/home/mrjunejune/zenbu: third_party/raylib/raylib-6.0

comparison third_party/raylib/raylib-6.0_macos/include/raymath.h @ 276:b55c22cff335

Add interactive infinite canvas prototype

author	MrJuneJune <me@mrjunejune.com>
date	Mon, 17 Aug 2026 16:57:56 -0700
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+:b55c22cff335
+/**********************************************************************************************
+*
+*   raymath v2.0 - Math functions to work with Vector2, Vector3, Matrix and Quaternions
+*
+*   CONVENTIONS:
+*     - Matrix structure is defined as row-major (memory layout) but parameters naming AND all
+*       math operations performed by the library consider the structure as it was column-major
+*       It is like transposed versions of the matrices are used for all the maths
+*       It benefits some functions making them cache-friendly and also avoids matrix
+*       transpositions sometimes required by OpenGL
+*       Example: In memory order, row0 is [m0 m4 m8 m12] but in semantic math row0 is [m0 m1 m2 m3]
+*     - Functions are always self-contained, no function use another raymath function inside,
+*       required code is directly re-implemented inside
+*     - Functions input parameters are always received by value (2 unavoidable exceptions)
+*     - Functions use always a "result" variable for return (except C++ operators)
+*     - Functions are always defined inline
+*     - Angles are always in radians (DEG2RAD/RAD2DEG macros provided for convenience)
+*     - No compound literals used to make sure the library is compatible with C++
+*
+*   CONFIGURATION:
+*       #define RAYMATH_IMPLEMENTATION
+*           Generates the implementation of the library into the included file
+*           If not defined, the library is in header only mode and can be included in other headers
+*           or source files without problems. But only ONE file should hold the implementation
+*
+*       #define RAYMATH_STATIC_INLINE
+*           Define static inline functions code, so #include header suffices for use
+*           This may use up lots of memory
+*
+*       #define RAYMATH_DISABLE_CPP_OPERATORS
+*           Disables C++ operator overloads for raymath types.
+*
+*       #define RAYMATH_USE_SIMD_INTRINSICS   1
+*           Try to enable SIMD intrinsics for MatrixMultiply()
+*           Note that users enabling it must be aware of the target platform where application will
+*           run to support the selected SIMD intrinsic, for now, only SSE is supported
+*
+*   LICENSE: zlib/libpng
+*
+*   Copyright (c) 2015-2026 Ramon Santamaria (@raysan5)
+*
+*   This software is provided "as-is", without any express or implied warranty. In no event
+*   will the authors be held liable for any damages arising from the use of this software.
+*
+*   Permission is granted to anyone to use this software for any purpose, including commercial
+*   applications, and to alter it and redistribute it freely, subject to the following restrictions:
+*
+*     1. The origin of this software must not be misrepresented; you must not claim that you
+*     wrote the original software. If you use this software in a product, an acknowledgment
+*     in the product documentation would be appreciated but is not required.
+*
+*     2. Altered source versions must be plainly marked as such, and must not be misrepresented
+*     as being the original software.
+*
+*     3. This notice may not be removed or altered from any source distribution.
+*
+**********************************************************************************************/
+#ifndef RAYMATH_H
+#define RAYMATH_H
+#if defined(RAYMATH_IMPLEMENTATION) && defined(RAYMATH_STATIC_INLINE)
+#error "Specifying both RAYMATH_IMPLEMENTATION and RAYMATH_STATIC_INLINE is contradictory"
+#endif
+// Function specifiers definition
+#if defined(RAYMATH_IMPLEMENTATION)
+#if defined(_WIN32) && defined(BUILD_LIBTYPE_SHARED)
+#define RMAPI __declspec(dllexport) extern inline    // Building raylib as a Win32 shared library (.dll)
+#elif defined(BUILD_LIBTYPE_SHARED)
+#define RMAPI __attribute__((visibility("default"))) // Building raylib as a Unix shared library (.so/.dylib)
+#elif defined(_WIN32) && defined(USE_LIBTYPE_SHARED)
+#define RMAPI __declspec(dllimport)                  // Using raylib as a Win32 shared library (.dll)
+#else
+#define RMAPI extern inline // Provide external definition
+#endif
+#elif defined(RAYMATH_STATIC_INLINE)
+#define RMAPI static inline // Functions may be inlined, no external out-of-line definition
+#else
+#if defined(__TINYC__)
+#define RMAPI static inline // plain inline not supported by tinycc (See issue #435)
+#else
+#define RMAPI inline        // Functions may be inlined or external definition used
+#endif
+#endif
+//----------------------------------------------------------------------------------
+// Defines and Macros
+//----------------------------------------------------------------------------------
+#ifndef PI
+#define PI 3.14159265358979323846f
+#endif
+#ifndef EPSILON
+#define EPSILON 0.000001f
+#endif
+#ifndef DEG2RAD
+#define DEG2RAD (PI/180.0f)
+#endif
+#ifndef RAD2DEG
+#define RAD2DEG (180.0f/PI)
+#endif
+// Get float vector for Matrix
+#ifndef MatrixToFloat
+#define MatrixToFloat(mat) (MatrixToFloatV(mat).v)
+#endif
+// Get float vector for Vector3
+#ifndef Vector3ToFloat
+#define Vector3ToFloat(vec) (Vector3ToFloatV(vec).v)
+#endif
+//----------------------------------------------------------------------------------
+// Types and Structures Definition
+//----------------------------------------------------------------------------------
+#if !defined(RL_VECTOR2_TYPE)
+// Vector2 type
+typedef struct Vector2 {
+float x;
+float y;
+} Vector2;
+#define RL_VECTOR2_TYPE
+#endif
+#if !defined(RL_VECTOR3_TYPE)
+// Vector3 type
+typedef struct Vector3 {
+float x;
+float y;
+float z;
+} Vector3;
+#define RL_VECTOR3_TYPE
+#endif
+#if !defined(RL_VECTOR4_TYPE)
+// Vector4 type
+typedef struct Vector4 {
+float x;
+float y;
+float z;
+float w;
+} Vector4;
+#define RL_VECTOR4_TYPE
+#endif
+#if !defined(RL_QUATERNION_TYPE)
+// Quaternion type
+typedef Vector4 Quaternion;
+#define RL_QUATERNION_TYPE
+#endif
+#if !defined(RL_MATRIX_TYPE)
+// Matrix type (OpenGL style 4x4 - right handed, column major)
+typedef struct Matrix {
+float m0, m4, m8, m12;      // Matrix first row (4 components)
+float m1, m5, m9, m13;      // Matrix second row (4 components)
+float m2, m6, m10, m14;     // Matrix third row (4 components)
+float m3, m7, m11, m15;     // Matrix fourth row (4 components)
+} Matrix;
+#define RL_MATRIX_TYPE
+#endif
+// NOTE: Helper types to be used instead of array return types for *ToFloat functions
+#if !defined(RL_FLOAT3_TYPE)
+typedef struct float3 {
+float v[3];
+} float3;
+#define RL_FLOAT3_TYPE
+#endif
+#if !defined(RL_FLOAT16_TYPE)
+typedef struct float16 {
+float v[16];
+} float16;
+#define RL_FLOAT16_TYPE
+#endif
+#include <math.h>       // Required for: sinf(), cosf(), tan(), atan2f(), sqrtf(), floor(), fminf(), fmaxf(), fabsf()
+#if RAYMATH_USE_SIMD_INTRINSICS
+// SIMD is used on the most costly raymath function MatrixMultiply()
+// NOTE: Only SSE intrinsics support implemented
+// TODO: Consider support for other SIMD intrinsics:
+//  - SSEx, AVX, AVX2, FMA, NEON, RVV
+/*
+#if defined(__SSE4_2__)
+#include <nmmintrin.h>
+#define RAYMATH_SSE42_ENABLED
+#elif defined(__SSE4_1__)
+#include <smmintrin.h>
+#define RAYMATH_SSE41_ENABLED
+#elif defined(__SSSE3__)
+#include <tmmintrin.h>
+#define RAYMATH_SSSE3_ENABLED
+#elif defined(__SSE3__)
+#include <pmmintrin.h>
+#define RAYMATH_SSE3_ENABLED
+#elif defined(__SSE2__) || (defined(_M_AMD64) || defined(_M_X64)) // SSE2 x64
+#include <emmintrin.h>
+#define RAYMATH_SSE2_ENABLED
+#endif
+*/
+#if defined(__SSE__) || defined(_M_X64) || (defined(_M_IX86_FP) && (_M_IX86_FP >= 1))
+#include <xmmintrin.h>
+#define RAYMATH_SSE_ENABLED
+#endif
+#endif
+//----------------------------------------------------------------------------------
+// Module Functions Definition - Utils math
+//----------------------------------------------------------------------------------
+// Clamp float value
+RMAPI float Clamp(float value, float min, float max)
+{
+float result = (value < min)? min : value;
+if (result > max) result = max;
+return result;
+}
+// Calculate linear interpolation between two floats
+RMAPI float Lerp(float start, float end, float amount)
+{
+float result = start + amount*(end - start);
+return result;
+}
+// Normalize input value within input range
+RMAPI float Normalize(float value, float start, float end)
+{
+float result = (value - start)/(end - start);
+return result;
+}
+// Remap input value within input range to output range
+RMAPI float Remap(float value, float inputStart, float inputEnd, float outputStart, float outputEnd)
+{
+float result = (value - inputStart)/(inputEnd - inputStart)*(outputEnd - outputStart) + outputStart;
+return result;
+}
+// Wrap input value from min to max
+RMAPI float Wrap(float value, float min, float max)
+{
+float result = value - (max - min)*floorf((value - min)/(max - min));
+return result;
+}
+// Check whether two given floats are almost equal
+RMAPI int FloatEquals(float x, float y)
+{
+#if !defined(EPSILON)
+#define EPSILON 0.000001f
+#endif
+int result = (fabsf(x - y)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(x), fabsf(y))));
+return result;
+}
+//----------------------------------------------------------------------------------
+// Module Functions Definition - Vector2 math
+//----------------------------------------------------------------------------------
+// Vector with components value 0.0f
+RMAPI Vector2 Vector2Zero(void)
+{
+Vector2 result = { 0.0f, 0.0f };
+return result;
+}
+// Vector with components value 1.0f
+RMAPI Vector2 Vector2One(void)
+{
+Vector2 result = { 1.0f, 1.0f };
+return result;
+}
+// Add two vectors (v1 + v2)
+RMAPI Vector2 Vector2Add(Vector2 v1, Vector2 v2)
+{
+Vector2 result = { v1.x + v2.x, v1.y + v2.y };
+return result;
+}
+// Add vector and float value
+RMAPI Vector2 Vector2AddValue(Vector2 v, float add)
+{
+Vector2 result = { v.x + add, v.y + add };
+return result;
+}
+// Subtract two vectors (v1 - v2)
+RMAPI Vector2 Vector2Subtract(Vector2 v1, Vector2 v2)
+{
+Vector2 result = { v1.x - v2.x, v1.y - v2.y };
+return result;
+}
+// Subtract vector by float value
+RMAPI Vector2 Vector2SubtractValue(Vector2 v, float sub)
+{
+Vector2 result = { v.x - sub, v.y - sub };
+return result;
+}
+// Calculate vector length
+RMAPI float Vector2Length(Vector2 v)
+{
+float result = sqrtf((v.x*v.x) + (v.y*v.y));
+return result;
+}
+// Calculate vector square length
+RMAPI float Vector2LengthSqr(Vector2 v)
+{
+float result = (v.x*v.x) + (v.y*v.y);
+return result;
+}
+// Calculate two vectors dot product
+RMAPI float Vector2DotProduct(Vector2 v1, Vector2 v2)
+{
+float result = (v1.x*v2.x + v1.y*v2.y);
+return result;
+}
+// Calculate two vectors cross product
+RMAPI float Vector2CrossProduct(Vector2 v1, Vector2 v2)
+{
+float result = (v1.x*v2.y - v1.y*v2.x);
+return result;
+}
+// Calculate distance between two vectors
+RMAPI float Vector2Distance(Vector2 v1, Vector2 v2)
+{
+float result = sqrtf((v1.x - v2.x)*(v1.x - v2.x) + (v1.y - v2.y)*(v1.y - v2.y));
+return result;
+}
+// Calculate square distance between two vectors
+RMAPI float Vector2DistanceSqr(Vector2 v1, Vector2 v2)
+{
+float result = ((v1.x - v2.x)*(v1.x - v2.x) + (v1.y - v2.y)*(v1.y - v2.y));
+return result;
+}
+// Calculate the signed angle from v1 to v2, relative to the origin (0, 0)
+// NOTE: Coordinate system convention: positive X right, positive Y down
+// positive angles appear clockwise, and negative angles appear counterclockwise
+RMAPI float Vector2Angle(Vector2 v1, Vector2 v2)
+{
+float result = 0.0f;
+float dot = v1.x*v2.x + v1.y*v2.y;
+float det = v1.x*v2.y - v1.y*v2.x;
+result = atan2f(det, dot);
+return result;
+}
+// Calculate angle defined by a two vectors line
+// NOTE: Parameters need to be normalized
+// Current implementation should be aligned with glm::angle
+RMAPI float Vector2LineAngle(Vector2 start, Vector2 end)
+{
+float result = 0.0f;
+// TODO(10/9/2023): Currently angles move clockwise, determine if this is wanted behavior
+result = -atan2f(end.y - start.y, end.x - start.x);
+return result;
+}
+// Scale vector (multiply by value)
+RMAPI Vector2 Vector2Scale(Vector2 v, float scale)
+{
+Vector2 result = { v.x*scale, v.y*scale };
+return result;
+}
+// Multiply vector by vector
+RMAPI Vector2 Vector2Multiply(Vector2 v1, Vector2 v2)
+{
+Vector2 result = { v1.x*v2.x, v1.y*v2.y };
+return result;
+}
+// Negate vector
+RMAPI Vector2 Vector2Negate(Vector2 v)
+{
+Vector2 result = { -v.x, -v.y };
+return result;
+}
+// Divide vector by vector
+RMAPI Vector2 Vector2Divide(Vector2 v1, Vector2 v2)
+{
+Vector2 result = { v1.x/v2.x, v1.y/v2.y };
+return result;
+}
+// Normalize provided vector
+RMAPI Vector2 Vector2Normalize(Vector2 v)
+{
+Vector2 result = { 0 };
+float length = sqrtf((v.x*v.x) + (v.y*v.y));
+if (length > 0)
+{
+float ilength = 1.0f/length;
+result.x = v.x*ilength;
+result.y = v.y*ilength;
+}
+return result;
+}
+// Transforms a Vector2 by a given Matrix
+RMAPI Vector2 Vector2Transform(Vector2 v, Matrix mat)
+{
+Vector2 result = { 0 };
+float x = v.x;
+float y = v.y;
+float z = 0;
+result.x = mat.m0*x + mat.m4*y + mat.m8*z + mat.m12;
+result.y = mat.m1*x + mat.m5*y + mat.m9*z + mat.m13;
+return result;
+}
+// Calculate linear interpolation between two vectors
+RMAPI Vector2 Vector2Lerp(Vector2 v1, Vector2 v2, float amount)
+{
+Vector2 result = { 0 };
+result.x = v1.x + amount*(v2.x - v1.x);
+result.y = v1.y + amount*(v2.y - v1.y);
+return result;
+}
+// Calculate reflected vector to normal
+RMAPI Vector2 Vector2Reflect(Vector2 v, Vector2 normal)
+{
+Vector2 result = { 0 };
+float dotProduct = (v.x*normal.x + v.y*normal.y); // Dot product
+result.x = v.x - (2.0f*normal.x)*dotProduct;
+result.y = v.y - (2.0f*normal.y)*dotProduct;
+return result;
+}
+// Get min value for each pair of components
+RMAPI Vector2 Vector2Min(Vector2 v1, Vector2 v2)
+{
+Vector2 result = { 0 };
+result.x = fminf(v1.x, v2.x);
+result.y = fminf(v1.y, v2.y);
+return result;
+}
+// Get max value for each pair of components
+RMAPI Vector2 Vector2Max(Vector2 v1, Vector2 v2)
+{
+Vector2 result = { 0 };
+result.x = fmaxf(v1.x, v2.x);
+result.y = fmaxf(v1.y, v2.y);
+return result;
+}
+// Rotate vector by angle
+RMAPI Vector2 Vector2Rotate(Vector2 v, float angle)
+{
+Vector2 result = { 0 };
+float cosres = cosf(angle);
+float sinres = sinf(angle);
+result.x = v.x*cosres - v.y*sinres;
+result.y = v.x*sinres + v.y*cosres;
+return result;
+}
+// Move Vector towards target
+RMAPI Vector2 Vector2MoveTowards(Vector2 v, Vector2 target, float maxDistance)
+{
+Vector2 result = { 0 };
+float dx = target.x - v.x;
+float dy = target.y - v.y;
+float value = (dx*dx) + (dy*dy);
+if ((value == 0) || ((maxDistance >= 0) && (value <= maxDistance*maxDistance))) return target;
+float dist = sqrtf(value);
+result.x = v.x + dx/dist*maxDistance;
+result.y = v.y + dy/dist*maxDistance;
+return result;
+}
+// Invert the given vector
+RMAPI Vector2 Vector2Invert(Vector2 v)
+{
+Vector2 result = { 1.0f/v.x, 1.0f/v.y };
+return result;
+}
+// Clamp the components of the vector between
+// min and max values specified by the given vectors
+RMAPI Vector2 Vector2Clamp(Vector2 v, Vector2 min, Vector2 max)
+{
+Vector2 result = { 0 };
+result.x = fminf(max.x, fmaxf(min.x, v.x));
+result.y = fminf(max.y, fmaxf(min.y, v.y));
+return result;
+}
+// Clamp the magnitude of the vector between two min and max values
+RMAPI Vector2 Vector2ClampValue(Vector2 v, float min, float max)
+{
+Vector2 result = v;
+float length = (v.x*v.x) + (v.y*v.y);
+if (length > 0.0f)
+{
+length = sqrtf(length);
+float scale = 1; // By default, 1 as the neutral element
+if (length < min) scale = min/length;
+else if (length > max) scale = max/length;
+result.x = v.x*scale;
+result.y = v.y*scale;
+}
+return result;
+}
+// Check whether two given vectors are almost equal
+RMAPI int Vector2Equals(Vector2 p, Vector2 q)
+{
+#if !defined(EPSILON)
+#define EPSILON 0.000001f
+#endif
+int result = ((fabsf(p.x - q.x)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.x), fabsf(q.x))))) &&
+((fabsf(p.y - q.y)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.y), fabsf(q.y)))));
+return result;
+}
+// Compute the direction of a refracted ray
+// v: normalized direction of the incoming ray
+// n: normalized normal vector of the interface of two optical media
+// r: ratio of the refractive index of the medium from where the ray comes
+// to the refractive index of the medium on the other side of the surface
+RMAPI Vector2 Vector2Refract(Vector2 v, Vector2 n, float r)
+{
+Vector2 result = { 0 };
+float dot = v.x*n.x + v.y*n.y;
+float d = 1.0f - r*r*(1.0f - dot*dot);
+if (d >= 0.0f)
+{
+d = sqrtf(d);
+v.x = r*v.x - (r*dot + d)*n.x;
+v.y = r*v.y - (r*dot + d)*n.y;
+result = v;
+}
+return result;
+}
+//----------------------------------------------------------------------------------
+// Module Functions Definition - Vector3 math
+//----------------------------------------------------------------------------------
+// Vector with components value 0.0f
+RMAPI Vector3 Vector3Zero(void)
+{
+Vector3 result = { 0.0f, 0.0f, 0.0f };
+return result;
+}
+// Vector with components value 1.0f
+RMAPI Vector3 Vector3One(void)
+{
+Vector3 result = { 1.0f, 1.0f, 1.0f };
+return result;
+}
+// Add two vectors
+RMAPI Vector3 Vector3Add(Vector3 v1, Vector3 v2)
+{
+Vector3 result = { v1.x + v2.x, v1.y + v2.y, v1.z + v2.z };
+return result;
+}
+// Add vector and float value
+RMAPI Vector3 Vector3AddValue(Vector3 v, float add)
+{
+Vector3 result = { v.x + add, v.y + add, v.z + add };
+return result;
+}
+// Subtract two vectors
+RMAPI Vector3 Vector3Subtract(Vector3 v1, Vector3 v2)
+{
+Vector3 result = { v1.x - v2.x, v1.y - v2.y, v1.z - v2.z };
+return result;
+}
+// Subtract vector by float value
+RMAPI Vector3 Vector3SubtractValue(Vector3 v, float sub)
+{
+Vector3 result = { v.x - sub, v.y - sub, v.z - sub };
+return result;
+}
+// Multiply vector by scalar
+RMAPI Vector3 Vector3Scale(Vector3 v, float scalar)
+{
+Vector3 result = { v.x*scalar, v.y*scalar, v.z*scalar };
+return result;
+}
+// Multiply vector by vector
+RMAPI Vector3 Vector3Multiply(Vector3 v1, Vector3 v2)
+{
+Vector3 result = { v1.x*v2.x, v1.y*v2.y, v1.z*v2.z };
+return result;
+}
+// Calculate two vectors cross product
+RMAPI Vector3 Vector3CrossProduct(Vector3 v1, Vector3 v2)
+{
+Vector3 result = { v1.y*v2.z - v1.z*v2.y, v1.z*v2.x - v1.x*v2.z, v1.x*v2.y - v1.y*v2.x };
+return result;
+}
+// Calculate one vector perpendicular vector
+RMAPI Vector3 Vector3Perpendicular(Vector3 v)
+{
+Vector3 result = { 0 };
+float min = fabsf(v.x);
+Vector3 cardinalAxis = {1.0f, 0.0f, 0.0f};
+if (fabsf(v.y) < min)
+{
+min = fabsf(v.y);
+Vector3 tmp = {0.0f, 1.0f, 0.0f};
+cardinalAxis = tmp;
+}
+if (fabsf(v.z) < min)
+{
+Vector3 tmp = {0.0f, 0.0f, 1.0f};
+cardinalAxis = tmp;
+}
+// Cross product between vectors
+result.x = v.y*cardinalAxis.z - v.z*cardinalAxis.y;
+result.y = v.z*cardinalAxis.x - v.x*cardinalAxis.z;
+result.z = v.x*cardinalAxis.y - v.y*cardinalAxis.x;
+return result;
+}
+// Calculate vector length
+RMAPI float Vector3Length(const Vector3 v)
+{
+float result = sqrtf(v.x*v.x + v.y*v.y + v.z*v.z);
+return result;
+}
+// Calculate vector square length
+RMAPI float Vector3LengthSqr(const Vector3 v)
+{
+float result = v.x*v.x + v.y*v.y + v.z*v.z;
+return result;
+}
+// Calculate two vectors dot product
+RMAPI float Vector3DotProduct(Vector3 v1, Vector3 v2)
+{
+float result = (v1.x*v2.x + v1.y*v2.y + v1.z*v2.z);
+return result;
+}
+// Calculate distance between two vectors
+RMAPI float Vector3Distance(Vector3 v1, Vector3 v2)
+{
+float result = 0.0f;
+float dx = v2.x - v1.x;
+float dy = v2.y - v1.y;
+float dz = v2.z - v1.z;
+result = sqrtf(dx*dx + dy*dy + dz*dz);
+return result;
+}
+// Calculate square distance between two vectors
+RMAPI float Vector3DistanceSqr(Vector3 v1, Vector3 v2)
+{
+float result = 0.0f;
+float dx = v2.x - v1.x;
+float dy = v2.y - v1.y;
+float dz = v2.z - v1.z;
+result = dx*dx + dy*dy + dz*dz;
+return result;
+}
+// Calculate angle between two vectors
+RMAPI float Vector3Angle(Vector3 v1, Vector3 v2)
+{
+float result = 0.0f;
+Vector3 cross = { v1.y*v2.z - v1.z*v2.y, v1.z*v2.x - v1.x*v2.z, v1.x*v2.y - v1.y*v2.x };
+float len = sqrtf(cross.x*cross.x + cross.y*cross.y + cross.z*cross.z);
+float dot = (v1.x*v2.x + v1.y*v2.y + v1.z*v2.z);
+result = atan2f(len, dot);
+return result;
+}
+// Negate provided vector (invert direction)
+RMAPI Vector3 Vector3Negate(Vector3 v)
+{
+Vector3 result = { -v.x, -v.y, -v.z };
+return result;
+}
+// Divide vector by vector
+RMAPI Vector3 Vector3Divide(Vector3 v1, Vector3 v2)
+{
+Vector3 result = { v1.x/v2.x, v1.y/v2.y, v1.z/v2.z };
+return result;
+}
+// Normalize provided vector
+RMAPI Vector3 Vector3Normalize(Vector3 v)
+{
+Vector3 result = v;
+float length = sqrtf(v.x*v.x + v.y*v.y + v.z*v.z);
+if (length != 0.0f)
+{
+float ilength = 1.0f/length;
+result.x *= ilength;
+result.y *= ilength;
+result.z *= ilength;
+}
+return result;
+}
+//Calculate the projection of the vector v1 on to v2
+RMAPI Vector3 Vector3Project(Vector3 v1, Vector3 v2)
+{
+Vector3 result = { 0 };
+float v1dv2 = (v1.x*v2.x + v1.y*v2.y + v1.z*v2.z);
+float v2dv2 = (v2.x*v2.x + v2.y*v2.y + v2.z*v2.z);
+float mag = v1dv2/v2dv2;
+result.x = v2.x*mag;
+result.y = v2.y*mag;
+result.z = v2.z*mag;
+return result;
+}
+//Calculate the rejection of the vector v1 on to v2
+RMAPI Vector3 Vector3Reject(Vector3 v1, Vector3 v2)
+{
+Vector3 result = { 0 };
+float v1dv2 = (v1.x*v2.x + v1.y*v2.y + v1.z*v2.z);
+float v2dv2 = (v2.x*v2.x + v2.y*v2.y + v2.z*v2.z);
+float mag = v1dv2/v2dv2;
+result.x = v1.x - (v2.x*mag);
+result.y = v1.y - (v2.y*mag);
+result.z = v1.z - (v2.z*mag);
+return result;
+}
+// Orthonormalize provided vectors
+// Makes vectors normalized and orthogonal to each other
+// Gram-Schmidt function implementation
+RMAPI void Vector3OrthoNormalize(Vector3 *v1, Vector3 *v2)
+{
+float length = 0.0f;
+float ilength = 0.0f;
+// Vector3Normalize(*v1);
+Vector3 v = *v1;
+length = sqrtf(v.x*v.x + v.y*v.y + v.z*v.z);
+if (length == 0.0f) length = 1.0f;
+ilength = 1.0f/length;
+v1->x *= ilength;
+v1->y *= ilength;
+v1->z *= ilength;
+// Vector3CrossProduct(*v1, *v2)
+Vector3 vn1 = { v1->y*v2->z - v1->z*v2->y, v1->z*v2->x - v1->x*v2->z, v1->x*v2->y - v1->y*v2->x };
+// Vector3Normalize(vn1);
+v = vn1;
+length = sqrtf(v.x*v.x + v.y*v.y + v.z*v.z);
+if (length == 0.0f) length = 1.0f;
+ilength = 1.0f/length;
+vn1.x *= ilength;
+vn1.y *= ilength;
+vn1.z *= ilength;
+// Vector3CrossProduct(vn1, *v1)
+Vector3 vn2 = { vn1.y*v1->z - vn1.z*v1->y, vn1.z*v1->x - vn1.x*v1->z, vn1.x*v1->y - vn1.y*v1->x };
+*v2 = vn2;
+}
+// Transforms a Vector3 by a given Matrix
+RMAPI Vector3 Vector3Transform(Vector3 v, Matrix mat)
+{
+Vector3 result = { 0 };
+float x = v.x;
+float y = v.y;
+float z = v.z;
+result.x = mat.m0*x + mat.m4*y + mat.m8*z + mat.m12;
+result.y = mat.m1*x + mat.m5*y + mat.m9*z + mat.m13;
+result.z = mat.m2*x + mat.m6*y + mat.m10*z + mat.m14;
+return result;
+}
+// Transform a vector by quaternion rotation
+RMAPI Vector3 Vector3RotateByQuaternion(Vector3 v, Quaternion q)
+{
+Vector3 result = { 0 };
+result.x = v.x*(q.x*q.x + q.w*q.w - q.y*q.y - q.z*q.z) + v.y*(2*q.x*q.y - 2*q.w*q.z) + v.z*(2*q.x*q.z + 2*q.w*q.y);
+result.y = v.x*(2*q.w*q.z + 2*q.x*q.y) + v.y*(q.w*q.w - q.x*q.x + q.y*q.y - q.z*q.z) + v.z*(-2*q.w*q.x + 2*q.y*q.z);
+result.z = v.x*(-2*q.w*q.y + 2*q.x*q.z) + v.y*(2*q.w*q.x + 2*q.y*q.z)+ v.z*(q.w*q.w - q.x*q.x - q.y*q.y + q.z*q.z);
+return result;
+}
+// Rotates a vector around an axis
+RMAPI Vector3 Vector3RotateByAxisAngle(Vector3 v, Vector3 axis, float angle)
+{
+// Using Euler-Rodrigues Formula
+// Ref.: https://en.wikipedia.org/w/index.php?title=Euler%E2%80%93Rodrigues_formula
+Vector3 result = v;
+// Vector3Normalize(axis);
+float length = sqrtf(axis.x*axis.x + axis.y*axis.y + axis.z*axis.z);
+if (length == 0.0f) length = 1.0f;
+float ilength = 1.0f/length;
+axis.x *= ilength;
+axis.y *= ilength;
+axis.z *= ilength;
+angle /= 2.0f;
+float a = sinf(angle);
+float b = axis.x*a;
+float c = axis.y*a;
+float d = axis.z*a;
+a = cosf(angle);
+Vector3 w = { b, c, d };
+// Vector3CrossProduct(w, v)
+Vector3 wv = { w.y*v.z - w.z*v.y, w.z*v.x - w.x*v.z, w.x*v.y - w.y*v.x };
+// Vector3CrossProduct(w, wv)
+Vector3 wwv = { w.y*wv.z - w.z*wv.y, w.z*wv.x - w.x*wv.z, w.x*wv.y - w.y*wv.x };
+// Vector3Scale(wv, 2*a)
+a *= 2;
+wv.x *= a;
+wv.y *= a;
+wv.z *= a;
+// Vector3Scale(wwv, 2)
+wwv.x *= 2;
+wwv.y *= 2;
+wwv.z *= 2;
+result.x += wv.x;
+result.y += wv.y;
+result.z += wv.z;
+result.x += wwv.x;
+result.y += wwv.y;
+result.z += wwv.z;
+return result;
+}
+// Move Vector towards target
+RMAPI Vector3 Vector3MoveTowards(Vector3 v, Vector3 target, float maxDistance)
+{
+Vector3 result = { 0 };
+float dx = target.x - v.x;
+float dy = target.y - v.y;
+float dz = target.z - v.z;
+float value = (dx*dx) + (dy*dy) + (dz*dz);
+if ((value == 0) || ((maxDistance >= 0) && (value <= maxDistance*maxDistance))) return target;
+float dist = sqrtf(value);
+result.x = v.x + dx/dist*maxDistance;
+result.y = v.y + dy/dist*maxDistance;
+result.z = v.z + dz/dist*maxDistance;
+return result;
+}
+// Calculate linear interpolation between two vectors
+RMAPI Vector3 Vector3Lerp(Vector3 v1, Vector3 v2, float amount)
+{
+Vector3 result = { 0 };
+result.x = v1.x + amount*(v2.x - v1.x);
+result.y = v1.y + amount*(v2.y - v1.y);
+result.z = v1.z + amount*(v2.z - v1.z);
+return result;
+}
+// Calculate cubic hermite interpolation between two vectors and their tangents
+// as described in the GLTF 2.0 specification: https://registry.khronos.org/glTF/specs/2.0/glTF-2.0.html#interpolation-cubic
+RMAPI Vector3 Vector3CubicHermite(Vector3 v1, Vector3 tangent1, Vector3 v2, Vector3 tangent2, float amount)
+{
+Vector3 result = { 0 };
+float amountPow2 = amount*amount;
+float amountPow3 = amount*amount*amount;
+result.x = (2*amountPow3 - 3*amountPow2 + 1)*v1.x + (amountPow3 - 2*amountPow2 + amount)*tangent1.x + (-2*amountPow3 + 3*amountPow2)*v2.x + (amountPow3 - amountPow2)*tangent2.x;
+result.y = (2*amountPow3 - 3*amountPow2 + 1)*v1.y + (amountPow3 - 2*amountPow2 + amount)*tangent1.y + (-2*amountPow3 + 3*amountPow2)*v2.y + (amountPow3 - amountPow2)*tangent2.y;
+result.z = (2*amountPow3 - 3*amountPow2 + 1)*v1.z + (amountPow3 - 2*amountPow2 + amount)*tangent1.z + (-2*amountPow3 + 3*amountPow2)*v2.z + (amountPow3 - amountPow2)*tangent2.z;
+return result;
+}
+// Calculate reflected vector to normal
+RMAPI Vector3 Vector3Reflect(Vector3 v, Vector3 normal)
+{
+Vector3 result = { 0 };
+// I is the original vector
+// N is the normal of the incident plane
+// R = I - (2*N*(DotProduct[I, N]))
+float dotProduct = (v.x*normal.x + v.y*normal.y + v.z*normal.z);
+result.x = v.x - (2.0f*normal.x)*dotProduct;
+result.y = v.y - (2.0f*normal.y)*dotProduct;
+result.z = v.z - (2.0f*normal.z)*dotProduct;
+return result;
+}
+// Get min value for each pair of components
+RMAPI Vector3 Vector3Min(Vector3 v1, Vector3 v2)
+{
+Vector3 result = { 0 };
+result.x = fminf(v1.x, v2.x);
+result.y = fminf(v1.y, v2.y);
+result.z = fminf(v1.z, v2.z);
+return result;
+}
+// Get max value for each pair of components
+RMAPI Vector3 Vector3Max(Vector3 v1, Vector3 v2)
+{
+Vector3 result = { 0 };
+result.x = fmaxf(v1.x, v2.x);
+result.y = fmaxf(v1.y, v2.y);
+result.z = fmaxf(v1.z, v2.z);
+return result;
+}
+// Compute barycenter coordinates (u, v, w) for point p with respect to triangle (a, b, c)
+// NOTE: Assumes P is on the plane of the triangle
+RMAPI Vector3 Vector3Barycenter(Vector3 p, Vector3 a, Vector3 b, Vector3 c)
+{
+Vector3 result = { 0 };
+Vector3 v0 = { b.x - a.x, b.y - a.y, b.z - a.z };   // Vector3Subtract(b, a)
+Vector3 v1 = { c.x - a.x, c.y - a.y, c.z - a.z };   // Vector3Subtract(c, a)
+Vector3 v2 = { p.x - a.x, p.y - a.y, p.z - a.z };   // Vector3Subtract(p, a)
+float d00 = (v0.x*v0.x + v0.y*v0.y + v0.z*v0.z);    // Vector3DotProduct(v0, v0)
+float d01 = (v0.x*v1.x + v0.y*v1.y + v0.z*v1.z);    // Vector3DotProduct(v0, v1)
+float d11 = (v1.x*v1.x + v1.y*v1.y + v1.z*v1.z);    // Vector3DotProduct(v1, v1)
+float d20 = (v2.x*v0.x + v2.y*v0.y + v2.z*v0.z);    // Vector3DotProduct(v2, v0)
+float d21 = (v2.x*v1.x + v2.y*v1.y + v2.z*v1.z);    // Vector3DotProduct(v2, v1)
+float denom = d00*d11 - d01*d01;
+result.y = (d11*d20 - d01*d21)/denom;
+result.z = (d00*d21 - d01*d20)/denom;
+result.x = 1.0f - (result.z + result.y);
+return result;
+}
+// Projects a Vector3 from screen space into object space
+// NOTE: Self-contained function, no other raymath functions are called
+RMAPI Vector3 Vector3Unproject(Vector3 source, Matrix projection, Matrix view)
+{
+Vector3 result = { 0 };
+// Calculate unprojected matrix (multiply view matrix by projection matrix) and invert it
+Matrix matViewProj = {      // MatrixMultiply(view, projection);
+view.m0*projection.m0 + view.m1*projection.m4 + view.m2*projection.m8 + view.m3*projection.m12,
+view.m0*projection.m1 + view.m1*projection.m5 + view.m2*projection.m9 + view.m3*projection.m13,
+view.m0*projection.m2 + view.m1*projection.m6 + view.m2*projection.m10 + view.m3*projection.m14,
+view.m0*projection.m3 + view.m1*projection.m7 + view.m2*projection.m11 + view.m3*projection.m15,
+view.m4*projection.m0 + view.m5*projection.m4 + view.m6*projection.m8 + view.m7*projection.m12,
+view.m4*projection.m1 + view.m5*projection.m5 + view.m6*projection.m9 + view.m7*projection.m13,
+view.m4*projection.m2 + view.m5*projection.m6 + view.m6*projection.m10 + view.m7*projection.m14,
+view.m4*projection.m3 + view.m5*projection.m7 + view.m6*projection.m11 + view.m7*projection.m15,
+view.m8*projection.m0 + view.m9*projection.m4 + view.m10*projection.m8 + view.m11*projection.m12,
+view.m8*projection.m1 + view.m9*projection.m5 + view.m10*projection.m9 + view.m11*projection.m13,
+view.m8*projection.m2 + view.m9*projection.m6 + view.m10*projection.m10 + view.m11*projection.m14,
+view.m8*projection.m3 + view.m9*projection.m7 + view.m10*projection.m11 + view.m11*projection.m15,
+view.m12*projection.m0 + view.m13*projection.m4 + view.m14*projection.m8 + view.m15*projection.m12,
+view.m12*projection.m1 + view.m13*projection.m5 + view.m14*projection.m9 + view.m15*projection.m13,
+view.m12*projection.m2 + view.m13*projection.m6 + view.m14*projection.m10 + view.m15*projection.m14,
+view.m12*projection.m3 + view.m13*projection.m7 + view.m14*projection.m11 + view.m15*projection.m15 };
+// Calculate inverted matrix -> MatrixInvert(matViewProj);
+// Cache the matrix values (speed optimization)
+float a00 = matViewProj.m0, a01 = matViewProj.m1, a02 = matViewProj.m2, a03 = matViewProj.m3;
+float a10 = matViewProj.m4, a11 = matViewProj.m5, a12 = matViewProj.m6, a13 = matViewProj.m7;
+float a20 = matViewProj.m8, a21 = matViewProj.m9, a22 = matViewProj.m10, a23 = matViewProj.m11;
+float a30 = matViewProj.m12, a31 = matViewProj.m13, a32 = matViewProj.m14, a33 = matViewProj.m15;
+float b00 = a00*a11 - a01*a10;
+float b01 = a00*a12 - a02*a10;
+float b02 = a00*a13 - a03*a10;
+float b03 = a01*a12 - a02*a11;
+float b04 = a01*a13 - a03*a11;
+float b05 = a02*a13 - a03*a12;
+float b06 = a20*a31 - a21*a30;
+float b07 = a20*a32 - a22*a30;
+float b08 = a20*a33 - a23*a30;
+float b09 = a21*a32 - a22*a31;
+float b10 = a21*a33 - a23*a31;
+float b11 = a22*a33 - a23*a32;
+// Calculate the invert determinant (inlined to avoid double-caching)
+float invDet = 1.0f/(b00*b11 - b01*b10 + b02*b09 + b03*b08 - b04*b07 + b05*b06);
+Matrix matViewProjInv = {
+(a11*b11 - a12*b10 + a13*b09)*invDet,
+(-a01*b11 + a02*b10 - a03*b09)*invDet,
+(a31*b05 - a32*b04 + a33*b03)*invDet,
+(-a21*b05 + a22*b04 - a23*b03)*invDet,
+(-a10*b11 + a12*b08 - a13*b07)*invDet,
+(a00*b11 - a02*b08 + a03*b07)*invDet,
+(-a30*b05 + a32*b02 - a33*b01)*invDet,
+(a20*b05 - a22*b02 + a23*b01)*invDet,
+(a10*b10 - a11*b08 + a13*b06)*invDet,
+(-a00*b10 + a01*b08 - a03*b06)*invDet,
+(a30*b04 - a31*b02 + a33*b00)*invDet,
+(-a20*b04 + a21*b02 - a23*b00)*invDet,
+(-a10*b09 + a11*b07 - a12*b06)*invDet,
+(a00*b09 - a01*b07 + a02*b06)*invDet,
+(-a30*b03 + a31*b01 - a32*b00)*invDet,
+(a20*b03 - a21*b01 + a22*b00)*invDet };
+// Create quaternion from source point
+Quaternion quat = { source.x, source.y, source.z, 1.0f };
+// Multiply quat point by unprojected matrix
+Quaternion qtransformed = {     // QuaternionTransform(quat, matViewProjInv)
+matViewProjInv.m0*quat.x + matViewProjInv.m4*quat.y + matViewProjInv.m8*quat.z + matViewProjInv.m12*quat.w,
+matViewProjInv.m1*quat.x + matViewProjInv.m5*quat.y + matViewProjInv.m9*quat.z + matViewProjInv.m13*quat.w,
+matViewProjInv.m2*quat.x + matViewProjInv.m6*quat.y + matViewProjInv.m10*quat.z + matViewProjInv.m14*quat.w,
+matViewProjInv.m3*quat.x + matViewProjInv.m7*quat.y + matViewProjInv.m11*quat.z + matViewProjInv.m15*quat.w };
+// Normalized world points in vectors
+result.x = qtransformed.x/qtransformed.w;
+result.y = qtransformed.y/qtransformed.w;
+result.z = qtransformed.z/qtransformed.w;
+return result;
+}
+// Get Vector3 as float array
+RMAPI float3 Vector3ToFloatV(Vector3 v)
+{
+float3 buffer = { 0 };
+buffer.v[0] = v.x;
+buffer.v[1] = v.y;
+buffer.v[2] = v.z;
+return buffer;
+}
+// Invert the given vector
+RMAPI Vector3 Vector3Invert(Vector3 v)
+{
+Vector3 result = { 1.0f/v.x, 1.0f/v.y, 1.0f/v.z };
+return result;
+}
+// Clamp the components of the vector between
+// min and max values specified by the given vectors
+RMAPI Vector3 Vector3Clamp(Vector3 v, Vector3 min, Vector3 max)
+{
+Vector3 result = { 0 };
+result.x = fminf(max.x, fmaxf(min.x, v.x));
+result.y = fminf(max.y, fmaxf(min.y, v.y));
+result.z = fminf(max.z, fmaxf(min.z, v.z));
+return result;
+}
+// Clamp the magnitude of the vector between two values
+RMAPI Vector3 Vector3ClampValue(Vector3 v, float min, float max)
+{
+Vector3 result = v;
+float length = (v.x*v.x) + (v.y*v.y) + (v.z*v.z);
+if (length > 0.0f)
+{
+length = sqrtf(length);
+float scale = 1; // By default, 1 as the neutral element
+if (length < min) scale = min/length;
+else if (length > max) scale = max/length;
+result.x = v.x*scale;
+result.y = v.y*scale;
+result.z = v.z*scale;
+}
+return result;
+}
+// Check whether two given vectors are almost equal
+RMAPI int Vector3Equals(Vector3 p, Vector3 q)
+{
+#if !defined(EPSILON)
+#define EPSILON 0.000001f
+#endif
+int result = ((fabsf(p.x - q.x)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.x), fabsf(q.x))))) &&
+((fabsf(p.y - q.y)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.y), fabsf(q.y))))) &&
+((fabsf(p.z - q.z)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.z), fabsf(q.z)))));
+return result;
+}
+// Compute the direction of a refracted ray
+// v: normalized direction of the incoming ray
+// n: normalized normal vector of the interface of two optical media
+// r: ratio of the refractive index of the medium from where the ray comes
+// to the refractive index of the medium on the other side of the surface
+RMAPI Vector3 Vector3Refract(Vector3 v, Vector3 n, float r)
+{
+Vector3 result = { 0 };
+float dot = v.x*n.x + v.y*n.y + v.z*n.z;
+float d = 1.0f - r*r*(1.0f - dot*dot);
+if (d >= 0.0f)
+{
+d = sqrtf(d);
+v.x = r*v.x - (r*dot + d)*n.x;
+v.y = r*v.y - (r*dot + d)*n.y;
+v.z = r*v.z - (r*dot + d)*n.z;
+result = v;
+}
+return result;
+}
+//----------------------------------------------------------------------------------
+// Module Functions Definition - Vector4 math
+//----------------------------------------------------------------------------------
+// Get  vector zero
+RMAPI Vector4 Vector4Zero(void)
+{
+Vector4 result = { 0.0f, 0.0f, 0.0f, 0.0f };
+return result;
+}
+// Get vector one
+RMAPI Vector4 Vector4One(void)
+{
+Vector4 result = { 1.0f, 1.0f, 1.0f, 1.0f };
+return result;
+}
+// Add two vectors
+RMAPI Vector4 Vector4Add(Vector4 v1, Vector4 v2)
+{
+Vector4 result = {
+v1.x + v2.x,
+v1.y + v2.y,
+v1.z + v2.z,
+v1.w + v2.w
+};
+return result;
+}
+// Add value to vector components
+RMAPI Vector4 Vector4AddValue(Vector4 v, float add)
+{
+Vector4 result = {
+v.x + add,
+v.y + add,
+v.z + add,
+v.w + add
+};
+return result;
+}
+// Substract vectors
+RMAPI Vector4 Vector4Subtract(Vector4 v1, Vector4 v2)
+{
+Vector4 result = {
+v1.x - v2.x,
+v1.y - v2.y,
+v1.z - v2.z,
+v1.w - v2.w
+};
+return result;
+}
+// Substract value from vector components
+RMAPI Vector4 Vector4SubtractValue(Vector4 v, float add)
+{
+Vector4 result = {
+v.x - add,
+v.y - add,
+v.z - add,
+v.w - add
+};
+return result;
+}
+// Vector length
+RMAPI float Vector4Length(Vector4 v)
+{
+float result = sqrtf((v.x*v.x) + (v.y*v.y) + (v.z*v.z) + (v.w*v.w));
+return result;
+}
+// Vector square length
+RMAPI float Vector4LengthSqr(Vector4 v)
+{
+float result = (v.x*v.x) + (v.y*v.y) + (v.z*v.z) + (v.w*v.w);
+return result;
+}
+// Vectors dot product
+RMAPI float Vector4DotProduct(Vector4 v1, Vector4 v2)
+{
+float result = (v1.x*v2.x + v1.y*v2.y + v1.z*v2.z + v1.w*v2.w);
+return result;
+}
+// Calculate distance between two vectors
+RMAPI float Vector4Distance(Vector4 v1, Vector4 v2)
+{
+float result = sqrtf(
+(v1.x - v2.x)*(v1.x - v2.x) + (v1.y - v2.y)*(v1.y - v2.y) +
+(v1.z - v2.z)*(v1.z - v2.z) + (v1.w - v2.w)*(v1.w - v2.w));
+return result;
+}
+// Calculate square distance between two vectors
+RMAPI float Vector4DistanceSqr(Vector4 v1, Vector4 v2)
+{
+float result =
+(v1.x - v2.x)*(v1.x - v2.x) + (v1.y - v2.y)*(v1.y - v2.y) +
+(v1.z - v2.z)*(v1.z - v2.z) + (v1.w - v2.w)*(v1.w - v2.w);
+return result;
+}
+// Scale vector components by value (multiply)
+RMAPI Vector4 Vector4Scale(Vector4 v, float scale)
+{
+Vector4 result = { v.x*scale, v.y*scale, v.z*scale, v.w*scale };
+return result;
+}
+// Multiply vector by vector
+RMAPI Vector4 Vector4Multiply(Vector4 v1, Vector4 v2)
+{
+Vector4 result = { v1.x*v2.x, v1.y*v2.y, v1.z*v2.z, v1.w*v2.w };
+return result;
+}
+// Negate vector
+RMAPI Vector4 Vector4Negate(Vector4 v)
+{
+Vector4 result = { -v.x, -v.y, -v.z, -v.w };
+return result;
+}
+// Divide vector by vector
+RMAPI Vector4 Vector4Divide(Vector4 v1, Vector4 v2)
+{
+Vector4 result = { v1.x/v2.x, v1.y/v2.y, v1.z/v2.z, v1.w/v2.w };
+return result;
+}
+// Normalize provided vector
+RMAPI Vector4 Vector4Normalize(Vector4 v)
+{
+Vector4 result = { 0 };
+float length = sqrtf((v.x*v.x) + (v.y*v.y) + (v.z*v.z) + (v.w*v.w));
+if (length > 0)
+{
+float ilength = 1.0f/length;
+result.x = v.x*ilength;
+result.y = v.y*ilength;
+result.z = v.z*ilength;
+result.w = v.w*ilength;
+}
+return result;
+}
+// Get min value for each pair of components
+RMAPI Vector4 Vector4Min(Vector4 v1, Vector4 v2)
+{
+Vector4 result = { 0 };
+result.x = fminf(v1.x, v2.x);
+result.y = fminf(v1.y, v2.y);
+result.z = fminf(v1.z, v2.z);
+result.w = fminf(v1.w, v2.w);
+return result;
+}
+// Get max value for each pair of components
+RMAPI Vector4 Vector4Max(Vector4 v1, Vector4 v2)
+{
+Vector4 result = { 0 };
+result.x = fmaxf(v1.x, v2.x);
+result.y = fmaxf(v1.y, v2.y);
+result.z = fmaxf(v1.z, v2.z);
+result.w = fmaxf(v1.w, v2.w);
+return result;
+}
+// Calculate linear interpolation between two vectors
+RMAPI Vector4 Vector4Lerp(Vector4 v1, Vector4 v2, float amount)
+{
+Vector4 result = { 0 };
+result.x = v1.x + amount*(v2.x - v1.x);
+result.y = v1.y + amount*(v2.y - v1.y);
+result.z = v1.z + amount*(v2.z - v1.z);
+result.w = v1.w + amount*(v2.w - v1.w);
+return result;
+}
+// Move Vector towards target
+RMAPI Vector4 Vector4MoveTowards(Vector4 v, Vector4 target, float maxDistance)
+{
+Vector4 result = { 0 };
+float dx = target.x - v.x;
+float dy = target.y - v.y;
+float dz = target.z - v.z;
+float dw = target.w - v.w;
+float value = (dx*dx) + (dy*dy) + (dz*dz) + (dw*dw);
+if ((value == 0) || ((maxDistance >= 0) && (value <= maxDistance*maxDistance))) return target;
+float dist = sqrtf(value);
+result.x = v.x + dx/dist*maxDistance;
+result.y = v.y + dy/dist*maxDistance;
+result.z = v.z + dz/dist*maxDistance;
+result.w = v.w + dw/dist*maxDistance;
+return result;
+}
+// Invert the given vector
+RMAPI Vector4 Vector4Invert(Vector4 v)
+{
+Vector4 result = { 1.0f/v.x, 1.0f/v.y, 1.0f/v.z, 1.0f/v.w };
+return result;
+}
+// Check whether two given vectors are almost equal
+RMAPI int Vector4Equals(Vector4 p, Vector4 q)
+{
+#if !defined(EPSILON)
+#define EPSILON 0.000001f
+#endif
+int result = ((fabsf(p.x - q.x)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.x), fabsf(q.x))))) &&
+((fabsf(p.y - q.y)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.y), fabsf(q.y))))) &&
+((fabsf(p.z - q.z)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.z), fabsf(q.z))))) &&
+((fabsf(p.w - q.w)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.w), fabsf(q.w)))));
+return result;
+}
+//----------------------------------------------------------------------------------
+// Module Functions Definition - Matrix math
+//----------------------------------------------------------------------------------
+// Compute matrix determinant
+RMAPI float MatrixDeterminant(Matrix mat)
+{
+float result = 0.0f;
+/*
+// Cache the matrix values (speed optimization)
+float a00 = mat.m0, a01 = mat.m1, a02 = mat.m2, a03 = mat.m3;
+float a10 = mat.m4, a11 = mat.m5, a12 = mat.m6, a13 = mat.m7;
+float a20 = mat.m8, a21 = mat.m9, a22 = mat.m10, a23 = mat.m11;
+float a30 = mat.m12, a31 = mat.m13, a32 = mat.m14, a33 = mat.m15;
+// NOTE: It takes 72 multiplication to calculate 4x4 matrix determinant
+result = a30*a21*a12*a03 - a20*a31*a12*a03 - a30*a11*a22*a03 + a10*a31*a22*a03 +
+a20*a11*a32*a03 - a10*a21*a32*a03 - a30*a21*a02*a13 + a20*a31*a02*a13 +
+a30*a01*a22*a13 - a00*a31*a22*a13 - a20*a01*a32*a13 + a00*a21*a32*a13 +
+a30*a11*a02*a23 - a10*a31*a02*a23 - a30*a01*a12*a23 + a00*a31*a12*a23 +
+a10*a01*a32*a23 - a00*a11*a32*a23 - a20*a11*a02*a33 + a10*a21*a02*a33 +
+a20*a01*a12*a33 - a00*a21*a12*a33 - a10*a01*a22*a33 + a00*a11*a22*a33;
+*/
+// Using Laplace expansion (https://en.wikipedia.org/wiki/Laplace_expansion),
+// previous operation can be simplified to 40 multiplications, decreasing matrix
+// size from 4x4 to 2x2 using minors
+// Cache the matrix values (speed optimization)
+float m0 = mat.m0, m1 = mat.m1, m2 = mat.m2, m3 = mat.m3;
+float m4 = mat.m4, m5 = mat.m5, m6 = mat.m6, m7 = mat.m7;
+float m8 = mat.m8, m9 = mat.m9, m10 = mat.m10, m11 = mat.m11;
+float m12 = mat.m12, m13 = mat.m13, m14 = mat.m14, m15 = mat.m15;
+result = (m0*((m5*(m10*m15 - m11*m14) - m9*(m6*m15 - m7*m14) + m13*(m6*m11 - m7*m10))) -
+m4*((m1*(m10*m15 - m11*m14) - m9*(m2*m15 - m3*m14) + m13*(m2*m11 - m3*m10))) +
+m8*((m1*(m6*m15 - m7*m14) - m5*(m2*m15 - m3*m14) + m13*(m2*m7 - m3*m6))) -
+m12*((m1*(m6*m11 - m7*m10) - m5*(m2*m11 - m3*m10) + m9*(m2*m7 - m3*m6))));
+return result;
+}
+// Get the trace of the matrix (sum of the values along the diagonal)
+RMAPI float MatrixTrace(Matrix mat)
+{
+float result = (mat.m0 + mat.m5 + mat.m10 + mat.m15);
+return result;
+}
+// Transposes provided matrix
+RMAPI Matrix MatrixTranspose(Matrix mat)
+{
+Matrix result = { 0 };
+result.m0 = mat.m0;
+result.m1 = mat.m4;
+result.m2 = mat.m8;
+result.m3 = mat.m12;
+result.m4 = mat.m1;
+result.m5 = mat.m5;
+result.m6 = mat.m9;
+result.m7 = mat.m13;
+result.m8 = mat.m2;
+result.m9 = mat.m6;
+result.m10 = mat.m10;
+result.m11 = mat.m14;
+result.m12 = mat.m3;
+result.m13 = mat.m7;
+result.m14 = mat.m11;
+result.m15 = mat.m15;
+return result;
+}
+// Invert provided matrix
+RMAPI Matrix MatrixInvert(Matrix mat)
+{
+Matrix result = { 0 };
+// Cache the matrix values (speed optimization)
+float a00 = mat.m0, a01 = mat.m1, a02 = mat.m2, a03 = mat.m3;
+float a10 = mat.m4, a11 = mat.m5, a12 = mat.m6, a13 = mat.m7;
+float a20 = mat.m8, a21 = mat.m9, a22 = mat.m10, a23 = mat.m11;
+float a30 = mat.m12, a31 = mat.m13, a32 = mat.m14, a33 = mat.m15;
+float b00 = a00*a11 - a01*a10;
+float b01 = a00*a12 - a02*a10;
+float b02 = a00*a13 - a03*a10;
+float b03 = a01*a12 - a02*a11;
+float b04 = a01*a13 - a03*a11;
+float b05 = a02*a13 - a03*a12;
+float b06 = a20*a31 - a21*a30;
+float b07 = a20*a32 - a22*a30;
+float b08 = a20*a33 - a23*a30;
+float b09 = a21*a32 - a22*a31;
+float b10 = a21*a33 - a23*a31;
+float b11 = a22*a33 - a23*a32;
+// Calculate the invert determinant (inlined to avoid double-caching)
+float invDet = 1.0f/(b00*b11 - b01*b10 + b02*b09 + b03*b08 - b04*b07 + b05*b06);
+result.m0 = (a11*b11 - a12*b10 + a13*b09)*invDet;
+result.m1 = (-a01*b11 + a02*b10 - a03*b09)*invDet;
+result.m2 = (a31*b05 - a32*b04 + a33*b03)*invDet;
+result.m3 = (-a21*b05 + a22*b04 - a23*b03)*invDet;
+result.m4 = (-a10*b11 + a12*b08 - a13*b07)*invDet;
+result.m5 = (a00*b11 - a02*b08 + a03*b07)*invDet;
+result.m6 = (-a30*b05 + a32*b02 - a33*b01)*invDet;
+result.m7 = (a20*b05 - a22*b02 + a23*b01)*invDet;
+result.m8 = (a10*b10 - a11*b08 + a13*b06)*invDet;
+result.m9 = (-a00*b10 + a01*b08 - a03*b06)*invDet;
+result.m10 = (a30*b04 - a31*b02 + a33*b00)*invDet;
+result.m11 = (-a20*b04 + a21*b02 - a23*b00)*invDet;
+result.m12 = (-a10*b09 + a11*b07 - a12*b06)*invDet;
+result.m13 = (a00*b09 - a01*b07 + a02*b06)*invDet;
+result.m14 = (-a30*b03 + a31*b01 - a32*b00)*invDet;
+result.m15 = (a20*b03 - a21*b01 + a22*b00)*invDet;
+return result;
+}
+// Get identity matrix
+RMAPI Matrix MatrixIdentity(void)
+{
+Matrix result = { 1.0f, 0.0f, 0.0f, 0.0f,
+0.0f, 1.0f, 0.0f, 0.0f,
+0.0f, 0.0f, 1.0f, 0.0f,
+0.0f, 0.0f, 0.0f, 1.0f };
+return result;
+}
+// Add two matrices
+RMAPI Matrix MatrixAdd(Matrix left, Matrix right)
+{
+Matrix result = { 0 };
+result.m0 = left.m0 + right.m0;
+result.m1 = left.m1 + right.m1;
+result.m2 = left.m2 + right.m2;
+result.m3 = left.m3 + right.m3;
+result.m4 = left.m4 + right.m4;
+result.m5 = left.m5 + right.m5;
+result.m6 = left.m6 + right.m6;
+result.m7 = left.m7 + right.m7;
+result.m8 = left.m8 + right.m8;
+result.m9 = left.m9 + right.m9;
+result.m10 = left.m10 + right.m10;
+result.m11 = left.m11 + right.m11;
+result.m12 = left.m12 + right.m12;
+result.m13 = left.m13 + right.m13;
+result.m14 = left.m14 + right.m14;
+result.m15 = left.m15 + right.m15;
+return result;
+}
+// Subtract two matrices (left - right)
+RMAPI Matrix MatrixSubtract(Matrix left, Matrix right)
+{
+Matrix result = { 0 };
+result.m0 = left.m0 - right.m0;
+result.m1 = left.m1 - right.m1;
+result.m2 = left.m2 - right.m2;
+result.m3 = left.m3 - right.m3;
+result.m4 = left.m4 - right.m4;
+result.m5 = left.m5 - right.m5;
+result.m6 = left.m6 - right.m6;
+result.m7 = left.m7 - right.m7;
+result.m8 = left.m8 - right.m8;
+result.m9 = left.m9 - right.m9;
+result.m10 = left.m10 - right.m10;
+result.m11 = left.m11 - right.m11;
+result.m12 = left.m12 - right.m12;
+result.m13 = left.m13 - right.m13;
+result.m14 = left.m14 - right.m14;
+result.m15 = left.m15 - right.m15;
+return result;
+}
+// Get two matrix multiplication
+// NOTE: When multiplying matrices... the order matters!
+RMAPI Matrix MatrixMultiply(Matrix left, Matrix right)
+{
+Matrix result = { 0 };
+#if defined(RAYMATH_SSE_ENABLED)
+// Load left side and right side
+__m128 c0 = _mm_set_ps(right.m12, right.m8,  right.m4,  right.m0);
+__m128 c1 = _mm_set_ps(right.m13, right.m9,  right.m5,  right.m1);
+__m128 c2 = _mm_set_ps(right.m14, right.m10, right.m6,  right.m2);
+__m128 c3 = _mm_set_ps(right.m15, right.m11, right.m7,  right.m3);
+// Transpose so c0..c3 become *rows* of the right matrix in semantic order
+_MM_TRANSPOSE4_PS(c0, c1, c2, c3);
+float tmp[4] = { 0 };
+__m128 row;
+// Row 0 of result: [m0, m1, m2, m3]
+row  = _mm_mul_ps(_mm_set1_ps(left.m0),  c0);
+row  = _mm_add_ps(row, _mm_mul_ps(_mm_set1_ps(left.m1),  c1));
+row  = _mm_add_ps(row, _mm_mul_ps(_mm_set1_ps(left.m2),  c2));
+row  = _mm_add_ps(row, _mm_mul_ps(_mm_set1_ps(left.m3),  c3));
+_mm_storeu_ps(tmp, row);
+result.m0 = tmp[0];
+result.m1 = tmp[1];
+result.m2 = tmp[2];
+result.m3 = tmp[3];
+// Row 1 of result: [m4, m5, m6, m7]
+row  = _mm_mul_ps(_mm_set1_ps(left.m4),  c0);
+row  = _mm_add_ps(row, _mm_mul_ps(_mm_set1_ps(left.m5),  c1));
+row  = _mm_add_ps(row, _mm_mul_ps(_mm_set1_ps(left.m6),  c2));
+row  = _mm_add_ps(row, _mm_mul_ps(_mm_set1_ps(left.m7),  c3));
+_mm_storeu_ps(tmp, row);
+result.m4 = tmp[0];
+result.m5 = tmp[1];
+result.m6 = tmp[2];
+result.m7 = tmp[3];
+// Row 2 of result: [m8, m9, m10, m11]
+row  = _mm_mul_ps(_mm_set1_ps(left.m8),  c0);
+row  = _mm_add_ps(row, _mm_mul_ps(_mm_set1_ps(left.m9),  c1));
+row  = _mm_add_ps(row, _mm_mul_ps(_mm_set1_ps(left.m10), c2));
+row  = _mm_add_ps(row, _mm_mul_ps(_mm_set1_ps(left.m11), c3));
+_mm_storeu_ps(tmp, row);
+result.m8  = tmp[0];
+result.m9  = tmp[1];
+result.m10 = tmp[2];
+result.m11 = tmp[3];
+// Row 3 of result: [m12, m13, m14, m15]
+row  = _mm_mul_ps(_mm_set1_ps(left.m12), c0);
+row  = _mm_add_ps(row, _mm_mul_ps(_mm_set1_ps(left.m13), c1));
+row  = _mm_add_ps(row, _mm_mul_ps(_mm_set1_ps(left.m14), c2));
+row  = _mm_add_ps(row, _mm_mul_ps(_mm_set1_ps(left.m15), c3));
+_mm_storeu_ps(tmp, row);
+result.m12 = tmp[0];
+result.m13 = tmp[1];
+result.m14 = tmp[2];
+result.m15 = tmp[3];
+#else
+result.m0 = left.m0*right.m0 + left.m1*right.m4 + left.m2*right.m8 + left.m3*right.m12;
+result.m1 = left.m0*right.m1 + left.m1*right.m5 + left.m2*right.m9 + left.m3*right.m13;
+result.m2 = left.m0*right.m2 + left.m1*right.m6 + left.m2*right.m10 + left.m3*right.m14;
+result.m3 = left.m0*right.m3 + left.m1*right.m7 + left.m2*right.m11 + left.m3*right.m15;
+result.m4 = left.m4*right.m0 + left.m5*right.m4 + left.m6*right.m8 + left.m7*right.m12;
+result.m5 = left.m4*right.m1 + left.m5*right.m5 + left.m6*right.m9 + left.m7*right.m13;
+result.m6 = left.m4*right.m2 + left.m5*right.m6 + left.m6*right.m10 + left.m7*right.m14;
+result.m7 = left.m4*right.m3 + left.m5*right.m7 + left.m6*right.m11 + left.m7*right.m15;
+result.m8 = left.m8*right.m0 + left.m9*right.m4 + left.m10*right.m8 + left.m11*right.m12;
+result.m9 = left.m8*right.m1 + left.m9*right.m5 + left.m10*right.m9 + left.m11*right.m13;
+result.m10 = left.m8*right.m2 + left.m9*right.m6 + left.m10*right.m10 + left.m11*right.m14;
+result.m11 = left.m8*right.m3 + left.m9*right.m7 + left.m10*right.m11 + left.m11*right.m15;
+result.m12 = left.m12*right.m0 + left.m13*right.m4 + left.m14*right.m8 + left.m15*right.m12;
+result.m13 = left.m12*right.m1 + left.m13*right.m5 + left.m14*right.m9 + left.m15*right.m13;
+result.m14 = left.m12*right.m2 + left.m13*right.m6 + left.m14*right.m10 + left.m15*right.m14;
+result.m15 = left.m12*right.m3 + left.m13*right.m7 + left.m14*right.m11 + left.m15*right.m15;
+#endif
+return result;
+}
+// Multiply matrix components by value
+RMAPI Matrix MatrixMultiplyValue(Matrix left, float value)
+{
+Matrix result = {
+left.m0*value, left.m4*value, left.m8*value, left.m12*value,
+left.m1*value, left.m5*value, left.m9*value, left.m13*value,
+left.m2*value, left.m6*value, left.m10*value, left.m14*value,
+left.m3*value, left.m7*value, left.m11*value, left.m15*value
+};
+return result;
+}
+// Get translation matrix
+RMAPI Matrix MatrixTranslate(float x, float y, float z)
+{
+Matrix result = { 1.0f, 0.0f, 0.0f, x,
+0.0f, 1.0f, 0.0f, y,
+0.0f, 0.0f, 1.0f, z,
+0.0f, 0.0f, 0.0f, 1.0f };
+return result;
+}
+// Create rotation matrix from axis and angle
+// NOTE: Angle should be provided in radians
+RMAPI Matrix MatrixRotate(Vector3 axis, float angle)
+{
+Matrix result = { 0 };
+float x = axis.x, y = axis.y, z = axis.z;
+float lengthSquared = x*x + y*y + z*z;
+if ((lengthSquared != 1.0f) && (lengthSquared != 0.0f))
+{
+float ilength = 1.0f/sqrtf(lengthSquared);
+x *= ilength;
+y *= ilength;
+z *= ilength;
+}
+float sinres = sinf(angle);
+float cosres = cosf(angle);
+float t = 1.0f - cosres;
+result.m0 = x*x*t + cosres;
+result.m1 = y*x*t + z*sinres;
+result.m2 = z*x*t - y*sinres;
+result.m3 = 0.0f;
+result.m4 = x*y*t - z*sinres;
+result.m5 = y*y*t + cosres;
+result.m6 = z*y*t + x*sinres;
+result.m7 = 0.0f;
+result.m8 = x*z*t + y*sinres;
+result.m9 = y*z*t - x*sinres;
+result.m10 = z*z*t + cosres;
+result.m11 = 0.0f;
+result.m12 = 0.0f;
+result.m13 = 0.0f;
+result.m14 = 0.0f;
+result.m15 = 1.0f;
+return result;
+}
+// Get x-rotation matrix
+// NOTE: Angle must be provided in radians
+RMAPI Matrix MatrixRotateX(float angle)
+{
+Matrix result = { 1.0f, 0.0f, 0.0f, 0.0f,
+0.0f, 1.0f, 0.0f, 0.0f,
+0.0f, 0.0f, 1.0f, 0.0f,
+0.0f, 0.0f, 0.0f, 1.0f }; // MatrixIdentity()
+float cosres = cosf(angle);
+float sinres = sinf(angle);
+result.m5 = cosres;
+result.m6 = sinres;
+result.m9 = -sinres;
+result.m10 = cosres;
+return result;
+}
+// Get y-rotation matrix
+// NOTE: Angle must be provided in radians
+RMAPI Matrix MatrixRotateY(float angle)
+{
+Matrix result = { 1.0f, 0.0f, 0.0f, 0.0f,
+0.0f, 1.0f, 0.0f, 0.0f,
+0.0f, 0.0f, 1.0f, 0.0f,
+0.0f, 0.0f, 0.0f, 1.0f }; // MatrixIdentity()
+float cosres = cosf(angle);
+float sinres = sinf(angle);
+result.m0 = cosres;
+result.m2 = -sinres;
+result.m8 = sinres;
+result.m10 = cosres;
+return result;
+}
+// Get z-rotation matrix
+// NOTE: Angle must be provided in radians
+RMAPI Matrix MatrixRotateZ(float angle)
+{
+Matrix result = { 1.0f, 0.0f, 0.0f, 0.0f,
+0.0f, 1.0f, 0.0f, 0.0f,
+0.0f, 0.0f, 1.0f, 0.0f,
+0.0f, 0.0f, 0.0f, 1.0f }; // MatrixIdentity()
+float cosres = cosf(angle);
+float sinres = sinf(angle);
+result.m0 = cosres;
+result.m1 = sinres;
+result.m4 = -sinres;
+result.m5 = cosres;
+return result;
+}
+// Get xyz-rotation matrix
+// NOTE: Angle must be provided in radians
+RMAPI Matrix MatrixRotateXYZ(Vector3 angle)
+{
+Matrix result = { 1.0f, 0.0f, 0.0f, 0.0f,
+0.0f, 1.0f, 0.0f, 0.0f,
+0.0f, 0.0f, 1.0f, 0.0f,
+0.0f, 0.0f, 0.0f, 1.0f }; // MatrixIdentity()
+float cosz = cosf(-angle.z);
+float sinz = sinf(-angle.z);
+float cosy = cosf(-angle.y);
+float siny = sinf(-angle.y);
+float cosx = cosf(-angle.x);
+float sinx = sinf(-angle.x);
+result.m0 = cosz*cosy;
+result.m1 = (cosz*siny*sinx) - (sinz*cosx);
+result.m2 = (cosz*siny*cosx) + (sinz*sinx);
+result.m4 = sinz*cosy;
+result.m5 = (sinz*siny*sinx) + (cosz*cosx);
+result.m6 = (sinz*siny*cosx) - (cosz*sinx);
+result.m8 = -siny;
+result.m9 = cosy*sinx;
+result.m10= cosy*cosx;
+return result;
+}
+// Get zyx-rotation matrix
+// NOTE: Angle must be provided in radians
+RMAPI Matrix MatrixRotateZYX(Vector3 angle)
+{
+Matrix result = { 0 };
+float cz = cosf(angle.z);
+float sz = sinf(angle.z);
+float cy = cosf(angle.y);
+float sy = sinf(angle.y);
+float cx = cosf(angle.x);
+float sx = sinf(angle.x);
+result.m0 = cz*cy;
+result.m4 = cz*sy*sx - cx*sz;
+result.m8 = sz*sx + cz*cx*sy;
+result.m12 = 0;
+result.m1 = cy*sz;
+result.m5 = cz*cx + sz*sy*sx;
+result.m9 = cx*sz*sy - cz*sx;
+result.m13 = 0;
+result.m2 = -sy;
+result.m6 = cy*sx;
+result.m10 = cy*cx;
+result.m14 = 0;
+result.m3 = 0;
+result.m7 = 0;
+result.m11 = 0;
+result.m15 = 1;
+return result;
+}
+// Get scaling matrix
+RMAPI Matrix MatrixScale(float x, float y, float z)
+{
+Matrix result = { x, 0.0f, 0.0f, 0.0f,
+0.0f, y, 0.0f, 0.0f,
+0.0f, 0.0f, z, 0.0f,
+0.0f, 0.0f, 0.0f, 1.0f };
+return result;
+}
+// Get perspective projection matrix
+RMAPI Matrix MatrixFrustum(double left, double right, double bottom, double top, double nearPlane, double farPlane)
+{
+Matrix result = { 0 };
+float rl = (float)(right - left);
+float tb = (float)(top - bottom);
+float fn = (float)(farPlane - nearPlane);
+result.m0 = ((float)nearPlane*2.0f)/rl;
+result.m1 = 0.0f;
+result.m2 = 0.0f;
+result.m3 = 0.0f;
+result.m4 = 0.0f;
+result.m5 = ((float)nearPlane*2.0f)/tb;
+result.m6 = 0.0f;
+result.m7 = 0.0f;
+result.m8 = ((float)right + (float)left)/rl;
+result.m9 = ((float)top + (float)bottom)/tb;
+result.m10 = -((float)farPlane + (float)nearPlane)/fn;
+result.m11 = -1.0f;
+result.m12 = 0.0f;
+result.m13 = 0.0f;
+result.m14 = -((float)farPlane*(float)nearPlane*2.0f)/fn;
+result.m15 = 0.0f;
+return result;
+}
+// Get perspective projection matrix
+// NOTE: Fovy angle must be provided in radians
+RMAPI Matrix MatrixPerspective(double fovY, double aspect, double nearPlane, double farPlane)
+{
+Matrix result = { 0 };
+double top = nearPlane*tan(fovY*0.5);
+double bottom = -top;
+double right = top*aspect;
+double left = -right;
+// MatrixFrustum(-right, right, -top, top, near, far);
+float rl = (float)(right - left);
+float tb = (float)(top - bottom);
+float fn = (float)(farPlane - nearPlane);
+result.m0 = ((float)nearPlane*2.0f)/rl;
+result.m5 = ((float)nearPlane*2.0f)/tb;
+result.m8 = ((float)right + (float)left)/rl;
+result.m9 = ((float)top + (float)bottom)/tb;
+result.m10 = -((float)farPlane + (float)nearPlane)/fn;
+result.m11 = -1.0f;
+result.m14 = -((float)farPlane*(float)nearPlane*2.0f)/fn;
+return result;
+}
+// Get orthographic projection matrix
+RMAPI Matrix MatrixOrtho(double left, double right, double bottom, double top, double nearPlane, double farPlane)
+{
+Matrix result = { 0 };
+float rl = (float)(right - left);
+float tb = (float)(top - bottom);
+float fn = (float)(farPlane - nearPlane);
+result.m0 = 2.0f/rl;
+result.m1 = 0.0f;
+result.m2 = 0.0f;
+result.m3 = 0.0f;
+result.m4 = 0.0f;
+result.m5 = 2.0f/tb;
+result.m6 = 0.0f;
+result.m7 = 0.0f;
+result.m8 = 0.0f;
+result.m9 = 0.0f;
+result.m10 = -2.0f/fn;
+result.m11 = 0.0f;
+result.m12 = -((float)left + (float)right)/rl;
+result.m13 = -((float)top + (float)bottom)/tb;
+result.m14 = -((float)farPlane + (float)nearPlane)/fn;
+result.m15 = 1.0f;
+return result;
+}
+// Get camera look-at matrix (view matrix)
+RMAPI Matrix MatrixLookAt(Vector3 eye, Vector3 target, Vector3 up)
+{
+Matrix result = { 0 };
+float length = 0.0f;
+float ilength = 0.0f;
+// Vector3Subtract(eye, target)
+Vector3 vz = { eye.x - target.x, eye.y - target.y, eye.z - target.z };
+// Vector3Normalize(vz)
+Vector3 v = vz;
+length = sqrtf(v.x*v.x + v.y*v.y + v.z*v.z);
+if (length == 0.0f) length = 1.0f;
+ilength = 1.0f/length;
+vz.x *= ilength;
+vz.y *= ilength;
+vz.z *= ilength;
+// Vector3CrossProduct(up, vz)
+Vector3 vx = { up.y*vz.z - up.z*vz.y, up.z*vz.x - up.x*vz.z, up.x*vz.y - up.y*vz.x };
+// Vector3Normalize(x)
+v = vx;
+length = sqrtf(v.x*v.x + v.y*v.y + v.z*v.z);
+if (length == 0.0f) length = 1.0f;
+ilength = 1.0f/length;
+vx.x *= ilength;
+vx.y *= ilength;
+vx.z *= ilength;
+// Vector3CrossProduct(vz, vx)
+Vector3 vy = { vz.y*vx.z - vz.z*vx.y, vz.z*vx.x - vz.x*vx.z, vz.x*vx.y - vz.y*vx.x };
+result.m0 = vx.x;
+result.m1 = vy.x;
+result.m2 = vz.x;
+result.m3 = 0.0f;
+result.m4 = vx.y;
+result.m5 = vy.y;
+result.m6 = vz.y;
+result.m7 = 0.0f;
+result.m8 = vx.z;
+result.m9 = vy.z;
+result.m10 = vz.z;
+result.m11 = 0.0f;
+result.m12 = -(vx.x*eye.x + vx.y*eye.y + vx.z*eye.z);   // Vector3DotProduct(vx, eye)
+result.m13 = -(vy.x*eye.x + vy.y*eye.y + vy.z*eye.z);   // Vector3DotProduct(vy, eye)
+result.m14 = -(vz.x*eye.x + vz.y*eye.y + vz.z*eye.z);   // Vector3DotProduct(vz, eye)
+result.m15 = 1.0f;
+return result;
+}
+// Get float array of matrix data
+RMAPI float16 MatrixToFloatV(Matrix mat)
+{
+float16 result = { 0 };
+result.v[0] = mat.m0;
+result.v[1] = mat.m1;
+result.v[2] = mat.m2;
+result.v[3] = mat.m3;
+result.v[4] = mat.m4;
+result.v[5] = mat.m5;
+result.v[6] = mat.m6;
+result.v[7] = mat.m7;
+result.v[8] = mat.m8;
+result.v[9] = mat.m9;
+result.v[10] = mat.m10;
+result.v[11] = mat.m11;
+result.v[12] = mat.m12;
+result.v[13] = mat.m13;
+result.v[14] = mat.m14;
+result.v[15] = mat.m15;
+return result;
+}
+//----------------------------------------------------------------------------------
+// Module Functions Definition - Quaternion math
+//----------------------------------------------------------------------------------
+// Add two quaternions
+RMAPI Quaternion QuaternionAdd(Quaternion q1, Quaternion q2)
+{
+Quaternion result = {q1.x + q2.x, q1.y + q2.y, q1.z + q2.z, q1.w + q2.w};
+return result;
+}
+// Add quaternion and float value
+RMAPI Quaternion QuaternionAddValue(Quaternion q, float add)
+{
+Quaternion result = {q.x + add, q.y + add, q.z + add, q.w + add};
+return result;
+}
+// Subtract two quaternions
+RMAPI Quaternion QuaternionSubtract(Quaternion q1, Quaternion q2)
+{
+Quaternion result = {q1.x - q2.x, q1.y - q2.y, q1.z - q2.z, q1.w - q2.w};
+return result;
+}
+// Subtract quaternion and float value
+RMAPI Quaternion QuaternionSubtractValue(Quaternion q, float sub)
+{
+Quaternion result = {q.x - sub, q.y - sub, q.z - sub, q.w - sub};
+return result;
+}
+// Get identity quaternion
+RMAPI Quaternion QuaternionIdentity(void)
+{
+Quaternion result = { 0.0f, 0.0f, 0.0f, 1.0f };
+return result;
+}
+// Computes the length of a quaternion
+RMAPI float QuaternionLength(Quaternion q)
+{
+float result = sqrtf(q.x*q.x + q.y*q.y + q.z*q.z + q.w*q.w);
+return result;
+}
+// Normalize provided quaternion
+RMAPI Quaternion QuaternionNormalize(Quaternion q)
+{
+Quaternion result = { 0 };
+float length = sqrtf(q.x*q.x + q.y*q.y + q.z*q.z + q.w*q.w);
+if (length == 0.0f) length = 1.0f;
+float ilength = 1.0f/length;
+result.x = q.x*ilength;
+result.y = q.y*ilength;
+result.z = q.z*ilength;
+result.w = q.w*ilength;
+return result;
+}
+// Invert provided quaternion
+RMAPI Quaternion QuaternionInvert(Quaternion q)
+{
+Quaternion result = q;
+float lengthSq = q.x*q.x + q.y*q.y + q.z*q.z + q.w*q.w;
+if (lengthSq != 0.0f)
+{
+float invLength = 1.0f/lengthSq;
+result.x *= -invLength;
+result.y *= -invLength;
+result.z *= -invLength;
+result.w *= invLength;
+}
+return result;
+}
+// Calculate two quaternion multiplication
+RMAPI Quaternion QuaternionMultiply(Quaternion q1, Quaternion q2)
+{
+Quaternion result = { 0 };
+float qax = q1.x, qay = q1.y, qaz = q1.z, qaw = q1.w;
+float qbx = q2.x, qby = q2.y, qbz = q2.z, qbw = q2.w;
+result.x = qax*qbw + qaw*qbx + qay*qbz - qaz*qby;
+result.y = qay*qbw + qaw*qby + qaz*qbx - qax*qbz;
+result.z = qaz*qbw + qaw*qbz + qax*qby - qay*qbx;
+result.w = qaw*qbw - qax*qbx - qay*qby - qaz*qbz;
+return result;
+}
+// Scale quaternion by float value
+RMAPI Quaternion QuaternionScale(Quaternion q, float mul)
+{
+Quaternion result = { 0 };
+result.x = q.x*mul;
+result.y = q.y*mul;
+result.z = q.z*mul;
+result.w = q.w*mul;
+return result;
+}
+// Divide two quaternions
+RMAPI Quaternion QuaternionDivide(Quaternion q1, Quaternion q2)
+{
+Quaternion result = { q1.x/q2.x, q1.y/q2.y, q1.z/q2.z, q1.w/q2.w };
+return result;
+}
+// Calculate linear interpolation between two quaternions
+RMAPI Quaternion QuaternionLerp(Quaternion q1, Quaternion q2, float amount)
+{
+Quaternion result = { 0 };
+result.x = q1.x + amount*(q2.x - q1.x);
+result.y = q1.y + amount*(q2.y - q1.y);
+result.z = q1.z + amount*(q2.z - q1.z);
+result.w = q1.w + amount*(q2.w - q1.w);
+return result;
+}
+// Calculate slerp-optimized interpolation between two quaternions
+RMAPI Quaternion QuaternionNlerp(Quaternion q1, Quaternion q2, float amount)
+{
+Quaternion result = { 0 };
+// QuaternionLerp(q1, q2, amount)
+result.x = q1.x + amount*(q2.x - q1.x);
+result.y = q1.y + amount*(q2.y - q1.y);
+result.z = q1.z + amount*(q2.z - q1.z);
+result.w = q1.w + amount*(q2.w - q1.w);
+// QuaternionNormalize(q);
+Quaternion q = result;
+float length = sqrtf(q.x*q.x + q.y*q.y + q.z*q.z + q.w*q.w);
+if (length == 0.0f) length = 1.0f;
+float ilength = 1.0f/length;
+result.x = q.x*ilength;
+result.y = q.y*ilength;
+result.z = q.z*ilength;
+result.w = q.w*ilength;
+return result;
+}
+// Calculates spherical linear interpolation between two quaternions
+RMAPI Quaternion QuaternionSlerp(Quaternion q1, Quaternion q2, float amount)
+{
+Quaternion result = { 0 };
+#if !defined(EPSILON)
+#define EPSILON 0.000001f
+#endif
+float cosHalfTheta = q1.x*q2.x + q1.y*q2.y + q1.z*q2.z + q1.w*q2.w;
+if (cosHalfTheta < 0)
+{
+q2.x = -q2.x; q2.y = -q2.y; q2.z = -q2.z; q2.w = -q2.w;
+cosHalfTheta = -cosHalfTheta;
+}
+if (fabsf(cosHalfTheta) >= 1.0f) result = q1;
+else if (cosHalfTheta > 0.95f) result = QuaternionNlerp(q1, q2, amount);
+else
+{
+float halfTheta = acosf(cosHalfTheta);
+float sinHalfTheta = sqrtf(1.0f - cosHalfTheta*cosHalfTheta);
+if (fabsf(sinHalfTheta) < EPSILON)
+{
+result.x = (q1.x*0.5f + q2.x*0.5f);
+result.y = (q1.y*0.5f + q2.y*0.5f);
+result.z = (q1.z*0.5f + q2.z*0.5f);
+result.w = (q1.w*0.5f + q2.w*0.5f);
+}
+else
+{
+float ratioA = sinf((1 - amount)*halfTheta)/sinHalfTheta;
+float ratioB = sinf(amount*halfTheta)/sinHalfTheta;
+result.x = (q1.x*ratioA + q2.x*ratioB);
+result.y = (q1.y*ratioA + q2.y*ratioB);
+result.z = (q1.z*ratioA + q2.z*ratioB);
+result.w = (q1.w*ratioA + q2.w*ratioB);
+}
+}
+return result;
+}
+// Calculate quaternion cubic spline interpolation using Cubic Hermite Spline algorithm
+// as described in the GLTF 2.0 specification: https://registry.khronos.org/glTF/specs/2.0/glTF-2.0.html#interpolation-cubic
+RMAPI Quaternion QuaternionCubicHermiteSpline(Quaternion q1, Quaternion outTangent1, Quaternion q2, Quaternion inTangent2, float t)
+{
+float t2 = t*t;
+float t3 = t2*t;
+float h00 = 2*t3 - 3*t2 + 1;
+float h10 = t3 - 2*t2 + t;
+float h01 = -2*t3 + 3*t2;
+float h11 = t3 - t2;
+Quaternion p0 = QuaternionScale(q1, h00);
+Quaternion m0 = QuaternionScale(outTangent1, h10);
+Quaternion p1 = QuaternionScale(q2, h01);
+Quaternion m1 = QuaternionScale(inTangent2, h11);
+Quaternion result = { 0 };
+result = QuaternionAdd(p0, m0);
+result = QuaternionAdd(result, p1);
+result = QuaternionAdd(result, m1);
+result = QuaternionNormalize(result);
+return result;
+}
+// Calculate quaternion based on the rotation from one vector to another
+RMAPI Quaternion QuaternionFromVector3ToVector3(Vector3 from, Vector3 to)
+{
+Quaternion result = { 0 };
+float cos2Theta = (from.x*to.x + from.y*to.y + from.z*to.z); // Vector3DotProduct(from, to)
+Vector3 cross = { from.y*to.z - from.z*to.y, from.z*to.x - from.x*to.z, from.x*to.y - from.y*to.x }; // Vector3CrossProduct(from, to)
+result.x = cross.x;
+result.y = cross.y;
+result.z = cross.z;
+result.w = sqrtf(cross.x*cross.x + cross.y*cross.y + cross.z*cross.z + cos2Theta*cos2Theta) + cos2Theta;
+// QuaternionNormalize(q);
+// NOTE: Normalize to essentially nlerp the original and identity to 0.5
+Quaternion q = result;
+float length = sqrtf(q.x*q.x + q.y*q.y + q.z*q.z + q.w*q.w);
+if (length == 0.0f) length = 1.0f;
+float ilength = 1.0f/length;
+result.x = q.x*ilength;
+result.y = q.y*ilength;
+result.z = q.z*ilength;
+result.w = q.w*ilength;
+return result;
+}
+// Get a quaternion for a given rotation matrix
+RMAPI Quaternion QuaternionFromMatrix(Matrix mat)
+{
+Quaternion result = { 0 };
+float fourWSquaredMinus1 = mat.m0  + mat.m5 + mat.m10;
+float fourXSquaredMinus1 = mat.m0  - mat.m5 - mat.m10;
+float fourYSquaredMinus1 = mat.m5  - mat.m0 - mat.m10;
+float fourZSquaredMinus1 = mat.m10 - mat.m0 - mat.m5;
+int biggestIndex = 0;
+float fourBiggestSquaredMinus1 = fourWSquaredMinus1;
+if (fourXSquaredMinus1 > fourBiggestSquaredMinus1)
+{
+fourBiggestSquaredMinus1 = fourXSquaredMinus1;
+biggestIndex = 1;
+}
+if (fourYSquaredMinus1 > fourBiggestSquaredMinus1)
+{
+fourBiggestSquaredMinus1 = fourYSquaredMinus1;
+biggestIndex = 2;
+}
+if (fourZSquaredMinus1 > fourBiggestSquaredMinus1)
+{
+fourBiggestSquaredMinus1 = fourZSquaredMinus1;
+biggestIndex = 3;
+}
+float biggestVal = sqrtf(fourBiggestSquaredMinus1 + 1.0f)*0.5f;
+float mult = 0.25f/biggestVal;
+switch (biggestIndex)
+{
+case 0:
+result.w = biggestVal;
+result.x = (mat.m6 - mat.m9)*mult;
+result.y = (mat.m8 - mat.m2)*mult;
+result.z = (mat.m1 - mat.m4)*mult;
+break;
+case 1:
+result.x = biggestVal;
+result.w = (mat.m6 - mat.m9)*mult;
+result.y = (mat.m1 + mat.m4)*mult;
+result.z = (mat.m8 + mat.m2)*mult;
+break;
+case 2:
+result.y = biggestVal;
+result.w = (mat.m8 - mat.m2)*mult;
+result.x = (mat.m1 + mat.m4)*mult;
+result.z = (mat.m6 + mat.m9)*mult;
+break;
+case 3:
+result.z = biggestVal;
+result.w = (mat.m1 - mat.m4)*mult;
+result.x = (mat.m8 + mat.m2)*mult;
+result.y = (mat.m6 + mat.m9)*mult;
+break;
+}
+return result;
+}
+// Get a matrix for a given quaternion
+RMAPI Matrix QuaternionToMatrix(Quaternion q)
+{
+Matrix result = { 1.0f, 0.0f, 0.0f, 0.0f,
+0.0f, 1.0f, 0.0f, 0.0f,
+0.0f, 0.0f, 1.0f, 0.0f,
+0.0f, 0.0f, 0.0f, 1.0f }; // MatrixIdentity()
+float a2 = q.x*q.x;
+float b2 = q.y*q.y;
+float c2 = q.z*q.z;
+float ac = q.x*q.z;
+float ab = q.x*q.y;
+float bc = q.y*q.z;
+float ad = q.w*q.x;
+float bd = q.w*q.y;
+float cd = q.w*q.z;
+result.m0 = 1 - 2*(b2 + c2);
+result.m1 = 2*(ab + cd);
+result.m2 = 2*(ac - bd);
+result.m4 = 2*(ab - cd);
+result.m5 = 1 - 2*(a2 + c2);
+result.m6 = 2*(bc + ad);
+result.m8 = 2*(ac + bd);
+result.m9 = 2*(bc - ad);
+result.m10 = 1 - 2*(a2 + b2);
+return result;
+}
+// Get rotation quaternion for an angle and axis
+// NOTE: Angle must be provided in radians
+RMAPI Quaternion QuaternionFromAxisAngle(Vector3 axis, float angle)
+{
+Quaternion result = { 0.0f, 0.0f, 0.0f, 1.0f };
+float length = sqrtf(axis.x*axis.x + axis.y*axis.y + axis.z*axis.z);
+if (length != 0.0f)
+{
+angle *= 0.5f;
+// Vector3Normalize(axis)
+float ilength = 1.0f/length;
+axis.x *= ilength;
+axis.y *= ilength;
+axis.z *= ilength;
+float sinres = sinf(angle);
+float cosres = cosf(angle);
+result.x = axis.x*sinres;
+result.y = axis.y*sinres;
+result.z = axis.z*sinres;
+result.w = cosres;
+// QuaternionNormalize(q);
+Quaternion q = result;
+length = sqrtf(q.x*q.x + q.y*q.y + q.z*q.z + q.w*q.w);
+if (length == 0.0f) length = 1.0f;
+ilength = 1.0f/length;
+result.x = q.x*ilength;
+result.y = q.y*ilength;
+result.z = q.z*ilength;
+result.w = q.w*ilength;
+}
+return result;
+}
+// Get the rotation angle and axis for a given quaternion
+RMAPI void QuaternionToAxisAngle(Quaternion q, Vector3 *outAxis, float *outAngle)
+{
+if (fabsf(q.w) > 1.0f)
+{
+// QuaternionNormalize(q);
+float length = sqrtf(q.x*q.x + q.y*q.y + q.z*q.z + q.w*q.w);
+if (length == 0.0f) length = 1.0f;
+float ilength = 1.0f/length;
+q.x = q.x*ilength;
+q.y = q.y*ilength;
+q.z = q.z*ilength;
+q.w = q.w*ilength;
+}
+Vector3 resAxis = { 0.0f, 0.0f, 0.0f };
+float resAngle = 2.0f*acosf(q.w);
+float den = sqrtf(1.0f - q.w*q.w);
+if (den > EPSILON)
+{
+resAxis.x = q.x/den;
+resAxis.y = q.y/den;
+resAxis.z = q.z/den;
+}
+else
+{
+// This occurs when the angle is zero
+// Not a problem, set an arbitrary normalized axis
+resAxis.x = 1.0f;
+}
+*outAxis = resAxis;
+*outAngle = resAngle;
+}
+// Get the quaternion equivalent to Euler angles
+// NOTE: Rotation order is ZYX
+RMAPI Quaternion QuaternionFromEuler(float pitch, float yaw, float roll)
+{
+Quaternion result = { 0 };
+float x0 = cosf(pitch*0.5f);
+float x1 = sinf(pitch*0.5f);
+float y0 = cosf(yaw*0.5f);
+float y1 = sinf(yaw*0.5f);
+float z0 = cosf(roll*0.5f);
+float z1 = sinf(roll*0.5f);
+result.x = x1*y0*z0 - x0*y1*z1;
+result.y = x0*y1*z0 + x1*y0*z1;
+result.z = x0*y0*z1 - x1*y1*z0;
+result.w = x0*y0*z0 + x1*y1*z1;
+return result;
+}
+// Get the Euler angles equivalent to quaternion (roll, pitch, yaw)
+// NOTE: Angles are returned in a Vector3 struct in radians
+RMAPI Vector3 QuaternionToEuler(Quaternion q)
+{
+Vector3 result = { 0 };
+// Roll (x-axis rotation)
+float x0 = 2.0f*(q.w*q.x + q.y*q.z);
+float x1 = 1.0f - 2.0f*(q.x*q.x + q.y*q.y);
+result.x = atan2f(x0, x1);
+// Pitch (y-axis rotation)
+float y0 = 2.0f*(q.w*q.y - q.z*q.x);
+y0 = y0 > 1.0f ? 1.0f : y0;
+y0 = y0 < -1.0f ? -1.0f : y0;
+result.y = asinf(y0);
+// Yaw (z-axis rotation)
+float z0 = 2.0f*(q.w*q.z + q.x*q.y);
+float z1 = 1.0f - 2.0f*(q.y*q.y + q.z*q.z);
+result.z = atan2f(z0, z1);
+return result;
+}
+// Transform a quaternion given a transformation matrix
+RMAPI Quaternion QuaternionTransform(Quaternion q, Matrix mat)
+{
+Quaternion result = { 0 };
+result.x = mat.m0*q.x + mat.m4*q.y + mat.m8*q.z + mat.m12*q.w;
+result.y = mat.m1*q.x + mat.m5*q.y + mat.m9*q.z + mat.m13*q.w;
+result.z = mat.m2*q.x + mat.m6*q.y + mat.m10*q.z + mat.m14*q.w;
+result.w = mat.m3*q.x + mat.m7*q.y + mat.m11*q.z + mat.m15*q.w;
+return result;
+}
+// Check whether two given quaternions are almost equal
+RMAPI int QuaternionEquals(Quaternion p, Quaternion q)
+{
+#if !defined(EPSILON)
+#define EPSILON 0.000001f
+#endif
+int result = (((fabsf(p.x - q.x)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.x), fabsf(q.x))))) &&
+((fabsf(p.y - q.y)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.y), fabsf(q.y))))) &&
+((fabsf(p.z - q.z)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.z), fabsf(q.z))))) &&
+((fabsf(p.w - q.w)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.w), fabsf(q.w)))))) ||
+(((fabsf(p.x + q.x)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.x), fabsf(q.x))))) &&
+((fabsf(p.y + q.y)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.y), fabsf(q.y))))) &&
+((fabsf(p.z + q.z)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.z), fabsf(q.z))))) &&
+((fabsf(p.w + q.w)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.w), fabsf(q.w))))));
+return result;
+}
+// Compose a transformation matrix from rotational, translational and scaling components
+// TODO: This function is not following raymath conventions defined in header: NOT self-contained
+RMAPI Matrix MatrixCompose(Vector3 translation, Quaternion rotation, Vector3 scale)
+{
+// Initialize vectors
+Vector3 right = { 1.0f, 0.0f, 0.0f };
+Vector3 up = { 0.0f, 1.0f, 0.0f };
+Vector3 forward = { 0.0f, 0.0f, 1.0f };
+// Scale vectors
+right = Vector3Scale(right, scale.x);
+up = Vector3Scale(up, scale.y);
+forward = Vector3Scale(forward , scale.z);
+// Rotate vectors
+right = Vector3RotateByQuaternion(right, rotation);
+up = Vector3RotateByQuaternion(up, rotation);
+forward = Vector3RotateByQuaternion(forward, rotation);
+// Set result matrix output
+Matrix result = {
+right.x, up.x, forward.x, translation.x,
+right.y, up.y, forward.y, translation.y,
+right.z, up.z, forward.z, translation.z,
+0.0f, 0.0f, 0.0f, 1.0f
+};
+return result;
+}
+// Decompose a transformation matrix into its rotational, translational and scaling components and remove shear
+// TODO: This function is not following raymath conventions defined in header: NOT self-contained
+RMAPI void MatrixDecompose(Matrix mat, Vector3 *translation, Quaternion *rotation, Vector3 *scale)
+{
+float eps = (float)1e-9;
+// Extract Translation
+translation->x = mat.m12;
+translation->y = mat.m13;
+translation->z = mat.m14;
+// Matrix Columns - Rotation will be extracted into here
+Vector3 matColumns[3] = {{ mat.m0, mat.m4, mat.m8 },
+{ mat.m1, mat.m5, mat.m9 },
+{ mat.m2, mat.m6, mat.m10 }};
+// Shear Parameters XY, XZ, and YZ (extract and ignored)
+float shear[3] = { 0 };
+// Normalized Scale Parameters
+Vector3 scl = { 0 };
+// Max-Normalizing helps numerical stability
+float stabilizer = eps;
+for (int i = 0; i < 3; i++)
+{
+stabilizer = fmaxf(stabilizer, fabsf(matColumns[i].x));
+stabilizer = fmaxf(stabilizer, fabsf(matColumns[i].y));
+stabilizer = fmaxf(stabilizer, fabsf(matColumns[i].z));
+}
+matColumns[0] = Vector3Scale(matColumns[0], 1.0f / stabilizer);
+matColumns[1] = Vector3Scale(matColumns[1], 1.0f / stabilizer);
+matColumns[2] = Vector3Scale(matColumns[2], 1.0f / stabilizer);
+// X Scale
+scl.x = Vector3Length(matColumns[0]);
+if (scl.x > eps) matColumns[0] = Vector3Scale(matColumns[0], 1.0f / scl.x);
+// Compute XY shear and make col2 orthogonal
+shear[0] = Vector3DotProduct(matColumns[0], matColumns[1]);
+matColumns[1] = Vector3Subtract(matColumns[1], Vector3Scale(matColumns[0], shear[0]));
+// Y Scale
+scl.y = Vector3Length(matColumns[1]);
+if (scl.y > eps)
+{
+matColumns[1] = Vector3Scale(matColumns[1], 1.0f / scl.y);
+shear[0] /= scl.y; // Correct XY shear
+}
+// Compute XZ and YZ shears and make col3 orthogonal
+shear[1] = Vector3DotProduct(matColumns[0], matColumns[2]);
+matColumns[2] = Vector3Subtract(matColumns[2], Vector3Scale(matColumns[0], shear[1]));
+shear[2] = Vector3DotProduct(matColumns[1], matColumns[2]);
+matColumns[2] = Vector3Subtract(matColumns[2], Vector3Scale(matColumns[1], shear[2]));
+// Z Scale
+scl.z = Vector3Length(matColumns[2]);
+if (scl.z > eps)
+{
+matColumns[2] = Vector3Scale(matColumns[2], 1.0f / scl.z);
+shear[1] /= scl.z; // Correct XZ shear
+shear[2] /= scl.z; // Correct YZ shear
+}
+// matColumns are now orthonormal in O(3). Now ensure its in SO(3) by enforcing det = 1
+if (Vector3DotProduct(matColumns[0], Vector3CrossProduct(matColumns[1], matColumns[2])) < 0)
+{
+scl = Vector3Negate(scl);
+matColumns[0] = Vector3Negate(matColumns[0]);
+matColumns[1] = Vector3Negate(matColumns[1]);
+matColumns[2] = Vector3Negate(matColumns[2]);
+}
+// Set Scale
+*scale = Vector3Scale(scl, stabilizer);
+// Extract Rotation
+Matrix rotationMatrix = { matColumns[0].x, matColumns[0].y, matColumns[0].z, 0,
+matColumns[1].x, matColumns[1].y, matColumns[1].z, 0,
+matColumns[2].x, matColumns[2].y, matColumns[2].z, 0,
+0, 0, 0, 1 };
+*rotation = QuaternionFromMatrix(rotationMatrix);
+}
+#if defined(__cplusplus) && !defined(RAYMATH_DISABLE_CPP_OPERATORS)
+// Optional C++ math operators
+//-------------------------------------------------------------------------------
+// Vector2 operators
+static constexpr Vector2 Vector2Zeros = { 0, 0 };
+static constexpr Vector2 Vector2Ones = { 1, 1 };
+static constexpr Vector2 Vector2UnitX = { 1, 0 };
+static constexpr Vector2 Vector2UnitY = { 0, 1 };
+inline Vector2 operator + (const Vector2& lhs, const Vector2& rhs)
+{
+return Vector2Add(lhs, rhs);
+}
+inline const Vector2& operator += (Vector2& lhs, const Vector2& rhs)
+{
+lhs = Vector2Add(lhs, rhs);
+return lhs;
+}
+inline Vector2 operator - (const Vector2& lhs, const Vector2& rhs)
+{
+return Vector2Subtract(lhs, rhs);
+}
+inline const Vector2& operator -= (Vector2& lhs, const Vector2& rhs)
+{
+lhs = Vector2Subtract(lhs, rhs);
+return lhs;
+}
+inline Vector2 operator * (const Vector2& lhs, const float& rhs)
+{
+return Vector2Scale(lhs, rhs);
+}
+inline const Vector2& operator *= (Vector2& lhs, const float& rhs)
+{
+lhs = Vector2Scale(lhs, rhs);
+return lhs;
+}
+inline Vector2 operator * (const Vector2& lhs, const Vector2& rhs)
+{
+return Vector2Multiply(lhs, rhs);
+}
+inline const Vector2& operator *= (Vector2& lhs, const Vector2& rhs)
+{
+lhs = Vector2Multiply(lhs, rhs);
+return lhs;
+}
+inline Vector2 operator * (const Vector2& lhs, const Matrix& rhs)
+{
+return Vector2Transform(lhs, rhs);
+}
+inline const Vector2& operator *= (Vector2& lhs, const Matrix& rhs)
+{
+lhs = Vector2Transform(lhs, rhs);
+return lhs;
+}
+inline Vector2 operator / (const Vector2& lhs, const float& rhs)
+{
+return Vector2Scale(lhs, 1.0f/rhs);
+}
+inline const Vector2& operator /= (Vector2& lhs, const float& rhs)
+{
+lhs = Vector2Scale(lhs, 1.0f/rhs);
+return lhs;
+}
+inline Vector2 operator / (const Vector2& lhs, const Vector2& rhs)
+{
+return Vector2Divide(lhs, rhs);
+}
+inline const Vector2& operator /= (Vector2& lhs, const Vector2& rhs)
+{
+lhs = Vector2Divide(lhs, rhs);
+return lhs;
+}
+inline bool operator == (const Vector2& lhs, const Vector2& rhs)
+{
+return FloatEquals(lhs.x, rhs.x) && FloatEquals(lhs.y, rhs.y);
+}
+inline bool operator != (const Vector2& lhs, const Vector2& rhs)
+{
+return !FloatEquals(lhs.x, rhs.x) || !FloatEquals(lhs.y, rhs.y);
+}
+// Vector3 operators
+static constexpr Vector3 Vector3Zeros = { 0, 0, 0 };
+static constexpr Vector3 Vector3Ones = { 1, 1, 1 };
+static constexpr Vector3 Vector3UnitX = { 1, 0, 0 };
+static constexpr Vector3 Vector3UnitY = { 0, 1, 0 };
+static constexpr Vector3 Vector3UnitZ = { 0, 0, 1 };
+inline Vector3 operator + (const Vector3& lhs, const Vector3& rhs)
+{
+return Vector3Add(lhs, rhs);
+}
+inline const Vector3& operator += (Vector3& lhs, const Vector3& rhs)
+{
+lhs = Vector3Add(lhs, rhs);
+return lhs;
+}
+inline Vector3 operator - (const Vector3& lhs, const Vector3& rhs)
+{
+return Vector3Subtract(lhs, rhs);
+}
+inline const Vector3& operator -= (Vector3& lhs, const Vector3& rhs)
+{
+lhs = Vector3Subtract(lhs, rhs);
+return lhs;
+}
+inline Vector3 operator * (const Vector3& lhs, const float& rhs)
+{
+return Vector3Scale(lhs, rhs);
+}
+inline const Vector3& operator *= (Vector3& lhs, const float& rhs)
+{
+lhs = Vector3Scale(lhs, rhs);
+return lhs;
+}
+inline Vector3 operator * (const Vector3& lhs, const Vector3& rhs)
+{
+return Vector3Multiply(lhs, rhs);
+}
+inline const Vector3& operator *= (Vector3& lhs, const Vector3& rhs)
+{
+lhs = Vector3Multiply(lhs, rhs);
+return lhs;
+}
+inline Vector3 operator * (const Vector3& lhs, const Matrix& rhs)
+{
+return Vector3Transform(lhs, rhs);
+}
+inline const Vector3& operator *= (Vector3& lhs, const Matrix& rhs)
+{
+lhs = Vector3Transform(lhs, rhs);
+return lhs;
+}
+inline Vector3 operator / (const Vector3& lhs, const float& rhs)
+{
+return Vector3Scale(lhs, 1.0f/rhs);
+}
+inline const Vector3& operator /= (Vector3& lhs, const float& rhs)
+{
+lhs = Vector3Scale(lhs, 1.0f/rhs);
+return lhs;
+}
+inline Vector3 operator / (const Vector3& lhs, const Vector3& rhs)
+{
+return Vector3Divide(lhs, rhs);
+}
+inline const Vector3& operator /= (Vector3& lhs, const Vector3& rhs)
+{
+lhs = Vector3Divide(lhs, rhs);
+return lhs;
+}
+inline bool operator == (const Vector3& lhs, const Vector3& rhs)
+{
+return FloatEquals(lhs.x, rhs.x) && FloatEquals(lhs.y, rhs.y) && FloatEquals(lhs.z, rhs.z);
+}
+inline bool operator != (const Vector3& lhs, const Vector3& rhs)
+{
+return !FloatEquals(lhs.x, rhs.x) || !FloatEquals(lhs.y, rhs.y) || !FloatEquals(lhs.z, rhs.z);
+}
+// Vector4 operators
+static constexpr Vector4 Vector4Zeros = { 0, 0, 0, 0 };
+static constexpr Vector4 Vector4Ones = { 1, 1, 1, 1 };
+static constexpr Vector4 Vector4UnitX = { 1, 0, 0, 0 };
+static constexpr Vector4 Vector4UnitY = { 0, 1, 0, 0 };
+static constexpr Vector4 Vector4UnitZ = { 0, 0, 1, 0 };
+static constexpr Vector4 Vector4UnitW = { 0, 0, 0, 1 };
+inline Vector4 operator + (const Vector4& lhs, const Vector4& rhs)
+{
+return Vector4Add(lhs, rhs);
+}
+inline const Vector4& operator += (Vector4& lhs, const Vector4& rhs)
+{
+lhs = Vector4Add(lhs, rhs);
+return lhs;
+}
+inline Vector4 operator - (const Vector4& lhs, const Vector4& rhs)
+{
+return Vector4Subtract(lhs, rhs);
+}
+inline const Vector4& operator -= (Vector4& lhs, const Vector4& rhs)
+{
+lhs = Vector4Subtract(lhs, rhs);
+return lhs;
+}
+inline Vector4 operator * (const Vector4& lhs, const float& rhs)
+{
+return Vector4Scale(lhs, rhs);
+}
+inline const Vector4& operator *= (Vector4& lhs, const float& rhs)
+{
+lhs = Vector4Scale(lhs, rhs);
+return lhs;
+}
+inline Vector4 operator * (const Vector4& lhs, const Vector4& rhs)
+{
+return Vector4Multiply(lhs, rhs);
+}
+inline const Vector4& operator *= (Vector4& lhs, const Vector4& rhs)
+{
+lhs = Vector4Multiply(lhs, rhs);
+return lhs;
+}
+inline Vector4 operator / (const Vector4& lhs, const float& rhs)
+{
+return Vector4Scale(lhs, 1.0f/rhs);
+}
+inline const Vector4& operator /= (Vector4& lhs, const float& rhs)
+{
+lhs = Vector4Scale(lhs, 1.0f/rhs);
+return lhs;
+}
+inline Vector4 operator / (const Vector4& lhs, const Vector4& rhs)
+{
+return Vector4Divide(lhs, rhs);
+}
+inline const Vector4& operator /= (Vector4& lhs, const Vector4& rhs)
+{
+lhs = Vector4Divide(lhs, rhs);
+return lhs;
+}
+inline bool operator == (const Vector4& lhs, const Vector4& rhs)
+{
+return FloatEquals(lhs.x, rhs.x) && FloatEquals(lhs.y, rhs.y) && FloatEquals(lhs.z, rhs.z) && FloatEquals(lhs.w, rhs.w);
+}
+inline bool operator != (const Vector4& lhs, const Vector4& rhs)
+{
+return !FloatEquals(lhs.x, rhs.x) || !FloatEquals(lhs.y, rhs.y) || !FloatEquals(lhs.z, rhs.z) || !FloatEquals(lhs.w, rhs.w);
+}
+// Quaternion operators
+static constexpr Quaternion QuaternionZeros = { 0, 0, 0, 0 };
+static constexpr Quaternion QuaternionOnes = { 1, 1, 1, 1 };
+static constexpr Quaternion QuaternionUnitX = { 0, 0, 0, 1 };
+inline Quaternion operator + (const Quaternion& lhs, const float& rhs)
+{
+return QuaternionAddValue(lhs, rhs);
+}
+inline const Quaternion& operator += (Quaternion& lhs, const float& rhs)
+{
+lhs = QuaternionAddValue(lhs, rhs);
+return lhs;
+}
+inline Quaternion operator - (const Quaternion& lhs, const float& rhs)
+{
+return QuaternionSubtractValue(lhs, rhs);
+}
+inline const Quaternion& operator -= (Quaternion& lhs, const float& rhs)
+{
+lhs = QuaternionSubtractValue(lhs, rhs);
+return lhs;
+}
+inline Quaternion operator * (const Quaternion& lhs, const Matrix& rhs)
+{
+return QuaternionTransform(lhs, rhs);
+}
+inline const Quaternion& operator *= (Quaternion& lhs, const Matrix& rhs)
+{
+lhs = QuaternionTransform(lhs, rhs);
+return lhs;
+}
+// Matrix operators
+static constexpr Matrix MatrixUnit = { 1, 0, 0, 0,
+0, 1, 0, 0,
+0, 0, 1, 0,
+0, 0, 0, 1 };
+inline Matrix operator + (const Matrix& lhs, const Matrix& rhs)
+{
+return MatrixAdd(lhs, rhs);
+}
+inline const Matrix& operator += (Matrix& lhs, const Matrix& rhs)
+{
+lhs = MatrixAdd(lhs, rhs);
+return lhs;
+}
+inline Matrix operator - (const Matrix& lhs, const Matrix& rhs)
+{
+return MatrixSubtract(lhs, rhs);
+}
+inline const Matrix& operator -= (Matrix& lhs, const Matrix& rhs)
+{
+lhs = MatrixSubtract(lhs, rhs);
+return lhs;
+}
+inline Matrix operator * (const Matrix& lhs, const Matrix& rhs)
+{
+return MatrixMultiply(lhs, rhs);
+}
+inline const Matrix& operator *= (Matrix& lhs, const Matrix& rhs)
+{
+lhs = MatrixMultiply(lhs, rhs);
+return lhs;
+}
+inline Matrix operator * (const Matrix& lhs, const float value)
+{
+return MatrixMultiplyValue(lhs, value);
+}
+inline const Matrix& operator *= (Matrix& lhs, const float value)
+{
+lhs = MatrixMultiplyValue(lhs, value);
+return lhs;
+}
+//-------------------------------------------------------------------------------
+#endif // C++ operators
+#endif // RAYMATH_H

Mercurial

comparison third_party/raylib/raylib-6.0_macos/include/raymath.h @ 276:b55c22cff335