Example #1
0
void matrix::MakeRotation(float angle, vector axis)
{
    if (IsZero(axis[0]) && IsZero(axis[1]))
    {
    	MakeRotationZ(sgn(axis[2])*angle);
    	return;
    }

	assert(rows == 4 && cols == 4);

	axis.Normalize();

    float a = angle * PIf / 180.0f;
    float c = cos(a);
    float s = sin(a);
    float D = sqr(axis[0]) + sqr(axis[1]);
    float u0u1 = axis[0]*axis[1];
    float u0u2 = axis[0]*axis[2];
    float u1u2 = axis[1]*axis[2];
    float N = c*u0u1*(sqr(axis[2])-1)/D;

    m[0] = c*(sqr(axis[1])+sqr(u0u2))/D + sqr(axis[0]);
    m[1] = N + s*axis[2] + u0u1;
    m[2] = -axis[1]*s + u0u2*(1-c);
    m[3] = 0.0f;
    m[4] = N - s*axis[2] + u0u1;
    m[5] = c*(sqr(axis[0])+sqr(u1u2))/D + sqr(axis[1]);
    m[6] = axis[0]*s + u1u2*(1-c);
    m[7] = 0.0f;
    m[8] = axis[1]*s + u0u2*(1-c);
    m[9] = -axis[0]*s + u1u2*(1-c);
    m[10]= c*D + sqr(axis[2]);
    m[11]= m[12] = m[13] = m[14] = 0.0f;
    m[15]= 1.0f;
}