#include <stdlib.h>
#include <string>
+#include <Eigen/Core>
#include "opengl.h"
// Converts a HSV color to RGB. Assumes h in [0, 2pi> or [-pi, pi>
void hsv2rgb(float h, float s, float v, float *r, float *g, float *b);
-// Column major (same as OpenGL).
-typedef double Matrix3x3[9];
+// Converts a HSV color to RGB, but keeps luminance constant
+// (ie. color luminance is as if S=0).
+void hsv2rgb_normalized(float h, float s, float v, float *r, float *g, float *b);
// Read a file from disk and return its contents.
// Dies if the file does not exist.
// and return the object number.
GLuint compile_shader(const std::string &shader_src, GLenum type);
-// Compute a * b.
-void multiply_3x3_matrices(const Matrix3x3 a, const Matrix3x3 b, Matrix3x3 result);
-
-// Compute m^-1. Result is undefined if the matrix is singular or near-singular.
-void invert_3x3_matrix(const Matrix3x3 m, Matrix3x3 result);
-
// Print a 3x3 matrix to standard output. Useful for debugging.
-void print_3x3_matrix(const Matrix3x3 m);
+void print_3x3_matrix(const Eigen::Matrix3d &m);
+
+// Output a GLSL 3x3 matrix declaration.
+std::string output_glsl_mat3(const std::string &name, const Eigen::Matrix3d &m);
#ifdef NDEBUG
#define check_error()