var mat3create = require('gl-mat3/create')
var fromMat3 = require('./fromMat3')
var normalize = require('./normalize')

module.exports = setAxes

var matr = mat3create()

/**
 * Sets the specified quaternion with values corresponding to the given
 * axes. Each axis is a vec3 and is expected to be unit length and
 * perpendicular to all other specified axes.
 *
 * @param {vec3} view  the vector representing the viewing direction
 * @param {vec3} right the vector representing the local "right" direction
 * @param {vec3} up    the vector representing the local "up" direction
 * @returns {quat} out
 */
function setAxes (out, view, right, up) {
  matr[0] = right[0]
  matr[3] = right[1]
  matr[6] = right[2]

  matr[1] = up[0]
  matr[4] = up[1]
  matr[7] = up[2]

  matr[2] = -view[0]
  matr[5] = -view[1]
  matr[8] = -view[2]

  return normalize(out, fromMat3(out, matr))
}