From 1b2fc74f3384394be478422f038815cdf858702f Mon Sep 17 00:00:00 2001
From: sebcrozet <developer@crozet.re>
Date: Sat, 22 Sep 2018 17:36:08 +0200
Subject: [PATCH] Resolve some name conflicts.

---
 nalgebra-glm/README                          |  5 +-
 nalgebra-glm/src/common.rs                   | 37 +++++-------
 nalgebra-glm/src/ext/matrix_transform.rs     |  6 +-
 nalgebra-glm/src/ext/scalar_common.rs        | 16 +++---
 nalgebra-glm/src/gtc/constants.rs            |  6 +-
 nalgebra-glm/src/gtc/epsilon.rs              |  4 ++
 nalgebra-glm/src/gtc/quaternion.rs           | 19 +------
 nalgebra-glm/src/gtc/type_ptr.rs             | 60 ++++++--------------
 nalgebra-glm/src/gtx/exterior_product.rs     |  2 +-
 nalgebra-glm/src/gtx/matrix_cross_product.rs |  2 +-
 nalgebra-glm/src/gtx/quaternion.rs           | 10 ++--
 nalgebra-glm/src/gtx/rotate_vector.rs        | 18 +++---
 nalgebra-glm/src/gtx/transform.rs            |  8 +--
 nalgebra-glm/src/gtx/transform2.rs           | 24 ++++----
 nalgebra-glm/src/gtx/transform2d.rs          | 32 +----------
 nalgebra-glm/src/gtx/vector_query.rs         |  2 +-
 16 files changed, 92 insertions(+), 159 deletions(-)

diff --git a/nalgebra-glm/README b/nalgebra-glm/README
index dbbb8896..5b5a8619 100644
--- a/nalgebra-glm/README
+++ b/nalgebra-glm/README
@@ -8,4 +8,7 @@
 * Function overload: the methods taking an epsilon as suffixed by _eps
 * L1Norm and L2Norm between two vectors have been renamed: l1_distance, l2_distance
 * Matrix columnwise comparisons suffixed by _columns, e.g., `equal` -> `equal_columns`
-* All quaternion functions are prefixed by quat_
\ No newline at end of file
+* All quaternion functions are prefixed by quat_
+* min(Vec, Vec) -> min_vec
+* 2D cross is namepd perp
+* quat_cross(vec, quat) -> quat_inv_cross
\ No newline at end of file
diff --git a/nalgebra-glm/src/common.rs b/nalgebra-glm/src/common.rs
index d072a4da..6e0e5e4d 100644
--- a/nalgebra-glm/src/common.rs
+++ b/nalgebra-glm/src/common.rs
@@ -130,36 +130,26 @@ pub fn int_bits_to_float_vec<D: Dimension>(v: &Vec<i32, D>) -> Vec<f32, D>
 //    x * (exp).exp2()
 //}
 
-/// The maximum between two numbers.
-pub fn max<N: Number>(x: N, y: N) -> N {
-    na::sup(&x, &y)
-}
-
 /// The maximum between each component of `x` and `y`.
-pub fn max2<N: Number, D: Dimension>(x: &Vec<N, D>, y: N) -> Vec<N, D>
+pub fn max<N: Number, D: Dimension>(x: &Vec<N, D>, y: N) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     x.map(|x| na::sup(&x, &y))
 }
 
 /// Component-wise maximum between `x` and `y`.
-pub fn max3<N: Number, D: Dimension>(x: &Vec<N, D>, y: &Vec<N, D>) -> Vec<N, D>
+pub fn max_vec<N: Number, D: Dimension>(x: &Vec<N, D>, y: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     na::sup(x, y)
 }
 
-/// The minimum between two numbers.
-pub fn min<N: Number>(x: N, y: N) -> N {
-    na::inf(&x, &y)
-}
-
 /// The minimum between each component of `x` and `y`.
-pub fn min2<N: Number, D: Dimension>(x: &Vec<N, D>,y: N) -> Vec<N, D>
+pub fn min<N: Number, D: Dimension>(x: &Vec<N, D>, y: N) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     x.map(|x| na::inf(&x, &y))
 }
 
 /// Component-wise minimum between `x` and `y`.
-pub fn min3<N: Number, D: Dimension>(x: &Vec<N, D>, y: &Vec<N, D>) -> Vec<N, D>
+pub fn min_vec<N: Number, D: Dimension>(x: &Vec<N, D>, y: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     na::inf(x, y)
 }
@@ -174,7 +164,7 @@ pub fn mix<N: Number>(x: N, y: N, a: N) -> N {
 /// Component-wise modulus.
 ///
 /// Returns `x - y * floor(x / y)` for each component in `x` using the corresponding component of `y`.
-pub fn mod_<N: Number, D: Dimension>(x: &Vec<N, D>, y: &Vec<N, D>) -> Vec<N, D>
+pub fn modf_vec<N: Number, D: Dimension>(x: &Vec<N, D>, y: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     x.zip_map(y, |x, y| x % y)
 }
@@ -216,23 +206,24 @@ pub fn smoothstep<N: Number>(edge0: N, edge1: N, x: N) -> N {
 }
 
 /// Returns 0.0 if `x < edge`, otherwise it returns 1.0.
-pub fn step<N: Number>(edge: N, x: N) -> N {
+pub fn step_scalar<N: Number>(edge: N, x: N) -> N {
     if edge > x {
         N::zero()
     } else {
         N::one()
     }
 }
+
 /// Returns 0.0 if `x[i] < edge`, otherwise it returns 1.0.
-pub fn step2<N: Number, D: Dimension>(edge: N, x: &Vec<N, D>) -> Vec<N, D>
+pub fn step<N: Number, D: Dimension>(edge: N, x: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
-    x.map(|x| step(edge, x))
+    x.map(|x| step_scalar(edge, x))
 }
 
 /// Returns 0.0 if `x[i] < edge[i]`, otherwise it returns 1.0.
-pub fn step3<N: Number, D: Dimension>(edge: &Vec<N, D>, x: &Vec<N, D>) -> Vec<N, D>
+pub fn step_vec<N: Number, D: Dimension>(edge: &Vec<N, D>, x: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
-    edge.zip_map(x, |edge, x| step(edge, x))
+    edge.zip_map(x, |edge, x| step_scalar(edge, x))
 }
 
 /// Returns a value equal to the nearest integer to `x` whose absolute value is not larger than the absolute value of `x`.
@@ -244,7 +235,7 @@ pub fn trunc<N: Real, D: Dimension>(x: &Vec<N, D>) -> Vec<N, D>
 /// Returns a floating-point value corresponding to a unsigned integer encoding of a floating-point value.
 ///
 /// If an `inf` or `NaN` is passed in, it will not signal, and the resulting floating point value is unspecified. Otherwise, the bit-level representation is preserved.
-pub fn uint_bits_to_float(v: u32) -> f32 {
+pub fn uint_bits_to_float_scalar(v: u32) -> f32 {
     unsafe { mem::transmute(v) }
 
 }
@@ -252,7 +243,7 @@ pub fn uint_bits_to_float(v: u32) -> f32 {
 /// For each component of `v`, returns a floating-point value corresponding to a unsigned integer encoding of a floating-point value.
 ///
 /// If an inf or NaN is passed in, it will not signal, and the resulting floating point value is unspecified. Otherwise, the bit-level representation is preserved.
-pub fn uint_bits_to_float_vec<D: Dimension>(v: &Vec<u32, D>) -> Vec<f32, D>
+pub fn uint_bits_to_float<D: Dimension>(v: &Vec<u32, D>) -> Vec<f32, D>
     where DefaultAllocator: Alloc<f32, D> {
-    v.map(|v| uint_bits_to_float(v))
+    v.map(|v| uint_bits_to_float_scalar(v))
 }
\ No newline at end of file
diff --git a/nalgebra-glm/src/ext/matrix_transform.rs b/nalgebra-glm/src/ext/matrix_transform.rs
index 9929e54d..bf1ecd11 100644
--- a/nalgebra-glm/src/ext/matrix_transform.rs
+++ b/nalgebra-glm/src/ext/matrix_transform.rs
@@ -39,7 +39,7 @@ pub fn look_at_rh<N: Real>(eye: &Vec<N, U3>, center: &Vec<N, U3>, up: &Vec<N, U3
     Mat::look_at_rh(&Point3::from_coordinates(*eye), &Point3::from_coordinates(*center), up)
 }
 
-/// Builds a rotation 4 * 4 matrix created from an axis vector and an angle.
+/// Builds a rotation 4 * 4 matrix created from an axis vector and an angle and right-multiply it to `m`.
 ///
 /// # Parameters
 ///    * m − Input matrix multiplied by this rotation matrix.
@@ -49,7 +49,7 @@ pub fn rotate<N: Real>(m: &Mat<N, U4, U4>, angle: N, axis: &Vec<N, U3>) -> Mat<N
     m * Rotation3::from_axis_angle(&Unit::new_normalize(*axis), angle).to_homogeneous()
 }
 
-/// Builds a scale 4 * 4 matrix created from 3 scalars.
+/// Builds a scale 4 * 4 matrix created from 3 scalars and right-multiply it to `m`.
 ///
 /// # Parameters
 ///    * m − Input matrix multiplied by this scale matrix.
@@ -58,7 +58,7 @@ pub fn scale<N: Number>(m: &Mat<N, U4, U4>, v: &Vec<N, U3>) -> Mat<N, U4, U4> {
     m.prepend_nonuniform_scaling(v)
 }
 
-/// Builds a translation 4 * 4 matrix created from a vector of 3 components.
+/// Builds a translation 4 * 4 matrix created from a vector of 3 components and right-multiply it to `m`.
 ///
 /// # Parameters
 ///    * m − Input matrix multiplied by this translation matrix.
diff --git a/nalgebra-glm/src/ext/scalar_common.rs b/nalgebra-glm/src/ext/scalar_common.rs
index ca5e2e3d..6829326d 100644
--- a/nalgebra-glm/src/ext/scalar_common.rs
+++ b/nalgebra-glm/src/ext/scalar_common.rs
@@ -2,22 +2,22 @@ use na;
 
 use traits::Number;
 
-/// Returns the maximum value among three.
-pub fn max3<N: Number>(a: N, b: N, c: N) -> N {
+/// Returns the maximum among three values.
+pub fn max3_scalar<N: Number>(a: N, b: N, c: N) -> N {
     na::sup(&na::sup(&a, &b), &c)
 }
 
-/// Returns the maximum value among four.
-pub fn max4<N: Number>(a: N, b: N, c: N, d: N) -> N {
+/// Returns the maximum among four values.
+pub fn max4_scalar<N: Number>(a: N, b: N, c: N, d: N) -> N {
     na::sup(&na::sup(&a, &b), &na::sup(&c, &d))
 }
 
-/// Returns the maximum value among three.
-pub fn min3<N: Number>(a: N, b: N, c: N) -> N {
+/// Returns the maximum among three values.
+pub fn min3_scalar<N: Number>(a: N, b: N, c: N) -> N {
     na::inf(&na::inf(&a, &b), &c)
 }
 
-/// Returns the maximum value among four.
-pub fn min4<N: Number>(a: N, b: N, c: N, d: N) -> N {
+/// Returns the maximum among four values.
+pub fn min4_scalar<N: Number>(a: N, b: N, c: N, d: N) -> N {
     na::inf(&na::inf(&a, &b), &na::inf(&c, &d))
 }
\ No newline at end of file
diff --git a/nalgebra-glm/src/gtc/constants.rs b/nalgebra-glm/src/gtc/constants.rs
index cfbf4ae7..39255ecd 100644
--- a/nalgebra-glm/src/gtc/constants.rs
+++ b/nalgebra-glm/src/gtc/constants.rs
@@ -21,12 +21,12 @@ pub fn golden_ratio<N: Real>() -> N {
     (N::one() + root_five()) / na::convert(2.0)
 }
 
-/// Returns `4 / pi`.
+/// Returns `pi / 2`.
 pub fn half_pi<N: Real>() -> N {
     N::frac_pi_2()
 }
 
-/// Returns `4 / pi`.
+/// Returns `ln(ln(2))`.
 pub fn ln_ln_two<N: Real>() -> N {
     N::ln_2().ln()
 }
@@ -102,7 +102,7 @@ pub fn root_two_pi<N: Real>() -> N {
     N::two_pi().sqrt()
 }
 
-/// Returns `1 / 3.
+/// Returns `1 / 3`.
 pub fn third<N: Real>() -> N {
     na::convert(1.0 / 2.0)
 }
diff --git a/nalgebra-glm/src/gtc/epsilon.rs b/nalgebra-glm/src/gtc/epsilon.rs
index b66ed4c0..bc505b88 100644
--- a/nalgebra-glm/src/gtc/epsilon.rs
+++ b/nalgebra-glm/src/gtc/epsilon.rs
@@ -1,3 +1,6 @@
+// NOTE those are actually duplicates of vector_relational.rs
+
+/*
 use approx::AbsDiffEq;
 use na::DefaultAllocator;
 
@@ -25,3 +28,4 @@ pub fn epsilon_not_equal<N: Number, D: Dimension>(x: &Vec<N, D>, y: &Vec<N, D>,
 pub fn epsilon_not_equal2<N: AbsDiffEq<Epsilon = N>>(x: N, y: N, epsilon: N) -> bool {
     abs_diff_ne!(x, y, epsilon = epsilon)
 }
+*/
\ No newline at end of file
diff --git a/nalgebra-glm/src/gtc/quaternion.rs b/nalgebra-glm/src/gtc/quaternion.rs
index a17721de..3b170a66 100644
--- a/nalgebra-glm/src/gtc/quaternion.rs
+++ b/nalgebra-glm/src/gtc/quaternion.rs
@@ -30,30 +30,17 @@ pub fn quat_less_than_equal<N: Real>(x: &Qua<N>, y: &Qua<N>) -> Vec<bool, U4> {
     ::less_than_equal(&x.coords, &y.coords)
 }
 
-
-/// Convert a quaternion to a rotation matrix.
-pub fn quat_mat3_cast<N: Real>(x: Qua<N>) -> Mat<N, U3, U3> {
-    let q = UnitQuaternion::new_unchecked(x);
-    q.to_rotation_matrix().unwrap()
-}
-
 /// Convert a quaternion to a rotation matrix in homogeneous coordinates.
-pub fn quat_mat4_cast<N: Real>(x: Qua<N>) -> Mat<N, U4, U4> {
-    let q = UnitQuaternion::new_unchecked(x);
-    q.to_homogeneous()
+pub fn quat_cast<N: Real>(x: &Qua<N>) -> Mat<N, U4, U4> {
+    ::quat_to_mat4(x)
 }
 
 /// Convert a rotation matrix to a quaternion.
-pub fn quat_cast<N: Real>(x: Mat<N, U3, U3>) -> Qua<N> {
+pub fn quat_to_mat3<N: Real>(x: &Mat<N, U3, U3>) -> Qua<N> {
     let rot = Rotation3::from_matrix_unchecked(x);
     UnitQuaternion::from_rotation_matrix(&rot).unwrap()
 }
 
-/// Convert a rotation matrix in homogeneous coordinates to a quaternion.
-pub fn quat_cast2<N: Real>(x: Mat<N, U4, U4>) -> Qua<N> {
-    quat_cast(x.fixed_slice::<U3, U3>(0, 0).into_owned())
-}
-
 /// Computes a right-handed look-at quaternion (equivalent to a right-handed look-at matrix).
 pub fn quat_look_at<N: Real>(direction: &Vec<N, U3>, up: &Vec<N, U3>) -> Qua<N> {
     quat_look_at_rh(direction, up)
diff --git a/nalgebra-glm/src/gtc/type_ptr.rs b/nalgebra-glm/src/gtc/type_ptr.rs
index 1c99440a..1d236f51 100644
--- a/nalgebra-glm/src/gtc/type_ptr.rs
+++ b/nalgebra-glm/src/gtc/type_ptr.rs
@@ -70,65 +70,49 @@ pub fn make_quat<N: Real>(ptr: &[N]) -> Qua<N> {
     Quaternion::from_vector(Vector4::from_column_slice(ptr))
 }
 
-/// Creates a 1D vector from another vector.
-///
-/// Missing components, if any, are set to 0.
+/// Creates a 1D vector from a slice.
 pub fn make_vec1<N: Scalar>(v: &Vec<N, U1>) -> Vec<N, U1> {
     *v
 }
 
 /// Creates a 1D vector from another vector.
-///
-/// Missing components, if any, are set to 0.
-pub fn make_vec1_2<N: Scalar>(v: &Vec<N, U2>) -> Vec<N, U1> {
+pub fn vec2_to_vec1<N: Scalar>(v: &Vec<N, U2>) -> Vec<N, U1> {
     Vector1::new(v.x)
 }
 
 /// Creates a 1D vector from another vector.
-///
-/// Missing components, if any, are set to 0.
-pub fn make_vec1_3<N: Scalar>(v: &Vec<N, U3>) -> Vec<N, U1> {
+pub fn vec3_to_vec1<N: Scalar>(v: &Vec<N, U3>) -> Vec<N, U1> {
     Vector1::new(v.x)
 }
 
 /// Creates a 1D vector from another vector.
-///
-/// Missing components, if any, are set to 0.
-pub fn make_vec1_4<N: Scalar>(v: &Vec<N, U4>) -> Vec<N, U1> {
+pub fn vec4_to_vec1<N: Scalar>(v: &Vec<N, U4>) -> Vec<N, U1> {
     Vector1::new(v.x)
 }
 
 /// Creates a 2D vector from another vector.
 ///
 /// Missing components, if any, are set to 0.
-pub fn make_vec2_1<N: Number>(v: &Vec<N, U1>) -> Vec<N, U2> {
+pub fn vec1_to_vec2<N: Number>(v: &Vec<N, U1>) -> Vec<N, U2> {
     Vector2::new(v.x, N::zero())
 }
 
 /// Creates a 2D vector from another vector.
-///
-/// Missing components, if any, are set to 0.
-pub fn make_vec2_2<N: Scalar>(v: &Vec<N, U2>) -> Vec<N, U2> {
+pub fn vec2_to_vec2<N: Scalar>(v: &Vec<N, U2>) -> Vec<N, U2> {
     *v
 }
 
 /// Creates a 2D vector from another vector.
-///
-/// Missing components, if any, are set to 0.
-pub fn make_vec2_3<N: Scalar>(v: &Vec<N, U3>) -> Vec<N, U2> {
+pub fn vec3_to_vec2<N: Scalar>(v: &Vec<N, U3>) -> Vec<N, U2> {
     Vector2::new(v.x, v.y)
 }
 
 /// Creates a 2D vector from another vector.
-///
-/// Missing components, if any, are set to 0.
-pub fn make_vec2_4<N: Scalar>(v: &Vec<N, U4>) -> Vec<N, U2> {
+pub fn vec4_to_vec2<N: Scalar>(v: &Vec<N, U4>) -> Vec<N, U2> {
     Vector2::new(v.x, v.y)
 }
 
-/// Creates a 2D vector from another vector.
-///
-/// Missing components, if any, are set to 0.
+/// Creates a 2D vector from a slice.
 pub fn make_vec2<N: Scalar>(ptr: &[N]) -> Vec<N, U2> {
     Vector2::from_column_slice(ptr)
 }
@@ -136,34 +120,28 @@ pub fn make_vec2<N: Scalar>(ptr: &[N]) -> Vec<N, U2> {
 /// Creates a 3D vector from another vector.
 ///
 /// Missing components, if any, are set to 0.
-pub fn make_vec3_1<N: Number>(v: &Vec<N, U1>) -> Vec<N, U3> {
+pub fn vec1_to_vec3<N: Number>(v: &Vec<N, U1>) -> Vec<N, U3> {
     Vector3::new(v.x, N::zero(), N::zero())
 }
 
 /// Creates a 3D vector from another vector.
 ///
 /// Missing components, if any, are set to 0.
-pub fn make_vec3_2<N: Number>(v: &Vec<N, U2>) -> Vec<N, U3> {
+pub fn vec2_to_vec3<N: Number>(v: &Vec<N, U2>) -> Vec<N, U3> {
     Vector3::new(v.x, v.y, N::zero())
 }
 
 /// Creates a 3D vector from another vector.
-///
-/// Missing components, if any, are set to 0.
-pub fn make_vec3_3<N: Scalar>(v: &Vec<N, U3>) -> Vec<N, U3> {
+pub fn vec3_to_vec3<N: Scalar>(v: &Vec<N, U3>) -> Vec<N, U3> {
     *v
 }
 
 /// Creates a 3D vector from another vector.
-///
-/// Missing components, if any, are set to 0.
-pub fn make_vec3_4<N: Scalar>(v: &Vec<N, U4>) -> Vec<N, U3> {
+pub fn vec4_to_vec3<N: Scalar>(v: &Vec<N, U4>) -> Vec<N, U3> {
     Vector3::new(v.x, v.y, v.z)
 }
 
 /// Creates a 3D vector from another vector.
-///
-/// Missing components, if any, are set to 0.
 pub fn make_vec3<N: Scalar>(ptr: &[N]) -> Vec<N, U3> {
     Vector3::from_column_slice(ptr)
 }
@@ -171,34 +149,30 @@ pub fn make_vec3<N: Scalar>(ptr: &[N]) -> Vec<N, U3> {
 /// Creates a 4D vector from another vector.
 ///
 /// Missing components, if any, are set to 0.
-pub fn make_vec4_1<N: Number>(v: &Vec<N, U1>) -> Vec<N, U4> {
+pub fn vec1_to_vec4<N: Number>(v: &Vec<N, U1>) -> Vec<N, U4> {
     Vector4::new(v.x, N::zero(), N::zero(), N::zero())
 }
 
 /// Creates a 4D vector from another vector.
 ///
 /// Missing components, if any, are set to 0.
-pub fn make_vec4_2<N: Number>(v: &Vec<N, U2>) -> Vec<N, U4> {
+pub fn vec2_to_vec4<N: Number>(v: &Vec<N, U2>) -> Vec<N, U4> {
     Vector4::new(v.x, v.y, N::zero(), N::zero())
 }
 
 /// Creates a 4D vector from another vector.
 ///
 /// Missing components, if any, are set to 0.
-pub fn make_vec4_3<N: Number>(v: &Vec<N, U3>) -> Vec<N, U4> {
+pub fn vec3_to_vec4<N: Number>(v: &Vec<N, U3>) -> Vec<N, U4> {
     Vector4::new(v.x, v.y, v.z, N::zero())
 }
 
 /// Creates a 4D vector from another vector.
-///
-/// Missing components, if any, are set to 0.
-pub fn make_vec4_4<N: Scalar>(v: &Vec<N, U4>) -> Vec<N, U4> {
+pub fn vec4_to_vec4<N: Scalar>(v: &Vec<N, U4>) -> Vec<N, U4> {
     *v
 }
 
 /// Creates a 4D vector from another vector.
-///
-/// Missing components, if any, are set to 0.
 pub fn make_vec4<N: Scalar>(ptr: &[N]) -> Vec<N, U4> {
     Vector4::from_column_slice(ptr)
 }
diff --git a/nalgebra-glm/src/gtx/exterior_product.rs b/nalgebra-glm/src/gtx/exterior_product.rs
index 9653e80f..07986d4e 100644
--- a/nalgebra-glm/src/gtx/exterior_product.rs
+++ b/nalgebra-glm/src/gtx/exterior_product.rs
@@ -4,6 +4,6 @@ use traits::Number;
 use aliases::Vec;
 
 /// The 2D perpendicular product between two vectors.
-pub fn cross<N: Number>(v: &Vec<N, U2>, u: &Vec<N, U2>) -> N {
+pub fn cross2d<N: Number>(v: &Vec<N, U2>, u: &Vec<N, U2>) -> N {
     v.perp(u)
 }
\ No newline at end of file
diff --git a/nalgebra-glm/src/gtx/matrix_cross_product.rs b/nalgebra-glm/src/gtx/matrix_cross_product.rs
index 1cbaddc8..5a41fdd0 100644
--- a/nalgebra-glm/src/gtx/matrix_cross_product.rs
+++ b/nalgebra-glm/src/gtx/matrix_cross_product.rs
@@ -8,7 +8,7 @@ pub fn matrix_cross3<N: Real>(x: &Vec<N, U3>) -> Mat<N, U3, U3> {
 }
 
 /// Builds a 4x4 matrix `m` such that for any `v`: `m * v == cross(x, v)`.
-pub fn matrix_cross4<N: Real>(x: &Vec<N, U3>) -> Mat<N, U4, U4> {
+pub fn matrix_cross<N: Real>(x: &Vec<N, U3>) -> Mat<N, U4, U4> {
     let m = x.cross_matrix();
 
     // FIXME: use a dedicated constructor from Matrix3 to Matrix4.
diff --git a/nalgebra-glm/src/gtx/quaternion.rs b/nalgebra-glm/src/gtx/quaternion.rs
index e2ab97bf..a8150f8e 100644
--- a/nalgebra-glm/src/gtx/quaternion.rs
+++ b/nalgebra-glm/src/gtx/quaternion.rs
@@ -8,7 +8,7 @@ pub fn quat_cross<N: Real>(q: &Qua<N>, v: &Vec<N, U3>) -> Vec<N, U3> {
 }
 
 /// Rotate the vector `v` by the inverse of the quaternion `q` assumed to be normalized.
-pub fn quat_cross2<N: Real>(v: &Vec<N, U3>, q: &Qua<N>) -> Vec<N, U3> {
+pub fn quat_inv_cross<N: Real>(v: &Vec<N, U3>, q: &Qua<N>) -> Vec<N, U3> {
     UnitQuaternion::new_unchecked(*q).inverse() * v
 }
 
@@ -42,12 +42,12 @@ pub fn quat_quat_identity<N: Real>() -> Qua<N> {
 }
 
 /// Rotates a vector by a quaternion assumed to be normalized.
-pub fn quat_rotate<N: Real>(q: &Qua<N>, v: &Vec<N, U3>) -> Vec<N, U3> {
+pub fn quat_rotate_vec3<N: Real>(q: &Qua<N>, v: &Vec<N, U3>) -> Vec<N, U3> {
     UnitQuaternion::new_unchecked(*q) * v
 }
 
 /// Rotates a vector in homogeneous coordinates by a quaternion assumed to be normalized.
-pub fn quat_rotate2<N: Real>(q: &Qua<N>, v: &Vec<N, U4>) -> Vec<N, U4> {
+pub fn quat_rotate<N: Real>(q: &Qua<N>, v: &Vec<N, U4>) -> Vec<N, U4> {
 //    UnitQuaternion::new_unchecked(*q) * v
     let rotated = Unit::new_unchecked(*q) * v.fixed_rows::<U3>(0);
     Vector4::new(rotated.x, rotated.y, rotated.z, v.w)
@@ -78,13 +78,13 @@ pub fn quat_to_mat4<N: Real>(x: &Qua<N>) -> Mat<N, U4, U4> {
 }
 
 /// Converts a rotation matrix to a quaternion.
-pub fn to_quat<N: Real>(x: &Mat<N, U3, U3>) -> Qua<N> {
+pub fn mat3_to_quat<N: Real>(x: &Mat<N, U3, U3>) -> Qua<N> {
     let r = Rotation3::from_matrix_unchecked(*x);
     UnitQuaternion::from_rotation_matrix(&r).unwrap()
 }
 
 /// Converts a rotation matrix in homogeneous coordinates to a quaternion.
-pub fn to_quat2<N: Real>(x: &Mat<N, U4, U4>) -> Qua<N> {
+pub fn to_quat<N: Real>(x: &Mat<N, U4, U4>) -> Qua<N> {
     let rot = x.fixed_slice::<U3, U3>(0, 0).into_owned();
     to_quat(&rot)
 }
diff --git a/nalgebra-glm/src/gtx/rotate_vector.rs b/nalgebra-glm/src/gtx/rotate_vector.rs
index eceef954..1b8ce0bb 100644
--- a/nalgebra-glm/src/gtx/rotate_vector.rs
+++ b/nalgebra-glm/src/gtx/rotate_vector.rs
@@ -12,47 +12,47 @@ pub fn orientation<N: Real>(normal: &Vec<N, U3>, up: &Vec<N, U3>) -> Mat<N, U4,
 }
 
 /// Rotate a two dimensional vector.
-pub fn rotate2<N: Real>(v: &Vec<N, U2>, angle: N) -> Vec<N, U2> {
+pub fn rotate_vec2<N: Real>(v: &Vec<N, U2>, angle: N) -> Vec<N, U2> {
     UnitComplex::new(angle) * v
 }
 
 /// Rotate a three dimensional vector around an axis.
-pub fn rotate<N: Real>(v: &Vec<N, U3>, angle: N, normal: &Vec<N, U3>) -> Vec<N, U3> {
+pub fn rotate_vec3<N: Real>(v: &Vec<N, U3>, angle: N, normal: &Vec<N, U3>) -> Vec<N, U3> {
     Rotation3::from_axis_angle(&Unit::new_normalize(*normal), angle) * v
 }
 
 /// Rotate a thee dimensional vector in homogeneous coordinates around an axis.
-pub fn rotate4<N: Real>(v: &Vec<N, U4>, angle: N, normal: &Vec<N, U3>) -> Vec<N, U4> {
+pub fn rotate_vec4<N: Real>(v: &Vec<N, U4>, angle: N, normal: &Vec<N, U3>) -> Vec<N, U4> {
     Rotation3::from_axis_angle(&Unit::new_normalize(*normal), angle).to_homogeneous() * v
 }
 
 /// Rotate a three dimensional vector around the `X` axis.
-pub fn rotate_x<N: Real>(v: &Vec<N, U3>, angle: N) -> Vec<N, U3> {
+pub fn rotate_x_vec3<N: Real>(v: &Vec<N, U3>, angle: N) -> Vec<N, U3> {
     Rotation3::from_axis_angle(&Vector3::x_axis(), angle) * v
 }
 
 /// Rotate a three dimensional vector in homogeneous coordinates around the `X` axis.
-pub fn rotate_x4<N: Real>(v: &Vec<N, U4>, angle: N) -> Vec<N, U4> {
+pub fn rotate_x<N: Real>(v: &Vec<N, U4>, angle: N) -> Vec<N, U4> {
     Rotation3::from_axis_angle(&Vector3::x_axis(), angle).to_homogeneous() * v
 }
 
 /// Rotate a three dimensional vector around the `Y` axis.
-pub fn rotate_y<N: Real>(v: &Vec<N, U3>, angle: N) -> Vec<N, U3> {
+pub fn rotate_y_vec3<N: Real>(v: &Vec<N, U3>, angle: N) -> Vec<N, U3> {
     Rotation3::from_axis_angle(&Vector3::y_axis(), angle) * v
 }
 
 /// Rotate a three dimensional vector in homogeneous coordinates around the `Y` axis.
-pub fn rotate_y4<N: Real>(v: &Vec<N, U4>, angle: N) -> Vec<N, U4> {
+pub fn rotate_y<N: Real>(v: &Vec<N, U4>, angle: N) -> Vec<N, U4> {
     Rotation3::from_axis_angle(&Vector3::y_axis(), angle).to_homogeneous() * v
 }
 
 /// Rotate a three dimensional vector around the `Z` axis.
-pub fn rotate_z<N: Real>(v: &Vec<N, U3>, angle: N) -> Vec<N, U3> {
+pub fn rotate_z_vec3<N: Real>(v: &Vec<N, U3>, angle: N) -> Vec<N, U3> {
     Rotation3::from_axis_angle(&Vector3::z_axis(), angle) * v
 }
 
 /// Rotate a three dimensional vector in homogeneous coordinates around the `Z` axis.
-pub fn rotate_z4<N: Real>(v: &Vec<N, U4>, angle: N) -> Vec<N, U4> {
+pub fn rotate_z<N: Real>(v: &Vec<N, U4>, angle: N) -> Vec<N, U4> {
     Rotation3::from_axis_angle(&Vector3::z_axis(), angle).to_homogeneous() * v
 }
 
diff --git a/nalgebra-glm/src/gtx/transform.rs b/nalgebra-glm/src/gtx/transform.rs
index 065c0079..bf63b19f 100644
--- a/nalgebra-glm/src/gtx/transform.rs
+++ b/nalgebra-glm/src/gtx/transform.rs
@@ -4,16 +4,16 @@ use traits::Number;
 use aliases::{Vec, Mat};
 
 /// Builds a rotation 4 * 4 matrix created from an axis of 3 scalars and an angle expressed in radians.
-pub fn rotate<N: Real>(angle: N, v: &Vec<N, U3>) -> Mat<N, U4, U4> {
+pub fn rotation<N: Real>(angle: N, v: &Vec<N, U3>) -> Mat<N, U4, U4> {
     Rotation3::from_axis_angle(&Unit::new_normalize(*v), angle).to_homogeneous()
 }
 
-/// Transforms a matrix with a scale 4 * 4 matrix created from a vector of 3 components.
-pub fn scale<N: Number>(v: &Vec<N, U3>) -> Mat<N, U4, U4> {
+/// A 4 * 4 scale matrix created from a vector of 3 components.
+pub fn scaling<N: Number>(v: &Vec<N, U3>) -> Mat<N, U4, U4> {
     Matrix4::new_nonuniform_scaling(v)
 }
 
 /// Transforms a matrix with a translation 4 * 4 matrix created from 3 scalars.
-pub fn translate<N: Number>(v: &Vec<N, U3>) -> Mat<N, U4, U4> {
+pub fn translation<N: Number>(v: &Vec<N, U3>) -> Mat<N, U4, U4> {
     Matrix4::new_translation(v)
 }
diff --git a/nalgebra-glm/src/gtx/transform2.rs b/nalgebra-glm/src/gtx/transform2.rs
index 09a788be..30f16cb1 100644
--- a/nalgebra-glm/src/gtx/transform2.rs
+++ b/nalgebra-glm/src/gtx/transform2.rs
@@ -4,7 +4,7 @@ use traits::Number;
 use aliases::{Mat, Vec};
 
 /// Build planar projection matrix along normal axis and right-multiply it to `m`.
-pub fn proj2<N: Number>(m: &Mat<N, U3, U3>, normal: &Vec<N, U2>) -> Mat<N, U3, U3> {
+pub fn proj2d<N: Number>(m: &Mat<N, U3, U3>, normal: &Vec<N, U2>) -> Mat<N, U3, U3> {
     let mut res = Matrix3::identity();
 
     {
@@ -16,7 +16,7 @@ pub fn proj2<N: Number>(m: &Mat<N, U3, U3>, normal: &Vec<N, U2>) -> Mat<N, U3, U
 }
 
 /// Build planar projection matrix along normal axis, and right-multiply it to `m`.
-pub fn proj3<N: Number>(m: &Mat<N, U4, U4>, normal: &Vec<N, U3>) -> Mat<N, U4, U4> {
+pub fn proj<N: Number>(m: &Mat<N, U4, U4>, normal: &Vec<N, U3>) -> Mat<N, U4, U4> {
     let mut res = Matrix4::identity();
 
     {
@@ -28,7 +28,7 @@ pub fn proj3<N: Number>(m: &Mat<N, U4, U4>, normal: &Vec<N, U3>) -> Mat<N, U4, U
 }
 
 /// Builds a reflection matrix and right-multiply it to `m`.
-pub fn reflect2<N: Number>(m: &Mat<N, U3, U3>, normal: &Vec<N, U2>) -> Mat<N, U3, U3> {
+pub fn reflect2d<N: Number>(m: &Mat<N, U3, U3>, normal: &Vec<N, U2>) -> Mat<N, U3, U3> {
     let mut res = Matrix3::identity();
 
     {
@@ -40,7 +40,7 @@ pub fn reflect2<N: Number>(m: &Mat<N, U3, U3>, normal: &Vec<N, U2>) -> Mat<N, U3
 }
 
 /// Builds a reflection matrix, and right-multiply it to `m`.
-pub fn reflect3<N: Number>(m: &Mat<N, U4, U4>, normal: &Vec<N, U3>) -> Mat<N, U4, U4> {
+pub fn reflect<N: Number>(m: &Mat<N, U4, U4>, normal: &Vec<N, U3>) -> Mat<N, U4, U4> {
     let mut res = Matrix4::identity();
 
     {
@@ -52,7 +52,7 @@ pub fn reflect3<N: Number>(m: &Mat<N, U4, U4>, normal: &Vec<N, U3>) -> Mat<N, U4
 }
 
 /// Builds a scale-bias matrix.
-pub fn scale_bias<N: Number>(scale: N, bias: N) -> Mat<N, U4, U4> {
+pub fn scale_bias_matrix<N: Number>(scale: N, bias: N) -> Mat<N, U4, U4> {
     let _0 = N::zero();
     let _1 = N::one();
 
@@ -65,12 +65,12 @@ pub fn scale_bias<N: Number>(scale: N, bias: N) -> Mat<N, U4, U4> {
 }
 
 /// Builds a scale-bias matrix, and right-multiply it to `m`.
-pub fn scale_bias2<N: Number>(m: &Mat<N, U4, U4>, scale: N, bias: N) -> Mat<N, U4, U4> {
-    m * scale_bias(scale, bias)
+pub fn scale_bias<N: Number>(m: &Mat<N, U4, U4>, scale: N, bias: N) -> Mat<N, U4, U4> {
+    m * scale_bias_matrix(scale, bias)
 }
 
 /// Transforms a matrix with a shearing on X axis.
-pub fn shear_x2<N: Number>(m: &Mat<N, U3, U3>, y: N) -> Mat<N, U3, U3> {
+pub fn shear2d_x<N: Number>(m: &Mat<N, U3, U3>, y: N) -> Mat<N, U3, U3> {
     let _0 = N::zero();
     let _1 = N::one();
 
@@ -83,7 +83,7 @@ pub fn shear_x2<N: Number>(m: &Mat<N, U3, U3>, y: N) -> Mat<N, U3, U3> {
 }
 
 /// Transforms a matrix with a shearing on Y axis.
-pub fn shear_x3<N: Number>(m: &Mat<N, U4, U4>, y: N, z: N) -> Mat<N, U4, U4> {
+pub fn shear_x<N: Number>(m: &Mat<N, U4, U4>, y: N, z: N) -> Mat<N, U4, U4> {
     let _0 = N::zero();
     let _1 = N::one();
     let shear = Matrix4::new(
@@ -97,7 +97,7 @@ pub fn shear_x3<N: Number>(m: &Mat<N, U4, U4>, y: N, z: N) -> Mat<N, U4, U4> {
 }
 
 /// Transforms a matrix with a shearing on Y axis.
-pub fn shear_y2<N: Number>(m: &Mat<N, U3, U3>, x: N) -> Mat<N, U3, U3> {
+pub fn shear_y_mat3<N: Number>(m: &Mat<N, U3, U3>, x: N) -> Mat<N, U3, U3> {
     let _0 = N::zero();
     let _1 = N::one();
 
@@ -110,7 +110,7 @@ pub fn shear_y2<N: Number>(m: &Mat<N, U3, U3>, x: N) -> Mat<N, U3, U3> {
 }
 
 /// Transforms a matrix with a shearing on Y axis.
-pub fn shear_y3<N: Number>(m: &Mat<N, U4, U4>, x: N, z: N) -> Mat<N, U4, U4> {
+pub fn shear_y<N: Number>(m: &Mat<N, U4, U4>, x: N, z: N) -> Mat<N, U4, U4> {
     let _0 = N::zero();
     let _1 = N::one();
     let shear = Matrix4::new(
@@ -124,7 +124,7 @@ pub fn shear_y3<N: Number>(m: &Mat<N, U4, U4>, x: N, z: N) -> Mat<N, U4, U4> {
 }
 
 /// Transforms a matrix with a shearing on Z axis.
-pub fn shear_z3d<N: Number>(m: &Mat<N, U4, U4>, x: N, y: N) -> Mat<N, U4, U4> {
+pub fn shear_z<N: Number>(m: &Mat<N, U4, U4>, x: N, y: N) -> Mat<N, U4, U4> {
     let _0 = N::zero();
     let _1 = N::one();
     let shear = Matrix4::new(
diff --git a/nalgebra-glm/src/gtx/transform2d.rs b/nalgebra-glm/src/gtx/transform2d.rs
index 9e4de825..43406694 100644
--- a/nalgebra-glm/src/gtx/transform2d.rs
+++ b/nalgebra-glm/src/gtx/transform2d.rs
@@ -4,42 +4,16 @@ use traits::Number;
 use aliases::{Mat, Vec};
 
 /// Builds a 2D rotation matrix from an angle and right-multiply it to `m`.
-pub fn rotate<N: Real>(m: &Mat<N, U3, U3>, angle: N) -> Mat<N, U3, U3> {
+pub fn rotate2d<N: Real>(m: &Mat<N, U3, U3>, angle: N) -> Mat<N, U3, U3> {
     m * UnitComplex::new(angle).to_homogeneous()
 }
 
 /// Builds a 2D scaling matrix and right-multiply it to `m`.
-pub fn scale<N: Number>(m: &Mat<N, U3, U3>, v: &Vec<N, U2>) -> Mat<N, U3, U3> {
+pub fn scale2d<N: Number>(m: &Mat<N, U3, U3>, v: &Vec<N, U2>) -> Mat<N, U3, U3> {
     m.prepend_nonuniform_scaling(v)
 }
 
-/// Builds a 2D shearing matrix on the `X` axis and right-multiply it to `m`.
-pub fn shear_x<N: Number>(m: &Mat<N, U3, U3>, y: N) -> Mat<N, U3, U3> {
-    let _0 = N::zero();
-    let _1 = N::one();
-
-    let shear = Matrix3::new(
-        _1,  y, _0,
-        _0, _1, _0,
-        _0, _0, _1
-    );
-    m * shear
-}
-
-/// Builds a 2D shearing matrix on the `Y` axis and right-multiply it to `m`.
-pub fn shear_y<N: Number>(m: &Mat<N, U3, U3>, x: N) -> Mat<N, U3, U3> {
-    let _0 = N::zero();
-    let _1 = N::one();
-
-    let shear = Matrix3::new(
-        _1, _0, _0,
-         x, _1, _0,
-        _0, _0, _1
-    );
-    m * shear
-}
-
 /// Builds a translation matrix and right-multiply it to `m`.
-pub fn translate<N: Number>(m: &Mat<N, U3, U3>, v: &Vec<N, U2>) -> Mat<N, U3, U3> {
+pub fn translate2d<N: Number>(m: &Mat<N, U3, U3>, v: &Vec<N, U2>) -> Mat<N, U3, U3> {
     m.prepend_translation(v)
 }
diff --git a/nalgebra-glm/src/gtx/vector_query.rs b/nalgebra-glm/src/gtx/vector_query.rs
index 8eb8fd2c..a6d97406 100644
--- a/nalgebra-glm/src/gtx/vector_query.rs
+++ b/nalgebra-glm/src/gtx/vector_query.rs
@@ -9,7 +9,7 @@ pub fn are_collinear<N: Number>(v0: &Vec<N, U3>, v1: &Vec<N, U3>, epsilon: N) ->
 }
 
 /// Returns `true` if two 2D vectors are collinear (up to an epsilon).
-pub fn are_collinear2<N: Number>(v0: &Vec<N, U2>, v1: &Vec<N, U2>, epsilon: N) -> bool {
+pub fn are_collinear2d<N: Number>(v0: &Vec<N, U2>, v1: &Vec<N, U2>, epsilon: N) -> bool {
     abs_diff_eq!(v0.perp(v1), N::zero(), epsilon = epsilon)
 }