diff --git a/core/math/linalg/general.odin b/core/math/linalg/general.odin
index 6c594945f..b0572c0d3 100644
--- a/core/math/linalg/general.odin
+++ b/core/math/linalg/general.odin
@@ -1,6 +1,7 @@
 package linalg
 
 import "core:math"
+import "core:builtin"
 import "core:intrinsics"
 
 // Generic
@@ -60,14 +61,7 @@ quaternion256_dot :: proc(a, b: $T/quaternion256) -> (c: f64) {
 dot :: proc{scalar_dot, vector_dot, quaternion64_dot, quaternion128_dot, quaternion256_dot}
 
 inner_product :: dot
-outer_product :: proc(a: $A/[$M]$E, b: $B/[$N]E) -> (out: [M][N]E) where IS_NUMERIC(E) #no_bounds_check {
-	for i in 0..<M {
-		for j in 0..<N {
-			out[i][j] = a[i]*b[j]
-		}
-	}
-	return
-}
+outer_product :: builtin.outer_product
 
 quaternion_inverse :: proc(q: $Q) -> Q where IS_QUATERNION(Q) {
 	return conj(q) * quaternion(1.0/dot(q, q), 0, 0, 0)
@@ -163,65 +157,28 @@ identity :: proc($T: typeid/[$N][N]$E) -> (m: T) #no_bounds_check {
 	return m
 }
 
-trace :: proc(m: $T/[$N][N]$E) -> (tr: E) {
-	for i in 0..<N {
-		tr += m[i][i]
-	}
-	return
-}
+trace :: builtin.matrix_trace
+transpose :: builtin.transpose
 
-transpose :: proc(a: $T/[$N][$M]$E) -> (m: (T when N == M else [M][N]E)) #no_bounds_check {
-	for j in 0..<M {
-		for i in 0..<N {
-			m[j][i] = a[i][j]
-		}
-	}
-	return
-}
-
-matrix_mul :: proc(a, b: $M/[$N][N]$E) -> (c: M)
+matrix_mul :: proc(a, b: $M/matrix[$N, N]$E) -> (c: M)
 	where !IS_ARRAY(E), IS_NUMERIC(E) #no_bounds_check {
-	for i in 0..<N {
-		for k in 0..<N {
-			for j in 0..<N {
-				c[k][i] += a[j][i] * b[k][j]
-			}
-		}
-	}
-	return
+	return a * b
 }
 
-matrix_comp_mul :: proc(a, b: $M/[$J][$I]$E) -> (c: M)
+matrix_comp_mul :: proc(a, b: $M/matrix[$I, $J]$E) -> (c: M)
 	where !IS_ARRAY(E), IS_NUMERIC(E) #no_bounds_check {
-	for j in 0..<J {
-		for i in 0..<I {
-			c[j][i] = a[j][i] * b[j][i]
-		}
-	}
-	return
+	return hadamard_product(a, b)
 }
 
-matrix_mul_differ :: proc(a: $A/[$J][$I]$E, b: $B/[$K][J]E) -> (c: [K][I]E)
+matrix_mul_differ :: proc(a: $A/matrix[$I, $J]$E, b: $B/matrix[J, $K]E) -> (c: matrix[I, K]E)
 	where !IS_ARRAY(E), IS_NUMERIC(E), I != K #no_bounds_check {
-	for k in 0..<K {
-		for j in 0..<J {
-			for i in 0..<I {
-				c[k][i] += a[j][i] * b[k][j]
-			}
-		}
-	}
-	return
+	return a * b
 }
 
 
-matrix_mul_vector :: proc(a: $A/[$I][$J]$E, b: $B/[I]E) -> (c: B)
+matrix_mul_vector :: proc(a: $A/matrix[$I, $J]$E, b: $B/[J]E) -> (c: B)
 	where !IS_ARRAY(E), IS_NUMERIC(E) #no_bounds_check {
-	for i in 0..<I {
-		for j in 0..<J {
-			c[j] += a[i][j] * b[i]
-		}
-	}
-	return
+	return a * b
 }
 
 quaternion_mul_quaternion :: proc(q1, q2: $Q) -> Q where IS_QUATERNION(Q) {
@@ -270,8 +227,8 @@ mul :: proc{
 vector_to_ptr :: proc(v: ^$V/[$N]$E) -> ^E where IS_NUMERIC(E), N > 0 #no_bounds_check {
 	return &v[0]
 }
-matrix_to_ptr :: proc(m: ^$A/[$I][$J]$E) -> ^E where IS_NUMERIC(E), I > 0, J > 0 #no_bounds_check {
-	return &m[0][0]
+matrix_to_ptr :: proc(m: ^$A/matrix[$I, $J]$E) -> ^E where IS_NUMERIC(E), I > 0, J > 0 #no_bounds_check {
+	return &m[0, 0]
 }
 
 to_ptr :: proc{vector_to_ptr, matrix_to_ptr}
@@ -357,6 +314,6 @@ to_uint :: #force_inline proc(v: $A/[$N]$T) -> [N]uint { return array_cast(v, ui
 to_complex32     :: #force_inline proc(v: $A/[$N]$T) -> [N]complex32     { return array_cast(v, complex32)     }
 to_complex64     :: #force_inline proc(v: $A/[$N]$T) -> [N]complex64     { return array_cast(v, complex64)     }
 to_complex128    :: #force_inline proc(v: $A/[$N]$T) -> [N]complex128    { return array_cast(v, complex128)    }
-to_quaternion64  :: #force_inline proc(v: $A/[$N]$T) -> [N]quaternion64 { return array_cast(v, quaternion64) }
+to_quaternion64  :: #force_inline proc(v: $A/[$N]$T) -> [N]quaternion64  { return array_cast(v, quaternion64)  }
 to_quaternion128 :: #force_inline proc(v: $A/[$N]$T) -> [N]quaternion128 { return array_cast(v, quaternion128) }
 to_quaternion256 :: #force_inline proc(v: $A/[$N]$T) -> [N]quaternion256 { return array_cast(v, quaternion256) }
diff --git a/core/math/linalg/specific.odin b/core/math/linalg/specific.odin
index 5cb68e3a8..cb007bd91 100644
--- a/core/math/linalg/specific.odin
+++ b/core/math/linalg/specific.odin
@@ -1,5 +1,6 @@
 package linalg
 
+import "core:builtin"
 import "core:math"
 
 F16_EPSILON :: 1e-3
@@ -10,25 +11,25 @@ Vector2f16 :: distinct [2]f16
 Vector3f16 :: distinct [3]f16
 Vector4f16 :: distinct [4]f16
 
-Matrix1x1f16 :: distinct [1][1]f16
-Matrix1x2f16 :: distinct [1][2]f16
-Matrix1x3f16 :: distinct [1][3]f16
-Matrix1x4f16 :: distinct [1][4]f16
+Matrix1x1f16 :: distinct matrix[1, 1]f16
+Matrix1x2f16 :: distinct matrix[1, 2]f16
+Matrix1x3f16 :: distinct matrix[1, 3]f16
+Matrix1x4f16 :: distinct matrix[1, 4]f16
 
-Matrix2x1f16 :: distinct [2][1]f16
-Matrix2x2f16 :: distinct [2][2]f16
-Matrix2x3f16 :: distinct [2][3]f16
-Matrix2x4f16 :: distinct [2][4]f16
+Matrix2x1f16 :: distinct matrix[2, 1]f16
+Matrix2x2f16 :: distinct matrix[2, 2]f16
+Matrix2x3f16 :: distinct matrix[2, 3]f16
+Matrix2x4f16 :: distinct matrix[2, 4]f16
 
-Matrix3x1f16 :: distinct [3][1]f16
-Matrix3x2f16 :: distinct [3][2]f16
-Matrix3x3f16 :: distinct [3][3]f16
-Matrix3x4f16 :: distinct [3][4]f16
+Matrix3x1f16 :: distinct matrix[3, 1]f16
+Matrix3x2f16 :: distinct matrix[3, 2]f16
+Matrix3x3f16 :: distinct matrix[3, 3]f16
+Matrix3x4f16 :: distinct matrix[3, 4]f16
 
-Matrix4x1f16 :: distinct [4][1]f16
-Matrix4x2f16 :: distinct [4][2]f16
-Matrix4x3f16 :: distinct [4][3]f16
-Matrix4x4f16 :: distinct [4][4]f16
+Matrix4x1f16 :: distinct matrix[4, 1]f16
+Matrix4x2f16 :: distinct matrix[4, 2]f16
+Matrix4x3f16 :: distinct matrix[4, 3]f16
+Matrix4x4f16 :: distinct matrix[4, 4]f16
 
 Matrix1f16 :: Matrix1x1f16
 Matrix2f16 :: Matrix2x2f16
@@ -39,25 +40,25 @@ Vector2f32 :: distinct [2]f32
 Vector3f32 :: distinct [3]f32
 Vector4f32 :: distinct [4]f32
 
-Matrix1x1f32 :: distinct [1][1]f32
-Matrix1x2f32 :: distinct [1][2]f32
-Matrix1x3f32 :: distinct [1][3]f32
-Matrix1x4f32 :: distinct [1][4]f32
+Matrix1x1f32 :: distinct matrix[1, 1]f32
+Matrix1x2f32 :: distinct matrix[1, 2]f32
+Matrix1x3f32 :: distinct matrix[1, 3]f32
+Matrix1x4f32 :: distinct matrix[1, 4]f32
 
-Matrix2x1f32 :: distinct [2][1]f32
-Matrix2x2f32 :: distinct [2][2]f32
-Matrix2x3f32 :: distinct [2][3]f32
-Matrix2x4f32 :: distinct [2][4]f32
+Matrix2x1f32 :: distinct matrix[2, 1]f32
+Matrix2x2f32 :: distinct matrix[2, 2]f32
+Matrix2x3f32 :: distinct matrix[2, 3]f32
+Matrix2x4f32 :: distinct matrix[2, 4]f32
 
-Matrix3x1f32 :: distinct [3][1]f32
-Matrix3x2f32 :: distinct [3][2]f32
-Matrix3x3f32 :: distinct [3][3]f32
-Matrix3x4f32 :: distinct [3][4]f32
+Matrix3x1f32 :: distinct matrix[3, 1]f32
+Matrix3x2f32 :: distinct matrix[3, 2]f32
+Matrix3x3f32 :: distinct matrix[3, 3]f32
+Matrix3x4f32 :: distinct matrix[3, 4]f32
 
-Matrix4x1f32 :: distinct [4][1]f32
-Matrix4x2f32 :: distinct [4][2]f32
-Matrix4x3f32 :: distinct [4][3]f32
-Matrix4x4f32 :: distinct [4][4]f32
+Matrix4x1f32 :: distinct matrix[4, 1]f32
+Matrix4x2f32 :: distinct matrix[4, 2]f32
+Matrix4x3f32 :: distinct matrix[4, 3]f32
+Matrix4x4f32 :: distinct matrix[4, 4]f32
 
 Matrix1f32 :: Matrix1x1f32
 Matrix2f32 :: Matrix2x2f32
@@ -68,25 +69,25 @@ Vector2f64 :: distinct [2]f64
 Vector3f64 :: distinct [3]f64
 Vector4f64 :: distinct [4]f64
 
-Matrix1x1f64 :: distinct [1][1]f64
-Matrix1x2f64 :: distinct [1][2]f64
-Matrix1x3f64 :: distinct [1][3]f64
-Matrix1x4f64 :: distinct [1][4]f64
+Matrix1x1f64 :: distinct matrix[1, 1]f64
+Matrix1x2f64 :: distinct matrix[1, 2]f64
+Matrix1x3f64 :: distinct matrix[1, 3]f64
+Matrix1x4f64 :: distinct matrix[1, 4]f64
 
-Matrix2x1f64 :: distinct [2][1]f64
-Matrix2x2f64 :: distinct [2][2]f64
-Matrix2x3f64 :: distinct [2][3]f64
-Matrix2x4f64 :: distinct [2][4]f64
+Matrix2x1f64 :: distinct matrix[2, 1]f64
+Matrix2x2f64 :: distinct matrix[2, 2]f64
+Matrix2x3f64 :: distinct matrix[2, 3]f64
+Matrix2x4f64 :: distinct matrix[2, 4]f64
 
-Matrix3x1f64 :: distinct [3][1]f64
-Matrix3x2f64 :: distinct [3][2]f64
-Matrix3x3f64 :: distinct [3][3]f64
-Matrix3x4f64 :: distinct [3][4]f64
+Matrix3x1f64 :: distinct matrix[3, 1]f64
+Matrix3x2f64 :: distinct matrix[3, 2]f64
+Matrix3x3f64 :: distinct matrix[3, 3]f64
+Matrix3x4f64 :: distinct matrix[3, 4]f64
 
-Matrix4x1f64 :: distinct [4][1]f64
-Matrix4x2f64 :: distinct [4][2]f64
-Matrix4x3f64 :: distinct [4][3]f64
-Matrix4x4f64 :: distinct [4][4]f64
+Matrix4x1f64 :: distinct matrix[4, 1]f64
+Matrix4x2f64 :: distinct matrix[4, 2]f64
+Matrix4x3f64 :: distinct matrix[4, 3]f64
+Matrix4x4f64 :: distinct matrix[4, 4]f64
 
 Matrix1f64 :: Matrix1x1f64
 Matrix2f64 :: Matrix2x2f64
@@ -97,20 +98,20 @@ Quaternionf16 :: distinct quaternion64
 Quaternionf32 :: distinct quaternion128
 Quaternionf64 :: distinct quaternion256
 
-MATRIX1F16_IDENTITY :: Matrix1f16{{1}}
-MATRIX2F16_IDENTITY :: Matrix2f16{{1, 0}, {0, 1}}
-MATRIX3F16_IDENTITY :: Matrix3f16{{1, 0, 0}, {0, 1, 0}, {0, 0, 1}}
-MATRIX4F16_IDENTITY :: Matrix4f16{{1, 0, 0, 0}, {0, 1, 0, 0}, {0, 0, 1, 0}, {0, 0, 0, 1}}
+MATRIX1F16_IDENTITY :: Matrix1f16(1)
+MATRIX2F16_IDENTITY :: Matrix2f16(1)
+MATRIX3F16_IDENTITY :: Matrix3f16(1)
+MATRIX4F16_IDENTITY :: Matrix4f16(1)
 
-MATRIX1F32_IDENTITY :: Matrix1f32{{1}}
-MATRIX2F32_IDENTITY :: Matrix2f32{{1, 0}, {0, 1}}
-MATRIX3F32_IDENTITY :: Matrix3f32{{1, 0, 0}, {0, 1, 0}, {0, 0, 1}}
-MATRIX4F32_IDENTITY :: Matrix4f32{{1, 0, 0, 0}, {0, 1, 0, 0}, {0, 0, 1, 0}, {0, 0, 0, 1}}
+MATRIX1F32_IDENTITY :: Matrix1f32(1)
+MATRIX2F32_IDENTITY :: Matrix2f32(1)
+MATRIX3F32_IDENTITY :: Matrix3f32(1)
+MATRIX4F32_IDENTITY :: Matrix4f32(1)
 
-MATRIX1F64_IDENTITY :: Matrix1f64{{1}}
-MATRIX2F64_IDENTITY :: Matrix2f64{{1, 0}, {0, 1}}
-MATRIX3F64_IDENTITY :: Matrix3f64{{1, 0, 0}, {0, 1, 0}, {0, 0, 1}}
-MATRIX4F64_IDENTITY :: Matrix4f64{{1, 0, 0, 0}, {0, 1, 0, 0}, {0, 0, 1, 0}, {0, 0, 0, 1}}
+MATRIX1F64_IDENTITY :: Matrix1f64(1)
+MATRIX2F64_IDENTITY :: Matrix2f64(1)
+MATRIX3F64_IDENTITY :: Matrix3f64(1)
+MATRIX4F64_IDENTITY :: Matrix4f64(1)
 
 QUATERNIONF16_IDENTITY :: Quaternionf16(1)
 QUATERNIONF32_IDENTITY :: Quaternionf32(1)
@@ -558,9 +559,9 @@ quaternion_from_forward_and_up_f16 :: proc(forward, up: Vector3f16) -> Quaternio
 	s := normalize(cross(f, up))
 	u := cross(s, f)
 	m := Matrix3f16{
-		{+s.x, +u.x, -f.x},
-		{+s.y, +u.y, -f.y},
-		{+s.z, +u.z, -f.z},
+		+s.x, +s.y, +s.z,
+		+u.x, +u.y, +u.z,
+		-f.x, -f.y, -f.z,
 	}
 
 	tr := trace(m)
@@ -571,26 +572,26 @@ quaternion_from_forward_and_up_f16 :: proc(forward, up: Vector3f16) -> Quaternio
 	case tr > 0:
 		S := 2 * math.sqrt(1 + tr)
 		q.w = 0.25 * S
-		q.x = (m[2][1] - m[1][2]) / S
-		q.y = (m[0][2] - m[2][0]) / S
-		q.z = (m[1][0] - m[0][1]) / S
-	case (m[0][0] > m[1][1]) && (m[0][0] > m[2][2]):
-		S := 2 * math.sqrt(1 + m[0][0] - m[1][1] - m[2][2])
-		q.w = (m[2][1] - m[1][2]) / S
+		q.x = (m[1, 2] - m[2, 1]) / S
+		q.y = (m[2, 0] - m[0, 2]) / S
+		q.z = (m[0, 1] - m[1, 0]) / S
+	case (m[0, 0] > m[1, 1]) && (m[0, 0] > m[2, 2]):
+		S := 2 * math.sqrt(1 + m[0, 0] - m[1, 1] - m[2, 2])
+		q.w = (m[1, 2] - m[2, 1]) / S
 		q.x = 0.25 * S
-		q.y = (m[0][1] + m[1][0]) / S
-		q.z = (m[0][2] + m[2][0]) / S
-	case m[1][1] > m[2][2]:
-		S := 2 * math.sqrt(1 + m[1][1] - m[0][0] - m[2][2])
-		q.w = (m[0][2] - m[2][0]) / S
-		q.x = (m[0][1] + m[1][0]) / S
+		q.y = (m[1, 0] + m[0, 1]) / S
+		q.z = (m[2, 0] + m[0, 2]) / S
+	case m[1, 1] > m[2, 2]:
+		S := 2 * math.sqrt(1 + m[1, 1] - m[0, 0] - m[2, 2])
+		q.w = (m[2, 0] - m[0, 2]) / S
+		q.x = (m[1, 0] + m[0, 1]) / S
 		q.y = 0.25 * S
-		q.z = (m[1][2] + m[2][1]) / S
+		q.z = (m[2, 1] + m[1, 2]) / S
 	case:
-		S := 2 * math.sqrt(1 + m[2][2] - m[0][0] - m[1][1])
-		q.w = (m[1][0] - m[0][1]) / S
-		q.x = (m[0][2] - m[2][0]) / S
-		q.y = (m[1][2] + m[2][1]) / S
+		S := 2 * math.sqrt(1 + m[2, 2] - m[0, 0] - m[1, 1])
+		q.w = (m[0, 1] - m[1, 0]) / S
+		q.x = (m[2, 0] - m[0, 2]) / S
+		q.y = (m[2, 1] + m[1, 2]) / S
 		q.z = 0.25 * S
 	}
 
@@ -601,9 +602,9 @@ quaternion_from_forward_and_up_f32 :: proc(forward, up: Vector3f32) -> Quaternio
 	s := normalize(cross(f, up))
 	u := cross(s, f)
 	m := Matrix3f32{
-		{+s.x, +u.x, -f.x},
-		{+s.y, +u.y, -f.y},
-		{+s.z, +u.z, -f.z},
+		+s.x, +s.y, +s.z,
+		+u.x, +u.y, +u.z,
+		-f.x, -f.y, -f.z,
 	}
 
 	tr := trace(m)
@@ -614,26 +615,26 @@ quaternion_from_forward_and_up_f32 :: proc(forward, up: Vector3f32) -> Quaternio
 	case tr > 0:
 		S := 2 * math.sqrt(1 + tr)
 		q.w = 0.25 * S
-		q.x = (m[2][1] - m[1][2]) / S
-		q.y = (m[0][2] - m[2][0]) / S
-		q.z = (m[1][0] - m[0][1]) / S
-	case (m[0][0] > m[1][1]) && (m[0][0] > m[2][2]):
-		S := 2 * math.sqrt(1 + m[0][0] - m[1][1] - m[2][2])
-		q.w = (m[2][1] - m[1][2]) / S
+		q.x = (m[1, 2] - m[2, 1]) / S
+		q.y = (m[2, 0] - m[0, 2]) / S
+		q.z = (m[0, 1] - m[1, 0]) / S
+	case (m[0, 0] > m[1, 1]) && (m[0, 0] > m[2, 2]):
+		S := 2 * math.sqrt(1 + m[0, 0] - m[1, 1] - m[2, 2])
+		q.w = (m[1, 2] - m[2, 1]) / S
 		q.x = 0.25 * S
-		q.y = (m[0][1] + m[1][0]) / S
-		q.z = (m[0][2] + m[2][0]) / S
-	case m[1][1] > m[2][2]:
-		S := 2 * math.sqrt(1 + m[1][1] - m[0][0] - m[2][2])
-		q.w = (m[0][2] - m[2][0]) / S
-		q.x = (m[0][1] + m[1][0]) / S
+		q.y = (m[1, 0] + m[0, 1]) / S
+		q.z = (m[2, 0] + m[0, 2]) / S
+	case m[1, 1] > m[2, 2]:
+		S := 2 * math.sqrt(1 + m[1, 1] - m[0, 0] - m[2, 2])
+		q.w = (m[2, 0] - m[0, 2]) / S
+		q.x = (m[1, 0] + m[0, 1]) / S
 		q.y = 0.25 * S
-		q.z = (m[1][2] + m[2][1]) / S
+		q.z = (m[2, 1] + m[1, 2]) / S
 	case:
-		S := 2 * math.sqrt(1 + m[2][2] - m[0][0] - m[1][1])
-		q.w = (m[1][0] - m[0][1]) / S
-		q.x = (m[0][2] - m[2][0]) / S
-		q.y = (m[1][2] + m[2][1]) / S
+		S := 2 * math.sqrt(1 + m[2, 2] - m[0, 0] - m[1, 1])
+		q.w = (m[0, 1] - m[1, 0]) / S
+		q.x = (m[2, 0] - m[0, 2]) / S
+		q.y = (m[2, 1] + m[1, 2]) / S
 		q.z = 0.25 * S
 	}
 
@@ -644,9 +645,9 @@ quaternion_from_forward_and_up_f64 :: proc(forward, up: Vector3f64) -> Quaternio
 	s := normalize(cross(f, up))
 	u := cross(s, f)
 	m := Matrix3f64{
-		{+s.x, +u.x, -f.x},
-		{+s.y, +u.y, -f.y},
-		{+s.z, +u.z, -f.z},
+		+s.x, +s.y, +s.z,
+		+u.x, +u.y, +u.z,
+		-f.x, -f.y, -f.z,
 	}
 
 	tr := trace(m)
@@ -657,26 +658,26 @@ quaternion_from_forward_and_up_f64 :: proc(forward, up: Vector3f64) -> Quaternio
 	case tr > 0:
 		S := 2 * math.sqrt(1 + tr)
 		q.w = 0.25 * S
-		q.x = (m[2][1] - m[1][2]) / S
-		q.y = (m[0][2] - m[2][0]) / S
-		q.z = (m[1][0] - m[0][1]) / S
-	case (m[0][0] > m[1][1]) && (m[0][0] > m[2][2]):
-		S := 2 * math.sqrt(1 + m[0][0] - m[1][1] - m[2][2])
-		q.w = (m[2][1] - m[1][2]) / S
+		q.x = (m[1, 2] - m[2, 1]) / S
+		q.y = (m[2, 0] - m[0, 2]) / S
+		q.z = (m[0, 1] - m[1, 0]) / S
+	case (m[0, 0] > m[1, 1]) && (m[0, 0] > m[2, 2]):
+		S := 2 * math.sqrt(1 + m[0, 0] - m[1, 1] - m[2, 2])
+		q.w = (m[1, 2] - m[2, 1]) / S
 		q.x = 0.25 * S
-		q.y = (m[0][1] + m[1][0]) / S
-		q.z = (m[0][2] + m[2][0]) / S
-	case m[1][1] > m[2][2]:
-		S := 2 * math.sqrt(1 + m[1][1] - m[0][0] - m[2][2])
-		q.w = (m[0][2] - m[2][0]) / S
-		q.x = (m[0][1] + m[1][0]) / S
+		q.y = (m[1, 0] + m[0, 1]) / S
+		q.z = (m[2, 0] + m[0, 2]) / S
+	case m[1, 1] > m[2, 2]:
+		S := 2 * math.sqrt(1 + m[1, 1] - m[0, 0] - m[2, 2])
+		q.w = (m[2, 0] - m[0, 2]) / S
+		q.x = (m[1, 0] + m[0, 1]) / S
 		q.y = 0.25 * S
-		q.z = (m[1][2] + m[2][1]) / S
+		q.z = (m[2, 1] + m[1, 2]) / S
 	case:
-		S := 2 * math.sqrt(1 + m[2][2] - m[0][0] - m[1][1])
-		q.w = (m[1][0] - m[0][1]) / S
-		q.x = (m[0][2] - m[2][0]) / S
-		q.y = (m[1][2] + m[2][1]) / S
+		S := 2 * math.sqrt(1 + m[2, 2] - m[0, 0] - m[1, 1])
+		q.w = (m[0, 1] - m[1, 0]) / S
+		q.x = (m[2, 0] - m[0, 2]) / S
+		q.y = (m[2, 1] + m[1, 2]) / S
 		q.z = 0.25 * S
 	}
 
@@ -842,23 +843,23 @@ quaternion_squad :: proc{
 
 quaternion_from_matrix4_f16 :: proc(m: Matrix4f16) -> (q: Quaternionf16) {
 	m3: Matrix3f16 = ---
-	m3[0][0], m3[0][1], m3[0][2] = m[0][0], m[0][1], m[0][2]
-	m3[1][0], m3[1][1], m3[1][2] = m[1][0], m[1][1], m[1][2]
-	m3[2][0], m3[2][1], m3[2][2] = m[2][0], m[2][1], m[2][2]
+	m3[0, 0], m3[1, 0], m3[2, 0] = m[0, 0], m[1, 0], m[2, 0]
+	m3[0, 1], m3[1, 1], m3[2, 1] = m[0, 1], m[1, 1], m[2, 1]
+	m3[0, 2], m3[1, 2], m3[2, 2] = m[0, 2], m[1, 2], m[2, 2]
 	return quaternion_from_matrix3(m3)
 }
 quaternion_from_matrix4_f32 :: proc(m: Matrix4f32) -> (q: Quaternionf32) {
 	m3: Matrix3f32 = ---
-	m3[0][0], m3[0][1], m3[0][2] = m[0][0], m[0][1], m[0][2]
-	m3[1][0], m3[1][1], m3[1][2] = m[1][0], m[1][1], m[1][2]
-	m3[2][0], m3[2][1], m3[2][2] = m[2][0], m[2][1], m[2][2]
+	m3[0, 0], m3[1, 0], m3[2, 0] = m[0, 0], m[1, 0], m[2, 0]
+	m3[0, 1], m3[1, 1], m3[2, 1] = m[0, 1], m[1, 1], m[2, 1]
+	m3[0, 2], m3[1, 2], m3[2, 2] = m[0, 2], m[1, 2], m[2, 2]
 	return quaternion_from_matrix3(m3)
 }
 quaternion_from_matrix4_f64 :: proc(m: Matrix4f64) -> (q: Quaternionf64) {
 	m3: Matrix3f64 = ---
-	m3[0][0], m3[0][1], m3[0][2] = m[0][0], m[0][1], m[0][2]
-	m3[1][0], m3[1][1], m3[1][2] = m[1][0], m[1][1], m[1][2]
-	m3[2][0], m3[2][1], m3[2][2] = m[2][0], m[2][1], m[2][2]
+	m3[0, 0], m3[1, 0], m3[2, 0] = m[0, 0], m[1, 0], m[2, 0]
+	m3[0, 1], m3[1, 1], m3[2, 1] = m[0, 1], m[1, 1], m[2, 1]
+	m3[0, 2], m3[1, 2], m3[2, 2] = m[0, 2], m[1, 2], m[2, 2]
 	return quaternion_from_matrix3(m3)
 }
 quaternion_from_matrix4 :: proc{
@@ -869,10 +870,10 @@ quaternion_from_matrix4 :: proc{
 
 
 quaternion_from_matrix3_f16 :: proc(m: Matrix3f16) -> (q: Quaternionf16) {
-	four_x_squared_minus_1 := m[0][0] - m[1][1] - m[2][2]
-	four_y_squared_minus_1 := m[1][1] - m[0][0] - m[2][2]
-	four_z_squared_minus_1 := m[2][2] - m[0][0] - m[1][1]
-	four_w_squared_minus_1 := m[0][0] + m[1][1] + m[2][2]
+	four_x_squared_minus_1 := m[0, 0] - m[1, 1] - m[2, 2]
+	four_y_squared_minus_1 := m[1, 1] - m[0, 0] - m[2, 2]
+	four_z_squared_minus_1 := m[2, 2] - m[0, 0] - m[1, 1]
+	four_w_squared_minus_1 := m[0, 0] + m[1, 1] + m[2, 2]
 
 	biggest_index := 0
 	four_biggest_squared_minus_1 := four_w_squared_minus_1
@@ -896,32 +897,32 @@ quaternion_from_matrix3_f16 :: proc(m: Matrix3f16) -> (q: Quaternionf16) {
 	switch biggest_index {
 	case 0:
 		q.w = biggest_val
-		q.x = (m[1][2] - m[2][1]) * mult
-		q.y = (m[2][0] - m[0][2]) * mult
-		q.z = (m[0][1] - m[1][0]) * mult
+		q.x = (m[2, 1] - m[1, 2]) * mult
+		q.y = (m[0, 2] - m[2, 0]) * mult
+		q.z = (m[1, 0] - m[0, 1]) * mult
 	case 1:
-		q.w = (m[1][2] - m[2][1]) * mult
+		q.w = (m[2, 1] - m[1, 2]) * mult
 		q.x = biggest_val
-		q.y = (m[0][1] + m[1][0]) * mult
-		q.z = (m[2][0] + m[0][2]) * mult
+		q.y = (m[1, 0] + m[0, 1]) * mult
+		q.z = (m[0, 2] + m[2, 0]) * mult
 	case 2:
-		q.w = (m[2][0] - m[0][2]) * mult
-		q.x = (m[0][1] + m[1][0]) * mult
+		q.w = (m[0, 2] - m[2, 0]) * mult
+		q.x = (m[1, 0] + m[0, 1]) * mult
 		q.y = biggest_val
-		q.z = (m[1][2] + m[2][1]) * mult
+		q.z = (m[2, 1] + m[1, 2]) * mult
 	case 3:
-		q.w = (m[0][1] - m[1][0]) * mult
-		q.x = (m[2][0] + m[0][2]) * mult
-		q.y = (m[1][2] + m[2][1]) * mult
+		q.w = (m[1, 0] - m[0, 1]) * mult
+		q.x = (m[0, 2] + m[2, 0]) * mult
+		q.y = (m[2, 1] + m[1, 2]) * mult
 		q.z = biggest_val
 	}
 	return
 }
 quaternion_from_matrix3_f32 :: proc(m: Matrix3f32) -> (q: Quaternionf32) {
-	four_x_squared_minus_1 := m[0][0] - m[1][1] - m[2][2]
-	four_y_squared_minus_1 := m[1][1] - m[0][0] - m[2][2]
-	four_z_squared_minus_1 := m[2][2] - m[0][0] - m[1][1]
-	four_w_squared_minus_1 := m[0][0] + m[1][1] + m[2][2]
+	four_x_squared_minus_1 := m[0, 0] - m[1, 1] - m[2, 2]
+	four_y_squared_minus_1 := m[1, 1] - m[0, 0] - m[2, 2]
+	four_z_squared_minus_1 := m[2, 2] - m[0, 0] - m[1, 1]
+	four_w_squared_minus_1 := m[0, 0] + m[1, 1] + m[2, 2]
 
 	biggest_index := 0
 	four_biggest_squared_minus_1 := four_w_squared_minus_1
@@ -945,32 +946,32 @@ quaternion_from_matrix3_f32 :: proc(m: Matrix3f32) -> (q: Quaternionf32) {
 	switch biggest_index {
 	case 0:
 		q.w = biggest_val
-		q.x = (m[1][2] - m[2][1]) * mult
-		q.y = (m[2][0] - m[0][2]) * mult
-		q.z = (m[0][1] - m[1][0]) * mult
+		q.x = (m[2, 1] - m[1, 2]) * mult
+		q.y = (m[0, 2] - m[2, 0]) * mult
+		q.z = (m[1, 0] - m[0, 1]) * mult
 	case 1:
-		q.w = (m[1][2] - m[2][1]) * mult
+		q.w = (m[2, 1] - m[1, 2]) * mult
 		q.x = biggest_val
-		q.y = (m[0][1] + m[1][0]) * mult
-		q.z = (m[2][0] + m[0][2]) * mult
+		q.y = (m[1, 0] + m[0, 1]) * mult
+		q.z = (m[0, 2] + m[2, 0]) * mult
 	case 2:
-		q.w = (m[2][0] - m[0][2]) * mult
-		q.x = (m[0][1] + m[1][0]) * mult
+		q.w = (m[0, 2] - m[2, 0]) * mult
+		q.x = (m[1, 0] + m[0, 1]) * mult
 		q.y = biggest_val
-		q.z = (m[1][2] + m[2][1]) * mult
+		q.z = (m[2, 1] + m[1, 2]) * mult
 	case 3:
-		q.w = (m[0][1] - m[1][0]) * mult
-		q.x = (m[2][0] + m[0][2]) * mult
-		q.y = (m[1][2] + m[2][1]) * mult
+		q.w = (m[1, 0] - m[0, 1]) * mult
+		q.x = (m[0, 2] + m[2, 0]) * mult
+		q.y = (m[2, 1] + m[1, 2]) * mult
 		q.z = biggest_val
 	}
 	return
 }
 quaternion_from_matrix3_f64 :: proc(m: Matrix3f64) -> (q: Quaternionf64) {
-	four_x_squared_minus_1 := m[0][0] - m[1][1] - m[2][2]
-	four_y_squared_minus_1 := m[1][1] - m[0][0] - m[2][2]
-	four_z_squared_minus_1 := m[2][2] - m[0][0] - m[1][1]
-	four_w_squared_minus_1 := m[0][0] + m[1][1] + m[2][2]
+	four_x_squared_minus_1 := m[0, 0] - m[1, 1] - m[2, 2]
+	four_y_squared_minus_1 := m[1, 1] - m[0, 0] - m[2, 2]
+	four_z_squared_minus_1 := m[2, 2] - m[0, 0] - m[1, 1]
+	four_w_squared_minus_1 := m[0, 0] + m[1, 1] + m[2, 2]
 
 	biggest_index := 0
 	four_biggest_squared_minus_1 := four_w_squared_minus_1
@@ -994,23 +995,23 @@ quaternion_from_matrix3_f64 :: proc(m: Matrix3f64) -> (q: Quaternionf64) {
 	switch biggest_index {
 	case 0:
 		q.w = biggest_val
-		q.x = (m[1][2] - m[2][1]) * mult
-		q.y = (m[2][0] - m[0][2]) * mult
-		q.z = (m[0][1] - m[1][0]) * mult
+		q.x = (m[2, 1] - m[1, 2]) * mult
+		q.y = (m[0, 2] - m[2, 0]) * mult
+		q.z = (m[1, 0] - m[0, 1]) * mult
 	case 1:
-		q.w = (m[1][2] - m[2][1]) * mult
+		q.w = (m[2, 1] - m[1, 2]) * mult
 		q.x = biggest_val
-		q.y = (m[0][1] + m[1][0]) * mult
-		q.z = (m[2][0] + m[0][2]) * mult
+		q.y = (m[1, 0] + m[0, 1]) * mult
+		q.z = (m[0, 2] + m[2, 0]) * mult
 	case 2:
-		q.w = (m[2][0] - m[0][2]) * mult
-		q.x = (m[0][1] + m[1][0]) * mult
+		q.w = (m[0, 2] - m[2, 0]) * mult
+		q.x = (m[1, 0] + m[0, 1]) * mult
 		q.y = biggest_val
-		q.z = (m[1][2] + m[2][1]) * mult
+		q.z = (m[2, 1] + m[1, 2]) * mult
 	case 3:
-		q.w = (m[0][1] - m[1][0]) * mult
-		q.x = (m[2][0] + m[0][2]) * mult
-		q.y = (m[1][2] + m[2][1]) * mult
+		q.w = (m[1, 0] - m[0, 1]) * mult
+		q.x = (m[0, 2] + m[2, 0]) * mult
+		q.y = (m[2, 1] + m[1, 2]) * mult
 		q.z = biggest_val
 	}
 	return
@@ -1093,30 +1094,30 @@ quaternion_between_two_vector3 :: proc{
 
 
 matrix2_inverse_transpose_f16 :: proc(m: Matrix2f16) -> (c: Matrix2f16) {
-	d := m[0][0]*m[1][1] - m[1][0]*m[0][1]
+	d := m[0, 0]*m[1, 1] - m[0, 1]*m[1, 0]
 	id := 1.0/d
-	c[0][0] = +m[1][1] * id
-	c[0][1] = -m[0][1] * id
-	c[1][0] = -m[1][0] * id
-	c[1][1] = +m[0][0] * id
+	c[0, 0] = +m[1, 1] * id
+	c[1, 0] = -m[1, 0] * id
+	c[0, 1] = -m[0, 1] * id
+	c[1, 1] = +m[0, 0] * id
 	return c
 }
 matrix2_inverse_transpose_f32 :: proc(m: Matrix2f32) -> (c: Matrix2f32) {
-	d := m[0][0]*m[1][1] - m[1][0]*m[0][1]
+	d := m[0, 0]*m[1, 1] - m[0, 1]*m[1, 0]
 	id := 1.0/d
-	c[0][0] = +m[1][1] * id
-	c[0][1] = -m[0][1] * id
-	c[1][0] = -m[1][0] * id
-	c[1][1] = +m[0][0] * id
+	c[0, 0] = +m[1, 1] * id
+	c[1, 0] = -m[1, 0] * id
+	c[0, 1] = -m[0, 1] * id
+	c[1, 1] = +m[0, 0] * id
 	return c
 }
 matrix2_inverse_transpose_f64 :: proc(m: Matrix2f64) -> (c: Matrix2f64) {
-	d := m[0][0]*m[1][1] - m[1][0]*m[0][1]
+	d := m[0, 0]*m[1, 1] - m[0, 1]*m[1, 0]
 	id := 1.0/d
-	c[0][0] = +m[1][1] * id
-	c[0][1] = -m[0][1] * id
-	c[1][0] = -m[1][0] * id
-	c[1][1] = +m[0][0] * id
+	c[0, 0] = +m[1, 1] * id
+	c[1, 0] = -m[1, 0] * id
+	c[0, 1] = -m[0, 1] * id
+	c[1, 1] = +m[0, 0] * id
 	return c
 }
 matrix2_inverse_transpose :: proc{
@@ -1127,13 +1128,13 @@ matrix2_inverse_transpose :: proc{
 
 
 matrix2_determinant_f16 :: proc(m: Matrix2f16) -> f16 {
-	return m[0][0]*m[1][1] - m[1][0]*m[0][1]
+	return m[0, 0]*m[1, 1] - m[0, 1]*m[1, 0]
 }
 matrix2_determinant_f32 :: proc(m: Matrix2f32) -> f32 {
-	return m[0][0]*m[1][1] - m[1][0]*m[0][1]
+	return m[0, 0]*m[1, 1] - m[0, 1]*m[1, 0]
 }
 matrix2_determinant_f64 :: proc(m: Matrix2f64) -> f64 {
-	return m[0][0]*m[1][1] - m[1][0]*m[0][1]
+	return m[0, 0]*m[1, 1] - m[0, 1]*m[1, 0]
 }
 matrix2_determinant :: proc{
 	matrix2_determinant_f16,
@@ -1143,30 +1144,30 @@ matrix2_determinant :: proc{
 
 
 matrix2_inverse_f16 :: proc(m: Matrix2f16) -> (c: Matrix2f16) {
-	d := m[0][0]*m[1][1] - m[1][0]*m[0][1]
+	d := m[0, 0]*m[1, 1] - m[0, 1]*m[1, 0]
 	id := 1.0/d
-	c[0][0] = +m[1][1] * id
-	c[1][0] = -m[0][1] * id
-	c[0][1] = -m[1][0] * id
-	c[1][1] = +m[0][0] * id
+	c[0, 0] = +m[1, 1] * id
+	c[0, 1] = -m[1, 0] * id
+	c[1, 0] = -m[0, 1] * id
+	c[1, 1] = +m[0, 0] * id
 	return c
 }
 matrix2_inverse_f32 :: proc(m: Matrix2f32) -> (c: Matrix2f32) {
-	d := m[0][0]*m[1][1] - m[1][0]*m[0][1]
+	d := m[0, 0]*m[1, 1] - m[0, 1]*m[1, 0]
 	id := 1.0/d
-	c[0][0] = +m[1][1] * id
-	c[1][0] = -m[0][1] * id
-	c[0][1] = -m[1][0] * id
-	c[1][1] = +m[0][0] * id
+	c[0, 0] = +m[1, 1] * id
+	c[0, 1] = -m[1, 0] * id
+	c[1, 0] = -m[0, 1] * id
+	c[1, 1] = +m[0, 0] * id
 	return c
 }
 matrix2_inverse_f64 :: proc(m: Matrix2f64) -> (c: Matrix2f64) {
-	d := m[0][0]*m[1][1] - m[1][0]*m[0][1]
+	d := m[0, 0]*m[1, 1] - m[0, 1]*m[1, 0]
 	id := 1.0/d
-	c[0][0] = +m[1][1] * id
-	c[1][0] = -m[0][1] * id
-	c[0][1] = -m[1][0] * id
-	c[1][1] = +m[0][0] * id
+	c[0, 0] = +m[1, 1] * id
+	c[0, 1] = -m[1, 0] * id
+	c[1, 0] = -m[0, 1] * id
+	c[1, 1] = +m[0, 0] * id
 	return c
 }
 matrix2_inverse :: proc{
@@ -1177,24 +1178,24 @@ matrix2_inverse :: proc{
 
 
 matrix2_adjoint_f16 :: proc(m: Matrix2f16) -> (c: Matrix2f16) {
-	c[0][0] = +m[1][1]
-	c[0][1] = -m[1][0]
-	c[1][0] = -m[0][1]
-	c[1][1] = +m[0][0]
+	c[0, 0] = +m[1, 1]
+	c[1, 0] = -m[0, 1]
+	c[0, 1] = -m[1, 0]
+	c[1, 1] = +m[0, 0]
 	return c
 }
 matrix2_adjoint_f32 :: proc(m: Matrix2f32) -> (c: Matrix2f32) {
-	c[0][0] = +m[1][1]
-	c[0][1] = -m[1][0]
-	c[1][0] = -m[0][1]
-	c[1][1] = +m[0][0]
+	c[0, 0] = +m[1, 1]
+	c[1, 0] = -m[0, 1]
+	c[0, 1] = -m[1, 0]
+	c[1, 1] = +m[0, 0]
 	return c
 }
 matrix2_adjoint_f64 :: proc(m: Matrix2f64) -> (c: Matrix2f64) {
-	c[0][0] = +m[1][1]
-	c[0][1] = -m[1][0]
-	c[1][0] = -m[0][1]
-	c[1][1] = +m[0][0]
+	c[0, 0] = +m[1, 1]
+	c[1, 0] = -m[0, 1]
+	c[0, 1] = -m[1, 0]
+	c[1, 1] = +m[0, 0]
 	return c
 }
 matrix2_adjoint :: proc{
@@ -1215,17 +1216,17 @@ matrix3_from_quaternion_f16 :: proc(q: Quaternionf16) -> (m: Matrix3f16) {
 	qwy := q.w * q.y
 	qwz := q.w * q.z
 
-	m[0][0] = 1 - 2 * (qyy + qzz)
-	m[0][1] = 2 * (qxy + qwz)
-	m[0][2] = 2 * (qxz - qwy)
+	m[0, 0] = 1 - 2 * (qyy + qzz)
+	m[1, 0] = 2 * (qxy + qwz)
+	m[2, 0] = 2 * (qxz - qwy)
 
-	m[1][0] = 2 * (qxy - qwz)
-	m[1][1] = 1 - 2 * (qxx + qzz)
-	m[1][2] = 2 * (qyz + qwx)
+	m[0, 1] = 2 * (qxy - qwz)
+	m[1, 1] = 1 - 2 * (qxx + qzz)
+	m[2, 1] = 2 * (qyz + qwx)
 
-	m[2][0] = 2 * (qxz + qwy)
-	m[2][1] = 2 * (qyz - qwx)
-	m[2][2] = 1 - 2 * (qxx + qyy)
+	m[0, 2] = 2 * (qxz + qwy)
+	m[1, 2] = 2 * (qyz - qwx)
+	m[2, 2] = 1 - 2 * (qxx + qyy)
 	return m
 }
 matrix3_from_quaternion_f32 :: proc(q: Quaternionf32) -> (m: Matrix3f32) {
@@ -1239,17 +1240,17 @@ matrix3_from_quaternion_f32 :: proc(q: Quaternionf32) -> (m: Matrix3f32) {
 	qwy := q.w * q.y
 	qwz := q.w * q.z
 
-	m[0][0] = 1 - 2 * (qyy + qzz)
-	m[0][1] = 2 * (qxy + qwz)
-	m[0][2] = 2 * (qxz - qwy)
+	m[0, 0] = 1 - 2 * (qyy + qzz)
+	m[1, 0] = 2 * (qxy + qwz)
+	m[2, 0] = 2 * (qxz - qwy)
 
-	m[1][0] = 2 * (qxy - qwz)
-	m[1][1] = 1 - 2 * (qxx + qzz)
-	m[1][2] = 2 * (qyz + qwx)
+	m[0, 1] = 2 * (qxy - qwz)
+	m[1, 1] = 1 - 2 * (qxx + qzz)
+	m[2, 1] = 2 * (qyz + qwx)
 
-	m[2][0] = 2 * (qxz + qwy)
-	m[2][1] = 2 * (qyz - qwx)
-	m[2][2] = 1 - 2 * (qxx + qyy)
+	m[0, 2] = 2 * (qxz + qwy)
+	m[1, 2] = 2 * (qyz - qwx)
+	m[2, 2] = 1 - 2 * (qxx + qyy)
 	return m
 }
 matrix3_from_quaternion_f64 :: proc(q: Quaternionf64) -> (m: Matrix3f64) {
@@ -1263,17 +1264,17 @@ matrix3_from_quaternion_f64 :: proc(q: Quaternionf64) -> (m: Matrix3f64) {
 	qwy := q.w * q.y
 	qwz := q.w * q.z
 
-	m[0][0] = 1 - 2 * (qyy + qzz)
-	m[0][1] = 2 * (qxy + qwz)
-	m[0][2] = 2 * (qxz - qwy)
+	m[0, 0] = 1 - 2 * (qyy + qzz)
+	m[1, 0] = 2 * (qxy + qwz)
+	m[2, 0] = 2 * (qxz - qwy)
 
-	m[1][0] = 2 * (qxy - qwz)
-	m[1][1] = 1 - 2 * (qxx + qzz)
-	m[1][2] = 2 * (qyz + qwx)
+	m[0, 1] = 2 * (qxy - qwz)
+	m[1, 1] = 1 - 2 * (qxx + qzz)
+	m[2, 1] = 2 * (qyz + qwx)
 
-	m[2][0] = 2 * (qxz + qwy)
-	m[2][1] = 2 * (qyz - qwx)
-	m[2][2] = 1 - 2 * (qxx + qyy)
+	m[0, 2] = 2 * (qxz + qwy)
+	m[1, 2] = 2 * (qyz - qwx)
+	m[2, 2] = 1 - 2 * (qxx + qyy)
 	return m
 }
 matrix3_from_quaternion :: proc{
@@ -1300,21 +1301,21 @@ matrix3_inverse :: proc{
 
 
 matrix3_determinant_f16 :: proc(m: Matrix3f16) -> f16 {
-	a := +m[0][0] * (m[1][1] * m[2][2] - m[2][1] * m[1][2])
-	b := -m[1][0] * (m[0][1] * m[2][2] - m[2][1] * m[0][2])
-	c := +m[2][0] * (m[0][1] * m[1][2] - m[1][1] * m[0][2])
+	a := +m[0, 0] * (m[1, 1] * m[2, 2] - m[1, 2] * m[2, 1])
+	b := -m[0, 1] * (m[1, 0] * m[2, 2] - m[1, 2] * m[2, 0])
+	c := +m[0, 2] * (m[1, 0] * m[2, 1] - m[1, 1] * m[2, 0])
 	return a + b + c
 }
 matrix3_determinant_f32 :: proc(m: Matrix3f32) -> f32 {
-	a := +m[0][0] * (m[1][1] * m[2][2] - m[2][1] * m[1][2])
-	b := -m[1][0] * (m[0][1] * m[2][2] - m[2][1] * m[0][2])
-	c := +m[2][0] * (m[0][1] * m[1][2] - m[1][1] * m[0][2])
+	a := +m[0, 0] * (m[1, 1] * m[2, 2] - m[1, 2] * m[2, 1])
+	b := -m[0, 1] * (m[1, 0] * m[2, 2] - m[1, 2] * m[2, 0])
+	c := +m[0, 2] * (m[1, 0] * m[2, 1] - m[1, 1] * m[2, 0])
 	return a + b + c
 }
 matrix3_determinant_f64 :: proc(m: Matrix3f64) -> f64 {
-	a := +m[0][0] * (m[1][1] * m[2][2] - m[2][1] * m[1][2])
-	b := -m[1][0] * (m[0][1] * m[2][2] - m[2][1] * m[0][2])
-	c := +m[2][0] * (m[0][1] * m[1][2] - m[1][1] * m[0][2])
+	a := +m[0, 0] * (m[1, 1] * m[2, 2] - m[1, 2] * m[2, 1])
+	b := -m[0, 1] * (m[1, 0] * m[2, 2] - m[1, 2] * m[2, 0])
+	c := +m[0, 2] * (m[1, 0] * m[2, 1] - m[1, 1] * m[2, 0])
 	return a + b + c
 }
 matrix3_determinant :: proc{
@@ -1325,39 +1326,39 @@ matrix3_determinant :: proc{
 
 
 matrix3_adjoint_f16 :: proc(m: Matrix3f16) -> (adjoint: Matrix3f16) {
-	adjoint[0][0] = +(m[1][1] * m[2][2] - m[1][2] * m[2][1])
-	adjoint[1][0] = -(m[0][1] * m[2][2] - m[0][2] * m[2][1])
-	adjoint[2][0] = +(m[0][1] * m[1][2] - m[0][2] * m[1][1])
-	adjoint[0][1] = -(m[1][0] * m[2][2] - m[1][2] * m[2][0])
-	adjoint[1][1] = +(m[0][0] * m[2][2] - m[0][2] * m[2][0])
-	adjoint[2][1] = -(m[0][0] * m[1][2] - m[0][2] * m[1][0])
-	adjoint[0][2] = +(m[1][0] * m[2][1] - m[1][1] * m[2][0])
-	adjoint[1][2] = -(m[0][0] * m[2][1] - m[0][1] * m[2][0])
-	adjoint[2][2] = +(m[0][0] * m[1][1] - m[0][1] * m[1][0])
+	adjoint[0, 0] = +(m[1, 1] * m[2, 2] - m[2, 1] * m[1, 2])
+	adjoint[0, 1] = -(m[1, 0] * m[2, 2] - m[2, 0] * m[1, 2])
+	adjoint[0, 2] = +(m[1, 0] * m[2, 1] - m[2, 0] * m[1, 1])
+	adjoint[1, 0] = -(m[0, 1] * m[2, 2] - m[2, 1] * m[0, 2])
+	adjoint[1, 1] = +(m[0, 0] * m[2, 2] - m[2, 0] * m[0, 2])
+	adjoint[1, 2] = -(m[0, 0] * m[2, 1] - m[2, 0] * m[0, 1])
+	adjoint[2, 0] = +(m[0, 1] * m[1, 2] - m[1, 1] * m[0, 2])
+	adjoint[2, 1] = -(m[0, 0] * m[1, 2] - m[1, 0] * m[0, 2])
+	adjoint[2, 2] = +(m[0, 0] * m[1, 1] - m[1, 0] * m[0, 1])
 	return adjoint
 }
 matrix3_adjoint_f32 :: proc(m: Matrix3f32) -> (adjoint: Matrix3f32) {
-	adjoint[0][0] = +(m[1][1] * m[2][2] - m[1][2] * m[2][1])
-	adjoint[1][0] = -(m[0][1] * m[2][2] - m[0][2] * m[2][1])
-	adjoint[2][0] = +(m[0][1] * m[1][2] - m[0][2] * m[1][1])
-	adjoint[0][1] = -(m[1][0] * m[2][2] - m[1][2] * m[2][0])
-	adjoint[1][1] = +(m[0][0] * m[2][2] - m[0][2] * m[2][0])
-	adjoint[2][1] = -(m[0][0] * m[1][2] - m[0][2] * m[1][0])
-	adjoint[0][2] = +(m[1][0] * m[2][1] - m[1][1] * m[2][0])
-	adjoint[1][2] = -(m[0][0] * m[2][1] - m[0][1] * m[2][0])
-	adjoint[2][2] = +(m[0][0] * m[1][1] - m[0][1] * m[1][0])
+	adjoint[0, 0] = +(m[1, 1] * m[2, 2] - m[2, 1] * m[1, 2])
+	adjoint[0, 1] = -(m[1, 0] * m[2, 2] - m[2, 0] * m[1, 2])
+	adjoint[0, 2] = +(m[1, 0] * m[2, 1] - m[2, 0] * m[1, 1])
+	adjoint[1, 0] = -(m[0, 1] * m[2, 2] - m[2, 1] * m[0, 2])
+	adjoint[1, 1] = +(m[0, 0] * m[2, 2] - m[2, 0] * m[0, 2])
+	adjoint[1, 2] = -(m[0, 0] * m[2, 1] - m[2, 0] * m[0, 1])
+	adjoint[2, 0] = +(m[0, 1] * m[1, 2] - m[1, 1] * m[0, 2])
+	adjoint[2, 1] = -(m[0, 0] * m[1, 2] - m[1, 0] * m[0, 2])
+	adjoint[2, 2] = +(m[0, 0] * m[1, 1] - m[1, 0] * m[0, 1])
 	return adjoint
 }
 matrix3_adjoint_f64 :: proc(m: Matrix3f64) -> (adjoint: Matrix3f64) {
-	adjoint[0][0] = +(m[1][1] * m[2][2] - m[1][2] * m[2][1])
-	adjoint[1][0] = -(m[0][1] * m[2][2] - m[0][2] * m[2][1])
-	adjoint[2][0] = +(m[0][1] * m[1][2] - m[0][2] * m[1][1])
-	adjoint[0][1] = -(m[1][0] * m[2][2] - m[1][2] * m[2][0])
-	adjoint[1][1] = +(m[0][0] * m[2][2] - m[0][2] * m[2][0])
-	adjoint[2][1] = -(m[0][0] * m[1][2] - m[0][2] * m[1][0])
-	adjoint[0][2] = +(m[1][0] * m[2][1] - m[1][1] * m[2][0])
-	adjoint[1][2] = -(m[0][0] * m[2][1] - m[0][1] * m[2][0])
-	adjoint[2][2] = +(m[0][0] * m[1][1] - m[0][1] * m[1][0])
+	adjoint[0, 0] = +(m[1, 1] * m[2, 2] - m[2, 1] * m[1, 2])
+	adjoint[0, 1] = -(m[1, 0] * m[2, 2] - m[2, 0] * m[1, 2])
+	adjoint[0, 2] = +(m[1, 0] * m[2, 1] - m[2, 0] * m[1, 1])
+	adjoint[1, 0] = -(m[0, 1] * m[2, 2] - m[2, 1] * m[0, 2])
+	adjoint[1, 1] = +(m[0, 0] * m[2, 2] - m[2, 0] * m[0, 2])
+	adjoint[1, 2] = -(m[0, 0] * m[2, 1] - m[2, 0] * m[0, 1])
+	adjoint[2, 0] = +(m[0, 1] * m[1, 2] - m[1, 1] * m[0, 2])
+	adjoint[2, 1] = -(m[0, 0] * m[1, 2] - m[1, 0] * m[0, 2])
+	adjoint[2, 2] = +(m[0, 0] * m[1, 1] - m[1, 0] * m[0, 1])
 	return adjoint
 }
 matrix3_adjoint :: proc{
@@ -1369,37 +1370,13 @@ matrix3_adjoint :: proc{
 
 
 matrix3_inverse_transpose_f16 :: proc(m: Matrix3f16) -> (inverse_transpose: Matrix3f16) {
-	adjoint := matrix3_adjoint(m)
-	determinant := matrix3_determinant(m)
-	inv_determinant := 1.0 / determinant
-	for i in 0..<3 {
-		for j in 0..<3 {
-			inverse_transpose[i][j] = adjoint[i][j] * inv_determinant
-		}
-	}
-	return
+	return builtin.inverse_transpose(m)
 }
 matrix3_inverse_transpose_f32 :: proc(m: Matrix3f32) -> (inverse_transpose: Matrix3f32) {
-	adjoint := matrix3_adjoint(m)
-	determinant := matrix3_determinant(m)
-	inv_determinant := 1.0 / determinant
-	for i in 0..<3 {
-		for j in 0..<3 {
-			inverse_transpose[i][j] = adjoint[i][j] * inv_determinant
-		}
-	}
-	return
+	return builtin.inverse_transpose(m)
 }
 matrix3_inverse_transpose_f64 :: proc(m: Matrix3f64) -> (inverse_transpose: Matrix3f64) {
-	adjoint := matrix3_adjoint(m)
-	determinant := matrix3_determinant(m)
-	inv_determinant := 1.0 / determinant
-	for i in 0..<3 {
-		for j in 0..<3 {
-			inverse_transpose[i][j] = adjoint[i][j] * inv_determinant
-		}
-	}
-	return
+	return builtin.inverse_transpose(m)
 }
 matrix3_inverse_transpose :: proc{
 	matrix3_inverse_transpose_f16,
@@ -1409,21 +1386,21 @@ matrix3_inverse_transpose :: proc{
 
 
 matrix3_scale_f16 :: proc(s: Vector3f16) -> (m: Matrix3f16) {
-	m[0][0] = s[0]
-	m[1][1] = s[1]
-	m[2][2] = s[2]
+	m[0, 0] = s[0]
+	m[1, 1] = s[1]
+	m[2, 2] = s[2]
 	return m
 }
 matrix3_scale_f32 :: proc(s: Vector3f32) -> (m: Matrix3f32) {
-	m[0][0] = s[0]
-	m[1][1] = s[1]
-	m[2][2] = s[2]
+	m[0, 0] = s[0]
+	m[1, 1] = s[1]
+	m[2, 2] = s[2]
 	return m
 }
 matrix3_scale_f64 :: proc(s: Vector3f64) -> (m: Matrix3f64) {
-	m[0][0] = s[0]
-	m[1][1] = s[1]
-	m[2][2] = s[2]
+	m[0, 0] = s[0]
+	m[1, 1] = s[1]
+	m[2, 2] = s[2]
 	return m
 }
 matrix3_scale :: proc{
@@ -1440,17 +1417,17 @@ matrix3_rotate_f16 :: proc(angle_radians: f16, v: Vector3f16) -> (rot: Matrix3f1
 	a := normalize(v)
 	t := a * (1-c)
 
-	rot[0][0] = c + t[0]*a[0]
-	rot[0][1] = 0 + t[0]*a[1] + s*a[2]
-	rot[0][2] = 0 + t[0]*a[2] - s*a[1]
+	rot[0, 0] = c + t[0]*a[0]
+	rot[1, 0] = 0 + t[0]*a[1] + s*a[2]
+	rot[2, 0] = 0 + t[0]*a[2] - s*a[1]
 
-	rot[1][0] = 0 + t[1]*a[0] - s*a[2]
-	rot[1][1] = c + t[1]*a[1]
-	rot[1][2] = 0 + t[1]*a[2] + s*a[0]
+	rot[0, 1] = 0 + t[1]*a[0] - s*a[2]
+	rot[1, 1] = c + t[1]*a[1]
+	rot[2, 1] = 0 + t[1]*a[2] + s*a[0]
 
-	rot[2][0] = 0 + t[2]*a[0] + s*a[1]
-	rot[2][1] = 0 + t[2]*a[1] - s*a[0]
-	rot[2][2] = c + t[2]*a[2]
+	rot[0, 2] = 0 + t[2]*a[0] + s*a[1]
+	rot[1, 2] = 0 + t[2]*a[1] - s*a[0]
+	rot[2, 2] = c + t[2]*a[2]
 
 	return rot
 }
@@ -1461,17 +1438,17 @@ matrix3_rotate_f32 :: proc(angle_radians: f32, v: Vector3f32) -> (rot: Matrix3f3
 	a := normalize(v)
 	t := a * (1-c)
 
-	rot[0][0] = c + t[0]*a[0]
-	rot[0][1] = 0 + t[0]*a[1] + s*a[2]
-	rot[0][2] = 0 + t[0]*a[2] - s*a[1]
+	rot[0, 0] = c + t[0]*a[0]
+	rot[1, 0] = 0 + t[0]*a[1] + s*a[2]
+	rot[2, 0] = 0 + t[0]*a[2] - s*a[1]
 
-	rot[1][0] = 0 + t[1]*a[0] - s*a[2]
-	rot[1][1] = c + t[1]*a[1]
-	rot[1][2] = 0 + t[1]*a[2] + s*a[0]
+	rot[0, 1] = 0 + t[1]*a[0] - s*a[2]
+	rot[1, 1] = c + t[1]*a[1]
+	rot[2, 1] = 0 + t[1]*a[2] + s*a[0]
 
-	rot[2][0] = 0 + t[2]*a[0] + s*a[1]
-	rot[2][1] = 0 + t[2]*a[1] - s*a[0]
-	rot[2][2] = c + t[2]*a[2]
+	rot[0, 2] = 0 + t[2]*a[0] + s*a[1]
+	rot[1, 2] = 0 + t[2]*a[1] - s*a[0]
+	rot[2, 2] = c + t[2]*a[2]
 
 	return rot
 }
@@ -1482,17 +1459,17 @@ matrix3_rotate_f64 :: proc(angle_radians: f64, v: Vector3f64) -> (rot: Matrix3f6
 	a := normalize(v)
 	t := a * (1-c)
 
-	rot[0][0] = c + t[0]*a[0]
-	rot[0][1] = 0 + t[0]*a[1] + s*a[2]
-	rot[0][2] = 0 + t[0]*a[2] - s*a[1]
+	rot[0, 0] = c + t[0]*a[0]
+	rot[1, 0] = 0 + t[0]*a[1] + s*a[2]
+	rot[2, 0] = 0 + t[0]*a[2] - s*a[1]
 
-	rot[1][0] = 0 + t[1]*a[0] - s*a[2]
-	rot[1][1] = c + t[1]*a[1]
-	rot[1][2] = 0 + t[1]*a[2] + s*a[0]
+	rot[0, 1] = 0 + t[1]*a[0] - s*a[2]
+	rot[1, 1] = c + t[1]*a[1]
+	rot[2, 1] = 0 + t[1]*a[2] + s*a[0]
 
-	rot[2][0] = 0 + t[2]*a[0] + s*a[1]
-	rot[2][1] = 0 + t[2]*a[1] - s*a[0]
-	rot[2][2] = c + t[2]*a[2]
+	rot[0, 2] = 0 + t[2]*a[0] + s*a[1]
+	rot[1, 2] = 0 + t[2]*a[1] - s*a[0]
+	rot[2, 2] = c + t[2]*a[2]
 
 	return rot
 }
@@ -1508,9 +1485,9 @@ matrix3_look_at_f16 :: proc(eye, centre, up: Vector3f16) -> Matrix3f16 {
 	s := normalize(cross(f, up))
 	u := cross(s, f)
 	return Matrix3f16{
-		{+s.x, +u.x, -f.x},
-		{+s.y, +u.y, -f.y},
-		{+s.z, +u.z, -f.z},
+		+s.x, +s.y, +s.z,
+		+u.x, +u.y, +u.z,
+		-f.x, -f.y, -f.z,
 	}
 }
 matrix3_look_at_f32 :: proc(eye, centre, up: Vector3f32) -> Matrix3f32 {
@@ -1518,9 +1495,9 @@ matrix3_look_at_f32 :: proc(eye, centre, up: Vector3f32) -> Matrix3f32 {
 	s := normalize(cross(f, up))
 	u := cross(s, f)
 	return Matrix3f32{
-		{+s.x, +u.x, -f.x},
-		{+s.y, +u.y, -f.y},
-		{+s.z, +u.z, -f.z},
+		+s.x, +s.y, +s.z,
+		+u.x, +u.y, +u.z,
+		-f.x, -f.y, -f.z,
 	}
 }
 matrix3_look_at_f64 :: proc(eye, centre, up: Vector3f64) -> Matrix3f64 {
@@ -1528,9 +1505,9 @@ matrix3_look_at_f64 :: proc(eye, centre, up: Vector3f64) -> Matrix3f64 {
 	s := normalize(cross(f, up))
 	u := cross(s, f)
 	return Matrix3f64{
-		{+s.x, +u.x, -f.x},
-		{+s.y, +u.y, -f.y},
-		{+s.z, +u.z, -f.z},
+		+s.x, +s.y, +s.z,
+		+u.x, +u.y, +u.z,
+		-f.x, -f.y, -f.z,
 	}
 }
 matrix3_look_at :: proc{
@@ -1551,19 +1528,19 @@ matrix4_from_quaternion_f16 :: proc(q: Quaternionf16) -> (m: Matrix4f16) {
 	qwy := q.w * q.y
 	qwz := q.w * q.z
 
-	m[0][0] = 1 - 2 * (qyy + qzz)
-	m[0][1] = 2 * (qxy + qwz)
-	m[0][2] = 2 * (qxz - qwy)
+	m[0, 0] = 1 - 2 * (qyy + qzz)
+	m[1, 0] = 2 * (qxy + qwz)
+	m[2, 0] = 2 * (qxz - qwy)
 
-	m[1][0] = 2 * (qxy - qwz)
-	m[1][1] = 1 - 2 * (qxx + qzz)
-	m[1][2] = 2 * (qyz + qwx)
+	m[0, 1] = 2 * (qxy - qwz)
+	m[1, 1] = 1 - 2 * (qxx + qzz)
+	m[2, 1] = 2 * (qyz + qwx)
 
-	m[2][0] = 2 * (qxz + qwy)
-	m[2][1] = 2 * (qyz - qwx)
-	m[2][2] = 1 - 2 * (qxx + qyy)
+	m[0, 2] = 2 * (qxz + qwy)
+	m[1, 2] = 2 * (qyz - qwx)
+	m[2, 2] = 1 - 2 * (qxx + qyy)
 
-	m[3][3] = 1
+	m[3, 3] = 1
 
 	return m
 }
@@ -1578,19 +1555,19 @@ matrix4_from_quaternion_f32 :: proc(q: Quaternionf32) -> (m: Matrix4f32) {
 	qwy := q.w * q.y
 	qwz := q.w * q.z
 
-	m[0][0] = 1 - 2 * (qyy + qzz)
-	m[0][1] = 2 * (qxy + qwz)
-	m[0][2] = 2 * (qxz - qwy)
+	m[0, 0] = 1 - 2 * (qyy + qzz)
+	m[1, 0] = 2 * (qxy + qwz)
+	m[2, 0] = 2 * (qxz - qwy)
 
-	m[1][0] = 2 * (qxy - qwz)
-	m[1][1] = 1 - 2 * (qxx + qzz)
-	m[1][2] = 2 * (qyz + qwx)
+	m[0, 1] = 2 * (qxy - qwz)
+	m[1, 1] = 1 - 2 * (qxx + qzz)
+	m[2, 1] = 2 * (qyz + qwx)
 
-	m[2][0] = 2 * (qxz + qwy)
-	m[2][1] = 2 * (qyz - qwx)
-	m[2][2] = 1 - 2 * (qxx + qyy)
+	m[0, 2] = 2 * (qxz + qwy)
+	m[1, 2] = 2 * (qyz - qwx)
+	m[2, 2] = 1 - 2 * (qxx + qyy)
 
-	m[3][3] = 1
+	m[3, 3] = 1
 
 	return m
 }
@@ -1605,19 +1582,19 @@ matrix4_from_quaternion_f64 :: proc(q: Quaternionf64) -> (m: Matrix4f64) {
 	qwy := q.w * q.y
 	qwz := q.w * q.z
 
-	m[0][0] = 1 - 2 * (qyy + qzz)
-	m[0][1] = 2 * (qxy + qwz)
-	m[0][2] = 2 * (qxz - qwy)
+	m[0, 0] = 1 - 2 * (qyy + qzz)
+	m[1, 0] = 2 * (qxy + qwz)
+	m[2, 0] = 2 * (qxz - qwy)
 
-	m[1][0] = 2 * (qxy - qwz)
-	m[1][1] = 1 - 2 * (qxx + qzz)
-	m[1][2] = 2 * (qyz + qwx)
+	m[0, 1] = 2 * (qxy - qwz)
+	m[1, 1] = 1 - 2 * (qxx + qzz)
+	m[2, 1] = 2 * (qyz + qwx)
 
-	m[2][0] = 2 * (qxz + qwy)
-	m[2][1] = 2 * (qyz - qwx)
-	m[2][2] = 1 - 2 * (qxx + qyy)
+	m[0, 2] = 2 * (qxz + qwy)
+	m[1, 2] = 2 * (qyz - qwx)
+	m[2, 2] = 1 - 2 * (qxx + qyy)
 
-	m[3][3] = 1
+	m[3, 3] = 1
 
 	return m
 }
@@ -1992,10 +1969,10 @@ matrix4_look_at_f16 :: proc(eye, centre, up: Vector3f16, flip_z_axis := true) ->
 	fe := dot(f, eye)
 
 	return {
-		{+s.x, +u.x, -f.x, 0},
-		{+s.y, +u.y, -f.y, 0},
-		{+s.z, +u.z, -f.z, 0},
-		{-dot(s, eye), -dot(u, eye), +fe if flip_z_axis else -fe, 1},
+		+s.x, +s.y, +s.z, -dot(s, eye),
+		+u.x, +u.y, +u.z, -dot(u, eye),
+		-f.x, -f.y, -f.z, +fe if flip_z_axis else -fe,
+		   0,    0,    0, 1,
 	}
 }
 matrix4_look_at_f32 :: proc(eye, centre, up: Vector3f32, flip_z_axis := true) -> (m: Matrix4f32) {
@@ -2006,10 +1983,10 @@ matrix4_look_at_f32 :: proc(eye, centre, up: Vector3f32, flip_z_axis := true) ->
 	fe := dot(f, eye)
 
 	return {
-		{+s.x, +u.x, -f.x, 0},
-		{+s.y, +u.y, -f.y, 0},
-		{+s.z, +u.z, -f.z, 0},
-		{-dot(s, eye), -dot(u, eye), +fe if flip_z_axis else -fe, 1},
+		+s.x, +s.y, +s.z, -dot(s, eye),
+		+u.x, +u.y, +u.z, -dot(u, eye),
+		-f.x, -f.y, -f.z, +fe if flip_z_axis else -fe,
+		   0,    0,    0, 1,
 	}
 }
 matrix4_look_at_f64 :: proc(eye, centre, up: Vector3f64, flip_z_axis := true) -> (m: Matrix4f64) {
@@ -2020,10 +1997,10 @@ matrix4_look_at_f64 :: proc(eye, centre, up: Vector3f64, flip_z_axis := true) ->
 	fe := dot(f, eye)
 
 	return {
-		{+s.x, +u.x, -f.x, 0},
-		{+s.y, +u.y, -f.y, 0},
-		{+s.z, +u.z, -f.z, 0},
-		{-dot(s, eye), -dot(u, eye), +fe if flip_z_axis else -fe, 1},
+		+s.x, +s.y, +s.z, -dot(s, eye),
+		+u.x, +u.y, +u.z, -dot(u, eye),
+		-f.x, -f.y, -f.z, +fe if flip_z_axis else -fe,
+		   0,    0,    0, 1,
 	}
 }
 matrix4_look_at :: proc{
@@ -2041,10 +2018,10 @@ matrix4_look_at_from_fru_f16 :: proc(eye, f, r, u: Vector3f16, flip_z_axis := tr
 	fe := dot(f, eye)
 
 	return {
-		{+s.x, +u.x, -f.x, 0},
-		{+s.y, +u.y, -f.y, 0},
-		{+s.z, +u.z, -f.z, 0},
-		{-dot(s, eye), -dot(u, eye), +fe if flip_z_axis else -fe, 1},
+		+s.x, +s.y, +s.z, -dot(s, eye),
+		+u.x, +u.y, +u.z, -dot(u, eye),
+		-f.x, -f.y, -f.z, +fe if flip_z_axis else -fe,
+		   0,    0,    0, 1,
 	}
 }
 matrix4_look_at_from_fru_f32 :: proc(eye, f, r, u: Vector3f32, flip_z_axis := true) -> (m: Matrix4f32) {
@@ -2055,10 +2032,10 @@ matrix4_look_at_from_fru_f32 :: proc(eye, f, r, u: Vector3f32, flip_z_axis := tr
 	fe := dot(f, eye)
 
 	return {
-		{+s.x, +u.x, -f.x, 0},
-		{+s.y, +u.y, -f.y, 0},
-		{+s.z, +u.z, -f.z, 0},
-		{-dot(s, eye), -dot(u, eye), +fe if flip_z_axis else -fe, 1},
+		+s.x, +s.y, +s.z, -dot(s, eye),
+		+u.x, +u.y, +u.z, -dot(u, eye),
+		-f.x, -f.y, -f.z, +fe if flip_z_axis else -fe,
+		   0,    0,    0, 1,
 	}
 }
 matrix4_look_at_from_fru_f64 :: proc(eye, f, r, u: Vector3f64, flip_z_axis := true) -> (m: Matrix4f64) {
@@ -2069,10 +2046,10 @@ matrix4_look_at_from_fru_f64 :: proc(eye, f, r, u: Vector3f64, flip_z_axis := tr
 	fe := dot(f, eye)
 
 	return {
-		{+s.x, +u.x, -f.x, 0},
-		{+s.y, +u.y, -f.y, 0},
-		{+s.z, +u.z, -f.z, 0},
-		{-dot(s, eye), -dot(u, eye), +fe if flip_z_axis else -fe, 1},
+		+s.x, +s.y, +s.z, -dot(s, eye),
+		+u.x, +u.y, +u.z, -dot(u, eye),
+		-f.x, -f.y, -f.z, +fe if flip_z_axis else -fe,
+		   0,    0,    0, 1,
 	}
 }
 matrix4_look_at_from_fru :: proc{
@@ -2084,11 +2061,11 @@ matrix4_look_at_from_fru :: proc{
 
 matrix4_perspective_f16 :: proc(fovy, aspect, near, far: f16, flip_z_axis := true) -> (m: Matrix4f16) {
 	tan_half_fovy := math.tan(0.5 * fovy)
-	m[0][0] = 1 / (aspect*tan_half_fovy)
-	m[1][1] = 1 / (tan_half_fovy)
-	m[2][2] = +(far + near) / (far - near)
-	m[2][3] = +1
-	m[3][2] = -2*far*near / (far - near)
+	m[0, 0] = 1 / (aspect*tan_half_fovy)
+	m[1, 1] = 1 / (tan_half_fovy)
+	m[2, 2] = +(far + near) / (far - near)
+	m[3, 2] = +1
+	m[2, 3] = -2*far*near / (far - near)
 
 	if flip_z_axis {
 		m[2] = -m[2]
@@ -2098,11 +2075,11 @@ matrix4_perspective_f16 :: proc(fovy, aspect, near, far: f16, flip_z_axis := tru
 }
 matrix4_perspective_f32 :: proc(fovy, aspect, near, far: f32, flip_z_axis := true) -> (m: Matrix4f32) {
 	tan_half_fovy := math.tan(0.5 * fovy)
-	m[0][0] = 1 / (aspect*tan_half_fovy)
-	m[1][1] = 1 / (tan_half_fovy)
-	m[2][2] = +(far + near) / (far - near)
-	m[2][3] = +1
-	m[3][2] = -2*far*near / (far - near)
+	m[0, 0] = 1 / (aspect*tan_half_fovy)
+	m[1, 1] = 1 / (tan_half_fovy)
+	m[2, 2] = +(far + near) / (far - near)
+	m[3, 2] = +1
+	m[2, 3] = -2*far*near / (far - near)
 
 	if flip_z_axis {
 		m[2] = -m[2]
@@ -2112,11 +2089,11 @@ matrix4_perspective_f32 :: proc(fovy, aspect, near, far: f32, flip_z_axis := tru
 }
 matrix4_perspective_f64 :: proc(fovy, aspect, near, far: f64, flip_z_axis := true) -> (m: Matrix4f64) {
 	tan_half_fovy := math.tan(0.5 * fovy)
-	m[0][0] = 1 / (aspect*tan_half_fovy)
-	m[1][1] = 1 / (tan_half_fovy)
-	m[2][2] = +(far + near) / (far - near)
-	m[2][3] = +1
-	m[3][2] = -2*far*near / (far - near)
+	m[0, 0] = 1 / (aspect*tan_half_fovy)
+	m[1, 1] = 1 / (tan_half_fovy)
+	m[2, 2] = +(far + near) / (far - near)
+	m[3, 2] = +1
+	m[2, 3] = -2*far*near / (far - near)
 
 	if flip_z_axis {
 		m[2] = -m[2]
@@ -2133,13 +2110,13 @@ matrix4_perspective :: proc{
 
 
 matrix_ortho3d_f16 :: proc(left, right, bottom, top, near, far: f16, flip_z_axis := true) -> (m: Matrix4f16) {
-	m[0][0] = +2 / (right - left)
-	m[1][1] = +2 / (top - bottom)
-	m[2][2] = +2 / (far - near)
-	m[3][0] = -(right + left)   / (right - left)
-	m[3][1] = -(top   + bottom) / (top - bottom)
-	m[3][2] = -(far + near) / (far- near)
-	m[3][3] = 1
+	m[0, 0] = +2 / (right - left)
+	m[1, 1] = +2 / (top - bottom)
+	m[2, 2] = +2 / (far - near)
+	m[0, 3] = -(right + left)   / (right - left)
+	m[1, 3] = -(top   + bottom) / (top - bottom)
+	m[2, 3] = -(far + near) / (far- near)
+	m[3, 3] = 1
 
 	if flip_z_axis {
 		m[2] = -m[2]
@@ -2148,13 +2125,13 @@ matrix_ortho3d_f16 :: proc(left, right, bottom, top, near, far: f16, flip_z_axis
 	return
 }
 matrix_ortho3d_f32 :: proc(left, right, bottom, top, near, far: f32, flip_z_axis := true) -> (m: Matrix4f32) {
-	m[0][0] = +2 / (right - left)
-	m[1][1] = +2 / (top - bottom)
-	m[2][2] = +2 / (far - near)
-	m[3][0] = -(right + left)   / (right - left)
-	m[3][1] = -(top   + bottom) / (top - bottom)
-	m[3][2] = -(far + near) / (far- near)
-	m[3][3] = 1
+	m[0, 0] = +2 / (right - left)
+	m[1, 1] = +2 / (top - bottom)
+	m[2, 2] = +2 / (far - near)
+	m[0, 3] = -(right + left)   / (right - left)
+	m[1, 3] = -(top   + bottom) / (top - bottom)
+	m[2, 3] = -(far + near) / (far- near)
+	m[3, 3] = 1
 
 	if flip_z_axis {
 		m[2] = -m[2]
@@ -2163,13 +2140,13 @@ matrix_ortho3d_f32 :: proc(left, right, bottom, top, near, far: f32, flip_z_axis
 	return
 }
 matrix_ortho3d_f64 :: proc(left, right, bottom, top, near, far: f64, flip_z_axis := true) -> (m: Matrix4f64) {
-	m[0][0] = +2 / (right - left)
-	m[1][1] = +2 / (top - bottom)
-	m[2][2] = +2 / (far - near)
-	m[3][0] = -(right + left)   / (right - left)
-	m[3][1] = -(top   + bottom) / (top - bottom)
-	m[3][2] = -(far + near) / (far- near)
-	m[3][3] = 1
+	m[0, 0] = +2 / (right - left)
+	m[1, 1] = +2 / (top - bottom)
+	m[2, 2] = +2 / (far - near)
+	m[0, 3] = -(right + left)   / (right - left)
+	m[1, 3] = -(top   + bottom) / (top - bottom)
+	m[2, 3] = -(far + near) / (far- near)
+	m[3, 3] = 1
 
 	if flip_z_axis {
 		m[2] = -m[2]
@@ -2187,11 +2164,11 @@ matrix_ortho3d :: proc{
 
 matrix4_infinite_perspective_f16 :: proc(fovy, aspect, near: f16, flip_z_axis := true) -> (m: Matrix4f16) {
 	tan_half_fovy := math.tan(0.5 * fovy)
-	m[0][0] = 1 / (aspect*tan_half_fovy)
-	m[1][1] = 1 / (tan_half_fovy)
-	m[2][2] = +1
-	m[2][3] = +1
-	m[3][2] = -2*near
+	m[0, 0] = 1 / (aspect*tan_half_fovy)
+	m[1, 1] = 1 / (tan_half_fovy)
+	m[2, 2] = +1
+	m[3, 2] = +1
+	m[2, 3] = -2*near
 
 	if flip_z_axis {
 		m[2] = -m[2]
@@ -2201,11 +2178,11 @@ matrix4_infinite_perspective_f16 :: proc(fovy, aspect, near: f16, flip_z_axis :=
 }
 matrix4_infinite_perspective_f32 :: proc(fovy, aspect, near: f32, flip_z_axis := true) -> (m: Matrix4f32) {
 	tan_half_fovy := math.tan(0.5 * fovy)
-	m[0][0] = 1 / (aspect*tan_half_fovy)
-	m[1][1] = 1 / (tan_half_fovy)
-	m[2][2] = +1
-	m[2][3] = +1
-	m[3][2] = -2*near
+	m[0, 0] = 1 / (aspect*tan_half_fovy)
+	m[1, 1] = 1 / (tan_half_fovy)
+	m[2, 2] = +1
+	m[3, 2] = +1
+	m[2, 3] = -2*near
 
 	if flip_z_axis {
 		m[2] = -m[2]
@@ -2215,11 +2192,11 @@ matrix4_infinite_perspective_f32 :: proc(fovy, aspect, near: f32, flip_z_axis :=
 }
 matrix4_infinite_perspective_f64 :: proc(fovy, aspect, near: f64, flip_z_axis := true) -> (m: Matrix4f64) {
 	tan_half_fovy := math.tan(0.5 * fovy)
-	m[0][0] = 1 / (aspect*tan_half_fovy)
-	m[1][1] = 1 / (tan_half_fovy)
-	m[2][2] = +1
-	m[2][3] = +1
-	m[3][2] = -2*near
+	m[0, 0] = 1 / (aspect*tan_half_fovy)
+	m[1, 1] = 1 / (tan_half_fovy)
+	m[2, 2] = +1
+	m[3, 2] = +1
+	m[2, 3] = -2*near
 
 	if flip_z_axis {
 		m[2] = -m[2]
@@ -2236,18 +2213,18 @@ matrix4_infinite_perspective :: proc{
 
 
 matrix2_from_scalar_f16 :: proc(f: f16) -> (m: Matrix2f16) {
-	m[0][0], m[0][1] = f, 0
-	m[1][0], m[1][1] = 0, f
+	m[0, 0], m[1, 0] = f, 0
+	m[0, 1], m[1, 1] = 0, f
 	return
 }
 matrix2_from_scalar_f32 :: proc(f: f32) -> (m: Matrix2f32) {
-	m[0][0], m[0][1] = f, 0
-	m[1][0], m[1][1] = 0, f
+	m[0, 0], m[1, 0] = f, 0
+	m[0, 1], m[1, 1] = 0, f
 	return
 }
 matrix2_from_scalar_f64 :: proc(f: f64) -> (m: Matrix2f64) {
-	m[0][0], m[0][1] = f, 0
-	m[1][0], m[1][1] = 0, f
+	m[0, 0], m[1, 0] = f, 0
+	m[0, 1], m[1, 1] = 0, f
 	return
 }
 matrix2_from_scalar :: proc{
@@ -2258,21 +2235,21 @@ matrix2_from_scalar :: proc{
 
 
 matrix3_from_scalar_f16 :: proc(f: f16) -> (m: Matrix3f16) {
-	m[0][0], m[0][1], m[0][2] = f, 0, 0
-	m[1][0], m[1][1], m[1][2] = 0, f, 0
-	m[2][0], m[2][1], m[2][2] = 0, 0, f
+	m[0, 0], m[1, 0], m[2, 0] = f, 0, 0
+	m[0, 1], m[1, 1], m[2, 1] = 0, f, 0
+	m[0, 2], m[1, 2], m[2, 2] = 0, 0, f
 	return
 }
 matrix3_from_scalar_f32 :: proc(f: f32) -> (m: Matrix3f32) {
-	m[0][0], m[0][1], m[0][2] = f, 0, 0
-	m[1][0], m[1][1], m[1][2] = 0, f, 0
-	m[2][0], m[2][1], m[2][2] = 0, 0, f
+	m[0, 0], m[1, 0], m[2, 0] = f, 0, 0
+	m[0, 1], m[1, 1], m[2, 1] = 0, f, 0
+	m[0, 2], m[1, 2], m[2, 2] = 0, 0, f
 	return
 }
 matrix3_from_scalar_f64 :: proc(f: f64) -> (m: Matrix3f64) {
-	m[0][0], m[0][1], m[0][2] = f, 0, 0
-	m[1][0], m[1][1], m[1][2] = 0, f, 0
-	m[2][0], m[2][1], m[2][2] = 0, 0, f
+	m[0, 0], m[1, 0], m[2, 0] = f, 0, 0
+	m[0, 1], m[1, 1], m[2, 1] = 0, f, 0
+	m[0, 2], m[1, 2], m[2, 2] = 0, 0, f
 	return
 }
 matrix3_from_scalar :: proc{
@@ -2283,24 +2260,24 @@ matrix3_from_scalar :: proc{
 
 
 matrix4_from_scalar_f16 :: proc(f: f16) -> (m: Matrix4f16) {
-	m[0][0], m[0][1], m[0][2], m[0][3] = f, 0, 0, 0
-	m[1][0], m[1][1], m[1][2], m[1][3] = 0, f, 0, 0
-	m[2][0], m[2][1], m[2][2], m[2][3] = 0, 0, f, 0
-	m[3][0], m[3][1], m[3][2], m[3][3] = 0, 0, 0, f
+	m[0, 0], m[1, 0], m[2, 0], m[3, 0] = f, 0, 0, 0
+	m[0, 1], m[1, 1], m[2, 1], m[3, 1] = 0, f, 0, 0
+	m[0, 2], m[1, 2], m[2, 2], m[3, 2] = 0, 0, f, 0
+	m[0, 3], m[1, 3], m[2, 3], m[3, 3] = 0, 0, 0, f
 	return
 }
 matrix4_from_scalar_f32 :: proc(f: f32) -> (m: Matrix4f32) {
-	m[0][0], m[0][1], m[0][2], m[0][3] = f, 0, 0, 0
-	m[1][0], m[1][1], m[1][2], m[1][3] = 0, f, 0, 0
-	m[2][0], m[2][1], m[2][2], m[2][3] = 0, 0, f, 0
-	m[3][0], m[3][1], m[3][2], m[3][3] = 0, 0, 0, f
+	m[0, 0], m[1, 0], m[2, 0], m[3, 0] = f, 0, 0, 0
+	m[0, 1], m[1, 1], m[2, 1], m[3, 1] = 0, f, 0, 0
+	m[0, 2], m[1, 2], m[2, 2], m[3, 2] = 0, 0, f, 0
+	m[0, 3], m[1, 3], m[2, 3], m[3, 3] = 0, 0, 0, f
 	return
 }
 matrix4_from_scalar_f64 :: proc(f: f64) -> (m: Matrix4f64) {
-	m[0][0], m[0][1], m[0][2], m[0][3] = f, 0, 0, 0
-	m[1][0], m[1][1], m[1][2], m[1][3] = 0, f, 0, 0
-	m[2][0], m[2][1], m[2][2], m[2][3] = 0, 0, f, 0
-	m[3][0], m[3][1], m[3][2], m[3][3] = 0, 0, 0, f
+	m[0, 0], m[1, 0], m[2, 0], m[3, 0] = f, 0, 0, 0
+	m[0, 1], m[1, 1], m[2, 1], m[3, 1] = 0, f, 0, 0
+	m[0, 2], m[1, 2], m[2, 2], m[3, 2] = 0, 0, f, 0
+	m[0, 3], m[1, 3], m[2, 3], m[3, 3] = 0, 0, 0, f
 	return
 }
 matrix4_from_scalar :: proc{
@@ -2311,18 +2288,18 @@ matrix4_from_scalar :: proc{
 
 
 matrix2_from_matrix3_f16 :: proc(m: Matrix3f16) -> (r: Matrix2f16) {
-	r[0][0], r[0][1] = m[0][0], m[0][1]
-	r[1][0], r[1][1] = m[1][0], m[1][1]
+	r[0, 0], r[1, 0] = m[0, 0], m[1, 0]
+	r[0, 1], r[1, 1] = m[0, 1], m[1, 1]
 	return
 }
 matrix2_from_matrix3_f32 :: proc(m: Matrix3f32) -> (r: Matrix2f32) {
-	r[0][0], r[0][1] = m[0][0], m[0][1]
-	r[1][0], r[1][1] = m[1][0], m[1][1]
+	r[0, 0], r[1, 0] = m[0, 0], m[1, 0]
+	r[0, 1], r[1, 1] = m[0, 1], m[1, 1]
 	return
 }
 matrix2_from_matrix3_f64 :: proc(m: Matrix3f64) -> (r: Matrix2f64) {
-	r[0][0], r[0][1] = m[0][0], m[0][1]
-	r[1][0], r[1][1] = m[1][0], m[1][1]
+	r[0, 0], r[1, 0] = m[0, 0], m[1, 0]
+	r[0, 1], r[1, 1] = m[0, 1], m[1, 1]
 	return
 }
 matrix2_from_matrix3 :: proc{
@@ -2333,18 +2310,18 @@ matrix2_from_matrix3 :: proc{
 
 
 matrix2_from_matrix4_f16 :: proc(m: Matrix4f16) -> (r: Matrix2f16) {
-	r[0][0], r[0][1] = m[0][0], m[0][1]
-	r[1][0], r[1][1] = m[1][0], m[1][1]
+	r[0, 0], r[1, 0] = m[0, 0], m[1, 0]
+	r[0, 1], r[1, 1] = m[0, 1], m[1, 1]
 	return
 }
 matrix2_from_matrix4_f32 :: proc(m: Matrix4f32) -> (r: Matrix2f32) {
-	r[0][0], r[0][1] = m[0][0], m[0][1]
-	r[1][0], r[1][1] = m[1][0], m[1][1]
+	r[0, 0], r[1, 0] = m[0, 0], m[1, 0]
+	r[0, 1], r[1, 1] = m[0, 1], m[1, 1]
 	return
 }
 matrix2_from_matrix4_f64 :: proc(m: Matrix4f64) -> (r: Matrix2f64) {
-	r[0][0], r[0][1] = m[0][0], m[0][1]
-	r[1][0], r[1][1] = m[1][0], m[1][1]
+	r[0, 0], r[1, 0] = m[0, 0], m[1, 0]
+	r[0, 1], r[1, 1] = m[0, 1], m[1, 1]
 	return
 }
 matrix2_from_matrix4 :: proc{
@@ -2355,21 +2332,21 @@ matrix2_from_matrix4 :: proc{
 
 
 matrix3_from_matrix2_f16 :: proc(m: Matrix2f16) -> (r: Matrix3f16) {
-	r[0][0], r[0][1], r[0][2] = m[0][0], m[0][1], 0
-	r[1][0], r[1][1], r[1][2] = m[1][0], m[1][1], 0
-	r[2][0], r[2][1], r[2][2] =       0,       0, 1
+	r[0, 0], r[1, 0], r[2, 0] = m[0, 0], m[1, 0], 0
+	r[0, 1], r[1, 1], r[2, 1] = m[0, 1], m[1, 1], 0
+	r[0, 2], r[1, 2], r[2, 2] =       0,       0, 1
 	return
 }
 matrix3_from_matrix2_f32 :: proc(m: Matrix2f32) -> (r: Matrix3f32) {
-	r[0][0], r[0][1], r[0][2] = m[0][0], m[0][1], 0
-	r[1][0], r[1][1], r[1][2] = m[1][0], m[1][1], 0
-	r[2][0], r[2][1], r[2][2] =       0,       0, 1
+	r[0, 0], r[1, 0], r[2, 0] = m[0, 0], m[1, 0], 0
+	r[0, 1], r[1, 1], r[2, 1] = m[0, 1], m[1, 1], 0
+	r[0, 2], r[1, 2], r[2, 2] =       0,       0, 1
 	return
 }
 matrix3_from_matrix2_f64 :: proc(m: Matrix2f64) -> (r: Matrix3f64) {
-	r[0][0], r[0][1], r[0][2] = m[0][0], m[0][1], 0
-	r[1][0], r[1][1], r[1][2] = m[1][0], m[1][1], 0
-	r[2][0], r[2][1], r[2][2] =       0,       0, 1
+	r[0, 0], r[1, 0], r[2, 0] = m[0, 0], m[1, 0], 0
+	r[0, 1], r[1, 1], r[2, 1] = m[0, 1], m[1, 1], 0
+	r[0, 2], r[1, 2], r[2, 2] =       0,       0, 1
 	return
 }
 matrix3_from_matrix2 :: proc{
@@ -2380,21 +2357,21 @@ matrix3_from_matrix2 :: proc{
 
 
 matrix3_from_matrix4_f16 :: proc(m: Matrix4f16) -> (r: Matrix3f16) {
-	r[0][0], r[0][1], r[0][2] = m[0][0], m[0][1], m[0][2]
-	r[1][0], r[1][1], r[1][2] = m[1][0], m[1][1], m[1][2]
-	r[2][0], r[2][1], r[2][2] = m[2][0], m[2][1], m[2][2]
+	r[0, 0], r[1, 0], r[2, 0] = m[0, 0], m[1, 0], m[2, 0]
+	r[0, 1], r[1, 1], r[2, 1] = m[0, 1], m[1, 1], m[2, 1]
+	r[0, 2], r[1, 2], r[2, 2] = m[0, 2], m[1, 2], m[2, 2]
 	return
 }
 matrix3_from_matrix4_f32 :: proc(m: Matrix4f32) -> (r: Matrix3f32) {
-	r[0][0], r[0][1], r[0][2] = m[0][0], m[0][1], m[0][2]
-	r[1][0], r[1][1], r[1][2] = m[1][0], m[1][1], m[1][2]
-	r[2][0], r[2][1], r[2][2] = m[2][0], m[2][1], m[2][2]
+	r[0, 0], r[1, 0], r[2, 0] = m[0, 0], m[1, 0], m[2, 0]
+	r[0, 1], r[1, 1], r[2, 1] = m[0, 1], m[1, 1], m[2, 1]
+	r[0, 2], r[1, 2], r[2, 2] = m[0, 2], m[1, 2], m[2, 2]
 	return
 }
 matrix3_from_matrix4_f64 :: proc(m: Matrix4f64) -> (r: Matrix3f64) {
-	r[0][0], r[0][1], r[0][2] = m[0][0], m[0][1], m[0][2]
-	r[1][0], r[1][1], r[1][2] = m[1][0], m[1][1], m[1][2]
-	r[2][0], r[2][1], r[2][2] = m[2][0], m[2][1], m[2][2]
+	r[0, 0], r[1, 0], r[2, 0] = m[0, 0], m[1, 0], m[2, 0]
+	r[0, 1], r[1, 1], r[2, 1] = m[0, 1], m[1, 1], m[2, 1]
+	r[0, 2], r[1, 2], r[2, 2] = m[0, 2], m[1, 2], m[2, 2]
 	return
 }
 matrix3_from_matrix4 :: proc{
@@ -2405,24 +2382,24 @@ matrix3_from_matrix4 :: proc{
 
 
 matrix4_from_matrix2_f16 :: proc(m: Matrix2f16) -> (r: Matrix4f16) {
-	r[0][0], r[0][1], r[0][2], r[0][3] = m[0][0], m[0][1], 0, 0
-	r[1][0], r[1][1], r[1][2], r[1][3] = m[1][0], m[1][1], 0, 0
-	r[2][0], r[2][1], r[2][2], r[2][3] =       0,       0, 1, 0
-	r[3][0], r[3][1], r[3][2], r[3][3] =       0,       0, 0, 1
+	r[0, 0], r[1, 0], r[2, 0], r[3, 0] = m[0, 0], m[1, 0], 0, 0
+	r[0, 1], r[1, 1], r[2, 1], r[3, 1] = m[0, 1], m[1, 1], 0, 0
+	r[0, 2], r[1, 2], r[2, 2], r[3, 2] =       0,       0, 1, 0
+	r[0, 3], r[1, 3], r[2, 3], r[3, 3] =       0,       0, 0, 1
 	return
 }
 matrix4_from_matrix2_f32 :: proc(m: Matrix2f32) -> (r: Matrix4f32) {
-	r[0][0], r[0][1], r[0][2], r[0][3] = m[0][0], m[0][1], 0, 0
-	r[1][0], r[1][1], r[1][2], r[1][3] = m[1][0], m[1][1], 0, 0
-	r[2][0], r[2][1], r[2][2], r[2][3] =       0,       0, 1, 0
-	r[3][0], r[3][1], r[3][2], r[3][3] =       0,       0, 0, 1
+	r[0, 0], r[1, 0], r[2, 0], r[3, 0] = m[0, 0], m[1, 0], 0, 0
+	r[0, 1], r[1, 1], r[2, 1], r[3, 1] = m[0, 1], m[1, 1], 0, 0
+	r[0, 2], r[1, 2], r[2, 2], r[3, 2] =       0,       0, 1, 0
+	r[0, 3], r[1, 3], r[2, 3], r[3, 3] =       0,       0, 0, 1
 	return
 }
 matrix4_from_matrix2_f64 :: proc(m: Matrix2f64) -> (r: Matrix4f64) {
-	r[0][0], r[0][1], r[0][2], r[0][3] = m[0][0], m[0][1], 0, 0
-	r[1][0], r[1][1], r[1][2], r[1][3] = m[1][0], m[1][1], 0, 0
-	r[2][0], r[2][1], r[2][2], r[2][3] =       0,       0, 1, 0
-	r[3][0], r[3][1], r[3][2], r[3][3] =       0,       0, 0, 1
+	r[0, 0], r[1, 0], r[2, 0], r[3, 0] = m[0, 0], m[1, 0], 0, 0
+	r[0, 1], r[1, 1], r[2, 1], r[3, 1] = m[0, 1], m[1, 1], 0, 0
+	r[0, 2], r[1, 2], r[2, 2], r[3, 2] =       0,       0, 1, 0
+	r[0, 3], r[1, 3], r[2, 3], r[3, 3] =       0,       0, 0, 1
 	return
 }
 matrix4_from_matrix2 :: proc{
@@ -2433,24 +2410,24 @@ matrix4_from_matrix2 :: proc{
 
 
 matrix4_from_matrix3_f16 :: proc(m: Matrix3f16) -> (r: Matrix4f16) {
-	r[0][0], r[0][1], r[0][2], r[0][3] = m[0][0], m[0][1], m[0][2], 0
-	r[1][0], r[1][1], r[1][2], r[1][3] = m[1][0], m[1][1], m[1][2], 0
-	r[2][0], r[2][1], r[2][2], r[2][3] = m[2][0], m[2][1], m[2][2], 0
-	r[3][0], r[3][1], r[3][2], r[3][3] =       0,       0,       0, 1
+	r[0, 0], r[1, 0], r[2, 0], r[3, 0] = m[0, 0], m[1, 0], m[2, 0], 0
+	r[0, 1], r[1, 1], r[2, 1], r[3, 1] = m[0, 1], m[1, 1], m[2, 1], 0
+	r[0, 2], r[1, 2], r[2, 2], r[3, 2] = m[0, 2], m[1, 2], m[2, 2], 0
+	r[0, 3], r[1, 3], r[2, 3], r[3, 3] =       0,       0,       0, 1
 	return
 }
 matrix4_from_matrix3_f32 :: proc(m: Matrix3f32) -> (r: Matrix4f32) {
-	r[0][0], r[0][1], r[0][2], r[0][3] = m[0][0], m[0][1], m[0][2], 0
-	r[1][0], r[1][1], r[1][2], r[1][3] = m[1][0], m[1][1], m[1][2], 0
-	r[2][0], r[2][1], r[2][2], r[2][3] = m[2][0], m[2][1], m[2][2], 0
-	r[3][0], r[3][1], r[3][2], r[3][3] =       0,       0,       0, 1
+	r[0, 0], r[1, 0], r[2, 0], r[3, 0] = m[0, 0], m[1, 0], m[2, 0], 0
+	r[0, 1], r[1, 1], r[2, 1], r[3, 1] = m[0, 1], m[1, 1], m[2, 1], 0
+	r[0, 2], r[1, 2], r[2, 2], r[3, 2] = m[0, 2], m[1, 2], m[2, 2], 0
+	r[0, 3], r[1, 3], r[2, 3], r[3, 3] =       0,       0,       0, 1
 	return
 }
 matrix4_from_matrix3_f64 :: proc(m: Matrix3f64) -> (r: Matrix4f64) {
-	r[0][0], r[0][1], r[0][2], r[0][3] = m[0][0], m[0][1], m[0][2], 0
-	r[1][0], r[1][1], r[1][2], r[1][3] = m[1][0], m[1][1], m[1][2], 0
-	r[2][0], r[2][1], r[2][2], r[2][3] = m[2][0], m[2][1], m[2][2], 0
-	r[3][0], r[3][1], r[3][2], r[3][3] =       0,       0,       0, 1
+	r[0, 0], r[1, 0], r[2, 0], r[3, 0] = m[0, 0], m[1, 0], m[2, 0], 0
+	r[0, 1], r[1, 1], r[2, 1], r[3, 1] = m[0, 1], m[1, 1], m[2, 1], 0
+	r[0, 2], r[1, 2], r[2, 2], r[3, 2] = m[0, 2], m[1, 2], m[2, 2], 0
+	r[0, 3], r[1, 3], r[2, 3], r[3, 3] =       0,       0,       0, 1
 	return
 }
 matrix4_from_matrix3 :: proc{
diff --git a/core/math/linalg/specific_euler_angles_f16.odin b/core/math/linalg/specific_euler_angles_f16.odin
index d0fb1beb3..9e21c7f97 100644
--- a/core/math/linalg/specific_euler_angles_f16.odin
+++ b/core/math/linalg/specific_euler_angles_f16.odin
@@ -212,29 +212,29 @@ euler_angles_zxy_from_quaternion_f16 :: proc(q: Quaternionf16) -> (t1, t2, t3: f
 
 matrix3_from_euler_angle_x_f16 :: proc(angle_x: f16) -> (m: Matrix3f16) {
 	cos_x, sin_x := math.cos(angle_x), math.sin(angle_x)
-	m[0][0] = 1
-	m[1][1] = +cos_x
-	m[2][1] = +sin_x
-	m[1][2] = -sin_x
-	m[2][2] = +cos_x
+	m[0, 0] = 1
+	m[1, 1] = +cos_x
+	m[1, 2] = +sin_x
+	m[2, 1] = -sin_x
+	m[2, 2] = +cos_x
 	return
 }
 matrix3_from_euler_angle_y_f16 :: proc(angle_y: f16) -> (m: Matrix3f16) {
 	cos_y, sin_y := math.cos(angle_y), math.sin(angle_y)
-	m[0][0] = +cos_y
-	m[2][0] = -sin_y
-	m[1][1] = 1
-	m[0][2] = +sin_y
-	m[2][2] = +cos_y
+	m[0, 0] = +cos_y
+	m[0, 2] = -sin_y
+	m[1, 1] = 1
+	m[2, 0] = +sin_y
+	m[2, 2] = +cos_y
 	return
 }
 matrix3_from_euler_angle_z_f16 :: proc(angle_z: f16) -> (m: Matrix3f16) {
 	cos_z, sin_z := math.cos(angle_z), math.sin(angle_z)
-	m[0][0] = +cos_z
-	m[1][0] = +sin_z
-	m[1][1] = +cos_z
-	m[0][1] = -sin_z
-	m[2][2] = 1
+	m[0, 0] = +cos_z
+	m[0, 1] = +sin_z
+	m[1, 1] = +cos_z
+	m[1, 0] = -sin_z
+	m[2, 2] = 1
 	return
 }
 
@@ -242,31 +242,31 @@ matrix3_from_euler_angle_z_f16 :: proc(angle_z: f16) -> (m: Matrix3f16) {
 matrix3_from_derived_euler_angle_x_f16 :: proc(angle_x: f16, angular_velocity_x: f16) -> (m: Matrix3f16) {
 	cos_x := math.cos(angle_x) * angular_velocity_x
 	sin_x := math.sin(angle_x) * angular_velocity_x
-	m[0][0] = 1
-	m[1][1] = +cos_x
-	m[2][1] = +sin_x
-	m[1][2] = -sin_x
-	m[2][2] = +cos_x
+	m[0, 0] = 1
+	m[1, 1] = +cos_x
+	m[1, 2] = +sin_x
+	m[2, 1] = -sin_x
+	m[2, 2] = +cos_x
 	return
 }
 matrix3_from_derived_euler_angle_y_f16 :: proc(angle_y: f16, angular_velocity_y: f16) -> (m: Matrix3f16) {
 	cos_y := math.cos(angle_y) * angular_velocity_y
 	sin_y := math.sin(angle_y) * angular_velocity_y
-	m[0][0] = +cos_y
-	m[2][0] = -sin_y
-	m[1][1] = 1
-	m[0][2] = +sin_y
-	m[2][2] = +cos_y
+	m[0, 0] = +cos_y
+	m[0, 2] = -sin_y
+	m[1, 1] = 1
+	m[2, 0] = +sin_y
+	m[2, 2] = +cos_y
 	return
 }
 matrix3_from_derived_euler_angle_z_f16 :: proc(angle_z: f16, angular_velocity_z: f16) -> (m: Matrix3f16) {
 	cos_z := math.cos(angle_z) * angular_velocity_z
 	sin_z := math.sin(angle_z) * angular_velocity_z
-	m[0][0] = +cos_z
-	m[1][0] = +sin_z
-	m[1][1] = +cos_z
-	m[0][1] = -sin_z
-	m[2][2] = 1
+	m[0, 0] = +cos_z
+	m[0, 1] = +sin_z
+	m[1, 1] = +cos_z
+	m[1, 0] = -sin_z
+	m[2, 2] = 1
 	return
 }
 
@@ -274,14 +274,14 @@ matrix3_from_derived_euler_angle_z_f16 :: proc(angle_z: f16, angular_velocity_z:
 matrix3_from_euler_angles_xy_f16 :: proc(angle_x, angle_y: f16) -> (m: Matrix3f16) {
 	cos_x, sin_x := math.cos(angle_x), math.sin(angle_x)
 	cos_y, sin_y := math.cos(angle_y), math.sin(angle_y)
-	m[0][0] = cos_y
-	m[1][0] = -sin_x * - sin_y
-	m[2][0] = -cos_x * - sin_y
-	m[1][1] = cos_x
-	m[2][1] = sin_x
-	m[0][2] = sin_y
-	m[1][2] = -sin_x * cos_y
-	m[2][2] = cos_x * cos_y
+	m[0, 0] = cos_y
+	m[0, 1] = -sin_x * - sin_y
+	m[0, 2] = -cos_x * - sin_y
+	m[1, 1] = cos_x
+	m[1, 2] = sin_x
+	m[2, 0] = sin_y
+	m[2, 1] = -sin_x * cos_y
+	m[2, 2] = cos_x * cos_y
 	return
 }
 
@@ -289,14 +289,14 @@ matrix3_from_euler_angles_xy_f16 :: proc(angle_x, angle_y: f16) -> (m: Matrix3f1
 matrix3_from_euler_angles_yx_f16 :: proc(angle_y, angle_x: f16) -> (m: Matrix3f16) {
 	cos_x, sin_x := math.cos(angle_x), math.sin(angle_x)
 	cos_y, sin_y := math.cos(angle_y), math.sin(angle_y)
-	m[0][0] = cos_y
-	m[2][0] = -sin_y
-	m[0][1] = sin_y*sin_x
-	m[1][1] = cos_x
-	m[2][1] = cos_y*sin_x
-	m[0][2] = sin_y*cos_x
-	m[1][2] = -sin_x
-	m[2][2] = cos_y*cos_x
+	m[0, 0] = cos_y
+	m[0, 2] = -sin_y
+	m[1, 0] = sin_y*sin_x
+	m[1, 1] = cos_x
+	m[1, 2] = cos_y*sin_x
+	m[2, 0] = sin_y*cos_x
+	m[2, 1] = -sin_x
+	m[2, 2] = cos_y*cos_x
 	return
 }
 
@@ -322,15 +322,15 @@ matrix3_from_euler_angles_xyz_f16 :: proc(t1, t2, t3: f16) -> (m: Matrix3f16) {
 	s2 := math.sin(-t2)
 	s3 := math.sin(-t3)
 
-	m[0][0] = c2 * c3
-	m[0][1] =-c1 * s3 + s1 * s2 * c3
-	m[0][2] = s1 * s3 + c1 * s2 * c3
-	m[1][0] = c2 * s3
-	m[1][1] = c1 * c3 + s1 * s2 * s3
-	m[1][2] =-s1 * c3 + c1 * s2 * s3
-	m[2][0] =-s2
-	m[2][1] = s1 * c2
-	m[2][2] = c1 * c2
+	m[0, 0] = c2 * c3
+	m[1, 0] =-c1 * s3 + s1 * s2 * c3
+	m[2, 0] = s1 * s3 + c1 * s2 * c3
+	m[0, 1] = c2 * s3
+	m[1, 1] = c1 * c3 + s1 * s2 * s3
+	m[2, 1] =-s1 * c3 + c1 * s2 * s3
+	m[0, 2] =-s2
+	m[1, 2] = s1 * c2
+	m[2, 2] = c1 * c2
 	return
 }
 
@@ -342,15 +342,15 @@ matrix3_from_euler_angles_yxz_f16 :: proc(yaw, pitch, roll: f16) -> (m: Matrix3f
 	cb := math.cos(roll)
 	sb := math.sin(roll)
 
-	m[0][0] = ch * cb + sh * sp * sb
-	m[0][1] = sb * cp
-	m[0][2] = -sh * cb + ch * sp * sb
-	m[1][0] = -ch * sb + sh * sp * cb
-	m[1][1] = cb * cp
-	m[1][2] = sb * sh + ch * sp * cb
-	m[2][0] = sh * cp
-	m[2][1] = -sp
-	m[2][2] = ch * cp
+	m[0, 0] = ch * cb + sh * sp * sb
+	m[1, 0] = sb * cp
+	m[2, 0] = -sh * cb + ch * sp * sb
+	m[0, 1] = -ch * sb + sh * sp * cb
+	m[1, 1] = cb * cp
+	m[2, 1] = sb * sh + ch * sp * cb
+	m[0, 2] = sh * cp
+	m[1, 2] = -sp
+	m[2, 2] = ch * cp
 	return
 }
 
@@ -362,15 +362,15 @@ matrix3_from_euler_angles_xzx_f16 :: proc(t1, t2, t3: f16) -> (m: Matrix3f16) {
 	c3 := math.cos(t3)
 	s3 := math.sin(t3)
 
-	m[0][0] = c2
-	m[0][1] = c1 * s2
-	m[0][2] = s1 * s2
-	m[1][0] =-c3 * s2
-	m[1][1] = c1 * c2 * c3 - s1 * s3
-	m[1][2] = c1 * s3 + c2 * c3 * s1
-	m[2][0] = s2 * s3
-	m[2][1] =-c3 * s1 - c1 * c2 * s3
-	m[2][2] = c1 * c3 - c2 * s1 * s3
+	m[0, 0] = c2
+	m[1, 0] = c1 * s2
+	m[2, 0] = s1 * s2
+	m[0, 1] =-c3 * s2
+	m[1, 1] = c1 * c2 * c3 - s1 * s3
+	m[2, 1] = c1 * s3 + c2 * c3 * s1
+	m[0, 2] = s2 * s3
+	m[1, 2] =-c3 * s1 - c1 * c2 * s3
+	m[2, 2] = c1 * c3 - c2 * s1 * s3
 	return
 }
 
@@ -382,15 +382,15 @@ matrix3_from_euler_angles_xyx_f16 :: proc(t1, t2, t3: f16) -> (m: Matrix3f16) {
 	c3 := math.cos(t3)
 	s3 := math.sin(t3)
 
-	m[0][0] = c2
-	m[0][1] = s1 * s2
-	m[0][2] =-c1 * s2
-	m[1][0] = s2 * s3
-	m[1][1] = c1 * c3 - c2 * s1 * s3
-	m[1][2] = c3 * s1 + c1 * c2 * s3
-	m[2][0] = c3 * s2
-	m[2][1] =-c1 * s3 - c2 * c3 * s1
-	m[2][2] = c1 * c2 * c3 - s1 * s3
+	m[0, 0] = c2
+	m[1, 0] = s1 * s2
+	m[2, 0] =-c1 * s2
+	m[0, 1] = s2 * s3
+	m[1, 1] = c1 * c3 - c2 * s1 * s3
+	m[2, 1] = c3 * s1 + c1 * c2 * s3
+	m[0, 2] = c3 * s2
+	m[1, 2] =-c1 * s3 - c2 * c3 * s1
+	m[2, 2] = c1 * c2 * c3 - s1 * s3
 	return
 }
 
@@ -402,15 +402,15 @@ matrix3_from_euler_angles_yxy_f16 :: proc(t1, t2, t3: f16) -> (m: Matrix3f16) {
 	c3 := math.cos(t3)
 	s3 := math.sin(t3)
 
-	m[0][0] = c1 * c3 - c2 * s1 * s3
-	m[0][1] = s2* s3
-	m[0][2] =-c3 * s1 - c1 * c2 * s3
-	m[1][0] = s1 * s2
-	m[1][1] = c2
-	m[1][2] = c1 * s2
-	m[2][0] = c1 * s3 + c2 * c3 * s1
-	m[2][1] =-c3 * s2
-	m[2][2] = c1 * c2 * c3 - s1 * s3
+	m[0, 0] = c1 * c3 - c2 * s1 * s3
+	m[1, 0] = s2* s3
+	m[2, 0] =-c3 * s1 - c1 * c2 * s3
+	m[0, 1] = s1 * s2
+	m[1, 1] = c2
+	m[2, 1] = c1 * s2
+	m[0, 2] = c1 * s3 + c2 * c3 * s1
+	m[1, 2] =-c3 * s2
+	m[2, 2] = c1 * c2 * c3 - s1 * s3
 	return
 }
 
@@ -422,15 +422,15 @@ matrix3_from_euler_angles_yzy_f16 :: proc(t1, t2, t3: f16) -> (m: Matrix3f16) {
 	c3 := math.cos(t3)
 	s3 := math.sin(t3)
 
-	m[0][0] = c1 * c2 * c3 - s1 * s3
-	m[0][1] = c3 * s2
-	m[0][2] =-c1 * s3 - c2 * c3 * s1
-	m[1][0] =-c1 * s2
-	m[1][1] = c2
-	m[1][2] = s1 * s2
-	m[2][0] = c3 * s1 + c1 * c2 * s3
-	m[2][1] = s2 * s3
-	m[2][2] = c1 * c3 - c2 * s1 * s3
+	m[0, 0] = c1 * c2 * c3 - s1 * s3
+	m[1, 0] = c3 * s2
+	m[2, 0] =-c1 * s3 - c2 * c3 * s1
+	m[0, 1] =-c1 * s2
+	m[1, 1] = c2
+	m[2, 1] = s1 * s2
+	m[0, 2] = c3 * s1 + c1 * c2 * s3
+	m[1, 2] = s2 * s3
+	m[2, 2] = c1 * c3 - c2 * s1 * s3
 	return
 }
 
@@ -442,15 +442,15 @@ matrix3_from_euler_angles_zyz_f16 :: proc(t1, t2, t3: f16) -> (m: Matrix3f16) {
 	c3 := math.cos(t3)
 	s3 := math.sin(t3)
 
-	m[0][0] = c1 * c2 * c3 - s1 * s3
-	m[0][1] = c1 * s3 + c2 * c3 * s1
-	m[0][2] =-c3 * s2
-	m[1][0] =-c3 * s1 - c1 * c2 * s3
-	m[1][1] = c1 * c3 - c2 * s1 * s3
-	m[1][2] = s2 * s3
-	m[2][0] = c1 * s2
-	m[2][1] = s1 * s2
-	m[2][2] = c2
+	m[0, 0] = c1 * c2 * c3 - s1 * s3
+	m[1, 0] = c1 * s3 + c2 * c3 * s1
+	m[2, 0] =-c3 * s2
+	m[0, 1] =-c3 * s1 - c1 * c2 * s3
+	m[1, 1] = c1 * c3 - c2 * s1 * s3
+	m[2, 1] = s2 * s3
+	m[0, 2] = c1 * s2
+	m[1, 2] = s1 * s2
+	m[2, 2] = c2
 	return
 }
 
@@ -462,15 +462,15 @@ matrix3_from_euler_angles_zxz_f16 :: proc(t1, t2, t3: f16) -> (m: Matrix3f16) {
 	c3 := math.cos(t3)
 	s3 := math.sin(t3)
 
-	m[0][0] = c1 * c3 - c2 * s1 * s3
-	m[0][1] = c3 * s1 + c1 * c2 * s3
-	m[0][2] = s2 *s3
-	m[1][0] =-c1 * s3 - c2 * c3 * s1
-	m[1][1] = c1 * c2 * c3 - s1 * s3
-	m[1][2] = c3 * s2
-	m[2][0] = s1 * s2
-	m[2][1] =-c1 * s2
-	m[2][2] = c2
+	m[0, 0] = c1 * c3 - c2 * s1 * s3
+	m[1, 0] = c3 * s1 + c1 * c2 * s3
+	m[2, 0] = s2 *s3
+	m[0, 1] =-c1 * s3 - c2 * c3 * s1
+	m[1, 1] = c1 * c2 * c3 - s1 * s3
+	m[2, 1] = c3 * s2
+	m[0, 2] = s1 * s2
+	m[1, 2] =-c1 * s2
+	m[2, 2] = c2
 	return
 }
 
@@ -483,15 +483,15 @@ matrix3_from_euler_angles_xzy_f16 :: proc(t1, t2, t3: f16) -> (m: Matrix3f16) {
 	c3 := math.cos(t3)
 	s3 := math.sin(t3)
 
-	m[0][0] = c2 * c3
-	m[0][1] = s1 * s3 + c1 * c3 * s2
-	m[0][2] = c3 * s1 * s2 - c1 * s3
-	m[1][0] =-s2
-	m[1][1] = c1 * c2
-	m[1][2] = c2 * s1
-	m[2][0] = c2 * s3
-	m[2][1] = c1 * s2 * s3 - c3 * s1
-	m[2][2] = c1 * c3 + s1 * s2 *s3
+	m[0, 0] = c2 * c3
+	m[1, 0] = s1 * s3 + c1 * c3 * s2
+	m[2, 0] = c3 * s1 * s2 - c1 * s3
+	m[0, 1] =-s2
+	m[1, 1] = c1 * c2
+	m[2, 1] = c2 * s1
+	m[0, 2] = c2 * s3
+	m[1, 2] = c1 * s2 * s3 - c3 * s1
+	m[2, 2] = c1 * c3 + s1 * s2 *s3
 	return
 }
 
@@ -503,15 +503,15 @@ matrix3_from_euler_angles_yzx_f16 :: proc(t1, t2, t3: f16) -> (m: Matrix3f16) {
 	c3 := math.cos(t3)
 	s3 := math.sin(t3)
 
-	m[0][0] = c1 * c2
-	m[0][1] = s2
-	m[0][2] =-c2 * s1
-	m[1][0] = s1 * s3 - c1 * c3 * s2
-	m[1][1] = c2 * c3
-	m[1][2] = c1 * s3 + c3 * s1 * s2
-	m[2][0] = c3 * s1 + c1 * s2 * s3
-	m[2][1] =-c2 * s3
-	m[2][2] = c1 * c3 - s1 * s2 * s3
+	m[0, 0] = c1 * c2
+	m[1, 0] = s2
+	m[2, 0] =-c2 * s1
+	m[0, 1] = s1 * s3 - c1 * c3 * s2
+	m[1, 1] = c2 * c3
+	m[2, 1] = c1 * s3 + c3 * s1 * s2
+	m[0, 2] = c3 * s1 + c1 * s2 * s3
+	m[1, 2] =-c2 * s3
+	m[2, 2] = c1 * c3 - s1 * s2 * s3
 	return
 }
 
@@ -523,15 +523,15 @@ matrix3_from_euler_angles_zyx_f16 :: proc(t1, t2, t3: f16) -> (m: Matrix3f16) {
 	c3 := math.cos(t3)
 	s3 := math.sin(t3)
 
-	m[0][0] = c1 * c2
-	m[0][1] = c2 * s1
-	m[0][2] =-s2
-	m[1][0] = c1 * s2 * s3 - c3 * s1
-	m[1][1] = c1 * c3 + s1 * s2 * s3
-	m[1][2] = c2 * s3
-	m[2][0] = s1 * s3 + c1 * c3 * s2
-	m[2][1] = c3 * s1 * s2 - c1 * s3
-	m[2][2] = c2 * c3
+	m[0, 0] = c1 * c2
+	m[1, 0] = c2 * s1
+	m[2, 0] =-s2
+	m[0, 1] = c1 * s2 * s3 - c3 * s1
+	m[1, 1] = c1 * c3 + s1 * s2 * s3
+	m[2, 1] = c2 * s3
+	m[0, 2] = s1 * s3 + c1 * c3 * s2
+	m[1, 2] = c3 * s1 * s2 - c1 * s3
+	m[2, 2] = c2 * c3
 	return
 }
 
@@ -543,15 +543,15 @@ matrix3_from_euler_angles_zxy_f16 :: proc(t1, t2, t3: f16) -> (m: Matrix3f16) {
 	c3 := math.cos(t3)
 	s3 := math.sin(t3)
 
-	m[0][0] = c1 * c3 - s1 * s2 * s3
-	m[0][1] = c3 * s1 + c1 * s2 * s3
-	m[0][2] =-c2 * s3
-	m[1][0] =-c2 * s1
-	m[1][1] = c1 * c2
-	m[1][2] = s2
-	m[2][0] = c1 * s3 + c3 * s1 * s2
-	m[2][1] = s1 * s3 - c1 * c3 * s2
-	m[2][2] = c2 * c3
+	m[0, 0] = c1 * c3 - s1 * s2 * s3
+	m[1, 0] = c3 * s1 + c1 * s2 * s3
+	m[2, 0] =-c2 * s3
+	m[0, 1] =-c2 * s1
+	m[1, 1] = c1 * c2
+	m[2, 1] = s2
+	m[0, 2] = c1 * s3 + c3 * s1 * s2
+	m[1, 2] = s1 * s3 - c1 * c3 * s2
+	m[2, 2] = c2 * c3
 	return
 }
 
@@ -564,25 +564,25 @@ matrix3_from_yaw_pitch_roll_f16 :: proc(yaw, pitch, roll: f16) -> (m: Matrix3f16
 	cb := math.cos(roll)
 	sb := math.sin(roll)
 
-	m[0][0] = ch * cb + sh * sp * sb
-	m[0][1] = sb * cp
-	m[0][2] = -sh * cb + ch * sp * sb
-	m[1][0] = -ch * sb + sh * sp * cb
-	m[1][1] = cb * cp
-	m[1][2] = sb * sh + ch * sp * cb
-	m[2][0] = sh * cp
-	m[2][1] = -sp
-	m[2][2] = ch * cp
+	m[0, 0] = ch * cb + sh * sp * sb
+	m[1, 0] = sb * cp
+	m[2, 0] = -sh * cb + ch * sp * sb
+	m[0, 1] = -ch * sb + sh * sp * cb
+	m[1, 1] = cb * cp
+	m[2, 1] = sb * sh + ch * sp * cb
+	m[0, 2] = sh * cp
+	m[1, 2] = -sp
+	m[2, 2] = ch * cp
 	return m
 }
 
 euler_angles_xyz_from_matrix3_f16 :: proc(m: Matrix3f16) -> (t1, t2, t3: f16) {
-	T1 := math.atan2(m[2][1], m[2][2])
-	C2 := math.sqrt(m[0][0]*m[0][0] + m[1][0]*m[1][0])
-	T2 := math.atan2(-m[2][0], C2)
+	T1 := math.atan2(m[1, 2], m[2, 2])
+	C2 := math.sqrt(m[0, 0]*m[0, 0] + m[0, 1]*m[0, 1])
+	T2 := math.atan2(-m[0, 2], C2)
 	S1 := math.sin(T1)
 	C1 := math.cos(T1)
-	T3 := math.atan2(S1*m[0][2] - C1*m[0][1], C1*m[1][1] - S1*m[1][2])
+	T3 := math.atan2(S1*m[2, 0] - C1*m[1, 0], C1*m[1, 1] - S1*m[2, 1])
 	t1 = -T1
 	t2 = -T2
 	t3 = -T3
@@ -590,12 +590,12 @@ euler_angles_xyz_from_matrix3_f16 :: proc(m: Matrix3f16) -> (t1, t2, t3: f16) {
 }
 
 euler_angles_yxz_from_matrix3_f16 :: proc(m: Matrix3f16) -> (t1, t2, t3: f16) {
-	T1 := math.atan2(m[2][0], m[2][2])
-	C2 := math.sqrt(m[0][1]*m[0][1] + m[1][1]*m[1][1])
-	T2 := math.atan2(-m[2][1], C2)
+	T1 := math.atan2(m[0, 2], m[2, 2])
+	C2 := math.sqrt(m[1, 0]*m[1, 0] + m[1, 1]*m[1, 1])
+	T2 := math.atan2(-m[1, 2], C2)
 	S1 := math.sin(T1)
 	C1 := math.cos(T1)
-	T3 := math.atan2(S1*m[1][2] - C1*m[1][0], C1*m[0][0] - S1*m[0][2])
+	T3 := math.atan2(S1*m[2, 1] - C1*m[0, 1], C1*m[0, 0] - S1*m[2, 0])
 	t1 = T1
 	t2 = T2
 	t3 = T3
@@ -603,12 +603,12 @@ euler_angles_yxz_from_matrix3_f16 :: proc(m: Matrix3f16) -> (t1, t2, t3: f16) {
 }
 
 euler_angles_xzx_from_matrix3_f16 :: proc(m: Matrix3f16) -> (t1, t2, t3: f16) {
-	T1 := math.atan2(m[0][2], m[0][1])
-	S2 := math.sqrt(m[1][0]*m[1][0] + m[2][0]*m[2][0])
-	T2 := math.atan2(S2, m[0][0])
+	T1 := math.atan2(m[2, 0], m[1, 0])
+	S2 := math.sqrt(m[0, 1]*m[0, 1] + m[0, 2]*m[0, 2])
+	T2 := math.atan2(S2, m[0, 0])
 	S1 := math.sin(T1)
 	C1 := math.cos(T1)
-	T3 := math.atan2(C1*m[1][2] - S1*m[1][1], C1*m[2][2] - S1*m[2][1])
+	T3 := math.atan2(C1*m[2, 1] - S1*m[1, 1], C1*m[2, 2] - S1*m[1, 2])
 	t1 = T1
 	t2 = T2
 	t3 = T3
@@ -616,12 +616,12 @@ euler_angles_xzx_from_matrix3_f16 :: proc(m: Matrix3f16) -> (t1, t2, t3: f16) {
 }
 
 euler_angles_xyx_from_matrix3_f16 :: proc(m: Matrix3f16) -> (t1, t2, t3: f16) {
-	T1 := math.atan2(m[0][1], -m[0][2])
-	S2 := math.sqrt(m[1][0]*m[1][0] + m[2][0]*m[2][0])
-	T2 := math.atan2(S2, m[0][0])
+	T1 := math.atan2(m[1, 0], -m[2, 0])
+	S2 := math.sqrt(m[0, 1]*m[0, 1] + m[0, 2]*m[0, 2])
+	T2 := math.atan2(S2, m[0, 0])
 	S1 := math.sin(T1)
 	C1 := math.cos(T1)
-	T3 := math.atan2(-C1*m[2][1] - S1*m[2][2], C1*m[1][1] + S1*m[1][2])
+	T3 := math.atan2(-C1*m[1, 2] - S1*m[2, 2], C1*m[1, 1] + S1*m[2, 1])
 	t1 = T1
 	t2 = T2
 	t3 = T3
@@ -629,12 +629,12 @@ euler_angles_xyx_from_matrix3_f16 :: proc(m: Matrix3f16) -> (t1, t2, t3: f16) {
 }
 
 euler_angles_yxy_from_matrix3_f16 :: proc(m: Matrix3f16) -> (t1, t2, t3: f16) {
-	T1 := math.atan2(m[1][0], m[1][2])
-	S2 := math.sqrt(m[0][1]*m[0][1] + m[2][1]*m[2][1])
-	T2 := math.atan2(S2, m[1][1])
+	T1 := math.atan2(m[0, 1], m[2, 1])
+	S2 := math.sqrt(m[1, 0]*m[1, 0] + m[1, 2]*m[1, 2])
+	T2 := math.atan2(S2, m[1, 1])
 	S1 := math.sin(T1)
 	C1 := math.cos(T1)
-	T3 := math.atan2(C1*m[2][0] - S1*m[2][2], C1*m[0][0] - S1*m[0][2])
+	T3 := math.atan2(C1*m[0, 2] - S1*m[2, 2], C1*m[0, 0] - S1*m[2, 0])
 	t1 = T1
 	t2 = T2
 	t3 = T3
@@ -642,24 +642,24 @@ euler_angles_yxy_from_matrix3_f16 :: proc(m: Matrix3f16) -> (t1, t2, t3: f16) {
 }
 
 euler_angles_yzy_from_matrix3_f16 :: proc(m: Matrix3f16) -> (t1, t2, t3: f16) {
-	T1 := math.atan2(m[1][2], -m[1][0])
-	S2 := math.sqrt(m[0][1]*m[0][1] + m[2][1]*m[2][1])
-	T2 := math.atan2(S2, m[1][1])
+	T1 := math.atan2(m[2, 1], -m[0, 1])
+	S2 := math.sqrt(m[1, 0]*m[1, 0] + m[1, 2]*m[1, 2])
+	T2 := math.atan2(S2, m[1, 1])
 	S1 := math.sin(T1)
 	C1 := math.cos(T1)
-	T3 := math.atan2(-S1*m[0][0] - C1*m[0][2], S1*m[2][0] + C1*m[2][2])
+	T3 := math.atan2(-S1*m[0, 0] - C1*m[2, 0], S1*m[0, 2] + C1*m[2, 2])
 	t1 = T1
 	t2 = T2
 	t3 = T3
 	return
 }
 euler_angles_zyz_from_matrix3_f16 :: proc(m: Matrix3f16) -> (t1, t2, t3: f16) {
-	T1 := math.atan2(m[2][1], m[2][0])
-	S2 := math.sqrt(m[0][2]*m[0][2] + m[1][2]*m[1][2])
-	T2 := math.atan2(S2, m[2][2])
+	T1 := math.atan2(m[1, 2], m[0, 2])
+	S2 := math.sqrt(m[2, 0]*m[2, 0] + m[2, 1]*m[2, 1])
+	T2 := math.atan2(S2, m[2, 2])
 	S1 := math.sin(T1)
 	C1 := math.cos(T1)
-	T3 := math.atan2(C1*m[0][1] - S1*m[0][0], C1*m[1][1] - S1*m[1][0])
+	T3 := math.atan2(C1*m[1, 0] - S1*m[0, 0], C1*m[1, 1] - S1*m[0, 1])
 	t1 = T1
 	t2 = T2
 	t3 = T3
@@ -667,12 +667,12 @@ euler_angles_zyz_from_matrix3_f16 :: proc(m: Matrix3f16) -> (t1, t2, t3: f16) {
 }
 
 euler_angles_zxz_from_matrix3_f16 :: proc(m: Matrix3f16) -> (t1, t2, t3: f16) {
-	T1 := math.atan2(m[2][0], -m[2][1])
-	S2 := math.sqrt(m[0][2]*m[0][2] + m[1][2]*m[1][2])
-	T2 := math.atan2(S2, m[2][2])
+	T1 := math.atan2(m[0, 2], -m[1, 2])
+	S2 := math.sqrt(m[2, 0]*m[2, 0] + m[2, 1]*m[2, 1])
+	T2 := math.atan2(S2, m[2, 2])
 	S1 := math.sin(T1)
 	C1 := math.cos(T1)
-	T3 := math.atan2(-C1*m[1][0] - S1*m[1][1], C1*m[0][0] + S1*m[0][1])
+	T3 := math.atan2(-C1*m[0, 1] - S1*m[1, 1], C1*m[0, 0] + S1*m[1, 0])
 	t1 = T1
 	t2 = T2
 	t3 = T3
@@ -680,12 +680,12 @@ euler_angles_zxz_from_matrix3_f16 :: proc(m: Matrix3f16) -> (t1, t2, t3: f16) {
 }
 
 euler_angles_xzy_from_matrix3_f16 :: proc(m: Matrix3f16) -> (t1, t2, t3: f16) {
-	T1 := math.atan2(m[1][2], m[1][1])
-	C2 := math.sqrt(m[0][0]*m[0][0] + m[2][0]*m[2][0])
-	T2 := math.atan2(-m[1][0], C2)
+	T1 := math.atan2(m[2, 1], m[1, 1])
+	C2 := math.sqrt(m[0, 0]*m[0, 0] + m[0, 2]*m[0, 2])
+	T2 := math.atan2(-m[0, 1], C2)
 	S1 := math.sin(T1)
 	C1 := math.cos(T1)
-	T3 := math.atan2(S1*m[0][1] - C1*m[0][2], C1*m[2][2] - S1*m[2][1])
+	T3 := math.atan2(S1*m[1, 0] - C1*m[2, 0], C1*m[2, 2] - S1*m[1, 2])
 	t1 = T1
 	t2 = T2
 	t3 = T3
@@ -693,12 +693,12 @@ euler_angles_xzy_from_matrix3_f16 :: proc(m: Matrix3f16) -> (t1, t2, t3: f16) {
 }
 
 euler_angles_yzx_from_matrix3_f16 :: proc(m: Matrix3f16) -> (t1, t2, t3: f16) {
-	T1 := math.atan2(-m[0][2], m[0][0])
-	C2 := math.sqrt(m[1][1]*m[1][1] + m[2][1]*m[2][1])
-	T2 := math.atan2(m[0][1], C2)
+	T1 := math.atan2(-m[2, 0], m[0, 0])
+	C2 := math.sqrt(m[1, 1]*m[1, 1] + m[1, 2]*m[1, 2])
+	T2 := math.atan2(m[1, 0], C2)
 	S1 := math.sin(T1)
 	C1 := math.cos(T1)
-	T3 := math.atan2(S1*m[1][0] + C1*m[1][2], S1*m[2][0] + C1*m[2][2])
+	T3 := math.atan2(S1*m[0, 1] + C1*m[2, 1], S1*m[0, 2] + C1*m[2, 2])
 	t1 = T1
 	t2 = T2
 	t3 = T3
@@ -706,12 +706,12 @@ euler_angles_yzx_from_matrix3_f16 :: proc(m: Matrix3f16) -> (t1, t2, t3: f16) {
 }
 
 euler_angles_zyx_from_matrix3_f16 :: proc(m: Matrix3f16) -> (t1, t2, t3: f16) {
-	T1 := math.atan2(m[0][1], m[0][0])
-	C2 := math.sqrt(m[1][2]*m[1][2] + m[2][2]*m[2][2])
-	T2 := math.atan2(-m[0][2], C2)
+	T1 := math.atan2(m[1, 0], m[0, 0])
+	C2 := math.sqrt(m[2, 1]*m[2, 1] + m[2, 2]*m[2, 2])
+	T2 := math.atan2(-m[2, 0], C2)
 	S1 := math.sin(T1)
 	C1 := math.cos(T1)
-	T3 := math.atan2(S1*m[2][0] - C1*m[2][1], C1*m[1][1] - S1*m[1][0])
+	T3 := math.atan2(S1*m[0, 2] - C1*m[1, 2], C1*m[1, 1] - S1*m[0, 1])
 	t1 = T1
 	t2 = T2
 	t3 = T3
@@ -719,12 +719,12 @@ euler_angles_zyx_from_matrix3_f16 :: proc(m: Matrix3f16) -> (t1, t2, t3: f16) {
 }
 
 euler_angles_zxy_from_matrix3_f16 :: proc(m: Matrix3f16) -> (t1, t2, t3: f16) {
-	T1 := math.atan2(-m[1][0], m[1][1])
-	C2 := math.sqrt(m[0][2]*m[0][2] + m[2][2]*m[2][2])
-	T2 := math.atan2(m[1][2], C2)
+	T1 := math.atan2(-m[0, 1], m[1, 1])
+	C2 := math.sqrt(m[2, 0]*m[2, 0] + m[2, 2]*m[2, 2])
+	T2 := math.atan2(m[2, 1], C2)
 	S1 := math.sin(T1)
 	C1 := math.cos(T1)
-	T3 := math.atan2(C1*m[2][0] + S1*m[2][1], C1*m[0][0] + S1*m[0][1])
+	T3 := math.atan2(C1*m[0, 2] + S1*m[1, 2], C1*m[0, 0] + S1*m[1, 0])
 	t1 = T1
 	t2 = T2
 	t3 = T3
@@ -737,32 +737,32 @@ euler_angles_zxy_from_matrix3_f16 :: proc(m: Matrix3f16) -> (t1, t2, t3: f16) {
 
 matrix4_from_euler_angle_x_f16 :: proc(angle_x: f16) -> (m: Matrix4f16) {
 	cos_x, sin_x := math.cos(angle_x), math.sin(angle_x)
-	m[0][0] = 1
-	m[1][1] = +cos_x
-	m[2][1] = +sin_x
-	m[1][2] = -sin_x
-	m[2][2] = +cos_x
-	m[3][3] = 1
+	m[0, 0] = 1
+	m[1, 1] = +cos_x
+	m[1, 2] = +sin_x
+	m[2, 1] = -sin_x
+	m[2, 2] = +cos_x
+	m[3, 3] = 1
 	return
 }
 matrix4_from_euler_angle_y_f16 :: proc(angle_y: f16) -> (m: Matrix4f16) {
 	cos_y, sin_y := math.cos(angle_y), math.sin(angle_y)
-	m[0][0] = +cos_y
-	m[2][0] = -sin_y
-	m[1][1] = 1
-	m[0][2] = +sin_y
-	m[2][2] = +cos_y
-	m[3][3] = 1
+	m[0, 0] = +cos_y
+	m[0, 2] = -sin_y
+	m[1, 1] = 1
+	m[2, 0] = +sin_y
+	m[2, 2] = +cos_y
+	m[3, 3] = 1
 	return
 }
 matrix4_from_euler_angle_z_f16 :: proc(angle_z: f16) -> (m: Matrix4f16) {
 	cos_z, sin_z := math.cos(angle_z), math.sin(angle_z)
-	m[0][0] = +cos_z
-	m[1][0] = +sin_z
-	m[1][1] = +cos_z
-	m[0][1] = -sin_z
-	m[2][2] = 1
-	m[3][3] = 1
+	m[0, 0] = +cos_z
+	m[0, 1] = +sin_z
+	m[1, 1] = +cos_z
+	m[1, 0] = -sin_z
+	m[2, 2] = 1
+	m[3, 3] = 1
 	return
 }
 
@@ -770,34 +770,34 @@ matrix4_from_euler_angle_z_f16 :: proc(angle_z: f16) -> (m: Matrix4f16) {
 matrix4_from_derived_euler_angle_x_f16 :: proc(angle_x: f16, angular_velocity_x: f16) -> (m: Matrix4f16) {
 	cos_x := math.cos(angle_x) * angular_velocity_x
 	sin_x := math.sin(angle_x) * angular_velocity_x
-	m[0][0] = 1
-	m[1][1] = +cos_x
-	m[2][1] = +sin_x
-	m[1][2] = -sin_x
-	m[2][2] = +cos_x
-	m[3][3] = 1
+	m[0, 0] = 1
+	m[1, 1] = +cos_x
+	m[1, 2] = +sin_x
+	m[2, 1] = -sin_x
+	m[2, 2] = +cos_x
+	m[3, 3] = 1
 	return
 }
 matrix4_from_derived_euler_angle_y_f16 :: proc(angle_y: f16, angular_velocity_y: f16) -> (m: Matrix4f16) {
 	cos_y := math.cos(angle_y) * angular_velocity_y
 	sin_y := math.sin(angle_y) * angular_velocity_y
-	m[0][0] = +cos_y
-	m[2][0] = -sin_y
-	m[1][1] = 1
-	m[0][2] = +sin_y
-	m[2][2] = +cos_y
-	m[3][3] = 1
+	m[0, 0] = +cos_y
+	m[0, 2] = -sin_y
+	m[1, 1] = 1
+	m[2, 0] = +sin_y
+	m[2, 2] = +cos_y
+	m[3, 3] = 1
 	return
 }
 matrix4_from_derived_euler_angle_z_f16 :: proc(angle_z: f16, angular_velocity_z: f16) -> (m: Matrix4f16) {
 	cos_z := math.cos(angle_z) * angular_velocity_z
 	sin_z := math.sin(angle_z) * angular_velocity_z
-	m[0][0] = +cos_z
-	m[1][0] = +sin_z
-	m[1][1] = +cos_z
-	m[0][1] = -sin_z
-	m[2][2] = 1
-	m[3][3] = 1
+	m[0, 0] = +cos_z
+	m[0, 1] = +sin_z
+	m[1, 1] = +cos_z
+	m[1, 0] = -sin_z
+	m[2, 2] = 1
+	m[3, 3] = 1
 	return
 }
 
@@ -805,15 +805,15 @@ matrix4_from_derived_euler_angle_z_f16 :: proc(angle_z: f16, angular_velocity_z:
 matrix4_from_euler_angles_xy_f16 :: proc(angle_x, angle_y: f16) -> (m: Matrix4f16) {
 	cos_x, sin_x := math.cos(angle_x), math.sin(angle_x)
 	cos_y, sin_y := math.cos(angle_y), math.sin(angle_y)
-	m[0][0] = cos_y
-	m[1][0] = -sin_x * - sin_y
-	m[2][0] = -cos_x * - sin_y
-	m[1][1] = cos_x
-	m[2][1] = sin_x
-	m[0][2] = sin_y
-	m[1][2] = -sin_x * cos_y
-	m[2][2] = cos_x * cos_y
-	m[3][3] = 1
+	m[0, 0] = cos_y
+	m[0, 1] = -sin_x * - sin_y
+	m[0, 2] = -cos_x * - sin_y
+	m[1, 1] = cos_x
+	m[1, 2] = sin_x
+	m[2, 0] = sin_y
+	m[2, 1] = -sin_x * cos_y
+	m[2, 2] = cos_x * cos_y
+	m[3, 3] = 1
 	return
 }
 
@@ -821,15 +821,15 @@ matrix4_from_euler_angles_xy_f16 :: proc(angle_x, angle_y: f16) -> (m: Matrix4f1
 matrix4_from_euler_angles_yx_f16 :: proc(angle_y, angle_x: f16) -> (m: Matrix4f16) {
 	cos_x, sin_x := math.cos(angle_x), math.sin(angle_x)
 	cos_y, sin_y := math.cos(angle_y), math.sin(angle_y)
-	m[0][0] = cos_y
-	m[2][0] = -sin_y
-	m[0][1] = sin_y*sin_x
-	m[1][1] = cos_x
-	m[2][1] = cos_y*sin_x
-	m[0][2] = sin_y*cos_x
-	m[1][2] = -sin_x
-	m[2][2] = cos_y*cos_x
-	m[3][3] = 1
+	m[0, 0] = cos_y
+	m[0, 2] = -sin_y
+	m[1, 0] = sin_y*sin_x
+	m[1, 1] = cos_x
+	m[1, 2] = cos_y*sin_x
+	m[2, 0] = sin_y*cos_x
+	m[2, 1] = -sin_x
+	m[2, 2] = cos_y*cos_x
+	m[3, 3] = 1
 	return
 }
 
@@ -855,22 +855,22 @@ matrix4_from_euler_angles_xyz_f16 :: proc(t1, t2, t3: f16) -> (m: Matrix4f16) {
 	s2 := math.sin(-t2)
 	s3 := math.sin(-t3)
 
-	m[0][0] = c2 * c3
-	m[0][1] =-c1 * s3 + s1 * s2 * c3
-	m[0][2] = s1 * s3 + c1 * s2 * c3
-	m[0][3] = 0
-	m[1][0] = c2 * s3
-	m[1][1] = c1 * c3 + s1 * s2 * s3
-	m[1][2] =-s1 * c3 + c1 * s2 * s3
-	m[1][3] = 0
-	m[2][0] =-s2
-	m[2][1] = s1 * c2
-	m[2][2] = c1 * c2
-	m[2][3] = 0
-	m[3][0] = 0
-	m[3][1] = 0
-	m[3][2] = 0
-	m[3][3] = 1
+	m[0, 0] = c2 * c3
+	m[1, 0] =-c1 * s3 + s1 * s2 * c3
+	m[2, 0] = s1 * s3 + c1 * s2 * c3
+	m[3, 0] = 0
+	m[0, 1] = c2 * s3
+	m[1, 1] = c1 * c3 + s1 * s2 * s3
+	m[2, 1] =-s1 * c3 + c1 * s2 * s3
+	m[3, 1] = 0
+	m[0, 2] =-s2
+	m[1, 2] = s1 * c2
+	m[2, 2] = c1 * c2
+	m[3, 2] = 0
+	m[0, 3] = 0
+	m[1, 3] = 0
+	m[2, 3] = 0
+	m[3, 3] = 1
 	return
 }
 
@@ -882,22 +882,22 @@ matrix4_from_euler_angles_yxz_f16 :: proc(yaw, pitch, roll: f16) -> (m: Matrix4f
 	cb := math.cos(roll)
 	sb := math.sin(roll)
 
-	m[0][0] = ch * cb + sh * sp * sb
-	m[0][1] = sb * cp
-	m[0][2] = -sh * cb + ch * sp * sb
-	m[0][3] = 0
-	m[1][0] = -ch * sb + sh * sp * cb
-	m[1][1] = cb * cp
-	m[1][2] = sb * sh + ch * sp * cb
-	m[1][3] = 0
-	m[2][0] = sh * cp
-	m[2][1] = -sp
-	m[2][2] = ch * cp
-	m[2][3] = 0
-	m[3][0] = 0
-	m[3][1] = 0
-	m[3][2] = 0
-	m[3][3] = 1
+	m[0, 0] = ch * cb + sh * sp * sb
+	m[1, 0] = sb * cp
+	m[2, 0] = -sh * cb + ch * sp * sb
+	m[3, 0] = 0
+	m[0, 1] = -ch * sb + sh * sp * cb
+	m[1, 1] = cb * cp
+	m[2, 1] = sb * sh + ch * sp * cb
+	m[3, 1] = 0
+	m[0, 2] = sh * cp
+	m[1, 2] = -sp
+	m[2, 2] = ch * cp
+	m[3, 2] = 0
+	m[0, 3] = 0
+	m[1, 3] = 0
+	m[2, 3] = 0
+	m[3, 3] = 1
 	return
 }
 
@@ -909,22 +909,22 @@ matrix4_from_euler_angles_xzx_f16 :: proc(t1, t2, t3: f16) -> (m: Matrix4f16) {
 	c3 := math.cos(t3)
 	s3 := math.sin(t3)
 
-	m[0][0] = c2
-	m[0][1] = c1 * s2
-	m[0][2] = s1 * s2
-	m[0][3] = 0
-	m[1][0] =-c3 * s2
-	m[1][1] = c1 * c2 * c3 - s1 * s3
-	m[1][2] = c1 * s3 + c2 * c3 * s1
-	m[1][3] = 0
-	m[2][0] = s2 * s3
-	m[2][1] =-c3 * s1 - c1 * c2 * s3
-	m[2][2] = c1 * c3 - c2 * s1 * s3
-	m[2][3] = 0
-	m[3][0] = 0
-	m[3][1] = 0
-	m[3][2] = 0
-	m[3][3] = 1
+	m[0, 0] = c2
+	m[1, 0] = c1 * s2
+	m[2, 0] = s1 * s2
+	m[3, 0] = 0
+	m[0, 1] =-c3 * s2
+	m[1, 1] = c1 * c2 * c3 - s1 * s3
+	m[2, 1] = c1 * s3 + c2 * c3 * s1
+	m[3, 1] = 0
+	m[0, 2] = s2 * s3
+	m[1, 2] =-c3 * s1 - c1 * c2 * s3
+	m[2, 2] = c1 * c3 - c2 * s1 * s3
+	m[3, 2] = 0
+	m[0, 3] = 0
+	m[1, 3] = 0
+	m[2, 3] = 0
+	m[3, 3] = 1
 	return
 }
 
@@ -936,22 +936,22 @@ matrix4_from_euler_angles_xyx_f16 :: proc(t1, t2, t3: f16) -> (m: Matrix4f16) {
 	c3 := math.cos(t3)
 	s3 := math.sin(t3)
 
-	m[0][0] = c2
-	m[0][1] = s1 * s2
-	m[0][2] =-c1 * s2
-	m[0][3] = 0
-	m[1][0] = s2 * s3
-	m[1][1] = c1 * c3 - c2 * s1 * s3
-	m[1][2] = c3 * s1 + c1 * c2 * s3
-	m[1][3] = 0
-	m[2][0] = c3 * s2
-	m[2][1] =-c1 * s3 - c2 * c3 * s1
-	m[2][2] = c1 * c2 * c3 - s1 * s3
-	m[2][3] = 0
-	m[3][0] = 0
-	m[3][1] = 0
-	m[3][2] = 0
-	m[3][3] = 1
+	m[0, 0] = c2
+	m[1, 0] = s1 * s2
+	m[2, 0] =-c1 * s2
+	m[3, 0] = 0
+	m[0, 1] = s2 * s3
+	m[1, 1] = c1 * c3 - c2 * s1 * s3
+	m[2, 1] = c3 * s1 + c1 * c2 * s3
+	m[3, 1] = 0
+	m[0, 2] = c3 * s2
+	m[1, 2] =-c1 * s3 - c2 * c3 * s1
+	m[2, 2] = c1 * c2 * c3 - s1 * s3
+	m[3, 2] = 0
+	m[0, 3] = 0
+	m[1, 3] = 0
+	m[2, 3] = 0
+	m[3, 3] = 1
 	return
 }
 
@@ -963,22 +963,22 @@ matrix4_from_euler_angles_yxy_f16 :: proc(t1, t2, t3: f16) -> (m: Matrix4f16) {
 	c3 := math.cos(t3)
 	s3 := math.sin(t3)
 
-	m[0][0] = c1 * c3 - c2 * s1 * s3
-	m[0][1] = s2* s3
-	m[0][2] =-c3 * s1 - c1 * c2 * s3
-	m[0][3] = 0
-	m[1][0] = s1 * s2
-	m[1][1] = c2
-	m[1][2] = c1 * s2
-	m[1][3] = 0
-	m[2][0] = c1 * s3 + c2 * c3 * s1
-	m[2][1] =-c3 * s2
-	m[2][2] = c1 * c2 * c3 - s1 * s3
-	m[2][3] = 0
-	m[3][0] = 0
-	m[3][1] = 0
-	m[3][2] = 0
-	m[3][3] = 1
+	m[0, 0] = c1 * c3 - c2 * s1 * s3
+	m[1, 0] = s2* s3
+	m[2, 0] =-c3 * s1 - c1 * c2 * s3
+	m[3, 0] = 0
+	m[0, 1] = s1 * s2
+	m[1, 1] = c2
+	m[2, 1] = c1 * s2
+	m[3, 1] = 0
+	m[0, 2] = c1 * s3 + c2 * c3 * s1
+	m[1, 2] =-c3 * s2
+	m[2, 2] = c1 * c2 * c3 - s1 * s3
+	m[3, 2] = 0
+	m[0, 3] = 0
+	m[1, 3] = 0
+	m[2, 3] = 0
+	m[3, 3] = 1
 	return
 }
 
@@ -990,22 +990,22 @@ matrix4_from_euler_angles_yzy_f16 :: proc(t1, t2, t3: f16) -> (m: Matrix4f16) {
 	c3 := math.cos(t3)
 	s3 := math.sin(t3)
 
-	m[0][0] = c1 * c2 * c3 - s1 * s3
-	m[0][1] = c3 * s2
-	m[0][2] =-c1 * s3 - c2 * c3 * s1
-	m[0][3] = 0
-	m[1][0] =-c1 * s2
-	m[1][1] = c2
-	m[1][2] = s1 * s2
-	m[1][3] = 0
-	m[2][0] = c3 * s1 + c1 * c2 * s3
-	m[2][1] = s2 * s3
-	m[2][2] = c1 * c3 - c2 * s1 * s3
-	m[2][3] = 0
-	m[3][0] = 0
-	m[3][1] = 0
-	m[3][2] = 0
-	m[3][3] = 1
+	m[0, 0] = c1 * c2 * c3 - s1 * s3
+	m[1, 0] = c3 * s2
+	m[2, 0] =-c1 * s3 - c2 * c3 * s1
+	m[3, 0] = 0
+	m[0, 1] =-c1 * s2
+	m[1, 1] = c2
+	m[2, 1] = s1 * s2
+	m[3, 1] = 0
+	m[0, 2] = c3 * s1 + c1 * c2 * s3
+	m[1, 2] = s2 * s3
+	m[2, 2] = c1 * c3 - c2 * s1 * s3
+	m[3, 2] = 0
+	m[0, 3] = 0
+	m[1, 3] = 0
+	m[2, 3] = 0
+	m[3, 3] = 1
 	return
 }
 
@@ -1017,22 +1017,22 @@ matrix4_from_euler_angles_zyz_f16 :: proc(t1, t2, t3: f16) -> (m: Matrix4f16) {
 	c3 := math.cos(t3)
 	s3 := math.sin(t3)
 
-	m[0][0] = c1 * c2 * c3 - s1 * s3
-	m[0][1] = c1 * s3 + c2 * c3 * s1
-	m[0][2] =-c3 * s2
-	m[0][3] = 0
-	m[1][0] =-c3 * s1 - c1 * c2 * s3
-	m[1][1] = c1 * c3 - c2 * s1 * s3
-	m[1][2] = s2 * s3
-	m[1][3] = 0
-	m[2][0] = c1 * s2
-	m[2][1] = s1 * s2
-	m[2][2] = c2
-	m[2][3] = 0
-	m[3][0] = 0
-	m[3][1] = 0
-	m[3][2] = 0
-	m[3][3] = 1
+	m[0, 0] = c1 * c2 * c3 - s1 * s3
+	m[1, 0] = c1 * s3 + c2 * c3 * s1
+	m[2, 0] =-c3 * s2
+	m[3, 0] = 0
+	m[0, 1] =-c3 * s1 - c1 * c2 * s3
+	m[1, 1] = c1 * c3 - c2 * s1 * s3
+	m[2, 1] = s2 * s3
+	m[3, 1] = 0
+	m[0, 2] = c1 * s2
+	m[1, 2] = s1 * s2
+	m[2, 2] = c2
+	m[3, 2] = 0
+	m[0, 3] = 0
+	m[1, 3] = 0
+	m[2, 3] = 0
+	m[3, 3] = 1
 	return
 }
 
@@ -1044,22 +1044,22 @@ matrix4_from_euler_angles_zxz_f16 :: proc(t1, t2, t3: f16) -> (m: Matrix4f16) {
 	c3 := math.cos(t3)
 	s3 := math.sin(t3)
 
-	m[0][0] = c1 * c3 - c2 * s1 * s3
-	m[0][1] = c3 * s1 + c1 * c2 * s3
-	m[0][2] = s2 *s3
-	m[0][3] = 0
-	m[1][0] =-c1 * s3 - c2 * c3 * s1
-	m[1][1] = c1 * c2 * c3 - s1 * s3
-	m[1][2] = c3 * s2
-	m[1][3] = 0
-	m[2][0] = s1 * s2
-	m[2][1] =-c1 * s2
-	m[2][2] = c2
-	m[2][3] = 0
-	m[3][0] = 0
-	m[3][1] = 0
-	m[3][2] = 0
-	m[3][3] = 1
+	m[0, 0] = c1 * c3 - c2 * s1 * s3
+	m[1, 0] = c3 * s1 + c1 * c2 * s3
+	m[2, 0] = s2 *s3
+	m[3, 0] = 0
+	m[0, 1] =-c1 * s3 - c2 * c3 * s1
+	m[1, 1] = c1 * c2 * c3 - s1 * s3
+	m[2, 1] = c3 * s2
+	m[3, 1] = 0
+	m[0, 2] = s1 * s2
+	m[1, 2] =-c1 * s2
+	m[2, 2] = c2
+	m[3, 2] = 0
+	m[0, 3] = 0
+	m[1, 3] = 0
+	m[2, 3] = 0
+	m[3, 3] = 1
 	return
 }
 
@@ -1072,22 +1072,22 @@ matrix4_from_euler_angles_xzy_f16 :: proc(t1, t2, t3: f16) -> (m: Matrix4f16) {
 	c3 := math.cos(t3)
 	s3 := math.sin(t3)
 
-	m[0][0] = c2 * c3
-	m[0][1] = s1 * s3 + c1 * c3 * s2
-	m[0][2] = c3 * s1 * s2 - c1 * s3
-	m[0][3] = 0
-	m[1][0] =-s2
-	m[1][1] = c1 * c2
-	m[1][2] = c2 * s1
-	m[1][3] = 0
-	m[2][0] = c2 * s3
-	m[2][1] = c1 * s2 * s3 - c3 * s1
-	m[2][2] = c1 * c3 + s1 * s2 *s3
-	m[2][3] = 0
-	m[3][0] = 0
-	m[3][1] = 0
-	m[3][2] = 0
-	m[3][3] = 1
+	m[0, 0] = c2 * c3
+	m[1, 0] = s1 * s3 + c1 * c3 * s2
+	m[2, 0] = c3 * s1 * s2 - c1 * s3
+	m[3, 0] = 0
+	m[0, 1] =-s2
+	m[1, 1] = c1 * c2
+	m[2, 1] = c2 * s1
+	m[3, 1] = 0
+	m[0, 2] = c2 * s3
+	m[1, 2] = c1 * s2 * s3 - c3 * s1
+	m[2, 2] = c1 * c3 + s1 * s2 *s3
+	m[3, 2] = 0
+	m[0, 3] = 0
+	m[1, 3] = 0
+	m[2, 3] = 0
+	m[3, 3] = 1
 	return
 }
 
@@ -1099,22 +1099,22 @@ matrix4_from_euler_angles_yzx_f16 :: proc(t1, t2, t3: f16) -> (m: Matrix4f16) {
 	c3 := math.cos(t3)
 	s3 := math.sin(t3)
 
-	m[0][0] = c1 * c2
-	m[0][1] = s2
-	m[0][2] =-c2 * s1
-	m[0][3] = 0
-	m[1][0] = s1 * s3 - c1 * c3 * s2
-	m[1][1] = c2 * c3
-	m[1][2] = c1 * s3 + c3 * s1 * s2
-	m[1][3] = 0
-	m[2][0] = c3 * s1 + c1 * s2 * s3
-	m[2][1] =-c2 * s3
-	m[2][2] = c1 * c3 - s1 * s2 * s3
-	m[2][3] = 0
-	m[3][0] = 0
-	m[3][1] = 0
-	m[3][2] = 0
-	m[3][3] = 1
+	m[0, 0] = c1 * c2
+	m[1, 0] = s2
+	m[2, 0] =-c2 * s1
+	m[3, 0] = 0
+	m[0, 1] = s1 * s3 - c1 * c3 * s2
+	m[1, 1] = c2 * c3
+	m[2, 1] = c1 * s3 + c3 * s1 * s2
+	m[3, 1] = 0
+	m[0, 2] = c3 * s1 + c1 * s2 * s3
+	m[1, 2] =-c2 * s3
+	m[2, 2] = c1 * c3 - s1 * s2 * s3
+	m[3, 2] = 0
+	m[0, 3] = 0
+	m[1, 3] = 0
+	m[2, 3] = 0
+	m[3, 3] = 1
 	return
 }
 
@@ -1126,22 +1126,22 @@ matrix4_from_euler_angles_zyx_f16 :: proc(t1, t2, t3: f16) -> (m: Matrix4f16) {
 	c3 := math.cos(t3)
 	s3 := math.sin(t3)
 
-	m[0][0] = c1 * c2
-	m[0][1] = c2 * s1
-	m[0][2] =-s2
-	m[0][3] = 0
-	m[1][0] = c1 * s2 * s3 - c3 * s1
-	m[1][1] = c1 * c3 + s1 * s2 * s3
-	m[1][2] = c2 * s3
-	m[1][3] = 0
-	m[2][0] = s1 * s3 + c1 * c3 * s2
-	m[2][1] = c3 * s1 * s2 - c1 * s3
-	m[2][2] = c2 * c3
-	m[2][3] = 0
-	m[3][0] = 0
-	m[3][1] = 0
-	m[3][2] = 0
-	m[3][3] = 1
+	m[0, 0] = c1 * c2
+	m[1, 0] = c2 * s1
+	m[2, 0] =-s2
+	m[3, 0] = 0
+	m[0, 1] = c1 * s2 * s3 - c3 * s1
+	m[1, 1] = c1 * c3 + s1 * s2 * s3
+	m[2, 1] = c2 * s3
+	m[3, 1] = 0
+	m[0, 2] = s1 * s3 + c1 * c3 * s2
+	m[1, 2] = c3 * s1 * s2 - c1 * s3
+	m[2, 2] = c2 * c3
+	m[3, 2] = 0
+	m[0, 3] = 0
+	m[1, 3] = 0
+	m[2, 3] = 0
+	m[3, 3] = 1
 	return
 }
 
@@ -1153,22 +1153,22 @@ matrix4_from_euler_angles_zxy_f16 :: proc(t1, t2, t3: f16) -> (m: Matrix4f16) {
 	c3 := math.cos(t3)
 	s3 := math.sin(t3)
 
-	m[0][0] = c1 * c3 - s1 * s2 * s3
-	m[0][1] = c3 * s1 + c1 * s2 * s3
-	m[0][2] =-c2 * s3
-	m[0][3] = 0
-	m[1][0] =-c2 * s1
-	m[1][1] = c1 * c2
-	m[1][2] = s2
-	m[1][3] = 0
-	m[2][0] = c1 * s3 + c3 * s1 * s2
-	m[2][1] = s1 * s3 - c1 * c3 * s2
-	m[2][2] = c2 * c3
-	m[2][3] = 0
-	m[3][0] = 0
-	m[3][1] = 0
-	m[3][2] = 0
-	m[3][3] = 1
+	m[0, 0] = c1 * c3 - s1 * s2 * s3
+	m[1, 0] = c3 * s1 + c1 * s2 * s3
+	m[2, 0] =-c2 * s3
+	m[3, 0] = 0
+	m[0, 1] =-c2 * s1
+	m[1, 1] = c1 * c2
+	m[2, 1] = s2
+	m[3, 1] = 0
+	m[0, 2] = c1 * s3 + c3 * s1 * s2
+	m[1, 2] = s1 * s3 - c1 * c3 * s2
+	m[2, 2] = c2 * c3
+	m[3, 2] = 0
+	m[0, 3] = 0
+	m[1, 3] = 0
+	m[2, 3] = 0
+	m[3, 3] = 1
 	return
 }
 
@@ -1181,32 +1181,32 @@ matrix4_from_yaw_pitch_roll_f16 :: proc(yaw, pitch, roll: f16) -> (m: Matrix4f16
 	cb := math.cos(roll)
 	sb := math.sin(roll)
 
-	m[0][0] = ch * cb + sh * sp * sb
-	m[0][1] = sb * cp
-	m[0][2] = -sh * cb + ch * sp * sb
-	m[0][3] = 0
-	m[1][0] = -ch * sb + sh * sp * cb
-	m[1][1] = cb * cp
-	m[1][2] = sb * sh + ch * sp * cb
-	m[1][3] = 0
-	m[2][0] = sh * cp
-	m[2][1] = -sp
-	m[2][2] = ch * cp
-	m[2][3] = 0
-	m[3][0] = 0
-	m[3][1] = 0
-	m[3][2] = 0
-	m[3][3] = 1
+	m[0, 0] = ch * cb + sh * sp * sb
+	m[1, 0] = sb * cp
+	m[2, 0] = -sh * cb + ch * sp * sb
+	m[3, 0] = 0
+	m[0, 1] = -ch * sb + sh * sp * cb
+	m[1, 1] = cb * cp
+	m[2, 1] = sb * sh + ch * sp * cb
+	m[3, 1] = 0
+	m[0, 2] = sh * cp
+	m[1, 2] = -sp
+	m[2, 2] = ch * cp
+	m[3, 2] = 0
+	m[0, 3] = 0
+	m[1, 3] = 0
+	m[2, 3] = 0
+	m[3, 3] = 1
 	return m
 }
 
 euler_angles_xyz_from_matrix4_f16 :: proc(m: Matrix4f16) -> (t1, t2, t3: f16) {
-	T1 := math.atan2(m[2][1], m[2][2])
-	C2 := math.sqrt(m[0][0]*m[0][0] + m[1][0]*m[1][0])
-	T2 := math.atan2(-m[2][0], C2)
+	T1 := math.atan2(m[1, 2], m[2, 2])
+	C2 := math.sqrt(m[0, 0]*m[0, 0] + m[0, 1]*m[0, 1])
+	T2 := math.atan2(-m[0, 2], C2)
 	S1 := math.sin(T1)
 	C1 := math.cos(T1)
-	T3 := math.atan2(S1*m[0][2] - C1*m[0][1], C1*m[1][1] - S1*m[1][2])
+	T3 := math.atan2(S1*m[2, 0] - C1*m[1, 0], C1*m[1, 1] - S1*m[2, 1])
 	t1 = -T1
 	t2 = -T2
 	t3 = -T3
@@ -1214,12 +1214,12 @@ euler_angles_xyz_from_matrix4_f16 :: proc(m: Matrix4f16) -> (t1, t2, t3: f16) {
 }
 
 euler_angles_yxz_from_matrix4_f16 :: proc(m: Matrix4f16) -> (t1, t2, t3: f16) {
-	T1 := math.atan2(m[2][0], m[2][2])
-	C2 := math.sqrt(m[0][1]*m[0][1] + m[1][1]*m[1][1])
-	T2 := math.atan2(-m[2][1], C2)
+	T1 := math.atan2(m[0, 2], m[2, 2])
+	C2 := math.sqrt(m[1, 0]*m[1, 0] + m[1, 1]*m[1, 1])
+	T2 := math.atan2(-m[1, 2], C2)
 	S1 := math.sin(T1)
 	C1 := math.cos(T1)
-	T3 := math.atan2(S1*m[1][2] - C1*m[1][0], C1*m[0][0] - S1*m[0][2])
+	T3 := math.atan2(S1*m[2, 1] - C1*m[0, 1], C1*m[0, 0] - S1*m[2, 0])
 	t1 = T1
 	t2 = T2
 	t3 = T3
@@ -1227,12 +1227,12 @@ euler_angles_yxz_from_matrix4_f16 :: proc(m: Matrix4f16) -> (t1, t2, t3: f16) {
 }
 
 euler_angles_xzx_from_matrix4_f16 :: proc(m: Matrix4f16) -> (t1, t2, t3: f16) {
-	T1 := math.atan2(m[0][2], m[0][1])
-	S2 := math.sqrt(m[1][0]*m[1][0] + m[2][0]*m[2][0])
-	T2 := math.atan2(S2, m[0][0])
+	T1 := math.atan2(m[2, 0], m[1, 0])
+	S2 := math.sqrt(m[0, 1]*m[0, 1] + m[0, 2]*m[0, 2])
+	T2 := math.atan2(S2, m[0, 0])
 	S1 := math.sin(T1)
 	C1 := math.cos(T1)
-	T3 := math.atan2(C1*m[1][2] - S1*m[1][1], C1*m[2][2] - S1*m[2][1])
+	T3 := math.atan2(C1*m[2, 1] - S1*m[1, 1], C1*m[2, 2] - S1*m[1, 2])
 	t1 = T1
 	t2 = T2
 	t3 = T3
@@ -1240,12 +1240,12 @@ euler_angles_xzx_from_matrix4_f16 :: proc(m: Matrix4f16) -> (t1, t2, t3: f16) {
 }
 
 euler_angles_xyx_from_matrix4_f16 :: proc(m: Matrix4f16) -> (t1, t2, t3: f16) {
-	T1 := math.atan2(m[0][1], -m[0][2])
-	S2 := math.sqrt(m[1][0]*m[1][0] + m[2][0]*m[2][0])
-	T2 := math.atan2(S2, m[0][0])
+	T1 := math.atan2(m[1, 0], -m[2, 0])
+	S2 := math.sqrt(m[0, 1]*m[0, 1] + m[0, 2]*m[0, 2])
+	T2 := math.atan2(S2, m[0, 0])
 	S1 := math.sin(T1)
 	C1 := math.cos(T1)
-	T3 := math.atan2(-C1*m[2][1] - S1*m[2][2], C1*m[1][1] + S1*m[1][2])
+	T3 := math.atan2(-C1*m[1, 2] - S1*m[2, 2], C1*m[1, 1] + S1*m[2, 1])
 	t1 = T1
 	t2 = T2
 	t3 = T3
@@ -1253,12 +1253,12 @@ euler_angles_xyx_from_matrix4_f16 :: proc(m: Matrix4f16) -> (t1, t2, t3: f16) {
 }
 
 euler_angles_yxy_from_matrix4_f16 :: proc(m: Matrix4f16) -> (t1, t2, t3: f16) {
-	T1 := math.atan2(m[1][0], m[1][2])
-	S2 := math.sqrt(m[0][1]*m[0][1] + m[2][1]*m[2][1])
-	T2 := math.atan2(S2, m[1][1])
+	T1 := math.atan2(m[0, 1], m[2, 1])
+	S2 := math.sqrt(m[1, 0]*m[1, 0] + m[1, 2]*m[1, 2])
+	T2 := math.atan2(S2, m[1, 1])
 	S1 := math.sin(T1)
 	C1 := math.cos(T1)
-	T3 := math.atan2(C1*m[2][0] - S1*m[2][2], C1*m[0][0] - S1*m[0][2])
+	T3 := math.atan2(C1*m[0, 2] - S1*m[2, 2], C1*m[0, 0] - S1*m[2, 0])
 	t1 = T1
 	t2 = T2
 	t3 = T3
@@ -1266,24 +1266,24 @@ euler_angles_yxy_from_matrix4_f16 :: proc(m: Matrix4f16) -> (t1, t2, t3: f16) {
 }
 
 euler_angles_yzy_from_matrix4_f16 :: proc(m: Matrix4f16) -> (t1, t2, t3: f16) {
-	T1 := math.atan2(m[1][2], -m[1][0])
-	S2 := math.sqrt(m[0][1]*m[0][1] + m[2][1]*m[2][1])
-	T2 := math.atan2(S2, m[1][1])
+	T1 := math.atan2(m[2, 1], -m[0, 1])
+	S2 := math.sqrt(m[1, 0]*m[1, 0] + m[1, 2]*m[1, 2])
+	T2 := math.atan2(S2, m[1, 1])
 	S1 := math.sin(T1)
 	C1 := math.cos(T1)
-	T3 := math.atan2(-S1*m[0][0] - C1*m[0][2], S1*m[2][0] + C1*m[2][2])
+	T3 := math.atan2(-S1*m[0, 0] - C1*m[2, 0], S1*m[0, 2] + C1*m[2, 2])
 	t1 = T1
 	t2 = T2
 	t3 = T3
 	return
 }
 euler_angles_zyz_from_matrix4_f16 :: proc(m: Matrix4f16) -> (t1, t2, t3: f16) {
-	T1 := math.atan2(m[2][1], m[2][0])
-	S2 := math.sqrt(m[0][2]*m[0][2] + m[1][2]*m[1][2])
-	T2 := math.atan2(S2, m[2][2])
+	T1 := math.atan2(m[1, 2], m[0, 2])
+	S2 := math.sqrt(m[2, 0]*m[2, 0] + m[2, 1]*m[2, 1])
+	T2 := math.atan2(S2, m[2, 2])
 	S1 := math.sin(T1)
 	C1 := math.cos(T1)
-	T3 := math.atan2(C1*m[0][1] - S1*m[0][0], C1*m[1][1] - S1*m[1][0])
+	T3 := math.atan2(C1*m[1, 0] - S1*m[0, 0], C1*m[1, 1] - S1*m[0, 1])
 	t1 = T1
 	t2 = T2
 	t3 = T3
@@ -1291,12 +1291,12 @@ euler_angles_zyz_from_matrix4_f16 :: proc(m: Matrix4f16) -> (t1, t2, t3: f16) {
 }
 
 euler_angles_zxz_from_matrix4_f16 :: proc(m: Matrix4f16) -> (t1, t2, t3: f16) {
-	T1 := math.atan2(m[2][0], -m[2][1])
-	S2 := math.sqrt(m[0][2]*m[0][2] + m[1][2]*m[1][2])
-	T2 := math.atan2(S2, m[2][2])
+	T1 := math.atan2(m[0, 2], -m[1, 2])
+	S2 := math.sqrt(m[2, 0]*m[2, 0] + m[2, 1]*m[2, 1])
+	T2 := math.atan2(S2, m[2, 2])
 	S1 := math.sin(T1)
 	C1 := math.cos(T1)
-	T3 := math.atan2(-C1*m[1][0] - S1*m[1][1], C1*m[0][0] + S1*m[0][1])
+	T3 := math.atan2(-C1*m[0, 1] - S1*m[1, 1], C1*m[0, 0] + S1*m[1, 0])
 	t1 = T1
 	t2 = T2
 	t3 = T3
@@ -1304,12 +1304,12 @@ euler_angles_zxz_from_matrix4_f16 :: proc(m: Matrix4f16) -> (t1, t2, t3: f16) {
 }
 
 euler_angles_xzy_from_matrix4_f16 :: proc(m: Matrix4f16) -> (t1, t2, t3: f16) {
-	T1 := math.atan2(m[1][2], m[1][1])
-	C2 := math.sqrt(m[0][0]*m[0][0] + m[2][0]*m[2][0])
-	T2 := math.atan2(-m[1][0], C2)
+	T1 := math.atan2(m[2, 1], m[1, 1])
+	C2 := math.sqrt(m[0, 0]*m[0, 0] + m[0, 2]*m[0, 2])
+	T2 := math.atan2(-m[0, 1], C2)
 	S1 := math.sin(T1)
 	C1 := math.cos(T1)
-	T3 := math.atan2(S1*m[0][1] - C1*m[0][2], C1*m[2][2] - S1*m[2][1])
+	T3 := math.atan2(S1*m[1, 0] - C1*m[2, 0], C1*m[2, 2] - S1*m[1, 2])
 	t1 = T1
 	t2 = T2
 	t3 = T3
@@ -1317,12 +1317,12 @@ euler_angles_xzy_from_matrix4_f16 :: proc(m: Matrix4f16) -> (t1, t2, t3: f16) {
 }
 
 euler_angles_yzx_from_matrix4_f16 :: proc(m: Matrix4f16) -> (t1, t2, t3: f16) {
-	T1 := math.atan2(-m[0][2], m[0][0])
-	C2 := math.sqrt(m[1][1]*m[1][1] + m[2][1]*m[2][1])
-	T2 := math.atan2(m[0][1], C2)
+	T1 := math.atan2(-m[2, 0], m[0, 0])
+	C2 := math.sqrt(m[1, 1]*m[1, 1] + m[1, 2]*m[1, 2])
+	T2 := math.atan2(m[1, 0], C2)
 	S1 := math.sin(T1)
 	C1 := math.cos(T1)
-	T3 := math.atan2(S1*m[1][0] + C1*m[1][2], S1*m[2][0] + C1*m[2][2])
+	T3 := math.atan2(S1*m[0, 1] + C1*m[2, 1], S1*m[0, 2] + C1*m[2, 2])
 	t1 = T1
 	t2 = T2
 	t3 = T3
@@ -1330,12 +1330,12 @@ euler_angles_yzx_from_matrix4_f16 :: proc(m: Matrix4f16) -> (t1, t2, t3: f16) {
 }
 
 euler_angles_zyx_from_matrix4_f16 :: proc(m: Matrix4f16) -> (t1, t2, t3: f16) {
-	T1 := math.atan2(m[0][1], m[0][0])
-	C2 := math.sqrt(m[1][2]*m[1][2] + m[2][2]*m[2][2])
-	T2 := math.atan2(-m[0][2], C2)
+	T1 := math.atan2(m[1, 0], m[0, 0])
+	C2 := math.sqrt(m[2, 1]*m[2, 1] + m[2, 2]*m[2, 2])
+	T2 := math.atan2(-m[2, 0], C2)
 	S1 := math.sin(T1)
 	C1 := math.cos(T1)
-	T3 := math.atan2(S1*m[2][0] - C1*m[2][1], C1*m[1][1] - S1*m[1][0])
+	T3 := math.atan2(S1*m[0, 2] - C1*m[1, 2], C1*m[1, 1] - S1*m[0, 1])
 	t1 = T1
 	t2 = T2
 	t3 = T3
@@ -1343,12 +1343,12 @@ euler_angles_zyx_from_matrix4_f16 :: proc(m: Matrix4f16) -> (t1, t2, t3: f16) {
 }
 
 euler_angles_zxy_from_matrix4_f16 :: proc(m: Matrix4f16) -> (t1, t2, t3: f16) {
-	T1 := math.atan2(-m[1][0], m[1][1])
-	C2 := math.sqrt(m[0][2]*m[0][2] + m[2][2]*m[2][2])
-	T2 := math.atan2(m[1][2], C2)
+	T1 := math.atan2(-m[0, 1], m[1, 1])
+	C2 := math.sqrt(m[2, 0]*m[2, 0] + m[2, 2]*m[2, 2])
+	T2 := math.atan2(m[2, 1], C2)
 	S1 := math.sin(T1)
 	C1 := math.cos(T1)
-	T3 := math.atan2(C1*m[2][0] + S1*m[2][1], C1*m[0][0] + S1*m[0][1])
+	T3 := math.atan2(C1*m[0, 2] + S1*m[1, 2], C1*m[0, 0] + S1*m[1, 0])
 	t1 = T1
 	t2 = T2
 	t3 = T3
diff --git a/core/math/linalg/specific_euler_angles_f32.odin b/core/math/linalg/specific_euler_angles_f32.odin
index 6ae1b0fa0..80e19ce85 100644
--- a/core/math/linalg/specific_euler_angles_f32.odin
+++ b/core/math/linalg/specific_euler_angles_f32.odin
@@ -212,29 +212,29 @@ euler_angles_zxy_from_quaternion_f32 :: proc(q: Quaternionf32) -> (t1, t2, t3: f
 
 matrix3_from_euler_angle_x_f32 :: proc(angle_x: f32) -> (m: Matrix3f32) {
 	cos_x, sin_x := math.cos(angle_x), math.sin(angle_x)
-	m[0][0] = 1
-	m[1][1] = +cos_x
-	m[2][1] = +sin_x
-	m[1][2] = -sin_x
-	m[2][2] = +cos_x
+	m[0, 0] = 1
+	m[1, 1] = +cos_x
+	m[1, 2] = +sin_x
+	m[2, 1] = -sin_x
+	m[2, 2] = +cos_x
 	return
 }
 matrix3_from_euler_angle_y_f32 :: proc(angle_y: f32) -> (m: Matrix3f32) {
 	cos_y, sin_y := math.cos(angle_y), math.sin(angle_y)
-	m[0][0] = +cos_y
-	m[2][0] = -sin_y
-	m[1][1] = 1
-	m[0][2] = +sin_y
-	m[2][2] = +cos_y
+	m[0, 0] = +cos_y
+	m[0, 2] = -sin_y
+	m[1, 1] = 1
+	m[2, 0] = +sin_y
+	m[2, 2] = +cos_y
 	return
 }
 matrix3_from_euler_angle_z_f32 :: proc(angle_z: f32) -> (m: Matrix3f32) {
 	cos_z, sin_z := math.cos(angle_z), math.sin(angle_z)
-	m[0][0] = +cos_z
-	m[1][0] = +sin_z
-	m[1][1] = +cos_z
-	m[0][1] = -sin_z
-	m[2][2] = 1
+	m[0, 0] = +cos_z
+	m[0, 1] = +sin_z
+	m[1, 1] = +cos_z
+	m[1, 0] = -sin_z
+	m[2, 2] = 1
 	return
 }
 
@@ -242,31 +242,31 @@ matrix3_from_euler_angle_z_f32 :: proc(angle_z: f32) -> (m: Matrix3f32) {
 matrix3_from_derived_euler_angle_x_f32 :: proc(angle_x: f32, angular_velocity_x: f32) -> (m: Matrix3f32) {
 	cos_x := math.cos(angle_x) * angular_velocity_x
 	sin_x := math.sin(angle_x) * angular_velocity_x
-	m[0][0] = 1
-	m[1][1] = +cos_x
-	m[2][1] = +sin_x
-	m[1][2] = -sin_x
-	m[2][2] = +cos_x
+	m[0, 0] = 1
+	m[1, 1] = +cos_x
+	m[1, 2] = +sin_x
+	m[2, 1] = -sin_x
+	m[2, 2] = +cos_x
 	return
 }
 matrix3_from_derived_euler_angle_y_f32 :: proc(angle_y: f32, angular_velocity_y: f32) -> (m: Matrix3f32) {
 	cos_y := math.cos(angle_y) * angular_velocity_y
 	sin_y := math.sin(angle_y) * angular_velocity_y
-	m[0][0] = +cos_y
-	m[2][0] = -sin_y
-	m[1][1] = 1
-	m[0][2] = +sin_y
-	m[2][2] = +cos_y
+	m[0, 0] = +cos_y
+	m[0, 2] = -sin_y
+	m[1, 1] = 1
+	m[2, 0] = +sin_y
+	m[2, 2] = +cos_y
 	return
 }
 matrix3_from_derived_euler_angle_z_f32 :: proc(angle_z: f32, angular_velocity_z: f32) -> (m: Matrix3f32) {
 	cos_z := math.cos(angle_z) * angular_velocity_z
 	sin_z := math.sin(angle_z) * angular_velocity_z
-	m[0][0] = +cos_z
-	m[1][0] = +sin_z
-	m[1][1] = +cos_z
-	m[0][1] = -sin_z
-	m[2][2] = 1
+	m[0, 0] = +cos_z
+	m[0, 1] = +sin_z
+	m[1, 1] = +cos_z
+	m[1, 0] = -sin_z
+	m[2, 2] = 1
 	return
 }
 
@@ -274,14 +274,14 @@ matrix3_from_derived_euler_angle_z_f32 :: proc(angle_z: f32, angular_velocity_z:
 matrix3_from_euler_angles_xy_f32 :: proc(angle_x, angle_y: f32) -> (m: Matrix3f32) {
 	cos_x, sin_x := math.cos(angle_x), math.sin(angle_x)
 	cos_y, sin_y := math.cos(angle_y), math.sin(angle_y)
-	m[0][0] = cos_y
-	m[1][0] = -sin_x * - sin_y
-	m[2][0] = -cos_x * - sin_y
-	m[1][1] = cos_x
-	m[2][1] = sin_x
-	m[0][2] = sin_y
-	m[1][2] = -sin_x * cos_y
-	m[2][2] = cos_x * cos_y
+	m[0, 0] = cos_y
+	m[0, 1] = -sin_x * - sin_y
+	m[0, 2] = -cos_x * - sin_y
+	m[1, 1] = cos_x
+	m[1, 2] = sin_x
+	m[2, 0] = sin_y
+	m[2, 1] = -sin_x * cos_y
+	m[2, 2] = cos_x * cos_y
 	return
 }
 
@@ -289,14 +289,14 @@ matrix3_from_euler_angles_xy_f32 :: proc(angle_x, angle_y: f32) -> (m: Matrix3f3
 matrix3_from_euler_angles_yx_f32 :: proc(angle_y, angle_x: f32) -> (m: Matrix3f32) {
 	cos_x, sin_x := math.cos(angle_x), math.sin(angle_x)
 	cos_y, sin_y := math.cos(angle_y), math.sin(angle_y)
-	m[0][0] = cos_y
-	m[2][0] = -sin_y
-	m[0][1] = sin_y*sin_x
-	m[1][1] = cos_x
-	m[2][1] = cos_y*sin_x
-	m[0][2] = sin_y*cos_x
-	m[1][2] = -sin_x
-	m[2][2] = cos_y*cos_x
+	m[0, 0] = cos_y
+	m[0, 2] = -sin_y
+	m[1, 0] = sin_y*sin_x
+	m[1, 1] = cos_x
+	m[1, 2] = cos_y*sin_x
+	m[2, 0] = sin_y*cos_x
+	m[2, 1] = -sin_x
+	m[2, 2] = cos_y*cos_x
 	return
 }
 
@@ -322,15 +322,15 @@ matrix3_from_euler_angles_xyz_f32 :: proc(t1, t2, t3: f32) -> (m: Matrix3f32) {
 	s2 := math.sin(-t2)
 	s3 := math.sin(-t3)
 
-	m[0][0] = c2 * c3
-	m[0][1] =-c1 * s3 + s1 * s2 * c3
-	m[0][2] = s1 * s3 + c1 * s2 * c3
-	m[1][0] = c2 * s3
-	m[1][1] = c1 * c3 + s1 * s2 * s3
-	m[1][2] =-s1 * c3 + c1 * s2 * s3
-	m[2][0] =-s2
-	m[2][1] = s1 * c2
-	m[2][2] = c1 * c2
+	m[0, 0] = c2 * c3
+	m[1, 0] =-c1 * s3 + s1 * s2 * c3
+	m[2, 0] = s1 * s3 + c1 * s2 * c3
+	m[0, 1] = c2 * s3
+	m[1, 1] = c1 * c3 + s1 * s2 * s3
+	m[2, 1] =-s1 * c3 + c1 * s2 * s3
+	m[0, 2] =-s2
+	m[1, 2] = s1 * c2
+	m[2, 2] = c1 * c2
 	return
 }
 
@@ -342,15 +342,15 @@ matrix3_from_euler_angles_yxz_f32 :: proc(yaw, pitch, roll: f32) -> (m: Matrix3f
 	cb := math.cos(roll)
 	sb := math.sin(roll)
 
-	m[0][0] = ch * cb + sh * sp * sb
-	m[0][1] = sb * cp
-	m[0][2] = -sh * cb + ch * sp * sb
-	m[1][0] = -ch * sb + sh * sp * cb
-	m[1][1] = cb * cp
-	m[1][2] = sb * sh + ch * sp * cb
-	m[2][0] = sh * cp
-	m[2][1] = -sp
-	m[2][2] = ch * cp
+	m[0, 0] = ch * cb + sh * sp * sb
+	m[1, 0] = sb * cp
+	m[2, 0] = -sh * cb + ch * sp * sb
+	m[0, 1] = -ch * sb + sh * sp * cb
+	m[1, 1] = cb * cp
+	m[2, 1] = sb * sh + ch * sp * cb
+	m[0, 2] = sh * cp
+	m[1, 2] = -sp
+	m[2, 2] = ch * cp
 	return
 }
 
@@ -362,15 +362,15 @@ matrix3_from_euler_angles_xzx_f32 :: proc(t1, t2, t3: f32) -> (m: Matrix3f32) {
 	c3 := math.cos(t3)
 	s3 := math.sin(t3)
 
-	m[0][0] = c2
-	m[0][1] = c1 * s2
-	m[0][2] = s1 * s2
-	m[1][0] =-c3 * s2
-	m[1][1] = c1 * c2 * c3 - s1 * s3
-	m[1][2] = c1 * s3 + c2 * c3 * s1
-	m[2][0] = s2 * s3
-	m[2][1] =-c3 * s1 - c1 * c2 * s3
-	m[2][2] = c1 * c3 - c2 * s1 * s3
+	m[0, 0] = c2
+	m[1, 0] = c1 * s2
+	m[2, 0] = s1 * s2
+	m[0, 1] =-c3 * s2
+	m[1, 1] = c1 * c2 * c3 - s1 * s3
+	m[2, 1] = c1 * s3 + c2 * c3 * s1
+	m[0, 2] = s2 * s3
+	m[1, 2] =-c3 * s1 - c1 * c2 * s3
+	m[2, 2] = c1 * c3 - c2 * s1 * s3
 	return
 }
 
@@ -382,15 +382,15 @@ matrix3_from_euler_angles_xyx_f32 :: proc(t1, t2, t3: f32) -> (m: Matrix3f32) {
 	c3 := math.cos(t3)
 	s3 := math.sin(t3)
 
-	m[0][0] = c2
-	m[0][1] = s1 * s2
-	m[0][2] =-c1 * s2
-	m[1][0] = s2 * s3
-	m[1][1] = c1 * c3 - c2 * s1 * s3
-	m[1][2] = c3 * s1 + c1 * c2 * s3
-	m[2][0] = c3 * s2
-	m[2][1] =-c1 * s3 - c2 * c3 * s1
-	m[2][2] = c1 * c2 * c3 - s1 * s3
+	m[0, 0] = c2
+	m[1, 0] = s1 * s2
+	m[2, 0] =-c1 * s2
+	m[0, 1] = s2 * s3
+	m[1, 1] = c1 * c3 - c2 * s1 * s3
+	m[2, 1] = c3 * s1 + c1 * c2 * s3
+	m[0, 2] = c3 * s2
+	m[1, 2] =-c1 * s3 - c2 * c3 * s1
+	m[2, 2] = c1 * c2 * c3 - s1 * s3
 	return
 }
 
@@ -402,15 +402,15 @@ matrix3_from_euler_angles_yxy_f32 :: proc(t1, t2, t3: f32) -> (m: Matrix3f32) {
 	c3 := math.cos(t3)
 	s3 := math.sin(t3)
 
-	m[0][0] = c1 * c3 - c2 * s1 * s3
-	m[0][1] = s2* s3
-	m[0][2] =-c3 * s1 - c1 * c2 * s3
-	m[1][0] = s1 * s2
-	m[1][1] = c2
-	m[1][2] = c1 * s2
-	m[2][0] = c1 * s3 + c2 * c3 * s1
-	m[2][1] =-c3 * s2
-	m[2][2] = c1 * c2 * c3 - s1 * s3
+	m[0, 0] = c1 * c3 - c2 * s1 * s3
+	m[1, 0] = s2* s3
+	m[2, 0] =-c3 * s1 - c1 * c2 * s3
+	m[0, 1] = s1 * s2
+	m[1, 1] = c2
+	m[2, 1] = c1 * s2
+	m[0, 2] = c1 * s3 + c2 * c3 * s1
+	m[1, 2] =-c3 * s2
+	m[2, 2] = c1 * c2 * c3 - s1 * s3
 	return
 }
 
@@ -422,15 +422,15 @@ matrix3_from_euler_angles_yzy_f32 :: proc(t1, t2, t3: f32) -> (m: Matrix3f32) {
 	c3 := math.cos(t3)
 	s3 := math.sin(t3)
 
-	m[0][0] = c1 * c2 * c3 - s1 * s3
-	m[0][1] = c3 * s2
-	m[0][2] =-c1 * s3 - c2 * c3 * s1
-	m[1][0] =-c1 * s2
-	m[1][1] = c2
-	m[1][2] = s1 * s2
-	m[2][0] = c3 * s1 + c1 * c2 * s3
-	m[2][1] = s2 * s3
-	m[2][2] = c1 * c3 - c2 * s1 * s3
+	m[0, 0] = c1 * c2 * c3 - s1 * s3
+	m[1, 0] = c3 * s2
+	m[2, 0] =-c1 * s3 - c2 * c3 * s1
+	m[0, 1] =-c1 * s2
+	m[1, 1] = c2
+	m[2, 1] = s1 * s2
+	m[0, 2] = c3 * s1 + c1 * c2 * s3
+	m[1, 2] = s2 * s3
+	m[2, 2] = c1 * c3 - c2 * s1 * s3
 	return
 }
 
@@ -442,15 +442,15 @@ matrix3_from_euler_angles_zyz_f32 :: proc(t1, t2, t3: f32) -> (m: Matrix3f32) {
 	c3 := math.cos(t3)
 	s3 := math.sin(t3)
 
-	m[0][0] = c1 * c2 * c3 - s1 * s3
-	m[0][1] = c1 * s3 + c2 * c3 * s1
-	m[0][2] =-c3 * s2
-	m[1][0] =-c3 * s1 - c1 * c2 * s3
-	m[1][1] = c1 * c3 - c2 * s1 * s3
-	m[1][2] = s2 * s3
-	m[2][0] = c1 * s2
-	m[2][1] = s1 * s2
-	m[2][2] = c2
+	m[0, 0] = c1 * c2 * c3 - s1 * s3
+	m[1, 0] = c1 * s3 + c2 * c3 * s1
+	m[2, 0] =-c3 * s2
+	m[0, 1] =-c3 * s1 - c1 * c2 * s3
+	m[1, 1] = c1 * c3 - c2 * s1 * s3
+	m[2, 1] = s2 * s3
+	m[0, 2] = c1 * s2
+	m[1, 2] = s1 * s2
+	m[2, 2] = c2
 	return
 }
 
@@ -462,15 +462,15 @@ matrix3_from_euler_angles_zxz_f32 :: proc(t1, t2, t3: f32) -> (m: Matrix3f32) {
 	c3 := math.cos(t3)
 	s3 := math.sin(t3)
 
-	m[0][0] = c1 * c3 - c2 * s1 * s3
-	m[0][1] = c3 * s1 + c1 * c2 * s3
-	m[0][2] = s2 *s3
-	m[1][0] =-c1 * s3 - c2 * c3 * s1
-	m[1][1] = c1 * c2 * c3 - s1 * s3
-	m[1][2] = c3 * s2
-	m[2][0] = s1 * s2
-	m[2][1] =-c1 * s2
-	m[2][2] = c2
+	m[0, 0] = c1 * c3 - c2 * s1 * s3
+	m[1, 0] = c3 * s1 + c1 * c2 * s3
+	m[2, 0] = s2 *s3
+	m[0, 1] =-c1 * s3 - c2 * c3 * s1
+	m[1, 1] = c1 * c2 * c3 - s1 * s3
+	m[2, 1] = c3 * s2
+	m[0, 2] = s1 * s2
+	m[1, 2] =-c1 * s2
+	m[2, 2] = c2
 	return
 }
 
@@ -483,15 +483,15 @@ matrix3_from_euler_angles_xzy_f32 :: proc(t1, t2, t3: f32) -> (m: Matrix3f32) {
 	c3 := math.cos(t3)
 	s3 := math.sin(t3)
 
-	m[0][0] = c2 * c3
-	m[0][1] = s1 * s3 + c1 * c3 * s2
-	m[0][2] = c3 * s1 * s2 - c1 * s3
-	m[1][0] =-s2
-	m[1][1] = c1 * c2
-	m[1][2] = c2 * s1
-	m[2][0] = c2 * s3
-	m[2][1] = c1 * s2 * s3 - c3 * s1
-	m[2][2] = c1 * c3 + s1 * s2 *s3
+	m[0, 0] = c2 * c3
+	m[1, 0] = s1 * s3 + c1 * c3 * s2
+	m[2, 0] = c3 * s1 * s2 - c1 * s3
+	m[0, 1] =-s2
+	m[1, 1] = c1 * c2
+	m[2, 1] = c2 * s1
+	m[0, 2] = c2 * s3
+	m[1, 2] = c1 * s2 * s3 - c3 * s1
+	m[2, 2] = c1 * c3 + s1 * s2 *s3
 	return
 }
 
@@ -503,15 +503,15 @@ matrix3_from_euler_angles_yzx_f32 :: proc(t1, t2, t3: f32) -> (m: Matrix3f32) {
 	c3 := math.cos(t3)
 	s3 := math.sin(t3)
 
-	m[0][0] = c1 * c2
-	m[0][1] = s2
-	m[0][2] =-c2 * s1
-	m[1][0] = s1 * s3 - c1 * c3 * s2
-	m[1][1] = c2 * c3
-	m[1][2] = c1 * s3 + c3 * s1 * s2
-	m[2][0] = c3 * s1 + c1 * s2 * s3
-	m[2][1] =-c2 * s3
-	m[2][2] = c1 * c3 - s1 * s2 * s3
+	m[0, 0] = c1 * c2
+	m[1, 0] = s2
+	m[2, 0] =-c2 * s1
+	m[0, 1] = s1 * s3 - c1 * c3 * s2
+	m[1, 1] = c2 * c3
+	m[2, 1] = c1 * s3 + c3 * s1 * s2
+	m[0, 2] = c3 * s1 + c1 * s2 * s3
+	m[1, 2] =-c2 * s3
+	m[2, 2] = c1 * c3 - s1 * s2 * s3
 	return
 }
 
@@ -523,15 +523,15 @@ matrix3_from_euler_angles_zyx_f32 :: proc(t1, t2, t3: f32) -> (m: Matrix3f32) {
 	c3 := math.cos(t3)
 	s3 := math.sin(t3)
 
-	m[0][0] = c1 * c2
-	m[0][1] = c2 * s1
-	m[0][2] =-s2
-	m[1][0] = c1 * s2 * s3 - c3 * s1
-	m[1][1] = c1 * c3 + s1 * s2 * s3
-	m[1][2] = c2 * s3
-	m[2][0] = s1 * s3 + c1 * c3 * s2
-	m[2][1] = c3 * s1 * s2 - c1 * s3
-	m[2][2] = c2 * c3
+	m[0, 0] = c1 * c2
+	m[1, 0] = c2 * s1
+	m[2, 0] =-s2
+	m[0, 1] = c1 * s2 * s3 - c3 * s1
+	m[1, 1] = c1 * c3 + s1 * s2 * s3
+	m[2, 1] = c2 * s3
+	m[0, 2] = s1 * s3 + c1 * c3 * s2
+	m[1, 2] = c3 * s1 * s2 - c1 * s3
+	m[2, 2] = c2 * c3
 	return
 }
 
@@ -543,15 +543,15 @@ matrix3_from_euler_angles_zxy_f32 :: proc(t1, t2, t3: f32) -> (m: Matrix3f32) {
 	c3 := math.cos(t3)
 	s3 := math.sin(t3)
 
-	m[0][0] = c1 * c3 - s1 * s2 * s3
-	m[0][1] = c3 * s1 + c1 * s2 * s3
-	m[0][2] =-c2 * s3
-	m[1][0] =-c2 * s1
-	m[1][1] = c1 * c2
-	m[1][2] = s2
-	m[2][0] = c1 * s3 + c3 * s1 * s2
-	m[2][1] = s1 * s3 - c1 * c3 * s2
-	m[2][2] = c2 * c3
+	m[0, 0] = c1 * c3 - s1 * s2 * s3
+	m[1, 0] = c3 * s1 + c1 * s2 * s3
+	m[2, 0] =-c2 * s3
+	m[0, 1] =-c2 * s1
+	m[1, 1] = c1 * c2
+	m[2, 1] = s2
+	m[0, 2] = c1 * s3 + c3 * s1 * s2
+	m[1, 2] = s1 * s3 - c1 * c3 * s2
+	m[2, 2] = c2 * c3
 	return
 }
 
@@ -564,25 +564,25 @@ matrix3_from_yaw_pitch_roll_f32 :: proc(yaw, pitch, roll: f32) -> (m: Matrix3f32
 	cb := math.cos(roll)
 	sb := math.sin(roll)
 
-	m[0][0] = ch * cb + sh * sp * sb
-	m[0][1] = sb * cp
-	m[0][2] = -sh * cb + ch * sp * sb
-	m[1][0] = -ch * sb + sh * sp * cb
-	m[1][1] = cb * cp
-	m[1][2] = sb * sh + ch * sp * cb
-	m[2][0] = sh * cp
-	m[2][1] = -sp
-	m[2][2] = ch * cp
+	m[0, 0] = ch * cb + sh * sp * sb
+	m[1, 0] = sb * cp
+	m[2, 0] = -sh * cb + ch * sp * sb
+	m[0, 1] = -ch * sb + sh * sp * cb
+	m[1, 1] = cb * cp
+	m[2, 1] = sb * sh + ch * sp * cb
+	m[0, 2] = sh * cp
+	m[1, 2] = -sp
+	m[2, 2] = ch * cp
 	return m
 }
 
 euler_angles_xyz_from_matrix3_f32 :: proc(m: Matrix3f32) -> (t1, t2, t3: f32) {
-	T1 := math.atan2(m[2][1], m[2][2])
-	C2 := math.sqrt(m[0][0]*m[0][0] + m[1][0]*m[1][0])
-	T2 := math.atan2(-m[2][0], C2)
+	T1 := math.atan2(m[1, 2], m[2, 2])
+	C2 := math.sqrt(m[0, 0]*m[0, 0] + m[0, 1]*m[0, 1])
+	T2 := math.atan2(-m[0, 2], C2)
 	S1 := math.sin(T1)
 	C1 := math.cos(T1)
-	T3 := math.atan2(S1*m[0][2] - C1*m[0][1], C1*m[1][1] - S1*m[1][2])
+	T3 := math.atan2(S1*m[2, 0] - C1*m[1, 0], C1*m[1, 1] - S1*m[2, 1])
 	t1 = -T1
 	t2 = -T2
 	t3 = -T3
@@ -590,12 +590,12 @@ euler_angles_xyz_from_matrix3_f32 :: proc(m: Matrix3f32) -> (t1, t2, t3: f32) {
 }
 
 euler_angles_yxz_from_matrix3_f32 :: proc(m: Matrix3f32) -> (t1, t2, t3: f32) {
-	T1 := math.atan2(m[2][0], m[2][2])
-	C2 := math.sqrt(m[0][1]*m[0][1] + m[1][1]*m[1][1])
-	T2 := math.atan2(-m[2][1], C2)
+	T1 := math.atan2(m[0, 2], m[2, 2])
+	C2 := math.sqrt(m[1, 0]*m[1, 0] + m[1, 1]*m[1, 1])
+	T2 := math.atan2(-m[1, 2], C2)
 	S1 := math.sin(T1)
 	C1 := math.cos(T1)
-	T3 := math.atan2(S1*m[1][2] - C1*m[1][0], C1*m[0][0] - S1*m[0][2])
+	T3 := math.atan2(S1*m[2, 1] - C1*m[0, 1], C1*m[0, 0] - S1*m[2, 0])
 	t1 = T1
 	t2 = T2
 	t3 = T3
@@ -603,12 +603,12 @@ euler_angles_yxz_from_matrix3_f32 :: proc(m: Matrix3f32) -> (t1, t2, t3: f32) {
 }
 
 euler_angles_xzx_from_matrix3_f32 :: proc(m: Matrix3f32) -> (t1, t2, t3: f32) {
-	T1 := math.atan2(m[0][2], m[0][1])
-	S2 := math.sqrt(m[1][0]*m[1][0] + m[2][0]*m[2][0])
-	T2 := math.atan2(S2, m[0][0])
+	T1 := math.atan2(m[2, 0], m[1, 0])
+	S2 := math.sqrt(m[0, 1]*m[0, 1] + m[0, 2]*m[0, 2])
+	T2 := math.atan2(S2, m[0, 0])
 	S1 := math.sin(T1)
 	C1 := math.cos(T1)
-	T3 := math.atan2(C1*m[1][2] - S1*m[1][1], C1*m[2][2] - S1*m[2][1])
+	T3 := math.atan2(C1*m[2, 1] - S1*m[1, 1], C1*m[2, 2] - S1*m[1, 2])
 	t1 = T1
 	t2 = T2
 	t3 = T3
@@ -616,12 +616,12 @@ euler_angles_xzx_from_matrix3_f32 :: proc(m: Matrix3f32) -> (t1, t2, t3: f32) {
 }
 
 euler_angles_xyx_from_matrix3_f32 :: proc(m: Matrix3f32) -> (t1, t2, t3: f32) {
-	T1 := math.atan2(m[0][1], -m[0][2])
-	S2 := math.sqrt(m[1][0]*m[1][0] + m[2][0]*m[2][0])
-	T2 := math.atan2(S2, m[0][0])
+	T1 := math.atan2(m[1, 0], -m[2, 0])
+	S2 := math.sqrt(m[0, 1]*m[0, 1] + m[0, 2]*m[0, 2])
+	T2 := math.atan2(S2, m[0, 0])
 	S1 := math.sin(T1)
 	C1 := math.cos(T1)
-	T3 := math.atan2(-C1*m[2][1] - S1*m[2][2], C1*m[1][1] + S1*m[1][2])
+	T3 := math.atan2(-C1*m[1, 2] - S1*m[2, 2], C1*m[1, 1] + S1*m[2, 1])
 	t1 = T1
 	t2 = T2
 	t3 = T3
@@ -629,12 +629,12 @@ euler_angles_xyx_from_matrix3_f32 :: proc(m: Matrix3f32) -> (t1, t2, t3: f32) {
 }
 
 euler_angles_yxy_from_matrix3_f32 :: proc(m: Matrix3f32) -> (t1, t2, t3: f32) {
-	T1 := math.atan2(m[1][0], m[1][2])
-	S2 := math.sqrt(m[0][1]*m[0][1] + m[2][1]*m[2][1])
-	T2 := math.atan2(S2, m[1][1])
+	T1 := math.atan2(m[0, 1], m[2, 1])
+	S2 := math.sqrt(m[1, 0]*m[1, 0] + m[1, 2]*m[1, 2])
+	T2 := math.atan2(S2, m[1, 1])
 	S1 := math.sin(T1)
 	C1 := math.cos(T1)
-	T3 := math.atan2(C1*m[2][0] - S1*m[2][2], C1*m[0][0] - S1*m[0][2])
+	T3 := math.atan2(C1*m[0, 2] - S1*m[2, 2], C1*m[0, 0] - S1*m[2, 0])
 	t1 = T1
 	t2 = T2
 	t3 = T3
@@ -642,24 +642,24 @@ euler_angles_yxy_from_matrix3_f32 :: proc(m: Matrix3f32) -> (t1, t2, t3: f32) {
 }
 
 euler_angles_yzy_from_matrix3_f32 :: proc(m: Matrix3f32) -> (t1, t2, t3: f32) {
-	T1 := math.atan2(m[1][2], -m[1][0])
-	S2 := math.sqrt(m[0][1]*m[0][1] + m[2][1]*m[2][1])
-	T2 := math.atan2(S2, m[1][1])
+	T1 := math.atan2(m[2, 1], -m[0, 1])
+	S2 := math.sqrt(m[1, 0]*m[1, 0] + m[1, 2]*m[1, 2])
+	T2 := math.atan2(S2, m[1, 1])
 	S1 := math.sin(T1)
 	C1 := math.cos(T1)
-	T3 := math.atan2(-S1*m[0][0] - C1*m[0][2], S1*m[2][0] + C1*m[2][2])
+	T3 := math.atan2(-S1*m[0, 0] - C1*m[2, 0], S1*m[0, 2] + C1*m[2, 2])
 	t1 = T1
 	t2 = T2
 	t3 = T3
 	return
 }
 euler_angles_zyz_from_matrix3_f32 :: proc(m: Matrix3f32) -> (t1, t2, t3: f32) {
-	T1 := math.atan2(m[2][1], m[2][0])
-	S2 := math.sqrt(m[0][2]*m[0][2] + m[1][2]*m[1][2])
-	T2 := math.atan2(S2, m[2][2])
+	T1 := math.atan2(m[1, 2], m[0, 2])
+	S2 := math.sqrt(m[2, 0]*m[2, 0] + m[2, 1]*m[2, 1])
+	T2 := math.atan2(S2, m[2, 2])
 	S1 := math.sin(T1)
 	C1 := math.cos(T1)
-	T3 := math.atan2(C1*m[0][1] - S1*m[0][0], C1*m[1][1] - S1*m[1][0])
+	T3 := math.atan2(C1*m[1, 0] - S1*m[0, 0], C1*m[1, 1] - S1*m[0, 1])
 	t1 = T1
 	t2 = T2
 	t3 = T3
@@ -667,12 +667,12 @@ euler_angles_zyz_from_matrix3_f32 :: proc(m: Matrix3f32) -> (t1, t2, t3: f32) {
 }
 
 euler_angles_zxz_from_matrix3_f32 :: proc(m: Matrix3f32) -> (t1, t2, t3: f32) {
-	T1 := math.atan2(m[2][0], -m[2][1])
-	S2 := math.sqrt(m[0][2]*m[0][2] + m[1][2]*m[1][2])
-	T2 := math.atan2(S2, m[2][2])
+	T1 := math.atan2(m[0, 2], -m[1, 2])
+	S2 := math.sqrt(m[2, 0]*m[2, 0] + m[2, 1]*m[2, 1])
+	T2 := math.atan2(S2, m[2, 2])
 	S1 := math.sin(T1)
 	C1 := math.cos(T1)
-	T3 := math.atan2(-C1*m[1][0] - S1*m[1][1], C1*m[0][0] + S1*m[0][1])
+	T3 := math.atan2(-C1*m[0, 1] - S1*m[1, 1], C1*m[0, 0] + S1*m[1, 0])
 	t1 = T1
 	t2 = T2
 	t3 = T3
@@ -680,12 +680,12 @@ euler_angles_zxz_from_matrix3_f32 :: proc(m: Matrix3f32) -> (t1, t2, t3: f32) {
 }
 
 euler_angles_xzy_from_matrix3_f32 :: proc(m: Matrix3f32) -> (t1, t2, t3: f32) {
-	T1 := math.atan2(m[1][2], m[1][1])
-	C2 := math.sqrt(m[0][0]*m[0][0] + m[2][0]*m[2][0])
-	T2 := math.atan2(-m[1][0], C2)
+	T1 := math.atan2(m[2, 1], m[1, 1])
+	C2 := math.sqrt(m[0, 0]*m[0, 0] + m[0, 2]*m[0, 2])
+	T2 := math.atan2(-m[0, 1], C2)
 	S1 := math.sin(T1)
 	C1 := math.cos(T1)
-	T3 := math.atan2(S1*m[0][1] - C1*m[0][2], C1*m[2][2] - S1*m[2][1])
+	T3 := math.atan2(S1*m[1, 0] - C1*m[2, 0], C1*m[2, 2] - S1*m[1, 2])
 	t1 = T1
 	t2 = T2
 	t3 = T3
@@ -693,12 +693,12 @@ euler_angles_xzy_from_matrix3_f32 :: proc(m: Matrix3f32) -> (t1, t2, t3: f32) {
 }
 
 euler_angles_yzx_from_matrix3_f32 :: proc(m: Matrix3f32) -> (t1, t2, t3: f32) {
-	T1 := math.atan2(-m[0][2], m[0][0])
-	C2 := math.sqrt(m[1][1]*m[1][1] + m[2][1]*m[2][1])
-	T2 := math.atan2(m[0][1], C2)
+	T1 := math.atan2(-m[2, 0], m[0, 0])
+	C2 := math.sqrt(m[1, 1]*m[1, 1] + m[1, 2]*m[1, 2])
+	T2 := math.atan2(m[1, 0], C2)
 	S1 := math.sin(T1)
 	C1 := math.cos(T1)
-	T3 := math.atan2(S1*m[1][0] + C1*m[1][2], S1*m[2][0] + C1*m[2][2])
+	T3 := math.atan2(S1*m[0, 1] + C1*m[2, 1], S1*m[0, 2] + C1*m[2, 2])
 	t1 = T1
 	t2 = T2
 	t3 = T3
@@ -706,12 +706,12 @@ euler_angles_yzx_from_matrix3_f32 :: proc(m: Matrix3f32) -> (t1, t2, t3: f32) {
 }
 
 euler_angles_zyx_from_matrix3_f32 :: proc(m: Matrix3f32) -> (t1, t2, t3: f32) {
-	T1 := math.atan2(m[0][1], m[0][0])
-	C2 := math.sqrt(m[1][2]*m[1][2] + m[2][2]*m[2][2])
-	T2 := math.atan2(-m[0][2], C2)
+	T1 := math.atan2(m[1, 0], m[0, 0])
+	C2 := math.sqrt(m[2, 1]*m[2, 1] + m[2, 2]*m[2, 2])
+	T2 := math.atan2(-m[2, 0], C2)
 	S1 := math.sin(T1)
 	C1 := math.cos(T1)
-	T3 := math.atan2(S1*m[2][0] - C1*m[2][1], C1*m[1][1] - S1*m[1][0])
+	T3 := math.atan2(S1*m[0, 2] - C1*m[1, 2], C1*m[1, 1] - S1*m[0, 1])
 	t1 = T1
 	t2 = T2
 	t3 = T3
@@ -719,12 +719,12 @@ euler_angles_zyx_from_matrix3_f32 :: proc(m: Matrix3f32) -> (t1, t2, t3: f32) {
 }
 
 euler_angles_zxy_from_matrix3_f32 :: proc(m: Matrix3f32) -> (t1, t2, t3: f32) {
-	T1 := math.atan2(-m[1][0], m[1][1])
-	C2 := math.sqrt(m[0][2]*m[0][2] + m[2][2]*m[2][2])
-	T2 := math.atan2(m[1][2], C2)
+	T1 := math.atan2(-m[0, 1], m[1, 1])
+	C2 := math.sqrt(m[2, 0]*m[2, 0] + m[2, 2]*m[2, 2])
+	T2 := math.atan2(m[2, 1], C2)
 	S1 := math.sin(T1)
 	C1 := math.cos(T1)
-	T3 := math.atan2(C1*m[2][0] + S1*m[2][1], C1*m[0][0] + S1*m[0][1])
+	T3 := math.atan2(C1*m[0, 2] + S1*m[1, 2], C1*m[0, 0] + S1*m[1, 0])
 	t1 = T1
 	t2 = T2
 	t3 = T3
@@ -737,32 +737,32 @@ euler_angles_zxy_from_matrix3_f32 :: proc(m: Matrix3f32) -> (t1, t2, t3: f32) {
 
 matrix4_from_euler_angle_x_f32 :: proc(angle_x: f32) -> (m: Matrix4f32) {
 	cos_x, sin_x := math.cos(angle_x), math.sin(angle_x)
-	m[0][0] = 1
-	m[1][1] = +cos_x
-	m[2][1] = +sin_x
-	m[1][2] = -sin_x
-	m[2][2] = +cos_x
-	m[3][3] = 1
+	m[0, 0] = 1
+	m[1, 1] = +cos_x
+	m[1, 2] = +sin_x
+	m[2, 1] = -sin_x
+	m[2, 2] = +cos_x
+	m[3, 3] = 1
 	return
 }
 matrix4_from_euler_angle_y_f32 :: proc(angle_y: f32) -> (m: Matrix4f32) {
 	cos_y, sin_y := math.cos(angle_y), math.sin(angle_y)
-	m[0][0] = +cos_y
-	m[2][0] = -sin_y
-	m[1][1] = 1
-	m[0][2] = +sin_y
-	m[2][2] = +cos_y
-	m[3][3] = 1
+	m[0, 0] = +cos_y
+	m[0, 2] = -sin_y
+	m[1, 1] = 1
+	m[2, 0] = +sin_y
+	m[2, 2] = +cos_y
+	m[3, 3] = 1
 	return
 }
 matrix4_from_euler_angle_z_f32 :: proc(angle_z: f32) -> (m: Matrix4f32) {
 	cos_z, sin_z := math.cos(angle_z), math.sin(angle_z)
-	m[0][0] = +cos_z
-	m[1][0] = +sin_z
-	m[1][1] = +cos_z
-	m[0][1] = -sin_z
-	m[2][2] = 1
-	m[3][3] = 1
+	m[0, 0] = +cos_z
+	m[0, 1] = +sin_z
+	m[1, 1] = +cos_z
+	m[1, 0] = -sin_z
+	m[2, 2] = 1
+	m[3, 3] = 1
 	return
 }
 
@@ -770,34 +770,34 @@ matrix4_from_euler_angle_z_f32 :: proc(angle_z: f32) -> (m: Matrix4f32) {
 matrix4_from_derived_euler_angle_x_f32 :: proc(angle_x: f32, angular_velocity_x: f32) -> (m: Matrix4f32) {
 	cos_x := math.cos(angle_x) * angular_velocity_x
 	sin_x := math.sin(angle_x) * angular_velocity_x
-	m[0][0] = 1
-	m[1][1] = +cos_x
-	m[2][1] = +sin_x
-	m[1][2] = -sin_x
-	m[2][2] = +cos_x
-	m[3][3] = 1
+	m[0, 0] = 1
+	m[1, 1] = +cos_x
+	m[1, 2] = +sin_x
+	m[2, 1] = -sin_x
+	m[2, 2] = +cos_x
+	m[3, 3] = 1
 	return
 }
 matrix4_from_derived_euler_angle_y_f32 :: proc(angle_y: f32, angular_velocity_y: f32) -> (m: Matrix4f32) {
 	cos_y := math.cos(angle_y) * angular_velocity_y
 	sin_y := math.sin(angle_y) * angular_velocity_y
-	m[0][0] = +cos_y
-	m[2][0] = -sin_y
-	m[1][1] = 1
-	m[0][2] = +sin_y
-	m[2][2] = +cos_y
-	m[3][3] = 1
+	m[0, 0] = +cos_y
+	m[0, 2] = -sin_y
+	m[1, 1] = 1
+	m[2, 0] = +sin_y
+	m[2, 2] = +cos_y
+	m[3, 3] = 1
 	return
 }
 matrix4_from_derived_euler_angle_z_f32 :: proc(angle_z: f32, angular_velocity_z: f32) -> (m: Matrix4f32) {
 	cos_z := math.cos(angle_z) * angular_velocity_z
 	sin_z := math.sin(angle_z) * angular_velocity_z
-	m[0][0] = +cos_z
-	m[1][0] = +sin_z
-	m[1][1] = +cos_z
-	m[0][1] = -sin_z
-	m[2][2] = 1
-	m[3][3] = 1
+	m[0, 0] = +cos_z
+	m[0, 1] = +sin_z
+	m[1, 1] = +cos_z
+	m[1, 0] = -sin_z
+	m[2, 2] = 1
+	m[3, 3] = 1
 	return
 }
 
@@ -805,15 +805,15 @@ matrix4_from_derived_euler_angle_z_f32 :: proc(angle_z: f32, angular_velocity_z:
 matrix4_from_euler_angles_xy_f32 :: proc(angle_x, angle_y: f32) -> (m: Matrix4f32) {
 	cos_x, sin_x := math.cos(angle_x), math.sin(angle_x)
 	cos_y, sin_y := math.cos(angle_y), math.sin(angle_y)
-	m[0][0] = cos_y
-	m[1][0] = -sin_x * - sin_y
-	m[2][0] = -cos_x * - sin_y
-	m[1][1] = cos_x
-	m[2][1] = sin_x
-	m[0][2] = sin_y
-	m[1][2] = -sin_x * cos_y
-	m[2][2] = cos_x * cos_y
-	m[3][3] = 1
+	m[0, 0] = cos_y
+	m[0, 1] = -sin_x * - sin_y
+	m[0, 2] = -cos_x * - sin_y
+	m[1, 1] = cos_x
+	m[1, 2] = sin_x
+	m[2, 0] = sin_y
+	m[2, 1] = -sin_x * cos_y
+	m[2, 2] = cos_x * cos_y
+	m[3, 3] = 1
 	return
 }
 
@@ -821,15 +821,15 @@ matrix4_from_euler_angles_xy_f32 :: proc(angle_x, angle_y: f32) -> (m: Matrix4f3
 matrix4_from_euler_angles_yx_f32 :: proc(angle_y, angle_x: f32) -> (m: Matrix4f32) {
 	cos_x, sin_x := math.cos(angle_x), math.sin(angle_x)
 	cos_y, sin_y := math.cos(angle_y), math.sin(angle_y)
-	m[0][0] = cos_y
-	m[2][0] = -sin_y
-	m[0][1] = sin_y*sin_x
-	m[1][1] = cos_x
-	m[2][1] = cos_y*sin_x
-	m[0][2] = sin_y*cos_x
-	m[1][2] = -sin_x
-	m[2][2] = cos_y*cos_x
-	m[3][3] = 1
+	m[0, 0] = cos_y
+	m[0, 2] = -sin_y
+	m[1, 0] = sin_y*sin_x
+	m[1, 1] = cos_x
+	m[1, 2] = cos_y*sin_x
+	m[2, 0] = sin_y*cos_x
+	m[2, 1] = -sin_x
+	m[2, 2] = cos_y*cos_x
+	m[3, 3] = 1
 	return
 }
 
@@ -855,22 +855,22 @@ matrix4_from_euler_angles_xyz_f32 :: proc(t1, t2, t3: f32) -> (m: Matrix4f32) {
 	s2 := math.sin(-t2)
 	s3 := math.sin(-t3)
 
-	m[0][0] = c2 * c3
-	m[0][1] =-c1 * s3 + s1 * s2 * c3
-	m[0][2] = s1 * s3 + c1 * s2 * c3
-	m[0][3] = 0
-	m[1][0] = c2 * s3
-	m[1][1] = c1 * c3 + s1 * s2 * s3
-	m[1][2] =-s1 * c3 + c1 * s2 * s3
-	m[1][3] = 0
-	m[2][0] =-s2
-	m[2][1] = s1 * c2
-	m[2][2] = c1 * c2
-	m[2][3] = 0
-	m[3][0] = 0
-	m[3][1] = 0
-	m[3][2] = 0
-	m[3][3] = 1
+	m[0, 0] = c2 * c3
+	m[1, 0] =-c1 * s3 + s1 * s2 * c3
+	m[2, 0] = s1 * s3 + c1 * s2 * c3
+	m[3, 0] = 0
+	m[0, 1] = c2 * s3
+	m[1, 1] = c1 * c3 + s1 * s2 * s3
+	m[2, 1] =-s1 * c3 + c1 * s2 * s3
+	m[3, 1] = 0
+	m[0, 2] =-s2
+	m[1, 2] = s1 * c2
+	m[2, 2] = c1 * c2
+	m[3, 2] = 0
+	m[0, 3] = 0
+	m[1, 3] = 0
+	m[2, 3] = 0
+	m[3, 3] = 1
 	return
 }
 
@@ -882,22 +882,22 @@ matrix4_from_euler_angles_yxz_f32 :: proc(yaw, pitch, roll: f32) -> (m: Matrix4f
 	cb := math.cos(roll)
 	sb := math.sin(roll)
 
-	m[0][0] = ch * cb + sh * sp * sb
-	m[0][1] = sb * cp
-	m[0][2] = -sh * cb + ch * sp * sb
-	m[0][3] = 0
-	m[1][0] = -ch * sb + sh * sp * cb
-	m[1][1] = cb * cp
-	m[1][2] = sb * sh + ch * sp * cb
-	m[1][3] = 0
-	m[2][0] = sh * cp
-	m[2][1] = -sp
-	m[2][2] = ch * cp
-	m[2][3] = 0
-	m[3][0] = 0
-	m[3][1] = 0
-	m[3][2] = 0
-	m[3][3] = 1
+	m[0, 0] = ch * cb + sh * sp * sb
+	m[1, 0] = sb * cp
+	m[2, 0] = -sh * cb + ch * sp * sb
+	m[3, 0] = 0
+	m[0, 1] = -ch * sb + sh * sp * cb
+	m[1, 1] = cb * cp
+	m[2, 1] = sb * sh + ch * sp * cb
+	m[3, 1] = 0
+	m[0, 2] = sh * cp
+	m[1, 2] = -sp
+	m[2, 2] = ch * cp
+	m[3, 2] = 0
+	m[0, 3] = 0
+	m[1, 3] = 0
+	m[2, 3] = 0
+	m[3, 3] = 1
 	return
 }
 
@@ -909,22 +909,22 @@ matrix4_from_euler_angles_xzx_f32 :: proc(t1, t2, t3: f32) -> (m: Matrix4f32) {
 	c3 := math.cos(t3)
 	s3 := math.sin(t3)
 
-	m[0][0] = c2
-	m[0][1] = c1 * s2
-	m[0][2] = s1 * s2
-	m[0][3] = 0
-	m[1][0] =-c3 * s2
-	m[1][1] = c1 * c2 * c3 - s1 * s3
-	m[1][2] = c1 * s3 + c2 * c3 * s1
-	m[1][3] = 0
-	m[2][0] = s2 * s3
-	m[2][1] =-c3 * s1 - c1 * c2 * s3
-	m[2][2] = c1 * c3 - c2 * s1 * s3
-	m[2][3] = 0
-	m[3][0] = 0
-	m[3][1] = 0
-	m[3][2] = 0
-	m[3][3] = 1
+	m[0, 0] = c2
+	m[1, 0] = c1 * s2
+	m[2, 0] = s1 * s2
+	m[3, 0] = 0
+	m[0, 1] =-c3 * s2
+	m[1, 1] = c1 * c2 * c3 - s1 * s3
+	m[2, 1] = c1 * s3 + c2 * c3 * s1
+	m[3, 1] = 0
+	m[0, 2] = s2 * s3
+	m[1, 2] =-c3 * s1 - c1 * c2 * s3
+	m[2, 2] = c1 * c3 - c2 * s1 * s3
+	m[3, 2] = 0
+	m[0, 3] = 0
+	m[1, 3] = 0
+	m[2, 3] = 0
+	m[3, 3] = 1
 	return
 }
 
@@ -936,22 +936,22 @@ matrix4_from_euler_angles_xyx_f32 :: proc(t1, t2, t3: f32) -> (m: Matrix4f32) {
 	c3 := math.cos(t3)
 	s3 := math.sin(t3)
 
-	m[0][0] = c2
-	m[0][1] = s1 * s2
-	m[0][2] =-c1 * s2
-	m[0][3] = 0
-	m[1][0] = s2 * s3
-	m[1][1] = c1 * c3 - c2 * s1 * s3
-	m[1][2] = c3 * s1 + c1 * c2 * s3
-	m[1][3] = 0
-	m[2][0] = c3 * s2
-	m[2][1] =-c1 * s3 - c2 * c3 * s1
-	m[2][2] = c1 * c2 * c3 - s1 * s3
-	m[2][3] = 0
-	m[3][0] = 0
-	m[3][1] = 0
-	m[3][2] = 0
-	m[3][3] = 1
+	m[0, 0] = c2
+	m[1, 0] = s1 * s2
+	m[2, 0] =-c1 * s2
+	m[3, 0] = 0
+	m[0, 1] = s2 * s3
+	m[1, 1] = c1 * c3 - c2 * s1 * s3
+	m[2, 1] = c3 * s1 + c1 * c2 * s3
+	m[3, 1] = 0
+	m[0, 2] = c3 * s2
+	m[1, 2] =-c1 * s3 - c2 * c3 * s1
+	m[2, 2] = c1 * c2 * c3 - s1 * s3
+	m[3, 2] = 0
+	m[0, 3] = 0
+	m[1, 3] = 0
+	m[2, 3] = 0
+	m[3, 3] = 1
 	return
 }
 
@@ -963,22 +963,22 @@ matrix4_from_euler_angles_yxy_f32 :: proc(t1, t2, t3: f32) -> (m: Matrix4f32) {
 	c3 := math.cos(t3)
 	s3 := math.sin(t3)
 
-	m[0][0] = c1 * c3 - c2 * s1 * s3
-	m[0][1] = s2* s3
-	m[0][2] =-c3 * s1 - c1 * c2 * s3
-	m[0][3] = 0
-	m[1][0] = s1 * s2
-	m[1][1] = c2
-	m[1][2] = c1 * s2
-	m[1][3] = 0
-	m[2][0] = c1 * s3 + c2 * c3 * s1
-	m[2][1] =-c3 * s2
-	m[2][2] = c1 * c2 * c3 - s1 * s3
-	m[2][3] = 0
-	m[3][0] = 0
-	m[3][1] = 0
-	m[3][2] = 0
-	m[3][3] = 1
+	m[0, 0] = c1 * c3 - c2 * s1 * s3
+	m[1, 0] = s2* s3
+	m[2, 0] =-c3 * s1 - c1 * c2 * s3
+	m[3, 0] = 0
+	m[0, 1] = s1 * s2
+	m[1, 1] = c2
+	m[2, 1] = c1 * s2
+	m[3, 1] = 0
+	m[0, 2] = c1 * s3 + c2 * c3 * s1
+	m[1, 2] =-c3 * s2
+	m[2, 2] = c1 * c2 * c3 - s1 * s3
+	m[3, 2] = 0
+	m[0, 3] = 0
+	m[1, 3] = 0
+	m[2, 3] = 0
+	m[3, 3] = 1
 	return
 }
 
@@ -990,22 +990,22 @@ matrix4_from_euler_angles_yzy_f32 :: proc(t1, t2, t3: f32) -> (m: Matrix4f32) {
 	c3 := math.cos(t3)
 	s3 := math.sin(t3)
 
-	m[0][0] = c1 * c2 * c3 - s1 * s3
-	m[0][1] = c3 * s2
-	m[0][2] =-c1 * s3 - c2 * c3 * s1
-	m[0][3] = 0
-	m[1][0] =-c1 * s2
-	m[1][1] = c2
-	m[1][2] = s1 * s2
-	m[1][3] = 0
-	m[2][0] = c3 * s1 + c1 * c2 * s3
-	m[2][1] = s2 * s3
-	m[2][2] = c1 * c3 - c2 * s1 * s3
-	m[2][3] = 0
-	m[3][0] = 0
-	m[3][1] = 0
-	m[3][2] = 0
-	m[3][3] = 1
+	m[0, 0] = c1 * c2 * c3 - s1 * s3
+	m[1, 0] = c3 * s2
+	m[2, 0] =-c1 * s3 - c2 * c3 * s1
+	m[3, 0] = 0
+	m[0, 1] =-c1 * s2
+	m[1, 1] = c2
+	m[2, 1] = s1 * s2
+	m[3, 1] = 0
+	m[0, 2] = c3 * s1 + c1 * c2 * s3
+	m[1, 2] = s2 * s3
+	m[2, 2] = c1 * c3 - c2 * s1 * s3
+	m[3, 2] = 0
+	m[0, 3] = 0
+	m[1, 3] = 0
+	m[2, 3] = 0
+	m[3, 3] = 1
 	return
 }
 
@@ -1017,22 +1017,22 @@ matrix4_from_euler_angles_zyz_f32 :: proc(t1, t2, t3: f32) -> (m: Matrix4f32) {
 	c3 := math.cos(t3)
 	s3 := math.sin(t3)
 
-	m[0][0] = c1 * c2 * c3 - s1 * s3
-	m[0][1] = c1 * s3 + c2 * c3 * s1
-	m[0][2] =-c3 * s2
-	m[0][3] = 0
-	m[1][0] =-c3 * s1 - c1 * c2 * s3
-	m[1][1] = c1 * c3 - c2 * s1 * s3
-	m[1][2] = s2 * s3
-	m[1][3] = 0
-	m[2][0] = c1 * s2
-	m[2][1] = s1 * s2
-	m[2][2] = c2
-	m[2][3] = 0
-	m[3][0] = 0
-	m[3][1] = 0
-	m[3][2] = 0
-	m[3][3] = 1
+	m[0, 0] = c1 * c2 * c3 - s1 * s3
+	m[1, 0] = c1 * s3 + c2 * c3 * s1
+	m[2, 0] =-c3 * s2
+	m[3, 0] = 0
+	m[0, 1] =-c3 * s1 - c1 * c2 * s3
+	m[1, 1] = c1 * c3 - c2 * s1 * s3
+	m[2, 1] = s2 * s3
+	m[3, 1] = 0
+	m[0, 2] = c1 * s2
+	m[1, 2] = s1 * s2
+	m[2, 2] = c2
+	m[3, 2] = 0
+	m[0, 3] = 0
+	m[1, 3] = 0
+	m[2, 3] = 0
+	m[3, 3] = 1
 	return
 }
 
@@ -1044,22 +1044,22 @@ matrix4_from_euler_angles_zxz_f32 :: proc(t1, t2, t3: f32) -> (m: Matrix4f32) {
 	c3 := math.cos(t3)
 	s3 := math.sin(t3)
 
-	m[0][0] = c1 * c3 - c2 * s1 * s3
-	m[0][1] = c3 * s1 + c1 * c2 * s3
-	m[0][2] = s2 *s3
-	m[0][3] = 0
-	m[1][0] =-c1 * s3 - c2 * c3 * s1
-	m[1][1] = c1 * c2 * c3 - s1 * s3
-	m[1][2] = c3 * s2
-	m[1][3] = 0
-	m[2][0] = s1 * s2
-	m[2][1] =-c1 * s2
-	m[2][2] = c2
-	m[2][3] = 0
-	m[3][0] = 0
-	m[3][1] = 0
-	m[3][2] = 0
-	m[3][3] = 1
+	m[0, 0] = c1 * c3 - c2 * s1 * s3
+	m[1, 0] = c3 * s1 + c1 * c2 * s3
+	m[2, 0] = s2 *s3
+	m[3, 0] = 0
+	m[0, 1] =-c1 * s3 - c2 * c3 * s1
+	m[1, 1] = c1 * c2 * c3 - s1 * s3
+	m[2, 1] = c3 * s2
+	m[3, 1] = 0
+	m[0, 2] = s1 * s2
+	m[1, 2] =-c1 * s2
+	m[2, 2] = c2
+	m[3, 2] = 0
+	m[0, 3] = 0
+	m[1, 3] = 0
+	m[2, 3] = 0
+	m[3, 3] = 1
 	return
 }
 
@@ -1072,22 +1072,22 @@ matrix4_from_euler_angles_xzy_f32 :: proc(t1, t2, t3: f32) -> (m: Matrix4f32) {
 	c3 := math.cos(t3)
 	s3 := math.sin(t3)
 
-	m[0][0] = c2 * c3
-	m[0][1] = s1 * s3 + c1 * c3 * s2
-	m[0][2] = c3 * s1 * s2 - c1 * s3
-	m[0][3] = 0
-	m[1][0] =-s2
-	m[1][1] = c1 * c2
-	m[1][2] = c2 * s1
-	m[1][3] = 0
-	m[2][0] = c2 * s3
-	m[2][1] = c1 * s2 * s3 - c3 * s1
-	m[2][2] = c1 * c3 + s1 * s2 *s3
-	m[2][3] = 0
-	m[3][0] = 0
-	m[3][1] = 0
-	m[3][2] = 0
-	m[3][3] = 1
+	m[0, 0] = c2 * c3
+	m[1, 0] = s1 * s3 + c1 * c3 * s2
+	m[2, 0] = c3 * s1 * s2 - c1 * s3
+	m[3, 0] = 0
+	m[0, 1] =-s2
+	m[1, 1] = c1 * c2
+	m[2, 1] = c2 * s1
+	m[3, 1] = 0
+	m[0, 2] = c2 * s3
+	m[1, 2] = c1 * s2 * s3 - c3 * s1
+	m[2, 2] = c1 * c3 + s1 * s2 *s3
+	m[3, 2] = 0
+	m[0, 3] = 0
+	m[1, 3] = 0
+	m[2, 3] = 0
+	m[3, 3] = 1
 	return
 }
 
@@ -1099,22 +1099,22 @@ matrix4_from_euler_angles_yzx_f32 :: proc(t1, t2, t3: f32) -> (m: Matrix4f32) {
 	c3 := math.cos(t3)
 	s3 := math.sin(t3)
 
-	m[0][0] = c1 * c2
-	m[0][1] = s2
-	m[0][2] =-c2 * s1
-	m[0][3] = 0
-	m[1][0] = s1 * s3 - c1 * c3 * s2
-	m[1][1] = c2 * c3
-	m[1][2] = c1 * s3 + c3 * s1 * s2
-	m[1][3] = 0
-	m[2][0] = c3 * s1 + c1 * s2 * s3
-	m[2][1] =-c2 * s3
-	m[2][2] = c1 * c3 - s1 * s2 * s3
-	m[2][3] = 0
-	m[3][0] = 0
-	m[3][1] = 0
-	m[3][2] = 0
-	m[3][3] = 1
+	m[0, 0] = c1 * c2
+	m[1, 0] = s2
+	m[2, 0] =-c2 * s1
+	m[3, 0] = 0
+	m[0, 1] = s1 * s3 - c1 * c3 * s2
+	m[1, 1] = c2 * c3
+	m[2, 1] = c1 * s3 + c3 * s1 * s2
+	m[3, 1] = 0
+	m[0, 2] = c3 * s1 + c1 * s2 * s3
+	m[1, 2] =-c2 * s3
+	m[2, 2] = c1 * c3 - s1 * s2 * s3
+	m[3, 2] = 0
+	m[0, 3] = 0
+	m[1, 3] = 0
+	m[2, 3] = 0
+	m[3, 3] = 1
 	return
 }
 
@@ -1126,22 +1126,22 @@ matrix4_from_euler_angles_zyx_f32 :: proc(t1, t2, t3: f32) -> (m: Matrix4f32) {
 	c3 := math.cos(t3)
 	s3 := math.sin(t3)
 
-	m[0][0] = c1 * c2
-	m[0][1] = c2 * s1
-	m[0][2] =-s2
-	m[0][3] = 0
-	m[1][0] = c1 * s2 * s3 - c3 * s1
-	m[1][1] = c1 * c3 + s1 * s2 * s3
-	m[1][2] = c2 * s3
-	m[1][3] = 0
-	m[2][0] = s1 * s3 + c1 * c3 * s2
-	m[2][1] = c3 * s1 * s2 - c1 * s3
-	m[2][2] = c2 * c3
-	m[2][3] = 0
-	m[3][0] = 0
-	m[3][1] = 0
-	m[3][2] = 0
-	m[3][3] = 1
+	m[0, 0] = c1 * c2
+	m[1, 0] = c2 * s1
+	m[2, 0] =-s2
+	m[3, 0] = 0
+	m[0, 1] = c1 * s2 * s3 - c3 * s1
+	m[1, 1] = c1 * c3 + s1 * s2 * s3
+	m[2, 1] = c2 * s3
+	m[3, 1] = 0
+	m[0, 2] = s1 * s3 + c1 * c3 * s2
+	m[1, 2] = c3 * s1 * s2 - c1 * s3
+	m[2, 2] = c2 * c3
+	m[3, 2] = 0
+	m[0, 3] = 0
+	m[1, 3] = 0
+	m[2, 3] = 0
+	m[3, 3] = 1
 	return
 }
 
@@ -1153,22 +1153,22 @@ matrix4_from_euler_angles_zxy_f32 :: proc(t1, t2, t3: f32) -> (m: Matrix4f32) {
 	c3 := math.cos(t3)
 	s3 := math.sin(t3)
 
-	m[0][0] = c1 * c3 - s1 * s2 * s3
-	m[0][1] = c3 * s1 + c1 * s2 * s3
-	m[0][2] =-c2 * s3
-	m[0][3] = 0
-	m[1][0] =-c2 * s1
-	m[1][1] = c1 * c2
-	m[1][2] = s2
-	m[1][3] = 0
-	m[2][0] = c1 * s3 + c3 * s1 * s2
-	m[2][1] = s1 * s3 - c1 * c3 * s2
-	m[2][2] = c2 * c3
-	m[2][3] = 0
-	m[3][0] = 0
-	m[3][1] = 0
-	m[3][2] = 0
-	m[3][3] = 1
+	m[0, 0] = c1 * c3 - s1 * s2 * s3
+	m[1, 0] = c3 * s1 + c1 * s2 * s3
+	m[2, 0] =-c2 * s3
+	m[3, 0] = 0
+	m[0, 1] =-c2 * s1
+	m[1, 1] = c1 * c2
+	m[2, 1] = s2
+	m[3, 1] = 0
+	m[0, 2] = c1 * s3 + c3 * s1 * s2
+	m[1, 2] = s1 * s3 - c1 * c3 * s2
+	m[2, 2] = c2 * c3
+	m[3, 2] = 0
+	m[0, 3] = 0
+	m[1, 3] = 0
+	m[2, 3] = 0
+	m[3, 3] = 1
 	return
 }
 
@@ -1181,32 +1181,32 @@ matrix4_from_yaw_pitch_roll_f32 :: proc(yaw, pitch, roll: f32) -> (m: Matrix4f32
 	cb := math.cos(roll)
 	sb := math.sin(roll)
 
-	m[0][0] = ch * cb + sh * sp * sb
-	m[0][1] = sb * cp
-	m[0][2] = -sh * cb + ch * sp * sb
-	m[0][3] = 0
-	m[1][0] = -ch * sb + sh * sp * cb
-	m[1][1] = cb * cp
-	m[1][2] = sb * sh + ch * sp * cb
-	m[1][3] = 0
-	m[2][0] = sh * cp
-	m[2][1] = -sp
-	m[2][2] = ch * cp
-	m[2][3] = 0
-	m[3][0] = 0
-	m[3][1] = 0
-	m[3][2] = 0
-	m[3][3] = 1
+	m[0, 0] = ch * cb + sh * sp * sb
+	m[1, 0] = sb * cp
+	m[2, 0] = -sh * cb + ch * sp * sb
+	m[3, 0] = 0
+	m[0, 1] = -ch * sb + sh * sp * cb
+	m[1, 1] = cb * cp
+	m[2, 1] = sb * sh + ch * sp * cb
+	m[3, 1] = 0
+	m[0, 2] = sh * cp
+	m[1, 2] = -sp
+	m[2, 2] = ch * cp
+	m[3, 2] = 0
+	m[0, 3] = 0
+	m[1, 3] = 0
+	m[2, 3] = 0
+	m[3, 3] = 1
 	return m
 }
 
 euler_angles_xyz_from_matrix4_f32 :: proc(m: Matrix4f32) -> (t1, t2, t3: f32) {
-	T1 := math.atan2(m[2][1], m[2][2])
-	C2 := math.sqrt(m[0][0]*m[0][0] + m[1][0]*m[1][0])
-	T2 := math.atan2(-m[2][0], C2)
+	T1 := math.atan2(m[1, 2], m[2, 2])
+	C2 := math.sqrt(m[0, 0]*m[0, 0] + m[0, 1]*m[0, 1])
+	T2 := math.atan2(-m[0, 2], C2)
 	S1 := math.sin(T1)
 	C1 := math.cos(T1)
-	T3 := math.atan2(S1*m[0][2] - C1*m[0][1], C1*m[1][1] - S1*m[1][2])
+	T3 := math.atan2(S1*m[2, 0] - C1*m[1, 0], C1*m[1, 1] - S1*m[2, 1])
 	t1 = -T1
 	t2 = -T2
 	t3 = -T3
@@ -1214,12 +1214,12 @@ euler_angles_xyz_from_matrix4_f32 :: proc(m: Matrix4f32) -> (t1, t2, t3: f32) {
 }
 
 euler_angles_yxz_from_matrix4_f32 :: proc(m: Matrix4f32) -> (t1, t2, t3: f32) {
-	T1 := math.atan2(m[2][0], m[2][2])
-	C2 := math.sqrt(m[0][1]*m[0][1] + m[1][1]*m[1][1])
-	T2 := math.atan2(-m[2][1], C2)
+	T1 := math.atan2(m[0, 2], m[2, 2])
+	C2 := math.sqrt(m[1, 0]*m[1, 0] + m[1, 1]*m[1, 1])
+	T2 := math.atan2(-m[1, 2], C2)
 	S1 := math.sin(T1)
 	C1 := math.cos(T1)
-	T3 := math.atan2(S1*m[1][2] - C1*m[1][0], C1*m[0][0] - S1*m[0][2])
+	T3 := math.atan2(S1*m[2, 1] - C1*m[0, 1], C1*m[0, 0] - S1*m[2, 0])
 	t1 = T1
 	t2 = T2
 	t3 = T3
@@ -1227,12 +1227,12 @@ euler_angles_yxz_from_matrix4_f32 :: proc(m: Matrix4f32) -> (t1, t2, t3: f32) {
 }
 
 euler_angles_xzx_from_matrix4_f32 :: proc(m: Matrix4f32) -> (t1, t2, t3: f32) {
-	T1 := math.atan2(m[0][2], m[0][1])
-	S2 := math.sqrt(m[1][0]*m[1][0] + m[2][0]*m[2][0])
-	T2 := math.atan2(S2, m[0][0])
+	T1 := math.atan2(m[2, 0], m[1, 0])
+	S2 := math.sqrt(m[0, 1]*m[0, 1] + m[0, 2]*m[0, 2])
+	T2 := math.atan2(S2, m[0, 0])
 	S1 := math.sin(T1)
 	C1 := math.cos(T1)
-	T3 := math.atan2(C1*m[1][2] - S1*m[1][1], C1*m[2][2] - S1*m[2][1])
+	T3 := math.atan2(C1*m[2, 1] - S1*m[1, 1], C1*m[2, 2] - S1*m[1, 2])
 	t1 = T1
 	t2 = T2
 	t3 = T3
@@ -1240,12 +1240,12 @@ euler_angles_xzx_from_matrix4_f32 :: proc(m: Matrix4f32) -> (t1, t2, t3: f32) {
 }
 
 euler_angles_xyx_from_matrix4_f32 :: proc(m: Matrix4f32) -> (t1, t2, t3: f32) {
-	T1 := math.atan2(m[0][1], -m[0][2])
-	S2 := math.sqrt(m[1][0]*m[1][0] + m[2][0]*m[2][0])
-	T2 := math.atan2(S2, m[0][0])
+	T1 := math.atan2(m[1, 0], -m[2, 0])
+	S2 := math.sqrt(m[0, 1]*m[0, 1] + m[0, 2]*m[0, 2])
+	T2 := math.atan2(S2, m[0, 0])
 	S1 := math.sin(T1)
 	C1 := math.cos(T1)
-	T3 := math.atan2(-C1*m[2][1] - S1*m[2][2], C1*m[1][1] + S1*m[1][2])
+	T3 := math.atan2(-C1*m[1, 2] - S1*m[2, 2], C1*m[1, 1] + S1*m[2, 1])
 	t1 = T1
 	t2 = T2
 	t3 = T3
@@ -1253,12 +1253,12 @@ euler_angles_xyx_from_matrix4_f32 :: proc(m: Matrix4f32) -> (t1, t2, t3: f32) {
 }
 
 euler_angles_yxy_from_matrix4_f32 :: proc(m: Matrix4f32) -> (t1, t2, t3: f32) {
-	T1 := math.atan2(m[1][0], m[1][2])
-	S2 := math.sqrt(m[0][1]*m[0][1] + m[2][1]*m[2][1])
-	T2 := math.atan2(S2, m[1][1])
+	T1 := math.atan2(m[0, 1], m[2, 1])
+	S2 := math.sqrt(m[1, 0]*m[1, 0] + m[1, 2]*m[1, 2])
+	T2 := math.atan2(S2, m[1, 1])
 	S1 := math.sin(T1)
 	C1 := math.cos(T1)
-	T3 := math.atan2(C1*m[2][0] - S1*m[2][2], C1*m[0][0] - S1*m[0][2])
+	T3 := math.atan2(C1*m[0, 2] - S1*m[2, 2], C1*m[0, 0] - S1*m[2, 0])
 	t1 = T1
 	t2 = T2
 	t3 = T3
@@ -1266,24 +1266,24 @@ euler_angles_yxy_from_matrix4_f32 :: proc(m: Matrix4f32) -> (t1, t2, t3: f32) {
 }
 
 euler_angles_yzy_from_matrix4_f32 :: proc(m: Matrix4f32) -> (t1, t2, t3: f32) {
-	T1 := math.atan2(m[1][2], -m[1][0])
-	S2 := math.sqrt(m[0][1]*m[0][1] + m[2][1]*m[2][1])
-	T2 := math.atan2(S2, m[1][1])
+	T1 := math.atan2(m[2, 1], -m[0, 1])
+	S2 := math.sqrt(m[1, 0]*m[1, 0] + m[1, 2]*m[1, 2])
+	T2 := math.atan2(S2, m[1, 1])
 	S1 := math.sin(T1)
 	C1 := math.cos(T1)
-	T3 := math.atan2(-S1*m[0][0] - C1*m[0][2], S1*m[2][0] + C1*m[2][2])
+	T3 := math.atan2(-S1*m[0, 0] - C1*m[2, 0], S1*m[0, 2] + C1*m[2, 2])
 	t1 = T1
 	t2 = T2
 	t3 = T3
 	return
 }
 euler_angles_zyz_from_matrix4_f32 :: proc(m: Matrix4f32) -> (t1, t2, t3: f32) {
-	T1 := math.atan2(m[2][1], m[2][0])
-	S2 := math.sqrt(m[0][2]*m[0][2] + m[1][2]*m[1][2])
-	T2 := math.atan2(S2, m[2][2])
+	T1 := math.atan2(m[1, 2], m[0, 2])
+	S2 := math.sqrt(m[2, 0]*m[2, 0] + m[2, 1]*m[2, 1])
+	T2 := math.atan2(S2, m[2, 2])
 	S1 := math.sin(T1)
 	C1 := math.cos(T1)
-	T3 := math.atan2(C1*m[0][1] - S1*m[0][0], C1*m[1][1] - S1*m[1][0])
+	T3 := math.atan2(C1*m[1, 0] - S1*m[0, 0], C1*m[1, 1] - S1*m[0, 1])
 	t1 = T1
 	t2 = T2
 	t3 = T3
@@ -1291,12 +1291,12 @@ euler_angles_zyz_from_matrix4_f32 :: proc(m: Matrix4f32) -> (t1, t2, t3: f32) {
 }
 
 euler_angles_zxz_from_matrix4_f32 :: proc(m: Matrix4f32) -> (t1, t2, t3: f32) {
-	T1 := math.atan2(m[2][0], -m[2][1])
-	S2 := math.sqrt(m[0][2]*m[0][2] + m[1][2]*m[1][2])
-	T2 := math.atan2(S2, m[2][2])
+	T1 := math.atan2(m[0, 2], -m[1, 2])
+	S2 := math.sqrt(m[2, 0]*m[2, 0] + m[2, 1]*m[2, 1])
+	T2 := math.atan2(S2, m[2, 2])
 	S1 := math.sin(T1)
 	C1 := math.cos(T1)
-	T3 := math.atan2(-C1*m[1][0] - S1*m[1][1], C1*m[0][0] + S1*m[0][1])
+	T3 := math.atan2(-C1*m[0, 1] - S1*m[1, 1], C1*m[0, 0] + S1*m[1, 0])
 	t1 = T1
 	t2 = T2
 	t3 = T3
@@ -1304,12 +1304,12 @@ euler_angles_zxz_from_matrix4_f32 :: proc(m: Matrix4f32) -> (t1, t2, t3: f32) {
 }
 
 euler_angles_xzy_from_matrix4_f32 :: proc(m: Matrix4f32) -> (t1, t2, t3: f32) {
-	T1 := math.atan2(m[1][2], m[1][1])
-	C2 := math.sqrt(m[0][0]*m[0][0] + m[2][0]*m[2][0])
-	T2 := math.atan2(-m[1][0], C2)
+	T1 := math.atan2(m[2, 1], m[1, 1])
+	C2 := math.sqrt(m[0, 0]*m[0, 0] + m[0, 2]*m[0, 2])
+	T2 := math.atan2(-m[0, 1], C2)
 	S1 := math.sin(T1)
 	C1 := math.cos(T1)
-	T3 := math.atan2(S1*m[0][1] - C1*m[0][2], C1*m[2][2] - S1*m[2][1])
+	T3 := math.atan2(S1*m[1, 0] - C1*m[2, 0], C1*m[2, 2] - S1*m[1, 2])
 	t1 = T1
 	t2 = T2
 	t3 = T3
@@ -1317,12 +1317,12 @@ euler_angles_xzy_from_matrix4_f32 :: proc(m: Matrix4f32) -> (t1, t2, t3: f32) {
 }
 
 euler_angles_yzx_from_matrix4_f32 :: proc(m: Matrix4f32) -> (t1, t2, t3: f32) {
-	T1 := math.atan2(-m[0][2], m[0][0])
-	C2 := math.sqrt(m[1][1]*m[1][1] + m[2][1]*m[2][1])
-	T2 := math.atan2(m[0][1], C2)
+	T1 := math.atan2(-m[2, 0], m[0, 0])
+	C2 := math.sqrt(m[1, 1]*m[1, 1] + m[1, 2]*m[1, 2])
+	T2 := math.atan2(m[1, 0], C2)
 	S1 := math.sin(T1)
 	C1 := math.cos(T1)
-	T3 := math.atan2(S1*m[1][0] + C1*m[1][2], S1*m[2][0] + C1*m[2][2])
+	T3 := math.atan2(S1*m[0, 1] + C1*m[2, 1], S1*m[0, 2] + C1*m[2, 2])
 	t1 = T1
 	t2 = T2
 	t3 = T3
@@ -1330,12 +1330,12 @@ euler_angles_yzx_from_matrix4_f32 :: proc(m: Matrix4f32) -> (t1, t2, t3: f32) {
 }
 
 euler_angles_zyx_from_matrix4_f32 :: proc(m: Matrix4f32) -> (t1, t2, t3: f32) {
-	T1 := math.atan2(m[0][1], m[0][0])
-	C2 := math.sqrt(m[1][2]*m[1][2] + m[2][2]*m[2][2])
-	T2 := math.atan2(-m[0][2], C2)
+	T1 := math.atan2(m[1, 0], m[0, 0])
+	C2 := math.sqrt(m[2, 1]*m[2, 1] + m[2, 2]*m[2, 2])
+	T2 := math.atan2(-m[2, 0], C2)
 	S1 := math.sin(T1)
 	C1 := math.cos(T1)
-	T3 := math.atan2(S1*m[2][0] - C1*m[2][1], C1*m[1][1] - S1*m[1][0])
+	T3 := math.atan2(S1*m[0, 2] - C1*m[1, 2], C1*m[1, 1] - S1*m[0, 1])
 	t1 = T1
 	t2 = T2
 	t3 = T3
@@ -1343,12 +1343,12 @@ euler_angles_zyx_from_matrix4_f32 :: proc(m: Matrix4f32) -> (t1, t2, t3: f32) {
 }
 
 euler_angles_zxy_from_matrix4_f32 :: proc(m: Matrix4f32) -> (t1, t2, t3: f32) {
-	T1 := math.atan2(-m[1][0], m[1][1])
-	C2 := math.sqrt(m[0][2]*m[0][2] + m[2][2]*m[2][2])
-	T2 := math.atan2(m[1][2], C2)
+	T1 := math.atan2(-m[0, 1], m[1, 1])
+	C2 := math.sqrt(m[2, 0]*m[2, 0] + m[2, 2]*m[2, 2])
+	T2 := math.atan2(m[2, 1], C2)
 	S1 := math.sin(T1)
 	C1 := math.cos(T1)
-	T3 := math.atan2(C1*m[2][0] + S1*m[2][1], C1*m[0][0] + S1*m[0][1])
+	T3 := math.atan2(C1*m[0, 2] + S1*m[1, 2], C1*m[0, 0] + S1*m[1, 0])
 	t1 = T1
 	t2 = T2
 	t3 = T3
diff --git a/core/math/linalg/specific_euler_angles_f64.odin b/core/math/linalg/specific_euler_angles_f64.odin
index efaddd651..2f8f758b0 100644
--- a/core/math/linalg/specific_euler_angles_f64.odin
+++ b/core/math/linalg/specific_euler_angles_f64.odin
@@ -212,29 +212,29 @@ euler_angles_zxy_from_quaternion_f64 :: proc(q: Quaternionf64) -> (t1, t2, t3: f
 
 matrix3_from_euler_angle_x_f64 :: proc(angle_x: f64) -> (m: Matrix3f64) {
 	cos_x, sin_x := math.cos(angle_x), math.sin(angle_x)
-	m[0][0] = 1
-	m[1][1] = +cos_x
-	m[2][1] = +sin_x
-	m[1][2] = -sin_x
-	m[2][2] = +cos_x
+	m[0, 0] = 1
+	m[1, 1] = +cos_x
+	m[1, 2] = +sin_x
+	m[2, 1] = -sin_x
+	m[2, 2] = +cos_x
 	return
 }
 matrix3_from_euler_angle_y_f64 :: proc(angle_y: f64) -> (m: Matrix3f64) {
 	cos_y, sin_y := math.cos(angle_y), math.sin(angle_y)
-	m[0][0] = +cos_y
-	m[2][0] = -sin_y
-	m[1][1] = 1
-	m[0][2] = +sin_y
-	m[2][2] = +cos_y
+	m[0, 0] = +cos_y
+	m[0, 2] = -sin_y
+	m[1, 1] = 1
+	m[2, 0] = +sin_y
+	m[2, 2] = +cos_y
 	return
 }
 matrix3_from_euler_angle_z_f64 :: proc(angle_z: f64) -> (m: Matrix3f64) {
 	cos_z, sin_z := math.cos(angle_z), math.sin(angle_z)
-	m[0][0] = +cos_z
-	m[1][0] = +sin_z
-	m[1][1] = +cos_z
-	m[0][1] = -sin_z
-	m[2][2] = 1
+	m[0, 0] = +cos_z
+	m[0, 1] = +sin_z
+	m[1, 1] = +cos_z
+	m[1, 0] = -sin_z
+	m[2, 2] = 1
 	return
 }
 
@@ -242,31 +242,31 @@ matrix3_from_euler_angle_z_f64 :: proc(angle_z: f64) -> (m: Matrix3f64) {
 matrix3_from_derived_euler_angle_x_f64 :: proc(angle_x: f64, angular_velocity_x: f64) -> (m: Matrix3f64) {
 	cos_x := math.cos(angle_x) * angular_velocity_x
 	sin_x := math.sin(angle_x) * angular_velocity_x
-	m[0][0] = 1
-	m[1][1] = +cos_x
-	m[2][1] = +sin_x
-	m[1][2] = -sin_x
-	m[2][2] = +cos_x
+	m[0, 0] = 1
+	m[1, 1] = +cos_x
+	m[1, 2] = +sin_x
+	m[2, 1] = -sin_x
+	m[2, 2] = +cos_x
 	return
 }
 matrix3_from_derived_euler_angle_y_f64 :: proc(angle_y: f64, angular_velocity_y: f64) -> (m: Matrix3f64) {
 	cos_y := math.cos(angle_y) * angular_velocity_y
 	sin_y := math.sin(angle_y) * angular_velocity_y
-	m[0][0] = +cos_y
-	m[2][0] = -sin_y
-	m[1][1] = 1
-	m[0][2] = +sin_y
-	m[2][2] = +cos_y
+	m[0, 0] = +cos_y
+	m[0, 2] = -sin_y
+	m[1, 1] = 1
+	m[2, 0] = +sin_y
+	m[2, 2] = +cos_y
 	return
 }
 matrix3_from_derived_euler_angle_z_f64 :: proc(angle_z: f64, angular_velocity_z: f64) -> (m: Matrix3f64) {
 	cos_z := math.cos(angle_z) * angular_velocity_z
 	sin_z := math.sin(angle_z) * angular_velocity_z
-	m[0][0] = +cos_z
-	m[1][0] = +sin_z
-	m[1][1] = +cos_z
-	m[0][1] = -sin_z
-	m[2][2] = 1
+	m[0, 0] = +cos_z
+	m[0, 1] = +sin_z
+	m[1, 1] = +cos_z
+	m[1, 0] = -sin_z
+	m[2, 2] = 1
 	return
 }
 
@@ -274,14 +274,14 @@ matrix3_from_derived_euler_angle_z_f64 :: proc(angle_z: f64, angular_velocity_z:
 matrix3_from_euler_angles_xy_f64 :: proc(angle_x, angle_y: f64) -> (m: Matrix3f64) {
 	cos_x, sin_x := math.cos(angle_x), math.sin(angle_x)
 	cos_y, sin_y := math.cos(angle_y), math.sin(angle_y)
-	m[0][0] = cos_y
-	m[1][0] = -sin_x * - sin_y
-	m[2][0] = -cos_x * - sin_y
-	m[1][1] = cos_x
-	m[2][1] = sin_x
-	m[0][2] = sin_y
-	m[1][2] = -sin_x * cos_y
-	m[2][2] = cos_x * cos_y
+	m[0, 0] = cos_y
+	m[0, 1] = -sin_x * - sin_y
+	m[0, 2] = -cos_x * - sin_y
+	m[1, 1] = cos_x
+	m[1, 2] = sin_x
+	m[2, 0] = sin_y
+	m[2, 1] = -sin_x * cos_y
+	m[2, 2] = cos_x * cos_y
 	return
 }
 
@@ -289,14 +289,14 @@ matrix3_from_euler_angles_xy_f64 :: proc(angle_x, angle_y: f64) -> (m: Matrix3f6
 matrix3_from_euler_angles_yx_f64 :: proc(angle_y, angle_x: f64) -> (m: Matrix3f64) {
 	cos_x, sin_x := math.cos(angle_x), math.sin(angle_x)
 	cos_y, sin_y := math.cos(angle_y), math.sin(angle_y)
-	m[0][0] = cos_y
-	m[2][0] = -sin_y
-	m[0][1] = sin_y*sin_x
-	m[1][1] = cos_x
-	m[2][1] = cos_y*sin_x
-	m[0][2] = sin_y*cos_x
-	m[1][2] = -sin_x
-	m[2][2] = cos_y*cos_x
+	m[0, 0] = cos_y
+	m[0, 2] = -sin_y
+	m[1, 0] = sin_y*sin_x
+	m[1, 1] = cos_x
+	m[1, 2] = cos_y*sin_x
+	m[2, 0] = sin_y*cos_x
+	m[2, 1] = -sin_x
+	m[2, 2] = cos_y*cos_x
 	return
 }
 
@@ -322,15 +322,15 @@ matrix3_from_euler_angles_xyz_f64 :: proc(t1, t2, t3: f64) -> (m: Matrix3f64) {
 	s2 := math.sin(-t2)
 	s3 := math.sin(-t3)
 
-	m[0][0] = c2 * c3
-	m[0][1] =-c1 * s3 + s1 * s2 * c3
-	m[0][2] = s1 * s3 + c1 * s2 * c3
-	m[1][0] = c2 * s3
-	m[1][1] = c1 * c3 + s1 * s2 * s3
-	m[1][2] =-s1 * c3 + c1 * s2 * s3
-	m[2][0] =-s2
-	m[2][1] = s1 * c2
-	m[2][2] = c1 * c2
+	m[0, 0] = c2 * c3
+	m[1, 0] =-c1 * s3 + s1 * s2 * c3
+	m[2, 0] = s1 * s3 + c1 * s2 * c3
+	m[0, 1] = c2 * s3
+	m[1, 1] = c1 * c3 + s1 * s2 * s3
+	m[2, 1] =-s1 * c3 + c1 * s2 * s3
+	m[0, 2] =-s2
+	m[1, 2] = s1 * c2
+	m[2, 2] = c1 * c2
 	return
 }
 
@@ -342,15 +342,15 @@ matrix3_from_euler_angles_yxz_f64 :: proc(yaw, pitch, roll: f64) -> (m: Matrix3f
 	cb := math.cos(roll)
 	sb := math.sin(roll)
 
-	m[0][0] = ch * cb + sh * sp * sb
-	m[0][1] = sb * cp
-	m[0][2] = -sh * cb + ch * sp * sb
-	m[1][0] = -ch * sb + sh * sp * cb
-	m[1][1] = cb * cp
-	m[1][2] = sb * sh + ch * sp * cb
-	m[2][0] = sh * cp
-	m[2][1] = -sp
-	m[2][2] = ch * cp
+	m[0, 0] = ch * cb + sh * sp * sb
+	m[1, 0] = sb * cp
+	m[2, 0] = -sh * cb + ch * sp * sb
+	m[0, 1] = -ch * sb + sh * sp * cb
+	m[1, 1] = cb * cp
+	m[2, 1] = sb * sh + ch * sp * cb
+	m[0, 2] = sh * cp
+	m[1, 2] = -sp
+	m[2, 2] = ch * cp
 	return
 }
 
@@ -362,15 +362,15 @@ matrix3_from_euler_angles_xzx_f64 :: proc(t1, t2, t3: f64) -> (m: Matrix3f64) {
 	c3 := math.cos(t3)
 	s3 := math.sin(t3)
 
-	m[0][0] = c2
-	m[0][1] = c1 * s2
-	m[0][2] = s1 * s2
-	m[1][0] =-c3 * s2
-	m[1][1] = c1 * c2 * c3 - s1 * s3
-	m[1][2] = c1 * s3 + c2 * c3 * s1
-	m[2][0] = s2 * s3
-	m[2][1] =-c3 * s1 - c1 * c2 * s3
-	m[2][2] = c1 * c3 - c2 * s1 * s3
+	m[0, 0] = c2
+	m[1, 0] = c1 * s2
+	m[2, 0] = s1 * s2
+	m[0, 1] =-c3 * s2
+	m[1, 1] = c1 * c2 * c3 - s1 * s3
+	m[2, 1] = c1 * s3 + c2 * c3 * s1
+	m[0, 2] = s2 * s3
+	m[1, 2] =-c3 * s1 - c1 * c2 * s3
+	m[2, 2] = c1 * c3 - c2 * s1 * s3
 	return
 }
 
@@ -382,15 +382,15 @@ matrix3_from_euler_angles_xyx_f64 :: proc(t1, t2, t3: f64) -> (m: Matrix3f64) {
 	c3 := math.cos(t3)
 	s3 := math.sin(t3)
 
-	m[0][0] = c2
-	m[0][1] = s1 * s2
-	m[0][2] =-c1 * s2
-	m[1][0] = s2 * s3
-	m[1][1] = c1 * c3 - c2 * s1 * s3
-	m[1][2] = c3 * s1 + c1 * c2 * s3
-	m[2][0] = c3 * s2
-	m[2][1] =-c1 * s3 - c2 * c3 * s1
-	m[2][2] = c1 * c2 * c3 - s1 * s3
+	m[0, 0] = c2
+	m[1, 0] = s1 * s2
+	m[2, 0] =-c1 * s2
+	m[0, 1] = s2 * s3
+	m[1, 1] = c1 * c3 - c2 * s1 * s3
+	m[2, 1] = c3 * s1 + c1 * c2 * s3
+	m[0, 2] = c3 * s2
+	m[1, 2] =-c1 * s3 - c2 * c3 * s1
+	m[2, 2] = c1 * c2 * c3 - s1 * s3
 	return
 }
 
@@ -402,15 +402,15 @@ matrix3_from_euler_angles_yxy_f64 :: proc(t1, t2, t3: f64) -> (m: Matrix3f64) {
 	c3 := math.cos(t3)
 	s3 := math.sin(t3)
 
-	m[0][0] = c1 * c3 - c2 * s1 * s3
-	m[0][1] = s2* s3
-	m[0][2] =-c3 * s1 - c1 * c2 * s3
-	m[1][0] = s1 * s2
-	m[1][1] = c2
-	m[1][2] = c1 * s2
-	m[2][0] = c1 * s3 + c2 * c3 * s1
-	m[2][1] =-c3 * s2
-	m[2][2] = c1 * c2 * c3 - s1 * s3
+	m[0, 0] = c1 * c3 - c2 * s1 * s3
+	m[1, 0] = s2* s3
+	m[2, 0] =-c3 * s1 - c1 * c2 * s3
+	m[0, 1] = s1 * s2
+	m[1, 1] = c2
+	m[2, 1] = c1 * s2
+	m[0, 2] = c1 * s3 + c2 * c3 * s1
+	m[1, 2] =-c3 * s2
+	m[2, 2] = c1 * c2 * c3 - s1 * s3
 	return
 }
 
@@ -422,15 +422,15 @@ matrix3_from_euler_angles_yzy_f64 :: proc(t1, t2, t3: f64) -> (m: Matrix3f64) {
 	c3 := math.cos(t3)
 	s3 := math.sin(t3)
 
-	m[0][0] = c1 * c2 * c3 - s1 * s3
-	m[0][1] = c3 * s2
-	m[0][2] =-c1 * s3 - c2 * c3 * s1
-	m[1][0] =-c1 * s2
-	m[1][1] = c2
-	m[1][2] = s1 * s2
-	m[2][0] = c3 * s1 + c1 * c2 * s3
-	m[2][1] = s2 * s3
-	m[2][2] = c1 * c3 - c2 * s1 * s3
+	m[0, 0] = c1 * c2 * c3 - s1 * s3
+	m[1, 0] = c3 * s2
+	m[2, 0] =-c1 * s3 - c2 * c3 * s1
+	m[0, 1] =-c1 * s2
+	m[1, 1] = c2
+	m[2, 1] = s1 * s2
+	m[0, 2] = c3 * s1 + c1 * c2 * s3
+	m[1, 2] = s2 * s3
+	m[2, 2] = c1 * c3 - c2 * s1 * s3
 	return
 }
 
@@ -442,15 +442,15 @@ matrix3_from_euler_angles_zyz_f64 :: proc(t1, t2, t3: f64) -> (m: Matrix3f64) {
 	c3 := math.cos(t3)
 	s3 := math.sin(t3)
 
-	m[0][0] = c1 * c2 * c3 - s1 * s3
-	m[0][1] = c1 * s3 + c2 * c3 * s1
-	m[0][2] =-c3 * s2
-	m[1][0] =-c3 * s1 - c1 * c2 * s3
-	m[1][1] = c1 * c3 - c2 * s1 * s3
-	m[1][2] = s2 * s3
-	m[2][0] = c1 * s2
-	m[2][1] = s1 * s2
-	m[2][2] = c2
+	m[0, 0] = c1 * c2 * c3 - s1 * s3
+	m[1, 0] = c1 * s3 + c2 * c3 * s1
+	m[2, 0] =-c3 * s2
+	m[0, 1] =-c3 * s1 - c1 * c2 * s3
+	m[1, 1] = c1 * c3 - c2 * s1 * s3
+	m[2, 1] = s2 * s3
+	m[0, 2] = c1 * s2
+	m[1, 2] = s1 * s2
+	m[2, 2] = c2
 	return
 }
 
@@ -462,15 +462,15 @@ matrix3_from_euler_angles_zxz_f64 :: proc(t1, t2, t3: f64) -> (m: Matrix3f64) {
 	c3 := math.cos(t3)
 	s3 := math.sin(t3)
 
-	m[0][0] = c1 * c3 - c2 * s1 * s3
-	m[0][1] = c3 * s1 + c1 * c2 * s3
-	m[0][2] = s2 *s3
-	m[1][0] =-c1 * s3 - c2 * c3 * s1
-	m[1][1] = c1 * c2 * c3 - s1 * s3
-	m[1][2] = c3 * s2
-	m[2][0] = s1 * s2
-	m[2][1] =-c1 * s2
-	m[2][2] = c2
+	m[0, 0] = c1 * c3 - c2 * s1 * s3
+	m[1, 0] = c3 * s1 + c1 * c2 * s3
+	m[2, 0] = s2 *s3
+	m[0, 1] =-c1 * s3 - c2 * c3 * s1
+	m[1, 1] = c1 * c2 * c3 - s1 * s3
+	m[2, 1] = c3 * s2
+	m[0, 2] = s1 * s2
+	m[1, 2] =-c1 * s2
+	m[2, 2] = c2
 	return
 }
 
@@ -483,15 +483,15 @@ matrix3_from_euler_angles_xzy_f64 :: proc(t1, t2, t3: f64) -> (m: Matrix3f64) {
 	c3 := math.cos(t3)
 	s3 := math.sin(t3)
 
-	m[0][0] = c2 * c3
-	m[0][1] = s1 * s3 + c1 * c3 * s2
-	m[0][2] = c3 * s1 * s2 - c1 * s3
-	m[1][0] =-s2
-	m[1][1] = c1 * c2
-	m[1][2] = c2 * s1
-	m[2][0] = c2 * s3
-	m[2][1] = c1 * s2 * s3 - c3 * s1
-	m[2][2] = c1 * c3 + s1 * s2 *s3
+	m[0, 0] = c2 * c3
+	m[1, 0] = s1 * s3 + c1 * c3 * s2
+	m[2, 0] = c3 * s1 * s2 - c1 * s3
+	m[0, 1] =-s2
+	m[1, 1] = c1 * c2
+	m[2, 1] = c2 * s1
+	m[0, 2] = c2 * s3
+	m[1, 2] = c1 * s2 * s3 - c3 * s1
+	m[2, 2] = c1 * c3 + s1 * s2 *s3
 	return
 }
 
@@ -503,15 +503,15 @@ matrix3_from_euler_angles_yzx_f64 :: proc(t1, t2, t3: f64) -> (m: Matrix3f64) {
 	c3 := math.cos(t3)
 	s3 := math.sin(t3)
 
-	m[0][0] = c1 * c2
-	m[0][1] = s2
-	m[0][2] =-c2 * s1
-	m[1][0] = s1 * s3 - c1 * c3 * s2
-	m[1][1] = c2 * c3
-	m[1][2] = c1 * s3 + c3 * s1 * s2
-	m[2][0] = c3 * s1 + c1 * s2 * s3
-	m[2][1] =-c2 * s3
-	m[2][2] = c1 * c3 - s1 * s2 * s3
+	m[0, 0] = c1 * c2
+	m[1, 0] = s2
+	m[2, 0] =-c2 * s1
+	m[0, 1] = s1 * s3 - c1 * c3 * s2
+	m[1, 1] = c2 * c3
+	m[2, 1] = c1 * s3 + c3 * s1 * s2
+	m[0, 2] = c3 * s1 + c1 * s2 * s3
+	m[1, 2] =-c2 * s3
+	m[2, 2] = c1 * c3 - s1 * s2 * s3
 	return
 }
 
@@ -523,15 +523,15 @@ matrix3_from_euler_angles_zyx_f64 :: proc(t1, t2, t3: f64) -> (m: Matrix3f64) {
 	c3 := math.cos(t3)
 	s3 := math.sin(t3)
 
-	m[0][0] = c1 * c2
-	m[0][1] = c2 * s1
-	m[0][2] =-s2
-	m[1][0] = c1 * s2 * s3 - c3 * s1
-	m[1][1] = c1 * c3 + s1 * s2 * s3
-	m[1][2] = c2 * s3
-	m[2][0] = s1 * s3 + c1 * c3 * s2
-	m[2][1] = c3 * s1 * s2 - c1 * s3
-	m[2][2] = c2 * c3
+	m[0, 0] = c1 * c2
+	m[1, 0] = c2 * s1
+	m[2, 0] =-s2
+	m[0, 1] = c1 * s2 * s3 - c3 * s1
+	m[1, 1] = c1 * c3 + s1 * s2 * s3
+	m[2, 1] = c2 * s3
+	m[0, 2] = s1 * s3 + c1 * c3 * s2
+	m[1, 2] = c3 * s1 * s2 - c1 * s3
+	m[2, 2] = c2 * c3
 	return
 }
 
@@ -543,15 +543,15 @@ matrix3_from_euler_angles_zxy_f64 :: proc(t1, t2, t3: f64) -> (m: Matrix3f64) {
 	c3 := math.cos(t3)
 	s3 := math.sin(t3)
 
-	m[0][0] = c1 * c3 - s1 * s2 * s3
-	m[0][1] = c3 * s1 + c1 * s2 * s3
-	m[0][2] =-c2 * s3
-	m[1][0] =-c2 * s1
-	m[1][1] = c1 * c2
-	m[1][2] = s2
-	m[2][0] = c1 * s3 + c3 * s1 * s2
-	m[2][1] = s1 * s3 - c1 * c3 * s2
-	m[2][2] = c2 * c3
+	m[0, 0] = c1 * c3 - s1 * s2 * s3
+	m[1, 0] = c3 * s1 + c1 * s2 * s3
+	m[2, 0] =-c2 * s3
+	m[0, 1] =-c2 * s1
+	m[1, 1] = c1 * c2
+	m[2, 1] = s2
+	m[0, 2] = c1 * s3 + c3 * s1 * s2
+	m[1, 2] = s1 * s3 - c1 * c3 * s2
+	m[2, 2] = c2 * c3
 	return
 }
 
@@ -564,25 +564,25 @@ matrix3_from_yaw_pitch_roll_f64 :: proc(yaw, pitch, roll: f64) -> (m: Matrix3f64
 	cb := math.cos(roll)
 	sb := math.sin(roll)
 
-	m[0][0] = ch * cb + sh * sp * sb
-	m[0][1] = sb * cp
-	m[0][2] = -sh * cb + ch * sp * sb
-	m[1][0] = -ch * sb + sh * sp * cb
-	m[1][1] = cb * cp
-	m[1][2] = sb * sh + ch * sp * cb
-	m[2][0] = sh * cp
-	m[2][1] = -sp
-	m[2][2] = ch * cp
+	m[0, 0] = ch * cb + sh * sp * sb
+	m[1, 0] = sb * cp
+	m[2, 0] = -sh * cb + ch * sp * sb
+	m[0, 1] = -ch * sb + sh * sp * cb
+	m[1, 1] = cb * cp
+	m[2, 1] = sb * sh + ch * sp * cb
+	m[0, 2] = sh * cp
+	m[1, 2] = -sp
+	m[2, 2] = ch * cp
 	return m
 }
 
 euler_angles_xyz_from_matrix3_f64 :: proc(m: Matrix3f64) -> (t1, t2, t3: f64) {
-	T1 := math.atan2(m[2][1], m[2][2])
-	C2 := math.sqrt(m[0][0]*m[0][0] + m[1][0]*m[1][0])
-	T2 := math.atan2(-m[2][0], C2)
+	T1 := math.atan2(m[1, 2], m[2, 2])
+	C2 := math.sqrt(m[0, 0]*m[0, 0] + m[0, 1]*m[0, 1])
+	T2 := math.atan2(-m[0, 2], C2)
 	S1 := math.sin(T1)
 	C1 := math.cos(T1)
-	T3 := math.atan2(S1*m[0][2] - C1*m[0][1], C1*m[1][1] - S1*m[1][2])
+	T3 := math.atan2(S1*m[2, 0] - C1*m[1, 0], C1*m[1, 1] - S1*m[2, 1])
 	t1 = -T1
 	t2 = -T2
 	t3 = -T3
@@ -590,12 +590,12 @@ euler_angles_xyz_from_matrix3_f64 :: proc(m: Matrix3f64) -> (t1, t2, t3: f64) {
 }
 
 euler_angles_yxz_from_matrix3_f64 :: proc(m: Matrix3f64) -> (t1, t2, t3: f64) {
-	T1 := math.atan2(m[2][0], m[2][2])
-	C2 := math.sqrt(m[0][1]*m[0][1] + m[1][1]*m[1][1])
-	T2 := math.atan2(-m[2][1], C2)
+	T1 := math.atan2(m[0, 2], m[2, 2])
+	C2 := math.sqrt(m[1, 0]*m[1, 0] + m[1, 1]*m[1, 1])
+	T2 := math.atan2(-m[1, 2], C2)
 	S1 := math.sin(T1)
 	C1 := math.cos(T1)
-	T3 := math.atan2(S1*m[1][2] - C1*m[1][0], C1*m[0][0] - S1*m[0][2])
+	T3 := math.atan2(S1*m[2, 1] - C1*m[0, 1], C1*m[0, 0] - S1*m[2, 0])
 	t1 = T1
 	t2 = T2
 	t3 = T3
@@ -603,12 +603,12 @@ euler_angles_yxz_from_matrix3_f64 :: proc(m: Matrix3f64) -> (t1, t2, t3: f64) {
 }
 
 euler_angles_xzx_from_matrix3_f64 :: proc(m: Matrix3f64) -> (t1, t2, t3: f64) {
-	T1 := math.atan2(m[0][2], m[0][1])
-	S2 := math.sqrt(m[1][0]*m[1][0] + m[2][0]*m[2][0])
-	T2 := math.atan2(S2, m[0][0])
+	T1 := math.atan2(m[2, 0], m[1, 0])
+	S2 := math.sqrt(m[0, 1]*m[0, 1] + m[0, 2]*m[0, 2])
+	T2 := math.atan2(S2, m[0, 0])
 	S1 := math.sin(T1)
 	C1 := math.cos(T1)
-	T3 := math.atan2(C1*m[1][2] - S1*m[1][1], C1*m[2][2] - S1*m[2][1])
+	T3 := math.atan2(C1*m[2, 1] - S1*m[1, 1], C1*m[2, 2] - S1*m[1, 2])
 	t1 = T1
 	t2 = T2
 	t3 = T3
@@ -616,12 +616,12 @@ euler_angles_xzx_from_matrix3_f64 :: proc(m: Matrix3f64) -> (t1, t2, t3: f64) {
 }
 
 euler_angles_xyx_from_matrix3_f64 :: proc(m: Matrix3f64) -> (t1, t2, t3: f64) {
-	T1 := math.atan2(m[0][1], -m[0][2])
-	S2 := math.sqrt(m[1][0]*m[1][0] + m[2][0]*m[2][0])
-	T2 := math.atan2(S2, m[0][0])
+	T1 := math.atan2(m[1, 0], -m[2, 0])
+	S2 := math.sqrt(m[0, 1]*m[0, 1] + m[0, 2]*m[0, 2])
+	T2 := math.atan2(S2, m[0, 0])
 	S1 := math.sin(T1)
 	C1 := math.cos(T1)
-	T3 := math.atan2(-C1*m[2][1] - S1*m[2][2], C1*m[1][1] + S1*m[1][2])
+	T3 := math.atan2(-C1*m[1, 2] - S1*m[2, 2], C1*m[1, 1] + S1*m[2, 1])
 	t1 = T1
 	t2 = T2
 	t3 = T3
@@ -629,12 +629,12 @@ euler_angles_xyx_from_matrix3_f64 :: proc(m: Matrix3f64) -> (t1, t2, t3: f64) {
 }
 
 euler_angles_yxy_from_matrix3_f64 :: proc(m: Matrix3f64) -> (t1, t2, t3: f64) {
-	T1 := math.atan2(m[1][0], m[1][2])
-	S2 := math.sqrt(m[0][1]*m[0][1] + m[2][1]*m[2][1])
-	T2 := math.atan2(S2, m[1][1])
+	T1 := math.atan2(m[0, 1], m[2, 1])
+	S2 := math.sqrt(m[1, 0]*m[1, 0] + m[1, 2]*m[1, 2])
+	T2 := math.atan2(S2, m[1, 1])
 	S1 := math.sin(T1)
 	C1 := math.cos(T1)
-	T3 := math.atan2(C1*m[2][0] - S1*m[2][2], C1*m[0][0] - S1*m[0][2])
+	T3 := math.atan2(C1*m[0, 2] - S1*m[2, 2], C1*m[0, 0] - S1*m[2, 0])
 	t1 = T1
 	t2 = T2
 	t3 = T3
@@ -642,24 +642,24 @@ euler_angles_yxy_from_matrix3_f64 :: proc(m: Matrix3f64) -> (t1, t2, t3: f64) {
 }
 
 euler_angles_yzy_from_matrix3_f64 :: proc(m: Matrix3f64) -> (t1, t2, t3: f64) {
-	T1 := math.atan2(m[1][2], -m[1][0])
-	S2 := math.sqrt(m[0][1]*m[0][1] + m[2][1]*m[2][1])
-	T2 := math.atan2(S2, m[1][1])
+	T1 := math.atan2(m[2, 1], -m[0, 1])
+	S2 := math.sqrt(m[1, 0]*m[1, 0] + m[1, 2]*m[1, 2])
+	T2 := math.atan2(S2, m[1, 1])
 	S1 := math.sin(T1)
 	C1 := math.cos(T1)
-	T3 := math.atan2(-S1*m[0][0] - C1*m[0][2], S1*m[2][0] + C1*m[2][2])
+	T3 := math.atan2(-S1*m[0, 0] - C1*m[2, 0], S1*m[0, 2] + C1*m[2, 2])
 	t1 = T1
 	t2 = T2
 	t3 = T3
 	return
 }
 euler_angles_zyz_from_matrix3_f64 :: proc(m: Matrix3f64) -> (t1, t2, t3: f64) {
-	T1 := math.atan2(m[2][1], m[2][0])
-	S2 := math.sqrt(m[0][2]*m[0][2] + m[1][2]*m[1][2])
-	T2 := math.atan2(S2, m[2][2])
+	T1 := math.atan2(m[1, 2], m[0, 2])
+	S2 := math.sqrt(m[2, 0]*m[2, 0] + m[2, 1]*m[2, 1])
+	T2 := math.atan2(S2, m[2, 2])
 	S1 := math.sin(T1)
 	C1 := math.cos(T1)
-	T3 := math.atan2(C1*m[0][1] - S1*m[0][0], C1*m[1][1] - S1*m[1][0])
+	T3 := math.atan2(C1*m[1, 0] - S1*m[0, 0], C1*m[1, 1] - S1*m[0, 1])
 	t1 = T1
 	t2 = T2
 	t3 = T3
@@ -667,12 +667,12 @@ euler_angles_zyz_from_matrix3_f64 :: proc(m: Matrix3f64) -> (t1, t2, t3: f64) {
 }
 
 euler_angles_zxz_from_matrix3_f64 :: proc(m: Matrix3f64) -> (t1, t2, t3: f64) {
-	T1 := math.atan2(m[2][0], -m[2][1])
-	S2 := math.sqrt(m[0][2]*m[0][2] + m[1][2]*m[1][2])
-	T2 := math.atan2(S2, m[2][2])
+	T1 := math.atan2(m[0, 2], -m[1, 2])
+	S2 := math.sqrt(m[2, 0]*m[2, 0] + m[2, 1]*m[2, 1])
+	T2 := math.atan2(S2, m[2, 2])
 	S1 := math.sin(T1)
 	C1 := math.cos(T1)
-	T3 := math.atan2(-C1*m[1][0] - S1*m[1][1], C1*m[0][0] + S1*m[0][1])
+	T3 := math.atan2(-C1*m[0, 1] - S1*m[1, 1], C1*m[0, 0] + S1*m[1, 0])
 	t1 = T1
 	t2 = T2
 	t3 = T3
@@ -680,12 +680,12 @@ euler_angles_zxz_from_matrix3_f64 :: proc(m: Matrix3f64) -> (t1, t2, t3: f64) {
 }
 
 euler_angles_xzy_from_matrix3_f64 :: proc(m: Matrix3f64) -> (t1, t2, t3: f64) {
-	T1 := math.atan2(m[1][2], m[1][1])
-	C2 := math.sqrt(m[0][0]*m[0][0] + m[2][0]*m[2][0])
-	T2 := math.atan2(-m[1][0], C2)
+	T1 := math.atan2(m[2, 1], m[1, 1])
+	C2 := math.sqrt(m[0, 0]*m[0, 0] + m[0, 2]*m[0, 2])
+	T2 := math.atan2(-m[0, 1], C2)
 	S1 := math.sin(T1)
 	C1 := math.cos(T1)
-	T3 := math.atan2(S1*m[0][1] - C1*m[0][2], C1*m[2][2] - S1*m[2][1])
+	T3 := math.atan2(S1*m[1, 0] - C1*m[2, 0], C1*m[2, 2] - S1*m[1, 2])
 	t1 = T1
 	t2 = T2
 	t3 = T3
@@ -693,12 +693,12 @@ euler_angles_xzy_from_matrix3_f64 :: proc(m: Matrix3f64) -> (t1, t2, t3: f64) {
 }
 
 euler_angles_yzx_from_matrix3_f64 :: proc(m: Matrix3f64) -> (t1, t2, t3: f64) {
-	T1 := math.atan2(-m[0][2], m[0][0])
-	C2 := math.sqrt(m[1][1]*m[1][1] + m[2][1]*m[2][1])
-	T2 := math.atan2(m[0][1], C2)
+	T1 := math.atan2(-m[2, 0], m[0, 0])
+	C2 := math.sqrt(m[1, 1]*m[1, 1] + m[1, 2]*m[1, 2])
+	T2 := math.atan2(m[1, 0], C2)
 	S1 := math.sin(T1)
 	C1 := math.cos(T1)
-	T3 := math.atan2(S1*m[1][0] + C1*m[1][2], S1*m[2][0] + C1*m[2][2])
+	T3 := math.atan2(S1*m[0, 1] + C1*m[2, 1], S1*m[0, 2] + C1*m[2, 2])
 	t1 = T1
 	t2 = T2
 	t3 = T3
@@ -706,12 +706,12 @@ euler_angles_yzx_from_matrix3_f64 :: proc(m: Matrix3f64) -> (t1, t2, t3: f64) {
 }
 
 euler_angles_zyx_from_matrix3_f64 :: proc(m: Matrix3f64) -> (t1, t2, t3: f64) {
-	T1 := math.atan2(m[0][1], m[0][0])
-	C2 := math.sqrt(m[1][2]*m[1][2] + m[2][2]*m[2][2])
-	T2 := math.atan2(-m[0][2], C2)
+	T1 := math.atan2(m[1, 0], m[0, 0])
+	C2 := math.sqrt(m[2, 1]*m[2, 1] + m[2, 2]*m[2, 2])
+	T2 := math.atan2(-m[2, 0], C2)
 	S1 := math.sin(T1)
 	C1 := math.cos(T1)
-	T3 := math.atan2(S1*m[2][0] - C1*m[2][1], C1*m[1][1] - S1*m[1][0])
+	T3 := math.atan2(S1*m[0, 2] - C1*m[1, 2], C1*m[1, 1] - S1*m[0, 1])
 	t1 = T1
 	t2 = T2
 	t3 = T3
@@ -719,12 +719,12 @@ euler_angles_zyx_from_matrix3_f64 :: proc(m: Matrix3f64) -> (t1, t2, t3: f64) {
 }
 
 euler_angles_zxy_from_matrix3_f64 :: proc(m: Matrix3f64) -> (t1, t2, t3: f64) {
-	T1 := math.atan2(-m[1][0], m[1][1])
-	C2 := math.sqrt(m[0][2]*m[0][2] + m[2][2]*m[2][2])
-	T2 := math.atan2(m[1][2], C2)
+	T1 := math.atan2(-m[0, 1], m[1, 1])
+	C2 := math.sqrt(m[2, 0]*m[2, 0] + m[2, 2]*m[2, 2])
+	T2 := math.atan2(m[2, 1], C2)
 	S1 := math.sin(T1)
 	C1 := math.cos(T1)
-	T3 := math.atan2(C1*m[2][0] + S1*m[2][1], C1*m[0][0] + S1*m[0][1])
+	T3 := math.atan2(C1*m[0, 2] + S1*m[1, 2], C1*m[0, 0] + S1*m[1, 0])
 	t1 = T1
 	t2 = T2
 	t3 = T3
@@ -737,32 +737,32 @@ euler_angles_zxy_from_matrix3_f64 :: proc(m: Matrix3f64) -> (t1, t2, t3: f64) {
 
 matrix4_from_euler_angle_x_f64 :: proc(angle_x: f64) -> (m: Matrix4f64) {
 	cos_x, sin_x := math.cos(angle_x), math.sin(angle_x)
-	m[0][0] = 1
-	m[1][1] = +cos_x
-	m[2][1] = +sin_x
-	m[1][2] = -sin_x
-	m[2][2] = +cos_x
-	m[3][3] = 1
+	m[0, 0] = 1
+	m[1, 1] = +cos_x
+	m[1, 2] = +sin_x
+	m[2, 1] = -sin_x
+	m[2, 2] = +cos_x
+	m[3, 3] = 1
 	return
 }
 matrix4_from_euler_angle_y_f64 :: proc(angle_y: f64) -> (m: Matrix4f64) {
 	cos_y, sin_y := math.cos(angle_y), math.sin(angle_y)
-	m[0][0] = +cos_y
-	m[2][0] = -sin_y
-	m[1][1] = 1
-	m[0][2] = +sin_y
-	m[2][2] = +cos_y
-	m[3][3] = 1
+	m[0, 0] = +cos_y
+	m[0, 2] = -sin_y
+	m[1, 1] = 1
+	m[2, 0] = +sin_y
+	m[2, 2] = +cos_y
+	m[3, 3] = 1
 	return
 }
 matrix4_from_euler_angle_z_f64 :: proc(angle_z: f64) -> (m: Matrix4f64) {
 	cos_z, sin_z := math.cos(angle_z), math.sin(angle_z)
-	m[0][0] = +cos_z
-	m[1][0] = +sin_z
-	m[1][1] = +cos_z
-	m[0][1] = -sin_z
-	m[2][2] = 1
-	m[3][3] = 1
+	m[0, 0] = +cos_z
+	m[0, 1] = +sin_z
+	m[1, 1] = +cos_z
+	m[1, 0] = -sin_z
+	m[2, 2] = 1
+	m[3, 3] = 1
 	return
 }
 
@@ -770,34 +770,34 @@ matrix4_from_euler_angle_z_f64 :: proc(angle_z: f64) -> (m: Matrix4f64) {
 matrix4_from_derived_euler_angle_x_f64 :: proc(angle_x: f64, angular_velocity_x: f64) -> (m: Matrix4f64) {
 	cos_x := math.cos(angle_x) * angular_velocity_x
 	sin_x := math.sin(angle_x) * angular_velocity_x
-	m[0][0] = 1
-	m[1][1] = +cos_x
-	m[2][1] = +sin_x
-	m[1][2] = -sin_x
-	m[2][2] = +cos_x
-	m[3][3] = 1
+	m[0, 0] = 1
+	m[1, 1] = +cos_x
+	m[1, 2] = +sin_x
+	m[2, 1] = -sin_x
+	m[2, 2] = +cos_x
+	m[3, 3] = 1
 	return
 }
 matrix4_from_derived_euler_angle_y_f64 :: proc(angle_y: f64, angular_velocity_y: f64) -> (m: Matrix4f64) {
 	cos_y := math.cos(angle_y) * angular_velocity_y
 	sin_y := math.sin(angle_y) * angular_velocity_y
-	m[0][0] = +cos_y
-	m[2][0] = -sin_y
-	m[1][1] = 1
-	m[0][2] = +sin_y
-	m[2][2] = +cos_y
-	m[3][3] = 1
+	m[0, 0] = +cos_y
+	m[0, 2] = -sin_y
+	m[1, 1] = 1
+	m[2, 0] = +sin_y
+	m[2, 2] = +cos_y
+	m[3, 3] = 1
 	return
 }
 matrix4_from_derived_euler_angle_z_f64 :: proc(angle_z: f64, angular_velocity_z: f64) -> (m: Matrix4f64) {
 	cos_z := math.cos(angle_z) * angular_velocity_z
 	sin_z := math.sin(angle_z) * angular_velocity_z
-	m[0][0] = +cos_z
-	m[1][0] = +sin_z
-	m[1][1] = +cos_z
-	m[0][1] = -sin_z
-	m[2][2] = 1
-	m[3][3] = 1
+	m[0, 0] = +cos_z
+	m[0, 1] = +sin_z
+	m[1, 1] = +cos_z
+	m[1, 0] = -sin_z
+	m[2, 2] = 1
+	m[3, 3] = 1
 	return
 }
 
@@ -805,15 +805,15 @@ matrix4_from_derived_euler_angle_z_f64 :: proc(angle_z: f64, angular_velocity_z:
 matrix4_from_euler_angles_xy_f64 :: proc(angle_x, angle_y: f64) -> (m: Matrix4f64) {
 	cos_x, sin_x := math.cos(angle_x), math.sin(angle_x)
 	cos_y, sin_y := math.cos(angle_y), math.sin(angle_y)
-	m[0][0] = cos_y
-	m[1][0] = -sin_x * - sin_y
-	m[2][0] = -cos_x * - sin_y
-	m[1][1] = cos_x
-	m[2][1] = sin_x
-	m[0][2] = sin_y
-	m[1][2] = -sin_x * cos_y
-	m[2][2] = cos_x * cos_y
-	m[3][3] = 1
+	m[0, 0] = cos_y
+	m[0, 1] = -sin_x * - sin_y
+	m[0, 2] = -cos_x * - sin_y
+	m[1, 1] = cos_x
+	m[1, 2] = sin_x
+	m[2, 0] = sin_y
+	m[2, 1] = -sin_x * cos_y
+	m[2, 2] = cos_x * cos_y
+	m[3, 3] = 1
 	return
 }
 
@@ -821,15 +821,15 @@ matrix4_from_euler_angles_xy_f64 :: proc(angle_x, angle_y: f64) -> (m: Matrix4f6
 matrix4_from_euler_angles_yx_f64 :: proc(angle_y, angle_x: f64) -> (m: Matrix4f64) {
 	cos_x, sin_x := math.cos(angle_x), math.sin(angle_x)
 	cos_y, sin_y := math.cos(angle_y), math.sin(angle_y)
-	m[0][0] = cos_y
-	m[2][0] = -sin_y
-	m[0][1] = sin_y*sin_x
-	m[1][1] = cos_x
-	m[2][1] = cos_y*sin_x
-	m[0][2] = sin_y*cos_x
-	m[1][2] = -sin_x
-	m[2][2] = cos_y*cos_x
-	m[3][3] = 1
+	m[0, 0] = cos_y
+	m[0, 2] = -sin_y
+	m[1, 0] = sin_y*sin_x
+	m[1, 1] = cos_x
+	m[1, 2] = cos_y*sin_x
+	m[2, 0] = sin_y*cos_x
+	m[2, 1] = -sin_x
+	m[2, 2] = cos_y*cos_x
+	m[3, 3] = 1
 	return
 }
 
@@ -855,22 +855,22 @@ matrix4_from_euler_angles_xyz_f64 :: proc(t1, t2, t3: f64) -> (m: Matrix4f64) {
 	s2 := math.sin(-t2)
 	s3 := math.sin(-t3)
 
-	m[0][0] = c2 * c3
-	m[0][1] =-c1 * s3 + s1 * s2 * c3
-	m[0][2] = s1 * s3 + c1 * s2 * c3
-	m[0][3] = 0
-	m[1][0] = c2 * s3
-	m[1][1] = c1 * c3 + s1 * s2 * s3
-	m[1][2] =-s1 * c3 + c1 * s2 * s3
-	m[1][3] = 0
-	m[2][0] =-s2
-	m[2][1] = s1 * c2
-	m[2][2] = c1 * c2
-	m[2][3] = 0
-	m[3][0] = 0
-	m[3][1] = 0
-	m[3][2] = 0
-	m[3][3] = 1
+	m[0, 0] = c2 * c3
+	m[1, 0] =-c1 * s3 + s1 * s2 * c3
+	m[2, 0] = s1 * s3 + c1 * s2 * c3
+	m[3, 0] = 0
+	m[0, 1] = c2 * s3
+	m[1, 1] = c1 * c3 + s1 * s2 * s3
+	m[2, 1] =-s1 * c3 + c1 * s2 * s3
+	m[3, 1] = 0
+	m[0, 2] =-s2
+	m[1, 2] = s1 * c2
+	m[2, 2] = c1 * c2
+	m[3, 2] = 0
+	m[0, 3] = 0
+	m[1, 3] = 0
+	m[2, 3] = 0
+	m[3, 3] = 1
 	return
 }
 
@@ -882,22 +882,22 @@ matrix4_from_euler_angles_yxz_f64 :: proc(yaw, pitch, roll: f64) -> (m: Matrix4f
 	cb := math.cos(roll)
 	sb := math.sin(roll)
 
-	m[0][0] = ch * cb + sh * sp * sb
-	m[0][1] = sb * cp
-	m[0][2] = -sh * cb + ch * sp * sb
-	m[0][3] = 0
-	m[1][0] = -ch * sb + sh * sp * cb
-	m[1][1] = cb * cp
-	m[1][2] = sb * sh + ch * sp * cb
-	m[1][3] = 0
-	m[2][0] = sh * cp
-	m[2][1] = -sp
-	m[2][2] = ch * cp
-	m[2][3] = 0
-	m[3][0] = 0
-	m[3][1] = 0
-	m[3][2] = 0
-	m[3][3] = 1
+	m[0, 0] = ch * cb + sh * sp * sb
+	m[1, 0] = sb * cp
+	m[2, 0] = -sh * cb + ch * sp * sb
+	m[3, 0] = 0
+	m[0, 1] = -ch * sb + sh * sp * cb
+	m[1, 1] = cb * cp
+	m[2, 1] = sb * sh + ch * sp * cb
+	m[3, 1] = 0
+	m[0, 2] = sh * cp
+	m[1, 2] = -sp
+	m[2, 2] = ch * cp
+	m[3, 2] = 0
+	m[0, 3] = 0
+	m[1, 3] = 0
+	m[2, 3] = 0
+	m[3, 3] = 1
 	return
 }
 
@@ -909,22 +909,22 @@ matrix4_from_euler_angles_xzx_f64 :: proc(t1, t2, t3: f64) -> (m: Matrix4f64) {
 	c3 := math.cos(t3)
 	s3 := math.sin(t3)
 
-	m[0][0] = c2
-	m[0][1] = c1 * s2
-	m[0][2] = s1 * s2
-	m[0][3] = 0
-	m[1][0] =-c3 * s2
-	m[1][1] = c1 * c2 * c3 - s1 * s3
-	m[1][2] = c1 * s3 + c2 * c3 * s1
-	m[1][3] = 0
-	m[2][0] = s2 * s3
-	m[2][1] =-c3 * s1 - c1 * c2 * s3
-	m[2][2] = c1 * c3 - c2 * s1 * s3
-	m[2][3] = 0
-	m[3][0] = 0
-	m[3][1] = 0
-	m[3][2] = 0
-	m[3][3] = 1
+	m[0, 0] = c2
+	m[1, 0] = c1 * s2
+	m[2, 0] = s1 * s2
+	m[3, 0] = 0
+	m[0, 1] =-c3 * s2
+	m[1, 1] = c1 * c2 * c3 - s1 * s3
+	m[2, 1] = c1 * s3 + c2 * c3 * s1
+	m[3, 1] = 0
+	m[0, 2] = s2 * s3
+	m[1, 2] =-c3 * s1 - c1 * c2 * s3
+	m[2, 2] = c1 * c3 - c2 * s1 * s3
+	m[3, 2] = 0
+	m[0, 3] = 0
+	m[1, 3] = 0
+	m[2, 3] = 0
+	m[3, 3] = 1
 	return
 }
 
@@ -936,22 +936,22 @@ matrix4_from_euler_angles_xyx_f64 :: proc(t1, t2, t3: f64) -> (m: Matrix4f64) {
 	c3 := math.cos(t3)
 	s3 := math.sin(t3)
 
-	m[0][0] = c2
-	m[0][1] = s1 * s2
-	m[0][2] =-c1 * s2
-	m[0][3] = 0
-	m[1][0] = s2 * s3
-	m[1][1] = c1 * c3 - c2 * s1 * s3
-	m[1][2] = c3 * s1 + c1 * c2 * s3
-	m[1][3] = 0
-	m[2][0] = c3 * s2
-	m[2][1] =-c1 * s3 - c2 * c3 * s1
-	m[2][2] = c1 * c2 * c3 - s1 * s3
-	m[2][3] = 0
-	m[3][0] = 0
-	m[3][1] = 0
-	m[3][2] = 0
-	m[3][3] = 1
+	m[0, 0] = c2
+	m[1, 0] = s1 * s2
+	m[2, 0] =-c1 * s2
+	m[3, 0] = 0
+	m[0, 1] = s2 * s3
+	m[1, 1] = c1 * c3 - c2 * s1 * s3
+	m[2, 1] = c3 * s1 + c1 * c2 * s3
+	m[3, 1] = 0
+	m[0, 2] = c3 * s2
+	m[1, 2] =-c1 * s3 - c2 * c3 * s1
+	m[2, 2] = c1 * c2 * c3 - s1 * s3
+	m[3, 2] = 0
+	m[0, 3] = 0
+	m[1, 3] = 0
+	m[2, 3] = 0
+	m[3, 3] = 1
 	return
 }
 
@@ -963,22 +963,22 @@ matrix4_from_euler_angles_yxy_f64 :: proc(t1, t2, t3: f64) -> (m: Matrix4f64) {
 	c3 := math.cos(t3)
 	s3 := math.sin(t3)
 
-	m[0][0] = c1 * c3 - c2 * s1 * s3
-	m[0][1] = s2* s3
-	m[0][2] =-c3 * s1 - c1 * c2 * s3
-	m[0][3] = 0
-	m[1][0] = s1 * s2
-	m[1][1] = c2
-	m[1][2] = c1 * s2
-	m[1][3] = 0
-	m[2][0] = c1 * s3 + c2 * c3 * s1
-	m[2][1] =-c3 * s2
-	m[2][2] = c1 * c2 * c3 - s1 * s3
-	m[2][3] = 0
-	m[3][0] = 0
-	m[3][1] = 0
-	m[3][2] = 0
-	m[3][3] = 1
+	m[0, 0] = c1 * c3 - c2 * s1 * s3
+	m[1, 0] = s2* s3
+	m[2, 0] =-c3 * s1 - c1 * c2 * s3
+	m[3, 0] = 0
+	m[0, 1] = s1 * s2
+	m[1, 1] = c2
+	m[2, 1] = c1 * s2
+	m[3, 1] = 0
+	m[0, 2] = c1 * s3 + c2 * c3 * s1
+	m[1, 2] =-c3 * s2
+	m[2, 2] = c1 * c2 * c3 - s1 * s3
+	m[3, 2] = 0
+	m[0, 3] = 0
+	m[1, 3] = 0
+	m[2, 3] = 0
+	m[3, 3] = 1
 	return
 }
 
@@ -990,22 +990,22 @@ matrix4_from_euler_angles_yzy_f64 :: proc(t1, t2, t3: f64) -> (m: Matrix4f64) {
 	c3 := math.cos(t3)
 	s3 := math.sin(t3)
 
-	m[0][0] = c1 * c2 * c3 - s1 * s3
-	m[0][1] = c3 * s2
-	m[0][2] =-c1 * s3 - c2 * c3 * s1
-	m[0][3] = 0
-	m[1][0] =-c1 * s2
-	m[1][1] = c2
-	m[1][2] = s1 * s2
-	m[1][3] = 0
-	m[2][0] = c3 * s1 + c1 * c2 * s3
-	m[2][1] = s2 * s3
-	m[2][2] = c1 * c3 - c2 * s1 * s3
-	m[2][3] = 0
-	m[3][0] = 0
-	m[3][1] = 0
-	m[3][2] = 0
-	m[3][3] = 1
+	m[0, 0] = c1 * c2 * c3 - s1 * s3
+	m[1, 0] = c3 * s2
+	m[2, 0] =-c1 * s3 - c2 * c3 * s1
+	m[3, 0] = 0
+	m[0, 1] =-c1 * s2
+	m[1, 1] = c2
+	m[2, 1] = s1 * s2
+	m[3, 1] = 0
+	m[0, 2] = c3 * s1 + c1 * c2 * s3
+	m[1, 2] = s2 * s3
+	m[2, 2] = c1 * c3 - c2 * s1 * s3
+	m[3, 2] = 0
+	m[0, 3] = 0
+	m[1, 3] = 0
+	m[2, 3] = 0
+	m[3, 3] = 1
 	return
 }
 
@@ -1017,22 +1017,22 @@ matrix4_from_euler_angles_zyz_f64 :: proc(t1, t2, t3: f64) -> (m: Matrix4f64) {
 	c3 := math.cos(t3)
 	s3 := math.sin(t3)
 
-	m[0][0] = c1 * c2 * c3 - s1 * s3
-	m[0][1] = c1 * s3 + c2 * c3 * s1
-	m[0][2] =-c3 * s2
-	m[0][3] = 0
-	m[1][0] =-c3 * s1 - c1 * c2 * s3
-	m[1][1] = c1 * c3 - c2 * s1 * s3
-	m[1][2] = s2 * s3
-	m[1][3] = 0
-	m[2][0] = c1 * s2
-	m[2][1] = s1 * s2
-	m[2][2] = c2
-	m[2][3] = 0
-	m[3][0] = 0
-	m[3][1] = 0
-	m[3][2] = 0
-	m[3][3] = 1
+	m[0, 0] = c1 * c2 * c3 - s1 * s3
+	m[1, 0] = c1 * s3 + c2 * c3 * s1
+	m[2, 0] =-c3 * s2
+	m[3, 0] = 0
+	m[0, 1] =-c3 * s1 - c1 * c2 * s3
+	m[1, 1] = c1 * c3 - c2 * s1 * s3
+	m[2, 1] = s2 * s3
+	m[3, 1] = 0
+	m[0, 2] = c1 * s2
+	m[1, 2] = s1 * s2
+	m[2, 2] = c2
+	m[3, 2] = 0
+	m[0, 3] = 0
+	m[1, 3] = 0
+	m[2, 3] = 0
+	m[3, 3] = 1
 	return
 }
 
@@ -1044,22 +1044,22 @@ matrix4_from_euler_angles_zxz_f64 :: proc(t1, t2, t3: f64) -> (m: Matrix4f64) {
 	c3 := math.cos(t3)
 	s3 := math.sin(t3)
 
-	m[0][0] = c1 * c3 - c2 * s1 * s3
-	m[0][1] = c3 * s1 + c1 * c2 * s3
-	m[0][2] = s2 *s3
-	m[0][3] = 0
-	m[1][0] =-c1 * s3 - c2 * c3 * s1
-	m[1][1] = c1 * c2 * c3 - s1 * s3
-	m[1][2] = c3 * s2
-	m[1][3] = 0
-	m[2][0] = s1 * s2
-	m[2][1] =-c1 * s2
-	m[2][2] = c2
-	m[2][3] = 0
-	m[3][0] = 0
-	m[3][1] = 0
-	m[3][2] = 0
-	m[3][3] = 1
+	m[0, 0] = c1 * c3 - c2 * s1 * s3
+	m[1, 0] = c3 * s1 + c1 * c2 * s3
+	m[2, 0] = s2 *s3
+	m[3, 0] = 0
+	m[0, 1] =-c1 * s3 - c2 * c3 * s1
+	m[1, 1] = c1 * c2 * c3 - s1 * s3
+	m[2, 1] = c3 * s2
+	m[3, 1] = 0
+	m[0, 2] = s1 * s2
+	m[1, 2] =-c1 * s2
+	m[2, 2] = c2
+	m[3, 2] = 0
+	m[0, 3] = 0
+	m[1, 3] = 0
+	m[2, 3] = 0
+	m[3, 3] = 1
 	return
 }
 
@@ -1072,22 +1072,22 @@ matrix4_from_euler_angles_xzy_f64 :: proc(t1, t2, t3: f64) -> (m: Matrix4f64) {
 	c3 := math.cos(t3)
 	s3 := math.sin(t3)
 
-	m[0][0] = c2 * c3
-	m[0][1] = s1 * s3 + c1 * c3 * s2
-	m[0][2] = c3 * s1 * s2 - c1 * s3
-	m[0][3] = 0
-	m[1][0] =-s2
-	m[1][1] = c1 * c2
-	m[1][2] = c2 * s1
-	m[1][3] = 0
-	m[2][0] = c2 * s3
-	m[2][1] = c1 * s2 * s3 - c3 * s1
-	m[2][2] = c1 * c3 + s1 * s2 *s3
-	m[2][3] = 0
-	m[3][0] = 0
-	m[3][1] = 0
-	m[3][2] = 0
-	m[3][3] = 1
+	m[0, 0] = c2 * c3
+	m[1, 0] = s1 * s3 + c1 * c3 * s2
+	m[2, 0] = c3 * s1 * s2 - c1 * s3
+	m[3, 0] = 0
+	m[0, 1] =-s2
+	m[1, 1] = c1 * c2
+	m[2, 1] = c2 * s1
+	m[3, 1] = 0
+	m[0, 2] = c2 * s3
+	m[1, 2] = c1 * s2 * s3 - c3 * s1
+	m[2, 2] = c1 * c3 + s1 * s2 *s3
+	m[3, 2] = 0
+	m[0, 3] = 0
+	m[1, 3] = 0
+	m[2, 3] = 0
+	m[3, 3] = 1
 	return
 }
 
@@ -1099,22 +1099,22 @@ matrix4_from_euler_angles_yzx_f64 :: proc(t1, t2, t3: f64) -> (m: Matrix4f64) {
 	c3 := math.cos(t3)
 	s3 := math.sin(t3)
 
-	m[0][0] = c1 * c2
-	m[0][1] = s2
-	m[0][2] =-c2 * s1
-	m[0][3] = 0
-	m[1][0] = s1 * s3 - c1 * c3 * s2
-	m[1][1] = c2 * c3
-	m[1][2] = c1 * s3 + c3 * s1 * s2
-	m[1][3] = 0
-	m[2][0] = c3 * s1 + c1 * s2 * s3
-	m[2][1] =-c2 * s3
-	m[2][2] = c1 * c3 - s1 * s2 * s3
-	m[2][3] = 0
-	m[3][0] = 0
-	m[3][1] = 0
-	m[3][2] = 0
-	m[3][3] = 1
+	m[0, 0] = c1 * c2
+	m[1, 0] = s2
+	m[2, 0] =-c2 * s1
+	m[3, 0] = 0
+	m[0, 1] = s1 * s3 - c1 * c3 * s2
+	m[1, 1] = c2 * c3
+	m[2, 1] = c1 * s3 + c3 * s1 * s2
+	m[3, 1] = 0
+	m[0, 2] = c3 * s1 + c1 * s2 * s3
+	m[1, 2] =-c2 * s3
+	m[2, 2] = c1 * c3 - s1 * s2 * s3
+	m[3, 2] = 0
+	m[0, 3] = 0
+	m[1, 3] = 0
+	m[2, 3] = 0
+	m[3, 3] = 1
 	return
 }
 
@@ -1126,22 +1126,22 @@ matrix4_from_euler_angles_zyx_f64 :: proc(t1, t2, t3: f64) -> (m: Matrix4f64) {
 	c3 := math.cos(t3)
 	s3 := math.sin(t3)
 
-	m[0][0] = c1 * c2
-	m[0][1] = c2 * s1
-	m[0][2] =-s2
-	m[0][3] = 0
-	m[1][0] = c1 * s2 * s3 - c3 * s1
-	m[1][1] = c1 * c3 + s1 * s2 * s3
-	m[1][2] = c2 * s3
-	m[1][3] = 0
-	m[2][0] = s1 * s3 + c1 * c3 * s2
-	m[2][1] = c3 * s1 * s2 - c1 * s3
-	m[2][2] = c2 * c3
-	m[2][3] = 0
-	m[3][0] = 0
-	m[3][1] = 0
-	m[3][2] = 0
-	m[3][3] = 1
+	m[0, 0] = c1 * c2
+	m[1, 0] = c2 * s1
+	m[2, 0] =-s2
+	m[3, 0] = 0
+	m[0, 1] = c1 * s2 * s3 - c3 * s1
+	m[1, 1] = c1 * c3 + s1 * s2 * s3
+	m[2, 1] = c2 * s3
+	m[3, 1] = 0
+	m[0, 2] = s1 * s3 + c1 * c3 * s2
+	m[1, 2] = c3 * s1 * s2 - c1 * s3
+	m[2, 2] = c2 * c3
+	m[3, 2] = 0
+	m[0, 3] = 0
+	m[1, 3] = 0
+	m[2, 3] = 0
+	m[3, 3] = 1
 	return
 }
 
@@ -1153,22 +1153,22 @@ matrix4_from_euler_angles_zxy_f64 :: proc(t1, t2, t3: f64) -> (m: Matrix4f64) {
 	c3 := math.cos(t3)
 	s3 := math.sin(t3)
 
-	m[0][0] = c1 * c3 - s1 * s2 * s3
-	m[0][1] = c3 * s1 + c1 * s2 * s3
-	m[0][2] =-c2 * s3
-	m[0][3] = 0
-	m[1][0] =-c2 * s1
-	m[1][1] = c1 * c2
-	m[1][2] = s2
-	m[1][3] = 0
-	m[2][0] = c1 * s3 + c3 * s1 * s2
-	m[2][1] = s1 * s3 - c1 * c3 * s2
-	m[2][2] = c2 * c3
-	m[2][3] = 0
-	m[3][0] = 0
-	m[3][1] = 0
-	m[3][2] = 0
-	m[3][3] = 1
+	m[0, 0] = c1 * c3 - s1 * s2 * s3
+	m[1, 0] = c3 * s1 + c1 * s2 * s3
+	m[2, 0] =-c2 * s3
+	m[3, 0] = 0
+	m[0, 1] =-c2 * s1
+	m[1, 1] = c1 * c2
+	m[2, 1] = s2
+	m[3, 1] = 0
+	m[0, 2] = c1 * s3 + c3 * s1 * s2
+	m[1, 2] = s1 * s3 - c1 * c3 * s2
+	m[2, 2] = c2 * c3
+	m[3, 2] = 0
+	m[0, 3] = 0
+	m[1, 3] = 0
+	m[2, 3] = 0
+	m[3, 3] = 1
 	return
 }
 
@@ -1181,32 +1181,32 @@ matrix4_from_yaw_pitch_roll_f64 :: proc(yaw, pitch, roll: f64) -> (m: Matrix4f64
 	cb := math.cos(roll)
 	sb := math.sin(roll)
 
-	m[0][0] = ch * cb + sh * sp * sb
-	m[0][1] = sb * cp
-	m[0][2] = -sh * cb + ch * sp * sb
-	m[0][3] = 0
-	m[1][0] = -ch * sb + sh * sp * cb
-	m[1][1] = cb * cp
-	m[1][2] = sb * sh + ch * sp * cb
-	m[1][3] = 0
-	m[2][0] = sh * cp
-	m[2][1] = -sp
-	m[2][2] = ch * cp
-	m[2][3] = 0
-	m[3][0] = 0
-	m[3][1] = 0
-	m[3][2] = 0
-	m[3][3] = 1
+	m[0, 0] = ch * cb + sh * sp * sb
+	m[1, 0] = sb * cp
+	m[2, 0] = -sh * cb + ch * sp * sb
+	m[3, 0] = 0
+	m[0, 1] = -ch * sb + sh * sp * cb
+	m[1, 1] = cb * cp
+	m[2, 1] = sb * sh + ch * sp * cb
+	m[3, 1] = 0
+	m[0, 2] = sh * cp
+	m[1, 2] = -sp
+	m[2, 2] = ch * cp
+	m[3, 2] = 0
+	m[0, 3] = 0
+	m[1, 3] = 0
+	m[2, 3] = 0
+	m[3, 3] = 1
 	return m
 }
 
 euler_angles_xyz_from_matrix4_f64 :: proc(m: Matrix4f64) -> (t1, t2, t3: f64) {
-	T1 := math.atan2(m[2][1], m[2][2])
-	C2 := math.sqrt(m[0][0]*m[0][0] + m[1][0]*m[1][0])
-	T2 := math.atan2(-m[2][0], C2)
+	T1 := math.atan2(m[1, 2], m[2, 2])
+	C2 := math.sqrt(m[0, 0]*m[0, 0] + m[0, 1]*m[0, 1])
+	T2 := math.atan2(-m[0, 2], C2)
 	S1 := math.sin(T1)
 	C1 := math.cos(T1)
-	T3 := math.atan2(S1*m[0][2] - C1*m[0][1], C1*m[1][1] - S1*m[1][2])
+	T3 := math.atan2(S1*m[2, 0] - C1*m[1, 0], C1*m[1, 1] - S1*m[2, 1])
 	t1 = -T1
 	t2 = -T2
 	t3 = -T3
@@ -1214,12 +1214,12 @@ euler_angles_xyz_from_matrix4_f64 :: proc(m: Matrix4f64) -> (t1, t2, t3: f64) {
 }
 
 euler_angles_yxz_from_matrix4_f64 :: proc(m: Matrix4f64) -> (t1, t2, t3: f64) {
-	T1 := math.atan2(m[2][0], m[2][2])
-	C2 := math.sqrt(m[0][1]*m[0][1] + m[1][1]*m[1][1])
-	T2 := math.atan2(-m[2][1], C2)
+	T1 := math.atan2(m[0, 2], m[2, 2])
+	C2 := math.sqrt(m[1, 0]*m[1, 0] + m[1, 1]*m[1, 1])
+	T2 := math.atan2(-m[1, 2], C2)
 	S1 := math.sin(T1)
 	C1 := math.cos(T1)
-	T3 := math.atan2(S1*m[1][2] - C1*m[1][0], C1*m[0][0] - S1*m[0][2])
+	T3 := math.atan2(S1*m[2, 1] - C1*m[0, 1], C1*m[0, 0] - S1*m[2, 0])
 	t1 = T1
 	t2 = T2
 	t3 = T3
@@ -1227,12 +1227,12 @@ euler_angles_yxz_from_matrix4_f64 :: proc(m: Matrix4f64) -> (t1, t2, t3: f64) {
 }
 
 euler_angles_xzx_from_matrix4_f64 :: proc(m: Matrix4f64) -> (t1, t2, t3: f64) {
-	T1 := math.atan2(m[0][2], m[0][1])
-	S2 := math.sqrt(m[1][0]*m[1][0] + m[2][0]*m[2][0])
-	T2 := math.atan2(S2, m[0][0])
+	T1 := math.atan2(m[2, 0], m[1, 0])
+	S2 := math.sqrt(m[0, 1]*m[0, 1] + m[0, 2]*m[0, 2])
+	T2 := math.atan2(S2, m[0, 0])
 	S1 := math.sin(T1)
 	C1 := math.cos(T1)
-	T3 := math.atan2(C1*m[1][2] - S1*m[1][1], C1*m[2][2] - S1*m[2][1])
+	T3 := math.atan2(C1*m[2, 1] - S1*m[1, 1], C1*m[2, 2] - S1*m[1, 2])
 	t1 = T1
 	t2 = T2
 	t3 = T3
@@ -1240,12 +1240,12 @@ euler_angles_xzx_from_matrix4_f64 :: proc(m: Matrix4f64) -> (t1, t2, t3: f64) {
 }
 
 euler_angles_xyx_from_matrix4_f64 :: proc(m: Matrix4f64) -> (t1, t2, t3: f64) {
-	T1 := math.atan2(m[0][1], -m[0][2])
-	S2 := math.sqrt(m[1][0]*m[1][0] + m[2][0]*m[2][0])
-	T2 := math.atan2(S2, m[0][0])
+	T1 := math.atan2(m[1, 0], -m[2, 0])
+	S2 := math.sqrt(m[0, 1]*m[0, 1] + m[0, 2]*m[0, 2])
+	T2 := math.atan2(S2, m[0, 0])
 	S1 := math.sin(T1)
 	C1 := math.cos(T1)
-	T3 := math.atan2(-C1*m[2][1] - S1*m[2][2], C1*m[1][1] + S1*m[1][2])
+	T3 := math.atan2(-C1*m[1, 2] - S1*m[2, 2], C1*m[1, 1] + S1*m[2, 1])
 	t1 = T1
 	t2 = T2
 	t3 = T3
@@ -1253,12 +1253,12 @@ euler_angles_xyx_from_matrix4_f64 :: proc(m: Matrix4f64) -> (t1, t2, t3: f64) {
 }
 
 euler_angles_yxy_from_matrix4_f64 :: proc(m: Matrix4f64) -> (t1, t2, t3: f64) {
-	T1 := math.atan2(m[1][0], m[1][2])
-	S2 := math.sqrt(m[0][1]*m[0][1] + m[2][1]*m[2][1])
-	T2 := math.atan2(S2, m[1][1])
+	T1 := math.atan2(m[0, 1], m[2, 1])
+	S2 := math.sqrt(m[1, 0]*m[1, 0] + m[1, 2]*m[1, 2])
+	T2 := math.atan2(S2, m[1, 1])
 	S1 := math.sin(T1)
 	C1 := math.cos(T1)
-	T3 := math.atan2(C1*m[2][0] - S1*m[2][2], C1*m[0][0] - S1*m[0][2])
+	T3 := math.atan2(C1*m[0, 2] - S1*m[2, 2], C1*m[0, 0] - S1*m[2, 0])
 	t1 = T1
 	t2 = T2
 	t3 = T3
@@ -1266,24 +1266,24 @@ euler_angles_yxy_from_matrix4_f64 :: proc(m: Matrix4f64) -> (t1, t2, t3: f64) {
 }
 
 euler_angles_yzy_from_matrix4_f64 :: proc(m: Matrix4f64) -> (t1, t2, t3: f64) {
-	T1 := math.atan2(m[1][2], -m[1][0])
-	S2 := math.sqrt(m[0][1]*m[0][1] + m[2][1]*m[2][1])
-	T2 := math.atan2(S2, m[1][1])
+	T1 := math.atan2(m[2, 1], -m[0, 1])
+	S2 := math.sqrt(m[1, 0]*m[1, 0] + m[1, 2]*m[1, 2])
+	T2 := math.atan2(S2, m[1, 1])
 	S1 := math.sin(T1)
 	C1 := math.cos(T1)
-	T3 := math.atan2(-S1*m[0][0] - C1*m[0][2], S1*m[2][0] + C1*m[2][2])
+	T3 := math.atan2(-S1*m[0, 0] - C1*m[2, 0], S1*m[0, 2] + C1*m[2, 2])
 	t1 = T1
 	t2 = T2
 	t3 = T3
 	return
 }
 euler_angles_zyz_from_matrix4_f64 :: proc(m: Matrix4f64) -> (t1, t2, t3: f64) {
-	T1 := math.atan2(m[2][1], m[2][0])
-	S2 := math.sqrt(m[0][2]*m[0][2] + m[1][2]*m[1][2])
-	T2 := math.atan2(S2, m[2][2])
+	T1 := math.atan2(m[1, 2], m[0, 2])
+	S2 := math.sqrt(m[2, 0]*m[2, 0] + m[2, 1]*m[2, 1])
+	T2 := math.atan2(S2, m[2, 2])
 	S1 := math.sin(T1)
 	C1 := math.cos(T1)
-	T3 := math.atan2(C1*m[0][1] - S1*m[0][0], C1*m[1][1] - S1*m[1][0])
+	T3 := math.atan2(C1*m[1, 0] - S1*m[0, 0], C1*m[1, 1] - S1*m[0, 1])
 	t1 = T1
 	t2 = T2
 	t3 = T3
@@ -1291,12 +1291,12 @@ euler_angles_zyz_from_matrix4_f64 :: proc(m: Matrix4f64) -> (t1, t2, t3: f64) {
 }
 
 euler_angles_zxz_from_matrix4_f64 :: proc(m: Matrix4f64) -> (t1, t2, t3: f64) {
-	T1 := math.atan2(m[2][0], -m[2][1])
-	S2 := math.sqrt(m[0][2]*m[0][2] + m[1][2]*m[1][2])
-	T2 := math.atan2(S2, m[2][2])
+	T1 := math.atan2(m[0, 2], -m[1, 2])
+	S2 := math.sqrt(m[2, 0]*m[2, 0] + m[2, 1]*m[2, 1])
+	T2 := math.atan2(S2, m[2, 2])
 	S1 := math.sin(T1)
 	C1 := math.cos(T1)
-	T3 := math.atan2(-C1*m[1][0] - S1*m[1][1], C1*m[0][0] + S1*m[0][1])
+	T3 := math.atan2(-C1*m[0, 1] - S1*m[1, 1], C1*m[0, 0] + S1*m[1, 0])
 	t1 = T1
 	t2 = T2
 	t3 = T3
@@ -1304,12 +1304,12 @@ euler_angles_zxz_from_matrix4_f64 :: proc(m: Matrix4f64) -> (t1, t2, t3: f64) {
 }
 
 euler_angles_xzy_from_matrix4_f64 :: proc(m: Matrix4f64) -> (t1, t2, t3: f64) {
-	T1 := math.atan2(m[1][2], m[1][1])
-	C2 := math.sqrt(m[0][0]*m[0][0] + m[2][0]*m[2][0])
-	T2 := math.atan2(-m[1][0], C2)
+	T1 := math.atan2(m[2, 1], m[1, 1])
+	C2 := math.sqrt(m[0, 0]*m[0, 0] + m[0, 2]*m[0, 2])
+	T2 := math.atan2(-m[0, 1], C2)
 	S1 := math.sin(T1)
 	C1 := math.cos(T1)
-	T3 := math.atan2(S1*m[0][1] - C1*m[0][2], C1*m[2][2] - S1*m[2][1])
+	T3 := math.atan2(S1*m[1, 0] - C1*m[2, 0], C1*m[2, 2] - S1*m[1, 2])
 	t1 = T1
 	t2 = T2
 	t3 = T3
@@ -1317,12 +1317,12 @@ euler_angles_xzy_from_matrix4_f64 :: proc(m: Matrix4f64) -> (t1, t2, t3: f64) {
 }
 
 euler_angles_yzx_from_matrix4_f64 :: proc(m: Matrix4f64) -> (t1, t2, t3: f64) {
-	T1 := math.atan2(-m[0][2], m[0][0])
-	C2 := math.sqrt(m[1][1]*m[1][1] + m[2][1]*m[2][1])
-	T2 := math.atan2(m[0][1], C2)
+	T1 := math.atan2(-m[2, 0], m[0, 0])
+	C2 := math.sqrt(m[1, 1]*m[1, 1] + m[1, 2]*m[1, 2])
+	T2 := math.atan2(m[1, 0], C2)
 	S1 := math.sin(T1)
 	C1 := math.cos(T1)
-	T3 := math.atan2(S1*m[1][0] + C1*m[1][2], S1*m[2][0] + C1*m[2][2])
+	T3 := math.atan2(S1*m[0, 1] + C1*m[2, 1], S1*m[0, 2] + C1*m[2, 2])
 	t1 = T1
 	t2 = T2
 	t3 = T3
@@ -1330,12 +1330,12 @@ euler_angles_yzx_from_matrix4_f64 :: proc(m: Matrix4f64) -> (t1, t2, t3: f64) {
 }
 
 euler_angles_zyx_from_matrix4_f64 :: proc(m: Matrix4f64) -> (t1, t2, t3: f64) {
-	T1 := math.atan2(m[0][1], m[0][0])
-	C2 := math.sqrt(m[1][2]*m[1][2] + m[2][2]*m[2][2])
-	T2 := math.atan2(-m[0][2], C2)
+	T1 := math.atan2(m[1, 0], m[0, 0])
+	C2 := math.sqrt(m[2, 1]*m[2, 1] + m[2, 2]*m[2, 2])
+	T2 := math.atan2(-m[2, 0], C2)
 	S1 := math.sin(T1)
 	C1 := math.cos(T1)
-	T3 := math.atan2(S1*m[2][0] - C1*m[2][1], C1*m[1][1] - S1*m[1][0])
+	T3 := math.atan2(S1*m[0, 2] - C1*m[1, 2], C1*m[1, 1] - S1*m[0, 1])
 	t1 = T1
 	t2 = T2
 	t3 = T3
@@ -1343,12 +1343,12 @@ euler_angles_zyx_from_matrix4_f64 :: proc(m: Matrix4f64) -> (t1, t2, t3: f64) {
 }
 
 euler_angles_zxy_from_matrix4_f64 :: proc(m: Matrix4f64) -> (t1, t2, t3: f64) {
-	T1 := math.atan2(-m[1][0], m[1][1])
-	C2 := math.sqrt(m[0][2]*m[0][2] + m[2][2]*m[2][2])
-	T2 := math.atan2(m[1][2], C2)
+	T1 := math.atan2(-m[0, 1], m[1, 1])
+	C2 := math.sqrt(m[2, 0]*m[2, 0] + m[2, 2]*m[2, 2])
+	T2 := math.atan2(m[2, 1], C2)
 	S1 := math.sin(T1)
 	C1 := math.cos(T1)
-	T3 := math.atan2(C1*m[2][0] + S1*m[2][1], C1*m[0][0] + S1*m[0][1])
+	T3 := math.atan2(C1*m[0, 2] + S1*m[1, 2], C1*m[0, 0] + S1*m[1, 0])
 	t1 = T1
 	t2 = T2
 	t3 = T3
diff --git a/core/math/linalg/swizzle.odin b/core/math/linalg/swizzle.odin
index f035a5276..ada4aebcf 100644
--- a/core/math/linalg/swizzle.odin
+++ b/core/math/linalg/swizzle.odin
@@ -1,5 +1,10 @@
 package linalg
 
+/*
+	These procedures are to allow for swizzling with non-compile (runtime) known components
+*/
+
+
 Scalar_Components :: enum u8 {
 	x = 0,
 	r = 0,