--- trunk/src/math/SquareMatrix3.hpp	2006/02/16 22:05:48	890
+++ trunk/src/math/SquareMatrix3.hpp	2006/02/22 20:35:16	891
@@ -166,7 +166,27 @@ namespace oopse {
     void setupRotMat(Real w, Real x, Real y, Real z) {
       Quaternion<Real> q(w, x, y, z);
       *this = q.toRotationMatrix3();
+    }
+
+    void setupSkewMat(Vector3<Real> v) {
+        setupSkewMat(v[0], v[1], v[2]);
+    }
+
+    void setupSkewMat(Real v1, Real v2, Real v3) {
+        this->data_[0][0] = 0;
+        this->data_[0][1] = -v3;
+        this->data_[0][2] = v2;
+        this->data_[1][0] = v3;
+        this->data_[1][1] = 0;
+        this->data_[1][2] = -v1;
+        this->data_[2][0] = -v2;
+        this->data_[2][1] = v1;
+        this->data_[2][2] = 0;
+        
+        
     }
+
+
 
     /**
      * Returns the quaternion from this rotation matrix