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CMatrix3f Rotation constructors

This commit is contained in:
Jack Andersen 2017-04-01 17:03:04 -10:00
parent 76e20eb4c8
commit 5551fccc5d
1 changed files with 24 additions and 0 deletions
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24
include/zeus/CMatrix3f.hpp
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@ -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