void R3Matrix::
Rotate(const R3Vector& radians)
{
XRotate(radians.X());
YRotate(radians.Y());
ZRotate(radians.Z());
}
void R3Point::
Rotate(const R3Vector& radians)
{
// Rotate first around X, then around Y, and finally around Z
ZRotate(radians.Z());
YRotate(radians.Y());
XRotate(radians.X());
}
void R4Matrix::
Rotate(RNAxis axis, RNAngle radians)
{
// rotate matrix around an axis counterclockwise
switch (axis) {
case RN_XAXIS:
XRotate(radians);
break;
case RN_YAXIS:
YRotate(radians);
break;
case RN_ZAXIS:
ZRotate(radians);
break;
default:
RNWarning("Matrix rotation around undefined axis");
break;
}
}
void R3Matrix::
Rotate(int axis, double radians)
{
// rotate matrix around an axis counterclockwise
switch (axis) {
case R3_X:
XRotate(radians);
break;
case R3_Y:
YRotate(radians);
break;
case R3_Z:
ZRotate(radians);
break;
default:
fprintf(stderr, "Matrix rotation around undefined axis");
break;
}
}
void R4Matrix::
Rotate(const R3Vector& radians)
{
#if 1
// Rotate first around X, then around Y, and finally around Z
ZRotate(radians.Z());
YRotate(radians.Y());
XRotate(radians.X());
#else
// This is faster way to do same thing (not tested)
R4Matrix rotation(
cos(radians.Y())*cos(radians.Z()),
sin(radians.X())*sin(radians.Y())*cos(radians.Z()) - cos(radians.X())*sin(radians.Z()),
cos(radians.X())*sin(radians.Y())*cos(radians.Z()) + sin(radians.X())*sin(radians.Z()), 0,
cos(radians.Y())*sin(radians.Z()),
sin(radians.X())*sin(radians.Y())*sin(radians.Z()) + cos(radians.X())*cos(radians.Z()),
cos(radians.X())*sin(radians.Y())*sin(radians.Z()) - sin(radians.X())*cos(radians.Z()), 0,
-sin(radians.Y()),
cos(radians.Y())*sin(radians.X()),
cos(radians.X())*cos(radians.Y()), 0,
0, 0, 0, 1);
*this = rotation * (*this);
#endif
}
