forked from M-Labs/nalgebra
27 lines
1017 B
Rust
27 lines
1017 B
Rust
use na::{Rotation3, Unit, UnitQuaternion};
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use crate::aliases::{Qua, TMat4, TVec3};
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use crate::RealNumber;
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/// Builds a rotation 4 * 4 matrix created from a normalized axis and an angle.
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///
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/// # Parameters:
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///
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/// * `m` - Input matrix multiplied by this rotation matrix.
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/// * `angle` - Rotation angle expressed in radians.
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/// * `axis` - Rotation axis, must be normalized.
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pub fn rotate_normalized_axis<T: RealNumber>(m: &TMat4<T>, angle: T, axis: &TVec3<T>) -> TMat4<T> {
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m * Rotation3::from_axis_angle(&Unit::new_unchecked(*axis), angle).to_homogeneous()
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}
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/// Rotates a quaternion from a vector of 3 components normalized axis and an angle.
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///
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/// # Parameters:
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///
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/// * `q` - Source orientation.
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/// * `angle` - Angle expressed in radians.
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/// * `axis` - Normalized axis of the rotation, must be normalized.
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pub fn quat_rotate_normalized_axis<T: RealNumber>(q: &Qua<T>, angle: T, axis: &TVec3<T>) -> Qua<T> {
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q * UnitQuaternion::from_axis_angle(&Unit::new_unchecked(*axis), angle).into_inner()
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}
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