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A simple and fast 3D math library for games and graphics.

Development status

glam is in beta stage. Base functionality has been implemented and the look and feel of the API has solidified.

Features

SIMD

The Vec3A, Vec4, Quat, Mat2, Mat3A, Mat4, Affine2 and Affine3A types use 128-bit wide SIMD vector types for storage on x86, x86_64 and wasm32 architectures. As a result, these types are all 16 byte aligned and depending on the size of the type or the type's members, they may contain internal padding. This results in some wasted space in the cases of Vec3A, Mat3A, Affine2 and Affine3A. However, the use of SIMD generally results in better performance than scalar math.

glam outperforms similar Rust libraries for common operations as tested by the mathbench project.

Enabling SIMD

SIMD is supported on x86, x86_64 and wasm32 targets.

Note that SIMD on wasm32 passes tests but has not been benchmarked, performance may or may not be better than scalar math.

no_std support

no_std support can be enabled by compiling with --no-default-features to disable std support and --features libm for math functions that are only defined in std. For example:

[dependencies]
glam = { version = "0.29.2", default-features = false, features = ["libm"] }

To support both std and no_std builds in project, you can use the following in your Cargo.toml:

[features]
default = ["std"]

std = ["glam/std"]
libm = ["glam/libm"]

[dependencies]
glam = { version = "0.29.2", default-features = false }

Optional features

Feature gates

Minimum Supported Rust Version (MSRV)

The minimum supported version of Rust for glam is 1.68.2.

Conventions

Column vectors

glam interprets vectors as column matrices (also known as "column vectors") meaning when transforming a vector with a matrix the matrix goes on the left, e.g. v' = Mv. DirectX uses row vectors, OpenGL uses column vectors. There are pros and cons to both.

Column-major order

Matrices are stored in column major format. Each column vector is stored in contiguous memory.

Co-ordinate system

glam is co-ordinate system agnostic and intends to support both right-handed and left-handed conventions.

Design Philosophy

The design of this library is guided by a desire for simplicity and good performance.

Architecture

See ARCHITECTURE.md for details on glam's internals.

Inspirations

There were many inspirations for the interface and internals of glam from the Rust and C++ worlds. In particular:

License

Licensed under either of

at your option.

Contribution

Contributions in any form (issues, pull requests, etc.) to this project must adhere to Rust's Code of Conduct.

Unless you explicitly state otherwise, any contribution intentionally submitted for inclusion in the work by you, as defined in the Apache-2.0 license, shall be dual licensed as above, without any additional terms or conditions.

If you are interested in contributing or have a request or suggestion start a discussion on GitHub. See CONTRIBUTING.md for more information for contributors.

Most code in glam is generated, see the codegen README for details.

Thank you to all of the glam contributors!

Support

The Game Development in Rust Discord and Bevy Engine Discord servers are not official support channels but can be good places to ask for help with glam.

Attribution

glam contains code ported from the following C++ libraries:

See ATTRIBUTION.md for details.