update affine-post.h

remove redundant comments
Merge pull request #260 from recp/new-affine
2026-02-17 03:39:05 +00:00 · 2022-10-23 14:27:34 +03:00 · 2022-10-23 14:22:16 +03:00 · 2022-10-23 14:06:34 +03:00 · 2022-10-23 12:09:44 +03:00 · 2022-10-23 12:08:37 +03:00
132 changed files with 5236 additions and 650 deletions
--- a/.github/FUNDING.yml
+++ b/.github/FUNDING.yml
@@ -1,7 +1,7 @@
 # These are supported funding model platforms

-github: # Replace with up to 4 GitHub Sponsors-enabled usernames e.g., [user1, user2]
-patreon: # Replace with a single Patreon username
+github: [recp]
+patreon: recp
 open_collective: cglm
 ko_fi: # Replace with a single Ko-fi username
 tidelift: # Replace with a single Tidelift platform-name/package-name e.g., npm/babel
--- a/.gitignore
+++ b/.gitignore
@@ -78,3 +78,5 @@ confdefs.h
 *.xcuserdatad
 .idea
 cmake-build-debug
+*.o.tmp
+xcode/*
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,5 +1,10 @@
 cmake_minimum_required(VERSION 3.8.2)
-project(cglm VERSION 0.8.3 LANGUAGES C)
+project(cglm
+  VERSION 0.8.6
+  HOMEPAGE_URL https://github.com/recp/cglm
+  DESCRIPTION "OpenGL Mathematics (glm) for C"
+  LANGUAGES C
+)

 set(CMAKE_C_STANDARD 11)
 set(CMAKE_C_STANDARD_REQUIRED YES)
@@ -47,7 +52,10 @@ include(GNUInstallDirs)

 set(CPACK_PROJECT_NAME ${PROJECT_NAME})
 set(CPACK_PROJECT_VERSION ${PROJECT_VERSION})
-include(CPack)
+
+if(NOT CPack_CMake_INCLUDED)
+  include(CPack)
+endif()

 # Target Start
 add_library(${PROJECT_NAME}
@@ -58,8 +66,11 @@ add_library(${PROJECT_NAME}
  src/quat.c
  src/cam.c
  src/vec2.c
+  src/ivec2.c
  src/vec3.c
+  src/ivec3.c
  src/vec4.c
+  src/ivec4.c
  src/mat2.c
  src/mat3.c
  src/mat4.c
@@ -73,18 +84,20 @@ add_library(${PROJECT_NAME}
  src/bezier.c
  src/ray.c
  src/affine2d.c
-  src/clipspace/persp_lh_zo.c
-  src/clipspace/persp_rh_zo.c
-  src/clipspace/persp_lh_no.c
-  src/clipspace/persp_rh_no.c
-  src/clipspace/ortho_lh_zo.c
-  src/clipspace/ortho_rh_zo.c
  src/clipspace/ortho_lh_no.c
+  src/clipspace/ortho_lh_zo.c
  src/clipspace/ortho_rh_no.c
-  src/clipspace/view_lh_zo.c
-  src/clipspace/view_rh_zo.c
+  src/clipspace/ortho_rh_zo.c
+  src/clipspace/persp_lh_no.c
+  src/clipspace/persp_lh_zo.c
+  src/clipspace/persp_rh_no.c
+  src/clipspace/persp_rh_zo.c
  src/clipspace/view_lh_no.c
+  src/clipspace/view_lh_zo.c
  src/clipspace/view_rh_no.c
+  src/clipspace/view_rh_zo.c
+  src/clipspace/project_no.c
+  src/clipspace/project_zo.c
  )

 if(CGLM_SHARED)
@@ -97,6 +110,12 @@ set_target_properties(${PROJECT_NAME} PROPERTIES
                              VERSION ${PROJECT_VERSION} 
                            SOVERSION ${PROJECT_VERSION_MAJOR})

+if(WIN32)
+  # Because SOVERSION has no effect to file naming on Windows
+  set_target_properties(${PROJECT_NAME} PROPERTIES
+    RUNTIME_OUTPUT_NAME ${PROJECT_NAME}-${PROJECT_VERSION_MAJOR})
+endif()
+
 target_include_directories(${PROJECT_NAME}
    PUBLIC 
        $<INSTALL_INTERFACE:include>    
@@ -122,7 +141,7 @@ install(TARGETS ${PROJECT_NAME}
        EXPORT  ${PROJECT_NAME}
        LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
        ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
-        RUNTIME DESTINATION ${CMAKE_INSTALL_LIBDIR})
+        RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR})

 install(DIRECTORY include/${PROJECT_NAME} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
        PATTERN ".*" EXCLUDE)
@@ -138,12 +157,7 @@ install(EXPORT      ${PROJECT_NAME}
        NAMESPACE   ${PROJECT_NAME}::
        DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/${PROJECT_NAME})

-set(PACKAGE_NAME ${PROJECT_NAME})
-set(prefix ${CMAKE_INSTALL_PREFIX})
-set(exec_prefix ${CMAKE_INSTALL_PREFIX})
-set(includedir "\${prefix}/${CMAKE_INSTALL_INCLUDEDIR}")
-set(libdir "\${prefix}/${CMAKE_INSTALL_LIBDIR}")
-configure_file(${CMAKE_CURRENT_LIST_DIR}/cglm.pc.in ${CMAKE_BINARY_DIR}/cglm.pc @ONLY)
+configure_file(cglm.pc.in cglm.pc @ONLY)

 install(FILES ${CMAKE_BINARY_DIR}/cglm.pc
  DESTINATION ${CMAKE_INSTALL_LIBDIR}/pkgconfig)
--- a/4
+++ b/4
@@ -78,3 +78,7 @@ https://stackoverflow.com/a/57793352/2676533
 16. ARM NEON Div

 http://github.com/microsoft/DirectXMath
+
+17. Pick Matrix
+
+glu project -> project.c
--- a/Makefile.am
+++ b/Makefile.am
@@ -46,16 +46,19 @@ cglm_HEADERS = include/cglm/version.h \
               include/cglm/mat3.h \
               include/cglm/mat2.h \
               include/cglm/affine.h \
+               include/cglm/affine-mat.h \
               include/cglm/vec2.h \
               include/cglm/vec2-ext.h \
+               include/cglm/ivec2.h \
               include/cglm/vec3.h \
               include/cglm/vec3-ext.h \
+               include/cglm/ivec3.h \
               include/cglm/vec4.h \
               include/cglm/vec4-ext.h \
+               include/cglm/ivec4.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 \
@@ -71,20 +74,22 @@ cglm_HEADERS = include/cglm/version.h \

 cglm_clipspacedir=$(includedir)/cglm/clipspace
 cglm_clipspace_HEADERS = include/cglm/clipspace/persp.h \
-                         include/cglm/clipspace/persp_lh_zo.h \
-                         include/cglm/clipspace/persp_rh_zo.h \
                         include/cglm/clipspace/persp_lh_no.h \
+                         include/cglm/clipspace/persp_lh_zo.h \
                         include/cglm/clipspace/persp_rh_no.h \
-                         include/cglm/clipspace/ortho_lh_zo.h \
-                         include/cglm/clipspace/ortho_rh_zo.h \
+                         include/cglm/clipspace/persp_rh_zo.h \
                         include/cglm/clipspace/ortho_lh_no.h \
+                         include/cglm/clipspace/ortho_lh_zo.h \
                         include/cglm/clipspace/ortho_rh_no.h \
+                         include/cglm/clipspace/ortho_rh_zo.h \
                         include/cglm/clipspace/view_lh.h \
                         include/cglm/clipspace/view_rh.h \
-                         include/cglm/clipspace/view_lh_zo.h \
-                         include/cglm/clipspace/view_rh_zo.h \
                         include/cglm/clipspace/view_lh_no.h \
-                         include/cglm/clipspace/view_rh_no.h
+                         include/cglm/clipspace/view_lh_zo.h \
+                         include/cglm/clipspace/view_rh_no.h \
+                         include/cglm/clipspace/view_rh_zo.h \
+                         include/cglm/clipspace/project_no.h \
+                         include/cglm/clipspace/project_zo.h

 cglm_calldir=$(includedir)/cglm/call
 cglm_call_HEADERS = include/cglm/call/mat4.h \
@@ -93,7 +98,9 @@ cglm_call_HEADERS = include/cglm/call/mat4.h \
                    include/cglm/call/vec2.h \
                    include/cglm/call/vec3.h \
                    include/cglm/call/vec4.h \
-                    include/cglm/call/affine.h \
+                    include/cglm/call/ivec2.h \
+                    include/cglm/call/ivec3.h \
+                    include/cglm/call/ivec4.h \
                    include/cglm/call/io.h \
                    include/cglm/call/cam.h \
                    include/cglm/call/quat.h \
@@ -107,8 +114,25 @@ cglm_call_HEADERS = include/cglm/call/mat4.h \
                    include/cglm/call/curve.h \
                    include/cglm/call/bezier.h \
                    include/cglm/call/ray.h \
+                    include/cglm/call/affine.h \
                    include/cglm/call/affine2d.h

+cglm_call_clipspacedir=$(includedir)/cglm/call/clipspace
+cglm_call_clipspace_HEADERS = include/cglm/call/clipspace/persp_lh_no.h \
+                              include/cglm/call/clipspace/persp_lh_zo.h \
+                              include/cglm/call/clipspace/persp_rh_no.h \
+                              include/cglm/call/clipspace/persp_rh_zo.h \
+                              include/cglm/call/clipspace/ortho_lh_no.h \
+                              include/cglm/call/clipspace/ortho_lh_zo.h \
+                              include/cglm/call/clipspace/ortho_rh_no.h \
+                              include/cglm/call/clipspace/ortho_rh_zo.h \
+                              include/cglm/call/clipspace/view_lh_no.h \
+                              include/cglm/call/clipspace/view_lh_zo.h \
+                              include/cglm/call/clipspace/view_rh_no.h \
+                              include/cglm/call/clipspace/view_rh_zo.h \
+                              include/cglm/call/clipspace/project_no.h \
+                              include/cglm/call/clipspace/project_zo.h
+
 cglm_simddir=$(includedir)/cglm/simd
 cglm_simd_HEADERS = include/cglm/simd/intrin.h \
                    include/cglm/simd/x86.h \
@@ -126,22 +150,25 @@ cglm_simd_avx_HEADERS = include/cglm/simd/avx/mat4.h \
                        include/cglm/simd/avx/affine.h

 cglm_simd_neondir=$(includedir)/cglm/simd/neon
-cglm_simd_neon_HEADERS = include/cglm/simd/neon/mat4.h \
+cglm_simd_neon_HEADERS = include/cglm/simd/neon/affine.h \
                         include/cglm/simd/neon/mat2.h \
-                         include/cglm/simd/neon/affine.h \
+                         include/cglm/simd/neon/mat4.h \
                         include/cglm/simd/neon/quat.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/affine-pre.h \
+                      include/cglm/struct/affine-post.h \
+                      include/cglm/struct/affine.h \
+                      include/cglm/struct/affine2d.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 \
@@ -152,22 +179,23 @@ cglm_struct_HEADERS = include/cglm/struct/mat4.h \
                      include/cglm/struct/project.h \
                      include/cglm/struct/sphere.h \
                      include/cglm/struct/color.h \
-                      include/cglm/struct/curve.h \
-                      include/cglm/struct/affine2d.h
+                      include/cglm/struct/curve.h

 cglm_struct_clipspacedir=$(includedir)/cglm/struct/clipspace
-cglm_struct_clipspace_HEADERS = include/cglm/struct/clipspace/persp_lh_zo.h \
-                                include/cglm/struct/clipspace/persp_rh_zo.h \
-                                include/cglm/struct/clipspace/persp_lh_no.h \
+cglm_struct_clipspace_HEADERS = include/cglm/struct/clipspace/persp_lh_no.h \
+                                include/cglm/struct/clipspace/persp_lh_zo.h \
                                include/cglm/struct/clipspace/persp_rh_no.h \
-                                include/cglm/struct/clipspace/ortho_lh_zo.h \
-                                include/cglm/struct/clipspace/ortho_rh_zo.h \
+                                include/cglm/struct/clipspace/persp_rh_zo.h \
                                include/cglm/struct/clipspace/ortho_lh_no.h \
+                                include/cglm/struct/clipspace/ortho_lh_zo.h \
                                include/cglm/struct/clipspace/ortho_rh_no.h \
-                                include/cglm/struct/clipspace/view_lh_zo.h \
-                                include/cglm/struct/clipspace/view_rh_zo.h \
+                                include/cglm/struct/clipspace/ortho_rh_zo.h \
                                include/cglm/struct/clipspace/view_lh_no.h \
-                                include/cglm/struct/clipspace/view_rh_no.h
+                                include/cglm/struct/clipspace/view_lh_zo.h \
+                                include/cglm/struct/clipspace/view_rh_no.h \
+                                include/cglm/struct/clipspace/view_rh_zo.h \
+                                include/cglm/struct/clipspace/project_no.h \
+                                include/cglm/struct/clipspace/project_zo.h

 libcglm_la_SOURCES=\
    src/euler.c \
@@ -176,8 +204,11 @@ libcglm_la_SOURCES=\
    src/quat.c \
    src/cam.c \
    src/vec2.c \
+    src/ivec2.c \
    src/vec3.c \
+    src/ivec3.c \
    src/vec4.c \
+    src/ivec4.c \
    src/mat2.c \
    src/mat3.c \
    src/mat4.c \
@@ -202,7 +233,9 @@ libcglm_la_SOURCES=\
    src/clipspace/view_lh_no.c \
    src/clipspace/view_lh_zo.c \
    src/clipspace/view_rh_no.c \
-    src/clipspace/view_rh_zo.c
+    src/clipspace/view_rh_zo.c \
+    src/clipspace/project_no.c \
+    src/clipspace/project_zo.c
    
 test_tests_SOURCES=\
    test/runner.c \
--- a/README.md
+++ b/README.md
@@ -1,19 +1,59 @@
 # 🎥 OpenGL Mathematics (glm) for `C`
-[![Build Status](https://travis-ci.com/recp/cglm.svg?branch=master)](https://travis-ci.com/recp/cglm)
-[![Build status](https://ci.appveyor.com/api/projects/status/av7l3gc0yhfex8y4/branch/master?svg=true)](https://ci.appveyor.com/project/recp/cglm/branch/master)
-[![Documentation Status](https://readthedocs.org/projects/cglm/badge/?version=latest)](http://cglm.readthedocs.io/en/latest/?badge=latest)
-[![Coverage Status](https://coveralls.io/repos/github/recp/cglm/badge.svg?branch=master)](https://coveralls.io/github/recp/cglm?branch=master)
-[![codecov](https://codecov.io/gh/recp/cglm/branch/master/graph/badge.svg)](https://codecov.io/gh/recp/cglm)
-[![Codacy Badge](https://api.codacy.com/project/badge/Grade/6a62b37d5f214f178ebef269dc4a6bf1)](https://www.codacy.com/app/recp/cglm?utm_source=github.com&amp;utm_medium=referral&amp;utm_content=recp/cglm&amp;utm_campaign=Badge_Grade)
-[![Backers on Open Collective](https://opencollective.com/cglm/backers/badge.svg)](#backers)
-[![Sponsors on Open Collective](https://opencollective.com/cglm/sponsors/badge.svg)](#sponsors)

-#### Documentation
+<p align="center">
+   <img alt="" src="cglm.png" width="550" />
+</p>
+<br>
+<p align="center">
+    <a href="https://travis-ci.com/recp/cglm">
+        <img src="https://travis-ci.com/recp/cglm.svg?branch=master"
+             alt="Build Status">
+    </a>
+    <a href="https://ci.appveyor.com/project/recp/cglm/branch/master">
+        <img src="https://ci.appveyor.com/api/projects/status/av7l3gc0yhfex8y4/branch/master?svg=true"
+             alt="Windows Build Status">
+    </a>
+    <a href="http://cglm.readthedocs.io/en/latest/?badge=latest">
+        <img src="https://readthedocs.org/projects/cglm/badge/?version=latest"
+             alt="Documentation Status">
+    </a>
+    <a href="https://www.codacy.com/app/recp/cglm?utm_source=github.com&amp;utm_medium=referral&amp;utm_content=recp/cglm&amp;utm_campaign=Badge_Grade">
+        <img src="https://api.codacy.com/project/badge/Grade/6a62b37d5f214f178ebef269dc4a6bf1"
+             alt="Codacy Badge"/>
+    </a>
+    <a href="https://coveralls.io/github/recp/cglm?branch=master">
+        <img src="https://coveralls.io/repos/github/recp/cglm/badge.svg?branch=master"
+             alt="Coverage Status"/>
+    </a>
+    <a href="https://codecov.io/gh/recp/cglm">
+        <img src="https://codecov.io/gh/recp/cglm/branch/master/graph/badge.svg"
+             alt="Coverage Status"/>
+    </a>
+    <br /><br />
+    <a href="#sponsors">
+        <img src="https://opencollective.com/cglm/sponsors/badge.svg"
+             alt="Sponsors on Open Collective"/>
+    </a>
+    <a href="#backers">
+        <img src="https://opencollective.com/cglm/backers/badge.svg"
+             alt="Backers on Open Collective"/>
+    </a>
+</p>
+
+<br>
+
+<p align="center">
+Highly optimized 2D|3D math library, also known as <b>OpenGL Mathematics (glm) for `C`</b>. <b>cglm</b> provides lot of utils to help math operations to be fast and quick to write. It is community friendly, feel free to bring any issues, bugs you faced. 
+</p>
+
+---
+
+#### 📚 Documentation

 Almost all functions (inline versions) and parameters are documented inside the corresponding headers. <br />
 Complete documentation: http://cglm.readthedocs.io

-#### Note for previous versions:
+#### 📌 Note for previous versions:

 - _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
@@ -28,30 +68,27 @@ you have the latest version
 - **[major change]** by starting v0.7.3, inline print functions are disabled in release/production mode to eliminate print costs (see options in documentation). Print output also improved. You can disable colors if you need  (see documentation)
 - **[major change]** by starting v0.8.3, **cglm** supports alternative clipspace configuations e.g. Left Handed, Zero-to-One (_zo)... `CGLM_FORCE_DEPTH_ZERO_TO_ONE` and `CGLM_FORCE_LEFT_HANDED` is provided to control clipspace. You should be able to use **cglm** with Vulkan, DirectX and Metal now... see https://cglm.readthedocs.io/en/latest/opt.html#clipspace-option-s

-#### Note for C++ developers:
+#### 📌 Note for C++ developers:
 If you are not aware of the original GLM library yet, you may also want to look at:
 https://github.com/g-truc/glm

-#### Note for new comers (Important):
+#### 📌 Note for new comers (Important):
 - `vec4` and `mat4` variables must be aligned. (There will be unaligned versions later)
 - **in** and **[in, out]** parameters must be initialized (please). But **[out]** parameters not, initializing out param is  also redundant
 - All functions are inline if you don't want to use pre-compiled versions with glmc_ prefix, you can ignore build process. Just include headers.
 - if your debugger takes you to cglm headers then make sure you are not trying to copy vec4 to vec3 or alig issues...
 - Welcome!

-#### Note for experienced developers:
+#### 📌 Note for experienced developers:
 - Since I'm testing this library in my projects, sometimes bugs occurs; finding that bug[s] and making improvements would be more easy with multiple developer/contributor and their projects or knowledge. Consider to make some tests if you suspect something is wrong and any feedbacks, contributions and bug reports are always welcome.

-#### Allocations?
+#### 📌 Allocations?
 `cglm` doesn't alloc any memory on heap. So it doesn't provide any allocator. You should alloc memory for **out** parameters too if you pass pointer of memory location. Don't forget that **vec4** (also quat/**versor**) and **mat4** must be aligned (16-bytes), because *cglm* uses SIMD instructions to optimize most operations if available.

-#### Returning vector or matrix... ?
+#### 📌 Returning vector or matrix... ?

 **cglm** supports both *ARRAY API* and *STRUCT API*, so you can return structs if you utilize struct api (`glms_`).

-#### Other APIs like Vulkan, Metal, Dx?
-Currently *cglm* uses default clip space configuration (-1, 1) for camera functions (perspective, extract corners...), in the future other clip space configurations will be supported
-
 <hr/>

 <table>
@@ -69,7 +106,7 @@ Currently *cglm* uses default clip space configuration (-1, 1) for camera functi
  </tbody>
 </table>

-## Features
+## 🚀 Features
 - **scalar** and **simd** (sse, avx, neon...) optimizations
 - option to use different clipspaces e.g. Left Handed, Zero-to-One... (currrently right handed negative-one is default)
 - array api and struct api, you can use arrays or structs.
@@ -151,7 +188,7 @@ Struct functions generally take their parameters as *values* and *return* their

 The types used are actually unions that allow access to the same data multiple ways. One of those ways involves anonymous structures, available since C11. MSVC also supports it for earlier C versions out of the box and GCC/Clang do if you enable `-fms-extensions`. To explicitly enable these anonymous structures, `#define CGLM_USE_ANONYMOUS_STRUCT` to `1`, to disable them, to `0`. For backward compatibility, you can also `#define CGLM_NO_ANONYMOUS_STRUCT` (value is irrelevant) to disable them. If you don't specify explicitly, cglm will do a best guess based on your compiler and the C version you're using.

-## Build
+## 🔨 Build

 ### CMake (All platforms)
 ```bash
@@ -394,7 +431,7 @@ You can pass matrices the same way to other APIs e.g. Vulkan, DX...

 ## Notes

- This library uses float types only, does not support Integers, Double... yet
+- This library does not support double type... yet
 - If headers are not working properly with your compiler, IDE please open an issue, because I'm using GCC and clang to test it maybe sometimes MSVC

 **TODO:**
@@ -403,7 +440,7 @@ You can pass matrices the same way to other APIs e.g. Vulkan, DX...
 - [x] Add version info
 - [ ] Unaligned operations (e.g. `glm_umat4_mul`)
 - [x] Extra documentation
- [ ] ARM Neon Arch (In Progress)
+- [x] ARM Neon Arch


 ## Contributors
--- a/cglm.pc.in
+++ b/cglm.pc.in
@@ -1,11 +1,11 @@
-prefix=@prefix@
-exec_prefix=@exec_prefix@
-libdir=@libdir@
-includedir=@includedir@
+prefix=@CMAKE_INSTALL_PREFIX@
+exec_prefix="${prefix}"
+libdir="${exec_prefix}/lib"
+includedir="${prefix}/include"

-Name: @PACKAGE_NAME@
-Description: OpenGL Mathematics (glm) for C
-URL: https://github.com/recp/cglm
-Version: @PACKAGE_VERSION@
+Name: @PROJECT_NAME@
+Description: @CMAKE_PROJECT_DESCRIPTION@
+URL: @CMAKE_PROJECT_HOMEPAGE_URL@
+Version: @PROJECT_VERSION@
 Cflags: -I${includedir}
 Libs: -L${libdir} -lcglm @LIBS@
--- a/cglm.png
+++ b/cglm.png
--- a/cglm.podspec
+++ b/cglm.podspec
@@ -2,7 +2,7 @@ Pod::Spec.new do |s|

  # Description
  s.name         = "cglm"
-  s.version      = "0.8.2"
+  s.version      = "0.8.4"
  s.summary      = "📽 Highly Optimized Graphics Math (glm) for C"
  s.description  = <<-DESC
 cglm is math library for graphics programming for C. 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], [0.8.3], [info@recp.me])
+AC_INIT([cglm], [0.8.6], [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.
--- a/docs/source/affine-common.rst
+++ b/docs/source/affine-common.rst
@@ -0,0 +1,129 @@
+.. default-domain:: C
+
+3D Affine Transforms (common)
+================================================================================
+
+Common transfrom functions.
+
+Table of contents (click to go):
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+Functions:
+
+1. :c:func:`glm_translate_make`
+#. :c:func:`glm_scale_to`
+#. :c:func:`glm_scale_make`
+#. :c:func:`glm_scale`
+#. :c:func:`glm_scale_uni`
+#. :c:func:`glm_rotate_make`
+#. :c:func:`glm_rotate_atm`
+#. :c:func:`glm_decompose_scalev`
+#. :c:func:`glm_uniscaled`
+#. :c:func:`glm_decompose_rs`
+#. :c:func:`glm_decompose`
+
+Functions documentation
+~~~~~~~~~~~~~~~~~~~~~~~
+
+.. c:function:: void  glm_translate_make(mat4 m, vec3 v)
+
+    creates NEW translate transform matrix by *v* vector.
+
+    Parameters:
+      | *[in, out]* **m**  affine transfrom
+      | *[in]*      **v**  translate vector [x, y, z]
+
+.. c:function:: void  glm_scale_to(mat4 m, vec3 v, mat4 dest)
+
+    scale existing transform matrix by *v* vector and store result in dest
+
+    Parameters:
+      | *[in]*  **m**    affine transfrom
+      | *[in]*  **v**    scale vector [x, y, z]
+      | *[out]* **dest** scaled matrix
+
+.. c:function:: void  glm_scale_make(mat4 m, vec3 v)
+
+    creates NEW scale matrix by v vector
+
+    Parameters:
+      | *[out]* **m** affine transfrom
+      | *[in]*  **v** scale vector [x, y, z]
+
+.. c:function:: void  glm_scale(mat4 m, vec3 v)
+
+    scales existing transform matrix by v vector
+    and stores result in same matrix
+
+    Parameters:
+      | *[in, out]* **m** affine transfrom
+      | *[in]*      **v** scale vector [x, y, z]
+
+.. c:function:: void  glm_scale_uni(mat4 m, float s)
+
+    applies uniform scale to existing transform matrix v = [s, s, s]
+    and stores result in same matrix
+
+    Parameters:
+      | *[in, out]* **m** affine transfrom
+      | *[in]*      **v** scale factor
+
+.. c:function:: void  glm_rotate_make(mat4 m, float angle, vec3 axis)
+
+    creates NEW rotation matrix by angle and axis,
+    axis will be normalized so you don't need to normalize it
+
+    Parameters:
+      | *[out]* **m**    affine transfrom
+      | *[in]*  **axis** angle (radians)
+      | *[in]*  **axis** axis
+
+.. c:function:: void  glm_rotate_atm(mat4 m, vec3 pivot, float angle, vec3 axis)
+
+    | creates NEW rotation matrix by angle and axis at given point
+    | this creates rotation matrix, it assumes you don't have a matrix
+
+    | this should work faster than glm_rotate_at because it reduces one glm_translate.
+
+    Parameters:
+      | *[in, out]* **m**     affine transfrom
+      | *[in]*      **pivot** pivot, anchor point, rotation center
+      | *[in]*      **angle** angle (radians)
+      | *[in]*      **axis**  axis
+
+.. c:function:: void  glm_decompose_scalev(mat4 m, vec3 s)
+
+    decompose scale vector
+
+    Parameters:
+      | *[in]*  **m**  affine transform
+      | *[out]* **s**  scale vector (Sx, Sy, Sz)
+
+.. c:function:: bool  glm_uniscaled(mat4 m)
+
+    returns true if matrix is uniform scaled.
+    This is helpful for creating normal matrix.
+
+    Parameters:
+      | *[in]*  **m**   matrix
+
+.. c:function:: void  glm_decompose_rs(mat4 m, mat4 r, vec3 s)
+
+    decompose rotation matrix (mat4) and scale vector [Sx, Sy, Sz]
+    DON'T pass projected matrix here
+
+    Parameters:
+      | *[in]*  **m** affine transform
+      | *[out]* **r** rotation matrix
+      | *[out]* **s** scale matrix
+
+.. c:function:: void  glm_decompose(mat4 m, vec4 t, mat4 r, vec3 s)
+
+    decompose affine transform, TODO: extract shear factors.
+    DON'T pass projected matrix here
+
+    Parameters:
+      | *[in]*  **m** affine transfrom
+      | *[out]* **t** translation vector
+      | *[out]* **r** rotation matrix (mat4)
+      | *[out]* **s** scaling vector [X, Y, Z]
--- a/docs/source/affine-post.rst
+++ b/docs/source/affine-post.rst
@@ -0,0 +1,129 @@
+.. default-domain:: C
+
+3D Affine Transforms (post)
+================================================================================
+
+Post transfrom functions are similar to pre transform functions except order of application is reversed.  
+Post transform functions are applied after the object is transformed with given (model matrix) transfrom. 
+
+Ther are named af
+
+Table of contents (click to go):
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+Functions:
+
+1. :c:func:`glm_translated_to`
+#. :c:func:`glm_translated`
+#. :c:func:`glm_translated_x`
+#. :c:func:`glm_translated_y`
+#. :c:func:`glm_translated_z`
+#. :c:func:`glm_rotated_x`
+#. :c:func:`glm_rotated_y`
+#. :c:func:`glm_rotated_z`
+#. :c:func:`glm_rotated`
+#. :c:func:`glm_rotated_at`
+#. :c:func:`glm_spinned`
+
+Functions documentation
+~~~~~~~~~~~~~~~~~~~~~~~
+
+.. c:function:: void  glm_translated_to(mat4 m, vec3 v, mat4 dest)
+
+    translate existing transform matrix by *v* vector and store result in dest
+
+    Parameters:
+      | *[in]*  **m**    affine transfrom
+      | *[in]*  **v**    translate vector [x, y, z]
+      | *[out]* **dest** translated matrix
+
+.. c:function:: void  glm_translated(mat4 m, vec3 v)
+
+    translate existing transform matrix by *v* vector
+    and stores result in same matrix
+
+    Parameters:
+      | *[in, out]* **m**  affine transfrom
+      | *[in]*      **v**  translate vector [x, y, z]
+
+.. c:function:: void  glm_translated_x(mat4 m, float x)
+
+    translate existing transform matrix by x factor
+
+    Parameters:
+      | *[in, out]* **m**  affine transfrom
+      | *[in]*      **v**  x factor
+
+.. c:function:: void  glm_translated_y(mat4 m, float y)
+
+    translate existing transform matrix by *y* factor
+
+    Parameters:
+      | *[in, out]* **m**  affine transfrom
+      | *[in]*      **v**  y factor
+
+.. c:function:: void  glm_translated_z(mat4 m, float z)
+
+    translate existing transform matrix by *z* factor
+
+    Parameters:
+      | *[in, out]* **m**  affine transfrom
+      | *[in]*      **v**  z factor
+
+.. c:function:: void  glm_rotated_x(mat4 m, float angle, mat4 dest)
+
+    rotate existing transform matrix around X axis by angle
+    and store result in dest
+
+    Parameters:
+      | *[in]*  **m**     affine transfrom
+      | *[in]*  **angle** angle (radians)
+      | *[out]* **dest**  rotated matrix
+
+.. c:function:: void  glm_rotated_y(mat4 m, float angle, mat4 dest)
+
+    rotate existing transform matrix around Y axis by angle
+    and store result in dest
+
+    Parameters:
+      | *[in]*  **m**     affine transfrom
+      | *[in]*  **angle** angle (radians)
+      | *[out]* **dest**  rotated matrix
+
+.. c:function:: void  glm_rotated_z(mat4 m, float angle, mat4 dest)
+
+    rotate existing transform matrix around Z axis by angle
+    and store result in dest
+
+    Parameters:
+      | *[in]*  **m**     affine transfrom
+      | *[in]*  **angle** angle (radians)
+      | *[out]* **dest**  rotated matrix
+
+.. c:function:: void  glm_rotated(mat4 m, float angle, vec3 axis)
+
+    rotate existing transform matrix around Z axis by angle and axis
+
+    Parameters:
+      | *[in, out]* **m**     affine transfrom
+      | *[in]*      **angle** angle (radians)
+      | *[in]*      **axis**  axis
+
+.. c:function:: void  glm_rotated_at(mat4 m, vec3 pivot, float angle, vec3 axis)
+
+    rotate existing transform around given axis by angle at given pivot point (rotation center)
+
+    Parameters:
+      | *[in, out]* **m**     affine transfrom
+      | *[in]*      **pivot** pivot, anchor point, rotation center
+      | *[in]*      **angle** angle (radians)
+      | *[in]*      **axis**  axis
+
+.. c:function:: void  glm_spinned(mat4 m, float angle, vec3 axis)
+
+    | rotate existing transform matrix around given axis by angle around self (doesn't affected by position)
+
+    Parameters:
+      | *[in, out]* **m**     affine transfrom
+      | *[in]*      **angle** angle (radians)
+      | *[in]*      **axis**  axis
--- a/docs/source/affine-pre.rst
+++ b/docs/source/affine-pre.rst
@@ -0,0 +1,240 @@
+.. default-domain:: C
+
+3D Affine Transforms (pre)
+================================================================================
+
+Pre transfrom functions which are regular transfrom functions.
+
+Table of contents (click to go):
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+Functions:
+
+1. :c:func:`glm_translate_to`
+#. :c:func:`glm_translate`
+#. :c:func:`glm_translate_x`
+#. :c:func:`glm_translate_y`
+#. :c:func:`glm_translate_z`
+#. :c:func:`glm_translate_make`
+#. :c:func:`glm_scale_to`
+#. :c:func:`glm_scale_make`
+#. :c:func:`glm_scale`
+#. :c:func:`glm_scale_uni`
+#. :c:func:`glm_rotate_x`
+#. :c:func:`glm_rotate_y`
+#. :c:func:`glm_rotate_z`
+#. :c:func:`glm_rotate_make`
+#. :c:func:`glm_rotate`
+#. :c:func:`glm_rotate_at`
+#. :c:func:`glm_rotate_atm`
+#. :c:func:`glm_decompose_scalev`
+#. :c:func:`glm_uniscaled`
+#. :c:func:`glm_decompose_rs`
+#. :c:func:`glm_decompose`
+#. :c:func:`glm_spin`
+
+Functions documentation
+~~~~~~~~~~~~~~~~~~~~~~~
+
+.. c:function:: void  glm_translate_to(mat4 m, vec3 v, mat4 dest)
+
+    translate existing transform matrix by *v* vector and store result in dest
+
+    Parameters:
+      | *[in]*  **m**    affine transfrom
+      | *[in]*  **v**    translate vector [x, y, z]
+      | *[out]* **dest** translated matrix
+
+.. c:function:: void  glm_translate(mat4 m, vec3 v)
+
+    translate existing transform matrix by *v* vector
+    and stores result in same matrix
+
+    Parameters:
+      | *[in, out]* **m**  affine transfrom
+      | *[in]*      **v**  translate vector [x, y, z]
+
+.. c:function:: void  glm_translate_x(mat4 m, float x)
+
+    translate existing transform matrix by x factor
+
+    Parameters:
+      | *[in, out]* **m**  affine transfrom
+      | *[in]*      **v**  x factor
+
+.. c:function:: void  glm_translate_y(mat4 m, float y)
+
+    translate existing transform matrix by *y* factor
+
+    Parameters:
+      | *[in, out]* **m**  affine transfrom
+      | *[in]*      **v**  y factor
+
+.. c:function:: void  glm_translate_z(mat4 m, float z)
+
+    translate existing transform matrix by *z* factor
+
+    Parameters:
+      | *[in, out]* **m**  affine transfrom
+      | *[in]*      **v**  z factor
+
+.. c:function:: void  glm_translate_make(mat4 m, vec3 v)
+
+    creates NEW translate transform matrix by *v* vector.
+
+    Parameters:
+      | *[in, out]* **m**  affine transfrom
+      | *[in]*      **v**  translate vector [x, y, z]
+
+.. c:function:: void  glm_scale_to(mat4 m, vec3 v, mat4 dest)
+
+    scale existing transform matrix by *v* vector and store result in dest
+
+    Parameters:
+      | *[in]*  **m**    affine transfrom
+      | *[in]*  **v**    scale vector [x, y, z]
+      | *[out]* **dest** scaled matrix
+
+.. c:function:: void  glm_scale_make(mat4 m, vec3 v)
+
+    creates NEW scale matrix by v vector
+
+    Parameters:
+      | *[out]* **m** affine transfrom
+      | *[in]*  **v** scale vector [x, y, z]
+
+.. c:function:: void  glm_scale(mat4 m, vec3 v)
+
+    scales existing transform matrix by v vector
+    and stores result in same matrix
+
+    Parameters:
+      | *[in, out]* **m** affine transfrom
+      | *[in]*      **v** scale vector [x, y, z]
+
+.. c:function:: void  glm_scale_uni(mat4 m, float s)
+
+    applies uniform scale to existing transform matrix v = [s, s, s]
+    and stores result in same matrix
+
+    Parameters:
+      | *[in, out]* **m** affine transfrom
+      | *[in]*      **v** scale factor
+
+.. c:function:: void  glm_rotate_x(mat4 m, float angle, mat4 dest)
+
+    rotate existing transform matrix around X axis by angle
+    and store result in dest
+
+    Parameters:
+      | *[in]*  **m**     affine transfrom
+      | *[in]*  **angle** angle (radians)
+      | *[out]* **dest**  rotated matrix
+
+.. c:function:: void  glm_rotate_y(mat4 m, float angle, mat4 dest)
+
+    rotate existing transform matrix around Y axis by angle
+    and store result in dest
+
+    Parameters:
+      | *[in]*  **m**     affine transfrom
+      | *[in]*  **angle** angle (radians)
+      | *[out]* **dest**  rotated matrix
+
+.. c:function:: void  glm_rotate_z(mat4 m, float angle, mat4 dest)
+
+    rotate existing transform matrix around Z axis by angle
+    and store result in dest
+
+    Parameters:
+      | *[in]*  **m**     affine transfrom
+      | *[in]*  **angle** angle (radians)
+      | *[out]* **dest**  rotated matrix
+
+.. c:function:: void  glm_rotate_make(mat4 m, float angle, vec3 axis)
+
+    creates NEW rotation matrix by angle and axis,
+    axis will be normalized so you don't need to normalize it
+
+    Parameters:
+      | *[out]* **m**    affine transfrom
+      | *[in]*  **axis** angle (radians)
+      | *[in]*  **axis** axis
+
+.. c:function:: void  glm_rotate(mat4 m, float angle, vec3 axis)
+
+    rotate existing transform matrix around Z axis by angle and axis
+
+    Parameters:
+      | *[in, out]* **m**     affine transfrom
+      | *[in]*      **angle** angle (radians)
+      | *[in]*      **axis**  axis
+
+.. c:function:: void  glm_rotate_at(mat4 m, vec3 pivot, float angle, vec3 axis)
+
+    rotate existing transform around given axis by angle at given pivot point (rotation center)
+
+    Parameters:
+      | *[in, out]* **m**     affine transfrom
+      | *[in]*      **pivot** pivot, anchor point, rotation center
+      | *[in]*      **angle** angle (radians)
+      | *[in]*      **axis**  axis
+
+.. c:function:: void  glm_rotate_atm(mat4 m, vec3 pivot, float angle, vec3 axis)
+
+    | creates NEW rotation matrix by angle and axis at given point
+    | this creates rotation matrix, it assumes you don't have a matrix
+
+    | this should work faster than glm_rotate_at because it reduces one glm_translate.
+
+    Parameters:
+      | *[in, out]* **m**     affine transfrom
+      | *[in]*      **pivot** pivot, anchor point, rotation center
+      | *[in]*      **angle** angle (radians)
+      | *[in]*      **axis**  axis
+
+.. c:function:: void  glm_decompose_scalev(mat4 m, vec3 s)
+
+    decompose scale vector
+
+    Parameters:
+      | *[in]*  **m**  affine transform
+      | *[out]* **s**  scale vector (Sx, Sy, Sz)
+
+.. c:function:: bool  glm_uniscaled(mat4 m)
+
+    returns true if matrix is uniform scaled.
+    This is helpful for creating normal matrix.
+
+    Parameters:
+      | *[in]*  **m**   matrix
+
+.. c:function:: void  glm_decompose_rs(mat4 m, mat4 r, vec3 s)
+
+    decompose rotation matrix (mat4) and scale vector [Sx, Sy, Sz]
+    DON'T pass projected matrix here
+
+    Parameters:
+      | *[in]*  **m** affine transform
+      | *[out]* **r** rotation matrix
+      | *[out]* **s** scale matrix
+
+.. c:function:: void  glm_decompose(mat4 m, vec4 t, mat4 r, vec3 s)
+
+    decompose affine transform, TODO: extract shear factors.
+    DON'T pass projected matrix here
+
+    Parameters:
+      | *[in]*  **m** affine transfrom
+      | *[out]* **t** translation vector
+      | *[out]* **r** rotation matrix (mat4)
+      | *[out]* **s** scaling vector [X, Y, Z]
+
+.. c:function:: void  glm_spin(mat4 m, float angle, vec3 axis)
+
+    | rotate existing transform matrix around given axis by angle around self (doesn't affected by position)
+
+    Parameters:
+      | *[in, out]* **m**     affine transfrom
+      | *[in]*      **angle** angle (radians)
+      | *[in]*      **axis**  axis
--- a/docs/source/affine.rst
+++ b/docs/source/affine.rst
@@ -5,6 +5,18 @@

 Header: cglm/affine.h

+Before starting, **cglm** provides two kind of transform functions; pre and post. 
+
+Pre functions (`T' = Tnew * T`) are like `glm_translate`, `glm_rotate` which means it will translate the vector first and then apply the model transformation.
+Post functions (`T' = T * Tnew`) are like `glm_translated`, `glm_rotated` which means it will apply the model transformation first and then translate the vector.
+
+`glm_translate`, `glm_rotate` are pre functions and are similar to C++ **glm** which you are familiar with. 
+
+In new versions of **cglm** we added `glm_translated`, `glm_rotated`... which are post functions, 
+they are useful in some cases, e.g. append transform to existing transform (apply/append transform as last transfrom T' = T * Tnew).
+
+Post functions are named after pre functions with `ed` suffix, e.g. `glm_translate` -> `glm_translated`. So don't mix them up.
+
 Initialize Transform Matrices
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 Functions with **_make** prefix expect you don't have a matrix and they create
@@ -25,6 +37,9 @@ since scale factors are stored in rotation matrix, same may also true for scalli
 cglm provides some functions for rotating around at given point e.g.
 **glm_rotate_at**, **glm_quat_rotate_at**. Use them or follow next section for algorihm ("Rotate or Scale around specific Point (Pivot Point / Anchor Point)").

+Also **cglm** provides :c:func:`glm_spin` and :c:func:`glm_spinned` functions to rotate around itself. No need to give pivot.
+These functions are useful for rotating around center of object. 
+
 Rotate or Scale around specific Point (Anchor Point)
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

@@ -35,6 +50,7 @@ If you want to rotate model around arbibtrary point follow these steps:
 3. Move model back from origin to pivot (reverse of step-1): **translate(pivot.x, pivot.y, pivot.z)**

 **glm_rotate_at**, **glm_quat_rotate_at** and their helper functions works that way. 
+So if you use them you don't need to do these steps manually which are done by **cglm**.

 The implementation would be:

@@ -45,6 +61,13 @@ The implementation would be:
  glm_rotate(m, angle, axis);
  glm_translate(m, pivotInv); /* pivotInv = -pivot */

+or just:
+
+.. code-block:: c
+  :linenos:
+
+  glm_rotate_at(m, pivot, angle, axis);
+
 .. _TransformsOrder:

 Transforms Order
@@ -54,7 +77,7 @@ It is important to understand this part especially if you call transform
 functions multiple times

 `glm_translate`, `glm_rotate`, `glm_scale` and `glm_quat_rotate` and their
-helpers functions works like this (cglm may provide reverse order too as alternative in the future):
+helpers functions works like this (cglm provides reverse order as `ed` suffix e.g `glm_translated`, `glm_rotated` see post transforms):

 .. code-block:: c
  :linenos:
@@ -147,199 +170,27 @@ Functions:
 #. :c:func:`glm_decompose_rs`
 #. :c:func:`glm_decompose`

+Post functions (**NEW**):
+
+1. :c:func:`glm_translated_to`
+#. :c:func:`glm_translated`
+#. :c:func:`glm_translated_x`
+#. :c:func:`glm_translated_y`
+#. :c:func:`glm_translated_z`
+#. :c:func:`glm_rotated_x`
+#. :c:func:`glm_rotated_y`
+#. :c:func:`glm_rotated_z`
+#. :c:func:`glm_rotated`
+#. :c:func:`glm_rotated_at`
+#. :c:func:`glm_spinned`
+
 Functions documentation
 ~~~~~~~~~~~~~~~~~~~~~~~

-.. c:function:: void  glm_translate_to(mat4 m, vec3 v, mat4 dest)
+.. toctree::
+   :maxdepth: 1
+   :caption: Affine categories:

-    translate existing transform matrix by *v* vector and store result in dest
-
-    Parameters:
-      | *[in]*  **m**    affine transfrom
-      | *[in]*  **v**    translate vector [x, y, z]
-      | *[out]* **dest** translated matrix
-
-.. c:function:: void  glm_translate(mat4 m, vec3 v)
-
-    translate existing transform matrix by *v* vector
-    and stores result in same matrix
-
-    Parameters:
-      | *[in, out]* **m**  affine transfrom
-      | *[in]*      **v**  translate vector [x, y, z]
-
-.. c:function:: void  glm_translate_x(mat4 m, float x)
-
-    translate existing transform matrix by x factor
-
-    Parameters:
-      | *[in, out]* **m**  affine transfrom
-      | *[in]*      **v**  x factor
-
-.. c:function:: void  glm_translate_y(mat4 m, float y)
-
-    translate existing transform matrix by *y* factor
-
-    Parameters:
-      | *[in, out]* **m**  affine transfrom
-      | *[in]*      **v**  y factor
-
-.. c:function:: void  glm_translate_z(mat4 m, float z)
-
-    translate existing transform matrix by *z* factor
-
-    Parameters:
-      | *[in, out]* **m**  affine transfrom
-      | *[in]*      **v**  z factor
-
-.. c:function:: void  glm_translate_make(mat4 m, vec3 v)
-
-    creates NEW translate transform matrix by *v* vector.
-
-    Parameters:
-      | *[in, out]* **m**  affine transfrom
-      | *[in]*      **v**  translate vector [x, y, z]
-
-.. c:function:: void  glm_scale_to(mat4 m, vec3 v, mat4 dest)
-
-    scale existing transform matrix by *v* vector and store result in dest
-
-    Parameters:
-      | *[in]*  **m**    affine transfrom
-      | *[in]*  **v**    scale vector [x, y, z]
-      | *[out]* **dest** scaled matrix
-
-.. c:function:: void  glm_scale_make(mat4 m, vec3 v)
-
-    creates NEW scale matrix by v vector
-
-    Parameters:
-      | *[out]* **m** affine transfrom
-      | *[in]*  **v** scale vector [x, y, z]
-
-.. c:function:: void  glm_scale(mat4 m, vec3 v)
-
-    scales existing transform matrix by v vector
-    and stores result in same matrix
-
-    Parameters:
-      | *[in, out]* **m** affine transfrom
-      | *[in]*      **v** scale vector [x, y, z]
-
-.. c:function:: void  glm_scale_uni(mat4 m, float s)
-
-    applies uniform scale to existing transform matrix v = [s, s, s]
-    and stores result in same matrix
-
-    Parameters:
-      | *[in, out]* **m** affine transfrom
-      | *[in]*      **v** scale factor
-
-.. c:function:: void  glm_rotate_x(mat4 m, float angle, mat4 dest)
-
-    rotate existing transform matrix around X axis by angle
-    and store result in dest
-
-    Parameters:
-      | *[in]*  **m**     affine transfrom
-      | *[in]*  **angle** angle (radians)
-      | *[out]* **dest**  rotated matrix
-
-.. c:function:: void  glm_rotate_y(mat4 m, float angle, mat4 dest)
-
-    rotate existing transform matrix around Y axis by angle
-    and store result in dest
-
-    Parameters:
-      | *[in]*  **m**     affine transfrom
-      | *[in]*  **angle** angle (radians)
-      | *[out]* **dest**  rotated matrix
-
-.. c:function:: void  glm_rotate_z(mat4 m, float angle, mat4 dest)
-
-    rotate existing transform matrix around Z axis by angle
-    and store result in dest
-
-    Parameters:
-      | *[in]*  **m**     affine transfrom
-      | *[in]*  **angle** angle (radians)
-      | *[out]* **dest**  rotated matrix
-
-.. c:function:: void  glm_rotate_make(mat4 m, float angle, vec3 axis)
-
-    creates NEW rotation matrix by angle and axis,
-    axis will be normalized so you don't need to normalize it
-
-    Parameters:
-      | *[out]* **m**    affine transfrom
-      | *[in]*  **axis** angle (radians)
-      | *[in]*  **axis** axis
-
-.. c:function:: void  glm_rotate(mat4 m, float angle, vec3 axis)
-
-    rotate existing transform matrix around Z axis by angle and axis
-
-    Parameters:
-      | *[in, out]* **m**     affine transfrom
-      | *[in]*      **angle** angle (radians)
-      | *[in]*      **axis**  axis
-
-.. c:function:: void  glm_rotate_at(mat4 m, vec3 pivot, float angle, vec3 axis)
-
-    rotate existing transform around given axis by angle at given pivot point (rotation center)
-
-    Parameters:
-      | *[in, out]* **m**     affine transfrom
-      | *[in]*      **pivot** pivot, anchor point, rotation center
-      | *[in]*      **angle** angle (radians)
-      | *[in]*      **axis**  axis
-
-.. c:function:: void  glm_rotate_atm(mat4 m, vec3 pivot, float angle, vec3 axis)
-
-    | creates NEW rotation matrix by angle and axis at given point
-    | this creates rotation matrix, it assumes you don't have a matrix
-
-    | this should work faster than glm_rotate_at because it reduces one glm_translate.
-
-    Parameters:
-      | *[in, out]* **m**     affine transfrom
-      | *[in]*      **pivot** pivot, anchor point, rotation center
-      | *[in]*      **angle** angle (radians)
-      | *[in]*      **axis**  axis
-
-.. c:function:: void  glm_decompose_scalev(mat4 m, vec3 s)
-
-    decompose scale vector
-
-    Parameters:
-      | *[in]*  **m**  affine transform
-      | *[out]* **s**  scale vector (Sx, Sy, Sz)
-
-.. c:function:: bool  glm_uniscaled(mat4 m)
-
-    returns true if matrix is uniform scaled.
-    This is helpful for creating normal matrix.
-
-    Parameters:
-      | *[in]*  **m**   matrix
-
-.. c:function:: void  glm_decompose_rs(mat4 m, mat4 r, vec3 s)
-
-    decompose rotation matrix (mat4) and scale vector [Sx, Sy, Sz]
-    DON'T pass projected matrix here
-
-    Parameters:
-      | *[in]*  **m** affine transform
-      | *[out]* **r** rotation matrix
-      | *[out]* **s** scale matrix
-
-.. c:function:: void  glm_decompose(mat4 m, vec4 t, mat4 r, vec3 s)
-
-    decompose affine transform, TODO: extract shear factors.
-    DON'T pass projected matrix here
-
-    Parameters:
-      | *[in]*  **m** affine transfrom
-      | *[out]* **t** translation vector
-      | *[out]* **r** rotation matrix (mat4)
-      | *[out]* **s** scaling vector [X, Y, Z]
+   affine-common
+   affine-pre
+   affine-post
--- a/docs/source/api.rst
+++ b/docs/source/api.rst
@@ -34,15 +34,18 @@ Follow the :doc:`build` documentation for this
   box
   quat
   euler
-   mat4
-   mat3
   mat2
+   mat3
+   mat4
+   vec2
+   vec2-ext
   vec3
   vec3-ext
   vec4
   vec4-ext
-   vec2
-   vec2-ext
+   ivec2
+   ivec3
+   ivec4
   color
   plane
   project
--- a/docs/source/cam.rst
+++ b/docs/source/cam.rst
@@ -140,7 +140,7 @@ Functions documentation
    | set up perspective projection matrix

    Parameters:
-      | *[in]*  **fovy**    field of view angle
+      | *[in]*  **fovy**    field of view angle (in radians)
      | *[in]*  **aspect**  aspect ratio ( width / height )
      | *[in]*  **nearVal** near clipping plane
      | *[in]*  **farVal**  far clipping planes
--- 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'0.8.3'
+version = u'0.8.6'
 # The full version, including alpha/beta/rc tags.
-release = u'0.8.3'
+release = u'0.8.6'

 # The language for content autogenerated by Sphinx. Refer to documentation
 # for a list of supported languages.
--- a/docs/source/index.rst
+++ b/docs/source/index.rst
@@ -6,13 +6,12 @@
 cglm Documentation
 ================================

-**cglm** is optimized 3D math library written in C99 (compatible with C89).
-It is similar to original **glm** library except this is mainly for **C**
+**cglm** is an optimized 3D math library written in C99 (compatible with C89).
+It is similar to the original **glm** library, except **cglm** is mainly for
+**C**.

-This library stores matrices as column-major order but in the future row-major
-is considered to be supported as optional.
-
-Also currently only **float** type is supported for most operations.
+**cglm** stores matrices as column-major order but in the future row-major is
+considered to be supported as optional.

 .. toctree::
   :maxdepth: 2
@@ -46,8 +45,8 @@ Also currently only **float** type is supported for most operations.

   troubleshooting

-Indices and tables
-==================
+Indices and Tables:
+===================

 * :ref:`genindex`
 * :ref:`modindex`
--- a/docs/source/ivec2.rst
+++ b/docs/source/ivec2.rst
@@ -0,0 +1,163 @@
+.. default-domain:: C
+
+ivec2
+=====
+
+Header: cglm/ivec2.h
+
+Table of contents (click to go):
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+Functions:
+
+1. :c:func:`glm_ivec2`
+#. :c:func:`glm_ivec2_copy`
+#. :c:func:`glm_ivec2_zero`
+#. :c:func:`glm_ivec2_one`
+#. :c:func:`glm_ivec2_add`
+#. :c:func:`glm_ivec2_adds`
+#. :c:func:`glm_ivec2_sub`
+#. :c:func:`glm_ivec2_subs`
+#. :c:func:`glm_ivec2_mul`
+#. :c:func:`glm_ivec2_scale`
+#. :c:func:`glm_ivec2_distance2`
+#. :c:func:`glm_ivec2_distance`
+#. :c:func:`glm_ivec2_maxv`
+#. :c:func:`glm_ivec2_minv`
+#. :c:func:`glm_ivec2_clamp`
+
+Functions documentation
+~~~~~~~~~~~~~~~~~~~~~~~
+
+.. c:function:: void glm_ivec2(int * v, ivec2 dest)
+    
+    init ivec2 using vec3 or vec4
+    
+    Parameters:
+      | *[in]*  **v**    vector
+      | *[out]* **dest** destination
+
+.. c:function:: void glm_ivec2_copy(ivec2 a, ivec2 dest)
+    
+    copy all members of [a] to [dest]
+
+    Parameters:
+      | *[in]*  **a**    source vector
+      | *[out]* **dest** destination
+
+.. c:function:: void glm_ivec2_zero(ivec2 v)
+
+    set all members of [v] to zero
+
+    Parameters:
+      | *[out]* **v** vector
+
+.. c:function:: void glm_ivec2_one(ivec2 v)
+
+    set all members of [v] to one
+
+    Parameters:
+      | *[out]* **v** vector
+
+.. c:function:: void glm_ivec2_add(ivec2 a, ivec2 b, ivec2 dest)
+
+    add vector [a] to vector [b] and store result in [dest]
+
+    Parameters:
+      | *[in]*  **a**    first vector
+      | *[in]*  **b**    second vector
+      | *[out]* **dest** destination
+
+.. c:function:: void glm_ivec2_adds(ivec2 v, int s, ivec2 dest)
+
+    add scalar s to vector [v] and store result in [dest]
+    
+    Parameters:
+      | *[in]*  **v**    vector
+      | *[in]*  **s**    scalar
+      | *[out]* **dest** destination
+
+.. c:function:: void glm_ivec2_sub(ivec2 a, ivec2 b, ivec2 dest)
+
+    subtract vector [b] from vector [a] and store result in [dest]
+
+    Parameters:
+      | *[in]*  **a**    first vector
+      | *[in]*  **b**    second vector
+      | *[out]* **dest** destination
+
+.. c:function:: void glm_ivec2_subs(ivec2 v, int s, ivec2 dest)
+
+    subtract scalar s from vector [v] and store result in [dest]
+    
+    Parameters:
+      | *[in]*  **v**    vector
+      | *[in]*  **s**    scalar
+      | *[out]* **dest** destination
+
+.. c:function:: void glm_ivec2_mul(ivec2 a, ivec2 b, ivec2 dest)
+
+    multiply vector [a] with vector [b] and store result in [dest]
+
+    Parameters:
+      | *[in]*  **a**    first vector
+      | *[in]*  **b**    second vector
+      | *[out]* **dest** destination
+
+.. c:function:: void glm_ivec2_scale(ivec2 v, int s, ivec2 dest)
+
+    multiply vector [a] with scalar s and store result in [dest]
+    
+    Parameters:
+      | *[in]*  **v**    vector
+      | *[in]*  **s**    scalar
+      | *[out]* **dest** destination
+
+.. c:function:: int glm_ivec2_distance2(ivec2 a, ivec2 b)
+
+    squared distance between two vectors
+
+    Parameters:
+      | *[in]*  **a**    first vector
+      | *[in]*  **b**    second vector
+    
+    Returns:
+        squared distance (distance * distance)
+
+.. c:function:: float glm_ivec2_distance(ivec2 a, ivec2 b)
+
+    distance between two vectors
+
+    Parameters:
+      | *[in]*  **a**    first vector
+      | *[in]*  **b**    second vector
+    
+    Returns:
+        distance
+
+.. c:function:: void glm_ivec2_maxv(ivec2 a, ivec2 b, ivec2 dest)
+
+    set each member of dest to greater of vector a and b
+
+    Parameters:
+      | *[in]*  **a**    first vector
+      | *[in]*  **b**    second vector
+      | *[out]* **dest** destination
+
+.. c:function:: void glm_ivec2_minv(ivec2 a, ivec2 b, ivec2 dest)
+
+    set each member of dest to lesser of vector a and b
+
+    Parameters:
+      | *[in]*  **a**    first vector
+      | *[in]*  **b**    second vector
+      | *[out]* **dest** destination
+
+.. c:function:: void glm_ivec2_clamp(ivec2 v, int minVal, int maxVal)
+
+    clamp each member of [v] between minVal and maxVal (inclusive)
+
+    Parameters:
+      | *[in, out]* **v**      vector
+      | *[in]*      **minVal** minimum value
+      | *[in]*      **maxVal** maximum value
--- a/docs/source/ivec3.rst
+++ b/docs/source/ivec3.rst
@@ -0,0 +1,163 @@
+.. default-domain:: C
+
+ivec3
+=====
+
+Header: cglm/ivec3.h
+
+Table of contents (click to go):
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+Functions:
+
+1. :c:func:`glm_ivec3`
+#. :c:func:`glm_ivec3_copy`
+#. :c:func:`glm_ivec3_zero`
+#. :c:func:`glm_ivec3_one`
+#. :c:func:`glm_ivec3_add`
+#. :c:func:`glm_ivec3_adds`
+#. :c:func:`glm_ivec3_sub`
+#. :c:func:`glm_ivec3_subs`
+#. :c:func:`glm_ivec3_mul`
+#. :c:func:`glm_ivec3_scale`
+#. :c:func:`glm_ivec3_distance2`
+#. :c:func:`glm_ivec3_distance`
+#. :c:func:`glm_ivec3_maxv`
+#. :c:func:`glm_ivec3_minv`
+#. :c:func:`glm_ivec3_clamp`
+
+Functions documentation
+~~~~~~~~~~~~~~~~~~~~~~~
+
+.. c:function:: void glm_ivec3(ivec4 v4, ivec3 dest)
+    
+    init ivec3 using ivec4
+    
+    Parameters:
+      | *[in]*  **v**    vector
+      | *[out]* **dest** destination
+
+.. c:function:: void glm_ivec3_copy(ivec3 a, ivec3 dest)
+    
+    copy all members of [a] to [dest]
+
+    Parameters:
+      | *[in]*  **a**    source vector
+      | *[out]* **dest** destination
+
+.. c:function:: void glm_ivec3_zero(ivec3 v)
+
+    set all members of [v] to zero
+
+    Parameters:
+      | *[out]* **v** vector
+
+.. c:function:: void glm_ivec3_one(ivec3 v)
+
+    set all members of [v] to one
+
+    Parameters:
+      | *[out]* **v** vector
+
+.. c:function:: void glm_ivec3_add(ivec3 a, ivec3 b, ivec3 dest)
+
+    add vector [a] to vector [b] and store result in [dest]
+
+    Parameters:
+      | *[in]*  **a**    first vector
+      | *[in]*  **b**    second vector
+      | *[out]* **dest** destination
+
+.. c:function:: void glm_ivec3_adds(ivec3 v, int s, ivec3 dest)
+
+    add scalar s to vector [v] and store result in [dest]
+    
+    Parameters:
+      | *[in]*  **v**    vector
+      | *[in]*  **s**    scalar
+      | *[out]* **dest** destination
+
+.. c:function:: void glm_ivec3_sub(ivec3 a, ivec3 b, ivec3 dest)
+
+    subtract vector [b] from vector [a] and store result in [dest]
+
+    Parameters:
+      | *[in]*  **a**    first vector
+      | *[in]*  **b**    second vector
+      | *[out]* **dest** destination
+
+.. c:function:: void glm_ivec3_subs(ivec3 v, int s, ivec3 dest)
+
+    subtract scalar s from vector [v] and store result in [dest]
+    
+    Parameters:
+      | *[in]*  **v**    vector
+      | *[in]*  **s**    scalar
+      | *[out]* **dest** destination
+
+.. c:function:: void glm_ivec3_mul(ivec3 a, ivec3 b, ivec3 dest)
+
+    multiply vector [a] with vector [b] and store result in [dest]
+
+    Parameters:
+      | *[in]*  **a**    first vector
+      | *[in]*  **b**    second vector
+      | *[out]* **dest** destination
+
+.. c:function:: void glm_ivec3_scale(ivec3 v, int s, ivec3 dest)
+
+    multiply vector [a] with scalar s and store result in [dest]
+    
+    Parameters:
+      | *[in]*  **v**    vector
+      | *[in]*  **s**    scalar
+      | *[out]* **dest** destination
+
+.. c:function:: int glm_ivec3_distance2(ivec3 a, ivec3 b)
+
+    squared distance between two vectors
+
+    Parameters:
+      | *[in]*  **a**    first vector
+      | *[in]*  **b**    second vector
+    
+    Returns:
+        squared distance (distance * distance)
+
+.. c:function:: float glm_ivec3_distance(ivec3 a, ivec3 b)
+
+    distance between two vectors
+
+    Parameters:
+      | *[in]*  **a**    first vector
+      | *[in]*  **b**    second vector
+    
+    Returns:
+        distance
+
+.. c:function:: void glm_ivec3_maxv(ivec3 a, ivec3 b, ivec3 dest)
+
+    set each member of dest to greater of vector a and b
+
+    Parameters:
+      | *[in]*  **a**    first vector
+      | *[in]*  **b**    second vector
+      | *[out]* **dest** destination
+
+.. c:function:: void glm_ivec3_minv(ivec3 a, ivec3 b, ivec3 dest)
+
+    set each member of dest to lesser of vector a and b
+
+    Parameters:
+      | *[in]*  **a**    first vector
+      | *[in]*  **b**    second vector
+      | *[out]* **dest** destination
+
+.. c:function:: void glm_ivec3_clamp(ivec3 v, int minVal, int maxVal)
+
+    clamp each member of [v] between minVal and maxVal (inclusive)
+
+    Parameters:
+      | *[in, out]* **v**      vector
+      | *[in]*      **minVal** minimum value
+      | *[in]*      **maxVal** maximum value
--- a/docs/source/ivec4.rst
+++ b/docs/source/ivec4.rst
@@ -0,0 +1,163 @@
+.. default-domain:: C
+
+ivec4
+=====
+
+Header: cglm/ivec4.h
+
+Table of contents (click to go):
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+Functions:
+
+1. :c:func:`glm_ivec4`
+#. :c:func:`glm_ivec4_copy`
+#. :c:func:`glm_ivec4_zero`
+#. :c:func:`glm_ivec4_one`
+#. :c:func:`glm_ivec4_add`
+#. :c:func:`glm_ivec4_adds`
+#. :c:func:`glm_ivec4_sub`
+#. :c:func:`glm_ivec4_subs`
+#. :c:func:`glm_ivec4_mul`
+#. :c:func:`glm_ivec4_scale`
+#. :c:func:`glm_ivec4_distance2`
+#. :c:func:`glm_ivec4_distance`
+#. :c:func:`glm_ivec4_maxv`
+#. :c:func:`glm_ivec4_minv`
+#. :c:func:`glm_ivec4_clamp`
+
+Functions documentation
+~~~~~~~~~~~~~~~~~~~~~~~
+
+.. c:function:: void glm_ivec4(ivec3 v3, int last, ivec4 dest)
+    
+    init ivec4 using ivec3
+    
+    Parameters:
+      | *[in]*  **v**    vector
+      | *[out]* **dest** destination
+
+.. c:function:: void glm_ivec4_copy(ivec4 a, ivec4 dest)
+    
+    copy all members of [a] to [dest]
+
+    Parameters:
+      | *[in]*  **a**    source vector
+      | *[out]* **dest** destination
+
+.. c:function:: void glm_ivec4_zero(ivec4 v)
+
+    set all members of [v] to zero
+
+    Parameters:
+      | *[out]* **v** vector
+
+.. c:function:: void glm_ivec4_one(ivec4 v)
+
+    set all members of [v] to one
+
+    Parameters:
+      | *[out]* **v** vector
+
+.. c:function:: void glm_ivec4_add(ivec4 a, ivec4 b, ivec4 dest)
+
+    add vector [a] to vector [b] and store result in [dest]
+
+    Parameters:
+      | *[in]*  **a**    first vector
+      | *[in]*  **b**    second vector
+      | *[out]* **dest** destination
+
+.. c:function:: void glm_ivec4_adds(ivec4 v, int s, ivec4 dest)
+
+    add scalar s to vector [v] and store result in [dest]
+    
+    Parameters:
+      | *[in]*  **v**    vector
+      | *[in]*  **s**    scalar
+      | *[out]* **dest** destination
+
+.. c:function:: void glm_ivec4_sub(ivec4 a, ivec4 b, ivec4 dest)
+
+    subtract vector [b] from vector [a] and store result in [dest]
+
+    Parameters:
+      | *[in]*  **a**    first vector
+      | *[in]*  **b**    second vector
+      | *[out]* **dest** destination
+
+.. c:function:: void glm_ivec4_subs(ivec4 v, int s, ivec4 dest)
+
+    subtract scalar s from vector [v] and store result in [dest]
+    
+    Parameters:
+      | *[in]*  **v**    vector
+      | *[in]*  **s**    scalar
+      | *[out]* **dest** destination
+
+.. c:function:: void glm_ivec4_mul(ivec4 a, ivec4 b, ivec4 dest)
+
+    multiply vector [a] with vector [b] and store result in [dest]
+
+    Parameters:
+      | *[in]*  **a**    first vector
+      | *[in]*  **b**    second vector
+      | *[out]* **dest** destination
+
+.. c:function:: void glm_ivec4_scale(ivec4 v, int s, ivec4 dest)
+
+    multiply vector [a] with scalar s and store result in [dest]
+    
+    Parameters:
+      | *[in]*  **v**    vector
+      | *[in]*  **s**    scalar
+      | *[out]* **dest** destination
+
+.. c:function:: int glm_ivec4_distance2(ivec4 a, ivec4 b)
+
+    squared distance between two vectors
+
+    Parameters:
+      | *[in]*  **a**    first vector
+      | *[in]*  **b**    second vector
+    
+    Returns:
+        squared distance (distance * distance)
+
+.. c:function:: float glm_ivec4_distance(ivec4 a, ivec4 b)
+
+    distance between two vectors
+
+    Parameters:
+      | *[in]*  **a**    first vector
+      | *[in]*  **b**    second vector
+    
+    Returns:
+        distance
+
+.. c:function:: void glm_ivec4_maxv(ivec4 a, ivec4 b, ivec4 dest)
+
+    set each member of dest to greater of vector a and b
+
+    Parameters:
+      | *[in]*  **a**    first vector
+      | *[in]*  **b**    second vector
+      | *[out]* **dest** destination
+
+.. c:function:: void glm_ivec4_minv(ivec4 a, ivec4 b, ivec4 dest)
+
+    set each member of dest to lesser of vector a and b
+
+    Parameters:
+      | *[in]*  **a**    first vector
+      | *[in]*  **b**    second vector
+      | *[out]* **dest** destination
+
+.. c:function:: void glm_ivec4_clamp(ivec4 v, int minVal, int maxVal)
+
+    clamp each member of [v] between minVal and maxVal (inclusive)
+
+    Parameters:
+      | *[in, out]* **v**      vector
+      | *[in]*      **minVal** minimum value
+      | *[in]*      **maxVal** maximum value
--- a/docs/source/project.rst
+++ b/docs/source/project.rst
@@ -27,8 +27,8 @@ Functions documentation
      the matrix should contain projection matrix.

    if you don't have ( and don't want to have ) an inverse matrix then use
-    glm_unproject version. You may use existing inverse of matrix in somewhere
-    else, this is why glm_unprojecti exists to save save inversion cost
+    :c:func:`glm_unproject` version. You may use existing inverse of matrix in somewhere
+    else, this is why **glm_unprojecti** exists to save inversion cost

    [1] space:
      - if m = invProj:     View Space
@@ -57,7 +57,7 @@ Functions documentation
    | maps the specified viewport coordinates into specified space [1]
      the matrix should contain projection matrix.

-    this is same as glm_unprojecti except this function get inverse matrix for
+    this is same as :c:func:`glm_unprojecti` except this function get inverse matrix for
    you.

    [1] space:
@@ -91,12 +91,29 @@ Functions documentation
       glm_mat4_mul(proj, view, viewProj);
       glm_mat4_mul(viewProj, model, MVP);

-    this could be useful for gettng a bbox which fits with view frustum and
-    object bounding boxes. In this case you crop view frustum box with objects
-    box
-
    Parameters:
      | *[in]*  **pos**      object coordinates
      | *[in]*  **m**        MVP matrix
      | *[in]*  **vp**       viewport as [x, y, width, height]
      | *[out]* **dest**     projected coordinates
+
+.. c:function:: float glm_project_z(vec3 pos, mat4 m)
+
+    | map object's z coordinate to window coordinates
+
+    this is same as :c:func:`glm_project` except this function projects only Z coordinate
+    which reduces a few calculations and parameters.
+
+    Computing MVP:
+
+    .. code-block:: c
+
+       glm_mat4_mul(proj, view, viewProj);
+       glm_mat4_mul(viewProj, model, MVP);
+
+    Parameters:
+      | *[in]*  **pos**      object coordinates
+      | *[in]*  **m**        MVP matrix
+
+    Returns:
+        projected z coordinate
--- a/docs/source/quat.rst
+++ b/docs/source/quat.rst
@@ -32,6 +32,7 @@ Functions:
 #. :c:func:`glm_quat`
 #. :c:func:`glm_quatv`
 #. :c:func:`glm_quat_copy`
+#. :c:func:`glm_quat_from_vecs`
 #. :c:func:`glm_quat_norm`
 #. :c:func:`glm_quat_normalize`
 #. :c:func:`glm_quat_normalize_to`
@@ -123,6 +124,20 @@ Functions documentation
      | *[in]*  **q**     source quaternion
      | *[out]* **dest**  destination quaternion

+.. c:function:: void  glm_quat_from_vecs(vec3 a, vec3 b, versor dest)
+
+    | compute unit quaternion needed to rotate a into b
+
+    References:
+      * `Finding quaternion representing the rotation from one vector to another <https://stackoverflow.com/a/11741520/183120>`_
+      * `Quaternion from two vectors <http://lolengine.net/blog/2014/02/24/quaternion-from-two-vectors-final>`_
+      * `Angle between vectors <http://www.euclideanspace.com/maths/algebra/vectors/angleBetween/minorlogic.htm>`_
+
+    Parameters:
+      | *[in]*  **a**     unit vector
+      | *[in]*  **b**     unit vector
+      | *[in]*  **dest**  unit quaternion
+
 .. c:function:: float  glm_quat_norm(versor q)

    | returns norm (magnitude) of quaternion
--- a/docs/source/vec3.rst
+++ b/docs/source/vec3.rst
@@ -474,6 +474,9 @@ Functions documentation

    possible orthogonal/perpendicular vector

+    References:
+      * `On picking an orthogonal vector (and combing coconuts) <http://lolengine.net/blog/2013/09/21/picking-orthogonal-vector-combing-coconuts>`_
+
    Parameters:
      | *[in]*  **v**     vector
      | *[out]* **dest**  orthogonal/perpendicular vector
--- a/include/cglm/affine-post.h
+++ b/include/cglm/affine-post.h
@@ -0,0 +1,247 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), http://opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+#ifndef cglm_affine_post_h
+#define cglm_affine_post_h
+
+/*
+ Functions:
+   CGLM_INLINE void glm_translated_to(mat4 m, vec3 v, mat4 dest);
+   CGLM_INLINE void glm_translated(mat4 m, vec3 v);
+   CGLM_INLINE void glm_translated_x(mat4 m, float to);
+   CGLM_INLINE void glm_translated_y(mat4 m, float to);
+   CGLM_INLINE void glm_translated_z(mat4 m, float to);
+   CGLM_INLINE void glm_rotated_x(mat4 m, float angle, mat4 dest);
+   CGLM_INLINE void glm_rotated_y(mat4 m, float angle, mat4 dest);
+   CGLM_INLINE void glm_rotated_z(mat4 m, float angle, mat4 dest);
+   CGLM_INLINE void glm_rotated(mat4 m, float angle, vec3 axis);
+   CGLM_INLINE void glm_rotated_at(mat4 m, vec3 pivot, float angle, vec3 axis);
+   CGLM_INLINE void glm_spinned(mat4 m, float angle, vec3 axis);
+ */
+
+#include "common.h"
+#include "util.h"
+#include "vec3.h"
+#include "vec4.h"
+#include "mat4.h"
+#include "affine-mat.h"
+
+/*!
+ * @brief translate existing transform matrix by v vector
+ *        and stores result in same matrix
+ *
+ *  this is POST transform, applies to existing transform as last transfrom
+ *
+ * @param[in, out]  m  affine transfrom
+ * @param[in]       v  translate vector [x, y, z]
+ */
+CGLM_INLINE
+void
+glm_translated(mat4 m, vec3 v) {
+  glm_vec3_add(m[3], v, m[3]);
+}
+
+/*!
+ * @brief translate existing transform matrix by v vector
+ *        and store result in dest
+ *
+ * source matrix will remain same
+ *
+ *  this is POST transform, applies to existing transform as last transfrom
+ *
+ * @param[in]  m    affine transfrom
+ * @param[in]  v    translate vector [x, y, z]
+ * @param[out] dest translated matrix
+ */
+CGLM_INLINE
+void
+glm_translated_to(mat4 m, vec3 v, mat4 dest) {
+  glm_mat4_copy(m, dest);
+  glm_translated(dest, v);
+}
+
+/*!
+ * @brief translate existing transform matrix by x factor
+ *
+ *  this is POST transform, applies to existing transform as last transfrom
+ *
+ * @param[in, out]  m  affine transfrom
+ * @param[in]       x  x factor
+ */
+CGLM_INLINE
+void
+glm_translated_x(mat4 m, float x) {
+  m[3][0] += x;
+}
+
+/*!
+ * @brief translate existing transform matrix by y factor
+ *
+ *  this is POST transform, applies to existing transform as last transfrom
+ *
+ * @param[in, out]  m  affine transfrom
+ * @param[in]       y  y factor
+ */
+CGLM_INLINE
+void
+glm_translated_y(mat4 m, float y) {
+  m[3][1] += y;
+}
+
+/*!
+ * @brief translate existing transform matrix by z factor
+ *
+ *  this is POST transform, applies to existing transform as last transfrom
+ *
+ * @param[in, out]  m  affine transfrom
+ * @param[in]       z  z factor
+ */
+CGLM_INLINE
+void
+glm_translated_z(mat4 m, float z) {
+  m[3][2] += z;
+}
+
+/*!
+ * @brief rotate existing transform matrix around X axis by angle
+ *        and store result in dest
+ *
+ *  this is POST transform, applies to existing transform as last transfrom
+ *
+ * @param[in]   m      affine transfrom
+ * @param[in]   angle  angle (radians)
+ * @param[out]  dest   rotated matrix
+ */
+CGLM_INLINE
+void
+glm_rotated_x(mat4 m, float angle, mat4 dest) {
+  CGLM_ALIGN_MAT mat4 t = GLM_MAT4_IDENTITY_INIT;
+  float c, s;
+
+  c = cosf(angle);
+  s = sinf(angle);
+
+  t[1][1] =  c;
+  t[1][2] =  s;
+  t[2][1] = -s;
+  t[2][2] =  c;
+
+  glm_mul_rot(t, m, dest);
+}
+
+/*!
+ * @brief rotate existing transform matrix around Y axis by angle
+ *        and store result in dest
+ *
+ *  this is POST transform, applies to existing transform as last transfrom
+ *
+ * @param[in]   m      affine transfrom
+ * @param[in]   angle  angle (radians)
+ * @param[out]  dest   rotated matrix
+ */
+CGLM_INLINE
+void
+glm_rotated_y(mat4 m, float angle, mat4 dest) {
+  CGLM_ALIGN_MAT mat4 t = GLM_MAT4_IDENTITY_INIT;
+  float c, s;
+
+  c = cosf(angle);
+  s = sinf(angle);
+
+  t[0][0] =  c;
+  t[0][2] = -s;
+  t[2][0] =  s;
+  t[2][2] =  c;
+
+  glm_mul_rot(t, m, dest);
+}
+
+/*!
+ * @brief rotate existing transform matrix around Z axis by angle
+ *        and store result in dest
+ *
+ *  this is POST transform, applies to existing transform as last transfrom
+ *
+ * @param[in]   m      affine transfrom
+ * @param[in]   angle  angle (radians)
+ * @param[out]  dest   rotated matrix
+ */
+CGLM_INLINE
+void
+glm_rotated_z(mat4 m, float angle, mat4 dest) {
+  CGLM_ALIGN_MAT mat4 t = GLM_MAT4_IDENTITY_INIT;
+  float c, s;
+
+  c = cosf(angle);
+  s = sinf(angle);
+
+  t[0][0] =  c;
+  t[0][1] =  s;
+  t[1][0] = -s;
+  t[1][1] =  c;
+
+  glm_mul_rot(t, m, dest);
+}
+
+/*!
+ * @brief rotate existing transform matrix around given axis by angle
+ *
+ *  this is POST transform, applies to existing transform as last transfrom
+ *
+ * @param[in, out]  m      affine transfrom
+ * @param[in]       angle  angle (radians)
+ * @param[in]       axis   axis
+ */
+CGLM_INLINE
+void
+glm_rotated(mat4 m, float angle, vec3 axis) {
+  CGLM_ALIGN_MAT mat4 rot;
+  glm_rotate_make(rot, angle, axis);
+  glm_mul_rot(rot, m, m);
+}
+
+/*!
+ * @brief rotate existing transform
+ *        around given axis by angle at given pivot point (rotation center)
+ *
+ *  this is POST transform, applies to existing transform as last transfrom
+ *
+ * @param[in, out]  m      affine transfrom
+ * @param[in]       pivot  rotation center
+ * @param[in]       angle  angle (radians)
+ * @param[in]       axis   axis
+ */
+CGLM_INLINE
+void
+glm_rotated_at(mat4 m, vec3 pivot, float angle, vec3 axis) {
+  CGLM_ALIGN(8) vec3 pivotInv;
+
+  glm_vec3_negate_to(pivot, pivotInv);
+
+  glm_translated(m, pivot);
+  glm_rotated(m, angle, axis);
+  glm_translated(m, pivotInv);
+}
+
+/*!
+ * @brief rotate existing transform matrix around given axis by angle around self (doesn't affected by position)
+ *
+ *  this is POST transform, applies to existing transform as last transfrom
+ *
+ * @param[in, out]  m      affine transfrom
+ * @param[in]       angle  angle (radians)
+ * @param[in]       axis   axis
+ */
+CGLM_INLINE
+void
+glm_spinned(mat4 m, float angle, vec3 axis) {
+  CGLM_ALIGN_MAT mat4 rot;
+  glm_rotate_atm(rot, m[3], angle, axis);
+  glm_mat4_mul(rot, m, m);
+}
+
+#endif /* cglm_affine_post_h */
--- a/include/cglm/affine-pre.h
+++ b/include/cglm/affine-pre.h
@@ -0,0 +1,285 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), http://opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+#ifndef cglm_affine_pre_h
+#define cglm_affine_pre_h
+
+/*
+ Functions:
+   CGLM_INLINE void glm_translate_to(mat4 m, vec3 v, mat4 dest);
+   CGLM_INLINE void glm_translate(mat4 m, vec3 v);
+   CGLM_INLINE void glm_translate_x(mat4 m, float to);
+   CGLM_INLINE void glm_translate_y(mat4 m, float to);
+   CGLM_INLINE void glm_translate_z(mat4 m, float to);
+   CGLM_INLINE void glm_rotate_x(mat4 m, float angle, mat4 dest);
+   CGLM_INLINE void glm_rotate_y(mat4 m, float angle, mat4 dest);
+   CGLM_INLINE void glm_rotate_z(mat4 m, float angle, mat4 dest);
+   CGLM_INLINE void glm_rotate(mat4 m, float angle, vec3 axis);
+   CGLM_INLINE void glm_rotate_at(mat4 m, vec3 pivot, float angle, vec3 axis);
+   CGLM_INLINE void glm_rotate_atm(mat4 m, vec3 pivot, float angle, vec3 axis);
+   CGLM_INLINE void glm_spin(mat4 m, float angle, vec3 axis);
+ */
+
+#include "common.h"
+#include "util.h"
+#include "vec3.h"
+#include "vec4.h"
+#include "mat4.h"
+#include "affine-mat.h"
+
+/*!
+ * @brief translate existing transform matrix by v vector
+ *        and stores result in same matrix
+ *
+ * @param[in, out]  m  affine transfrom
+ * @param[in]       v  translate vector [x, y, z]
+ */
+CGLM_INLINE
+void
+glm_translate(mat4 m, vec3 v) {
+#if defined(CGLM_SIMD)
+  glmm_128 m0, m1, m2, m3;
+
+  m0 = glmm_load(m[0]);
+  m1 = glmm_load(m[1]);
+  m2 = glmm_load(m[2]);
+  m3 = glmm_load(m[3]);
+
+  glmm_store(m[3],
+             glmm_fmadd(m0, glmm_set1(v[0]),
+                        glmm_fmadd(m1, glmm_set1(v[1]),
+                                   glmm_fmadd(m2, glmm_set1(v[2]), m3))));
+#else
+  glm_vec4_muladds(m[0], v[0], m[3]);
+  glm_vec4_muladds(m[1], v[1], m[3]);
+  glm_vec4_muladds(m[2], v[2], m[3]);
+#endif
+}
+
+/*!
+ * @brief translate existing transform matrix by v vector
+ *        and store result in dest
+ *
+ * source matrix will remain same
+ *
+ * @param[in]  m    affine transfrom
+ * @param[in]  v    translate vector [x, y, z]
+ * @param[out] dest translated matrix
+ */
+CGLM_INLINE
+void
+glm_translate_to(mat4 m, vec3 v, mat4 dest) {
+  glm_mat4_copy(m, dest);
+  glm_translate(dest, v);
+}
+
+/*!
+ * @brief translate existing transform matrix by x factor
+ *
+ * @param[in, out]  m  affine transfrom
+ * @param[in]       x  x factor
+ */
+CGLM_INLINE
+void
+glm_translate_x(mat4 m, float x) {
+#if defined(CGLM_SIMD)
+  glmm_store(m[3], glmm_fmadd(glmm_load(m[0]), glmm_set1(x), glmm_load(m[3])));
+#else
+  vec4 v1;
+  glm_vec4_scale(m[0], x, v1);
+  glm_vec4_add(v1, m[3], m[3]);
+#endif
+}
+
+/*!
+ * @brief translate existing transform matrix by y factor
+ *
+ * @param[in, out]  m  affine transfrom
+ * @param[in]       y  y factor
+ */
+CGLM_INLINE
+void
+glm_translate_y(mat4 m, float y) {
+#if defined(CGLM_SIMD)
+  glmm_store(m[3], glmm_fmadd(glmm_load(m[1]), glmm_set1(y), glmm_load(m[3])));
+#else
+  vec4 v1;
+  glm_vec4_scale(m[1], y, v1);
+  glm_vec4_add(v1, m[3], m[3]);
+#endif
+}
+
+/*!
+ * @brief translate existing transform matrix by z factor
+ *
+ * @param[in, out]  m  affine transfrom
+ * @param[in]       z  z factor
+ */
+CGLM_INLINE
+void
+glm_translate_z(mat4 m, float z) {
+#if defined(CGLM_SIMD)
+  glmm_store(m[3], glmm_fmadd(glmm_load(m[2]), glmm_set1(z), glmm_load(m[3])));
+#else
+  vec4 v1;
+  glm_vec4_scale(m[2], z, v1);
+  glm_vec4_add(v1, m[3], m[3]);
+#endif
+}
+
+/*!
+ * @brief rotate existing transform matrix around X axis by angle
+ *        and store result in dest
+ *
+ * @param[in]   m      affine transfrom
+ * @param[in]   angle  angle (radians)
+ * @param[out]  dest   rotated matrix
+ */
+CGLM_INLINE
+void
+glm_rotate_x(mat4 m, float angle, mat4 dest) {
+  CGLM_ALIGN_MAT mat4 t = GLM_MAT4_IDENTITY_INIT;
+  float c, s;
+
+  c = cosf(angle);
+  s = sinf(angle);
+
+  t[1][1] =  c;
+  t[1][2] =  s;
+  t[2][1] = -s;
+  t[2][2] =  c;
+
+  glm_mul_rot(m, t, dest);
+}
+
+/*!
+ * @brief rotate existing transform matrix around Y axis by angle
+ *        and store result in dest
+ *
+ * @param[in]   m      affine transfrom
+ * @param[in]   angle  angle (radians)
+ * @param[out]  dest   rotated matrix
+ */
+CGLM_INLINE
+void
+glm_rotate_y(mat4 m, float angle, mat4 dest) {
+  CGLM_ALIGN_MAT mat4 t = GLM_MAT4_IDENTITY_INIT;
+  float c, s;
+
+  c = cosf(angle);
+  s = sinf(angle);
+
+  t[0][0] =  c;
+  t[0][2] = -s;
+  t[2][0] =  s;
+  t[2][2] =  c;
+
+  glm_mul_rot(m, t, dest);
+}
+
+/*!
+ * @brief rotate existing transform matrix around Z axis by angle
+ *        and store result in dest
+ *
+ * @param[in]   m      affine transfrom
+ * @param[in]   angle  angle (radians)
+ * @param[out]  dest   rotated matrix
+ */
+CGLM_INLINE
+void
+glm_rotate_z(mat4 m, float angle, mat4 dest) {
+  CGLM_ALIGN_MAT mat4 t = GLM_MAT4_IDENTITY_INIT;
+  float c, s;
+
+  c = cosf(angle);
+  s = sinf(angle);
+
+  t[0][0] =  c;
+  t[0][1] =  s;
+  t[1][0] = -s;
+  t[1][1] =  c;
+
+  glm_mul_rot(m, t, dest);
+}
+
+/*!
+ * @brief rotate existing transform matrix around given axis by angle
+ *
+ * @param[in, out]  m      affine transfrom
+ * @param[in]       angle  angle (radians)
+ * @param[in]       axis   axis
+ */
+CGLM_INLINE
+void
+glm_rotate(mat4 m, float angle, vec3 axis) {
+  CGLM_ALIGN_MAT mat4 rot;
+  glm_rotate_make(rot, angle, axis);
+  glm_mul_rot(m, rot, m);
+}
+
+/*!
+ * @brief rotate existing transform
+ *        around given axis by angle at given pivot point (rotation center)
+ *
+ * @param[in, out]  m      affine transfrom
+ * @param[in]       pivot  rotation center
+ * @param[in]       angle  angle (radians)
+ * @param[in]       axis   axis
+ */
+CGLM_INLINE
+void
+glm_rotate_at(mat4 m, vec3 pivot, float angle, vec3 axis) {
+  CGLM_ALIGN(8) vec3 pivotInv;
+
+  glm_vec3_negate_to(pivot, pivotInv);
+
+  glm_translate(m, pivot);
+  glm_rotate(m, angle, axis);
+  glm_translate(m, pivotInv);
+}
+
+/*!
+ * @brief creates NEW rotation matrix by angle and axis at given point
+ *
+ * this creates rotation matrix, it assumes you don't have a matrix
+ *
+ * this should work faster than glm_rotate_at because it reduces
+ * one glm_translate.
+ *
+ * @param[out] m      affine transfrom
+ * @param[in]  pivot  rotation center
+ * @param[in]  angle  angle (radians)
+ * @param[in]  axis   axis
+ */
+CGLM_INLINE
+void
+glm_rotate_atm(mat4 m, vec3 pivot, float angle, vec3 axis) {
+  CGLM_ALIGN(8) vec3 pivotInv;
+
+  glm_vec3_negate_to(pivot, pivotInv);
+
+  glm_translate_make(m, pivot);
+  glm_rotate(m, angle, axis);
+  glm_translate(m, pivotInv);
+}
+
+/*!
+ * @brief rotate existing transform matrix around given axis by angle around self (doesn't affected by position)
+ *
+ * @param[in, out]  m      affine transfrom
+ * @param[in]       angle  angle (radians)
+ * @param[in]       axis   axis
+ */
+CGLM_INLINE
+void
+glm_spin(mat4 m, float angle, vec3 axis) {
+  CGLM_ALIGN_MAT mat4 rot;
+  glm_rotate_atm(rot, m[3], angle, axis);
+  glm_mat4_mul(m, rot, m);
+}
+
+#endif /* cglm_affine_pre_h */
--- a/include/cglm/affine.h
+++ b/include/cglm/affine.h
@@ -24,6 +24,7 @@
   CGLM_INLINE void glm_rotate(mat4 m, float angle, vec3 axis);
   CGLM_INLINE void glm_rotate_at(mat4 m, vec3 pivot, float angle, vec3 axis);
   CGLM_INLINE void glm_rotate_atm(mat4 m, vec3 pivot, float angle, vec3 axis);
+   CGLM_INLINE void glm_spin(mat4 m, float angle, vec3 axis);
   CGLM_INLINE void glm_decompose_scalev(mat4 m, vec3 s);
   CGLM_INLINE bool glm_uniscaled(mat4 m);
   CGLM_INLINE void glm_decompose_rs(mat4 m, mat4 r, vec3 s);
@@ -40,106 +41,6 @@
 #include "mat4.h"
 #include "affine-mat.h"

-/*!
- * @brief translate existing transform matrix by v vector
- *        and stores result in same matrix
- *
- * @param[in, out]  m  affine transfrom
- * @param[in]       v  translate vector [x, y, z]
- */
-CGLM_INLINE
-void
-glm_translate(mat4 m, vec3 v) {
-#if defined(CGLM_SIMD)
-  glmm_128 m0, m1, m2, m3;
-
-  m0 = glmm_load(m[0]);
-  m1 = glmm_load(m[1]);
-  m2 = glmm_load(m[2]);
-  m3 = glmm_load(m[3]);
-
-  glmm_store(m[3],
-             glmm_fmadd(m0, glmm_set1(v[0]),
-                        glmm_fmadd(m1, glmm_set1(v[1]),
-                                   glmm_fmadd(m2, glmm_set1(v[2]), m3))));
-#else
-  glm_vec4_muladds(m[0], v[0], m[3]);
-  glm_vec4_muladds(m[1], v[1], m[3]);
-  glm_vec4_muladds(m[2], v[2], m[3]);
-#endif
-}
-
-/*!
- * @brief translate existing transform matrix by v vector
- *        and store result in dest
- *
- * source matrix will remain same
- *
- * @param[in]  m    affine transfrom
- * @param[in]  v    translate vector [x, y, z]
- * @param[out] dest translated matrix
- */
-CGLM_INLINE
-void
-glm_translate_to(mat4 m, vec3 v, mat4 dest) {
-  glm_mat4_copy(m, dest);
-  glm_translate(dest, v);
-}
-
-/*!
- * @brief translate existing transform matrix by x factor
- *
- * @param[in, out]  m  affine transfrom
- * @param[in]       x  x factor
- */
-CGLM_INLINE
-void
-glm_translate_x(mat4 m, float x) {
-#if defined(CGLM_SIMD)
-  glmm_store(m[3], glmm_fmadd(glmm_load(m[0]), glmm_set1(x), glmm_load(m[3])));
-#else
-  vec4 v1;
-  glm_vec4_scale(m[0], x, v1);
-  glm_vec4_add(v1, m[3], m[3]);
-#endif
-}
-
-/*!
- * @brief translate existing transform matrix by y factor
- *
- * @param[in, out]  m  affine transfrom
- * @param[in]       y  y factor
- */
-CGLM_INLINE
-void
-glm_translate_y(mat4 m, float y) {
-#if defined(CGLM_SIMD)
-  glmm_store(m[3], glmm_fmadd(glmm_load(m[1]), glmm_set1(y), glmm_load(m[3])));
-#else
-  vec4 v1;
-  glm_vec4_scale(m[1], y, v1);
-  glm_vec4_add(v1, m[3], m[3]);
-#endif
-}
-
-/*!
- * @brief translate existing transform matrix by z factor
- *
- * @param[in, out]  m  affine transfrom
- * @param[in]       z  z factor
- */
-CGLM_INLINE
-void
-glm_translate_z(mat4 m, float z) {
-#if defined(CGLM_SIMD)
-  glmm_store(m[3], glmm_fmadd(glmm_load(m[2]), glmm_set1(z), glmm_load(m[3])));
-#else
-  vec4 v1;
-  glm_vec4_scale(m[2], z, v1);
-  glm_vec4_add(v1, m[3], m[3]);
-#endif
-}
-
 /*!
 * @brief creates NEW translate transform matrix by v vector
 *
@@ -213,81 +114,6 @@ glm_scale_uni(mat4 m, float s) {
  glm_scale_to(m, v, m);
 }

-/*!
- * @brief rotate existing transform matrix around X axis by angle
- *        and store result in dest
- *
- * @param[in]   m      affine transfrom
- * @param[in]   angle  angle (radians)
- * @param[out]  dest   rotated matrix
- */
-CGLM_INLINE
-void
-glm_rotate_x(mat4 m, float angle, mat4 dest) {
-  CGLM_ALIGN_MAT mat4 t = GLM_MAT4_IDENTITY_INIT;
-  float c, s;
-
-  c = cosf(angle);
-  s = sinf(angle);
-
-  t[1][1] =  c;
-  t[1][2] =  s;
-  t[2][1] = -s;
-  t[2][2] =  c;
-
-  glm_mul_rot(m, t, dest);
-}
-
-/*!
- * @brief rotate existing transform matrix around Y axis by angle
- *        and store result in dest
- *
- * @param[in]   m      affine transfrom
- * @param[in]   angle  angle (radians)
- * @param[out]  dest   rotated matrix
- */
-CGLM_INLINE
-void
-glm_rotate_y(mat4 m, float angle, mat4 dest) {
-  CGLM_ALIGN_MAT mat4 t = GLM_MAT4_IDENTITY_INIT;
-  float c, s;
-
-  c = cosf(angle);
-  s = sinf(angle);
-
-  t[0][0] =  c;
-  t[0][2] = -s;
-  t[2][0] =  s;
-  t[2][2] =  c;
-
-  glm_mul_rot(m, t, dest);
-}
-
-/*!
- * @brief rotate existing transform matrix around Z axis by angle
- *        and store result in dest
- *
- * @param[in]   m      affine transfrom
- * @param[in]   angle  angle (radians)
- * @param[out]  dest   rotated matrix
- */
-CGLM_INLINE
-void
-glm_rotate_z(mat4 m, float angle, mat4 dest) {
-  CGLM_ALIGN_MAT mat4 t = GLM_MAT4_IDENTITY_INIT;
-  float c, s;
-
-  c = cosf(angle);
-  s = sinf(angle);
-
-  t[0][0] =  c;
-  t[0][1] =  s;
-  t[1][0] = -s;
-  t[1][1] =  c;
-
-  glm_mul_rot(m, t, dest);
-}
-
 /*!
 * @brief creates NEW rotation matrix by angle and axis
 *
@@ -321,67 +147,6 @@ glm_rotate_make(mat4 m, float angle, vec3 axis) {
  m[3][3] = 1.0f;
 }

-/*!
- * @brief rotate existing transform matrix around given axis by angle
- *
- * @param[in, out]  m      affine transfrom
- * @param[in]       angle  angle (radians)
- * @param[in]       axis   axis
- */
-CGLM_INLINE
-void
-glm_rotate(mat4 m, float angle, vec3 axis) {
-  CGLM_ALIGN_MAT mat4 rot;
-  glm_rotate_make(rot, angle, axis);
-  glm_mul_rot(m, rot, m);
-}
-
-/*!
- * @brief rotate existing transform
- *        around given axis by angle at given pivot point (rotation center)
- *
- * @param[in, out]  m      affine transfrom
- * @param[in]       pivot  rotation center
- * @param[in]       angle  angle (radians)
- * @param[in]       axis   axis
- */
-CGLM_INLINE
-void
-glm_rotate_at(mat4 m, vec3 pivot, float angle, vec3 axis) {
-  CGLM_ALIGN(8) vec3 pivotInv;
-
-  glm_vec3_negate_to(pivot, pivotInv);
-
-  glm_translate(m, pivot);
-  glm_rotate(m, angle, axis);
-  glm_translate(m, pivotInv);
-}
-
-/*!
- * @brief creates NEW rotation matrix by angle and axis at given point
- *
- * this creates rotation matrix, it assumes you don't have a matrix
- *
- * this should work faster than glm_rotate_at because it reduces
- * one glm_translate.
- *
- * @param[out] m      affine transfrom
- * @param[in]  pivot  rotation center
- * @param[in]  angle  angle (radians)
- * @param[in]  axis   axis
- */
-CGLM_INLINE
-void
-glm_rotate_atm(mat4 m, vec3 pivot, float angle, vec3 axis) {
-  CGLM_ALIGN(8) vec3 pivotInv;
-
-  glm_vec3_negate_to(pivot, pivotInv);
-
-  glm_translate_make(m, pivot);
-  glm_rotate(m, angle, axis);
-  glm_translate(m, pivotInv);
-}
-
 /*!
 * @brief decompose scale vector
 *
@@ -467,4 +232,7 @@ glm_decompose(mat4 m, vec4 t, mat4 r, vec3 s) {
  glm_decompose_rs(m, r, s);
 }

+#include "affine-pre.h"
+#include "affine-post.h"
+
 #endif /* cglm_affine_h */
--- a/include/cglm/call.h
+++ b/include/cglm/call.h
@@ -15,6 +15,9 @@ extern "C" {
 #include "call/vec2.h"
 #include "call/vec3.h"
 #include "call/vec4.h"
+#include "call/ivec2.h"
+#include "call/ivec3.h"
+#include "call/ivec4.h"
 #include "call/mat2.h"
 #include "call/mat3.h"
 #include "call/mat4.h"
--- a/include/cglm/call/affine.h
+++ b/include/cglm/call/affine.h
@@ -81,6 +81,10 @@ CGLM_EXPORT
 void
 glmc_rotate_atm(mat4 m, vec3 pivot, float angle, vec3 axis);

+CGLM_EXPORT
+void
+glmc_spin(mat4 m, float angle, vec3 axis);
+
 CGLM_EXPORT
 void
 glmc_decompose_scalev(mat4 m, vec3 s);
@@ -97,6 +101,52 @@ CGLM_EXPORT
 void
 glmc_decompose(mat4 m, vec4 t, mat4 r, vec3 s);

+/* affine-post */
+
+CGLM_EXPORT
+void
+glmc_translated(mat4 m, vec3 v);
+
+CGLM_EXPORT
+void
+glmc_translated_to(mat4 m, vec3 v, mat4 dest);
+
+CGLM_EXPORT
+void
+glmc_translated_x(mat4 m, float x);
+
+CGLM_EXPORT
+void
+glmc_translated_y(mat4 m, float y);
+
+CGLM_EXPORT
+void
+glmc_translated_z(mat4 m, float z);
+
+CGLM_EXPORT
+void
+glmc_rotated_x(mat4 m, float angle, mat4 dest);
+
+CGLM_EXPORT
+void
+glmc_rotated_y(mat4 m, float angle, mat4 dest);
+
+CGLM_EXPORT
+void
+glmc_rotated_z(mat4 m, float angle, mat4 dest);
+
+CGLM_EXPORT
+void
+glmc_rotated(mat4 m, float angle, vec3 axis);
+
+CGLM_EXPORT
+void
+glmc_rotated_at(mat4 m, vec3 pivot, float angle, vec3 axis);
+
+CGLM_EXPORT
+void
+glmc_spinned(mat4 m, float angle, vec3 axis);
+
 /* affine-mat */

 CGLM_EXPORT
--- a/include/cglm/call/clipspace/ortho_lh_no.h
+++ b/include/cglm/call/clipspace/ortho_lh_no.h
@@ -11,7 +11,7 @@
 extern "C" {
 #endif

-#include "../cglm.h"
+#include "../../cglm.h"

 CGLM_EXPORT
 void
--- a/include/cglm/call/clipspace/ortho_lh_zo.h
+++ b/include/cglm/call/clipspace/ortho_lh_zo.h
@@ -11,7 +11,7 @@
 extern "C" {
 #endif

-#include "../cglm.h"
+#include "../../cglm.h"

 CGLM_EXPORT
 void
--- a/include/cglm/call/clipspace/ortho_rh_no.h
+++ b/include/cglm/call/clipspace/ortho_rh_no.h
@@ -11,7 +11,7 @@
 extern "C" {
 #endif

-#include "../cglm.h"
+#include "../../cglm.h"

 CGLM_EXPORT
 void
--- a/include/cglm/call/clipspace/ortho_rh_zo.h
+++ b/include/cglm/call/clipspace/ortho_rh_zo.h
@@ -11,7 +11,7 @@
 extern "C" {
 #endif

-#include "../cglm.h"
+#include "../../cglm.h"

 CGLM_EXPORT
 void
--- a/include/cglm/call/clipspace/persp_lh_no.h
+++ b/include/cglm/call/clipspace/persp_lh_no.h
@@ -11,7 +11,7 @@
 extern "C" {
 #endif

-#include "../cglm.h"
+#include "../../cglm.h"

 CGLM_EXPORT
 void
--- a/include/cglm/call/clipspace/persp_lh_zo.h
+++ b/include/cglm/call/clipspace/persp_lh_zo.h
@@ -11,7 +11,7 @@
 extern "C" {
 #endif

-#include "../cglm.h"
+#include "../../cglm.h"

 CGLM_EXPORT
 void
--- a/include/cglm/call/clipspace/persp_rh_no.h
+++ b/include/cglm/call/clipspace/persp_rh_no.h
@@ -11,7 +11,7 @@
 extern "C" {
 #endif

-#include "../cglm.h"
+#include "../../cglm.h"

 CGLM_EXPORT
 void
--- a/include/cglm/call/clipspace/persp_rh_zo.h
+++ b/include/cglm/call/clipspace/persp_rh_zo.h
@@ -11,7 +11,7 @@
 extern "C" {
 #endif

-#include "../cglm.h"
+#include "../../cglm.h"

 CGLM_EXPORT
 void
--- a/include/cglm/call/clipspace/project_no.h
+++ b/include/cglm/call/clipspace/project_no.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_project_no_h
+#define cglmc_project_no_h
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "../../cglm.h"
+
+CGLM_EXPORT
+void
+glmc_unprojecti_no(vec3 pos, mat4 invMat, vec4 vp, vec3 dest);
+
+CGLM_EXPORT
+void
+glmc_project_no(vec3 pos, mat4 m, vec4 vp, vec3 dest);
+
+CGLM_EXPORT
+float
+glmc_project_z_no(vec3 pos, mat4 m);
+
+#ifdef __cplusplus
+}
+#endif
+#endif /* cglmc_project_no_h */
--- a/include/cglm/call/clipspace/project_zo.h
+++ b/include/cglm/call/clipspace/project_zo.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_project_zo_h
+#define cglmc_project_zo_h
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "../../cglm.h"
+
+CGLM_EXPORT
+void
+glmc_unprojecti_zo(vec3 pos, mat4 invMat, vec4 vp, vec3 dest);
+
+CGLM_EXPORT
+void
+glmc_project_zo(vec3 pos, mat4 m, vec4 vp, vec3 dest);
+
+CGLM_EXPORT
+float
+glmc_project_z_zo(vec3 pos, mat4 m);
+
+#ifdef __cplusplus
+}
+#endif
+#endif /* cglmc_project_zo_h */
--- a/include/cglm/call/clipspace/view_lh_no.h
+++ b/include/cglm/call/clipspace/view_lh_no.h
@@ -11,7 +11,7 @@
 extern "C" {
 #endif

-#include "../cglm.h"
+#include "../../cglm.h"

 CGLM_EXPORT
 void
--- a/include/cglm/call/clipspace/view_lh_zo.h
+++ b/include/cglm/call/clipspace/view_lh_zo.h
@@ -11,7 +11,7 @@
 extern "C" {
 #endif

-#include "../cglm.h"
+#include "../../cglm.h"

 CGLM_EXPORT
 void
--- a/include/cglm/call/clipspace/view_rh_no.h
+++ b/include/cglm/call/clipspace/view_rh_no.h
@@ -11,7 +11,7 @@
 extern "C" {
 #endif

-#include "../cglm.h"
+#include "../../cglm.h"

 CGLM_EXPORT
 void
--- a/include/cglm/call/clipspace/view_rh_zo.h
+++ b/include/cglm/call/clipspace/view_rh_zo.h
@@ -11,7 +11,7 @@
 extern "C" {
 #endif

-#include "../cglm.h"
+#include "../../cglm.h"

 CGLM_EXPORT
 void
--- a/include/cglm/call/ivec2.h
+++ b/include/cglm/call/ivec2.h
@@ -0,0 +1,79 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), http://opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+#ifndef cglmc_ivec2_h
+#define cglmc_ivec2_h
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "../cglm.h"
+
+CGLM_EXPORT
+void
+glmc_ivec2(int * __restrict v, ivec2 dest);
+
+CGLM_EXPORT
+void
+glmc_ivec2_copy(ivec2 a, ivec2 dest);
+
+CGLM_EXPORT
+void
+glmc_ivec2_zero(ivec2 v);
+
+CGLM_EXPORT
+void
+glmc_ivec2_one(ivec2 v);
+
+CGLM_EXPORT
+void
+glmc_ivec2_add(ivec2 a, ivec2 b, ivec2 dest);
+
+CGLM_EXPORT
+void
+glmc_ivec2_adds(ivec2 v, int s, ivec2 dest);
+
+CGLM_EXPORT
+void
+glmc_ivec2_sub(ivec2 a, ivec2 b, ivec2 dest);
+
+CGLM_EXPORT
+void
+glmc_ivec2_subs(ivec2 v, int s, ivec2 dest);
+
+CGLM_EXPORT
+void
+glmc_ivec2_mul(ivec2 a, ivec2 b, ivec2 dest);
+
+CGLM_EXPORT
+void
+glmc_ivec2_scale(ivec2 v, int s, ivec2 dest);
+
+CGLM_EXPORT
+int
+glmc_ivec2_distance2(ivec2 a, ivec2 b);
+
+CGLM_EXPORT
+float
+glmc_ivec2_distance(ivec2 a, ivec2 b);
+
+CGLM_EXPORT
+void
+glmc_ivec2_maxv(ivec2 a, ivec2 b, ivec2 dest);
+
+CGLM_EXPORT
+void
+glmc_ivec2_minv(ivec2 a, ivec2 b, ivec2 dest);
+
+CGLM_EXPORT
+void
+glmc_ivec2_clamp(ivec2 v, int minVal, int maxVal);
+
+#ifdef __cplusplus
+}
+#endif
+#endif /* cglmc_ivec2_h */
--- a/include/cglm/call/ivec3.h
+++ b/include/cglm/call/ivec3.h
@@ -0,0 +1,79 @@
+/*
+ * Copyright (c);, Recep Aslantas.
+ *
+ * MIT License (MIT);, http://opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+#ifndef cglmc_ivec3_h
+#define cglmc_ivec3_h
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "../cglm.h"
+
+CGLM_EXPORT
+void
+glmc_ivec3(ivec4 v4, ivec3 dest);
+
+CGLM_EXPORT
+void
+glmc_ivec3_copy(ivec3 a, ivec3 dest);
+
+CGLM_EXPORT
+void 
+glmc_ivec3_zero(ivec3 v);
+
+CGLM_EXPORT
+void
+glmc_ivec3_one(ivec3 v);
+
+CGLM_EXPORT
+void
+glmc_ivec3_add(ivec3 a, ivec3 b, ivec3 dest);
+
+CGLM_EXPORT
+void
+glmc_ivec3_adds(ivec3 v, int s, ivec3 dest);
+
+CGLM_EXPORT
+void
+glmc_ivec3_sub(ivec3 a, ivec3 b, ivec3 dest);
+
+CGLM_EXPORT
+void
+glmc_ivec3_subs(ivec3 v, int s, ivec3 dest);
+
+CGLM_EXPORT
+void
+glmc_ivec3_mul(ivec3 a, ivec3 b, ivec3 dest);
+
+CGLM_EXPORT
+void
+glmc_ivec3_scale(ivec3 v, int s, ivec3 dest);
+
+CGLM_EXPORT
+int
+glmc_ivec3_distance2(ivec3 a, ivec3 b);
+
+CGLM_EXPORT
+float
+glmc_ivec3_distance(ivec3 a, ivec3 b);
+
+CGLM_EXPORT
+void
+glmc_ivec3_maxv(ivec3 a, ivec3 b, ivec3 dest);
+
+CGLM_EXPORT
+void
+glmc_ivec3_minv(ivec3 a, ivec3 b, ivec3 dest);
+
+CGLM_EXPORT
+void
+glmc_ivec3_clamp(ivec3 v, int minVal, int maxVal);
+
+#ifdef __cplusplus
+}
+#endif
+#endif /* cglmc_ivec3_h */
--- a/include/cglm/call/ivec4.h
+++ b/include/cglm/call/ivec4.h
@@ -0,0 +1,79 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), http://opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+#ifndef cglmc_ivec4_h
+#define cglmc_ivec4_h
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "../cglm.h"
+
+CGLM_EXPORT
+void
+glmc_ivec4(ivec3 v3, int last, ivec4 dest);
+
+CGLM_EXPORT
+void
+glmc_ivec4_copy(ivec4 a, ivec4 dest);
+
+CGLM_EXPORT
+void 
+glmc_ivec4_zero(ivec4 v);
+
+CGLM_EXPORT
+void
+glmc_ivec4_one(ivec4 v);
+
+CGLM_EXPORT
+void
+glmc_ivec4_add(ivec4 a, ivec4 b, ivec4 dest);
+
+CGLM_EXPORT
+void
+glmc_ivec4_adds(ivec4 v, int s, ivec4 dest);
+
+CGLM_EXPORT
+void
+glmc_ivec4_sub(ivec4 a, ivec4 b, ivec4 dest);
+
+CGLM_EXPORT
+void
+glmc_ivec4_subs(ivec4 v, int s, ivec4 dest);
+
+CGLM_EXPORT
+void
+glmc_ivec4_mul(ivec4 a, ivec4 b, ivec4 dest);
+
+CGLM_EXPORT
+void
+glmc_ivec4_scale(ivec4 v, int s, ivec4 dest);
+
+CGLM_EXPORT
+int
+glmc_ivec4_distance2(ivec4 a, ivec4 b);
+
+CGLM_EXPORT
+float
+glmc_ivec4_distance(ivec4 a, ivec4 b);
+
+CGLM_EXPORT
+void
+glmc_ivec4_maxv(ivec4 a, ivec4 b, ivec4 dest);
+
+CGLM_EXPORT
+void
+glmc_ivec4_minv(ivec4 a, ivec4 b, ivec4 dest);
+
+CGLM_EXPORT
+void
+glmc_ivec4_clamp(ivec4 v, int minVal, int maxVal);
+
+#ifdef __cplusplus
+}
+#endif
+#endif /* cglmc_ivec4_h */
--- a/include/cglm/call/project.h
+++ b/include/cglm/call/project.h
@@ -25,6 +25,14 @@ CGLM_EXPORT
 void
 glmc_project(vec3 pos, mat4 m, vec4 vp, vec3 dest);

+CGLM_EXPORT
+float
+glmc_project_z(vec3 pos, mat4 m);
+
+CGLM_EXPORT
+void
+glmc_pickmatrix(vec2 center, vec2 size, vec4 vp, mat4 dest);
+
 #ifdef __cplusplus
 }
 #endif
--- a/include/cglm/call/quat.h
+++ b/include/cglm/call/quat.h
@@ -37,6 +37,10 @@ CGLM_EXPORT
 void
 glmc_quat_copy(versor q, versor dest);

+CGLM_EXPORT
+void
+glmc_quat_from_vecs(vec3 a, vec3 b, versor dest);
+
 CGLM_EXPORT
 float
 glmc_quat_norm(versor q);
--- a/include/cglm/call/vec2.h
+++ b/include/cglm/call/vec2.h
@@ -149,6 +149,18 @@ CGLM_EXPORT
 void
 glmc_vec2_lerp(vec2 from, vec2 to, float t, vec2 dest);

+CGLM_EXPORT
+void
+glmc_vec2_complex_mul(vec2 a, vec2 b, vec2 dest);
+
+CGLM_EXPORT
+void
+glmc_vec2_complex_div(vec2 a, vec2 b, vec2 dest);
+
+CGLM_EXPORT
+void
+glmc_vec2_complex_conjugate(vec2 a, vec2 dest);
+
 #ifdef __cplusplus
 }
 #endif
--- a/include/cglm/cglm.h
+++ b/include/cglm/cglm.h
@@ -12,6 +12,9 @@
 #include "vec2.h"
 #include "vec3.h"
 #include "vec4.h"
+#include "ivec2.h"
+#include "ivec3.h"
+#include "ivec4.h"
 #include "mat4.h"
 #include "mat3.h"
 #include "mat2.h"
--- a/include/cglm/clipspace/ortho_lh_no.h
+++ b/include/cglm/clipspace/ortho_lh_no.h
@@ -30,6 +30,7 @@

 #include "../common.h"
 #include "../plane.h"
+#include "../mat4.h"

 /*!
 * @brief set up orthographic projection matrix
--- a/include/cglm/clipspace/ortho_lh_zo.h
+++ b/include/cglm/clipspace/ortho_lh_zo.h
@@ -30,6 +30,7 @@

 #include "../common.h"
 #include "../plane.h"
+#include "../mat4.h"

 /*!
 * @brief set up orthographic projection matrix with a left-hand coordinate
--- a/include/cglm/clipspace/ortho_rh_no.h
+++ b/include/cglm/clipspace/ortho_rh_no.h
@@ -30,6 +30,7 @@

 #include "../common.h"
 #include "../plane.h"
+#include "../mat4.h"

 /*!
 * @brief set up orthographic projection matrix
--- a/include/cglm/clipspace/ortho_rh_zo.h
+++ b/include/cglm/clipspace/ortho_rh_zo.h
@@ -30,6 +30,7 @@

 #include "../common.h"
 #include "../plane.h"
+#include "../mat4.h"

 /*!
 * @brief set up orthographic projection matrix with a right-hand coordinate
--- a/include/cglm/clipspace/persp_lh_no.h
+++ b/include/cglm/clipspace/persp_lh_no.h
@@ -47,7 +47,6 @@
 #define cglm_persp_lh_no_h

 #include "../common.h"
-#include "../plane.h"
 #include "persp.h"

 /*!
--- a/include/cglm/clipspace/persp_lh_zo.h
+++ b/include/cglm/clipspace/persp_lh_zo.h
@@ -47,7 +47,6 @@
 #define cglm_persp_lh_zo_h

 #include "../common.h"
-#include "../plane.h"
 #include "persp.h"

 /*!
--- a/include/cglm/clipspace/persp_rh_no.h
+++ b/include/cglm/clipspace/persp_rh_no.h
@@ -47,7 +47,6 @@
 #define cglm_persp_rh_no_h

 #include "../common.h"
-#include "../plane.h"
 #include "persp.h"

 /*!
--- a/include/cglm/clipspace/persp_rh_zo.h
+++ b/include/cglm/clipspace/persp_rh_zo.h
@@ -47,7 +47,6 @@
 #define cglm_persp_rh_zo_h

 #include "../common.h"
-#include "../plane.h"
 #include "persp.h"

 /*!
--- a/include/cglm/clipspace/project_no.h
+++ b/include/cglm/clipspace/project_no.h
@@ -0,0 +1,109 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), http://opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+#ifndef cglm_project_no_h
+#define cglm_project_no_h
+
+#include "../common.h"
+#include "../vec3.h"
+#include "../vec4.h"
+#include "../mat4.h"
+
+/*!
+ * @brief maps the specified viewport coordinates into specified space [1]
+ *        the matrix should contain projection matrix.
+ *
+ * if you don't have ( and don't want to have ) an inverse matrix then use
+ * glm_unproject version. You may use existing inverse of matrix in somewhere
+ * else, this is why glm_unprojecti exists to save save inversion cost
+ *
+ * [1] space:
+ *  1- if m = invProj:     View Space
+ *  2- if m = invViewProj: World Space
+ *  3- if m = invMVP:      Object Space
+ *
+ * You probably want to map the coordinates into object space
+ * so use invMVP as m
+ *
+ * Computing viewProj:
+ *   glm_mat4_mul(proj, view, viewProj);
+ *   glm_mat4_mul(viewProj, model, MVP);
+ *   glm_mat4_inv(viewProj, invMVP);
+ *
+ * @param[in]  pos      point/position in viewport coordinates
+ * @param[in]  invMat   matrix (see brief)
+ * @param[in]  vp       viewport as [x, y, width, height]
+ * @param[out] dest     unprojected coordinates
+ */
+CGLM_INLINE
+void
+glm_unprojecti_no(vec3 pos, mat4 invMat, vec4 vp, vec3 dest) {
+  vec4 v;
+
+  v[0] = 2.0f * (pos[0] - vp[0]) / vp[2] - 1.0f;
+  v[1] = 2.0f * (pos[1] - vp[1]) / vp[3] - 1.0f;
+  v[2] = 2.0f *  pos[2]                  - 1.0f;
+  v[3] = 1.0f;
+
+  glm_mat4_mulv(invMat, v, v);
+  glm_vec4_scale(v, 1.0f / v[3], v);
+  glm_vec3(v, dest);
+}
+
+/*!
+ * @brief map object coordinates to window coordinates
+ *
+ * Computing MVP:
+ *   glm_mat4_mul(proj, view, viewProj);
+ *   glm_mat4_mul(viewProj, model, MVP);
+ *
+ * @param[in]  pos      object coordinates
+ * @param[in]  m        MVP matrix
+ * @param[in]  vp       viewport as [x, y, width, height]
+ * @param[out] dest     projected coordinates
+ */
+CGLM_INLINE
+void
+glm_project_no(vec3 pos, mat4 m, vec4 vp, vec3 dest) {
+  CGLM_ALIGN(16) vec4 pos4;
+
+  glm_vec4(pos, 1.0f, pos4);
+
+  glm_mat4_mulv(m, pos4, pos4);
+  glm_vec4_scale(pos4, 1.0f / pos4[3], pos4); /* pos = pos / pos.w */
+  glm_vec4_scale(pos4, 0.5f, pos4);
+  glm_vec4_adds(pos4,  0.5f, pos4);
+
+  dest[0] = pos4[0] * vp[2] + vp[0];
+  dest[1] = pos4[1] * vp[3] + vp[1];
+  dest[2] = pos4[2];
+}
+
+/*!
+ * @brief map object's z coordinate to window coordinates
+ *
+ * Computing MVP:
+ *   glm_mat4_mul(proj, view, viewProj);
+ *   glm_mat4_mul(viewProj, model, MVP);
+ *
+ * @param[in]  v  object coordinates
+ * @param[in]  m  MVP matrix
+ *
+ * @returns projected z coordinate
+ */
+CGLM_INLINE
+float
+glm_project_z_no(vec3 v, mat4 m) {
+  float z, w;
+
+  z = m[0][2] * v[0] + m[1][2] * v[1] + m[2][2] * v[2] + m[3][2];
+  w = m[0][3] * v[0] + m[1][3] * v[1] + m[2][3] * v[2] + m[3][3];
+
+  return 0.5f * (z / w) + 0.5f;
+}
+
+#endif /* cglm_project_no_h */
--- a/include/cglm/clipspace/project_zo.h
+++ b/include/cglm/clipspace/project_zo.h
@@ -0,0 +1,111 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), http://opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+#ifndef cglm_project_zo_h
+#define cglm_project_zo_h
+
+#include "../common.h"
+#include "../vec3.h"
+#include "../vec4.h"
+#include "../mat4.h"
+
+/*!
+ * @brief maps the specified viewport coordinates into specified space [1]
+ *        the matrix should contain projection matrix.
+ *
+ * if you don't have ( and don't want to have ) an inverse matrix then use
+ * glm_unproject version. You may use existing inverse of matrix in somewhere
+ * else, this is why glm_unprojecti exists to save save inversion cost
+ *
+ * [1] space:
+ *  1- if m = invProj:     View Space
+ *  2- if m = invViewProj: World Space
+ *  3- if m = invMVP:      Object Space
+ *
+ * You probably want to map the coordinates into object space
+ * so use invMVP as m
+ *
+ * Computing viewProj:
+ *   glm_mat4_mul(proj, view, viewProj);
+ *   glm_mat4_mul(viewProj, model, MVP);
+ *   glm_mat4_inv(viewProj, invMVP);
+ *
+ * @param[in]  pos      point/position in viewport coordinates
+ * @param[in]  invMat   matrix (see brief)
+ * @param[in]  vp       viewport as [x, y, width, height]
+ * @param[out] dest     unprojected coordinates
+ */
+CGLM_INLINE
+void
+glm_unprojecti_zo(vec3 pos, mat4 invMat, vec4 vp, vec3 dest) {
+  vec4 v;
+
+  v[0] = 2.0f * (pos[0] - vp[0]) / vp[2] - 1.0f;
+  v[1] = 2.0f * (pos[1] - vp[1]) / vp[3] - 1.0f;
+  v[2] = pos[2];
+  v[3] = 1.0f;
+
+  glm_mat4_mulv(invMat, v, v);
+  glm_vec4_scale(v, 1.0f / v[3], v);
+  glm_vec3(v, dest);
+}
+
+/*!
+ * @brief map object coordinates to window coordinates
+ *
+ * Computing MVP:
+ *   glm_mat4_mul(proj, view, viewProj);
+ *   glm_mat4_mul(viewProj, model, MVP);
+ *
+ * @param[in]  pos      object coordinates
+ * @param[in]  m        MVP matrix
+ * @param[in]  vp       viewport as [x, y, width, height]
+ * @param[out] dest     projected coordinates
+ */
+CGLM_INLINE
+void
+glm_project_zo(vec3 pos, mat4 m, vec4 vp, vec3 dest) {
+  CGLM_ALIGN(16) vec4 pos4;
+
+  glm_vec4(pos, 1.0f, pos4);
+
+  glm_mat4_mulv(m, pos4, pos4);
+  glm_vec4_scale(pos4, 1.0f / pos4[3], pos4); /* pos = pos / pos.w */
+
+  dest[2] = pos4[2];
+  
+  glm_vec4_scale(pos4, 0.5f, pos4);
+  glm_vec4_adds(pos4,  0.5f, pos4);
+
+  dest[0] = pos4[0] * vp[2] + vp[0];
+  dest[1] = pos4[1] * vp[3] + vp[1];
+}
+
+/*!
+ * @brief map object's z coordinate to window coordinates
+ *
+ * Computing MVP:
+ *   glm_mat4_mul(proj, view, viewProj);
+ *   glm_mat4_mul(viewProj, model, MVP);
+ *
+ * @param[in]  v  object coordinates
+ * @param[in]  m  MVP matrix
+ *
+ * @returns projected z coordinate
+ */
+CGLM_INLINE
+float
+glm_project_z_zo(vec3 v, mat4 m) {
+  float z, w;
+
+  z = m[0][2] * v[0] + m[1][2] * v[1] + m[2][2] * v[2] + m[3][2];
+  w = m[0][3] * v[0] + m[1][3] * v[1] + m[2][3] * v[2] + m[3][3];
+
+  return z / w;
+}
+
+#endif /* cglm_project_zo_h */
--- a/include/cglm/clipspace/view_lh.h
+++ b/include/cglm/clipspace/view_lh.h
@@ -37,8 +37,8 @@ glm_lookat_lh(vec3 eye, vec3 center, vec3 up, mat4 dest) {
  glm_vec3_sub(center, eye, f);
  glm_vec3_normalize(f);

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

  dest[0][0] = s[0];
  dest[0][1] = u[0];
--- a/include/cglm/clipspace/view_lh_no.h
+++ b/include/cglm/clipspace/view_lh_no.h
@@ -15,6 +15,7 @@
 #ifndef cglm_view_lh_no_h
 #define cglm_view_lh_no_h

+#include "../common.h"
 #include "view_lh.h"

 /*!
--- a/include/cglm/clipspace/view_lh_zo.h
+++ b/include/cglm/clipspace/view_lh_zo.h
@@ -15,6 +15,7 @@
 #ifndef cglm_view_lh_zo_h
 #define cglm_view_lh_zo_h

+#include "../common.h"
 #include "view_lh.h"

 /*!
--- a/include/cglm/clipspace/view_rh_no.h
+++ b/include/cglm/clipspace/view_rh_no.h
@@ -15,6 +15,7 @@
 #ifndef cglm_view_rh_no_h
 #define cglm_view_rh_no_h

+#include "../common.h"
 #include "view_rh.h"

 /*!
--- a/include/cglm/clipspace/view_rh_zo.h
+++ b/include/cglm/clipspace/view_rh_zo.h
@@ -15,6 +15,7 @@
 #ifndef cglm_view_rh_zo_h
 #define cglm_view_rh_zo_h

+#include "../common.h"
 #include "view_rh.h"

 /*!
--- a/include/cglm/common.h
+++ b/include/cglm/common.h
@@ -44,16 +44,16 @@

 #ifndef CGLM_USE_DEFAULT_EPSILON
 #  ifndef GLM_FLT_EPSILON
-#    define GLM_FLT_EPSILON 1e-6
+#    define GLM_FLT_EPSILON 1e-5
 #  endif
 #else
 #  define GLM_FLT_EPSILON FLT_EPSILON
 #endif

 /*
- * Clip control: define GLM_FORCE_DEPTH_ZERO_TO_ONE before including
+ * Clip control: define CGLM_FORCE_DEPTH_ZERO_TO_ONE before including
 * CGLM to use a clip space between 0 to 1.
- * Coordinate system: define GLM_FORCE_LEFT_HANDED before including
+ * Coordinate system: define CGLM_FORCE_LEFT_HANDED before including
 * CGLM to use the left handed coordinate system by default.
 */

--- a/include/cglm/io.h
+++ b/include/cglm/io.h
@@ -39,6 +39,7 @@
   || defined(CGLM_NO_PRINTS_NOOP)

 #include "common.h"
+#include "util.h"

 #include <stdio.h>
 #include <stdlib.h>
--- a/include/cglm/ivec2.h
+++ b/include/cglm/ivec2.h
@@ -0,0 +1,242 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), http://opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+/*
+FUNCTIONS:
+  CGLM_INLINE void glm_ivec2(int * __restrict v, ivec2 dest)
+  CGLM_INLINE void glm_ivec2_copy(ivec2 a, ivec2 dest)
+  CGLM_INLINE void glm_ivec2_zero(ivec2 v)
+  CGLM_INLINE void glm_ivec2_one(ivec2 v)
+  CGLM_INLINE void glm_ivec2_add(ivec2 a, ivec2 b, ivec2 dest)
+  CGLM_INLINE void glm_ivec2_adds(ivec2 v, int s, ivec2 dest)
+  CGLM_INLINE void glm_ivec2_sub(ivec2 a, ivec2 b, ivec2 dest)
+  CGLM_INLINE void glm_ivec2_subs(ivec2 v, int s, ivec2 dest)
+  CGLM_INLINE void glm_ivec2_mul(ivec2 a, ivec2 b, ivec2 dest)
+  CGLM_INLINE void glm_ivec2_scale(ivec2 v, int s, ivec2 dest)
+  CGLM_INLINE int glm_ivec2_distance2(ivec2 a, ivec2 b)
+  CGLM_INLINE float glm_ivec2_distance(ivec2 a, ivec2 b)
+  CGLM_INLINE void glm_ivec2_maxv(ivec2 a, ivec2 b, ivec2 dest)
+  CGLM_INLINE void glm_ivec2_minv(ivec2 a, ivec2 b, ivec2 dest)
+  CGLM_INLINE void glm_ivec2_clamp(ivec2 v, int minVal, int maxVal)
+ */
+
+#ifndef cglm_ivec2_h
+#define cglm_ivec2_h
+
+#include "common.h"
+
+/*!
+ * @brief init ivec2 using vec3 or vec4
+ *
+ * @param[in]  v    vector
+ * @param[out] dest destination
+ */
+CGLM_INLINE
+void
+glm_ivec2(int * __restrict v, ivec2 dest) {
+  dest[0] = v[0];
+  dest[1] = v[1];
+}
+
+/*!
+ * @brief copy all members of [a] to [dest]
+ *
+ * @param[in]  a    source vector
+ * @param[out] dest destination
+ */
+CGLM_INLINE
+void
+glm_ivec2_copy(ivec2 a, ivec2 dest) {
+  dest[0] = a[0];
+  dest[1] = a[1];
+}
+
+/*!
+ * @brief set all members of [v] to zero
+ *
+ * @param[out] v vector
+ */
+CGLM_INLINE
+void 
+glm_ivec2_zero(ivec2 v) {
+  v[0] = v[1] = 0;
+}
+
+/*!
+ * @brief set all members of [v] to one
+ *
+ * @param[out] v vector
+ */
+CGLM_INLINE
+void
+glm_ivec2_one(ivec2 v) {
+  v[0] = v[1] = 1;
+}
+
+/*!
+ * @brief add vector [a] to vector [b] and store result in [dest]
+ *
+ * @param[in]  a    first vector
+ * @param[in]  b    second vector
+ * @param[out] dest destination
+ */
+CGLM_INLINE
+void
+glm_ivec2_add(ivec2 a, ivec2 b, ivec2 dest) {
+  dest[0] = a[0] + b[0];
+  dest[1] = a[1] + b[1];
+}
+
+/*!
+ * @brief add scalar s to vector [v] and store result in [dest]
+ *
+ * @param[in]  v    vector
+ * @param[in]  s    scalar
+ * @param[out] dest destination
+ */
+CGLM_INLINE
+void
+glm_ivec2_adds(ivec2 v, int s, ivec2 dest) {
+  dest[0] = v[0] + s;
+  dest[1] = v[1] + s;
+}
+
+/*!
+ * @brief subtract vector [b] from vector [a] and store result in [dest]
+ *
+ * @param[in]  a    first vector
+ * @param[in]  b    second vector
+ * @param[out] dest destination
+ */
+CGLM_INLINE
+void
+glm_ivec2_sub(ivec2 a, ivec2 b, ivec2 dest) {
+  dest[0] = a[0] - b[0];
+  dest[1] = a[1] - b[1];
+}
+
+/*!
+ * @brief subtract scalar s from vector [v] and store result in [dest]
+ *
+ * @param[in]  v    vector
+ * @param[in]  s    scalar
+ * @param[out] dest destination
+ */
+CGLM_INLINE
+void
+glm_ivec2_subs(ivec2 v, int s, ivec2 dest) {
+  dest[0] = v[0] - s;
+  dest[1] = v[1] - s;
+}
+
+/*!
+ * @brief multiply vector [a] with vector [b] and store result in [dest]
+ *
+ * @param[in]  a    frist vector
+ * @param[in]  b    second vector
+ * @param[out] dest destination
+ */
+CGLM_INLINE
+void
+glm_ivec2_mul(ivec2 a, ivec2 b, ivec2 dest) {
+  dest[0] = a[0] * b[0];
+  dest[1] = a[1] * b[1];
+}
+
+/*!
+ * @brief multiply vector [a] with scalar s and store result in [dest]
+ *
+ * @param[in]  v    vector
+ * @param[in]  s    scalar
+ * @param[out] dest destination
+ */
+CGLM_INLINE
+void
+glm_ivec2_scale(ivec2 v, int s, ivec2 dest) {
+  dest[0] = v[0] * s;
+  dest[1] = v[1] * s;
+}
+
+/*!
+ * @brief squared distance between two vectors
+ *
+ * @param[in] a first vector
+ * @param[in] b second vector
+ * @return returns squared distance (distance * distance)
+ */
+CGLM_INLINE
+int
+glm_ivec2_distance2(ivec2 a, ivec2 b) {
+  int xd, yd;
+  xd = a[0] - b[0];
+  yd = a[1] - b[1];
+  return xd * xd + yd * yd;
+}
+
+/*!
+ * @brief distance between two vectors
+ *
+ * @param[in] a first vector
+ * @param[in] b second vector
+ * @return returns distance
+ */
+CGLM_INLINE
+float
+glm_ivec2_distance(ivec2 a, ivec2 b) {
+  return sqrtf((float)glm_ivec2_distance2(a, b));
+}
+
+/*!
+ * @brief set each member of dest to greater of vector a and b
+ *
+ * @param[in]  a    first vector
+ * @param[in]  b    second vector
+ * @param[out] dest destination
+ */
+CGLM_INLINE
+void
+glm_ivec2_maxv(ivec2 a, ivec2 b, ivec2 dest) {
+  dest[0] = a[0] > b[0] ? a[0] : b[0];
+  dest[1] = a[1] > b[1] ? a[1] : b[1];
+}
+
+/*!
+ * @brief set each member of dest to lesser of vector a and b
+ *
+ * @param[in]  a    first vector
+ * @param[in]  b    second vector
+ * @param[out] dest destination
+ */
+CGLM_INLINE
+void
+glm_ivec2_minv(ivec2 a, ivec2 b, ivec2 dest) {
+  dest[0] = a[0] < b[0] ? a[0] : b[0];
+  dest[1] = a[1] < b[1] ? a[1] : b[1];
+}
+
+/*!
+ * @brief clamp each member of [v] between minVal and maxVal (inclusive)
+ *
+ * @param[in, out] v      vector
+ * @param[in]      minVal minimum value
+ * @param[in]      maxVal maximum value
+ */
+CGLM_INLINE
+void
+glm_ivec2_clamp(ivec2 v, int minVal, int maxVal) {
+  if (v[0] < minVal)
+    v[0] = minVal;
+  else if(v[0] > maxVal)
+    v[0] = maxVal;
+
+  if (v[1] < minVal)
+    v[1] = minVal;
+  else if(v[1] > maxVal)
+    v[1] = maxVal;
+}
+
+#endif /* cglm_ivec2_h */
--- a/include/cglm/ivec3.h
+++ b/include/cglm/ivec3.h
@@ -0,0 +1,258 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), http://opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+/*
+FUNCTIONS:
+  CGLM_INLINE void glm_ivec3(ivec4 v4, ivec3 dest)
+  CGLM_INLINE void glm_ivec3_copy(ivec3 a, ivec3 dest)
+  CGLM_INLINE void glm_ivec3_zero(ivec3 v)
+  CGLM_INLINE void glm_ivec3_one(ivec3 v)
+  CGLM_INLINE void glm_ivec3_add(ivec3 a, ivec3 b, ivec3 dest)
+  CGLM_INLINE void glm_ivec3_adds(ivec3 v, int s, ivec3 dest)
+  CGLM_INLINE void glm_ivec3_sub(ivec3 a, ivec3 b, ivec3 dest)
+  CGLM_INLINE void glm_ivec3_subs(ivec3 v, int s, ivec3 dest)
+  CGLM_INLINE void glm_ivec3_mul(ivec3 a, ivec3 b, ivec3 dest)
+  CGLM_INLINE void glm_ivec3_scale(ivec3 v, int s, ivec3 dest)
+  CGLM_INLINE int glm_ivec3_distance2(ivec3 a, ivec3 b)
+  CGLM_INLINE float glm_ivec3_distance(ivec3 a, ivec3 b)
+  CGLM_INLINE void glm_ivec3_maxv(ivec3 a, ivec3 b, ivec3 dest)
+  CGLM_INLINE void glm_ivec3_minv(ivec3 a, ivec3 b, ivec3 dest)
+  CGLM_INLINE void glm_ivec3_clamp(ivec3 v, int minVal, int maxVal)
+ */
+
+#ifndef cglm_ivec3_h
+#define cglm_ivec3_h
+
+#include "common.h"
+
+/*!
+ * @brief init ivec3 using ivec4
+ *
+ * @param[in]  v4   vector4
+ * @param[out] dest destination
+ */
+CGLM_INLINE
+void
+glm_ivec3(ivec4 v4, ivec3 dest) {
+  dest[0] = v4[0];
+  dest[1] = v4[1];
+  dest[2] = v4[2];
+}
+
+/*!
+ * @brief copy all members of [a] to [dest]
+ *
+ * @param[in]  a    source vector
+ * @param[out] dest destination
+ */
+CGLM_INLINE
+void
+glm_ivec3_copy(ivec3 a, ivec3 dest) {
+  dest[0] = a[0];
+  dest[1] = a[1];
+  dest[2] = a[2];
+}
+
+/*!
+ * @brief set all members of [v] to zero
+ *
+ * @param[out] v vector
+ */
+CGLM_INLINE
+void 
+glm_ivec3_zero(ivec3 v) {
+  v[0] = v[1] = v[2] = 0;
+}
+
+/*!
+ * @brief set all members of [v] to one
+ *
+ * @param[out] v vector
+ */
+CGLM_INLINE
+void
+glm_ivec3_one(ivec3 v) {
+  v[0] = v[1] = v[2] = 1;
+}
+
+/*!
+ * @brief add vector [a] to vector [b] and store result in [dest]
+ *
+ * @param[in]  a    first vector
+ * @param[in]  b    second vector
+ * @param[out] dest destination
+ */
+CGLM_INLINE
+void
+glm_ivec3_add(ivec3 a, ivec3 b, ivec3 dest) {
+  dest[0] = a[0] + b[0];
+  dest[1] = a[1] + b[1];
+  dest[2] = a[2] + b[2];
+}
+
+/*!
+ * @brief add scalar s to vector [v] and store result in [dest]
+ *
+ * @param[in]  v    vector
+ * @param[in]  s    scalar
+ * @param[out] dest destination
+ */
+CGLM_INLINE
+void
+glm_ivec3_adds(ivec3 v, int s, ivec3 dest) {
+  dest[0] = v[0] + s;
+  dest[1] = v[1] + s;
+  dest[2] = v[2] + s;
+}
+
+/*!
+ * @brief subtract vector [b] from vector [a] and store result in [dest]
+ *
+ * @param[in]  a    first vector
+ * @param[in]  b    second vector
+ * @param[out] dest destination
+ */
+CGLM_INLINE
+void
+glm_ivec3_sub(ivec3 a, ivec3 b, ivec3 dest) {
+  dest[0] = a[0] - b[0];
+  dest[1] = a[1] - b[1];
+  dest[2] = a[2] - b[2];
+}
+
+/*!
+ * @brief subtract scalar s from vector [v] and store result in [dest]
+ *
+ * @param[in]  v    vector
+ * @param[in]  s    scalar
+ * @param[out] dest destination
+ */
+CGLM_INLINE
+void
+glm_ivec3_subs(ivec3 v, int s, ivec3 dest) {
+  dest[0] = v[0] - s;
+  dest[1] = v[1] - s;
+  dest[2] = v[2] - s;
+}
+
+/*!
+ * @brief multiply vector [a] with vector [b] and store result in [dest]
+ *
+ * @param[in]  a    frist vector
+ * @param[in]  b    second vector
+ * @param[out] dest destination
+ */
+CGLM_INLINE
+void
+glm_ivec3_mul(ivec3 a, ivec3 b, ivec3 dest) {
+  dest[0] = a[0] * b[0];
+  dest[1] = a[1] * b[1];
+  dest[2] = a[2] * b[2];
+}
+
+/*!
+ * @brief multiply vector [a] with scalar s and store result in [dest]
+ *
+ * @param[in]  v    vector
+ * @param[in]  s    scalar
+ * @param[out] dest destination
+ */
+CGLM_INLINE
+void
+glm_ivec3_scale(ivec3 v, int s, ivec3 dest) {
+  dest[0] = v[0] * s;
+  dest[1] = v[1] * s;
+  dest[2] = v[2] * s;
+}
+
+/*!
+ * @brief squared distance between two vectors
+ *
+ * @param[in] a first vector
+ * @param[in] b second vector
+ * @return returns squared distance (distance * distance)
+ */
+CGLM_INLINE
+int
+glm_ivec3_distance2(ivec3 a, ivec3 b) {
+  int xd, yd, zd;
+  xd = a[0] - b[0];
+  yd = a[1] - b[1];
+  zd = a[2] - b[2];
+  return xd * xd + yd * yd + zd * zd;
+}
+
+/*!
+ * @brief distance between two vectors
+ *
+ * @param[in] a first vector
+ * @param[in] b second vector
+ * @return returns distance
+ */
+CGLM_INLINE
+float
+glm_ivec3_distance(ivec3 a, ivec3 b) {
+  return sqrtf((float)glm_ivec3_distance2(a, b));
+}
+
+/*!
+ * @brief set each member of dest to greater of vector a and b
+ *
+ * @param[in]  a    first vector
+ * @param[in]  b    second vector
+ * @param[out] dest destination
+ */
+CGLM_INLINE
+void
+glm_ivec3_maxv(ivec3 a, ivec3 b, ivec3 dest) {
+  dest[0] = a[0] > b[0] ? a[0] : b[0];
+  dest[1] = a[1] > b[1] ? a[1] : b[1];
+  dest[2] = a[2] > b[2] ? a[2] : b[2];
+}
+
+/*!
+ * @brief set each member of dest to lesser of vector a and b
+ *
+ * @param[in]  a    first vector
+ * @param[in]  b    second vector
+ * @param[out] dest destination
+ */
+CGLM_INLINE
+void
+glm_ivec3_minv(ivec3 a, ivec3 b, ivec3 dest) {
+  dest[0] = a[0] < b[0] ? a[0] : b[0];
+  dest[1] = a[1] < b[1] ? a[1] : b[1];
+  dest[2] = a[2] < b[2] ? a[2] : b[2];
+}
+
+/*!
+ * @brief clamp each member of [v] between minVal and maxVal (inclusive)
+ *
+ * @param[in, out] v      vector
+ * @param[in]      minVal minimum value
+ * @param[in]      maxVal maximum value
+ */
+CGLM_INLINE
+void
+glm_ivec3_clamp(ivec3 v, int minVal, int maxVal) {
+  if (v[0] < minVal)
+    v[0] = minVal;
+  else if(v[0] > maxVal)
+    v[0] = maxVal;
+
+  if (v[1] < minVal)
+    v[1] = minVal;
+  else if(v[1] > maxVal)
+    v[1] = maxVal;
+
+  if (v[2] < minVal)
+    v[2] = minVal;
+  else if(v[2] > maxVal)
+    v[2] = maxVal;
+}
+
+#endif /* cglm_ivec3_h */
--- a/include/cglm/ivec4.h
+++ b/include/cglm/ivec4.h
@@ -0,0 +1,275 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), http://opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+/*
+FUNCTIONS:
+  CGLM_INLINE void glm_ivec4(ivec3 v3, int last, ivec4 dest)
+  CGLM_INLINE void glm_ivec4_copy(ivec4 a, ivec4 dest)
+  CGLM_INLINE void glm_ivec4_zero(ivec4 v)
+  CGLM_INLINE void glm_ivec4_one(ivec4 v)
+  CGLM_INLINE void glm_ivec4_add(ivec4 a, ivec4 b, ivec4 dest)
+  CGLM_INLINE void glm_ivec4_adds(ivec4 v, int s, ivec4 dest)
+  CGLM_INLINE void glm_ivec4_sub(ivec4 a, ivec4 b, ivec4 dest)
+  CGLM_INLINE void glm_ivec4_subs(ivec4 v, int s, ivec4 dest)
+  CGLM_INLINE void glm_ivec4_mul(ivec4 a, ivec4 b, ivec4 dest)
+  CGLM_INLINE void glm_ivec4_scale(ivec4 v, int s, ivec4 dest)
+  CGLM_INLINE int glm_ivec4_distance2(ivec4 a, ivec4 b)
+  CGLM_INLINE float glm_ivec4_distance(ivec4 a, ivec4 b)
+  CGLM_INLINE void glm_ivec4_maxv(ivec4 a, ivec4 b, ivec4 dest)
+  CGLM_INLINE void glm_ivec4_minv(ivec4 a, ivec4 b, ivec4 dest)
+  CGLM_INLINE void glm_ivec4_clamp(ivec4 v, int minVal, int maxVal)
+ */
+
+#ifndef cglm_ivec4_h
+#define cglm_ivec4_h
+
+#include "common.h"
+
+/*!
+ * @brief init ivec4 using ivec3
+ *
+ * @param[in]  v3   vector3
+ * @param[in]  last last item
+ * @param[out] dest destination
+ */
+CGLM_INLINE
+void
+glm_ivec4(ivec3 v3, int last, ivec4 dest) {
+  dest[0] = v3[0];
+  dest[1] = v3[1];
+  dest[2] = v3[2];
+  dest[3] = last;
+}
+
+/*!
+ * @brief copy all members of [a] to [dest]
+ *
+ * @param[in]  a    source vector
+ * @param[out] dest destination
+ */
+CGLM_INLINE
+void
+glm_ivec4_copy(ivec4 a, ivec4 dest) {
+  dest[0] = a[0];
+  dest[1] = a[1];
+  dest[2] = a[2];
+  dest[3] = a[3];
+}
+
+/*!
+ * @brief set all members of [v] to zero
+ *
+ * @param[out] v vector
+ */
+CGLM_INLINE
+void 
+glm_ivec4_zero(ivec4 v) {
+  v[0] = v[1] = v[2] = v[3] = 0;
+}
+
+/*!
+ * @brief set all members of [v] to one
+ *
+ * @param[out] v vector
+ */
+CGLM_INLINE
+void
+glm_ivec4_one(ivec4 v) {
+  v[0] = v[1] = v[2] = v[3] = 1;
+}
+
+/*!
+ * @brief add vector [a] to vector [b] and store result in [dest]
+ *
+ * @param[in]  a    first vector
+ * @param[in]  b    second vector
+ * @param[out] dest destination
+ */
+CGLM_INLINE
+void
+glm_ivec4_add(ivec4 a, ivec4 b, ivec4 dest) {
+  dest[0] = a[0] + b[0];
+  dest[1] = a[1] + b[1];
+  dest[2] = a[2] + b[2];
+  dest[3] = a[3] + b[3];
+}
+
+/*!
+ * @brief add scalar s to vector [v] and store result in [dest]
+ *
+ * @param[in]  v    vector
+ * @param[in]  s    scalar
+ * @param[out] dest destination
+ */
+CGLM_INLINE
+void
+glm_ivec4_adds(ivec4 v, int s, ivec4 dest) {
+  dest[0] = v[0] + s;
+  dest[1] = v[1] + s;
+  dest[2] = v[2] + s;
+  dest[3] = v[3] + s;
+}
+
+/*!
+ * @brief subtract vector [b] from vector [a] and store result in [dest]
+ *
+ * @param[in]  a    first vector
+ * @param[in]  b    second vector
+ * @param[out] dest destination
+ */
+CGLM_INLINE
+void
+glm_ivec4_sub(ivec4 a, ivec4 b, ivec4 dest) {
+  dest[0] = a[0] - b[0];
+  dest[1] = a[1] - b[1];
+  dest[2] = a[2] - b[2];
+  dest[3] = a[3] - b[3];
+}
+
+/*!
+ * @brief subtract scalar s from vector [v] and store result in [dest]
+ *
+ * @param[in]  v    vector
+ * @param[in]  s    scalar
+ * @param[out] dest destination
+ */
+CGLM_INLINE
+void
+glm_ivec4_subs(ivec4 v, int s, ivec4 dest) {
+  dest[0] = v[0] - s;
+  dest[1] = v[1] - s;
+  dest[2] = v[2] - s;
+  dest[3] = v[3] - s;
+}
+
+/*!
+ * @brief multiply vector [a] with vector [b] and store result in [dest]
+ *
+ * @param[in]  a    frist vector
+ * @param[in]  b    second vector
+ * @param[out] dest destination
+ */
+CGLM_INLINE
+void
+glm_ivec4_mul(ivec4 a, ivec4 b, ivec4 dest) {
+  dest[0] = a[0] * b[0];
+  dest[1] = a[1] * b[1];
+  dest[2] = a[2] * b[2];
+  dest[3] = a[3] * b[3];
+}
+
+/*!
+ * @brief multiply vector [a] with scalar s and store result in [dest]
+ *
+ * @param[in]  v    vector
+ * @param[in]  s    scalar
+ * @param[out] dest destination
+ */
+CGLM_INLINE
+void
+glm_ivec4_scale(ivec4 v, int s, ivec4 dest) {
+  dest[0] = v[0] * s;
+  dest[1] = v[1] * s;
+  dest[2] = v[2] * s;
+  dest[3] = v[3] * s;
+}
+
+/*!
+ * @brief squared distance between two vectors
+ *
+ * @param[in] a first vector
+ * @param[in] b second vector
+ * @return returns squared distance (distance * distance)
+ */
+CGLM_INLINE
+int
+glm_ivec4_distance2(ivec4 a, ivec4 b) {
+  int xd, yd, zd, wd;
+  xd = a[0] - b[0];
+  yd = a[1] - b[1];
+  zd = a[2] - b[2];
+  wd = a[3] - b[3];
+  return xd * xd + yd * yd + zd * zd + wd * wd;
+}
+
+/*!
+ * @brief distance between two vectors
+ *
+ * @param[in] a first vector
+ * @param[in] b second vector
+ * @return returns distance
+ */
+CGLM_INLINE
+float
+glm_ivec4_distance(ivec4 a, ivec4 b) {
+  return sqrtf((float)glm_ivec4_distance2(a, b));
+}
+
+/*!
+ * @brief set each member of dest to greater of vector a and b
+ *
+ * @param[in]  a    first vector
+ * @param[in]  b    second vector
+ * @param[out] dest destination
+ */
+CGLM_INLINE
+void
+glm_ivec4_maxv(ivec4 a, ivec4 b, ivec4 dest) {
+  dest[0] = a[0] > b[0] ? a[0] : b[0];
+  dest[1] = a[1] > b[1] ? a[1] : b[1];
+  dest[2] = a[2] > b[2] ? a[2] : b[2];
+  dest[3] = a[3] > b[3] ? a[3] : b[3];
+}
+
+/*!
+ * @brief set each member of dest to lesser of vector a and b
+ *
+ * @param[in]  a    first vector
+ * @param[in]  b    second vector
+ * @param[out] dest destination
+ */
+CGLM_INLINE
+void
+glm_ivec4_minv(ivec4 a, ivec4 b, ivec4 dest) {
+  dest[0] = a[0] < b[0] ? a[0] : b[0];
+  dest[1] = a[1] < b[1] ? a[1] : b[1];
+  dest[2] = a[2] < b[2] ? a[2] : b[2];
+  dest[3] = a[3] < b[3] ? a[3] : b[3];
+}
+
+/*!
+ * @brief clamp each member of [v] between minVal and maxVal (inclusive)
+ *
+ * @param[in, out] v      vector
+ * @param[in]      minVal minimum value
+ * @param[in]      maxVal maximum value
+ */
+CGLM_INLINE
+void
+glm_ivec4_clamp(ivec4 v, int minVal, int maxVal) {
+  if (v[0] < minVal)
+    v[0] = minVal;
+  else if(v[0] > maxVal)
+    v[0] = maxVal;
+
+  if (v[1] < minVal)
+    v[1] = minVal;
+  else if(v[1] > maxVal)
+    v[1] = maxVal;
+
+  if (v[2] < minVal)
+    v[2] = minVal;
+  else if(v[2] > maxVal)
+    v[2] = maxVal;
+
+  if (v[3] < minVal)
+    v[3] = minVal;
+  else if(v[3] > maxVal)
+    v[3] = maxVal;
+}
+
+#endif /* cglm_ivec4_h */
--- a/include/cglm/project.h
+++ b/include/cglm/project.h
@@ -13,6 +13,17 @@
 #include "vec4.h"
 #include "mat4.h"

+#ifndef CGLM_CLIPSPACE_INCLUDE_ALL
+#  if CGLM_CONFIG_CLIP_CONTROL & CGLM_CLIP_CONTROL_ZO_BIT
+#    include "clipspace/project_zo.h"
+#  elif CGLM_CONFIG_CLIP_CONTROL & CGLM_CLIP_CONTROL_NO_BIT
+#    include "clipspace/project_no.h"
+#  endif
+#else
+#  include "clipspace/project_zo.h"
+#  include "clipspace/project_no.h"
+#endif
+
 /*!
 * @brief maps the specified viewport coordinates into specified space [1]
 *        the matrix should contain projection matrix.
@@ -42,16 +53,11 @@
 CGLM_INLINE
 void
 glm_unprojecti(vec3 pos, mat4 invMat, vec4 vp, vec3 dest) {
-  vec4 v;
-
-  v[0] = 2.0f * (pos[0] - vp[0]) / vp[2] - 1.0f;
-  v[1] = 2.0f * (pos[1] - vp[1]) / vp[3] - 1.0f;
-  v[2] = 2.0f *  pos[2]                  - 1.0f;
-  v[3] = 1.0f;
-
-  glm_mat4_mulv(invMat, v, v);
-  glm_vec4_scale(v, 1.0f / v[3], v);
-  glm_vec3(v, dest);
+#if CGLM_CONFIG_CLIP_CONTROL & CGLM_CLIP_CONTROL_ZO_BIT
+  glm_unprojecti_zo(pos, invMat, vp, dest);
+#elif CGLM_CONFIG_CLIP_CONTROL & CGLM_CLIP_CONTROL_NO_BIT
+  glm_unprojecti_no(pos, invMat, vp, dest);
+#endif
 }

 /*!
@@ -101,18 +107,66 @@ glm_unproject(vec3 pos, mat4 m, vec4 vp, vec3 dest) {
 CGLM_INLINE
 void
 glm_project(vec3 pos, mat4 m, vec4 vp, vec3 dest) {
-  CGLM_ALIGN(16) vec4 pos4, vone = GLM_VEC4_ONE_INIT;
+#if CGLM_CONFIG_CLIP_CONTROL & CGLM_CLIP_CONTROL_ZO_BIT
+  glm_project_zo(pos, m, vp, dest);
+#elif CGLM_CONFIG_CLIP_CONTROL & CGLM_CLIP_CONTROL_NO_BIT
+  glm_project_no(pos, m, vp, dest);
+#endif
+}

-  glm_vec4(pos, 1.0f, pos4);
+/*!
+ * @brief map object's z coordinate to window coordinates
+ *
+ * Computing MVP:
+ *   glm_mat4_mul(proj, view, viewProj);
+ *   glm_mat4_mul(viewProj, model, MVP);
+ *
+ * @param[in]  v  object coordinates
+ * @param[in]  m  MVP matrix
+ *
+ * @returns projected z coordinate
+ */
+CGLM_INLINE
+float
+glm_project_z(vec3 v, mat4 m) {
+#if CGLM_CONFIG_CLIP_CONTROL & CGLM_CLIP_CONTROL_ZO_BIT
+  return glm_project_z_zo(v, m);
+#elif CGLM_CONFIG_CLIP_CONTROL & CGLM_CLIP_CONTROL_NO_BIT
+  return glm_project_z_no(v, m);
+#endif
+}

-  glm_mat4_mulv(m, pos4, pos4);
-  glm_vec4_scale(pos4, 1.0f / pos4[3], pos4); /* pos = pos / pos.w */
-  glm_vec4_add(pos4, vone, pos4);
-  glm_vec4_scale(pos4, 0.5f, pos4);
+/*!
+ * @brief define a picking region
+ *
+ * @param[in]  center   center [x, y] of a picking region in window coordinates
+ * @param[in]  size     size [width, height] of the picking region in window coordinates
+ * @param[in]  vp       viewport as [x, y, width, height]
+ * @param[out] dest     projected coordinates
+ */
+CGLM_INLINE
+void
+glm_pickmatrix(vec2 center, vec2 size, vec4 vp, mat4 dest) {
+  mat4 res;
+  vec3 v;

-  dest[0] = pos4[0] * vp[2] + vp[0];
-  dest[1] = pos4[1] * vp[3] + vp[1];
-  dest[2] = pos4[2];
+  if (size[0] <= 0.0f || size[1] <= 0.0f)
+    return;
+  
+  /* Translate and scale the picked region to the entire window */
+  v[0] = (vp[2] - 2.0f * (center[0] - vp[0])) / size[0];
+  v[1] = (vp[3] - 2.0f * (center[1] - vp[1])) / size[1];
+  v[2] = 0.0f;
+
+  glm_translate_make(res, v);
+  
+  v[0] = vp[2] / size[0];
+  v[1] = vp[3] / size[1];
+  v[2] = 1.0f;
+
+  glm_scale(res, v);
+
+  glm_mat4_copy(res, dest);
 }

 #endif /* cglm_project_h */
--- a/include/cglm/quat.h
+++ b/include/cglm/quat.h
@@ -16,6 +16,7 @@
   CGLM_INLINE void glm_quat(versor q, float angle, float x, float y, float z);
   CGLM_INLINE void glm_quatv(versor q, float angle, vec3 axis);
   CGLM_INLINE void glm_quat_copy(versor q, versor dest);
+   CGLM_INLINE void glm_quat_from_vecs(vec3 a, vec3 b, versor dest);
   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);
@@ -59,6 +60,7 @@
 #include "mat4.h"
 #include "mat3.h"
 #include "affine-mat.h"
+#include "affine.h"

 #ifdef CGLM_SSE_FP
 #  include "simd/sse2/quat.h"
@@ -68,17 +70,7 @@
 #  include "simd/neon/quat.h"
 #endif

-CGLM_INLINE
-void
-glm_mat4_mulv(mat4 m, vec4 v, vec4 dest);
-
-CGLM_INLINE
-void
-glm_mul_rot(mat4 m1, mat4 m2, mat4 dest);
-
-CGLM_INLINE
-void
-glm_translate(mat4 m, vec3 v);
+CGLM_INLINE void glm_quat_normalize(versor q);

 /*
 * IMPORTANT:
@@ -195,10 +187,41 @@ glm_quat_copy(versor q, versor dest) {
  glm_vec4_copy(q, dest);
 }

+/*!
+ * @brief compute quaternion rotating vector A to vector B
+ *
+ * @param[in]   a     vec3 (must have unit length)
+ * @param[in]   b     vec3 (must have unit length)
+ * @param[out]  dest  quaternion (of unit length)
+ */
+CGLM_INLINE
+void
+glm_quat_from_vecs(vec3 a, vec3 b, versor dest) {
+  CGLM_ALIGN(8) vec3 axis;
+  float cos_theta;
+  float cos_half_theta;
+
+  cos_theta = glm_vec3_dot(a, b);
+  if (cos_theta >= 1.f - GLM_FLT_EPSILON) {  /*  a ∥ b  */
+    glm_quat_identity(dest);
+    return;
+  }
+  if (cos_theta < -1.f + GLM_FLT_EPSILON) {  /*  angle(a, b) = π  */
+    glm_vec3_ortho(a, axis);
+    cos_half_theta = 0.f;                    /*  cos π/2 */
+  } else {
+    glm_vec3_cross(a, b, axis);
+    cos_half_theta = 1.0f + cos_theta;       /*  cos 0 + cos θ  */
+  }
+
+  glm_quat_init(dest, axis[0], axis[1], axis[2], cos_half_theta);
+  glm_quat_normalize(dest);
+}
+
 /*!
 * @brief returns norm (magnitude) of quaternion
 *
- * @param[out]  q  quaternion
+ * @param[in]  q  quaternion
 */
 CGLM_INLINE
 float
--- a/include/cglm/simd/intrin.h
+++ b/include/cglm/simd/intrin.h
@@ -34,7 +34,7 @@
 #endif

 #if defined(__SSE3__)
-#  include <x86intrin.h>
+#  include <pmmintrin.h>
 #  ifndef CGLM_SIMD_x86
 #    define CGLM_SIMD_x86
 #  endif
--- a/include/cglm/simd/neon/affine.h
+++ b/include/cglm/simd/neon/affine.h
@@ -86,13 +86,12 @@ CGLM_INLINE
 void
 glm_inv_tr_neon(mat4 mat) {
  float32x4x4_t vmat;
-  glmm_128      r0, r1, r2, r3, x0;
+  glmm_128      r0, r1, r2, x0;

  vmat = vld4q_f32(mat[0]);
  r0   = vmat.val[0];
  r1   = vmat.val[1];
  r2   = vmat.val[2];
-  r3   = vmat.val[3];

  x0 = glmm_fmadd(r0, glmm_splat_w(r0),
                  glmm_fmadd(r1, glmm_splat_w(r1),
--- a/include/cglm/struct/affine.h
+++ b/include/cglm/struct/affine.h
@@ -23,6 +23,7 @@
   CGLM_INLINE mat4s glms_rotate(mat4s m, float angle, vec3s axis);
   CGLM_INLINE mat4s glms_rotate_at(mat4s m, vec3s pivot, float angle, vec3s axis);
   CGLM_INLINE mat4s glms_rotate_atm(mat4s m, vec3s pivot, float angle, vec3s axis);
+   CGLM_INLINE mat4s glms_spin(mat4s m, float angle, vec3s axis);
   CGLM_INLINE vec3s glms_decompose_scalev(mat4s m);
   CGLM_INLINE bool  glms_uniscaled(mat4s m);
   CGLM_INLINE void  glms_decompose_rs(mat4s m, mat4s * r, vec3s * s);
@@ -273,6 +274,21 @@ glms_rotate_atm(mat4s m, vec3s pivot, float angle, vec3s axis) {
  return m;
 }

+/*!
+ * @brief rotate existing transform matrix around given axis by angle around self (doesn't affected by position)
+ *
+ * @param[in]       m       affine transfrom
+ * @param[in]       angle   angle (radians)
+ * @param[in]       axis    axis
+ * @returns                affine transfrom
+ */
+CGLM_INLINE
+mat4s
+glms_spin(mat4s m, float angle, vec3s axis) {
+  glm_spin(m.raw, angle, axis.raw);
+  return m;
+}
+
 /*!
 * @brief decompose scale vector
 *
--- a/include/cglm/struct/clipspace/ortho_lh_no.h
+++ b/include/cglm/struct/clipspace/ortho_lh_no.h
@@ -1,7 +1,7 @@
 /*
 * Copyright (c), Recep Aslantas.
 *
- * MIT License (MIT), htt../opensource.org/licenses/MIT
+ * MIT License (MIT), http://opensource.org/licenses/MIT
 * Full license can be found in the LICENSE file
 */

--- a/include/cglm/struct/clipspace/ortho_lh_zo.h
+++ b/include/cglm/struct/clipspace/ortho_lh_zo.h
@@ -1,7 +1,7 @@
 /*
 * Copyright (c), Recep Aslantas.
 *
- * MIT License (MIT), htt../opensource.org/licenses/MIT
+ * MIT License (MIT), http://opensource.org/licenses/MIT
 * Full license can be found in the LICENSE file
 */

--- a/include/cglm/struct/clipspace/ortho_rh_no.h
+++ b/include/cglm/struct/clipspace/ortho_rh_no.h
@@ -1,7 +1,7 @@
 /*
 * Copyright (c), Recep Aslantas.
 *
- * MIT License (MIT), htt../opensource.org/licenses/MIT
+ * MIT License (MIT), http://opensource.org/licenses/MIT
 * Full license can be found in the LICENSE file
 */

--- a/include/cglm/struct/clipspace/ortho_rh_zo.h
+++ b/include/cglm/struct/clipspace/ortho_rh_zo.h
@@ -1,7 +1,7 @@
 /*
 * Copyright (c), Recep Aslantas.
 *
- * MIT License (MIT), htt../opensource.org/licenses/MIT
+ * MIT License (MIT), http://opensource.org/licenses/MIT
 * Full license can be found in the LICENSE file
 */

--- a/include/cglm/struct/clipspace/persp_lh_no.h
+++ b/include/cglm/struct/clipspace/persp_lh_no.h
@@ -1,7 +1,7 @@
 /*
 * Copyright (c), Recep Aslantas.
 *
- * MIT License (MIT), htt../opensource.org/licenses/MIT
+ * MIT License (MIT), http://opensource.org/licenses/MIT
 * Full license can be found in the LICENSE file
 */

--- a/include/cglm/struct/clipspace/persp_lh_zo.h
+++ b/include/cglm/struct/clipspace/persp_lh_zo.h
@@ -1,7 +1,7 @@
 /*
 * Copyright (c), Recep Aslantas.
 *
- * MIT License (MIT), htt../opensource.org/licenses/MIT
+ * MIT License (MIT), http://opensource.org/licenses/MIT
 * Full license can be found in the LICENSE file
 */

--- a/include/cglm/struct/clipspace/persp_rh_no.h
+++ b/include/cglm/struct/clipspace/persp_rh_no.h
@@ -1,7 +1,7 @@
 /*
 * Copyright (c), Recep Aslantas.
 *
- * MIT License (MIT), htt../opensource.org/licenses/MIT
+ * MIT License (MIT), http://opensource.org/licenses/MIT
 * Full license can be found in the LICENSE file
 */

--- a/include/cglm/struct/clipspace/persp_rh_zo.h
+++ b/include/cglm/struct/clipspace/persp_rh_zo.h
@@ -1,7 +1,7 @@
 /*
 * Copyright (c), Recep Aslantas.
 *
- * MIT License (MIT), htt../opensource.org/licenses/MIT
+ * MIT License (MIT), http://opensource.org/licenses/MIT
 * Full license can be found in the LICENSE file
 */

--- a/include/cglm/struct/clipspace/project_no.h
+++ b/include/cglm/struct/clipspace/project_no.h
@@ -0,0 +1,96 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), http://opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+/*
+ Functions:
+   CGLM_INLINE vec3s glms_unprojecti_no(vec3s pos, mat4s invMat, vec4s vp, vec3 dest)
+   CGLM_INLINE vec3s glms_project_no(vec3s pos, mat4s m, vec4s vp, vec3s dest)
+ */
+
+#ifndef cglms_project_no_h
+#define cglms_project_no_h
+
+#include "../../common.h"
+#include "../../types-struct.h"
+#include "../../plane.h"
+#include "../../cam.h"
+
+/*!
+ * @brief maps the specified viewport coordinates into specified space [1]
+ *        the matrix should contain projection matrix.
+ *
+ * if you don't have ( and don't want to have ) an inverse matrix then use
+ * glm_unproject version. You may use existing inverse of matrix in somewhere
+ * else, this is why glm_unprojecti exists to save save inversion cost
+ *
+ * [1] space:
+ *  1- if m = invProj:     View Space
+ *  2- if m = invViewProj: World Space
+ *  3- if m = invMVP:      Object Space
+ *
+ * You probably want to map the coordinates into object space
+ * so use invMVP as m
+ *
+ * Computing viewProj:
+ *   glm_mat4_mul(proj, view, viewProj);
+ *   glm_mat4_mul(viewProj, model, MVP);
+ *   glm_mat4_inv(viewProj, invMVP);
+ *
+ * @param[in]  pos          point/position in viewport coordinates
+ * @param[in]  invMat   matrix (see brief)
+ * @param[in]  vp            viewport as [x, y, width, height]
+ *
+ * @returns unprojected coordinates
+ */
+CGLM_INLINE
+vec3s
+glms_unprojecti_no(vec3s pos, mat4s invMat, vec4s vp, vec3 dest) {
+  vec3s dest;
+  glm_unprojecti_no(pos.raw, invMat.raw, vp.raw, dest.raw);
+  return dest;
+}
+
+/*!
+ * @brief map object coordinates to window coordinates
+ *
+ * Computing MVP:
+ *   glm_mat4_mul(proj, view, viewProj);
+ *   glm_mat4_mul(viewProj, model, MVP);
+ *
+ * @param[in]  pos      object coordinates
+ * @param[in]  m          MVP matrix
+ * @param[in]  vp        viewport as [x, y, width, height]
+ *
+ * @returns projected coordinates
+ */
+CGLM_INLINE
+vec3s
+glms_project_no(vec3s pos, mat4s m, vec4s vp, vec3s dest) {
+  vec3s dest;
+  glm_project_no(pos.raw, m.raw, vp.raw, dest.raw);
+  return dest;
+}
+
+/*!
+ * @brief map object's z coordinate to window coordinates
+ *
+ * Computing MVP:
+ *   glm_mat4_mul(proj, view, viewProj);
+ *   glm_mat4_mul(viewProj, model, MVP);
+ *
+ * @param[in]  v object coordinates
+ * @param[in]  m MVP matrix
+ *
+ * @returns projected z coordinate
+ */
+CGLM_INLINE
+vec3s
+glms_project_z_no(vec3s v, mat4s m) {
+  return glm_project_z_no(v.raw, m.raw);
+}
+
+#endif /* cglms_project_rh_no_h */
--- a/include/cglm/struct/clipspace/project_zo.h
+++ b/include/cglm/struct/clipspace/project_zo.h
@@ -0,0 +1,96 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), http://opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+/*
+ Functions:
+   CGLM_INLINE vec3s glms_unprojecti_no(vec3s pos, mat4s invMat, vec4s vp, vec3 dest)
+   CGLM_INLINE vec3s glms_project_no(vec3s pos, mat4s m, vec4s vp, vec3s dest)
+ */
+
+#ifndef cglms_project_zo_h
+#define cglms_project_zo_h
+
+#include "../../common.h"
+#include "../../types-struct.h"
+#include "../../plane.h"
+#include "../../cam.h"
+
+/*!
+ * @brief maps the specified viewport coordinates into specified space [1]
+ *        the matrix should contain projection matrix.
+ *
+ * if you don't have ( and don't want to have ) an inverse matrix then use
+ * glm_unproject version. You may use existing inverse of matrix in somewhere
+ * else, this is why glm_unprojecti exists to save save inversion cost
+ *
+ * [1] space:
+ *  1- if m = invProj:     View Space
+ *  2- if m = invViewProj: World Space
+ *  3- if m = invMVP:      Object Space
+ *
+ * You probably want to map the coordinates into object space
+ * so use invMVP as m
+ *
+ * Computing viewProj:
+ *   glm_mat4_mul(proj, view, viewProj);
+ *   glm_mat4_mul(viewProj, model, MVP);
+ *   glm_mat4_inv(viewProj, invMVP);
+ *
+ * @param[in]  pos          point/position in viewport coordinates
+ * @param[in]  invMat   matrix (see brief)
+ * @param[in]  vp            viewport as [x, y, width, height]
+ *
+ * @returns unprojected coordinates
+ */
+CGLM_INLINE
+vec3s
+glms_unprojecti_zo(vec3s pos, mat4s invMat, vec4s vp, vec3 dest) {
+  vec3s dest;
+  glm_unprojecti_zo(pos.raw, invMat.raw, vp.raw, dest.raw);
+  return dest;
+}
+
+/*!
+ * @brief map object coordinates to window coordinates
+ *
+ * Computing MVP:
+ *   glm_mat4_mul(proj, view, viewProj);
+ *   glm_mat4_mul(viewProj, model, MVP);
+ *
+ * @param[in]  pos      object coordinates
+ * @param[in]  m          MVP matrix
+ * @param[in]  vp        viewport as [x, y, width, height]
+ *
+ * @returns projected coordinates
+ */
+CGLM_INLINE
+vec3s
+glms_project_zo(vec3s pos, mat4s m, vec4s vp, vec3 dest) {
+  vec3s dest;
+  glm_project_zo(pos.raw, m.raw, vp.raw, dest.raw);
+  return dest;
+}
+
+/*!
+ * @brief map object's z coordinate to window coordinates
+ *
+ * Computing MVP:
+ *   glm_mat4_mul(proj, view, viewProj);
+ *   glm_mat4_mul(viewProj, model, MVP);
+ *
+ * @param[in]  v object coordinates
+ * @param[in]  m MVP matrix
+ *
+ * @returns projected z coordinate
+ */
+CGLM_INLINE
+vec3s
+glms_project_z_zo(vec3s v, mat4s m) {
+  return glm_project_z_zo(v.raw, m.raw);
+}
+
+#endif /* cglm_project_zo_h */
--- a/include/cglm/struct/clipspace/view_lh_no.h
+++ b/include/cglm/struct/clipspace/view_lh_no.h
@@ -1,7 +1,7 @@
 /*
 * Copyright (c), Recep Aslantas.
 *
- * MIT License (MIT), htt../opensource.org/licenses/MIT
+ * MIT License (MIT), http://opensource.org/licenses/MIT
 * Full license can be found in the LICENSE file
 */

--- a/include/cglm/struct/clipspace/view_lh_zo.h
+++ b/include/cglm/struct/clipspace/view_lh_zo.h
@@ -1,7 +1,7 @@
 /*
 * Copyright (c), Recep Aslantas.
 *
- * MIT License (MIT), htt../opensource.org/licenses/MIT
+ * MIT License (MIT), http://opensource.org/licenses/MIT
 * Full license can be found in the LICENSE file
 */

--- a/include/cglm/struct/clipspace/view_rh_no.h
+++ b/include/cglm/struct/clipspace/view_rh_no.h
@@ -1,7 +1,7 @@
 /*
 * Copyright (c), Recep Aslantas.
 *
- * MIT License (MIT), htt../opensource.org/licenses/MIT
+ * MIT License (MIT), http://opensource.org/licenses/MIT
 * Full license can be found in the LICENSE file
 */

--- a/include/cglm/struct/clipspace/view_rh_zo.h
+++ b/include/cglm/struct/clipspace/view_rh_zo.h
@@ -1,7 +1,7 @@
 /*
 * Copyright (c), Recep Aslantas.
 *
- * MIT License (MIT), htt../opensource.org/licenses/MIT
+ * MIT License (MIT), http://opensource.org/licenses/MIT
 * Full license can be found in the LICENSE file
 */

--- a/include/cglm/struct/project.h
+++ b/include/cglm/struct/project.h
@@ -101,4 +101,20 @@ glms_project(vec3s pos, mat4s m, vec4s vp) {
  return r;
 }

+/*!
+ * @brief define a picking region
+ *
+ * @param[in]  center   center [x, y] of a picking region in window coordinates
+ * @param[in]  size     size [width, height] of the picking region in window coordinates
+ * @param[in]  vp       viewport as [x, y, width, height]
+ * @returns projected coordinates
+ */
+CGLM_INLINE
+mat4s
+glms_pickmatrix(vec2s center, vec2s size, vec4s vp) {
+  mat4s res;
+  glm_pickmatrix(center.raw, size.raw, vp.raw, res.raw);
+  return res;
+}
+
 #endif /* cglms_projects_h */
--- a/include/cglm/struct/quat.h
+++ b/include/cglm/struct/quat.h
@@ -16,6 +16,7 @@
   CGLM_INLINE versors glms_quat_init(float x, float y, float z, float w)
   CGLM_INLINE versors glms_quatv(float angle, vec3s axis)
   CGLM_INLINE versors glms_quat(float angle, float x, float y, float z)
+   CGLM_INLINE versors glms_quat_from_vecs(vec3s a, vec3s b)
   CGLM_INLINE float   glms_quat_norm(versors q)
   CGLM_INLINE versors glms_quat_normalize(versors q)
   CGLM_INLINE float   glms_quat_dot(versors p, versors q)
@@ -147,10 +148,25 @@ glms_quat(float angle, float x, float y, float z) {
  return dest;
 }

+/*!
+ * @brief compute quaternion rotating vector A to vector B
+ *
+ * @param[in]   a     vec3 (must have unit length)
+ * @param[in]   b     vec3 (must have unit length)
+ * @returns     quaternion (of unit length)
+ */
+CGLM_INLINE
+versors
+glms_quat_from_vecs(vec3s a, vec3s b) {
+  versors dest;
+  glm_quat_from_vecs(a.raw, b.raw, dest.raw);
+  return dest;
+}
+
 /*!
 * @brief returns norm (magnitude) of quaternion
 *
- * @param[out]  q  quaternion
+ * @param[in]  q  quaternion
 */
 CGLM_INLINE
 float
@@ -410,7 +426,7 @@ glms_quat_lerpc(versors from, versors to, float t) {
 * @param[in]   from  from
 * @param[in]   to    to
 * @param[in]   t     interpolant (amount)
- * @param[out]  dest  result quaternion
+ * @returns result quaternion
 */
 CGLM_INLINE
 versors
--- a/include/cglm/struct/vec2-ext.h
+++ b/include/cglm/struct/vec2-ext.h
@@ -195,4 +195,45 @@ glms_vec2_sqrt(vec2s v) {
  return r;
 }

+/*!
+ * @brief treat vectors as complex numbers and multiply them as such.
+ *
+ * @param[in]  a    left number
+ * @param[in]  b    right number
+ * @param[out] dest destination number
+ */
+CGLM_INLINE
+vec2s
+glms_vec2_complex_mul(vec2s a, vec2s b, vec2s dest) {
+  glm_vec2_complex_mul(a.raw, b.raw, dest.raw);
+  return dest;
+}
+
+/*!
+ * @brief treat vectors as complex numbers and divide them as such.
+ *
+ * @param[in]  a    left number (numerator)
+ * @param[in]  b    right number (denominator)
+ * @param[out] dest destination number
+ */
+CGLM_INLINE
+vec2s
+glms_vec2_complex_div(vec2s a, vec2s b, vec2s dest) {
+  glm_vec2_complex_div(a.raw, b.raw, dest.raw);
+  return dest;
+}
+
+/*!
+ * @brief treat the vector as a complex number and conjugate it as such.
+ *
+ * @param[in]  a    the number
+ * @param[out] dest destination number
+ */
+CGLM_INLINE
+vec2s
+glms_vec2_complex_conjugate(vec2s a, vec2s dest) {
+  glm_vec2_complex_conjugate(a.raw, dest.raw);
+  return dest;
+}
+
 #endif /* cglms_vec2s_ext_h */
--- a/include/cglm/types-struct.h
+++ b/include/cglm/types-struct.h
@@ -47,6 +47,21 @@ typedef union vec2s {
    float x;
    float y;
  };
+  
+  struct {
+    float r;
+    float i;
+  };
+  
+  struct {
+    float u;
+    float v;
+  };
+  
+  struct {
+    float s;
+    float t;
+  };
 #endif
 } vec2s;

@@ -58,9 +73,40 @@ typedef union vec3s {
    float y;
    float z;
  };
+  
+  struct {
+    float r;
+    float g;
+    float b;
+  };
 #endif
 } vec3s;

+typedef union ivec2s {
+  ivec2 raw;
+#if CGLM_USE_ANONYMOUS_STRUCT
+  struct {
+    int x;
+    int y;
+  };
+  
+  struct {
+    int r;
+    int i;
+  };
+  
+  struct {
+    int u;
+    int v;
+  };
+  
+  struct {
+    int s;
+    int t;
+  };
+#endif
+} ivec2s;
+
 typedef union ivec3s {
  ivec3 raw;
 #if CGLM_USE_ANONYMOUS_STRUCT
@@ -69,9 +115,34 @@ typedef union ivec3s {
    int y;
    int z;
  };
+  
+  struct {
+    int r;
+    int g;
+    int b;
+  };
 #endif
 } ivec3s;

+typedef union ivec4s {
+  ivec4 raw;
+#if CGLM_USE_ANONYMOUS_STRUCT
+  struct {
+    int x;
+    int y;
+    int z;
+    int w;
+  };
+  
+  struct {
+    int r;
+    int g;
+    int b;
+    int a;
+  };
+#endif
+} ivec4s;
+
 typedef union CGLM_ALIGN_IF(16) vec4s {
  vec4 raw;
 #if CGLM_USE_ANONYMOUS_STRUCT
@@ -81,6 +152,13 @@ typedef union CGLM_ALIGN_IF(16) vec4s {
    float z;
    float w;
  };
+  
+  struct {
+    float r;
+    float g;
+    float b;
+    float a;
+  };
 #endif
 } vec4s;

--- a/include/cglm/types.h
+++ b/include/cglm/types.h
@@ -42,9 +42,12 @@
 #define CGLM_CASTPTR_ASSUME_ALIGNED(expr, type) \
  ((type*)CGLM_ASSUME_ALIGNED((expr), __alignof__(type)))

+typedef int                    ivec2[2];
+typedef int                    ivec3[3];
+typedef int                    ivec4[4];
+
 typedef float                   vec2[2];
 typedef float                   vec3[3];
-typedef int                    ivec3[3];
 typedef CGLM_ALIGN_IF(16) float vec4[4];
 typedef vec4                    versor;     /* |x, y, z, w| -> w is the last */
 typedef vec3                    mat3[3];
--- a/include/cglm/vec2-ext.h
+++ b/include/cglm/vec2-ext.h
@@ -20,6 +20,9 @@
   CGLM_INLINE bool  glm_vec2_isvalid(vec2 v);
   CGLM_INLINE void  glm_vec2_sign(vec2 v, vec2 dest);
   CGLM_INLINE void  glm_vec2_sqrt(vec2 v, vec2 dest);
+   CGLM_INLINE void  glm_vec2_complex_mul(vec2 a, vec2 b, vec2 dest)
+   CGLM_INLINE void  glm_vec2_complex_div(vec2 a, vec2 b, vec2 dest)
+   CGLM_INLINE void  glm_vec2_complex_conjugate(vec2 a, vec2 dest)
 */

 #ifndef cglm_vec2_ext_h
@@ -186,4 +189,53 @@ glm_vec2_sqrt(vec2 v, vec2 dest) {
  dest[1] = sqrtf(v[1]);
 }

+/*!
+ * @brief treat vectors as complex numbers and multiply them as such.
+ *
+ * @param[in]  a    left number
+ * @param[in]  b    right number
+ * @param[out] dest destination number
+ */
+CGLM_INLINE
+void
+glm_vec2_complex_mul(vec2 a, vec2 b, vec2 dest) {
+  float tr, ti;
+  tr = a[0] * b[0] - a[1] * b[1];
+  ti = a[0] * b[1] + a[1] * b[0];
+  dest[0] = tr;
+  dest[1] = ti;
+}
+
+/*!
+ * @brief treat vectors as complex numbers and divide them as such.
+ *
+ * @param[in]  a    left number (numerator)
+ * @param[in]  b    right number (denominator)
+ * @param[out] dest destination number
+ */
+CGLM_INLINE
+void
+glm_vec2_complex_div(vec2 a, vec2 b, vec2 dest) {
+  float tr, ti;
+  float const ibnorm2 = 1.0f / (b[0] * b[0] + b[1] * b[1]);
+  tr = ibnorm2 * (a[0] * b[0] + a[1] * b[1]);
+  ti = ibnorm2 * (a[1] * b[0] - a[0] * b[1]);
+  dest[0] = tr;
+  dest[1] = ti;
+}
+
+/*!
+ * @brief treat the vector as a complex number and conjugate it as such.
+ *
+ * @param[in]  a    the number
+ * @param[out] dest destination number
+ */
+CGLM_INLINE
+void
+glm_vec2_complex_conjugate(vec2 a, vec2 dest) {
+  dest[0] =  a[0];
+  dest[1] = -a[1];
+}
+
+
 #endif /* cglm_vec2_ext_h */
--- a/include/cglm/vec3.h
+++ b/include/cglm/vec3.h
@@ -578,10 +578,12 @@ glm_vec3_normalize_to(vec3 v, vec3 dest) {
 CGLM_INLINE
 void
 glm_vec3_cross(vec3 a, vec3 b, vec3 dest) {
+  vec3 c;
  /* (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];
+  c[0] = a[1] * b[2] - a[2] * b[1];
+  c[1] = a[2] * b[0] - a[0] * b[2];
+  c[2] = a[0] * b[1] - a[1] * b[0];
+  glm_vec3_copy(c, dest);
 }

 /*!
@@ -807,9 +809,10 @@ glm_vec3_minv(vec3 a, vec3 b, vec3 dest) {
 CGLM_INLINE
 void
 glm_vec3_ortho(vec3 v, vec3 dest) {
-  dest[0] = v[1] - v[2];
-  dest[1] = v[2] - v[0];
-  dest[2] = v[0] - v[1];
+  float ignore;
+  float f      = modff(fabsf(v[0]) + 0.5f, &ignore);
+  vec3  result = {-v[1], v[0] - f * v[2], f * v[1]};
+  glm_vec3_copy(result, dest);
 }

 /*!
--- a/include/cglm/version.h
+++ b/include/cglm/version.h
@@ -10,6 +10,6 @@

 #define CGLM_VERSION_MAJOR 0
 #define CGLM_VERSION_MINOR 8
-#define CGLM_VERSION_PATCH 3
+#define CGLM_VERSION_PATCH 6

 #endif /* cglm_version_h */
--- a/meson.build
+++ b/meson.build
@@ -1,5 +1,5 @@
 project('cglm', 'c',
-    version : '0.8.3',
+    version : '0.8.6',
    license : 'mit',
    default_options : [
        'c_std=c11',
@@ -28,27 +28,30 @@ endif
 cglm_inc = include_directories('include')

 cglm_src = files(
-    'src/affine.c',
-    'src/affine2d.c',
-    'src/bezier.c',
-    'src/box.c',
-    'src/cam.c',
-    'src/curve.c',
-    'src/ease.c',
    'src/euler.c',
-    'src/frustum.c',
+    'src/affine.c',
    'src/io.c',
+    'src/quat.c',
+    'src/cam.c',
+    'src/vec2.c',
+    'src/ivec2.c',
+    'src/vec3.c',
+    'src/ivec3.c',
+    'src/vec4.c',
+    'src/ivec4.c',
    'src/mat2.c',
    'src/mat3.c',
    'src/mat4.c',
    'src/plane.c',
+    'src/frustum.c',
+    'src/box.c',
    'src/project.c',
-    'src/quat.c',
-    'src/ray.c',
    'src/sphere.c',
-    'src/vec2.c',
-    'src/vec3.c',
-    'src/vec4.c',
+    'src/ease.c',
+    'src/curve.c',
+    'src/bezier.c',
+    'src/ray.c',
+    'src/affine2d.c',
    'src/clipspace/ortho_lh_no.c',
    'src/clipspace/ortho_lh_zo.c',
    'src/clipspace/ortho_rh_no.c',
@@ -61,6 +64,8 @@ cglm_src = files(
    'src/clipspace/view_lh_zo.c',
    'src/clipspace/view_rh_no.c',
    'src/clipspace/view_rh_zo.c',
+    'src/clipspace/project_no.c',
+    'src/clipspace/project_zo.c'
 )

 cglm_lib = library('cglm',
--- a/src/affine.c
+++ b/src/affine.c
@@ -110,6 +110,12 @@ glmc_rotate_atm(mat4 m, vec3 pivot, float angle, vec3 axis) {
  glm_rotate_atm(m, pivot, angle, axis);
 }

+CGLM_EXPORT
+void
+glmc_spin(mat4 m, float angle, vec3 axis) {
+  glm_spin(m, angle, axis);
+}
+
 CGLM_EXPORT
 void
 glmc_decompose_scalev(mat4 m, vec3 s) {
@@ -128,6 +134,72 @@ glmc_decompose_rs(mat4 m, mat4 r, vec3 s) {
  glm_decompose_rs(m, r, s);
 }

+CGLM_EXPORT
+void
+glmc_translated(mat4 m, vec3 v) {
+  glm_translated(m, v);
+}
+
+CGLM_EXPORT
+void
+glmc_translated_to(mat4 m, vec3 v, mat4 dest) {
+  glm_translated_to(m, v, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_translated_x(mat4 m, float x) {
+  glm_translated_x(m, x);
+}
+
+CGLM_EXPORT
+void
+glmc_translated_y(mat4 m, float y) {
+  glm_translated_y(m, y);
+}
+
+CGLM_EXPORT
+void
+glmc_translated_z(mat4 m, float z) {
+  glm_translated_z(m, z);
+}
+
+CGLM_EXPORT
+void
+glmc_rotated_x(mat4 m, float angle, mat4 dest) {
+  glm_rotated_x(m, angle, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_rotated_y(mat4 m, float angle, mat4 dest) {
+  glm_rotated_y(m, angle, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_rotated_z(mat4 m, float angle, mat4 dest) {
+  glm_rotated_z(m, angle, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_rotated(mat4 m, float angle, vec3 axis) {
+  glm_rotated(m, angle, axis);
+}
+
+CGLM_EXPORT
+void
+glmc_rotated_at(mat4 m, vec3 pivot, float angle, vec3 axis) {
+  glm_rotated_at(m, pivot, angle, axis);
+}
+
+CGLM_EXPORT
+void
+glmc_spinned(mat4 m, float angle, vec3 axis) {
+  glm_spinned(m, angle, axis);
+}
+
 CGLM_EXPORT
 void
 glmc_decompose(mat4 m, vec4 t, mat4 r, vec3 s) {
--- a/src/clipspace/ortho_lh_no.c
+++ b/src/clipspace/ortho_lh_no.c
@@ -5,8 +5,8 @@
 * Full license can be found in the LICENSE file
 */

-#include "../../include/cglm/cglm.h"
 #include "../../include/cglm/clipspace/ortho_lh_no.h"
+#include "../../include/cglm/call/clipspace/ortho_lh_no.h"

 CGLM_EXPORT
 void
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Recep Aslantas	da5c66d735	update affine-post.h	2022-10-23 14:27:34 +03:00
Recep Aslantas	c4b45a0917	remove redundant comments	2022-10-23 14:22:16 +03:00
Recep Aslantas	8034073965	Merge pull request #260 from recp/new-affine new affine transform functions 🚀	2022-10-23 14:06:34 +03:00
Recep Aslantas	53009d69c0	update build files	2022-10-23 12:09:44 +03:00
Recep Aslantas	7c62ad965b	add missing call functions	2022-10-23 12:08:37 +03:00
Recep Aslantas	878e829767	update docs	2022-10-23 12:00:17 +03:00
Recep Aslantas	7c7ac8b82e	add missing impl for project_z	2022-10-22 23:06:46 +03:00
Recep Aslantas	ba66459708	new project function for projecting Z someitmes we need to project z only. this function reduces a few calculations and parameters.	2022-10-21 10:20:03 +03:00
Recep Aslantas	45e176680f	post rotation operaqtions	2022-10-18 15:43:07 +03:00
Recep Aslantas	c0bd65027a	add missing spin impl	2022-10-18 07:38:06 +03:00
Recep Aslantas	03d5699f32	new rotation function: spin; rotate around self at any position	2022-10-17 23:57:41 +03:00
Recep Aslantas	199d1fa031	Merge pull request #259 from bobvanderlinden/pr-cmake-pkgconfig-fix fix: simplified pkgconfig generation	2022-09-20 16:38:48 +03:00
Bob van der Linden	c7393f75c3	fix: simplified pkgconfig generation	2022-09-16 16:45:12 +02:00
Recep Aslantas	a3186a7f32	Merge pull request #257 from Rokannon/patch-1 Added missing include in io.h which adds GLM_MAX macro	2022-09-11 11:33:46 +03:00
Vladimir Atamanov	5a89faafff	Added missing include in io.h which adds GLM_MAX macro	2022-09-11 00:49:24 +02:00
Recep Aslantas	51853db559	Merge pull request #256 from ogtn/master Fix typo in comment	2022-09-04 07:25:27 +03:00
Olivier Guittonneau	8f8417a883	Fix typo in comment	2022-09-04 01:08:50 +02:00
Recep Aslantas	2238fd127c	win: suppress warnings for tests	2022-08-23 18:01:05 +03:00
Recep Aslantas	073a11a6b8	win: add missing files to visual studio project	2022-08-23 16:01:40 +03:00
Recep Aslantas	2d348ceba0	build: add missing files to meson and cmake lists	2022-08-23 15:43:04 +03:00
Recep Aslantas	ce69ecaa5a	struct: project_no and project_zo apis for struct api	2022-08-23 15:31:55 +03:00
Recep Aslantas	5ad0f1c6f3	fix MIT License links	2022-08-23 15:30:09 +03:00
Recep Aslantas	aea75bbe7c	build: update Makefile.am	2022-08-23 14:13:00 +03:00
Recep Aslantas	7dfe67cdde	Update .gitignore	2022-08-07 11:49:13 +03:00
Recep Aslantas	84f64a5b65	Update FUNDING.yml	2022-08-01 05:10:14 +03:00
Recep Aslantas	7df8ffa7fe	Merge pull request #254 from Chris-F5/fix-readme-notes Update README to show that integer types are supported	2022-07-16 12:01:00 +03:00
Christopher Lang	dc5558d8f4	Fix readme supported types note	2022-07-15 20:17:58 +01:00
Recep Aslantas	63990be905	Merge pull request #251 from Chris-F5/add-basic-ivec-functions Add basic ivec functions	2022-05-22 21:06:07 +03:00
Christopher Lang	cd0ae19459	Add ivec[2\|3\|4] sources to meson.build	2022-05-21 11:11:34 +01:00
Christopher Lang	838124af49	Declare varables at top of scope for ivec[2\|3\|4]	2022-05-20 17:30:54 +01:00
Christopher Lang	e3981b6d96	Add ivec[3\|4] docs	2022-05-20 17:16:41 +01:00
Christopher Lang	7bb765367e	Small ivec2 docs fix	2022-05-20 17:16:09 +01:00
Christopher Lang	82982abaef	Add ivec2 documentation	2022-05-20 17:07:16 +01:00
Christopher Lang	dbe3b719c7	Fix ivec[2\|3\|4]_clamp doc comments	2022-05-20 16:53:02 +01:00
Christopher Lang	09155986fe	Update ivec[2\|3\|4]_distance2 doc comments	2022-05-20 16:49:23 +01:00
Christopher Lang	1b3e2fdaec	Improve ivec[2\|3\|4] documentation comments	2022-05-20 15:24:36 +01:00
Christopher Lang	4aef2510e9	Init ivec[2\|3\|4] docs	2022-05-20 15:02:58 +01:00
Chris-F5	2432970f90	Merge branch 'recp:master' into add-basic-ivec-functions	2022-05-20 14:45:57 +01:00
Christopher Lang	d1bdfde48d	Add ivec4 tests	2022-05-20 14:42:42 +01:00
Christopher Lang	f27e26f632	Fix glm_ivec3 test	2022-05-20 14:41:59 +01:00
Christopher Lang	a3265ebe84	Fix glm_ivec3_one test	2022-05-20 14:27:30 +01:00
Christopher Lang	57ec29bd31	Update glm_ivec3 test	2022-05-20 14:26:49 +01:00
Recep Aslantas	1b217c3dd0	Merge pull request #250 from alexshpilkin/fix-pkg-config Fix pkg-config generation when CMAKE_INSTALL_*DIR is absolute	2022-05-19 22:23:10 +03:00
Christopher Lang	94a1e6f6e1	Add ivec4 functions	2022-05-19 17:43:17 +01:00
Christopher Lang	a1a2a046a4	Fix ivec[2\|3]_clamp comment docs	2022-05-19 17:32:01 +01:00
Christopher Lang	bffaa13bd5	Add ivec3 tests	2022-05-19 17:12:38 +01:00
Christopher Lang	cd4d0a1efe	Update glm_ivec2_copy test	2022-05-19 17:11:58 +01:00
Christopher Lang	8916c50a3d	Update glm_ivec2 test	2022-05-19 16:52:55 +01:00
Christopher Lang	7a19b8f8a3	Fix glmc_ivec3 naming	2022-05-19 16:52:10 +01:00
Alexander Shpilkin	f587c00f26	allow absolute paths in CMAKE_INSTALL_*DIR	2022-05-19 18:47:00 +03:00
Christopher Lang	65409bcda1	Add ivec3 functions	2022-05-18 18:05:17 +01:00
Christopher Lang	d2957e6275	Fix ivec2 function list comment	2022-05-18 17:55:25 +01:00
Christopher Lang	04bd1bd633	Fix ivec2 doc comment	2022-05-17 23:03:26 +01:00
Christopher Lang	db1a23d13c	Add ivec2 tests	2022-05-17 22:27:38 +01:00
Christopher Lang	a85744430a	Add ivec2 functions	2022-05-17 22:25:10 +01:00
Christopher Lang	d582146d9a	Add ivec3 and ivec4 files	2022-05-17 16:04:47 +01:00
Christopher Lang	ee09707c1c	Fix ivec2 test	2022-05-17 15:53:37 +01:00
Christopher Lang	4c85b970a9	Add ivec2 files	2022-05-16 22:41:04 +01:00
Christopher Lang	f7f0f66193	Reorder api docs	2022-05-16 22:14:57 +01:00
Christopher Lang	495b98a54d	Fix tests.h comments	2022-05-16 20:51:44 +01:00
Recep Aslantas	aee47ce545	Merge pull request #247 from Chris-F5/improve-docs-index Fix grammatical errors in docs index	2022-05-12 07:11:38 +03:00
Christopher Lang	52debe6a04	improve docs index	2022-05-08 21:49:30 +01:00
Recep Aslantas	cf7f4231f0	now working on v0.8.6	2022-03-20 22:19:31 +03:00
Recep Aslantas	7e5d1f435f	Merge pull request #244 from geckor14/master Remove unused variable	2022-03-18 12:39:29 +03:00
geckor14	851a58cedb	Remove unused variable The most recent version of Apple Clang (13.1.6) on macOS complains r3 is an unused variable. With -Werror enabled, this breaks the build.	2022-03-18 18:42:19 +11:00
Recep Aslantas	6fa1cefcc2	Merge pull request #243 from Sand3r-/patch-1 Fix a bug in glm_lookat_lh	2022-03-09 09:38:26 +03:00
Michał Gallus	7e211e1f49	Fix bug in view_lh.h #2 Reverse order of parameters in the second crossproduct	2022-03-08 01:42:43 +01:00
Michał Gallus	7d47b7f1fd	Fix a bug in glm_lookat_lh Fix the order of arguments passed to glm_vec3_crossn to avoid the negation of X axis.	2022-03-08 01:29:35 +01:00
Recep Aslantas	2a4748d452	fix glm_pickmatrix()'s param type	2022-01-31 02:56:39 +03:00
Recep Aslantas	f20bf0aaaf	Merge pull request #236 from recp/ivec add missing ivec types	2022-01-07 00:23:32 +03:00
Recep Aslantas	3a141b7cc8	extend unions for struct api	2022-01-06 18:12:46 +03:00
Recep Aslantas	5cd1a4ab44	add missing ivec types	2022-01-06 18:01:35 +03:00
Recep Aslantas	897f2afd88	Merge pull request #234 from madebr/sse3_header Header containing sse3 intrinsics is pmmintrin.h	2021-12-31 17:51:30 +03:00
Anonymous Maarten	68e3a072e8	Header containing sse3 intrinsics is pmmintrin.h	2021-12-29 08:48:55 +01:00
Recep Aslantas	282ea84dc0	Merge pull request #231 from omar-polo/master set PACKAGE_VERSION so it gets substituted in cglm.pc.in by cmake	2021-11-22 11:20:20 +03:00
Omar Polo	2d5506d15d	set PACKAGE_VERSION so it gets substituted in cglm.pc.in by cmake otherwise it ends up being an empty string and the installed pc has a bogus line: Version:	2021-11-21 21:04:59 +01:00
Recep Aslantas	87f561fb06	Merge pull request #229 from mxi/vec2-ext-complex Add complex routines to `vec2-ext`	2021-11-10 10:09:09 +03:00
Maxim Kasyanenko	522b18bda9	Add tests	2021-11-08 17:53:39 -08:00
Maxim Kasyanenko	b7178749ee	Forgot to add the dynamic implementation file itself	2021-11-08 17:53:27 -08:00
Maxim Kasyanenko	98c708281f	Syntax errors	2021-11-08 17:52:47 -08:00
Maxim Kasyanenko	896ba0a0f9	Add dynamic/struct versions of routines	2021-11-08 17:52:31 -08:00
Maxim Kasyanenko	4603816330	Forgot return type	2021-11-08 17:09:28 -08:00
Maxim Kasyanenko	9f5cc3a745	Implement a few complex routines	2021-11-08 16:28:55 -08:00
Recep Aslantas	bde653b607	Update CMakeLists.txt	2021-10-28 19:10:19 +03:00
Recep Aslantas	ede72ca412	Merge pull request #225 from podsvirov/fix-win32-shared win: fix shared library name and destination	2021-10-17 18:09:18 +03:00
Konstantin Podsvirov	8e784e762f	win: fix shared library name and destination	2021-10-10 12:02:44 +03:00
Recep Aslantas	82d1050c63	update GLM_FLT_EPSILON to use 1e-5 instead of 1e-6	2021-10-06 21:08:55 +03:00
Recep Aslantas	0631598d08	now working on v0.8.5	2021-08-18 05:03:59 +03:00
Recep Aslantas	34e5704fe8	bump version to v0.8.4	2021-08-18 04:47:11 +03:00
Recep Aslantas	672523e5af	Merge pull request #219 from recp/project_zo extend glm_project() to support ZERO_TO_ONE	2021-08-16 16:55:19 +03:00
Recep Aslantas	8427d02a9b	pick matrix helper (aka gluPickMatrix)	2021-08-16 16:53:46 +03:00
Recep Aslantas	a2bd00df32	fix including headers, and suppress warnings	2021-08-16 15:51:52 +03:00
Recep Aslantas	4c8f7f310c	Update project_zo.h	2021-08-16 14:27:20 +03:00
Recep Aslantas	9096fa6bab	fix include paths	2021-08-16 14:27:12 +03:00
Recep Aslantas	29c3837672	implement project zo	2021-08-16 14:16:43 +03:00
Recep Aslantas	4530e0381b	build: add missing files	2021-08-16 01:10:29 +03:00
Recep Aslantas	6cf1fb8992	Update .gitignore	2021-08-16 01:10:19 +03:00
Recep Aslantas	9ed4e41afd	call version for clipspace-project	2021-08-16 01:08:11 +03:00
Recep Aslantas	28d24da6df	build: add missing files	2021-08-16 00:55:19 +03:00
Recep Aslantas	ef22e2063f	win: fix build error and comment style	2021-08-16 00:54:37 +03:00
Recep Aslantas	5a48aad1b0	Merge pull request #218 from Nairou/master Add CGLM_FORCE_DEPTH_ZERO_TO_ONE support to glm_unprojecti	2021-08-16 00:45:22 +03:00
Caleb Gingles	07aee82125	Add CGLM_FORCE_DEPTH_ZERO_TO_ONE support to glm_unprojecti	2021-08-15 17:34:26 -04:00
Recep Aslantas	abbeb274c5	Merge pull request #214 from bubba2k/patch-1 Note that radians is expected in glm_perspective()	2021-08-09 10:54:02 +03:00
bubba2k	814adf11de	Note that radians is expected in glm_perspective() The `fovy` parameter is expected in radians, which isn't mentioned anywhere in the docs. Causes unnecessary confusion. Might as well point it out.	2021-08-09 03:02:47 +02:00
Recep Aslantas	d0d1e46533	Merge pull request #210 from legends2k/quat_rot_vecs	2021-06-15 19:59:45 +03:00
Sundaram Ramaswamy	03b4594d9e	quat_from_vecs: incorporate PR comments * C89-style comments * Move all variable declarations to function start * Remove constant variables * Remove newline for ‘else’	2021-06-15 19:11:41 +05:30
Sundaram Ramaswamy	01e2b74a29	Update documentation for qaut_from_vecs	2021-06-10 23:52:09 +05:30
Sundaram Ramaswamy	ee5050f43c	Tests for quaternion from two vec3	2021-06-10 23:15:10 +05:30
Sundaram Ramaswamy	b5802b99b2	Compute quaternion rotating a vector into another Both `vec3` inputs should be of unit length; returns a unit quaternion.	2021-06-10 23:10:54 +05:30
Recep Aslantas	8b958e9600	Merge pull request #209 from legends2k/fix_vec3_cross Fix cross product when an operand is also dest	2021-06-10 16:49:17 +03:00
Sundaram Ramaswamy	aa071b2a6b	Fix cross product when operand is also dest	2021-06-10 17:20:50 +05:30
Recep Aslantas	479e7d4240	Merge pull request #207 from legends2k/fix_vec3_ortho Fix vec3_ortho	2021-06-10 10:15:12 +03:00
Recep Aslantas	38c6188e12	Update vec3.h	2021-06-10 10:13:51 +03:00
Sundaram Ramaswamy	c330b47ded	Remove debug printf statements	2021-06-10 10:27:28 +05:30
Sundaram Ramaswamy	2e8162b133	Fix vec3_ortho	2021-06-09 23:18:32 +05:30
Recep Aslantas	afdcae08dd	Merge pull request #205 from legends2k/master Include affine.h in quat.h; remove needless decls	2021-06-07 11:45:54 +03:00
Sundaram Ramaswamy	32d1c96dc0	Include affine.h in quat.h; remove needless decls * affine.h is needed for glm_translate_make * Remove function declarations - glm_mat4_mulv since mat4.h is already included - glm_mul_rot as affine-mat.h is already include - glm_translate as affine.h is included with this change	2021-06-07 11:35:56 +05:30
Recep Aslantas	4d2ba464a0	Update README.md	2021-05-30 18:11:17 +03:00
Recep Aslantas	398e47070b	Update README.md	2021-05-30 18:09:17 +03:00
Recep Aslantas	619ac4ce9a	Update README.md	2021-05-30 18:03:33 +03:00
Recep Aslantas	e83940f3b1	Create cglm.png	2021-05-30 17:48:29 +03:00