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: #include "basis.h"
nuclear@27: #include "matrix.h"
nuclear@27: 
nuclear@27: void basis_matrix(mat4_t res, vec3_t i, vec3_t j, vec3_t k)
nuclear@27: {
nuclear@27: 	m4_identity(res);
nuclear@27: 	m4_set_column(res, v4_cons(i.x, i.y, i.z, 1.0), 0);
nuclear@27: 	m4_set_column(res, v4_cons(j.x, j.y, j.z, 1.0), 1);
nuclear@27: 	m4_set_column(res, v4_cons(k.x, k.y, k.z, 1.0), 2);
nuclear@27: }
nuclear@27: 
nuclear@27: void basis_matrix_dir(mat4_t res, vec3_t dir)
nuclear@27: {
nuclear@27: 	vec3_t k = v3_normalize(dir);
nuclear@27: 	vec3_t j = {0, 1, 0};
nuclear@27: 	vec3_t i = v3_cross(j, k);
nuclear@27: 	j = v3_cross(k, i);
nuclear@27: 	basis_matrix(res, i, j, k);
nuclear@27: }