use num::Num; use ncast::*; use ntrait::Float; use funs::exp::Exp; use funs::trig::*; use matrix::Mat4; pub fn mat4_from_rotation < ThetaT:NumCast Float, T:Copy Num NumCast > (theta: Radians, axis: Vec3) -> Mat4 { let c: T = cos(&theta); let s: T = sin(&theta); let _0: T = cast(0); 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) }