forked from M-Labs/nalgebra
13 lines
542 B
Rust
13 lines
542 B
Rust
|
use na::{Real, Rotation3, Unit, U3, U4};
|
||
|
|
|
||
|
|
use aliases::{Vec, Mat};
|
||
|
|
|
||
|
|
/// Builds a rotation 4 * 4 matrix created from a normalized axis and an angle.
|
||
|
|
///
|
||
|
|
/// # Parameters
|
||
|
|
/// * `m` - Input matrix multiplied by this rotation matrix.
|
||
|
|
/// * `angle` - Rotation angle expressed in radians.
|
||
|
|
/// * `axis` - Rotation axis, must be normalized.
|
||
|
|
pub fn rotate_normalized_axis<N: Real>(m: &Mat<N, U4, U4>, angle: N, axis: &Vec<N, U3>) -> Mat<N, U4, U4> {
|
||
|
|
m * Rotation3::from_axis_angle(&Unit::new_unchecked(*axis), angle).to_homogeneous()
|
||
|
|
}
|