NewXYZ funcs for Quat+github workflows

Get rid of pointer returns when creating new objects
Mat4.InvertAndTranspose()+ ToMat3 and ToMat2 functions
2025-12-29 13:38:20 +00:00 · 2024-05-04 22:44:48 +04:00 · 2024-05-04 22:21:41 +04:00 · 2024-05-04 21:37:24 +04:00 · 2024-05-04 21:10:57 +04:00 · 2024-05-04 20:45:40 +04:00
22 changed files with 1275 additions and 285 deletions
--- a/.github/workflows/test-gglm.yml
+++ b/.github/workflows/test-gglm.yml
@ -0,0 +1,21 @@
+name: test-gglm
+
+on:
+  create:
+  workflow_dispatch:
+
+jobs:
+  test-gglm:
+    runs-on: [windows-latest, macos-latest, ubuntu-latest]
+    steps:
+      - name: Install golang
+        uses: actions/setup-go@v3
+        with:
+          go-version: ">=1.17"
+
+      - name: Clone gglm
+        run: git clone https://github.com/bloeys/gglm
+
+      - name: Test gglm
+        working-directory: nmage
+        run: cd gglm && go test ./... -v
--- a/README.md
+++ b/README.md
@ -1,9 +1,10 @@
 # gglm

-Fast OpenGL/Graphics focused Mathematics library in  Go 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:

+- Matrices are stored column major
 - `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
@ -11,9 +12,9 @@ gglm currently has the following:
 - 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.
+- Simple 'swizzle' 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
+- `.String()` functions on all types for pretty printing

 ## Installation

@ -24,17 +25,9 @@ gglm currently has the following:
 ```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
+	// Vec2
 	v1 := &gglm.Vec2{Data: [2]float32{1, 2}}
 	v2 := &gglm.Vec2{Data: [2]float32{3, 4}}
 	println(gglm.DistVec2(v1, v2))
@ -43,10 +36,17 @@ func main() {
 	v2.Set(1, 2)
 	println(v1.Eq(v2))

-	//This performs: v1 += v2
-	//v1 is returned from the function, so we can chain calls that operate on v1
+	// This performs: v1 += v2
+	// v1 is returned from the function, so we can chain calls that operate on v1
 	newX := v1.Add(v2).X()
 	println("newX:", newX)
+
+	// LookAt for a right-handed coordinate system
+	camPos := gglm.NewVec3(0, 0, 3)
+	worldUp := gglm.NewVec3(0, 1, 0)
+	targetPos := gglm.NewVec3(0, 0, 0)
+	viewMat := gglm.LookAtRH(camPos, targetPos, worldUp)
+	println(viewMat.String())
 }
 ```

--- a/gglm/constants.go
+++ b/gglm/constants.go
@ -6,6 +6,6 @@ const (
 	Rad2Deg    float32 = 180 / Pi
 	F32Epsilon float32 = 1e-6

-	//CosHalf is Cos32(0.5)
+	// CosHalf is Cos32(0.5)
 	CosHalf float32 = 0.87758256189
 )
--- a/gglm/geometric.go
+++ b/gglm/geometric.go
@ -18,8 +18,8 @@ func DotQuat(q1, q2 *Quat) float32 {
 	return q1.X()*q2.X() + q1.Y()*q2.Y() + q1.Z()*q2.Z() + q1.W()*q2.W()
 }

-func Cross(v1, v2 *Vec3) *Vec3 {
-	return &Vec3{
+func Cross(v1, v2 *Vec3) Vec3 {
+	return Vec3{
 		Data: [3]float32{
 			v1.Data[1]*v2.Data[2] - v1.Data[2]*v2.Data[1],
 			v1.Data[2]*v2.Data[0] - v1.Data[0]*v2.Data[2],
@ -28,14 +28,14 @@ func Cross(v1, v2 *Vec3) *Vec3 {
 	}
 }

-//DistVec2 returns euclidean distance between v1 and v2
+// DistVec2 returns euclidean distance between v1 and v2
 func DistVec2(v1, v2 *Vec2) float32 {
 	x := v1.X() - v2.X()
 	y := v1.Y() - v2.Y()
 	return float32(math.Sqrt(float64(x*x + y*y)))
 }

-//DistVec3 returns euclidean distance between v1 and v2
+// DistVec3 returns euclidean distance between v1 and v2
 func DistVec3(v1, v2 *Vec3) float32 {
 	x := v1.X() - v2.X()
 	y := v1.Y() - v2.Y()
@ -43,7 +43,7 @@ func DistVec3(v1, v2 *Vec3) float32 {
 	return float32(math.Sqrt(float64(x*x + y*y + z*z)))
 }

-//DistVec4 returns euclidean distance between v1 and v2
+// DistVec4 returns euclidean distance between v1 and v2
 func DistVec4(v1, v2 *Vec4) float32 {

 	//Using X() etc won't let the function inline
@ -54,14 +54,14 @@ func DistVec4(v1, v2 *Vec4) float32 {
 	return float32(math.Sqrt(float64(x*x + y*y + z*z + w*w)))
 }

-//DistVec2 returns the squared euclidean distance between v1 and v2 (avoids a sqrt)
+// DistVec2 returns the squared euclidean distance between v1 and v2 (avoids a sqrt)
 func SqrDistVec2(v1, v2 *Vec2) float32 {
 	x := v1.X() - v2.X()
 	y := v1.Y() - v2.Y()
 	return x*x + y*y
 }

-//DistVec3 returns the squared euclidean distance between v1 and v2 (avoids a sqrt)
+// DistVec3 returns the squared euclidean distance between v1 and v2 (avoids a sqrt)
 func SqrDistVec3(v1, v2 *Vec3) float32 {
 	x := v1.X() - v2.X()
 	y := v1.Y() - v2.Y()
@ -69,7 +69,7 @@ func SqrDistVec3(v1, v2 *Vec3) float32 {
 	return x*x + y*y + z*z
 }

-//DistVec4 returns the squared euclidean distance between v1 and v2 (avoids a sqrt)
+// DistVec4 returns the squared euclidean distance between v1 and v2 (avoids a sqrt)
 func SqrDistVec4(v1, v2 *Vec4) float32 {
 	x := v1.Data[0] - v2.Data[0]
 	y := v1.Data[1] - v2.Data[1]
@ -78,15 +78,15 @@ func SqrDistVec4(v1, v2 *Vec4) float32 {
 	return x*x + y*y + z*z + w*w
 }

-//ReflectVec2 returns the reflected vector of the incoming vector 'v', and the surface normal 'n'.
+// ReflectVec2 returns the reflected vector of the incoming vector 'v', and the surface normal 'n'.
 //
-//Note: n must be normalized or you will get wrong results
-func ReflectVec2(v, n *Vec2) *Vec2 {
+// Note: n must be normalized or you will get wrong results
+func ReflectVec2(v, n *Vec2) Vec2 {

 	//reflectedVec = v − 2*dot(v, norm)*norm
 	d := 2 * (v.Data[0]*n.Data[0] + v.Data[1]*n.Data[1])

-	return &Vec2{
+	return Vec2{
 		Data: [2]float32{
 			v.Data[0] - d*n.Data[0],
 			v.Data[1] - d*n.Data[1],
@ -94,15 +94,15 @@ func ReflectVec2(v, n *Vec2) *Vec2 {
 	}
 }

-//ReflectVec3 returns the reflected vector of the incoming vector 'v', and the surface normal 'n'.
+// ReflectVec3 returns the reflected vector of the incoming vector 'v', and the surface normal 'n'.
 //
-//Note: n must be normalized or you will get wrong results
-func ReflectVec3(v, n *Vec3) *Vec3 {
+// Note: n must be normalized or you will get wrong results
+func ReflectVec3(v, n *Vec3) Vec3 {

 	//reflectedVec = v − 2*dot(v, norm)*norm
 	d := 2 * (v.Data[0]*n.Data[0] + v.Data[1]*n.Data[1] + v.Data[2]*n.Data[2])

-	return &Vec3{
+	return Vec3{
 		Data: [3]float32{
 			v.Data[0] - d*n.Data[0],
 			v.Data[1] - d*n.Data[1],
@ -111,7 +111,12 @@ func ReflectVec3(v, n *Vec3) *Vec3 {
 	}
 }

-//AngleQuat returns the angle between the two quaternions in radians
+// AngleVec3 returns the angle between the two vectors in radians
+func AngleVec3(v1, v2 *Vec3) float32 {
+	return Acos32(DotVec3(v1, v2) / (v1.Mag() * v2.Mag()))
+}
+
+// AngleQuat returns the angle between the two quaternions in radians
 func AngleQuat(q1, q2 *Quat) float32 {
 	return Acos32(DotQuat(q1, q2))
 }
--- a/gglm/geometric_test.go
+++ b/gglm/geometric_test.go
@ -9,8 +9,8 @@ import (
 var (
 	dotVec2Result, distVec2Result  float32
 	dotVec3Result, distVec3Result  float32
-	reflectVec2Result              *gglm.Vec2
-	crossResult, reflectVec3Result *gglm.Vec3
+	reflectVec2Result              gglm.Vec2
+	crossResult, reflectVec3Result gglm.Vec3
 )

 func TestDotVec2(t *testing.T) {
--- a/gglm/mat.go
+++ b/gglm/mat.go
@ -13,7 +13,7 @@ const (
 	MatSize4x4
 )

-//String panics if the MatSize is not known
+// String panics if the MatSize is not known
 func (ms MatSize) String() string {

 	switch ms {
--- a/gglm/mat2.go
+++ b/gglm/mat2.go
@ -24,7 +24,7 @@ func (m *Mat2) Size() MatSize {
 }

 func (m *Mat2) String() string {
-	//+ always shows +/- sign; - means pad to the right; 9 means total of 9 digits (or padding if less); .3 means 3 decimals
+	// + always shows +/- sign; - means pad to the right; 9 means total of 9 digits (or padding if less); .3 means 3 decimals
 	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])
 }

@ -32,7 +32,7 @@ func (m *Mat2) Col(c int) *Vec2 {
 	return &Vec2{Data: m.Data[c]}
 }

-//Add m += m2
+// Add m += m2
 func (m *Mat2) Add(m2 *Mat2) *Mat2 {
 	m.Data[0][0] += m2.Data[0][0]
 	m.Data[0][1] += m2.Data[0][1]
@ -41,7 +41,7 @@ func (m *Mat2) Add(m2 *Mat2) *Mat2 {
 	return m
 }

-//Add m -= m2
+// Add m -= m2
 func (m *Mat2) Sub(m2 *Mat2) *Mat2 {
 	m.Data[0][0] -= m2.Data[0][0]
 	m.Data[0][1] -= m2.Data[0][1]
@ -50,7 +50,7 @@ func (m *Mat2) Sub(m2 *Mat2) *Mat2 {
 	return m
 }

-//Mul m *= m2
+// Mul m *= m2
 func (m1 *Mat2) Mul(m2 *Mat2) *Mat2 {
 	m1.Data = [2][2]float32{
 		{
@ -66,7 +66,7 @@ func (m1 *Mat2) Mul(m2 *Mat2) *Mat2 {
 	return m1
 }

-//Scale m *= x (element wise multiplication)
+// Scale m *= x (element wise multiplication)
 func (m *Mat2) Scale(x float32) *Mat2 {
 	m.Data[0][0] *= x
 	m.Data[0][1] *= x
@ -75,17 +75,47 @@ func (m *Mat2) Scale(x float32) *Mat2 {
 	return m
 }

-func (v *Mat2) Clone() *Mat2 {
-	return &Mat2{Data: v.Data}
+func (m *Mat2) Clone() *Mat2 {
+	return &Mat2{Data: m.Data}
 }

 func (m *Mat2) Eq(m2 *Mat2) bool {
 	return m.Data == m2.Data
 }

-//AddMat2 m3 = m1 + m2
-func AddMat2(m1, m2 *Mat2) *Mat2 {
-	return &Mat2{
+func (m *Mat2) Transpose() *Mat2 {
+	m.Data = [2][2]float32{
+		{m.Data[0][0], m.Data[1][0]},
+		{m.Data[0][1], m.Data[1][1]},
+	}
+
+	return m
+}
+
+func (m *Mat2) Determinant() float32 {
+	return (m.Data[0][0] * m.Data[1][1]) - (m.Data[0][1] * m.Data[1][0])
+}
+
+// Invert inverts this matrix.
+//
+// Note that the inverse is not defined if the determinant is zero or extremely small.
+// In the case the determinant is zero the matrix will (usually) get filled with infinities
+func (m *Mat2) Invert() *Mat2 {
+
+	// https://www.cuemath.com/algebra/inverse-of-2x2-matrix/
+	inverseDet := 1 / m.Determinant()
+
+	m.Data = [2][2]float32{
+		{m.Data[1][1] * inverseDet, -m.Data[0][1] * inverseDet}, // Col0
+		{-m.Data[1][0] * inverseDet, m.Data[0][0] * inverseDet}, // Col1
+	}
+
+	return m
+}
+
+// AddMat2 m3 = m1 + m2
+func AddMat2(m1, m2 *Mat2) Mat2 {
+	return Mat2{
 		Data: [2][2]float32{
 			{
 				m1.Data[0][0] + m2.Data[0][0],
@ -99,9 +129,9 @@ func AddMat2(m1, m2 *Mat2) *Mat2 {
 	}
 }

-//SubMat2 m3 = m1 - m2
-func SubMat2(m1, m2 *Mat2) *Mat2 {
-	return &Mat2{
+// SubMat2 m3 = m1 - m2
+func SubMat2(m1, m2 *Mat2) Mat2 {
+	return Mat2{
 		Data: [2][2]float32{
 			{
 				m1.Data[0][0] - m2.Data[0][0],
@ -115,9 +145,9 @@ func SubMat2(m1, m2 *Mat2) *Mat2 {
 	}
 }

-//MulMat2 m3 = m1 * m2
-func MulMat2(m1, m2 *Mat2) *Mat2 {
-	return &Mat2{
+// MulMat2 m3 = m1 * m2
+func MulMat2(m1, m2 *Mat2) Mat2 {
+	return Mat2{
 		Data: [2][2]float32{
 			{
 				m1.Data[0][0]*m2.Data[0][0] + m1.Data[1][0]*m2.Data[0][1],
@ -131,9 +161,9 @@ func MulMat2(m1, m2 *Mat2) *Mat2 {
 	}
 }

-//MulMat2Vec2 v2 = m1 * v1
-func MulMat2Vec2(m1 *Mat2, v1 *Vec2) *Vec2 {
-	return &Vec2{
+// MulMat2Vec2 v2 = m1 * v1
+func MulMat2Vec2(m1 *Mat2, v1 *Vec2) Vec2 {
+	return Vec2{
 		Data: [2]float32{
 			m1.Data[0][0]*v1.Data[0] + m1.Data[1][0]*v1.Data[1],
 			m1.Data[0][1]*v1.Data[0] + m1.Data[1][1]*v1.Data[1],
@ -141,12 +171,48 @@ func MulMat2Vec2(m1 *Mat2, v1 *Vec2) *Vec2 {
 	}
 }

-//NewMat2Id returns the 2x2 identity matrix
-func NewMat2Id() *Mat2 {
-	return &Mat2{
+// NewMat2Id returns the 2x2 identity matrix
+func NewMat2Id() Mat2 {
+	return Mat2{
 		Data: [2][2]float32{
 			{1, 0},
 			{0, 1},
 		},
 	}
 }
+
+func NewMat2Diag(diagVal float32) Mat2 {
+	return Mat2{
+		Data: [2][2]float32{
+			{diagVal, 0},
+			{0, diagVal},
+		},
+	}
+}
+
+func NewMat2DiagArr(diag [2]float32) Mat2 {
+	return Mat2{
+		Data: [2][2]float32{
+			{diag[0], 0},
+			{0, diag[1]},
+		},
+	}
+}
+
+func NewMat2Vec2(col0, col1 *Vec2) Mat2 {
+	return Mat2{
+		Data: [2][2]float32{
+			col0.Data,
+			col1.Data,
+		},
+	}
+}
+
+func NewMat2Arr(col0, col1 [2]float32) Mat2 {
+	return Mat2{
+		Data: [2][2]float32{
+			col0,
+			col1,
+		},
+	}
+}
--- a/gglm/mat2_test.go
+++ b/gglm/mat2_test.go
@ -147,12 +147,84 @@ func TestMulMat2Vec2(t *testing.T) {
 	}
 }

+func TestTransposeMat2(t *testing.T) {
+
+	m := gglm.NewMat2Id()
+	ans := gglm.NewMat2Id()
+
+	if !m.Transpose().Transpose().Eq(&ans) {
+		t.Errorf("Got: %v; Expected: %v", m.String(), ans.String())
+	}
+
+	if !m.Transpose().Eq(&ans) {
+		t.Errorf("Got: %v; Expected: %v", m.String(), ans.String())
+	}
+
+	m.Data = [2][2]float32{
+		{00, 01},
+		{10, 11},
+	}
+
+	ans.Data = [2][2]float32{
+		{00, 10},
+		{01, 11},
+	}
+
+	if !m.Transpose().Eq(&ans) {
+		t.Errorf("Got: %v; Expected: %v", m.String(), ans.String())
+	}
+}
+
+func TestDeterminantMat2(t *testing.T) {
+
+	m := gglm.NewMat2Id()
+	ans := float32(1)
+
+	if m.Determinant() != ans {
+		t.Errorf("Got: %f; Expected: %f", m.Determinant(), ans)
+	}
+
+	m.Data = [2][2]float32{
+		{1, 8},
+		{5, 31},
+	}
+	ans = -9
+
+	if m.Determinant() != ans {
+		t.Errorf("Got: %f; Expected: %f", m.Determinant(), ans)
+	}
+}
+
+func TestInvertMat2(t *testing.T) {
+
+	m := gglm.NewMat2Id()
+	ans := gglm.NewMat2Id()
+
+	if !m.Invert().Eq(&ans) {
+		t.Errorf("Got: %v; Expected: %v", m.String(), ans.String())
+	}
+
+	m.Data = [2][2]float32{
+		{1, 8},
+		{5, 31},
+	}
+
+	ans.Data = [2][2]float32{
+		{-31 / 9.0, 8 / 9.0},
+		{5 / 9.0, -1 / 9.0},
+	}
+
+	if !m.Invert().Eq(&ans) {
+		t.Errorf("Got: %v; Expected: %v", m.String(), ans.String())
+	}
+}
+
 func BenchmarkMulMat2(b *testing.B) {

 	m1 := gglm.NewMat2Id()
 	m2 := gglm.NewMat2Id()

 	for i := 0; i < b.N; i++ {
-		m1.Mul(m2)
+		m1.Mul(&m2)
 	}
 }
--- a/gglm/mat3.go
+++ b/gglm/mat3.go
@ -35,7 +35,7 @@ func (m *Mat3) Col(c int) *Vec3 {
 	return &Vec3{Data: m.Data[c]}
 }

-//Add m += m2
+// Add m += m2
 func (m *Mat3) Add(m2 *Mat3) *Mat3 {

 	m.Data[0][0] += m2.Data[0][0]
@ -52,7 +52,7 @@ func (m *Mat3) Add(m2 *Mat3) *Mat3 {
 	return m
 }

-//Add m -= m2
+// Add m -= m2
 func (m *Mat3) Sub(m2 *Mat3) *Mat3 {

 	m.Data[0][0] -= m2.Data[0][0]
@ -69,7 +69,7 @@ func (m *Mat3) Sub(m2 *Mat3) *Mat3 {
 	return m
 }

-//Mul m *= m2
+// Mul m *= m2
 func (m *Mat3) Mul(m2 *Mat3) *Mat3 {

 	//Array indices:
@ -109,7 +109,7 @@ func (m *Mat3) Mul(m2 *Mat3) *Mat3 {
 	return m
 }

-//Scale m *= x (element wise multiplication)
+// Scale m *= x (element wise multiplication)
 func (m *Mat3) Scale(x float32) *Mat3 {

 	m.Data[0][0] *= x
@ -126,17 +126,87 @@ func (m *Mat3) Scale(x float32) *Mat3 {
 	return m
 }

-func (v *Mat3) Clone() *Mat3 {
-	return &Mat3{Data: v.Data}
+func (m *Mat3) Clone() *Mat3 {
+	return &Mat3{Data: m.Data}
 }

 func (m *Mat3) Eq(m2 *Mat3) bool {
 	return m.Data == m2.Data
 }

-//AddMat3 m3 = m1 + m2
-func AddMat3(m1, m2 *Mat3) *Mat3 {
-	return &Mat3{
+func (m *Mat3) Transpose() *Mat3 {
+
+	m.Data = [3][3]float32{
+		{m.Data[0][0], m.Data[1][0], m.Data[2][0]},
+		{m.Data[0][1], m.Data[1][1], m.Data[2][1]},
+		{m.Data[0][2], m.Data[1][2], m.Data[2][2]},
+	}
+
+	return m
+}
+
+func (m *Mat3) Determinant() float32 {
+	x := m.Data[0][0] * (m.Data[1][1]*m.Data[2][2] - m.Data[2][1]*m.Data[1][2])
+	y := m.Data[1][0] * (m.Data[2][1]*m.Data[0][2] - m.Data[0][1]*m.Data[2][2])
+	z := m.Data[2][0] * (m.Data[0][1]*m.Data[1][2] - m.Data[1][1]*m.Data[0][2])
+	return x + y + z
+}
+
+// Invert inverts this matrix.
+//
+// Note that the inverse is not defined if the determinant is zero or extremely small.
+// In the case the determinant is zero the matrix will (usually) get filled with infinities
+func (m *Mat3) Invert() *Mat3 {
+
+	// https://www.cuemath.com/algebra/inverse-of-3x3-matrix/
+
+	// Manually inline the determinant function because go doesn't
+	x := m.Data[0][0] * (m.Data[1][1]*m.Data[2][2] - m.Data[2][1]*m.Data[1][2])
+	y := m.Data[1][0] * (m.Data[2][1]*m.Data[0][2] - m.Data[0][1]*m.Data[2][2])
+	z := m.Data[2][0] * (m.Data[0][1]*m.Data[1][2] - m.Data[1][1]*m.Data[0][2])
+
+	inverseDet := 1 / (x + y + z)
+
+	m.Data = [3][3]float32{
+		// Col0
+		{
+			(m.Data[1][1]*m.Data[2][2] - m.Data[2][1]*m.Data[1][2]) * inverseDet,
+			-(m.Data[0][1]*m.Data[2][2] - m.Data[2][1]*m.Data[0][2]) * inverseDet,
+			(m.Data[0][1]*m.Data[1][2] - m.Data[1][1]*m.Data[0][2]) * inverseDet,
+		},
+
+		// Col1
+		{
+			-(m.Data[1][0]*m.Data[2][2] - m.Data[2][0]*m.Data[1][2]) * inverseDet,
+			(m.Data[0][0]*m.Data[2][2] - m.Data[2][0]*m.Data[0][2]) * inverseDet,
+			-(m.Data[0][0]*m.Data[1][2] - m.Data[1][0]*m.Data[0][2]) * inverseDet,
+		},
+
+		// Col2
+		{
+			(m.Data[1][0]*m.Data[2][1] - m.Data[2][0]*m.Data[1][1]) * inverseDet,
+			-(m.Data[0][0]*m.Data[2][1] - m.Data[2][0]*m.Data[0][1]) * inverseDet,
+			(m.Data[0][0]*m.Data[1][1] - m.Data[1][0]*m.Data[0][1]) * inverseDet,
+		},
+	}
+
+	return m
+}
+
+// ToMat2 returns a Mat2 that contains the top-left 2x2 section of the Mat3.
+// That is, column 2 and row 2 are dropped.
+func (m *Mat3) ToMat2() Mat2 {
+	return Mat2{
+		Data: [2][2]float32{
+			{m.Data[0][0], m.Data[0][1]},
+			{m.Data[1][0], m.Data[1][1]},
+		},
+	}
+}
+
+// AddMat3 m3 = m1 + m2
+func AddMat3(m1, m2 *Mat3) Mat3 {
+	return Mat3{
 		Data: [3][3]float32{
 			{
 				m1.Data[0][0] + m2.Data[0][0],
@ -157,9 +227,9 @@ func AddMat3(m1, m2 *Mat3) *Mat3 {
 	}
 }

-//SubMat3 m3 = m1 - m2
-func SubMat3(m1, m2 *Mat3) *Mat3 {
-	return &Mat3{
+// SubMat3 m3 = m1 - m2
+func SubMat3(m1, m2 *Mat3) Mat3 {
+	return Mat3{
 		Data: [3][3]float32{
 			{
 				m1.Data[0][0] - m2.Data[0][0],
@ -180,8 +250,8 @@ func SubMat3(m1, m2 *Mat3) *Mat3 {
 	}
 }

-//MulMat3 m3 = m1 * m2
-func MulMat3(m1, m2 *Mat3) *Mat3 {
+// MulMat3 m3 = m1 * m2
+func MulMat3(m1, m2 *Mat3) Mat3 {

 	m00 := m1.Data[0][0]
 	m01 := m1.Data[0][1]
@ -195,7 +265,7 @@ func MulMat3(m1, m2 *Mat3) *Mat3 {
 	m21 := m1.Data[2][1]
 	m22 := m1.Data[2][2]

-	return &Mat3{
+	return Mat3{
 		Data: [3][3]float32{
 			{
 				m00*m2.Data[0][0] + m10*m2.Data[0][1] + m20*m2.Data[0][2],
@ -216,9 +286,9 @@ func MulMat3(m1, m2 *Mat3) *Mat3 {
 	}
 }

-//MulMat3Vec3 v2 = m1 * v1
-func MulMat3Vec3(m1 *Mat3, v1 *Vec3) *Vec3 {
-	return &Vec3{
+// MulMat3Vec3 v2 = m1 * v1
+func MulMat3Vec3(m1 *Mat3, v1 *Vec3) Vec3 {
+	return Vec3{
 		Data: [3]float32{
 			m1.Data[0][0]*v1.Data[0] + m1.Data[1][0]*v1.Data[1] + m1.Data[2][0]*v1.Data[2],
 			m1.Data[0][1]*v1.Data[0] + m1.Data[1][1]*v1.Data[1] + m1.Data[2][1]*v1.Data[2],
@ -227,9 +297,9 @@ func MulMat3Vec3(m1 *Mat3, v1 *Vec3) *Vec3 {
 	}
 }

-//NewMat3Id returns the 3x3 identity matrix
-func NewMat3Id() *Mat3 {
-	return &Mat3{
+// NewMat3Id returns the 3x3 identity matrix
+func NewMat3Id() Mat3 {
+	return Mat3{
 		Data: [3][3]float32{
 			{1, 0, 0},
 			{0, 1, 0},
@ -237,3 +307,43 @@ func NewMat3Id() *Mat3 {
 		},
 	}
 }
+
+func NewMat3Diag(diagVal float32) Mat3 {
+	return Mat3{
+		Data: [3][3]float32{
+			{diagVal, 0, 0},
+			{0, diagVal, 0},
+			{0, 0, diagVal},
+		},
+	}
+}
+
+func NewMat3DiagArr(diag [3]float32) Mat3 {
+	return Mat3{
+		Data: [3][3]float32{
+			{diag[0], 0, 0},
+			{0, diag[1], 0},
+			{0, 0, diag[2]},
+		},
+	}
+}
+
+func NewMat3Vec3(col0, col1, col2 *Vec3) Mat3 {
+	return Mat3{
+		Data: [3][3]float32{
+			col0.Data,
+			col1.Data,
+			col2.Data,
+		},
+	}
+}
+
+func NewMat3Arr(col0, col1, col2 [3]float32) Mat3 {
+	return Mat3{
+		Data: [3][3]float32{
+			col0,
+			col1,
+			col2,
+		},
+	}
+}
--- a/gglm/mat3_test.go
+++ b/gglm/mat3_test.go
@ -162,12 +162,89 @@ func TestMulMat3Vec3(t *testing.T) {
 	}
 }

+func TestTransposeMat3(t *testing.T) {
+
+	m := gglm.NewMat3Id()
+	ans := gglm.NewMat3Id()
+
+	if !m.Transpose().Transpose().Eq(&ans) {
+		t.Errorf("Got: %v; Expected: %v", m.String(), ans.String())
+	}
+
+	if !m.Transpose().Eq(&ans) {
+		t.Errorf("Got: %v; Expected: %v", m.String(), ans.String())
+	}
+
+	m.Data = [3][3]float32{
+		{00, 01, 02},
+		{10, 11, 12},
+		{20, 21, 22},
+	}
+
+	ans.Data = [3][3]float32{
+		{00, 10, 20},
+		{01, 11, 21},
+		{02, 12, 22},
+	}
+
+	if !m.Transpose().Eq(&ans) {
+		t.Errorf("Got: %v; Expected: %v", m.String(), ans.String())
+	}
+}
+
+func TestDeterminantMat3(t *testing.T) {
+
+	m := gglm.NewMat3Id()
+	ans := float32(1)
+
+	if m.Determinant() != ans {
+		t.Errorf("Got: %f; Expected: %f", m.Determinant(), ans)
+	}
+
+	m.Data = [3][3]float32{
+		{1, 8, 2},
+		{5, 3, 5},
+		{9, 6, 7},
+	}
+	ans = 77
+
+	if m.Determinant() != ans {
+		t.Errorf("Got: %f; Expected: %f", m.Determinant(), ans)
+	}
+}
+
+func TestInvertMat3(t *testing.T) {
+
+	m := gglm.NewMat3Id()
+	ans := gglm.NewMat3Id()
+
+	if !m.Invert().Eq(&ans) {
+		t.Errorf("Got: %v; Expected: %v", m.String(), ans.String())
+	}
+
+	m.Data = [3][3]float32{
+		{1, 8, 2},
+		{5, 3, 5},
+		{9, 6, 7},
+	}
+
+	ans.Data = [3][3]float32{
+		{-9 / 77.0, -4 / 7.0, 34 / 77.0},
+		{10 / 77.0, -1 / 7.0, 5 / 77.0},
+		{3 / 77.0, 6 / 7.0, -37 / 77.0},
+	}
+
+	if !m.Invert().Eq(&ans) {
+		t.Errorf("Got: %v; Expected: %v", m.String(), ans.String())
+	}
+}
+
 func BenchmarkMulMat3(b *testing.B) {

 	m1 := gglm.NewMat3Id()
 	m2 := gglm.NewMat3Id()

 	for i := 0; i < b.N; i++ {
-		m1.Mul(m2)
+		m1.Mul(&m2)
 	}
 }
--- a/gglm/mat4.go
+++ b/gglm/mat4.go
@ -36,7 +36,7 @@ func (m *Mat4) Col(c int) *Vec4 {
 	return &Vec4{Data: m.Data[c]}
 }

-//Add m += m2
+// Add m += m2
 func (m *Mat4) Add(m2 *Mat4) *Mat4 {

 	m.Data[0][0] += m2.Data[0][0]
@ -62,7 +62,7 @@ func (m *Mat4) Add(m2 *Mat4) *Mat4 {
 	return m
 }

-//Add m -= m2
+// Add m -= m2
 func (m *Mat4) Sub(m2 *Mat4) *Mat4 {

 	m.Data[0][0] -= m2.Data[0][0]
@ -87,7 +87,7 @@ func (m *Mat4) Sub(m2 *Mat4) *Mat4 {
 	return m
 }

-//Mul m *= m2
+// Mul m *= m2
 func (m *Mat4) Mul(m2 *Mat4) *Mat4 {

 	//Array indices:
@ -147,7 +147,7 @@ func (m *Mat4) Mul(m2 *Mat4) *Mat4 {
 	return m
 }

-//Scale m *= x (element wise multiplication)
+// Scale m *= x (element wise multiplication)
 func (m *Mat4) Scale(x float32) *Mat4 {

 	m.Data[0][0] *= x
@ -180,9 +180,323 @@ func (m *Mat4) Eq(m2 *Mat4) bool {
 	return m.Data == m2.Data
 }

-//AddMat4 m3 = m1 + m2
-func AddMat4(m1, m2 *Mat4) *Mat4 {
-	return &Mat4{
+func (m *Mat4) Transpose() *Mat4 {
+
+	m.Data = [4][4]float32{
+		{m.Data[0][0], m.Data[1][0], m.Data[2][0], m.Data[3][0]},
+		{m.Data[0][1], m.Data[1][1], m.Data[2][1], m.Data[3][1]},
+		{m.Data[0][2], m.Data[1][2], m.Data[2][2], m.Data[3][2]},
+		{m.Data[0][3], m.Data[1][3], m.Data[2][3], m.Data[3][3]},
+	}
+
+	return m
+}
+
+func (m *Mat4) Determinant() float32 {
+
+	// Many thanks to the C++ GLM project here :)
+
+	coef00 := m.Data[2][2]*m.Data[3][3] - m.Data[3][2]*m.Data[2][3]
+	coef02 := m.Data[1][2]*m.Data[3][3] - m.Data[3][2]*m.Data[1][3]
+	coef03 := m.Data[1][2]*m.Data[2][3] - m.Data[2][2]*m.Data[1][3]
+
+	coef04 := m.Data[2][1]*m.Data[3][3] - m.Data[3][1]*m.Data[2][3]
+	coef06 := m.Data[1][1]*m.Data[3][3] - m.Data[3][1]*m.Data[1][3]
+	coef07 := m.Data[1][1]*m.Data[2][3] - m.Data[2][1]*m.Data[1][3]
+
+	coef08 := m.Data[2][1]*m.Data[3][2] - m.Data[3][1]*m.Data[2][2]
+	coef10 := m.Data[1][1]*m.Data[3][2] - m.Data[3][1]*m.Data[1][2]
+	coef11 := m.Data[1][1]*m.Data[2][2] - m.Data[2][1]*m.Data[1][2]
+
+	coef12 := m.Data[2][0]*m.Data[3][3] - m.Data[3][0]*m.Data[2][3]
+	coef14 := m.Data[1][0]*m.Data[3][3] - m.Data[3][0]*m.Data[1][3]
+	coef15 := m.Data[1][0]*m.Data[2][3] - m.Data[2][0]*m.Data[1][3]
+
+	coef16 := m.Data[2][0]*m.Data[3][2] - m.Data[3][0]*m.Data[2][2]
+	coef18 := m.Data[1][0]*m.Data[3][2] - m.Data[3][0]*m.Data[1][2]
+	coef19 := m.Data[1][0]*m.Data[2][2] - m.Data[2][0]*m.Data[1][2]
+
+	coef20 := m.Data[2][0]*m.Data[3][1] - m.Data[3][0]*m.Data[2][1]
+	coef22 := m.Data[1][0]*m.Data[3][1] - m.Data[3][0]*m.Data[1][1]
+	coef23 := m.Data[1][0]*m.Data[2][1] - m.Data[2][0]*m.Data[1][1]
+
+	fac0 := NewVec4(coef00, coef00, coef02, coef03)
+	fac1 := NewVec4(coef04, coef04, coef06, coef07)
+	fac2 := NewVec4(coef08, coef08, coef10, coef11)
+	fac3 := NewVec4(coef12, coef12, coef14, coef15)
+	fac4 := NewVec4(coef16, coef16, coef18, coef19)
+	fac5 := NewVec4(coef20, coef20, coef22, coef23)
+
+	vec0 := NewVec4(m.Data[1][0], m.Data[0][0], m.Data[0][0], m.Data[0][0])
+	vec1 := NewVec4(m.Data[1][1], m.Data[0][1], m.Data[0][1], m.Data[0][1])
+	vec2 := NewVec4(m.Data[1][2], m.Data[0][2], m.Data[0][2], m.Data[0][2])
+	vec3 := NewVec4(m.Data[1][3], m.Data[0][3], m.Data[0][3], m.Data[0][3])
+
+	inv0 := NewVec4(
+		vec1.X()*fac0.X()-vec2.X()*fac1.X()+vec3.X()*fac2.X(),
+		vec1.Y()*fac0.Y()-vec2.Y()*fac1.Y()+vec3.Y()*fac2.Y(),
+		vec1.Z()*fac0.Z()-vec2.Z()*fac1.Z()+vec3.Z()*fac2.Z(),
+		vec1.W()*fac0.W()-vec2.W()*fac1.W()+vec3.W()*fac2.W(),
+	)
+
+	inv1 := NewVec4(
+		vec0.X()*fac0.X()-vec2.X()*fac3.X()+vec3.X()*fac4.X(),
+		vec0.Y()*fac0.Y()-vec2.Y()*fac3.Y()+vec3.Y()*fac4.Y(),
+		vec0.Z()*fac0.Z()-vec2.Z()*fac3.Z()+vec3.Z()*fac4.Z(),
+		vec0.W()*fac0.W()-vec2.W()*fac3.W()+vec3.W()*fac4.W(),
+	)
+
+	inv2 := NewVec4(
+		vec0.X()*fac1.X()-vec1.X()*fac3.X()+vec3.X()*fac5.X(),
+		vec0.Y()*fac1.Y()-vec1.Y()*fac3.Y()+vec3.Y()*fac5.Y(),
+		vec0.Z()*fac1.Z()-vec1.Z()*fac3.Z()+vec3.Z()*fac5.Z(),
+		vec0.W()*fac1.W()-vec1.W()*fac3.W()+vec3.W()*fac5.W(),
+	)
+
+	inv3 := NewVec4(
+		vec0.X()*fac2.X()-vec1.X()*fac4.X()+vec2.X()*fac5.X(),
+		vec0.Y()*fac2.Y()-vec1.Y()*fac4.Y()+vec2.Y()*fac5.Y(),
+		vec0.Z()*fac2.Z()-vec1.Z()*fac4.Z()+vec2.Z()*fac5.Z(),
+		vec0.W()*fac2.W()-vec1.W()*fac4.W()+vec2.W()*fac5.W(),
+	)
+
+	signA := NewVec4(+1, -1, +1, -1)
+	signB := NewVec4(-1, +1, -1, +1)
+
+	inverse := NewMat4Arr(
+		inv0.ScaleVec(&signA).Data,
+		inv1.ScaleVec(&signB).Data,
+		inv2.ScaleVec(&signA).Data,
+		inv3.ScaleVec(&signB).Data,
+	)
+
+	row0 := NewVec4(inverse.Data[0][0], inverse.Data[1][0], inverse.Data[2][0], inverse.Data[3][0])
+	dot0 := NewVec4Arr(row0.ScaleArr(m.Data[0]).Data)
+	det := (dot0.X() + dot0.Y()) + (dot0.Z() + dot0.W())
+
+	return det
+}
+
+// Invert inverts this matrix.
+//
+// Note that the inverse is not defined if the determinant is zero or extremely small.
+// In the case the determinant is zero the matrix will (usually) get filled with infinities
+func (m *Mat4) Invert() *Mat4 {
+
+	// Many thanks to the C++ GLM project here :)
+
+	coef00 := m.Data[2][2]*m.Data[3][3] - m.Data[3][2]*m.Data[2][3]
+	coef02 := m.Data[1][2]*m.Data[3][3] - m.Data[3][2]*m.Data[1][3]
+	coef03 := m.Data[1][2]*m.Data[2][3] - m.Data[2][2]*m.Data[1][3]
+
+	coef04 := m.Data[2][1]*m.Data[3][3] - m.Data[3][1]*m.Data[2][3]
+	coef06 := m.Data[1][1]*m.Data[3][3] - m.Data[3][1]*m.Data[1][3]
+	coef07 := m.Data[1][1]*m.Data[2][3] - m.Data[2][1]*m.Data[1][3]
+
+	coef08 := m.Data[2][1]*m.Data[3][2] - m.Data[3][1]*m.Data[2][2]
+	coef10 := m.Data[1][1]*m.Data[3][2] - m.Data[3][1]*m.Data[1][2]
+	coef11 := m.Data[1][1]*m.Data[2][2] - m.Data[2][1]*m.Data[1][2]
+
+	coef12 := m.Data[2][0]*m.Data[3][3] - m.Data[3][0]*m.Data[2][3]
+	coef14 := m.Data[1][0]*m.Data[3][3] - m.Data[3][0]*m.Data[1][3]
+	coef15 := m.Data[1][0]*m.Data[2][3] - m.Data[2][0]*m.Data[1][3]
+
+	coef16 := m.Data[2][0]*m.Data[3][2] - m.Data[3][0]*m.Data[2][2]
+	coef18 := m.Data[1][0]*m.Data[3][2] - m.Data[3][0]*m.Data[1][2]
+	coef19 := m.Data[1][0]*m.Data[2][2] - m.Data[2][0]*m.Data[1][2]
+
+	coef20 := m.Data[2][0]*m.Data[3][1] - m.Data[3][0]*m.Data[2][1]
+	coef22 := m.Data[1][0]*m.Data[3][1] - m.Data[3][0]*m.Data[1][1]
+	coef23 := m.Data[1][0]*m.Data[2][1] - m.Data[2][0]*m.Data[1][1]
+
+	fac0 := NewVec4(coef00, coef00, coef02, coef03)
+	fac1 := NewVec4(coef04, coef04, coef06, coef07)
+	fac2 := NewVec4(coef08, coef08, coef10, coef11)
+	fac3 := NewVec4(coef12, coef12, coef14, coef15)
+	fac4 := NewVec4(coef16, coef16, coef18, coef19)
+	fac5 := NewVec4(coef20, coef20, coef22, coef23)
+
+	vec0 := NewVec4(m.Data[1][0], m.Data[0][0], m.Data[0][0], m.Data[0][0])
+	vec1 := NewVec4(m.Data[1][1], m.Data[0][1], m.Data[0][1], m.Data[0][1])
+	vec2 := NewVec4(m.Data[1][2], m.Data[0][2], m.Data[0][2], m.Data[0][2])
+	vec3 := NewVec4(m.Data[1][3], m.Data[0][3], m.Data[0][3], m.Data[0][3])
+
+	inv0 := NewVec4(
+		vec1.X()*fac0.X()-vec2.X()*fac1.X()+vec3.X()*fac2.X(),
+		vec1.Y()*fac0.Y()-vec2.Y()*fac1.Y()+vec3.Y()*fac2.Y(),
+		vec1.Z()*fac0.Z()-vec2.Z()*fac1.Z()+vec3.Z()*fac2.Z(),
+		vec1.W()*fac0.W()-vec2.W()*fac1.W()+vec3.W()*fac2.W(),
+	)
+
+	inv1 := NewVec4(
+		vec0.X()*fac0.X()-vec2.X()*fac3.X()+vec3.X()*fac4.X(),
+		vec0.Y()*fac0.Y()-vec2.Y()*fac3.Y()+vec3.Y()*fac4.Y(),
+		vec0.Z()*fac0.Z()-vec2.Z()*fac3.Z()+vec3.Z()*fac4.Z(),
+		vec0.W()*fac0.W()-vec2.W()*fac3.W()+vec3.W()*fac4.W(),
+	)
+
+	inv2 := NewVec4(
+		vec0.X()*fac1.X()-vec1.X()*fac3.X()+vec3.X()*fac5.X(),
+		vec0.Y()*fac1.Y()-vec1.Y()*fac3.Y()+vec3.Y()*fac5.Y(),
+		vec0.Z()*fac1.Z()-vec1.Z()*fac3.Z()+vec3.Z()*fac5.Z(),
+		vec0.W()*fac1.W()-vec1.W()*fac3.W()+vec3.W()*fac5.W(),
+	)
+
+	inv3 := NewVec4(
+		vec0.X()*fac2.X()-vec1.X()*fac4.X()+vec2.X()*fac5.X(),
+		vec0.Y()*fac2.Y()-vec1.Y()*fac4.Y()+vec2.Y()*fac5.Y(),
+		vec0.Z()*fac2.Z()-vec1.Z()*fac4.Z()+vec2.Z()*fac5.Z(),
+		vec0.W()*fac2.W()-vec1.W()*fac4.W()+vec2.W()*fac5.W(),
+	)
+
+	signA := NewVec4(+1, -1, +1, -1)
+	signB := NewVec4(-1, +1, -1, +1)
+
+	inverse := NewMat4Arr(
+		inv0.ScaleVec(&signA).Data,
+		inv1.ScaleVec(&signB).Data,
+		inv2.ScaleVec(&signA).Data,
+		inv3.ScaleVec(&signB).Data,
+	)
+
+	row0 := NewVec4(inverse.Data[0][0], inverse.Data[1][0], inverse.Data[2][0], inverse.Data[3][0])
+	dot0 := NewVec4Arr(row0.ScaleArr(m.Data[0]).Data)
+	det := (dot0.X() + dot0.Y()) + (dot0.Z() + dot0.W())
+
+	inverseDet := 1.0 / det
+
+	m.Data = inverse.Scale(inverseDet).Data
+	return m
+}
+
+// InvertAndTranspose is equivalent to m.Invert().Transpose(), that is invert first, then transpose the inverted matrix.
+//
+// This function is provided as a convenience and as a small optimization, as it inlines the invert and transpose functions which means we only
+// have 1 function call.
+//
+// Additionally, the inverse of the matrix is written to the matrix immediately transposed instead of writing the inverse and then transposing it in a second operation.
+func (m *Mat4) InvertAndTranspose() *Mat4 {
+
+	// Many thanks to the C++ GLM project here :)
+
+	coef00 := m.Data[2][2]*m.Data[3][3] - m.Data[3][2]*m.Data[2][3]
+	coef02 := m.Data[1][2]*m.Data[3][3] - m.Data[3][2]*m.Data[1][3]
+	coef03 := m.Data[1][2]*m.Data[2][3] - m.Data[2][2]*m.Data[1][3]
+
+	coef04 := m.Data[2][1]*m.Data[3][3] - m.Data[3][1]*m.Data[2][3]
+	coef06 := m.Data[1][1]*m.Data[3][3] - m.Data[3][1]*m.Data[1][3]
+	coef07 := m.Data[1][1]*m.Data[2][3] - m.Data[2][1]*m.Data[1][3]
+
+	coef08 := m.Data[2][1]*m.Data[3][2] - m.Data[3][1]*m.Data[2][2]
+	coef10 := m.Data[1][1]*m.Data[3][2] - m.Data[3][1]*m.Data[1][2]
+	coef11 := m.Data[1][1]*m.Data[2][2] - m.Data[2][1]*m.Data[1][2]
+
+	coef12 := m.Data[2][0]*m.Data[3][3] - m.Data[3][0]*m.Data[2][3]
+	coef14 := m.Data[1][0]*m.Data[3][3] - m.Data[3][0]*m.Data[1][3]
+	coef15 := m.Data[1][0]*m.Data[2][3] - m.Data[2][0]*m.Data[1][3]
+
+	coef16 := m.Data[2][0]*m.Data[3][2] - m.Data[3][0]*m.Data[2][2]
+	coef18 := m.Data[1][0]*m.Data[3][2] - m.Data[3][0]*m.Data[1][2]
+	coef19 := m.Data[1][0]*m.Data[2][2] - m.Data[2][0]*m.Data[1][2]
+
+	coef20 := m.Data[2][0]*m.Data[3][1] - m.Data[3][0]*m.Data[2][1]
+	coef22 := m.Data[1][0]*m.Data[3][1] - m.Data[3][0]*m.Data[1][1]
+	coef23 := m.Data[1][0]*m.Data[2][1] - m.Data[2][0]*m.Data[1][1]
+
+	fac0 := NewVec4(coef00, coef00, coef02, coef03)
+	fac1 := NewVec4(coef04, coef04, coef06, coef07)
+	fac2 := NewVec4(coef08, coef08, coef10, coef11)
+	fac3 := NewVec4(coef12, coef12, coef14, coef15)
+	fac4 := NewVec4(coef16, coef16, coef18, coef19)
+	fac5 := NewVec4(coef20, coef20, coef22, coef23)
+
+	vec0 := NewVec4(m.Data[1][0], m.Data[0][0], m.Data[0][0], m.Data[0][0])
+	vec1 := NewVec4(m.Data[1][1], m.Data[0][1], m.Data[0][1], m.Data[0][1])
+	vec2 := NewVec4(m.Data[1][2], m.Data[0][2], m.Data[0][2], m.Data[0][2])
+	vec3 := NewVec4(m.Data[1][3], m.Data[0][3], m.Data[0][3], m.Data[0][3])
+
+	inv0 := NewVec4(
+		vec1.X()*fac0.X()-vec2.X()*fac1.X()+vec3.X()*fac2.X(),
+		vec1.Y()*fac0.Y()-vec2.Y()*fac1.Y()+vec3.Y()*fac2.Y(),
+		vec1.Z()*fac0.Z()-vec2.Z()*fac1.Z()+vec3.Z()*fac2.Z(),
+		vec1.W()*fac0.W()-vec2.W()*fac1.W()+vec3.W()*fac2.W(),
+	)
+
+	inv1 := NewVec4(
+		vec0.X()*fac0.X()-vec2.X()*fac3.X()+vec3.X()*fac4.X(),
+		vec0.Y()*fac0.Y()-vec2.Y()*fac3.Y()+vec3.Y()*fac4.Y(),
+		vec0.Z()*fac0.Z()-vec2.Z()*fac3.Z()+vec3.Z()*fac4.Z(),
+		vec0.W()*fac0.W()-vec2.W()*fac3.W()+vec3.W()*fac4.W(),
+	)
+
+	inv2 := NewVec4(
+		vec0.X()*fac1.X()-vec1.X()*fac3.X()+vec3.X()*fac5.X(),
+		vec0.Y()*fac1.Y()-vec1.Y()*fac3.Y()+vec3.Y()*fac5.Y(),
+		vec0.Z()*fac1.Z()-vec1.Z()*fac3.Z()+vec3.Z()*fac5.Z(),
+		vec0.W()*fac1.W()-vec1.W()*fac3.W()+vec3.W()*fac5.W(),
+	)
+
+	inv3 := NewVec4(
+		vec0.X()*fac2.X()-vec1.X()*fac4.X()+vec2.X()*fac5.X(),
+		vec0.Y()*fac2.Y()-vec1.Y()*fac4.Y()+vec2.Y()*fac5.Y(),
+		vec0.Z()*fac2.Z()-vec1.Z()*fac4.Z()+vec2.Z()*fac5.Z(),
+		vec0.W()*fac2.W()-vec1.W()*fac4.W()+vec2.W()*fac5.W(),
+	)
+
+	signA := NewVec4(+1, -1, +1, -1)
+	signB := NewVec4(-1, +1, -1, +1)
+
+	inverse := NewMat4Arr(
+		inv0.ScaleVec(&signA).Data,
+		inv1.ScaleVec(&signB).Data,
+		inv2.ScaleVec(&signA).Data,
+		inv3.ScaleVec(&signB).Data,
+	)
+
+	row0 := NewVec4(inverse.Data[0][0], inverse.Data[1][0], inverse.Data[2][0], inverse.Data[3][0])
+	dot0 := NewVec4Arr(row0.ScaleArr(m.Data[0]).Data)
+	det := (dot0.X() + dot0.Y()) + (dot0.Z() + dot0.W())
+
+	inverseDet := 1.0 / det
+	inverse.Scale(inverseDet)
+
+	// Manually inline transpose
+	m.Data = [4][4]float32{
+		{inverse.Data[0][0], inverse.Data[1][0], inverse.Data[2][0], inverse.Data[3][0]},
+		{inverse.Data[0][1], inverse.Data[1][1], inverse.Data[2][1], inverse.Data[3][1]},
+		{inverse.Data[0][2], inverse.Data[1][2], inverse.Data[2][2], inverse.Data[3][2]},
+		{inverse.Data[0][3], inverse.Data[1][3], inverse.Data[2][3], inverse.Data[3][3]},
+	}
+
+	return m
+}
+
+// ToMat2 returns a Mat2 that contains the top-left 2x2 section of the Mat4.
+// That is, columns 2 and 3, and rows 2 and 3, are dropped.
+func (m *Mat4) ToMat2() Mat2 {
+	return Mat2{
+		Data: [2][2]float32{
+			{m.Data[0][0], m.Data[0][1]},
+			{m.Data[1][0], m.Data[1][1]},
+		},
+	}
+}
+
+// ToMat3 returns a Mat3 that contains the top-left 3x3 section of the Mat4.
+// That is, column 3 and row 3 are dropped.
+func (m *Mat4) ToMat3() Mat3 {
+	return Mat3{
+		Data: [3][3]float32{
+			{m.Data[0][0], m.Data[0][1], m.Data[0][2]},
+			{m.Data[1][0], m.Data[1][1], m.Data[1][2]},
+			{m.Data[2][0], m.Data[2][1], m.Data[2][2]},
+		},
+	}
+}
+
+// AddMat4 m3 = m1 + m2
+func AddMat4(m1, m2 *Mat4) Mat4 {
+	return Mat4{
 		Data: [4][4]float32{
 			{
 				m1.Data[0][0] + m2.Data[0][0],
@ -212,9 +526,9 @@ func AddMat4(m1, m2 *Mat4) *Mat4 {
 	}
 }

-//SubMat4 m3 = m1 - m2
-func SubMat4(m1, m2 *Mat4) *Mat4 {
-	return &Mat4{
+// SubMat4 m3 = m1 - m2
+func SubMat4(m1, m2 *Mat4) Mat4 {
+	return Mat4{
 		Data: [4][4]float32{
 			{
 				m1.Data[0][0] - m2.Data[0][0],
@ -244,8 +558,8 @@ func SubMat4(m1, m2 *Mat4) *Mat4 {
 	}
 }

-//MulMat4 m3 = m1 * m2
-func MulMat4(m1, m2 *Mat4) *Mat4 {
+// MulMat4 m3 = m1 * m2
+func MulMat4(m1, m2 *Mat4) Mat4 {

 	m00 := m1.Data[0][0]
 	m01 := m1.Data[0][1]
@ -267,7 +581,7 @@ func MulMat4(m1, m2 *Mat4) *Mat4 {
 	m32 := m1.Data[3][2]
 	m33 := m1.Data[3][3]

-	return &Mat4{
+	return Mat4{
 		Data: [4][4]float32{
 			{
 				m00*m2.Data[0][0] + m10*m2.Data[0][1] + m20*m2.Data[0][2] + m30*m2.Data[0][3],
@ -297,9 +611,9 @@ func MulMat4(m1, m2 *Mat4) *Mat4 {
 	}
 }

-//MulMat4Vec4 v2 = m1 * v1
-func MulMat4Vec4(m1 *Mat4, v1 *Vec4) *Vec4 {
-	return &Vec4{
+// MulMat4Vec4 v2 = m1 * v1
+func MulMat4Vec4(m1 *Mat4, v1 *Vec4) Vec4 {
+	return Vec4{
 		Data: [4]float32{
 			m1.Data[0][0]*v1.Data[0] + m1.Data[1][0]*v1.Data[1] + m1.Data[2][0]*v1.Data[2] + m1.Data[3][0]*v1.Data[3],
 			m1.Data[0][1]*v1.Data[0] + m1.Data[1][1]*v1.Data[1] + m1.Data[2][1]*v1.Data[2] + m1.Data[3][1]*v1.Data[3],
@ -309,9 +623,9 @@ func MulMat4Vec4(m1 *Mat4, v1 *Vec4) *Vec4 {
 	}
 }

-//NewMat4Id returns the 4x4 identity matrix
-func NewMat4Id() *Mat4 {
-	return &Mat4{
+// NewMat4Id returns the 4x4 identity matrix
+func NewMat4Id() Mat4 {
+	return Mat4{
 		Data: [4][4]float32{
 			{1, 0, 0, 0},
 			{0, 1, 0, 0},
@ -320,3 +634,47 @@ func NewMat4Id() *Mat4 {
 		},
 	}
 }
+
+func NewMat4Diag(diagVal float32) Mat4 {
+	return Mat4{
+		Data: [4][4]float32{
+			{diagVal, 0, 0, 0},
+			{0, diagVal, 0, 0},
+			{0, 0, diagVal, 0},
+			{0, 0, 0, diagVal},
+		},
+	}
+}
+
+func NewMat4DiagArr(diag [4]float32) Mat4 {
+	return Mat4{
+		Data: [4][4]float32{
+			{diag[0], 0, 0, 0},
+			{0, diag[1], 0, 0},
+			{0, 0, diag[2], 0},
+			{0, 0, 0, diag[3]},
+		},
+	}
+}
+
+func NewMat4Vec4(col0, col1, col2, col3 *Vec4) Mat4 {
+	return Mat4{
+		Data: [4][4]float32{
+			col0.Data,
+			col1.Data,
+			col2.Data,
+			col3.Data,
+		},
+	}
+}
+
+func NewMat4Arr(col0, col1, col2, col3 [4]float32) *Mat4 {
+	return &Mat4{
+		Data: [4][4]float32{
+			col0,
+			col1,
+			col2,
+			col3,
+		},
+	}
+}
--- a/gglm/mat4_test.go
+++ b/gglm/mat4_test.go
@ -7,7 +7,7 @@ import (
 )

 var (
-	mulMat4Vec4Res *gglm.Vec4
+	mulMat4Vec4Res gglm.Vec4
 )

 func TestMat4GetSet(t *testing.T) {
@ -182,13 +182,124 @@ func TestMulMat4Vec4(t *testing.T) {
 	}
 }

+func TestTransposeMat4(t *testing.T) {
+
+	m := gglm.NewMat4Id()
+	ans := gglm.NewMat4Id()
+
+	if !m.Transpose().Transpose().Eq(&ans) {
+		t.Errorf("Got: %v; Expected: %v", m.String(), ans.String())
+	}
+
+	if !m.Transpose().Eq(&ans) {
+		t.Errorf("Got: %v; Expected: %v", m.String(), ans.String())
+	}
+
+	m.Data = [4][4]float32{
+		{00, 01, 02, 03},
+		{10, 11, 12, 13},
+		{20, 21, 22, 23},
+		{30, 31, 32, 33},
+	}
+
+	ans.Data = [4][4]float32{
+		{00, 10, 20, 30},
+		{01, 11, 21, 31},
+		{02, 12, 22, 32},
+		{03, 13, 23, 33},
+	}
+
+	if !m.Transpose().Eq(&ans) {
+		t.Errorf("Got: %v; Expected: %v", m.String(), ans.String())
+	}
+}
+
+func TestDeterminantMat4(t *testing.T) {
+
+	m := gglm.NewMat4Id()
+	ans := float32(1)
+
+	if m.Determinant() != ans {
+		t.Errorf("Got: %f; Expected: %f", m.Determinant(), ans)
+	}
+
+	m.Data = [4][4]float32{
+		{1, 0, 2, 1},
+		{2, 1, 3, 0},
+		{3, 0, 4, 1},
+		{4, 1, 5, 1},
+	}
+	ans = -2
+
+	if m.Determinant() != ans {
+		t.Errorf("Got: %f; Expected: %f", m.Determinant(), ans)
+	}
+}
+
+func TestInvertMat4(t *testing.T) {
+
+	m := gglm.NewMat4Id()
+	ans := gglm.NewMat4Id()
+
+	if !m.Invert().Eq(&ans) {
+		t.Errorf("Got: %v; Expected: %v", m.String(), ans.String())
+	}
+
+	m.Data = [4][4]float32{
+		{1, 0, 2, 1},
+		{2, 1, 3, 0},
+		{3, 0, 4, 1},
+		{4, 1, 5, 1},
+	}
+
+	ans.Data = [4][4]float32{
+		{-1, -1, 0, 1},
+		{0.5, 0, -3 / 2.0, 1},
+		{0.5, 1, 0.5, -1},
+		{1, -1, -1, 1},
+	}
+
+	if !m.Invert().Eq(&ans) {
+		t.Errorf("Got: %v\nExpected: %v;\n", m.String(), ans.String())
+	}
+}
+
+func TestInvertAndTransposeMat4(t *testing.T) {
+
+	m := gglm.NewMat4Id()
+	ans := gglm.NewMat4Id()
+	ans.Transpose()
+
+	if !m.InvertAndTranspose().Eq(&ans) {
+		t.Errorf("Got: %v; Expected: %v", m.String(), ans.String())
+	}
+
+	m.Data = [4][4]float32{
+		{1, 0, 2, 1},
+		{2, 1, 3, 0},
+		{3, 0, 4, 1},
+		{4, 1, 5, 1},
+	}
+
+	ans.Data = [4][4]float32{
+		{-1, -1, 0, 1},
+		{0.5, 0, -3 / 2.0, 1},
+		{0.5, 1, 0.5, -1},
+		{1, -1, -1, 1},
+	}
+
+	if !m.InvertAndTranspose().Eq(ans.Transpose()) {
+		t.Errorf("Got: %v\nExpected: %v;\n", m.String(), ans.String())
+	}
+}
+
 func BenchmarkMulMat4(b *testing.B) {

 	m1 := gglm.NewMat4Id()
 	m2 := gglm.NewMat4Id()

 	for i := 0; i < b.N; i++ {
-		m1.Mul(m2)
+		m1.Mul(&m2)
 	}
 }

@ -198,6 +309,17 @@ func BenchmarkMulMat4Vec4(b *testing.B) {
 	v1 := gglm.Vec4{}

 	for i := 0; i < b.N; i++ {
-		mulMat4Vec4Res = gglm.MulMat4Vec4(m1, &v1)
+		mulMat4Vec4Res = gglm.MulMat4Vec4(&m1, &v1)
+	}
+}
+
+var mat4InvertRes *gglm.Mat4
+
+func BenchmarkMat4Invert(b *testing.B) {
+
+	m1 := gglm.NewMat4Id()
+
+	for i := 0; i < b.N; i++ {
+		mat4InvertRes = m1.Invert()
 	}
 }
--- a/gglm/quat.go
+++ b/gglm/quat.go
@ -11,12 +11,12 @@ type Quat struct {
 	Vec4
 }

-//Eq checks for exact equality
+// Eq checks for exact equality
 func (q *Quat) Eq(q2 *Quat) bool {
 	return q.Data == q2.Data
 }

-//Angle returns the angle represented by this quaternion in radians
+// Angle returns the angle represented by this quaternion in radians
 func (q *Quat) Angle() float32 {

 	if Abs32(q.Data[3]) > CosHalf {
@ -31,52 +31,31 @@ func (q *Quat) Angle() float32 {
 	return Acos32(q.Data[3]) * 2
 }

-//Axis returns the rotation axis represented by this quaternion
-func (q *Quat) Axis() *Vec3 {
+// 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}}
+		return Vec3{Data: [3]float32{0, 0, 1}}
 	}

 	t = 1 / Sqrt32(t)
-	return &Vec3{Data: [3]float32{
+	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 {
-
-	//Some other common terminology: x=roll, y=pitch, z=yaw
-	sinX, cosX := Sincos32(v.Data[0] * 0.5)
-	sinY, cosY := Sincos32(v.Data[1] * 0.5)
-	sinZ, cosZ := Sincos32(v.Data[2] * 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,
-			},
-		},
-	}
+// NewQuatEulerVec takes rotations in radians and produces a rotation that
+// rotates around the z-axis, y-axis and lastly x-axis.
+func NewQuatEulerVec(v *Vec3) Quat {
+	return NewQuatEuler(v.X(), v.Y(), v.Z())
 }

-//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 {
+// NewQuatEuler takes rotations in radians and produces a rotation that
+// rotates around the z-axis, y-axis and lastly x-axis.
+func NewQuatEuler(x, y, z float32) Quat {

 	//Some other common terminology: x=roll, y=pitch, z=yaw
 	sinX, cosX := Sincos32(x * 0.5)
@ -89,7 +68,7 @@ func NewQuatEulerXYZ(x, y, z float32) *Quat {
 	//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{
+	return Quat{
 		Vec4: Vec4{
 			Data: [4]float32{
 				sinX*cosY*cosZ - cosX*sinY*sinZ,
@ -101,26 +80,55 @@ func NewQuatEulerXYZ(x, y, z float32) *Quat {
 	}
 }

-//NewQuatAngleAxis produces a quaternion thats rotates rotRad radians around the *normalized* vector rotAxisNorm
-func NewQuatAngleAxis(rotRad float32, rotAxisNorm *Vec3) *Quat {
+// NewQuatAngleAxisVec produces a quaternion thats rotates rotRad radians around the *normalized* vector rotAxisNorm
+func NewQuatAngleAxisVec(rotRad float32, rotAxisNorm *Vec3) Quat {
+	return NewQuatAngleAxis(rotRad, rotAxisNorm.X(), rotAxisNorm.Y(), rotAxisNorm.Z())
+}
+
+// NewQuatAngleAxis produces a quaternion thats rotates rotRad radians around the *normalized* vector rotAxisNorm
+func NewQuatAngleAxis(rotRad float32, rotAxisNormX, rotAxisNormY, rotAxisNormZ float32) Quat {

 	s, c := Sincos32(rotRad * 0.5)
-	return &Quat{
+	return Quat{
 		Vec4: Vec4{
 			Data: [4]float32{
-				rotAxisNorm.Data[0] * s,
-				rotAxisNorm.Data[1] * s,
-				rotAxisNorm.Data[2] * s,
+				rotAxisNormX * s,
+				rotAxisNormY * s,
+				rotAxisNormZ * s,
 				c,
 			},
 		},
 	}
 }

-func NewQuatId() *Quat {
-	return &Quat{
+func NewQuatId() Quat {
+	return Quat{
 		Vec4: Vec4{
 			Data: [4]float32{0, 0, 0, 1},
 		},
 	}
 }
+
+func NewQuat(x, y, z, w float32) Quat {
+	return Quat{
+		Vec4: Vec4{
+			Data: [4]float32{x, y, z, w},
+		},
+	}
+}
+
+func NewQuatArr(arr [4]float32) Quat {
+	return Quat{
+		Vec4: Vec4{
+			Data: arr,
+		},
+	}
+}
+
+func NewQuatVec(v *Vec4) Quat {
+	return Quat{
+		Vec4: Vec4{
+			Data: v.Data,
+		},
+	}
+}
--- a/gglm/quat_test.go
+++ b/gglm/quat_test.go
@ -8,14 +8,16 @@ import (

 func TestNewQuatEuler(t *testing.T) {

-	q := gglm.NewQuatEuler(gglm.NewVec3(180, 180, 180).AsRad())
-	ans := &gglm.Quat{Vec4: *gglm.NewVec4(0, 0, 0, 1)}
+	degs := gglm.NewVec3(180, 180, 180)
+	degs.Data = degs.AsRad().Data
+	q := gglm.NewQuatEulerVec(&degs)
+	ans := &gglm.Quat{Vec4: gglm.NewVec4(0, 0, 0, 1)}

 	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)
+	q = gglm.NewQuatEuler(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())
@ -24,8 +26,9 @@ func TestNewQuatEuler(t *testing.T) {

 func TestNewQuatAngleAxis(t *testing.T) {

-	q := gglm.NewQuatAngleAxis(180*gglm.Deg2Rad, gglm.NewVec3(0, 1, 0))
-	ans := &gglm.Quat{Vec4: *gglm.NewVec4(0, 1, 0, 0)}
+	rotAxis := gglm.NewVec3(0, 1, 0)
+	q := gglm.NewQuatAngleAxisVec(180*gglm.Deg2Rad, &rotAxis)
+	ans := &gglm.Quat{Vec4: gglm.NewVec4(0, 1, 0, 0)}

 	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())
@ -34,21 +37,27 @@ func TestNewQuatAngleAxis(t *testing.T) {

 func TestQuatAngle(t *testing.T) {

-	a := gglm.NewQuatAngleAxis(180*gglm.Deg2Rad, gglm.NewVec3(0, 1, 0)).Angle()
+	rotAxis := gglm.NewVec3(0, 1, 0)
+	quat := gglm.NewQuatAngleAxisVec(180*gglm.Deg2Rad, &rotAxis)
+	a := quat.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()
+	rotAxis = gglm.NewVec3(1, 1, 0)
+	quat = gglm.NewQuatAngleAxisVec(90*gglm.Deg2Rad, rotAxis.Normalize())
+	a = quat.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()
+	rotAxis = gglm.NewVec3(1, 1, 0)
+	quat = gglm.NewQuatAngleAxisVec(125*gglm.Deg2Rad, rotAxis.Normalize())
+	a = quat.Angle()
 	ans = 125 * gglm.Deg2Rad

 	if !gglm.EqF32(a, ans) {
@ -58,22 +67,30 @@ func TestQuatAngle(t *testing.T) {

 func TestQuatAxis(t *testing.T) {

-	a := gglm.NewQuatAngleAxis(1, gglm.NewVec3(0, 1, 0)).Axis()
+	rotAxis := gglm.NewVec3(0, 1, 0)
+	quat := gglm.NewQuatAngleAxisVec(1, &rotAxis)
+	a := quat.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()
+	rotAxis = gglm.NewVec3(1, 1, 0)
+	quat = gglm.NewQuatAngleAxisVec(1, rotAxis.Normalize())
+	a = quat.Axis()
+	ans = gglm.NewVec3(1, 1, 0)
+	ans.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()
+	rotAxis = gglm.NewVec3(67, 46, 32)
+	quat = gglm.NewQuatAngleAxisVec(1, rotAxis.Normalize())
+	a = quat.Axis()
+	ans = gglm.NewVec3(67, 46, 32)
+	ans.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/scalar.go
+++ b/gglm/scalar.go
@ -2,12 +2,12 @@ package gglm

 import "math"

-//EqF32 true if abs(f1-f2) <= F32Epsilon
+// EqF32 true if abs(f1-f2) <= F32Epsilon
 func EqF32(f1, f2 float32) bool {
 	return math.Abs(float64(f1-f2)) <= float64(F32Epsilon)
 }

-//EqF32Epsilon true if abs(f1-f2) <= eps
+// EqF32Epsilon true if abs(f1-f2) <= eps
 func EqF32Epsilon(f1, f2, eps float32) bool {
 	return math.Abs(float64(f1-f2)) <= float64(eps)
 }
--- a/gglm/transform.go
+++ b/gglm/transform.go
@ -8,12 +8,12 @@ import (
 var _ Mat = &TrMat{}
 var _ fmt.Stringer = &TrMat{}

-//TrMat represents a transformation matrix
+// TrMat represents a transformation matrix
 type TrMat struct {
 	Mat4
 }

-//Translate adds v to the translation components of the transformation matrix
+// 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]
@ -21,7 +21,7 @@ func (t *TrMat) Translate(v *Vec3) *TrMat {
 	return t
 }

-//Scale multiplies the scale components of the transformation matrix by v
+// 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]
@ -29,7 +29,7 @@ func (t *TrMat) Scale(v *Vec3) *TrMat {
 	return t
 }

-//Rotate takes a *normalized* axis and angles in radians to rotate around the given axis
+// 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)
@ -149,9 +149,11 @@ func NewRotMat(q *Quat) *TrMat {
 // Can be used to create the view matrix
 func LookAtRH(pos, targetPos, worldUp *Vec3) *TrMat {

-	forward := SubVec3(targetPos, pos).Normalize()
-	right := Cross(forward, worldUp).Normalize()
-	up := Cross(right, forward)
+	forward := SubVec3(targetPos, pos)
+	forward.Normalize()
+	right := Cross(&forward, worldUp)
+	right.Normalize()
+	up := Cross(&right, &forward)

 	return &TrMat{
 		Mat4: Mat4{
@ -159,7 +161,7 @@ func LookAtRH(pos, targetPos, worldUp *Vec3) *TrMat {
 				{right.Data[0], up.Data[0], -forward.Data[0], 0},
 				{right.Data[1], up.Data[1], -forward.Data[1], 0},
 				{right.Data[2], up.Data[2], -forward.Data[2], 0},
-				{-DotVec3(pos, right), -DotVec3(pos, up), DotVec3(pos, forward), 1},
+				{-DotVec3(pos, &right), -DotVec3(pos, &up), DotVec3(pos, &forward), 1},
 			},
 		},
 	}
@ -169,9 +171,11 @@ func LookAtRH(pos, targetPos, worldUp *Vec3) *TrMat {
 // Can be used to create the view matrix
 func LookAtLH(pos, targetPos, worldUp *Vec3) *TrMat {

-	forward := SubVec3(targetPos, pos).Normalize()
-	right := Cross(worldUp, forward).Normalize()
-	up := Cross(forward, right)
+	forward := SubVec3(targetPos, pos)
+	forward.Normalize()
+	right := Cross(worldUp, &forward)
+	right.Normalize()
+	up := Cross(&forward, &right)

 	return &TrMat{
 		Mat4: Mat4{
@ -179,13 +183,13 @@ func LookAtLH(pos, targetPos, worldUp *Vec3) *TrMat {
 				{right.Data[0], up.Data[0], forward.Data[0], 0},
 				{right.Data[1], up.Data[1], forward.Data[1], 0},
 				{right.Data[2], up.Data[2], forward.Data[2], 0},
-				{-DotVec3(pos, right), -DotVec3(pos, up), -DotVec3(pos, forward), 1},
+				{-DotVec3(pos, &right), -DotVec3(pos, &up), -DotVec3(pos, &forward), 1},
 			},
 		},
 	}
 }

-//Perspective creates a perspective projection matrix
+// Perspective creates a perspective projection matrix
 func Perspective(fov, aspectRatio, nearClip, farClip float32) *Mat4 {
 	halfFovTan := float32(math.Tan(float64(fov * 0.5)))
 	return &Mat4{
@ -198,7 +202,7 @@ func Perspective(fov, aspectRatio, nearClip, farClip float32) *Mat4 {
 	}
 }

-//Perspective creates an orthographic projection matrix
+// Perspective creates an orthographic projection matrix
 func Ortho(left, right, top, bottom, nearClip, farClip float32) *TrMat {
 	return &TrMat{
 		Mat4: Mat4{
@ -212,8 +216,8 @@ func Ortho(left, right, top, bottom, nearClip, farClip float32) *TrMat {
 	}
 }

-func NewTrMatId() *TrMat {
-	return &TrMat{
-		Mat4: *NewMat4Id(),
+func NewTrMatId() TrMat {
+	return TrMat{
+		Mat4: NewMat4Id(),
 	}
 }
--- a/gglm/transform_test.go
+++ b/gglm/transform_test.go
@ -27,7 +27,8 @@ func TestNewTrMatId(t *testing.T) {

 func TestNewTranslationMat(t *testing.T) {

-	m := gglm.NewTranslationMat(gglm.NewVec3(1, 2, 3))
+	pos := gglm.NewVec3(1, 2, 3)
+	m := gglm.NewTranslationMat(&pos)
 	ans := &gglm.TrMat{
 		Mat4: gglm.Mat4{
 			Data: [4][4]float32{
@ -46,7 +47,8 @@ func TestNewTranslationMat(t *testing.T) {

 func TestNewScaleMat(t *testing.T) {

-	m := gglm.NewScaleMat(gglm.NewVec3(1, 2, 3))
+	pos := gglm.NewVec3(1, 2, 3)
+	m := gglm.NewScaleMat(&pos)
 	ans := &gglm.TrMat{
 		Mat4: gglm.Mat4{
 			Data: [4][4]float32{
@ -65,7 +67,8 @@ func TestNewScaleMat(t *testing.T) {

 func TestNewRotMat(t *testing.T) {

-	m := gglm.NewRotMat(gglm.NewQuatId())
+	quat := gglm.NewQuatId()
+	m := gglm.NewRotMat(&quat)
 	ans := &gglm.TrMat{
 		Mat4: gglm.Mat4{
 			Data: [4][4]float32{
--- a/gglm/vec2.go
+++ b/gglm/vec2.go
@ -86,33 +86,47 @@ func (v *Vec2) String() string {
 	return fmt.Sprintf("(%f, %f)", v.X(), v.Y())
 }

-//Scale v *= x (element wise multiplication)
+// Scale v *= x (element wise multiplication)
 func (v *Vec2) Scale(x float32) *Vec2 {
 	v.Data[0] *= x
 	v.Data[1] *= x
 	return v
 }

-//Add v += v2
+// ScaleVec v *= v2 (element wise multiplication)
+func (v *Vec2) ScaleVec(v2 *Vec2) *Vec2 {
+	v.Data[0] *= v2.X()
+	v.Data[1] *= v2.Y()
+	return v
+}
+
+// ScaleArr v *= arr (element wise multiplication)
+func (v *Vec2) ScaleArr(arr [2]float32) *Vec2 {
+	v.Data[0] *= arr[0]
+	v.Data[1] *= arr[1]
+	return v
+}
+
+// Add v += v2
 func (v *Vec2) Add(v2 *Vec2) *Vec2 {
 	v.Data[0] += v2.X()
 	v.Data[1] += v2.Y()
 	return v
 }

-//SubVec2 v -= v2
+// SubVec2 v -= v2
 func (v *Vec2) Sub(v2 *Vec2) *Vec2 {
 	v.Data[0] -= v2.X()
 	v.Data[1] -= v2.Y()
 	return v
 }

-//Mag returns the magnitude of the vector
+// Mag returns the magnitude of the vector
 func (v *Vec2) Mag() float32 {
 	return float32(math.Sqrt(float64(v.X()*v.X() + v.Y()*v.Y())))
 }

-//Mag returns the squared magnitude of the vector
+// Mag returns the squared magnitude of the vector
 func (v *Vec2) SqrMag() float32 {
 	return v.X()*v.X() + v.Y()*v.Y()
 }
@ -136,9 +150,9 @@ func (v *Vec2) Clone() *Vec2 {
 	return &Vec2{Data: v.Data}
 }

-//AddVec2 v3 = v1 + v2
-func AddVec2(v1, v2 *Vec2) *Vec2 {
-	return &Vec2{
+// AddVec2 v3 = v1 + v2
+func AddVec2(v1, v2 *Vec2) Vec2 {
+	return Vec2{
 		Data: [2]float32{
 			v1.X() + v2.X(),
 			v1.Y() + v2.Y(),
@ -146,9 +160,9 @@ func AddVec2(v1, v2 *Vec2) *Vec2 {
 	}
 }

-//SubVec2 v3 = v1 - v2
-func SubVec2(v1, v2 *Vec2) *Vec2 {
-	return &Vec2{
+// SubVec2 v3 = v1 - v2
+func SubVec2(v1, v2 *Vec2) Vec2 {
+	return Vec2{
 		Data: [2]float32{
 			v1.X() - v2.X(),
 			v1.Y() - v2.Y(),
@ -156,11 +170,17 @@ func SubVec2(v1, v2 *Vec2) *Vec2 {
 	}
 }

-func NewVec2(x, y float32) *Vec2 {
-	return &Vec2{
+func NewVec2(x, y float32) Vec2 {
+	return Vec2{
 		[2]float32{
 			x,
 			y,
 		},
 	}
 }
+
+func NewVec2Arr(arr [2]float32) Vec2 {
+	return Vec2{
+		Data: arr,
+	}
+}
--- a/gglm/vec3.go
+++ b/gglm/vec3.go
@ -132,7 +132,7 @@ func (v *Vec3) String() string {
 	return fmt.Sprintf("(%f, %f, %f)", v.X(), v.Y(), v.Z())
 }

-//Scale v *= x (element wise multiplication)
+// Scale v *= x (element wise multiplication)
 func (v *Vec3) Scale(x float32) *Vec3 {
 	v.Data[0] *= x
 	v.Data[1] *= x
@ -140,6 +140,22 @@ func (v *Vec3) Scale(x float32) *Vec3 {
 	return v
 }

+// ScaleVec v *= v2 (element wise multiplication)
+func (v *Vec3) ScaleVec(v2 *Vec3) *Vec3 {
+	v.Data[0] *= v2.X()
+	v.Data[1] *= v2.Y()
+	v.Data[2] *= v2.Z()
+	return v
+}
+
+// ScaleArr v *= arr (element wise multiplication)
+func (v *Vec3) ScaleArr(arr [3]float32) *Vec3 {
+	v.Data[0] *= arr[0]
+	v.Data[1] *= arr[1]
+	v.Data[2] *= arr[2]
+	return v
+}
+
 func (v *Vec3) Add(v2 *Vec3) *Vec3 {

 	v.Data[0] += v2.X()
@ -148,7 +164,7 @@ func (v *Vec3) Add(v2 *Vec3) *Vec3 {
 	return v
 }

-//SubVec3 v -= v2
+// SubVec3 v -= v2
 func (v *Vec3) Sub(v2 *Vec3) *Vec3 {
 	v.Data[0] -= v2.X()
 	v.Data[1] -= v2.Y()
@ -156,12 +172,12 @@ func (v *Vec3) Sub(v2 *Vec3) *Vec3 {
 	return v
 }

-//Mag returns the magnitude of the vector
+// Mag returns the magnitude of the vector
 func (v *Vec3) Mag() float32 {
 	return float32(math.Sqrt(float64(v.X()*v.X() + v.Y()*v.Y() + v.Z()*v.Z())))
 }

-//Mag returns the squared magnitude of the vector
+// Mag returns the squared magnitude of the vector
 func (v *Vec3) SqrMag() float32 {
 	return v.X()*v.X() + v.Y()*v.Y() + v.Z()*v.Z()
 }
@ -176,7 +192,7 @@ func (v *Vec3) Set(x, y, z float32) {
 	v.Data[2] = z
 }

-//Normalize normalizes this vector and returns it (doesn't copy)
+// Normalize normalizes this vector and returns it (doesn't copy)
 func (v *Vec3) Normalize() *Vec3 {
 	mag := float32(math.Sqrt(float64(v.X()*v.X() + v.Y()*v.Y() + v.Z()*v.Z())))
 	v.Data[0] /= mag
@ -186,11 +202,31 @@ func (v *Vec3) Normalize() *Vec3 {
 	return v
 }

+// RotByQuat rotates this vector by the given quaternion
+func (v *Vec3) RotByQuat(q *Quat) *Vec3 {
+
+	// Reference: https://gamedev.stackexchange.com/questions/28395/rotating-vector3-by-a-quaternion
+	// u := NewVec3(q.X(), q.Y(), q.Z())
+	// t1 := 2.0f * dot(u, v) * u
+	// t2 := (s*s - dot(u, u)) * v
+	// t3 := 2.0f * s * cross(u, v);
+	// vprime = t1 + t2 + t3
+
+	u := NewVec3(q.X(), q.Y(), q.Z())
+	t1 := u.Clone().Scale(2 * DotVec3(&u, v))
+	t2 := v.Clone().Scale(q.W()*q.W() - DotVec3(&u, &u))
+	t3 := Cross(&u, v)
+	t3.Scale(2 * q.W())
+
+	v.Data = t1.Add(t2).Add(&t3).Data
+	return v
+}
+
 func (v *Vec3) Clone() *Vec3 {
 	return &Vec3{Data: v.Data}
 }

-//AsRad returns a new vector with all values converted to Radians (i.e. multiplied by gglm.Deg2Rad)
+// AsRad returns a new vector with all values converted to Radians (i.e. multiplied by gglm.Deg2Rad)
 func (v *Vec3) AsRad() *Vec3 {
 	return &Vec3{
 		Data: [3]float32{
@ -201,9 +237,9 @@ func (v *Vec3) AsRad() *Vec3 {
 	}
 }

-//AddVec3 v3 = v1 + v2
-func AddVec3(v1, v2 *Vec3) *Vec3 {
-	return &Vec3{
+// AddVec3 v3 = v1 + v2
+func AddVec3(v1, v2 *Vec3) Vec3 {
+	return Vec3{
 		Data: [3]float32{
 			v1.X() + v2.X(),
 			v1.Y() + v2.Y(),
@ -212,9 +248,9 @@ func AddVec3(v1, v2 *Vec3) *Vec3 {
 	}
 }

-//SubVec3 v3 = v1 - v2
-func SubVec3(v1, v2 *Vec3) *Vec3 {
-	return &Vec3{
+// SubVec3 v3 = v1 - v2
+func SubVec3(v1, v2 *Vec3) Vec3 {
+	return Vec3{
 		Data: [3]float32{
 			v1.X() - v2.X(),
 			v1.Y() - v2.Y(),
@ -223,8 +259,8 @@ func SubVec3(v1, v2 *Vec3) *Vec3 {
 	}
 }

-func NewVec3(x, y, z float32) *Vec3 {
-	return &Vec3{
+func NewVec3(x, y, z float32) Vec3 {
+	return Vec3{
 		[3]float32{
 			x,
 			y,
@ -232,3 +268,9 @@ func NewVec3(x, y, z float32) *Vec3 {
 		},
 	}
 }
+
+func NewVec3Arr(arr [3]float32) Vec3 {
+	return Vec3{
+		Data: arr,
+	}
+}
--- a/gglm/vec4.go
+++ b/gglm/vec4.go
@ -184,7 +184,7 @@ func (v *Vec4) String() string {
 	return fmt.Sprintf("(%f, %f, %f, %f)", v.X(), v.Y(), v.Z(), v.W())
 }

-//Scale v *= x (element wise multiplication)
+// Scale v *= x (element wise multiplication)
 func (v *Vec4) Scale(x float32) *Vec4 {
 	v.Data[0] *= x
 	v.Data[1] *= x
@ -193,6 +193,24 @@ func (v *Vec4) Scale(x float32) *Vec4 {
 	return v
 }

+// ScaleVec v *= v2 (element wise multiplication)
+func (v *Vec4) ScaleVec(v2 *Vec4) *Vec4 {
+	v.Data[0] *= v2.X()
+	v.Data[1] *= v2.Y()
+	v.Data[2] *= v2.Z()
+	v.Data[3] *= v2.W()
+	return v
+}
+
+// ScaleArr v *= arr (element wise multiplication)
+func (v *Vec4) ScaleArr(arr [4]float32) *Vec4 {
+	v.Data[0] *= arr[0]
+	v.Data[1] *= arr[1]
+	v.Data[2] *= arr[2]
+	v.Data[3] *= arr[3]
+	return v
+}
+
 func (v *Vec4) Add(v2 *Vec4) *Vec4 {
 	v.Data[0] += v2.X()
 	v.Data[1] += v2.Y()
@ -201,7 +219,7 @@ func (v *Vec4) Add(v2 *Vec4) *Vec4 {
 	return v
 }

-//SubVec4 v -= v2
+// SubVec4 v -= v2
 func (v *Vec4) Sub(v2 *Vec4) *Vec4 {
 	v.Data[0] -= v2.X()
 	v.Data[1] -= v2.Y()
@ -210,12 +228,12 @@ func (v *Vec4) Sub(v2 *Vec4) *Vec4 {
 	return v
 }

-//Mag returns the magnitude of the vector
+// Mag returns the magnitude of the vector
 func (v *Vec4) Mag() float32 {
 	return float32(math.Sqrt(float64(v.X()*v.X() + v.Y()*v.Y() + v.Z()*v.Z() + v.W()*v.W())))
 }

-//Mag returns the squared magnitude of the vector
+// Mag returns the squared magnitude of the vector
 func (v *Vec4) SqrMag() float32 {
 	return v.X()*v.X() + v.Y()*v.Y() + v.Z()*v.Z() + v.Z()*v.Z()
 }
@ -243,9 +261,9 @@ func (v *Vec4) Clone() *Vec4 {
 	return &Vec4{Data: v.Data}
 }

-//AddVec4 v3 = v1 + v2
-func AddVec4(v1, v2 *Vec4) *Vec4 {
-	return &Vec4{
+// AddVec4 v3 = v1 + v2
+func AddVec4(v1, v2 *Vec4) Vec4 {
+	return Vec4{
 		Data: [4]float32{
 			v1.X() + v2.X(),
 			v1.Y() + v2.Y(),
@ -255,9 +273,9 @@ func AddVec4(v1, v2 *Vec4) *Vec4 {
 	}
 }

-//SubVec4 v3 = v1 - v2
-func SubVec4(v1, v2 *Vec4) *Vec4 {
-	return &Vec4{
+// SubVec4 v3 = v1 - v2
+func SubVec4(v1, v2 *Vec4) Vec4 {
+	return Vec4{
 		Data: [4]float32{
 			v1.X() - v2.X(),
 			v1.Y() - v2.Y(),
@ -267,8 +285,8 @@ func SubVec4(v1, v2 *Vec4) *Vec4 {
 	}
 }

-func NewVec4(x, y, z, w float32) *Vec4 {
-	return &Vec4{
+func NewVec4(x, y, z, w float32) Vec4 {
+	return Vec4{
 		[4]float32{
 			x,
 			y,
@ -277,3 +295,9 @@ func NewVec4(x, y, z, w float32) *Vec4 {
 		},
 	}
 }
+
+func NewVec4Arr(arr [4]float32) Vec4 {
+	return Vec4{
+		Data: arr,
+	}
+}
--- a/gglm/vec_test.go
+++ b/gglm/vec_test.go
@ -107,7 +107,7 @@ func TestVecSwizzleSet(t *testing.T) {

 	v2.SetX(1)
 	v2.SetY(2)
-	if !v2.Eq(ans2) {
+	if !v2.Eq(&ans2) {
 		t.Errorf("Got: %v; Expected: %v", v2.String(), ans2.String())
 	}

@ -116,7 +116,7 @@ func TestVecSwizzleSet(t *testing.T) {

 	v2.SetR(11)
 	v2.SetG(22)
-	if !v2.Eq(ans2) {
+	if !v2.Eq(&ans2) {
 		t.Errorf("Got: %v; Expected: %v", v2.String(), ans2.String())
 	}

@ -124,7 +124,7 @@ func TestVecSwizzleSet(t *testing.T) {
 	ans2 = gglm.NewVec2(1, 2)

 	v2.SetXY(1, 2)
-	if !v2.Eq(ans2) {
+	if !v2.Eq(&ans2) {
 		t.Errorf("Got: %v; Expected: %v", v2.String(), ans2.String())
 	}

@ -132,7 +132,7 @@ func TestVecSwizzleSet(t *testing.T) {
 	ans2 = gglm.NewVec2(11, 22)

 	v2.SetRG(11, 22)
-	if !v2.Eq(ans2) {
+	if !v2.Eq(&ans2) {
 		t.Errorf("Got: %v; Expected: %v", v2.String(), ans2.String())
 	}

@ -144,7 +144,7 @@ func TestVecSwizzleSet(t *testing.T) {
 	v3.SetY(2)
 	v3.SetZ(3)

-	if !v3.Eq(ans3) {
+	if !v3.Eq(&ans3) {
 		t.Errorf("Got: %v; Expected: %v", v3.String(), ans3.String())
 	}

@ -155,7 +155,7 @@ func TestVecSwizzleSet(t *testing.T) {
 	v3.SetG(22)
 	v3.SetB(33)

-	if !v3.Eq(ans3) {
+	if !v3.Eq(&ans3) {
 		t.Errorf("Got: %v; Expected: %v", v3.String(), ans3.String())
 	}

@ -163,7 +163,7 @@ func TestVecSwizzleSet(t *testing.T) {
 	ans3 = gglm.NewVec3(1, 2, 1)

 	v3.SetXY(1, 2)
-	if !v3.Eq(ans3) {
+	if !v3.Eq(&ans3) {
 		t.Errorf("Got: %v; Expected: %v", v3.String(), ans3.String())
 	}

@ -171,7 +171,7 @@ func TestVecSwizzleSet(t *testing.T) {
 	ans3 = gglm.NewVec3(1, 2, 1)

 	v3.SetRG(1, 2)
-	if !v3.Eq(ans3) {
+	if !v3.Eq(&ans3) {
 		t.Errorf("Got: %v; Expected: %v", v3.String(), ans3.String())
 	}

@ -179,7 +179,7 @@ func TestVecSwizzleSet(t *testing.T) {
 	ans3 = gglm.NewVec3(1, 2, 3)

 	v3.SetXYZ(1, 2, 3)
-	if !v3.Eq(ans3) {
+	if !v3.Eq(&ans3) {
 		t.Errorf("Got: %v; Expected: %v", v3.String(), ans3.String())
 	}

@ -187,10 +187,35 @@ func TestVecSwizzleSet(t *testing.T) {
 	ans3 = gglm.NewVec3(1, 2, 3)

 	v3.SetRGB(1, 2, 3)
-	if !v3.Eq(ans3) {
+	if !v3.Eq(&ans3) {
 		t.Errorf("Got: %v; Expected: %v", v3.String(), ans3.String())
 	}

+	// Test AngleVec3
+	v3 = gglm.NewVec3(1, 0, 0)
+	v32 := gglm.NewVec3(1, 0, 0)
+
+	angleV3 := gglm.AngleVec3(&v3, &v32) * gglm.Rad2Deg
+	if angleV3 != 0 {
+		t.Errorf("Got: %v; Expected: %v", v3.String(), 0)
+	}
+
+	v32.SetXY(0, 1)
+	angleV3 = gglm.AngleVec3(&v3, &v32) * gglm.Rad2Deg
+	if angleV3 != 90 {
+		t.Errorf("Got: %v; Expected: %v", v3.String(), 0)
+	}
+
+	// Test rot by quat
+	v32.SetXY(1, 0)
+	rotAxis := gglm.NewVec3(0, 1, 0)
+	quat := gglm.NewQuatAngleAxisVec(90*gglm.Deg2Rad, &rotAxis)
+	v32.RotByQuat(&quat)
+	angleV3 = gglm.AngleVec3(&v3, &v32) * gglm.Rad2Deg
+	if angleV3 != 90 {
+		t.Errorf("Got: %v; Expected: %v", v3.String(), 0)
+	}
+
 	//Vec4
 	v4 := gglm.NewVec4(1, 1, 1, 1)
 	ans4 := gglm.NewVec4(1, 2, 3, 4)
@ -200,7 +225,7 @@ func TestVecSwizzleSet(t *testing.T) {
 	v4.SetZ(3)
 	v4.SetW(4)

-	if !v4.Eq(ans4) {
+	if !v4.Eq(&ans4) {
 		t.Errorf("Got: %v; Expected: %v", v4.String(), ans4.String())
 	}

@ -212,7 +237,7 @@ func TestVecSwizzleSet(t *testing.T) {
 	v4.SetB(33)
 	v4.SetA(44)

-	if !v4.Eq(ans4) {
+	if !v4.Eq(&ans4) {
 		t.Errorf("Got: %v; Expected: %v", v4.String(), ans4.String())
 	}

@ -220,7 +245,7 @@ func TestVecSwizzleSet(t *testing.T) {
 	ans4 = gglm.NewVec4(1, 2, 1, 1)

 	v4.SetXY(1, 2)
-	if !v4.Eq(ans4) {
+	if !v4.Eq(&ans4) {
 		t.Errorf("Got: %v; Expected: %v", v4.String(), ans4.String())
 	}

@ -228,7 +253,7 @@ func TestVecSwizzleSet(t *testing.T) {
 	ans4 = gglm.NewVec4(1, 2, 1, 1)

 	v4.SetRG(1, 2)
-	if !v4.Eq(ans4) {
+	if !v4.Eq(&ans4) {
 		t.Errorf("Got: %v; Expected: %v", v4.String(), ans4.String())
 	}

@ -236,7 +261,7 @@ func TestVecSwizzleSet(t *testing.T) {
 	ans4 = gglm.NewVec4(1, 2, 3, 1)

 	v4.SetXYZ(1, 2, 3)
-	if !v4.Eq(ans4) {
+	if !v4.Eq(&ans4) {
 		t.Errorf("Got: %v; Expected: %v", v4.String(), ans4.String())
 	}

@ -244,7 +269,7 @@ func TestVecSwizzleSet(t *testing.T) {
 	ans4 = gglm.NewVec4(1, 2, 3, 1)

 	v4.SetRGB(1, 2, 3)
-	if !v4.Eq(ans4) {
+	if !v4.Eq(&ans4) {
 		t.Errorf("Got: %v; Expected: %v", v4.String(), ans4.String())
 	}

@ -252,7 +277,7 @@ func TestVecSwizzleSet(t *testing.T) {
 	ans4 = gglm.NewVec4(1, 2, 3, 4)

 	v4.SetXYZW(1, 2, 3, 4)
-	if !v4.Eq(ans4) {
+	if !v4.Eq(&ans4) {
 		t.Errorf("Got: %v; Expected: %v", v4.String(), ans4.String())
 	}

@ -260,7 +285,7 @@ func TestVecSwizzleSet(t *testing.T) {
 	ans4 = gglm.NewVec4(1, 2, 3, 4)

 	v4.SetRGBA(1, 2, 3, 4)
-	if !v4.Eq(ans4) {
+	if !v4.Eq(&ans4) {
 		t.Errorf("Got: %v; Expected: %v", v4.String(), ans4.String())
 	}
 }
@ -272,26 +297,26 @@ func TestVecSwizzleAdd(t *testing.T) {
 	ans2 := gglm.NewVec2(2, 3)
 	v2.AddX(1)
 	v2.AddY(2)
-	if !v2.Eq(ans2) {
+	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) {
+	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) {
+	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) {
+	if !v2.Eq(&ans2) {
 		t.Errorf("Got: %v; Expected: %v", v2.String(), ans2.String())
 	}

@ -301,7 +326,7 @@ func TestVecSwizzleAdd(t *testing.T) {
 	v3.AddX(1)
 	v3.AddY(2)
 	v3.AddZ(3)
-	if !v3.Eq(ans3) {
+	if !v3.Eq(&ans3) {
 		t.Errorf("Got: %v; Expected: %v", v3.String(), ans3.String())
 	}

@ -309,33 +334,33 @@ func TestVecSwizzleAdd(t *testing.T) {
 	v3.AddR(1)
 	v3.AddG(2)
 	v3.AddB(3)
-	if !v3.Eq(ans3) {
+	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) {
+	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) {
+	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) {
+	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) {
+	if !v3.Eq(&ans3) {
 		t.Errorf("Got: %v; Expected: %v", v3.String(), ans3.String())
 	}

@ -346,7 +371,7 @@ func TestVecSwizzleAdd(t *testing.T) {
 	v4.AddY(2)
 	v4.AddZ(3)
 	v4.AddW(4)
-	if !v4.Eq(ans4) {
+	if !v4.Eq(&ans4) {
 		t.Errorf("Got: %v; Expected: %v", v4.String(), ans4.String())
 	}

@ -355,46 +380,46 @@ func TestVecSwizzleAdd(t *testing.T) {
 	v4.AddG(2)
 	v4.AddB(3)
 	v4.AddA(4)
-	if !v4.Eq(ans4) {
+	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) {
+	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) {
+	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) {
+	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) {
+	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) {
+	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) {
+	if !v4.Eq(&ans4) {
 		t.Errorf("Got: %v; Expected: %v", v4.String(), ans4.String())
 	}
 }
--- a/main.go
+++ b/main.go
@ -8,7 +8,7 @@ import (

 func main() {

-	//Mat3
+	// Mat3
 	m1 := &gglm.Mat3{
 		Data: [3][3]float32{
 			{1, 4, 7},
@ -30,7 +30,7 @@ func main() {
 	println(m1.String())
 	println(m3.String())

-	//Mat4
+	// Mat4
 	m4 := &gglm.Mat4{
 		Data: [4][4]float32{
 			{1, 5, 9, 13},
@ -53,9 +53,9 @@ func main() {
 	m4.Mul(m5)
 	println(m4.String())
 	println(m6.String())
-	println(m4.Eq(m6))
+	println(m4.Eq(&m6))

-	//Vec2
+	// Vec2
 	v1 := &gglm.Vec2{Data: [2]float32{1, 2}}
 	v2 := &gglm.Vec2{Data: [2]float32{3, 4}}
 	println(gglm.DistVec2(v1, v2))
@ -71,7 +71,7 @@ func main() {
 	v1.Normalize()
 	println("V1 Normal: " + v1.String())

-	//Vec3
+	// Vec3
 	v3 := &gglm.Vec3{Data: [3]float32{1, 2, 3}}
 	v4 := &gglm.Vec3{Data: [3]float32{4, 5, 6}}
 	println(gglm.DistVec3(v3, v4))
@ -82,13 +82,15 @@ func main() {
 	println(v3.Eq(v4))

 	println(gglm.DotVec3(v3, v4))
-	println(gglm.Cross(v3, v4).String())
+
+	v3v4Cross := gglm.Cross(v3, v4)
+	println(v3v4Cross.String())

 	println("V3: " + v3.String())
 	v3.Normalize()
 	println("V3 Normal: " + v3.String())

-	//Vec4
+	// Vec4
 	v5 := &gglm.Vec4{Data: [4]float32{1, 2, 3, 4}}
 	v6 := &gglm.Vec4{Data: [4]float32{5, 6, 7, 8}}
 	println(gglm.DistVec4(v5, v6))
@ -108,7 +110,7 @@ func main() {
 	v6.Normalize()
 	println("V6 Normal: " + v6.String())

-	//Mat2Vec2
+	// Mat2Vec2
 	mat2A := gglm.Mat2{
 		Data: [2][2]float32{
 			{1, 3},
@ -117,9 +119,10 @@ func main() {
 	}

 	vec2A := gglm.Vec2{Data: [2]float32{1, 2}}
-	println(gglm.MulMat2Vec2(&mat2A, &vec2A).String())
+	mat2Vec2Mul := gglm.MulMat2Vec2(&mat2A, &vec2A)
+	println(mat2Vec2Mul.String())

-	//Mat3Vec3
+	// Mat3Vec3
 	mat3A := gglm.Mat3{
 		Data: [3][3]float32{
 			{1, 4, 7},
@ -132,58 +135,71 @@ func main() {
 	mm3v3 := gglm.MulMat3Vec3(&mat3A, &vec3A)
 	println(mm3v3.String())

-	//ReflectVec2
+	// ReflectVec2
 	vec2B := &gglm.Vec2{Data: [2]float32{4, 5}}
 	normA := &gglm.Vec2{Data: [2]float32{0, 1}}
 	rVec2A := gglm.ReflectVec2(vec2B, normA)
 	println(rVec2A.String())

-	//Quaternion
+	// Quaternion
 	vRot := &gglm.Vec3{Data: [3]float32{60, 30, 20}}
-	q := gglm.NewQuatEuler(vRot.AsRad())
+	q := gglm.NewQuatEulerVec(vRot.AsRad())
 	println("\n" + vRot.AsRad().String())
 	println(q.String(), "\n", q.Mag())

-	q = gglm.NewQuatAngleAxis(60*gglm.Deg2Rad, vRot.Normalize())
+	q = gglm.NewQuatAngleAxisVec(60*gglm.Deg2Rad, vRot.Normalize())
 	println("\n" + vRot.Normalize().String())
 	println(q.String())

-	//Transform
+	// Transform
 	translationMat := gglm.NewTranslationMat(&gglm.Vec3{Data: [3]float32{1, 2, 3}})
-	rotMat := gglm.NewRotMat(gglm.NewQuatEuler(gglm.NewVec3(60, 30, 20).AsRad()))
-	scaleMat := gglm.NewScaleMat(gglm.NewVec3(1, 1, 1))
+
+	rotDegs := gglm.NewVec3(60, 30, 20)
+	quat := gglm.NewQuatEulerVec(rotDegs.AsRad())
+	rotMat := gglm.NewRotMat(&quat)
+
+	scale := gglm.NewVec3(1, 1, 1)
+	scaleMat := gglm.NewScaleMat(&scale)

 	modelMat := gglm.NewTrMatId()
 	modelMat.Mul(translationMat.Mul(rotMat.Mul(scaleMat)))

 	println("\n\n\n", modelMat.String())

-	//Clone Vec2
+	// Clone Vec2
 	v2Orig := gglm.Vec2{Data: [2]float32{1, 2}}
 	v2Clone := v2Orig.Clone()
 	v2Clone.SetX(99)
 	println("\n\n", v2Orig.String(), "; ", v2Clone.String())

-	//Clone TrMat
-	trMatOrig := gglm.NewTranslationMat(gglm.NewVec3(1, 2, 3))
+	// Clone TrMat
+	pos := gglm.NewVec3(1, 2, 3)
+	trMatOrig := gglm.NewTranslationMat(&pos)
 	trMatClone := trMatOrig.Clone()
-	trMatClone.Scale(gglm.NewVec3(2, 2, 2))
-	trMatClone.Translate(gglm.NewVec3(9, 0, 0))
+
+	trMatCloneScale := gglm.NewVec3(2, 2, 2)
+	trMatClone.Scale(&trMatCloneScale)
+
+	pos = gglm.NewVec3(9, 0, 0)
+	trMatClone.Translate(&pos)
 	println("\n\n", trMatOrig.String(), "; ", trMatClone.String())

-	//Quat geo
-	q1 := gglm.NewQuatEuler(gglm.NewVec3(180, 0, 0).AsRad())
-	q2 := gglm.NewQuatEuler(gglm.NewVec3(0, 180, 0).AsRad())
-	println(gglm.AngleQuat(q1, q2) * gglm.Rad2Deg)
+	// Quat geo
+	q1Degs := gglm.NewVec3(180*gglm.Deg2Rad, 0, 0)
+	q1 := gglm.NewQuatEulerVec(&q1Degs)

-	//LookAt
+	q2Degs := gglm.NewVec3(0, 180*gglm.Deg2Rad, 0)
+	q2 := gglm.NewQuatEulerVec(&q2Degs)
+	println(gglm.AngleQuat(&q1, &q2) * gglm.Rad2Deg)
+
+	// LookAt
 	camPos := gglm.NewVec3(0, 0, 3)
 	worldUp := gglm.NewVec3(0, 1, 0)
 	targetPos := gglm.NewVec3(0, 0, 0)
-	viewMat := gglm.LookAtRH(camPos, targetPos, worldUp)
+	viewMat := gglm.LookAtRH(&camPos, &targetPos, &worldUp)
 	println(viewMat.String())

-	//Mat2Col
+	// Mat2Col
 	mc := gglm.NewMat2Id()
 	println("===============================")
 	println(mc.String())
@ -200,5 +216,5 @@ func main() {
 		{2, 4},
 	}}

-	println(mc2.Mul(mc).String())
+	println(mc2.Mul(&mc).String())
 }
Author	SHA1	Message	Date
bloeys	5d2cfa0329	NewXYZ funcs for Quat+github workflows	2024-05-04 22:44:48 +04:00
bloeys	afb3bbfe75	Get rid of pointer returns when creating new objects	2024-05-04 22:21:41 +04:00
bloeys	95005baf22	Mat4.InvertAndTranspose()+ ToMat3 and ToMat2 functions	2024-05-04 21:37:24 +04:00
bloeys	c08e9d8610	NewXYZ funcs for ease of use and new ScaleXYZ funcs for vectors	2024-05-04 21:10:57 +04:00
bloeys	cc5e7dcbce	Mat4 inverse and determinant	2024-05-04 20:45:40 +04:00
bloeys	ca55a67100	Mat2 and Mat3 determinant and inverse matrices	2024-05-04 04:49:27 +04:00
bloeys	41307a8c5b	Matrix transpose	2024-05-01 02:25:52 +04:00
bloeys	da81ee79d9	Formatting	2024-05-01 01:25:10 +04:00
bloeys	4eb59e3386	Implement RotByQuat and AngleVec3 and their tests	2022-12-06 04:26:10 +04:00
bloeys	ed6806f23b	Update readme	2022-10-01 00:15:51 +04:00