1 files changed, 34 insertions, 46 deletions

diff --git a/include/math/mat4.h b/include/math/mat4.h
index e808d73..f3601b6 100644
--- a/include/math/mat4.h
+++ b/include/math/mat4.h
@@ -23,74 +23,62 @@ typedef struct mat4 {
 static inline mat4 mat4_make(
     R m00, R m01, R m02, R m03, R m10, R m11, R m12, R m13, R m20, R m21, R m22,
     R m23, R m30, R m31, R m32, R m33) {
+  // clang-format off
+  // We store the matrix in columns, this is why the following looks flipped.
   mat4 m;
-  m.val[0][0] = m00;
-  m.val[0][1] = m10;
-  m.val[0][2] = m20;
-  m.val[0][3] = m30;
-
-  m.val[1][0] = m01;
-  m.val[1][1] = m11;
-  m.val[1][2] = m21;
-  m.val[1][3] = m31;
-
-  m.val[2][0] = m02;
-  m.val[2][1] = m12;
-  m.val[2][2] = m22;
-  m.val[2][3] = m32;
-
-  m.val[3][0] = m03;
-  m.val[3][1] = m13;
-  m.val[3][2] = m23;
-  m.val[3][3] = m33;
+  m.val[0][0] = m00; m.val[0][1] = m10; m.val[0][2] = m20; m.val[0][3] = m30;
+  m.val[1][0] = m01; m.val[1][1] = m11; m.val[1][2] = m21; m.val[1][3] = m31;
+  m.val[2][0] = m02; m.val[2][1] = m12; m.val[2][2] = m22; m.val[2][3] = m32;
+  m.val[3][0] = m03; m.val[3][1] = m13; m.val[3][2] = m23; m.val[3][3] = m33;
   return m;
+  // clang-format on
 }
 
 /// Construct a matrix from a column-major matrix array.
 static inline mat4 mat4_from_array(const R M[16]) {
+  // clang-format off
   mat4 m;
-  m.val[0][0] = M[0];
-  m.val[0][1] = M[1];
-  m.val[0][2] = M[2];
-  m.val[0][3] = M[3];
-
-  m.val[1][0] = M[4];
-  m.val[1][1] = M[5];
-  m.val[1][2] = M[6];
-  m.val[1][3] = M[7];
-
-  m.val[2][0] = M[8];
-  m.val[2][1] = M[9];
-  m.val[2][2] = M[10];
-  m.val[2][3] = M[11];
-
-  m.val[3][0] = M[12];
-  m.val[3][1] = M[13];
-  m.val[3][2] = M[14];
-  m.val[3][3] = M[15];
+  m.val[0][0] = M[0];  m.val[0][1] = M[1];  m.val[0][2] = M[2];  m.val[0][3] = M[3];
+  m.val[1][0] = M[4];  m.val[1][1] = M[5];  m.val[1][2] = M[6];  m.val[1][3] = M[7];
+  m.val[2][0] = M[8];  m.val[2][1] = M[9];  m.val[2][2] = M[10]; m.val[2][3] = M[11];
+  m.val[3][0] = M[12]; m.val[3][1] = M[13]; m.val[3][2] = M[14]; m.val[3][3] = M[15];
   return m;
+  // clang-format on
 }
 
 /// Construct the identity matrix.
 static inline mat4 mat4_id() {
+  // clang-format off
   return mat4_make(
-      1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0,
-      1.0);
+      1.0, 0.0, 0.0, 0.0,
+      0.0, 1.0, 0.0, 0.0,
+      0.0, 0.0, 1.0, 0.0,
+      0.0, 0.0, 0.0, 1.0);
+  // clang-format on
 }
 
 /// Construct a matrix from 4 column vectors.
 static inline mat4 mat4_from_vec4(vec4 v0, vec4 v1, vec4 v2, vec4 v3) {
+  // clang-format off
   return mat4_make(
-      v0.x, v0.y, v0.z, v0.w, v1.x, v1.y, v1.z, v1.w, v2.x, v2.y, v2.z, v2.w,
-      v3.x, v3.y, v3.z, v3.w);
+      v0.x, v1.x, v2.x, v3.x,
+      v0.y, v1.y, v2.y, v3.y,
+      v0.z, v1.z, v2.z, v3.z,
+      0,0,0,1);
+  // clang-format on
 }
 
-/// Construct a transformation matrix from 4 vectors.
+/// Construct a transformation matrix from a position and vectors forming a
+/// coordinate system.
 static inline mat4 mat4_from_vec3(
     vec3 right, vec3 up, vec3 forward, vec3 position) {
+  // clang-format off
   return mat4_make(
-      right.x, right.y, right.z, 0.0, up.x, up.y, up.z, 0.0, forward.x,
-      forward.y, forward.z, 0.0, position.x, position.y, position.z, 1.0);
+      right.x, up.x, forward.x, position.x,
+      right.y, up.y, forward.y, position.y,
+      right.z, up.z, forward.z, position.z,
+      0, 0, 0, 1);
+  // clant-format on
 }
 
 /// Return the value at the specified position.
@@ -309,7 +297,7 @@ static inline mat4 mat4_lookat(vec3 position, vec3 target, vec3 up) {
   const vec3 fwd   = vec3_normalize(vec3_sub(target, position));
   const vec3 right = vec3_normalize(vec3_cross(fwd, up));
   up               = vec3_normalize(vec3_cross(right, fwd));
-  return mat4_from_vec3(right, up, fwd, position);
+  return mat4_from_vec3(right, up, vec3_neg(fwd), position);
 }
 
 /// Create an orthographic projection matrix.