Return a 4x4 rotation matrix
| 406 | |
| 407 | // Return a 4x4 rotation matrix |
| 408 | inline Matrix4 Matrix4::rotationMatrix(const Vector3& axis, float angle) { |
| 409 | |
| 410 | float cosA = cos(angle); |
| 411 | float sinA = sin(angle); |
| 412 | Matrix4 rotationMatrix; |
| 413 | rotationMatrix.setToIdentity(); |
| 414 | |
| 415 | rotationMatrix.m[0][0] = cosA + (1-cosA) * axis.x * axis.x; |
| 416 | rotationMatrix.m[0][1] = (1-cosA) * axis.x * axis.y - axis.z * sinA; |
| 417 | rotationMatrix.m[0][2] = (1-cosA) * axis.x * axis.z + axis.y * sinA; |
| 418 | rotationMatrix.m[0][3] = 0.f; |
| 419 | |
| 420 | rotationMatrix.m[1][0] = (1-cosA) * axis.x * axis.y + axis.z * sinA; |
| 421 | rotationMatrix.m[1][1] = cosA + (1-cosA) * axis.y * axis.y; |
| 422 | rotationMatrix.m[1][2] = (1-cosA) * axis.y * axis.z - axis.x * sinA; |
| 423 | rotationMatrix.m[1][3] = 0.f; |
| 424 | |
| 425 | rotationMatrix.m[2][0] = (1-cosA) * axis.x * axis.z - axis.y * sinA; |
| 426 | rotationMatrix.m[2][1] = (1-cosA) * axis.y * axis.z + axis.x * sinA; |
| 427 | rotationMatrix.m[2][2] = cosA + (1-cosA) * axis.z * axis.z; |
| 428 | rotationMatrix.m[2][3] = 0.f; |
| 429 | |
| 430 | rotationMatrix.m[3][0] = 0.f; |
| 431 | rotationMatrix.m[3][1] = 0.f; |
| 432 | rotationMatrix.m[3][2] = 0.f; |
| 433 | rotationMatrix.m[3][3] = 1.f; |
| 434 | |
| 435 | return rotationMatrix; |
| 436 | } |
| 437 | |
| 438 | // Return a 4x4 perspective projection matrix |
| 439 | inline Matrix4 Matrix4::perspectiveProjectionMatrix(float nearDistance, float farDistance, int width, int height, |
nothing calls this directly
no test coverage detected