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[core] Align Matrix memory layout with OpenGL standard (column-major) for raylib 6.0 #5768

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[core] Align Matrix memory layout with OpenGL standard (column-major) for raylib 6.0 #5768

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56be391
modified memory order of Matrix type
noinodev Apr 16, 2026
6926c87
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noinodev Apr 16, 2026
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noinodev Apr 16, 2026
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8 changes: 4 additions & 4 deletions src/raylib.h
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Original file line number Diff line number Diff line change
Expand Up @@ -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)
Expand Down
196 changes: 110 additions & 86 deletions src/raymath.h
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down Expand Up @@ -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)
Expand All @@ -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 };
Expand Down Expand Up @@ -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;
}
Expand Down Expand Up @@ -1765,23 +1768,36 @@ 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;
}

// 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;
}
Expand Down Expand Up @@ -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);
Expand All @@ -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);
Expand All @@ -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);
Expand All @@ -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);
Expand Down Expand Up @@ -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;
}
Expand Down Expand Up @@ -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;
Expand Down Expand Up @@ -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;
}
Expand Down Expand Up @@ -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);
}

Expand Down
8 changes: 4 additions & 4 deletions src/rcamera.h
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down
37 changes: 25 additions & 12 deletions src/rlgl.h
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down Expand Up @@ -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
Expand Down Expand Up @@ -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
Expand Down
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