makeRotationAxis method

Matrix4 makeRotationAxis(
  1. Vector3 axis,
  2. num angle
)

Implementation

Matrix4 makeRotationAxis(Vector3 axis, num angle) {
  // Based on http://www.gamedev.net/reference/articles/article1199.asp

  var c = Math.cos(angle).toDouble();
  var s = Math.sin(angle).toDouble();
  var t = 1 - c;
  var x = axis.x, y = axis.y, z = axis.z;
  var tx = t * x, ty = t * y;

  set(
      tx * x + c,
      tx * y - s * z,
      tx * z + s * y,
      0,
      tx * y + s * z,
      ty * y + c,
      ty * z - s * x,
      0,
      tx * z - s * y,
      ty * z + s * x,
      t * z * z + c,
      0,
      0,
      0,
      0,
      1);

  return this;
}