Matrix44 MatrixUtils::rotation_axis( const Vector3& axis, float angle )
{
Matrix44 res;
float sin_a = sin(angle);
float cos_a = cos(angle);
float omc = 1.0f - cos_a;
float xomc = axis.x * omc;
float yomc = axis.y * omc;
float zomc = axis.z * omc;
float xxomc = axis.x * xomc;
float xyomc = axis.x * yomc;
float xzomc = axis.x * zomc;
float yyomc = axis.y * yomc;
float yzomc = axis.y * zomc;
float zzomc = axis.z * zomc;
float xs = axis.x * sin_a;
float ys = axis.y * sin_a;
float zs = axis.z * sin_a;
res.m(0,0) = xxomc + cos_a;
res.m(0,1) = xyomc + zs;
res.m(0,2) = xzomc - ys;
res.m(0,3) = 0;
res.m(1,0) = xyomc - zs;
res.m(1,1) = yyomc + cos_a;
res.m(1,2) = yzomc + xs;
res.m(1,3) = 0;
res.m(2,0) = xzomc + ys;
res.m(2,1) = yzomc - xs;
res.m(2,2) = zzomc + cos_a;
res.m(2,3) = 0; //-V525
res.m(3,0) = 0;
res.m(3,1) = 0;
res.m(3,2) = 0;
res.m(3,3) = 1;
return res;
}
