That depends on whether you are trying to generate integers or floats from -1 to 36.
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For integers:
1) First, generate a range from 0 to N. From -1 to 36 (inclusive), you have 38 integers. 
rand()%38; //this generates a range of integers from 0 to 37.
2) Shift the range:
rand%38 - 1; //this shifts the range of numbers to -1 to 36.
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For floats (or numbers with decimal points):
1) generate a "continous" range from 0 to 1.
( 1.0*rand() )/RAND_MAX; //do not forget to convert rand() to a float so that you will not get 0 from integer division.
2) Scale the range:
37 * ( (1.0*rand() )/RAND_MAX; //this scales the range to (0, 37)
3) Shift the range:
37 * ( (1.0*rand() )/RAND_MAX - 1; //this shifts to range (-1, 36)