linalg/small

(defstruct vec2 [])

2D vector (float32)

(defstruct vec3 [])

3D vector (float32)

(defstruct vec4 [])

4D vector (float32)

(defstruct mat2 [])

2x2 matrix (float32, column-major)

(defstruct mat3 [])

3x3 matrix (float32, column-major)

(defstruct mat4 [])

4x4 matrix (float32, column-major to match OpenGL)

(vec2 [x y] :vec2)

vec2 constructor

(vec3 [x y z] :vec3)

vec3 constructor

(vec4 [x y z w] :vec4)

vec4 constructor

(mat4-identity :mat4)

create 4x4 identity matrix

(vec2-dot [a b] :float)

dot product of two vec2

(vec3-dot [a b] :float)

dot product of two vec3

(vec3-cross [a b] :vec3)

cross product of two vec3

(vec3-length [v] :float)

length (norm) of a vec3

(vec3-normalize [v] :vec3)

normalize a vec3 to unit length

(mat4-mul [a b] :mat4)

multiply two mat4 matrices (column-major)

(mat4-mul-vec4 [m v] :vec4)

multiply mat4 by vec4

(mat4-transpose [m] :mat4)

transpose a mat4

(mat4-inv [m] :mat4)

compute inverse of a mat4

(mat4-translate [v] :mat4)

create translation matrix

(mat4-scale [v] :mat4)

create scaling matrix

(mat4-rotate-x [angle] :mat4)

create rotation matrix around x-axis

(mat4-rotate-y [angle] :mat4)

create rotation matrix around y-axis

(mat4-rotate-z [angle] :mat4)

create rotation matrix around z-axis

(mat4-rotate [axis angle] :mat4)

create rotation matrix around arbitrary axis

(mat4-perspective [fovy aspect near far] :mat4)

create perspective projection matrix

(mat4-ortho [l r b t near far] :mat4)

create orthographic projection matrix

(mat4-look-at [eye center up] :mat4)

create view matrix (camera transformation)

(mat4-ptr [m] :int)

get pointer to mat4 data (for OpenGL uniform uploads)

(vec3-ptr [v] :int)

get pointer to vec3 data