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Clarify comments about the kind of matrices that are returned by the constructors

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This commit is contained in:
Brendan Zabarauskas 2015-12-06 19:50:08 +11:00
parent 2d6b4e785c
commit 4f0aabb164
1 changed files with 6 additions and 6 deletions
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12
src/matrix.rs
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@ -109,7 +109,7 @@ impl<S> Matrix3<S> {
} }
impl<S: BaseFloat> Matrix3<S> { impl<S: BaseFloat> Matrix3<S> {
/// Create a transformation matrix that will cause a vector to point at /// Create a rotation matrix that will cause a vector to point at
/// `dir`, using `up` for orientation. /// `dir`, using `up` for orientation.
pub fn look_at(dir: Vector3<S>, up: Vector3<S>) -> Matrix3<S> { pub fn look_at(dir: Vector3<S>, up: Vector3<S>) -> Matrix3<S> {
let dir = dir.normalize(); let dir = dir.normalize();
@ -119,7 +119,7 @@ impl<S: BaseFloat> Matrix3<S> {
Matrix3::from_cols(side, up, dir).transpose() Matrix3::from_cols(side, up, dir).transpose()
} }
/// Create a matrix from a rotation around the `x` axis (pitch). /// Create a rotation matrix from a rotation around the `x` axis (pitch).
pub fn from_angle_x(theta: Rad<S>) -> Matrix3<S> { pub fn from_angle_x(theta: Rad<S>) -> Matrix3<S> {
// http://en.wikipedia.org/wiki/Rotation_matrix#Basic_rotations // http://en.wikipedia.org/wiki/Rotation_matrix#Basic_rotations
let (s, c) = sin_cos(theta); let (s, c) = sin_cos(theta);
@ -128,7 +128,7 @@ impl<S: BaseFloat> Matrix3<S> {
S::zero(), -s.clone(), c.clone()) S::zero(), -s.clone(), c.clone())
} }
/// Create a matrix from a rotation around the `y` axis (yaw). /// Create a rotation matrix from a rotation around the `y` axis (yaw).
pub fn from_angle_y(theta: Rad<S>) -> Matrix3<S> { pub fn from_angle_y(theta: Rad<S>) -> Matrix3<S> {
// http://en.wikipedia.org/wiki/Rotation_matrix#Basic_rotations // http://en.wikipedia.org/wiki/Rotation_matrix#Basic_rotations
let (s, c) = sin_cos(theta); let (s, c) = sin_cos(theta);
@ -137,7 +137,7 @@ impl<S: BaseFloat> Matrix3<S> {
s.clone(), S::zero(), c.clone()) s.clone(), S::zero(), c.clone())
} }
/// Create a matrix from a rotation around the `z` axis (roll). /// Create a rotation matrix from a rotation around the `z` axis (roll).
pub fn from_angle_z(theta: Rad<S>) -> Matrix3<S> { pub fn from_angle_z(theta: Rad<S>) -> Matrix3<S> {
// http://en.wikipedia.org/wiki/Rotation_matrix#Basic_rotations // http://en.wikipedia.org/wiki/Rotation_matrix#Basic_rotations
let (s, c) = sin_cos(theta); let (s, c) = sin_cos(theta);
@ -146,7 +146,7 @@ impl<S: BaseFloat> Matrix3<S> {
S::zero(), S::zero(), S::one()) S::zero(), S::zero(), S::one())
} }
/// Create a matrix from a set of euler angles. /// Create a rotation matrix from a set of euler angles.
/// ///
/// # Parameters /// # Parameters
/// ///
@ -164,7 +164,7 @@ impl<S: BaseFloat> Matrix3<S> {
sx * sz + cx * sy * cz, -sx * cz + cx * sy * sz, cx * cy) sx * sz + cx * sy * cz, -sx * cz + cx * sy * sz, cx * cy)
} }
/// Create a matrix from a rotation around an arbitrary axis /// Create a rotation matrix from an angle around an arbitrary axis.
pub fn from_axis_angle(axis: Vector3<S>, angle: Rad<S>) -> Matrix3<S> { pub fn from_axis_angle(axis: Vector3<S>, angle: Rad<S>) -> Matrix3<S> {
let (s, c) = sin_cos(angle); let (s, c) = sin_cos(angle);
let _1subc = S::one() - c; let _1subc = S::one() - c;