Matrix4f Matrix4f::RotationXYZ(const Vec3f &rot) { Quatf Qx = Quatf::AxisAngle(Vec3f(1.0f, 0.0f, 0.0f), rot.x); Quatf Qy = Quatf::AxisAngle(Vec3f(0.0f, 1.0f, 0.0f), rot.y); Quatf Qz = Quatf::AxisAngle(Vec3f(0.0f, 0.0f, 1.0f), rot.z); Quatf R = Qz * Qy * Qx; return R.GetMatrix(); }