Functions parameters reorganize: Axis and Angle

sin(), cos() functions cached and replaced by float c99 versions sinf(),
cos()

src/models.c

@@ -1149,14 +1149,14 @@ void DrawModel(Model model, Vector3 position, float scale, Color tint)
     Vector3 vScale = { scale, scale, scale };
     Vector3 rotationAxis = { 0.0f, 0.0f, 0.0f };
 
-    DrawModelEx(model, position, 0.0f, rotationAxis, vScale, tint);
+    DrawModelEx(model, position, rotationAxis, 0.0f, vScale, tint);
 }
 
 // Draw a model with extended parameters
-void DrawModelEx(Model model, Vector3 position, float rotationAngle, Vector3 rotationAxis, Vector3 scale, Color tint)
+void DrawModelEx(Model model, Vector3 position, Vector3 rotationAxis, float rotationAngle, Vector3 scale, Color tint)
 {
     // NOTE: Rotation must be provided in degrees, it's converted to radians inside rlglDrawModel()
-    rlglDrawModel(model, position, rotationAngle, rotationAxis, scale, tint, false);
+    rlglDrawModel(model, position, rotationAxis, rotationAngle, scale, tint, false);
 }
 
 // Draw a model wires (with texture if set)
@@ -1165,14 +1165,14 @@ void DrawModelWires(Model model, Vector3 position, float scale, Color color)
     Vector3 vScale = { scale, scale, scale };
     Vector3 rotationAxis = { 0.0f, 0.0f, 0.0f };
 
-    rlglDrawModel(model, position, 0.0f, rotationAxis, vScale, color, true);
+    rlglDrawModel(model, position, rotationAxis, 0.0f, vScale, color, true);
 }
 
 // Draw a model wires (with texture if set) with extended parameters
-void DrawModelWiresEx(Model model, Vector3 position, float rotationAngle, Vector3 rotationAxis, Vector3 scale, Color tint)
+void DrawModelWiresEx(Model model, Vector3 position, Vector3 rotationAxis, float rotationAngle, Vector3 scale, Color tint)
 {
     // NOTE: Rotation must be provided in degrees, it's converted to radians inside rlglDrawModel()
-    rlglDrawModel(model, position, rotationAngle, rotationAxis, scale, tint, true);
+    rlglDrawModel(model, position, rotationAxis, rotationAngle, scale, tint, true);
 }
 
 // Draw a billboard

src/raylib.h

@@ -764,9 +764,9 @@ void UnloadModel(Model model);
 void SetModelTexture(Model *model, Texture2D texture);                                             // Link a texture to a model
 
 void DrawModel(Model model, Vector3 position, float scale, Color tint);                            // Draw a model (with texture if set)
-void DrawModelEx(Model model, Vector3 position, float rotationAngle, Vector3 rotationAxis, Vector3 scale, Color tint);      // Draw a model with extended parameters
+void DrawModelEx(Model model, Vector3 position, Vector3 rotationAxis, float rotationAngle, Vector3 scale, Color tint);      // Draw a model with extended parameters
 void DrawModelWires(Model model, Vector3 position, float scale, Color color);                      // Draw a model wires (with texture if set)
-void DrawModelWiresEx(Model model, Vector3 position, float rotationAngle, Vector3 rotationAxis, Vector3 scale, Color tint);      // Draw a model wires (with texture if set) with extended parameters
+void DrawModelWiresEx(Model model, Vector3 position, Vector3 rotationAxis, float rotationAngle, Vector3 scale, Color tint);      // Draw a model wires (with texture if set) with extended parameters
 void DrawBoundingBox(BoundingBox box);                                                             // Draw bounding box (wires)
 
 void DrawBillboard(Camera camera, Texture2D texture, Vector3 center, float size, Color tint);                         // Draw a billboard texture

src/raymath.h

@@ -141,7 +141,7 @@ RMDEF Matrix MatrixIdentity(void);                            // Returns identit
 RMDEF Matrix MatrixAdd(Matrix left, Matrix right);            // Add two matrices
 RMDEF Matrix MatrixSubstract(Matrix left, Matrix right);      // Substract two matrices (left - right)
 RMDEF Matrix MatrixTranslate(float x, float y, float z);      // Returns translation matrix
-RMDEF Matrix MatrixRotate(float angle, Vector3 axis);         // Returns rotation matrix for an angle around an specified axis (angle in radians)
+RMDEF Matrix MatrixRotate(Vector3 axis, float angle);         // Returns rotation matrix for an angle around an specified axis (angle in radians)
 RMDEF Matrix MatrixRotateX(float angle);                      // Returns x-rotation matrix (angle in radians)
 RMDEF Matrix MatrixRotateY(float angle);                      // Returns y-rotation matrix (angle in radians)
 RMDEF Matrix MatrixRotateZ(float angle);                      // Returns z-rotation matrix (angle in radians)
@@ -162,8 +162,8 @@ RMDEF Quaternion QuaternionMultiply(Quaternion q1, Quaternion q2);    // Calcula
 RMDEF Quaternion QuaternionSlerp(Quaternion q1, Quaternion q2, float slerp); // Calculates spherical linear interpolation between two quaternions
 RMDEF Quaternion QuaternionFromMatrix(Matrix matrix);                 // Returns a quaternion for a given rotation matrix
 RMDEF Matrix QuaternionToMatrix(Quaternion q);                        // Returns a matrix for a given quaternion
-RMDEF Quaternion QuaternionFromAxisAngle(float angle, Vector3 axis);  // Returns rotation quaternion for an angle and axis
-RMDEF void QuaternionToAxisAngle(Quaternion q, float *outAngle, Vector3 *outAxis); // Returns the rotation angle and axis for a given quaternion
+RMDEF Quaternion QuaternionFromAxisAngle(Vector3 axis, float angle);  // Returns rotation quaternion for an angle and axis
+RMDEF void QuaternionToAxisAngle(Quaternion q, Vector3 *outAxis, float *outAngle); // Returns the rotation angle and axis for a given quaternion
 RMDEF void QuaternionTransform(Quaternion *q, Matrix mat);            // Transform a quaternion given a transformation matrix
 
 #ifdef __cplusplus
@@ -587,7 +587,7 @@ RMDEF Matrix MatrixTranslate(float x, float y, float z)
 
 // Create rotation matrix from axis and angle
 // NOTE: Angle should be provided in radians
-RMDEF Matrix MatrixRotate(float angle, Vector3 axis)
+RMDEF Matrix MatrixRotate(Vector3 axis, float angle)
 {
     Matrix result;
 
@@ -605,9 +605,9 @@ RMDEF Matrix MatrixRotate(float angle, Vector3 axis)
         z *= length;
     }
 
-    float s = sinf(angle);
-    float c = cosf(angle);
-    float t = 1.0f - c;
+    float sinres = sinf(angle);
+    float cosres = cosf(angle);
+    float t = 1.0f - cosres;
 
     // Cache some matrix values (speed optimization)
     float a00 = mat.m0, a01 = mat.m1, a02 = mat.m2, a03 = mat.m3;
@@ -615,9 +615,9 @@ RMDEF Matrix MatrixRotate(float angle, Vector3 axis)
     float a20 = mat.m8, a21 = mat.m9, a22 = mat.m10, a23 = mat.m11;
 
     // Construct the elements of the rotation matrix
-    float b00 = x*x*t + c, b01 = y*x*t + z*s, b02 = z*x*t - y*s;
-    float b10 = x*y*t - z*s, b11 = y*y*t + c, b12 = z*y*t + x*s;
-    float b20 = x*z*t + y*s, b21 = y*z*t - x*s, b22 = z*z*t + c;
+    float b00 = x*x*t + cosres, b01 = y*x*t + z*sinres, b02 = z*x*t - y*sinres;
+    float b10 = x*y*t - z*sinres, b11 = y*y*t + cosres, b12 = z*y*t + x*sinres;
+    float b20 = x*z*t + y*sinres, b21 = y*z*t - x*sinres, b22 = z*z*t + cosres;
 
     // Perform rotation-specific matrix multiplication
     result.m0 = a00*b00 + a10*b01 + a20*b02;
@@ -688,8 +688,8 @@ RMDEF Matrix MatrixRotateX(float angle)
 {
     Matrix result = MatrixIdentity();
 
-    float cosres = (float)cos(angle);
-    float sinres = (float)sin(angle);
+    float cosres = cosf(angle);
+    float sinres = sinf(angle);
 
     result.m5 = cosres;
     result.m6 = -sinres;
@@ -720,8 +720,8 @@ RMDEF Matrix MatrixRotateZ(float angle)
 {
     Matrix result = MatrixIdentity();
 
-    float cosres = (float)cos(angle);
-    float sinres = (float)sin(angle);
+    float cosres = cosf(angle);
+    float sinres = sinf(angle);
 
     result.m0 = cosres;
     result.m1 = -sinres;
@@ -946,8 +946,8 @@ RMDEF Quaternion QuaternionSlerp(Quaternion q1, Quaternion q2, float amount)
         }
         else
         {
-            float ratioA = sin((1 - amount)*halfTheta)/sinHalfTheta;
-            float ratioB = sin(amount*halfTheta)/sinHalfTheta;
+            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);
@@ -1060,7 +1060,7 @@ RMDEF Matrix QuaternionToMatrix(Quaternion q)
 
 // Returns rotation quaternion for an angle and axis
 // NOTE: angle must be provided in radians
-RMDEF Quaternion QuaternionFromAxisAngle(float angle, Vector3 axis)
+RMDEF Quaternion QuaternionFromAxisAngle(Vector3 axis, float angle)
 {
     Quaternion result = { 0.0f, 0.0f, 0.0f, 1.0f };
 
@@ -1069,11 +1069,14 @@ RMDEF Quaternion QuaternionFromAxisAngle(float angle, Vector3 axis)
     angle *= 0.5f;
 
     VectorNormalize(&axis);
+    
+    float sinres = sinf(angle);
+    float cosres = cosf(angle);
 
-    result.x = axis.x*(float)sin(angle);
-    result.y = axis.y*(float)sin(angle);
-    result.z = axis.z*(float)sin(angle);
-    result.w = (float)cos(angle);
+    result.x = axis.x*sinres;
+    result.y = axis.y*sinres;
+    result.z = axis.z*sinres;
+    result.w = cosres;
 
     QuaternionNormalize(&result);
 
@@ -1081,7 +1084,7 @@ RMDEF Quaternion QuaternionFromAxisAngle(float angle, Vector3 axis)
 }
 
 // Returns the rotation angle and axis for a given quaternion
-RMDEF void QuaternionToAxisAngle(Quaternion q, float *outAngle, Vector3 *outAxis)
+RMDEF void QuaternionToAxisAngle(Quaternion q, Vector3 *outAxis, float *outAngle)
 {
     if (fabs(q.w) > 1.0f) QuaternionNormalize(&q);
 

src/rlgl.c

@@ -411,7 +411,7 @@ void rlRotatef(float angleDeg, float x, float y, float z)
 
     Vector3 axis = (Vector3){ x, y, z };
     VectorNormalize(&axis);
-    matRotation = MatrixRotate(angleDeg*DEG2RAD, axis);
+    matRotation = MatrixRotate(axis, angleDeg*DEG2RAD);
 
     MatrixTranspose(&matRotation);
 
@@ -1406,13 +1406,13 @@ void rlglDrawPostpro(void)
 #if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
     glBindFramebuffer(GL_FRAMEBUFFER, 0);
 
-    rlglDrawModel(postproQuad, (Vector3){0,0,0}, 0.0f, (Vector3){0,0,0}, (Vector3){1.0f, 1.0f, 1.0f}, (Color){ 255, 255, 255, 255 }, false);
+    rlglDrawModel(postproQuad, (Vector3){0,0,0}, (Vector3){0,0,0}, 0.0f, (Vector3){1.0f, 1.0f, 1.0f}, (Color){ 255, 255, 255, 255 }, false);
 #endif
 }
 
 // Draw a 3d model
 // NOTE: Model transform can come within model struct
-void rlglDrawModel(Model model, Vector3 position, float rotationAngle, Vector3 rotationAxis, Vector3 scale, Color color, bool wires)
+void rlglDrawModel(Model model, Vector3 position, Vector3 rotationAxis, float rotationAngle, Vector3 scale, Color color, bool wires)
 {
 #if defined (GRAPHICS_API_OPENGL_11) || defined(GRAPHICS_API_OPENGL_33)
     // NOTE: glPolygonMode() not available on OpenGL ES
@@ -1461,7 +1461,7 @@ void rlglDrawModel(Model model, Vector3 position, float rotationAngle, Vector3 r
     
     // Calculate transformation matrix from function parameters
     // Get transform matrix (rotation -> scale -> translation)
-    Matrix matRotation = MatrixRotate(rotationAngle*DEG2RAD, rotationAxis);
+    Matrix matRotation = MatrixRotate(rotationAxis, rotationAngle*DEG2RAD);
     Matrix matScale = MatrixScale(scale.x, scale.y, scale.z);
     Matrix matTranslation = MatrixTranslate(position.x, position.y, position.z);
     Matrix matTransform = MatrixMultiply(MatrixMultiply(matRotation, matScale), matTranslation);

src/rlgl.h

@@ -262,7 +262,7 @@ void rlglInitPostpro(void);                     // Initialize postprocessing sys
 void rlglDrawPostpro(void);                     // Draw with postprocessing shader
 
 Model rlglLoadModel(Mesh mesh);           // Upload vertex data into GPU and provided VAO/VBO ids
-void rlglDrawModel(Model model, Vector3 position, float rotationAngle, Vector3 rotationAxis, Vector3 scale, Color color, bool wires);
+void rlglDrawModel(Model model, Vector3 position, Vector3 rotationAxis, float rotationAngle, Vector3 scale, Color color, bool wires);
 
 Vector3 rlglUnproject(Vector3 source, Matrix proj, Matrix view);    // Get world coordinates from screen coordinates