From aada68c23e9f7274081b489b1775559c7edda856 Mon Sep 17 00:00:00 2001
From: Brendan Zabarauskas <bjzaba@yahoo.com.au>
Date: Wed, 14 Nov 2012 18:23:15 +1000
Subject: [PATCH] Add mat3_from_rotation function

---
 src/funs/transform.rs | 15 +++++++++------
 src/matrix.rs         |  4 ++--
 2 files changed, 11 insertions(+), 8 deletions(-)

diff --git a/src/funs/transform.rs b/src/funs/transform.rs
index c93a407..125c125 100644
--- a/src/funs/transform.rs
+++ b/src/funs/transform.rs
@@ -2,9 +2,9 @@ use num::Num;
 use ncast::*;
 use funs::exp::Exp;
 use funs::trig::*;
-use matrix::Mat4;
+use matrix::{Mat3, Mat4};
 
-pub pure fn mat4_from_rotation<T:Copy Num NumCast AngleConv Trig>(theta: T, axis: Vec3<T>) -> Mat4<T> {
+pub pure fn mat3_from_rotation<T:Copy Num NumCast AngleConv Trig>(theta: T, axis: Vec3<T>) -> Mat3<T> {
     let rad = radians(&theta);
     let c:  T = cos(&rad);
     let s:  T = sin(&rad);
@@ -12,8 +12,11 @@ pub pure fn mat4_from_rotation<T:Copy Num NumCast AngleConv Trig>(theta: T, axis
     let _1: T = cast(1);
     let t:  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)
+    Mat3::new(t * axis.x * axis.x + c,          t * axis.x * axis.y + s * axis.z, t * axis.x * axis.z - s * axis.y,
+              t * axis.x * axis.y - s * axis.z, t * axis.y * axis.y + c,          t * axis.y * axis.z + s * axis.x,
+              t * axis.x * axis.z - s - axis.y, t * axis.y * axis.z - s * axis.x, t * axis.z * axis.z + c)
+}
+
+pub pure fn mat4_from_rotation<T:Copy Num NumCast AngleConv Trig>(theta: T, axis: Vec3<T>) -> Mat4<T> {
+  mat3_from_rotation(theta, axis).to_Mat4()
 }
\ No newline at end of file
diff --git a/src/matrix.rs b/src/matrix.rs
index 0d65593..cec33f2 100644
--- a/src/matrix.rs
+++ b/src/matrix.rs
@@ -260,7 +260,7 @@ pub impl<T:Copy Num NumCast FuzzyEq> Mat2<T>: NumericMatrix_NxN<T, Vec2<T>> {
     }
 }
 
-pub impl<T:Copy Num NumCast FuzzyEq> Mat2<T>: Matrix2<T> {
+pub impl<T:Copy NumCast> Mat2<T>: Matrix2<T> {
     #[inline(always)]
     pure fn to_Mat3() -> Mat3<T> {
         Mat3::from_Mat2(&self)
@@ -511,7 +511,7 @@ pub impl<T:Copy Num NumCast FuzzyEq> Mat3<T>: NumericMatrix_NxN<T, Vec3<T>> {
     }
 }
 
-pub impl<T:Copy Num NumCast FuzzyEq> Mat3<T>: Matrix3<T> {
+pub impl<T:Copy NumCast> Mat3<T>: Matrix3<T> {
     #[inline(always)]
     pure fn to_Mat4() -> Mat4<T> {
         Mat4::from_Mat3(&self)