Port boxes demo to use math3d throughout

Patch originally by Ian Walters.

12 files changed, 131 insertions, 732 deletions

diff --git a/demos/boxes/boxes.pro b/demos/boxes/boxes.pro
index a7b19a3..33f1f14 100644
--- a/demos/boxes/boxes.pro
+++ b/demos/boxes/boxes.pro
@@ -15,8 +15,7 @@ HEADERS += 3rdparty/fbm.h \
            qtbox.h \
            roundedbox.h \
            scene.h \
-           trackball.h \
-           vector.h
+           trackball.h
 SOURCES += 3rdparty/fbm.c \
            glbuffers.cpp \
            glextensions.cpp \
diff --git a/demos/boxes/glbuffers.cpp b/demos/boxes/glbuffers.cpp
index b2a594e..a25a425 100644
--- a/demos/boxes/glbuffers.cpp
+++ b/demos/boxes/glbuffers.cpp
@@ -40,6 +40,7 @@
 ****************************************************************************/
 
 #include "glbuffers.h"
+#include <QtGui/qmatrix4x4.h>
 
 //============================================================================//
 //                                  GLTexture                                 //
@@ -346,7 +347,7 @@ void GLRenderTargetCube::end()
     m_fbo.setAsRenderTarget(false);
 }
 
-void GLRenderTargetCube::getViewMatrix(gfx::Matrix4x4f& mat, int face)
+void GLRenderTargetCube::getViewMatrix(QMatrix4x4& mat, int face)
 {
     if (face < 0 || face >= 6) {
         qWarning("GLRenderTargetCube::getViewMatrix: 'face' must be in the range [0, 6). (face == %d)", face);
@@ -371,20 +372,21 @@ void GLRenderTargetCube::getViewMatrix(gfx::Matrix4x4f& mat, int face)
         {-1.0f, -1.0f, +1.0f},
     };
 
-    memset(mat.bits(), 0, sizeof(float) * 16);
+    memset(mat.data(), 0, sizeof(float) * 16);
     for (int i = 0; i < 3; ++i)
-        mat(perm[face][i], i) = signs[face][i];
+        mat(i, perm[face][i]) = signs[face][i];
     mat(3, 3) = 1.0f;
 }
 
-void GLRenderTargetCube::getProjectionMatrix(gfx::Matrix4x4f& mat, float nearZ, float farZ)
+void GLRenderTargetCube::getProjectionMatrix(QMatrix4x4& mat, float nearZ, float farZ)
 {
-    float proj[] = {
-        1.0f, 0.0f, 0.0f, 0.0f,
-        0.0f, 1.0f, 0.0f, 0.0f,
-        0.0f, 0.0f, (nearZ+farZ)/(nearZ-farZ), -1.0f,
-        0.0f, 0.0f, 2.0f*nearZ*farZ/(nearZ-farZ), 0.0f,
-    };
-
-    memcpy(mat.bits(), proj, sizeof(float) * 16);
+    static const QMatrix4x4 reference(
+            1.0f, 0.0f, 0.0f, 0.0f,
+            0.0f, 1.0f, 0.0f, 0.0f,
+            0.0f, 0.0f, 0.0f, 0.0f,
+            0.0f, 0.0f, -1.0f, 0.0f);
+
+    mat = reference;
+    mat(2, 2) = (nearZ+farZ)/(nearZ-farZ);
+    mat(2, 3) = 2.0f*nearZ*farZ/(nearZ-farZ);
 }
diff --git a/demos/boxes/glbuffers.h b/demos/boxes/glbuffers.h
index 88de4e8..392924e 100644
--- a/demos/boxes/glbuffers.h
+++ b/demos/boxes/glbuffers.h
@@ -48,8 +48,6 @@
 #include <QtGui>
 #include <QtOpenGL>
 
-#include "vector.h"
-
 #define BUFFER_OFFSET(i) ((char*)0 + (i))
 #define SIZE_OF_MEMBER(cls, member) sizeof(static_cast<cls *>(0)->member)
 
@@ -60,6 +58,8 @@ if (m_failed || !(assertion)) {
     returnStatement;                                                                        \
 }
 
+class QMatrix4x4;
+
 class GLTexture
 {
 public:
@@ -135,8 +135,8 @@ public:
     void end();
     virtual bool failed() {return m_failed || m_fbo.failed();}
 
-    static void getViewMatrix(gfx::Matrix4x4f& mat, int face);
-    static void getProjectionMatrix(gfx::Matrix4x4f& mat, float nearZ, float farZ);
+    static void getViewMatrix(QMatrix4x4& mat, int face);
+    static void getProjectionMatrix(QMatrix4x4& mat, float nearZ, float farZ);
 private:
     GLFrameBufferObject m_fbo;
 };
diff --git a/demos/boxes/qtbox.cpp b/demos/boxes/qtbox.cpp
index 0607698..ba9f95d 100644
--- a/demos/boxes/qtbox.cpp
+++ b/demos/boxes/qtbox.cpp
@@ -269,19 +269,20 @@ bool ItemBase::isInResizeArea(const QPointF &pos)
 QtBox::QtBox(int size, int x, int y) : ItemBase(size, x, y), m_texture(0)
 {
     for (int i = 0; i < 8; ++i) {
-        m_vertices[i][0] = (i & 1 ? 0.5f : -0.5f);
-        m_vertices[i][1] = (i & 2 ? 0.5f : -0.5f);
-        m_vertices[i][2] = (i & 4 ? 0.5f : -0.5f);
+        m_vertices[i].setX(i & 1 ? 0.5f : -0.5f);
+        m_vertices[i].setY(i & 2 ? 0.5f : -0.5f);
+        m_vertices[i].setZ(i & 4 ? 0.5f : -0.5f);
     }
     for (int i = 0; i < 4; ++i) {
-        m_texCoords[i][0] = (i & 1 ? 1.0f : 0.0f);
-        m_texCoords[i][1] = (i & 2 ? 1.0f : 0.0f);
-    }
-    memset(m_normals, 0, sizeof(m_normals));
-    for (int i = 0; i < 3; ++i) {
-        m_normals[2 * i + 0][i] = -1.0f;
-        m_normals[2 * i + 1][i] = 1.0f;
+        m_texCoords[i].setX(i & 1 ? 1.0f : 0.0f);
+        m_texCoords[i].setY(i & 2 ? 1.0f : 0.0f);
     }
+    m_normals[0] = QVector3D(-1.0f, 0.0f, 0.0f);
+    m_normals[1] = QVector3D(1.0f, 0.0f, 0.0f);
+    m_normals[2] = QVector3D(0.0f, -1.0f, 0.0f);
+    m_normals[3] = QVector3D(0.0f, 1.0f, 0.0f);
+    m_normals[4] = QVector3D(0.0f, 0.0f, -1.0f);
+    m_normals[5] = QVector3D(0.0f, 0.0f, 1.0f);
 }
 
 QtBox::~QtBox()
@@ -351,21 +352,21 @@ void QtBox::paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWi
         glColor4f(1.0f, 1.0f, 1.0f, 1.0);
 
         glBegin(GL_TRIANGLE_STRIP);
-        glNormal3fv(m_normals[2 * dir + 0].bits());
+        glNormal3fv(reinterpret_cast<float *>(&m_normals[2 * dir + 0]));
         for (int i = 0; i < 2; ++i) {
             for (int j = 0; j < 2; ++j) {
-                glTexCoord2fv(m_texCoords[(j << 1) | i].bits());
-                glVertex3fv(m_vertices[(i << ((dir + 2) % 3)) | (j << ((dir + 1) % 3))].bits());
+                glTexCoord2fv(reinterpret_cast<float *>(&m_texCoords[(j << 1) | i]));
+                glVertex3fv(reinterpret_cast<float *>(&m_vertices[(i << ((dir + 2) % 3)) | (j << ((dir + 1) % 3))]));
             }
         }
         glEnd();
 
         glBegin(GL_TRIANGLE_STRIP);
-        glNormal3fv(m_normals[2 * dir + 1].bits());
+        glNormal3fv(reinterpret_cast<float *>(&m_normals[2 * dir + 1]));
         for (int i = 0; i < 2; ++i) {
             for (int j = 0; j < 2; ++j) {
-                glTexCoord2fv(m_texCoords[(j << 1) | i].bits());
-                glVertex3fv(m_vertices[(1 << dir) | (i << ((dir + 1) % 3)) | (j << ((dir + 2) % 3))].bits());
+                glTexCoord2fv(reinterpret_cast<float *>(&m_texCoords[(j << 1) | i]));
+                glVertex3fv(reinterpret_cast<float *>(&m_vertices[(1 << dir) | (i << ((dir + 1) % 3)) | (j << ((dir + 2) % 3))]));
             }
         }
         glEnd();
diff --git a/demos/boxes/qtbox.h b/demos/boxes/qtbox.h
index aae8256..5042077 100644
--- a/demos/boxes/qtbox.h
+++ b/demos/boxes/qtbox.h
@@ -44,7 +44,7 @@
 
 #include <QtGui>
 
-#include "vector.h"
+#include <QtGui/qvector3d.h>
 #include "glbuffers.h"
 
 class ItemBase : public QObject, public QGraphicsItem
@@ -85,9 +85,9 @@ public:
 protected:
     virtual ItemBase *createNew(int size, int x, int y);
 private:
-    gfx::Vector3f m_vertices[8];
-    gfx::Vector2f m_texCoords[4];
-    gfx::Vector3f m_normals[6];
+    QVector3D m_vertices[8];
+    QVector3D m_texCoords[4];
+    QVector3D m_normals[6];
     GLTexture *m_texture;
 };
 
diff --git a/demos/boxes/roundedbox.cpp b/demos/boxes/roundedbox.cpp
index f238da2..93ebce7 100644
--- a/demos/boxes/roundedbox.cpp
+++ b/demos/boxes/roundedbox.cpp
@@ -46,9 +46,10 @@
 //============================================================================//
 
 VertexDescription P3T2N3Vertex::description[] = {
-    {VertexDescription::Position, GL_FLOAT, SIZE_OF_MEMBER(P3T2N3Vertex, position) / sizeof(float), offsetof(P3T2N3Vertex, position), 0},
-    {VertexDescription::TexCoord, GL_FLOAT, SIZE_OF_MEMBER(P3T2N3Vertex, texCoord) / sizeof(float), offsetof(P3T2N3Vertex, texCoord), 0},
-    {VertexDescription::Normal, GL_FLOAT, SIZE_OF_MEMBER(P3T2N3Vertex, normal) / sizeof(float), offsetof(P3T2N3Vertex, normal), 0},
+    {VertexDescription::Position, GL_FLOAT, SIZE_OF_MEMBER(P3T2N3Vertex, position) / sizeof(float), 0, 0},
+    {VertexDescription::TexCoord, GL_FLOAT, SIZE_OF_MEMBER(P3T2N3Vertex, texCoord) / sizeof(float), sizeof(QVector3D), 0},
+    {VertexDescription::Normal, GL_FLOAT, SIZE_OF_MEMBER(P3T2N3Vertex, normal) / sizeof(float), sizeof(QVector3D) + sizeof(QVector2D), 0},
+
     {VertexDescription::Null, 0, 0, 0, 0},
 };
 
@@ -78,10 +79,9 @@ GLRoundedBox::GLRoundedBox(float r, float scale, int n)
     }
 
     for (int corner = 0; corner < 8; ++corner) {
-        gfx::Vector3f centre;
-        centre[0] = (corner & 1 ? 1.0f : -1.0f);
-        centre[1] = (corner & 2 ? 1.0f : -1.0f);
-        centre[2] = (corner & 4 ? 1.0f : -1.0f);
+        QVector3D centre(corner & 1 ? 1.0f : -1.0f,
+                corner & 2 ? 1.0f : -1.0f,
+                corner & 4 ? 1.0f : -1.0f);
         int winding = (corner & 1) ^ ((corner >> 1) & 1) ^ (corner >> 2);
         int offsX = ((corner ^ 1) - corner) * vertexCountPerCorner;
         int offsY = ((corner ^ 2) - corner) * vertexCountPerCorner;
@@ -129,12 +129,13 @@ GLRoundedBox::GLRoundedBox(float r, float scale, int n)
             }
 
             for (int j = 0; j <= i; ++j) {
-                gfx::Vector3f normal = gfx::Vector3f::vector(i - j, j, n + 1 - i).normalized();
-                gfx::Vector3f pos = centre * (0.5f - r + r * normal);
+                QVector3D normal = QVector3D(i - j, j, n + 1 - i).normalized();
+                QVector3D offset(0.5f - r, 0.5f - r, 0.5f - r);
+                QVector3D pos = centre * (offset + r * normal);
 
                 vp[vidx].position = scale * pos;
                 vp[vidx].normal = centre * normal;
-                vp[vidx].texCoord = gfx::Vector2f::vector(pos[0], pos[1]) + 0.5f;
+                vp[vidx].texCoord = QVector2D(pos.x() + 0.5f, pos.y() + 0.5f);
 
                 // Corner polygons
                 if (i < n + 1) {
diff --git a/demos/boxes/roundedbox.h b/demos/boxes/roundedbox.h
index b934ade..65b545e 100644
--- a/demos/boxes/roundedbox.h
+++ b/demos/boxes/roundedbox.h
@@ -49,14 +49,15 @@
 #include <QtOpenGL>
 
 #include "gltrianglemesh.h"
-#include "vector.h"
+#include <QtGui/qvector3d.h>
+#include <QtGui/qvector2d.h>
 #include "glbuffers.h"
 
 struct P3T2N3Vertex
 {
-    gfx::Vector3f position;
-    gfx::Vector2f texCoord;
-    gfx::Vector3f normal;
+    QVector3D position;
+    QVector2D texCoord;
+    QVector3D normal;
     static VertexDescription description[];
 };
 
diff --git a/demos/boxes/scene.cpp b/demos/boxes/scene.cpp
index cd9671e..db32928 100644
--- a/demos/boxes/scene.cpp
+++ b/demos/boxes/scene.cpp
@@ -39,7 +39,10 @@
 **
 ****************************************************************************/
 
+#include <QDebug>
 #include "scene.h"
+#include <QtGui/qmatrix4x4.h>
+#include <QtGui/qvector3d.h>
 
 #include "3rdparty/fbm.h"
 
@@ -484,9 +487,9 @@ Scene::Scene(int width, int height, int maxTextureSize)
 {
     setSceneRect(0, 0, width, height);
 
-    m_trackBalls[0] = TrackBall(0.0005f, gfx::Vector3f::vector(0, 1, 0), TrackBall::Sphere);
-    m_trackBalls[1] = TrackBall(0.0001f, gfx::Vector3f::vector(0, 0, 1), TrackBall::Sphere);
-    m_trackBalls[2] = TrackBall(0.0f, gfx::Vector3f::vector(0, 1, 0), TrackBall::Plane);
+    m_trackBalls[0] = TrackBall(0.05f, QVector3D(0, 1, 0), TrackBall::Sphere);
+    m_trackBalls[1] = TrackBall(0.005f, QVector3D(0, 0, 1), TrackBall::Sphere);
+    m_trackBalls[2] = TrackBall(0.0f, QVector3D(0, 1, 0), TrackBall::Plane);
 
     m_renderOptions = new RenderOptionsDialog;
     m_renderOptions->move(20, 120);
@@ -648,9 +651,9 @@ void Scene::initGL()
 
 // If one of the boxes should not be rendered, set excludeBox to its index.
 // If the main box should not be rendered, set excludeBox to -1.
-void Scene::renderBoxes(const gfx::Matrix4x4f &view, int excludeBox)
+void Scene::renderBoxes(const QMatrix4x4 &view, int excludeBox)
 {
-    gfx::Matrix4x4f invView = view.inverse();
+    QMatrix4x4 invView = view.inverted();
 
     // If multi-texturing is supported, use three saplers.
     if (glActiveTexture) {
@@ -666,11 +669,11 @@ void Scene::renderBoxes(const gfx::Matrix4x4f &view, int excludeBox)
     glDisable(GL_LIGHTING);
     glDisable(GL_CULL_FACE);
 
-    gfx::Matrix4x4f viewRotation(view);
+    QMatrix4x4 viewRotation(view);
     viewRotation(3, 0) = viewRotation(3, 1) = viewRotation(3, 2) = 0.0f;
     viewRotation(0, 3) = viewRotation(1, 3) = viewRotation(2, 3) = 0.0f;
     viewRotation(3, 3) = 1.0f;
-    glLoadMatrixf(viewRotation.bits());
+    glLoadMatrixf(viewRotation.data());
     glScalef(20.0f, 20.0f, 20.0f);
 
     // Don't render the environment if the environment texture can't be set for the correct sampler.
@@ -685,7 +688,7 @@ void Scene::renderBoxes(const gfx::Matrix4x4f &view, int excludeBox)
         m_environment->unbind();
     }
 
-    glLoadMatrixf(view.bits());
+    glLoadMatrixf(view.data());
 
     glEnable(GL_CULL_FACE);
     glEnable(GL_LIGHTING);
@@ -695,9 +698,11 @@ void Scene::renderBoxes(const gfx::Matrix4x4f &view, int excludeBox)
             continue;
 
         glPushMatrix();
-        gfx::Matrix4x4f m;
-        m_trackBalls[1].rotation().matrix(m);
-        glMultMatrixf(m.bits());
+        QMatrix4x4 m;
+        m.rotate(m_trackBalls[1].rotation());
+        m = m.transposed();
+
+        glMultMatrixf(m.data());
 
         glRotatef(360.0f * i / m_programs.size(), 0.0f, 0.0f, 1.0f);
         glTranslatef(2.0f, 0.0f, 0.0f);
@@ -713,12 +718,8 @@ void Scene::renderBoxes(const gfx::Matrix4x4f &view, int excludeBox)
         m_programs[i]->setUniformValue("tex", 0);
         m_programs[i]->setUniformValue("env", 1);
         m_programs[i]->setUniformValue("noise", 2);
-        QMatrix4x4 mview;
-        QMatrix4x4 minvview;
-        memcpy(mview.data(), view.bits(), sizeof(float) * 16);
-        memcpy(minvview.data(), invView.bits(), sizeof(float) * 16);
-        m_programs[i]->setUniformValue("view", mview);
-        m_programs[i]->setUniformValue("invView", minvview);
+        m_programs[i]->setUniformValue("view", view);
+        m_programs[i]->setUniformValue("invView", invView);
         m_box->draw();
         m_programs[i]->disable();
 
@@ -732,9 +733,10 @@ void Scene::renderBoxes(const gfx::Matrix4x4f &view, int excludeBox)
     }
 
     if (-1 != excludeBox) {
-        gfx::Matrix4x4f m;
-        m_trackBalls[0].rotation().matrix(m);
-        glMultMatrixf(m.bits());
+        QMatrix4x4 m;
+        m.rotate(m_trackBalls[0].rotation());
+        m = m.transposed();
+        glMultMatrixf(m.data());
 
         if (glActiveTexture) {
             if (m_dynamicCubemap)
@@ -747,12 +749,8 @@ void Scene::renderBoxes(const gfx::Matrix4x4f &view, int excludeBox)
         m_programs[m_currentShader]->setUniformValue("tex", 0);
         m_programs[m_currentShader]->setUniformValue("env", 1);
         m_programs[m_currentShader]->setUniformValue("noise", 2);
-        QMatrix4x4 mview;
-        QMatrix4x4 minvview;
-        memcpy(mview.data(), view.bits(), sizeof(float) * 16);
-        memcpy(minvview.data(), invView.bits(), sizeof(float) * 16);
-        m_programs[m_currentShader]->setUniformValue("view", mview);
-        m_programs[m_currentShader]->setUniformValue("invView", minvview);
+        m_programs[m_currentShader]->setUniformValue("view", view);
+        m_programs[m_currentShader]->setUniformValue("invView", invView);
         m_box->draw();
         m_programs[m_currentShader]->disable();
 
@@ -839,31 +837,32 @@ void Scene::renderCubemaps()
     // To speed things up, only update the cubemaps for the small cubes every N frames.
     const int N = (m_updateAllCubemaps ? 1 : 3);
 
-    gfx::Matrix4x4f mat;
+    QMatrix4x4 mat;
     GLRenderTargetCube::getProjectionMatrix(mat, 0.1f, 100.0f);
 
     glMatrixMode(GL_PROJECTION);
     glPushMatrix();
-    glLoadMatrixf(mat.bits());
+    glLoadMatrixf(mat.data());
 
     glMatrixMode(GL_MODELVIEW);
     glPushMatrix();
 
-    gfx::Vector3f center;
+    QVector3D center;
 
     for (int i = m_frame % N; i < m_cubemaps.size(); i += N) {
         if (0 == m_cubemaps[i])
             continue;
 
         float angle = 2.0f * PI * i / m_cubemaps.size();
-        center = m_trackBalls[1].rotation().transform(gfx::Vector3f::vector(cos(angle), sin(angle), 0));
+
+        center = m_trackBalls[1].rotation().rotateVector(QVector3D(cos(angle), sin(angle), 0.0f));
 
         for (int face = 0; face < 6; ++face) {
             m_cubemaps[i]->begin(face);
 
             GLRenderTargetCube::getViewMatrix(mat, face);
-            gfx::Vector4f v = gfx::Vector4f::vector(-center[0], -center[1], -center[2], 1.0);
-            mat[3] = v * mat;
+            QVector4D v = QVector4D(-center.x(), -center.y(), -center.z(), 1.0);
+            mat.setColumn(3, v * mat);
 
             glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
             renderBoxes(mat, i);
@@ -907,12 +906,9 @@ void Scene::drawBackground(QPainter *painter, const QRectF &)
 
     glMatrixMode(GL_MODELVIEW);
 
-    //gfx::Matrix4x4f view = gfx::Matrix4x4f::identity();
-    //view(3, 2) -= 2.0f * exp(m_distExp / 1200.0f);
-
-    gfx::Matrix4x4f view;
-    m_trackBalls[2].rotation().matrix(view);
-    view(3, 2) -= 2.0f * exp(m_distExp / 1200.0f);
+    QMatrix4x4 view;
+    view.rotate(m_trackBalls[2].rotation());
+    view(2, 3) -= 2.0f * exp(m_distExp / 1200.0f);
     renderBoxes(view);
 
     defaultStates();
@@ -946,10 +942,10 @@ void Scene::mouseMoveEvent(QGraphicsSceneMouseEvent *event)
     }
 
     if (event->buttons() & Qt::MidButton) {
-        m_trackBalls[2].move(pixelPosToViewPos(event->scenePos()), gfx::Quaternionf::identity());
+        m_trackBalls[2].move(pixelPosToViewPos(event->scenePos()), QQuaternion());
         event->accept();
     } else {
-        m_trackBalls[2].release(pixelPosToViewPos(event->scenePos()), gfx::Quaternionf::identity());
+        m_trackBalls[2].release(pixelPosToViewPos(event->scenePos()), QQuaternion());
     }
 }
 
@@ -970,7 +966,7 @@ void Scene::mousePressEvent(QGraphicsSceneMouseEvent *event)
     }
 
     if (event->buttons() & Qt::MidButton) {
-        m_trackBalls[2].push(pixelPosToViewPos(event->scenePos()), gfx::Quaternionf::identity());
+        m_trackBalls[2].push(pixelPosToViewPos(event->scenePos()), QQuaternion());
         event->accept();
     }
 }
@@ -992,7 +988,7 @@ void Scene::mouseReleaseEvent(QGraphicsSceneMouseEvent *event)
     }
 
     if (event->button() == Qt::MidButton) {
-        m_trackBalls[2].release(pixelPosToViewPos(event->scenePos()), gfx::Quaternionf::identity());
+        m_trackBalls[2].release(pixelPosToViewPos(event->scenePos()), QQuaternion());
         event->accept();
     }
 }
diff --git a/demos/boxes/scene.h b/demos/boxes/scene.h
index c056739..48ecaba 100644
--- a/demos/boxes/scene.h
+++ b/demos/boxes/scene.h
@@ -50,13 +50,13 @@
 
 #include "roundedbox.h"
 #include "gltrianglemesh.h"
-#include "vector.h"
 #include "trackball.h"
 #include "glbuffers.h"
 #include "qtbox.h"
 
 #define PI 3.14159265358979
 
+class QMatrix4x4;
 class ParameterEdit : public QWidget
 {
 public:
@@ -194,7 +194,7 @@ public slots:
     void setFloatParameter(const QString &name, float value);
     void newItem(ItemDialog::ItemType type);
 protected:
-    void renderBoxes(const gfx::Matrix4x4f &view, int excludeBox = -2);
+    void renderBoxes(const QMatrix4x4 &view, int excludeBox = -2);
     void setStates();
     void setLights();
     void defaultStates();
@@ -237,6 +237,4 @@ private:
     QGLShaderProgram *m_environmentProgram;
 };
 
-
-
 #endif
diff --git a/demos/boxes/trackball.cpp b/demos/boxes/trackball.cpp
index 980f6ed..a8bfe44 100644
--- a/demos/boxes/trackball.cpp
+++ b/demos/boxes/trackball.cpp
@@ -40,6 +40,7 @@
 ****************************************************************************/
 
 #include "trackball.h"
+#include "scene.h"
 
 //============================================================================//
 //                                  TrackBall                                 //
@@ -51,23 +52,23 @@ TrackBall::TrackBall(TrackMode mode)
     , m_pressed(false)
     , m_mode(mode)
 {
-    m_axis = gfx::Vector3f::vector(0, 1, 0);
-    m_rotation = gfx::Quaternionf::quaternion(1.0f, 0.0f, 0.0f, 0.0f);
+    m_axis = QVector3D(0, 1, 0);
+    m_rotation = QQuaternion();
     m_lastTime = QTime::currentTime();
 }
 
-TrackBall::TrackBall(float angularVelocity, const gfx::Vector3f& axis, TrackMode mode)
+TrackBall::TrackBall(float angularVelocity, const QVector3D& axis, TrackMode mode)
     : m_axis(axis)
     , m_angularVelocity(angularVelocity)
     , m_paused(false)
     , m_pressed(false)
     , m_mode(mode)
 {
-    m_rotation = gfx::Quaternionf::quaternion(1.0f, 0.0f, 0.0f, 0.0f);
+    m_rotation = QQuaternion();
     m_lastTime = QTime::currentTime();
 }
 
-void TrackBall::push(const QPointF& p, const gfx::Quaternionf &)
+void TrackBall::push(const QPointF& p, const QQuaternion &)
 {
     m_rotation = rotation();
     m_pressed = true;
@@ -76,7 +77,7 @@ void TrackBall::push(const QPointF& p, const gfx::Quaternionf &)
     m_angularVelocity = 0.0f;
 }
 
-void TrackBall::move(const QPointF& p, const gfx::Quaternionf &transformation)
+void TrackBall::move(const QPointF& p, const QQuaternion &transformation)
 {
     if (!m_pressed)
         return;
@@ -90,44 +91,45 @@ void TrackBall::move(const QPointF& p, const gfx::Quaternionf &transformation)
     case Plane:
         {
             QLineF delta(m_lastPos, p);
-            m_angularVelocity = delta.length() / msecs;
-            m_axis = gfx::Vector3f::vector(delta.dy(), -delta.dx(), 0.0f).normalized();
-            m_axis = transformation.transform(m_axis);
-            m_rotation *= gfx::Quaternionf::rotation(delta.length(), m_axis);
+            m_angularVelocity = 180*delta.length() / (PI*msecs);
+            m_axis = QVector3D(delta.dy(), -delta.dx(), 0.0f).normalized();
+            m_axis = transformation.rotateVector(m_axis);
+            m_rotation *= QQuaternion::fromAxisAndAngle(m_axis, delta.length());
         }
         break;
     case Sphere:
         {
-            gfx::Vector3f lastPos3D = gfx::Vector3f::vector(m_lastPos.x(), m_lastPos.y(), 0);
-            float sqrZ = 1 - lastPos3D.sqrNorm();
+            QVector3D lastPos3D = QVector3D(m_lastPos.x(), m_lastPos.y(), 0.0f);
+            float sqrZ = 1 - QVector3D::dotProduct(lastPos3D, lastPos3D);
             if (sqrZ > 0)
-                lastPos3D[2] = sqrt(sqrZ);
+                lastPos3D.setZ(sqrt(sqrZ));
             else
                 lastPos3D.normalize();
 
-            gfx::Vector3f currentPos3D = gfx::Vector3f::vector(p.x(), p.y(), 0);
-            sqrZ = 1 - currentPos3D.sqrNorm();
+            QVector3D currentPos3D = QVector3D(p.x(), p.y(), 0.0f);
+            sqrZ = 1 - QVector3D::dotProduct(currentPos3D, currentPos3D);
             if (sqrZ > 0)
-                currentPos3D[2] = sqrt(sqrZ);
+                currentPos3D.setZ(sqrt(sqrZ));
             else
                 currentPos3D.normalize();
 
-            m_axis = gfx::Vector3f::cross(currentPos3D, lastPos3D);
-            float angle = asin(sqrt(m_axis.sqrNorm()));
+            m_axis = QVector3D::crossProduct(currentPos3D, lastPos3D);
+            float angle = asin(sqrt(QVector3D::dotProduct(m_axis, m_axis)));
 
-            m_angularVelocity = angle / msecs;
+            m_angularVelocity = 180*angle / (PI*msecs);
             m_axis.normalize();
-            m_axis = transformation.transform(m_axis);
-            m_rotation *= gfx::Quaternionf::rotation(angle, m_axis);
+            m_axis = transformation.rotateVector(m_axis);
+            m_rotation *= QQuaternion::fromAxisAndAngle(m_axis, angle);
         }
         break;
     }
 
+
     m_lastPos = p;
     m_lastTime = currentTime;
 }
 
-void TrackBall::release(const QPointF& p, const gfx::Quaternionf &transformation)
+void TrackBall::release(const QPointF& p, const QQuaternion &transformation)
 {
     // Calling move() caused the rotation to stop if the framerate was too low.
     move(p, transformation);
@@ -146,13 +148,13 @@ void TrackBall::stop()
     m_paused = true;
 }
 
-gfx::Quaternionf TrackBall::rotation() const
+QQuaternion TrackBall::rotation() const
 {
     if (m_paused || m_pressed)
         return m_rotation;
 
     QTime currentTime = QTime::currentTime();
     float angle = m_angularVelocity * m_lastTime.msecsTo(currentTime);
-    return m_rotation * gfx::Quaternionf::rotation(angle, m_axis);
+    return m_rotation * QQuaternion::fromAxisAndAngle(m_axis, angle);
 }
 
diff --git a/demos/boxes/trackball.h b/demos/boxes/trackball.h
index 5e3f40c..66e9b68 100644
--- a/demos/boxes/trackball.h
+++ b/demos/boxes/trackball.h
@@ -44,7 +44,8 @@
 
 #include <QtGui>
 
-#include "vector.h"
+#include <QtGui/qvector3d.h>
+#include <QtGui/qquaternion.h>
 
 class TrackBall
 {
@@ -55,17 +56,17 @@ public:
         Sphere,
     };
     TrackBall(TrackMode mode = Sphere);
-    TrackBall(float angularVelocity, const gfx::Vector3f& axis, TrackMode mode = Sphere);
+    TrackBall(float angularVelocity, const QVector3D& axis, TrackMode mode = Sphere);
     // coordinates in [-1,1]x[-1,1]
-    void push(const QPointF& p, const gfx::Quaternionf &transformation);
-    void move(const QPointF& p, const gfx::Quaternionf &transformation);
-    void release(const QPointF& p, const gfx::Quaternionf &transformation);
+    void push(const QPointF& p, const QQuaternion &transformation);
+    void move(const QPointF& p, const QQuaternion &transformation);
+    void release(const QPointF& p, const QQuaternion &transformation);
     void start(); // starts clock
     void stop(); // stops clock
-    gfx::Quaternionf rotation() const;
+    QQuaternion rotation() const;
 private:
-    gfx::Quaternionf m_rotation;
-    gfx::Vector3f m_axis;
+    QQuaternion m_rotation;
+    QVector3D m_axis;
     float m_angularVelocity;
 
     QPointF m_lastPos;
diff --git a/demos/boxes/vector.h b/demos/boxes/vector.h
deleted file mode 100644
index bb24531..0000000
--- a/demos/boxes/vector.h
+++ /dev/null
@@ -1,602 +0,0 @@
-/****************************************************************************
-**
-** Copyright (C) 2009 Nokia Corporation and/or its subsidiary(-ies).
-** Contact: Qt Software Information (qt-info@nokia.com)
-**
-** This file is part of the demonstration applications of the Qt Toolkit.
-**
-** $QT_BEGIN_LICENSE:LGPL$
-** No Commercial Usage
-** This file contains pre-release code and may not be distributed.
-** You may use this file in accordance with the terms and conditions
-** contained in the either Technology Preview License Agreement or the
-** Beta Release License Agreement.
-**
-** GNU Lesser General Public License Usage
-** Alternatively, this file may be used under the terms of the GNU Lesser
-** General Public License version 2.1 as published by the Free Software
-** Foundation and appearing in the file LICENSE.LGPL included in the
-** packaging of this file.  Please review the following information to
-** ensure the GNU Lesser General Public License version 2.1 requirements
-** will be met: http://www.gnu.org/licenses/old-licenses/lgpl-2.1.html.
-**
-** In addition, as a special exception, Nokia gives you certain
-** additional rights. These rights are described in the Nokia Qt LGPL
-** Exception version 1.0, included in the file LGPL_EXCEPTION.txt in this
-** package.
-**
-** GNU General Public License Usage
-** Alternatively, this file may be used under the terms of the GNU
-** General Public License version 3.0 as published by the Free Software
-** Foundation and appearing in the file LICENSE.GPL included in the
-** packaging of this file.  Please review the following information to
-** ensure the GNU General Public License version 3.0 requirements will be
-** met: http://www.gnu.org/copyleft/gpl.html.
-**
-** If you are unsure which license is appropriate for your use, please
-** contact the sales department at qt-sales@nokia.com.
-** $QT_END_LICENSE$
-**
-****************************************************************************/
-
-#ifndef VECTOR_H
-#define VECTOR_H
-
-#include <cassert>
-#include <cmath>
-#include <iostream>
-
-namespace gfx
-{
-
-template<class T, int n>
-struct Vector
-{
-    // Keep the Vector struct a plain old data (POD) struct by avoiding constructors
-
-    static Vector vector(T x)
-    {
-        Vector result;
-        for (int i = 0; i < n; ++i)
-            result.v[i] = x;
-        return result;
-    }
-
-    // Use only for 2D vectors
-    static Vector vector(T x, T y)
-    {
-        assert(n == 2);
-        Vector result;
-        result.v[0] = x;
-        result.v[1] = y;
-        return result;
-    }
-
-    // Use only for 3D vectors
-    static Vector vector(T x, T y, T z)
-    {
-        assert(n == 3);
-        Vector result;
-        result.v[0] = x;
-        result.v[1] = y;
-        result.v[2] = z;
-        return result;
-    }
-
-    // Use only for 4D vectors
-    static Vector vector(T x, T y, T z, T w)
-    {
-        assert(n == 4);
-        Vector result;
-        result.v[0] = x;
-        result.v[1] = y;
-        result.v[2] = z;
-        result.v[3] = w;
-        return result;
-    }
-
-    // Pass 'n' arguments to this function.
-    static Vector vector(T *v)
-    {
-        Vector result;
-        for (int i = 0; i < n; ++i)
-            result.v[i] = v[i];
-        return result;
-    }
-
-    T &operator [] (int i) {return v[i];}
-    T operator [] (int i) const {return v[i];}
-
-#define VECTOR_BINARY_OP(op, arg, rhs)      \
-    Vector operator op (arg) const          \
-    {                                       \
-        Vector result;                      \
-        for (int i = 0; i < n; ++i)         \
-            result.v[i] = v[i] op rhs;      \
-        return result;                      \
-    }
-
-    VECTOR_BINARY_OP(+, const Vector &u, u.v[i])
-    VECTOR_BINARY_OP(-, const Vector &u, u.v[i])
-    VECTOR_BINARY_OP(*, const Vector &u, u.v[i])
-    VECTOR_BINARY_OP(/, const Vector &u, u.v[i])
-    VECTOR_BINARY_OP(+, T s, s)
-    VECTOR_BINARY_OP(-, T s, s)
-    VECTOR_BINARY_OP(*, T s, s)
-    VECTOR_BINARY_OP(/, T s, s)
-#undef VECTOR_BINARY_OP
-
-    Vector operator - () const
-    {
-        Vector result;
-        for (int i = 0; i < n; ++i)
-            result.v[i] = -v[i];
-        return result;
-    }
-
-#define VECTOR_ASSIGN_OP(op, arg, rhs)      \
-    Vector &operator op (arg)               \
-    {                                       \
-        for (int i = 0; i < n; ++i)         \
-            v[i] op rhs;                    \
-        return *this;                       \
-    }
-
-    VECTOR_ASSIGN_OP(+=, const Vector &u, u.v[i])
-    VECTOR_ASSIGN_OP(-=, const Vector &u, u.v[i])
-    VECTOR_ASSIGN_OP(=, T s, s)
-    VECTOR_ASSIGN_OP(*=, T s, s)
-    VECTOR_ASSIGN_OP(/=, T s, s)
-#undef VECTOR_ASSIGN_OP
-
-    static T dot(const Vector &u, const Vector &v)
-    {
-        T sum(0);
-        for (int i = 0; i < n; ++i)
-            sum += u.v[i] * v.v[i];
-        return sum;
-    }
-
-    static Vector cross(const Vector &u, const Vector &v)
-    {
-        assert(n == 3);
-        return vector(u.v[1] * v.v[2] - u.v[2] * v.v[1],
-                      u.v[2] * v.v[0] - u.v[0] * v.v[2],
-                      u.v[0] * v.v[1] - u.v[1] * v.v[0]);
-    }
-
-    T sqrNorm() const
-    {
-        return dot(*this, *this);
-    }
-
-    // requires floating point type T
-    void normalize()
-    {
-        T s = sqrNorm();
-        if (s != 0)
-            *this /= sqrt(s);
-    }
-
-    // requires floating point type T
-    Vector normalized() const
-    {
-        T s = sqrNorm();
-        if (s == 0)
-            return *this;
-        return *this / sqrt(s);
-    }
-
-    T *bits() {return v;}
-    const T *bits() const {return v;}
-
-    T v[n];
-};
-
-#define SCALAR_VECTOR_BINARY_OP(op)                     \
-template<class T, int n>                                \
-Vector<T, n> operator op (T s, const Vector<T, n>& u)   \
-{                                                       \
-    Vector<T, n> result;                                \
-    for (int i = 0; i < n; ++i)                         \
-        result[i] = s op u[i];                          \
-    return result;                                      \
-}
-
-SCALAR_VECTOR_BINARY_OP(+)
-SCALAR_VECTOR_BINARY_OP(-)
-SCALAR_VECTOR_BINARY_OP(*)
-SCALAR_VECTOR_BINARY_OP(/)
-#undef SCALAR_VECTOR_BINARY_OP
-
-template<class T, int n>
-std::ostream &operator << (std::ostream &os, const Vector<T, n> &v)
-{
-    assert(n > 0);
-    os << "[" << v[0];
-    for (int i = 1; i < n; ++i)
-        os << ", " << v[i];
-    os << "]";
-    return os;
-}
-
-typedef Vector<float, 2> Vector2f;
-typedef Vector<float, 3> Vector3f;
-typedef Vector<float, 4> Vector4f;
-
-template<class T, int rows, int cols>
-struct Matrix
-{
-    // Keep the Matrix struct a plain old data (POD) struct by avoiding constructors
-
-    static Matrix matrix(T x)
-    {
-        Matrix result;
-        for (int i = 0; i < rows; ++i) {
-            for (int j = 0; j < cols; ++j)
-                result.v[i][j] = x;
-        }
-        return result;
-    }
-
-    static Matrix matrix(T *m)
-    {
-        Matrix result;
-        for (int i = 0; i < rows; ++i) {
-            for (int j = 0; j < cols; ++j) {
-                result.v[i][j] = *m;
-                ++m;
-            }
-        }
-        return result;
-    }
-
-    T &operator () (int i, int j) {return v[i][j];}
-    T operator () (int i, int j) const {return v[i][j];}
-    Vector<T, cols> &operator [] (int i) {return v[i];}
-    const Vector<T, cols> &operator [] (int i) const {return v[i];}
-
-    // TODO: operators, methods
-
-    Vector<T, rows> operator * (const Vector<T, cols> &u) const
-    {
-        Vector<T, rows> result;
-        for (int i = 0; i < rows; ++i)
-            result[i] = Vector<T, cols>::dot(v[i], u);
-        return result;
-    }
-
-    template<int k>
-    Matrix<T, rows, k> operator * (const Matrix<T, cols, k> &m)
-    {
-        Matrix<T, rows, k> result;
-        for (int i = 0; i < rows; ++i)
-            result[i] = v[i] * m;
-        return result;
-    }
-
-    T* bits() {return reinterpret_cast<T *>(this);}
-    const T* bits() const {return reinterpret_cast<const T *>(this);}
-
-    // Simple Gauss elimination.
-    // TODO: Optimize and improve stability.
-    Matrix inverse(bool *ok = 0) const
-    {
-        assert(rows == cols);
-        Matrix rhs = identity();
-        Matrix lhs(*this);
-        T temp;
-        // Down
-        for (int i = 0; i < rows; ++i) {
-            // Pivoting
-            int pivot = i;
-            for (int j = i; j < rows; ++j) {
-                if (qAbs(lhs(j, i)) > lhs(pivot, i))
-                    pivot = j;
-            }
-			// TODO: fuzzy compare.
-            if (lhs(pivot, i) == T(0)) {
-                if (ok)
-                    *ok = false;
-                return rhs;
-            }
-            if (pivot != i) {
-                for (int j = i; j < cols; ++j) {
-                    temp = lhs(pivot, j);
-                    lhs(pivot, j) = lhs(i, j);
-                    lhs(i, j) = temp;
-                }
-                for (int j = 0; j < cols; ++j) {
-                    temp = rhs(pivot, j);
-                    rhs(pivot, j) = rhs(i, j);
-                    rhs(i, j) = temp;
-                }
-            }
-
-            // Normalize i-th row
-            rhs[i] /= lhs(i, i);
-            for (int j = cols - 1; j > i; --j)
-                lhs(i, j) /= lhs(i, i);
-
-			// Eliminate non-zeros in i-th column below the i-th row.
-            for (int j = i + 1; j < rows; ++j) {
-                rhs[j] -= lhs(j, i) * rhs[i];
-                for (int k = i + 1; k < cols; ++k)
-                    lhs(j, k) -= lhs(j, i) * lhs(i, k);
-            }
-        }
-        // Up
-        for (int i = rows - 1; i > 0; --i) {
-            for (int j = i - 1; j >= 0; --j)
-                rhs[j] -= lhs(j, i) * rhs[i];
-        }
-        if (ok)
-            *ok = true;
-        return rhs;
-    }
-
-    Matrix<T, cols, rows> transpose() const
-    {
-        Matrix<T, cols, rows> result;
-        for (int i = 0; i < rows; ++i) {
-            for (int j = 0; j < cols; ++j)
-                result.v[j][i] = v[i][j];
-        }
-        return result;
-    }
-
-    static Matrix identity()
-    {
-        Matrix result = matrix(T(0));
-        for (int i = 0; i < rows && i < cols; ++i)
-            result.v[i][i] = T(1);
-        return result;
-    }
-
-    Vector<T, cols> v[rows];
-};
-
-template<class T, int rows, int cols>
-Vector<T, cols> operator * (const Vector<T, rows> &u, const Matrix<T, rows, cols> &m)
-{
-    Vector<T, cols> result = Vector<T, cols>::vector(T(0));
-    for (int i = 0; i < rows; ++i)
-        result += m[i] * u[i];
-    return result;
-}
-
-template<class T, int rows, int cols>
-std::ostream &operator << (std::ostream &os, const Matrix<T, rows, cols> &m)
-{
-    assert(rows > 0);
-    os << "[" << m[0];
-    for (int i = 1; i < rows; ++i)
-        os << ", " << m[i];
-    os << "]";
-    return os;
-}
-
-
-typedef Matrix<float, 2, 2> Matrix2x2f;
-typedef Matrix<float, 3, 3> Matrix3x3f;
-typedef Matrix<float, 4, 4> Matrix4x4f;
-
-template<class T>
-struct Quaternion
-{
-    // Keep the Quaternion struct a plain old data (POD) struct by avoiding constructors
-
-    static Quaternion quaternion(T s, T x, T y, T z)
-    {
-        Quaternion result;
-        result.scalar = s;
-        result.vector[0] = x;
-        result.vector[1] = y;
-        result.vector[2] = z;
-        return result;
-    }
-
-    static Quaternion quaternion(T s, const Vector<T, 3> &v)
-    {
-        Quaternion result;
-        result.scalar = s;
-        result.vector = v;
-        return result;
-    }
-
-    static Quaternion identity()
-    {
-        return quaternion(T(1), T(0), T(0), T(0));
-    }
-
-    // assumes that all the elements are packed tightly
-    T& operator [] (int i) {return reinterpret_cast<T *>(this)[i];}
-    T operator [] (int i) const {return reinterpret_cast<const T *>(this)[i];}
-
-#define QUATERNION_BINARY_OP(op, arg, rhs)  \
-    Quaternion operator op (arg) const      \
-    {                                       \
-        Quaternion result;                  \
-        for (int i = 0; i < 4; ++i)         \
-            result[i] = (*this)[i] op rhs;  \
-        return result;                      \
-    }
-
-    QUATERNION_BINARY_OP(+, const Quaternion &q, q[i])
-    QUATERNION_BINARY_OP(-, const Quaternion &q, q[i])
-    QUATERNION_BINARY_OP(*, T s, s)
-    QUATERNION_BINARY_OP(/, T s, s)
-#undef QUATERNION_BINARY_OP
-
-    Quaternion operator - () const
-    {
-        return Quaternion(-scalar, -vector);
-    }
-
-    Quaternion operator * (const Quaternion &q) const
-    {
-        Quaternion result;
-        result.scalar = scalar * q.scalar - Vector<T, 3>::dot(vector, q.vector);
-        result.vector = scalar * q.vector + vector * q.scalar + Vector<T, 3>::cross(vector, q.vector);
-        return result;
-    }
-
-    Quaternion operator * (const Vector<T, 3> &v) const
-    {
-        Quaternion result;
-        result.scalar = -Vector<T, 3>::dot(vector, v);
-        result.vector = scalar * v + Vector<T, 3>::cross(vector, v);
-        return result;
-    }
-
-    friend Quaternion operator * (const Vector<T, 3> &v, const Quaternion &q)
-    {
-        Quaternion result;
-        result.scalar = -Vector<T, 3>::dot(v, q.vector);
-        result.vector = v * q.scalar + Vector<T, 3>::cross(v, q.vector);
-        return result;
-    }
-
-#define QUATERNION_ASSIGN_OP(op, arg, rhs)  \
-    Quaternion &operator op (arg)           \
-    {                                       \
-        for (int i = 0; i < 4; ++i)         \
-            (*this)[i] op rhs;              \
-        return *this;                       \
-    }
-
-    QUATERNION_ASSIGN_OP(+=, const Quaternion &q, q[i])
-    QUATERNION_ASSIGN_OP(-=, const Quaternion &q, q[i])
-    QUATERNION_ASSIGN_OP(=, T s, s)
-    QUATERNION_ASSIGN_OP(*=, T s, s)
-    QUATERNION_ASSIGN_OP(/=, T s, s)
-#undef QUATERNION_ASSIGN_OP
-
-    Quaternion& operator *= (const Quaternion &q)
-    {
-        Quaternion result;
-        result.scalar = scalar * q.scalar - Vector<T, 3>::dot(vector, q.vector);
-        result.vector = scalar * q.vector + vector * q.scalar + Vector<T, 3>::cross(vector, q.vector);
-        return (*this = result);
-    }
-
-    Quaternion& operator *= (const Vector<T, 3> &v)
-    {
-        Quaternion result;
-        result.scalar = -Vector<T, 3>::dot(vector, v);
-        result.vector = scalar * v + Vector<T, 3>::cross(vector, v);
-        return (*this = result);
-    }
-
-    Quaternion conjugate() const
-    {
-        return quaternion(scalar, -vector);
-    }
-
-    T sqrNorm() const
-    {
-        return scalar * scalar + vector.sqrNorm();
-    }
-
-    Quaternion inverse() const
-    {
-        return conjugate() / sqrNorm();
-    }
-
-    // requires floating point type T
-    Quaternion normalized() const
-    {
-        T s = sqrNorm();
-        if (s == 0)
-            return *this;
-        return *this / sqrt(s);
-    }
-
-    void matrix(Matrix<T, 3, 3>& m) const
-    {
-        T bb = vector[0] * vector[0];
-        T cc = vector[1] * vector[1];
-        T dd = vector[2] * vector[2];
-        T diag = scalar * scalar - bb - cc - dd;
-        T ab = scalar * vector[0];
-        T ac = scalar * vector[1];
-        T ad = scalar * vector[2];
-        T bc = vector[0] * vector[1];
-        T cd = vector[1] * vector[2];
-        T bd = vector[2] * vector[0];
-        m(0, 0) = diag + 2 * bb;
-        m(0, 1) = 2 * (bc - ad);
-        m(0, 2) = 2 * (ac + bd);
-        m(1, 0) = 2 * (ad + bc);
-        m(1, 1) = diag + 2 * cc;
-        m(1, 2) = 2 * (cd - ab);
-        m(2, 0) = 2 * (bd - ac);
-        m(2, 1) = 2 * (ab + cd);
-        m(2, 2) = diag + 2 * dd;
-    }
-
-    void matrix(Matrix<T, 4, 4>& m) const
-    {
-        T bb = vector[0] * vector[0];
-        T cc = vector[1] * vector[1];
-        T dd = vector[2] * vector[2];
-        T diag = scalar * scalar - bb - cc - dd;
-        T ab = scalar * vector[0];
-        T ac = scalar * vector[1];
-        T ad = scalar * vector[2];
-        T bc = vector[0] * vector[1];
-        T cd = vector[1] * vector[2];
-        T bd = vector[2] * vector[0];
-        m(0, 0) = diag + 2 * bb;
-        m(0, 1) = 2 * (bc - ad);
-        m(0, 2) = 2 * (ac + bd);
-        m(0, 3) = 0;
-        m(1, 0) = 2 * (ad + bc);
-        m(1, 1) = diag + 2 * cc;
-        m(1, 2) = 2 * (cd - ab);
-        m(1, 3) = 0;
-        m(2, 0) = 2 * (bd - ac);
-        m(2, 1) = 2 * (ab + cd);
-        m(2, 2) = diag + 2 * dd;
-        m(2, 3) = 0;
-        m(3, 0) = 0;
-        m(3, 1) = 0;
-        m(3, 2) = 0;
-        m(3, 3) = 1;
-    }
-
-    // assumes that 'this' is normalized
-    Vector<T, 3> transform(const Vector<T, 3> &v) const
-    {
-        Matrix<T, 3, 3> m;
-        matrix(m);
-        return v * m;
-    }
-
-    // assumes that all the elements are packed tightly
-    T* bits() {return reinterpret_cast<T *>(this);}
-    const T* bits() const {return reinterpret_cast<const T *>(this);}
-
-    // requires floating point type T
-    static Quaternion rotation(T angle, const Vector<T, 3> &unitAxis)
-    {
-        T s = sin(angle / 2);
-        T c = cos(angle / 2);
-        return quaternion(c, unitAxis * s);
-    }
-
-    T scalar;
-    Vector<T, 3> vector;
-};
-
-template<class T>
-Quaternion<T> operator * (T s, const Quaternion<T>& q)
-{
-    return Quaternion<T>::quaternion(s * q.scalar, s * q.vector);
-}
-
-typedef Quaternion<float> Quaternionf;
-
-} // end namespace gfx
-
-#endif