From 5551fccc5dc264a20f3fe28c22868252555454de Mon Sep 17 00:00:00 2001
From: Jack Andersen <jackoalan@gmail.com>
Date: Sat, 1 Apr 2017 17:03:04 -1000
Subject: [PATCH] CMatrix3f Rotation constructors

---
 include/zeus/CMatrix3f.hpp | 24 ++++++++++++++++++++++++
 1 file changed, 24 insertions(+)

diff --git a/include/zeus/CMatrix3f.hpp b/include/zeus/CMatrix3f.hpp
index 21d9507..5034d73 100644
--- a/include/zeus/CMatrix3f.hpp
+++ b/include/zeus/CMatrix3f.hpp
@@ -187,6 +187,30 @@ public:
         vec[2] += other.vec[2] * scaleVec;
     }
 
+    static inline CMatrix3f RotateX(float theta)
+    {
+        float sinT = std::sin(theta);
+        float cosT = std::cos(theta);
+        return CMatrix3f(TVectorUnion{1.f, 0.f, 0.f, 0.f}, TVectorUnion{0.f, cosT, sinT, 0.f},
+                         TVectorUnion{0.f, -sinT, cosT, 0.f});
+    }
+
+    static inline CMatrix3f RotateY(float theta)
+    {
+        float sinT = std::sin(theta);
+        float cosT = std::cos(theta);
+        return CMatrix3f(TVectorUnion{cosT, 0.f, -sinT, 0.f}, TVectorUnion{0.f, 1.f, 0.f, 0.f},
+                         TVectorUnion{sinT, 0.f, cosT, 0.f});
+    }
+
+    static inline CMatrix3f RotateZ(float theta)
+    {
+        float sinT = std::sin(theta);
+        float cosT = std::cos(theta);
+        return CMatrix3f(TVectorUnion{cosT, sinT, 0.f, 0.f}, TVectorUnion{-sinT, cosT, 0.f, 0.f},
+                         TVectorUnion{0.f, 0.f, 1.f, 0.f});
+    }
+
     union {
         float m[3][4]; /* 4th row for union-alignment */
         struct