nuclear@27: /*
nuclear@27: libvmath - a vector math library
nuclear@27: Copyright (C) 2004-2011 John Tsiombikas <nuclear@member.fsf.org>
nuclear@27: 
nuclear@27: This program is free software: you can redistribute it and/or modify
nuclear@27: it under the terms of the GNU Lesser General Public License as published
nuclear@27: by the Free Software Foundation, either version 3 of the License, or
nuclear@27: (at your option) any later version.
nuclear@27: 
nuclear@27: This program is distributed in the hope that it will be useful,
nuclear@27: but WITHOUT ANY WARRANTY; without even the implied warranty of
nuclear@27: MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
nuclear@27: GNU Lesser General Public License for more details.
nuclear@27: 
nuclear@27: You should have received a copy of the GNU Lesser General Public License
nuclear@27: along with this program.  If not, see <http://www.gnu.org/licenses/>.
nuclear@27: */
nuclear@27: 
nuclear@27: #ifndef VMATH_BASIS_H_
nuclear@27: #define VMATH_BASIS_H_
nuclear@27: 
nuclear@27: #include "vector.h"
nuclear@27: #include "matrix.h"
nuclear@27: 
nuclear@27: enum {
nuclear@27: 	LEFT_HANDED,
nuclear@27: 	RIGHT_HANDED
nuclear@27: };
nuclear@27: 
nuclear@27: #ifdef __cplusplus
nuclear@27: extern "C" {
nuclear@27: #endif	/* __cplusplus */
nuclear@27: 
nuclear@27: void basis_matrix(mat4_t res, vec3_t i, vec3_t j, vec3_t k);
nuclear@27: void basis_matrix_dir(mat4_t res, vec3_t dir);
nuclear@27: 
nuclear@27: #ifdef __cplusplus
nuclear@27: }	/* extern "C" */
nuclear@27: 
nuclear@27: class Basis {
nuclear@27: public:
nuclear@27: 	Vector3 i, j, k;
nuclear@27: 
nuclear@27: 	Basis();
nuclear@27: 	Basis(const Vector3 &i, const Vector3 &j, const Vector3 &k);
nuclear@27: 	Basis(const Vector3 &dir, bool left_handed = true);
nuclear@27: 
nuclear@27: 	void rotate(scalar_t x, scalar_t y, scalar_t z);
nuclear@27: 	void rotate(const Vector3 &axis, scalar_t angle);
nuclear@27: 	void rotate(const Matrix4x4 &mat);
nuclear@27: 	void rotate(const Quaternion &quat);
nuclear@27: 
nuclear@27: 	Matrix3x3 create_rotation_matrix() const;
nuclear@27: };
nuclear@27: #endif	/* __cplusplus */
nuclear@27: 
nuclear@27: #endif	/* VMATH_BASIS_H_ */