From 9a13d1f8dca14e7c3591a077d71a4b2fa49eecaf Mon Sep 17 00:00:00 2001
From: Rtch90 <ritchie.cunningham@protonmail.com>
Date: Sun, 24 Dec 2017 19:22:33 +0000
Subject: [PATCH] [Add] Added Rotating frames.
---
src/matrix4x4.h | 24 ++++++++++++++++++++++++
1 file changed, 24 insertions(+)
diff --git a/src/matrix4x4.h b/src/matrix4x4.h
index d981668..22d8f35 100644
--- a/src/matrix4x4.h
+++ b/src/matrix4x4.h
@@ -68,6 +68,30 @@ public:
m[3] = 0; m[7] = 0; m[11] = 0; m[15] = 1;
}
+ /* (x,y,z) must be normalized. */
+ static matrix4x4 RotateMatrix(T ang, T x, T y, T z) {
+ matrix4x4 m;
+ T c = cos(ang);
+ T s = sin(ang);
+ m[ 0] = x*x*(1-c)+c;
+ m[ 1] = y*x*(1-c)+z*s;
+ m[ 2] = x*z*(1-c)-y*s;
+ m[ 3] = 0;
+ m[ 4] = x*y*(1-c)-z*s;
+ m[ 5] = y*y*(1-c)+c;
+ m[ 6] = y*z*(1-c)+x*s;
+ m[ 7] = 0;
+ m[ 8] = x*z*(1-c)+y*s;
+ m[ 9] = y*z*(1-c)-x*s;
+ m[10] = z*z*(1-c)+c;
+ m[11] = 0;
+ m[12] = 0;
+ m[13] = 0;
+ m[14] = 0;
+ m[15] = 1;
+ return m;
+ }
+
void RotateZ(T radians) { *this = (*this) * RotateZMatrix(radians); }
void RotateY(T radians) { *this = (*this) * RotateYMatrix(radians); }
void rotateX(T radians) { *this = (*this) * RotateXMatrix(radians); }