Add NewQuatEulerXYZ+better comments

.gitignore

@@ -14,3 +14,4 @@
 # Dependency directories (remove the comment below to include it)
 vendor/
 .vscode
+*~

README.md

@@ -1,8 +1,52 @@
 # gglm
 
-Fast Go OpenGL Mathematics library inspired by the c++ library [glm](https://github.com/g-truc/glm).
+Fast OpenGL/Graphics focused Mathematics library in  Go inspired by the c++ library [glm](https://github.com/g-truc/glm).
+
+gglm currently has the following:
+
+- `Vec2`, `Vec3` and `Vec4` structs that implement vector (x,y,z,w) operations
+- `Mat2`, `Mat3`, `Mat4` structs that implement square matrix operations
+- `Quat` struct that implements quaternion operations
+- `TrMat` struct that implements 3D transformation matrix operations
+- Many useful geometric functions (e.g. dot product, cross product, vector reflection etc)
+- 32-bit scalar operations (e.g. sin32, cos32, equality using epsilon, sqrt32 etc)
+- Useful 32-bit constants (e.g. pi, Deg2Rad, Rad2Deg, float32 epsilon etc)
+- Simple 'siwzzle' interfaces that allow you to do things like `.X()` or `.R()` etc.
+- Very easy to use with graphics/native APIs as everything is implemented using arrays
+- `.String()` functions on all types for pretty pritning
+
+## Installation
+
+`go get github.com/bloeys/gglm`
+
+## Usage
+
+```go
+
+import "github.com/bloeys/gglm/gglm"
+
+
+func main() {
+
+	//LookAt
+	camPos := gglm.NewVec3(0, 0, 3)
+	worldUp := gglm.NewVec3(0, 1, 0)
+	targetPos := gglm.NewVec3(0, 0, 0)
+	viewMat := gglm.LookAt(camPos, targetPos, worldUp)
+	println(viewMat.String())
+	
+	//Vec2
+	v1 := &gglm.Vec2{Data: [2]float32{1, 2}}
+	v2 := &gglm.Vec2{Data: [2]float32{3, 4}}
+	println(gglm.DistVec2(v1, v2))
+	println(gglm.SqrDistVec2(v2, v1))
+	println(v1.Eq(v2))
+	v2.Set(1, 2)
+	println(v1.Eq(v2))
+}
+```
 
 ## Notes
-
 You can check compiler inlining decisions using `go run -gcflags "-m" .`. Some functions look a bit weird compared to similar ones
 because we are trying to reduce function complexity so the compiler inlines.
+

gglm/constants.go

@@ -1,7 +1,11 @@
 package gglm
 
 const (
-	Pi      float32 = 3.14159265359
-	Deg2Rad float32 = Pi / 180
-	Rad2Deg float32 = 180 / Pi
+	Pi         float32 = 3.14159265359
+	Deg2Rad    float32 = Pi / 180
+	Rad2Deg    float32 = 180 / Pi
+	F32Epsilon float32 = 1e-6
+
+	//CosHalf is Cos32(0.5)
+	CosHalf float32 = 0.87758256189
 )

gglm/geometric_test.go

@@ -6,6 +6,13 @@ import (
 	"github.com/bloeys/gglm/gglm"
 )
 
+var (
+	dotVec2Result, distVec2Result  float32
+	dotVec3Result, distVec3Result  float32
+	reflectVec2Result              *gglm.Vec2
+	crossResult, reflectVec3Result *gglm.Vec3
+)
+
 func TestDotVec2(t *testing.T) {
 
 	v1 := gglm.Vec2{Data: [2]float32{1, 2}}
@@ -137,3 +144,73 @@ func TestReflectVec3(t *testing.T) {
 		t.Errorf("Got: %v; Expected: %v", res, ans)
 	}
 }
+
+func BenchmarkDotVec2(b *testing.B) {
+
+	v1 := &gglm.Vec2{}
+	v2 := &gglm.Vec2{}
+
+	for i := 0; i < b.N; i++ {
+		dotVec2Result = gglm.DotVec2(v1, v2)
+	}
+}
+
+func BenchmarkDotVec3(b *testing.B) {
+
+	v1 := &gglm.Vec3{}
+	v2 := &gglm.Vec3{}
+
+	for i := 0; i < b.N; i++ {
+		dotVec3Result = gglm.DotVec3(v1, v2)
+	}
+}
+
+func BenchmarkCross(b *testing.B) {
+
+	v1 := &gglm.Vec3{}
+	v2 := &gglm.Vec3{}
+
+	for i := 0; i < b.N; i++ {
+		crossResult = gglm.Cross(v1, v2)
+	}
+}
+
+func BenchmarkDistVec2(b *testing.B) {
+
+	v1 := &gglm.Vec2{}
+	v2 := &gglm.Vec2{}
+
+	for i := 0; i < b.N; i++ {
+		distVec2Result = gglm.DistVec2(v1, v2)
+	}
+}
+
+func BenchmarkDistVec3(b *testing.B) {
+
+	v1 := &gglm.Vec3{}
+	v2 := &gglm.Vec3{}
+
+	for i := 0; i < b.N; i++ {
+		distVec3Result = gglm.DistVec3(v1, v2)
+	}
+}
+
+func BenchmarkReflectVec2(b *testing.B) {
+
+	v1 := &gglm.Vec2{}
+	v2 := &gglm.Vec2{}
+
+	for i := 0; i < b.N; i++ {
+		reflectVec2Result = gglm.ReflectVec2(v1, v2)
+	}
+}
+
+func BenchmarkReflectVec3(b *testing.B) {
+
+	v1 := &gglm.Vec3{}
+	v2 := &gglm.Vec3{}
+
+	for i := 0; i < b.N; i++ {
+		reflectVec3Result = gglm.ReflectVec3(v1, v2)
+	}
+}

gglm/mat2.go

@@ -28,6 +28,10 @@ func (m *Mat2) String() string {
 	return fmt.Sprintf("\n| %+-9.3f %+-9.3f |\n| %+-9.3f %+-9.3f |\n", m.Data[0][0], m.Data[0][1], m.Data[1][0], m.Data[1][1])
 }
 
+func (m *Mat2) Col(c int) *Vec2 {
+	return &Vec2{Data: m.Data[c]}
+}
+
 //Add m += m2
 func (m *Mat2) Add(m2 *Mat2) *Mat2 {
 	m.Data[0][0] += m2.Data[0][0]

gglm/mat2_test.go

@@ -146,3 +146,13 @@ func TestMulMat2Vec2(t *testing.T) {
 		t.Errorf("Got: %v; Expected: %v", result.String(), correctAns.String())
 	}
 }
+
+func BenchmarkMulMat2(b *testing.B) {
+
+	m1 := gglm.NewMat2Id()
+	m2 := gglm.NewMat2Id()
+
+	for i := 0; i < b.N; i++ {
+		m1.Mul(m2)
+	}
+}

gglm/mat3.go

@@ -31,6 +31,10 @@ func (m *Mat3) String() string {
 	)
 }
 
+func (m *Mat3) Col(c int) *Vec3 {
+	return &Vec3{Data: m.Data[c]}
+}
+
 //Add m += m2
 func (m *Mat3) Add(m2 *Mat3) *Mat3 {
 

gglm/mat3_test.go

@@ -161,3 +161,13 @@ func TestMulMat3Vec3(t *testing.T) {
 		t.Errorf("Got: %v; Expected: %v", result.String(), correctAns.String())
 	}
 }
+
+func BenchmarkMulMat3(b *testing.B) {
+
+	m1 := gglm.NewMat3Id()
+	m2 := gglm.NewMat3Id()
+
+	for i := 0; i < b.N; i++ {
+		m1.Mul(m2)
+	}
+}

gglm/mat4.go

@@ -32,6 +32,10 @@ func (m *Mat4) String() string {
 	)
 }
 
+func (m *Mat4) Col(c int) *Vec4 {
+	return &Vec4{Data: m.Data[c]}
+}
+
 //Add m += m2
 func (m *Mat4) Add(m2 *Mat4) *Mat4 {
 

gglm/mat4_test.go

@@ -6,6 +6,10 @@ import (
 	"github.com/bloeys/gglm/gglm"
 )
 
+var (
+	mulMat4Vec4Res *gglm.Vec4
+)
+
 func TestMat4GetSet(t *testing.T) {
 
 	m1 := gglm.Mat4{}
@@ -177,3 +181,23 @@ func TestMulMat4Vec4(t *testing.T) {
 		t.Errorf("Got: %v; Expected: %v", result.String(), correctAns.String())
 	}
 }
+
+func BenchmarkMulMat4(b *testing.B) {
+
+	m1 := gglm.NewMat4Id()
+	m2 := gglm.NewMat4Id()
+
+	for i := 0; i < b.N; i++ {
+		m1.Mul(m2)
+	}
+}
+
+func BenchmarkMulMat4Vec4(b *testing.B) {
+
+	m1 := gglm.NewMat4Id()
+	v1 := gglm.Vec4{}
+
+	for i := 0; i < b.N; i++ {
+		mulMat4Vec4Res = gglm.MulMat4Vec4(m1, &v1)
+	}
+}

gglm/quat.go

@@ -16,6 +16,37 @@ func (q *Quat) Eq(q2 *Quat) bool {
 	return q.Data == q2.Data
 }
 
+//Angle returns the angle represented by this quaternion in radians
+func (q *Quat) Angle() float32 {
+
+	if Abs32(q.Data[3]) > CosHalf {
+
+		a := Asin32(Sqrt32(q.Data[0]*q.Data[0]+q.Data[1]*q.Data[1]+q.Data[2]*q.Data[2])) * 2
+		if q.Data[3] < 0 {
+			return Pi*2 - a
+		}
+		return a
+	}
+
+	return Acos32(q.Data[3]) * 2
+}
+
+//Axis returns the rotation axis represented by this quaternion
+func (q *Quat) Axis() *Vec3 {
+
+	var t float32 = 1 - q.Data[3]*q.Data[3]
+	if t <= 0 {
+		return &Vec3{Data: [3]float32{0, 0, 1}}
+	}
+
+	t = 1 / Sqrt32(t)
+	return &Vec3{Data: [3]float32{
+		q.Data[0] * t,
+		q.Data[1] * t,
+		q.Data[2] * t,
+	}}
+}
+
 //Euler takes rotations in radians and produces a rotation that
 //rotates around the z-axis, y-axis and lastly x-axis.
 func NewQuatEuler(v *Vec3) *Quat {
@@ -43,7 +74,34 @@ func NewQuatEuler(v *Vec3) *Quat {
 	}
 }
 
-//AngleAxis rotates rotRad radians around the *normalized* vector rotAxisNorm
+//Euler takes rotations in radians and produces a rotation that
+//rotates around the z-axis, y-axis and lastly x-axis.
+func NewQuatEulerXYZ(x, y, z float32) *Quat {
+
+	//Some other common terminology: x=roll, y=pitch, z=yaw
+	sinX, cosX := Sincos32(x * 0.5)
+	sinY, cosY := Sincos32(y * 0.5)
+	sinZ, cosZ := Sincos32(z * 0.5)
+
+	//This produces a z->y->x multiply order, but its written as XYZ.
+	//This is due to XYZ meaning independent rotation matrices, so Z is applied
+	//first, then Y matrix and lastly X.
+	//See this for more info: https://github.com/godotengine/godot/issues/6816#issuecomment-254592170
+	//
+	//Note: On most conversion tools putting the multiply order (e.g. ZYX for us) is required.
+	return &Quat{
+		Vec4: Vec4{
+			Data: [4]float32{
+				sinX*cosY*cosZ - cosX*sinY*sinZ,
+				cosX*sinY*cosZ + sinX*cosY*sinZ,
+				cosX*cosY*sinZ - sinX*sinY*cosZ,
+				cosX*cosY*cosZ + sinX*sinY*sinZ,
+			},
+		},
+	}
+}
+
+//NewQuatAngleAxis produces a quaternion thats rotates rotRad radians around the *normalized* vector rotAxisNorm
 func NewQuatAngleAxis(rotRad float32, rotAxisNorm *Vec3) *Quat {
 
 	s, c := Sincos32(rotRad * 0.5)

gglm/quat_test.go

@@ -14,6 +14,12 @@ func TestNewQuatEuler(t *testing.T) {
 	if !gglm.EqF32(q.X(), ans.X()) || !gglm.EqF32(q.Y(), ans.Y()) || !gglm.EqF32(q.Z(), ans.Z()) || !gglm.EqF32(q.W(), ans.W()) {
 		t.Errorf("Got: %v; Expected: %v", q.String(), ans.String())
 	}
+
+	q = gglm.NewQuatEulerXYZ(180*gglm.Deg2Rad, 180*gglm.Deg2Rad, 180*gglm.Deg2Rad)
+
+	if !gglm.EqF32(q.X(), ans.X()) || !gglm.EqF32(q.Y(), ans.Y()) || !gglm.EqF32(q.Z(), ans.Z()) || !gglm.EqF32(q.W(), ans.W()) {
+		t.Errorf("Got: %v; Expected: %v", q.String(), ans.String())
+	}
 }
 
 func TestNewQuatAngleAxis(t *testing.T) {
@@ -25,3 +31,51 @@ func TestNewQuatAngleAxis(t *testing.T) {
 		t.Errorf("Got: %v; Expected: %v", q.String(), ans.String())
 	}
 }
+
+func TestQuatAngle(t *testing.T) {
+
+	a := gglm.NewQuatAngleAxis(180*gglm.Deg2Rad, gglm.NewVec3(0, 1, 0)).Angle()
+	var ans float32 = 180.0 * gglm.Deg2Rad
+
+	if !gglm.EqF32(a, ans) {
+		t.Errorf("Got: %v; Expected: %v", a, ans)
+	}
+
+	a = gglm.NewQuatAngleAxis(90*gglm.Deg2Rad, gglm.NewVec3(1, 1, 0).Normalize()).Angle()
+	ans = 90 * gglm.Deg2Rad
+
+	if !gglm.EqF32(a, ans) {
+		t.Errorf("Got: %v; Expected: %v", a, ans)
+	}
+
+	a = gglm.NewQuatAngleAxis(125*gglm.Deg2Rad, gglm.NewVec3(1, 1, 0).Normalize()).Angle()
+	ans = 125 * gglm.Deg2Rad
+
+	if !gglm.EqF32(a, ans) {
+		t.Errorf("Got: %v; Expected: %v", a, ans)
+	}
+}
+
+func TestQuatAxis(t *testing.T) {
+
+	a := gglm.NewQuatAngleAxis(1, gglm.NewVec3(0, 1, 0)).Axis()
+	ans := gglm.NewVec3(0, 1, 0)
+
+	if !gglm.EqF32(a.X(), ans.X()) || !gglm.EqF32(a.Y(), ans.Y()) || !gglm.EqF32(a.Z(), ans.Z()) {
+		t.Errorf("Got: %v; Expected: %v", a.String(), ans.String())
+	}
+
+	a = gglm.NewQuatAngleAxis(1, gglm.NewVec3(1, 1, 0).Normalize()).Axis()
+	ans = gglm.NewVec3(1, 1, 0).Normalize()
+
+	if !gglm.EqF32(a.X(), ans.X()) || !gglm.EqF32(a.Y(), ans.Y()) || !gglm.EqF32(a.Z(), ans.Z()) {
+		t.Errorf("Got: %v; Expected: %v", a.String(), ans.String())
+	}
+
+	a = gglm.NewQuatAngleAxis(1, gglm.NewVec3(67, 46, 32).Normalize()).Axis()
+	ans = gglm.NewVec3(67, 46, 32).Normalize()
+
+	if !gglm.EqF32(a.X(), ans.X()) || !gglm.EqF32(a.Y(), ans.Y()) || !gglm.EqF32(a.Z(), ans.Z()) {
+		t.Errorf("Got: %v; Expected: %v", a.String(), ans.String())
+	}
+}

gglm/scalar.go

@@ -2,9 +2,6 @@ package gglm
 
 import "math"
 
-//F32Epsilon = 0.0000005
-const F32Epsilon float32 = 1e-6
-
 //EqF32 true if abs(f1-f2) <= F32Epsilon
 func EqF32(f1, f2 float32) bool {
 	return math.Abs(float64(f1-f2)) <= float64(F32Epsilon)
@@ -31,7 +28,27 @@ func Acos32(x float32) float32 {
 	return float32(math.Acos(float64(x)))
 }
 
+func Tan32(x float32) float32 {
+	return float32(math.Tan(float64(x)))
+}
+
+func Atan32(x float32) float32 {
+	return float32(math.Atan(float64(x)))
+}
+
+func Atan232(x, y float32) float32 {
+	return float32(math.Atan2(float64(y), float64(x)))
+}
+
 func Sincos32(x float32) (sinx, cosx float32) {
 	a, b := math.Sincos(float64(x))
 	return float32(a), float32(b)
 }
+
+func Abs32(x float32) float32 {
+	return float32(math.Abs(float64(x)))
+}
+
+func Sqrt32(x float32) float32 {
+	return float32(math.Sqrt(float64(x)))
+}

gglm/swizzle.go

@@ -6,6 +6,9 @@ type Swizzle1 interface {
 
 	SetX(float32)
 	SetR(float32)
+
+	AddX(float32)
+	AddR(float32)
 }
 
 type Swizzle2 interface {
@@ -15,6 +18,12 @@ type Swizzle2 interface {
 
 	SetY(float32)
 	SetG(float32)
+
+	AddY(float32)
+	AddG(float32)
+
+	AddXY(float32, float32)
+	AddRG(float32, float32)
 }
 
 type Swizzle3 interface {
@@ -24,6 +33,12 @@ type Swizzle3 interface {
 
 	SetZ(float32)
 	SetB(float32)
+
+	AddZ(float32)
+	AddB(float32)
+
+	AddXYZ(float32, float32, float32)
+	AddRGB(float32, float32, float32)
 }
 
 type Swizzle4 interface {
@@ -33,4 +48,10 @@ type Swizzle4 interface {
 
 	SetW(float32)
 	SetA(float32)
+
+	AddW(float32)
+	AddA(float32)
+
+	AddXYZW(float32, float32, float32, float32)
+	AddRGBA(float32, float32, float32, float32)
 }

gglm/transform.go

@@ -13,18 +13,64 @@ type TrMat struct {
 	Mat4
 }
 
-//Translate adds the vector to the translation components of the transformation matrix
-func (t *TrMat) Translate(v *Vec3) {
+//Translate adds v to the translation components of the transformation matrix
+func (t *TrMat) Translate(v *Vec3) *TrMat {
 	t.Data[3][0] += v.Data[0]
 	t.Data[3][1] += v.Data[1]
 	t.Data[3][2] += v.Data[2]
+	return t
 }
 
-//Scale multiplies the vector by the scale components of the transformation matrix
-func (t *TrMat) Scale(v *Vec3) {
+//Scale multiplies the scale components of the transformation matrix by v
+func (t *TrMat) Scale(v *Vec3) *TrMat {
 	t.Data[0][0] *= v.Data[0]
 	t.Data[1][1] *= v.Data[1]
 	t.Data[2][2] *= v.Data[2]
+	return t
+}
+
+//Rotate takes a *normalized* axis and angles in radians to rotate around the given axis
+func (t *TrMat) Rotate(rads float32, axis *Vec3) *TrMat {
+
+	s := Sin32(rads)
+	c := Cos32(rads)
+
+	axis = axis.Normalize()
+	temp := axis.Clone().Scale(1 - c)
+
+	rotate := TrMat{}
+	rotate.Data[0][0] = c + temp.Data[0]*axis.Data[0]
+	rotate.Data[0][1] = temp.Data[0]*axis.Data[1] + s*axis.Data[2]
+	rotate.Data[0][2] = temp.Data[0]*axis.Data[2] - s*axis.Data[1]
+
+	rotate.Data[1][0] = temp.Data[1]*axis.Data[0] - s*axis.Data[2]
+	rotate.Data[1][1] = c + temp.Data[1]*axis.Data[1]
+	rotate.Data[1][2] = temp.Data[1]*axis.Data[2] + s*axis.Data[0]
+
+	rotate.Data[2][0] = temp.Data[2]*axis.Data[0] + s*axis.Data[1]
+	rotate.Data[2][1] = temp.Data[2]*axis.Data[1] - s*axis.Data[0]
+	rotate.Data[2][2] = c + temp.Data[2]*axis.Data[2]
+
+	result := &Mat4{}
+	result.Data[0] = t.Col(0).Scale(rotate.Data[0][0]).
+		Add(t.Col(1).Scale(rotate.Data[0][1])).
+		Add(t.Col(2).Scale(rotate.Data[0][2])).
+		Data
+
+	result.Data[1] = t.Col(0).Scale(rotate.Data[1][0]).
+		Add(t.Col(1).Scale(rotate.Data[1][1])).
+		Add(t.Col(2).Scale(rotate.Data[1][2])).
+		Data
+
+	result.Data[2] = t.Col(0).Scale(rotate.Data[2][0]).
+		Add(t.Col(1).Scale(rotate.Data[2][1])).
+		Add(t.Col(2).Scale(rotate.Data[2][2])).
+		Data
+
+	t.Data[0] = result.Data[0]
+	t.Data[1] = result.Data[1]
+	t.Data[2] = result.Data[2]
+	return t
 }
 
 func (t *TrMat) Mul(m *TrMat) *TrMat {

gglm/vec2.go

@@ -30,20 +30,46 @@ func (v *Vec2) G() float32 {
 	return v.Data[1]
 }
 
-func (v *Vec2) SetX(f float32) {
-	v.Data[0] = f
+func (v *Vec2) SetX(x float32) {
+	v.Data[0] = x
 }
 
-func (v *Vec2) SetR(f float32) {
-	v.Data[0] = f
+func (v *Vec2) SetR(r float32) {
+	v.Data[0] = r
 }
 
-func (v *Vec2) SetY(f float32) {
-	v.Data[1] = f
+func (v *Vec2) SetY(y float32) {
+	v.Data[1] = y
 }
 
-func (v *Vec2) SetG(f float32) {
-	v.Data[1] = f
+func (v *Vec2) SetG(g float32) {
+	v.Data[1] = g
+}
+
+func (v *Vec2) AddX(x float32) {
+	v.Data[0] += x
+}
+
+func (v *Vec2) AddY(y float32) {
+	v.Data[1] += y
+}
+
+func (v *Vec2) AddR(r float32) {
+	v.Data[0] += r
+}
+
+func (v *Vec2) AddG(g float32) {
+	v.Data[1] += g
+}
+
+func (v *Vec2) AddXY(x, y float32) {
+	v.Data[0] += x
+	v.Data[1] += y
+}
+
+func (v *Vec2) AddRG(r, g float32) {
+	v.Data[0] += r
+	v.Data[1] += g
 }
 
 func (v *Vec2) String() string {

gglm/vec3.go

@@ -60,6 +60,52 @@ func (v *Vec3) SetB(f float32) {
 	v.Data[2] = f
 }
 
+func (v *Vec3) AddX(x float32) {
+	v.Data[0] += x
+}
+
+func (v *Vec3) AddY(y float32) {
+	v.Data[1] += y
+}
+
+func (v *Vec3) AddZ(z float32) {
+	v.Data[2] += z
+}
+
+func (v *Vec3) AddR(r float32) {
+	v.Data[0] += r
+}
+
+func (v *Vec3) AddG(g float32) {
+	v.Data[1] += g
+}
+
+func (v *Vec3) AddB(b float32) {
+	v.Data[2] += b
+}
+
+func (v *Vec3) AddXY(x, y float32) {
+	v.Data[0] += x
+	v.Data[1] += y
+}
+
+func (v *Vec3) AddRG(r, g float32) {
+	v.Data[0] += r
+	v.Data[1] += g
+}
+
+func (v *Vec3) AddXYZ(x, y, z float32) {
+	v.Data[0] += x
+	v.Data[1] += y
+	v.Data[2] += z
+}
+
+func (v *Vec3) AddRGB(r, g, b float32) {
+	v.Data[0] += r
+	v.Data[1] += g
+	v.Data[2] += b
+}
+
 func (v *Vec3) String() string {
 	return fmt.Sprintf("(%f, %f, %f)", v.X(), v.Y(), v.Z())
 }

gglm/vec4.go

@@ -76,6 +76,74 @@ func (v *Vec4) SetA(f float32) {
 	v.Data[3] = f
 }
 
+func (v *Vec4) AddX(x float32) {
+	v.Data[0] += x
+}
+
+func (v *Vec4) AddY(y float32) {
+	v.Data[1] += y
+}
+
+func (v *Vec4) AddZ(z float32) {
+	v.Data[2] += z
+}
+
+func (v *Vec4) AddW(w float32) {
+	v.Data[3] += w
+}
+
+func (v *Vec4) AddR(r float32) {
+	v.Data[0] += r
+}
+
+func (v *Vec4) AddG(g float32) {
+	v.Data[1] += g
+}
+
+func (v *Vec4) AddB(b float32) {
+	v.Data[2] += b
+}
+
+func (v *Vec4) AddA(a float32) {
+	v.Data[3] += a
+}
+
+func (v *Vec4) AddXY(x, y float32) {
+	v.Data[0] += x
+	v.Data[1] += y
+}
+
+func (v *Vec4) AddRG(r, g float32) {
+	v.Data[0] += r
+	v.Data[1] += g
+}
+
+func (v *Vec4) AddXYZ(x, y, z float32) {
+	v.Data[0] += x
+	v.Data[1] += y
+	v.Data[2] += z
+}
+
+func (v *Vec4) AddRGB(r, g, b float32) {
+	v.Data[0] += r
+	v.Data[1] += g
+	v.Data[2] += b
+}
+
+func (v *Vec4) AddXYZW(x, y, z, w float32) {
+	v.Data[0] += x
+	v.Data[1] += y
+	v.Data[2] += z
+	v.Data[3] += w
+}
+
+func (v *Vec4) AddRGBA(r, g, b, a float32) {
+	v.Data[0] += r
+	v.Data[1] += g
+	v.Data[2] += b
+	v.Data[3] += a
+}
+
 func (v *Vec4) String() string {
 	return fmt.Sprintf("(%f, %f, %f, %f)", v.X(), v.Y(), v.Z(), v.W())
 }

gglm/vec_test.go

@@ -0,0 +1,302 @@
+package gglm_test
+
+import (
+	"testing"
+
+	"github.com/bloeys/gglm/gglm"
+)
+
+func TestVecSwizzleGet(t *testing.T) {
+
+	//Vec2
+	v2 := gglm.NewVec2(1, 2)
+	var ans2X float32 = 1
+	var ans2Y float32 = 2
+
+	if v2.X() != ans2X {
+		t.Errorf("Got: %v; Expected: %v", v2.X(), ans2X)
+	}
+
+	if v2.Y() != ans2Y {
+		t.Errorf("Got: %v; Expected: %v", v2.Y(), ans2Y)
+	}
+
+	if v2.R() != ans2X {
+		t.Errorf("Got: %v; Expected: %v", v2.R(), ans2X)
+	}
+
+	if v2.G() != ans2Y {
+		t.Errorf("Got: %v; Expected: %v", v2.G(), ans2Y)
+	}
+
+	//Vec3
+	v3 := gglm.NewVec3(1, 2, 3)
+	var ans3X float32 = 1
+	var ans3Y float32 = 2
+	var ans3Z float32 = 3
+
+	if v3.X() != ans3X {
+		t.Errorf("Got: %v; Expected: %v", v3.X(), ans3X)
+	}
+
+	if v3.Y() != ans3Y {
+		t.Errorf("Got: %v; Expected: %v", v3.Y(), ans3Y)
+	}
+
+	if v3.Z() != ans3Z {
+		t.Errorf("Got: %v; Expected: %v", v3.Z(), ans3Z)
+	}
+
+	if v3.R() != ans3X {
+		t.Errorf("Got: %v; Expected: %v", v3.R(), ans3X)
+	}
+
+	if v3.G() != ans3Y {
+		t.Errorf("Got: %v; Expected: %v", v3.G(), ans3Y)
+	}
+
+	if v3.B() != ans3Z {
+		t.Errorf("Got: %v; Expected: %v", v3.B(), ans3Z)
+	}
+
+	//Vec4
+	v4 := gglm.NewVec4(1, 2, 3, 4)
+	var ans4X float32 = 1
+	var ans4Y float32 = 2
+	var ans4Z float32 = 3
+	var ans4W float32 = 4
+
+	if v4.X() != ans4X {
+		t.Errorf("Got: %v; Expected: %v", v4.X(), ans4X)
+	}
+
+	if v4.Y() != ans4Y {
+		t.Errorf("Got: %v; Expected: %v", v4.Y(), ans4Y)
+	}
+
+	if v4.Z() != ans4Z {
+		t.Errorf("Got: %v; Expected: %v", v4.Z(), ans4Z)
+	}
+
+	if v4.W() != ans4W {
+		t.Errorf("Got: %v; Expected: %v", v4.W(), ans4W)
+	}
+
+	if v4.R() != ans4X {
+		t.Errorf("Got: %v; Expected: %v", v4.R(), ans4X)
+	}
+
+	if v4.G() != ans4Y {
+		t.Errorf("Got: %v; Expected: %v", v4.G(), ans4Y)
+	}
+
+	if v4.B() != ans4Z {
+		t.Errorf("Got: %v; Expected: %v", v4.B(), ans4Z)
+	}
+
+	if v4.A() != ans4W {
+		t.Errorf("Got: %v; Expected: %v", v4.A(), ans4W)
+	}
+}
+
+func TestVecSwizzleSet(t *testing.T) {
+
+	//Vec2
+	v2 := gglm.NewVec2(0, 0)
+	ans2 := gglm.NewVec2(1, 2)
+
+	v2.SetX(1)
+	v2.SetY(2)
+
+	if !v2.Eq(ans2) {
+		t.Errorf("Got: %v; Expected: %v", v2.String(), ans2.String())
+	}
+
+	ans2 = gglm.NewVec2(11, 22)
+	v2.SetR(11)
+	v2.SetG(22)
+
+	if !v2.Eq(ans2) {
+		t.Errorf("Got: %v; Expected: %v", v2.String(), ans2.String())
+	}
+
+	//Vec3
+	v3 := gglm.NewVec3(0, 0, 0)
+	ans3 := gglm.NewVec3(1, 2, 3)
+
+	v3.SetX(1)
+	v3.SetY(2)
+	v3.SetZ(3)
+
+	if !v3.Eq(ans3) {
+		t.Errorf("Got: %v; Expected: %v", v3.String(), ans3.String())
+	}
+
+	ans3 = gglm.NewVec3(11, 22, 33)
+
+	v3.SetR(11)
+	v3.SetG(22)
+	v3.SetB(33)
+
+	if !v3.Eq(ans3) {
+		t.Errorf("Got: %v; Expected: %v", v3.String(), ans3.String())
+	}
+
+	//Vec4
+	v4 := gglm.NewVec4(0, 0, 0, 0)
+	ans4 := gglm.NewVec4(1, 2, 3, 4)
+
+	v4.SetX(1)
+	v4.SetY(2)
+	v4.SetZ(3)
+	v4.SetW(4)
+
+	if !v4.Eq(ans4) {
+		t.Errorf("Got: %v; Expected: %v", v4.String(), ans4.String())
+	}
+
+	ans4 = gglm.NewVec4(11, 22, 33, 44)
+
+	v4.SetR(11)
+	v4.SetG(22)
+	v4.SetB(33)
+	v4.SetA(44)
+
+	if !v4.Eq(ans4) {
+		t.Errorf("Got: %v; Expected: %v", v4.String(), ans4.String())
+	}
+}
+
+func TestVecSwizzleAdd(t *testing.T) {
+
+	//Vec2
+	v2 := gglm.NewVec2(1, 1)
+	ans2 := gglm.NewVec2(2, 3)
+	v2.AddX(1)
+	v2.AddY(2)
+	if !v2.Eq(ans2) {
+		t.Errorf("Got: %v; Expected: %v", v2.String(), ans2.String())
+	}
+
+	v2 = gglm.NewVec2(1, 1)
+	v2.AddR(1)
+	v2.AddG(2)
+	if !v2.Eq(ans2) {
+		t.Errorf("Got: %v; Expected: %v", v2.String(), ans2.String())
+	}
+
+	v2 = gglm.NewVec2(1, 1)
+	v2.AddXY(1, 2)
+	if !v2.Eq(ans2) {
+		t.Errorf("Got: %v; Expected: %v", v2.String(), ans2.String())
+	}
+
+	v2 = gglm.NewVec2(1, 1)
+	v2.AddRG(1, 2)
+	if !v2.Eq(ans2) {
+		t.Errorf("Got: %v; Expected: %v", v2.String(), ans2.String())
+	}
+
+	//Vec3
+	v3 := gglm.NewVec3(1, 1, 1)
+	ans3 := gglm.NewVec3(2, 3, 4)
+	v3.AddX(1)
+	v3.AddY(2)
+	v3.AddZ(3)
+	if !v3.Eq(ans3) {
+		t.Errorf("Got: %v; Expected: %v", v3.String(), ans3.String())
+	}
+
+	v3 = gglm.NewVec3(1, 1, 1)
+	v3.AddR(1)
+	v3.AddG(2)
+	v3.AddB(3)
+	if !v3.Eq(ans3) {
+		t.Errorf("Got: %v; Expected: %v", v3.String(), ans3.String())
+	}
+
+	v3 = gglm.NewVec3(1, 1, 1)
+	ans3 = gglm.NewVec3(2, 3, 1)
+	v3.AddXY(1, 2)
+	if !v3.Eq(ans3) {
+		t.Errorf("Got: %v; Expected: %v", v3.String(), ans3.String())
+	}
+
+	v3 = gglm.NewVec3(1, 1, 1)
+	v3.AddRG(1, 2)
+	if !v3.Eq(ans3) {
+		t.Errorf("Got: %v; Expected: %v", v3.String(), ans3.String())
+	}
+
+	v3 = gglm.NewVec3(1, 1, 1)
+	ans3 = gglm.NewVec3(2, 3, 4)
+	v3.AddXYZ(1, 2, 3)
+	if !v3.Eq(ans3) {
+		t.Errorf("Got: %v; Expected: %v", v3.String(), ans3.String())
+	}
+
+	v3 = gglm.NewVec3(1, 1, 1)
+	v3.AddRGB(1, 2, 3)
+	if !v3.Eq(ans3) {
+		t.Errorf("Got: %v; Expected: %v", v3.String(), ans3.String())
+	}
+
+	//Vec4
+	v4 := gglm.NewVec4(1, 1, 1, 1)
+	ans4 := gglm.NewVec4(2, 3, 4, 5)
+	v4.AddX(1)
+	v4.AddY(2)
+	v4.AddZ(3)
+	v4.AddW(4)
+	if !v4.Eq(ans4) {
+		t.Errorf("Got: %v; Expected: %v", v4.String(), ans4.String())
+	}
+
+	v4 = gglm.NewVec4(1, 1, 1, 1)
+	v4.AddR(1)
+	v4.AddG(2)
+	v4.AddB(3)
+	v4.AddA(4)
+	if !v4.Eq(ans4) {
+		t.Errorf("Got: %v; Expected: %v", v4.String(), ans4.String())
+	}
+
+	v4 = gglm.NewVec4(1, 1, 1, 1)
+	ans4 = gglm.NewVec4(2, 3, 1, 1)
+	v4.AddXY(1, 2)
+	if !v4.Eq(ans4) {
+		t.Errorf("Got: %v; Expected: %v", v4.String(), ans4.String())
+	}
+
+	v4 = gglm.NewVec4(1, 1, 1, 1)
+	v4.AddRG(1, 2)
+	if !v4.Eq(ans4) {
+		t.Errorf("Got: %v; Expected: %v", v4.String(), ans4.String())
+	}
+
+	v4 = gglm.NewVec4(1, 1, 1, 1)
+	ans4 = gglm.NewVec4(2, 3, 4, 1)
+	v4.AddXYZ(1, 2, 3)
+	if !v4.Eq(ans4) {
+		t.Errorf("Got: %v; Expected: %v", v4.String(), ans4.String())
+	}
+
+	v4 = gglm.NewVec4(1, 1, 1, 1)
+	v4.AddRGB(1, 2, 3)
+	if !v4.Eq(ans4) {
+		t.Errorf("Got: %v; Expected: %v", v4.String(), ans4.String())
+	}
+
+	v4 = gglm.NewVec4(1, 1, 1, 1)
+	ans4 = gglm.NewVec4(2, 3, 4, 5)
+	v4.AddXYZW(1, 2, 3, 4)
+	if !v4.Eq(ans4) {
+		t.Errorf("Got: %v; Expected: %v", v4.String(), ans4.String())
+	}
+
+	v4 = gglm.NewVec4(1, 1, 1, 1)
+	v4.AddRGBA(1, 2, 3, 4)
+	if !v4.Eq(ans4) {
+		t.Errorf("Got: %v; Expected: %v", v4.String(), ans4.String())
+	}
+}

main_test.go

@@ -1,84 +0,0 @@
-package main
-
-import (
-	"testing"
-
-	"github.com/bloeys/gglm/gglm"
-)
-
-var (
-	dotVec2Result  float32
-	dotVec3Result  float32
-	crossResult    *gglm.Vec3
-	mulMat4Vec4Res *gglm.Vec4
-)
-
-func BenchmarkDotVec2(b *testing.B) {
-
-	v1 := &gglm.Vec2{}
-	v2 := &gglm.Vec2{}
-
-	for i := 0; i < b.N; i++ {
-		dotVec2Result = gglm.DotVec2(v1, v2)
-	}
-}
-
-func BenchmarkDotVec3(b *testing.B) {
-
-	v1 := &gglm.Vec3{}
-	v2 := &gglm.Vec3{}
-
-	for i := 0; i < b.N; i++ {
-		dotVec3Result = gglm.DotVec3(v1, v2)
-	}
-}
-
-func BenchmarkCross(b *testing.B) {
-
-	v1 := &gglm.Vec3{}
-	v2 := &gglm.Vec3{}
-
-	for i := 0; i < b.N; i++ {
-		crossResult = gglm.Cross(v1, v2)
-	}
-}
-
-func BenchmarkMulMat2(b *testing.B) {
-
-	m1 := gglm.NewMat2Id()
-	m2 := gglm.NewMat2Id()
-
-	for i := 0; i < b.N; i++ {
-		m1.Mul(m2)
-	}
-}
-
-func BenchmarkMulMat3(b *testing.B) {
-
-	m1 := gglm.NewMat3Id()
-	m2 := gglm.NewMat3Id()
-
-	for i := 0; i < b.N; i++ {
-		m1.Mul(m2)
-	}
-}
-
-func BenchmarkMulMat4(b *testing.B) {
-
-	m1 := gglm.NewMat4Id()
-	m2 := gglm.NewMat4Id()
-
-	for i := 0; i < b.N; i++ {
-		m1.Mul(m2)
-	}
-}
-
-func BenchmarkMulMat4Vec4(b *testing.B) {
-
-	m1 := gglm.NewMat4Id()
-	v1 := gglm.Vec4{}
-
-	for i := 0; i < b.N; i++ {
-		mulMat4Vec4Res = gglm.MulMat4Vec4(m1, &v1)
-	}
-}