Update project.h

euler to quat functions

.github/workflows/cmake-wasm.yml

@@ -23,7 +23,7 @@ jobs:
     runs-on: ubuntu-latest
 
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
 
     - name: Downloading wasi-sdk
       run: |
@@ -64,7 +64,7 @@ jobs:
         C_FLAGS: ['', '-msimd128', '-msse -msse2 -msimd128', '-msse -msse2 -msse3 -msse4 -msimd128']
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
     - name: Setup emsdk
       uses: mymindstorm/setup-emsdk@v12
 

.github/workflows/meson-wasm.yml

@@ -0,0 +1,79 @@
+name: Meson WebAssembly
+
+on:
+  push:
+    branches: [ "master" ]
+  pull_request:
+    branches: [ "master" ]
+
+env:
+  wasmtime_version: v7.0.0
+  wasmer_version: v3.1.1
+
+jobs:
+  build_emsdk:
+    strategy:
+      matrix:
+        BUILD_TYPE: [debug, debugoptimized, release, minsize]
+        C_FLAGS: ['', '-msimd128', '-msse -msse2 -msimd128', '-msse -msse2 -msse3 -msse4 -msimd128']
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v4
+    - name: Setup emsdk
+      uses: mymindstorm/setup-emsdk@v13
+
+    - name: Verify emsdk
+      run: emcc -v
+
+    - name: Creating cross file
+      run: |
+        cat << EOF > ${{github.workspace}}/meson_cross_emsdk.txt
+        [binaries]
+        c = '`which emcc`'
+        cpp = '`which em++`'
+        ar = '`which emar`'
+        
+        [built-in options]
+        
+        c_args = ['-Wno-unused-parameter']
+        c_link_args = ['-s', 'STANDALONE_WASM']
+        cpp_args = ['-Wno-unused-parameter']
+        cpp_link_args = ['-s', 'STANDALONE_WASM']
+        
+        [host_machine]
+        
+        system = 'emscripten'
+        cpu_family = 'wasm32'
+        cpu = 'wasm32'
+        endian = 'little'
+
+        EOF
+        cat ${{github.workspace}}/meson_cross_emsdk.txt
+
+    - uses: actions/setup-python@v4
+    
+    - name: Install meson
+      run: |
+        sudo python3 -m pip install meson ninja
+
+    - name: Build with meson
+      run: |
+        meson setup build -Dbuildtype=${{matrix.BUILD_TYPE}} --cross-file ${{github.workspace}}/meson_cross_emsdk.txt --default-library=static -Dbuild_tests=true
+        meson test -C build
+
+    - name: Test with wasmtime
+      run: |
+        cd ${{github.workspace}}
+        ls -lh ${{github.workspace}}/build/
+        wget --no-verbose https://github.com/bytecodealliance/wasmtime/releases/download/${{env.wasmtime_version}}/wasmtime-${{env.wasmtime_version}}-x86_64-linux.tar.xz
+        tar xf wasmtime-${{env.wasmtime_version}}-x86_64-linux.tar.xz
+        ./wasmtime-${{env.wasmtime_version}}-x86_64-linux/wasmtime run --wasm-features simd ${{github.workspace}}/build/tests.wasm
+
+    - name: Test with wasmer
+      run: |
+        cd ${{github.workspace}}
+        mkdir wasmer
+        cd wasmer
+        wget --no-verbose https://github.com/wasmerio/wasmer/releases/download/${{env.wasmer_version}}/wasmer-linux-amd64.tar.gz
+        tar xf wasmer-linux-amd64.tar.gz
+        ./bin/wasmer run --enable-simd ${{github.workspace}}/build/tests.wasm

.readthedocs.yaml

@@ -0,0 +1,39 @@
+# Read the Docs configuration file for Sphinx projects
+# See https://docs.readthedocs.io/en/stable/config-file/v2.html for details
+
+# Required
+version: 2
+
+# Set the OS, Python version and other tools you might need
+build:
+  os: ubuntu-22.04
+  tools:
+    python: "3.12"
+    # You can also specify other tool versions:
+    # nodejs: "20"
+    # rust: "1.70"
+    # golang: "1.20"
+
+# Build documentation in the "docs/" directory with Sphinx
+sphinx:
+  configuration: docs/source/conf.py
+  # You can configure Sphinx to use a different builder, for instance use the dirhtml builder for simpler URLs
+  # builder: "dirhtml"
+  # Fail on all warnings to avoid broken references
+  # fail_on_warning: true
+
+# Optionally build your docs in additional formats such as PDF and ePub
+# formats:
+#   - pdf
+#   - epub
+
+# Optional but recommended, declare the Python requirements required
+# to build your documentation
+# See https://docs.readthedocs.io/en/stable/guides/reproducible-builds.html
+# python:
+#   install:
+#     - requirements: docs/requirements.txt
+
+python:
+  install:
+    - requirements: docs/requirements.txt

CMakeLists.txt

@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.8.2)
 project(cglm
-  VERSION 0.9.1
+  VERSION 0.9.2
   HOMEPAGE_URL https://github.com/recp/cglm
   DESCRIPTION "OpenGL Mathematics (glm) for C"
   LANGUAGES C

Makefile.am

@@ -69,6 +69,7 @@ cglm_HEADERS = include/cglm/version.h \
                include/cglm/plane.h \
                include/cglm/frustum.h \
                include/cglm/box.h \
+               include/cglm/aabb2d.h \
                include/cglm/color.h \
                include/cglm/project.h \
                include/cglm/sphere.h \
@@ -149,7 +150,8 @@ cglm_call_clipspace_HEADERS = include/cglm/call/clipspace/persp_lh_no.h \
 cglm_simddir=$(includedir)/cglm/simd
 cglm_simd_HEADERS = include/cglm/simd/intrin.h \
                     include/cglm/simd/x86.h \
-                    include/cglm/simd/arm.h
+                    include/cglm/simd/arm.h \
+                    include/cglm/simd/wasm.h
 
 cglm_simd_sse2dir=$(includedir)/cglm/simd/sse2
 cglm_simd_sse2_HEADERS = include/cglm/simd/sse2/affine.h \
@@ -168,6 +170,17 @@ cglm_simd_neon_HEADERS = include/cglm/simd/neon/affine.h \
                          include/cglm/simd/neon/mat4.h \
                          include/cglm/simd/neon/quat.h
 
+cglm_simd_wasmdir=$(includedir)/cglm/simd/wasm
+cglm_simd_wasm_HEADERS = include/cglm/simd/wasm/affine.h \
+                         include/cglm/simd/wasm/mat2.h \
+                         include/cglm/simd/wasm/mat3.h \
+                         include/cglm/simd/wasm/mat4.h \
+                         include/cglm/simd/wasm/quat.h
+
+cglm_handeddir=$(includedir)/cglm/handed
+cglm_handed_HEADERS = include/cglm/handed/euler_to_quat_lh.h \
+                      include/cglm/handed/euler_to_quat_rh.h
+
 cglm_structdir=$(includedir)/cglm/struct
 cglm_struct_HEADERS = include/cglm/struct/mat4.h \
                       include/cglm/struct/mat4x2.h \
@@ -196,6 +209,7 @@ cglm_struct_HEADERS = include/cglm/struct/mat4.h \
                       include/cglm/struct/plane.h \
                       include/cglm/struct/frustum.h \
                       include/cglm/struct/box.h \
+                      include/cglm/struct/aabb2d.h \
                       include/cglm/struct/project.h \
                       include/cglm/struct/sphere.h \
                       include/cglm/struct/color.h \
@@ -217,6 +231,10 @@ cglm_struct_clipspace_HEADERS = include/cglm/struct/clipspace/persp_lh_no.h \
                                 include/cglm/struct/clipspace/project_no.h \
                                 include/cglm/struct/clipspace/project_zo.h
 
+cglm_struct_handeddir=$(includedir)/cglm/struct/handed
+cglm_struct_handed_HEADERS = include/cglm/struct/handed/euler_to_quat_lh.h \
+                             include/cglm/struct/handed/euler_to_quat_rh.h
+
 libcglm_la_SOURCES=\
     src/euler.c \
     src/affine.c \

cglm.podspec

@@ -2,7 +2,7 @@ Pod::Spec.new do |s|
 
   # Description
   s.name         = "cglm"
-  s.version      = "0.9.0"
+  s.version      = "0.9.1"
   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.

configure.ac

@@ -7,7 +7,7 @@
 #*****************************************************************************
 
 AC_PREREQ([2.69])
-AC_INIT([cglm], [0.9.1], [info@recp.me])
+AC_INIT([cglm], [0.9.2], [info@recp.me])
 AM_INIT_AUTOMAKE([-Wall foreign subdir-objects serial-tests])
 
 # Don't use the default cflags (-O2 -g), we set ours manually in Makefile.am.

docs/requirements.txt

@@ -0,0 +1,4 @@
+# Defining the exact version will make sure things don't break
+sphinx==5.3.0
+sphinx_rtd_theme==1.1.1
+readthedocs-sphinx-search==0.1.1

docs/source/aabb2d.rst

@@ -0,0 +1,173 @@
+.. default-domain:: C
+
+2d axis aligned bounding box (AABB)
+================================================================================
+
+Header: cglm/aabb2d.h
+
+Some convenient functions provided for AABB.
+
+**Definition of aabb:**
+
+cglm defines an aabb as a two dimensional array of vec2's.
+The first element is the **min** point and the second one is the **max** point.
+If you have another type e.g. struct or even another representation then you must
+convert it before and after calling a cglm aabb2d function.
+
+Table of contents (click to go):
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+Functions:
+
+1. :c:func:`glm_aabb2d_copy`
+#. :c:func:`glm_aabb2d_transform`
+#. :c:func:`glm_aabb2d_merge`
+#. :c:func:`glm_aabb2d_crop`
+#. :c:func:`glm_aabb2d_crop_until`
+#. :c:func:`glm_aabb2d_invalidate`
+#. :c:func:`glm_aabb2d_isvalid`
+#. :c:func:`glm_aabb2d_size`
+#. :c:func:`glm_aabb2d_radius`
+#. :c:func:`glm_aabb2d_center`
+#. :c:func:`glm_aabb2d_aabb`
+#. :c:func:`glm_aabb2d_circle`
+#. :c:func:`glm_aabb2d_point`
+#. :c:func:`glm_aabb2d_contains`
+
+Functions documentation
+~~~~~~~~~~~~~~~~~~~~~~~
+
+.. c:function:: void  glm_aabb2d_copy(vec2 aabb[2], vec2 dest[2])
+
+    | copy all members of [aabb] to [dest]
+
+    Parameters:
+      | *[in]*  **aabb**  bounding box
+      | *[out]* **dest**  destination
+
+.. c:function:: void  glm_aabb2d_transform(vec2 aabb[2], mat3 m, vec2 dest[2])
+
+    | apply transform to Axis-Aligned Bounding Box
+
+    Parameters:
+      | *[in]*  **aabb**   bounding box
+      | *[in]*  **m**     transform matrix
+      | *[out]* **dest**  transformed bounding box
+
+.. c:function:: void  glm_aabb2d_merge(vec2 aabb1[2], vec2 aabb2[2], vec2 dest[2])
+
+    | merges two AABB bounding box and creates new one
+
+    two aabb must be in the same space
+
+    Parameters:
+      | *[in]*  **aabb1** bounding box 1
+      | *[in]*  **aabb2** bounding box 2
+      | *[out]* **dest** merged bounding box
+
+.. c:function:: void  glm_aabb2d_crop(vec2 aabb[2], vec2 cropAabb[2], vec2 dest[2])
+
+    | crops a bounding box with another one.
+
+    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]*  **aabb**      bounding box 1
+      | *[in]*  **cropAabb**  crop box
+      | *[out]* **dest**     cropped bounding box
+
+.. c:function:: void  glm_aabb2d_crop_until(vec2 aabb[2], vec2 cropAabb[2], vec2 clampAabb[2], vec2 dest[2])
+
+    | crops a bounding box with another one.
+
+    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]*  **aabb**      bounding box
+      | *[in]*  **cropAabb**  crop box
+      | *[in]*  **clampAabb** miniumum box
+      | *[out]* **dest**     cropped bounding box
+
+.. c:function:: void  glm_aabb2d_invalidate(vec2 aabb[2])
+
+    | invalidate AABB min and max values
+
+    | It fills *max* values with -FLT_MAX and *min* values with +FLT_MAX
+
+    Parameters:
+      | *[in, out]*   **aabb**     bounding box
+
+.. c:function:: bool  glm_aabb2d_isvalid(vec2 aabb[2])
+
+    | check if AABB is valid or not
+
+    Parameters:
+      | *[in]*   **aabb**     bounding box
+
+    Returns:
+      returns true if aabb is valid otherwise false
+
+.. c:function:: float  glm_aabb2d_size(vec2 aabb[2])
+
+    | distance between of min and max
+
+    Parameters:
+      | *[in]*   **aabb**     bounding box
+
+    Returns:
+      distance between min - max
+
+.. c:function:: float  glm_aabb2d_radius(vec2 aabb[2])
+
+    | radius of sphere which surrounds AABB
+
+    Parameters:
+      | *[in]*   **aabb**     bounding box
+
+.. c:function:: void  glm_aabb2d_center(vec2 aabb[2], vec2 dest)
+
+    | computes center point of AABB
+
+    Parameters:
+      | *[in]*    **aabb**      bounding box
+      | *[out]*   **dest**     center of bounding box
+
+.. c:function:: bool  glm_aabb2d_aabb(vec2 aabb[2], vec2 other[2])
+
+    | check if two AABB intersects
+
+    Parameters:
+      | *[in]*    **aabb**     bounding box
+      | *[out]*   **other**   other bounding box
+
+.. c:function:: bool  glm_aabb2d_circle(vec2 aabb[2], vec3 c)
+
+    | check if AABB intersects with sphere
+
+    | https://github.com/erich666/GraphicsGems/blob/master/gems/BoxSphere.c
+    | Solid Box - Solid Sphere test.
+
+    Parameters:
+      | *[in]*    **aabb**     solid bounding box
+      | *[out]*   **c**        solid circle
+
+.. c:function:: bool  glm_aabb2d_point(vec2 aabb[2], vec2 point)
+
+    | check if point is inside of AABB
+
+    Parameters:
+      | *[in]*    **aabb**     bounding box
+      | *[out]*   **point**   point
+
+.. c:function:: bool  glm_aabb2d_contains(vec2 aabb[2], vec2 other[2])
+
+    | check if AABB contains other AABB
+
+    Parameters:
+      | *[in]*    **aabb**     bounding box
+      | *[out]*   **other**   other bounding box
+

docs/source/conf.py

@@ -62,9 +62,9 @@ author = u'Recep Aslantas'
 # built documents.
 #
 # The short X.Y version.
-version = u'0.9.1'
+version = u'0.9.2'
 # The full version, including alpha/beta/rc tags.
-release = u'0.9.1'
+release = u'0.9.2'
 
 # The language for content autogenerated by Sphinx. Refer to documentation
 # for a list of supported languages.

docs/source/features.rst

@@ -18,6 +18,7 @@ Features
 * inline or pre-compiled function call
 * frustum (extract view frustum planes, corners...)
 * bounding box (AABB in Frustum (culling), crop, merge...)
+* 2d bounding box (crop, merge...)
 * bounding sphere
 * project, unproject
 * easing functions

docs/source/io.rst

@@ -53,8 +53,11 @@ Functions:
 1. :c:func:`glm_mat4_print`
 #. :c:func:`glm_mat3_print`
 #. :c:func:`glm_vec4_print`
+#. :c:func:`glm_ivec4_print`
 #. :c:func:`glm_vec3_print`
 #. :c:func:`glm_ivec3_print`
+#. :c:func:`glm_vec2_print`
+#. :c:func:`glm_ivec2_print`
 #. :c:func:`glm_versor_print`
 #. :c:func:`glm_aabb_print`
 
@@ -63,7 +66,7 @@ Functions documentation
 
 .. c:function:: void  glm_mat4_print(mat4 matrix, FILE * __restrict ostream)
 
-    | print mat4 to given stream
+    | print matrix to given stream
 
     Parameters:
       | *[in]*  **matrix**   matrix
@@ -71,7 +74,7 @@ Functions documentation
 
 .. c:function:: void  glm_mat3_print(mat3 matrix, FILE * __restrict ostream)
 
-    | print mat3 to given stream
+    | print matrix to given stream
 
     Parameters:
       | *[in]*  **matrix**   matrix
@@ -79,7 +82,15 @@ Functions documentation
 
 .. c:function:: void  glm_vec4_print(vec4 vec, FILE * __restrict ostream)
 
-    | print vec4 to given stream
+    | print vector to given stream
+
+    Parameters:
+      | *[in]*  **vec**      vector
+      | *[in]*  **ostream**  FILE to write
+
+.. c:function:: void  glm_ivec4_print(ivec4 vec, FILE * __restrict ostream)
+
+    | print vector to given stream
 
     Parameters:
       | *[in]*  **vec**      vector
@@ -87,7 +98,7 @@ Functions documentation
 
 .. c:function:: void  glm_vec3_print(vec3 vec, FILE * __restrict ostream)
 
-    | print vec3 to given stream
+    | print vector to given stream
 
     Parameters:
       | *[in]*  **vec**      vector
@@ -95,12 +106,29 @@ Functions documentation
 
 .. c:function:: void  glm_ivec3_print(ivec3 vec, FILE * __restrict ostream)
 
-    | print ivec3 to given stream
+    | print vector to given stream
 
     Parameters:
       | *[in]*  **vec**      vector
       | *[in]*  **ostream**  FILE to write
 
+.. c:function:: void  glm_vec2_print(vec2 vec, FILE * __restrict ostream)
+
+    | print vector to given stream
+
+    Parameters:
+      | *[in]*  **vec**      vector
+      | *[in]*  **ostream**  FILE to write
+
+.. c:function:: void  glm_ivec2_print(ivec2 vec, FILE * __restrict ostream)
+
+    | print vector to given stream
+
+    Parameters:
+      | *[in]*  **vec**      vector
+      | *[in]*  **ostream**  FILE to write
+
+
 .. c:function:: void  glm_versor_print(versor vec, FILE * __restrict ostream)
 
     | print quaternion to given stream

docs/source/ivec2.rst

@@ -143,6 +143,31 @@ Functions documentation
     Returns:
         distance
 
+.. c:function:: void  glm_ivec2_fill(ivec2 v, int val)
+
+    fill a vector with specified value
+
+    Parameters:
+      | *[out]*  **v**    vector
+      | *[in]*   **val**  value
+
+.. c:function:: bool  glm_ivec2_eq(ivec2 v, int val)
+
+    check if vector is equal to value
+
+    Parameters:
+      | *[in]*  **v**    vector
+      | *[in]*  **val**  value
+
+.. c:function:: bool  glm_ivec2_eqv(ivec2 v1, ivec2 v2)
+
+    check if vector is equal to another vector
+
+    Parameters:
+      | *[in]*  **vec**   vector 1
+      | *[in]*  **vec**   vector 2
+
+
 .. c:function:: void glm_ivec2_maxv(ivec2 a, ivec2 b, ivec2 dest)
 
     set each member of dest to greater of vector a and b

docs/source/ivec3.rst

@@ -29,6 +29,9 @@ Functions:
 #. :c:func:`glm_ivec3_scale`
 #. :c:func:`glm_ivec3_distance2`
 #. :c:func:`glm_ivec3_distance`
+#. :c:func:`glm_ivec3_fill`
+#. :c:func:`glm_ivec3_eq`
+#. :c:func:`glm_ivec3_eqv`
 #. :c:func:`glm_ivec3_maxv`
 #. :c:func:`glm_ivec3_minv`
 #. :c:func:`glm_ivec3_clamp`
@@ -143,6 +146,30 @@ Functions documentation
     Returns:
         distance
 
+.. c:function:: void  glm_ivec3_fill(ivec3 v, int val)
+
+    fill a vector with specified value
+
+    Parameters:
+      | *[out]*  **v**    vector
+      | *[in]*   **val**  value
+
+.. c:function:: bool  glm_ivec3_eq(ivec3 v, int val)
+
+    check if vector is equal to value
+
+    Parameters:
+      | *[in]*  **v**    vector
+      | *[in]*  **val**  value
+
+.. c:function:: bool  glm_ivec3_eqv(ivec3 v1, ivec3 v2)
+
+    check if vector is equal to another vector
+
+    Parameters:
+      | *[in]*  **vec**   vector 1
+      | *[in]*  **vec**   vector 2
+
 .. c:function:: void glm_ivec3_maxv(ivec3 a, ivec3 b, ivec3 dest)
 
     set each member of dest to greater of vector a and b

docs/source/mat2x3.rst

@@ -55,16 +55,14 @@ Functions documentation
 
     multiply m1 and m2 to dest
 
-    m1, m2 and dest matrices can be same matrix, it is possible to write this:
-
     .. code-block:: c
 
-       glm_mat2x3_mul(m, m, m);
+       glm_mat2x3_mul(mat2x3, mat3x2, mat2);
 
     Parameters:
-      | *[in]*  **m1**    left matrix
+      | *[in]*  **m1**    left matrix (mat2x3)
-      | *[in]*  **m2**    right matrix
+      | *[in]*  **m2**    right matrix (mat3x2)
-      | *[out]* **dest**  destination matrix
+      | *[out]* **dest**  destination matrix (mat2)
 
 .. c:function:: void glm_mat2x3_mulv(mat2x3 m, vec3 v, vec2 dest)
 

docs/source/mat2x4.rst

@@ -55,16 +55,14 @@ Functions documentation
 
     multiply m1 and m2 to dest
 
-    m1, m2 and dest matrices can be same matrix, it is possible to write this:
-
     .. code-block:: c
 
-       glm_mat2x4_mul(m, m, m);
+       glm_mat2x4_mul(mat2x4, mat4x2, mat2);
 
     Parameters:
-      | *[in]*  **m1**    left matrix
+      | *[in]*  **m1**    left matrix (mat2x4)
-      | *[in]*  **m2**    right matrix
+      | *[in]*  **m2**    right matrix (mat4x2)
-      | *[out]* **dest**  destination matrix
+      | *[out]* **dest**  destination matrix (mat2)
 
 .. c:function:: void glm_mat2x4_mulv(mat2x4 m, vec4 v, vec2 dest)
 

docs/source/mat3x2.rst

@@ -54,16 +54,14 @@ Functions documentation
 
     multiply m1 and m2 to dest
 
-    m1, m2 and dest matrices can be same matrix, it is possible to write this:
-
     .. code-block:: c
 
-       glm_mat3x2_mul(m, m, m);
+       glm_mat3x2_mul(mat3x2, mat2x3, mat3);
 
     Parameters:
-      | *[in]*  **m1**    left matrix
+      | *[in]*  **m1**    left matrix (mat3x2)
-      | *[in]*  **m2**    right matrix
+      | *[in]*  **m2**    right matrix (mat2x3)
-      | *[out]* **dest**  destination matrix
+      | *[out]* **dest**  destination matrix (mat3)
 
 .. c:function:: void glm_mat3x2_mulv(mat3x2 m, vec2 v, vec3 dest)
 

docs/source/mat3x4.rst

@@ -54,16 +54,14 @@ Functions documentation
 
     multiply m1 and m2 to dest
 
-    m1, m2 and dest matrices can be same matrix, it is possible to write this:
-
     .. code-block:: c
 
-       glm_mat3x4_mul(m, m, m);
+       glm_mat3x4_mul(mat3x4, mat4x3, mat3);
 
     Parameters:
-      | *[in]*  **m1**    left matrix
+      | *[in]*  **m1**    left matrix (mat3x4)
-      | *[in]*  **m2**    right matrix
+      | *[in]*  **m2**    right matrix (mat4x3)
-      | *[out]* **dest**  destination matrix
+      | *[out]* **dest**  destination matrix (mat3)
 
 .. c:function:: void glm_mat3x4_mulv(mat3x4 m, vec4 v, vec3 dest)
 

docs/source/mat4x2.rst

@@ -54,16 +54,14 @@ Functions documentation
 
     multiply m1 and m2 to dest
 
-    m1, m2 and dest matrices can be same matrix, it is possible to write this:
-
     .. code-block:: c
 
-       glm_mat4x2_mul(m, m, m);
+       glm_mat4x2_mul(mat4x2, mat2x4, mat4);
 
     Parameters:
-      | *[in]*  **m1**    left matrix
+      | *[in]*  **m1**    left matrix (mat4x2)
-      | *[in]*  **m2**    right matrix
+      | *[in]*  **m2**    right matrix (mat2x4)
-      | *[out]* **dest**  destination matrix
+      | *[out]* **dest**  destination matrix (mat4)
 
 .. c:function:: void glm_mat4x2_mulv(mat4x2 m, vec2 v, vec4 dest)
 

docs/source/mat4x3.rst

@@ -54,16 +54,14 @@ Functions documentation
 
     multiply m1 and m2 to dest
 
-    m1, m2 and dest matrices can be same matrix, it is possible to write this:
-
     .. code-block:: c
 
-       glm_mat4x3_mul(m, m, m);
+       glm_mat4x3_mul(mat4x3, mat3x4, mat4);
 
     Parameters:
-      | *[in]*  **m1**    left matrix
+      | *[in]*  **m1**    left matrix (mat4x3)
-      | *[in]*  **m2**    right matrix
+      | *[in]*  **m2**    right matrix (mat3x4)
-      | *[out]* **dest**  destination matrix
+      | *[out]* **dest**  destination matrix (mat4)
 
 .. c:function:: void glm_mat4x3_mulv(mat4x3 m, vec3 v, vec4 dest)
 

docs/source/troubleshooting.rst

@@ -3,30 +3,30 @@
 Troubleshooting
 ================================================================================
 
-It is possible that sometimes you may get crashes or wrong results.
+It is possible that you may sometimes get crashes or wrong results.
 Follow these topics
 
 Memory Allocation:
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
-Again, **cglm** doesn't alloc any memory on heap.
+Recall that **cglm** does not alloc any memory on the heap.
-cglm functions works like memcpy; it copies data from src,
+cglm functions work like memcpy; they copy data from src,
-makes calculations then copy the result to dest.
+make calculations, then copy the result to dest.
 
 You are responsible for allocation of **src** and **dest** parameters.
 
 Alignment:
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
-**vec4** and **mat4** types requires 16 byte alignment.
+**vec4** and **mat4** types require 16 byte alignment.
-These types are marked with align attribute to let compiler know about this
+These types are marked with the align attribute to let the compiler know about this
 requirement.
 
-But since MSVC (Windows) throws the error:
+Since MSVC (Windows) throws this error:
 
 **"formal parameter with requested alignment of 16 won't be aligned"**
 
-The alignment attribute has been commented for MSVC
+The alignment attribute has been commented out for MSVC
 
 .. code-block:: c
 
@@ -37,61 +37,61 @@ The alignment attribute has been commented for MSVC
    #endif.
 
 So MSVC may not know about alignment requirements when creating variables.
-The interesting thing is that, if I remember correctly Visual Studio 2017
+The interesting thing is that, if I remember correctly, Visual Studio 2017
 doesn't throw the above error. So we may uncomment that line for Visual Studio 2017,
 you may do it yourself.
 
 **This MSVC issue is still in TODOs.**
 
-**UPDATE:** By starting v0.4.5 cglm provides an option to disable alignment requirement.
+**UPDATE:** Starting with v0.4.5, cglm provides an option to disable the alignment requirement.
-Also alignment is disabled for older msvc verisons as default. Now alignment is only required in Visual Studio 2017 version 15.6+ if CGLM_ALL_UNALIGNED macro is not defined.
+Also, alignment is disabled for older msvc versions by default. Now alignment is only required in Visual Studio 2017 version 15.6+ if the CGLM_ALL_UNALIGNED macro is not defined.
 
 Crashes, Invalid Memory Access:
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
-Probably you are trying to write to invalid memory location.
+Most likely, you are trying to write to an invalid memory location.
 
-You may used wrong function for what you want to do.
+You may have used a wrong function for what you want to do.
 
-For instance you may called **glm_vec4_** functions for **vec3** data type.
+For example, you may have called a **glm_vec4_** function for a **vec3** data type.
-It will try to write 32 byte but since **vec3** is 24 byte it should throw
+It will try to write 32 bytes, but since **vec3** is 24 bytes, it should throw
-memory access error or exit the app without saying anything.
+a memory access error or exit the app without saying anything.
 
 **UPDATE - IMPORTANT:** 
 
   | On MSVC or some other compilers, if alignment is enabled (default) then double check alignment requirements if you got a crash.
 
-  | If you send GLM_VEC4_ONE or similar macros directly to a function, it may be crashed.
+  | If you send GLM_VEC4_ONE or similar macros directly to a function, it may crash.
-  | Because compiler may not apply alignment as defined on **typedef** to that macro while passing it (on stack) to a function.
+  | Because the compiler may not apply alignment as defined on **typedef** to that macro while passing it (on stack) to a function.
 
 Wrong Results:
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
-Again, you may used wrong function.
+Again, you may have used a wrong function.
 
-For instance if you use **glm_normalize()** or **glm_vec3_normalize()** for **vec4**,
+For instance if you use **glm_normalize()** or **glm_vec3_normalize()** for a **vec4**,
-it will assume that passed param is **vec3** and will normalize it for **vec3**.
+it will assume that the passed param is a **vec3**, and will normalize it for **vec3**.
-Since you need to **vec4** to be normalized in your case, you will get wrong results.
+Since you need a **vec4** to be normalized in your case, you will get wrong results.
 
-Accessing vec4 type with vec3 functions is valid, you will not get any error, exception or crash.
+Accessing a vec4 type with vec3 functions is valid, you will not get any error, exception or crash.
 You only get wrong results if you don't know what you are doing!
 
-So be carefull, when your IDE (Xcode, Visual Studio ...) tried to autocomplete function names, READ IT :)
+So be careful, when your IDE (Xcode, Visual Studio ...) tries to autocomplete function names, READ IT :)
 
-**Also implementation may be wrong please let us know by creating an issue on Github.**
+**Also implementation may be wrong, please let us know by creating an issue on Github.**
 
 BAD_ACCESS : Thread 1: EXC_BAD_ACCESS (code=EXC_I386_GPFLT) or Similar Errors/Crashes
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
-This is similar issue with alignment. For instance if you compiled **cglm** with 
+This is a similar issue with alignment. For instance if you compiled **cglm** with 
 AVX (**-mavx**, intentionally or not) and if you use **cglm** in an environment that doesn't 
 support AVX (or if AVX is disabled intentionally) e.g. environment that max support SSE2/3/4, 
 then you probably get **BAD ACCESS** or similar...
 
 Because if you compile **cglm** with AVX it aligns **mat4** with 32 byte boundary, 
-and your project aligns that as 16 byte boundary...
+and your project aligns that as a 16 byte boundary...
 
-Check alignment, supported vector extension or simd in **cglm** and linked projects...
+Check alignment, supported vector extension, or simd in **cglm** and linked projects...
 
 Other Issues?
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

docs/source/vec2.rst

@@ -45,6 +45,7 @@ Functions:
 #. :c:func:`glm_vec2_normalize`
 #. :c:func:`glm_vec2_normalize_to`
 #. :c:func:`glm_vec2_rotate`
+#. :c:func:`glm_vec2_center`
 #. :c:func:`glm_vec2_distance2`
 #. :c:func:`glm_vec2_distance`
 #. :c:func:`glm_vec2_maxv`
@@ -314,6 +315,15 @@ Functions documentation
       | *[in]*  **axis**   axis vector
       | *[out]* **dest**   destination
 
+.. c:function:: void  glm_vec2_center(vec2 v1, vec2 v2, vec2 dest)
+
+    find center point of two vector
+
+    Parameters:
+      | *[in]*  **v1**    vector1
+      | *[in]*  **v2**    vector2
+      | *[out]* **dest**  center point
+
 .. c:function:: float glm_vec2_distance2(vec2 v1, vec2 v2)
 
     squared distance between two vectors

docs/source/vec3-ext.rst

@@ -50,6 +50,14 @@ Functions documentation
       | *[in]*  **val**   value
       | *[out]* **dest**  destination
 
+.. c:function:: void  glm_vec3_fill(vec3 v, float val)
+
+    fill a vector with specified value
+
+    Parameters:
+      | *[out]*  **v**    vector
+      | *[in]*   **val**  value
+
 .. c:function:: bool  glm_vec3_eq(vec3 v, float val)
 
     check if vector is equal to value (without epsilon)

include/cglm/aabb2d.h

@@ -0,0 +1,245 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), http://opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+#ifndef cglm_aabb2d_h
+#define cglm_aabb2d_h
+
+#include "common.h"
+#include "vec2.h"
+#include "vec4.h"
+#include "util.h"
+
+/*!
+ * @brief copy all members of [aabb] to [dest]
+ *
+ * @param[in]  aabb source
+ * @param[out] dest destination
+ */
+CGLM_INLINE
+void
+glm_aabb2d_copy(vec2 aabb[2], vec2 dest[2]) {
+  glm_vec2_copy(aabb[0], dest[0]);
+  glm_vec2_copy(aabb[1], dest[1]);
+}
+
+/*!
+ * @brief apply transform to Axis-Aligned Bounding aabb
+ *
+ * @param[in]  aabb  bounding aabb
+ * @param[in]  m    transform matrix
+ * @param[out] dest transformed bounding aabb
+ */
+CGLM_INLINE
+void
+glm_aabb2d_transform(vec2 aabb[2], mat3 m, vec2 dest[2]) {
+  vec2 v[2], xa, xb, ya, yb;
+
+  glm_vec2_scale(m[0], aabb[0][0], xa);
+  glm_vec2_scale(m[0], aabb[1][0], xb);
+
+  glm_vec2_scale(m[1], aabb[0][1], ya);
+  glm_vec2_scale(m[1], aabb[1][1], yb);
+
+  /* translation + min(xa, xb) + min(ya, yb) */
+  glm_vec2(m[2], v[0]);
+  glm_vec2_minadd(xa, xb, v[0]);
+  glm_vec2_minadd(ya, yb, v[0]);
+
+  /* translation + max(xa, xb) + max(ya, yb) */
+  glm_vec2(m[2], v[1]);
+  glm_vec2_maxadd(xa, xb, v[1]);
+  glm_vec2_maxadd(ya, yb, v[1]);
+
+  glm_vec2_copy(v[0], dest[0]);
+  glm_vec2_copy(v[1], dest[1]);
+}
+
+/*!
+ * @brief merges two AABB bounding aabb and creates new one
+ *
+ * two aabb must be in same space, if one of aabb is in different space then
+ * you should consider to convert it's space by glm_aabb_space
+ *
+ * @param[in]  aabb1 bounding aabb 1
+ * @param[in]  aabb2 bounding aabb 2
+ * @param[out] dest merged bounding aabb
+ */
+CGLM_INLINE
+void
+glm_aabb2d_merge(vec2 aabb1[2], vec2 aabb2[2], vec2 dest[2]) {
+  dest[0][0] = glm_min(aabb1[0][0], aabb2[0][0]);
+  dest[0][1] = glm_min(aabb1[0][1], aabb2[0][1]);
+
+  dest[1][0] = glm_max(aabb1[1][0], aabb2[1][0]);
+  dest[1][1] = glm_max(aabb1[1][1], aabb2[1][1]);
+}
+
+/*!
+ * @brief crops a bounding aabb with another one.
+ *
+ * this could be useful for gettng a baabb which fits with view frustum and
+ * object bounding aabbes. In this case you crop view frustum aabb with objects
+ * aabb
+ *
+ * @param[in]  aabb     bounding aabb 1
+ * @param[in]  cropAabb crop aabb
+ * @param[out] dest     cropped bounding aabb
+ */
+CGLM_INLINE
+void
+glm_aabb2d_crop(vec2 aabb[2], vec2 cropAabb[2], vec2 dest[2]) {
+  dest[0][0] = glm_max(aabb[0][0], cropAabb[0][0]);
+  dest[0][1] = glm_max(aabb[0][1], cropAabb[0][1]);
+
+  dest[1][0] = glm_min(aabb[1][0], cropAabb[1][0]);
+  dest[1][1] = glm_min(aabb[1][1], cropAabb[1][1]);
+}
+
+/*!
+ * @brief crops a bounding aabb with another one.
+ *
+ * this could be useful for gettng a baabb which fits with view frustum and
+ * object bounding aabbes. In this case you crop view frustum aabb with objects
+ * aabb
+ *
+ * @param[in]  aabb      bounding aabb
+ * @param[in]  cropAabb  crop aabb
+ * @param[in]  clampAabb miniumum aabb
+ * @param[out] dest      cropped bounding aabb
+ */
+CGLM_INLINE
+void
+glm_aabb2d_crop_until(vec2 aabb[2],
+                      vec2 cropAabb[2],
+                      vec2 clampAabb[2],
+                      vec2 dest[2]) {
+  glm_aabb2d_crop(aabb, cropAabb, dest);
+  glm_aabb2d_merge(clampAabb, dest, dest);
+}
+
+/*!
+ * @brief invalidate AABB min and max values
+ *
+ * @param[in, out]  aabb bounding aabb
+ */
+CGLM_INLINE
+void
+glm_aabb2d_invalidate(vec2 aabb[2]) {
+  glm_vec2_fill(aabb[0], FLT_MAX);
+  glm_vec2_fill(aabb[1], -FLT_MAX);
+}
+
+/*!
+ * @brief check if AABB is valid or not
+ *
+ * @param[in]  aabb bounding aabb
+ */
+CGLM_INLINE
+bool
+glm_aabb2d_isvalid(vec2 aabb[2]) {
+  return glm_vec2_max(aabb[0]) != FLT_MAX
+         && glm_vec2_min(aabb[1]) != -FLT_MAX;
+}
+
+/*!
+ * @brief distance between of min and max
+ *
+ * @param[in]  aabb bounding aabb
+ */
+CGLM_INLINE
+float
+glm_aabb2d_size(vec2 aabb[2]) {
+  return glm_vec2_distance(aabb[0], aabb[1]);
+}
+
+/*!
+ * @brief radius of sphere which surrounds AABB
+ *
+ * @param[in]  aabb bounding aabb
+ */
+CGLM_INLINE
+float
+glm_aabb2d_radius(vec2 aabb[2]) {
+  return glm_aabb2d_size(aabb) * 0.5f;
+}
+
+/*!
+ * @brief computes center point of AABB
+ *
+ * @param[in]   aabb  bounding aabb
+ * @param[out]  dest center of bounding aabb
+ */
+CGLM_INLINE
+void
+glm_aabb2d_center(vec2 aabb[2], vec2 dest) {
+  glm_vec2_center(aabb[0], aabb[1], dest);
+}
+
+/*!
+ * @brief check if two AABB intersects
+ *
+ * @param[in]   aabb    bounding aabb
+ * @param[in]   other  other bounding aabb
+ */
+CGLM_INLINE
+bool
+glm_aabb2d_aabb(vec2 aabb[2], vec2 other[2]) {
+  return (aabb[0][0] <= other[1][0] && aabb[1][0] >= other[0][0])
+      && (aabb[0][1] <= other[1][1] && aabb[1][1] >= other[0][1]);
+}
+
+/*!
+ * @brief check if AABB intersects with a circle
+ *
+ * Circle Representation in cglm: [center.x, center.y, radii]
+ *
+ * @param[in]   aabb   solid bounding aabb
+ * @param[in]   c      solid circle
+ */
+CGLM_INLINE
+bool
+glm_aabb2d_circle(vec2 aabb[2], vec3 c) {
+  float dmin;
+  int   a, b;
+
+  a = (c[0] < aabb[0][0]) + (c[0] > aabb[1][0]);
+  b = (c[1] < aabb[0][1]) + (c[1] > aabb[1][1]);
+
+  dmin  = glm_pow2((c[0] - aabb[!(a - 1)][0]) * (a != 0))
+        + glm_pow2((c[1] - aabb[!(b - 1)][1]) * (b != 0));
+
+  return dmin <= glm_pow2(c[2]);
+}
+
+/*!
+ * @brief check if point is inside of AABB
+ *
+ * @param[in]   aabb    bounding aabb
+ * @param[in]   point  point
+ */
+CGLM_INLINE
+bool
+glm_aabb2d_point(vec2 aabb[2], vec2 point) {
+  return (point[0] >= aabb[0][0] && point[0] <= aabb[1][0])
+      && (point[1] >= aabb[0][1] && point[1] <= aabb[1][1]);
+}
+
+/*!
+ * @brief check if AABB contains other AABB
+ *
+ * @param[in]   aabb    bounding aabb
+ * @param[in]   other  other bounding aabb
+ */
+CGLM_INLINE
+bool
+glm_aabb2d_contains(vec2 aabb[2], vec2 other[2]) {
+  return (aabb[0][0] <= other[0][0] && aabb[1][0] >= other[1][0])
+      && (aabb[0][1] <= other[0][1] && aabb[1][1] >= other[1][1]);
+}
+
+#endif /* cglm_aabb2d_h */
+

include/cglm/call.h

@@ -33,6 +33,7 @@ extern "C" {
 #include "call/euler.h"
 #include "call/plane.h"
 #include "call/frustum.h"
+#include "call/aabb2d.h"
 #include "call/box.h"
 #include "call/io.h"
 #include "call/project.h"

include/cglm/call/aabb2d.h

@@ -0,0 +1,80 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), http://opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+#ifndef cglmc_aabb2d_h
+#define cglmc_aabb2d_h
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "../cglm.h"
+
+CGLM_EXPORT
+void
+glmc_aabb2d_copy(vec2 aabb[2], vec2 dest[2]);
+
+CGLM_EXPORT
+void
+glmc_aabb2d_transform(vec2 aabb[2], mat3 m, vec2 dest[2]);
+
+CGLM_EXPORT
+void
+glmc_aabb2d_merge(vec2 aabb1[2], vec2 aabb2[2], vec2 dest[2]);
+
+CGLM_EXPORT
+void
+glmc_aabb2d_crop(vec2 aabb[2], vec2 cropAabb[2], vec2 dest[2]);
+
+CGLM_EXPORT
+void
+glmc_aabb2d_crop_until(vec2 aabb[2],
+                     vec2 cropAabb[2],
+                     vec2 clampAabb[2],
+                     vec2 dest[2]);
+
+CGLM_EXPORT
+void
+glmc_aabb2d_invalidate(vec2 aabb[2]);
+
+CGLM_EXPORT
+bool
+glmc_aabb2d_isvalid(vec2 aabb[2]);
+
+CGLM_EXPORT
+float
+glmc_aabb2d_size(vec2 aabb[2]);
+
+CGLM_EXPORT
+float
+glmc_aabb2d_radius(vec2 aabb[2]);
+
+CGLM_EXPORT
+void
+glmc_aabb2d_center(vec2 aabb[2], vec2 dest);
+
+CGLM_EXPORT
+bool
+glmc_aabb2d_aabb(vec2 aabb[2], vec2 other[2]);
+
+CGLM_EXPORT
+bool
+glmc_aabb2d_point(vec2 aabb[2], vec2 point);
+
+CGLM_EXPORT
+bool
+glmc_aabb2d_contains(vec2 aabb[2], vec2 other[2]);
+
+CGLM_EXPORT
+bool
+glmc_aabb2d_circle(vec2 aabb[2], vec3 s);
+
+#ifdef __cplusplus
+}
+#endif
+#endif /* cglmc_aabb2d_h */
+
+

include/cglm/call/euler.h

@@ -49,6 +49,31 @@ CGLM_EXPORT
 void
 glmc_euler_by_order(vec3 angles, glm_euler_seq axis, mat4 dest);
 
+CGLM_EXPORT
+void
+glmc_euler_xyz_quat(vec3 angles, versor dest);
+
+CGLM_EXPORT
+void
+glmc_euler_xzy_quat(vec3 angles, versor dest);
+
+CGLM_EXPORT
+void
+glmc_euler_yxz_quat(vec3 angles, versor dest);
+
+CGLM_EXPORT
+void
+glmc_euler_yzx_quat(vec3 angles, versor dest);
+
+CGLM_EXPORT
+void
+glmc_euler_zxy_quat(vec3 angles, versor dest);
+
+CGLM_EXPORT
+void
+glmc_euler_zyx_quat(vec3 angles, versor dest);
+
+
 #ifdef __cplusplus
 }
 #endif

include/cglm/call/ivec2.h

@@ -53,6 +53,70 @@ CGLM_EXPORT
 void
 glmc_ivec2_scale(ivec2 v, int s, ivec2 dest);
 
+CGLM_EXPORT 
+void 
+glmc_ivec2_addadd(ivec2 a, ivec2 b, ivec2 dest);
+
+CGLM_EXPORT 
+void 
+glmc_ivec2_addadds(ivec2 a, int s, ivec2 dest);
+
+CGLM_EXPORT 
+void 
+glmc_ivec2_subadd(ivec2 a, ivec2 b, ivec2 dest);
+
+CGLM_EXPORT 
+void 
+glmc_ivec2_subadds(ivec2 a, int s, ivec2 dest);
+
+CGLM_EXPORT 
+void 
+glmc_ivec2_muladd(ivec2 a, ivec2 b, ivec2 dest);
+
+CGLM_EXPORT 
+void 
+glmc_ivec2_muladds(ivec2 a, int s, ivec2 dest);
+
+CGLM_EXPORT 
+void 
+glmc_ivec2_maxadd(ivec2 a, ivec2 b, ivec2 dest);
+
+CGLM_EXPORT 
+void 
+glmc_ivec2_minadd(ivec2 a, ivec2 b, ivec2 dest);
+
+CGLM_EXPORT 
+void 
+glmc_ivec2_subsub(ivec2 a, ivec2 b, ivec2 dest);
+
+CGLM_EXPORT 
+void 
+glmc_ivec2_subsubs(ivec2 a, int s, ivec2 dest);
+
+CGLM_EXPORT 
+void 
+glmc_ivec2_addsub(ivec2 a, ivec2 b, ivec2 dest);
+
+CGLM_EXPORT 
+void 
+glmc_ivec2_addsubs(ivec2 a, int s, ivec2 dest);
+
+CGLM_EXPORT 
+void 
+glmc_ivec2_mulsub(ivec2 a, ivec2 b, ivec2 dest);
+
+CGLM_EXPORT 
+void 
+glmc_ivec2_mulsubs(ivec2 a, int s, ivec2 dest);
+
+CGLM_EXPORT 
+void 
+glmc_ivec2_maxsub(ivec2 a, ivec2 b, ivec2 dest);
+
+CGLM_EXPORT 
+void 
+glmc_ivec2_minsub(ivec2 a, ivec2 b, ivec2 dest);
+
 CGLM_EXPORT
 int
 glmc_ivec2_distance2(ivec2 a, ivec2 b);
@@ -61,6 +125,18 @@ CGLM_EXPORT
 float
 glmc_ivec2_distance(ivec2 a, ivec2 b);
 
+CGLM_EXPORT
+void
+glmc_ivec2_fill(ivec2 v, int val);
+
+CGLM_EXPORT
+bool
+glmc_ivec2_eq(ivec2 v, int val);
+
+CGLM_EXPORT
+bool
+glmc_ivec2_eqv(ivec2 a, ivec2 b);
+
 CGLM_EXPORT
 void
 glmc_ivec2_maxv(ivec2 a, ivec2 b, ivec2 dest);

include/cglm/call/ivec3.h

@@ -53,6 +53,70 @@ CGLM_EXPORT
 void
 glmc_ivec3_scale(ivec3 v, int s, ivec3 dest);
 
+CGLM_EXPORT 
+void 
+glmc_ivec3_addadd(ivec3 a, ivec3 b, ivec3 dest);
+
+CGLM_EXPORT 
+void 
+glmc_ivec3_addadds(ivec3 a, int s, ivec3 dest);
+
+CGLM_EXPORT 
+void 
+glmc_ivec3_subadd(ivec3 a, ivec3 b, ivec3 dest);
+
+CGLM_EXPORT 
+void 
+glmc_ivec3_subadds(ivec3 a, int s, ivec3 dest);
+
+CGLM_EXPORT 
+void 
+glmc_ivec3_muladd(ivec3 a, ivec3 b, ivec3 dest);
+
+CGLM_EXPORT 
+void 
+glmc_ivec3_muladds(ivec3 a, int s, ivec3 dest);
+
+CGLM_EXPORT 
+void 
+glmc_ivec3_maxadd(ivec3 a, ivec3 b, ivec3 dest);
+
+CGLM_EXPORT 
+void 
+glmc_ivec3_minadd(ivec3 a, ivec3 b, ivec3 dest);
+
+CGLM_EXPORT 
+void 
+glmc_ivec3_subsub(ivec3 a, ivec3 b, ivec3 dest);
+
+CGLM_EXPORT 
+void 
+glmc_ivec3_subsubs(ivec3 a, int s, ivec3 dest);
+
+CGLM_EXPORT 
+void 
+glmc_ivec3_addsub(ivec3 a, ivec3 b, ivec3 dest);
+
+CGLM_EXPORT 
+void 
+glmc_ivec3_addsubs(ivec3 a, int s, ivec3 dest);
+
+CGLM_EXPORT 
+void 
+glmc_ivec3_mulsub(ivec3 a, ivec3 b, ivec3 dest);
+
+CGLM_EXPORT 
+void 
+glmc_ivec3_mulsubs(ivec3 a, int s, ivec3 dest);
+
+CGLM_EXPORT 
+void 
+glmc_ivec3_maxsub(ivec3 a, ivec3 b, ivec3 dest);
+
+CGLM_EXPORT 
+void 
+glmc_ivec3_minsub(ivec3 a, ivec3 b, ivec3 dest);
+
 CGLM_EXPORT
 int
 glmc_ivec3_distance2(ivec3 a, ivec3 b);
@@ -61,6 +125,18 @@ CGLM_EXPORT
 float
 glmc_ivec3_distance(ivec3 a, ivec3 b);
 
+CGLM_EXPORT
+void
+glmc_ivec3_fill(ivec3 v, int val);
+
+CGLM_EXPORT
+bool
+glmc_ivec3_eq(ivec3 v, int val);
+
+CGLM_EXPORT
+bool
+glmc_ivec3_eqv(ivec3 a, ivec3 b);
+
 CGLM_EXPORT
 void
 glmc_ivec3_maxv(ivec3 a, ivec3 b, ivec3 dest);

include/cglm/call/ivec4.h

@@ -53,6 +53,70 @@ CGLM_EXPORT
 void
 glmc_ivec4_scale(ivec4 v, int s, ivec4 dest);
 
+CGLM_EXPORT 
+void 
+glmc_ivec4_addadd(ivec4 a, ivec4 b, ivec4 dest);
+
+CGLM_EXPORT 
+void 
+glmc_ivec4_addadds(ivec4 a, int s, ivec4 dest);
+
+CGLM_EXPORT 
+void 
+glmc_ivec4_subadd(ivec4 a, ivec4 b, ivec4 dest);
+
+CGLM_EXPORT 
+void 
+glmc_ivec4_subadds(ivec4 a, int s, ivec4 dest);
+
+CGLM_EXPORT 
+void 
+glmc_ivec4_muladd(ivec4 a, ivec4 b, ivec4 dest);
+
+CGLM_EXPORT 
+void 
+glmc_ivec4_muladds(ivec4 a, int s, ivec4 dest);
+
+CGLM_EXPORT 
+void 
+glmc_ivec4_maxadd(ivec4 a, ivec4 b, ivec4 dest);
+
+CGLM_EXPORT 
+void 
+glmc_ivec4_minadd(ivec4 a, ivec4 b, ivec4 dest);
+
+CGLM_EXPORT 
+void 
+glmc_ivec4_subsub(ivec4 a, ivec4 b, ivec4 dest);
+
+CGLM_EXPORT 
+void 
+glmc_ivec4_subsubs(ivec4 a, int s, ivec4 dest);
+
+CGLM_EXPORT 
+void 
+glmc_ivec4_addsub(ivec4 a, ivec4 b, ivec4 dest);
+
+CGLM_EXPORT 
+void 
+glmc_ivec4_addsubs(ivec4 a, int s, ivec4 dest);
+
+CGLM_EXPORT 
+void 
+glmc_ivec4_mulsub(ivec4 a, ivec4 b, ivec4 dest);
+
+CGLM_EXPORT 
+void 
+glmc_ivec4_mulsubs(ivec4 a, int s, ivec4 dest);
+
+CGLM_EXPORT 
+void 
+glmc_ivec4_maxsub(ivec4 a, ivec4 b, ivec4 dest);
+
+CGLM_EXPORT 
+void 
+glmc_ivec4_minsub(ivec4 a, ivec4 b, ivec4 dest);
+
 CGLM_EXPORT
 int
 glmc_ivec4_distance2(ivec4 a, ivec4 b);

include/cglm/call/vec2.h

@@ -105,6 +105,30 @@ CGLM_EXPORT
 void
 glmc_vec2_minadd(vec2 a, vec2 b, vec2 dest);
 
+CGLM_EXPORT
+void
+glmc_vec2_subsub(vec2 a, vec2 b, vec2 dest);
+
+CGLM_EXPORT
+void
+glmc_vec2_addsub(vec2 a, vec2 b, vec2 dest);
+
+CGLM_EXPORT
+void
+glmc_vec2_mulsub(vec2 a, vec2 b, vec2 dest);
+
+CGLM_EXPORT
+void
+glmc_vec2_mulsubs(vec2 a, float s, vec2 dest);
+
+CGLM_EXPORT
+void
+glmc_vec2_maxsub(vec2 a, vec2 b, vec2 dest);
+
+CGLM_EXPORT
+void
+glmc_vec2_minsub(vec2 a, vec2 b, vec2 dest);
+
 CGLM_EXPORT
 void
 glmc_vec2_negate_to(vec2 v, vec2 dest);
@@ -125,6 +149,10 @@ CGLM_EXPORT
 void
 glmc_vec2_rotate(vec2 v, float angle, vec2 dest);
 
+CGLM_EXPORT
+void
+glmc_vec2_center(vec2 a, vec2 b, vec2 dest);
+
 CGLM_EXPORT
 float
 glmc_vec2_distance2(vec2 a, vec2 b);

include/cglm/call/vec3.h

@@ -132,6 +132,30 @@ CGLM_EXPORT
 void
 glmc_vec3_minadd(vec3 a, vec3 b, vec3 dest);
 
+CGLM_EXPORT
+void
+glmc_vec3_subsub(vec3 a, vec3 b, vec3 dest);
+
+CGLM_EXPORT
+void
+glmc_vec3_addsub(vec3 a, vec3 b, vec3 dest);
+
+CGLM_EXPORT
+void
+glmc_vec3_mulsub(vec3 a, vec3 b, vec3 dest);
+
+CGLM_EXPORT
+void
+glmc_vec3_mulsubs(vec3 a, float s, vec3 dest);
+
+CGLM_EXPORT
+void
+glmc_vec3_maxsub(vec3 a, vec3 b, vec3 dest);
+
+CGLM_EXPORT
+void
+glmc_vec3_minsub(vec3 a, vec3 b, vec3 dest);
+
 CGLM_EXPORT
 void
 glmc_vec3_negate(vec3 v);

include/cglm/call/vec4.h

@@ -133,6 +133,30 @@ CGLM_EXPORT
 void
 glmc_vec4_minadd(vec4 a, vec4 b, vec4 dest);
 
+CGLM_EXPORT
+void
+glmc_vec4_subsub(vec4 a, vec4 b, vec4 dest);
+
+CGLM_EXPORT
+void
+glmc_vec4_addsub(vec4 a, vec4 b, vec4 dest);
+
+CGLM_EXPORT
+void
+glmc_vec4_mulsub(vec4 a, vec4 b, vec4 dest);
+
+CGLM_EXPORT
+void
+glmc_vec4_mulsubs(vec4 a, float s, vec4 dest);
+
+CGLM_EXPORT
+void
+glmc_vec4_maxsub(vec4 a, vec4 b, vec4 dest);
+
+CGLM_EXPORT
+void
+glmc_vec4_minsub(vec4 a, vec4 b, vec4 dest);
+
 CGLM_EXPORT
 void
 glmc_vec4_negate(vec4 v);

include/cglm/cglm.h

@@ -30,6 +30,7 @@
 #include "quat.h"
 #include "euler.h"
 #include "plane.h"
+#include "aabb2d.h"
 #include "box.h"
 #include "color.h"
 #include "util.h"

include/cglm/euler.h

@@ -30,6 +30,12 @@
    CGLM_INLINE void glm_euler_by_order(vec3         angles,
                                        glm_euler_seq ord,
                                        mat4         dest);
+   CGLM_INLINE void glm_euler_xyz_quat(vec3 angles, versor dest);
+   CGLM_INLINE void glm_euler_xzy_quat(vec3 angles, versor dest);
+   CGLM_INLINE void glm_euler_yxz_quat(vec3 angles, versor dest);
+   CGLM_INLINE void glm_euler_yzx_quat(vec3 angles, versor dest);
+   CGLM_INLINE void glm_euler_zxy_quat(vec3 angles, versor dest);
+   CGLM_INLINE void glm_euler_zyx_quat(vec3 angles, versor dest);
  */
 
 #ifndef cglm_euler_h
@@ -37,6 +43,47 @@
 
 #include "common.h"
 
+#ifdef CGLM_FORCE_LEFT_HANDED
+#  include "handed/euler_to_quat_lh.h"
+#else
+#  include "handed/euler_to_quat_rh.h"
+#endif
+
+
+#ifndef CGLM_CLIPSPACE_INCLUDE_ALL
+#  if CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_ZO
+#    include "clipspace/ortho_lh_zo.h"
+#    include "clipspace/persp_lh_zo.h"
+#    include "clipspace/view_lh_zo.h"
+#  elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_NO
+#    include "clipspace/ortho_lh_no.h"
+#    include "clipspace/persp_lh_no.h"
+#    include "clipspace/view_lh_no.h"
+#  elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_ZO
+#    include "clipspace/ortho_rh_zo.h"
+#    include "clipspace/persp_rh_zo.h"
+#    include "clipspace/view_rh_zo.h"
+#  elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_NO
+#    include "clipspace/ortho_rh_no.h"
+#    include "clipspace/persp_rh_no.h"
+#    include "clipspace/view_rh_no.h"
+#  endif
+#else
+#  include "clipspace/ortho_lh_zo.h"
+#  include "clipspace/persp_lh_zo.h"
+#  include "clipspace/ortho_lh_no.h"
+#  include "clipspace/persp_lh_no.h"
+#  include "clipspace/ortho_rh_zo.h"
+#  include "clipspace/persp_rh_zo.h"
+#  include "clipspace/ortho_rh_no.h"
+#  include "clipspace/persp_rh_no.h"
+#  include "clipspace/view_lh_zo.h"
+#  include "clipspace/view_lh_no.h"
+#  include "clipspace/view_rh_zo.h"
+#  include "clipspace/view_rh_no.h"
+#endif
+
+
 /*!
  * if you have axis order like vec3 orderVec = [0, 1, 2] or [0, 2, 1]...
  * vector then you can convert it to this enum by doing this:
@@ -188,7 +235,6 @@ glm_euler_xzy(vec3 angles, mat4 dest) {
   dest[3][3] =  1.0f;
 }
 
-
 /*!
  * @brief build rotation matrix from euler angles
  *
@@ -448,4 +494,108 @@ glm_euler_by_order(vec3 angles, glm_euler_seq ord, mat4 dest) {
   dest[3][3] = 1.0f;
 }
 
+
+/*!
+ * @brief creates NEW quaternion using rotation angles and does
+ *        rotations in x y z order (roll pitch yaw)
+ * 
+ * @param[in]   angles angles x y z (radians)
+ * @param[out]  dest   quaternion
+ */
+CGLM_INLINE
+void
+glm_euler_xyz_quat(vec3 angles, versor dest) {
+#ifdef CGLM_FORCE_LEFT_HANDED
+  glm_euler_xyz_quat_lh(angles, dest);
+#else
+  glm_euler_xyz_quat_rh(angles, dest);
+#endif
+}
+
+/*!
+ * @brief creates NEW quaternion using rotation angles and does
+ *        rotations in x z y order (roll yaw pitch)
+ * 
+ * @param[in]   angles angles x y z (radians)
+ * @param[out]  dest   quaternion
+ */
+CGLM_INLINE
+void
+glm_euler_xzy_quat(vec3 angles, versor dest) {
+#ifdef CGLM_FORCE_LEFT_HANDED
+  glm_euler_xzy_quat_lh(angles, dest);
+#else
+  glm_euler_xzy_quat_rh(angles, dest);
+#endif
+}
+
+/*!
+ * @brief creates NEW quaternion using rotation angles and does
+ *        rotations in y x z order (pitch roll yaw)
+ * 
+ * @param[in]   angles angles x y z (radians)
+ * @param[out]  dest   quaternion
+ */
+CGLM_INLINE
+void
+glm_euler_yxz_quat(vec3 angles, versor dest) {
+#ifdef CGLM_FORCE_LEFT_HANDED
+  glm_euler_yxz_quat_lh(angles, dest);
+#else
+  glm_euler_yxz_quat_rh(angles, dest);
+#endif
+}
+
+/*!
+ * @brief creates NEW quaternion using rotation angles and does
+ *        rotations in y z x order (pitch yaw roll)
+ * 
+ * @param[in]   angles angles x y z (radians)
+ * @param[out]  dest   quaternion
+ */
+CGLM_INLINE
+void
+glm_euler_yzx_quat(vec3 angles, versor dest) {
+#ifdef CGLM_FORCE_LEFT_HANDED
+  glm_euler_yzx_quat_lh(angles, dest);
+#else
+  glm_euler_yzx_quat_rh(angles, dest);
+#endif
+}
+
+/*!
+ * @brief creates NEW quaternion using rotation angles and does
+ *        rotations in z x y order (yaw roll pitch)
+ * 
+ * @param[in]   angles angles x y z (radians)
+ * @param[out]  dest   quaternion
+ */
+CGLM_INLINE
+void
+glm_euler_zxy_quat(vec3 angles, versor dest) {
+#ifdef CGLM_FORCE_LEFT_HANDED
+  glm_euler_zxy_quat_lh(angles, dest);
+#else
+  glm_euler_zxy_quat_rh(angles, dest);
+#endif
+}
+
+/*!
+ * @brief creates NEW quaternion using rotation angles and does
+ *        rotations in z y x order (yaw pitch roll)
+ * 
+ * @param[in]   angles angles x y z (radians)
+ * @param[out]  dest   quaternion
+ */
+CGLM_INLINE
+void
+glm_euler_zyx_quat(vec3 angles, versor dest) {
+#ifdef CGLM_FORCE_LEFT_HANDED
+  glm_euler_zyx_quat_lh(angles, dest);
+#else
+  glm_euler_zyx_quat_rh(angles, dest);
+#endif
+}
+
+
 #endif /* cglm_euler_h */

include/cglm/handed/euler_to_quat_lh.h

@@ -0,0 +1,167 @@
+/*
+ * 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_euler_xyz_quat_lh(vec3 angles, versor dest);
+   CGLM_INLINE void glm_euler_xzy_quat_lh(vec3 angles, versor dest);
+   CGLM_INLINE void glm_euler_yxz_quat_lh(vec3 angles, versor dest);
+   CGLM_INLINE void glm_euler_yzx_quat_lh(vec3 angles, versor dest);
+   CGLM_INLINE void glm_euler_zxy_quat_lh(vec3 angles, versor dest);
+   CGLM_INLINE void glm_euler_zyx_quat_lh(vec3 angles, versor dest);
+ */
+
+/*
+ Things to note:
+ The only difference between euler to quat rh vs lh is that the zsin part is negative
+ */
+
+#ifndef cglm_euler_to_quat_lh_h
+#define cglm_euler_to_quat_lh_h
+
+#include "../common.h"
+
+
+/*!
+ * @brief creates NEW quaternion using rotation angles and does
+ *        rotations in x y z order in left hand (roll pitch yaw)
+ * 
+ * @param[in]   angles angles x y z (radians)
+ * @param[out]  dest   quaternion
+ */
+CGLM_INLINE
+void
+glm_euler_xyz_quat_lh(vec3 angles, versor dest) {
+  float xc, yc, zc,
+        xs, ys, zs;
+
+  xs =  sinf(angles[0] * 0.5f); xc = cosf(angles[0] * 0.5f);
+  ys =  sinf(angles[1] * 0.5f); yc = cosf(angles[1] * 0.5f);
+  zs = -sinf(angles[2] * 0.5f); zc = cosf(angles[2] * 0.5f);
+
+  dest[0] = xc * ys * zs + xs * yc * zc;
+  dest[1] = xc * ys * zc - xs * yc * zs;
+  dest[2] = xc * yc * zs + xs * ys * zc;
+  dest[3] = xc * yc * zc - xs * ys * zs;
+}
+
+/*!
+ * @brief creates NEW quaternion using rotation angles and does
+ *        rotations in x z y order in left hand (roll yaw pitch)
+ * 
+ * @param[in]   angles angles x y z (radians)
+ * @param[out]  dest   quaternion
+ */
+CGLM_INLINE
+void
+glm_euler_xzy_quat_lh(vec3 angles, versor dest) {
+  float xc, yc, zc,
+        xs, ys, zs;
+
+  xs =  sinf(angles[0] * 0.5f); xc = cosf(angles[0] * 0.5f);
+  ys =  sinf(angles[1] * 0.5f); yc = cosf(angles[1] * 0.5f);
+  zs = -sinf(angles[2] * 0.5f); zc = cosf(angles[2] * 0.5f);
+
+  dest[0] = -xc * zs * ys + xs * zc * yc;
+  dest[1] =  xc * zc * ys - xs * zs * yc;
+  dest[2] =  xc * zs * yc + xs * zc * ys;
+  dest[3] =  xc * zc * yc + xs * zs * ys;  
+}
+
+/*!
+ * @brief creates NEW quaternion using rotation angles and does
+ *        rotations in y x z order in left hand (pitch roll yaw)
+ * 
+ * @param[in]   angles angles x y z (radians)
+ * @param[out]  dest   quaternion
+ */
+CGLM_INLINE
+void
+glm_euler_yxz_quat_lh(vec3 angles, versor dest) {
+  float xc, yc, zc,
+        xs, ys, zs;
+
+  xs =  sinf(angles[0] * 0.5f); xc = cosf(angles[0] * 0.5f);
+  ys =  sinf(angles[1] * 0.5f); yc = cosf(angles[1] * 0.5f);
+  zs = -sinf(angles[2] * 0.5f); zc = cosf(angles[2] * 0.5f);
+
+  dest[0] =  yc * xs * zc + ys * xc * zs;
+  dest[1] = -yc * xs * zs + ys * xc * zc;
+  dest[2] =  yc * xc * zs - ys * xs * zc;
+  dest[3] =  yc * xc * zc + ys * xs * zs;
+}
+
+/*!
+ * @brief creates NEW quaternion using rotation angles and does
+ *        rotations in y z x order in left hand (pitch yaw roll)
+ * 
+ * @param[in]   angles angles x y z (radians)
+ * @param[out]  dest   quaternion
+ */
+CGLM_INLINE
+void
+glm_euler_yzx_quat_lh(vec3 angles, versor dest) {
+  float xc, yc, zc,
+        xs, ys, zs;
+
+  xs =  sinf(angles[0] * 0.5f); xc = cosf(angles[0] * 0.5f);
+  ys =  sinf(angles[1] * 0.5f); yc = cosf(angles[1] * 0.5f);
+  zs = -sinf(angles[2] * 0.5f); zc = cosf(angles[2] * 0.5f);
+
+  dest[0] = yc * zc * xs + ys * zs * xc;
+  dest[1] = yc * zs * xs + ys * zc * xc;
+  dest[2] = yc * zs * xc - ys * zc * xs;
+  dest[3] = yc * zc * xc - ys * zs * xs;
+}
+
+/*!
+ * @brief creates NEW quaternion using rotation angles and does
+ *        rotations in z x y order in left hand (yaw roll pitch)
+ * 
+ * @param[in]   angles angles x y z (radians)
+ * @param[out]  dest   quaternion
+ */
+CGLM_INLINE
+void
+glm_euler_zxy_quat_lh(vec3 angles, versor dest) {
+  float xc, yc, zc,
+        xs, ys, zs;
+
+  xs =  sinf(angles[0] * 0.5f); xc = cosf(angles[0] * 0.5f);
+  ys =  sinf(angles[1] * 0.5f); yc = cosf(angles[1] * 0.5f);
+  zs = -sinf(angles[2] * 0.5f); zc = cosf(angles[2] * 0.5f);
+
+  dest[0] = zc * xs * yc - zs * xc * ys;
+  dest[1] = zc * xc * ys + zs * xs * yc;
+  dest[2] = zc * xs * ys + zs * xc * yc;
+  dest[3] = zc * xc * yc - zs * xs * ys;
+}
+
+/*!
+ * @brief creates NEW quaternion using rotation angles and does
+ *        rotations in z y x order in left hand (yaw pitch roll)
+ * 
+ * @param[in]   angles angles x y z (radians)
+ * @param[out]  dest   quaternion
+ */
+CGLM_INLINE
+void
+glm_euler_zyx_quat_lh(vec3 angles, versor dest) {
+  float xc, yc, zc,
+        xs, ys, zs;
+
+  xs =  sinf(angles[0] * 0.5f); xc = cosf(angles[0] * 0.5f);
+  ys =  sinf(angles[1] * 0.5f); yc = cosf(angles[1] * 0.5f);
+  zs = -sinf(angles[2] * 0.5f); zc = cosf(angles[2] * 0.5f);
+
+  dest[0] =  zc * yc * xs - zs * ys * xc;
+  dest[1] =  zc * ys * xc + zs * yc * xs;
+  dest[2] = -zc * ys * xs + zs * yc * xc;
+  dest[3] =  zc * yc * xc + zs * ys * xs;
+}
+
+#endif /*cglm_euler_to_quat_lh_h*/

include/cglm/handed/euler_to_quat_rh.h

@@ -0,0 +1,170 @@
+/*
+ * 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_euler_xyz_quat_rh(vec3 angles, versor dest);
+   CGLM_INLINE void glm_euler_xzy_quat_rh(vec3 angles, versor dest);
+   CGLM_INLINE void glm_euler_yxz_quat_rh(vec3 angles, versor dest);
+   CGLM_INLINE void glm_euler_yzx_quat_rh(vec3 angles, versor dest);
+   CGLM_INLINE void glm_euler_zxy_quat_rh(vec3 angles, versor dest);
+   CGLM_INLINE void glm_euler_zyx_quat_rh(vec3 angles, versor dest);
+ */
+
+/*
+ Things to note:
+ The only difference between euler to quat rh vs lh is that the zsin part is negative
+ */
+
+#ifndef cglm_euler_to_quat_rh_h
+#define cglm_euler_to_quat_rh_h
+
+#include "../common.h"
+
+/*!
+ * @brief creates NEW quaternion using rotation angles and does
+ *        rotations in x y z order in right hand (roll pitch yaw)
+ * 
+ * @param[in]   angles angles x y z (radians)
+ * @param[out]  dest   quaternion
+ */
+CGLM_INLINE
+void
+glm_euler_xyz_quat_rh(vec3 angles, versor dest) {
+  float xc, yc, zc,
+        xs, ys, zs;
+
+  xs = sinf(angles[0] * 0.5f); xc = cosf(angles[0] * 0.5f);
+  ys = sinf(angles[1] * 0.5f); yc = cosf(angles[1] * 0.5f);
+  zs = sinf(angles[2] * 0.5f); zc = cosf(angles[2] * 0.5f);
+
+  dest[0] = xc * ys * zs + xs * yc * zc;
+  dest[1] = xc * ys * zc - xs * yc * zs;
+  dest[2] = xc * yc * zs + xs * ys * zc;
+  dest[3] = xc * yc * zc - xs * ys * zs;
+
+}
+
+/*!
+ * @brief creates NEW quaternion using rotation angles and does
+ *        rotations in x z y order in right hand (roll yaw pitch)
+ * 
+ * @param[in]   angles angles x y z (radians)
+ * @param[out]  dest   quaternion
+ */
+CGLM_INLINE
+void
+glm_euler_xzy_quat_rh(vec3 angles, versor dest) {
+  float xc, yc, zc,
+        xs, ys, zs;
+
+  xs = sinf(angles[0] * 0.5f); xc = cosf(angles[0] * 0.5f);
+  ys = sinf(angles[1] * 0.5f); yc = cosf(angles[1] * 0.5f);
+  zs = sinf(angles[2] * 0.5f); zc = cosf(angles[2] * 0.5f);
+
+  dest[0] = -xc * zs * ys + xs * zc * yc;
+  dest[1] =  xc * zc * ys - xs * zs * yc;
+  dest[2] =  xc * zs * yc + xs * zc * ys;
+  dest[3] =  xc * zc * yc + xs * zs * ys;  
+
+}
+
+/*!
+ * @brief creates NEW quaternion using rotation angles and does
+ *        rotations in y x z order in right hand (pitch roll yaw)
+ * 
+ * @param[in]   angles angles x y z (radians)
+ * @param[out]  dest   quaternion
+ */
+CGLM_INLINE
+void
+glm_euler_yxz_quat_rh(vec3 angles, versor dest) {
+  float xc, yc, zc,
+        xs, ys, zs;
+
+  xs = sinf(angles[0] * 0.5f); xc = cosf(angles[0] * 0.5f);
+  ys = sinf(angles[1] * 0.5f); yc = cosf(angles[1] * 0.5f);
+  zs = sinf(angles[2] * 0.5f); zc = cosf(angles[2] * 0.5f);
+
+  dest[0] =  yc * xs * zc + ys * xc * zs;
+  dest[1] = -yc * xs * zs + ys * xc * zc;
+  dest[2] =  yc * xc * zs - ys * xs * zc;
+  dest[3] =  yc * xc * zc + ys * xs * zs;
+}
+
+/*!
+ * @brief creates NEW quaternion using rotation angles and does
+ *        rotations in y z x order in right hand (pitch yaw roll)
+ * 
+ * @param[in]   angles angles x y z (radians)
+ * @param[out]  dest   quaternion
+ */
+CGLM_INLINE
+void
+glm_euler_yzx_quat_rh(vec3 angles, versor dest) {
+  float xc, yc, zc,
+        xs, ys, zs;
+
+  xs = sinf(angles[0] * 0.5f); xc = cosf(angles[0] * 0.5f);
+  ys = sinf(angles[1] * 0.5f); yc = cosf(angles[1] * 0.5f);
+  zs = sinf(angles[2] * 0.5f); zc = cosf(angles[2] * 0.5f);
+
+  dest[0] = yc * zc * xs + ys * zs * xc;
+  dest[1] = yc * zs * xs + ys * zc * xc;
+  dest[2] = yc * zs * xc - ys * zc * xs;
+  dest[3] = yc * zc * xc - ys * zs * xs;
+
+}
+
+/*!
+ * @brief creates NEW quaternion using rotation angles and does
+ *        rotations in z x y order in right hand (yaw roll pitch)
+ * 
+ * @param[in]   angles angles x y z (radians)
+ * @param[out]  dest   quaternion
+ */
+CGLM_INLINE
+void
+glm_euler_zxy_quat_rh(vec3 angles, versor dest) {
+  float xc, yc, zc,
+        xs, ys, zs;
+
+  xs = sinf(angles[0] * 0.5f); xc = cosf(angles[0] * 0.5f);
+  ys = sinf(angles[1] * 0.5f); yc = cosf(angles[1] * 0.5f);
+  zs = sinf(angles[2] * 0.5f); zc = cosf(angles[2] * 0.5f);
+
+  dest[0] = zc * xs * yc - zs * xc * ys;
+  dest[1] = zc * xc * ys + zs * xs * yc;
+  dest[2] = zc * xs * ys + zs * xc * yc;
+  dest[3] = zc * xc * yc - zs * xs * ys;
+}
+
+/*!
+ * @brief creates NEW quaternion using rotation angles and does
+ *        rotations in z y x order in right hand (yaw pitch roll)
+ * 
+ * @param[in]   angles angles x y z (radians)
+ * @param[out]  dest   quaternion
+ */
+CGLM_INLINE
+void
+glm_euler_zyx_quat_rh(vec3 angles, versor dest) {
+  float xc, yc, zc,
+        xs, ys, zs;
+
+  xs = sinf(angles[0] * 0.5f); xc = cosf(angles[0] * 0.5f);
+  ys = sinf(angles[1] * 0.5f); yc = cosf(angles[1] * 0.5f);
+  zs = sinf(angles[2] * 0.5f); zc = cosf(angles[2] * 0.5f);
+
+  dest[0] =  zc * yc * xs - zs * ys * xc;
+  dest[1] =  zc * ys * xc + zs * yc * xs;
+  dest[2] = -zc * ys * xs + zs * yc * xc;
+  dest[3] =  zc * yc * xc + zs * ys * xs;
+}
+
+
+#endif /*cglm_euler_to_quat_rh_h*/

include/cglm/io.h

@@ -10,8 +10,11 @@
    CGLM_INLINE void glm_mat4_print(mat4 matrix, FILE *ostream);
    CGLM_INLINE void glm_mat3_print(mat3 matrix, FILE *ostream);
    CGLM_INLINE void glm_vec4_print(vec4 vec, FILE *ostream);
+   CGLM_INLINE void glm_ivec4_print(ivec4 vec, FILE *ostream);
    CGLM_INLINE void glm_vec3_print(vec3 vec, FILE *ostream);
    CGLM_INLINE void glm_ivec3_print(ivec3 vec, FILE *ostream);
+   CGLM_INLINE void glm_vec2_print(vec2 vec, FILE *ostream);
+   CGLM_INLINE void glm_ivec2_print(ivec2 vec, FILE *ostream);
    CGLM_INLINE void glm_versor_print(versor vec, FILE *ostream);
    CGLM_INLINE void glm_arch_print(FILE *ostream);
  */
@@ -261,6 +264,24 @@ glm_vec4_print(vec4              vec,
 #undef m
 }
 
+CGLM_INLINE
+void
+glm_ivec4_print(ivec4             vec,
+                FILE * __restrict ostream) {
+  int i;
+
+#define m 4
+
+  fprintf(ostream, "Vector (int%d): " CGLM_PRINT_COLOR "\n  (", m);
+
+  for (i = 0; i < m; i++)
+    fprintf(ostream, " % d", vec[i]);
+
+  fprintf(ostream, "  )" CGLM_PRINT_COLOR_RESET "\n\n");
+
+#undef m
+}
+
 CGLM_INLINE
 void
 glm_vec3_print(vec3              vec,
@@ -323,6 +344,24 @@ glm_vec2_print(vec2              vec,
 #undef m
 }
 
+CGLM_INLINE
+void
+glm_ivec2_print(ivec2             vec,
+                FILE * __restrict ostream) {
+  int i;
+
+#define m 2
+
+  fprintf(ostream, "Vector (int%d): " CGLM_PRINT_COLOR "\n  (", m);
+
+  for (i = 0; i < m; i++)
+    fprintf(ostream, " % d", vec[i]);
+
+  fprintf(ostream, "  )" CGLM_PRINT_COLOR_RESET "\n\n");
+
+#undef m
+}
+
 CGLM_INLINE
 void
 glm_versor_print(versor            vec,
@@ -387,9 +426,11 @@ glm_aabb_print(vec3                    bbox[2],
 #define glm_mat3_print(v, s) (void)v; (void)s;
 #define glm_mat2_print(v, s) (void)v; (void)s;
 #define glm_vec4_print(v, s) (void)v; (void)s;
+#define glm_ivec4_print(v, s) (void)v; (void)s;
 #define glm_vec3_print(v, s) (void)v; (void)s;
 #define glm_ivec3_print(v, s) (void)v; (void)s;
 #define glm_vec2_print(v, s) (void)v; (void)s;
+#define glm_ivec2_print(v, s) (void)v; (void)s;
 #define glm_versor_print(v, s) (void)v; (void)s;
 #define glm_aabb_print(v, t, s) (void)v; (void)t; (void)s;
 #define glm_arch_print(s) (void)s;

include/cglm/ivec2.h

@@ -23,8 +23,27 @@
   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 void glm_ivec2_addadd(ivec2 a, ivec2 b, ivec2 dest)
+  CGLM_INLINE void glm_ivec2_addadds(ivec2 a, int s, ivec2 dest)
+  CGLM_INLINE void glm_ivec2_subadd(ivec2 a, ivec2 b, ivec2 dest)
+  CGLM_INLINE void glm_ivec2_subadds(ivec2 a, int s, ivec2 dest)
+  CGLM_INLINE void glm_ivec2_muladd(ivec2 a, ivec2 b, ivec2 dest)
+  CGLM_INLINE void glm_ivec2_muladds(ivec2 a, int s, ivec2 dest)
+  CGLM_INLINE void glm_ivec2_maxadd(ivec2 a, ivec2 b, ivec2 dest)
+  CGLM_INLINE void glm_ivec2_minadd(ivec2 a, ivec2 b, ivec2 dest)
+  CGLM_INLINE void glm_ivec2_subsub(ivec2 a, ivec2 b, ivec2 dest)
+  CGLM_INLINE void glm_ivec2_subsubs(ivec2 a, int s, ivec2 dest)
+  CGLM_INLINE void glm_ivec2_addsub(ivec2 a, ivec2 b, ivec2 dest)
+  CGLM_INLINE void glm_ivec2_addsubs(ivec2 a, int s, ivec2 dest)
+  CGLM_INLINE void glm_ivec2_mulsub(ivec2 a, ivec2 b, ivec2 dest)
+  CGLM_INLINE void glm_ivec2_mulsubs(ivec2 a, int s, ivec2 dest)
+  CGLM_INLINE void glm_ivec2_maxsub(ivec2 a, ivec2 b, ivec2 dest)
+  CGLM_INLINE void glm_ivec2_minsub(ivec2 a, ivec2 b, 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_fill(ivec2 v, int val);
+  CGLM_INLINE bool glm_ivec2_eq(ivec2 v, int val);
+  CGLM_INLINE bool glm_ivec2_eqv(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)
@@ -35,6 +54,7 @@
 #define cglm_ivec2_h
 
 #include "common.h"
+#include "util.h"
 
 #define GLM_IVEC2_ONE_INIT   {1, 1}
 #define GLM_IVEC2_ZERO_INIT  {0, 0}
@@ -174,6 +194,262 @@ glm_ivec2_scale(ivec2 v, int s, ivec2 dest) {
   dest[1] = v[1] * s;
 }
 
+/*!
+ * @brief add vector [a] with vector [b] and add result to vector [dest]
+ *
+ * applies += operator so dest must be initialized
+ *
+ * @param[in]  a    first vector
+ * @param[in]  b    second vector
+ * @param[out] dest dest += (a + b)
+ */
+CGLM_INLINE 
+void 
+glm_ivec2_addadd(ivec2 a, ivec2 b, ivec2 dest) {
+  dest[0] += a[0] + b[0];
+  dest[1] += a[1] + b[1];
+}
+
+/*!
+ * @brief add scalar [s] onto vector [a] and add result to vector [dest]
+ *
+ * applies += operator so dest must be initialized
+ *
+ * @param[in]  a    vector
+ * @param[in]  s    scalar
+ * @param[out] dest dest += (a + s)
+ */
+CGLM_INLINE 
+void 
+glm_ivec2_addadds(ivec2 a, int s, ivec2 dest) {
+  dest[0] += a[0] + s;
+  dest[1] += a[1] + s;
+}
+
+/*!
+ * @brief subtract vector [a] from vector [b] and add result to [dest]
+ *
+ * applies += operator so dest must be initialized
+ *
+ * @param[in]  a    first vector
+ * @param[in]  b    second vector
+ * @param[out] dest dest += (a - b)  
+ */
+CGLM_INLINE 
+void 
+glm_ivec2_subadd(ivec2 a, ivec2 b, ivec2 dest) {
+  dest[0] += a[0] - b[0];
+  dest[1] += a[1] - b[1];
+}
+
+/*!
+ * @brief subtract scalar [s] from vector [a] and add result to [dest]
+ *
+ * applies += operator so dest must be initialized
+ *
+ * @param[in]  a    first
+ * @param[in]  s    scalar
+ * @param[out] dest dest += (a - s)
+ */
+CGLM_INLINE 
+void 
+glm_ivec2_subadds(ivec2 a, int s, ivec2 dest) {
+  dest[0] += a[0] - s;
+  dest[1] += a[1] - s;
+}
+
+/*!
+ * @brief multiply vector [a] with vector [b] and add result to [dest]
+ *
+ * applies += operator so dest must be initialized
+ *
+ * @param[in]  a    first vector
+ * @param[in]  b    second vector
+ * @param[out] dest dest += (a * b)
+ */
+CGLM_INLINE 
+void 
+glm_ivec2_muladd(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 add result to [dest]
+ *
+ * applies += operator so dest must be initialized
+ *
+ * @param[in]  a    vector
+ * @param[in]  s    scalar
+ * @param[out] dest dest += (a * s)
+ */
+CGLM_INLINE 
+void 
+glm_ivec2_muladds(ivec2 a, int s, ivec2 dest) {
+  dest[0] += a[0] * s;
+  dest[1] += a[1] * s;
+}
+
+/*!
+ * @brief add maximum of vector [a] and vector [b] to vector [dest]
+ *
+ * applies += operator so dest must be initialized
+ *
+ * @param[in]  a    first vector
+ * @param[in]  b    second vector
+ * @param[out] dest dest += max(a, b)
+ */
+CGLM_INLINE 
+void 
+glm_ivec2_maxadd(ivec2 a, ivec2 b, ivec2 dest) {
+  dest[0] += glm_imax(a[0], b[0]);
+  dest[1] += glm_imax(a[1], b[1]);
+}
+
+/*!
+ * @brief add minimum of vector [a] and vector [b] to vector [dest]
+ *
+ * applies += operator so dest must be initialized
+ *
+ * @param[in]  a    first vector
+ * @param[in]  b    second vector
+ * @param[out] dest dest += min(a, b)
+ */
+CGLM_INLINE 
+void 
+glm_ivec2_minadd(ivec2 a, ivec2 b, ivec2 dest) {
+  dest[0] += glm_imin(a[0], b[0]);
+  dest[1] += glm_imin(a[1], b[1]);
+}
+
+/*!
+ * @brief subtract vector [a] from vector [b] and subtract result from [dest]
+ *
+ * applies -= operator so dest must be initialized
+ *
+ * @param[in]  a    first vector
+ * @param[in]  b    second vector
+ * @param[out] dest dest -= (a - b)
+ */
+CGLM_INLINE 
+void 
+glm_ivec2_subsub(ivec2 a, ivec2 b, ivec2 dest) {
+  dest[0] -= a[0] - b[0];
+  dest[1] -= a[1] - b[1];
+}
+
+/*!
+ * @brief subtract scalar [s] from vector [a] and subtract result from [dest]
+ *
+ * applies -= operator so dest must be initialized
+ *
+ * @param[in]  a    vector
+ * @param[in]  s    scalar
+ * @param[out] dest dest -= (a - s)
+ */
+CGLM_INLINE 
+void 
+glm_ivec2_subsubs(ivec2 a, int s, ivec2 dest) {
+  dest[0] -= a[0] - s;
+  dest[1] -= a[1] - s;
+}
+
+/*!
+ * @brief add vector [a] to vector [b] and subtract the result from [dest]
+ *
+ * applies -= operator so dest must be initialized
+ *
+ * @param[in]  a    vector
+ * @param[in]  b    scalar
+ * @param[out] dest dest -= (a + b)
+ */
+CGLM_INLINE 
+void 
+glm_ivec2_addsub(ivec2 a, ivec2 b, ivec2 dest) {
+  dest[0] -= a[0] + b[0];
+  dest[1] -= a[1] + b[1];
+}
+
+/*!
+ * @brief add scalar [s] to vector [a] and subtract the result from [dest]
+ *
+ * applies -= operator so dest must be initialized
+ *
+ * @param[in]  a    vector
+ * @param[in]  s    scalar
+ * @param[out] dest dest -= (a + b)
+ */
+CGLM_INLINE 
+void 
+glm_ivec2_addsubs(ivec2 a, int s, ivec2 dest) {
+  dest[0] -= a[0] + s;
+  dest[1] -= a[1] + s;
+}
+
+/*!
+ * @brief multiply vector [a] and vector [b] and subtract the result from [dest]
+ *
+ * applies -= operator so dest must be initialized
+ *
+ * @param[in]  a    vector
+ * @param[in]  b    scalar
+ * @param[out] dest dest -= (a * b)
+ */
+CGLM_INLINE 
+void 
+glm_ivec2_mulsub(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 subtract the result from [dest]
+ *
+ * applies -= operator so dest must be initialized
+ *
+ * @param[in]  a    vector
+ * @param[in]  s    scalar
+ * @param[out] dest dest -= (a * s)
+ */
+CGLM_INLINE 
+void 
+glm_ivec2_mulsubs(ivec2 a, int s, ivec2 dest) {
+  dest[0] -= a[0] * s;
+  dest[1] -= a[1] * s;
+}
+
+/*!
+ * @brief subtract maximum of vector [a] and vector [b] from vector [dest]
+ *
+ * applies += operator so dest must be initialized
+ *
+ * @param[in]  a    first vector
+ * @param[in]  b    second vector
+ * @param[out] dest dest -= max(a, b)
+ */
+CGLM_INLINE 
+void 
+glm_ivec2_maxsub(ivec2 a, ivec2 b, ivec2 dest) {
+  dest[0] -= glm_imax(a[0], b[0]);
+  dest[1] -= glm_imax(a[1], b[1]);
+}
+
+/*!
+ * @brief subtract minimum of vector [a] and vector [b] from vector [dest]
+ *
+ * applies -= operator so dest must be initialized
+ *
+ * @param[in]  a    first vector
+ * @param[in]  b    second vector
+ * @param[out] dest dest -= min(a, b)
+ */
+CGLM_INLINE 
+void 
+glm_ivec2_minsub(ivec2 a, ivec2 b, ivec2 dest) {
+  dest[0] -= glm_imin(a[0], b[0]);
+  dest[1] -= glm_imin(a[1], b[1]);
+}
+
 /*!
  * @brief squared distance between two vectors
  *
@@ -203,6 +479,44 @@ glm_ivec2_distance(ivec2 a, ivec2 b) {
   return sqrtf((float)glm_ivec2_distance2(a, b));
 }
 
+
+/*!
+ * @brief fill a vector with specified value
+ *
+ * @param[out] v   dest
+ * @param[in]  val value
+ */
+CGLM_INLINE
+void
+glm_ivec2_fill(ivec2 v, int val) {
+  v[0] = v[1] = val;
+}
+
+/*!
+ * @brief check if vector is equal to value
+ *
+ * @param[in] v   vector
+ * @param[in] val value
+ */
+CGLM_INLINE
+bool
+glm_ivec2_eq(ivec2 v, int val) {
+  return v[0] == val && v[0] == v[1];
+}
+
+/*!
+ * @brief check if vector is equal to another
+ *
+ * @param[in] a vector
+ * @param[in] b vector
+ */
+CGLM_INLINE
+bool
+glm_ivec2_eqv(ivec2 a, ivec2 b) {
+  return a[0] == b[0]
+         && a[1] == b[1];
+}
+
 /*!
  * @brief set each member of dest to greater of vector a and b
  *

include/cglm/ivec3.h

@@ -23,8 +23,27 @@
   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 void glm_ivec3_addadd(ivec3 a, ivec3 b, ivec3 dest)
+  CGLM_INLINE void glm_ivec3_addadds(ivec3 a, int s, ivec3 dest)
+  CGLM_INLINE void glm_ivec3_subadd(ivec3 a, ivec3 b, ivec3 dest)
+  CGLM_INLINE void glm_ivec3_subadds(ivec3 a, int s, ivec3 dest)
+  CGLM_INLINE void glm_ivec3_muladd(ivec3 a, ivec3 b, ivec3 dest)
+  CGLM_INLINE void glm_ivec3_muladds(ivec3 a, int s, ivec3 dest)
+  CGLM_INLINE void glm_ivec3_maxadd(ivec3 a, ivec3 b, ivec3 dest)
+  CGLM_INLINE void glm_ivec3_minadd(ivec3 a, ivec3 b, ivec3 dest)
+  CGLM_INLINE void glm_ivec3_subsub(ivec3 a, ivec3 b, ivec3 dest)
+  CGLM_INLINE void glm_ivec3_subsubs(ivec3 a, int s, ivec3 dest)
+  CGLM_INLINE void glm_ivec3_addsub(ivec3 a, ivec3 b, ivec3 dest)
+  CGLM_INLINE void glm_ivec3_addsubs(ivec3 a, int s, ivec3 dest)
+  CGLM_INLINE void glm_ivec3_mulsub(ivec3 a, ivec3 b, ivec3 dest)
+  CGLM_INLINE void glm_ivec3_mulsubs(ivec3 a, int s, ivec3 dest)
+  CGLM_INLINE void glm_ivec3_maxsub(ivec3 a, ivec3 b, ivec3 dest)
+  CGLM_INLINE void glm_ivec3_minsub(ivec3 a, ivec3 b, 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_fill(ivec3 v, int val);
+  CGLM_INLINE bool glm_ivec3_eq(ivec3 v, int val);
+  CGLM_INLINE bool glm_ivec3_eqv(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)
@@ -35,6 +54,7 @@
 #define cglm_ivec3_h
 
 #include "common.h"
+#include "util.h"
 
 #define GLM_IVEC3_ONE_INIT   {1, 1, 1}
 #define GLM_IVEC3_ZERO_INIT  {0, 0, 0}
@@ -182,6 +202,278 @@ glm_ivec3_scale(ivec3 v, int s, ivec3 dest) {
   dest[2] = v[2] * s;
 }
 
+/*!
+ * @brief add vector [a] with vector [b] and add result to vector [dest]
+ *
+ * applies += operator so dest must be initialized
+ *
+ * @param[in]  a    first vector
+ * @param[in]  b    second vector
+ * @param[out] dest dest += (a + b)
+ */
+CGLM_INLINE 
+void 
+glm_ivec3_addadd(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] onto vector [a] and add result to vector [dest]
+ *
+ * applies += operator so dest must be initialized
+ *
+ * @param[in]  a    vector
+ * @param[in]  s    scalar
+ * @param[out] dest dest += (a + s)
+ */
+CGLM_INLINE 
+void 
+glm_ivec3_addadds(ivec3 a, int s, ivec3 dest) {
+  dest[0] += a[0] + s;
+  dest[1] += a[1] + s;
+  dest[2] += a[2] + s;
+}
+
+/*!
+ * @brief subtract vector [a] from vector [b] and add result to [dest]
+ *
+ * applies += operator so dest must be initialized
+ *
+ * @param[in]  a    first vector
+ * @param[in]  b    second vector
+ * @param[out] dest dest += (a - b)  
+ */
+CGLM_INLINE 
+void 
+glm_ivec3_subadd(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 [a] and add result to [dest]
+ *
+ * applies += operator so dest must be initialized
+ *
+ * @param[in]  a    first
+ * @param[in]  s    scalar
+ * @param[out] dest dest += (a - s)
+ */
+CGLM_INLINE 
+void 
+glm_ivec3_subadds(ivec3 a, int s, ivec3 dest) {
+  dest[0] += a[0] - s;
+  dest[1] += a[1] - s;
+  dest[2] += a[2] - s;
+}
+
+/*!
+ * @brief multiply vector [a] with vector [b] and add result to [dest]
+ *
+ * applies += operator so dest must be initialized
+ *
+ * @param[in]  a    first vector
+ * @param[in]  b    second vector
+ * @param[out] dest dest += (a * b)
+ */
+CGLM_INLINE 
+void 
+glm_ivec3_muladd(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 add result to [dest]
+ *
+ * applies += operator so dest must be initialized
+ *
+ * @param[in]  a    vector
+ * @param[in]  s    scalar
+ * @param[out] dest dest += (a * s)
+ */
+CGLM_INLINE 
+void 
+glm_ivec3_muladds(ivec3 a, int s, ivec3 dest) {
+  dest[0] += a[0] * s;
+  dest[1] += a[1] * s;
+  dest[2] += a[2] * s;
+}
+
+/*!
+ * @brief add maximum of vector [a] and vector [b] to vector [dest]
+ *
+ * applies += operator so dest must be initialized
+ *
+ * @param[in]  a    first vector
+ * @param[in]  b    second vector
+ * @param[out] dest dest += max(a, b)
+ */
+CGLM_INLINE 
+void 
+glm_ivec3_maxadd(ivec3 a, ivec3 b, ivec3 dest) {
+  dest[0] += glm_imax(a[0], b[0]);
+  dest[1] += glm_imax(a[1], b[1]);
+  dest[2] += glm_imax(a[2], b[2]);
+}
+
+/*!
+ * @brief add minimum of vector [a] and vector [b] to vector [dest]
+ *
+ * applies += operator so dest must be initialized
+ *
+ * @param[in]  a    first vector
+ * @param[in]  b    second vector
+ * @param[out] dest dest += min(a, b)
+ */
+CGLM_INLINE 
+void 
+glm_ivec3_minadd(ivec3 a, ivec3 b, ivec3 dest) {
+  dest[0] += glm_imin(a[0], b[0]);
+  dest[1] += glm_imin(a[1], b[1]);
+  dest[2] += glm_imin(a[2], b[2]);
+}
+
+/*!
+ * @brief subtract vector [a] from vector [b] and subtract result from [dest]
+ *
+ * applies -= operator so dest must be initialized
+ *
+ * @param[in]  a    first vector
+ * @param[in]  b    second vector
+ * @param[out] dest dest -= (a - b)
+ */
+CGLM_INLINE 
+void 
+glm_ivec3_subsub(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 [a] and subtract result from [dest]
+ *
+ * applies -= operator so dest must be initialized
+ *
+ * @param[in]  a    vector
+ * @param[in]  s    scalar
+ * @param[out] dest dest -= (a - s)
+ */
+CGLM_INLINE 
+void 
+glm_ivec3_subsubs(ivec3 a, int s, ivec3 dest) {
+  dest[0] -= a[0] - s;
+  dest[1] -= a[1] - s;
+  dest[2] -= a[2] - s;
+}
+
+/*!
+ * @brief add vector [a] to vector [b] and subtract the result from [dest]
+ *
+ * applies -= operator so dest must be initialized
+ *
+ * @param[in]  a    vector
+ * @param[in]  b    scalar
+ * @param[out] dest dest -= (a + b)
+ */
+CGLM_INLINE 
+void 
+glm_ivec3_addsub(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 [a] and subtract the result from [dest]
+ *
+ * applies -= operator so dest must be initialized
+ *
+ * @param[in]  a    vector
+ * @param[in]  s    scalar
+ * @param[out] dest dest -= (a + b)
+ */
+CGLM_INLINE 
+void 
+glm_ivec3_addsubs(ivec3 a, int s, ivec3 dest) {
+  dest[0] -= a[0] + s;
+  dest[1] -= a[1] + s;
+  dest[2] -= a[2] + s;
+}
+
+/*!
+ * @brief multiply vector [a] and vector [b] and subtract the result from [dest]
+ *
+ * applies -= operator so dest must be initialized
+ *
+ * @param[in]  a    vector
+ * @param[in]  b    scalar
+ * @param[out] dest dest -= (a * b)
+ */
+CGLM_INLINE 
+void 
+glm_ivec3_mulsub(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 subtract the result from [dest]
+ *
+ * applies -= operator so dest must be initialized
+ *
+ * @param[in]  a    vector
+ * @param[in]  s    scalar
+ * @param[out] dest dest -= (a * s)
+ */
+CGLM_INLINE 
+void 
+glm_ivec3_mulsubs(ivec3 a, int s, ivec3 dest) {
+  dest[0] -= a[0] * s;
+  dest[1] -= a[1] * s;
+  dest[2] -= a[2] * s;
+}
+
+/*!
+ * @brief subtract maximum of vector [a] and vector [b] from vector [dest]
+ *
+ * applies += operator so dest must be initialized
+ *
+ * @param[in]  a    first vector
+ * @param[in]  b    second vector
+ * @param[out] dest dest -= max(a, b)
+ */
+CGLM_INLINE 
+void 
+glm_ivec3_maxsub(ivec3 a, ivec3 b, ivec3 dest) {
+  dest[0] -= glm_imax(a[0], b[0]);
+  dest[1] -= glm_imax(a[1], b[1]);
+  dest[2] -= glm_imax(a[2], b[2]);
+}
+
+/*!
+ * @brief subtract minimum of vector [a] and vector [b] from vector [dest]
+ *
+ * applies -= operator so dest must be initialized
+ *
+ * @param[in]  a    first vector
+ * @param[in]  b    second vector
+ * @param[out] dest dest -= min(a, b)
+ */
+CGLM_INLINE 
+void 
+glm_ivec3_minsub(ivec3 a, ivec3 b, ivec3 dest) {
+  dest[0] -= glm_imin(a[0], b[0]);
+  dest[1] -= glm_imin(a[1], b[1]);
+  dest[2] -= glm_imin(a[2], b[2]);
+}
+
 /*!
  * @brief squared distance between two vectors
  *
@@ -212,6 +504,44 @@ glm_ivec3_distance(ivec3 a, ivec3 b) {
   return sqrtf((float)glm_ivec3_distance2(a, b));
 }
 
+/*!
+ * @brief fill a vector with specified value
+ *
+ * @param[out] v   dest
+ * @param[in]  val value
+ */
+CGLM_INLINE
+void
+glm_ivec3_fill(ivec3 v, int val) {
+  v[0] = v[1] = v[2] = val;
+}
+
+/*!
+ * @brief check if vector is equal to value
+ *
+ * @param[in] v   vector
+ * @param[in] val value
+ */
+CGLM_INLINE
+bool
+glm_ivec3_eq(ivec3 v, int val) {
+  return v[0] == val && v[0] == v[1] && v[0] == v[2];
+}
+
+/*!
+ * @brief check if vector is equal to another
+ *
+ * @param[in] a vector
+ * @param[in] b vector
+ */
+CGLM_INLINE
+bool
+glm_ivec3_eqv(ivec3 a, ivec3 b) {
+  return a[0] == b[0]
+         && a[1] == b[1]
+         && a[2] == b[2];
+}
+
 /*!
  * @brief set each member of dest to greater of vector a and b
  *

include/cglm/ivec4.h

@@ -23,6 +23,22 @@
   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 void glm_ivec4_addadd(ivec4 a, ivec4 b, ivec4 dest)
+  CGLM_INLINE void glm_ivec4_addadds(ivec4 a, int s, ivec4 dest)
+  CGLM_INLINE void glm_ivec4_subadd(ivec4 a, ivec4 b, ivec4 dest)
+  CGLM_INLINE void glm_ivec4_subadds(ivec4 a, int s, ivec4 dest)
+  CGLM_INLINE void glm_ivec4_muladd(ivec4 a, ivec4 b, ivec4 dest)
+  CGLM_INLINE void glm_ivec4_muladds(ivec4 a, int s, ivec4 dest)
+  CGLM_INLINE void glm_ivec4_maxadd(ivec4 a, ivec4 b, ivec4 dest)
+  CGLM_INLINE void glm_ivec4_minadd(ivec4 a, ivec4 b, ivec4 dest)
+  CGLM_INLINE void glm_ivec4_subsub(ivec4 a, ivec4 b, ivec4 dest)
+  CGLM_INLINE void glm_ivec4_subsubs(ivec4 a, int s, ivec4 dest)
+  CGLM_INLINE void glm_ivec4_addsub(ivec4 a, ivec4 b, ivec4 dest)
+  CGLM_INLINE void glm_ivec4_addsubs(ivec4 a, int s, ivec4 dest)
+  CGLM_INLINE void glm_ivec4_mulsub(ivec4 a, ivec4 b, ivec4 dest)
+  CGLM_INLINE void glm_ivec4_mulsubs(ivec4 a, int s, ivec4 dest)
+  CGLM_INLINE void glm_ivec4_maxsub(ivec4 a, ivec4 b, ivec4 dest)
+  CGLM_INLINE void glm_ivec4_minsub(ivec4 a, ivec4 b, 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)
@@ -35,6 +51,7 @@
 #define cglm_ivec4_h
 
 #include "common.h"
+#include "util.h"
 
 #define GLM_IVEC4_ONE_INIT   {1, 1, 1, 1}
 #define GLM_IVEC4_ZERO_INIT  {0, 0, 0, 0}
@@ -191,6 +208,294 @@ glm_ivec4_scale(ivec4 v, int s, ivec4 dest) {
   dest[3] = v[3] * s;
 }
 
+/*!
+ * @brief add vector [a] with vector [b] and add result to vector [dest]
+ *
+ * applies += operator so dest must be initialized
+ *
+ * @param[in]  a    first vector
+ * @param[in]  b    second vector
+ * @param[out] dest dest += (a + b)
+ */
+CGLM_INLINE 
+void 
+glm_ivec4_addadd(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] onto vector [a] and add result to vector [dest]
+ *
+ * applies += operator so dest must be initialized
+ *
+ * @param[in]  a    vector
+ * @param[in]  s    scalar
+ * @param[out] dest dest += (a + s)
+ */
+CGLM_INLINE 
+void 
+glm_ivec4_addadds(ivec4 a, int s, ivec4 dest) {
+  dest[0] += a[0] + s;
+  dest[1] += a[1] + s;
+  dest[2] += a[2] + s;
+  dest[3] += a[3] + s;
+}
+
+/*!
+ * @brief subtract vector [a] from vector [b] and add result to [dest]
+ *
+ * applies += operator so dest must be initialized
+ *
+ * @param[in]  a    first vector
+ * @param[in]  b    second vector
+ * @param[out] dest dest += (a - b)  
+ */
+CGLM_INLINE 
+void 
+glm_ivec4_subadd(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 [a] and add result to [dest]
+ *
+ * applies += operator so dest must be initialized
+ *
+ * @param[in]  a    first
+ * @param[in]  s    scalar
+ * @param[out] dest dest += (a - s)
+ */
+CGLM_INLINE 
+void 
+glm_ivec4_subadds(ivec4 a, int s, ivec4 dest) {
+  dest[0] += a[0] - s;
+  dest[1] += a[1] - s;
+  dest[2] += a[2] - s;
+  dest[3] += a[3] - s;
+}
+
+/*!
+ * @brief multiply vector [a] with vector [b] and add result to [dest]
+ *
+ * applies += operator so dest must be initialized
+ *
+ * @param[in]  a    first vector
+ * @param[in]  b    second vector
+ * @param[out] dest dest += (a * b)
+ */
+CGLM_INLINE 
+void 
+glm_ivec4_muladd(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 add result to [dest]
+ *
+ * applies += operator so dest must be initialized
+ *
+ * @param[in]  a    vector
+ * @param[in]  s    scalar
+ * @param[out] dest dest += (a * s)
+ */
+CGLM_INLINE 
+void 
+glm_ivec4_muladds(ivec4 a, int s, ivec4 dest) {
+  dest[0] += a[0] * s;
+  dest[1] += a[1] * s;
+  dest[2] += a[2] * s;
+  dest[3] += a[3] * s;
+}
+
+/*!
+ * @brief add maximum of vector [a] and vector [b] to vector [dest]
+ *
+ * applies += operator so dest must be initialized
+ *
+ * @param[in]  a    first vector
+ * @param[in]  b    second vector
+ * @param[out] dest dest += max(a, b)
+ */
+CGLM_INLINE 
+void 
+glm_ivec4_maxadd(ivec4 a, ivec4 b, ivec4 dest) {
+  dest[0] += glm_imax(a[0], b[0]);
+  dest[1] += glm_imax(a[1], b[1]);
+  dest[2] += glm_imax(a[2], b[2]);
+  dest[3] += glm_imax(a[3], b[3]);
+}
+
+/*!
+ * @brief add minimum of vector [a] and vector [b] to vector [dest]
+ *
+ * applies += operator so dest must be initialized
+ *
+ * @param[in]  a    first vector
+ * @param[in]  b    second vector
+ * @param[out] dest dest += min(a, b)
+ */
+CGLM_INLINE 
+void 
+glm_ivec4_minadd(ivec4 a, ivec4 b, ivec4 dest) {
+  dest[0] += glm_imin(a[0], b[0]);
+  dest[1] += glm_imin(a[1], b[1]);
+  dest[2] += glm_imin(a[2], b[2]);
+  dest[3] += glm_imin(a[3], b[3]);
+}
+
+/*!
+ * @brief subtract vector [a] from vector [b] and subtract result from [dest]
+ *
+ * applies -= operator so dest must be initialized
+ *
+ * @param[in]  a    first vector
+ * @param[in]  b    second vector
+ * @param[out] dest dest -= (a - b)
+ */
+CGLM_INLINE 
+void 
+glm_ivec4_subsub(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 [a] and subtract result from [dest]
+ *
+ * applies -= operator so dest must be initialized
+ *
+ * @param[in]  a    vector
+ * @param[in]  s    scalar
+ * @param[out] dest dest -= (a - s)
+ */
+CGLM_INLINE 
+void 
+glm_ivec4_subsubs(ivec4 a, int s, ivec4 dest) {
+  dest[0] -= a[0] - s;
+  dest[1] -= a[1] - s;
+  dest[2] -= a[2] - s;
+  dest[3] -= a[3] - s;
+}
+
+/*!
+ * @brief add vector [a] to vector [b] and subtract the result from [dest]
+ *
+ * applies -= operator so dest must be initialized
+ *
+ * @param[in]  a    vector
+ * @param[in]  b    scalar
+ * @param[out] dest dest -= (a + b)
+ */
+CGLM_INLINE 
+void 
+glm_ivec4_addsub(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 [a] and subtract the result from [dest]
+ *
+ * applies -= operator so dest must be initialized
+ *
+ * @param[in]  a    vector
+ * @param[in]  s    scalar
+ * @param[out] dest dest -= (a + b)
+ */
+CGLM_INLINE 
+void 
+glm_ivec4_addsubs(ivec4 a, int s, ivec4 dest) {
+  dest[0] -= a[0] + s;
+  dest[1] -= a[1] + s;
+  dest[2] -= a[2] + s;
+  dest[3] -= a[3] + s;
+}
+
+/*!
+ * @brief multiply vector [a] and vector [b] and subtract the result from [dest]
+ *
+ * applies -= operator so dest must be initialized
+ *
+ * @param[in]  a    vector
+ * @param[in]  b    scalar
+ * @param[out] dest dest -= (a * b)
+ */
+CGLM_INLINE 
+void 
+glm_ivec4_mulsub(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 subtract the result from [dest]
+ *
+ * applies -= operator so dest must be initialized
+ *
+ * @param[in]  a    vector
+ * @param[in]  s    scalar
+ * @param[out] dest dest -= (a * s)
+ */
+CGLM_INLINE 
+void 
+glm_ivec4_mulsubs(ivec4 a, int s, ivec4 dest) {
+  dest[0] -= a[0] * s;
+  dest[1] -= a[1] * s;
+  dest[2] -= a[2] * s;
+  dest[3] -= a[3] * s;
+}
+
+/*!
+ * @brief subtract maximum of vector [a] and vector [b] from vector [dest]
+ *
+ * applies += operator so dest must be initialized
+ *
+ * @param[in]  a    first vector
+ * @param[in]  b    second vector
+ * @param[out] dest dest -= max(a, b)
+ */
+CGLM_INLINE 
+void 
+glm_ivec4_maxsub(ivec4 a, ivec4 b, ivec4 dest) {
+  dest[0] -= glm_imax(a[0], b[0]);
+  dest[1] -= glm_imax(a[1], b[1]);
+  dest[2] -= glm_imax(a[2], b[2]);
+  dest[3] -= glm_imax(a[3], b[3]);
+}
+
+/*!
+ * @brief subtract minimum of vector [a] and vector [b] from vector [dest]
+ *
+ * applies -= operator so dest must be initialized
+ *
+ * @param[in]  a    first vector
+ * @param[in]  b    second vector
+ * @param[out] dest dest -= min(a, b)
+ */
+CGLM_INLINE 
+void 
+glm_ivec4_minsub(ivec4 a, ivec4 b, ivec4 dest) {
+  dest[0] -= glm_imin(a[0], b[0]);
+  dest[1] -= glm_imin(a[1], b[1]);
+  dest[2] -= glm_imin(a[2], b[2]);
+  dest[3] -= glm_imin(a[3], b[3]);
+}
+
 /*!
  * @brief squared distance between two vectors
  *

include/cglm/mat2x3.h

@@ -81,15 +81,13 @@ glm_mat2x3_make(float * __restrict src, mat2x3 dest) {
 /*!
  * @brief multiply m1 and m2 to dest
  *
- * m1, m2 and dest matrices can be same matrix, it is possible to write this:
- *
  * @code
- * glm_mat2x3_mul(m, m, m);
+ * glm_mat2x3_mul(mat2x3, mat3x2, mat2);
  * @endcode
  *
- * @param[in]  m1   left matrix
+ * @param[in]  m1   left matrix (mat2x3)
- * @param[in]  m2   right matrix
+ * @param[in]  m2   right matrix (mat3x2)
- * @param[out] dest destination matrix
+ * @param[out] dest destination matrix (mat2)
  */
 CGLM_INLINE
 void

include/cglm/mat2x4.h

@@ -79,15 +79,13 @@ glm_mat2x4_make(float * __restrict src, mat2x4 dest) {
 /*!
  * @brief multiply m1 and m2 to dest
  *
- * m1, m2 and dest matrices can be same matrix, it is possible to write this:
- *
  * @code
- * glm_mat2x4_mul(m, m, m);
+ * glm_mat2x4_mul(mat2x4, mat4x2, mat2);
  * @endcode
  *
- * @param[in]  m1   left matrix
+ * @param[in]  m1   left matrix (mat2x4)
- * @param[in]  m2   right matrix
+ * @param[in]  m2   right matrix (mat4x2)
- * @param[out] dest destination matrix
+ * @param[out] dest destination matrix (mat2)
  */
 CGLM_INLINE
 void

include/cglm/mat3x2.h

@@ -83,15 +83,13 @@ glm_mat3x2_make(float * __restrict src, mat3x2 dest) {
 /*!
  * @brief multiply m1 and m2 to dest
  *
- * m1, m2 and dest matrices can be same matrix, it is possible to write this:
- *
  * @code
- * glm_mat3x2_mul(m, m, m);
+ * glm_mat3x2_mul(mat3x2, mat2x3, mat3);
  * @endcode
  *
- * @param[in]  m1   left matrix
+ * @param[in]  m1   left matrix (mat3x2)
- * @param[in]  m2   right matrix
+ * @param[in]  m2   right matrix (mat2x3)
- * @param[out] dest destination matrix
+ * @param[out] dest destination matrix (mat3)
  */
 CGLM_INLINE
 void

include/cglm/mat3x4.h

@@ -86,15 +86,13 @@ glm_mat3x4_make(float * __restrict src, mat3x4 dest) {
 /*!
  * @brief multiply m1 and m2 to dest
  *
- * m1, m2 and dest matrices can be same matrix, it is possible to write this:
- *
  * @code
- * glm_mat3x4_mul(m, m, m);
+ * glm_mat3x4_mul(mat3x4, mat4x3, mat3);
  * @endcode
  *
- * @param[in]  m1   left matrix
+ * @param[in]  m1   left matrix (mat3x4)
- * @param[in]  m2   right matrix
+ * @param[in]  m2   right matrix (mat4x3)
- * @param[out] dest destination matrix
+ * @param[out] dest destination matrix (mat3)
  */
 CGLM_INLINE
 void

include/cglm/mat4x2.h

@@ -89,15 +89,13 @@ glm_mat4x2_make(float * __restrict src, mat4x2 dest) {
 /*!
  * @brief multiply m1 and m2 to dest
  *
- * m1, m2 and dest matrices can be same matrix, it is possible to write this:
- *
  * @code
- * glm_mat4x2_mul(m, m, m);
+ * glm_mat4x2_mul(mat4x2, mat2x4, mat4);
  * @endcode
  *
- * @param[in]  m1   left matrix
+ * @param[in]  m1   left matrix (mat4x2)
- * @param[in]  m2   right matrix
+ * @param[in]  m2   right matrix (mat2x4)
- * @param[out] dest destination matrix
+ * @param[out] dest destination matrix (mat4)
  */
 CGLM_INLINE
 void

include/cglm/mat4x3.h

@@ -98,15 +98,13 @@ glm_mat4x3_make(float * __restrict src, mat4x3 dest) {
 /*!
  * @brief multiply m1 and m2 to dest
  *
- * m1, m2 and dest matrices can be same matrix, it is possible to write this:
- *
  * @code
- * glm_mat4x3_mul(m, m, m);
+ * glm_mat4x3_mul(mat4x3, mat3x4, mat4);
  * @endcode
  *
- * @param[in]  m1   left matrix
+ * @param[in]  m1   left matrix (mat4x3)
- * @param[in]  m2   right matrix
+ * @param[in]  m2   right matrix (mat3x4)
- * @param[out] dest destination matrix
+ * @param[out] dest destination matrix (mat4)
  */
 CGLM_INLINE
 void

include/cglm/quat.h

@@ -258,7 +258,7 @@ glm_quat_normalize_to(versor q, versor dest) {
   }
 
   glmm_store(dest, wasm_f32x4_div(x0, wasm_f32x4_sqrt(xdot)));
-#elif defined( __SSE2__ ) || defined( __SSE2__ )
+#elif defined( __SSE__ ) || defined( __SSE2__ )
   __m128 xdot, x0;
   float  dot;
 

include/cglm/simd/arm.h

@@ -174,11 +174,7 @@ glmm_fnmadd(float32x4_t a, float32x4_t b, float32x4_t c) {
 static inline
 float32x4_t
 glmm_fmsub(float32x4_t a, float32x4_t b, float32x4_t c) {
-#if CGLM_ARM64
+  return glmm_fmadd(a, b, vnegq_f32(c));
-  return vfmsq_f32(c, a, b);
-#else
-  return vmlsq_f32(c, a, b);
-#endif
 }
 
 static inline

include/cglm/struct/aabb2d.h

@@ -0,0 +1,235 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), http://opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+#ifndef cglms_aabb2ds_h
+#define cglms_aabb2ds_h
+
+#include "../common.h"
+#include "../types-struct.h"
+#include "../aabb2d.h"
+#include "vec2.h"
+#include "vec4.h"
+#include "mat4.h"
+
+/* api definition */
+#define glms_aabb2d_(NAME) CGLM_STRUCTAPI(aabb, NAME)
+
+/*!
+ * @brief apply transform to Axis-Aligned Bounding Box
+ *
+ * @param[in]  aabb  bounding box
+ * @param[in]  m    transform matrix
+ * @param[out] dest transformed bounding box
+ */
+CGLM_INLINE
+void
+glms_aabb2d_(transform)(vec2s aabb[2], mat3s m, vec2s dest[2]) {
+  vec2 rawAabb[2];
+  vec2 rawDest[2];
+
+  glms_vec2_(unpack)(rawAabb, aabb, 2);
+  glm_aabb2d_transform(rawAabb, m.raw, rawDest);
+  glms_vec2_(pack)(dest, rawDest, 2);
+}
+
+/*!
+ * @brief merges two AABB bounding box and creates new one
+ *
+ * two box must be in same space, if one of box is in different space then
+ * you should consider to convert it's space by glm_box_space
+ *
+ * @param[in]  aabb1 bounding box 1
+ * @param[in]  aabb2 bounding box 2
+ * @param[out] dest merged bounding box
+ */
+CGLM_INLINE
+void
+glms_aabb2d_(merge)(vec2s aabb1[2], vec2s aabb2[2], vec2s dest[2]) {
+  vec2 rawAabb1[2];
+  vec2 rawAabb2[2];
+  vec2 rawDest[2];
+
+  glms_vec2_(unpack)(rawAabb1, aabb1, 2);
+  glms_vec2_(unpack)(rawAabb2, aabb2, 2);
+  glm_aabb2d_merge(rawAabb1, rawAabb2, rawDest);
+  glms_vec2_(pack)(dest, rawDest, 2);
+}
+
+/*!
+ * @brief crops a bounding box with another one.
+ *
+ * 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
+ *
+ * @param[in]  aabb     bounding box 1
+ * @param[in]  cropAabb crop box
+ * @param[out] dest    cropped bounding box
+ */
+CGLM_INLINE
+void
+glms_aabb2d_(crop)(vec2s aabb[2], vec2s cropAabb[2], vec2s dest[2]) {
+  vec2 rawAabb[2];
+  vec2 rawCropAabb[2];
+  vec2 rawDest[2];
+
+  glms_vec2_(unpack)(rawAabb, aabb, 2);
+  glms_vec2_(unpack)(rawCropAabb, cropAabb, 2);
+  glm_aabb2d_crop(rawAabb, rawCropAabb, rawDest);
+  glms_vec2_(pack)(dest, rawDest, 2);
+}
+
+/*!
+ * @brief crops a bounding box with another one.
+ *
+ * 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
+ *
+ * @param[in]  aabb      bounding box
+ * @param[in]  cropAabb  crop box
+ * @param[in]  clampAabb miniumum box
+ * @param[out] dest     cropped bounding box
+ */
+CGLM_INLINE
+void
+glms_aabb2d_(crop_until)(vec2s aabb[2],
+                       vec2s cropAabb[2],
+                       vec2s clampAabb[2],
+                       vec2s dest[2]) {
+  glms_aabb2d_(crop)(aabb, cropAabb, dest);
+  glms_aabb2d_(merge)(clampAabb, dest, dest);
+}
+
+/*!
+ * @brief invalidate AABB min and max values
+ *
+ * @param[in, out]  aabb bounding box
+ */
+CGLM_INLINE
+void
+glms_aabb2d_(invalidate)(vec2s box[2]) {
+  box[0] = glms_vec2_(fill)(FLT_MAX);
+  box[1] = glms_vec2_(fill)(-FLT_MAX);
+}
+
+/*!
+ * @brief check if AABB is valid or not
+ *
+ * @param[in]  aabb bounding box
+ */
+CGLM_INLINE
+bool
+glms_aabb2d_(isvalid)(vec2s aabb[2]) {
+  vec2 rawAabb[2];
+  glms_vec2_(unpack)(rawAabb, aabb, 2);
+  return glm_aabb2d_isvalid(rawAabb);
+}
+
+/*!
+ * @brief distance between of min and max
+ *
+ * @param[in]  aabb bounding box
+ */
+CGLM_INLINE
+float
+glms_aabb2d_(size)(vec2s aabb[2]) {
+  return glm_vec2_distance(aabb[0].raw, aabb[1].raw);
+}
+
+/*!
+ * @brief radius of sphere which surrounds AABB
+ *
+ * @param[in]  aabb bounding box
+ */
+CGLM_INLINE
+float
+glms_aabb2d_(radius)(vec2s aabb[2]) {
+  return glms_aabb2d_(size)(aabb) * 0.5f;
+}
+
+/*!
+ * @brief computes center point of AABB
+ *
+ * @param[in]   aabb  bounding box
+ * @returns center of bounding box
+ */
+CGLM_INLINE
+vec2s
+glms_aabb2d_(center)(vec2s aabb[2]) {
+  return glms_vec2_(center)(aabb[0], aabb[1]);
+}
+
+/*!
+ * @brief check if two AABB intersects
+ *
+ * @param[in]   aabb   bounding box
+ * @param[in]   other  other bounding box
+ */
+CGLM_INLINE
+bool
+glms_aabb2d_(aabb)(vec2s aabb[2], vec2s other[2]) {
+  vec2 rawAabb[2];
+  vec2 rawOther[2];
+
+  glms_vec2_(unpack)(rawAabb, aabb, 2);
+  glms_vec2_(unpack)(rawOther, other, 2);
+  return glm_aabb2d_aabb(rawAabb, rawOther);
+}
+
+/*!
+ * @brief check if AABB intersects with a circle
+ *
+ * https://github.com/erich666/GraphicsGems/blob/master/gems/BoxSphere.c
+ * Solid Box - Solid Sphere test.
+ *
+ * @param[in]   aabb   solid bounding box
+ * @param[in]   s      solid sphere
+ */
+CGLM_INLINE
+bool
+glms_aabb2d_(circle)(vec2s aabb[2], vec3s c) {
+  vec2 rawAabb[2];
+
+  glms_vec2_(unpack)(rawAabb, aabb, 2);
+  return glm_aabb2d_circle(rawAabb, c.raw);
+}
+
+/*!
+ * @brief check if point is inside of AABB
+ *
+ * @param[in]   aabb   bounding box
+ * @param[in]   point  point
+ */
+CGLM_INLINE
+bool
+glms_aabb2d_(point)(vec2s aabb[2], vec2s point) {
+  vec2 rawAabb[2];
+
+  glms_vec2_(unpack)(rawAabb, aabb, 2);
+  return glm_aabb2d_point(rawAabb, point.raw);
+}
+
+/*!
+ * @brief check if AABB contains other AABB
+ *
+ * @param[in]   box    bounding box
+ * @param[in]   other  other bounding box
+ */
+CGLM_INLINE
+bool
+glms_aabb2d_(contains)(vec2s aabb[2], vec2s other[2]) {
+  vec2 rawAabb[2];
+  vec2 rawOther[2];
+
+  glms_vec2_(unpack)(rawAabb, aabb, 2);
+  glms_vec2_(unpack)(rawOther, other, 2);
+  return glm_aabb2d_contains(rawAabb, rawOther);
+}
+
+#endif /* cglms_aabb2ds_h */
+

include/cglm/struct/affine.h

@@ -22,7 +22,7 @@
    CGLM_INLINE mat4s glms_rotate_make(float angle, vec3s axis);
    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_rotate_atm(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);
@@ -125,7 +125,6 @@ glms_rotate_make(float angle, vec3s axis) {
  * this should work faster than glm_rotate_at because it reduces
  * one glm_translate.
  *
- * @param[in]  m      affine transfrom
  * @param[in]  pivot  rotation center
  * @param[in]  angle  angle (radians)
  * @param[in]  axis   axis
@@ -133,7 +132,8 @@ glms_rotate_make(float angle, vec3s axis) {
  */
 CGLM_INLINE
 mat4s
-glms_rotate_atm(mat4s m, vec3s pivot, float angle, vec3s axis) {
+glms_rotate_atm(vec3s pivot, float angle, vec3s axis) {
+  mat4s m;
   glm_rotate_atm(m.raw, pivot.raw, angle, axis.raw);
   return m;
 }

include/cglm/struct/clipspace/ortho_lh_no.h

@@ -24,6 +24,8 @@
 #include "../../types-struct.h"
 #include "../../plane.h"
 #include "../../cam.h"
+#include "../vec3.h"
+#include "../../clipspace/ortho_lh_no.h"
 
 /*!
  * @brief set up orthographic projection matrix

include/cglm/struct/clipspace/ortho_lh_zo.h

@@ -24,6 +24,8 @@
 #include "../../types-struct.h"
 #include "../../plane.h"
 #include "../../cam.h"
+#include "../vec3.h"
+#include "../../clipspace/ortho_lh_zo.h"
 
 /*!
  * @brief set up orthographic projection matrix

include/cglm/struct/clipspace/ortho_rh_no.h

@@ -24,6 +24,8 @@
 #include "../../types-struct.h"
 #include "../../plane.h"
 #include "../../cam.h"
+#include "../vec3.h"
+#include "../../clipspace/ortho_rh_no.h"
 
 /*!
  * @brief set up orthographic projection matrix

include/cglm/struct/clipspace/ortho_rh_zo.h

@@ -24,6 +24,8 @@
 #include "../../types-struct.h"
 #include "../../plane.h"
 #include "../../cam.h"
+#include "../vec3.h"
+#include "../../clipspace/ortho_rh_zo.h"
 
 /*!
  * @brief set up orthographic projection matrix

include/cglm/struct/clipspace/persp_lh_no.h

@@ -39,6 +39,7 @@
 #include "../../types-struct.h"
 #include "../../plane.h"
 #include "../../cam.h"
+#include "../../clipspace/persp_lh_no.h"
 
 /*!
  * @brief set up perspective peprojection matrix

include/cglm/struct/clipspace/persp_lh_zo.h

@@ -39,6 +39,7 @@
 #include "../../types-struct.h"
 #include "../../plane.h"
 #include "../../cam.h"
+#include "../../clipspace/persp_lh_zo.h"
 
 /*!
  * @brief set up perspective peprojection matrix

include/cglm/struct/clipspace/persp_rh_no.h

@@ -39,6 +39,7 @@
 #include "../../types-struct.h"
 #include "../../plane.h"
 #include "../../cam.h"
+#include "../../clipspace/persp_rh_no.h"
 
 /*!
  * @brief set up perspective peprojection matrix

include/cglm/struct/clipspace/persp_rh_zo.h

@@ -39,6 +39,7 @@
 #include "../../types-struct.h"
 #include "../../plane.h"
 #include "../../cam.h"
+#include "../../clipspace/persp_rh_zo.h"
 
 /*!
  * @brief set up perspective peprojection matrix

include/cglm/struct/clipspace/project_no.h

@@ -7,8 +7,9 @@
 
 /*
  Functions:
-   CGLM_INLINE vec3s glms_unprojecti_no(vec3s pos, mat4s invMat, vec4s vp, vec3 dest)
+   CGLM_INLINE vec3s glms_unprojecti_no(vec3s pos, mat4s invMat, vec4s vp)
-   CGLM_INLINE vec3s glms_project_no(vec3s pos, mat4s m, vec4s vp, vec3s dest)
+   CGLM_INLINE vec3s glms_project_no(vec3s pos, mat4s m, vec4s vp)
+   CGLM_INLINE float glms_project_z_no(vec3s v, mat4s m)
  */
 
 #ifndef cglms_project_no_h
@@ -18,6 +19,7 @@
 #include "../../types-struct.h"
 #include "../../plane.h"
 #include "../../cam.h"
+#include "../../clipspace/project_no.h"
 
 /*!
  * @brief maps the specified viewport coordinates into specified space [1]
@@ -48,7 +50,7 @@
  */
 CGLM_INLINE
 vec3s
-glms_unprojecti_no(vec3s pos, mat4s invMat, vec4s vp, vec3 dest) {
+glms_unprojecti_no(vec3s pos, mat4s invMat, vec4s vp) {
   vec3s dest;
   glm_unprojecti_no(pos.raw, invMat.raw, vp.raw, dest.raw);
   return dest;
@@ -69,7 +71,7 @@ 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) {
+glms_project_no(vec3s pos, mat4s m, vec4s vp) {
   vec3s dest;
   glm_project_no(pos.raw, m.raw, vp.raw, dest.raw);
   return dest;
@@ -88,7 +90,7 @@ glms_project_no(vec3s pos, mat4s m, vec4s vp, vec3s dest) {
  * @returns projected z coordinate
  */
 CGLM_INLINE
-vec3s
+float
 glms_project_z_no(vec3s v, mat4s m) {
   return glm_project_z_no(v.raw, m.raw);
 }

include/cglm/struct/clipspace/project_zo.h

@@ -7,8 +7,9 @@
 
 /*
  Functions:
-   CGLM_INLINE vec3s glms_unprojecti_no(vec3s pos, mat4s invMat, vec4s vp, vec3 dest)
+   CGLM_INLINE vec3s glms_unprojecti_no(vec3s pos, mat4s invMat, vec4s vp)
-   CGLM_INLINE vec3s glms_project_no(vec3s pos, mat4s m, vec4s vp, vec3s dest)
+   CGLM_INLINE vec3s glms_project_no(vec3s pos, mat4s m, vec4s vp)
+   CGLM_INLINE float glms_project_z_zo(vec3s v, mat4s m)
  */
 
 #ifndef cglms_project_zo_h
@@ -18,6 +19,7 @@
 #include "../../types-struct.h"
 #include "../../plane.h"
 #include "../../cam.h"
+#include "../../clipspace/project_zo.h"
 
 /*!
  * @brief maps the specified viewport coordinates into specified space [1]
@@ -48,7 +50,7 @@
  */
 CGLM_INLINE
 vec3s
-glms_unprojecti_zo(vec3s pos, mat4s invMat, vec4s vp, vec3 dest) {
+glms_unprojecti_zo(vec3s pos, mat4s invMat, vec4s vp) {
   vec3s dest;
   glm_unprojecti_zo(pos.raw, invMat.raw, vp.raw, dest.raw);
   return dest;
@@ -69,7 +71,7 @@ glms_unprojecti_zo(vec3s pos, mat4s invMat, vec4s vp, vec3 dest) {
  */
 CGLM_INLINE
 vec3s
-glms_project_zo(vec3s pos, mat4s m, vec4s vp, vec3 dest) {
+glms_project_zo(vec3s pos, mat4s m, vec4s vp) {
   vec3s dest;
   glm_project_zo(pos.raw, m.raw, vp.raw, dest.raw);
   return dest;
@@ -88,7 +90,7 @@ glms_project_zo(vec3s pos, mat4s m, vec4s vp, vec3 dest) {
  * @returns projected z coordinate
  */
 CGLM_INLINE
-vec3s
+float
 glms_project_z_zo(vec3s v, mat4s m) {
   return glm_project_z_zo(v.raw, m.raw);
 }

include/cglm/struct/clipspace/view_lh_no.h

@@ -19,6 +19,7 @@
 #include "../../types-struct.h"
 #include "../../plane.h"
 #include "../../cam.h"
+#include "../../clipspace/view_lh_no.h"
 
 /*!
  * @brief set up view matrix

include/cglm/struct/clipspace/view_lh_zo.h

@@ -19,6 +19,7 @@
 #include "../../types-struct.h"
 #include "../../plane.h"
 #include "../../cam.h"
+#include "../../clipspace/view_lh_zo.h"
 
 /*!
  * @brief set up view matrix

include/cglm/struct/clipspace/view_rh_no.h

@@ -19,6 +19,7 @@
 #include "../../types-struct.h"
 #include "../../plane.h"
 #include "../../cam.h"
+#include "../../clipspace/view_rh_no.h"
 
 /*!
  * @brief set up view matrix

include/cglm/struct/clipspace/view_rh_zo.h

@@ -19,6 +19,7 @@
 #include "../../types-struct.h"
 #include "../../plane.h"
 #include "../../cam.h"
+#include "../../clipspace/view_rh_zo.h"
 
 /*!
  * @brief set up view matrix

include/cglm/struct/euler.h

@@ -26,6 +26,12 @@
    CGLM_INLINE mat4s glms_euler_zxy(vec3s angles)
    CGLM_INLINE mat4s glms_euler_zyx(vec3s angles)
    CGLM_INLINE mat4s glms_euler_by_order(vec3s angles, glm_euler_seq ord)
+   CGLM_INLINE versors glms_euler_xyz_quat(vec3s angles)
+   CGLM_INLINE versors glms_euler_xzy_quat(vec3s angles)
+   CGLM_INLINE versors glms_euler_yxz_quat(vec3s angles)
+   CGLM_INLINE versors glms_euler_yzx_quat(vec3s angles)
+   CGLM_INLINE versors glms_euler_zxy_quat(vec3s angles)
+   CGLM_INLINE versors glms_euler_zyx_quat(vec3s angles)
  */
 
 #ifndef cglms_euler_h
@@ -149,4 +155,95 @@ glms_euler_by_order(vec3s angles, glm_euler_seq ord) {
   return dest;
 }
 
+/*!
+ * @brief creates NEW quaternion using rotation angles and does
+ *        rotations in x y z order (roll pitch yaw)
+ * 
+ * @param[in]   angles angles x y z (radians)
+ * @returns quaternion
+ */
+CGLM_INLINE
+versors
+glms_euler_xyz_quat(vec3s angles) {
+  versors dest;
+  glm_euler_xyz_quat(angles.raw, dest.raw);
+  return dest;
+}
+
+/*!
+ * @brief creates NEW quaternion using rotation angles and does
+ *        rotations in x z y order (roll yaw pitch)
+ * 
+ * @param[in]   angles angles x y z (radians)
+ * @returns quaternion
+ */
+CGLM_INLINE
+versors
+glms_euler_xzy_quat(vec3s angles) {
+  versors dest;
+  glm_euler_xzy_quat(angles.raw, dest.raw);
+  return dest;
+}
+
+/*!
+ * @brief creates NEW quaternion using rotation angles and does
+ *        rotations in y x z order (pitch roll yaw)
+ * 
+ * @param[in]   angles angles x y z (radians)
+ * @returns quaternion
+ */
+CGLM_INLINE
+versors
+glms_euler_yxz_quat(vec3s angles) {
+  versors dest;
+  glm_euler_yxz_quat(angles.raw, dest.raw);
+  return dest;
+}
+
+/*!
+ * @brief creates NEW quaternion using rotation angles and does
+ *        rotations in y z x order (pitch yaw roll)
+ * 
+ * @param[in]   angles angles x y z (radians)
+ * @returns quaternion
+ */
+CGLM_INLINE
+versors
+glms_euler_yzx_quat(vec3s angles) {
+  versors dest;
+  glm_euler_yzx_quat(angles.raw, dest.raw);
+  return dest;
+}
+
+/*!
+ * @brief creates NEW quaternion using rotation angles and does
+ *        rotations in z x y order (yaw roll pitch)
+ * 
+ * @param[in]   angles angles x y z (radians)
+ * @returns quaternion
+ */
+CGLM_INLINE
+versors
+glms_euler_zxy_quat(vec3s angles) {
+  versors dest;
+  glm_euler_zxy_quat(angles.raw, dest.raw);
+  return dest;
+}
+
+/*!
+ * @brief creates NEW quaternion using rotation angles and does
+ *        rotations in z y x order (yaw pitch roll)
+ * 
+ * @param[in]   angles angles x y z (radians)
+ * @returns quaternion
+ */
+CGLM_INLINE
+versors
+glms_euler_zyx_quat(vec3s angles) {
+  versors dest;
+  glm_euler_zyx_quat(angles.raw, dest.raw);
+  return dest;
+}
+
+
 #endif /* cglms_euler_h */

include/cglm/struct/handed/euler_to_quat_lh.h

@@ -0,0 +1,115 @@
+/*
+ * 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 glms_euler_xyz_quat_lh(vec3 angles, versor dest);
+   CGLM_INLINE void glms_euler_xzy_quat_lh(vec3 angles, versor dest);
+   CGLM_INLINE void glms_euler_yxz_quat_lh(vec3 angles, versor dest);
+   CGLM_INLINE void glms_euler_yzx_quat_lh(vec3 angles, versor dest);
+   CGLM_INLINE void glms_euler_zxy_quat_lh(vec3 angles, versor dest);
+   CGLM_INLINE void glms_euler_zyx_quat_lh(vec3 angles, versor dest);
+ */
+
+#ifndef cglms_euler_to_quat_lh_h
+#define cglms_euler_to_quat_lh_h
+
+#include "../common.h"
+
+
+/*!
+ * @brief creates NEW quaternion using rotation angles and does
+ *        rotations in x y z order in left hand (roll pitch yaw)
+ * 
+ * @param[in]   angles angles x y z (radians)
+ * @param[out]  dest   quaternion
+ */
+CGLM_INLINE
+versors
+glms_euler_xyz_quat_lh(vec3s angles) {
+  versors dest;
+  glm_euler_xyz_quat_lh(angles.raw, dest.raw);
+  return dest;
+}
+
+/*!
+ * @brief creates NEW quaternion using rotation angles and does
+ *        rotations in x z y order in left hand (roll yaw pitch)
+ * 
+ * @param[in]   angles angles x y z (radians)
+ * @param[out]  dest   quaternion
+ */
+CGLM_INLINE
+versors
+glms_euler_xzy_quat_lh(vec3s angles) {
+  versors dest;
+  glm_euler_xzy_quat_lh(angles.raw, dest.raw);
+  return dest;
+}
+
+/*!
+ * @brief creates NEW quaternion using rotation angles and does
+ *        rotations in y x z order in left hand (pitch roll yaw)
+ * 
+ * @param[in]   angles angles x y z (radians)
+ * @param[out]  dest   quaternion
+ */
+CGLM_INLINE
+versors
+glms_euler_yxz_quat_lh(vec3s angles) {
+  versors dest;
+  glm_euler_yxz_quat_lh(angles.raw, dest.raw);
+  return dest;
+}
+
+/*!
+ * @brief creates NEW quaternion using rotation angles and does
+ *        rotations in y z x order in left hand (pitch yaw roll)
+ * 
+ * @param[in]   angles angles x y z (radians)
+ * @param[out]  dest   quaternion
+ */
+CGLM_INLINE
+versors
+glms_euler_yzx_quat_lh(vec3s angles) {
+  versors dest;
+  glm_euler_yzx_quat_lh(angles.raw, dest.raw);
+  return dest;
+}
+
+/*!
+ * @brief creates NEW quaternion using rotation angles and does
+ *        rotations in z x y order in left hand (yaw roll pitch)
+ * 
+ * @param[in]   angles angles x y z (radians)
+ * @param[out]  dest   quaternion
+ */
+CGLM_INLINE
+versors
+glms_euler_zxy_quat_lh(vec3s angles) {
+  versors dest;
+  glm_euler_zxy_quat_lh(angles.raw, dest.raw);
+  return dest;
+}
+
+/*!
+ * @brief creates NEW quaternion using rotation angles and does
+ *        rotations in z y x order in left hand (yaw pitch roll)
+ * 
+ * @param[in]   angles angles x y z (radians)
+ * @param[out]  dest   quaternion
+ */
+CGLM_INLINE
+versors
+glms_euler_zyx_quat_lh(vec3s angles) {
+  versors dest;
+  glm_euler_zyx_quat_lh(angles.raw, dest.raw);
+  return dest;
+}
+
+
+#endif /* cglms_euler_to_quat_lh_h */

include/cglm/struct/handed/euler_to_quat_rh.h

@@ -0,0 +1,115 @@
+/*
+ * 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 glms_euler_xyz_quat_rh(vec3 angles, versor dest);
+   CGLM_INLINE void glms_euler_xzy_quat_rh(vec3 angles, versor dest);
+   CGLM_INLINE void glms_euler_yxz_quat_rh(vec3 angles, versor dest);
+   CGLM_INLINE void glms_euler_yzx_quat_rh(vec3 angles, versor dest);
+   CGLM_INLINE void glms_euler_zxy_quat_rh(vec3 angles, versor dest);
+   CGLM_INLINE void glms_euler_zyx_quat_rh(vec3 angles, versor dest);
+ */
+
+#ifndef cglms_euler_to_quat_rh_h
+#define cglms_euler_to_quat_rh_h
+
+#include "../common.h"
+
+
+/*!
+ * @brief creates NEW quaternion using rotation angles and does
+ *        rotations in x y z order in right hand (roll pitch yaw)
+ * 
+ * @param[in]   angles angles x y z (radians)
+ * @param[out]  dest   quaternion
+ */
+CGLM_INLINE
+versors
+glms_euler_xyz_quat_rh(vec3s angles) {
+  versors dest;
+  glm_euler_xyz_quat_rh(angles.raw, dest.raw);
+  return dest;
+}
+
+/*!
+ * @brief creates NEW quaternion using rotation angles and does
+ *        rotations in x z y order in right hand (roll yaw pitch)
+ * 
+ * @param[in]   angles angles x y z (radians)
+ * @param[out]  dest   quaternion
+ */
+CGLM_INLINE
+versors
+glms_euler_xzy_quat_rh(vec3s angles) {
+  versors dest;
+  glm_euler_xzy_quat_rh(angles.raw, dest.raw);
+  return dest;
+}
+
+/*!
+ * @brief creates NEW quaternion using rotation angles and does
+ *        rotations in y x z order in right hand (pitch roll yaw)
+ * 
+ * @param[in]   angles angles x y z (radians)
+ * @param[out]  dest   quaternion
+ */
+CGLM_INLINE
+versors
+glms_euler_yxz_quat_rh(vec3s angles) {
+  versors dest;
+  glm_euler_yxz_quat_rh(angles.raw, dest.raw);
+  return dest;
+}
+
+/*!
+ * @brief creates NEW quaternion using rotation angles and does
+ *        rotations in y z x order in right hand (pitch yaw roll)
+ * 
+ * @param[in]   angles angles x y z (radians)
+ * @param[out]  dest   quaternion
+ */
+CGLM_INLINE
+versors
+glms_euler_yzx_quat_rh(vec3s angles) {
+  versors dest;
+  glm_euler_yzx_quat_rh(angles.raw, dest.raw);
+  return dest;
+}
+
+/*!
+ * @brief creates NEW quaternion using rotation angles and does
+ *        rotations in z x y order in right hand (yaw roll pitch)
+ * 
+ * @param[in]   angles angles x y z (radians)
+ * @param[out]  dest   quaternion
+ */
+CGLM_INLINE
+versors
+glms_euler_zxy_quat_rh(vec3s angles) {
+  versors dest;
+  glm_euler_zxy_quat_rh(angles.raw, dest.raw);
+  return dest;
+}
+
+/*!
+ * @brief creates NEW quaternion using rotation angles and does
+ *        rotations in z y x order in right hand (yaw pitch roll)
+ * 
+ * @param[in]   angles angles x y z (radians)
+ * @param[out]  dest   quaternion
+ */
+CGLM_INLINE
+versors
+glms_euler_zyx_quat_rh(vec3s angles) {
+  versors dest;
+  glm_euler_zyx_quat_rh(angles.raw, dest.raw);
+  return dest;
+}
+
+
+#endif /* cglms_euler_to_quat_rh_h */

include/cglm/struct/io.h

@@ -12,6 +12,8 @@
    CGLM_INLINE void glm_vec4_print(vec4 vec, FILE *ostream);
    CGLM_INLINE void glm_vec3_print(vec3 vec, FILE *ostream);
    CGLM_INLINE void glm_ivec3_print(ivec3 vec, FILE *ostream);
+   CGLM_INLINE void glm_ivec3_print(ivec3 vec, FILE *ostream);
+
    CGLM_INLINE void glm_versor_print(versor vec, FILE *ostream);
  */
 

include/cglm/struct/mat2.h

@@ -108,13 +108,13 @@ glms_mat2_(zero)(void) {
  *
  * @code
  * mat2 m = GLM_MAT2_IDENTITY_INIT;
- * glm_mat2_mul(m, m, m);
+ * r = glms_mat2_mul(m, m);
  * @endcode
  *
  * @param[in]  m1   left matrix
  * @param[in]  m2   right matrix
  *
- * @returns matrix
+ * @returns destination matrix
  */
 CGLM_INLINE
 mat2s

include/cglm/struct/mat2x3.h

@@ -64,15 +64,13 @@ glms_mat2x3_(make)(float * __restrict src) {
 /*!
  * @brief multiply m1 and m2 to dest
  *
- * m1, m2 and dest matrices can be same matrix, it is possible to write this:
- *
  * @code
- * glm_mat2x3_mul(m, m, m);
+ * r = glms_mat2x3_mul(mat2x3s, mat3x2s);
  * @endcode
  *
- * @param[in]  m1   left matrix
+ * @param[in]  m1   left matrix (mat2x3s)
- * @param[in]  m2   right matrix
+ * @param[in]  m2   right matrix (mat3x2s)
- * @param[out] dest destination matrix
+ * @returns destination matrix (mat2s)
  */
 CGLM_INLINE
 mat2s

include/cglm/struct/mat2x4.h

@@ -64,15 +64,13 @@ glms_mat2x4_(make)(float * __restrict src) {
 /*!
  * @brief multiply m1 and m2 to dest
  *
- * m1, m2 and dest matrices can be same matrix, it is possible to write this:
- *
  * @code
- * glm_mat2x4_mul(m, m, m);
+ * r = glms_mat2x4_mul(mat2x4s, mat4x2s);
  * @endcode
  *
- * @param[in]  m1   left matrix
+ * @param[in]  m1   left matrix (mat2x4s)
- * @param[in]  m2   right matrix
+ * @param[in]  m2   right matrix (mat4x2s)
- * @param[out] dest destination matrix
+ * @returns destination matrix (mat2s)
  */
 CGLM_INLINE
 mat2s

include/cglm/struct/mat3.h

@@ -124,12 +124,12 @@ glms_mat3_(zero)(void) {
  *
  * @code
  * mat3 m = GLM_MAT3_IDENTITY_INIT;
- * glm_mat3_mul(m, m, m);
+ * r = glms_mat3_mul(m, m);
  * @endcode
  *
  * @param[in]  m1   left matrix
  * @param[in]  m2   right matrix
- * @returns         destination matrix
+ * @returns destination matrix
  */
 CGLM_INLINE
 mat3s

include/cglm/struct/mat3x2.h

@@ -64,15 +64,13 @@ glms_mat3x2_(make)(float * __restrict src) {
 /*!
  * @brief multiply m1 and m2 to dest
  *
- * m1, m2 and dest matrices can be same matrix, it is possible to write this:
- *
  * @code
- * glm_mat3x2_mul(m, m, m);
+ * r = glms_mat3x2_mul(mat3x2s, mat2x3s);
  * @endcode
  *
- * @param[in]  m1   left matrix
+ * @param[in]  m1   left matrix (mat3x2s)
- * @param[in]  m2   right matrix
+ * @param[in]  m2   right matrix (mat2x3s)
- * @param[out] dest destination matrix
+ * @returns destination matrix (mat3s)
  */
 CGLM_INLINE
 mat3s

include/cglm/struct/mat3x4.h

@@ -64,15 +64,13 @@ glms_mat3x4_(make)(float * __restrict src) {
 /*!
  * @brief multiply m1 and m2 to dest
  *
- * m1, m2 and dest matrices can be same matrix, it is possible to write this:
- *
  * @code
- * glm_mat3x4_mul(m, m, m);
+ * r = glms_mat3x4_mul(mat3x4s, mat4x3s);
  * @endcode
  *
- * @param[in]  m1   left matrix
+ * @param[in]  m1   left matrix (mat3x4s)
- * @param[in]  m2   right matrix
+ * @param[in]  m2   right matrix (mat4x3s)
- * @param[out] dest destination matrix
+ * @returns destination matrix (mat3s)
  */
 CGLM_INLINE
 mat3s

include/cglm/struct/mat4.h

@@ -25,7 +25,7 @@
    CGLM_INLINE mat4s   glms_mat4_zero(void);
    CGLM_INLINE mat3s   glms_mat4_pick3(mat4s mat);
    CGLM_INLINE mat3s   glms_mat4_pick3t(mat4s mat);
-   CGLM_INLINE mat4s   glms_mat4_ins3(mat3s mat);
+   CGLM_INLINE mat4s   glms_mat4_ins3(mat3s mat, mat4s dest);
    CGLM_INLINE mat4s   glms_mat4_mul(mat4s m1, mat4s m2);
    CGLM_INLINE mat4s   glms_mat4_mulN(mat4s * __restrict matrices[], uint32_t len);
    CGLM_INLINE vec4s   glms_mat4_mulv(mat4s m, vec4s v);
@@ -183,14 +183,14 @@ glms_mat4_(pick3t)(mat4s mat) {
  * @brief copy mat3 to mat4's upper-left
  *
  * @param[in]  mat  source
+ * @param[in]  dest destination
  * @returns         destination
  */
 CGLM_INLINE
 mat4s
-glms_mat4_(ins3)(mat3s mat) {
+glms_mat4_(ins3)(mat3s mat, mat4s dest) {
-  mat4s r;
+  glm_mat4_ins3(mat.raw, dest.raw);
-  glm_mat4_ins3(mat.raw, r.raw);
+  return dest;
-  return r;
 }
 
 /*!
@@ -200,12 +200,12 @@ glms_mat4_(ins3)(mat3s mat) {
  *
  * @code
  * mat4 m = GLM_MAT4_IDENTITY_INIT;
- * glm_mat4_mul(m, m, m);
+ * r = glms_mat4_mul(m, m);
  * @endcode
  *
  * @param[in]  m1   left matrix
  * @param[in]  m2   right matrix
- * @returns         destination matrix
+ * @returns destination matrix
  */
 CGLM_INLINE
 mat4s

include/cglm/struct/mat4x2.h

@@ -65,15 +65,13 @@ glms_mat4x2_(make)(float * __restrict src) {
 /*!
  * @brief multiply m1 and m2 to dest
  *
- * m1, m2 and dest matrices can be same matrix, it is possible to write this:
- *
  * @code
- * glm_mat4x2_mul(m, m, m);
+ * r = glms_mat4x2_mul(mat4x2s, mat2x4s);
  * @endcode
  *
- * @param[in]  m1   left matrix
+ * @param[in]  m1   left matrix (mat4x2s)
- * @param[in]  m2   right matrix
+ * @param[in]  m2   right matrix (mat2x4s)
- * @param[out] dest destination matrix
+ * @returns destination matrix (mat4s)
  */
 CGLM_INLINE
 mat4s

include/cglm/struct/mat4x3.h

@@ -64,15 +64,13 @@ glms_mat4x3_(make)(float * __restrict src) {
 /*!
  * @brief multiply m1 and m2 to dest
  *
- * m1, m2 and dest matrices can be same matrix, it is possible to write this:
- *
  * @code
- * glm_mat4x3_mul(m, m, m);
+ * r = glms_mat4x3_mul(mat4x3s, mat3x4s);
  * @endcode
  *
- * @param[in]  m1   left matrix
+ * @param[in]  m1   left matrix (mat4x3s)
- * @param[in]  m2   right matrix
+ * @param[in]  m2   right matrix (mat3x4s)
- * @param[out] dest destination matrix
+ * @returns destination matrix (mat4s)
  */
 CGLM_INLINE
 mat4s

include/cglm/struct/project.h

@@ -15,6 +15,17 @@
 #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.
@@ -68,6 +79,9 @@ glms_unprojecti(vec3s pos, mat4s invMat, vec4s vp) {
  *   glm_mat4_mul(proj, view, viewProj);
  *   glm_mat4_mul(viewProj, model, MVP);
  *
+ * or in struct api:
+ *   MVP = mat4_mul(mat4_mul(proj, view), model)
+ *
  * @param[in]  pos      point/position in viewport coordinates
  * @param[in]  m        matrix (see brief)
  * @param[in]  vp       viewport as [x, y, width, height]
@@ -88,6 +102,9 @@ glms_unproject(vec3s pos, mat4s m, vec4s vp) {
  *   glm_mat4_mul(proj, view, viewProj);
  *   glm_mat4_mul(viewProj, model, MVP);
  *
+ * or in struct api:
+ *   MVP = mat4_mul(mat4_mul(proj, view), model)
+ *
  * @param[in]  pos      object coordinates
  * @param[in]  m        MVP matrix
  * @param[in]  vp       viewport as [x, y, width, height]
@@ -101,6 +118,31 @@ glms_project(vec3s pos, mat4s m, vec4s vp) {
   return r;
 }
 
+/*!
+ * @brief map object's z coordinate to window coordinates
+ *
+ * Computing MVP:
+ *   glm_mat4_mul(proj, view, viewProj);
+ *   glm_mat4_mul(viewProj, model, MVP);
+ *
+ * or in struct api:
+ *   MVP = mat4_mul(mat4_mul(proj, view), model)
+ *
+ * @param[in]  v  object coordinates
+ * @param[in]  m  MVP matrix
+ *
+ * @returns projected z coordinate
+ */
+CGLM_INLINE
+float
+glms_project_z(vec3s v, mat4s m) {
+#if CGLM_CONFIG_CLIP_CONTROL & CGLM_CLIP_CONTROL_ZO_BIT
+  return glms_project_z_zo(v, m);
+#elif CGLM_CONFIG_CLIP_CONTROL & CGLM_CLIP_CONTROL_NO_BIT
+  return glms_project_z_no(v, m);
+#endif
+}
+
 /*!
  * @brief define a picking region
  *

include/cglm/struct/vec2.h

@@ -37,9 +37,16 @@
    CGLM_INLINE vec2s glms_vec2_muladds(vec2s a, float s, vec2s dest)
    CGLM_INLINE vec2s glms_vec2_maxadd(vec2s a, vec2s b, vec2s dest)
    CGLM_INLINE vec2s glms_vec2_minadd(vec2s a, vec2s b, vec2s dest)
+   CGLM_INLINE vec2s glms_vec2_subsub(vec2s a, vec2s b, vec2s dest)
+   CGLM_INLINE vec2s glms_vec2_addsub(vec2s a, vec2s b, vec2s dest)
+   CGLM_INLINE vec2s glms_vec2_mulsub(vec2s a, vec2s b, vec2s dest)
+   CGLM_INLINE vec2s glms_vec2_mulsubs(vec2s a, float s, vec2s dest)
+   CGLM_INLINE vec2s glms_vec2_maxsub(vec2s a, vec2s b, vec2s dest)
+   CGLM_INLINE vec2s glms_vec2_minsub(vec2s a, vec2s b, vec2s dest)
    CGLM_INLINE vec2s glms_vec2_negate(vec2s v)
    CGLM_INLINE vec2s glms_vec2_normalize(vec2s v)
    CGLM_INLINE vec2s glms_vec2_rotate(vec2s v, float angle, vec2s axis)
+   CGLM_INLINE vec2s glms_vec2_center(vec2s a, vec2s b)
    CGLM_INLINE float glms_vec2_distance(vec2s a, vec2s b)
    CGLM_INLINE float glms_vec2_distance2(vec2s a, vec2s b)
    CGLM_INLINE vec2s glms_vec2_maxv(vec2s a, vec2s b)
@@ -429,6 +436,102 @@ glms_vec2_(minadd)(vec2s a, vec2s b, vec2s dest) {
   return dest;
 }
 
+/*!
+ * @brief sub two vectors and sub result to dest
+ *
+ * it applies -= operator so dest must be initialized
+ *
+ * @param[in]  a    vector 1
+ * @param[in]  b    vector 2
+ * @returns         dest -= (a - b)
+ */
+CGLM_INLINE
+vec2s
+glms_vec2_(subsub)(vec2s a, vec2s b, vec2s dest) {
+  glm_vec2_subsub(a.raw, b.raw, dest.raw);
+  return dest;
+}
+
+/*!
+ * @brief add two vectors and sub result to dest
+ *
+ * it applies -= operator so dest must be initialized
+ *
+ * @param[in]  a    vector 1
+ * @param[in]  b    vector 2
+ * @returns         dest -= (a + b)
+ */
+CGLM_INLINE
+vec2s
+glms_vec2_(addsub)(vec2s a, vec2s b, vec2s dest) {
+  glm_vec2_addsub(a.raw, b.raw, dest.raw);
+  return dest;
+}
+
+/*!
+ * @brief mul two vectors and sub result to dest
+ *
+ * it applies -= operator so dest must be initialized
+ *
+ * @param[in]  a    vector 1
+ * @param[in]  b    vector 2
+ * @returns         dest -= (a * b)
+ */
+CGLM_INLINE
+vec2s
+glms_vec2_(mulsub)(vec2s a, vec2s b, vec2s dest) {
+  glm_vec2_mulsub(a.raw, b.raw, dest.raw);
+  return dest;
+}
+
+/*!
+ * @brief mul vector with scalar and sub result to dest
+ *
+ * it applies -= operator so dest must be initialized
+ *
+ * @param[in]  a    vector
+ * @param[in]  s    scalar
+ * @returns         dest -= (a * b)
+ */
+CGLM_INLINE
+vec2s
+glms_vec2_(mulsubs)(vec2s a, float s, vec2s dest) {
+  glm_vec2_mulsubs(a.raw, s, dest.raw);
+  return dest;
+}
+
+/*!
+ * @brief sub max of two vectors to dest
+ *
+ * it applies += operator so dest must be initialized
+ *
+ * @param[in]  a    vector 1
+ * @param[in]  b    vector 2
+ * @returns         dest -= max(a, b)
+ */
+CGLM_INLINE
+vec2s
+glms_vec2_(maxsub)(vec2s a, vec2s b, vec2s dest) {
+  glm_vec2_maxsub(a.raw, b.raw, dest.raw);
+  return dest;
+}
+
+/*!
+ * @brief sub min of two vectors to dest
+ *
+ * it applies -= operator so dest must be initialized
+ *
+ * @param[in]  a    vector 1
+ * @param[in]  b    vector 2
+ * @returns         dest -= min(a, b)
+ */
+CGLM_INLINE
+vec2s
+glms_vec2_(minsub)(vec2s a, vec2s b, vec2s dest) {
+  glm_vec2_minsub(a.raw, b.raw, dest.raw);
+  return dest;
+}
+
 /*!
  * @brief negate vector components
  *
@@ -470,6 +573,21 @@ glms_vec2_(rotate)(vec2s v, float angle) {
   return r;
 }
 
+/**
+ * @brief find center point of two vector
+ *
+ * @param[in]  a    vector1
+ * @param[in]  b    vector2
+ * @returns         center point
+ */
+CGLM_INLINE
+vec2s
+glms_vec2_(center)(vec2s a, vec2s b) {
+  vec2s r;
+  glm_vec2_center(a.raw, b.raw, r.raw);
+  return r;
+}
+
 /**
  * @brief distance between two vectors
  *

include/cglm/struct/vec3.h

@@ -41,9 +41,14 @@
    CGLM_INLINE vec3s glms_vec3_muladds(vec3s a, float s, vec3s dest);
    CGLM_INLINE vec3s glms_vec3_maxadd(vec3s a, vec3s b, vec3s dest);
    CGLM_INLINE vec3s glms_vec3_minadd(vec3s a, vec3s b, vec3s dest);
+   CGLM_INLINE vec3s glms_vec3_subsub(vec3s a, vec3s b, vec3s dest);
+   CGLM_INLINE vec3s glms_vec3_addsub(vec3s a, vec3s b, vec3s dest);
+   CGLM_INLINE vec3s glms_vec3_mulsub(vec3s a, vec3s b, vec3s dest);
+   CGLM_INLINE vec3s glms_vec3_mulsubs(vec3s a, float s, vec3s dest);
+   CGLM_INLINE vec3s glms_vec3_maxsub(vec3s a, vec3s b, vec3s dest);
+   CGLM_INLINE vec3s glms_vec3_minsub(vec3s a, vec3s b, vec3s dest);
    CGLM_INLINE vec3s glms_vec3_flipsign(vec3s v);
    CGLM_INLINE vec3s glms_vec3_negate(vec3s v);
-   CGLM_INLINE vec3s glms_vec3_inv(vec3s v);
    CGLM_INLINE vec3s glms_vec3_normalize(vec3s v);
    CGLM_INLINE vec3s glms_vec3_cross(vec3s a, vec3s b);
    CGLM_INLINE vec3s glms_vec3_crossn(vec3s a, vec3s b);
@@ -485,6 +490,102 @@ glms_vec3_(minadd)(vec3s a, vec3s b, vec3s dest) {
   return dest;
 }
 
+/*!
+ * @brief sub two vectors and sub result to dest
+ *
+ * it applies -= operator so dest must be initialized
+ *
+ * @param[in]  a    vector 1
+ * @param[in]  b    vector 2
+ * @returns         dest -= (a - b)
+ */
+CGLM_INLINE
+vec3s
+glms_vec3_(subsub)(vec3s a, vec3s b, vec3s dest) {
+  glm_vec3_subsub(a.raw, b.raw, dest.raw);
+  return dest;
+}
+
+/*!
+ * @brief add two vectors and sub result to dest
+ *
+ * it applies -= operator so dest must be initialized
+ *
+ * @param[in]  a    vector 1
+ * @param[in]  b    vector 2
+ * @returns         dest -= (a + b)
+ */
+CGLM_INLINE
+vec3s
+glms_vec3_(addsub)(vec3s a, vec3s b, vec3s dest) {
+  glm_vec3_addsub(a.raw, b.raw, dest.raw);
+  return dest;
+}
+
+/*!
+ * @brief mul two vectors and sub result to dest
+ *
+ * it applies -= operator so dest must be initialized
+ *
+ * @param[in]  a    vector 1
+ * @param[in]  b    vector 2
+ * @returns         dest -= (a * b)
+ */
+CGLM_INLINE
+vec3s
+glms_vec3_(mulsub)(vec3s a, vec3s b, vec3s dest) {
+  glm_vec3_mulsub(a.raw, b.raw, dest.raw);
+  return dest;
+}
+
+/*!
+ * @brief mul vector with scalar and sub result to dest
+ *
+ * it applies -= operator so dest must be initialized
+ *
+ * @param[in]  a    vector
+ * @param[in]  s    scalar
+ * @returns         dest -= (a * b)
+ */
+CGLM_INLINE
+vec3s
+glms_vec3_(mulsubs)(vec3s a, float s, vec3s dest) {
+  glm_vec3_mulsubs(a.raw, s, dest.raw);
+  return dest;
+}
+
+/*!
+ * @brief sub max of two vectors to dest
+ *
+ * it applies -= operator so dest must be initialized
+ *
+ * @param[in]  a    vector 1
+ * @param[in]  b    vector 2
+ * @returns         dest -= max(a, b)
+ */
+CGLM_INLINE
+vec3s
+glms_vec3_(maxsub)(vec3s a, vec3s b, vec3s dest) {
+  glm_vec3_maxsub(a.raw, b.raw, dest.raw);
+  return dest;
+}
+
+/*!
+ * @brief sub min of two vectors to dest
+ *
+ * it applies -= operator so dest must be initialized
+ *
+ * @param[in]  a    vector 1
+ * @param[in]  b    vector 2
+ * @returns         dest -= min(a, b)
+ */
+CGLM_INLINE
+vec3s
+glms_vec3_(minsub)(vec3s a, vec3s b, vec3s dest) {
+  glm_vec3_minsub(a.raw, b.raw, dest.raw);
+  return dest;
+}
+
 /*!
  * @brief negate vector components and store result in dest
  *

include/cglm/struct/vec4.h

@@ -41,8 +41,13 @@
    CGLM_INLINE vec4s glms_vec4_muladds(vec4s a, float s, vec4s dest);
    CGLM_INLINE vec4s glms_vec4_maxadd(vec4s a, vec4s b, vec4s dest);
    CGLM_INLINE vec4s glms_vec4_minadd(vec4s a, vec4s b, vec4s dest);
+   CGLM_INLINE vec4s glms_vec4_subsub(vec4s a, vec4s b, vec4s dest);
+   CGLM_INLINE vec4s glms_vec4_addsub(vec4s a, vec4s b, vec4s dest);
+   CGLM_INLINE vec4s glms_vec4_mulsub(vec4s a, vec4s b, vec4s dest);
+   CGLM_INLINE vec4s glms_vec4_mulsubs(vec4s a, float s, vec4s dest);
+   CGLM_INLINE vec4s glms_vec4_maxsub(vec4s a, vec4s b, vec4s dest);
+   CGLM_INLINE vec4s glms_vec4_minsub(vec4s a, vec4s b, vec4s dest);
    CGLM_INLINE vec4s glms_vec4_negate(vec4s v);
-   CGLM_INLINE vec4s glms_vec4_inv(vec4s v);
    CGLM_INLINE vec4s glms_vec4_normalize(vec4s v);
    CGLM_INLINE float glms_vec4_distance(vec4s a, vec4s b);
    CGLM_INLINE float glms_vec4_distance2(vec4s a, vec4s b);
@@ -514,6 +519,102 @@ glms_vec4_(minadd)(vec4s a, vec4s b, vec4s dest) {
   return dest;
 }
 
+/*!
+ * @brief sub two vectors and sub result to dest
+ *
+ * it applies -= operator so dest must be initialized
+ *
+ * @param[in]  a    vector 1
+ * @param[in]  b    vector 2
+ * @returns         dest -= (a + b)
+ */
+CGLM_INLINE
+vec4s
+glms_vec4_(subsub)(vec4s a, vec4s b, vec4s dest) {
+  glm_vec4_subsub(a.raw, b.raw, dest.raw);
+  return dest;
+}
+
+/*!
+ * @brief add two vectors and sub result to dest
+ *
+ * it applies -= operator so dest must be initialized
+ *
+ * @param[in]  a    vector 1
+ * @param[in]  b    vector 2
+ * @returns         dest -= (a + b)
+ */
+CGLM_INLINE
+vec4s
+glms_vec4_(addsub)(vec4s a, vec4s b, vec4s dest) {
+  glm_vec4_addsub(a.raw, b.raw, dest.raw);
+  return dest;
+}
+
+/*!
+ * @brief mul two vectors and sub result to dest
+ *
+ * it applies -= operator so dest must be initialized
+ *
+ * @param[in]  a    vector 1
+ * @param[in]  b    vector 2
+ * @returns         dest -= (a * b)
+ */
+CGLM_INLINE
+vec4s
+glms_vec4_(mulsub)(vec4s a, vec4s b, vec4s dest) {
+  glm_vec4_mulsub(a.raw, b.raw, dest.raw);
+  return dest;
+}
+
+/*!
+ * @brief mul vector with scalar and sub result to dest
+ *
+ * it applies -= operator so dest must be initialized
+ *
+ * @param[in]  a    vector
+ * @param[in]  s    scalar
+ * @returns         dest -= (a * b)
+ */
+CGLM_INLINE
+vec4s
+glms_vec4_(mulsubs)(vec4s a, float s, vec4s dest) {
+  glm_vec4_mulsubs(a.raw, s, dest.raw);
+  return dest;
+}
+
+/*!
+ * @brief sub max of two vectors to dest
+ *
+ * it applies -= operator so dest must be initialized
+ *
+ * @param[in]  a    vector 1
+ * @param[in]  b    vector 2
+ * @returns         dest -= max(a, b)
+ */
+CGLM_INLINE
+vec4s
+glms_vec4_(maxsub)(vec4s a, vec4s b, vec4s dest) {
+  glm_vec4_maxsub(a.raw, b.raw, dest.raw);
+  return dest;
+}
+
+/*!
+ * @brief sub min of two vectors to dest
+ *
+ * it applies -= operator so dest must be initialized
+ *
+ * @param[in]  a    vector 1
+ * @param[in]  b    vector 2
+ * @returns         dest -= min(a, b)
+ */
+CGLM_INLINE
+vec4s
+glms_vec4_(minsub)(vec4s a, vec4s b, vec4s dest) {
+  glm_vec4_minsub(a.raw, b.raw, dest.raw);
+  return dest;
+}
+
 /*!
  * @brief negate vector components and store result in dest
  *

include/cglm/types.h

@@ -8,6 +8,10 @@
 #ifndef cglm_types_h
 #define cglm_types_h
 
+#if (defined(__STDC_VERSION__) && __STDC_VERSION__ >= 201112L)
+# include <stdalign.h>
+#endif
+
 #if defined(_MSC_VER)
 /* do not use alignment for older visual studio versions */
 #  if _MSC_VER < 1913 /*  Visual Studio 2017 version 15.6  */
@@ -57,8 +61,16 @@
 #  define CGLM_ASSUME_ALIGNED(expr, alignment) (expr)
 #endif
 
-#define CGLM_CASTPTR_ASSUME_ALIGNED(expr, type) \
+#if (defined(__STDC_VERSION__) && __STDC_VERSION__ >= 201112L)
-  ((type*)CGLM_ASSUME_ALIGNED((expr), __alignof__(type)))
+# define CGLM_CASTPTR_ASSUME_ALIGNED(expr, type) \
+   ((type*)CGLM_ASSUME_ALIGNED((expr), alignof(type)))
+#elif defined(_MSC_VER)
+# define CGLM_CASTPTR_ASSUME_ALIGNED(expr, type) \
+   ((type*)CGLM_ASSUME_ALIGNED((expr), __alignof(type)))
+#else
+# define CGLM_CASTPTR_ASSUME_ALIGNED(expr, type) \
+   ((type*)CGLM_ASSUME_ALIGNED((expr), __alignof__(type)))
+#endif
 
 typedef int                     ivec2[2];
 typedef int                     ivec3[3];

include/cglm/util.h

@@ -147,6 +147,38 @@ glm_max(float a, float b) {
   return b;
 }
 
+/*!
+ * @brief find minimum of given two values
+ * 
+ * @param[in] a number 1
+ * @param[in] b number 2
+ *
+ * @return smallest of the two values
+ */
+CGLM_INLINE
+int
+glm_imin(int a, int b) {
+  if (a < b)
+    return a;
+  return b;
+}
+
+/*!
+ * @brief find maximum of given two values
+ *
+ * @param[in] a number 1
+ * @param[in] b number 2
+ *
+ * @return largest of the two values
+ */
+CGLM_INLINE
+int
+glm_imax(int a, int b) {
+  if (a > b)
+    return a;
+  return b;
+}
+
 /*!
  * @brief clamp a number between min and max
  *

include/cglm/vec2.h

@@ -36,11 +36,18 @@
    CGLM_INLINE void  glm_vec2_muladds(vec2 a, float s, vec2 dest)
    CGLM_INLINE void  glm_vec2_maxadd(vec2 a, vec2 b, vec2 dest)
    CGLM_INLINE void  glm_vec2_minadd(vec2 a, vec2 b, vec2 dest)
+   CGLM_INLINE void  glm_vec2_subsub(vec2 a, vec2 b, vec2 dest)
+   CGLM_INLINE void  glm_vec2_addsub(vec2 a, vec2 b, vec2 dest)
+   CGLM_INLINE void  glm_vec2_mulsub(vec2 a, vec2 b, vec2 dest)
+   CGLM_INLINE void  glm_vec2_mulsubs(vec2 a, float s, vec2 dest)
+   CGLM_INLINE void  glm_vec2_maxsub(vec2 a, vec2 b, vec2 dest)
+   CGLM_INLINE void  glm_vec2_minsub(vec2 a, vec2 b, vec2 dest)
    CGLM_INLINE void  glm_vec2_negate_to(vec2 v, vec2 dest)
    CGLM_INLINE void  glm_vec2_negate(vec2 v)
    CGLM_INLINE void  glm_vec2_normalize(vec2 v)
    CGLM_INLINE void  glm_vec2_normalize_to(vec2 vec, vec2 dest)
    CGLM_INLINE void  glm_vec2_rotate(vec2 v, float angle, vec2 dest)
+   CGLM_INLINE void  glm_vec2_center(vec2 a, vec2 b, vec2 dest)
    CGLM_INLINE float glm_vec2_distance2(vec2 a, vec2 b)
    CGLM_INLINE float glm_vec2_distance(vec2 a, vec2 b)
    CGLM_INLINE void  glm_vec2_maxv(vec2 v1, vec2 v2, vec2 dest)
@@ -402,6 +409,102 @@ glm_vec2_minadd(vec2 a, vec2 b, vec2 dest) {
   dest[1] += glm_min(a[1], b[1]);
 }
 
+/*!
+ * @brief sub two vectors and sub result to dest
+ *
+ * it applies -= operator so dest must be initialized
+ *
+ * @param[in]  a    vector 1
+ * @param[in]  b    vector 2
+ * @param[out] dest dest -= (a - b)
+ */
+CGLM_INLINE
+void
+glm_vec2_subsub(vec2 a, vec2 b, vec2 dest) {
+  dest[0] -= a[0] - b[0];
+  dest[1] -= a[1] - b[1];
+}
+
+/*!
+ * @brief add two vectors and sub result to dest
+ *
+ * it applies -= operator so dest must be initialized
+ *
+ * @param[in]  a    vector 1
+ * @param[in]  b    vector 2
+ * @param[out] dest dest -= (a + b)
+ */
+CGLM_INLINE
+void
+glm_vec2_addsub(vec2 a, vec2 b, vec2 dest) {
+  dest[0] -= a[0] + b[0];
+  dest[1] -= a[1] + b[1];
+}
+
+/*!
+ * @brief mul two vectors and sub result to dest
+ *
+ * it applies -= operator so dest must be initialized
+ *
+ * @param[in]  a    vector 1
+ * @param[in]  b    vector 2
+ * @param[out] dest dest -= (a * b)
+ */
+CGLM_INLINE
+void
+glm_vec2_mulsub(vec2 a, vec2 b, vec2 dest) {
+  dest[0] -= a[0] * b[0];
+  dest[1] -= a[1] * b[1];
+}
+
+/*!
+ * @brief mul vector with scalar and sub result to sum
+ *
+ * it applies -= operator so dest must be initialized
+ *
+ * @param[in]  a    vector
+ * @param[in]  s    scalar
+ * @param[out] dest dest -= (a * b)
+ */
+CGLM_INLINE
+void
+glm_vec2_mulsubs(vec2 a, float s, vec2 dest) {
+  dest[0] -= a[0] * s;
+  dest[1] -= a[1] * s;
+}
+
+/*!
+ * @brief sub max of two vectors to result/dest
+ *
+ * it applies -= operator so dest must be initialized
+ *
+ * @param[in]  a    vector 1
+ * @param[in]  b    vector 2
+ * @param[out] dest dest -= max(a, b)
+ */
+CGLM_INLINE
+void
+glm_vec2_maxsub(vec2 a, vec2 b, vec2 dest) {
+  dest[0] -= glm_max(a[0], b[0]);
+  dest[1] -= glm_max(a[1], b[1]);
+}
+
+/*!
+ * @brief sub min of two vectors to result/dest
+ *
+ * it applies -= operator so dest must be initialized
+ *
+ * @param[in]  a    vector 1
+ * @param[in]  b    vector 2
+ * @param[out] dest dest -= min(a, b)
+ */
+CGLM_INLINE
+void
+glm_vec2_minsub(vec2 a, vec2 b, vec2 dest) {
+  dest[0] -= glm_min(a[0], b[0]);
+  dest[1] -= glm_min(a[1], b[1]);
+}
+
 /*!
  * @brief negate vector components and store result in dest
  *
@@ -493,6 +596,20 @@ glm_vec2_rotate(vec2 v, float angle, vec2 dest) {
   dest[1] = s * x1 + c * y1;
 }
 
+/**
+ * @brief find center point of two vector
+ *
+ * @param[in]  a    vector1
+ * @param[in]  b    vector2
+ * @param[out] dest center point
+ */
+CGLM_INLINE
+void
+glm_vec2_center(vec2 a, vec2 b, vec2 dest) {
+  glm_vec2_add(a, b, dest);
+  glm_vec2_scale(dest, 0.5f, dest);
+}
+
 /**
  * @brief squared distance between two vectors
  *

include/cglm/vec3.h

@@ -40,6 +40,12 @@
    CGLM_INLINE void  glm_vec3_muladds(vec3 a, float s, vec3 dest);
    CGLM_INLINE void  glm_vec3_maxadd(vec3 a, vec3 b, vec3 dest);
    CGLM_INLINE void  glm_vec3_minadd(vec3 a, vec3 b, vec3 dest);
+   CGLM_INLINE void  glm_vec3_subsub(vec3 a, vec3 b, vec3 dest);
+   CGLM_INLINE void  glm_vec3_addsub(vec3 a, vec3 b, vec3 dest);
+   CGLM_INLINE void  glm_vec3_mulsub(vec3 a, vec3 b, vec3 dest);
+   CGLM_INLINE void  glm_vec3_mulsubs(vec3 a, float s, vec3 dest);
+   CGLM_INLINE void  glm_vec3_maxsub(vec3 a, vec3 b, vec3 dest);
+   CGLM_INLINE void  glm_vec3_minsub(vec3 a, vec3 b, vec3 dest);
    CGLM_INLINE void  glm_vec3_flipsign(vec3 v);
    CGLM_INLINE void  glm_vec3_flipsign_to(vec3 v, vec3 dest);
    CGLM_INLINE void  glm_vec3_negate_to(vec3 v, vec3 dest);
@@ -503,6 +509,108 @@ glm_vec3_minadd(vec3 a, vec3 b, vec3 dest) {
   dest[2] += glm_min(a[2], b[2]);
 }
 
+/*!
+ * @brief sub two vectors and sub result to dest
+ *
+ * it applies += operator so dest must be initialized
+ *
+ * @param[in]  a    vector 1
+ * @param[in]  b    vector 2
+ * @param[out] dest dest -= (a - b)
+ */
+CGLM_INLINE
+void
+glm_vec3_subsub(vec3 a, vec3 b, vec3 dest) {
+  dest[0] -= a[0] - b[0];
+  dest[1] -= a[1] - b[1];
+  dest[2] -= a[2] - b[2];
+}
+
+/*!
+ * @brief add two vectors and sub result to dest
+ *
+ * it applies += operator so dest must be initialized
+ *
+ * @param[in]  a    vector 1
+ * @param[in]  b    vector 2
+ * @param[out] dest dest -= (a + b)
+ */
+CGLM_INLINE
+void
+glm_vec3_addsub(vec3 a, vec3 b, vec3 dest) {
+  dest[0] -= a[0] + b[0];
+  dest[1] -= a[1] + b[1];
+  dest[2] -= a[2] + b[2];
+}
+
+/*!
+ * @brief mul two vectors and sub result to dest
+ *
+ * it applies -= operator so dest must be initialized
+ *
+ * @param[in]  a    vector 1
+ * @param[in]  b    vector 2
+ * @param[out] dest dest -= (a * b)
+ */
+CGLM_INLINE
+void
+glm_vec3_mulsub(vec3 a, vec3 b, vec3 dest) {
+  dest[0] -= a[0] * b[0];
+  dest[1] -= a[1] * b[1];
+  dest[2] -= a[2] * b[2];
+}
+
+/*!
+ * @brief mul vector with scalar and sub result to dest
+ *
+ * it applies -= operator so dest must be initialized
+ *
+ * @param[in]  a    vector
+ * @param[in]  s    scalar
+ * @param[out] dest dest -= (a * b)
+ */
+CGLM_INLINE
+void
+glm_vec3_mulsubs(vec3 a, float s, vec3 dest) {
+  dest[0] -= a[0] * s;
+  dest[1] -= a[1] * s;
+  dest[2] -= a[2] * s;
+}
+
+/*!
+ * @brief sub max of two vectors to result/dest
+ *
+ * it applies -= operator so dest must be initialized
+ *
+ * @param[in]  a    vector 1
+ * @param[in]  b    vector 2
+ * @param[out] dest dest -= max(a, b)
+ */
+CGLM_INLINE
+void
+glm_vec3_maxsub(vec3 a, vec3 b, vec3 dest) {
+  dest[0] -= glm_max(a[0], b[0]);
+  dest[1] -= glm_max(a[1], b[1]);
+  dest[2] -= glm_max(a[2], b[2]);
+}
+
+/*!
+ * @brief sub min of two vectors to result/dest
+ *
+ * it applies -= operator so dest must be initialized
+ *
+ * @param[in]  a    vector 1
+ * @param[in]  b    vector 2
+ * @param[out] dest dest -= min(a, b)
+ */
+CGLM_INLINE
+void
+glm_vec3_minsub(vec3 a, vec3 b, vec3 dest) {
+  dest[0] -= glm_min(a[0], b[0]);
+  dest[1] -= glm_min(a[1], b[1]);
+  dest[2] -= glm_min(a[2], b[2]);
+}
+
 /*!
  * @brief negate vector components and store result in dest
  *

include/cglm/vec4-ext.h

@@ -223,7 +223,7 @@ glm_vec4_isvalid(vec4 v) {
 CGLM_INLINE
 void
 glm_vec4_sign(vec4 v, vec4 dest) {
-#if defined( __SSE2__ ) || defined( __SSE2__ )
+#if defined( __SSE__ ) || defined( __SSE2__ )
   __m128 x0, x1, x2, x3, x4;
 
   x0 = glmm_load(v);

include/cglm/vec4.h

@@ -39,6 +39,12 @@
    CGLM_INLINE void  glm_vec4_muladds(vec4 a, float s, vec4 dest);
    CGLM_INLINE void  glm_vec4_maxadd(vec4 a, vec4 b, vec4 dest);
    CGLM_INLINE void  glm_vec4_minadd(vec4 a, vec4 b, vec4 dest);
+   CGLM_INLINE void  glm_vec4_subsub(vec4 a, vec4 b, vec4 dest);
+   CGLM_INLINE void  glm_vec4_addsub(vec4 a, vec4 b, vec4 dest);
+   CGLM_INLINE void  glm_vec4_mulsub(vec4 a, vec4 b, vec4 dest);
+   CGLM_INLINE void  glm_vec4_mulsubs(vec4 a, float s, vec4 dest);
+   CGLM_INLINE void  glm_vec4_maxsub(vec4 a, vec4 b, vec4 dest);
+   CGLM_INLINE void  glm_vec4_minsub(vec4 a, vec4 b, vec4 dest);
    CGLM_INLINE void  glm_vec4_negate(vec4 v);
    CGLM_INLINE void  glm_vec4_inv(vec4 v);
    CGLM_INLINE void  glm_vec4_inv_to(vec4 v, vec4 dest);
@@ -649,7 +655,7 @@ glm_vec4_maxadd(vec4 a, vec4 b, vec4 dest) {
 #if defined(__wasm__) && defined(__wasm_simd128__)
   glmm_store(dest, wasm_f32x4_add(
           glmm_load(dest),
-          wasm_f32x4_max(glmm_load(a), glmm_load(b))));
+          wasm_f32x4_pmax(glmm_load(a), glmm_load(b))));
 #elif defined( __SSE__ ) || defined( __SSE2__ )
   glmm_store(dest, _mm_add_ps(glmm_load(dest),
                               _mm_max_ps(glmm_load(a),
@@ -681,7 +687,7 @@ glm_vec4_minadd(vec4 a, vec4 b, vec4 dest) {
 #if defined(__wasm__) && defined(__wasm_simd128__)
   glmm_store(dest, wasm_f32x4_add(
           glmm_load(dest),
-          wasm_f32x4_min(glmm_load(a), glmm_load(b))));
+          wasm_f32x4_pmin(glmm_load(a), glmm_load(b))));
 #elif defined( __SSE__ ) || defined( __SSE2__ )
   glmm_store(dest, _mm_add_ps(glmm_load(dest),
                               _mm_min_ps(glmm_load(a),
@@ -698,6 +704,178 @@ glm_vec4_minadd(vec4 a, vec4 b, vec4 dest) {
 #endif
 }
 
+/*!
+ * @brief sub two vectors and sub result to dest
+ *
+ * it applies -= operator so dest must be initialized
+ *
+ * @param[in]  a    vector 1
+ * @param[in]  b    vector 2
+ * @param[out] dest dest -= (a - b)
+ */
+CGLM_INLINE
+void
+glm_vec4_subsub(vec4 a, vec4 b, vec4 dest) {
+#if defined(__wasm__) && defined(__wasm_simd128__)
+  glmm_store(dest, wasm_f32x4_sub(
+          glmm_load(dest),
+          wasm_f32x4_sub(glmm_load(a), glmm_load(b))));
+#elif defined( __SSE__ ) || defined( __SSE2__ )
+  glmm_store(dest, _mm_sub_ps(glmm_load(dest),
+                              _mm_sub_ps(glmm_load(a),
+                                         glmm_load(b))));
+#elif defined(CGLM_NEON_FP)
+  vst1q_f32(dest, vsubq_f32(vld1q_f32(dest),
+                            vsubq_f32(vld1q_f32(a),
+                                      vld1q_f32(b))));
+#else
+  dest[0] -= a[0] - b[0];
+  dest[1] -= a[1] - b[1];
+  dest[2] -= a[2] - b[2];
+  dest[3] -= a[3] - b[3];
+#endif
+}
+
+/*!
+ * @brief add two vectors and sub result to dest
+ *
+ * it applies -= operator so dest must be initialized
+ *
+ * @param[in]  a    vector 1
+ * @param[in]  b    vector 2
+ * @param[out] dest dest -= (a + b)
+ */
+CGLM_INLINE
+void
+glm_vec4_addsub(vec4 a, vec4 b, vec4 dest) {
+#if defined(__wasm__) && defined(__wasm_simd128__)
+  glmm_store(dest, wasm_f32x4_sub(
+          glmm_load(dest),
+          wasm_f32x4_add(glmm_load(a), glmm_load(b))));
+#elif defined( __SSE__ ) || defined( __SSE2__ )
+  glmm_store(dest, _mm_sub_ps(glmm_load(dest),
+                              _mm_add_ps(glmm_load(a),
+                                         glmm_load(b))));
+#elif defined(CGLM_NEON_FP)
+  vst1q_f32(dest, vsubq_f32(vld1q_f32(dest),
+                            vaddq_f32(vld1q_f32(a),
+                                      vld1q_f32(b))));
+#else
+  dest[0] -= a[0] + b[0];
+  dest[1] -= a[1] + b[1];
+  dest[2] -= a[2] + b[2];
+  dest[3] -= a[3] + b[3];
+#endif
+}
+
+/*!
+ * @brief mul two vectors and sub result to dest
+ *
+ * it applies -= operator so dest must be initialized
+ *
+ * @param[in]  a    vector 1
+ * @param[in]  b    vector 2
+ * @param[out] dest dest -= (a * b)
+ */
+CGLM_INLINE
+void
+glm_vec4_mulsub(vec4 a, vec4 b, vec4 dest) {
+#if defined(CGLM_SIMD)
+  glmm_store(dest, glmm_fnmadd(glmm_load(a), glmm_load(b), glmm_load(dest)));
+#else
+  dest[0] -= a[0] * b[0];
+  dest[1] -= a[1] * b[1];
+  dest[2] -= a[2] * b[2];
+  dest[3] -= a[3] * b[3];
+#endif
+}
+
+/*!
+ * @brief mul vector with scalar and sub result to dest
+ *
+ * it applies -= operator so dest must be initialized
+ *
+ * @param[in]  a    vector
+ * @param[in]  s    scalar
+ * @param[out] dest dest -= (a * b)
+ */
+CGLM_INLINE
+void
+glm_vec4_mulsubs(vec4 a, float s, vec4 dest) {
+#if defined(CGLM_SIMD)
+  glmm_store(dest, glmm_fnmadd(glmm_load(a), glmm_set1(s), glmm_load(dest)));
+#else
+  dest[0] -= a[0] * s;
+  dest[1] -= a[1] * s;
+  dest[2] -= a[2] * s;
+  dest[3] -= a[3] * s;
+#endif
+}
+
+/*!
+ * @brief sub max of two vectors to dest
+ *
+ * it applies -= operator so dest must be initialized
+ *
+ * @param[in]  a    vector 1
+ * @param[in]  b    vector 2
+ * @param[out] dest dest -= max(a, b)
+ */
+CGLM_INLINE
+void
+glm_vec4_maxsub(vec4 a, vec4 b, vec4 dest) {
+#if defined(__wasm__) && defined(__wasm_simd128__)
+  glmm_store(dest, wasm_f32x4_sub(
+          glmm_load(dest),
+          wasm_f32x4_pmax(glmm_load(a), glmm_load(b))));
+#elif defined( __SSE__ ) || defined( __SSE2__ )
+  glmm_store(dest, _mm_sub_ps(glmm_load(dest),
+                              _mm_max_ps(glmm_load(a),
+                                         glmm_load(b))));
+#elif defined(CGLM_NEON_FP)
+  vst1q_f32(dest, vsubq_f32(vld1q_f32(dest),
+                            vmaxq_f32(vld1q_f32(a),
+                                      vld1q_f32(b))));
+#else
+  dest[0] -= glm_max(a[0], b[0]);
+  dest[1] -= glm_max(a[1], b[1]);
+  dest[2] -= glm_max(a[2], b[2]);
+  dest[3] -= glm_max(a[3], b[3]);
+#endif
+}
+
+/*!
+ * @brief sub min of two vectors to dest
+ *
+ * it applies -= operator so dest must be initialized
+ *
+ * @param[in]  a    vector 1
+ * @param[in]  b    vector 2
+ * @param[out] dest dest -= min(a, b)
+ */
+CGLM_INLINE
+void
+glm_vec4_minsub(vec4 a, vec4 b, vec4 dest) {
+#if defined(__wasm__) && defined(__wasm_simd128__)
+  glmm_store(dest, wasm_f32x4_sub(
+          glmm_load(dest),
+          wasm_f32x4_pmin(glmm_load(a), glmm_load(b))));
+#elif defined( __SSE__ ) || defined( __SSE2__ )
+  glmm_store(dest, _mm_sub_ps(glmm_load(dest),
+                              _mm_min_ps(glmm_load(a),
+                                         glmm_load(b))));
+#elif defined(CGLM_NEON_FP)
+  vst1q_f32(dest, vsubq_f32(vld1q_f32(dest),
+                            vminq_f32(vld1q_f32(a),
+                                      vld1q_f32(b))));
+#else
+  dest[0] -= glm_min(a[0], b[0]);
+  dest[1] -= glm_min(a[1], b[1]);
+  dest[2] -= glm_min(a[2], b[2]);
+  dest[3] -= glm_min(a[3], b[3]);
+#endif
+}
+
 /*!
  * @brief negate vector components and store result in dest
  *
@@ -854,7 +1032,7 @@ CGLM_INLINE
 void
 glm_vec4_maxv(vec4 a, vec4 b, vec4 dest) {
 #if defined(__wasm__) && defined(__wasm_simd128__)
-  glmm_store(dest, wasm_f32x4_max(glmm_load(a), glmm_load(b)));
+  glmm_store(dest, wasm_f32x4_pmax(glmm_load(a), glmm_load(b)));
 #elif defined( __SSE__ ) || defined( __SSE2__ )
   glmm_store(dest, _mm_max_ps(glmm_load(a), glmm_load(b)));
 #elif defined(CGLM_NEON_FP)
@@ -878,7 +1056,7 @@ CGLM_INLINE
 void
 glm_vec4_minv(vec4 a, vec4 b, vec4 dest) {
 #if defined(__wasm__) && defined(__wasm_simd128__)
-  glmm_store(dest, wasm_f32x4_min(glmm_load(a), glmm_load(b)));
+  glmm_store(dest, wasm_f32x4_pmin(glmm_load(a), glmm_load(b)));
 #elif defined( __SSE__ ) || defined( __SSE2__ )
   glmm_store(dest, _mm_min_ps(glmm_load(a), glmm_load(b)));
 #elif defined(CGLM_NEON_FP)
@@ -902,8 +1080,8 @@ CGLM_INLINE
 void
 glm_vec4_clamp(vec4 v, float minVal, float maxVal) {
 #if defined(__wasm__) && defined(__wasm_simd128__)
-  glmm_store(v, wasm_f32x4_min(
+  glmm_store(v, wasm_f32x4_pmin(
-          wasm_f32x4_max(glmm_load(v), wasm_f32x4_splat(minVal)),
+          wasm_f32x4_pmax(glmm_load(v), wasm_f32x4_splat(minVal)),
           wasm_f32x4_splat(maxVal)));
 #elif defined( __SSE__ ) || defined( __SSE2__ )
   glmm_store(v, _mm_min_ps(_mm_max_ps(glmm_load(v), _mm_set1_ps(minVal)),

include/cglm/version.h

@@ -10,6 +10,6 @@
 
 #define CGLM_VERSION_MAJOR 0
 #define CGLM_VERSION_MINOR 9
-#define CGLM_VERSION_PATCH 1
+#define CGLM_VERSION_PATCH 2
 
 #endif /* cglm_version_h */

meson.build

@@ -1,5 +1,5 @@
 project('cglm', 'c',
-    version : '0.9.1',
+    version : '0.9.2',
     license : 'mit',
     default_options : [
         'c_std=c11',
@@ -87,7 +87,8 @@ cglm_lib = library('cglm',
     dependencies : cglm_deps,
     c_args : [ build_args, cglm_args ],
     version : meson.project_version(),
-    soversion : '0'
+    soversion : '0',
+    build_by_default: not meson.is_subproject()
 )
 
 cglm_dep = declare_dependency(

src/aabb2d.c

@@ -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
+ */
+
+#include "../include/cglm/cglm.h"
+#include "../include/cglm/call.h"
+
+CGLM_EXPORT
+void
+glmc_aabb2d_copy(vec2 aabb[2], vec2 dest[2]) {
+  glm_aabb2d_copy(aabb, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_aabb2d_transform(vec2 aabb[2], mat3 m, vec2 dest[2]) {
+  glm_aabb2d_transform(aabb, m, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_aabb2d_merge(vec2 aabb1[2], vec2 aabb2[2], vec2 dest[2]) {
+  glm_aabb2d_merge(aabb1, aabb2, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_aabb2d_crop(vec2 aabb[2], vec2 cropAabb[2], vec2 dest[2]) {
+  glm_aabb2d_crop(aabb, cropAabb, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_aabb2d_crop_until(vec2 aabb[2],
+                     vec2 cropAabb[2],
+                     vec2 clampAabb[2],
+                     vec2 dest[2]) {
+  glm_aabb2d_crop_until(aabb, cropAabb, clampAabb, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_aabb2d_invalidate(vec2 aabb[2]) {
+  glm_aabb2d_invalidate(aabb);
+}
+
+CGLM_EXPORT
+bool
+glmc_aabb2d_isvalid(vec2 aabb[2]) {
+  return glm_aabb2d_isvalid(aabb);
+}
+
+CGLM_EXPORT
+float
+glmc_aabb2d_size(vec2 aabb[2]) {
+  return glm_aabb2d_size(aabb);
+}
+
+CGLM_EXPORT
+float
+glmc_aabb2d_radius(vec2 aabb[2]) {
+  return glm_aabb2d_radius(aabb);
+}
+
+CGLM_EXPORT
+void
+glmc_aabb2d_center(vec2 aabb[2], vec2 dest) {
+  glm_aabb2d_center(aabb, dest);
+}
+
+CGLM_EXPORT
+bool
+glmc_aabb2d_aabb(vec2 aabb[2], vec2 other[2]) {
+  return glm_aabb2d_aabb(aabb, other);
+}
+
+CGLM_EXPORT
+bool
+glmc_aabb2d_point(vec2 aabb[2], vec2 point) {
+  return glm_aabb2d_point(aabb, point);
+}
+
+CGLM_EXPORT
+bool
+glmc_aabb2d_contains(vec2 aabb[2], vec2 other[2]) {
+  return glm_aabb2d_contains(aabb, other);
+}
+
+CGLM_EXPORT
+bool
+glmc_aabb2d_circle(vec2 aabb[2], vec3 s) {
+  return glm_aabb2d_circle(aabb, s);
+}

src/euler.c

@@ -61,3 +61,40 @@ void
 glmc_euler_by_order(vec3 angles, glm_euler_seq axis, mat4 dest) {
   glm_euler_by_order(angles, axis, dest);
 }
+
+CGLM_EXPORT
+void
+glmc_euler_xyz_quat(vec3 angles, versor dest) {
+  glm_euler_xyz_quat(angles, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_euler_xzy_quat(vec3 angles, versor dest) {
+  glm_euler_xzy_quat(angles, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_euler_yxz_quat(vec3 angles, versor dest) {
+  glm_euler_yxz_quat(angles, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_euler_yzx_quat(vec3 angles, versor dest) {
+  glm_euler_yzx_quat(angles, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_euler_zxy_quat(vec3 angles, versor dest) {
+  glm_euler_zxy_quat(angles, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_euler_zyx_quat(vec3 angles, versor dest) {
+  glm_euler_zyx_quat(angles, dest);
+}
+

src/ivec2.c

@@ -68,6 +68,102 @@ glmc_ivec2_scale(ivec2 v, int s, ivec2 dest) {
   glm_ivec2_scale(v, s, dest);
 }
 
+CGLM_EXPORT
+void
+glmc_ivec2_addadd(ivec2 a, ivec2 b, ivec2 dest) {
+  glm_ivec2_addadd(a, b, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_ivec2_addadds(ivec2 a, int s, ivec2 dest) {
+  glm_ivec2_addadds(a, s, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_ivec2_subadd(ivec2 a, ivec2 b, ivec2 dest) {
+  glm_ivec2_subadd(a, b, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_ivec2_subadds(ivec2 a, int s, ivec2 dest) {
+  glm_ivec2_subadds(a, s, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_ivec2_muladd(ivec2 a, ivec2 b, ivec2 dest) {
+  glm_ivec2_muladd(a, b, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_ivec2_muladds(ivec2 a, int s, ivec2 dest) {
+  glm_ivec2_muladds(a, s, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_ivec2_maxadd(ivec2 a, ivec2 b, ivec2 dest) {
+  glm_ivec2_maxadd(a, b, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_ivec2_minadd(ivec2 a, ivec2 b, ivec2 dest) {
+  glm_ivec2_minadd(a, b, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_ivec2_subsub(ivec2 a, ivec2 b, ivec2 dest) {
+  glm_ivec2_subsub(a, b, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_ivec2_subsubs(ivec2 a, int s, ivec2 dest) {
+  glm_ivec2_subsubs(a, s, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_ivec2_addsub(ivec2 a, ivec2 b, ivec2 dest) {
+  glm_ivec2_addsub(a, b, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_ivec2_addsubs(ivec2 a, int s, ivec2 dest) {
+  glm_ivec2_addsubs(a, s, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_ivec2_mulsub(ivec2 a, ivec2 b, ivec2 dest) {
+  glm_ivec2_mulsub(a, b, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_ivec2_mulsubs(ivec2 a, int s, ivec2 dest) {
+  glm_ivec2_mulsubs(a, s, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_ivec2_maxsub(ivec2 a, ivec2 b, ivec2 dest) {
+  glm_ivec2_maxsub(a, b, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_ivec2_minsub(ivec2 a, ivec2 b, ivec2 dest) {
+  glm_ivec2_minsub(a, b, dest);
+}
+
 CGLM_EXPORT
 int
 glmc_ivec2_distance2(ivec2 a, ivec2 b) {
@@ -80,6 +176,24 @@ glmc_ivec2_distance(ivec2 a, ivec2 b) {
   return glm_ivec2_distance(a, b);
 }
 
+CGLM_EXPORT
+void
+glmc_ivec2_fill(ivec2 v, int val) {
+  glm_ivec2_fill(v, val);
+}
+
+CGLM_EXPORT
+bool
+glmc_ivec2_eq(ivec2 v, int val) {
+  return glm_ivec2_eq(v, val);
+}
+
+CGLM_EXPORT
+bool
+glmc_ivec2_eqv(ivec2 a, ivec2 b) {
+  return glm_ivec2_eqv(a, b);
+}
+
 CGLM_EXPORT
 void
 glmc_ivec2_maxv(ivec2 a, ivec2 b, ivec2 dest) {

src/ivec3.c

@@ -68,6 +68,102 @@ glmc_ivec3_scale(ivec3 v, int s, ivec3 dest) {
   glm_ivec3_scale(v, s, dest);
 }
 
+CGLM_EXPORT 
+void 
+glmc_ivec3_addadd(ivec3 a, ivec3 b, ivec3 dest) {
+  glm_ivec3_addadd(a, b, dest);
+}
+
+CGLM_EXPORT 
+void 
+glmc_ivec3_addadds(ivec3 a, int s, ivec3 dest) {
+  glm_ivec3_addadds(a, s, dest);
+}
+
+CGLM_EXPORT 
+void 
+glmc_ivec3_subadd(ivec3 a, ivec3 b, ivec3 dest) {
+  glm_ivec3_subadd(a, b, dest);
+}
+
+CGLM_EXPORT 
+void 
+glmc_ivec3_subadds(ivec3 a, int s, ivec3 dest) {
+  glm_ivec3_subadds(a, s, dest);
+}
+
+CGLM_EXPORT 
+void 
+glmc_ivec3_muladd(ivec3 a, ivec3 b, ivec3 dest) {
+  glm_ivec3_muladd(a, b, dest);
+}
+
+CGLM_EXPORT 
+void 
+glmc_ivec3_muladds(ivec3 a, int s, ivec3 dest) {
+  glm_ivec3_muladds(a, s, dest);
+}
+
+CGLM_EXPORT 
+void 
+glmc_ivec3_maxadd(ivec3 a, ivec3 b, ivec3 dest) {
+  glm_ivec3_maxadd(a, b, dest);
+}
+
+CGLM_EXPORT 
+void 
+glmc_ivec3_minadd(ivec3 a, ivec3 b, ivec3 dest) {
+  glm_ivec3_minadd(a, b, dest);
+}
+
+CGLM_EXPORT 
+void 
+glmc_ivec3_subsub(ivec3 a, ivec3 b, ivec3 dest) {
+  glm_ivec3_subsub(a, b, dest);
+}
+
+CGLM_EXPORT 
+void 
+glmc_ivec3_subsubs(ivec3 a, int s, ivec3 dest) {
+  glm_ivec3_subsubs(a, s, dest);
+}
+
+CGLM_EXPORT 
+void 
+glmc_ivec3_addsub(ivec3 a, ivec3 b, ivec3 dest) {
+  glm_ivec3_addsub(a, b, dest);
+}
+
+CGLM_EXPORT 
+void 
+glmc_ivec3_addsubs(ivec3 a, int s, ivec3 dest) {
+  glm_ivec3_addsubs(a, s, dest);
+}
+
+CGLM_EXPORT 
+void 
+glmc_ivec3_mulsub(ivec3 a, ivec3 b, ivec3 dest) {
+  glm_ivec3_mulsub(a, b, dest);
+}
+
+CGLM_EXPORT 
+void 
+glmc_ivec3_mulsubs(ivec3 a, int s, ivec3 dest) {
+  glm_ivec3_mulsubs(a, s, dest);
+}
+
+CGLM_EXPORT 
+void 
+glmc_ivec3_maxsub(ivec3 a, ivec3 b, ivec3 dest) {
+  glm_ivec3_maxsub(a, b, dest);
+}
+
+CGLM_EXPORT 
+void 
+glmc_ivec3_minsub(ivec3 a, ivec3 b, ivec3 dest) {
+  glm_ivec3_minsub(a, b, dest);
+}
+
 CGLM_EXPORT
 int
 glmc_ivec3_distance2(ivec3 a, ivec3 b) {
@@ -80,6 +176,24 @@ glmc_ivec3_distance(ivec3 a, ivec3 b) {
   return glm_ivec3_distance(a, b);
 }
 
+CGLM_EXPORT
+void
+glmc_ivec3_fill(ivec3 v, int val) {
+  glm_ivec3_fill(v, val);
+}
+
+CGLM_EXPORT
+bool
+glmc_ivec3_eq(ivec3 v, int val) {
+  return glm_ivec3_eq(v, val);
+}
+
+CGLM_EXPORT
+bool
+glmc_ivec3_eqv(ivec3 a, ivec3 b) {
+  return glm_ivec3_eqv(a, b);
+}
+
 CGLM_EXPORT
 void
 glmc_ivec3_maxv(ivec3 a, ivec3 b, ivec3 dest) {

src/ivec4.c

@@ -68,6 +68,102 @@ glmc_ivec4_scale(ivec4 v, int s, ivec4 dest) {
   glm_ivec4_scale(v, s, dest);
 }
 
+CGLM_EXPORT 
+void 
+glmc_ivec4_addadd(ivec4 a, ivec4 b, ivec4 dest) {
+  glm_ivec4_addadd(a, b, dest);
+}
+
+CGLM_EXPORT 
+void 
+glmc_ivec4_addadds(ivec4 a, int s, ivec4 dest) {
+  glm_ivec4_addadds(a, s, dest);
+}
+
+CGLM_EXPORT 
+void 
+glmc_ivec4_subadd(ivec4 a, ivec4 b, ivec4 dest) {
+  glm_ivec4_subadd(a, b, dest);
+}
+
+CGLM_EXPORT 
+void 
+glmc_ivec4_subadds(ivec4 a, int s, ivec4 dest) {
+  glm_ivec4_subadds(a, s, dest);
+}
+
+CGLM_EXPORT 
+void 
+glmc_ivec4_muladd(ivec4 a, ivec4 b, ivec4 dest) {
+  glm_ivec4_muladd(a, b, dest);
+}
+
+CGLM_EXPORT 
+void 
+glmc_ivec4_muladds(ivec4 a, int s, ivec4 dest) {
+  glm_ivec4_muladds(a, s, dest);
+}
+
+CGLM_EXPORT 
+void 
+glmc_ivec4_maxadd(ivec4 a, ivec4 b, ivec4 dest) {
+  glm_ivec4_maxadd(a, b, dest);
+}
+
+CGLM_EXPORT 
+void 
+glmc_ivec4_minadd(ivec4 a, ivec4 b, ivec4 dest) {
+  glm_ivec4_minadd(a, b, dest);
+}
+
+CGLM_EXPORT 
+void 
+glmc_ivec4_subsub(ivec4 a, ivec4 b, ivec4 dest) {
+  glm_ivec4_subsub(a, b, dest);
+}
+
+CGLM_EXPORT 
+void 
+glmc_ivec4_subsubs(ivec4 a, int s, ivec4 dest) {
+  glm_ivec4_subsubs(a, s, dest);
+}
+
+CGLM_EXPORT 
+void 
+glmc_ivec4_addsub(ivec4 a, ivec4 b, ivec4 dest) {
+  glm_ivec4_addsub(a, b, dest);
+}
+
+CGLM_EXPORT 
+void 
+glmc_ivec4_addsubs(ivec4 a, int s, ivec4 dest) {
+  glm_ivec4_addsubs(a, s, dest);
+}
+
+CGLM_EXPORT 
+void 
+glmc_ivec4_mulsub(ivec4 a, ivec4 b, ivec4 dest) {
+  glm_ivec4_mulsub(a, b, dest);
+}
+
+CGLM_EXPORT 
+void 
+glmc_ivec4_mulsubs(ivec4 a, int s, ivec4 dest) {
+  glm_ivec4_mulsubs(a, s, dest);
+}
+
+CGLM_EXPORT 
+void 
+glmc_ivec4_maxsub(ivec4 a, ivec4 b, ivec4 dest) {
+  glm_ivec4_maxsub(a, b, dest);
+}
+
+CGLM_EXPORT 
+void 
+glmc_ivec4_minsub(ivec4 a, ivec4 b, ivec4 dest) {
+  glm_ivec4_minsub(a, b, dest);
+}
+
 CGLM_EXPORT
 int
 glmc_ivec4_distance2(ivec4 a, ivec4 b) {

src/vec2.c

@@ -14,6 +14,24 @@ glmc_vec2(float * __restrict v, vec2 dest) {
   glm_vec2(v, dest);
 }
 
+CGLM_EXPORT
+void
+glmc_vec2_fill(vec2 v, float val) {
+  glm_vec2_fill(v, val);
+}
+
+CGLM_EXPORT
+bool
+glmc_vec2_eq(vec2 v, float val) {
+  return glm_vec2_eq(v, val);
+}
+
+CGLM_EXPORT
+bool
+glmc_vec2_eqv(vec2 a, vec2 b) {
+  return glm_vec2_eqv(a, b);
+}
+
 CGLM_EXPORT
 void
 glmc_vec2_copy(vec2 a, vec2 dest) {
@@ -146,6 +164,43 @@ glmc_vec2_minadd(vec2 a, vec2 b, vec2 dest) {
   glm_vec2_minadd(a, b, dest);
 }
 
+CGLM_EXPORT
+void
+glmc_vec2_subsub(vec2 a, vec2 b, vec2 dest) {
+  glm_vec2_subsub(a, b, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_vec2_addsub(vec2 a, vec2 b, vec2 dest) {
+  glm_vec2_addsub(a, b, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_vec2_mulsub(vec2 a, vec2 b, vec2 dest) {
+  glm_vec2_mulsub(a, b, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_vec2_mulsubs(vec2 a, float s, vec2 dest) {
+  glm_vec2_mulsubs(a, s, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_vec2_maxsub(vec2 a, vec2 b, vec2 dest) {
+  glm_vec2_maxsub(a, b, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_vec2_minsub(vec2 a, vec2 b, vec2 dest) {
+  glm_vec2_minsub(a, b, dest);
+}
+
+
 CGLM_EXPORT
 void
 glmc_vec2_negate_to(vec2 v, vec2 dest) {
@@ -176,6 +231,12 @@ glmc_vec2_rotate(vec2 v, float angle, vec2 dest) {
   glm_vec2_rotate(v, angle, dest);
 }
 
+CGLM_EXPORT
+void
+glmc_vec2_center(vec2 a, vec2 b, vec2 dest) {
+  glm_vec2_center(a, b, dest);
+}
+
 CGLM_EXPORT
 float
 glmc_vec2_distance2(vec2 a, vec2 b) {

src/vec3.c

@@ -176,6 +176,42 @@ glmc_vec3_minadd(vec3 a, vec3 b, vec3 dest) {
   glm_vec3_minadd(a, b, dest);
 }
 
+CGLM_EXPORT
+void
+glmc_vec3_subsub(vec3 a, vec3 b, vec3 dest) {
+  glm_vec3_subsub(a, b, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_vec3_addsub(vec3 a, vec3 b, vec3 dest) {
+  glm_vec3_addsub(a, b, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_vec3_mulsub(vec3 a, vec3 b, vec3 dest) {
+  glm_vec3_mulsub(a, b, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_vec3_mulsubs(vec3 a, float s, vec3 dest) {
+  glm_vec3_mulsubs(a, s, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_vec3_maxsub(vec3 a, vec3 b, vec3 dest) {
+  glm_vec3_maxsub(a, b, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_vec3_minsub(vec3 a, vec3 b, vec3 dest) {
+  glm_vec3_minsub(a, b, dest);
+}
+
 CGLM_EXPORT
 void
 glmc_vec3_negate(vec3 v) {

src/vec4.c

@@ -176,6 +176,42 @@ glmc_vec4_minadd(vec4 a, vec4 b, vec4 dest) {
   glm_vec4_minadd(a, b, dest);
 }
 
+CGLM_EXPORT
+void
+glmc_vec4_subsub(vec4 a, vec4 b, vec4 dest) {
+  glm_vec4_subsub(a, b, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_vec4_addsub(vec4 a, vec4 b, vec4 dest) {
+  glm_vec4_addsub(a, b, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_vec4_mulsub(vec4 a, vec4 b, vec4 dest) {
+  glm_vec4_mulsub(a, b, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_vec4_mulsubs(vec4 a, float s, vec4 dest) {
+  glm_vec4_mulsubs(a, s, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_vec4_maxsub(vec4 a, vec4 b, vec4 dest) {
+  glm_vec4_maxsub(a, b, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_vec4_minsub(vec4 a, vec4 b, vec4 dest) {
+  glm_vec4_minsub(a, b, dest);
+}
+
 CGLM_EXPORT
 void
 glmc_vec4_negate(vec4 v) {

test/src/test_euler_to_quat_lh.h

@@ -0,0 +1,495 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), http://opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+#include "test_common.h"
+#include "../../include/cglm/handed/euler_to_quat_lh.h"
+
+TEST_IMPL(GLM_PREFIX, euler_xyz_quat_lh) {
+  vec3 axis_x = {1.0f, 0.0f, 0.0f};
+  vec3 axis_y = {0.0f, 1.0f, 0.0f};
+  vec3 axis_z = {0.0f, 0.0f,-1.0f};
+
+  /* random angles for testing */
+  vec3 angles;
+
+  /* quaternion representations for rotations */
+  versor rot_x, rot_y, rot_z;
+
+  versor expected;
+  versor result;
+  versor tmp;
+
+  /* 100 randomized tests */
+  for (int i = 0; i < 100; i++) {
+    test_rand_vec3(angles);
+
+    /* create the rotation quaternions using the angles and axises */
+    glm_quatv(rot_x, angles[0], axis_x);
+    glm_quatv(rot_y, angles[1], axis_y);
+    glm_quatv(rot_z, angles[2], axis_z);
+
+    /* apply the rotations to a unit quaternion in xyz order */
+    glm_quat_identity(expected);
+
+    glm_quat_copy(expected, tmp);
+    glm_quat_mul(tmp, rot_x, expected);
+    glm_quat_copy(expected, tmp);
+    glm_quat_mul(tmp, rot_y, expected);
+    glm_quat_copy(expected, tmp);
+    glm_quat_mul(tmp, rot_z, expected);
+
+    glm_euler_xyz_quat_lh(angles, result);
+
+    /* verify if the magnitude of the quaternion stays 1 */
+    ASSERT(test_eq(glm_quat_norm(result), 1.0f))
+
+    /* verify that it acts the same as rotating by 3 axis quaternions */
+    ASSERTIFY(test_assert_quat_eq(result, expected))
+  }
+  
+
+  /* Start gimbal lock tests */
+  for (float x = -90.0f; x <= 90.0f; x += 90.0f) {
+    for (float y = -90.0f; y <= 90.0f; y += 90.0f) {
+      for (float z = -90.0f; z <= 90.0f; z += 90.0f) {
+        angles[0] = x;
+        angles[1] = y;
+        angles[2] = z;
+        
+        /* create the rotation quaternions using the angles and axises */
+        glm_quatv(rot_x, angles[0], axis_x);
+        glm_quatv(rot_y, angles[1], axis_y);
+        glm_quatv(rot_z, angles[2], axis_z);
+
+        /* apply the rotations to a unit quaternion in xyz order */
+        glm_quat_identity(expected);
+        
+        glm_quat_copy(expected, tmp);
+        glm_quat_mul(tmp, rot_x, expected);
+        glm_quat_copy(expected, tmp);
+        glm_quat_mul(tmp, rot_y, expected);
+        glm_quat_copy(expected, tmp);
+        glm_quat_mul(tmp, rot_z, expected);
+    
+        /* use my function to get the quaternion */
+        glm_euler_xyz_quat_lh(angles, result);
+
+        /* verify if the magnitude of the quaternion stays 1 */
+        ASSERT(test_eq(glm_quat_norm(result), 1.0f))
+
+        /* verify that it acts the same as rotating by 3 axis quaternions */
+        ASSERTIFY(test_assert_quat_eq(result, expected))
+      }
+    }
+  }
+  TEST_SUCCESS
+}
+
+TEST_IMPL(GLM_PREFIX, euler_xzy_quat_lh) {
+  vec3 axis_x = {1.0f, 0.0f, 0.0f};
+  vec3 axis_y = {0.0f, 1.0f, 0.0f};
+  vec3 axis_z = {0.0f, 0.0f,-1.0f};
+
+  /* random angles for testing */
+  vec3 angles;
+
+  /* quaternion representations for rotations */
+  versor rot_x, rot_y, rot_z;
+
+  versor expected;
+  versor result;
+  versor tmp;
+
+  /* 100 randomized tests */
+  for (int i = 0; i < 100; i++) {
+    test_rand_vec3(angles);
+
+    /* create the rotation quaternions using the angles and axises */
+    glm_quatv(rot_x, angles[0], axis_x);
+    glm_quatv(rot_y, angles[1], axis_y);
+    glm_quatv(rot_z, angles[2], axis_z);
+
+    /* apply the rotations to a unit quaternion in xzy order */
+    glm_quat_identity(expected);
+    
+    glm_quat_copy(expected, tmp);
+    glm_quat_mul(tmp, rot_x, expected);
+    glm_quat_copy(expected, tmp);
+    glm_quat_mul(tmp, rot_z, expected);
+    glm_quat_copy(expected, tmp);
+    glm_quat_mul(tmp, rot_y, expected);
+
+    glm_euler_xzy_quat_lh(angles, result);
+
+    /* verify if the magnitude of the quaternion stays 1 */
+    ASSERT(test_eq(glm_quat_norm(result), 1.0f))
+
+    /* verify that it acts the same as rotating by 3 axis quaternions */
+    ASSERTIFY(test_assert_quat_eq(result, expected))
+  }
+  
+
+  /* Start gimbal lock tests */
+  for (float x = -90.0f; x <= 90.0f; x += 90.0f) {
+    for (float y = -90.0f; y <= 90.0f; y += 90.0f) {
+      for (float z = -90.0f; z <= 90.0f; z += 90.0f) {
+        angles[0] = x;
+        angles[1] = y;
+        angles[2] = z;
+        
+        /* create the rotation quaternions using the angles and axises */
+        glm_quatv(rot_x, angles[0], axis_x);
+        glm_quatv(rot_y, angles[1], axis_y);
+        glm_quatv(rot_z, angles[2], axis_z);
+
+        /* apply the rotations to a unit quaternion in xzy order */
+        glm_quat_identity(expected);
+        
+        glm_quat_copy(expected, tmp);
+        glm_quat_mul(tmp, rot_x, expected);
+        glm_quat_copy(expected, tmp);
+        glm_quat_mul(tmp, rot_z, expected);
+        glm_quat_copy(expected, tmp);
+        glm_quat_mul(tmp, rot_y, expected);
+
+        /* use my function to get the quaternion */
+        glm_euler_xzy_quat_lh(angles, result);
+
+        /* verify if the magnitude of the quaternion stays 1 */
+        ASSERT(test_eq(glm_quat_norm(result), 1.0f))
+
+        /* verify that it acts the same as rotating by 3 axis quaternions */
+        ASSERTIFY(test_assert_quat_eq(result, expected))
+      }
+    }
+  }
+  TEST_SUCCESS
+}
+
+TEST_IMPL(GLM_PREFIX, euler_yxz_quat_lh) {
+  vec3 axis_x = {1.0f, 0.0f, 0.0f};
+  vec3 axis_y = {0.0f, 1.0f, 0.0f};
+  vec3 axis_z = {0.0f, 0.0f,-1.0f};
+
+  /* random angles for testing */
+  vec3 angles;
+
+  /* quaternion representations for rotations */
+  versor rot_x, rot_y, rot_z;
+
+  versor expected;
+  versor result;
+  versor tmp;
+
+  /* 100 randomized tests */
+  for (int i = 0; i < 100; i++) {
+    test_rand_vec3(angles);
+
+    /* create the rotation quaternions using the angles and axises */
+    glm_quatv(rot_x, angles[0], axis_x);
+    glm_quatv(rot_y, angles[1], axis_y);
+    glm_quatv(rot_z, angles[2], axis_z);
+
+    /* apply the rotations to a unit quaternion in yxz order */
+    glm_quat_identity(expected);
+    
+    glm_quat_copy(expected, tmp);
+    glm_quat_mul(tmp, rot_y, expected);
+    glm_quat_copy(expected, tmp);
+    glm_quat_mul(tmp, rot_x, expected);
+    glm_quat_copy(expected, tmp);
+    glm_quat_mul(tmp, rot_z, expected);
+
+    glm_euler_yxz_quat_lh(angles, result);
+
+    /* verify if the magnitude of the quaternion stays 1 */
+    ASSERT(test_eq(glm_quat_norm(result), 1.0f))
+
+    /* verify that it acts the same as rotating by 3 axis quaternions */
+    ASSERTIFY(test_assert_quat_eq(result, expected))
+  }
+  
+
+  /* Start gimbal lock tests */
+  for (float x = -90.0f; x <= 90.0f; x += 90.0f) {
+    for (float y = -90.0f; y <= 90.0f; y += 90.0f) {
+      for (float z = -90.0f; z <= 90.0f; z += 90.0f) {
+        angles[0] = x;
+        angles[1] = y;
+        angles[2] = z;
+        
+        /* create the rotation quaternions using the angles and axises */
+        glm_quatv(rot_x, angles[0], axis_x);
+        glm_quatv(rot_y, angles[1], axis_y);
+        glm_quatv(rot_z, angles[2], axis_z);
+
+        /* apply the rotations to a unit quaternion in yxz order */
+        glm_quat_identity(expected);
+        
+        glm_quat_copy(expected, tmp);
+        glm_quat_mul(tmp, rot_y, expected);
+        glm_quat_copy(expected, tmp);
+        glm_quat_mul(tmp, rot_x, expected);
+        glm_quat_copy(expected, tmp);
+        glm_quat_mul(tmp, rot_z, expected);
+
+        /* use my function to get the quaternion */
+        glm_euler_yxz_quat_lh(angles, result);
+
+        /* verify if the magnitude of the quaternion stays 1 */
+        ASSERT(test_eq(glm_quat_norm(result), 1.0f))
+
+        ASSERTIFY(test_assert_quat_eq(result, expected))
+      }
+    }
+  }
+  TEST_SUCCESS
+}
+
+TEST_IMPL(GLM_PREFIX, euler_yzx_quat_lh) {
+  vec3 axis_x = {1.0f, 0.0f, 0.0f};
+  vec3 axis_y = {0.0f, 1.0f, 0.0f};
+  vec3 axis_z = {0.0f, 0.0f,-1.0f};
+
+  /* random angles for testing */
+  vec3 angles;
+
+  /* quaternion representations for rotations */
+  versor rot_x, rot_y, rot_z;
+
+  versor expected;
+  versor result;
+  versor tmp;
+
+  /* 100 randomized tests */
+  for (int i = 0; i < 100; i++) {
+    test_rand_vec3(angles);
+
+    /* create the rotation quaternions using the angles and axises */
+    glm_quatv(rot_x, angles[0], axis_x);
+    glm_quatv(rot_y, angles[1], axis_y);
+    glm_quatv(rot_z, angles[2], axis_z);
+
+    /* apply the rotations to a unit quaternion in yzx order */
+    glm_quat_identity(expected);
+    
+    glm_quat_copy(expected, tmp);
+    glm_quat_mul(tmp, rot_y, expected);
+    glm_quat_copy(expected, tmp);
+    glm_quat_mul(tmp, rot_z, expected);
+    glm_quat_copy(expected, tmp);
+    glm_quat_mul(tmp, rot_x, expected);
+
+    glm_euler_yzx_quat_lh(angles, result);
+
+    /* verify if the magnitude of the quaternion stays 1 */
+    ASSERT(test_eq(glm_quat_norm(result), 1.0f))
+
+    /* verify that it acts the same as rotating by 3 axis quaternions */
+    ASSERTIFY(test_assert_quat_eq(result, expected))
+  }
+  
+
+  /* Start gimbal lock tests */
+  for (float x = -90.0f; x <= 90.0f; x += 90.0f) {
+    for (float y = -90.0f; y <= 90.0f; y += 90.0f) {
+      for (float z = -90.0f; z <= 90.0f; z += 90.0f) {
+        angles[0] = x;
+        angles[1] = y;
+        angles[2] = z;
+        
+        /* create the rotation quaternions using the angles and axises */
+        glm_quatv(rot_x, angles[0], axis_x);
+        glm_quatv(rot_y, angles[1], axis_y);
+        glm_quatv(rot_z, angles[2], axis_z);
+
+        /* apply the rotations to a unit quaternion in yzx order */
+        glm_quat_identity(expected);
+        
+        glm_quat_copy(expected, tmp);
+        glm_quat_mul(tmp, rot_y, expected);
+        glm_quat_copy(expected, tmp);
+        glm_quat_mul(tmp, rot_z, expected);
+        glm_quat_copy(expected, tmp);
+        glm_quat_mul(tmp, rot_x, expected);
+
+        /* use my function to get the quaternion */
+        glm_euler_yzx_quat_lh(angles, result);
+
+        /* verify if the magnitude of the quaternion stays 1 */
+        ASSERT(test_eq(glm_quat_norm(result), 1.0f))
+
+        ASSERTIFY(test_assert_quat_eq(result, expected))
+      }
+    }
+  }
+  TEST_SUCCESS
+}
+
+TEST_IMPL(GLM_PREFIX, euler_zxy_quat_lh) {
+  vec3 axis_x = {1.0f, 0.0f, 0.0f};
+  vec3 axis_y = {0.0f, 1.0f, 0.0f};
+  vec3 axis_z = {0.0f, 0.0f,-1.0f};
+
+  /* random angles for testing */
+  vec3 angles;
+
+  /* quaternion representations for rotations */
+  versor rot_x, rot_y, rot_z;
+
+  versor expected;
+  versor result;
+  versor tmp;
+
+  /* 100 randomized tests */
+  for (int i = 0; i < 100; i++) {
+    test_rand_vec3(angles);
+
+    /* create the rotation quaternions using the angles and axises */
+    glm_quatv(rot_x, angles[0], axis_x);
+    glm_quatv(rot_y, angles[1], axis_y);
+    glm_quatv(rot_z, angles[2], axis_z);
+
+    /* apply the rotations to a unit quaternion in zxy order */
+    glm_quat_identity(expected);
+
+    glm_quat_copy(expected, tmp);
+    glm_quat_mul(tmp, rot_z, expected);
+    glm_quat_copy(expected, tmp);
+    glm_quat_mul(tmp, rot_x, expected);
+    glm_quat_copy(expected, tmp);
+    glm_quat_mul(tmp, rot_y, expected);
+
+    glm_euler_zxy_quat_lh(angles, result);
+
+    /* verify if the magnitude of the quaternion stays 1 */
+    ASSERT(test_eq(glm_quat_norm(result), 1.0f))
+
+    /* verify that it acts the same as rotating by 3 axis quaternions */
+    ASSERTIFY(test_assert_quat_eq(result, expected))
+  }
+  
+
+  /* Start gimbal lock tests */
+  for (float x = -90.0f; x <= 90.0f; x += 90.0f) {
+    for (float y = -90.0f; y <= 90.0f; y += 90.0f) {
+      for (float z = -90.0f; z <= 90.0f; z += 90.0f) {
+        angles[0] = x;
+        angles[1] = y;
+        angles[2] = z;
+        
+        /* create the rotation quaternions using the angles and axises */
+        glm_quatv(rot_x, angles[0], axis_x);
+        glm_quatv(rot_y, angles[1], axis_y);
+        glm_quatv(rot_z, angles[2], axis_z);
+
+        /* apply the rotations to a unit quaternion in zxy order */
+        glm_quat_identity(expected);
+
+        glm_quat_copy(expected, tmp);
+        glm_quat_mul(tmp, rot_z, expected);
+        glm_quat_copy(expected, tmp);
+        glm_quat_mul(tmp, rot_x, expected);
+        glm_quat_copy(expected, tmp);
+        glm_quat_mul(tmp, rot_y, expected);
+
+        /* use my function to get the quaternion */
+        glm_euler_zxy_quat_lh(angles, result);
+
+        /* verify if the magnitude of the quaternion stays 1 */
+        ASSERT(test_eq(glm_quat_norm(result), 1.0f))
+
+        /* verify that it acts the same as rotating by 3 axis quaternions */
+        ASSERTIFY(test_assert_quat_eq(result, expected))
+      }
+    }
+  }
+  TEST_SUCCESS
+}
+
+TEST_IMPL(GLM_PREFIX, euler_zyx_quat_lh) {
+  vec3 axis_x = {1.0f, 0.0f, 0.0f};
+  vec3 axis_y = {0.0f, 1.0f, 0.0f};
+  vec3 axis_z = {0.0f, 0.0f,-1.0f};
+
+  /* random angles for testing */
+  vec3 angles;
+
+  /* quaternion representations for rotations */
+  versor rot_x, rot_y, rot_z;
+
+  versor expected;
+  versor result;
+  versor tmp;
+
+  /* 100 randomized tests */
+  for (int i = 0; i < 100; i++) {
+    test_rand_vec3(angles);
+
+    /* create the rotation quaternions using the angles and axises */
+    glm_quatv(rot_x, angles[0], axis_x);
+    glm_quatv(rot_y, angles[1], axis_y);
+    glm_quatv(rot_z, angles[2], axis_z);
+
+    /* apply the rotations to a unit quaternion in zyx order */
+    glm_quat_identity(expected);
+
+    glm_quat_copy(expected, tmp);
+    glm_quat_mul(tmp, rot_z, expected);
+    glm_quat_copy(expected, tmp);
+    glm_quat_mul(tmp, rot_y, expected);
+    glm_quat_copy(expected, tmp);
+    glm_quat_mul(tmp, rot_x, expected);
+
+    glm_euler_zyx_quat_lh(angles, result);
+
+    /* verify if the magnitude of the quaternion stays 1 */
+    ASSERT(test_eq(glm_quat_norm(result), 1.0f))
+
+    /* verify that it acts the same as rotating by 3 axis quaternions */
+    ASSERTIFY(test_assert_quat_eq(result, expected))
+  }
+  
+
+  /* Start gimbal lock tests */
+  for (float x = -90.0f; x <= 90.0f; x += 90.0f) {
+    for (float y = -90.0f; y <= 90.0f; y += 90.0f) {
+      for (float z = -90.0f; z <= 90.0f; z += 90.0f) {
+        angles[0] = x;
+        angles[1] = y;
+        angles[2] = z;
+        
+        /* create the rotation quaternions using the angles and axises */
+        glm_quatv(rot_x, angles[0], axis_x);
+        glm_quatv(rot_y, angles[1], axis_y);
+        glm_quatv(rot_z, angles[2], axis_z);
+
+        /* apply the rotations to a unit quaternion in xyz order */
+        glm_quat_identity(expected);
+        
+        glm_quat_copy(expected, tmp);
+        glm_quat_mul(tmp, rot_z, expected);
+        glm_quat_copy(expected, tmp);
+        glm_quat_mul(tmp, rot_y, expected);
+        glm_quat_copy(expected, tmp);
+        glm_quat_mul(tmp, rot_x, expected);
+
+        /* use my function to get the quaternion */
+        glm_euler_zyx_quat_lh(angles, result);
+
+        /* verify if the magnitude of the quaternion stays 1 */
+        ASSERT(test_eq(glm_quat_norm(result), 1.0f))
+
+        /* verify that it acts the same as rotating by 3 axis quaternions */
+        ASSERTIFY(test_assert_quat_eq(result, expected))
+      }
+    }
+  }
+  TEST_SUCCESS
+}
+
+

test/src/test_euler_to_quat_rh.h

@@ -0,0 +1,575 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), http://opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+#include "test_common.h"
+#include "../../include/cglm/handed/euler_to_quat_rh.h"
+
+TEST_IMPL(GLM_PREFIX, euler_xyz_quat_rh) {
+  vec3 axis_x = {1.0f, 0.0f, 0.0f};
+  vec3 axis_y = {0.0f, 1.0f, 0.0f};
+  vec3 axis_z = {0.0f, 0.0f, 1.0f};
+
+  /* random angles for testing */
+  vec3 angles;
+
+  /* quaternion representations for rotations */
+  versor rot_x, rot_y, rot_z;
+
+  versor expected;
+  versor result;
+  versor tmp;
+
+  mat4 expected_mat4;
+
+  /* 100 randomized tests */
+  for (int i = 0; i < 100; i++) {
+    test_rand_vec3(angles);
+
+    /* create the rotation quaternions using the angles and axises */
+    glm_quatv(rot_x, angles[0], axis_x);
+    glm_quatv(rot_y, angles[1], axis_y);
+    glm_quatv(rot_z, angles[2], axis_z);
+
+    /* apply the rotations to a unit quaternion in xyz order */
+    glm_quat_identity(expected);
+
+    glm_quat_copy(expected, tmp);
+    glm_quat_mul(tmp, rot_x, expected);
+    glm_quat_copy(expected, tmp);
+    glm_quat_mul(tmp, rot_y, expected);
+    glm_quat_copy(expected, tmp);
+    glm_quat_mul(tmp, rot_z, expected);
+
+    glm_euler_xyz_quat_rh(angles, result);
+
+    /* verify if the magnitude of the quaternion stays 1 */
+    ASSERT(test_eq(glm_quat_norm(result), 1.0f))
+
+    /* verify that it acts the same as rotating by 3 axis quaternions */
+    ASSERTIFY(test_assert_quat_eq(result, expected))
+
+    /* verify that it acts the same as glm_euler_by_order */
+    glm_euler_by_order(angles, GLM_EULER_XYZ, expected_mat4);
+    glm_mat4_quat(expected_mat4, expected);   
+
+    ASSERTIFY(test_assert_quat_eq_abs(result, expected));
+  }
+  
+
+  /* Start gimbal lock tests */
+  for (float x = -90.0f; x <= 90.0f; x += 90.0f) {
+    for (float y = -90.0f; y <= 90.0f; y += 90.0f) {
+      for (float z = -90.0f; z <= 90.0f; z += 90.0f) {
+        angles[0] = x;
+        angles[1] = y;
+        angles[2] = z;
+        
+        /* create the rotation quaternions using the angles and axises */
+        glm_quatv(rot_x, angles[0], axis_x);
+        glm_quatv(rot_y, angles[1], axis_y);
+        glm_quatv(rot_z, angles[2], axis_z);
+
+        /* apply the rotations to a unit quaternion in xyz order */
+        glm_quat_identity(expected);
+        
+        glm_quat_copy(expected, tmp);
+        glm_quat_mul(tmp, rot_x, expected);
+        glm_quat_copy(expected, tmp);
+        glm_quat_mul(tmp, rot_y, expected);
+        glm_quat_copy(expected, tmp);
+        glm_quat_mul(tmp, rot_z, expected);
+    
+        /* use my function to get the quaternion */
+        glm_euler_xyz_quat_rh(angles, result);
+
+        /* verify if the magnitude of the quaternion stays 1 */
+        ASSERT(test_eq(glm_quat_norm(result), 1.0f))
+
+        ASSERTIFY(test_assert_quat_eq(result, expected))
+
+        /* verify that it acts the same as glm_euler_by_order */
+        glm_euler_by_order(angles, GLM_EULER_XYZ, expected_mat4);
+        glm_mat4_quat(expected_mat4, expected);   
+
+        ASSERTIFY(test_assert_quat_eq_abs(result, expected));
+      }
+    }
+  }
+  TEST_SUCCESS
+}
+
+TEST_IMPL(GLM_PREFIX, euler_xzy_quat_rh) {
+  vec3 axis_x = {1.0f, 0.0f, 0.0f};
+  vec3 axis_y = {0.0f, 1.0f, 0.0f};
+  vec3 axis_z = {0.0f, 0.0f, 1.0f};
+
+  /* random angles for testing */
+  vec3 angles;
+
+  /* quaternion representations for rotations */
+  versor rot_x, rot_y, rot_z;
+
+  versor expected;
+  versor result;
+  versor tmp;
+
+  mat4 expected_mat4;
+
+  /* 100 randomized tests */
+  for (int i = 0; i < 100; i++) {
+    test_rand_vec3(angles);
+
+    /* create the rotation quaternions using the angles and axises */
+    glm_quatv(rot_x, angles[0], axis_x);
+    glm_quatv(rot_y, angles[1], axis_y);
+    glm_quatv(rot_z, angles[2], axis_z);
+
+    /* apply the rotations to a unit quaternion in xzy order */
+    glm_quat_identity(expected);
+    
+    glm_quat_copy(expected, tmp);
+    glm_quat_mul(tmp, rot_x, expected);
+    glm_quat_copy(expected, tmp);
+    glm_quat_mul(tmp, rot_z, expected);
+    glm_quat_copy(expected, tmp);
+    glm_quat_mul(tmp, rot_y, expected);
+
+    glm_euler_xzy_quat_rh(angles, result);
+
+    /* verify if the magnitude of the quaternion stays 1 */
+    ASSERT(test_eq(glm_quat_norm(result), 1.0f))
+
+    /* verify that it acts the same as rotating by 3 axis quaternions */
+    ASSERTIFY(test_assert_quat_eq(result, expected))
+
+    /* verify that it acts the same as glm_euler_by_order */
+    glm_euler_by_order(angles, GLM_EULER_XZY, expected_mat4);
+    glm_mat4_quat(expected_mat4, expected);   
+
+    ASSERTIFY(test_assert_quat_eq_abs(result, expected));
+  }
+  
+
+  /* Start gimbal lock tests */
+  for (float x = -90.0f; x <= 90.0f; x += 90.0f) {
+    for (float y = -90.0f; y <= 90.0f; y += 90.0f) {
+      for (float z = -90.0f; z <= 90.0f; z += 90.0f) {
+        angles[0] = x;
+        angles[1] = y;
+        angles[2] = z;
+        
+        /* create the rotation quaternions using the angles and axises */
+        glm_quatv(rot_x, angles[0], axis_x);
+        glm_quatv(rot_y, angles[1], axis_y);
+        glm_quatv(rot_z, angles[2], axis_z);
+
+        /* apply the rotations to a unit quaternion in xzy order */
+        glm_quat_identity(expected);
+        
+        glm_quat_copy(expected, tmp);
+        glm_quat_mul(tmp, rot_x, expected);
+        glm_quat_copy(expected, tmp);
+        glm_quat_mul(tmp, rot_z, expected);
+        glm_quat_copy(expected, tmp);
+        glm_quat_mul(tmp, rot_y, expected);
+
+        /* use my function to get the quaternion */
+        glm_euler_xzy_quat_rh(angles, result);
+
+        /* verify if the magnitude of the quaternion stays 1 */
+        ASSERT(test_eq(glm_quat_norm(result), 1.0f))
+
+        ASSERTIFY(test_assert_quat_eq(result, expected))
+
+        /* verify that it acts the same as glm_euler_by_order */
+        glm_euler_by_order(angles, GLM_EULER_XZY, expected_mat4);
+        glm_mat4_quat(expected_mat4, expected);   
+
+        ASSERTIFY(test_assert_quat_eq_abs(result, expected));
+      }
+    }
+  }
+  TEST_SUCCESS
+}
+
+TEST_IMPL(GLM_PREFIX, euler_yxz_quat_rh) {
+  vec3 axis_x = {1.0f, 0.0f, 0.0f};
+  vec3 axis_y = {0.0f, 1.0f, 0.0f};
+  vec3 axis_z = {0.0f, 0.0f, 1.0f};
+
+  /* random angles for testing */
+  vec3 angles;
+
+  /* quaternion representations for rotations */
+  versor rot_x, rot_y, rot_z;
+
+  versor expected;
+  versor result;
+  versor tmp;
+
+  mat4 expected_mat4;
+
+  /* 100 randomized tests */
+  for (int i = 0; i < 100; i++) {
+    test_rand_vec3(angles);
+
+    /* create the rotation quaternions using the angles and axises */
+    glm_quatv(rot_x, angles[0], axis_x);
+    glm_quatv(rot_y, angles[1], axis_y);
+    glm_quatv(rot_z, angles[2], axis_z);
+
+    /* apply the rotations to a unit quaternion in yxz order */
+    glm_quat_identity(expected);
+    
+    glm_quat_copy(expected, tmp);
+    glm_quat_mul(tmp, rot_y, expected);
+    glm_quat_copy(expected, tmp);
+    glm_quat_mul(tmp, rot_x, expected);
+    glm_quat_copy(expected, tmp);
+    glm_quat_mul(tmp, rot_z, expected);
+
+    glm_euler_yxz_quat_rh(angles, result);
+
+    /* verify if the magnitude of the quaternion stays 1 */
+    ASSERT(test_eq(glm_quat_norm(result), 1.0f))
+
+    /* verify that it acts the same as rotating by 3 axis quaternions */
+    ASSERTIFY(test_assert_quat_eq(result, expected))
+
+    /* verify that it acts the same as glm_euler_by_order */
+    glm_euler_by_order(angles, GLM_EULER_YXZ, expected_mat4);
+    glm_mat4_quat(expected_mat4, expected);   
+
+    ASSERTIFY(test_assert_quat_eq_abs(result, expected));
+  }
+  
+
+  /* Start gimbal lock tests */
+  for (float x = -90.0f; x <= 90.0f; x += 90.0f) {
+    for (float y = -90.0f; y <= 90.0f; y += 90.0f) {
+      for (float z = -90.0f; z <= 90.0f; z += 90.0f) {
+        angles[0] = x;
+        angles[1] = y;
+        angles[2] = z;
+        
+        /* create the rotation quaternions using the angles and axises */
+        glm_quatv(rot_x, angles[0], axis_x);
+        glm_quatv(rot_y, angles[1], axis_y);
+        glm_quatv(rot_z, angles[2], axis_z);
+
+        /* apply the rotations to a unit quaternion in yxz order */
+        glm_quat_identity(expected);
+        
+        glm_quat_copy(expected, tmp);
+        glm_quat_mul(tmp, rot_y, expected);
+        glm_quat_copy(expected, tmp);
+        glm_quat_mul(tmp, rot_x, expected);
+        glm_quat_copy(expected, tmp);
+        glm_quat_mul(tmp, rot_z, expected);
+
+        /* use my function to get the quaternion */
+        glm_euler_yxz_quat_rh(angles, result);
+
+        /* verify if the magnitude of the quaternion stays 1 */
+        ASSERT(test_eq(glm_quat_norm(result), 1.0f))
+
+        ASSERTIFY(test_assert_quat_eq(result, expected))
+
+        /* verify that it acts the same as glm_euler_by_order */
+        glm_euler_by_order(angles, GLM_EULER_YXZ, expected_mat4);
+        glm_mat4_quat(expected_mat4, expected);   
+
+        ASSERTIFY(test_assert_quat_eq_abs(result, expected));
+      }
+    }
+  }
+  TEST_SUCCESS
+}
+
+TEST_IMPL(GLM_PREFIX, euler_yzx_quat_rh) {
+  vec3 axis_x = {1.0f, 0.0f, 0.0f};
+  vec3 axis_y = {0.0f, 1.0f, 0.0f};
+  vec3 axis_z = {0.0f, 0.0f, 1.0f};
+
+  /* random angles for testing */
+  vec3 angles;
+
+  /* quaternion representations for rotations */
+  versor rot_x, rot_y, rot_z;
+
+  versor expected;
+  versor result;
+  versor tmp;
+
+  mat4 expected_mat4;
+
+  /* 100 randomized tests */
+  for (int i = 0; i < 100; i++) {
+    test_rand_vec3(angles);
+
+    /* create the rotation quaternions using the angles and axises */
+    glm_quatv(rot_x, angles[0], axis_x);
+    glm_quatv(rot_y, angles[1], axis_y);
+    glm_quatv(rot_z, angles[2], axis_z);
+
+    /* apply the rotations to a unit quaternion in yzx order */
+    glm_quat_identity(expected);
+    
+    glm_quat_copy(expected, tmp);
+    glm_quat_mul(tmp, rot_y, expected);
+    glm_quat_copy(expected, tmp);
+    glm_quat_mul(tmp, rot_z, expected);
+    glm_quat_copy(expected, tmp);
+    glm_quat_mul(tmp, rot_x, expected);
+
+    glm_euler_yzx_quat_rh(angles, result);
+
+    /* verify if the magnitude of the quaternion stays 1 */
+    ASSERT(test_eq(glm_quat_norm(result), 1.0f))
+
+    /* verify that it acts the same as rotating by 3 axis quaternions */
+    ASSERTIFY(test_assert_quat_eq(result, expected))
+
+    /* verify that it acts the same as glm_euler_by_order */
+    glm_euler_by_order(angles, GLM_EULER_YZX, expected_mat4);
+    glm_mat4_quat(expected_mat4, expected);   
+
+    ASSERTIFY(test_assert_quat_eq_abs(result, expected));
+  }
+  
+
+  /* Start gimbal lock tests */
+  for (float x = -90.0f; x <= 90.0f; x += 90.0f) {
+    for (float y = -90.0f; y <= 90.0f; y += 90.0f) {
+      for (float z = -90.0f; z <= 90.0f; z += 90.0f) {
+        angles[0] = x;
+        angles[1] = y;
+        angles[2] = z;
+        
+        /* create the rotation quaternions using the angles and axises */
+        glm_quatv(rot_x, angles[0], axis_x);
+        glm_quatv(rot_y, angles[1], axis_y);
+        glm_quatv(rot_z, angles[2], axis_z);
+
+        /* apply the rotations to a unit quaternion in yzx order */
+        glm_quat_identity(expected);
+        
+        glm_quat_copy(expected, tmp);
+        glm_quat_mul(tmp, rot_y, expected);
+        glm_quat_copy(expected, tmp);
+        glm_quat_mul(tmp, rot_z, expected);
+        glm_quat_copy(expected, tmp);
+        glm_quat_mul(tmp, rot_x, expected);
+
+        /* use my function to get the quaternion */
+        glm_euler_yzx_quat_rh(angles, result);
+
+        /* verify if the magnitude of the quaternion stays 1 */
+        ASSERT(test_eq(glm_quat_norm(result), 1.0f))
+
+        ASSERTIFY(test_assert_quat_eq(result, expected))
+
+        /* verify that it acts the same as glm_euler_by_order */
+        glm_euler_by_order(angles, GLM_EULER_YZX, expected_mat4);
+        glm_mat4_quat(expected_mat4, expected);   
+
+        ASSERTIFY(test_assert_quat_eq_abs(result, expected));
+      }
+    }
+  }
+  TEST_SUCCESS
+}
+
+TEST_IMPL(GLM_PREFIX, euler_zxy_quat_rh) {
+  vec3 axis_x = {1.0f, 0.0f, 0.0f};
+  vec3 axis_y = {0.0f, 1.0f, 0.0f};
+  vec3 axis_z = {0.0f, 0.0f, 1.0f};
+
+  /* random angles for testing */
+  vec3 angles;
+
+  /* quaternion representations for rotations */
+  versor rot_x, rot_y, rot_z;
+
+  versor expected;
+  versor result;
+  versor tmp;
+
+  mat4 expected_mat4;
+
+  /* 100 randomized tests */
+  for (int i = 0; i < 100; i++) {
+    test_rand_vec3(angles);
+
+    /* create the rotation quaternions using the angles and axises */
+    glm_quatv(rot_x, angles[0], axis_x);
+    glm_quatv(rot_y, angles[1], axis_y);
+    glm_quatv(rot_z, angles[2], axis_z);
+
+    /* apply the rotations to a unit quaternion in zxy order */
+    glm_quat_identity(expected);
+
+    glm_quat_copy(expected, tmp);
+    glm_quat_mul(tmp, rot_z, expected);
+    glm_quat_copy(expected, tmp);
+    glm_quat_mul(tmp, rot_x, expected);
+    glm_quat_copy(expected, tmp);
+    glm_quat_mul(tmp, rot_y, expected);
+
+    glm_euler_zxy_quat_rh(angles, result);
+
+    /* verify if the magnitude of the quaternion stays 1 */
+    ASSERT(test_eq(glm_quat_norm(result), 1.0f))
+
+    /* verify that it acts the same as rotating by 3 axis quaternions */
+    ASSERTIFY(test_assert_quat_eq(result, expected))
+
+    /* verify that it acts the same as glm_euler_by_order */
+    glm_euler_by_order(angles, GLM_EULER_ZXY, expected_mat4);
+    glm_mat4_quat(expected_mat4, expected);   
+
+    ASSERTIFY(test_assert_quat_eq_abs(result, expected));
+  }
+  
+
+  /* Start gimbal lock tests */
+  for (float x = -90.0f; x <= 90.0f; x += 90.0f) {
+    for (float y = -90.0f; y <= 90.0f; y += 90.0f) {
+      for (float z = -90.0f; z <= 90.0f; z += 90.0f) {
+        angles[0] = x;
+        angles[1] = y;
+        angles[2] = z;
+        
+        /* create the rotation quaternions using the angles and axises */
+        glm_quatv(rot_x, angles[0], axis_x);
+        glm_quatv(rot_y, angles[1], axis_y);
+        glm_quatv(rot_z, angles[2], axis_z);
+
+        /* apply the rotations to a unit quaternion in zxy order */
+        glm_quat_identity(expected);
+
+        glm_quat_copy(expected, tmp);
+        glm_quat_mul(tmp, rot_z, expected);
+        glm_quat_copy(expected, tmp);
+        glm_quat_mul(tmp, rot_x, expected);
+        glm_quat_copy(expected, tmp);
+        glm_quat_mul(tmp, rot_y, expected);
+
+        /* use my function to get the quaternion */
+        glm_euler_zxy_quat_rh(angles, result);
+
+        /* verify if the magnitude of the quaternion stays 1 */
+        ASSERT(test_eq(glm_quat_norm(result), 1.0f))
+
+        ASSERTIFY(test_assert_quat_eq(result, expected))
+
+        /* verify that it acts the same as glm_euler_by_order */
+        glm_euler_by_order(angles, GLM_EULER_ZXY, expected_mat4);
+        glm_mat4_quat(expected_mat4, expected);   
+
+        ASSERTIFY(test_assert_quat_eq_abs(result, expected));
+      }
+    }
+  }
+  TEST_SUCCESS
+}
+
+TEST_IMPL(GLM_PREFIX, euler_zyx_quat_rh) {
+  vec3 axis_x = {1.0f, 0.0f, 0.0f};
+  vec3 axis_y = {0.0f, 1.0f, 0.0f};
+  vec3 axis_z = {0.0f, 0.0f, 1.0f};
+
+  /* random angles for testing */
+  vec3 angles;
+
+  /* quaternion representations for rotations */
+  versor rot_x, rot_y, rot_z;
+
+  versor expected;
+  versor result;
+  versor tmp;
+
+  mat4 expected_mat4;
+
+  /* 100 randomized tests */
+  for (int i = 0; i < 100; i++) {
+    test_rand_vec3(angles);
+
+    /* create the rotation quaternions using the angles and axises */
+    glm_quatv(rot_x, angles[0], axis_x);
+    glm_quatv(rot_y, angles[1], axis_y);
+    glm_quatv(rot_z, angles[2], axis_z);
+
+    /* apply the rotations to a unit quaternion in zyx order */
+    glm_quat_identity(expected);
+
+    glm_quat_copy(expected, tmp);
+    glm_quat_mul(tmp, rot_z, expected);
+    glm_quat_copy(expected, tmp);
+    glm_quat_mul(tmp, rot_y, expected);
+    glm_quat_copy(expected, tmp);
+    glm_quat_mul(tmp, rot_x, expected);
+
+    glm_euler_zyx_quat_rh(angles, result);
+
+    /* verify if the magnitude of the quaternion stays 1 */
+    ASSERT(test_eq(glm_quat_norm(result), 1.0f))
+
+    /* verify that it acts the same as rotating by 3 axis quaternions */
+    ASSERTIFY(test_assert_quat_eq(result, expected))
+
+    /* verify that it acts the same as glm_euler_by_order */
+    glm_euler_by_order(angles, GLM_EULER_ZYX, expected_mat4);
+    glm_mat4_quat(expected_mat4, expected);   
+
+    ASSERTIFY(test_assert_quat_eq_abs(result, expected));
+  }
+  
+
+  /* Start gimbal lock tests */
+  for (float x = -90.0f; x <= 90.0f; x += 90.0f) {
+    for (float y = -90.0f; y <= 90.0f; y += 90.0f) {
+      for (float z = -90.0f; z <= 90.0f; z += 90.0f) {
+        angles[0] = x;
+        angles[1] = y;
+        angles[2] = z;
+        
+        /* create the rotation quaternions using the angles and axises */
+        glm_quatv(rot_x, angles[0], axis_x);
+        glm_quatv(rot_y, angles[1], axis_y);
+        glm_quatv(rot_z, angles[2], axis_z);
+
+        /* apply the rotations to a unit quaternion in xyz order */
+        glm_quat_identity(expected);
+        
+        glm_quat_copy(expected, tmp);
+        glm_quat_mul(tmp, rot_z, expected);
+        glm_quat_copy(expected, tmp);
+        glm_quat_mul(tmp, rot_y, expected);
+        glm_quat_copy(expected, tmp);
+        glm_quat_mul(tmp, rot_x, expected);
+
+        /* use my function to get the quaternion */
+        glm_euler_zyx_quat_rh(angles, result);
+
+        /* verify if the magnitude of the quaternion stays 1 */
+        ASSERT(test_eq(glm_quat_norm(result), 1.0f))
+
+        ASSERTIFY(test_assert_quat_eq(result, expected))
+
+        /* verify that it acts the same as glm_euler_by_order */
+        glm_euler_by_order(angles, GLM_EULER_ZYX, expected_mat4);
+        glm_mat4_quat(expected_mat4, expected);   
+
+        ASSERTIFY(test_assert_quat_eq_abs(result, expected));
+      }
+    }
+  }
+  TEST_SUCCESS
+}
+
+