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1 /*
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2 libvmath - a vector math library
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3 Copyright (C) 2004-2011 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 #include "basis.h"
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20 #include "matrix.h"
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21
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22 void basis_matrix(mat4_t res, vec3_t i, vec3_t j, vec3_t k)
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23 {
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24 m4_identity(res);
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25 m4_set_column(res, v4_cons(i.x, i.y, i.z, 1.0), 0);
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26 m4_set_column(res, v4_cons(j.x, j.y, j.z, 1.0), 1);
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27 m4_set_column(res, v4_cons(k.x, k.y, k.z, 1.0), 2);
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28 }
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29
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30 void basis_matrix_dir(mat4_t res, vec3_t dir)
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31 {
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32 vec3_t k = v3_normalize(dir);
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33 vec3_t j = {0, 1, 0};
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34 vec3_t i = v3_cross(j, k);
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35 j = v3_cross(k, i);
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36 basis_matrix(res, i, j, k);
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37 }
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