Fixed warnings. Fixed mixed line endings, and removed trailing space.

--- ImGuizmo.cpp
+++ ImGuizmo.cpp
@@ -1,1981 +1,1978 @@
-// The MIT License(MIT)
-//
-// Copyright(c) 2016 Cedric Guillemet
-//
-// Permission is hereby granted, free of charge, to any person obtaining a copy
-// of this software and associated documentation files(the "Software"), to deal
-// in the Software without restriction, including without limitation the rights
-// to use, copy, modify, merge, publish, distribute, sublicense, and / or sell
-// copies of the Software, and to permit persons to whom the Software is
-// furnished to do so, subject to the following conditions :
-//
-// The above copyright notice and this permission notice shall be included in all
-// copies or substantial portions of the Software.
-//
-// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.IN NO EVENT SHALL THE
-// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-// SOFTWARE.
-
-#include "imgui.h"
-#ifndef IMGUI_DEFINE_MATH_OPERATORS
-#define IMGUI_DEFINE_MATH_OPERATORS
-#endif
-#include "imgui_internal.h"
-#include "ImGuizmo.h"
-
-// includes patches for multiview from
-// https://github.com/CedricGuillemet/ImGuizmo/issues/15
-
-namespace ImGuizmo
-{
-   static const float ZPI = 3.14159265358979323846f;
-   static const float RAD2DEG = (180.f / ZPI);
-   static const float DEG2RAD = (ZPI / 180.f);
-   static const float gGizmoSizeClipSpace = 0.1f;
-   const float screenRotateSize = 0.06f;
-
-   ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-   // utility and math
-
-   void FPU_MatrixF_x_MatrixF(const float *a, const float *b, float *r)
-   {
-      r[0] = a[0] * b[0] + a[1] * b[4] + a[2] * b[8] + a[3] * b[12];
-      r[1] = a[0] * b[1] + a[1] * b[5] + a[2] * b[9] + a[3] * b[13];
-      r[2] = a[0] * b[2] + a[1] * b[6] + a[2] * b[10] + a[3] * b[14];
-      r[3] = a[0] * b[3] + a[1] * b[7] + a[2] * b[11] + a[3] * b[15];
-
-      r[4] = a[4] * b[0] + a[5] * b[4] + a[6] * b[8] + a[7] * b[12];
-      r[5] = a[4] * b[1] + a[5] * b[5] + a[6] * b[9] + a[7] * b[13];
-      r[6] = a[4] * b[2] + a[5] * b[6] + a[6] * b[10] + a[7] * b[14];
-      r[7] = a[4] * b[3] + a[5] * b[7] + a[6] * b[11] + a[7] * b[15];
-
-      r[8] = a[8] * b[0] + a[9] * b[4] + a[10] * b[8] + a[11] * b[12];
-      r[9] = a[8] * b[1] + a[9] * b[5] + a[10] * b[9] + a[11] * b[13];
-      r[10] = a[8] * b[2] + a[9] * b[6] + a[10] * b[10] + a[11] * b[14];
-      r[11] = a[8] * b[3] + a[9] * b[7] + a[10] * b[11] + a[11] * b[15];
-
-      r[12] = a[12] * b[0] + a[13] * b[4] + a[14] * b[8] + a[15] * b[12];
-      r[13] = a[12] * b[1] + a[13] * b[5] + a[14] * b[9] + a[15] * b[13];
-      r[14] = a[12] * b[2] + a[13] * b[6] + a[14] * b[10] + a[15] * b[14];
-      r[15] = a[12] * b[3] + a[13] * b[7] + a[14] * b[11] + a[15] * b[15];
-   }
-
-   //template <typename T> T LERP(T x, T y, float z) { return (x + (y - x)*z); }
-   template <typename T> T Clamp(T x, T y, T z) { return ((x<y) ? y : ((x>z) ? z : x)); }
-   template <typename T> T max(T x, T y) { return (x > y) ? x : y; }
-   template <typename T> T min(T x, T y) { return (x < y) ? x : y; }
-   template <typename T> bool IsWithin(T x, T y, T z) { return (x>=y) && (x<=z); }
-
-   struct matrix_t;
-   struct vec_t
-   {
-   public:
-      float x, y, z, w;
-
-      void Lerp(const vec_t& v, float t)
-      {
-         x += (v.x - x) * t;
-         y += (v.y - y) * t;
-         z += (v.z - z) * t;
-         w += (v.w - w) * t;
-      }
-
-      void Set(float v) { x = y = z = w = v; }
-      void Set(float _x, float _y, float _z = 0.f, float _w = 0.f) { x = _x; y = _y; z = _z; w = _w; }
-
-      vec_t& operator -= (const vec_t& v) { x -= v.x; y -= v.y; z -= v.z; w -= v.w; return *this; }
-      vec_t& operator += (const vec_t& v) { x += v.x; y += v.y; z += v.z; w += v.w; return *this; }
-      vec_t& operator *= (const vec_t& v) { x *= v.x; y *= v.y; z *= v.z; w *= v.w; return *this; }
-      vec_t& operator *= (float v) { x *= v;    y *= v;    z *= v;    w *= v;    return *this; }
-
-      vec_t operator * (float f) const;
-      vec_t operator - () const;
-      vec_t operator - (const vec_t& v) const;
-      vec_t operator + (const vec_t& v) const;
-      vec_t operator * (const vec_t& v) const;
-
-      const vec_t& operator + () const { return (*this); }
-      float Length() const { return sqrtf(x*x + y*y + z*z); };
-      float LengthSq() const { return (x*x + y*y + z*z); };
-      vec_t Normalize() { (*this) *= (1.f / Length()); return (*this); }
-      vec_t Normalize(const vec_t& v) { this->Set(v.x, v.y, v.z, v.w); this->Normalize(); return (*this); }
-      vec_t Abs() const;
-      void Cross(const vec_t& v)
-      {
-         vec_t res;
-         res.x = y * v.z - z * v.y;
-         res.y = z * v.x - x * v.z;
-         res.z = x * v.y - y * v.x;
-
-         x = res.x;
-         y = res.y;
-         z = res.z;
-         w = 0.f;
-      }
-      void Cross(const vec_t& v1, const vec_t& v2)
-      {
-         x = v1.y * v2.z - v1.z * v2.y;
-         y = v1.z * v2.x - v1.x * v2.z;
-         z = v1.x * v2.y - v1.y * v2.x;
-         w = 0.f;
-      }
-      float Dot(const vec_t &v) const
-      {
-         return (x * v.x) + (y * v.y) + (z * v.z) + (w * v.w);
-      }
-      float Dot3(const vec_t &v) const
-      {
-         return (x * v.x) + (y * v.y) + (z * v.z);
-      }
-
-      void Transform(const matrix_t& matrix);
-      void Transform(const vec_t & s, const matrix_t& matrix);
-
-      void TransformVector(const matrix_t& matrix);
-      void TransformPoint(const matrix_t& matrix);
-      void TransformVector(const vec_t& v, const matrix_t& matrix) { (*this) = v; this->TransformVector(matrix); }
-      void TransformPoint(const vec_t& v, const matrix_t& matrix) { (*this) = v; this->TransformPoint(matrix); }
-
-      float& operator [] (size_t index) { return ((float*)&x)[index]; }
-      const float& operator [] (size_t index) const { return ((float*)&x)[index]; }
-   };
-
-   vec_t makeVect(float _x, float _y, float _z = 0.f, float _w = 0.f) { vec_t res; res.x = _x; res.y = _y; res.z = _z; res.w = _w; return res; }
-   vec_t makeVect(ImVec2 v) { vec_t res; res.x = v.x; res.y = v.y; res.z = 0.f; res.w = 0.f; return res; }
-   vec_t vec_t::operator * (float f) const { return makeVect(x * f, y * f, z * f, w *f); }
-   vec_t vec_t::operator - () const { return makeVect(-x, -y, -z, -w); }
-   vec_t vec_t::operator - (const vec_t& v) const { return makeVect(x - v.x, y - v.y, z - v.z, w - v.w); }
-   vec_t vec_t::operator + (const vec_t& v) const { return makeVect(x + v.x, y + v.y, z + v.z, w + v.w); }
-   vec_t vec_t::operator * (const vec_t& v) const { return makeVect(x * v.x, y * v.y, z * v.z, w * v.w); }
-   vec_t vec_t::Abs() const { return makeVect(fabsf(x), fabsf(y), fabsf(z)); }
-
-   vec_t Normalized(const vec_t& v) { vec_t res; res = v; res.Normalize(); return res; }
-   vec_t Cross(const vec_t& v1, const vec_t& v2)
-   {
-      vec_t res;
-      res.x = v1.y * v2.z - v1.z * v2.y;
-      res.y = v1.z * v2.x - v1.x * v2.z;
-      res.z = v1.x * v2.y - v1.y * v2.x;
-      res.w = 0.f;
-      return res;
-   }
-
-   float Dot(const vec_t &v1, const vec_t &v2)
-   {
-      return (v1.x * v2.x) + (v1.y * v2.y) + (v1.z * v2.z);
-   }
-
-   vec_t BuildPlan(const vec_t & p_point1, const vec_t & p_normal)
-   {
-      vec_t normal, res;
-      normal.Normalize(p_normal);
-      res.w = normal.Dot(p_point1);
-      res.x = normal.x;
-      res.y = normal.y;
-      res.z = normal.z;
-      return res;
-   }
-
-   struct matrix_t
-   {
-   public:
-
-      union
-      {
-         float m[4][4];
-         float m16[16];
-         struct
-         {
-            vec_t right, up, dir, position;
-         } v;
-         vec_t component[4];
-      };
-
-      matrix_t(const matrix_t& other) { memcpy(&m16[0], &other.m16[0], sizeof(float) * 16); }
-      matrix_t() {}
-
-      operator float * () { return m16; }
-      operator const float* () const { return m16; }
-      void Translation(float _x, float _y, float _z) { this->Translation(makeVect(_x, _y, _z)); }
-
-      void Translation(const vec_t& vt)
-      {
-         v.right.Set(1.f, 0.f, 0.f, 0.f);
-         v.up.Set(0.f, 1.f, 0.f, 0.f);
-         v.dir.Set(0.f, 0.f, 1.f, 0.f);
-         v.position.Set(vt.x, vt.y, vt.z, 1.f);
-      }
-
-      void Scale(float _x, float _y, float _z)
-      {
-         v.right.Set(_x, 0.f, 0.f, 0.f);
-         v.up.Set(0.f, _y, 0.f, 0.f);
-         v.dir.Set(0.f, 0.f, _z, 0.f);
-         v.position.Set(0.f, 0.f, 0.f, 1.f);
-      }
-      void Scale(const vec_t& s) { Scale(s.x, s.y, s.z); }
-
-      matrix_t& operator *= (const matrix_t& mat)
-      {
-         matrix_t tmpMat;
-         tmpMat = *this;
-         tmpMat.Multiply(mat);
-         *this = tmpMat;
-         return *this;
-      }
-      matrix_t operator * (const matrix_t& mat) const
-      {
-         matrix_t matT;
-         matT.Multiply(*this, mat);
-         return matT;
-      }
-
-      void Multiply(const matrix_t &matrix)
-      {
-         matrix_t tmp;
-         tmp = *this;
-
-         FPU_MatrixF_x_MatrixF((float*)&tmp, (float*)&matrix, (float*)this);
-      }
-
-      void Multiply(const matrix_t &m1, const matrix_t &m2)
-      {
-         FPU_MatrixF_x_MatrixF((float*)&m1, (float*)&m2, (float*)this);
-      }
-
-      float GetDeterminant() const
-      {
-         return m[0][0] * m[1][1] * m[2][2] + m[0][1] * m[1][2] * m[2][0] + m[0][2] * m[1][0] * m[2][1] -
-            m[0][2] * m[1][1] * m[2][0] - m[0][1] * m[1][0] * m[2][2] - m[0][0] * m[1][2] * m[2][1];
-      }
-
-      float Inverse(const matrix_t &srcMatrix, bool affine = false);
-      void SetToIdentity()
-      {
-         v.right.Set(1.f, 0.f, 0.f, 0.f);
-         v.up.Set(0.f, 1.f, 0.f, 0.f);
-         v.dir.Set(0.f, 0.f, 1.f, 0.f);
-         v.position.Set(0.f, 0.f, 0.f, 1.f);
-      }
-      void Transpose()
-      {
-         matrix_t tmpm;
-         for (int l = 0; l < 4; l++)
-         {
-            for (int c = 0; c < 4; c++)
-            {
-               tmpm.m[l][c] = m[c][l];
-            }
-         }
-         (*this) = tmpm;
-      }
-
-      void RotationAxis(const vec_t & axis, float angle);
-
-      void OrthoNormalize()
-      {
-         v.right.Normalize();
-         v.up.Normalize();
-         v.dir.Normalize();
-      }
-   };
-
-   void vec_t::Transform(const matrix_t& matrix)
-   {
-      vec_t out;
-
-      out.x = x * matrix.m[0][0] + y * matrix.m[1][0] + z * matrix.m[2][0] + w * matrix.m[3][0];
-      out.y = x * matrix.m[0][1] + y * matrix.m[1][1] + z * matrix.m[2][1] + w * matrix.m[3][1];
-      out.z = x * matrix.m[0][2] + y * matrix.m[1][2] + z * matrix.m[2][2] + w * matrix.m[3][2];
-      out.w = x * matrix.m[0][3] + y * matrix.m[1][3] + z * matrix.m[2][3] + w * matrix.m[3][3];
-
-      x = out.x;
-      y = out.y;
-      z = out.z;
-      w = out.w;
-   }
-
-   void vec_t::Transform(const vec_t & s, const matrix_t& matrix)
-   {
-      *this = s;
-      Transform(matrix);
-   }
-
-   void vec_t::TransformPoint(const matrix_t& matrix)
-   {
-      vec_t out;
-
-      out.x = x * matrix.m[0][0] + y * matrix.m[1][0] + z * matrix.m[2][0] + matrix.m[3][0];
-      out.y = x * matrix.m[0][1] + y * matrix.m[1][1] + z * matrix.m[2][1] + matrix.m[3][1];
-      out.z = x * matrix.m[0][2] + y * matrix.m[1][2] + z * matrix.m[2][2] + matrix.m[3][2];
-      out.w = x * matrix.m[0][3] + y * matrix.m[1][3] + z * matrix.m[2][3] + matrix.m[3][3];
-
-      x = out.x;
-      y = out.y;
-      z = out.z;
-      w = out.w;
-   }
-
-
-   void vec_t::TransformVector(const matrix_t& matrix)
-   {
-      vec_t out;
-
-      out.x = x * matrix.m[0][0] + y * matrix.m[1][0] + z * matrix.m[2][0];
-      out.y = x * matrix.m[0][1] + y * matrix.m[1][1] + z * matrix.m[2][1];
-      out.z = x * matrix.m[0][2] + y * matrix.m[1][2] + z * matrix.m[2][2];
-      out.w = x * matrix.m[0][3] + y * matrix.m[1][3] + z * matrix.m[2][3];
-
-      x = out.x;
-      y = out.y;
-      z = out.z;
-      w = out.w;
-   }
-
-   float matrix_t::Inverse(const matrix_t &srcMatrix, bool affine)
-   {
-      float det = 0;
-
-      if (affine)
-      {
-         det = GetDeterminant();
-         float s = 1 / det;
-         m[0][0] = (srcMatrix.m[1][1] * srcMatrix.m[2][2] - srcMatrix.m[1][2] * srcMatrix.m[2][1]) * s;
-         m[0][1] = (srcMatrix.m[2][1] * srcMatrix.m[0][2] - srcMatrix.m[2][2] * srcMatrix.m[0][1]) * s;
-         m[0][2] = (srcMatrix.m[0][1] * srcMatrix.m[1][2] - srcMatrix.m[0][2] * srcMatrix.m[1][1]) * s;
-         m[1][0] = (srcMatrix.m[1][2] * srcMatrix.m[2][0] - srcMatrix.m[1][0] * srcMatrix.m[2][2]) * s;
-         m[1][1] = (srcMatrix.m[2][2] * srcMatrix.m[0][0] - srcMatrix.m[2][0] * srcMatrix.m[0][2]) * s;
-         m[1][2] = (srcMatrix.m[0][2] * srcMatrix.m[1][0] - srcMatrix.m[0][0] * srcMatrix.m[1][2]) * s;
-         m[2][0] = (srcMatrix.m[1][0] * srcMatrix.m[2][1] - srcMatrix.m[1][1] * srcMatrix.m[2][0]) * s;
-         m[2][1] = (srcMatrix.m[2][0] * srcMatrix.m[0][1] - srcMatrix.m[2][1] * srcMatrix.m[0][0]) * s;
-         m[2][2] = (srcMatrix.m[0][0] * srcMatrix.m[1][1] - srcMatrix.m[0][1] * srcMatrix.m[1][0]) * s;
-         m[3][0] = -(m[0][0] * srcMatrix.m[3][0] + m[1][0] * srcMatrix.m[3][1] + m[2][0] * srcMatrix.m[3][2]);
-         m[3][1] = -(m[0][1] * srcMatrix.m[3][0] + m[1][1] * srcMatrix.m[3][1] + m[2][1] * srcMatrix.m[3][2]);
-         m[3][2] = -(m[0][2] * srcMatrix.m[3][0] + m[1][2] * srcMatrix.m[3][1] + m[2][2] * srcMatrix.m[3][2]);
-      }
-      else
-      {
-         // transpose matrix
-         float src[16];
-         for (int i = 0; i < 4; ++i)
-         {
-            src[i] = srcMatrix.m16[i * 4];
-            src[i + 4] = srcMatrix.m16[i * 4 + 1];
-            src[i + 8] = srcMatrix.m16[i * 4 + 2];
-            src[i + 12] = srcMatrix.m16[i * 4 + 3];
-         }
-
-         // calculate pairs for first 8 elements (cofactors)
-         float tmp[12]; // temp array for pairs
-         tmp[0] = src[10] * src[15];
-         tmp[1] = src[11] * src[14];
-         tmp[2] = src[9] * src[15];
-         tmp[3] = src[11] * src[13];
-         tmp[4] = src[9] * src[14];
-         tmp[5] = src[10] * src[13];
-         tmp[6] = src[8] * src[15];
-         tmp[7] = src[11] * src[12];
-         tmp[8] = src[8] * src[14];
-         tmp[9] = src[10] * src[12];
-         tmp[10] = src[8] * src[13];
-         tmp[11] = src[9] * src[12];
-
-         // calculate first 8 elements (cofactors)
-         m16[0] = (tmp[0] * src[5] + tmp[3] * src[6] + tmp[4] * src[7]) - (tmp[1] * src[5] + tmp[2] * src[6] + tmp[5] * src[7]);
-         m16[1] = (tmp[1] * src[4] + tmp[6] * src[6] + tmp[9] * src[7]) - (tmp[0] * src[4] + tmp[7] * src[6] + tmp[8] * src[7]);
-         m16[2] = (tmp[2] * src[4] + tmp[7] * src[5] + tmp[10] * src[7]) - (tmp[3] * src[4] + tmp[6] * src[5] + tmp[11] * src[7]);
-         m16[3] = (tmp[5] * src[4] + tmp[8] * src[5] + tmp[11] * src[6]) - (tmp[4] * src[4] + tmp[9] * src[5] + tmp[10] * src[6]);
-         m16[4] = (tmp[1] * src[1] + tmp[2] * src[2] + tmp[5] * src[3]) - (tmp[0] * src[1] + tmp[3] * src[2] + tmp[4] * src[3]);
-         m16[5] = (tmp[0] * src[0] + tmp[7] * src[2] + tmp[8] * src[3]) - (tmp[1] * src[0] + tmp[6] * src[2] + tmp[9] * src[3]);
-         m16[6] = (tmp[3] * src[0] + tmp[6] * src[1] + tmp[11] * src[3]) - (tmp[2] * src[0] + tmp[7] * src[1] + tmp[10] * src[3]);
-         m16[7] = (tmp[4] * src[0] + tmp[9] * src[1] + tmp[10] * src[2]) - (tmp[5] * src[0] + tmp[8] * src[1] + tmp[11] * src[2]);
-
-         // calculate pairs for second 8 elements (cofactors)
-         tmp[0] = src[2] * src[7];
-         tmp[1] = src[3] * src[6];
-         tmp[2] = src[1] * src[7];
-         tmp[3] = src[3] * src[5];
-         tmp[4] = src[1] * src[6];
-         tmp[5] = src[2] * src[5];
-         tmp[6] = src[0] * src[7];
-         tmp[7] = src[3] * src[4];
-         tmp[8] = src[0] * src[6];
-         tmp[9] = src[2] * src[4];
-         tmp[10] = src[0] * src[5];
-         tmp[11] = src[1] * src[4];
-
-         // calculate second 8 elements (cofactors)
-         m16[8] = (tmp[0] * src[13] + tmp[3] * src[14] + tmp[4] * src[15]) - (tmp[1] * src[13] + tmp[2] * src[14] + tmp[5] * src[15]);
-         m16[9] = (tmp[1] * src[12] + tmp[6] * src[14] + tmp[9] * src[15]) - (tmp[0] * src[12] + tmp[7] * src[14] + tmp[8] * src[15]);
-         m16[10] = (tmp[2] * src[12] + tmp[7] * src[13] + tmp[10] * src[15]) - (tmp[3] * src[12] + tmp[6] * src[13] + tmp[11] * src[15]);
-         m16[11] = (tmp[5] * src[12] + tmp[8] * src[13] + tmp[11] * src[14]) - (tmp[4] * src[12] + tmp[9] * src[13] + tmp[10] * src[14]);
-         m16[12] = (tmp[2] * src[10] + tmp[5] * src[11] + tmp[1] * src[9]) - (tmp[4] * src[11] + tmp[0] * src[9] + tmp[3] * src[10]);
-         m16[13] = (tmp[8] * src[11] + tmp[0] * src[8] + tmp[7] * src[10]) - (tmp[6] * src[10] + tmp[9] * src[11] + tmp[1] * src[8]);
-         m16[14] = (tmp[6] * src[9] + tmp[11] * src[11] + tmp[3] * src[8]) - (tmp[10] * src[11] + tmp[2] * src[8] + tmp[7] * src[9]);
-         m16[15] = (tmp[10] * src[10] + tmp[4] * src[8] + tmp[9] * src[9]) - (tmp[8] * src[9] + tmp[11] * src[10] + tmp[5] * src[8]);
-
-         // calculate determinant
-         det = src[0] * m16[0] + src[1] * m16[1] + src[2] * m16[2] + src[3] * m16[3];
-
-         // calculate matrix inverse
-         float invdet = 1 / det;
-         for (int j = 0; j < 16; ++j)
-         {
-            m16[j] *= invdet;
-         }
-      }
-
-      return det;
-   }
-
-   void matrix_t::RotationAxis(const vec_t & axis, float angle)
-   {
-      float length2 = axis.LengthSq();
-      if (length2 < FLT_EPSILON)
-      {
-         SetToIdentity();
-         return;
-      }
-
-      vec_t n = axis * (1.f / sqrtf(length2));
-      float s = sinf(angle);
-      float c = cosf(angle);
-      float k = 1.f - c;
-
-      float xx = n.x * n.x * k + c;
-      float yy = n.y * n.y * k + c;
-      float zz = n.z * n.z * k + c;
-      float xy = n.x * n.y * k;
-      float yz = n.y * n.z * k;
-      float zx = n.z * n.x * k;
-      float xs = n.x * s;
-      float ys = n.y * s;
-      float zs = n.z * s;
-
-      m[0][0] = xx;
-      m[0][1] = xy + zs;
-      m[0][2] = zx - ys;
-      m[0][3] = 0.f;
-      m[1][0] = xy - zs;
-      m[1][1] = yy;
-      m[1][2] = yz + xs;
-      m[1][3] = 0.f;
-      m[2][0] = zx + ys;
-      m[2][1] = yz - xs;
-      m[2][2] = zz;
-      m[2][3] = 0.f;
-      m[3][0] = 0.f;
-      m[3][1] = 0.f;
-      m[3][2] = 0.f;
-      m[3][3] = 1.f;
-   }
-
-   ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-   //
-
-   enum MOVETYPE
-   {
-      NONE,
-      MOVE_X,
-      MOVE_Y,
-      MOVE_Z,
-      MOVE_YZ,
-      MOVE_ZX,
-      MOVE_XY,
-      MOVE_SCREEN,
-      ROTATE_X,
-      ROTATE_Y,
-      ROTATE_Z,
-      ROTATE_SCREEN,
-      SCALE_X,
-      SCALE_Y,
-      SCALE_Z,
-      SCALE_XYZ
-   };
-
-   struct Context
-   {
-      Context() : mbUsing(false), mbEnable(true), mbUsingBounds(false)
-      {
-      }
-
-      ImDrawList* mDrawList;
-
-      MODE mMode;
-      matrix_t mViewMat;
-      matrix_t mProjectionMat;
-      matrix_t mModel;
-      matrix_t mModelInverse;
-      matrix_t mModelSource;
-      matrix_t mModelSourceInverse;
-      matrix_t mMVP;
-      matrix_t mViewProjection;
-
-      vec_t mModelScaleOrigin;
-      vec_t mCameraEye;
-      vec_t mCameraRight;
-      vec_t mCameraDir;
-      vec_t mCameraUp;
-      vec_t mRayOrigin;
-      vec_t mRayVector;
-
-      float  mRadiusSquareCenter;
-      ImVec2 mScreenSquareCenter;
-      ImVec2 mScreenSquareMin;
-      ImVec2 mScreenSquareMax;
-
-      float mScreenFactor;
-      vec_t mRelativeOrigin;
-
-      bool mbUsing;
-      bool mbEnable;
-
-      // translation
-      vec_t mTranslationPlan;
-      vec_t mTranslationPlanOrigin;
-      vec_t mMatrixOrigin;
-
-      // rotation
-      vec_t mRotationVectorSource;
-      float mRotationAngle;
-      float mRotationAngleOrigin;
-      //vec_t mWorldToLocalAxis;
-
-      // scale
-      vec_t mScale;
-      vec_t mScaleValueOrigin;
-      float mSaveMousePosx;
-
-      // save axis factor when using gizmo
-      bool mBelowAxisLimit[3];
-      bool mBelowPlaneLimit[3];
-      float mAxisFactor[3];
-
-      // bounds stretching
-      vec_t mBoundsPivot;
-      vec_t mBoundsAnchor;
-      vec_t mBoundsPlan;
-      vec_t mBoundsLocalPivot;
-      int mBoundsBestAxis;
-      int mBoundsAxis[2];
-      bool mbUsingBounds;
-      matrix_t mBoundsMatrix;
-
-      //
-      int mCurrentOperation;
-
-      float mX = 0.f;
-      float mY = 0.f;
-      float mWidth = 0.f;
-      float mHeight = 0.f;
-      float mXMax = 0.f;
-      float mYMax = 0.f;
-	  float mDisplayRatio = 1.f;
-
-	  bool mIsOrthographic = false;
-   };
-
-   static Context gContext;
-
-   static const float angleLimit = 0.96f;
-   static const float planeLimit = 0.2f;
-
-   static const vec_t directionUnary[3] = { makeVect(1.f, 0.f, 0.f), makeVect(0.f, 1.f, 0.f), makeVect(0.f, 0.f, 1.f) };
-   static const ImU32 directionColor[3] = { 0xFF0000AA, 0xFF00AA00, 0xFFAA0000 };
-
-   // Alpha: 100%: FF, 87%: DE, 70%: B3, 54%: 8A, 50%: 80, 38%: 61, 12%: 1F
-   static const ImU32 planeColor[3] = { 0x610000AA, 0x6100AA00, 0x61AA0000 };
-   static const ImU32 selectionColor = 0x8A1080FF;
-   static const ImU32 inactiveColor = 0x99999999;
-   static const ImU32 translationLineColor = 0xAAAAAAAA;
-   static const char *translationInfoMask[] = { "X : %5.3f", "Y : %5.3f", "Z : %5.3f",
-	   "Y : %5.3f Z : %5.3f", "X : %5.3f Z : %5.3f", "X : %5.3f Y : %5.3f",
-	   "X : %5.3f Y : %5.3f Z : %5.3f" };
-   static const char *scaleInfoMask[] = { "X : %5.2f", "Y : %5.2f", "Z : %5.2f", "XYZ : %5.2f" };
-   static const char *rotationInfoMask[] = { "X : %5.2f deg %5.2f rad", "Y : %5.2f deg %5.2f rad", "Z : %5.2f deg %5.2f rad", "Screen : %5.2f deg %5.2f rad" };
-   static const int translationInfoIndex[] = { 0,0,0, 1,0,0, 2,0,0, 1,2,0, 0,2,0, 0,1,0, 0,1,2 };
-   static const float quadMin = 0.5f;
-   static const float quadMax = 0.8f;
-   static const float quadUV[8] = { quadMin, quadMin, quadMin, quadMax, quadMax, quadMax, quadMax, quadMin };
-   static const int halfCircleSegmentCount = 64;
-   static const float snapTension = 0.5f;
-
-   ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-   //
-   static int GetMoveType(vec_t *gizmoHitProportion);
-   static int GetRotateType();
-   static int GetScaleType();
-
-   static ImVec2 worldToPos(const vec_t& worldPos, const matrix_t& mat)
-   {
-      vec_t trans;
-      trans.TransformPoint(worldPos, mat);
-      trans *= 0.5f / trans.w;
-      trans += makeVect(0.5f, 0.5f);
-      trans.y = 1.f - trans.y;
-      trans.x *= gContext.mWidth;
-      trans.y *= gContext.mHeight;
-      trans.x += gContext.mX;
-      trans.y += gContext.mY;
-      return ImVec2(trans.x, trans.y);
-   }
-
-   static void ComputeCameraRay(vec_t &rayOrigin, vec_t &rayDir)
-   {
-      ImGuiIO& io = ImGui::GetIO();
-
-      matrix_t mViewProjInverse;
-      mViewProjInverse.Inverse(gContext.mViewMat * gContext.mProjectionMat);
-
-      float mox = ((io.MousePos.x - gContext.mX) / gContext.mWidth) * 2.f - 1.f;
-      float moy = (1.f - ((io.MousePos.y - gContext.mY) / gContext.mHeight)) * 2.f - 1.f;
-
-      rayOrigin.Transform(makeVect(mox, moy, 0.f, 1.f), mViewProjInverse);
-      rayOrigin *= 1.f / rayOrigin.w;
-      vec_t rayEnd;
-      rayEnd.Transform(makeVect(mox, moy, 1.f, 1.f), mViewProjInverse);
-      rayEnd *= 1.f / rayEnd.w;
-      rayDir = Normalized(rayEnd - rayOrigin);
-   }
-
-   static float GetSegmentLengthClipSpace(const vec_t& start, const vec_t& end)
-   {
-	   vec_t startOfSegment = start;
-	   startOfSegment.TransformPoint(gContext.mMVP);
-	   if (fabsf(startOfSegment.w)> FLT_EPSILON) // check for axis aligned with camera direction
-		   startOfSegment *= 1.f / startOfSegment.w;
-
-	   vec_t endOfSegment = end;
-	   endOfSegment.TransformPoint(gContext.mMVP);
-	   if (fabsf(endOfSegment.w)> FLT_EPSILON) // check for axis aligned with camera direction
-		   endOfSegment *= 1.f / endOfSegment.w;
-
-	   vec_t clipSpaceAxis = endOfSegment - startOfSegment;
-	   clipSpaceAxis.y /= gContext.mDisplayRatio;
-	   float segmentLengthInClipSpace = sqrtf(clipSpaceAxis.x*clipSpaceAxis.x + clipSpaceAxis.y*clipSpaceAxis.y);
-	   return segmentLengthInClipSpace;
-   }
-
-   static float GetParallelogram(const vec_t& ptO, const vec_t& ptA, const vec_t& ptB)
-   {
-	   vec_t pts[] = { ptO, ptA, ptB };
-	   for (unsigned int i = 0; i < 3; i++)
-	   {
-		   pts[i].TransformPoint(gContext.mMVP);
-		   if (fabsf(pts[i].w)> FLT_EPSILON) // check for axis aligned with camera direction
-			   pts[i] *= 1.f / pts[i].w;
-	   }
-	   vec_t segA = pts[1] - pts[0];
-	   vec_t segB = pts[2] - pts[0];
-	   segA.y /= gContext.mDisplayRatio;
-	   segB.y /= gContext.mDisplayRatio;
-	   vec_t segAOrtho = makeVect(-segA.y, segA.x);
-	   segAOrtho.Normalize();
-	   float dt = segAOrtho.Dot3(segB);
-	   float surface = sqrtf(segA.x*segA.x + segA.y*segA.y) * fabsf(dt);
-	   return surface;
-   }
-
-   inline vec_t PointOnSegment(const vec_t & point, const vec_t & vertPos1, const vec_t & vertPos2)
-   {
-	   vec_t c = point - vertPos1;
-	   vec_t V;
-
-	   V.Normalize(vertPos2 - vertPos1);
-	   float d = (vertPos2 - vertPos1).Length();
-	   float t = V.Dot3(c);
-
-	   if (t < 0.f)
-		   return vertPos1;
-
-	   if (t > d)
-		   return vertPos2;
-
-	   return vertPos1 + V * t;
-   }
-
-   static float IntersectRayPlane(const vec_t & rOrigin, const vec_t& rVector, const vec_t& plan)
-   {
-      float numer = plan.Dot3(rOrigin) - plan.w;
-      float denom = plan.Dot3(rVector);
-
-      if (fabsf(denom) < FLT_EPSILON)  // normal is orthogonal to vector, cant intersect
-         return -1.0f;
-
-      return -(numer / denom);
-   }
-
-   static bool IsInContextRect( ImVec2 p )
-   {
-       return IsWithin( p.x, gContext.mX, gContext.mXMax ) && IsWithin(p.y, gContext.mY, gContext.mYMax );
-   }
-
-   void SetRect(float x, float y, float width, float height)
-   {
-       gContext.mX = x;
-       gContext.mY = y;
-       gContext.mWidth = width;
-       gContext.mHeight = height;
-       gContext.mXMax = gContext.mX + gContext.mWidth;
-       gContext.mYMax = gContext.mY + gContext.mXMax;
-	   gContext.mDisplayRatio = width / height;
-   }
-
-   IMGUI_API void SetOrthographic(bool isOrthographic)
-   {
-	   gContext.mIsOrthographic = isOrthographic;
-   }
-
-   void SetDrawlist()
-   {
-      gContext.mDrawList = ImGui::GetWindowDrawList();
-   }
-
-   void BeginFrame()
-   {
-      ImGuiIO& io = ImGui::GetIO();
-
-      const ImU32 flags = ImGuiWindowFlags_NoTitleBar | ImGuiWindowFlags_NoResize | ImGuiWindowFlags_NoScrollbar | ImGuiWindowFlags_NoInputs | ImGuiWindowFlags_NoSavedSettings | ImGuiWindowFlags_NoFocusOnAppearing | ImGuiWindowFlags_NoBringToFrontOnFocus;
-      ImGui::SetNextWindowSize(io.DisplaySize);
-
-	  ImGui::PushStyleColor(ImGuiCol_WindowBg, 0);
-      ImGui::Begin("gizmo", NULL, flags);
-      gContext.mDrawList = ImGui::GetWindowDrawList();
-      ImGui::End();
-	  ImGui::PopStyleColor();
-   }
-
-   bool IsUsing()
-   {
-      return gContext.mbUsing||gContext.mbUsingBounds;
-   }
-
-   bool IsOver()
-   {
-      return (GetMoveType(NULL) != NONE) || GetRotateType() != NONE || GetScaleType() != NONE || IsUsing();
-   }
-
-   void Enable(bool enable)
-   {
-      gContext.mbEnable = enable;
-      if (!enable)
-      {
-          gContext.mbUsing = false;
-          gContext.mbUsingBounds = false;
-      }
-   }
-
-   static float GetUniform(const vec_t& position, const matrix_t& mat)
-   {
-      vec_t trf = makeVect(position.x, position.y, position.z, 1.f);
-      trf.Transform(mat);
-      return trf.w;
-   }
-
-   static void ComputeContext(const float *view, const float *projection, float *matrix, MODE mode)
-   {
-      gContext.mMode = mode;
-      gContext.mViewMat = *(matrix_t*)view;
-      gContext.mProjectionMat = *(matrix_t*)projection;
-
-      if (mode == LOCAL)
-      {
-         gContext.mModel = *(matrix_t*)matrix;
-         gContext.mModel.OrthoNormalize();
-      }
-      else
-      {
-         gContext.mModel.Translation(((matrix_t*)matrix)->v.position);
-      }
-      gContext.mModelSource = *(matrix_t*)matrix;
-      gContext.mModelScaleOrigin.Set(gContext.mModelSource.v.right.Length(), gContext.mModelSource.v.up.Length(), gContext.mModelSource.v.dir.Length());
-
-      gContext.mModelInverse.Inverse(gContext.mModel);
-      gContext.mModelSourceInverse.Inverse(gContext.mModelSource);
-      gContext.mViewProjection = gContext.mViewMat * gContext.mProjectionMat;
-      gContext.mMVP = gContext.mModel * gContext.mViewProjection;
-
-      matrix_t viewInverse;
-      viewInverse.Inverse(gContext.mViewMat);
-      gContext.mCameraDir = viewInverse.v.dir;
-      gContext.mCameraEye = viewInverse.v.position;
-      gContext.mCameraRight = viewInverse.v.right;
-      gContext.mCameraUp = viewInverse.v.up;
-
-	  // compute scale from the size of camera right vector projected on screen at the matrix position
-	  vec_t pointRight = viewInverse.v.right;
-	  pointRight.TransformPoint(gContext.mViewProjection);
-	  gContext.mScreenFactor = gGizmoSizeClipSpace / (pointRight.x / pointRight.w - gContext.mMVP.v.position.x / gContext.mMVP.v.position.w);
-
-	  vec_t rightViewInverse = viewInverse.v.right;
-	  rightViewInverse.TransformVector(gContext.mModelInverse);
-	  float rightLength = GetSegmentLengthClipSpace(makeVect(0.f, 0.f), rightViewInverse);
-	  gContext.mScreenFactor = gGizmoSizeClipSpace / rightLength;
-
-      ImVec2 centerSSpace = worldToPos(makeVect(0.f, 0.f), gContext.mMVP);
-      gContext.mScreenSquareCenter = centerSSpace;
-      gContext.mScreenSquareMin = ImVec2(centerSSpace.x - 10.f, centerSSpace.y - 10.f);
-      gContext.mScreenSquareMax = ImVec2(centerSSpace.x + 10.f, centerSSpace.y + 10.f);
-
-      ComputeCameraRay(gContext.mRayOrigin, gContext.mRayVector);
-   }
-
-   static void ComputeColors(ImU32 *colors, int type, OPERATION operation)
-   {
-      if (gContext.mbEnable)
-      {
-         switch (operation)
-         {
-         case TRANSLATE:
-            colors[0] = (type == MOVE_SCREEN) ? selectionColor : 0xFFFFFFFF;
-            for (int i = 0; i < 3; i++)
-            {
-               int colorPlaneIndex = (i + 2) % 3;
-               colors[i + 1] = (type == (int)(MOVE_X + i)) ? selectionColor : directionColor[i];
-               colors[i + 4] = (type == (int)(MOVE_YZ + i)) ? selectionColor : planeColor[i];
-               colors[i + 4] = (type == MOVE_SCREEN) ? selectionColor : colors[i + 4];
-            }
-            break;
-         case ROTATE:
-            colors[0] = (type == ROTATE_SCREEN) ? selectionColor : 0xFFFFFFFF;
-            for (int i = 0; i < 3; i++)
-               colors[i + 1] = (type == (int)(ROTATE_X + i)) ? selectionColor : directionColor[i];
-            break;
-         case SCALE:
-            colors[0] = (type == SCALE_XYZ) ? selectionColor : 0xFFFFFFFF;
-            for (int i = 0; i < 3; i++)
-               colors[i + 1] = (type == (int)(SCALE_X + i)) ? selectionColor : directionColor[i];
-            break;
-         }
-      }
-      else
-      {
-         for (int i = 0; i < 7; i++)
-            colors[i] = inactiveColor;
-      }
-   }
-
-   static void ComputeTripodAxisAndVisibility(int axisIndex, vec_t& dirAxis, vec_t& dirPlaneX, vec_t& dirPlaneY, bool& belowAxisLimit, bool& belowPlaneLimit)
-   {
-	   ImGuiIO& io = ImGui::GetIO(); // TODO remove
-	  const int planNormal = axisIndex;
-	  dirAxis = directionUnary[axisIndex];
-      dirPlaneX = directionUnary[(axisIndex + 1) % 3];
-      dirPlaneY = directionUnary[(axisIndex + 2) % 3];
-
-      if (gContext.mbUsing)
-      {
-         // when using, use stored factors so the gizmo doesn't flip when we translate
-         belowAxisLimit = gContext.mBelowAxisLimit[axisIndex];
-         belowPlaneLimit = gContext.mBelowPlaneLimit[axisIndex];
-
-         dirPlaneX *= gContext.mAxisFactor[axisIndex];
-         dirPlaneY *= gContext.mAxisFactor[(axisIndex + 1) % 3];
-      }
-      else
-      {
-		 // new method
-		  float lenDir = GetSegmentLengthClipSpace(makeVect(0.f, 0.f, 0.f), dirAxis);
-		  float lenDirMinus = GetSegmentLengthClipSpace(makeVect(0.f, 0.f, 0.f), -dirAxis);
-
-		 float lenDirPlaneX = GetSegmentLengthClipSpace(makeVect(0.f, 0.f, 0.f), dirPlaneX);
-		 float lenDirMinusPlaneX = GetSegmentLengthClipSpace(makeVect(0.f, 0.f, 0.f), -dirPlaneX);
-
-		 float lenDirPlaneY = GetSegmentLengthClipSpace(makeVect(0.f, 0.f, 0.f), dirPlaneY);
-		 float lenDirMinusPlaneY = GetSegmentLengthClipSpace(makeVect(0.f, 0.f, 0.f), -dirPlaneY);
-
-		 float mulAxis = (lenDir < lenDirMinus && fabsf(lenDir - lenDirMinus) > FLT_EPSILON) ? -1.f : 1.f;
-		 float mulAxisX = (lenDirPlaneX < lenDirMinusPlaneX && fabsf(lenDirPlaneX - lenDirMinusPlaneX) > FLT_EPSILON) ? -1.f : 1.f;
-		 float mulAxisY = (lenDirPlaneY < lenDirMinusPlaneY && fabsf(lenDirPlaneY - lenDirMinusPlaneY) > FLT_EPSILON) ? -1.f : 1.f;
-		 dirAxis *= mulAxis;
-		 dirPlaneX *= mulAxisX;
-		 dirPlaneY *= mulAxisY;
-
-		 // for axis
-		 float axisLengthInClipSpace = GetSegmentLengthClipSpace(makeVect(0.f, 0.f, 0.f), dirAxis * gContext.mScreenFactor);
-
-		 float paraSurf = GetParallelogram(makeVect(0.f, 0.f, 0.f), dirPlaneX * gContext.mScreenFactor, dirPlaneY * gContext.mScreenFactor);
-		 belowPlaneLimit = (paraSurf > 0.0025f);
-		 belowAxisLimit = (axisLengthInClipSpace > 0.02f);
-
-         // and store values
-         gContext.mAxisFactor[axisIndex] = mulAxis;
-         gContext.mAxisFactor[(axisIndex + 1) % 3] = mulAxisY;
-		 gContext.mAxisFactor[(axisIndex + 2) % 3] = mulAxisY;
-         gContext.mBelowAxisLimit[axisIndex] = belowAxisLimit;
-         gContext.mBelowPlaneLimit[axisIndex] = belowPlaneLimit;
-      }
-   }
-
-   static void ComputeSnap(float*value, float snap)
-   {
-      if (snap <= FLT_EPSILON)
-         return;
-      float modulo = fmodf(*value, snap);
-      float moduloRatio = fabsf(modulo) / snap;
-      if (moduloRatio < snapTension)
-         *value -= modulo;
-      else if (moduloRatio >(1.f - snapTension))
-         *value = *value - modulo + snap * ((*value<0.f) ? -1.f : 1.f);
-   }
-   static void ComputeSnap(vec_t& value, float *snap)
-   {
-      for (int i = 0; i < 3; i++)
-      {
-         ComputeSnap(&value[i], snap[i]);
-      }
-   }
-
-   static float ComputeAngleOnPlan()
-   {
-      const float len = IntersectRayPlane(gContext.mRayOrigin, gContext.mRayVector, gContext.mTranslationPlan);
-      vec_t localPos = Normalized(gContext.mRayOrigin + gContext.mRayVector * len - gContext.mModel.v.position);
-
-      vec_t perpendicularVector;
-      perpendicularVector.Cross(gContext.mRotationVectorSource, gContext.mTranslationPlan);
-      perpendicularVector.Normalize();
-      float acosAngle = Clamp(Dot(localPos, gContext.mRotationVectorSource), -0.9999f, 0.9999f);
-      float angle = acosf(acosAngle);
-      angle *= (Dot(localPos, perpendicularVector) < 0.f) ? 1.f : -1.f;
-      return angle;
-   }
-
-   static void DrawRotationGizmo(int type)
-   {
-      ImDrawList* drawList = gContext.mDrawList;
-
-      // colors
-      ImU32 colors[7];
-      ComputeColors(colors, type, ROTATE);
-
-	  vec_t cameraToModelNormalized;
-	  if (gContext.mIsOrthographic)
-	  {
-		  matrix_t viewInverse;
-		  viewInverse.Inverse(*(matrix_t*)&gContext.mViewMat);
-		  cameraToModelNormalized = viewInverse.v.dir;
-	  }
-	  else
-	  {
-		  cameraToModelNormalized = Normalized(gContext.mModel.v.position - gContext.mCameraEye);
-	  }
-
-      cameraToModelNormalized.TransformVector(gContext.mModelInverse);
-
-      gContext.mRadiusSquareCenter = screenRotateSize * gContext.mHeight;
-
-	  for (int axis = 0; axis < 3; axis++)
-      {
-         ImVec2 circlePos[halfCircleSegmentCount];
-
-         float angleStart = atan2f(cameraToModelNormalized[(4-axis)%3], cameraToModelNormalized[(3 - axis) % 3]) + ZPI * 0.5f;
-
-         for (unsigned int i = 0; i < halfCircleSegmentCount; i++)
-         {
-            float ng = angleStart + ZPI * ((float)i / (float)halfCircleSegmentCount);
-            vec_t axisPos = makeVect(cosf(ng), sinf(ng), 0.f);
-            vec_t pos = makeVect(axisPos[axis], axisPos[(axis+1)%3], axisPos[(axis+2)%3]) * gContext.mScreenFactor;
-            circlePos[i] = worldToPos(pos, gContext.mMVP);
-         }
-
-         float radiusAxis = sqrtf( (ImLengthSqr(worldToPos(gContext.mModel.v.position, gContext.mViewProjection) - circlePos[0]) ));
-         if(radiusAxis > gContext.mRadiusSquareCenter)
-           gContext.mRadiusSquareCenter = radiusAxis;
-
-         drawList->AddPolyline(circlePos, halfCircleSegmentCount, colors[3 - axis], false, 2);
-      }
-      drawList->AddCircle(worldToPos(gContext.mModel.v.position, gContext.mViewProjection), gContext.mRadiusSquareCenter, colors[0], 64, 3.f);
-
-      if (gContext.mbUsing)
-      {
-         ImVec2 circlePos[halfCircleSegmentCount +1];
-
-         circlePos[0] = worldToPos(gContext.mModel.v.position, gContext.mViewProjection);
-         for (unsigned int i = 1; i < halfCircleSegmentCount; i++)
-         {
-            float ng = gContext.mRotationAngle * ((float)(i-1) / (float)(halfCircleSegmentCount -1));
-            matrix_t rotateVectorMatrix;
-            rotateVectorMatrix.RotationAxis(gContext.mTranslationPlan, ng);
-            vec_t pos;
-            pos.TransformPoint(gContext.mRotationVectorSource, rotateVectorMatrix);
-            pos *= gContext.mScreenFactor;
-            circlePos[i] = worldToPos(pos + gContext.mModel.v.position, gContext.mViewProjection);
-         }
-         drawList->AddConvexPolyFilled(circlePos, halfCircleSegmentCount, 0x801080FF);
-         drawList->AddPolyline(circlePos, halfCircleSegmentCount, 0xFF1080FF, true, 2);
-
-         ImVec2 destinationPosOnScreen = circlePos[1];
-         char tmps[512];
-         ImFormatString(tmps, sizeof(tmps), rotationInfoMask[type - ROTATE_X], (gContext.mRotationAngle/ZPI)*180.f, gContext.mRotationAngle);
-         drawList->AddText(ImVec2(destinationPosOnScreen.x + 15, destinationPosOnScreen.y + 15), 0xFF000000, tmps);
-         drawList->AddText(ImVec2(destinationPosOnScreen.x + 14, destinationPosOnScreen.y + 14), 0xFFFFFFFF, tmps);
-      }
-   }
-
-   static void DrawHatchedAxis(const vec_t& axis)
-   {
-      for (int j = 1; j < 10; j++)
-      {
-         ImVec2 baseSSpace2 = worldToPos(axis * 0.05f * (float)(j * 2) * gContext.mScreenFactor, gContext.mMVP);
-         ImVec2 worldDirSSpace2 = worldToPos(axis * 0.05f * (float)(j * 2 + 1) * gContext.mScreenFactor, gContext.mMVP);
-         gContext.mDrawList->AddLine(baseSSpace2, worldDirSSpace2, 0x80000000, 6.f);
-      }
-   }
-
-   static void DrawScaleGizmo(int type)
-   {
-      ImDrawList* drawList = gContext.mDrawList;
-
-      // colors
-      ImU32 colors[7];
-      ComputeColors(colors, type, SCALE);
-
-      // draw
-      vec_t scaleDisplay = { 1.f, 1.f, 1.f, 1.f };
-
-      if (gContext.mbUsing)
-         scaleDisplay = gContext.mScale;
-
-      for (unsigned int i = 0; i < 3; i++)
-      {
-		  vec_t dirPlaneX, dirPlaneY, dirAxis;
-         bool belowAxisLimit, belowPlaneLimit;
-         ComputeTripodAxisAndVisibility(i, dirAxis, dirPlaneX, dirPlaneY, belowAxisLimit, belowPlaneLimit);
-
-         // draw axis
-         if (belowAxisLimit)
-         {
-            ImVec2 baseSSpace = worldToPos(dirAxis * 0.1f * gContext.mScreenFactor, gContext.mMVP);
-            ImVec2 worldDirSSpaceNoScale = worldToPos(dirAxis * gContext.mScreenFactor, gContext.mMVP);
-            ImVec2 worldDirSSpace = worldToPos((dirAxis * scaleDisplay[i]) * gContext.mScreenFactor, gContext.mMVP);
-
-            if (gContext.mbUsing)
-            {
-               drawList->AddLine(baseSSpace, worldDirSSpaceNoScale, 0xFF404040, 3.f);
-               drawList->AddCircleFilled(worldDirSSpaceNoScale, 6.f, 0xFF404040);
-            }
-
-            drawList->AddLine(baseSSpace, worldDirSSpace, colors[i + 1], 3.f);
-            drawList->AddCircleFilled(worldDirSSpace, 6.f, colors[i + 1]);
-
-            if (gContext.mAxisFactor[i] < 0.f)
-               DrawHatchedAxis(dirAxis * scaleDisplay[i]);
-         }
-      }
-
-      // draw screen cirle
-      drawList->AddCircleFilled(gContext.mScreenSquareCenter, 6.f, colors[0], 32);
-
-      if (gContext.mbUsing)
-      {
-         //ImVec2 sourcePosOnScreen = worldToPos(gContext.mMatrixOrigin, gContext.mViewProjection);
-         ImVec2 destinationPosOnScreen = worldToPos(gContext.mModel.v.position, gContext.mViewProjection);
-         /*vec_t dif(destinationPosOnScreen.x - sourcePosOnScreen.x, destinationPosOnScreen.y - sourcePosOnScreen.y);
-         dif.Normalize();
-         dif *= 5.f;
-         drawList->AddCircle(sourcePosOnScreen, 6.f, translationLineColor);
-         drawList->AddCircle(destinationPosOnScreen, 6.f, translationLineColor);
-         drawList->AddLine(ImVec2(sourcePosOnScreen.x + dif.x, sourcePosOnScreen.y + dif.y), ImVec2(destinationPosOnScreen.x - dif.x, destinationPosOnScreen.y - dif.y), translationLineColor, 2.f);
-         */
-         char tmps[512];
-         //vec_t deltaInfo = gContext.mModel.v.position - gContext.mMatrixOrigin;
-         int componentInfoIndex = (type - SCALE_X) * 3;
-         ImFormatString(tmps, sizeof(tmps), scaleInfoMask[type - SCALE_X], scaleDisplay[translationInfoIndex[componentInfoIndex]]);
-         drawList->AddText(ImVec2(destinationPosOnScreen.x + 15, destinationPosOnScreen.y + 15), 0xFF000000, tmps);
-         drawList->AddText(ImVec2(destinationPosOnScreen.x + 14, destinationPosOnScreen.y + 14), 0xFFFFFFFF, tmps);
-      }
-   }
-
-
-   static void DrawTranslationGizmo(int type)
-   {
-      ImDrawList* drawList = gContext.mDrawList;
-      if (!drawList)
-          return;
-
-      // colors
-      ImU32 colors[7];
-      ComputeColors(colors, type, TRANSLATE);
-
-      const ImVec2 origin = worldToPos(gContext.mModel.v.position, gContext.mViewProjection);
-
-      // draw
-      bool belowAxisLimit = false;
-      bool belowPlaneLimit = false;
-      for (unsigned int i = 0; i < 3; ++i)
-      {
-         vec_t dirPlaneX, dirPlaneY, dirAxis;
-         ComputeTripodAxisAndVisibility(i, dirAxis, dirPlaneX, dirPlaneY, belowAxisLimit, belowPlaneLimit);
-
-         // draw axis
-         if (belowAxisLimit)
-         {
-            ImVec2 baseSSpace = worldToPos(dirAxis * 0.1f * gContext.mScreenFactor, gContext.mMVP);
-            ImVec2 worldDirSSpace = worldToPos(dirAxis * gContext.mScreenFactor, gContext.mMVP);
-
-            drawList->AddLine(baseSSpace, worldDirSSpace, colors[i + 1], 3.f);
-
-            // Arrow head begin
-            ImVec2 dir(origin - worldDirSSpace);
-
-            float d = sqrtf(ImLengthSqr(dir));
-            dir /= d; // Normalize
-            dir *= 6.0f;
-
-            ImVec2 ortogonalDir(dir.y, -dir.x); // Perpendicular vector
-            ImVec2 a(worldDirSSpace + dir);
-            drawList->AddTriangleFilled(worldDirSSpace - dir, a + ortogonalDir, a - ortogonalDir, colors[i + 1]);
-            // Arrow head end
-
-            if (gContext.mAxisFactor[i] < 0.f)
-               DrawHatchedAxis(dirAxis);
-         }
-
-         // draw plane
-         if (belowPlaneLimit)
-         {
-            ImVec2 screenQuadPts[4];
-            for (int j = 0; j < 4; ++j)
-            {
-               vec_t cornerWorldPos = (dirPlaneX * quadUV[j * 2] + dirPlaneY  * quadUV[j * 2 + 1]) * gContext.mScreenFactor;
-               screenQuadPts[j] = worldToPos(cornerWorldPos, gContext.mMVP);
-            }
-            drawList->AddPolyline(screenQuadPts, 4, directionColor[i], true, 1.0f);
-            drawList->AddConvexPolyFilled(screenQuadPts, 4, colors[i + 4]);
-         }
-      }
-
-      drawList->AddCircleFilled(gContext.mScreenSquareCenter, 6.f, colors[0], 32);
-
-      if (gContext.mbUsing)
-      {
-         ImVec2 sourcePosOnScreen = worldToPos(gContext.mMatrixOrigin, gContext.mViewProjection);
-         ImVec2 destinationPosOnScreen = worldToPos(gContext.mModel.v.position, gContext.mViewProjection);
-         vec_t dif = { destinationPosOnScreen.x - sourcePosOnScreen.x, destinationPosOnScreen.y - sourcePosOnScreen.y, 0.f, 0.f };
-         dif.Normalize();
-         dif *= 5.f;
-         drawList->AddCircle(sourcePosOnScreen, 6.f, translationLineColor);
-         drawList->AddCircle(destinationPosOnScreen, 6.f, translationLineColor);
-         drawList->AddLine(ImVec2(sourcePosOnScreen.x + dif.x, sourcePosOnScreen.y + dif.y), ImVec2(destinationPosOnScreen.x - dif.x, destinationPosOnScreen.y - dif.y), translationLineColor, 2.f);
-
-         char tmps[512];
-         vec_t deltaInfo = gContext.mModel.v.position - gContext.mMatrixOrigin;
-         int componentInfoIndex = (type - MOVE_X) * 3;
-         ImFormatString(tmps, sizeof(tmps), translationInfoMask[type - MOVE_X], deltaInfo[translationInfoIndex[componentInfoIndex]], deltaInfo[translationInfoIndex[componentInfoIndex + 1]], deltaInfo[translationInfoIndex[componentInfoIndex + 2]]);
-         drawList->AddText(ImVec2(destinationPosOnScreen.x + 15, destinationPosOnScreen.y + 15), 0xFF000000, tmps);
-         drawList->AddText(ImVec2(destinationPosOnScreen.x + 14, destinationPosOnScreen.y + 14), 0xFFFFFFFF, tmps);
-      }
-   }
-
-   static bool CanActivate()
-   {
-      if (ImGui::IsMouseClicked(0) && !ImGui::IsAnyItemHovered() && !ImGui::IsAnyItemActive())
-         return true;
-      return false;
-   }
-
-   static void HandleAndDrawLocalBounds(float *bounds, matrix_t *matrix, float *snapValues, OPERATION operation)
-   {
-       ImGuiIO& io = ImGui::GetIO();
-       ImDrawList* drawList = gContext.mDrawList;
-
-       // compute best projection axis
-       vec_t axesWorldDirections[3];
-       vec_t bestAxisWorldDirection = { 0.0f, 0.0f, 0.0f, 0.0f };
-       int axes[3];
-       unsigned int numAxes = 1;
-       axes[0] = gContext.mBoundsBestAxis;
-       int bestAxis = axes[0];
-       if (!gContext.mbUsingBounds)
-       {
-           numAxes = 0;
-           float bestDot = 0.f;
-           for (unsigned int i = 0; i < 3; i++)
-           {
-               vec_t dirPlaneNormalWorld;
-               dirPlaneNormalWorld.TransformVector(directionUnary[i], gContext.mModelSource);
-               dirPlaneNormalWorld.Normalize();
-
-               float dt = fabsf( Dot(Normalized(gContext.mCameraEye - gContext.mModelSource.v.position), dirPlaneNormalWorld) );
-               if ( dt >= bestDot )
-               {
-                   bestDot = dt;
-                   bestAxis = i;
-                   bestAxisWorldDirection = dirPlaneNormalWorld;
-               }
-
-               if( dt >= 0.1f )
-               {
-                   axes[numAxes] = i;
-                   axesWorldDirections[numAxes] = dirPlaneNormalWorld;
-                   ++numAxes;
-               }
-           }
-       }
-
-       if( numAxes == 0 )
-       {
-            axes[0] = bestAxis;
-            axesWorldDirections[0] = bestAxisWorldDirection;
-            numAxes = 1;
-       }
-       else if( bestAxis != axes[0] )
-       {
-          unsigned int bestIndex = 0;
-          for (unsigned int i = 0; i < numAxes; i++)
-          {
-              if( axes[i] == bestAxis )
-              {
-                  bestIndex = i;
-                  break;
-              }
-          }
-          int tempAxis = axes[0];
-          axes[0] = axes[bestIndex];
-          axes[bestIndex] = tempAxis;
-          vec_t tempDirection = axesWorldDirections[0];
-          axesWorldDirections[0] = axesWorldDirections[bestIndex];
-          axesWorldDirections[bestIndex] = tempDirection;
-       }
-
-       for (unsigned int axisIndex = 0; axisIndex < numAxes; ++axisIndex)
-       {
-           bestAxis = axes[axisIndex];
-           bestAxisWorldDirection = axesWorldDirections[axisIndex];
-
-           // corners
-           vec_t aabb[4];
-
-           int secondAxis = (bestAxis + 1) % 3;
-           int thirdAxis = (bestAxis + 2) % 3;
-
-           for (int i = 0; i < 4; i++)
-           {
-               aabb[i][3] = aabb[i][bestAxis] = 0.f;
-               aabb[i][secondAxis] = bounds[secondAxis + 3 * (i >> 1)];
-               aabb[i][thirdAxis] = bounds[thirdAxis + 3 * ((i >> 1) ^ (i & 1))];
-           }
-
-           // draw bounds
-           unsigned int anchorAlpha = gContext.mbEnable ? 0xFF000000 : 0x80000000;
-
-           matrix_t boundsMVP = gContext.mModelSource * gContext.mViewProjection;
-           for (int i = 0; i < 4;i++)
-           {
-               ImVec2 worldBound1 = worldToPos(aabb[i], boundsMVP);
-               ImVec2 worldBound2 = worldToPos(aabb[(i+1)%4], boundsMVP);
-               if( !IsInContextRect( worldBound1 ) || !IsInContextRect( worldBound2 ) )
-               {
-                   continue;
-               }
-               float boundDistance = sqrtf(ImLengthSqr(worldBound1 - worldBound2));
-               int stepCount = (int)(boundDistance / 10.f);
-               stepCount = min( stepCount, 1000 );
-               float stepLength = 1.f / (float)stepCount;
-               for (int j = 0; j < stepCount; j++)
-               {
-                   float t1 = (float)j * stepLength;
-                   float t2 = (float)j * stepLength + stepLength * 0.5f;
-                   ImVec2 worldBoundSS1 = ImLerp(worldBound1, worldBound2, ImVec2(t1, t1));
-                   ImVec2 worldBoundSS2 = ImLerp(worldBound1, worldBound2, ImVec2(t2, t2));
-                   //drawList->AddLine(worldBoundSS1, worldBoundSS2, 0x000000 + anchorAlpha, 3.f);
-				   drawList->AddLine(worldBoundSS1, worldBoundSS2, 0xAAAAAA + anchorAlpha, 2.f);
-               }
-               vec_t midPoint = (aabb[i] + aabb[(i + 1) % 4] ) * 0.5f;
-               ImVec2 midBound = worldToPos(midPoint, boundsMVP);
-               static const float AnchorBigRadius = 8.f;
-               static const float AnchorSmallRadius = 6.f;
-               bool overBigAnchor = ImLengthSqr(worldBound1 - io.MousePos) <= (AnchorBigRadius*AnchorBigRadius);
-               bool overSmallAnchor = ImLengthSqr(midBound - io.MousePos) <= (AnchorBigRadius*AnchorBigRadius);
-
-			   int type = NONE;
-			   vec_t gizmoHitProportion;
-
-			   switch (operation)
-			   {
-			   case TRANSLATE: type = GetMoveType(&gizmoHitProportion); break;
-			   case ROTATE: type = GetRotateType(); break;
-			   case SCALE: type = GetScaleType(); break;
-			   }
-			   if (type != NONE)
-			   {
-				   overBigAnchor = false;
-				   overSmallAnchor = false;
-			   }
-
-
-               unsigned int bigAnchorColor = overBigAnchor ? selectionColor : (0xAAAAAA + anchorAlpha);
-               unsigned int smallAnchorColor = overSmallAnchor ? selectionColor : (0xAAAAAA + anchorAlpha);
-
-               drawList->AddCircleFilled(worldBound1, AnchorBigRadius, 0xFF000000);
-			   drawList->AddCircleFilled(worldBound1, AnchorBigRadius-1.2f, bigAnchorColor);
-
-               drawList->AddCircleFilled(midBound, AnchorSmallRadius, 0xFF000000);
-			   drawList->AddCircleFilled(midBound, AnchorSmallRadius-1.2f, smallAnchorColor);
-               int oppositeIndex = (i + 2) % 4;
-               // big anchor on corners
-               if (!gContext.mbUsingBounds && gContext.mbEnable && overBigAnchor && CanActivate())
-               {
-                   gContext.mBoundsPivot.TransformPoint(aabb[(i + 2) % 4], gContext.mModelSource);
-                   gContext.mBoundsAnchor.TransformPoint(aabb[i], gContext.mModelSource);
-                   gContext.mBoundsPlan = BuildPlan(gContext.mBoundsAnchor, bestAxisWorldDirection);
-                   gContext.mBoundsBestAxis = bestAxis;
-                   gContext.mBoundsAxis[0] = secondAxis;
-                   gContext.mBoundsAxis[1] = thirdAxis;
-
-                   gContext.mBoundsLocalPivot.Set(0.f);
-                   gContext.mBoundsLocalPivot[secondAxis] = aabb[oppositeIndex][secondAxis];
-                   gContext.mBoundsLocalPivot[thirdAxis] = aabb[oppositeIndex][thirdAxis];
-
-                   gContext.mbUsingBounds = true;
-                   gContext.mBoundsMatrix = gContext.mModelSource;
-               }
-               // small anchor on middle of segment
-               if (!gContext.mbUsingBounds && gContext.mbEnable && overSmallAnchor && CanActivate())
-               {
-                   vec_t midPointOpposite = (aabb[(i + 2) % 4] + aabb[(i + 3) % 4]) * 0.5f;
-                   gContext.mBoundsPivot.TransformPoint(midPointOpposite, gContext.mModelSource);
-                   gContext.mBoundsAnchor.TransformPoint(midPoint, gContext.mModelSource);
-                   gContext.mBoundsPlan = BuildPlan(gContext.mBoundsAnchor, bestAxisWorldDirection);
-                   gContext.mBoundsBestAxis = bestAxis;
-                   int indices[] = { secondAxis , thirdAxis };
-                   gContext.mBoundsAxis[0] = indices[i%2];
-                   gContext.mBoundsAxis[1] = -1;
-
-                   gContext.mBoundsLocalPivot.Set(0.f);
-                   gContext.mBoundsLocalPivot[gContext.mBoundsAxis[0]] = aabb[oppositeIndex][indices[i % 2]];// bounds[gContext.mBoundsAxis[0]] * (((i + 1) & 2) ? 1.f : -1.f);
-
-                   gContext.mbUsingBounds = true;
-                   gContext.mBoundsMatrix = gContext.mModelSource;
-               }
-           }
-
-           if (gContext.mbUsingBounds)
-           {
-               matrix_t scale;
-               scale.SetToIdentity();
-
-               // compute projected mouse position on plan
-               const float len = IntersectRayPlane(gContext.mRayOrigin, gContext.mRayVector, gContext.mBoundsPlan);
-               vec_t newPos = gContext.mRayOrigin + gContext.mRayVector * len;
-
-               // compute a reference and delta vectors base on mouse move
-               vec_t deltaVector = (newPos - gContext.mBoundsPivot).Abs();
-               vec_t referenceVector = (gContext.mBoundsAnchor - gContext.mBoundsPivot).Abs();
-
-               // for 1 or 2 axes, compute a ratio that's used for scale and snap it based on resulting length
-               for (int i = 0; i < 2; i++)
-               {
-                   int axisIndex1 = gContext.mBoundsAxis[i];
-                   if (axisIndex1 == -1)
-                       continue;
-
-                   float ratioAxis = 1.f;
-                   vec_t axisDir = gContext.mBoundsMatrix.component[axisIndex1].Abs();
-
-                   float dtAxis = axisDir.Dot(referenceVector);
-                   float boundSize = bounds[axisIndex1 + 3] - bounds[axisIndex1];
-                   if (dtAxis > FLT_EPSILON)
-                       ratioAxis = axisDir.Dot(deltaVector) / dtAxis;
-
-                   if (snapValues)
-                   {
-                       float length = boundSize * ratioAxis;
-                       ComputeSnap(&length, snapValues[axisIndex1]);
-                       if (boundSize > FLT_EPSILON)
-                           ratioAxis = length / boundSize;
-                   }
-                   scale.component[axisIndex1] *= ratioAxis;
-               }
-
-               // transform matrix
-               matrix_t preScale, postScale;
-               preScale.Translation(-gContext.mBoundsLocalPivot);
-               postScale.Translation(gContext.mBoundsLocalPivot);
-               matrix_t res = preScale * scale * postScale * gContext.mBoundsMatrix;
-               *matrix = res;
-
-               // info text
-               char tmps[512];
-               ImVec2 destinationPosOnScreen = worldToPos(gContext.mModel.v.position, gContext.mViewProjection);
-               ImFormatString(tmps, sizeof(tmps), "X: %.2f Y: %.2f Z:%.2f"
-                   , (bounds[3] - bounds[0]) * gContext.mBoundsMatrix.component[0].Length() * scale.component[0].Length()
-                   , (bounds[4] - bounds[1]) * gContext.mBoundsMatrix.component[1].Length() * scale.component[1].Length()
-                   , (bounds[5] - bounds[2]) * gContext.mBoundsMatrix.component[2].Length() * scale.component[2].Length()
-               );
-               drawList->AddText(ImVec2(destinationPosOnScreen.x + 15, destinationPosOnScreen.y + 15), 0xFF000000, tmps);
-               drawList->AddText(ImVec2(destinationPosOnScreen.x + 14, destinationPosOnScreen.y + 14), 0xFFFFFFFF, tmps);
-            }
-
-           if (!io.MouseDown[0])
-               gContext.mbUsingBounds = false;
-
-           if( gContext.mbUsingBounds )
-               break;
-       }
-   }
-
-   ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-   //
-
-   static int GetScaleType()
-   {
-      ImGuiIO& io = ImGui::GetIO();
-      int type = NONE;
-
-      // screen
-      if (io.MousePos.x >= gContext.mScreenSquareMin.x && io.MousePos.x <= gContext.mScreenSquareMax.x &&
-         io.MousePos.y >= gContext.mScreenSquareMin.y && io.MousePos.y <= gContext.mScreenSquareMax.y)
-         type = SCALE_XYZ;
-
-      const vec_t direction[3] = { gContext.mModel.v.right, gContext.mModel.v.up, gContext.mModel.v.dir };
-      // compute
-      for (unsigned int i = 0; i < 3 && type == NONE; i++)
-      {
-         vec_t dirPlaneX, dirPlaneY, dirAxis;
-         bool belowAxisLimit, belowPlaneLimit;
-         ComputeTripodAxisAndVisibility(i, dirAxis, dirPlaneX, dirPlaneY, belowAxisLimit, belowPlaneLimit);
-
-		 const float len = IntersectRayPlane(gContext.mRayOrigin, gContext.mRayVector, BuildPlan(gContext.mModel.v.position, dirAxis));
-		 vec_t posOnPlan = gContext.mRayOrigin + gContext.mRayVector * len;
-
-		 const ImVec2 posOnPlanScreen = worldToPos(posOnPlan, gContext.mViewProjection);
-		 const ImVec2 axisStartOnScreen = worldToPos(gContext.mModel.v.position + dirAxis * gContext.mScreenFactor * 0.1f, gContext.mViewProjection);
-		 const ImVec2 axisEndOnScreen = worldToPos(gContext.mModel.v.position + dirAxis * gContext.mScreenFactor, gContext.mViewProjection);
-
-		 vec_t closestPointOnAxis = PointOnSegment(makeVect(posOnPlanScreen), makeVect(axisStartOnScreen), makeVect(axisEndOnScreen));
-
-		 if ((closestPointOnAxis - makeVect(posOnPlanScreen)).Length() < 12.f) // pixel size
-			 type = SCALE_X + i;
-      }
-      return type;
-   }
-
-   static int GetRotateType()
-   {
-      ImGuiIO& io = ImGui::GetIO();
-      int type = NONE;
-
-      vec_t deltaScreen = { io.MousePos.x - gContext.mScreenSquareCenter.x, io.MousePos.y - gContext.mScreenSquareCenter.y, 0.f, 0.f };
-      float dist = deltaScreen.Length();
-      if (dist >= (gContext.mRadiusSquareCenter - 1.0f) && dist < (gContext.mRadiusSquareCenter + 1.0f))
-         type = ROTATE_SCREEN;
-
-      const vec_t planNormals[] = { gContext.mModel.v.right, gContext.mModel.v.up, gContext.mModel.v.dir};
-
-      for (unsigned int i = 0; i < 3 && type == NONE; i++)
-      {
-         // pickup plan
-         vec_t pickupPlan = BuildPlan(gContext.mModel.v.position, planNormals[i]);
-
-         const float len = IntersectRayPlane(gContext.mRayOrigin, gContext.mRayVector, pickupPlan);
-         vec_t localPos = gContext.mRayOrigin + gContext.mRayVector * len - gContext.mModel.v.position;
-
-         if (Dot(Normalized(localPos), gContext.mRayVector) > FLT_EPSILON)
-            continue;
-		 vec_t idealPosOnCircle = Normalized(localPos);
-		 idealPosOnCircle.TransformVector(gContext.mModelInverse);
-		 ImVec2 idealPosOnCircleScreen = worldToPos(idealPosOnCircle * gContext.mScreenFactor, gContext.mMVP);
-
-		 //gContext.mDrawList->AddCircle(idealPosOnCircleScreen, 5.f, 0xFFFFFFFF);
-		 ImVec2 distanceOnScreen = idealPosOnCircleScreen - io.MousePos;
-
-         float distance = makeVect(distanceOnScreen).Length();
-         if (distance < 8.f) // pixel size
-            type = ROTATE_X + i;
-      }
-
-      return type;
-   }
-
-   static int GetMoveType(vec_t *gizmoHitProportion)
-   {
-      ImGuiIO& io = ImGui::GetIO();
-      int type = NONE;
-
-      // screen
-      if (io.MousePos.x >= gContext.mScreenSquareMin.x && io.MousePos.x <= gContext.mScreenSquareMax.x &&
-         io.MousePos.y >= gContext.mScreenSquareMin.y && io.MousePos.y <= gContext.mScreenSquareMax.y)
-         type = MOVE_SCREEN;
-
-      const vec_t direction[3] = { gContext.mModel.v.right, gContext.mModel.v.up, gContext.mModel.v.dir };
-
-      // compute
-      for (unsigned int i = 0; i < 3 && type == NONE; i++)
-      {
-         vec_t dirPlaneX, dirPlaneY, dirAxis;
-         bool belowAxisLimit, belowPlaneLimit;
-         ComputeTripodAxisAndVisibility(i, dirAxis, dirPlaneX, dirPlaneY, belowAxisLimit, belowPlaneLimit);
-		 dirAxis.TransformVector(gContext.mModel);
-         dirPlaneX.TransformVector(gContext.mModel);
-         dirPlaneY.TransformVector(gContext.mModel);
-
-         const float len = IntersectRayPlane(gContext.mRayOrigin, gContext.mRayVector, BuildPlan(gContext.mModel.v.position, dirAxis));
-         vec_t posOnPlan = gContext.mRayOrigin + gContext.mRayVector * len;
-
-		 const ImVec2 posOnPlanScreen = worldToPos(posOnPlan, gContext.mViewProjection);
-		 const ImVec2 axisStartOnScreen = worldToPos(gContext.mModel.v.position + dirAxis * gContext.mScreenFactor * 0.1f, gContext.mViewProjection);
-		 const ImVec2 axisEndOnScreen = worldToPos(gContext.mModel.v.position + dirAxis * gContext.mScreenFactor, gContext.mViewProjection);
-
-		 vec_t closestPointOnAxis = PointOnSegment(makeVect(posOnPlanScreen), makeVect(axisStartOnScreen), makeVect(axisEndOnScreen));
-
-		 if ((closestPointOnAxis - makeVect(posOnPlanScreen)).Length() < 12.f) // pixel size
-            type = MOVE_X + i;
-
-		 const float dx = dirPlaneX.Dot3((posOnPlan - gContext.mModel.v.position) * (1.f / gContext.mScreenFactor));
-		 const float dy = dirPlaneY.Dot3((posOnPlan - gContext.mModel.v.position) * (1.f / gContext.mScreenFactor));
-         if (belowPlaneLimit && dx >= quadUV[0] && dx <= quadUV[4] && dy >= quadUV[1] && dy <= quadUV[3])
-            type = MOVE_YZ + i;
-
-         if (gizmoHitProportion)
-            *gizmoHitProportion = makeVect(dx, dy, 0.f);
-      }
-      return type;
-   }
-
-   static void HandleTranslation(float *matrix, float *deltaMatrix, int& type, float *snap)
-   {
-      ImGuiIO& io = ImGui::GetIO();
-      bool applyRotationLocaly = gContext.mMode == LOCAL || type == MOVE_SCREEN;
-
-      // move
-      if (gContext.mbUsing)
-      {
-         ImGui::CaptureMouseFromApp();
-         const float len = fabsf(IntersectRayPlane(gContext.mRayOrigin, gContext.mRayVector, gContext.mTranslationPlan)); // near plan
-         vec_t newPos = gContext.mRayOrigin + gContext.mRayVector * len;
-
-
-
-         // compute delta
-         vec_t newOrigin = newPos - gContext.mRelativeOrigin * gContext.mScreenFactor;
-         vec_t delta = newOrigin - gContext.mModel.v.position;
-
-         // 1 axis constraint
-         if (gContext.mCurrentOperation >= MOVE_X && gContext.mCurrentOperation <= MOVE_Z)
-         {
-            int axisIndex = gContext.mCurrentOperation - MOVE_X;
-            const vec_t& axisValue = *(vec_t*)&gContext.mModel.m[axisIndex];
-            float lengthOnAxis = Dot(axisValue, delta);
-            delta = axisValue * lengthOnAxis;
-         }
-
-         // snap
-         if (snap)
-         {
-            vec_t cumulativeDelta = gContext.mModel.v.position + delta - gContext.mMatrixOrigin;
-            if (applyRotationLocaly)
-            {
-               matrix_t modelSourceNormalized = gContext.mModelSource;
-               modelSourceNormalized.OrthoNormalize();
-               matrix_t modelSourceNormalizedInverse;
-               modelSourceNormalizedInverse.Inverse(modelSourceNormalized);
-               cumulativeDelta.TransformVector(modelSourceNormalizedInverse);
-               ComputeSnap(cumulativeDelta, snap);
-               cumulativeDelta.TransformVector(modelSourceNormalized);
-            }
-            else
-            {
-               ComputeSnap(cumulativeDelta, snap);
-            }
-            delta = gContext.mMatrixOrigin + cumulativeDelta - gContext.mModel.v.position;
-
-         }
-
-         // compute matrix & delta
-         matrix_t deltaMatrixTranslation;
-         deltaMatrixTranslation.Translation(delta);
-         if (deltaMatrix)
-            memcpy(deltaMatrix, deltaMatrixTranslation.m16, sizeof(float) * 16);
-
-
-         matrix_t res = gContext.mModelSource * deltaMatrixTranslation;
-         *(matrix_t*)matrix = res;
-
-         if (!io.MouseDown[0])
-            gContext.mbUsing = false;
-
-         type = gContext.mCurrentOperation;
-      }
-      else
-      {
-         // find new possible way to move
-         vec_t gizmoHitProportion;
-         type = GetMoveType(&gizmoHitProportion);
-         if(type != NONE)
-         {
-            ImGui::CaptureMouseFromApp();
-         }
-		 if (CanActivate() && type != NONE)
-		 {
-			 gContext.mbUsing = true;
-			 gContext.mCurrentOperation = type;
-			 vec_t movePlanNormal[] = { gContext.mModel.v.right, gContext.mModel.v.up, gContext.mModel.v.dir,
-				 gContext.mModel.v.right, gContext.mModel.v.up, gContext.mModel.v.dir,
-				 -gContext.mCameraDir };
-
-			 vec_t cameraToModelNormalized = Normalized(gContext.mModel.v.position - gContext.mCameraEye);
-			 for (unsigned int i = 0; i < 3; i++)
-			 {
-				 vec_t orthoVector = Cross(movePlanNormal[i], cameraToModelNormalized);
-				 movePlanNormal[i].Cross(orthoVector);
-				 movePlanNormal[i].Normalize();
-			 }
-            // pickup plan
-            gContext.mTranslationPlan = BuildPlan(gContext.mModel.v.position, movePlanNormal[type - MOVE_X]);
-            const float len = IntersectRayPlane(gContext.mRayOrigin, gContext.mRayVector, gContext.mTranslationPlan);
-            gContext.mTranslationPlanOrigin = gContext.mRayOrigin + gContext.mRayVector * len;
-            gContext.mMatrixOrigin = gContext.mModel.v.position;
-
-            gContext.mRelativeOrigin = (gContext.mTranslationPlanOrigin - gContext.mModel.v.position) * (1.f / gContext.mScreenFactor);
-         }
-      }
-   }
-
-   static void HandleScale(float *matrix, float *deltaMatrix, int& type, float *snap)
-   {
-      ImGuiIO& io = ImGui::GetIO();
-
-      if (!gContext.mbUsing)
-      {
-         // find new possible way to scale
-         type = GetScaleType();
-         if(type != NONE)
-         {
-            ImGui::CaptureMouseFromApp();
-         }
-         if (CanActivate() && type != NONE)
-         {
-            gContext.mbUsing = true;
-            gContext.mCurrentOperation = type;
-            const vec_t movePlanNormal[] = { gContext.mModel.v.up, gContext.mModel.v.dir, gContext.mModel.v.right, gContext.mModel.v.dir, gContext.mModel.v.up, gContext.mModel.v.right, -gContext.mCameraDir };
-            // pickup plan
-
-            gContext.mTranslationPlan = BuildPlan(gContext.mModel.v.position, movePlanNormal[type - SCALE_X]);
-            const float len = IntersectRayPlane(gContext.mRayOrigin, gContext.mRayVector, gContext.mTranslationPlan);
-            gContext.mTranslationPlanOrigin = gContext.mRayOrigin + gContext.mRayVector * len;
-            gContext.mMatrixOrigin = gContext.mModel.v.position;
-            gContext.mScale.Set(1.f, 1.f, 1.f);
-            gContext.mRelativeOrigin = (gContext.mTranslationPlanOrigin - gContext.mModel.v.position) * (1.f / gContext.mScreenFactor);
-            gContext.mScaleValueOrigin = makeVect(gContext.mModelSource.v.right.Length(), gContext.mModelSource.v.up.Length(), gContext.mModelSource.v.dir.Length());
-            gContext.mSaveMousePosx = io.MousePos.x;
-         }
-      }
-      // scale
-      if (gContext.mbUsing)
-      {
-         ImGui::CaptureMouseFromApp();
-         const float len = IntersectRayPlane(gContext.mRayOrigin, gContext.mRayVector, gContext.mTranslationPlan);
-         vec_t newPos = gContext.mRayOrigin + gContext.mRayVector * len;
-         vec_t newOrigin = newPos - gContext.mRelativeOrigin * gContext.mScreenFactor;
-         vec_t delta = newOrigin - gContext.mModel.v.position;
-
-         // 1 axis constraint
-         if (gContext.mCurrentOperation >= SCALE_X && gContext.mCurrentOperation <= SCALE_Z)
-         {
-            int axisIndex = gContext.mCurrentOperation - SCALE_X;
-            const vec_t& axisValue = *(vec_t*)&gContext.mModel.m[axisIndex];
-            float lengthOnAxis = Dot(axisValue, delta);
-            delta = axisValue * lengthOnAxis;
-
-            vec_t baseVector = gContext.mTranslationPlanOrigin - gContext.mModel.v.position;
-            float ratio = Dot(axisValue, baseVector + delta) / Dot(axisValue, baseVector);
-
-            gContext.mScale[axisIndex] = max(ratio, 0.001f);
-         }
-         else
-         {
-            float scaleDelta = (io.MousePos.x - gContext.mSaveMousePosx)  * 0.01f;
-            gContext.mScale.Set(max(1.f + scaleDelta, 0.001f));
-         }
-
-         // snap
-         if (snap)
-         {
-            float scaleSnap[] = { snap[0], snap[0], snap[0] };
-            ComputeSnap(gContext.mScale, scaleSnap);
-         }
-
-         // no 0 allowed
-         for (int i = 0; i < 3;i++)
-            gContext.mScale[i] = max(gContext.mScale[i], 0.001f);
-
-         // compute matrix & delta
-         matrix_t deltaMatrixScale;
-         deltaMatrixScale.Scale(gContext.mScale * gContext.mScaleValueOrigin);
-
-         matrix_t res = deltaMatrixScale * gContext.mModel;
-         *(matrix_t*)matrix = res;
-
-         if (deltaMatrix)
-         {
-            deltaMatrixScale.Scale(gContext.mScale);
-            memcpy(deltaMatrix, deltaMatrixScale.m16, sizeof(float) * 16);
-         }
-
-         if (!io.MouseDown[0])
-            gContext.mbUsing = false;
-
-         type = gContext.mCurrentOperation;
-      }
-   }
-
-   static void HandleRotation(float *matrix, float *deltaMatrix, int& type, float *snap)
-   {
-      ImGuiIO& io = ImGui::GetIO();
-      bool applyRotationLocaly = gContext.mMode == LOCAL;
-
-      if (!gContext.mbUsing)
-      {
-         type = GetRotateType();
-
-         if(type != NONE)
-         {
-            ImGui::CaptureMouseFromApp();
-         }
-
-         if (type == ROTATE_SCREEN)
-         {
-            applyRotationLocaly = true;
-         }
-
-         if (CanActivate() && type != NONE)
-         {
-            gContext.mbUsing = true;
-            gContext.mCurrentOperation = type;
-            const vec_t rotatePlanNormal[] = { gContext.mModel.v.right, gContext.mModel.v.up, gContext.mModel.v.dir, -gContext.mCameraDir };
-            // pickup plan
-            if (applyRotationLocaly)
-            {
-               gContext.mTranslationPlan = BuildPlan(gContext.mModel.v.position, rotatePlanNormal[type - ROTATE_X]);
-            }
-            else
-            {
-               gContext.mTranslationPlan = BuildPlan(gContext.mModelSource.v.position, directionUnary[type - ROTATE_X]);
-            }
-
-            const float len = IntersectRayPlane(gContext.mRayOrigin, gContext.mRayVector, gContext.mTranslationPlan);
-            vec_t localPos = gContext.mRayOrigin + gContext.mRayVector * len - gContext.mModel.v.position;
-            gContext.mRotationVectorSource = Normalized(localPos);
-            gContext.mRotationAngleOrigin = ComputeAngleOnPlan();
-         }
-      }
-
-      // rotation
-      if (gContext.mbUsing)
-      {
-         ImGui::CaptureMouseFromApp();
-         gContext.mRotationAngle = ComputeAngleOnPlan();
-         if (snap)
-         {
-            float snapInRadian = snap[0] * DEG2RAD;
-            ComputeSnap(&gContext.mRotationAngle, snapInRadian);
-         }
-         vec_t rotationAxisLocalSpace;
-
-         rotationAxisLocalSpace.TransformVector(makeVect(gContext.mTranslationPlan.x, gContext.mTranslationPlan.y, gContext.mTranslationPlan.z, 0.f), gContext.mModelInverse);
-         rotationAxisLocalSpace.Normalize();
-
-         matrix_t deltaRotation;
-         deltaRotation.RotationAxis(rotationAxisLocalSpace, gContext.mRotationAngle - gContext.mRotationAngleOrigin);
-         gContext.mRotationAngleOrigin = gContext.mRotationAngle;
-
-         matrix_t scaleOrigin;
-         scaleOrigin.Scale(gContext.mModelScaleOrigin);
-
-         if (applyRotationLocaly)
-         {
-            *(matrix_t*)matrix = scaleOrigin * deltaRotation * gContext.mModel;
-         }
-         else
-         {
-            matrix_t res = gContext.mModelSource;
-            res.v.position.Set(0.f);
-
-            *(matrix_t*)matrix = res * deltaRotation;
-            ((matrix_t*)matrix)->v.position = gContext.mModelSource.v.position;
-         }
-
-         if (deltaMatrix)
-         {
-            *(matrix_t*)deltaMatrix = gContext.mModelInverse * deltaRotation * gContext.mModel;
-         }
-
-         if (!io.MouseDown[0])
-            gContext.mbUsing = false;
-
-         type = gContext.mCurrentOperation;
-      }
-   }
-
-   void DecomposeMatrixToComponents(const float *matrix, float *translation, float *rotation, float *scale)
-   {
-      matrix_t mat = *(matrix_t*)matrix;
-
-      scale[0] = mat.v.right.Length();
-      scale[1] = mat.v.up.Length();
-      scale[2] = mat.v.dir.Length();
-
-      mat.OrthoNormalize();
-
-      rotation[0] = RAD2DEG * atan2f(mat.m[1][2], mat.m[2][2]);
-      rotation[1] = RAD2DEG * atan2f(-mat.m[0][2], sqrtf(mat.m[1][2] * mat.m[1][2] + mat.m[2][2]* mat.m[2][2]));
-      rotation[2] = RAD2DEG * atan2f(mat.m[0][1], mat.m[0][0]);
-
-      translation[0] = mat.v.position.x;
-      translation[1] = mat.v.position.y;
-      translation[2] = mat.v.position.z;
-   }
-
-   void RecomposeMatrixFromComponents(const float *translation, const float *rotation, const float *scale, float *matrix)
-   {
-      matrix_t& mat = *(matrix_t*)matrix;
-
-      matrix_t rot[3];
-      for (int i = 0; i < 3;i++)
-         rot[i].RotationAxis(directionUnary[i], rotation[i] * DEG2RAD);
-
-      mat = rot[0] * rot[1] * rot[2];
-
-      float validScale[3];
-      for (int i = 0; i < 3; i++)
-      {
-         if (fabsf(scale[i]) < FLT_EPSILON)
-            validScale[i] = 0.001f;
-         else
-            validScale[i] = scale[i];
-      }
-      mat.v.right *= validScale[0];
-      mat.v.up *= validScale[1];
-      mat.v.dir *= validScale[2];
-      mat.v.position.Set(translation[0], translation[1], translation[2], 1.f);
-   }
-
-   void Manipulate(const float *view, const float *projection, OPERATION operation, MODE mode, float *matrix, float *deltaMatrix, float *snap, float *localBounds, float *boundsSnap)
-   {
-	   ImGuiIO& io = ImGui::GetIO();
-	   //io.MousePos.x = 1056;
-	   //io.MousePos.y = 573;
-
-      ComputeContext(view, projection, matrix, mode);
-
-      // set delta to identity
-      if (deltaMatrix)
-         ((matrix_t*)deltaMatrix)->SetToIdentity();
-
-      // behind camera
-      vec_t camSpacePosition;
-      camSpacePosition.TransformPoint(makeVect(0.f, 0.f, 0.f), gContext.mMVP);
-      if (camSpacePosition.z < 0.001f)
-         return;
-
-      // --
-      int type = NONE;
-      if (gContext.mbEnable)
-      {
-          if (!gContext.mbUsingBounds)
-          {
-              switch (operation)
-              {
-              case ROTATE:
-                  HandleRotation(matrix, deltaMatrix, type, snap);
-                  break;
-              case TRANSLATE:
-                  HandleTranslation(matrix, deltaMatrix, type, snap);
-                  break;
-              case SCALE:
-                  HandleScale(matrix, deltaMatrix, type, snap);
-                  break;
-              }
-          }
-      }
-
-      if (localBounds && !gContext.mbUsing)
-          HandleAndDrawLocalBounds(localBounds, (matrix_t*)matrix, boundsSnap, operation);
-
-      if (!gContext.mbUsingBounds)
-      {
-          switch (operation)
-          {
-          case ROTATE:
-              DrawRotationGizmo(type);
-              break;
-          case TRANSLATE:
-              DrawTranslationGizmo(type);
-              break;
-          case SCALE:
-              DrawScaleGizmo(type);
-              break;
-          }
-      }
-   }
-
-   void DrawCube(const float *view, const float *projection, const float *matrix)
-   {
-      matrix_t viewInverse;
-      viewInverse.Inverse(*(matrix_t*)view);
-      const matrix_t& model = *(matrix_t*)matrix;
-      matrix_t res = *(matrix_t*)matrix * *(matrix_t*)view * *(matrix_t*)projection;
-
-      for (int iFace = 0; iFace < 6; iFace++)
-      {
-         const int normalIndex = (iFace % 3);
-         const int perpXIndex = (normalIndex + 1) % 3;
-         const int perpYIndex = (normalIndex + 2) % 3;
-         const float invert = (iFace > 2) ? -1.f : 1.f;
-
-         const vec_t faceCoords[4] = { directionUnary[normalIndex] + directionUnary[perpXIndex] + directionUnary[perpYIndex],
-            directionUnary[normalIndex] + directionUnary[perpXIndex] - directionUnary[perpYIndex],
-            directionUnary[normalIndex] - directionUnary[perpXIndex] - directionUnary[perpYIndex],
-            directionUnary[normalIndex] - directionUnary[perpXIndex] + directionUnary[perpYIndex],
-         };
-
-         // clipping
-         bool skipFace = false;
-         for (unsigned int iCoord = 0; iCoord < 4; iCoord++)
-         {
-            vec_t camSpacePosition;
-            camSpacePosition.TransformPoint(faceCoords[iCoord] * 0.5f * invert, gContext.mMVP);
-            if (camSpacePosition.z < 0.001f)
-            {
-               skipFace = true;
-               break;
-            }
-         }
-         if (skipFace)
-            continue;
-
-         // 3D->2D
-         ImVec2 faceCoordsScreen[4];
-         for (unsigned int iCoord = 0; iCoord < 4; iCoord++)
-            faceCoordsScreen[iCoord] = worldToPos(faceCoords[iCoord] * 0.5f * invert, res);
-
-         // back face culling
-         vec_t cullPos, cullNormal;
-         cullPos.TransformPoint(faceCoords[0] * 0.5f * invert, model);
-         cullNormal.TransformVector(directionUnary[normalIndex] * invert, model);
-         float dt = Dot(Normalized(cullPos - viewInverse.v.position), Normalized(cullNormal));
-         if (dt>0.f)
-            continue;
-
-         // draw face with lighter color
-         gContext.mDrawList->AddConvexPolyFilled(faceCoordsScreen, 4, directionColor[normalIndex] | 0x808080);
-      }
-   }
-
-   void DrawGrid(const float *view, const float *projection, const float *matrix, const float gridSize)
-   {
-	   matrix_t res = *(matrix_t*)matrix * *(matrix_t*)view * *(matrix_t*)projection;
-
-	   for (float f = -gridSize; f <= gridSize; f += 1.f)
-	   {
-		   gContext.mDrawList->AddLine(worldToPos(makeVect(f, 0.f, -gridSize), res), worldToPos(makeVect(f, 0.f, gridSize), res), 0xFF808080);
-		   gContext.mDrawList->AddLine(worldToPos(makeVect(-gridSize, 0.f, f), res), worldToPos(makeVect(gridSize, 0.f, f), res), 0xFF808080);
-	   }
-   }
-};
-
+// The MIT License(MIT)
+//
+// Copyright(c) 2016 Cedric Guillemet
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files(the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and / or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions :
+//
+// The above copyright notice and this permission notice shall be included in all
+// copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+// SOFTWARE.
+
+#include "imgui.h"
+#ifndef IMGUI_DEFINE_MATH_OPERATORS
+#define IMGUI_DEFINE_MATH_OPERATORS
+#endif
+#include "imgui_internal.h"
+#include "ImGuizmo.h"
+
+// includes patches for multiview from
+// https://github.com/CedricGuillemet/ImGuizmo/issues/15
+
+namespace ImGuizmo
+{
+   static const float ZPI = 3.14159265358979323846f;
+   static const float RAD2DEG = (180.f / ZPI);
+   static const float DEG2RAD = (ZPI / 180.f);
+   static const float gGizmoSizeClipSpace = 0.1f;
+   const float screenRotateSize = 0.06f;
+
+   ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+   // utility and math
+
+   void FPU_MatrixF_x_MatrixF(const float *a, const float *b, float *r)
+   {
+      r[0] = a[0] * b[0] + a[1] * b[4] + a[2] * b[8] + a[3] * b[12];
+      r[1] = a[0] * b[1] + a[1] * b[5] + a[2] * b[9] + a[3] * b[13];
+      r[2] = a[0] * b[2] + a[1] * b[6] + a[2] * b[10] + a[3] * b[14];
+      r[3] = a[0] * b[3] + a[1] * b[7] + a[2] * b[11] + a[3] * b[15];
+
+      r[4] = a[4] * b[0] + a[5] * b[4] + a[6] * b[8] + a[7] * b[12];
+      r[5] = a[4] * b[1] + a[5] * b[5] + a[6] * b[9] + a[7] * b[13];
+      r[6] = a[4] * b[2] + a[5] * b[6] + a[6] * b[10] + a[7] * b[14];
+      r[7] = a[4] * b[3] + a[5] * b[7] + a[6] * b[11] + a[7] * b[15];
+
+      r[8] = a[8] * b[0] + a[9] * b[4] + a[10] * b[8] + a[11] * b[12];
+      r[9] = a[8] * b[1] + a[9] * b[5] + a[10] * b[9] + a[11] * b[13];
+      r[10] = a[8] * b[2] + a[9] * b[6] + a[10] * b[10] + a[11] * b[14];
+      r[11] = a[8] * b[3] + a[9] * b[7] + a[10] * b[11] + a[11] * b[15];
+
+      r[12] = a[12] * b[0] + a[13] * b[4] + a[14] * b[8] + a[15] * b[12];
+      r[13] = a[12] * b[1] + a[13] * b[5] + a[14] * b[9] + a[15] * b[13];
+      r[14] = a[12] * b[2] + a[13] * b[6] + a[14] * b[10] + a[15] * b[14];
+      r[15] = a[12] * b[3] + a[13] * b[7] + a[14] * b[11] + a[15] * b[15];
+   }
+
+   //template <typename T> T LERP(T x, T y, float z) { return (x + (y - x)*z); }
+   template <typename T> T Clamp(T x, T y, T z) { return ((x<y) ? y : ((x>z) ? z : x)); }
+   template <typename T> T max(T x, T y) { return (x > y) ? x : y; }
+   template <typename T> T min(T x, T y) { return (x < y) ? x : y; }
+   template <typename T> bool IsWithin(T x, T y, T z) { return (x>=y) && (x<=z); }
+
+   struct matrix_t;
+   struct vec_t
+   {
+   public:
+      float x, y, z, w;
+
+      void Lerp(const vec_t& v, float t)
+      {
+         x += (v.x - x) * t;
+         y += (v.y - y) * t;
+         z += (v.z - z) * t;
+         w += (v.w - w) * t;
+      }
+
+      void Set(float v) { x = y = z = w = v; }
+      void Set(float _x, float _y, float _z = 0.f, float _w = 0.f) { x = _x; y = _y; z = _z; w = _w; }
+
+      vec_t& operator -= (const vec_t& v) { x -= v.x; y -= v.y; z -= v.z; w -= v.w; return *this; }
+      vec_t& operator += (const vec_t& v) { x += v.x; y += v.y; z += v.z; w += v.w; return *this; }
+      vec_t& operator *= (const vec_t& v) { x *= v.x; y *= v.y; z *= v.z; w *= v.w; return *this; }
+      vec_t& operator *= (float v) { x *= v;    y *= v;    z *= v;    w *= v;    return *this; }
+
+      vec_t operator * (float f) const;
+      vec_t operator - () const;
+      vec_t operator - (const vec_t& v) const;
+      vec_t operator + (const vec_t& v) const;
+      vec_t operator * (const vec_t& v) const;
+
+      const vec_t& operator + () const { return (*this); }
+      float Length() const { return sqrtf(x*x + y*y + z*z); };
+      float LengthSq() const { return (x*x + y*y + z*z); };
+      vec_t Normalize() { (*this) *= (1.f / Length()); return (*this); }
+      vec_t Normalize(const vec_t& v) { this->Set(v.x, v.y, v.z, v.w); this->Normalize(); return (*this); }
+      vec_t Abs() const;
+      void Cross(const vec_t& v)
+      {
+         vec_t res;
+         res.x = y * v.z - z * v.y;
+         res.y = z * v.x - x * v.z;
+         res.z = x * v.y - y * v.x;
+
+         x = res.x;
+         y = res.y;
+         z = res.z;
+         w = 0.f;
+      }
+      void Cross(const vec_t& v1, const vec_t& v2)
+      {
+         x = v1.y * v2.z - v1.z * v2.y;
+         y = v1.z * v2.x - v1.x * v2.z;
+         z = v1.x * v2.y - v1.y * v2.x;
+         w = 0.f;
+      }
+      float Dot(const vec_t &v) const
+      {
+         return (x * v.x) + (y * v.y) + (z * v.z) + (w * v.w);
+      }
+      float Dot3(const vec_t &v) const
+      {
+         return (x * v.x) + (y * v.y) + (z * v.z);
+      }
+
+      void Transform(const matrix_t& matrix);
+      void Transform(const vec_t & s, const matrix_t& matrix);
+
+      void TransformVector(const matrix_t& matrix);
+      void TransformPoint(const matrix_t& matrix);
+      void TransformVector(const vec_t& v, const matrix_t& matrix) { (*this) = v; this->TransformVector(matrix); }
+      void TransformPoint(const vec_t& v, const matrix_t& matrix) { (*this) = v; this->TransformPoint(matrix); }
+
+      float& operator [] (size_t index) { return ((float*)&x)[index]; }
+      const float& operator [] (size_t index) const { return ((float*)&x)[index]; }
+   };
+
+   vec_t makeVect(float _x, float _y, float _z = 0.f, float _w = 0.f) { vec_t res; res.x = _x; res.y = _y; res.z = _z; res.w = _w; return res; }
+   vec_t makeVect(ImVec2 v) { vec_t res; res.x = v.x; res.y = v.y; res.z = 0.f; res.w = 0.f; return res; }
+   vec_t vec_t::operator * (float f) const { return makeVect(x * f, y * f, z * f, w *f); }
+   vec_t vec_t::operator - () const { return makeVect(-x, -y, -z, -w); }
+   vec_t vec_t::operator - (const vec_t& v) const { return makeVect(x - v.x, y - v.y, z - v.z, w - v.w); }
+   vec_t vec_t::operator + (const vec_t& v) const { return makeVect(x + v.x, y + v.y, z + v.z, w + v.w); }
+   vec_t vec_t::operator * (const vec_t& v) const { return makeVect(x * v.x, y * v.y, z * v.z, w * v.w); }
+   vec_t vec_t::Abs() const { return makeVect(fabsf(x), fabsf(y), fabsf(z)); }
+
+   vec_t Normalized(const vec_t& v) { vec_t res; res = v; res.Normalize(); return res; }
+   vec_t Cross(const vec_t& v1, const vec_t& v2)
+   {
+      vec_t res;
+      res.x = v1.y * v2.z - v1.z * v2.y;
+      res.y = v1.z * v2.x - v1.x * v2.z;
+      res.z = v1.x * v2.y - v1.y * v2.x;
+      res.w = 0.f;
+      return res;
+   }
+
+   float Dot(const vec_t &v1, const vec_t &v2)
+   {
+      return (v1.x * v2.x) + (v1.y * v2.y) + (v1.z * v2.z);
+   }
+
+   vec_t BuildPlan(const vec_t & p_point1, const vec_t & p_normal)
+   {
+      vec_t normal, res;
+      normal.Normalize(p_normal);
+      res.w = normal.Dot(p_point1);
+      res.x = normal.x;
+      res.y = normal.y;
+      res.z = normal.z;
+      return res;
+   }
+
+   struct matrix_t
+   {
+   public:
+
+      union
+      {
+         float m[4][4];
+         float m16[16];
+         struct
+         {
+            vec_t right, up, dir, position;
+         } v;
+         vec_t component[4];
+      };
+
+      matrix_t(const matrix_t& other) { memcpy(&m16[0], &other.m16[0], sizeof(float) * 16); }
+      matrix_t() {}
+
+      operator float * () { return m16; }
+      operator const float* () const { return m16; }
+      void Translation(float _x, float _y, float _z) { this->Translation(makeVect(_x, _y, _z)); }
+
+      void Translation(const vec_t& vt)
+      {
+         v.right.Set(1.f, 0.f, 0.f, 0.f);
+         v.up.Set(0.f, 1.f, 0.f, 0.f);
+         v.dir.Set(0.f, 0.f, 1.f, 0.f);
+         v.position.Set(vt.x, vt.y, vt.z, 1.f);
+      }
+
+      void Scale(float _x, float _y, float _z)
+      {
+         v.right.Set(_x, 0.f, 0.f, 0.f);
+         v.up.Set(0.f, _y, 0.f, 0.f);
+         v.dir.Set(0.f, 0.f, _z, 0.f);
+         v.position.Set(0.f, 0.f, 0.f, 1.f);
+      }
+      void Scale(const vec_t& s) { Scale(s.x, s.y, s.z); }
+
+      matrix_t& operator *= (const matrix_t& mat)
+      {
+         matrix_t tmpMat;
+         tmpMat = *this;
+         tmpMat.Multiply(mat);
+         *this = tmpMat;
+         return *this;
+      }
+      matrix_t operator * (const matrix_t& mat) const
+      {
+         matrix_t matT;
+         matT.Multiply(*this, mat);
+         return matT;
+      }
+
+      void Multiply(const matrix_t &matrix)
+      {
+         matrix_t tmp;
+         tmp = *this;
+
+         FPU_MatrixF_x_MatrixF((float*)&tmp, (float*)&matrix, (float*)this);
+      }
+
+      void Multiply(const matrix_t &m1, const matrix_t &m2)
+      {
+         FPU_MatrixF_x_MatrixF((float*)&m1, (float*)&m2, (float*)this);
+      }
+
+      float GetDeterminant() const
+      {
+         return m[0][0] * m[1][1] * m[2][2] + m[0][1] * m[1][2] * m[2][0] + m[0][2] * m[1][0] * m[2][1] -
+            m[0][2] * m[1][1] * m[2][0] - m[0][1] * m[1][0] * m[2][2] - m[0][0] * m[1][2] * m[2][1];
+      }
+
+      float Inverse(const matrix_t &srcMatrix, bool affine = false);
+      void SetToIdentity()
+      {
+         v.right.Set(1.f, 0.f, 0.f, 0.f);
+         v.up.Set(0.f, 1.f, 0.f, 0.f);
+         v.dir.Set(0.f, 0.f, 1.f, 0.f);
+         v.position.Set(0.f, 0.f, 0.f, 1.f);
+      }
+      void Transpose()
+      {
+         matrix_t tmpm;
+         for (int l = 0; l < 4; l++)
+         {
+            for (int c = 0; c < 4; c++)
+            {
+               tmpm.m[l][c] = m[c][l];
+            }
+         }
+         (*this) = tmpm;
+      }
+
+      void RotationAxis(const vec_t & axis, float angle);
+
+      void OrthoNormalize()
+      {
+         v.right.Normalize();
+         v.up.Normalize();
+         v.dir.Normalize();
+      }
+   };
+
+   void vec_t::Transform(const matrix_t& matrix)
+   {
+      vec_t out;
+
+      out.x = x * matrix.m[0][0] + y * matrix.m[1][0] + z * matrix.m[2][0] + w * matrix.m[3][0];
+      out.y = x * matrix.m[0][1] + y * matrix.m[1][1] + z * matrix.m[2][1] + w * matrix.m[3][1];
+      out.z = x * matrix.m[0][2] + y * matrix.m[1][2] + z * matrix.m[2][2] + w * matrix.m[3][2];
+      out.w = x * matrix.m[0][3] + y * matrix.m[1][3] + z * matrix.m[2][3] + w * matrix.m[3][3];
+
+      x = out.x;
+      y = out.y;
+      z = out.z;
+      w = out.w;
+   }
+
+   void vec_t::Transform(const vec_t & s, const matrix_t& matrix)
+   {
+      *this = s;
+      Transform(matrix);
+   }
+
+   void vec_t::TransformPoint(const matrix_t& matrix)
+   {
+      vec_t out;
+
+      out.x = x * matrix.m[0][0] + y * matrix.m[1][0] + z * matrix.m[2][0] + matrix.m[3][0];
+      out.y = x * matrix.m[0][1] + y * matrix.m[1][1] + z * matrix.m[2][1] + matrix.m[3][1];
+      out.z = x * matrix.m[0][2] + y * matrix.m[1][2] + z * matrix.m[2][2] + matrix.m[3][2];
+      out.w = x * matrix.m[0][3] + y * matrix.m[1][3] + z * matrix.m[2][3] + matrix.m[3][3];
+
+      x = out.x;
+      y = out.y;
+      z = out.z;
+      w = out.w;
+   }
+
+
+   void vec_t::TransformVector(const matrix_t& matrix)
+   {
+      vec_t out;
+
+      out.x = x * matrix.m[0][0] + y * matrix.m[1][0] + z * matrix.m[2][0];
+      out.y = x * matrix.m[0][1] + y * matrix.m[1][1] + z * matrix.m[2][1];
+      out.z = x * matrix.m[0][2] + y * matrix.m[1][2] + z * matrix.m[2][2];
+      out.w = x * matrix.m[0][3] + y * matrix.m[1][3] + z * matrix.m[2][3];
+
+      x = out.x;
+      y = out.y;
+      z = out.z;
+      w = out.w;
+   }
+
+   float matrix_t::Inverse(const matrix_t &srcMatrix, bool affine)
+   {
+      float det = 0;
+
+      if (affine)
+      {
+         det = GetDeterminant();
+         float s = 1 / det;
+         m[0][0] = (srcMatrix.m[1][1] * srcMatrix.m[2][2] - srcMatrix.m[1][2] * srcMatrix.m[2][1]) * s;
+         m[0][1] = (srcMatrix.m[2][1] * srcMatrix.m[0][2] - srcMatrix.m[2][2] * srcMatrix.m[0][1]) * s;
+         m[0][2] = (srcMatrix.m[0][1] * srcMatrix.m[1][2] - srcMatrix.m[0][2] * srcMatrix.m[1][1]) * s;
+         m[1][0] = (srcMatrix.m[1][2] * srcMatrix.m[2][0] - srcMatrix.m[1][0] * srcMatrix.m[2][2]) * s;
+         m[1][1] = (srcMatrix.m[2][2] * srcMatrix.m[0][0] - srcMatrix.m[2][0] * srcMatrix.m[0][2]) * s;
+         m[1][2] = (srcMatrix.m[0][2] * srcMatrix.m[1][0] - srcMatrix.m[0][0] * srcMatrix.m[1][2]) * s;
+         m[2][0] = (srcMatrix.m[1][0] * srcMatrix.m[2][1] - srcMatrix.m[1][1] * srcMatrix.m[2][0]) * s;
+         m[2][1] = (srcMatrix.m[2][0] * srcMatrix.m[0][1] - srcMatrix.m[2][1] * srcMatrix.m[0][0]) * s;
+         m[2][2] = (srcMatrix.m[0][0] * srcMatrix.m[1][1] - srcMatrix.m[0][1] * srcMatrix.m[1][0]) * s;
+         m[3][0] = -(m[0][0] * srcMatrix.m[3][0] + m[1][0] * srcMatrix.m[3][1] + m[2][0] * srcMatrix.m[3][2]);
+         m[3][1] = -(m[0][1] * srcMatrix.m[3][0] + m[1][1] * srcMatrix.m[3][1] + m[2][1] * srcMatrix.m[3][2]);
+         m[3][2] = -(m[0][2] * srcMatrix.m[3][0] + m[1][2] * srcMatrix.m[3][1] + m[2][2] * srcMatrix.m[3][2]);
+      }
+      else
+      {
+         // transpose matrix
+         float src[16];
+         for (int i = 0; i < 4; ++i)
+         {
+            src[i] = srcMatrix.m16[i * 4];
+            src[i + 4] = srcMatrix.m16[i * 4 + 1];
+            src[i + 8] = srcMatrix.m16[i * 4 + 2];
+            src[i + 12] = srcMatrix.m16[i * 4 + 3];
+         }
+
+         // calculate pairs for first 8 elements (cofactors)
+         float tmp[12]; // temp array for pairs
+         tmp[0] = src[10] * src[15];
+         tmp[1] = src[11] * src[14];
+         tmp[2] = src[9] * src[15];
+         tmp[3] = src[11] * src[13];
+         tmp[4] = src[9] * src[14];
+         tmp[5] = src[10] * src[13];
+         tmp[6] = src[8] * src[15];
+         tmp[7] = src[11] * src[12];
+         tmp[8] = src[8] * src[14];
+         tmp[9] = src[10] * src[12];
+         tmp[10] = src[8] * src[13];
+         tmp[11] = src[9] * src[12];
+
+         // calculate first 8 elements (cofactors)
+         m16[0] = (tmp[0] * src[5] + tmp[3] * src[6] + tmp[4] * src[7]) - (tmp[1] * src[5] + tmp[2] * src[6] + tmp[5] * src[7]);
+         m16[1] = (tmp[1] * src[4] + tmp[6] * src[6] + tmp[9] * src[7]) - (tmp[0] * src[4] + tmp[7] * src[6] + tmp[8] * src[7]);
+         m16[2] = (tmp[2] * src[4] + tmp[7] * src[5] + tmp[10] * src[7]) - (tmp[3] * src[4] + tmp[6] * src[5] + tmp[11] * src[7]);
+         m16[3] = (tmp[5] * src[4] + tmp[8] * src[5] + tmp[11] * src[6]) - (tmp[4] * src[4] + tmp[9] * src[5] + tmp[10] * src[6]);
+         m16[4] = (tmp[1] * src[1] + tmp[2] * src[2] + tmp[5] * src[3]) - (tmp[0] * src[1] + tmp[3] * src[2] + tmp[4] * src[3]);
+         m16[5] = (tmp[0] * src[0] + tmp[7] * src[2] + tmp[8] * src[3]) - (tmp[1] * src[0] + tmp[6] * src[2] + tmp[9] * src[3]);
+         m16[6] = (tmp[3] * src[0] + tmp[6] * src[1] + tmp[11] * src[3]) - (tmp[2] * src[0] + tmp[7] * src[1] + tmp[10] * src[3]);
+         m16[7] = (tmp[4] * src[0] + tmp[9] * src[1] + tmp[10] * src[2]) - (tmp[5] * src[0] + tmp[8] * src[1] + tmp[11] * src[2]);
+
+         // calculate pairs for second 8 elements (cofactors)
+         tmp[0] = src[2] * src[7];
+         tmp[1] = src[3] * src[6];
+         tmp[2] = src[1] * src[7];
+         tmp[3] = src[3] * src[5];
+         tmp[4] = src[1] * src[6];
+         tmp[5] = src[2] * src[5];
+         tmp[6] = src[0] * src[7];
+         tmp[7] = src[3] * src[4];
+         tmp[8] = src[0] * src[6];
+         tmp[9] = src[2] * src[4];
+         tmp[10] = src[0] * src[5];
+         tmp[11] = src[1] * src[4];
+
+         // calculate second 8 elements (cofactors)
+         m16[8] = (tmp[0] * src[13] + tmp[3] * src[14] + tmp[4] * src[15]) - (tmp[1] * src[13] + tmp[2] * src[14] + tmp[5] * src[15]);
+         m16[9] = (tmp[1] * src[12] + tmp[6] * src[14] + tmp[9] * src[15]) - (tmp[0] * src[12] + tmp[7] * src[14] + tmp[8] * src[15]);
+         m16[10] = (tmp[2] * src[12] + tmp[7] * src[13] + tmp[10] * src[15]) - (tmp[3] * src[12] + tmp[6] * src[13] + tmp[11] * src[15]);
+         m16[11] = (tmp[5] * src[12] + tmp[8] * src[13] + tmp[11] * src[14]) - (tmp[4] * src[12] + tmp[9] * src[13] + tmp[10] * src[14]);
+         m16[12] = (tmp[2] * src[10] + tmp[5] * src[11] + tmp[1] * src[9]) - (tmp[4] * src[11] + tmp[0] * src[9] + tmp[3] * src[10]);
+         m16[13] = (tmp[8] * src[11] + tmp[0] * src[8] + tmp[7] * src[10]) - (tmp[6] * src[10] + tmp[9] * src[11] + tmp[1] * src[8]);
+         m16[14] = (tmp[6] * src[9] + tmp[11] * src[11] + tmp[3] * src[8]) - (tmp[10] * src[11] + tmp[2] * src[8] + tmp[7] * src[9]);
+         m16[15] = (tmp[10] * src[10] + tmp[4] * src[8] + tmp[9] * src[9]) - (tmp[8] * src[9] + tmp[11] * src[10] + tmp[5] * src[8]);
+
+         // calculate determinant
+         det = src[0] * m16[0] + src[1] * m16[1] + src[2] * m16[2] + src[3] * m16[3];
+
+         // calculate matrix inverse
+         float invdet = 1 / det;
+         for (int j = 0; j < 16; ++j)
+         {
+            m16[j] *= invdet;
+         }
+      }
+
+      return det;
+   }
+
+   void matrix_t::RotationAxis(const vec_t & axis, float angle)
+   {
+      float length2 = axis.LengthSq();
+      if (length2 < FLT_EPSILON)
+      {
+         SetToIdentity();
+         return;
+      }
+
+      vec_t n = axis * (1.f / sqrtf(length2));
+      float s = sinf(angle);
+      float c = cosf(angle);
+      float k = 1.f - c;
+
+      float xx = n.x * n.x * k + c;
+      float yy = n.y * n.y * k + c;
+      float zz = n.z * n.z * k + c;
+      float xy = n.x * n.y * k;
+      float yz = n.y * n.z * k;
+      float zx = n.z * n.x * k;
+      float xs = n.x * s;
+      float ys = n.y * s;
+      float zs = n.z * s;
+
+      m[0][0] = xx;
+      m[0][1] = xy + zs;
+      m[0][2] = zx - ys;
+      m[0][3] = 0.f;
+      m[1][0] = xy - zs;
+      m[1][1] = yy;
+      m[1][2] = yz + xs;
+      m[1][3] = 0.f;
+      m[2][0] = zx + ys;
+      m[2][1] = yz - xs;
+      m[2][2] = zz;
+      m[2][3] = 0.f;
+      m[3][0] = 0.f;
+      m[3][1] = 0.f;
+      m[3][2] = 0.f;
+      m[3][3] = 1.f;
+   }
+
+   ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+   //
+
+   enum MOVETYPE
+   {
+      NONE,
+      MOVE_X,
+      MOVE_Y,
+      MOVE_Z,
+      MOVE_YZ,
+      MOVE_ZX,
+      MOVE_XY,
+      MOVE_SCREEN,
+      ROTATE_X,
+      ROTATE_Y,
+      ROTATE_Z,
+      ROTATE_SCREEN,
+      SCALE_X,
+      SCALE_Y,
+      SCALE_Z,
+      SCALE_XYZ
+   };
+
+   struct Context
+   {
+      Context() : mbUsing(false), mbEnable(true), mbUsingBounds(false)
+      {
+      }
+
+      ImDrawList* mDrawList;
+
+      MODE mMode;
+      matrix_t mViewMat;
+      matrix_t mProjectionMat;
+      matrix_t mModel;
+      matrix_t mModelInverse;
+      matrix_t mModelSource;
+      matrix_t mModelSourceInverse;
+      matrix_t mMVP;
+      matrix_t mViewProjection;
+
+      vec_t mModelScaleOrigin;
+      vec_t mCameraEye;
+      vec_t mCameraRight;
+      vec_t mCameraDir;
+      vec_t mCameraUp;
+      vec_t mRayOrigin;
+      vec_t mRayVector;
+
+      float  mRadiusSquareCenter;
+      ImVec2 mScreenSquareCenter;
+      ImVec2 mScreenSquareMin;
+      ImVec2 mScreenSquareMax;
+
+      float mScreenFactor;
+      vec_t mRelativeOrigin;
+
+      bool mbUsing;
+      bool mbEnable;
+
+      // translation
+      vec_t mTranslationPlan;
+      vec_t mTranslationPlanOrigin;
+      vec_t mMatrixOrigin;
+
+      // rotation
+      vec_t mRotationVectorSource;
+      float mRotationAngle;
+      float mRotationAngleOrigin;
+      //vec_t mWorldToLocalAxis;
+
+      // scale
+      vec_t mScale;
+      vec_t mScaleValueOrigin;
+      float mSaveMousePosx;
+
+      // save axis factor when using gizmo
+      bool mBelowAxisLimit[3];
+      bool mBelowPlaneLimit[3];
+      float mAxisFactor[3];
+
+      // bounds stretching
+      vec_t mBoundsPivot;
+      vec_t mBoundsAnchor;
+      vec_t mBoundsPlan;
+      vec_t mBoundsLocalPivot;
+      int mBoundsBestAxis;
+      int mBoundsAxis[2];
+      bool mbUsingBounds;
+      matrix_t mBoundsMatrix;
+
+      //
+      int mCurrentOperation;
+
+      float mX = 0.f;
+      float mY = 0.f;
+      float mWidth = 0.f;
+      float mHeight = 0.f;
+      float mXMax = 0.f;
+      float mYMax = 0.f;
+     float mDisplayRatio = 1.f;
+
+     bool mIsOrthographic = false;
+   };
+
+   static Context gContext;
+
+   static const float angleLimit = 0.96f;
+   static const float planeLimit = 0.2f;
+
+   static const vec_t directionUnary[3] = { makeVect(1.f, 0.f, 0.f), makeVect(0.f, 1.f, 0.f), makeVect(0.f, 0.f, 1.f) };
+   static const ImU32 directionColor[3] = { 0xFF0000AA, 0xFF00AA00, 0xFFAA0000 };
+
+   // Alpha: 100%: FF, 87%: DE, 70%: B3, 54%: 8A, 50%: 80, 38%: 61, 12%: 1F
+   static const ImU32 planeColor[3] = { 0x610000AA, 0x6100AA00, 0x61AA0000 };
+   static const ImU32 selectionColor = 0x8A1080FF;
+   static const ImU32 inactiveColor = 0x99999999;
+   static const ImU32 translationLineColor = 0xAAAAAAAA;
+   static const char *translationInfoMask[] = { "X : %5.3f", "Y : %5.3f", "Z : %5.3f",
+      "Y : %5.3f Z : %5.3f", "X : %5.3f Z : %5.3f", "X : %5.3f Y : %5.3f",
+      "X : %5.3f Y : %5.3f Z : %5.3f" };
+   static const char *scaleInfoMask[] = { "X : %5.2f", "Y : %5.2f", "Z : %5.2f", "XYZ : %5.2f" };
+   static const char *rotationInfoMask[] = { "X : %5.2f deg %5.2f rad", "Y : %5.2f deg %5.2f rad", "Z : %5.2f deg %5.2f rad", "Screen : %5.2f deg %5.2f rad" };
+   static const int translationInfoIndex[] = { 0,0,0, 1,0,0, 2,0,0, 1,2,0, 0,2,0, 0,1,0, 0,1,2 };
+   static const float quadMin = 0.5f;
+   static const float quadMax = 0.8f;
+   static const float quadUV[8] = { quadMin, quadMin, quadMin, quadMax, quadMax, quadMax, quadMax, quadMin };
+   static const int halfCircleSegmentCount = 64;
+   static const float snapTension = 0.5f;
+
+   ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+   //
+   static int GetMoveType(vec_t *gizmoHitProportion);
+   static int GetRotateType();
+   static int GetScaleType();
+
+   static ImVec2 worldToPos(const vec_t& worldPos, const matrix_t& mat)
+   {
+      vec_t trans;
+      trans.TransformPoint(worldPos, mat);
+      trans *= 0.5f / trans.w;
+      trans += makeVect(0.5f, 0.5f);
+      trans.y = 1.f - trans.y;
+      trans.x *= gContext.mWidth;
+      trans.y *= gContext.mHeight;
+      trans.x += gContext.mX;
+      trans.y += gContext.mY;
+      return ImVec2(trans.x, trans.y);
+   }
+
+   static void ComputeCameraRay(vec_t &rayOrigin, vec_t &rayDir)
+   {
+      ImGuiIO& io = ImGui::GetIO();
+
+      matrix_t mViewProjInverse;
+      mViewProjInverse.Inverse(gContext.mViewMat * gContext.mProjectionMat);
+
+      float mox = ((io.MousePos.x - gContext.mX) / gContext.mWidth) * 2.f - 1.f;
+      float moy = (1.f - ((io.MousePos.y - gContext.mY) / gContext.mHeight)) * 2.f - 1.f;
+
+      rayOrigin.Transform(makeVect(mox, moy, 0.f, 1.f), mViewProjInverse);
+      rayOrigin *= 1.f / rayOrigin.w;
+      vec_t rayEnd;
+      rayEnd.Transform(makeVect(mox, moy, 1.f, 1.f), mViewProjInverse);
+      rayEnd *= 1.f / rayEnd.w;
+      rayDir = Normalized(rayEnd - rayOrigin);
+   }
+
+   static float GetSegmentLengthClipSpace(const vec_t& start, const vec_t& end)
+   {
+      vec_t startOfSegment = start;
+      startOfSegment.TransformPoint(gContext.mMVP);
+      if (fabsf(startOfSegment.w)> FLT_EPSILON) // check for axis aligned with camera direction
+         startOfSegment *= 1.f / startOfSegment.w;
+
+      vec_t endOfSegment = end;
+      endOfSegment.TransformPoint(gContext.mMVP);
+      if (fabsf(endOfSegment.w)> FLT_EPSILON) // check for axis aligned with camera direction
+         endOfSegment *= 1.f / endOfSegment.w;
+
+      vec_t clipSpaceAxis = endOfSegment - startOfSegment;
+      clipSpaceAxis.y /= gContext.mDisplayRatio;
+      float segmentLengthInClipSpace = sqrtf(clipSpaceAxis.x*clipSpaceAxis.x + clipSpaceAxis.y*clipSpaceAxis.y);
+      return segmentLengthInClipSpace;
+   }
+
+   static float GetParallelogram(const vec_t& ptO, const vec_t& ptA, const vec_t& ptB)
+   {
+      vec_t pts[] = { ptO, ptA, ptB };
+      for (unsigned int i = 0; i < 3; i++)
+      {
+         pts[i].TransformPoint(gContext.mMVP);
+         if (fabsf(pts[i].w)> FLT_EPSILON) // check for axis aligned with camera direction
+            pts[i] *= 1.f / pts[i].w;
+      }
+      vec_t segA = pts[1] - pts[0];
+      vec_t segB = pts[2] - pts[0];
+      segA.y /= gContext.mDisplayRatio;
+      segB.y /= gContext.mDisplayRatio;
+      vec_t segAOrtho = makeVect(-segA.y, segA.x);
+      segAOrtho.Normalize();
+      float dt = segAOrtho.Dot3(segB);
+      float surface = sqrtf(segA.x*segA.x + segA.y*segA.y) * fabsf(dt);
+      return surface;
+   }
+
+   inline vec_t PointOnSegment(const vec_t & point, const vec_t & vertPos1, const vec_t & vertPos2)
+   {
+      vec_t c = point - vertPos1;
+      vec_t V;
+
+      V.Normalize(vertPos2 - vertPos1);
+      float d = (vertPos2 - vertPos1).Length();
+      float t = V.Dot3(c);
+
+      if (t < 0.f)
+         return vertPos1;
+
+      if (t > d)
+         return vertPos2;
+
+      return vertPos1 + V * t;
+   }
+
+   static float IntersectRayPlane(const vec_t & rOrigin, const vec_t& rVector, const vec_t& plan)
+   {
+      float numer = plan.Dot3(rOrigin) - plan.w;
+      float denom = plan.Dot3(rVector);
+
+      if (fabsf(denom) < FLT_EPSILON)  // normal is orthogonal to vector, cant intersect
+         return -1.0f;
+
+      return -(numer / denom);
+   }
+
+   static bool IsInContextRect( ImVec2 p )
+   {
+       return IsWithin( p.x, gContext.mX, gContext.mXMax ) && IsWithin(p.y, gContext.mY, gContext.mYMax );
+   }
+
+   void SetRect(float x, float y, float width, float height)
+   {
+       gContext.mX = x;
+       gContext.mY = y;
+       gContext.mWidth = width;
+       gContext.mHeight = height;
+       gContext.mXMax = gContext.mX + gContext.mWidth;
+       gContext.mYMax = gContext.mY + gContext.mXMax;
+      gContext.mDisplayRatio = width / height;
+   }
+
+   IMGUI_API void SetOrthographic(bool isOrthographic)
+   {
+      gContext.mIsOrthographic = isOrthographic;
+   }
+
+   void SetDrawlist()
+   {
+      gContext.mDrawList = ImGui::GetWindowDrawList();
+   }
+
+   void BeginFrame()
+   {
+      ImGuiIO& io = ImGui::GetIO();
+
+      const ImU32 flags = ImGuiWindowFlags_NoTitleBar | ImGuiWindowFlags_NoResize | ImGuiWindowFlags_NoScrollbar | ImGuiWindowFlags_NoInputs | ImGuiWindowFlags_NoSavedSettings | ImGuiWindowFlags_NoFocusOnAppearing | ImGuiWindowFlags_NoBringToFrontOnFocus;
+      ImGui::SetNextWindowSize(io.DisplaySize);
+
+     ImGui::PushStyleColor(ImGuiCol_WindowBg, 0);
+      ImGui::Begin("gizmo", NULL, flags);
+      gContext.mDrawList = ImGui::GetWindowDrawList();
+      ImGui::End();
+     ImGui::PopStyleColor();
+   }
+
+   bool IsUsing()
+   {
+      return gContext.mbUsing||gContext.mbUsingBounds;
+   }
+
+   bool IsOver()
+   {
+      return (GetMoveType(NULL) != NONE) || GetRotateType() != NONE || GetScaleType() != NONE || IsUsing();
+   }
+
+   void Enable(bool enable)
+   {
+      gContext.mbEnable = enable;
+      if (!enable)
+      {
+          gContext.mbUsing = false;
+          gContext.mbUsingBounds = false;
+      }
+   }
+
+   static float GetUniform(const vec_t& position, const matrix_t& mat)
+   {
+      vec_t trf = makeVect(position.x, position.y, position.z, 1.f);
+      trf.Transform(mat);
+      return trf.w;
+   }
+
+   static void ComputeContext(const float *view, const float *projection, float *matrix, MODE mode)
+   {
+      gContext.mMode = mode;
+      gContext.mViewMat = *(matrix_t*)view;
+      gContext.mProjectionMat = *(matrix_t*)projection;
+
+      if (mode == LOCAL)
+      {
+         gContext.mModel = *(matrix_t*)matrix;
+         gContext.mModel.OrthoNormalize();
+      }
+      else
+      {
+         gContext.mModel.Translation(((matrix_t*)matrix)->v.position);
+      }
+      gContext.mModelSource = *(matrix_t*)matrix;
+      gContext.mModelScaleOrigin.Set(gContext.mModelSource.v.right.Length(), gContext.mModelSource.v.up.Length(), gContext.mModelSource.v.dir.Length());
+
+      gContext.mModelInverse.Inverse(gContext.mModel);
+      gContext.mModelSourceInverse.Inverse(gContext.mModelSource);
+      gContext.mViewProjection = gContext.mViewMat * gContext.mProjectionMat;
+      gContext.mMVP = gContext.mModel * gContext.mViewProjection;
+
+      matrix_t viewInverse;
+      viewInverse.Inverse(gContext.mViewMat);
+      gContext.mCameraDir = viewInverse.v.dir;
+      gContext.mCameraEye = viewInverse.v.position;
+      gContext.mCameraRight = viewInverse.v.right;
+      gContext.mCameraUp = viewInverse.v.up;
+
+     // compute scale from the size of camera right vector projected on screen at the matrix position
+     vec_t pointRight = viewInverse.v.right;
+     pointRight.TransformPoint(gContext.mViewProjection);
+     gContext.mScreenFactor = gGizmoSizeClipSpace / (pointRight.x / pointRight.w - gContext.mMVP.v.position.x / gContext.mMVP.v.position.w);
+
+     vec_t rightViewInverse = viewInverse.v.right;
+     rightViewInverse.TransformVector(gContext.mModelInverse);
+     float rightLength = GetSegmentLengthClipSpace(makeVect(0.f, 0.f), rightViewInverse);
+     gContext.mScreenFactor = gGizmoSizeClipSpace / rightLength;
+
+      ImVec2 centerSSpace = worldToPos(makeVect(0.f, 0.f), gContext.mMVP);
+      gContext.mScreenSquareCenter = centerSSpace;
+      gContext.mScreenSquareMin = ImVec2(centerSSpace.x - 10.f, centerSSpace.y - 10.f);
+      gContext.mScreenSquareMax = ImVec2(centerSSpace.x + 10.f, centerSSpace.y + 10.f);
+
+      ComputeCameraRay(gContext.mRayOrigin, gContext.mRayVector);
+   }
+
+   static void ComputeColors(ImU32 *colors, int type, OPERATION operation)
+   {
+      if (gContext.mbEnable)
+      {
+         switch (operation)
+         {
+         case TRANSLATE:
+            colors[0] = (type == MOVE_SCREEN) ? selectionColor : 0xFFFFFFFF;
+            for (int i = 0; i < 3; i++)
+            {
+               colors[i + 1] = (type == (int)(MOVE_X + i)) ? selectionColor : directionColor[i];
+               colors[i + 4] = (type == (int)(MOVE_YZ + i)) ? selectionColor : planeColor[i];
+               colors[i + 4] = (type == MOVE_SCREEN) ? selectionColor : colors[i + 4];
+            }
+            break;
+         case ROTATE:
+            colors[0] = (type == ROTATE_SCREEN) ? selectionColor : 0xFFFFFFFF;
+            for (int i = 0; i < 3; i++)
+               colors[i + 1] = (type == (int)(ROTATE_X + i)) ? selectionColor : directionColor[i];
+            break;
+         case SCALE:
+            colors[0] = (type == SCALE_XYZ) ? selectionColor : 0xFFFFFFFF;
+            for (int i = 0; i < 3; i++)
+               colors[i + 1] = (type == (int)(SCALE_X + i)) ? selectionColor : directionColor[i];
+            break;
+         case BOUNDS:
+            break;
+         }
+      }
+      else
+      {
+         for (int i = 0; i < 7; i++)
+            colors[i] = inactiveColor;
+      }
+   }
+
+   static void ComputeTripodAxisAndVisibility(int axisIndex, vec_t& dirAxis, vec_t& dirPlaneX, vec_t& dirPlaneY, bool& belowAxisLimit, bool& belowPlaneLimit)
+   {
+      dirAxis = directionUnary[axisIndex];
+      dirPlaneX = directionUnary[(axisIndex + 1) % 3];
+      dirPlaneY = directionUnary[(axisIndex + 2) % 3];
+
+      if (gContext.mbUsing)
+      {
+         // when using, use stored factors so the gizmo doesn't flip when we translate
+         belowAxisLimit = gContext.mBelowAxisLimit[axisIndex];
+         belowPlaneLimit = gContext.mBelowPlaneLimit[axisIndex];
+
+         dirPlaneX *= gContext.mAxisFactor[axisIndex];
+         dirPlaneY *= gContext.mAxisFactor[(axisIndex + 1) % 3];
+      }
+      else
+      {
+         // new method
+         float lenDir = GetSegmentLengthClipSpace(makeVect(0.f, 0.f, 0.f), dirAxis);
+         float lenDirMinus = GetSegmentLengthClipSpace(makeVect(0.f, 0.f, 0.f), -dirAxis);
+
+         float lenDirPlaneX = GetSegmentLengthClipSpace(makeVect(0.f, 0.f, 0.f), dirPlaneX);
+         float lenDirMinusPlaneX = GetSegmentLengthClipSpace(makeVect(0.f, 0.f, 0.f), -dirPlaneX);
+
+         float lenDirPlaneY = GetSegmentLengthClipSpace(makeVect(0.f, 0.f, 0.f), dirPlaneY);
+         float lenDirMinusPlaneY = GetSegmentLengthClipSpace(makeVect(0.f, 0.f, 0.f), -dirPlaneY);
+
+         float mulAxis = (lenDir < lenDirMinus && fabsf(lenDir - lenDirMinus) > FLT_EPSILON) ? -1.f : 1.f;
+         float mulAxisX = (lenDirPlaneX < lenDirMinusPlaneX && fabsf(lenDirPlaneX - lenDirMinusPlaneX) > FLT_EPSILON) ? -1.f : 1.f;
+         float mulAxisY = (lenDirPlaneY < lenDirMinusPlaneY && fabsf(lenDirPlaneY - lenDirMinusPlaneY) > FLT_EPSILON) ? -1.f : 1.f;
+         dirAxis *= mulAxis;
+         dirPlaneX *= mulAxisX;
+         dirPlaneY *= mulAxisY;
+
+         // for axis
+         float axisLengthInClipSpace = GetSegmentLengthClipSpace(makeVect(0.f, 0.f, 0.f), dirAxis * gContext.mScreenFactor);
+
+         float paraSurf = GetParallelogram(makeVect(0.f, 0.f, 0.f), dirPlaneX * gContext.mScreenFactor, dirPlaneY * gContext.mScreenFactor);
+         belowPlaneLimit = (paraSurf > 0.0025f);
+         belowAxisLimit = (axisLengthInClipSpace > 0.02f);
+
+         // and store values
+         gContext.mAxisFactor[axisIndex] = mulAxis;
+         gContext.mAxisFactor[(axisIndex + 1) % 3] = mulAxisY;
+         gContext.mAxisFactor[(axisIndex + 2) % 3] = mulAxisY;
+         gContext.mBelowAxisLimit[axisIndex] = belowAxisLimit;
+         gContext.mBelowPlaneLimit[axisIndex] = belowPlaneLimit;
+      }
+   }
+
+   static void ComputeSnap(float*value, float snap)
+   {
+      if (snap <= FLT_EPSILON)
+         return;
+      float modulo = fmodf(*value, snap);
+      float moduloRatio = fabsf(modulo) / snap;
+      if (moduloRatio < snapTension)
+         *value -= modulo;
+      else if (moduloRatio >(1.f - snapTension))
+         *value = *value - modulo + snap * ((*value<0.f) ? -1.f : 1.f);
+   }
+   static void ComputeSnap(vec_t& value, float *snap)
+   {
+      for (int i = 0; i < 3; i++)
+      {
+         ComputeSnap(&value[i], snap[i]);
+      }
+   }
+
+   static float ComputeAngleOnPlan()
+   {
+      const float len = IntersectRayPlane(gContext.mRayOrigin, gContext.mRayVector, gContext.mTranslationPlan);
+      vec_t localPos = Normalized(gContext.mRayOrigin + gContext.mRayVector * len - gContext.mModel.v.position);
+
+      vec_t perpendicularVector;
+      perpendicularVector.Cross(gContext.mRotationVectorSource, gContext.mTranslationPlan);
+      perpendicularVector.Normalize();
+      float acosAngle = Clamp(Dot(localPos, gContext.mRotationVectorSource), -0.9999f, 0.9999f);
+      float angle = acosf(acosAngle);
+      angle *= (Dot(localPos, perpendicularVector) < 0.f) ? 1.f : -1.f;
+      return angle;
+   }
+
+   static void DrawRotationGizmo(int type)
+   {
+      ImDrawList* drawList = gContext.mDrawList;
+
+      // colors
+      ImU32 colors[7];
+      ComputeColors(colors, type, ROTATE);
+
+     vec_t cameraToModelNormalized;
+     if (gContext.mIsOrthographic)
+     {
+        matrix_t viewInverse;
+        viewInverse.Inverse(*(matrix_t*)&gContext.mViewMat);
+        cameraToModelNormalized = viewInverse.v.dir;
+     }
+     else
+     {
+        cameraToModelNormalized = Normalized(gContext.mModel.v.position - gContext.mCameraEye);
+     }
+
+      cameraToModelNormalized.TransformVector(gContext.mModelInverse);
+
+      gContext.mRadiusSquareCenter = screenRotateSize * gContext.mHeight;
+
+     for (int axis = 0; axis < 3; axis++)
+      {
+         ImVec2 circlePos[halfCircleSegmentCount];
+
+         float angleStart = atan2f(cameraToModelNormalized[(4-axis)%3], cameraToModelNormalized[(3 - axis) % 3]) + ZPI * 0.5f;
+
+         for (unsigned int i = 0; i < halfCircleSegmentCount; i++)
+         {
+            float ng = angleStart + ZPI * ((float)i / (float)halfCircleSegmentCount);
+            vec_t axisPos = makeVect(cosf(ng), sinf(ng), 0.f);
+            vec_t pos = makeVect(axisPos[axis], axisPos[(axis+1)%3], axisPos[(axis+2)%3]) * gContext.mScreenFactor;
+            circlePos[i] = worldToPos(pos, gContext.mMVP);
+         }
+
+         float radiusAxis = sqrtf( (ImLengthSqr(worldToPos(gContext.mModel.v.position, gContext.mViewProjection) - circlePos[0]) ));
+         if(radiusAxis > gContext.mRadiusSquareCenter)
+           gContext.mRadiusSquareCenter = radiusAxis;
+
+         drawList->AddPolyline(circlePos, halfCircleSegmentCount, colors[3 - axis], false, 2);
+      }
+      drawList->AddCircle(worldToPos(gContext.mModel.v.position, gContext.mViewProjection), gContext.mRadiusSquareCenter, colors[0], 64, 3.f);
+
+      if (gContext.mbUsing)
+      {
+         ImVec2 circlePos[halfCircleSegmentCount +1];
+
+         circlePos[0] = worldToPos(gContext.mModel.v.position, gContext.mViewProjection);
+         for (unsigned int i = 1; i < halfCircleSegmentCount; i++)
+         {
+            float ng = gContext.mRotationAngle * ((float)(i-1) / (float)(halfCircleSegmentCount -1));
+            matrix_t rotateVectorMatrix;
+            rotateVectorMatrix.RotationAxis(gContext.mTranslationPlan, ng);
+            vec_t pos;
+            pos.TransformPoint(gContext.mRotationVectorSource, rotateVectorMatrix);
+            pos *= gContext.mScreenFactor;
+            circlePos[i] = worldToPos(pos + gContext.mModel.v.position, gContext.mViewProjection);
+         }
+         drawList->AddConvexPolyFilled(circlePos, halfCircleSegmentCount, 0x801080FF);
+         drawList->AddPolyline(circlePos, halfCircleSegmentCount, 0xFF1080FF, true, 2);
+
+         ImVec2 destinationPosOnScreen = circlePos[1];
+         char tmps[512];
+         ImFormatString(tmps, sizeof(tmps), rotationInfoMask[type - ROTATE_X], (gContext.mRotationAngle/ZPI)*180.f, gContext.mRotationAngle);
+         drawList->AddText(ImVec2(destinationPosOnScreen.x + 15, destinationPosOnScreen.y + 15), 0xFF000000, tmps);
+         drawList->AddText(ImVec2(destinationPosOnScreen.x + 14, destinationPosOnScreen.y + 14), 0xFFFFFFFF, tmps);
+      }
+   }
+
+   static void DrawHatchedAxis(const vec_t& axis)
+   {
+      for (int j = 1; j < 10; j++)
+      {
+         ImVec2 baseSSpace2 = worldToPos(axis * 0.05f * (float)(j * 2) * gContext.mScreenFactor, gContext.mMVP);
+         ImVec2 worldDirSSpace2 = worldToPos(axis * 0.05f * (float)(j * 2 + 1) * gContext.mScreenFactor, gContext.mMVP);
+         gContext.mDrawList->AddLine(baseSSpace2, worldDirSSpace2, 0x80000000, 6.f);
+      }
+   }
+
+   static void DrawScaleGizmo(int type)
+   {
+      ImDrawList* drawList = gContext.mDrawList;
+
+      // colors
+      ImU32 colors[7];
+      ComputeColors(colors, type, SCALE);
+
+      // draw
+      vec_t scaleDisplay = { 1.f, 1.f, 1.f, 1.f };
+
+      if (gContext.mbUsing)
+         scaleDisplay = gContext.mScale;
+
+      for (unsigned int i = 0; i < 3; i++)
+      {
+        vec_t dirPlaneX, dirPlaneY, dirAxis;
+         bool belowAxisLimit, belowPlaneLimit;
+         ComputeTripodAxisAndVisibility(i, dirAxis, dirPlaneX, dirPlaneY, belowAxisLimit, belowPlaneLimit);
+
+         // draw axis
+         if (belowAxisLimit)
+         {
+            ImVec2 baseSSpace = worldToPos(dirAxis * 0.1f * gContext.mScreenFactor, gContext.mMVP);
+            ImVec2 worldDirSSpaceNoScale = worldToPos(dirAxis * gContext.mScreenFactor, gContext.mMVP);
+            ImVec2 worldDirSSpace = worldToPos((dirAxis * scaleDisplay[i]) * gContext.mScreenFactor, gContext.mMVP);
+
+            if (gContext.mbUsing)
+            {
+               drawList->AddLine(baseSSpace, worldDirSSpaceNoScale, 0xFF404040, 3.f);
+               drawList->AddCircleFilled(worldDirSSpaceNoScale, 6.f, 0xFF404040);
+            }
+
+            drawList->AddLine(baseSSpace, worldDirSSpace, colors[i + 1], 3.f);
+            drawList->AddCircleFilled(worldDirSSpace, 6.f, colors[i + 1]);
+
+            if (gContext.mAxisFactor[i] < 0.f)
+               DrawHatchedAxis(dirAxis * scaleDisplay[i]);
+         }
+      }
+
+      // draw screen cirle
+      drawList->AddCircleFilled(gContext.mScreenSquareCenter, 6.f, colors[0], 32);
+
+      if (gContext.mbUsing)
+      {
+         //ImVec2 sourcePosOnScreen = worldToPos(gContext.mMatrixOrigin, gContext.mViewProjection);
+         ImVec2 destinationPosOnScreen = worldToPos(gContext.mModel.v.position, gContext.mViewProjection);
+         /*vec_t dif(destinationPosOnScreen.x - sourcePosOnScreen.x, destinationPosOnScreen.y - sourcePosOnScreen.y);
+         dif.Normalize();
+         dif *= 5.f;
+         drawList->AddCircle(sourcePosOnScreen, 6.f, translationLineColor);
+         drawList->AddCircle(destinationPosOnScreen, 6.f, translationLineColor);
+         drawList->AddLine(ImVec2(sourcePosOnScreen.x + dif.x, sourcePosOnScreen.y + dif.y), ImVec2(destinationPosOnScreen.x - dif.x, destinationPosOnScreen.y - dif.y), translationLineColor, 2.f);
+         */
+         char tmps[512];
+         //vec_t deltaInfo = gContext.mModel.v.position - gContext.mMatrixOrigin;
+         int componentInfoIndex = (type - SCALE_X) * 3;
+         ImFormatString(tmps, sizeof(tmps), scaleInfoMask[type - SCALE_X], scaleDisplay[translationInfoIndex[componentInfoIndex]]);
+         drawList->AddText(ImVec2(destinationPosOnScreen.x + 15, destinationPosOnScreen.y + 15), 0xFF000000, tmps);
+         drawList->AddText(ImVec2(destinationPosOnScreen.x + 14, destinationPosOnScreen.y + 14), 0xFFFFFFFF, tmps);
+      }
+   }
+
+
+   static void DrawTranslationGizmo(int type)
+   {
+      ImDrawList* drawList = gContext.mDrawList;
+      if (!drawList)
+          return;
+
+      // colors
+      ImU32 colors[7];
+      ComputeColors(colors, type, TRANSLATE);
+
+      const ImVec2 origin = worldToPos(gContext.mModel.v.position, gContext.mViewProjection);
+
+      // draw
+      bool belowAxisLimit = false;
+      bool belowPlaneLimit = false;
+      for (unsigned int i = 0; i < 3; ++i)
+      {
+         vec_t dirPlaneX, dirPlaneY, dirAxis;
+         ComputeTripodAxisAndVisibility(i, dirAxis, dirPlaneX, dirPlaneY, belowAxisLimit, belowPlaneLimit);
+
+         // draw axis
+         if (belowAxisLimit)
+         {
+            ImVec2 baseSSpace = worldToPos(dirAxis * 0.1f * gContext.mScreenFactor, gContext.mMVP);
+            ImVec2 worldDirSSpace = worldToPos(dirAxis * gContext.mScreenFactor, gContext.mMVP);
+
+            drawList->AddLine(baseSSpace, worldDirSSpace, colors[i + 1], 3.f);
+
+            // Arrow head begin
+            ImVec2 dir(origin - worldDirSSpace);
+
+            float d = sqrtf(ImLengthSqr(dir));
+            dir /= d; // Normalize
+            dir *= 6.0f;
+
+            ImVec2 ortogonalDir(dir.y, -dir.x); // Perpendicular vector
+            ImVec2 a(worldDirSSpace + dir);
+            drawList->AddTriangleFilled(worldDirSSpace - dir, a + ortogonalDir, a - ortogonalDir, colors[i + 1]);
+            // Arrow head end
+
+            if (gContext.mAxisFactor[i] < 0.f)
+               DrawHatchedAxis(dirAxis);
+         }
+
+         // draw plane
+         if (belowPlaneLimit)
+         {
+            ImVec2 screenQuadPts[4];
+            for (int j = 0; j < 4; ++j)
+            {
+               vec_t cornerWorldPos = (dirPlaneX * quadUV[j * 2] + dirPlaneY  * quadUV[j * 2 + 1]) * gContext.mScreenFactor;
+               screenQuadPts[j] = worldToPos(cornerWorldPos, gContext.mMVP);
+            }
+            drawList->AddPolyline(screenQuadPts, 4, directionColor[i], true, 1.0f);
+            drawList->AddConvexPolyFilled(screenQuadPts, 4, colors[i + 4]);
+         }
+      }
+
+      drawList->AddCircleFilled(gContext.mScreenSquareCenter, 6.f, colors[0], 32);
+
+      if (gContext.mbUsing)
+      {
+         ImVec2 sourcePosOnScreen = worldToPos(gContext.mMatrixOrigin, gContext.mViewProjection);
+         ImVec2 destinationPosOnScreen = worldToPos(gContext.mModel.v.position, gContext.mViewProjection);
+         vec_t dif = { destinationPosOnScreen.x - sourcePosOnScreen.x, destinationPosOnScreen.y - sourcePosOnScreen.y, 0.f, 0.f };
+         dif.Normalize();
+         dif *= 5.f;
+         drawList->AddCircle(sourcePosOnScreen, 6.f, translationLineColor);
+         drawList->AddCircle(destinationPosOnScreen, 6.f, translationLineColor);
+         drawList->AddLine(ImVec2(sourcePosOnScreen.x + dif.x, sourcePosOnScreen.y + dif.y), ImVec2(destinationPosOnScreen.x - dif.x, destinationPosOnScreen.y - dif.y), translationLineColor, 2.f);
+
+         char tmps[512];
+         vec_t deltaInfo = gContext.mModel.v.position - gContext.mMatrixOrigin;
+         int componentInfoIndex = (type - MOVE_X) * 3;
+         ImFormatString(tmps, sizeof(tmps), translationInfoMask[type - MOVE_X], deltaInfo[translationInfoIndex[componentInfoIndex]], deltaInfo[translationInfoIndex[componentInfoIndex + 1]], deltaInfo[translationInfoIndex[componentInfoIndex + 2]]);
+         drawList->AddText(ImVec2(destinationPosOnScreen.x + 15, destinationPosOnScreen.y + 15), 0xFF000000, tmps);
+         drawList->AddText(ImVec2(destinationPosOnScreen.x + 14, destinationPosOnScreen.y + 14), 0xFFFFFFFF, tmps);
+      }
+   }
+
+   static bool CanActivate()
+   {
+      if (ImGui::IsMouseClicked(0) && !ImGui::IsAnyItemHovered() && !ImGui::IsAnyItemActive())
+         return true;
+      return false;
+   }
+
+   static void HandleAndDrawLocalBounds(float *bounds, matrix_t *matrix, float *snapValues, OPERATION operation)
+   {
+       ImGuiIO& io = ImGui::GetIO();
+       ImDrawList* drawList = gContext.mDrawList;
+
+       // compute best projection axis
+       vec_t axesWorldDirections[3];
+       vec_t bestAxisWorldDirection = { 0.0f, 0.0f, 0.0f, 0.0f };
+       int axes[3];
+       unsigned int numAxes = 1;
+       axes[0] = gContext.mBoundsBestAxis;
+       int bestAxis = axes[0];
+       if (!gContext.mbUsingBounds)
+       {
+           numAxes = 0;
+           float bestDot = 0.f;
+           for (unsigned int i = 0; i < 3; i++)
+           {
+               vec_t dirPlaneNormalWorld;
+               dirPlaneNormalWorld.TransformVector(directionUnary[i], gContext.mModelSource);
+               dirPlaneNormalWorld.Normalize();
+
+               float dt = fabsf( Dot(Normalized(gContext.mCameraEye - gContext.mModelSource.v.position), dirPlaneNormalWorld) );
+               if ( dt >= bestDot )
+               {
+                   bestDot = dt;
+                   bestAxis = i;
+                   bestAxisWorldDirection = dirPlaneNormalWorld;
+               }
+
+               if( dt >= 0.1f )
+               {
+                   axes[numAxes] = i;
+                   axesWorldDirections[numAxes] = dirPlaneNormalWorld;
+                   ++numAxes;
+               }
+           }
+       }
+
+       if( numAxes == 0 )
+       {
+            axes[0] = bestAxis;
+            axesWorldDirections[0] = bestAxisWorldDirection;
+            numAxes = 1;
+       }
+       else if( bestAxis != axes[0] )
+       {
+          unsigned int bestIndex = 0;
+          for (unsigned int i = 0; i < numAxes; i++)
+          {
+              if( axes[i] == bestAxis )
+              {
+                  bestIndex = i;
+                  break;
+              }
+          }
+          int tempAxis = axes[0];
+          axes[0] = axes[bestIndex];
+          axes[bestIndex] = tempAxis;
+          vec_t tempDirection = axesWorldDirections[0];
+          axesWorldDirections[0] = axesWorldDirections[bestIndex];
+          axesWorldDirections[bestIndex] = tempDirection;
+       }
+
+       for (unsigned int axisIndex = 0; axisIndex < numAxes; ++axisIndex)
+       {
+           bestAxis = axes[axisIndex];
+           bestAxisWorldDirection = axesWorldDirections[axisIndex];
+
+           // corners
+           vec_t aabb[4];
+
+           int secondAxis = (bestAxis + 1) % 3;
+           int thirdAxis = (bestAxis + 2) % 3;
+
+           for (int i = 0; i < 4; i++)
+           {
+               aabb[i][3] = aabb[i][bestAxis] = 0.f;
+               aabb[i][secondAxis] = bounds[secondAxis + 3 * (i >> 1)];
+               aabb[i][thirdAxis] = bounds[thirdAxis + 3 * ((i >> 1) ^ (i & 1))];
+           }
+
+           // draw bounds
+           unsigned int anchorAlpha = gContext.mbEnable ? 0xFF000000 : 0x80000000;
+
+           matrix_t boundsMVP = gContext.mModelSource * gContext.mViewProjection;
+           for (int i = 0; i < 4;i++)
+           {
+               ImVec2 worldBound1 = worldToPos(aabb[i], boundsMVP);
+               ImVec2 worldBound2 = worldToPos(aabb[(i+1)%4], boundsMVP);
+               if( !IsInContextRect( worldBound1 ) || !IsInContextRect( worldBound2 ) )
+               {
+                   continue;
+               }
+               float boundDistance = sqrtf(ImLengthSqr(worldBound1 - worldBound2));
+               int stepCount = (int)(boundDistance / 10.f);
+               stepCount = min( stepCount, 1000 );
+               float stepLength = 1.f / (float)stepCount;
+               for (int j = 0; j < stepCount; j++)
+               {
+                   float t1 = (float)j * stepLength;
+                   float t2 = (float)j * stepLength + stepLength * 0.5f;
+                   ImVec2 worldBoundSS1 = ImLerp(worldBound1, worldBound2, ImVec2(t1, t1));
+                   ImVec2 worldBoundSS2 = ImLerp(worldBound1, worldBound2, ImVec2(t2, t2));
+                   //drawList->AddLine(worldBoundSS1, worldBoundSS2, 0x000000 + anchorAlpha, 3.f);
+               drawList->AddLine(worldBoundSS1, worldBoundSS2, 0xAAAAAA + anchorAlpha, 2.f);
+               }
+               vec_t midPoint = (aabb[i] + aabb[(i + 1) % 4] ) * 0.5f;
+               ImVec2 midBound = worldToPos(midPoint, boundsMVP);
+               static const float AnchorBigRadius = 8.f;
+               static const float AnchorSmallRadius = 6.f;
+               bool overBigAnchor = ImLengthSqr(worldBound1 - io.MousePos) <= (AnchorBigRadius*AnchorBigRadius);
+               bool overSmallAnchor = ImLengthSqr(midBound - io.MousePos) <= (AnchorBigRadius*AnchorBigRadius);
+
+            int type = NONE;
+            vec_t gizmoHitProportion;
+
+            switch (operation)
+            {
+            case TRANSLATE: type = GetMoveType(&gizmoHitProportion); break;
+            case ROTATE: type = GetRotateType(); break;
+            case SCALE: type = GetScaleType(); break;
+            case BOUNDS: break;
+            }
+            if (type != NONE)
+            {
+               overBigAnchor = false;
+               overSmallAnchor = false;
+            }
+
+
+               unsigned int bigAnchorColor = overBigAnchor ? selectionColor : (0xAAAAAA + anchorAlpha);
+               unsigned int smallAnchorColor = overSmallAnchor ? selectionColor : (0xAAAAAA + anchorAlpha);
+
+               drawList->AddCircleFilled(worldBound1, AnchorBigRadius, 0xFF000000);
+            drawList->AddCircleFilled(worldBound1, AnchorBigRadius-1.2f, bigAnchorColor);
+
+               drawList->AddCircleFilled(midBound, AnchorSmallRadius, 0xFF000000);
+            drawList->AddCircleFilled(midBound, AnchorSmallRadius-1.2f, smallAnchorColor);
+               int oppositeIndex = (i + 2) % 4;
+               // big anchor on corners
+               if (!gContext.mbUsingBounds && gContext.mbEnable && overBigAnchor && CanActivate())
+               {
+                   gContext.mBoundsPivot.TransformPoint(aabb[(i + 2) % 4], gContext.mModelSource);
+                   gContext.mBoundsAnchor.TransformPoint(aabb[i], gContext.mModelSource);
+                   gContext.mBoundsPlan = BuildPlan(gContext.mBoundsAnchor, bestAxisWorldDirection);
+                   gContext.mBoundsBestAxis = bestAxis;
+                   gContext.mBoundsAxis[0] = secondAxis;
+                   gContext.mBoundsAxis[1] = thirdAxis;
+
+                   gContext.mBoundsLocalPivot.Set(0.f);
+                   gContext.mBoundsLocalPivot[secondAxis] = aabb[oppositeIndex][secondAxis];
+                   gContext.mBoundsLocalPivot[thirdAxis] = aabb[oppositeIndex][thirdAxis];
+
+                   gContext.mbUsingBounds = true;
+                   gContext.mBoundsMatrix = gContext.mModelSource;
+               }
+               // small anchor on middle of segment
+               if (!gContext.mbUsingBounds && gContext.mbEnable && overSmallAnchor && CanActivate())
+               {
+                   vec_t midPointOpposite = (aabb[(i + 2) % 4] + aabb[(i + 3) % 4]) * 0.5f;
+                   gContext.mBoundsPivot.TransformPoint(midPointOpposite, gContext.mModelSource);
+                   gContext.mBoundsAnchor.TransformPoint(midPoint, gContext.mModelSource);
+                   gContext.mBoundsPlan = BuildPlan(gContext.mBoundsAnchor, bestAxisWorldDirection);
+                   gContext.mBoundsBestAxis = bestAxis;
+                   int indices[] = { secondAxis , thirdAxis };
+                   gContext.mBoundsAxis[0] = indices[i%2];
+                   gContext.mBoundsAxis[1] = -1;
+
+                   gContext.mBoundsLocalPivot.Set(0.f);
+                   gContext.mBoundsLocalPivot[gContext.mBoundsAxis[0]] = aabb[oppositeIndex][indices[i % 2]];// bounds[gContext.mBoundsAxis[0]] * (((i + 1) & 2) ? 1.f : -1.f);
+
+                   gContext.mbUsingBounds = true;
+                   gContext.mBoundsMatrix = gContext.mModelSource;
+               }
+           }
+
+           if (gContext.mbUsingBounds)
+           {
+               matrix_t scale;
+               scale.SetToIdentity();
+
+               // compute projected mouse position on plan
+               const float len = IntersectRayPlane(gContext.mRayOrigin, gContext.mRayVector, gContext.mBoundsPlan);
+               vec_t newPos = gContext.mRayOrigin + gContext.mRayVector * len;
+
+               // compute a reference and delta vectors base on mouse move
+               vec_t deltaVector = (newPos - gContext.mBoundsPivot).Abs();
+               vec_t referenceVector = (gContext.mBoundsAnchor - gContext.mBoundsPivot).Abs();
+
+               // for 1 or 2 axes, compute a ratio that's used for scale and snap it based on resulting length
+               for (int i = 0; i < 2; i++)
+               {
+                   int axisIndex1 = gContext.mBoundsAxis[i];
+                   if (axisIndex1 == -1)
+                       continue;
+
+                   float ratioAxis = 1.f;
+                   vec_t axisDir = gContext.mBoundsMatrix.component[axisIndex1].Abs();
+
+                   float dtAxis = axisDir.Dot(referenceVector);
+                   float boundSize = bounds[axisIndex1 + 3] - bounds[axisIndex1];
+                   if (dtAxis > FLT_EPSILON)
+                       ratioAxis = axisDir.Dot(deltaVector) / dtAxis;
+
+                   if (snapValues)
+                   {
+                       float length = boundSize * ratioAxis;
+                       ComputeSnap(&length, snapValues[axisIndex1]);
+                       if (boundSize > FLT_EPSILON)
+                           ratioAxis = length / boundSize;
+                   }
+                   scale.component[axisIndex1] *= ratioAxis;
+               }
+
+               // transform matrix
+               matrix_t preScale, postScale;
+               preScale.Translation(-gContext.mBoundsLocalPivot);
+               postScale.Translation(gContext.mBoundsLocalPivot);
+               matrix_t res = preScale * scale * postScale * gContext.mBoundsMatrix;
+               *matrix = res;
+
+               // info text
+               char tmps[512];
+               ImVec2 destinationPosOnScreen = worldToPos(gContext.mModel.v.position, gContext.mViewProjection);
+               ImFormatString(tmps, sizeof(tmps), "X: %.2f Y: %.2f Z:%.2f"
+                   , (bounds[3] - bounds[0]) * gContext.mBoundsMatrix.component[0].Length() * scale.component[0].Length()
+                   , (bounds[4] - bounds[1]) * gContext.mBoundsMatrix.component[1].Length() * scale.component[1].Length()
+                   , (bounds[5] - bounds[2]) * gContext.mBoundsMatrix.component[2].Length() * scale.component[2].Length()
+               );
+               drawList->AddText(ImVec2(destinationPosOnScreen.x + 15, destinationPosOnScreen.y + 15), 0xFF000000, tmps);
+               drawList->AddText(ImVec2(destinationPosOnScreen.x + 14, destinationPosOnScreen.y + 14), 0xFFFFFFFF, tmps);
+            }
+
+           if (!io.MouseDown[0])
+               gContext.mbUsingBounds = false;
+
+           if( gContext.mbUsingBounds )
+               break;
+       }
+   }
+
+   ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+   //
+
+   static int GetScaleType()
+   {
+      ImGuiIO& io = ImGui::GetIO();
+      int type = NONE;
+
+      // screen
+      if (io.MousePos.x >= gContext.mScreenSquareMin.x && io.MousePos.x <= gContext.mScreenSquareMax.x &&
+         io.MousePos.y >= gContext.mScreenSquareMin.y && io.MousePos.y <= gContext.mScreenSquareMax.y)
+         type = SCALE_XYZ;
+
+      // compute
+      for (unsigned int i = 0; i < 3 && type == NONE; i++)
+      {
+         vec_t dirPlaneX, dirPlaneY, dirAxis;
+         bool belowAxisLimit, belowPlaneLimit;
+         ComputeTripodAxisAndVisibility(i, dirAxis, dirPlaneX, dirPlaneY, belowAxisLimit, belowPlaneLimit);
+
+       const float len = IntersectRayPlane(gContext.mRayOrigin, gContext.mRayVector, BuildPlan(gContext.mModel.v.position, dirAxis));
+       vec_t posOnPlan = gContext.mRayOrigin + gContext.mRayVector * len;
+
+       const ImVec2 posOnPlanScreen = worldToPos(posOnPlan, gContext.mViewProjection);
+       const ImVec2 axisStartOnScreen = worldToPos(gContext.mModel.v.position + dirAxis * gContext.mScreenFactor * 0.1f, gContext.mViewProjection);
+       const ImVec2 axisEndOnScreen = worldToPos(gContext.mModel.v.position + dirAxis * gContext.mScreenFactor, gContext.mViewProjection);
+
+       vec_t closestPointOnAxis = PointOnSegment(makeVect(posOnPlanScreen), makeVect(axisStartOnScreen), makeVect(axisEndOnScreen));
+
+       if ((closestPointOnAxis - makeVect(posOnPlanScreen)).Length() < 12.f) // pixel size
+          type = SCALE_X + i;
+      }
+      return type;
+   }
+
+   static int GetRotateType()
+   {
+      ImGuiIO& io = ImGui::GetIO();
+      int type = NONE;
+
+      vec_t deltaScreen = { io.MousePos.x - gContext.mScreenSquareCenter.x, io.MousePos.y - gContext.mScreenSquareCenter.y, 0.f, 0.f };
+      float dist = deltaScreen.Length();
+      if (dist >= (gContext.mRadiusSquareCenter - 1.0f) && dist < (gContext.mRadiusSquareCenter + 1.0f))
+         type = ROTATE_SCREEN;
+
+      const vec_t planNormals[] = { gContext.mModel.v.right, gContext.mModel.v.up, gContext.mModel.v.dir};
+
+      for (unsigned int i = 0; i < 3 && type == NONE; i++)
+      {
+         // pickup plan
+         vec_t pickupPlan = BuildPlan(gContext.mModel.v.position, planNormals[i]);
+
+         const float len = IntersectRayPlane(gContext.mRayOrigin, gContext.mRayVector, pickupPlan);
+         vec_t localPos = gContext.mRayOrigin + gContext.mRayVector * len - gContext.mModel.v.position;
+
+         if (Dot(Normalized(localPos), gContext.mRayVector) > FLT_EPSILON)
+            continue;
+       vec_t idealPosOnCircle = Normalized(localPos);
+       idealPosOnCircle.TransformVector(gContext.mModelInverse);
+       ImVec2 idealPosOnCircleScreen = worldToPos(idealPosOnCircle * gContext.mScreenFactor, gContext.mMVP);
+
+       //gContext.mDrawList->AddCircle(idealPosOnCircleScreen, 5.f, 0xFFFFFFFF);
+       ImVec2 distanceOnScreen = idealPosOnCircleScreen - io.MousePos;
+
+         float distance = makeVect(distanceOnScreen).Length();
+         if (distance < 8.f) // pixel size
+            type = ROTATE_X + i;
+      }
+
+      return type;
+   }
+
+   static int GetMoveType(vec_t *gizmoHitProportion)
+   {
+      ImGuiIO& io = ImGui::GetIO();
+      int type = NONE;
+
+      // screen
+      if (io.MousePos.x >= gContext.mScreenSquareMin.x && io.MousePos.x <= gContext.mScreenSquareMax.x &&
+         io.MousePos.y >= gContext.mScreenSquareMin.y && io.MousePos.y <= gContext.mScreenSquareMax.y)
+         type = MOVE_SCREEN;
+
+      // compute
+      for (unsigned int i = 0; i < 3 && type == NONE; i++)
+      {
+         vec_t dirPlaneX, dirPlaneY, dirAxis;
+         bool belowAxisLimit, belowPlaneLimit;
+         ComputeTripodAxisAndVisibility(i, dirAxis, dirPlaneX, dirPlaneY, belowAxisLimit, belowPlaneLimit);
+       dirAxis.TransformVector(gContext.mModel);
+         dirPlaneX.TransformVector(gContext.mModel);
+         dirPlaneY.TransformVector(gContext.mModel);
+
+         const float len = IntersectRayPlane(gContext.mRayOrigin, gContext.mRayVector, BuildPlan(gContext.mModel.v.position, dirAxis));
+         vec_t posOnPlan = gContext.mRayOrigin + gContext.mRayVector * len;
+
+       const ImVec2 posOnPlanScreen = worldToPos(posOnPlan, gContext.mViewProjection);
+       const ImVec2 axisStartOnScreen = worldToPos(gContext.mModel.v.position + dirAxis * gContext.mScreenFactor * 0.1f, gContext.mViewProjection);
+       const ImVec2 axisEndOnScreen = worldToPos(gContext.mModel.v.position + dirAxis * gContext.mScreenFactor, gContext.mViewProjection);
+
+       vec_t closestPointOnAxis = PointOnSegment(makeVect(posOnPlanScreen), makeVect(axisStartOnScreen), makeVect(axisEndOnScreen));
+
+       if ((closestPointOnAxis - makeVect(posOnPlanScreen)).Length() < 12.f) // pixel size
+            type = MOVE_X + i;
+
+       const float dx = dirPlaneX.Dot3((posOnPlan - gContext.mModel.v.position) * (1.f / gContext.mScreenFactor));
+       const float dy = dirPlaneY.Dot3((posOnPlan - gContext.mModel.v.position) * (1.f / gContext.mScreenFactor));
+         if (belowPlaneLimit && dx >= quadUV[0] && dx <= quadUV[4] && dy >= quadUV[1] && dy <= quadUV[3])
+            type = MOVE_YZ + i;
+
+         if (gizmoHitProportion)
+            *gizmoHitProportion = makeVect(dx, dy, 0.f);
+      }
+      return type;
+   }
+
+   static void HandleTranslation(float *matrix, float *deltaMatrix, int& type, float *snap)
+   {
+      ImGuiIO& io = ImGui::GetIO();
+      bool applyRotationLocaly = gContext.mMode == LOCAL || type == MOVE_SCREEN;
+
+      // move
+      if (gContext.mbUsing)
+      {
+         ImGui::CaptureMouseFromApp();
+         const float len = fabsf(IntersectRayPlane(gContext.mRayOrigin, gContext.mRayVector, gContext.mTranslationPlan)); // near plan
+         vec_t newPos = gContext.mRayOrigin + gContext.mRayVector * len;
+
+
+
+         // compute delta
+         vec_t newOrigin = newPos - gContext.mRelativeOrigin * gContext.mScreenFactor;
+         vec_t delta = newOrigin - gContext.mModel.v.position;
+
+         // 1 axis constraint
+         if (gContext.mCurrentOperation >= MOVE_X && gContext.mCurrentOperation <= MOVE_Z)
+         {
+            int axisIndex = gContext.mCurrentOperation - MOVE_X;
+            const vec_t& axisValue = *(vec_t*)&gContext.mModel.m[axisIndex];
+            float lengthOnAxis = Dot(axisValue, delta);
+            delta = axisValue * lengthOnAxis;
+         }
+
+         // snap
+         if (snap)
+         {
+            vec_t cumulativeDelta = gContext.mModel.v.position + delta - gContext.mMatrixOrigin;
+            if (applyRotationLocaly)
+            {
+               matrix_t modelSourceNormalized = gContext.mModelSource;
+               modelSourceNormalized.OrthoNormalize();
+               matrix_t modelSourceNormalizedInverse;
+               modelSourceNormalizedInverse.Inverse(modelSourceNormalized);
+               cumulativeDelta.TransformVector(modelSourceNormalizedInverse);
+               ComputeSnap(cumulativeDelta, snap);
+               cumulativeDelta.TransformVector(modelSourceNormalized);
+            }
+            else
+            {
+               ComputeSnap(cumulativeDelta, snap);
+            }
+            delta = gContext.mMatrixOrigin + cumulativeDelta - gContext.mModel.v.position;
+
+         }
+
+         // compute matrix & delta
+         matrix_t deltaMatrixTranslation;
+         deltaMatrixTranslation.Translation(delta);
+         if (deltaMatrix)
+            memcpy(deltaMatrix, deltaMatrixTranslation.m16, sizeof(float) * 16);
+
+
+         matrix_t res = gContext.mModelSource * deltaMatrixTranslation;
+         *(matrix_t*)matrix = res;
+
+         if (!io.MouseDown[0])
+            gContext.mbUsing = false;
+
+         type = gContext.mCurrentOperation;
+      }
+      else
+      {
+         // find new possible way to move
+         vec_t gizmoHitProportion;
+         type = GetMoveType(&gizmoHitProportion);
+         if(type != NONE)
+         {
+            ImGui::CaptureMouseFromApp();
+         }
+       if (CanActivate() && type != NONE)
+       {
+          gContext.mbUsing = true;
+          gContext.mCurrentOperation = type;
+          vec_t movePlanNormal[] = { gContext.mModel.v.right, gContext.mModel.v.up, gContext.mModel.v.dir,
+             gContext.mModel.v.right, gContext.mModel.v.up, gContext.mModel.v.dir,
+             -gContext.mCameraDir };
+
+          vec_t cameraToModelNormalized = Normalized(gContext.mModel.v.position - gContext.mCameraEye);
+          for (unsigned int i = 0; i < 3; i++)
+          {
+             vec_t orthoVector = Cross(movePlanNormal[i], cameraToModelNormalized);
+             movePlanNormal[i].Cross(orthoVector);
+             movePlanNormal[i].Normalize();
+          }
+            // pickup plan
+            gContext.mTranslationPlan = BuildPlan(gContext.mModel.v.position, movePlanNormal[type - MOVE_X]);
+            const float len = IntersectRayPlane(gContext.mRayOrigin, gContext.mRayVector, gContext.mTranslationPlan);
+            gContext.mTranslationPlanOrigin = gContext.mRayOrigin + gContext.mRayVector * len;
+            gContext.mMatrixOrigin = gContext.mModel.v.position;
+
+            gContext.mRelativeOrigin = (gContext.mTranslationPlanOrigin - gContext.mModel.v.position) * (1.f / gContext.mScreenFactor);
+         }
+      }
+   }
+
+   static void HandleScale(float *matrix, float *deltaMatrix, int& type, float *snap)
+   {
+      ImGuiIO& io = ImGui::GetIO();
+
+      if (!gContext.mbUsing)
+      {
+         // find new possible way to scale
+         type = GetScaleType();
+         if(type != NONE)
+         {
+            ImGui::CaptureMouseFromApp();
+         }
+         if (CanActivate() && type != NONE)
+         {
+            gContext.mbUsing = true;
+            gContext.mCurrentOperation = type;
+            const vec_t movePlanNormal[] = { gContext.mModel.v.up, gContext.mModel.v.dir, gContext.mModel.v.right, gContext.mModel.v.dir, gContext.mModel.v.up, gContext.mModel.v.right, -gContext.mCameraDir };
+            // pickup plan
+
+            gContext.mTranslationPlan = BuildPlan(gContext.mModel.v.position, movePlanNormal[type - SCALE_X]);
+            const float len = IntersectRayPlane(gContext.mRayOrigin, gContext.mRayVector, gContext.mTranslationPlan);
+            gContext.mTranslationPlanOrigin = gContext.mRayOrigin + gContext.mRayVector * len;
+            gContext.mMatrixOrigin = gContext.mModel.v.position;
+            gContext.mScale.Set(1.f, 1.f, 1.f);
+            gContext.mRelativeOrigin = (gContext.mTranslationPlanOrigin - gContext.mModel.v.position) * (1.f / gContext.mScreenFactor);
+            gContext.mScaleValueOrigin = makeVect(gContext.mModelSource.v.right.Length(), gContext.mModelSource.v.up.Length(), gContext.mModelSource.v.dir.Length());
+            gContext.mSaveMousePosx = io.MousePos.x;
+         }
+      }
+      // scale
+      if (gContext.mbUsing)
+      {
+         ImGui::CaptureMouseFromApp();
+         const float len = IntersectRayPlane(gContext.mRayOrigin, gContext.mRayVector, gContext.mTranslationPlan);
+         vec_t newPos = gContext.mRayOrigin + gContext.mRayVector * len;
+         vec_t newOrigin = newPos - gContext.mRelativeOrigin * gContext.mScreenFactor;
+         vec_t delta = newOrigin - gContext.mModel.v.position;
+
+         // 1 axis constraint
+         if (gContext.mCurrentOperation >= SCALE_X && gContext.mCurrentOperation <= SCALE_Z)
+         {
+            int axisIndex = gContext.mCurrentOperation - SCALE_X;
+            const vec_t& axisValue = *(vec_t*)&gContext.mModel.m[axisIndex];
+            float lengthOnAxis = Dot(axisValue, delta);
+            delta = axisValue * lengthOnAxis;
+
+            vec_t baseVector = gContext.mTranslationPlanOrigin - gContext.mModel.v.position;
+            float ratio = Dot(axisValue, baseVector + delta) / Dot(axisValue, baseVector);
+
+            gContext.mScale[axisIndex] = max(ratio, 0.001f);
+         }
+         else
+         {
+            float scaleDelta = (io.MousePos.x - gContext.mSaveMousePosx)  * 0.01f;
+            gContext.mScale.Set(max(1.f + scaleDelta, 0.001f));
+         }
+
+         // snap
+         if (snap)
+         {
+            float scaleSnap[] = { snap[0], snap[0], snap[0] };
+            ComputeSnap(gContext.mScale, scaleSnap);
+         }
+
+         // no 0 allowed
+         for (int i = 0; i < 3;i++)
+            gContext.mScale[i] = max(gContext.mScale[i], 0.001f);
+
+         // compute matrix & delta
+         matrix_t deltaMatrixScale;
+         deltaMatrixScale.Scale(gContext.mScale * gContext.mScaleValueOrigin);
+
+         matrix_t res = deltaMatrixScale * gContext.mModel;
+         *(matrix_t*)matrix = res;
+
+         if (deltaMatrix)
+         {
+            deltaMatrixScale.Scale(gContext.mScale);
+            memcpy(deltaMatrix, deltaMatrixScale.m16, sizeof(float) * 16);
+         }
+
+         if (!io.MouseDown[0])
+            gContext.mbUsing = false;
+
+         type = gContext.mCurrentOperation;
+      }
+   }
+
+   static void HandleRotation(float *matrix, float *deltaMatrix, int& type, float *snap)
+   {
+      ImGuiIO& io = ImGui::GetIO();
+      bool applyRotationLocaly = gContext.mMode == LOCAL;
+
+      if (!gContext.mbUsing)
+      {
+         type = GetRotateType();
+
+         if(type != NONE)
+         {
+            ImGui::CaptureMouseFromApp();
+         }
+
+         if (type == ROTATE_SCREEN)
+         {
+            applyRotationLocaly = true;
+         }
+
+         if (CanActivate() && type != NONE)
+         {
+            gContext.mbUsing = true;
+            gContext.mCurrentOperation = type;
+            const vec_t rotatePlanNormal[] = { gContext.mModel.v.right, gContext.mModel.v.up, gContext.mModel.v.dir, -gContext.mCameraDir };
+            // pickup plan
+            if (applyRotationLocaly)
+            {
+               gContext.mTranslationPlan = BuildPlan(gContext.mModel.v.position, rotatePlanNormal[type - ROTATE_X]);
+            }
+            else
+            {
+               gContext.mTranslationPlan = BuildPlan(gContext.mModelSource.v.position, directionUnary[type - ROTATE_X]);
+            }
+
+            const float len = IntersectRayPlane(gContext.mRayOrigin, gContext.mRayVector, gContext.mTranslationPlan);
+            vec_t localPos = gContext.mRayOrigin + gContext.mRayVector * len - gContext.mModel.v.position;
+            gContext.mRotationVectorSource = Normalized(localPos);
+            gContext.mRotationAngleOrigin = ComputeAngleOnPlan();
+         }
+      }
+
+      // rotation
+      if (gContext.mbUsing)
+      {
+         ImGui::CaptureMouseFromApp();
+         gContext.mRotationAngle = ComputeAngleOnPlan();
+         if (snap)
+         {
+            float snapInRadian = snap[0] * DEG2RAD;
+            ComputeSnap(&gContext.mRotationAngle, snapInRadian);
+         }
+         vec_t rotationAxisLocalSpace;
+
+         rotationAxisLocalSpace.TransformVector(makeVect(gContext.mTranslationPlan.x, gContext.mTranslationPlan.y, gContext.mTranslationPlan.z, 0.f), gContext.mModelInverse);
+         rotationAxisLocalSpace.Normalize();
+
+         matrix_t deltaRotation;
+         deltaRotation.RotationAxis(rotationAxisLocalSpace, gContext.mRotationAngle - gContext.mRotationAngleOrigin);
+         gContext.mRotationAngleOrigin = gContext.mRotationAngle;
+
+         matrix_t scaleOrigin;
+         scaleOrigin.Scale(gContext.mModelScaleOrigin);
+
+         if (applyRotationLocaly)
+         {
+            *(matrix_t*)matrix = scaleOrigin * deltaRotation * gContext.mModel;
+         }
+         else
+         {
+            matrix_t res = gContext.mModelSource;
+            res.v.position.Set(0.f);
+
+            *(matrix_t*)matrix = res * deltaRotation;
+            ((matrix_t*)matrix)->v.position = gContext.mModelSource.v.position;
+         }
+
+         if (deltaMatrix)
+         {
+            *(matrix_t*)deltaMatrix = gContext.mModelInverse * deltaRotation * gContext.mModel;
+         }
+
+         if (!io.MouseDown[0])
+            gContext.mbUsing = false;
+
+         type = gContext.mCurrentOperation;
+      }
+   }
+
+   void DecomposeMatrixToComponents(const float *matrix, float *translation, float *rotation, float *scale)
+   {
+      matrix_t mat = *(matrix_t*)matrix;
+
+      scale[0] = mat.v.right.Length();
+      scale[1] = mat.v.up.Length();
+      scale[2] = mat.v.dir.Length();
+
+      mat.OrthoNormalize();
+
+      rotation[0] = RAD2DEG * atan2f(mat.m[1][2], mat.m[2][2]);
+      rotation[1] = RAD2DEG * atan2f(-mat.m[0][2], sqrtf(mat.m[1][2] * mat.m[1][2] + mat.m[2][2]* mat.m[2][2]));
+      rotation[2] = RAD2DEG * atan2f(mat.m[0][1], mat.m[0][0]);
+
+      translation[0] = mat.v.position.x;
+      translation[1] = mat.v.position.y;
+      translation[2] = mat.v.position.z;
+   }
+
+   void RecomposeMatrixFromComponents(const float *translation, const float *rotation, const float *scale, float *matrix)
+   {
+      matrix_t& mat = *(matrix_t*)matrix;
+
+      matrix_t rot[3];
+      for (int i = 0; i < 3;i++)
+         rot[i].RotationAxis(directionUnary[i], rotation[i] * DEG2RAD);
+
+      mat = rot[0] * rot[1] * rot[2];
+
+      float validScale[3];
+      for (int i = 0; i < 3; i++)
+      {
+         if (fabsf(scale[i]) < FLT_EPSILON)
+            validScale[i] = 0.001f;
+         else
+            validScale[i] = scale[i];
+      }
+      mat.v.right *= validScale[0];
+      mat.v.up *= validScale[1];
+      mat.v.dir *= validScale[2];
+      mat.v.position.Set(translation[0], translation[1], translation[2], 1.f);
+   }
+
+   void Manipulate(const float *view, const float *projection, OPERATION operation, MODE mode, float *matrix, float *deltaMatrix, float *snap, float *localBounds, float *boundsSnap)
+   {
+      ComputeContext(view, projection, matrix, mode);
+
+      // set delta to identity
+      if (deltaMatrix)
+         ((matrix_t*)deltaMatrix)->SetToIdentity();
+
+      // behind camera
+      vec_t camSpacePosition;
+      camSpacePosition.TransformPoint(makeVect(0.f, 0.f, 0.f), gContext.mMVP);
+      if (camSpacePosition.z < 0.001f)
+         return;
+
+      // --
+      int type = NONE;
+      if (gContext.mbEnable)
+      {
+          if (!gContext.mbUsingBounds)
+          {
+              switch (operation)
+              {
+              case ROTATE:
+                  HandleRotation(matrix, deltaMatrix, type, snap);
+                  break;
+              case TRANSLATE:
+                  HandleTranslation(matrix, deltaMatrix, type, snap);
+                  break;
+              case SCALE:
+                  HandleScale(matrix, deltaMatrix, type, snap);
+                  break;
+              case BOUNDS:
+                  break;
+              }
+          }
+      }
+
+      if (localBounds && !gContext.mbUsing)
+          HandleAndDrawLocalBounds(localBounds, (matrix_t*)matrix, boundsSnap, operation);
+
+      if (!gContext.mbUsingBounds)
+      {
+          switch (operation)
+          {
+          case ROTATE:
+              DrawRotationGizmo(type);
+              break;
+          case TRANSLATE:
+              DrawTranslationGizmo(type);
+              break;
+          case SCALE:
+              DrawScaleGizmo(type);
+              break;
+          case BOUNDS:
+              break;
+          }
+      }
+   }
+
+   void DrawCube(const float *view, const float *projection, const float *matrix)
+   {
+      matrix_t viewInverse;
+      viewInverse.Inverse(*(matrix_t*)view);
+      const matrix_t& model = *(matrix_t*)matrix;
+      matrix_t res = *(matrix_t*)matrix * *(matrix_t*)view * *(matrix_t*)projection;
+
+      for (int iFace = 0; iFace < 6; iFace++)
+      {
+         const int normalIndex = (iFace % 3);
+         const int perpXIndex = (normalIndex + 1) % 3;
+         const int perpYIndex = (normalIndex + 2) % 3;
+         const float invert = (iFace > 2) ? -1.f : 1.f;
+
+         const vec_t faceCoords[4] = { directionUnary[normalIndex] + directionUnary[perpXIndex] + directionUnary[perpYIndex],
+            directionUnary[normalIndex] + directionUnary[perpXIndex] - directionUnary[perpYIndex],
+            directionUnary[normalIndex] - directionUnary[perpXIndex] - directionUnary[perpYIndex],
+            directionUnary[normalIndex] - directionUnary[perpXIndex] + directionUnary[perpYIndex],
+         };
+
+         // clipping
+         bool skipFace = false;
+         for (unsigned int iCoord = 0; iCoord < 4; iCoord++)
+         {
+            vec_t camSpacePosition;
+            camSpacePosition.TransformPoint(faceCoords[iCoord] * 0.5f * invert, gContext.mMVP);
+            if (camSpacePosition.z < 0.001f)
+            {
+               skipFace = true;
+               break;
+            }
+         }
+         if (skipFace)
+            continue;
+
+         // 3D->2D
+         ImVec2 faceCoordsScreen[4];
+         for (unsigned int iCoord = 0; iCoord < 4; iCoord++)
+            faceCoordsScreen[iCoord] = worldToPos(faceCoords[iCoord] * 0.5f * invert, res);
+
+         // back face culling
+         vec_t cullPos, cullNormal;
+         cullPos.TransformPoint(faceCoords[0] * 0.5f * invert, model);
+         cullNormal.TransformVector(directionUnary[normalIndex] * invert, model);
+         float dt = Dot(Normalized(cullPos - viewInverse.v.position), Normalized(cullNormal));
+         if (dt>0.f)
+            continue;
+
+         // draw face with lighter color
+         gContext.mDrawList->AddConvexPolyFilled(faceCoordsScreen, 4, directionColor[normalIndex] | 0x808080);
+      }
+   }
+
+   void DrawGrid(const float *view, const float *projection, const float *matrix, const float gridSize)
+   {
+      matrix_t res = *(matrix_t*)matrix * *(matrix_t*)view * *(matrix_t*)projection;
+
+      for (float f = -gridSize; f <= gridSize; f += 1.f)
+      {
+         gContext.mDrawList->AddLine(worldToPos(makeVect(f, 0.f, -gridSize), res), worldToPos(makeVect(f, 0.f, gridSize), res), 0xFF808080);
+         gContext.mDrawList->AddLine(worldToPos(makeVect(-gridSize, 0.f, f), res), worldToPos(makeVect(gridSize, 0.f, f), res), 0xFF808080);
+      }
+   }
+};
+