Merge branch 'master' into simd

2025-12-24 12:32:40 +00:00 · 2019-01-21 22:43:15 +03:00
parent 9aebdc76b3 07e60bd098
commit 01b93b0409
44 changed files with 1213 additions and 901 deletions
--- a/README.md
+++ b/README.md
@@ -4,7 +4,7 @@
 [![Documentation Status](https://readthedocs.org/projects/cglm/badge/?version=latest)](http://cglm.readthedocs.io/en/latest/?badge=latest)
 [![Coverage Status](https://coveralls.io/repos/github/recp/cglm/badge.svg?branch=master)](https://coveralls.io/github/recp/cglm?branch=master)
 [![Codacy Badge](https://api.codacy.com/project/badge/Grade/6a62b37d5f214f178ebef269dc4a6bf1)](https://www.codacy.com/app/recp/cglm?utm_source=github.com&amp;utm_medium=referral&amp;utm_content=recp/cglm&amp;utm_campaign=Badge_Grade)
-[![Backers on Open Collective](https://opencollective.com/cglm/backers/badge.svg)](#backers) 
+[![Backers on Open Collective](https://opencollective.com/cglm/backers/badge.svg)](#backers)
 [![Sponsors on Open Collective](https://opencollective.com/cglm/sponsors/badge.svg)](#sponsors)

 The original glm library is for C++ only (templates, namespaces, classes...), this library targeted to C99 but currently you can use it for C89 safely by language extensions e.g `__restrict`
@@ -16,14 +16,16 @@ Complete documentation: http://cglm.readthedocs.io

 #### Note for previous versions:

- _dup (duplicate) is changed to _copy. For instance `glm_vec_dup -> glm_vec_copy`
+- _dup (duplicate) is changed to _copy. For instance `glm_vec_dup -> glm_vec3_copy`
 - OpenGL related functions are dropped to make this lib platform/third-party independent
 - make sure you have latest version and feel free to report bugs, troubles
- **[bugfix]** euler angles was implemented in reverse order (extrinsic) it was fixed, now they are intrinsic. Make sure that 
+- **[bugfix]** euler angles was implemented in reverse order (extrinsic) it was fixed, now they are intrinsic. Make sure that
 you have the latest version
 - **[major change]** by starting v0.4.0, quaternions are stored as [x, y, z, w], it was [w, x, y, z] in v0.3.5 and earlier versions
 - **[api rename]** by starting v0.4.5, **glm_simd** functions are renamed to **glmm_**  
 - **[new option]** by starting v0.4.5, you can disable alignment requirement, check options in docs.  
+- **[major change]** by starting v0.5.0, vec3 functions use **glm_vec3_** namespace, it was **glm_vec_** until v0.5.0
+- **[major change]** by starting v0.5.1, built-in alignment is removed from **vec3** and **mat3** types

 #### Note for C++ developers:
 If you don't aware about original GLM library yet, you may also want to look at:
@@ -81,6 +83,7 @@ Currently *cglm* uses default clip space configuration (-1, 1) for camera functi
 - frustum (extract view frustum planes, corners...)
 - bounding box  (AABB in Frustum (culling), crop, merge...)
 - project, unproject
+- and other...

 <hr />

@@ -122,39 +125,6 @@ glm_mul(T, R, modelMat);
 glm_inv_tr(modelMat);
 ```

-## Contributors
-
-This project exists thanks to all the people who contribute. [[Contribute](CONTRIBUTING.md)].
-<a href="graphs/contributors"><img src="https://opencollective.com/cglm/contributors.svg?width=890&button=false" /></a>
-
-
-## Backers
-
-Thank you to all our backers! 🙏 [[Become a backer](https://opencollective.com/cglm#backer)]
-
-<a href="https://opencollective.com/cglm#backers" target="_blank"><img src="https://opencollective.com/cglm/backers.svg?width=890"></a>
-
-
-## Sponsors
-
-Support this project by becoming a sponsor. Your logo will show up here with a link to your website. [[Become a sponsor](https://opencollective.com/cglm#sponsor)]
-
-<a href="https://opencollective.com/cglm/sponsor/0/website" target="_blank"><img src="https://opencollective.com/cglm/sponsor/0/avatar.svg"></a>
-<a href="https://opencollective.com/cglm/sponsor/1/website" target="_blank"><img src="https://opencollective.com/cglm/sponsor/1/avatar.svg"></a>
-<a href="https://opencollective.com/cglm/sponsor/2/website" target="_blank"><img src="https://opencollective.com/cglm/sponsor/2/avatar.svg"></a>
-<a href="https://opencollective.com/cglm/sponsor/3/website" target="_blank"><img src="https://opencollective.com/cglm/sponsor/3/avatar.svg"></a>
-<a href="https://opencollective.com/cglm/sponsor/4/website" target="_blank"><img src="https://opencollective.com/cglm/sponsor/4/avatar.svg"></a>
-<a href="https://opencollective.com/cglm/sponsor/5/website" target="_blank"><img src="https://opencollective.com/cglm/sponsor/5/avatar.svg"></a>
-<a href="https://opencollective.com/cglm/sponsor/6/website" target="_blank"><img src="https://opencollective.com/cglm/sponsor/6/avatar.svg"></a>
-<a href="https://opencollective.com/cglm/sponsor/7/website" target="_blank"><img src="https://opencollective.com/cglm/sponsor/7/avatar.svg"></a>
-<a href="https://opencollective.com/cglm/sponsor/8/website" target="_blank"><img src="https://opencollective.com/cglm/sponsor/8/avatar.svg"></a>
-<a href="https://opencollective.com/cglm/sponsor/9/website" target="_blank"><img src="https://opencollective.com/cglm/sponsor/9/avatar.svg"></a>
-
-
-
-## License
-MIT. check the LICENSE file
-
 ## Build

 ### Unix (Autotools)
@@ -201,15 +171,15 @@ If you want to use inline versions of funcstions then; include main header
 ```
 the header will include all headers. Then call func you want e.g. rotate vector by axis:
 ```C
-glm_vec_rotate(v1, glm_rad(45), (vec3){1.0f, 0.0f, 0.0f});
+glm_vec3_rotate(v1, glm_rad(45), (vec3){1.0f, 0.0f, 0.0f});
 ```
 some functions are overloaded :) e.g you can normalize vector:
 ```C
-glm_vec_normalize(vec);
+glm_vec3_normalize(vec);
 ```
 this will normalize vec and store normalized vector into `vec` but if you will store normalized vector into another vector do this:
 ```C
-glm_vec_normalize_to(vec, result);
+glm_vec3_normalize_to(vec, result);
 ```
 like this function you may see `_to` postfix, this functions store results to another variables and save temp memory

@@ -220,7 +190,7 @@ to call pre-compiled versions include header with `c` postfix, c means call. Pre
 ```
 this header will include all headers with c postfix. You need to call functions with c posfix:
 ```C
-glmc_vec_normalize(vec);
+glmc_vec3_normalize(vec);
 ```

 Function usage and parameters are documented inside related headers. You may see same parameter passed twice in some examples like this:
@@ -284,3 +254,35 @@ You can pass same way to another APIs e.g. Vulkan, DX...
 - [ ] Unaligned operations (e.g. `glm_umat4_mul`)
 - [x] Extra documentation
 - [ ] ARM Neon Arch (In Progress)
+
+
+## Contributors
+
+This project exists thanks to all the people who contribute. [[Contribute](CONTRIBUTING.md)].
+<a href="graphs/contributors"><img src="https://opencollective.com/cglm/contributors.svg?width=890&button=false" /></a>
+
+
+## Backers
+
+Thank you to all our backers! 🙏 [[Become a backer](https://opencollective.com/cglm#backer)]
+
+<a href="https://opencollective.com/cglm#backers" target="_blank"><img src="https://opencollective.com/cglm/backers.svg?width=890"></a>
+
+
+## Sponsors
+
+Support this project by becoming a sponsor. Your logo will show up here with a link to your website. [[Become a sponsor](https://opencollective.com/cglm#sponsor)]
+
+<a href="https://opencollective.com/cglm/sponsor/0/website" target="_blank"><img src="https://opencollective.com/cglm/sponsor/0/avatar.svg"></a>
+<a href="https://opencollective.com/cglm/sponsor/1/website" target="_blank"><img src="https://opencollective.com/cglm/sponsor/1/avatar.svg"></a>
+<a href="https://opencollective.com/cglm/sponsor/2/website" target="_blank"><img src="https://opencollective.com/cglm/sponsor/2/avatar.svg"></a>
+<a href="https://opencollective.com/cglm/sponsor/3/website" target="_blank"><img src="https://opencollective.com/cglm/sponsor/3/avatar.svg"></a>
+<a href="https://opencollective.com/cglm/sponsor/4/website" target="_blank"><img src="https://opencollective.com/cglm/sponsor/4/avatar.svg"></a>
+<a href="https://opencollective.com/cglm/sponsor/5/website" target="_blank"><img src="https://opencollective.com/cglm/sponsor/5/avatar.svg"></a>
+<a href="https://opencollective.com/cglm/sponsor/6/website" target="_blank"><img src="https://opencollective.com/cglm/sponsor/6/avatar.svg"></a>
+<a href="https://opencollective.com/cglm/sponsor/7/website" target="_blank"><img src="https://opencollective.com/cglm/sponsor/7/avatar.svg"></a>
+<a href="https://opencollective.com/cglm/sponsor/8/website" target="_blank"><img src="https://opencollective.com/cglm/sponsor/8/avatar.svg"></a>
+<a href="https://opencollective.com/cglm/sponsor/9/website" target="_blank"><img src="https://opencollective.com/cglm/sponsor/9/avatar.svg"></a>
+
+## License
+MIT. check the LICENSE file
--- a/configure.ac
+++ b/configure.ac
@@ -7,7 +7,7 @@
 #*****************************************************************************

 AC_PREREQ([2.69])
-AC_INIT([cglm], [0.4.9], [info@recp.me])
+AC_INIT([cglm], [0.5.2], [info@recp.me])
 AM_INIT_AUTOMAKE([-Wall -Werror foreign subdir-objects])

 AC_CONFIG_MACRO_DIR([m4])
--- a/docs/source/api.rst
+++ b/docs/source/api.rst
@@ -5,14 +5,14 @@ Some functions may exist twice,
 once for their namespace and once for global namespace
 to make easier to write very common functions

-For instance, in general we use :code:`glm_vec_dot` to get dot product
+For instance, in general we use :code:`glm_vec3_dot` to get dot product
 of two **vec3**. Now we can also do this with :code:`glm_dot`,
 same for *_cross* and so on...

 The original function stays where it is, the function in global namespace
 of same name is just an alias, so there is no call version of those functions.
 e.g there is no func like :code:`glmc_dot` because *glm_dot* is just alias for
-:code:`glm_vec_dot`
+:code:`glm_vec3_dot`

 By including **cglm/cglm.h** header you will include all inline version
 of functions. Since functions in this header[s] are inline you don't need to
--- a/docs/source/cam.rst
+++ b/docs/source/cam.rst
@@ -9,7 +9,7 @@ There are many convenient functions for camera. For instance :c:func:`glm_look`
 is just wrapper for :c:func:`glm_lookat`. Sometimes you only have direction
 instead of target, so that makes easy to build view matrix using direction.
 There is also :c:func:`glm_look_anyup` function which can help build view matrix
-without providing UP axis. It uses :c:func:`glm_vec_ortho` to get a UP axis and
+without providing UP axis. It uses :c:func:`glm_vec3_ortho` to get a UP axis and
 builds view matrix.

 You can also *_default* versions of ortho and perspective to build projection
@@ -36,6 +36,7 @@ Functions:
 #. :c:func:`glm_ortho_default`
 #. :c:func:`glm_ortho_default_s`
 #. :c:func:`glm_perspective`
+#. :c:func:`glm_persp_move_far`
 #. :c:func:`glm_perspective_default`
 #. :c:func:`glm_perspective_resize`
 #. :c:func:`glm_lookat`
@@ -145,6 +146,16 @@ Functions documentation
      | *[in]*  **farVal**  far clipping planes
      | *[out]* **dest**    result matrix

+.. c:function:: void  glm_persp_move_far(mat4 proj, float deltaFar)
+
+    | extend perspective projection matrix's far distance
+
+    | this function does not guarantee far >= near, be aware of that!
+
+    Parameters:
+      | *[in, out]*  **proj**      projection matrix to extend
+      | *[in]*       **deltaFar**  distance from existing far (negative to shink)
+
 .. c:function:: void glm_perspective_default(float aspect, mat4 dest)

     | set up perspective projection matrix with default near/far
--- a/docs/source/conf.py
+++ b/docs/source/conf.py
@@ -62,9 +62,9 @@ author = u'Recep Aslantas'
 # built documents.
 #
 # The short X.Y version.
-version = u'0.4.9'
+version = u'0.5.2'
 # The full version, including alpha/beta/rc tags.
-release = u'0.4.9'
+release = u'0.5.2'

 # The language for content autogenerated by Sphinx. Refer to documentation
 # for a list of supported languages.
--- a/docs/source/frustum.rst
+++ b/docs/source/frustum.rst
@@ -127,7 +127,7 @@ Functions documentation
    .. code-block:: c

       for (j = 0; j < 4; j++) {
-         glm_vec_center(corners[i], corners[i + 4], centerCorners[i]);
+         glm_vec3_center(corners[i], corners[i + 4], centerCorners[i]);
       }

    corners[i + 4] is far of corners[i] point.
--- a/docs/source/mat3.rst
+++ b/docs/source/mat3.rst
@@ -29,6 +29,7 @@ Functions:
 #. :c:func:`glm_mat3_scale`
 #. :c:func:`glm_mat3_det`
 #. :c:func:`glm_mat3_inv`
+#. :c:func:`glm_mat3_trace`
 #. :c:func:`glm_mat3_swap_col`
 #. :c:func:`glm_mat3_swap_row`

@@ -133,6 +134,16 @@ Functions documentation
      | *[in]*  **mat**  matrix
      | *[out]* **dest** destination (inverse matrix)

+.. c:function:: void glm_mat3_trace(mat3 m)
+
+    | sum of the elements on the main diagonal from upper left to the lower right
+
+    Parameters:
+      | *[in]*  **m**  matrix
+
+    Returns:
+        trace of matrix
+
 .. c:function:: void  glm_mat3_swap_col(mat3 mat, int col1, int col2)

    swap two matrix columns
--- a/docs/source/mat4.rst
+++ b/docs/source/mat4.rst
@@ -33,6 +33,8 @@ Functions:
 #. :c:func:`glm_mat4_mulN`
 #. :c:func:`glm_mat4_mulv`
 #. :c:func:`glm_mat4_mulv3`
+#. :c:func:`glm_mat3_trace`
+#. :c:func:`glm_mat3_trace3`
 #. :c:func:`glm_mat4_quat`
 #. :c:func:`glm_mat4_transpose_to`
 #. :c:func:`glm_mat4_transpose`
@@ -156,6 +158,27 @@ Functions documentation
    | *[in]*  **v**     vec3 (right, column vector)
    | *[out]* **dest**  vec3 (result, column vector)

+.. c:function:: void  glm_mat4_trace(mat4 m)
+
+    | sum of the elements on the main diagonal from upper left to the lower right
+
+    Parameters:
+      | *[in]*  **m**  matrix
+
+    Returns:
+        trace of matrix
+
+.. c:function:: void  glm_mat4_trace3(mat4 m)
+
+    | trace of matrix (rotation part)
+    | sum of the elements on the main diagonal from upper left to the lower right
+
+    Parameters:
+      | *[in]*  **m**  matrix
+
+    Returns:
+        trace of matrix
+
 .. c:function:: void  glm_mat4_quat(mat4 m, versor dest)

    convert mat4's rotation part to quaternion
--- a/docs/source/troubleshooting.rst
+++ b/docs/source/troubleshooting.rst
@@ -62,7 +62,7 @@ Wrong Results:

 Again, you may used wrong function.

-For instance if you use **glm_normalize()** or **glm_vec_normalize()** for **vec4**,
+For instance if you use **glm_normalize()** or **glm_vec3_normalize()** for **vec4**,
 it will assume that passed param is **vec3** and will normalize it for **vec3**.
 Since you need to **vec4** to be normalized in your case, you will get wrong results.

--- a/docs/source/vec3-ext.rst
+++ b/docs/source/vec3-ext.rst
@@ -14,25 +14,25 @@ Table of contents (click to go):

 Functions:

-1. :c:func:`glm_vec_mulv`
-#. :c:func:`glm_vec_broadcast`
-#. :c:func:`glm_vec_eq`
-#. :c:func:`glm_vec_eq_eps`
-#. :c:func:`glm_vec_eq_all`
-#. :c:func:`glm_vec_eqv`
-#. :c:func:`glm_vec_eqv_eps`
-#. :c:func:`glm_vec_max`
-#. :c:func:`glm_vec_min`
-#. :c:func:`glm_vec_isnan`
-#. :c:func:`glm_vec_isinf`
-#. :c:func:`glm_vec_isvalid`
-#. :c:func:`glm_vec_sign`
-#. :c:func:`glm_vec_sqrt`
+1. :c:func:`glm_vec3_mulv`
+#. :c:func:`glm_vec3_broadcast`
+#. :c:func:`glm_vec3_eq`
+#. :c:func:`glm_vec3_eq_eps`
+#. :c:func:`glm_vec3_eq_all`
+#. :c:func:`glm_vec3_eqv`
+#. :c:func:`glm_vec3_eqv_eps`
+#. :c:func:`glm_vec3_max`
+#. :c:func:`glm_vec3_min`
+#. :c:func:`glm_vec3_isnan`
+#. :c:func:`glm_vec3_isinf`
+#. :c:func:`glm_vec3_isvalid`
+#. :c:func:`glm_vec3_sign`
+#. :c:func:`glm_vec3_sqrt`

 Functions documentation
 ~~~~~~~~~~~~~~~~~~~~~~~

-.. c:function:: void  glm_vec_mulv(vec3 a, vec3 b, vec3 d)
+.. c:function:: void  glm_vec3_mulv(vec3 a, vec3 b, vec3 d)

    multiplies individual items

@@ -41,7 +41,7 @@ Functions documentation
      | *[in]*  **b**  vec2
      | *[out]* **d**  destination (v1[0] * v2[0], v1[1] * v2[1], v1[2] * v2[2])

-.. c:function:: void  glm_vec_broadcast(float val, vec3 d)
+.. c:function:: void  glm_vec3_broadcast(float val, vec3 d)

    fill a vector with specified value

@@ -49,7 +49,7 @@ Functions documentation
      | *[in]*  **val**   value
      | *[out]* **dest**  destination

-.. c:function:: bool  glm_vec_eq(vec3 v, float val)
+.. c:function:: bool  glm_vec3_eq(vec3 v, float val)

    check if vector is equal to value (without epsilon)

@@ -57,7 +57,7 @@ Functions documentation
      | *[in]*  **v**    vector
      | *[in]*  **val**  value

-.. c:function:: bool  glm_vec_eq_eps(vec3 v, float val)
+.. c:function:: bool  glm_vec3_eq_eps(vec3 v, float val)

    check if vector is equal to value (with epsilon)

@@ -65,14 +65,14 @@ Functions documentation
      | *[in]*  **v**    vector
      | *[in]*  **val**  value

-.. c:function:: bool  glm_vec_eq_all(vec3 v)
+.. c:function:: bool  glm_vec3_eq_all(vec3 v)

    check if vectors members are equal (without epsilon)

    Parameters:
      | *[in]*  **v**   vector

-.. c:function:: bool  glm_vec_eqv(vec3 v1, vec3 v2)
+.. c:function:: bool  glm_vec3_eqv(vec3 v1, vec3 v2)

    check if vector is equal to another (without epsilon) vector

@@ -80,7 +80,7 @@ Functions documentation
      | *[in]*  **vec**   vector 1
      | *[in]*  **vec**   vector 2

-.. c:function:: bool  glm_vec_eqv_eps(vec3 v1, vec3 v2)
+.. c:function:: bool  glm_vec3_eqv_eps(vec3 v1, vec3 v2)

    check if vector is equal to another (with epsilon)

@@ -88,21 +88,21 @@ Functions documentation
      | *[in]*  **v1**    vector1
      | *[in]*  **v2**    vector2

-.. c:function:: float  glm_vec_max(vec3 v)
+.. c:function:: float  glm_vec3_max(vec3 v)

    max value of vector

    Parameters:
      | *[in]*  **v**    vector

-.. c:function:: float glm_vec_min(vec3 v)
+.. c:function:: float glm_vec3_min(vec3 v)

     min value of vector

    Parameters:
      | *[in]*  **v**  vector

-.. c:function:: bool glm_vec_isnan(vec3 v)
+.. c:function:: bool glm_vec3_isnan(vec3 v)

    | check if one of items is NaN (not a number)
    | you should only use this in DEBUG mode or very critical asserts
@@ -110,7 +110,7 @@ Functions documentation
    Parameters:
      | *[in]*  **v**  vector

-.. c:function:: bool glm_vec_isinf(vec3 v)
+.. c:function:: bool glm_vec3_isinf(vec3 v)

    | check if one of items is INFINITY
    | you should only use this in DEBUG mode or very critical asserts
@@ -118,7 +118,7 @@ Functions documentation
    Parameters:
      | *[in]*  **v**  vector

-.. c:function:: bool glm_vec_isvalid(vec3 v)
+.. c:function:: bool glm_vec3_isvalid(vec3 v)

    | check if all items are valid number
    | you should only use this in DEBUG mode or very critical asserts
@@ -126,7 +126,7 @@ Functions documentation
    Parameters:
      | *[in]*  **v**  vector

-.. c:function:: void glm_vec_sign(vec3 v, vec3 dest)
+.. c:function:: void glm_vec3_sign(vec3 v, vec3 dest)

    get sign of 32 bit float as +1, -1, 0

@@ -134,7 +134,7 @@ Functions documentation
      | *[in]*   **v**     vector
      | *[out]*  **dest**  sign vector (only keeps signs as -1, 0, -1)

-.. c:function:: void glm_vec_sqrt(vec3 v, vec3 dest)
+.. c:function:: void glm_vec3_sqrt(vec3 v, vec3 dest)

    square root of each vector item

--- a/docs/source/vec3.rst
+++ b/docs/source/vec3.rst
@@ -5,9 +5,14 @@ vec3

 Header: cglm/vec3.h

+ **Important:** *cglm* was used **glm_vec_** namespace for vec3 functions until
+ **v0.5.0**, since **v0.5.0** cglm uses **glm_vec3_** namespace for vec3.
+
+ Also `glm_vec3_flipsign` has been renamed to `glm_vec3_negate`
+
 We mostly use vectors in graphics math, to make writing code faster
 and easy to read, some *vec3* functions are aliased in global namespace.
-For instance :c:func:`glm_dot` is alias of :c:func:`glm_vec_dot`,
+For instance :c:func:`glm_dot` is alias of :c:func:`glm_vec3_dot`,
 alias means inline wrapper here. There is no call verison of alias functions

 There are also functions for rotating *vec3* vector. **_m4**, **_m3** prefixes
@@ -18,7 +23,7 @@ Table of contents (click to go):

 Macros:

-1. glm_vec_dup(v, dest)
+1. glm_vec3_dup(v, dest)
 #. GLM_VEC3_ONE_INIT
 #. GLM_VEC3_ZERO_INIT
 #. GLM_VEC3_ONE
@@ -30,45 +35,50 @@ Macros:
 Functions:

 1. :c:func:`glm_vec3`
-#. :c:func:`glm_vec_copy`
-#. :c:func:`glm_vec_zero`
-#. :c:func:`glm_vec_one`
-#. :c:func:`glm_vec_dot`
-#. :c:func:`glm_vec_cross`
-#. :c:func:`glm_vec_norm2`
-#. :c:func:`glm_vec_norm`
-#. :c:func:`glm_vec_add`
-#. :c:func:`glm_vec_adds`
-#. :c:func:`glm_vec_sub`
-#. :c:func:`glm_vec_subs`
-#. :c:func:`glm_vec_mul`
-#. :c:func:`glm_vec_scale`
-#. :c:func:`glm_vec_scale_as`
-#. :c:func:`glm_vec_div`
-#. :c:func:`glm_vec_divs`
-#. :c:func:`glm_vec_addadd`
-#. :c:func:`glm_vec_subadd`
-#. :c:func:`glm_vec_muladd`
-#. :c:func:`glm_vec_muladds`
-#. :c:func:`glm_vec_flipsign`
-#. :c:func:`glm_vec_flipsign_to`
-#. :c:func:`glm_vec_inv`
-#. :c:func:`glm_vec_inv_to`
-#. :c:func:`glm_vec_normalize`
-#. :c:func:`glm_vec_normalize_to`
-#. :c:func:`glm_vec_distance2`
-#. :c:func:`glm_vec_distance`
-#. :c:func:`glm_vec_angle`
-#. :c:func:`glm_vec_rotate`
-#. :c:func:`glm_vec_rotate_m4`
-#. :c:func:`glm_vec_rotate_m3`
-#. :c:func:`glm_vec_proj`
-#. :c:func:`glm_vec_center`
-#. :c:func:`glm_vec_maxv`
-#. :c:func:`glm_vec_minv`
-#. :c:func:`glm_vec_ortho`
-#. :c:func:`glm_vec_clamp`
-#. :c:func:`glm_vec_lerp`
+#. :c:func:`glm_vec3_copy`
+#. :c:func:`glm_vec3_zero`
+#. :c:func:`glm_vec3_one`
+#. :c:func:`glm_vec3_dot`
+#. :c:func:`glm_vec3_norm2`
+#. :c:func:`glm_vec3_norm`
+#. :c:func:`glm_vec3_add`
+#. :c:func:`glm_vec3_adds`
+#. :c:func:`glm_vec3_sub`
+#. :c:func:`glm_vec3_subs`
+#. :c:func:`glm_vec3_mul`
+#. :c:func:`glm_vec3_scale`
+#. :c:func:`glm_vec3_scale_as`
+#. :c:func:`glm_vec3_div`
+#. :c:func:`glm_vec3_divs`
+#. :c:func:`glm_vec3_addadd`
+#. :c:func:`glm_vec3_subadd`
+#. :c:func:`glm_vec3_muladd`
+#. :c:func:`glm_vec3_muladds`
+#. :c:func:`glm_vec3_maxadd`
+#. :c:func:`glm_vec3_minadd`
+#. :c:func:`glm_vec3_flipsign`
+#. :c:func:`glm_vec3_flipsign_to`
+#. :c:func:`glm_vec3_inv`
+#. :c:func:`glm_vec3_inv_to`
+#. :c:func:`glm_vec3_negate`
+#. :c:func:`glm_vec3_negate_to`
+#. :c:func:`glm_vec3_normalize`
+#. :c:func:`glm_vec3_normalize_to`
+#. :c:func:`glm_vec3_cross`
+#. :c:func:`glm_vec3_crossn`
+#. :c:func:`glm_vec3_distance2`
+#. :c:func:`glm_vec3_distance`
+#. :c:func:`glm_vec3_angle`
+#. :c:func:`glm_vec3_rotate`
+#. :c:func:`glm_vec3_rotate_m4`
+#. :c:func:`glm_vec3_rotate_m3`
+#. :c:func:`glm_vec3_proj`
+#. :c:func:`glm_vec3_center`
+#. :c:func:`glm_vec3_maxv`
+#. :c:func:`glm_vec3_minv`
+#. :c:func:`glm_vec3_ortho`
+#. :c:func:`glm_vec3_clamp`
+#. :c:func:`glm_vec3_lerp`

 Functions documentation
 ~~~~~~~~~~~~~~~~~~~~~~~
@@ -81,7 +91,7 @@ Functions documentation
      | *[in]*  **v4**    vector4
      | *[out]* **dest**  destination

-.. c:function:: void  glm_vec_copy(vec3 a, vec3 dest)
+.. c:function:: void  glm_vec3_copy(vec3 a, vec3 dest)

    copy all members of [a] to [dest]

@@ -89,21 +99,21 @@ Functions documentation
      | *[in]*  **a**     source
      | *[out]* **dest**  destination

-.. c:function:: void  glm_vec_zero(vec3 v)
+.. c:function:: void  glm_vec3_zero(vec3 v)

    makes all members 0.0f (zero)

    Parameters:
      | *[in, out]*  **v**     vector

-.. c:function:: void  glm_vec_one(vec3 v)
+.. c:function:: void  glm_vec3_one(vec3 v)

    makes all members 1.0f (one)

    Parameters:
      | *[in, out]*  **v**     vector

-.. c:function:: float  glm_vec_dot(vec3 a, vec3 b)
+.. c:function:: float  glm_vec3_dot(vec3 a, vec3 b)

    dot product of vec3

@@ -114,16 +124,25 @@ Functions documentation
    Returns:
      dot product

-.. c:function:: void  glm_vec_cross(vec3 a, vec3 b, vec3 d)
+.. c:function:: void  glm_vec3_cross(vec3 a, vec3 b, vec3 d)

-    cross product
+    cross product of two vector (RH)

    Parameters:
-      | *[in]*  **a**  source 1
-      | *[in]*  **b**  source 2
-      | *[out]* **d**  destination
+      | *[in]*  **a**     vector 1
+      | *[in]*  **b**     vector 2
+      | *[out]* **dest**  destination

-.. c:function:: float  glm_vec_norm2(vec3 v)
+.. c:function:: void  glm_vec3_crossn(vec3 a, vec3 b, vec3 dest)
+
+    cross product of two vector (RH) and normalize the result
+
+    Parameters:
+      | *[in]*  **a**     vector 1
+      | *[in]*  **b**     vector 2
+      | *[out]* **dest**  destination
+
+.. c:function:: float  glm_vec3_norm2(vec3 v)

    norm * norm (magnitude) of vector

@@ -137,14 +156,14 @@ Functions documentation
    Returns:
      square of norm / magnitude

-.. c:function:: float  glm_vec_norm(vec3 vec)
+.. c:function:: float  glm_vec3_norm(vec3 vec)

    norm (magnitude) of vec3

    Parameters:
      | *[in]*  **vec**   vector

-.. c:function:: void  glm_vec_add(vec3 a, vec3 b, vec3 dest)
+.. c:function:: void  glm_vec3_add(vec3 a, vec3 b, vec3 dest)

    add a vector to b vector store result in dest

@@ -153,7 +172,7 @@ Functions documentation
      | *[in]*  **b**     vector2
      | *[out]* **dest**  destination vector

-.. c:function:: void  glm_vec_adds(vec3 a, float s, vec3 dest)
+.. c:function:: void  glm_vec3_adds(vec3 a, float s, vec3 dest)

    add scalar to v vector store result in dest (d = v + vec(s))

@@ -162,7 +181,7 @@ Functions documentation
      | *[in]*  **s**     scalar
      | *[out]* **dest**  destination vector

-.. c:function:: void  glm_vec_sub(vec3 v1, vec3 v2, vec3 dest)
+.. c:function:: void  glm_vec3_sub(vec3 v1, vec3 v2, vec3 dest)

    subtract b vector from a vector store result in dest (d = v1 - v2)

@@ -171,7 +190,7 @@ Functions documentation
      | *[in]*  **b**     vector2
      | *[out]* **dest**  destination vector

-.. c:function:: void  glm_vec_subs(vec3 v, float s, vec3 dest)
+.. c:function:: void  glm_vec3_subs(vec3 v, float s, vec3 dest)

    subtract scalar from v vector store result in dest (d = v - vec(s))

@@ -180,7 +199,7 @@ Functions documentation
      | *[in]*  **s**     scalar
      | *[out]* **dest**  destination vector

-.. c:function:: void  glm_vec_mul(vec3 a, vec3 b, vec3 d)
+.. c:function:: void  glm_vec3_mul(vec3 a, vec3 b, vec3 d)

    multiply two vector (component-wise multiplication)

@@ -189,7 +208,7 @@ Functions documentation
      | *[in]*  **b**     scalar
      | *[out]* **d**     result = (a[0] * b[0], a[1] * b[1], a[2] * b[2])

-.. c:function:: void glm_vec_scale(vec3 v, float s, vec3 dest)
+.. c:function:: void glm_vec3_scale(vec3 v, float s, vec3 dest)

     multiply/scale vec3 vector with scalar: result = v * s

@@ -199,7 +218,7 @@ Functions documentation
      | *[in]*  **s**     scalar
      | *[out]* **dest**  destination vector

-.. c:function:: void  glm_vec_scale_as(vec3 v, float s, vec3 dest)
+.. c:function:: void  glm_vec3_scale_as(vec3 v, float s, vec3 dest)

    make vec3 vector scale as specified: result = unit(v) * s

@@ -208,7 +227,7 @@ Functions documentation
      | *[in]*  **s**     scalar
      | *[out]* **dest**  destination vector

-.. c:function:: void  glm_vec_div(vec3 a, vec3 b, vec3 dest)
+.. c:function:: void  glm_vec3_div(vec3 a, vec3 b, vec3 dest)

    div vector with another component-wise division: d = a / b

@@ -217,7 +236,7 @@ Functions documentation
      | *[in]*  **b**     vector 2
      | *[out]* **dest**  result = (a[0] / b[0], a[1] / b[1], a[2] / b[2])

-.. c:function:: void  glm_vec_divs(vec3 v, float s, vec3 dest)
+.. c:function:: void  glm_vec3_divs(vec3 v, float s, vec3 dest)

    div vector with scalar: d = v / s

@@ -226,7 +245,7 @@ Functions documentation
      | *[in]*  **s**     scalar
      | *[out]* **dest**  result = (a[0] / s, a[1] / s, a[2] / s])

-.. c:function:: void  glm_vec_addadd(vec3 a, vec3 b, vec3 dest)
+.. c:function:: void  glm_vec3_addadd(vec3 a, vec3 b, vec3 dest)

    | add two vectors and add result to sum
    | it applies += operator so dest must be initialized
@@ -236,7 +255,7 @@ Functions documentation
      | *[in]*  **b**     vector 2
      | *[out]* **dest**  dest += (a + b)

-.. c:function:: void  glm_vec_subadd(vec3 a, vec3 b, vec3 dest)
+.. c:function:: void  glm_vec3_subadd(vec3 a, vec3 b, vec3 dest)

    | sub two vectors and add result to sum
    | it applies += operator so dest must be initialized
@@ -246,7 +265,7 @@ Functions documentation
      | *[in]*  **b**     vector 2
      | *[out]* **dest**  dest += (a - b)

-.. c:function:: void  glm_vec_muladd(vec3 a, vec3 b, vec3 dest)
+.. c:function:: void  glm_vec3_muladd(vec3 a, vec3 b, vec3 dest)

    | mul two vectors and add result to sum
    | it applies += operator so dest must be initialized
@@ -256,7 +275,7 @@ Functions documentation
      | *[in]*  **b**     vector 2
      | *[out]* **dest**  dest += (a * b)

-.. c:function:: void  glm_vec_muladds(vec3 a, float s, vec3 dest)
+.. c:function:: void  glm_vec3_muladds(vec3 a, float s, vec3 dest)

    | mul vector with scalar and add result to sum
    | it applies += operator so dest must be initialized
@@ -266,44 +285,87 @@ Functions documentation
      | *[in]*  **s**     scalar
      | *[out]* **dest**  dest += (a * b)

-.. c:function:: void  glm_vec_flipsign(vec3 v)
+.. c:function:: void  glm_vec3_maxadd(vec3 a, vec3 b, vec3 dest)

-    flip sign of all vec3 members
+    | add max of two vector to result/dest
+    | it applies += operator so dest must be initialized
+
+    Parameters:
+      | *[in]*  **a**     vector 1
+      | *[in]*  **b**     vector 2
+      | *[out]* **dest**  dest += (a * b)
+
+.. c:function:: void  glm_vec3_minadd(vec3 a, vec3 b, vec3 dest)
+
+    | add min of two vector to result/dest
+    | it applies += operator so dest must be initialized
+
+    Parameters:
+      | *[in]*  **a**     vector 1
+      | *[in]*  **b**     vector 2
+      | *[out]* **dest**  dest += (a * b)
+
+.. c:function:: void  glm_vec3_flipsign(vec3 v)
+
+    **DEPRACATED!**
+
+    use :c:func:`glm_vec3_negate`

    Parameters:
      | *[in, out]*  **v**    vector

-.. c:function:: void  glm_vec_flipsign_to(vec3 v, vec3 dest)
+.. c:function:: void  glm_vec3_flipsign_to(vec3 v, vec3 dest)

-    flip sign of all vec3 members and store result in dest
+    **DEPRACATED!**
+
+    use :c:func:`glm_vec3_negate_to`

    Parameters:
      | *[in]*  **v**       vector
      | *[out]* **dest**    negated vector

-.. c:function:: void  glm_vec_inv(vec3 v)
+.. c:function:: void  glm_vec3_inv(vec3 v)

-    make vector as inverse/opposite of itself
+    **DEPRACATED!**
+
+    use :c:func:`glm_vec3_negate`

    Parameters:
      | *[in, out]*  **v**    vector

-.. c:function:: void  glm_vec_inv_to(vec3 v, vec3 dest)
+.. c:function:: void  glm_vec3_inv_to(vec3 v, vec3 dest)

-    inverse/opposite vector
+    **DEPRACATED!**
+
+    use :c:func:`glm_vec3_negate_to`

    Parameters:
      | *[in]*  **v**     source
      | *[out]* **dest**  destination

-.. c:function:: void  glm_vec_normalize(vec3 v)
+.. c:function:: void  glm_vec3_negate(vec3 v)
+
+    negate vector components
+
+    Parameters:
+      | *[in, out]*  **v**    vector
+
+.. c:function:: void  glm_vec3_negate_to(vec3 v, vec3 dest)
+
+    negate vector components and store result in dest
+
+    Parameters:
+      | *[in]*  **v**       vector
+      | *[out]* **dest**    negated vector
+
+.. c:function:: void  glm_vec3_normalize(vec3 v)

    normalize vec3 and store result in same vec

    Parameters:
      | *[in, out]*  **v**    vector

-.. c:function:: void  glm_vec_normalize_to(vec3 vec, vec3 dest)
+.. c:function:: void  glm_vec3_normalize_to(vec3 vec, vec3 dest)

     normalize vec3 to dest

@@ -311,7 +373,7 @@ Functions documentation
      | *[in]*   **vec**   source
      | *[out]*  **dest**  destination

-.. c:function:: float  glm_vec_angle(vec3 v1, vec3 v2)
+.. c:function:: float  glm_vec3_angle(vec3 v1, vec3 v2)

    angle betwen two vector

@@ -322,7 +384,7 @@ Functions documentation
    Return:
      | angle as radians

-.. c:function:: void  glm_vec_rotate(vec3 v, float angle, vec3 axis)
+.. c:function:: void  glm_vec3_rotate(vec3 v, float angle, vec3 axis)

     rotate vec3 around axis by angle using Rodrigues' rotation formula

@@ -331,7 +393,7 @@ Functions documentation
      | *[in]*       **axis**   axis vector (will be normalized)
      | *[out]*      **angle**  angle (radians)

-.. c:function:: void  glm_vec_rotate_m4(mat4 m, vec3 v, vec3 dest)
+.. c:function:: void  glm_vec3_rotate_m4(mat4 m, vec3 v, vec3 dest)

    apply rotation matrix to vector

@@ -340,7 +402,7 @@ Functions documentation
      | *[in]*  **v**     vector
      | *[out]* **dest**  rotated vector

-.. c:function:: void  glm_vec_rotate_m3(mat3 m, vec3 v, vec3 dest)
+.. c:function:: void  glm_vec3_rotate_m3(mat3 m, vec3 v, vec3 dest)

    apply rotation matrix to vector

@@ -349,7 +411,7 @@ Functions documentation
      | *[in]*  **v**     vector
      | *[out]* **dest**  rotated vector

-.. c:function:: void  glm_vec_proj(vec3 a, vec3 b, vec3 dest)
+.. c:function:: void  glm_vec3_proj(vec3 a, vec3 b, vec3 dest)

    project a vector onto b vector

@@ -358,7 +420,7 @@ Functions documentation
      | *[in]*  **b**     vector2
      | *[out]* **dest**  projected vector

-.. c:function:: void  glm_vec_center(vec3 v1, vec3 v2, vec3 dest)
+.. c:function:: void  glm_vec3_center(vec3 v1, vec3 v2, vec3 dest)

    find center point of two vector

@@ -367,7 +429,7 @@ Functions documentation
      | *[in]*  **v2**    vector2
      | *[out]* **dest**  center point

-.. c:function:: float  glm_vec_distance2(vec3 v1, vec3 v2)
+.. c:function:: float  glm_vec3_distance2(vec3 v1, vec3 v2)

    squared distance between two vectors

@@ -378,7 +440,7 @@ Functions documentation
    Returns:
      | squared distance (distance * distance)

-.. c:function:: float  glm_vec_distance(vec3 v1, vec3 v2)
+.. c:function:: float  glm_vec3_distance(vec3 v1, vec3 v2)

    distance between two vectors

@@ -389,7 +451,7 @@ Functions documentation
    Returns:
      | distance

-.. c:function:: void  glm_vec_maxv(vec3 v1, vec3 v2, vec3 dest)
+.. c:function:: void  glm_vec3_maxv(vec3 v1, vec3 v2, vec3 dest)

    max values of vectors

@@ -398,7 +460,7 @@ Functions documentation
      | *[in]*  **v2**    vector2
      | *[out]* **dest**  destination

-.. c:function:: void  glm_vec_minv(vec3 v1, vec3 v2, vec3 dest)
+.. c:function:: void  glm_vec3_minv(vec3 v1, vec3 v2, vec3 dest)

    min values of vectors

@@ -407,7 +469,7 @@ Functions documentation
      | *[in]*  **v2**    vector2
      | *[out]* **dest**  destination

-.. c:function:: void  glm_vec_ortho(vec3 v, vec3 dest)
+.. c:function:: void  glm_vec3_ortho(vec3 v, vec3 dest)

    possible orthogonal/perpendicular vector

@@ -415,7 +477,7 @@ Functions documentation
      | *[in]*  **mat**   vector
      | *[out]* **dest**  orthogonal/perpendicular vector

-.. c:function:: void  glm_vec_clamp(vec3 v, float minVal, float maxVal)
+.. c:function:: void  glm_vec3_clamp(vec3 v, float minVal, float maxVal)

    constrain a value to lie between two further values

@@ -424,7 +486,7 @@ Functions documentation
      | *[in]*       **minVal**  minimum value
      | *[in]*       **maxVal**  maximum value

-.. c:function:: void  glm_vec_lerp(vec3 from, vec3 to, float t, vec3 dest)
+.. c:function:: void  glm_vec3_lerp(vec3 from, vec3 to, float t, vec3 dest)

    linear interpolation between two vector

--- a/docs/source/vec4.rst
+++ b/docs/source/vec4.rst
@@ -43,10 +43,14 @@ Functions:
 #. :c:func:`glm_vec4_subadd`
 #. :c:func:`glm_vec4_muladd`
 #. :c:func:`glm_vec4_muladds`
+#. :c:func:`glm_vec4_maxadd`
+#. :c:func:`glm_vec4_minadd`
 #. :c:func:`glm_vec4_flipsign`
-#. :c:func:`glm_vec_flipsign_to`
+#. :c:func:`glm_vec4_flipsign_to`
 #. :c:func:`glm_vec4_inv`
 #. :c:func:`glm_vec4_inv_to`
+#. :c:func:`glm_vec4_negate`
+#. :c:func:`glm_vec4_negate_to`
 #. :c:func:`glm_vec4_normalize`
 #. :c:func:`glm_vec4_normalize_to`
 #. :c:func:`glm_vec4_distance`
@@ -260,16 +264,40 @@ Functions documentation
      | *[in]*  **s**     scalar
      | *[out]* **dest**  dest += (a * b)

+.. c:function:: void  glm_vec4_maxadd(vec4 a, vec4 b, vec4 dest)
+
+    | add max of two vector to result/dest
+    | it applies += operator so dest must be initialized
+
+    Parameters:
+      | *[in]*  **a**     vector 1
+      | *[in]*  **b**     vector 2
+      | *[out]* **dest**  dest += (a * b)
+
+.. c:function:: void  glm_vec4_minadd(vec4 a, vec4 b, vec4 dest)
+
+    | add min of two vector to result/dest
+    | it applies += operator so dest must be initialized
+
+    Parameters:
+      | *[in]*  **a**     vector 1
+      | *[in]*  **b**     vector 2
+      | *[out]* **dest**  dest += (a * b)
+
 .. c:function:: void  glm_vec4_flipsign(vec4 v)

-    flip sign of all vec4 members
+    **DEPRACATED!**
+
+    use :c:func:`glm_vec4_negate`

    Parameters:
    | *[in, out]*  **v**    vector

 .. c:function:: void  glm_vec4_flipsign_to(vec4 v, vec4 dest)

-    flip sign of all vec4 members and store result in dest
+    **DEPRACATED!**
+
+    use :c:func:`glm_vec4_negate_to`

    Parameters:
      | *[in]*  **v**       vector
@@ -277,19 +305,38 @@ Functions documentation

 .. c:function:: void  glm_vec4_inv(vec4 v)

-    make vector as inverse/opposite of itself
+    **DEPRACATED!**
+
+    use :c:func:`glm_vec4_negate`

    Parameters:
      | *[in, out]*  **v**    vector

 .. c:function:: void  glm_vec4_inv_to(vec4 v, vec4 dest)

-    inverse/opposite vector
+    **DEPRACATED!**
+
+    use :c:func:`glm_vec4_negate_to`

    Parameters:
      | *[in]*  **v**     source
      | *[out]* **dest**  destination

+.. c:function:: void  glm_vec4_negate(vec4 v)
+
+    negate vector components
+
+    Parameters:
+    | *[in, out]*  **v**    vector
+
+.. c:function:: void  glm_vec4_negate_to(vec4 v, vec4 dest)
+
+    negate vector components and store result in dest
+
+    Parameters:
+      | *[in]*  **v**       vector
+      | *[out]* **dest**    negated vector
+
 .. c:function:: void  glm_vec4_normalize(vec4 v)

    normalize vec4 and store result in same vec
--- a/include/cglm/affine-mat.h
+++ b/include/cglm/affine-mat.h
@@ -160,8 +160,8 @@ glm_inv_tr(mat4 mat) {

  /* translate */
  glm_mat3_mulv(r, mat[3], t);
-  glm_vec_flipsign(t);
-  glm_vec_copy(t, mat[3]);
+  glm_vec3_negate(t);
+  glm_vec3_copy(t, mat[3]);
 #endif
 }

--- a/include/cglm/affine.h
+++ b/include/cglm/affine.h
@@ -170,7 +170,7 @@ CGLM_INLINE
 void
 glm_translate_make(mat4 m, vec3 v) {
  glm_mat4_identity(m);
-  glm_vec_copy(v, m[3]);
+  glm_vec3_copy(v, m[3]);
 }

 /*!
@@ -325,13 +325,13 @@ glm_rotate_make(mat4 m, float angle, vec3 axis) {

  c = cosf(angle);

-  glm_vec_normalize_to(axis, axisn);
-  glm_vec_scale(axisn, 1.0f - c, v);
-  glm_vec_scale(axisn, sinf(angle), vs);
+  glm_vec3_normalize_to(axis, axisn);
+  glm_vec3_scale(axisn, 1.0f - c, v);
+  glm_vec3_scale(axisn, sinf(angle), vs);

-  glm_vec_scale(axisn, v[0], m[0]);
-  glm_vec_scale(axisn, v[1], m[1]);
-  glm_vec_scale(axisn, v[2], m[2]);
+  glm_vec3_scale(axisn, v[0], m[0]);
+  glm_vec3_scale(axisn, v[1], m[1]);
+  glm_vec3_scale(axisn, v[2], m[2]);

  m[0][0] += c;       m[1][0] -= vs[2];   m[2][0] += vs[1];
  m[0][1] += vs[2];   m[1][1] += c;       m[2][1] -= vs[0];
@@ -370,7 +370,7 @@ void
 glm_rotate_at(mat4 m, vec3 pivot, float angle, vec3 axis) {
  CGLM_ALIGN(8) vec3 pivotInv;

-  glm_vec_inv_to(pivot, pivotInv);
+  glm_vec3_negate_to(pivot, pivotInv);

  glm_translate(m, pivot);
  glm_rotate(m, angle, axis);
@@ -395,7 +395,7 @@ void
 glm_rotate_atm(mat4 m, vec3 pivot, float angle, vec3 axis) {
  CGLM_ALIGN(8) vec3 pivotInv;

-  glm_vec_inv_to(pivot, pivotInv);
+  glm_vec3_negate_to(pivot, pivotInv);

  glm_translate_make(m, pivot);
  glm_rotate(m, angle, axis);
@@ -411,9 +411,9 @@ glm_rotate_atm(mat4 m, vec3 pivot, float angle, vec3 axis) {
 CGLM_INLINE
 void
 glm_decompose_scalev(mat4 m, vec3 s) {
-  s[0] = glm_vec_norm(m[0]);
-  s[1] = glm_vec_norm(m[1]);
-  s[2] = glm_vec_norm(m[2]);
+  s[0] = glm_vec3_norm(m[0]);
+  s[1] = glm_vec3_norm(m[1]);
+  s[2] = glm_vec3_norm(m[2]);
 }

 /*!
@@ -429,7 +429,7 @@ bool
 glm_uniscaled(mat4 m) {
  CGLM_ALIGN(8) vec3 s;
  glm_decompose_scalev(m, s);
-  return glm_vec_eq_all(s);
+  return glm_vec3_eq_all(s);
 }

 /*!
@@ -451,9 +451,9 @@ glm_decompose_rs(mat4 m, mat4 r, vec3 s) {
  glm_vec4_copy(m[2], r[2]);
  glm_vec4_copy(t,    r[3]);

-  s[0] = glm_vec_norm(m[0]);
-  s[1] = glm_vec_norm(m[1]);
-  s[2] = glm_vec_norm(m[2]);
+  s[0] = glm_vec3_norm(m[0]);
+  s[1] = glm_vec3_norm(m[1]);
+  s[2] = glm_vec3_norm(m[2]);

  glm_vec4_scale(r[0], 1.0f/s[0], r[0]);
  glm_vec4_scale(r[1], 1.0f/s[1], r[1]);
@@ -462,12 +462,12 @@ glm_decompose_rs(mat4 m, mat4 r, vec3 s) {
  /* Note from Apple Open Source (asume that the matrix is orthonormal):
     check for a coordinate system flip.  If the determinant
     is -1, then negate the matrix and the scaling factors. */
-  glm_vec_cross(m[0], m[1], v);
-  if (glm_vec_dot(v, m[2]) < 0.0f) {
-    glm_vec4_flipsign(r[0]);
-    glm_vec4_flipsign(r[1]);
-    glm_vec4_flipsign(r[2]);
-    glm_vec_flipsign(s);
+  glm_vec3_cross(m[0], m[1], v);
+  if (glm_vec3_dot(v, m[2]) < 0.0f) {
+    glm_vec4_negate(r[0]);
+    glm_vec4_negate(r[1]);
+    glm_vec4_negate(r[2]);
+    glm_vec3_negate(s);
  }
 }

--- a/include/cglm/box.h
+++ b/include/cglm/box.h
@@ -23,35 +23,31 @@
 CGLM_INLINE
 void
 glm_aabb_transform(vec3 box[2], mat4 m, vec3 dest[2]) {
-  vec3 v[2], xa, xb, ya, yb, za, zb, tmp;
+  vec3 v[2], xa, xb, ya, yb, za, zb;

-  glm_vec_scale(m[0], box[0][0], xa);
-  glm_vec_scale(m[0], box[1][0], xb);
+  glm_vec3_scale(m[0], box[0][0], xa);
+  glm_vec3_scale(m[0], box[1][0], xb);

-  glm_vec_scale(m[1], box[0][1], ya);
-  glm_vec_scale(m[1], box[1][1], yb);
+  glm_vec3_scale(m[1], box[0][1], ya);
+  glm_vec3_scale(m[1], box[1][1], yb);

-  glm_vec_scale(m[2], box[0][2], za);
-  glm_vec_scale(m[2], box[1][2], zb);
+  glm_vec3_scale(m[2], box[0][2], za);
+  glm_vec3_scale(m[2], box[1][2], zb);

-  /* min(xa, xb) + min(ya, yb) + min(za, zb) + translation */
-  glm_vec_minv(xa, xb, v[0]);
-  glm_vec_minv(ya, yb, tmp);
-  glm_vec_add(v[0], tmp, v[0]);
-  glm_vec_minv(za, zb, tmp);
-  glm_vec_add(v[0], tmp, v[0]);
-  glm_vec_add(v[0], m[3], v[0]);
+  /* translation + min(xa, xb) + min(ya, yb) + min(za, zb) */
+  glm_vec3(m[3], v[0]);
+  glm_vec3_minadd(xa, xb, v[0]);
+  glm_vec3_minadd(ya, yb, v[0]);
+  glm_vec3_minadd(za, zb, v[0]);

-  /* max(xa, xb) + max(ya, yb) + max(za, zb) + translation */
-  glm_vec_maxv(xa, xb, v[1]);
-  glm_vec_maxv(ya, yb, tmp);
-  glm_vec_add(v[1], tmp, v[1]);
-  glm_vec_maxv(za, zb, tmp);
-  glm_vec_add(v[1], tmp, v[1]);
-  glm_vec_add(v[1], m[3], v[1]);
+  /* translation + max(xa, xb) + max(ya, yb) + max(za, zb) */
+  glm_vec3(m[3], v[1]);
+  glm_vec3_maxadd(xa, xb, v[1]);
+  glm_vec3_maxadd(ya, yb, v[1]);
+  glm_vec3_maxadd(za, zb, v[1]);

-  glm_vec_copy(v[0], dest[0]);
-  glm_vec_copy(v[1], dest[1]);
+  glm_vec3_copy(v[0], dest[0]);
+  glm_vec3_copy(v[1], dest[1]);
 }

 /*!
@@ -162,8 +158,8 @@ glm_aabb_frustum(vec3 box[2], vec4 planes[6]) {
 CGLM_INLINE
 void
 glm_aabb_invalidate(vec3 box[2]) {
-  glm_vec_broadcast(FLT_MAX,  box[0]);
-  glm_vec_broadcast(-FLT_MAX, box[1]);
+  glm_vec3_broadcast(FLT_MAX,  box[0]);
+  glm_vec3_broadcast(-FLT_MAX, box[1]);
 }

 /*!
@@ -174,8 +170,8 @@ glm_aabb_invalidate(vec3 box[2]) {
 CGLM_INLINE
 bool
 glm_aabb_isvalid(vec3 box[2]) {
-  return glm_vec_max(box[0]) != FLT_MAX
-         && glm_vec_min(box[1]) != -FLT_MAX;
+  return glm_vec3_max(box[0]) != FLT_MAX
+         && glm_vec3_min(box[1]) != -FLT_MAX;
 }

 /*!
@@ -186,7 +182,7 @@ glm_aabb_isvalid(vec3 box[2]) {
 CGLM_INLINE
 float
 glm_aabb_size(vec3 box[2]) {
-  return glm_vec_distance(box[0], box[1]);
+  return glm_vec3_distance(box[0], box[1]);
 }

 /*!
@@ -209,7 +205,7 @@ glm_aabb_radius(vec3 box[2]) {
 CGLM_INLINE
 void
 glm_aabb_center(vec3 box[2], vec3 dest) {
-  glm_vec_center(box[0], box[1], dest);
+  glm_vec3_center(box[0], box[1], dest);
 }

 /*!
--- a/include/cglm/call/cam.h
+++ b/include/cglm/call/cam.h
@@ -61,6 +61,10 @@ glmc_perspective(float fovy,
                 float farVal,
                 mat4 dest);

+CGLM_EXPORT
+void
+glmc_persp_move_far(mat4 proj, float deltaFar);
+
 CGLM_EXPORT
 void
 glmc_perspective_default(float aspect, mat4 dest);
--- a/include/cglm/call/mat3.h
+++ b/include/cglm/call/mat3.h
@@ -44,6 +44,10 @@ CGLM_EXPORT
 void
 glmc_mat3_mulv(mat3 m, vec3 v, vec3 dest);

+CGLM_EXPORT
+float
+glmc_mat3_trace(mat3 m);
+
 CGLM_EXPORT
 void
 glmc_mat3_quat(mat3 m, versor dest);
--- a/include/cglm/call/mat4.h
+++ b/include/cglm/call/mat4.h
@@ -61,6 +61,14 @@ CGLM_EXPORT
 void
 glmc_mat4_mulv3(mat4 m, vec3 v, float last, vec3 dest);

+CGLM_EXPORT
+float
+glmc_mat4_trace(mat4 m);
+
+CGLM_EXPORT
+float
+glmc_mat4_trace3(mat4 m);
+
 CGLM_EXPORT
 void
 glmc_mat4_quat(mat4 m, versor dest);
--- a/include/cglm/call/vec3.h
+++ b/include/cglm/call/vec3.h
@@ -14,7 +14,11 @@ extern "C" {
 #include "../cglm.h"

 /* DEPRECATED! use _copy, _ucopy versions */
-#define glmc_vec_dup(v, dest) glmc_vec_copy(v, dest)
+#define glmc_vec_dup(v, dest)          glmc_vec3_copy(v, dest)
+#define glmc_vec3_flipsign(v)          glmc_vec3_negate(v)
+#define glmc_vec3_flipsign_to(v, dest) glmc_vec3_negate_to(v, dest)
+#define glmc_vec3_inv(v)               glmc_vec3_negate(v)
+#define glmc_vec3_inv_to(v, dest)      glmc_vec3_negate_to(v, dest)

 CGLM_EXPORT
 void
@@ -22,217 +26,221 @@ glmc_vec3(vec4 v4, vec3 dest);

 CGLM_EXPORT
 void
-glmc_vec_copy(vec3 a, vec3 dest);
+glmc_vec3_copy(vec3 a, vec3 dest);

 CGLM_EXPORT
 void
-glmc_vec_zero(vec3 v);
+glmc_vec3_zero(vec3 v);

 CGLM_EXPORT
 void
-glmc_vec_one(vec3 v);
+glmc_vec3_one(vec3 v);

 CGLM_EXPORT
 float
-glmc_vec_dot(vec3 a, vec3 b);
+glmc_vec3_dot(vec3 a, vec3 b);

 CGLM_EXPORT
 void
-glmc_vec_cross(vec3 a, vec3 b, vec3 d);
+glmc_vec3_cross(vec3 a, vec3 b, vec3 dest);
+
+CGLM_EXPORT
+void
+glmc_vec3_crossn(vec3 a, vec3 b, vec3 dest);

 CGLM_EXPORT
 float
-glmc_vec_norm(vec3 vec);
+glmc_vec3_norm(vec3 v);

 CGLM_EXPORT
 float
-glmc_vec_norm2(vec3 vec);
+glmc_vec3_norm2(vec3 v);

 CGLM_EXPORT
 void
-glmc_vec_normalize_to(vec3 vec, vec3 dest);
+glmc_vec3_normalize_to(vec3 v, vec3 dest);

 CGLM_EXPORT
 void
-glmc_vec_normalize(vec3 v);
+glmc_vec3_normalize(vec3 v);

 CGLM_EXPORT
 void
-glmc_vec_add(vec3 v1, vec3 v2, vec3 dest);
+glmc_vec3_add(vec3 a, vec3 b, vec3 dest);

 CGLM_EXPORT
 void
-glmc_vec_adds(vec3 v, float s, vec3 dest);
+glmc_vec3_adds(vec3 v, float s, vec3 dest);

 CGLM_EXPORT
 void
-glmc_vec_sub(vec3 a, vec3 b, vec3 dest);
+glmc_vec3_sub(vec3 a, vec3 b, vec3 dest);

 CGLM_EXPORT
 void
-glmc_vec_subs(vec3 v, float s, vec3 dest);
+glmc_vec3_subs(vec3 v, float s, vec3 dest);

 CGLM_EXPORT
 void
-glmc_vec_mul(vec3 a, vec3 b, vec3 d);
+glmc_vec3_mul(vec3 a, vec3 b, vec3 d);

 CGLM_EXPORT
 void
-glmc_vec_scale(vec3 v, float s, vec3 dest);
+glmc_vec3_scale(vec3 v, float s, vec3 dest);

 CGLM_EXPORT
 void
-glmc_vec_scale_as(vec3 v, float s, vec3 dest);
+glmc_vec3_scale_as(vec3 v, float s, vec3 dest);

 CGLM_EXPORT
 void
-glmc_vec_div(vec3 a, vec3 b, vec3 dest);
+glmc_vec3_div(vec3 a, vec3 b, vec3 dest);

 CGLM_EXPORT
 void
-glmc_vec_divs(vec3 a, float s, vec3 dest);
+glmc_vec3_divs(vec3 a, float s, vec3 dest);

 CGLM_EXPORT
 void
-glmc_vec_addadd(vec3 a, vec3 b, vec3 dest);
+glmc_vec3_addadd(vec3 a, vec3 b, vec3 dest);

 CGLM_EXPORT
 void
-glmc_vec_subadd(vec3 a, vec3 b, vec3 dest);
+glmc_vec3_subadd(vec3 a, vec3 b, vec3 dest);

 CGLM_EXPORT
 void
-glmc_vec_muladd(vec3 a, vec3 b, vec3 dest);
+glmc_vec3_muladd(vec3 a, vec3 b, vec3 dest);

 CGLM_EXPORT
 void
-glmc_vec_muladds(vec3 a, float s, vec3 dest);
+glmc_vec3_muladds(vec3 a, float s, vec3 dest);

 CGLM_EXPORT
 void
-glmc_vec_flipsign(vec3 v);
+glmc_vec3_maxadd(vec3 a, vec3 b, vec3 dest);

 CGLM_EXPORT
 void
-glmc_vec_flipsign_to(vec3 v, vec3 dest);
+glmc_vec3_minadd(vec3 a, vec3 b, vec3 dest);

 CGLM_EXPORT
 void
-glmc_vec_inv(vec3 v);
+glmc_vec3_negate(vec3 v);

 CGLM_EXPORT
 void
-glmc_vec_inv_to(vec3 v, vec3 dest);
-  
-CGLM_EXPORT
-float
-glmc_vec_angle(vec3 v1, vec3 v2);
-
-CGLM_EXPORT
-void
-glmc_vec_rotate(vec3 v, float angle, vec3 axis);
-
-CGLM_EXPORT
-void
-glmc_vec_rotate_m4(mat4 m, vec3 v, vec3 dest);
-
-CGLM_EXPORT
-void
-glmc_vec_rotate_m3(mat3 m, vec3 v, vec3 dest);
-
-CGLM_EXPORT
-void
-glmc_vec_proj(vec3 a, vec3 b, vec3 dest);
-
-CGLM_EXPORT
-void
-glmc_vec_center(vec3 v1, vec3 v2, vec3 dest);
+glmc_vec3_negate_to(vec3 v, vec3 dest);

 CGLM_EXPORT
 float
-glmc_vec_distance2(vec3 v1, vec3 v2);
+glmc_vec3_angle(vec3 a, vec3 b);
+
+CGLM_EXPORT
+void
+glmc_vec3_rotate(vec3 v, float angle, vec3 axis);
+
+CGLM_EXPORT
+void
+glmc_vec3_rotate_m4(mat4 m, vec3 v, vec3 dest);
+
+CGLM_EXPORT
+void
+glmc_vec3_rotate_m3(mat3 m, vec3 v, vec3 dest);
+
+CGLM_EXPORT
+void
+glmc_vec3_proj(vec3 a, vec3 b, vec3 dest);
+
+CGLM_EXPORT
+void
+glmc_vec3_center(vec3 a, vec3 b, vec3 dest);

 CGLM_EXPORT
 float
-glmc_vec_distance(vec3 v1, vec3 v2);
+glmc_vec3_distance2(vec3 a, vec3 b);
+
+CGLM_EXPORT
+float
+glmc_vec3_distance(vec3 a, vec3 b);

 CGLM_EXPORT
 void
-glmc_vec_maxv(vec3 v1, vec3 v2, vec3 dest);
+glmc_vec3_maxv(vec3 a, vec3 b, vec3 dest);

 CGLM_EXPORT
 void
-glmc_vec_minv(vec3 v1, vec3 v2, vec3 dest);
+glmc_vec3_minv(vec3 a, vec3 b, vec3 dest);

 CGLM_EXPORT
 void
-glmc_vec_clamp(vec3 v, float minVal, float maxVal);
+glmc_vec3_clamp(vec3 v, float minVal, float maxVal);

 CGLM_EXPORT
 void
-glmc_vec_ortho(vec3 v, vec3 dest);
+glmc_vec3_ortho(vec3 v, vec3 dest);

 CGLM_EXPORT
 void
-glmc_vec_lerp(vec3 from, vec3 to, float t, vec3 dest);
+glmc_vec3_lerp(vec3 from, vec3 to, float t, vec3 dest);

 /* ext */

 CGLM_EXPORT
 void
-glmc_vec_mulv(vec3 a, vec3 b, vec3 d);
+glmc_vec3_mulv(vec3 a, vec3 b, vec3 d);

 CGLM_EXPORT
 void
-glmc_vec_broadcast(float val, vec3 d);
+glmc_vec3_broadcast(float val, vec3 d);

 CGLM_EXPORT
 bool
-glmc_vec_eq(vec3 v, float val);
+glmc_vec3_eq(vec3 v, float val);

 CGLM_EXPORT
 bool
-glmc_vec_eq_eps(vec3 v, float val);
+glmc_vec3_eq_eps(vec3 v, float val);

 CGLM_EXPORT
 bool
-glmc_vec_eq_all(vec3 v);
+glmc_vec3_eq_all(vec3 v);

 CGLM_EXPORT
 bool
-glmc_vec_eqv(vec3 v1, vec3 v2);
+glmc_vec3_eqv(vec3 a, vec3 b);

 CGLM_EXPORT
 bool
-glmc_vec_eqv_eps(vec3 v1, vec3 v2);
+glmc_vec3_eqv_eps(vec3 a, vec3 b);

 CGLM_EXPORT
 float
-glmc_vec_max(vec3 v);
+glmc_vec3_max(vec3 v);

 CGLM_EXPORT
 float
-glmc_vec_min(vec3 v);
+glmc_vec3_min(vec3 v);

 CGLM_EXPORT
 bool
-glmc_vec_isnan(vec3 v);
+glmc_vec3_isnan(vec3 v);

 CGLM_EXPORT
 bool
-glmc_vec_isinf(vec3 v);
+glmc_vec3_isinf(vec3 v);

 CGLM_EXPORT
 bool
-glmc_vec_isvalid(vec3 v);
+glmc_vec3_isvalid(vec3 v);

 CGLM_EXPORT
 void
-glmc_vec_sign(vec3 v, vec3 dest);
+glmc_vec3_sign(vec3 v, vec3 dest);

 CGLM_EXPORT
 void
-glmc_vec_sqrt(vec3 v, vec3 dest);
+glmc_vec3_sqrt(vec3 v, vec3 dest);

 #ifdef __cplusplus
 }
--- a/include/cglm/call/vec4.h
+++ b/include/cglm/call/vec4.h
@@ -14,8 +14,12 @@ extern "C" {
 #include "../cglm.h"

 /* DEPRECATED! use _copy, _ucopy versions */
-#define glmc_vec4_dup3(v, dest) glmc_vec4_copy3(v, dest)
-#define glmc_vec4_dup(v, dest)  glmc_vec4_copy(v, dest)
+#define glmc_vec4_dup3(v, dest)         glmc_vec4_copy3(v, dest)
+#define glmc_vec4_dup(v, dest)          glmc_vec4_copy(v, dest)
+#define glmc_vec4_flipsign(v)           glmc_vec4_negate(v)
+#define glmc_vec4_flipsign_to(v, dest)  glmc_vec4_negate_to(v, dest)
+#define glmc_vec4_inv(v)                glmc_vec4_negate(v)
+#define glmc_vec4_inv_to(v, dest)       glmc_vec4_negate_to(v, dest)

 CGLM_EXPORT
 void
@@ -31,7 +35,7 @@ glmc_vec4_one(vec4 v);

 CGLM_EXPORT
 void
-glmc_vec4_copy3(vec4 a, vec3 dest);
+glmc_vec4_copy3(vec4 v, vec3 dest);

 CGLM_EXPORT
 void
@@ -47,15 +51,15 @@ glmc_vec4_dot(vec4 a, vec4 b);

 CGLM_EXPORT
 float
-glmc_vec4_norm(vec4 vec);
+glmc_vec4_norm(vec4 v);

 CGLM_EXPORT
 float
-glmc_vec4_norm2(vec4 vec);
+glmc_vec4_norm2(vec4 v);

 CGLM_EXPORT
 void
-glmc_vec4_normalize_to(vec4 vec, vec4 dest);
+glmc_vec4_normalize_to(vec4 v, vec4 dest);

 CGLM_EXPORT
 void
@@ -115,31 +119,31 @@ glmc_vec4_muladds(vec4 a, float s, vec4 dest);

 CGLM_EXPORT
 void
-glmc_vec4_flipsign(vec4 v);
+glmc_vec4_maxadd(vec4 a, vec4 b, vec4 dest);

 CGLM_EXPORT
 void
-glmc_vec4_flipsign_to(vec4 v, vec4 dest);
+glmc_vec4_minadd(vec4 a, vec4 b, vec4 dest);

 CGLM_EXPORT
 void
-glmc_vec4_inv(vec4 v);
+glmc_vec4_negate(vec4 v);

 CGLM_EXPORT
 void
-glmc_vec4_inv_to(vec4 v, vec4 dest);
+glmc_vec4_negate_to(vec4 v, vec4 dest);

 CGLM_EXPORT
 float
-glmc_vec4_distance(vec4 v1, vec4 v2);
+glmc_vec4_distance(vec4 a, vec4 b);

 CGLM_EXPORT
 void
-glmc_vec4_maxv(vec4 v1, vec4 v2, vec4 dest);
+glmc_vec4_maxv(vec4 a, vec4 b, vec4 dest);

 CGLM_EXPORT
 void
-glmc_vec4_minv(vec4 v1, vec4 v2, vec4 dest);
+glmc_vec4_minv(vec4 a, vec4 b, vec4 dest);

 CGLM_EXPORT
 void
@@ -173,11 +177,11 @@ glmc_vec4_eq_all(vec4 v);

 CGLM_EXPORT
 bool
-glmc_vec4_eqv(vec4 v1, vec4 v2);
+glmc_vec4_eqv(vec4 a, vec4 b);

 CGLM_EXPORT
 bool
-glmc_vec4_eqv_eps(vec4 v1, vec4 v2);
+glmc_vec4_eqv_eps(vec4 a, vec4 b);

 CGLM_EXPORT
 float
--- a/include/cglm/cam.h
+++ b/include/cglm/cam.h
@@ -271,6 +271,30 @@ glm_perspective(float fovy,
  dest[3][2] = 2.0f * nearVal * farVal * fn;
 }

+/*!
+ * @brief extend perspective projection matrix's far distance
+ *
+ * this function does not guarantee far >= near, be aware of that!
+ *
+ * @param[in, out] proj      projection matrix to extend
+ * @param[in]      deltaFar  distance from existing far (negative to shink)
+ */
+CGLM_INLINE
+void
+glm_persp_move_far(mat4 proj, float deltaFar) {
+  float fn, farVal, nearVal, p22, p32;
+
+  p22        = proj[2][2];
+  p32        = proj[3][2];
+
+  nearVal    = p32 / (p22 - 1.0f);
+  farVal     = p32 / (p22 + 1.0f) + deltaFar;
+  fn         = 1.0f / (nearVal - farVal);
+
+  proj[2][2] = (nearVal + farVal) * fn;
+  proj[3][2] = 2.0f * nearVal * farVal * fn;
+}
+
 /*!
 * @brief set up perspective projection matrix with default near/far
 *        and angle values
@@ -320,13 +344,11 @@ glm_lookat(vec3 eye,
           mat4 dest) {
  CGLM_ALIGN(8) vec3 f, u, s;

-  glm_vec_sub(center, eye, f);
-  glm_vec_normalize(f);
+  glm_vec3_sub(center, eye, f);
+  glm_vec3_normalize(f);

-  glm_vec_cross(f, up, s);
-  glm_vec_normalize(s);
-
-  glm_vec_cross(s, f, u);
+  glm_vec3_crossn(f, up, s);
+  glm_vec3_cross(s, f, u);

  dest[0][0] = s[0];
  dest[0][1] = u[0];
@@ -337,9 +359,9 @@ glm_lookat(vec3 eye,
  dest[2][0] = s[2];
  dest[2][1] = u[2];
  dest[2][2] =-f[2];
-  dest[3][0] =-glm_vec_dot(s, eye);
-  dest[3][1] =-glm_vec_dot(u, eye);
-  dest[3][2] = glm_vec_dot(f, eye);
+  dest[3][0] =-glm_vec3_dot(s, eye);
+  dest[3][1] =-glm_vec3_dot(u, eye);
+  dest[3][2] = glm_vec3_dot(f, eye);
  dest[0][3] = dest[1][3] = dest[2][3] = 0.0f;
  dest[3][3] = 1.0f;
 }
@@ -362,7 +384,7 @@ CGLM_INLINE
 void
 glm_look(vec3 eye, vec3 dir, vec3 up, mat4 dest) {
  CGLM_ALIGN(8) vec3 target;
-  glm_vec_add(eye, dir, target);
+  glm_vec3_add(eye, dir, target);
  glm_lookat(eye, target, up, dest);
 }

@@ -380,7 +402,7 @@ CGLM_INLINE
 void
 glm_look_anyup(vec3 eye, vec3 dir, mat4 dest) {
  CGLM_ALIGN(8) vec3 up;
-  glm_vec_ortho(dir, up);
+  glm_vec3_ortho(dir, up);
  glm_look(eye, dir, up, dest);
 }

--- a/include/cglm/frustum.h
+++ b/include/cglm/frustum.h
@@ -106,7 +106,7 @@ glm_frustum_planes(mat4 m, vec4 dest[6]) {
 *
 * Find center coordinates:
 *   for (j = 0; j < 4; j++) {
- *     glm_vec_center(corners[i], corners[i + 4], centerCorners[i]);
+ *     glm_vec3_center(corners[i], corners[i + 4], centerCorners[i]);
 *   }
 *
 * @param[in]  invMat matrix (see brief)
@@ -187,8 +187,8 @@ glm_frustum_box(vec4 corners[8], mat4 m, vec3 box[2]) {
  vec3 min, max;
  int  i;

-  glm_vec_broadcast(FLT_MAX, min);
-  glm_vec_broadcast(-FLT_MAX, max);
+  glm_vec3_broadcast(FLT_MAX, min);
+  glm_vec3_broadcast(-FLT_MAX, max);

  for (i = 0; i < 8; i++) {
    glm_mat4_mulv(m, corners[i], v);
@@ -202,8 +202,8 @@ glm_frustum_box(vec4 corners[8], mat4 m, vec3 box[2]) {
    max[2] = glm_max(max[2], v[2]);
  }

-  glm_vec_copy(min, box[0]);
-  glm_vec_copy(max, box[1]);
+  glm_vec3_copy(min, box[0]);
+  glm_vec3_copy(max, box[1]);
 }

 /*!
@@ -228,7 +228,7 @@ glm_frustum_corners_at(vec4  corners[8],
  float dist, sc;

  /* because distance and scale is same for all */
-  dist = glm_vec_distance(corners[GLM_RTF], corners[GLM_RTN]);
+  dist = glm_vec3_distance(corners[GLM_RTF], corners[GLM_RTN]);
  sc   = dist * (splitDist / farDist);

  /* left bottom */
--- a/include/cglm/mat3.h
+++ b/include/cglm/mat3.h
@@ -21,6 +21,7 @@
   CGLM_INLINE void  glm_mat3_transpose_to(mat3 m, mat3 dest);
   CGLM_INLINE void  glm_mat3_transpose(mat3 m);
   CGLM_INLINE void  glm_mat3_mulv(mat3 m, vec3 v, vec3 dest);
+   CGLM_INLINE float glm_mat3_trace(mat3 m);
   CGLM_INLINE void  glm_mat3_scale(mat3 m, float s);
   CGLM_INLINE float glm_mat3_det(mat3 mat);
   CGLM_INLINE void  glm_mat3_inv(mat3 mat, mat3 dest);
@@ -207,6 +208,18 @@ glm_mat3_mulv(mat3 m, vec3 v, vec3 dest) {
  dest[2] = m[0][2] * v[0] + m[1][2] * v[1] + m[2][2] * v[2];
 }

+/*!
+ * @brief trace of matrix
+ *
+ * sum of the elements on the main diagonal from upper left to the lower right
+ *
+ * @param[in]  m matrix
+ */
+CGLM_INLINE
+float
+glm_mat3_trace(mat3 m) {
+  return m[0][0] + m[1][1] + m[2][2];
+}

 /*!
 * @brief convert mat3 to quaternion
@@ -330,9 +343,9 @@ CGLM_INLINE
 void
 glm_mat3_swap_col(mat3 mat, int col1, int col2) {
  vec3 tmp;
-  glm_vec_copy(mat[col1], tmp);
-  glm_vec_copy(mat[col2], mat[col1]);
-  glm_vec_copy(tmp, mat[col2]);
+  glm_vec3_copy(mat[col1], tmp);
+  glm_vec3_copy(mat[col2], mat[col1]);
+  glm_vec3_copy(tmp, mat[col2]);
 }

 /*!
--- a/include/cglm/mat4.h
+++ b/include/cglm/mat4.h
@@ -16,8 +16,6 @@
   GLM_MAT4_ZERO_INIT
   GLM_MAT4_IDENTITY
   GLM_MAT4_ZERO
-   glm_mat4_udup(mat, dest)
-   glm_mat4_dup(mat, dest)

 Functions:
   CGLM_INLINE void  glm_mat4_ucopy(mat4 mat, mat4 dest);
@@ -31,6 +29,8 @@
   CGLM_INLINE void  glm_mat4_mulN(mat4 *matrices[], int len, mat4 dest);
   CGLM_INLINE void  glm_mat4_mulv(mat4 m, vec4 v, vec4 dest);
   CGLM_INLINE void  glm_mat4_mulv3(mat4 m, vec3 v, vec3 dest);
+   CGLM_INLINE float glm_mat4_trace(mat4 m);
+   CGLM_INLINE float glm_mat4_trace3(mat4 m);
   CGLM_INLINE void  glm_mat4_transpose_to(mat4 m, mat4 dest);
   CGLM_INLINE void  glm_mat4_transpose(mat4 m);
   CGLM_INLINE void  glm_mat4_scale_p(mat4 m, float s);
@@ -340,6 +340,32 @@ glm_mat4_mulv(mat4 m, vec4 v, vec4 dest) {
 #endif
 }

+/*!
+ * @brief trace of matrix
+ *
+ * sum of the elements on the main diagonal from upper left to the lower right
+ *
+ * @param[in]  m matrix
+ */
+CGLM_INLINE
+float
+glm_mat4_trace(mat4 m) {
+  return m[0][0] + m[1][1] + m[2][2] + m[3][3];
+}
+
+/*!
+ * @brief trace of matrix (rotation part)
+ *
+ * sum of the elements on the main diagonal from upper left to the lower right
+ *
+ * @param[in]  m matrix
+ */
+CGLM_INLINE
+float
+glm_mat4_trace3(mat4 m) {
+  return m[0][0] + m[1][1] + m[2][2];
+}
+
 /*!
 * @brief convert mat4's rotation part to quaternion
 *
--- a/include/cglm/plane.h
+++ b/include/cglm/plane.h
@@ -30,7 +30,7 @@
 CGLM_INLINE
 void
 glm_plane_normalize(vec4 plane) {
-  glm_vec4_scale(plane, 1.0f / glm_vec_norm(plane), plane);
+  glm_vec4_scale(plane, 1.0f / glm_vec3_norm(plane), plane);
 }

 #endif /* cglm_plane_h */
--- a/include/cglm/quat.h
+++ b/include/cglm/quat.h
@@ -19,7 +19,7 @@
   CGLM_INLINE float glm_quat_norm(versor q);
   CGLM_INLINE void glm_quat_normalize(versor q);
   CGLM_INLINE void glm_quat_normalize_to(versor q, versor dest);
-   CGLM_INLINE float glm_quat_dot(versor q1, versor q2);
+   CGLM_INLINE float glm_quat_dot(versor p, versor q);
   CGLM_INLINE void glm_quat_conjugate(versor q, versor dest);
   CGLM_INLINE void glm_quat_inv(versor q, versor dest);
   CGLM_INLINE void glm_quat_add(versor p, versor q, versor dest);
@@ -273,7 +273,7 @@ glm_quat_dot(versor p, versor q) {
 CGLM_INLINE
 void
 glm_quat_conjugate(versor q, versor dest) {
-  glm_vec4_flipsign_to(q, dest);
+  glm_vec4_negate_to(q, dest);
  dest[3] = -dest[3];
 }

@@ -286,7 +286,7 @@ glm_quat_conjugate(versor q, versor dest) {
 CGLM_INLINE
 void
 glm_quat_inv(versor q, versor dest) {
-  CGLM_ALIGN(8) versor conj;
+  CGLM_ALIGN(16) versor conj;
  glm_quat_conjugate(q, conj);
  glm_vec4_scale(conj, 1.0f / glm_vec4_norm2(q), dest);
 }
@@ -361,7 +361,7 @@ glm_quat_imagn(versor q, vec3 dest) {
 CGLM_INLINE
 float
 glm_quat_imaglen(versor q) {
-  return glm_vec_norm(q);
+  return glm_vec3_norm(q);
 }

 /*!
@@ -634,7 +634,7 @@ glm_quat_slerp(versor from, versor to, float t, versor dest) {
  }

  if (cosTheta < 0.0f) {
-    glm_vec4_flipsign(q1);
+    glm_vec4_negate(q1);
    cosTheta = -cosTheta;
  }

@@ -670,7 +670,7 @@ glm_quat_look(vec3 eye, versor ori, mat4 dest) {

  /* translate */
  glm_mat4_mulv3(dest, eye, 1.0f, dest[3]);
-  glm_vec_flipsign(dest[3]);
+  glm_vec3_negate(dest[3]);
 }

 /*!
@@ -687,7 +687,7 @@ glm_quat_for(vec3 dir, vec3 fwd, vec3 up, versor dest) {
  CGLM_ALIGN(8) vec3 axis;
  float dot, angle;

-  dot = glm_vec_dot(dir, fwd);
+  dot = glm_vec3_dot(dir, fwd);
  if (fabsf(dot + 1.0f)  < 0.000001f) {
    glm_quat_init(dest, up[0], up[1], up[2], GLM_PIf);
    return;
@@ -719,7 +719,7 @@ CGLM_INLINE
 void
 glm_quat_forp(vec3 from, vec3 to, vec3 fwd, vec3 up, versor dest) {
  CGLM_ALIGN(8) vec3 dir;
-  glm_vec_sub(to, from, dir);
+  glm_vec3_sub(to, from, dir);
  glm_quat_for(dir, fwd, up, dest);
 }

@@ -741,14 +741,14 @@ glm_quat_rotatev(versor q, vec3 v, vec3 dest) {
  glm_quat_imag(p, u);
  s = glm_quat_real(p);

-  glm_vec_scale(u, 2.0f * glm_vec_dot(u, v), v1);
-  glm_vec_scale(v, s * s - glm_vec_dot(u, u), v2);
-  glm_vec_add(v1, v2, v1);
+  glm_vec3_scale(u, 2.0f * glm_vec3_dot(u, v), v1);
+  glm_vec3_scale(v, s * s - glm_vec3_dot(u, u), v2);
+  glm_vec3_add(v1, v2, v1);

-  glm_vec_cross(u, v, v2);
-  glm_vec_scale(v2, 2.0f * s, v2);
+  glm_vec3_cross(u, v, v2);
+  glm_vec3_scale(v2, 2.0f * s, v2);

-  glm_vec_add(v1, v2, dest);
+  glm_vec3_add(v1, v2, dest);
 }

 /*!
@@ -778,7 +778,7 @@ void
 glm_quat_rotate_at(mat4 m, versor q, vec3 pivot) {
  CGLM_ALIGN(8) vec3 pivotInv;

-  glm_vec_inv_to(pivot, pivotInv);
+  glm_vec3_negate_to(pivot, pivotInv);

  glm_translate(m, pivot);
  glm_quat_rotate(m, q, m);
@@ -802,7 +802,7 @@ void
 glm_quat_rotate_atm(mat4 m, versor q, vec3 pivot) {
  CGLM_ALIGN(8) vec3 pivotInv;

-  glm_vec_inv_to(pivot, pivotInv);
+  glm_vec3_negate_to(pivot, pivotInv);

  glm_translate_make(m, pivot);
  glm_quat_rotate(m, q, m);
--- a/include/cglm/sphere.h
+++ b/include/cglm/sphere.h
@@ -60,13 +60,13 @@ void
 glm_sphere_merge(vec4 s1, vec4 s2, vec4 dest) {
  float dist, radii;

-  dist  = glm_vec_distance(s1, s2);
+  dist  = glm_vec3_distance(s1, s2);
  radii = dist + s1[3] + s2[3];

  radii = glm_max(radii, s1[3]);
  radii = glm_max(radii, s2[3]);

-  glm_vec_center(s1, s2, dest);
+  glm_vec3_center(s1, s2, dest);
  dest[3] = radii;
 }

@@ -79,7 +79,7 @@ glm_sphere_merge(vec4 s1, vec4 s2, vec4 dest) {
 CGLM_INLINE
 bool
 glm_sphere_sphere(vec4 s1, vec4 s2) {
-  return glm_vec_distance2(s1, s2) <= glm_pow2(s1[3] + s2[3]);
+  return glm_vec3_distance2(s1, s2) <= glm_pow2(s1[3] + s2[3]);
 }

 /*!
@@ -93,7 +93,7 @@ bool
 glm_sphere_point(vec4 s, vec3 point) {
  float rr;
  rr = s[3] * s[3];
-  return glm_vec_distance2(point, s) <= rr;
+  return glm_vec3_distance2(point, s) <= rr;
 }

 #endif /* cglm_sphere_h */
--- a/include/cglm/types.h
+++ b/include/cglm/types.h
@@ -10,12 +10,12 @@

 #if defined(_MSC_VER)
 /* do not use alignment for older visual studio versions */
-#if _MSC_VER < 1913 /*  Visual Studio 2017 version 15.6  */
-#  define CGLM_ALL_UNALIGNED
-#  define CGLM_ALIGN(X) /* no alignment */
-#else
-#  define CGLM_ALIGN(X) __declspec(align(X))
-#endif
+#  if _MSC_VER < 1913 /*  Visual Studio 2017 version 15.6  */
+#    define CGLM_ALL_UNALIGNED
+#    define CGLM_ALIGN(X) /* no alignment */
+#  else
+#    define CGLM_ALIGN(X) __declspec(align(X))
+#  endif
 #else
 #  define CGLM_ALIGN(X) __attribute((aligned(X)))
 #endif
@@ -33,20 +33,18 @@
 #endif

 typedef float                   vec2[2];
-typedef CGLM_ALIGN_IF(8)  float vec3[3];
+typedef float                   vec3[3];
 typedef int                    ivec3[3];
 typedef CGLM_ALIGN_IF(16) float vec4[4];
+typedef vec4                    versor;
+typedef vec3                    mat3[3];

 #ifdef __AVX__
-typedef CGLM_ALIGN_IF(32) vec3  mat3[3];
 typedef CGLM_ALIGN_IF(32) vec4  mat4[4];
 #else
-typedef                   vec3  mat3[3];
 typedef CGLM_ALIGN_IF(16) vec4  mat4[4];
 #endif

-typedef vec4                    versor;
-
 #define GLM_E         2.71828182845904523536028747135266250   /* e           */
 #define GLM_LOG2E     1.44269504088896340735992468100189214   /* log2(e)     */
 #define GLM_LOG10E    0.434294481903251827651128918916605082  /* log10(e)    */
--- a/include/cglm/vec3-ext.h
+++ b/include/cglm/vec3-ext.h
@@ -11,15 +11,19 @@

 /*
 Functions:
-   CGLM_INLINE void  glm_vec_mulv(vec3 a, vec3 b, vec3 d);
-   CGLM_INLINE void  glm_vec_broadcast(float val, vec3 d);
-   CGLM_INLINE bool  glm_vec_eq(vec3 v, float val);
-   CGLM_INLINE bool  glm_vec_eq_eps(vec3 v, float val);
-   CGLM_INLINE bool  glm_vec_eq_all(vec3 v);
-   CGLM_INLINE bool  glm_vec_eqv(vec3 v1, vec3 v2);
-   CGLM_INLINE bool  glm_vec_eqv_eps(vec3 v1, vec3 v2);
-   CGLM_INLINE float glm_vec_max(vec3 v);
-   CGLM_INLINE float glm_vec_min(vec3 v);
+   CGLM_INLINE void  glm_vec3_broadcast(float val, vec3 d);
+   CGLM_INLINE bool  glm_vec3_eq(vec3 v, float val);
+   CGLM_INLINE bool  glm_vec3_eq_eps(vec3 v, float val);
+   CGLM_INLINE bool  glm_vec3_eq_all(vec3 v);
+   CGLM_INLINE bool  glm_vec3_eqv(vec3 a, vec3 b);
+   CGLM_INLINE bool  glm_vec3_eqv_eps(vec3 a, vec3 b);
+   CGLM_INLINE float glm_vec3_max(vec3 v);
+   CGLM_INLINE float glm_vec3_min(vec3 v);
+   CGLM_INLINE bool  glm_vec3_isnan(vec3 v);
+   CGLM_INLINE bool  glm_vec3_isinf(vec3 v);
+   CGLM_INLINE bool  glm_vec3_isvalid(vec3 v);
+   CGLM_INLINE void  glm_vec3_sign(vec3 v, vec3 dest);
+   CGLM_INLINE void  glm_vec3_sqrt(vec3 v, vec3 dest);
 */

 #ifndef cglm_vec3_ext_h
@@ -31,21 +35,6 @@
 #include <math.h>
 #include <float.h>

-/*!
- * @brief DEPRECATED! use glm_vec_mul
- *
- * @param[in]  a vec1
- * @param[in]  b vec2
- * @param[out] d vec3 = (v1[0] * v2[0],  v1[1] * v2[1], v1[2] * v2[2])
- */
-CGLM_INLINE
-void
-glm_vec_mulv(vec3 a, vec3 b, vec3 d) {
-  d[0] = a[0] * b[0];
-  d[1] = a[1] * b[1];
-  d[2] = a[2] * b[2];
-}
-
 /*!
 * @brief fill a vector with specified value
 *
@@ -54,7 +43,7 @@ glm_vec_mulv(vec3 a, vec3 b, vec3 d) {
 */
 CGLM_INLINE
 void
-glm_vec_broadcast(float val, vec3 d) {
+glm_vec3_broadcast(float val, vec3 d) {
  d[0] = d[1] = d[2] = val;
 }

@@ -66,7 +55,7 @@ glm_vec_broadcast(float val, vec3 d) {
 */
 CGLM_INLINE
 bool
-glm_vec_eq(vec3 v, float val) {
+glm_vec3_eq(vec3 v, float val) {
  return v[0] == val && v[0] == v[1] && v[0] == v[2];
 }

@@ -78,7 +67,7 @@ glm_vec_eq(vec3 v, float val) {
 */
 CGLM_INLINE
 bool
-glm_vec_eq_eps(vec3 v, float val) {
+glm_vec3_eq_eps(vec3 v, float val) {
  return fabsf(v[0] - val) <= FLT_EPSILON
         && fabsf(v[1] - val) <= FLT_EPSILON
         && fabsf(v[2] - val) <= FLT_EPSILON;
@@ -91,36 +80,36 @@ glm_vec_eq_eps(vec3 v, float val) {
 */
 CGLM_INLINE
 bool
-glm_vec_eq_all(vec3 v) {
+glm_vec3_eq_all(vec3 v) {
  return v[0] == v[1] && v[0] == v[2];
 }

 /*!
 * @brief check if vector is equal to another (without epsilon)
 *
- * @param[in] v1 vector
- * @param[in] v2 vector
+ * @param[in] a vector
+ * @param[in] b vector
 */
 CGLM_INLINE
 bool
-glm_vec_eqv(vec3 v1, vec3 v2) {
-  return v1[0] == v2[0]
-        && v1[1] == v2[1]
-        && v1[2] == v2[2];
+glm_vec3_eqv(vec3 a, vec3 b) {
+  return a[0] == b[0]
+         && a[1] == b[1]
+         && a[2] == b[2];
 }

 /*!
 * @brief check if vector is equal to another (with epsilon)
 *
- * @param[in] v1 vector
- * @param[in] v2 vector
+ * @param[in] a vector
+ * @param[in] b vector
 */
 CGLM_INLINE
 bool
-glm_vec_eqv_eps(vec3 v1, vec3 v2) {
-  return fabsf(v1[0] - v2[0]) <= FLT_EPSILON
-         && fabsf(v1[1] - v2[1]) <= FLT_EPSILON
-         && fabsf(v1[2] - v2[2]) <= FLT_EPSILON;
+glm_vec3_eqv_eps(vec3 a, vec3 b) {
+  return fabsf(a[0] - b[0]) <= FLT_EPSILON
+         && fabsf(a[1] - b[1]) <= FLT_EPSILON
+         && fabsf(a[2] - b[2]) <= FLT_EPSILON;
 }

 /*!
@@ -130,7 +119,7 @@ glm_vec_eqv_eps(vec3 v1, vec3 v2) {
 */
 CGLM_INLINE
 float
-glm_vec_max(vec3 v) {
+glm_vec3_max(vec3 v) {
  float max;

  max = v[0];
@@ -149,7 +138,7 @@ glm_vec_max(vec3 v) {
 */
 CGLM_INLINE
 float
-glm_vec_min(vec3 v) {
+glm_vec3_min(vec3 v) {
  float min;

  min = v[0];
@@ -169,7 +158,7 @@ glm_vec_min(vec3 v) {
 */
 CGLM_INLINE
 bool
-glm_vec_isnan(vec3 v) {
+glm_vec3_isnan(vec3 v) {
  return isnan(v[0]) || isnan(v[1]) || isnan(v[2]);
 }

@@ -181,7 +170,7 @@ glm_vec_isnan(vec3 v) {
 */
 CGLM_INLINE
 bool
-glm_vec_isinf(vec3 v) {
+glm_vec3_isinf(vec3 v) {
  return isinf(v[0]) || isinf(v[1]) || isinf(v[2]);
 }

@@ -193,8 +182,8 @@ glm_vec_isinf(vec3 v) {
 */
 CGLM_INLINE
 bool
-glm_vec_isvalid(vec3 v) {
-  return !glm_vec_isnan(v) && !glm_vec_isinf(v);
+glm_vec3_isvalid(vec3 v) {
+  return !glm_vec3_isnan(v) && !glm_vec3_isinf(v);
 }

 /*!
@@ -206,7 +195,7 @@ glm_vec_isvalid(vec3 v) {
 */
 CGLM_INLINE
 void
-glm_vec_sign(vec3 v, vec3 dest) {
+glm_vec3_sign(vec3 v, vec3 dest) {
  dest[0] = glm_signf(v[0]);
  dest[1] = glm_signf(v[1]);
  dest[2] = glm_signf(v[2]);
@@ -220,7 +209,7 @@ glm_vec_sign(vec3 v, vec3 dest) {
 */
 CGLM_INLINE
 void
-glm_vec_sqrt(vec3 v, vec3 dest) {
+glm_vec3_sqrt(vec3 v, vec3 dest) {
  dest[0] = sqrtf(v[0]);
  dest[1] = sqrtf(v[1]);
  dest[2] = sqrtf(v[2]);
--- a/include/cglm/vec3.h
+++ b/include/cglm/vec3.h
@@ -5,14 +5,8 @@
 * Full license can be found in the LICENSE file
 */

-/*!
- * vec3 functions dont have suffix e.g glm_vec_dot (not glm_vec3_dot)
- * all functions without suffix are vec3 functions
- */
-
 /*
 Macros:
-   glm_vec_dup(v, dest)
   GLM_VEC3_ONE_INIT
   GLM_VEC3_ZERO_INIT
   GLM_VEC3_ONE
@@ -23,44 +17,64 @@

 Functions:
   CGLM_INLINE void  glm_vec3(vec4 v4, vec3 dest);
-   CGLM_INLINE void  glm_vec_copy(vec3 a, vec3 dest);
-   CGLM_INLINE float glm_vec_dot(vec3 a, vec3 b);
-   CGLM_INLINE void  glm_vec_cross(vec3 a, vec3 b, vec3 d);
-   CGLM_INLINE float glm_vec_norm2(vec3 v);
-   CGLM_INLINE float glm_vec_norm(vec3 vec);
-   CGLM_INLINE void  glm_vec_add(vec3 a, vec3 b, vec3 dest);
-   CGLM_INLINE void  glm_vec_adds(vec3 a, float s, vec3 dest);
-   CGLM_INLINE void  glm_vec_sub(vec3 a, vec3 b, vec3 dest);
-   CGLM_INLINE void  glm_vec_subs(vec3 a, float s, vec3 dest);
-   CGLM_INLINE void  glm_vec_mul(vec3 a, vec3 b, vec3 dest);
-   CGLM_INLINE void  glm_vec_scale(vec3 v, float s, vec3 dest);
-   CGLM_INLINE void  glm_vec_scale_as(vec3 v, float s, vec3 dest);
-   CGLM_INLINE void  glm_vec_div(vec3 a, vec3 b, vec3 dest);
-   CGLM_INLINE void  glm_vec_divs(vec3 a, float s, vec3 dest);
-   CGLM_INLINE void  glm_vec_addadd(vec3 a, vec3 b, vec3 dest);
-   CGLM_INLINE void  glm_vec_subadd(vec3 a, vec3 b, vec3 dest);
-   CGLM_INLINE void  glm_vec_muladd(vec3 a, vec3 b, vec3 dest);
-   CGLM_INLINE void  glm_vec_flipsign(vec3 v);
-   CGLM_INLINE void  glm_vec_inv(vec3 v);
-   CGLM_INLINE void  glm_vec_inv_to(vec3 v, vec3 dest);
-   CGLM_INLINE void  glm_vec_normalize(vec3 v);
-   CGLM_INLINE void  glm_vec_normalize_to(vec3 vec, vec3 dest);
-   CGLM_INLINE float glm_vec_distance(vec3 v1, vec3 v2);
-   CGLM_INLINE float glm_vec_angle(vec3 v1, vec3 v2);
-   CGLM_INLINE void  glm_vec_rotate(vec3 v, float angle, vec3 axis);
-   CGLM_INLINE void  glm_vec_rotate_m4(mat4 m, vec3 v, vec3 dest);
-   CGLM_INLINE void  glm_vec_proj(vec3 a, vec3 b, vec3 dest);
-   CGLM_INLINE void  glm_vec_center(vec3 v1, vec3 v2, vec3 dest);
-   CGLM_INLINE void  glm_vec_maxv(vec3 v1, vec3 v2, vec3 dest);
-   CGLM_INLINE void  glm_vec_minv(vec3 v1, vec3 v2, vec3 dest);
-   CGLM_INLINE void  glm_vec_ortho(vec3 v, vec3 dest);
-   CGLM_INLINE void  glm_vec_clamp(vec3 v, float minVal, float maxVal);
+   CGLM_INLINE void  glm_vec3_copy(vec3 a, vec3 dest);
+   CGLM_INLINE void  glm_vec3_zero(vec3 v);
+   CGLM_INLINE void  glm_vec3_one(vec3 v);
+   CGLM_INLINE float glm_vec3_dot(vec3 a, vec3 b);
+   CGLM_INLINE float glm_vec3_norm2(vec3 v);
+   CGLM_INLINE float glm_vec3_norm(vec3 v);
+   CGLM_INLINE void  glm_vec3_add(vec3 a, vec3 b, vec3 dest);
+   CGLM_INLINE void  glm_vec3_adds(vec3 a, float s, vec3 dest);
+   CGLM_INLINE void  glm_vec3_sub(vec3 a, vec3 b, vec3 dest);
+   CGLM_INLINE void  glm_vec3_subs(vec3 a, float s, vec3 dest);
+   CGLM_INLINE void  glm_vec3_mul(vec3 a, vec3 b, vec3 dest);
+   CGLM_INLINE void  glm_vec3_scale(vec3 v, float s, vec3 dest);
+   CGLM_INLINE void  glm_vec3_scale_as(vec3 v, float s, vec3 dest);
+   CGLM_INLINE void  glm_vec3_div(vec3 a, vec3 b, vec3 dest);
+   CGLM_INLINE void  glm_vec3_divs(vec3 a, float s, vec3 dest);
+   CGLM_INLINE void  glm_vec3_addadd(vec3 a, vec3 b, vec3 dest);
+   CGLM_INLINE void  glm_vec3_subadd(vec3 a, vec3 b, vec3 dest);
+   CGLM_INLINE void  glm_vec3_muladd(vec3 a, vec3 b, vec3 dest);
+   CGLM_INLINE void  glm_vec3_muladds(vec3 a, float s, vec3 dest);
+   CGLM_INLINE void  glm_vec3_maxadd(vec3 a, vec3 b, vec3 dest);
+   CGLM_INLINE void  glm_vec3_minadd(vec3 a, vec3 b, vec3 dest);
+   CGLM_INLINE void  glm_vec3_flipsign(vec3 v);
+   CGLM_INLINE void  glm_vec3_flipsign_to(vec3 v, vec3 dest);
+   CGLM_INLINE void  glm_vec3_negate_to(vec3 v, vec3 dest);
+   CGLM_INLINE void  glm_vec3_negate(vec3 v);
+   CGLM_INLINE void  glm_vec3_inv(vec3 v);
+   CGLM_INLINE void  glm_vec3_inv_to(vec3 v, vec3 dest);
+   CGLM_INLINE void  glm_vec3_normalize(vec3 v);
+   CGLM_INLINE void  glm_vec3_normalize_to(vec3 v, vec3 dest);
+   CGLM_INLINE void  glm_vec3_cross(vec3 a, vec3 b, vec3 d);
+   CGLM_INLINE void  glm_vec3_crossn(vec3 a, vec3 b, vec3 dest);
+   CGLM_INLINE float glm_vec3_distance(vec3 a, vec3 b);
+   CGLM_INLINE float glm_vec3_angle(vec3 a, vec3 b);
+   CGLM_INLINE void  glm_vec3_rotate(vec3 v, float angle, vec3 axis);
+   CGLM_INLINE void  glm_vec3_rotate_m4(mat4 m, vec3 v, vec3 dest);
+   CGLM_INLINE void  glm_vec3_rotate_m3(mat3 m, vec3 v, vec3 dest);
+   CGLM_INLINE void  glm_vec3_proj(vec3 a, vec3 b, vec3 dest);
+   CGLM_INLINE void  glm_vec3_center(vec3 a, vec3 b, vec3 dest);
+   CGLM_INLINE float glm_vec3_distance2(vec3 a, vec3 b);
+   CGLM_INLINE void  glm_vec3_maxv(vec3 a, vec3 b, vec3 dest);
+   CGLM_INLINE void  glm_vec3_minv(vec3 a, vec3 b, vec3 dest);
+   CGLM_INLINE void  glm_vec3_ortho(vec3 v, vec3 dest);
+   CGLM_INLINE void  glm_vec3_clamp(vec3 v, float minVal, float maxVal);
+   CGLM_INLINE void  glm_vec3_lerp(vec3 from, vec3 to, float t, vec3 dest);

 Convenient:
   CGLM_INLINE void  glm_cross(vec3 a, vec3 b, vec3 d);
   CGLM_INLINE float glm_dot(vec3 a, vec3 b);
   CGLM_INLINE void  glm_normalize(vec3 v);
   CGLM_INLINE void  glm_normalize_to(vec3 v, vec3 dest);
+
+ DEPRECATED:
+   glm_vec3_dup
+   glm_vec3_flipsign
+   glm_vec3_flipsign_to
+   glm_vec3_inv
+   glm_vec3_inv_to
+   glm_vec3_mulv
 */

 #ifndef cglm_vec3_h
@@ -72,7 +86,12 @@
 #include "util.h"

 /* DEPRECATED! use _copy, _ucopy versions */
-#define glm_vec_dup(v, dest) glm_vec_copy(v, dest)
+#define glm_vec3_dup(v, dest)         glm_vec3_copy(v, dest)
+#define glm_vec3_flipsign(v)          glm_vec3_negate(v)
+#define glm_vec3_flipsign_to(v, dest) glm_vec3_negate_to(v, dest)
+#define glm_vec3_inv(v)               glm_vec3_negate(v)
+#define glm_vec3_inv_to(v, dest)      glm_vec3_negate_to(v, dest)
+#define glm_vec3_mulv(a, b, d)        glm_vec3_mul(a, b, d)

 #define GLM_VEC3_ONE_INIT   {1.0f, 1.0f, 1.0f}
 #define GLM_VEC3_ZERO_INIT  {0.0f, 0.0f, 0.0f}
@@ -106,7 +125,7 @@ glm_vec3(vec4 v4, vec3 dest) {
 */
 CGLM_INLINE
 void
-glm_vec_copy(vec3 a, vec3 dest) {
+glm_vec3_copy(vec3 a, vec3 dest) {
  dest[0] = a[0];
  dest[1] = a[1];
  dest[2] = a[2];
@@ -119,10 +138,8 @@ glm_vec_copy(vec3 a, vec3 dest) {
 */
 CGLM_INLINE
 void
-glm_vec_zero(vec3 v) {
-  v[0] = 0.0f;
-  v[1] = 0.0f;
-  v[2] = 0.0f;
+glm_vec3_zero(vec3 v) {
+  v[0] = v[1] = v[2] = 0.0f;
 }

 /*!
@@ -132,10 +149,8 @@ glm_vec_zero(vec3 v) {
 */
 CGLM_INLINE
 void
-glm_vec_one(vec3 v) {
-  v[0] = 1.0f;
-  v[1] = 1.0f;
-  v[2] = 1.0f;
+glm_vec3_one(vec3 v) {
+  v[0] = v[1] = v[2] = 1.0f;
 }

 /*!
@@ -148,26 +163,10 @@ glm_vec_one(vec3 v) {
 */
 CGLM_INLINE
 float
-glm_vec_dot(vec3 a, vec3 b) {
+glm_vec3_dot(vec3 a, vec3 b) {
  return a[0] * b[0] + a[1] * b[1] + a[2] * b[2];
 }

-/*!
- * @brief vec3 cross product
- *
- * @param[in]  a source 1
- * @param[in]  b source 2
- * @param[out] d destination
- */
-CGLM_INLINE
-void
-glm_vec_cross(vec3 a, vec3 b, vec3 d) {
-  /* (u2.v3 - u3.v2, u3.v1 - u1.v3, u1.v2 - u2.v1) */
-  d[0] = a[1] * b[2] - a[2] * b[1];
-  d[1] = a[2] * b[0] - a[0] * b[2];
-  d[2] = a[0] * b[1] - a[1] * b[0];
-}
-
 /*!
 * @brief norm * norm (magnitude) of vec
 *
@@ -181,21 +180,21 @@ glm_vec_cross(vec3 a, vec3 b, vec3 d) {
 */
 CGLM_INLINE
 float
-glm_vec_norm2(vec3 v) {
-  return glm_vec_dot(v, v);
+glm_vec3_norm2(vec3 v) {
+  return glm_vec3_dot(v, v);
 }

 /*!
 * @brief norm (magnitude) of vec3
 *
- * @param[in] vec vector
+ * @param[in] v vector
 *
 * @return norm
 */
 CGLM_INLINE
 float
-glm_vec_norm(vec3 vec) {
-  return sqrtf(glm_vec_norm2(vec));
+glm_vec3_norm(vec3 v) {
+  return sqrtf(glm_vec3_norm2(v));
 }

 /*!
@@ -207,7 +206,7 @@ glm_vec_norm(vec3 vec) {
 */
 CGLM_INLINE
 void
-glm_vec_add(vec3 a, vec3 b, vec3 dest) {
+glm_vec3_add(vec3 a, vec3 b, vec3 dest) {
  dest[0] = a[0] + b[0];
  dest[1] = a[1] + b[1];
  dest[2] = a[2] + b[2];
@@ -222,14 +221,14 @@ glm_vec_add(vec3 a, vec3 b, vec3 dest) {
 */
 CGLM_INLINE
 void
-glm_vec_adds(vec3 v, float s, vec3 dest) {
+glm_vec3_adds(vec3 v, float s, vec3 dest) {
  dest[0] = v[0] + s;
  dest[1] = v[1] + s;
  dest[2] = v[2] + s;
 }

 /*!
- * @brief subtract v2 vector from v1 vector store result in dest
+ * @brief subtract b vector from a vector store result in dest
 *
 * @param[in]  a    vector1
 * @param[in]  b    vector2
@@ -237,7 +236,7 @@ glm_vec_adds(vec3 v, float s, vec3 dest) {
 */
 CGLM_INLINE
 void
-glm_vec_sub(vec3 a, vec3 b, vec3 dest) {
+glm_vec3_sub(vec3 a, vec3 b, vec3 dest) {
  dest[0] = a[0] - b[0];
  dest[1] = a[1] - b[1];
  dest[2] = a[2] - b[2];
@@ -252,7 +251,7 @@ glm_vec_sub(vec3 a, vec3 b, vec3 dest) {
 */
 CGLM_INLINE
 void
-glm_vec_subs(vec3 v, float s, vec3 dest) {
+glm_vec3_subs(vec3 v, float s, vec3 dest) {
  dest[0] = v[0] - s;
  dest[1] = v[1] - s;
  dest[2] = v[2] - s;
@@ -261,16 +260,16 @@ glm_vec_subs(vec3 v, float s, vec3 dest) {
 /*!
 * @brief multiply two vector (component-wise multiplication)
 *
- * @param a v1
- * @param b v2
- * @param d v3 = (a[0] * b[0], a[1] * b[1], a[2] * b[2])
+ * @param a    vector1
+ * @param b    vector2
+ * @param dest v3 = (a[0] * b[0], a[1] * b[1], a[2] * b[2])
 */
 CGLM_INLINE
 void
-glm_vec_mul(vec3 a, vec3 b, vec3 d) {
-  d[0] = a[0] * b[0];
-  d[1] = a[1] * b[1];
-  d[2] = a[2] * b[2];
+glm_vec3_mul(vec3 a, vec3 b, vec3 dest) {
+  dest[0] = a[0] * b[0];
+  dest[1] = a[1] * b[1];
+  dest[2] = a[2] * b[2];
 }

 /*!
@@ -282,7 +281,7 @@ glm_vec_mul(vec3 a, vec3 b, vec3 d) {
 */
 CGLM_INLINE
 void
-glm_vec_scale(vec3 v, float s, vec3 dest) {
+glm_vec3_scale(vec3 v, float s, vec3 dest) {
  dest[0] = v[0] * s;
  dest[1] = v[1] * s;
  dest[2] = v[2] * s;
@@ -297,16 +296,16 @@ glm_vec_scale(vec3 v, float s, vec3 dest) {
 */
 CGLM_INLINE
 void
-glm_vec_scale_as(vec3 v, float s, vec3 dest) {
+glm_vec3_scale_as(vec3 v, float s, vec3 dest) {
  float norm;
-  norm = glm_vec_norm(v);
+  norm = glm_vec3_norm(v);

  if (norm == 0.0f) {
-    glm_vec_zero(dest);
+    glm_vec3_zero(dest);
    return;
  }

-  glm_vec_scale(v, s / norm, dest);
+  glm_vec3_scale(v, s / norm, dest);
 }

 /*!
@@ -318,7 +317,7 @@ glm_vec_scale_as(vec3 v, float s, vec3 dest) {
 */
 CGLM_INLINE
 void
-glm_vec_div(vec3 a, vec3 b, vec3 dest) {
+glm_vec3_div(vec3 a, vec3 b, vec3 dest) {
  dest[0] = a[0] / b[0];
  dest[1] = a[1] / b[1];
  dest[2] = a[2] / b[2];
@@ -333,7 +332,7 @@ glm_vec_div(vec3 a, vec3 b, vec3 dest) {
 */
 CGLM_INLINE
 void
-glm_vec_divs(vec3 v, float s, vec3 dest) {
+glm_vec3_divs(vec3 v, float s, vec3 dest) {
  dest[0] = v[0] / s;
  dest[1] = v[1] / s;
  dest[2] = v[2] / s;
@@ -350,7 +349,7 @@ glm_vec_divs(vec3 v, float s, vec3 dest) {
 */
 CGLM_INLINE
 void
-glm_vec_addadd(vec3 a, vec3 b, vec3 dest) {
+glm_vec3_addadd(vec3 a, vec3 b, vec3 dest) {
  dest[0] += a[0] + b[0];
  dest[1] += a[1] + b[1];
  dest[2] += a[2] + b[2];
@@ -367,7 +366,7 @@ glm_vec_addadd(vec3 a, vec3 b, vec3 dest) {
 */
 CGLM_INLINE
 void
-glm_vec_subadd(vec3 a, vec3 b, vec3 dest) {
+glm_vec3_subadd(vec3 a, vec3 b, vec3 dest) {
  dest[0] += a[0] - b[0];
  dest[1] += a[1] - b[1];
  dest[2] += a[2] - b[2];
@@ -384,7 +383,7 @@ glm_vec_subadd(vec3 a, vec3 b, vec3 dest) {
 */
 CGLM_INLINE
 void
-glm_vec_muladd(vec3 a, vec3 b, vec3 dest) {
+glm_vec3_muladd(vec3 a, vec3 b, vec3 dest) {
  dest[0] += a[0] * b[0];
  dest[1] += a[1] * b[1];
  dest[2] += a[2] * b[2];
@@ -401,60 +400,69 @@ glm_vec_muladd(vec3 a, vec3 b, vec3 dest) {
 */
 CGLM_INLINE
 void
-glm_vec_muladds(vec3 a, float s, vec3 dest) {
+glm_vec3_muladds(vec3 a, float s, vec3 dest) {
  dest[0] += a[0] * s;
  dest[1] += a[1] * s;
  dest[2] += a[2] * s;
 }

 /*!
- * @brief flip sign of all vec3 members
+ * @brief add max of two vector to result/dest
 *
- * @param[in, out]  v  vector
+ * it applies += operator so dest must be initialized
+ *
+ * @param[in]  a    vector 1
+ * @param[in]  b    vector 2
+ * @param[out] dest dest += max(a, b)
 */
 CGLM_INLINE
 void
-glm_vec_flipsign(vec3 v) {
-  v[0] = -v[0];
-  v[1] = -v[1];
-  v[2] = -v[2];
+glm_vec3_maxadd(vec3 a, vec3 b, vec3 dest) {
+  dest[0] += glm_max(a[0], b[0]);
+  dest[1] += glm_max(a[1], b[1]);
+  dest[2] += glm_max(a[2], b[2]);
 }

 /*!
- * @brief flip sign of all vec3 members and store result in dest
+ * @brief add min of two vector to result/dest
+ *
+ * it applies += operator so dest must be initialized
+ *
+ * @param[in]  a    vector
+ * @param[in]  b    scalar
+ * @param[out] dest dest += min(a, b)
+ */
+CGLM_INLINE
+void
+glm_vec3_minadd(vec3 a, vec3 b, vec3 dest) {
+  dest[0] += glm_min(a[0], b[0]);
+  dest[1] += glm_min(a[1], b[1]);
+  dest[2] += glm_min(a[2], b[2]);
+}
+
+/*!
+ * @brief negate vector components and store result in dest
 *
 * @param[in]   v     vector
 * @param[out]  dest  result vector
 */
 CGLM_INLINE
 void
-glm_vec_flipsign_to(vec3 v, vec3 dest) {
+glm_vec3_negate_to(vec3 v, vec3 dest) {
  dest[0] = -v[0];
  dest[1] = -v[1];
  dest[2] = -v[2];
 }

 /*!
- * @brief make vector as inverse/opposite of itself
+ * @brief negate vector components
 *
 * @param[in, out]  v  vector
 */
 CGLM_INLINE
 void
-glm_vec_inv(vec3 v) {
-  glm_vec_flipsign(v);
-}
-
-/*!
- * @brief inverse/opposite vector
- *
- * @param[in]  v    source
- * @param[out] dest destination
- */
-CGLM_INLINE
-void
-glm_vec_inv_to(vec3 v, vec3 dest) {
-  glm_vec_flipsign_to(v, dest);
+glm_vec3_negate(vec3 v) {
+  glm_vec3_negate_to(v, v);
 }

 /*!
@@ -464,56 +472,93 @@ glm_vec_inv_to(vec3 v, vec3 dest) {
 */
 CGLM_INLINE
 void
-glm_vec_normalize(vec3 v) {
+glm_vec3_normalize(vec3 v) {
  float norm;

-  norm = glm_vec_norm(v);
+  norm = glm_vec3_norm(v);

  if (norm == 0.0f) {
    v[0] = v[1] = v[2] = 0.0f;
    return;
  }

-  glm_vec_scale(v, 1.0f / norm, v);
+  glm_vec3_scale(v, 1.0f / norm, v);
 }

 /*!
 * @brief normalize vec3 to dest
 *
- * @param[in]  vec  source
+ * @param[in]  v    source
 * @param[out] dest destination
 */
 CGLM_INLINE
 void
-glm_vec_normalize_to(vec3 vec, vec3 dest) {
+glm_vec3_normalize_to(vec3 v, vec3 dest) {
  float norm;

-  norm = glm_vec_norm(vec);
+  norm = glm_vec3_norm(v);

  if (norm == 0.0f) {
-    glm_vec_zero(dest);
+    glm_vec3_zero(dest);
    return;
  }

-  glm_vec_scale(vec, 1.0f / norm, dest);
+  glm_vec3_scale(v, 1.0f / norm, dest);
+}
+
+/*!
+ * @brief cross product of two vector (RH)
+ *
+ * @param[in]  a    vector 1
+ * @param[in]  b    vector 2
+ * @param[out] dest destination
+ */
+CGLM_INLINE
+void
+glm_vec3_cross(vec3 a, vec3 b, vec3 dest) {
+  /* (u2.v3 - u3.v2, u3.v1 - u1.v3, u1.v2 - u2.v1) */
+  dest[0] = a[1] * b[2] - a[2] * b[1];
+  dest[1] = a[2] * b[0] - a[0] * b[2];
+  dest[2] = a[0] * b[1] - a[1] * b[0];
+}
+
+/*!
+ * @brief cross product of two vector (RH) and normalize the result
+ *
+ * @param[in]  a    vector 1
+ * @param[in]  b    vector 2
+ * @param[out] dest destination
+ */
+CGLM_INLINE
+void
+glm_vec3_crossn(vec3 a, vec3 b, vec3 dest) {
+  glm_vec3_cross(a, b, dest);
+  glm_vec3_normalize(dest);
 }

 /*!
 * @brief angle betwen two vector
 *
- * @param[in] v1  vector1
- * @param[in] v2  vector2
+ * @param[in] a  vector1
+ * @param[in] b  vector2
 *
 * @return angle as radians
 */
 CGLM_INLINE
 float
-glm_vec_angle(vec3 v1, vec3 v2) {
-  float norm;
+glm_vec3_angle(vec3 a, vec3 b) {
+  float norm, dot;

  /* maybe compiler generate approximation instruction (rcp) */
-  norm = 1.0f / (glm_vec_norm(v1) * glm_vec_norm(v2));
-  return acosf(glm_vec_dot(v1, v2) * norm);
+  norm = 1.0f / (glm_vec3_norm(a) * glm_vec3_norm(b));
+  dot  = glm_vec3_dot(a, b) * norm;
+
+  if (dot > 1.0f)
+    return 0.0f;
+  else if (dot < -1.0f)
+    return CGLM_PI;
+
+  return acosf(dot);
 }

 /*!
@@ -525,27 +570,27 @@ glm_vec_angle(vec3 v1, vec3 v2) {
 */
 CGLM_INLINE
 void
-glm_vec_rotate(vec3 v, float angle, vec3 axis) {
+glm_vec3_rotate(vec3 v, float angle, vec3 axis) {
  vec3   v1, v2, k;
  float  c, s;

  c = cosf(angle);
  s = sinf(angle);

-  glm_vec_normalize_to(axis, k);
+  glm_vec3_normalize_to(axis, k);

  /* Right Hand, Rodrigues' rotation formula:
        v = v*cos(t) + (kxv)sin(t) + k*(k.v)(1 - cos(t))
   */
-  glm_vec_scale(v, c, v1);
+  glm_vec3_scale(v, c, v1);

-  glm_vec_cross(k, v, v2);
-  glm_vec_scale(v2, s, v2);
+  glm_vec3_cross(k, v, v2);
+  glm_vec3_scale(v2, s, v2);

-  glm_vec_add(v1, v2, v1);
+  glm_vec3_add(v1, v2, v1);

-  glm_vec_scale(k, glm_vec_dot(k, v) * (1.0f - c), v2);
-  glm_vec_add(v1, v2, v);
+  glm_vec3_scale(k, glm_vec3_dot(k, v) * (1.0f - c), v2);
+  glm_vec3_add(v1, v2, v);
 }

 /*!
@@ -563,7 +608,7 @@ glm_vec_rotate(vec3 v, float angle, vec3 axis) {
 */
 CGLM_INLINE
 void
-glm_vec_rotate_m4(mat4 m, vec3 v, vec3 dest) {
+glm_vec3_rotate_m4(mat4 m, vec3 v, vec3 dest) {
  vec4 x, y, z, res;

  glm_vec4_normalize_to(m[0], x);
@@ -586,7 +631,7 @@ glm_vec_rotate_m4(mat4 m, vec3 v, vec3 dest) {
 */
 CGLM_INLINE
 void
-glm_vec_rotate_m3(mat3 m, vec3 v, vec3 dest) {
+glm_vec3_rotate_m3(mat3 m, vec3 v, vec3 dest) {
  vec4 res, x, y, z;

  glm_vec4(m[0], 0.0f, x);
@@ -607,88 +652,88 @@ glm_vec_rotate_m3(mat3 m, vec3 v, vec3 dest) {
 /*!
 * @brief project a vector onto b vector
 *
- * @param[in]  a vector1
- * @param[in]  b vector2
+ * @param[in]  a    vector1
+ * @param[in]  b    vector2
 * @param[out] dest projected vector
 */
 CGLM_INLINE
 void
-glm_vec_proj(vec3 a, vec3 b, vec3 dest) {
-  glm_vec_scale(b,
-                glm_vec_dot(a, b) / glm_vec_norm2(b),
-                dest);
+glm_vec3_proj(vec3 a, vec3 b, vec3 dest) {
+  glm_vec3_scale(b,
+                 glm_vec3_dot(a, b) / glm_vec3_norm2(b),
+                 dest);
 }

 /**
 * @brief find center point of two vector
 *
- * @param[in]  v1 vector1
- * @param[in]  v2 vector2
+ * @param[in]  a    vector1
+ * @param[in]  b    vector2
 * @param[out] dest center point
 */
 CGLM_INLINE
 void
-glm_vec_center(vec3 v1, vec3 v2, vec3 dest) {
-  glm_vec_add(v1, v2, dest);
-  glm_vec_scale(dest, 0.5f, dest);
+glm_vec3_center(vec3 a, vec3 b, vec3 dest) {
+  glm_vec3_add(a, b, dest);
+  glm_vec3_scale(dest, 0.5f, dest);
 }

 /**
 * @brief squared distance between two vectors
 *
- * @param[in] v1 vector1
- * @param[in] v2 vector2
+ * @param[in] a vector1
+ * @param[in] b vector2
 * @return returns squared distance (distance * distance)
 */
 CGLM_INLINE
 float
-glm_vec_distance2(vec3 v1, vec3 v2) {
-  return glm_pow2(v2[0] - v1[0])
-       + glm_pow2(v2[1] - v1[1])
-       + glm_pow2(v2[2] - v1[2]);
+glm_vec3_distance2(vec3 a, vec3 b) {
+  return glm_pow2(b[0] - a[0])
+       + glm_pow2(b[1] - a[1])
+       + glm_pow2(b[2] - a[2]);
 }

 /**
 * @brief distance between two vectors
 *
- * @param[in] v1 vector1
- * @param[in] v2 vector2
+ * @param[in] a vector1
+ * @param[in] b vector2
 * @return returns distance
 */
 CGLM_INLINE
 float
-glm_vec_distance(vec3 v1, vec3 v2) {
-  return sqrtf(glm_vec_distance2(v1, v2));
+glm_vec3_distance(vec3 a, vec3 b) {
+  return sqrtf(glm_vec3_distance2(a, b));
 }

 /*!
 * @brief max values of vectors
 *
- * @param[in]  v1   vector1
- * @param[in]  v2   vector2
+ * @param[in]  a    vector1
+ * @param[in]  b    vector2
 * @param[out] dest destination
 */
 CGLM_INLINE
 void
-glm_vec_maxv(vec3 v1, vec3 v2, vec3 dest) {
-  dest[0] = glm_max(v1[0], v2[0]);
-  dest[1] = glm_max(v1[1], v2[1]);
-  dest[2] = glm_max(v1[2], v2[2]);
+glm_vec3_maxv(vec3 a, vec3 b, vec3 dest) {
+  dest[0] = glm_max(a[0], b[0]);
+  dest[1] = glm_max(a[1], b[1]);
+  dest[2] = glm_max(a[2], b[2]);
 }

 /*!
 * @brief min values of vectors
 *
- * @param[in]  v1   vector1
- * @param[in]  v2   vector2
+ * @param[in]  a    vector1
+ * @param[in]  b    vector2
 * @param[out] dest destination
 */
 CGLM_INLINE
 void
-glm_vec_minv(vec3 v1, vec3 v2, vec3 dest) {
-  dest[0] = glm_min(v1[0], v2[0]);
-  dest[1] = glm_min(v1[1], v2[1]);
-  dest[2] = glm_min(v1[2], v2[2]);
+glm_vec3_minv(vec3 a, vec3 b, vec3 dest) {
+  dest[0] = glm_min(a[0], b[0]);
+  dest[1] = glm_min(a[1], b[1]);
+  dest[2] = glm_min(a[2], b[2]);
 }

 /*!
@@ -699,7 +744,7 @@ glm_vec_minv(vec3 v1, vec3 v2, vec3 dest) {
 */
 CGLM_INLINE
 void
-glm_vec_ortho(vec3 v, vec3 dest) {
+glm_vec3_ortho(vec3 v, vec3 dest) {
  dest[0] = v[1] - v[2];
  dest[1] = v[2] - v[0];
  dest[2] = v[0] - v[1];
@@ -714,7 +759,7 @@ glm_vec_ortho(vec3 v, vec3 dest) {
 */
 CGLM_INLINE
 void
-glm_vec_clamp(vec3 v, float minVal, float maxVal) {
+glm_vec3_clamp(vec3 v, float minVal, float maxVal) {
  v[0] = glm_clamp(v[0], minVal, maxVal);
  v[1] = glm_clamp(v[1], minVal, maxVal);
  v[2] = glm_clamp(v[2], minVal, maxVal);
@@ -732,14 +777,14 @@ glm_vec_clamp(vec3 v, float minVal, float maxVal) {
 */
 CGLM_INLINE
 void
-glm_vec_lerp(vec3 from, vec3 to, float t, vec3 dest) {
+glm_vec3_lerp(vec3 from, vec3 to, float t, vec3 dest) {
  vec3 s, v;

  /* from + s * (to - from) */
-  glm_vec_broadcast(glm_clamp_zo(t), s);
-  glm_vec_sub(to, from, v);
-  glm_vec_mulv(s, v, v);
-  glm_vec_add(from, v, dest);
+  glm_vec3_broadcast(glm_clamp_zo(t), s);
+  glm_vec3_sub(to, from, v);
+  glm_vec3_mul(s, v, v);
+  glm_vec3_add(from, v, dest);
 }

 /*!
@@ -754,7 +799,7 @@ glm_vec_lerp(vec3 from, vec3 to, float t, vec3 dest) {
 CGLM_INLINE
 void
 glm_cross(vec3 a, vec3 b, vec3 d) {
-  glm_vec_cross(a, b, d);
+  glm_vec3_cross(a, b, d);
 }

 /*!
@@ -770,7 +815,7 @@ glm_cross(vec3 a, vec3 b, vec3 d) {
 CGLM_INLINE
 float
 glm_dot(vec3 a, vec3 b) {
-  return glm_vec_dot(a, b);
+  return glm_vec3_dot(a, b);
 }

 /*!
@@ -783,7 +828,7 @@ glm_dot(vec3 a, vec3 b) {
 CGLM_INLINE
 void
 glm_normalize(vec3 v) {
-  glm_vec_normalize(v);
+  glm_vec3_normalize(v);
 }

 /*!
@@ -797,7 +842,7 @@ glm_normalize(vec3 v) {
 CGLM_INLINE
 void
 glm_normalize_to(vec3 v, vec3 dest) {
-  glm_vec_normalize_to(v, dest);
+  glm_vec3_normalize_to(v, dest);
 }

 #endif /* cglm_vec3_h */
--- a/include/cglm/vec4-ext.h
+++ b/include/cglm/vec4-ext.h
@@ -11,15 +11,19 @@

 /*
 Functions:
-   CGLM_INLINE void  glm_vec4_mulv(vec4 a, vec4 b, vec4 d);
   CGLM_INLINE void  glm_vec4_broadcast(float val, vec4 d);
   CGLM_INLINE bool  glm_vec4_eq(vec4 v, float val);
   CGLM_INLINE bool  glm_vec4_eq_eps(vec4 v, float val);
   CGLM_INLINE bool  glm_vec4_eq_all(vec4 v);
-   CGLM_INLINE bool  glm_vec4_eqv(vec4 v1, vec4 v2);
-   CGLM_INLINE bool  glm_vec4_eqv_eps(vec4 v1, vec4 v2);
+   CGLM_INLINE bool  glm_vec4_eqv(vec4 a, vec4 b);
+   CGLM_INLINE bool  glm_vec4_eqv_eps(vec4 a, vec4 b);
   CGLM_INLINE float glm_vec4_max(vec4 v);
   CGLM_INLINE float glm_vec4_min(vec4 v);
+   CGLM_INLINE bool  glm_vec4_isnan(vec4 v);
+   CGLM_INLINE bool  glm_vec4_isinf(vec4 v);
+   CGLM_INLINE bool  glm_vec4_isvalid(vec4 v);
+   CGLM_INLINE void  glm_vec4_sign(vec4 v, vec4 dest);
+   CGLM_INLINE void  glm_vec4_sqrt(vec4 v, vec4 dest);
 */

 #ifndef cglm_vec4_ext_h
@@ -31,26 +35,6 @@
 #include <math.h>
 #include <float.h>

-/*!
- * @brief DEPRECATED! use glm_vec4_mul
- *
- * @param a v1
- * @param b v2
- * @param d v3 = (v1[0] * v2[0],  v1[1] * v2[1], v1[2] * v2[2], v1[3] * v2[3])
- */
-CGLM_INLINE
-void
-glm_vec4_mulv(vec4 a, vec4 b, vec4 d) {
-#if defined( __SSE__ ) || defined( __SSE2__ )
-  glmm_store(d, _mm_mul_ps(glmm_load(a), glmm_load(b)));
-#else
-  d[0] = a[0] * b[0];
-  d[1] = a[1] * b[1];
-  d[2] = a[2] * b[2];
-  d[3] = a[3] * b[3];
-#endif
-}
-
 /*!
 * @brief fill a vector with specified value
 *
@@ -113,31 +97,31 @@ glm_vec4_eq_all(vec4 v) {
 /*!
 * @brief check if vector is equal to another (without epsilon)
 *
- * @param v1 vector
- * @param v2 vector
+ * @param a vector
+ * @param b vector
 */
 CGLM_INLINE
 bool
-glm_vec4_eqv(vec4 v1, vec4 v2) {
-  return v1[0] == v2[0]
-         && v1[1] == v2[1]
-         && v1[2] == v2[2]
-         && v1[3] == v2[3];
+glm_vec4_eqv(vec4 a, vec4 b) {
+  return a[0] == b[0]
+         && a[1] == b[1]
+         && a[2] == b[2]
+         && a[3] == b[3];
 }

 /*!
 * @brief check if vector is equal to another (with epsilon)
 *
- * @param v1 vector
- * @param v2 vector
+ * @param a vector
+ * @param b vector
 */
 CGLM_INLINE
 bool
-glm_vec4_eqv_eps(vec4 v1, vec4 v2) {
-  return fabsf(v1[0] - v2[0]) <= FLT_EPSILON
-         && fabsf(v1[1] - v2[1]) <= FLT_EPSILON
-         && fabsf(v1[2] - v2[2]) <= FLT_EPSILON
-         && fabsf(v1[3] - v2[3]) <= FLT_EPSILON;
+glm_vec4_eqv_eps(vec4 a, vec4 b) {
+  return fabsf(a[0] - b[0]) <= FLT_EPSILON
+         && fabsf(a[1] - b[1]) <= FLT_EPSILON
+         && fabsf(a[2] - b[2]) <= FLT_EPSILON
+         && fabsf(a[3] - b[3]) <= FLT_EPSILON;
 }

 /*!
@@ -150,7 +134,7 @@ float
 glm_vec4_max(vec4 v) {
  float max;

-  max = glm_vec_max(v);
+  max = glm_vec3_max(v);
  if (v[3] > max)
    max = v[3];

@@ -167,7 +151,7 @@ float
 glm_vec4_min(vec4 v) {
  float min;

-  min = glm_vec_min(v);
+  min = glm_vec3_min(v);
  if (v[3] < min)
    min = v[3];

--- a/include/cglm/vec4.h
+++ b/include/cglm/vec4.h
@@ -5,15 +5,8 @@
 * Full license can be found in the LICENSE file
 */

-/*!
- * vec3 functions dont have suffix e.g glm_vec_dot (not glm_vec3_dot)
- * all functions without suffix are vec3 functions
- */
-
 /*
 Macros:
-   glm_vec4_dup3(v, dest)
-   glm_vec4_dup(v, dest)
   GLM_VEC4_ONE_INIT
   GLM_VEC4_BLACK_INIT
   GLM_VEC4_ZERO_INIT
@@ -28,7 +21,7 @@
   CGLM_INLINE void  glm_vec4_ucopy(vec4 v, vec4 dest);
   CGLM_INLINE float glm_vec4_dot(vec4 a, vec4 b);
   CGLM_INLINE float glm_vec4_norm2(vec4 v);
-   CGLM_INLINE float glm_vec4_norm(vec4 vec);
+   CGLM_INLINE float glm_vec4_norm(vec4 v);
   CGLM_INLINE void  glm_vec4_add(vec4 a, vec4 b, vec4 dest);
   CGLM_INLINE void  glm_vec4_adds(vec4 v, float s, vec4 dest);
   CGLM_INLINE void  glm_vec4_sub(vec4 a, vec4 b, vec4 dest);
@@ -41,16 +34,27 @@
   CGLM_INLINE void  glm_vec4_addadd(vec4 a, vec4 b, vec4 dest);
   CGLM_INLINE void  glm_vec4_subadd(vec4 a, vec4 b, vec4 dest);
   CGLM_INLINE void  glm_vec4_muladd(vec4 a, vec4 b, vec4 dest);
-   CGLM_INLINE void  glm_vec4_flipsign(vec4 v);
+   CGLM_INLINE void  glm_vec4_muladds(vec4 a, float s, vec4 dest);
+   CGLM_INLINE void  glm_vec4_maxadd(vec4 a, vec4 b, vec4 dest);
+   CGLM_INLINE void  glm_vec4_minadd(vec4 a, vec4 b, vec4 dest);
+   CGLM_INLINE void  glm_vec4_negate(vec4 v);
   CGLM_INLINE void  glm_vec4_inv(vec4 v);
   CGLM_INLINE void  glm_vec4_inv_to(vec4 v, vec4 dest);
   CGLM_INLINE void  glm_vec4_normalize(vec4 v);
   CGLM_INLINE void  glm_vec4_normalize_to(vec4 vec, vec4 dest);
-   CGLM_INLINE float glm_vec4_distance(vec4 v1, vec4 v2);
-   CGLM_INLINE void  glm_vec4_maxv(vec4 v1, vec4 v2, vec4 dest);
-   CGLM_INLINE void  glm_vec4_minv(vec4 v1, vec4 v2, vec4 dest);
+   CGLM_INLINE float glm_vec4_distance(vec4 a, vec4 b);
+   CGLM_INLINE void  glm_vec4_maxv(vec4 a, vec4 b, vec4 dest);
+   CGLM_INLINE void  glm_vec4_minv(vec4 a, vec4 b, vec4 dest);
   CGLM_INLINE void  glm_vec4_clamp(vec4 v, float minVal, float maxVal);
   CGLM_INLINE void  glm_vec4_lerp(vec4 from, vec4 to, float t, vec4 dest)
+
+ DEPRECATED:
+   glm_vec4_dup
+   glm_vec4_flipsign
+   glm_vec4_flipsign_to
+   glm_vec4_inv
+   glm_vec4_inv_to
+   glm_vec4_mulv
 */

 #ifndef cglm_vec4_h
@@ -60,9 +64,14 @@
 #include "vec4-ext.h"
 #include "util.h"

-/* DEPRECATED! use _copy, _ucopy versions */
-#define glm_vec4_dup3(v, dest) glm_vec4_copy3(v, dest)
-#define glm_vec4_dup(v, dest)  glm_vec4_copy(v, dest)
+/* DEPRECATED! functions */
+#define glm_vec4_dup3(v, dest)         glm_vec4_copy3(v, dest)
+#define glm_vec4_dup(v, dest)          glm_vec4_copy(v, dest)
+#define glm_vec4_flipsign(v)           glm_vec4_negate(v)
+#define glm_vec4_flipsign_to(v, dest)  glm_vec4_negate_to(v, dest)
+#define glm_vec4_inv(v)                glm_vec4_negate(v)
+#define glm_vec4_inv_to(v, dest)       glm_vec4_negate_to(v, dest)
+#define glm_vec4_mulv(a, b, d)         glm_vec4_mul(a, b, d)

 #define GLM_VEC4_ONE_INIT   {1.0f, 1.0f, 1.0f, 1.0f}
 #define GLM_VEC4_BLACK_INIT {0.0f, 0.0f, 0.0f, 1.0f}
@@ -223,24 +232,24 @@ glm_vec4_norm2(vec4 v) {
 /*!
 * @brief norm (magnitude) of vec4
 *
- * @param[in] vec vector
+ * @param[in] v vector
 *
 * @return norm
 */
 CGLM_INLINE
 float
-glm_vec4_norm(vec4 vec) {
+glm_vec4_norm(vec4 v) {
 #if defined( __SSE__ ) || defined( __SSE2__ )
  __m128 x0;
-  x0 = glmm_load(vec);
+  x0 = glmm_load(v);
  return _mm_cvtss_f32(_mm_sqrt_ss(glmm_dot(x0, x0)));
 #else
-  return sqrtf(glm_vec4_norm2(vec));
+  return sqrtf(glm_vec4_norm2(v));
 #endif
 }

 /*!
- * @brief add v2 vector to v1 vector store result in dest
+ * @brief add b vector to a vector store result in dest
 *
 * @param[in]  a    vector1
 * @param[in]  b    vector2
@@ -280,7 +289,7 @@ glm_vec4_adds(vec4 v, float s, vec4 dest) {
 }

 /*!
- * @brief subtract b vector from a vector store result in dest (d = v1 - v2)
+ * @brief subtract b vector from a vector store result in dest (d = a - b)
 *
 * @param[in]  a    vector1
 * @param[in]  b    vector2
@@ -322,20 +331,20 @@ glm_vec4_subs(vec4 v, float s, vec4 dest) {
 /*!
 * @brief multiply two vector (component-wise multiplication)
 *
- * @param a v1
- * @param b v2
- * @param d v3 = (a[0] * b[0], a[1] * b[1], a[2] * b[2], a[3] * b[3])
+ * @param a    vector1
+ * @param b    vector2
+ * @param dest dest = (a[0] * b[0], a[1] * b[1], a[2] * b[2], a[3] * b[3])
 */
 CGLM_INLINE
 void
-glm_vec4_mul(vec4 a, vec4 b, vec4 d) {
+glm_vec4_mul(vec4 a, vec4 b, vec4 dest) {
 #if defined( __SSE__ ) || defined( __SSE2__ )
-  glmm_store(d, _mm_mul_ps(glmm_load(a), glmm_load(b)));
+  glmm_store(dest, _mm_mul_ps(glmm_load(a), glmm_load(b)));
 #else
-  d[0] = a[0] * b[0];
-  d[1] = a[1] * b[1];
-  d[2] = a[2] * b[2];
-  d[3] = a[3] * b[3];
+  dest[0] = a[0] * b[0];
+  dest[1] = a[1] * b[1];
+  dest[2] = a[2] * b[2];
+  dest[3] = a[3] * b[3];
 #endif
 }

@@ -381,7 +390,7 @@ glm_vec4_scale_as(vec4 v, float s, vec4 dest) {
 }

 /*!
- * @brief div vector with another component-wise division: d = v1 / v2
+ * @brief div vector with another component-wise division: d = a / b
 *
 * @param[in]  a    vector 1
 * @param[in]  b    vector 2
@@ -417,7 +426,6 @@ glm_vec4_divs(vec4 v, float s, vec4 dest) {
 #endif
 }

-
 /*!
 * @brief add two vectors and add result to sum
 *
@@ -515,32 +523,62 @@ glm_vec4_muladds(vec4 a, float s, vec4 dest) {
 }

 /*!
- * @brief flip sign of all vec4 members
+ * @brief add max of two vector to result/dest
 *
- * @param[in, out]  v  vector
+ * it applies += operator so dest must be initialized
+ *
+ * @param[in]  a    vector 1
+ * @param[in]  b    vector 2
+ * @param[out] dest dest += max(a, b)
 */
 CGLM_INLINE
 void
-glm_vec4_flipsign(vec4 v) {
+glm_vec4_maxadd(vec4 a, vec4 b, vec4 dest) {
 #if defined( __SSE__ ) || defined( __SSE2__ )
-  glmm_store(v, _mm_xor_ps(glmm_load(v), _mm_set1_ps(-0.0f)));
+  glmm_store(dest, _mm_add_ps(glmm_load(dest),
+                              _mm_max_ps(glmm_load(a),
+                                         glmm_load(b))));
 #else
-  v[0] = -v[0];
-  v[1] = -v[1];
-  v[2] = -v[2];
-  v[3] = -v[3];
+  dest[0] += glm_max(a[0], b[0]);
+  dest[1] += glm_max(a[1], b[1]);
+  dest[2] += glm_max(a[2], b[2]);
+  dest[3] += glm_max(a[3], b[3]);
 #endif
 }

 /*!
- * @brief flip sign of all vec4 members and store result in dest
+ * @brief add min of two vector to result/dest
 *
- * @param[in]  v     vector
- * @param[out] dest  vector
+ * it applies += operator so dest must be initialized
+ *
+ * @param[in]  a    vector
+ * @param[in]  b    scalar
+ * @param[out] dest dest += min(a, b)
 */
 CGLM_INLINE
 void
-glm_vec4_flipsign_to(vec4 v, vec4 dest) {
+glm_vec4_minadd(vec4 a, vec4 b, vec4 dest) {
+#if defined( __SSE__ ) || defined( __SSE2__ )
+  glmm_store(dest, _mm_add_ps(glmm_load(dest),
+                              _mm_min_ps(glmm_load(a),
+                                         glmm_load(b))));
+#else
+  dest[0] += glm_min(a[0], b[0]);
+  dest[1] += glm_min(a[1], b[1]);
+  dest[2] += glm_min(a[2], b[2]);
+  dest[3] += glm_min(a[3], b[3]);
+#endif
+}
+
+/*!
+ * @brief negate vector components and store result in dest
+ *
+ * @param[in]  v     vector
+ * @param[out] dest  result vector
+ */
+CGLM_INLINE
+void
+glm_vec4_negate_to(vec4 v, vec4 dest) {
 #if defined( __SSE__ ) || defined( __SSE2__ )
  glmm_store(dest, _mm_xor_ps(glmm_load(v), _mm_set1_ps(-0.0f)));
 #else
@@ -552,43 +590,30 @@ glm_vec4_flipsign_to(vec4 v, vec4 dest) {
 }

 /*!
- * @brief make vector as inverse/opposite of itself
+ * @brief flip sign of all vec4 members
 *
 * @param[in, out]  v  vector
 */
 CGLM_INLINE
 void
-glm_vec4_inv(vec4 v) {
-  glm_vec4_flipsign(v);
+glm_vec4_negate(vec4 v) {
+  glm_vec4_negate_to(v, v);
 }

 /*!
- * @brief inverse/opposite vector
+ * @brief normalize vec4 to dest
 *
 * @param[in]  v    source
 * @param[out] dest destination
 */
 CGLM_INLINE
 void
-glm_vec4_inv_to(vec4 v, vec4 dest) {
-  glm_vec4_copy(v, dest);
-  glm_vec4_flipsign(dest);
-}
-
-/*!
- * @brief normalize vec4 to dest
- *
- * @param[in]  vec  source
- * @param[out] dest destination
- */
-CGLM_INLINE
-void
-glm_vec4_normalize_to(vec4 vec, vec4 dest) {
+glm_vec4_normalize_to(vec4 v, vec4 dest) {
 #if defined( __SSE__ ) || defined( __SSE2__ )
  __m128 xdot, x0;
  float  dot;

-  x0   = glmm_load(vec);
+  x0   = glmm_load(v);
  xdot = glmm_dot(x0, x0);
  dot  = _mm_cvtss_f32(xdot);

@@ -601,14 +626,14 @@ glm_vec4_normalize_to(vec4 vec, vec4 dest) {
 #else
  float norm;

-  norm = glm_vec4_norm(vec);
+  norm = glm_vec4_norm(v);

  if (norm == 0.0f) {
    glm_vec4_zero(dest);
    return;
  }

-  glm_vec4_scale(vec, 1.0f / norm, dest);
+  glm_vec4_scale(v, 1.0f / norm, dest);
 #endif
 }

@@ -626,56 +651,56 @@ glm_vec4_normalize(vec4 v) {
 /**
 * @brief distance between two vectors
 *
- * @param[in] v1 vector1
- * @param[in] v2 vector2
+ * @param[in] a vector1
+ * @param[in] b vector2
 * @return returns distance
 */
 CGLM_INLINE
 float
-glm_vec4_distance(vec4 v1, vec4 v2) {
-  return sqrtf(glm_pow2(v2[0] - v1[0])
-             + glm_pow2(v2[1] - v1[1])
-             + glm_pow2(v2[2] - v1[2])
-             + glm_pow2(v2[3] - v1[3]));
+glm_vec4_distance(vec4 a, vec4 b) {
+  return sqrtf(glm_pow2(b[0] - a[0])
+             + glm_pow2(b[1] - a[1])
+             + glm_pow2(b[2] - a[2])
+             + glm_pow2(b[3] - a[3]));
 }

 /*!
 * @brief max values of vectors
 *
- * @param[in]  v1   vector1
- * @param[in]  v2   vector2
+ * @param[in]  a    vector1
+ * @param[in]  b    vector2
 * @param[out] dest destination
 */
 CGLM_INLINE
 void
-glm_vec4_maxv(vec4 v1, vec4 v2, vec4 dest) {
+glm_vec4_maxv(vec4 a, vec4 b, vec4 dest) {
 #if defined( __SSE__ ) || defined( __SSE2__ )
-  glmm_store(dest, _mm_max_ps(glmm_load(v1), glmm_load(v2)));
+  glmm_store(dest, _mm_max_ps(glmm_load(a), glmm_load(b)));
 #else
-  dest[0] = glm_max(v1[0], v2[0]);
-  dest[1] = glm_max(v1[1], v2[1]);
-  dest[2] = glm_max(v1[2], v2[2]);
-  dest[3] = glm_max(v1[3], v2[3]);
+  dest[0] = glm_max(a[0], b[0]);
+  dest[1] = glm_max(a[1], b[1]);
+  dest[2] = glm_max(a[2], b[2]);
+  dest[3] = glm_max(a[3], b[3]);
 #endif
 }

 /*!
 * @brief min values of vectors
 *
- * @param[in]  v1   vector1
- * @param[in]  v2   vector2
+ * @param[in]  a    vector1
+ * @param[in]  b    vector2
 * @param[out] dest destination
 */
 CGLM_INLINE
 void
-glm_vec4_minv(vec4 v1, vec4 v2, vec4 dest) {
+glm_vec4_minv(vec4 a, vec4 b, vec4 dest) {
 #if defined( __SSE__ ) || defined( __SSE2__ )
-  glmm_store(dest, _mm_min_ps(glmm_load(v1), glmm_load(v2)));
+  glmm_store(dest, _mm_min_ps(glmm_load(a), glmm_load(b)));
 #else
-  dest[0] = glm_min(v1[0], v2[0]);
-  dest[1] = glm_min(v1[1], v2[1]);
-  dest[2] = glm_min(v1[2], v2[2]);
-  dest[3] = glm_min(v1[3], v2[3]);
+  dest[0] = glm_min(a[0], b[0]);
+  dest[1] = glm_min(a[1], b[1]);
+  dest[2] = glm_min(a[2], b[2]);
+  dest[3] = glm_min(a[3], b[3]);
 #endif
 }

@@ -718,7 +743,7 @@ glm_vec4_lerp(vec4 from, vec4 to, float t, vec4 dest) {
  /* from + s * (to - from) */
  glm_vec4_broadcast(glm_clamp_zo(t), s);
  glm_vec4_sub(to, from, v);
-  glm_vec4_mulv(s, v, v);
+  glm_vec4_mul(s, v, v);
  glm_vec4_add(from, v, dest);
 }

--- a/include/cglm/version.h
+++ b/include/cglm/version.h
@@ -9,7 +9,7 @@
 #define cglm_version_h

 #define CGLM_VERSION_MAJOR 0
-#define CGLM_VERSION_MINOR 4
-#define CGLM_VERSION_PATCH 9
+#define CGLM_VERSION_MINOR 5
+#define CGLM_VERSION_PATCH 2

 #endif /* cglm_version_h */
--- a/src/cam.c
+++ b/src/cam.c
@@ -88,6 +88,12 @@ glmc_perspective(float fovy,
                  dest);
 }

+CGLM_EXPORT
+void
+glmc_persp_move_far(mat4 proj, float deltaFar) {
+  glm_persp_move_far(proj, deltaFar);
+}
+
 CGLM_EXPORT
 void
 glmc_perspective_default(float aspect, mat4 dest) {
--- a/src/mat3.c
+++ b/src/mat3.c
@@ -50,6 +50,12 @@ glmc_mat3_mulv(mat3 m, vec3 v, vec3 dest) {
  glm_mat3_mulv(m, v, dest);
 }

+CGLM_EXPORT
+float
+glmc_mat3_trace(mat3 m) {
+  return glm_mat3_trace(m);
+}
+
 CGLM_EXPORT
 void
 glmc_mat3_quat(mat3 m, versor dest) {
--- a/src/mat4.c
+++ b/src/mat4.c
@@ -74,6 +74,18 @@ glmc_mat4_mulv3(mat4 m, vec3 v, float last, vec3 dest) {
  glm_mat4_mulv3(m, v, last, dest);
 }

+CGLM_EXPORT
+float
+glmc_mat4_trace(mat4 m) {
+  return glm_mat4_trace(m);
+}
+
+CGLM_EXPORT
+float
+glmc_mat4_trace3(mat4 m) {
+  return glm_mat4_trace3(m);
+}
+
 CGLM_EXPORT
 void
 glmc_mat4_quat(mat4 m, versor dest) {
--- a/src/vec3.c
+++ b/src/vec3.c
@@ -16,320 +16,326 @@ glmc_vec3(vec4 v4, vec3 dest) {

 CGLM_EXPORT
 void
-glmc_vec_copy(vec3 a, vec3 dest) {
-  glm_vec_copy(a, dest);
+glmc_vec3_copy(vec3 a, vec3 dest) {
+  glm_vec3_copy(a, dest);
 }

 CGLM_EXPORT
 void
-glmc_vec_zero(vec3 v) {
-  glm_vec_zero(v);
+glmc_vec3_zero(vec3 v) {
+  glm_vec3_zero(v);
 }

 CGLM_EXPORT
 void
-glmc_vec_one(vec3 v) {
-  glm_vec_one(v);
+glmc_vec3_one(vec3 v) {
+  glm_vec3_one(v);
 }

 CGLM_EXPORT
 float
-glmc_vec_dot(vec3 a, vec3 b) {
-  return glm_vec_dot(a, b);
+glmc_vec3_dot(vec3 a, vec3 b) {
+  return glm_vec3_dot(a, b);
 }

 CGLM_EXPORT
 void
-glmc_vec_cross(vec3 a, vec3 b, vec3 d) {
-  glm_vec_cross(a, b, d);
+glmc_vec3_cross(vec3 a, vec3 b, vec3 dest) {
+  glm_vec3_cross(a, b, dest);
+}
+
+CGLM_EXPORT
+void
+glmc_vec3_crossn(vec3 a, vec3 b, vec3 dest) {
+  glm_vec3_crossn(a, b, dest);
 }

 CGLM_EXPORT
 float
-glmc_vec_norm(vec3 vec) {
-  return glm_vec_norm(vec);
+glmc_vec3_norm(vec3 v) {
+  return glm_vec3_norm(v);
 }

 CGLM_EXPORT
 void
-glmc_vec_normalize_to(vec3 vec, vec3 dest) {
-  glm_vec_normalize_to(vec, dest);
+glmc_vec3_normalize_to(vec3 v, vec3 dest) {
+  glm_vec3_normalize_to(v, dest);
 }

 CGLM_EXPORT
 void
-glmc_vec_normalize(vec3 v) {
-  glm_vec_normalize(v);
+glmc_vec3_normalize(vec3 v) {
+  glm_vec3_normalize(v);
 }

 CGLM_EXPORT
 float
-glmc_vec_norm2(vec3 vec) {
-  return glm_vec_norm2(vec);
+glmc_vec3_norm2(vec3 v) {
+  return glm_vec3_norm2(v);
 }

 CGLM_EXPORT
 void
-glmc_vec_add(vec3 v1, vec3 v2, vec3 dest) {
-  glm_vec_add(v1, v2, dest);
+glmc_vec3_add(vec3 a, vec3 b, vec3 dest) {
+  glm_vec3_add(a, b, dest);
 }

 CGLM_EXPORT
 void
-glmc_vec_adds(vec3 v, float s, vec3 dest) {
-  glm_vec_adds(v, s, dest);
+glmc_vec3_adds(vec3 v, float s, vec3 dest) {
+  glm_vec3_adds(v, s, dest);
 }

 CGLM_EXPORT
 void
-glmc_vec_sub(vec3 a, vec3 b, vec3 dest) {
-  glm_vec_sub(a, b, dest);
+glmc_vec3_sub(vec3 a, vec3 b, vec3 dest) {
+  glm_vec3_sub(a, b, dest);
 }

 CGLM_EXPORT
 void
-glmc_vec_subs(vec3 v, float s, vec3 dest) {
-  glm_vec_subs(v, s, dest);
+glmc_vec3_subs(vec3 v, float s, vec3 dest) {
+  glm_vec3_subs(v, s, dest);
 }

 CGLM_EXPORT
 void
-glmc_vec_mul(vec3 a, vec3 b, vec3 d) {
-  glm_vec_mul(a, b, d);
+glmc_vec3_mul(vec3 a, vec3 b, vec3 d) {
+  glm_vec3_mul(a, b, d);
 }

 CGLM_EXPORT
 void
-glmc_vec_scale(vec3 v, float s, vec3 dest) {
-  glm_vec_scale(v, s, dest);
+glmc_vec3_scale(vec3 v, float s, vec3 dest) {
+  glm_vec3_scale(v, s, dest);
 }

 CGLM_EXPORT
 void
-glmc_vec_scale_as(vec3 v, float s, vec3 dest) {
-  glm_vec_scale_as(v, s, dest);
+glmc_vec3_scale_as(vec3 v, float s, vec3 dest) {
+  glm_vec3_scale_as(v, s, dest);
 }

 CGLM_EXPORT
 void
-glmc_vec_div(vec3 a, vec3 b, vec3 dest) {
-  glm_vec_div(a, b, dest);
+glmc_vec3_div(vec3 a, vec3 b, vec3 dest) {
+  glm_vec3_div(a, b, dest);
 }

 CGLM_EXPORT
 void
-glmc_vec_divs(vec3 a, float s, vec3 dest) {
-  glm_vec_divs(a, s, dest);
+glmc_vec3_divs(vec3 a, float s, vec3 dest) {
+  glm_vec3_divs(a, s, dest);
 }

 CGLM_EXPORT
 void
-glmc_vec_addadd(vec3 a, vec3 b, vec3 dest) {
-  glm_vec_addadd(a, b, dest);
+glmc_vec3_addadd(vec3 a, vec3 b, vec3 dest) {
+  glm_vec3_addadd(a, b, dest);
 }

 CGLM_EXPORT
 void
-glmc_vec_subadd(vec3 a, vec3 b, vec3 dest) {
-  glm_vec_subadd(a, b, dest);
+glmc_vec3_subadd(vec3 a, vec3 b, vec3 dest) {
+  glm_vec3_subadd(a, b, dest);
 }

 CGLM_EXPORT
 void
-glmc_vec_muladd(vec3 a, vec3 b, vec3 dest) {
-  glm_vec_muladd(a, b, dest);
+glmc_vec3_muladd(vec3 a, vec3 b, vec3 dest) {
+  glm_vec3_muladd(a, b, dest);
 }

 CGLM_EXPORT
 void
-glmc_vec_muladds(vec3 a, float s, vec3 dest) {
-  glm_vec_muladds(a, s, dest);
+glmc_vec3_muladds(vec3 a, float s, vec3 dest) {
+  glm_vec3_muladds(a, s, dest);
 }

 CGLM_EXPORT
 void
-glmc_vec_flipsign(vec3 v) {
-  glm_vec_flipsign(v);
+glmc_vec3_maxadd(vec3 a, vec3 b, vec3 dest) {
+  glm_vec3_maxadd(a, b, dest);
 }

 CGLM_EXPORT
 void
-glmc_vec_flipsign_to(vec3 v, vec3 dest) {
-  glm_vec_flipsign_to(v, dest);
+glmc_vec3_minadd(vec3 a, vec3 b, vec3 dest) {
+  glm_vec3_minadd(a, b, dest);
 }

 CGLM_EXPORT
 void
-glmc_vec_inv(vec3 v) {
-  glm_vec_inv(v);
+glmc_vec3_negate(vec3 v) {
+  glm_vec3_negate(v);
 }

 CGLM_EXPORT
 void
-glmc_vec_inv_to(vec3 v, vec3 dest) {
-  glm_vec_inv_to(v, dest);
+glmc_vec3_negate_to(vec3 v, vec3 dest) {
+  glm_vec3_negate_to(v, dest);
 }

 CGLM_EXPORT
 float
-glmc_vec_angle(vec3 v1, vec3 v2) {
-  return glm_vec_angle(v1, v2);
+glmc_vec3_angle(vec3 a, vec3 b) {
+  return glm_vec3_angle(a, b);
 }

 CGLM_EXPORT
 void
-glmc_vec_rotate(vec3 v, float angle, vec3 axis) {
-  glm_vec_rotate(v, angle, axis);
+glmc_vec3_rotate(vec3 v, float angle, vec3 axis) {
+  glm_vec3_rotate(v, angle, axis);
 }

 CGLM_EXPORT
 void
-glmc_vec_rotate_m4(mat4 m, vec3 v, vec3 dest) {
-  glm_vec_rotate_m4(m, v, dest);
+glmc_vec3_rotate_m4(mat4 m, vec3 v, vec3 dest) {
+  glm_vec3_rotate_m4(m, v, dest);
 }

 CGLM_EXPORT
 void
-glmc_vec_rotate_m3(mat3 m, vec3 v, vec3 dest) {
-  glm_vec_rotate_m3(m, v, dest);
+glmc_vec3_rotate_m3(mat3 m, vec3 v, vec3 dest) {
+  glm_vec3_rotate_m3(m, v, dest);
 }

 CGLM_EXPORT
 void
-glmc_vec_proj(vec3 a, vec3 b, vec3 dest) {
-  glm_vec_proj(a, b, dest);
+glmc_vec3_proj(vec3 a, vec3 b, vec3 dest) {
+  glm_vec3_proj(a, b, dest);
 }

 CGLM_EXPORT
 void
-glmc_vec_center(vec3 v1, vec3 v2, vec3 dest) {
-  glm_vec_center(v1, v2, dest);
+glmc_vec3_center(vec3 a, vec3 b, vec3 dest) {
+  glm_vec3_center(a, b, dest);
 }

 CGLM_EXPORT
 float
-glmc_vec_distance2(vec3 v1, vec3 v2) {
-  return glm_vec_distance2(v1, v2);
+glmc_vec3_distance2(vec3 a, vec3 b) {
+  return glm_vec3_distance2(a, b);
 }

 CGLM_EXPORT
 float
-glmc_vec_distance(vec3 v1, vec3 v2) {
-  return glm_vec_distance(v1, v2);
+glmc_vec3_distance(vec3 a, vec3 b) {
+  return glm_vec3_distance(a, b);
 }

 CGLM_EXPORT
 void
-glmc_vec_maxv(vec3 v1, vec3 v2, vec3 dest) {
-  glm_vec_minv(v1, v2, dest);
+glmc_vec3_maxv(vec3 a, vec3 b, vec3 dest) {
+  glm_vec3_minv(a, b, dest);
 }

 CGLM_EXPORT
 void
-glmc_vec_minv(vec3 v1, vec3 v2, vec3 dest) {
-  glm_vec_maxv(v1, v2, dest);
+glmc_vec3_minv(vec3 a, vec3 b, vec3 dest) {
+  glm_vec3_maxv(a, b, dest);
 }

 CGLM_EXPORT
 void
-glmc_vec_clamp(vec3 v, float minVal, float maxVal) {
-  glm_vec_clamp(v, minVal, maxVal);
+glmc_vec3_clamp(vec3 v, float minVal, float maxVal) {
+  glm_vec3_clamp(v, minVal, maxVal);
 }

 CGLM_EXPORT
 void
-glmc_vec_ortho(vec3 v, vec3 dest) {
-  glm_vec_ortho(v, dest);
+glmc_vec3_ortho(vec3 v, vec3 dest) {
+  glm_vec3_ortho(v, dest);
 }

 CGLM_EXPORT
 void
-glmc_vec_lerp(vec3 from, vec3 to, float t, vec3 dest) {
-  glm_vec_lerp(from, to, t, dest);
+glmc_vec3_lerp(vec3 from, vec3 to, float t, vec3 dest) {
+  glm_vec3_lerp(from, to, t, dest);
 }

 /* ext */

 CGLM_EXPORT
 void
-glmc_vec_mulv(vec3 a, vec3 b, vec3 d) {
-  glm_vec_mulv(a, b, d);
+glmc_vec3_mulv(vec3 a, vec3 b, vec3 d) {
+  glm_vec3_mulv(a, b, d);
 }

 CGLM_EXPORT
 void
-glmc_vec_broadcast(float val, vec3 d) {
-  glm_vec_broadcast(val, d);
+glmc_vec3_broadcast(float val, vec3 d) {
+  glm_vec3_broadcast(val, d);
 }

 CGLM_EXPORT
 bool
-glmc_vec_eq(vec3 v, float val) {
-  return glm_vec_eq(v, val);
+glmc_vec3_eq(vec3 v, float val) {
+  return glm_vec3_eq(v, val);
 }

 CGLM_EXPORT
 bool
-glmc_vec_eq_eps(vec3 v, float val) {
-  return glm_vec_eq_eps(v, val);
+glmc_vec3_eq_eps(vec3 v, float val) {
+  return glm_vec3_eq_eps(v, val);
 }

 CGLM_EXPORT
 bool
-glmc_vec_eq_all(vec3 v) {
-  return glm_vec_eq_all(v);
+glmc_vec3_eq_all(vec3 v) {
+  return glm_vec3_eq_all(v);
 }

 CGLM_EXPORT
 bool
-glmc_vec_eqv(vec3 v1, vec3 v2) {
-  return glm_vec_eqv(v1, v2);
+glmc_vec3_eqv(vec3 a, vec3 b) {
+  return glm_vec3_eqv(a, b);
 }

 CGLM_EXPORT
 bool
-glmc_vec_eqv_eps(vec3 v1, vec3 v2) {
-  return glm_vec_eqv_eps(v1, v2);
+glmc_vec3_eqv_eps(vec3 a, vec3 b) {
+  return glm_vec3_eqv_eps(a, b);
 }

 CGLM_EXPORT
 float
-glmc_vec_max(vec3 v) {
-  return glm_vec_max(v);
+glmc_vec3_max(vec3 v) {
+  return glm_vec3_max(v);
 }

 CGLM_EXPORT
 float
-glmc_vec_min(vec3 v) {
-  return glm_vec_min(v);
+glmc_vec3_min(vec3 v) {
+  return glm_vec3_min(v);
 }

 CGLM_EXPORT
 bool
-glmc_vec_isnan(vec3 v) {
-  return glm_vec_isnan(v);
+glmc_vec3_isnan(vec3 v) {
+  return glm_vec3_isnan(v);
 }

 CGLM_EXPORT
 bool
-glmc_vec_isinf(vec3 v) {
-  return glm_vec_isinf(v);
+glmc_vec3_isinf(vec3 v) {
+  return glm_vec3_isinf(v);
 }

 CGLM_EXPORT
 bool
-glmc_vec_isvalid(vec3 v) {
-  return glm_vec_isvalid(v);
+glmc_vec3_isvalid(vec3 v) {
+  return glm_vec3_isvalid(v);
 }

 CGLM_EXPORT
 void
-glmc_vec_sign(vec3 v, vec3 dest) {
-  glm_vec_sign(v, dest);
+glmc_vec3_sign(vec3 v, vec3 dest) {
+  glm_vec3_sign(v, dest);
 }

 CGLM_EXPORT
 void
-glmc_vec_sqrt(vec3 v, vec3 dest) {
-  glm_vec_sqrt(v, dest);
+glmc_vec3_sqrt(vec3 v, vec3 dest) {
+  glm_vec3_sqrt(v, dest);
 }
--- a/src/vec4.c
+++ b/src/vec4.c
@@ -28,8 +28,8 @@ glmc_vec4_one(vec4 v) {

 CGLM_EXPORT
 void
-glmc_vec4_copy3(vec4 a, vec3 dest) {
-  glm_vec4_copy3(a, dest);
+glmc_vec4_copy3(vec4 v, vec3 dest) {
+  glm_vec4_copy3(v, dest);
 }

 CGLM_EXPORT
@@ -52,14 +52,14 @@ glmc_vec4_dot(vec4 a, vec4 b) {

 CGLM_EXPORT
 float
-glmc_vec4_norm(vec4 vec) {
-  return glm_vec4_norm(vec);
+glmc_vec4_norm(vec4 v) {
+  return glm_vec4_norm(v);
 }

 CGLM_EXPORT
 void
-glmc_vec4_normalize_to(vec4 vec, vec4 dest) {
-  glm_vec4_normalize_to(vec, dest);
+glmc_vec4_normalize_to(vec4 v, vec4 dest) {
+  glm_vec4_normalize_to(v, dest);
 }

 CGLM_EXPORT
@@ -70,8 +70,8 @@ glmc_vec4_normalize(vec4 v) {

 CGLM_EXPORT
 float
-glmc_vec4_norm2(vec4 vec) {
-  return glm_vec4_norm2(vec);
+glmc_vec4_norm2(vec4 v) {
+  return glm_vec4_norm2(v);
 }

 CGLM_EXPORT
@@ -154,44 +154,44 @@ glmc_vec4_muladds(vec4 a, float s, vec4 dest) {

 CGLM_EXPORT
 void
-glmc_vec4_flipsign(vec4 v) {
-  glm_vec4_flipsign(v);
+glmc_vec4_maxadd(vec4 a, vec4 b, vec4 dest) {
+  glm_vec4_maxadd(a, b, dest);
 }

 CGLM_EXPORT
 void
-glmc_vec4_flipsign_to(vec4 v, vec4 dest) {
-  glm_vec4_flipsign_to(v, dest);
+glmc_vec4_minadd(vec4 a, vec4 b, vec4 dest) {
+  glm_vec4_minadd(a, b, dest);
 }

 CGLM_EXPORT
 void
-glmc_vec4_inv(vec4 v) {
-  glm_vec4_inv(v);
+glmc_vec4_negate(vec4 v) {
+  glm_vec4_negate(v);
 }

 CGLM_EXPORT
 void
-glmc_vec4_inv_to(vec4 v, vec4 dest) {
-  glm_vec4_inv_to(v, dest);
+glmc_vec4_negate_to(vec4 v, vec4 dest) {
+  glm_vec4_negate_to(v, dest);
 }

 CGLM_EXPORT
 float
-glmc_vec4_distance(vec4 v1, vec4 v2) {
-  return glm_vec4_distance(v1, v2);
+glmc_vec4_distance(vec4 a, vec4 b) {
+  return glm_vec4_distance(a, b);
 }

 CGLM_EXPORT
 void
-glmc_vec4_maxv(vec4 v1, vec4 v2, vec4 dest) {
-  glm_vec4_minv(v1, v2, dest);
+glmc_vec4_maxv(vec4 a, vec4 b, vec4 dest) {
+  glm_vec4_minv(a, b, dest);
 }

 CGLM_EXPORT
 void
-glmc_vec4_minv(vec4 v1, vec4 v2, vec4 dest) {
-  glm_vec4_maxv(v1, v2, dest);
+glmc_vec4_minv(vec4 a, vec4 b, vec4 dest) {
+  glm_vec4_maxv(a, b, dest);
 }

 CGLM_EXPORT
@@ -240,14 +240,14 @@ glmc_vec4_eq_all(vec4 v) {

 CGLM_EXPORT
 bool
-glmc_vec4_eqv(vec4 v1, vec4 v2) {
-  return glm_vec4_eqv(v1, v2);
+glmc_vec4_eqv(vec4 a, vec4 b) {
+  return glm_vec4_eqv(a, b);
 }

 CGLM_EXPORT
 bool
-glmc_vec4_eqv_eps(vec4 v1, vec4 v2) {
-  return glm_vec4_eqv_eps(v1, v2);
+glmc_vec4_eqv_eps(vec4 a, vec4 b) {
+  return glm_vec4_eqv_eps(a, b);
 }

 CGLM_EXPORT
--- a/test/src/test_cam.c
+++ b/test/src/test_cam.c
@@ -16,7 +16,7 @@ test_camera_lookat(void **state) {
       up     = {0.0f, 1.0f, 0.0f}
  ;

-  glm_vec_add(eye, dir, center);
+  glm_vec3_add(eye, dir, center);
  glm_lookat(eye, center, up, view1);

  glm_look(eye, dir, up, view2);
--- a/test/src/test_clamp.c
+++ b/test/src/test_clamp.c
@@ -16,7 +16,7 @@ test_clamp(void **state) {
  assert_true(glm_clamp(-1.6f, 0.0f, 1.0f) == 0.0f);
  assert_true(glm_clamp(0.6f, 0.0f, 1.0f)  == 0.6f);

-  glm_vec_clamp(v3, 0.0, 1.0);
+  glm_vec3_clamp(v3, 0.0, 1.0);
  glm_vec4_clamp(v4, 1.5, 3.0);

  assert_true(v3[0] == 1.0f);
--- a/test/src/test_mat3.c
+++ b/test/src/test_mat3.c
@@ -24,9 +24,9 @@ test_mat3(void **state) {
  for (i = 0; i < m; i++) {
    for (j = 0; j < n; j++) {
      if (i == j)
-        assert_true(m3[i][j] == 1.0f);
+        assert_true(glm_eq(m3[i][j], 1.0f));
      else
-        assert_true(m3[i][j] == 0.0f);
+        assert_true(glm_eq(m3[i][j], 0.0f));
    }
  }

--- a/test/src/test_mat4.c
+++ b/test/src/test_mat4.c
@@ -24,9 +24,9 @@ test_mat4(void **state) {
  for (i = 0; i < m; i++) {
    for (j = 0; j < n; j++) {
      if (i == j)
-        assert_true(m3[i][j] == 1.0f);
+        assert_true(glm_eq(m3[i][j], 1.0f));
      else
-        assert_true(m3[i][j] == 0.0f);
+        assert_true(glm_eq(m3[i][j], 0.0f));
    }
  }

--- a/test/src/test_quat.c
+++ b/test/src/test_quat.c
@@ -25,7 +25,7 @@ test_quat(void **state) {

  /* 0. test identiy quat */
  glm_quat_identity(q4);
-  assert_true(glm_quat_real(q4) == cosf(glm_rad(0.0f) * 0.5f));
+  assert_true(glm_eq(glm_quat_real(q4), cosf(glm_rad(0.0f) * 0.5f)));
  glm_quat_mat4(q4, rot1);
  test_assert_mat4_eq2(rot1, GLM_MAT4_IDENTITY, 0.000009);

@@ -118,7 +118,7 @@ test_quat(void **state) {
  /* 9. test imag, real */

  /* 9.1 real */
-  assert_true(glm_quat_real(q4) == cosf(glm_rad(-90.0f) * 0.5f));
+  assert_true(glm_eq(glm_quat_real(q4), cosf(glm_rad(-90.0f) * 0.5f)));

  /* 9.1 imag */
  glm_quat_imag(q4, imag);
@@ -128,7 +128,7 @@ test_quat(void **state) {
  axis[1] = sinf(glm_rad(-90.0f) * 0.5f) * 1.0f;
  axis[2] = 0.0f;

-  assert_true(glm_vec_eqv_eps(imag, axis));
+  assert_true(glm_vec3_eqv_eps(imag, axis));

  /* 9.2 axis */
  glm_quat_axis(q4, axis);
@@ -143,7 +143,7 @@ test_quat(void **state) {
  v1[0] = 0.0f; v1[1] = 0.0f; v1[2] = -1.0f;
  v2[0] = 0.0f; v2[1] = 0.0f; v2[2] = -1.0f;

-  glm_vec_rotate(v1, glm_rad(90.0f), (vec3){1.0f, 0.0f, 0.0f});
+  glm_vec3_rotate(v1, glm_rad(90.0f), (vec3){1.0f, 0.0f, 0.0f});
  glm_quatv(q3, glm_rad(90.0f), (vec3){1.0f, 0.0f, 0.0f});

  glm_vec4_scale(q3, 1.5, q3);
--- a/test/src/test_vec3.c
+++ b/test/src/test_vec3.c
@@ -14,64 +14,64 @@ test_vec3(void **state) {
  vec3 v, v1, v2;

  /* test zero */
-  glm_vec_zero(v);
+  glm_vec3_zero(v);
  test_assert_vec3_eq(GLM_VEC3_ZERO, v);

  /* test one */
-  glm_vec_one(v);
+  glm_vec3_one(v);
  test_assert_vec3_eq(GLM_VEC3_ONE, v);

  /* adds, subs, div, divs, mul */
-  glm_vec_add(v, GLM_VEC3_ONE, v);
-  assert_true(glmc_vec_eq_eps(v, 2));
+  glm_vec3_add(v, GLM_VEC3_ONE, v);
+  assert_true(glmc_vec3_eq_eps(v, 2));

-  glm_vec_adds(v, 10, v);
-  assert_true(glmc_vec_eq_eps(v, 12));
+  glm_vec3_adds(v, 10, v);
+  assert_true(glmc_vec3_eq_eps(v, 12));

-  glm_vec_sub(v, GLM_VEC3_ONE, v);
-  assert_true(glmc_vec_eq_eps(v, 11));
+  glm_vec3_sub(v, GLM_VEC3_ONE, v);
+  assert_true(glmc_vec3_eq_eps(v, 11));

-  glm_vec_subs(v, 1, v);
-  assert_true(glmc_vec_eq_eps(v, 10));
+  glm_vec3_subs(v, 1, v);
+  assert_true(glmc_vec3_eq_eps(v, 10));

-  glm_vec_broadcast(2, v1);
-  glm_vec_div(v, v1, v);
-  assert_true(glmc_vec_eq_eps(v, 5));
+  glm_vec3_broadcast(2, v1);
+  glm_vec3_div(v, v1, v);
+  assert_true(glmc_vec3_eq_eps(v, 5));

-  glm_vec_divs(v, 0.5, v);
-  assert_true(glmc_vec_eq_eps(v, 10));
+  glm_vec3_divs(v, 0.5, v);
+  assert_true(glmc_vec3_eq_eps(v, 10));

-  glm_vec_mul(v, v1, v);
-  assert_true(glmc_vec_eq_eps(v, 20));
+  glm_vec3_mul(v, v1, v);
+  assert_true(glmc_vec3_eq_eps(v, 20));

-  glm_vec_scale(v, 0.5, v);
-  assert_true(glmc_vec_eq_eps(v, 10));
+  glm_vec3_scale(v, 0.5, v);
+  assert_true(glmc_vec3_eq_eps(v, 10));

-  glm_vec_normalize_to(v, v1);
-  glm_vec_scale(v1, 0.8, v1);
-  glm_vec_scale_as(v, 0.8, v);
+  glm_vec3_normalize_to(v, v1);
+  glm_vec3_scale(v1, 0.8, v1);
+  glm_vec3_scale_as(v, 0.8, v);
  test_assert_vec3_eq(v1, v);

  /* addadd, subadd, muladd */
-  glm_vec_one(v);
+  glm_vec3_one(v);

-  glm_vec_addadd(GLM_VEC3_ONE, GLM_VEC3_ONE, v);
-  assert_true(glmc_vec_eq_eps(v, 3));
+  glm_vec3_addadd(GLM_VEC3_ONE, GLM_VEC3_ONE, v);
+  assert_true(glmc_vec3_eq_eps(v, 3));

-  glm_vec_subadd(GLM_VEC3_ONE, GLM_VEC3_ZERO, v);
-  assert_true(glmc_vec_eq_eps(v, 4));
+  glm_vec3_subadd(GLM_VEC3_ONE, GLM_VEC3_ZERO, v);
+  assert_true(glmc_vec3_eq_eps(v, 4));

-  glm_vec_broadcast(2, v1);
-  glm_vec_broadcast(3, v2);
-  glm_vec_muladd(v1, v2, v);
-  assert_true(glmc_vec_eq_eps(v, 10));
+  glm_vec3_broadcast(2, v1);
+  glm_vec3_broadcast(3, v2);
+  glm_vec3_muladd(v1, v2, v);
+  assert_true(glmc_vec3_eq_eps(v, 10));

  /* rotate */
-  glm_vec_copy(GLM_YUP, v);
+  glm_vec3_copy(GLM_YUP, v);
  glm_rotate_make(rot1, glm_rad(90), GLM_XUP);
-  glm_vec_rotate_m4(rot1, v, v1);
+  glm_vec3_rotate_m4(rot1, v, v1);
  glm_mat4_pick3(rot1, rot1m3);
-  glm_vec_rotate_m3(rot1m3, v, v2);
+  glm_vec3_rotate_m3(rot1m3, v, v2);

  test_assert_vec3_eq(v1, v2);
  test_assert_vec3_eq(v1, GLM_ZUP);