nuclear@28: #ifndef VMATH_BASIS_H_
nuclear@28: #define VMATH_BASIS_H_
nuclear@28: 
nuclear@28: #include "vector.h"
nuclear@28: #include "matrix.h"
nuclear@28: 
nuclear@28: enum {
nuclear@28: 	LEFT_HANDED,
nuclear@28: 	RIGHT_HANDED
nuclear@28: };
nuclear@28: 
nuclear@28: #ifdef __cplusplus
nuclear@28: extern "C" {
nuclear@28: #endif	/* __cplusplus */
nuclear@28: 
nuclear@28: void basis_matrix(mat4_t res, vec3_t i, vec3_t j, vec3_t k);
nuclear@28: void basis_matrix_dir(mat4_t res, vec3_t dir);
nuclear@28: 
nuclear@28: #ifdef __cplusplus
nuclear@28: }	/* extern "C" */
nuclear@28: 
nuclear@28: class Basis {
nuclear@28: public:
nuclear@28: 	Vector3 i, j, k;
nuclear@28: 
nuclear@28: 	Basis();
nuclear@28: 	Basis(const Vector3 &i, const Vector3 &j, const Vector3 &k);
nuclear@28: 	Basis(const Vector3 &dir, bool left_handed = true);
nuclear@28: 
nuclear@28: 	void rotate(scalar_t x, scalar_t y, scalar_t z);
nuclear@28: 	void rotate(const Vector3 &axis, scalar_t angle);
nuclear@28: 	void rotate(const Matrix4x4 &mat);
nuclear@28: 	void rotate(const Quaternion &quat);
nuclear@28: 
nuclear@28: 	Matrix3x3 create_rotation_matrix() const;
nuclear@28: };
nuclear@28: #endif	/* __cplusplus */
nuclear@28: 
nuclear@28: #endif	/* VMATH_BASIS_H_ */