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add Matrix4x4 method for creating a rotation about an arbitrary axis

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Gered 2024-09-08 22:56:42 -04:00
parent fbba97f168
commit 5159b8ef91
1 changed files with 31 additions and 0 deletions
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31
ggdt/src/math/matrix4x4.rs
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@ -78,6 +78,37 @@ impl Matrix4x4 {
rotate_z * rotate_y * rotate_x rotate_z * rotate_y * rotate_x
} }
// Creates a new rotation matrix about the specified axis.
//
// # Arguments
//
// * `radians`: angle to rotate by (in radians)
// * `x`: the x component of the axis vector to rotate around
// * `y`: the y component of the axis vector to rotate around
// * `z`: the z component of the axis vector to rotate around
pub fn new_rotation(radians: f32, x: f32, y: f32, z: f32) -> Matrix4x4 {
let (s, c) = radians.sin_cos();
Matrix4x4::new(
(x * x) * (1.0 - c) + c,
(x * y) * (1.0 - c) - (z * s),
(x * z) * (1.0 - c) + (y * s),
0.0,
(y * x) * (1.0 - c) + (z * s),
(y * y) * (1.0 - c) + c,
(y * z) * (1.0 - c) - (x * s),
0.0,
(z * x) * (1.0 - c) - (y * s),
(z * y) * (1.0 - c) + (x * s),
(z * z) * (1.0 - c) + c,
0.0,
0.0,
0.0,
0.0,
1.0,
)
}
/// Creates a new rotation matrix for rotation around the x axis. /// Creates a new rotation matrix for rotation around the x axis.
/// ///
/// # Arguments /// # Arguments