20 lines
739 B
Rust
20 lines
739 B
Rust
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use num::Num;
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use ncast::*;
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use funs::exp::*;
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use funs::trig::*;
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use matrix::Mat4;
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fn mat4_from_rotation<T:Copy Num NumCast Exp Trig>(axis: Vec3<T>, angle: T) -> Mat4<T> {
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let angle_rad = radians(&angle);
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let c = cos(&angle_rad);
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let s = sin(&angle_rad);
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let _0: T = cast(0);
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let _1: T = cast(1);
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let t = _1 - c;
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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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