2012-11-07 02:36:35 +00:00
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use num::Num;
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use ncast::*;
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2012-11-08 01:48:29 +00:00
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use ntrait::Float;
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use funs::exp::Exp;
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2012-11-07 02:36:35 +00:00
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use funs::trig::*;
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use matrix::Mat4;
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2012-11-09 06:18:14 +00:00
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pub fn mat4_from_rotation<T:Copy Num NumCast AngleConv Trig>(theta: T, axis: Vec3<T>) -> Mat4<T> {
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let rad = radians(&theta);
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let c: T = cos(&rad);
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let s: T = sin(&rad);
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2012-11-07 02:36:35 +00:00
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let _0: T = cast(0);
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let _1: T = cast(1);
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2012-11-08 01:48:29 +00:00
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let t: T = _1 - c;
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2012-11-07 02:36:35 +00:00
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Mat4::new(t * axis.x * axis.x + c, t * axis.x * axis.y + s * axis.z, t * axis.x * axis.z - s * axis.y, _0,
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t * axis.x * axis.y - s * axis.z, t * axis.y * axis.y + c, t * axis.y * axis.z + s * axis.x, _0,
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t * axis.x * axis.z - s - axis.y, t * axis.y * axis.z - s * axis.x, t * axis.z * axis.z + c, _0,
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_0, _0, _0, _1)
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}
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