#ifndef	M_PI
#  define M_PI          3.14159265358979323846
#  define M_PI_2        1.57079632679489661923
#  define M_PI_4        0.78539816339744830962
#  define M_1_PI        0.31830988618379067154
#  define M_2_PI        0.63661977236758134308
#  define M_2_SQRTPI    1.12837916709551257390
#endif
#define _2_M_PI		6.2831853072

#define	Float		float
typedef	Float		Point3D[3];
typedef Float		Matriz[4][4];

#define COS(x)		((Float)cos((double)(x)))
#define SIN(x)		((Float)sin((double)(x)))
#define RADS(a)		((Float)((a)*M_PI/180.0))
#define DEGS(a)		((Float)((a)*180.0/M_PI))

#define eje_x	1.0,0.0,0.0
#define eje_y	0.0,1.0,0.0
#define eje_z	0.0,0.0,1.0

typedef struct	{
					Float	Radio,	/* >= 0 */
							Lat,	/* 0 <= Lat < 2*PI */
							Long;	/* 0 <= Long < PI */
				} PEsf;

typedef	Float	Matriz2D[3][2];						   
typedef	Float	Point4D[4];						   

extern	Float	ModV(Point3D vect);
extern	void	NormV(Point3D vect_i, Point3D vect_o);
extern	void	CopV(Point3D vect_i, Point3D vect_o);
extern	void	SumV(Point3D vect_1,Point3D vect_2,Point3D vect_o);
extern	void	ResV(Point3D vect_1,Point3D vect_2,Point3D vect_o);
extern	void	ProdvV(Point3D vect_1,Point3D vect_2,Point3D vect_o);
extern	Float	ProdeV(Point3D vect_1,Point3D vect_2);
extern	void	ConsV(Float k,Point3D vect_i,Point3D vect_o);
extern	Float	AngrV(Point3D vect_1,Point3D vect_2);
extern	Float	AnggV(Point3D vect_1,Point3D vect_2);
extern	Float	DistV(Point3D vect_1,Point3D vect_2);
extern	void	printfV(int id,Point3D vect);


extern void PEsfAV(PEsf *pesfi,Point3D vecto);
extern void VAPEsf( Point3D vecti, PEsf *pesfo );


extern int Identity3D(Matriz M);
extern int Translate3D(Float Tx, Float Ty, Float Tz, Matriz M);
extern int Rotate3D(
						char Axis,			/* axis about which to rotate */
						Float Angle,		/* how much to rotate */
						Matriz M			/* return matrix */
					);								

extern	void ProdM3DV( Matriz M, Point3D V, Float D4th, Point3D Result );
extern	void ProdM4DV( Matriz M, Point4D V, Point4D Result );
extern	void ProdM3DM( Matriz Mio, Matriz M );



extern int Identity2D(Matriz2D M);
extern int Scale2D(Matriz2D M, Float Sx, Float Sy);
extern int Translate2D(Matriz2D M, Float Tx, Float Ty);
extern int Rotate2D(Matriz2D M, Float Theta);
extern int Shear2D(Matriz2D M, Float Sx, Float Sy);
extern int Scale3D(Float Sx, Float Sy, Float Sz, Matriz M);

/*************************************************************************/

extern Point3D ElEjeDeGiro;
#define EJE_GIRO ElEjeDeGiro[0], ElEjeDeGiro[1], ElEjeDeGiro[2]