void Transform::RotateInternal(const Vector3d& internalTheta){
double theta = norm2(internalTheta);
if (theta == 0){ return; }
Vector3d z;
z = internalTheta / theta;
Vector3d x;
Vector3d y;
if (all_elements(z == Vector3d(0, 0, 1))){
x = 1, 0, 0;
y = 0, 1, 0;
}
else if (all_elements(z == Vector3d(0, 0, -1))){
x = 1, 0, 0;
y = 0, -1, 0;
}
else{
x = normalize(cross(z));
y = normalize(cross(z, x));
}
Matrix33d Mu;
Mu = x(0), y(0), z(0),
x(1), y(1), z(1),
x(2), y(2), z(2);
Matrix33d Rho;
Rho = cos(theta), -sin(theta), 0,
sin(theta), cos(theta), 0,
0, 0, 1;
m = Matrix33d(m) * Mu * Rho * trans(Mu);
RefreshM4();
}
namespace gmtl {
const Matrix22f MAT_IDENTITY22F = Matrix22f();
const Matrix22d MAT_IDENTITY22D = Matrix22d();
const Matrix23f MAT_IDENTITY23F = Matrix23f();
const Matrix23d MAT_IDENTITY23D = Matrix23d();
const Matrix33f MAT_IDENTITY33F = Matrix33f();
const Matrix33d MAT_IDENTITY33D = Matrix33d();
const Matrix34f MAT_IDENTITY34F = Matrix34f();
const Matrix34d MAT_IDENTITY34D = Matrix34d();
const Matrix44f MAT_IDENTITY44F = Matrix44f();
const Matrix44d MAT_IDENTITY44D = Matrix44d();
}
