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diff --git a/src/cml/mathlib/matrix_basis.h b/src/cml/mathlib/matrix_basis.h
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+/* -*- C++ -*- ------------------------------------------------------------
+ 
+Copyright (c) 2007 Jesse Anders and Demian Nave http://cmldev.net/
+
+The Configurable Math Library (CML) is distributed under the terms of the
+Boost Software License, v1.0 (see cml/LICENSE for details).
+
+ *-----------------------------------------------------------------------*/
+/** @file
+ *  @brief
+ */
+
+#ifndef matrix_basis_h
+#define matrix_basis_h
+
+#include <cml/mathlib/checking.h>
+
+/* This file contains functions for setting and retrieving the basis vectors
+ * or transposed basis vectors of a matrix representing a 3D or 2D transform,
+ * either by index (0,1,2) or name (x,y,z).
+ *
+ * In addition to being a convenience for the user, the functions are also
+ * in support of other matrix functions which are best implemented in vector
+ * form (such as orthogonalization and construction of orthonormal bases).
+ *
+ * Note that matrix expression arguments are allowed to have dimensions larger
+ * than the minimum requirement. For example, matrix_get_basis_vector() can be
+ * called on any NxM matrix with N,M >= 3.
+ *
+ * As with other matrix functions, the following template argument notation is
+ * used for conciseness:
+ *
+ * E = vector or matrix element type
+ * A = vector or matrix array storage type
+ * B = matrix basis orientation type
+ * L = matrix layout type
+ */
+
+namespace cml {
+
+//////////////////////////////////////////////////////////////////////////////
+// Functions for setting the basis vectors of a 3D or 2D transform matrix
+//////////////////////////////////////////////////////////////////////////////
+
+/** Set the i'th basis vector of a 3D transform */
+template < typename E, class A, class B, class L, class VecT > void
+matrix_set_basis_vector(matrix<E,A,B,L>& m, size_t i, const VecT& v)
+{
+    /* Checking */
+    detail::CheckMatLinear3D(m);
+    detail::CheckVec3(v);
+    detail::CheckIndex3(i);
+
+    m.set_basis_element(i,0,v[0]);
+    m.set_basis_element(i,1,v[1]);
+    m.set_basis_element(i,2,v[2]);
+}
+
+/** Set the i'th transposed basis vector of a 3D transform */
+template < typename E, class A, class B, class L, class VecT > void
+matrix_set_transposed_basis_vector(matrix<E,A,B,L>& m,size_t i,const VecT& v)
+{
+    /* Checking */
+    detail::CheckMatLinear3D(m);
+    detail::CheckVec3(v);
+    detail::CheckIndex3(i);
+
+    m.set_basis_element(0,i,v[0]);
+    m.set_basis_element(1,i,v[1]);
+    m.set_basis_element(2,i,v[2]);
+}
+
+/** Set the i'th basis vector of a 2D transform */
+template < typename E, class A, class B, class L, class VecT > void
+matrix_set_basis_vector_2D(matrix<E,A,B,L>& m, size_t i, const VecT& v)
+{
+    /* Checking */
+    detail::CheckMatLinear2D(m);
+    detail::CheckVec2(v);
+    detail::CheckIndex2(i);
+
+    m.set_basis_element(i,0,v[0]);
+    m.set_basis_element(i,1,v[1]);
+}
+
+/** Set the i'th transposed basis vector of a 2D transform */
+template < typename E, class A, class B, class L, class VecT > void
+matrix_set_transposed_basis_vector_2D(
+    matrix<E,A,B,L>& m, size_t i, const VecT& v)
+{
+    /* Checking */
+    detail::CheckMatLinear2D(m);
+    detail::CheckVec2(v);
+    detail::CheckIndex2(i);
+
+    m.set_basis_element(0,i,v[0]);
+    m.set_basis_element(1,i,v[1]);
+}
+
+/** Set the x basis vector of a 3D transform */
+template < typename E, class A, class B, class L, class VecT > void
+matrix_set_x_basis_vector(matrix<E,A,B,L>& m, const VecT& x) {
+    matrix_set_basis_vector(m,0,x);
+}
+
+/** Set the y basis vector of a 3D transform */
+template < typename E, class A, class B, class L, class VecT > void
+matrix_set_y_basis_vector(matrix<E,A,B,L>& m, const VecT& y) {
+    matrix_set_basis_vector(m,1,y);
+}
+
+/** Set the z basis vector of a 3D transform */
+template < typename E, class A, class B, class L, class VecT > void
+matrix_set_z_basis_vector(matrix<E,A,B,L>& m, const VecT& z) {
+    matrix_set_basis_vector(m,2,z);
+}
+
+/** Set the transposed x basis vector of a 3D transform */
+template < typename E, class A, class B, class L, class VecT > void
+matrix_set_transposed_x_basis_vector(matrix<E,A,B,L>& m, const VecT& x) {
+    matrix_set_transposed_basis_vector(m,0,x);
+}
+
+/** Set the transposed y basis vector of a 3D transform */
+template < typename E, class A, class B, class L, class VecT > void
+matrix_set_transposed_y_basis_vector(matrix<E,A,B,L>& m, const VecT& y) {
+    matrix_set_transposed_basis_vector(m,1,y);
+}
+
+/** Set the transposed z basis vector of a 3D transform */
+template < typename E, class A, class B, class L, class VecT > void
+matrix_set_transposed_z_basis_vector(matrix<E,A,B,L>& m, const VecT& z) {
+    matrix_set_transposed_basis_vector(m,2,z);
+}
+
+/** Set the x basis vector of a 2D transform */
+template < typename E, class A, class B, class L, class VecT > void
+matrix_set_x_basis_vector_2D(matrix<E,A,B,L>& m, const VecT& x) {
+    matrix_set_basis_vector_2D(m,0,x);
+}
+
+/** Set the y basis vector of a 2D transform */
+template < typename E, class A, class B, class L, class VecT > void
+matrix_set_y_basis_vector_2D(matrix<E,A,B,L>& m, const VecT& y) {
+    matrix_set_basis_vector_2D(m,1,y);
+}
+
+/** Set the transposed x basis vector of a 2D transform */
+template < typename E, class A, class B, class L, class VecT > void
+matrix_set_transposed_x_basis_vector_2D(matrix<E,A,B,L>& m,const VecT& x) {
+    matrix_set_transposed_basis_vector_2D(m,0,x);
+}
+
+/** Set the transposed y basis vector of a 2D transform */
+template < typename E, class A, class B, class L, class VecT > void
+matrix_set_transposed_y_basis_vector_2D(matrix<E,A,B,L>& m,const VecT& y) {
+    matrix_set_transposed_basis_vector_2D(m,1,y);
+}
+
+/** Set the basis vectors of a 3D transform */
+template < typename E, class A, class B, class L,
+    class VecT_1, class VecT_2, class VecT_3 > void
+matrix_set_basis_vectors(
+    matrix<E,A,B,L>& m, const VecT_1& x, const VecT_2& y, const VecT_3& z)
+{
+    matrix_set_x_basis_vector(m,x);
+    matrix_set_y_basis_vector(m,y);
+    matrix_set_z_basis_vector(m,z);
+}
+
+/** Set the transposed basis vectors of a 3D transform */
+template < typename E, class A, class B, class L,
+    class VecT_1, class VecT_2, class VecT_3 > void
+matrix_set_transposed_basis_vectors(
+    matrix<E,A,B,L>& m, const VecT_1& x, const VecT_2& y, const VecT_3& z)
+{
+    matrix_set_transposed_x_basis_vector(m,x);
+    matrix_set_transposed_y_basis_vector(m,y);
+    matrix_set_transposed_z_basis_vector(m,z);
+}
+
+/** Set the basis vectors of a 2D transform */
+template < typename E,class A,class B,class L,class VecT_1,class VecT_2 > void
+matrix_set_basis_vectors_2D(
+    matrix<E,A,B,L>& m, const VecT_1& x, const VecT_2& y)
+{
+    matrix_set_x_basis_vector_2D(m,x);
+    matrix_set_y_basis_vector_2D(m,y);
+}
+
+/** Set the transposed basis vectors of a 2D transform */
+template < typename E,class A,class B,class L,class VecT_1,class VecT_2 > void
+matrix_set_transposed_basis_vectors_2D(
+    matrix<E,A,B,L>& m, const VecT_1& x, const VecT_2& y)
+{
+    matrix_set_transposed_x_basis_vector_2D(m,x);
+    matrix_set_transposed_y_basis_vector_2D(m,y);
+}
+
+//////////////////////////////////////////////////////////////////////////////
+// Functions for getting the basis vectors of a 3D or 2D transform matrix
+//////////////////////////////////////////////////////////////////////////////
+
+#define TEMP_VEC3 vector< typename MatT::value_type, fixed<3> >
+#define TEMP_VEC2 vector< typename MatT::value_type, fixed<2> >
+
+/** Get the i'th basis vector of a 3D transform */
+template < class MatT > TEMP_VEC3
+matrix_get_basis_vector(const MatT& m, size_t i)
+{
+    typedef TEMP_VEC3 vector_type;
+
+    /* Checking */
+    detail::CheckMatLinear3D(m);
+    detail::CheckIndex3(i);
+
+    return vector_type(
+        m.basis_element(i,0), m.basis_element(i,1), m.basis_element(i,2));
+}
+
+/** Get the i'th transposed basis vector of a 3D transform */
+template < class MatT > TEMP_VEC3
+matrix_get_transposed_basis_vector(const MatT& m, size_t i)
+{
+    typedef typename MatT::value_type value_type;
+    typedef vector< value_type, fixed<3> > vector_type;
+    
+    /* Checking */
+    detail::CheckMatLinear3D(m);
+    detail::CheckIndex3(i);
+
+    return vector_type(
+        m.basis_element(0,i), m.basis_element(1,i), m.basis_element(2,i));
+}
+
+/** Get the i'th basis vector of a 2D transform */
+template < class MatT > TEMP_VEC2
+matrix_get_basis_vector_2D(const MatT& m, size_t i)
+{
+    typedef TEMP_VEC2 vector_type;
+
+    /* Checking */
+    detail::CheckMatLinear2D(m);
+    detail::CheckIndex2(i);
+
+    return vector_type(m.basis_element(i,0), m.basis_element(i,1));
+}
+
+/** Get the i'th transposed basis vector of a 2D transform */
+template < class MatT > TEMP_VEC2
+matrix_get_transposed_basis_vector_2D(const MatT& m, size_t i)
+{
+    typedef TEMP_VEC2 vector_type;
+
+    /* Checking */
+    detail::CheckMatLinear2D(m);
+    detail::CheckIndex2(i);
+
+    return vector_type(m.basis_element(0,i), m.basis_element(1,i));
+}
+
+/** Get the x basis vector of a 3D transform */
+template < class MatT > TEMP_VEC3
+matrix_get_x_basis_vector(const MatT& m) {
+    return matrix_get_basis_vector(m,0);
+}
+
+/** Get the y basis vector of a 3D transform */
+template < class MatT > TEMP_VEC3
+matrix_get_y_basis_vector(const MatT& m) {
+    return matrix_get_basis_vector(m,1);
+}
+
+/** Get the z basis vector of a 3D transform */
+template < class MatT > TEMP_VEC3
+matrix_get_z_basis_vector(const MatT& m) {
+    return matrix_get_basis_vector(m,2);
+}
+
+/** Get the transposed x basis vector of a 3D transform */
+template < class MatT > TEMP_VEC3
+matrix_get_transposed_x_basis_vector(const MatT& m) {
+    return matrix_get_transposed_basis_vector(m,0);
+}
+
+/** Get the transposed y basis vector of a 3D transform */
+template < class MatT > TEMP_VEC3
+matrix_get_transposed_y_basis_vector(const MatT& m) {
+    return matrix_get_transposed_basis_vector(m,1);
+}
+
+/** Get the transposed z basis vector of a 3D transform */
+template < class MatT > TEMP_VEC3
+matrix_get_transposed_z_basis_vector(const MatT& m) {
+    return matrix_get_transposed_basis_vector(m,2);
+}
+
+/** Get the x basis vector of a 2D transform */
+template < class MatT > TEMP_VEC2
+matrix_get_x_basis_vector_2D(const MatT& m) {
+    return matrix_get_basis_vector_2D(m,0);
+}
+
+/** Get the y basis vector of a 2D transform */
+template < class MatT > TEMP_VEC2
+matrix_get_y_basis_vector_2D(const MatT& m) {
+    return matrix_get_basis_vector_2D(m,1);
+}
+
+/** Get the transposed x basis vector of a 2D transform */
+template < class MatT > TEMP_VEC2
+matrix_get_transposed_x_basis_vector_2D(const MatT& m) {
+    return matrix_get_transposed_basis_vector_2D(m,0);
+}
+
+/** Get the transposed y basis vector of a 2D transform */
+template < class MatT > TEMP_VEC2
+matrix_get_transposed_y_basis_vector_2D(const MatT& m) {
+    return matrix_get_transposed_basis_vector_2D(m,1);
+}
+
+/** Get the basis vectors of a 3D transform */
+template < class MatT, class E, class A > void
+matrix_get_basis_vectors(
+    const MatT& m, vector<E,A>& x, vector<E,A>& y, vector<E,A>& z)
+{
+    x = matrix_get_x_basis_vector(m);
+    y = matrix_get_y_basis_vector(m);
+    z = matrix_get_z_basis_vector(m);
+}
+
+/** Get the transposed basis vectors of a 3D transform */
+template < class MatT, typename E, class A > void
+matrix_get_transposed_basis_vectors(
+    const MatT& m, vector<E,A>& x, vector<E,A>& y, vector<E,A>& z)
+{
+    x = matrix_get_transposed_x_basis_vector(m);
+    y = matrix_get_transposed_y_basis_vector(m);
+    z = matrix_get_transposed_z_basis_vector(m);
+}
+
+/** Get the basis vectors of a 2D transform */
+template < class MatT, typename E, class A > void
+matrix_get_basis_vectors_2D(const MatT& m,vector<E,A>& x,vector<E,A>& y)
+{
+    x = matrix_get_x_basis_vector_2D(m);
+    y = matrix_get_y_basis_vector_2D(m);
+}
+
+/** Get the transposed basis vectors of a 2D transform */
+template < class MatT, typename E, class A > void
+matrix_get_transposed_basis_vectors_2D(
+    const MatT& m, vector<E,A>& x, vector<E,A>& y)
+{
+    x = matrix_get_transposed_x_basis_vector_2D(m);
+    y = matrix_get_transposed_y_basis_vector_2D(m);
+}
+
+#undef TEMP_VEC3
+#undef TEMP_VEC2
+
+} // namespace cml
+
+#endif