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+/******************************************************************/
+/* This file is part of the homework assignments for CSCI-427/527 */
+/* at The College of William & Mary and authored by Pieter Peers. */
+/* No part of this file, whether altered or in original form, can */
+/* be distributed or used outside the context of CSCI-427/527     */
+/* without consent of either the College of William & Mary or     */
+/* Pieter Peers.                                                  */
+/******************************************************************/
+#ifndef _TRANSFORMATION3D_H_
+#define _TRANSFORMATION3D_H_
+
+#include "vec3d.h"
+#include "mat3d.h"
+
+class transformation3d {
+ public:
+  //////////////////
+  // Constructors //
+  //////////////////
+  transformation3d(void);
+  transformation3d(const vec3d& translation, const mat3d& transformation, const mat3d& inverseTransform);
+  transformation3d(const transformation3d& t);
+
+  //////////////
+  // Operator //
+  //////////////
+  transformation3d& operator=(const transformation3d& t);
+
+  transformation3d operator*(const transformation3d& t) const;
+  transformation3d& operator*=(const transformation3d& t);
+
+  //////////////
+  // Mutators //
+  //////////////
+  transformation3d& invert(void);
+
+  /////////////
+  // Methods //
+  /////////////
+  vec3d transformPoint(const vec3d& p) const;
+  vec3d transformDirection(const vec3d& d) const;
+  vec3d transformNormal(const vec3d& n) const;
+
+  vec3d inverseTransformPoint(const vec3d& p) const;
+  vec3d inverseTransformDirection(const vec3d& d) const;
+  vec3d inverseTransformNormal(const vec3d& n) const;
+
+  /////////////
+  // Friends //
+  /////////////
+  friend void swap(transformation3d& a, transformation3d& b) { a._swap(b); }
+
+  friend transformation3d inverse(const transformation3d& t) { transformation3d i(t); return i.invert(); }
+
+  friend std::ostream& operator<<(std::ostream& s, const transformation3d& t)
+  {
+    t._print(s);
+    return s;
+  }
+
+ protected:
+  ///////////////////////
+  // Protected Methods //
+  ///////////////////////
+  void _swap(transformation3d& t);
+  void _assign(const transformation3d& t);
+  virtual void _print(std::ostream& s) const;
+
+  ////////////////////////////
+  // Protected Data Members //
+  ////////////////////////////
+  vec3d _translation;
+  mat3d _transformation;
+  mat3d _inverseTransformation;
+};
+
+#endif /* _TRANSFORMATION3D_H_ */