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[Add] Added Rotating frames.

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Allanis 2017-12-24 19:22:33 +00:00
parent 5c87fa475d
commit ec3a81ed35
1 changed files with 24 additions and 0 deletions
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24
src/matrix4x4.h
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@ -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); }