rotation-matrix4 ( axis theta -- matrix )
Vocabulary
math.matrices
Definition
USING:
arrays
locals
math
math.functions
sequences
;
IN:
math.matrices
::
rotation-matrix4
( axis theta -- matrix )
theta
cos
:>
c theta
sin
:>
s axis
first3
:>
( x y z ) x
sq
1.0 x
sq
-
c
*
+
x y
*
1.0 c
-
*
z s
*
-
x z
*
1.0 c
-
*
y s
*
+
0
4array
x y
*
1.0 c
-
*
z s
*
+
y
sq
1.0 y
sq
-
c
*
+
y z
*
1.0 c
-
*
x s
*
-
0
4array
x z
*
1.0 c
-
*
y s
*
-
y z
*
1.0 c
-
*
x s
*
+
z
sq
1.0 ~10 more~
;