Add Clamp

.github/workflows/test-gglm.yml

@@ -0,0 +1,21 @@
+name: "Build and Tests"
+
+on:
+  create:
+  workflow_dispatch:
+
+jobs:
+  test-gglm-windows:
+    runs-on: [windows-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: gglm
+        run: go test ./... -v

README.md

@@ -1,5 +1,7 @@
 # gglm
 
+[![Tests](https://github.com/bloeys/gglm/actions/workflows/test-gglm.yml/badge.svg)](https://github.com/bloeys/gglm/actions/workflows/test-gglm.yml)
+
 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:
@@ -18,6 +20,8 @@ gglm currently has the following:
 
 ## Installation
 
+Note: gglm requires Go 1.18 or higher.
+
 `go get github.com/bloeys/gglm`
 
 ## Usage
@@ -52,5 +56,5 @@ func main() {
 
 ## Notes
 
-You can check compiler inlining decisions using `go run -gcflags "-m" .`. Some functions look a bit weird compared to similar ones
+You can check compiler inlining decisions using `go run -gcflags "-m" .`. Some functions look a bit weird
 because we are trying to reduce function complexity so the compiler inlines.

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],
@@ -81,12 +81,12 @@ func SqrDistVec4(v1, v2 *Vec4) float32 {
 // 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 {
+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],
@@ -97,12 +97,12 @@ func ReflectVec2(v, n *Vec2) *Vec2 {
 // 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 {
+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],

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) {

gglm/mat2.go

@@ -28,8 +28,8 @@ 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]}
+func (m *Mat2) Col(c int) Vec2 {
+	return Vec2{Data: m.Data[c]}
 }
 
 // Add m += m2
@@ -84,7 +84,6 @@ func (m *Mat2) Eq(m2 *Mat2) bool {
 }
 
 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]},
@@ -93,9 +92,30 @@ func (m *Mat2) Transpose() *Mat2 {
 	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{
+func AddMat2(m1, m2 *Mat2) Mat2 {
+	return Mat2{
 		Data: [2][2]float32{
 			{
 				m1.Data[0][0] + m2.Data[0][0],
@@ -110,8 +130,8 @@ func AddMat2(m1, m2 *Mat2) *Mat2 {
 }
 
 // SubMat2 m3 = m1 - m2
-func SubMat2(m1, m2 *Mat2) *Mat2 {
-	return &Mat2{
+func SubMat2(m1, m2 *Mat2) Mat2 {
+	return Mat2{
 		Data: [2][2]float32{
 			{
 				m1.Data[0][0] - m2.Data[0][0],
@@ -126,8 +146,8 @@ func SubMat2(m1, m2 *Mat2) *Mat2 {
 }
 
 // MulMat2 m3 = m1 * m2
-func MulMat2(m1, m2 *Mat2) *Mat2 {
-	return &Mat2{
+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],
@@ -142,8 +162,8 @@ func MulMat2(m1, m2 *Mat2) *Mat2 {
 }
 
 // MulMat2Vec2 v2 = m1 * v1
-func MulMat2Vec2(m1 *Mat2, v1 *Vec2) *Vec2 {
-	return &Vec2{
+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],
@@ -152,11 +172,47 @@ func MulMat2Vec2(m1 *Mat2, v1 *Vec2) *Vec2 {
 }
 
 // NewMat2Id returns the 2x2 identity matrix
-func NewMat2Id() *Mat2 {
-	return &Mat2{
+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,
+		},
+	}
+}

gglm/mat2_test.go

@@ -152,29 +152,69 @@ func TestTransposeMat2(t *testing.T) {
 	m := gglm.NewMat2Id()
 	ans := gglm.NewMat2Id()
 
-	if !m.Transpose().Transpose().Eq(ans) {
+	if !m.Transpose().Transpose().Eq(&ans) {
 		t.Errorf("Got: %v; Expected: %v", m.String(), ans.String())
 	}
 
-	if !m.Transpose().Eq(ans) {
+	if !m.Transpose().Eq(&ans) {
 		t.Errorf("Got: %v; Expected: %v", m.String(), ans.String())
 	}
 
-	m = &gglm.Mat2{
-		Data: [2][2]float32{
-			{00, 01},
-			{10, 11},
-		},
+	m.Data = [2][2]float32{
+		{00, 01},
+		{10, 11},
 	}
 
-	ans = &gglm.Mat2{
-		Data: [2][2]float32{
-			{00, 10},
-			{01, 11},
-		},
+	ans.Data = [2][2]float32{
+		{00, 10},
+		{01, 11},
 	}
 
-	if !m.Transpose().Eq(ans) {
+	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())
 	}
 }
@@ -185,6 +225,6 @@ func BenchmarkMulMat2(b *testing.B) {
 	m2 := gglm.NewMat2Id()
 
 	for i := 0; i < b.N; i++ {
-		m1.Mul(m2)
+		m1.Mul(&m2)
 	}
 }

gglm/mat3.go

@@ -31,8 +31,8 @@ func (m *Mat3) String() string {
 	)
 }
 
-func (m *Mat3) Col(c int) *Vec3 {
-	return &Vec3{Data: m.Data[c]}
+func (m *Mat3) Col(c int) Vec3 {
+	return Vec3{Data: m.Data[c]}
 }
 
 // Add m += m2
@@ -145,9 +145,68 @@ func (m *Mat3) Transpose() *Mat3 {
 	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{
+func AddMat3(m1, m2 *Mat3) Mat3 {
+	return Mat3{
 		Data: [3][3]float32{
 			{
 				m1.Data[0][0] + m2.Data[0][0],
@@ -169,8 +228,8 @@ func AddMat3(m1, m2 *Mat3) *Mat3 {
 }
 
 // SubMat3 m3 = m1 - m2
-func SubMat3(m1, m2 *Mat3) *Mat3 {
-	return &Mat3{
+func SubMat3(m1, m2 *Mat3) Mat3 {
+	return Mat3{
 		Data: [3][3]float32{
 			{
 				m1.Data[0][0] - m2.Data[0][0],
@@ -192,7 +251,7 @@ func SubMat3(m1, m2 *Mat3) *Mat3 {
 }
 
 // MulMat3 m3 = m1 * m2
-func MulMat3(m1, m2 *Mat3) *Mat3 {
+func MulMat3(m1, m2 *Mat3) Mat3 {
 
 	m00 := m1.Data[0][0]
 	m01 := m1.Data[0][1]
@@ -206,7 +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],
@@ -228,8 +287,8 @@ func MulMat3(m1, m2 *Mat3) *Mat3 {
 }
 
 // MulMat3Vec3 v2 = m1 * v1
-func MulMat3Vec3(m1 *Mat3, v1 *Vec3) *Vec3 {
-	return &Vec3{
+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],
@@ -239,8 +298,8 @@ func MulMat3Vec3(m1 *Mat3, v1 *Vec3) *Vec3 {
 }
 
 // NewMat3Id returns the 3x3 identity matrix
-func NewMat3Id() *Mat3 {
-	return &Mat3{
+func NewMat3Id() Mat3 {
+	return Mat3{
 		Data: [3][3]float32{
 			{1, 0, 0},
 			{0, 1, 0},
@@ -248,3 +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,
+		},
+	}
+}

gglm/mat3_test.go

@@ -167,31 +167,74 @@ func TestTransposeMat3(t *testing.T) {
 	m := gglm.NewMat3Id()
 	ans := gglm.NewMat3Id()
 
-	if !m.Transpose().Transpose().Eq(ans) {
+	if !m.Transpose().Transpose().Eq(&ans) {
 		t.Errorf("Got: %v; Expected: %v", m.String(), ans.String())
 	}
 
-	if !m.Transpose().Eq(ans) {
+	if !m.Transpose().Eq(&ans) {
 		t.Errorf("Got: %v; Expected: %v", m.String(), ans.String())
 	}
 
-	m = &gglm.Mat3{
-		Data: [3][3]float32{
-			{00, 01, 02},
-			{10, 11, 12},
-			{20, 21, 22},
-		},
+	m.Data = [3][3]float32{
+		{00, 01, 02},
+		{10, 11, 12},
+		{20, 21, 22},
 	}
 
-	ans = &gglm.Mat3{
-		Data: [3][3]float32{
-			{00, 10, 20},
-			{01, 11, 21},
-			{02, 12, 22},
-		},
+	ans.Data = [3][3]float32{
+		{00, 10, 20},
+		{01, 11, 21},
+		{02, 12, 22},
 	}
 
-	if !m.Transpose().Eq(ans) {
+	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())
 	}
 }
@@ -202,6 +245,6 @@ func BenchmarkMulMat3(b *testing.B) {
 	m2 := gglm.NewMat3Id()
 
 	for i := 0; i < b.N; i++ {
-		m1.Mul(m2)
+		m1.Mul(&m2)
 	}
 }

gglm/mat4.go

@@ -32,8 +32,8 @@ func (m *Mat4) String() string {
 	)
 }
 
-func (m *Mat4) Col(c int) *Vec4 {
-	return &Vec4{Data: m.Data[c]}
+func (m *Mat4) Col(c int) Vec4 {
+	return Vec4{Data: m.Data[c]}
 }
 
 // Add m += m2
@@ -192,9 +192,311 @@ func (m *Mat4) Transpose() *Mat4 {
 	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{
+func AddMat4(m1, m2 *Mat4) Mat4 {
+	return Mat4{
 		Data: [4][4]float32{
 			{
 				m1.Data[0][0] + m2.Data[0][0],
@@ -225,8 +527,8 @@ func AddMat4(m1, m2 *Mat4) *Mat4 {
 }
 
 // SubMat4 m3 = m1 - m2
-func SubMat4(m1, m2 *Mat4) *Mat4 {
-	return &Mat4{
+func SubMat4(m1, m2 *Mat4) Mat4 {
+	return Mat4{
 		Data: [4][4]float32{
 			{
 				m1.Data[0][0] - m2.Data[0][0],
@@ -257,7 +559,7 @@ func SubMat4(m1, m2 *Mat4) *Mat4 {
 }
 
 // MulMat4 m3 = m1 * m2
-func MulMat4(m1, m2 *Mat4) *Mat4 {
+func MulMat4(m1, m2 *Mat4) Mat4 {
 
 	m00 := m1.Data[0][0]
 	m01 := m1.Data[0][1]
@@ -279,7 +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],
@@ -310,8 +612,8 @@ func MulMat4(m1, m2 *Mat4) *Mat4 {
 }
 
 // MulMat4Vec4 v2 = m1 * v1
-func MulMat4Vec4(m1 *Mat4, v1 *Vec4) *Vec4 {
-	return &Vec4{
+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],
@@ -322,8 +624,8 @@ func MulMat4Vec4(m1 *Mat4, v1 *Vec4) *Vec4 {
 }
 
 // NewMat4Id returns the 4x4 identity matrix
-func NewMat4Id() *Mat4 {
-	return &Mat4{
+func NewMat4Id() Mat4 {
+	return Mat4{
 		Data: [4][4]float32{
 			{1, 0, 0, 0},
 			{0, 1, 0, 0},
@@ -332,3 +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,
+		},
+	}
+}

gglm/mat4_test.go

@@ -7,7 +7,7 @@ import (
 )
 
 var (
-	mulMat4Vec4Res *gglm.Vec4
+	mulMat4Vec4Res gglm.Vec4
 )
 
 func TestMat4GetSet(t *testing.T) {
@@ -187,44 +187,119 @@ func TestTransposeMat4(t *testing.T) {
 	m := gglm.NewMat4Id()
 	ans := gglm.NewMat4Id()
 
-	if !m.Transpose().Transpose().Eq(ans) {
+	if !m.Transpose().Transpose().Eq(&ans) {
 		t.Errorf("Got: %v; Expected: %v", m.String(), ans.String())
 	}
 
-	if !m.Transpose().Eq(ans) {
+	if !m.Transpose().Eq(&ans) {
 		t.Errorf("Got: %v; Expected: %v", m.String(), ans.String())
 	}
 
-	m = &gglm.Mat4{
-		Data: [4][4]float32{
-			{00, 01, 02, 03},
-			{10, 11, 12, 13},
-			{20, 21, 22, 23},
-			{30, 31, 32, 33},
-		},
+	m.Data = [4][4]float32{
+		{00, 01, 02, 03},
+		{10, 11, 12, 13},
+		{20, 21, 22, 23},
+		{30, 31, 32, 33},
 	}
 
-	ans = &gglm.Mat4{
-		Data: [4][4]float32{
-			{00, 10, 20, 30},
-			{01, 11, 21, 31},
-			{02, 12, 22, 32},
-			{03, 13, 23, 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) {
+	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)
 	}
 }
 
@@ -234,6 +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()
 	}
 }

gglm/quat.go

@@ -32,51 +32,30 @@ func (q *Quat) Angle() float32 {
 }
 
 // Axis returns the rotation axis represented by this quaternion
-func (q *Quat) Axis() *Vec3 {
+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
+// NewQuatEulerVec 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,
-			},
-		},
-	}
+func NewQuatEulerVec(v *Vec3) Quat {
+	return NewQuatEuler(v.X(), v.Y(), v.Z())
 }
 
-// Euler takes rotations in radians and produces a rotation that
+// NewQuatEuler 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 {
+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 {
 	}
 }
 
+// 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, rotAxisNorm *Vec3) *Quat {
+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,
+		},
+	}
+}

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())

gglm/scalar.go

@@ -1,6 +1,10 @@
 package gglm
 
-import "math"
+import (
+	"math"
+
+	"golang.org/x/exp/constraints"
+)
 
 // EqF32 true if abs(f1-f2) <= F32Epsilon
 func EqF32(f1, f2 float32) bool {
@@ -52,3 +56,21 @@ func Abs32(x float32) float32 {
 func Sqrt32(x float32) float32 {
 	return float32(math.Sqrt(float64(x)))
 }
+
+// Clamp returns:
+//
+//	min if x<min
+//	max if x>max
+//	x   if x>=min && x<=max
+func Clamp[T constraints.Ordered](x, min, max T) T {
+
+	if x < min {
+		return min
+	}
+
+	if x > max {
+		return max
+	}
+
+	return x
+}

gglm/scalar_test.go

@@ -0,0 +1,64 @@
+package gglm_test
+
+import (
+	"testing"
+
+	"github.com/bloeys/gglm/gglm"
+)
+
+func TestClamp(t *testing.T) {
+
+	x := 5
+	ans := 5
+	if gglm.Clamp(x, 0, 10) != ans {
+		t.Errorf("Got: %v; Expected: %v", x, ans)
+	}
+
+	x = 10
+	ans = 10
+	if gglm.Clamp(x, 0, 10) != ans {
+		t.Errorf("Got: %v; Expected: %v", x, ans)
+	}
+
+	x = 20
+	ans = 10
+	if gglm.Clamp(x, 0, 10) != ans {
+		t.Errorf("Got: %v; Expected: %v", x, ans)
+	}
+
+	x = -10
+	ans = 0
+	if gglm.Clamp(x, 0, 10) != ans {
+		t.Errorf("Got: %v; Expected: %v", x, ans)
+	}
+
+	xf := 1.5
+	ansf := 1.5
+	if gglm.Clamp(xf, 0, 10) != ansf {
+		t.Errorf("Got: %v; Expected: %v", xf, ansf)
+	}
+
+	xf = 15
+	ansf = 10
+	if gglm.Clamp(xf, 0, 10) != ansf {
+		t.Errorf("Got: %v; Expected: %v", xf, ansf)
+	}
+
+	xf = -1.5
+	ansf = 0
+	if gglm.Clamp(xf, 0, 10) != ansf {
+		t.Errorf("Got: %v; Expected: %v", xf, ansf)
+	}
+
+	xf = 2
+	ansf = 1.5
+	if gglm.Clamp(xf, 0.5, 1.5) != ansf {
+		t.Errorf("Got: %v; Expected: %v", xf, ansf)
+	}
+
+	xf = 1.2
+	ansf = 1.2
+	if gglm.Clamp(xf, 0.5, 1.5) != ansf {
+		t.Errorf("Got: %v; Expected: %v", xf, ansf)
+	}
+}

gglm/transform.go

@@ -13,24 +13,36 @@ type TrMat struct {
 	Mat4
 }
 
+// TranslateVec adds v to the translation components of the transformation matrix
+func (t *TrMat) TranslateVec(v *Vec3) *TrMat {
+	return t.Translate(v.X(), v.Y(), v.Z())
+}
+
 // 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]
+func (t *TrMat) Translate(x, y, z float32) *TrMat {
+	t.Data[3][0] += x
+	t.Data[3][1] += y
+	t.Data[3][2] += z
 	return t
 }
 
+// ScaleVec multiplies the scale components of the transformation matrix by v
+func (t *TrMat) ScaleVec(v *Vec3) *TrMat {
+	return t.Scale(v.X(), v.Y(), v.Z())
+}
+
 // 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]
+func (t *TrMat) Scale(x, y, z float32) *TrMat {
+	t.Data[0][0] *= z
+	t.Data[1][1] *= y
+	t.Data[2][2] *= z
 	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 {
+// RotateVec takes a *normalized* axis and angles in radians to rotate around the given axis
+func (t *TrMat) RotateVec(rads float32, axis *Vec3) *TrMat {
+
+	// Manually inlined
 
 	s := Sin32(rads)
 	c := Cos32(rads)
@@ -51,20 +63,85 @@ func (t *TrMat) Rotate(rads float32, axis *Vec3) *TrMat {
 	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])).
+	result := Mat4{}
+
+	col0 := t.Col(0)
+	col1 := t.Col(1)
+	col2 := t.Col(2)
+	result.Data[0] = col0.Scale(rotate.Data[0][0]).
+		Add(col1.Scale(rotate.Data[0][1])).
+		Add(col2.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])).
+	col0 = t.Col(0)
+	col1 = t.Col(1)
+	col2 = t.Col(2)
+	result.Data[1] = col0.Scale(rotate.Data[1][0]).
+		Add(col1.Scale(rotate.Data[1][1])).
+		Add(col2.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])).
+	col0 = t.Col(0)
+	col1 = t.Col(1)
+	col2 = t.Col(2)
+	result.Data[2] = col0.Scale(rotate.Data[2][0]).
+		Add(col1.Scale(rotate.Data[2][1])).
+		Add(col2.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
+}
+
+// Rotate takes a *normalized* axis and angles in radians to rotate around the given axis
+func (t *TrMat) Rotate(rads float32, axisX, axisY, axisZ float32) *TrMat {
+
+	s := Sin32(rads)
+	c := Cos32(rads)
+
+	axis := NewVec3(axisX, axisY, axisZ)
+	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{}
+
+	col0 := t.Col(0)
+	col1 := t.Col(1)
+	col2 := t.Col(2)
+	result.Data[0] = col0.Scale(rotate.Data[0][0]).
+		Add(col1.Scale(rotate.Data[0][1])).
+		Add(col2.Scale(rotate.Data[0][2])).
+		Data
+
+	col0 = t.Col(0)
+	col1 = t.Col(1)
+	col2 = t.Col(2)
+	result.Data[1] = col0.Scale(rotate.Data[1][0]).
+		Add(col1.Scale(rotate.Data[1][1])).
+		Add(col2.Scale(rotate.Data[1][2])).
+		Data
+
+	col0 = t.Col(0)
+	col1 = t.Col(1)
+	col2 = t.Col(2)
+	result.Data[2] = col0.Scale(rotate.Data[2][0]).
+		Add(col1.Scale(rotate.Data[2][1])).
+		Add(col2.Scale(rotate.Data[2][2])).
 		Data
 
 	t.Data[0] = result.Data[0]
@@ -88,8 +165,8 @@ func (t *TrMat) Clone() *TrMat {
 	}
 }
 
-func NewTranslationMat(v *Vec3) *TrMat {
-	return &TrMat{
+func NewTranslationMatVec(v *Vec3) TrMat {
+	return TrMat{
 		Mat4: Mat4{
 			Data: [4][4]float32{
 				{1, 0, 0, 0},
@@ -101,8 +178,21 @@ func NewTranslationMat(v *Vec3) *TrMat {
 	}
 }
 
-func NewScaleMat(v *Vec3) *TrMat {
-	return &TrMat{
+func NewTranslationMat(posX, posY, posZ float32) TrMat {
+	return TrMat{
+		Mat4: Mat4{
+			Data: [4][4]float32{
+				{1, 0, 0, 0},
+				{0, 1, 0, 0},
+				{0, 0, 1, 0},
+				{posX, posY, posZ, 1},
+			},
+		},
+	}
+}
+
+func NewScaleMatVec(v *Vec3) TrMat {
+	return TrMat{
 		Mat4: Mat4{
 			Data: [4][4]float32{
 				{v.Data[0], 0, 0, 0},
@@ -114,7 +204,20 @@ func NewScaleMat(v *Vec3) *TrMat {
 	}
 }
 
-func NewRotMat(q *Quat) *TrMat {
+func NewScaleMat(scaleX, scaleY, scaleZ float32) TrMat {
+	return TrMat{
+		Mat4: Mat4{
+			Data: [4][4]float32{
+				{scaleX, 0, 0, 0},
+				{0, scaleY, 0, 0},
+				{0, 0, scaleZ, 0},
+				{0, 0, 0, 1},
+			},
+		},
+	}
+}
+
+func NewRotMatQuat(q *Quat) TrMat {
 
 	//Based on: https://www.weizmann.ac.il/sci-tea/benari/sites/sci-tea.benari/files/uploads/softwareAndLearningMaterials/quaternion-tutorial-2-0-1.pdf
 	//Note: in the reference p0,p1,p2,p3 == w,x,y,z
@@ -133,7 +236,7 @@ func NewRotMat(q *Quat) *TrMat {
 
 	zw := q.Data[2] * q.Data[3]
 
-	return &TrMat{
+	return TrMat{
 		Mat4: Mat4{
 			Data: [4][4]float32{
 				{2*(ww+xx) - 1, 2 * (zw + xy), 2 * (xz - yw), 0},
@@ -147,19 +250,21 @@ func NewRotMat(q *Quat) *TrMat {
 
 // LookAtRH does a right-handed coordinate system lookAt (RH is the default for OpenGL).
 // Can be used to create the view matrix
-func LookAtRH(pos, targetPos, worldUp *Vec3) *TrMat {
+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{
+	return TrMat{
 		Mat4: Mat4{
 			Data: [4][4]float32{
 				{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},
 			},
 		},
 	}
@@ -167,28 +272,30 @@ func LookAtRH(pos, targetPos, worldUp *Vec3) *TrMat {
 
 // LookAtLH does a left-handed coordinate system lookAt.
 // Can be used to create the view matrix
-func LookAtLH(pos, targetPos, worldUp *Vec3) *TrMat {
+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{
+	return TrMat{
 		Mat4: Mat4{
 			Data: [4][4]float32{
 				{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
-func Perspective(fov, aspectRatio, nearClip, farClip float32) *Mat4 {
+func Perspective(fov, aspectRatio, nearClip, farClip float32) Mat4 {
 	halfFovTan := float32(math.Tan(float64(fov * 0.5)))
-	return &Mat4{
+	return Mat4{
 		Data: [4][4]float32{
 			{1 / (aspectRatio * halfFovTan), 0, 0, 0},
 			{0, 1 / halfFovTan, 0, 0},
@@ -199,8 +306,8 @@ func Perspective(fov, aspectRatio, nearClip, farClip float32) *Mat4 {
 }
 
 // Perspective creates an orthographic projection matrix
-func Ortho(left, right, top, bottom, nearClip, farClip float32) *TrMat {
-	return &TrMat{
+func Ortho(left, right, top, bottom, nearClip, farClip float32) TrMat {
+	return TrMat{
 		Mat4: Mat4{
 			Data: [4][4]float32{
 				{2 / (right - left), 0, 0, 0},
@@ -212,8 +319,26 @@ func Ortho(left, right, top, bottom, nearClip, farClip float32) *TrMat {
 	}
 }
 
-func NewTrMatId() *TrMat {
-	return &TrMat{
-		Mat4: *NewMat4Id(),
+func NewTrMatId() TrMat {
+	return TrMat{
+		Mat4: NewMat4Id(),
 	}
 }
+
+func NewTrMatWithPos(x, y, z float32) TrMat {
+	tr := TrMat{
+		Mat4: NewMat4Id(),
+	}
+
+	tr.Translate(x, y, z)
+	return tr
+}
+
+func NewTrMatWithPosVec(pos *Vec3) TrMat {
+	tr := TrMat{
+		Mat4: NewMat4Id(),
+	}
+
+	tr.TranslateVec(pos)
+	return tr
+}

gglm/transform_test.go

@@ -27,7 +27,7 @@ func TestNewTrMatId(t *testing.T) {
 
 func TestNewTranslationMat(t *testing.T) {
 
-	m := gglm.NewTranslationMat(gglm.NewVec3(1, 2, 3))
+	m := gglm.NewTranslationMat(1, 2, 3)
 	ans := &gglm.TrMat{
 		Mat4: gglm.Mat4{
 			Data: [4][4]float32{
@@ -46,7 +46,7 @@ func TestNewTranslationMat(t *testing.T) {
 
 func TestNewScaleMat(t *testing.T) {
 
-	m := gglm.NewScaleMat(gglm.NewVec3(1, 2, 3))
+	m := gglm.NewScaleMat(1, 2, 3)
 	ans := &gglm.TrMat{
 		Mat4: gglm.Mat4{
 			Data: [4][4]float32{
@@ -65,7 +65,8 @@ func TestNewScaleMat(t *testing.T) {
 
 func TestNewRotMat(t *testing.T) {
 
-	m := gglm.NewRotMat(gglm.NewQuatId())
+	quat := gglm.NewQuatId()
+	m := gglm.NewRotMatQuat(&quat)
 	ans := &gglm.TrMat{
 		Mat4: gglm.Mat4{
 			Data: [4][4]float32{

gglm/vec2.go

@@ -93,6 +93,20 @@ func (v *Vec2) Scale(x float32) *Vec2 {
 	return v
 }
 
+// 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()
@@ -137,8 +151,8 @@ func (v *Vec2) Clone() *Vec2 {
 }
 
 // AddVec2 v3 = v1 + v2
-func AddVec2(v1, v2 *Vec2) *Vec2 {
-	return &Vec2{
+func AddVec2(v1, v2 *Vec2) Vec2 {
+	return Vec2{
 		Data: [2]float32{
 			v1.X() + v2.X(),
 			v1.Y() + v2.Y(),
@@ -147,8 +161,8 @@ func AddVec2(v1, v2 *Vec2) *Vec2 {
 }
 
 // SubVec2 v3 = v1 - v2
-func SubVec2(v1, v2 *Vec2) *Vec2 {
-	return &Vec2{
+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,
+	}
+}

gglm/vec3.go

@@ -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()
@@ -197,11 +213,12 @@ func (v *Vec3) RotByQuat(q *Quat) *Vec3 {
 	// 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).Scale(2 * q.W())
+	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
+	v.Data = t1.Add(t2).Add(&t3).Data
 	return v
 }
 
@@ -221,8 +238,8 @@ func (v *Vec3) AsRad() *Vec3 {
 }
 
 // AddVec3 v3 = v1 + v2
-func AddVec3(v1, v2 *Vec3) *Vec3 {
-	return &Vec3{
+func AddVec3(v1, v2 *Vec3) Vec3 {
+	return Vec3{
 		Data: [3]float32{
 			v1.X() + v2.X(),
 			v1.Y() + v2.Y(),
@@ -232,8 +249,8 @@ func AddVec3(v1, v2 *Vec3) *Vec3 {
 }
 
 // SubVec3 v3 = v1 - v2
-func SubVec3(v1, v2 *Vec3) *Vec3 {
-	return &Vec3{
+func SubVec3(v1, v2 *Vec3) Vec3 {
+	return Vec3{
 		Data: [3]float32{
 			v1.X() - v2.X(),
 			v1.Y() - v2.Y(),
@@ -242,8 +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,
@@ -251,3 +268,9 @@ func NewVec3(x, y, z float32) *Vec3 {
 		},
 	}
 }
+
+func NewVec3Arr(arr [3]float32) Vec3 {
+	return Vec3{
+		Data: arr,
+	}
+}

gglm/vec4.go

@@ -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()
@@ -244,8 +262,8 @@ func (v *Vec4) Clone() *Vec4 {
 }
 
 // AddVec4 v3 = v1 + v2
-func AddVec4(v1, v2 *Vec4) *Vec4 {
-	return &Vec4{
+func AddVec4(v1, v2 *Vec4) Vec4 {
+	return Vec4{
 		Data: [4]float32{
 			v1.X() + v2.X(),
 			v1.Y() + v2.Y(),
@@ -256,8 +274,8 @@ func AddVec4(v1, v2 *Vec4) *Vec4 {
 }
 
 // SubVec4 v3 = v1 - v2
-func SubVec4(v1, v2 *Vec4) *Vec4 {
-	return &Vec4{
+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,
+	}
+}

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())
 	}
 
@@ -187,7 +187,7 @@ 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())
 	}
 
@@ -195,21 +195,23 @@ func TestVecSwizzleSet(t *testing.T) {
 	v3 = gglm.NewVec3(1, 0, 0)
 	v32 := gglm.NewVec3(1, 0, 0)
 
-	angleV3 := gglm.AngleVec3(v3, v32) * gglm.Rad2Deg
+	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
+	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)
-	v32.RotByQuat(gglm.NewQuatAngleAxis(90*gglm.Deg2Rad, gglm.NewVec3(0, 1, 0)))
-	angleV3 = gglm.AngleVec3(v3, v32) * gglm.Rad2Deg
+	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)
 	}
@@ -223,7 +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())
 	}
 
@@ -235,7 +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())
 	}
 
@@ -243,7 +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())
 	}
 
@@ -251,7 +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())
 	}
 
@@ -259,7 +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())
 	}
 
@@ -267,7 +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())
 	}
 
@@ -275,7 +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())
 	}
 
@@ -283,7 +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())
 	}
 }
@@ -295,26 +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())
 	}
 
@@ -324,7 +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())
 	}
 
@@ -332,33 +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())
 	}
 
@@ -369,7 +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())
 	}
 
@@ -378,46 +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())
 	}
 }

go.mod

@@ -1,3 +1,5 @@
 module github.com/bloeys/gglm
 
-go 1.17
+go 1.18
+
+require golang.org/x/exp v0.0.0-20240506185415-9bf2ced13842

go.sum

@@ -0,0 +1,2 @@
+golang.org/x/exp v0.0.0-20240506185415-9bf2ced13842 h1:vr/HnozRka3pE4EsMEg1lgkXJkTFJCVUX+S/ZT6wYzM=
+golang.org/x/exp v0.0.0-20240506185415-9bf2ced13842/go.mod h1:XtvwrStGgqGPLc4cjQfWqZHG1YFdYs6swckp8vpsjnc=

main.go

@@ -53,7 +53,7 @@ func main() {
 	m4.Mul(m5)
 	println(m4.String())
 	println(m6.String())
-	println(m4.Eq(m6))
+	println(m4.Eq(&m6))
 
 	// Vec2
 	v1 := &gglm.Vec2{Data: [2]float32{1, 2}}
@@ -82,7 +82,9 @@ 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()
@@ -117,7 +119,8 @@ 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
 	mat3A := gglm.Mat3{
@@ -140,21 +143,25 @@ func main() {
 
 	// 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
-	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))
+	translationMat := gglm.NewTranslationMatVec(&gglm.Vec3{Data: [3]float32{1, 2, 3}})
+
+	rotDegs := gglm.NewVec3(60, 30, 20)
+	quat := gglm.NewQuatEulerVec(rotDegs.AsRad())
+	rotMat := gglm.NewRotMatQuat(&quat)
+
+	scaleMat := gglm.NewScaleMat(1, 1, 1)
 
 	modelMat := gglm.NewTrMatId()
-	modelMat.Mul(translationMat.Mul(rotMat.Mul(scaleMat)))
+	modelMat.Mul(translationMat.Mul(rotMat.Mul(&scaleMat)))
 
 	println("\n\n\n", modelMat.String())
 
@@ -165,22 +172,28 @@ func main() {
 	println("\n\n", v2Orig.String(), "; ", v2Clone.String())
 
 	// Clone TrMat
-	trMatOrig := gglm.NewTranslationMat(gglm.NewVec3(1, 2, 3))
+	trMatOrig := gglm.NewTranslationMat(1, 2, 3)
 	trMatClone := trMatOrig.Clone()
-	trMatClone.Scale(gglm.NewVec3(2, 2, 2))
-	trMatClone.Translate(gglm.NewVec3(9, 0, 0))
+
+	trMatCloneScale := gglm.NewVec3(2, 2, 2)
+	trMatClone.ScaleVec(&trMatCloneScale)
+
+	trMatClone.Translate(9, 0, 0)
 	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)
+	q1Degs := gglm.NewVec3(180*gglm.Deg2Rad, 0, 0)
+	q1 := gglm.NewQuatEulerVec(&q1Degs)
+
+	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
@@ -200,5 +213,5 @@ func main() {
 		{2, 4},
 	}}
 
-	println(mc2.Mul(mc).String())
+	println(mc2.Mul(&mc).String())
 }