Reorder some functions
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raysan5
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src/raymath.h
131
src/raymath.h
@ -795,6 +795,32 @@ RMDEF Matrix MatrixSubtract(Matrix left, Matrix right)
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return result;
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}
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// Returns two matrix multiplication
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// NOTE: When multiplying matrices... the order matters!
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RMDEF Matrix MatrixMultiply(Matrix left, Matrix right)
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{
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Matrix result = { 0 };
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result.m0 = left.m0*right.m0 + left.m1*right.m4 + left.m2*right.m8 + left.m3*right.m12;
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result.m1 = left.m0*right.m1 + left.m1*right.m5 + left.m2*right.m9 + left.m3*right.m13;
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result.m2 = left.m0*right.m2 + left.m1*right.m6 + left.m2*right.m10 + left.m3*right.m14;
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result.m3 = left.m0*right.m3 + left.m1*right.m7 + left.m2*right.m11 + left.m3*right.m15;
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result.m4 = left.m4*right.m0 + left.m5*right.m4 + left.m6*right.m8 + left.m7*right.m12;
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result.m5 = left.m4*right.m1 + left.m5*right.m5 + left.m6*right.m9 + left.m7*right.m13;
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result.m6 = left.m4*right.m2 + left.m5*right.m6 + left.m6*right.m10 + left.m7*right.m14;
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result.m7 = left.m4*right.m3 + left.m5*right.m7 + left.m6*right.m11 + left.m7*right.m15;
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result.m8 = left.m8*right.m0 + left.m9*right.m4 + left.m10*right.m8 + left.m11*right.m12;
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result.m9 = left.m8*right.m1 + left.m9*right.m5 + left.m10*right.m9 + left.m11*right.m13;
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result.m10 = left.m8*right.m2 + left.m9*right.m6 + left.m10*right.m10 + left.m11*right.m14;
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result.m11 = left.m8*right.m3 + left.m9*right.m7 + left.m10*right.m11 + left.m11*right.m15;
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result.m12 = left.m12*right.m0 + left.m13*right.m4 + left.m14*right.m8 + left.m15*right.m12;
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result.m13 = left.m12*right.m1 + left.m13*right.m5 + left.m14*right.m9 + left.m15*right.m13;
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result.m14 = left.m12*right.m2 + left.m13*right.m6 + left.m14*right.m10 + left.m15*right.m14;
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result.m15 = left.m12*right.m3 + left.m13*right.m7 + left.m14*right.m11 + left.m15*right.m15;
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return result;
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}
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// Returns translation matrix
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RMDEF Matrix MatrixTranslate(float x, float y, float z)
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{
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@ -851,45 +877,6 @@ RMDEF Matrix MatrixRotate(Vector3 axis, float angle)
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return result;
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}
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// Returns xyz-rotation matrix (angles in radians)
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RMDEF Matrix MatrixRotateXYZ(Vector3 ang)
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{
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Matrix result = MatrixIdentity();
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float cosz = cosf(-ang.z);
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float sinz = sinf(-ang.z);
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float cosy = cosf(-ang.y);
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float siny = sinf(-ang.y);
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float cosx = cosf(-ang.x);
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float sinx = sinf(-ang.x);
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result.m0 = cosz * cosy;
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result.m4 = (cosz * siny * sinx) - (sinz * cosx);
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result.m8 = (cosz * siny * cosx) + (sinz * sinx);
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result.m1 = sinz * cosy;
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result.m5 = (sinz * siny * sinx) + (cosz * cosx);
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result.m9 = (sinz * siny * cosx) - (cosz * sinx);
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result.m2 = -siny;
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result.m6 = cosy * sinx;
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result.m10= cosy * cosx;
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return result;
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}
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// Returns zyx-rotation matrix (angles in radians)
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// TODO: This solution is suboptimal, it should be possible to create this matrix in one go
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// instead of using a 3 matrix multiplication
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RMDEF Matrix MatrixRotateZYX(Vector3 ang)
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{
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Matrix result = MatrixRotateZ(ang.z);
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result = MatrixMultiply(result, MatrixRotateY(ang.y));
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result = MatrixMultiply(result, MatrixRotateX(ang.x));
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return result;
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}
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// Returns x-rotation matrix (angle in radians)
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RMDEF Matrix MatrixRotateX(float angle)
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{
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@ -938,6 +925,46 @@ RMDEF Matrix MatrixRotateZ(float angle)
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return result;
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}
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// Returns xyz-rotation matrix (angles in radians)
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RMDEF Matrix MatrixRotateXYZ(Vector3 ang)
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{
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Matrix result = MatrixIdentity();
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float cosz = cosf(-ang.z);
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float sinz = sinf(-ang.z);
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float cosy = cosf(-ang.y);
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float siny = sinf(-ang.y);
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float cosx = cosf(-ang.x);
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float sinx = sinf(-ang.x);
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result.m0 = cosz * cosy;
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result.m4 = (cosz * siny * sinx) - (sinz * cosx);
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result.m8 = (cosz * siny * cosx) + (sinz * sinx);
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result.m1 = sinz * cosy;
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result.m5 = (sinz * siny * sinx) + (cosz * cosx);
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result.m9 = (sinz * siny * cosx) - (cosz * sinx);
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result.m2 = -siny;
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result.m6 = cosy * sinx;
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result.m10= cosy * cosx;
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return result;
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}
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// Returns zyx-rotation matrix (angles in radians)
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// TODO: This solution is suboptimal, it should be possible to create this matrix in one go
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// instead of using a 3 matrix multiplication
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RMDEF Matrix MatrixRotateZYX(Vector3 ang)
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{
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Matrix result = MatrixRotateZ(ang.z);
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result = MatrixMultiply(result, MatrixRotateY(ang.y));
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result = MatrixMultiply(result, MatrixRotateX(ang.x));
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return result;
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}
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// Returns scaling matrix
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RMDEF Matrix MatrixScale(float x, float y, float z)
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{
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@ -949,32 +976,6 @@ RMDEF Matrix MatrixScale(float x, float y, float z)
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return result;
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}
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// Returns two matrix multiplication
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// NOTE: When multiplying matrices... the order matters!
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RMDEF Matrix MatrixMultiply(Matrix left, Matrix right)
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{
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Matrix result = { 0 };
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result.m0 = left.m0*right.m0 + left.m1*right.m4 + left.m2*right.m8 + left.m3*right.m12;
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result.m1 = left.m0*right.m1 + left.m1*right.m5 + left.m2*right.m9 + left.m3*right.m13;
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result.m2 = left.m0*right.m2 + left.m1*right.m6 + left.m2*right.m10 + left.m3*right.m14;
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result.m3 = left.m0*right.m3 + left.m1*right.m7 + left.m2*right.m11 + left.m3*right.m15;
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result.m4 = left.m4*right.m0 + left.m5*right.m4 + left.m6*right.m8 + left.m7*right.m12;
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result.m5 = left.m4*right.m1 + left.m5*right.m5 + left.m6*right.m9 + left.m7*right.m13;
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result.m6 = left.m4*right.m2 + left.m5*right.m6 + left.m6*right.m10 + left.m7*right.m14;
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result.m7 = left.m4*right.m3 + left.m5*right.m7 + left.m6*right.m11 + left.m7*right.m15;
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result.m8 = left.m8*right.m0 + left.m9*right.m4 + left.m10*right.m8 + left.m11*right.m12;
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result.m9 = left.m8*right.m1 + left.m9*right.m5 + left.m10*right.m9 + left.m11*right.m13;
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result.m10 = left.m8*right.m2 + left.m9*right.m6 + left.m10*right.m10 + left.m11*right.m14;
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result.m11 = left.m8*right.m3 + left.m9*right.m7 + left.m10*right.m11 + left.m11*right.m15;
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result.m12 = left.m12*right.m0 + left.m13*right.m4 + left.m14*right.m8 + left.m15*right.m12;
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result.m13 = left.m12*right.m1 + left.m13*right.m5 + left.m14*right.m9 + left.m15*right.m13;
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result.m14 = left.m12*right.m2 + left.m13*right.m6 + left.m14*right.m10 + left.m15*right.m14;
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result.m15 = left.m12*right.m3 + left.m13*right.m7 + left.m14*right.m11 + left.m15*right.m15;
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return result;
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}
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// Returns perspective projection matrix
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RMDEF Matrix MatrixFrustum(double left, double right, double bottom, double top, double near, double far)
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{
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