Exemple #1
0
void matrix4x4f::rotate( const float &angle, vec3f &axis )
{
    float s = sin(DEGTORAD(angle));
    float c = cos(DEGTORAD(angle));

    axis.norm();

    float ux = axis.x;
    float uy = axis.y;
    float uz = axis.z;
    
    m[0]  = c + (1-c) * ux*ux;
    m[1]  = (1-c) * ux*uy + s*uz;
    m[2]  = (1-c) * ux*uz - s*uy;
    m[3]  = 0;
    
    m[4]  = (1-c) * uy*ux - s*uz;
    m[5]  = c + (1-c) * pow(uy,2);
    m[6]  = (1-c) * uy*uz + s*ux;
    m[7]  = 0;
    
    m[8]  = (1-c) * uz*ux + s*uy;
    m[9]  = (1-c) * uz*uy - s*ux;
    m[10] = c + (1-c) * pow(uz,2);
    m[11] = 0;
    
    m[12] = 0;
    m[13] = 0;
    m[14] = 0;
    m[15] = 1;
}