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Add rotation matrix

v1
Brett 2023-03-10 16:52:15 -05:00
parent e0cee0d344
commit 225a8de7de
1 changed files with 37 additions and 0 deletions
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37
include/blt/math/matrix.h
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@ -83,6 +83,43 @@ namespace blt {
inline mat4x4& scale(const vec4& vec) { return scale(vec[0], vec[1], vec[2]); }
inline mat4x4& scale(const vec3& vec) { return scale(vec[0], vec[1], vec[2]); }
// angle in radians
inline mat4x4& rotateX(float angle){
mat4x4 rotationMatrix {};
rotationMatrix.m(1, 1, std::cos(angle));
rotationMatrix.m(1, 2, -std::sin(angle));
rotationMatrix.m(2, 1, std::sin(angle));
rotationMatrix.m(2, 2, std::cos(angle));
*this = *this * rotationMatrix;
return *this;
}
inline mat4x4& rotateY(float angle){
mat4x4 rotationMatrix {};
rotationMatrix.m(0, 0, std::cos(angle));
rotationMatrix.m(0, 2, std::sin(angle));
rotationMatrix.m(2, 0, -std::sin(angle));
rotationMatrix.m(2, 2, std::cos(angle));
*this = *this * rotationMatrix;
return *this;
}
inline mat4x4& rotateZ(float angle){
mat4x4 rotationMatrix {};
rotationMatrix.m(0, 0, std::cos(angle));
rotationMatrix.m(0, 1, -std::sin(angle));
rotationMatrix.m(1, 0, std::sin(angle));
rotationMatrix.m(1, 1, std::cos(angle));
*this = *this * rotationMatrix;
return *this;
}
[[nodiscard]] mat4x4 transpose() const {
mat4x4 copy{*this};