raymath.h

/**********************************************************************************************
 *
 *   raymath v1.5 - Math functions to work with Vector2, Vector3, Matrix and
 *Quaternions
 *
 *   CONVENTIONS:
 *     - Matrix structure is defined as row-major (memory layout) but parameters
 *naming AND all math operations performed by the library consider the structure
 *as it was column-major It is like transposed versions of the matrices are used
 *for all the maths It benefits some functions making them cache-friendly and
 *also avoids matrix transpositions sometimes required by OpenGL Example: In
 *memory order, row0 is [m0 m4 m8 m12] but in semantic math row0 is [m0 m1 m2
 *m3]
 *     - Functions are always self-contained, no function use another raymath
 *function inside, required code is directly re-implemented inside
 *     - Functions input parameters are always received by value (2 unavoidable
 *exceptions)
 *     - Functions use always a "result" variable for return
 *     - Functions are always defined inline
 *     - Angles are always in radians (DEG2RAD/RAD2DEG macros provided for
 *convenience)
 *     - No compound literals used to make sure libray is compatible with C++
 *
 *   CONFIGURATION:
 *       #define RAYMATH_IMPLEMENTATION
 *           Generates the implementation of the library into the included file.
 *           If not defined, the library is in header only mode and can be
 *included in other headers or source files without problems. But only ONE file
 *should hold the implementation.
 *
 *       #define RAYMATH_STATIC_INLINE
 *           Define static inline functions code, so #include header suffices
 *for use. This may use up lots of memory.
 *
 *
 *   LICENSE: zlib/libpng
 *
 *   Copyright (c) 2015-2023 Ramon Santamaria (@raysan5)
 *
 *   This software is provided "as-is", without any express or implied warranty.
 *In no event will the authors be held liable for any damages arising from the
 *use of this software.
 *
 *   Permission is granted to anyone to use this software for any purpose,
 *including commercial applications, and to alter it and redistribute it freely,
 *subject to the following restrictions:
 *
 *     1. The origin of this software must not be misrepresented; you must not
 *claim that you wrote the original software. If you use this software in a
 *product, an acknowledgment in the product documentation would be appreciated
 *but is not required.
 *
 *     2. Altered source versions must be plainly marked as such, and must not
 *be misrepresented as being the original software.
 *
 *     3. This notice may not be removed or altered from any source
 *distribution.
 *
 **********************************************************************************************/

#ifndef RAYMATH_H
#define RAYMATH_H

#if defined(RAYMATH_IMPLEMENTATION) && defined(RAYMATH_STATIC_INLINE)
#error                                                                         \
    "Specifying both RAYMATH_IMPLEMENTATION and RAYMATH_STATIC_INLINE is contradictory"
#endif

// Function specifiers definition
#if defined(RAYMATH_IMPLEMENTATION)
#if defined(_WIN32) && defined(BUILD_LIBTYPE_SHARED)
#define RMAPI                                                                  \
  __declspec(dllexport) extern inline // We are building raylib as a Win32
                                      // shared library (.dll).
#elif defined(_WIN32) && defined(USE_LIBTYPE_SHARED)
#define RMAPI                                                                  \
  __declspec(dllimport) // We are using raylib as a Win32 shared library (.dll)
#else
#define RMAPI extern inline // Provide external definition
#endif
#elif defined(RAYMATH_STATIC_INLINE)
#define RMAPI                                                                  \
  static inline // Functions may be inlined, no external out-of-line definition
#else
#if defined(__TINYC__)
#define RMAPI                                                                  \
  static inline // plain inline not supported by tinycc (See issue #435)
#else
#define RMAPI inline // Functions may be inlined or external definition used
#endif
#endif

//----------------------------------------------------------------------------------
// Defines and Macros
//----------------------------------------------------------------------------------
#ifndef PI
#define PI 3.14159265358979323846f
#endif

#ifndef EPSILON
#define EPSILON 0.000001f
#endif

#ifndef DEG2RAD
#define DEG2RAD (PI / 180.0f)
#endif

#ifndef RAD2DEG
#define RAD2DEG (180.0f / PI)
#endif

// Get float vector for Matrix
#ifndef MatrixToFloat
#define MatrixToFloat(mat) (MatrixToFloatV(mat).v)
#endif

// Get float vector for Vector3
#ifndef Vector3ToFloat
#define Vector3ToFloat(vec) (Vector3ToFloatV(vec).v)
#endif

//----------------------------------------------------------------------------------
// Types and Structures Definition
//----------------------------------------------------------------------------------
#if !defined(RL_VECTOR2_TYPE)
// Vector2 type
typedef struct Vector2 {
  float x;
  float y;
} Vector2;
#define RL_VECTOR2_TYPE
#endif

#if !defined(RL_VECTOR3_TYPE)
// Vector3 type
typedef struct Vector3 {
  float x;
  float y;
  float z;
} Vector3;
#define RL_VECTOR3_TYPE
#endif

#if !defined(RL_VECTOR4_TYPE)
// Vector4 type
typedef struct Vector4 {
  float x;
  float y;
  float z;
  float w;
} Vector4;
#define RL_VECTOR4_TYPE
#endif

#if !defined(RL_QUATERNION_TYPE)
// Quaternion type
typedef Vector4 Quaternion;
#define RL_QUATERNION_TYPE
#endif

#if !defined(RL_MATRIX_TYPE)
// Matrix type (OpenGL style 4x4 - right handed, column major)
typedef struct Matrix {
  float m0, m4, m8, m12;  // Matrix first row (4 components)
  float m1, m5, m9, m13;  // Matrix second row (4 components)
  float m2, m6, m10, m14; // Matrix third row (4 components)
  float m3, m7, m11, m15; // Matrix fourth row (4 components)
} Matrix;
#define RL_MATRIX_TYPE
#endif

// NOTE: Helper types to be used instead of array return types for *ToFloat
// functions
typedef struct float3 {
  float v[3];
} float3;

typedef struct float16 {
  float v[16];
} float16;

#include <math.h> // Required for: sinf(), cosf(), tan(), atan2f(), sqrtf(), floor(), fminf(), fmaxf(), fabs()

//----------------------------------------------------------------------------------
// Module Functions Definition - Utils math
//----------------------------------------------------------------------------------

// Clamp float value
RMAPI float Clamp(float value, float min, float max) {
  float result = (value < min) ? min : value;

  if (result > max)
    result = max;

  return result;
}

// Calculate linear interpolation between two floats
RMAPI float Lerp(float start, float end, float amount) {
  float result = start + amount * (end - start);

  return result;
}

// Normalize input value within input range
RMAPI float Normalize(float value, float start, float end) {
  float result = (value - start) / (end - start);

  return result;
}

// Remap input value within input range to output range
RMAPI float Remap(float value, float inputStart, float inputEnd,
                  float outputStart, float outputEnd) {
  float result = (value - inputStart) / (inputEnd - inputStart) *
                     (outputEnd - outputStart) +
                 outputStart;

  return result;
}

// Wrap input value from min to max
RMAPI float Wrap(float value, float min, float max) {
  float result = value - (max - min) * floorf((value - min) / (max - min));

  return result;
}

// Check whether two given floats are almost equal
RMAPI int FloatEquals(float x, float y) {
#if !defined(EPSILON)
#define EPSILON 0.000001f
#endif

  int result =
      (fabsf(x - y)) <= (EPSILON * fmaxf(1.0f, fmaxf(fabsf(x), fabsf(y))));

  return result;
}

//----------------------------------------------------------------------------------
// Module Functions Definition - Vector2 math
//----------------------------------------------------------------------------------

// Vector with components value 0.0f
RMAPI Vector2 Vector2Zero(void) {
  Vector2 result = {0.0f, 0.0f};

  return result;
}

// Vector with components value 1.0f
RMAPI Vector2 Vector2One(void) {
  Vector2 result = {1.0f, 1.0f};

  return result;
}

// Add two vectors (v1 + v2)
RMAPI Vector2 Vector2Add(Vector2 v1, Vector2 v2) {
  Vector2 result = {v1.x + v2.x, v1.y + v2.y};

  return result;
}

// Add vector and float value
RMAPI Vector2 Vector2AddValue(Vector2 v, float add) {
  Vector2 result = {v.x + add, v.y + add};

  return result;
}

// Subtract two vectors (v1 - v2)
RMAPI Vector2 Vector2Subtract(Vector2 v1, Vector2 v2) {
  Vector2 result = {v1.x - v2.x, v1.y - v2.y};

  return result;
}

// Subtract vector by float value
RMAPI Vector2 Vector2SubtractValue(Vector2 v, float sub) {
  Vector2 result = {v.x - sub, v.y - sub};

  return result;
}

// Calculate vector length
RMAPI float Vector2Length(Vector2 v) {
  float result = sqrtf((v.x * v.x) + (v.y * v.y));

  return result;
}

// Calculate vector square length
RMAPI float Vector2LengthSqr(Vector2 v) {
  float result = (v.x * v.x) + (v.y * v.y);

  return result;
}

// Calculate two vectors dot product
RMAPI float Vector2DotProduct(Vector2 v1, Vector2 v2) {
  float result = (v1.x * v2.x + v1.y * v2.y);

  return result;
}

// Calculate distance between two vectors
RMAPI float Vector2Distance(Vector2 v1, Vector2 v2) {
  float result =
      sqrtf((v1.x - v2.x) * (v1.x - v2.x) + (v1.y - v2.y) * (v1.y - v2.y));

  return result;
}

// Calculate square distance between two vectors
RMAPI float Vector2DistanceSqr(Vector2 v1, Vector2 v2) {
  float result =
      ((v1.x - v2.x) * (v1.x - v2.x) + (v1.y - v2.y) * (v1.y - v2.y));

  return result;
}

// Calculate angle between two vectors
// NOTE: Angle is calculated from origin point (0, 0)
RMAPI float Vector2Angle(Vector2 v1, Vector2 v2) {
  float result = 0.0f;

  float dot = v1.x * v2.x + v1.y * v2.y;
  float det = v1.x * v2.y - v1.y * v2.x;

  result = atan2f(det, dot);

  return result;
}

// Calculate angle defined by a two vectors line
// NOTE: Parameters need to be normalized
// Current implementation should be aligned with glm::angle
RMAPI float Vector2LineAngle(Vector2 start, Vector2 end) {
  float result = 0.0f;

  // TODO(10/9/2023): Currently angles move clockwise, determine if this is
  // wanted behavior
  result = -atan2f(end.y - start.y, end.x - start.x);

  return result;
}

// Scale vector (multiply by value)
RMAPI Vector2 Vector2Scale(Vector2 v, float scale) {
  Vector2 result = {v.x * scale, v.y * scale};

  return result;
}

// Multiply vector by vector
RMAPI Vector2 Vector2Multiply(Vector2 v1, Vector2 v2) {
  Vector2 result = {v1.x * v2.x, v1.y * v2.y};

  return result;
}

// Negate vector
RMAPI Vector2 Vector2Negate(Vector2 v) {
  Vector2 result = {-v.x, -v.y};

  return result;
}

// Divide vector by vector
RMAPI Vector2 Vector2Divide(Vector2 v1, Vector2 v2) {
  Vector2 result = {v1.x / v2.x, v1.y / v2.y};

  return result;
}

// Normalize provided vector
RMAPI Vector2 Vector2Normalize(Vector2 v) {
  Vector2 result = {0};
  float length = sqrtf((v.x * v.x) + (v.y * v.y));

  if (length > 0) {
    float ilength = 1.0f / length;
    result.x = v.x * ilength;
    result.y = v.y * ilength;
  }

  return result;
}

// Transforms a Vector2 by a given Matrix
RMAPI Vector2 Vector2Transform(Vector2 v, Matrix mat) {
  Vector2 result = {0};

  float x = v.x;
  float y = v.y;
  float z = 0;

  result.x = mat.m0 * x + mat.m4 * y + mat.m8 * z + mat.m12;
  result.y = mat.m1 * x + mat.m5 * y + mat.m9 * z + mat.m13;

  return result;
}

// Calculate linear interpolation between two vectors
RMAPI Vector2 Vector2Lerp(Vector2 v1, Vector2 v2, float amount) {
  Vector2 result = {0};

  result.x = v1.x + amount * (v2.x - v1.x);
  result.y = v1.y + amount * (v2.y - v1.y);

  return result;
}

// Calculate reflected vector to normal
RMAPI Vector2 Vector2Reflect(Vector2 v, Vector2 normal) {
  Vector2 result = {0};

  float dotProduct = (v.x * normal.x + v.y * normal.y); // Dot product

  result.x = v.x - (2.0f * normal.x) * dotProduct;
  result.y = v.y - (2.0f * normal.y) * dotProduct;

  return result;
}

// Rotate vector by angle
RMAPI Vector2 Vector2Rotate(Vector2 v, float angle) {
  Vector2 result = {0};

  float cosres = cosf(angle);
  float sinres = sinf(angle);

  result.x = v.x * cosres - v.y * sinres;
  result.y = v.x * sinres + v.y * cosres;

  return result;
}

// Move Vector towards target
RMAPI Vector2 Vector2MoveTowards(Vector2 v, Vector2 target, float maxDistance) {
  Vector2 result = {0};

  float dx = target.x - v.x;
  float dy = target.y - v.y;
  float value = (dx * dx) + (dy * dy);

  if ((value == 0) ||
      ((maxDistance >= 0) && (value <= maxDistance * maxDistance)))
    return target;

  float dist = sqrtf(value);

  result.x = v.x + dx / dist * maxDistance;
  result.y = v.y + dy / dist * maxDistance;

  return result;
}

// Invert the given vector
RMAPI Vector2 Vector2Invert(Vector2 v) {
  Vector2 result = {1.0f / v.x, 1.0f / v.y};

  return result;
}

// Clamp the components of the vector between
// min and max values specified by the given vectors
RMAPI Vector2 Vector2Clamp(Vector2 v, Vector2 min, Vector2 max) {
  Vector2 result = {0};

  result.x = fminf(max.x, fmaxf(min.x, v.x));
  result.y = fminf(max.y, fmaxf(min.y, v.y));

  return result;
}

// Clamp the magnitude of the vector between two min and max values
RMAPI Vector2 Vector2ClampValue(Vector2 v, float min, float max) {
  Vector2 result = v;

  float length = (v.x * v.x) + (v.y * v.y);
  if (length > 0.0f) {
    length = sqrtf(length);

    if (length < min) {
      float scale = min / length;
      result.x = v.x * scale;
      result.y = v.y * scale;
    } else if (length > max) {
      float scale = max / length;
      result.x = v.x * scale;
      result.y = v.y * scale;
    }
  }

  return result;
}

// Check whether two given vectors are almost equal
RMAPI int Vector2Equals(Vector2 p, Vector2 q) {
#if !defined(EPSILON)
#define EPSILON 0.000001f
#endif

  int result = ((fabsf(p.x - q.x)) <=
                (EPSILON * fmaxf(1.0f, fmaxf(fabsf(p.x), fabsf(q.x))))) &&
               ((fabsf(p.y - q.y)) <=
                (EPSILON * fmaxf(1.0f, fmaxf(fabsf(p.y), fabsf(q.y)))));

  return result;
}

//----------------------------------------------------------------------------------
// Module Functions Definition - Vector3 math
//----------------------------------------------------------------------------------

// Vector with components value 0.0f
RMAPI Vector3 Vector3Zero(void) {
  Vector3 result = {0.0f, 0.0f, 0.0f};

  return result;
}

// Vector with components value 1.0f
RMAPI Vector3 Vector3One(void) {
  Vector3 result = {1.0f, 1.0f, 1.0f};

  return result;
}

// Add two vectors
RMAPI Vector3 Vector3Add(Vector3 v1, Vector3 v2) {
  Vector3 result = {v1.x + v2.x, v1.y + v2.y, v1.z + v2.z};

  return result;
}

// Add vector and float value
RMAPI Vector3 Vector3AddValue(Vector3 v, float add) {
  Vector3 result = {v.x + add, v.y + add, v.z + add};

  return result;
}

// Subtract two vectors
RMAPI Vector3 Vector3Subtract(Vector3 v1, Vector3 v2) {
  Vector3 result = {v1.x - v2.x, v1.y - v2.y, v1.z - v2.z};

  return result;
}

// Subtract vector by float value
RMAPI Vector3 Vector3SubtractValue(Vector3 v, float sub) {
  Vector3 result = {v.x - sub, v.y - sub, v.z - sub};

  return result;
}

// Multiply vector by scalar
RMAPI Vector3 Vector3Scale(Vector3 v, float scalar) {
  Vector3 result = {v.x * scalar, v.y * scalar, v.z * scalar};

  return result;
}

// Multiply vector by vector
RMAPI Vector3 Vector3Multiply(Vector3 v1, Vector3 v2) {
  Vector3 result = {v1.x * v2.x, v1.y * v2.y, v1.z * v2.z};

  return result;
}

// Calculate two vectors cross product
RMAPI Vector3 Vector3CrossProduct(Vector3 v1, Vector3 v2) {
  Vector3 result = {v1.y * v2.z - v1.z * v2.y, v1.z * v2.x - v1.x * v2.z,
                    v1.x * v2.y - v1.y * v2.x};

  return result;
}

// Calculate one vector perpendicular vector
RMAPI Vector3 Vector3Perpendicular(Vector3 v) {
  Vector3 result = {0};

  float min = (float)fabs(v.x);
  Vector3 cardinalAxis = {1.0f, 0.0f, 0.0f};

  if (fabsf(v.y) < min) {
    min = (float)fabs(v.y);
    Vector3 tmp = {0.0f, 1.0f, 0.0f};
    cardinalAxis = tmp;
  }

  if (fabsf(v.z) < min) {
    Vector3 tmp = {0.0f, 0.0f, 1.0f};
    cardinalAxis = tmp;
  }

  // Cross product between vectors
  result.x = v.y * cardinalAxis.z - v.z * cardinalAxis.y;
  result.y = v.z * cardinalAxis.x - v.x * cardinalAxis.z;
  result.z = v.x * cardinalAxis.y - v.y * cardinalAxis.x;

  return result;
}

// Calculate vector length
RMAPI float Vector3Length(const Vector3 v) {
  float result = sqrtf(v.x * v.x + v.y * v.y + v.z * v.z);

  return result;
}

// Calculate vector square length
RMAPI float Vector3LengthSqr(const Vector3 v) {
  float result = v.x * v.x + v.y * v.y + v.z * v.z;

  return result;
}

// Calculate two vectors dot product
RMAPI float Vector3DotProduct(Vector3 v1, Vector3 v2) {
  float result = (v1.x * v2.x + v1.y * v2.y + v1.z * v2.z);

  return result;
}

// Calculate distance between two vectors
RMAPI float Vector3Distance(Vector3 v1, Vector3 v2) {
  float result = 0.0f;

  float dx = v2.x - v1.x;
  float dy = v2.y - v1.y;
  float dz = v2.z - v1.z;
  result = sqrtf(dx * dx + dy * dy + dz * dz);

  return result;
}

// Calculate square distance between two vectors
RMAPI float Vector3DistanceSqr(Vector3 v1, Vector3 v2) {
  float result = 0.0f;

  float dx = v2.x - v1.x;
  float dy = v2.y - v1.y;
  float dz = v2.z - v1.z;
  result = dx * dx + dy * dy + dz * dz;

  return result;
}

// Calculate angle between two vectors
RMAPI float Vector3Angle(Vector3 v1, Vector3 v2) {
  float result = 0.0f;

  Vector3 cross = {v1.y * v2.z - v1.z * v2.y, v1.z * v2.x - v1.x * v2.z,
                   v1.x * v2.y - v1.y * v2.x};
  float len = sqrtf(cross.x * cross.x + cross.y * cross.y + cross.z * cross.z);
  float dot = (v1.x * v2.x + v1.y * v2.y + v1.z * v2.z);
  result = atan2f(len, dot);

  return result;
}

// Negate provided vector (invert direction)
RMAPI Vector3 Vector3Negate(Vector3 v) {
  Vector3 result = {-v.x, -v.y, -v.z};

  return result;
}

// Divide vector by vector
RMAPI Vector3 Vector3Divide(Vector3 v1, Vector3 v2) {
  Vector3 result = {v1.x / v2.x, v1.y / v2.y, v1.z / v2.z};

  return result;
}

// Normalize provided vector
RMAPI Vector3 Vector3Normalize(Vector3 v) {
  Vector3 result = v;

  float length = sqrtf(v.x * v.x + v.y * v.y + v.z * v.z);
  if (length != 0.0f) {
    float ilength = 1.0f / length;

    result.x *= ilength;
    result.y *= ilength;
    result.z *= ilength;
  }

  return result;
}

// Calculate the projection of the vector v1 on to v2
RMAPI Vector3 Vector3Project(Vector3 v1, Vector3 v2) {
  Vector3 result = {0};

  float v1dv2 = (v1.x * v2.x + v1.y * v2.y + v1.z * v2.z);
  float v2dv2 = (v2.x * v2.x + v2.y * v2.y + v2.z * v2.z);

  float mag = v1dv2 / v2dv2;

  result.x = v2.x * mag;
  result.y = v2.y * mag;
  result.z = v2.z * mag;

  return result;
}

// Calculate the rejection of the vector v1 on to v2
RMAPI Vector3 Vector3Reject(Vector3 v1, Vector3 v2) {
  Vector3 result = {0};

  float v1dv2 = (v1.x * v2.x + v1.y * v2.y + v1.z * v2.z);
  float v2dv2 = (v2.x * v2.x + v2.y * v2.y + v2.z * v2.z);

  float mag = v1dv2 / v2dv2;

  result.x = v1.x - (v2.x * mag);
  result.y = v1.y - (v2.y * mag);
  result.z = v1.z - (v2.z * mag);

  return result;
}

// Orthonormalize provided vectors
// Makes vectors normalized and orthogonal to each other
// Gram-Schmidt function implementation
RMAPI void Vector3OrthoNormalize(Vector3 *v1, Vector3 *v2) {
  float length = 0.0f;
  float ilength = 0.0f;

  // Vector3Normalize(*v1);
  Vector3 v = *v1;
  length = sqrtf(v.x * v.x + v.y * v.y + v.z * v.z);
  if (length == 0.0f)
    length = 1.0f;
  ilength = 1.0f / length;
  v1->x *= ilength;
  v1->y *= ilength;
  v1->z *= ilength;

  // Vector3CrossProduct(*v1, *v2)
  Vector3 vn1 = {v1->y * v2->z - v1->z * v2->y, v1->z * v2->x - v1->x * v2->z,
                 v1->x * v2->y - v1->y * v2->x};

  // Vector3Normalize(vn1);
  v = vn1;
  length = sqrtf(v.x * v.x + v.y * v.y + v.z * v.z);
  if (length == 0.0f)
    length = 1.0f;
  ilength = 1.0f / length;
  vn1.x *= ilength;
  vn1.y *= ilength;
  vn1.z *= ilength;

  // Vector3CrossProduct(vn1, *v1)
  Vector3 vn2 = {vn1.y * v1->z - vn1.z * v1->y, vn1.z * v1->x - vn1.x * v1->z,
                 vn1.x * v1->y - vn1.y * v1->x};

  *v2 = vn2;
}

// Transforms a Vector3 by a given Matrix
RMAPI Vector3 Vector3Transform(Vector3 v, Matrix mat) {
  Vector3 result = {0};

  float x = v.x;
  float y = v.y;
  float z = v.z;

  result.x = mat.m0 * x + mat.m4 * y + mat.m8 * z + mat.m12;
  result.y = mat.m1 * x + mat.m5 * y + mat.m9 * z + mat.m13;
  result.z = mat.m2 * x + mat.m6 * y + mat.m10 * z + mat.m14;

  return result;
}

// Transform a vector by quaternion rotation
RMAPI Vector3 Vector3RotateByQuaternion(Vector3 v, Quaternion q) {
  Vector3 result = {0};

  result.x = v.x * (q.x * q.x + q.w * q.w - q.y * q.y - q.z * q.z) +
             v.y * (2 * q.x * q.y - 2 * q.w * q.z) +
             v.z * (2 * q.x * q.z + 2 * q.w * q.y);
  result.y = v.x * (2 * q.w * q.z + 2 * q.x * q.y) +
             v.y * (q.w * q.w - q.x * q.x + q.y * q.y - q.z * q.z) +
             v.z * (-2 * q.w * q.x + 2 * q.y * q.z);
  result.z = v.x * (-2 * q.w * q.y + 2 * q.x * q.z) +
             v.y * (2 * q.w * q.x + 2 * q.y * q.z) +
             v.z * (q.w * q.w - q.x * q.x - q.y * q.y + q.z * q.z);

  return result;
}

// Rotates a vector around an axis
RMAPI Vector3 Vector3RotateByAxisAngle(Vector3 v, Vector3 axis, float angle) {
  // Using Euler-Rodrigues Formula
  // Ref.:
  // https://en.wikipedia.org/w/index.php?title=Euler%E2%80%93Rodrigues_formula

  Vector3 result = v;

  // Vector3Normalize(axis);
  float length = sqrtf(axis.x * axis.x + axis.y * axis.y + axis.z * axis.z);
  if (length == 0.0f)
    length = 1.0f;
  float ilength = 1.0f / length;
  axis.x *= ilength;
  axis.y *= ilength;
  axis.z *= ilength;

  angle /= 2.0f;
  float a = sinf(angle);
  float b = axis.x * a;
  float c = axis.y * a;
  float d = axis.z * a;
  a = cosf(angle);
  Vector3 w = {b, c, d};

  // Vector3CrossProduct(w, v)
  Vector3 wv = {w.y * v.z - w.z * v.y, w.z * v.x - w.x * v.z,
                w.x * v.y - w.y * v.x};

  // Vector3CrossProduct(w, wv)
  Vector3 wwv = {w.y * wv.z - w.z * wv.y, w.z * wv.x - w.x * wv.z,
                 w.x * wv.y - w.y * wv.x};

  // Vector3Scale(wv, 2*a)
  a *= 2;
  wv.x *= a;
  wv.y *= a;
  wv.z *= a;

  // Vector3Scale(wwv, 2)
  wwv.x *= 2;
  wwv.y *= 2;
  wwv.z *= 2;

  result.x += wv.x;
  result.y += wv.y;
  result.z += wv.z;

  result.x += wwv.x;
  result.y += wwv.y;
  result.z += wwv.z;

  return result;
}

// Calculate linear interpolation between two vectors
RMAPI Vector3 Vector3Lerp(Vector3 v1, Vector3 v2, float amount) {
  Vector3 result = {0};

  result.x = v1.x + amount * (v2.x - v1.x);
  result.y = v1.y + amount * (v2.y - v1.y);
  result.z = v1.z + amount * (v2.z - v1.z);

  return result;
}

// Calculate reflected vector to normal
RMAPI Vector3 Vector3Reflect(Vector3 v, Vector3 normal) {
  Vector3 result = {0};

  // I is the original vector
  // N is the normal of the incident plane
  // R = I - (2*N*(DotProduct[I, N]))

  float dotProduct = (v.x * normal.x + v.y * normal.y + v.z * normal.z);

  result.x = v.x - (2.0f * normal.x) * dotProduct;
  result.y = v.y - (2.0f * normal.y) * dotProduct;
  result.z = v.z - (2.0f * normal.z) * dotProduct;

  return result;
}

// Get min value for each pair of components
RMAPI Vector3 Vector3Min(Vector3 v1, Vector3 v2) {
  Vector3 result = {0};

  result.x = fminf(v1.x, v2.x);
  result.y = fminf(v1.y, v2.y);
  result.z = fminf(v1.z, v2.z);

  return result;
}

// Get max value for each pair of components
RMAPI Vector3 Vector3Max(Vector3 v1, Vector3 v2) {
  Vector3 result = {0};

  result.x = fmaxf(v1.x, v2.x);
  result.y = fmaxf(v1.y, v2.y);
  result.z = fmaxf(v1.z, v2.z);

  return result;
}

// Compute barycenter coordinates (u, v, w) for point p with respect to triangle
// (a, b, c) NOTE: Assumes P is on the plane of the triangle
RMAPI Vector3 Vector3Barycenter(Vector3 p, Vector3 a, Vector3 b, Vector3 c) {
  Vector3 result = {0};

  Vector3 v0 = {b.x - a.x, b.y - a.y, b.z - a.z}; // Vector3Subtract(b, a)
  Vector3 v1 = {c.x - a.x, c.y - a.y, c.z - a.z}; // Vector3Subtract(c, a)
  Vector3 v2 = {p.x - a.x, p.y - a.y, p.z - a.z}; // Vector3Subtract(p, a)
  float d00 =
      (v0.x * v0.x + v0.y * v0.y + v0.z * v0.z); // Vector3DotProduct(v0, v0)
  float d01 =
      (v0.x * v1.x + v0.y * v1.y + v0.z * v1.z); // Vector3DotProduct(v0, v1)
  float d11 =
      (v1.x * v1.x + v1.y * v1.y + v1.z * v1.z); // Vector3DotProduct(v1, v1)
  float d20 =
      (v2.x * v0.x + v2.y * v0.y + v2.z * v0.z); // Vector3DotProduct(v2, v0)
  float d21 =
      (v2.x * v1.x + v2.y * v1.y + v2.z * v1.z); // Vector3DotProduct(v2, v1)

  float denom = d00 * d11 - d01 * d01;

  result.y = (d11 * d20 - d01 * d21) / denom;
  result.z = (d00 * d21 - d01 * d20) / denom;
  result.x = 1.0f - (result.z + result.y);

  return result;
}

// Projects a Vector3 from screen space into object space
// NOTE: We are avoiding calling other raymath functions despite available
RMAPI Vector3 Vector3Unproject(Vector3 source, Matrix projection, Matrix view) {
  Vector3 result = {0};

  // Calculate unprojected matrix (multiply view matrix by projection matrix)
  // and invert it
  Matrix matViewProj = {
      // MatrixMultiply(view, projection);
      view.m0 * projection.m0 + view.m1 * projection.m4 +
          view.m2 * projection.m8 + view.m3 * projection.m12,
      view.m0 * projection.m1 + view.m1 * projection.m5 +
          view.m2 * projection.m9 + view.m3 * projection.m13,
      view.m0 * projection.m2 + view.m1 * projection.m6 +
          view.m2 * projection.m10 + view.m3 * projection.m14,
      view.m0 * projection.m3 + view.m1 * projection.m7 +
          view.m2 * projection.m11 + view.m3 * projection.m15,
      view.m4 * projection.m0 + view.m5 * projection.m4 +
          view.m6 * projection.m8 + view.m7 * projection.m12,
      view.m4 * projection.m1 + view.m5 * projection.m5 +
          view.m6 * projection.m9 + view.m7 * projection.m13,
      view.m4 * projection.m2 + view.m5 * projection.m6 +
          view.m6 * projection.m10 + view.m7 * projection.m14,
      view.m4 * projection.m3 + view.m5 * projection.m7 +
          view.m6 * projection.m11 + view.m7 * projection.m15,
      view.m8 * projection.m0 + view.m9 * projection.m4 +
          view.m10 * projection.m8 + view.m11 * projection.m12,
      view.m8 * projection.m1 + view.m9 * projection.m5 +
          view.m10 * projection.m9 + view.m11 * projection.m13,
      view.m8 * projection.m2 + view.m9 * projection.m6 +
          view.m10 * projection.m10 + view.m11 * projection.m14,
      view.m8 * projection.m3 + view.m9 * projection.m7 +
          view.m10 * projection.m11 + view.m11 * projection.m15,
      view.m12 * projection.m0 + view.m13 * projection.m4 +
          view.m14 * projection.m8 + view.m15 * projection.m12,
      view.m12 * projection.m1 + view.m13 * projection.m5 +
          view.m14 * projection.m9 + view.m15 * projection.m13,
      view.m12 * projection.m2 + view.m13 * projection.m6 +
          view.m14 * projection.m10 + view.m15 * projection.m14,
      view.m12 * projection.m3 + view.m13 * projection.m7 +
          view.m14 * projection.m11 + view.m15 * projection.m15};

  // Calculate inverted matrix -> MatrixInvert(matViewProj);
  // Cache the matrix values (speed optimization)
  float a00 = matViewProj.m0, a01 = matViewProj.m1, a02 = matViewProj.m2,
        a03 = matViewProj.m3;
  float a10 = matViewProj.m4, a11 = matViewProj.m5, a12 = matViewProj.m6,
        a13 = matViewProj.m7;
  float a20 = matViewProj.m8, a21 = matViewProj.m9, a22 = matViewProj.m10,
        a23 = matViewProj.m11;
  float a30 = matViewProj.m12, a31 = matViewProj.m13, a32 = matViewProj.m14,
        a33 = matViewProj.m15;

  float b00 = a00 * a11 - a01 * a10;
  float b01 = a00 * a12 - a02 * a10;
  float b02 = a00 * a13 - a03 * a10;
  float b03 = a01 * a12 - a02 * a11;
  float b04 = a01 * a13 - a03 * a11;
  float b05 = a02 * a13 - a03 * a12;
  float b06 = a20 * a31 - a21 * a30;
  float b07 = a20 * a32 - a22 * a30;
  float b08 = a20 * a33 - a23 * a30;
  float b09 = a21 * a32 - a22 * a31;
  float b10 = a21 * a33 - a23 * a31;
  float b11 = a22 * a33 - a23 * a32;

  // Calculate the invert determinant (inlined to avoid double-caching)
  float invDet = 1.0f / (b00 * b11 - b01 * b10 + b02 * b09 + b03 * b08 -
                         b04 * b07 + b05 * b06);

  Matrix matViewProjInv = {(a11 * b11 - a12 * b10 + a13 * b09) * invDet,
                           (-a01 * b11 + a02 * b10 - a03 * b09) * invDet,
                           (a31 * b05 - a32 * b04 + a33 * b03) * invDet,
                           (-a21 * b05 + a22 * b04 - a23 * b03) * invDet,
                           (-a10 * b11 + a12 * b08 - a13 * b07) * invDet,
                           (a00 * b11 - a02 * b08 + a03 * b07) * invDet,
                           (-a30 * b05 + a32 * b02 - a33 * b01) * invDet,
                           (a20 * b05 - a22 * b02 + a23 * b01) * invDet,
                           (a10 * b10 - a11 * b08 + a13 * b06) * invDet,
                           (-a00 * b10 + a01 * b08 - a03 * b06) * invDet,
                           (a30 * b04 - a31 * b02 + a33 * b00) * invDet,
                           (-a20 * b04 + a21 * b02 - a23 * b00) * invDet,
                           (-a10 * b09 + a11 * b07 - a12 * b06) * invDet,
                           (a00 * b09 - a01 * b07 + a02 * b06) * invDet,
                           (-a30 * b03 + a31 * b01 - a32 * b00) * invDet,
                           (a20 * b03 - a21 * b01 + a22 * b00) * invDet};

  // Create quaternion from source point
  Quaternion quat = {source.x, source.y, source.z, 1.0f};

  // Multiply quat point by unprojecte matrix
  Quaternion qtransformed = {
      // QuaternionTransform(quat, matViewProjInv)
      matViewProjInv.m0 * quat.x + matViewProjInv.m4 * quat.y +
          matViewProjInv.m8 * quat.z + matViewProjInv.m12 * quat.w,
      matViewProjInv.m1 * quat.x + matViewProjInv.m5 * quat.y +
          matViewProjInv.m9 * quat.z + matViewProjInv.m13 * quat.w,
      matViewProjInv.m2 * quat.x + matViewProjInv.m6 * quat.y +
          matViewProjInv.m10 * quat.z + matViewProjInv.m14 * quat.w,
      matViewProjInv.m3 * quat.x + matViewProjInv.m7 * quat.y +
          matViewProjInv.m11 * quat.z + matViewProjInv.m15 * quat.w};

  // Normalized world points in vectors
  result.x = qtransformed.x / qtransformed.w;
  result.y = qtransformed.y / qtransformed.w;
  result.z = qtransformed.z / qtransformed.w;

  return result;
}

// Get Vector3 as float array
RMAPI float3 Vector3ToFloatV(Vector3 v) {
  float3 buffer = {0};

  buffer.v[0] = v.x;
  buffer.v[1] = v.y;
  buffer.v[2] = v.z;

  return buffer;
}

// Invert the given vector
RMAPI Vector3 Vector3Invert(Vector3 v) {
  Vector3 result = {1.0f / v.x, 1.0f / v.y, 1.0f / v.z};

  return result;
}

// Clamp the components of the vector between
// min and max values specified by the given vectors
RMAPI Vector3 Vector3Clamp(Vector3 v, Vector3 min, Vector3 max) {
  Vector3 result = {0};

  result.x = fminf(max.x, fmaxf(min.x, v.x));
  result.y = fminf(max.y, fmaxf(min.y, v.y));
  result.z = fminf(max.z, fmaxf(min.z, v.z));

  return result;
}

// Clamp the magnitude of the vector between two values
RMAPI Vector3 Vector3ClampValue(Vector3 v, float min, float max) {
  Vector3 result = v;

  float length = (v.x * v.x) + (v.y * v.y) + (v.z * v.z);
  if (length > 0.0f) {
    length = sqrtf(length);

    if (length < min) {
      float scale = min / length;
      result.x = v.x * scale;
      result.y = v.y * scale;
      result.z = v.z * scale;
    } else if (length > max) {
      float scale = max / length;
      result.x = v.x * scale;
      result.y = v.y * scale;
      result.z = v.z * scale;
    }
  }

  return result;
}

// Check whether two given vectors are almost equal
RMAPI int Vector3Equals(Vector3 p, Vector3 q) {
#if !defined(EPSILON)
#define EPSILON 0.000001f
#endif

  int result = ((fabsf(p.x - q.x)) <=
                (EPSILON * fmaxf(1.0f, fmaxf(fabsf(p.x), fabsf(q.x))))) &&
               ((fabsf(p.y - q.y)) <=
                (EPSILON * fmaxf(1.0f, fmaxf(fabsf(p.y), fabsf(q.y))))) &&
               ((fabsf(p.z - q.z)) <=
                (EPSILON * fmaxf(1.0f, fmaxf(fabsf(p.z), fabsf(q.z)))));

  return result;
}

// Compute the direction of a refracted ray
// v: normalized direction of the incoming ray
// n: normalized normal vector of the interface of two optical media
// r: ratio of the refractive index of the medium from where the ray comes
//    to the refractive index of the medium on the other side of the surface
RMAPI Vector3 Vector3Refract(Vector3 v, Vector3 n, float r) {
  Vector3 result = {0};

  float dot = v.x * n.x + v.y * n.y + v.z * n.z;
  float d = 1.0f - r * r * (1.0f - dot * dot);

  if (d >= 0.0f) {
    d = sqrtf(d);
    v.x = r * v.x - (r * dot + d) * n.x;
    v.y = r * v.y - (r * dot + d) * n.y;
    v.z = r * v.z - (r * dot + d) * n.z;

    result = v;
  }

  return result;
}

//----------------------------------------------------------------------------------
// Module Functions Definition - Matrix math
//----------------------------------------------------------------------------------

// Compute matrix determinant
RMAPI float MatrixDeterminant(Matrix mat) {
  float result = 0.0f;

  // Cache the matrix values (speed optimization)
  float a00 = mat.m0, a01 = mat.m1, a02 = mat.m2, a03 = mat.m3;
  float a10 = mat.m4, a11 = mat.m5, a12 = mat.m6, a13 = mat.m7;
  float a20 = mat.m8, a21 = mat.m9, a22 = mat.m10, a23 = mat.m11;
  float a30 = mat.m12, a31 = mat.m13, a32 = mat.m14, a33 = mat.m15;

  result =
      a30 * a21 * a12 * a03 - a20 * a31 * a12 * a03 - a30 * a11 * a22 * a03 +
      a10 * a31 * a22 * a03 + a20 * a11 * a32 * a03 - a10 * a21 * a32 * a03 -
      a30 * a21 * a02 * a13 + a20 * a31 * a02 * a13 + a30 * a01 * a22 * a13 -
      a00 * a31 * a22 * a13 - a20 * a01 * a32 * a13 + a00 * a21 * a32 * a13 +
      a30 * a11 * a02 * a23 - a10 * a31 * a02 * a23 - a30 * a01 * a12 * a23 +
      a00 * a31 * a12 * a23 + a10 * a01 * a32 * a23 - a00 * a11 * a32 * a23 -
      a20 * a11 * a02 * a33 + a10 * a21 * a02 * a33 + a20 * a01 * a12 * a33 -
      a00 * a21 * a12 * a33 - a10 * a01 * a22 * a33 + a00 * a11 * a22 * a33;

  return result;
}

// Get the trace of the matrix (sum of the values along the diagonal)
RMAPI float MatrixTrace(Matrix mat) {
  float result = (mat.m0 + mat.m5 + mat.m10 + mat.m15);

  return result;
}

// Transposes provided matrix
RMAPI Matrix MatrixTranspose(Matrix mat) {
  Matrix result = {0};

  result.m0 = mat.m0;
  result.m1 = mat.m4;
  result.m2 = mat.m8;
  result.m3 = mat.m12;
  result.m4 = mat.m1;
  result.m5 = mat.m5;
  result.m6 = mat.m9;
  result.m7 = mat.m13;
  result.m8 = mat.m2;
  result.m9 = mat.m6;
  result.m10 = mat.m10;
  result.m11 = mat.m14;
  result.m12 = mat.m3;
  result.m13 = mat.m7;
  result.m14 = mat.m11;
  result.m15 = mat.m15;

  return result;
}

// Invert provided matrix
RMAPI Matrix MatrixInvert(Matrix mat) {
  Matrix result = {0};

  // Cache the matrix values (speed optimization)
  float a00 = mat.m0, a01 = mat.m1, a02 = mat.m2, a03 = mat.m3;
  float a10 = mat.m4, a11 = mat.m5, a12 = mat.m6, a13 = mat.m7;
  float a20 = mat.m8, a21 = mat.m9, a22 = mat.m10, a23 = mat.m11;
  float a30 = mat.m12, a31 = mat.m13, a32 = mat.m14, a33 = mat.m15;

  float b00 = a00 * a11 - a01 * a10;
  float b01 = a00 * a12 - a02 * a10;
  float b02 = a00 * a13 - a03 * a10;
  float b03 = a01 * a12 - a02 * a11;
  float b04 = a01 * a13 - a03 * a11;
  float b05 = a02 * a13 - a03 * a12;
  float b06 = a20 * a31 - a21 * a30;
  float b07 = a20 * a32 - a22 * a30;
  float b08 = a20 * a33 - a23 * a30;
  float b09 = a21 * a32 - a22 * a31;
  float b10 = a21 * a33 - a23 * a31;
  float b11 = a22 * a33 - a23 * a32;

  // Calculate the invert determinant (inlined to avoid double-caching)
  float invDet = 1.0f / (b00 * b11 - b01 * b10 + b02 * b09 + b03 * b08 -
                         b04 * b07 + b05 * b06);

  result.m0 = (a11 * b11 - a12 * b10 + a13 * b09) * invDet;
  result.m1 = (-a01 * b11 + a02 * b10 - a03 * b09) * invDet;
  result.m2 = (a31 * b05 - a32 * b04 + a33 * b03) * invDet;
  result.m3 = (-a21 * b05 + a22 * b04 - a23 * b03) * invDet;
  result.m4 = (-a10 * b11 + a12 * b08 - a13 * b07) * invDet;
  result.m5 = (a00 * b11 - a02 * b08 + a03 * b07) * invDet;
  result.m6 = (-a30 * b05 + a32 * b02 - a33 * b01) * invDet;
  result.m7 = (a20 * b05 - a22 * b02 + a23 * b01) * invDet;
  result.m8 = (a10 * b10 - a11 * b08 + a13 * b06) * invDet;
  result.m9 = (-a00 * b10 + a01 * b08 - a03 * b06) * invDet;
  result.m10 = (a30 * b04 - a31 * b02 + a33 * b00) * invDet;
  result.m11 = (-a20 * b04 + a21 * b02 - a23 * b00) * invDet;
  result.m12 = (-a10 * b09 + a11 * b07 - a12 * b06) * invDet;
  result.m13 = (a00 * b09 - a01 * b07 + a02 * b06) * invDet;
  result.m14 = (-a30 * b03 + a31 * b01 - a32 * b00) * invDet;
  result.m15 = (a20 * b03 - a21 * b01 + a22 * b00) * invDet;

  return result;
}

// Get identity matrix
RMAPI Matrix MatrixIdentity(void) {
  Matrix result = {1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f,
                   0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f};

  return result;
}

// Add two matrices
RMAPI Matrix MatrixAdd(Matrix left, Matrix right) {
  Matrix result = {0};

  result.m0 = left.m0 + right.m0;
  result.m1 = left.m1 + right.m1;
  result.m2 = left.m2 + right.m2;
  result.m3 = left.m3 + right.m3;
  result.m4 = left.m4 + right.m4;
  result.m5 = left.m5 + right.m5;
  result.m6 = left.m6 + right.m6;
  result.m7 = left.m7 + right.m7;
  result.m8 = left.m8 + right.m8;
  result.m9 = left.m9 + right.m9;
  result.m10 = left.m10 + right.m10;
  result.m11 = left.m11 + right.m11;
  result.m12 = left.m12 + right.m12;
  result.m13 = left.m13 + right.m13;
  result.m14 = left.m14 + right.m14;
  result.m15 = left.m15 + right.m15;

  return result;
}

// Subtract two matrices (left - right)
RMAPI Matrix MatrixSubtract(Matrix left, Matrix right) {
  Matrix result = {0};

  result.m0 = left.m0 - right.m0;
  result.m1 = left.m1 - right.m1;
  result.m2 = left.m2 - right.m2;
  result.m3 = left.m3 - right.m3;
  result.m4 = left.m4 - right.m4;
  result.m5 = left.m5 - right.m5;
  result.m6 = left.m6 - right.m6;
  result.m7 = left.m7 - right.m7;
  result.m8 = left.m8 - right.m8;
  result.m9 = left.m9 - right.m9;
  result.m10 = left.m10 - right.m10;
  result.m11 = left.m11 - right.m11;
  result.m12 = left.m12 - right.m12;
  result.m13 = left.m13 - right.m13;
  result.m14 = left.m14 - right.m14;
  result.m15 = left.m15 - right.m15;

  return result;
}

// Get two matrix multiplication
// NOTE: When multiplying matrices... the order matters!
RMAPI Matrix MatrixMultiply(Matrix left, Matrix right) {
  Matrix result = {0};

  result.m0 = left.m0 * right.m0 + left.m1 * right.m4 + left.m2 * right.m8 +
              left.m3 * right.m12;
  result.m1 = left.m0 * right.m1 + left.m1 * right.m5 + left.m2 * right.m9 +
              left.m3 * right.m13;
  result.m2 = left.m0 * right.m2 + left.m1 * right.m6 + left.m2 * right.m10 +
              left.m3 * right.m14;
  result.m3 = left.m0 * right.m3 + left.m1 * right.m7 + left.m2 * right.m11 +
              left.m3 * right.m15;
  result.m4 = left.m4 * right.m0 + left.m5 * right.m4 + left.m6 * right.m8 +
              left.m7 * right.m12;
  result.m5 = left.m4 * right.m1 + left.m5 * right.m5 + left.m6 * right.m9 +
              left.m7 * right.m13;
  result.m6 = left.m4 * right.m2 + left.m5 * right.m6 + left.m6 * right.m10 +
              left.m7 * right.m14;
  result.m7 = left.m4 * right.m3 + left.m5 * right.m7 + left.m6 * right.m11 +
              left.m7 * right.m15;
  result.m8 = left.m8 * right.m0 + left.m9 * right.m4 + left.m10 * right.m8 +
              left.m11 * right.m12;
  result.m9 = left.m8 * right.m1 + left.m9 * right.m5 + left.m10 * right.m9 +
              left.m11 * right.m13;
  result.m10 = left.m8 * right.m2 + left.m9 * right.m6 + left.m10 * right.m10 +
               left.m11 * right.m14;
  result.m11 = left.m8 * right.m3 + left.m9 * right.m7 + left.m10 * right.m11 +
               left.m11 * right.m15;
  result.m12 = left.m12 * right.m0 + left.m13 * right.m4 + left.m14 * right.m8 +
               left.m15 * right.m12;
  result.m13 = left.m12 * right.m1 + left.m13 * right.m5 + left.m14 * right.m9 +
               left.m15 * right.m13;
  result.m14 = left.m12 * right.m2 + left.m13 * right.m6 +
               left.m14 * right.m10 + left.m15 * right.m14;
  result.m15 = left.m12 * right.m3 + left.m13 * right.m7 +
               left.m14 * right.m11 + left.m15 * right.m15;

  return result;
}

// Get translation matrix
RMAPI Matrix MatrixTranslate(float x, float y, float z) {
  Matrix result = {1.0f, 0.0f, 0.0f, x, 0.0f, 1.0f, 0.0f, y,
                   0.0f, 0.0f, 1.0f, z, 0.0f, 0.0f, 0.0f, 1.0f};

  return result;
}

// Create rotation matrix from axis and angle
// NOTE: Angle should be provided in radians
RMAPI Matrix MatrixRotate(Vector3 axis, float angle) {
  Matrix result = {0};

  float x = axis.x, y = axis.y, z = axis.z;

  float lengthSquared = x * x + y * y + z * z;

  if ((lengthSquared != 1.0f) && (lengthSquared != 0.0f)) {
    float ilength = 1.0f / sqrtf(lengthSquared);
    x *= ilength;
    y *= ilength;
    z *= ilength;
  }

  float sinres = sinf(angle);
  float cosres = cosf(angle);
  float t = 1.0f - cosres;

  result.m0 = x * x * t + cosres;
  result.m1 = y * x * t + z * sinres;
  result.m2 = z * x * t - y * sinres;
  result.m3 = 0.0f;

  result.m4 = x * y * t - z * sinres;
  result.m5 = y * y * t + cosres;
  result.m6 = z * y * t + x * sinres;
  result.m7 = 0.0f;

  result.m8 = x * z * t + y * sinres;
  result.m9 = y * z * t - x * sinres;
  result.m10 = z * z * t + cosres;
  result.m11 = 0.0f;

  result.m12 = 0.0f;
  result.m13 = 0.0f;
  result.m14 = 0.0f;
  result.m15 = 1.0f;

  return result;
}

// Get x-rotation matrix
// NOTE: Angle must be provided in radians
RMAPI Matrix MatrixRotateX(float angle) {
  Matrix result = {
      1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f,
      0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f}; // MatrixIdentity()

  float cosres = cosf(angle);
  float sinres = sinf(angle);

  result.m5 = cosres;
  result.m6 = sinres;
  result.m9 = -sinres;
  result.m10 = cosres;

  return result;
}

// Get y-rotation matrix
// NOTE: Angle must be provided in radians
RMAPI Matrix MatrixRotateY(float angle) {
  Matrix result = {
      1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f,
      0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f}; // MatrixIdentity()

  float cosres = cosf(angle);
  float sinres = sinf(angle);

  result.m0 = cosres;
  result.m2 = -sinres;
  result.m8 = sinres;
  result.m10 = cosres;

  return result;
}

// Get z-rotation matrix
// NOTE: Angle must be provided in radians
RMAPI Matrix MatrixRotateZ(float angle) {
  Matrix result = {
      1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f,
      0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f}; // MatrixIdentity()

  float cosres = cosf(angle);
  float sinres = sinf(angle);

  result.m0 = cosres;
  result.m1 = sinres;
  result.m4 = -sinres;
  result.m5 = cosres;

  return result;
}

// Get xyz-rotation matrix
// NOTE: Angle must be provided in radians
RMAPI Matrix MatrixRotateXYZ(Vector3 angle) {
  Matrix result = {
      1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f,
      0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f}; // MatrixIdentity()

  float cosz = cosf(-angle.z);
  float sinz = sinf(-angle.z);
  float cosy = cosf(-angle.y);
  float siny = sinf(-angle.y);
  float cosx = cosf(-angle.x);
  float sinx = sinf(-angle.x);

  result.m0 = cosz * cosy;
  result.m1 = (cosz * siny * sinx) - (sinz * cosx);
  result.m2 = (cosz * siny * cosx) + (sinz * sinx);

  result.m4 = sinz * cosy;
  result.m5 = (sinz * siny * sinx) + (cosz * cosx);
  result.m6 = (sinz * siny * cosx) - (cosz * sinx);

  result.m8 = -siny;
  result.m9 = cosy * sinx;
  result.m10 = cosy * cosx;

  return result;
}

// Get zyx-rotation matrix
// NOTE: Angle must be provided in radians
RMAPI Matrix MatrixRotateZYX(Vector3 angle) {
  Matrix result = {0};

  float cz = cosf(angle.z);
  float sz = sinf(angle.z);
  float cy = cosf(angle.y);
  float sy = sinf(angle.y);
  float cx = cosf(angle.x);
  float sx = sinf(angle.x);

  result.m0 = cz * cy;
  result.m4 = cz * sy * sx - cx * sz;
  result.m8 = sz * sx + cz * cx * sy;
  result.m12 = 0;

  result.m1 = cy * sz;
  result.m5 = cz * cx + sz * sy * sx;
  result.m9 = cx * sz * sy - cz * sx;
  result.m13 = 0;

  result.m2 = -sy;
  result.m6 = cy * sx;
  result.m10 = cy * cx;
  result.m14 = 0;

  result.m3 = 0;
  result.m7 = 0;
  result.m11 = 0;
  result.m15 = 1;

  return result;
}

// Get scaling matrix
RMAPI Matrix MatrixScale(float x, float y, float z) {
  Matrix result = {x,    0.0f, 0.0f, 0.0f, 0.0f, y,    0.0f, 0.0f,
                   0.0f, 0.0f, z,    0.0f, 0.0f, 0.0f, 0.0f, 1.0f};

  return result;
}

// Get perspective projection matrix
RMAPI Matrix MatrixFrustum(double left, double right, double bottom, double top,
                           double near, double far) {
  Matrix result = {0};

  float rl = (float)(right - left);
  float tb = (float)(top - bottom);
  float fn = (float)(far - near);

  result.m0 = ((float)near * 2.0f) / rl;
  result.m1 = 0.0f;
  result.m2 = 0.0f;
  result.m3 = 0.0f;

  result.m4 = 0.0f;
  result.m5 = ((float)near * 2.0f) / tb;
  result.m6 = 0.0f;
  result.m7 = 0.0f;

  result.m8 = ((float)right + (float)left) / rl;
  result.m9 = ((float)top + (float)bottom) / tb;
  result.m10 = -((float)far + (float)near) / fn;
  result.m11 = -1.0f;

  result.m12 = 0.0f;
  result.m13 = 0.0f;
  result.m14 = -((float)far * (float)near * 2.0f) / fn;
  result.m15 = 0.0f;

  return result;
}

// Get perspective projection matrix
// NOTE: Fovy angle must be provided in radians
RMAPI Matrix MatrixPerspective(double fovY, double aspect, double nearPlane,
                               double farPlane) {
  Matrix result = {0};

  double top = nearPlane * tan(fovY * 0.5);
  double bottom = -top;
  double right = top * aspect;
  double left = -right;

  // MatrixFrustum(-right, right, -top, top, near, far);
  float rl = (float)(right - left);
  float tb = (float)(top - bottom);
  float fn = (float)(farPlane - nearPlane);

  result.m0 = ((float)nearPlane * 2.0f) / rl;
  result.m5 = ((float)nearPlane * 2.0f) / tb;
  result.m8 = ((float)right + (float)left) / rl;
  result.m9 = ((float)top + (float)bottom) / tb;
  result.m10 = -((float)farPlane + (float)nearPlane) / fn;
  result.m11 = -1.0f;
  result.m14 = -((float)farPlane * (float)nearPlane * 2.0f) / fn;

  return result;
}

// Get orthographic projection matrix
RMAPI Matrix MatrixOrtho(double left, double right, double bottom, double top,
                         double nearPlane, double farPlane) {
  Matrix result = {0};

  float rl = (float)(right - left);
  float tb = (float)(top - bottom);
  float fn = (float)(farPlane - nearPlane);

  result.m0 = 2.0f / rl;
  result.m1 = 0.0f;
  result.m2 = 0.0f;
  result.m3 = 0.0f;
  result.m4 = 0.0f;
  result.m5 = 2.0f / tb;
  result.m6 = 0.0f;
  result.m7 = 0.0f;
  result.m8 = 0.0f;
  result.m9 = 0.0f;
  result.m10 = -2.0f / fn;
  result.m11 = 0.0f;
  result.m12 = -((float)left + (float)right) / rl;
  result.m13 = -((float)top + (float)bottom) / tb;
  result.m14 = -((float)farPlane + (float)nearPlane) / fn;
  result.m15 = 1.0f;

  return result;
}

// Get camera look-at matrix (view matrix)
RMAPI Matrix MatrixLookAt(Vector3 eye, Vector3 target, Vector3 up) {
  Matrix result = {0};

  float length = 0.0f;
  float ilength = 0.0f;

  // Vector3Subtract(eye, target)
  Vector3 vz = {eye.x - target.x, eye.y - target.y, eye.z - target.z};

  // Vector3Normalize(vz)
  Vector3 v = vz;
  length = sqrtf(v.x * v.x + v.y * v.y + v.z * v.z);
  if (length == 0.0f)
    length = 1.0f;
  ilength = 1.0f / length;
  vz.x *= ilength;
  vz.y *= ilength;
  vz.z *= ilength;

  // Vector3CrossProduct(up, vz)
  Vector3 vx = {up.y * vz.z - up.z * vz.y, up.z * vz.x - up.x * vz.z,
                up.x * vz.y - up.y * vz.x};

  // Vector3Normalize(x)
  v = vx;
  length = sqrtf(v.x * v.x + v.y * v.y + v.z * v.z);
  if (length == 0.0f)
    length = 1.0f;
  ilength = 1.0f / length;
  vx.x *= ilength;
  vx.y *= ilength;
  vx.z *= ilength;

  // Vector3CrossProduct(vz, vx)
  Vector3 vy = {vz.y * vx.z - vz.z * vx.y, vz.z * vx.x - vz.x * vx.z,
                vz.x * vx.y - vz.y * vx.x};

  result.m0 = vx.x;
  result.m1 = vy.x;
  result.m2 = vz.x;
  result.m3 = 0.0f;
  result.m4 = vx.y;
  result.m5 = vy.y;
  result.m6 = vz.y;
  result.m7 = 0.0f;
  result.m8 = vx.z;
  result.m9 = vy.z;
  result.m10 = vz.z;
  result.m11 = 0.0f;
  result.m12 = -(vx.x * eye.x + vx.y * eye.y +
                 vx.z * eye.z); // Vector3DotProduct(vx, eye)
  result.m13 = -(vy.x * eye.x + vy.y * eye.y +
                 vy.z * eye.z); // Vector3DotProduct(vy, eye)
  result.m14 = -(vz.x * eye.x + vz.y * eye.y +
                 vz.z * eye.z); // Vector3DotProduct(vz, eye)
  result.m15 = 1.0f;

  return result;
}

// Get float array of matrix data
RMAPI float16 MatrixToFloatV(Matrix mat) {
  float16 result = {0};

  result.v[0] = mat.m0;
  result.v[1] = mat.m1;
  result.v[2] = mat.m2;
  result.v[3] = mat.m3;
  result.v[4] = mat.m4;
  result.v[5] = mat.m5;
  result.v[6] = mat.m6;
  result.v[7] = mat.m7;
  result.v[8] = mat.m8;
  result.v[9] = mat.m9;
  result.v[10] = mat.m10;
  result.v[11] = mat.m11;
  result.v[12] = mat.m12;
  result.v[13] = mat.m13;
  result.v[14] = mat.m14;
  result.v[15] = mat.m15;

  return result;
}

//----------------------------------------------------------------------------------
// Module Functions Definition - Quaternion math
//----------------------------------------------------------------------------------

// Add two quaternions
RMAPI Quaternion QuaternionAdd(Quaternion q1, Quaternion q2) {
  Quaternion result = {q1.x + q2.x, q1.y + q2.y, q1.z + q2.z, q1.w + q2.w};

  return result;
}

// Add quaternion and float value
RMAPI Quaternion QuaternionAddValue(Quaternion q, float add) {
  Quaternion result = {q.x + add, q.y + add, q.z + add, q.w + add};

  return result;
}

// Subtract two quaternions
RMAPI Quaternion QuaternionSubtract(Quaternion q1, Quaternion q2) {
  Quaternion result = {q1.x - q2.x, q1.y - q2.y, q1.z - q2.z, q1.w - q2.w};

  return result;
}

// Subtract quaternion and float value
RMAPI Quaternion QuaternionSubtractValue(Quaternion q, float sub) {
  Quaternion result = {q.x - sub, q.y - sub, q.z - sub, q.w - sub};

  return result;
}

// Get identity quaternion
RMAPI Quaternion QuaternionIdentity(void) {
  Quaternion result = {0.0f, 0.0f, 0.0f, 1.0f};

  return result;
}

// Computes the length of a quaternion
RMAPI float QuaternionLength(Quaternion q) {
  float result = sqrtf(q.x * q.x + q.y * q.y + q.z * q.z + q.w * q.w);

  return result;
}

// Normalize provided quaternion
RMAPI Quaternion QuaternionNormalize(Quaternion q) {
  Quaternion result = {0};

  float length = sqrtf(q.x * q.x + q.y * q.y + q.z * q.z + q.w * q.w);
  if (length == 0.0f)
    length = 1.0f;
  float ilength = 1.0f / length;

  result.x = q.x * ilength;
  result.y = q.y * ilength;
  result.z = q.z * ilength;
  result.w = q.w * ilength;

  return result;
}

// Invert provided quaternion
RMAPI Quaternion QuaternionInvert(Quaternion q) {
  Quaternion result = q;

  float lengthSq = q.x * q.x + q.y * q.y + q.z * q.z + q.w * q.w;

  if (lengthSq != 0.0f) {
    float invLength = 1.0f / lengthSq;

    result.x *= -invLength;
    result.y *= -invLength;
    result.z *= -invLength;
    result.w *= invLength;
  }

  return result;
}

// Calculate two quaternion multiplication
RMAPI Quaternion QuaternionMultiply(Quaternion q1, Quaternion q2) {
  Quaternion result = {0};

  float qax = q1.x, qay = q1.y, qaz = q1.z, qaw = q1.w;
  float qbx = q2.x, qby = q2.y, qbz = q2.z, qbw = q2.w;

  result.x = qax * qbw + qaw * qbx + qay * qbz - qaz * qby;
  result.y = qay * qbw + qaw * qby + qaz * qbx - qax * qbz;
  result.z = qaz * qbw + qaw * qbz + qax * qby - qay * qbx;
  result.w = qaw * qbw - qax * qbx - qay * qby - qaz * qbz;

  return result;
}

// Scale quaternion by float value
RMAPI Quaternion QuaternionScale(Quaternion q, float mul) {
  Quaternion result = {0};

  result.x = q.x * mul;
  result.y = q.y * mul;
  result.z = q.z * mul;
  result.w = q.w * mul;

  return result;
}

// Divide two quaternions
RMAPI Quaternion QuaternionDivide(Quaternion q1, Quaternion q2) {
  Quaternion result = {q1.x / q2.x, q1.y / q2.y, q1.z / q2.z, q1.w / q2.w};

  return result;
}

// Calculate linear interpolation between two quaternions
RMAPI Quaternion QuaternionLerp(Quaternion q1, Quaternion q2, float amount) {
  Quaternion result = {0};

  result.x = q1.x + amount * (q2.x - q1.x);
  result.y = q1.y + amount * (q2.y - q1.y);
  result.z = q1.z + amount * (q2.z - q1.z);
  result.w = q1.w + amount * (q2.w - q1.w);

  return result;
}

// Calculate slerp-optimized interpolation between two quaternions
RMAPI Quaternion QuaternionNlerp(Quaternion q1, Quaternion q2, float amount) {
  Quaternion result = {0};

  // QuaternionLerp(q1, q2, amount)
  result.x = q1.x + amount * (q2.x - q1.x);
  result.y = q1.y + amount * (q2.y - q1.y);
  result.z = q1.z + amount * (q2.z - q1.z);
  result.w = q1.w + amount * (q2.w - q1.w);

  // QuaternionNormalize(q);
  Quaternion q = result;
  float length = sqrtf(q.x * q.x + q.y * q.y + q.z * q.z + q.w * q.w);
  if (length == 0.0f)
    length = 1.0f;
  float ilength = 1.0f / length;

  result.x = q.x * ilength;
  result.y = q.y * ilength;
  result.z = q.z * ilength;
  result.w = q.w * ilength;

  return result;
}

// Calculates spherical linear interpolation between two quaternions
RMAPI Quaternion QuaternionSlerp(Quaternion q1, Quaternion q2, float amount) {
  Quaternion result = {0};

#if !defined(EPSILON)
#define EPSILON 0.000001f
#endif

  float cosHalfTheta = q1.x * q2.x + q1.y * q2.y + q1.z * q2.z + q1.w * q2.w;

  if (cosHalfTheta < 0) {
    q2.x = -q2.x;
    q2.y = -q2.y;
    q2.z = -q2.z;
    q2.w = -q2.w;
    cosHalfTheta = -cosHalfTheta;
  }

  if (fabsf(cosHalfTheta) >= 1.0f)
    result = q1;
  else if (cosHalfTheta > 0.95f)
    result = QuaternionNlerp(q1, q2, amount);
  else {
    float halfTheta = acosf(cosHalfTheta);
    float sinHalfTheta = sqrtf(1.0f - cosHalfTheta * cosHalfTheta);

    if (fabsf(sinHalfTheta) < EPSILON) {
      result.x = (q1.x * 0.5f + q2.x * 0.5f);
      result.y = (q1.y * 0.5f + q2.y * 0.5f);
      result.z = (q1.z * 0.5f + q2.z * 0.5f);
      result.w = (q1.w * 0.5f + q2.w * 0.5f);
    } else {
      float ratioA = sinf((1 - amount) * halfTheta) / sinHalfTheta;
      float ratioB = sinf(amount * halfTheta) / sinHalfTheta;

      result.x = (q1.x * ratioA + q2.x * ratioB);
      result.y = (q1.y * ratioA + q2.y * ratioB);
      result.z = (q1.z * ratioA + q2.z * ratioB);
      result.w = (q1.w * ratioA + q2.w * ratioB);
    }
  }

  return result;
}

// Calculate quaternion based on the rotation from one vector to another
RMAPI Quaternion QuaternionFromVector3ToVector3(Vector3 from, Vector3 to) {
  Quaternion result = {0};

  float cos2Theta = (from.x * to.x + from.y * to.y +
                     from.z * to.z); // Vector3DotProduct(from, to)
  Vector3 cross = {from.y * to.z - from.z * to.y, from.z * to.x - from.x * to.z,
                   from.x * to.y -
                       from.y * to.x}; // Vector3CrossProduct(from, to)

  result.x = cross.x;
  result.y = cross.y;
  result.z = cross.z;
  result.w = 1.0f + cos2Theta;

  // QuaternionNormalize(q);
  // NOTE: Normalize to essentially nlerp the original and identity to 0.5
  Quaternion q = result;
  float length = sqrtf(q.x * q.x + q.y * q.y + q.z * q.z + q.w * q.w);
  if (length == 0.0f)
    length = 1.0f;
  float ilength = 1.0f / length;

  result.x = q.x * ilength;
  result.y = q.y * ilength;
  result.z = q.z * ilength;
  result.w = q.w * ilength;

  return result;
}

// Get a quaternion for a given rotation matrix
RMAPI Quaternion QuaternionFromMatrix(Matrix mat) {
  Quaternion result = {0};

  float fourWSquaredMinus1 = mat.m0 + mat.m5 + mat.m10;
  float fourXSquaredMinus1 = mat.m0 - mat.m5 - mat.m10;
  float fourYSquaredMinus1 = mat.m5 - mat.m0 - mat.m10;
  float fourZSquaredMinus1 = mat.m10 - mat.m0 - mat.m5;

  int biggestIndex = 0;
  float fourBiggestSquaredMinus1 = fourWSquaredMinus1;
  if (fourXSquaredMinus1 > fourBiggestSquaredMinus1) {
    fourBiggestSquaredMinus1 = fourXSquaredMinus1;
    biggestIndex = 1;
  }

  if (fourYSquaredMinus1 > fourBiggestSquaredMinus1) {
    fourBiggestSquaredMinus1 = fourYSquaredMinus1;
    biggestIndex = 2;
  }

  if (fourZSquaredMinus1 > fourBiggestSquaredMinus1) {
    fourBiggestSquaredMinus1 = fourZSquaredMinus1;
    biggestIndex = 3;
  }

  float biggestVal = sqrtf(fourBiggestSquaredMinus1 + 1.0f) * 0.5f;
  float mult = 0.25f / biggestVal;

  switch (biggestIndex) {
  case 0:
    result.w = biggestVal;
    result.x = (mat.m6 - mat.m9) * mult;
    result.y = (mat.m8 - mat.m2) * mult;
    result.z = (mat.m1 - mat.m4) * mult;
    break;
  case 1:
    result.x = biggestVal;
    result.w = (mat.m6 - mat.m9) * mult;
    result.y = (mat.m1 + mat.m4) * mult;
    result.z = (mat.m8 + mat.m2) * mult;
    break;
  case 2:
    result.y = biggestVal;
    result.w = (mat.m8 - mat.m2) * mult;
    result.x = (mat.m1 + mat.m4) * mult;
    result.z = (mat.m6 + mat.m9) * mult;
    break;
  case 3:
    result.z = biggestVal;
    result.w = (mat.m1 - mat.m4) * mult;
    result.x = (mat.m8 + mat.m2) * mult;
    result.y = (mat.m6 + mat.m9) * mult;
    break;
  }

  return result;
}

// Get a matrix for a given quaternion
RMAPI Matrix QuaternionToMatrix(Quaternion q) {
  Matrix result = {
      1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f,
      0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f}; // MatrixIdentity()

  float a2 = q.x * q.x;
  float b2 = q.y * q.y;
  float c2 = q.z * q.z;
  float ac = q.x * q.z;
  float ab = q.x * q.y;
  float bc = q.y * q.z;
  float ad = q.w * q.x;
  float bd = q.w * q.y;
  float cd = q.w * q.z;

  result.m0 = 1 - 2 * (b2 + c2);
  result.m1 = 2 * (ab + cd);
  result.m2 = 2 * (ac - bd);

  result.m4 = 2 * (ab - cd);
  result.m5 = 1 - 2 * (a2 + c2);
  result.m6 = 2 * (bc + ad);

  result.m8 = 2 * (ac + bd);
  result.m9 = 2 * (bc - ad);
  result.m10 = 1 - 2 * (a2 + b2);

  return result;
}

// Get rotation quaternion for an angle and axis
// NOTE: Angle must be provided in radians
RMAPI Quaternion QuaternionFromAxisAngle(Vector3 axis, float angle) {
  Quaternion result = {0.0f, 0.0f, 0.0f, 1.0f};

  float axisLength = sqrtf(axis.x * axis.x + axis.y * axis.y + axis.z * axis.z);

  if (axisLength != 0.0f) {
    angle *= 0.5f;

    float length = 0.0f;
    float ilength = 0.0f;

    // Vector3Normalize(axis)
    Vector3 v = axis;
    length = sqrtf(v.x * v.x + v.y * v.y + v.z * v.z);
    if (length == 0.0f)
      length = 1.0f;
    ilength = 1.0f / length;
    axis.x *= ilength;
    axis.y *= ilength;
    axis.z *= ilength;

    float sinres = sinf(angle);
    float cosres = cosf(angle);

    result.x = axis.x * sinres;
    result.y = axis.y * sinres;
    result.z = axis.z * sinres;
    result.w = cosres;

    // QuaternionNormalize(q);
    Quaternion q = result;
    length = sqrtf(q.x * q.x + q.y * q.y + q.z * q.z + q.w * q.w);
    if (length == 0.0f)
      length = 1.0f;
    ilength = 1.0f / length;
    result.x = q.x * ilength;
    result.y = q.y * ilength;
    result.z = q.z * ilength;
    result.w = q.w * ilength;
  }

  return result;
}

// Get the rotation angle and axis for a given quaternion
RMAPI void QuaternionToAxisAngle(Quaternion q, Vector3 *outAxis,
                                 float *outAngle) {
  if (fabsf(q.w) > 1.0f) {
    // QuaternionNormalize(q);
    float length = sqrtf(q.x * q.x + q.y * q.y + q.z * q.z + q.w * q.w);
    if (length == 0.0f)
      length = 1.0f;
    float ilength = 1.0f / length;

    q.x = q.x * ilength;
    q.y = q.y * ilength;
    q.z = q.z * ilength;
    q.w = q.w * ilength;
  }

  Vector3 resAxis = {0.0f, 0.0f, 0.0f};
  float resAngle = 2.0f * acosf(q.w);
  float den = sqrtf(1.0f - q.w * q.w);

  if (den > EPSILON) {
    resAxis.x = q.x / den;
    resAxis.y = q.y / den;
    resAxis.z = q.z / den;
  } else {
    // This occurs when the angle is zero.
    // Not a problem: just set an arbitrary normalized axis.
    resAxis.x = 1.0f;
  }

  *outAxis = resAxis;
  *outAngle = resAngle;
}

// Get the quaternion equivalent to Euler angles
// NOTE: Rotation order is ZYX
RMAPI Quaternion QuaternionFromEuler(float pitch, float yaw, float roll) {
  Quaternion result = {0};

  float x0 = cosf(pitch * 0.5f);
  float x1 = sinf(pitch * 0.5f);
  float y0 = cosf(yaw * 0.5f);
  float y1 = sinf(yaw * 0.5f);
  float z0 = cosf(roll * 0.5f);
  float z1 = sinf(roll * 0.5f);

  result.x = x1 * y0 * z0 - x0 * y1 * z1;
  result.y = x0 * y1 * z0 + x1 * y0 * z1;
  result.z = x0 * y0 * z1 - x1 * y1 * z0;
  result.w = x0 * y0 * z0 + x1 * y1 * z1;

  return result;
}

// Get the Euler angles equivalent to quaternion (roll, pitch, yaw)
// NOTE: Angles are returned in a Vector3 struct in radians
RMAPI Vector3 QuaternionToEuler(Quaternion q) {
  Vector3 result = {0};

  // Roll (x-axis rotation)
  float x0 = 2.0f * (q.w * q.x + q.y * q.z);
  float x1 = 1.0f - 2.0f * (q.x * q.x + q.y * q.y);
  result.x = atan2f(x0, x1);

  // Pitch (y-axis rotation)
  float y0 = 2.0f * (q.w * q.y - q.z * q.x);
  y0 = y0 > 1.0f ? 1.0f : y0;
  y0 = y0 < -1.0f ? -1.0f : y0;
  result.y = asinf(y0);

  // Yaw (z-axis rotation)
  float z0 = 2.0f * (q.w * q.z + q.x * q.y);
  float z1 = 1.0f - 2.0f * (q.y * q.y + q.z * q.z);
  result.z = atan2f(z0, z1);

  return result;
}

// Transform a quaternion given a transformation matrix
RMAPI Quaternion QuaternionTransform(Quaternion q, Matrix mat) {
  Quaternion result = {0};

  result.x = mat.m0 * q.x + mat.m4 * q.y + mat.m8 * q.z + mat.m12 * q.w;
  result.y = mat.m1 * q.x + mat.m5 * q.y + mat.m9 * q.z + mat.m13 * q.w;
  result.z = mat.m2 * q.x + mat.m6 * q.y + mat.m10 * q.z + mat.m14 * q.w;
  result.w = mat.m3 * q.x + mat.m7 * q.y + mat.m11 * q.z + mat.m15 * q.w;

  return result;
}

// Check whether two given quaternions are almost equal
RMAPI int QuaternionEquals(Quaternion p, Quaternion q) {
#if !defined(EPSILON)
#define EPSILON 0.000001f
#endif

  int result = (((fabsf(p.x - q.x)) <=
                 (EPSILON * fmaxf(1.0f, fmaxf(fabsf(p.x), fabsf(q.x))))) &&
                ((fabsf(p.y - q.y)) <=
                 (EPSILON * fmaxf(1.0f, fmaxf(fabsf(p.y), fabsf(q.y))))) &&
                ((fabsf(p.z - q.z)) <=
                 (EPSILON * fmaxf(1.0f, fmaxf(fabsf(p.z), fabsf(q.z))))) &&
                ((fabsf(p.w - q.w)) <=
                 (EPSILON * fmaxf(1.0f, fmaxf(fabsf(p.w), fabsf(q.w)))))) ||
               (((fabsf(p.x + q.x)) <=
                 (EPSILON * fmaxf(1.0f, fmaxf(fabsf(p.x), fabsf(q.x))))) &&
                ((fabsf(p.y + q.y)) <=
                 (EPSILON * fmaxf(1.0f, fmaxf(fabsf(p.y), fabsf(q.y))))) &&
                ((fabsf(p.z + q.z)) <=
                 (EPSILON * fmaxf(1.0f, fmaxf(fabsf(p.z), fabsf(q.z))))) &&
                ((fabsf(p.w + q.w)) <=
                 (EPSILON * fmaxf(1.0f, fmaxf(fabsf(p.w), fabsf(q.w))))));

  return result;
}

#endif // RAYMATH_H