
-endif()
-
-add_test(
-    NAME cglm.${TEST_MAIN}
-    COMMAND ${TEST_MAIN} ${TEST_RUNNER_PARAMS})
-
-add_custom_target(check
-  make
-  COMMAND ${CMAKE_CTEST_COMMAND} -V
-  DEPENDS cglm)

test/include/common.h

@@ -8,9 +8,6 @@
 #ifndef tests_common_h
 #define tests_common_h
 
-#define _USE_MATH_DEFINES       /* for windows */
-#define _CRT_SECURE_NO_WARNINGS /* for windows */
-
 #include <stdlib.h>
 #include <stdio.h>
 #include <string.h>

test/src/test_ray.h

@@ -1,34 +0,0 @@
-/*
- * 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"
-
-TEST_IMPL(GLM_PREFIX, ray_triangle) {
-  /* Check whether a simple hit is recognized with the right distance */
-  vec3  origin    = { 0.0f,  0.0f,  0.0f};
-  vec3  direction = { 1.0f,  0.0f,  0.0f};
-  vec3  opposite  = {-1.0f,  0.0f,  0.0f};
-  vec3  v0        = { 5.0f, -1.0f,  1.0f};
-  vec3  v1        = { 5.0f, -1.0f, -1.0f};
-  vec3  v2        = { 5.0f,  1.0f,  0.0f};
-  float d;
-  bool  hit;
-
-  hit = GLM(ray_triangle)(origin, direction, v0, v1, v2, &d);
-  ASSERT(hit);
-  ASSERT(fabsf(d - 5.0f) <= 0.0000009);
-
-  /* Check whether a simple miss works */
-  hit = GLM(ray_triangle)(origin, opposite, v0, v1, v2, &d);
-  ASSERT(!hit);
-
-  /* Check that we can disregard distance and pass NULL pointer instead */
-  hit = GLM(ray_triangle)(origin, direction, v0, v1, v2, NULL);
-  ASSERT(hit);
-
-  TEST_SUCCESS
-}

test/src/test_struct.c

@@ -1,9 +1,9 @@
 /*
- * Copyright (c), Recep Aslantas.
- *
- * MIT License (MIT), http://opensource.org/licenses/MIT
- * Full license can be found in the LICENSE file
- */
+* 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"
 

test/src/tests.c

@@ -23,7 +23,6 @@
 #include "test_plane.h"
 #include "test_affine.h"
 #include "test_affine_mat.h"
-#include "test_ray.h"
 
 #undef GLM
 #undef GLM_PREFIX
@@ -45,7 +44,6 @@
 #include "test_plane.h"
 #include "test_affine.h"
 #include "test_affine_mat.h"
-#include "test_ray.h"
 
 #undef GLM
 #undef GLM_PREFIX

test/tests.h

@@ -218,10 +218,6 @@ TEST_DECLARE(clamp)
 /* euler */
 TEST_DECLARE(euler)
 
-/* ray */
-TEST_DECLARE(glm_ray_triangle)
-TEST_DECLARE(glmc_ray_triangle)
-
 /* quat */
 TEST_DECLARE(MACRO_GLM_QUAT_IDENTITY_INIT)
 TEST_DECLARE(MACRO_GLM_QUAT_IDENTITY)
@@ -909,10 +905,6 @@ TEST_LIST {
   /* euler */
   TEST_ENTRY(euler)
   
-  /* ray */
-  TEST_ENTRY(glm_ray_triangle)
-  TEST_ENTRY(glmc_ray_triangle)
-
   /* quat */
   TEST_ENTRY(MACRO_GLM_QUAT_IDENTITY_INIT)
   TEST_ENTRY(MACRO_GLM_QUAT_IDENTITY)

win/cglm-test.vcxproj

@@ -42,7 +42,6 @@
     <ClInclude Include="..\test\src\test_vec2.h" />
     <ClInclude Include="..\test\src\test_vec3.h" />
     <ClInclude Include="..\test\src\test_vec4.h" />
-    <ClInclude Include="..\test\src\test_ray.h" />
     <ClInclude Include="..\test\tests.h" />
   </ItemGroup>
   <ItemGroup>

win/cglm-test.vcxproj.filters

@@ -79,8 +79,5 @@
     <ClInclude Include="..\test\src\test_vec2.h">
       <Filter>src</Filter>
     </ClInclude>
-    <ClInclude Include="..\test\src\test_ray.h">
-      <Filter>src</Filter>
-    </ClInclude>
   </ItemGroup>
 </Project>

win/cglm.vcxproj

@@ -34,7 +34,6 @@
     <ClCompile Include="..\src\plane.c" />
     <ClCompile Include="..\src\project.c" />
     <ClCompile Include="..\src\quat.c" />
-    <ClCompile Include="..\src\ray.c" />
     <ClCompile Include="..\src\sphere.c" />
     <ClCompile Include="..\src\vec2.c" />
     <ClCompile Include="..\src\vec3.c" />
@@ -62,7 +61,6 @@
     <ClInclude Include="..\include\cglm\call\plane.h" />
     <ClInclude Include="..\include\cglm\call\project.h" />
     <ClInclude Include="..\include\cglm\call\quat.h" />
-    <ClInclude Include="..\include\cglm\call\ray.h" />
     <ClInclude Include="..\include\cglm\call\sphere.h" />
     <ClInclude Include="..\include\cglm\call\vec2.h" />
     <ClInclude Include="..\include\cglm\call\vec3.h" />
@@ -82,14 +80,12 @@
     <ClInclude Include="..\include\cglm\plane.h" />
     <ClInclude Include="..\include\cglm\project.h" />
     <ClInclude Include="..\include\cglm\quat.h" />
-    <ClInclude Include="..\include\cglm\ray.h" />
     <ClInclude Include="..\include\cglm\simd\arm.h" />
     <ClInclude Include="..\include\cglm\simd\avx\affine.h" />
     <ClInclude Include="..\include\cglm\simd\avx\mat4.h" />
     <ClInclude Include="..\include\cglm\simd\intrin.h" />
     <ClInclude Include="..\include\cglm\simd\neon\mat4.h" />
     <ClInclude Include="..\include\cglm\simd\sse2\affine.h" />
-    <ClInclude Include="..\include\cglm\simd\sse2\mat2.h" />
     <ClInclude Include="..\include\cglm\simd\sse2\mat3.h" />
     <ClInclude Include="..\include\cglm\simd\sse2\mat4.h" />
     <ClInclude Include="..\include\cglm\simd\sse2\quat.h" />

win/cglm.vcxproj.filters

@@ -92,9 +92,6 @@
     <ClCompile Include="..\src\vec2.c">
       <Filter>src</Filter>
     </ClCompile>
-    <ClCompile Include="..\src\ray.c">
-      <Filter>src</Filter>
-    </ClCompile>
   </ItemGroup>
   <ItemGroup>
     <ClInclude Include="..\src\config.h">
@@ -127,9 +124,6 @@
     <ClInclude Include="..\include\cglm\call\vec4.h">
       <Filter>include\cglm\call</Filter>
     </ClInclude>
-    <ClInclude Include="..\include\cglm\call\ray.h">
-      <Filter>include\cglm\call</Filter>
-    </ClInclude>
     <ClInclude Include="..\include\cglm\simd\avx\affine.h">
       <Filter>include\cglm\simd\avx</Filter>
     </ClInclude>
@@ -247,9 +241,6 @@
     <ClInclude Include="..\include\cglm\ease.h">
       <Filter>include\cglm</Filter>
     </ClInclude>
-    <ClInclude Include="..\include\cglm\ray.h">
-      <Filter>include\cglm</Filter>
-    </ClInclude>
     <ClInclude Include="..\include\cglm\simd\arm.h">
       <Filter>include\cglm\simd</Filter>
     </ClInclude>
@@ -355,8 +346,5 @@
     <ClInclude Include="..\include\cglm\struct\vec2-ext.h">
       <Filter>include\cglm\struct</Filter>
     </ClInclude>
-    <ClInclude Include="..\include\cglm\simd\sse2\mat2.h">
-      <Filter>include\cglm\simd\sse2</Filter>
-    </ClInclude>
   </ItemGroup>
 </Project>