Merge pull request #346 from raysan5/develop

Integrate Develop branch

1 files changed, 225 insertions, 102 deletions

diff --git a/src/raymath.h b/src/raymath.h
index 1dbebc07..fe0b8947 100644
--- a/src/raymath.h
+++ b/src/raymath.h
@@ -1,6 +1,6 @@
 /**********************************************************************************************
 *
-*   raymath v1.0 - Math functions to work with Vector3, Matrix and Quaternions
+*   raymath v1.1 - Math functions to work with Vector3, Matrix and Quaternions
 *
 *   CONFIGURATION:
 *
@@ -19,7 +19,7 @@
 *
 *   LICENSE: zlib/libpng
 *
-*   Copyright (c) 2015 Ramon Santamaria (@raysan5)
+*   Copyright (c) 2015-2017 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.
@@ -124,7 +124,7 @@ RMDEF Vector2 Vector2Zero(void);                                // Vector with c
 RMDEF Vector2 Vector2One(void);                                 // Vector with components value 1.0f
 RMDEF Vector2 Vector2Add(Vector2 v1, Vector2 v2);               // Add two vectors (v1 + v2)
 RMDEF Vector2 Vector2Subtract(Vector2 v1, Vector2 v2);          // Subtract two vectors (v1 - v2)
-RMDEF float Vector2Lenght(Vector2 v);                           // Calculate vector lenght
+RMDEF float Vector2Length(Vector2 v);                           // Calculate vector length
 RMDEF float Vector2DotProduct(Vector2 v1, Vector2 v2);          // Calculate two vectors dot product
 RMDEF float Vector2Distance(Vector2 v1, Vector2 v2);            // Calculate distance between two vectors
 RMDEF float Vector2Angle(Vector2 v1, Vector2 v2);               // Calculate angle between two vectors in X-axis
@@ -136,24 +136,27 @@ RMDEF void Vector2Normalize(Vector2 *v);                        // Normalize pro
 //------------------------------------------------------------------------------------
 // Functions Declaration to work with Vector3
 //------------------------------------------------------------------------------------
-RMDEF Vector3 VectorZero(void);                                 // Vector with components value 0.0f
-RMDEF Vector3 VectorOne(void);                                  // Vector with components value 1.0f
-RMDEF Vector3 VectorAdd(Vector3 v1, Vector3 v2);                // Add two vectors
-RMDEF Vector3 VectorSubtract(Vector3 v1, Vector3 v2);           // Substract two vectors
-RMDEF Vector3 VectorCrossProduct(Vector3 v1, Vector3 v2);       // Calculate two vectors cross product
-RMDEF Vector3 VectorPerpendicular(Vector3 v);                   // Calculate one vector perpendicular vector
-RMDEF float VectorLength(const Vector3 v);                      // Calculate vector lenght
-RMDEF float VectorDotProduct(Vector3 v1, Vector3 v2);           // Calculate two vectors dot product
-RMDEF float VectorDistance(Vector3 v1, Vector3 v2);             // Calculate distance between two points
-RMDEF void VectorScale(Vector3 *v, float scale);                // Scale provided vector
-RMDEF void VectorNegate(Vector3 *v);                            // Negate provided vector (invert direction)
-RMDEF void VectorNormalize(Vector3 *v);                         // Normalize provided vector
-RMDEF void VectorTransform(Vector3 *v, Matrix mat);             // Transforms a Vector3 by a given Matrix
-RMDEF Vector3 VectorLerp(Vector3 v1, Vector3 v2, float amount); // Calculate linear interpolation between two vectors
-RMDEF Vector3 VectorReflect(Vector3 vector, Vector3 normal);    // Calculate reflected vector to normal
-RMDEF Vector3 VectorMin(Vector3 vec1, Vector3 vec2);            // Return min value for each pair of components
-RMDEF Vector3 VectorMax(Vector3 vec1, Vector3 vec2);            // Return max value for each pair of components
-RMDEF Vector3 VectorBarycenter(Vector3 p, Vector3 a, Vector3 b, Vector3 c); // Barycenter coords for p in triangle abc
+RMDEF Vector3 Vector3Zero(void);                                 // Vector with components value 0.0f
+RMDEF Vector3 Vector3One(void);                                  // Vector with components value 1.0f
+RMDEF Vector3 Vector3Add(Vector3 v1, Vector3 v2);                // Add two vectors
+RMDEF Vector3 Vector3Multiply(Vector3 v, float scalar);          // Multiply vector by scalar
+RMDEF Vector3 Vector3MultiplyV(Vector3 v1, Vector3 v2);          // Multiply vector by vector
+RMDEF Vector3 Vector3Subtract(Vector3 v1, Vector3 v2);           // Substract two vectors
+RMDEF Vector3 Vector3CrossProduct(Vector3 v1, Vector3 v2);       // Calculate two vectors cross product
+RMDEF Vector3 Vector3Perpendicular(Vector3 v);                   // Calculate one vector perpendicular vector
+RMDEF float Vector3Length(const Vector3 v);                      // Calculate vector length
+RMDEF float Vector3DotProduct(Vector3 v1, Vector3 v2);           // Calculate two vectors dot product
+RMDEF float Vector3Distance(Vector3 v1, Vector3 v2);             // Calculate distance between two points
+RMDEF void Vector3Scale(Vector3 *v, float scale);                // Scale provided vector
+RMDEF void Vector3Negate(Vector3 *v);                            // Negate provided vector (invert direction)
+RMDEF void Vector3Normalize(Vector3 *v);                         // Normalize provided vector
+RMDEF void Vector3Transform(Vector3 *v, Matrix mat);             // Transforms a Vector3 by a given Matrix
+RMDEF Vector3 Vector3Lerp(Vector3 v1, Vector3 v2, float amount); // Calculate linear interpolation between two vectors
+RMDEF Vector3 Vector3Reflect(Vector3 vector, Vector3 normal);    // Calculate reflected vector to normal
+RMDEF Vector3 Vector3Min(Vector3 vec1, Vector3 vec2);            // Return min value for each pair of components
+RMDEF Vector3 Vector3Max(Vector3 vec1, Vector3 vec2);            // Return max value for each pair of components
+RMDEF Vector3 Vector3Barycenter(Vector3 p, Vector3 a, Vector3 b, Vector3 c); // Barycenter coords for p in triangle abc
+RMDEF float *Vector3ToFloat(Vector3 vec);                        // Returns Vector3 as float array
 
 //------------------------------------------------------------------------------------
 // Functions Declaration to work with Matrix
@@ -177,15 +180,20 @@ RMDEF Matrix MatrixFrustum(double left, double right, double bottom, double top,
 RMDEF Matrix MatrixPerspective(double fovy, double aspect, double near, double far);                        // Returns perspective projection matrix
 RMDEF Matrix MatrixOrtho(double left, double right, double bottom, double top, double near, double far);    // Returns orthographic projection matrix
 RMDEF Matrix MatrixLookAt(Vector3 position, Vector3 target, Vector3 up);  // Returns camera look-at matrix (view matrix)
+RMDEF float *MatrixToFloat(Matrix mat);                         // Returns float array of Matrix data
 
 //------------------------------------------------------------------------------------
 // Functions Declaration to work with Quaternions
 //------------------------------------------------------------------------------------
+RMDEF Quaternion QuaternionIdentity(void);                      // Returns identity quaternion
 RMDEF float QuaternionLength(Quaternion quat);                  // Compute the length of a quaternion
 RMDEF void QuaternionNormalize(Quaternion *q);                  // Normalize provided quaternion
 RMDEF void QuaternionInvert(Quaternion *quat);                  // Invert provided quaternion
 RMDEF Quaternion QuaternionMultiply(Quaternion q1, Quaternion q2);    // Calculate two quaternion multiplication
-RMDEF Quaternion QuaternionSlerp(Quaternion q1, Quaternion q2, float slerp); // Calculates spherical linear interpolation between two quaternions
+RMDEF Quaternion QuaternionLerp(Quaternion q1, Quaternion q2, float amount);    // Calculate linear interpolation between two quaternions
+RMDEF Quaternion QuaternionSlerp(Quaternion q1, Quaternion q2, float amount);   // Calculates spherical linear interpolation between two quaternions
+RMDEF Quaternion QuaternionNlerp(Quaternion q1, Quaternion q2, float amount);   // Calculate slerp-optimized interpolation between two quaternions
+RMDEF Quaternion QuaternionFromVector3ToVector3(Vector3 from, Vector3 to);      // Calculate quaternion based on the rotation from one vector to another
 RMDEF Quaternion QuaternionFromMatrix(Matrix matrix);                 // Returns a quaternion for a given rotation matrix
 RMDEF Matrix QuaternionToMatrix(Quaternion q);                        // Returns a matrix for a given quaternion
 RMDEF Quaternion QuaternionFromAxisAngle(Vector3 axis, float angle);  // Returns rotation quaternion for an angle and axis
@@ -236,8 +244,8 @@ RMDEF Vector2 Vector2Subtract(Vector2 v1, Vector2 v2)
     return (Vector2){ v1.x - v2.x, v1.y - v2.y };
 }
 
-// Calculate vector lenght
-RMDEF float Vector2Lenght(Vector2 v)
+// Calculate vector length
+RMDEF float Vector2Length(Vector2 v)
 {
     return sqrtf((v.x*v.x) + (v.y*v.y));
 }
@@ -287,7 +295,7 @@ RMDEF void Vector2Divide(Vector2 *v, float div)
 // Normalize provided vector
 RMDEF void Vector2Normalize(Vector2 *v)
 {
-    Vector2Divide(v, Vector2Lenght(*v));
+    Vector2Divide(v, Vector2Length(*v));
 }
 
 //----------------------------------------------------------------------------------
@@ -295,25 +303,47 @@ RMDEF void Vector2Normalize(Vector2 *v)
 //----------------------------------------------------------------------------------
 
 // Vector with components value 0.0f
-RMDEF Vector3 VectorZero(void) { return (Vector3){ 0.0f, 0.0f, 0.0f }; }
+RMDEF Vector3 Vector3Zero(void) { return (Vector3){ 0.0f, 0.0f, 0.0f }; }
 
 // Vector with components value 1.0f
-RMDEF Vector3 VectorOne(void) { return (Vector3){ 1.0f, 1.0f, 1.0f }; }
+RMDEF Vector3 Vector3One(void) { return (Vector3){ 1.0f, 1.0f, 1.0f }; }
 
 // Add two vectors
-RMDEF Vector3 VectorAdd(Vector3 v1, Vector3 v2)
+RMDEF Vector3 Vector3Add(Vector3 v1, Vector3 v2)
 {
     return (Vector3){ v1.x + v2.x, v1.y + v2.y, v1.z + v2.z };
 }
 
 // Substract two vectors
-RMDEF Vector3 VectorSubtract(Vector3 v1, Vector3 v2)
+RMDEF Vector3 Vector3Subtract(Vector3 v1, Vector3 v2)
 {
     return (Vector3){ v1.x - v2.x, v1.y - v2.y, v1.z - v2.z };
 }
 
+// Multiply vector by scalar
+RMDEF Vector3 Vector3Multiply(Vector3 v, float scalar)
+{	
+    v.x *= scalar;
+    v.y *= scalar;
+    v.z *= scalar;
+
+    return v;
+}
+
+// Multiply vector by vector
+RMDEF Vector3 Vector3MultiplyV(Vector3 v1, Vector3 v2)
+{	
+    Vector3 result;
+
+    result.x = v1.x * v2.x;
+    result.y = v1.y * v2.y;
+    result.z = v1.z * v2.z;
+
+    return result;
+}
+
 // Calculate two vectors cross product
-RMDEF Vector3 VectorCrossProduct(Vector3 v1, Vector3 v2)
+RMDEF Vector3 Vector3CrossProduct(Vector3 v1, Vector3 v2)
 {
     Vector3 result;
 
@@ -325,7 +355,7 @@ RMDEF Vector3 VectorCrossProduct(Vector3 v1, Vector3 v2)
 }
 
 // Calculate one vector perpendicular vector
-RMDEF Vector3 VectorPerpendicular(Vector3 v)
+RMDEF Vector3 Vector3Perpendicular(Vector3 v)
 {
     Vector3 result;
 
@@ -343,25 +373,25 @@ RMDEF Vector3 VectorPerpendicular(Vector3 v)
         cardinalAxis = (Vector3){0.0f, 0.0f, 1.0f};
     }
 
-    result = VectorCrossProduct(v, cardinalAxis);
+    result = Vector3CrossProduct(v, cardinalAxis);
 
     return result;
 }
 
-// Calculate vector lenght
-RMDEF float VectorLength(const Vector3 v)
+// Calculate vector length
+RMDEF float Vector3Length(const Vector3 v)
 {
     return sqrtf(v.x*v.x + v.y*v.y + v.z*v.z);
 }
 
 // Calculate two vectors dot product
-RMDEF float VectorDotProduct(Vector3 v1, Vector3 v2)
+RMDEF float Vector3DotProduct(Vector3 v1, Vector3 v2)
 {
     return (v1.x*v2.x + v1.y*v2.y + v1.z*v2.z);
 }
 
 // Calculate distance between two vectors
-RMDEF float VectorDistance(Vector3 v1, Vector3 v2)
+RMDEF float Vector3Distance(Vector3 v1, Vector3 v2)
 {
     float dx = v2.x - v1.x;
     float dy = v2.y - v1.y;
@@ -371,7 +401,7 @@ RMDEF float VectorDistance(Vector3 v1, Vector3 v2)
 }
 
 // Scale provided vector
-RMDEF void VectorScale(Vector3 *v, float scale)
+RMDEF void Vector3Scale(Vector3 *v, float scale)
 {
     v->x *= scale;
     v->y *= scale;
@@ -379,7 +409,7 @@ RMDEF void VectorScale(Vector3 *v, float scale)
 }
 
 // Negate provided vector (invert direction)
-RMDEF void VectorNegate(Vector3 *v)
+RMDEF void Vector3Negate(Vector3 *v)
 {
     v->x = -v->x;
     v->y = -v->y;
@@ -387,11 +417,11 @@ RMDEF void VectorNegate(Vector3 *v)
 }
 
 // Normalize provided vector
-RMDEF void VectorNormalize(Vector3 *v)
+RMDEF void Vector3Normalize(Vector3 *v)
 {
     float length, ilength;
 
-    length = VectorLength(*v);
+    length = Vector3Length(*v);
 
     if (length == 0.0f) length = 1.0f;
 
@@ -403,8 +433,7 @@ RMDEF void VectorNormalize(Vector3 *v)
 }
 
 // Transforms a Vector3 by a given Matrix
-// TODO: Review math (matrix transpose required?)
-RMDEF void VectorTransform(Vector3 *v, Matrix mat)
+RMDEF void Vector3Transform(Vector3 *v, Matrix mat)
 {
     float x = v->x;
     float y = v->y;
@@ -416,7 +445,7 @@ RMDEF void VectorTransform(Vector3 *v, Matrix mat)
 };
 
 // Calculate linear interpolation between two vectors
-RMDEF Vector3 VectorLerp(Vector3 v1, Vector3 v2, float amount)
+RMDEF Vector3 Vector3Lerp(Vector3 v1, Vector3 v2, float amount)
 {
     Vector3 result;
 
@@ -428,7 +457,7 @@ RMDEF Vector3 VectorLerp(Vector3 v1, Vector3 v2, float amount)
 }
 
 // Calculate reflected vector to normal
-RMDEF Vector3 VectorReflect(Vector3 vector, Vector3 normal)
+RMDEF Vector3 Vector3Reflect(Vector3 vector, Vector3 normal)
 {
     // I is the original vector
     // N is the normal of the incident plane
@@ -436,7 +465,7 @@ RMDEF Vector3 VectorReflect(Vector3 vector, Vector3 normal)
 
     Vector3 result;
 
-    float dotProduct = VectorDotProduct(vector, normal);
+    float dotProduct = Vector3DotProduct(vector, normal);
 
     result.x = vector.x - (2.0f*normal.x)*dotProduct;
     result.y = vector.y - (2.0f*normal.y)*dotProduct;
@@ -446,7 +475,7 @@ RMDEF Vector3 VectorReflect(Vector3 vector, Vector3 normal)
 }
 
 // Return min value for each pair of components
-RMDEF Vector3 VectorMin(Vector3 vec1, Vector3 vec2)
+RMDEF Vector3 Vector3Min(Vector3 vec1, Vector3 vec2)
 {
     Vector3 result;
     
@@ -458,7 +487,7 @@ RMDEF Vector3 VectorMin(Vector3 vec1, Vector3 vec2)
 }
 
 // Return max value for each pair of components
-RMDEF Vector3 VectorMax(Vector3 vec1, Vector3 vec2)
+RMDEF Vector3 Vector3Max(Vector3 vec1, Vector3 vec2)
 {
     Vector3 result;
     
@@ -471,18 +500,18 @@ RMDEF Vector3 VectorMax(Vector3 vec1, Vector3 vec2)
 
 // 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
-RMDEF Vector3 VectorBarycenter(Vector3 p, Vector3 a, Vector3 b, Vector3 c)
+RMDEF Vector3 Vector3Barycenter(Vector3 p, Vector3 a, Vector3 b, Vector3 c)
 {
     //Vector v0 = b - a, v1 = c - a, v2 = p - a;
     
-    Vector3 v0 = VectorSubtract(b, a);
-    Vector3 v1 = VectorSubtract(c, a);
-    Vector3 v2 = VectorSubtract(p, a);
-    float d00 = VectorDotProduct(v0, v0);
-    float d01 = VectorDotProduct(v0, v1);
-    float d11 = VectorDotProduct(v1, v1);
-    float d20 = VectorDotProduct(v2, v0);
-    float d21 = VectorDotProduct(v2, v1);
+    Vector3 v0 = Vector3Subtract(b, a);
+    Vector3 v1 = Vector3Subtract(c, a);
+    Vector3 v2 = Vector3Subtract(p, a);
+    float d00 = Vector3DotProduct(v0, v0);
+    float d01 = Vector3DotProduct(v0, v1);
+    float d11 = Vector3DotProduct(v1, v1);
+    float d20 = Vector3DotProduct(v2, v0);
+    float d21 = Vector3DotProduct(v2, v1);
     
     float denom = d00*d11 - d01*d01;
     
@@ -495,6 +524,18 @@ RMDEF Vector3 VectorBarycenter(Vector3 p, Vector3 a, Vector3 b, Vector3 c)
     return result;
 }
 
+// Returns Vector3 as float array
+RMDEF float *Vector3ToFloat(Vector3 vec)
+{
+    static float buffer[3];
+
+    buffer[0] = vec.x;
+    buffer[1] = vec.y;
+    buffer[2] = vec.z;
+
+    return buffer;
+}
+
 //----------------------------------------------------------------------------------
 // Module Functions Definition - Matrix math
 //----------------------------------------------------------------------------------
@@ -685,10 +726,10 @@ RMDEF Matrix MatrixSubstract(Matrix left, Matrix right)
 // Returns translation matrix
 RMDEF Matrix MatrixTranslate(float x, float y, float z)
 {
-    Matrix result = { 1.0f, 0.0f, 0.0f, 0.0f, 
-                      0.0f, 1.0f, 0.0f, 0.0f, 
-                      0.0f, 0.0f, 1.0f, 0.0f, 
-                      x, y, z, 1.0f };
+    Matrix result = { 1.0f, 0.0f, 0.0f, x, 
+                      0.0f, 1.0f, 0.0f, y, 
+                      0.0f, 0.0f, 1.0f, z, 
+                      0.0f, 0.0f, 0.0f, 1.0f };
 
     return result;
 }
@@ -813,22 +854,22 @@ RMDEF Matrix MatrixMultiply(Matrix left, Matrix right)
 {
     Matrix result;
 
-    result.m0 = right.m0*left.m0 + right.m1*left.m4 + right.m2*left.m8 + right.m3*left.m12;
-    result.m1 = right.m0*left.m1 + right.m1*left.m5 + right.m2*left.m9 + right.m3*left.m13;
-    result.m2 = right.m0*left.m2 + right.m1*left.m6 + right.m2*left.m10 + right.m3*left.m14;
-    result.m3 = right.m0*left.m3 + right.m1*left.m7 + right.m2*left.m11 + right.m3*left.m15;
-    result.m4 = right.m4*left.m0 + right.m5*left.m4 + right.m6*left.m8 + right.m7*left.m12;
-    result.m5 = right.m4*left.m1 + right.m5*left.m5 + right.m6*left.m9 + right.m7*left.m13;
-    result.m6 = right.m4*left.m2 + right.m5*left.m6 + right.m6*left.m10 + right.m7*left.m14;
-    result.m7 = right.m4*left.m3 + right.m5*left.m7 + right.m6*left.m11 + right.m7*left.m15;
-    result.m8 = right.m8*left.m0 + right.m9*left.m4 + right.m10*left.m8 + right.m11*left.m12;
-    result.m9 = right.m8*left.m1 + right.m9*left.m5 + right.m10*left.m9 + right.m11*left.m13;
-    result.m10 = right.m8*left.m2 + right.m9*left.m6 + right.m10*left.m10 + right.m11*left.m14;
-    result.m11 = right.m8*left.m3 + right.m9*left.m7 + right.m10*left.m11 + right.m11*left.m15;
-    result.m12 = right.m12*left.m0 + right.m13*left.m4 + right.m14*left.m8 + right.m15*left.m12;
-    result.m13 = right.m12*left.m1 + right.m13*left.m5 + right.m14*left.m9 + right.m15*left.m13;
-    result.m14 = right.m12*left.m2 + right.m13*left.m6 + right.m14*left.m10 + right.m15*left.m14;
-    result.m15 = right.m12*left.m3 + right.m13*left.m7 + right.m14*left.m11 + right.m15*left.m15;
+    result.m0 = left.m0*right.m0 + left.m1*right.m4 + left.m2*right.m8 + left.m3*right.m12;
+    result.m1 = left.m0*right.m1 + left.m1*right.m5 + left.m2*right.m9 + left.m3*right.m13;
+    result.m2 = left.m0*right.m2 + left.m1*right.m6 + left.m2*right.m10 + left.m3*right.m14;
+    result.m3 = left.m0*right.m3 + left.m1*right.m7 + left.m2*right.m11 + left.m3*right.m15;
+    result.m4 = left.m4*right.m0 + left.m5*right.m4 + left.m6*right.m8 + left.m7*right.m12;
+    result.m5 = left.m4*right.m1 + left.m5*right.m5 + left.m6*right.m9 + left.m7*right.m13;
+    result.m6 = left.m4*right.m2 + left.m5*right.m6 + left.m6*right.m10 + left.m7*right.m14;
+    result.m7 = left.m4*right.m3 + left.m5*right.m7 + left.m6*right.m11 + left.m7*right.m15;
+    result.m8 = left.m8*right.m0 + left.m9*right.m4 + left.m10*right.m8 + left.m11*right.m12;
+    result.m9 = left.m8*right.m1 + left.m9*right.m5 + left.m10*right.m9 + left.m11*right.m13;
+    result.m10 = left.m8*right.m2 + left.m9*right.m6 + left.m10*right.m10 + left.m11*right.m14;
+    result.m11 = left.m8*right.m3 + left.m9*right.m7 + left.m10*right.m11 + left.m11*right.m15;
+    result.m12 = left.m12*right.m0 + left.m13*right.m4 + left.m14*right.m8 + left.m15*right.m12;
+    result.m13 = left.m12*right.m1 + left.m13*right.m5 + left.m14*right.m9 + left.m15*right.m13;
+    result.m14 = left.m12*right.m2 + left.m13*right.m6 + left.m14*right.m10 + left.m15*right.m14;
+    result.m15 = left.m12*right.m3 + left.m13*right.m7 + left.m14*right.m11 + left.m15*right.m15;
 
     return result;
 }
@@ -866,9 +907,10 @@ RMDEF Matrix MatrixFrustum(double left, double right, double bottom, double top,
 }
 
 // Returns perspective projection matrix
+// NOTE: Angle should be provided in radians
 RMDEF Matrix MatrixPerspective(double fovy, double aspect, double near, double far)
 {
-    double top = near*tan(fovy*PI/360.0);
+    double top = near*tan(fovy*0.5); 
     double right = top*aspect;
 
     return MatrixFrustum(-right, right, -top, top, near, far);
@@ -908,37 +950,70 @@ RMDEF Matrix MatrixLookAt(Vector3 eye, Vector3 target, Vector3 up)
 {
     Matrix result;
 
-    Vector3 z = VectorSubtract(eye, target);
-    VectorNormalize(&z);
-    Vector3 x = VectorCrossProduct(up, z);
-    VectorNormalize(&x);
-    Vector3 y = VectorCrossProduct(z, x);
-    VectorNormalize(&y);
-
+    Vector3 z = Vector3Subtract(eye, target);
+    Vector3Normalize(&z);
+    Vector3 x = Vector3CrossProduct(up, z);
+    Vector3Normalize(&x);
+    Vector3 y = Vector3CrossProduct(z, x);
+    Vector3Normalize(&y);
+    
     result.m0 = x.x;
     result.m1 = x.y;
     result.m2 = x.z;
-    result.m3 = -((x.x*eye.x) + (x.y*eye.y) + (x.z*eye.z));
+    result.m3 = 0.0f;
     result.m4 = y.x;
     result.m5 = y.y;
     result.m6 = y.z;
-    result.m7 = -((y.x*eye.x) + (y.y*eye.y) + (y.z*eye.z));
+    result.m7 = 0.0f;
     result.m8 = z.x;
     result.m9 = z.y;
     result.m10 = z.z;
-    result.m11 = -((z.x*eye.x) + (z.y*eye.y) + (z.z*eye.z));
-    result.m12 = 0.0f;
-    result.m13 = 0.0f;
-    result.m14 = 0.0f;
+    result.m11 = 0.0f;
+    result.m12 = eye.x;
+    result.m13 = eye.y;
+    result.m14 = eye.z;
     result.m15 = 1.0f;
 
+    MatrixInvert(&result);
+
     return result;
 }
 
+// Returns float array of matrix data
+RMDEF float *MatrixToFloat(Matrix mat)
+{
+    static float buffer[16];
+
+    buffer[0] = mat.m0;
+    buffer[1] = mat.m1;
+    buffer[2] = mat.m2;
+    buffer[3] = mat.m3;
+    buffer[4] = mat.m4;
+    buffer[5] = mat.m5;
+    buffer[6] = mat.m6;
+    buffer[7] = mat.m7;
+    buffer[8] = mat.m8;
+    buffer[9] = mat.m9;
+    buffer[10] = mat.m10;
+    buffer[11] = mat.m11;
+    buffer[12] = mat.m12;
+    buffer[13] = mat.m13;
+    buffer[14] = mat.m14;
+    buffer[15] = mat.m15;
+
+    return buffer;
+}
+
 //----------------------------------------------------------------------------------
 // Module Functions Definition - Quaternion math
 //----------------------------------------------------------------------------------
 
+// Returns identity quaternion
+RMDEF Quaternion QuaternionIdentity(void)
+{
+    return (Quaternion){ 0.0f, 0.0f, 0.0f, 1.0f };
+}
+
 // Computes the length of a quaternion
 RMDEF float QuaternionLength(Quaternion quat)
 {
@@ -995,6 +1070,19 @@ RMDEF Quaternion QuaternionMultiply(Quaternion q1, Quaternion q2)
     return result;
 }
 
+// Calculate linear interpolation between two quaternions
+RMDEF Quaternion QuaternionLerp(Quaternion q1, Quaternion q2, float amount)
+{
+    Quaternion result;
+
+    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;
+}
+
 // Calculates spherical linear interpolation between two quaternions
 RMDEF Quaternion QuaternionSlerp(Quaternion q1, Quaternion q2, float amount)
 {
@@ -1003,6 +1091,7 @@ RMDEF Quaternion QuaternionSlerp(Quaternion q1, Quaternion q2, float amount)
     float cosHalfTheta =  q1.x*q2.x + q1.y*q2.y + q1.z*q2.z + q1.w*q2.w;
 
     if (fabs(cosHalfTheta) >= 1.0f) result = q1;
+    else if (cosHalfTheta > 0.95f) result = QuaternionNlerp(q1, q2, amount);
     else
     {
         float halfTheta = acos(cosHalfTheta);
@@ -1030,6 +1119,37 @@ RMDEF Quaternion QuaternionSlerp(Quaternion q1, Quaternion q2, float amount)
     return result;
 }
 
+// Calculate slerp-optimized interpolation between two quaternions
+RMDEF Quaternion QuaternionNlerp(Quaternion q1, Quaternion q2, float amount)
+{
+    Quaternion result = QuaternionLerp(q1, q2, amount);
+    QuaternionNormalize(&result);
+    
+    return result;
+}
+
+// Calculate quaternion based on the rotation from one vector to another
+RMDEF Quaternion QuaternionFromVector3ToVector3(Vector3 from, Vector3 to)
+{
+    Quaternion q = { 0 };
+
+    float cos2Theta = Vector3DotProduct(from, to);
+    Vector3 cross = Vector3CrossProduct(from, to);
+
+    q.x = cross.x;
+    q.y = cross.y;
+    q.z = cross.y;
+    q.w = 1.0f + cos2Theta;     // NOTE: Added QuaternioIdentity()
+    
+    // Normalize to essentially nlerp the original and identity to 0.5
+    QuaternionNormalize(&q);    
+    
+    // Above lines are equivalent to:
+    //Quaternion result = QuaternionNlerp(q, QuaternionIdentity(), 0.5f);
+    
+	return q;
+}
+
 // Returns a quaternion for a given rotation matrix
 RMDEF Quaternion QuaternionFromMatrix(Matrix matrix)
 {
@@ -1096,18 +1216,21 @@ RMDEF Matrix QuaternionToMatrix(Quaternion q)
     float x2 = x + x;
     float y2 = y + y;
     float z2 = z + z;
+    
+    float length = QuaternionLength(q);
+    float lengthSquared = length*length;
 
-    float xx = x*x2;
-    float xy = x*y2;
-    float xz = x*z2;
+    float xx = x*x2/lengthSquared;
+    float xy = x*y2/lengthSquared;
+    float xz = x*z2/lengthSquared;
 
-    float yy = y*y2;
-    float yz = y*z2;
-    float zz = z*z2;
+    float yy = y*y2/lengthSquared;
+    float yz = y*z2/lengthSquared;
+    float zz = z*z2/lengthSquared;
 
-    float wx = w*x2;
-    float wy = w*y2;
-    float wz = w*z2;
+    float wx = w*x2/lengthSquared;
+    float wy = w*y2/lengthSquared;
+    float wz = w*z2/lengthSquared;
 
     result.m0 = 1.0f - (yy + zz);
     result.m1 = xy - wz;
@@ -1135,11 +1258,11 @@ RMDEF Quaternion QuaternionFromAxisAngle(Vector3 axis, float angle)
 {
     Quaternion result = { 0.0f, 0.0f, 0.0f, 1.0f };
 
-    if (VectorLength(axis) != 0.0f)
+    if (Vector3Length(axis) != 0.0f)
 
     angle *= 0.5f;
 
-    VectorNormalize(&axis);
+    Vector3Normalize(&axis);
     
     float sinres = sinf(angle);
     float cosres = cosf(angle);
@@ -1203,7 +1326,7 @@ RMDEF Quaternion QuaternionFromEuler(float roll, float pitch, float yaw)
 }
 
 // Return the Euler angles equivalent to quaternion (roll, pitch, yaw)
-// NOTE: Angles are returned in a Vector3 struct and in degrees
+// NOTE: Angles are returned in a Vector3 struct in degrees
 RMDEF Vector3 QuaternionToEuler(Quaternion q)
 {
     Vector3 v = { 0 };