void Matrix44F::rotateY(float beta)
{
const float c = cos(beta);
const float s = sin(beta);
Matrix44F r;
*r.m(0, 0) = c; *r.m(0, 2) = -s;
*r.m(2, 0) = s; *r.m(2, 2) = c;
multiply(r);
}
void Matrix44F::rotateZ(float gamma)
{
const float c = cos(gamma);
const float s = sin(gamma);
Matrix44F r;
*r.m(0, 0) = c; *r.m(0, 1) = s;
*r.m(1, 0) = -s; *r.m(1, 1) = c;
multiply(r);
}
void Matrix44F::rotateX(float alpha)
{
const float c = cos(alpha);
const float s = sin(alpha);
Matrix44F r;
*r.m(1, 1) = c; *r.m(1, 2) = s;
*r.m(2, 1) = -s; *r.m(2, 2) = c;
multiply(r);
}
const Matrix44F Matrix44F::transformBy(const Matrix44F & a) const
{
Matrix44F t;
int i, j;
for(i = 0; i < 4; i++) {
for(j = 0; j < 4; j++) {
*t.m(i, j) = M(i, 0) * a.M(0, j) + M(i, 1) * a.M(1, j) + M(i, 2) * a.M(2, j) + M(i, 3) * a.M(3, j);
}
}
return t;
}
