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Merge pull request #56 from l3m/matrix4d-axis-angle

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Updated Matrix4d.FromAxisAngle to mirror the Matrix4 version.
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thefiddler 2014-02-06 10:33:09 +01:00
parent 2bcf153475 e2ecba7274
commit bb741579c6
1 changed files with 30 additions and 6 deletions
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36
Source/OpenTK/Math/Matrix4d.cs
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@ -500,16 +500,40 @@ namespace OpenTK
/// <param name="result">A matrix instance.</param> /// <param name="result">A matrix instance.</param>
public static void CreateFromAxisAngle(Vector3d axis, double angle, out Matrix4d result) public static void CreateFromAxisAngle(Vector3d axis, double angle, out Matrix4d result)
{ {
// normalize and create a local copy of the vector.
axis.Normalize();
double axisX = axis.X, axisY = axis.Y, axisZ = axis.Z;
// calculate angles
double cos = System.Math.Cos(-angle); double cos = System.Math.Cos(-angle);
double sin = System.Math.Sin(-angle); double sin = System.Math.Sin(-angle);
double t = 1.0 - cos; double t = 1.0f - cos;
axis.Normalize(); // do the conversion math once
double tXX = t * axisX * axisX,
tXY = t * axisX * axisY,
tXZ = t * axisX * axisZ,
tYY = t * axisY * axisY,
tYZ = t * axisY * axisZ,
tZZ = t * axisZ * axisZ;
result = new Matrix4d(t * axis.X * axis.X + cos, t * axis.X * axis.Y - sin * axis.Z, t * axis.X * axis.Z + sin * axis.Y, 0.0, double sinX = sin * axisX,
t * axis.X * axis.Y + sin * axis.Z, t * axis.Y * axis.Y + cos, t * axis.Y * axis.Z - sin * axis.X, 0.0, sinY = sin * axisY,
t * axis.X * axis.Z - sin * axis.Y, t * axis.Y * axis.Z + sin * axis.X, t * axis.Z * axis.Z + cos, 0.0, sinZ = sin * axisZ;
0, 0, 0, 1);
result.Row0.X = tXX + cos;
result.Row0.Y = tXY - sinZ;
result.Row0.Z = tXZ + sinY;
result.Row0.W = 0;
result.Row1.X = tXY + sinZ;
result.Row1.Y = tYY + cos;
result.Row1.Z = tYZ - sinX;
result.Row1.W = 0;
result.Row2.X = tXZ - sinY;
result.Row2.Y = tYZ + sinX;
result.Row2.Z = tZZ + cos;
result.Row2.W = 0;
result.Row3 = Vector4d.UnitW;
} }
/// <summary> /// <summary>