GLfloat d1, d2, d3, d4;
};
-extern const float TAU;
+static const float TAU = 6.28318530718f;
Transform identity();
Transform multiply(Transform t1, Transform t2);
Vector3D addVectors(Vector3D v1, Vector3D v2);
Vector3D subtractVectors(Vector3D v1, Vector3D v2);
Vector3D crossProduct(Vector3D v1, Vector3D v2);
+float dotProduct(Vector3D v1, Vector3D v2);
Vector3D applyTransform(Transform transform, Vector3D vec);
Vector3D translationOf(Transform transform);
Vector3D normalized(Vector3D vec);