static Matrix4T<T> rotation(float degrees, const Vector3T<T> &inaxis)
{
Matrix4T<T> m;
Vector3T<T> axis = inaxis;
axis.normalize();
float c = cos((float)degToRad(degrees));
float s = sin((float)degToRad(degrees));
m.x.x = (axis.x * axis.x) * (1.0f - c) + c;
m.y.x = (axis.y * axis.x) * (1.0f - c) + (axis.z * s);
m.z.x = (axis.z * axis.x) * (1.0f - c) - (axis.y * s);
m.x.y = (axis.x * axis.y) * (1.0f - c) - (axis.z * s);
m.y.y = (axis.y * axis.y) * (1.0f - c) + c;
m.z.y = (axis.z * axis.y) * (1.0f - c) + (axis.x * s);
m.x.z = (axis.x * axis.z) * (1.0f - c) + (axis.y * s);
m.y.z = (axis.y * axis.z) * (1.0f - c) - (axis.x * s);
m.z.z = (axis.z * axis.z) * (1.0f - c) + c;
return m;
}
static Matrix4T<T> buildViewMatrix(const Vector3T<T> &from, const Vector3T<T> &lookingAt, const Vector3T<T> &up /*= Vector3(1,0,0)*/)
{
Matrix4T<T> r;
r.SetPositionVector(Vector3T<T>(-from.x,-from.y,-from.z));
Matrix4T<T> m;
Vector3T<T> f = (lookingAt - from);
f.normalize();
Vector3T<T> s = Vector3T<T>::Cross(f,up);
Vector3T<T> u = Vector3T<T>::Cross(s,f);
m.x.x = s.x;
m.x.y = s.y;
m.x.z = s.z;
m.y.x = u.x;
m.y.y = u.y;
m.y.z = u.z;
m.z.x = -f.x;
m.z.x = -f.y;
m.z.z = -f.z;
return m * r;
}
Vector3T normalized() const
{
Vector3T v = *this;
v.normalize();
return v;
}
