Sort of get FPS controls working

not really though, holy cow
Update build.bat to better contain files
2025-12-28 15:44:33 +00:00 · 2018-08-14 13:16:04 -05:00 · 2018-07-10 21:31:13 -05:00 · 2018-07-10 21:26:16 -05:00 · 2018-07-01 15:08:46 +02:00 · 2018-07-01 15:08:46 +02:00
45 changed files with 46119 additions and 76 deletions
--- a/.gitignore
+++ b/.gitignore
@@ -5,7 +5,6 @@
 *.slo
 *.lo
 *.o
-*.obj
 *.vs

 # Precompiled Headers
@@ -31,4 +30,6 @@
 *.exe
 *.out
 *.app
+
 test/build
+example/build
--- a/.gitmodules
+++ b/.gitmodules
@@ -0,0 +1,3 @@
+[submodule "example/external/glfw"]
+	path = example/external/glfw
+	url = git@github.com:glfw/glfw.git
--- a/HandmadeMath.h
+++ b/HandmadeMath.h
@@ -1,5 +1,5 @@
 /*
-  HandmadeMath.h v1.5.0
+  HandmadeMath.h v1.6.0
  
  This is a single header file with a bunch of useful functions for game and
  graphics math operations.
@@ -166,8 +166,14 @@
          (*) Changed internal structure for better performance and inlining.
          (*) As a result, HANDMADE_MATH_NO_INLINE has been removed and no
              longer has any effect.
-          
-          
+     1.5.1
+          (*) Fixed a bug with uninitialized elements in HMM_LookAt.
+     1.6.0
+          (*) Added array subscript operators for vector and matrix types in
+              C++. This is provided as a convenience, but be aware that it may
+              incur an extra function call in unoptimized builds.
+
+
  LICENSE
  
  This software is in the public domain. Where that dedication is not
@@ -312,6 +318,13 @@ typedef union hmm_vec2
    };

    float Elements[2];
+
+#ifdef __cplusplus
+    inline float &operator[](int Index)
+    {
+        return Elements[Index];
+    }
+#endif
 } hmm_vec2;

 typedef union hmm_vec3
@@ -356,6 +369,13 @@ typedef union hmm_vec3
    };

    float Elements[3];
+
+#ifdef __cplusplus
+    inline float &operator[](int Index)
+    {
+        return Elements[Index];
+    }
+#endif
 } hmm_vec3;

 typedef union hmm_vec4
@@ -413,6 +433,13 @@ typedef union hmm_vec4
 #ifdef HANDMADE_MATH__USE_SSE    
    __m128 InternalElementsSSE;
 #endif
+
+#ifdef __cplusplus
+    inline float &operator[](int Index)
+    {
+        return Elements[Index];
+    }
+#endif
 } hmm_vec4;

 typedef union hmm_mat4
@@ -422,6 +449,21 @@ typedef union hmm_mat4
 #ifdef HANDMADE_MATH__USE_SSE
    __m128 Rows[4];
 #endif
+
+#ifdef __cplusplus
+    inline hmm_vec4 operator[](const int Index)
+    {
+        float* col = Elements[Index];
+
+        hmm_vec4 result;
+        result.Elements[0] = col[0];
+        result.Elements[1] = col[1];
+        result.Elements[2] = col[2];
+        result.Elements[3] = col[3];
+
+        return result;
+    }
+#endif
 } hmm_mat4;

 typedef union hmm_quaternion
@@ -1203,6 +1245,8 @@ HMM_INLINE hmm_mat4 HMM_DivideMat4f(hmm_mat4 Matrix, float Scalar)
 HMM_EXTERN hmm_mat4 HMM_DivideMat4f(hmm_mat4 Matrix, float Scalar);
 #endif

+HMM_EXTERN hmm_quaternion HMM_Mat4ToQuaternion(hmm_mat4 Matrix);
+

 /*
 * Common graphics transformations
@@ -1392,6 +1436,12 @@ HMM_EXTERN hmm_quaternion HMM_Slerp(hmm_quaternion Left, float Time, hmm_quatern
 HMM_EXTERN hmm_mat4 HMM_QuaternionToMat4(hmm_quaternion Left);
 HMM_EXTERN hmm_quaternion HMM_QuaternionFromAxisAngle(hmm_vec3 Axis, float AngleOfRotation);

+HMM_INLINE hmm_quaternion HMM_QuaternionFromVectors(hmm_vec3 Normal, hmm_vec3 Up)
+{
+    // TODO: zero cases
+    return HMM_QuaternionFromAxisAngle(HMM_Cross(Up, Normal), HMM_ACosF(HMM_DotVec3(Normal, Up)));
+}
+
 #ifdef __cplusplus
 }
 #endif
@@ -2043,6 +2093,11 @@ HMM_INLINE hmm_mat4 &operator*=(hmm_mat4 &Left, float Right)
    return (Left = Left * Right);
 }

+HMM_INLINE hmm_quaternion &operator*=(hmm_quaternion &Left, hmm_quaternion Right)
+{
+    return (Left = Left * Right);
+}
+
 HMM_INLINE hmm_quaternion &operator*=(hmm_quaternion &Left, float Right)
 {
    return (Left = Left * Right);
@@ -2298,6 +2353,42 @@ hmm_mat4 HMM_DivideMat4f(hmm_mat4 Matrix, float Scalar)
 }
 #endif

+hmm_quaternion HMM_Mat4ToQuaternion(hmm_mat4 m)
+{
+    hmm_quaternion q;
+
+    float trace = m.Elements[0][0] + m.Elements[1][1] + m.Elements[2][2];
+    if (trace > 0) {
+        float s = 0.5f / HMM_SquareRootF(trace + 1.0f);
+        q.X = (m.Elements[1][2] - m.Elements[2][1] ) * s;
+        q.Y = (m.Elements[2][0] - m.Elements[0][2] ) * s;
+        q.Z = (m.Elements[0][1] - m.Elements[1][0] ) * s;
+        q.W = 0.25f / s;
+    } else {
+        if (m.Elements[0][0] > m.Elements[1][1] && m.Elements[0][0] > m.Elements[2][2]) {
+            float s = 2.0f * HMM_SquareRootF(1.0f + m.Elements[0][0] - m.Elements[1][1] - m.Elements[2][2]);
+            q.X = 0.25f * s;
+            q.Y = (m.Elements[1][0] + m.Elements[0][1]) / s;
+            q.Z = (m.Elements[2][0] + m.Elements[0][2]) / s;
+            q.W = (m.Elements[1][2] - m.Elements[2][1]) / s;
+        } else if (m.Elements[1][1] > m.Elements[2][2]) {
+            float s = 2.0f * HMM_SquareRootF(1.0f + m.Elements[1][1] - m.Elements[0][0] - m.Elements[2][2]);
+            q.X = (m.Elements[1][0] + m.Elements[0][1]) / s;
+            q.Y = 0.25f * s;
+            q.Z = (m.Elements[2][1] + m.Elements[1][2]) / s;
+            q.W = (m.Elements[2][0] - m.Elements[0][2]) / s;
+        } else {
+            float s = 2.0f * HMM_SquareRootF(1.0f + m.Elements[2][2] - m.Elements[0][0] - m.Elements[1][1]);
+            q.X = (m.Elements[2][0] + m.Elements[0][2]) / s;
+            q.Y = (m.Elements[2][1] + m.Elements[1][2]) / s;
+            q.Z = 0.25f * s;
+            q.W = (m.Elements[0][1] - m.Elements[1][0]) / s;
+        }
+    }
+
+    return q;
+}
+
 hmm_mat4 HMM_Rotate(float Angle, hmm_vec3 Axis)
 {
    hmm_mat4 Result = HMM_Mat4d(1.0f);
@@ -2334,14 +2425,17 @@ hmm_mat4 HMM_LookAt(hmm_vec3 Eye, hmm_vec3 Center, hmm_vec3 Up)
    Result.Elements[0][0] = S.X;
    Result.Elements[0][1] = U.X;
    Result.Elements[0][2] = -F.X;
+    Result.Elements[0][3] = 0.0f;

    Result.Elements[1][0] = S.Y;
    Result.Elements[1][1] = U.Y;
    Result.Elements[1][2] = -F.Y;
+    Result.Elements[1][3] = 0.0f;

    Result.Elements[2][0] = S.Z;
    Result.Elements[2][1] = U.Z;
    Result.Elements[2][2] = -F.Z;
+    Result.Elements[2][3] = 0.0f;

    Result.Elements[3][0] = -HMM_DotVec3(S, Eye);
    Result.Elements[3][1] = -HMM_DotVec3(U, Eye);
--- a/README.md
+++ b/README.md
@@ -8,8 +8,10 @@ To get started, go download [the latest release](https://github.com/HandmadeMath

 -----

-Version         | Changes        | 
+Version         | Changes        |
 ----------------|----------------|
+**1.6.0** | Added array subscript operators for vector and matrix types in C++. This is provided as a convenience, but be aware that it may incur an extra function call in unoptimized builds.
+**1.5.1** | Fixed a bug with uninitialized elements in HMM_LookAt.
 **1.5.0** | Changed internal structure for better performance and inlining. As a result, `HANDMADE_MATH_NO_INLINE` has been removed and no longer has any effect.
 **1.4.0** | Fixed bug when using C mode. SSE'd all vec4 operations. Removed zeroing for better performance.
 **1.3.0** | Removed need to `#define HANDMADE_MATH_CPP_MODE`. C++ definitions are now included automatically in C++ environments.
--- a/example/Axes.blend
+++ b/example/Axes.blend
--- a/example/Axes.mtl
+++ b/example/Axes.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'Axes.blend'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2
--- a/example/Axes.obj
+++ b/example/Axes.obj
@@ -0,0 +1,481 @@
+# Blender v2.78 (sub 0) OBJ File: 'Axes.blend'
+# www.blender.org
+mtllib Axes.mtl
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+s off
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--- a/example/Makefile
+++ b/example/Makefile
@@ -0,0 +1,22 @@
+BUILD_DIR=build
+
+CXXFLAGS+=-std=c++11
+
+clean:
+	rm -rf $(BUILD_DIR)
+
+glfw:
+	mkdir -p $(BUILD_DIR)/glfw
+	cd $(BUILD_DIR)/glfw \
+		&& cmake -DGLFW_BUILD_TESTS=off -DGLFW_BUILD_DOCS=off -DGLFW_BUILD_EXAMPLES=off ../../external/glfw \
+		&& make
+
+example:
+	mkdir -p $(BUILD_DIR)/example
+	cd $(BUILD_DIR)/example \
+		&& $(CXX) $(CPPFLAGS) $(CXXFLAGS) -ohmmexample \
+			-I../../external/glfw/include -I../../.. \
+			-L../glfw/src \
+			-lglew -lglfw3 \
+			-framework OpenGL -framework Cocoa -framework IOKit -framework CoreVideo \
+			../../src/*.cpp
--- a/example/MonkeyFlat.mtl
+++ b/example/MonkeyFlat.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2
--- a/example/MonkeyFlat.obj
+++ b/example/MonkeyFlat.obj
--- a/example/MonkeySmooth.mtl
+++ b/example/MonkeySmooth.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2
--- a/example/MonkeySmooth.obj
+++ b/example/MonkeySmooth.obj
--- a/example/build.bat
+++ b/example/build.bat
@@ -0,0 +1,14 @@
+@echo off
+
+mkdir build\example
+pushd build\example
+cl^
+    /I..\..\.. /I..\..\external\glew\include /I..\..\external\glfw-win64\include^
+    /MD /EHsc^
+    ..\..\src\*.cpp^
+    /Fehmm_example.exe^
+    /link^
+    /LIBPATH:..\..\external\glew\lib\Release\x64 /LIBPATH:..\..\external\glfw-win64\lib-vc2015^
+    opengl32.lib gdi32.lib user32.lib shell32.lib glew32.lib glfw3.lib
+copy ..\..\external\glew\bin\Release\x64\glew32.dll glew32.dll
+popd
--- a/example/external/glew/LICENSE.txt
+++ b/example/external/glew/LICENSE.txt
@@ -0,0 +1,73 @@
+The OpenGL Extension Wrangler Library
+Copyright (C) 2002-2007, Milan Ikits <milan ikits[]ieee org>
+Copyright (C) 2002-2007, Marcelo E. Magallon <mmagallo[]debian org>
+Copyright (C) 2002, Lev Povalahev
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without 
+modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, 
+  this list of conditions and the following disclaimer.
+* Redistributions in binary form must reproduce the above copyright notice, 
+  this list of conditions and the following disclaimer in the documentation 
+  and/or other materials provided with the distribution.
+* The name of the author may be used to endorse or promote products 
+  derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 
+LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 
+CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 
+SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF
+THE POSSIBILITY OF SUCH DAMAGE.
+
+
+Mesa 3-D graphics library
+Version:  7.0
+
+Copyright (C) 1999-2007  Brian Paul   All Rights Reserved.
+
+Permission is hereby granted, free of charge, to any person obtaining a
+copy of this software and associated documentation files (the "Software"),
+to deal in the Software without restriction, including without limitation
+the rights to use, copy, modify, merge, publish, distribute, sublicense,
+and/or sell copies of the Software, and to permit persons to whom the
+Software is furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included
+in all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL
+BRIAN PAUL BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN
+AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+
+Copyright (c) 2007 The Khronos Group Inc.
+
+Permission is hereby granted, free of charge, to any person obtaining a
+copy of this software and/or associated documentation files (the
+"Materials"), to deal in the Materials without restriction, including
+without limitation the rights to use, copy, modify, merge, publish,
+distribute, sublicense, and/or sell copies of the Materials, and to
+permit persons to whom the Materials are furnished to do so, subject to
+the following conditions:
+
+The above copyright notice and this permission notice shall be included
+in all copies or substantial portions of the Materials.
+
+THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
+CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
+TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
--- a/example/external/glew/include/GL/eglew.h
+++ b/example/external/glew/include/GL/eglew.h
--- a/example/external/glew/include/GL/glew.h
+++ b/example/external/glew/include/GL/glew.h
--- a/example/external/glew/include/GL/glxew.h
+++ b/example/external/glew/include/GL/glxew.h
--- a/example/external/glew/include/GL/wglew.h
+++ b/example/external/glew/include/GL/wglew.h
--- a/example/external/glfw
+++ b/example/external/glfw
--- a/example/external/glfw-win64/COPYING.txt
+++ b/example/external/glfw-win64/COPYING.txt
@@ -0,0 +1,22 @@
+Copyright (c) 2002-2006 Marcus Geelnard
+Copyright (c) 2006-2016 Camilla Berglund <elmindreda@glfw.org>
+
+This software is provided 'as-is', without any express or implied
+warranty. In no event will the authors be held liable for any damages
+arising from the use of this software.
+
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it
+freely, subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not
+   claim that you wrote the original software. If you use this software
+   in a product, an acknowledgment in the product documentation would
+   be appreciated but is not required.
+
+2. Altered source versions must be plainly marked as such, and must not
+   be misrepresented as being the original software.
+
+3. This notice may not be removed or altered from any source
+   distribution.
+
--- a/example/external/glfw-win64/include/GLFW/glfw3.h
+++ b/example/external/glfw-win64/include/GLFW/glfw3.h
--- a/example/external/glfw-win64/include/GLFW/glfw3native.h
+++ b/example/external/glfw-win64/include/GLFW/glfw3native.h
@@ -0,0 +1,456 @@
+/*************************************************************************
+ * GLFW 3.2 - www.glfw.org
+ * A library for OpenGL, window and input
+ *------------------------------------------------------------------------
+ * Copyright (c) 2002-2006 Marcus Geelnard
+ * Copyright (c) 2006-2016 Camilla Berglund <elmindreda@glfw.org>
+ *
+ * This software is provided 'as-is', without any express or implied
+ * warranty. In no event will the authors be held liable for any damages
+ * arising from the use of this software.
+ *
+ * Permission is granted to anyone to use this software for any purpose,
+ * including commercial applications, and to alter it and redistribute it
+ * freely, subject to the following restrictions:
+ *
+ * 1. The origin of this software must not be misrepresented; you must not
+ *    claim that you wrote the original software. If you use this software
+ *    in a product, an acknowledgment in the product documentation would
+ *    be appreciated but is not required.
+ *
+ * 2. Altered source versions must be plainly marked as such, and must not
+ *    be misrepresented as being the original software.
+ *
+ * 3. This notice may not be removed or altered from any source
+ *    distribution.
+ *
+ *************************************************************************/
+
+#ifndef _glfw3_native_h_
+#define _glfw3_native_h_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+/*************************************************************************
+ * Doxygen documentation
+ *************************************************************************/
+
+/*! @file glfw3native.h
+ *  @brief The header of the native access functions.
+ *
+ *  This is the header file of the native access functions.  See @ref native for
+ *  more information.
+ */
+/*! @defgroup native Native access
+ *
+ *  **By using the native access functions you assert that you know what you're
+ *  doing and how to fix problems caused by using them.  If you don't, you
+ *  shouldn't be using them.**
+ *
+ *  Before the inclusion of @ref glfw3native.h, you may define exactly one
+ *  window system API macro and zero or more context creation API macros.
+ *
+ *  The chosen backends must match those the library was compiled for.  Failure
+ *  to do this will cause a link-time error.
+ *
+ *  The available window API macros are:
+ *  * `GLFW_EXPOSE_NATIVE_WIN32`
+ *  * `GLFW_EXPOSE_NATIVE_COCOA`
+ *  * `GLFW_EXPOSE_NATIVE_X11`
+ *  * `GLFW_EXPOSE_NATIVE_WAYLAND`
+ *  * `GLFW_EXPOSE_NATIVE_MIR`
+ *
+ *  The available context API macros are:
+ *  * `GLFW_EXPOSE_NATIVE_WGL`
+ *  * `GLFW_EXPOSE_NATIVE_NSGL`
+ *  * `GLFW_EXPOSE_NATIVE_GLX`
+ *  * `GLFW_EXPOSE_NATIVE_EGL`
+ *
+ *  These macros select which of the native access functions that are declared
+ *  and which platform-specific headers to include.  It is then up your (by
+ *  definition platform-specific) code to handle which of these should be
+ *  defined.
+ */
+
+
+/*************************************************************************
+ * System headers and types
+ *************************************************************************/
+
+#if defined(GLFW_EXPOSE_NATIVE_WIN32)
+ // This is a workaround for the fact that glfw3.h needs to export APIENTRY (for
+ // example to allow applications to correctly declare a GL_ARB_debug_output
+ // callback) but windows.h assumes no one will define APIENTRY before it does
+ #undef APIENTRY
+ #include <windows.h>
+#elif defined(GLFW_EXPOSE_NATIVE_COCOA)
+ #include <ApplicationServices/ApplicationServices.h>
+ #if defined(__OBJC__)
+  #import <Cocoa/Cocoa.h>
+ #else
+  typedef void* id;
+ #endif
+#elif defined(GLFW_EXPOSE_NATIVE_X11)
+ #include <X11/Xlib.h>
+ #include <X11/extensions/Xrandr.h>
+#elif defined(GLFW_EXPOSE_NATIVE_WAYLAND)
+ #include <wayland-client.h>
+#elif defined(GLFW_EXPOSE_NATIVE_MIR)
+ #include <mir_toolkit/mir_client_library.h>
+#endif
+
+#if defined(GLFW_EXPOSE_NATIVE_WGL)
+ /* WGL is declared by windows.h */
+#endif
+#if defined(GLFW_EXPOSE_NATIVE_NSGL)
+ /* NSGL is declared by Cocoa.h */
+#endif
+#if defined(GLFW_EXPOSE_NATIVE_GLX)
+ #include <GL/glx.h>
+#endif
+#if defined(GLFW_EXPOSE_NATIVE_EGL)
+ #include <EGL/egl.h>
+#endif
+
+
+/*************************************************************************
+ * Functions
+ *************************************************************************/
+
+#if defined(GLFW_EXPOSE_NATIVE_WIN32)
+/*! @brief Returns the adapter device name of the specified monitor.
+ *
+ *  @return The UTF-8 encoded adapter device name (for example `\\.\DISPLAY1`)
+ *  of the specified monitor, or `NULL` if an [error](@ref error_handling)
+ *  occurred.
+ *
+ *  @thread_safety This function may be called from any thread.  Access is not
+ *  synchronized.
+ *
+ *  @since Added in version 3.1.
+ *
+ *  @ingroup native
+ */
+GLFWAPI const char* glfwGetWin32Adapter(GLFWmonitor* monitor);
+
+/*! @brief Returns the display device name of the specified monitor.
+ *
+ *  @return The UTF-8 encoded display device name (for example
+ *  `\\.\DISPLAY1\Monitor0`) of the specified monitor, or `NULL` if an
+ *  [error](@ref error_handling) occurred.
+ *
+ *  @thread_safety This function may be called from any thread.  Access is not
+ *  synchronized.
+ *
+ *  @since Added in version 3.1.
+ *
+ *  @ingroup native
+ */
+GLFWAPI const char* glfwGetWin32Monitor(GLFWmonitor* monitor);
+
+/*! @brief Returns the `HWND` of the specified window.
+ *
+ *  @return The `HWND` of the specified window, or `NULL` if an
+ *  [error](@ref error_handling) occurred.
+ *
+ *  @thread_safety This function may be called from any thread.  Access is not
+ *  synchronized.
+ *
+ *  @since Added in version 3.0.
+ *
+ *  @ingroup native
+ */
+GLFWAPI HWND glfwGetWin32Window(GLFWwindow* window);
+#endif
+
+#if defined(GLFW_EXPOSE_NATIVE_WGL)
+/*! @brief Returns the `HGLRC` of the specified window.
+ *
+ *  @return The `HGLRC` of the specified window, or `NULL` if an
+ *  [error](@ref error_handling) occurred.
+ *
+ *  @thread_safety This function may be called from any thread.  Access is not
+ *  synchronized.
+ *
+ *  @since Added in version 3.0.
+ *
+ *  @ingroup native
+ */
+GLFWAPI HGLRC glfwGetWGLContext(GLFWwindow* window);
+#endif
+
+#if defined(GLFW_EXPOSE_NATIVE_COCOA)
+/*! @brief Returns the `CGDirectDisplayID` of the specified monitor.
+ *
+ *  @return The `CGDirectDisplayID` of the specified monitor, or
+ *  `kCGNullDirectDisplay` if an [error](@ref error_handling) occurred.
+ *
+ *  @thread_safety This function may be called from any thread.  Access is not
+ *  synchronized.
+ *
+ *  @since Added in version 3.1.
+ *
+ *  @ingroup native
+ */
+GLFWAPI CGDirectDisplayID glfwGetCocoaMonitor(GLFWmonitor* monitor);
+
+/*! @brief Returns the `NSWindow` of the specified window.
+ *
+ *  @return The `NSWindow` of the specified window, or `nil` if an
+ *  [error](@ref error_handling) occurred.
+ *
+ *  @thread_safety This function may be called from any thread.  Access is not
+ *  synchronized.
+ *
+ *  @since Added in version 3.0.
+ *
+ *  @ingroup native
+ */
+GLFWAPI id glfwGetCocoaWindow(GLFWwindow* window);
+#endif
+
+#if defined(GLFW_EXPOSE_NATIVE_NSGL)
+/*! @brief Returns the `NSOpenGLContext` of the specified window.
+ *
+ *  @return The `NSOpenGLContext` of the specified window, or `nil` if an
+ *  [error](@ref error_handling) occurred.
+ *
+ *  @thread_safety This function may be called from any thread.  Access is not
+ *  synchronized.
+ *
+ *  @since Added in version 3.0.
+ *
+ *  @ingroup native
+ */
+GLFWAPI id glfwGetNSGLContext(GLFWwindow* window);
+#endif
+
+#if defined(GLFW_EXPOSE_NATIVE_X11)
+/*! @brief Returns the `Display` used by GLFW.
+ *
+ *  @return The `Display` used by GLFW, or `NULL` if an
+ *  [error](@ref error_handling) occurred.
+ *
+ *  @thread_safety This function may be called from any thread.  Access is not
+ *  synchronized.
+ *
+ *  @since Added in version 3.0.
+ *
+ *  @ingroup native
+ */
+GLFWAPI Display* glfwGetX11Display(void);
+
+/*! @brief Returns the `RRCrtc` of the specified monitor.
+ *
+ *  @return The `RRCrtc` of the specified monitor, or `None` if an
+ *  [error](@ref error_handling) occurred.
+ *
+ *  @thread_safety This function may be called from any thread.  Access is not
+ *  synchronized.
+ *
+ *  @since Added in version 3.1.
+ *
+ *  @ingroup native
+ */
+GLFWAPI RRCrtc glfwGetX11Adapter(GLFWmonitor* monitor);
+
+/*! @brief Returns the `RROutput` of the specified monitor.
+ *
+ *  @return The `RROutput` of the specified monitor, or `None` if an
+ *  [error](@ref error_handling) occurred.
+ *
+ *  @thread_safety This function may be called from any thread.  Access is not
+ *  synchronized.
+ *
+ *  @since Added in version 3.1.
+ *
+ *  @ingroup native
+ */
+GLFWAPI RROutput glfwGetX11Monitor(GLFWmonitor* monitor);
+
+/*! @brief Returns the `Window` of the specified window.
+ *
+ *  @return The `Window` of the specified window, or `None` if an
+ *  [error](@ref error_handling) occurred.
+ *
+ *  @thread_safety This function may be called from any thread.  Access is not
+ *  synchronized.
+ *
+ *  @since Added in version 3.0.
+ *
+ *  @ingroup native
+ */
+GLFWAPI Window glfwGetX11Window(GLFWwindow* window);
+#endif
+
+#if defined(GLFW_EXPOSE_NATIVE_GLX)
+/*! @brief Returns the `GLXContext` of the specified window.
+ *
+ *  @return The `GLXContext` of the specified window, or `NULL` if an
+ *  [error](@ref error_handling) occurred.
+ *
+ *  @thread_safety This function may be called from any thread.  Access is not
+ *  synchronized.
+ *
+ *  @since Added in version 3.0.
+ *
+ *  @ingroup native
+ */
+GLFWAPI GLXContext glfwGetGLXContext(GLFWwindow* window);
+
+/*! @brief Returns the `GLXWindow` of the specified window.
+ *
+ *  @return The `GLXWindow` of the specified window, or `None` if an
+ *  [error](@ref error_handling) occurred.
+ *
+ *  @thread_safety This function may be called from any thread.  Access is not
+ *  synchronized.
+ *
+ *  @since Added in version 3.2.
+ *
+ *  @ingroup native
+ */
+GLFWAPI GLXWindow glfwGetGLXWindow(GLFWwindow* window);
+#endif
+
+#if defined(GLFW_EXPOSE_NATIVE_WAYLAND)
+/*! @brief Returns the `struct wl_display*` used by GLFW.
+ *
+ *  @return The `struct wl_display*` used by GLFW, or `NULL` if an
+ *  [error](@ref error_handling) occurred.
+ *
+ *  @thread_safety This function may be called from any thread.  Access is not
+ *  synchronized.
+ *
+ *  @since Added in version 3.2.
+ *
+ *  @ingroup native
+ */
+GLFWAPI struct wl_display* glfwGetWaylandDisplay(void);
+
+/*! @brief Returns the `struct wl_output*` of the specified monitor.
+ *
+ *  @return The `struct wl_output*` of the specified monitor, or `NULL` if an
+ *  [error](@ref error_handling) occurred.
+ *
+ *  @thread_safety This function may be called from any thread.  Access is not
+ *  synchronized.
+ *
+ *  @since Added in version 3.2.
+ *
+ *  @ingroup native
+ */
+GLFWAPI struct wl_output* glfwGetWaylandMonitor(GLFWmonitor* monitor);
+
+/*! @brief Returns the main `struct wl_surface*` of the specified window.
+ *
+ *  @return The main `struct wl_surface*` of the specified window, or `NULL` if
+ *  an [error](@ref error_handling) occurred.
+ *
+ *  @thread_safety This function may be called from any thread.  Access is not
+ *  synchronized.
+ *
+ *  @since Added in version 3.2.
+ *
+ *  @ingroup native
+ */
+GLFWAPI struct wl_surface* glfwGetWaylandWindow(GLFWwindow* window);
+#endif
+
+#if defined(GLFW_EXPOSE_NATIVE_MIR)
+/*! @brief Returns the `MirConnection*` used by GLFW.
+ *
+ *  @return The `MirConnection*` used by GLFW, or `NULL` if an
+ *  [error](@ref error_handling) occurred.
+ *
+ *  @thread_safety This function may be called from any thread.  Access is not
+ *  synchronized.
+ *
+ *  @since Added in version 3.2.
+ *
+ *  @ingroup native
+ */
+GLFWAPI MirConnection* glfwGetMirDisplay(void);
+
+/*! @brief Returns the Mir output ID of the specified monitor.
+ *
+ *  @return The Mir output ID of the specified monitor, or zero if an
+ *  [error](@ref error_handling) occurred.
+ *
+ *  @thread_safety This function may be called from any thread.  Access is not
+ *  synchronized.
+ *
+ *  @since Added in version 3.2.
+ *
+ *  @ingroup native
+ */
+GLFWAPI int glfwGetMirMonitor(GLFWmonitor* monitor);
+
+/*! @brief Returns the `MirSurface*` of the specified window.
+ *
+ *  @return The `MirSurface*` of the specified window, or `NULL` if an
+ *  [error](@ref error_handling) occurred.
+ *
+ *  @thread_safety This function may be called from any thread.  Access is not
+ *  synchronized.
+ *
+ *  @since Added in version 3.2.
+ *
+ *  @ingroup native
+ */
+GLFWAPI MirSurface* glfwGetMirWindow(GLFWwindow* window);
+#endif
+
+#if defined(GLFW_EXPOSE_NATIVE_EGL)
+/*! @brief Returns the `EGLDisplay` used by GLFW.
+ *
+ *  @return The `EGLDisplay` used by GLFW, or `EGL_NO_DISPLAY` if an
+ *  [error](@ref error_handling) occurred.
+ *
+ *  @thread_safety This function may be called from any thread.  Access is not
+ *  synchronized.
+ *
+ *  @since Added in version 3.0.
+ *
+ *  @ingroup native
+ */
+GLFWAPI EGLDisplay glfwGetEGLDisplay(void);
+
+/*! @brief Returns the `EGLContext` of the specified window.
+ *
+ *  @return The `EGLContext` of the specified window, or `EGL_NO_CONTEXT` if an
+ *  [error](@ref error_handling) occurred.
+ *
+ *  @thread_safety This function may be called from any thread.  Access is not
+ *  synchronized.
+ *
+ *  @since Added in version 3.0.
+ *
+ *  @ingroup native
+ */
+GLFWAPI EGLContext glfwGetEGLContext(GLFWwindow* window);
+
+/*! @brief Returns the `EGLSurface` of the specified window.
+ *
+ *  @return The `EGLSurface` of the specified window, or `EGL_NO_SURFACE` if an
+ *  [error](@ref error_handling) occurred.
+ *
+ *  @thread_safety This function may be called from any thread.  Access is not
+ *  synchronized.
+ *
+ *  @since Added in version 3.0.
+ *
+ *  @ingroup native
+ */
+GLFWAPI EGLSurface glfwGetEGLSurface(GLFWwindow* window);
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* _glfw3_native_h_ */
+
--- a/example/shell.bat
+++ b/example/shell.bat
@@ -0,0 +1,5 @@
+@echo off
+
+if not defined ORIGINALPATH set ORIGINALPATH=%PATH%
+set PATH=%ORIGINALPATH%
+call "C:\Program Files (x86)\Microsoft Visual Studio\2017\Community\VC\Auxiliary\Build\vcvarsall.bat" x64
--- a/example/src/Cube.h
+++ b/example/src/Cube.h
@@ -0,0 +1,161 @@
+#include <HandmadeMath.h>
+
+#include "Entity.h"
+#include "RenderComponent.h"
+
+#ifndef HMME_CUBE_H
+#define HMME_CUBE_H
+
+// Our vertices. Three consecutive floats give a 3D vertex; Three consecutive vertices give a triangle.
+// A cube has 6 faces with 2 triangles each, so this makes 6*2=12 triangles, and 12*3 vertices
+static const GLfloat cubeVertices[] = {
+    -1.0f,-1.0f,-1.0f, // triangle 1 : begin
+    -1.0f,-1.0f, 1.0f,
+    -1.0f, 1.0f, 1.0f, // triangle 1 : end
+    1.0f, 1.0f,-1.0f, // triangle 2 : begin
+    -1.0f,-1.0f,-1.0f,
+    -1.0f, 1.0f,-1.0f, // triangle 2 : end
+    1.0f,-1.0f, 1.0f,
+    -1.0f,-1.0f,-1.0f,
+    1.0f,-1.0f,-1.0f,
+    1.0f, 1.0f,-1.0f,
+    1.0f,-1.0f,-1.0f,
+    -1.0f,-1.0f,-1.0f,
+    -1.0f,-1.0f,-1.0f,
+    -1.0f, 1.0f, 1.0f,
+    -1.0f, 1.0f,-1.0f,
+    1.0f,-1.0f, 1.0f,
+    -1.0f,-1.0f, 1.0f,
+    -1.0f,-1.0f,-1.0f,
+    -1.0f, 1.0f, 1.0f,
+    -1.0f,-1.0f, 1.0f,
+    1.0f,-1.0f, 1.0f,
+    1.0f, 1.0f, 1.0f,
+    1.0f,-1.0f,-1.0f,
+    1.0f, 1.0f,-1.0f,
+    1.0f,-1.0f,-1.0f,
+    1.0f, 1.0f, 1.0f,
+    1.0f,-1.0f, 1.0f,
+    1.0f, 1.0f, 1.0f,
+    1.0f, 1.0f,-1.0f,
+    -1.0f, 1.0f,-1.0f,
+    1.0f, 1.0f, 1.0f,
+    -1.0f, 1.0f,-1.0f,
+    -1.0f, 1.0f, 1.0f,
+    1.0f, 1.0f, 1.0f,
+    -1.0f, 1.0f, 1.0f,
+    1.0f,-1.0f, 1.0f
+};
+
+// One color for each vertex. They were generated randomly.
+static const GLfloat cubeColors[] = {
+    0.583f,  0.771f,  0.014f,
+    0.609f,  0.115f,  0.436f,
+    0.327f,  0.483f,  0.844f,
+    0.822f,  0.569f,  0.201f,
+    0.435f,  0.602f,  0.223f,
+    0.310f,  0.747f,  0.185f,
+    0.597f,  0.770f,  0.761f,
+    0.559f,  0.436f,  0.730f,
+    0.359f,  0.583f,  0.152f,
+    0.483f,  0.596f,  0.789f,
+    0.559f,  0.861f,  0.639f,
+    0.195f,  0.548f,  0.859f,
+    0.014f,  0.184f,  0.576f,
+    0.771f,  0.328f,  0.970f,
+    0.406f,  0.615f,  0.116f,
+    0.676f,  0.977f,  0.133f,
+    0.971f,  0.572f,  0.833f,
+    0.140f,  0.616f,  0.489f,
+    0.997f,  0.513f,  0.064f,
+    0.945f,  0.719f,  0.592f,
+    0.543f,  0.021f,  0.978f,
+    0.279f,  0.317f,  0.505f,
+    0.167f,  0.620f,  0.077f,
+    0.347f,  0.857f,  0.137f,
+    0.055f,  0.953f,  0.042f,
+    0.714f,  0.505f,  0.345f,
+    0.783f,  0.290f,  0.734f,
+    0.722f,  0.645f,  0.174f,
+    0.302f,  0.455f,  0.848f,
+    0.225f,  0.587f,  0.040f,
+    0.517f,  0.713f,  0.338f,
+    0.053f,  0.959f,  0.120f,
+    0.393f,  0.621f,  0.362f,
+    0.673f,  0.211f,  0.457f,
+    0.820f,  0.883f,  0.371f,
+    0.982f,  0.099f,  0.879f
+};
+
+class CubeRenderComponent : public RenderComponent {
+public:
+    GLuint vaoID;
+    GLuint vertexBufferID;
+    GLuint colorBufferID;
+
+    CubeRenderComponent() {
+        glGenVertexArrays(1, &vaoID);
+
+        glGenBuffers(1, &vertexBufferID);
+        glBindBuffer(GL_ARRAY_BUFFER, vertexBufferID);
+        glBufferData(GL_ARRAY_BUFFER, sizeof(cubeVertices), cubeVertices, GL_STATIC_DRAW);
+
+        glGenBuffers(1, &colorBufferID);
+        glBindBuffer(GL_ARRAY_BUFFER, colorBufferID);
+        glBufferData(GL_ARRAY_BUFFER, sizeof(cubeColors), cubeColors, GL_STATIC_DRAW);
+    }
+
+    void Draw() override {
+        glBindVertexArray(vaoID);
+
+        // 1st attribute buffer : vertices
+        glEnableVertexAttribArray(0);
+        glBindBuffer(GL_ARRAY_BUFFER, vertexBufferID);
+        glVertexAttribPointer(
+           0,                  // attribute 0. No particular reason for 0, but must match the layout in the shader.
+           3,                  // size
+           GL_FLOAT,           // type
+           GL_FALSE,           // normalized?
+           0,                  // stride
+           (void*)0            // array buffer offset
+        );
+
+        // 2nd attribute buffer : colors
+        glEnableVertexAttribArray(1);
+        glBindBuffer(GL_ARRAY_BUFFER, colorBufferID);
+        glVertexAttribPointer(
+            1,                 // attribute. No particular reason for 1, but must match the layout in the shader.
+            3,                 // size
+            GL_FLOAT,          // type
+            GL_FALSE,          // normalized?
+            0,                 // stride
+            (void*)0           // array buffer offset
+        );
+        
+        // Shader??
+
+        // Draw the triangle!
+        glDrawArrays(GL_TRIANGLES, 0, 36); // Starting from vertex 0; 3 vertices total -> 1 triangle
+        glDisableVertexAttribArray(0);
+        glDisableVertexAttribArray(1);
+    }
+};
+
+class Cube : public Entity {
+public:
+    float x = 0;
+    CubeRenderComponent rc = CubeRenderComponent();
+
+    Cube() {
+        // renderComponent = &rc;
+    }
+
+    void Tick(float deltaSeconds, Input previousInput, Input input) override {
+        x += deltaSeconds;
+        // position.X = 2.0f * HMM_SINF(x);
+
+        rotation *= HMM_QuaternionFromAxisAngle(HMM_Vec3(0.0f, 1.0f, 0.0f), deltaSeconds * HMM_ToRadians(45.0f));
+    }
+};
+
+#endif
--- a/example/src/Entity.h
+++ b/example/src/Entity.h
@@ -0,0 +1,119 @@
+#include <vector>
+
+#include <HandmadeMath.h>
+
+#ifndef HMME_ENTITY_H
+#define HMME_ENTITY_H
+
+#include "RenderComponent.h"
+
+class Entity {
+public:
+    hmm_vec3 position = HMM_Vec3(0.0f, 0.0f, 0.0f);
+    hmm_quaternion rotation = HMM_Quaternion(0.0f, 0.0f, 0.0f, 1.0f);
+    hmm_vec3 scale = HMM_Vec3(1.0f, 1.0f, 1.0f);
+
+    std::vector<Entity*> children;
+
+    void AddChild(Entity* e) {
+        children.push_back(e);
+    }
+
+    virtual void Tick(float deltaSeconds, Input previousInput, Input input) {}
+
+    RenderComponent *renderComponent = NULL;
+
+    struct CameraInfo {
+        float fov = 90.0f;
+        float aspect = 1024.0f / 768.0f;
+        float near = 0.1f;
+        float far = 100.0f;
+    };
+    CameraInfo camera;
+
+    hmm_mat4 projectionMatrix() {
+        return HMM_Perspective(camera.fov, camera.aspect, camera.near, camera.far);
+    }
+
+    hmm_mat4 viewMatrix() {
+        return HMM_LookAt(worldPosition(), worldPosition() + forward(), up());
+    }
+
+    hmm_vec3 worldPosition() {
+        return (modelMatrix * HMM_Vec4(0.0f, 0.0f, 0.0f, 1.0f)).XYZ;
+    }
+
+    hmm_vec3 up() {
+        return (modelMatrix * HMM_Vec4(0.0f, 1.0f, 0.0f, 1.0f)).XYZ - worldPosition();
+    }
+
+    hmm_vec3 forward() {
+        return (modelMatrix * HMM_Vec4(1.0f, 0.0f, 0.0f, 1.0f)).XYZ - worldPosition();
+    }
+
+    hmm_vec3 right() {
+        return (modelMatrix * HMM_Vec4(0.0f, 0.0f, 1.0f, 1.0f)).XYZ - worldPosition();
+    }
+
+    // Context for rendering and stuff
+    hmm_mat4 parentModelMatrix;
+    hmm_mat4 modelMatrix;
+};
+
+class EntityIterator {
+public:
+    typedef struct State {
+        Entity *entity;
+        int childIndex;
+
+        State(Entity *e) {
+            entity = e;
+            childIndex = -1;
+        }
+    } State;
+
+    EntityIterator(Entity *e) {
+        stack.push_back(State(e));
+    }
+
+    bool HasNext() {
+        return !stack.empty();
+    }
+
+    Entity *Next() {
+        Entity *result = 0;
+
+        // Pass 1 - get a result by either grabbing the current entity or making another state
+        while (true) {
+            State *state = &stack.back();
+
+            if (state->childIndex < 0) {
+                result = state->entity;
+                state->childIndex = 0;
+                break;
+            } else {
+                int nextIndex = state->childIndex;
+                state->childIndex++;
+                stack.push_back(State(state->entity->children[nextIndex]));
+            }
+        }
+
+        // Pass 2 - remove exhausted states from the stack
+        while (!stack.empty()) {
+            State state = stack.back();
+
+            if (state.childIndex >= state.entity->children.size()) {
+                stack.pop_back();
+            } else {
+                break;
+            }
+        }
+
+        return result;
+    }
+
+private:
+    std::vector<State> stack;
+};
+
+#endif
--- a/example/src/FPSCam.h
+++ b/example/src/FPSCam.h
@@ -0,0 +1,62 @@
+#include <stdio.h>
+#include <tgmath.h>
+
+#ifndef HMME_FPSCAM_H
+#define HMME_FPSCAM_H
+
+#include "Entity.h"
+#include "FollowCam.h"
+#include "HandmadeMath.h"
+
+#include "debug.h"
+
+class FPSCam : public Entity {
+public:
+    FollowCam cam = FollowCam(0); // TODO: Why on earth is this necessary?? Remove this and fix the error.
+    Entity target;
+
+    // all angles in radians
+    float yaw = 0;
+    float pitch = 0;
+    float sensitivity = 0.002f;
+
+    FPSCam() {
+        target = Entity();
+        target.position = HMM_Vec3(0.0f, 0.0f, -1.0f);
+
+        cam = FollowCam(&target);
+
+        AddChild(&target);
+        AddChild(&cam);
+    }
+
+    void Tick(float deltaSeconds, Input previousInput, Input input) override {
+        double deltaX = input.mouseX - previousInput.mouseX;
+        double deltaY = input.mouseY - previousInput.mouseY;
+
+        // HACK: Pitch is being weird for reasons I don't understand. It works fine for
+        // 360 degrees, then does something silly for 360 degrees, then repeats. I suspect
+        // I'm just doing something wrong with quaternions because I know they encode twice
+        // the angle or whatever. In any case, I've hacked around it for now to splice
+        // together ranges that work.
+
+        yaw = yaw + (-deltaX * sensitivity);
+        pitch = HMM_Clamp(-HMM_PI32 / 2, pitch + (-deltaY * sensitivity), HMM_PI32 / 2);
+
+        // HACK: MEGAHACK: why the heck is the apparent rotation twice what it should be?
+        float hackyPitch = HMM_PI32;
+        if (pitch > 0) {
+            hackyPitch = HMM_PI32 + pitch / 2;
+        } else if (pitch < 0) {
+            hackyPitch = 2 * HMM_PI32 + pitch / 2;
+        }
+        printf("%f\t%f\n", pitch, hackyPitch);
+
+        hmm_quaternion rotationYaw = HMM_QuaternionFromAxisAngle(HMM_Vec3(0.0f, 1.0f, 0.0f), yaw);
+        hmm_quaternion rotationPitch = HMM_QuaternionFromAxisAngle(HMM_Vec3(1.0f, 0.0f, 0.0f), hackyPitch);
+
+        rotation = rotationPitch * rotationYaw;
+    }
+};
+
+#endif
--- a/example/src/FollowCam.h
+++ b/example/src/FollowCam.h
@@ -0,0 +1,71 @@
+#include <stdio.h>
+
+#ifndef HMME_FOLLOWCAM_H
+#define HMME_FOLLOWCAM_H
+
+#include "Entity.h"
+#include "HandmadeMath.h"
+
+#include "debug.h"
+
+class FollowCam : public Entity {
+public:
+    Entity *target;
+
+    FollowCam(Entity *t) {
+        target = t;
+    }
+
+    void Tick(float deltaSeconds, Input previousInput, Input input) override {
+        // TODO: Find a way to do this rotation routine in a single quaternion. Maybe that
+        // just means finding a correct method, then doing some quaternion multiplication
+        // on paper to see how the axis and angle shake out.
+
+        rotation = GetLookAtRotation();
+    }
+
+    hmm_quaternion GetLookAtRotation() {
+        hmm_vec3 fwd = (parentModelMatrix * HMM_Vec4(1.0f, 0.0f, 0.0f, 0.0f)).XYZ;
+        hmm_vec3 up = (parentModelMatrix * HMM_Vec4(0.0f, 1.0f, 0.0f, 0.0f)).XYZ;
+        hmm_vec3 to = target->worldPosition() - worldPosition();
+        
+        hmm_vec3 pointAxis = HMM_Cross(fwd, to);
+        hmm_quaternion justPointAt;
+
+        // TODO: proper epsilon! and probably implement some kind of nan
+        // protection because a single nan ruins everything.
+        if (HMM_ABS(HMM_Length(pointAxis)) < 0.0001f) {
+            // Already pointing at the thing!
+            justPointAt = HMM_Quaternion(0.0f, 0.0f, 0.0f, 1.0f);
+        } else {
+            justPointAt = HMM_QuaternionFromAxisAngle(
+                pointAxis,
+                HMM_ACosF(HMM_Dot(HMM_Normalize(fwd), HMM_Normalize(to)))
+            );
+        }
+        
+        hmm_vec3 newUp = (HMM_QuaternionToMat4(justPointAt) * HMM_Vec4v(up, 0.0f)).XYZ;
+        hmm_quaternion backUpright = HMM_QuaternionFromAxisAngle(
+            to,
+            // TODO: This angle is not quite right! After this corrective rotation,
+            // the new up vector will *not* necessarily align with world up! So this
+            // will overshoot a little bit.
+            // 
+            // You should probably project the world up vector onto the plane of the
+            // to vector before you do the dot product. This is a good opportunity to
+            // add the vector projection stuff that we somehow have left out!
+            -HMM_ACosF(HMM_Dot(HMM_Normalize(newUp), HMM_Vec3(0.0f, 1.0f, 0.0f)))
+        );
+
+        return backUpright * justPointAt;
+
+        // BEN
+        // 
+        // YOU MUST ALWAYS REMEMBER THAT QUATERNION MULTIPLICATION IS NOT COMMUTATIVE
+        // AND THAT IT GOES RIGHT TO LEFT
+        // 
+        // NEVER FORGET THIS LEST YOU SUFFER THROUGH THIS MESS AGAIN
+    }
+};
+
+#endif
--- a/example/src/HandmadeMath.cpp
+++ b/example/src/HandmadeMath.cpp
@@ -0,0 +1,2 @@
+#define HANDMADE_MATH_IMPLEMENTATION
+#include <HandmadeMath.h>
--- a/example/src/MeshRenderComponent.h
+++ b/example/src/MeshRenderComponent.h
@@ -0,0 +1,179 @@
+#include <string>
+#include <vector>
+
+#ifndef HMME_MESH_RENDER_COMPONENT_H
+#define HMME_MESH_RENDER_COMPONENT_H
+
+#include "tiny_obj_loader.h"
+
+class MeshRenderComponent : public RenderComponent {
+public:
+    bool didLoad = false;
+
+    struct Shape {
+        GLuint vaoID = 0;
+        GLuint vertexBufferID = 0;
+        GLuint normalBufferID = 0;
+        GLuint uvBufferID = 0;
+        GLuint colorBufferID = 0;
+        int numVerts = 0;
+    };
+    std::vector<Shape> renderShapes;
+
+    MeshRenderComponent(const char *filename) {
+        // Load the model
+        tinyobj::attrib_t attrib;
+        std::vector<tinyobj::shape_t> shapes;
+        std::vector<tinyobj::material_t> materials;
+
+        std::string err;
+        bool ret = tinyobj::LoadObj(&attrib, &shapes, &materials, &err, filename);
+          
+        if (!err.empty()) { // `err` may contain warning message.
+            printf("Failed to load mesh: %s\n", err.c_str());
+        }
+
+        if (!ret) {
+            return;
+        }
+
+        for (auto shape : shapes) {
+            std::vector<tinyobj::real_t> vertices;
+            std::vector<tinyobj::real_t> normals;
+            std::vector<tinyobj::real_t> uvs;
+            std::vector<tinyobj::real_t> colors;
+
+            for (auto indices : shape.mesh.indices) {
+                if (indices.vertex_index > -1) {
+                    for (int i = 0; i < 3; i++) {
+                        int attribIndex = 3 * indices.vertex_index + i;
+                        vertices.push_back(attrib.vertices[attribIndex]);
+                        colors.push_back(attrib.colors[attribIndex]);
+                    }
+                }
+                if (indices.normal_index > -1) {
+                    for (int i = 0; i < 3; i++) {
+                        int attribIndex = 3 * indices.normal_index + i;
+                        normals.push_back(attrib.normals[attribIndex]);
+                    }
+                }
+                if (indices.texcoord_index > -1) {
+                    for (int i = 0; i < 2; i++) {
+                        int attribIndex = 2 * indices.texcoord_index + i;
+                        uvs.push_back(attrib.texcoords[attribIndex]);
+                    }
+                }
+            }
+
+            Shape s; // the new shape to insert into our list
+
+            glGenVertexArrays(1, &s.vaoID);
+
+            if (!vertices.empty()) {
+                glGenBuffers(1, &s.vertexBufferID);
+                glBindBuffer(GL_ARRAY_BUFFER, s.vertexBufferID);
+                glBufferData(GL_ARRAY_BUFFER, sizeof(tinyobj::real_t) * vertices.size(), &vertices.front(), GL_STATIC_DRAW);
+
+                glGenBuffers(1, &s.colorBufferID);
+                glBindBuffer(GL_ARRAY_BUFFER, s.colorBufferID);
+                glBufferData(GL_ARRAY_BUFFER, sizeof(tinyobj::real_t) * colors.size(), &colors.front(), GL_STATIC_DRAW);
+            }
+            
+            if (!normals.empty()) {
+                glGenBuffers(1, &s.normalBufferID);
+                glBindBuffer(GL_ARRAY_BUFFER, s.normalBufferID);
+                glBufferData(GL_ARRAY_BUFFER, sizeof(tinyobj::real_t) * normals.size(), &normals.front(), GL_STATIC_DRAW);
+            }
+
+            if (!uvs.empty()) {
+                glGenBuffers(1, &s.uvBufferID);
+                glBindBuffer(GL_ARRAY_BUFFER, s.uvBufferID);
+                glBufferData(GL_ARRAY_BUFFER, sizeof(tinyobj::real_t) * uvs.size(), &uvs.front(), GL_STATIC_DRAW);
+            }
+
+            s.numVerts = vertices.size() / 3;
+
+            renderShapes.push_back(s);
+        }
+
+        didLoad = true;
+    }
+
+    void Draw() override {
+        if (!didLoad) {
+            return;
+        }
+
+        for (auto s : renderShapes) {
+            glBindVertexArray(s.vaoID);
+
+            // 1st attribute buffer : vertices
+            glEnableVertexAttribArray(0);
+            glBindBuffer(GL_ARRAY_BUFFER, s.vertexBufferID);
+            glVertexAttribPointer(
+               0,                  // attribute 0. No particular reason for 0, but must match the layout in the shader.
+               3,                  // size
+               GL_FLOAT,           // type
+               GL_FALSE,           // normalized?
+               0,                  // stride
+               (void*)0            // array buffer offset
+            );
+
+            // 2nd attribute buffer : colors
+            glEnableVertexAttribArray(1);
+            glBindBuffer(GL_ARRAY_BUFFER, s.colorBufferID);
+            glVertexAttribPointer(
+                1,                 // attribute. No particular reason for 1, but must match the layout in the shader.
+                3,                 // size
+                GL_FLOAT,          // type
+                GL_FALSE,          // normalized?
+                0,                 // stride
+                (void*)0           // array buffer offset
+            );
+
+            if (s.normalBufferID != 0) {
+                // 3rd attribute buffer : normals
+                glEnableVertexAttribArray(2);
+                glBindBuffer(GL_ARRAY_BUFFER, s.normalBufferID);
+                glVertexAttribPointer(
+                    2,                 // must match the layout in the shader
+                    3,                 // size
+                    GL_FLOAT,          // type
+                    GL_FALSE,          // normalized?
+                    0,                 // stride
+                    (void*)0           // array buffer offset
+                );
+            }
+
+            if (s.uvBufferID != 0) {
+                // 4th attribute buffer : uvs
+                glEnableVertexAttribArray(3);
+                glBindBuffer(GL_ARRAY_BUFFER, s.normalBufferID);
+                glVertexAttribPointer(
+                    3,                 // must match the layout in the shader
+                    2,                 // size
+                    GL_FLOAT,          // type
+                    GL_FALSE,          // normalized?
+                    0,                 // stride
+                    (void*)0           // array buffer offset
+                );
+            }
+            
+            // Shader??
+
+            // Draw the triangle!
+            glDrawArrays(GL_TRIANGLES, 0, s.numVerts); // Starting from vertex 0; 3 vertices total -> 1 triangle
+            
+            glDisableVertexAttribArray(0);
+            glDisableVertexAttribArray(1);
+            if (s.normalBufferID != 0) {
+                glDisableVertexAttribArray(2);
+            }
+            if (s.uvBufferID != 0) {
+                glDisableVertexAttribArray(3);
+            }
+        }
+    }
+};
+
+#endif
--- a/example/src/RenderComponent.h
+++ b/example/src/RenderComponent.h
@@ -0,0 +1,13 @@
+#include <HandmadeMath.h>
+
+#ifndef HMME_RENDER_COMPONENT_H
+#define HMME_RENDER_COMPONENT_H
+
+#include "Entity.h"
+
+class RenderComponent {
+public:
+    virtual void Draw() = 0;
+};
+
+#endif
--- a/example/src/debug.h
+++ b/example/src/debug.h
@@ -0,0 +1,28 @@
+#include <stdio.h>
+
+#ifndef DEBUG_H
+#define DEBUG_H
+
+#include "HandmadeMath.h"
+
+void printVec3(hmm_vec3 v) {
+    printf("%f\t%f\t%f\n", v.X, v.Y, v.Z);
+}
+
+void printVec4(hmm_vec4 v) {
+    printf("%f\t%f\t%f\t%f\n", v.X, v.Y, v.Z, v.W);
+}
+
+void printQuaternion(hmm_quaternion q) {
+    printf("%f\t%f\t%f\t%f\n", q.X, q.Y, q.Z, q.W);
+}
+
+void printMat4(hmm_mat4 m) {
+    printf("/\n");
+    for (int r = 0; r < 4; r++) {
+        printf("| %f\t%f\t%f\t%f |\n", m[0][r], m[1][r], m[2][r], m[3][r]);
+    }
+    printf("\\\n");
+}
+
+#endif
--- a/example/src/fragment.glsl
+++ b/example/src/fragment.glsl
@@ -0,0 +1,18 @@
+#version 330 core
+
+in vec3 fragmentPosition_world;
+in vec3 fragmentColor;
+in vec3 fragmentNormal_world;
+in vec2 fragmentUV;
+
+out vec3 color;
+
+void main() {
+    vec3 ambient = vec3(0.1, 0.1, 0.1);
+
+    vec3 toLight_world = normalize(vec3(1, 1, 1));
+
+    float cosTheta = clamp(dot(normalize(fragmentNormal_world), toLight_world), 0.1, 1);
+
+    color = cosTheta * fragmentColor + ambient;
+}
--- a/example/src/input.h
+++ b/example/src/input.h
@@ -0,0 +1,19 @@
+#include <GLFW/glfw3.h>
+
+#ifndef HMME_INPUT_H
+#define HMME_INPUT_H
+
+struct Input {
+    double mouseX;
+    double mouseY;
+};
+
+Input GetInput(GLFWwindow *window) {
+    Input i;
+
+    glfwGetCursorPos(window, &i.mouseX, &i.mouseY);
+
+    return i;
+}
+
+#endif
--- a/example/src/main.cpp
+++ b/example/src/main.cpp
@@ -0,0 +1,190 @@
+#include <stdio.h>
+#include <chrono>
+#include <unistd.h>
+
+#include <GL/glew.h>
+#include <GLFW/glfw3.h>
+
+#include <HandmadeMath.h>
+
+#include "input.h"
+#include "shaders.h"
+
+#include "Entity.h"
+#include "Cube.h"
+#include "MeshRenderComponent.h"
+#include "FPSCam.h"
+
+void TickTree(Entity *e, float deltaSeconds, Input previousInput, Input input);
+void ComputeModelMatrices(Entity *ep, hmm_mat4 parentModelMatrix);
+void HandleMouseMove(GLFWwindow *window, double mouseX, double mouseY);
+
+using std::chrono::high_resolution_clock;
+
+#define WIDTH 1024
+#define HEIGHT 768
+
+int main() {
+    // Initialise GLFW
+    glewExperimental = true; // Needed for core profile
+    if (!glfwInit()) {
+        fprintf( stderr, "Failed to initialize GLFW\n" );
+        return -1;
+    }
+
+    glfwWindowHint(GLFW_SAMPLES, 4); // 4x antialiasing
+    glfwWindowHint(GLFW_CONTEXT_VERSION_MAJOR, 3); // We want OpenGL 3.3
+    glfwWindowHint(GLFW_CONTEXT_VERSION_MINOR, 3);
+    glfwWindowHint(GLFW_OPENGL_FORWARD_COMPAT, GL_TRUE); // To make MacOS happy; should not be needed
+    glfwWindowHint(GLFW_OPENGL_PROFILE, GLFW_OPENGL_CORE_PROFILE); // We don't want the old OpenGL 
+
+    // Open a window and create its OpenGL context
+    GLFWwindow* window; // (In the accompanying source code, this variable is global for simplicity)
+    window = glfwCreateWindow(WIDTH, HEIGHT, "Handmade Math Example", NULL, NULL);
+    if (window == NULL) {
+        fprintf( stderr, "Failed to open GLFW window. If you have an Intel GPU, they are not 3.3 compatible. Try the 2.1 version of the tutorials.\n" );
+        glfwTerminate();
+        return -1;
+    }
+    glfwMakeContextCurrent(window); // Initialize GLEW
+    glewExperimental=true; // Needed in core profile
+    if (glewInit() != GLEW_OK) {
+        fprintf(stderr, "Failed to initialize GLEW\n");
+        return -1;
+    }
+
+    // Ensure we can capture the escape key being pressed below
+    glfwSetInputMode(window, GLFW_STICKY_KEYS, GL_TRUE);
+
+    // Hide the mouse cursor
+    glfwSetInputMode(window, GLFW_CURSOR, GLFW_CURSOR_DISABLED);
+    // glfwSetCursorPos(window, WIDTH / 2, HEIGHT / 2);
+    // glfwSetCursorPosCallback(window, [](GLFWwindow *window, double mouseX, double mouseY) {
+    //     printf("%f\t%f\n", mouseX, mouseY);
+    //     // glfwSetCursorPos(window, WIDTH / 2, HEIGHT / 2);
+    // });
+
+    // Create and compile our GLSL program from the shaders
+    GLuint programID = LoadShaders("src/vertex.glsl", "src/fragment.glsl");
+    if (!programID) {
+        return 1;
+    }
+
+    // Get a handle for our "MVP" uniform
+    // Only during the initialisation
+    GLuint uniformID_M = glGetUniformLocation(programID, "M");
+    GLuint uniformID_V = glGetUniformLocation(programID, "V");
+    GLuint uniformID_MVP = glGetUniformLocation(programID, "MVP");
+
+    // Enable depth test
+    glEnable(GL_DEPTH_TEST);
+    // Accept fragment if it closer to the camera than the former one
+    glDepthFunc(GL_LESS);
+
+    Cube c1 = Cube();
+
+    Entity monkey = Entity();
+    monkey.position = HMM_Vec3(2.1f, 0.0f, 0.0f);
+    monkey.renderComponent = new MeshRenderComponent("MonkeySmooth.obj");
+
+    Entity backmonkey = Entity();
+    backmonkey.position = HMM_Vec3(0.0f, 0.0f, 5.0f);
+    backmonkey.renderComponent = new MeshRenderComponent("MonkeySmooth.obj");
+
+    FPSCam fpsCam = FPSCam();
+    fpsCam.position = HMM_Vec3(-1.0f, 1.0f, 3.0f);
+
+    Entity *cam = &fpsCam.cam;
+
+    // Cube c = Cube();
+    // monkey.position = HMM_Vec3(2.1f, 0.0f, 0.0f);
+
+    // monkey.AddChild(&c);
+    
+    c1.AddChild(&monkey);
+
+    Entity root = Entity();
+    root.AddChild(&c1);
+    root.AddChild(&fpsCam);
+    root.AddChild(&backmonkey);
+
+    Entity axes = Entity();
+    axes.renderComponent = new MeshRenderComponent("Axes.obj");
+    root.AddChild(&axes);
+
+    bool hasTicked = false;
+    high_resolution_clock::time_point lastTickTime;
+
+    Input previousInput = GetInput(window);
+
+    do {
+        glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
+
+        // Get inputs
+        Input input = GetInput(window);
+
+        // Tick
+        auto now = high_resolution_clock::now();
+        if (hasTicked) {
+            auto elapsedNanoseconds = std::chrono::duration_cast<std::chrono::nanoseconds>(now - lastTickTime).count();
+            float elapsedSeconds = elapsedNanoseconds / 1000000000.0f;
+            TickTree(&root, elapsedSeconds, previousInput, input);
+        }
+        lastTickTime = now;
+        hasTicked = true;
+        previousInput = input;
+
+        // Compute model positions for rendering
+        ComputeModelMatrices(&root, HMM_Mat4d(1.0f));
+
+        // Render!
+        hmm_mat4 projection = cam->projectionMatrix();
+        hmm_mat4 view = cam->viewMatrix();
+        hmm_mat4 vp = projection * view;
+
+        auto it = EntityIterator(&root);
+        while (it.HasNext()) {
+            Entity *e = it.Next();
+
+            if (e->renderComponent) {
+                // Use our shader
+                glUseProgram(programID);
+
+                // Send uniforms
+                glUniformMatrix4fv(uniformID_M, 1, GL_FALSE, &e->modelMatrix.Elements[0][0]);
+
+                glUniformMatrix4fv(uniformID_V, 1, GL_FALSE, &view.Elements[0][0]);
+
+                hmm_mat4 mvp = vp * e->modelMatrix;
+                glUniformMatrix4fv(uniformID_MVP, 1, GL_FALSE, &mvp.Elements[0][0]);
+
+                e->renderComponent->Draw();
+            }
+        }
+
+        // Swap buffers
+        glfwSwapBuffers(window);
+        glfwPollEvents();
+    } while (
+        // Check if the ESC key was pressed or the window was closed
+        glfwGetKey(window, GLFW_KEY_ESCAPE) != GLFW_PRESS
+        && glfwWindowShouldClose(window) == 0
+    );
+}
+
+void TickTree(Entity *e, float deltaSeconds, Input previousInput, Input input) {
+    e->Tick(deltaSeconds, previousInput, input);
+
+    for (auto child : e->children) {
+        TickTree(child, deltaSeconds, previousInput, input);
+    }
+}
+
+void ComputeModelMatrices(Entity *e, hmm_mat4 parentModelMatrix) {
+    e->parentModelMatrix = parentModelMatrix;
+    e->modelMatrix = parentModelMatrix * HMM_Translate(e->position) * HMM_QuaternionToMat4(e->rotation) * HMM_Scale(e->scale);
+
+    for (int i = 0; i < e->children.size(); i++) {
+        ComputeModelMatrices(e->children[i], e->modelMatrix);
+    }
+}
--- a/example/src/shaders.cpp
+++ b/example/src/shaders.cpp
@@ -0,0 +1,94 @@
+#include <stdio.h>
+#include <string>
+#include <vector>
+#include <iostream>
+#include <fstream>
+#include <sstream>
+
+#include "shaders.h"
+
+GLuint LoadShaders(const char * vertex_file_path, const char * fragment_file_path) {
+    // Create the shaders
+    GLuint VertexShaderID = glCreateShader(GL_VERTEX_SHADER);
+    GLuint FragmentShaderID = glCreateShader(GL_FRAGMENT_SHADER);
+
+    // Read the Vertex Shader code from the file
+    std::string VertexShaderCode;
+    std::ifstream VertexShaderStream(vertex_file_path, std::ios::in);
+    if(VertexShaderStream.is_open()){
+        std::stringstream sstr;
+        sstr << VertexShaderStream.rdbuf();
+        VertexShaderCode = sstr.str();
+        VertexShaderStream.close();
+    }else{
+        printf("Impossible to open %s. Are you in the right directory ? Don't forget to read the FAQ !\n", vertex_file_path);
+        return 0;
+    }
+
+    // Read the Fragment Shader code from the file
+    std::string FragmentShaderCode;
+    std::ifstream FragmentShaderStream(fragment_file_path, std::ios::in);
+    if(FragmentShaderStream.is_open()){
+        std::stringstream sstr;
+        sstr << FragmentShaderStream.rdbuf();
+        FragmentShaderCode = sstr.str();
+        FragmentShaderStream.close();
+    }
+
+    GLint Result = GL_FALSE;
+    int InfoLogLength;
+
+    // Compile Vertex Shader
+    printf("Compiling shader : %s\n", vertex_file_path);
+    char const * VertexSourcePointer = VertexShaderCode.c_str();
+    glShaderSource(VertexShaderID, 1, &VertexSourcePointer , NULL);
+    glCompileShader(VertexShaderID);
+
+    // Check Vertex Shader
+    glGetShaderiv(VertexShaderID, GL_COMPILE_STATUS, &Result);
+    glGetShaderiv(VertexShaderID, GL_INFO_LOG_LENGTH, &InfoLogLength);
+    if ( InfoLogLength > 0 ){
+        std::vector<char> VertexShaderErrorMessage(InfoLogLength+1);
+        glGetShaderInfoLog(VertexShaderID, InfoLogLength, NULL, &VertexShaderErrorMessage[0]);
+        printf("%s\n", &VertexShaderErrorMessage[0]);
+    }
+
+    // Compile Fragment Shader
+    printf("Compiling shader : %s\n", fragment_file_path);
+    char const * FragmentSourcePointer = FragmentShaderCode.c_str();
+    glShaderSource(FragmentShaderID, 1, &FragmentSourcePointer , NULL);
+    glCompileShader(FragmentShaderID);
+
+    // Check Fragment Shader
+    glGetShaderiv(FragmentShaderID, GL_COMPILE_STATUS, &Result);
+    glGetShaderiv(FragmentShaderID, GL_INFO_LOG_LENGTH, &InfoLogLength);
+    if ( InfoLogLength > 0 ){
+        std::vector<char> FragmentShaderErrorMessage(InfoLogLength+1);
+        glGetShaderInfoLog(FragmentShaderID, InfoLogLength, NULL, &FragmentShaderErrorMessage[0]);
+        printf("%s\n", &FragmentShaderErrorMessage[0]);
+    }
+
+    // Link the program
+    printf("Linking program\n");
+    GLuint ProgramID = glCreateProgram();
+    glAttachShader(ProgramID, VertexShaderID);
+    glAttachShader(ProgramID, FragmentShaderID);
+    glLinkProgram(ProgramID);
+
+    // Check the program
+    glGetProgramiv(ProgramID, GL_LINK_STATUS, &Result);
+    glGetProgramiv(ProgramID, GL_INFO_LOG_LENGTH, &InfoLogLength);
+    if ( InfoLogLength > 0 ){
+        std::vector<char> ProgramErrorMessage(InfoLogLength+1);
+        glGetProgramInfoLog(ProgramID, InfoLogLength, NULL, &ProgramErrorMessage[0]);
+        printf("%s\n", &ProgramErrorMessage[0]);
+    }
+    
+    glDetachShader(ProgramID, VertexShaderID);
+    glDetachShader(ProgramID, FragmentShaderID);
+    
+    glDeleteShader(VertexShaderID);
+    glDeleteShader(FragmentShaderID);
+
+    return ProgramID;
+}
--- a/example/src/shaders.h
+++ b/example/src/shaders.h
@@ -0,0 +1,9 @@
+#include <GL/glew.h>
+#include <GLFW/glfw3.h>
+
+#ifndef HMME_SHADERS_H
+#define HMME_SHADERS_H
+
+GLuint LoadShaders(const char * vertex_file_path, const char * fragment_file_path);
+
+#endif
--- a/example/src/tiny_obj_loader.cpp
+++ b/example/src/tiny_obj_loader.cpp
@@ -0,0 +1,2 @@
+#define TINYOBJLOADER_IMPLEMENTATION
+#include "tiny_obj_loader.h"
--- a/example/src/tiny_obj_loader.h
+++ b/example/src/tiny_obj_loader.h
--- a/example/src/vertex.glsl
+++ b/example/src/vertex.glsl
@@ -0,0 +1,28 @@
+#version 330 core
+
+// These match the values in glVertexAttribPointer
+layout(location = 0) in vec3 vertexPosition_model;
+layout(location = 1) in vec3 vertexColor;
+layout(location = 2) in vec3 vertexNormal_model;
+layout(location = 3) in vec2 vertexUV;
+
+uniform mat4 M;
+uniform mat4 V;
+uniform mat4 MVP;
+
+out vec3 fragmentPosition_world;
+out vec3 fragmentColor;
+out vec3 fragmentNormal_world;
+out vec2 fragmentUV;
+  
+void main(){
+    // Output position of the vertex, in clip space : MVP * position
+    gl_Position = MVP * vec4(vertexPosition_model, 1);
+    fragmentPosition_world = (M * vec4(vertexPosition_model, 1)).xyz;
+
+    fragmentColor = vertexColor;
+
+    fragmentNormal_world = (M * vec4(vertexNormal_model, 0)).xyz;
+
+    fragmentUV = vertexUV;
+}
--- a/test/categories/Initialization.h
+++ b/test/categories/Initialization.h
@@ -18,6 +18,10 @@ TEST(Initialization, Vectors)
    EXPECT_FLOAT_EQ(v2.Height, 2.0f);
    EXPECT_FLOAT_EQ(v2.Elements[0], 1.0f);
    EXPECT_FLOAT_EQ(v2.Elements[1], 2.0f);
+#ifdef __cplusplus
+    EXPECT_FLOAT_EQ(v2[0], 1.0f);
+    EXPECT_FLOAT_EQ(v2[1], 2.0f);
+#endif

    EXPECT_FLOAT_EQ(v2i.X, 1.0f);
    EXPECT_FLOAT_EQ(v2i.Y, 2.0f);
@@ -29,6 +33,10 @@ TEST(Initialization, Vectors)
    EXPECT_FLOAT_EQ(v2i.Height, 2.0f);
    EXPECT_FLOAT_EQ(v2i.Elements[0], 1.0f);
    EXPECT_FLOAT_EQ(v2i.Elements[1], 2.0f);
+#ifdef __cplusplus
+    EXPECT_FLOAT_EQ(v2i[0], 1.0f);
+    EXPECT_FLOAT_EQ(v2i[1], 2.0f);
+#endif

    //
    // Test vec3
@@ -56,6 +64,11 @@ TEST(Initialization, Vectors)
    EXPECT_FLOAT_EQ(v3.UV.Elements[1], 2.0f);
    EXPECT_FLOAT_EQ(v3.VW.Elements[0], 2.0f);
    EXPECT_FLOAT_EQ(v3.VW.Elements[1], 3.0f);
+#ifdef __cplusplus
+    EXPECT_FLOAT_EQ(v3[0], 1.0f);
+    EXPECT_FLOAT_EQ(v3[1], 2.0f);
+    EXPECT_FLOAT_EQ(v3[2], 3.0f);
+#endif

    EXPECT_FLOAT_EQ(v3i.X, 1.0f);
    EXPECT_FLOAT_EQ(v3i.Y, 2.0f);
@@ -77,6 +90,11 @@ TEST(Initialization, Vectors)
    EXPECT_FLOAT_EQ(v3i.UV.Elements[1], 2.0f);
    EXPECT_FLOAT_EQ(v3i.VW.Elements[0], 2.0f);
    EXPECT_FLOAT_EQ(v3i.VW.Elements[1], 3.0f);
+#ifdef __cplusplus
+    EXPECT_FLOAT_EQ(v3i[0], 1.0f);
+    EXPECT_FLOAT_EQ(v3i[1], 2.0f);
+    EXPECT_FLOAT_EQ(v3i[2], 3.0f);
+#endif

    //
    // Test vec4
@@ -107,6 +125,12 @@ TEST(Initialization, Vectors)
    EXPECT_FLOAT_EQ(v4.RGB.Elements[0], 1.0f);
    EXPECT_FLOAT_EQ(v4.RGB.Elements[1], 2.0f);
    EXPECT_FLOAT_EQ(v4.RGB.Elements[2], 3.0f);
+#ifdef __cplusplus
+    EXPECT_FLOAT_EQ(v4[0], 1.0f);
+    EXPECT_FLOAT_EQ(v4[1], 2.0f);
+    EXPECT_FLOAT_EQ(v4[2], 3.0f);
+    EXPECT_FLOAT_EQ(v4[3], 4.0f);
+#endif

    EXPECT_FLOAT_EQ(v4i.X, 1.0f);
    EXPECT_FLOAT_EQ(v4i.Y, 2.0f);
@@ -130,6 +154,12 @@ TEST(Initialization, Vectors)
    EXPECT_FLOAT_EQ(v4i.RGB.Elements[0], 1.0f);
    EXPECT_FLOAT_EQ(v4i.RGB.Elements[1], 2.0f);
    EXPECT_FLOAT_EQ(v4i.RGB.Elements[2], 3.0f);
+#ifdef __cplusplus
+    EXPECT_FLOAT_EQ(v4i[0], 1.0f);
+    EXPECT_FLOAT_EQ(v4i[1], 2.0f);
+    EXPECT_FLOAT_EQ(v4i[2], 3.0f);
+    EXPECT_FLOAT_EQ(v4i[3], 4.0f);
+#endif

    EXPECT_FLOAT_EQ(v4v.X, 1.0f);
    EXPECT_FLOAT_EQ(v4v.Y, 2.0f);
@@ -153,6 +183,12 @@ TEST(Initialization, Vectors)
    EXPECT_FLOAT_EQ(v4v.RGB.Elements[0], 1.0f);
    EXPECT_FLOAT_EQ(v4v.RGB.Elements[1], 2.0f);
    EXPECT_FLOAT_EQ(v4v.RGB.Elements[2], 3.0f);
+#ifdef __cplusplus
+    EXPECT_FLOAT_EQ(v4v[0], 1.0f);
+    EXPECT_FLOAT_EQ(v4v[1], 2.0f);
+    EXPECT_FLOAT_EQ(v4v[2], 3.0f);
+    EXPECT_FLOAT_EQ(v4v[3], 4.0f);
+#endif
 }

 TEST(Initialization, MatrixEmpty)
@@ -163,6 +199,9 @@ TEST(Initialization, MatrixEmpty)
        for (int Row = 0; Row < 4; ++Row)
        {
            EXPECT_FLOAT_EQ(m4.Elements[Column][Row], 0.0f);
+#ifdef __cplusplus
+            EXPECT_FLOAT_EQ(m4[Column][Row], 0.0f);
+#endif
        }
    }
 }
--- a/test/categories/MatrixOps.h
+++ b/test/categories/MatrixOps.h
@@ -0,0 +1,154 @@
+#include "../HandmadeTest.h"
+
+void printQuat(hmm_quaternion quat) {
+    printf("\n%f %f %f %f", quat.X, quat.Y, quat.Z, quat.W);
+}
+
+TEST(MatrixOps, Transpose)
+{
+    hmm_mat4 m4 = HMM_Mat4(); // will have 1 - 16
+
+    // Fill the matrix
+    int Counter = 1;
+    for (int Column = 0; Column < 4; ++Column)
+    {
+        for (int Row = 0; Row < 4; ++Row)
+        {
+            m4.Elements[Column][Row] = Counter;
+            ++Counter;
+        }
+    }
+
+    // Test the matrix
+    hmm_mat4 result = HMM_Transpose(m4);
+    EXPECT_FLOAT_EQ(result.Elements[0][0], 1.0f);
+    EXPECT_FLOAT_EQ(result.Elements[0][1], 5.0f);
+    EXPECT_FLOAT_EQ(result.Elements[0][2], 9.0f);
+    EXPECT_FLOAT_EQ(result.Elements[0][3], 13.0f);
+    EXPECT_FLOAT_EQ(result.Elements[1][0], 2.0f);
+    EXPECT_FLOAT_EQ(result.Elements[1][1], 6.0f);
+    EXPECT_FLOAT_EQ(result.Elements[1][2], 10.0f);
+    EXPECT_FLOAT_EQ(result.Elements[1][3], 14.0f);
+    EXPECT_FLOAT_EQ(result.Elements[2][0], 3.0f);
+    EXPECT_FLOAT_EQ(result.Elements[2][1], 7.0f);
+    EXPECT_FLOAT_EQ(result.Elements[2][2], 11.0f);
+    EXPECT_FLOAT_EQ(result.Elements[2][3], 15.0f);
+    EXPECT_FLOAT_EQ(result.Elements[3][0], 4.0f);
+    EXPECT_FLOAT_EQ(result.Elements[3][1], 8.0f);
+    EXPECT_FLOAT_EQ(result.Elements[3][2], 12.0f);
+    EXPECT_FLOAT_EQ(result.Elements[3][3], 16.0f);
+}
+
+TEST(MatrixOps, ToQuaternion)
+{
+    { // Test 90 degree rotation about X axis
+        hmm_mat4 rot = {
+            1.0f, 0.0f, 0.0f, 0.0f, // first column (X)
+            0.0f, 0.0f, 1.0f, 0.0f, // second column (Y)
+            0.0f, -1.0f, 0.0f, 0.0f, // third column (Z)
+            0.0f, 0.0f, 0.0f, 0.0f
+        };
+
+        hmm_quaternion expected = HMM_QuaternionFromAxisAngle(HMM_Vec3(1.0f, 0.0f, 0.0f), HMM_ToRadians(90.0f));
+        hmm_quaternion actualResult = HMM_Mat4ToQuaternion(rot);
+
+        EXPECT_FLOAT_EQ(actualResult.X, expected.X);
+        EXPECT_FLOAT_EQ(actualResult.Y, expected.Y);
+        EXPECT_FLOAT_EQ(actualResult.Z, expected.Z);
+        EXPECT_FLOAT_EQ(actualResult.W, expected.W);
+    }
+
+    { // Test 90 degree rotation about Y axis
+        hmm_mat4 rot = {
+            0.0f, 0.0f, -1.0f, 0.0f, // first column (X)
+            0.0f, 1.0f, 0.0f, 0.0f, // second column (Y)
+            1.0f, 0.0f, 0.0f, 0.0f, // third column (Z)
+            0.0f, 0.0f, 0.0f, 0.0f
+        };
+
+        hmm_quaternion expected = HMM_QuaternionFromAxisAngle(HMM_Vec3(0.0f, 1.0f, 0.0f), HMM_ToRadians(90.0f));
+        hmm_quaternion actualResult = HMM_Mat4ToQuaternion(rot);
+
+        EXPECT_FLOAT_EQ(actualResult.X, expected.X);
+        EXPECT_FLOAT_EQ(actualResult.Y, expected.Y);
+        EXPECT_FLOAT_EQ(actualResult.Z, expected.Z);
+        EXPECT_FLOAT_EQ(actualResult.W, expected.W);
+    }
+
+    { // Test 90 degree rotation about Z axis
+        hmm_mat4 rot = {
+            0.0f, 1.0f, 0.0f, 0.0f, // first column (X)
+            -1.0f, 0.0f, 0.0f, 0.0f, // second column (Y)
+            0.0f, 0.0f, 1.0f, 0.0f, // third column (Z)
+            0.0f, 0.0f, 0.0f, 0.0f
+        };
+
+        hmm_quaternion expected = HMM_QuaternionFromAxisAngle(HMM_Vec3(0.0f, 0.0f, 1.0f), HMM_ToRadians(90.0f));
+        hmm_quaternion actualResult = HMM_Mat4ToQuaternion(rot);
+
+        EXPECT_FLOAT_EQ(actualResult.X, expected.X);
+        EXPECT_FLOAT_EQ(actualResult.Y, expected.Y);
+        EXPECT_FLOAT_EQ(actualResult.Z, expected.Z);
+        EXPECT_FLOAT_EQ(actualResult.W, expected.W);
+    }
+
+    { // Test 180 degree rotation about X axis
+        hmm_mat4 rot = {
+            1.0f, 0.0f, 0.0f, 0.0f, // first column (X)
+            0.0f, -1.0f, 1.0f, 0.0f, // second column (Y)
+            0.0f, 0.0f, -1.0f, 0.0f, // third column (Z)
+            0.0f, 0.0f, 0.0f, 0.0f
+        };
+
+        hmm_quaternion expected = HMM_QuaternionFromAxisAngle(HMM_Vec3(1.0f, 0.0f, 0.0f), HMM_ToRadians(180.0f));
+        hmm_quaternion actualResult = HMM_Mat4ToQuaternion(rot);
+
+        printQuat(expected);
+        printQuat(actualResult);
+
+        EXPECT_FLOAT_EQ(actualResult.X, expected.X);
+        EXPECT_FLOAT_EQ(actualResult.Y, expected.Y);
+        EXPECT_FLOAT_EQ(actualResult.Z, expected.Z);
+        EXPECT_FLOAT_EQ(actualResult.W, expected.W);
+    }
+
+    { // Test 180 degree rotation about Y axis
+        hmm_mat4 rot = {
+            -1.0f, 0.0f, 0.0f, 0.0f, // first column (X)
+            0.0f, 1.0f, 1.0f, 0.0f, // second column (Y)
+            0.0f, 0.0f, -1.0f, 0.0f, // third column (Z)
+            0.0f, 0.0f, 0.0f, 0.0f
+        };
+
+        hmm_quaternion expected = HMM_QuaternionFromAxisAngle(HMM_Vec3(0.0f, 1.0f, 0.0f), HMM_ToRadians(180.0f));
+        hmm_quaternion actualResult = HMM_Mat4ToQuaternion(rot);
+
+        printQuat(expected);
+        printQuat(actualResult);
+
+        EXPECT_FLOAT_EQ(actualResult.X, expected.X);
+        EXPECT_FLOAT_EQ(actualResult.Y, expected.Y);
+        EXPECT_FLOAT_EQ(actualResult.Z, expected.Z);
+        EXPECT_FLOAT_EQ(actualResult.W, expected.W);
+    }
+
+    { // Test 180 degree rotation about Z axis
+        hmm_mat4 rot = {
+            -1.0f, 0.0f, 0.0f, 0.0f, // first column (X)
+            0.0f, -1.0f, 1.0f, 0.0f, // second column (Y)
+            0.0f, 0.0f, 1.0f, 0.0f, // third column (Z)
+            0.0f, 0.0f, 0.0f, 0.0f
+        };
+
+        hmm_quaternion expected = HMM_QuaternionFromAxisAngle(HMM_Vec3(0.0f, 0.0f, 1.0f), HMM_ToRadians(180.0f));
+        hmm_quaternion actualResult = HMM_Mat4ToQuaternion(rot);
+
+        printQuat(expected);
+        printQuat(actualResult);
+
+        EXPECT_FLOAT_EQ(actualResult.X, expected.X);
+        EXPECT_FLOAT_EQ(actualResult.Y, expected.Y);
+        EXPECT_FLOAT_EQ(actualResult.Z, expected.Z);
+        EXPECT_FLOAT_EQ(actualResult.W, expected.W);
+    }
+}
--- a/test/categories/QuaternionOps.h
+++ b/test/categories/QuaternionOps.h
@@ -80,29 +80,59 @@ TEST(QuaternionOps, ToMat4)
 {
    const float abs_error = 0.0001f;

-    hmm_quaternion rot = HMM_Quaternion(0.707107f, 0.0f, 0.0f, 0.707107f);
+    {
+        // Identity quaternion
+        hmm_quaternion rot = HMM_Quaternion(0.0f, 0.0f, 0.0f, 1.0f);

-    hmm_mat4 result = HMM_QuaternionToMat4(rot);
+        hmm_mat4 result = HMM_QuaternionToMat4(rot);

-    EXPECT_NEAR(result.Elements[0][0], 1.0f, abs_error);
-    EXPECT_NEAR(result.Elements[0][1], 0.0f, abs_error);
-    EXPECT_NEAR(result.Elements[0][2], 0.0f, abs_error);
-    EXPECT_NEAR(result.Elements[0][3], 0.0f, abs_error);
+        EXPECT_NEAR(result.Elements[0][0], 1.0f, abs_error);
+        EXPECT_NEAR(result.Elements[0][1], 0.0f, abs_error);
+        EXPECT_NEAR(result.Elements[0][2], 0.0f, abs_error);
+        EXPECT_NEAR(result.Elements[0][3], 0.0f, abs_error);

-    EXPECT_NEAR(result.Elements[1][0], 0.0f, abs_error);
-    EXPECT_NEAR(result.Elements[1][1], 0.0f, abs_error);
-    EXPECT_NEAR(result.Elements[1][2], 1.0f, abs_error);
-    EXPECT_NEAR(result.Elements[1][3], 0.0f, abs_error);
+        EXPECT_NEAR(result.Elements[1][0], 0.0f, abs_error);
+        EXPECT_NEAR(result.Elements[1][1], 1.0f, abs_error);
+        EXPECT_NEAR(result.Elements[1][2], 0.0f, abs_error);
+        EXPECT_NEAR(result.Elements[1][3], 0.0f, abs_error);

-    EXPECT_NEAR(result.Elements[2][0], 0.0f, abs_error);
-    EXPECT_NEAR(result.Elements[2][1], -1.0f, abs_error);
-    EXPECT_NEAR(result.Elements[2][2], 0.0f, abs_error);
-    EXPECT_NEAR(result.Elements[2][3], 0.0f, abs_error);
+        EXPECT_NEAR(result.Elements[2][0], 0.0f, abs_error);
+        EXPECT_NEAR(result.Elements[2][1], 0.0f, abs_error);
+        EXPECT_NEAR(result.Elements[2][2], 1.0f, abs_error);
+        EXPECT_NEAR(result.Elements[2][3], 0.0f, abs_error);

-    EXPECT_NEAR(result.Elements[3][0], 0.0f, abs_error);
-    EXPECT_NEAR(result.Elements[3][1], 0.0f, abs_error);
-    EXPECT_NEAR(result.Elements[3][2], 0.0f, abs_error);
-    EXPECT_NEAR(result.Elements[3][3], 1.0f, abs_error);
+        EXPECT_NEAR(result.Elements[3][0], 0.0f, abs_error);
+        EXPECT_NEAR(result.Elements[3][1], 0.0f, abs_error);
+        EXPECT_NEAR(result.Elements[3][2], 0.0f, abs_error);
+        EXPECT_NEAR(result.Elements[3][3], 1.0f, abs_error);
+    }
+
+    {
+        // Straightforward 90 degree rotation
+        hmm_quaternion rot = HMM_Quaternion(0.707107f, 0.0f, 0.0f, 0.707107f);
+
+        hmm_mat4 result = HMM_QuaternionToMat4(rot);
+
+        EXPECT_NEAR(result.Elements[0][0], 1.0f, abs_error);
+        EXPECT_NEAR(result.Elements[0][1], 0.0f, abs_error);
+        EXPECT_NEAR(result.Elements[0][2], 0.0f, abs_error);
+        EXPECT_NEAR(result.Elements[0][3], 0.0f, abs_error);
+
+        EXPECT_NEAR(result.Elements[1][0], 0.0f, abs_error);
+        EXPECT_NEAR(result.Elements[1][1], 0.0f, abs_error);
+        EXPECT_NEAR(result.Elements[1][2], 1.0f, abs_error);
+        EXPECT_NEAR(result.Elements[1][3], 0.0f, abs_error);
+
+        EXPECT_NEAR(result.Elements[2][0], 0.0f, abs_error);
+        EXPECT_NEAR(result.Elements[2][1], -1.0f, abs_error);
+        EXPECT_NEAR(result.Elements[2][2], 0.0f, abs_error);
+        EXPECT_NEAR(result.Elements[2][3], 0.0f, abs_error);
+
+        EXPECT_NEAR(result.Elements[3][0], 0.0f, abs_error);
+        EXPECT_NEAR(result.Elements[3][1], 0.0f, abs_error);
+        EXPECT_NEAR(result.Elements[3][2], 0.0f, abs_error);
+        EXPECT_NEAR(result.Elements[3][3], 1.0f, abs_error);
+    }
 }

 TEST(QuaternionOps, FromAxisAngle)
--- a/test/categories/Transformation.h
+++ b/test/categories/Transformation.h
@@ -51,3 +51,27 @@ TEST(Transformations, Scale)
    EXPECT_FLOAT_EQ(scaled.Z, 1.5f);
    EXPECT_FLOAT_EQ(scaled.W, 1.0f);
 }
+
+TEST(Transformations, LookAt)
+{
+    const float abs_error = 0.0001f;
+
+    hmm_mat4 result = HMM_LookAt(HMM_Vec3(1.0f, 0.0f, 0.0f), HMM_Vec3(0.0f, 2.0f, 1.0f), HMM_Vec3(2.0f, 1.0f, 1.0f));
+
+    EXPECT_NEAR(result.Elements[0][0], 0.169031f, abs_error);
+    EXPECT_NEAR(result.Elements[0][1], 0.897085f, abs_error);
+    EXPECT_NEAR(result.Elements[0][2], 0.408248f, abs_error);
+    EXPECT_FLOAT_EQ(result.Elements[0][3], 0.0f);
+    EXPECT_NEAR(result.Elements[1][0], 0.507093f, abs_error);
+    EXPECT_NEAR(result.Elements[1][1], 0.276026f, abs_error);
+    EXPECT_NEAR(result.Elements[1][2], -0.816497f, abs_error);
+    EXPECT_FLOAT_EQ(result.Elements[1][3], 0.0f);
+    EXPECT_NEAR(result.Elements[2][0], -0.845154f, abs_error);
+    EXPECT_NEAR(result.Elements[2][1], 0.345033f, abs_error);
+    EXPECT_NEAR(result.Elements[2][2], -0.408248f, abs_error);
+    EXPECT_FLOAT_EQ(result.Elements[2][3], 0.0f);
+    EXPECT_NEAR(result.Elements[3][0], -0.169031f, abs_error);
+    EXPECT_NEAR(result.Elements[3][1], -0.897085f, abs_error);
+    EXPECT_NEAR(result.Elements[3][2], -0.408248f, abs_error);
+    EXPECT_FLOAT_EQ(result.Elements[3][3], 1.0f);
+}
--- a/test/categories/VectorOps.h
+++ b/test/categories/VectorOps.h
@@ -136,14 +136,28 @@ TEST(VectorOps, NormalizeZero)

 TEST(VectorOps, Cross)
 {
-    hmm_vec3 v1 = HMM_Vec3(1.0f, 2.0f, 3.0f);
-    hmm_vec3 v2 = HMM_Vec3(4.0f, 5.0f, 6.0f);
+    {
+        // Normal cross
+        hmm_vec3 v1 = HMM_Vec3(1.0f, 2.0f, 3.0f);
+        hmm_vec3 v2 = HMM_Vec3(4.0f, 5.0f, 6.0f);

-    hmm_vec3 result = HMM_Cross(v1, v2);
+        hmm_vec3 result = HMM_Cross(v1, v2);

-    EXPECT_FLOAT_EQ(result.X, -3.0f);
-    EXPECT_FLOAT_EQ(result.Y, 6.0f);
-    EXPECT_FLOAT_EQ(result.Z, -3.0f);
+        EXPECT_FLOAT_EQ(result.X, -3.0f);
+        EXPECT_FLOAT_EQ(result.Y, 6.0f);
+        EXPECT_FLOAT_EQ(result.Z, -3.0f);
+    }
+
+    {
+        // Vector with itself
+        hmm_vec3 v = HMM_Vec3(1.0f, 2.0f, 3.0f);
+
+        hmm_vec3 result = HMM_Cross(v, v);
+
+        EXPECT_FLOAT_EQ(result.X, 0.0f);
+        EXPECT_FLOAT_EQ(result.Y, 0.0f);
+        EXPECT_FLOAT_EQ(result.Z, 0.0f);
+    }
 }

 TEST(VectorOps, DotVec2)
@@ -178,43 +192,3 @@ TEST(VectorOps, DotVec4)
    EXPECT_FLOAT_EQ(HMM_Dot(v1, v2), 70.0f);
 #endif
 }
-
-
-/*
- * MatrixOps tests
- */
-
-TEST(MatrixOps, Transpose)
-{
-    hmm_mat4 m4 = HMM_Mat4(); // will have 1 - 16
-
-    // Fill the matrix
-    int Counter = 1;
-    for (int Column = 0; Column < 4; ++Column)
-    {
-        for (int Row = 0; Row < 4; ++Row)
-        {
-            m4.Elements[Column][Row] = Counter;
-            ++Counter;
-        }
-    }
-
-    // Test the matrix
-    hmm_mat4 result = HMM_Transpose(m4);
-    EXPECT_FLOAT_EQ(result.Elements[0][0], 1.0f);
-    EXPECT_FLOAT_EQ(result.Elements[0][1], 5.0f);
-    EXPECT_FLOAT_EQ(result.Elements[0][2], 9.0f);
-    EXPECT_FLOAT_EQ(result.Elements[0][3], 13.0f);
-    EXPECT_FLOAT_EQ(result.Elements[1][0], 2.0f);
-    EXPECT_FLOAT_EQ(result.Elements[1][1], 6.0f);
-    EXPECT_FLOAT_EQ(result.Elements[1][2], 10.0f);
-    EXPECT_FLOAT_EQ(result.Elements[1][3], 14.0f);
-    EXPECT_FLOAT_EQ(result.Elements[2][0], 3.0f);
-    EXPECT_FLOAT_EQ(result.Elements[2][1], 7.0f);
-    EXPECT_FLOAT_EQ(result.Elements[2][2], 11.0f);
-    EXPECT_FLOAT_EQ(result.Elements[2][3], 15.0f);
-    EXPECT_FLOAT_EQ(result.Elements[3][0], 4.0f);
-    EXPECT_FLOAT_EQ(result.Elements[3][1], 8.0f);
-    EXPECT_FLOAT_EQ(result.Elements[3][2], 12.0f);
-    EXPECT_FLOAT_EQ(result.Elements[3][3], 16.0f);
-}
--- a/test/hmm_test.h
+++ b/test/hmm_test.h
@@ -3,15 +3,16 @@
 #include "HandmadeTest.h"
 #include "../HandmadeMath.h"

-#include "categories/ScalarMath.h"
-#include "categories/Initialization.h"
-#include "categories/VectorOps.h"
-#include "categories/QuaternionOps.h"
 #include "categories/Addition.h"
-#include "categories/Subtraction.h"
-#include "categories/Multiplication.h"
 #include "categories/Division.h"
 #include "categories/Equality.h"
+#include "categories/Initialization.h"
+#include "categories/MatrixOps.h"
+#include "categories/Multiplication.h"
 #include "categories/Projection.h"
-#include "categories/Transformation.h"
+#include "categories/QuaternionOps.h"
+#include "categories/ScalarMath.h"
 #include "categories/SSE.h"
+#include "categories/Subtraction.h"
+#include "categories/Transformation.h"
+#include "categories/VectorOps.h"
Author	SHA1	Message	Date
Ben Visness	50ab386db5	Sort of get FPS controls working not really though, holy cow	2018-08-14 13:16:04 -05:00
Ben Visness	f5c8f23d62	Update build.bat to better contain files	2018-07-10 21:31:13 -05:00
Ben Visness	d67607d3d1	Get stuff kind of working on Windows	2018-07-10 21:26:16 -05:00
Ben Visness	fabad91c39	Get an FPS cam kind of working! (no mouse input yet)	2018-07-01 15:08:46 +02:00
Ben Visness	8332a2d907	leave a more...aggressive comment for future me	2018-07-01 15:08:46 +02:00
Ben Visness	449091185e	Clean up rotation mess (and leave a comment about why it's wobbly)	2018-07-01 15:08:46 +02:00
Ben Visness	33f24a8289	Commit all this horrible rotation stuff for posterity before I delete it	2018-07-01 15:08:46 +02:00
Ben Visness	d24e33c03a	Fix whitespace issues	2018-07-01 15:08:46 +02:00
Ben Visness	0a79c70dff	Add more tests that actually break stuff for some reason	2018-07-01 15:08:46 +02:00
Ben Visness	eedda7ca4c	First attempt at Mat4 to Quaternion (might have rows and columns swapped?)	2018-07-01 15:08:46 +02:00
Ben Visness	850efa3606	Bump file version	2018-07-01 15:08:46 +02:00
Ben Visness	9097224f37	Add array subscript operators for all types (#88 ) * Add array subscript operators for all types * Taking the parameter for the operator[] as a reference. This should allow it to be inlined * I guess you can't do that. * Update version and readme	2018-07-01 15:08:46 +02:00
Ben Visness	b13e3a317c	WIP: Properly initialize all elements of LookAt matrix (#84 ) * Properly initialize all elements of LookAt matrix * Update version and readme * Add a test for LookAt good enough	2018-07-01 15:08:46 +02:00
Ben Visness	88d583e6ac	WIP camera stuff. Missing some useful quaternion helpers.	2018-06-11 15:40:31 -05:00
Ben Visness	3a382212f9	Add .obj loading and rendering	2018-05-28 17:44:35 -05:00
Ben Visness	ba02e1a9c4	Rework RenderComponent to be more flexible	2018-05-28 13:21:43 -05:00
Ben Visness	ba5982b2a9	Add delta time stuff	2018-05-28 12:31:17 -05:00
Ben Visness	373e9517b4	Add a bit of a component tree	2018-05-27 21:36:00 -05:00
Ben Visness	2d71b1b11b	Add an example cube (tutorials!)	2018-05-27 16:22:54 -05:00
Ben Visness	fdea881102	Start of example program	2018-05-27 15:08:07 -05:00