rotation-matrix4 ( axis: float-4 theta: float -- matrix: matrix4 )

Vocabulary

math.matrices.simd

Inputs

axis	a float-4
theta	a float

Outputs

matrix

a matrix4

Definition

USING: math.functions math.vectors math.vectors.simd typed ;

IN: math.matrices.simd

TYPED:: rotation-matrix4
    ( axis: float-4 theta: float -- matrix: matrix4 )
    theta cos :> c theta sin :> s
    float-4{ -1.0 1.0 -1.0 0.0 } :> triangle-sign c float-4-with
    :> cc s float-4-with :> ss 1.0 float-4-with :> ones ones cc
    v- :> 1-c axis axis v* :> axis2 axis2 cc ones axis2 v- v* v+
    :> diagonal axis { 1 0 0 3 } vshuffle axis
    { 2 2 1 3 } vshuffle v* 1-c v*
    float-4{ NAN: -20000000 NAN: -20000000 NAN: -20000000 0.0 }
    vbitand :> triangle-a ss axis v* triangle-sign v*
    :> triangle-b triangle-a triangle-b v+
    :> triangle-lo triangle-a triangle-b v-
    :> triangle-hi diagonal triangle-hi triangle-lo
    (rotation-matrix4) ;