Complete review of raymath

Now it should be coherent with OpenGL math standards

src/core.c

@@ -895,8 +895,8 @@ void Begin3dMode(Camera camera)
     rlLoadIdentity();                   // Reset current matrix (MODELVIEW)
 
     // Setup Camera view
-    Matrix cameraView = MatrixLookAt(camera.position, camera.target, camera.up);
-    rlMultMatrixf(MatrixToFloat(cameraView));      // Multiply MODELVIEW matrix by view matrix (camera)
+    Matrix matView = MatrixLookAt(camera.position, camera.target, camera.up);
+    rlMultMatrixf(MatrixToFloat(matView));      // Multiply MODELVIEW matrix by view matrix (camera)
 
     rlEnableDepthTest();                // Enable DEPTH_TEST for 3D
 }
@@ -991,7 +991,7 @@ Ray GetMouseRay(Vector2 mousePosition, Camera camera)
     // For example, if you get view matrix, transpose and inverted and you transform it
     // to a vector, you will get its 3d world position coordinates (camera.position).
     // If you don't transpose, final position will be wrong.
-    MatrixTranspose(&matView);
+    //MatrixTranspose(&matView);
 
 //#define USE_RLGL_UNPROJECT
 #if defined(USE_RLGL_UNPROJECT)     // OPTION 1: Use rlUnproject()
@@ -1037,7 +1037,6 @@ Vector2 GetWorldToScreen(Vector3 position, Camera camera)
 
     // Calculate view matrix from camera look at (and transpose it)
     Matrix matView = MatrixLookAt(camera.position, camera.target, camera.up);
-    MatrixTranspose(&matView);
 
     // Convert world position vector to quaternion
     Quaternion worldPos = { position.x, position.y, position.z, 1.0f };

src/models.c

@@ -119,10 +119,10 @@ void DrawCube(Vector3 position, float width, float height, float length, Color c
 
     rlPushMatrix();
 
-        // NOTE: Be careful! Function order matters (rotate -> scale -> translate)
+        // NOTE: Be careful! Function order matters (scale -> rotate -> translate)
+        rlScalef(1.0f, 3.0f, 1.0f);
+        rlRotatef(45, 0, 1, 0);
         rlTranslatef(position.x, position.y, position.z);
-        //rlScalef(2.0f, 2.0f, 2.0f);
-        //rlRotatef(45, 0, 1, 0);
 
         rlBegin(RL_TRIANGLES);
             rlColor4ub(color.r, color.g, color.b, color.a);
@@ -199,8 +199,8 @@ void DrawCubeWires(Vector3 position, float width, float height, float length, Co
 
     rlPushMatrix();
 
-        rlTranslatef(position.x, position.y, position.z);
         //rlRotatef(45, 0, 1, 0);
+        rlTranslatef(position.x, position.y, position.z);
 
         rlBegin(RL_LINES);
             rlColor4ub(color.r, color.g, color.b, color.a);
@@ -271,10 +271,10 @@ void DrawCubeTexture(Texture2D texture, Vector3 position, float width, float hei
     rlEnableTexture(texture.id);
 
     //rlPushMatrix();
-        // NOTE: Be careful! Function order matters (scale, translate, rotate)
+        // NOTE: Be careful! Function order matters (scale -> rotate -> translate)
         //rlScalef(2.0f, 2.0f, 2.0f);
-        //rlTranslatef(2.0f, 0.0f, 0.0f);
         //rlRotatef(45, 0, 1, 0);
+        //rlTranslatef(2.0f, 0.0f, 0.0f);
 
         rlBegin(RL_QUADS);
             rlColor4ub(color.r, color.g, color.b, color.a);
@@ -330,8 +330,8 @@ void DrawSphere(Vector3 centerPos, float radius, Color color)
 void DrawSphereEx(Vector3 centerPos, float radius, int rings, int slices, Color color)
 {
     rlPushMatrix();
-        rlTranslatef(centerPos.x, centerPos.y, centerPos.z);
         rlScalef(radius, radius, radius);
+        rlTranslatef(centerPos.x, centerPos.y, centerPos.z);
 
         rlBegin(RL_TRIANGLES);
             rlColor4ub(color.r, color.g, color.b, color.a);
@@ -369,8 +369,8 @@ void DrawSphereEx(Vector3 centerPos, float radius, int rings, int slices, Color
 void DrawSphereWires(Vector3 centerPos, float radius, int rings, int slices, Color color)
 {
     rlPushMatrix();
-        rlTranslatef(centerPos.x, centerPos.y, centerPos.z);
         rlScalef(radius, radius, radius);
+        rlTranslatef(centerPos.x, centerPos.y, centerPos.z);
 
         rlBegin(RL_LINES);
             rlColor4ub(color.r, color.g, color.b, color.a);
@@ -496,8 +496,8 @@ void DrawPlane(Vector3 centerPos, Vector2 size, Color color)
 {
     // NOTE: Plane is always created on XZ ground
     rlPushMatrix();
-        rlTranslatef(centerPos.x, centerPos.y, centerPos.z);
         rlScalef(size.x, 1.0f, size.y);
+        rlTranslatef(centerPos.x, centerPos.y, centerPos.z);
 
         rlBegin(RL_TRIANGLES);
             rlColor4ub(color.r, color.g, color.b, color.a);
@@ -567,9 +567,8 @@ void DrawGizmo(Vector3 position)
     float length = 1.0f;
 
     rlPushMatrix();
-        rlTranslatef(position.x, position.y, position.z);
-        //rlRotatef(rotation, 0, 1, 0);
         rlScalef(length, length, length);
+        rlTranslatef(position.x, position.y, position.z);
 
         rlBegin(RL_LINES);
             rlColor3f(1.0f, 0.0f, 0.0f); rlVertex3f(0.0f, 0.0f, 0.0f);
@@ -1347,11 +1346,10 @@ void DrawBillboardRec(Camera camera, Texture2D texture, Rectangle sourceRec, Vec
     // NOTE: Billboard size will maintain sourceRec aspect ratio, size will represent billboard width
     Vector2 sizeRatio = { size, size*(float)sourceRec.height/sourceRec.width };
 
-    Matrix viewMatrix = MatrixLookAt(camera.position, camera.target, camera.up);
-    MatrixTranspose(&viewMatrix);
+    Matrix matView = MatrixLookAt(camera.position, camera.target, camera.up);
 
-    Vector3 right = { viewMatrix.m0, viewMatrix.m4, viewMatrix.m8 };
-    //Vector3 up = { viewMatrix.m1, viewMatrix.m5, viewMatrix.m9 };
+    Vector3 right = { matView.m0, matView.m4, matView.m8 };
+    //Vector3 up = { matView.m1, matView.m5, matView.m9 };
 
     // NOTE: Billboard locked on axis-Y
     Vector3 up = { 0.0f, 1.0f, 0.0f };
@@ -1660,7 +1658,7 @@ RayHitInfo GetCollisionRayGround(Ray ray, float groundHeight)
 }
 
 // Calculate mesh bounding box limits
-// NOTE: minVertex and maxVertex should be transformed by model transform matrix (position, scale, rotate)
+// NOTE: minVertex and maxVertex should be transformed by model transform matrix
 BoundingBox CalculateBoundingBox(Mesh mesh)
 {
     // Get min and max vertex to construct bounds (AABB)

src/raymath.h

@@ -706,10 +706,10 @@ RMDEF Matrix MatrixSubstract(Matrix left, Matrix right)
 // Returns translation matrix
 RMDEF Matrix MatrixTranslate(float x, float y, float z)
 {
-    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, 
-                      x, y, z, 1.0f };
+    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;
 }
@@ -834,22 +834,22 @@ RMDEF Matrix MatrixMultiply(Matrix left, Matrix right)
 {
     Matrix result;
 
-    result.m0 = right.m0*left.m0 + right.m1*left.m4 + right.m2*left.m8 + right.m3*left.m12;
-    result.m1 = right.m0*left.m1 + right.m1*left.m5 + right.m2*left.m9 + right.m3*left.m13;
-    result.m2 = right.m0*left.m2 + right.m1*left.m6 + right.m2*left.m10 + right.m3*left.m14;
-    result.m3 = right.m0*left.m3 + right.m1*left.m7 + right.m2*left.m11 + right.m3*left.m15;
-    result.m4 = right.m4*left.m0 + right.m5*left.m4 + right.m6*left.m8 + right.m7*left.m12;
-    result.m5 = right.m4*left.m1 + right.m5*left.m5 + right.m6*left.m9 + right.m7*left.m13;
-    result.m6 = right.m4*left.m2 + right.m5*left.m6 + right.m6*left.m10 + right.m7*left.m14;
-    result.m7 = right.m4*left.m3 + right.m5*left.m7 + right.m6*left.m11 + right.m7*left.m15;
-    result.m8 = right.m8*left.m0 + right.m9*left.m4 + right.m10*left.m8 + right.m11*left.m12;
-    result.m9 = right.m8*left.m1 + right.m9*left.m5 + right.m10*left.m9 + right.m11*left.m13;
-    result.m10 = right.m8*left.m2 + right.m9*left.m6 + right.m10*left.m10 + right.m11*left.m14;
-    result.m11 = right.m8*left.m3 + right.m9*left.m7 + right.m10*left.m11 + right.m11*left.m15;
-    result.m12 = right.m12*left.m0 + right.m13*left.m4 + right.m14*left.m8 + right.m15*left.m12;
-    result.m13 = right.m12*left.m1 + right.m13*left.m5 + right.m14*left.m9 + right.m15*left.m13;
-    result.m14 = right.m12*left.m2 + right.m13*left.m6 + right.m14*left.m10 + right.m15*left.m14;
-    result.m15 = right.m12*left.m3 + right.m13*left.m7 + right.m14*left.m11 + right.m15*left.m15;
+    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;
 }
@@ -936,50 +936,49 @@ RMDEF Matrix MatrixLookAt(Vector3 eye, Vector3 target, Vector3 up)
     VectorNormalize(&x);
     Vector3 y = VectorCrossProduct(z, x);
     VectorNormalize(&y);
-
+    
     result.m0 = x.x;
     result.m1 = x.y;
     result.m2 = x.z;
-    result.m3 = -((x.x*eye.x) + (x.y*eye.y) + (x.z*eye.z));
+    result.m3 = 0.0f;
     result.m4 = y.x;
     result.m5 = y.y;
     result.m6 = y.z;
-    result.m7 = -((y.x*eye.x) + (y.y*eye.y) + (y.z*eye.z));
+    result.m7 = 0.0f;
     result.m8 = z.x;
     result.m9 = z.y;
     result.m10 = z.z;
-    result.m11 = -((z.x*eye.x) + (z.y*eye.y) + (z.z*eye.z));
-    result.m12 = 0.0f;
-    result.m13 = 0.0f;
-    result.m14 = 0.0f;
+    result.m11 = 0.0f;
+    result.m12 = eye.x;
+    result.m13 = eye.y;
+    result.m14 = eye.z;
     result.m15 = 1.0f;
 
+    MatrixInvert(&result);
+
     return result;
 }
 
 // Returns float array of matrix data
-// NOTE: Returned vector is a transposed version of the Matrix struct,
-// it should be this way because, despite raymath use OpenGL column-major convention,
-// Matrix struct memory alignment and variables naming are not coherent
 RMDEF float *MatrixToFloat(Matrix mat)
 {
     static float buffer[16];
 
     buffer[0] = mat.m0;
-    buffer[1] = mat.m4;
-    buffer[2] = mat.m8;
-    buffer[3] = mat.m12;
-    buffer[4] = mat.m1;
+    buffer[1] = mat.m1;
+    buffer[2] = mat.m2;
+    buffer[3] = mat.m3;
+    buffer[4] = mat.m4;
     buffer[5] = mat.m5;
-    buffer[6] = mat.m9;
-    buffer[7] = mat.m13;
-    buffer[8] = mat.m2;
-    buffer[9] = mat.m6;
+    buffer[6] = mat.m6;
+    buffer[7] = mat.m7;
+    buffer[8] = mat.m8;
+    buffer[9] = mat.m9;
     buffer[10] = mat.m10;
-    buffer[11] = mat.m14;
-    buffer[12] = mat.m3;
-    buffer[13] = mat.m7;
-    buffer[14] = mat.m11;
+    buffer[11] = mat.m11;
+    buffer[12] = mat.m12;
+    buffer[13] = mat.m13;
+    buffer[14] = mat.m14;
     buffer[15] = mat.m15;
 
     return buffer;

src/rlgl.c

@@ -395,7 +395,7 @@ void rlLoadIdentity(void) { glLoadIdentity(); }
 void rlTranslatef(float x, float y, float z) { glTranslatef(x, y, z); }
 void rlRotatef(float angleDeg, float x, float y, float z) { glRotatef(angleDeg, x, y, z); }
 void rlScalef(float x, float y, float z) { glScalef(x, y, z); }
-void rlMultMatrixf(float *mat) { glMultMatrixf(mat); }
+void rlMultMatrixf(float *matf) { glMultMatrixf(matf); }
 
 #elif defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
 
@@ -445,7 +445,6 @@ void rlLoadIdentity(void)
 void rlTranslatef(float x, float y, float z)
 {
     Matrix matTranslation = MatrixTranslate(x, y, z);
-    MatrixTranspose(&matTranslation);
 
     *currentMatrix = MatrixMultiply(*currentMatrix, matTranslation);
 }
@@ -458,7 +457,6 @@ void rlRotatef(float angleDeg, float x, float y, float z)
     Vector3 axis = (Vector3){ x, y, z };
     VectorNormalize(&axis);
     matRotation = MatrixRotate(axis, angleDeg*DEG2RAD);
-    MatrixTranspose(&matRotation);
 
     *currentMatrix = MatrixMultiply(*currentMatrix, matRotation);
 }
@@ -467,28 +465,26 @@ void rlRotatef(float angleDeg, float x, float y, float z)
 void rlScalef(float x, float y, float z)
 {
     Matrix matScale = MatrixScale(x, y, z);
-    MatrixTranspose(&matScale);
 
     *currentMatrix = MatrixMultiply(*currentMatrix, matScale);
 }
 
 // Multiply the current matrix by another matrix
-void rlMultMatrixf(float *mat)
+void rlMultMatrixf(float *matf)
 {
     // Matrix creation from array
-    Matrix mat2 = { m[0], m[1], m[2], m[3],
-                   m[4], m[5], m[6], m[7],
-                   m[8], m[9], m[10], m[11],
-                   m[12], m[13], m[14], m[15] };
+    Matrix mat = { matf[0], matf[4], matf[8], matf[12],
+                   matf[1], matf[5], matf[9], matf[13],
+                   matf[2], matf[6], matf[10], matf[14],
+                   matf[3], matf[7], matf[11], matf[15] };
 
-    *currentMatrix = MatrixMultiply(*currentMatrix, mat2);
+    *currentMatrix = MatrixMultiply(*currentMatrix, mat);
 }
 
 // Multiply the current matrix by a perspective matrix generated by parameters
 void rlFrustum(double left, double right, double bottom, double top, double near, double far)
 {
     Matrix matPerps = MatrixFrustum(left, right, bottom, top, near, far);
-    MatrixTranspose(&matPerps);
 
     *currentMatrix = MatrixMultiply(*currentMatrix, matPerps);
 }
@@ -497,7 +493,6 @@ void rlFrustum(double left, double right, double bottom, double top, double near
 void rlOrtho(double left, double right, double bottom, double top, double near, double far)
 {
     Matrix matOrtho = MatrixOrtho(left, right, bottom, top, near, far);
-    MatrixTranspose(&matOrtho);
 
     *currentMatrix = MatrixMultiply(*currentMatrix, matOrtho);
 }
@@ -2545,7 +2540,7 @@ Texture2D GenTextureCubemap(Shader shader, Texture2D skyHDR, int size)
 
     // Create projection (transposed) and different views for each face
     Matrix fboProjection = MatrixPerspective(90.0*DEG2RAD, 1.0, 0.01, 1000.0);
-    MatrixTranspose(&fboProjection);
+    //MatrixTranspose(&fboProjection);
     Matrix fboViews[6] = {
         MatrixLookAt((Vector3){ 0.0f, 0.0f, 0.0f }, (Vector3){ 1.0f, 0.0f, 0.0f }, (Vector3){ 0.0f, -1.0f, 0.0f }),
         MatrixLookAt((Vector3){ 0.0f, 0.0f, 0.0f }, (Vector3){ -1.0f, 0.0f, 0.0f }, (Vector3){ 0.0f, -1.0f, 0.0f }),
@@ -2617,7 +2612,7 @@ Texture2D GenTextureIrradiance(Shader shader, Texture2D cubemap, int size)
     
     // Create projection (transposed) and different views for each face
     Matrix fboProjection = MatrixPerspective(90.0*DEG2RAD, 1.0, 0.01, 1000.0);
-    MatrixTranspose(&fboProjection);
+    //MatrixTranspose(&fboProjection);
     Matrix fboViews[6] = {
         MatrixLookAt((Vector3){ 0.0f, 0.0f, 0.0f }, (Vector3){ 1.0f, 0.0f, 0.0f }, (Vector3){ 0.0f, -1.0f, 0.0f }),
         MatrixLookAt((Vector3){ 0.0f, 0.0f, 0.0f }, (Vector3){ -1.0f, 0.0f, 0.0f }, (Vector3){ 0.0f, -1.0f, 0.0f }),
@@ -2693,7 +2688,7 @@ Texture2D GenTexturePrefilter(Shader shader, Texture2D cubemap, int size)
     
     // Create projection (transposed) and different views for each face
     Matrix fboProjection = MatrixPerspective(90.0*DEG2RAD, 1.0, 0.01, 1000.0);
-    MatrixTranspose(&fboProjection);
+    //MatrixTranspose(&fboProjection);
     Matrix fboViews[6] = {
         MatrixLookAt((Vector3){ 0.0f, 0.0f, 0.0f }, (Vector3){ 1.0f, 0.0f, 0.0f }, (Vector3){ 0.0f, -1.0f, 0.0f }),
         MatrixLookAt((Vector3){ 0.0f, 0.0f, 0.0f }, (Vector3){ -1.0f, 0.0f, 0.0f }, (Vector3){ 0.0f, -1.0f, 0.0f }),
@@ -2931,7 +2926,6 @@ void ToggleVrMode(void)
         // Reset viewport and default projection-modelview matrices
         rlViewport(0, 0, screenWidth, screenHeight);
         projection = MatrixOrtho(0, screenWidth, screenHeight, 0, 0.0f, 1.0f);
-        MatrixTranspose(&projection);
         modelview = MatrixIdentity();
     }
     else vrStereoRender = true;
@@ -3034,7 +3028,6 @@ void EndVrDrawing(void)
         // Reset viewport and default projection-modelview matrices
         rlViewport(0, 0, screenWidth, screenHeight);
         projection = MatrixOrtho(0, screenWidth, screenHeight, 0, 0.0f, 1.0f);
-        MatrixTranspose(&projection);
         modelview = MatrixIdentity();
         
         rlDisableDepthTest();
@@ -3977,18 +3970,14 @@ static void SetStereoConfig(VrDeviceInfo hmd)
     // Fovy is normally computed with: 2*atan2(hmd.vScreenSize, 2*hmd.eyeToScreenDistance)*RAD2DEG
     // ...but with lens distortion it is increased (see Oculus SDK Documentation)
     //float fovy = 2.0f*atan2(hmd.vScreenSize*0.5f*distortionScale, hmd.eyeToScreenDistance)*RAD2DEG;     // Really need distortionScale?
-    float fovy = 2.0f*(float)atan2(hmd.vScreenSize*0.5f, hmd.eyeToScreenDistance)*RAD2DEG;
+    float fovy = 2.0f*(float)atan2(hmd.vScreenSize*0.5f, hmd.eyeToScreenDistance);
 
     // Compute camera projection matrices
     float projOffset = 4.0f*lensShift;      // Scaled to projection space coordinates [-1..1]
-    Matrix proj = MatrixPerspective(fovy*DEG2RAD, aspect, 0.01, 1000.0);
+    Matrix proj = MatrixPerspective(fovy, aspect, 0.01, 1000.0);
     vrConfig.eyesProjection[0] = MatrixMultiply(proj, MatrixTranslate(projOffset, 0.0f, 0.0f));
     vrConfig.eyesProjection[1] = MatrixMultiply(proj, MatrixTranslate(-projOffset, 0.0f, 0.0f));
 
-    // NOTE: Projection matrices must be transposed due to raymath convention
-    MatrixTranspose(&vrConfig.eyesProjection[0]);
-    MatrixTranspose(&vrConfig.eyesProjection[1]);
-
     // Compute camera transformation matrices
     // NOTE: Camera movement might seem more natural if we model the head.
     // Our axis of rotation is the base of our head, so we might want to add

src/rlgl.h

@@ -355,7 +355,7 @@ void rlLoadIdentity(void);                      // Reset current matrix to ident
 void rlTranslatef(float x, float y, float z);   // Multiply the current matrix by a translation matrix
 void rlRotatef(float angleDeg, float x, float y, float z);  // Multiply the current matrix by a rotation matrix
 void rlScalef(float x, float y, float z);       // Multiply the current matrix by a scaling matrix
-void rlMultMatrixf(float *mat);                 // Multiply the current matrix by another matrix
+void rlMultMatrixf(float *matf);                // Multiply the current matrix by another matrix
 void rlFrustum(double left, double right, double bottom, double top, double near, double far);
 void rlOrtho(double left, double right, double bottom, double top, double near, double far);
 void rlViewport(int x, int y, int width, int height); // Set the viewport area