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modified memory order of Matrix type

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modified memory order of Matrix type to correctly represent row-major layout. removed implicit transposes and all order-dependent Matrix operations. Matrix API contract is now explicit and consistent
This commit is contained in:
noinodev 2026-04-16 21:37:48 +10:00
parent 96e30549f5
commit 56be3910eb
5 changed files with 204 additions and 139 deletions
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8
src/raylib.h
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@ -236,10 +236,10 @@ typedef Vector4 Quaternion;
// Matrix, 4x4 components, column major, OpenGL style, right-handed
typedef struct Matrix {
float m0, m4, m8, m12; // Matrix first row (4 components)
float m1, m5, m9, m13; // Matrix second row (4 components)
float m2, m6, m10, m14; // Matrix third row (4 components)
float m3, m7, m11, m15; // Matrix fourth row (4 components)
float m0, m1, m2, m3; // Matrix first row (4 components)
float m4, m5, m6, m7; // Matrix second row (4 components)
float m8, m9, m10, m11; // Matrix third row (4 components)
float m12, m13, m14, m15; // Matrix fourth row (4 components)
} Matrix;
// Color, 4 components, R8G8B8A8 (32bit)

198
src/raymath.h
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@ -155,10 +155,10 @@ typedef Vector4 Quaternion;
#if !defined(RL_MATRIX_TYPE)
// Matrix type (OpenGL style 4x4 - right handed, column major)
typedef struct Matrix {
float m0, m4, m8, m12; // Matrix first row (4 components)
float m1, m5, m9, m13; // Matrix second row (4 components)
float m2, m6, m10, m14; // Matrix third row (4 components)
float m3, m7, m11, m15; // Matrix fourth row (4 components)
float m0, m1, m2, m3; // Matrix first row (4 components)
float m4, m5, m6, m7; // Matrix second row (4 components)
float m8, m9, m10, m11; // Matrix third row (4 components)
float m12, m13, m14, m15; // Matrix fourth row (4 components)
} Matrix;
#define RL_MATRIX_TYPE
#endif
@ -1089,23 +1089,24 @@ RMAPI Vector3 Vector3Unproject(Vector3 source, Matrix projection, Matrix view)
Vector3 result = { 0 };
// Calculate unprojected matrix (multiply view matrix by projection matrix) and invert it
Matrix matViewProj = { // MatrixMultiply(view, projection);
view.m0*projection.m0 + view.m1*projection.m4 + view.m2*projection.m8 + view.m3*projection.m12,
view.m0*projection.m1 + view.m1*projection.m5 + view.m2*projection.m9 + view.m3*projection.m13,
view.m0*projection.m2 + view.m1*projection.m6 + view.m2*projection.m10 + view.m3*projection.m14,
view.m0*projection.m3 + view.m1*projection.m7 + view.m2*projection.m11 + view.m3*projection.m15,
view.m4*projection.m0 + view.m5*projection.m4 + view.m6*projection.m8 + view.m7*projection.m12,
view.m4*projection.m1 + view.m5*projection.m5 + view.m6*projection.m9 + view.m7*projection.m13,
view.m4*projection.m2 + view.m5*projection.m6 + view.m6*projection.m10 + view.m7*projection.m14,
view.m4*projection.m3 + view.m5*projection.m7 + view.m6*projection.m11 + view.m7*projection.m15,
view.m8*projection.m0 + view.m9*projection.m4 + view.m10*projection.m8 + view.m11*projection.m12,
view.m8*projection.m1 + view.m9*projection.m5 + view.m10*projection.m9 + view.m11*projection.m13,
view.m8*projection.m2 + view.m9*projection.m6 + view.m10*projection.m10 + view.m11*projection.m14,
view.m8*projection.m3 + view.m9*projection.m7 + view.m10*projection.m11 + view.m11*projection.m15,
view.m12*projection.m0 + view.m13*projection.m4 + view.m14*projection.m8 + view.m15*projection.m12,
view.m12*projection.m1 + view.m13*projection.m5 + view.m14*projection.m9 + view.m15*projection.m13,
view.m12*projection.m2 + view.m13*projection.m6 + view.m14*projection.m10 + view.m15*projection.m14,
view.m12*projection.m3 + view.m13*projection.m7 + view.m14*projection.m11 + view.m15*projection.m15 };
Matrix matViewProj = { 0 }; // MatrixMultiply(view, projection);
matViewProj.m0 = view.m0*projection.m0 + view.m1*projection.m4 + view.m2*projection.m8 + view.m3*projection.m12;
matViewProj.m1 = view.m4*projection.m0 + view.m5*projection.m4 + view.m6*projection.m8 + view.m7*projection.m12;
matViewProj.m2 = view.m8*projection.m0 + view.m9*projection.m4 + view.m10*projection.m8 + view.m11*projection.m12;
matViewProj.m3 = view.m12*projection.m0 + view.m13*projection.m4 + view.m14*projection.m8 + view.m15*projection.m12;
matViewProj.m4 = view.m0*projection.m1 + view.m1*projection.m5 + view.m2*projection.m9 + view.m3*projection.m13;
matViewProj.m5 = view.m4*projection.m1 + view.m5*projection.m5 + view.m6*projection.m9 + view.m7*projection.m13;
matViewProj.m6 = view.m8*projection.m1 + view.m9*projection.m5 + view.m10*projection.m9 + view.m11*projection.m13;
matViewProj.m7 = view.m12*projection.m1 + view.m13*projection.m5 + view.m14*projection.m9 + view.m15*projection.m13;
matViewProj.m8 = view.m0*projection.m2 + view.m1*projection.m6 + view.m2*projection.m10 + view.m3*projection.m14;
matViewProj.m9 = view.m4*projection.m2 + view.m5*projection.m6 + view.m6*projection.m10 + view.m7*projection.m14;
matViewProj.m10 = view.m8*projection.m2 + view.m9*projection.m6 + view.m10*projection.m10 + view.m11*projection.m14;
matViewProj.m11 = view.m12*projection.m2 + view.m13*projection.m6 + view.m14*projection.m10 + view.m15*projection.m14;
matViewProj.m12 = view.m0*projection.m3 + view.m1*projection.m7 + view.m2*projection.m11 + view.m3*projection.m15;
matViewProj.m13 = view.m4*projection.m3 + view.m5*projection.m7 + view.m6*projection.m11 + view.m7*projection.m15;
matViewProj.m14 = view.m8*projection.m3 + view.m9*projection.m7 + view.m10*projection.m11 + view.m11*projection.m15;
matViewProj.m15 = view.m12*projection.m3 + view.m13*projection.m7 + view.m14*projection.m11 + view.m15*projection.m15;
// Calculate inverted matrix -> MatrixInvert(matViewProj);
// Cache the matrix values (speed optimization)
@ -1130,23 +1131,23 @@ RMAPI Vector3 Vector3Unproject(Vector3 source, Matrix projection, Matrix view)
// Calculate the invert determinant (inlined to avoid double-caching)
float invDet = 1.0f/(b00*b11 - b01*b10 + b02*b09 + b03*b08 - b04*b07 + b05*b06);
Matrix matViewProjInv = {
(a11*b11 - a12*b10 + a13*b09)*invDet,
(-a01*b11 + a02*b10 - a03*b09)*invDet,
(a31*b05 - a32*b04 + a33*b03)*invDet,
(-a21*b05 + a22*b04 - a23*b03)*invDet,
(-a10*b11 + a12*b08 - a13*b07)*invDet,
(a00*b11 - a02*b08 + a03*b07)*invDet,
(-a30*b05 + a32*b02 - a33*b01)*invDet,
(a20*b05 - a22*b02 + a23*b01)*invDet,
(a10*b10 - a11*b08 + a13*b06)*invDet,
(-a00*b10 + a01*b08 - a03*b06)*invDet,
(a30*b04 - a31*b02 + a33*b00)*invDet,
(-a20*b04 + a21*b02 - a23*b00)*invDet,
(-a10*b09 + a11*b07 - a12*b06)*invDet,
(a00*b09 - a01*b07 + a02*b06)*invDet,
(-a30*b03 + a31*b01 - a32*b00)*invDet,
(a20*b03 - a21*b01 + a22*b00)*invDet };
Matrix matViewProjInv = { 0 };
matViewProjInv.m0 = (a11*b11 - a12*b10 + a13*b09)*invDet;
matViewProjInv.m1 = (-a10*b11 + a12*b08 - a13*b07)*invDet;
matViewProjInv.m2 = (a10*b10 - a11*b08 + a13*b06)*invDet;
matViewProjInv.m3 = (-a10*b09 + a11*b07 - a12*b06)*invDet;
matViewProjInv.m4 = (-a01*b11 + a02*b10 - a03*b09)*invDet;
matViewProjInv.m5 = (a00*b11 - a02*b08 + a03*b07)*invDet;
matViewProjInv.m6 = (-a00*b10 + a01*b08 - a03*b06)*invDet;
matViewProjInv.m7 = (a00*b09 - a01*b07 + a02*b06)*invDet;
matViewProjInv.m8 = (a31*b05 - a32*b04 + a33*b03)*invDet;
matViewProjInv.m9 = (-a30*b05 + a32*b02 - a33*b01)*invDet;
matViewProjInv.m10 = (a30*b04 - a31*b02 + a33*b00)*invDet;
matViewProjInv.m11 = (-a30*b03 + a31*b01 - a32*b00)*invDet;
matViewProjInv.m12 = (-a21*b05 + a22*b04 - a23*b03)*invDet;
matViewProjInv.m13 = (a20*b05 - a22*b02 + a23*b01)*invDet;
matViewProjInv.m14 = (-a20*b04 + a21*b02 - a23*b00)*invDet;
matViewProjInv.m15 = (a20*b03 - a21*b01 + a22*b00)*invDet;
// Create quaternion from source point
Quaternion quat = { source.x, source.y, source.z, 1.0f };
@ -1620,10 +1621,12 @@ RMAPI Matrix MatrixInvert(Matrix mat)
// Get identity matrix
RMAPI Matrix MatrixIdentity(void)
{
Matrix result = { 1.0f, 0.0f, 0.0f, 0.0f,
0.0f, 1.0f, 0.0f, 0.0f,
0.0f, 0.0f, 1.0f, 0.0f,
0.0f, 0.0f, 0.0f, 1.0f };
Matrix result = { 0 };
result.m0 = 1.0f;
result.m5 = 1.0f;
result.m10 = 1.0f;
result.m15 = 1.0f;
return result;
}
@ -1692,7 +1695,7 @@ RMAPI Matrix MatrixMultiply(Matrix left, Matrix right)
__m128 c3 = _mm_set_ps(right.m15, right.m11, right.m7, right.m3);
// Transpose so c0..c3 become *rows* of the right matrix in semantic order
_MM_TRANSPOSE4_PS(c0, c1, c2, c3);
_MM_TRANSPOSE4_PS(c0, c1, c2, c3);
float tmp[4] = { 0 };
__m128 row;
@ -1765,12 +1768,24 @@ RMAPI Matrix MatrixMultiply(Matrix left, Matrix right)
// Multiply matrix components by value
RMAPI Matrix MatrixMultiplyValue(Matrix left, float value)
{
Matrix result = {
left.m0*value, left.m4*value, left.m8*value, left.m12*value,
left.m1*value, left.m5*value, left.m9*value, left.m13*value,
left.m2*value, left.m6*value, left.m10*value, left.m14*value,
left.m3*value, left.m7*value, left.m11*value, left.m15*value
};
Matrix result = { 0 };
result.m0 = left.m0*value;
result.m1 = left.m1*value;
result.m2 = left.m2*value;
result.m3 = left.m3*value;
result.m4 = left.m4*value;
result.m5 = left.m5*value;
result.m6 = left.m6*value;
result.m7 = left.m7*value;
result.m8 = left.m8*value;
result.m9 = left.m9*value;
result.m10 = left.m10*value;
result.m11 = left.m11*value;
result.m12 = left.m12*value;
result.m13 = left.m13*value;
result.m14 = left.m14*value;
result.m15 = left.m15*value;
return result;
}
@ -1778,10 +1793,11 @@ RMAPI Matrix MatrixMultiplyValue(Matrix left, float value)
// Get translation matrix
RMAPI Matrix MatrixTranslate(float x, float y, float z)
{
Matrix result = { 1.0f, 0.0f, 0.0f, x,
0.0f, 1.0f, 0.0f, y,
0.0f, 0.0f, 1.0f, z,
0.0f, 0.0f, 0.0f, 1.0f };
Matrix result = MatrixIdentity();
result.m12 = x;
result.m13 = y;
result.m14 = z;
return result;
}
@ -1835,10 +1851,7 @@ RMAPI Matrix MatrixRotate(Vector3 axis, float angle)
// NOTE: Angle must be provided in radians
RMAPI Matrix MatrixRotateX(float angle)
{
Matrix result = { 1.0f, 0.0f, 0.0f, 0.0f,
0.0f, 1.0f, 0.0f, 0.0f,
0.0f, 0.0f, 1.0f, 0.0f,
0.0f, 0.0f, 0.0f, 1.0f }; // MatrixIdentity()
Matrix result = MatrixIdentity();
float cosres = cosf(angle);
float sinres = sinf(angle);
@ -1855,10 +1868,7 @@ RMAPI Matrix MatrixRotateX(float angle)
// NOTE: Angle must be provided in radians
RMAPI Matrix MatrixRotateY(float angle)
{
Matrix result = { 1.0f, 0.0f, 0.0f, 0.0f,
0.0f, 1.0f, 0.0f, 0.0f,
0.0f, 0.0f, 1.0f, 0.0f,
0.0f, 0.0f, 0.0f, 1.0f }; // MatrixIdentity()
Matrix result = MatrixIdentity();
float cosres = cosf(angle);
float sinres = sinf(angle);
@ -1875,10 +1885,7 @@ RMAPI Matrix MatrixRotateY(float angle)
// NOTE: Angle must be provided in radians
RMAPI Matrix MatrixRotateZ(float angle)
{
Matrix result = { 1.0f, 0.0f, 0.0f, 0.0f,
0.0f, 1.0f, 0.0f, 0.0f,
0.0f, 0.0f, 1.0f, 0.0f,
0.0f, 0.0f, 0.0f, 1.0f }; // MatrixIdentity()
Matrix result = MatrixIdentity();
float cosres = cosf(angle);
float sinres = sinf(angle);
@ -1896,10 +1903,7 @@ RMAPI Matrix MatrixRotateZ(float angle)
// NOTE: Angle must be provided in radians
RMAPI Matrix MatrixRotateXYZ(Vector3 angle)
{
Matrix result = { 1.0f, 0.0f, 0.0f, 0.0f,
0.0f, 1.0f, 0.0f, 0.0f,
0.0f, 0.0f, 1.0f, 0.0f,
0.0f, 0.0f, 0.0f, 1.0f }; // MatrixIdentity()
Matrix result = MatrixIdentity();
float cosz = cosf(-angle.z);
float sinz = sinf(-angle.z);
@ -1962,10 +1966,12 @@ RMAPI Matrix MatrixRotateZYX(Vector3 angle)
// Get scaling matrix
RMAPI Matrix MatrixScale(float x, float y, float z)
{
Matrix result = { x, 0.0f, 0.0f, 0.0f,
0.0f, y, 0.0f, 0.0f,
0.0f, 0.0f, z, 0.0f,
0.0f, 0.0f, 0.0f, 1.0f };
Matrix result = MatrixIdentity();
result.m0 = x;
result.m5 = y;
result.m10 = z;
result.m15 = 1.0f;
return result;
}
@ -2469,10 +2475,7 @@ RMAPI Quaternion QuaternionFromMatrix(Matrix mat)
// Get a matrix for a given quaternion
RMAPI Matrix QuaternionToMatrix(Quaternion q)
{
Matrix result = { 1.0f, 0.0f, 0.0f, 0.0f,
0.0f, 1.0f, 0.0f, 0.0f,
0.0f, 0.0f, 1.0f, 0.0f,
0.0f, 0.0f, 0.0f, 1.0f }; // MatrixIdentity()
Matrix result = MatrixIdentity();
float a2 = q.x*q.x;
float b2 = q.y*q.y;
@ -2679,12 +2682,23 @@ RMAPI Matrix MatrixCompose(Vector3 translation, Quaternion rotation, Vector3 sca
forward = Vector3RotateByQuaternion(forward, rotation);
// Set result matrix output
Matrix result = {
right.x, up.x, forward.x, translation.x,
right.y, up.y, forward.y, translation.y,
right.z, up.z, forward.z, translation.z,
0.0f, 0.0f, 0.0f, 1.0f
};
Matrix result = MatrixIdentity();
result.m0 = right.x;
result.m1 = right.y;
result.m2 = right.z;
result.m4 = up.x;
result.m5 = up.y;
result.m6 = up.z;
result.m8 = forward.x;
result.m9 = forward.y;
result.m10 = forward.z;
result.m12 = translation.x;
result.m13 = translation.y;
result.m14 = translation.z;
return result;
}
@ -2767,10 +2781,20 @@ RMAPI void MatrixDecompose(Matrix mat, Vector3 *translation, Quaternion *rotatio
*scale = Vector3Scale(scl, stabilizer);
// Extract Rotation
Matrix rotationMatrix = { matColumns[0].x, matColumns[0].y, matColumns[0].z, 0,
matColumns[1].x, matColumns[1].y, matColumns[1].z, 0,
matColumns[2].x, matColumns[2].y, matColumns[2].z, 0,
0, 0, 0, 1 };
Matrix rotationMatrix = MatrixIdentity();
rotationMatrix.m0 = matColumns[0].x;
rotationMatrix.m1 = matColumns[1].x;
rotationMatrix.m2 = matColumns[2].x;
rotationMatrix.m4 = matColumns[0].y;
rotationMatrix.m5 = matColumns[1].y;
rotationMatrix.m6 = matColumns[2].y;
rotationMatrix.m8 = matColumns[0].z;
rotationMatrix.m9 = matColumns[1].z;
rotationMatrix.m10 = matColumns[2].z;
*rotation = QuaternionFromMatrix(rotationMatrix);
}

8
src/rcamera.h
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@ -92,10 +92,10 @@
// Matrix, 4x4 components, column major, OpenGL style, right-handed
typedef struct Matrix {
float m0, m4, m8, m12; // Matrix first row (4 components)
float m1, m5, m9, m13; // Matrix second row (4 components)
float m2, m6, m10, m14; // Matrix third row (4 components)
float m3, m7, m11, m15; // Matrix fourth row (4 components)
float m0, m1, m2, m3; // Matrix first row (4 components)
float m4, m5, m6, m7; // Matrix second row (4 components)
float m8, m9, m10, m11; // Matrix third row (4 components)
float m12, m13, m14, m15; // Matrix fourth row (4 components)
} Matrix;
// Camera type, defines a camera position/orientation in 3d space

37
src/rlgl.h
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@ -368,10 +368,10 @@ typedef enum bool { false = 0, true = !false } bool;
#if !defined(RL_MATRIX_TYPE)
// Matrix, 4x4 components, column major, OpenGL style, right handed
typedef struct Matrix {
float m0, m4, m8, m12; // Matrix first row (4 components)
float m1, m5, m9, m13; // Matrix second row (4 components)
float m2, m6, m10, m14; // Matrix third row (4 components)
float m3, m7, m11, m15; // Matrix fourth row (4 components)
float m0, m1, m2, m3; // Matrix first row (4 components)
float m4, m5, m6, m7; // Matrix second row (4 components)
float m8, m9, m10, m11; // Matrix third row (4 components)
float m12, m13, m14, m15; // Matrix fourth row (4 components)
} Matrix;
#define RL_MATRIX_TYPE
#endif
@ -1342,16 +1342,29 @@ void rlScalef(float x, float y, float z)
}
// Multiply the current matrix by another matrix
void rlMultMatrixf(const float *matf)
void rlMultMatrixf(const float *mat)
{
// Matrix creation from array
// Conversion from column-major to row-major memory order
Matrix mat = { matf[0], matf[4], matf[8], matf[12],
matf[1], matf[5], matf[9], matf[13],
matf[2], matf[6], matf[10], matf[14],
matf[3], matf[7], matf[11], matf[15] };
Matrix matrix = rlMatrixIdentity();
*RLGL.State.currentMatrix = rlMatrixMultiply(mat, *RLGL.State.currentMatrix);
matrix.m0 = mat[0];
matrix.m1 = mat[1];
matrix.m2 = mat[2];
matrix.m3 = mat[3];
matrix.m4 = mat[4];
matrix.m5 = mat[5];
matrix.m6 = mat[6];
matrix.m7 = mat[7];
matrix.m8 = mat[8];
matrix.m9 = mat[9];
matrix.m10 = mat[10];
matrix.m11 = mat[11];
matrix.m12 = mat[12];
matrix.m13 = mat[13];
matrix.m14 = mat[14];
matrix.m15 = mat[15];
*RLGL.State.currentMatrix = rlMatrixMultiply(matrix, *RLGL.State.currentMatrix);
}
// Multiply the current matrix by a perspective matrix generated by parameters
@ -4556,7 +4569,7 @@ void rlSetUniformMatrix(int locIndex, Matrix mat)
void rlSetUniformMatrices(int locIndex, const Matrix *matrices, int count)
{
#if defined(GRAPHICS_API_OPENGL_33)
glUniformMatrix4fv(locIndex, count, true, (const float *)matrices);
glUniformMatrix4fv(locIndex, count, false, (const float *)matrices);
#elif defined(GRAPHICS_API_OPENGL_ES2)
// WARNING: WebGL does not support Matrix transpose ("true" parameter)
// REF: https://developer.mozilla.org/en-US/docs/Web/API/WebGLRenderingContext/uniformMatrix

92
src/rmodels.c
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@ -1691,7 +1691,6 @@ void DrawMeshInstanced(Mesh mesh, Material material, const Matrix *transforms, i
{
#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
// Instancing required variables
float16 *instanceTransform = NULL;
unsigned int instancesVboId = 0;
// Bind shader program
@ -1739,20 +1738,12 @@ void DrawMeshInstanced(Mesh mesh, Material material, const Matrix *transforms, i
if (material.shader.locs[SHADER_LOC_MATRIX_VIEW] != -1) rlSetUniformMatrix(material.shader.locs[SHADER_LOC_MATRIX_VIEW], matView);
if (material.shader.locs[SHADER_LOC_MATRIX_PROJECTION] != -1) rlSetUniformMatrix(material.shader.locs[SHADER_LOC_MATRIX_PROJECTION], matProjection);
// Create instances buffer
instanceTransform = (float16 *)RL_CALLOC(instances, sizeof(float16));
// Fill buffer with instances transformations as float16 arrays
for (int i = 0; i < instances; i++) instanceTransform[i] = MatrixToFloatV(transforms[i]);
// Enable mesh VAO to attach new buffer
// Bind Mesh for drawing
rlEnableVertexArray(mesh.vaoId);
// This could alternatively use a static VBO and either glMapBuffer() or glBufferSubData()
// It isn't clear which would be reliably faster in all cases and on all platforms,
// anecdotally glMapBuffer() seems quite slow (syncs) while glBufferSubData() seems
// no faster, since all the transform matrices are transferred anyway
instancesVboId = rlLoadVertexBuffer(instanceTransform, instances*sizeof(float16), false);
// Allocate GPU buffer and copy Matrix array to it
instancesVboId = rlLoadVertexBuffer(transforms, instances*sizeof(Matrix), false);
// Instances transformation matrices are sent to shader attribute location: SHADER_LOC_VERTEX_INSTANCETRANSFORM
if (material.shader.locs[SHADER_LOC_VERTEX_INSTANCETRANSFORM] != -1)
@ -1920,8 +1911,8 @@ void DrawMeshInstanced(Mesh mesh, Material material, const Matrix *transforms, i
rlDisableShader();
// Remove instance transforms buffer
// Consider returning instanceVboId instead, and recycle the handle for repeated draws
rlUnloadVertexBuffer(instancesVboId);
RL_FREE(instanceTransform);
#endif
}
@ -5661,12 +5652,24 @@ static Model LoadGLTF(const char *fileName)
cgltf_float worldTransform[16];
cgltf_node_transform_world(node, worldTransform);
Matrix worldMatrix = {
worldTransform[0], worldTransform[4], worldTransform[8], worldTransform[12],
worldTransform[1], worldTransform[5], worldTransform[9], worldTransform[13],
worldTransform[2], worldTransform[6], worldTransform[10], worldTransform[14],
worldTransform[3], worldTransform[7], worldTransform[11], worldTransform[15]
};
Matrix worldMatrix = { 0 };
worldMatrix.m0 = worldTransform[0];
worldMatrix.m1 = worldTransform[1];
worldMatrix.m2 = worldTransform[2];
worldMatrix.m3 = worldTransform[3];
worldMatrix.m4 = worldTransform[4];
worldMatrix.m5 = worldTransform[5];
worldMatrix.m6 = worldTransform[6];
worldMatrix.m7 = worldTransform[7];
worldMatrix.m8 = worldTransform[8];
worldMatrix.m9 = worldTransform[9];
worldMatrix.m10 = worldTransform[10];
worldMatrix.m11 = worldTransform[11];
worldMatrix.m12 = worldTransform[12];
worldMatrix.m13 = worldTransform[13];
worldMatrix.m14 = worldTransform[14];
worldMatrix.m15 = worldTransform[15];
Matrix worldMatrixNormals = MatrixTranspose(MatrixInvert(worldMatrix));
@ -6147,12 +6150,24 @@ static Model LoadGLTF(const char *fileName)
cgltf_node *node = skin.joints[i];
cgltf_float worldTransform[16];
cgltf_node_transform_world(node, worldTransform);
Matrix worldMatrix = {
worldTransform[0], worldTransform[4], worldTransform[8], worldTransform[12],
worldTransform[1], worldTransform[5], worldTransform[9], worldTransform[13],
worldTransform[2], worldTransform[6], worldTransform[10], worldTransform[14],
worldTransform[3], worldTransform[7], worldTransform[11], worldTransform[15]
};
Matrix worldMatrix = { 0 };
worldMatrix.m0 = worldTransform[0];
worldMatrix.m1 = worldTransform[1];
worldMatrix.m2 = worldTransform[2];
worldMatrix.m3 = worldTransform[3];
worldMatrix.m4 = worldTransform[4];
worldMatrix.m5 = worldTransform[5];
worldMatrix.m6 = worldTransform[6];
worldMatrix.m7 = worldTransform[7];
worldMatrix.m8 = worldTransform[8];
worldMatrix.m9 = worldTransform[9];
worldMatrix.m10 = worldTransform[10];
worldMatrix.m11 = worldTransform[11];
worldMatrix.m12 = worldTransform[12];
worldMatrix.m13 = worldTransform[13];
worldMatrix.m14 = worldTransform[14];
worldMatrix.m15 = worldTransform[15];
MatrixDecompose(worldMatrix,
&(model.skeleton.bindPose[i].translation),
@ -6526,12 +6541,25 @@ static ModelAnimation *LoadModelAnimationsGLTF(const char *fileName, int *animCo
cgltf_float cgltf_worldTransform[16] = { 0 };
cgltf_node *node = skin.joints[0];
cgltf_node_transform_world(node->parent, cgltf_worldTransform);
Matrix worldMatrix = {
cgltf_worldTransform[0], cgltf_worldTransform[4], cgltf_worldTransform[8], cgltf_worldTransform[12],
cgltf_worldTransform[1], cgltf_worldTransform[5], cgltf_worldTransform[9], cgltf_worldTransform[13],
cgltf_worldTransform[2], cgltf_worldTransform[6], cgltf_worldTransform[10], cgltf_worldTransform[14],
cgltf_worldTransform[3], cgltf_worldTransform[7], cgltf_worldTransform[11], cgltf_worldTransform[15]
};
Matrix worldMatrix = { 0 };
worldMatrix.m0 = cgltf_worldTransform[0];
worldMatrix.m1 = cgltf_worldTransform[1];
worldMatrix.m2 = cgltf_worldTransform[2];
worldMatrix.m3 = cgltf_worldTransform[3];
worldMatrix.m4 = cgltf_worldTransform[4];
worldMatrix.m5 = cgltf_worldTransform[5];
worldMatrix.m6 = cgltf_worldTransform[6];
worldMatrix.m7 = cgltf_worldTransform[7];
worldMatrix.m8 = cgltf_worldTransform[8];
worldMatrix.m9 = cgltf_worldTransform[9];
worldMatrix.m10 = cgltf_worldTransform[10];
worldMatrix.m11 = cgltf_worldTransform[11];
worldMatrix.m12 = cgltf_worldTransform[12];
worldMatrix.m13 = cgltf_worldTransform[13];
worldMatrix.m14 = cgltf_worldTransform[14];
worldMatrix.m15 = cgltf_worldTransform[15];
MatrixDecompose(worldMatrix, &worldTransform.translation, &worldTransform.rotation, &worldTransform.scale);
for (unsigned int a = 0; a < data->animations_count; a++)