@@ -99,15 +99,16 @@

 #ifndef VECTORUTILS4

 #define VECTORUTILS4

-#ifdef __APPLE__

+#if defined(__APPLE__)

 	#define GL_SILENCE_DEPRECATION

 	#include <OpenGL/gl3.h>

+#elif defined(_WIN32)

+	#include "glew.h"

 #else

-	#if defined(_WIN32)

-		#include "glew.h"

-	#endif

+	#define GL_GLEXT_PROTOTYPES

 	#include <GL/gl.h>

 #endif

+

 #include <math.h>

 #include <stdio.h>

@@ -1140,7 +1140,7 @@ mat4 ArbRotate(vec3 axis, GLfloat fi)

 		R.m[12] = 0.0; R.m[13] = 0.0; R.m[14] = 0.0;  R.m[15] = 1.0;

 	}

-	Rt = Transpose(R); // Transpose = Invert -> felet ej i Transpose, och det �r en ortonormal matris

+	Rt = Transpose(R); // Transpose = Invert -> felet ej i Transpose, och det är en ortonormal matris

 	Raxel = Rx(fi); // Rotate around x axis

@@ -88,6 +88,7 @@

 // 20220525: Revised perpective() to conform with the reference manual as well as GLM.

 // 20230205: Added new helper functions, uploadMat4ToShader etc.

 // Made a better #ifdef for handling multiple inclusions.

+// 20230227: Fixed the mat4(mat3) constructor.

 // You may use VectorUtils as you please. A reference to the origin is appreciated

 // but if you grab some snippets from it without reference... no problem.

@@ -253,14 +254,16 @@

 	} mat3;

 #ifdef __cplusplus

-	vec3::vec3(vec4 v) : x(v.x), y(v.y), z(v.z) {}

-	mat4::mat4(mat3 x)

-	{

-		m[0] = x.m[0]; m[1] = x.m[1]; m[2] = x.m[2]; m[3] = 0;

-		m[4] = x.m[3]; m[5] = x.m[4]; m[6] = x.m[5]; m[7] = 0;

-		m[8] = x.m[6]; m[9] = x.m[7]; m[10] = x.m[8]; m[11] = 0;

-		m[12] = x.m[0]; m[13] = x.m[0]; m[14] = x.m[0]; m[15] = 1;

-	}

+// This needed to be compiled only once - moved to implementation.

+// This most likely must be done with several more!

+//	vec3::vec3(vec4 v) : x(v.x), y(v.y), z(v.z) {}

+//	mat4::mat4(mat3 x)

+//	{

+//		m[0] = x.m[0]; m[1] = x.m[1]; m[2] = x.m[2]; m[3] = 0;

+//		m[4] = x.m[3]; m[5] = x.m[4]; m[6] = x.m[5]; m[7] = 0;

+//		m[8] = x.m[6]; m[9] = x.m[7]; m[10] = x.m[8]; m[11] = 0;

+//		m[12] = x.m[0]; m[13] = x.m[0]; m[14] = x.m[0]; m[15] = 1;

+//	}

 #endif

 //#ifdef __cplusplus

@@ -375,7 +378,7 @@

 #ifdef __cplusplus

 // Some C++ operator overloads

 // Non-member C++ operators!

-// New version 2021-05-2x: Constructiors for vec3 etc replaced in order to avoid

+// New version 2021-05-2x: Constructors for vec3 etc replaced in order to avoid

 // problems with some C++ compilers.

 // --- vec3 operations ---

@@ -1656,6 +1659,20 @@ mat4 lookAt(vec3 p, vec3 l, vec3 u)

 	return lookAtv(p, l, u);

 }

+

+#ifdef __cplusplus

+	vec3::vec3(vec4 v) : x(v.x), y(v.y), z(v.z) {}

+	// Was wrong, fixed 2023-02-27

+	mat4::mat4(mat3 x)

+	{

+		m[0]  = x.m[0]; m[1]  = x.m[1]; m[2] =  x.m[2]; m[3]  = 0;

+		m[4]  = x.m[3]; m[5]  = x.m[4]; m[6] =  x.m[5]; m[7]  = 0;

+		m[8]  = x.m[6]; m[9]  = x.m[7]; m[10] = x.m[8]; m[11] = 0;

+		m[12] = 0;      m[13] = 0;      m[14] = 0;      m[15] = 1;

+	}

+#endif

+

+

 #endif

 #endif

 #endif

old mode 100755

new mode 100644

@@ -74,7 +74,6 @@

 // 180314: Added some #defines for moving closer to GLSL (dot, cross...).

 // 2021-05-15: Constructors for vec3 etc replaced in order to avoid

 // problems with some C++ compilers.

-// 2022-11-10: Corrected an ifdef that could cause problems.

 // 2022-05-05: Created VectorUtils4, now only a header file!

 // You must define MAIN in only one file (typically the main

@@ -86,14 +85,15 @@

 // - You must #define MAIN in the main program

 // This means that VectorUtils can still be used from C and thereby many other languages,

 // while taking more advantage of C++ features when using C++.

-// 20220525: Revised perpective() to conform with the reference manual as well as GLM. (But it went wrong, why?)

-// 2022-08-29: Renamed Transpose to transpose to conform better with GLSL. Corrected perspective.

+// 20220525: Revised perpective() to conform with the reference manual as well as GLM.

+// 20230205: Added new helper functions, uploadMat4ToShader etc.

+// Made a better #ifdef for handling multiple inclusions.

 // You may use VectorUtils as you please. A reference to the origin is appreciated

 // but if you grab some snippets from it without reference... no problem.

-// VectorUtils3 header

-// See source for more information

+// VectorUtils4 interface part

+// See implementation part for more information

 #ifndef VECTORUTILS4

 #define VECTORUTILS4

@@ -115,11 +115,6 @@

 #define M_PI           3.14159265358979323846

 #endif

-// Really old type names

-#define Vector3f Point3D

-#define Matrix3f Matrix3D

-#define Matrix4f Matrix4D

-

 // GLSL-style

 // These are already changed, here I define the intermediate type names that I use in some demos.

 #define Point3D vec3

@@ -136,10 +131,11 @@

 // without knowing about the constructors, while the C++ code happily used them.

 // However, we do not need them; you can initialize with SetVec* instead of

 // vec*() and it will work.

-// Note 2022: These are now back (and more), which is possible when doing this as a header only unit.

-

+// Note 2022: These are now back (and more), which is possible when doing this as a header only unit

+// so it works with both C and C++ and still allows the constructors.

+	

 	typedef struct vec4 vec4;

-

+	

 	// vec3 is very useful

 	typedef struct vec3

 	{

@@ -158,7 +154,7 @@

 			vec3(vec4 v);

 		#endif

 	} vec3, *vec3Ptr;

-

+	

 	// vec4 is not as useful. Can be a color with alpha, or a quaternion, but IMHO you

 	// rarely need homogenous coordinate vectors on the CPU.

 	typedef struct vec4

@@ -189,13 +185,13 @@

 		{GLfloat x; GLfloat s;};

 		union

 		{GLfloat y; GLfloat t;};

-

+		

 		#ifdef __cplusplus

             vec2() {}

 			vec2(GLfloat x2, GLfloat y2) : x(x2), y(y2) {}

 		#endif

 	} vec2, *vec2Ptr;

-

+	

 	typedef struct mat3 mat3;

 	typedef struct mat4

 	{

@@ -211,7 +207,7 @@

 			}

 			mat4(GLfloat p0, GLfloat p1, GLfloat p2, GLfloat p3,

 				GLfloat p4, GLfloat p5, GLfloat p6, GLfloat p7,

-				GLfloat p8, GLfloat p9, GLfloat p10, GLfloat p11,

+				GLfloat p8, GLfloat p9, GLfloat p10, GLfloat p11, 

 				GLfloat p12, GLfloat p13, GLfloat p14, GLfloat p15)

 			{

 				m[0] = p0; m[1] = p1; m[2] = p2; m[3] = p3;

@@ -280,7 +276,7 @@

 	mat3 SetMat3(GLfloat p0, GLfloat p1, GLfloat p2, GLfloat p3, GLfloat p4, GLfloat p5, GLfloat p6, GLfloat p7, GLfloat p8);

 	mat4 SetMat4(GLfloat p0, GLfloat p1, GLfloat p2, GLfloat p3,

 				GLfloat p4, GLfloat p5, GLfloat p6, GLfloat p7,

-				GLfloat p8, GLfloat p9, GLfloat p10, GLfloat p11,

+				GLfloat p8, GLfloat p9, GLfloat p10, GLfloat p11, 

 				GLfloat p12, GLfloat p13, GLfloat p14, GLfloat p15

 				);

 // Basic vector operations on vec3's. (vec4 not included since I never need them.)

@@ -327,7 +323,7 @@

 // GLU replacement functions

 	mat4 lookAtv(vec3 p, vec3 l, vec3 v);

-	mat4 lookAt(GLfloat px, GLfloat py, GLfloat pz,

+	mat4 lookAt(GLfloat px, GLfloat py, GLfloat pz, 

 			GLfloat lx, GLfloat ly, GLfloat lz,

 			GLfloat vx, GLfloat vy, GLfloat vz);

 	mat4 perspective(float fovyInDegrees, float aspectRatio,

@@ -354,15 +350,13 @@

 /* Utility functions for easier uploads to shaders with error messages. */

 // NEW as prototype 2022, added to VU 2023

-/*

-	void uploadMat4ToShader(GLuint shader, char *nameInShader, mat4 m);

-	void uploadUniformIntToShader(GLuint shader, char *nameInShader, GLint i);

-	void uploadUniformFloatToShader(GLuint shader, char *nameInShader, GLfloat f);

-	void uploadUniformFloatArrayToShader(GLuint shader, char *nameInShader, GLfloat *f, int arrayLength);

-	void uploadUniformVec3ToShader(GLuint shader, char *nameInShader, vec3 v);

-	void uploadUniformVec3ArrayToShader(GLuint shader, char *nameInShader, vec3 *a, int arrayLength);

+	void uploadMat4ToShader(GLuint shader, const char *nameInShader, mat4 m);

+	void uploadUniformIntToShader(GLuint shader, const char *nameInShader, GLint i);

+	void uploadUniformFloatToShader(GLuint shader, const char *nameInShader, GLfloat f);

+	void uploadUniformFloatArrayToShader(GLuint shader, const char *nameInShader, GLfloat *f, int arrayLength);

+	void uploadUniformVec3ToShader(GLuint shader, const char *nameInShader, vec3 v);

+	void uploadUniformVec3ArrayToShader(GLuint shader, const char *nameInShader, vec3 *a, int arrayLength);

 	void bindTextureToTextureUnit(GLuint tex, int unit);

-*/

 #ifdef __cplusplus

 // Convenient overloads for C++, closer to GLSL

@@ -554,13 +548,15 @@ vec3 operator*(const mat3 &a, const vec3 &b)

 }

 #endif

-//#endif

+#endif

 // ********** implementation section ************

 #ifdef MAIN

-//#ifndef VECTOR_UTILS_IMPLEMENTATION

-//#define VECTOR_UTILS_IMPLEMENTATION

+

+// Make sure this is included once

+#ifndef VECTORUTILS4_MAIN

+#define VECTORUTILS4_MAIN

 // VS doesn't define NAN properly

 #ifdef _WIN32

@@ -575,7 +571,7 @@ char transposed = 0;

 	vec3 SetVector(GLfloat x, GLfloat y, GLfloat z)

 	{

 		vec3 v;

-

+		

 		v.x = x;

 		v.y = y;

 		v.z = z;

@@ -586,7 +582,7 @@ char transposed = 0;

 	vec2 SetVec2(GLfloat x, GLfloat y)

 	{

 		vec2 v;

-

+		

 		v.x = x;

 		v.y = y;

 		return v;

@@ -595,7 +591,7 @@ char transposed = 0;

 	vec3 SetVec3(GLfloat x, GLfloat y, GLfloat z)

 	{

 		vec3 v;

-

+		

 		v.x = x;

 		v.y = y;

 		v.z = z;

@@ -605,7 +601,7 @@ char transposed = 0;

 	vec4 SetVec4(GLfloat x, GLfloat y, GLfloat z, GLfloat w)

 	{

 		vec4 v;

-

+		

 		v.x = x;

 		v.y = y;

 		v.z = z;

@@ -632,7 +628,7 @@ char transposed = 0;

 // Like above; Modern C doesn't need this, but Visual Studio insists on old-fashioned C and needs this.

 	mat4 SetMat4(GLfloat p0, GLfloat p1, GLfloat p2, GLfloat p3,

 				GLfloat p4, GLfloat p5, GLfloat p6, GLfloat p7,

-				GLfloat p8, GLfloat p9, GLfloat p10, GLfloat p11,

+				GLfloat p8, GLfloat p9, GLfloat p10, GLfloat p11, 

 				GLfloat p12, GLfloat p13, GLfloat p14, GLfloat p15

 				)

 	{

@@ -664,17 +660,17 @@ char transposed = 0;

 	vec3 VectorSub(vec3 a, vec3 b)

 	{

 		vec3 result;

-

+		

 		result.x = a.x - b.x;

 		result.y = a.y - b.y;

 		result.z = a.z - b.z;

 		return result;

 	}

-

+	

 	vec3 VectorAdd(vec3 a, vec3 b)

 	{

 		vec3 result;

-

+		

 		result.x = a.x + b.x;

 		result.y = a.y + b.y;

 		result.z = a.z + b.z;

@@ -688,7 +684,7 @@ char transposed = 0;

 		result.x = a.y*b.z - a.z*b.y;

 		result.y = a.z*b.x - a.x*b.z;

 		result.z = a.x*b.y - a.y*b.x;

-

+		

 		return result;

 	}

@@ -700,11 +696,11 @@ char transposed = 0;

 	vec3 ScalarMult(vec3 a, GLfloat s)

 	{

 		vec3 result;

-

+		

 		result.x = a.x * s;

 		result.y = a.y * s;

 		result.z = a.z * s;

-

+		

 		return result;

 	}

@@ -734,7 +730,7 @@ char transposed = 0;

 		n = cross(VectorSub(a, b), VectorSub(a, c));

 		n = ScalarMult(n, 1/Norm(n));

-

+		

 		return n;

 	}

@@ -936,7 +932,7 @@ char transposed = 0;

 	vec3 MultMat3Vec3(mat3 a, vec3 b) // result = a * b

 	{

 		vec3 r;

-

+		

 		if (!transposed)

 		{

 			r.x = a.m[0]*b.x + a.m[1]*b.y + a.m[2]*b.z;

@@ -949,7 +945,7 @@ char transposed = 0;

 			r.y = a.m[1]*b.x + a.m[4]*b.y + a.m[7]*b.z;

 			r.z = a.m[2]*b.x + a.m[5]*b.y + a.m[8]*b.z;

 		}

-

+		

 		return r;

 	}

@@ -1061,12 +1057,12 @@ char transposed = 0;

 //	mat4 TransposeRotation(mat4 m)

 //	{

 //		mat4 a;

-//

+//		

 //		a.m[0] = m.m[0]; a.m[4] = m.m[1]; a.m[8] = m.m[2];      a.m[12] = m.m[12];

 //		a.m[1] = m.m[4]; a.m[5] = m.m[5]; a.m[9] = m.m[6];      a.m[13] = m.m[13];

 //		a.m[2] = m.m[8]; a.m[6] = m.m[9]; a.m[10] = m.m[10];    a.m[14] = m.m[14];

 //		a.m[3] = m.m[3]; a.m[7] = m.m[7]; a.m[11] = m.m[11];    a.m[15] = m.m[15];

-//

+//		

 //		return a;

 //	}

@@ -1074,12 +1070,12 @@ char transposed = 0;

 	mat4 transpose(mat4 m)

 	{

 		mat4 a;

-

+		

 		a.m[0] = m.m[0]; a.m[4] = m.m[1]; a.m[8] = m.m[2];      a.m[12] = m.m[3];

 		a.m[1] = m.m[4]; a.m[5] = m.m[5]; a.m[9] = m.m[6];      a.m[13] = m.m[7];

 		a.m[2] = m.m[8]; a.m[6] = m.m[9]; a.m[10] = m.m[10];    a.m[14] = m.m[11];

 		a.m[3] = m.m[12]; a.m[7] = m.m[13]; a.m[11] = m.m[14];    a.m[15] = m.m[15];

-

+		

 		return a;

 	}

@@ -1087,11 +1083,11 @@ char transposed = 0;

 	mat3 TransposeMat3(mat3 m)

 	{

 		mat3 a;

-

+		

 		a.m[0] = m.m[0]; a.m[3] = m.m[1]; a.m[6] = m.m[2];

 		a.m[1] = m.m[3]; a.m[4] = m.m[4]; a.m[7] = m.m[5];

 		a.m[2] = m.m[6]; a.m[5] = m.m[7]; a.m[8] = m.m[8];

-

+		

 		return a;

 	}

@@ -1141,13 +1137,13 @@ mat4 ArbRotate(vec3 axis, GLfloat fi)

 		R.m[12] = 0.0; R.m[13] = 0.0; R.m[14] = 0.0;  R.m[15] = 1.0;

 	}

-	Rt = Transpose(R); // Transpose = Invert -> felet ej i Transpose, och det \8Ar en ortonormal matris

+	Rt = Transpose(R); // Transpose = Invert -> felet ej i Transpose, och det �r en ortonormal matris

 	Raxel = Rx(fi); // Rotate around x axis

 	// m := Rt * Rx * R

 	m = Mult(Mult(Rt, Raxel), R);

-

+	

 	return m;

 }

@@ -1156,7 +1152,7 @@ mat4 ArbRotate(vec3 axis, GLfloat fi)

 mat4 CrossMatrix(vec3 a) // Matrix for cross product

 {

 	mat4 m;

-

+	

 	if (transposed)

 	{

 		m.m[0] =    0; m.m[4] =-a.z; m.m[8] = a.y; m.m[12] = 0.0;

@@ -1175,18 +1171,18 @@ mat4 CrossMatrix(vec3 a) // Matrix for cross product

 		// NOTE! 0.0 in the homogous coordinate. Thus, the matrix can

 		// not be generally used, but is fine for matrix differentials

 	}

-

+	

 	return m;

 }

 mat4 MatrixAdd(mat4 a, mat4 b)

 {

 	mat4 dest;

-

+	

 	int i;

 	for (i = 0; i < 16; i++)

 		dest.m[i] = a.m[i] + b.m[i];

-

+	

 	return dest;

 }

@@ -1224,27 +1220,31 @@ mat4 lookAtv(vec3 p, vec3 l, vec3 v)

 	return m;

 }

-mat4 lookAt(GLfloat px, GLfloat py, GLfloat pz,

+mat4 lookAt(GLfloat px, GLfloat py, GLfloat pz, 

 			GLfloat lx, GLfloat ly, GLfloat lz,

 			GLfloat vx, GLfloat vy, GLfloat vz)

 {

 	vec3 p, l, v;

-

+	

 	p = SetVector(px, py, pz);

 	l = SetVector(lx, ly, lz);

 	v = SetVector(vx, vy, vz);

-

+	

 	return lookAtv(p, l, v);

 }

 // From http://www.opengl.org/wiki/GluPerspective_code

 // Changed names and parameter order to conform with VU style

 // Rewritten 120913 because it was all wrong...

-// Rewritten again 2022 to a more compact form.

+

+// Creates a projection matrix like gluPerspective or glFrustum.

+// Upload to your shader as usual.

+// Error fixed 20220525: 180, not 360!

+// Also made it conform to the reference manual.

 mat4 perspective(float fovyInDegrees, float aspectRatio,

                       float znear, float zfar)

 {

-	float f = 1/tan(fovyInDegrees * M_PI / 360.0);

+	float f = 1/tan(fovyInDegrees / 2);

 	mat4 m = SetMat4(f/aspectRatio, 0, 0, 0,

 					0, f, 0, 0,

 					0, 0, (zfar+znear)/(znear-zfar), 2*zfar*znear/(znear-zfar),

@@ -1259,7 +1259,7 @@ mat4 frustum(float left, float right, float bottom, float top,

 {

     float temp, temp2, temp3, temp4;

     mat4 matrix;

-

+    

     temp = 2.0f * znear;

     temp2 = right - left;

     temp3 = top - bottom;

@@ -1280,10 +1280,10 @@ mat4 frustum(float left, float right, float bottom, float top,

     matrix.m[13] = 0.0;

     matrix.m[14] = (-temp * zfar) / temp4; // D = -2fn / f-n

     matrix.m[15] = 0.0;

-

+    

     if (!transposed)

     	matrix = Transpose(matrix);

-

+    

     return matrix;

 }

@@ -1320,7 +1320,7 @@ mat3 InvertMat3(mat3 in)

 	float a11, a12, a13, a21, a22, a23, a31, a32, a33;

 	mat3 out, nanout;

 	float DET;

-

+	

 	// Copying to internal variables both clarify the code and

 	// buffers data so the output may be identical to the input!

 	a11 = in.m[0];

@@ -1352,7 +1352,7 @@ mat3 InvertMat3(mat3 in)

 								NAN, NAN, NAN);

 		out = nanout;

 	}

-

+	

 	return out;

 }

@@ -1364,7 +1364,7 @@ mat3 InverseTranspose(mat4 in)

 	float a11, a12, a13, a21, a22, a23, a31, a32, a33;

 	mat3 out, nanout;

 	float DET;

-

+	

 	// Copying to internal variables

 	a11 = in.m[0];

 	a12 = in.m[1];

@@ -1404,7 +1404,7 @@ mat3 InverseTranspose(mat4 in)

 mat3 mat4tomat3(mat4 m)

 {

 	mat3 result;

-

+	

 	result.m[0] = m.m[0];

 	result.m[1] = m.m[1];

 	result.m[2] = m.m[2];

@@ -1420,7 +1420,7 @@ mat3 mat4tomat3(mat4 m)

 mat4 mat3tomat4(mat3 m)

 {

 	mat4 result;

-

+	

 	result.m[0] = m.m[0];

 	result.m[1] = m.m[1];

 	result.m[2] = m.m[2];

@@ -1467,7 +1467,7 @@ vec4 vec3tovec4(vec3 v)

 mat4 InvertMat4(mat4 a)

 {

    mat4 b;

-

+     

    float c=a.m[0],d=a.m[1],e=a.m[2],g=a.m[3],

 	f=a.m[4],h=a.m[5],i=a.m[6],j=a.m[7],

 	k=a.m[8],l=a.m[9],o=a.m[10],m=a.m[11],

@@ -1533,7 +1533,7 @@ void printMat3(mat3 m)

 	printf(" ---------------------------------------------------------------\n");

 }

-void printVec3(vec3 in)

+void printVec3(vec3 in) 

 {

 	printf("(%f, %f, %f)\n", in.x, in.y, in.z);

 }

@@ -1558,7 +1558,7 @@ static void ReportError(const char *caller, const char *name)

 	}

 }

-void uploadMat4ToShader(GLuint shader, char *nameInShader, mat4 m)

+void uploadMat4ToShader(GLuint shader, const char *nameInShader, mat4 m)

 {

 	if (nameInShader == NULL) return;

 	glUseProgram(shader);

@@ -1569,7 +1569,7 @@ void uploadMat4ToShader(GLuint shader, char *nameInShader, mat4 m)

 		ReportError("uploadMat4ToShader", nameInShader);

 }

-void uploadUniformIntToShader(GLuint shader, char *nameInShader, GLint i)

+void uploadUniformIntToShader(GLuint shader, const char *nameInShader, GLint i)

 {

 	if (nameInShader == NULL) return;

 	glUseProgram(shader);

@@ -1580,7 +1580,7 @@ void uploadUniformIntToShader(GLuint shader, char *nameInShader, GLint i)

 		ReportError("uploadUniformIntToShader", nameInShader);

 }

-void uploadUniformFloatToShader(GLuint shader, char *nameInShader, GLfloat f)

+void uploadUniformFloatToShader(GLuint shader, const char *nameInShader, GLfloat f)

 {

 	if (nameInShader == NULL) return;

 	glUseProgram(shader);

@@ -1591,7 +1591,7 @@ void uploadUniformFloatToShader(GLuint shader, char *nameInShader, GLfloat f)

 		ReportError("uploadUniformFloatToShader", nameInShader);

 }

-void uploadUniformFloatArrayToShader(GLuint shader, char *nameInShader, GLfloat *f, int arrayLength)

+void uploadUniformFloatArrayToShader(GLuint shader, const char *nameInShader, GLfloat *f, int arrayLength)

 {

 	if (nameInShader == NULL) return;

 	glUseProgram(shader);

@@ -1602,7 +1602,7 @@ void uploadUniformFloatArrayToShader(GLuint shader, char *nameInShader, GLfloat

 		ReportError("uploadUniformFloatToShader", nameInShader);

 }

-void uploadUniformVec3ToShader(GLuint shader, char *nameInShader, vec3 v)

+void uploadUniformVec3ToShader(GLuint shader, const char *nameInShader, vec3 v)

 {

 	if (nameInShader == NULL) return;

 	glUseProgram(shader);

@@ -1613,7 +1613,7 @@ void uploadUniformVec3ToShader(GLuint shader, char *nameInShader, vec3 v)

 		ReportError("uploadUniformVec3ToShader", nameInShader);

 }

-void uploadUniformVec3ArrayToShader(GLuint shader, char *nameInShader, vec3 *a, int arrayLength)

+void uploadUniformVec3ArrayToShader(GLuint shader, const char *nameInShader, vec3 *a, int arrayLength)

 {

 	if (nameInShader == NULL) return;

 	glUseProgram(shader);

@@ -1658,5 +1658,4 @@ mat4 lookAt(vec3 p, vec3 l, vec3 u)

 #endif

 #endif

-

 #endif

@@ -73,7 +73,7 @@

 // 170331: Added stdio.h for printMat4 and printVec3

 // 180314: Added some #defines for moving closer to GLSL (dot, cross...).

 // 2021-05-15: Constructors for vec3 etc replaced in order to avoid

-// problems with some C++ compilers.

+// problems with some C++ compilers.

 // 2022-11-10: Corrected an ifdef that could cause problems.

 // 2022-05-05: Created VectorUtils4, now only a header file!

@@ -352,6 +352,18 @@

 	void printMat4(mat4 m);

 	void printVec3(vec3 in);

+/* Utility functions for easier uploads to shaders with error messages. */

+// NEW as prototype 2022, added to VU 2023

+/*

+	void uploadMat4ToShader(GLuint shader, char *nameInShader, mat4 m);

+	void uploadUniformIntToShader(GLuint shader, char *nameInShader, GLint i);

+	void uploadUniformFloatToShader(GLuint shader, char *nameInShader, GLfloat f);

+	void uploadUniformFloatArrayToShader(GLuint shader, char *nameInShader, GLfloat *f, int arrayLength);

+	void uploadUniformVec3ToShader(GLuint shader, char *nameInShader, vec3 v);

+	void uploadUniformVec3ArrayToShader(GLuint shader, char *nameInShader, vec3 *a, int arrayLength);

+	void bindTextureToTextureUnit(GLuint tex, int unit);

+*/

+

 #ifdef __cplusplus

 // Convenient overloads for C++, closer to GLSL

 	mat3 inverse(mat3 m);

@@ -547,7 +559,7 @@ vec3 operator*(const mat3 &a, const vec3 &b)

 // ********** implementation section ************

 #ifdef MAIN

-//#ifndef VECTOR_UTILS_IMPLEMENTATION

+//#ifndef VECTOR_UTILS_IMPLEMENTATION

 //#define VECTOR_UTILS_IMPLEMENTATION

 // VS doesn't define NAN properly

@@ -1526,6 +1538,98 @@ void printVec3(vec3 in)

 	printf("(%f, %f, %f)\n", in.x, in.y, in.z);

 }

+/* Utility functions for easier uploads to shaders with error messages. */

+// NEW as prototype 2022, added to VU 2023

+

+#define NUM_ERRORS 8

+

+static void ReportError(const char *caller, const char *name)

+{

+	static unsigned int draw_error_counter = 0; 

+	if(draw_error_counter < NUM_ERRORS)

+	{

+		fprintf(stderr, "%s warning: '%s' not found in shader!\n", caller, name);

+		draw_error_counter++;

+	}

+	else if(draw_error_counter == NUM_ERRORS)

+	{

+		fprintf(stderr, "%s: Number of errors bigger than %i. No more vill be printed.\n", caller, NUM_ERRORS);

+		draw_error_counter++;

+	}

+}

+

+void uploadMat4ToShader(GLuint shader, char *nameInShader, mat4 m)

+{

+	if (nameInShader == NULL) return;

+	glUseProgram(shader);

+	GLint loc = glGetUniformLocation(shader, nameInShader);

+	if (loc >= 0)

+		glUniformMatrix4fv(loc, 1, GL_TRUE, m.m);

+	else

+		ReportError("uploadMat4ToShader", nameInShader);

+}

+

+void uploadUniformIntToShader(GLuint shader, char *nameInShader, GLint i)

+{

+	if (nameInShader == NULL) return;

+	glUseProgram(shader);

+	GLint loc = glGetUniformLocation(shader, nameInShader);

+	if (loc >= 0)

+		glUniform1i(loc, i);

+	else

+		ReportError("uploadUniformIntToShader", nameInShader);

+}

+

+void uploadUniformFloatToShader(GLuint shader, char *nameInShader, GLfloat f)

+{

+	if (nameInShader == NULL) return;

+	glUseProgram(shader);

+	GLint loc = glGetUniformLocation(shader, nameInShader);

+	if (loc >= 0)

+		glUniform1f(loc, f);

+	else

+		ReportError("uploadUniformFloatToShader", nameInShader);

+}

+

+void uploadUniformFloatArrayToShader(GLuint shader, char *nameInShader, GLfloat *f, int arrayLength)

+{

+	if (nameInShader == NULL) return;

+	glUseProgram(shader);

+	GLint loc = glGetUniformLocation(shader, nameInShader);

+	if (loc >= 0)

+		glUniform1fv(loc, arrayLength, f);

+	else

+		ReportError("uploadUniformFloatToShader", nameInShader);

+}

+

+void uploadUniformVec3ToShader(GLuint shader, char *nameInShader, vec3 v)

+{

+	if (nameInShader == NULL) return;

+	glUseProgram(shader);

+	GLint loc = glGetUniformLocation(shader, nameInShader);

+	if (loc >= 0)

+		glUniform3f(loc, v.x, v.y, v.z);

+	else

+		ReportError("uploadUniformVec3ToShader", nameInShader);

+}

+

+void uploadUniformVec3ArrayToShader(GLuint shader, char *nameInShader, vec3 *a, int arrayLength)

+{

+	if (nameInShader == NULL) return;

+	glUseProgram(shader);

+	GLint loc = glGetUniformLocation(shader, nameInShader);

+	if (loc >= 0)

+		glUniform3fv(loc, arrayLength, (GLfloat *)a);

+	else

+		ReportError("uploadUniformVec3ArrayToShader", nameInShader);

+}

+

+void bindTextureToTextureUnit(GLuint tex, int unit)

+{

+	glActiveTexture(GL_TEXTURE0 + unit);

+	glBindTexture(GL_TEXTURE_2D, tex);

+}

+

 #ifdef __cplusplus

 mat3 inverse(mat3 m)

 {

new file mode 100755

@@ -0,0 +1,1558 @@

+// VectorUtils4, header only version!

+// You must define MAIN in only one file (typically the main

+// program) in order to only complile the implementation section once!

+// The #define must be BEFORE the "include of this file!

+

+// VectorUtils

+// Vector and matrix manipulation library for OpenGL, a package of the most essential functions.

+// This is intended as a mini version of GLM.

+// Includes:

+// - Basic vector operations: Add, subtract, scale, dot product, cross product.

+// - Basic matrix operations: Multiply matrix to matrix, matric to vector, transpose.

+// - Creation of transformation matrixces: Translation, scaling, rotation.

+// - A few more special operations: Orthonormalizaton of a matrix, CrossMatrix,

+// - Replacements of some GLU functions: lookAt, frustum, perspective.

+// - Inverse and inverse transpose for creating normal matrices.

+// Supports both C and C++. The C interface makes it accessible from most languages if desired.

+

+// A note on completeness:

+// All operations may not be 100% symmetrical over all types, and some GLSL types are

+// missing (like vec2). These will be added if proven important. There are already

+// some calls of minor importance (mat3 * mat3, mat3 * vec3) included only for

+// symmetry. I don't want the code to grow a lot for such reasons, I want it to be

+// compact and to the point.

+

+// Current open design questions:

+// Naming conventions: Lower case or capitalized? (Frustum/frustum)

+// Prefix for function calls? (The cost would be more typing and making the code harder to read.)

+// Add vector operations for vec4? Other *essential* symmetry issues?

+// Names for functions when supporting both vec3 and vec4, mat3 and mat4? (vec3Add, vec4Add?)

+

+

+// History:

+

+// VectorUtils is a small (but growing) math unit by Ingemar Ragnemalm.

+// It originated as "geom3d" by Andrew Meggs, but that unit is no more

+// than inspiration today. The original VectorUtils(1) was based on it,

+// while VectorUtils2 was a rewrite primarily to get rid of the over-use

+// of arrays in the original.

+

+// New version 120201:

+// Defaults to matrices "by the book". Can also be configured to the flipped

+// column-wise matrices that old OpenGL required (and we all hated).

+// This is freshly implemented, limited testing, so there can be bugs.

+// But it seems to work just fine on my tests with translation, rotations

+// and matrix multiplications.

+

+// 1208??: Added lookAt, perspective, frustum

+// Also made Transpose do what it should. TransposeRotation is the old function.

+// 120913: Fixed perspective. Never trust other's code...

+// 120925: Transposing in CrossMatrix

+// 121119: Fixed one more glitch in perspective.

+

+// 130227 First draft to a version 3.

+// C++ operators if accessed from C++

+// Vectors by value when possible. Return values on the stack.

+// (Why was this not the case in VectorUtils2? Beause I tried to stay compatible

+// with an old C compiler. Older C code generally prefers all non-scalar data by

+// reference. But I'd like to move away from that now.)

+// Types conform with GLSL as much as possible (vec3, mat4)

+// Added some operations for mat3 and vec4, but most of them are more for

+// completeness than usefulness; I find vec3's and mat4's to be what I use

+// most of the time.

+// Also added InvertMat3 and InversTranspose to support creation of normal matrices.

+// Marked some calls for removal: CopyVector, TransposeRotation, CopyMatrix.

+// 130308: Added InvertMat4 and some more vec3/vec4 operators (+= etc)

+// 130922: Fixed a vital bug in CrossMatrix.

+// 130924: Fixed a bug in mat3tomat4.

+// 131014: Added TransposeMat3 (although I doubt its importance)

+// 140213: Corrected mat3tomat4. (Were did the correction in 130924 go?)

+// 151210: Added printMat4 and printVec3.

+// 160302: Added empty constuctors for vec3 and vec4.

+// 170221: Uses _WIN32 instead of WIN32

+// 170331: Added stdio.h for printMat4 and printVec3

+// 180314: Added some #defines for moving closer to GLSL (dot, cross...).

+// 2021-05-15: Constructors for vec3 etc replaced in order to avoid

+// problems with some C++ compilers.

+// 2022-11-10: Corrected an ifdef that could cause problems.

+

+// 2022-05-05: Created VectorUtils4, now only a header file!

+// You must define MAIN in only one file (typically the main

+// program) in order to only complile the implementation section once!

+// This means:

+// + Only ONE file

+// + I can now safely re-introduce the constructors again!

+// + I can move closer to GLM and GLSL syntax

+// - You must #define MAIN in the main program

+// This means that VectorUtils can still be used from C and thereby many other languages,

+// while taking more advantage of C++ features when using C++.

+// 20220525: Revised perpective() to conform with the reference manual as well as GLM. (But it went wrong, why?)

+// 2022-08-29: Renamed Transpose to transpose to conform better with GLSL. Corrected perspective.

+

+// You may use VectorUtils as you please. A reference to the origin is appreciated

+// but if you grab some snippets from it without reference... no problem.

+

+// VectorUtils3 header

+// See source for more information

+

+#ifndef VECTORUTILS4

+#define VECTORUTILS4

+

+#ifdef __APPLE__

+	#define GL_SILENCE_DEPRECATION

+	#include <OpenGL/gl3.h>

+#else

+	#if defined(_WIN32)

+		#include "glew.h"

+	#endif

+	#include <GL/gl.h>

+#endif

+#include <math.h>

+#include <stdio.h>

+

+

+#ifndef M_PI

+#define M_PI           3.14159265358979323846

+#endif

+

+// Really old type names

+#define Vector3f Point3D

+#define Matrix3f Matrix3D

+#define Matrix4f Matrix4D