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+/**********************************************************************************************
+*
+* raymath v1.2 - Math functions to work with Vector3, Matrix and Quaternions
+*
+* CONFIGURATION:
+*
+* #define RAYMATH_IMPLEMENTATION
+* Generates the implementation of the library into the included file.
+* If not defined, the library is in header only mode and can be included in other headers
+* or source files without problems. But only ONE file should hold the implementation.
+*
+* #define RAYMATH_HEADER_ONLY
+* Define static inline functions code, so #include header suffices for use.
+* This may use up lots of memory.
+*
+* #define RAYMATH_STANDALONE
+* Avoid raylib.h header inclusion in this file.
+* Vector3 and Matrix data types are defined internally in raymath module.
+*
+*
+* LICENSE: zlib/libpng
+*
+* Copyright (c) 2015-2020 Ramon Santamaria (@raysan5)
+*
+* This software is provided "as-is", without any express or implied warranty. In no event
+* will the authors be held liable for any damages arising from the use of this software.
+*
+* Permission is granted to anyone to use this software for any purpose, including commercial
+* applications, and to alter it and redistribute it freely, subject to the following restrictions:
+*
+* 1. The origin of this software must not be misrepresented; you must not claim that you
+* wrote the original software. If you use this software in a product, an acknowledgment
+* in the product documentation would be appreciated but is not required.
+*
+* 2. Altered source versions must be plainly marked as such, and must not be misrepresented
+* as being the original software.
+*
+* 3. This notice may not be removed or altered from any source distribution.
+*
+**********************************************************************************************/
+
+#ifndef RAYMATH_H
+#define RAYMATH_H
+
+//#define RAYMATH_STANDALONE // NOTE: To use raymath as standalone lib, just uncomment this line
+//#define RAYMATH_HEADER_ONLY // NOTE: To compile functions as static inline, uncomment this line
+
+#ifndef RAYMATH_STANDALONE
+ #include "raylib.h" // Required for structs: Vector3, Matrix
+#endif
+
+#if defined(RAYMATH_IMPLEMENTATION) && defined(RAYMATH_HEADER_ONLY)
+ #error "Specifying both RAYMATH_IMPLEMENTATION and RAYMATH_HEADER_ONLY is contradictory"
+#endif
+
+#if defined(RAYMATH_IMPLEMENTATION)
+ #if defined(_WIN32) && defined(BUILD_LIBTYPE_SHARED)
+ #define RMDEF __declspec(dllexport) extern inline // We are building raylib as a Win32 shared library (.dll).
+ #elif defined(_WIN32) && defined(USE_LIBTYPE_SHARED)
+ #define RMDEF __declspec(dllimport) // We are using raylib as a Win32 shared library (.dll)
+ #else
+ #define RMDEF extern inline // Provide external definition
+ #endif
+#elif defined(RAYMATH_HEADER_ONLY)
+ #define RMDEF static inline // Functions may be inlined, no external out-of-line definition
+#else
+ #if defined(__TINYC__)
+ #define RMDEF static inline // plain inline not supported by tinycc (See issue #435)
+ #else
+ #define RMDEF inline // Functions may be inlined or external definition used
+ #endif
+#endif
+
+//----------------------------------------------------------------------------------
+// Defines and Macros
+//----------------------------------------------------------------------------------
+#ifndef PI
+ #define PI 3.14159265358979323846
+#endif
+
+#ifndef DEG2RAD
+ #define DEG2RAD (PI/180.0f)
+#endif
+
+#ifndef RAD2DEG
+ #define RAD2DEG (180.0f/PI)
+#endif
+
+// Return float vector for Matrix
+#ifndef MatrixToFloat
+ #define MatrixToFloat(mat) (MatrixToFloatV(mat).v)
+#endif
+
+// Return float vector for Vector3
+#ifndef Vector3ToFloat
+ #define Vector3ToFloat(vec) (Vector3ToFloatV(vec).v)
+#endif
+
+//----------------------------------------------------------------------------------
+// Types and Structures Definition
+//----------------------------------------------------------------------------------
+
+#if defined(RAYMATH_STANDALONE)
+ // Vector2 type
+ typedef struct Vector2 {
+ float x;
+ float y;
+ } Vector2;
+
+ // Vector3 type
+ typedef struct Vector3 {
+ float x;
+ float y;
+ float z;
+ } Vector3;
+
+ // Quaternion type
+ typedef struct Quaternion {
+ float x;
+ float y;
+ float z;
+ float w;
+ } Quaternion;
+
+ // Matrix type (OpenGL style 4x4 - right handed, column major)
+ typedef struct Matrix {
+ float m0, m4, m8, m12;
+ float m1, m5, m9, m13;
+ float m2, m6, m10, m14;
+ float m3, m7, m11, m15;
+ } Matrix;
+#endif
+
+// NOTE: Helper types to be used instead of array return types for *ToFloat functions
+typedef struct float3 { float v[3]; } float3;
+typedef struct float16 { float v[16]; } float16;
+
+#include <math.h> // Required for: sinf(), cosf(), tan(), fabs()
+
+//----------------------------------------------------------------------------------
+// Module Functions Definition - Utils math
+//----------------------------------------------------------------------------------
+
+// Clamp float value
+RMDEF float Clamp(float value, float min, float max)
+{
+ const float res = value < min ? min : value;
+ return res > max ? max : res;
+}
+
+// Calculate linear interpolation between two floats
+RMDEF float Lerp(float start, float end, float amount)
+{
+ return start + amount*(end - start);
+}
+
+//----------------------------------------------------------------------------------
+// Module Functions Definition - Vector2 math
+//----------------------------------------------------------------------------------
+
+// Vector with components value 0.0f
+RMDEF Vector2 Vector2Zero(void)
+{
+ Vector2 result = { 0.0f, 0.0f };
+ return result;
+}
+
+// Vector with components value 1.0f
+RMDEF Vector2 Vector2One(void)
+{
+ Vector2 result = { 1.0f, 1.0f };
+ return result;
+}
+
+// Add two vectors (v1 + v2)
+RMDEF Vector2 Vector2Add(Vector2 v1, Vector2 v2)
+{
+ Vector2 result = { v1.x + v2.x, v1.y + v2.y };
+ return result;
+}
+
+// Subtract two vectors (v1 - v2)
+RMDEF Vector2 Vector2Subtract(Vector2 v1, Vector2 v2)
+{
+ Vector2 result = { v1.x - v2.x, v1.y - v2.y };
+ return result;
+}
+
+// Calculate vector length
+RMDEF float Vector2Length(Vector2 v)
+{
+ float result = sqrtf((v.x*v.x) + (v.y*v.y));
+ return result;
+}
+
+// Calculate two vectors dot product
+RMDEF float Vector2DotProduct(Vector2 v1, Vector2 v2)
+{
+ float result = (v1.x*v2.x + v1.y*v2.y);
+ return result;
+}
+
+// Calculate distance between two vectors
+RMDEF float Vector2Distance(Vector2 v1, Vector2 v2)
+{
+ float result = sqrtf((v1.x - v2.x)*(v1.x - v2.x) + (v1.y - v2.y)*(v1.y - v2.y));
+ return result;
+}
+
+// Calculate angle from two vectors in X-axis
+RMDEF float Vector2Angle(Vector2 v1, Vector2 v2)
+{
+ float result = atan2f(v2.y - v1.y, v2.x - v1.x)*(180.0f/PI);
+ if (result < 0) result += 360.0f;
+ return result;
+}
+
+// Scale vector (multiply by value)
+RMDEF Vector2 Vector2Scale(Vector2 v, float scale)
+{
+ Vector2 result = { v.x*scale, v.y*scale };
+ return result;
+}
+
+// Multiply vector by vector
+RMDEF Vector2 Vector2MultiplyV(Vector2 v1, Vector2 v2)
+{
+ Vector2 result = { v1.x*v2.x, v1.y*v2.y };
+ return result;
+}
+
+// Negate vector
+RMDEF Vector2 Vector2Negate(Vector2 v)
+{
+ Vector2 result = { -v.x, -v.y };
+ return result;
+}
+
+// Divide vector by a float value
+RMDEF Vector2 Vector2Divide(Vector2 v, float div)
+{
+ Vector2 result = { v.x/div, v.y/div };
+ return result;
+}
+
+// Divide vector by vector
+RMDEF Vector2 Vector2DivideV(Vector2 v1, Vector2 v2)
+{
+ Vector2 result = { v1.x/v2.x, v1.y/v2.y };
+ return result;
+}
+
+// Normalize provided vector
+RMDEF Vector2 Vector2Normalize(Vector2 v)
+{
+ Vector2 result = Vector2Divide(v, Vector2Length(v));
+ return result;
+}
+
+// Calculate linear interpolation between two vectors
+RMDEF Vector2 Vector2Lerp(Vector2 v1, Vector2 v2, float amount)
+{
+ Vector2 result = { 0 };
+
+ result.x = v1.x + amount*(v2.x - v1.x);
+ result.y = v1.y + amount*(v2.y - v1.y);
+
+ return result;
+}
+
+//----------------------------------------------------------------------------------
+// Module Functions Definition - Vector3 math
+//----------------------------------------------------------------------------------
+
+// Vector with components value 0.0f
+RMDEF Vector3 Vector3Zero(void)
+{
+ Vector3 result = { 0.0f, 0.0f, 0.0f };
+ return result;
+}
+
+// Vector with components value 1.0f
+RMDEF Vector3 Vector3One(void)
+{
+ Vector3 result = { 1.0f, 1.0f, 1.0f };
+ return result;
+}
+
+// Add two vectors
+RMDEF Vector3 Vector3Add(Vector3 v1, Vector3 v2)
+{
+ Vector3 result = { v1.x + v2.x, v1.y + v2.y, v1.z + v2.z };
+ return result;
+}
+
+// Subtract two vectors
+RMDEF Vector3 Vector3Subtract(Vector3 v1, Vector3 v2)
+{
+ Vector3 result = { v1.x - v2.x, v1.y - v2.y, v1.z - v2.z };
+ return result;
+}
+
+// Multiply vector by scalar
+RMDEF Vector3 Vector3Multiply(Vector3 v, float scalar)
+{
+ Vector3 result = { v.x*scalar, v.y*scalar, v.z*scalar };
+ return result;
+}
+
+// Multiply vector by vector
+RMDEF Vector3 Vector3MultiplyV(Vector3 v1, Vector3 v2)
+{
+ Vector3 result = { v1.x*v2.x, v1.y*v2.y, v1.z*v2.z };
+ return result;
+}
+
+// Calculate two vectors cross product
+RMDEF Vector3 Vector3CrossProduct(Vector3 v1, Vector3 v2)
+{
+ Vector3 result = { v1.y*v2.z - v1.z*v2.y, v1.z*v2.x - v1.x*v2.z, v1.x*v2.y - v1.y*v2.x };
+ return result;
+}
+
+// Calculate one vector perpendicular vector
+RMDEF Vector3 Vector3Perpendicular(Vector3 v)
+{
+ Vector3 result = { 0 };
+
+ float min = (float) fabs(v.x);
+ Vector3 cardinalAxis = {1.0f, 0.0f, 0.0f};
+
+ if (fabs(v.y) < min)
+ {
+ min = (float) fabs(v.y);
+ Vector3 tmp = {0.0f, 1.0f, 0.0f};
+ cardinalAxis = tmp;
+ }
+
+ if (fabs(v.z) < min)
+ {
+ Vector3 tmp = {0.0f, 0.0f, 1.0f};
+ cardinalAxis = tmp;
+ }
+
+ result = Vector3CrossProduct(v, cardinalAxis);
+
+ return result;
+}
+
+// Calculate vector length
+RMDEF float Vector3Length(const Vector3 v)
+{
+ float result = sqrtf(v.x*v.x + v.y*v.y + v.z*v.z);
+ return result;
+}
+
+// Calculate two vectors dot product
+RMDEF float Vector3DotProduct(Vector3 v1, Vector3 v2)
+{
+ float result = (v1.x*v2.x + v1.y*v2.y + v1.z*v2.z);
+ return result;
+}
+
+// Calculate distance between two vectors
+RMDEF float Vector3Distance(Vector3 v1, Vector3 v2)
+{
+ float dx = v2.x - v1.x;
+ float dy = v2.y - v1.y;
+ float dz = v2.z - v1.z;
+ float result = sqrtf(dx*dx + dy*dy + dz*dz);
+ return result;
+}
+
+// Scale provided vector
+RMDEF Vector3 Vector3Scale(Vector3 v, float scale)
+{
+ Vector3 result = { v.x*scale, v.y*scale, v.z*scale };
+ return result;
+}
+
+// Negate provided vector (invert direction)
+RMDEF Vector3 Vector3Negate(Vector3 v)
+{
+ Vector3 result = { -v.x, -v.y, -v.z };
+ return result;
+}
+
+// Divide vector by a float value
+RMDEF Vector3 Vector3Divide(Vector3 v, float div)
+{
+ Vector3 result = { v.x / div, v.y / div, v.z / div };
+ return result;
+}
+
+// Divide vector by vector
+RMDEF Vector3 Vector3DivideV(Vector3 v1, Vector3 v2)
+{
+ Vector3 result = { v1.x/v2.x, v1.y/v2.y, v1.z/v2.z };
+ return result;
+}
+
+// Normalize provided vector
+RMDEF Vector3 Vector3Normalize(Vector3 v)
+{
+ Vector3 result = v;
+
+ float length, ilength;
+ length = Vector3Length(v);
+ if (length == 0.0f) length = 1.0f;
+ ilength = 1.0f/length;
+
+ result.x *= ilength;
+ result.y *= ilength;
+ result.z *= ilength;
+
+ return result;
+}
+
+// Orthonormalize provided vectors
+// Makes vectors normalized and orthogonal to each other
+// Gram-Schmidt function implementation
+RMDEF void Vector3OrthoNormalize(Vector3 *v1, Vector3 *v2)
+{
+ *v1 = Vector3Normalize(*v1);
+ Vector3 vn = Vector3CrossProduct(*v1, *v2);
+ vn = Vector3Normalize(vn);
+ *v2 = Vector3CrossProduct(vn, *v1);
+}
+
+// Transforms a Vector3 by a given Matrix
+RMDEF Vector3 Vector3Transform(Vector3 v, Matrix mat)
+{
+ Vector3 result = { 0 };
+ float x = v.x;
+ float y = v.y;
+ float z = v.z;
+
+ result.x = mat.m0*x + mat.m4*y + mat.m8*z + mat.m12;
+ result.y = mat.m1*x + mat.m5*y + mat.m9*z + mat.m13;
+ result.z = mat.m2*x + mat.m6*y + mat.m10*z + mat.m14;
+
+ return result;
+}
+
+// Transform a vector by quaternion rotation
+RMDEF Vector3 Vector3RotateByQuaternion(Vector3 v, Quaternion q)
+{
+ Vector3 result = { 0 };
+
+ result.x = v.x*(q.x*q.x + q.w*q.w - q.y*q.y - q.z*q.z) + v.y*(2*q.x*q.y - 2*q.w*q.z) + v.z*(2*q.x*q.z + 2*q.w*q.y);
+ result.y = v.x*(2*q.w*q.z + 2*q.x*q.y) + v.y*(q.w*q.w - q.x*q.x + q.y*q.y - q.z*q.z) + v.z*(-2*q.w*q.x + 2*q.y*q.z);
+ result.z = v.x*(-2*q.w*q.y + 2*q.x*q.z) + v.y*(2*q.w*q.x + 2*q.y*q.z)+ v.z*(q.w*q.w - q.x*q.x - q.y*q.y + q.z*q.z);
+
+ return result;
+}
+
+// Calculate linear interpolation between two vectors
+RMDEF Vector3 Vector3Lerp(Vector3 v1, Vector3 v2, float amount)
+{
+ Vector3 result = { 0 };
+
+ result.x = v1.x + amount*(v2.x - v1.x);
+ result.y = v1.y + amount*(v2.y - v1.y);
+ result.z = v1.z + amount*(v2.z - v1.z);
+
+ return result;
+}
+
+// Calculate reflected vector to normal
+RMDEF Vector3 Vector3Reflect(Vector3 v, Vector3 normal)
+{
+ // I is the original vector
+ // N is the normal of the incident plane
+ // R = I - (2*N*( DotProduct[ I,N] ))
+
+ Vector3 result = { 0 };
+
+ float dotProduct = Vector3DotProduct(v, normal);
+
+ result.x = v.x - (2.0f*normal.x)*dotProduct;
+ result.y = v.y - (2.0f*normal.y)*dotProduct;
+ result.z = v.z - (2.0f*normal.z)*dotProduct;
+
+ return result;
+}
+
+// Return min value for each pair of components
+RMDEF Vector3 Vector3Min(Vector3 v1, Vector3 v2)
+{
+ Vector3 result = { 0 };
+
+ result.x = fminf(v1.x, v2.x);
+ result.y = fminf(v1.y, v2.y);
+ result.z = fminf(v1.z, v2.z);
+
+ return result;
+}
+
+// Return max value for each pair of components
+RMDEF Vector3 Vector3Max(Vector3 v1, Vector3 v2)
+{
+ Vector3 result = { 0 };
+
+ result.x = fmaxf(v1.x, v2.x);
+ result.y = fmaxf(v1.y, v2.y);
+ result.z = fmaxf(v1.z, v2.z);
+
+ return result;
+}
+
+// Compute barycenter coordinates (u, v, w) for point p with respect to triangle (a, b, c)
+// NOTE: Assumes P is on the plane of the triangle
+RMDEF Vector3 Vector3Barycenter(Vector3 p, Vector3 a, Vector3 b, Vector3 c)
+{
+ //Vector v0 = b - a, v1 = c - a, v2 = p - a;
+
+ Vector3 v0 = Vector3Subtract(b, a);
+ Vector3 v1 = Vector3Subtract(c, a);
+ Vector3 v2 = Vector3Subtract(p, a);
+ float d00 = Vector3DotProduct(v0, v0);
+ float d01 = Vector3DotProduct(v0, v1);
+ float d11 = Vector3DotProduct(v1, v1);
+ float d20 = Vector3DotProduct(v2, v0);
+ float d21 = Vector3DotProduct(v2, v1);
+
+ float denom = d00*d11 - d01*d01;
+
+ Vector3 result = { 0 };
+
+ result.y = (d11*d20 - d01*d21)/denom;
+ result.z = (d00*d21 - d01*d20)/denom;
+ result.x = 1.0f - (result.z + result.y);
+
+ return result;
+}
+
+// Returns Vector3 as float array
+RMDEF float3 Vector3ToFloatV(Vector3 v)
+{
+ float3 buffer = { 0 };
+
+ buffer.v[0] = v.x;
+ buffer.v[1] = v.y;
+ buffer.v[2] = v.z;
+
+ return buffer;
+}
+
+//----------------------------------------------------------------------------------
+// Module Functions Definition - Matrix math
+//----------------------------------------------------------------------------------
+
+// Compute matrix determinant
+RMDEF float MatrixDeterminant(Matrix mat)
+{
+ float result = { 0 };
+
+ // Cache the matrix values (speed optimization)
+ float a00 = mat.m0, a01 = mat.m1, a02 = mat.m2, a03 = mat.m3;
+ float a10 = mat.m4, a11 = mat.m5, a12 = mat.m6, a13 = mat.m7;
+ float a20 = mat.m8, a21 = mat.m9, a22 = mat.m10, a23 = mat.m11;
+ float a30 = mat.m12, a31 = mat.m13, a32 = mat.m14, a33 = mat.m15;
+
+ result = a30*a21*a12*a03 - a20*a31*a12*a03 - a30*a11*a22*a03 + a10*a31*a22*a03 +
+ a20*a11*a32*a03 - a10*a21*a32*a03 - a30*a21*a02*a13 + a20*a31*a02*a13 +
+ a30*a01*a22*a13 - a00*a31*a22*a13 - a20*a01*a32*a13 + a00*a21*a32*a13 +
+ a30*a11*a02*a23 - a10*a31*a02*a23 - a30*a01*a12*a23 + a00*a31*a12*a23 +
+ a10*a01*a32*a23 - a00*a11*a32*a23 - a20*a11*a02*a33 + a10*a21*a02*a33 +
+ a20*a01*a12*a33 - a00*a21*a12*a33 - a10*a01*a22*a33 + a00*a11*a22*a33;
+
+ return result;
+}
+
+// Returns the trace of the matrix (sum of the values along the diagonal)
+RMDEF float MatrixTrace(Matrix mat)
+{
+ float result = (mat.m0 + mat.m5 + mat.m10 + mat.m15);
+ return result;
+}
+
+// Transposes provided matrix
+RMDEF Matrix MatrixTranspose(Matrix mat)
+{
+ Matrix result = { 0 };
+
+ result.m0 = mat.m0;
+ result.m1 = mat.m4;
+ result.m2 = mat.m8;
+ result.m3 = mat.m12;
+ result.m4 = mat.m1;
+ result.m5 = mat.m5;
+ result.m6 = mat.m9;
+ result.m7 = mat.m13;
+ result.m8 = mat.m2;
+ result.m9 = mat.m6;
+ result.m10 = mat.m10;
+ result.m11 = mat.m14;
+ result.m12 = mat.m3;
+ result.m13 = mat.m7;
+ result.m14 = mat.m11;
+ result.m15 = mat.m15;
+
+ return result;
+}
+
+// Invert provided matrix
+RMDEF Matrix MatrixInvert(Matrix mat)
+{
+ Matrix result = { 0 };
+
+ // Cache the matrix values (speed optimization)
+ float a00 = mat.m0, a01 = mat.m1, a02 = mat.m2, a03 = mat.m3;
+ float a10 = mat.m4, a11 = mat.m5, a12 = mat.m6, a13 = mat.m7;
+ float a20 = mat.m8, a21 = mat.m9, a22 = mat.m10, a23 = mat.m11;
+ float a30 = mat.m12, a31 = mat.m13, a32 = mat.m14, a33 = mat.m15;
+
+ float b00 = a00*a11 - a01*a10;
+ float b01 = a00*a12 - a02*a10;
+ float b02 = a00*a13 - a03*a10;
+ float b03 = a01*a12 - a02*a11;
+ float b04 = a01*a13 - a03*a11;
+ float b05 = a02*a13 - a03*a12;
+ float b06 = a20*a31 - a21*a30;
+ float b07 = a20*a32 - a22*a30;
+ float b08 = a20*a33 - a23*a30;
+ float b09 = a21*a32 - a22*a31;
+ float b10 = a21*a33 - a23*a31;
+ float b11 = a22*a33 - a23*a32;
+
+ // Calculate the invert determinant (inlined to avoid double-caching)
+ float invDet = 1.0f/(b00*b11 - b01*b10 + b02*b09 + b03*b08 - b04*b07 + b05*b06);
+
+ result.m0 = (a11*b11 - a12*b10 + a13*b09)*invDet;
+ result.m1 = (-a01*b11 + a02*b10 - a03*b09)*invDet;
+ result.m2 = (a31*b05 - a32*b04 + a33*b03)*invDet;
+ result.m3 = (-a21*b05 + a22*b04 - a23*b03)*invDet;
+ result.m4 = (-a10*b11 + a12*b08 - a13*b07)*invDet;
+ result.m5 = (a00*b11 - a02*b08 + a03*b07)*invDet;
+ result.m6 = (-a30*b05 + a32*b02 - a33*b01)*invDet;
+ result.m7 = (a20*b05 - a22*b02 + a23*b01)*invDet;
+ result.m8 = (a10*b10 - a11*b08 + a13*b06)*invDet;
+ result.m9 = (-a00*b10 + a01*b08 - a03*b06)*invDet;
+ result.m10 = (a30*b04 - a31*b02 + a33*b00)*invDet;
+ result.m11 = (-a20*b04 + a21*b02 - a23*b00)*invDet;
+ result.m12 = (-a10*b09 + a11*b07 - a12*b06)*invDet;
+ result.m13 = (a00*b09 - a01*b07 + a02*b06)*invDet;
+ result.m14 = (-a30*b03 + a31*b01 - a32*b00)*invDet;
+ result.m15 = (a20*b03 - a21*b01 + a22*b00)*invDet;
+
+ return result;
+}
+
+// Normalize provided matrix
+RMDEF Matrix MatrixNormalize(Matrix mat)
+{
+ Matrix result = { 0 };
+
+ float det = MatrixDeterminant(mat);
+
+ result.m0 = mat.m0/det;
+ result.m1 = mat.m1/det;
+ result.m2 = mat.m2/det;
+ result.m3 = mat.m3/det;
+ result.m4 = mat.m4/det;
+ result.m5 = mat.m5/det;
+ result.m6 = mat.m6/det;
+ result.m7 = mat.m7/det;
+ result.m8 = mat.m8/det;
+ result.m9 = mat.m9/det;
+ result.m10 = mat.m10/det;
+ result.m11 = mat.m11/det;
+ result.m12 = mat.m12/det;
+ result.m13 = mat.m13/det;
+ result.m14 = mat.m14/det;
+ result.m15 = mat.m15/det;
+
+ return result;
+}
+
+// Returns identity matrix
+RMDEF Matrix MatrixIdentity(void)
+{
+ Matrix result = { 1.0f, 0.0f, 0.0f, 0.0f,
+ 0.0f, 1.0f, 0.0f, 0.0f,
+ 0.0f, 0.0f, 1.0f, 0.0f,
+ 0.0f, 0.0f, 0.0f, 1.0f };
+
+ return result;
+}
+
+// Add two matrices
+RMDEF Matrix MatrixAdd(Matrix left, Matrix right)
+{
+ Matrix result = MatrixIdentity();
+
+ result.m0 = left.m0 + right.m0;
+ result.m1 = left.m1 + right.m1;
+ result.m2 = left.m2 + right.m2;
+ result.m3 = left.m3 + right.m3;
+ result.m4 = left.m4 + right.m4;
+ result.m5 = left.m5 + right.m5;
+ result.m6 = left.m6 + right.m6;
+ result.m7 = left.m7 + right.m7;
+ result.m8 = left.m8 + right.m8;
+ result.m9 = left.m9 + right.m9;
+ result.m10 = left.m10 + right.m10;
+ result.m11 = left.m11 + right.m11;
+ result.m12 = left.m12 + right.m12;
+ result.m13 = left.m13 + right.m13;
+ result.m14 = left.m14 + right.m14;
+ result.m15 = left.m15 + right.m15;
+
+ return result;
+}
+
+// Subtract two matrices (left - right)
+RMDEF Matrix MatrixSubtract(Matrix left, Matrix right)
+{
+ Matrix result = MatrixIdentity();
+
+ result.m0 = left.m0 - right.m0;
+ result.m1 = left.m1 - right.m1;
+ result.m2 = left.m2 - right.m2;
+ result.m3 = left.m3 - right.m3;
+ result.m4 = left.m4 - right.m4;
+ result.m5 = left.m5 - right.m5;
+ result.m6 = left.m6 - right.m6;
+ result.m7 = left.m7 - right.m7;
+ result.m8 = left.m8 - right.m8;
+ result.m9 = left.m9 - right.m9;
+ result.m10 = left.m10 - right.m10;
+ result.m11 = left.m11 - right.m11;
+ result.m12 = left.m12 - right.m12;
+ result.m13 = left.m13 - right.m13;
+ result.m14 = left.m14 - right.m14;
+ result.m15 = left.m15 - right.m15;
+
+ return result;
+}
+
+// Returns translation matrix
+RMDEF Matrix MatrixTranslate(float x, float y, float z)
+{
+ Matrix result = { 1.0f, 0.0f, 0.0f, x,
+ 0.0f, 1.0f, 0.0f, y,
+ 0.0f, 0.0f, 1.0f, z,
+ 0.0f, 0.0f, 0.0f, 1.0f };
+
+ return result;
+}
+
+// Create rotation matrix from axis and angle
+// NOTE: Angle should be provided in radians
+RMDEF Matrix MatrixRotate(Vector3 axis, float angle)
+{
+ Matrix result = { 0 };
+
+ float x = axis.x, y = axis.y, z = axis.z;
+
+ float length = sqrtf(x*x + y*y + z*z);
+
+ if ((length != 1.0f) && (length != 0.0f))
+ {
+ length = 1.0f/length;
+ x *= length;
+ y *= length;
+ z *= length;
+ }
+
+ float sinres = sinf(angle);
+ float cosres = cosf(angle);
+ float t = 1.0f - cosres;
+
+ result.m0 = x*x*t + cosres;
+ result.m1 = y*x*t + z*sinres;
+ result.m2 = z*x*t - y*sinres;
+ result.m3 = 0.0f;
+
+ result.m4 = x*y*t - z*sinres;
+ result.m5 = y*y*t + cosres;
+ result.m6 = z*y*t + x*sinres;
+ result.m7 = 0.0f;
+
+ result.m8 = x*z*t + y*sinres;
+ result.m9 = y*z*t - x*sinres;
+ result.m10 = z*z*t + cosres;
+ result.m11 = 0.0f;
+
+ result.m12 = 0.0f;
+ result.m13 = 0.0f;
+ result.m14 = 0.0f;
+ result.m15 = 1.0f;
+
+ return result;
+}
+
+// Returns xyz-rotation matrix (angles in radians)
+RMDEF Matrix MatrixRotateXYZ(Vector3 ang)
+{
+ Matrix result = MatrixIdentity();
+
+ float cosz = cosf(-ang.z);
+ float sinz = sinf(-ang.z);
+ float cosy = cosf(-ang.y);
+ float siny = sinf(-ang.y);
+ float cosx = cosf(-ang.x);
+ float sinx = sinf(-ang.x);
+
+ result.m0 = cosz * cosy;
+ result.m4 = (cosz * siny * sinx) - (sinz * cosx);
+ result.m8 = (cosz * siny * cosx) + (sinz * sinx);
+
+ result.m1 = sinz * cosy;
+ result.m5 = (sinz * siny * sinx) + (cosz * cosx);
+ result.m9 = (sinz * siny * cosx) - (cosz * sinx);
+
+ result.m2 = -siny;
+ result.m6 = cosy * sinx;
+ result.m10= cosy * cosx;
+
+ return result;
+}
+
+// Returns x-rotation matrix (angle in radians)
+RMDEF Matrix MatrixRotateX(float angle)
+{
+ Matrix result = MatrixIdentity();
+
+ float cosres = cosf(angle);
+ float sinres = sinf(angle);
+
+ result.m5 = cosres;
+ result.m6 = -sinres;
+ result.m9 = sinres;
+ result.m10 = cosres;
+
+ return result;
+}
+
+// Returns y-rotation matrix (angle in radians)
+RMDEF Matrix MatrixRotateY(float angle)
+{
+ Matrix result = MatrixIdentity();
+
+ float cosres = cosf(angle);
+ float sinres = sinf(angle);
+
+ result.m0 = cosres;
+ result.m2 = sinres;
+ result.m8 = -sinres;
+ result.m10 = cosres;
+
+ return result;
+}
+
+// Returns z-rotation matrix (angle in radians)
+RMDEF Matrix MatrixRotateZ(float angle)
+{
+ Matrix result = MatrixIdentity();
+
+ float cosres = cosf(angle);
+ float sinres = sinf(angle);
+
+ result.m0 = cosres;
+ result.m1 = -sinres;
+ result.m4 = sinres;
+ result.m5 = cosres;
+
+ return result;
+}
+
+// Returns scaling matrix
+RMDEF Matrix MatrixScale(float x, float y, float z)
+{
+ Matrix result = { x, 0.0f, 0.0f, 0.0f,
+ 0.0f, y, 0.0f, 0.0f,
+ 0.0f, 0.0f, z, 0.0f,
+ 0.0f, 0.0f, 0.0f, 1.0f };
+
+ return result;
+}
+
+// Returns two matrix multiplication
+// NOTE: When multiplying matrices... the order matters!
+RMDEF Matrix MatrixMultiply(Matrix left, Matrix right)
+{
+ Matrix result = { 0 };
+
+ result.m0 = left.m0*right.m0 + left.m1*right.m4 + left.m2*right.m8 + left.m3*right.m12;
+ result.m1 = left.m0*right.m1 + left.m1*right.m5 + left.m2*right.m9 + left.m3*right.m13;
+ result.m2 = left.m0*right.m2 + left.m1*right.m6 + left.m2*right.m10 + left.m3*right.m14;
+ result.m3 = left.m0*right.m3 + left.m1*right.m7 + left.m2*right.m11 + left.m3*right.m15;
+ result.m4 = left.m4*right.m0 + left.m5*right.m4 + left.m6*right.m8 + left.m7*right.m12;
+ result.m5 = left.m4*right.m1 + left.m5*right.m5 + left.m6*right.m9 + left.m7*right.m13;
+ result.m6 = left.m4*right.m2 + left.m5*right.m6 + left.m6*right.m10 + left.m7*right.m14;
+ result.m7 = left.m4*right.m3 + left.m5*right.m7 + left.m6*right.m11 + left.m7*right.m15;
+ result.m8 = left.m8*right.m0 + left.m9*right.m4 + left.m10*right.m8 + left.m11*right.m12;
+ result.m9 = left.m8*right.m1 + left.m9*right.m5 + left.m10*right.m9 + left.m11*right.m13;
+ result.m10 = left.m8*right.m2 + left.m9*right.m6 + left.m10*right.m10 + left.m11*right.m14;
+ result.m11 = left.m8*right.m3 + left.m9*right.m7 + left.m10*right.m11 + left.m11*right.m15;
+ result.m12 = left.m12*right.m0 + left.m13*right.m4 + left.m14*right.m8 + left.m15*right.m12;
+ result.m13 = left.m12*right.m1 + left.m13*right.m5 + left.m14*right.m9 + left.m15*right.m13;
+ result.m14 = left.m12*right.m2 + left.m13*right.m6 + left.m14*right.m10 + left.m15*right.m14;
+ result.m15 = left.m12*right.m3 + left.m13*right.m7 + left.m14*right.m11 + left.m15*right.m15;
+
+ return result;
+}
+
+// Returns perspective projection matrix
+RMDEF Matrix MatrixFrustum(double left, double right, double bottom, double top, double near, double far)
+{
+ Matrix result = { 0 };
+
+ float rl = (float)(right - left);
+ float tb = (float)(top - bottom);
+ float fn = (float)(far - near);
+
+ result.m0 = ((float) near*2.0f)/rl;
+ result.m1 = 0.0f;
+ result.m2 = 0.0f;
+ result.m3 = 0.0f;
+
+ result.m4 = 0.0f;
+ result.m5 = ((float) near*2.0f)/tb;
+ result.m6 = 0.0f;
+ result.m7 = 0.0f;
+
+ result.m8 = ((float)right + (float)left)/rl;
+ result.m9 = ((float)top + (float)bottom)/tb;
+ result.m10 = -((float)far + (float)near)/fn;
+ result.m11 = -1.0f;
+
+ result.m12 = 0.0f;
+ result.m13 = 0.0f;
+ result.m14 = -((float)far*(float)near*2.0f)/fn;
+ result.m15 = 0.0f;
+
+ return result;
+}
+
+// Returns perspective projection matrix
+// NOTE: Angle should be provided in radians
+RMDEF Matrix MatrixPerspective(double fovy, double aspect, double near, double far)
+{
+ double top = near*tan(fovy*0.5);
+ double right = top*aspect;
+ Matrix result = MatrixFrustum(-right, right, -top, top, near, far);
+
+ return result;
+}
+
+// Returns orthographic projection matrix
+RMDEF Matrix MatrixOrtho(double left, double right, double bottom, double top, double near, double far)
+{
+ Matrix result = { 0 };
+
+ float rl = (float)(right - left);
+ float tb = (float)(top - bottom);
+ float fn = (float)(far - near);
+
+ result.m0 = 2.0f/rl;
+ result.m1 = 0.0f;
+ result.m2 = 0.0f;
+ result.m3 = 0.0f;
+ result.m4 = 0.0f;
+ result.m5 = 2.0f/tb;
+ result.m6 = 0.0f;
+ result.m7 = 0.0f;
+ result.m8 = 0.0f;
+ result.m9 = 0.0f;
+ result.m10 = -2.0f/fn;
+ result.m11 = 0.0f;
+ result.m12 = -((float)left + (float)right)/rl;
+ result.m13 = -((float)top + (float)bottom)/tb;
+ result.m14 = -((float)far + (float)near)/fn;
+ result.m15 = 1.0f;
+
+ return result;
+}
+
+// Returns camera look-at matrix (view matrix)
+RMDEF Matrix MatrixLookAt(Vector3 eye, Vector3 target, Vector3 up)
+{
+ Matrix result = { 0 };
+
+ Vector3 z = Vector3Subtract(eye, target);
+ z = Vector3Normalize(z);
+ Vector3 x = Vector3CrossProduct(up, z);
+ x = Vector3Normalize(x);
+ Vector3 y = Vector3CrossProduct(z, x);
+ y = Vector3Normalize(y);
+
+ result.m0 = x.x;
+ result.m1 = x.y;
+ result.m2 = x.z;
+ result.m3 = 0.0f;
+ result.m4 = y.x;
+ result.m5 = y.y;
+ result.m6 = y.z;
+ result.m7 = 0.0f;
+ result.m8 = z.x;
+ result.m9 = z.y;
+ result.m10 = z.z;
+ result.m11 = 0.0f;
+ result.m12 = eye.x;
+ result.m13 = eye.y;
+ result.m14 = eye.z;
+ result.m15 = 1.0f;
+
+ result = MatrixInvert(result);
+
+ return result;
+}
+
+// Returns float array of matrix data
+RMDEF float16 MatrixToFloatV(Matrix mat)
+{
+ float16 buffer = { 0 };
+
+ buffer.v[0] = mat.m0;
+ buffer.v[1] = mat.m1;
+ buffer.v[2] = mat.m2;
+ buffer.v[3] = mat.m3;
+ buffer.v[4] = mat.m4;
+ buffer.v[5] = mat.m5;
+ buffer.v[6] = mat.m6;
+ buffer.v[7] = mat.m7;
+ buffer.v[8] = mat.m8;
+ buffer.v[9] = mat.m9;
+ buffer.v[10] = mat.m10;
+ buffer.v[11] = mat.m11;
+ buffer.v[12] = mat.m12;
+ buffer.v[13] = mat.m13;
+ buffer.v[14] = mat.m14;
+ buffer.v[15] = mat.m15;
+
+ return buffer;
+}
+
+//----------------------------------------------------------------------------------
+// Module Functions Definition - Quaternion math
+//----------------------------------------------------------------------------------
+
+// Returns identity quaternion
+RMDEF Quaternion QuaternionIdentity(void)
+{
+ Quaternion result = { 0.0f, 0.0f, 0.0f, 1.0f };
+ return result;
+}
+
+// Computes the length of a quaternion
+RMDEF float QuaternionLength(Quaternion q)
+{
+ float result = (float)sqrt(q.x*q.x + q.y*q.y + q.z*q.z + q.w*q.w);
+ return result;
+}
+
+// Normalize provided quaternion
+RMDEF Quaternion QuaternionNormalize(Quaternion q)
+{
+ Quaternion result = { 0 };
+
+ float length, ilength;
+ length = QuaternionLength(q);
+ if (length == 0.0f) length = 1.0f;
+ ilength = 1.0f/length;
+
+ result.x = q.x*ilength;
+ result.y = q.y*ilength;
+ result.z = q.z*ilength;
+ result.w = q.w*ilength;
+
+ return result;
+}
+
+// Invert provided quaternion
+RMDEF Quaternion QuaternionInvert(Quaternion q)
+{
+ Quaternion result = q;
+ float length = QuaternionLength(q);
+ float lengthSq = length*length;
+
+ if (lengthSq != 0.0)
+ {
+ float i = 1.0f/lengthSq;
+
+ result.x *= -i;
+ result.y *= -i;
+ result.z *= -i;
+ result.w *= i;
+ }
+
+ return result;
+}
+
+// Calculate two quaternion multiplication
+RMDEF Quaternion QuaternionMultiply(Quaternion q1, Quaternion q2)
+{
+ Quaternion result = { 0 };
+
+ float qax = q1.x, qay = q1.y, qaz = q1.z, qaw = q1.w;
+ float qbx = q2.x, qby = q2.y, qbz = q2.z, qbw = q2.w;
+
+ result.x = qax*qbw + qaw*qbx + qay*qbz - qaz*qby;
+ result.y = qay*qbw + qaw*qby + qaz*qbx - qax*qbz;
+ result.z = qaz*qbw + qaw*qbz + qax*qby - qay*qbx;
+ result.w = qaw*qbw - qax*qbx - qay*qby - qaz*qbz;
+
+ return result;
+}
+
+// Calculate linear interpolation between two quaternions
+RMDEF Quaternion QuaternionLerp(Quaternion q1, Quaternion q2, float amount)
+{
+ Quaternion result = { 0 };
+
+ result.x = q1.x + amount*(q2.x - q1.x);
+ result.y = q1.y + amount*(q2.y - q1.y);
+ result.z = q1.z + amount*(q2.z - q1.z);
+ result.w = q1.w + amount*(q2.w - q1.w);
+
+ return result;
+}
+
+// Calculate slerp-optimized interpolation between two quaternions
+RMDEF Quaternion QuaternionNlerp(Quaternion q1, Quaternion q2, float amount)
+{
+ Quaternion result = QuaternionLerp(q1, q2, amount);
+ result = QuaternionNormalize(result);
+
+ return result;
+}
+
+// Calculates spherical linear interpolation between two quaternions
+RMDEF Quaternion QuaternionSlerp(Quaternion q1, Quaternion q2, float amount)
+{
+ Quaternion result = { 0 };
+
+ float cosHalfTheta = q1.x*q2.x + q1.y*q2.y + q1.z*q2.z + q1.w*q2.w;
+
+ if (fabs(cosHalfTheta) >= 1.0f) result = q1;
+ else if (cosHalfTheta > 0.95f) result = QuaternionNlerp(q1, q2, amount);
+ else
+ {
+ float halfTheta = (float) acos(cosHalfTheta);
+ float sinHalfTheta = (float) sqrt(1.0f - cosHalfTheta*cosHalfTheta);
+
+ if (fabs(sinHalfTheta) < 0.001f)
+ {
+ result.x = (q1.x*0.5f + q2.x*0.5f);
+ result.y = (q1.y*0.5f + q2.y*0.5f);
+ result.z = (q1.z*0.5f + q2.z*0.5f);
+ result.w = (q1.w*0.5f + q2.w*0.5f);
+ }
+ else
+ {
+ float ratioA = sinf((1 - amount)*halfTheta)/sinHalfTheta;
+ float ratioB = sinf(amount*halfTheta)/sinHalfTheta;
+
+ result.x = (q1.x*ratioA + q2.x*ratioB);
+ result.y = (q1.y*ratioA + q2.y*ratioB);
+ result.z = (q1.z*ratioA + q2.z*ratioB);
+ result.w = (q1.w*ratioA + q2.w*ratioB);
+ }
+ }
+
+ return result;
+}
+
+// Calculate quaternion based on the rotation from one vector to another
+RMDEF Quaternion QuaternionFromVector3ToVector3(Vector3 from, Vector3 to)
+{
+ Quaternion result = { 0 };
+
+ float cos2Theta = Vector3DotProduct(from, to);
+ Vector3 cross = Vector3CrossProduct(from, to);
+
+ result.x = cross.x;
+ result.y = cross.y;
+ result.z = cross.y;
+ result.w = 1.0f + cos2Theta; // NOTE: Added QuaternioIdentity()
+
+ // Normalize to essentially nlerp the original and identity to 0.5
+ result = QuaternionNormalize(result);
+
+ // Above lines are equivalent to:
+ //Quaternion result = QuaternionNlerp(q, QuaternionIdentity(), 0.5f);
+
+ return result;
+}
+
+// Returns a quaternion for a given rotation matrix
+RMDEF Quaternion QuaternionFromMatrix(Matrix mat)
+{
+ Quaternion result = { 0 };
+
+ float trace = MatrixTrace(mat);
+
+ if (trace > 0.0f)
+ {
+ float s = (float)sqrt(trace + 1)*2.0f;
+ float invS = 1.0f/s;
+
+ result.w = s*0.25f;
+ result.x = (mat.m6 - mat.m9)*invS;
+ result.y = (mat.m8 - mat.m2)*invS;
+ result.z = (mat.m1 - mat.m4)*invS;
+ }
+ else
+ {
+ float m00 = mat.m0, m11 = mat.m5, m22 = mat.m10;
+
+ if (m00 > m11 && m00 > m22)
+ {
+ float s = (float)sqrt(1.0f + m00 - m11 - m22)*2.0f;
+ float invS = 1.0f/s;
+
+ result.w = (mat.m6 - mat.m9)*invS;
+ result.x = s*0.25f;
+ result.y = (mat.m4 + mat.m1)*invS;
+ result.z = (mat.m8 + mat.m2)*invS;
+ }
+ else if (m11 > m22)
+ {
+ float s = (float)sqrt(1.0f + m11 - m00 - m22)*2.0f;
+ float invS = 1.0f/s;
+
+ result.w = (mat.m8 - mat.m2)*invS;
+ result.x = (mat.m4 + mat.m1)*invS;
+ result.y = s*0.25f;
+ result.z = (mat.m9 + mat.m6)*invS;
+ }
+ else
+ {
+ float s = (float)sqrt(1.0f + m22 - m00 - m11)*2.0f;
+ float invS = 1.0f/s;
+
+ result.w = (mat.m1 - mat.m4)*invS;
+ result.x = (mat.m8 + mat.m2)*invS;
+ result.y = (mat.m9 + mat.m6)*invS;
+ result.z = s*0.25f;
+ }
+ }
+
+ return result;
+}
+
+// Returns a matrix for a given quaternion
+RMDEF Matrix QuaternionToMatrix(Quaternion q)
+{
+ Matrix result = { 0 };
+
+ float x = q.x, y = q.y, z = q.z, w = q.w;
+
+ float x2 = x + x;
+ float y2 = y + y;
+ float z2 = z + z;
+
+ float length = QuaternionLength(q);
+ float lengthSquared = length*length;
+
+ float xx = x*x2/lengthSquared;
+ float xy = x*y2/lengthSquared;
+ float xz = x*z2/lengthSquared;
+
+ float yy = y*y2/lengthSquared;
+ float yz = y*z2/lengthSquared;
+ float zz = z*z2/lengthSquared;
+
+ float wx = w*x2/lengthSquared;
+ float wy = w*y2/lengthSquared;
+ float wz = w*z2/lengthSquared;
+
+ result.m0 = 1.0f - (yy + zz);
+ result.m1 = xy - wz;
+ result.m2 = xz + wy;
+ result.m3 = 0.0f;
+ result.m4 = xy + wz;
+ result.m5 = 1.0f - (xx + zz);
+ result.m6 = yz - wx;
+ result.m7 = 0.0f;
+ result.m8 = xz - wy;
+ result.m9 = yz + wx;
+ result.m10 = 1.0f - (xx + yy);
+ result.m11 = 0.0f;
+ result.m12 = 0.0f;
+ result.m13 = 0.0f;
+ result.m14 = 0.0f;
+ result.m15 = 1.0f;
+
+ return result;
+}
+
+// Returns rotation quaternion for an angle and axis
+// NOTE: angle must be provided in radians
+RMDEF Quaternion QuaternionFromAxisAngle(Vector3 axis, float angle)
+{
+ Quaternion result = { 0.0f, 0.0f, 0.0f, 1.0f };
+
+ if (Vector3Length(axis) != 0.0f)
+
+ angle *= 0.5f;
+
+ axis = Vector3Normalize(axis);
+
+ float sinres = sinf(angle);
+ float cosres = cosf(angle);
+
+ result.x = axis.x*sinres;
+ result.y = axis.y*sinres;
+ result.z = axis.z*sinres;
+ result.w = cosres;
+
+ result = QuaternionNormalize(result);
+
+ return result;
+}
+
+// Returns the rotation angle and axis for a given quaternion
+RMDEF void QuaternionToAxisAngle(Quaternion q, Vector3 *outAxis, float *outAngle)
+{
+ if (fabs(q.w) > 1.0f) q = QuaternionNormalize(q);
+
+ Vector3 resAxis = { 0.0f, 0.0f, 0.0f };
+ float resAngle = 0.0f;
+
+ resAngle = 2.0f*(float)acos(q.w);
+ float den = (float)sqrt(1.0f - q.w*q.w);
+
+ if (den > 0.0001f)
+ {
+ resAxis.x = q.x/den;
+ resAxis.y = q.y/den;
+ resAxis.z = q.z/den;
+ }
+ else
+ {
+ // This occurs when the angle is zero.
+ // Not a problem: just set an arbitrary normalized axis.
+ resAxis.x = 1.0f;
+ }
+
+ *outAxis = resAxis;
+ *outAngle = resAngle;
+}
+
+// Returns he quaternion equivalent to Euler angles
+RMDEF Quaternion QuaternionFromEuler(float roll, float pitch, float yaw)
+{
+ Quaternion q = { 0 };
+
+ float x0 = cosf(roll*0.5f);
+ float x1 = sinf(roll*0.5f);
+ float y0 = cosf(pitch*0.5f);
+ float y1 = sinf(pitch*0.5f);
+ float z0 = cosf(yaw*0.5f);
+ float z1 = sinf(yaw*0.5f);
+
+ q.x = x1*y0*z0 - x0*y1*z1;
+ q.y = x0*y1*z0 + x1*y0*z1;
+ q.z = x0*y0*z1 - x1*y1*z0;
+ q.w = x0*y0*z0 + x1*y1*z1;
+
+ return q;
+}
+
+// Return the Euler angles equivalent to quaternion (roll, pitch, yaw)
+// NOTE: Angles are returned in a Vector3 struct in degrees
+RMDEF Vector3 QuaternionToEuler(Quaternion q)
+{
+ Vector3 result = { 0 };
+
+ // roll (x-axis rotation)
+ float x0 = 2.0f*(q.w*q.x + q.y*q.z);
+ float x1 = 1.0f - 2.0f*(q.x*q.x + q.y*q.y);
+ result.x = atan2f(x0, x1)*RAD2DEG;
+
+ // pitch (y-axis rotation)
+ float y0 = 2.0f*(q.w*q.y - q.z*q.x);
+ y0 = y0 > 1.0f ? 1.0f : y0;
+ y0 = y0 < -1.0f ? -1.0f : y0;
+ result.y = asinf(y0)*RAD2DEG;
+
+ // yaw (z-axis rotation)
+ float z0 = 2.0f*(q.w*q.z + q.x*q.y);
+ float z1 = 1.0f - 2.0f*(q.y*q.y + q.z*q.z);
+ result.z = atan2f(z0, z1)*RAD2DEG;
+
+ return result;
+}
+
+// Transform a quaternion given a transformation matrix
+RMDEF Quaternion QuaternionTransform(Quaternion q, Matrix mat)
+{
+ Quaternion result = { 0 };
+
+ result.x = mat.m0*q.x + mat.m4*q.y + mat.m8*q.z + mat.m12*q.w;
+ result.y = mat.m1*q.x + mat.m5*q.y + mat.m9*q.z + mat.m13*q.w;
+ result.z = mat.m2*q.x + mat.m6*q.y + mat.m10*q.z + mat.m14*q.w;
+ result.w = mat.m3*q.x + mat.m7*q.y + mat.m11*q.z + mat.m15*q.w;
+
+ return result;
+}
+
+#endif // RAYMATH_H
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