cgmath/src/funs/transform.rs

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2012-11-07 02:36:35 +00:00
use num::Num;
use ncast::*;
use funs::exp::*;
use funs::trig::*;
use matrix::Mat4;
fn mat4_from_rotation<T:Copy Num NumCast Exp Trig>(axis: Vec3<T>, angle: T) -> Mat4<T> {
let angle_rad = radians(&angle);
let c = cos(&angle_rad);
let s = sin(&angle_rad);
let _0: T = cast(0);
let _1: T = cast(1);
let t = _1 - c;
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,
t * axis.x * axis.y - s * axis.z, t * axis.y * axis.y + c, t * axis.y * axis.z + s * axis.x, _0,
t * axis.x * axis.z - s - axis.y, t * axis.y * axis.z - s * axis.x, t * axis.z * axis.z + c, _0,
_0, _0, _0, _1)
}