Updated ImGui.

3rdparty/ocornut-imgui/widgets/gizmo.inl

@@ -22,1468 +22,1474 @@
 
 namespace ImGuizmo
 {
-	static const float ZPI = 3.14159265358979323846f;
-	static const float RAD2DEG = (180.f / ZPI);
-	static const float DEG2RAD = (ZPI / 180.f);
-
-	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-	// utility and math
-
-	void FPU_MatrixF_x_MatrixF(const float *a, const float *b, float *r)
-	{
-		r[0] = a[0] * b[0] + a[1] * b[4] + a[2] * b[8] + a[3] * b[12];
-		r[1] = a[0] * b[1] + a[1] * b[5] + a[2] * b[9] + a[3] * b[13];
-		r[2] = a[0] * b[2] + a[1] * b[6] + a[2] * b[10] + a[3] * b[14];
-		r[3] = a[0] * b[3] + a[1] * b[7] + a[2] * b[11] + a[3] * b[15];
-
-		r[4] = a[4] * b[0] + a[5] * b[4] + a[6] * b[8] + a[7] * b[12];
-		r[5] = a[4] * b[1] + a[5] * b[5] + a[6] * b[9] + a[7] * b[13];
-		r[6] = a[4] * b[2] + a[5] * b[6] + a[6] * b[10] + a[7] * b[14];
-		r[7] = a[4] * b[3] + a[5] * b[7] + a[6] * b[11] + a[7] * b[15];
-
-		r[8] = a[8] * b[0] + a[9] * b[4] + a[10] * b[8] + a[11] * b[12];
-		r[9] = a[8] * b[1] + a[9] * b[5] + a[10] * b[9] + a[11] * b[13];
-		r[10] = a[8] * b[2] + a[9] * b[6] + a[10] * b[10] + a[11] * b[14];
-		r[11] = a[8] * b[3] + a[9] * b[7] + a[10] * b[11] + a[11] * b[15];
-
-		r[12] = a[12] * b[0] + a[13] * b[4] + a[14] * b[8] + a[15] * b[12];
-		r[13] = a[12] * b[1] + a[13] * b[5] + a[14] * b[9] + a[15] * b[13];
-		r[14] = a[12] * b[2] + a[13] * b[6] + a[14] * b[10] + a[15] * b[14];
-		r[15] = a[12] * b[3] + a[13] * b[7] + a[14] * b[11] + a[15] * b[15];
-	}
-
-	//template <typename T> T LERP(T x, T y, float z) { return (x + (y - x)*z); }
-	template <typename T> T Clamp(T x, T y, T z) { return ((x<y) ? y : ((x>z) ? z : x)); }
-	template <typename T> T max(T x, T y) { return (x > y) ? x : y; }
-
-	struct matrix_t;
-	struct vec_t
-	{
-	public:
-		float x, y, z, w;
-
-		void Lerp(const vec_t& v, float t)
-		{
-			x += (v.x - x) * t;
-			y += (v.y - y) * t;
-			z += (v.z - z) * t;
-			w += (v.w - w) * t;
-		}
-
-		void Set(float v) { x = y = z = w = v; }
-		void Set(float _x, float _y, float _z = 0.f, float _w = 0.f) { x = _x; y = _y; z = _z; w = _w; }
-
-		vec_t& operator -= (const vec_t& v) { x -= v.x; y -= v.y; z -= v.z; w -= v.w; return *this; }
-		vec_t& operator += (const vec_t& v) { x += v.x; y += v.y; z += v.z; w += v.w; return *this; }
-		vec_t& operator *= (const vec_t& v) { x *= v.x; y *= v.y; z *= v.z; w *= v.w; return *this; }
-		vec_t& operator *= (float v) { x *= v;	y *= v;	z *= v;	w *= v;	return *this; }
-
-		vec_t operator * (float f) const;
-		vec_t operator - () const;
-		vec_t operator - (const vec_t& v) const;
-		vec_t operator + (const vec_t& v) const;
-		vec_t operator * (const vec_t& v) const;
-
-		const vec_t& operator + () const { return (*this); }
-		float Length() const { return sqrtf(x*x + y*y + z*z); };
-		float LengthSq() const { return (x*x + y*y + z*z); };
-		vec_t Normalize() { (*this) *= (1.f / Length()); return (*this); }
-		vec_t Normalize(const vec_t& v) { this->Set(v.x, v.y, v.z, v.w); this->Normalize(); return (*this); }
-
-		void Cross(const vec_t& v)
-		{
-			vec_t res;
-			res.x = y * v.z - z * v.y;
-			res.y = z * v.x - x * v.z;
-			res.z = x * v.y - y * v.x;
-
-			x = res.x;
-			y = res.y;
-			z = res.z;
-			w = 0.f;
-		}
-		void Cross(const vec_t& v1, const vec_t& v2)
-		{
-			x = v1.y * v2.z - v1.z * v2.y;
-			y = v1.z * v2.x - v1.x * v2.z;
-			z = v1.x * v2.y - v1.y * v2.x;
-			w = 0.f;
-		}
-		float Dot(const vec_t &v) const
-		{
-			return (x * v.x) + (y * v.y) + (z * v.z) + (w * v.w);
-		}
-		float Dot3(const vec_t &v) const
-		{
-			return (x * v.x) + (y * v.y) + (z * v.z);
-		}
-		
-		void Transform(const matrix_t& matrix);
-		void Transform(const vec_t & s, const matrix_t& matrix);
-
-		void TransformVector(const matrix_t& matrix);
-		void TransformPoint(const matrix_t& matrix);
-		void TransformVector(const vec_t& v, const matrix_t& matrix) { (*this) = v; this->TransformVector(matrix); }
-		void TransformPoint(const vec_t& v, const matrix_t& matrix) { (*this) = v; this->TransformPoint(matrix); }
-
-		float& operator [] (size_t index) { return ((float*)&x)[index]; }
-		const float& operator [] (size_t index) const { return ((float*)&x)[index]; }
-	};
-
-	vec_t makeVect(float _x, float _y, float _z = 0.f, float _w = 0.f) { vec_t res; res.x = _x; res.y = _y; res.z = _z; res.w = _w; return res; }
-	vec_t vec_t::operator * (float f) const { return makeVect(x * f, y * f, z * f, w *f); }
-	vec_t vec_t::operator - () const { return makeVect(-x, -y, -z, -w); }
-	vec_t vec_t::operator - (const vec_t& v) const { return makeVect(x - v.x, y - v.y, z - v.z, w - v.w); }
-	vec_t vec_t::operator + (const vec_t& v) const { return makeVect(x + v.x, y + v.y, z + v.z, w + v.w); }
-	vec_t vec_t::operator * (const vec_t& v) const { return makeVect(x * v.x, y * v.y, z * v.z, w * v.w); }
-
-	ImVec2 operator+ (const ImVec2& a, const ImVec2& b) { return ImVec2(a.x + b.x, a.y + b.y); }
-
-	vec_t Normalized(const vec_t& v) { vec_t res; res = v; res.Normalize(); return res; }
-	vec_t Cross(const vec_t& v1, const vec_t& v2)
-	{
-		vec_t res;
-		res.x = v1.y * v2.z - v1.z * v2.y;
-		res.y = v1.z * v2.x - v1.x * v2.z;
-		res.z = v1.x * v2.y - v1.y * v2.x;
-		res.w = 0.f;
-		return res;
-	}
-
-	float Dot(const vec_t &v1, const vec_t &v2)
-	{
-		return (v1.x * v2.x) + (v1.y * v2.y) + (v1.z * v2.z);
-	}
-
-	vec_t BuildPlan(const vec_t & p_point1, const vec_t & p_normal)
-	{
-		vec_t normal, res;
-		normal.Normalize(p_normal);
-		res.w = normal.Dot(p_point1);
-		res.x = normal.x;
-		res.y = normal.y;
-		res.z = normal.z;
-		return res;
-	}
-
-	struct matrix_t
-	{
-	public:
-
-		union
-		{
-			float m[4][4];
-			float m16[16];
-			struct
-			{
-				vec_t right, up, dir, position;
-			} v;
-		};
-
-		matrix_t(const matrix_t& other) { memcpy(&m16[0], &other.m16[0], sizeof(float) * 16); }
-		matrix_t() {}
-
-		operator float * () { return m16; }
-		operator const float* () const { return m16; }
-		void Translation(float _x, float _y, float _z) { this->Translation(makeVect(_x, _y, _z)); }
-
-		void Translation(const vec_t& vt)
-		{
-			v.right.Set(1.f, 0.f, 0.f, 0.f);
-			v.up.Set(0.f, 1.f, 0.f, 0.f);
-			v.dir.Set(0.f, 0.f, 1.f, 0.f);
-			v.position.Set(vt.x, vt.y, vt.z, 1.f);
-		}
-
-		void Scale(float _x, float _y, float _z)
-		{
-			v.right.Set(_x, 0.f, 0.f, 0.f);
-			v.up.Set(0.f, _y, 0.f, 0.f);
-			v.dir.Set(0.f, 0.f, _z, 0.f);
-			v.position.Set(0.f, 0.f, 0.f, 1.f);
-		}
-		void Scale(const vec_t& s) { Scale(s.x, s.y, s.z); }
-
-		matrix_t& operator *= (const matrix_t& mat)
-		{
-			matrix_t tmpMat;
-			tmpMat = *this;
-			tmpMat.Multiply(mat);
-			*this = tmpMat;
-			return *this;
-		}
-		matrix_t operator * (const matrix_t& mat) const
-		{
-			matrix_t matT;
-			matT.Multiply(*this, mat);
-			return matT;
-		}
-
-		void Multiply(const matrix_t &matrix)
-		{
-			matrix_t tmp;
-			tmp = *this;
-
-			FPU_MatrixF_x_MatrixF((float*)&tmp, (float*)&matrix, (float*)this);
-		}
-
-		void Multiply(const matrix_t &m1, const matrix_t &m2)
-		{
-			FPU_MatrixF_x_MatrixF((float*)&m1, (float*)&m2, (float*)this);
-		}
-
-		float GetDeterminant() const
-		{
-			return m[0][0] * m[1][1] * m[2][2] + m[0][1] * m[1][2] * m[2][0] + m[0][2] * m[1][0] * m[2][1] -
-				m[0][2] * m[1][1] * m[2][0] - m[0][1] * m[1][0] * m[2][2] - m[0][0] * m[1][2] * m[2][1];
-		}
-
-		float Inverse(const matrix_t &srcMatrix, bool affine = false);
-		float Inverse(bool affine = false);
-		void SetToIdentity() 
-		{
-			v.right.Set(1.f, 0.f, 0.f, 0.f);
-			v.up.Set(0.f, 1.f, 0.f, 0.f);
-			v.dir.Set(0.f, 0.f, 1.f, 0.f);
-			v.position.Set(0.f, 0.f, 0.f, 1.f);
-		}
-		void Transpose()
-		{
-			matrix_t tmpm;
-			for (int l = 0; l < 4; l++)
-			{
-				for (int c = 0; c < 4; c++)
-				{
-					tmpm.m[l][c] = m[c][l];
-				}
-			}
-			(*this) = tmpm;
-		}
-		
-		void RotationAxis(const vec_t & axis, float angle);
-
-		void OrthoNormalize()
-		{
-			v.right.Normalize();
-			v.up.Normalize();
-			v.dir.Normalize();
-		}
-	};
-
-	void vec_t::Transform(const matrix_t& matrix)
-	{
-		vec_t out;
-
-		out.x = x * matrix.m[0][0] + y * matrix.m[1][0] + z * matrix.m[2][0] + w * matrix.m[3][0];
-		out.y = x * matrix.m[0][1] + y * matrix.m[1][1] + z * matrix.m[2][1] + w * matrix.m[3][1];
-		out.z = x * matrix.m[0][2] + y * matrix.m[1][2] + z * matrix.m[2][2] + w * matrix.m[3][2];
-		out.w = x * matrix.m[0][3] + y * matrix.m[1][3] + z * matrix.m[2][3] + w * matrix.m[3][3];
-
-		x = out.x;
-		y = out.y;
-		z = out.z;
-		w = out.w;
-	}
-
-	void vec_t::Transform(const vec_t & s, const matrix_t& matrix)
-	{
-		*this = s;
-		Transform(matrix);
-	}
-
-	void vec_t::TransformPoint(const matrix_t& matrix)
-	{
-		vec_t out;
-
-		out.x = x * matrix.m[0][0] + y * matrix.m[1][0] + z * matrix.m[2][0] + matrix.m[3][0];
-		out.y = x * matrix.m[0][1] + y * matrix.m[1][1] + z * matrix.m[2][1] + matrix.m[3][1];
-		out.z = x * matrix.m[0][2] + y * matrix.m[1][2] + z * matrix.m[2][2] + matrix.m[3][2];
-		out.w = x * matrix.m[0][3] + y * matrix.m[1][3] + z * matrix.m[2][3] + matrix.m[3][3];
-
-		x = out.x;
-		y = out.y;
-		z = out.z;
-		w = out.w;
-	}
-
-
-	void vec_t::TransformVector(const matrix_t& matrix)
-	{
-		vec_t out;
-
-		out.x = x * matrix.m[0][0] + y * matrix.m[1][0] + z * matrix.m[2][0];
-		out.y = x * matrix.m[0][1] + y * matrix.m[1][1] + z * matrix.m[2][1];
-		out.z = x * matrix.m[0][2] + y * matrix.m[1][2] + z * matrix.m[2][2];
-		out.w = x * matrix.m[0][3] + y * matrix.m[1][3] + z * matrix.m[2][3];
-
-		x = out.x;
-		y = out.y;
-		z = out.z;
-		w = out.w;
-	}
-
-	float matrix_t::Inverse(const matrix_t &srcMatrix, bool affine)
-	{
-		float det = 0;
-
-		if (affine)
-		{
-			det = GetDeterminant();
-			float s = 1 / det;
-			m[0][0] = (srcMatrix.m[1][1] * srcMatrix.m[2][2] - srcMatrix.m[1][2] * srcMatrix.m[2][1]) * s;
-			m[0][1] = (srcMatrix.m[2][1] * srcMatrix.m[0][2] - srcMatrix.m[2][2] * srcMatrix.m[0][1]) * s;
-			m[0][2] = (srcMatrix.m[0][1] * srcMatrix.m[1][2] - srcMatrix.m[0][2] * srcMatrix.m[1][1]) * s;
-			m[1][0] = (srcMatrix.m[1][2] * srcMatrix.m[2][0] - srcMatrix.m[1][0] * srcMatrix.m[2][2]) * s;
-			m[1][1] = (srcMatrix.m[2][2] * srcMatrix.m[0][0] - srcMatrix.m[2][0] * srcMatrix.m[0][2]) * s;
-			m[1][2] = (srcMatrix.m[0][2] * srcMatrix.m[1][0] - srcMatrix.m[0][0] * srcMatrix.m[1][2]) * s;
-			m[2][0] = (srcMatrix.m[1][0] * srcMatrix.m[2][1] - srcMatrix.m[1][1] * srcMatrix.m[2][0]) * s;
-			m[2][1] = (srcMatrix.m[2][0] * srcMatrix.m[0][1] - srcMatrix.m[2][1] * srcMatrix.m[0][0]) * s;
-			m[2][2] = (srcMatrix.m[0][0] * srcMatrix.m[1][1] - srcMatrix.m[0][1] * srcMatrix.m[1][0]) * s;
-			m[3][0] = -(m[0][0] * srcMatrix.m[3][0] + m[1][0] * srcMatrix.m[3][1] + m[2][0] * srcMatrix.m[3][2]);
-			m[3][1] = -(m[0][1] * srcMatrix.m[3][0] + m[1][1] * srcMatrix.m[3][1] + m[2][1] * srcMatrix.m[3][2]);
-			m[3][2] = -(m[0][2] * srcMatrix.m[3][0] + m[1][2] * srcMatrix.m[3][1] + m[2][2] * srcMatrix.m[3][2]);
-		}
-		else
-		{
-			// transpose matrix
-			float src[16];
-			for (int i = 0; i < 4; ++i)
-			{
-				src[i] = srcMatrix.m16[i * 4];
-				src[i + 4] = srcMatrix.m16[i * 4 + 1];
-				src[i + 8] = srcMatrix.m16[i * 4 + 2];
-				src[i + 12] = srcMatrix.m16[i * 4 + 3];
-			}
-
-			// calculate pairs for first 8 elements (cofactors)
-			float tmp[12]; // temp array for pairs
-			tmp[0] = src[10] * src[15];
-			tmp[1] = src[11] * src[14];
-			tmp[2] = src[9] * src[15];
-			tmp[3] = src[11] * src[13];
-			tmp[4] = src[9] * src[14];
-			tmp[5] = src[10] * src[13];
-			tmp[6] = src[8] * src[15];
-			tmp[7] = src[11] * src[12];
-			tmp[8] = src[8] * src[14];
-			tmp[9] = src[10] * src[12];
-			tmp[10] = src[8] * src[13];
-			tmp[11] = src[9] * src[12];
-
-			// calculate first 8 elements (cofactors)
-			m16[0] = (tmp[0] * src[5] + tmp[3] * src[6] + tmp[4] * src[7]) - (tmp[1] * src[5] + tmp[2] * src[6] + tmp[5] * src[7]);
-			m16[1] = (tmp[1] * src[4] + tmp[6] * src[6] + tmp[9] * src[7]) - (tmp[0] * src[4] + tmp[7] * src[6] + tmp[8] * src[7]);
-			m16[2] = (tmp[2] * src[4] + tmp[7] * src[5] + tmp[10] * src[7]) - (tmp[3] * src[4] + tmp[6] * src[5] + tmp[11] * src[7]);
-			m16[3] = (tmp[5] * src[4] + tmp[8] * src[5] + tmp[11] * src[6]) - (tmp[4] * src[4] + tmp[9] * src[5] + tmp[10] * src[6]);
-			m16[4] = (tmp[1] * src[1] + tmp[2] * src[2] + tmp[5] * src[3]) - (tmp[0] * src[1] + tmp[3] * src[2] + tmp[4] * src[3]);
-			m16[5] = (tmp[0] * src[0] + tmp[7] * src[2] + tmp[8] * src[3]) - (tmp[1] * src[0] + tmp[6] * src[2] + tmp[9] * src[3]);
-			m16[6] = (tmp[3] * src[0] + tmp[6] * src[1] + tmp[11] * src[3]) - (tmp[2] * src[0] + tmp[7] * src[1] + tmp[10] * src[3]);
-			m16[7] = (tmp[4] * src[0] + tmp[9] * src[1] + tmp[10] * src[2]) - (tmp[5] * src[0] + tmp[8] * src[1] + tmp[11] * src[2]);
-
-			// calculate pairs for second 8 elements (cofactors)
-			tmp[0] = src[2] * src[7];
-			tmp[1] = src[3] * src[6];
-			tmp[2] = src[1] * src[7];
-			tmp[3] = src[3] * src[5];
-			tmp[4] = src[1] * src[6];
-			tmp[5] = src[2] * src[5];
-			tmp[6] = src[0] * src[7];
-			tmp[7] = src[3] * src[4];
-			tmp[8] = src[0] * src[6];
-			tmp[9] = src[2] * src[4];
-			tmp[10] = src[0] * src[5];
-			tmp[11] = src[1] * src[4];
-
-			// calculate second 8 elements (cofactors)
-			m16[8] = (tmp[0] * src[13] + tmp[3] * src[14] + tmp[4] * src[15]) - (tmp[1] * src[13] + tmp[2] * src[14] + tmp[5] * src[15]);
-			m16[9] = (tmp[1] * src[12] + tmp[6] * src[14] + tmp[9] * src[15]) - (tmp[0] * src[12] + tmp[7] * src[14] + tmp[8] * src[15]);
-			m16[10] = (tmp[2] * src[12] + tmp[7] * src[13] + tmp[10] * src[15]) - (tmp[3] * src[12] + tmp[6] * src[13] + tmp[11] * src[15]);
-			m16[11] = (tmp[5] * src[12] + tmp[8] * src[13] + tmp[11] * src[14]) - (tmp[4] * src[12] + tmp[9] * src[13] + tmp[10] * src[14]);
-			m16[12] = (tmp[2] * src[10] + tmp[5] * src[11] + tmp[1] * src[9]) - (tmp[4] * src[11] + tmp[0] * src[9] + tmp[3] * src[10]);
-			m16[13] = (tmp[8] * src[11] + tmp[0] * src[8] + tmp[7] * src[10]) - (tmp[6] * src[10] + tmp[9] * src[11] + tmp[1] * src[8]);
-			m16[14] = (tmp[6] * src[9] + tmp[11] * src[11] + tmp[3] * src[8]) - (tmp[10] * src[11] + tmp[2] * src[8] + tmp[7] * src[9]);
-			m16[15] = (tmp[10] * src[10] + tmp[4] * src[8] + tmp[9] * src[9]) - (tmp[8] * src[9] + tmp[11] * src[10] + tmp[5] * src[8]);
-
-			// calculate determinant
-			det = src[0] * m16[0] + src[1] * m16[1] + src[2] * m16[2] + src[3] * m16[3];
-
-			// calculate matrix inverse
-			float invdet = 1 / det;
-			for (int j = 0; j < 16; ++j)
-			{
-				m16[j] *= invdet;
-			}
-		}
-
-		return det;
-	}
-
-	void matrix_t::RotationAxis(const vec_t & axis, float angle)
-	{
-		float length2 = axis.LengthSq();
-		if (length2 < FLT_EPSILON)
-		{
-			SetToIdentity();
-			return;
-		}
-
-		vec_t n = axis * (1.f / sqrtf(length2));
-		float s = sinf(angle);
-		float c = cosf(angle);
-		float k = 1.f - c;
-
-		float xx = n.x * n.x * k + c;
-		float yy = n.y * n.y * k + c;
-		float zz = n.z * n.z * k + c;
-		float xy = n.x * n.y * k;
-		float yz = n.y * n.z * k;
-		float zx = n.z * n.x * k;
-		float xs = n.x * s;
-		float ys = n.y * s;
-		float zs = n.z * s;
-
-		m[0][0] = xx;
-		m[0][1] = xy + zs;
-		m[0][2] = zx - ys;
-		m[0][3] = 0.f;
-		m[1][0] = xy - zs;
-		m[1][1] = yy;
-		m[1][2] = yz + xs;
-		m[1][3] = 0.f;
-		m[2][0] = zx + ys;
-		m[2][1] = yz - xs;
-		m[2][2] = zz;
-		m[2][3] = 0.f;
-		m[3][0] = 0.f;
-		m[3][1] = 0.f;
-		m[3][2] = 0.f;
-		m[3][3] = 1.f;
-	}
-
-	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-	// 
-
-	enum MOVETYPE
-	{
-		NONE,
-		MOVE_X,
-		MOVE_Y,
-		MOVE_Z,
-		MOVE_XY,
-		MOVE_XZ,
-		MOVE_YZ,
-		MOVE_SCREEN,
-		ROTATE_X,
-		ROTATE_Y,
-		ROTATE_Z,
-		ROTATE_SCREEN,
-		SCALE_X,
-		SCALE_Y,
-		SCALE_Z,
-		SCALE_XYZ,
-	};
-
-	struct Context
-	{
-		Context() : mbUsing(false), mbEnable(true)
-		{
-		}
-
-		ImDrawList* mDrawList;
-
-		MODE mMode;
-		matrix_t mViewMat;
-		matrix_t mProjectionMat;
-		matrix_t mModel;
-		matrix_t mModelInverse;
-		matrix_t mModelSource;
-		matrix_t mModelSourceInverse;
-		matrix_t mMVP;
-		matrix_t mViewProjection;
-
-		vec_t mModelScaleOrigin;
-		vec_t mCameraEye;
-		vec_t mCameraRight;
-		vec_t mCameraDir;
-		vec_t mCameraUp;
-		vec_t mRayOrigin;
-		vec_t mRayVector;
-
-		ImVec2 mScreenSquareCenter;
-		ImVec2 mScreenSquareMin;
-		ImVec2 mScreenSquareMax;
-
-		float mScreenFactor;
-		vec_t mRelativeOrigin;
-
-		bool mbUsing;
-		bool mbEnable;
-
-		// translation
-		vec_t mTranslationPlan;
-		vec_t mTranslationPlanOrigin;
-		vec_t mMatrixOrigin;
-
-		// rotation
-		vec_t mRotationVectorSource;
-		float mRotationAngle;
-		float mRotationAngleOrigin;
-		//vec_t mWorldToLocalAxis;
-
-		// scale
-		vec_t mScale;
-		vec_t mScaleValueOrigin;
-		float mSaveMousePosx;
-
-		// save axis factor when using gizmo
-		bool mBelowAxisLimit[3];
-		bool mBelowPlaneLimit[3];
-		float mAxisFactor[3];
-
-		//
-		int mCurrentOperation;
-	};
-
-	static Context gContext;
-
-	static const float angleLimit = 0.96f;
-	static const float planeLimit = 0.2f;
-
-	static const vec_t directionUnary[3] = { makeVect(1.f, 0.f, 0.f), makeVect(0.f, 1.f, 0.f), makeVect(0.f, 0.f, 1.f) };
-	static const ImU32 directionColor[3] = { 0xFF0000AA, 0xFF00AA00, 0xFFAA0000 };
-	static const ImU32 selectionColor = 0xFF1080FF;
-	static const ImU32 inactiveColor = 0x99999999;
-	static const ImU32 translationLineColor = 0xAAAAAAAA;
-	static const char *translationInfoMask[] = { "X : %5.3f", "Y : %5.3f", "Z : %5.3f", "X : %5.3f Y : %5.3f", "Y : %5.3f Z : %5.3f", "X : %5.3f Z : %5.3f", "X : %5.3f Y : %5.3f Z : %5.3f" };
-	static const char *scaleInfoMask[] = { "X : %5.2f", "Y : %5.2f", "Z : %5.2f", "XYZ : %5.2f" };
-	static const char *rotationInfoMask[] = { "X : %5.2f deg %5.2f rad", "Y : %5.2f deg %5.2f rad", "Z : %5.2f deg %5.2f rad", "Screen : %5.2f deg %5.2f rad" };
-	static const int translationInfoIndex[] = { 0,0,0, 1,0,0, 2,0,0, 0,1,0, 0,2,0, 1,2,0, 0,1,2 };
-	static const float quadMin = 0.5f;
-	static const float quadMax = 0.8f;
-	static const float quadUV[8] = { quadMin, quadMin, quadMin, quadMax, quadMax, quadMax, quadMax, quadMin };
-	static const int halfCircleSegmentCount = 64;
-	static const float snapTension = 0.5f;
-
-	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-	// 
-	static int GetMoveType(vec_t *gizmoHitProportion);
-	static int GetRotateType();
-	static int GetScaleType();
-
-	static ImVec2 worldToPos(const vec_t& worldPos, const matrix_t& mat)
-	{
-		ImGuiIO& io = ImGui::GetIO();
-
-		vec_t trans;
-		trans.TransformPoint(worldPos, mat);
-		trans *= 0.5f / trans.w;
-		trans += makeVect(0.5f, 0.5f);
-		trans.y = 1.f - trans.y;
-		trans.x *= io.DisplaySize.x;
-		trans.y *= io.DisplaySize.y;
-		return ImVec2(trans.x, trans.y);
-	}
-
-	static void ComputeCameraRay(vec_t &rayOrigin, vec_t &rayDir)
-	{
-		ImGuiIO& io = ImGui::GetIO();
-
-		matrix_t mViewProjInverse;
-		mViewProjInverse.Inverse(gContext.mViewMat * gContext.mProjectionMat);
-
-		float mox = (io.MousePos.x / io.DisplaySize.x) * 2.f - 1.f;
-		float moy = (1.f - (io.MousePos.y / io.DisplaySize.y)) * 2.f - 1.f;
-
-		rayOrigin.Transform(makeVect(mox, moy, 0.f, 1.f), mViewProjInverse);
-		rayOrigin *= 1.f / rayOrigin.w;
-		vec_t rayEnd;
-		rayEnd.Transform(makeVect(mox, moy, 1.f, 1.f), mViewProjInverse);
-		rayEnd *= 1.f / rayEnd.w;
-		rayDir = Normalized(rayEnd - rayOrigin);
-	}
-
-	static float IntersectRayPlane(const vec_t & rOrigin, const vec_t& rVector, const vec_t& plan)
-	{
-		float numer = plan.Dot3(rOrigin) - plan.w;
-		float denom = plan.Dot3(rVector);
-
-		if (fabsf(denom) < FLT_EPSILON)  // normal is orthogonal to vector, cant intersect
-			return -1.0f;
-
-		return -(numer / denom);
-	}
-
-	void BeginFrame()
-	{
-		ImGuiIO& io = ImGui::GetIO();
-
-		ImGui::Begin("gizmo", NULL, io.DisplaySize, 0, ImGuiWindowFlags_NoTitleBar | ImGuiWindowFlags_NoResize | ImGuiWindowFlags_NoScrollbar | ImGuiWindowFlags_NoInputs | ImGuiWindowFlags_NoSavedSettings | ImGuiWindowFlags_NoFocusOnAppearing | ImGuiWindowFlags_NoBringToFrontOnFocus);
-		gContext.mDrawList = ImGui::GetWindowDrawList();
-
-		ImGui::End();
-	}
-
-	bool IsUsing()
-	{
-		return gContext.mbUsing;
-	}
-
-	bool IsOver()
-	{
-		return (GetMoveType(NULL) != NONE) || GetRotateType() != NONE || GetScaleType() != NONE || IsUsing();
-	}
-
-	void Enable(bool enable)
-	{
-		gContext.mbEnable = enable;
-		if (!enable)
-			gContext.mbUsing = false;
-	}
-
-	static float GetUniform(const vec_t& position, const matrix_t& mat)
-	{
-		vec_t trf = makeVect(position.x, position.y, position.z, 1.f);
-		trf.Transform(mat);
-		return trf.w;
-	}
-
-	static void ComputeContext(const float *view, const float *projection, float *matrix, MODE mode)
-	{
-		gContext.mMode = mode;
-		gContext.mViewMat = *(matrix_t*)view;
-		gContext.mProjectionMat = *(matrix_t*)projection;
-		
-		if (mode == LOCAL)
-		{
-			gContext.mModel = *(matrix_t*)matrix;
-			gContext.mModel.OrthoNormalize();
-		}
-		else
-		{
-			gContext.mModel.Translation(((matrix_t*)matrix)->v.position);
-		}
-		gContext.mModelSource = *(matrix_t*)matrix;
-		gContext.mModelScaleOrigin.Set(gContext.mModelSource.v.right.Length(), gContext.mModelSource.v.up.Length(), gContext.mModelSource.v.dir.Length());
-
-		gContext.mModelInverse.Inverse(gContext.mModel);
-		gContext.mModelSourceInverse.Inverse(gContext.mModelSource);
-		gContext.mViewProjection = gContext.mViewMat * gContext.mProjectionMat;
-		gContext.mMVP = gContext.mModel * gContext.mViewProjection;
-
-		matrix_t viewInverse;
-		viewInverse.Inverse(gContext.mViewMat);
-		gContext.mCameraDir = viewInverse.v.dir;
-		gContext.mCameraEye = viewInverse.v.position;
-		gContext.mCameraRight = viewInverse.v.right;
-		gContext.mCameraUp = viewInverse.v.up;
-		gContext.mScreenFactor = 0.1f * GetUniform(gContext.mModel.v.position, gContext.mViewProjection);
-
-		ImVec2 centerSSpace = worldToPos(makeVect(0.f, 0.f), gContext.mMVP);
-		gContext.mScreenSquareCenter = centerSSpace;
-		gContext.mScreenSquareMin = ImVec2(centerSSpace.x - 10.f, centerSSpace.y - 10.f);
-		gContext.mScreenSquareMax = ImVec2(centerSSpace.x + 10.f, centerSSpace.y + 10.f);
-
-		ComputeCameraRay(gContext.mRayOrigin, gContext.mRayVector);
-	}
-
-	static void ComputeColors(ImU32 *colors, int type, OPERATION operation)
-	{
-		if (gContext.mbEnable)
-		{
-			switch (operation)
-			{
-			case TRANSLATE:
-				colors[0] = (type == MOVE_SCREEN) ? selectionColor : 0xFFFFFFFF;
-				for (int i = 0; i < 3; i++)
-				{
-					int colorPlaneIndex = (i + 2) % 3;
-					colors[i + 1] = (type == (int)(MOVE_X + i)) ? selectionColor : directionColor[i];
-					colors[i + 4] = (type == (int)(MOVE_XY + i)) ? selectionColor : directionColor[colorPlaneIndex];
-				}
-				break;
-			case ROTATE:
-				colors[0] = (type == ROTATE_SCREEN) ? selectionColor : 0xFFFFFFFF;
-				for (int i = 0; i < 3; i++)
-					colors[i + 1] = (type == (int)(ROTATE_X + i)) ? selectionColor : directionColor[i];
-				break;
-			case SCALE:
-				colors[0] = (type == SCALE_XYZ) ? selectionColor : 0xFFFFFFFF;
-				for (int i = 0; i < 3; i++)
-					colors[i + 1] = (type == (int)(SCALE_X + i)) ? selectionColor : directionColor[i];
-				break;
-			}
-		}
-		else
-		{
-			for (int i = 0; i < 7; i++)
-				colors[i] = inactiveColor;
-		}
-	}
-
-	static void ComputeTripodAxisAndVisibility(int axisIndex, vec_t& dirPlaneX, vec_t& dirPlaneY, bool& belowAxisLimit, bool& belowPlaneLimit)
-	{
-		const int planNormal = (axisIndex + 2) % 3;
-		dirPlaneX = directionUnary[axisIndex];
-		dirPlaneY = directionUnary[(axisIndex + 1) % 3];
-
-		if (gContext.mbUsing)
-		{
-			// when using, use stored factors so the gizmo doesn't flip when we translate
-			belowAxisLimit = gContext.mBelowAxisLimit[axisIndex];
-			belowPlaneLimit = gContext.mBelowPlaneLimit[axisIndex];
-
-			dirPlaneX *= gContext.mAxisFactor[axisIndex];
-			dirPlaneY *= gContext.mAxisFactor[(axisIndex + 1) % 3];
-		}
-		else
-		{
-			vec_t dirPlaneNormalWorld;
-			dirPlaneNormalWorld.TransformVector(directionUnary[planNormal], gContext.mModel);
-			dirPlaneNormalWorld.Normalize();
-
-			vec_t dirPlaneXWorld(dirPlaneX);
-			dirPlaneXWorld.TransformVector(gContext.mModel);
-			dirPlaneXWorld.Normalize();
-
-			vec_t dirPlaneYWorld(dirPlaneY);
-			dirPlaneYWorld.TransformVector(gContext.mModel);
-			dirPlaneYWorld.Normalize();
-
-			vec_t cameraEyeToGizmo = Normalized(gContext.mModel.v.position - gContext.mCameraEye);
-			float dotCameraDirX = cameraEyeToGizmo.Dot3(dirPlaneXWorld);
-			float dotCameraDirY = cameraEyeToGizmo.Dot3(dirPlaneYWorld);
-
-			// compute factor values
-			float mulAxisX = (dotCameraDirX > 0.f) ? -1.f : 1.f;
-			float mulAxisY = (dotCameraDirY > 0.f) ? -1.f : 1.f;
-			dirPlaneX *= mulAxisX;
-			dirPlaneY *= mulAxisY;
-
-			belowAxisLimit = fabsf(dotCameraDirX) < angleLimit;
-			belowPlaneLimit = (fabsf(cameraEyeToGizmo.Dot3(dirPlaneNormalWorld)) > planeLimit);
-
-			// and store values
-			gContext.mAxisFactor[axisIndex] = mulAxisX;
-			gContext.mAxisFactor[(axisIndex+1)%3] = mulAxisY;
-			gContext.mBelowAxisLimit[axisIndex] = belowAxisLimit;
-			gContext.mBelowPlaneLimit[axisIndex] = belowPlaneLimit;
-		}
-	}
-
-	static void ComputeSnap(float*value, float *snap)
-	{
-		if (*snap <= FLT_EPSILON)
-			return;
-		float modulo = fmodf(*value, *snap);
-		float moduloRatio = fabsf(modulo) / *snap;
-		if (moduloRatio < snapTension)
-			*value -= modulo;
-		else if (moduloRatio >(1.f - snapTension))
-			*value = *value - modulo + *snap * ((*value<0.f) ? -1.f : 1.f);
-	}
-	static void ComputeSnap(vec_t& value, float *snap)
-	{
-		for (int i = 0; i < 3; i++)
-		{
-			ComputeSnap(&value[i], &snap[i]);
-		}
-	}
-
-	static float ComputeAngleOnPlan()
-	{
-		const float len = IntersectRayPlane(gContext.mRayOrigin, gContext.mRayVector, gContext.mTranslationPlan);
-		vec_t localPos = Normalized(gContext.mRayOrigin + gContext.mRayVector * len - gContext.mModel.v.position);
-
-		vec_t perpendicularVector;
-		perpendicularVector.Cross(gContext.mRotationVectorSource, gContext.mTranslationPlan);
-		perpendicularVector.Normalize();
-		float acosAngle = Clamp(Dot(localPos, gContext.mRotationVectorSource), -0.9999f, 0.9999f);
-		float angle = acosf(acosAngle);
-		angle *= (Dot(localPos, perpendicularVector) < 0.f) ? 1.f : -1.f;
-		return angle;
-	}
-
-	static void DrawRotationGizmo(int type)
-	{
-		ImDrawList* drawList = gContext.mDrawList;
-		ImGuiIO& io = ImGui::GetIO();
-
-		// colors
-		ImU32 colors[7];
-		ComputeColors(colors, type, ROTATE);
-
-		vec_t cameraToModelNormalized = Normalized(gContext.mModel.v.position - gContext.mCameraEye);
-		cameraToModelNormalized.TransformVector(gContext.mModelInverse);
-		
-		for (int axis = 0; axis < 3; axis++)
-		{
-			ImVec2 circlePos[halfCircleSegmentCount];
-			
-			float angleStart = atan2f(cameraToModelNormalized[(4-axis)%3], cameraToModelNormalized[(3 - axis) % 3]) + ZPI * 0.5f;
-
-			for (unsigned int i = 0; i < halfCircleSegmentCount; i++)
-			{
-				float ng = angleStart + ZPI * ((float)i / (float)halfCircleSegmentCount);
-				vec_t axisPos = makeVect(cosf(ng), sinf(ng), 0.f);
-				vec_t pos = makeVect(axisPos[axis], axisPos[(axis+1)%3], axisPos[(axis+2)%3]) * gContext.mScreenFactor;
-				circlePos[i] = worldToPos(pos, gContext.mMVP);
-			}
-			drawList->AddPolyline(circlePos, halfCircleSegmentCount, colors[3 - axis], false, 2, true);
-		}
-		drawList->AddCircle(worldToPos(gContext.mModel.v.position, gContext.mViewProjection), 0.06f * io.DisplaySize.x, colors[0], 64);
-
-		if (gContext.mbUsing)
-		{
-			ImVec2 circlePos[halfCircleSegmentCount +1];
-
-			circlePos[0] = worldToPos(gContext.mModel.v.position, gContext.mViewProjection);
-			for (unsigned int i = 1; i < halfCircleSegmentCount; i++)
-			{
-				float ng = gContext.mRotationAngle * ((float)(i-1) / (float)(halfCircleSegmentCount -1));
-				matrix_t rotateVectorMatrix;
-				rotateVectorMatrix.RotationAxis(gContext.mTranslationPlan, ng);
-				vec_t pos;
-				pos.TransformPoint(gContext.mRotationVectorSource, rotateVectorMatrix);
-				pos *= gContext.mScreenFactor;
-				circlePos[i] = worldToPos(pos + gContext.mModel.v.position, gContext.mViewProjection);
-			}
-			drawList->AddConvexPolyFilled(circlePos, halfCircleSegmentCount, 0x801080FF, true);
-			drawList->AddPolyline(circlePos, halfCircleSegmentCount, 0xFF1080FF, true, 2, true);
-
-			ImVec2 destinationPosOnScreen = circlePos[1];
-			char tmps[512];
-			ImFormatString(tmps, sizeof(tmps), rotationInfoMask[type - ROTATE_X], (gContext.mRotationAngle/ZPI)*180.f, gContext.mRotationAngle);
-			drawList->AddText(ImVec2(destinationPosOnScreen.x + 15, destinationPosOnScreen.y + 15), 0xFF000000, tmps);
-			drawList->AddText(ImVec2(destinationPosOnScreen.x + 14, destinationPosOnScreen.y + 14), 0xFFFFFFFF, tmps);
-		}
-	}
-
-	static void DrawHatchedAxis(const vec_t& axis)
-	{
-		for (int j = 1; j < 10; j++)
-		{
-			ImVec2 baseSSpace2 = worldToPos(axis * 0.05f * (float)(j * 2) * gContext.mScreenFactor, gContext.mMVP);
-			ImVec2 worldDirSSpace2 = worldToPos(axis * 0.05f * (float)(j * 2 + 1) * gContext.mScreenFactor, gContext.mMVP);
-			gContext.mDrawList->AddLine(baseSSpace2, worldDirSSpace2, 0x80000000, 6.f);
-		}
-	}
-
-	static void DrawScaleGizmo(int type)
-	{
-		ImDrawList* drawList = gContext.mDrawList;
-
-		// colors
-		ImU32 colors[7];
-		ComputeColors(colors, type, SCALE);
-
-		// draw screen cirle
-		drawList->AddCircleFilled(gContext.mScreenSquareCenter, 12.f, colors[0], 32);
-
-		// draw
-		vec_t scaleDisplay = { 1.f, 1.f, 1.f, 1.f };
-		
-		if (gContext.mbUsing)
-			scaleDisplay = gContext.mScale;
-
-		for (unsigned int i = 0; i < 3; i++)
-		{
-			vec_t dirPlaneX, dirPlaneY;
-			bool belowAxisLimit, belowPlaneLimit;
-			ComputeTripodAxisAndVisibility(i, dirPlaneX, dirPlaneY, belowAxisLimit, belowPlaneLimit);
-
-			// draw axis
-			if (belowAxisLimit)
-			{
-				ImVec2 baseSSpace = worldToPos(dirPlaneX * 0.1f * gContext.mScreenFactor, gContext.mMVP);
-				ImVec2 worldDirSSpaceNoScale = worldToPos(dirPlaneX * gContext.mScreenFactor, gContext.mMVP);
-				ImVec2 worldDirSSpace = worldToPos((dirPlaneX * scaleDisplay[i]) * gContext.mScreenFactor, gContext.mMVP);
-
-				if (gContext.mbUsing)
-				{
-					drawList->AddLine(baseSSpace, worldDirSSpaceNoScale, 0xFF404040, 6.f);
-					drawList->AddCircleFilled(worldDirSSpaceNoScale, 10.f, 0xFF404040);
-				}
-				
-				drawList->AddLine(baseSSpace, worldDirSSpace, colors[i + 1], 6.f);
-				drawList->AddCircleFilled(worldDirSSpace, 10.f, colors[i + 1]);
-
-				if (gContext.mAxisFactor[i] < 0.f)
-					DrawHatchedAxis(dirPlaneX * scaleDisplay[i]);
-			}
-		}
-		
-		if (gContext.mbUsing)
-		{
-			//ImVec2 sourcePosOnScreen = worldToPos(gContext.mMatrixOrigin, gContext.mViewProjection);
-			ImVec2 destinationPosOnScreen = worldToPos(gContext.mModel.v.position, gContext.mViewProjection);
-			/*vec_t dif(destinationPosOnScreen.x - sourcePosOnScreen.x, destinationPosOnScreen.y - sourcePosOnScreen.y);
-			dif.Normalize();
-			dif *= 5.f;
-			drawList->AddCircle(sourcePosOnScreen, 6.f, translationLineColor);
-			drawList->AddCircle(destinationPosOnScreen, 6.f, translationLineColor);
-			drawList->AddLine(ImVec2(sourcePosOnScreen.x + dif.x, sourcePosOnScreen.y + dif.y), ImVec2(destinationPosOnScreen.x - dif.x, destinationPosOnScreen.y - dif.y), translationLineColor, 2.f);
-			*/
-			char tmps[512];
-			//vec_t deltaInfo = gContext.mModel.v.position - gContext.mMatrixOrigin;
-			int componentInfoIndex = (type - SCALE_X) * 3;
-			ImFormatString(tmps, sizeof(tmps), scaleInfoMask[type - SCALE_X], scaleDisplay[translationInfoIndex[componentInfoIndex]]);
-			drawList->AddText(ImVec2(destinationPosOnScreen.x + 15, destinationPosOnScreen.y + 15), 0xFF000000, tmps);
-			drawList->AddText(ImVec2(destinationPosOnScreen.x + 14, destinationPosOnScreen.y + 14), 0xFFFFFFFF, tmps);
-		}
-	}
-
-
-	static void DrawTranslationGizmo(int type)
-	{
-		ImDrawList* drawList = gContext.mDrawList;
-
-		// colors
-		ImU32 colors[7];
-		ComputeColors(colors, type, TRANSLATE);
-
-		// draw screen quad
-		drawList->AddRectFilled(gContext.mScreenSquareMin, gContext.mScreenSquareMax, colors[0], 2.f);
-
-		// draw
-		for (unsigned int i = 0; i < 3; i++)
-		{
-			vec_t dirPlaneX, dirPlaneY;
-			bool belowAxisLimit, belowPlaneLimit;
-			ComputeTripodAxisAndVisibility(i, dirPlaneX, dirPlaneY, belowAxisLimit, belowPlaneLimit);
-			
-			// draw axis
-			if (belowAxisLimit)
-			{
-				ImVec2 baseSSpace = worldToPos(dirPlaneX * 0.1f * gContext.mScreenFactor, gContext.mMVP);
-				ImVec2 worldDirSSpace = worldToPos(dirPlaneX * gContext.mScreenFactor, gContext.mMVP);
-
-				drawList->AddLine(baseSSpace, worldDirSSpace, colors[i + 1], 6.f);
-				
-				if (gContext.mAxisFactor[i] < 0.f)
-					DrawHatchedAxis(dirPlaneX);
-			}
-
-			// draw plane
-			if (belowPlaneLimit)
-			{
-				ImVec2 screenQuadPts[4];
-				for (int j = 0; j < 4; j++)
-				{
-					vec_t cornerWorldPos = (dirPlaneX * quadUV[j * 2] + dirPlaneY  * quadUV[j * 2 + 1]) * gContext.mScreenFactor;
-					screenQuadPts[j] = worldToPos(cornerWorldPos, gContext.mMVP);
-				}
-				drawList->AddConvexPolyFilled(screenQuadPts, 4, colors[i + 4], true);
-			}
-		}
-
-		if (gContext.mbUsing)
-		{
-			ImVec2 sourcePosOnScreen = worldToPos(gContext.mMatrixOrigin, gContext.mViewProjection);
-			ImVec2 destinationPosOnScreen = worldToPos(gContext.mModel.v.position, gContext.mViewProjection);
-			vec_t dif = { destinationPosOnScreen.x - sourcePosOnScreen.x, destinationPosOnScreen.y - sourcePosOnScreen.y, 0.f, 0.f };
-			dif.Normalize();
-			dif *= 5.f;
-			drawList->AddCircle(sourcePosOnScreen, 6.f, translationLineColor);
-			drawList->AddCircle(destinationPosOnScreen, 6.f, translationLineColor);
-			drawList->AddLine(ImVec2(sourcePosOnScreen.x + dif.x, sourcePosOnScreen.y + dif.y), ImVec2(destinationPosOnScreen.x - dif.x, destinationPosOnScreen.y - dif.y), translationLineColor, 2.f);
-
-			char tmps[512];
-			vec_t deltaInfo = gContext.mModel.v.position - gContext.mMatrixOrigin;
-			int componentInfoIndex = (type - MOVE_X) * 3;
-			ImFormatString(tmps, sizeof(tmps), translationInfoMask[type - MOVE_X], deltaInfo[translationInfoIndex[componentInfoIndex]], deltaInfo[translationInfoIndex[componentInfoIndex + 1]], deltaInfo[translationInfoIndex[componentInfoIndex + 2]]);
-			drawList->AddText(ImVec2(destinationPosOnScreen.x + 15, destinationPosOnScreen.y + 15), 0xFF000000, tmps);
-			drawList->AddText(ImVec2(destinationPosOnScreen.x + 14, destinationPosOnScreen.y + 14), 0xFFFFFFFF, tmps);
-		}
-	}
-
-	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-	// 
-
-	static int GetScaleType()
-	{
-		ImGuiIO& io = ImGui::GetIO();
-		int type = NONE;
-
-		// screen
-		if (io.MousePos.x >= gContext.mScreenSquareMin.x && io.MousePos.x <= gContext.mScreenSquareMax.x &&
-			io.MousePos.y >= gContext.mScreenSquareMin.y && io.MousePos.y <= gContext.mScreenSquareMax.y)
-			type = SCALE_XYZ;
-
-		const vec_t direction[3] = { gContext.mModel.v.right, gContext.mModel.v.up, gContext.mModel.v.dir };
-		// compute
-		for (unsigned int i = 0; i < 3 && type == NONE; i++)
-		{
-			vec_t dirPlaneX, dirPlaneY;
-			bool belowAxisLimit, belowPlaneLimit;
-			ComputeTripodAxisAndVisibility(i, dirPlaneX, dirPlaneY, belowAxisLimit, belowPlaneLimit);
-			dirPlaneX.TransformVector(gContext.mModel);
-			dirPlaneY.TransformVector(gContext.mModel);
-
-			const int planNormal = (i + 2) % 3;
-
-			const float len = IntersectRayPlane(gContext.mRayOrigin, gContext.mRayVector, BuildPlan(gContext.mModel.v.position, direction[planNormal]));
-			vec_t posOnPlan = gContext.mRayOrigin + gContext.mRayVector * len;
-
-			const float dx = dirPlaneX.Dot3((posOnPlan - gContext.mModel.v.position) * (1.f / gContext.mScreenFactor));
-			const float dy = dirPlaneY.Dot3((posOnPlan - gContext.mModel.v.position) * (1.f / gContext.mScreenFactor));
-			if (belowAxisLimit && dy > -0.1f && dy < 0.1f && dx > 0.1f  && dx < 1.f)
-				type = SCALE_X + i;
-		}
-		return type;
-	}
-
-	static int GetRotateType()
-	{
-		ImGuiIO& io = ImGui::GetIO();
-		int type = NONE;
-
-		vec_t deltaScreen = { io.MousePos.x - gContext.mScreenSquareCenter.x, io.MousePos.y - gContext.mScreenSquareCenter.y, 0.f, 0.f };
-		float dist = deltaScreen.Length();
-		if (dist >= 0.058f * io.DisplaySize.x && dist < 0.062f * io.DisplaySize.x)
-			type = ROTATE_SCREEN;
-
-		const vec_t planNormals[] = { gContext.mModel.v.right, gContext.mModel.v.up, gContext.mModel.v.dir};
-
-		for (unsigned int i = 0; i < 3 && type == NONE; i++)
-		{
-			// pickup plan
-			vec_t pickupPlan = BuildPlan(gContext.mModel.v.position, planNormals[i]);
-
-			const float len = IntersectRayPlane(gContext.mRayOrigin, gContext.mRayVector, pickupPlan);
-			vec_t localPos = gContext.mRayOrigin + gContext.mRayVector * len - gContext.mModel.v.position;
-
-			if (Dot(Normalized(localPos), gContext.mRayVector) > FLT_EPSILON)
-				continue;
-
-			float distance = localPos.Length() / gContext.mScreenFactor;
-			if (distance > 0.9f && distance < 1.1f)
-				type = ROTATE_X + i;
-		}
-		
-		return type;
-	}
-
-	static int GetMoveType(vec_t *gizmoHitProportion)
-	{
-		ImGuiIO& io = ImGui::GetIO();
-		int type = NONE;
-
-		// screen
-		if (io.MousePos.x >= gContext.mScreenSquareMin.x && io.MousePos.x <= gContext.mScreenSquareMax.x &&
-			io.MousePos.y >= gContext.mScreenSquareMin.y && io.MousePos.y <= gContext.mScreenSquareMax.y)
-			type = MOVE_SCREEN;
-
-		const vec_t direction[3] = { gContext.mModel.v.right, gContext.mModel.v.up, gContext.mModel.v.dir };
-
-		// compute
-		for (unsigned int i = 0; i < 3 && type == NONE; i++)
-		{
-			vec_t dirPlaneX, dirPlaneY;
-			bool belowAxisLimit, belowPlaneLimit;
-			ComputeTripodAxisAndVisibility(i, dirPlaneX, dirPlaneY, belowAxisLimit, belowPlaneLimit);
-			dirPlaneX.TransformVector(gContext.mModel);
-			dirPlaneY.TransformVector(gContext.mModel);
-
-			const int planNormal = (i + 2) % 3;
-
-			const float len = IntersectRayPlane(gContext.mRayOrigin, gContext.mRayVector, BuildPlan(gContext.mModel.v.position, direction[planNormal]));
-			vec_t posOnPlan = gContext.mRayOrigin + gContext.mRayVector * len;
-
-			const float dx = dirPlaneX.Dot3((posOnPlan - gContext.mModel.v.position) * (1.f / gContext.mScreenFactor));
-			const float dy = dirPlaneY.Dot3((posOnPlan - gContext.mModel.v.position) * (1.f / gContext.mScreenFactor));
-			if (belowAxisLimit && dy > -0.1f && dy < 0.1f && dx > 0.1f  && dx < 1.f)
-				type = MOVE_X + i;
-
-			if (belowPlaneLimit && dx >= quadUV[0] && dx <= quadUV[4] && dy >= quadUV[1] && dy <= quadUV[3])
-				type = MOVE_XY + i;
-
-			if (gizmoHitProportion)
-				*gizmoHitProportion = makeVect(dx, dy, 0.f);
-		}
-		return type;
-	}
-
-	static void HandleTranslation(float *matrix, float *deltaMatrix, int& type, float *snap)
-	{
-		ImGuiIO& io = ImGui::GetIO();
-		bool applyRotationLocaly = gContext.mMode == LOCAL || type == MOVE_SCREEN;
-
-		// move
-		if (gContext.mbUsing)
-		{
-			const float len = IntersectRayPlane(gContext.mRayOrigin, gContext.mRayVector, gContext.mTranslationPlan);
-			vec_t newPos = gContext.mRayOrigin + gContext.mRayVector * len;
-
-			// compute delta
-			vec_t newOrigin = newPos - gContext.mRelativeOrigin * gContext.mScreenFactor;
-			vec_t delta = newOrigin - gContext.mModel.v.position;
-			
-			// 1 axis constraint
-			if (gContext.mCurrentOperation >= MOVE_X && gContext.mCurrentOperation <= MOVE_Z)
-			{
-				int axisIndex = gContext.mCurrentOperation - MOVE_X;
-				const vec_t& axisValue = *(vec_t*)&gContext.mModel.m[axisIndex];
-				float lengthOnAxis = Dot(axisValue, delta);
-				delta = axisValue * lengthOnAxis;
-			}
-
-			// snap
-			if (snap)
-			{
-				vec_t cumulativeDelta = gContext.mModel.v.position + delta - gContext.mMatrixOrigin;
-				if (applyRotationLocaly)
-				{
-					matrix_t modelSourceNormalized = gContext.mModelSource;
-					modelSourceNormalized.OrthoNormalize();
-					matrix_t modelSourceNormalizedInverse;
-					modelSourceNormalizedInverse.Inverse(modelSourceNormalized);
-					cumulativeDelta.TransformVector(modelSourceNormalizedInverse);
-					ComputeSnap(cumulativeDelta, snap);
-					cumulativeDelta.TransformVector(modelSourceNormalized);
-				}
-				else
-				{
-					ComputeSnap(cumulativeDelta, snap);
-				}
-				delta = gContext.mMatrixOrigin + cumulativeDelta - gContext.mModel.v.position;
-
-			}
-
-			// compute matrix & delta
-			matrix_t deltaMatrixTranslation;
-			deltaMatrixTranslation.Translation(delta);
-			if (deltaMatrix)
-				memcpy(deltaMatrix, deltaMatrixTranslation.m16, sizeof(float) * 16);
-
-
-			matrix_t res = gContext.mModelSource * deltaMatrixTranslation;
-			*(matrix_t*)matrix = res;
-
-			if (!io.MouseDown[0])
-				gContext.mbUsing = false;
-
-			type = gContext.mCurrentOperation;
-		}
-		else
-		{
-			// find new possible way to move
-			vec_t gizmoHitProportion;
-			type = GetMoveType(&gizmoHitProportion);
-			if (io.MouseDown[0] && type != NONE)
-			{
-				gContext.mbUsing = true;
-				gContext.mCurrentOperation = type;
-				const vec_t movePlanNormal[] = { gContext.mModel.v.up, gContext.mModel.v.dir, gContext.mModel.v.right, gContext.mModel.v.dir, gContext.mModel.v.right, gContext.mModel.v.up, -gContext.mCameraDir };
-				// pickup plan
-				gContext.mTranslationPlan = BuildPlan(gContext.mModel.v.position, movePlanNormal[type - MOVE_X]);
-				const float len = IntersectRayPlane(gContext.mRayOrigin, gContext.mRayVector, gContext.mTranslationPlan);
-				gContext.mTranslationPlanOrigin = gContext.mRayOrigin + gContext.mRayVector * len;
-				gContext.mMatrixOrigin = gContext.mModel.v.position;
-
-				gContext.mRelativeOrigin = (gContext.mTranslationPlanOrigin - gContext.mModel.v.position) * (1.f / gContext.mScreenFactor);
-			}
-		}
-	}
-
-	static void HandleScale(float *matrix, float *deltaMatrix, int& type, float *snap)
-	{
-		ImGuiIO& io = ImGui::GetIO();
-
-		if (!gContext.mbUsing)
-		{
-			// find new possible way to scale
-			type = GetScaleType();
-			if (io.MouseDown[0] && type != NONE)
-			{
-				gContext.mbUsing = true;
-				gContext.mCurrentOperation = type;
-				const vec_t movePlanNormal[] = { gContext.mModel.v.up, gContext.mModel.v.dir, gContext.mModel.v.right, gContext.mModel.v.dir, gContext.mModel.v.up, gContext.mModel.v.right, -gContext.mCameraDir };
-				// pickup plan
-
-				gContext.mTranslationPlan = BuildPlan(gContext.mModel.v.position, movePlanNormal[type - SCALE_X]);
-				const float len = IntersectRayPlane(gContext.mRayOrigin, gContext.mRayVector, gContext.mTranslationPlan);
-				gContext.mTranslationPlanOrigin = gContext.mRayOrigin + gContext.mRayVector * len;
-				gContext.mMatrixOrigin = gContext.mModel.v.position;
-				gContext.mScale.Set(1.f, 1.f, 1.f);
-				gContext.mRelativeOrigin = (gContext.mTranslationPlanOrigin - gContext.mModel.v.position) * (1.f / gContext.mScreenFactor);
-				gContext.mScaleValueOrigin = makeVect(gContext.mModelSource.v.right.Length(), gContext.mModelSource.v.up.Length(), gContext.mModelSource.v.dir.Length());
-				gContext.mSaveMousePosx = io.MousePos.x;
-			}
-		}
-		// scale
-		if (gContext.mbUsing)
-		{
-			const float len = IntersectRayPlane(gContext.mRayOrigin, gContext.mRayVector, gContext.mTranslationPlan);
-			vec_t newPos = gContext.mRayOrigin + gContext.mRayVector * len;
-			vec_t newOrigin = newPos - gContext.mRelativeOrigin * gContext.mScreenFactor;
-			vec_t delta = newOrigin - gContext.mModel.v.position;
-			
-			// 1 axis constraint
-			if (gContext.mCurrentOperation >= SCALE_X && gContext.mCurrentOperation <= SCALE_Z)
-			{
-				int axisIndex = gContext.mCurrentOperation - SCALE_X;
-				const vec_t& axisValue = *(vec_t*)&gContext.mModel.m[axisIndex];
-				float lengthOnAxis = Dot(axisValue, delta);
-				delta = axisValue * lengthOnAxis;
-
-				vec_t baseVector = gContext.mTranslationPlanOrigin - gContext.mModel.v.position;
-				float ratio = Dot(axisValue, baseVector + delta) / Dot(axisValue, baseVector);
-					
-				gContext.mScale[axisIndex] = max(ratio, 0.001f);
-			}
-			else
-			{			
-				float scaleDelta = (io.MousePos.x - gContext.mSaveMousePosx)  * 0.01f;
-				gContext.mScale.Set(max(1.f + scaleDelta, 0.001f));
-			}
-
-			// snap
-			if (snap)
-			{
-				float scaleSnap[] = { snap[0], snap[0], snap[0] };
-				ComputeSnap(gContext.mScale, scaleSnap);
-			}
-
-			// no 0 allowed
-			for (int i = 0; i < 3;i++)
-				gContext.mScale[i] = max(gContext.mScale[i], 0.001f);
-
-			// compute matrix & delta
-			matrix_t deltaMatrixScale;
-			deltaMatrixScale.Scale(gContext.mScale * gContext.mScaleValueOrigin);
-			
-			matrix_t res = deltaMatrixScale * gContext.mModel;
-			*(matrix_t*)matrix = res;
-			
-			if (deltaMatrix)
-			{
-				deltaMatrixScale.Scale(gContext.mScale);
-				memcpy(deltaMatrix, deltaMatrixScale.m16, sizeof(float) * 16);
-			}
-
-			if (!io.MouseDown[0])
-				gContext.mbUsing = false;
-
-			type = gContext.mCurrentOperation;
-		}
-	}
-
-	static void HandleRotation(float *matrix, float *deltaMatrix, int& type, float *snap)
-	{
-		ImGuiIO& io = ImGui::GetIO();
-		bool applyRotationLocaly = gContext.mMode == LOCAL || type == ROTATE_SCREEN;
-
-		if (!gContext.mbUsing)
-		{
-			type = GetRotateType();
-			if (io.MouseDown[0] && type != NONE)
-			{
-				gContext.mbUsing = true;
-				gContext.mCurrentOperation = type;
-				const vec_t rotatePlanNormal[] = { gContext.mModel.v.right, gContext.mModel.v.up, gContext.mModel.v.dir, -gContext.mCameraDir };
-				// pickup plan
-				if (applyRotationLocaly)
-				{
-					gContext.mTranslationPlan = BuildPlan(gContext.mModel.v.position, rotatePlanNormal[type - ROTATE_X]);
-				}
-				else
-				{
-					gContext.mTranslationPlan = BuildPlan(gContext.mModelSource.v.position, directionUnary[type - ROTATE_X]);
-				}
-
-				const float len = IntersectRayPlane(gContext.mRayOrigin, gContext.mRayVector, gContext.mTranslationPlan);
-				vec_t localPos = gContext.mRayOrigin + gContext.mRayVector * len - gContext.mModel.v.position;
-				gContext.mRotationVectorSource = Normalized(localPos);
-				gContext.mRotationAngleOrigin = ComputeAngleOnPlan();
-			}
-		}
-
-		// rotation
-		if (gContext.mbUsing)
-		{
-			gContext.mRotationAngle = ComputeAngleOnPlan();
-			if (snap)
-			{
-				float snapInRadian = snap[0] * DEG2RAD;
-				ComputeSnap(&gContext.mRotationAngle, &snapInRadian);
-			}
-			vec_t rotationAxisLocalSpace;
-			
-			rotationAxisLocalSpace.TransformVector(makeVect(gContext.mTranslationPlan.x, gContext.mTranslationPlan.y, gContext.mTranslationPlan.z, 0.f), gContext.mModelInverse);
-			rotationAxisLocalSpace.Normalize();
-
-			matrix_t deltaRotation;
-			deltaRotation.RotationAxis(rotationAxisLocalSpace, gContext.mRotationAngle - gContext.mRotationAngleOrigin);
-			gContext.mRotationAngleOrigin = gContext.mRotationAngle;
-
-			matrix_t scaleOrigin;
-			scaleOrigin.Scale(gContext.mModelScaleOrigin);
-			
-			if (applyRotationLocaly)
-			{
-				*(matrix_t*)matrix = scaleOrigin * deltaRotation * gContext.mModel;
-			}
-			else
-			{
-				matrix_t res = gContext.mModelSource;
-				res.v.position.Set(0.f);
-
-				*(matrix_t*)matrix = res * deltaRotation;
-				((matrix_t*)matrix)->v.position = gContext.mModelSource.v.position;
-			}
-
-			if (deltaMatrix)
-			{
-				*(matrix_t*)deltaMatrix = gContext.mModelInverse * deltaRotation * gContext.mModel;
-			}
-
-			if (!io.MouseDown[0])
-				gContext.mbUsing = false;
-
-			type = gContext.mCurrentOperation;
-		}
-	}
-
-	void DecomposeMatrixToComponents(const float *matrix, float *translation, float *rotation, float *scale)
-	{
-		matrix_t mat = *(matrix_t*)matrix;
-
-		scale[0] = mat.v.right.Length();
-		scale[1] = mat.v.up.Length();
-		scale[2] = mat.v.dir.Length(); 
-
-		mat.OrthoNormalize();
-
-		rotation[0] = RAD2DEG * atan2f(mat.m[1][2], mat.m[2][2]);
-		rotation[1] = RAD2DEG * atan2f(-mat.m[0][2], sqrtf(mat.m[1][2] * mat.m[1][2] + mat.m[2][2]* mat.m[2][2]));
-		rotation[2] = RAD2DEG * atan2f(mat.m[0][1], mat.m[0][0]);
-
-		translation[0] = mat.v.position.x;
-		translation[1] = mat.v.position.y;
-		translation[2] = mat.v.position.z;
-	}
-
-	void RecomposeMatrixFromComponents(const float *translation, const float *rotation, const float *scale, float *matrix)
-	{
-		matrix_t& mat = *(matrix_t*)matrix;
-
-		matrix_t rot[3];
-		for (int i = 0; i < 3;i++)
-			rot[i].RotationAxis(directionUnary[i], rotation[i] * DEG2RAD);
-
-		mat = rot[0] * rot[1] * rot[2];
-
-		float validScale[3];
-		for (int i = 0; i < 3; i++)
-		{
-			if (fabsf(scale[i]) < FLT_EPSILON)
-				validScale[i] = 0.001f;
-			else
-				validScale[i] = scale[i];
-		}
-		mat.v.right *= validScale[0];
-		mat.v.up *= validScale[1];
-		mat.v.dir *= validScale[2];
-		mat.v.position.Set(translation[0], translation[1], translation[2], 1.f);
-	}
-
-	void Manipulate(const float *view, const float *projection, OPERATION operation, MODE mode, float *matrix, float *deltaMatrix, float *snap)
-	{
-		ComputeContext(view, projection, matrix, mode);
-
-		// set delta to identity 
-		if (deltaMatrix)
-			((matrix_t*)deltaMatrix)->SetToIdentity();
-
-		// behind camera
-		vec_t camSpacePosition;
-		camSpacePosition.TransformPoint(makeVect(0.f, 0.f, 0.f), gContext.mMVP);
-		if (camSpacePosition.z < 0.001f)
-			return;
-
-		// -- 
-		int type = NONE;
-		if (gContext.mbEnable)
-		{
-			switch (operation)
-			{
-			case ROTATE:
-				HandleRotation(matrix, deltaMatrix, type, snap);
-				break;
-			case TRANSLATE:
-				HandleTranslation(matrix, deltaMatrix, type, snap);
-				break;
-			case SCALE:
-				HandleScale(matrix, deltaMatrix, type, snap);
-				break;
-			}
-		}
-
-		switch (operation)
-		{
-		case ROTATE:
-			DrawRotationGizmo(type);
-			break;
-		case TRANSLATE:
-			DrawTranslationGizmo(type);
-			break;
-		case SCALE:
-			DrawScaleGizmo(type);
-			break;
-		}
-	}
-
-	void DrawCube(const float *view, const float *projection, float *matrix)
-	{
-		matrix_t viewInverse;
-		viewInverse.Inverse(*(matrix_t*)view);
-		const matrix_t& model = *(matrix_t*)matrix;
-		matrix_t res = *(matrix_t*)matrix * *(matrix_t*)view * *(matrix_t*)projection;
-
-		for (int iFace = 0; iFace < 6; iFace++)
-		{
-			const int normalIndex = (iFace % 3);
-			const int perpXIndex = (normalIndex + 1) % 3;
-			const int perpYIndex = (normalIndex + 2) % 3;
-			const float invert = (iFace > 2) ? -1.f : 1.f;
-			
-			const vec_t faceCoords[4] = { directionUnary[normalIndex] + directionUnary[perpXIndex] + directionUnary[perpYIndex],
-				directionUnary[normalIndex] + directionUnary[perpXIndex] - directionUnary[perpYIndex],
-				directionUnary[normalIndex] - directionUnary[perpXIndex] - directionUnary[perpYIndex],
-				directionUnary[normalIndex] - directionUnary[perpXIndex] + directionUnary[perpYIndex],
-			};
-
-			// clipping
-			bool skipFace = false;
-			for (unsigned int iCoord = 0; iCoord < 4; iCoord++)
-			{
-				vec_t camSpacePosition;
-				camSpacePosition.TransformPoint(faceCoords[iCoord] * 0.5f * invert, gContext.mMVP);
-				if (camSpacePosition.z < 0.001f)
-				{
-					skipFace = true;
-					break;
-				}
-			}
-			if (skipFace)
-				continue;
-
-			// 3D->2D
-			ImVec2 faceCoordsScreen[4];
-			for (unsigned int iCoord = 0; iCoord < 4; iCoord++)
-				faceCoordsScreen[iCoord] = worldToPos(faceCoords[iCoord] * 0.5f * invert, res);
-
-			// back face culling 
-			vec_t cullPos, cullNormal;
-			cullPos.TransformPoint(faceCoords[0] * 0.5f * invert, model);
-			cullNormal.TransformVector(directionUnary[normalIndex] * invert, model);
-			float dt = Dot(Normalized(cullPos - viewInverse.v.position), Normalized(cullNormal));
-			if (dt>0.f)
-				continue;
-
-			// draw face with lighter color
-			gContext.mDrawList->AddConvexPolyFilled(faceCoordsScreen, 4, directionColor[normalIndex] | 0x808080, true);
-		}
-	}
+   static const float ZPI = 3.14159265358979323846f;
+   static const float RAD2DEG = (180.f / ZPI);
+   static const float DEG2RAD = (ZPI / 180.f);
+
+   ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+   // utility and math
+
+   void FPU_MatrixF_x_MatrixF(const float *a, const float *b, float *r)
+   {
+      r[0] = a[0] * b[0] + a[1] * b[4] + a[2] * b[8] + a[3] * b[12];
+      r[1] = a[0] * b[1] + a[1] * b[5] + a[2] * b[9] + a[3] * b[13];
+      r[2] = a[0] * b[2] + a[1] * b[6] + a[2] * b[10] + a[3] * b[14];
+      r[3] = a[0] * b[3] + a[1] * b[7] + a[2] * b[11] + a[3] * b[15];
+
+      r[4] = a[4] * b[0] + a[5] * b[4] + a[6] * b[8] + a[7] * b[12];
+      r[5] = a[4] * b[1] + a[5] * b[5] + a[6] * b[9] + a[7] * b[13];
+      r[6] = a[4] * b[2] + a[5] * b[6] + a[6] * b[10] + a[7] * b[14];
+      r[7] = a[4] * b[3] + a[5] * b[7] + a[6] * b[11] + a[7] * b[15];
+
+      r[8] = a[8] * b[0] + a[9] * b[4] + a[10] * b[8] + a[11] * b[12];
+      r[9] = a[8] * b[1] + a[9] * b[5] + a[10] * b[9] + a[11] * b[13];
+      r[10] = a[8] * b[2] + a[9] * b[6] + a[10] * b[10] + a[11] * b[14];
+      r[11] = a[8] * b[3] + a[9] * b[7] + a[10] * b[11] + a[11] * b[15];
+
+      r[12] = a[12] * b[0] + a[13] * b[4] + a[14] * b[8] + a[15] * b[12];
+      r[13] = a[12] * b[1] + a[13] * b[5] + a[14] * b[9] + a[15] * b[13];
+      r[14] = a[12] * b[2] + a[13] * b[6] + a[14] * b[10] + a[15] * b[14];
+      r[15] = a[12] * b[3] + a[13] * b[7] + a[14] * b[11] + a[15] * b[15];
+   }
+
+   //template <typename T> T LERP(T x, T y, float z) { return (x + (y - x)*z); }
+   template <typename T> T Clamp(T x, T y, T z) { return ((x<y) ? y : ((x>z) ? z : x)); }
+   template <typename T> T max(T x, T y) { return (x > y) ? x : y; }
+
+   struct matrix_t;
+   struct vec_t
+   {
+   public:
+      float x, y, z, w;
+
+      void Lerp(const vec_t& v, float t)
+      {
+         x += (v.x - x) * t;
+         y += (v.y - y) * t;
+         z += (v.z - z) * t;
+         w += (v.w - w) * t;
+      }
+
+      void Set(float v) { x = y = z = w = v; }
+      void Set(float _x, float _y, float _z = 0.f, float _w = 0.f) { x = _x; y = _y; z = _z; w = _w; }
+
+      vec_t& operator -= (const vec_t& v) { x -= v.x; y -= v.y; z -= v.z; w -= v.w; return *this; }
+      vec_t& operator += (const vec_t& v) { x += v.x; y += v.y; z += v.z; w += v.w; return *this; }
+      vec_t& operator *= (const vec_t& v) { x *= v.x; y *= v.y; z *= v.z; w *= v.w; return *this; }
+      vec_t& operator *= (float v) { x *= v;	y *= v;	z *= v;	w *= v;	return *this; }
+
+      vec_t operator * (float f) const;
+      vec_t operator - () const;
+      vec_t operator - (const vec_t& v) const;
+      vec_t operator + (const vec_t& v) const;
+      vec_t operator * (const vec_t& v) const;
+
+      const vec_t& operator + () const { return (*this); }
+      float Length() const { return sqrtf(x*x + y*y + z*z); };
+      float LengthSq() const { return (x*x + y*y + z*z); };
+      vec_t Normalize() { (*this) *= (1.f / Length()); return (*this); }
+      vec_t Normalize(const vec_t& v) { this->Set(v.x, v.y, v.z, v.w); this->Normalize(); return (*this); }
+
+      void Cross(const vec_t& v)
+      {
+         vec_t res;
+         res.x = y * v.z - z * v.y;
+         res.y = z * v.x - x * v.z;
+         res.z = x * v.y - y * v.x;
+
+         x = res.x;
+         y = res.y;
+         z = res.z;
+         w = 0.f;
+      }
+      void Cross(const vec_t& v1, const vec_t& v2)
+      {
+         x = v1.y * v2.z - v1.z * v2.y;
+         y = v1.z * v2.x - v1.x * v2.z;
+         z = v1.x * v2.y - v1.y * v2.x;
+         w = 0.f;
+      }
+      float Dot(const vec_t &v) const
+      {
+         return (x * v.x) + (y * v.y) + (z * v.z) + (w * v.w);
+      }
+      float Dot3(const vec_t &v) const
+      {
+         return (x * v.x) + (y * v.y) + (z * v.z);
+      }
+      
+      void Transform(const matrix_t& matrix);
+      void Transform(const vec_t & s, const matrix_t& matrix);
+
+      void TransformVector(const matrix_t& matrix);
+      void TransformPoint(const matrix_t& matrix);
+      void TransformVector(const vec_t& v, const matrix_t& matrix) { (*this) = v; this->TransformVector(matrix); }
+      void TransformPoint(const vec_t& v, const matrix_t& matrix) { (*this) = v; this->TransformPoint(matrix); }
+
+      float& operator [] (size_t index) { return ((float*)&x)[index]; }
+      const float& operator [] (size_t index) const { return ((float*)&x)[index]; }
+   };
+
+   vec_t makeVect(float _x, float _y, float _z = 0.f, float _w = 0.f) { vec_t res; res.x = _x; res.y = _y; res.z = _z; res.w = _w; return res; }
+   vec_t vec_t::operator * (float f) const { return makeVect(x * f, y * f, z * f, w *f); }
+   vec_t vec_t::operator - () const { return makeVect(-x, -y, -z, -w); }
+   vec_t vec_t::operator - (const vec_t& v) const { return makeVect(x - v.x, y - v.y, z - v.z, w - v.w); }
+   vec_t vec_t::operator + (const vec_t& v) const { return makeVect(x + v.x, y + v.y, z + v.z, w + v.w); }
+   vec_t vec_t::operator * (const vec_t& v) const { return makeVect(x * v.x, y * v.y, z * v.z, w * v.w); }
+
+   ImVec2 operator+ (const ImVec2& a, const ImVec2& b) { return ImVec2(a.x + b.x, a.y + b.y); }
+
+   vec_t Normalized(const vec_t& v) { vec_t res; res = v; res.Normalize(); return res; }
+   vec_t Cross(const vec_t& v1, const vec_t& v2)
+   {
+      vec_t res;
+      res.x = v1.y * v2.z - v1.z * v2.y;
+      res.y = v1.z * v2.x - v1.x * v2.z;
+      res.z = v1.x * v2.y - v1.y * v2.x;
+      res.w = 0.f;
+      return res;
+   }
+
+   float Dot(const vec_t &v1, const vec_t &v2)
+   {
+      return (v1.x * v2.x) + (v1.y * v2.y) + (v1.z * v2.z);
+   }
+
+   vec_t BuildPlan(const vec_t & p_point1, const vec_t & p_normal)
+   {
+      vec_t normal, res;
+      normal.Normalize(p_normal);
+      res.w = normal.Dot(p_point1);
+      res.x = normal.x;
+      res.y = normal.y;
+      res.z = normal.z;
+      return res;
+   }
+
+   struct matrix_t
+   {
+   public:
+
+      union
+      {
+         float m[4][4];
+         float m16[16];
+         struct
+         {
+            vec_t right, up, dir, position;
+         } v;
+      };
+
+      matrix_t(const matrix_t& other) { memcpy(&m16[0], &other.m16[0], sizeof(float) * 16); }
+      matrix_t() {}
+
+      operator float * () { return m16; }
+      operator const float* () const { return m16; }
+      void Translation(float _x, float _y, float _z) { this->Translation(makeVect(_x, _y, _z)); }
+
+      void Translation(const vec_t& vt)
+      {
+         v.right.Set(1.f, 0.f, 0.f, 0.f);
+         v.up.Set(0.f, 1.f, 0.f, 0.f);
+         v.dir.Set(0.f, 0.f, 1.f, 0.f);
+         v.position.Set(vt.x, vt.y, vt.z, 1.f);
+      }
+
+      void Scale(float _x, float _y, float _z)
+      {
+         v.right.Set(_x, 0.f, 0.f, 0.f);
+         v.up.Set(0.f, _y, 0.f, 0.f);
+         v.dir.Set(0.f, 0.f, _z, 0.f);
+         v.position.Set(0.f, 0.f, 0.f, 1.f);
+      }
+      void Scale(const vec_t& s) { Scale(s.x, s.y, s.z); }
+
+      matrix_t& operator *= (const matrix_t& mat)
+      {
+         matrix_t tmpMat;
+         tmpMat = *this;
+         tmpMat.Multiply(mat);
+         *this = tmpMat;
+         return *this;
+      }
+      matrix_t operator * (const matrix_t& mat) const
+      {
+         matrix_t matT;
+         matT.Multiply(*this, mat);
+         return matT;
+      }
+
+      void Multiply(const matrix_t &matrix)
+      {
+         matrix_t tmp;
+         tmp = *this;
+
+         FPU_MatrixF_x_MatrixF((float*)&tmp, (float*)&matrix, (float*)this);
+      }
+
+      void Multiply(const matrix_t &m1, const matrix_t &m2)
+      {
+         FPU_MatrixF_x_MatrixF((float*)&m1, (float*)&m2, (float*)this);
+      }
+
+      float GetDeterminant() const
+      {
+         return m[0][0] * m[1][1] * m[2][2] + m[0][1] * m[1][2] * m[2][0] + m[0][2] * m[1][0] * m[2][1] -
+            m[0][2] * m[1][1] * m[2][0] - m[0][1] * m[1][0] * m[2][2] - m[0][0] * m[1][2] * m[2][1];
+      }
+
+      float Inverse(const matrix_t &srcMatrix, bool affine = false);
+      float Inverse(bool affine = false);
+      void SetToIdentity() 
+      {
+         v.right.Set(1.f, 0.f, 0.f, 0.f);
+         v.up.Set(0.f, 1.f, 0.f, 0.f);
+         v.dir.Set(0.f, 0.f, 1.f, 0.f);
+         v.position.Set(0.f, 0.f, 0.f, 1.f);
+      }
+      void Transpose()
+      {
+         matrix_t tmpm;
+         for (int l = 0; l < 4; l++)
+         {
+            for (int c = 0; c < 4; c++)
+            {
+               tmpm.m[l][c] = m[c][l];
+            }
+         }
+         (*this) = tmpm;
+      }
+      
+      void RotationAxis(const vec_t & axis, float angle);
+
+      void OrthoNormalize()
+      {
+         v.right.Normalize();
+         v.up.Normalize();
+         v.dir.Normalize();
+      }
+   };
+
+   void vec_t::Transform(const matrix_t& matrix)
+   {
+      vec_t out;
+
+      out.x = x * matrix.m[0][0] + y * matrix.m[1][0] + z * matrix.m[2][0] + w * matrix.m[3][0];
+      out.y = x * matrix.m[0][1] + y * matrix.m[1][1] + z * matrix.m[2][1] + w * matrix.m[3][1];
+      out.z = x * matrix.m[0][2] + y * matrix.m[1][2] + z * matrix.m[2][2] + w * matrix.m[3][2];
+      out.w = x * matrix.m[0][3] + y * matrix.m[1][3] + z * matrix.m[2][3] + w * matrix.m[3][3];
+
+      x = out.x;
+      y = out.y;
+      z = out.z;
+      w = out.w;
+   }
+
+   void vec_t::Transform(const vec_t & s, const matrix_t& matrix)
+   {
+      *this = s;
+      Transform(matrix);
+   }
+
+   void vec_t::TransformPoint(const matrix_t& matrix)
+   {
+      vec_t out;
+
+      out.x = x * matrix.m[0][0] + y * matrix.m[1][0] + z * matrix.m[2][0] + matrix.m[3][0];
+      out.y = x * matrix.m[0][1] + y * matrix.m[1][1] + z * matrix.m[2][1] + matrix.m[3][1];
+      out.z = x * matrix.m[0][2] + y * matrix.m[1][2] + z * matrix.m[2][2] + matrix.m[3][2];
+      out.w = x * matrix.m[0][3] + y * matrix.m[1][3] + z * matrix.m[2][3] + matrix.m[3][3];
+
+      x = out.x;
+      y = out.y;
+      z = out.z;
+      w = out.w;
+   }
+
+
+   void vec_t::TransformVector(const matrix_t& matrix)
+   {
+      vec_t out;
+
+      out.x = x * matrix.m[0][0] + y * matrix.m[1][0] + z * matrix.m[2][0];
+      out.y = x * matrix.m[0][1] + y * matrix.m[1][1] + z * matrix.m[2][1];
+      out.z = x * matrix.m[0][2] + y * matrix.m[1][2] + z * matrix.m[2][2];
+      out.w = x * matrix.m[0][3] + y * matrix.m[1][3] + z * matrix.m[2][3];
+
+      x = out.x;
+      y = out.y;
+      z = out.z;
+      w = out.w;
+   }
+
+   float matrix_t::Inverse(const matrix_t &srcMatrix, bool affine)
+   {
+      float det = 0;
+
+      if (affine)
+      {
+         det = GetDeterminant();
+         float s = 1 / det;
+         m[0][0] = (srcMatrix.m[1][1] * srcMatrix.m[2][2] - srcMatrix.m[1][2] * srcMatrix.m[2][1]) * s;
+         m[0][1] = (srcMatrix.m[2][1] * srcMatrix.m[0][2] - srcMatrix.m[2][2] * srcMatrix.m[0][1]) * s;
+         m[0][2] = (srcMatrix.m[0][1] * srcMatrix.m[1][2] - srcMatrix.m[0][2] * srcMatrix.m[1][1]) * s;
+         m[1][0] = (srcMatrix.m[1][2] * srcMatrix.m[2][0] - srcMatrix.m[1][0] * srcMatrix.m[2][2]) * s;
+         m[1][1] = (srcMatrix.m[2][2] * srcMatrix.m[0][0] - srcMatrix.m[2][0] * srcMatrix.m[0][2]) * s;
+         m[1][2] = (srcMatrix.m[0][2] * srcMatrix.m[1][0] - srcMatrix.m[0][0] * srcMatrix.m[1][2]) * s;
+         m[2][0] = (srcMatrix.m[1][0] * srcMatrix.m[2][1] - srcMatrix.m[1][1] * srcMatrix.m[2][0]) * s;
+         m[2][1] = (srcMatrix.m[2][0] * srcMatrix.m[0][1] - srcMatrix.m[2][1] * srcMatrix.m[0][0]) * s;
+         m[2][2] = (srcMatrix.m[0][0] * srcMatrix.m[1][1] - srcMatrix.m[0][1] * srcMatrix.m[1][0]) * s;
+         m[3][0] = -(m[0][0] * srcMatrix.m[3][0] + m[1][0] * srcMatrix.m[3][1] + m[2][0] * srcMatrix.m[3][2]);
+         m[3][1] = -(m[0][1] * srcMatrix.m[3][0] + m[1][1] * srcMatrix.m[3][1] + m[2][1] * srcMatrix.m[3][2]);
+         m[3][2] = -(m[0][2] * srcMatrix.m[3][0] + m[1][2] * srcMatrix.m[3][1] + m[2][2] * srcMatrix.m[3][2]);
+      }
+      else
+      {
+         // transpose matrix
+         float src[16];
+         for (int i = 0; i < 4; ++i)
+         {
+            src[i] = srcMatrix.m16[i * 4];
+            src[i + 4] = srcMatrix.m16[i * 4 + 1];
+            src[i + 8] = srcMatrix.m16[i * 4 + 2];
+            src[i + 12] = srcMatrix.m16[i * 4 + 3];
+         }
+
+         // calculate pairs for first 8 elements (cofactors)
+         float tmp[12]; // temp array for pairs
+         tmp[0] = src[10] * src[15];
+         tmp[1] = src[11] * src[14];
+         tmp[2] = src[9] * src[15];
+         tmp[3] = src[11] * src[13];
+         tmp[4] = src[9] * src[14];
+         tmp[5] = src[10] * src[13];
+         tmp[6] = src[8] * src[15];
+         tmp[7] = src[11] * src[12];
+         tmp[8] = src[8] * src[14];
+         tmp[9] = src[10] * src[12];
+         tmp[10] = src[8] * src[13];
+         tmp[11] = src[9] * src[12];
+
+         // calculate first 8 elements (cofactors)
+         m16[0] = (tmp[0] * src[5] + tmp[3] * src[6] + tmp[4] * src[7]) - (tmp[1] * src[5] + tmp[2] * src[6] + tmp[5] * src[7]);
+         m16[1] = (tmp[1] * src[4] + tmp[6] * src[6] + tmp[9] * src[7]) - (tmp[0] * src[4] + tmp[7] * src[6] + tmp[8] * src[7]);
+         m16[2] = (tmp[2] * src[4] + tmp[7] * src[5] + tmp[10] * src[7]) - (tmp[3] * src[4] + tmp[6] * src[5] + tmp[11] * src[7]);
+         m16[3] = (tmp[5] * src[4] + tmp[8] * src[5] + tmp[11] * src[6]) - (tmp[4] * src[4] + tmp[9] * src[5] + tmp[10] * src[6]);
+         m16[4] = (tmp[1] * src[1] + tmp[2] * src[2] + tmp[5] * src[3]) - (tmp[0] * src[1] + tmp[3] * src[2] + tmp[4] * src[3]);
+         m16[5] = (tmp[0] * src[0] + tmp[7] * src[2] + tmp[8] * src[3]) - (tmp[1] * src[0] + tmp[6] * src[2] + tmp[9] * src[3]);
+         m16[6] = (tmp[3] * src[0] + tmp[6] * src[1] + tmp[11] * src[3]) - (tmp[2] * src[0] + tmp[7] * src[1] + tmp[10] * src[3]);
+         m16[7] = (tmp[4] * src[0] + tmp[9] * src[1] + tmp[10] * src[2]) - (tmp[5] * src[0] + tmp[8] * src[1] + tmp[11] * src[2]);
+
+         // calculate pairs for second 8 elements (cofactors)
+         tmp[0] = src[2] * src[7];
+         tmp[1] = src[3] * src[6];
+         tmp[2] = src[1] * src[7];
+         tmp[3] = src[3] * src[5];
+         tmp[4] = src[1] * src[6];
+         tmp[5] = src[2] * src[5];
+         tmp[6] = src[0] * src[7];
+         tmp[7] = src[3] * src[4];
+         tmp[8] = src[0] * src[6];
+         tmp[9] = src[2] * src[4];
+         tmp[10] = src[0] * src[5];
+         tmp[11] = src[1] * src[4];
+
+         // calculate second 8 elements (cofactors)
+         m16[8] = (tmp[0] * src[13] + tmp[3] * src[14] + tmp[4] * src[15]) - (tmp[1] * src[13] + tmp[2] * src[14] + tmp[5] * src[15]);
+         m16[9] = (tmp[1] * src[12] + tmp[6] * src[14] + tmp[9] * src[15]) - (tmp[0] * src[12] + tmp[7] * src[14] + tmp[8] * src[15]);
+         m16[10] = (tmp[2] * src[12] + tmp[7] * src[13] + tmp[10] * src[15]) - (tmp[3] * src[12] + tmp[6] * src[13] + tmp[11] * src[15]);
+         m16[11] = (tmp[5] * src[12] + tmp[8] * src[13] + tmp[11] * src[14]) - (tmp[4] * src[12] + tmp[9] * src[13] + tmp[10] * src[14]);
+         m16[12] = (tmp[2] * src[10] + tmp[5] * src[11] + tmp[1] * src[9]) - (tmp[4] * src[11] + tmp[0] * src[9] + tmp[3] * src[10]);
+         m16[13] = (tmp[8] * src[11] + tmp[0] * src[8] + tmp[7] * src[10]) - (tmp[6] * src[10] + tmp[9] * src[11] + tmp[1] * src[8]);
+         m16[14] = (tmp[6] * src[9] + tmp[11] * src[11] + tmp[3] * src[8]) - (tmp[10] * src[11] + tmp[2] * src[8] + tmp[7] * src[9]);
+         m16[15] = (tmp[10] * src[10] + tmp[4] * src[8] + tmp[9] * src[9]) - (tmp[8] * src[9] + tmp[11] * src[10] + tmp[5] * src[8]);
+
+         // calculate determinant
+         det = src[0] * m16[0] + src[1] * m16[1] + src[2] * m16[2] + src[3] * m16[3];
+
+         // calculate matrix inverse
+         float invdet = 1 / det;
+         for (int j = 0; j < 16; ++j)
+         {
+            m16[j] *= invdet;
+         }
+      }
+
+      return det;
+   }
+
+   void matrix_t::RotationAxis(const vec_t & axis, float angle)
+   {
+      float length2 = axis.LengthSq();
+      if (length2 < FLT_EPSILON)
+      {
+         SetToIdentity();
+         return;
+      }
+
+      vec_t n = axis * (1.f / sqrtf(length2));
+      float s = sinf(angle);
+      float c = cosf(angle);
+      float k = 1.f - c;
+
+      float xx = n.x * n.x * k + c;
+      float yy = n.y * n.y * k + c;
+      float zz = n.z * n.z * k + c;
+      float xy = n.x * n.y * k;
+      float yz = n.y * n.z * k;
+      float zx = n.z * n.x * k;
+      float xs = n.x * s;
+      float ys = n.y * s;
+      float zs = n.z * s;
+
+      m[0][0] = xx;
+      m[0][1] = xy + zs;
+      m[0][2] = zx - ys;
+      m[0][3] = 0.f;
+      m[1][0] = xy - zs;
+      m[1][1] = yy;
+      m[1][2] = yz + xs;
+      m[1][3] = 0.f;
+      m[2][0] = zx + ys;
+      m[2][1] = yz - xs;
+      m[2][2] = zz;
+      m[2][3] = 0.f;
+      m[3][0] = 0.f;
+      m[3][1] = 0.f;
+      m[3][2] = 0.f;
+      m[3][3] = 1.f;
+   }
+
+   ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+   // 
+
+   enum MOVETYPE
+   {
+      NONE,
+      MOVE_X,
+      MOVE_Y,
+      MOVE_Z,
+      MOVE_XY,
+      MOVE_XZ,
+      MOVE_YZ,
+      MOVE_SCREEN,
+      ROTATE_X,
+      ROTATE_Y,
+      ROTATE_Z,
+      ROTATE_SCREEN,
+      SCALE_X,
+      SCALE_Y,
+      SCALE_Z,
+      SCALE_XYZ,
+   };
+
+   struct Context
+   {
+      Context() : mbUsing(false), mbEnable(true)
+      {
+      }
+
+      ImDrawList* mDrawList;
+
+      MODE mMode;
+      matrix_t mViewMat;
+      matrix_t mProjectionMat;
+      matrix_t mModel;
+      matrix_t mModelInverse;
+      matrix_t mModelSource;
+      matrix_t mModelSourceInverse;
+      matrix_t mMVP;
+      matrix_t mViewProjection;
+
+      vec_t mModelScaleOrigin;
+      vec_t mCameraEye;
+      vec_t mCameraRight;
+      vec_t mCameraDir;
+      vec_t mCameraUp;
+      vec_t mRayOrigin;
+      vec_t mRayVector;
+
+      ImVec2 mScreenSquareCenter;
+      ImVec2 mScreenSquareMin;
+      ImVec2 mScreenSquareMax;
+
+      float mScreenFactor;
+      vec_t mRelativeOrigin;
+
+      bool mbUsing;
+      bool mbEnable;
+
+      // translation
+      vec_t mTranslationPlan;
+      vec_t mTranslationPlanOrigin;
+      vec_t mMatrixOrigin;
+
+      // rotation
+      vec_t mRotationVectorSource;
+      float mRotationAngle;
+      float mRotationAngleOrigin;
+      //vec_t mWorldToLocalAxis;
+
+      // scale
+      vec_t mScale;
+      vec_t mScaleValueOrigin;
+      float mSaveMousePosx;
+
+      // save axis factor when using gizmo
+      bool mBelowAxisLimit[3];
+      bool mBelowPlaneLimit[3];
+      float mAxisFactor[3];
+
+      //
+      int mCurrentOperation;
+   };
+
+   static Context gContext;
+
+   static const float angleLimit = 0.96f;
+   static const float planeLimit = 0.2f;
+
+   static const vec_t directionUnary[3] = { makeVect(1.f, 0.f, 0.f), makeVect(0.f, 1.f, 0.f), makeVect(0.f, 0.f, 1.f) };
+   static const ImU32 directionColor[3] = { 0xFF0000AA, 0xFF00AA00, 0xFFAA0000 };
+   static const ImU32 selectionColor = 0xFF1080FF;
+   static const ImU32 inactiveColor = 0x99999999;
+   static const ImU32 translationLineColor = 0xAAAAAAAA;
+   static const char *translationInfoMask[] = { "X : %5.3f", "Y : %5.3f", "Z : %5.3f", "X : %5.3f Y : %5.3f", "Y : %5.3f Z : %5.3f", "X : %5.3f Z : %5.3f", "X : %5.3f Y : %5.3f Z : %5.3f" };
+   static const char *scaleInfoMask[] = { "X : %5.2f", "Y : %5.2f", "Z : %5.2f", "XYZ : %5.2f" };
+   static const char *rotationInfoMask[] = { "X : %5.2f deg %5.2f rad", "Y : %5.2f deg %5.2f rad", "Z : %5.2f deg %5.2f rad", "Screen : %5.2f deg %5.2f rad" };
+   static const int translationInfoIndex[] = { 0,0,0, 1,0,0, 2,0,0, 0,1,0, 1,2,0, 0,2,1, 0,1,2 };
+   static const float quadMin = 0.5f;
+   static const float quadMax = 0.8f;
+   static const float quadUV[8] = { quadMin, quadMin, quadMin, quadMax, quadMax, quadMax, quadMax, quadMin };
+   static const int halfCircleSegmentCount = 64;
+   static const float snapTension = 0.5f;
+
+   ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+   // 
+   static int GetMoveType(vec_t *gizmoHitProportion);
+   static int GetRotateType();
+   static int GetScaleType();
+
+   static ImVec2 worldToPos(const vec_t& worldPos, const matrix_t& mat)
+   {
+      ImGuiIO& io = ImGui::GetIO();
+
+      vec_t trans;
+      trans.TransformPoint(worldPos, mat);
+      trans *= 0.5f / trans.w;
+      trans += makeVect(0.5f, 0.5f);
+      trans.y = 1.f - trans.y;
+      trans.x *= io.DisplaySize.x;
+      trans.y *= io.DisplaySize.y;
+      return ImVec2(trans.x, trans.y);
+   }
+
+   static void ComputeCameraRay(vec_t &rayOrigin, vec_t &rayDir)
+   {
+      ImGuiIO& io = ImGui::GetIO();
+
+      matrix_t mViewProjInverse;
+      mViewProjInverse.Inverse(gContext.mViewMat * gContext.mProjectionMat);
+
+      float mox = (io.MousePos.x / io.DisplaySize.x) * 2.f - 1.f;
+      float moy = (1.f - (io.MousePos.y / io.DisplaySize.y)) * 2.f - 1.f;
+
+      rayOrigin.Transform(makeVect(mox, moy, 0.f, 1.f), mViewProjInverse);
+      rayOrigin *= 1.f / rayOrigin.w;
+      vec_t rayEnd;
+      rayEnd.Transform(makeVect(mox, moy, 1.f, 1.f), mViewProjInverse);
+      rayEnd *= 1.f / rayEnd.w;
+      rayDir = Normalized(rayEnd - rayOrigin);
+   }
+
+   static float IntersectRayPlane(const vec_t & rOrigin, const vec_t& rVector, const vec_t& plan)
+   {
+      float numer = plan.Dot3(rOrigin) - plan.w;
+      float denom = plan.Dot3(rVector);
+
+      if (fabsf(denom) < FLT_EPSILON)  // normal is orthogonal to vector, cant intersect
+         return -1.0f;
+
+      return -(numer / denom);
+   }
+
+   void BeginFrame()
+   {
+      ImGuiIO& io = ImGui::GetIO();
+
+      ImGui::Begin("gizmo", NULL, io.DisplaySize, 0, ImGuiWindowFlags_NoTitleBar | ImGuiWindowFlags_NoResize | ImGuiWindowFlags_NoScrollbar | ImGuiWindowFlags_NoInputs | ImGuiWindowFlags_NoSavedSettings | ImGuiWindowFlags_NoFocusOnAppearing | ImGuiWindowFlags_NoBringToFrontOnFocus);
+      gContext.mDrawList = ImGui::GetWindowDrawList();
+
+      ImGui::End();
+   }
+
+   bool IsUsing()
+   {
+      return gContext.mbUsing;
+   }
+
+   bool IsOver()
+   {
+      return (GetMoveType(NULL) != NONE) || GetRotateType() != NONE || GetScaleType() != NONE || IsUsing();
+   }
+
+   void Enable(bool enable)
+   {
+      gContext.mbEnable = enable;
+      if (!enable)
+         gContext.mbUsing = false;
+   }
+
+   static float GetUniform(const vec_t& position, const matrix_t& mat)
+   {
+      vec_t trf = makeVect(position.x, position.y, position.z, 1.f);
+      trf.Transform(mat);
+      return trf.w;
+   }
+
+   static void ComputeContext(const float *view, const float *projection, float *matrix, MODE mode)
+   {
+      gContext.mMode = mode;
+      gContext.mViewMat = *(matrix_t*)view;
+      gContext.mProjectionMat = *(matrix_t*)projection;
+      
+      if (mode == LOCAL)
+      {
+         gContext.mModel = *(matrix_t*)matrix;
+         gContext.mModel.OrthoNormalize();
+      }
+      else
+      {
+         gContext.mModel.Translation(((matrix_t*)matrix)->v.position);
+      }
+      gContext.mModelSource = *(matrix_t*)matrix;
+      gContext.mModelScaleOrigin.Set(gContext.mModelSource.v.right.Length(), gContext.mModelSource.v.up.Length(), gContext.mModelSource.v.dir.Length());
+
+      gContext.mModelInverse.Inverse(gContext.mModel);
+      gContext.mModelSourceInverse.Inverse(gContext.mModelSource);
+      gContext.mViewProjection = gContext.mViewMat * gContext.mProjectionMat;
+      gContext.mMVP = gContext.mModel * gContext.mViewProjection;
+
+      matrix_t viewInverse;
+      viewInverse.Inverse(gContext.mViewMat);
+      gContext.mCameraDir = viewInverse.v.dir;
+      gContext.mCameraEye = viewInverse.v.position;
+      gContext.mCameraRight = viewInverse.v.right;
+      gContext.mCameraUp = viewInverse.v.up;
+      gContext.mScreenFactor = 0.1f * GetUniform(gContext.mModel.v.position, gContext.mViewProjection);
+
+      ImVec2 centerSSpace = worldToPos(makeVect(0.f, 0.f), gContext.mMVP);
+      gContext.mScreenSquareCenter = centerSSpace;
+      gContext.mScreenSquareMin = ImVec2(centerSSpace.x - 10.f, centerSSpace.y - 10.f);
+      gContext.mScreenSquareMax = ImVec2(centerSSpace.x + 10.f, centerSSpace.y + 10.f);
+
+      ComputeCameraRay(gContext.mRayOrigin, gContext.mRayVector);
+   }
+
+   static void ComputeColors(ImU32 *colors, int type, OPERATION operation)
+   {
+      if (gContext.mbEnable)
+      {
+         switch (operation)
+         {
+         case TRANSLATE:
+            colors[0] = (type == MOVE_SCREEN) ? selectionColor : 0xFFFFFFFF;
+            for (int i = 0; i < 3; i++)
+            {
+               int colorPlaneIndex = (i + 2) % 3;
+               colors[i + 1] = (type == (int)(MOVE_X + i)) ? selectionColor : directionColor[i];
+               colors[i + 4] = (type == (int)(MOVE_XY + i)) ? selectionColor : directionColor[colorPlaneIndex];
+            }
+            break;
+         case ROTATE:
+            colors[0] = (type == ROTATE_SCREEN) ? selectionColor : 0xFFFFFFFF;
+            for (int i = 0; i < 3; i++)
+               colors[i + 1] = (type == (int)(ROTATE_X + i)) ? selectionColor : directionColor[i];
+            break;
+         case SCALE:
+            colors[0] = (type == SCALE_XYZ) ? selectionColor : 0xFFFFFFFF;
+            for (int i = 0; i < 3; i++)
+               colors[i + 1] = (type == (int)(SCALE_X + i)) ? selectionColor : directionColor[i];
+            break;
+         }
+      }
+      else
+      {
+         for (int i = 0; i < 7; i++)
+            colors[i] = inactiveColor;
+      }
+   }
+
+   static void ComputeTripodAxisAndVisibility(int axisIndex, vec_t& dirPlaneX, vec_t& dirPlaneY, bool& belowAxisLimit, bool& belowPlaneLimit)
+   {
+      const int planNormal = (axisIndex + 2) % 3;
+      dirPlaneX = directionUnary[axisIndex];
+      dirPlaneY = directionUnary[(axisIndex + 1) % 3];
+
+      if (gContext.mbUsing)
+      {
+         // when using, use stored factors so the gizmo doesn't flip when we translate
+         belowAxisLimit = gContext.mBelowAxisLimit[axisIndex];
+         belowPlaneLimit = gContext.mBelowPlaneLimit[axisIndex];
+
+         dirPlaneX *= gContext.mAxisFactor[axisIndex];
+         dirPlaneY *= gContext.mAxisFactor[(axisIndex + 1) % 3];
+      }
+      else
+      {
+         vec_t dirPlaneNormalWorld;
+         dirPlaneNormalWorld.TransformVector(directionUnary[planNormal], gContext.mModel);
+         dirPlaneNormalWorld.Normalize();
+
+         vec_t dirPlaneXWorld(dirPlaneX);
+         dirPlaneXWorld.TransformVector(gContext.mModel);
+         dirPlaneXWorld.Normalize();
+
+         vec_t dirPlaneYWorld(dirPlaneY);
+         dirPlaneYWorld.TransformVector(gContext.mModel);
+         dirPlaneYWorld.Normalize();
+
+         vec_t cameraEyeToGizmo = Normalized(gContext.mModel.v.position - gContext.mCameraEye);
+         float dotCameraDirX = cameraEyeToGizmo.Dot3(dirPlaneXWorld);
+         float dotCameraDirY = cameraEyeToGizmo.Dot3(dirPlaneYWorld);
+
+         // compute factor values
+         float mulAxisX = (dotCameraDirX > 0.f) ? -1.f : 1.f;
+         float mulAxisY = (dotCameraDirY > 0.f) ? -1.f : 1.f;
+         dirPlaneX *= mulAxisX;
+         dirPlaneY *= mulAxisY;
+
+         belowAxisLimit = fabsf(dotCameraDirX) < angleLimit;
+         belowPlaneLimit = (fabsf(cameraEyeToGizmo.Dot3(dirPlaneNormalWorld)) > planeLimit);
+
+         // and store values
+         gContext.mAxisFactor[axisIndex] = mulAxisX;
+         gContext.mAxisFactor[(axisIndex+1)%3] = mulAxisY;
+         gContext.mBelowAxisLimit[axisIndex] = belowAxisLimit;
+         gContext.mBelowPlaneLimit[axisIndex] = belowPlaneLimit;
+      }
+   }
+
+   static void ComputeSnap(float*value, float *snap)
+   {
+      if (*snap <= FLT_EPSILON)
+         return;
+      float modulo = fmodf(*value, *snap);
+      float moduloRatio = fabsf(modulo) / *snap;
+      if (moduloRatio < snapTension)
+         *value -= modulo;
+      else if (moduloRatio >(1.f - snapTension))
+         *value = *value - modulo + *snap * ((*value<0.f) ? -1.f : 1.f);
+   }
+   static void ComputeSnap(vec_t& value, float *snap)
+   {
+      for (int i = 0; i < 3; i++)
+      {
+         ComputeSnap(&value[i], &snap[i]);
+      }
+   }
+
+   static float ComputeAngleOnPlan()
+   {
+      const float len = IntersectRayPlane(gContext.mRayOrigin, gContext.mRayVector, gContext.mTranslationPlan);
+      vec_t localPos = Normalized(gContext.mRayOrigin + gContext.mRayVector * len - gContext.mModel.v.position);
+
+      vec_t perpendicularVector;
+      perpendicularVector.Cross(gContext.mRotationVectorSource, gContext.mTranslationPlan);
+      perpendicularVector.Normalize();
+      float acosAngle = Clamp(Dot(localPos, gContext.mRotationVectorSource), -0.9999f, 0.9999f);
+      float angle = acosf(acosAngle);
+      angle *= (Dot(localPos, perpendicularVector) < 0.f) ? 1.f : -1.f;
+      return angle;
+   }
+
+   static void DrawRotationGizmo(int type)
+   {
+      ImDrawList* drawList = gContext.mDrawList;
+      ImGuiIO& io = ImGui::GetIO();
+
+      // colors
+      ImU32 colors[7];
+      ComputeColors(colors, type, ROTATE);
+
+      vec_t cameraToModelNormalized = Normalized(gContext.mModel.v.position - gContext.mCameraEye);
+      cameraToModelNormalized.TransformVector(gContext.mModelInverse);
+      
+      for (int axis = 0; axis < 3; axis++)
+      {
+         ImVec2 circlePos[halfCircleSegmentCount];
+         
+         float angleStart = atan2f(cameraToModelNormalized[(4-axis)%3], cameraToModelNormalized[(3 - axis) % 3]) + ZPI * 0.5f;
+
+         for (unsigned int i = 0; i < halfCircleSegmentCount; i++)
+         {
+            float ng = angleStart + ZPI * ((float)i / (float)halfCircleSegmentCount);
+            vec_t axisPos = makeVect(cosf(ng), sinf(ng), 0.f);
+            vec_t pos = makeVect(axisPos[axis], axisPos[(axis+1)%3], axisPos[(axis+2)%3]) * gContext.mScreenFactor;
+            circlePos[i] = worldToPos(pos, gContext.mMVP);
+         }
+         drawList->AddPolyline(circlePos, halfCircleSegmentCount, colors[3 - axis], false, 2, true);
+      }
+      drawList->AddCircle(worldToPos(gContext.mModel.v.position, gContext.mViewProjection), 0.06f * io.DisplaySize.x, colors[0], 64);
+
+      if (gContext.mbUsing)
+      {
+         ImVec2 circlePos[halfCircleSegmentCount +1];
+
+         circlePos[0] = worldToPos(gContext.mModel.v.position, gContext.mViewProjection);
+         for (unsigned int i = 1; i < halfCircleSegmentCount; i++)
+         {
+            float ng = gContext.mRotationAngle * ((float)(i-1) / (float)(halfCircleSegmentCount -1));
+            matrix_t rotateVectorMatrix;
+            rotateVectorMatrix.RotationAxis(gContext.mTranslationPlan, ng);
+            vec_t pos;
+            pos.TransformPoint(gContext.mRotationVectorSource, rotateVectorMatrix);
+            pos *= gContext.mScreenFactor;
+            circlePos[i] = worldToPos(pos + gContext.mModel.v.position, gContext.mViewProjection);
+         }
+         drawList->AddConvexPolyFilled(circlePos, halfCircleSegmentCount, 0x801080FF, true);
+         drawList->AddPolyline(circlePos, halfCircleSegmentCount, 0xFF1080FF, true, 2, true);
+
+         ImVec2 destinationPosOnScreen = circlePos[1];
+         char tmps[512];
+         ImFormatString(tmps, sizeof(tmps), rotationInfoMask[type - ROTATE_X], (gContext.mRotationAngle/ZPI)*180.f, gContext.mRotationAngle);
+         drawList->AddText(ImVec2(destinationPosOnScreen.x + 15, destinationPosOnScreen.y + 15), 0xFF000000, tmps);
+         drawList->AddText(ImVec2(destinationPosOnScreen.x + 14, destinationPosOnScreen.y + 14), 0xFFFFFFFF, tmps);
+      }
+   }
+
+   static void DrawHatchedAxis(const vec_t& axis)
+   {
+      for (int j = 1; j < 10; j++)
+      {
+         ImVec2 baseSSpace2 = worldToPos(axis * 0.05f * (float)(j * 2) * gContext.mScreenFactor, gContext.mMVP);
+         ImVec2 worldDirSSpace2 = worldToPos(axis * 0.05f * (float)(j * 2 + 1) * gContext.mScreenFactor, gContext.mMVP);
+         gContext.mDrawList->AddLine(baseSSpace2, worldDirSSpace2, 0x80000000, 6.f);
+      }
+   }
+
+   static void DrawScaleGizmo(int type)
+   {
+      ImDrawList* drawList = gContext.mDrawList;
+
+      // colors
+      ImU32 colors[7];
+      ComputeColors(colors, type, SCALE);
+
+      // draw screen cirle
+      drawList->AddCircleFilled(gContext.mScreenSquareCenter, 12.f, colors[0], 32);
+
+      // draw
+      vec_t scaleDisplay = { 1.f, 1.f, 1.f, 1.f };
+      
+      if (gContext.mbUsing)
+         scaleDisplay = gContext.mScale;
+
+      for (unsigned int i = 0; i < 3; i++)
+      {
+         vec_t dirPlaneX, dirPlaneY;
+         bool belowAxisLimit, belowPlaneLimit;
+         ComputeTripodAxisAndVisibility(i, dirPlaneX, dirPlaneY, belowAxisLimit, belowPlaneLimit);
+
+         // draw axis
+         if (belowAxisLimit)
+         {
+            ImVec2 baseSSpace = worldToPos(dirPlaneX * 0.1f * gContext.mScreenFactor, gContext.mMVP);
+            ImVec2 worldDirSSpaceNoScale = worldToPos(dirPlaneX * gContext.mScreenFactor, gContext.mMVP);
+            ImVec2 worldDirSSpace = worldToPos((dirPlaneX * scaleDisplay[i]) * gContext.mScreenFactor, gContext.mMVP);
+
+            if (gContext.mbUsing)
+            {
+               drawList->AddLine(baseSSpace, worldDirSSpaceNoScale, 0xFF404040, 6.f);
+               drawList->AddCircleFilled(worldDirSSpaceNoScale, 10.f, 0xFF404040);
+            }
+            
+            drawList->AddLine(baseSSpace, worldDirSSpace, colors[i + 1], 6.f);
+            drawList->AddCircleFilled(worldDirSSpace, 10.f, colors[i + 1]);
+
+            if (gContext.mAxisFactor[i] < 0.f)
+               DrawHatchedAxis(dirPlaneX * scaleDisplay[i]);
+         }
+      }
+      
+      if (gContext.mbUsing)
+      {
+         //ImVec2 sourcePosOnScreen = worldToPos(gContext.mMatrixOrigin, gContext.mViewProjection);
+         ImVec2 destinationPosOnScreen = worldToPos(gContext.mModel.v.position, gContext.mViewProjection);
+         /*vec_t dif(destinationPosOnScreen.x - sourcePosOnScreen.x, destinationPosOnScreen.y - sourcePosOnScreen.y);
+         dif.Normalize();
+         dif *= 5.f;
+         drawList->AddCircle(sourcePosOnScreen, 6.f, translationLineColor);
+         drawList->AddCircle(destinationPosOnScreen, 6.f, translationLineColor);
+         drawList->AddLine(ImVec2(sourcePosOnScreen.x + dif.x, sourcePosOnScreen.y + dif.y), ImVec2(destinationPosOnScreen.x - dif.x, destinationPosOnScreen.y - dif.y), translationLineColor, 2.f);
+         */
+         char tmps[512];
+         //vec_t deltaInfo = gContext.mModel.v.position - gContext.mMatrixOrigin;
+         int componentInfoIndex = (type - SCALE_X) * 3;
+         ImFormatString(tmps, sizeof(tmps), scaleInfoMask[type - SCALE_X], scaleDisplay[translationInfoIndex[componentInfoIndex]]);
+         drawList->AddText(ImVec2(destinationPosOnScreen.x + 15, destinationPosOnScreen.y + 15), 0xFF000000, tmps);
+         drawList->AddText(ImVec2(destinationPosOnScreen.x + 14, destinationPosOnScreen.y + 14), 0xFFFFFFFF, tmps);
+      }
+   }
+
+
+   static void DrawTranslationGizmo(int type)
+   {
+      ImDrawList* drawList = gContext.mDrawList;
+
+      // colors
+      ImU32 colors[7];
+      ComputeColors(colors, type, TRANSLATE);
+
+      // draw screen quad
+      drawList->AddRectFilled(gContext.mScreenSquareMin, gContext.mScreenSquareMax, colors[0], 2.f);
+
+      // draw
+      for (unsigned int i = 0; i < 3; i++)
+      {
+         vec_t dirPlaneX, dirPlaneY;
+         bool belowAxisLimit, belowPlaneLimit;
+         ComputeTripodAxisAndVisibility(i, dirPlaneX, dirPlaneY, belowAxisLimit, belowPlaneLimit);
+         
+         // draw axis
+         if (belowAxisLimit)
+         {
+            ImVec2 baseSSpace = worldToPos(dirPlaneX * 0.1f * gContext.mScreenFactor, gContext.mMVP);
+            ImVec2 worldDirSSpace = worldToPos(dirPlaneX * gContext.mScreenFactor, gContext.mMVP);
+
+            drawList->AddLine(baseSSpace, worldDirSSpace, colors[i + 1], 6.f);
+            
+            if (gContext.mAxisFactor[i] < 0.f)
+               DrawHatchedAxis(dirPlaneX);
+         }
+
+         // draw plane
+         if (belowPlaneLimit)
+         {
+            ImVec2 screenQuadPts[4];
+            for (int j = 0; j < 4; j++)
+            {
+               vec_t cornerWorldPos = (dirPlaneX * quadUV[j * 2] + dirPlaneY  * quadUV[j * 2 + 1]) * gContext.mScreenFactor;
+               screenQuadPts[j] = worldToPos(cornerWorldPos, gContext.mMVP);
+            }
+            drawList->AddConvexPolyFilled(screenQuadPts, 4, colors[i + 4], true);
+         }
+      }
+
+      if (gContext.mbUsing)
+      {
+         ImVec2 sourcePosOnScreen = worldToPos(gContext.mMatrixOrigin, gContext.mViewProjection);
+         ImVec2 destinationPosOnScreen = worldToPos(gContext.mModel.v.position, gContext.mViewProjection);
+         vec_t dif = { destinationPosOnScreen.x - sourcePosOnScreen.x, destinationPosOnScreen.y - sourcePosOnScreen.y, 0.f, 0.f };
+         dif.Normalize();
+         dif *= 5.f;
+         drawList->AddCircle(sourcePosOnScreen, 6.f, translationLineColor);
+         drawList->AddCircle(destinationPosOnScreen, 6.f, translationLineColor);
+         drawList->AddLine(ImVec2(sourcePosOnScreen.x + dif.x, sourcePosOnScreen.y + dif.y), ImVec2(destinationPosOnScreen.x - dif.x, destinationPosOnScreen.y - dif.y), translationLineColor, 2.f);
+
+         char tmps[512];
+         vec_t deltaInfo = gContext.mModel.v.position - gContext.mMatrixOrigin;
+         int componentInfoIndex = (type - MOVE_X) * 3;
+         ImFormatString(tmps, sizeof(tmps), translationInfoMask[type - MOVE_X], deltaInfo[translationInfoIndex[componentInfoIndex]], deltaInfo[translationInfoIndex[componentInfoIndex + 1]], deltaInfo[translationInfoIndex[componentInfoIndex + 2]]);
+         drawList->AddText(ImVec2(destinationPosOnScreen.x + 15, destinationPosOnScreen.y + 15), 0xFF000000, tmps);
+         drawList->AddText(ImVec2(destinationPosOnScreen.x + 14, destinationPosOnScreen.y + 14), 0xFFFFFFFF, tmps);
+      }
+   }
+
+   ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+   // 
+
+   static int GetScaleType()
+   {
+      ImGuiIO& io = ImGui::GetIO();
+      int type = NONE;
+
+      // screen
+      if (io.MousePos.x >= gContext.mScreenSquareMin.x && io.MousePos.x <= gContext.mScreenSquareMax.x &&
+         io.MousePos.y >= gContext.mScreenSquareMin.y && io.MousePos.y <= gContext.mScreenSquareMax.y)
+         type = SCALE_XYZ;
+
+      const vec_t direction[3] = { gContext.mModel.v.right, gContext.mModel.v.up, gContext.mModel.v.dir };
+      // compute
+      for (unsigned int i = 0; i < 3 && type == NONE; i++)
+      {
+         vec_t dirPlaneX, dirPlaneY;
+         bool belowAxisLimit, belowPlaneLimit;
+         ComputeTripodAxisAndVisibility(i, dirPlaneX, dirPlaneY, belowAxisLimit, belowPlaneLimit);
+         dirPlaneX.TransformVector(gContext.mModel);
+         dirPlaneY.TransformVector(gContext.mModel);
+
+         const int planNormal = (i + 2) % 3;
+
+         const float len = IntersectRayPlane(gContext.mRayOrigin, gContext.mRayVector, BuildPlan(gContext.mModel.v.position, direction[planNormal]));
+         vec_t posOnPlan = gContext.mRayOrigin + gContext.mRayVector * len;
+
+         const float dx = dirPlaneX.Dot3((posOnPlan - gContext.mModel.v.position) * (1.f / gContext.mScreenFactor));
+         const float dy = dirPlaneY.Dot3((posOnPlan - gContext.mModel.v.position) * (1.f / gContext.mScreenFactor));
+         if (belowAxisLimit && dy > -0.1f && dy < 0.1f && dx > 0.1f  && dx < 1.f)
+            type = SCALE_X + i;
+      }
+      return type;
+   }
+
+   static int GetRotateType()
+   {
+      ImGuiIO& io = ImGui::GetIO();
+      int type = NONE;
+
+      vec_t deltaScreen = { io.MousePos.x - gContext.mScreenSquareCenter.x, io.MousePos.y - gContext.mScreenSquareCenter.y, 0.f, 0.f };
+      float dist = deltaScreen.Length();
+      if (dist >= 0.058f * io.DisplaySize.x && dist < 0.062f * io.DisplaySize.x)
+         type = ROTATE_SCREEN;
+
+      const vec_t planNormals[] = { gContext.mModel.v.right, gContext.mModel.v.up, gContext.mModel.v.dir};
+
+      for (unsigned int i = 0; i < 3 && type == NONE; i++)
+      {
+         // pickup plan
+         vec_t pickupPlan = BuildPlan(gContext.mModel.v.position, planNormals[i]);
+
+         const float len = IntersectRayPlane(gContext.mRayOrigin, gContext.mRayVector, pickupPlan);
+         vec_t localPos = gContext.mRayOrigin + gContext.mRayVector * len - gContext.mModel.v.position;
+
+         if (Dot(Normalized(localPos), gContext.mRayVector) > FLT_EPSILON)
+            continue;
+
+         float distance = localPos.Length() / gContext.mScreenFactor;
+         if (distance > 0.9f && distance < 1.1f)
+            type = ROTATE_X + i;
+      }
+      
+      return type;
+   }
+
+   static int GetMoveType(vec_t *gizmoHitProportion)
+   {
+      ImGuiIO& io = ImGui::GetIO();
+      int type = NONE;
+
+      // screen
+      if (io.MousePos.x >= gContext.mScreenSquareMin.x && io.MousePos.x <= gContext.mScreenSquareMax.x &&
+         io.MousePos.y >= gContext.mScreenSquareMin.y && io.MousePos.y <= gContext.mScreenSquareMax.y)
+         type = MOVE_SCREEN;
+
+      const vec_t direction[3] = { gContext.mModel.v.right, gContext.mModel.v.up, gContext.mModel.v.dir };
+
+      // compute
+      for (unsigned int i = 0; i < 3 && type == NONE; i++)
+      {
+         vec_t dirPlaneX, dirPlaneY;
+         bool belowAxisLimit, belowPlaneLimit;
+         ComputeTripodAxisAndVisibility(i, dirPlaneX, dirPlaneY, belowAxisLimit, belowPlaneLimit);
+         dirPlaneX.TransformVector(gContext.mModel);
+         dirPlaneY.TransformVector(gContext.mModel);
+
+         const int planNormal = (i + 2) % 3;
+
+         const float len = IntersectRayPlane(gContext.mRayOrigin, gContext.mRayVector, BuildPlan(gContext.mModel.v.position, direction[planNormal]));
+         vec_t posOnPlan = gContext.mRayOrigin + gContext.mRayVector * len;
+
+         const float dx = dirPlaneX.Dot3((posOnPlan - gContext.mModel.v.position) * (1.f / gContext.mScreenFactor));
+         const float dy = dirPlaneY.Dot3((posOnPlan - gContext.mModel.v.position) * (1.f / gContext.mScreenFactor));
+         if (belowAxisLimit && dy > -0.1f && dy < 0.1f && dx > 0.1f  && dx < 1.f)
+            type = MOVE_X + i;
+
+         if (belowPlaneLimit && dx >= quadUV[0] && dx <= quadUV[4] && dy >= quadUV[1] && dy <= quadUV[3])
+            type = MOVE_XY + i;
+
+         if (gizmoHitProportion)
+            *gizmoHitProportion = makeVect(dx, dy, 0.f);
+      }
+      return type;
+   }
+
+   static void HandleTranslation(float *matrix, float *deltaMatrix, int& type, float *snap)
+   {
+      ImGuiIO& io = ImGui::GetIO();
+      bool applyRotationLocaly = gContext.mMode == LOCAL || type == MOVE_SCREEN;
+
+      // move
+      if (gContext.mbUsing)
+      {
+         const float len = IntersectRayPlane(gContext.mRayOrigin, gContext.mRayVector, gContext.mTranslationPlan);
+         vec_t newPos = gContext.mRayOrigin + gContext.mRayVector * len;
+
+         // compute delta
+         vec_t newOrigin = newPos - gContext.mRelativeOrigin * gContext.mScreenFactor;
+         vec_t delta = newOrigin - gContext.mModel.v.position;
+         
+         // 1 axis constraint
+         if (gContext.mCurrentOperation >= MOVE_X && gContext.mCurrentOperation <= MOVE_Z)
+         {
+            int axisIndex = gContext.mCurrentOperation - MOVE_X;
+            const vec_t& axisValue = *(vec_t*)&gContext.mModel.m[axisIndex];
+            float lengthOnAxis = Dot(axisValue, delta);
+            delta = axisValue * lengthOnAxis;
+         }
+
+         // snap
+         if (snap)
+         {
+            vec_t cumulativeDelta = gContext.mModel.v.position + delta - gContext.mMatrixOrigin;
+            if (applyRotationLocaly)
+            {
+               matrix_t modelSourceNormalized = gContext.mModelSource;
+               modelSourceNormalized.OrthoNormalize();
+               matrix_t modelSourceNormalizedInverse;
+               modelSourceNormalizedInverse.Inverse(modelSourceNormalized);
+               cumulativeDelta.TransformVector(modelSourceNormalizedInverse);
+               ComputeSnap(cumulativeDelta, snap);
+               cumulativeDelta.TransformVector(modelSourceNormalized);
+            }
+            else
+            {
+               ComputeSnap(cumulativeDelta, snap);
+            }
+            delta = gContext.mMatrixOrigin + cumulativeDelta - gContext.mModel.v.position;
+
+         }
+
+         // compute matrix & delta
+         matrix_t deltaMatrixTranslation;
+         deltaMatrixTranslation.Translation(delta);
+         if (deltaMatrix)
+            memcpy(deltaMatrix, deltaMatrixTranslation.m16, sizeof(float) * 16);
+
+
+         matrix_t res = gContext.mModelSource * deltaMatrixTranslation;
+         *(matrix_t*)matrix = res;
+
+         if (!io.MouseDown[0])
+            gContext.mbUsing = false;
+
+         type = gContext.mCurrentOperation;
+      }
+      else
+      {
+         // find new possible way to move
+         vec_t gizmoHitProportion;
+         type = GetMoveType(&gizmoHitProportion);
+         if (io.MouseDown[0] && type != NONE)
+         {
+            gContext.mbUsing = true;
+            gContext.mCurrentOperation = type;
+            const vec_t movePlanNormal[] = { gContext.mModel.v.up, gContext.mModel.v.dir, gContext.mModel.v.right, gContext.mModel.v.dir, gContext.mModel.v.right, gContext.mModel.v.up, -gContext.mCameraDir };
+            // pickup plan
+            gContext.mTranslationPlan = BuildPlan(gContext.mModel.v.position, movePlanNormal[type - MOVE_X]);
+            const float len = IntersectRayPlane(gContext.mRayOrigin, gContext.mRayVector, gContext.mTranslationPlan);
+            gContext.mTranslationPlanOrigin = gContext.mRayOrigin + gContext.mRayVector * len;
+            gContext.mMatrixOrigin = gContext.mModel.v.position;
+
+            gContext.mRelativeOrigin = (gContext.mTranslationPlanOrigin - gContext.mModel.v.position) * (1.f / gContext.mScreenFactor);
+         }
+      }
+   }
+
+   static void HandleScale(float *matrix, float *deltaMatrix, int& type, float *snap)
+   {
+      ImGuiIO& io = ImGui::GetIO();
+
+      if (!gContext.mbUsing)
+      {
+         // find new possible way to scale
+         type = GetScaleType();
+         if (io.MouseDown[0] && type != NONE)
+         {
+            gContext.mbUsing = true;
+            gContext.mCurrentOperation = type;
+            const vec_t movePlanNormal[] = { gContext.mModel.v.up, gContext.mModel.v.dir, gContext.mModel.v.right, gContext.mModel.v.dir, gContext.mModel.v.up, gContext.mModel.v.right, -gContext.mCameraDir };
+            // pickup plan
+
+            gContext.mTranslationPlan = BuildPlan(gContext.mModel.v.position, movePlanNormal[type - SCALE_X]);
+            const float len = IntersectRayPlane(gContext.mRayOrigin, gContext.mRayVector, gContext.mTranslationPlan);
+            gContext.mTranslationPlanOrigin = gContext.mRayOrigin + gContext.mRayVector * len;
+            gContext.mMatrixOrigin = gContext.mModel.v.position;
+            gContext.mScale.Set(1.f, 1.f, 1.f);
+            gContext.mRelativeOrigin = (gContext.mTranslationPlanOrigin - gContext.mModel.v.position) * (1.f / gContext.mScreenFactor);
+            gContext.mScaleValueOrigin = makeVect(gContext.mModelSource.v.right.Length(), gContext.mModelSource.v.up.Length(), gContext.mModelSource.v.dir.Length());
+            gContext.mSaveMousePosx = io.MousePos.x;
+         }
+      }
+      // scale
+      if (gContext.mbUsing)
+      {
+         const float len = IntersectRayPlane(gContext.mRayOrigin, gContext.mRayVector, gContext.mTranslationPlan);
+         vec_t newPos = gContext.mRayOrigin + gContext.mRayVector * len;
+         vec_t newOrigin = newPos - gContext.mRelativeOrigin * gContext.mScreenFactor;
+         vec_t delta = newOrigin - gContext.mModel.v.position;
+         
+         // 1 axis constraint
+         if (gContext.mCurrentOperation >= SCALE_X && gContext.mCurrentOperation <= SCALE_Z)
+         {
+            int axisIndex = gContext.mCurrentOperation - SCALE_X;
+            const vec_t& axisValue = *(vec_t*)&gContext.mModel.m[axisIndex];
+            float lengthOnAxis = Dot(axisValue, delta);
+            delta = axisValue * lengthOnAxis;
+
+            vec_t baseVector = gContext.mTranslationPlanOrigin - gContext.mModel.v.position;
+            float ratio = Dot(axisValue, baseVector + delta) / Dot(axisValue, baseVector);
+               
+            gContext.mScale[axisIndex] = max(ratio, 0.001f);
+         }
+         else
+         {			
+            float scaleDelta = (io.MousePos.x - gContext.mSaveMousePosx)  * 0.01f;
+            gContext.mScale.Set(max(1.f + scaleDelta, 0.001f));
+         }
+
+         // snap
+         if (snap)
+         {
+            float scaleSnap[] = { snap[0], snap[0], snap[0] };
+            ComputeSnap(gContext.mScale, scaleSnap);
+         }
+
+         // no 0 allowed
+         for (int i = 0; i < 3;i++)
+            gContext.mScale[i] = max(gContext.mScale[i], 0.001f);
+
+         // compute matrix & delta
+         matrix_t deltaMatrixScale;
+         deltaMatrixScale.Scale(gContext.mScale * gContext.mScaleValueOrigin);
+         
+         matrix_t res = deltaMatrixScale * gContext.mModel;
+         *(matrix_t*)matrix = res;
+         
+         if (deltaMatrix)
+         {
+            deltaMatrixScale.Scale(gContext.mScale);
+            memcpy(deltaMatrix, deltaMatrixScale.m16, sizeof(float) * 16);
+         }
+
+         if (!io.MouseDown[0])
+            gContext.mbUsing = false;
+
+         type = gContext.mCurrentOperation;
+      }
+   }
+
+   static void HandleRotation(float *matrix, float *deltaMatrix, int& type, float *snap)
+   {
+      ImGuiIO& io = ImGui::GetIO();
+      bool applyRotationLocaly = gContext.mMode == LOCAL;
+
+      if (!gContext.mbUsing)
+      {
+         type = GetRotateType();
+      
+         if (type == ROTATE_SCREEN)
+         {
+            applyRotationLocaly = true;
+         }
+            
+         if (io.MouseDown[0] && type != NONE)
+         {
+            gContext.mbUsing = true;
+            gContext.mCurrentOperation = type;
+            const vec_t rotatePlanNormal[] = { gContext.mModel.v.right, gContext.mModel.v.up, gContext.mModel.v.dir, -gContext.mCameraDir };
+            // pickup plan
+            if (applyRotationLocaly)
+            {
+               gContext.mTranslationPlan = BuildPlan(gContext.mModel.v.position, rotatePlanNormal[type - ROTATE_X]);
+            }
+            else
+            {
+               gContext.mTranslationPlan = BuildPlan(gContext.mModelSource.v.position, directionUnary[type - ROTATE_X]);
+            }
+
+            const float len = IntersectRayPlane(gContext.mRayOrigin, gContext.mRayVector, gContext.mTranslationPlan);
+            vec_t localPos = gContext.mRayOrigin + gContext.mRayVector * len - gContext.mModel.v.position;
+            gContext.mRotationVectorSource = Normalized(localPos);
+            gContext.mRotationAngleOrigin = ComputeAngleOnPlan();
+         }
+      }
+
+      // rotation
+      if (gContext.mbUsing)
+      {
+         gContext.mRotationAngle = ComputeAngleOnPlan();
+         if (snap)
+         {
+            float snapInRadian = snap[0] * DEG2RAD;
+            ComputeSnap(&gContext.mRotationAngle, &snapInRadian);
+         }
+         vec_t rotationAxisLocalSpace;
+         
+         rotationAxisLocalSpace.TransformVector(makeVect(gContext.mTranslationPlan.x, gContext.mTranslationPlan.y, gContext.mTranslationPlan.z, 0.f), gContext.mModelInverse);
+         rotationAxisLocalSpace.Normalize();
+
+         matrix_t deltaRotation;
+         deltaRotation.RotationAxis(rotationAxisLocalSpace, gContext.mRotationAngle - gContext.mRotationAngleOrigin);
+         gContext.mRotationAngleOrigin = gContext.mRotationAngle;
+
+         matrix_t scaleOrigin;
+         scaleOrigin.Scale(gContext.mModelScaleOrigin);
+         
+         if (applyRotationLocaly)
+         {
+            *(matrix_t*)matrix = scaleOrigin * deltaRotation * gContext.mModel;
+         }
+         else
+         {
+            matrix_t res = gContext.mModelSource;
+            res.v.position.Set(0.f);
+
+            *(matrix_t*)matrix = res * deltaRotation;
+            ((matrix_t*)matrix)->v.position = gContext.mModelSource.v.position;
+         }
+
+         if (deltaMatrix)
+         {
+            *(matrix_t*)deltaMatrix = gContext.mModelInverse * deltaRotation * gContext.mModel;
+         }
+
+         if (!io.MouseDown[0])
+            gContext.mbUsing = false;
+
+         type = gContext.mCurrentOperation;
+      }
+   }
+
+   void DecomposeMatrixToComponents(const float *matrix, float *translation, float *rotation, float *scale)
+   {
+      matrix_t mat = *(matrix_t*)matrix;
+
+      scale[0] = mat.v.right.Length();
+      scale[1] = mat.v.up.Length();
+      scale[2] = mat.v.dir.Length(); 
+
+      mat.OrthoNormalize();
+
+      rotation[0] = RAD2DEG * atan2f(mat.m[1][2], mat.m[2][2]);
+      rotation[1] = RAD2DEG * atan2f(-mat.m[0][2], sqrtf(mat.m[1][2] * mat.m[1][2] + mat.m[2][2]* mat.m[2][2]));
+      rotation[2] = RAD2DEG * atan2f(mat.m[0][1], mat.m[0][0]);
+
+      translation[0] = mat.v.position.x;
+      translation[1] = mat.v.position.y;
+      translation[2] = mat.v.position.z;
+   }
+
+   void RecomposeMatrixFromComponents(const float *translation, const float *rotation, const float *scale, float *matrix)
+   {
+      matrix_t& mat = *(matrix_t*)matrix;
+
+      matrix_t rot[3];
+      for (int i = 0; i < 3;i++)
+         rot[i].RotationAxis(directionUnary[i], rotation[i] * DEG2RAD);
+
+      mat = rot[0] * rot[1] * rot[2];
+
+      float validScale[3];
+      for (int i = 0; i < 3; i++)
+      {
+         if (fabsf(scale[i]) < FLT_EPSILON)
+            validScale[i] = 0.001f;
+         else
+            validScale[i] = scale[i];
+      }
+      mat.v.right *= validScale[0];
+      mat.v.up *= validScale[1];
+      mat.v.dir *= validScale[2];
+      mat.v.position.Set(translation[0], translation[1], translation[2], 1.f);
+   }
+
+   void Manipulate(const float *view, const float *projection, OPERATION operation, MODE mode, float *matrix, float *deltaMatrix, float *snap)
+   {
+      ComputeContext(view, projection, matrix, mode);
+
+      // set delta to identity 
+      if (deltaMatrix)
+         ((matrix_t*)deltaMatrix)->SetToIdentity();
+
+      // behind camera
+      vec_t camSpacePosition;
+      camSpacePosition.TransformPoint(makeVect(0.f, 0.f, 0.f), gContext.mMVP);
+      if (camSpacePosition.z < 0.001f)
+         return;
+
+      // -- 
+      int type = NONE;
+      if (gContext.mbEnable)
+      {
+         switch (operation)
+         {
+         case ROTATE:
+            HandleRotation(matrix, deltaMatrix, type, snap);
+            break;
+         case TRANSLATE:
+            HandleTranslation(matrix, deltaMatrix, type, snap);
+            break;
+         case SCALE:
+            HandleScale(matrix, deltaMatrix, type, snap);
+            break;
+         }
+      }
+
+      switch (operation)
+      {
+      case ROTATE:
+         DrawRotationGizmo(type);
+         break;
+      case TRANSLATE:
+         DrawTranslationGizmo(type);
+         break;
+      case SCALE:
+         DrawScaleGizmo(type);
+         break;
+      }
+   }
+
+   void DrawCube(const float *view, const float *projection, float *matrix)
+   {
+      matrix_t viewInverse;
+      viewInverse.Inverse(*(matrix_t*)view);
+      const matrix_t& model = *(matrix_t*)matrix;
+      matrix_t res = *(matrix_t*)matrix * *(matrix_t*)view * *(matrix_t*)projection;
+
+      for (int iFace = 0; iFace < 6; iFace++)
+      {
+         const int normalIndex = (iFace % 3);
+         const int perpXIndex = (normalIndex + 1) % 3;
+         const int perpYIndex = (normalIndex + 2) % 3;
+         const float invert = (iFace > 2) ? -1.f : 1.f;
+         
+         const vec_t faceCoords[4] = { directionUnary[normalIndex] + directionUnary[perpXIndex] + directionUnary[perpYIndex],
+            directionUnary[normalIndex] + directionUnary[perpXIndex] - directionUnary[perpYIndex],
+            directionUnary[normalIndex] - directionUnary[perpXIndex] - directionUnary[perpYIndex],
+            directionUnary[normalIndex] - directionUnary[perpXIndex] + directionUnary[perpYIndex],
+         };
+
+         // clipping
+         bool skipFace = false;
+         for (unsigned int iCoord = 0; iCoord < 4; iCoord++)
+         {
+            vec_t camSpacePosition;
+            camSpacePosition.TransformPoint(faceCoords[iCoord] * 0.5f * invert, gContext.mMVP);
+            if (camSpacePosition.z < 0.001f)
+            {
+               skipFace = true;
+               break;
+            }
+         }
+         if (skipFace)
+            continue;
+
+         // 3D->2D
+         ImVec2 faceCoordsScreen[4];
+         for (unsigned int iCoord = 0; iCoord < 4; iCoord++)
+            faceCoordsScreen[iCoord] = worldToPos(faceCoords[iCoord] * 0.5f * invert, res);
+
+         // back face culling 
+         vec_t cullPos, cullNormal;
+         cullPos.TransformPoint(faceCoords[0] * 0.5f * invert, model);
+         cullNormal.TransformVector(directionUnary[normalIndex] * invert, model);
+         float dt = Dot(Normalized(cullPos - viewInverse.v.position), Normalized(cullNormal));
+         if (dt>0.f)
+            continue;
+
+         // draw face with lighter color
+         gContext.mDrawList->AddConvexPolyFilled(faceCoordsScreen, 4, directionColor[normalIndex] | 0x808080, true);
+      }
+   }
 };