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1 /*
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2 libvmath - a vector math library
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3 Copyright (C) 2004-2015 John Tsiombikas <nuclear@member.fsf.org>
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4
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5 This program is free software: you can redistribute it and/or modify
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6 it under the terms of the GNU Lesser General Public License as published
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7 by the Free Software Foundation, either version 3 of the License, or
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8 (at your option) any later version.
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9
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10 This program is distributed in the hope that it will be useful,
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11 but WITHOUT ANY WARRANTY; without even the implied warranty of
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12 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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13 GNU Lesser General Public License for more details.
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14
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15 You should have received a copy of the GNU Lesser General Public License
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16 along with this program. If not, see <http://www.gnu.org/licenses/>.
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17 */
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18
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19 #ifndef VMATH_BASIS_H_
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20 #define VMATH_BASIS_H_
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21
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22 #include "vector.h"
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23 #include "matrix.h"
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24
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25 enum {
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26 LEFT_HANDED,
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27 RIGHT_HANDED
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28 };
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29
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30 #ifdef __cplusplus
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31 extern "C" {
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32 #endif /* __cplusplus */
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33
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34 void basis_matrix(mat4_t res, vec3_t i, vec3_t j, vec3_t k);
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35 void basis_matrix_dir(mat4_t res, vec3_t dir);
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36
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37 #ifdef __cplusplus
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38 } /* extern "C" */
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39
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40 class Basis {
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41 public:
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42 Vector3 i, j, k;
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43
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44 Basis();
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45 Basis(const Vector3 &i, const Vector3 &j, const Vector3 &k);
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46 Basis(const Vector3 &dir, bool left_handed = true);
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47
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48 void rotate(scalar_t x, scalar_t y, scalar_t z);
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49 void rotate(const Vector3 &axis, scalar_t angle);
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50 void rotate(const Matrix4x4 &mat);
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51 void rotate(const Quaternion &quat);
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52
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53 Matrix3x3 create_rotation_matrix() const;
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54 };
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55 #endif /* __cplusplus */
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56
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57 #endif /* VMATH_BASIS_H_ */
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