🎥 OpenGL Mathematics (glm) for C

A highly optimized 2D|3D math library. Also known as OpenGL Mathematics (glm) for C. cglm provides fast and ergonomic math functions to ease graphics programming. It is community friendly – feel free to report any bugs and issues you face.
If you're using C++, you might want to check out GLM

• Allocation-free
• Header-only
• SIMD-optimized
• API-agnostic

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📚 Documentation

All functions and their parameters are documented above their declaration inside their corresponding headers.
Alternatively, you can read the complete documentation here.

🔨 Building

cglm can be used in it's entirety as a header-only library simply by including cglm/cglm.h. If you wish to link against it instead, it can be built using one of the supported build systems. Detailed information about building on individual platforms and build systems along with the instructions for building the documentation can be found in BUILDING.md.

✅ Usage

Header-only

Include the cglm/cglm.h header and use functions with the glm_ prefix.

#include "cglm/cglm.h"

// ...

vec2 vector;
glm_vec2_zero(vector);

Struct API

Include cglm/struct.h and use glms_.

#include "cglm/struct.h"

// ...

vec2s vector = glms_vec2_zero();

Linked

Include cglm/call.h and use glmc_.

#include "cglm/call.h"

// ...

vec2 vector;
glmc_vec2_zero(vector);

❗ Alignment

While cglm by default aligns what's necessary, it is possible to disable this by defining CGLM_ALL_UNALIGNED. If you're targeting machines with any kind of SIMD support, make sure that all vec4, mat4 and mat2 arguments you pass to cglm functions are aligned to prevent unexpected crashes, alternatively use the unaligned versions if present.

Struct API

The struct API works as follows (note the s suffix on types, glms_ prefix on functions and GLMS_ on constants):

#include <cglm/struct.h>

mat4s mat = GLMS_MAT4_IDENTITY_INIT;
mat4s inv = glms_mat4_inv(mat);

Struct functions generally take parameters by copy and return the results rather than taking pointers and writing to out parameters. That means your variables can usually be const, if you're into that.

The types used are actually unions that allow access to the same data in multiple ways. One of these involves anonymous structures available since C11. MSVC supports them in earlier versions out of the box and GCC/Clang as well if you enable -fms-extensions. To explicitly enable anonymous structures #define CGLM_USE_ANONYMOUS_STRUCT 1, or 0 to disable them. For backwards compatibility, you can also #define CGLM_NO_ANONYMOUS_STRUCT to disable them. If you don't specify explicitly, cglm will attempt a best guess based on your compiler and C version.

📌 Migration notes:

• _dup (duplicate) functions were renamed to _copy. For instance: glm_vec_dup -> glm_vec3_copy.
• OpenGL related functions were dropped to make cglm API independent.
• [bugfix] Euler angles had been previously implemented in reverse order (extrinsic). This was fixed to be intrinsic.
• [major change] Starting with v0.4.0, quaternions are stored as [x, y, z, w]. Previously it was [w, x, y, z].
• [api rename] Starting with v0.4.5, glm_simd_ functions are renamed to glmm_.
• [new option] Starting with v0.4.5, alignment requirements can be disabled. Read more in the documentation.
• [major change] Starting with v0.5.0, vec3 functions occupy the glm_vec3_ namespace. This used to be glm_vec_ in earlier versions.
• [major change] Starting with v0.5.1, vec3 and mat3 types are not aligned by default.
• [major change] Starting with v0.7.3, inline print functions are disabled by default in release mode to eliminate printing costs (see the Options chapter of the docs).
  Colored output can be disabled (see documentation).
• [major change] Starting with v0.8.3, alternate clipspace configurations are supported. The CGLM_FORCE_DEPTH_ZERO_TO_ONE and CGLM_FORCE_LEFT_HANDED flags are provided to control clip depth and handedness. This makes it easier to incorporate cglm into projects using graphics APIs such as Vulkan or Metal. See https://cglm.readthedocs.io/en/latest/opt.html#clipspace-option-s

🚀 Features

• scalar and simd (sse, avx, neon...) optimizations
• general purpose matrix operations (mat4, mat3)
• chain matrix multiplication (square only)
• general purpose vector operations (cross, dot, rotate, proj, angle...)
• affine transformations
• matrix decomposition (extract rotation, scaling factor)
• optimized affine transform matrices (mul, rigid-body inverse)
• camera (lookat)
• projections (ortho, perspective)
• quaternions
• euler angles / yaw-pitch-roll to matrix
• extract euler angles
• frustum (extract view frustum planes, corners...)
• bounding box (AABB in Frustum (culling), crop, merge...)
• bounding sphere
• project, unproject
• easing functions
• curves
• curve interpolation helpers (SMC, deCasteljau...)
• comversion helpers from cglm types to Apple's simd library to pass cglm types to Metal GL without packing them on both sides
• ray intersection helpers

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Like other graphics libraries (especially OpenGL), cglm uses column-major layout to keep matrices in memory.   While we might support row-major matrices in the future, currently if you need your matrices to be in row-major layout you have to transpose them.

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cglm contains general purpose mat4 product and inverse functions but also provides optimized versions for affine transformations. If you want to multiply two affine transformation matrices you can use glm_mul instead of glm_mat4_mul and glm_inv_tr (ROT + TR) instead glm_mat4_inv.

/* multiplication */
mat4 modelMat;
glm_mul(T, R, modelMat);

/* othonormal rot + tr matrix inverse (rigid-body) */
glm_inv_tr(modelMat);

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