2 files changed, 19 insertions, 17 deletions
diff --git a/lib/maths.cpp b/lib/maths.cpp
index 0298363..e894d02 100644
--- a/lib/maths.cpp
+++ b/lib/maths.cpp
@@ -9,7 +9,7 @@ glm::mat4
 flat_orientation(const glm::vec3 & diff)
 {
 	static const auto oneeighty {glm::rotate(pi, up)};
-	const auto flatdiff {glm::normalize(glm::vec3 {diff.x, 0, diff.z})};
+	const auto flatdiff {glm::normalize(!!diff)};
 	auto e {glm::orientation(flatdiff, north)};
 	// Handle if diff is exactly opposite to north
 	return (std::isnan(e[0][0])) ? oneeighty : e;
@@ -42,16 +42,16 @@ rotate_flat(float a)
 	return rotation<glm::mat2>(a, {0, 0}, {0, 1}, {1, 1}, {1, 0});
 }
 
-// Create a roll transformation matrix
+// Create a yaw transformation matrix
 glm::mat4
-rotate_roll(float a)
+rotate_yaw(float a)
 {
-	return rotation<glm::mat4>(a, {0, 0}, {0, 1}, {1, 1}, {1, 0});
+	return rotation<glm::mat4>(a, {0, 0}, {1, 0}, {1, 1}, {0, 1});
 }
 
-// Create a yaw transformation matrix
+// Create a roll transformation matrix
 glm::mat4
-rotate_yaw(float a)
+rotate_roll(float a)
 {
 	return rotation<glm::mat4>(a, {0, 0}, {2, 0}, {2, 2}, {0, 2});
 }
@@ -63,7 +63,7 @@ rotate_pitch(float a)
 	return rotation<glm::mat4>(a, {1, 1}, {1, 2}, {2, 2}, {2, 1});
 }
 
-// Create a bomcined yaw, pitch, roll transformation matrix
+// Create a combined yaw, pitch, roll transformation matrix
 glm::mat4
 rotate_ypr(glm::vec3 a)
 {
@@ -73,13 +73,13 @@ rotate_ypr(glm::vec3 a)
 float
 vector_yaw(const glm::vec3 & diff)
 {
-	return std::atan2(diff.x, diff.z);
+	return std::atan2(diff.x, diff.y);
 }
 
 float
 vector_pitch(const glm::vec3 & diff)
 {
-	return std::atan(diff.y);
+	return std::atan(diff.z);
 }
 
 float
diff --git a/lib/maths.h b/lib/maths.h
index c02123a..285c69a 100644
--- a/lib/maths.h
+++ b/lib/maths.h
@@ -18,11 +18,13 @@ struct Arc : public std::pair<float, float> {
 	}
 };
 
-constexpr const glm::vec3 up {0, 1, 0};
-constexpr const glm::vec3 north {0, 0, 1};
-constexpr const glm::vec3 south {0, 0, -1};
-constexpr const glm::vec3 east {-1, 0, 0};
-constexpr const glm::vec3 west {1, 0, 0};
+constexpr const glm::vec3 origin {0, 0, 0};
+constexpr const glm::vec3 up {0, 0, 1};
+constexpr const glm::vec3 down {0, 0, -1};
+constexpr const glm::vec3 north {0, 1, 0};
+constexpr const glm::vec3 south {0, -1, 0};
+constexpr const glm::vec3 east {1, 0, 0};
+constexpr const glm::vec3 west {-1, 0, 0};
 constexpr auto half_pi {glm::half_pi<float>()};
 constexpr auto quarter_pi {half_pi / 2};
 constexpr auto pi {glm::pi<float>()};
@@ -73,13 +75,13 @@ rdiv(Ta a, Tb b)
 constexpr inline glm::vec2
 operator!(const glm::vec3 & v)
 {
-	return {v.x, v.z};
+	return {v.x, v.y};
 }
 
 constexpr inline glm::vec3
-operator^(const glm::vec2 & v, float y)
+operator^(const glm::vec2 & v, float z)
 {
-	return {v.x, y, v.y};
+	return {v.x, v.y, z};
 }
 
 constexpr inline glm::vec3