| 1045 | return Matrix3.from(c, s, 0, -s, c, 0, 0, 0, 1); |
| 1046 | } |
| 1047 | static fromAxisAngle(axis, angle) { |
| 1048 | const [s, c] = angle.sincos(); |
| 1049 | const c1 = 1 - c; |
| 1050 | return Matrix3.from(c1 * axis.x * axis.x + c, c1 * axis.x * axis.y + s * axis.z, c1 * axis.x * axis.z - s * axis.y, c1 * axis.x * axis.y - s * axis.z, c1 * axis.y * axis.y + c, c1 * axis.y * axis.z + s * axis.x, c1 * axis.x * axis.z + s * axis.y, c1 * axis.y * axis.z - s * axis.x, c1 * axis.z * axis.z + c); |
| 1051 | } |
| 1052 | static fromTranslation(translation) { |
| 1053 | return Matrix3.from(1, 0, 0, 0, 1, 0, translation.x, translation.y, 1); |
| 1054 | } |