| 233 | } |
| 234 | |
| 235 | Matrix4f Matrix4f::RotationZYX(const Vec3f &rot) |
| 236 | { |
| 237 | Quatf Qx = Quatf::AxisAngle(Vec3f(1.0f, 0.0f, 0.0f), rot.x); |
| 238 | Quatf Qy = Quatf::AxisAngle(Vec3f(0.0f, 1.0f, 0.0f), rot.y); |
| 239 | Quatf Qz = Quatf::AxisAngle(Vec3f(0.0f, 0.0f, 1.0f), rot.z); |
| 240 | |
| 241 | Quatf R = Qx * Qy * Qz; |
| 242 | |
| 243 | return R.GetMatrix(); |
| 244 | } |
| 245 | |
| 246 | Matrix4f Matrix4f::RotationXYZ(const Vec3f &rot) |
| 247 | { |