From 225a8de7deb5ab41794e1a5beb4c3934d7aeef64 Mon Sep 17 00:00:00 2001
From: Brett <brettmaster1@gmail.com>
Date: Fri, 10 Mar 2023 16:52:15 -0500
Subject: [PATCH] Add rotation matrix

---
 include/blt/math/matrix.h | 37 +++++++++++++++++++++++++++++++++++++
 1 file changed, 37 insertions(+)

diff --git a/include/blt/math/matrix.h b/include/blt/math/matrix.h
index c47b8eb..0aa3dfc 100644
--- a/include/blt/math/matrix.h
+++ b/include/blt/math/matrix.h
@@ -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};