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implement from_angle{x, y, z} and from_axis_angle for Matrix4

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All are duplicates of the same functions for Matrix3, with extra parameters added in to make up the full 4x4
This commit is contained in:
Mark Hintz 2016-04-28 01:03:33 +02:00
parent 61681037b9
commit 808a17fc22
1 changed files with 56 additions and 0 deletions
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56
src/matrix.rs
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@ -264,6 +264,62 @@ impl<S: BaseFloat> Matrix4<S> {
s.z.clone(), u.z.clone(), -f.z.clone(), S::zero(),
-eye.dot(s), -eye.dot(u), eye.dot(f), S::one())
}
/// Create a homogeneous transformation matrix from a rotation around the `x` axis (pitch).
pub fn from_angle_x(theta: Rad<S>) -> Matrix4<S> {
// http://en.wikipedia.org/wiki/Rotation_matrix#Basic_rotations
let (s, c) = Rad::sin_cos(theta);
Matrix4::new(S::one(), S::zero(), S::zero(), S::zero(),
S::zero(), c, s, S::zero(),
S::zero(), -s, c, S::zero(),
S::zero(), S::zero(), S::zero(), S::one())
}
/// Create a homogeneous transformation matrix from a rotation around the `y` axis (yaw).
pub fn from_angle_y(theta: Rad<S>) -> Matrix4<S> {
// http://en.wikipedia.org/wiki/Rotation_matrix#Basic_rotations
let (s, c) = Rad::sin_cos(theta);
Matrix4::new(c, S::zero(), -s, S::zero(),
S::zero(), S::one(), S::zero(), S::zero(),
s, S::zero(), c, S::zero(),
S::zero(), S::zero(), S::zero(), S::one())
}
/// Create a homogeneous transformation matrix from a rotation around the `z` axis (roll).
pub fn from_angle_z(theta: Rad<S>) -> Matrix4<S> {
// http://en.wikipedia.org/wiki/Rotation_matrix#Basic_rotations
let (s, c) = Rad::sin_cos(theta);
Matrix4::new( c, s, S::zero(), S::zero(),
-s, c, S::zero(), S::zero(),
S::zero(), S::zero(), S::one(), S::zero(),
S::zero(), S::zero(), S::zero(), S::one())
}
/// Create a homogeneous transformation matrix from an angle around an arbitrary axis.
pub fn from_axis_angle(axis: Vector3<S>, angle: Rad<S>) -> Matrix4<S> {
let (s, c) = Rad::sin_cos(angle);
let _1subc = S::one() - c;
Matrix4::new(_1subc * axis.x * axis.x + c,
_1subc * axis.x * axis.y + s * axis.z,
_1subc * axis.x * axis.z - s * axis.y,
S::zero(),
_1subc * axis.x * axis.y - s * axis.z,
_1subc * axis.y * axis.y + c,
_1subc * axis.y * axis.z + s * axis.x,
S::zero(),
_1subc * axis.x * axis.z + s * axis.y,
_1subc * axis.y * axis.z - s * axis.x,
_1subc * axis.z * axis.z + c,
S::zero(),
S::zero(),
S::zero(),
S::zero(),
S::one())
}
}
impl<S: BaseFloat> Zero for Matrix2<S> {