/*  quatext.h  (C) 1997 Mark A. Livingston */
/* Any non-commercial use of this code is permitted so long as */
/* the above copyright line appears in the file.  Please contact */
/* the author regarding permission for commercial use. */
/* define a type "plane" for plane equation stuff */
typedef double plane[4];

void qx_verbose_mode( int m );
void qx_make_trans_matrix( q_matrix_type mat, q_vec_type vec );
void qx_orthonorm_matrix( q_matrix_type mat );
void qx_vec_mult_matrix( q_vec_type dest, q_vec_type src, q_matrix_type mat );
void qx_vec_mult_matrix_rot( q_vec_type dest, q_vec_type src, q_matrix_type mat );
void qx_gl_mat_to_matrix( q_matrix_type mat, qgl_matrix_type gl_mat );
void qx_gl_mat_from_matrix( qgl_matrix_type gl_mat, q_matrix_type mat );
void qx_file_print_vec( FILE *fp, q_vec_type v );
void qx_file_print_matrix( FILE *fp, q_matrix_type m );
int qx_file_read_vec( FILE *fp, q_vec_type v );
int qx_file_read_matrix( FILE *fp, q_matrix_type m );
void qx_invert_matrix( q_matrix_type invertedMatrix, q_matrix_type srcMatrix );
void qx_invert_matrixGL( qgl_matrix_type invertedMatrix, qgl_matrix_type srcMatrix );

int qx_find_axis( q_xyz_quat_type xfaForg
,                 q_xyz_quat_type xfbForg
,                 q_vec_type axisPoint, q_vec_type axisVect );
void qx_diff( q_type xfbFxfa, q_type xfaForg, q_type xfbForg );
void qx_matrix_diff( double *angl, double *dist, q_matrix_type m1
,                                                q_matrix_type m2 );
void qx_slerpx( q_type xfcForg, q_type xfaForg, q_type xfbForg, double t );
void qx_xyz_quat_scale( q_xyz_quat_type *dst
,                       q_xyz_quat_type *src, double t );
double qx_det_3_vec( q_vec_type vec1, q_vec_type vec2, q_vec_type vec3 );
int qx_intersect_2_3d_lines( q_vec_type pnt0, q_vec_type vec0
,                            q_vec_type pnt1, q_vec_type vec1
,                            double *par0, double *par1 );
int qx_touch_2_3d_lines( q_vec_type pnt0, q_vec_type vec0
,                        q_vec_type pnt1, q_vec_type vec1
,                        q_vec_type inters, int distprt );
int qx_make_3d_cal_wf( double size, q_vec_type xAxPnt, q_vec_type xAxVec
,                                   q_vec_type yAxPnt, q_vec_type yAxVec
,                      q_vec_type wf[] );
void qx_uprint( q_type q );
void qx_file_xyz_quat_print( FILE *fp, q_xyz_quat_type *xyzq );
void qx_xyz_quat_average( q_xyz_quat_type *destQ, q_xyz_quat_type *q, double *w, int );
void qx_matrix_scale( q_matrix_type d, double f, q_matrix_type s );
void qx_matrix_add( q_matrix_type s, q_matrix_type m1, q_matrix_type m2 );
void qx_matrix_transpose( q_matrix_type t, q_matrix_type a );
void qx_xyz_quat_wgt_avg( q_xyz_quat_type *d, q_xyz_quat_type *q, double *w,
			  int n );
void qx_plane_from_3_points( plane p, q_vec_type pt[3] );
double qx_angle_btw_planes( plane p0, plane p1 );
double qx_point_plane_dist( q_vec_type pt, plane p );
void qx_project_point_to_plane( q_vec_type newp, q_vec_type p, plane r );