20 lines
No EOL
820 B
Rust
20 lines
No EOL
820 B
Rust
use funs::trig::*;
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use mat::{Mat3, Mat4};
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use num::cast::*;
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pub pure fn mat3_from_rotation<T:Copy Num NumCast AngleConv Trig>(theta: T, axis: Vec3<T>) -> Mat3<T> {
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let rad = radians(&theta);
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let c: T = cos(&rad);
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let s: T = sin(&rad);
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let _0: T = cast(0);
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let _1: T = cast(1);
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let t: T = _1 - c;
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Mat3::new(t * axis.x * axis.x + c, t * axis.x * axis.y + s * axis.z, t * axis.x * axis.z - s * axis.y,
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t * axis.x * axis.y - s * axis.z, t * axis.y * axis.y + c, t * axis.y * axis.z + s * axis.x,
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t * axis.x * axis.z - s - axis.y, t * axis.y * axis.z - s * axis.x, t * axis.z * axis.z + c)
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}
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pub pure fn mat4_from_rotation<T:Copy Num NumCast AngleConv Trig>(theta: T, axis: Vec3<T>) -> Mat4<T> {
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mat3_from_rotation(theta, axis).to_mat4()
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} |