From 284705b982b8d8dcbb184b1ba45644ced5a46793 Mon Sep 17 00:00:00 2001
From: metalvoidzz <metalvoidzz@gmail.com>
Date: Wed, 27 Mar 2019 18:18:35 +0100
Subject: Add the option to avoid inline (c89 compatibility)

---
 linmath.h | 102 +++++++++++++++++++++++++++++++++-----------------------------
 1 file changed, 54 insertions(+), 48 deletions(-)

diff --git a/linmath.h b/linmath.h
index c1c3ab5..de9bae8 100644
--- a/linmath.h
+++ b/linmath.h
@@ -3,27 +3,33 @@
 
 #include <math.h>
 
+#ifdef LINMATH_NO_INLINE
+#define LINMATH_H_FUNC static
+#else
+#define LINMATH_H_FUNC static inline
+#endif
+
 #define LINMATH_H_DEFINE_VEC(n) \
 typedef float vec##n[n]; \
-static inline void vec##n##_add(vec##n r, vec##n const a, vec##n const b) \
+LINMATH_H_FUNC void vec##n##_add(vec##n r, vec##n const a, vec##n const b) \
 { \
 	int i; \
 	for(i=0; i<n; ++i) \
 		r[i] = a[i] + b[i]; \
 } \
-static inline void vec##n##_sub(vec##n r, vec##n const a, vec##n const b) \
+LINMATH_H_FUNC void vec##n##_sub(vec##n r, vec##n const a, vec##n const b) \
 { \
 	int i; \
 	for(i=0; i<n; ++i) \
 		r[i] = a[i] - b[i]; \
 } \
-static inline void vec##n##_scale(vec##n r, vec##n const v, float const s) \
+LINMATH_H_FUNC void vec##n##_scale(vec##n r, vec##n const v, float const s) \
 { \
 	int i; \
 	for(i=0; i<n; ++i) \
 		r[i] = v[i] * s; \
 } \
-static inline float vec##n##_mul_inner(vec##n const a, vec##n const b) \
+LINMATH_H_FUNC float vec##n##_mul_inner(vec##n const a, vec##n const b) \
 { \
 	float p = 0.; \
 	int i; \
@@ -31,22 +37,22 @@ static inline float vec##n##_mul_inner(vec##n const a, vec##n const b) \
 		p += b[i]*a[i]; \
 	return p; \
 } \
-static inline float vec##n##_len(vec##n const v) \
+LINMATH_H_FUNC float vec##n##_len(vec##n const v) \
 { \
 	return sqrtf(vec##n##_mul_inner(v,v)); \
 } \
-static inline void vec##n##_norm(vec##n r, vec##n const v) \
+LINMATH_H_FUNC void vec##n##_norm(vec##n r, vec##n const v) \
 { \
 	float k = 1.0 / vec##n##_len(v); \
 	vec##n##_scale(r, v, k); \
 } \
-static inline void vec##n##_min(vec##n r, vec##n a, vec##n b) \
+LINMATH_H_FUNC void vec##n##_min(vec##n r, vec##n a, vec##n b) \
 { \
 	int i; \
 	for(i=0; i<n; ++i) \
 		r[i] = a[i]<b[i] ? a[i] : b[i]; \
 } \
-static inline void vec##n##_max(vec##n r, vec##n a, vec##n b) \
+LINMATH_H_FUNC void vec##n##_max(vec##n r, vec##n a, vec##n b) \
 { \
 	int i; \
 	for(i=0; i<n; ++i) \
@@ -57,14 +63,14 @@ LINMATH_H_DEFINE_VEC(2)
 LINMATH_H_DEFINE_VEC(3)
 LINMATH_H_DEFINE_VEC(4)
 
-static inline void vec3_mul_cross(vec3 r, vec3 const a, vec3 const b)
+LINMATH_H_FUNC void vec3_mul_cross(vec3 r, vec3 const a, vec3 const b)
 {
 	r[0] = a[1]*b[2] - a[2]*b[1];
 	r[1] = a[2]*b[0] - a[0]*b[2];
 	r[2] = a[0]*b[1] - a[1]*b[0];
 }
 
-static inline void vec3_reflect(vec3 r, vec3 const v, vec3 const n)
+LINMATH_H_FUNC void vec3_reflect(vec3 r, vec3 const v, vec3 const n)
 {
 	float p  = 2.f*vec3_mul_inner(v, n);
 	int i;
@@ -72,7 +78,7 @@ static inline void vec3_reflect(vec3 r, vec3 const v, vec3 const n)
 		r[i] = v[i] - p*n[i];
 }
 
-static inline void vec4_mul_cross(vec4 r, vec4 a, vec4 b)
+LINMATH_H_FUNC void vec4_mul_cross(vec4 r, vec4 a, vec4 b)
 {
 	r[0] = a[1]*b[2] - a[2]*b[1];
 	r[1] = a[2]*b[0] - a[0]*b[2];
@@ -80,7 +86,7 @@ static inline void vec4_mul_cross(vec4 r, vec4 a, vec4 b)
 	r[3] = 1.f;
 }
 
-static inline void vec4_reflect(vec4 r, vec4 v, vec4 n)
+LINMATH_H_FUNC void vec4_reflect(vec4 r, vec4 v, vec4 n)
 {
 	float p  = 2.f*vec4_mul_inner(v, n);
 	int i;
@@ -89,58 +95,58 @@ static inline void vec4_reflect(vec4 r, vec4 v, vec4 n)
 }
 
 typedef vec4 mat4x4[4];
-static inline void mat4x4_identity(mat4x4 M)
+LINMATH_H_FUNC void mat4x4_identity(mat4x4 M)
 {
 	int i, j;
 	for(i=0; i<4; ++i)
 		for(j=0; j<4; ++j)
 			M[i][j] = i==j ? 1.f : 0.f;
 }
-static inline void mat4x4_dup(mat4x4 M, mat4x4 N)
+LINMATH_H_FUNC void mat4x4_dup(mat4x4 M, mat4x4 N)
 {
 	int i, j;
 	for(i=0; i<4; ++i)
 		for(j=0; j<4; ++j)
 			M[i][j] = N[i][j];
 }
-static inline void mat4x4_row(vec4 r, mat4x4 M, int i)
+LINMATH_H_FUNC void mat4x4_row(vec4 r, mat4x4 M, int i)
 {
 	int k;
 	for(k=0; k<4; ++k)
 		r[k] = M[k][i];
 }
-static inline void mat4x4_col(vec4 r, mat4x4 M, int i)
+LINMATH_H_FUNC void mat4x4_col(vec4 r, mat4x4 M, int i)
 {
 	int k;
 	for(k=0; k<4; ++k)
 		r[k] = M[i][k];
 }
-static inline void mat4x4_transpose(mat4x4 M, mat4x4 N)
+LINMATH_H_FUNC void mat4x4_transpose(mat4x4 M, mat4x4 N)
 {
 	int i, j;
 	for(j=0; j<4; ++j)
 		for(i=0; i<4; ++i)
 			M[i][j] = N[j][i];
 }
-static inline void mat4x4_add(mat4x4 M, mat4x4 a, mat4x4 b)
+LINMATH_H_FUNC void mat4x4_add(mat4x4 M, mat4x4 a, mat4x4 b)
 {
 	int i;
 	for(i=0; i<4; ++i)
 		vec4_add(M[i], a[i], b[i]);
 }
-static inline void mat4x4_sub(mat4x4 M, mat4x4 a, mat4x4 b)
+LINMATH_H_FUNC void mat4x4_sub(mat4x4 M, mat4x4 a, mat4x4 b)
 {
 	int i;
 	for(i=0; i<4; ++i)
 		vec4_sub(M[i], a[i], b[i]);
 }
-static inline void mat4x4_scale(mat4x4 M, mat4x4 a, float k)
+LINMATH_H_FUNC void mat4x4_scale(mat4x4 M, mat4x4 a, float k)
 {
 	int i;
 	for(i=0; i<4; ++i)
 		vec4_scale(M[i], a[i], k);
 }
-static inline void mat4x4_scale_aniso(mat4x4 M, mat4x4 a, float x, float y, float z)
+LINMATH_H_FUNC void mat4x4_scale_aniso(mat4x4 M, mat4x4 a, float x, float y, float z)
 {
 	int i;
 	vec4_scale(M[0], a[0], x);
@@ -150,7 +156,7 @@ static inline void mat4x4_scale_aniso(mat4x4 M, mat4x4 a, float x, float y, floa
 		M[3][i] = a[3][i];
 	}
 }
-static inline void mat4x4_mul(mat4x4 M, mat4x4 a, mat4x4 b)
+LINMATH_H_FUNC void mat4x4_mul(mat4x4 M, mat4x4 a, mat4x4 b)
 {
 	mat4x4 temp;
 	int k, r, c;
@@ -161,7 +167,7 @@ static inline void mat4x4_mul(mat4x4 M, mat4x4 a, mat4x4 b)
 	}
 	mat4x4_dup(M, temp);
 }
-static inline void mat4x4_mul_vec4(vec4 r, mat4x4 M, vec4 v)
+LINMATH_H_FUNC void mat4x4_mul_vec4(vec4 r, mat4x4 M, vec4 v)
 {
 	int i, j;
 	for(j=0; j<4; ++j) {
@@ -170,14 +176,14 @@ static inline void mat4x4_mul_vec4(vec4 r, mat4x4 M, vec4 v)
 			r[j] += M[i][j] * v[i];
 	}
 }
-static inline void mat4x4_translate(mat4x4 T, float x, float y, float z)
+LINMATH_H_FUNC void mat4x4_translate(mat4x4 T, float x, float y, float z)
 {
 	mat4x4_identity(T);
 	T[3][0] = x;
 	T[3][1] = y;
 	T[3][2] = z;
 }
-static inline void mat4x4_translate_in_place(mat4x4 M, float x, float y, float z)
+LINMATH_H_FUNC void mat4x4_translate_in_place(mat4x4 M, float x, float y, float z)
 {
 	vec4 t = {x, y, z, 0};
 	vec4 r;
@@ -187,13 +193,13 @@ static inline void mat4x4_translate_in_place(mat4x4 M, float x, float y, float z
 		M[3][i] += vec4_mul_inner(r, t);
 	}
 }
-static inline void mat4x4_from_vec3_mul_outer(mat4x4 M, vec3 a, vec3 b)
+LINMATH_H_FUNC void mat4x4_from_vec3_mul_outer(mat4x4 M, vec3 a, vec3 b)
 {
 	int i, j;
 	for(i=0; i<4; ++i) for(j=0; j<4; ++j)
 		M[i][j] = i<3 && j<3 ? a[i] * b[j] : 0.f;
 }
-static inline void mat4x4_rotate(mat4x4 R, mat4x4 M, float x, float y, float z, float angle)
+LINMATH_H_FUNC void mat4x4_rotate(mat4x4 R, mat4x4 M, float x, float y, float z, float angle)
 {
 	float s = sinf(angle);
 	float c = cosf(angle);
@@ -227,7 +233,7 @@ static inline void mat4x4_rotate(mat4x4 R, mat4x4 M, float x, float y, float z,
 		mat4x4_dup(R, M);
 	}
 }
-static inline void mat4x4_rotate_X(mat4x4 Q, mat4x4 M, float angle)
+LINMATH_H_FUNC void mat4x4_rotate_X(mat4x4 Q, mat4x4 M, float angle)
 {
 	float s = sinf(angle);
 	float c = cosf(angle);
@@ -239,7 +245,7 @@ static inline void mat4x4_rotate_X(mat4x4 Q, mat4x4 M, float angle)
 	};
 	mat4x4_mul(Q, M, R);
 }
-static inline void mat4x4_rotate_Y(mat4x4 Q, mat4x4 M, float angle)
+LINMATH_H_FUNC void mat4x4_rotate_Y(mat4x4 Q, mat4x4 M, float angle)
 {
 	float s = sinf(angle);
 	float c = cosf(angle);
@@ -251,7 +257,7 @@ static inline void mat4x4_rotate_Y(mat4x4 Q, mat4x4 M, float angle)
 	};
 	mat4x4_mul(Q, M, R);
 }
-static inline void mat4x4_rotate_Z(mat4x4 Q, mat4x4 M, float angle)
+LINMATH_H_FUNC void mat4x4_rotate_Z(mat4x4 Q, mat4x4 M, float angle)
 {
 	float s = sinf(angle);
 	float c = cosf(angle);
@@ -263,7 +269,7 @@ static inline void mat4x4_rotate_Z(mat4x4 Q, mat4x4 M, float angle)
 	};
 	mat4x4_mul(Q, M, R);
 }
-static inline void mat4x4_invert(mat4x4 T, mat4x4 M)
+LINMATH_H_FUNC void mat4x4_invert(mat4x4 T, mat4x4 M)
 {
 	float s[6];
 	float c[6];
@@ -304,7 +310,7 @@ static inline void mat4x4_invert(mat4x4 T, mat4x4 M)
 	T[3][2] = (-M[3][0] * s[3] + M[3][1] * s[1] - M[3][2] * s[0]) * idet;
 	T[3][3] = ( M[2][0] * s[3] - M[2][1] * s[1] + M[2][2] * s[0]) * idet;
 }
-static inline void mat4x4_orthonormalize(mat4x4 R, mat4x4 M)
+LINMATH_H_FUNC void mat4x4_orthonormalize(mat4x4 R, mat4x4 M)
 {
 	mat4x4_dup(R, M);
 	float s = 1.;
@@ -328,7 +334,7 @@ static inline void mat4x4_orthonormalize(mat4x4 R, mat4x4 M)
 	vec3_norm(R[0], R[0]);
 }
 
-static inline void mat4x4_frustum(mat4x4 M, float l, float r, float b, float t, float n, float f)
+LINMATH_H_FUNC void mat4x4_frustum(mat4x4 M, float l, float r, float b, float t, float n, float f)
 {
 	M[0][0] = 2.f*n/(r-l);
 	M[0][1] = M[0][2] = M[0][3] = 0.f;
@@ -344,7 +350,7 @@ static inline void mat4x4_frustum(mat4x4 M, float l, float r, float b, float t,
 	M[3][2] = -2.f*(f*n)/(f-n);
 	M[3][0] = M[3][1] = M[3][3] = 0.f;
 }
-static inline void mat4x4_ortho(mat4x4 M, float l, float r, float b, float t, float n, float f)
+LINMATH_H_FUNC void mat4x4_ortho(mat4x4 M, float l, float r, float b, float t, float n, float f)
 {
 	M[0][0] = 2.f/(r-l);
 	M[0][1] = M[0][2] = M[0][3] = 0.f;
@@ -360,7 +366,7 @@ static inline void mat4x4_ortho(mat4x4 M, float l, float r, float b, float t, fl
 	M[3][2] = -(f+n)/(f-n);
 	M[3][3] = 1.f;
 }
-static inline void mat4x4_perspective(mat4x4 m, float y_fov, float aspect, float n, float f)
+LINMATH_H_FUNC void mat4x4_perspective(mat4x4 m, float y_fov, float aspect, float n, float f)
 {
 	/* NOTE: Degrees are an unhandy unit to work with.
 	 * linmath.h uses radians for everything! */
@@ -386,7 +392,7 @@ static inline void mat4x4_perspective(mat4x4 m, float y_fov, float aspect, float
 	m[3][2] = -((2.f * f * n) / (f - n));
 	m[3][3] = 0.f;
 }
-static inline void mat4x4_look_at(mat4x4 m, vec3 eye, vec3 center, vec3 up)
+LINMATH_H_FUNC void mat4x4_look_at(mat4x4 m, vec3 eye, vec3 center, vec3 up)
 {
 	/* Adapted from Android's OpenGL Matrix.java.                        */
 	/* See the OpenGL GLUT documentation for gluLookAt for a description */
@@ -429,24 +435,24 @@ static inline void mat4x4_look_at(mat4x4 m, vec3 eye, vec3 center, vec3 up)
 }
 
 typedef float quat[4];
-static inline void quat_identity(quat q)
+LINMATH_H_FUNC void quat_identity(quat q)
 {
 	q[0] = q[1] = q[2] = 0.f;
 	q[3] = 1.f;
 }
-static inline void quat_add(quat r, quat a, quat b)
+LINMATH_H_FUNC void quat_add(quat r, quat a, quat b)
 {
 	int i;
 	for(i=0; i<4; ++i)
 		r[i] = a[i] + b[i];
 }
-static inline void quat_sub(quat r, quat a, quat b)
+LINMATH_H_FUNC void quat_sub(quat r, quat a, quat b)
 {
 	int i;
 	for(i=0; i<4; ++i)
 		r[i] = a[i] - b[i];
 }
-static inline void quat_mul(quat r, quat p, quat q)
+LINMATH_H_FUNC void quat_mul(quat r, quat p, quat q)
 {
 	vec3 w;
 	vec3_mul_cross(r, p, q);
@@ -456,13 +462,13 @@ static inline void quat_mul(quat r, quat p, quat q)
 	vec3_add(r, r, w);
 	r[3] = p[3]*q[3] - vec3_mul_inner(p, q);
 }
-static inline void quat_scale(quat r, quat v, float s)
+LINMATH_H_FUNC void quat_scale(quat r, quat v, float s)
 {
 	int i;
 	for(i=0; i<4; ++i)
 		r[i] = v[i] * s;
 }
-static inline float quat_inner_product(quat a, quat b)
+LINMATH_H_FUNC float quat_inner_product(quat a, quat b)
 {
 	float p = 0.f;
 	int i;
@@ -470,14 +476,14 @@ static inline float quat_inner_product(quat a, quat b)
 		p += b[i]*a[i];
 	return p;
 }
-static inline void quat_conj(quat r, quat q)
+LINMATH_H_FUNC void quat_conj(quat r, quat q)
 {
 	int i;
 	for(i=0; i<3; ++i)
 		r[i] = -q[i];
 	r[3] = q[3];
 }
-static inline void quat_rotate(quat r, float angle, vec3 axis) {
+LINMATH_H_FUNC void quat_rotate(quat r, float angle, vec3 axis) {
 	vec3 v;
 	vec3_scale(v, axis, sinf(angle / 2));
 	int i;
@@ -486,7 +492,7 @@ static inline void quat_rotate(quat r, float angle, vec3 axis) {
 	r[3] = cosf(angle / 2);
 }
 #define quat_norm vec4_norm
-static inline void quat_mul_vec3(vec3 r, quat q, vec3 v)
+LINMATH_H_FUNC void quat_mul_vec3(vec3 r, quat q, vec3 v)
 {
 /*
  * Method by Fabian 'ryg' Giessen (of Farbrausch)
@@ -506,7 +512,7 @@ v' = v + q.w * t + cross(q.xyz, t)
 	vec3_add(r, v, t);
 	vec3_add(r, r, u);
 }
-static inline void mat4x4_from_quat(mat4x4 M, quat q)
+LINMATH_H_FUNC void mat4x4_from_quat(mat4x4 M, quat q)
 {
 	float a = q[3];
 	float b = q[0];
@@ -536,7 +542,7 @@ static inline void mat4x4_from_quat(mat4x4 M, quat q)
 	M[3][3] = 1.f;
 }
 
-static inline void mat4x4o_mul_quat(mat4x4 R, mat4x4 M, quat q)
+LINMATH_H_FUNC void mat4x4o_mul_quat(mat4x4 R, mat4x4 M, quat q)
 {
 /*  XXX: The way this is written only works for othogonal matrices. */
 /* TODO: Take care of non-orthogonal case. */
@@ -547,7 +553,7 @@ static inline void mat4x4o_mul_quat(mat4x4 R, mat4x4 M, quat q)
 	R[3][0] = R[3][1] = R[3][2] = 0.f;
 	R[3][3] = 1.f;
 }
-static inline void quat_from_mat4x4(quat q, mat4x4 M)
+LINMATH_H_FUNC void quat_from_mat4x4(quat q, mat4x4 M)
 {
 	float r=0.f;
 	int i;
-- 
cgit v1.2.3


From 06449fb862afea9092e33adfda416d5b677ad05a Mon Sep 17 00:00:00 2001
From: Nathan Wiebe Neufeldt <wn.nathan@gmail.com>
Date: Mon, 15 Apr 2019 16:08:07 -0400
Subject: Fix bug in mat4x4_orthonormalize

The Gram-Schmidt process was incorrect, resulting in non-orthogonal
columns.
---
 linmath.h | 7 +++----
 1 file changed, 3 insertions(+), 4 deletions(-)

diff --git a/linmath.h b/linmath.h
index de9bae8..96725e8 100644
--- a/linmath.h
+++ b/linmath.h
@@ -321,12 +321,11 @@ LINMATH_H_FUNC void mat4x4_orthonormalize(mat4x4 R, mat4x4 M)
 	s = vec3_mul_inner(R[1], R[2]);
 	vec3_scale(h, R[2], s);
 	vec3_sub(R[1], R[1], h);
-	vec3_norm(R[2], R[2]);
+	vec3_norm(R[1], R[1]);
 
-	s = vec3_mul_inner(R[1], R[2]);
+	s = vec3_mul_inner(R[0], R[2]);
 	vec3_scale(h, R[2], s);
-	vec3_sub(R[1], R[1], h);
-	vec3_norm(R[1], R[1]);
+	vec3_sub(R[0], R[0], h);
 
 	s = vec3_mul_inner(R[0], R[1]);
 	vec3_scale(h, R[1], s);
-- 
cgit v1.2.3


From 25f349f408cc56607bed89d8438b0b4fdcba586d Mon Sep 17 00:00:00 2001
From: Shima <Philosoph228@users.noreply.github.com>
Date: Sun, 28 Apr 2019 12:07:46 +0500
Subject: Added const qualifier for read-only parameters

---
 linmath.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/linmath.h b/linmath.h
index 96725e8..fe44641 100644
--- a/linmath.h
+++ b/linmath.h
@@ -46,13 +46,13 @@ LINMATH_H_FUNC void vec##n##_norm(vec##n r, vec##n const v) \
 	float k = 1.0 / vec##n##_len(v); \
 	vec##n##_scale(r, v, k); \
 } \
-LINMATH_H_FUNC void vec##n##_min(vec##n r, vec##n a, vec##n b) \
+LINMATH_H_FUNC void vec##n##_min(vec##n r, vec##n const a, vec##n const b) \
 { \
 	int i; \
 	for(i=0; i<n; ++i) \
 		r[i] = a[i]<b[i] ? a[i] : b[i]; \
 } \
-LINMATH_H_FUNC void vec##n##_max(vec##n r, vec##n a, vec##n b) \
+LINMATH_H_FUNC void vec##n##_max(vec##n r, vec##n const a, vec##n const b) \
 { \
 	int i; \
 	for(i=0; i<n; ++i) \
-- 
cgit v1.2.3