/***** BallAux.h - Vector and quaternion routines for Arcball. *****/
#ifndef _H_BallAux
#define _H_BallAux

typedef struct
{
    float x, y, z, w;
} Quat;
enum QuatPart
{ XX, YY, ZZ, WW, QuatLen };
typedef Quat HVect;
typedef float HMatrix[QuatLen][QuatLen];

extern Quat qOne;
HMatrix *Qt_ToMatrix(Quat q, HMatrix out);
Quat Qt_Conj(Quat q);
Quat Qt_Mul(Quat qL, Quat qR);
Quat Matrix_to_Qt(HMatrix dircos);
HVect V3_(float x, float y, float z);
float V3_Norm(HVect v);
HVect V3_Unit(HVect v);
HVect V3_Scale(HVect v, float s);
HVect V3_Negate(HVect v);
HVect V3_Sub(HVect v1, HVect v2);
float V3_Dot(HVect v1, HVect v2);
HVect V3_Cross(HVect v1, HVect v2);
HVect V3_Bisect(HVect v0, HVect v1);

#endif