/**
 * @file llcoordframe.cpp
 * @brief LLCoordFrame class implementation.
 *
 * $LicenseInfo:firstyear=2000&license=viewergpl$
 *
 * Copyright (c) 2000-2009, Linden Research, Inc.
 *
 * Second Life Viewer Source Code
 * The source code in this file ("Source Code") is provided by Linden Lab
 * to you under the terms of the GNU General Public License, version 2.0
 * ("GPL"), unless you have obtained a separate licensing agreement
 * ("Other License"), formally executed by you and Linden Lab.  Terms of
 * the GPL can be found in doc/GPL-license.txt in this distribution, or
 * online at http://secondlifegrid.net/programs/open_source/licensing/gplv2
 *
 * There are special exceptions to the terms and conditions of the GPL as
 * it is applied to this Source Code. View the full text of the exception
 * in the file doc/FLOSS-exception.txt in this software distribution, or
 * online at
 * http://secondlifegrid.net/programs/open_source/licensing/flossexception
 *
 * By copying, modifying or distributing this software, you acknowledge
 * that you have read and understood your obligations described above,
 * and agree to abide by those obligations.
 *
 * ALL LINDEN LAB SOURCE CODE IS PROVIDED "AS IS." LINDEN LAB MAKES NO
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 */

#include "linden_common.h"

#include "llcoordframe.h"

#include "llmatrix3.h"
#include "llmatrix4.h"
#include "llquaternion.h"

LLCoordFrame::LLCoordFrame(const LLVector3& origin) noexcept
:	mOrigin(origin),
	mXAxis(1.f, 0.f, 0.f),
	mYAxis(0.f, 1.f, 0.f),
	mZAxis(0.f, 0.f, 1.f)
{
	if (!mOrigin.isFinite())
	{
		reset();
		llwarns_sparse << "Non finite (1). Coordinates reset." << llendl;
	}
}

LLCoordFrame::LLCoordFrame(const LLVector3& origin,
						   const LLVector3& direction) noexcept
:	mOrigin(origin)
{
	lookDir(direction);

	if (!isFinite())
	{
		reset();
		llwarns_sparse << "Non finite (2). Coordinates reset." << llendl;
	}
}

LLCoordFrame::LLCoordFrame(const LLVector3& x_axis,
						   const LLVector3& y_axis,
						   const LLVector3& z_axis) noexcept
:	mXAxis(x_axis),
	mYAxis(y_axis),
	mZAxis(z_axis)
{
	if (!isFinite())
	{
		reset();
		llwarns_sparse << "Non finite (3). Coordinates reset." << llendl;
	}
}

LLCoordFrame::LLCoordFrame(const LLVector3& origin,
						   const LLVector3& x_axis,
						   const LLVector3& y_axis,
						   const LLVector3& z_axis) noexcept
:	mOrigin(origin),
	mXAxis(x_axis),
	mYAxis(y_axis),
	mZAxis(z_axis)
{
	if (!isFinite())
	{
		reset();
		llwarns_sparse << "Non finite (4). Coordinates reset." << llendl;
	}
}

LLCoordFrame::LLCoordFrame(const LLVector3& origin,
						   const LLMatrix3& rotation) noexcept
:	mOrigin(origin),
	mXAxis(rotation.mMatrix[VX]),
	mYAxis(rotation.mMatrix[VY]),
	mZAxis(rotation.mMatrix[VZ])
{
	if (!isFinite())
	{
		reset();
		llwarns_sparse << "Non finite (5). Coordinates reset." << llendl;
	}
}

LLCoordFrame::LLCoordFrame(const LLQuaternion& q) noexcept
{
	LLMatrix3 rotation_matrix(q);
	mXAxis.set(rotation_matrix.mMatrix[VX]);
	mYAxis.set(rotation_matrix.mMatrix[VY]);
	mZAxis.set(rotation_matrix.mMatrix[VZ]);

	if (!isFinite())
	{
		reset();
		llwarns_sparse << "Non finite (6). Coordinates reset." << llendl;
	}
}

LLCoordFrame::LLCoordFrame(const LLVector3& origin,
						   const LLQuaternion& q) noexcept
:	mOrigin(origin)
{
	LLMatrix3 rotation_matrix(q);
	mXAxis.set(rotation_matrix.mMatrix[VX]);
	mYAxis.set(rotation_matrix.mMatrix[VY]);
	mZAxis.set(rotation_matrix.mMatrix[VZ]);

	if (!isFinite())
	{
		reset();
		llwarns_sparse << "Non finite. Coordinates reset." << llendl;
	}
}

LLCoordFrame::LLCoordFrame(const LLMatrix4& mat) noexcept
:	mOrigin(mat.mMatrix[VW]),
	mXAxis(mat.mMatrix[VX]),
	mYAxis(mat.mMatrix[VY]),
	mZAxis(mat.mMatrix[VZ])
{
	if (!isFinite())
	{
		reset();
		llwarns_sparse << "Non finite (7). Coordinates reset." << llendl;
	}
}

#if 0	// The folowing two constructors are dangerous due to implicit casting
		// and have been disabled - SJB

LLCoordFrame::LLCoordFrame(const F32* origin, const F32* rotation) noexcept
:	mOrigin(origin),
	mXAxis(rotation + 3 * VX),
	mYAxis(rotation + 3 * VY),
	mZAxis(rotation + 3 * VZ)
{
	if (!isFinite())
	{
		reset();
		llwarns_sparse << "Non finite (8). Coordinates reset." << llendl;
	}
}

LLCoordFrame::LLCoordFrame(const F32* origin_and_rotation) noexcept
:	mOrigin(origin_and_rotation),
	mXAxis(origin_and_rotation + 3 * (VX + 1)),
	mYAxis(origin_and_rotation + 3 * (VY + 1)),
	mZAxis(origin_and_rotation + 3 * (VZ + 1))
{
	if (!isFinite())
	{
		reset();
		llwarns_sparse << "Non finite (9). Coordinates reset." << llendl;
	}
}

#endif

void LLCoordFrame::reset()
{
	mOrigin.clear();
	resetAxes();
}

void LLCoordFrame::resetAxes()
{
	mXAxis.set(1.f, 0.f, 0.f);
	mYAxis.set(0.f, 1.f, 0.f);
	mZAxis.set(0.f, 0.f, 1.f);
}

// setOrigin() methods set mOrigin

void LLCoordFrame::setOrigin(F32 x, F32 y, F32 z)
{
	mOrigin.set(x, y, z);

	if (!mOrigin.isFinite())
	{
		reset();
		llwarns_sparse << "Non finite (1). Coordinates reset." << llendl;
	}
}

void LLCoordFrame::setOrigin(const LLVector3& new_origin)
{
	mOrigin = new_origin;
	if (!mOrigin.isFinite())
	{
		reset();
		llwarns_sparse << "Non finite (2). Coordinates reset." << llendl;
	}
}

void LLCoordFrame::setOrigin(const F32* origin)
{
	mOrigin.mV[VX] = *(origin + VX);
	mOrigin.mV[VY] = *(origin + VY);
	mOrigin.mV[VZ] = *(origin + VZ);

	if (!mOrigin.isFinite())
	{
		reset();
		llwarns_sparse << "Non finite (3). Coordinates reset." << llendl;
	}
}

void LLCoordFrame::setOrigin(const LLCoordFrame& frame)
{
	mOrigin = frame.getOrigin();

	if (!mOrigin.isFinite())
	{
		reset();
		llwarns_sparse << "Non finite (4). Coordinates reset." << llendl;
	}
}

// The setAxes() methods set the axes, and assume that the arguments are
// orthogonal and normalized.

void LLCoordFrame::setAxes(const LLVector3& x_axis,
						  const LLVector3& y_axis,
						  const LLVector3& z_axis)
{
	mXAxis = x_axis;
	mYAxis = y_axis;
	mZAxis = z_axis;
	if (!isFinite())
	{
		reset();
		llwarns_sparse << "Non finite (1). Coordinates reset." << llendl;
	}
}

void LLCoordFrame::setAxes(const LLMatrix3& rotation_matrix)
{
	mXAxis.set(rotation_matrix.mMatrix[VX]);
	mYAxis.set(rotation_matrix.mMatrix[VY]);
	mZAxis.set(rotation_matrix.mMatrix[VZ]);
	if (!isFinite())
	{
		reset();
		llwarns_sparse << "Non finite (2). Coordinates reset." << llendl;
	}
}

void LLCoordFrame::setAxes(const LLQuaternion& q)
{
	LLMatrix3 rotation_matrix(q);
	setAxes(rotation_matrix);
	if (!isFinite())
	{
		reset();
		llwarns_sparse << "Non finite (3). Coordinates reset." << llendl;
	}
}

void LLCoordFrame::setAxes(const F32* rotation_matrix)
{
	mXAxis.mV[VX] = *(rotation_matrix + (3 * VX + VX));
	mXAxis.mV[VY] = *(rotation_matrix + (3 * VX + VY));
	mXAxis.mV[VZ] = *(rotation_matrix + (3 * VX + VZ));
	mYAxis.mV[VX] = *(rotation_matrix + (3 * VY + VX));
	mYAxis.mV[VY] = *(rotation_matrix + (3 * VY + VY));
	mYAxis.mV[VZ] = *(rotation_matrix + (3 * VY + VZ));
	mZAxis.mV[VX] = *(rotation_matrix + (3 * VZ + VX));
	mZAxis.mV[VY] = *(rotation_matrix + (3 * VZ + VY));
	mZAxis.mV[VZ] = *(rotation_matrix + (3 * VZ + VZ));

	if (!isFinite())
	{
		reset();
		llwarns_sparse << "Non finite (4). Coordinates reset." << llendl;
	}
}

void LLCoordFrame::setAxes(const LLCoordFrame& frame)
{
	mXAxis = frame.getXAxis();
	mYAxis = frame.getYAxis();
	mZAxis = frame.getZAxis();

	if (!isFinite())
	{
		reset();
		llwarns_sparse << "Non finite (5). Coordinates reset." << llendl;
	}
}

// The translate() methods move mOrigin to a relative position

void LLCoordFrame::translate(F32 x, F32 y, F32 z)
{
	mOrigin.mV[VX] += x;
	mOrigin.mV[VY] += y;
	mOrigin.mV[VZ] += z;

	if (!mOrigin.isFinite())
	{
		reset();
		llwarns_sparse << "Non finite (1). Coordinates reset." << llendl;
	}
}

void LLCoordFrame::translate(const LLVector3& v)
{
	mOrigin += v;

	if (!mOrigin.isFinite())
	{
		reset();
		llwarns_sparse << "Non finite (2). Coordinates reset." << llendl;
	}
}

void LLCoordFrame::translate(const F32* origin)
{
	mOrigin.mV[VX] += *(origin + VX);
	mOrigin.mV[VY] += *(origin + VY);
	mOrigin.mV[VZ] += *(origin + VZ);

	if (!mOrigin.isFinite())
	{
		reset();
		llwarns_sparse << "Non finite (3). Coordinates reset." << llendl;
	}
}

// Rotate methods move the axes to a relative rotation

void LLCoordFrame::rotate(F32 angle, F32 x, F32 y, F32 z)
{
	LLQuaternion q(angle, LLVector3(x,y,z));
	rotate(q);
}

void LLCoordFrame::rotate(F32 angle, const LLVector3& rotation_axis)
{
	LLQuaternion q(angle, rotation_axis);
	rotate(q);
}

void LLCoordFrame::rotate(const LLQuaternion& q)
{
	LLMatrix3 rotation_matrix(q);
	rotate(rotation_matrix);
}

void LLCoordFrame::rotate(const LLMatrix3& rotation_matrix)
{
	mXAxis.rotVec(rotation_matrix);
	mYAxis.rotVec(rotation_matrix);
	orthonormalize();

	if (!isFinite())
	{
		reset();
		llwarns_sparse << "Non finite. Coordinates reset." << llendl;
	}
}

void LLCoordFrame::roll(F32 angle)
{
	LLQuaternion q(angle, mXAxis);
	LLMatrix3 rotation_matrix(q);
	rotate(rotation_matrix);

	if (!mYAxis.isFinite() || !mZAxis.isFinite())
	{
		reset();
		llwarns_sparse << "Non finite. Coordinates reset." << llendl;
	}
}

void LLCoordFrame::pitch(F32 angle)
{
	LLQuaternion q(angle, mYAxis);
	LLMatrix3 rotation_matrix(q);
	rotate(rotation_matrix);

	if (!mXAxis.isFinite() || !mZAxis.isFinite())
	{
		reset();
		llwarns_sparse << "Non finite. Coordinates reset." << llendl;
	}
}

void LLCoordFrame::yaw(F32 angle)
{
	LLQuaternion q(angle, mZAxis);
	LLMatrix3 rotation_matrix(q);
	rotate(rotation_matrix);

	if (!mXAxis.isFinite() || !mYAxis.isFinite())
	{
		reset();
		llwarns_sparse << "Non finite. Coordinates reset." << llendl;
	}
}

LLQuaternion LLCoordFrame::getQuaternion() const
{
	LLQuaternion quat(mXAxis, mYAxis, mZAxis);
	return quat;
}

void LLCoordFrame::getMatrixToLocal(LLMatrix4& mat) const
{
	mat.setFwdCol(mXAxis);
	mat.setLeftCol(mYAxis);
	mat.setUpCol(mZAxis);

	mat.mMatrix[3][0] = -(mOrigin * LLVector3(mat.mMatrix[0][0],
											  mat.mMatrix[1][0],
											  mat.mMatrix[2][0]));
	mat.mMatrix[3][1] = -(mOrigin * LLVector3(mat.mMatrix[0][1],
											  mat.mMatrix[1][1],
											  mat.mMatrix[2][1]));
	mat.mMatrix[3][2] = -(mOrigin * LLVector3(mat.mMatrix[0][2],
											  mat.mMatrix[1][2],
											  mat.mMatrix[2][2]));
}

void LLCoordFrame::getRotMatrixToParent(LLMatrix4& mat) const
{
	// Note: moves into CFR
	mat.setFwdRow(-mYAxis);
	mat.setLeftRow(mZAxis);
	mat.setUpRow(-mXAxis);
}

size_t LLCoordFrame::writeOrientation(char* buffer) const
{
	memcpy(buffer, mOrigin.mV, 3 * sizeof(F32));
	buffer += 3 * sizeof(F32);
	memcpy(buffer, mXAxis.mV, 3 * sizeof(F32));
	buffer += 3 * sizeof(F32);
	memcpy(buffer, mYAxis.mV, 3 * sizeof(F32));
	buffer += 3 * sizeof(F32);
	memcpy(buffer, mZAxis.mV, 3 * sizeof(F32));
	return 12 * sizeof(F32);
}

size_t LLCoordFrame::readOrientation(const char* buffer)
{
	memcpy(mOrigin.mV, buffer, 3 * sizeof(F32));
	buffer += 3 * sizeof(F32);
	memcpy(mXAxis.mV, buffer, 3 * sizeof(F32));
	buffer += 3 * sizeof(F32);
	memcpy(mYAxis.mV, buffer, 3 * sizeof(F32));
	buffer += 3 * sizeof(F32);
	memcpy(mZAxis.mV, buffer, 3 * sizeof(F32));

	if (!isFinite())
	{
		reset();
		llwarns_sparse << "Non finite. Coordinates reset." << llendl;
	}

	return 12 * sizeof(F32);
}

// Rotation and transform vectors between reference frames

LLVector3 LLCoordFrame::rotateToLocal(const LLVector3& absolute_vector) const
{
	LLVector3 local_vector(mXAxis * absolute_vector,
						   mYAxis * absolute_vector,
						   mZAxis * absolute_vector);
	return local_vector;
}

LLVector4 LLCoordFrame::rotateToLocal(const LLVector4& absolute_vector) const
{
	LLVector4 local_vector;
	local_vector.mV[VX] = mXAxis.mV[VX] * absolute_vector.mV[VX] +
						  mXAxis.mV[VY] * absolute_vector.mV[VY] +
						  mXAxis.mV[VZ] * absolute_vector.mV[VZ];
	local_vector.mV[VY] = mYAxis.mV[VX] * absolute_vector.mV[VX] +
						  mYAxis.mV[VY] * absolute_vector.mV[VY] +
						  mYAxis.mV[VZ] * absolute_vector.mV[VZ];
	local_vector.mV[VZ] = mZAxis.mV[VX] * absolute_vector.mV[VX] +
						  mZAxis.mV[VY] * absolute_vector.mV[VY] +
						  mZAxis.mV[VZ] * absolute_vector.mV[VZ];
	local_vector.mV[VW] = absolute_vector.mV[VW];
	return local_vector;
}

LLVector3 LLCoordFrame::rotateToAbsolute(const LLVector3& local_vector) const
{
	LLVector3 absolute_vector;
	absolute_vector.mV[VX] = mXAxis.mV[VX] * local_vector.mV[VX] +
							 mYAxis.mV[VX] * local_vector.mV[VY] +
							 mZAxis.mV[VX] * local_vector.mV[VZ];
	absolute_vector.mV[VY] = mXAxis.mV[VY] * local_vector.mV[VX] +
							 mYAxis.mV[VY] * local_vector.mV[VY] +
							 mZAxis.mV[VY] * local_vector.mV[VZ];
	absolute_vector.mV[VZ] = mXAxis.mV[VZ] * local_vector.mV[VX] +
							 mYAxis.mV[VZ] * local_vector.mV[VY] +
							 mZAxis.mV[VZ] * local_vector.mV[VZ];
	return absolute_vector;
}

LLVector4 LLCoordFrame::rotateToAbsolute(const LLVector4& local_vector) const
{
	LLVector4 absolute_vector;
	absolute_vector.mV[VX] = mXAxis.mV[VX] * local_vector.mV[VX] +
							 mYAxis.mV[VX] * local_vector.mV[VY] +
							 mZAxis.mV[VX] * local_vector.mV[VZ];
	absolute_vector.mV[VY] = mXAxis.mV[VY] * local_vector.mV[VX] +
							 mYAxis.mV[VY] * local_vector.mV[VY] +
							 mZAxis.mV[VY] * local_vector.mV[VZ];
	absolute_vector.mV[VZ] = mXAxis.mV[VZ] * local_vector.mV[VX] +
							 mYAxis.mV[VZ] * local_vector.mV[VY] +
							 mZAxis.mV[VZ] * local_vector.mV[VZ];
	absolute_vector.mV[VW] = local_vector[VW];
	return absolute_vector;
}

void LLCoordFrame::orthonormalize()
{
	// Makes sure the axes are orthogonal and normalized.
	mXAxis.normalize();						// X is renormalized
	mYAxis -= mXAxis * (mXAxis * mYAxis);	// Y remains in X-Y plane
	mYAxis.normalize();						// Y is normalized
	mZAxis = mXAxis % mYAxis;				// Z = X cross Y
}

LLVector3 LLCoordFrame::transformToLocal(const LLVector3& absolute_vector) const
{
	return rotateToLocal(absolute_vector - mOrigin);
}

LLVector4 LLCoordFrame::transformToLocal(const LLVector4& absolute_vector) const
{
	LLVector4 local_vector(absolute_vector);
	local_vector.mV[VX] -= mOrigin.mV[VX];
	local_vector.mV[VY] -= mOrigin.mV[VY];
	local_vector.mV[VZ] -= mOrigin.mV[VZ];
	return rotateToLocal(local_vector);
}

LLVector3 LLCoordFrame::transformToAbsolute(const LLVector3& local_vector) const
{
	return (rotateToAbsolute(local_vector) + mOrigin);
}

LLVector4 LLCoordFrame::transformToAbsolute(const LLVector4& local_vector) const
{
	LLVector4 absolute_vector;
	absolute_vector = rotateToAbsolute(local_vector);
	absolute_vector.mV[VX] += mOrigin.mV[VX];
	absolute_vector.mV[VY] += mOrigin.mV[VY];
	absolute_vector.mV[VZ] += mOrigin.mV[VZ];
	return absolute_vector;
}

// This is how you combine a translation and rotation of a
// coordinate frame to get an OpenGL transformation matrix:
//
//     translation   *   rotation      =          transformation matrix
//
//     (i)->
// (j)| 1  0  0  0 |   | a  d  g  0 |     |     a            d            g          0 |
//  | | 0  1  0  0 | * | b  e  h  0 |  =  |     b            e            h          0 |
//  V | 0  0  1  0 |   | c  f  i  0 |     |     c            f            i          0 |
//    |-x -y -z  1 |   | 0  0  0  1 |     |-(ax+by+cz)  -(dx+ey+fz)  -(gx+hy+iz)     1 |
//
// where {a,b,c} = x-axis
//       {d,e,f} = y-axis
//       {g,h,i} = z-axis
//       {x,y,z} = origin

void LLCoordFrame::getOpenGLTranslation(F32* ogl_matrix) const
{
	*(ogl_matrix + 0)  = 1.f;
	*(ogl_matrix + 1)  = 0.f;
	*(ogl_matrix + 2)  = 0.f;
	*(ogl_matrix + 3)  = 0.f;

	*(ogl_matrix + 4)  = 0.f;
	*(ogl_matrix + 5)  = 1.f;
	*(ogl_matrix + 6)  = 0.f;
	*(ogl_matrix + 7)  = 0.f;

	*(ogl_matrix + 8)  = 0.f;
	*(ogl_matrix + 9)  = 0.f;
	*(ogl_matrix + 10) = 1.f;
	*(ogl_matrix + 11) = 0.f;

	*(ogl_matrix + 12) = -mOrigin.mV[VX];
	*(ogl_matrix + 13) = -mOrigin.mV[VY];
	*(ogl_matrix + 14) = -mOrigin.mV[VZ];
	*(ogl_matrix + 15) = 1.f;
}

void LLCoordFrame::getOpenGLRotation(F32* ogl_matrix) const
{
	*(ogl_matrix + 0)  = mXAxis.mV[VX];
	*(ogl_matrix + 4)  = mXAxis.mV[VY];
	*(ogl_matrix + 8)  = mXAxis.mV[VZ];

	*(ogl_matrix + 1)  = mYAxis.mV[VX];
	*(ogl_matrix + 5)  = mYAxis.mV[VY];
	*(ogl_matrix + 9)  = mYAxis.mV[VZ];

	*(ogl_matrix + 2)  = mZAxis.mV[VX];
	*(ogl_matrix + 6)  = mZAxis.mV[VY];
	*(ogl_matrix + 10) = mZAxis.mV[VZ];

	*(ogl_matrix + 3)  = 0.f;
	*(ogl_matrix + 7)  = 0.f;
	*(ogl_matrix + 11) = 0.f;

	*(ogl_matrix + 12) = 0.f;
	*(ogl_matrix + 13) = 0.f;
	*(ogl_matrix + 14) = 0.f;
	*(ogl_matrix + 15) = 1.f;
}

void LLCoordFrame::getOpenGLTransform(F32* ogl_matrix) const
{
	*(ogl_matrix + 0)  = mXAxis.mV[VX];
	*(ogl_matrix + 4)  = mXAxis.mV[VY];
	*(ogl_matrix + 8)  = mXAxis.mV[VZ];
	*(ogl_matrix + 12) = -mOrigin * mXAxis;

	*(ogl_matrix + 1)  = mYAxis.mV[VX];
	*(ogl_matrix + 5)  = mYAxis.mV[VY];
	*(ogl_matrix + 9)  = mYAxis.mV[VZ];
	*(ogl_matrix + 13) = -mOrigin * mYAxis;

	*(ogl_matrix + 2)  = mZAxis.mV[VX];
	*(ogl_matrix + 6)  = mZAxis.mV[VY];
	*(ogl_matrix + 10) = mZAxis.mV[VZ];
	*(ogl_matrix + 14) = -mOrigin * mZAxis;

	*(ogl_matrix + 3)  = 0.f;
	*(ogl_matrix + 7)  = 0.f;
	*(ogl_matrix + 11) = 0.f;
	*(ogl_matrix + 15) = 1.f;
}

// at and up_direction are presumed to be normalized
void LLCoordFrame::lookDir(const LLVector3& at, const LLVector3& up_direction)
{
	// Make sure 'at' and 'up_direction' are not parallel
	// and that neither are zero-length vectors
	LLVector3 left(up_direction % at);
	if (left.isNull())
	{
		// tweak lookat pos so we don't get a degenerate matrix
		LLVector3 tempat(at[VX] + 0.01f, at[VY], at[VZ]);
		tempat.normalize();
		left = (up_direction % tempat);
	}
	left.normalize();

	LLVector3 up = at % left;

	if (at.isFinite() && left.isFinite() && up.isFinite())
	{
		setAxes(at, left, up);
	}
}

void LLCoordFrame::lookDir(const LLVector3& xuv)
{
	lookDir(xuv, LLVector3::z_axis);
}

void LLCoordFrame::lookAt(const LLVector3& origin,
						  const LLVector3& point_of_interest,
						  const LLVector3& up_direction)
{
	setOrigin(origin);
	LLVector3 at(point_of_interest - origin);
	at.normalize();
	lookDir(at, up_direction);
}

void LLCoordFrame::lookAt(const LLVector3& origin,
						  const LLVector3& point_of_interest)
{
	setOrigin(origin);
	LLVector3 at(point_of_interest - origin);
	at.normalize();
	lookDir(at, LLVector3::z_axis);
}

// Operators and friends

std::ostream& operator<<(std::ostream& s, const LLCoordFrame& c)
{
	s << "{ "
	  << " origin = " << c.mOrigin
	  << " x_axis = " << c.mXAxis
	  << " y_axis = " << c.mYAxis
	  << " z_axis = " << c.mZAxis
	<< " }";
	return s;
}