HandMadeMath.h

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/*
  HandmadeMath.h v1.7.0
  
  This is a single header file with a bunch of useful functions for game and
  graphics math operations.
  
  =============================================================================
  
  You MUST
  
     #define HANDMADE_MATH_IMPLEMENTATION
     
  in EXACTLY one C or C++ file that includes this header, BEFORE the
  include, like this:
  
     #define HANDMADE_MATH_IMPLEMENTATION
     #include "HandmadeMath.h"
     
  All other files should just #include "HandmadeMath.h" without the #define.
  
  =============================================================================
  
  To disable SSE intrinsics, you MUST
  
  #define HANDMADE_MATH_NO_SSE
  
  in EXACTLY one C or C++ file that includes this header, BEFORE the
  include, like this:
     
     #define HANDMADE_MATH_IMPLEMENTATION
     #define HANDMADE_MATH_NO_SSE
     #include "HandmadeMath.h"
  
  =============================================================================
  
  To use HandmadeMath without the CRT, you MUST
  
     #define HMM_SINF MySinF
     #define HMM_COSF MyCosF
     #define HMM_TANF MyTanF
     #define HMM_SQRTF MySqrtF
     #define HMM_EXPF MyExpF
     #define HMM_LOGF MyLogF
     #define HMM_ACOSF MyACosF
     #define HMM_ATANF MyATanF
     #define HMM_ATAN2F MYATan2F
     
  Provide your own implementations of SinF, CosF, TanF, ACosF, ATanF, ATan2F,
  ExpF, and LogF in EXACTLY one C or C++ file that includes this header,
  BEFORE the include, like this:
  
     #define HMM_SINF MySinF
     #define HMM_COSF MyCosF
     #define HMM_TANF MyTanF
     #define HMM_SQRTF MySqrtF
     #define HMM_EXPF MyExpF
     #define HMM_LOGF MyLogF
     #define HMM_ACOSF MyACosF
     #define HMM_ATANF MyATanF
     #define HMM_ATAN2F MyATan2F
     #define HANDMADE_MATH_IMPLEMENTATION
     #include "HandmadeMath.h"
     
  If you do not define all of these, HandmadeMath.h will use the
  versions of these functions that are provided by the CRT.
  
  =============================================================================
  
  Version History:
      0.2 (*) Updated documentation
          (*) Better C compliance
          (*) Prefix all handmade math functions
          (*) Better operator overloading
      0.2a
          (*) Prefixed Macros
      0.2b
          (*) Disabled warning 4201 on MSVC as it is legal is C11
          (*) Removed the f at the end of HMM_PI to get 64bit precision
      0.3
          (*) Added +=, -=, *=, /= for hmm_vec2, hmm_vec3, hmm_vec4
      0.4
          (*) SSE Optimized HMM_SqrtF
          (*) SSE Optimized HMM_RSqrtF
          (*) Removed CRT
      0.5
          (*) Added scalar multiplication and division for vectors
              and matrices
          (*) Added matrix subtraction and += for hmm_mat4
          (*) Reconciled all headers and implementations
          (*) Tidied up, and filled in a few missing operators
      0.5.1
          (*) Ensured column-major order for matrices throughout
          (*) Fixed HMM_Translate producing row-major matrices
      0.5.2
          (*) Fixed SSE code in HMM_SqrtF
          (*) Fixed SSE code in HMM_RSqrtF
      0.6
          (*) Added Unit testing
          (*) Made HMM_Power faster
          (*) Fixed possible efficiency problem with HMM_Normalize
          (*) RENAMED HMM_LengthSquareRoot to HMM_LengthSquared
          (*) RENAMED HMM_RSqrtF to HMM_RSquareRootF
          (*) RENAMED HMM_SqrtF to HMM_SquareRootF
          (*) REMOVED Inner function (user should use Dot now)
          (*) REMOVED HMM_FastInverseSquareRoot function declaration
      0.7
          (*) REMOVED HMM_LengthSquared in HANDMADE_MATH_IMPLEMENTATION (should
              use HMM_LengthSquaredVec3, or HANDMADE_MATH_CPP_MODE for function
              overloaded version)
          (*) REMOVED HMM_Length in HANDMADE_MATH_IMPLEMENTATION (should use
              HMM_LengthVec3, HANDMADE_MATH_CPP_MODE for function
              overloaded version)
          (*) REMOVED HMM_Normalize in HANDMADE_MATH_IMPLEMENTATION (should use
              HMM_NormalizeVec3, or HANDMADE_MATH_CPP_MODE for function
              overloaded version)
          (*) Added HMM_LengthSquaredVec2
          (*) Added HMM_LengthSquaredVec4
          (*) Addd HMM_LengthVec2
          (*) Added HMM_LengthVec4
          (*) Added HMM_NormalizeVec2
          (*) Added HMM_NormalizeVec4
     1.0
          (*) Lots of testing!
     1.1
          (*) Quaternion support
          (*) Added type hmm_quaternion
          (*) Added HMM_Quaternion
          (*) Added HMM_QuaternionV4
          (*) Added HMM_AddQuaternion
          (*) Added HMM_SubtractQuaternion
          (*) Added HMM_MultiplyQuaternion
          (*) Added HMM_MultiplyQuaternionF
          (*) Added HMM_DivideQuaternionF
          (*) Added HMM_InverseQuaternion
          (*) Added HMM_DotQuaternion
          (*) Added HMM_NormalizeQuaternion
          (*) Added HMM_Slerp
          (*) Added HMM_QuaternionToMat4
          (*) Added HMM_QuaternionFromAxisAngle
     1.1.1
          (*) Resolved compiler warnings on gcc and g++
     1.1.2
          (*) Fixed invalid HMMDEF's in the function definitions
     1.1.3
          (*) Fixed compile error in C mode
     1.1.4
          (*) Fixed SSE being included on platforms that don't support it
          (*) Fixed divide-by-zero errors when normalizing zero vectors.
     1.1.5
          (*) Add Width and Height to HMM_Vec2
          (*) Made it so you can supply your own SqrtF
     1.2.0
          (*) Added equality functions for HMM_Vec2, HMM_Vec3, and HMM_Vec4.
              (*) Added HMM_EqualsVec2, HMM_EqualsVec3, and HMM_EqualsVec4
              (*) Added C++ overloaded HMM_Equals for all three
              (*) Added C++ == and != operators for all three
          (*) SSE'd HMM_MultiplyMat4 (this is _WAY_ faster)
          (*) SSE'd HMM_Transpose
     1.3.0
          (*) Remove need to #define HANDMADE_MATH_CPP_MODE
     1.4.0
          (*) Fixed bug when using HandmadeMath in C mode
          (*) SSEd all vec4 operations
          (*) Removed all zero-ing
     1.5.0
          (*) Changed internal structure for better performance and inlining.
          (*) As a result, HANDMADE_MATH_NO_INLINE has been removed and no
              longer has any effect.
     1.5.1
          (*) Fixed a bug with uninitialized elements in HMM_LookAt.
     1.6.0
          (*) Added array subscript operators for vector and matrix types in
              C++. This is provided as a convenience, but be aware that it may
              incur an extra function call in unoptimized builds.
     1.7.0
          (*) Renamed the 'Rows' member of hmm_mat4 to 'Columns'. Since our
              matrices are column-major, this should have been named 'Columns'
              from the start. 'Rows' is still present, but has been deprecated.
 
 
  LICENSE
  
  This software is in the public domain. Where that dedication is not
  recognized, you are granted a perpetual, irrevocable license to copy,
  distribute, and modify this file as you see fit.
  
  CREDITS
  
  Written by Zakary Strange (zak@strangedev.net && @strangezak)
  
  Functionality:
   Matt Mascarenhas (@miblo_)
   Aleph
   FieryDrake (@fierydrake)
   Gingerbill (@TheGingerBill)
   Ben Visness (@bvisness)
   Trinton Bullard (@Peliex_Dev)
   
  Fixes:
   Jeroen van Rijn (@J_vanRijn)
   Kiljacken (@Kiljacken)
   Insofaras (@insofaras)
   Daniel Gibson (@DanielGibson)
*/
 
/* let's figure out if SSE is really available (unless disabled anyway)
   (it isn't on non-x86/x86_64 platforms or even x86 without explicit SSE support)
   => only use "#ifdef HANDMADE_MATH__USE_SSE" to check for SSE support below this block! */
#ifndef HANDMADE_MATH_NO_SSE
 
#ifdef _MSC_VER
/* MSVC supports SSE in amd64 mode or _M_IX86_FP >= 1 (2 means SSE2) */
#if defined(_M_AMD64) || (defined(_M_IX86_FP) && _M_IX86_FP >= 1)
#define HANDMADE_MATH__USE_SSE 1
#endif
#else          /* not MSVC, probably GCC, clang, icc or something that doesn't support SSE anyway */
#ifdef __SSE__ /* they #define __SSE__ if it's supported */
#define HANDMADE_MATH__USE_SSE 1
#endif /*  __SSE__ */
#endif /* not _MSC_VER */
 
#endif /* #ifndef HANDMADE_MATH_NO_SSE */
 
#include <stdint.h> // This is for types
 
#ifdef HANDMADE_MATH__USE_SSE
#include <xmmintrin.h>
#endif
 
#ifndef HANDMADE_MATH_H
#define HANDMADE_MATH_H
 
#ifdef _MSC_VER
#pragma warning(disable : 4201)
#endif
 
#ifdef __clang__
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wgnu-anonymous-struct"
#endif
 
#ifdef __cplusplus
extern "C" {
#endif
 
#define HMM_INLINE static inline
#define HMM_EXTERN extern
 
#if !defined(HMM_SINF) || !defined(HMM_COSF) || !defined(HMM_TANF) || \
  !defined(HMM_SQRTF) || !defined(HMM_EXPF) || !defined(HMM_LOGF) ||  \
  !defined(HMM_ACOSF) || !defined(HMM_ATANF) || !defined(HMM_ATAN2F)
#include <math.h>
#endif
 
#ifndef HMM_SINF
#define HMM_SINF sinf
#endif
 
#ifndef HMM_COSF
#define HMM_COSF cosf
#endif
 
#ifndef HMM_TANF
#define HMM_TANF tanf
#endif
 
#ifndef HMM_SQRTF
#define HMM_SQRTF sqrtf
#endif
 
#ifndef HMM_EXPF
#define HMM_EXPF expf
#endif
 
#ifndef HMM_LOGF
#define HMM_LOGF logf
#endif
 
#ifndef HMM_ACOSF
#define HMM_ACOSF acosf
#endif
 
#ifndef HMM_ATANF
#define HMM_ATANF atanf
#endif
 
#ifndef HMM_ATAN2F
#define HMM_ATAN2F atan2f
#endif
 
#define HMM_PI32 3.14159265359f
#define HMM_PI 3.14159265358979323846
 
#define HMM_MIN(a, b) (a) > (b) ? (b) : (a)
#define HMM_MAX(a, b) (a) < (b) ? (b) : (a)
#define HMM_ABS(a) ((a) > 0 ? (a) : -(a))
#define HMM_MOD(a, m) ((a) % (m)) >= 0 ? ((a) % (m)) : (((a) % (m)) + (m))
#define HMM_SQUARE(x) ((x) * (x))
 
typedef union hmm_vec2 {
  struct
  {
    float X, Y;
  };
 
  struct
  {
    float U, V;
  };
 
  struct
  {
    float Left, Right;
  };
 
  struct
  {
    float Width, Height;
  };
 
  float Elements[2];
 
#ifdef __cplusplus
  inline float& operator[](int Index)
  {
    return Elements[Index];
  }
#endif
} hmm_vec2;
 
typedef union hmm_vec3 {
  struct
  {
    float X, Y, Z;
  };
 
  struct
  {
    float U, V, W;
  };
 
  struct
  {
    float R, G, B;
  };
 
  struct
  {
    hmm_vec2 XY;
    float Ignored0_;
  };
 
  struct
  {
    float Ignored1_;
    hmm_vec2 YZ;
  };
 
  struct
  {
    hmm_vec2 UV;
    float Ignored2_;
  };
 
  struct
  {
    float Ignored3_;
    hmm_vec2 VW;
  };
 
  float Elements[3];
 
#ifdef __cplusplus
  inline float& operator[](int Index)
  {
    return Elements[Index];
  }
#endif
} hmm_vec3;
 
typedef union hmm_vec4 {
  struct
  {
    union {
      hmm_vec3 XYZ;
      struct
      {
        float X, Y, Z;
      };
    };
 
    float W;
  };
  struct
  {
    union {
      hmm_vec3 RGB;
      struct
      {
        float R, G, B;
      };
    };
 
    float A;
  };
 
  struct
  {
    hmm_vec2 XY;
    float Ignored0_;
    float Ignored1_;
  };
 
  struct
  {
    float Ignored2_;
    hmm_vec2 YZ;
    float Ignored3_;
  };
 
  struct
  {
    float Ignored4_;
    float Ignored5_;
    hmm_vec2 ZW;
  };
 
  float Elements[4];
 
#ifdef HANDMADE_MATH__USE_SSE
  __m128 InternalElementsSSE;
#endif
 
#ifdef __cplusplus
  inline float& operator[](int Index)
  {
    return Elements[Index];
  }
#endif
} hmm_vec4;
 
typedef union hmm_mat4 {
  float Elements[4][4];
 
#ifdef HANDMADE_MATH__USE_SSE
  __m128 Columns[4];
 
  // DEPRECATED. Our matrices are column-major, so this was named
  // incorrectly. Use Columns instead.
  __m128 Rows[4];
#endif
 
#ifdef __cplusplus
  inline hmm_vec4 operator[](const int Index)
  {
    float* col = Elements[Index];
 
    hmm_vec4 result;
    result.Elements[0] = col[0];
    result.Elements[1] = col[1];
    result.Elements[2] = col[2];
    result.Elements[3] = col[3];
 
    return result;
  }
#endif
} hmm_mat4;
 
typedef union hmm_quaternion {
  struct
  {
    union {
      hmm_vec3 XYZ;
      struct
      {
        float X, Y, Z;
      };
    };
 
    float W;
  };
 
  float Elements[4];
} hmm_quaternion;
 
typedef int32_t hmm_bool;
 
typedef hmm_vec2 hmm_v2;
typedef hmm_vec3 hmm_v3;
typedef hmm_vec4 hmm_v4;
typedef hmm_mat4 hmm_m4;
 
/*
 * Floating-point math functions
 */
 
HMM_INLINE float HMM_SinF(float Radians)
{
  float Result = HMM_SINF(Radians);
 
  return (Result);
}
 
HMM_INLINE float HMM_CosF(float Radians)
{
  float Result = HMM_COSF(Radians);
 
  return (Result);
}
 
HMM_INLINE float HMM_TanF(float Radians)
{
  float Result = HMM_TANF(Radians);
 
  return (Result);
}
 
HMM_INLINE float HMM_ACosF(float Radians)
{
  float Result = HMM_ACOSF(Radians);
 
  return (Result);
}
 
HMM_INLINE float HMM_ATanF(float Radians)
{
  float Result = HMM_ATANF(Radians);
 
  return (Result);
}
 
HMM_INLINE float HMM_ATan2F(float Left, float Right)
{
  float Result = HMM_ATAN2F(Left, Right);
 
  return (Result);
}
 
HMM_INLINE float HMM_ExpF(float Float)
{
  float Result = HMM_EXPF(Float);
 
  return (Result);
}
 
HMM_INLINE float HMM_LogF(float Float)
{
  float Result = HMM_LOGF(Float);
 
  return (Result);
}
 
HMM_INLINE float HMM_SquareRootF(float Float)
{
  float Result;
 
#ifdef HANDMADE_MATH__USE_SSE
  __m128 In = _mm_set_ss(Float);
  __m128 Out = _mm_sqrt_ss(In);
  Result = _mm_cvtss_f32(Out);
#else
  Result = HMM_SQRTF(Float);
#endif
 
  return (Result);
}
 
HMM_INLINE float HMM_RSquareRootF(float Float)
{
  float Result;
 
#ifdef HANDMADE_MATH__USE_SSE
  __m128 In = _mm_set_ss(Float);
  __m128 Out = _mm_rsqrt_ss(In);
  Result = _mm_cvtss_f32(Out);
#else
  Result = 1.0f / HMM_SquareRootF(Float);
#endif
 
  return (Result);
}
 
HMM_EXTERN float HMM_Power(float Base, int Exponent);
 
HMM_INLINE float HMM_PowerF(float Base, float Exponent)
{
  float Result = HMM_EXPF(Exponent * HMM_LOGF(Base));
 
  return (Result);
}
 
/*
 * Utility functions
 */
HMM_INLINE float HMM_ToRadians(float Degrees)
{
  float Result = Degrees * (HMM_PI32 / 180.0f);
 
  return (Result);
}
 
HMM_INLINE float HMM_Lerp(float A, float Time, float B)
{
  float Result = (1.0f - Time) * A + Time * B;
 
  return (Result);
}
 
HMM_INLINE float HMM_Clamp(float Min, float Value, float Max)
{
  float Result = Value;
 
  if (Result < Min) {
    Result = Min;
  } else if (Result > Max) {
    Result = Max;
  }
 
  return (Result);
}
 
/*
 * Vector initialization
 */
 
HMM_INLINE hmm_vec2 HMM_Vec2(float X, float Y)
{
  hmm_vec2 Result;
 
  Result.X = X;
  Result.Y = Y;
 
  return (Result);
}
 
HMM_INLINE hmm_vec2 HMM_Vec2i(int X, int Y)
{
  hmm_vec2 Result;
 
  Result.X = (float)X;
  Result.Y = (float)Y;
 
  return (Result);
}
 
HMM_INLINE hmm_vec3 HMM_Vec3(float X, float Y, float Z)
{
  hmm_vec3 Result;
 
  Result.X = X;
  Result.Y = Y;
  Result.Z = Z;
 
  return (Result);
}
 
HMM_INLINE hmm_vec3 HMM_Vec3i(int X, int Y, int Z)
{
  hmm_vec3 Result;
 
  Result.X = (float)X;
  Result.Y = (float)Y;
  Result.Z = (float)Z;
 
  return (Result);
}
 
HMM_INLINE hmm_vec4 HMM_Vec4(float X, float Y, float Z, float W)
{
  hmm_vec4 Result;
 
#ifdef HANDMADE_MATH__USE_SSE
  Result.InternalElementsSSE = _mm_setr_ps(X, Y, Z, W);
#else
  Result.X = X;
  Result.Y = Y;
  Result.Z = Z;
  Result.W = W;
#endif
 
  return (Result);
}
 
HMM_INLINE hmm_vec4 HMM_Vec4i(int X, int Y, int Z, int W)
{
  hmm_vec4 Result;
 
#ifdef HANDMADE_MATH__USE_SSE
  Result.InternalElementsSSE = _mm_setr_ps((float)X, (float)Y, (float)Z, (float)W);
#else
  Result.X = (float)X;
  Result.Y = (float)Y;
  Result.Z = (float)Z;
  Result.W = (float)W;
#endif
 
  return (Result);
}
 
HMM_INLINE hmm_vec4 HMM_Vec4v(hmm_vec3 Vector, float W)
{
  hmm_vec4 Result;
 
#ifdef HANDMADE_MATH__USE_SSE
  Result.InternalElementsSSE = _mm_setr_ps(Vector.X, Vector.Y, Vector.Z, W);
#else
  Result.XYZ = Vector;
  Result.W = W;
#endif
 
  return (Result);
}
 
/*
 * Binary vector operations
 */
 
HMM_INLINE hmm_vec2 HMM_AddVec2(hmm_vec2 Left, hmm_vec2 Right)
{
  hmm_vec2 Result;
 
  Result.X = Left.X + Right.X;
  Result.Y = Left.Y + Right.Y;
 
  return (Result);
}
 
HMM_INLINE hmm_vec3 HMM_AddVec3(hmm_vec3 Left, hmm_vec3 Right)
{
  hmm_vec3 Result;
 
  Result.X = Left.X + Right.X;
  Result.Y = Left.Y + Right.Y;
  Result.Z = Left.Z + Right.Z;
 
  return (Result);
}
 
HMM_INLINE hmm_vec4 HMM_AddVec4(hmm_vec4 Left, hmm_vec4 Right)
{
  hmm_vec4 Result;
 
#ifdef HANDMADE_MATH__USE_SSE
  Result.InternalElementsSSE = _mm_add_ps(Left.InternalElementsSSE, Right.InternalElementsSSE);
#else
  Result.X = Left.X + Right.X;
  Result.Y = Left.Y + Right.Y;
  Result.Z = Left.Z + Right.Z;
  Result.W = Left.W + Right.W;
#endif
 
  return (Result);
}
 
HMM_INLINE hmm_vec2 HMM_SubtractVec2(hmm_vec2 Left, hmm_vec2 Right)
{
  hmm_vec2 Result;
 
  Result.X = Left.X - Right.X;
  Result.Y = Left.Y - Right.Y;
 
  return (Result);
}
 
HMM_INLINE hmm_vec3 HMM_SubtractVec3(hmm_vec3 Left, hmm_vec3 Right)
{
  hmm_vec3 Result;
 
  Result.X = Left.X - Right.X;
  Result.Y = Left.Y - Right.Y;
  Result.Z = Left.Z - Right.Z;
 
  return (Result);
}
 
HMM_INLINE hmm_vec4 HMM_SubtractVec4(hmm_vec4 Left, hmm_vec4 Right)
{
  hmm_vec4 Result;
 
#ifdef HANDMADE_MATH__USE_SSE
  Result.InternalElementsSSE = _mm_sub_ps(Left.InternalElementsSSE, Right.InternalElementsSSE);
#else
  Result.X = Left.X - Right.X;
  Result.Y = Left.Y - Right.Y;
  Result.Z = Left.Z - Right.Z;
  Result.W = Left.W - Right.W;
#endif
 
  return (Result);
}
 
HMM_INLINE hmm_vec2 HMM_MultiplyVec2(hmm_vec2 Left, hmm_vec2 Right)
{
  hmm_vec2 Result;
 
  Result.X = Left.X * Right.X;
  Result.Y = Left.Y * Right.Y;
 
  return (Result);
}
 
HMM_INLINE hmm_vec2 HMM_MultiplyVec2f(hmm_vec2 Left, float Right)
{
  hmm_vec2 Result;
 
  Result.X = Left.X * Right;
  Result.Y = Left.Y * Right;
 
  return (Result);
}
 
HMM_INLINE hmm_vec3 HMM_MultiplyVec3(hmm_vec3 Left, hmm_vec3 Right)
{
  hmm_vec3 Result;
 
  Result.X = Left.X * Right.X;
  Result.Y = Left.Y * Right.Y;
  Result.Z = Left.Z * Right.Z;
 
  return (Result);
}
 
HMM_INLINE hmm_vec3 HMM_MultiplyVec3f(hmm_vec3 Left, float Right)
{
  hmm_vec3 Result;
 
  Result.X = Left.X * Right;
  Result.Y = Left.Y * Right;
  Result.Z = Left.Z * Right;
 
  return (Result);
}
 
HMM_INLINE hmm_vec4 HMM_MultiplyVec4(hmm_vec4 Left, hmm_vec4 Right)
{
  hmm_vec4 Result;
 
#ifdef HANDMADE_MATH__USE_SSE
  Result.InternalElementsSSE = _mm_mul_ps(Left.InternalElementsSSE, Right.InternalElementsSSE);
#else
  Result.X = Left.X * Right.X;
  Result.Y = Left.Y * Right.Y;
  Result.Z = Left.Z * Right.Z;
  Result.W = Left.W * Right.W;
#endif
 
  return (Result);
}
 
HMM_INLINE hmm_vec4 HMM_MultiplyVec4f(hmm_vec4 Left, float Right)
{
  hmm_vec4 Result;
 
#ifdef HANDMADE_MATH__USE_SSE
  __m128 Scalar = _mm_set1_ps(Right);
  Result.InternalElementsSSE = _mm_mul_ps(Left.InternalElementsSSE, Scalar);
#else
  Result.X = Left.X * Right;
  Result.Y = Left.Y * Right;
  Result.Z = Left.Z * Right;
  Result.W = Left.W * Right;
#endif
 
  return (Result);
}
 
HMM_INLINE hmm_vec2 HMM_DivideVec2(hmm_vec2 Left, hmm_vec2 Right)
{
  hmm_vec2 Result;
 
  Result.X = Left.X / Right.X;
  Result.Y = Left.Y / Right.Y;
 
  return (Result);
}
 
HMM_INLINE hmm_vec2 HMM_DivideVec2f(hmm_vec2 Left, float Right)
{
  hmm_vec2 Result;
 
  Result.X = Left.X / Right;
  Result.Y = Left.Y / Right;
 
  return (Result);
}
 
HMM_INLINE hmm_vec3 HMM_DivideVec3(hmm_vec3 Left, hmm_vec3 Right)
{
  hmm_vec3 Result;
 
  Result.X = Left.X / Right.X;
  Result.Y = Left.Y / Right.Y;
  Result.Z = Left.Z / Right.Z;
 
  return (Result);
}
 
HMM_INLINE hmm_vec3 HMM_DivideVec3f(hmm_vec3 Left, float Right)
{
  hmm_vec3 Result;
 
  Result.X = Left.X / Right;
  Result.Y = Left.Y / Right;
  Result.Z = Left.Z / Right;
 
  return (Result);
}
 
HMM_INLINE hmm_vec4 HMM_DivideVec4(hmm_vec4 Left, hmm_vec4 Right)
{
  hmm_vec4 Result;
 
#ifdef HANDMADE_MATH__USE_SSE
  Result.InternalElementsSSE = _mm_div_ps(Left.InternalElementsSSE, Right.InternalElementsSSE);
#else
  Result.X = Left.X / Right.X;
  Result.Y = Left.Y / Right.Y;
  Result.Z = Left.Z / Right.Z;
  Result.W = Left.W / Right.W;
#endif
 
  return (Result);
}
 
HMM_INLINE hmm_vec4 HMM_DivideVec4f(hmm_vec4 Left, float Right)
{
  hmm_vec4 Result;
 
#ifdef HANDMADE_MATH__USE_SSE
  __m128 Scalar = _mm_set1_ps(Right);
  Result.InternalElementsSSE = _mm_div_ps(Left.InternalElementsSSE, Scalar);
#else
  Result.X = Left.X / Right;
  Result.Y = Left.Y / Right;
  Result.Z = Left.Z / Right;
  Result.W = Left.W / Right;
#endif
 
  return (Result);
}
 
HMM_INLINE hmm_bool HMM_EqualsVec2(hmm_vec2 Left, hmm_vec2 Right)
{
  hmm_bool Result = (Left.X == Right.X && Left.Y == Right.Y);
 
  return (Result);
}
 
HMM_INLINE hmm_bool HMM_EqualsVec3(hmm_vec3 Left, hmm_vec3 Right)
{
  hmm_bool Result = (Left.X == Right.X && Left.Y == Right.Y && Left.Z == Right.Z);
 
  return (Result);
}
 
HMM_INLINE hmm_bool HMM_EqualsVec4(hmm_vec4 Left, hmm_vec4 Right)
{
  hmm_bool Result = (Left.X == Right.X && Left.Y == Right.Y && Left.Z == Right.Z && Left.W == Right.W);
 
  return (Result);
}
 
HMM_INLINE float HMM_DotVec2(hmm_vec2 VecOne, hmm_vec2 VecTwo)
{
  float Result = (VecOne.X * VecTwo.X) + (VecOne.Y * VecTwo.Y);
 
  return (Result);
}
 
HMM_INLINE float HMM_DotVec3(hmm_vec3 VecOne, hmm_vec3 VecTwo)
{
  float Result = (VecOne.X * VecTwo.X) + (VecOne.Y * VecTwo.Y) + (VecOne.Z * VecTwo.Z);
 
  return (Result);
}
 
HMM_INLINE float HMM_DotVec4(hmm_vec4 VecOne, hmm_vec4 VecTwo)
{
  float Result;
 
  // NOTE(zak): IN the future if we wanna check what version SSE is support
  // we can use _mm_dp_ps (4.3) but for now we will use the old way.
  // Or a r = _mm_mul_ps(v1, v2), r = _mm_hadd_ps(r, r), r = _mm_hadd_ps(r, r) for SSE3
#ifdef HANDMADE_MATH__USE_SSE
  __m128 SSEResultOne = _mm_mul_ps(VecOne.InternalElementsSSE, VecTwo.InternalElementsSSE);
  __m128 SSEResultTwo = _mm_shuffle_ps(SSEResultOne, SSEResultOne, _MM_SHUFFLE(2, 3, 0, 1));
  SSEResultOne = _mm_add_ps(SSEResultOne, SSEResultTwo);
  SSEResultTwo = _mm_shuffle_ps(SSEResultOne, SSEResultOne, _MM_SHUFFLE(0, 1, 2, 3));
  SSEResultOne = _mm_add_ps(SSEResultOne, SSEResultTwo);
  _mm_store_ss(&Result, SSEResultOne);
#else
  Result = (VecOne.X * VecTwo.X) + (VecOne.Y * VecTwo.Y) + (VecOne.Z * VecTwo.Z) + (VecOne.W * VecTwo.W);
#endif
 
  return (Result);
}
 
HMM_INLINE hmm_vec3 HMM_Cross(hmm_vec3 VecOne, hmm_vec3 VecTwo)
{
  hmm_vec3 Result;
 
  Result.X = (VecOne.Y * VecTwo.Z) - (VecOne.Z * VecTwo.Y);
  Result.Y = (VecOne.Z * VecTwo.X) - (VecOne.X * VecTwo.Z);
  Result.Z = (VecOne.X * VecTwo.Y) - (VecOne.Y * VecTwo.X);
 
  return (Result);
}
 
/*
 * Unary vector operations
 */
 
HMM_INLINE float HMM_LengthSquaredVec2(hmm_vec2 A)
{
  float Result = HMM_DotVec2(A, A);
 
  return (Result);
}
 
HMM_INLINE float HMM_LengthSquaredVec3(hmm_vec3 A)
{
  float Result = HMM_DotVec3(A, A);
 
  return (Result);
}
 
HMM_INLINE float HMM_LengthSquaredVec4(hmm_vec4 A)
{
  float Result = HMM_DotVec4(A, A);
 
  return (Result);
}
 
HMM_INLINE float HMM_LengthVec2(hmm_vec2 A)
{
  float Result = HMM_SquareRootF(HMM_LengthSquaredVec2(A));
 
  return (Result);
}
 
HMM_INLINE float HMM_LengthVec3(hmm_vec3 A)
{
  float Result = HMM_SquareRootF(HMM_LengthSquaredVec3(A));
 
  return (Result);
}
 
HMM_INLINE float HMM_LengthVec4(hmm_vec4 A)
{
  float Result = HMM_SquareRootF(HMM_LengthSquaredVec4(A));
 
  return (Result);
}
 
HMM_INLINE hmm_vec2 HMM_NormalizeVec2(hmm_vec2 A)
{
  hmm_vec2 Result = {0, 0};
 
  float VectorLength = HMM_LengthVec2(A);
 
  /* NOTE(kiljacken): We need a zero check to not divide-by-zero */
  if (VectorLength != 0.0f) {
    Result.X = A.X * (1.0f / VectorLength);
    Result.Y = A.Y * (1.0f / VectorLength);
  }
 
  return (Result);
}
 
HMM_INLINE hmm_vec3 HMM_NormalizeVec3(hmm_vec3 A)
{
  hmm_vec3 Result = {0, 0, 0};
 
  float VectorLength = HMM_LengthVec3(A);
 
  /* NOTE(kiljacken): We need a zero check to not divide-by-zero */
  if (VectorLength != 0.0f) {
    Result.X = A.X * (1.0f / VectorLength);
    Result.Y = A.Y * (1.0f / VectorLength);
    Result.Z = A.Z * (1.0f / VectorLength);
  }
 
  return (Result);
}
 
HMM_INLINE hmm_vec4 HMM_NormalizeVec4(hmm_vec4 A)
{
  hmm_vec4 Result = {0, 0, 0, 0};
 
  float VectorLength = HMM_LengthVec4(A);
 
  /* NOTE(kiljacken): We need a zero check to not divide-by-zero */
  if (VectorLength != 0.0f) {
    float Multiplier = 1.0f / VectorLength;
 
#ifdef HANDMADE_MATH__USE_SSE
    __m128 SSEMultiplier = _mm_set1_ps(Multiplier);
    Result.InternalElementsSSE = _mm_mul_ps(A.InternalElementsSSE, SSEMultiplier);
#else
    Result.X = A.X * Multiplier;
    Result.Y = A.Y * Multiplier;
    Result.Z = A.Z * Multiplier;
    Result.W = A.W * Multiplier;
#endif
  }
 
  return (Result);
}
 
/*
 * SSE stuff
 */
 
#ifdef HANDMADE_MATH__USE_SSE
HMM_INLINE __m128 HMM_LinearCombineSSE(__m128 Left, hmm_mat4 Right)
{
  __m128 Result;
  Result = _mm_mul_ps(_mm_shuffle_ps(Left, Left, 0x00), Right.Columns[0]);
  Result = _mm_add_ps(Result, _mm_mul_ps(_mm_shuffle_ps(Left, Left, 0x55), Right.Columns[1]));
  Result = _mm_add_ps(Result, _mm_mul_ps(_mm_shuffle_ps(Left, Left, 0xaa), Right.Columns[2]));
  Result = _mm_add_ps(Result, _mm_mul_ps(_mm_shuffle_ps(Left, Left, 0xff), Right.Columns[3]));
 
  return (Result);
}
#endif
 
/*
 * Matrix functions
 */
 
HMM_INLINE hmm_mat4 HMM_Mat4()
{
  hmm_mat4 Result = {0};
 
  return (Result);
}
 
HMM_INLINE hmm_mat4 HMM_Mat4d(float Diagonal)
{
  hmm_mat4 Result = HMM_Mat4();
 
  Result.Elements[0][0] = Diagonal;
  Result.Elements[1][1] = Diagonal;
  Result.Elements[2][2] = Diagonal;
  Result.Elements[3][3] = Diagonal;
 
  return (Result);
}
 
#ifdef HANDMADE_MATH__USE_SSE
HMM_INLINE hmm_mat4 HMM_Transpose(hmm_mat4 Matrix)
{
  hmm_mat4 Result = Matrix;
 
  _MM_TRANSPOSE4_PS(Result.Columns[0], Result.Columns[1], Result.Columns[2], Result.Columns[3]);
 
  return (Result);
}
#else
HMM_EXTERN hmm_mat4 HMM_Transpose(hmm_mat4 Matrix);
#endif
 
#ifdef HANDMADE_MATH__USE_SSE
HMM_INLINE hmm_mat4 HMM_AddMat4(hmm_mat4 Left, hmm_mat4 Right)
{
  hmm_mat4 Result;
 
  Result.Columns[0] = _mm_add_ps(Left.Columns[0], Right.Columns[0]);
  Result.Columns[1] = _mm_add_ps(Left.Columns[1], Right.Columns[1]);
  Result.Columns[2] = _mm_add_ps(Left.Columns[2], Right.Columns[2]);
  Result.Columns[3] = _mm_add_ps(Left.Columns[3], Right.Columns[3]);
 
  return (Result);
}
#else
HMM_EXTERN hmm_mat4 HMM_AddMat4(hmm_mat4 Left, hmm_mat4 Right);
#endif
 
#ifdef HANDMADE_MATH__USE_SSE
HMM_INLINE hmm_mat4 HMM_SubtractMat4(hmm_mat4 Left, hmm_mat4 Right)
{
  hmm_mat4 Result;
 
  Result.Columns[0] = _mm_sub_ps(Left.Columns[0], Right.Columns[0]);
  Result.Columns[1] = _mm_sub_ps(Left.Columns[1], Right.Columns[1]);
  Result.Columns[2] = _mm_sub_ps(Left.Columns[2], Right.Columns[2]);
  Result.Columns[3] = _mm_sub_ps(Left.Columns[3], Right.Columns[3]);
 
  return (Result);
}
#else
HMM_EXTERN hmm_mat4 HMM_SubtractMat4(hmm_mat4 Left, hmm_mat4 Right);
#endif
 
HMM_EXTERN hmm_mat4 HMM_MultiplyMat4(hmm_mat4 Left, hmm_mat4 Right);
 
#ifdef HANDMADE_MATH__USE_SSE
HMM_INLINE hmm_mat4 HMM_MultiplyMat4f(hmm_mat4 Matrix, float Scalar)
{
  hmm_mat4 Result;
 
  __m128 SSEScalar = _mm_set1_ps(Scalar);
  Result.Columns[0] = _mm_mul_ps(Matrix.Columns[0], SSEScalar);
  Result.Columns[1] = _mm_mul_ps(Matrix.Columns[1], SSEScalar);
  Result.Columns[2] = _mm_mul_ps(Matrix.Columns[2], SSEScalar);
  Result.Columns[3] = _mm_mul_ps(Matrix.Columns[3], SSEScalar);
 
  return (Result);
}
#else
HMM_EXTERN hmm_mat4 HMM_MultiplyMat4f(hmm_mat4 Matrix, float Scalar);
#endif
 
HMM_EXTERN hmm_vec4 HMM_MultiplyMat4ByVec4(hmm_mat4 Matrix, hmm_vec4 Vector);
 
#ifdef HANDMADE_MATH__USE_SSE
HMM_INLINE hmm_mat4 HMM_DivideMat4f(hmm_mat4 Matrix, float Scalar)
{
  hmm_mat4 Result;
 
  __m128 SSEScalar = _mm_set1_ps(Scalar);
  Result.Columns[0] = _mm_div_ps(Matrix.Columns[0], SSEScalar);
  Result.Columns[1] = _mm_div_ps(Matrix.Columns[1], SSEScalar);
  Result.Columns[2] = _mm_div_ps(Matrix.Columns[2], SSEScalar);
  Result.Columns[3] = _mm_div_ps(Matrix.Columns[3], SSEScalar);
 
  return (Result);
}
#else
HMM_EXTERN hmm_mat4 HMM_DivideMat4f(hmm_mat4 Matrix, float Scalar);
#endif
 
/*
 * Common graphics transformations
 */
 
HMM_INLINE hmm_mat4 HMM_Orthographic(float Left, float Right, float Bottom, float Top, float Near, float Far)
{
  hmm_mat4 Result = HMM_Mat4();
 
  Result.Elements[0][0] = 2.0f / (Right - Left);
  Result.Elements[1][1] = 2.0f / (Top - Bottom);
  Result.Elements[2][2] = 2.0f / (Near - Far);
  Result.Elements[3][3] = 1.0f;
 
  Result.Elements[3][0] = (Left + Right) / (Left - Right);
  Result.Elements[3][1] = (Bottom + Top) / (Bottom - Top);
  Result.Elements[3][2] = (Far + Near) / (Near - Far);
 
  return (Result);
}
 
HMM_INLINE hmm_mat4 HMM_Perspective(float FOV, float AspectRatio, float Near, float Far)
{
  hmm_mat4 Result = HMM_Mat4();
 
  float TanThetaOver2 = HMM_TanF(FOV * (HMM_PI32 / 360.0f));
 
  Result.Elements[0][0] = 1.0f / TanThetaOver2;
  Result.Elements[1][1] = AspectRatio / TanThetaOver2;
  Result.Elements[2][3] = -1.0f;
  Result.Elements[2][2] = (Near + Far) / (Near - Far);
  Result.Elements[3][2] = (2.0f * Near * Far) / (Near - Far);
  Result.Elements[3][3] = 0.0f;
 
  return (Result);
}
 
HMM_INLINE hmm_mat4 HMM_Translate(hmm_vec3 Translation)
{
  hmm_mat4 Result = HMM_Mat4d(1.0f);
 
  Result.Elements[3][0] = Translation.X;
  Result.Elements[3][1] = Translation.Y;
  Result.Elements[3][2] = Translation.Z;
 
  return (Result);
}
 
HMM_EXTERN hmm_mat4 HMM_Rotate(float Angle, hmm_vec3 Axis);
 
HMM_INLINE hmm_mat4 HMM_Scale(hmm_vec3 Scale)
{
  hmm_mat4 Result = HMM_Mat4d(1.0f);
 
  Result.Elements[0][0] = Scale.X;
  Result.Elements[1][1] = Scale.Y;
  Result.Elements[2][2] = Scale.Z;
 
  return (Result);
}
 
HMM_EXTERN hmm_mat4 HMM_LookAt(hmm_vec3 Eye, hmm_vec3 Center, hmm_vec3 Up);
 
/*
 * Quaternion operations
 */
 
HMM_INLINE hmm_quaternion HMM_Quaternion(float X, float Y, float Z, float W)
{
  hmm_quaternion Result;
 
  Result.X = X;
  Result.Y = Y;
  Result.Z = Z;
  Result.W = W;
 
  return (Result);
}
 
HMM_INLINE hmm_quaternion HMM_QuaternionV4(hmm_vec4 Vector)
{
  hmm_quaternion Result;
 
  Result.X = Vector.X;
  Result.Y = Vector.Y;
  Result.Z = Vector.Z;
  Result.W = Vector.W;
 
  return (Result);
}
 
HMM_INLINE hmm_quaternion HMM_AddQuaternion(hmm_quaternion Left, hmm_quaternion Right)
{
  hmm_quaternion Result;
 
  Result.X = Left.X + Right.X;
  Result.Y = Left.Y + Right.Y;
  Result.Z = Left.Z + Right.Z;
  Result.W = Left.W + Right.W;
 
  return (Result);
}
 
HMM_INLINE hmm_quaternion HMM_SubtractQuaternion(hmm_quaternion Left, hmm_quaternion Right)
{
  hmm_quaternion Result;
 
  Result.X = Left.X - Right.X;
  Result.Y = Left.Y - Right.Y;
  Result.Z = Left.Z - Right.Z;
  Result.W = Left.W - Right.W;
 
  return (Result);
}
 
HMM_INLINE hmm_quaternion HMM_MultiplyQuaternion(hmm_quaternion Left, hmm_quaternion Right)
{
  hmm_quaternion Result;
 
  Result.X = (Left.X * Right.W) + (Left.Y * Right.Z) - (Left.Z * Right.Y) + (Left.W * Right.X);
  Result.Y = (-Left.X * Right.Z) + (Left.Y * Right.W) + (Left.Z * Right.X) + (Left.W * Right.Y);
  Result.Z = (Left.X * Right.Y) - (Left.Y * Right.X) + (Left.Z * Right.W) + (Left.W * Right.Z);
  Result.W = (-Left.X * Right.X) - (Left.Y * Right.Y) - (Left.Z * Right.Z) + (Left.W * Right.W);
 
  return (Result);
}
 
HMM_INLINE hmm_quaternion HMM_MultiplyQuaternionF(hmm_quaternion Left, float Multiplicative)
{
  hmm_quaternion Result;
 
  Result.X = Left.X * Multiplicative;
  Result.Y = Left.Y * Multiplicative;
  Result.Z = Left.Z * Multiplicative;
  Result.W = Left.W * Multiplicative;
 
  return (Result);
}
 
HMM_INLINE hmm_quaternion HMM_DivideQuaternionF(hmm_quaternion Left, float Dividend)
{
  hmm_quaternion Result;
 
  Result.X = Left.X / Dividend;
  Result.Y = Left.Y / Dividend;
  Result.Z = Left.Z / Dividend;
  Result.W = Left.W / Dividend;
 
  return (Result);
}
 
HMM_EXTERN hmm_quaternion HMM_InverseQuaternion(hmm_quaternion Left);
 
HMM_INLINE float HMM_DotQuaternion(hmm_quaternion Left, hmm_quaternion Right)
{
  float Result = (Left.X * Right.X) + (Left.Y * Right.Y) + (Left.Z * Right.Z) + (Left.W * Right.W);
 
  return (Result);
}
 
HMM_INLINE hmm_quaternion HMM_NormalizeQuaternion(hmm_quaternion Left)
{
  hmm_quaternion Result;
 
  float Length = HMM_SquareRootF(HMM_DotQuaternion(Left, Left));
  Result = HMM_DivideQuaternionF(Left, Length);
 
  return (Result);
}
 
HMM_INLINE hmm_quaternion HMM_NLerp(hmm_quaternion Left, float Time, hmm_quaternion Right)
{
  hmm_quaternion Result;
 
  Result.X = HMM_Lerp(Left.X, Time, Right.X);
  Result.Y = HMM_Lerp(Left.Y, Time, Right.Y);
  Result.Z = HMM_Lerp(Left.Z, Time, Right.Z);
  Result.W = HMM_Lerp(Left.W, Time, Right.W);
 
  Result = HMM_NormalizeQuaternion(Result);
 
  return (Result);
}
 
HMM_EXTERN hmm_quaternion HMM_Slerp(hmm_quaternion Left, float Time, hmm_quaternion Right);
HMM_EXTERN hmm_mat4 HMM_QuaternionToMat4(hmm_quaternion Left);
HMM_EXTERN hmm_quaternion HMM_QuaternionFromAxisAngle(hmm_vec3 Axis, float AngleOfRotation);
 
#ifdef __cplusplus
}
#endif
 
#ifdef __cplusplus
 
HMM_INLINE float HMM_Length(hmm_vec2 A)
{
  float Result = HMM_LengthVec2(A);
 
  return (Result);
}
 
HMM_INLINE float HMM_Length(hmm_vec3 A)
{
  float Result = HMM_LengthVec3(A);
 
  return (Result);
}
 
HMM_INLINE float HMM_Length(hmm_vec4 A)
{
  float Result = HMM_LengthVec4(A);
 
  return (Result);
}
 
HMM_INLINE float HMM_LengthSquared(hmm_vec2 A)
{
  float Result = HMM_LengthSquaredVec2(A);
 
  return (Result);
}
 
HMM_INLINE float HMM_LengthSquared(hmm_vec3 A)
{
  float Result = HMM_LengthSquaredVec3(A);
 
  return (Result);
}
 
HMM_INLINE float HMM_LengthSquared(hmm_vec4 A)
{
  float Result = HMM_LengthSquaredVec4(A);
 
  return (Result);
}
 
HMM_INLINE hmm_vec2 HMM_Normalize(hmm_vec2 A)
{
  hmm_vec2 Result = HMM_NormalizeVec2(A);
 
  return (Result);
}
 
HMM_INLINE hmm_vec3 HMM_Normalize(hmm_vec3 A)
{
  hmm_vec3 Result = HMM_NormalizeVec3(A);
 
  return (Result);
}
 
HMM_INLINE hmm_vec4 HMM_Normalize(hmm_vec4 A)
{
  hmm_vec4 Result = HMM_NormalizeVec4(A);
 
  return (Result);
}
 
HMM_INLINE hmm_quaternion HMM_Normalize(hmm_quaternion A)
{
  hmm_quaternion Result = HMM_NormalizeQuaternion(A);
 
  return (Result);
}
 
HMM_INLINE float HMM_Dot(hmm_vec2 VecOne, hmm_vec2 VecTwo)
{
  float Result = HMM_DotVec2(VecOne, VecTwo);
 
  return (Result);
}
 
HMM_INLINE float HMM_Dot(hmm_vec3 VecOne, hmm_vec3 VecTwo)
{
  float Result = HMM_DotVec3(VecOne, VecTwo);
 
  return (Result);
}
 
HMM_INLINE float HMM_Dot(hmm_vec4 VecOne, hmm_vec4 VecTwo)
{
  float Result = HMM_DotVec4(VecOne, VecTwo);
 
  return (Result);
}
 
HMM_INLINE float HMM_Dot(hmm_quaternion QuatOne, hmm_quaternion QuatTwo)
{
  float Result = HMM_DotQuaternion(QuatOne, QuatTwo);
 
  return (Result);
}
 
HMM_INLINE hmm_vec2 HMM_Add(hmm_vec2 Left, hmm_vec2 Right)
{
  hmm_vec2 Result = HMM_AddVec2(Left, Right);
 
  return (Result);
}
 
HMM_INLINE hmm_vec3 HMM_Add(hmm_vec3 Left, hmm_vec3 Right)
{
  hmm_vec3 Result = HMM_AddVec3(Left, Right);
 
  return (Result);
}
 
HMM_INLINE hmm_vec4 HMM_Add(hmm_vec4 Left, hmm_vec4 Right)
{
  hmm_vec4 Result = HMM_AddVec4(Left, Right);
 
  return (Result);
}
 
HMM_INLINE hmm_mat4 HMM_Add(hmm_mat4 Left, hmm_mat4 Right)
{
  hmm_mat4 Result = HMM_AddMat4(Left, Right);
 
  return (Result);
}
 
HMM_INLINE hmm_quaternion HMM_Add(hmm_quaternion Left, hmm_quaternion Right)
{
  hmm_quaternion Result = HMM_AddQuaternion(Left, Right);
 
  return (Result);
}
 
HMM_INLINE hmm_vec2 HMM_Subtract(hmm_vec2 Left, hmm_vec2 Right)
{
  hmm_vec2 Result = HMM_SubtractVec2(Left, Right);
 
  return (Result);
}
 
HMM_INLINE hmm_vec3 HMM_Subtract(hmm_vec3 Left, hmm_vec3 Right)
{
  hmm_vec3 Result = HMM_SubtractVec3(Left, Right);
 
  return (Result);
}
 
HMM_INLINE hmm_vec4 HMM_Subtract(hmm_vec4 Left, hmm_vec4 Right)
{
  hmm_vec4 Result = HMM_SubtractVec4(Left, Right);
 
  return (Result);
}
 
HMM_INLINE hmm_mat4 HMM_Subtract(hmm_mat4 Left, hmm_mat4 Right)
{
  hmm_mat4 Result = HMM_SubtractMat4(Left, Right);
 
  return (Result);
}
 
HMM_INLINE hmm_quaternion HMM_Subtract(hmm_quaternion Left, hmm_quaternion Right)
{
  hmm_quaternion Result = HMM_SubtractQuaternion(Left, Right);
 
  return (Result);
}
 
HMM_INLINE hmm_vec2 HMM_Multiply(hmm_vec2 Left, hmm_vec2 Right)
{
  hmm_vec2 Result = HMM_MultiplyVec2(Left, Right);
 
  return (Result);
}
 
HMM_INLINE hmm_vec2 HMM_Multiply(hmm_vec2 Left, float Right)
{
  hmm_vec2 Result = HMM_MultiplyVec2f(Left, Right);
 
  return (Result);
}
 
HMM_INLINE hmm_vec3 HMM_Multiply(hmm_vec3 Left, hmm_vec3 Right)
{
  hmm_vec3 Result = HMM_MultiplyVec3(Left, Right);
 
  return (Result);
}
 
HMM_INLINE hmm_vec3 HMM_Multiply(hmm_vec3 Left, float Right)
{
  hmm_vec3 Result = HMM_MultiplyVec3f(Left, Right);
 
  return (Result);
}
 
HMM_INLINE hmm_vec4 HMM_Multiply(hmm_vec4 Left, hmm_vec4 Right)
{
  hmm_vec4 Result = HMM_MultiplyVec4(Left, Right);
 
  return (Result);
}
 
HMM_INLINE hmm_vec4 HMM_Multiply(hmm_vec4 Left, float Right)
{
  hmm_vec4 Result = HMM_MultiplyVec4f(Left, Right);
 
  return (Result);
}
 
HMM_INLINE hmm_mat4 HMM_Multiply(hmm_mat4 Left, hmm_mat4 Right)
{
  hmm_mat4 Result = HMM_MultiplyMat4(Left, Right);
 
  return (Result);
}
 
HMM_INLINE hmm_mat4 HMM_Multiply(hmm_mat4 Left, float Right)
{
  hmm_mat4 Result = HMM_MultiplyMat4f(Left, Right);
 
  return (Result);
}
 
HMM_INLINE hmm_vec4 HMM_Multiply(hmm_mat4 Matrix, hmm_vec4 Vector)
{
  hmm_vec4 Result = HMM_MultiplyMat4ByVec4(Matrix, Vector);
 
  return (Result);
}
 
HMM_INLINE hmm_quaternion HMM_Multiply(hmm_quaternion Left, hmm_quaternion Right)
{
  hmm_quaternion Result = HMM_MultiplyQuaternion(Left, Right);
 
  return (Result);
}
 
HMM_INLINE hmm_quaternion HMM_Multiply(hmm_quaternion Left, float Right)
{
  hmm_quaternion Result = HMM_MultiplyQuaternionF(Left, Right);
 
  return (Result);
}
 
HMM_INLINE hmm_vec2 HMM_Divide(hmm_vec2 Left, hmm_vec2 Right)
{
  hmm_vec2 Result = HMM_DivideVec2(Left, Right);
 
  return (Result);
}
 
HMM_INLINE hmm_vec2 HMM_Divide(hmm_vec2 Left, float Right)
{
  hmm_vec2 Result = HMM_DivideVec2f(Left, Right);
 
  return (Result);
}
 
HMM_INLINE hmm_vec3 HMM_Divide(hmm_vec3 Left, hmm_vec3 Right)
{
  hmm_vec3 Result = HMM_DivideVec3(Left, Right);
 
  return (Result);
}
 
HMM_INLINE hmm_vec3 HMM_Divide(hmm_vec3 Left, float Right)
{
  hmm_vec3 Result = HMM_DivideVec3f(Left, Right);
 
  return (Result);
}
 
HMM_INLINE hmm_vec4 HMM_Divide(hmm_vec4 Left, hmm_vec4 Right)
{
  hmm_vec4 Result = HMM_DivideVec4(Left, Right);
 
  return (Result);
}
 
HMM_INLINE hmm_vec4 HMM_Divide(hmm_vec4 Left, float Right)
{
  hmm_vec4 Result = HMM_DivideVec4f(Left, Right);
 
  return (Result);
}
 
HMM_INLINE hmm_mat4 HMM_Divide(hmm_mat4 Left, float Right)
{
  hmm_mat4 Result = HMM_DivideMat4f(Left, Right);
 
  return (Result);
}
 
HMM_INLINE hmm_quaternion HMM_Divide(hmm_quaternion Left, float Right)
{
  hmm_quaternion Result = HMM_DivideQuaternionF(Left, Right);
 
  return (Result);
}
 
HMM_INLINE hmm_bool HMM_Equals(hmm_vec2 Left, hmm_vec2 Right)
{
  hmm_bool Result = HMM_EqualsVec2(Left, Right);
 
  return (Result);
}
 
HMM_INLINE hmm_bool HMM_Equals(hmm_vec3 Left, hmm_vec3 Right)
{
  hmm_bool Result = HMM_EqualsVec3(Left, Right);
 
  return (Result);
}
 
HMM_INLINE hmm_bool HMM_Equals(hmm_vec4 Left, hmm_vec4 Right)
{
  hmm_bool Result = HMM_EqualsVec4(Left, Right);
 
  return (Result);
}
 
HMM_INLINE hmm_vec2 operator+(hmm_vec2 Left, hmm_vec2 Right)
{
  hmm_vec2 Result = HMM_AddVec2(Left, Right);
 
  return (Result);
}
 
HMM_INLINE hmm_vec3 operator+(hmm_vec3 Left, hmm_vec3 Right)
{
  hmm_vec3 Result = HMM_AddVec3(Left, Right);
 
  return (Result);
}
 
HMM_INLINE hmm_vec4 operator+(hmm_vec4 Left, hmm_vec4 Right)
{
  hmm_vec4 Result = HMM_AddVec4(Left, Right);
 
  return (Result);
}
 
HMM_INLINE hmm_mat4 operator+(hmm_mat4 Left, hmm_mat4 Right)
{
  hmm_mat4 Result = HMM_AddMat4(Left, Right);
 
  return (Result);
}
 
HMM_INLINE hmm_quaternion operator+(hmm_quaternion Left, hmm_quaternion Right)
{
  hmm_quaternion Result = HMM_AddQuaternion(Left, Right);
 
  return (Result);
}
 
HMM_INLINE hmm_vec2 operator-(hmm_vec2 Left, hmm_vec2 Right)
{
  hmm_vec2 Result = HMM_SubtractVec2(Left, Right);
 
  return (Result);
}
 
HMM_INLINE hmm_vec3 operator-(hmm_vec3 Left, hmm_vec3 Right)
{
  hmm_vec3 Result = HMM_SubtractVec3(Left, Right);
 
  return (Result);
}
 
HMM_INLINE hmm_vec4 operator-(hmm_vec4 Left, hmm_vec4 Right)
{
  hmm_vec4 Result = HMM_SubtractVec4(Left, Right);
 
  return (Result);
}
 
HMM_INLINE hmm_mat4 operator-(hmm_mat4 Left, hmm_mat4 Right)
{
  hmm_mat4 Result = HMM_SubtractMat4(Left, Right);
 
  return (Result);
}
 
HMM_INLINE hmm_quaternion operator-(hmm_quaternion Left, hmm_quaternion Right)
{
  hmm_quaternion Result = HMM_SubtractQuaternion(Left, Right);
 
  return (Result);
}
 
HMM_INLINE hmm_vec2 operator*(hmm_vec2 Left, hmm_vec2 Right)
{
  hmm_vec2 Result = HMM_MultiplyVec2(Left, Right);
 
  return (Result);
}
 
HMM_INLINE hmm_vec3 operator*(hmm_vec3 Left, hmm_vec3 Right)
{
  hmm_vec3 Result = HMM_MultiplyVec3(Left, Right);
 
  return (Result);
}
 
HMM_INLINE hmm_vec4 operator*(hmm_vec4 Left, hmm_vec4 Right)
{
  hmm_vec4 Result = HMM_MultiplyVec4(Left, Right);
 
  return (Result);
}
 
HMM_INLINE hmm_mat4 operator*(hmm_mat4 Left, hmm_mat4 Right)
{
  hmm_mat4 Result = HMM_MultiplyMat4(Left, Right);
 
  return (Result);
}
 
HMM_INLINE hmm_quaternion operator*(hmm_quaternion Left, hmm_quaternion Right)
{
  hmm_quaternion Result = HMM_MultiplyQuaternion(Left, Right);
 
  return (Result);
}
 
HMM_INLINE hmm_vec2 operator*(hmm_vec2 Left, float Right)
{
  hmm_vec2 Result = HMM_MultiplyVec2f(Left, Right);
 
  return (Result);
}
 
HMM_INLINE hmm_vec3 operator*(hmm_vec3 Left, float Right)
{
  hmm_vec3 Result = HMM_MultiplyVec3f(Left, Right);
 
  return (Result);
}
 
HMM_INLINE hmm_vec4 operator*(hmm_vec4 Left, float Right)
{
  hmm_vec4 Result = HMM_MultiplyVec4f(Left, Right);
 
  return (Result);
}
 
HMM_INLINE hmm_mat4 operator*(hmm_mat4 Left, float Right)
{
  hmm_mat4 Result = HMM_MultiplyMat4f(Left, Right);
 
  return (Result);
}
 
HMM_INLINE hmm_quaternion operator*(hmm_quaternion Left, float Right)
{
  hmm_quaternion Result = HMM_MultiplyQuaternionF(Left, Right);
 
  return (Result);
}
 
HMM_INLINE hmm_vec2 operator*(float Left, hmm_vec2 Right)
{
  hmm_vec2 Result = HMM_MultiplyVec2f(Right, Left);
 
  return (Result);
}
 
HMM_INLINE hmm_vec3 operator*(float Left, hmm_vec3 Right)
{
  hmm_vec3 Result = HMM_MultiplyVec3f(Right, Left);
 
  return (Result);
}
 
HMM_INLINE hmm_vec4 operator*(float Left, hmm_vec4 Right)
{
  hmm_vec4 Result = HMM_MultiplyVec4f(Right, Left);
 
  return (Result);
}
 
HMM_INLINE hmm_mat4 operator*(float Left, hmm_mat4 Right)
{
  hmm_mat4 Result = HMM_MultiplyMat4f(Right, Left);
 
  return (Result);
}
 
HMM_INLINE hmm_quaternion operator*(float Left, hmm_quaternion Right)
{
  hmm_quaternion Result = HMM_MultiplyQuaternionF(Right, Left);
 
  return (Result);
}
 
HMM_INLINE hmm_vec4 operator*(hmm_mat4 Matrix, hmm_vec4 Vector)
{
  hmm_vec4 Result = HMM_MultiplyMat4ByVec4(Matrix, Vector);
 
  return (Result);
}
 
HMM_INLINE hmm_vec2 operator/(hmm_vec2 Left, hmm_vec2 Right)
{
  hmm_vec2 Result = HMM_DivideVec2(Left, Right);
 
  return (Result);
}
 
HMM_INLINE hmm_vec3 operator/(hmm_vec3 Left, hmm_vec3 Right)
{
  hmm_vec3 Result = HMM_DivideVec3(Left, Right);
 
  return (Result);
}
 
HMM_INLINE hmm_vec4 operator/(hmm_vec4 Left, hmm_vec4 Right)
{
  hmm_vec4 Result = HMM_DivideVec4(Left, Right);
 
  return (Result);
}
 
HMM_INLINE hmm_vec2 operator/(hmm_vec2 Left, float Right)
{
  hmm_vec2 Result = HMM_DivideVec2f(Left, Right);
 
  return (Result);
}
 
HMM_INLINE hmm_vec3 operator/(hmm_vec3 Left, float Right)
{
  hmm_vec3 Result = HMM_DivideVec3f(Left, Right);
 
  return (Result);
}
 
HMM_INLINE hmm_vec4 operator/(hmm_vec4 Left, float Right)
{
  hmm_vec4 Result = HMM_DivideVec4f(Left, Right);
 
  return (Result);
}
 
HMM_INLINE hmm_mat4 operator/(hmm_mat4 Left, float Right)
{
  hmm_mat4 Result = HMM_DivideMat4f(Left, Right);
 
  return (Result);
}
 
HMM_INLINE hmm_quaternion operator/(hmm_quaternion Left, float Right)
{
  hmm_quaternion Result = HMM_DivideQuaternionF(Left, Right);
 
  return (Result);
}
 
HMM_INLINE hmm_vec2& operator+=(hmm_vec2& Left, hmm_vec2 Right)
{
  return (Left = Left + Right);
}
 
HMM_INLINE hmm_vec3& operator+=(hmm_vec3& Left, hmm_vec3 Right)
{
  return (Left = Left + Right);
}
 
HMM_INLINE hmm_vec4& operator+=(hmm_vec4& Left, hmm_vec4 Right)
{
  return (Left = Left + Right);
}
 
HMM_INLINE hmm_mat4& operator+=(hmm_mat4& Left, hmm_mat4 Right)
{
  return (Left = Left + Right);
}
 
HMM_INLINE hmm_quaternion& operator+=(hmm_quaternion& Left, hmm_quaternion Right)
{
  return (Left = Left + Right);
}
 
HMM_INLINE hmm_vec2& operator-=(hmm_vec2& Left, hmm_vec2 Right)
{
  return (Left = Left - Right);
}
 
HMM_INLINE hmm_vec3& operator-=(hmm_vec3& Left, hmm_vec3 Right)
{
  return (Left = Left - Right);
}
 
HMM_INLINE hmm_vec4& operator-=(hmm_vec4& Left, hmm_vec4 Right)
{
  return (Left = Left - Right);
}
 
HMM_INLINE hmm_mat4& operator-=(hmm_mat4& Left, hmm_mat4 Right)
{
  return (Left = Left - Right);
}
 
HMM_INLINE hmm_quaternion& operator-=(hmm_quaternion& Left, hmm_quaternion Right)
{
  return (Left = Left - Right);
}
 
HMM_INLINE hmm_vec2& operator*=(hmm_vec2& Left, hmm_vec2 Right)
{
  return (Left = Left * Right);
}
 
HMM_INLINE hmm_vec3& operator*=(hmm_vec3& Left, hmm_vec3 Right)
{
  return (Left = Left * Right);
}
 
HMM_INLINE hmm_vec4& operator*=(hmm_vec4& Left, hmm_vec4 Right)
{
  return (Left = Left * Right);
}
 
HMM_INLINE hmm_vec2& operator*=(hmm_vec2& Left, float Right)
{
  return (Left = Left * Right);
}
 
HMM_INLINE hmm_vec3& operator*=(hmm_vec3& Left, float Right)
{
  return (Left = Left * Right);
}
 
HMM_INLINE hmm_vec4& operator*=(hmm_vec4& Left, float Right)
{
  return (Left = Left * Right);
}
 
HMM_INLINE hmm_mat4& operator*=(hmm_mat4& Left, float Right)
{
  return (Left = Left * Right);
}
 
HMM_INLINE hmm_quaternion& operator*=(hmm_quaternion& Left, float Right)
{
  return (Left = Left * Right);
}
 
HMM_INLINE hmm_vec2& operator/=(hmm_vec2& Left, hmm_vec2 Right)
{
  return (Left = Left / Right);
}
 
HMM_INLINE hmm_vec3& operator/=(hmm_vec3& Left, hmm_vec3 Right)
{
  return (Left = Left / Right);
}
 
HMM_INLINE hmm_vec4& operator/=(hmm_vec4& Left, hmm_vec4 Right)
{
  return (Left = Left / Right);
}
 
HMM_INLINE hmm_vec2& operator/=(hmm_vec2& Left, float Right)
{
  return (Left = Left / Right);
}
 
HMM_INLINE hmm_vec3& operator/=(hmm_vec3& Left, float Right)
{
  return (Left = Left / Right);
}
 
HMM_INLINE hmm_vec4& operator/=(hmm_vec4& Left, float Right)
{
  return (Left = Left / Right);
}
 
HMM_INLINE hmm_mat4& operator/=(hmm_mat4& Left, float Right)
{
  return (Left = Left / Right);
}
 
HMM_INLINE hmm_quaternion& operator/=(hmm_quaternion& Left, float Right)
{
  return (Left = Left / Right);
}
 
HMM_INLINE hmm_bool operator==(hmm_vec2 Left, hmm_vec2 Right)
{
  return HMM_EqualsVec2(Left, Right);
}
 
HMM_INLINE hmm_bool operator==(hmm_vec3 Left, hmm_vec3 Right)
{
  return HMM_EqualsVec3(Left, Right);
}
 
HMM_INLINE hmm_bool operator==(hmm_vec4 Left, hmm_vec4 Right)
{
  return HMM_EqualsVec4(Left, Right);
}
 
HMM_INLINE hmm_bool operator!=(hmm_vec2 Left, hmm_vec2 Right)
{
  return !HMM_EqualsVec2(Left, Right);
}
 
HMM_INLINE hmm_bool operator!=(hmm_vec3 Left, hmm_vec3 Right)
{
  return !HMM_EqualsVec3(Left, Right);
}
 
HMM_INLINE hmm_bool operator!=(hmm_vec4 Left, hmm_vec4 Right)
{
  return !HMM_EqualsVec4(Left, Right);
}
 
#endif /* __cplusplus */
 
#ifdef __clang__
#pragma GCC diagnostic pop
#endif
 
#endif /* HANDMADE_MATH_H */
 
#ifdef HANDMADE_MATH_IMPLEMENTATION
 
float HMM_Power(float Base, int Exponent)
{
  float Result = 1.0f;
  float Mul = Exponent < 0 ? 1.f / Base : Base;
  unsigned int X = Exponent < 0 ? -Exponent : Exponent;
  while (X) {
    if (X & 1) {
      Result *= Mul;
    }
 
    Mul *= Mul;
    X >>= 1;
  }
 
  return (Result);
}
 
#ifndef HANDMADE_MATH__USE_SSE
hmm_mat4 HMM_Transpose(hmm_mat4 Matrix)
{
  hmm_mat4 Result;
 
  int Columns;
  for (Columns = 0; Columns < 4; ++Columns) {
    int Rows;
    for (Rows = 0; Rows < 4; ++Rows) {
      Result.Elements[Rows][Columns] = Matrix.Elements[Columns][Rows];
    }
  }
 
  return (Result);
}
#endif
 
#ifndef HANDMADE_MATH__USE_SSE
hmm_mat4 HMM_AddMat4(hmm_mat4 Left, hmm_mat4 Right)
{
  hmm_mat4 Result;
 
  int Columns;
  for (Columns = 0; Columns < 4; ++Columns) {
    int Rows;
    for (Rows = 0; Rows < 4; ++Rows) {
      Result.Elements[Columns][Rows] = Left.Elements[Columns][Rows] + Right.Elements[Columns][Rows];
    }
  }
 
  return (Result);
}
#endif
 
#ifndef HANDMADE_MATH__USE_SSE
hmm_mat4 HMM_SubtractMat4(hmm_mat4 Left, hmm_mat4 Right)
{
  hmm_mat4 Result;
 
  int Columns;
  for (Columns = 0; Columns < 4; ++Columns) {
    int Rows;
    for (Rows = 0; Rows < 4; ++Rows) {
      Result.Elements[Columns][Rows] = Left.Elements[Columns][Rows] - Right.Elements[Columns][Rows];
    }
  }
 
  return (Result);
}
#endif
 
hmm_mat4 HMM_MultiplyMat4(hmm_mat4 Left, hmm_mat4 Right)
{
  hmm_mat4 Result;
 
#ifdef HANDMADE_MATH__USE_SSE
 
  Result.Columns[0] = HMM_LinearCombineSSE(Right.Columns[0], Left);
  Result.Columns[1] = HMM_LinearCombineSSE(Right.Columns[1], Left);
  Result.Columns[2] = HMM_LinearCombineSSE(Right.Columns[2], Left);
  Result.Columns[3] = HMM_LinearCombineSSE(Right.Columns[3], Left);
 
#else
  int Columns;
  for (Columns = 0; Columns < 4; ++Columns) {
    int Rows;
    for (Rows = 0; Rows < 4; ++Rows) {
      float Sum = 0;
      int CurrentMatrice;
      for (CurrentMatrice = 0; CurrentMatrice < 4; ++CurrentMatrice) {
        Sum += Left.Elements[CurrentMatrice][Rows] * Right.Elements[Columns][CurrentMatrice];
      }
 
      Result.Elements[Columns][Rows] = Sum;
    }
  }
#endif
 
  return (Result);
}
 
#ifndef HANDMADE_MATH__USE_SSE
hmm_mat4 HMM_MultiplyMat4f(hmm_mat4 Matrix, float Scalar)
{
  hmm_mat4 Result;
 
  int Columns;
  for (Columns = 0; Columns < 4; ++Columns) {
    int Rows;
    for (Rows = 0; Rows < 4; ++Rows) {
      Result.Elements[Columns][Rows] = Matrix.Elements[Columns][Rows] * Scalar;
    }
  }
 
  return (Result);
}
#endif
 
hmm_vec4 HMM_MultiplyMat4ByVec4(hmm_mat4 Matrix, hmm_vec4 Vector)
{
  hmm_vec4 Result;
 
#ifdef HANDMADE_MATH__USE_SSE
  Result.InternalElementsSSE = HMM_LinearCombineSSE(Vector.InternalElementsSSE, Matrix);
#else
  int Columns, Rows;
  for (Rows = 0; Rows < 4; ++Rows) {
    float Sum = 0;
    for (Columns = 0; Columns < 4; ++Columns) {
      Sum += Matrix.Elements[Columns][Rows] * Vector.Elements[Columns];
    }
 
    Result.Elements[Rows] = Sum;
  }
#endif
 
  return (Result);
}
 
#ifndef HANDMADE_MATH__USE_SSE
hmm_mat4 HMM_DivideMat4f(hmm_mat4 Matrix, float Scalar)
{
  hmm_mat4 Result;
 
  int Columns;
  for (Columns = 0; Columns < 4; ++Columns) {
    int Rows;
    for (Rows = 0; Rows < 4; ++Rows) {
      Result.Elements[Columns][Rows] = Matrix.Elements[Columns][Rows] / Scalar;
    }
  }
 
  return (Result);
}
#endif
 
hmm_mat4 HMM_Rotate(float Angle, hmm_vec3 Axis)
{
  hmm_mat4 Result = HMM_Mat4d(1.0f);
 
  Axis = HMM_NormalizeVec3(Axis);
 
  float SinTheta = HMM_SinF(HMM_ToRadians(Angle));
  float CosTheta = HMM_CosF(HMM_ToRadians(Angle));
  float CosValue = 1.0f - CosTheta;
 
  Result.Elements[0][0] = (Axis.X * Axis.X * CosValue) + CosTheta;
  Result.Elements[0][1] = (Axis.X * Axis.Y * CosValue) + (Axis.Z * SinTheta);
  Result.Elements[0][2] = (Axis.X * Axis.Z * CosValue) - (Axis.Y * SinTheta);
 
  Result.Elements[1][0] = (Axis.Y * Axis.X * CosValue) - (Axis.Z * SinTheta);
  Result.Elements[1][1] = (Axis.Y * Axis.Y * CosValue) + CosTheta;
  Result.Elements[1][2] = (Axis.Y * Axis.Z * CosValue) + (Axis.X * SinTheta);
 
  Result.Elements[2][0] = (Axis.Z * Axis.X * CosValue) + (Axis.Y * SinTheta);
  Result.Elements[2][1] = (Axis.Z * Axis.Y * CosValue) - (Axis.X * SinTheta);
  Result.Elements[2][2] = (Axis.Z * Axis.Z * CosValue) + CosTheta;
 
  return (Result);
}
 
hmm_mat4 HMM_LookAt(hmm_vec3 Eye, hmm_vec3 Center, hmm_vec3 Up)
{
  hmm_mat4 Result;
 
  hmm_vec3 F = HMM_NormalizeVec3(HMM_SubtractVec3(Center, Eye));
  hmm_vec3 S = HMM_NormalizeVec3(HMM_Cross(F, Up));
  hmm_vec3 U = HMM_Cross(S, F);
 
  Result.Elements[0][0] = S.X;
  Result.Elements[0][1] = U.X;
  Result.Elements[0][2] = -F.X;
  Result.Elements[0][3] = 0.0f;
 
  Result.Elements[1][0] = S.Y;
  Result.Elements[1][1] = U.Y;
  Result.Elements[1][2] = -F.Y;
  Result.Elements[1][3] = 0.0f;
 
  Result.Elements[2][0] = S.Z;
  Result.Elements[2][1] = U.Z;
  Result.Elements[2][2] = -F.Z;
  Result.Elements[2][3] = 0.0f;
 
  Result.Elements[3][0] = -HMM_DotVec3(S, Eye);
  Result.Elements[3][1] = -HMM_DotVec3(U, Eye);
  Result.Elements[3][2] = HMM_DotVec3(F, Eye);
  Result.Elements[3][3] = 1.0f;
 
  return (Result);
}
 
hmm_quaternion HMM_InverseQuaternion(hmm_quaternion Left)
{
  hmm_quaternion Conjugate;
  hmm_quaternion Result;
  float Norm = 0;
  float NormSquared = 0;
 
  Conjugate.X = -Left.X;
  Conjugate.Y = -Left.Y;
  Conjugate.Z = -Left.Z;
  Conjugate.W = Left.W;
 
  Norm = HMM_SquareRootF(HMM_DotQuaternion(Left, Left));
  NormSquared = Norm * Norm;
 
  Result.X = Conjugate.X / NormSquared;
  Result.Y = Conjugate.Y / NormSquared;
  Result.Z = Conjugate.Z / NormSquared;
  Result.W = Conjugate.W / NormSquared;
 
  return (Result);
}
 
hmm_quaternion HMM_Slerp(hmm_quaternion Left, float Time, hmm_quaternion Right)
{
  hmm_quaternion Result;
  hmm_quaternion QuaternionLeft;
  hmm_quaternion QuaternionRight;
 
  float Cos_Theta = HMM_DotQuaternion(Left, Right);
  float Angle = HMM_ACosF(Cos_Theta);
 
  float S1 = HMM_SinF((1.0f - Time) * Angle);
  float S2 = HMM_SinF(Time * Angle);
  float Is = 1.0f / HMM_SinF(Angle);
 
  QuaternionLeft = HMM_MultiplyQuaternionF(Left, S1);
  QuaternionRight = HMM_MultiplyQuaternionF(Right, S2);
 
  Result = HMM_AddQuaternion(QuaternionLeft, QuaternionRight);
  Result = HMM_MultiplyQuaternionF(Result, Is);
 
  return (Result);
}
 
hmm_mat4 HMM_QuaternionToMat4(hmm_quaternion Left)
{
  hmm_mat4 Result;
  Result = HMM_Mat4d(1);
 
  hmm_quaternion NormalizedQuaternion = HMM_NormalizeQuaternion(Left);
 
  float XX, YY, ZZ,
    XY, XZ, YZ,
    WX, WY, WZ;
 
  XX = NormalizedQuaternion.X * NormalizedQuaternion.X;
  YY = NormalizedQuaternion.Y * NormalizedQuaternion.Y;
  ZZ = NormalizedQuaternion.Z * NormalizedQuaternion.Z;
  XY = NormalizedQuaternion.X * NormalizedQuaternion.Y;
  XZ = NormalizedQuaternion.X * NormalizedQuaternion.Z;
  YZ = NormalizedQuaternion.Y * NormalizedQuaternion.Z;
  WX = NormalizedQuaternion.W * NormalizedQuaternion.X;
  WY = NormalizedQuaternion.W * NormalizedQuaternion.Y;
  WZ = NormalizedQuaternion.W * NormalizedQuaternion.Z;
 
  Result.Elements[0][0] = 1.0f - 2.0f * (YY + ZZ);
  Result.Elements[0][1] = 2.0f * (XY + WZ);
  Result.Elements[0][2] = 2.0f * (XZ - WY);
 
  Result.Elements[1][0] = 2.0f * (XY - WZ);
  Result.Elements[1][1] = 1.0f - 2.0f * (XX + ZZ);
  Result.Elements[1][2] = 2.0f * (YZ + WX);
 
  Result.Elements[2][0] = 2.0f * (XZ + WY);
  Result.Elements[2][1] = 2.0f * (YZ - WX);
  Result.Elements[2][2] = 1.0f - 2.0f * (XX + YY);
 
  return (Result);
}
 
hmm_quaternion HMM_QuaternionFromAxisAngle(hmm_vec3 Axis, float AngleOfRotation)
{
  hmm_quaternion Result;
 
  hmm_vec3 RotatedVector;
 
  float AxisNorm = 0;
  float SineOfRotation = 0;
 
  AxisNorm = HMM_SquareRootF(HMM_DotVec3(Axis, Axis));
  SineOfRotation = HMM_SinF(AngleOfRotation / 2.0f);
  RotatedVector = HMM_MultiplyVec3f(Axis, SineOfRotation);
 
  Result.W = HMM_CosF(AngleOfRotation / 2.0f);
  Result.XYZ = HMM_DivideVec3f(RotatedVector, AxisNorm);
 
  return (Result);
}
 
#endif /* HANDMADE_MATH_IMPLEMENTATION */