basis.h

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#pragma once
 
#include <glm/glm.hpp>
 
class Vector3;
class Quaternion;
 
class Basis : public glm::mat3 {
public:
    using glm::mat3::mat3;
 
    Basis();
    Basis(float diagonal);
    Basis(const glm::mat3& m);
 
    glm::vec3& operator[](int index);
    const glm::vec3& operator[](int index) const;
 
    Basis transposed() const;
    void transpose();
 
    Basis inverse() const;
    void invert();
 
    float determinant() const;
 
    Vector3 xform(const Vector3& v) const;
    Vector3 xform_inv(const Vector3& v) const;
 
    Quaternion to_quaternion() const;
 
    static Basis from_quaternion(const Quaternion& q);
    static Basis from_euler(const Vector3& euler);
 
    static const Basis IDENTITY;
};